Solutions Engineering Mechanics Dynamics by Irving H Shames PDF

Instructors Manual FOURTH EDITION DYNAMICS IRVING H.SHAMES The George Washington UniversityProduction Editors, Rober, Walters . Production Coordinator: Julia Meehan Production Supervisor: Barbar Murray 5 is easton Eto Bil Seng 3 © 1997 by Prentice-Hall, Inc. 0 RE Sion he AV Comps a . : por Sade River, NI 07688 : (EOC allright reserved. No part ofthis book may be teproduced, in any form or by any means, without permission in writing from the publisher. es namie 7 a 7 _,, Prenie-Hall of Australia Ply, Limited, Sydney Pik (13° Prentice-Hall Cibadi Ihe. Foronito, alae ‘ CoS. sor Prentice: Hell Hispano gipericana, S.A., Mexico _ “Hall of India Private Limited, New Delhi Hall of Japan, Inc, Tokyo a Simon & Schuster Asia Pte. Lid. Singapore Editor Prentce;Hall do Brasil, Lida, Ro de Jansiro : i Printed jn the United States of America ‘i ‘ 987654 3 eo yaESBN 0-13-38)33b-4 ‘ . ‘ete i Tie thee Hoa ' Prentice-Hall International (UK) Limited, London °PREFACE ‘The solutions to all the problems of Engineering Mechani¢s “Dynamics are included in this manual. In addition, the programs and the output printouts for 16 computer projects will be found at the end of the manual as well. Also a disk with this material will be found there should the instructor wish to do any editing Freshman level FORTRAN is used throughout these projects. They can be used as extra credit.assignments or for honors work. I have at times used one or two of them as extra required work in the course over and above the regular assignments. Following this preface will be found a list of problems for each chapter arranged in three columns. The first column is lowest in terms ‘of difficulty and/or length with the other two ascending in degree of difficulty and/or length as one goes to the right. Below the starred horizontal line, are problems at the end of the chapter not arranged according to section. Critical chapters 5 and 7 have a good supply of such problems that the instructor may. wish to use to, cut down on mapping. The 400 new problems were each checked independently by as many as 3 people. These included Dr. Michael Symans Dr. Rodolpho Valles Dr. Ahmed Noureddine while they were doctoral candidates. In addition the folowing fine students were involved while they were seniors and about to go on to graduate studies; * Ms. Gwen Hancock Mr. Scott Hamilton It was a pleasure working with all of them and I give them ‘iy ‘hearty thanks. Also, I thank my two former secretaries, Mrs. Debra Kinda and Mrs. Kathryn Ward, for their excellent typing efforts. Finally, 1 wish to give thanks to my editor, Bil: Stenquist for his help and encouragement throughout the entire production of both the ‘instructors manuals and the books. eres 7 SMH. Shames: May, 1996 * oWedshington DCCHAPTER 11 KINEMATICS OF A PARTICLE; SIMPLE RELATIVE MOTION 1 2 3 Starred Velocity and Acceleration Using Rectangular and Path Coordinates Wd 113 4 29 112 us 18 wmdi7 17 116 ven 11.13 11.9 11.12 11.14 11.10 118 11.19 11.15 11.20 11.21 11.16 11.25 11.23 11.17 11.27 11.30 11:22 11.28 1131 11.24 11.45 11.32 11.26 11.46 11.33 11.37 11.34 11.40 11.35 M41 11.36 11.42 11.38 11.43 11.39 JERE EEE EEO OES ES TTT 11.96 14.102 11.123 11.97 11.104 15.124 11.99 11.106 11.100 11.108 11.103 tid 11.116 Using Cylindrical Coordinates 11.50 11.52 11.58 1151 11.53 11.62 11.56 11.54 11.63 11.57 11.55 11.67CHAPTER II (cont.) 11.60 11.69 2 11.59 11.61 11.64 11.65 11.66 11.68 3 Starred 11.67 11.70 AEE EI EE ERIE 11.101 11.105 1.0 1.1 Simple Relative Motion 11.73 IL71 11.74 11.72 11.94 11.75 14.77 11.79 11.83 11.84 11.85 11.86 11.88 11,90 11.92 1.112 1119 11.76 11.78 1.80 11.81 11.82 1.87 11.89 1191 11.93 11.95 Perererrrrerritretrr et td 11.120 L113 ILLS 11121 11.122 vi 11.98 11.109PARTICLE DYNAMICS 1 CHAPTER 12 Rectinear Coordinates; Rectilinear Translation 12.2 12.4 12.5 12.6 12.8 12.9 12.12 12.15 12.19 12.20 12.29 12.35 12.36 Starred 12.30 12.49 THEE EE HO HH Serene eadinn nen Ee 12.115 12.126 2 3 12.1 12.11 123 12,13 127 12.146 12.10 12.16 12.18 12.17 12.21 12.22 12.24 12.23 12.25 12.31 12.26 12.32 12.27 12.37 12.28 12.38 12.33 12.39 12.34 12.43 12.40 12.44 12.41 12.45 12.42 12.46 12.48 12.47 12.51 12.50 12.52 12.53 12.106 12.120 12.108 12.127 12.109 12.129 12.125 12.130 12.128 12.132, 12.131 12.135 12.133 12.137 12.134, 12.140 12.1361 CHAPTER 12 (cont) 2 3 Starred Cylindrical Coordinates ; Central Force Motion 12.54 12.56 12.61 12.88 12.55 12.58 12.69 12,89 12.57 12.59 12.74 12.63 12.60 12.75 12.65 12.62 12.77 12.66 12.64 12.78 12.67 12.68 12.79 12.71 12.70 12.80 12.72 12.73 12.81 12.76 12.82 12.83 12.84 12.85 127 c FREER O EOE EE OID 12.116 12.110 12.112 12.17 12.111 12.113 12.121 12.118 12.114 12,119 12.122 Path Variables; Systems of Particles 12.90 12.93 12.94 12.91 12.96 12,100 12,92 12.98 12.95 12.99 12.97 12.101 12,103 12.102 12.104 12.105 Het enero oo tooo iaiieince cise 12,120 12.124 12.141 12.121 12.139 12,123 © 12.138 viiiCHAPTER 13 ERGY METHODS FOR PARTICLES 1 2 3 Starred Analysis for a Single Particle 13.1 13.4 13.6 13.30 13.2 13.5 13.7 13.3 13.9 13.1 13.8 13.14 13.12 13.10 13.15 13.13 13.19 13.16 13.26 13.20 13.17 13.28 13.21 13.18 13,29 13.22 13.24 13.23 13.27 13.25 13.33 13.31 13.34 13.32 13.36 13.35 13.37 SHEESH EO EE IE OE EE EET 13.98 13.99 13,104 13.105 13.109 13.102 13.111 13.107 13.110 13.106 13.113 13.108 13.112 13.118 13.117 13.123 Conservative Force Systems 13.38 13.43 13.44 13.39 13.48 13.45, 13.40 13.49 13.46 13.41 13.50 13.47 13.42 13.51 13.52 13.54 13.53 13.67 13.56 13.54 13.57 13.59 13.58 13.61 13.60 13.64CHAPTER 13 (cont.) 1 2 3 Starred 13.62 13.66 13.63 13.65 cocereneanr irre rretersrste tees rernteerereteernetes 13.114 13.119 13.120 13.124 Systems of Particles 13.68, 13.69 3.71 13.78 13.70 13.72 13.79 13.73 13.74 13.80 13.76 13.75 13.82 13.77 13.87 13.83 13.81 13.88 é 13.89 13.84 13.91 13.85 13.94 13.86 13.95 13.90 13.96 13.92 13.93 13.97 sehsesetessneees se ceneenenennnssssnnnsaseoreeneaennene 13.103 13.115 13.100 13.121 13.116 13.101 13.122 13.125 13.12614.12 CHAPTER 14 METHODS OF MOMENTUM FOR PARTICLES 1 14.1 14.2 14.3 14.4 14.5 14.6 14.7 14.8 14.10 14.12 14.13 14.23 14.24 14.30 2 Linear Momentum 149 14.11 14.14 14.15 14.17 14.18 14.20 14.22 14.25 14.27 14.28 3 14.16 14.19 14.21 14.26 14,29 14.31 14.32 14.33 Starred IEEE EEE RID OEIC EERE ICO OE OE 14.118 14.34 14.35 14.36 14.50 14.58 14.107 14.120 14.126 14.134 14.137 Impact 14.37 14.38 14.39 14.42 14.46 14.48 14.51 14,52 xi 14.108 14.119 14,40 1441 14.43 14.44 14.45 14.47 14.49 14.55 14.125 14.64CHAPTER 14(cont.) I 2 3 Starred 14.53 14.56 14.54 14.57 14.59 14.61 14.60 14.62 14.63 HERRERO EER EO EH 14.111 14.113 14.138 14.112 14.114 14.115 14.121 14.116 14.124 14.122 14.125 14.123 14,135 14.136 Moment of Momentum for a Single Particle 14.65 14.69 14.71 14.66 14.73 14.72 14.67 14.78 14.78 14,68 14.75 14.80 14.70 14.76 14.81 1477 14.82 14.79 14.84 14.83 14.86 14,85 14.87 14.88 ReNAee REE EEE EEE ES ES EEE ERE HIE EE EEE A EET 14.109 14.132 14.110 14.117 xiiCHAPTER 14 (cont.) Moment of Momentum for a System of Particles 14.89 14.90 14.94 14.96 14.92 14.91 14,97 14.93 14.95 14,98 14.103 14.99 14.100 14.104 14.105 14.101 14.106 14.102 TERE HREOC EEE EE HORE EEE EO Or EEE 14.133 14.127 14.130 14.128 14.129 14.131 xiiiCHAPTER 15 KINEMATICS OF RIGID BODY; RELATIVE MOTION 1 2 3 Starred Deritave of a Vector Fixed in a Moving Reference; Chasles' Theorem 15.1 15.4 15.9 15.2 15.5 15.10 15.3 15.6 15.14 15.7 15.15 15.8 15.16 15.11 15.17 15.12 15.20 15.13 15.21 15.18 15.22 15.19 15.23 15,24 EEE EEE OEE EE read ate Cc 15.129 15.130 Applications of the Fixed Vector Concept 15.25 15.31 15.30 15.67 15.26 15.32 15.34 15.27 15.33 15.35 15.28 15.38 15.36 15.29 15.39 15.37 15.42 15.40 15.43 15.44 15.45 15.46 15.48 15.47 15.5] 15.49 15,53 15.50 15.54 15.58 15.55 15.60 15.56 15.63 15.57 15.68 15.59 ¢€Cd CHAPTER 15 (cont.) 15.69 15.61 15.62 15.64 15.65 15.66 SOBER EIA E IO OHDOT 15.142 15.131 15.132 15.143 15.138 15,139 15.144 15.145 Relative Velocity Problems 15.70 15,73 15.76 15.71 15.74 15.78 15.72 15.75 1581 ) 15.77 15.82 by 18.79 15.83 15.80 15.85 15.84 15.86 15.88 15.87 15.89 15.90 Relative Velocity and Acceleration Problems 15.93 15.91 15.98 15.117 15.92 15.101 15.94 15.102 15.95 15.105 15.96 15.106 15.97 15.107 15.99 15.108 15.100 15.109 15.103 15.111 15.104 15.118 15.110 15.112 ww 15.113 xvCHAPTER 1S (cont.) 15.114 15.115 15.116 SHEE EE EEE EEE TEATS 15.33 15.147 15.134 15.137, 15.148 15.135 15.140 15.136 15.141 Non-inertial Reference Problems 15.119 15,121 15.123 15.120 15.122 15.126 15.125 15.124 15.127CHAPTER 16 KINETICS OF PLANE MOTION OF RIGID BODIES 1 2 3 Starred Pure Rotation of Slablike Bodies 16.1 16.6 16.5 16.21 16.2 16.8 16.11 16.31 16.3 16.9 16.12 16.4 16.10 16.13 16.7 16.14 16.16 16.18 16.15 16.17 16.23 16.19 16.29 16.26 16.20 16.22 16.24 16.25 16.27 16.28 16.30 16.32 IRS OE REE OER OEE OEE Oe 16.117 16.111 16.114 16.113 16.122 16.115 16.127 16.116 16.138 Rolling and General Plane Motion of Slablike Bodies 16.40 16.33 16.36 16.42 16.34 16.39 16.44 16.35 16.43 16.45 16.37 16.48 16.46 16.38 16.53 16.58 16.41 16.55 16.59 16.47 16.56 16.60 16.49 16.57 xviiCHAPTER 16 (cont.) we 1 2 3 Starred 16.61 16.50 16.65 16.62 16.51 16.67 16.69 16.52 16.70 16.76 16.54 16.78 16.77 16.63 16.80 16.89 16.64 16.81 16.90 16.66 16.82 16.68 16.83 16.71 16.85 16.72 16.86 16.73 16.88 16.74 16.91 16.75 16.92 16.79 16.84 16.87 SEER ERE EEE EEE SHOR EO on re seni ia Cc 16.119 16.118 16.112 16.121 16.120 16.125 16.126 16.131 16.128 16.129 16.130 16,132 16.133 16.137 Pure Rotation of an Arbitrary Ri Body; Balancing 16.106 16.93 16.96 16.107 16.94 16.97 16.109 16.95 16.98 16.99 16,100 16.105 16.101 16.108 16.102 16.103 16,104 xviiiCHAPTER 16 (cont.) SENN ERNE SERRE EES EAE ERA EEA EER EEA 16.135, 16.110 16.134 16.136 16.135 16.136 xixCHAPTER 17 ERGY AND IMPULSE -MOMENTUM METHODS FOR RIGID BODIES 1 2 3 Starred Energy Methods 171 174 17.9 17.2 17.5 17.13 173 17.6 17.15 17.7 17.8 17.17 17.1 17.10 17.18 17.16 17.12 17.22 17.25 17.14 17.23 17.29 17.19 17.24 17.31 17.20 17.27 17.32 17.21 17.28 17.35 17.26 1737 17.36 17.30 17.38 17.33 17.34 FEE EERE EEE EEO OEE OEE A Or 17.80 17.81 17.88 17.84 17.83 17.85 Impulse-Momentum Methods 17.39 17.42 1751 17.40 17.48 17.52 1741 17.49 17.53 17.43 17.54 17.58 17.44 17.56 17.59 17.45 17.57 17.60 17.46 17.61 17.63 17.47 17.62 17.64 17.50 17.65 17.55 xx,CHAPTER 17 (cont.) IEE G GO GO GHB HOHE HEHE enn Hona eo EE aire 17.86 17.93 17.82 17.87 17.90 17.89 Impulsive Forces and Torques: Eccentric Impact 17.70 17.66 17.67 17.71 1772 17.68 17.79 17.69 17.73 17.74 17.75 17.76 17.77 FSEE HEHEHE EEE OE ESO OEE OE 17.91 17.94 17.92 17.95CHAPTER 18 DYNAMICS OF GENERAL RIGID-BODY MOTION 1 2 3 Starred Euler's Equations of Motion 18.1 18.3 18.11 18.16 18.2 18.4 18.17 18.23 18.5 18.8 18.21 18.24 18.6 18.9 18.22 18.7 18.10 18.25 18.12 18.13 18.28 18.26 18.14 18.27 18.15 18.18 18.19 18.20 18,29 18.30 RENEE ES ES, 18.60 18.61 1865 Motion About a Fixed Point; Euler Angles; Gyroscopes 18.31 18.36 18.47 18.32 18.38 18.33 18.39 18.34 18.40 18.35 18.42 18.37 18.43 18.41 18.44 18.45 18.46 THEE EDIE EEC O EEO OEE EO 18.63 18.64 xxiiCHAPTER 18 (cont.) 1 2 ‘Torque-Free Motion 18.53 18.48 18.54 18.49 18.50 18.51 18.57 3 18.52 18.55 18.56 18.58 18.59 Starred LEAH EROS REEDED HOO OE OOS OEE 18.62 18.63 xxiii 18.61 18.65 18.66 18.67 18.68CHAPTER 19 VIBRATIONS 1 2 Free Rectilinear Vibrations 19.1 19.2 19.3 19.5 19.4 19.10 19.8 19,12 19.11 19.13 19.14 19.15 19.16 19.21 3 Starred 19.6 19.9 19.7 19.22 19.17 19,18 19.19 19.20 EEE E EEE EEO AOA EET 19.99 Torsional Vibration 19.23 19.24 19.27 19.25 19.26 19.28 19.31 19.33 19.35 19.36 19.38 19.39 19.40 19.41 19.98 19.100 19.29 19.30 19,32 19.34 19.37 19.42 19.43 19.44 TEE EHH Seo Eee Hen Ennion ano 19.102 19.101 19.51 19.45 19.49 xxiv 19.100 her Free Oscillating Systems; Energy Methods 19.46 19.103 19.47CHAPTER 19 (cont.) 19.50 19.48 19.52 19.53 19.54 IEEE REGIE EB EEE EEO ED EO I ESI AoE OF External Force Varying Sinusoidally with Time 19.55 19.57 19.56 19.61 19.58 19.59 19.62 19.63 19.60 19.65 19.64 19.67 19.66 19.68 19.71 19.69 19.74 19.72 19.75 19.73 19.76 Je GHEE IE ESTE 19.104 19.105 19.106 General Vibrations; Multidegree of Freedom Systems 19.76 19.80 19.77 19.86 19.83 19.81 19.78 19.94 19.89 19.84 19.79 19.95 19.92 19.87 19.82 19.96 19.90 19.85 19.91 19.88 19.93 FORGE EE EURO EOE ERA RAR SES 19.107 19.108 19.109APPENDIX 13 (CHAPTER 9} MOMENTS AND PRODUCTS OF INERTIA. 1 2 3 Starred Computation of Moments and Products of inertia 9.1 92 94 99 93 9.5 9.11 9.6 9.7 9.16 9.10 98 9.17 9.12 9.18 9.13 9.19 9.14 9.15 9.16 REE ORO E EO nnn EE Enea tebe ne tint 9.44 945 Translation and Rotation of Axes 9.23 9.20 9.21 941 9.25 9.22 9.30 9.42 927 9.24 9.31 9.43 9.29 9.26 9.33 9.39 9.28 9.36 9.32 9.38 9.34 9.40 9.35 9.37 xvie CHAPTER 11 Kinematics of a Particle - Simple Relative Motion‘A mass is supported by four springs. ‘The -mass is given a vibratory movement in the horizontal (x) direction and simultaneously a vibratory movement in the vertical ()) direction. These inotions are given as fol: lows: x 2sin2¢ mm y= 2eosQr +.) mm ‘What is the value of the acceleration vector at ¢ = 45¢¢? How many g's of accele- sation does this correspond to? We can say directly: #2 4.c082¢ Ja -4sin(2e +3) -8 sin2t -8 cos(2t +3) @=-8sin 2ti - 8 cos(2r +.3)f (4) = 8 sin Bi - 8cos (8.3)j = ~7.915/ + 3.451/ mmjsec” 8.635 (1,000)9.81) 4 || = 7.915? + 3.4517]? = 8.635 mm/sec? =A’ puticle moves along a plane circular path of radius r equal to 1 ft. The posit (OA is given as a function of time as follows: @ = 6sin Srrad where fis in seconds, What are the rectan= ponents of velocity for the par- OA =rcos@i+rsin@/=rcos [(6 sin 51)}i + r sin{6 sin 51] j d 7 aoe F teince ei 5 4 [cos6 +r j a [cos(6 sin 5¢}i + r a [sin(6 sin 5t)} 7 = -rsin[(6 sin 5)](30 cos 51)] j + r cos{6 sin 51)](30 cos 51) 1 At t=— we have: 5 %, (3) = -{sin6 sin 1}}30 cos 1 2+ {cos{6 sin 1])30 cos 1 = 15.03i + 5.351 filsecA particle with an initial position vector r= 5i+ 67+ km has an acceleration imposed on it. given as 4 = 6th + S52] 4. 10K msec If the particle has zero velocity initially, what are the acceleration, velocity, and position of the particle when r = 10sec? a= 6th + 5A) + 10k Pe BPrei+|2 2 +c)i/+ lOr+edk Att-0 V=6 Attime t= 10 sec : @ = 60i + 500j + 10K m/sec? V = 3007 + 1,667) + 100K msec F= 1,005i + 4,173/ + 501k mzeqint z=e(tln ‘The position of a panicle at times ¢ = 10 sec, f = Ssec, and 1 =2.ee is known to be, respectively (10) — 107 45) — 10K 13) ~ + + Ski (2) = 81 ~ 20j + 10k ft What is the acceleration ofthe particle at time ¢ = Sec if the acceleration vector nas the form a= Cul + Cattj + Cy Ink ftfsec® where Cy, Cs, and C; are constants and £ t-)+K, coffe snes st + 10K, +, a) 3 +5K,+K,11.4 (cont. Subtract (2) from (1). 7 = 145.83 ¢, + 5K, Subtract (8) from (2). 125 te2 Subtract (6) from (4). ‘Subtract (6) from (5). Subtract (8) from (7). Subtract (9) trom (@). 5 =19.50¢, + 3K, c, = 1353 5 = 6,(833.3) + 10K, + K, + ye + ya2 2 = 0,(52.08) + 5K, +K, y= -20 -20 = ¢,(1.333) + 2K, + K, 3=TR1 c+ 5K, 50.75 ¢, + 3K, = ~.0483 10 = 40.13¢, + K,(10) + K, 5 = 1.368 c, + K(5) + Ky 10 = -1.6137 c, + K,(2) + Ky -15 = 38.76 c, + SK, -5 = 2.982c, + 3K, 1974 @ = 13537 - 048377 f- 1974 Ink 5) = .6765i - 1.2075f - .3177K fifsec?A highly idealized diagram is shown of an accelerometer, a device for measuring the acceleration component of motion along a certain direction—in this case the indicated x direction. A mass Bis constrained in the ‘accelerometer case so that it can only move against Jincar springs in the x direction. ‘When the accelerometer case accelerates in this direction, the mass assumes a dis placed position, shown dashed, at a distance 5 from its original position. This configuration is such that the force in the springs gives the mass B the acceleration ‘corresponding to that of the accelerometer ‘case. The shift 5 of the mass in the case is picked up by an electrical sensor device land is plotted as 2 function of time. The ‘damping fluid present eliminates extrane- ous oscillations of the mass. Ifa plot of a versus time has the form shown, what is the speed of the body after 10 sec, 30 sec, ‘and 45 sec? The acceleration a is measured in g's—ic., in units of 32.2 f/sec? or 9.81 m/sec. Assume that the body starts from rest at x =9, O -32.2 y = -322t+C, y= -16.1? +, +0, x= Cyt+Cy Let xy reference be at end of pipe. Then when 1=0 , take x=y=0. C=C, Also at t=O , ¥=20 , y=0. Hence, we have: Eliminate t : let x=15 and solve for y = @- should be larger than 9.06 ft_| Now let x=25. 16.1/2© |. -25.16 Cleatly| d should not exceed 25.16 ft11.17 A.rocket-powered test sled slides overalls, This test sled is used for experimentation ‘on the ability of man to undergo large persistent accelerations. To brake the sled from high speeds, small scoops are lowered to deflect water from a stationary tank of water placed near the end of the run. Ifthe sled is moving at 2 speed of 100 km/hr at the instantofinterest,compute hand dof the deflected stream of water as seen from the sled. Assume no loss in speed of the water relative to the scoop. Consider the sled as an inertial reference at the instant of interest and attach xy reference to the sled, Initial data for jet of water: = (100) 1:00) - Ye cy, i000) 27.78 njsec (y= Vesin20° = 9.50 msec Gy = Vjeos 20° = 26.10 msec Fa98L 2 +9,50(—*_] = -, 2, ] +950(gaig) = sors aes11.17 (cont.) Set y=~20 and solve for x which isnow d 00721? ~ 364x ~.20-0 x? -50.5r-27.7=0 x In Eq. (1), set ¥=0 and solve for ¢ 0=-9.81t + 9.50 Solve for y in Eq. (2) for this ¢ : y= -G.91)(.9684)? + (9.50)(.9684) = 4.595 mIn the previous problem, the vane has 9 velocity given relative tothe ground reference XY as V 2-57? 427.8 mie ‘What is the distance 5 between the vane and the positon of impact of the water that left ube vane at time #= 0 Use the trajectory of the preceding problem, which relates x ard y fora reler- ‘ence xy attached to the vane and moving tothe Ist at = 0 at & speed of 100 knvir = 27.8 mvs, The trajectory ofthe water ater leaving the vane at ¢= 0 is y= 00721? + 364m with x in meters, fey Fixed to vane leaving vane at time t= 0. Y is stationary Set y = -.200 in the trajectory for fluid particles leaving vane at time t = 0. These particles have a horizontal constant velocity of 27.8 cos20° m/s and hence to reach 51.03 m must have traveled during a time interval Ar given as: Ar - 51.03 =~ = 19534 7 27.8 cos20° ee During this time interval, the vane has been losing speed relative to XY, Thus (4) = -517 +278 tt Vane Dooe = aa 427814" At time t = 1.9523 we have for the vane Dane sees + 27,8 (1.9334) = 41.88 m Hence distance 6 between vane and position of impact of jet leaving vane at t = 0 is 6 = 51.03 -41.88 - [9148 m] 26AA fighwr-bomber is moving at a constant speed of 500 ‘ais when it fires its cannon at a target at B. The canton has muzzle velocity of 1,000 mis (relative to the gun barre) {a) Determine the distance d. Use reference shown, (b) What isthe horizontal distance between the plane and position B atte time of impact? x = (1500)(12.77) = 19,156 m 19.156 kn] D = d-(500)(12.77) = 19,156 - 6,385 = (12.77 ion‘A golfer has the bad luck of having his golf ball strike 2 nearby tree while having a shallow trajectory. The ball bounces off at a speed that is 60 percent of the preimpact speed. If it moves in the same plane as the initial trajectory, compute the distance d at which the ball hits the ground with respect to the tee at A Origin of xiy, at A. Y= - 32.2 = -32.27+ 86.6 © = 16.127 +86.61-Z, Set y;=4U. Solve for t; at B 40 = - 16.10? + 86.6 16.11; ~ 86.6t +40 = 0 1] - 5.3791, + 2.484 = 0 =—— 5:379 V5.379" - @) 2484) _ 519) sec or 4.869 sec Solve for t. 2 The values of x,, ¥, and 4, at B are now calculated. Use t = .5102 sec for shallow trajectory. (%)g = (50)(5102) = 25.51 ft Cig = 50 fils (ip = ~ (32.2)(.5102) + 86.6 = 70.172 ft/sec Velocity pre-impact at B. = (Q)b + OD = 50+ 70.172 = 86.163 fils Velocity post impact at B = (.60)(86.163) = 51.70 ft/s. 2814.20(cont.) Second Trajectory (Origin of xy, at B) = ~32.2 = ~ 32.24, + (51.70)(sin40°) = - 32.21, + 33.23 ° = 16.177 + 33.231, +¢, H+ 0 2, = ~ (51.70)(cos40°) = - 3960 fils x, =~ 39.601, + 7,7 Set y; = -40. Solve for (t,)c at ground impact =40 = - (16.1) (4,)6 + 33.23(t)¢ (Ye ~ 2.064(t,)¢ - 2.4845 = 0 ye + (He = Soe sinter (4)(2.4845) (tie = 2.916 sec. » (x,) = (-39.60)(2.916) = - 115.47 2 d@ = 25,5 - 115.47 = |-89.97 fi (Behind A) 29Je cx will result in the longest distance dat Impact?"The muaie velocity is Wy, The surface is Pat ye -322 y= -3220+C, 2 ° y= mat reek C, = V, sin J = -32.2t-+ V, sine y = 1617 +V,sinat Replace t by x/(V, cose) V, cosa (1 +tan?’a@) + x(tana) 3011.21 (cont.) 1+tan?a)x - tana = C a)x 161 o ee (2/16.1)tan a (1 +tan?e) (7/16.1)sec*a — (V3/16.1)tan a (2tan «)(sec? a) = Leese eee eee 0 1+ tanto Multiply by 1 +tan?a. ”A sportsman in a valley is trying to shoot deer on a hill. He quickly estimates the ddisance of the deer along his line of sight 4s 500 yd and the height of the hill as 100 yd. His gun has a muzzle velocity of "000 fjsec. If he has no graduated sight, how many feet above the deer should he aim his rifle in order to hit it? (Neglect friction.) ~32.2 y= -32.2t+C, y= 16.1 + Cr+, , = -32.2r + 3,000 sin a y= -16.1¢% 3,000 sin a ¢ = 3,000 cos a 1 =3,000 cos a ¢ Solve for t in Eq. (d) and subst. into (b):11.22 (cont.) __r161 yo, 3,000sina “16.1 ay 2, 3,000%cota* * 3,000c0s a ~~ 3,000? “* “** y ad (1+ tan?a)x? + (tan a) x= 1,470 161 : — (L470) + tan?a) + 1,470 tan 0007 y = 300 3, 71.6 =-(1 + tana) + 380 tan tanta - 380 tana + 78.6=0 Use quadratic formula to get: @=11.69° ; 8985 (disregard) d+ 200 1,470 = tan 11.69°11.23 A fireman is directing water from a hose into the broken window of a burning house. The velocity ofthe water is 15 m/sec as it leaves the hose. What are the angles 16 @ needed to do the job? . - a = = 3 Put reference xy at hose exit. a Tm—a #=0 J -9.81 y= -981t+C, #=C, ye 4.9051? +C,t+C, x=C,t+C, Since x=y=0 when 1-0 j= 1Ssina Also: attime t=0 = 15cos a Hence: -4.905¢7 + 15sinat Eliminate t : 2 y= 4,905 | _ + sing + } 225 cos? a 15 cos We desire wnen x=7 , y=10. ~4.905 10 = 425 + tanta) + 29g AML + tanta) + Ttan a 9.36 = -(1 + tan’a) + 6.55 tan « tan?a - 6.55 tan @ + 10.36 = 0 695° and 75.54 Use quadratic formula1124 ) ‘Along range gun ix shown for which he mzale velocity wy is 1,000 mvs. If we neglect friction, at what poston 3,3 does the shell hit the ground? B= -981 J = -981t+C, 2 y= O81 Ct +c when 1 = 0 ¥ = (1000)(.707) C, - 707 when ¢=0 y=0, x=0 when t=0 %-707 = C, +707 2 = 9.81— + 707¢ , 2 & “Le 7071 Trajectory is ye 981 x 106s? +x Replace y in Eq. (1) using Eq. of Ground. = 10%x? = -981 x 10x? ox 10.81 x 10x? = x x = 0 One Root F-— 1 _ -925x10'm 10.81 x 10°¢ F = 10°(9,25 x 10°)? = 8.56 x 10° m jx = 9.25 x 10° m! i’ = .856 x 10 m 6‘An archer in a Jeep is chasing a deer, The Jeep moves at 30 mifhr and the deer moves at 1S mifhr along the same direction. At ‘what inclination must the arrow be shot if the deer is 100 yd ahead of the Jeep and if the inital speed of the arrow is 200 fi/sec relative to archer? (Neglect friction.) 30 mph = 44 filsec 15 mph = 22 filsec ~32.2 yo -322r+C, ye -16.1P+C,t+C, C=C,=0 ¥=200.cas « + 44 200 sin & p -16.12? + 200sin « ¢ x= (200008 @ + 44)¢ Attime of impact + ,11.25(cont.) From Eq. (1): 0=-16.12? + 200sina + From Ea. (2): 300 + 22 = (200 cos « + 44)¢ Replace + from (3): 300 + (22)(12.42}sin a = (200 cos « + 44)(12.42 sin a) 24.15 = 100sin2 a + 22sina Solve by trial and error:‘A fighter plane is directly over an antiais- 11.26 craft gun at time 1 = 0, The plane has @ speed V, of SOD kan/hou. A shel ised St 1=O in an attempt to it the pave. It the muzzle velocity Vo is 1000 mse, how ‘many meters d should the gun be aimed ahead of the plane to hit it? What isthe For shell: time of impact? -9.81 #-0 9810+ C, x=C, y= -4.905¢ +C,1+C, x= Cite Cy When t=0 , x=y=0 C,=C,=0 = 1,000 sina When 1=0 = 1,000 cos a Hence: p = -4.905t? + (1,000)(cos «)(t) @ x = (1,000)(sin «)() 2 Take t= tobe time of impact. Attime t= + we have from (2): Vx =1,000sin « + Cancel + 500 ( oat (BF) oan a =7.98" ba ‘aout \3,600sec )\ 1 ft Hence: d= 2,000tan a = 280 m To get +, go to Eq. (1) 2,000 = ~4.905(t?) + (1,000)(cos 7.98°)(t) 1? - 2027 +408 = 0 Using quadratic formula 38‘A destroyer is makiogasun at full speed of 15 kmfhr. When abreast of a misile ste target, it fires two shells. The target 12,000 m from the destroyer. I the muzzle velocity is 400 m/se, what isthe angle of firing & with the honzontal tat the eom- puter must set the guns? Alo, what angle (B roust the turet be rotated relative tothe line of sight atthe instant of firing? (int ‘Tobit target, what must Vf the shell be? Result: @ = 23.7 and = 326%) Set xyz at guns. | £=-9.81 £2 -9.81t+C, z= 4.90507 + C,t- Cy y=[-400 cos « sin B + 20.83} #=0 i=G, xa Ost eG11.27(conit) {x=0 C=0 When 1=0 |e 400008 e cos B x = (400 cos « cos B)t To hit the target, clearly y=0 . ~400 cos «sin + 20.83 = 0 20,83 sin B = 8 TO cosa + (aaa) In Eq, (1) set z=0 and solve for ¢ : 0 = ~4.905¢? + (400 sin ae Subst. (5) and (4) into Eq. (8) with x = 12,000 . ay 12,000 = 400 cos a {1 - (ee,] ions cos @ . 20.83, 736 = sin2a|1 - {22-83 _ 736 = sin’ «ft ( z Solve for a by trial and error. To get B11.28(cont.) » [y = [400 cosa sinB 122.011 Whent=0 x=0 .,=0 When 1 = 0, = 400 cosa cos 1000 +©| =~ |.707 (S50 » [x = 1400 cose cosB + 1178) y 300 1 To Hit Target 3. gmt +. 400 cosa sin® + 22.01 ~ [400 cosa cos B sar (5) 400 008 «| sin B -38 = 21.72 0 = -4,9052? + (400sina)t 1-0; 1 - sine 4.905 in III and use V. 12,000 = [400 cosa cos B + 1.176) Solve IV and VI using a computer a‘A Jeep with an archer is moving at a speed ‘of 30 mifhr. At 100 yd distance and moving atright angles to the Jeep is a deer running ata speed of 15 mifhr. If the initial speed of the arrow shot by the archer to bag the deer is 200 fi/sec, what inclination a must the shot have with the horizontal and what angle f must the shot have relative to the line AB? 1smihe * Podret to car = Vo 008 & 008 Bi - Vicos asin pj +¥,sina k V, cos a cos Bi + (44 - V,cos a sin Bj + Visin a k drat to 6a Consider the vertical component of mation. 2 ze a + (Pysin ae Set z=0 and solve for t : 2¥, sina g a) z Now consider x component to target. = p,1=(Vocoracm (725°) But x can also be given as: x = 300 +22r =300 + 22} 2° by considering the movement of the target. Equating these values a . 2VpcosacosPsina 4, 44¥ysina ) 8 & To get to the target it is clear that the velocity component relative to the ground in they a11.29 (con direction is zero. Thus: ® 44 - Vocos a sin =0 and hence Now substitute for cos 8 in Eq. (2) 2Yecosasina| (44 PE _ 390 » 4¥osine & Vic0s « Rewriting the bracketed expression and canceling terms, we then have: » Pt ya cat a - aay? 300 |, Mvosin a Putting in numerical results: 1 Q@Q0)sin « 2 DD [(200)* cos*a - (44)?]? = 1 3 124 sin « [4x10* cos*a ~ 1,936]? - 3 +2.73 sin We then have as the equation for « 1 124 sin a[4x10* cos*a ~ 1,936]* - 2.73 sin a =3 Solving by trial and error we get for a : (37) To determine B , note that from (3) w inp - -_4_ ._4 __.- Vieos @ (200).988)11.30 A particle moves with a constant speed of 5S fi/sec along the path. Compute the ac- eleration at points 1, 2, and 3. sin 30° j] = 21.65i- 12.57 fijsec? If, in Problem 11-30the speed is 5 fsee ‘only at point 4, and it increases 5 ft/sec for each foot traveled, compute the ac celeration at points 1, 2, and 3. Sse}: But @ is given as 5 fi/sec/ft . Next, compute V at 1,2 and 3. Hasek 2}- 20.7 fifsec Yy= s+ss2+Z)= 39 fisec Ween ened =546 filsec a= @vennis 27 j RESET Rs] 4%, = 97.51 + 169) + 1,317 - 761) -{1,4151 - 592) filsec!] 4, = (5154.6)A car is moving at a speed of 88 km/hr ‘along a highway. At a curve in the high- ‘way, the radius of curvature is 1300 m, What is the acceleration of the car? To ectease this acceleration by 30%, what _nust its speed be? New acceleration is to be: 4, = (.70)(.460) = .322 m/sec? 1 V = ((,322)(1,300)]? = 20.45 m/sec = (04sy[ oa) ae) ES ‘Anigh-speed tains running at 100km/hr. 1t goes into a curve heving a minimum radius of curvature of 200 m. What is the acocleration that sting pasengersaresub- jected to? Ifthe radius of curvature were to be doubled, at what constant speed could the train thea go with the same seceeraton? 'f R= 4,000 then‘An amusement park ride consists of a cockpit in which a passenger is strapped in seated position. The cockpit rotates about 4 with angular speed @, The average ‘person's head is 10 ft from the axis of rotation at 4. We know that if]« person's head is subjected to an acceleration of 3 g's or more in a direction from shoulders to head {for any length of time, he/she will be un- ‘comfortable and perhaps black out. What, ‘thea, is the maximum value of @ in pm to prevent these effects, using a safety factor of 3? (Fin: You will soon leara that the speed in a circular path is Ra) The normal acceleration should not exceed (1)(32.2) = 32.2 fi/sec* V2) _ 10%? = 32.2 =|— (5) 10 ‘rad\( 60 sec\( 1 rev sec }\ 1 min )\ 2x rad, @ = 1.794 radjsec = 1asa[ A motorcyclist is moving along a circular path having a radius of curvature of 400 m. ‘Hes increasing his speed along the path at the rate of 5 km/br/sec. If he enters the curve at a speed of 48 km/hr, what is his total acceleration after traveling 10sec along this path?What isthe direction of the normal vector ‘and the value of the radius of curvature st 1 position a of the curve?” yom) a) For R we have: At (a):‘A particle P moves with constant speed along the curve y = 10 log xm. At what position x does the particle have the maxi- ‘mum acceleration? What is the value of this acceleration if V = 1 m/sec? Since V is constant, max. acceleration occurs when R is, 24, 2 vel x? }\2, Multiply by x:A car is moving along a circularly curved road of radius 2,000 ft so as to merge with traffic on a highway. Ifthe car accelerates at a constant rate of 7 mife/sec, what willbe the toca accel eration ofthe car when i is going 0 mph? a-fe.2 Hed ds _(,_mi_)/ 5280 ft Feo) © 27 Fe ae \) frsec\ 1 mi 3600 sec i) 5280 t/t hr y = sof mi 5280.8 (i 1 mi) 3600 see Bz 3 10.278, + 0.27 &, + 2.689, "2000 2 a| = ¥10.277 +2689? = [10.616 ji/sec* ‘A motorcycle is moving along a circular flat road and is accelerating at a uniform rate of $ mis. At what speed will the total acceleration be 6 mis?” The radius ofthe path of the motor- ‘cycle is 220 m,A fighter plane is ina diving maneuver along a trajectory that is approximately a parabola. Ifthe maximwin number of gs {thatthe pilot can withstand is 5 g's from shoulder ta head from the dynamics of the plane, what is the maximum allowable speed for this maneuver when the plane reaches A? Equation of the parabola is y= Cx? = 10 = CQ5) c=4 yr 42 We look at a, for the trajectory at A. @, = (5)(9.81) = ¥ R R= + ~ 1250 km 8 vp = (59.81) = ———__ @ = COBD = TsO) Am] hr| 5014l A particle moves with a constant speed of 3m/sec along the path. What is the acceleration @ at position x = 1.5m? Give ‘the rectangular components of a Ato x=i5 ROS) = 123.76 m Now get to @: = .0727é, mlsec? To get @ inrectangular components, note that: #) was) -9 @ = tan! 9 = 83.66" (a, cos « j - sin a = .11043/ - 9947 & = .O727[.11043) - 994i] =|(.00803/ - 07231) m/sec}‘A particle moves along a sinusoidal path. If the particle has a speed of 10 ft/sec and arate of change of speed of 5 ft/sec? at 4, ‘what is the magnitude of the acceleration ? What is the magnitude and direction of the acceleration of the particle at B, if it has ¢ speed of 20 ft/sec and a rate of change of speed of 3 fl/sect at this point? R=17.16 ft s( 100 F11,42 (cont) (10) = 3¢, + 2 8.1 (9 + 49.2)" = 49.4 fifsec‘A pasieger plane is moving at constant Seed 20 kf na holding patern at 2 constant slevation, At the instant of interest, the angle § between the velocity vector and the axis is 307 The vetr i known through on-board gyroscopic in- strumentaon to be Changing tthe rate bat Shc. What isthe radius of cura {ute ofthe path at thi instant [eB é,= cos B i + sin B j = .8667 + 5007 sin B i - cos Bj = 500i - 8667 Using Eqs. (1) and (2): (-sin Byp f+ (cos BB F At instant of interest 500-5 Fpl! (866 -35)29)~ conn ( 258 00 22 | so0%- a66j)(1) 500! - 866 = (hsoo8 ~ 866)) 37 |[At vat position along the elipse shown does the arma vetor hve ast of Gree tion cosines (707, .707, 0)? Recall that the ‘equation for an ellipse in position shown is aa + plot = 1. From diagram: At any point P, tana. At point of interest, A , we have 4 = tan(-45°) = -1 To get 2 go to Eq, of curve. Differentiate: 2edx , 2ydy _5 Substituting into (1): yn y5=-2.24 ft x = ~(2.24)(4) = -8.94 fiAA particle moves along 2 path given as yasen ‘The projection of the particle along the x axis varies asi? ft (where: is inseconds) starting at the origin at ¢ = 0. What are the acceleration components normal and tangential to the path at ¢ = 2 sec? What is the radius of curvature at this point? x=/3e year? y= 6tt x=2/2e pera ¥=2Y2 72" 2y2i+7207 G=2f2i + 28.87 filsect (2)-«-62e a = 84.68" @, = cos 84.687 + sin 84,68) = 09277 + 99577 é, ~ sin 84.687 + cos 84.68) = .9957i + 0927) 8-8, = (@/2K-9957) + (288.0827) (2y2)(.0927) + (28.8)(.9957) =28.7611.46 ‘A particle moves along a path »* ~ 10x with x and y in meters. The distance ‘traversed along this path starting from the origin is given by S such that 1.8 s=$timm where ¢ is measured in units of seconds. ‘What are the normal and tangential acceleration components of the particle when ym tom0( tins | VFR) nore tented in Append Alo note that d= VIE = [BY +10. Relate 5 with coordinates of the particle and + ds = lax? dy? (5 +1dy From curve y*= 10x : Substitute into Eq. (a): -JZsig =e s ds= | a5 ely Fi? +25 ay 5)(2, 5=(3)(3]Pv5?-23 +251mb + F5]] +c When s-0 , y=0 0-1 sins +c c=-402 = [yy 025 + 25Inly + yy? +25)] - 4.02 When y=10ft find s11.46 (cont,) s flores + 25 In(10 + 125) | - 4.02 = 14.79 m Next find t > 1? + 50t- 1,479 =0 Using quadratic formula: 1 = 20.87 sec ds _1 , (2)(20.87) #1 , OCOD _ 94 yt 9p IT ace as a =.02 mjsec? : a= 022,‘Show by arguments similar to those vsed in the text for deriving the relation dé = (I/R}ey that de,/ds = = (RK. To show Draw force triangle involving vectors és) , é(s+As) and Aé, * As Aé,| = =ao- AS 1e,| = (Ad) = Ad = As Ag ~0 direction of Aé, approaches that of -é, In limit we have:(@) For coplanar paths in the ay plane, find the formula for 4, that is, the “jerk.” () Ifa particle moves on a plane circular path of radius Sm at 2 speed of Simjsec, and ifthe rate of change of speed is 2 m/sec, what is forthe particle if the second derivative of its speed along the path is 10m/sec*? (Fine: Usethe resultof Problem 11.47) 2 a = 52,6 5 a, ia) -5e «92 +2882 (SP pe. # i = 52,+52, +282 (SV ker Xe GQ = 52, +58, , ( é, . Note: Use the following data: r=5m=R $=5 mjsec r=0-k 5=2 mjsec® 5 = 10 misec? io-fo-2h, 5 22 ra}, ere‘A becbee gun shoots a pellet as shown. Determine the rads of curvature ofthe trajectory as a function of x 1.811 + (30)(sin40°) = 9.811 + 19.284 90517 + 19.2841 + Zt? 2 ~ -4.905/ —* > ( 22.98 y = -9.287 x 10x? + 39x Get trajectory ~.01857x + 839 Y _ (9.287 x 10°)2x) + 839 & = (9. 2x) 2 = -.01857 3 _ (14 (-.018572 + 839°)? 01857 610 ‘A car is moving along a circular track of 1S radius 40 ft. The position S along the path is piven as seman The time given in seconds. What ae the angular velocity and angular acceleration of the car at t = 5 sec? At instant of interest 818 = 42.5 fifsee SS <1 fifsect Consider velocity in @ direction. 42.5 = 40(6) 6 = 1.063 rad}sec| Consider acceleration in @ direction. 108 A point P fixed on a rotating plate has an acceleration in the x direction of —10 m/sec. If for the point is 1 m, what is the angular acceleration of the plate? The angular speed at the instant of interest is 2adjsec counterclockwise. The acceleration of the point 4 is a= -(NHE, + Hy Hence, ~10 = (4)(cos 40°) - (1)(6) sin 40° 62A flat disc A witha rubber surface is driven by bevel gears having diameters D; = 8in. and Dz = 3 in. A second rubber disc B of diameter D, = 2 in. is turned by the fric» tion contact with 4. We thus have a friction drive system. At the instant of interest, @ =Sradjsec and @ = 3radjsec*. If wheel B is moved downward at a speed Vy =3injsec at the instant of interest, what isthe rotational speed $2 and the rate of change of rotational speed (2 of the ‘small diss B? Slipping between B and A ‘occurs only in the radial direction of disc ‘A. The distance r is 4 in. atthe instant of interest.Acceleration ‘What are te velocity and acceleration components inthe ‘axial. transverse and radial dtections for a particle moving rela- live tox inthe folowing way: Fe lem 822d = 6m within seconds. Make a rough sketch ofthe early portion ofthe path ofthe pariele. F-70)é,+ 76 +2F6)a, + = [40 - 10€ *%.04)]€- + [10e-(0) + (2)(-20 *( 2] ey + LOI, ia = e *[39.66,- 84] xe10 Axial Component 6 mis % Radial Component -20e7 m/s Transverse Component 2.0 * m/s Axial Component 0 mjs* Radial Component 39.6e* m/s? Transverse Component -8e * m/s*= dancin dee with sineconds. Atco CDs ae Tem of rote Han Fo ped opts Kand of length 200mm and GA and JA of Tength 100 mm pinned together as shown. [the end of fora sy whch srbes ‘curve on plate J. The angle 8 of the sys- cab gross p-13— hyn wt in sod Wt eh radi ao tasve vlc ao aca can fonme wien ones ofthe sir atime 13 ce about axis G-G? (Note: Pin Fis fixed but pin H moves vertically in a slot as shown.) Using cylindrical coordinates about axis G-G 7 = 4 +(3)(10)cos B = 4 + 30 cos| z . t = -30sin{1.3 -— 7 sa ‘5 7 =3c0s(13 - 7 3eos(t alt 6 =3sin (1) radjsec 6 = 3.cos(.14) rad/sec* Attime ¢=5 sec 7-249 om 7=2.15 cm/sec 7 = -.209 cmjsec? 6 = 1.438 radjsec 6 = .2633 radjsec*A particle moves with a constant speed of 5 ft/sec along a straight line having direction cosines / = .5,m = .3. What are the ical coordinates when |r] = 20ft? What are the axial and transverse velocities of the particle at this position? Bi/see (20)? = 06.25} = 11.66 Fove,+2é, 2=(.812)(20) = 16.25 To get © we can say: |F] €=7eos® (20)(.5) ye @ = CH) ~ 95g 2 0-309" cos "11.66 Hence: F= 11.668; + 16.258, ft where V; = V6)? — 4.06 = 2.92 fi/sec v,=0 V= 2.928; + 4.068, ft/sec 66‘A wheel is rotating at time ¢ with en angular speed 0 of $rad/sec. At this in- ‘stant, the wheel also has a rate of change of angular speed of 2 rad/sec®, A body 3 is moving along a spoke at this instant with a speed of 3 mjsecrelative to the spoke and is increasing in its speed at the rate of 1.6 m/sec?. These data are given when the spoke, on which B is moving, is vertical and when B is .6 m ftom the center of the wheel, as shown in the diagram. What are the velocity and acceleration of B at this instant relative to the fixed reference x27 We may make good use of cylindrical coordinates for this problem. Thus we can say: 6=5 radjsec 6 =2 radjsec* We then have for the velocity: #00 ET a And for the acceleration we have: G = [-1.6 - (O25) |e; + (62) + 2-3) Ey aa © We have thus determined the motion in terms of radial and transverse components.‘A plane is shown in a dive-bombing mis- sion. It has at the instant of interest a speed of 485 kyr and is increasing its speed downward at a rate of 81 kim/hr/sec. The propelier is rotating at 150 spm and has a diameter of 4 m. Whats the velocity ofthe tip of de propeller shown at A and its acceleration at the instant of interest? x Using cylindrical coordinates: 1,000 = (81) 2 = 22.5 m/sec? en 600 4-150 22 15:71 radsee 6-0 V = QUS.71e, + 134.7E, = 31.426, + 134.72, mfsec| a= [-Q)AS-7) Ie + (225)]e, = ~493é, + 22.52, misec|‘The motion of a particle relative 10 a reference xyz is siven as folows: Pe 2Qsimim 62 Ssinmrd z= 6% m with ¢ in seconds. What are the magnitudes of the velocity and aceeleration vectors at time ¢= 2 4ec? Note that sinh 2 = 3.6269 ‘and cosh 2 = 3.7622, 7 FOE, +28, V = 2coshté;+ (2 sinhi)(.5n cos x t)éy + 128, w& At t= 2 sec V{2) = (.2)(3.7622) €; + (-1)(m)3.6269)(1) Ey + 248, V2) = .75248- + 1.1398, + 246, m/s| = F-FO VE, + FH +27), + Z8, = {2sinhe - (2 sinhd[(5)(x cosa NP} é> + {(2sinh2)(-.5x? sin) + 2)(2 coshtj(.5x cos t)}8 + {1287} At t= 2 sec & = {(.2)(3.6269) - (2)(3.6269)(.25)(n”)} €; + {(2)(3.6269)(0) + (2)(.2)(3.7622)(-5)(m)(I) } &y + {12} 8, 6eGiven the following cylindrical coordinates for the ‘mation of a particle: Fem. O=2mrd c= 5tm with «in seconds. Sketch the path. What is this curve? Determine the velocity and acceleration vector. eae HELIX €,+ 708, +28, = 08, + 20(2n)é, +58, V = 40né, +5é, m/s| - 70) 8, + FE + 276)e, +z8, = [0 - 20) 4x]; + O + lO) Ey +08, ~80n78; m/s*|AA grain of plutonium is being tracked in a turbulent, mosphere. Relative to reference xyz, the displacement components are x26 y=lorn +k Express the position, velocity, and acceleration vectors of the particle using cylindrical coordinates with components in the axial, srantverse, and radial directions. 4 4 On Find cylindrical coordinates first. i i F = @ +y%)? = (362 + 10017)? = 11.66¢ @ = tan (2) = tan! 10% - s0.04° ot +10 IF = 11.668, + (3 + 10)8, fi} V = ri, + 7b, +28, = 11,668, + (11.6610) 8, + B18, V = 11.668; +378, ft/sec FO)é,+ FO +270) e, +28, 08; +08, + 6t8, 16, file nThe motior of a particle in cylindrical coordinates is siven hy the following parametric equations Fe 3sin arm + 3 rad ‘cos 0+ 3 m (+ in seconds) Determine the velocity and acceleration of the particle at ¢= 35 see. a) Velocity Vi Fé.+ 708, + ity = (B)(n)cos(x 2) é; + (3 sin n2)(6 + 6n)é, + Sm)(-sinn i, = 3m cosnré; + (18)(1 +A)sinzté, - (Sn)sinn te, Att = .35 sec b) Acceleration a= (F-7O)é;+ 6 + 278)e_+ ze, @ = [-3x7 sin(ret) ~ 3 sin(n (6 + 6] 6, > Bsin(n1)(6) + (2)(3) sin(a0)(6 + 62))é, +[-5 x? cos(n 1] Ey At t = .35 sec [a -201.76, + 59.348, - 22.408, m/s’ 7|A lyball governor has he following data at the instant of. interes: @ = 2radls 4 rad/s? or = 45° = Sradls rad/s? If at tis instant, the arms are in the x: plane, give the velocity and acceleration vectors of the spires using cylindrical coorditates for the axial, transverse and radial directions = ré,+ (FOE, + 28, = tsina = (3)(sind5*) = 2121 m F = (&)(cosa) = (3).707)(5) = 1.061 m/s o = 2rs Z = (0&)(Gina) = (3)(5)(.707) = 1.051 m/s « W = 10616; + (2121)(2)é + 1.0618, Eg -0a?(sina) + Woosa)& = -(.3)(,707)(25) + (.3)(.707)(.2) = 5.26 m/s? = © = 4 rs? 2 = t&sine + 042 cosa = (.3)(2)(-707) + (3)25)(.707) z = 5.345 m/s* Oo ~ & = [~5.26 ~ (.2121)(.2)*) 6; + [(2121)(.04) + (2)(1.061)(.2)] &, ~ 5.3458, la = ~5.268é, + 43298, + 5.3458, s RA stray tomahawk missile is being tracked. is moving, ‘at a constant speed of $00 mph along a straight path having ditec= tion cosines = 23 and m=.64. When 1 WE + 6) + 8k mi ‘express the positon in cylindrical coordinates. Als), give the velocity vector and the seceleration vector using axial tans verse, and radiat components, 23 64 V1 -.23* - 647 = .733 x ‘irst get coordinates = Fez+ FOE, +26, F = G00)[0/ + mj'+ nk] - [c0s30.96¢ + sin30.96 /1 = (500)[.23i + .64'+.733K] - L8575i+ 5144/] = 263.2 mifhr = 386 ft/sec 6 ~ 5001237 + j +7338] -[-sin30.96/ + cos30.96 f] [) 7411.63(cont.) 3in30.96 + (,64)(c0530.96)) _ 1g ali66) 18.46 rad/hr = 5.128 x10 rad/see 2 = (500)(n) = (500.733) = 366.5 mifhr = 537.5 ft/sec 2 V = 3868; + (11.66)(5280)(5.128 x 10°)é, + 537.58, V = 3866, + 315.78, + 537.56, fi/sec| For acceleration a = F708, + FO + 270)é, Zé, 2 @ = ~(11,66)(5280)(5,128 x 10°); + (2)(386)(5.128 x 107) é, “16198, + 3.9598, fi/sec" 5A wheel of dismeter 2ft is rotated at a speed of 2radisec and is increasing its rotational speed at the rate of 3 radjsec?. It advances along a screw having a pitch of .5in. What is the acceleration of ele- ‘ments on the rim in terms of cylindrical ‘components? Use xyz reference with z along axis of screw. 6 =2 radjsec 5\{ 2 = ||—| =.01326 5\(2 } filsec ) =.01989 fijsec”‘A.wheel with a threaded hub is rotating at fan angular speed of 80rpm on a right- ‘hand screw having a pitch of .5 in. At the instant of interest, the rate of change of angular speed is 20 rpm/sec. A sleeve A is advancing along a spoke at this instant with a speed of 5 ft/sec and a rate of increase of speed of 5 fi/sec?. The sleeveis2 ft from the centerline at O at the instant of interest. What are the velocity vector and the acceleration vector of the sleeve at this instant? Use cylindrical coordinates. 3 = 8.38 radjsec o 8 aly aly = 2.094 radjsec* = 0556 fijsec ss " Blu sls = 01389 fijsec? P= -Sé; + QY8.38)E, + 05562, =[-5e; ~ 16.768, + 05566, fifsec Bla a8 te = [-5 ~ (2)(8.38Me; + [(2)(2.094) + (2)(-5)(8.38)]é, + .013892,A simple garden sprinkler is shown. Water centers at the base and leaves atthe end at ‘a speed of 3 m/sec as seea from the rotor of the sprinkler. Furthermore, it leaves upward relative to the rotor at an angle of (60° as shown in the diagram. The rotor has an angular speed «@ of 2 radjsec. As seen from the ground, what are the axial, ‘transverse, and radial velocity and acceleration components of the water just as it leaves the rotor? r=30m =2 radjsee 8).9s 60° = 1.500 mjsee 5 =0 [owe += 2.60 mjsec £= ~9.81 m/sec? D = 1.500 é, + (.30(2)é, + 2.608, 41.5008; + (.600)é, + 2.602. m/sec} = [0 ~ (.30,4)1e; + [(30)(0) + )-SO}A)Te, + (-9.88,‘The acceleration of gravity on the surface of Mars is 385 times the acceleration of gravity on earth. The radius R of Mars is about $32 times that of the earth. What is the time of fight of one cycle fora satellite in a circular parking orbit 803 miles from the surface of Mars? (Note Eq. (b) of Problem 11.48] For Mars: {* = (.532)(3,960) = 2,107 miles g = (.385)(32.2) = 12.397 fifsec? 17 =2,107 + 803 = 2,910 miles _ p(k?) _[a239ne.107% 6,600} _ remy (#] 2910 5280) °°?" Time + for one cycle:‘A threaded rod rotates with angular position 8 = 3151 rad. On the rod is a nut which rotates relative to the rod at the rate@ = 4¢ radisec. When t = 0, thenut is at a distance 2ft from A. What is the velocity and acceleration of the nut at 1 = 10 sec? The thread has 2 pitch of. in. ive results in radial and transverse dizec- tions. # = -.01062 fijsec 6 = 6.30 radjsec 6 = 630 V = -.010622, + (1.947)(6.30)¢, -[-01062, + 12.278, fifsec = [(-.001062) ~ (1.947)(6.30)]é, + [(1.947)(.630) + (2)( -.01062)(6.30)]2,Underwater cable is being laid from an ‘ocean-going ship. The cable is unwound from a large spool A at the rear of the ship. ‘The cable must be laid so that is nor dragged on the ocean bottom. Ifthe ship is moving at a speed of 3 knots, what is the necessary angular speed @ of the spool 4 ‘when the cable is coming off at a radius of 3.2 m. What is the average rate of change ‘Of @ for the spool required for proper operation? The cable has a diameter of Bees or=V 0(3.2) - (3)[(1.1516)(1.609)] go : or +o =0 482 + -cas{S2)- (8.2) + (-.01152)(.482) =0A variable diameter drum is rotated by a ‘motor at a constant speed @ of 10 rpm. A rope of diameter d of .5 in. wraps around this drum and pulls up 2 weight W It is esired that the velocity of the weight's ‘upward movement be given as in da ghia tier where for f= 0 the rope is just about to start wrapping around the drum at Z = 0. What should the radius F of the drum be as function of Z to accomplish this? What ae the velocity components ¥ and Z of the weight W when ¢ = 100 sec? We can also say: Substitute into (1):‘Two wheels rotate about scationary axes feach at the same angular velocity, 8 = 5 rad/sec. A particle A moves slong the spoke of the larger wheel at the speed Vi of 5 fr/sec relative to the spoke and at the instant shown is decelerating at the rate of 3 f/sec* relative to the spoke, What are the velocity and acceleration of particle A as seen by an observer on the hub of the smaller wheel? What are the velocity and acceleration of particle A to an observer ‘on the hub of the smaller whee! if the axis of the larger Wheel moves atthe instant of interest to the left with a speed of 10 ft/sec While decelerating at the rate of 2 ft/sec? ? ‘Both wheels maintain equalangular speeds. ‘There is neither translation nor rotation of the wheels relative to each other. Hence J observers on either hub see the same motion of A . Thus we may imagine we are on hub to left. Hence: V, = (S\TO7) + (5.707 = 3.541 + 3.54) filsec @, = (-3). 707) + (-3)(.707 =2.127 - 2.127 fifsec® Fix xyz to larger wheel and XYZ to smaller wheel. Clearly the references are only translating relative to each other. Hence observing particle A from both references Parada = Pada + B= (3.541 + 3.54)) ~ 108 = 6.465 + 3.54) flseq Gedy = Gy)q + Re -2.128 - 2.19) + 28 = -.107 - 2.19) fiisec?11.72 Four particles of equal mass undergo ‘coplanar motion in the xy plane with the following velocities: ‘ xm) We showed in Sesion 8.3 that he velocty oo of the center of mass can be fund at 4mV, = mV, +¥,+0,+¥,) follows: ge mY = z mh here Vis the velocity of the center of V, = 2 [2F + 3f + 26-707! ~ 701)) - 51} = --397% + 397) m/sec mass. What are the velocities of the par- 4 tiles relative to the enter of mans? Place xyz at C.M. and let it translate relative to XYZ Vaye =P + B Particle 1 Paya), = Pog) * B97 + 397/) (G,), =2.39Ti ~ 397} msec} Particle 2 Ce) = Pa * 397 + 397) (Payg)g = 39 + 2.603) msec Particle 3 Faas = Pgs + (--397 + 397) (Vs = 1.8118 - 1.8117 m/sec rds = Gods + (3971 + 397/) Particle 4 (,,.), = ~4.603i - 397} misecA sled, used by researchers to test man’s ability to perform during large accelerations over extended perieds of time, is powered by a small rocket engine in the ‘rear and slides on lubricated tracks. If the sled is accelerating at 6, what force does the man need to exert on a 3-ounce body to give it an acceleration relative to the sled of INERTIAL, REFERENCE Attach reference xy2 to sled. Hence we have for particle: Gyyz = 8,y, + B= (30i + 20) + (6)(32.2)7 = 223.21 +20 From Newton's Law: F= ma, 1223.2! + 20/] ~ 1.3007 + 11657 Me Tap Oa a « 7 Man must also counteract gravity. Hence: z . 23 F = 1.3001 + 1165 + = 16(On the sled of Problem 11.73 is a device (see the diagram) on which mass M rotates about a horizontal axis at an angular speed @ of 5000 rpm. If the inclination 6 of the arm BM is maintained at 30° with the vertical plane C-C, what is the total force on the mass M at the instant i is in its uppermost position? The sled is under- ‘going an acceleration of Sg. Take M as having a mass of .15 ke. Attach xyz to sled. Then viewing the particle M_ from the inertial reference and the moving reference: .3)(c0s so [Semen fj + SOD) = ~71,200) + 49.05i F = (.15)[-71.200f + 49.05i]‘A vehicle, wherein a mass M of 1 ibm rotates with an angular speed c equal to S rad/sec, moves with a speed V given as V = 5 sin Qi fifsec relative to the ground with 1 in seconds. When 1 = 1 sec, the rod AM is in the position shown. At this instant, what is the dynamic force exerted by the mass Mf along the axis of rod AM if Q = 3 radjsee? Attach xyz to vehicle. For particle: R=15cos3i &,, = Go) -.866i - 50/] = -65f - 37.57 = -65i - 37.57 + 15 cos 3ti Total force acting on mass m : Fe magy (33) !a5e 3 - 65)i - 37.51 At time = 1 sec F = -248i - 1.165/ Ib Along rod we have for the desired force: Fug) = (2.481 + 1.165j) «(866i + S00j) = 2.15 +582 = 2.73 Ib Thus there is affensile force of 2.73 1b in the rod.In Problem 11.75 what is the frequency of ‘oscillation, 2, ofthe vehicle and the value of @ if, at the instant shown, there is a force on the mass M given a5, Fm 251 —35j1b F - 25 - 35) Ib A vehicle, wherein 2 mass M of 1 1bm rotates with an angular speed @ equal to Sradjsec, moves with a speed given as ¥ = 5sin Or ft/sec relative to the ground with # in seconds. When 1= sec, the rod AM is in the position shown. At this instant, what is the dynamic force exerted by the mass M along the axis of rod AM if, Dm 3 radsec? yyy = (32.2251 - 35f) = 805i - 1,127/ filsec? -3e7c0s 30° - 3w*sin 30°j + 5Q cos Qti Hence, the scalar equations at 1=1 sec 805 = -30%(.866) + 5Q cos Q -1,127 = -30%(.500) @ =274 rad}see| Deas Q = 551 Solve (a) by trial and error: Q = 553 radjsecA cockpit Cis used to carry a worker for service work on road lighting systems. The ‘cockpit is moved always in a translatory ‘manner relative to the ground. Ifthe angular speed @ of arm 4B is 1 rad/min when @ = 30°, what are the velocity and accel- ‘eration of any point in the cockpit body relative to the truck? AC this instant, what are the velocity and acceleration, relative ‘to the truck, of a particle moving with a horizontal speed V of 5 ft/sec and with a rate of increase of speed of .02fuisec* both relative tothe cockpit? xyz fixed to cockpit 1 in Go usec v= R=(10)(w)feos 30°/ + sin 30°/] = 0.1443) + 08337 ft/sec ~10 {Jess 30°% - sin 30°j] -EeomzatT 01300) fre 021 fijsec? Pray = Vag + R= .5i + V, -[583i + 14437 fifsec) Figg “Fag + R= 021 + 2, = 021 - 002417 + 0013897 =|.01759i + 001389) fi/sec?|11.78 A ferris wheel rotates at the instant of interest with an angular speed 6 of .5 racisec and is increasing its angular speed atthe rate of 1 rad/sec®. A ball is thrown from the ground to an occupant at 4. The ball arrives atthe instant of interest with a speed relative to the ground given as Vays = —10)— 24 Wise ‘What ar the velocity and the acceleration ‘of the ball relative to the occupant at seat A provided that this seatis not “swinging”? “The radius of the whee! i 20 ft The fact the seat is not "swinging" implies that it is translating relative to the ground reference XYZ. Accordingly, we attach a reference xyz fixed to the seat as shown in the diagram. We can then employ Eq. 11.48. Thus: Vy = -10j - 28 - R+V (a) Clearly, ¥.,, is the desired result and & is the velocity of the seat A (or the origin of 292) relative to XYZ. Since the origin of xyz is performing simple circular motion, we get: R = (20)(0)k = 108 fijsec Substituting for @ in Eq. @) we then get for 7, This velocity is what the occupant of seat A must react to. To get the acceleration of the ball relative to the occupant of seat A we now employ Eq. 11.47 as follows: fgg = ~tk = B+ a, @ where d,,, is now the desired unknown. To get & we employ Eq, (11.94b) for simple circular motion. Thus: B- COE - 20)(6)37 . B= 2k- 57 filsec?® ) Substituting Eq, (4) and solving for a, , we obtain:‘A rocket moves at a speed of 700 m/sec and accelerates ata rate of 5g relative to the ground reference XYZ. The products ‘of combustion at 4 leave the rocket at a speed of 1700 m/sec relative to the rocket and are accelerating at the rate of 30 ‘mjsec* relative to the rocket. What are the speed and acceleration of an element of ‘the combustion products as seen from the ground? Therocket moves alongastraight- line path whose direction cosines for the ‘YZ reference are J = 6 and m = 6, ix xyz to rocket, XYZ to the ground Attach reference xyz to the rocket. Then the direction cosine n for z axis is: n=(1 0 - m= 6-6 n=529 R= 7001.67 + 6 + 5298] m/sec R= O86 + 6) + 5298] misec? ¥,,, = ~1,7001.61 + .67 + 5298] mjsec Gy, > ~30[.61 + .6j + 529%] mjsec? Pq = (100 ~1,700)6.64 + 6) + 5296) = Gqqq * U5)981) ~ 30](.68 + 6) + 529%) +11.80 ‘Two 0-m intemational-cass sailboats are racing. They are on different tacks. If there is no change in course, will A hit 2 1150, where from the center of B does this happen? Vx3ms Vi=24mis ix xyz to center of sailboat IFix XYZ to ocean. kat 3(.707)i + 3.707) 7 = Vi, + 24)E Vag = na + 2.1217 m/sec 74938" 2 d = 30tan7.4938 = 3.946 m At 3.946 m to right of center 92AA train is moving at a speed of 10 km/hr. What speed should car A have to just barely miss the front of the train? How long. does it take to reach this position? Use a multireterence approach only. xyz to Tran |Fix XYZ to Ground tana = 30/200 Veyz(Sin25° i + cos25° j) = V,,(sin8.53¢ + c0s8.53/) + 107 (423 Ving = 1483 V,,, + 10 "| 9068 Vg = 9889 V,, Vig = 9165 Voy 8 (423 Wye = (1483)(9165)¥,, {ie See Vi, = 31.92 konfhr 010 i br = 20R+309? saa] (31.92) £1000) (3600) 9311.82 . este —__ A Tomahawk mist is ein eel or ston #—_ fer-—ear—ole—en?—ofe— 1 fp oa naval vessel. A destroyer is towing an old expendable naval frigate ata speed of 15 knots. The missile is shown at time mov. ing along a straight tine ata constant speed of $00 mf, the puid- ance system having been shutoff wo avoid an accident involving 500 mish the towing destroyer. Does ie missile hit the target and if 30 where does the impact oceur? The missile moves ata constant ele- 4 vation of. tahowe the surface of the wate / z ix xyz to Target Ship XYZ to Ground oan = aI miles = .1389/ mifsec R = (15)(1.152)/3600. = Pag Ore 13897 = V7, + 004807 ‘ye = ~-00480i + .13897 mifsec * oe Y ¥ toner a@ = 1,979° = (15)(5280)tan1.979° = 2737 ft. «+ Impact Point = 2737 - 2660 =|77 ft from Bow11-83 on » windy day a ht sir tallonis moving in transi tory manner relative tothe ground withthe following acceleration Bovis on 2-5 mst wees ‘Simultaneously, a man inthe balloon basket is swinging a small Jdevice for measuring the dew point. The device of mass § ke is ‘connected to a massless rod. A the instant shown, ao ~ 2 ra/see and @ = 3 radisec* both relative tothe balloon. What force does the rod exert on the device a this insian? Give the result in vector and scalar form. The rod isin a horizontal position (ace elevation "ew) atthe instant showa and has a length of $m F=ma@ — where @ is measured relative to an inertial reference frame (ground frame) ‘DEXYZ to Earth (Ground Frame) ix xyz to Balloon Looking at the device, Gare = andes * 2 R= 26-57 + 3K mjs? Goodye ~ “E28in0i ~ ro cos0k - ro? cos6i + ra? sin@é RE CO cs fe reol sink, tangential accel. centripetal accel. Gapoe = ~2.4821 -0.299K mjs? Gz Dyyz = ~0482i - 57 + 2.7018 mis? EF = ma Frop 5(-0.4827 - 5 +2.7016) ~S8i ae weight | Fron! = ¥@2.41) + (24.05)? + (13.505)2 {Fron | = 27.7 NI Approx 6 1bA submarine is moving at a constant horizontal speed of 15 knots below the surface of the ocean. At she same time, the sub by discharging air with an acceleration ng horizontal. Ip the submarine, 2 fyball governor operates with weights having a mass of S00 geach. The {governor is rotating with speed of 5 radsec, Hat times, O= 30° O= 2 rad/sec, and B= 1 rad/sec?, what isthe force developed on the support of the governor system as a result solely ofthe motion Of the weights at this instane? Hints What isthe acceleration of the center of mass ofthe spheres relative to inertial space?) ~tcos8 26 sind £ = 06 sind + (06)6cosé = 30° 6 = 2 radjsec = 1 rad/sec z. € = (3)()CS) + (.3)(-2)(-866) = .1604 m/sec? 2 dy Gy = by, R xyz = 604K - (.023) gk = -.0652K mfsec? 2 B= Magy F = 2)(5)(.0652)(-8) = Other way to proceed = 06? cos6 + ¢6 sine = 0.27866) + (1)¢5)] = .1604 m/sec? vertically‘A fighter plane is landing and has the following acceleration relative to the ground while maving in #translatory maaner. a= ~2gk ~ gj mise? The wheels are being let down as shown. What is the dynamic force acting at the center of the wheel atthe instant shown? The following data apply: @ = 3radisec 4 radloec? “a = 1W0Kg Fic xyz to Plane [Fix XYZ to Ground| a,,+R = (DOSE - (198) = (1)(3L-707 f - 7074] + (14) -.7072 - 707) = (-1:962K - 981 ,/) + (.0636 j - 06364) « (~.2828/ - 2828 ) = -1,962k - 1.2002 - 34647 F gia = (100)(~.3464i - 1.2002 - 1.9628In a steam turbine, steam is expanded through a stationary nozzle at 2 speed Vs ‘of 3000 m/sec atan angle of 30°. The steam impinges on a series of blades mounted all around the periphery ofa cylinder which is rotating at a speed @ of 5000 rpm. The steam impinges on the blades at a radial distance of 1.20 m from the axis of rotation Of the cylinder. What angle & should the left side of the blades have forthe steam to ‘enter the region between blades most smoothly? [Hin: Let xyz move with a blade in a translatory manner relative ta the ground (xyz's thus not entirely fixed to the blade and hence does not ratate).) Fix xyz to vane Fix XYZ to nozzle Fix XYZ to nozzle and let xyz move with the blade in a translatory manner relative to XYZ . (It does not rotate about axis of turbine.) Viewing the steam from XYZ and xyz: 3,000(c0s 30° j+ sin 30° = V,« (5.000) % kaye V,,. = 2,598) + 872K misec The angle « should be such that /,,, is tangent to biade at entrance. woe)A sailboat moves at a speed Y, of 8 mi/hr relative to a stationary reference XY. The wind is moving uniformly at a speed VY; lative to XY in the direction shown. On top of the mast, is @ direction vane responding to the wind relative tothe boat, IF this vane points in a direction of 170° ‘from the x axis, what isthe velocity V of Bee the wind? Beveewevevreet o + ESSE ovientation of Sirection vane Fix ayz to the sailboat Fix XYZ to the ground Place reference xyz fixed to the sailboat. Then considering the velocity of the wind from the XYZ and xz references, we have: Vea Vaye * R V,i= V'.9851 ~ .1736)) + 8(-cos 30° i + sin 30° /) ‘The scalar equations are: V, ~ 985! = 6.928 -1736V' =4‘A boat is about to depart from point A on the shore of a river which has a uniform velocity Vy of 5 fjsec. If the boat can move at the rate of 15 fisec relative to the ‘water, and if we want to move along a straight path from A to B, how long will it take to go from A to B? At what angle 8 should the boat be aimed relative to the water? Fix xyz to the water Fix X¥Z to the ground Attach XYZ to ground and xyz moves with the water. For velocity of the boat as seen from the ground (XYZ) and the water (xyz) we have: Prge = B+ Pag V'sin a i+ V/cos aj =5i +[-15cos Bi + 15sin Bf] vy], 1009) «5? 15.cos pi + 15sin pj (60? + 100%)? (50? = 100%)? Scalar equations are: 894V'- 15 sin B (oe ‘Square and add: (VP -447V! -200=0 Use quadratic formula: V!=16.55 filsce Using Eq, (1): (.894)(16.55) = 15 sin BA jet passenger plane is moving at a speed ¥y of 800 kmybr. A storm region extend. ing 4km in width is reported 15 km due east ofits position. The region is moving NW ata speed V; of 100 km/hr. At what ‘maximum angle @ from due N ean the plane fly to just miss the storm front? Fix xyz to the storm Fix XYZ to the ground Place a stationary reference XYZ and attach a reference xyz to storm front. Observe plane from these references. To just miss storm, V,,. must have an angle B equal to: =tan? (3) =759" Hence, we can say: ¥, her = Vig + 800fsin « i + cos a f] = V/(cns 7.59 i + sin 7.59) + 100(-.707/ « .707)) Scalar equations are: 800 sin « = V'(.991) - 70.7 800 cos a = V'(.132) + 70.7 Square both sides and add: (VP ~ 121.5(V4) - 630,000 = 0 Use quadratic formula V! = 857 kmfhour Going back to Eq, (1): sin @ = [(857)(.991) - 70.7] ow | 101Mass A of 3 kg rotates about point Qin en accelerating rocket in the xy plane. At the instant shown, what iste Foree from, the rod onio the mass? Include the effects of gravity if ¢ = 7.00 tvs? a the elevation of the rocket. = a, +R 1@*(-.707i ~ .707f) + ra(-.7077 + .207/) (D@9)L-.7077 - 707] + (.1)2)(-.707i +.707) = - 1.909% - 1.626; m/s? = - 1.909% - 1.626/+ 10f = 1.9097 +8377 ™ s F = mayy F- QF = 3f- 1.9097 - 8.374 f) 102A light plane is approaching runway in a eross-wind, This cross-wind has a vni- form speed ¥_ of 33 mijhr, The lane has 3 velocity component V; paralel to the {ground of 70 mifhr relative tothe wind at an angle f of 30°. The rate of descent is such that the plane will touch down some- where along A-A. Will this touchdown ‘occur on the runway or off the runway for the data given? ix xyz to the wind Fix XYZ to the ground Fix XYZ to ground and 22 to wind. Observe plane from these references. Considering only the velocity parallel to the ground we have: Vy, Vegyz = 70(-.866i + .500/) + 331 = -27.62 + 357 The angle of « of Vy, relative tothe -X axis is: a =tan! (35) - 51.722 27.82, To hit the runway at A-A thelangie « should be within the limits Hence plane will touch runway at AA 10311.92 A helicopter is shown moving relative to the ground with te folowing mation V = 1301 + 70 + 20k kvhe = 101+ 16) + Tk keels ‘The helicopter blade is rotating relative othe helicopter in the following manner a tbe instant of interest , = 100 pm , = 103 spmsee ‘The blade is 10m long. What isthe velocity and the acceleration of the tip B relative to the ground reference XYZ! Give your fesults in meters and seconds. The blade is parallel to the X axis at the instant of imerest The helicopter is translating relative to the ground. Hence [ix xyz to the helicopter body at "A IFix XYZ to the ground = 1304+ 70/ +206 hr = GOON NEONIO) «gaye km 10° o Ar ft07 km _ 1000 a5, a9 5 = 130+ 70f- 357k @ - —- © i307 + 70-3578 30F + 70j- 387k 2% ~ 5 L130! + 70/ - 357) Vere = 36.17 + 19.447 - 99.28 2 = dof + 16-76 (10%) ™ - aris4.aajs 6. = Oe + 16/ 765) ge 7 OTE +444] 19448, F . (100)(2x) (10.3)(2r «1 a I co au11.93 A destroyer in rough seas has the following translational acceleration as seea from inertial reference XYZ when itis firing its main battery in the ¥Z plane: a= 5j+ 2k mist What must @, and d, of the gun barrel be relative o the ship at {his instant co that tip A ofthe beret as zevy axceleation relative xe? Kor tip A: Gey = 8 = Gy. + (57+ 2K) mjs? i xye w Tat ix XYZ to Ground| ~5j-2K ms? oz a. = (3)(@)(- cos 30° & - sin30° f) + (3)(@,)(sin 60° j ~ cos60° &) + 30%(- 866k - 57) +36,(.866/- 56) = -5/-26 3.0\(-.866) +3.6,(-.5) = -2 3wi(-.5) +36,(.866) = -5 + -2.598 0] “1.50, = -2 ~150 0; +2.598 @, = -5 (4)(1.0514) VF = 0.0514) = 4052 or 2.595 @ = 22.06° or 68.92° Since line drive, use a = 22.06° Set x = 350 in Eq. (6) 350 = 130[cos(22.06)]t ft = 2.905 sec . = ~(32.2)(2.905) + (130)sin(22.06°) = -44.72 fils ” (130)(cos22.06) = 120.5 fils Vy, = (44.727 + 120.5? = [1285 fis]a, = Arnadi:, At the instant of interest, the angle eis 30°. If r= .03 m, (@) determine the radial, axial, and transverse accele ton components of A; - (©) determine the rectangular components of the accel- ration of A a) The formula for @ is @ = (7-70), + FB + 270), +2 Note: F= 03m 6 = +0, = (1+ 4) - 14 rad/s 6 = .2 radjs* £ r B= 26 m/s? (0 - (.03)(1.4)"]é, + [(.03)(.2) + YOU.AN é, + (268, Tranverse acceleration Radial acceleration = Axial acceleration = 26 mjs* b) |Z = -.05886;+ 0068, +266, m/s (cos30° f + sin30°/) @, = (-sin30° i +cos30°/) g -.0588(.866/ + .5,) + 006(-.5i + .866)) +268 120 es A ple sting ative o 2 stony resect cls. : sie 2ye with angular speed «= 1 rad/s and arate of change of angular cB. = om speed d, = 2 rad/s atthe instant of interest. Also at ths instant, v= atm Sr pt ny ie maeed art pgm, huge pedo as eg is a of bee Pf oan oie ence as eo :‘The flow of water into an ordinary water sprinkler is 25 Us initially and is programmed to increase continuously to 50 Lis, ‘The exit area ofthe nozzles is 1,960 mm. What is the area of lawn ‘that willbe watered? The angular speed of the sprinkler is 2 raze. = -981 1 ¥ = -9.811+ 2} 5 _ | ingoe 2 1960 x 10 | 9.811 + (6,378)(.866) = -9.81t -5.523 m/s 2 ° - fae +5.5231+ 2" m z=0 2% = (6.378)(cos60°) = 3.189 m/s a x = 3.189t+ 2m Set y = -200 in Eq. (3). Solve for t 2 -.200 = - Sale +5523 + 4.905¢? - 5.5231 - 200 = 0 1? ~ 1.1261 ~.04077 = 0 t- 1126 ¥(1126) + (4604077) _ 1 1611 sec Solve for x at this time. (3.189)(1.1611) = 3.703 m :. Minimum Radius = 3.703 + .300 = 4.003 m11.106(cont,) For Maximum O = 50 L/s 3 = -9.81t + [(2)(6.378)](.866) = -9.81r « 11.047 ™ s 2 0 S81" sno47e + Z 4 = 2)(6.378)cos60" = 6.378 x = 63781+ 62 Set y = -.200 in Eq. (7); solve for t. ~.200 = -4.9050? + 11.0474 4.90577 ~ [1.0471 ~ 200 = 0 2 ~ 2.2524 -.04077 = 0 1 = 2252.4 2.252" + (4)(,04077) 2 = 2.27 sec Solve for x in Eq. (9). & ~ (6.378)(2.27) = 1448 m » Maximum Radius = 14.48 + 3 = 14.78 m. Wetted Area A = (14.78)? - (4.003%)Pilots of fighter planes wear special suits designed 10 prevent blackouts during 2 Severe maneuver. These suits tend to keep the blood from draining out of the head ‘when the head is accelerated ina direction from shoulders to head. With this sit, a flier can take 54's of acceleration in the aforementioned direction. Ifa lier is diving at a speed of 1000 kmy, what is the ‘minimum radius of curvature that he can ‘manage at pullout without sufering bad physiological effects? Roy = 1,573 m=1.573 km 123‘A particle moves with constant speed of 1.5m/sec along a path given as x — 9 = Iny m. Give the acceleration vector ‘ofthe particle in terms of rectangular component when the particle is at position y = 31m. Do the problem by using path coor- inate techniques and then by Cartesian- ‘component techniques. How many g's of acceleration is the particle subject to? By path coordinates: a=11.108 (cont.) b) By rectangular coordinates: xey?-Iny When y=3, solve for »; wall 1 +1]-22s y= .251 msec = (6(261) - et = 1.479 mjsec Differentiate Eqs. (1) and (2) again: sy? #=2yy4ay?-2 yy iE + WV =0 Substitute Eq. (3) into Ea. (4):11.108 (cont) Substitute values: sarees 2c2617 2+ 282). 2s0y- 0 8.645 + 21270 =0 E= 2)(-.02462)(3) + (2)(261) + @ = .00430/ - 02462; m/sec [a| = (004307 « 02462)? = 02499 e046 _ (2617 911,109 A submarine is moving ia a transletory mannsr with the following velocity and acceleration relative to an inertial reference: Vn G+ 757+ Uk knots a= 2 24j+ 52k knows ‘A device inside the submarine consists of an arm and s mass at the fend of the arm. At the instant of interest, the arm is rotating in a vertical plane with the following angular speed and angular acceleration: @ = 10mad/s O=3nws? ‘The arm is vertical at this instant. The mass atthe end of the rod may be considered to be a particle having a mass of 5 kg. What are the velocity and acceleration vecrors for the motion ofthe particle at this instant relative to the inertial reference? Use units of ‘meters and seconds. What must be the force vector from the arm ‘onto the particle at this instant? ix xyz to Sub parallel 10 XYZ at A ‘ix XYZ to Ground - Fy : “(AIOE + GF +75} +28| 3600 = -2i + (3.0887 + 3.860f + 1.029%) Vay, = 1.0887 + 3.860/ + 1.029% mis| (Fo + 2Fadéy +08, +(27-24j + $26 198 = (29100)(~f) + (.2)03)(-d + OF + 10297 - 1235 / + 26778 F gynamic = O)[~.A97AE - 20.1235 + 26778 = -2.4867 - 100.62 + 1.339% F gpemie * 58) =|=2.486% - 51.57] + 1.339% N 27tive materials is shown, The distance f can ‘be varied by telescoping action of the arm. ‘The arm can be rotated about the vertical axis A-A, Finally the arm can be raised or lowered by a worm gear drive (not shown). Whats the velocity and acceleration of the ‘object C if the end of the arm moves out radially at a rate of 1 f/sec while the arm turns ata speed © of 2 radjsec. Finally, the arms raised ata rate of 2 ft/sec. The distance F at the instant of interest is $ ft. What is the acceleration in the direction €= 81+ 6)? Radioactive matter sft 1 filsee ° £=0 (OE, +28, flser SOR; + LODO, = F205 = 42, Flsee*] Also, we can say = -20)-s ae -[(-20).6) - 68)] 128Atop-section view of a water sprinkler is shown, Water enters at the center from below and then goes through four passage- ‘ways in an impeller. The impeller is rotating at constant speed 0» of 8 rpm. As seen fiom the impeller, the water leaves at a speed of 10 ft/sec at an angle of 30° relative to r. What isthe velocity and accelera~ tion as seen from the pround of the water ‘sit leaves the impeller and becomes free ‘of the impeller? Give results in the radial, axial, and transverse directions. Use one Using cylindrical coordinates: Telft TF = 10 cos 30° = 8.66 fifsee F=0 2n) _ 10sin 30° 6 -@{ 2%) - 2080 4. oF 7 16 radjsec 6-0 G= [0 ~ (1)(-4.16)7}e; + (DO) + (2)(8.66)(-4.16)]é, + [-32.212,‘A luggage dispenser at an airport resembles a pyramid with six flat segments as sides as shown in the diagram. The system rotates with an angular speed @ of 2 rpm. Luggage is dropped from above and slides ‘down the faces tobe picked up by travelers at the base, ‘Sige view ‘A piece of luggage is shown on a face. It has just been dropped at the posi indicated, It has at this instant zero velocity as seen from the rotating face but has at this instant and thereafter an acceleration ‘of 2g along the face. What is the total acceleration, as seen from the ground, of the luggage as it reaches the base at B? ‘Use one reference only When Find + when s= 8-16 sin 30° 16 = 3.2217 +6 Using cylindrical coordinates: 7-8 =—3__ -13.86 " tan 30° f 7 =(44r kos 30° = 5.581 filsec 7 = 6.44 cos 30° = 5.58 fijsec? 4G = [5.58 ~ (13.86)(.209)}é; + [0 + (2(5.58)(.209)(1.762)]é + [-3.22]2, 1 fifsec’ 130A landing craft is in the process of landing ‘on Mars, where the acceleration of gravity ig .385 times that of the earth. The craft hhas the following acceleration relative to the landing surface at the instant of interest: a= 2gi + Agi — 2pk mfsec* where g is the acceleration of gravity on the earth. At this instant, an astronaut? is saising a hand camera weighing 3 Non the earth. Ifhe is giving the camera an upward acceleration of 3 m/sec? relative to the landing craft, what force must the astro- ‘paut exert on the camera at the instant of interest? Fix xyz to landing craft. Then for the camera: For origin of xyz : B= (281i + (4)(9.81)/ - QVO.BDE = 1.9621 + 3.92) - 19.624 msec? Hence the acceleration of the camera relative to XYZ is: yz = 3h + [1.962i + 3.92) - 19.628] = 1.962/ + 3.92j - 16.62 Newton’s law then says that the force from astronaut Fysreq plus the force of Mar's gravity is related 0 dyyz above as follows: Fistro - G-385)k = (sq)tse + 3.92) - 16.628) 131A jet of water has a speed atthe wyasle of 20 mh, At what position does it hit the parabolic hill? What is its speed at that poi? Du wot include tier, -9.81 -981t+C, When = 0 ¥ = 2sin60" - 17.32 2 Cy = 17.32 2 ° -9.81 Sirsa (when t = 0 y = 0) 0 G When t =0 = 20cos60° = 10 ° 101+ Qf (when t=O x = 0) The trajectory of jet is found by substituting ¢ = from (2) into (1). 9.81{ 3? x =~ | — ]+ 17.32) — , ( = is) 2 \100 8) y = ~.04905x? + 1.732x Set y in (3) equal to 05x, 05x? = -,04905x? + 1.732x * 099052? - 1.732x = 011. 114(cont.) 17.49 m Y = (05)(17.49? = 15.29 m (B) The time of impact (see Eq, (2)) 17.49 = 10r t = 1.749 sec a 2 1 Vyza9 = G+ YD Largy = (10) + [- 0.810.749) + 17.327} Vinay = 10,001 mls {; = 10 mis y = 1623 m/s 133‘A panicle moves along a circular path of diameter 10 m such that Vaa+ 6 ms When it has traveled a distance of 15 m, the velocity starts 10 decrease atthe rate of mss, What isthe acesleration at = 1.3 sec and at r= 18 sec? Find the time + when the velocity just starts to decrease. Distance - {Vat ° . 2 15 = [@r+6)dt = 3 +64 ° 2 IS = 150? +6 444-10 =0 = 42 V16 +40 _ 1749 s00 2 For t < 1.742 sec V = 31+6 ms For t> 1.742 sec V = 11.225 -.2(¢ - 1.742) mjs 5, (ous) +6F . 5 Id = 38, + 19.608; m/sec"| a= -28,+ (11.225 - 12s ~ 1.742)F f@ = -28, + 12.715 e, mis"attack boat is leaving an engagement at full speed. To help in the process, a battery of four S0.caliber machine guns is fred to the rear continuously. The muzzle velocity of the ‘guns i [:000 mvs and the rate of firing is 3,000 rounds per minute, ‘The guns are oriented parallel fo the water in order to achieve ‘maximum thrust. Neglecting friction, how far from the ear of the boat does each bullet hit the water and what is the spacing between successive bullets fiom any one gun as the ballets hit the ‘water? The boat is moving ata constant speed of 45 knots. 4m | ae -9.81 -981t+C, 20 OG 28 Lene, x2 Cts, 20 + -=C,=0 (1 knot = 0.5147 4) When t= 0% = 1000 ~(45)(.5147) = 976.8 m/s 2 Cy = 9768 Whent=0 y=0 =C,=0 x = 976.8 x = 976.8r Get trajectory Set y = -5. Solve for x. x = 986.2 m .. Distance d behind boat is d = 986.2 -4 The spacing 8 between bullet splashes is: (sis ascsienM7 A particle has a variable velocity Vt) along a helix ‘wrapped around a cylinder of radius e. The helix makes a constant angle a with plane A perpendiculer to the z axis. Express the acceleration a of the particle using cylindrical coordinates. Next, ‘express , using cylindrical unit vectors and note that the sum of the transverse and axial components of a {just computed) can be given simply as Ve, Next, express the acceleration of the particle using path coordinates. Finally, noting that €, = ~€,, show that the radius of curvature is given as R = —£ es era For cylindrical coordinates © = FOYE, + FO + 276)e, + £8, - f {He} Jefe ve Next we can say for é, We rewrite Eq. (1) Using Eq. (2) we get We now go to path coordinates for d. (4) Noting that &, - -é, we get from Eqs. (3) and (4) (looking at the radial components)‘An cagle is diving at a constant speed of 40 fusce to ‘catch 10+ snake that is moving ata constant speed of IS fsec. What should a be so that the eagle hits the small head of the snake? The eagle and the snake are moving in vertical plane Look at Eagle tanB - a. 50 Fix xyz to the Snal Fix XYZ to the Ground B= 5.71° A0(sin ai - cosaj) = V,,,(sin5.71° f - cos5.71°j) + 15é 40sing = V,,sin5.71° + 15 -40cosa = -V,,,c085.71° Square (1) and (2) 40°sin’a = V3,sin’5.71 +30V,,,sin5.71 +225 40? costa = Vicos*5.71 4 = Vi, + 2.9848 V,,, +225 + Vig * 2.985 V,,, - 1375 = 0 vy = 22985 + 2,985? + (4)(1375) ™ 2 Vigq = 35.62 filsec From (2), cosa = (35.62)c0s5.71/40 = 886 fa = 27.62°| 17A tube, most of whose cemtertine is hat of an ellipse given as thas a cross-sectional diameter D = 100 mm. The tube has the fol: lowing rotational motion atthe instant of interest: @ = 1S rails @ = 036 rads? Water is lowing through the tbe at the following rte at the instant of interest: = 18Us = 025 Lit ‘The tube isin the vertical plane at the instant of interest What is the acceleration of the water particles atthe centerline ofthe tube at point C using cylindrical coordinates and cylindrical components? Assume over the cross-section Of the tube that the water velocity and acceleration are uniform. > ap 2 Um Ly Find the z coordinate at point C. 3.24 (327 2 2 = {3.24[1 -.2822]}? = 1.525 m . 4 dr 2ede | 2rd = atc. ae Also find z al 324 * 024 (1525\de , (ADF _ g Subst. z and Fat C meee sane 324” 1024 é = -.2835 tana - ¢ a = ~15.828° Next note that the water speed § and rate of change of speed # in the tube is given as Zay Fay qo) aed 13811.129(cont.) 3 we can say: (02292)(sin 15.828) = -.00625 m/s (00318)(sin 15.828) = -.000867 m/s? z= 1525 m (02292)(cos 15.828) = .02205 m/s (.00318)(cos 15.828) = 003059 m/s? 1S radts 036 radjs* + 6 + 278)é, + 28, = [-.000867 - (.17)(.15)'18; + [(.179.036) - (2)00625)(15)] 4, + 0030598,‘A World War I fighter plane is in level light moving at 4 speed of 60 kmh. At time fy it has an acceleration given as = 2gi — 3g + Dek mis? Also at this time. the co-pilot i raising @ camera upward with an Acceleration of 01g relative tothe plane. If the camera has a mass ‘of 01 kg, whst force must the co-pilot exert on the camera to give it the desired motion at time 1? Note thatthe plane never rotates during this action, Take g = 9.81 ms? $ ix xyz to Plane XYZ to Ground| Baz * Fo gq = (IO.BIE + (2)9.81)i- (3)9.81)/ + 2)9.81)E mls? Gey = 1.9621 ~2.943f + 296% ms? Newton's Law: EF = may Fray ~ OIG)E = .01(1.962i - 2.943) + 20.6%) 140A space device has @ velocity of 500i + .200j m’s and ‘an acceleration of 200i + 300k m/s, both relative tothe ground reference XYZ Rod CD has an angular motion relative 10 the spice device equal to «= 2 rad/s and@= 3 rad/s. What are the Velocity and the acceleration of mass Mf relative to the ground? CD is in the vertical zy plane at the instant of interest. Reference ays shown is fixed to 10d AB. CD is at 0° from AB. Fix xyz to tod AB [Fix XYZ to Ground ro,é = (2sin60°)(2)¢ = 34647 =ro(-B+rat (2 sin60°)(4)(-#) + (2 sin60°)(3)i - 69286 + 5196f Voorn = ~.6928K + 51967 + 2007 + 3008 |dyyz = -71961 ~ 3928K m/s?| 141‘A weather balloon has the following motion relative to the inertial reference XYZ: V = 150i + 2007 + 60% mis 207 ~ 40) + 38 mvs? A light rod at A is connected to particle D and is rotating relative to the balloon at the instant of interest with angular speed «, = 5 rad/s and rate of change of speed d= 2 radis?. What isthe veloc ity of the particle at D relative to XYZ at the instant of interes? ‘The distance AD = 2 m. What is the tensile force on the rod in the direction of AD? The mass of the particle at D is | kg. IX XYZ to Balloon a ix XYZ to Inertial Space Let xyz be colinear with XYZ at instant of interest Vag = Voy 2 R = (r@,)(-i) + 1507+ 200f + 608 = -(.2)(5)i + 1507 + 200/ + 60k ayy = 149% + 2007 + 604 mjs| ~ (-reitf -re,é +207 - 40) + 386 2(25j + 2i) + 20i - 407 + 38k lo yrz = 19.61 - 457 + 38K mis? Newton’s Law in the Y direction 'y = (I-45) SN [Tensile Torce on Rod's 5] 142A pticeis made to move along a path given in terms ofthe parameter in be follwing manner (y), = 6082 -sin2e - imple sketch of the path. When the particle is tan clever Ty the speed along the path is 5 fusec and the rate of Change of speed along the path is 10 fusec*. Find the acceleration 1 in compoaents for path coordinates. = 5 'Is0c when z=1 & a jas 2 5 = 10 ‘jsec* ae meechsine & et cordesrauns ro t=O At7 =0 We must determine é,, First ¢, a lehey le 133Get ds next. 11.123(cont.) coca 4 ds = \idx? + dy? + de = [(-2cos2edz)? + (-2 sin2cdt)? + (e*ds)"J? 2 1 = [Alcos’2c +sin’2z) + ede = (4 +e) 2dr Subst. for ds from (2) into (1). Qeostst dendfeeh 2eos2ei-2sin2n/ + e°k| 3 T +e)? (4 +e? emact onan) eH 2) , Ssin2ei-4 cos2xf + ek 2 [si98 2 1.08)? + (800)? + (.160)2]? 2 Now get a: @ = 10(-.8947 + 4478) + Gi 5 taf 168 (.8198)(.08i ~ .8/ + 16%) 9g C898) OBE - 8 + 16%)‘Determine the direction ofthe osculating plane at post- tion := | for the three-dimensional curve of Problem 11.123. We got the following results from the previous problem: 6, = ROB! ~ 80j + 16%) = 804i ~ 447k R= 8198 6 Direction of osculating plane &, is: é, - 8.x, = (-.894i + 4478) x (.8198)(.08/ - .80/ +168) &, = (-.894i + 4478) x (065581 - 6558) - 13124) = 5863K + .1173/ + .02931f + 29317 2931i + 14667 + 5863 145,CHAPTER 12 Particle Dynamics qe 146A particle of mass { slug is moving in a ‘constant force field given as Fo 3+10j— Ski The particle starts from rest at position (3, 5, ~4). What isthe postion and velocity of the particle at time r = 8 sec? What is the position when the particle is moving at a speed of 20 fysec? F=3i+10/- Sk lb m=1 slug | 70) = 38 +5) - 4k Oo) =6 Newton's Law: F=3i +10) - 5k=ma= Bes Integrating: H=38 + 1017 - Stk + C, 2 108 2° 2 Since ¥(0)=0 when ¢-0 , clearly C,-d For C, note that: AO) = 31+ 57-48 = C, Paani + 10r7 - Sek P= 150% +5177 - 2.5 +3i + 5) - 4h12.1 (ont) (8) - 247 + 80/ - 40k fjsee AA) = 967 + 320) - 160k + 3/ + 5 - 4k = 991 + 3257 - 164K fr To get position when speed is 20 fi/sec note that: F =i + 10/ - She [P| = (9+ 10028) Hence, when |P| = 20 fijsec t=—20__ 1.8 see v9 + 100 +25 + AUL728) = i (3 + 107 -56(1.728)? +30 + 5f- 46‘A particle of mass m is moving in a constant force field given as F=2mt ~12mjr Give the vector equation for r(#) of the particle if, at time 1 = 0, it has a velocity Vo given as Vo = 6+ 12) + 3k m/sec Also, at time 1 = 0, ithas a position given re HD 4 Mem What are coordinates of the body at the instant that the body reaches its maximum height, Yes? Fs 2mi-12mj ar 2mi —12mj ome oof 12946, dt When ¢= 0, © ops 12j 43h m/sec dt Hence, . °F 67+ 6t +125 + 3k +C, When 1=0, . Fas +27+4k=C, Hence, . - #(t)= (2 +6043)F +(-6F7 +128 +2)7+(3r44)k Let p(¢)=0. Then -12f+12=0 Finally, 149AA block is permitted to slide down an in clined surface. The coefficient of friction is .05. If the velocity of the block is 30 fiysec on reaching the bottom of the incline, how far up was it released and how ‘many seconds has it traveled? Normal to the incline we get: N = Wcos 30° Substituting for Nin (1) we get: HE a Wein 30° - wWrees 30° g at a fi . a i (05x86) 14.71 Integrating: V= 14.710 +, 150 @)12.3 (cont.) when t=0 , V=0 andso C,=0 Hence: When V~30 find ¢ é = 14.10) bw when 1-0 , 0 andso C,-0 Substituting 12.04 and solving for swe get: 5 =(7.36)(2.04)? = 30.6 fi‘An arrow is shot upward with an initial speed cf 80 ft/sec. How high up does it go ‘and how long does it take to reach the ‘maximum elevation if we neglect fiiction? Clearly ¢,=80 and ©, =0 when V=0, solve for ¢ . _ 82.48? 2 Sruax + (80)(2.485)‘Armass D at 1 = 0 is moving to the left at fa speed of .6 m/sec relative to the ground ‘on a belt that is moving at constant speed. ¢ at 1.Gmi/sec. If there is cou- ombic friction present with jty = 3, how Tong does ittake before the speed of D relative to the belt is 3 mjsex to the left? (= speed = 6 misec ‘final speed ~ (1.6 ~.3)=1.3 m/sec Find time + when fasDo Problem 12.5 with the belt system inclined 15° with the horizontal so that end Bis above end 4. initial speed = -6 msec Sinai speed = 1.3 msec BN - Wsin 15° ee & ae 2 4 _ & 1.367008 15° - Wsin 15°] = 3087 misec? ae Ww # . 30371 +0, at When =0 , ds/dt=-.6 . Hence: & - 3037-6 dt Find time «+ when dx/dt= 1.3 m/sec 1.3 = 3037 ~.6Data: T= 400 ft-lb ; W=1,600 lb ; D=3 ft » Employ Newton's Law: A drag racer can develop a torque of 200 ft-lb on each of the rear wheels. If we assume that this maximum torque is maintained and that there is no wind friction, what isthe time to travel a quarter mile froma standing start? What is the speed of the vehicle at the quarter-mile mark? The weight of the racer and the driver alto- ether is 1600 1b. For simplicity, neglect the rotational effects of the wheels. CB Integrating: & =5.311+C, d) » ao5a7© 60440, since x- & dt For + mile: 2 Speed at ; mile: v “ = 6.37) = 6.37)(22.2) = 119.1 fijsecA truck is moving down a 10° incline, The , driver strongly applies his brakes to avoid ‘collision and the truck decelerates at the steady rate of 1 r/sec. If the static coefficient of friction 42 between the load and the truck trailer is .3, will the load slide or remain stationary relative to the truck trailer? The weight of Wis 4500 N and it is not held to the truck by cables. Let us assume that the load does not slide and accordingly has a known deceleration relative to the ground of 1 m/sec” . The free-body diagram of the load is accordingly shown with an acceleration component a, which is known. We can accordingly solve for f , the friction force required for no slipping, by using a component of Newton’s Law in the x direction. Thus: -wsin 10° +f- "a, fa) 8 Inserting known values for W , g , and a, we can solve for f in the following manner: = 4,500 981 (1) + (4,500)(0.1736) = 1,240 N (b) We must now compare this force with the largest attainable force from coulomb friction. Accordingly, using Newton's Law in the direction 1 normal to the incline we have: -Weos 10° +N=0 N= 4,432 N © ‘The maximum friction force attainable is: Souas = byN = (0.3(4,432 N) = 1,330 N Clearly there will be no slipping for the data given.[A simple device for measuring reasonably vuniform accelerations is the pendulum Calibrate 8 of the pendulum for vehicle accelerations of 5 sect, 10 sec, and 20 Fsec?, The bob weighs 1 Ib. The bob is ‘connected to a post with a flexible string Newton's Law for element: Hence: Inserting data: 157A piston is being moved through a eyin= ‘er. The piston is moved at a constant speed ¥, of 6 m/sec relative to the ground by a force F The elinder is free to move along the ground on small wheels. There is a coulombic frition force between the piston and the cylinder such that ig = 3. ‘What distanced most the piston move relative to the ground to advance 1 m along the eylinder ifthe cylinder is stationary at the outset? The piston has amass of 2.5 kx and the cylinder has a mass 5 kg. Consider cylinder as a free body. Newton's Law is: Relative distance : 2 01 -[v, ~ L472ndt = .6t - 142 t ° .736t? -.61+.01-0 ‘Solve for roots: t= 01702 sec ; 798 sec Choose the smaller result. Then we can say1211 My = 10 kg. A force F of $,000 N is suddenly applied to mass A. > r What isthe speed after A has moved. m? Mass B is a triangular block of uniform thickness. $ Lomb om—] BDI -N,(6 +x) + 100g) = 0 = THB 1 6+x = 7848 10037 3 Sy ON, = 0 TBAB. 196.2 Grx Newton’sLaw — 5000 -0 col 8) + 1962| = 20v 6+x d&k 6+ a + = [247.1x - 235tn(6 +x) +C,] 235 ¢n(6) = 247.1x ~ 235 (6 +x) +235 in6 © = 247.1 x +235 [In(6) - tn(6 +9) ve Apts -250( 2] 2 Setx= 1. Find ¥ WGI) = Alesr.nc -235m( 2) F 15_mjs|‘A fighter plane is moving on the ground ta speed af 350 |kmvfhr when the pilot depioys the braking parachute. How far docs the plane move to get down to speed of 200 kam? The plane has ‘a mass of 8 Mg. The drag is 27.5V2 with Vin mvs (1 Mp. = 10° kg), aS Newton's Law uf =-735 8x 0( $\) = -275 8 «10° Vd¥ ~ -27.5 Vide Separate variables 8x10 £ = -275de Integrate 8x10 MV = -275x+C when x - 0 v = 350 BR) - 9722 me 3600 C = 8x 10° (97.22) = 36,616 Bx 10 tnV = -27.5x + 36,616 Set ve 200)( $i | = 55.56 mis x = 162.8 mBlocks A and B are initially stationary. How far does A » i move along B if A moves.2 m relative tothe ground? Hon 04 s4y 2 20%2 me oy Mya EBD. Newton's Law menor METS cane . dy, 500 + 20g sin 10° - .4(20g)cos 10° = 204 bb EBD.U Equilibrium N, = N, + 30g cos 10° = (20g)cos 10° + 30g cos 10° = 4830 N Newton dV, 30g sin 10° + (.4)(20g)cos 10° - (483)(1) = 30? s .a6% 2 Vy = 2.6101 + ¢ 16112.13(cont.) 2 Go to Eq, (2). Set x, - nase = .1323 sec V pe, = (V4 ~ Vp) = (22.84t ~ 2.6704) Apes Se = 20.178) a ¢ ) 2 Ym = 2017 5 Set 1 = .1323 2 oer = 1765 m 16212.14 7 Fasetioeiinteonann ; -N(1S ~ .1 - 2) + (200)(7.5) + (225)(3) = 0 _ 2175 (149-2) [100 + 870(0 13.9)] - 768.5 £ 30 b) Set V = 0. Solve for x. O- flo + 8700n(14.9 - x)] - 768.5 [100x + 8700(14.9 - x} = 2350 Solve by trial and error. [x = 10.37 m| 16312.15 A block B of mass AF is being pulled up an incine by @ force F. Its, it 3, at what angle & wil the force F cause the maximum steady acceleration? Equilibrium in y direction ~Mg(cosB) +N +Fsing = 0 N+ Fsing = Mg(cosp) Newton in x direction -(Mg)(sin) - (3)(N) + Feosa = (M)(V) Solve for N in (1) and subst. into (2). ~Mg sin§ - 3(MgcosB -Fsina) +Fcosa = MV Y ~ Et-Mglsinp + 30s) +.3F sine + Feosa) 16412.16 A TON force is applied to body # whose mass is 15 kg Body A has 2 mass of 20 kg. What is the speed of B afte it moves 3m? Take pi, = 28. The center of gravity of body A isa its geo. metric center From EBD. 1 ~(20g)(3) +N, +x) + (28)(N,)(1.7) = 0 raed N,G476 +x) - 5886 f* | 588.6 | o ™ {sex : a epi From EBD. I N= (siecs) asesn = Se aras dV, Newton's Law soa -{ 588.6 ]-1735| on -as(%) 3.476 +x 21.97 3.476 +x 21.97 3.9 - A 6689 6 +x 21.97 vaV = 663.9dx - 7297 ay 4 3476 +x 2 Integrate = = 663.9x - 21.97 0n(3.476 +x) #C, When x = 0, V=0 2 C, = 21.970n(3.476) vB 3.476 <= = 663.9x + 21.97 on} ———_ 2 Se " se) AT6 = 3. Sulve for V. V = 42) (663.9)(3) + 21.97 nj ———_ Set x (0 { f (3) o( one, Vv = 62.90 m/s| 165‘A constant force F is applied to the body A when it is in the position shown, What should F be if Ais to atiaina velocity of 2 mis after moving 1 m? The spring i unstretched at the position shown, F -( 27%) sooox - 172.8 - 48.93% - anoav% S-x dt a& Separate Variables. 48.93 VdV = Fdx~ = dx - 5000 de - 172.8 de x Integrate aot Fx +2790 in(5 - x) ~ 5000 ~ 172.8x+C, Whenx=0 V=0 = -2790t5 “8 V = Fx +2780 9( 52) - 2002 ~172.8x Let V=2 m/s; x = 1m. Solve for F 97.86 = F(1) +2750 ( $) = (2500)(1) - 172.8 F = 3393 N] 16612.18 Two slow moving steam roller vehicles are moving in opposite directions on a straight path. They start at A and B st the 7 a time # = 0, How far from point A do they pass each other? What are their speeds when this happens? (Hint: Show that the time for - te coum this is 1.5 hours.} Note isin hours, Y= or BT 3 kate PP 9 050 kev Let x, = (22.695 -x,) St+.6t? +.375¢? = 22.695 {x + 9.3232 = 22.695 - 13.371 9.3232 = 9.3232 BED x, = 30.5) + on +3(15) = 13.37 km = 6t~ /3t+3 4.12 kmh] 2 Vy = S404 (5) 6.883 km/hr] 167‘As yoo lead in chemisiy, he coefficient of viscosity is a messi, rughly speaking. af the “stickiness” of a uid Ta measure tis property for igh viscous liquid-ike oil, we let a smal sphere of metal of radius R descend in a container ofthe lig uid. From fluid mechanics, we know that a drag force will be developed from the ol given by the formula = 6muvR This relation is called Stoke's law. The other forees acting on the sphere ar its weit (ke the density ofthe SPbeTe 85 Pepe) NK the booyant force, which isthe weight of the oil displaced (take the density of the oll as poy). The sphere wil reach a constant velocity called the terminal velocity denoted 28 Vyeqy- Show that 1 FE (Pane Po) Newton’s Law at terminal condition is 4 F-0- FRC prae8) ~ 22 RO, a8) * 65 1 Vg R SVL FP8P cotere ~ Pat Solve for 1: 168A force F is applied to a eyetem of light pulleys to pull body 4. If Fis 10 kN and A thas a mass of 5000 kg, what is the speed of 4 after 1 sec starting from rest’? ‘The tension in the cable must be lip- 7 -sv 20,000 = (5,000)¢ ¥=4.0 mjsec? x= 4.0 (1) = 4 mjsecA force represented as shown acts on a body having a mass of I slug. What is the position and velocity at 1 = 30sec if the ody starts from rest at ¢ = 07 Newton's Law from 0 to 5 sec av = =10 dt V=10r+C, s-50+C+C, Clearly, C,=C,=0 VS) = 50 s(5) = 125 Use Newton's Law from 5 10 10 sec. Use t for time. aw oat a V=15¢ +50 8 #752" +50t +125 VS) = 75 + 50 = 125 (5) = 187.5 + 250 + 125 = 562.5 Use Newton's Law from 10 10 30 sec . Use 7 for time. (@)-° V = Const. = 125 filsec y= 125 +5625 V(20) = 125 filsec 5(20) = 2,500 + 562.5A body of mass I kg is acted om by a force ‘as shown in the diagram. Ifthe velocity of the body is zero at 1 = 0, what isthe veloe ity and distance traversed when ¢ = Imin? ‘The force acts for only 45 sec. Force sen] 10N asec Figure P1214 Time interval 0 - 10 sec When 1-0 , x=%=0 At t=10: Time interval 10 - 30 sec . Use + for time going from 0 0 20 sec @sx Pp «aay ds l4t +C, m112.22 (cont) x27 + Cr 4, i= 50 When <=0 , x= 166.7 fe +50 = 70? +500 + 166.7 When + =20 Time interval 30-45 sec Use = for time going from 0 io 15 sec ax dt When +=0 , x= 3,967 m eeuze 22 = 147-17? +330 eer te xeTe 2? «3205 + 3.96712.22 (cont.) Time interval after 45 sec . Use = for time starting from 0 » 2435 msec x 435% + 9,967 When #=60 sec , %=15 secThree coupled streetcars are moving down aan incline at a speed of 20 km/hr when the brakes are applied for a panic stop. All the wheels lock except for car B, where due to a malfunction all the brakes on the front end of the car do not operate. How far does the system move and what are the forces in the couplings between the cars? Each streetcar weighs 220KN and the ‘coefficient of dynamic friction jy between wheel and rail is .30. The friction force f is for each car as follows: ‘f, = (30)(220,000)(cos 7°) = 65,508 N 305 }20,0003e05 1 =32,754.N fe > (30)(220,000)(cos 7°) = 65,508 N Newton’s Law for system is: 3)(220,00)sin 7° ~ 65,508 ~ 32,754 - 65,508 - 3 mee \(Z V = -1.239t+C, When ¢-0 , ¥ = 20{ 3p) 556 msec C, = 5.56 1.2301 + 5.56 P 1239 £ + 5.561+C, 2 When t=0 , x=0 . ©,-0 In Eq. (1) solve for « when V-012.23 (cont.) Solve for x in Eq. (2) 2 2 + (5.56)(4.49) Find coupling force F, between cars B and C . Look at F.B.D. ofcar C. We know that acceleration is -1.239 mjsec . lw & £ (220,000)(sin 7°) + F, - 65,508 = 1.289 F,= 10,910 N To get coupling force F, between cars A and B getF.B.D. of car A Ww FR ty Newton's Law 220,000)(sin 7°) + F, - 65,508 = x) 1.239) F,= 10,910 Nj‘A body having a mass of 30 Ibm is acted con by 2 force given by P= 308 + eI ity is 10 fisec at # = 0, what is the body's velocity and the distance traveled when ¢= 200? Rearranging and integrating we get: t ¥= 32.2 ees 30 +3225 eteCte, Initial conditions: C= -1073 The equations of motion are: 2 i-312 5 -107de*+ 1107 4 x 225 + LO73e + 11.078 - 1.073 176‘A body of mass 10 kg is acted on by a force in the x direction, given by the relation F = 10sin 6/N. Ifthe body has a velocity of 3 mjsec when 1 = 0 and is at position x = Oat that instant, what is the position reached by the body from the origin at 1 = 420? Sketch the displacernent-versus- time curve. 10¥ = 10sin 6 1 = Gost +C, 1s = yg inte,‘A water skier shown dangling from a kite that is towed via a Hght nylon cord by 8 powerboat at a constant speed of 30 mph. The powerboat with passenger weighs 700 Ib and the man and kite together weigh 270 tb. If we neglect the mass of the cable, we can take it as a straight line as shown in the diagram. ‘The horizontal drag from the air on the kite plus man is estimated from fluid mechanics to be 80 b. What is the ension in the cabls? If the cable suddenly snaps, what is the instantaneous horizontal ‘lative acceleration between the kite system and the powerboat? Free Body of Kite System as a Particle ny A,= €olb 270 tb Tcos15° =~ 80 T = 82.82 lb Newton for Powerboat (Add on 82.82 when release takes piace). (Bho Gygax = 3.68 fifsec? ‘Newton for Kite System (on releese) — -80 = 270 a, g Gigs = ~9.541 fefsec? (Aa), = 3.68 + 9.541 7812.27 ‘A mass M is held by sil light telescoping rods that can bw ‘elongate or shorten freely but cannot bend, Each rod is pin con nected at ibe ends A, B, C, and D. The system is on a horizontal, (icdionles surface. Two linear springs having spring constants K, = 880 Nm and K, = 1.490 Nim are connected 10 the rods at shown in the diagram. If mass At = 3 kg is moved .003 mo the right and is released from rest, wht isthe equation forthe veloc ayn ity in the x direction as a function of x? What is the speed of the ‘mass when it returns to the vrial position ofthe rods? @- -(3 sex 2 «400 a 32m & - ~587x -s60x = -1147x ae at b 3xd(x) = -1147xdr 2 Integrate ~ 1147 i +, When x = 003, ¥- 0 = C, = 516x107 2 15% = ~147 +5.16 x 107 x 3 ~ 7765 + 3.44 x 10 (0.0587 mjs| 179A force given us Ssin 2rTb acts on a mass ‘of I slug. What is the position of the mass at t= 10sec? Determine the total dis tance traveled. Assume the motion started from rest, 2, # ~s5sin3t ~~ $eos3¢+ 6, 5 ~ Fsin3e + C+ Ce x10) ~~ 3 sin30" -200) -fi722 7) To get total distance traveled, note that we have: é Sees r+ 3 =F ~ cos 32) Thus, the velocity is 20 atall times. Hence x() always increases in value and we can equate distance traveled in 10 sec with x(10) . Thus Distance traveled = 17.22 fiA block 4 of mass 500 kg is pulled by a Force of 10,000.N as shown. A second block B of mass 200 kg rests on smal frictionless rollers on top of block 4. A wall prevents block 8 from moving (o the lef. What is the speed of block A after 1 sec starting from a stationary position? The coefficient of friction jig is «4 between A ‘and the horizontal surface. 10,000 ~ (700)(9.81)(.4) = (500)z ¥= 14.51 msec V=1451t+C, C,=0 181‘Block B weighing SOON rests on block 4 which weighs 300 N. The dynamic coeficient of friction between contact surfaces is 4. At wall C there are rollers whose frietion we can neglect. What is the acceleration of body 4 when a force F of 5000 N is applied? Newton's Law for A in x and y directions: ~5,000 + AN, + .4N, cos 20° + N, sin 20° ~ “Ny cos 20° + AN sin 20° -300 + N, =0 Newton's Law for B in y direction. N,c0s 20" - AN, sin 20° - $00 = wees ae 9.81 From geometry |tan 20° | [5] = [¥ tan20°| = |364 2] Considering the reference, j= -.364% . Rewrite Eqs. (1) - (3) using above relation: ~5000 + .4N, +.718N, = 30.58% @ Nj, =300 + .803N, (6)12.30 (cont.) 8029N, = 500 - 18.55 ¥ Solve for # from Eq. (6) = ~0433Ny + 26.95 Subst. Eqs. (7) and (5) into Eq. (4): -5000 + 4(300 + 803N,) +.718N, = (30.58)(~.0433N, + 26.95) N,- 2414 N From Eq. (6): £+ 77.53 misec! Block A accelerates to left at a rate of 77.53 m/sec*‘A body 4 of mass Ibm is foreed to move by the device shown. What total force is exerted on the body at time 1 = 08 28 Mae 6 soc? What isthe maximum total force on the body, and when is the first time this force is developed after 1 =07 What is [P | at this time? V=2sin2ei + cos2ij ‘Rinat nie @ = 400s 2ri -2sin2j pe 5 ncn aed ag tt cos2ti 2sin2t/] (FI = ae costar + 2sin® 2° = 0621/4 cos?2e + sin?2t = 062174 cos'2t + 1 = cos* 2t = 06211 + 3 cos* 2 0621 (-12 cns 2tsin 2¢) 2 +3008? Consider Local Max. when +=4 see first, Hence, the first time developed after 1-0 is at t= = 1.571 sec. Then \FI is: 0621/1 + 3 cos’ |242 Ib12.32 Do Problem 12.10 for the case where there is viscous friction between piston and cylinder given as 150 Nise of relative spesd. Also, what isthe maximum distance / the piston can advance relative to the eylinder? Consider cylinder A piston is being moved through aeytiner. The piston is ‘moved at a constant speed ¥, of 6 m/sec relaive tothe ground by ‘a force F. The eylinder is free to move along the ground on small, heels. There is a coulombic friction force between the piston and the cylinder such that j1, = 3, What distance d must the piston ‘move relative to the ground to advance .01 m along the cylinder if, the cylinder is stationary at the outset? The piston has a mass of 2.5.kg and the cylinder has 2 mass 5 =" a, ME = 150.6 -¥) a. _ (150) (-¥) 5 -In (6 - ¥,) = 308+ C, V,=.60 -e Ol -fo, “Vd [(6= 6 + 66 *9dt ° 0 18512.32 (cont.) To move distance @ we have For &~ « we get maximum value for ¢ which is‘The high-speed aerodynamic drag on a car is 02V71b with ¥ in ftjsec. If the initial speed is 100 mifhe, how far will the car ‘maove before its speed is reduced to 60 mir? The mas of the car is 2000 Ibm. Newton's Law: . - 5,280) _ when t=O , V cao ($5551 146.7 fifsec ‘i |) Rewrite Eq. (1) O2t + 4235 Separate variables: 62.11 dt (Oar = 4235) Integrate on In (02¢ +4235) =x +C, When f=0 , x=0: Hence,12.33 (cont.) C, = -2668 oo In (02e + 4235) + 2,668 Go back to Eq. (1). Set 7 =60( 5280) - 4. (1) 50 88 fifsec C2 O21 - 4235 32.2 | 88, 2. t=14.12 sec Subst. 1= 14.12. into Eq. (2): _ 6211 xx = 211 tp ((02)(14.12) + 4235] + 2,668[A block slides on a film of oil. The res tance to motion of the block is prot tional to the speed of the block relative the incline at the rate of 7.5 Nimisec. If the block is released from rest, what is the terminal speed? What is the distance moved afier 10 see? m2 2-750 + Wsin 20° dt 50 = -7.5V + (50)(9.81)(sin 20°) AW __ 157 +336 a Separate variables av = 15 + 3. (- Fyjncasy +330 =1c/ In(-.15V + 3:36) = ~15t Cy When 4-0 = In 3.36 = 1.2105 =ASV + 3.36 = @ ENS12.34 (cont.) Vs ~6.67¢ “1512105 699.4 V = -22.40e “5 + 22.40 V~22.40 msec x=d e154 2240 AS‘When you study uid mechanics, you will eam that the rag D on a body when moving through 3 fuid with mass density pis given as 3G,pV? A where Vis the velocity ofthe body relative to the fluid Ais the frontal area ofthe objet; and Gi the so-called coefficient of drag usually determined by experiment. ‘A racing plane on landing is moving ata speed of 350 kavhe when braking parachute is deployed. This parachute has & frontal area of 30 mi and a G, = 1.2. The plane tas 2 frontal area (of 20m? and a G, = 04. Ihe plane and parachue have a combined mass of 8 Mg. how long does it take to go fe 350 kmvhe to 200 kerr by just coasting? Take p = 1.2475 kg/m? and neglect rolling resistance from the tires. There iso wind D= FO. 2475NY>1C1.2360) +(4)(20)] = 27.457 dv m— = -27.45V? at av 8x 10° = -2745V? * dt dV _ -2145 <- ds vo 8x1? Integrate ~ V1 = -3.43.x10%+C, 1000 When ¢ = 0 ¥, = 350-55 > 972 mis 191In the previous problem, what isthe largest frontal atea ofthe braking parachute if the maximum deceleration of the plane is to be Sp's when at a speed of 350°knvsthe parachute is first eployest? ‘When you study fluid mechanics, you will lear that the ‘drag D on a body when moving through a fluid with mass density is given as 1G,pV2 A where V is the velocity of the body relative tothe fluid; is the frontal area of the object; and Cis the so-called coefficient of drag usually determined by experiment ‘A racing plane on landing is moving at a speed of 350 ker ‘when a braking parachute is deployed. This parachute has a frontal area of 30 m? and aC, = 1.2. The plane has a frontal area, 0f 20 mi and & Cy = 0.4 Ifthe plane and parachute have a combined mass of 8 Mg, how long does it take to go from 350 knvir to 200 kmMhr by just coasting? Take p = 1.2475 kp/m? and ‘neglect rolling esistance from the tres. There is no wind. Da af 3 )o2e3{ 350 =~ i + {3 }o2075 [os = feo D = 707 x10°A +4,72 x10°N ~(@ x 10°)[(5)(9.81)] = -7.07 x 10°A - 4.72 x tot 83m’ 19212.37 "Mass Bis on small ollers and moves down the incline. It {is connected to a linear spring. which at the position shown is stretched from its undeformed length of 2 m to a length of $ m. ‘What isthe speed of B afer it maves 1m? Use Newion’s law as well as the x coordinate shown in the diagram. i, — 2m unstretched length of spring) K=20Nim ~ (40g)(c0s30° (2.5) + N,(S - x) = 0 849. N = (5) 20g sin30° + K(3 - x) ~ (2)(N,) = en % a a 98.1 + (20)(3 - x) ~ 19312.37(cont) ve x Integrate 7 7905-7 + 8495 tn 5-2) «6, When x= 0 ¥=0 , = ~8.495 tn (5) v y 7 7.905 - = +8955 —» ~tn5] 2 I! Ve valronse > +8495 (1 -2}F 2 etx =1 ve v7.50 - 3 + 8.495 mo V 32_mis| 19412.38 A wedge of wood having a specific gravity of 0.6 is forced into the water by a 150-Ib fore. The wedge is 2 fein width (a) Whats the depth a? (b) What is the speed of the wedge when it has moved upward 0.48 ft after releasing the 150-Ib force assuming the wedge does not tum as it rises? Recall a buoyant force equals the \weignt of the volume displaced (Archimedes). Volume of water displaced = V = | Bese | = 1155d? » (1.155d?)(62.4) = 72.14? Weeige = (2( 4) 3)( EX, \c6162.4) = 291.8 wee 2 tan 30° Use Archimedes ~ (291.8 + 150) + 72.1d? = la 54 fi ~T2.Ay? + 291.8 = Integrate - ay = 8) 28) 6, When y = 24754 V=0 ~ “2+ 2.4754)> + (291.8)(2.4754) = 357.8 v ly +291.8y = 52 Q91.8) + 3578 Set y = 2.475 - 48 = 1.995 - Bh 1.995) + 291.8)0.995) = Ze OLs) 3578 ERA poison dart gun is shown, The cross- sectional area inside the tube is 1 in.2. The dart being blown weighs 3.07. The dart gun bore has a viscous resistance given as -3 02 per unit velocity in ft/sec. The hunter applies a constant pressure p at the mouth ‘of the gun. Express the relation between p, V (velocity), and 1. What constant pressure p is needed to cause the dart to reach a speed of 60 fijsec in 2 sec Assume the dart gun is long enough. 3 wv (16)(32.2) de av (16)(32.2) 4, 3 “16” _ 90322) 3 (is) 3 In - 3H) = -322+C, Inp=C, te] ~~ (a12.39 (cont.)Intagrate: Using the diagram for Problem 12.5, assume that there is a lubricant between the body D of mass 5 bm and the belt such that there is a viscous friction force given as 1 Ib per unit relative velocity between ‘the body and the belt. The belt moves at a uniform speed of 5 ft/sec to the right and initially the body has a speed to the left of 2 fulsec relative to ground. At what time Tater does the body have a zero instantane- ‘ous velocity relative to the ground?” we C5) Find « when V-0 198‘In Problem 12.44, assume that the belt sys~ tem is indined 20° from the horizontal with end B above end A, What minimum, belt speed is required so that a body of ‘mass M moving downward will come to a ‘permanent halt relative to the ground ? For this belt speed, how long does it take for the body to slow down to half of is initial speed of 2ft/sec relative to the ground? =0 and solve for V, . nt “e(V + 17.10) + 5 sin 20° = -(4)V . nv =(-0( 222) +c, When 1-0 ; V=2 C,=n2 »(5) = 6440 Set V=1.00. Solve for t :2.42 ‘The largest of the supertankersin the world today is the S.S. Globtik London, having 2 ‘weight when fully loaded of 476,292 tons. ‘The thrust needed to keep this ship moving at 10 knots is SOKN. If the drag on the ship from the water is proportional to the speed, how long will it tke for this ship to slow down from 10.knots to $ knots, after the engines are shut down? (The answer may make you wonder about the safety of such ships.) The drag force i FokV To find # note that when V=10 knots, F=50 kN . Hence: 1,000 10,000 = k(10)(1.152)(1.609)| = 50,000 = k(10)(1.152)¢ (5 ) k=9,711 Nimjsec Newton’s Law: a __~@.711)2.2)_ V 476,292)(2,000) In V = 2243x104 +C, When ¢=0 v= caoy.1s2y.609 32%) 3,600, )=s45 msec C, = 1n5.15 = 1.639 In V = -2.243x10°t + 1.639 When V=2.575 mjsec find ¢ : 946 = -2.243x10°F + 1.639 20012.43 Let 8 be vertical tip deflection of cantilever beam. Then bar b-CF ‘Acanilever beam is shown, Is observed {hat he veral deflection of the end 418 - tirealy roporonal oa vertal Up oad F ~ (2009.81) F provided that this load is not too exces- Sine A by B of mass 200 kg, when a 5-5 mm tached to the end of the beam with F femoved, causes. defection of 5m 5 =(C)200K9.81) thereafter all motion has ceased. What is the speedo this boy itis attached sud- C= 002548 denly to the beam and has. deoended Sinn? =.002548 F . § 392 Nmm= K _ | We thus have the “spring constant" for the system. Now use Newton's Law using y in meters: (200)¥ = [(200)(9.81) ~ (92)(1,000))] Y= 9.81 - 1,962y VaV = (9.81 - 1,962y)dy ve y Y cosy - 1,962 + Ge 98ly- 19627 +, When y=0 , V=0 = C,=0 Ve paw - 1202 ]) Set y=.003 m v-[2[exnconn oe way [203 mised‘The spring shown is nonlinear. That is, X is not a constant, but is a function of the extension of the spring. If K = 2x +3 ofin, with x measured in inches, what is the speed of the mass when x = 0 after it is released froma state of rest at a position 3 in, from the equilibrium position? The mass of the body is 1 slug. Nentnear { oe gmeotn K= (2x +3) Ibjin. Measure x in feet: . K=(24x +3) dbfin, = (12)(24x + 3) lbjft off) : f ((12)(24x + 3)ide vav fe (12)24x + oa ° 1 == » V=0 When x qf cl 3) 36 (1)? = v1 +2]-] - 1.8750 Cay (a) ~ 18x72 + ssrso 365 filsec 202A particle of mass m is subject to the following force field: F = mi + 4nj + 16mk Ib 4m addition, tt undergoes a frictional force Siven as f= —mii — mij + 2mik ib The particle is stationary at the origin at time What is the position of the particle at time 1 = 1 sec? Newton's Law: +3)+28) =m[—9i +49} +208+2)8] For 7 component: For j component: -In(4- y)=1+C, -ina 20312.45 (cont.) -4(e" 1) yade"s4r+C, From boundary condition, C, - -4 . » yadetsae-4 Considering & component: E2818 In(B+2)=2t+C, 5 C,=In8 wf +G)em 8 2=8e%-8 zede%-8t+C, 3 C,=-4 . Z=de%-Br-4 FO) = (et +t Vis et ar ay + Ge™ -8¢- DE rey -(2}i+(Sfi er 1k -[aosi + 1.473} 175684] Mle}teA veebee is shot vertically upward with an intial velocity of 120 fusee. Ifthe air resistance is 14 x 10-8V2 Ib, how much time elapses for the projectile to reach its maximum elevation? How high does it 20? The beebee weighs 85 oz. Going upward we have from Newton’s Law 85116 av 322 dt oo dt ~ (1.4 x 10°) V? ~ 85/16 = a 1.4 x 10°? - 05313 = 1.650 x av 606.1 dt arate variables —————— = se 1.4 x10? + 05313 — _ . -cossasaar 3795 + V7 Integrate — ~ 00848541 + C, When t= 0 V = 120 2 01780 = -.0084851 +0178 Set V - 0. Find time t Take tan of both sides. .6)(~.00845¢ + | Sig ~ nlG1-6(-.00845: 0178)] 2 = 61.6 tan[-0.52051 + 1.0965]12,46(cont.) Integrate between limits from 0 to h ft and from 0 to 2.10 sec. 210 f= 616 f tan[-.5205¢ + 1.0965}dr ° = 52051 + 1.0965 = + @1-0, — = 1.0965 dt = -19212de @r = 210, t = 345x107 345x107 hk = (61.6)(-1.9212) f tant dr oss = = -118.35[- treos BS" ‘ft = 118,35 tr cos{ -0.5205¢ + 1.0965] 5° ‘A = (118.35)(.7837) = 20612.47 inthe previous problem, the becbee has reached a max- {mum height of $2.75 ft whats the speed when it retums o the aground, assuming it does not rach its terminal velocity? If it has reached the terminal velocity, what is your answer? A tbesbee is shot vertically upward with an intial velocity, (of 120 fsec. Ifthe air resistance is 1.4 x 10-*V? Ib, how much time elapses for the projectile to reach its maximum elevation? How high does it go? The beebee weighs .85 oz. Coming down,Newton requires ~0.4 x10) v2» 85. 856 oY 6g @ 1.4 x 10°5V? + 05313 = 1.650 x 10 v al a Separate variables Vv _. e6.1 ay -1.4 x 10°V + 05313 ae 008485 dy 3795 - Eo =a Cat FOR MOLAR) Integrate “ ; tn 795 - V7) = 084Bsy +c, When y-0 V-=0 s ~4.121 Set y = 92.76 - ; tn (3795 - V2) = (.008485)(92.76) - 4.121 3795 - V2 = 66st 3795 - e668 - 2 1 (795 - 7868)? = (14 x 10) Vag Vins 61.6 filsec| Has not reached terminal vel.‘A rocket weighing 5,000 Ib is fired venically from a test Stand on the ground. A constant thrust of 20,000 Ib is developed Tor 20 seconds. If just as an exercise, we do not take into account the amount of fuel bumed, and if we neglect air resistance, how high up does this hypothetical rocket go? Note that neglecting fuel ‘consumption is a serious eror! In the next problem we will aves tigate the case ofthe variable mass problem, 1) Newton 15,000 -( a) y= 3g Oo y= aed (20) = (3)(32.2)(20) = 1932 ft/sec 240 yen) = 386 «gf (20) = 19,320 ft (End of thrust) Next (only weight acting) (Start a new time f° with initial conditions @ s° - 0, y ~ 19,320 ft, ¥ ~ 1932 fils). 32.21" +C, = -32.28" + 1.932 st = 60 sec 2 y= uu + 1.9321" +C, When 1” = 0 y = 19,320 2 Cy = 19,320 (60) = 77,280 ft =. | Total Height is 77,280 ft 20812.49 Calculate the velocity after 20 seconds for the case where there isa decrease of mass of rocket of 100 Ibm/sec as @ result of exhaust combustion products leaving the rocket at a speed ‘of 6,000 fusec relative to the rocket. At the outset the rocket ‘weighs 5,000 Ib. (Hint: Start with Neweon’s law in the form F = (didiin¥) where F is the weight, a variable that decreases as fuel is bumed. The first term on the right side of this equation is ‘m("t) where mis the instantaneous mass ofthe rocket and un- ‘bumed fuel, Now there isa force on the 100 Ibmusee of combustion. products being expelled from the racket at a speed relative to the Newton’s Law F rocket of 6000 fee. The rate of change of linear momentum] aseociated with this force clewly must be (dmiiX6,000). The ‘reaction to ths force for this momentum change is 00 the rocket in the direction of flight ofthe rocket and most be added to m(@Vidh. ‘Tne force exered by the exhaust gases on the rocket is & propul- sive force and is called the shrusof the rocket. Agnn, neglect drag (of the atmosphere since it wil besmall atthe outset because of low velocity and ama later because of the thinness of the atmosphere.) Sewn dt 6000 - 100) = 45000 - 100 ©” 1 |x & 100 (6090) g ivi -1W ,|_s__ Divide by - (5000 - 100/) edt *| 3000 ~ 100% ar = -av- g Integrate When ¢=0, V=0 12 (6000) 5000 - 1002 1 100 1 = -Ve tn (5000 ~ 1002) +C, r= dv 200 000) in ¢ (sts . 4 6000) tn (5000) + ¢, & C 8 Set t = 20 sec, solve for V 209 1 1587 ~ 1 v1 6000) en (5000 - 1001) + 1587 & = (20g) ~ (6000) én (5000 - (100)(20)) + (1587) V = 2419 fijsec]We stan with a eylindrical tank with diameter 50 ft con: ‘ining water up to a depth of 10 ft Initially the solid movable cylirdrical piston A having a diameter of 20 ft and a centerine colinear withthe centerline of the tank is positioned so tha its top is flush with the botiom of the tank. Now the cylinder is moved ‘upward so thatthe following data apply atthe instant of interest assuming the free surface of the water remains fat fy = 2M fi = Sfsec iy = 3 fulsec? What is the extemal force trom the ground support on the water ‘needed for this condition not including the force required to sup- ‘port the dead weight ofthe water? Conservation of Mass x © (50%)(10) = F (5071110), FP - 20h) + p Foye, - 25,000 = 2100h, + 400, - 400k, 2500h, - 400A, = 25,000 hy = 10+ 16h, fa) Ay = 16h, } a hy = 16h, (e} Find CM Ah, 1938[ £ \so> 10, = 1938 2 (50? 20m, + 1.938 0%, ta ’ . 2 fy thy 25,000h, = 10504; + 400(h, h,)} 2 2 25,000h, = 1050h? + 200(h? ~ 43) 25,000h, = 1250h; - 20h? 25,0004. = 2500h, ji, - 400h, 4, 25,000%, = 2500K; + 2500h,%, - 40042 - 400, fi, (a) (2) (3) 21012.50(cont.) Newton’s Law for C.M POPU A, = Fan 1 2 2 , 1938( © es.00)| 55 25008 + 2500h fi, ~ 40042 - 400%,/,)) = (Fun From (1) Ay = 10 + (.16)(2) = 10.32 fr 1 = (.16)(5) = 8 fis Fi, = (1G) = 48 fils n ¢1.938)( $F Jfesoo.9* + (2500)(10.32)(.48) ~ (400)(25) - (400)(2)(3)] = (Fax ayn (Foam = 2411 |12.51 A sleeve slides downward along a pipe on which tere is dry friction with #1, = .35. A wite having a constant tension of 80 N is attached to the sleeve and moves with same angle cx with the horizontal Ifthe sleeve weighs 60 N, what should a be for the sleeve to move for 10 seconds hefore sopping after starting downward with an initial speed of $ m/s? Newton's Law in § direction (2) £6 = 60(.707) - 80 sin(p) -.35N 6116-4) = 42.42 - 80 sin(B) - 35 Separate variables and integrate. 6.1168 = [42.42 -80(sinB) -.35NJe+C, (1) When ¢=0 = S = 5 mis = (6.1165) = 30.58 Equilibrium in N direction 80 cos - (60)(.707) +N = 0 N = 42.42 - 8008p Subst. for N into (1). Now set 5-0. Att = 10 sec we get © = [42.42 ~ 80sinB ~ .35(42.42 ~ 80 cos B)] 10 + 30.58 + 306.3 - 800sinB + 280cosB = 0 Solve by trial and error B = 405° Hence for « we have a = p+4s° a = 45° + 40,5 22From (1) Subst. into (2) ————] ‘An election having @ charge of ~e coulombs is moving between two pazallel plates in a vacuum with an impressed volige E.Ifatr = 0, the electron has a velocity ¥, at an angle ay, with the horizontal in they plane, what will be the trajectory equation tak- {ng the initial conditions tobe atthe origin of zy? Show that ey 8. cana, > Im * TW cos ay ° Where mis the mass ofthe electron. Note we have neglected gravity hee since iti very small compared wih the electrostatic Force eE “ = Sy, t+ y= BE svsinte ye Ze t = x/¥,cos(«,)A system of light pulleys and inextensible wire connects bodies 4, B, and Casshown. If the coefficient of friction between C and the support is 4, what is the acceleration of each body? Take M, as 100 kg, Ma as 300 kg, and Mc as 80 kg. y b From kinematics we can say: Ia * 29g +X = 0 2 y+ 2g+%~ 0 +r loog -T+981 = 1007, @) or 300% -2T 1 (300)(9.81) = 300f, 2412.53 (cont.) - T+(.4)(80)(9.61) = 80%, Substitute for T in Eq. (3) from (2): -2[981 - 100f,) - (300)(9.81) = 300, Substitute for T from (2) into (4): -(981 - 100 j,) +344 = 80%, Now substitute from (1) for %: 100, - 667 = 80(-J,- 25) 1805, = 667 - 160f, Iq = 3.71 - BBY, Substitute J, from (7) into (5): 200[3.71 - -889 J] +981 = 300F,, Jo = 2.606 msec? From (7): J, = 3.71 - (,889)(3.608) = 504 msec From (1): K,, = ~ 504 - (23.606) = =L12 msec?‘A device used at amusement parks consists of a circular room that is made to revolve about its axis of symmetry. People stand up against the wall, as shown in the diagram. After the whole room has been brought up to speed, the floor is lowered. ‘What minimum angular speed is required to ensure that a person will not stip down the wall when the floor is lowered? Take Mad. Data: r=10'; = ok; Write Newton's Law: Fema Fb,+ F,8, = mT )e, F,- W-f-0 aM F = mrt (2) Note that f =-pF,. Hence: f-W Bul f= uN = -pR= W= mg é- = 3.28 sadisec. er 26A flywheel is rotating at 2 speed of @ = 10 radisec and has at this instant rate of change of speed @ of 5 radjsec?. A sole ‘oid ot this instant moves a valve toward the centerline ofthe flywhee! ata speed of, 1.5 msec and is decelerating at the rate of 6 msec, The valve hasa mass of | keand 33m from the axis of rotation atthe time ‘of interest. What is the total force on the valve? Flywheel Data using cylindrical coordinates: -1.5 msec. 7 = 6 misec* -1h. From Newton: B= ma = {r-78 e+ [78 + 2701, + 28} = {1.6 ~ (.3)(100)]é; + [(-3)(5) + 2~ 1.5)(10)]2,(1) The above force is that which is needed to give the valve the desired motion, Also to resist gravity, we have for the force from the flywheel onto the valve: F ~ 29.48, - 28.58, + 9.818, N.‘A conical pendulum of length 1 is showa, ‘The pendulum is made to rotate at a constant angular speed of @ about the vertical axis, Compute the tension in the cord if the pendulum bob has weight W/. What is the distance of the plane of the trajectory ‘of the bob from the support at 0? Using Newton's Law we have for the particle: TWh = mig ~ “a7 + af +a,8) g -Tsinej + Toosek- Wk = mla,/] It is clear that a, and a, are zero for this problem. a] = -07¢ sine} ‘The scalar equations for Newton's Law are then: - reine - - Yiw?sine g In eq, (b) solve for cos® and muttiply by ¢. Thus: Since d = ¢ cos®, we can say:‘A shaft AB rotates at an angular velocity ‘of 100 rpm. A body E of mass 10:kg can move without friction along rod CD fixed to AB. Ifthe body Eis to remain stationary relative to CD at any position along CD, bow must the spring constant K vary? The distance re from the axis is the unstretched length of the spring. 2 Y, = unstretched length of spring ‘The spring must have a variable spring constant so as to keep the mass at E, moving ina circular path when it is placed at any position along C-D. Thus: -Kir=1) = -(royn(t0028 21912.58 A device consists of three small masses, three weightless rods, and atinear spring with K = 200 Nim, The system is rotating in the given fixed configuration at a constant speed @ = 10 rads ina horizontal plane, The following data apply: M, = ke, M, = 3g. M, = 2ke the spring is stretched by an amount .025 m, determine the total force components acting on the mass at C and the tensile force in member DA. [Hlnt: Consider a single particle. then a system of particles: DA and DB are pin connected.) Consider Newton’s Law for Mass C. 10 = 5° - 7 = mrorsina, = QN5)00) 4 - 80 Ic, = 800 = 2¢5)005 2 60 [C, = 60n] Now consider system of particles. Use the Center of Mass at B. soy Using CM. A cosa, + (200)(.025) = (7)(.4)(10°) A. = —(200)(,025) + (7)(.4)(100) 08 ct 2012.59 In the preceding problem consider that member DA is welded to the sphere at A. Now, atthe instant of interes, thee is also an angular acceleration ofthe system having the valve of 28, rad/sec? counterclockwise. What are the force components acting ‘on particle C, and what are the force comporents from rod AD acting on particle A? See hint given in the preceding problem, A device consists of tree stall masses, thre weightless rods, and a linear spring with K = 200 Nim. The system is rota ing in the given fixed configuration at a constant speed @ = 10 rad/s in horizontal plane. The following da eply: M, = ke. M, = 3k, Me = 2kg If the spring is stretched by an amount 025 m, determine the total force components acting on the mass at Cand the tensile force ia ‘member DA. (Hint: Consider a single particle, then a system of particles; DA and DB are pin connected) Consider Newton’s Law for Mass C. myo sin - mra cosB en 100 #) - enei2a( 2} . r r c- erera0n(*) + enen2n( 4) - ks Now consider a system of particles. Consider Center of Mass 8 Newton's Law. Using the CM. ~A,, ~ (200)(.025) = -(7)(.4)(10") A, = ~(200(.025) + (7)(.4)(100) A, = ZISN 221A device called a fyball governor is used to -egulate the speed of such devices as steam ‘engines and turbines. As the governor is ‘made to rotate through a system of gears by the device to be controlled, the balls will tila» contgraton speed © of the governor and the force P acting on the collar bearing at 4. The up- and-down motion of the bearing at 4 in response to a change in @ is then used to ‘open or close a valve to regulate the speed of the device. Find the angular velocity required to maintain the configuration of the fyball governor for @ = 30°, Neglect {frction. Using components of Newton's Law for the governor ball we can say: T, cos 30° - 7,cos30° - 20 = 0 ~7,= 22-234 -866 (7+ F)sin30° = 2 (o'itsing0" 0) T, = 621 w? Consider next the 30 Ib. wt. 27, cos30° - 30 = 0 22212.60 (cont) From (a) we get: = 17.32 423.1 = 40.4 and from (b) we get: » wiA platform rotates at 2 radjsec_ A body C ‘weighing 450 N rests on the platform and is connected by a flexible weightless cord to a mass weighing 225 N, which is prevented from swinging out by part of the platform, ‘At what range of value of x will bodies C and B remain stationary relative to the platform? The coefficient of friction for all N, = 450N :. Using Newton's law in x direction: T~(.4Xx450) Dyae’y T = 180+183.5x12.61 (cont) 2 T= 225-4N, Now use Newton's law in_x direction N (By .coyey = 55.0N +. T ~ 225-(.4)(55.0) - 203 Go back to (a); solve for x: 203-180 183.5 x = 41252m c) Nowassume impending motion to right. Then: Eqs. (a), (b) and (¢) become: T = -180 + 183.5x T= 225+.4N, (a) N, = 55.0 N . T= 247 p= 247+ 180 183.5A particle moves under gravitational io- fluence about a body M, the center of which can be taken as the origin of an inectial reference. The mass of the particle is 50 slugs. At time ¢, the particle is at ‘position 4500 mi from the center of M with direction cosines J = 5,m=—5, n= 107. The particle is moving at a speed of 17,000 mifhr along the direction €, = .81 +2) + 566k. What is the direction of the normal to the plane ofthe trajectory? = .5/-.57+.707k é, = 87 +.2)+.566k Netxa, 566 k 707 566 N= tk+ 566]-.2831-.1401 -.283}+ 4k A24i + 283] + 5k g, = 4247, 283 713° 7481V, = const. =< Initially | 7-2 4800(.5/ - 57 + 707K) If the position of the particle in Problem 12.62 were to reach a distance of 4300 mi + of from the center of body Mf, what would V = 17,000(.8/ + .2/ + 566%) the wansverse velocity V4 of the particle be? vr V, = 1700[(.5)(.8) + (-.5)(.2) +(.707)(-566)] = 11,902 17,000? - 11,902? = 12,138 mph C = (4500)(12,138) = 5.46x10" For second position: (4300) = C = 546x107 Y, = 12,703 mph. 12.64 Use Eqs. 12.38b and 12.40 to show that if the eccentricity is zero, the trajectory must be that of a circle. Eq12.385 2 = DC’IGM £91240 1-2. ncose r Ce If e = O, it means that either C or Dis zero. Clearly, if we are in some kind of orbit, then C = £,(Vy), must be greater than zero and so we can conclude that D = 0. In the next equation we then have: 2 r= « const cM Thus since r = const. we must be in a circular orbit for e = 0.A satellite has at one time during its ight ‘around the earth a radial component of velocity 3200 km/hr and a transverse com- ponea: of 26,500 km/hr. Ifthe satellite is at 4 distance of 7040 kin from the center of the earth, what is its areal velocity?” £ 2 C = 1,¥, = (7040)(26,500) or ka hour = 1.886x11 9.3310" kn? lhour 228‘Compute the escape velocity at a position £3000 kim from the center of theearth. What speed is needed to maintain circular orbit at that distance from the earth's center? ‘Derive the equation for the speed needed fer a circular orbit directly from Newton's Jaw without using information about ec centricites, etc. 26M y= | 1, = 8000 km = R= (3600), 1.609 GM = gR? = (9.81) 7000 [(3960) yP = 5.16x107 a Ver 25.16%10") 135.921. kmihour| 8000 ~ [GM _ [516x107 t 8000 125,397 _kmlhour|12.67 ‘A small sphere is swinging in the 2 plane atthe end of a thin fight rod while in a tank of water. If we neglect the buoyant force (see next problem) on the sphere and or the ro, derermine the angular acceleration® and the tensile force Ton the rod for the fol. lowing conditions, which include viscous drag D on the sphere ony. M=O2kg L=33m 6-65 6 = 35%sec |= D=1.5x 10°V?N ° L M Pin connection 5 F) D e ¥ Me ‘t Newton using cylindrical coord. -D +Mgcos® = ML6 -1.5 x 10° [(L8} + Mg cosé = MLB Insert data: (-1.5 x 10 a eof + (,02g)(423) = (.02)(3.3)(6) 16 = 1.164 radjsec?| T. Mgsin@ = MLO T = (,02)(9.81)sin65° + (.02)(3.3) (Sef IT = 2024 Nj 230As you fcard in bith schoo, the buoyant ce on sulbmerged bol equals the weight ofthe Tid dslaea, Do the preceding problem bt now inlude the buoyant force on he sphere twos ciamecer we shal ake to be {0 mm. The volume af a spbere ie nr" and te specific weight of wae is 9806 Nin The buoyant force is (9806)(4/3)(n)(.005)’ = 5.134x10° N. sition DALsT Mt * Newton using cylindrical coordinates. -D + Mgcos0 - 5.134 x 10°°cos8 = MLO -15x 10/3) Bx ]f stares ~ 5.134 x 10Jeos65® = (.02)(3.3)(6) L \ 1.131 radjs*| Transverse Direction T - Mg sin® + 5.134 x 10sin® = (,02)(3.3)(6)? T = {(.02)(9.81) - (5.134 x 10°)]sin65° ~(e2y0.3| $3508) r12.69 ‘A mass Mis swinging around a vertical axis atthe end of «a weightless cord of length L, M is suppored by «frictionless plat form that can be moved venically upward from its lowest postion. where it jut touches M, Formulate an eqation giving the tension Tin the cord in terms of M. L, and «2. What isthe value of @ at ‘which the platform first ceases touch M asthe platform is moved 1, trajectory is that of a hyperbola. Point of closest position occurs when 6 = 0. Note that g = 90.79 filsec? 7 = 44,400 miles GM = gR® = (90.79)(3600)7(43,400)"/5280 = 4.19710" min? i % _ 4,197.10" (ou) 240 (se ) 3.78x10"12.77 + : e C D(t-e?) D(1-2?)'? If the moon has 2 motion about the earth that has an eccentricity of .0S49 and a period of 27.3 days, what is the closest distance of the moon to the earth in its ‘trajectory? Also ‘Substitute for D into Eq. 1 ect 22 _ °°" (ompe(t—e)* les? GM ~ = 1.230x10% Ze 9-Re a Solve for C in Eq. (3): C= (t)GMPU - 0?) 120 © = {(27.3)(24)(1.23910)* (1 -.05497)°*/2n}'* = 5A2x10° Find D from (2): 1p ~ (1:239%10).0549) _ 9 546,407 5.42?x10" LM. p Now go to trajectory Eq. . Trin = 1289-10" _ 2.316%107 6.42x10°F‘The satelite Hyperion about the planet ‘Saturn has a motion with an eccentricity known to be 1043. At its closest distance from Saturn, Hyperion is 1.485 x 10¢ km. away (measured from center 10 center). ‘What is the period of Hyperion about Saturn? The acceleration of gravity of Saturn is 13.93 m/sec? at its surface. The radius of Saturn is $7,600 km. 1043, Iran = 1.48510" km G = 13.93 misec® R = 57,600 km GM = gR® = (13.93)(57,600)? (3500 FF = (13.93) 600)? (00) = 5.99x10" ka? hour mon © 6D =6) _ __2ne? D?C(1 22)” We must find D and C. + DO = (.1043)(5.99x10") = 6.25x10" Also from trajectory:12.78 (cont.) 1 _ 5:99x10" | 5 14g5x10° —C? Solve for D in Eq, (3) and subst. into Eq. (4). 1 99x10" | 6.25x10" 1.485x10° cc ce C = 3.13x10" _ 6.25x10" 9.8210" D 6362x107 Now go to Eq. (1): (2x)(.1043)” 636 )°x10"* (3.13)(10"° (1 -.10437)* [= ssa-nows |Two satelite stations, each in a circular ‘orbit around the earth, are shown. A small vehicle is shot out of the station at A tangential to the trajectory in order to “hit” station B when it is at a position 120° from the x axis as shown in the dia ram, What is the velocity of the vehicle relative to A when it leaves? The Circular orbits are 200 miles and 400 miles respectively from the earth's surface. = oR = 3600" 2 GM = gR® = (82.2)(7F° \(8960) = 1.299107 mes? hou? 2 4160 = 17,258 mph. 1.239x10? << = 16,857 mph. 4360 For new trajectory: when { = 4360 miles = 120°12.79 (cont.) 1, 1239x10" | p¢95 120° 4360 e Also when { r= 4160 miles 9=0 1.239x107 +D 4160 Ce Substitute for D In Eq. (1) using Eq. (2): - s2a0et0 © = 7.29210"; D = 7.373x10% 92x10" y- — = 17,528 mph. 4160 "an AV = 17,528 - 17,258 = 270 moh.‘Two satellite stations. each in a circular orbit around the 12.80 cath, are shown. A small vehicle is shot out of the station at A tangential tothe trajectory in oxder 9 “hit” staiom B when i is at n E 120° from the x axis as shown in the diagram. What in Problem 12.19, determine the total is the velocity ofthe vehicle relative to station A when it leaves? velocity of the vehicle as it arrives at E as ‘The circular ofits are 200 miles and 400 miles, respectively, from seen by an observer in the satellite B. The the earth's surface, i values of C and D for the vehicle from Problem 12.65 are 7.292 » 107 mit/he and 7.373 « 10°* mi, respectively For trajectory of vehicle: © _ 1292%10' _ 46.705 mph 7 4360 + (AV)g = 16,857 - 16,725 = 132.2 mph Differentiate Eq. 12.40, with respect to time and solve for ¢ = ~ D{sine)6 # = Disin6\(r°6) = CD sine V,= cD sine V, = (7.292x10" (7.373x10")sin 120° = 465.6 mph. 132.23" + 465.6? = 484 moh.‘The Viking I space probe is approaching. ‘Mars. When iti 80,650 km from the center fof Mars, it has a speed of 16,130 km/hr witha component (V,)toward the centerof Marsof 15,800 km/hr. Does Viking I crash into Mats, go into orbit, or have ane pass inthe vicinity of Mars? If there isno crash, how close to Mars does it come? The x¢~ ‘eleration of gravity on the surface of Mars is 4.13 mjsec?, and its radius is 3400 kn, Do rot use formula for D as given by Eg, 12.54, but work from the trajectory ‘equations. GM = gR? = (4.13) (282% aao0? 3 = 6.187<10"" 2 hee C = (,¥_) = (80,650) 16,130? - 15,8007 = 2.62x10* Consider trajectory: = ising) 7 # = V, = D(r*é)sino V, = DCsine Also, from known initial conditions we have for (1) and (2): i 6.187x10" —— = > + Dos, 80,650 (2.62x10°)? ° 3.386x* = Dcos0,12.81 (cont) 1.147x10""' = D?cos0, (15,800)? = D7(2.62x10°)*sin?o, . 9.637%10° = D?sin®e, add (3} and (4). D = 6.040x10°5 Hence, the trajectory is given as: 1, 8.187x10" 6.40.10 cos. 7” (@62x10%7 Set 8 = 7 10 Get F gaye 1 6.187x10" - AL. 818710", g.040.10°5 Trin (262x108)? * Trin = 14,405 km. + Opp, = 14,405 - 3400 = 11,005 km. «. Viking | comes within 11,000 km from surface of Mars. Does it go into orbit? e = DOE _ (6.040x10°9)(2.62.10°* GM (6.187)x10" = 6.70 DOES NOT GO INTO ORBIT]'A meteor 18 moving at a speed of 20000 ithe relative to the center of the earth when it is 350 mi from the surface of the earth, At that time, the meteor has a radial velocity component of 4000 mijhr toward the center of the earth. How close does it ‘come to the earth's surface? Do this prob- em without the aid of Eq. 12.54. (VJo = 4000 mph. (Vo = ¥20,0008-4000? = 19,596 mph CC = (8960 +350)(19,596) = 845x107 GM = gR® = 1.239x10? mi*fhr?. = © .pcose C2 a r fF = Dr*6sin@ = DCsine Rewrite Eq. (1) for known data: From (2): 1 __1.239x10"? 4310 (8.457x10")* -. 5,878x10 = Dcos® 4000, paso”? 4784x10 = Dsin® ‘Square (3) and (4) and add D = 7.55x10% _ 1239x107 55,40 (6.45x107)? Tn ~ 4016 miles h = 4016 - 3960 = 56.1 miles.‘A mezoris moving at a speed of 20,000 nit relative 0 12.83 tne center ofthe ent when i s 350 ani from the surface of the anh, At that tine, the meteor has a radial velocity component of 4,000 mith toward the center of the cart. How close does it ome to the earth's surface? Do this problem without the aid of Eq. 12.54 Do Problem 12.82 with the aid of Eq 12.54, (V,), = 4000 mph. (Va), = 120,000F-4008 = 19,596 mph © ~ (3960 + 350)(19,596) = 845x107 GM = gR® = 1.289x10" mi%Yhour? o(eay rey we _tfa -12esorl | fl 4310 (a.45x10"| | [8.45.07 = 7.525x10% 2 a LL = 1.289108 | 7 555,10 Tron (845x102“The moon’s radius is about .272times that ‘of the earth, and its acceleration of gravity at the surface Is .165 times that of the earth fat the earth's surface. A space vehicle “approaches the moon with a velocity component toward the center of the moon of 3200 km/hr and a transverse component of {8000 ker relative to the cemter of the moon. The vehicle is 3200 km from the ‘center of the moon when it has these velocity components. Will the vehide go into ‘orbit around the moon if we consider only the gravitational effect of the moon on the vehicle? Ifit goes into orbit, how close will it come to the surface of the moon? If not, does it collide with the moon? Do this problem without the aid of Eq, 12.54. (3960)(1.609)(.272) = 1733 kn. &m = (9.81)(165) = 1.619 m/sec?. = 6.30x10° 7, = 3200 kon (Vi)o = $200 Jenfhr (Ve) = 8000 fon/hr © = (3200)(8000) = 2.5610" 25112.84 (cont.) Sibstitute initia! data into (1) and (2): 1_ | 630x107 | =m Dose, 3200 (2.56x107)? 2.164x10 = Deos®, $200 = (D)(2.56x107) sine, 1.250x10~ = Dsin®, Square and add Eqs. (3) and (4): D = 2.50x10~ e = DC? _ (2.50%10*)(2.56%10")? GM 6.3010" = 2.60 ROCKET DOES NOT GO INTO ORBIT, 10 1, 6.30x10" 2.50104 Ton (2.58%107? Trin = 2889 kn. Rocket comes to within (2889 - 1733) = 1156 km of moon's surface and then escapes.Do Problem 1264 with the aid of Eq. i254, Ry = (8960)(1.609)(.272) = 1783 kn Bu = (9.81)(.165) = 1.6187 m/sec* = Re = (3800)? -473q)2 BMyaon = Bae = (1.6187) (1789) = 6.30x10" = (8200)(8000) = 2.56x107 ofa (eal) We fia sooner. 3200 I = 2490x104 3200 (2.56x107)| | 2.66107 (2.499104) (2.56107)? 6.30x10" _ De® 2- 2S GM = 2.60 :. Rocket does not go into orbit around moon. 1_ _ 630x105 499,10-4 Trin (256x107) Tin = 2889 kon : Rocket does nat hit moon but comes to a distance from moon's surface of 2889 - 1733 = 1156 km and then escapes from moon.Assume that satellite is placed into orbit about a planet that has the sume mass and diameter as the earth but no atmosphere. AL the minimum height of its trajectory, the satellite has an elevation of 645 km from the planet’s surface and a velocity of 29,800 kmh. To observe the planet more closely, we send down a smaller satelite from the main body to within 16 km of this planet, The “subsatellite” is piven & velocity component toward the center of the planet when the main satelite is at its lowest position. What is this radial velocity, and what is the eccentricity of the trajectory of the subsatellite? What is a better way to get closer to the planet? For Subsatellite: 19 = 7017 km 1%), = 29,800 kmfhr GM = coan( 2002 tesa = 516x102 km Ihr? o-(ap ley -{ 4 ee aot 7017 [(7017)(29,800)) [(7017)(29,800)}* = (6.004x10- + 2.2910°7(V,)2"2 The trajectory Eq. is then: 1 or + (6.004x10-"° + 2.29x10°17(V,)2}"2 o0s8 L701 5 let r = 6388 when 6 = 012.86 (cont.) A. 4801x104 + 6.00410" + 2.29x10°17(V,)2)"” 6368 14,85x10" = 6,004x10"° +2,29x10"(¥,) (V2 = 98.63x10° . “eo [o- at. ay" We = 701712800 bo so __8:1610% j 5.16.10 10° + 128,800 - 947) (09,600) Itis better to fire subsatellite toward rear of satelite in a direction tangent to the path to get smaller (V,), with zero (V,),.‘Suppose that you are on. planet having no ‘atmosphere. This planet rotates once every G he about its axis relative to an inertial reference XYZ at its center. The planet has. a radius of 1600 ken, and the acceleration Of gravity atthe surface is 7 m/sec?. A bullet is fired by a man at the equator in a direction normal to the surface of the planet as seen by this man. The muzzle ‘velocity of the gun is 1500 m/sec. What is the eccentricity of the trajectory and the ‘maximum height h of the bullet above the turface of the planet? - v, = (1800) 5855, seg) * 5400 Jonfhour Vy = ro = (180022) = 1678 kmjhour = pr? ~ (7)| 36007 GM = gR' 072822 |as009 = 2.322x10" ok aleng. [0.8 Tae ay (1600)(1676) - 8001870 sat «(170 2.82210" fr 2822x101" (apap -{es- 2.82210" y+ 5400 yy" 7600 ~j(r600)(1676) * (1600)(1676) = 3.17310? 1 _ 282240" gage * Fax 1(1600)(1676)P Tmax = 1784 kon.A satellite is launched at 4. We wish to determine the time required, Ar, to get to position B. Show that for this calculation ‘we can employ the formulation aad [ao For integration purposes, show that the formulation above becomes aah "gg C), Garey + DeeeF Carry out the integration. c= at = 7% = PB My = 1) = Pa 2 La c12.88 (cont.) From math tables 1 are tt oD (ae 4 CD. Aaain from math tablesA satelite is launched at a speed of 20,000 ‘mifhr relative to the earth’s center at an altitude of 340 mi above the earth's surface. The guidance system has malfunc- tioned, and the satellite has a direction surface. Will the satellite go into orbit? Give the time required for one cycle if it ‘goes into orbit or the time it takes before it strikes the earth after firing. Neglect Irition in both cases. (See Problem 12.74 before doing this problem.) 7, = 4300 miles (Vj). = 20,000 sin 20° = 6840 mph (Vo), = 20,000 cos 20° = 18,794 mph C = (r,)(Ye) = (4900)(18,794) = 8.08x10" GM = gR® - 1,239x10" rsa Mofo |v0.- <8 Tao wey (4300)(18,794) fessor { 8,794 _ 1.23910 V 1.289x10 8.08x10" = 500 Hence the satellite either orbits or strikes the earth, To get the result, we need the equation of trajectory. Using the symmetric x axis we have: We can get D by using equation 12.54: D- {2 ou r, CF we p= {[_1_- 1.288108 -| 6840 i 2200 ~ (e.08.107 | “(8.08%107,12,89 (cont) = 9.485x10°5 Trajectory is: 1. MH 9.495410 cose mM r ce Find r,,,, t0 See if satellite crashes. 2 1. 1.230: 9485.10 Ton (8.08x10772 Tain, = 3518 miles es solve for 8. 1 _ 1.289x10" 3960 (8.08x10")* © = 48.58°; 311.4" +9.485x10°cose Clearly, 6 = 48.58° corresponds to point B and 6 = 311.4° corresponds to point A. Point B is the point of interest. To find the angle @ at launch we have: 1 x10? - A. 1.209108 9 495,10'5 cos8 4300 © (@.08xt07? * 68 = 63.19° The radius vector goes from 6, = 63.19° to 8, = 311.4°. To find At,substitute into formula of preceding problem. 4 “ are 1 f 249 c 63.19 26012.89 (cont.) 1 pe 1.28910 | 9 495,10-c0s 0 (6.08107 _ 10,542 2,00 -cose ana ar= 1375 f —S— caro (2+ 0080) 1.875 | -sin®_,» are Be atoes 450} ~8in8 2-008 50-88 sine 5 *208tants77ten$i}P 19 A34|(.282 + 18.92) -( - 364 +.7875)]‘A warrior of old is tuning a sling in a vertical plane. A rock of mass .3 kg is held in the sling prior to releasing it against an ‘enemy. What is the misimum speed to ‘hold the rock in the sling? Use Newton's law in the vertical direction when the sling Is vertical w= Lon caer) - B09 (a A car is traveling at a speed of 55 mifhr along. barked highway having a radius of curvature of 500. At what angle should the road be banked in order that a zero friction fore is needed for the car to go around this curve? In the vertical direction there is no acceleration so that N cose = W ‘Newton's law in radial direction: -Nsin@ = - Uesyszaoyasoor & Substitute from (1) into (2): & sind = kssyseeqyasoo? z tan@ = 40417‘A.car weighing 20 kN is moving at a speed V of 60 km/hr on a road having a vertical radius of curvature of 200 m as shown. At the instant shown, what is the maximum Geceleration possible from the brakes along the road for the vehicle if the coefficient of dynamic friction between tires land the road is 55? ‘Assume all wheels lock at the instant shown, Newton's Law in direction norma! to the road: w-Wooets = =(% Rig (60) 1200) = (20,000)(c0s 15°) + 1 3600 = 22,150 Newtons Newton's law in tangential direction: Wein -(55)(22.150) « ( a, a 2080 & a, = -8.51 m/secA particle moves at uniform speed of | m/sec along a plane sinusoidal path given y= Ssinxxm ‘What is the position between x = 0 and = Lm for the maximum force normal to the curve? What is this force if the mass of the particle is 1 ke? = mn) te, To maximize F we must find minimum R. 1 (2) pelle i = [1 + (6x cos nx)f"[5x2 sin xx]* BIS ° 2. [Sx?sin xx]"[1 + 25x2c08? xa]! (3)(- 252° sin xx cos nx) + [1 + 25x? cos?xx]*x [Sx2sin xx] 7-1] [5x% cosnx] = 26412.93 (cont) Muttiply by [1 +25n2cos® xa} 5 cancel many terms: (cos nx)(-5x)(8) ~[1 +25n® cos? x] x [sinnx} {cos x2][5n]" = [-(25n2)(@)(sin? nx) -[1 +25x% cos* xsl} co8x = 0 A solution is for[x = %4] We take this by inspection as the minimum value of R. Hence: R-ft + 252?(0)15x°(1)1" = [Bn 2 F = (116) b lence the total force is: F = -49.36 + 9.818 N The path must also resist gravity. Hi‘Accatenary curve is formed by the cable of ‘a suspension bridge. ‘The equation of this curve relative to the axes shown can be given as ya fer tomy = acothar with x and y in feet. A small one-passenger vehicle is designed to move along the ccatenary to facilitate repair and painting Of the bridge. Consider that the vehicle ‘moves at uniform speed of 10 fysec along ‘the curve, Ifthe vehicle and passenger have ‘a combined mass of 250 om, what is the force normal to the curve as a function of position x? _ (+a4sinh Zax)” a®coshar LF. es =etsit ay") (100) oo" Ve Scoshar To offset gravity we add also (Mg) cos@ to the above force. = ten-({2) = tan“fasinh ax] al@dr = 20 (1+a4sinh 22100 a°cosh ax + (250)cos|tan“*(a?sinhax)]A rod CD sotates with shaft G-G at an ‘angular speed @ of 300 pm. A sleeve A ff mass 500 ¢ slides on CD. If no friction is present between A and CD, what is the distance S for no relative motion between A and CD? For equilibrium in vertical direction: (.00)(9.81) +N sin30° = 0 N = 9.81 Newtons In horizontal direction: 9.81 cos80° = ~(,500)(Ssin80°) soqyentyIn Problem 1296, what is the range of valtes for S for which A will remain stationary relative to CD if there is coulombic friction between 4 and CD such that Be At A rod CD rotates with shaft G-G at an angular speed @ ‘of 300 mpm. A sieeve A of mass 500 g slides on CD. If no friction is present bewween A and CD, what is the distance $ for no relative motion between A and CD? First consider impending motion down the sleeve to get S,,,,._ In vertical direction there is no acceleration. Hence: ~ (.500)(9.81) + (.4) Nsin60° +Nsin30° - 0 N = 5.80 Newtons In radial direction we have: (.4)(5.80)c0s60° - 5.80 cos80° St = ~(,500)(Spain Sin 30° Som = .01566 m re Now get S,,,, by considering impending motion up the rod. In vertical direction:12,96(cont.) ~ (.500)(9.81) - (.4)(N)sin60° + Nsin30" - 0 N(sin30° -.4sin60°) = (.500)(9.81) N = 81,93 Newtons In radial direction: = (.4)(81.98) 008 60° - (31.93) cos 30° = ~(.500)(Spacsin aor ogee) Syray = «1380 mt = 138.0 mm.‘Acircularrod EB rotates at constant angular speed @ of $0 rpm, A sleeve 4 of mass 2Tbm sides on the citeular rod. At what Position 6 wil sleeve A remain stationary relative to the rod EBifthereisnofriction? In the vertical direction assume we have equilibrium. Hence: -2+Ncos® = 0 In the horizontal direction: ~ Nsin® = —Fesine TT12.98 A circular rod EB rotates at constant angular speed « of 50 pm, A sleeve A of mass 2 bin slides on dhe circular rod, At In Probie 1297 assume ht ee iscolombic rion ston wil eve A remain stationary lative he od between A and EB with #1, = 3. Stow tha the minimum value it there is no friction! (of @ for which the slneve will remainstationary relative tothe rod ig 7545". Consider impending motion down the rod for getting Cu, In vertical directio -2 + (.3)Nsin@ + Neos = 0 N.3sin® + cos6) = 2 In horizontal direction: _3Ncose - Nsine = ze sin ofsaaal be = -3.41 sin 1 tan6 ———— - > = - 1.708 sind Stand +1 .3tand +4 tane -.3 = 1.703 sin® 3tanO +1 Solve by trial and error:‘The following data for a system of parti cles are given at time f = O: My = 50 kg at position (1, 1.3, —3)m ‘M, = 25 kg at postion 13,-26)m My = 5kg at position (—2.6,5.3, ym “The particle are acted on by the following respective external forces F, = 50j-+10KN (particle 1) Fy = S0kN, (particle 2) P= srin (particle 3) What is the velocity of M, relative to the mass center after 5 sc, assuming that at 1 = 0, the particles are at rest? ¢ M = 50+25+5 = 80 kg. For mass center: 80 7 = [50/ + 10th + 50k + 57} 1 oo 5 Stoo 803 27212.99 (cont.) 7 5 5s 50. 105% 50, |¢ H6) - 227+ =@/+|— += 5k 8) = ag -3/* 3° Ins ss| = 2,6047 + 3.1267 + 4.694 misec. Consider W,. 50% = 50/ + 10kGiven the following force field: F = —2x1 +3) — zhlb/sug which is the force on any particle in the field per unit mass of the particle. If we hhave two particles initially stationary in sat op the feld with position vectors F = -2x1 +3) - zk iblslug r= HEH _ afaat rye M = 2p + ak B= 342) ‘what is the velocity of each particle rela- = 47-2 4k ve tothe center of mass ofthe gate 2" 4 ~2/ +44 after 2 sec have elapsed ? Each particle has 1 ‘2 weight of .1 oz. m-—1_ (16)(32.2) Newton's law per particle: = 1.941x10% siugiparticle Solutions to above equations are: x= Asin |2 1. Boos M -2f ate M2 oS 27412.100 (cont) att =2 sec.: @ 10,900 15-235 M EorC.M. Initial position is: M 1), = M(37+2f) + M(47-27+4k) = (7h+4R)M 2 (i), = 3.57 +2k From Newton: (2Mi, = ~2x7 + 3) - 2k Xeg 5 2 3 s12.100 (cont.) Qe) Att=2 sec.: = (-376/ + 30,9007 + 235A) - (2057 + 45,450) - 84.28k) ~581/ + 15,450/ + 319K fisec|A stationary uniform block of ice is acted (on by forces that maintain constant magnitude and direction at all-times. If A= what is the velocity of the center of mass of the block after 10 sec? Neglect friction. ‘The density of ice is 56 Ibm/ft? x 1. M = [(8)(1)(1-5)1(56) Se = 114.2 kg. Newton's Law for C.M. 114.2 i = (25)(9.81)/ + (10)(9.81)/ + (15)(9.81)(.707/ -.707/) (on Xp = TT0t+0 Fo = 1.237 Ye = 1.237 Att= 10 sec.:‘A space vehicle decelerates downward (Z direction) at 1613 km/hr/sec while moving in a translatory manner relative to inertial space. Inside the vehicle is a rod BC rotating in the plane of the paper at a rate of 50 radjsec relative to the vehicle. Two masses rotate at the rate of 20rad/sec around BC on rod EF. The masses are ‘each 300 mm from C. Determine the force transmitted at C between BC and EF if the mass of each of the rotating bodies is 5 kg and the mass of rod EF is 1 kg. BC is in the vertical position at the time of interest. Neglect gravity. The force at C may be computed by finding the acceleration of the center of mass of bodies E and F and rod EF. This center of mass is at point C. ix reference xyz to the object at B.| The acceleration of C relative to xyz is then: 4,, = ~(1.3)(50)?k = -3250k misec? Now xyz is translating relative to XYZ. Hence 1000 = A000 G R cera } 448k mise? From kinematics (dure = @dye* R = -3250h + 448K = -28024 Use Newton's law for CM of E, F and EF. F = (5+5+1)(-2802)k 30,822k Newtons. Hence force transmitted from BC to EF is - 30.822 kN‘Two men climb aboard a barge at A to shift a load with the aid ofa fork it. The barge has a mass of 20,000 kg and is 10 m Jong. The load consists of four containers each with a mass of 1300kg and each having a length of 1 m. The men shift the ‘containers to the opposite end of the barge, put the fork lift where they found it, and Drepare to step off the barge at A, where they came op. If the barge has not been ‘constrained and if we neglect water friction, currents, wind, and so on, how far hhas the barge shifted its position? The fork lift has a mass of 1000 kg. See the hint of Problem 12.91. Change in moment of C.M. is zero. (20,000)(8) + (1000)(8) + (5200)(-8 +8) = 0 280‘An astronaut on @ space walk pulls a mass A of 10 ke toward him and shortens the distance d by Sm. If the astronaut weighs 660 N on earth, how far does the ‘mass A move from its original position? [Neglect the mass of the cord. The center of mass of the man plus mass A cannot change position since there is no force ‘onthe mass center of the system. Hence the moment of the mass must not change about any fixed point. Equate moments of mass about 0. 660 880 (5 4) - 1008, - 0 7 &) It $60, « 1002, - $26) g g‘Two identical adjacent tanks are each 10 ft Jong, 5 f high, and 5 ft wide. Originally, the left tank is completely full of water while the sight tank is empty. Water Is ‘purnped by an internal pump from the left tank to the right tank. At the instant of interest, the rate of flow Q is 20 t/sec, while Q is $ft%/sc*. What horizontal force om the tanks is needed at this instant from the foundation? Assume that the water surface inthe tanks remain horizontal, The specific weight of water is 624 bite. Take the height of the water as h in the right tank and (5-h) in the left tank. Find x,. the center of mass of water. e24hi5 -|6- -rysoye 24 24). nsoye [224 5 -Ay(10)(5) S24 SA) + (A(A0N8) 244] (10)(5)(5)- a A= ©- 23-84 2h mt (10)(5)4 = Q (10)(5)4 = @ At instant of interest (2)(.100) = .200 fi/sec* From Newton's Law MK, = F, (10)¢5y6) S25 (200) = This is the force on the water from the ground. 282A block A of mass 10 kg rests on a second lock B of mass 8 ke. A force Fequal to 100N pulls block 4. The coefficient of friction between A and Bis .5; between B ‘and the ground, .1. What is the speed of block 4 relative to block B in 7, sec if Peano oa “eo.01 100 ~ [(10)(9.81)..5)] = 10%, &, = 5.095 msec? X, = 5.096 f 4 sec = .5C95 m/sec relative to ground. Boo ain FB.D.N Newton's law for block B. CNUBVQYN 18% (5)(98.1) ~ (18)(9.81)(.1) = 8%, 31.39 = 8%, &, = 3.924 By = 3.9241 3924 misec. relative to ground. ‘The speed of A relative to Bat t= 4 then is: (5), = -5095 ~ 3924A block B slides from A to F along a rectangular chute where there is coulom= bic friction on the faces of the chute. The ‘conficient af dynamic friction is 4. The bottom face of the chute is parallel to face EACF and the other two faces are per~ pendicular to EACF. The body weighs 5 Tb. How long does it take B to go from A to F starting from rest? We need unit vectors @ along A to F A, normal to plane AECF fl, normal to sides of chute _ ah _ (25/) - 25k + 107) Vent ose 108 + 25" ~.27221 +6804) -.6804K ft FOxFE _ (To~ T)x(Te~ Te) \FCxFE) \FCxFE| _ (25k+ 107 - 25/)x(207 - 25/) \FoxFe| _ 500/ + 626/ + 300k ‘500? + 6257 + 3007 = 7317+ 5857+ .351k12.107 (cont) fi = Ayxé = ~.63687 + 40197 + 65664 Newton's Law a) inf direction: 0 = (-5h)-A, +N, 2M, = -(-5)(.351) = 1.755 b) _infi, direction: 0 = (-5K)-, +N N, = 3.283 ©) iné direction: 2 (8) = (5h 6 ~.A(1.755 + 3.283) a (1.755 + 3.283) 5 = 8.931 flsec $= 8.931t S = 4.46558 S = \e- 1 = 1625 +625 + 100 = 36.74 36.74 = 4.4655? [1 2aetss]‘A tugboat is pushing a barge at 2 steady speed of 8 knots. The thrust from the ‘tugboat needed for this motion is 800 1b. ‘The barge with load weighs 100 tons. If it the water resistance to the barge is pro- First find friction force formula. portional tothe speed of the barge, how Jong will it take the barge to slow to ‘5 knots after the tugboat ceases to push? Wore: 1 knot equals 1.152 mifhr.) when V = 8, F = 800. Hence: 5280 800 = &|(8)(1.152) —— (8)(1.152) k = 59.2 lblfifsec. * (400)(2000)/32.2 When t=0 3280 V = (8)(1.152)) ——— | = 13.52 fis MX y sz0| See C, - 2.60 Hence: InV = - .009531t + 2.60 8.45'/sec 5280 ¥=(5)(1.152)| —— tet {ox oof Then t can be foundA spring requires a force x#N for a deflection of x mm, where x is the deflec- on ft of the spring from the undeformed use the deflection is not Proportional to » to the frst power the spring is called a nonlinear spring. If a 100-kg block is suddenly released on the ‘undeformed spring, what is the speed of the block after it has descended 10 mm? Newton's law using x’ in meters: (1009.81) - (1000x)? = 100% X = 9.81 -10' x? vv . 981-101 x? ox ¥ _ osx weg, ve - razr -2 10x? 1962, - 2c10"10%)12.110 ‘A horizontal platform is rotating at a constant angular speed Wof 5 rad/s. Fixed to the platform is a frictionless chute in Which two identical masses each of 2 kg are constrained by a pair ‘of linear springs each of spring constant K = 250 Nim. If the ‘unstretched length /, of each of the springs is .18 m, show that at seady siate the angle @ must have the value 36.87°. Springs are ‘xed tothe platform at A. Look at one half of system Geometry rcos® = 3 At all times a k 3 ae "0868 pn Newton's Law in radial direction At steady state ye rd, © rmo? = K(rsin® - .18)sin® + N cos & 3 kirsine-L)) : \(2(5%) = 250] —— siné -.18 |sind + N cos cos8 cos 15 = 75 sin?6 -45sin® cos@ + Ncos*6 qa) Newton in transverse direction . © = 0 and at steady state 7 = 0 0 = ~ K(rsind ~.18)cos® + Nsiné e035 sind - 8x0 = Nsine (2) cos Solve for N in (2). 3) Subst. into (1) 15 = 75sin?@ ~ 22.520 -250( 3 er Solve for 6 by tria] and error. a7] orp 288‘What isthe velocity and altitude of a com ‘munications satellite that remains in the same position above the equator relative to the earth's surface? The angular velocity of the earth is: wo = 2 = 2618 radihour 24 a (3800) GM = FP = (82.2) "(3960)" = 1,239x10” 2 v= | SM. | 12800 r r V, = no = 4.2618) Substitute into (1)A satellite is launched and attains a velocity of 19,000 mir relative to the center of the earth ata distance of 240 mi from the earth's surface, The satellite has been uided into a path that is parallel to the earth's surface at burnout. (a) What kind of trajectory will it have? (b) What is its farthest position from the ‘earth's surface? (©) If itis in orbit, compute the time it takes to go from the minimum point (perigee) to the maximum point (apogee) from the earth's surface. (@) What is the minimum escape velocity for this position of launching? a) Since V, is || to the earth’s surface, the x axis is the axis of symmetry for the trajectory and so B = 0. The equation of motion is: 1. SM, neose a) 7 r4 Velo = (4200)(19,000) = 798x107 Me hour = (32.2)(3960)* GM = (32.2) 960) (80 = 1.230.107 mes? Using these constants and submitting (1) to the initial condition, we can solve for D. 1 | 1.23010" | 4200 (7.98x10")? D = 4353x10+ 29012.112 (cont.) ag « DE? _ (4353)(10-(7.98%107 GM 1.23910 H rajectory is an ellipse, b) To get fay, Set @= x in (1). _ 1239x107 Tax (7.98%107F Ire = 6620miles ~ .4353x10* above earth's surface, h = 6620 - 3960 = 2664 miles °) For ve cycle: = (9820 +4200) = 5410 b= (5410)¥1-e? = 5272 1 7.98x10" 1.123 hours: ()(5410)(5272)‘A rocket system is capable of giving a satellitea velocity of 35,200 km/h relative to the earth’s surface at an elevation of 320 km above the earth's surface. What ‘would be its maximum distance A from the surface ofthe earth if it were launched (1) from the North Pole region or @) from the equator, utilizing the spin of the eant-as an eid? Satellite launched from pole: 3600? GM = = (9.81)}———— |[(3960)(1.609)/* FP = ( { 000 {26001-60991 = 516x107 C= 1,¥, = (6892\35,200) = 2.355x10° Equation of trajectory: SM. Dcose e at launcr: 516x107 6692 (2.355x10")? D = 5.639x10° A _ _5.16x10% fax (2.355x10") ~ §.639x10°12.113 (cont.) 2n V, = (35,200) + [(3960)(1. — /, = (35,200) + [(3960)(1-609) oa = 36,868 Am/hr. 2 C = (36,868)(6692) = 2.467x10° Hence, at launch, 4 5.16x107 - 216x10 p 6692 (2.467x10"? 2 D = 6.465x10% 2 5.1610" _ 6.465x10* To, (2.467x10°)? i Tonge = 49,668 km.A space vehicle is to change from a cit- ‘cular parking orbit 320 km above the surface of Venus to one that is 1620 km above this surface. This motion will be accomplished by two firings of the rocket system of the vehicle. The first firing causes the vehicle to attain an apogee that is 1620 km above the surface of Venus. At this apogee, fa second firing is accomplished so as to achieve the desired circular orbit. What is the change in speed demanded for each firing if the thrust is maintained in each instance over a small portion of the trajectory of the vehicle? Neglect friction. The radius of Venus is 6160 km, and the escape velocity at the surface is 1.026 x 10* mjsect. First find GM for Venus. 1000, GM - ivi 160 02s. = 4.20x10" kn? thou? 2 ve | OM _ [4:20x10" _ 95 458 kmitr | r 6480 i. 7 At extreme points we can say (8= 0, @= x):12.114 (cont.) Add Eqs. e = 2.8286x10" C = 4.723x10° right after first firing on orbit 2: ve —& - 26,589 6480, (AV), = 26,589 ~ 25,458 = 11314 km/hr] Just before second firing on orbit 2: a = 22,146 kmlhr es 7780 For orbit 3 we have: vy, = [SM _ | 420x102 y= |SM . | A20x00" 7 7780 = 23,235 kmihour (AV), = 23,235 - 22,146 = 1088 miiWeights 4 and B ate neld by light pulleys. released from rest, what isthe speed of ‘each weight after 1 sec? Weight 4 is 10 1b and weight Bis 40 Ib. From Kinematics. y+ J, ~ 0 2 2g+ 5, = 0 -r-19 - 25, g -27+49 = 495, g Substitute for T from (2) into (3): 40 -2fo-125,|-00- | g* go” Replace j, using Eq. (1): At t=tsec.} y, Hence Jp = “ty -[8.05 Aisec.]‘The following data are given for the fly- ball governor (read Problem 12.60 for details on how the governor works): f= 215m D=S0mm @ = 00rpm 6-45" ‘What is the force P acting on frictionless collar a if each ball has a mass of 1 ke and we neglect the weight of all other moving members of the system? Each ball undergoes simple circular motion for a fixed @. Using cylindrical soordinates in expressing Newton's law, we have, for the free-body ciagram (b). (-F,~ F(0.707)8; + [(F, - FY(0.707) - We, = ~ Mrw*é; (@) The scalar equations are: -(F, + F,(0.707) = - Mre? 300(2n) cay ayoror 22028) ~ 209 (F, - 50.707) -(1(9.81) = 0 Solving these equations simultaneously we get: F, = 154.9N Fy = 11 Now, using a free-body diagram of the bearing A wherein we have neglected friction as shown in Fig. (6), we can say from equilibrium considerations:A spy satellite to observe the United States is put into a circular orbit about the North and South Poles. The satellite is to make 10 cycles/day (24 hr), What must be the distance from the surface of the earth for this satellite? N The time t between each cycle: For circular orbit: ‘The time for one cycle of vehicle: 36007 2 y2 = Re = (9.81) 3600" = 5.16x1 GM = GR? = (9. {2 sro 5.1610" ‘Subst. (1) and (2) into (3) a Y5.16x10" (9.40) = 28 3 © 9097 km. d = 9097 - 6370 = 2727 kmA skylab is in a circular orbit about the earth at a distance of 500 km above the earth's surface. A space shuttle has endezvoused with the skylab and now, ‘wishing to depart, decouples and fires its rockets to move more slowly than the sky- Jab. If the rockets are fired over a short time interval, what should the relative speed between the space shuttle and sky- Tab be at the end of rocket fire ifthe space shuttle is to come as close as 100 km to ‘the earth’s surface in subsequent ballistic (eocket motors off) fight? Find velocity of skylab: GM = gR = (9.81 {ose 6372)" = 5.16x10 GM _|5.16x10¥ o? . 6872 For space shuttle: 1_ GM, noose r C Ing = 8472 when 8 = 0 _ 5:16x10" |p Cc Also, when @ = 1, F = Sac = | 5AGx10" see -D12.118 (cont.) Add Eas. (1) and (2) 1 4 | (2X(5.16)x10" 6472 6872 C 2 C = 1,855x10° From (1) 1 5.1610" 6472 (1855x108)? = 3.09x10* To get speed at 6 = 1.855x10" - (V,)(6872) = 4.6872) V = 26,994 kmihourV, = 919,000? - 3000? = 18,762 mph GM = gR? = 1.239x10" miles Ihour C = (18,762)(3960+250) = 7.90x10" Apc vic ts ota sped Sars tee a el ot 0 mie eRe GM cago sare tt sede iy cenone of mie tre ‘the trajectory? What is the maximum ie wpe? Mite inn Se see ‘Submit data to (1) and (2) + 3.90x10% = Dcos® 3000 79x10" + 3.797x10% = Dsind ‘Square (3) and (4) and add. Solve for D. D=5.44x0% 2 AL 4230x107 5 gags Tum (7.90%10")? Ina = 6940 miles. Max elevation is 6940 - 3960 = 2980 miles.‘A skier is moving down a hill at ¢ speed ‘of 30 mifhr when he is at the posiuon shown. If the skier weighs 186 1b, what ota! force do his skis exert on te snow surface? Assume that the coefficient of friction is .1. The hill can be taken as a parabolic surface. y Ww nw ~ ~. e Tt To get equation of path note that for this parabola: y= ke 20 = k 2500 oka t To get the force on skier. note: z ds FE, - 4S} fe ” was) i = 180 (20 $29] 32.2|" 3600} R12.120 (cont.) at position of interest fy. 2 ae 125 WACOIF Liss a 425 ue -25 322 = 8242, 131.3, We want é, (see diagram) so we need. tan® = £ -8 ie 2. @ = tan"(.8) = 38.7° Hence the total normal force N, exerted on the skis must be 82.4 Ib plus the resistance to gravity in this direction; (180)cos® = (180)cos38.7° = 140.6 Ib. The total friction force is (1)(223) = 22.3 Ib. Hence the magnitude of the resultant force on the skis from snow is: [a 223? + 22.3 = 224 Jb. The force magnitude on the snow Is then 224 Ib.“A submarine is moving at constant speed of 15 knots below the surface of the ‘ocean. The sub is at the same time des- ‘with weights having a mass each of $00 r. ‘The governor is rotating with speed @ of S radjsec. Wf at time 4 9 = 30,0 = 2 radjsec, and 6 = 1 rad/sec*, vhat is the force developed on the support of gov- ‘ermor sysici as a ‘result solely of the ‘motion of the weights at thie nstant? Attach xy to A. Then for weight D: Yo ~ tcos® Jo = -#8in0 6 Fp ~ - tos 06" - tsined At instant of interest: Sp = ~ 30(c08 30° )(.27 - (.30)(sin30° (1) = -.16039 misec? .. The acceleration upward of CM of system of weight is @ = .16039 - (.023)(9.81) 0652 misec? Use Newton's law: -. Force is .0652 N downward.In Radial direction In Transverse direction For small rotations ‘A mass spring system is show, Write two simultaneous «ifferetial equations describing the motion of the mass. The spring has an unstresched length 7, Consider that the spring does not bend and only changes length. Neglect all masses except that of the particle. Ifyou restrict the motion to small rotations, how can ‘you simplify the equations? Consider that the motion is confined to thay plane. Mg.cos® + K(r, -7) = M{#-r6"] Mgsin® = M[r6 +276) cos = 1 sin@ = 6 -Mg + K(r, ~7) = MU? -r6"] gO = r6+276 305‘Three bodies have the following weights and positions at time #: Wy =10lb, x = 64, vy = 108, y= 10ft m= 5th, w= 6f, a=0 4 =0, y= 4h, z= Determine the position vector of the center of mass at time f. Determine the velocity of the center of massif the bodies have the following velocities: Vy = 61+ 3) fifsec Vs = 10i — 3k fsec Vs = 6k ftfscc W, = 10 ib. 7 = Gi + 107 = 10k We= 5b B= 57+ 6) & W,- 8b K= -4) «23%, = 10(67 + 107 + 104 + 5(57 + 6/) + 8(-4/) 237, = 607 + 100/ + 100k + 257 + 307-327 7, 857, 987 , 1005 © 23 23 23 T, = 3.70] + 4.26 + 4.354 ft (my, = Em7, Cm)z, = Emi; 23 237 _ 67, 37. 5107-34 +868 g° 9 g 9 V, = 4.78/ + 1.304/ + 1.435% sec!In Problem 1223 the following external forces act on the Fespective particles: Fy = 61+3j~ 10k Ib (particle Fy =151-3jlb (pasticle 2) Fy=01b (particle 3) ‘What is the acceleration of the center of ‘mass, and what is its position after 10 sec from that given initially? From Problem 12,85 at r= 0: Fe = 3704 + 4.26) + 4.358 Ve = 4781 + 1306) + 1.435k Nsec 10-548 23 322 © 322 Total Mass = 7 = + A+, = (6 +37 - 108) + (157 -3/) Fe 1.4[(6t+ 15)7 - 108) tisec* H = 1.4(6t+ 15) y= 0 z= -14 From problem 12.85 we have the following initial data: (K) 478 (Xo Uo = 1304 (%)y = 4 (2), = 1435 (2), = 4.35 Integrate Eq. 1:12,124 (cont.) xe cavers + (1.4Y(15)t+ (%),, = 4.2 +21t+4.78 = co Aate BE 4781+), oat + 105° +4,78f+ 3.70 Integrate Eqs. 2 and 3: J, = 1.304 3051+ 4.26 z= - 141+ 1.435 Z, =~ TP + 1.435f+ 4.35 Att= 10 sec: X,, — (1.4)(1000) + (10.5)(100) « (4.78)(10) + 3.70 = &)- “oe 498 ft 13.05 + 4.26 » &%)> vo. = 13.05 ft (7)(100) + (1.435)(10) + 4.35 * (Z)~ tw 686 ft 498/ + 13.05/ - 686K 72} 308‘A small body M of mass I kg slides along fa wire from A to B. There is coulombic friction between the mass M and the wire. ‘The coefficient of friction is 4. How long does it take to go from A to B? (Y@RI)sin @ ~ (4)(7.15) = DE 5-385 $=3.85t+C, when =0 , $=0 Let s=8.77; solve for tFor M-= | slug and X = 10Ibjin., what is the speed at x = 1 in. ifa force of 5 Ib in the x direction is applied suddenly to the mass-spring system and then mai constant? Neglect the mass of and friction, 5 - (10)(12)x = (1) V = [10x - 120x?)? 1 For x=— we get: me The mass has stopped instantaneously at this position. 310Avrod B of mass $00 kg rests on a block 4 ‘of mass S0kg A force F of 10,000 N is ‘applied suddenly to block 4 at the position shown, Ifthe coefficient of friction tg is 4 for all contact surfaces, what is the speed of A when it has moved 3 m to the end of the rod? nN } Ph, F.B.D. of A: Place x coordinate on block at initial position of block as shown above. Consider also F.B.D. of rod B for any position x of block A. : 5004N me N (500)(3) = N(x + 3) N= (3) (9.81) Newtons From Newton's Law for A in y direction. N, = N, + (50)9.81) - vai ae + +9] xe Next, consider Newton’s Law in x direction.12.127 (cont.) -( 220 B1)+ oan( B30) 19,000] x43 x43 Integrating, 2 soe = 9803x-11,772In(x +3) +C, when x=0, V=0 = 12,933 Ve {(B nose =11,772In(x +3) + 233] When x = 3, find V =29.15 m/sec. 312Shown is a simply supported beam. You will learn in strength of materials that a vertical force F applied at the center causes a deflection 5 at the center given as 1 6-5 e ‘fa mass of 200 Ibm, fastened to the beam ‘at its midpoint, is suddenly released, what Will its speed be when the deflection is in. Neglect the mass of the beam. The ength of beam Lis 20 ft, Young’s modulus is 30 x 10¢ psi, and the moment of of the cross section Fis 20 in. The beam acts as a linear spring having a spring constant which is: When y-0 , V=0 = of 322 _ 48)(30%10%)20) x ” {3p ora) 2) When »-(3) (a) te v 1 = 1322 [200 _ (4830x1020) (1) 12 r-afaspae semen (al 96 (0y°(144)(2)_ 96.12.129 ‘A piston is shown maintaining air at 2 pressure of 8 psi above that of the atmosphere. If the piston is allowed io accele- rate to the let, what is the speed of the piston after it moves 3 in.? The piston as- sembly has a mass of 3 Ibm. Assume that the air expands adiabatically (Le, with no heat transfer). This means that atall times pV = constant, where Vis the volume of the gas and k is a constant which for air ‘equals 1.4. Neglect the inertial effects of the air, 28.3 in? Area of Cylinder = (x)(3") V, = A) = 141-4 in? (1), -8 psig (above atmosphere) (p,) = 8 + 14.7) psia =22.7 psia (absolute) (22.7)(141.4)'4 = const, = 23,262 Py V-AS+x) (NOTE: x measured in inches) const. __const. vi [AG +2] Newton’s Law: 140A | 23.3x10° ¢$—_<——"—___ - 14.7} (28.3) [eas ap" fc » mvdv [6.1110 _ 41g 2 [6+y 31412.129 (cont.) mV? 5 p__ae BY’ = 6.11x10 24 J (+a) mV? _ 6.11x10°)(5 +2) * ye (ae, cana 9 «100 -200-10 3/322 -(4) V =178.1 in./sec = 14.84 ft / secAn Example 12.6 assume that there are ‘adiabatic expansions and compressions of the gases (ie, that po* e- constant with 4 = 14), Compare the results for speed of, the piston. Explain why your result should bbe higher or lower than for the isothermal Ppvp = £(1,000.0 + 14.7)(144)](.207)'* Cy = 16,100 Ls 16300(2 7.88) z Pp = 2 = OAM _ 16,100 Am} D © r a4 _ 385,000 ar) Pave = (14.7)(144)(13.10)* = C, = 77,600 31612.330 (cont.) 479,000 0-H 385,000 , _479,000_| 4x* — (4J50 -2)* Set V=0,for x=2ft toget C,. Thus: 385,000 _ 479,000 = 1,546,000 21 (4s (4y(48)* C= } { = [sssom 1. 479,000_] , 4 sss} 2[caent 6450 -* 21¢HMes* (4254, yF -$[ 50 + 479,000 sss 5,130 filseeNewton’s Law: Newton's Law: Body A and body B are connected by an inextensible cord as shown. If both bodies are released simultaneously, what distance do they move in } sec? Take My = 25ke and My = 35 kg. The coefficient of frietion pi is 3. N, = (25)(9.81)cos 20° = 230 N T + 25)(9.81)sin 20° ~ (.3)(230) = (25)3, T+ 14,74 = 258, Py i a Ny, = (35)(9.81)(cos 60°) = 171.7 N -T + (35)(9.81)sin 60° - (.3(171.7) = 358, -T +246 = 355, Add Eqs. (1) and (2): 318 Q)12.131 (cont.) 31912.132 A force F of 2kN is exerted onbody C. If 4, fora sur. face contacts is 2, what isthe speed of C after it moves Im? The ‘body Cis initially stationary a the postien shown, when the force F is applied. Solve using Newton's law. The following are the ‘masses of the three bodies invoived, ‘My = 100k@ -My=80kKE Mo = SOKe 1064. £80.15 Ne 80g 2000 ph we, 50g Pats Me FB.D. I (Equilibrium) 5M, = 0 — ~~ 100g(3) + N,(x +3) ~ 80g(6) ~ 0 = 26518 y xa3 My FBD. I EF,=0 — -N, - 50g ~2000(sin30°) + N, = 0 7651.8 MN, = 1490.5 +( 7651.8 2 56(3) Newton‘s Law for F.B.D. II (2000)(cos30°) - .2[N, +N] = 50 a (2000)(.866) - 298.1 - 3262 50 5 (4) = sov st re a 3060 ave 9 - 3000 _ sy yp 1433.9 5e3 50 320 a12.132(cont.) Separate variables 1433.9 de - = de = SOVdY x+ Integrate: 1433.92 ~ 3060¢n(x +3) = 50 + +c When x=0 V=0 aC = =3060 in 1433.9x - 3060 tn(x + 3) + 3060 tn3 - 50 When x = 1 find V.12.133 ‘A constant force F of 5,000 N acts on block A. If we do ‘not have friction anywhere, what is the acceleration of block A? 100g EBD SDOON A Na Newton (F.B.D. 1) 5000 - N, sin30° = 100(a,), qa) N, ~N,cos30° - 100g = 0 (2) Newton (RB.D. Il) N, ©0830" ~ 60g = 60(a,), 3) N, sin30° - N, = 0 4) Geometry, Lo = tan30° Gd, Gnu > Gy - 577(a), @a (5) Look at (1) and (3). Use (5) t | 5000 - (5) = (100\(a,), (60)(9.81) + .866N, = (60)(577a,), N, = 2(5000 - 100(a,),) ~ (60)(9.81) + (-866)(2)(5000 - 100(4,),) = (60).577\(a,), 322‘The system shown is released from rest. What distance does the body C drop in 12sec? The cable is inextensible. The coef ficient of dynamic friction jg is 4 for contact surfaces of bodies A and B. tol & 7 From Newton's Law for Body A: W T/ + W,sin30° - (4)I,08 30° = —* &, T! = 3115, - 1.536 T" = 2485, +3.212.134 (cont.) 30-7’ - 7" = 9328, Substitute for T’ and T’’ from (1) and (2). Note first however: 30 + 1,536 ~ 3.2 = 9325 +.3115+.2485 $= 19.00 5-19.05 + ce SG From I.C.; ,=C,=012.135 Do Problemt2.2# for the case where there: is viscous damping for the contact surfaces ‘of bodies 4 and B given as 5Vlb, with V in fifsec. Newton's law for body B: But V, = Ve=Vo=V Add Eqs. (1), (2) and (3) thereby eliminating T’ and T’’. ‘The system shown is released from rest. What distance does the body C drop in 2 ec? The cable is inextensible. The coef ficient of dynamic friction 4y is 4 for con tact surfaces of bodies 4 and 2.12.135 (cont.) J4o+8+30) 2 = —vs35 9 ot Separate variables: | = .8710t 35. In@5-Y) - - 671+ 6, whent=0,V=0 » C,=In35 V= 351-2") ox 3714) & 350 -& ot ‘ » 35 X= 35f+ or, 671 & Whent=0,x=0 « C,=-52.2 Att=2sec: 35 gt = (35)(2) + 92 (es7@ 52.2 x= G52) 671 e )‘Two bodies A and B are shown having masses of 40 kg and 30g, respectively ‘The cables are inextensible. Neglecting the inertia of the cable and pulleys at C and , what is the speed of the block 1 sec after the system has been released from rest? The coefficient friction j4g for the contact surface of body A is 3. (Hint: From your earlier work in physics, recall that pulley D is instantaneously rotating about point « and hence point ¢ moves at ‘a speed that is twice that of point &.) 404 — Py 408, = T’ - (9.81)(40)(.3) + 305 308, = (30)(9.81) - 7” Note: 8, = 28, Also since pulley D Is weightless 1 =2T" Combine Eqs. (1), (2), (3), (4) into following equation12.136 (cont.) 408, = 21-188, + (80)9.8]-(2.81140).3) 47.55, = 29.4 $, = B19f+ 6, = ork atts {when + {when t=0 s,=0 « Att=} Bodies 4, B, and C have weights respec- y {het 10 200 an 50 Hees from rest, what are the respective speeds of, the bodies after 1 sec? Neglect the weight of pulleys. Int WarSo = 0 Gat 2Fqt So = 0 r 100 7 ar 200 -27+200 = 20, 9g rsolb12.137 (corit.) _T+150sin30° = 150 o g Substitute for T from (3) into (4): ~ 2(100 - 122 5.) +200 = 202 5, g g 2 70G,-7) = 0 g Ya = Va Substitute for T from (3) into (5): = 100-0 5) +75 2 ke Substitute for 8, from Eq. (2): 100, _ 150, 5, 254g - 10/5 07) gu og ‘e Use Eq. (6): 100 150 - -25+— p, = =(-37,) g g J, = 1.4636 fisec Jy = 1.4636¢ Att= 14sec. J, = 1.4636'Isec. 2} ¥, = 1.4636'Isec12.138 ‘Acar is moving ata constant speed of 5 kav on a meni akin » rose part of which (AB) is parabolic and part of which (C-2D) {scoala ith cada of 3 km. the cr hasan an-lck brake ing sion andthe sai cocfcen of ition 1, between the toad and tess 0.6, what isthe maximum dceeraton pos Bieter = 2 km poston and at the + = 10 km poston The toa vei weight is 12,000 N im For parabolic portion assume impending slippage since wheels cannot lock woot Ma, - -Wsina (6)N = N-Weosa va, 28 g R @ = tan *(.08) = 4.57° From (2): 65000 zor) 12000 \3000_/ — 119776 N 9.81 25240 2 LON = Weosa + ™ ¥ = 12000 cost457°) + 8 ( 72000 a = =12,000 sin (4.57°) ~ (.6)(11977.6) & For Circular path. wy ~ — 12,000 (65/3. _ 19.999 = 1.1867 x 10* N @ —@)(1000) 12000 = ~(,6)(1.1867 x 10%) & » ~5.821 mjs = 5933 g’s|12.139 ‘A mass of 3 kg is moving along a vertically oriented parabolic rod whose equationis y = 3427. A linear spring with & = 550 Nim connects to the mass and is unstretched when the ‘mass js tthe botiom of the ed having an unstretched length /,, = 1m, When the spring centerline is 30° from the vertical, as shown, inthe diagram. the mass is moving at 28 mis. At this instant, what is the force component on therod directed normal to the rod? Locate particle 1 - 3.427 577 - 1.9618x? x? + 5097x - 2941 = 0 2 x= 3444m —. y - 4032 m cat, = O82) y.suu5 = 2-342 Neos B = 66.88" Newton in N direction N ~ (mg)cos66.88° - x(t - z sin30 ostseaer 30°) =3 vf-tayh/ ls a& de?) sass R-(0 + (684)5}2 168). sua 2.428 m ° 28 1 = (g)e0s66.88" + 550(1 - 6888)(8) + 3) [N_= 158.2 Newtons]12.140 Location of| ‘A heated cathode gives off electrons which are atracted stall hole to the positive anode. Some go through a small hole and enterthe: — f parallel plates at an angle with the horizontal of of, = 0 and a velocity of ¥;, Determine the horizontal and vertical motions of the electron inside the plates as a function of time. Letting x = 1, find the time that the electron is in the parallel plate region and the, obtain the exit vertical velocity, Assuming straight-line motion ‘units the electron hits the screen, show that the vertical postion of ‘impact, assuming the screen is fat is eb Positive anode 2 a m *) Motion of electrons within plates At x - & (exit from plates) 33312.140(cont.) The time for electron to leave plates Hence at exit of plate region From geometry after plate region (ay), = mV, Impact point of vertical screen (BWenpaer = (AY), + (AY),12.141 A weightless cord supports two identical masses each ‘of weight W. The cord is being pulled al 2 constant speed ¥, by a force F, Formulate an equation for Fin terms of Vl, W, and. Determine F forthe following condiions Weightiess Weighiless palley Wa 22ms W=40N core L=33m b= dom = 26m Use the Center of Mass of the bodies. Newton's Law 2F sina -2W - 2¥ 5 & ) iS length of cord between A and B v, - 4 falye (ye a lt 2 Sutst. into (1)12.141(cont.) 9.81 | @16) 2 3 = 2.336? (49) , 592/40 1 4 2.336)? Fe 2 (40) 22 If |pase + 2336)" (16? | F = 382.10 + 4347.7 = 336CHAPTER 13 Energy Methods for Particles 337What value of constant force Pis required to bring the 100-Ib body, which starts from rest, to a velocity of 30 f/sec in 2017 Neglect friction, 20 f (Pcos30° + 100 sin30°)ds = Fp 0 NBEBPH RO) + 34.2(20) ° - hom A light cable passes over a frictionless pulley. Determine the velocity of the 100-b block after it has moved 30 t from rest. Neglect the inertia of the pulley. N = 100.c0830° = 86.61b 2 f= N= 17.3200 The work-energy equation gives: [130 - 100 sin30° - 17.3230) = 4{222}v {caJn Problem 13.2, the pulley has rains of 1 ft and has a resisting torque ing of 10 lb-ft. Neglect the Toes of he pulley and the mass of the cable, Compute the kinetic energy of the 100-Ib block after it has moved 30 ft from rest. i e a 4 i30\b fas F wf Since we are neglecting inertia of the pulley itis clear that: (130 -F(1) = 10 F = 120b Now we use work-eneray equation. [120 - 100 sin30° -(.2)(86.6)]30 = KE A light cable is wrapped around two drums ‘fixed between a pair of blocks. The system ‘has a mass of 50 kg. If a 250-N tension is ‘exerted on the free end of the cable, what js the velocity change of the system after 3m of travel down the incline ? The body starts from rest. Take jg for all surfaces as 05. Energy Eg. 3[(250 -342.2) + §0(9.81 )sin30° ~(.05)(50)(9.81 )(.865)] = 3 Sov?‘A.30-kg mass on u springs moved 0 that it extends the spring 50 mmm from its ua- extended position. I the coeficient of friction between the mass and the support- ‘SR ing surface is .3, * (@) What is the velocity of the mass as it kx retums to the undeformed configura- =, tion of the spring? ¥ (©) How fr wil the spring be compressed when the mass stops instantaneously nN before starting to the left? P Som v1: N [sh Saati w= 3 Work-energy Eg.: Let x be inmm. 11) 1 sel snsnaan cae = {eo 2, (.9(60(9:81)(50)-2 (- sn} - jsov b) va! ~(.3(50)(9.81)- 10x] ax = 0 - (.9)(50¥9.81)K 4-50)-72 (@- -50?) = ~147.15d-7360 -50? + 12500 = 0 a + 29.4d-1028 = 0 Use quadratic formula:‘A truck-trailer is shown carrying three be when it has moved a total of 100 ft? crushed junk sutomobile cubes each The truck unloaded weighs $000 Ib and as ‘weighing 2500 lb. An electromagnet is a tire diameter of 18 in. Neglect the rota- lsed to pick up the cubes as the truck tional effects of the tires and wind friction. moves by, Suppoke the truck starts at position 1 by applying © constant 600 in.-Ib total torque on the drive wheels. The magnet picks up only one cube C during the process. What will the velocity of the truck Before C is picked up: Total mass is: 1 - + 18000 + (3)(2500)] = 988 slugs. Using work-energy equation we get velocity at pickup, V,: Jraeeyvs = (68.775) 2 joxseznes) 1505 mece 388 After C is picked up: Total mass Is: 4 [5000 +(2)(2 - 311 ry +(2)(2500)] slugs Using work-energy equation after C is picked up, we get for the final desired velocity V; FOV) = 66.7(100-75) = 1668 vi = 201888) .957 = 364 3m‘Do Problem 13.6 ifthe first cube B and the last cube D are removed as they go by the magnet. interval |. Total mass is 388 slugs (all bodies on) and truck moves 65 ft. Work-Energy equation: F (o8aney,? = (66.7)(85) (VF = 22.3 Interval il. Total mass Is 311 slugs (2 bodies on) and truck moves 20 ft. s envi -Vi) = (66.720) + 22.3 = 30.88 _ (86.7)(20)(2) WF 311 Interval Ul. Total mass is 233 slugs (one body is on) and truck moves (100 - 85) = 15 ft. + $(238)'Vas-Va) = (66.7)(18) ~- (86.7)(15)(2) 233 6.28 flsec + 30.88 = 39.46 342‘A passenger ferry is shown moving into its dock to unload passengers. As it approaches the dock, it has a speed of 3 knots (I knot = .563 m/sec). If the pilot reverses his engines just as the front of the ferry comes abreast of the first pilings at ‘A, what constant reverse thrust will stop the ferry just as it reaches the ramp B7 The ferry weighs 4450 KN. Assume that the ferry does not hit the side pilings and undergoes no resistance from them. [Neglect the drag of the water. V, = (3)(.563) = 1.689 misec V, = 0 2 -F(33) = jieonten) f0-1.589"1 Do Problem 13.8 assuming that the ferry ‘rubs against the pilings as @ result of a poor entrance and undergoes a resistance against its forward motion given as f= 9x + 50)N where x ig measured in meters from the firs pilings at A to the front of the ferry. 8 - (33) ~ [ 9(x+50) ax = 5 ROO fo-.68671 3 39 -9(33)~450(89) = - {GASOICEEED (1.6097 4 2.‘A freight car weighing 90 KN is rolling at 2 speed of 1.7 m/sec toward a spring-stop system, If the spring is nonlinear such that it develops a .0450:7-KN force for a deflection of xmm, what is the maximum deceleration that the ear A undergoes? First find maximum 8 (deflection) of spring. Note & is in millimeters): [25l|! f 0450%10%x¢ ox] = 4{2220 0. 17) 8 190x10° 17 3) 2 98t (17F «J oxsoo{®: 3 = 960 ma Fy = ~(96.0)*(.045x10°) [ane]3. |A.1.000 N force is applied to 3,000-N black atthe posi tion shown. What is the speed of the block after ii moves 2 m? ‘There is Coulom® friction present. Assume at all times thatthe pressure atthe bottom ofthe block i uniform, Neglect he hei Of the block in your calelations, Roller at right end moves with the block a) From Equilibrium mM, =0 (3000)3.5) - (NB -x +1) = 0 10,500 we (32) Work Energy Ba. (1000)()- f cal SP al g jn 500 2. ¢, ah 1000x + (2100) tn(4 -2) = ar 2100in4 = C, c, = 2911 roo: +2100 én (4-2) = 45°02 +2011 Let x = 2. Solve for V. v = 1.9873 © s13.12 ‘Two blocks A and B are connected by an inexte le cod nning over a facioniest and masses pulley at E The System sans from est. What isthe velocity ofthe system art has moved 3? The coeliient of dynamic friction, equalt 22 furbodes A and 2. I Work Energy 3 [{r-oysin30"y - 22 £235 (59.866) ax = 22 wv f Brx 2g a ~75 + T(3) ~ (2)(22)(623.5) || (4) 28.58 = .764V? r blacx 37 - 274[tm(11) - tn(8)] - 28.58 = .7764V? 37 - 190.9 = .7764V7 = 713) ~ (22)(200).707)(3) + (200(,707)(3) = > v pee -3T + 330.9 - 3.117% aN Ns EBD. 1 (330.9) - 3.117) - 190.9 = .7764 7 140.0 = 3.886 V7 V = 6.002 filsec] 34615.13 ‘What are the velocities of blocks A and B when, after ‘aning from rest, black B moves a distance of 3 ft? The dynamic coefficient of fiction is 2 a all surfaces, EBD. 1 Newton for B in _y Direction = Ny(.866) + 2N,(-5) - 200 +N, = 0 N, = 200 + .766N, Work Energy in_x Direction [-Nj(5) + 800 - 2, ~.2N,(.866)}(3) = pe Subst. for N, [-N,(5) + 800 ~ .2(200 + .766N,) - (2)(.866)Np]-3 = * v -.248N, +228 = My; &13,13(cont.) EBD. I Newton for_A_in_x Direction N, ~ 2N,(866) - W,(5) = 0 N, = 6732N, (2) Work Energy in_y Direction [~ 150N,(.866) - (2)0,)(5) - 2N,(Ay), = cae ¥ @) Gnematics ra (Ay), = 31an30° = 1.7321 ft z Va . x43 1 =F (25)v2 (2.5) 441. 1618 [|pseo-## (392.6)( 1.6) -441.6 tn(x+3),° = +(2.5)V? 4 2 [v= 1075 mlseeBtock-A weighs 200 Ib and block # weighs 150 Ib. f the system starts from rest, what is the speed of block B after it moves 1 £1? [Neglect the weight of the pulleys. 5t, +, = const. 5bt, +t, = 0 5V,- Vy =O ‘Ail go up and B must go down. WorkEnergy for Body & (150sin30° - 7(1) = 14 29 Work-Energy for Body A 4 ‘5 T-200)(— G ME ye , From Eq. (Ay ‘Add Eqs. (3) and (4):A.weight Wis to be lowered by a man. He lets the rope slip through his hands while maintaining a tension of 130N on the rope. What is the maximum weight W that he can handle if the weight is not to exceed a speed of 5 m/sec starting from rest and ropping 3 m? Use the coefficients of frction shown in the diagram, Neglect the ‘mass of the rope. There are three wraps of 1 We. age) tO? 1874 qt T = 1.874 7, (2) = eK") = 285.7 T, = 37,138. N From (2): = T= (1.874)(37,138) = €9507 Subst. into Eq. (1): (w-69597)(3) = 1% 25) 29 362‘The vehicle is attached to a weight vestraining weight A be if, after starting from rest, th ‘does not ‘A vehicle Bis being let dow a 30° incline A that ‘weight exceed the system B fuses after moving 10 ft? There are (#0 ‘wraps around the Post (2000 sin30° - 7,)( 10) = ; (Tyo 200410) = 5 enn? sles Ts = 7,(152.4) From (1) Te = 801 Ib. From (3) T, = 5-26 Ib. (22 6» g Hey g ) @)A spiral path is given parametrcally in terms of the parameter + as follows: x, = Asin geht Jp = Accs z= Crt where 4, 7, and C are known constants. A particle P of mass 1 Ibm is released from a Position of rest 1 ft above the xy plane. The particle is constrained by spring (K-= 2 lbjfe) coiled around the path. The spring is unstretched when P is released. [Neglect friction and find how far P drops. Take 7 = #/2,4 = C= I, Take A=C=1ft n = z 2 We will need distance along path. s= fas = f fax? sdy*+az* [Flg}« From (1) we have: Substitute into (2):13.30-(cont.) (S ilsin? Fx vcos! F «dt a GF a ‘Also we can say: ds = |1+(2) a Moe -f keds =0 Now go to Work-KE relation; Using Eqs. (4) and (3) in (5) we get: (Note in limits z=) : Mop = [KIA (SP Iso +(2F 18? AU Yl 2 = 3.478? 2 Mg 3-12 -1 . 282 47 3.47 Thus p drops .288 ft.A body A of mass 1 Ibm is moving at time t= 0 wih a speed V of 1 ft/sec on a ‘smooth cylinder as shown. What is the speed of the body when it arrives at B? Taker =2n. Use work-energy equation W{2-2c0se] - amv)An automobile engine under testis rotating at 4400 rpm and develops a torque on a dynamometer of 40N-m, What is the horsepower developed by the engine? If ‘the dynamometer has a mechanical efficiency of .90, what is the kilowatt outpat of the generator? (Hint: The work of a torque equals the torque times the angle of rotation in radians.) 4400 RPM = (4400)(2x)/60 = “ 4408 Rraisec Power = (se ft 4 nem) = 19,431 sec sec HP = c19aon [2] 22 | 28 i = 24.7 HP 4.45N)\ 305m) 550 K.W. Output of generator is: (24.7.9) 1.341 ‘A rocket is undergoing static thrust tests in a test stand. A thrust of 300,000 Ib is developed while 300 gal of fuel (specific gravity .8) is burned per second. The exhaust products of combustion have a speed of 5000 ft/sec relative to the rocket. What power is being developed on the rocket? What is the power developed on the exhaust gases? (I gal = .1337 10) Power developed on rocket is zero. For exhaust fumes, note that 300 gallons per sec. go from zero to 5000 fl/sec. The change in kinetic energy per second of the fuel isA 15-ton strestcar accelerates from test at A constant rave a» unlit reaches a speed V,, at which time there is zero acceleration. The wind resistance is given asx V2, Formulate expressions for power devel- ‘oped for the stated ranges of operation. a) Newton's Law for street car: F-wV* = ma, . Fe ye - (152000) ma, +) 322 ate? = 9324, +xV? Power = FV = 9324,V+xV* b) For a, = 0 we have for F:What is the maximum horsepower that ‘can he developed on a streetcar weighing 133.5 KN? The car has a coefficient of static friction of 20 between wheels and rail ‘and a drag given as 32¥2 N, where V isin ‘see, All wheels are drive wheels. Newton's law for condition of maximum traction and maximum speed. [(.2)(133,500) - 32V] = 0 V = 28.9 misec __ (2)(133,500)(28.9) 550 S44! a0 45) 2: (POWOF pa‘A 7500-kg streetcar starts from rest when the conductor draws 5 kW of power from the line. If this input is maintained constant and if the mechanical efficiency of the motors is 90%, how long does the streetcar take to reach a speed of 10 kmjar? Neglect wind resistance. (1 kW = 1.341 hp) Let F be the traction force 2. FV = const. = (.9(5)(1.344 xsso,{ #222080) +400) sec 1ff 1 = 4500 N-misec Newton's law: wv at vav - 4500 oy 7500 Integrate: VE, 4500 4, 6 2 7500 when t=0, V=0 . C=0 Set V= cso 208 = 2.78 misec 3600, + [222] 22 = 6.4 see 2 J 4500 370‘A children’s boat tide can be found in ‘many arnusement parks. Small boats each ‘weighing 100 Ib are rotated in a tank of ‘water. If the system is rotating with a speed 6 of 10 rpm, what is the kinetic energy of the system? Assume that each bost has ‘wo 60-b children on board and that the kinetic energy of the supporting structure ccan be accounted for by “lumping” an additional 301bm into each boat. If a ‘wattmeter indicates that 4 kW of power is. ‘being absorbed by the motor turning the system, what is the drag for each boat? ‘Take the mechanical efficiency of the ‘motor to be 80%. (I kW = 1.341 hp) Q 1 6 = (2n)(10)— = 1.047 radi (2x 50 sec V = (10)(1.047) - 10.47 fi/sec Total equivalent wt. = (4)(2)(60) + 4(30 + 100) = 480 + 520 = 1000 Ib. «KE = 11009 (49.47) = 1702 Alb 2 32.2 Input to motor is (4)(1.341) = 5.36 HP. The output is (.80)(5.36) = 4.29 HP = (4.29)(550) ftb/sec. To get drag D per boat note that: 4(D)(V)_= (4.29)(550) (4.29)(550)/ (4)(10.47)‘A railroad car traveling 5 km/hr runs into fa stop at a railroad terminal. A vehicle having a mass of 1800 kg is held by a linear restoring foree system that has an equivalent spring constant of 20,000 N/m. If the railroad car is assumed to stop suddenly and if the wheels in the vehicle are free to turn, what is the maximum force devel- spring system? Neglect rota- tinve - Las? 2 2 Ve cof 9] = 1.389 misec 3600 4 yal 2 3 (1800)( 1.989)" = (20,000) 8 ‘A mass of one slug is moving at a speed of 50 ft/sec along horizontal frictionless surface which later inclines upward at an 45°. A spring of constant K — 5 . is present along the incline. How high doer the mass move? Here we have a conservative system. We then conserve mechanical energy. 4 (50%) = (199120816707) oa 1250 = 455 + 22.88 +3087 + 87 +.7598 -26.5 =0 759 , YST6+106 3g. 5 16 & 2 2 8 . |Mass moves 24.78 ft. up the incline,|A block weighing 10 Ib is released from rest where the springs acting on the body ‘are horizontal and have a tension of 1016 teach. What isthe velocity of the block after it has descended 4 in. if each spring has 2 spring constant K = 5 lbjin.? +, spring is extended 0.77 inches. ‘The original elongation of the spring is 10/5 = 2 in. When weight has dropped 4 in., the elongaticn is then 2.77". Thus using the lower position of the weight as the datum plane for gravity we have, using the conservation of mechanical energy, (all forces are conservative). A), 2) t5¢2 fs}-2 2° | Putting in numbers: 3.33 + 1.667 = .1553V?+3.20 [7 seonia|‘Annonlinear spring develops a force given 5.0624 N, where x is the amount of compression ofthe spring in millimeters. Does ‘such a spring develop a conservative force? If so, what is the potential energy stored in the spring for a deflection of 60 mm? F= ~.06 N PE = 02x° PE(60) = .02(60)° = 4320WV-mm In Problem 13.44, a weight W of 225 Nis released suddenly from rest on the nonlinear spring. What is the maximum dees tion of the spring? Conservation of energy gives: pei + mgs = BONE + (PEN (8 is max. deflection of the spring.)‘A vector that you will learn more about in fluid mechanics and electromagnetic theory is the curl vector, which is defined for rectangular coordinates as mira (BE -BEy +My +B Substituting (b) into (a): Hence curl F = 0 is satisfied. (When the curl is applied to a fluid velocity field V as above, the resulting vector field is twice the angular velocity field of infinitesimal elements in the flow.) Show that if Fis expressible as Vp, y, 2). then it raust follow that eurl F = 0. The cor verse is also true, namely that ifeurl F = then F = VG, y, 2) and ts thus a con servative force field.2) Determine whether the following force Fela comeratne oot @) Fm (W0r + yi + (Syz + DJ + (100+ 2p (6) F=(esing + + yz + 27 + @y# = Scos xk See Problem 13.48 before doing this problem. Note b) aF, oF, oF, Seay Seed Sw ay ax ax aF, oF, x10 Se sey Se = 165, az y oy y oF, oy oF, os OF apy = sy fs. cunt FO az oy oF, F192 Fo 40 ax az « CONSERVATIVE Fey yg sing y ox a oF, oF, oF, Fo sinx Zreay Seay az az y Fe, oy a ax aF, oy ay = ay az ay OF, aF, < - Ssinx « — = sinx ax az curl Ved » NOT CONSERVATIVE. 376F = (402+ y)i + (15yz+ x) + (10x+ Given the following conservative force F = (02 +9) + 592 +30 ne 4 15 + (10x + )en find the force potential to within an arbitrary constant. What work is dove by the force field on a particle going from r; = 107 + 2) + 3kmtory = 21 +4) — 3k sm? (Hint: Note that if 46/dx equals some function (2)? +2), then we ean say on integrating that b= Ft ated where g(y, 2) is an arbitrary function of y and z, Note we have held y and z constant uring the integration] = @ = 10xz+ xy+ Ay2) Comparing: 15y)g =10z+y = (10z+y)x+ Ay2) = 15yz+x ay 2 = 1829 + xy+ (xz) cca - [100-222] az 2 = (100.192 ]e+ man irom (1) b= gxz) +a Bye from (2) o= toxz = n(xy) «2 yz from (3) Xz) = 10xz Ayz) = Bye WXY) = XY abe tore xy B yz constFrom (1) From (2) From (3) Comparing: g(x,y) = -5z cos x - Whats the work done ona particle start = (Gesiax 2 Fa Gesing + 0+ (e+ 0) ing at the origin and moving in a circular + Gy? ~ Seosayklb bath of radius 241 to form a semicircle (here x,y, and rare in Sind the force along the postive x axis? (See the hint in ° ° o If the following force field is conservative, otentiat up to an arbitrary constant. Problem 1345) F = (Szsin x+y) + (4yz+x)/ + (2y?-5cosx)k ® _ sa¢sinx) + - sxisinx)+y () ox + = -5z(cosx) + yrs AyizZ) 8 _ ayes ay UF @) 2b = 2a +xy+ (x2) & = 2y°-5cosx @ +o = (27 -Scosaiz+ xy) = -8zcosx+ xy+ yz) = KX2) +x 42PZ = -5zcosx+ h(xy) +2y°z hyz) = 29-2 Mxy) =v ~5z cosx + xy+ 2y°z+ const. = (4,0,0) - 6(0,0,0) = 0 378‘A body A can slide in a frictionless man- per along rod CD. At the position shown, the spring along CD has been compressed 6 in. and A is at a distance of 4 ft from D. ‘The spring connecting A to E has been elongated | in. What is the speed of 4 after it moves 1 ft? The spring constants are K, = 10 Ibji and K, = 5 Ib/in. The mass of A is 30 Ibm, CD = (8245748? = Visa. = 12.37" CE - \25+64 = 9.43’ tan6 = 85; 8 = 40.3° EF = 9.43 sin40.3 = 6.10" DF=\ y¥ = 5.18 ‘Spring 2: Original elongation 8, = 1” Final elongation13.47 (cont) 8, =1+ (BG - EA) =f (Ver a18 ~ 96.17 + 4.18712 = 4.177 in Spring 4: Original compression A, = 6" Final compression A, = 18" Energy equation: (Lowest pos. of "A" as datum) (PE) 4, + HEY + (PE) aes + (PE aga, = (PB N0+ (KE) + (PEN) (PE ce Substituting values: (30) 12sIn8) +3 (AXE) +3 (GN 1) - CHE) + YAR) +S (KN A.ATIVEBO(T.T7) « 249198) 20.5) = KE+ 30118") + fesyaar7y KE = 84.7 in-lb = 7.06 ft-Ib. (30) % - 106 29Accollar A of mass 10 Ibm slides on a frie- tionless tube. The collar is connected to a linear spring whose spring constant K is 5.0 Ibfin. If the collar is released from rest at the position shown, what is its speed when the spring is at elevation EF? The spring is stretched 3 in. at the initial position of the collar. A SN Length of EA = 144+36 = 13.42” Unstretched length is 10.42". Conservation of potential energy using EF as datum: 1 a 4| 10 1 2 5 (5.03) +(10)(6) = [2{22}vefren-£esoxr2-toay 2 alg 2 +60 = | |c42). 2 (2.5)(9) +60 2 Skea (2.5)(1.58) [7 sss ase]‘A mass M of 20g slides with no friction along a vertical rod. Two springs each of spring constant K, = 2 Nimm and a third spring having a sping constant K = 3'Nimm are atached to the mass I. At the stating postion when 8 = 30% the springs are unsticched. What is the velovity of Mf art descends a ise tance d of 02 m? We have only conservative forces acting. Hence we use the conservation of mechanical energy equation. Thus if A represents the decrease in length of K, we have (PB), + (KE), = (PE), + (KE), (Mg)(.1)tan 30° +0 = (Mg)(.11an30° “d+ Fhe A omar ime aw We now get A for the case where d = 2m a = —1__ JP Citan30° - 027 = .00859 m 20830" Now going back to Eq. (1) and inserting data we get (20)(9.81)(.1 tan 30°) +0 = (20)(g)[(.1)(.5773) - 02] + (3 je x 10027 + az}e x 10°)(,00859) « $ nv) v= 5637 2 3A collar A having a mass of 5 kg can slide without friction on a pipe. Ifrelessed from estat the position shown, where the spring is wastretched, what gpeed will the collar hhave after moving 0 mm? The spring constant is 2000 N/m. Find CA’: Law of cosines: (CAP = 20? + 5? -(2)(5)(20)(cose) = 22.913 om. Conservation of Mech. energy, tsyoan| =|. 5) = Fee + 5 (2000) {z2213- zy 100A Slotted rod A is moving to the left at a speed of 2 m/sec. Pins are moved to the left by this rod. These pins must slide in a slot under the rod as shown in the dia gram, The pins are connected by a spring hhaving a spring constant K of 1500 Nim. ‘The spring is unstretched in the configuration shown, What distance d do the pins reach before stopping. instantaneously ? ‘The mass of the slotted rod is 10 kg, The spring is held in the slotted rod so as not to buckle outward. Slotted rod A i 2) | 4 24 -e)""P 51002") (3}cs0o2 2(1 -e)"*F £1633 = (2)[1-(1-67)'7] (1-e?)'? = 9184‘The top view of a slotted bar of mass 40tbm i shown. Two pins guided by the WY Stoted bar Fide in slots which ave the A caution ofa ero oy — 5. wee { LT are in feet. The pine are connect GY by 2 linear spring having a spring con- Li stant K of 5 ibjin. When the 2h om they ax he sping sstetched 8 in yy} and the sloted bar is moving to the right ata speedo Buses, Whats ¥ of the bar? Hint: Differentiate energy eqvation Consider Energy Equation: Aves 1K(a?) = Const 2 2 2 MW +408 = 0 Data V = 2’/sec Vea? 8 =8in Note: xy = 5 2 y+ yx = 0 y- -(e9 x But § = 2y = -2(%%) x = -2 22) = -5'/sec Going back to Ea. (1): Sa U5 N8)-5) -0 |07.3 ftisec*In Problem 13.52, what is the speed of the slotted bar when * = 2.25 ft? : ‘The top view of a slotted bar of mass 30 fom is shown. ‘Two pins guided by the slotted bar ride in slots which have the equation of a hyperbola xy = S, where x and y are in feet. The pins aze connected by a linear spring having a spring constant ‘of 5 thin. When the pins are 2 ft from the y axis. te spring is “etched 8 in. and the slotied bar is moving to the right aa speed of 2 fusee. What is V of the bar? (Mint: Differentiate energy equation. | Energy Eq.: For unstretched length of spring ¢,: 8 5 0, = [24,-—] = 2] =| -.667 = 4.33 & 2% 72! 5] 5 = 2y,-4.33 = 2) |-4.33 = 1111" Ys | = 1.333 inches. 2 Aisyeryt. td 2S 6E G5 30,21 1 Vy + = (51.333?) 3 (X1333°)(75)Perhaps many of you as children con- structed toy guns from half a clothespin, ‘a wooden block, and bands of rubber cut from the inner tube of an automobile tire {see diagram (@)]. Rubber bund 4 holds the half-clothespin to the wooden “gun stock." The “ammunition” is 2 rubber band B held by the clothespin at C by friction and stretched to go around the block at the other end. The rubber band B when laid flat as in (b) has a length of 7 in. To “load the ammunition” takes a force of 2b at C. If the gun is pointed upward, ‘estimate how high the fired rubber band will go when “fired” if it weighs 4 02. To “fire” the gun you push lowest part of clothespin toward the nail (see diagram) to release at C. We first determine the spring constant of the rubber band B. 20 20 princh 14- T Conservation of Mechanical Energy using the gun as a reference. (Neglect friction) 1 = k8? = (gh 2 (mgh) {>\n{3]-[4)>‘A. meteor has a speed of 56,000 km/br ‘when it is 320,000 km from the center of ‘the earth. What will bits speed when itis 160 km from the earth’ surface? We may employ the conservation of mechanical eneray principle here. Accordingly, we have: _iin , ; __Giten | PN ) ro 5, 2 We may cancel m, the mass of the meteor. To get GM note from Chap. 12 that: om = oe - 281) 63737 - 398x10° 1000 sec 2 3600 sec’ 1 hour = 5.94x10 oe | set r = 516x108 he Substituting into Eq.(a) we get: _5.16x10" | (56,000 _ _ 5.16x10" | 29 320,000 2 6533 [estima]‘A light cable passes over a frictionless pulley. Determine the velocity of the 100-1 block after it has moved 30 ft from rest. [Neglect the inertia of the polley. Do Problem 13.2 using energy equation in the usual form ofthe fst law of thermo dynamics, A(PE+KE) = Wg {(100}:20y.in30")+ 5 “PV = [130-(86.6)(.2)]30 ‘Do Froblem 13.5 using energy equation in the usual form of the frst law of thermo: dynamics. a) Initial clongation is 0 mm Find Y when reeased so that elongation is zero. A(PE+ KE) = Wy ,. sesso + poor -o| = -(50)(9.81)(.3)(.050) bb). Find compression of spring when the mass sas back to let. A( PE + KE) = Wz | soox sce defo ‘ £0 asa = -(60)(9.81)(.3(8)Do Problem 13.17 using energy equation in the usual form of the first law of ther- modynamics. A block weighing 501b is shown on an inclined surface. The block is released at the position shown at a rest condition. ‘What is the maximum compression of the spring? The spring has a spring constant K of 10 Ibin., and the coefficient of friction between the block and the incline is3. A(PE+ KE) {0-(50)(10--8 5) =14(120)(8*)-O1 = -(50)(.866)(.3)(10 +3) 608? - 12.018 - 120.1 = 390Do Problem 13.1@using energy equation A classroom demonstration unit is used to ‘in the usual form of the first law of ther- illustrate vibrations and interactions of ‘modynamics. bodies. Body A has a mass of -5 kg and is ‘moving to the left at a speed of 1.6 msec at the position indicated. The body rides ‘on a cushion of air supplied from the tube B through small openings in the tube. If there is a constant friction force of 1 N, ‘what speed will 4 have when it returns to the position shown in the diagram? There are two springs at C, each having a spring constant of 15 Nim. se 6m A(PE+ KE) = Wo 1412 15)(82)-0 +10-F(5114.69)1 = -(1(3+8) 1587 +.18 -.340 - 0 = 1 + v.41? +(4)(15)(.340) 30 1474 m Erom (2) to (3) A(PE+ KE) = Wg 10 -(2N)(18).1474°)] +5¢8)V*-01 = A)(3+.1474) 211 misec13.60 A constant-torque electric motor A is drive is 6in., and the delivered torque is 150 Ib-ft. The coefficient of friction between the drum and cable is 2. If the system is started from rest, what is the speed of the weight W after it has been raised 5m? Consider W,- Energy Equation: (7,(5)-(H(5) = ra 392‘A body 4, weighing 101b, can slide along 1 fixed rod B-B. A springis connected between fixed point C and the mass. AC is 2fe in length when the spring is unextend- ‘ed. Ifthe body is released from rest at the ‘configuration shown, what is its speed ‘when it reaches the » axis? Assume that a ‘constant friction force of 607 acts on the body A. The spring constant K is fin. AC = (27 +(3.464 -2.252)}? = 234 ft =. Spring stretched .34 ft. Now use work-energy Eq. [3{22}2-0 -[Jeva-rs9c2-Joxs9ren 003-2) = 2e 2 2 { je = 1.3)? + (3.464 -2.2527]'? & 16 V = 5.22 ftisec.‘A body Ais released from rest on a vertical circular path as shown. If a constant resistance force of 1N acts along the path, ‘what is the speed of the body when it reaches B? The mass of the body is .5 ke and the radius r of the path is 1.6m. Work Energy Eq.’ A(KE+ PE) = Ws 360 [y= 28st i [bs csxeantssnse ~ 1.6sin60°} = -crforel so‘Accylinder slides down a rod. What is the distance 5 that the spring is deflected atthe instant thatthe disk stops instants neously? Take fl, =.3. First Law AIKE + PE) = Wy (0 - (500)(2 + 5) sin30°) + (3 (10,000) 8? - 9} = -(600)(cos30”)(.3)(2 + 8) = 500 - 2508 + 50008? + 259.8 + 129.95 = 0 50005? - 120.18 - 240.2 = 0 en _ 120.1 + /(120.1F + 4)(5000)(240.2) (2)(5000) = zi] éNote: ‘When In ordnance work a very vital test for equipment is the shock fest, in which a piece of equipment is subjected 10 a cer- ‘ip level of acceleration of short duration. ‘A common technique for this test is the drop test. The specimen is mounted on a rigid carriage, which upon release is dropped along guide rods onto a set of lead pads resting on a heavy rigid anvil. ‘The pads deform and absorb the energy Of the carriage and specimen. We estimate through other tests that the energy E absorbed by a pad versus compression distance 5 is given as shown, where the curve ‘can be taken as a parabola. For four such ‘pads, each placed directly on the anvil, and ‘a height 4 of 3 m, what is the compression of the pads? The carriage and specimen together weigh 50gN. Neglect the friction of the guides. (Note: 1 J = 1 N-m.) E=C8’ 8=2.5, E=400 ~ 400 = (C)(2.5)" C=64 2. B= 6487 Now use the work-energy eequation: (neglecting the deformation distance of the pads compared to h) A(KE + PE) = W,, = E = (64804) (6484) | (50)(9.81)(3 396 € outey 2S mm & tome“Two bodies are connected by an inextensble cord over frictionless polley. If released from rest, what velocity will they reach when the 500-Ib body has dropped 5 1? Work- Energy Equation for the Bodies [7- 100sin 20" - (100co0s20")( 2)\5 From Eq. (b), solve for 7: T=500-—| 10 i 2 500~ 1.5937" 32.2 Subst. for 7 from above into Eq. (a). (500 ~1.553F? = 52,996)(5) = 1.55377 Solve for V.13.66 ‘Suppose in Example 13.9 that only the brakes on train 4 operate and lock. What is the distance d before stopping? Also, determine the force in each coupling of the system. a) Friction force f on locked brakes is: copes” (48) = 11,084 N Energy Ea.: rf -2[ 222] (41900) Tho 198,000)(sin 7° @) 2K 9.81 3600 8)0.1,054)( a) b) Use energy equation for cars B and C using coupling force Fy5 - fs] 220% af ef ~ 2(198,000)sin7° (149.12) 2h 981 3600 F.,g(149.12) ©) — Energy Eq. 1{ 198,000 |} ,, 1000 . — 2) EP | 32 S| -198,000(sin 7° (149.12) = - Fag( 149.12 | 981 | a] (sin X ) “a > ATTN 308A large constant force F is applied to a body of weight } resting on an inclined furfae for which the coeicient of éyma- mic friction is ss, The body is acted on by 2 spring having a spring constant X. I jnitaly the spring is compressed acistance 8, compute the velocity of the body in terms of F and the other parameters that are given, when the body has moved from festa distance up the incline of 33. so the expression W,. becomes: The nonconservative forces are F and a friction force, 3 3 af3}-¢ We cose{?3] “The change in potential eneray of the system Is, on using the initial configuration as datum for gravitational energy: {o + 1 KS 2 one : ape «2 wesine 33] 2 2 2 Substituting into Eq. 13.26, we then get: 3 wasine 248) = 378-2 WEyucose de 2 2(2) ~ 2° 2 We can then solve for the velocity V from this equation: _ F Kb V = |362| — - poose - sing +—— § " . aA chain of total length L is released from rest ona sinvuth suppott as shown, Deter ‘mine the velocity of the chain when the last link moves off the horizontal surface. Inthis problem, negiect friction. Also, do not attempt to account for centrifugal effects stemming from the chain links rounding the corner. Le . pr We consider the mass to be uniformly distributed along the chain. Therefore the mass of the chain hanging down can be given as: Xo. Energy considerations then give us: A[PE+ KE] = W, L aoa 1 -Mg= -\-m2g2\f+imv? -0 3 ( | 2‘A-chain is 50 ft long and weighs 1001b. A. Force P of 80 1b has been applied at the configuration shown. What is the speed of the chain after force P has moved 10 ft? ‘The coefficient of friction between the chain and the supporting surface i 3. Give an approximate analysis. w - 100 <2 somin 30 A(KE+ PE) = Wa ° 120. <1(010.2(30) - 0}C2NSDT = (BOY(10)~ J {2OVZ) + 2813) ox & ° V = 9.83 filsecA bullet of weight 1 is fired into a block of wood weighing W/, Th. The bullet lodges inthe wood, and both bodies then move to the dashed position indicated in the dia- ‘gram before falling back. Compute the amount of internal work done during the action. Discuss the effects of this work. ‘The bullet has a speed Vo before hitting the block. Neglect the mass of the supporting rod and friction at A. To get internal work (W,)j. use work-energy equation. (Wye = AKE+ MPE - [ ity: +1(W,+ 1) e(1 -cos6)-0] This work goes toward local deformation and heating of block and bullet. If there were no permanent deformation etc., the kinetic energy change would equal the potential energy change so that (Wj), would be zero. 402[A device is mounted on a platform that is rotating with an angular speed of 10 radjsec. The device consists of two masses (each is .1 stug) rotating on a spindie with fan angular speed of Sad-sec relative to the platform. The masses are moving radially outward with a speed of 10 fy/sec, and the entire platform is being raised at ‘a speed of 5 ft/sec. Compute the kinetic ‘energy of the system of two particles when they are 1 ft trom tne spindle. 2 chro nne 5 e/a ¢ * 7 achmass 0.180 To determine the kinetic energy we must compute the velocity of point C, the center of mass of the spherical bodies: Ne = (2) m15k-QOXSF 1 2 i 2 Ve = (.1)[25+2500] = 252.5 We must next compute # for one of the particles relative to the center of mass. B = 10/-(5\1) Now compute the K.E.: ay ym 252.5 + jaya ypioy-siP = 252.5 + 1(100+25) = 252.2 +12.5‘A boop, with four spokes, rolls without slipping such that the center C moves at a speed V of 1.7 m/sec. The diameter of the hoop is 3.3m and the weight per unit length ofthe rim is 1 Njm. The spokes are ‘uniform rods also having 2 weight per unit length of 14 N/m. Assume that rim ‘and spokes are thin. What is the kinetic energy of the body?” KE - SMV! 4D 2,6; We onf22 Shia +caf22 a = 238 N . Iv - 1238. = 35.1 Nem 2 g sense Tig) f iter © a7. (3s 332 (33 b(sjpsjo-4ufefl2l = 25.92 N-m KE = 35.1 + 25.92 = 61.02Three weights 4, B, and C slide friction- ible inextensible wire that is directed by frictionless small pulleys at E and F. If the system is released from rest, whut is its speed after it has moved 300 mm? Employ the following data for the body masses: Body 4: Ske Body B: 4kg Body C: 75k. The system moves such that C rises since: W> W,sine ie. (5)(9.81) > (7.5)(9.81 )sin27.09° 49.05 > 33.51 Energy Equation (using original positions as datums) A(KE+ PE) = W,5 EM SM Lusi] + [(- 6.30) + WC 30)sin27.09"] = 0 $VP(52447.5)-(5(981K.30) +(7.5)(9.81 (.455)(.30) = 0 V = .753 m/secBodies F and F slide in frictionless grooves. ‘They are interconnected by a light, flexible, inextensible cable (not shown). What is the speed of the system after it has moved 2ft? The weights of bodies E and F are 10 Ib and 20 1b, respectively. B is equidis- tant from A and C. E remains in top groove. AC = $10? +10? = 14.142 ft + BC - 7.071 ft First find p. _ (5f+57+108)-207 ah pe ee Va-¥ol 954295100 B = .267i - 802} + 535k Energy Equation APE + AKE=0 we) 1 ~202p-i)4f ~oy.s3+4{2 Ee‘A tank is moving at the speed V of 16 km/hr, What is the kinetic energy of each of the treads for this tank if they each Ihave a maze per unit length of 300 kg/m? Upper Portion of Tread A-B /yy = 2V = 32 kel br “5 1000 (KE) an = Lec [| = 8.30x10° N-m Lower Portion of Tread C-D (KE)q = 0 Sections AC and DB (KE) pp.ac guid mi (Joni wl $1(2*Y.303(300)] 30 = 1.11710 N-mA cylinder of radius R rotates about its own axis with an angular speed of o. If the total mass is M, show that the kinetic energy is 4MREa. Ro» KE-f J Fleece drone)Cylinders B and Ceach weigh 100 Ib and have a diameter of ? fl. Body A, weighing 300 Tb, rides on these cylinders. If there is ‘no slipping anywhere, what is the kinetic energy of the system when the body 4 is ‘moving at a speed V of 10 ft/sec? Use result of Problem 13.76. (KE), 12 }.0 = 466 ft-Ib 2he 1100 1 100 KB), = (KE), = 472 (5%) += = (KB), ~ (KE) aa ae $8.2 fi-Ib 466 + 2(58.2) = 582_f-/b} 25) OGY ‘A pendulum has a bob with 2 compara tively large uniform dise of diameter 2ft ‘and mass M of 3lbm. At the instant shown, the system has an angular speed @ ‘of .3radisec. If we neglect the mass of the rod, what isthe kinetic energy of the pea- 30% -01 ~ 254.9 = - 6867 + 25(V2) + 12.53 + 100V% + SOV, + 15M V, = 571 mis Center of Mass ~fi5) - (.2)(30g)(cos 30° )(5) ~ (280)(g)sin 30° (5) = $ (280)(5.71)° = 409 NI‘A cylinder is about to roll down an incline without slipping, It is connected to a linear spring. Wha i the angular speed ‘ol the cylinder after it rotates 20° starting from rest? The spring is ‘originally unstretched. M= 30kg Distance moved by cylinder RO=d ed al wen d = 069m Consider as a system of particles APE = AKE = Wy (10 - (20g)(.0698) sin30° } + [5 5006085 -¢.| Lor. 2025 “ | 426Tree eylinders are connected together by light rods. Cyl- inders A have a mass of 5 kg each and cylinder B has @ mass of 3 kg. If there is no slipping anywhere, (2) What is the speed ofthe system after moving .8 m? ‘System stars from rest. (b) What are the friction fores from the ground on each cylinder A? ‘Treat as a system of particles W, = AKE+APE ' (soos) - a3 "| soars] -(ZJoe? 7 3] -0 -3f(8) +0018) = 4 03)V* -0 aNA tractor exerts a force of 8001b on a block A which has a coefficient of friction with block B of 7. Block B has a coefficient of friction of .2 with the ground. If block A weighs 400 1b and block B weighs 600 lb, what isthe speed of the block 4 when, after starting from rest, the tractor has moved 2 ft? What is the acceleration of block B? Work-Energy Eq, [800 -(.7)(400)](2) = V, = 12.94 fi/sec. B00! 4oolb b__, (2) (400) [sk een loool’ ' ir : ESDA Newton's Law in x Direction: (.1(400) - (.2)(1000) = 22 2, z a, = 4.29 fi/sec’!‘Avbody A is released {rom a condition of rest ona frictionless circular surface. The body then moves on 2 horizontal surface CD whose coefficient of friction with the body is 2. A spring having a spring constant K = 900 Nim is positioned at C as, shown in the diagram. How much will the pring be comprested? The body has a mass of 5 ke. Work-Energy Equation 2 3 ‘ f (5)(9.81(cos0 749) ~ J (2ysy9.81 de = J 16.29(5)(9.81) 90a) 2 a (759.81 )sino? +(.2)(5)(9.81 (10) + (.2)(5)(9.81 (8) 900% 4508? + 9.818 - 245 8? + 02188 — 545 2 = 727 m.13,100 ‘A eylinder is about (0 roll down an incline dragging block B, After starting from rest. what is the angular speed of the cylinder when it has moved 5 m? Use the following data (Rooursoe = 25M — (Ranging = V8 M,= 100K. M, ‘The wire is thin and wraps around the inner eylinder of A. The kinetic energy of the compound cylinder due to rotation about its centerline is given as 0.8 times that of 2 solid cylinder of outside radius r= 25m, Treat as a system of particles. W, = A(KE + PE) -.6N,(d;) | M,Vi = LOA) CR WB) + Mya ~ + [0 - W,(5sin20°) ~ W,(d,)sin20° } d, - 3 =02m Ve = (30)(g)(cos20°) = 276.6 N 2 1 wh | Ya 100V3, 4 (100) 2.5) ( fly ~(6)276.6)(0.2) = | 5 + 3 30(1.4V,,)? ~ (100)(g)(.Ssin20°) - 30g (0.2)sin20° ~33.19 = 99.40V3 - 187.89 43013.101 The eylinders in the system roll without slipping. (2) What ie the velocity of the system after it mover 1 m starting from rest? (&) What is the (otal friction force frp, for the two cylinders? (©) Wrat is the acceleration of the system? ‘Treat as a system of particles AKE + APE = Wy 1 at af VY) fh [00 Z00.49( 4} [z200] + [Jeo * Loovar( 4) = 0 = (S003(1) - 200)69.81)(2)(1) 190? = 500 - 392.4 = 107.6 V = 7535 mfs| 2 ‘Treat as C.M. Particle [ F-dF = 4G -v) 320 [500 - (200)(9.81)(.2) ~Fg)(M) = = lors? -O) 500 ~ 16.99 - 200(9.81)(.2) = G20) ¥‘A 180-1b man runs up an escal it is notin operation in 10 sec. What isthe horsepower developed by the man? If the escalator is moving at a speed of 2 ft/sec ‘on the average, 2000 people ‘on the driving motor assuming that the average weight of a passenger is 150 Ib? ‘Take the mechanical efficiency ofthe drive system to be 807. Assume that passengers ‘enter and leave at the same speed of 2 fi/sec and that there are equal numbers of passengers on the escalator at any one time. [(50)sin45° 1180) _ 4.457 HP (10)(550) a) HP= b) Work done in 1 hour is: (150){(50)(.707)\(2000) = 1.060510" ft-b 432.Grain is coming out of a hopper at the rate of 7200 kg/hr and falls onto a con- ‘veyor system that takes the grain into a bin, The conveyor belt moves at a steady speed of 2 mjsec. What power in watts is needed to operate the system for a efficiency of .6? What power is needed if we double the belt speed? ‘The energy E supplied to the grain in an hour is: E = (7200)(1)(2)? + (7200)(9.81 )(30) uo KE Work Against Gravity = 2.13x10° N-m Power input is then: For double the belt speed: E- 7200 (3 42) + (7200)(9.81)(30)A:sell-propelied vehicle 4 has a weight of }ton. A gasoline engine develops torque ‘on the drive wheels to help move A up the incline. A counterweight B of 300 1b is also shown in the diagram. What horsepower is needed when is moving up at a speed of 2fi/sec and has an acceleration ‘of 3 ft/sec? Neglect the weight of the pulley. (Hint: The pulley rols along cord dy without slipping. It therefore has an instantaneous center of rotation atd. What does this mean about the relative value of velocity of point 6 on the pulley and point on Newton's Law: 500 2, T+ f-500 sin30° = Multiply by Vy : y, TV, + £V,-250v, = 900 y, 1M g dt At instant of interest: (712) + (FY) ~500 = (22 }axs 27+ 1, = 593 mo Newton's Law, 300 - 27 = (=| =] - ss0( 04) gla} * “gla T= 143.01 Goto Ea. (1): (2)(143,01) + (FV,) = 593 fV, = 307 f-lbisec 434A body 4 of mass I Ibm is moving at time Set up an integro-differential equation = 0 with a speed ¥ of 1itisec on 2 {involving derivatives and integrals) for @ smooth cylinder as shown. What is the in Problem 1331 if there is Coulombic speed of the hody when i arrives at B? friction with = 2. Taker —2f . W(2-2c0s0)- f (uA)rd0 - pmy-t) ‘ 1 2 2(1-c0s0)-.4 [ No = waa” -1) Use Newton's law in radial direction to get N as a function of 8. 1 2 ~1c0s8+N = - — rb’ 32.2 1 @ N = cos6 - —— 6 08° T6.1 Subst. into Eq. (1): ‘ 1 9 2(1- “i = 48-4 (1 -cos®) AJ (cose 7 808 = af ) 2(1-cos®)-.4sine + ale a0 1 (a8? ~1)= 2(1-cos®)- sno <4 fe eoas. ics‘At what angle @ dose body 4 of Problem ‘A body 4 of mass 1 Tom is moving at time 1=0 with a speed V of 1ftsec on a 13.30 leave the circular surface? ‘smooth cylinder as shown. What is the Succi nas Le 7, : Take r= 2h. Work Energy Equation: 1(2-2cos6) qe When body is to come off,N = 0. Use Newton's law in radial direction. 4 Ve = 64.4 cose, Subst. into Eq. (1): 1 2(1 -c088,) = 0080,- 7 2+ - 30080, 44Show that the work-energy equation fora particle can be expressed inthe following way: [fl Face f van Tategrating the right side by parts, and using telatvistic mass ms)/T = PFE, where isthe rest mass and cis the speed of light, show that a relativistic form af this equation can be given as [fra ale me one ne sth he aii gr Kem me Fa LE. my a kat a Fax = mv" dx = mvav ox * v y J Fax - [ mvav- { vay Consider the following: AV mV)] = ValmV)+(mV) dV Integrate from 0 to V: Janome = f voomys | mmav Y 2 J vary = mt | mvav * f rae = me | mvav13.107 (cont) Vav_ = e[nce-wyrl + moe -V*)— me? "4 -VIey? Fox = me - mgBy combining the kinetic energy as given in Problem 13.407414 moc? to form E, the ‘otal energy, we get the famous formula of Einstein: Emmet in which energy is equated with mass. How ‘much energy is equivalent to 6 x 10-* {bm of matter? How high could a weight of 100 Ib be lifted with such energy? KE+m,c = mo? Calling (KE + m,c’), E, the total energy we get the famous Einstein formula E = me* ‘The energy associated with 610° Ibm is: E- {(186,000)(5280)) sao 32.: - cravat me «. Work = 1,.7972x10° ftlb. Work energy eq. for the 100 Ib weight. W, = LmVa-Vi) =0 4.7972x10° - i[oe|e- °13.408 (cont) Take GM = 14.08x10" Ib-f'/slug 1.7972x10" = c1scoxtor 222] 3) 322) Zz e200) 4.7972x10% = s4oe{ 220} -1,__1__ 32.2)] z ” (6280)(3960) 1 1 4.11x10% = -— +——_____ 2% (6280)(3960) a 2 = (4,7827x10" - 4.1101x10") zZ Z, = 1.487x10° ff = 2.816x10* miles = 2.816x10' - 3960 = 2.4195x10' miles‘A 100-Ib boy climbs up a rope in gym in 10sec and slides down in 4 sec after he reaches uniform speed downward. What is the horsepower developed by the boy going up? What is the average horsepower dissipated on the rope by the boy going down after reaching uniform speed? The distance moved before reaching uniform speed downward is 2 ft. Assume KE is zero at top and bottom. a) — Going up: Power = AOOK2 550 - b) Going down: T= 100 / From Newton‘s Law. : Power dissipated = {1001019} 1550 asso]‘An aircraft carrier is shown in the process of launching an airplane via a catapult ‘mechanism, Before leaving the catapult, the plane has a speed of 192 km/hr relative tothe ship. Ifthe plane is accelerating. at the rate of Ig and if it has a mass of 18,000 kg, what horsepower is being devel- ‘oped by the catapult system at the end of launch on the plane if we neglect drag? “The thrust from the jet engines ofthe plane is 100,000 N, i V = (192) £100) _ 53.33 misec. (3600) F;, = ma = (18,000)(9.81) = 176,580 N .. Force from Catapult is Fig, = 176,580 - 100,000 = 76,580 N (Power),,, = (76,580 N)(53.33) -™ = 4,084,011” sec sec (HP), = caconore| 2] 2, | 5} sec )\ 4.45 N}‘Vehicle B, weighing 25 KN, isto go down 1230" incline, The vehicle is connected to body A through light pulleys and 2 capstan, What should body 4 weigh if starting from rest it restricts body B to a speed fof $ m/sec when B moves 3 m2 There are two wraps of rope around the capstan. t 1, + 3ty = const. bt, + 3dt, = 0 ¥, +3, -0 ar, askN a Work-Energy Eq. Ha are in30°)(3) = 2| 25:000 |.52 (-37+25,000sin 30° )(3) 1 981 }s T= 627 N 627 _ axe T, 2 T, = 14.46 N (14.46 - 209) = From (1) From (2) oa‘A jet passenger plane is moving along the runway for a takeoff. If each of its four ‘engines is developing 44.5 KN of thrust, what is the horsepower developed when the plane is moving at a speed of 240 ‘km/hr? 1 ap = 550 2-% . 745 sec sec =. HP = (4)(44,5000)(240 (1000)/(3600) ioe) 745Block B, with a mass of 200 kg, is being pulled up an incline. A motor C pulls on one cable, developing 4hp. The other cable is connected to a counterweight A having a mass of 150 kg. If B is moving ata speed of 2 m/sec, what is its acceleration? Hint: Start with Newton's Law for A and B. Multiply by V, Vp + T, Vy ~ (200)(9.81 )(.866)( Vy) TV, ~ (4\(550) A 2050] 845 = 2996 Nom scl 1A 1% sec When V, = 2 misec, we have: dv, 2T, + 2986 - 3398 = 400 —? it av, Newton's Law: -2T,+ - 1) Newton's Law: 27, + (1509.81) oo[sf at | a, 27, = 1471 -15—* dt Subst. into Eq. (1): v, dV, 1471-75 Va , 2996 - 3308 = 400 dt dt dV, 1059 = 475 —* dtA block G slides along a frictionless path ‘as shown, What is the minimum initial ‘speed that G should have along the pat if it isto remain in contact when it gets {0 A, the uppermost position of the path? ‘The block weighs 9 N. What isthe normal foree on the path when for the condition described the block is at position B7 Consider Newton's Law at A where we consider the normal force on the block to just reach zero value. \V = 1.716 m/sec Now use conservation of mech. energy. Use Point D as a datum level for P.E. 1 1 yey) +(9)(.45)(.866) = 4 2¢1.7167+(.90K9) 2e 28 At position B, find V,. Using B as a new datum for P.E. we have from conservation of mech. energy. Newton's law at B:Cylinders A and B have masses of 50 kg each. Cylinder ‘A-can only rotate about a stationary axis wfule cylinder B rolls, without slipping. Block C has a mass of 100 kg. Starting from rest, what i te speed of C afier moving 1 m? Force P is $00 N ‘and the diameter of the cylinders is .2m. P= 500N b= am O System of Particles Wy ph aKE (5003.1) = (2}omc(%} +(F}acos ats] Eee 834 m/sA system of & solid cylinders and 2 heavy block move ventcally downward aided by a 1.000-N force F What is the angular speed of the wheels after the system descends .5 m after starting from rest? What is the friction force from the walls on cach wheel? The wheels rll without slipping. wei System of Particles W, = APE+ AKE (1000)(.5) = [0 - (800 + 800)(.5)] + Bear} s} 9 500 = -800 + 81.55 ¥? + 20.397 1300 = 101.9V7 V = 3.571 mis FMV, 5 MO, (2600 - 4f)(.5) = 7 (5717 -0 2600 - 4f = 2079.8‘A collar B having a mass of 100 g moves ‘along a frictionless curved rod in a ver~ tical plane. A light rubber band connects Bro a fixed point A. The rubber band is 250mm in length when unstretched. A force of 30.N % required to extend the ‘band 50 mm, Ifthe collar is released from rest, what maximum distance ean d be so that the downward normal force on the rod at Cit no greater than 20 N? 20 c “3 Tey Find “spring constant" k for band. «- 2.6 Mmm 50 Newton's Law at. (N = 20) v ~Freping = 1009 +20 = -(.100) —— "ming g+ ( a0) a (30) V = 5.74 misec = (.6)(50) ~(.100)(9.81) +20 = -(.100) 1 ey (@2 « 300°)" -2507| 1 pole +3007) asor( 45] = 23-257 + (.100)(.30)(2)(9.84 V+ $¢-100)(6747‘When your author was a graduate student he built a system for examining the effects : ‘Square cube guide of high-speed moving loads over elastically supported beams (see the diagram). A vehicle” slides along a slightly lubricated square tube guide. At the base of the vehicle is a spring-loaded light wheel which will run over the beam (not shown). The vehicle is catapulted to a high speed by a stretched elastic cord (shock cord) which is pulled back from position A-A to the position B shown prior to “firing.” At 4-4 the shock cord is elongated 10in., while at the firing position itis elongated 30in. ‘A foree of 10 1b is required for each inch ‘of elongation of the cord. If the cord weighs a total of 1.5Ib and the vehicle weighs 100z, what is the speed of the vehicle when the cord reaches 4-A after “Vehicle” firing? Take into account in some rea sonable way the kinetic energy of the cord, but neglect friction. Squaretube guide ‘Top view ib) Ye At position A-A we assume that the velocity of the cord touching the vehicle is the same as the vehicle velocity V and varies linearly as we go from the vehicle to the supports at A. Hence the KE of the cord at A-A Is: 45013,118(cont.) wo isle *Spring constant” of cord is: Energy Fa. 1 1}_4 1 4] 10 =(10)(30?)| =} = = =|+e NV? =| ———__ |? (ton 3] Soyr0[ 5-0 ‘atta [mm]‘A body B of mass 60 kg slides in a frie- tionless slot on an inclined surface as shown. An elastic cord connects B10 A. ‘The cord has a “spring constant” of 360 N/m. If the body Bis released from rest froma position where the elastic cord is unstretched, what is body B's speed after it moves .3 m? aos Find unit vector from “A" to "E". FI = (2.107) = 1414m JA = \.Al4m RJ = (3-1.414) = 1.586m Iki Tea ee -1.4147+6.4147-8£ [1.4147 +6.4147+8?| = ~.1366i+.6197/-.7729£ Energy Eq.: (Lowest Pos. of B as Datum) (PE) y+ (KE) = (PBNp + (KE), + K8* (60\(9.81(-.3) (8) = 605 + 4.60, (60)Ve 1 2 1 2 (609.81 ~.3)(-.7729) - 3(360¥3)‘A collar slides on a frictionless tube as shown. The spring is unstretched when in the horizontal position and has a spring constant of 1.0 Tbfin, What is the mini- ‘mum weight of 4 to just reach 4” when released from rest from the position shown in the diagram? What is the force fon the tube when 4 has traveled half the distance to A"? CA’ = 4,59 +2? = 4,924" Conservation of Mech, Energy: (Hm92) = 31.0)(12) (4924-257 (25 +[2-2(.707)]})? = (2¢.707)P 395 fi.13.120 (cont) (17.63)[(2)(.707)] = Ftanc213.395 -25p+4 as ye 2 (2)(.707) 2.5+2-2(.707) a@ = 24.62° ~ F,c0s(45° + a) + N- 17.63(.707) = nn & BS 2 -{(1)(12)](3.395) - 2.5)¢0869.62° + N= (17.63X.707) = neal ns & 24 N= 3633NA 15-kg vehicle has two bodies (each ‘with mass 1 kg) mounted on it, and these bodies rotate at an angular speed of ‘50 radjsee relative to the vehicle. If a ‘SOO-N force acts on the vehicle for a distance of 17 m, what is the kinetic energy Of the system, assuming that the vehicle starts from rest and the bodies in the ‘vehicle have constant rotational speed? ‘Neglect friction and the inertia of the wheels. A(PE) + ACKE) = 0 + S15-+29¥? = (500\17) V = 31.62 m/sec KE Zanarey +21 30,50)F)‘Two identical solid cylinders each weigh+ ing 100 N support a load weighing 50 N. If a force Fof 300 N acts as shown, ‘what is the speed of the vehicle after moving 5m? Also, what is the total friction force on each wheel? Neglect the mass of the supporting system connecting the cylinders. Note that the kinetic energy of ‘the angular motion of a cylinder about its ‘own axis is JM Rew, The system starts from rest. TOTTI LLLP Consider as. system of particles (FYS) = 2 SMV? + 2 MR |. jae 8 (300)(5) [p 100 yz, poe {22} & From kinematics. Subst. into (1) (300-15) = {BouA 1Sckg vehicle has two bodies (each ‘with mass 1 kg) mounted on it, and these bodies rotate at an angular speed of 50 radjsee relative to the vehicle. If a 500-N force actson the vehicle for a dis- ‘tance of 17m, what is the kinetic energy of the system, assuming that the vehicle starts from rest and the bodies in the ‘vehicle have coxstant rotational speed? Neglect friction and the inertia uf the wheels. A(PE) + A(KE) = 5 O+ fase2yve = (500}(17) V = 31.62 misec ce = Lanyan6 +2140 30)50)F)‘Two identical solid cylinders each weigh ing 100'N support a load A weighing 50 N. Ifa force Fof 300 N acts as shown, ‘what is the speed of the vehicle after moving 5m? Also, what is the total friction force on each wheel”? Neglect the mass of the supporting system connecting. the cylinders. Note that the kinetic energy of the angular motion of a cylinder about its ‘own axis is $MR%0*. The system starts from rest. (3005) = Erom kinematics. ‘Subst. into (1) (300--(5) = e (9.177 Wome‘A triangular block of uniform density and. total weight 100 Ib rests on a hinge and on a movable block B- Ifa constant force Fat 150 Ib is exerted on the block B, what will be its speed after it moves 10 ft? The mass of block Bis 10 Ibm, and the coefficient of friction for all contact surfaces is .3. ~100(10) + M15-x) = 0 1000 N 18-x root |* ~ 0 J]s0- (2) 0-3 F310) |b 1 147\(10) +600en(15-x)|o° = — (147)(10) ( ) lo 23‘Threeblocks are connected by an inexten+ sible fexible cable. The blocks are releas- fed from a rest configuration with the ccable ‘aut. If 4 can only fall a distance & equal to 2f, what ir the velocity of bodies C and’ B after each has moved a distance of 3 ft? Each body weighs 100 Ib. ‘The coefficient of dynamic friction for body C is .3 and for body Bis 2. W, = A(PE+ KE) ~fh-£h = (0-mgh] +182) -0) = [-(.3)(100) -(.2)(100)F = 1008 +3 mv? V = 4.63 filsee Bodies Cand B movi W, = A(PE+ KE) = £1) -4(1) = (0-0) (2)15mV7-3 mv} = 100(.3 +.2) = 2 (v3-21.47) & [oes]ad ‘Two discs move on a horizontal frictionless surface shown ooking down from above, Each dic weighs 20 N. A rectangular tmember B weighing SO Nis pled by afore F having vale of 200 N. If there is no slipping anywhere excep onthe horizon Suppor. surface. what isthe speed of B after it moves 8 em? Determine the fiction forces fram the was om the cyinders W, = 20N W, = SON d= 18cm Consider as System of Particles W, 9 = SPE +KE) f.does no work. between A and B do no work since the particles at contact have equal velocities but forces have opposite senses. com [pl Aso Kinematics (@)(.15) = Vy (200)(.18) = Consider C.M. of a Dise13.125(cont ) Work-Energy for C.M. (f+ £)(09) = (2 20 | age fi +h, = 30.84 N Consider Member B. 4& 200N Work-Energy Ba, for C.M, of Rod (200 - 2f,)(.18) = ; 50 fy - 291N 84 -22.91 2.93 _N|13.126 Rod AB is pines to block C and is welded to cylinder . Cojinder Eros without slipping along the incline and rotates ‘around cylinder D. which doesnot rotate at all. There is a constant friction torque between D and E of 25 N-m, Starting from rest, ‘what is the speed of the system after moving .{ m along the jncline? What is the frictional force between the ground and cytin- der E? Neglest the mass of rod AB. Take the kinetic energy of ration of E as 0. times that ofthe kinetic energy of rotation of a ‘solid cylinder of diameter D = 0.3 m. Length of AB is 5 m, @ a) Consider System of Particles. APE +AKE - Wy [0 - (20 + 40 + 10)(g)(-1sin 30°)] [soo +20 +40) V7 + Suasr(XJao-o = -[9{- 28 + 20} 86619 ~ asy8) distance = R6 b) Consider C.M. 4 av?) -(3¢") : b f “F)- [eonarcses - (2 ]}coe +0 +40 + 1 (@V(sin30°9(1) = $(703(0.4937)? -0 TNCHAPTER 14 Methods of Momentum for Particles 462A body weighing 100 1b reaches an incline (of 30° while itis moving at 50 ft/sec. Ifthe coefficient of friction is.3, how long before the body stops? 2 0° 4 We have constant forces acting on the body and we use the momentum equation to advantage. Hence: [-(100 cos30* )(.3) - 100 sin 30° ]¢ = 0-mVy (26+50)¢ ~ 222 50 = 155.2 322 A particle of mass 1 kg is initially stationary ut the origin of a reference. A force having a known variation with time acts ‘on the particle. That is, FQ) = Fi + G+ 10)j + OPEN where #is in seconds. After 10sec, what Is the velocity of the body? Since we are concemed with forces and velocities here we can use momentum methods to advantage. Thus: J (ei + (61+ 10)j +1.60'R}at = mV ° ie 2. fee “ « ty fe wan vist -10 3 ‘(2 4 ¥ = 3331 + 400] + 4000K m/sec. 463‘A.uniditectional force acting on a particle ‘of mass 16 kgs plotted. What isthe veloc ity of the partie at 40 sec? Initially, the particle is at rest, 0 Time (see) 2 J Fat = (mv), -[mv), 2 APA; S mV 3 +n) = 5 (20110) « {(@)(107) = 16¥ ‘A. 100:1b block is acted on by a force P which varies with time as shown. What is the speed of the block after80 sec? Assume that the block starts from rest and neglect fation, 20sec 6 sec I = area under curve 3400)(5) «(200}5) +3 (100}¢8)~3 8100) ~(100)(20)~3 (6)(100) -550 /b-sec. 10 & 177.10 filsec.If the coefficient of static friction is 5 in ‘A 100-Ib block is acted on by a force P Problem 14.4 and the coefficient of dyna- ‘hich varies with time as shown, What is mic friction is .3, what isthe speed of the the speed of the block after 80 sec? Assume block after 28 sec? thatthe block starts from rest and negiect friction. For 2.5 sec (until P = 1, N = 50) the friction force just counteracts the force P. Hence no impulse on the block during this period. From 2.5 sec. to 28 sec. we have for I T = (125 +62.5) +1500 +400 ~(.3)(100)(28 -2.5) 1322.5 Jb-sec. [A body Is dropped from rest. (a) Deter mine the time required for it to acquire @ velocity of 16 mjsec. (b) Determine the time needed to increase its velocity from 16 mJsec to 23 misec. (mg)t = mV v_ 16 toon & (amg)(AD) = m(23-16)‘A body having a mass of 5 Ibm is acted on by the following force: Fm 80+ (6 + 3Y7)j — 06 + 3K ID where # isin seconds. What is the velocity of the body after S sec if the initial velocity Vy 61 +3) — 10k Nyse? fia - m¥,-mv, fisti +(6+3) Vt j -(16 +38) Jat . lies ~3j+10k] i, s 4 +(6t4202)} -(16r+0)é |= sal 63-3} +10K] V, = 650i +340} -1330.2K ft/sec. ‘A body with a mass of 16 kg is required to change its velocity from ¥; = 24 + 4j — 10k mjsee to a velocity Vz = 107 ~ 5+ 20k m/sec in 10 sec. What average force F ‘over this time interval will do the job? Fy) = (m¥),-(mb), Flas ((aoi—5j--208)- (23 v4j- 104) 14.40} +48.0£In Problem 14.8, determine the force as 2 A.body with a mass of 16 kg is required to function of time for the case where force change its velosity from ¥% = 38 + 4j ~ varies linearly with time starting with a 10k mjsee to a velocity Vs = 10 ~ 57 + 2xt0 value. 20k m/sec in 10sec. What average force F ‘over this time interval wil do the job? = (ah, (a, = 16((107-5/+204)-(27+4)-104)} 16 9° 92 = = [87-97+304] sol J ] 2.56/-2.887 +9.604 ‘Avhockey puck moves a 30 ft/sec from left to right. The puck is intercepted by a player who whieke it at RO ft/sec toward ‘oal 4, as shown, The puck is also rising fromthe ice at a rate of 10 fi/sec. What is the impulse on the puck, whose weight is Sz? 307 -80.cos30° 7-80 sin30° j +10 7- —5__1¢-6937-40j+10£-30f aoa 69.37-40j+10£-30/)]Gravel is released from a hopper at the rae of | kplsec. AC the exit of the hopper it has a speed of .15 mis. The belt is ) ‘moving at a constant speed of 3 m/s, If there is 20 Ag of gravel on the conveyor belt at all vimes and if the belt on the conveyor bed has a weight of SO N. what isthe difference in tension 7, - 7, for the belt to maintain operation? The coefficient of frtion beeen bed and belt is O4. Assume that the gravel drops 02 m from the hopper outtet. Velocity of Impact. Conservation of Mech. Energy soOy +(mg\.2) = 3 mv +0 Fas? + 9811) V, = 1.987 mls Dead Weight Contribution —_[(20g) - 50](4) - (7, - 7). (7, - 7), = 99.48 N Vertical Momentum. Change in momentum in 1.sec. = (1)(1.987 -0) = 1.987 (T, ~ TW) = 7948 N Horizontal Momentum. Change in Momentum in 1 sec. = (1)(3~0) = 3 (, -T),() = 3.N Ty) roxat 48 +.7948+3 = 102.3 NDo Problem 12.5 by methods of momentum. A mass Dat 1 =0 is moving to the fet at a speed of 6 m/sec relative to the ground ‘on a belt that is moving at constant speed to the right at 1.6 msec. If there is cou- lombie friction present with iy = .3, how long doesit take before the speed of Drela- tive to the belt is 3 mjsec to the left? Initial speed of D = -6 misec Final speed of D = (1.6-.3) m/sec = 13 milsec. Do Problem 12.5 with the belt system in- ‘clined 15° with the horizontal so that end Bis above end 4. Initial speed along incline = -.6 misec. Final speed along incline = 1.3 m/sec. 1 4 3 Linear momentum along inciine [Mgg,cos 15°» - Myg,sini5°]‘A commuter train made up of two cars is ‘moving at a speed of €0 km/hr. The fist ccar has a mass of 20,000 kg and the second. 15,000 Xe. (2) If the brakes are applied simultaneously to both cars, determine the mini- roum time the ears travel before stopping. The coefficient of static friction between the wheels and rail is 3. (8) If the brakes on the frst car only are applied, determine the time the cars travel before stopping and the force F ‘transmitted between the cars. Ff = (35,000)(9.81)(.3) = 103,000 .N 1000 -csony0) 2 = (20,000)(9.81 )(.3) = 58,860 N _ 4000 -AD = soon. 22] 1000 - 21) = -C1 9} 1000 (FX 13.21) (15000 )(8¢ [2 F = 25,233 NI‘Compute the velocity of the bodies after 10sec if they start from rest. The cable is ‘extensible, and the pulleys are frietion- Jess. For the contact surfaces, fe ~ 2. We use convenient components of the momentum equation for the three free body diagrams. Eor body (1) (7.2010) = 2 y & [7 T,-(200)(.866).2)+100}10 = 20 » & Wy g (300 - 75)(10) 30 y & Solve for T, in (1) and T, in (3) and substitute into (2).14.15 (cont) (300-22 y-(20+18 y +654 - 2v & &Two boxes per second each weighing 100 Ib land on a Bel rides om abet w= 3 circular conveyor at @ speed of § fuse in the direction of the chute. If there are 6 boxes on the circular bell at any one time, determine the average torque needed to rotate the belt angular speed of .2 radisec. The dynamic coefficient of frie tion between the belt and the conveyer bed is .3. What horsepower is needed for operating this belt? Neglect the rotational effect on the boxes themselves as they land. Also, does the radial change in velocity of the boxes affect the torque needed by the conveyor? Neglect any radial slipping of the boxes as they lan. w= 088 2 bones per sce 6 boxes om bel a) [Wertical Momentum] change Per Box (222 ssinsor = 7.764 slugs-£ 8 = Per Second (7.764)(2) = 15.53 slugs sec Average Vertical Force during 1 see. EQ) = 15.53 slugs-fijsee«. F, = 1553 lbf Average Friction Force = (.3)(15.53) = 4.658 Ib. Average Frictional Torque = (4.858)(25) = 116.5 ft-lb [Dead Weighd Torque ~ (6)(100)(.3)(25) = 4500 fi-lb [fransverse Momentum Changq 47314.16(cont.) Virans = (2)(25) = 5.0 fifsec ft ‘Mom, change per box = (Bo = 15.53 slugs-£ 322 s ‘Mom. change per sec = (2)(15.53) = 31.06 slugs-# 3 Average transverse force per sec = 31.06 Ib Hence: Average torque = (25)(31.06) = 776.5 ft-lb [otal Torqud Total - 116.5 +4500+776.5 = 5393 fi-Ib Power = a Power in H.P. aya‘A vertical conveyor has sprocket 4 as the river, and sprocket B turns freely. The bodies to be lifted are pushed onto the ‘conveyor by a plunger Cand are taken off from the conveyor at D as shown in the iagram, If the belt runs at 2000 mm/sec and the bodies being transported each has 8 mass of 250, what average torque is ‘required by the driving sprocket 4 On the average, 40 bodes are on the conveyor at any time. Forces coming onto belt. a) _ F, (ue to bodies on belt) = (40)(.250)(9.81) = 98.10 N. b) _ F, (due to vertical impulse) Each body has a change in momentum given as: Looe = (.250((2.0) = .500 Nese Number n of bodies per second: 2000 mm /sec = ESSE = 40 per see 50mm Therefore | for 1 sec. is: T = (40.500) = 20.0 N-sec. Hence, (Pav = 20.00 .N Total force coming onto belt is: : (Fa, = 98:1 +20.0 = 118.1.N (Torque),,. #8 (118 ve -[1476 n-m |A.conveyor 4 is feeding boxes onto a conveyor B. Fach box weighs 2Ib and tends fon conveyor B with a downward-speed ‘component of 3ft/sec. Conveyor belt Ahas a speed of -2fijsec. If conveyor B runs at a speed of 5 fi/sec and if five boxes land pper second on the average, what net aver= age force T; must be exerted on the con- ‘veyor belt B to slide it oyer its bed? Atany. time, 50 boxes are on belt B. Take Ha = .2 for al surfaces. Neglect the weight of conveyor belt 8. Forces contributing to T, of the belt. a) __F; (friction due to weight of load) F = .2[(50)(2)] Wow = 20/6. b) __F; (friction of belt due to vertical impact). Vertical momentum change per box is: (2) = 1863 322 Total vertical momentum change per second is: (6)(.1863) = 9317 ‘Average vertical force for this momentum change is: Fi Q) = 9317 Hence the corresponding friction force F, is: 47614.18 (cont) Fy = F,/(h) = (.2)(.930) = 1863 16. ©) F, (from horizontal momentum change of impact) Horizontal momentum change per box is 2 [5 ~(.2.707)] = 3018 wat (.2)(.707)] Total horizontal momentum change per second is: (5)(.3018) = 1.509. Average horizontal force F, is: 1.509 Ib. —_|— SS —— Tt F xR Result for T, is then: T,, = F+ Fy+ F, = 20 +1863 + 1.509 T, = 21.70 Jb.‘An idealized one-dimensional pressure wave (Le, pressure is # function of one coordinate and time) generated by an explosion travels at a speed V of 1200 fulsee, as shown at time 1 = 0, The peak pressure of this wave is Spsia. What impulse per square foot is delivered t0 a wall oriented at right angles to the x axis? The wave is reflected from the wall, ‘and the presture at the wall is double the incoming pressure at all times. Do the problem for two time intervals corresponding to the interval (a) from when the ‘wave front first touches the wal! to when the peak reaches the wall and (b) from when the peak hits the wall and to when the end of the wave reaches the wall. 1200 se & Day = 2p = 172808 interval |. Let time t start when wave hits wal. a1, = 1 ~ 0833 sec. 1200 Prous = (5X44) = 720 pst snopes 4- [ (rah Adat : = J 07280,n08 ° (17,280\(.0833)?/2 47814.19 (cont) Let t start again when peak pressure hits wall. 2000 - 12004 p = 20-1204 (720) = 720 - 432¢ 2000 Pag = 1440 ~ 864¢ us T= f (1440 -8640(1)a¢ ° = |(1440)( 1.667) - (864) ) 0.667) 2Blocks A and 3 move on frictionless surfaces. The blecks are interconnected with a light bar. Body A weighs 301b; the ‘weight of body B is not known. A’cor stant force F of 100 Ib is applied at the configuration shown. Ifa speed of 25 f/sec is reached by A after 1 sec, what impulse is developed on the vertical wall? We Consider momentum in the x direction: - | Nats | Fae = MCV). (VDI .. - f mae = (100K1) - 2825-09 ° g ~ 76.6 Ib-sec in x-direction 2 (Up = ~ 76.7 Ib-sec On wall we use reactionJn Problem 4.20, compte the imp on Blocks A and B move on frictionless surfaces. The blocks are interconnected with a light bar. Body A weighs 30 Ib. 13.42! the weigh: of body B is not known, A constant force F of 100 Ib is applied at the configuration shown. If a speed of 25 fusec is reached by A after I sec. what impulse is developed on the vertical wall? Consider coordinates of A and B. sy = (15.62? 1 2x¥+2yy = 0 + (8-25) = -13.42y y= 1491 (Vp)p = 14.91 "/s0c V5); = 0 Vp)e = 14.91 "/se0 Momentum Eq. r W, J Nuat-(W, + W,)Ae = 211491 -0) ° & L= (50)(1) + 22¢1491) =[59.3 /b-sec a‘An antitank airplane fires two 90-N projectiles at a tank at the same time. The ‘muzzle velocity of the guns is 1000 m/sec relative to the plane. If the plane before firing weighs 65 KIN and is moving with a velocity of 320 km/hr, compute the change ints speed when it fires the two projectiles. ‘There Is conservation of linear momentum of plane and projectiles from before firing and just after firing. Hence [MV ane = (Ma Ipune * MV prosecies {22x 229 (seme 180 + 180 201.00 3600 g Ie &L 3 (VW) pune = 86.1 msec AV = 320-861 [9] 1000. ‘A toboggan has just entered the horizontal part of its run. It carries three people weighing 120 1b, 180 1b, and 150%, respectively. Suddenly, a pedestrian weighing. 200 Ib strays onto the course and is turned end for end by the toboggan, lending safely among the riders. Since the obog- ‘gan path is icy, we can neglect friction with the toboggan path for all actions described here. If the toboggan is traveling at a speed of 35 mph just before collision ‘occurs, whatis the speed after the collision when the pedestrian has become a rider? ‘The toboggan weighs 30 Ib. Consider as system of particles. There is zero impulse. = 200( yy - 1202 180+ 150+ 30 ( 35) & g‘An 890-N rowboat containing a 668-N ‘man i$ pushed off the dock by an 800-1N ‘man. The speed that is imparted to the ‘boat is .30 m/sec by this push. Tre man then leaps into the boat from the dock & with a speed of .60 m/sec relative to the dock in the direction of motion of the boat, When the two men have settled down sn the boat and before rowing eonmmences, what is the speed of the boat? Neglect water resistance. During landing into the boat and directly after, there is conservation of momentum. (s-} 30) + 80%¢.60) = 968890800 y, g & ‘Two vehicles connected with an inextensible cable are rolling along a road. Vehicle 2B, using a winch, draws A toward it so that the relative speed is $ f/see at ¢ = 0 and 1Of/see at f= 20sec. Vehicle A weighs 2000 Ib and vehicle B weighs 3000 Ib. Each Vehicle has a rolling resistance that is .O1 times the vehicle's weight. What is the speed of A relative to the ground at f= 20 sec if A is initially moving to the right at a speed of 30 ft/sec? re a ™ Using momentum equation in horizontal direction: I = (£(20) = 1000 /5-see. Ww, -r000 = “rv, -Goy1+ Zc v,-10)-G0-5)] & & 1000 = 2000 y, - 69,000 , 3000 y, _ (3000)(38) & gs 8 8 26.6 */sec. 483“Treat Example 14.3 as a wwo-partcle sys- ‘tem in the impulse-momentum considerations. Verify the results of Example 14.3 for V. (Be sure o include alfexternal forces for the system.) ‘Two bodies, 1 and 2, are connected by an inextensible and weightless cord (Fig. 14.2). Initially, the bodies are at rest. the dynamic coefficient of fric= tion is 4 for body 1 on the surface inclined at angle a; compute the velocity of the bodies at any time r before body 1 tas reached the end of the incline. Frctiontss pulley N, = W,cosa, f, - pW, cosa (a) In Fig.{b)we have shown the free-body diagram ofthe pulley. Considering moments about the center of the pulley, we can conclude that T, = T,. This means that the components of force F along the direction of the inextensible cord are equal; they will be denoted as F, as shown in Fig.(@). Now employ Eq. 14.4 in a direction along the incline. integrating from 0 to t we get: [W,sina - pW, cosa + W,sina +F,(1-sina)}t Next employ Eq. 14.4 in a downward vertical direction. Integrating again from 0 totwe get - w, W, {W, - HW, cos a sina ~W, cos*e -F,(1-sina) +W,]t =|—++—sina]V (Cc) g 8 To eliminate F, we add Egs. (b) and (c) to get: [0W, #W,)(1 +sin a) - pW, cose (1 +sine)- W,costa}t = 10M, + W,)(1 +sina) ¥ & Solving for V, we get:14.26 (cont) Wecosta W,-p Wcosa + W, ~ Heer] l+sine w,- Meo _ {estes I+sina 1+sine I+sina ~1+sin’ I+sina,Determine the velocity of body 4 and body B after 3 sec if the system is released from rest, Neglect friction and the inertia of the pulleys. We use components of the momentum equation for bodies A and B. Thus: [27-(500g)sin 20° ]3 = 500 V, 2 T= 83.3 Vj +8388 {(200\(g) - 713 = 200 ¥,, 200 962 + “CV, 3 ¢ ‘a)Do Problem 1427 by considering a system Determine the velocity of body 4 and body ‘of particles. (Be sure to include af external B afier 3 sec i the system is released from forces for the system of bodies A and 3.) rest, Neglect friction and the inertia of the pulleys. N= 500gc0s20° = 4609 N From kinematical considerations: (- Nsin20° +2 Tcos20° (3) = (500) V;,cos20° 1.8797 - 1576 = 156.6 V, invertical direction f (Neos 20° -500g+ T+2Tsin20° - 20023) = -200(2¥,) +500 V,sin20° 16847-2535 = -76.30 V, @) 1.879 ‘ Multiply (2) by —— = 1.116 lultiply (2) By ee 1.879T- 2829 = -85.13 V, Subtract (3) from (1) to eliminate T: 1253 = 241.7, 183 m/sec 10.37 m/secA.40-KN truck is moving at the speed of 440 kinjhe carrying a IS-KN load A. The load is restrained only by friction with the floor of the truck where there isa dynamic coefficient of friction .2. The driver sud- ddenly jams his brakes on $0 as to lock all wheels for 1.5 sec. At the end of this interval, the brakes are released. What is the final speed V of the truck neglecting wind resistance and rotational inertia of the wheels after load 4 stops slipping? The dynamic coefficient of ‘friction between the tires and the road is 4 Will the load “A" silde during 1.5 second interval? Assume first it doesn't. Then using Newton's Law: $5,000 9.81 a, = 3.92 misec? (55,000)(.4) = Consider load A. For a, = 3.92 m/sec’ we need a friction force f f= 15:000 (5.92) = 6000 981 But maximum friction force is: (15,000)(.2) = 3000 N” : slipping occurs during 1.5 second period. Consider as system just the truck. The momentum eg. says:14.29 (cont) ~[(55,000)(.4) -(15,000)(.2)]1.5 ¥,- * 3600 Vz = 4.12 mlsec = 14,84 kml br. _ 40,000] ,, _ 40,000 & Consider load A. ~(.2)(15,000)(1.5) = Vy = 8.168 msec. = 29.40 dan! br. Consider next the system is truck and load. We have no impulse after brakes are released. (55,000 000 y, 40.000 (4,54) + 15:00 (29.40) =A. 1300-kg Jeep is carrying three 100-kg passengers. The Jeep isin four-wheel drive and is under test to see what maximum speed is possible in 5 sec from a start on fan icy road surface for which 4, =.1 Compute Vax at F = 5 sec N, +N, = (1300+300)(9.81) = 15,696 V Momentum in x direction for C.M. [(15,696)(.1)|(5) = 1600[( ¥,)-- 01 905 m/sec.‘Two adjacent tanks 4 and B are shown, Both tanks are rectangular with a width of 4m, Gasoline from tank A is being pumped into tank B. When the Jevel of tank A is "Tm from the top, the rate of ow Q from 1A to Bis 300 liters/sec, and 10 sec tater it is 500 ltes/sec. What is the average hori zontal force from the fluids onto the tank during this 10-sec time interval? The density of the gasoline is .B x 10° kg/m! Tank 4 ig originally full and tank B is (m(6X4) = (4)(3)(4) 1 ssh had ne3 n Find C.M. of gasoline for any n: PL(N3K4) a, = eL(3-n6)4)13 + oLnyN(3X4N(7-5)1 Differentiate with respect to time: (6)(3)(4) ¥, = —(6)(4)(3 A +(2)(314)(7-5) 8 & = 1.5004 Note Q= (64) = 2447 see Use momentum Eq.: 00) = MIG): - GI % 19% = (6)(3)(4 miofioS - 1.50 24 2414.31 (cont) 300 Liters 1000 car 1a_| sec 1 diter |100cm. = 300% we 1 sop8 = 500+. = .500 a 1000 A (63,4, 8x10° LD 500 - 300] 10Find C.M. ‘Two tanks 4 and Bare shown. Tank A 1s originally full of water (p = 624 Ibm’), while tank is empty. Water is pumped from A to B. If initially 100 cfs of water is boeing pumped and if this flow increases at the raleof 10 cf/sec? for 30 sec thereafter, ‘what i the average vertical force onto the tanks from the water during this time peiivd, aside from the statie dead weight of the water? nD, . (=22| be 4n 2 9 BM 02059, - » 2 20m 28982 E20) (4) )(20 +10 +20) _ 20-n} 2 = 400-40 +?+60n +4n? 1 +=(4n)(30+ 4 I (30 +2n)14,32 (cont) Q= ols f = 000796 Q [Q = 100 o& Q = 100 +300 = 400 cf n, = 0 a, = (2.00247) = (230,30 232 = 5.968 fe Now use impulse momentum Eq. (F,)G0) = [28] 22 }e010, -Gi) geh4 H{ asl] |tsssbxarrse cam (000796 )(400) a = | S28 | BAO Nap S708 HOOO TO OOO), SOTO) 30g 4 2 4 _ (0)(,000796)(100) _ (21x10 4 2 F,, = 265 1b,A device to be detonated is shown in (a) suspended above the ground. Ten seconds after detonation, there are four fragments having the following masses and position vectors relative to reference XYZ: mm = Ske, 10001 + 2000, + 900% m my = 3 ke, 800 + 1800) + 2500K m m = Akg, 1 = 4007 + 1000j + 200K m m= Oke, r= Net V5 + Zak Find the position ry if the center of mass ‘of the device is initially at position ro, wherein a = 600i + 1200j + 2300k m Neglect wind resistance. Find position of C.M. after 10 seconds: z= -981 2= -981E z= -2812 , 2300 2 when t = 10 sec: ze -2F coo) +2300 = 1809 The C.M. hence is at the position #(10) = 6007 + 12007 + 1809 m att = 10sec. Taking moments of mass about the origin at t = 10 sec we have: 495$4.33 (cont) (18)(6007 + 12007 +1809) = 5(10007+2000/ +9004) +3(8007 + 18007 +25004) + 4(400/ + 1000/ +2008) +6(4,/+y,i +z) Scalar Eqs. are: (18)(600) = 500 +2400 + 1600 +6x, (18)(1200) = 10,000 +5400 +4000 +6y, (18)(1809) = 4500 +7500 +8000 +62, Solving: 007 + 3677+2094k meters‘Two cylinders move along a rod in a fric~ tionless manner. Cylinder A has a mass of 10 kg and moves to the right at a speed ‘of 3 mjsec, while cylinder Bhas a mass of Skg and moves to the left at a speed of 2.5 m/sec. What is the speed of cylnler B after impact for a coefficient of restitution €of 8? What isthe loss in kinetic energy? MCV ,)i+ Mg Vo): = Ma Vader Mol Yade (103) +(5-2.5) = Ma Vad Ma Va) 17.50 = 10( V,)-+5( Vp)¢ __ Ode 2 4.40 = (Ve) (Vas Multiply (2) by 10: 44.0 = -10(V4),+10(%5), Add Eas. (3) and (1): 61.50 = 15(¥;), (Vy), = 410_m/se0 “|LCY), = =200 asec ] = |4 oy) +2 | | c1oyy.3y2+2(5)(4.102) axe [ane Lisyasy {2 39 3° v6 |In Problem 14.3% what coefficient of restitution ie needed for body 4 to be sta tionary after impact? ‘Two cylinders move along a rod in a fric~ tionless manner. Cylinder 4 has a mass of 1 kg and moves to the right at a speed of 3 misec, while eyinder Bhas a mass of, Sg and moves to the let at a speed of 2.5 m/sec. What isthe speed of cylinder B after impact fora coefficient of restitution € of 8? What isthe loss ir kinetic energy’? Conservation of momentum. (10)(3) +(5)(-2.5) = 0+(5)( Vp), (¥,); = 3.50 misec 14.36 Two smooth cylinders of identical radius roll toward each other such that their centerlines are perfectly parallel. Cylinder Ahas a mass of 10 kg, and cylinder has ‘a mass of 7.5kg. What is the speed at which cylinder A moves directly after collision for 2 coefficient of restitution € = 187 Momentum equation: (+ misec 2.5 misec, (10)(3) + (7.5)(-2.5) = 10( M)p+7.5( %)p 11.25 = 10(¥,),+7.5( MQ), _UndieVe -25-3 4.13 = -(Vy),+( Vp), “15 = Multiply (2) by 10: 4.13 = -10(¥,)+10(%), Add Eqs. (1) and (3): 52.55 = 17.5( V5), = CV), = 3.00 m/secCylinder 4, weighing 10 Ib, moves toward cylinder B, weighing 40 Ib, atthe speed of 20 fi/sec. Mass B is attached to a spring having a spring constant K equal to 10 Ibjin. If the collision has a coefficient of restitution € = 9, what is the maximum deflection 5 of the spring? Assume that there is no friction along the red and that the spring has negligible mass. 29 - Mey +Bevy, & & & 20 = (V4) +4 V5), Vade ~20 #18 = (Var Yale Is - Add Eqs. (1) and (2): 38 = SCV yi, (Wa), = 16 “see Fca0jays")Do Problem 14397 for the case where there fs.a perfectly plastic impact and the spring is nonlinear such that 5x? Ib of force is required for a deflection of x inches. 16 10 Ib, moves toward cylinder B, weighing 40 Ib, at the speed of 20 fysec. Mass B is attached to a spring having a spring constant K equal to 10 Ibjin. If the collision has 2 coefficient of restitution € = .9, what is the maximum Gefiection 6 of the spring? Assume that there is no friction along the rod and that the spring has negligible mass impact consideration; Bm = Boys Ber, & & & 20 = (V+ Me Wear -20 Oe Ve (Vp), = 4.00 "/see. 0= 5 PE. of spring = S228 pb-in 3 2 with x in inches. Now use conservation of mech. energy. 4 Je = (287/12 Ae 500‘Assume a perfectly plastic impact as the S-kg body falls from a height of 2.6 m onto plate of mass 2.5 kg. This plate is mounted on a spring having 2 spring constant of 1772 Nim. Neglect the mass of the spring as wel as friction, and compute the maxi ‘mum deflection of the spring sfter impact. 2.5 ke K = 1772 Nim Initial speed just before impact: v= 20h = {(2X9.81)(2.6) = 7.14 m/sec impact process: (S(-7.14) = (5+2.5 #) V = -4.76 msec. 8, = 2.5g/1772 = .01384 Post impact process (conservation of mech, energy.) Using lowest point as datum: (759.8198 +5 (7.5476) 2 FOTIA +35) «. 87055368 -.095824 = 0Hdentical spheres B, C, and D lie along a straight line on a frictionless surface. ‘Sphere 4, which is identical to the others, ‘moves toward the other spheres at a speed V, in a direction collinear with the centers of the spheres. For perfectly elastic coll- sions, what are the final velocities of the bodies? Whe = DAV) PAV), 2 Vide Va) = Vd; - (Vd Vade = Vadis Clearly we see by inspection from these equations that (V,), = U and (V4), = (¥4)j- Thus sphere D will end up with a velocity of ( V,), to the right and all others will be stationary. This is true since all collisions will be the same as the first.In Problem 14.40: (a) What is the final velocity of sphere D if ¢ = .80 for all spheres and V, = 50 ft/sec? (b) Set up a relation for the speed of the (n+ 1)th sphere in terms of the speed of the nth sphere, again for € = 80 and V4 ~ 50 fusec. We r a) Inelastic Impact First collision. (A hits 8) Also 50 ~ (Va)e+( Kade Adding (1) and (2) we have: 90 V;), = 20 = 45 "/see. (¥), 2 ‘sec, _ Yar ar 45 36 = (Va-(V, 45 = (V)4(V), Also we get (¥%), = # = 40.5 */sec Identical spheres B, C, and D lie along a straight line on a frictionless. surface. Sphere 4, which i identical ta the others, ‘moves toward the other spheres ata speed «ina direction collinear with the centers of the spheres, For perfectly clastic coli- sions, what are the final velocities of the bodies?14.41 (cont) Third Collision. (C hits D) _ pir Vole 40.5 & 324 = (Vo) (Vole 40.5 = (Vader( Vole (Vp)p = 22 = 36.45 */s00. Hence we get| ¥, = 36.45 '/sec b) Consider the n’th sphere hitting the n + 4 ‘th sphere. Ue De Vr %, + 8%); = Vad Ve Also pA V,); = PA Va et PR Made Adding these equations: As a check consider the first impact: (¥,), = 50 "/sec CV.) = (9X50) = 45 “Usee. We see that we have a check.A spherical mass M; of 20 Ibm is held at ‘anangle of 60° before being released. It strikes mass M; of 10 Ibm with an impact having @ coefficient of restitution equal to LTS, Mass Mz is held by a light rod of fength 2 ft at the end of which is a torsional spring requiring $00 ft-lb per radian oftotation. The spring has no torque when 1h is vertical, What is the maximum rotation of ; after impact? The length of f; = 18in, (Hint: The work of a couple Crotat- ing on angle d@ is C d@. A trial-and-error solution for @; will be necessary.) Z Speed of M, before impact Ky (WV); = V2K 1.5 ~ 1.50860") = 6.95 filsec (¥), -0 For impact: 2 695)+0 = % V+ Hp), £ g & 2 (W)+2( 4), = 13.90 er 5S 0-6.95 (WW) = $212 50514.42 (cont) Subtracting (2) from (1): 3( Vi)p = 8.69 [ (We = 2.896 "7520 | (iW) = B11 see. Conservation of Mech. energy for M,* 109.112) (102 -cos8,) = 15005} 4 on] e 2 360 1 2 30.21 -20cos®, = .07615 0 Solve by trial and error:Cylinder 4, weighing 20 1, is moving at a speed of 20 ft/sec when itis at a distance 10 ft from cylinder B, which is stationary. Cylinder B weighs 1516 and has a coeffcient of friction with the rod on which it rides of 3. Cylinder 4 has a coefficient of friction of .1 with the rod. What is the coefficient of restitution if cylinder B comes to rest after coll the right of the initial position? 4) Find (V,), just before impaci. Use energy-work equation. W, 24 ,8-(V) & ~¢1)(20)(10) = 4 21073-4001 2s V, = 18.32 ‘/see. Hence ( V,), for impact is 18.32 ‘Isec. 2) Impact process Momentum Equation: Also From (1) and (2) we get: 10.47(1+e) 1 We_coa7yc rey 28 WwW, = 1 4/109.662+219e + 109.6] 28 + 109,607 +219e + 109.6 ~232 = 0A load is being lowered at a speed of 2mJsec into a barge. The barge weighs 1000 KN, and the load weighs 100 kN. If the load hits the barge at 2 m/sec and the collision is plastic, what is the maximum depth that the barge is lowered into the water, assuming that the position of load- ing is such as to maintain the barge in a horizontal position? The width of the barge is 10 m. What are the weaknesses (if any) of your analysis? The density of water 1s 1000 kame. Chains SS 30m Collision. Conservation of momentum between load and barge. 100,000 ¢5) _ 1,100,000 y, 9.81 9.81 V = 1818 m/sec ». Barge and load start down together at a speed of .1818 m/sec. Post impact. Buoyant force F, opposes motion. F, = wtof water displaced. Let y equal distance barge sinks with 5 equal max. distance barge sinks. 2 Fy = (3010 CaM) 100° ca 1 kg Jos 1000 gram - enaoxalnre[ ont = 29.43 yx10° N.14.44 (cont) Work-energy Ea. ‘ = [29.43ydy10® + 1,100,008. = 0- oe 1818)? x Bx) (1818F 2 20.43 © 108+ 11x10 = —4 tat 2 “2 = .7488 -.001259 = 0 3 — 248 16-748)" + 4(1)(.001259) 2 Weakness - Buoyant force is a static force and we have here a dynamic condition. The deflection will be less.A tractor-trailer weighing 50 kN without f load carries a 10-KN load A as shown, ‘The driver jams on his brakes until they lock for a panic stop. The load A breaks Toose from its ropes. When the truck has stopped the load is 3.m from the left end of the trailer wall (see diagram) and is moving at a speed of 4 m/sec relative to the truck. The coefficient of dynamic frice tion between the load 4 and the trailer is Dand between the tires and road is 5. If there is a plastic impact between 4 and the trailer and the driver keeps his brakes locked, how far d does the truck then move? Preimpact. Find V, just before impact. Work-eneray Eq. for A: 1 10,000 ,.2 _ 1 10,000 —(3)(10,000)(..2: -— Va--—— 1 ox X2) =o 981 82 981 V, = 2.06 msec, Impact. Conservation of momentum truck and load - we 10,000 + 50,000 ,, oar 8 = 9.81 V = .343 msec for truck and load Post Impact. Truck plus load move left a distance d. Use work-energy eq. i one ~(60,000)(.5)d = 0-2 SOUR, 3452cylinders, each of mass 5 kg, slide on a fric- fastened to a linear spring (K' = 5,000 Nim) wy? ‘whose unstretched length is 65m, The spring mass is negligible. 7 the eylinders are released from rest by raising the restraints, | (a) What is their speed just after colliding with a coeff- o 7 cient of restitution of 6? so} bomd Ls 0) How close do they come tothe walls? ws Np Phase 1. Conservation of Mech. Energy to Pre-Impact. Look at one mass. iso) +4 -3y - owl - 3 10) + 5 (5000)(.65 - 3) 30h 3 5000.65 ~ 4)? Vy = 7.746 mis « Pre-Impact Velocity is 7.746 m/s each. Phase 2__Impact Process, Cons. of Linear Momentum 5(7.146) + 5(-7.746) = 5(¥,), + 5%), WY), VD, ___&.-%, - 7.746 - 7.746 (py Vp, = 9.295 2(V,), = 9.295 CV), = 4.648 mis Phase 3. Cons. of Mech. Energy. Fa.csey + F cs000)¢65 ~ 4)? = 0 « 5000, where 6 is length of spring when V = 0. .2900 = 65-8 sitA light arm, connected to « mass A is released from rest at a horizoatal orientation. Determine the maximum deflection of , the linear spring (A = 3,000 Nim) afer A impacts with body B with a coefficient of restitution equal to 8. If body B does not reach the spring, indicate this fact. Note that there is Coulom friction between the body B and the floor with, = .6. Consider Drodies A and A 9 be small Find V, Pre-impact. Use Conservation of Mech. Energy. 0}@)¢3) +0 = Lan)¥; +0 V, = V2gh = VOB) = 2.43 mis Impact_Conservation of Linear Momentum (10)(2.43) +0 = (LONV,),+ 70%) Uy 1p), = 2.43 g - dy Voy “243-0 (Vp, + Vy), = 1.944 Add (1) and (2) V, 512Post Impact V, = Velocity at Spring 1 Vv) 1 ~ M@UO(2) = Pa a)? 2.57] (V3) = 2.06 mis (APE + AKE = W,) [e - 3002067" . [zor -o| = 196.698 15008? + 41.206 - 14.85 = 0 20 + 0? + (4)(1500)(1 3000 = (3000)(.08671) =| 513Mass M, slides down the frictionless rod and hits mass My which cests On a linear spring. The coefficient of restitution € for the impact is 8. What is the total maximum deflection Bf the spring? Static deflection of spring from M, F _ O81) | 04! KE 1000 905 m Consider Pre-impact, Work Energy Eq. £(10)(9.81) - 20)(5) = S10) V, = 8.837 mjsec Impact Process, Conservation of Linear Momentum m,(8.837) +0 = mV), + mV), 88.37 = 10(V,), + 5(V,), Lay ny 6.837 -0) Be 701 = (V5),- Vy (Vy = (Vp), 7.07 514Go to) 8837 = [V,),-7.07](10) + 5(¥5), 159.1 = 15(¥,), (Vy), = 10.60 msec Conservation of Mech, Energy for remaining motion (PB), + (KE), > (PE), + (KE), (5g)(6 - 04905) + Fesya0.60) * $c1000),.04905) = 0+ $(2000)¢0)? 5008? - 49.056 - 280 - 0 8 = 49.05_» (49.05)? — (4)(500)(280) 1000 poms | 515A cart A having a mass of 5 kg is released from res at the positon shown. As i tolls wlong. a constant resisting force of 4 N acts between the wheels and the surface. The eart collides with 2 block B having a mass of 3 kg. The coefficient of restitution is 0.5. Determine the maximum deflection 6,,, of the spring having 8 sping constant of 15 Nim, Also, determine the maximum angle ‘of rotation 8... of the light rod supporting block B The blocks ‘are small 11 | W,. = AKE+ APE FOV; -0+0-50.8@) 5.92 mis Wy.) > SKE + APE = ZO - $096.92) +0-0 V, = 5.20 mjs (,¥,), + (mg V5), = (m4 VQ), * (mg ¥Q)y 5(5.2) +0 = SV), + 3(V py py - Vay Vp), - Vas (Vy), = 4.88 mis (py = 2.28 mis AKE + APE14,49(cont.) -4@) = LW; - 3169228) «0-0 Vi, = 0.631 mys W,.g - AKE + APE -4(6,,,.) = 0- ON06317 + F036? -0 KE, + PE, ~ KE, ~PE, jm Vi +0 = 0+mgh F688" = 308A h=1214m cos6,,,, = 424 me 4 8, = 45.8" 517‘A three-seater racing scull is poised for a start, The scull weighs 3001b, and each ‘occupant weighs about 150 Ib, We want to know the speed of the scull after 2sec. At the sound of the starting gun, each man exerts a 30-Ib constant push on the water from each oar in the direction of the axis fof the boat. At the -see mark, each man is moving to the left relative to the bull ‘with a speed of 1 ft/sec. Neglect the inertia ofthe oars as wellas water and air friction, Consider as system of particles: Use impulse-momentum equation to right ((30.23)K2) = 2-0) MD Voy +1) = 0 Vieuy = 14.86 ft/sec.14.52 (cont) |, (Vado ae -C7-14.14) = [(%)d, - (Vd (Vd, (Yada, = 9-898 2 [Vode = 8.01 fi/seo. [( Vad, = - 1:88 A/sec. (Wi) = -1.887 + 14,147 (¥), = 8.017 t (Vide = (1.88? + 14.147 = 14.26 filsec, (V%q)p = 8.01 fi/sec.In Problem 14.52, at the instant of contact, between the bodies a clamping device firm- Ty connects the bodies together so as 10 form one rigid unit. Find the velocity of the center of mass of the system after impact. Br A thin disc A weighing 510 tanslates along a frictionless surface at a speod of 20 ft/sec. The disc strikes a square stationary plate B weighing 101b at the center of a side. What are the velocity and direction of motion of the plate and the dise after collision? Assume that the surfaces of the plate and disc are smooth. Take Since there is no external impulse, there can be no change in V,. To compute V, before impact we have: ¥, = 6.67{( 7074 +.707/)} = 4717 +4717 Mlsec. 522‘The theory of collisions of subetomie par- tiles ig called the theory of scaring. The coeffcient-oF restitution concept presented for macroscopic bodies in this chapter cannot be used. However, conservation of ‘momentum can be used. ‘A neutron N shown moving with a speed Vs strikes a stationary proton P. Alter collision the velocity of tie neutron is Vy and that of the proton is Vp, as stown in the diagram. For an slestic collision, prove that $+ 0 = x/2. (Hint: Use the vector polygon concept and the Pythagorean theorem. Also, take the ‘masses of proton and neutron to be equal.) Draw vector polygon for above equation This means that vector triangle is a right triangle with V, as hypotenuse. Hence: beg == oa 523‘A neutron Mis moving towarda stationary helium nucleus Hi, (atomic number 2) with Kinetic energy 10 MeV. If the collision is inelastic, causing.a loss of 207, of the kine- (ic energy, what is the angle @ afier colli sion? See the first paragraph (only) of Problem 14.54 [Hint: There is no need (if 10 Mev ‘oneis clever) to have to convert the atomic umber to kilograms.) Before cotision Atter cotision Conservation of linear momentum. My Vag = My Vy 008 50.6" + ty V;,'C058 ny = (INC) (2Xx) where x is proportionality constant. Also 4 aw? = BMev 2 -V=D Atomic no. where D is a proportionality constant. Now go to Eq. (1): (ix)D WwW (ix)D by (.634) + 2x D. ee cose i qa) 2 By+ Bye = (10)(.80) = 8 + Bu = 8 By14.55 (cont) Substitute Vio = (By (.634) + 218-8) cose 1B sin50.65 = [2(8-B,) sin® Square (2) and square (3) and add: (Vio -.634y6,) = 28-p,)eoe By.778) = A8-By)sin?6 10~4.01/By +.402B, +5988, ~ 16-2By, 6 s.o0lyB,) -4.01 By -6 = 0 4.01 2 V(4,01)' +(4)(3.00)(6) (2)(3.00) By = 498 Mev b,, = 3.02 Mev 4.98 (.778) = ¥(2)(3.02) sind 6 = 44.95"(Cylinders A and B are free to slide without fiction along «rod. Cylinder Ais released from rest with spring K, to which it 's connected initially unstretched. The impact with cylinder B has 4 coefficient of restiution € equal to 8. Cylinder B is at rest before the impact supported in the position shown by spring Ky Assuime springs are massless, a) How much is the lower spring compressed initially? (o) How much does eylinder B descend after impact before reaching its lowest position? bd) (V,), -Pre-Impact (Cons. of Mech. Energy] (use Datam (1)) (500)(,080)(,707) +0 = 0 | 3( >) + 4 }2000).080) G Cons. of Linear Momentum (32 ).s02m «0 - 800 Ups, garg Vr S(V,), + 8(V 5), = 4.960 - Udy Way O,-%), 526‘A ball is thrown against a icor at an angle ‘of 60" with a speed at impact of 16 mjsec. ‘What is the angle of rebound @ if = 7? Neglect friction. Since the impact forces are only in the y direction,only the vertical component of velocity Is affected. Using the restitution equation: | %-0 | - 16sin60° -0 (.7)(16)(.866) = 9.70 m/sec 8A ball strikes the xy plane of a handbs court at r= 34+ 7)ft. The ball has initially a velocity ¥, = —10/ ~ 10j ~ 15k fifsec. The coefficient of restitution is 8. Determine the final velocity V2 after it bounds off the xy, yz, and x: planes once. Neglect gravity and friction, Fo3+U ¥, = -107-107- 15k Off the_xy plane: Only the z component of V is affected. Thus: %, (-15)-0 2 (Upp = 12. /se0 The velocity leaving, V, is then: = - 107-107 +1214.59 (cont) Off the_yz_plane: Only the x component is affected. » (Wp = -(8)(-10) = 8 '/sec. The velocity leaving is then: Wr = 87-107 + 12k Offthe_xz_plane: Only the y component is affected. 2 (VN), = ~ (8-10) = 8 ‘/sec. ‘The velocity leaving this wall is the desired velocity V,. Thus: + 8+ 12k fis‘A space vehicle in the shape of a cone~ cylinder is moving at a speed Vmjsec, ‘many times the speed of sound through highly rarefied atmosphere. If each molecule of the gas has a mass m kg and if there are, on the average, n molecules per cubic ‘meter, compute the drag on the cone- cylinder. The cone half-angle is 30°. Take the collision to be perfectly elastic. (int: ‘The volume that the cone sweeps out in a ‘unit time equals the volume that the projected area of the cone sweeps out. Canyou readily show this? Ve «, v Elastic Collision Impulse per particie in x direction: Try, = mVcos60? - mV = - 5 mV Collisions per second C: C = (volume swept out by cone in 1 second)(n) = [(projected area)(V)]n = (x)(LSP(V Xn) Total impulse per second: SMV) ).SY( Va = 3.53 mnV? J, =(Fq,) (1 second) 3.53 maV? ma? 532,Problems 14,60for case where te coi- ‘A space vehicle ia the shape of a cone- ‘are assumed tobe inelastic, Assume cslinder is moving at a speed Ymises the coefcent of restittion tobe 8. many simes the speed of sound through highly rarefied atmosphere. If each mole- cle ofthe gas has amass m kgand if there Se, on the average, 1 molecules per cUbie meter, compute the drag on the cone Gslinder. The cone half-angle is 30”. Take the caligion wo be perfectly elastic (in: “The volume that the cone sweeps out in a init tie equals the volume thatthe projected area ofthe cone sweeps out.Can you readily show this?) Get t and n components. (Y), = - ¥;sin30° = -5¥, = -5V (¥), = V,c0s30° = .866V, = .866V (1), = (Mp, = 866¥ (¥), = -(),e = 40¥ 866? + .4?)V? = 954V At angle @ with horizontal: = 30° + wx] = 548° 866 Impulse per particle: Upade = 2rYfoos54.8-mV = -.450mV Collisions per second (see last problem) C: C= (e)(LS( V2) Total impulse per second: Cp, = (0S MIL 450m VY) = -318 maV? Drag = -F,, = -(-3.18 mnV"] Drag = 3.18 mnV?‘A double-wedge airfoil section for a space lider is shown. If the glider moves in highly rarefield atmosphere at a speed ‘many times greater than the speed of sound, what is the drag per unit length of this airfoil? Assume the collision to be perfectly elastic. There are n molecules per 0, each having a mass m in slugs. See the ‘in in Problem 14.61. Elastic Collision Impulse per molecule: (nu), = mVeos40? - mV = mV(cos40° -1) = ~.234 mV Total impulse per second per unit length: I, = (collisions per second)(~.234 mV) Using the projected area of the wedge: 4, = ((2)(1) Vall -.234 mV] = -.468 mnV? A68 masV? F,, = 468 mv"Consider a parallel beam of light having fan energy flux of S watts/m?, shining normal to a flat surface that completely “absorbs the energy. You learned in physics that an impulse df is developed on the surface during time dr given by the formula a Sada where c is the speed of light in vacuo in rjsec. Ifthe surface reflect the light, then we have an impulse df developed on the surface given as dw2e ‘Compute the force stemming from the reflection of light shining normal to a perfectly reflecting mirror having an area ‘of I m*. The light has an energy flux S of 20 Wim, Take the speed c= 3 x 10* ‘m/sec. What is the radiation pressure Pras fon the mirror? 28a dt c (20) watsin? sy ap 3x10* meters/ sec. rt Watts-sec meter 13,33x1 1333x107 22 2 seem 13.33x10* N. 535‘The Echo satellite when put into orbit is {inflated to a 43-m-diameter sphere having askin made up of a laminate of aluminum ‘over mylar over aluminum. This skin is highly reflectant of light. Because of the small mass of this satellite, it may be affected by small forces such as that stem- ‘ming from the reflection of light. 1fa paral- Jel beam of light having an energy density 'S of .50 W/mm? impinges on the Echo satellite, what total force is developed on the satellite from this source? From physics (se Problem 14.63, the radiation pres- SUre, Prat On a reflecting surface from a ‘beam of light inclined by 6° from the normal to the surface is p= 2S con 8 The pressure is in the direction of the incident radiation, Consider strip having constant angle 0 of normal to radiation. dA, = (Rd0)(2nRsin®) dF, = {(2£cos*6)\(2n Rsind Rd) c = [2222 R)sindcos*0 e c 2+1 ; 4® sR? { sin6 cos? ob ° An | 1 Conon c sR? c N-m sec 536 eal eral 3x10° m/sec.A particle rotates at 30radj/sec along frictionless surface at a distance 2 ft from the center. A flexible cord restrains the partide, If this cord is pulled se that the particle moves inward at @ velocity of 2 flysec, what is the magnitude of the to.a! velocity when the particle is 1 ft from the center? In this problem, consider the moment of momentum for the particle. Since txF = 0, itis clear that fxmV = constant. Thus, using cylindrical coordinates we have: Tmt V,8,+ Vee, 2 r¥V, = const. But ¥, = 7 and so we get: Tw = const. we can say ((@,) = Ge) (2¥(30) = (Ifo, 2 @, = 120 rad/sec, The velocity (V,), is then 120 f/sec. and the total velocity is: Vi = (5°+1207) A satellite has an apogee of 7128 km. tis ‘moving at a speed of 36,480 km/hr, What is the transverse velocity of the satellite when r = 6970 km? 2X 7128 (36480) = 26970) %) 37,306 km/hour| 537[A system is shown rotating freely with an angular speed @ of 2 radisec. A mass A of 1.5 kg is held at a against a spring such that the spring is compressed 100mm. If the device 2 holding the mass in position is suddenly removed, determine how far ‘toward the vertical axis of the system the ‘mass will move. The spring constant K is 531 N/mm, Neglect al friction and inertia » (of the bars, The spring is not connected to Conservation of moment of momentum, mo, = maw, (.625)(2) = (.625-a)(«o,) 7813 = (625 - dP(a,) Conservation of Energy. 41628) 29F + 31¢831 10000" - 51S 1C628- doo 2.26 = (.625 - d)(w,) Substitute for w, using Eq. (1): 2.26 = (os of 2 | (025-dy = .625-d = 346A system is shown rotating freely with an angular speed @ of 2 radjsec. A mass 4 of 1.5 ke is held at a against a spring such that the spring is compressed 100 mm. If the device # holding the mass in position is suddenly removed, determine how far toward the vertical axis of the system the ‘mass will move. The spring constant K is ‘531 Nimm, Neglect all friction and inertia, (of the bars. The spring is not connected 10 the mass. ‘Do Problem 14,6:7f0r the case where there is coulombic friction between the mass A land the horizontal 4od with @ constant #4g ‘equal to 4 7813. = (.625-d)X(9,) Work-energy equation: A(PE+KE) = W, 4 415. 625- dagP HLS IC625 V2} 0-5 (531617) = -(1.5(9.81X.4\(d) 50 S625 = dyo,} -3.83 = ~5.89d @ Substitute for «, from 1: Solve by trial and error:A body 4 weighing 10 1b is moving at a speed of ¥, of 20/t/sec on a ftictionless surface. An elastic cord AO, which has a Jength 1 of 20, becomes taut but not stretched at the position shown in the dia~ gram. What is the radial speed toward 0 of the body when the cord is stretched 2 ft? “The ord has an equivalent spring constant of 2 Ibjin, (M) V,c0s30° t, = MCV, dot, (20)(20)(.866) = (V,),(22) (%), = 15.75 ion of E , Lani - Lait xe? 2 2 2 11 ggg - 110 v2. 263,64) 2322 232.2 2 18.81 ‘/sec. To get (¥;), +A small ball B weighing 21b is rotating about a vertical axis at a speed @; of 15 rad/sec, The ball is connected to bearings on the shaft by light inextensible strings having a length Jof 2 ft. The angle 8, is 30°. What is the angular speed @: of the ball if bearing A is moved up 6 in.? d= 2120020" ]- 3 = 2.96 A. ne (234) = 14S fi Consider moment of momentum equation about axis of shaft. + (AD = [esin®, Pam = 4(.500)°(15) =‘A mass m of I kgis swinging freely about the z axis at a speed (; of 10 radjsee. The Jength 1; of the string is 250mm. If the tube A’ through which the connecting string passesis moved down a distance d of ‘90 mm, what is @2 of the mass? You ‘should get a fourth-order equation for @: which has as the desired root ; = 21.05 radjsec. Find 6,. Use Newton's Law: T,sin, = mX¢,sin®, (01) T, = (1(.25(100) = 25 -N DF, = 0 form. T,cos®, = [(1X9.81)] 8, = 66.9° For configuration (2): Conservation of angular momentum. 2 2 mao, = myo, [(.25)sin66.9° F(10) = (.16sin®,’o, ,sin’®, = 20.65 T,sin®, = nXt,sin®,)(o2) T, = (C16) 0314.71 (cont) T,cos®, = (1)(9.81) Substitute for T, using Eq. (2): 16«3c0s®, = 9.81 @3c0s®, = 61.3 ‘Square Eq. (4): cos'0, = 3752 ° Rewrite Eq. (1): _ 2065 1, = 20.65 Solve by trial and error.First find 6,. Newton's Law: ‘A small 2-1b ball 2 is rotating <1 angular speed @; of 10 radjsec about a horizontal shaft. The ball is connected to the bearings with light elastic cords which when unstretched are each 12 in. in length. A force of 15 Ibis required to stretch the cord 1 in. The distance dy between the bearings ‘originally is 20 in. If bearing A is moved to shorten d by 6in., what is the angular velocity a, of the ball? Neglect the effects of gravity and the miass of the elsstic cords. (Hint: You should arrive at a transcenden- tal equation for @; whose solution is 54.49") T = (6,"" - 12X15) 20 cos0, 414.72 (cont) Going back to Eq (1): (= z 1afosine, = 2[22un0 a9 ans £058, 10 ~.1725 = 35.02° We have conservation of angular momentum about x axis. Hence: 2 2 mie, = mo, 89502] 10 = fo, 2 3.41 = do, Newton's Law for configuration (2): 2Tsind, = 27.02 & T = (u"" ~ 2)15) = 12 = 001208 (2) cos 8. ey14.72 (cont) From Eq. (2): 3.41 340tan"8, Substitute into Eq. (3): 57.7 - 98.9c0s0, = —L tan‘®, Solve by trial and error. ~ (340)(tan $4.49)? = $.107 radi sec.AA space vehicle is moving ata speed of 37,000 knvthr at position A which is perigee at a distance of 250 km trom the earth's surface. What are the radi! and transverse velocity components as well asthe distance from the earth's surface at B? The Urajectory is inthe ay plane. GM = gk = 9 $80 srs = 5.164 x 10" km’ hr? i Conservation of Angular Momentum (6623)(37,000) = (V,cos30°)(r,) Conservation of Mech. Energy _ 5.164 x10 | 37,000? _ _ 5.164 x 10 6623 2 Tr; 2.830 x 108 Vy Solve for r, in Eq. (1) 5.164 x102V, V5 Subst. into (2) - 9521x107 = -——___4._* 2.830 x108 2 Vj ~3.65 x 10°V, + 1.904 x 108 = 0 5 x10" + (3.65 x10%) - 4)(1.904 x 105) 2 57,14.73(cont.) Vy, = 6306 kmfhr or 30,194 km/hr __ 2.830 x 10% 6306 2. |d = 44,878 - 6373 105_km from earth or 3000 km from earth] (* = (6306)(.866) = 5461 donjhr = 44,878 km or 9373 km V, = (6306)(.5) = 3153 km/hr or ’5 = 26,148 kmfhr V, = 15,097 kamjhr Hence two points on trajectory quality. 548AA space vehicie isin orbit A around the earth. At position (1) iis 5.000 miles from the center ofthe earth and has a velocity (of 20,000 mifhr. The transverse velocity at (1) 15,000 mir. At apogee. it is desired 10 continue in the circular orbit shown ‘dashed. What change in speed is needed to change orbits when {ring 2t apogee? GM = gR® = (32.2) 250) (396092 _ 1: 2 ihe? > & ¢ “6280 y= 1.239 x 10? mi?fhr’ Cr omentum: LAA (5000)(15000) = r,¥5 Cons. of Mech. Energy: - ——™ - 2.478 x 108 +2108 = ~ 1.239 x10" | 2.8125 x 10" n a 4.78 x10" r} + 1.239 x 107, 2.8125 x 105 = 0 = 2514 mi (Perogee) ; 1, = 23407 mi (Apogee) ~ 3204 3 vy, [GH . [1239407 996 nithy % 23,407 AV = 7275 - 3204 = [4071 mifhr] 549Do Problem 12.78 using the principles of conservation momentum and conservation of mechanical energy. 1114110" = V3 550 2° ‘A man is in orbit around the earth in a space-shutlle vehicle, At his Iowest posi- tich, he és moving with 2 speed of 18,500 rmifhr at an altitude of 200 mi. When be ‘wants to come back t0 earth, he fires a retro-rocket straight ahead when he is at the aforementioned lowest position and slews himself down. If he wishes sub- sequently to get within $0 mi from the ‘earth's surface during the first cycle after firing his retro-rocket, what must his decrease in velocity be? (Neslect air resistance.) le | = 17,099 mph.In Problem 1286, find the radial velocity by using the method of conservation of angular momentum and mechanical ‘Assume that a satelite is placed into orbit ‘about a planet that has the same mass and diameter as the earth but no atmosphere. [At the minimum height of its trajectory, the satellite has an elevation of 645 km from the planet's surface and a velocity of 29,800 km. To observe the planet more Closely, we send down a smaller satellite from the main body to within 16 km of this planet. The “subsatelite” is given a velocity component toward the center of the planet when the main satellite is at its Jowest position. What is this radial velocity, and what is the eccentricity of the trajectory of the subsatelite? What is a better way to get closer to the planet? energy. GM = 9: 22 ory = 5.16x10% (7017)(29,800) = (6388)( ¥4) V, = 32,734 dan/ hr at r= 6388 km Conservation of Mech. Energy 7017, V,, = 30,440 don! Ar =}(V), = ¥30,440? - 29,800? = 6210 ir ~5.16x107 + 32.7347 6388 2‘A meteor is moving at « speed of 20,000 Do Problem 1282.by the method of con- mifhe relative to the center of the cacth servation of angular momentum and when from the surface of the inechanical coergy. anh ime, the meteor hue x rat velocity component of 4000 mifhr toward the center of the earth, How close does it ‘come to the earth’s surface” Do this prob- Jem without the aid of Eq, 12.$4. ¥, = 4000 mph. V = 20,000 mph, r= 4310 miles ¥V, = 120,000? - 4000? = 19,596 mph. Conservation of moment of momentum. (4310}(19,596) = r¥ Initialy, Conservation of mech. energy. GM = gR* = 1.239x10" mi/he* _ 1.23910 | 20,0007 23910" |v? 4310 2 r 2 =1.239x10" | 20,0007 __ 1.239x10 _ 1 [(4310)(19,596)F 4310 2 ro P 8747x10°P ~ 1.239x10"r + 3567x10" = 0 87477 - 1.239x10'r + 3567x10° = 0 p= 2239x108 4 (1.239%10*)? -(4)(,8747)(.3567)10" (2.8747) = 4020 miles. A = 4020 - 3960 = 60 mulesIn Problem 12.67 find the height of the ‘Suppose that you are ona planet having no bullet above the surface of the planet by atmosphere. This planet rotates once every the methods of conservation of angular Ghr about its axis relative to an inertia! momentum and mechasical energy. reference XYZ at its center. The planet has a radius of 1600 km, and the acceleration of gravity at the surface is 7 m/sec. A bullet is fired by a man at the equator in a direction normal to the surface of the planet as seen by this man. The muzzle velocity of the gun is 1500 m/sec. What is the eccentricity of the trajectory and the ‘maximum height h of the bullet above the surface of the planet? (VY), = 90 [222] = 5400 kan/ hr (%), = Re = 02] = 1676 kml hr GM = gR° -of 308° ny = 2.322x10" Conservation of moment of momentum, (1600\(1676) = r¥ Conservation of mech, energy: _2.322x10" | (1676? +5400?) _ -2.322x10" | V? 1600 2 r 2 1,291 x10"? ~ .2322x10"r+ 3.595x10" = 0 1.2917 ~ 2322x10'r + 3.595x10* = 0 _ 2322x108 + V(.2322x10*)? -(4)(1.291)(3.595x10*) (2)(.291) = 1782 dm. fh = 1782-1600 = 183 km‘A space vehicle is launched at a speed of - 19,000 mine relative to the earth’s center In Proviem 12.14, find the maximum at a position 250m: above the earth's clevation above the earth’s surface by the surface. If the vehicle has a radial veloc~ methods of conservation of angular mo- ity component of 3000 miJhr toward the ‘mentum and mechanical energy. cearth’s center, what isthe eccentricity of the trajectory? What is the maximum ‘elevation above the eatth’s surface reach- sd by the vehicle? Do not use Ea, 12.54. GM = gR® = 1.239x10" mules hr (%), = ¥19,000)? -(3000)? = 18,762 mph Conservation of moment of momentum. (4210)(18762) = rV Conservation of mech. energy. =1.239%10" | 19,000? _ ~1.239x10" | V? 4210 2 r 2 1.1380x10°F ~ 1.239x10"r + 31196x10'% = 0 1.13802 ~ 1.239%10'r + .31196x10" = 0 re 1,239.10! + (1.239108)? - (4)(1.138)(.312)(10°) (2)(1.1380) = 6934 miles. Distance above earth's surface is 2974 miles.Do Problem 124)Pby methods ofconsera- A ee eb ag am ton of angular mementsnd nechan- car parking obit 320m above the sur ical energy. (Hint: The escape velocity = ae or Neus one that ye20 im above Mey, sera, Tis tion wil be aca ACTEM — of He) plished by two firing: of the rockst system Bre whi. The ft Rig cess te ‘of Venus. At this apogee, a second firing is accomplished so as to achieve the desired circular orbit. What is the change in speed demanded for each firing if the thrust is maintained in each instance over a small portion of the trajec tory of the vehicle? Neglect friction. The radius of Venusis 6160 km, and the escape velocity at the surface is 1.036 x 10* mjsect. om-1wie- {2} s26u0 sn 2 1000 = 420x107 fa bP 2 v,- | GM _ |420x10" _ 95,459 kam . r 6480 hr (6480) V, = (7780) V, _4.20x10 Vi _ 420x108 | Vi 6480 7780” 2 55514.80 (cont) 1083x108 = v3}2 {oy 2 26480 V, = 22,150 kal he. V, = 26,594 kml hr. GM _ | 420x107 Tr 7780 = 23,235 km/hr. (AV), = (26,594 -25,459) = LIBS km/hr (AV), = (23,235 ~22,150) = 1085 km/hr,A rocket system is capable of giving a Do Problem 1211Susing the principles of satelite a velocity of 35,200 km/hr relative ‘conservation of angular momentum and to the earth’s surface at an elevation of ‘mechanical energy. 320 km above the carth's surface. What ‘would be its maximum distance A from the surface of the earth ifit were launched (1) from the North Pole region or (2) from the ‘equator. utilizing the spin of the earth as an aid?” a) Satellite launched from pole: GM ~ gR - 5.16x10" Conservation of moment of momentum: 1V,=0¥ (6692)(35,200) = (7)(V) Conservation of energy. — Gein 1 py? GM 1h piys 2 ro _ 5.16x107 _ 516x100" | 1 r 2 + 3(35200) = ve ‘Substitute for V from (1): _ $.16x10 | 1 [(6692)(35,200)F r 2 P _ 5.1610" 1.035.200)? = 66922 _ 5.16xJ0" | 2.774x10" = 1.5155x10% = x: - 2 1,51557—5.16x10'r + 2.774x10° = 0 px 516210 4 (5.164104)? -(4)(1-5155)(2. 7710") (2)0.5155) fa | Bgeg = 27,357 - 6373 = 20,984 kum14.81 (cont) Satellte launched from equator. V, = 35,200 «orm 22] 24 = 36,868 km/hr Conservation of moment of momentum. (6692)(36,868) = rV Conservation of mech. energy. 12 _ 5.1610" | 42668) @ _ 5.16%10" | V2 6692 r 2 ~ 914 xtor = —526%10% | 1(6692)(368_8)P T ar 914? - 5.16x10'r + 3.0435x10" = 0 5.16.10" « V(5.16)?x10* -(4)(.914)(3.0435)10" (200.914) Iggy = 49,764 de, Figg, = 49,764 - 6373 = 43,391 kom.14.82 ‘A space vehicle is in a circular orbit 1200 km above the surface of the earth, A projectile is shot from this space vehicle ata speed relative to the vehicle of 5,000 kmhr in a radial = 2[ 2.90845 x 10° - 2.77803 x 10°Y8.7975 x 107 V, = 17,219 mifhr AV = 17,219 - 17,060 = [159 mifhr] 560A space station is in a circular parking orbit around the earth at a distance of 5000 mi from the center. A projectile is fired ahead in a direction tangential to the trajectory of the space station witha speed of $000 mifhr relative to the space station, What is the maximum distance fromearth reached by the projectile? . GM = oR? = 1.239x10? R he _ [GM _ | 4.23010 _ Desig r ‘5000 = 15,741 mph V, = 20,741 mph ans am) i r 2 1.239x10° 4215x108 = 1.239x10' +2 5000 Fra14.84 (cont) ~1.239x107 + Fras =2.48x10° +2.15x10° = Also we know that Me = Faun Vs _ (5000)(20742) _ 4.037 x10° Fax aM ‘Substitute Eq. (2) into Eq. (1): 1.239x10” 12890" + I, ~.33x10" = 2 .33x10°R, - 1.239x10",,,, +.538x10" - 0 1.239x10! + 1.23910" - (4)(.33)(.538x10 om (2.33) Fug = = 5011 miles and 32,534 miles.A skylab is in a circular orbit about the earth 500 km above the earth's surface. A space-shuttle vehicle has rendezvoused with the skylab and now, after disengaging from the skylab, its rocket engines are fired so as to move the vehicle with a speed ‘of 800 m/sec relative to the skylab in the ‘opposite direction to that of the skylab. ‘Assume that the firing of the rocket takes place over a short distance and does not affect the skylab. What speed would the space-shuttle vehicle have when it en- ‘counters appreciable atmosphere at about '50km above the earth’s surface? What is the radial velocity at this position? Shuttle, Find velocity of skylab. GM = gR = (9.81 {22 cosmo 609)F 516x102 = 27,403 km/hr V, of shuttle vehicle: = 27,403 -2n0| 322] = 24,520 kml hr (000. 36314.85 (cont) = GH ye. _ Gt , py * % 2 2 2 5.16x10? | 24,520? __5.16x 10 |" 6872 2 6422, 2 V = 26,579 kml hour Conservation of moment of momentum. ny (24.520)(6.872) = 6422 Y VY, = 26,238 kml hour 1 1 V, = [V°- Vi}? = [26,579 - 26,2387]? = 4243 kmlhrA space prote is approaching Mars. When the probe is $0,000 mi from the center of Mars it has a speed Vp of 10,000 mijhr vith component (¥,Jp toward the center fof Mars of 9800 misht. How close does the probe come to the surface of Mars? If retro-rockets are fired at this lowest position 4, what change in speed alter the trajectory into a circula shown? The acceleration of gravi radius R of the planet is 2107 GM = RR = s24o{ 22% 2r0r9 = 13.512x10° Mes AP 0 _13.512x10" m7 11m 10,0007 « _13.512x10%m 1 50,000 2 2 m(50,000)[ V4], = 7 110,000? - 9800* = 1990 mph « (50,000)(1990) = jr, = 9.95x10" 9.95x10" ts Ye14.86 (cont) Substitute for V, in (1): 95x10")? 2h + 28574, - 1.046x10° = 0 2857 + \(2857)? +(4)\1)(4.046x10") 2 For circular orbit vy, = [GM _ | 13.512x10" * 48900 8900In Problem 14.86, 2 midcourse correction is to be made to get the probe within 1000 mi from the surface of Mars. If ¥_ at 1, = 50,000 is still tobe 10,000 mijhr, what should be the radial velocity component Wo? ‘A space probe is approaching Mars. When the probe is $0,000 mi from the center of Mars it has a speed ¥, of 10,000 mithr with a component (¥7)y toward the center ‘of Mats of 9800mijhir. How close does the probe come to the surface of Mars? If retro-rockets ar? fired at this lowest position 4, what change in speed is needed to alter the trajectory into a circular orbit as shown? The acceleration of gravity at the surface of Mary is 12.40 fusec?, and the radius R of the planet is 2107 mi. GM = 13.512x10" miles* he 13.512x10" 1 13.512x10° 1 ve — 13.512x10" | 4 49 ogg? = - BSUxIO tT 50,000 2 3107=~—« 2 2. Vy = 13,475 mph. Conservation of moment of momentum. (50,000)( %), = (3107)(13,475) (Y), = 837.3 mph = 837.3 = {10.0007 -(Uye14.88 ‘The Apollo command module is in a circular parking orbit about the moon at a distance of 161.0 km above the surface of the moon, The lunar exploratory module is to detach from the command module. ‘The lurar-module rockets are fred briefly to give a velocity Vo relative to the com ‘mand module in the opposite direction. IF the lunar module 1s 10 have @ transverse velocity of 1500 m/sec when it is 80 km from the surface of the moon before rock- ctsare fired aguin, what must Vo be? What is the radial velocity at this position? The radius of the moon is 1733 km, and the acceleration of gravity is 1.700 mjsec* at the surface. GM = R= (1 0 {20 2 assy = 6.62x10" 6.62x10" _ 5949 km 4733+161 1894(5910 - V,) me 2 Conservation of Mech, Eneroy - Gin, fo — 8.62x10° + (5910 - 7417 = 1894 V = 5463 V, = (5463? - [(1500)(3.6)P 1? iain) = (1813)(1500)} pe 2 _8.62x10" | V? 1813. 2A system of particles is shown at time ¢ ‘moving in the xy plane, The following data apply: ~ $i mise + 3} m/sec 4j msec me =15kg, Ve = 31 4jm/sec (2) What is the total finear momentum of the system? (b) What is the linear momentum of the center of mass? (©) What is the total moment of momen tum of the system about the origin and about point (2, 6)? P= DamV, = (1)(5745/) +(.7)(-47+3/) +(2)(-4/) + (1.5(37-4/) A= Bm{qxV) = (1)(57+8/)x(57 +57) +(.7 (47 +f)x( 47 +3/) + (2)(27 +4f)x{~4/) + (1.5)(-27+2/)x(3/-4/) A = (25-40 +8.442.8-16+12-9)k A fas) = EMm{(-21-6/) +7] x V, = Bm{-2/-6/)x V+(-16.808) = (-27-6/)x(5/ +5/-2.87+2.17-8/ +4.57-6/) - 16.80k -10-4.2 +16 +12 +30 ~ 16.8 +27.0)k- 16.80‘A system of particles at time ¢ has the following velocities and masses: Vy =20Mt/sec, om, = 116m Vz = 18sec, my = 3 bm Vy = 1S ft/sec, my = 21bm Vy Siiisec, me = 1 Ibm Determine (a) the total finear momentum ‘of the system, (b) the angular momentum of the system about the origin, and (©) the angular momentum of the system P= 2mV,- sept 64+ 11.091) «(98D + A -11.52/+9.604) +X SY] PB = 2.027 -.0435/ +5964 slugs-fsec b) Find A, = A, = 25x m,V, Hf, = 1.975i-1.3267-25.8K slugs fP/sec ©) Find Hy pylloex (1)(16.647+ 11.097) + 127 « (3187) +(127+ 8i)x(2)(- 11.527 +9.604) +0) A = B(n-n) x mV, /,~ (82 + 12} + 10£) (2.027 ~.04357 +.5964) 5.617 -16.767- 1.212 siugs sec‘Acsystem of particles at time ¢, has masses tm, = 2lbm, mz = ibm, m = 3 Tom and Jocations and velocities as shown in Fig. (a). The same system of masses is shown in (b) at time fz. What is the total linear impulse on the system during this time interval? What is the total angular impulse j M dt during this time interval about the origin’? si/see waTime te rom /sec aot BS stsce see ‘ (Tine ts one. B= [zm,y],., - Spy locas 30" + 10sn30" + (1)[Scos20° 7-5sin20°j}+(3)(-8/)) ~.06157+.2577 ow + (1)(7.077 -7.07/) + 3(-3.5357 + 3.535/)) 1 . a 4 4 4 (16 +7.077 - 7.077 - 10.6057 + 10.605) portend F-79075 i sf) = 10987 +.607714.91 (cont) b) Moment of momentum considerations: B= (2axmi%), » Hie smarani ro) o(ai-apneari-r rj) = -2.03k A, = (Bixmi), = Spy OF DAG) Si-2I)H(1077-101)) 34 yok ASL + 1081)) A, = 502K slugs-fP/ sec Logg = 2.53 slugs-f? sec g72‘Two masses slide along bar AB at a constant speed of 1.5 m/sec. Bar AB rotates freely about axis CD. Consider only the ‘mass of the sliding bodies to determine the angular acceleration of AB when the bodies are 1.5 m from CD if the angular velocity at that instant is 10 radjsec. c 10 radisee LS misec 5 misec A 8 25k Lsmote is mat \2:5 ke Differentiate with respect fo time: 2mro +2m2rro = 0 (15) + (2)(1.5)1.5)C19) = 0 573‘A mechanical system is composed of three identical bodies 4, B, and Ceach of mass 3 Tb moving along frictionless bars 120° apart on a wheel. Each of these bodies is ‘connected with an inextensible cord to the freely hanging weight D. The connection of the cords to D is such that no torque ‘can be transmitted to D. Initially, the three masses 4, B, and C are held at a distance of 2 ft from the centerline wh ‘the wheel rotates at 3 rad/sec. What the angular specd of the wheel and the velocity of descent of Dif, after release of the radial bodies, body D moves 1 ft? Assume that body Dis initially stationary ie., is not rotating). Body D weighs 100 ib. mf JO For system of particles we have constant moment of momentum about point O. Hence: GM)(Ae,) = BM)Ge,) (43) = Qe, @, =12 rad/sec Now use work-energy equation. Use lowest position of D for P.E. reference. 1 1 MM, 36M )(50,)* 100V1) Lean yiCge,) V9 PVE (36) +100 fs. (nas v'ie 200 ya 64.4 2U" 32.2 574‘Two sets of particles a,b, and c, d (each particle of mass m) are moving along two shafts AB and CD, which are, in tem, rigidly attached to a crossbar EF. All particles are moving at a constant speed ¥, away from EF, and their positions at the moment of interest are as shown. The system is rotating about G, and a constant torque of magnitude 7 is acting in the plane of the system. Assume that all masses other than the concentrated masses are negligible and that the angular velocity of the system at the instant of dicenssion isa, Determine the instantane- fous angular acceleration in terms of m, Ta, 51, and $3. 4 & 4 i “—(-j) (+8) (S48) | 7k 7 2 Soe + (gi-5f) xml - Vj+0(5 +8)? it j ue ‘ (+8? (Sg? aon 2 SS 4 § * + (sf+sj) xml Vj+ (3 +8)? Cie j ses Gaye egy? Licemys bemiok-domkems Vik+mswkedomk+ it -ms, Vk+mosk+smok+ms, Vk+mogk+ mob) 4 tamso+4dom at14.94 (cont) Note s, = const. 7 - 4m go +25,8,0+80] T= 4ml(s +3) +25,50] Solve for @ 1 Sas 2540] @ = BSsme Am s+) 576A uniform rod with a mass of 7 kgim rests flat ona frictionless surfece. A force ‘of 250 N acts on the rod as shown in the diagram. What is the angular accelera~ tion of the rod? What isthe acceleration. of the mass center? m5 (250)(,866)(5)k = = stl | 2 f vane x} (250.866)(5) = 14 |e 250(cos 30" /-sin30°/) = (107) V, V, = 3.097 - 1.7867 misec?‘Consider an aggregate of particles with ¢ as the mass center and point A accelerating toward or avay from c. Start with the expression fr {Tabout © piven as My = dhe §1En mid = Dr xb, Eat pa) xP Formulate Me interms of F, and use New- tons law to eliminate terms. Next show from the resulting equation that My = (E mba) X ta + E Pa X mba Replace S mPaby M Pye Explain why it follows then that M,= Hy Dba FD ax Po Bax F, x Hence we have: . . Bxd Fam, = 4xD PAL BaxF, Using Newton's law for an aggregate of particles, > F, - > B,, we can delete the first expression on the left and right sides of the equation. We then have: i, = DBaxP, Hence we get: 4, -[E mp.) iD bax Note that > m3, is the first moment of the aggregate about point A. We can use the 7 center of mass for this purpose such that: L MBs = MB xc Point A is accelerating toward or away from the center of mass; clearly 5.x 7, = 0 and the first expression on the right side of Eq. vanishes. Finally, we can rewrite the last expression as 2 Y Byx mB, (Le. we move the Z operator as discussed earlier) and we have a, =H,‘A uniform cylinder of radius 1m rolls withoutslipping down a 30” incline. What is the angular acceleration of the cylinder if it has a mass of 50 kg? xyz translates with Ci * (A(1) = s| J temcroren} ot o fe anvens(2] = 1.57080pt f-(50)(g)sin30° = 50X, Substitute (3) and (1) into (2): 1s700064-s04| = -506 M = 50 = x(12)tp 2 pt= 15.92 ‘Substitute into (4): (1.5708 )( 15.92) +50 = (25)(9.81) 3.27 radisec*A cylinder of length 3 m and a mass of 45kg is acted on by a torque T (11.25 +212) Nem where seconds about its geometric axis. ‘the angular speed after 10 sec? The cylinder is at rest when its torque is applied, 11.25f+218 M = 45 ~ (x){.30)°(3)(e) = 53.05 Kolar + 2036 = 210411.25¢ 2030 = 2, 44.258 3 2° 6‘A constant torque of 800 N-m is applied to a uniform singer of radius 400 min and mass 50 kg. A 1.500-KN weight is 00 mm stuached to the elinder with alight wean eae ot a8 | PA F F6D.0 F Fer yz is an inertial reference here 7 w Which way does system go? Compare moment of dead weight W about 0 with T. (1500 )(.40) 2 (800) 600.0 < 800 = Woes up. For F.B.D. Il Newton's Law 1500 , -F ~ (1500) = (1800) = oa For F.B.D.1 Moment of momentum. (about centerline) 40 800 -(F)(.40) = 2 J J (arate yr(ro) ato ft YY am v 800 - .40F = an(o pa OF But from geometry: M = 50 = [(x)(.40)"]pt pt = 99.4714.99 (cont) + Eq. (2) becomes 800-.40F = 4.000 From kinematics A0w =¥ MG = 7 Replacing « In (3) using (4), and solving for F we have: = +}e00-4 40| 40. = 2000-2577 Substitute into Eq. (1): 2 1500 2000 - 25 7) - 1500 = —— 2 9.81 yA constant torque of 800 N-m is applied to a uniform cylinder of radius 400 mm In Problem 1444, the torque T is T= and mass 50 kg. A 1.500-KN weight is (300 + .22)Nemn, where is in seconds. ‘lashed 10 the elinder with a light When f= 0, the system is at rest, Deters cable, What is the acceleration of 17? mine the acceleration of Wat the instants when it has 2er0 velocity for t > 0. x92 is an inertial reference here \ mw * w From F.B.D. ! Moment of momentum (about centerline) om 300+.2%-F(.40) = 2 ff (raraetpyn(ro) ato 300 +.2t?- F(.40) = 2x0 M = 50 = ()(.40)"(ef) pf = 99.47 + 300+.2P-.40F = 40 Integrate to get wo = 13001 2-4 f Fat|+<, 4 6 4 when f-0; @=0 «6 =0 ForF.B.D. Il Newton's Law:Integrate: when f-0, y=0 From kinematics Y= 400 = 400 Replace yin (4) using (5) and then replace { Fat in (2) using (4). ° - ee «| soon. 19 am oy | a att=0 2 8) -300+% -0 f = 94.87 sec. Fort= 94.87 sec. From (1) 300 +.2(94.87)? -.40F = 40 From (3) F-15009 = 1500 5, But f= 406. Substitute for F and « in (6). 2100-41500» 1800 1500 as] 246 g @ = 52.70 rad/sec*Aconstart torque Tof500in--lbisapplied to 2 uniform cylinder of radius 1 ft. A light inexensible cable is wrapped partly ‘around a similar cylinder and is then: con nected to 2 block W weighing 100 Ib. ‘What is the acceleration of Wf the cable does not slip on the cylinders? Take Hi, — 3for block, Wi, = Wy — 100 Ib. From F.B.D. |; Newton's Law ~F,+(.3)(100) = “ ¥ From F.B.D. Il; Moment of momentum (about centerline) F6OL xyz is an inertial reference here (F-AM) = & 4 f f(roparten\ro,) a (-F) = mM oro)14.101 (cont) F.B.D. Ill; Moment of momentum (about centerline) [2 -(AN1) = El0Mo.) = 12 ~ (nyt ye) g pt = 989 From kinematis: &= (0X1) 2. Eq, (8) becomes: Fy = 41.7 +1554 Eq. (2) becomes: F, = [41.71.5548] + 5(00(2) = ALT + 1.55454 1.554% = 44.7 +3.107% Eq. (1) becomes: 100, (41.7 -3.107 %) + (30100) = A‘A canal with ¢ rectangular cross section is shown having @ width of 30ft and & ‘depth of $ ft. The velocity of the water is assumed to be zero at the barks and to vary parabolically over the section as shown in the diagram. If 5 is the radial distance from the centerline ofthe chan nel, the transverse velocity Vs is given as Vy = e225 — 84) fjser ‘What is the angular momentum He about Oatany time fof the water inthe circular portion ofthe canal (ie. between the x ‘and y axes)? The radial component ¥, Consider strip of water having volume: w= (222fox0n Compute H: Yep [2zoxen| 1s {e=|24)i ce 225-0093 | where 8 = (7-100): 1s = (BaN(624) Pf 2(295 7 +200r-10,000)ar (64.4)(20) ‘3 = (e824) (977517 +2007 -A)ar 1288 oy ~ rif. S78 (115 5?) « 200 (115 -85*)- Jerts*-28") H = 34.4x10° slugs-ft’/sec.‘A hoop with mass per unit length 6.5 kg/m rests flat on a frictionless surface. ‘A SOON force is suddenly applied. What is tre angular acceleration of the hoop? What is the acceleration of the mass ‘center? a about centerine) ~{500X7) = ZA71(65\(nX14)1(70)) xyz is an inertial reference here Fe ui, 500 = [(n)(14)(6.5)1 %, VY, = 1.749 misec Do Problem 14.103 for the case where a focce given as: F = $084 759 is applied at point a instead of the $00-N force. xyz is an inertial reference here a) WM, = H, (about centerline) 77 x (507+75/) = ZerU@ say 14)(TO)) & : (775) = (76.5) "(14 (7) o Ae mW, 507+757 = [(6.5Xx)(14)]V, V,, = .17497+.262)_misec*Accylinder weighing 50 Ib rests on a fric- tlonless surface. Two forces are applied simultaneously as shown in the diagram. What is the angular acceleration of the cylinder? What is the acceleration of the mass center? xyz is an inertial reference here r07k = S\oovenl 2 707 = tocar] ]o .0450 ot o- we = (x1) NKo) pf = .004943 @ = 0450 _ 9.104 racisee 004943 Fe Mi -507+70.77+70.77 =A uniform hoop rolls without slipping down a 30° incline, The hoop material weighs § Ib/ft and has a radius R of 4 ft What is the angular acceleration of the hoop? xyz translates with CM (nay = f(2\.r0} eer} allo, f= 15610 F,= MX, f- Wsin30° = axnrals| ¥, 7-628 - 3.90%, From elementary kinematics: ¥,=-46 ‘Substitute (1) and (3) into (2): 15.61 - 62.8 = 3.90(-40) radise?‘A aise is rotated in the horizontal plane with a constant angular speed @ of 30 radjsec. A body A with a mass of 4 Tom is moved in a frictionless slot ata uniform speed of 1 fi/sec relative to the platform bby a force F as shown. What isthe linear momentum of the body relative to the ground reference XY when r= 2ft and 8 = 45°7 What is the impulse developed fon the body as it goes from r = 2 ft to 17 =1ft? Neglect the mass of the disc mV ~ Sag TOM = (AY-707)j#(2NBON-707)7 -(2180).707)7) =[-.53577+.5182/ slugs-filsec. Togo from r=2tor=1 takes 1 sec. During this one second the disc rotates by an amount: (30)(1) = 30 rad = 4.775 rotations 2. @, = 45° +(.775)(360) = 323.9° = -36.1° SigtH(1)00836.1°7+(1)sin36.4°7 +(1)(30)sin 36,12 +(1)(30)cos 38.1°/]+.5357 7 -.51827 T= .745]-2107 bb-sec.‘Three bodies are towed by a force F = (100 + 502") Ib as shown. If Wi; = 30 1b, Wy = 601, and W; = 50 1b, what js the speed 5 sec after the application of the given force? The éynamic coe cient of frition is. forall surfaces. Maximum = wW%e0s30" = (50)(.866)(.3) =13 0 Maximum & = Wi.3) = 18 Hence, at t = 0; F(= 150 Ib) can start system moving up incline, since it exceeds f+ «Wein30? +W, = 18+13+25+30 = 86 ib ‘Now consider body (3): ‘ . Ww, J (FO 7,- M4 sin30° -f£) at = ° g [(100 +506) - 7,]of-(25+13)(5) = oy 5 (100)(5)-50e"f - [ T,t-190 - 1.55 V ° 5 360- f Tor = 1.554 > 2 rat f T0t-45) - Sv ° g s Tat- { Trat-90 = 1.863 V °14.108 (cont) . Substitute [ 7,0f from (3) into (2). > T,ot = 1.863 V+90+150 +.932V = 240+2.79V Substitute [ 7,of from (4) into (1). 360 -240-2.79V = 1.55V V = 277 filsec.14,109 AA space vehicle is ina circular patking orbit around the arth at a distance of 100 km from the earth's surface. What increase in speed must be given to the vehicle by firing its rockets 0 as (0 attain a radial velocity of 2,000 kmv/nr man elevation of 200 km? GM = gR* ~ 9.81) 20% 63737 ~ 5.162 x 192 BO 8 9. Troon) © 7 x 10 my Conservation of Moment of Momentum (m)(6473)(V,) = (m)(6573)(V,) V, = LOIS ¥, Conservation of Mech. Energy _ 5.163 x 10" 6473 5.163 x 10m 1 - me gm(Y) = 673 tin 2 Va = VeaVe = (V2 + 200%) a = 7.972% 10% + = 7.850 «108 + (7; + 20007) - 1220 x10" + F015) ¥ - 1-2x108 ~ 1.420 x 10? = ~.01511 V7 kn -V, = 30,656 : ir ¥, = 31,116 kmh GM 5.162 x 10 Veg =) OM = | 5462 x10" 98 034 omit a r 6473 ” " av14.110 A space ship is in a circular parking orbit around the ‘earth at 200 miles above the earth's surface. At space beadguar- ters, they wish to get the vehicle to 2 position 10,000 mies from the center of the earth with a velocity a this position of 25,000 rifts. The command is given to fire rockets directly to the reat for ‘a specified short time interval. What is the change in speed needed for this maneuver? What are the radial and tangential velocity components of the 25,000 mihr velocity vector? GM = gR? = (32: 2( 02 50 = 1.239 x 10? mir? 1 . V, - YGMjr = [1.239 x 10/ (3960 + 200)]? = 17260 = Conservation of Ang. Momentum mr, V, = mr,(V,), (4160)(V,) = (10,000)(V,), V, = 2.404(V,), v Conservation of Mech. Energy - 9Mm , Ze: GMm 7 " " _ 1239 102 Vi 1.239 x 10! 25,000? 4160 2 10,000 2 2 sas! 31,190 mifhr W), = piu) = [12,975 mifhr] (V,), = [25,000 - 12,970]? = [21,370 mifhr| AV = 31.190 ~ 17,260 = [13,930 mifhr] 595‘A small elastic ball is dropped from a height of 5 m onto a rigid cylindrical body having «radius of 1.5 m. At what position fon the x axis does the bal! land? v, = \2eh ~ ¥(2\(9.81)(5-1.5c0s23.58) = 8.434 m/sec. (¥,); = ~(8.434) cosa = -7.730 m/sec. (¥,); = (8.434°-7730°)"? = 3.374 m/s (¥,), = -(-7.730) = 7.730 m/sec. (V), = 3.374 mise (¥), = 7.730sin 23.58 + 3.374c0823.58 = 6.184 m/sec. 730c0s23.58 - 3.374sin23.58 735 mlsec.14.111 (cont) Consider vertical movement of ball: j= -981 -981t+C, = -9.81145.735 -9.81 fe $.735¢+ 1,5cos23.58 Let y-0. Solve fort: 0 = -4.905P +5.735¢+ 1.375 1.373 sec. x= (V)A1.373) = 8493m Ball hits at x- ‘A ‘small elastic ball Is dropped from a Do Problem 14M for an inelatic impact height of 5 m onto a rigid eylinrleal body with € = 6. hhaving a radius of 1.5 m. At what position fon the x axis does the ball land? From preceding problem: (V,), = ~7.730 misec. (¥V), ~ 3.374 msec. (¥,); = (-.6)(-7.730) = 4.638 m/sec. (VW), = 3.374 m/sec. { V,), = 4.638 sin23.58° +3.374cos23.58° = 4.948 m/sec. (V,), = 4.638cos23.58° -3.374sin 23.58° = 2.901 m/sec. For vertical motion of ball: 98 2 2 +2.901¢+1,375 Set y= 0. Solve fort: t = .902 sec. x = (V)/902)= 4.464 m'A small elastic sphere is dropped from position (2, 3, 3) ft onto a hard spherical body having a radius of 5 ft positioned so that the 7 axis of the reference shown is along a diameter. For a pesfectly elastic collision, give the speed of the small sphere directly after impact. 9 (23,30) ae t 1 t 1 i i | 1 1 \ } Find coordinates of impact point. Eq. of sphere is: B4ye2 = 25 At impact point x=2, y=3. z= (35-4-9 -Vi2 = 3.46 Hence at impact point coordinates are: (2,3,3.46). Get; V, = \2gh = \2g(30-3.46) = 41.3 fi/sec. z 2isai=saok = Ai+ 6} + 692k 7 « (V), = (41.38) +8 = -28.6 a=14.113 (cont) (B), = ~28.6(.4/ +6) +6924) = -11.43/-17.19/-19.78k (CH), = (V),-(%), = -41.34+11.437+17.157+ 19.78 = 11.437+17.157-21.5£ After impact: (CW), = -%), ~ 11.437 + 17.157 419.78 (WV), = (WH), = 11.437+17.157-21.58 Total velocity is: V,= Ter Vy 22.867 + 34.3) - 1.720k f/secreer serie tcete ess along a diameter. For a perfectly elastic Procedure same as last problem except for ( V,),. We have: (Wy, = -0( 1), = (611.434 -17.157-19.788) = 6.867 +10.297 +11. 87k B= (Vr De = 6.86) + 10.297 +11.87£+ 11.437 + 17.15/-21.5€ 18.297 +27.447-9.63k M/sec.A bullet hits a smooth, hard, massive two-dimensional body whose boundary has been shown as a parabola. Ifthe bullet strikes 1.5 m above the x axis and if the collsion is perfectly elastic, what & the maximum height reached by the bullet as it ricochets? Neglect air resistance and take the velocity of the bullet on impact as 700 mjsec with a direction that is parallel to the x axis. when y= 1.5, x=.225m. at y= 1.5, 0=73.3° (V,), = 700cos73.3° = 201 m/sec. (¥), = -700sin73.3° = -670.5 m/sec. (Vp, = 201 msec. (VA), = -(V_ = 670.5 misec. (Vp), = 201sin73.3° +670.5c0873.3° = 385 m/sec. 385 = V2gh fh = 1562 m 2 [y= 7562471 564 m above grounA bullet hits a smooth, hard, massive In Problem 14.11¥ assume an inelastic two-dimensional body whose boundary impact with € = 6. At what position has been shown as a parabola. Ifthe bullet along x does the bullet strike after the strikes 1.5 m above the x axis and if the collision is perfectly elastic, what is the maximum height reached by the bullet as it ricochets? Neglect air resistance and take the velocity of the bullet on impact as 700 msec with a dixection that is parallel to the x axis. Using the results of the previous problem: (VW), > ~(.6)(- 670.5) = 402.3 m/sec (¥), = 201 m/sec. (¥), = 201sin73.3 +402.3c0873.3 = 308 (V), = 201cos73.3 -402.3sin73.3 = -327.6 ps -981 J = 98114308 9.812 = 2812 | s0ge+1.5 oa) Set y=0. Solve fort: Distance moved in x direction is d14.117 ‘A space vehicle is in a circular “pasking” orbit (1) ‘around the earth 200 kam above the earth's surface. It isto transfer to another circular orbit (2) 300 km above the earth's surface. The transfer to the second orbit is done in two stages. 1. Fire rockes so the vehicle has an apogee equal to the radius of the second circular orbit. What change of speed is required for ‘this maneuver? 2. At apogee rockets ar fired again to get into the second circular orbit. What is this second change of speed”? GM = gR = oan 320% « 5.16 x 10" kan?/hr? $.16 10% F = 2,802 x 10* kar [st 2] Ws -[se } = 2.740 x 10° km/hr FIRST FIRING: Conservation of moment of momentum m(6573)(V,) = m(6873)(V;) V, = LOY, Conservation of mechanical energy __GMm 6573 _ 5.16 x 10" | (1,046, 6573, 2 .04706 V3 = 3.427 x10” V, = 2.698 x 10* kanphr V, = 2.823 x 108 kon/hr (AV,) = 2.823 x 104 - 2.802 x 10* = 210 kmfhr SECOND FIRING (a ¥) = 2.740 x 10* - 2.698 x 10* = 420 km/hr‘A tugboat weighing 100 tons is moving toward a stationary barge weighing 200 tons and carrying a load C weighing $0 ‘tons. The tug is moving at $ knots and its propellors are developing a thrust of '5000 Ib when it contacts the barge. As a result of the soft padding at the nose of ‘the tug, consider that there is plastic impact. If the load C is not tied in any ‘way to the barge and has a dynamic coefficient of friction of .1 with the slippery ‘deck of the barge, what is the speed ‘of the barge 2 sec after the tug first contacts the barge? The load C slips during fa J-sec interval at the beginning of the contact. During 4 second of the impingement there Is slipping. Consider the system to be that of barge and tug. The impulse-momentum equation for this interval is then: [5000 -(.1)(50)(2000)]1 9 [Yl] r (5)(1. (3600 V, = 2.548 flsec. During the 1 second when there is no slipping, consider the system to be that of tug, load, and barge. 1500011) = 2822000, v-2.548) gA hopper drops small cylinders ‘each ‘weighing ION onto. conveyor belt which is moving at a speed of 3 m/sec. At the top, the cylinders are dropped off as shown. Ifat any time there are 14cylin- ders on the belt and if 10 cylinders are dropped per second from a hopper from a height of 300 mm above the belt, what average torque is needed to operate the conveyor? The weight of the belt that is ‘on the conveyor bed is 100 N. The coef ficient of friction jz, between the belt and the bed is 3. The radius of the driving cylinder is 300mm, Neglect bearing friction. Let T, be tension of belt at top driving cylinder and T, be tension at bottom driven cylinder. Naw T, - T, must overcome the following 4 effects. 1) Dead weight of bolt and cylinders (Ty~ Tq = [100+ (14)(10)]sin 30° =120N 2) Eriction from dead weight on bed. (T,-T)z = (3100+ 140) 00830" = 62.35 N Momentum change of cylinders in a direction up the conveyor. Each cylinder has a speed downward as it hits the conveyor of Vaqny = ¥(2\(9.81)(.30) = 2.43 misec. “The change in momentum in direction up the conveyor Is then per cylinder: (amy),, = itt 2480 30°] = 4.29 kg-misec. For 10 cylinders in 1 second we get (AMV) yp oy = 42.9 kg-misec. 2. Average force (T, - T,), needed is (TT y(t) = 429.‘A tugboat weighing 100 tons is moving toward a stationary barge weighing 200, tons and carrying a load C weighing 50 tons. The tug is moving at 5 knots and its propellors are developing a thrust of ‘000 Ib when it contacts the barge. As a result of the soft padding at the nose of the tug, consider that there is plastic impact. If the load C is not tied in any way to the barge and hasa dynamic coef ficient of fiction of -I with the slippery deck of the barge, what is the speed V of the barge 2 sec after the tug frst contacts the barge? The load C slips during a I-sec interval at the beginning of the During 1 second of the impingement there is slipping. Consider the system to be that of barge and tug. The impulse-momentum equation for this interval is then: t000-(.1)(50)(2000)}1 = (0200) 1012000 5 152 280] g g 3600 V, = 2.548 ftisec. During the 1 second when there is no slipping, consider the system to be that of tug, load, and barge [5000)(1) = 5° 2000) V-2.548)‘A hopper drops small cylincers each ighing ION onto a conveyor belt which is moving at a speed of 3 mjsec. At the top, the eylinders are dropped off as shown. Ifat any time # there are 14 cylin= ders on the belt and if 10 cylinders are dropped per second from a hopper from 1 height of 300 mm above the belt, what average torque is needed to operate the conveyor? The weight of the belt that is ‘on the conveyor bed is 100 N. The coef ficient of friction #4, betwoen the belt and the bed is .3. The radius of the driving cylinder is 300mm. Neglect bearing friction. Let T, be tension of belt at top driving cylinder and T, be tension at bottom driven cylinder. Now T, - T, must overcome the following 4 effects. 1) (Ty Ty = [100 +(14)(10)}sin 30° = 120 N 2) Eriction from dead weight on bed. (%-T)p = (3)(100 + 140) cos 30° = 62.35 NV Momentum change of cylinders in a direction up the conveyor. Each cylinder has a speed downward as it hits the conveyor of V2qh) = ¥(2X9.81)(.30) = 2.43 misec. The change in momentum in direction up the conveyor is then per cylinder: (amy),, = pis (-248)8in90"] 4.29 kg-misec. For 10 cylinders in 1 second we get . (AMV yo a = 42-9. kg-misec. » Average force (T, - T,), needed is (T,-T)s(1) = 42.9 N‘A body 4 weighing 2 tons is allowed 10 slide down an incline on a bargeasshown. Body A moves a distance of 25 ft slong the incline before itis stopped at B. If we neglect water resistance, how far does the barge shift in the horizontal direction ? If the maximum speed of body A relative to the incline of the barge is 2 ft/sec, what is the maximum speed of the barge relative to the water? The weight of the barge is Change in moment of C.M. is zero. {20)(2000) g ,, 2(2000) (_ 25 cos 10° +8) = 0 g =oatalt < (2OK200) y, . 2N2O0O aoa + = 0 V, = 1791 filsec14.119 (cont) [(amy),], = G0-(-240)e0520"1 = 2.15 kg-mlsec. For 10 cylinders in 1 sec. we have: [(AMV 9 ofl, = 215 This develops an average friction force on the bed to be overcome. Thus (Ty Tq = (21.59(.3) = 6.45 V (Ty Maus = 120 +62.35 +42.9 +6.45 = 232 N For simplicity assume T, = 0 and this tension is zero on the belt at the bottom of the conveyor. 607A.water droplet af diameter 2mm is falling in the atmosphere at the rate of 2misec. As a result of an updraft, @ ‘second water droplet of diameter 1 mm impinges on the aforementioned droplet. ‘The velocity of the second droplet just prior to impingement is 37 + 1 m/sec. 3 Alter impingement thee droplets are — formed moving parle to xy plane. We 3 misec ve. have the following information x a @, aA , Dy = 6mm, Vy = Pees, 6 = 35° Dy = 12mm, Ve = imises, Bs = 30" Fiod Dy, Ys, nd 8, ‘a ® 4 eryep4n(ty = p4n(.3)+04n(.6) pa (n) oan) weu rule ° 0 t6P reals) 9 4 4 . oS nS) : oe 37124 707) 04 x8) 5) =P 50-959) (Msin0) 2 -Vsino, = 504 a bicect pba St(t)-p$x(0 V2) =e $x(.3)(2\(707) sp $x(.6)%(11.856)-0 50.969) v,cos®,) « Veos8, = 2.295 008 8, Divide (1) by (2):the coefficient of restitution is.8 for the ‘two spheres, what are the maximum angles from the vertical that spheres will reach after the first impact? Neglect the mass of the cables. Find velocity of mass A just before impact. V, = vagh = \(2\(3-300845° (9.81) = 4.15 mlsec. impact process (1,5)(4.15) = 1.5( V,),+2.5( Ye), 6.23 = 1.5( V,),+2.5( Vp), Wade 4.15 B= 1. B32 = -(V,)-+( Va), Multiply (2) by 4.5: 4.98 = ~1.5( V,)/+1.5( Vp), Add Eqs. (1) and (3): 11.21 = 4( Vp), (Vp), = 2.80 m/sec. (Y4), = -.518 misec. Post impact process EorA. Conservation of mech, energy: 3(1.5).518¥ = (1.5)(9.81)(3)(1 -cos®,) $(2.5)(2.80") = (2.5)(9.81)(3)( 1 -cos®,)“Thin, dises 4 and B slide long a friction less surface. Each disc has a radius of 25 mm, Dise 4 kas amass of 85 g, where as disc B has a mass of 227 g. What are the speeds of the discs after collision for € = .77 Assume that the discs slide on frictionless surfaze. {« V,)J, = (3)sin36.87 = 1.800 m/sec [(V)4, = -(3)00836.87 = -2.400 misec {(%)J, = -(1.5)sin36.87 = -.900 m/sec. [(Y,)J, = (1.5)c0s36.87 = 1.200 m/sec. [(Y,),, = 1.800 m/sec. [(%), = -.900 misec.14.123 (cont) For normal components: (.085){ - 2.400) +(.227)( 1.200) = (.085)[( V,),*-2271( Va), 0684 = .085[(V,)J,+-227[(Vs)A, Wadd UY, Te 4.200 +2.400 ~2.52 = [Medel Ul Madolr Muttiply (2) by (.085) ~.2142 = ~.085[( V,),]/+-0851( Ve)alr Add Eqs. (3) and (1): ~-1458 = .312[(V,),], V,),l, = --467 misec. [(Y),], = 2.05 misec. i V, = [2.05°+ 1.8007}? = 2.73 misec. : Vy = [.467? +.9007]? = 1.0139 m/sec.A BBis shot at the hard, rigid surface The speed of the pellet is 300 fi/sec as it strikes the surface. If th> direction of the velocity for the pellet is given by the following unit vector: 8k vector of the pel- [et for a collision having € = .7? First find the normal to the area n= tekles Ta ® fe Vaal - 80/+50) 7817+ .488k+.3907 80? +50? V-A = (300)[(-.6)(.781) +(-.8)(.488)] = -258 filsec. V, = -(258(.7817 +.390/+.488%)) =2017-100.5/-125.8f filsec. V, = 0-V, = 300(-.67-.84) +2017 + 100.5/+ 125.8k V, = 217+100.57-114.2k From impact: (%), = -.7(V,), = 1407+70.35/ +88.1k (Vp, = (), = 21.07 +100.57- 114.2% ¥, = (U),+(), = 1617 +170.8/-26.1k ils[A chain of wrought ion, with length of en and a mass of 100 kg, i bel so that itjust touches the support 4B. Ifthe chain is released, determine the total impulse uring 2 sec inthe verteal direction exper- fenced by the support ithe impact is plastic (Le., the chain does not bounce up) and if we move the suppor: so thatthe links land on the platform and not on each other? (int: Note that any chai resting on AB delivers a vertical impulse. Also heck to see ifthe entire chain lands on mass per unit length AB before 2 sec.) 100 1429 kgym Find time for the top end of the chain C tolandon AB. J, = -981 J, =~ 9818 2 = -981h 4 g8 2 2y, [7)/9.81 = 1.195 sec. Set y,=-7m. Find t We divide impulses into two time intervals. Os ts 1195 For any element ¢ at position y, V, on landing is: v= Vey 2y 4.29 d 9: Vey [1429 ay) +1(14299(9.81) of 195 - |e Impulse from impact impulse from lying on A-B14.125 (cont) ty 7 1 . caarke |dercuanoan|{us- 2 a ° 4 . = of wm (1.195 (7) - 2 = 1172.6 N-sec 1495 g 2 = (4\(2)2 f Pare (2m 2)2(22)(2) Go g = 1.325 +6.24 57 slugs-ft?/sec:‘Two uniform cylinders A and B are connected as shown. The density of the cylinders is 10,000 ke/m?, and the system is rotating at a speed @ of 10 radisee about jits geometric axis. What is the angular momentum of the body’? 300 mm. 600 mm jt — 2.5m—+———4m 15 26 ot H,~ [J Montroean2.5(10,000) + Jf on(roeanc4y( 10,000) ay 28 dm - ro. d25)p, : dm = rd8dr4p (.15)* TEP 4 (40)(4 10,0002") oS = (10)(2.5)(10,000)(2)A closed container is full of water. By retating the container for some time and then suddenly holding the container sta tionary, We develop a rotational motion ofthe water, which, you will learn in fluic ischanics, ‘resembles a vortex. If the ‘velocity of the fluid elements is zero in the radial direction and is given as 10)r ft/sec in the transverse direction, what is the angular momentum of the water? tayo ae as H- ff J Merdearaz 0 0 3 32.2 = 5480 slugs-f?/sec * 91828 #2010]Identical thin masses A and B slide on a light horizontal rod that is attached to a freely turning light vertical shaft. When the masses are in the position shown in the diagram, the system rotates at 2 speed @ of Sradjsec. The masses are released suddenly from this position and move out toward the identical springs, which have @ spring constant K = 800 Ijin. Set up the equation for the compression 6 of the spring once all motions fof the bodies relative to the rod have damped out. The mass of each body is 10 Ibm. Neglect the mass of the rods and coulombic friction. Show that 6 = 1.008 in. satisfies your equation. Conservation of moment of momentum gives: 2 2 3] | - ofa ttees e 12 (12% @,(15+8) = 45 Ideal obefaze-se| 10 25 10 Ke? 25). __%0__1(4548) 0, P+ | )- (05 +8) ea} 24 16) (144)(2)(32.2) (2)(32.2) “Se se 8 243 = (1548) 0,F + Substitute for w, from Eq. (1): 144)(.243, 1553](15 +8) (144)(.243) = f * ae =| 2 205 - |48 J ssoose| 4, 1548 24 (1553 Now solve for 8 by trial and errcA spacecrafthas a burnout velocity Vo of 8,300 m/sec at an elevation of 80 km above the earth’s surface. The launch angle a is 15°. What is the maximum elevation f from the earth's surface for the spacecraft? GM = ge = coor 222 esray = 516x107 km/h? 1000 Conservation of Momentum C-1,V,cose = (4526, 200{ 22 eos 7000 = 1.862x10" Hence, at position of maximum elevation (apogee): Tray V = 1.86210" Conservation of Mech, Energy. Let V and r be for apogee. Then we can say: __Glm Ne _ Gim , ANP ~ 2 r 2 3600 8300] ——— -5.16x10" | (sf = 7.16x10" | V? 6452 2 r 214.132 (cont) Replace V using Ea. (1): 2 7 -3.53x10" = ~5.16%10' , (1.86210) r ar Muttiply by 7 3.53x10"P - 5.1610" 7+ 1.733x10" = 0 P= 1,460x10'% 4.90x10" = 0 1.460x10" + (1.46010)? -(4)(4.90 x10") 2 re Trae = 9371 km :1A = (9371-6372) = 3000 km‘A set of particles, each having a mass of 4 slug, rotates about axis 4-A. The masses are moving out radially at @ constant speed of 5 ft/sec at the same time that they are rotating about the 4-4 axis. ‘When they are I ftfrom 4-4, the angular velocity is Sradjsec and at that instant fa torque is applied in the direction of motion which varies with time 1 in seconds as torque = (6 + 107) bet ‘What is the angular velocity when the masses have moved out radially at constant speed to 2 fi? M,=H (6 +109) - Stamey of 6, = 2mro fy 2 when t=0, r=1, o =5 54 = AE) = 5 2P +5P 45 = 25 xF 0) when r=2, t= 4=.2 a @ = {(2)(.2)? = (5) 2pesit‘A torpedo boat weighing 100,000 Ib moves ‘at 40 knots (1 knot = 6080 fihr) away from an engagement. To go even faster, all four $0-caliber machine gins are ordered to fire simultaneously toward the rear. Each weapon fires at a muzzle velocity of 3000 ft/sec and fires 3090 rounds per ‘minute, Each slug weighs ? oz. How much is the average force on the boat increased Consider 1 minute of action holding conditions constant. The total impulse on the rounds fired is: 2 4 (1000) ——— ax ) Tee22 Mofslugs AVof slugs T = (46.6)(3000) = 139,800 The average force during the minute is:A device to be detonated with a smalt ‘charge is suspended in space [see Fig. (a] Directly after detonation, four fragments are formed moving awey from the point of suspension, The follewing information is known about these fragments Ibm, ¥, = 2001 — 100j see mm; = 2bm, Vy — 1257 + 180j — 100k Mjsee im, = 1.6}bm, ¥, = ~2001 + 150/+ 180k fijsee sm = 32 16m. What is the velocity V4? There is conservation of linear momentum here. Considering J (200) + 2 Fass 48 C- 200)+22(¥), =0 & Le son, 28 as) -22c¥9, - zg é 2 Lo = 2100) +28 *cas0)+ g (W) = -40.637 ~ 156.27 ~27.5k A/see Solving we have:‘A hawk is a predatory bird which often attacks smaller birds in flight. A hawk having a mass of 1.3 kg is swooping down ‘on a sparrow having a mass of 150g. Just before seizing the sparrow with its claws, the hawk is moving downward witha speed Vy of 20 kmjhr. The sparrow is moving horizontally at a speed Ys of 15 km/hr. Directly after seizure, what is the speed lof the hawk and its prey? What is the loss in kinetic energy in joules? Neglect gravity and aerodynamic forces during this completely “plastic Conservation of momentum requires that: ~(1.3)(20)7+(.150)(15)7 = 1.45 0 V = 1.5527 - 17.937 dant hr. 18 dan! hr. AKE = = 2 13m (2088) 22| [se 2s ws a0 3600)} "2 3600} 2 | 3600 after ejecting the water? The water is ‘The principal mode of propulsion of an ‘octopus is to take in water through the ‘mouth and then after closing the inlet to ject the water to the rear. Ifa 5-16 octopus after taking in 1 Ib of water is moving at a jected at an average speed to the rear of 10 ft/sec relative to the initial speed of the costopus. What horsepower is being devel- ‘oped by the octopus in the above action if it oceurs in 1 sec? speed of 3 fYsec, what is its speed directly a) Disregard hydrodynamic forces during the impulsive thrust of the octupus. We have from conservation of momentum: 14.137 [2] = Sy-4q0-3) g & & 5 filsec. 3,63 (KE) geopue = =(S*)-=(3*) ne OE 1491 ft-16. 491 (1)(550) 626In the fission process in a nuclear reactor, 2 2U nucleus first absorbs or captures 2 neutron [see Fig. (). A short time later, the ®2U nucleus breaks up into fission products plus neutrons, which may sub- sequently be captured by other 2#*U nuclei and maintain 2 chain reaction. Energy is released in each fission. In Fig. (b) we have showm the results ofa possible fission. The following information is known for this fission Kinetic Mass Energy No. (MeV) Direction of ¥ Productd 18 EB tye Si 2)+ 98k Product B96 (0 p= igi + maf + mak Newiront 110 +8 Neutron? £10 ez i 6) ~ 693K ‘What is the energy F of product 4 in MeV and what is the vector € for the velocity of product 8? Assume that before fission ‘the nucleus of 2U plus captured neutrons is stationary. (Hint: You do not have 10 actually convert MeV to joules or atomic number to kilograms to carry out the problem.) We have conservation of momentum for the fission process. Hence consider x component. (D138) V,(.3) +( D96V Ve) tp) “EDI AIC Va (-6) (DVD Medl-4) = 0 D is a proportionality factor relating the atomic number to the mass in kg. Note it cancels out. Note also that for any fission product 1 av? 3 «6B Mev rls] m, vents — (D)(mass no) where x is a proportionality constant. Hence we have: 62714.138 (cont) iaaln FEL es), colabe,, xfio 10 a6) = (4) « P (038) (oy) DD , = -.0379 (E3402 Eor y direction Vis8 VE(-.2) +096 190 m,+V10 (.8)+V10 (-.6) = 0 My = .0253/ - 006804 Vise ¥z(.98)+96 190 n,+0+V10 (-.693) - 0 Dy = ~.1238 VE+.0236 Orored =1 (.0379 1/2 +.03402)? + (.0253 7 -.006804) +(~.1238 VE +.0236) 21 001436 V2) +.00258 VE +.001157 +.000640(y/z)- 000344 E « +-.000046 +.015326 (VEy-.00s84y/+.000557 =1 o170(VEy- 0360/2 - 998240 =0 VE . .00360+//(.00360)? +(4)(.9982)(.01740) (2)(.01740) ty = ~.325; im, = 18746; 1, = - 97417CHAPTER 15 Kinematics of Rigid Bodies: Relative Motion 629Is the motion of the cabin ofa ferris whee! rotational or translational if the whee! moves at uniform speed and the occupants ‘cause no disturbances? Why? a) ‘Translational motion. b) —_Anyline in cabin remains parallel to itself at all times. A cylinder rolls without slipping down an inclined surface. What isthe actual axis of rotation at any instant? Why ? How is this axis moving? At the point of contact. It moves down the incline at the same speed as the axis of the cylinder. A reference xyz is moving such that the ‘origin © has at time ra velocity relative to reference XYZ given as, Vo = 61+ 12) + 134 ffsec ‘The xy2 reference has an angular velocity @ tlative to XYZ at time 1 given as @ = 10; + 12) + 2k radjsee What isthe time rate of change relative to XYZ of a directed line segment p going from position (3, 2, —5) to (—2, 4, 6) in xyz? What isthe time rate of change rela~ tiveto XYZ of position vectors i’ and &°? = (-24+47+6k)-(37+2j-Sh) = -Si+2j+ 11k 3 & = xB = (107+ 12j+2k)x( -5/+2}+110) a = 128-1207+80k S xi! = (107+12;+20)xi = -12£+2) cS xk! = (10/+127+20)xk = 127-107 630A reference xyzis moving relative to X¥Z ‘with a velocity of the origin given at time Ve = 61 + 4) + 64 msec ‘The angular velocity of reference xyz rela tive to XYZ is @ = 3i + 14j + 2kradjsee What is the time rate of change as seen from XYZ of a directed line segment 2 in xyz going from position 1 to position 2 ‘where the position vectors in xyz for these points are, respectively. pe =m bay'm pra ay + 2k m B, = 277437" B, = 377-47" +28 = Peat 2k! i 866) +.5k 5+ 866£ 8,-B, = 7-1(.8667+.5£) +2(-.57+.866k) = 1-7.06j-1.77k 46,8) = &x(B,-B,) = (37 +147 +2£)x(7-7.067- 1.778) 631Find the second derivatives as seen from XYZ of the vector p and the unit vector i” specified in Problem 15.3, The angular ‘coeleration of xy2 relative to XYZ at the instant of interest is if + 2j + 3h rad|sec? ‘A reference xyz is moving such that the origin O has attime r2 velocity relative to reference XZ given as Vo = 61 + 12) + 13k Misec “The xy: reference has an angular velocity (relative to XYZ at time 1 given as @ = 105+ 12j + 2k radjsee What isthe time rate of change relative to XYZ of a directed line segment p going from position (3,2, -5) to (—2, 4,6) in xyz? What is the time rate of change rela tive to XYZ of position vectors i’ and A’? B- axes B= Sxprax3 @ = 107+127+2k rad/sec. & = 5742}+3k radisec? B = 1287-1207+804 Alsec. x B= (S1+2j+38)x(—57+2/+ 118) +(10/+12/ + 2h)x(1287 - 1207+ 804) 523 10 12 2 -5 211 128 -120 80 a-|i peleli ag & 523 12 5 211 128 -120 80 =12167 -614j-2716k fAisec? =Gxi Fed xi+dx(Sxi) Fm (52427438) x P+ (107 +127 +28)x[(107+ 12) +24)xi] = -2h+3f+ (107 +127+2£)x(- 12k +2/) (-2k +37) +(120/ +204- 1447-47) 1487+ 1237+ 18k fi/sec’Find the second derivative as se XYZ of the vector pi,2 specified in Jem 15.4. Take the angular acceleration of, ‘A reference xy2 is moving felative to XYZ ‘with a velocity of the origin given at time tas Vy 261 + 4j + Ch mjsec ‘The angular velocity of reference xyz rela tive to XYZ is xyz relative to XYZ at the instant of interest as G = 1S — 2k radjsect © = 3+ 14j + Ih radjsee ‘What is the time rate of change as seen from XYZ of a directed line segment p,2 in xyz going from position | to position 2 ‘where the position vectors in xy2 for these points are, respectively, B=Gxp B = Sx p+dx(Gxs) 37+147 +28 rad/sec. 157-28 rad! sec (8, -B,) = 1-77 2k 7-7( 866) +5) +2(-.57+ 8664) 7-71.06} - 1.778 (157-2£)x(7-7.067- 1.778) + (37+ 14) +28)x{(3i + 14) +28)x(7-7.067-1.774)] ‘5217 + 108.7) +65.2& msec? 633A platform ig rotating with a constant speed 0, of 1Orad/sec relative to the ground. A shaft is mounted on the platform and rotates relative to the platform at a speed @; of 5 radjsec. What is the ‘angular velocity ofthe shaft relative to the ‘ground? What are the fist and second time derivatives of the angular velocity of the shaft relative to the ground? @ = 6,46, At instant of interest: & = 10j-5i rad/sec Next 6-8-8, Note @, isa constant vector; hence &, = 0. Also G, is fixed to platform. We have: 6 =6,xa, Atthe instant of interest | & = 10} x(-Si) = SOK rad/sec? Next: & = 6, xG,+8,x 6, = @, x(8, x3,) At instant of interest: & = 10/x[10/x(-5/)] 634.A platform is rotating with a constant In Problem 15.7, what are the first and speed @, of 10rad/sec relative to the second time derivatives of a directed line ground. A shaft is mounted on the plal- Segment pin the dsc a the instant that the form and rotates relative to the platform system has the geometty shown? The vec. at a speed «; of 5 radjsec, What is the {or pis of length 10 mm angular velocity ofthe shaft relative tothe ground? What are the first and secon time derivatives of the angular velocity of the shaft relative to the ground? B = (,+6,) x6 Atinstant of interest: | = (10f-5i) x £ = 107+57 cm/sec Next: (8, +8,) x5 +(3, +8,) x(B) = +8, xd,) xB +(B, +3,) x (5) At instant of interest: [(10/) x (-S2)} x £+ (107-52) x (107 +57) = S0k x £-100£-25k = -125K cm/sec = -1250k mm/sec’ 635A tank is maneuvering ite gun into posie tion, At the instant of interest, the turret A is rotating at an angular speed 6 of 2 radjsec relative to the tank and is in position 8 = 20°. Also, at this instant, the gun is rotating at an angular speed ¢ of 1 radjsec relative to the turret and forms an angle ¢ = 30° with the horizontal plane. What are @, a, and é of the gun relative to the ground? &, = 2k &, = (1)cos20° 7+(1)sin20°f = 9407 +.3427 Consider @, “fixed” in turret. @ = 6,+3, At instant of interest: 3427 +24 radi sec 6, +4, = 0+, xa, At instant of interest: 8 = aba ours aa) [a aa a é- é G, x3, +6, x 6, = 0x8, +(6,)x(B,x8,) At instant of interest & = 2K x{(2)x(.9407 +.342/)] 3.763 - 1.3687 rad/sec* 636In Problem 15.9, determine @ and @ assuming that the tank is also rotating about the vertical axis at a rate of 2 radjsecrela- tive to the ground in a clockwise direction x Include rotation of tank, @, = ~.2£. At instant of interest Consider @, “fixed” in turret. Hence: At instant of interest & = (1.88) x(.940/ +.342/) 637 A tank is maneuvering its gun into position, At the instant of interest, the turer is rotating at an angular speed @ of 2 ‘asec relative to the tank ands in posi tion 8 = 20°, Also, at this instant, the gun is rotating at an angular speed ¢ of 1 rade relat (othe turret and forms an ansle g = 30° withthe horizontal plane What ae @, 6, and @ of the gun relative to the ground?[A particle is made to move at constant speed V equal to 10 m/sec along a straight sgroove on a plate B. The plate rotates at a constant angular speed @; equal to 3 radjsee relative to a platform C while the platform rotates with a constant angular speed, of 5 rad/sec relative to the ground seference XV7. Find the first and second derivatives of V as seen from the ground reference. V = 10 m/sec Data:} @2 = 3 rad/sec @, = 5 radisec Assume V is “fixed in plate a & = (rx v At the instant of interest: (5 +38) x(.940/-.342/)(10) 28.20 - 10.267 +17.104 m/sec? 5,45,)x Po(G,+6,)xV = (8, x3,)x V4(B, +0.) x0 At the instant of interest: 8 = (57x38) x(10).940) ~.3422) +(57 +34) x{- 28.207 - 10.26 +17.104] Il (6j + 282k m/secA jetfighter plane has just taken off and is retracting its landing gear. At the end of ‘ts run on the ground, the plane is moving ata speed of 200 km/hr. Ifthe diameter of the tires is 460 mm and if we neglect the Joss of angular speed of the wheels due to wind friction after the plane is in the air, what is the angular speed @ and the angular acceleration of the left wheel (under the wing) at the instant shown in the diagram? Take en, = 4radisec and @, is 2 radi/sec? at the instant of interest. Find w, of wheels relative to plane. From simple kinematics: jo, = £200)(1000)/(3600) ‘ (46/2) = 241.6 radisec. B= 648, At instant of interest G = -.47+(241.6\ -.707£+.707/) 43 +170.8/-170.8k rad/sec} 6,/+8, Note 6, is fixed in landing gear. 2B = Gf +(0,/)x(B,) At instant of interest & = -.27+(-.41) x(241.6)( -.707£ +.707/) = ~.2/-68,32/-68.324 rad! sec.?‘Actruck is carrying a cockpit for a worker ‘who repairs overhead road fixtures. At the instant shown in the diagram, the base D ig rotating with constant speed @, of {radisec relative to the truck. Arm AB is rotating st constant angular speed @; of 2radjsec relative to DA. Cockpit C is rotating relative to AB so as to always keep the man upright. What are», @, and @ of arm AB relative to the ground at the instant of interest ? The truck is stationary. Y @,= 1 rad/sec. @ = 5, +8, @ = 2k+1j radi sec. é - 8,+8, At instant of interest: Note &, = atalltimes. Also &, is fixed in arm AD which has angular velocity 3, . Hence & = 3x3, & = Ufx2k = 27 rad/sec?! o é At instant of interest: = 6, x(3, x3,) & = Ij x(2i) = -2k rad/sec’. At instant of interest:An electric motor Mf is mounted on a plate A which is welded to a shaft D. The motor has a constant angular speed relative to plate A of 1750 rpm. Plate A at the instant of interest is in a vertical position as shown and is rotating with an angular speed o>, equal to 100 rpm and a rate of change of angular speed a; equal to 30 rpm/sec—all relative to the ground, ‘The normal projection of the centerline of the motor shaft onto the plate A is at an angle of 45° with the edge of the plate FE. Compute the first and second time deriva tives of @, the angular velocity of the motor, as seen from the ground. , = 100 $28 = 10.47 rad! see. = 30928 ~ 3.14 sadise’. 60 1750 £28 ~ 183.2 radisec. 60 The angular velocity @ at all times is: Consider 3, fixed to plate A. Hence: & = 67 +(0,/) x8, At instant of interest: & = 3.147 + (10.472) «(183.2 ~ 7077-7078) 3.147 +(10.47)(183.2)(.707)715.14 (cont,) For & go to Eq. (a): &]+67%8,+(0,/)x5, But , = 0 atalltimes. Hence 6 = 67xB,+0,7x(G, x3,) At instant of interest: & = 3.147 183.2( -.7077-.7074) + 10.47/x{(10.47/) x(183.2)( ~.7077-.707£)] (3.14)(183.2)(.707)7 + 10.477 x[ (10.47) 183.2(.707)/] 4077 +14,200£ rad! sec’A.racing cat is moving at a constant speed ‘of 200 mifhr when the driver turns his front wheels at an increasing rate, 1, of 02 radisee®, If @, = 0168 radlsec at the jnstant of interest, what are @ and & of the front wheels at this instant? The dia- ameter of the tires is 30 in, Ang. Velocity of the wheels from rolling on track: [= za _j) = -234.17j radisec ~~ (15/12) Ang. Velocity of wheels due to turing: &, = 01684 rad/sec. Also & = .02k rad/sec*. Note: 6 = 6,4, @ = -234,7}+.01684 rad/sec. At instant of interest: &, is fixed to bearings of wheel. Hence: @ = 3, x3,+8, At the instant of interest: = 01688 x(-234.7/) +024 3.947 +024 rad/sec’A cone is rolling without slipping such that its centerline rotates at the rate @ of 5 revolutions per second about the Z axis, ‘What is the angular velocity @ of the body relative tothe ground ? What is the angular ‘acceleration vector for the body? Axis of rotation lies along line of contact at all times. Hence at instant of interest: a= of At all times we have: 6 = 0 f+8, At instant of interest: of - S(2n)k+ ocosaj +sina £) = (0.968) 0 = 10n + 0.250) -125.7 rad/sec. ©, 2|@ = -121.67 rad/sec. Differentiate Eq. (1): b+ ok+d, ‘The scalar equations are: But &, is fixed along axis AA which rotates with angular velocity &,. Also 3, is constant. Hence 3, x3, At instant of interest: & = 10k x[(-125.7)(.9687 + .2504)] 38237 radisec’.A small cone A is rolling without slipping inside a large conical cavity B. What is the angular velocity @ of cone A relative to the large cone cavity B if the centerline of A ‘undergoes an angular speed 0, of 5 rotations per second about the Z ax! @, = 10nk rad/sec. must lie along contact line. Atall times: @ = 10nk+a, At instant of interest: (-.707) + .7074) = 10k +0, (-.5007 +8664) ‘Scalar Equations are: - 5000, 10K + 8660, Add equations 10k + 3660, -85.8 radsec. 60.7 rad!sec. (-60.7)[-(.707)7 +7074]‘An amusement park ride consists of a sta tionary vertical tower with arms tha: can ‘swing outward from the tower and at the ‘same time can rotate about the tower. At the ends of the arms, cockpits containing ‘passengers can rotate relative to the arms. ‘Consider the case where cockpit 4 rotates ‘at angular speed @ relative to arm BC, ‘which rotates at angular speed «2; relative to the tower. 1f@ is fixed at 90°, what are the total angular velocity and the angular ‘acceleration of the cockpit relative to the ground? Use @, = 2radjsec and ©: = 6 radjsec. At instant of interest: Consider 3, fxedtoam AC. +. & = 0 +8, x3, At instant of interest: & + (28x 61) - & = 6x6, +8,«3, = 6+4,x(8,x8,) At instant of interest: & = (.2£)x(.24x.67) =| -.0247 rad/sec’‘An amusement park ride consists of a stationary vertical tower with arms that can swing outward from the tower and at the same time can rotate about the tower. At the exds of the arms, cockpits containing passengers can rotate relative to the arms. Consider the case where cockpit A rotates at angular speed «, relative to arm BC, which rotates at angular speed @; relative to the tower. 1° is fixed at 90°, what are the total angular velocity and the angular acceleration of the cockpit relative to the ground? Use w, = 2radjsec and o>, = 6 rad\sec. In Problem 15.18, find & of the cockpit for the case where 0 = ow, = .8 radjsec at the instant that @ = 90°. For cockpit A: 3 = 8,+8,+4, At instant of interest: @ = 2k+ 67-87 -.2i+ 2k radi sec, é,+3,+4, G, is fixed in arm BC. 6, is fixed in beam CD. - 04(6, +4,) xd, +6, x3, At instant of interest: & = [.2k+ 8(-2))x(.67) + 2kx(-.87) = 1207 - .167 radisec*. 047 rad! sec’ 647Mass 4 is connected co an inextensible wir. Supports © and D are moving as shown, (a) What ig the velocity vector of mass A? (b) Wevlinder Gis free to rotate and there is no slipping, what is ts angular velocity? “The following daca apply Examine D. Get the velocity. % /y = CBI? © CAP = 3189 mis tantp = 21 6 = 41.19° o —) 24 m/s 34 Component of velocity along direction of }. als ye cos(a + B) = .3189 cos (45° +41.19°) = 02119 s Hence, A moves up at .02119 m/s. 8 [pj], = 02119 mis Normal component to BD makes no contribution. Examine C. From (V,), = -5 mis, we get "A" moving down at a speed .5 m/s. = [pu], = ~5 mis15.20(cont.) (V), = 6 mis [du], = 6 mis The net vertical velocity A is (dad, = (Wahl, (Wael, (Qa, = .02119 - 500 + .600 = |.1212 mis ‘The net horizontal velocity of A is due to (V,), and is .5 m/s. 5i +.1212/ mjs| b) Angular velocity of G ~ 2119 3 = [4788 risAn amusement park ride consists ofa stationary vertical tower with arms that can ‘swimg outward from the tower and at the ‘same time can rotate about the tower. At the ends of the arms, cockpits contain’ passengers can rotate relative to the arms, Consider the case where cockpit A rotates at angular speed @ relative to arm BC, which rotates at angular speed 0; relative to the tower. If @ is fixed at 90°, what are the total angular velocity and the angular acceleration of the cockpit relative to the ground? Use @, = 2rad/sec and @; = 6 rad/sec. In Problem 15.18, ind é of the cockpit 4 for the case where @, = 2 radjsec® and @, = 3 radjsect ©," at all times = o,f at all times. = of +07 = of +0 +07 +0) But £ = 0 since it is always vertical. Also i’ is fixed in xyz. Hence: & = 6,£ + 0,7" + 0,(a,kx i") Atinstant of interest: i’ - 7 and since £ = £ we have: & = 2h+3i+(.6)(.2kxi) 2k + 37 +127 rad! sec’ 650‘A truck is carrying a cockpit for a worker Jn Problem 15.13, find ) of beam AB rela- ‘who repaits overhecd road fixtures. At the tive to the ground if at the instant shown instant shown in the diagram, the base D the following data appiy: is rotating with constant speed @; of 1 rad/see relative tothe truck. Arm AB is, . rotating at constan’ angular speed @ of Gy ~ 2 radisec 2radfsec relative t DA. Cockpit C is ©, ~ 6 rachsec rotating relative to AB 50 as to always keep the man upright, What are, db, and 4 of arm AB relative tothe ground at the instant of interest? The truck stationary, @, = 3 rac/see Gy = ~ 1 adjsec* ‘The angular velocity @ can be given at alLtimes as: B= of +0) Differentiate with respect to time: & = o,f +0,k'+6,7 = Oxf = o,jxk Hence: Fi +0(0,jxk) +a, At the Instant of interest (drop primes) 2k + (39.6) - 17 j + 2k sadisec 651In Problem 15.9, find the angular accelera~ tion vector a for the gun barrel, if, for the instant shown in the diagram, the foliow- ing data apply: ‘A tank is maneuvering its gun into position, At the instant of interest, the turret 4 is rotating at an angular speed 8 of 2 sadjsec relative to the tank and is in posi- Also, at this instant, the gun is rotating at an angular speed $ of 1 radjsec relative to the turret and forms an angle ¢ = 30° with the horizontal plane. ‘What are @, &, and 6 of the gun relative to the ground? $= 30 radjsec, 8 — 20" § = 26radjsec?, = 30° 8 = a7 radjsce 8 m= —.34 radjsec? & = $[c0s20° 7’ + sin20° 7] +0£ This equation is valid at all timas and so we can differentiate with respect to time: & = fcos20° 7" + sin20° 7’) + [00520° i! + sin20° 77] + BE But 7’ and j’ are fixed to turret. Hence: = bkxi" } fr = Okxj’ & = $[cos20° 7” + sin20° j’] + $[(cos20° (O£x i") + sin20°(O£x/")] + OF At instant of interest (drop primes) & = (.26)1(.940)i + (.342)/] + (.30)1(.940)(.17)7-(.342)(.17)/] - 34 2277 + .1369/-.344 rad/sec’In Problem 15.11, find Vif at the instant shown in the diagram: ‘A particle is made to move at constant speed V equal to 10 mjsec along a straight ‘xoove on a plate B. The plate rotates at « constant angular speed @; equal to 3 © = Sra ies radjsee relative to a platform C while the 0 = 11a lee platform rotates with a constant angular @, = 2radjsee speed a; ofS radisec relative to the ground : reference XYZ. Find the first and second as — 3mdhec! derivatives of ¥ as seen from the ground V = 10 m/sec reference. V 5 mjsect Fix xyz to Plate B. Unit vectors for xyz are 7’, j’, &’. At alltimes we can say: V = Veos20°j"- Vsin20° i” 7 = Voos20° j" + Voos20° j' Vsin20° i” - Vsin20° 7" Now get V: But 7” and /’ are fixed to plate A. Hence: I =(8,+8,)xi" T= (G4 B,)xF" Thus te Veos20° j! + Veos20°[( 3, +3) xj/]- Vsin20° #* - Vein 20° [(, +8,)x?"] At the instant of interest: (can now drop primes). 10) +(10)(.940)[ (57 +2) xf] -(5\.342)/ ~(10)(.342)[(57 +28) xf] v 14j+17.10£ m/sec’ 653A body Is spinning about an axis having disection cosines (= 5, m = 5, and m= 707. The angular speed is SOrad/sec. What 1s the velocty ot a point in the body having a position vector r = 61 + 4j ft? Axis of rotation P2644) & = 50(.57+.57+.2078) V = Gx Fe 50 Si+.5/+.207K) x(6+4)) In Problem 15.2§ what is the relative velocity between a point in the body at position x = 10m, y = 6m, z= 3mand 42 point in the body at position x = 2m, y= -3m,7=0m? R= 2i-3jm B= 107+ 67+3k m Ih, = Bx(Z-F) = 50.Si+.57+.107K)x(87 +9) +34) If the body in Problem 15.255 given an ; additional angular velocity@; = 6/+10k @, = 67 + 0K radise, what she diection ofthe axis of rotation? Compute the velocity at r= - fa Sfee = 25) +25}435.4k 10j + 3A ft if the actual xis of rotation 3 50(.Si +5 707k) 25) +25) +354 goes throweh the erin. B= 6,20, = 2574317 +4548 Unit vector along the axis of rotation. = 2584314454 gyais 5137 +.152k (625 +961 +2061)'* V = x F = (2574317 +45.48)x(107 +34) = -3617 - 175) +2508 Risec‘A wheel is rolling along at 17 m/sec without slipping. What is the angular speed? What is the velocity of point B on the rim ‘of the wheel at the instant shown? o = 12 ~ 56.7 madisec. 30 Vz = V+ bxByp = 17} +(- 56.77) x(.30)(.707) +.707K) = 177-12.034+ 12.037 = 297-12.03k m/sec. A flexible cord is wrapped around a spool and is pulled ata velocity of 10 fi/sec relative to the ground. If there is no slipping at , what is the velocity of points O and D at the instant shown? = 2 = 10 rad/sec. Va - Ut Bx Boo = 6 +(-10/)x(28) V, = ¥o+Bx Bop = 20) +(-10/)x(-2/) 20j + 20K fi/sec.A piston P'is shown moving downward at the constant speed of 1 ft/sec. What is the speed of slider A at the instant of interest? a) First find V,: Consider rod BD ¥, V,(-.707 -.707)) = ~.107 Vyi-.707 VJ = ~.107 Vyi-.107V,j = -.107V, Ne= Visec. £ y= V+ B na Bop ~J+(@p9h) xB pp ~j+@pgkx(-3/) -}30 pai ~.107¥, = V, = 1.414; b) Compute V,: Consider rod AB. ¥, « 1.414(~.7077-.707/) ; of 5 rad/sec. What is the angular speed of gear C? The geats have ‘the following diameters: Dy ~ 600 mm Dy = 350mm De = 200mm Ve. = (5.30 +35 +10) = 3.75 m/sec Vy = (5)(-30 + .175) = 2.375 m/sec. ¥,, = (@,X.175) Equating (1) and (2), we can solve for «,. = 2375 _ 13.57 radi sec. 7S Now consider gear C. For contact point P between C and B we have: Y= Vet Box Bor V, = -3.75i+ 0 kx(-.10)) 2 Wye 3.157 +.M00 i Consider gearBagain: = 3x(.35/) = wgkx(.35/) = ~ 3557 = (-.35\(13.57)7 Equating (3) and (4): -3.75/ + Wei = (-.35)(13.57)7 = =10 radiseeIn Problem 15.34, take @, = 10 radjsec. If.gear C is to translate, what angular speed should gear 4 have? A system of meshing gears includes gear 4, vihich is held stationary. Rod AC rotates with a speed 0; of 5 radjsec. What is the angular speed of gear C? The gears have the following diameters: D, = 600 mm Dy = 350mm De = 200 mm We wish to find @, so that o, = 0. ‘Consider gear B. Take contact point between gear B and gear A as point D, Thus: Va = Vo By% Bow = (10.30 + .175)7 = (@,£)x(.30/) + wy x(.175)) -4.157 = -300,7 - .1750,7 For point P at contact between gears C and B we can say for gear B: V2 Vy By x Bop = -4.157 + o,kx(.175J) 2 Vp = -4.759- 17TS057 Consider gear C. ¥= H+ @Oxbop = ~(10)(.30 +.35 +.10)7 = -7.57 m/sec Go back to (2): 15 = 4.15 +1750, w, = 15.71 rad/sec. Substitute for «, into (1). Solve for @, -4,75 = ~.300, -(.175)(15.71)‘A bar moves in the plane of the page 30 that end A has a velocity of 7 m/sec and decelerates at a rate of 3.3 m/sec?. What are the velocity and acceleration of point (C when BA is at 30° to the horizontal? ‘Scalar Eqs. are: 4 gy = 4.67 radisee, Vy = 12.13 m/sec.15.36 (cont.) Bind &,, - By = 2,4 Ok x (3) -.8667 +500 /) +(4.67£) x[(4.67 2) x(3)(~.866/ +500 f)] = ag} = 3.37 -2.6060 4p f-1-500 spf 456.7) -327f Scalar Eqs. for 7 : -534 = -1.500 45 gy = 35.6 radisec* Go = ~3.37+(35.6£) x(1.803 -c0s63.69/+sin 63.69) +(4.67 £) x [(4.67 &) x(1.803)(~cos 63.69 7+ sin63.69/)] 43.4/7-63.7j misec.Bar AB is rotating at a constant speed of S radjee clockwise in a device. What is the angular velocity of bar BD and body EFC! Determine the velocity of point D. (Bint: What isthe direction of the veloc: ity of point G2) x (@) Determine distance BG. BC = (27 (ory? = 40° Aliso note that BGC is a right triangle. Hence: BG ~ (BO)cos(30° +a) ~ 140 c0s(30° +a) a= . BG = ¥40 cos48.4° = (6,32)(.664) = 4.20 2 (ob) Compute w,, and wg Vy + Byq% Bao Noting that velocity of G must be pemendicular to GC: V,(c0s30° /+sin30° f) = 10/+ 0 ggkxI(4.20\ cos30° 7 +sin30°j)] The scalar equations are: 866 V;, = 10-2.1055 500 Vg = 3.640615.37 (cont) {*- = 1.190 rad/sec Vo = 8.66 fisec Woe = Ogg = 1.190 rad/sec. = Ves By X Bay ¥ B, = 10/+(1.190 £)x[(7)(cos30° /+sin30° /)] 84747217 Ai sec.‘A wheel rotates with an angular speed of 20radjsec. A connecting rod connects points 4 on the wheel with a slider at B. Compute the angular velocity of the connecting rod and the velocity of the slider when the apparatus is in the postion shown ia the diagram. V, = (.60)(20) = 12 m/sec Hence: B= Ft Byyx Bas 12[-cos60° j+sin60° £] = Vg[-cos30° j-sin30° £] +(w4p/)x(2)(-cos20° j+sin20° # -6)+10.39£ = - 866 V,,j-.5 Vpk-1.880 sph .6840 45) Scalar equations are: 6 = - 866 Vp- 6840045 10.39 = -.5¥,- 188045 9.33 rad! see. = 14.30 m/sec. = -12.387-7.149£ misec.A.wheel rotates with an angular speed of 20radjsec. A. connecting rod connects points A on the wheel with a slider at B. Compute the angular velocity of the connecting tod and the velocity of the slider when the apparatus is in the position shown in the diagram, an Problem 15.36, if Vy ~ 14.30 misoe and @qg = —9.33 rad/sec, vhere is the instantaneous axis of rotation of connecting rod AB? Vy Bay 4 (Zok+ Yo) -[C.60) 866) + (2) x08 20° 1} -[(,60)(.5) -(2)sin 20° 4) 14,30[ -.8667-.500 £] +(-9.337)x ((¥g-2.40)7+ (Ze+ 384)4) 12.384 = 9,332,+3.58 7.150 = -9.33yor224AA piston, conrecting rod, and crankshaft fof an engine are represented schematically. ‘The engine is rotating at 3000 rpm. At the position shown, what is the velocity of pin A relative to the engine block and what is the angular velocity of the connecting rod AB? Find a: Use law of sines for ABC. = Vy BgXB ou = BOOZ) (5) _ 5007+ 866 /1+ (0944) (9) sin 16.78 7 +cos 16.78) = -4717+816) 2.6000 pj 8.620 gf The scalar equations are: /, = 816-2.600 4p = -8.620 4pMember ABs rotating at a constant speed of 4 radjsec in a counterclockwise direc sion, What is the angular velocity of bar [BC for the position shown in the diagram Whats the velocity of point Dat thecenter of bar BC? Bar BC is 3 ft in length. -(28)7 = -87 ¥, = Fo= VatByo% Bc V,{-cos45* /+c0s45°j) = -8/+(w,-k)x(3c0s20° 7+ 3sin20° /) ~(VeM.107) = -8 0260 go V4.107) = @ye(2.82) Solving simultaneously we get: Vz = 17.79 Wye = 4.46 |g = 4464 rad/sec. Vi = Vat Byc%P ao W, = -87+(4.46 &)x(1.417+.513/) = -10.297+6.29 j filsec|In Problem 15.44, determine in the sim- pest manner the instantaneous axis of rotation for bar BC. center of rotation OB sin25' sin4s° OB = 1.793 & AO = 207" 670 Member 2 is rotating at a constant speed of 4 radjsec in 2 counterclockwise direction. What is the angular velocity of bar ‘BC for the position shown in the diagram? ‘What is the velocity of point Dat thecenter of bar #C? Bar BC is 3 ft in length x‘Suppose that bar AB of Problem 15.48 has lan angular velocity of 3 rad/see counter ‘clockwise and a counterclockwise angular ‘Member ABis rotating ata constant speed cof 4 rad/see in a counterciockwise direction, What is the angular velocity of bar ‘BC for the position shown in the diagram? ‘What isthe velocity of point Datthe center of bar BC? Rar BC is 3 fin length acceleration of $radjsec?. What is the angular acceleration of bar BC, which is 3 ftin length? ¥, = -(32)7 = -67 = Vy+ (@pch)x(3c0s20/ + 38in20/) V,(-.1077 +.707f) = -67+ @ gc(2.82)] ~ © gc(1.026)7 =.107 Ve, = ~6 ~ 1.02600 go (07 Ve. = 2.820 ge Solving simultaneously we get: 3, = 3.35. mad/sec 4, = -(28)7-(2M0)j ~ -107-187 Ae = Apt B gcXB yet By X(BpoXB po) = -107-18 7+ Oyohx(2.82/ + 1.026) +(3.35 £) x [(3.35 £) (2.827 +1.026/)] a -.1077+.707)) 107-18 f= gc 1.026) #+2.820 yj -11.52/-31.67 The scalar equations are: | ~.0Ta, = ~41.6 1.0266 5. 07a, = -29.52+2.820 50 Solving simultaneously:‘A rod is moving on a horizontal surface and is shown at time t, What is V, of end A and @ of the rod at the instant shown’? (Hint: Use the fact that the rod is inextensible.) ¥, = 34+6f misec Viz -2i-v, j misec Since the rod is inextensible the velocities of A and B in the direction of the rod should be the same. Thus: Virb Yo ba (-27+¥,/) + (8667 +.500/) = (37+6/) - (.8667+.500/) -1.732+.500¥, = 2.598 +3 V, = 14.66 m/sec. Consider rod AB. Scalar Eas. = -2-0 = 14,66 +17.320A plate ABCD moves on a horizontal sur face. At time « corners A and B have the following velocities: V4 = 31 + 2)misec Va (Va)ei + 5 m/sec Find the location of the instantaneous axis of rotation. ‘Since this is a rigid plate: aah +2 a.en . 41+2) (37+2/) SEY. (yp f+5f) - 4 20 20 12+4 = 4(¥,), +10 (Vp), = 1.50 m/sec Consider plate as a whole: V, = Virekx(Byy) 1.507+5j = 37+2j+wkx(4i+2/) 1.50 = 3-20 5 =2+40 @ = Dmadisec Let center of rotation be at x./+y,j m. Hence: = Vr Oxfaity fl 32427+(AM7S)F- M75)?Find the velocity and acceleration relative to the ground of pin B on the wheel. The whee! rolls without slipping. Also, find the angular velocity of the slotted bar in which the pin B of the wheel lider when Goof the bar is 30° @ = = 1167 radisee. 60 U, = Vj+8xByy = 77+(-11.67£) x(.6)(.707/ +.707/) = 77-4949] +4.957 = 11.95/-4.9497 msec. Hy = I, + BXByytBx(BxB yy) = 546+ (~ 11.67 £) x[(- 11.67 &) x(.424/ + 424/)] = ~57.77i-57.71j_m/sec’| For slotted bar Find 4 to bar V, = Vy +m = (11.957-4.949/) - (.8667+.500/) = 10.35-2.475 = 7.87 m/sec. Fs ey = 2.625 rad/sec.Ife, = $ radjsecand @, = 3 radjsec* for bar CD, compute the angular velocity and angular acceleration of the gear D relative to the ground. Solve the problem using Eqs. 15.6 and 15.7, and then check the result by consi ple circular motion of point D. First find Vp and ap. V, = Vet8, xB , V, = 0+(5£)x(5)(.5007-.866/) = 12,57+21.657 A/sec. 1,+Bx(Bep) +B x(G Bop) — 6+(3.)x(5)(.5007 -.866f) +5 £x[5.£x(5)(.5007— 866/)} = 7.5) +12.997-62.57 + 108.25) = -49.5/4115.757 A/sec. 12,5" «21.65? (© pupmane = = . = ~25 radisec. By inspection of diagram we can also see that -(5) Opa, ee = -25 rad/ sec. [epulay = -25-(5) = -30 radi sec. [.8667+.5/] qa =(-49.57+115.75f) » (8667 +.5/) 1 @) er] proant By inspection of diagram: i -15 radisec? XG) | 1‘A mechanism with two sliders is shown, Slider 4 at the instant of interest has a speed of 3 mfsec and is accelerating at the rate of 1.7 m/sect. If member AB is 2.5 m in length, what are the angular velocity and angular acceleration for this member? a) Find ox» Vy = V+ 8 e9%B xp V,[cos 10° #-sin10° j] = 3/+(w ph) x[2.5(.500/+.866/)] V,[.9857-.1736j] = 37+1.25e,5/-2.160,5/ Scalar eqs. are: 985 V, = 3-2.1650,5 1736 Vy = 1.25049 yy = =.609 rad/sex;| Vy = 4.38 m/sec. Fy = y+ By XBay* BayX(BgyXB ag) Note that from circular motion of point B:15.48 (cont.) = V{-985 7.17367) + => (985/'+.1736/) Now subst. into (1) 985 yi -.1736 Vj +2087 +11.817 = 1.77 +6 ,ykx(2.5)(.5007 +.866f) + (-.609 £) x{(-.609 £) x(2.5)(.5007 + .866/)] = 1.77+1.25 0 4pf-2.17 8 yy/ 4647-8037 The scalar equations are: 985 V, = ~.844-2170 45 ~.1736 Vy = -12.61+1.250 45 Solve simultaneously: 14.71 radisec?.‘A mathaisn with two sles is shown. Slider A at the instant of interest has a Jn Problem 15.48 find the instantaneous : Jn Mblen 18¢8fnd te insananous TS he and aerating a the 27 misec. “ rate of 1.7 m/sec?. If member AB is 2.5 m “ jin length, what are the angular velocity and agar aeclertion fortis member? ¥, = Ve +(wygh) (2.5) 5007+.866/) (V,)cos 10° i-sin 10°] = 2.77 41.28@ 4pJ-2.170 gyi The scalar equations are: 9848 Vy = 2.7-2.17 0 gy 1T36Vy = 1.250 4p ~.5489 rad/sec. Vo = Ve+(Wyp h(x ityJ) § = 2.77+(-.5489) xj -(-.5489)y.F [aot te‘The velocity of corner A of the block is known to be at time r: Vig = 107 + 4 — 3k mysee ‘The angular speed about edge AD is 2radisec, and the angular speeds about the diagonals AF and HE sre known to be 3 radjsec and 6 rad/sec, respectively. What is the velocity of corner B at this instant? a, = 2 radlsec Brey =3 siejrk 5 iv 2 0,40, = 395 Qi+0,J+o,8) + Solving (a) and (b) simultaneously: wo, = 8.925 rad! sec = -4.975 rad/sec (107+4 7-38) +(27-4.975 j+8.925 &) x(£) 10/+4j-3£-2f-4.9757 =|5.037+2 7-34 m/s‘A rigid sphere is moving in’ space. The velocities for two points A and B on the surface have the values at time £ Vig = 61 + 3] + 2k see Vp = Waal + 6) — 4k fijsec The position vectors for points A and & are at time ¢: © 10 ~ 157 ~ 12K fe tq = Ti ~ 20j — 18K ft ‘What is the angular velocity of the sphere’? [At the instant of interest the sphere has zero spin about axis AB. Because of rigidity ‘AB tat. ~ i) 26) ot (67437428) + = [(¥,),7+6 7-44] lal” Fl 2 (6743f+28) + (-3245)+6£) = (( Vp), 7+6J-48] > (-37 +5) +68) -18+15+12 = -3(V,),+30-24 (Vp), = -1 ft/sec V, = Ve+8>Bay 1246-48 = 67+37+2k+(o,7+0,)+ 0,2) x(-37+5j+64) 5 j © 3 5 6 = 5o,£-30,/+60,/+30,£-60,j-S0,i15.51 (cont.) -7 = 60,-50, 3 = -30,-60, -6 = 50,+30, -120- 60, ©, = 1.441.200, (-37+53+ 6B _ 9 V3? ++ 3: Forget about /37+5?+6? -30,+50,+60, = 0 Subst. from (4) and (e): 3(1.20+ 6,)+50,+6(1.441.200,) = 0 @, = ~.857 rad/sec @, = - 1.20 +(.6)(.857) = -.686 rad/sec @, = 1.4+(1,20)(-.857) = .372 rad/sec‘A conveyor element moves down the in- cling at a speed of S iste. A shaft and platform move with the conveyor element ‘but have a spin of .Sradjsec about the ‘centerline AB. Also, the shalt swings in the YZ plane ata speed «, of rad/sec. What is the velocity and acceleration of point D ‘on the platform at the ingant itis in the YZ plane, as shown in the diagram? Note that at the instant of interest ABs vertical. & = (-18)x(.58 = 507 rad/sec? 4, = b+.50Jx(-10k«))+( 5-1) (sk -17) (108+ |A conveyor element moves down an ine cline at a speed of 15 m/sec. A plate hangs down from the conveyor element and, at the instan; of interest shown in the cia~ ‘gram, is spinning about AB at the rate of 5 radjsec. Also, the axis AB swings in the YZ plane atthe rate ©, of 1Oradjsec end Gy = 3 rallsect at the instant of interest. Find the velocity and acceleration of pcint D at the instant shown. V,+8xByp EY 7 01= 10 radisee n¥Z plane oy = Srad/ sec? Nese srad/see about ABaxis 15(-.940j-.3424) +(SE-107)x(-3£+.67) = 14,1j-5.134+3 7-307 Note first that: 37+3, x6, = -37+(-10/) x(58) = -37+50j rad/sec. (37450 /)x(-3£+.61) +(5 102) x1(S£-107) x(-3.£+.6/)]A oulinder rolls without slipping. I has an angular velocity @ = 3 radisec and an angular acceleration do = 014 rad/sec? What are the angular velocity and angular acceleration of member AB? w= 3radhsce © = Didradisec Vy + GyyX Buy (3)(2)8 = V,(cos60° i + sin60°f) + w 9k x (5)(.7077 + .707/) 06 = SV yi + 866V gf + 3.535 O4p/ - 3.535 0,p/ 06 = 5V_-3.535 045 0 = 866 Vy + 3.535 4p 06 = 1.366V, V, = .0439 mjs (,866)(.0439) _ 383¢ > M1076] radee y+ Buy Bry + Bag X (Ogu X Byy) (014.292 = | 243 | sin36°7 + c0s30°H + (4)(0p.)(—cos 60°F - sin60° f 4 2c + Qagh x (3.5357 + 3.535/) + (-.010768) x [(~.01076 &) x (3.5354 + 3.535] 00281 = -2.409 x 1047 +4,172 x 1047 - 2apcf - 3.464 dpef + 3.535 @ypf - 3.535 @,pi - 4.089 x 10-47 - 4.089 x 104715.$4(cont.) fe 4,172 x10 ~2g¢ ~ 3.535 4p ~ 4.089 x 10% 2.409 x 10" - 3.464 tae + 3.535 © yp ~ 4.089 x 10 0028 = 1.763 x 10 - 5.464, - 8.178 x 10 Ow kage = 6.30 x 10% radjsec* _ 2.409 x 10 + 3.464(-6.30 x 104) + 4.089 x 10% 3.535 ogg = ~4.34 x 10 radjsec 0.01076£ rad/s 4.34 x 104K radjsec*|Slider A moves in a parabolic lot with speed § = 3 mis land § = 1 m/s? atthe instant shown in the diagram. Cylinder Eis ‘connected to A by rod AB. (a) Find the angular velocity of cylinder E atthe time of interest. (©) Also, find the angular acceleration of cylinder £ and roa AB at this instant Vy = Vy GyyX Bay V, = 3i ms Note V, = (9opcosaf+sinaj) — 9sina = 2.5sin15° = (62567 + 6470) a, & @ = 45,97° @ 1.62561 + .6470/] = 31 + wygk x (25)(sin15i + cos15/) 6256 0 pf + 6410 gf = 31 + 6470 yp) - 2-415 Ogyh -3 = - 62560, ~ 2.415049 CW, = 6404, an = 9866 radjsec] + Dgg X Bag t Ogg x (Gyy X Byg) 686Note first 2 coca; -sineil +96 + sine” 15.55(cont.) Ioz[cosaj -sinai] + 96,fcosai + sinaj| .6089j - 62987 + 62550, 7+ 6471 OF 60897 - .6298i + 6255 0,1 + 6471 0,7 = E+ T2f) + @ggk x (64708 + 2.415;) + (98668) x (98664) x (64707 + 2.415/) li + 72] + 6471 yf -2.415 0,1 ~ 6299 - 2.351] 6256 dp +2.415 045 = 0.9999 AT], - 64104, ~ 69.04 1 = (6904 + 64d) Ge 106.7 + O4y (.6256)(106.7 + 4p) +24156,5 = 9999 = 106.7 ~ 21.625Find @, and @, at the instant shown. The following data apply Ream Rye tm CDasm v= 2mm aie na pp 10 Vo Boe Bep ~(4)) = V{-c0s30° f+ sin30° J) + @pck x (56.7077 + .707/) -4- 3% +3535 0p. 0 = - 866 V, - 3.535 050 .093 ms We + Bye * Bey + Bey x Bey X Bop) af 3} = G{- 8661+ .5j) + Opok x (3.5357 + 3.5357) + (-.2688) x [(-.2688) x (3.535f + 3.535/)] DE = - 866a,i + Sa,j + O(3.535)j ~ Op (B.535i) ~ 254i - 2547 0 = Sap + @p (3.535) - 254 2 = ~.866, ~ © y(3.535) ~ 254 a = ~1.934 mfs*Find the velocity and acceleration of the center of A V (707i + 707j) = 34+ Oph x A- 8667 + Sf) TOV, = 3- ACS) ©4n T07¥,, = ~(4)(:866) 45 oo 0 = 3~ (45) - 4) 865] O45 yg = -2.049 Subtract V4 an =2.049)] = 10.04 a [(4)(-866)(~-2.049)] Gy, = Fy + yy X ng * Sap * Ban * Baw) (7078 + 07j) = (2- (3}) + dygk x @)(-.866i + 5j) + (2.049) K x [(-2.049) k (4)(— 866i + 5f))15.57(cont.) Hence i terms -TOTa, = 2 - (4)(5) Ogg + (-2.049)(- 2.049)(4)(.866) 1a, = 1654-24 -T0Ta, = 4.5 - (4)(.866) cg, ~ (~2.049)(~2.049)(4)(.5) 01a, = -3.897 - 3.464045 Subtract (4) from (3) 0 = 20.44 + 1.464045 4g = ~13.96 radjsec* 1 op 3.897 + B.46413.96))‘What is the angular velocity of rod AD? What isthe mag. nitude ofthe velocity of point C of rod AD? Rod BC is-vertical at the instant of interest or Vy * By Bac = (BYI)CTON[-.7078 - .707f] + (V_),-7077 -.707/) 2157-157 + (INV E-A = 62 + Ook x (2(-.707i +707) -1si-15/+.707V)F-4) = 67 - 1414 @yof - 1414 04c8 =15 + T01(V)), = 6 = 14140,4¢ 15 -.101(V.), = - 144046 Add Eqs. 3 = 6 -282B 04 3 ris Ac ~typis- = 4284 VQ, = appl 5 + 414)0.273)1 aaa ™ 2 Ve = {(4244)? = 1@)G)CTONP}? = | 2.163 ®15.59 What are the angular velocities of the two rods? Slider & has a speed of 4 m/sec, whereas slider C has a speed of 1.2 misec Consider Rod AB. = V+ Oya * Ban We have 3 unknowns, (Vj), (V_), and @,y. Hence we look at Rod BC quate right sides of (1) and (2) Vy + Big X Bay = Vox Boy x Bey) We now have two unknowns, 45 and cp. AE + Oygk x (5)[8667 + .5/] = 1.2[c0820° f+ sin20° f] + cg x 61.7077 - .707/ Ai + A383 Oygf ~ 25 @yyi = 1.1287 + 4104) + 4242 0c gf + 42420, Scalar Eqs. A 2 W4y = 1.128 + 424205 433 Og = 4104 + A242 0¢y Subtract. A 6830049 = .7176 Oey = 1442 ris)Rog DC tas a angular speed ay of 5 rad/ce atthe con ‘igoraion shown, What isthe angular speed of bar AB? In Problers 15.33, find the instantaneous center 0 of rotation for rod CB in the simplest possible manner. What is the speed of the midpoint of CB found using O? From Problem 15.32 Wye = 289 radsec. G is Midpoint of CB ca = 4,800) = .400 eo 2 cat pe aghast Law of cosines for triangle GCO, a OG = (CE + OC - 2(CGOC)cos60" }* 1 = {.400? + [(.800)(c0s60°)F - 2){.400)(.800)c0s"60°}? = 400 m 56 misFind 0, and atthe instant show, = 3 ads 0, = 2radis? Vo Bey X Boa wna = @ = 337° B = 5631° 1s 1 = o,(.5? +.75*)? [c0s56.3/ + sin56.3/} V, = 0,(.500/ +.75/) Vo = WG-4 = -3% wo,(.5007 + .75f) = -32 + (wcyh) x (3(-.7078 + .707/) Sop = -3-2.121 4 TS ep = 212M O40 Subtract - Se, = -3 1 = 12 radjsec] Wye = ~4.243 radjsec Now go to acceleration Eq. G+ By X Beg + Bey Ben * Buc)15.61(cont.) = (,9014)(122(- cos33.77 + sin33,7/) + (.9014)(o ,)(cos56.31/ + sin56.31/) = MEAD + DAK} (.9014)(12)*(- c0833.7/ + sin33.7/) + (.9014)(o ,)(c0s56.3/ + sin56.3j) = = 9f -24 + (yeh) x BY(-.T07E + 107) + (-4.2438) x [(- 4.2438) x (3)(-.7078 + 707) = 108.07 + 72.0) + Sagi + TS dpf = -9f-2f- 212 Oycf ~ 2.12 Gj ci + 38.187 - 38.187 108.0 + SH, = -2 -2.121 Oye + 38.18 Sz +212 dye = 144.2 TL + T3tdp = -9 ~ 212M Oye ~ 38.18 Sty + 21M Gye = - 19.2 1053.2 radjsec*,‘A bent 10d is pinned to a slider at A and a cylinder a. Fnd the velocity and acceleration of the slider at the instant depicted in the diagram, Vy = Vy + OygX Om V,(.1077 ~ .707j) = ~(3)(Q)E + cggk x (2) + 2 - (4.8668) TOTV sf + .T07TV gf = ~.6i + gyk x (.4j - 34641) yy ~ - 11.19 radjsec 35.478 mis] Gy = Fy + ByyX Byy + Oyy% (Gy Bp) 446.7074 + .107)) = -(3)()i- (3)2)j + gpk x (4) - - + ALOR x (4198 x (47 - 34648) Way = - 9 - Oy 4) +43.37 W1a, = -12 ~ Oyy(.3464) - 50.09 Subtract 3 ~ 0536 t4, + 93.46 @ 4p = 1749 radjsec* 2 a, = 4. (12-6059 - 50.09) 707A cylinder ros without slipping. Develop a formula for din cerms of Yi, Vy, and R, Then get a formula for ec in terms of Ve Vay Rand d a c G+ 5 xByy+ Sx XB) = Vit ok x Ri+ (OR xlok xR = Vi-Roi-Ro*f a7Two stationary half-cylinders F and J are shown, on which roll cylinders G and #. the motion is such that line BA has an angular speed of 2rad/sec clockwise, what is the angular speed and the angular ac ceeleration of cyliader H relative to the ground? The cylinders roll without slip- Z, = 3(cos60° 7+sin60° /) = 157+2.600f Fi, = [8.75-(4. 5)(.707)] 7 +(4.5)(.707) F = 5.577 +3.187 ag = Ten By = (“1.5 45.57) +(-2.60+3.18)7 = 4.077 +580) a) = Consider bar AC for 40. Ve = Ws (yeh) (4.077 +580) Ve(.107#+.707f) = 6(.866i~.500 f) +4.070 cj 5800 gol The scalar equations are: 107 V,, = 5.196 ~.5800 4 (07 Vo = -3.00+4.070 4 Solving simultaneously: Wye = 1.763 radlsec. Vz = 5.90 fisec.15.64 (cont.) Now get © ,¢ Ae = 8,4 8 oXB got B4c%(GacxB ac) 4,+(3)(2\( -.5007-.866 /) 7 5.0?) 992 agg 2 ; . Also: A, = SE ( 101i ~ 107 j)+4.50(.707 7 +.707)) Hence: 5.477-5.47j+3.1807+3.186j = -67- 10.39 7 +(d4-£) (4.077 +.580/) + (1.763 £) x{(1.763 &) x(4.077 +580 7)) Scalar equations are: eee = -.5800 40 6.723 +3.188 = 4.070 40 Solving simultaneously: -3.74 radi sec?. -6.90 rad/sec’.In Problem 154 assume that cylinder G is rotating at a speed’of 5 rad/sec clockwise as seen from the ground. What is the speed and rate of change of speed of point C relative to the ground? Assume that no slipping occurs. ‘Two stationary half- ©, = -1.2256 +7.98260, ‘Subst. into (1) V, = 1017 +.1695( ~ 1.2256 + 7.9826w ,)~ 1.104(- 1.6312 + 1.22560,) ‘s 1017 - .2077 +1.3531@, +1.801 - 1.35310,Member AB connects two sliders A and B.IEY, = S m/s and Vy = 3 mis, what are @,, and Oy, atthe configuration shown? Vy = Vy +Bx By Si = V.107E + 707j) + Ogyk x Qi -j) 5 = 107V, + Op 0 = 107V, +2045 5 = -Oyy Patoyy = 14.14 mls 707 4G x By 4 Ox G X Ay) > f «14.14 ao = = V.107E + 707) + (-.107i + .707/) 107 V,,i+.707 Vj 141.47 + 141.4) + d4gh2t-j) +(-58) x58) x@i-J) Bi = 107 V,i + 107V,f- 141.47 + 141.4) + (04,8) x Qi -J) +(-5B x(-5H xQi-J)] { = -707V 4 - 141.4 + Gogg ~ 50 0 = .707V, +1414 +26,, +25 3 = -282.8 - G4, -75 @4q = ~360.8 radjsec*Find ay and dg, Cylinder D rolls without slipping with angular motion given as 0, = Indismd @, = 3adé? +B xByy ~(S)(2)i + @ygk x (2)(-cos20° i + sin20° /) -Vyi = -b~ 1879045) ~ 684.0456 oy =0 { = 1+ B40, oe » (| w=] G, = d+ BX By + Ox (GX By) 7 Vee - 2 ~(53)E = (- iio Bi] ayboox cos 20° f -sin20° /) i + Fy oglt a7) + 614i)Member At connects two sliders A and B. If Vy = 5 mis and Vy = 3 mis’, what are yy and Gxy al the configuration shown? 5i = V.207E + .707/) + Ogyk x Qi -J\ 5 = WV, + Oy 0 = 07V, +2045 2 ~ ay eas = 14.14 ms ig +B KB yg + BX (GX Byy) 14.14 Gy = V,(.1077 + .707f) + Sei + 707)) 3i = .207V,i+.207 Vf 141.42 + 141.4) +O ,gh2E-J) + (-SR xl(-5K) x2? (Bi = 707 Vi +707 yj 1AL.4E + 141.4) + (ogg) xQE-J) + (-5Hx1-SH x? 3 = .T07V, - 1414 + d,5 50 Subtract. anFind ©, and dy Cylinder D rolls without slipping with angular mation piven as by © Qradisand @, = 3 rads? ~(5)(2)i + wag x (2)(-c0s20° + sin 20° j) 72-1879 @45f ~ 684.0,,1 (ay ee {i ms : +O x Gp + Ox(Gx Gy) Oy = 0 -(56.3)E “Vals ) + oa 0x c0520° i - sin20° ) - 2 + ee ~ Si = ~Vyi ai + G4y(1.879f + 684i) -.15 = -Vy +6840, 0 = .00556 + 1.879 c45 0, 002957 radjsec’[A space laboratory, in order to simulate gravity, rotates relative to inertial refer~ fence XYZ at arate @,. For occupant 4 to Teel comfortable, what should @ be? Clearly, at the center room B, there is close to zero gravity for zerorg experiments. A conveyor along one of the spokes trans- ports items from the living quarters at the periphery to the zero-gravity laboratory at the center. In particular, a particle D has a velocity toward B of 5 mjsec relative to the space station. What is its velocity relative to the inertial reference X¥Z? Find. proper w,. We want the centrifugal force to equal the weight. 2 mre} = mye 981 o, = |= 50 ix xyz to space lab. Z is inertial reference. ving with space lab. i, +Reaxs +0 + (443.8) x(-20/)Bodies « and 6 slide away from each other each with a constant velocity of 5 f/sec along the axis C-C mounted on a platform. ‘The platform rotates relative 16 the ground reference XYZ at an angular velocity of Wradjsec about axis E-E and has an angular acceleration of 5 rad/sec* relative to the ground reference XYZ at the time when the bodies are at a distance r = 3 ft from E-E, Determine the velocity of particle b relative to the ground reference, e 1 ae ele snow el ones R=6 @ = 10k radisec. Uypt B xB 57 +10kx3f 5/-30/ flsec. 708i roraglee 1 ‘A particle rotates at a constant angular A ‘ic wredlsee speed of 10rad/sec on a platform, while d the platform rotates with a constant angular speed of $0 radjsec about axis A~A ‘What i the velocity of the particle Pat the instant the platform isin the XY plane and the radius vector 10 the pardcle fori an ange of 30° with the Y axis as shown? Fix xyz to Platform. ion of Padicle R ’ B = 2(866/-.5/) U,, = B,xB = 10k x(2){.8667 -.5/) - 17.327 -10/ filsec. Motion of xyz Rel, to XYZ. R R= & = -50/ radisec. V+ Re Sxp 17.327 - 107 +0 + (-50/) x (2)(.866 -.5/)A platform A ie rotating with constant angular speed a; of 1 radjsec. A second platform B rides on A, contains a row of fest tubes, and has a constant angular speed @; of 2 rad/sec relative tothe plat form A. A third platform Cis in no way connected with platforms 4 and B. E on platform C is positioned above 4 and 8 and carries dispensers of chemicals which are electrically operated at proper times (0 dispense drops into the test tubes held by B below. What should the angular speed {@; be for platform E if tis to dispense a drop of chemical having a zero tangential ‘velocity relative to the test tube below? xyz to IFix XYZ to ground. Consider system B and A. ©, = 1 radisec. ©, - 02 radisec. Data, | Motion of Drop Relative to xvz. B = .307 m Voge = ~(-2)(.30)f = -.06] misec 1)(.90)7 = .90/ misec R = -(.90)(12)7 = -.907 misec? 6 = 6, = K radisec Vor = Uy # RB xB ~ -.08/ +90) + kx(.30/) = 1.1407 misec =(.90)(0,) = (1.140) @, = - 1.267 rad/secIn an amusement park ride, the cockpit containing two occupants can rotate at an angular speed a, relative tothe main arm, ‘The arm can rotate with angular speed co; relative to the ground. For the posi shown in the diagram and for @ rad/sec and 0; = 2rad/sec, find the velocity of point A (corresponding to the position of the eyes of an occupant) relative to the ground. ixxyz to Arm Ol IFix XYZ to Grount ion of Particle R 3 = .65/+.654 m V,, = (.65)(,)7 = (.65)(2)7 = 1.307 misec. Motion of xyz Rel, to XYZ. R= -10km R = (10)(a,)/ = (10)(.2)} = 27 misec @ = G, = .2/ radisec. - i,,+R+3 xB = 1,307 +27 + (.2/)x(.65/+.654) 2 VeeA water sprinkler hat fs (Cubic fi/sec) of water fed into the base. The sprinkler tums at the rate @; of 1 rad/sec. What is the speed ofthe jet of water relative to the ground at the exits? The outket area of the nozzle cross section is .75 in*, (Hint: The volume of flow through a cross section is VA, where Vis the velocity and is the area of the cross section.) 4yv 2, Fedat view B=15/ 8 2 — |[sin30° 7 + cos 30° (.707 7.707 f) ( 2g |ono0" cos 30°( ) = 19.207 +23.57-23.5£ flsec. 3 =o = 1) radisec.15.75 (cont) = Vig t Rr xB = (19.20/ + 23.57 - 23.54) +(0)+(1/)x(1.5/) -[23.57 + 19.207 - 254 flsec! = [23.57 + 19.207 + 25°)? {032 atses |‘A tank is moving over rough terrain while firing its main Bun at a fixed target. The barel and turret ofthe gun pany com: pensate for the motion of the tank proper by giving the barrel an angular velocity ao, relative to the turret and, simultaneous, by giving the turret an angular velocity w, relative to the tank proper _d Such that any instant the velocity of end 4 of the barre has zero velocity in the X and Z directions relative tothe ground reference What should these angular velocities be forthe following tansla- tional motion of the tank: Vine = TOF + tk vs e=30 Fix xyz 10 Turret at Bl XYZ 10 Ground A. — Motion of A Rel. to xyz B = (-300830°)/'+ Gsin30°)k = -2598/ + 1.5£ m Vy. = (@) x6 = 0,1 x (-2.598/ +156 = -2.5980,£- 15017 mis Motion of xyz Relative to XYZ Ajm wk xR +107 +4k = w4)i + 107+ 48 mis ogk ws = Vit Rr Gx = (2.598 0,£ -1L5a,) + 40, + 10f +46 +(o,h) x (-2.5987 41.56) Yer = [-2,5980, +4]é +[-150,]] +[.40, +10+2.5980, 7 Set (Pyy)y = 0 40, +10 + 2.5980, =0 = 31.37 r/s Set Pyp)z = -2.5980, +4 =0 jo, = 154s 718We can show that Eq. 15.6 is actually a special case of Eq. 15.20. For this purpose, consider @ rigid body moving relative to XYZ. Choose two points @ and b in the ‘body. The body has a translational velocity corresponding to the velocity of point @ and a rotational velocity © as shown in the diagram. Now embed a reference 297 into the body with origin at point o. Next, use this diagram and consider point 8 10 show that Eq. 15.20 can be reformulated to be identical to Eq. 15.6. Consider point b. We have: . (nz = Wage RB By, But ( V;)yq = 0 since xyz.is fixed in body asis point b. Also R = (Wye. Hence we have: Yn = Vaz * 8 * Bap We can delete reference xyz now and with only one reference we can say: ¥, - V+a%8,, nSA. simple-impulse type of turbomachine called a Pelton water wheel has a single jet of water issuing out of a nozzle and im- pinging on the system of buckets attached to a wheel. The runner, which is the as- sembly of buckets and wheel, has a radius ‘ofr to the center of the buckets. The shape Of the bucket is also shown where a hori zontal midsection of the bucket has been taken, Note thatthe jets split in two parts by the bucket and is rotated relative to the bucket in the horizontal plane as measured by . If we neglect gravity and friction, the speed of the water relative tothe bucket ig unchanged during the action. Suppose that & liters of water per second flow through the nozzle, whose cross-sectional area at the exit is 2000 mm? If'r = Im, what should @ be (in rpm) forthe water to have zero velocity relative to the ground Ve i = (4-0,)(-.985/ +.17367) misec. (2\{100) vo) in the ¥ direction when it comes off the bucket? Take B — 10°. (Why sit desirable to have the exit velocity equal to zero in the Y direction) See the hint of Problem 15.64. wy f-e0010"7 sno" Motion of xyz relative to XYZ. = 0,/ radisec. Lye « Vi,+ R+ xB Of+ Vi = (4-0,)(-.985 j+.1736/) +0 + 0,7 x(-k+ 20/) Look at y component: 0 = -3.940 +.985w, +0, 6‘A propelier-driven airplane is moving at a speed of 130 km/hr. Also, itis undergoing f yaw rotation of j radjsec and is simul taneously undergomg a loop rotation of +} radjsec. The propeller is ro Tate of 100 rpm with a sense Y direction. What is the velocity of the tip of the propeller a zeative to the ground at adie the instant that the plane is horizontal as {rattoec oop chown? Thepropelleris3 min totallength Ground reference land atthe instant of interest the blade isin ‘vertical position. 5 1000) -,(1)¢5y7 «sf R = (130)} —— |f+{— = je «a3 »f \ (4) 36.11 + Sf m/sec. Ip 1 o tot lp. la ny Ag+ ai = 15. 71i + 36.117 + 5i+(-—k+ 7 gis gis isnt 3611p 56 e+ f)x058 = 16.21/ + 35.737 m/sec. Veg = Vogt Rod x6 s}ars6 +57 m/sec ss747-961174[-26+ 211 +35.73j m/sec}A crane moves to the right at a speed of 5 km/be. The boom OB, which is 15m Jong, is being raised at an angular speed @; Felative 10 the cab of 4 radisee, while the cab is rotating at an angular speed of .2 radjsec relative to the base. What is the velocity of pin B relative to the ground at the instant when OB is at an angle of 35° with the ground? The axis of rotation O of the boom is I m from the axis of rotation A-A of the cab, as shown in the diagram, B = 15[cos35° 7 +sin35° /] = 12.297+8.60/ m. Vy, = 5x8 = 4hx(12.297 + 8.60/) = 4.927 -3.447 misec. Motion of xyz Rel, to XYZ. A. (1000) + . R= (©) (ge00) / * (2% A’ = 1.3907 -.24 misec. & = @,] = .2] radisec. =U, +R+Ox6 = (4.92) - 3.447) +(1.3907 - 2h) +(.2/)x(12.297 + 8.60/,[A power shovel main arm AC rotates with angular speed cof .3 rad/sec relative 10 the cab. Arm ED rotates at a speed © of A radjsee telative to the main arm AC. ‘The cab rotates about axis A-A ata speed @, of 15 radjsec relative to the tracks which are stationary. What isthe velocity of peint D, the center of the shovel, atthe instant of interest shown in the diagram” ‘AB yas a length of 5m and BD has a length of 4m. @, = .3 radisec. oe, = 4 raise. ETO CAB w, = .15 rad/sec. \Fix XYZ to ground A. — Motion of D Relative to xyz. B = Reg = ($c0830°7 +5sin30° /)+4(.7077-.707/) = 7.167 -.328f m. Zac = (8, x %)+(B, + B,)x B = (Bh) x(4.337+2.5/)+(.34 +4) x(2.8287 - 2.828 /) = 3.28/ + 1.2307 misec. Motion of xyz Relative to XYZ. B= -(0,\(2)k = -- 34 mlsec. & = «,/ = 157 sadisec. = V+ Re xB (3.28 j + 1.2307) -.3h+(.15/) (7.187 -.328 /)‘An antiaircraft gun is shown in action. ‘The values of w and, are 3 radjsec and Gradjsec, respectively, AU the instant shown, what isthe velocity of a projectile ‘normal to the direction of the gun barrel When it just leaves the gun bartel as seen) from the ground? ix xyz to gun base raving ang. vel. @,. Fix XYZ to ground. Consider end of gun barrel (PL.A) A. Motion of A Relative to xyz. B = 4(-.57+.866/)+7 = -17+3.46) m. V,, = B,xf = (.38)x(-17+3.46/) 3] - 1.0387 mlsec. 6 3, = -.6] radises. Vygt R43 xB 37 ~ 1.0387) +6 + (-.6/)x(-7+3.46/) = -1.0387-.37-.6k Component of Vz along gun barrel is:15.82 (cont.) = Upp tl (- 1.0387 -.37-.64) Vn pany = -2602 misec. + Von ban = 2602 isa 42? + 3.46? = -.13023/ +.2253/ mlsec. U, pas = (-1.0887 ~.3) -.6f) - (~.13017 + .2253/)‘A.cone is relling without slipping about the Z axis such that its centerline rotates at the rate @; of 5 rad/sec. Use a multrefer- fence approach to determine the total angular velocity ofthe body relative to the round, ae on (2] = 14.48° 4 AC = 4008 14.48°- 3.87 ff Ikxyz to centerine (rotates at o,) of cone. ix XYZ to ground. Find &, of cone. Consider point D. A. Motion of D Rel, to xyz. 3.877’ - 1k & U,, = By xB = (-0,/')x(3.87 7" -k’) = @,/ filsec. = 5k = 5[cos 14.48 & + sin 14.48 /”] = 4.84% + 1.2507" rad/sec. 7 +0 +(4.84 & + 1.250 7”) x(3.87 7" - &’) o,f - 18.737 - 1.2507 19.981 rad/sec. 6, +8, = 5k- 19.9817" 5k - 19.98(cos 14.48 j + sin14.48.k)Find the velocity of gear tooth A relative to the ground reference XYZ. Note that ©, and a; are both relative to the ground. Bevel gear 4 is free to rotate in the collar at Take, = 2rad/secand @; = 4radsec. ‘200 mm ai wz = 4radisec Fixx to Bearing at C] A. Motion of A Relative to xyz. B = 407+.10k m. tof) fol] 07 = 2.47 misec. V,.+R+ 3x6 = 2.4748 4(-48)x(4) +14)In a merry-go-round, the main platform rotates at the rate @ of 10 revolutions per minute. A set of 45° bevel gears causes # to rotate at an angular speed @ relative to the platform. The horse is mounted on AB, which shides ina slot at Candis moved at A by shaft B, as indicated in the dia- ‘gram, where part of the merry-go-round is, shown, If AB= ft and AC = 15ft, ‘compute the velocity of point C relative to the platform. Then, compute the velocity relative to the ground. Take 8 = 45° atthe instant of interest. What is the angular velocity of the horse relative to the platform and relative to the ground at the instant of interest?” = [ss] vow - 15.71 radlsec Consider next triangle ABC. Shown below. Law of sines: 1 15 sina 707 @ = 2.70° [Fix xyz to Platform, IFix XYZ to Groun A. — Motion of C Relative to xyz. oe 6 V,,, Forthis calculation go back to Section 15.5 onthe fixed vector concept. Then we have: = Vat Bex Bac = (15.71)(1)(.7077 ~.707 /) +( sch) x{(15)(~cos a7 +sine/)} Voj = 14107-11417 + 14.980 4o/ +7070 4h We then have: Vz = ~11.63'/seC; Og. = ~.742 radisec V,, = -11.637 ase]15.85 (cont.) Motion of xyz Relative ta XYZ. R~ (15)(a,)7 = (0) 2322] = 15.717 Alsec. seoj<- (10)(2x) > B-0,] <0 = 1.0477 rad!sec. 2 Veg = Vogt R+B xB = - 11.637 + 15.717 + (1.047 7) x(0) (Bjclye = +2424 radisec. (@Brclnz = =Rod BO rotates at a constant angular speed @ of Srad/sec clockwise. A collar A ‘on the rod is pinned to a slider C, which ‘moves in the groove shown in the diagram. ‘When 0 = 60°, compute the speed of the collar 4 relative to the ground. What is the speed of collar A relative to the rod?” Find OA. Use Law of Sines. 10. _OA sin75° — sin45° OA - 7.32 ft. xyz to ROD. IFix XYZ to GROUND. Motion of Slider A Relative to xyz. 6 - i, flsec. 6 fore Motion of xvz Relative to XYZ. R= 8,x OA = -5hx(7.32)} = 36.67 filsec. & = 6, = -5/ radisec. Vo = Vogt BB xB Vqh008 157 + 8in15/) = V,.j + 36.67 +6 .966V,,, = 36.6 259VsoWork Problem 15.8¢assuming that pin O is on rollers moving to the right ata speed of 3 ft/sec relative to the ground. In addition, OB rotates at a constant angular speed 6 of 5 rad/sec clockwise. Rod BO rotates at 8 constant angular speed 6 of Srad/sec clockwise. A collar A fon the rod is pinned to a slider C, which ‘moves in the groove shown in the diagram. ‘When @ = 60°, compute the speed of the collar 4 relative to the ground. What is the speed of collar 4 relative to the rod? R = Vy+Gq,% Bo, (From Sec. 15.5) = 3(c0s30° 7 - sin30° /) + (~5£)x(7.32)7 = 2.5987 - 1.57 +36.67 = 39.27-1.5/ flsec. @ = -5# radisec. a V(cos 15° 7 + sin 18° /) = V,7-+39.27-1.50/+0 Scalar Equations are: 966, 259,Rod AD rotates at a constant speed 0 of 2ad/sec. Collar C on the rod DA is constrained to move in the circular groove shown in the diagram. When the rod is at the position shown, compute the speed of collar C relative to the ground. Whatis the speed of collar C relative to the rod AD? Point 4 is stationary. “Ix xyz to Rod DA. XYZ to Groun Motion of C Relative to xvz. 5-6 v= (V),.(c080/ - sin8 /) 26 |. 1.6. 0 - an Vag = (gol 5247 - 852/) misec. Motion of xyz Relative to XYZ. B= 8, xR = (-28)x(-1.67+26/) 3.27 +5.27 mises. -2h radisec. 2 Vee = Vogt Red xB (Woot = (Wige( 5247 ~ 852 /) +327 +5.27+0 ‘Scalar Eqs. are: (Wye = 524 gg 4 52 0 = ~.852(V)q+ 32In Problem 15.88 assume, in addition to the rotation of bar 4D, that pin A is moving at a speed of 1,6 mjsec up the grooved incline o v, 6 foe G . va to XYZ. Rod AD rotates at a constant speed 6 of 2radjsec. Collar C on the rod DA is constrained to move in the circular groove shown in the diagram. When the rod is at the position shown, compute the speed of collar C relative to the ground. What is the speed of collar C relative to the rod AD? Point 4 is stationary. Yaasl-5247 ~ 852) m/sec. R- V,+0,xAC (Sec. 15.5) = (1,6)(.8667 + .500 /) + (-24)x(-1.67+2.6/) = 6.5867 +4.00/ misec. = -2k radisec. Frog = Vig + Rib xB foe (Ve)owuna! = (Vp) 5247 ~ 852/) + 6.5867 +4.00/ +0 Scalar Eqs. are: (Ve Ygana = (Ve eel 524) + 6.586 0 = (Ve)yu(~-852) + 4.00Rod AC is connected to a gear D and is guided by @ bearing B. Bearing B is sta tionary but can rotate in the plane of the ‘gears, If the angular speed of AC is 5 rudisee clockwise, what is the sngular speed of gear Drelativetotheground? The diameter of gear D is 2 ft. ix xyz to Bearing B. XYZ to Ground. nH 7 ‘ny, i! Ty~ Ty = 5(.7077 ~.707 j) - (37 -2/) ana = 5367 -1.595/ ft = SB5/-1538/ - 3207-944] (536? + 1.535" ion of © Rela j = 5357-15357 2 Vz, = (V)gdl.3297 -.944] 2. BC Vyygl -.7077 ~.707 f) = (gel 3297 ~.944 j] + (~5 A) x(.5357 ~ 1.535/) Scalar Eqs. are: ~.70T Vaz = -329 Vi, - 7.675 (TOT Vig = ~.944 V,, - 2.675 /ye = 3.928 fiisec. Vee = 9.028 ffsec.‘A truck has @ speed V of 20 mijhr and an acceleration ¥ of 3 mifhr/sec at time 1. A cylinder of radius equal to 21 is rolling thout slipping at time ¢ such that relative to the truck it has an angular speed (©; and angular acceleration, of 2rad/see and 1 radjsee?, respectively. Determine the Nelocty and acceleration of the center of the elinder relative to the ground Fix xyz to tru IFix XYZ to groun A. Motion of C Relative to xyz. 6-2) 8 V,, = -0(2)7 3, = (1\(2)/ = 27 filsec* Motion of xyz Relative to XYZ. Re oo 222.-1 = -29.3/ flsec. R= (0222-9 = -4.47 Risee Vere = Ugg t R+B xB 29.37+6 -[-25.37 ‘/sec Bore * Bye t R428 x Vg? BB +B (3 xB.) = 27-4.417+0+0+0 filsec?,‘A wheel rotates with an angular speed lof 5 radjsee relative to & platform, which rotates with a speed «, of 10 radjsec relative to the ground as shown. A collar moves down the spoke of the wheel, and, when the spoke is vertical, the collar hes « speed of 20 ft/sec, an acceleration of 10 {i/sec? along the spoke, and is positioned 1 ft from the shaft centerline of the wheel. ‘Compute the velocity and acceleration of the collar relative to the ground at this instant. Fixed to ground yz Fixed to wheel i = xR = (-104)x(5/) = 507 be Red, x = 6 +(-10h)x(50/) = -500/ 6 = -10k+57 é = 6+8,xa, = (-104) x57) = -507 =U +R+S xo 20K + 507 +(-10h+5/)xk15,92 (cont.) = y+ R+ 28 x V,, +5 xB +5 (5 xB) = -10£ - 5007 -2(-104 + 5/)x(-204) +(-50/) xk 40K +57) x{(-10k+5/) xh] filsed,Bodies « and b slide away from each other each with a constant velocity of 5 ft/sec ‘along theaxis C-C mounted on a platform. In Problem 15.71, determine the accelera- ‘The platform rotatesrelative t6 the ground jon ofthe particle atthe instant of interest. reference XYZ at an angular velocity of 1Oradjsec about axis £-E and has an angular acceleration of 5 radjsec? relative to the ground reference XYZ at th when the bodies are at a distance r from E-E. Determine the velocity of particle b relative 10 the ground reference. R-0, R-0, R-6 & - 10K raafsec. & = 5k radisec? 42+ R120 Vy, + 5 x6 +d x(BxB) = 646 + (2104) x(5/) +(5A)x(3/) + (104) x{(104) x3 /] 4yz =A particle rotates at a constant angular In Proslem 15.72, find the acceleration of speed of 10 radise> on a platform, while the patticle P relative 19 the ground the platform rotates with a constant angu- eae lar speed of 50 rad/sec about axis 4-4 ‘What isthe velocity of the particle Pat the instant the platforms in the XY plane and the radius vector to the particle forms an angle of 30° with the Y axis as shown? ix xyz to Platform ix XYZ to Ground, A. Motion of Particle Relative to xyz. B = (2)[.8667 - 5007] = 1.732f-7 # Vi, = 8, xB = 10kx (1.732) -7) = -17.32/-107 is, + 4, -[ Sa +5, I ae = 64 10kx(-17.327-10/) = -173.2] +1007 fisec. Motion of xyz Relative to XYZ. R-0 @, = -507 radlsec. -8,-0 Arye ~ Aygt +28 x Ugg > BF + x(B xB) = (-173.2]+100/) +8 +2(-60/) x(~17.32/ - 10/) +0 + (-80/) x{(-50/) x (1.732 /-7)}In Problem 15.1% find the acceleration of point A relative to the ground. In an amusement park ride, the cockpit containing to occupants can rotate at an “angular speed €0, relative to the main arm. ‘The arm can rotate with angular speed @; relative to the ground. For the posi shown in the diagram and for ©, rad/sec and @; = 2radjsec, find the velocity of point 4 (corresponding to the position of the eyes of an occupant) rela tive to the ground. o3gz to arm ©, ~ 2 redisec. ix XYZ to ground @, = .2 radisec. ‘A. Motion of A Rel. to xyz 5 - 657 +.65k m Vy, = 8, xB = 2) (657 +.654) = 1.307 misec a, + [2] se-s.n%, Ot oe = 6+2/x 1.307 = -2.60% misec? = Ay Rs 5x6 +26x Vi, +3 x (@ xB) = -2.60K+.4h+0 +2(.27) x (1.307) +27 x[(.2/) x (.65/ +.654)]{In Problem 15.7%, find the acceleration of the tip of the pronelier relative 10 the aground reference. Take the yaw rotation to be zero and the loop rotation radius 7 to be 500m, + eh west se ‘A propeller-driven airplane is moving at a speed of 130 km/hr. Also, it is undergoing 2 yaw rotation of } radjsec and is simultaneously undergoing a loop rotation of 4 radjsec. The propeller is rotating at the rate of 100 rpm with a sense in the positive Y¥ direction. What is the velocity of the tip of the propeller a relative to the ground at the instant that the plane is horizontal as, shown? The propeller is 3 m in total length, and at the instant of interest the blade is in 2 vertical position. Ground reference [Fix xyz to plane. XYZ to ground. wo, = 12 (an) = 10.47 rad! sec. 60 A. Motion of Particle Relative to xyz B=15km U, = 8, xB = 10.47) x (1.54) = 15.717 mises. call ge 6 + (10.477) x(15.71/) - 164.5% misec?. Motion of xyz Relative to XYZ. xp+d,xV,, mW15,96 (cont.) 1000 7 = 36.117 misec. 1000); / Bog — Aye t R428 x Vg + B xB +B x(B XB) = roast e2erbecal j}xcasrsiy cara st.oryh=ts5h 1 4 = 161.94 msec?‘A crane maves to the right st a speed of 5 km/hr. The boom} (08, whichis 15 og, is bring raised at an angular speed yee tive to Be cab of race, wie the ab isang at an anlar speedy of 2a eave tothe ase. What isthe velocity pin InProblem 15.80, find the acceleration of point Brelatve Saytwr guna ine ase ctr Oat he bon Tae ete to the ground. ‘axis of rotation A-A of the eab, as shown in the diagram. WN 0, =.4 rad /see ©, =.2 rad /sec A. Motion of B Relative to xyz. P= 15008357 +15sin 35" j = 12.297 +8.60j m V,, =6, xp =( 4k) x(12.297 +8.60)) =4.92}-3.447 B25 45S, =5+(a8)x(4.92j-3.44/) = =1.9967 — 1.376] m/sec? B. Motion of xyz Relative to XYZ. 73915.97 (cont.) z ae = Ay, + Re 28x V,, +B xP +B x(G x8) (1.9667 - 1.376 /) + (-.047) + (2)(.27) x (4.297 -3.447) +0 + (2) x[(.2/) x (12.297 + 8.60/)] -1.966 7 - 1.376 / -.047 + 1.3764 - 49271n Problem 15.60 find the acceleration of ‘A crane moves to the right at a speed of point 2 forthe following data a the instant Skmjhr. The boom OB, which is 15 m of interest shown in the diagram. long, is being raised at an angular speed @; relative to the cab of .4 radjsec, while ° the cab is rotating at an angular speed @ Gy = 1 radjsect of .2 radjste relative to the base. What is to, ~ Aradjsee the velocity of pin B relative to the ground : at the instant when OBis at an angle of 38° oy = 3 radiee with the ground ? The axis of rotation O of the boom & I m from the axis of rotation A-A of the cab, as shown in the diagram. = 2radisee Point "K" is fixed in CAB. Ix xyz to ix XYZ to Grout A, Motion of Particle B Relative to xyz. B = 15(cos35°7 +sin35° /) = 12.207 +8.60j m. Vi, = B,xB = (AR) x (12.297 +8.60/) = 4916] -3.447 misec. a, » = xp +d,xt,, be Bh x (12.297 + 8,60) +.4k x (4.916/ - 3.44/) 4.55] +2314] misec.15.98 (cont. Motion of xyz Relative to XYZ. 51007, 3, xO 1.3897 +.2jx17 3897 -.2k msec. B=, xKO+8, x KO = (-Af) x (12) +(.2f)x(.2)«/) = Ak-.047 misec’. 6=6,-.27 Bog = Fy, * R428 x Vi, + B xB +B x (3 xB) = (-4.557 +2.314/) + (.1& - 047) + (2)(.2f) x (4.9167 - 3.447) j) x (12.297 + 8.607) + (.2/) x{(.2/) x (12.297 + 8.60/)]‘An antiaircraft gun is shown in action. In Problem 15.82, determine the accelera- ‘The values of co; and sare.) radjsecand tion of the top tip of the gun. Gradjsec, respectively. At the instant shown, what is the velocity of a projectile ‘normal to the direction of the gun barrel when it just leaves the gun barrel as seen from the ground? ix xyz to platform XYZ to ground , = 3 radisec ©, = 6 radisec Motion of A Rel. to xyz B = 4(-cos60° 7 + sin60” /) = -27+3.467 U,, = 8x8 = 3kx(-27+3.46/) = -.6]- 1.0387 4, -[S] xB +8, xV, Ot dy. foe = 6+(.3%) x(-.6/ - 1.0387) = 187-3147 Motion of xyz Rel. to XYZ

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