Principles of Dynamics Solutions Manual - Greenwood PDF

Solutions Manual PRINCIPLES OF | DYNAMICS second edition | \ | Donald T. Greenwood Profestor, Department of Aerospace Engincering The University of Michigan , PRENTICE HALL, Englewood Cilifi, New fersey 07632“SOLUTIONS MANUAL PRINCIPLES OF DYNAMICS Second Edition Donald T. Greenwood© 1988 by PRENTICE HALL A Division of Simon & Schuster Englewood Clifs, NJ, 07682 A rights reserved. ISBN: 0-13-730005-1 Printed in the United States of Ameriéa Brag _ @tP “uence Q= [Pra]. By cosine lav, | BLE 1-2, (a) Auto position & CHAPTER f inl, Let Q>P. Sma = (GHP) , Smin™ a(Q-P) —=3, giving QE2P. ™ @ me in @ -- Meap'acceleration= $ Cmax? Syin)= = |PFQ| 2 heP2QPees B= @ 4P cos B or cosB=Ya, 8= 104.48" #e Then P* ~2Qi? e0D 300 F meters 2 = 1000 Te eat j r1000k mefers -pe (ioce~30t)Er gat jri00ok Plane position ¥, Relative position Aah Relutive velocity Ty =A(Hiy)= —307 4907 mfsec 4 Vola= ae Mpla]= 20 |) mee’ (b) AP's 1000 cos% , a fan! $ or AP! = 1000 Fe Separation dyin = JAP) F100 = 1000 (E41 = (378.4 melers Le raytgk w eee Gel mg onbtomg b=] np end end smi tm, faa Sangy hrs k (6) Equations of paréia) and tm t tmz tigmy=C Bm, bmg 1yn5 =O myn, bmg Inyng=O4. A=A, THAI r Ask 14 SAE, +A,e,tAge, where i m/sec’ Se an VANES = 212082, os Z| 2 —_s see! a For ar = 3000 m/sec, guating © compen ents, Az <3 rad Sec Ae + fee Ax \ rom J omaontats, Ay A bsolvii Aye Ag Ag Ae ‘ X F he ; Aas Bay wm K comupomen erspmenl, 3a Ag nevE A “5. Given (2, 1M),LF] ove fundamental, : 22 ma, so the dimensions roe TA=[M" Ee} Tae a fs Al=[LT) or [r]= [EA }-[E mire al 0 Tre ' + -o. Fundamental units: mass —~ kg ma th~— ell et letlza meters ean hee . Sum y forces on system Ene Tp) = 2me | tee=h see s, ‘ hip . . um x Forces on each partie = density of water px) glem = 1000 kg/m* on each partisle, Tae = 28. ky, ~ os Specific wt, w=eg = 7810 oe = cai Then Tha eo V2 me, Ton= ma Hence (= 4816 (GRY (Bee) = 1810 a? b* = 1B or 25° a Aecel, of gravily = 4.81 3g Multiply equations, 9.81 = 1810 a3 giving a=. : ai 9. /C!0 ] ell = 6.1060 meters . [tee = O-1010 Sec Then b= = (Fa =SHAE PRN & 2-1, Wat where Integrate % obtain 82 hat™ n of Ps at 2m Accelert where the horizontal acceleration G,= re (sing 2 te0sd %) P mover In a circular path relative fo 0. = 25 : Bog = mK (ae tte ee Hence. Zz ra[lsing att) Er (it cos 0%)” ; 2-2. Given x=A coset y= B coset) Then ~Aw sinwt -Bw sin(wera) The hedograph is a plot of woke gs Note thet the two ellipses have the same shape = 2-3. Speed S=¥% and s=a, From Eg.(2-6)), P= Ri+k*) = RU fae 90} Then we obtain an4ay 3 24 method! Use the herivonta! component of velectbe anda firewlar path of radius Rte cobain (eee 305)" 3 ut - ” R a 2-4, Pasition x of lower end OG is, . (Differentiate, again. Using B expression, or Re agli shPe)i —sie6 we 8 j] |2-5, Let moviny frame rotate with The eurth 6 L Adding, 28 aa 7 ese Bruns) 42h ral), -aet5 Gy eG) 2-6. Rotating frame 15 fixed in the eurth, with crigin at O. =) From. (2-106), aya a= RE DRE + Bx(Bap) HP t2ae(Ply y « LE, . Solve for CB), - We know 2> Now Bx DXB) = Brag 2 BE,-L6,) (Pe 2g Fa SEs) (1eBs~ Brat 24) = ae apt Brad 8, deub Rox Hence we obtain WT = Be ~ pra) ap Pr ve 8a ~ ues by i ee Nete that the result is indepenclent of earths vadies R. 6 + aang (Hyaty BBs 2B) ape E%) o rod Bey #R~T, Moving system has origin at land rotates with impéller at we4or fot From (2-106), ahr Sap onces ere eh 5027 & Adding terms -219.7 8, +6638 Gz _m/sec* 2-B. prod m Pgs? ee 5 ? Hee te + o R230 m Take O at hub of wheel. & ape Bx Ex P)+(P), +20%8)r 29,996 8 + 0.3864 0.1035 E, + 0.2864 Frem (2-108), & Re (o- od sin 54) Ep F 0.405 15" 5, +04 cos 15° E> on4 sin IS -24,8%(F y & anlar P)- 0.1035 (4) & = 0.0115 Er G P)y= EE Gin! 5, — to 15°F) = 64.10 &, 341.486 =-3,3228, , WxPro since. te relative velocity (A), = 10 ey Then 2x), = ~F Adding Terms, we obtain = $4.13 24. SATS 6 7 A2-7, RERE wT Also Vy = ¥D +p jue, the velocily of the contact (A= Fro: m Brio), point of disks reluhive 0 pls Pt Sxarp) a) + the velocity of O° réblive I the Ru B= “= ey Bxp =o contact pe ee Bx(xB)= (fen ate (3) 5 rel (cos at é,-sinat 3, . _——— 2 oata) 2 we. per ) O) De Bragg Aele that B, Gx(B). = 22anp. sin . ~ Pir . &% Then Gy = 2rw*(-sin 6 T-cos0 j) Ryjr = rp (-sin ef -cos pF) en hl ceah ey - 208 sing ~r20- sing] 74] -2eahens 8-r ew) cos] J zB +08) eos ada, Ky nsin at &y~r. R y 2-12, Moving system rotates with 00. 210. Its angular Velocity w is found. From ) a ose) = 9-4), (() Also a, Use &= Ry Oxf +t Sx(axp)+(P),+20«(A), A ise a P= blamn ¢ & tees $ &) * e A) Also a, bdl(eos ¢ b,~sin BZ) &, out of page 2-2 +e ele depe BBE arsings, @~ tN Baye, iia dpe FB Leeds #8) axBxp)= b(BA) (sin Bec Aen) igen + hp (-stap &-cos$ &,) 2 fee (sin f Eres 6%) H hati, and colleching kt terms, aye - 3 isi # or (4) B= Bt cose 2 5 ve uv o B= -E sin 2813. Origin of moving Frame 1s at OF Rees F Be(d)pbaxB where & (ikeuse)en tr sing E, (sin @ &, +0088 2) Az (sine &,reesG &,) vince rB=t%y % dxp= bus [sine Et (ir ees 6) Ee] a . Join By tr (ie Einees OE, fm ais lo sate page ) HF), +2ax(B), , 3 Bxpa~Teu [sind &,-+(ireos6)&,] 5 [(i-ce.0)8,-sin9 &] B), = ~¢8 (cos Ber sin 6B) = FE (cas 9 G,~sn@ 2) = 2 22005 6 En~sin 4 &, > oR ne ve ads [Ele gfeosee lie E)- 2B Aine]? ~ [ECE pane +R (I +cos@)] & 2-15. (2) Nonrotating observer. Typ = Ter % = (Pore) & a, rw B,- ru (Pw, (b) Observer, rotating with unprimed system, sees the primed system rotating counterclockwise at (w'-W). 2-16, Moving system is fixed in auto with erigin at OW ga a F=ll-siny E,-cos ¥sine & eats peasy aoe 2) where % sin gt. Use hx f+ x(Bxp) A) 20>). Re- a, » wxBsO Ba(xg)= Bin PE ,tees sine Bp) Hoa (B) = Lb Cc0s YB + sin V sind By-sin Veas% &,) 2mxa) = Bale (-3in y sinas &~cas v By) = (ficcos y Et 5h Veta By ~sinY cose Ez) 41 g*(sin PB, +05 Wsine Bp -cos weesa Ea) Adding terms, we obtain . Epi sin et ain pees ¥- y gu cosy sina +] p bas Painn #1 sin yp sing ~ PELE cos. wep i sin sino] 2v7eb a R + [UB sin p cose ~Ip'c05 Peas] Ee Largest Force ocuurs for the largest accaleraban normal t windshield (ulward), Dx(ds B) b2dixBly mar normal when Tda ee ee ee eee rie.fent'd) rom nm 108), Sn Moving system wilh origin O' refates , 7% B= Zé, sad z at B= PEs er T= poss e-snog,) *) z, Ale CP or Bar(sinx Bqtcosm By) Use ae =e ares J) 25x) Reaixge Bx(axp) +P}. +20x(), 2 nb oncosOe, # sin @ C3in 0% cos 8 Ey) x, wes Tz a 6 . arcestg/ ~O%K 3 Ccosasinber eee) %X 2-19, Take the moving Frame ly m sine c03 8 \ : we * ; iat , : and ws ohtvin % a \ with the origin at 0! and with S ax (@x p)= re" asin ¢ | woesq Sine ~CoSa cos ~ Hn cose = fF (sina sind cos &ptains cos Ey —cosa &y) | (A), = 101 Coos = Be sin 2p), ()=r.22 (sina By cosx 2) Sie ot ox ech 5 = 2rNHlsina ti 6 E,+-Sin a cos 8&,~cosx cos 8 &; ral a z %) Use Pe peo, @x(Gxp)=0 + xB + Bxe(Gxp)+(B) + 25x P +e) 2g Erg sind sin cosa+2r Ap sin sin] By sin@ cost 1#* sine CoO + rN? since E2rAG sins cosy + [peg cosa—rat cosee-2rn.§ 03% cos 6] By ox Ps 2 2 (4,724) &2 so we elskrin 2x(p), = —2R4, (4+ 2.) & at. . x=lsing, R=1d cose or Adding Terms, Coe ye Raa Ye a=(-3rd-2R4,0,)8 — 2 (4tM.) & = ws const, Rr (fp), + BxP |, = Leese F-sinej~20 . ~ CHAPTER 3 3-1, The upward acceleration « @ 7s found fram e : ma = 2F sing= mg or a= BE aing— 9 : Consider the massless lever, Taking -| c moments about O, 1st The meving system has erigin at O'omd eagular velocity Fr cot d-Pleos# =O =O. Reletive % this frame, point Q on Hecme giving i . 5 has the veledty gerd. But we alse knew thot Foposing “age Zep, since pent Cis instantaneously at rest and Then 92 2Pl sinth— 3 9 20°C Is a diameter, Hence we can wrife For $= 30%, a=FL~q - 2, = 2(rresparé er zn.cosp ; amr \iso we see That v(—c03 feorp Thsing Fecong sing)” 3-2. The radial acceleration is ¥ Then we use + «ft x (Dap) +(B), +2 Dx(B), aps P-w*p=0 since the radial force is zero, -reFcos fi, wixBro, BADKA)= VOM (cos pcos p-sing ), b(sing eos T+ ces $ J- -sin pain pk) This equation has a solution of the farm O arn(sing costa Tt ees peesp j-sing. sinp coxph) =A coshwttBsinhwt with ro)=R, re)=0 ~# p= rd (cspees pe Easing j—cosd sing F) : Hence AsR B=c. + : Lasre Yr (cou cosa E-sing costs j-cospsing cos'p Kk) r2Reoshat , P=Rwsinh at i When rs2R, cosh wl*2, sinh wi 2ealp), = rot (—cospcesp Cr sing cos *@ i) itn &, wt = eosh"2 = 1.3170 rad = 75.456" 75.48 aiding, = vat ces p(ireesg-foess sinia) Pest sing J - Heat cos } snp cos" k : Radial velocity =F = VER) = Transverse velodly “Za 2Rw } weyuteut =VT Rw | @) For ¢=0, Hpk sin p cosp (sing T4038 k) “Acceleration magnifude ase 4st sing cos where Dirgetion (euunterclochuts From xaxis) @= 78.46 # fait’ pr redius of curvature and v= wWa2zrn cs f- : = 124.565 lence p= =r at ph Cartesian components: 1.5010 £+2.1188)Rwa ey Equutien cf metien: mya 27S 2 er Yr 2tys rv G+ Bry=e Natural Freguency u, 3-4. @) Eg®. of motion: m 2 Irtegratng, at Be Bleje-te-) To ofa JE (2) Then, seluing fey uy where the time ef Bmax fs to, [iy en Ba, Bepanding ton [SE (At) gies fe ton [Ee 7 1 ois vs tan PRB *) ) Let rev Then mre be being Integraling, gx ma BEI) aE 4 x) ™ by Re = Elem )e" i] eon (14 53) (6) For sguare-law damping with byt= mg , we ebtain ve %, Fpdn 2 = 0.3466 max = 0-8 Ne 16 (ee, ae ee of motion ts 7 - XB per Ms mye = emg or ew T= Totegrating, “9 ” a 4 For othe tyes Eg, 2 = 0.20694 Also see Eqs, (3763) and @-6%), —_* By pu keutezo where wy From (3-171), the selution has the form _ CaP cos (wile) where ay = ahvinF Ca beat [ge cos(ayt +4) sialeyt+2)] Hence pay OCCURS when ZO oF, From differential equation, when 2=~ Yn 2 ~ fue} tan(uyt+8) x 1-28? 5 mee Tan e)= for [lua Hence tan (at #8) ye a x Bub x20 at cos(ujite)=0 or with SAF Thus fan ayat = 22D =—1 ot 280 or ats Doe ast 17=6. From (G-142), the weighting function is ny On CStnE — Ile) = Pa sr oyt where oye ey F Ising (3-195), ters [Beret nara fits, (e $0 sin Pens aclt-ar vhere the upper limit ts @ since the steady-state solution 'y desired, Next expand ccs w(t-7) and cfatn frome EB tongTee aren tf spnsrar} svaluating the iegrals, Gteuyrenataras[ee "ity acu) er ee Far +Gra)™ sinGay~a)T~larusecs (ug “iy > Turtaay [__water wn L shane (gt Swe + (wy [g ST Lge, sin(iysre) te (yra)ees (uy! ors” inilonty, [eS Taina sinwtat = tu) rat [__Seu _ _ _ Bn bent (gra) rere sa we find that whe eh (5). 2, fTE +O wit 2a VFO” oT sina New oy = UY Sutt(age) = Putt (wyra)” = a — 204, EF be” Then the ahove integrals can he expressed jn thea form 3-6. (cont'd) [Bol in Tees ara _ a (whew yee Corn ee eet 2 © 40,7 53 . 21] 34. _ buy fe sinu,T smal aT = 21S 200A a OE PLOOM ET | Finally, abe ae - Grey ri set Be] w, (wie ilocsuteesees 8 sinat (agra)? +4 87w | fjecswt vasternw (Spas vaskior | nF eek) we Gn where fan p= 2S 4-7, From (8-21), the envelope of possible trajectories 75 Rese) a age 42-2 gy) x and any point is 2 pein of maximum slant range. Ye? Xe fam «andy Fram 2-26), Hence Jato 2 font hf) = 0, tan ce Taw ¥ Tan at {feta Tana seen where you umd FSY=2, ya, 533 pot Methods The fwe constant forces are equivalent ta the feree oF an effective gravity of magnilude V5g/2 ot B= fail be The pendulum wil/ swing egsally on either side of eguilibrium, gy ab = 53.18% =2tew' ft = 3-9. using from (2-40), Prrage 1= 2R-Re =(2-E)R Jangential and wormal component, = -3¢,-28, Bp= 3he~-p er [c2-oR8 -Ratj=-m orm | eguatiin (2-688 Now mags Fe giving the differentta’ (b) Use conservation of energy. ele)=0, 660) s* yyR {sind #(2-@)eesé]= mg R= 2mgR g* mg | a THv= gm (a-8VR mag occurs when 8=0. “a ‘sing + (2-6)ces8=1 OF Bmax 20 BUNSNO. Contirvatte syen The contact paint C is the instantaneous center. Thus at a[te(S) 20 G) eos 6]8* Te malin a*($ +0088) = 7p mgRO +tbmgh cos (943%) UsIng conservation of energy, THE meses cos) + Lm gh [eox(e+30")-e] tn #9 eee] Selving for E, we ebfaim TP aces © (&) The speed of the purticle i momentarily constant when a, i.e.,when the tangent fo fhe puth is herizental, and gravity de no Work. dV tg R~LmgRsh SJ = py? Ae a~gpmgh gmgR in (Ota) =0 6=240 B-/]. Sliding begins at time C=t, When the spring force eguals umg. kat, spmy or ty aa Ths x20, ox teas Se For tzt, and X20,we have the differential epaatio Seng of motion anit ek(age-x)spmg or B+ Kix = Steady-state solution x= CT HC, From differential eg", K(c,t+¢,)= Transient sol® has fhe form - Acer + Bsn fky Thus we obtain = 2» i _ agt Th + Aco [Ee + Bain [Et KEKE 213-11, (eent'd.) The initial conditiens at t=, are K(e)20, X(4,)=20. Hence lo) = ABs = Btth BA es HER + Bein dd [=o © sir LE fm. BN or mrutsing JBN” ees (EB Hence Wpag for re sliding 1s nme | 2 mux for wo sli w=, /eurerts) _s z.nais, Sliding 4p ‘nur ~ \f ¥ (snap C088) mm ieee Case 2-Stiding downward. The forces aré the same as tn Case I except that the Friction Force 1 ts ceversed. 253-18. (eoat'ch) Thus we obtain anv wo sine HAN < mg GOSH eg feta wet (Stes) if sliding downward occurs. [acter = 1.5086 Ginn bn CS) Thaw results are alse obfained by noting that incipient civding occurs wren the resultant of the centrifugal and gravitational forces [/es on the cone of Friction. sliding down {b) The cone cf Friction angle $ is giver by fan d= Se tf ¢>% ,or we rtana, then the f___$¢ vesultant af Nand pW has a. downward component. Gravity also-is devnwarel. Thas, ne amount of centrifugal force wil! couse the particle & slide upurard Also, the \ expreswion for Wun , Case |, becomes imaginar ys : Pig? tana = V/V Praia? nA LO soos . i ENC + 5-19, 1210, (=r6 or a=+ ger Choose the moving system with erigin at O'and rotating af J=048-04 7 (2-106), dep +GxCiexG) tp) +2ax(P Using a Rare, , pr-lex, = (a+ $)6 Cex) , a, -r (arg) & Bx(BxP)= (n+ £) (B= 18, 2Bx¢Ahs 2i(ard) & Mading, ga fretarbs Lozifnefjero(arbye, . There is no force on the particle in the & direction 30 a, 0 or -£(it2ralerat) +p L(gitram) =o giving the ditforential epaation tie P-Ptso o B(ti)areat Lnifial conditions’ 1(0)20, Ho)= rs. . Integration of the diflerentiol eguation yields tis rat. A seeond integration results i fide =frdedt or EP fPRE, so rat Tensile fore Fema, = mt(at by =4mia But 2=1nt so we obtain F=4mrait g~20. T=hmr2d* , Vamgr cos 6 43 Using conservation of energy) [ Se” ast «29 LimrtB'tmgreose2mgr, 8 =E (cos) Now ma,=F or ~mrd*=N-mgeos6 resulting in N= mg (3008-2) The particle’ will leave the sphere when the nermal force N decreases To zero. cos @= F or e= 48.19" : 27/ ee S&S SL 3°2/, Normal forse N= yy tint ios Fer constant speed, the acceleration 9 At ls centripetal Chorizontal), in pet = a See ce Then ile | cos*y 5 div) | tucosy Oy FOG ys fe or AW) etry 4 which is litear in u*~ The form of the solution ts m2ueastY, Mae? 21h. SP BY upward Into tube, equation is mr 8? = N- ing sing 99 year BB vagsin ee mrB = mg cos6—“nN } = mgcos opr ping sine "at Thus, the differential equation is Is Spd 21 (psind adhe (a) Change independent variable 6, 3=6 42 dé? g2_ 2: . Then 2 +R es (cose sine) which is linear in 8. The steady-state solution has the form (ge) C, cos 6+ sin 6 Substituting into jhe differential eguation (Cyt2pC,)eos 0+ (~C, #214Cz)sino = cos sine Comparing coefficients of cosd and of sind, 1 = 2: & ~CpbBpCg = ~ BE Bee) The transient solution has the Ferm (8) = aor? & : wrete F + where V=0 at s=0 Inifial condition 610 40 AFC = Fas Final ne 2mw? Radial acceleration a, =P-rat Fz wa, or ~uhsm(F- =e) ° giving the differential eguaition usaeinerse No gravity ‘Assume solutions of form &. The cheructeristie eguatien M+zuwr-w*=0 with roots hy. Casvize)e 3-25. (cont'd.) The solutian is of the form r= e% (A cosh [Tipsteat +B sinh Ves ase) Given r(O)=R.,80 A=R. Alsg Plo)s 0 = pAt Vie? 8. yidlding B's wm Vinge re)=Ret™ €esh intait sinh |Tipeeat) Oe + Henee we obtain Alternate Form i's ee \ eo Viptat F(t)=3Re [uae ae” 3-26, F2vj where vec Ru, YI far At an area element dA=rdr dé of 40 r the shafl, the relative vebeity af the plete 5 a ray sind f= GdeoneruyT ie \\ The friction stress 7% = uN/mRacls on the shaft ty the direction of EE, Hence the folal filtional force i F sin @T~(cos 6 Ee Sef [eee eT ~(cos 1 he Feces 0+ - By symmetry the x ~onpont a8 & vanishes. For eej , we cane sexe the approximation hs fir Beas o4(5)'T “2 j-fose | Then, a First order in Yfw, We obtain R 1 7 R ed (om = me [jam eicojaoe Bae Nobex We were given that Agy= €< Mig- The static x {9 __ deflection xyp> — bug) is the average ms value of x in fhe sinusoidaf oscillations 7 aa77 of m,, In the korderling case, -5) E (Bont) g Kop? ESmact Fein) oF Hg > (HE Thus we obtain since, § 4-2. Linear density p= Lt. $1) — Js X{0)# A. The initial potential ol imgat 1 mga energy. Vi=—teet= F The final potential energy Vp= ~xmigh. Initial kinetic energy T;=0, Final kinetic enevgy Tp? smu Energy lest in friction y= [ AB Gunde 2 Fit From the work ame energy, principle of (4-26), T+, = Tp+Vp + Wy or ~ mee me’ ho ggh HM ae 4-3, Given P2grAsinat , Ach, Conservation of angular momentum about O yields 2nrtw=2migial, or W= re ros -Aa in pt Radial acceleration a Redial fore = ma, =mf) ret we mjAp* iggy 32 a _silving fia ee 4, Using conservation of angular momentum about the em, [on (Si)*+ 2m($a) Jo = Fmd, When [= 5h, we have Lmiiw= 2m To)=1., lo)= a, Bria, or w= Hal (B) The cam. is Fixed in an inertial frame, The string Tension is Fe mew 3 4-8, The vertieal, velecily is unchauped upon impact because there vo Friction, Total time 2m sine f Time f reach wall 5s v4 ese, Tine fe returns t= Lt, since Sts horizontal vebity is ety cos %. The <(pt)—35 = 243% om eentas(taey = ( ye gente for wa (ite)gs. If the ineguality apples, there are twe values of ¥%, one tw the mange 0% < 45 the other 45° 2% 90, %, we. chtasn 46. Before impact, =U,=0 a= Ua) nb ee The tangential velocities are unchanged by the impact.=6. (cont'd) Using (4-83), the normal velocities af fer mPa Os a(SE)ay tS) me = Se e iy y= (48) a CZ) 8 * Soe “akiag Tand | components, 7 a alent) )i]= 2a seto9s3) = % (0,475 (0.475 j) OQ, ty sea SR s 620.5 f 1-7, Using linear impulse and ‘momantion, the me velocities are 1 x FE rv = (“> xm)é tae F Yaing angular impulse and momentum for each dumbbell about ifs center, Shifting te T,F unit vectors, Ty, =e (5 cos" + si7Qia EZ Sink cts beSinbc0s8); | Final velocity Ty has Tanct 7 components egual, \ peossintg = eon be ty ty gad 39 686 45in°O = 5 SinB cas@ or tan- F3lanO4+35=0 _8 tan 6 = FS (i ap = 0.08892, 0.894) 4-9. The initia) velocity of m, is %, cue to the impulse P= mG . The initial velocity of mm is zero. After the initial impulse, the vederty of the com #5 constant ona is Fouad from z 5 2% Fe boven), OF Von After the impulse, the angular rnomentun is constant so the angular velocity is costant at Hts initial value, a wo 20 41.80 Consider’ the rotational metion about the cm, The Pensife force is m, mz Ve bem ylmae 4-10, Using (4-83), the velaifies immediately after oe are ae eT ae ee 2 eee 8B 4-12. From conservation of m ‘momentum in the 7 direction, Re E)% % mo(ar Tu ag) = mye 4 i 1 and 20, Pei B the right. | By symmebry, =), . a Ye For the dumbbell, Eq, = 2% * m AVS U = 4, es he From the definition of e, 1 Bewy or 2 VE yf =)35%5 b) In order that Aand C€ collide , a, =u, Subtracting equations, of tse 2 HE oop 2 + Then Just before the collision, I]. tet 7% = particle velecit; * ° P : 4-13, The situation just after impact ; Ore is a3 show, % a + as yet F z bo Sy m= ZF ie a = velocity of block me ee “FLL )s e fs E24 (am) BJ = Me i From the definition of @, “Be - The teal energy is E> (am) = “ ig From momentum conservation in the T direction, * The tol angular momentum about the ¢.m, is ans am (BYES) (BY) At masimum stretch, using conservation of H., [ame + m(2L) Jos domly; or oz sy on( Min ht) 42m] 20 on az yt Ve V2 ‘Adding eguations, — (5 Then, using conservation of energy, ERGQUY + 22 (By + Sole (38-) = mt ! te myth Lb). 2 mye ath = (pba) ome 36 37Y-I, The acceleration of the com. isp Seam. = py Flam ot Take a reference Frame accelerating with tie em, 3 and jnclude inartia Forces, 4 The block and sphere each have a net force LF acting fe meve them towurd each ofher, but the sphere meves three times as Far as the block since the sphere Aas 2 smaller mass by a Fachr of Hirer, Howee. He sphere moves 21 Te Bist impact and rebounds with e=0.8, “| st am The motion of the sphere relative Te the com frame is equivalent te its motion. in an artificial gravitational Field with oO _, .£ G7 Mau 5 and €=0.8 af a fixed surface. ésos 9 Using the results of Example 4-5, the tine i stop bouncing is /ECE) = 9 feet ‘3 [SEZ in Fieedl Frame, At this time, > Ean = Feme = Y-IS. Particle m has & negative me 6 ¥ acceleration % due 7s the mutual OST attraction until r reaches a minimum, ~~ h af which time the speed of mm i maximum, Cheese an inertial Frame moving with mo.” 4 x In this Frame, energy Js conserved as particle m sheets at te and has an intial wlacity —Ve. The potential 38 Y-I5, (cont'd) energy is Ve =K/r » Then, at minimum separation , Ky tm tame But, relotive tr the Piru xy Frame, se yte = a(n fy Ze muh eg A maximum speed Yan = b= % (li!) the eh 4-16, Let k= velsctty of m x , Ree veh of my MNS Xg(o)e-@, Re =: + % , X@)=0, X@)=0 Kg yh Using. conscevation of momentum, eh LL MEA ML = Mots or Ke ty—HEK Using conservation of energy, doy ida gmat Ketmgy2 or, substituting for: ke, e *) BMF sme Mgt -mg-Ka0 Nehing thet 2 is actually negative, ns catmetnae lxttw Be [Mt mag 2 | Unger) me mate ( fr, Bk emetre) -) ingen WV! armayag hy AL yah in gore or avez BEYI, Using conservation of Jinear momentum, Using conservation of energy, timate hkStcmat msm mya gm sk Sema; age Ee bua tks om This resulis in ler aya th 820 or age EE GOS. 2U* 2m ge (aan CEUs for 8-0 withnsiyn. Cae) a dae ) Snax OCCurS When $20 and ware Ze from the momentum equation, Then, Using the energy equation, PES FTES shiny 5, = [Ea \ Sie Ye 4-18. (8) From (4-83), ote( heady (4) Consider m, ancl my uftar inaprace Using demservaitine of angular momenta abet C2 asus Ring = army gg ae Ge" R Using comservatiin of energy, (CBS © ahebe ks hist For (5) ge Pring force is ero, Hence S=O and we obtain Ley aut By Qaeda iee « wc 58 cpegmape ths C) AE 8 Snax, BEM on 522% . Then The argulor mowenkins equaltn gives a5 UG. Then, xsing the energy aguayion, 9 9 ye ket= (2-3-3) 4 4719. There are ng. external 7) forees on the system, The cord &@C applies equal and opposite impulses — x % fo particles Acad B. Hence, fhe o— velocity changes are egital ancl apposite, A * and ave in the direction of the corel. Furthermore, the Freal velocity components allay Me cond are epual, = . psy Be /Bbyp We Byiy so BGG, Uy Pa(F is] » oe 4£(s7-vsj) A 20, Particles A and B move ligatter under anet gravifa- tinal force mg , opposedt Ay a toe vag actng on C. The eguilalent system is bey bx Shown. The Gime of This 4 ak. —~ system remains Fixed since 4 € ae Tae wil Sores & evo, Ke -$y and Aa-dy When the stretch 35 x-y is maximum, the work done by gravity Is egual ye The energy stored ix the spring, Tp Baae = ERS or Spag= 2mg/ (8) In general, using work aand anergy, mag = ike t Sg ov ~Lngy gdetetsg Fer Wl, jue have -Beyso gig y= Oz Eo Smeg — oe ae 5 ) 298 Seat SVEJ Y~2i, Epuations of motion: 8 rhoyckag = ig mhz Hex kx, = 0 Subtracting, 13g) HakOA/ Aa) ge Strefeh S= xx) Twitial condétions + 488 mB EaKS= mg S)=0, S(e)=0 ri 8= FE + Neos, Stl= SP+4=0, SW)= AEBx0, Solution has A=3e , B=O0, Thon $= TE (i~cos E FE) and Simax® Fax = §, (b) Consider the aguivalent system. The midpeint of the cord isalso the cam. en 2(EgN aL) or 4 where Xe mae me Cert x2) (€ Kx? "e 2 (¢) Cord returns fo length L when $20 and teary , * and transverse components of the: At this fine, x,= LX here Ke = 4-22. Let wand vy, be the longitudinal abselule velocity of B. . Ussing, ryerlseoop~2i: gular momentum about O& conserved. H2 $at or L=(batte #) = ing Zk Dydt 4-22. (contd.) Hy mUStmy, Laing +8 T(i-c034) =O or ml "64 mlB stp tml *(1-e0s 9) 6 ~ -ml'(I-cos$) d= 0 er ml” E (resi pr l-zeosprcogp)d = mt tsb 05 a= (seard)? (0) = #0) = 6@)=0, He) = ob Energy is conserved. © dd? 44m (ef) = dmTiod ftfeesiterrandl $F-2640-c9)}= ae Lml aly substituting for 6, (cos a) alle [St izes 3. P2e uy P= a2asé a 2d] gt 2 oor (EES Fak (cos) Wo Oe ees) Bam 4-23. The angular momentum about AN the tm. i ‘3am (Lyuges mle, ie < teh Ago In the straight ee = mld musys lu, He = Uag-tq)= mle, or ~ ett Ce ane From Conservation of linear momentum, A yb wry=e l Using conservation of kinetic energy eter eran Sec ema % Substifuting slaty and 45 ye 2tyrla, 1 inthe euegy 4 cin ge eet ra) (pte or cape ctaysated4-25. (vond'd,) On the tiest pase Hrough the strasht-tne LonPivuration, tha + sis applies since the aviginal exterior angle at B 1s clecreasing. y= bh tps eae = 0.008 ta, , Mp As Cate ey = 0.2887 204 - (0.5774 Luly (b) Suppose A anf € should just barely collide, je, have the Same position and egual velecities, - c Frem angular momentum conservation, > AS m(¥1)%-2m(Ely aml, ye GB re (Eq emelSI om mn, GER ATT Ge From linear momentum conservation, cm Bn Germ =O , Ante. =6 21 sat = mO— Hence Yes “xo , Br la, S The kinetic energy /s My ZO > a 2 T= om (Dash tm Eblat) = Bmed ey . This is kerger than the actual energy Er wy. Hence, Aand C cannof collide because Fhere is tnsufficibst energy. A nonzero collision velocity would reguire even mare energy. H-24. The net force on the vertical } partion of the rape re the applicel =) an Lay force F minus ths weight ppt. — f | | fs The mass per Secomey pty times Its vedcity o 2 Ay. Fpuating the nel Prce te the ratte of clogs of momentum, Its rate of increase of mrmentum. ~ Fepgut= py or Fo pe tegye 44 Teas. Tiss € when vopé bist ils Floor is fuund from gdh ay 3 ght a] 1 Feo, osts fen Hemene a | The length of rope on the Floor is tyt™h, b Tts weight is pglige=h). The fmpack erro force is py* since a mass pv haviy a velocity ap hits each second, vagt . The tilal fire is egual % tha weight of the rope on The Boor ples the ~ impact faree. : F= peg aati pgith= Se pgh . VE sts ee When all the repe iS en the floor, . rye o> (2D rpg oe OPP 4-26. The gravitational force component along the belt is bel ie ant since the mass per anit t length is bfv, The force x F, results ina rate of momentum increase by of the material 30" Bo reackthg the belt. (we assume 1 no reaction as material jeaves at 8.) oy U Hewce Bho ba on vale . see Ve-27. The. mass of water 16 le tring the block per unit time = 4 pA(m-v) - Tt, | ; fm lo dergees a velocity change A - -ar, Hesree the Force on the block is pAleruy = mg giving: eg (SE {ae.\censider the entire rene os re_system. The net force acting —— | the system is the gravitational * ‘la ree pg? octing downward, The sy z romentum is pee dewnward, | fence g : Set. = Z =pgt or Bet2™~ 20 seletl =F Zé uct dev ond BarSZ. Divide the differential gquation by and oblain, dle), vt adr Gag v2 ae Fe cyis is Wear in v7, The homegeneeus equation Is dvi, Sz0 of A dz 2 de z sare A Daler) = 2 dae teenst peng (or, ae. To obtein the particular integral (stealy- stale solt), 436 variation vie) di) 2 2V vi Fe 7 a BR the differential eguation yields . 72s sge poe Vege Fg? aad (O37 when B=Ee of paraweters. oF PF ate Then 592 where vee - [22(a-8 por viyfFlH 46 . yatuie Ast oie BF As Eee ghing ots 2b + ve is Found using conservation of energy. mg R™ mora mg = EgR=secoris | ween Hl ig mesos 14924 ky \ mt S0. 27,6833, ™ aimeso (b) Two shagde,, m= Sm, Same burnout = 50081 32e Assume the first rockel is aiscarded aftey ifs burnout. (eset SO)) «nl GEASS) = 2.0999 I eam + 50, 0am? 56, 0.2 G.3m 50 A 0.01%, 750, ov 0:1934 mf] 2. 933m ~16,708 20 mm 136.494 + 323.728 = 460.22 { | Tolal mass i.2m)+50* 602.27 k or (BS 0.2m,+ 50) 7.6934 (©) Single slage. Let Fe recket thrusts Total impulse, JoF = Lyp(0.9 my) = 3.1838 x/0" NSEC | 2.98 F -g= =. g = 166-084 At bernout i ws max = Two stages. The firststage thrust is Fe ble 9m, 9) = 01st x 10> Fi = m 54.0609 = 530.33 30 o.3 7,480 fd see OO nax = geconelesfuge Hews! fs Ret Tp ©9129) = 0.27, = 20,317 fg = 33.98 = 333.3525 ()pag? aT SE Ge ONG See 47<< Y=30, On any bounce; Raph iP input thes mt, i where & Is the herizonta! veteclty Just before "he re osk definition of © i id ysey S ve f HHS ° Conserving angular momentum about 0, ° ml ea (b) Assume dhigping at impact. For A, using linear impalze ond fo pa mromentiny a (gabe ah i+ F about 0, é Hoe, AL 494-23, (cont’d,) On the first pass through the straipht-Line conPivwration, the + siyn applies since the original exterior angle at B fy decreasing. Cet )ewe 0.003 tae, BE A= AQ Grey 0.7887 Lah (b) Suppose Aanet € should just Sarely collide, ine, have the Same position aud egual velocities. From angular momentam conservation, we ($l)ypn ember ee, Be Gee sry he From finear momantem conservation, om amy tm%y=0, — ABtaye=o 3?! 1 > Hence Uge= ~3MHe , “= lab Ons, The kinetic energy /s My =O ? . 2 T= be (1u) +m (-£dan) = Bly . This i larger than the actual energy bles. Herice, Aand C connect collide because there is insutPiciext energy. A nonzero collision velocity wauld reguire even more energy. 4-24. The net force oa the vertical portion of the rope 13 the applied force F mines 1s weight peat. le" | @| Its rate of increase of wumentin fs The muss per stem’ pt Fines l velbcity cha “ Ay. Eguoting the net Pree te He rate of aloge momentient, = pt page F-pgut=p% or 44 MP EL Eis EP A eae a ee ee _ a H-2S. Time t when rope first hits Floor &s a found from Zgt force is pv* “since a mass pt haviy a. velecity a hits each secmd. vagl . The fetal tree is uel te the weikt of the rope on The oor plus the ~ impact force. FS eg z. gt hye ogt® Zeg't— poh (Fea ‘When ‘all the vope is on Meter “epg é fe 4-26. The gravitational Force fomponant along the belt is Ae we since the mess er unit length is b/ir, The force F, results ina vate of momentum increase by of the material reaching the belt, (We assume no reaction as material leaves at B.) J H J 3° > || Hence bel eka or vaf4t 4 au ro 46we 3 TLD Le oe ee Oe -27. The mass of water a YE ting the block per unit time = ae pA(y-v) + It + dergees a velocity change A eon the block is jot. Hence the Fore palicuy = Kg giving: 72% es “zE.\Censider the entire rope a3 ve syitem. The net force acting 1 the system is the gravitational ree pgt acting downward. The rementum iS ‘ence fepadl= tf or e+e pei downward. ) net de ond B= GF , Divide the differential vation by & and obtain la) 2 ; oe oy LOS ag Berd Zde 2 ear in 1% The homogeneees equation fs o de) =-2 # + diet Lhe’ »y vA Daler) = 72 Ent test png = oye To ebtoin the particular integrel Goat stale salt), ase veriahion of paraweters. 2. dle) 2 24a wee de » 2 this is lin rd, La ge ° z Then the differential egu co Meg 5 ip be FJ 1 Then tse yo, x ae 32 ginny oS BE eS eee 44-29, (a) Th) required durnout velocity js Faund using conservation of energy. 1 et. =mg Rk _ [BaD -_ goectongh = TEER » aN gh wows at 21g LE) tof 288) "| at ae Tg Aiea)” Aol Te) = 20° meso 1492.4 ky ont 50. ent 450 7.6833, ma rien ig y (h) Two Shagés, ™,= Sm,» Same burnout a= SOO@TI IES Assume the firat rocket Is discarded after its burnout. (et) + bale mye ES) = 2.0349 om 80, acaame 50, (gamit 60) = 7.6933 9.0209, 7 50) 52,933 m,— 16,108 = 0 (36.494 + 323.728 = 460.22 : Toba! mass 2050 602.27 hy () Single stage. Let F=reckel Thrust: Total impulse oF = Lap 0-4 my) = 3.1838 x10” NSEC FE = a Orgy = 9 = 166-083 7162-2 ser max Se tSO d se0 Two stages. The Firststage Hrust Is F, 1 Tap (0.9m, g)= 101stnior Fi = a = = og = 530.3125 (pax * Goo aEGG TE * SESS SOME At burnout, gecmulentage thrust ie Fy th tep@-Tmag) 2 O27 = 20,317 4 Fg = 33.98) = 333.35 205 ane O° ¢ sect AT (2)inax™Dae we ea ee " ASD ns ee which resulfs in z then biz 3%. vA stipping actualy welocity of if - aud the rmectien is i rege at. Ie 3e)F pn stale) , aa [a self +(i+6)3] Py A ANS y-33. (enti) From the defin [1-Ceaxird in? AH SRE sense shown if the fangential al veleaity of Asie, occurs sn the Bis greater Hun the fasegent Yor)» EE op preg amps, ze is 3 > 4, there is ne > jan of @, 2% or (ee (ire) 1 2 EMG (LANG re) (ne) anil we, obfain x iprgiezaleai] oF Lip in Foe teongeatel dvechion Fy nlepenclent of My Setting = 4-34, The initial spring force 18 ang, 40 hols m, and m, start sliding | m, mm, eee each other, For X,70, the : acceleration of the Com. ts - a, since x(026, 2602 Earl Kem gnsider the motion of m, relative - Now 6 fe the accelerating cm. Frame. Kneludling . Inertia, forces and defining aad =A em Xr we oblain the differential equadtiin. - skye FARK P= au 2 ee TP 8% “ag with, initia conditions %yp(0) hy) =O 50 yo34, Gontlde) The steady-state solation'is (xy)s “3h f Sk The complete selubion hes the form ~ 2H +6, cns/Re +c, sin t Fromi the initial condifions, c~ PE and G2o Len FE (143 cos Ee) Xie > x, 7 Klow transform ty the absehils frame, ~ a iER. t gt? md (\-cos/e) $7 Sag oNin? pags OCEUTS when & First reaches zere, FAK p= 1.2310 rad (70.83) ez (R X= Kip X qat + Be sin fee, + eos (Et = $ or Ther Go)nyag? ~ E{hasto 8) +e Ee (8) Sliding stops when 2,20 or sine Let 62 2Et. Then shn6-3 VB en sB- 3850, 622.2799 0d ts (Re= Lone (130.578) Y-35.\ Consider an accelerating Frame o, ~~ jn which the support point 0 is Fixed. ell ia In thit Frame, there is an ortifiota gravily a as well as the. natieral gravity G,with h the resultant af ax argle B= fax! G The pendula will sling an epsel angle beysed the epuilibriom post Fon at BoB) FiMing Byin=O) Oyax@ VR (b) asV3y so Be laa vE = 60, VEIg= 24 270), period T=NVE K(k) From ke sini From tables, K(4)=1.6888, T24.7682 Jig Sti 4-36, Consider the support point 0 th be Fixed and add an artiFicia! «At Yo hovizental gravity of strength 22. fa In this frame, the polential energy is ) \e V2 = mngd (cosele2sin 6) ¢ Using conservation of energy, 6(o}0, 1-0 don ~mgl asa r2sina)=—mgt Ab 8290, mL = gl giding y-37, 5 G)= 5» (= 3L Using conservation of angular momentum about Or mer gemey, A= le rE mmr b,2 aml%, AS From conservation of kinetic energy, noting that =-h, 1 Te LinGieanteseizete) meiels Es )ome | Now (rman Ors For =O. Then in 4 ta( ta) The veét r2Tais known From (q(T aE rBD)=0. Root: 165321 ub or albeit tbeaty-et'=0 ( conditions. 5 1.65327, 6.13552, and 0.78872 only fist applies. (wae ™ (b) Consider m,. Tensile farce Pa mH a em SF) . . at Consider mz, noting ip) aaa 4-37. Cont'd.) ti, dP _ milage To Find Fon oe = \ Hence (dten) =9y% or Ht-H=VIN, Then, mitt [aes)?,, 25)e BE yeh 2 ” Ryo ee UN de Be (ini) = 0.4353 8 4-38, The gravitational moment is. fig = img R sino &, My 9" e Consider the inertia forces ecting on an elemeht da of the rim. The corresponding inertia. moment abeut O18) ag x Re +BY @, 1 sinw Bp agRZp~ Ap RZo)dec where, aosunin that 620, we obtain From problem 2-17 that HRA sinte+ FP sins sin cos 8 + 2rAG sina Sin B RH sin cos trp sing cos brits + 2rAgsina cos? : C = oreo cosx-2riG CoS CoSO a, 4 Evaluating the infegral, we obtain . - m= 2 (nrtftenaeesd vars vin os6)& poltet a BE sindccse t2r'0g sind] By But My tM, =O, oF . amg Rsin8 apm (anir?) Bing cos =r 8 sin@ =O This epuation is guadratie tm d,and we obtain ro {! + [i ZB ea eos 8 ces@! aa 531D OSE US EP eS ae ee a ee ee eee eee 5-3, Earth's grav janal constant pte ='3.496%/0" m?/sect yadius R= 63734108 m CHAPTER 5 The orbit can he considered te be elfiptica! with orbital radius Fe>14¥exK jo" m . Let 2a, €!, and =O, The pariod is m orbital velocity = Gesastagay 7786 bec Found From Sun's gravilational canstant lg tetG*= 1.3272 « 10%? m/sec" ‘). 7 pe za fe = 2 wo aM Method, Consider a unit partick. After escape fren the The tine Hf reach the focus i's tarth, but of the orbit of the earth, the partich’ escope am [ee F velecity Fram the solar aysteme /3 IB: ave tg 4ayn03 hee s Relative Jo the earth, this velocity ts Fram (Soe) we see that the gravitational field within i Ay = 47, -1%, = 12,338 m/sec 5-2. a homagengous sphere varies lindrly wits the radial stance v From the confor, Furthermere, the acceleration Now consider escape from the earth with a reridwal velacity 43 . Using conservation of energy relative % the earth, of gravity (3 g.= 2.814 m/sec ad the earth’ surface where =R= 6) fene byte He aye 222 x a FER OAT kere Hemee’ gg 26 Brae or tps Bere 2.7131 x10 = 16,653 “Yee Method. Use absolute energies. J E(ury)- S - =W where 's the werk done by the unit parhicle on the i R ying a pered weg [E 220 [eel ging & P: pane an [ost (b) The acceleration along the chord is egual t the component of the fecal acceleration in that cfirection. 4 A heal force. Xs er sine or %+ Lo : earth during escape, due fo the gravitational fore Ba afer sing ov Renn O and the earth's etal velocity. To Sid W, first pe an fF = 5064 sec, as before. sitain the mutual impulse during escape From the earth : ! 5 vad Be age ~4 Then WHF BONES HYG 2 —4M_= Kio? rad/s . (0) = yest = NAIEI MIO redhee fore Thus we obtain fa etpip tape AE AS =U) F component cf acceleration due fi we is at an mrad cota. Hence Pelt ufees) < ig or aged (eats they es = 2.173)x10% we/see! = [E /,_ Rwe o2rVE PraP= an/z 0 A cos) A; = 16,653 [see | sy 55oe a a ow Ge 2 5-4, (a) Frem (8-53), But hzrtB, Then (at ends of miner axis). b) F; pe: (4) From (5-19), wtap(E-f) far ellipse wa & for circle S-5. m= 1000 kg , r= R+150,000 = 6,523%10° meters PeBAGe x0 Pe, Fox 1 km/day gene m/sec orkit is appronimately ei - The orbit is appronimately civeular, @& & 1é= see Hence B= ~S.4zi2 x15? eee = 19049 mise Orbital velocif, = ri yw “fz Vaing work and energy, Fv =-mé : | drag force Be = 7817.5 mhec 6.5347K16°N Flight path. angle y= sh 2s, r+ rad - Jn “barlh Le BREMR ION A omg = AE = 94,3619 x10 Component of mg along path ng snr) = AEE = 25, Hence there is a net force Fp accelerating particle forward, 5-6. Hohmann transfer orbit fi Pe r= ln = 3.BYHRIO8 my ae 3.88610 pa RB eaTIxIO% om | 45392107 mm " 56 5-7. Hohmann transter arti, ’ Be 3844 x 108 m ex 9.986 x10" the 6.313 #10 my Usihg & 170), “as “El ee [Bez Je 204.98 misec opposite te orbital veloci Afler Fifing, Js applied, h remains eenstant, At i, nae PEO, 80 KE ra SVTAR and a ER Using work ancl energy, per anit mass, $e + Fg eR- ry= Bide ote 2h Nobing wt as Ae obtain sen 7 Ber +2 =O or PBR EER =O ory, ae A kunnen reat is Teeth (r-2RYrr+ 2Rr—4R) i ‘min = (CHEVER= 1.2301 R Vmax KES ut Yin . Using conser vation ofh , rating that pas 3.d9bx lo! ed, R=6AT3AI0' ms, Manag = VER Mig, = 288 he 5-9. Tuner particle: ME —F = mCaa)ust @ Outer partici eo ma (AR) ® edits Té Adelixg, (5 +e) = TaRe ov 03 zp Ft Rerjed Ps 2h= = ee 328) sec 2 535.8¥min Gm) Then ne EB) mas “32 mg = 0.3602 m N {8 ‘ 51ON ei lb ie Os SP Oe Oe ee Shean : in S~ 10, G3 4.013 x10 Ge ' 5-1). From (5-64), =e PF IMG x10" ve (ansiyeb Cm) = mms 20kg , R= 63734108 meters Feb Fe | LF F. Balance the forces, inchuching the dy Mn centrifugal forces, the gravitartione/ bondi) attraction between the spheres, ancl {fe the tarlk’s grovily. Ansune a sphere separation b<< R. The ear th's In tarms'of the burnout conditions rv, as wel) as gravitational force on jthe inner phere 8 the geonetrical constants a,€, we vole thet Hit = oe Zumt tx . dey /Z Re aE yan and af = Ve are At = TOs et, hey) + 7e4(2 The mutual grevitational force wehocen the spheres is Then we |obtain & 2 ie) Fy =~ . 9. d auc y + a ioe 20-€Y 3) me S ge = t[ ae |e ee) =A. a balance of fore i Ais and lance, of forces on | the inner sphere yiel’s a \ m(SR)Ut ER Fe or SmRO +E = Zope For the outer spheres 7 Gut pm Zumt SmRut ml =4sm jasR? Sablrocting eguetions, we obtain : — : FP ome Zumt or 26m. SHmt ie . see 5 ° . . ing Bem EER (eee, pa piste. Tre Gas 8 a sodograph sagan : 1 Da gepflsse cos oe ote at =Pe item + Grecosar| PE [reco el” | 1 ge Xe pie, pe “(recep Greceséy P tence P= Hi (iy2beosere?) 42. rom (6-10), ppshere = 56 . i 59 |be UT 1” BE “5-12, (cant,) From the| figure, using the cosine law, day = (& ye 4y ralBor? 2 = Ay ( oe (Al € e142€ des8) where Heat Hence Oa = (irre cose te) v To show that O@ has me direction of #, bony 2 sine |e sine Ht SH cos6 H€eas@ re Since O@ kas the magnitude and direction of #, the path of Q represents the hedegraph with ovigin at 0. §-/3, lo) =r : =0 Fo) = an itches me y (b) Use conservation of energy. (Perea )eder™ = ok At nae F tain, Peo giving dmr*(E E« egkr? 3k! : Eker? 2k 20 or rt-3ltrtel!=0 % 2.61800", tn max 6180 L 2 20.38201, Tyy2 0.61807 2) E95 “SP Sy This 1s two-dimensional harmonic motion with |w=Vigm» In general, the path’ an ellipse with peried 1 ps ata ane lo? S/H. Use polar coordinates (r,6). “Given that! =~ & where K 13.a positive constant, The eguations of motion are : | m(F-ré)+ K 20 pgahseent | Eliminating 6, we obtain m(F Be & The corresponding perturbation epuation is Hes (238 =) r= (2 Fer the circular reference orbit : 2 2 [smd = BB 30 = mh t. The orbit is abl le if the coetficrent of Sr is postive, a ~ Thal By) Sb MAM op cd re ya 6!MOVE , loys %, Mei=% sverse velecity = Using conservation of energy, apry)~ ay we ober Solving for te, (6) (uy), occurs at Yuin Frem (S-114), noting W= Re, otal 05% MVM HEE ete Queosr% at Then ray? Fe Cie cas 20 | Te find Wilgay set SCE? = up (=A +See) -0 re eee. Map thal is, af 02 ©. i x Ther CO nae =) Ye~ E+ earery 516, From (Si!) ; 16 (en, n= 20h = Eo ean At the ends ef the minor axis, E= & F. Hence 2) CW 6 Ou ee a 5-/]. From (5-92), te [B® (tan 249 fa | BE (un 8 488) The fine From 82 = EGE is ture the pine From Ot fee = po3saxy'sec = 119.82 days SIB.| m= mg=m, a5 =/2Gm/e In as Frame, the deflection angle r-2p=m-2e0s' =F SES ae = and |a's final weleity is Figt Ws. But G+) wm the Fixed Frame, Alsg Selving , Deflection angle = 7/4 635-19, = 7904 m/sec, veex00 | missile impact 4 / fray, 2] te - extn!) 2F]=-o.nha% imnse GOL rarizon At impact, r22R, and (¥)= 2(cosuns) i= o.t0l82 or v2 0.363% > 26 ‘satellite f= 2R (0.3193 %) = 6.6366 8% (oatalife con y= G30 = 9.goee, segs? burnout 300 6, ves (b) Use (5-117) & Find @ and the Impact point. Aé burnout, ton @= sin’ cos? 6 139.23 cosy BG The impact port "sab 1B80°-@ = 41.17% from burnout, Beh? = 9.1974, tans 7 } | re ccesige coutas, a= ths hua2TR M EsinE =O0bS25, a= Te aais2 & Ru, Peried Pe 2n/3> ; [pres At burneut, the time sinew perigee is b=zyP HOTT ae Time of Flilt t,= 2P-t> 2 quit & Satellite paried P= 2 aoe impact rr horizon During time ty, salellite | R travels g. 2.927 = ie Be 7 360 54.19 ‘At tine of burnout, safellite #+ 2. ge% 2 90.95° below herinen aewtt aa eis latte Sreout 4 2.6216 2/621 sec = 27.15 min before horizon 6+ | 5-20. v(oy=2% , rOOIER Using (5-4), ¥ =f ss sink ri Relea 2 reas? F = For the final path 30‘abeve fhe horizon, 4,1, « > . R ator p= 100", galto-$ is of where egs $= sind vave = é NI where, from Guz), a= 4] 1 quoting Hb two expressions for co% 8, ety Pee WE cos¥- Peosty+2=2Veces¥-| or costy-? $ eos v5) e+ Brgr0737, Y= 9 30° € = 2406S - =0 es 148 cosy = 5.7913 SEZ. Fo = 10% mgy for one revelation f motion: Equations oi ance orbit with fy=O, . ares Ty or any) Earth Me 2RE, = [ER Pz hoo” 65Sennen —— 5-2), (ent'd.) The eee equations 4 are ena tf sr SP Gf 81-214 86 = er S¥- 38: sr — 268 8620 ee | BF ig and ms@+26,8F = 22= 10%, Mehing that SB(0)=0 em Sr(0)=0 , and integrating the 86. eguation, aa N 1596 +28,Sr =19 Bt \ Subytifute fr 86a the Sv equation aud oi [23 Bye, = zea" s¥ +] Bae fais = 2s 698 oe 88 nasi = Eat wich las the lation. tee sindyb> Het sxtisbyng gr(als0, S#(a)=0 we 32nR es st after one cycle, Sr (28) (42) = a) ders )o rer é se Sv2 Sr eresb ping = 2h 2-282 yp He an For c= QE we have SE Vigne ae 5-22. ws —2E R= raha ae : == ered oS Period P=3 hr = (0,800 sec From Kepler’ 34 law, nohing R= 5063 se, 10,800 Ce) =(RR7 > et ho where R= 6.373 x/0% TR) = o143.8 Fee, k) Be 66 ee 5-22, (contd,) reese R= 156 | x10" mr. Gs z “E = “= 4m 2.8275 (¢+k, Sue ast Sts > Fas (8) (a) Fer a frame fixed in the earth, both observers see The same velbcity ‘anu acceleration. 544.5] YR "ec. Papp ye = hy earh = AE Bsjp=2eje 3 dig, d(H) ~2 ex Foy - where Gen(xP) = 9.099771 F La_nZ, = 07904 0.63365 Tajp Aye =e HOE 0.6096] -2, 527K msect (©) For nonrotating frames, Hogs von (ER) Bz? Balp Agyst w2se2S(C+B) Bee wei Za Observer E has an absolute velocity Ye = a44y.Nk m/sec ep -ugai=~0.09907 0 sx 2527S K_m/sec™ i 5-23. From (5-168) and (5-170) for « Hohmann transfer, avs expt ane -) FE -Ee| ee Let and wen I -& For escape from a circular orbit of rackixs tp (a=), “eye Tans YE has an absolute accaleration 434 Aste = Bays %523, (contll.) Epuabiag the hus expressions for ay, [= z VERtViEK ~VZ Vex -VZ ie Pie Vet NE ee (xGexy I Sguaving, (E(x) kVFFR = 24(/#%) er Sx-3 = ave (x) VEX Squaring again) aeq% 30x49 = Bx Bx 8x4 5 OF gd 33xte2ax-1=0 Reshs are 3.30N2, 0.7719, 0.08708 . ‘ Only voot >1 ta x= 33042 50 i 3.3042 cu fer larger values of $B, av> Vly (VE 5-24. Given Famd 7 at £0, where = 1ocol +3000} + 60001 km | orbital plane dacracaaicte-tv700 40,9293 FO.dSMOSK) Mr Z| (North pole) Fs-tooat-Yoooj +3500K “Kec 4 = 8015.6 (-0.14854 7 0.4403 F watorial $0.413645 k) "ee ‘plane x, . asceviding Tek tevernal —hede sys) inox. <0 Hons cavsjemiee PN eppndicaler = sncoeRie@(oosssrine.nerens 40.25% B) QAR plan 1735¢ R= THIET km R + 26) BER FB. aaosxic” 2 : | 5ect 66 ton @= 28% cos costy — Kut el. {E tow & V5 Jan B = 0.2730) » E)= 30. The tine since persyee , siig &~§6), is oat W (E-€sin £) = 189.18 see T= -489.78 sec Vs 0.9931 vad A unit vector along the line of nocles is E,= Cosa Tesi a 0.15317 £4 008783 7 cas (wed) s @.-E, =0.40202 , w+ A= 06.30% ei? 66,30- B= 32.17° 6?( CHAPTER6 |, 6-1, Consider a virtual displace- 4A. | Px ment §3, The slanted length of pone 6-3. Let the vertical distance of cm, below point O be h= Leos ~ 2 e036 . . | From-the geometry, Thus, m goes down 33 sin 30 & i BU sin = stu $= 27 1 and am rises [sin(w-368)~sin 304]8s, Nop resulting in a change of potential (seh energy 8V= {amg [sin(v-80)-sindel] -mgsin30}Ss = 0 string increases by 8s sinQy-ae’) 4 and the Vertical section becomes’) shorter by the same amount. or sing = 358-2 Thea cosp=f-3tI2SinO-Fsink'@ aad we obfain lf : 1 Cg he a Cae asmO Ashe 6 — Leos eo} Hence sin(v-30°)= Fer 224 Method: Consider the forces Now V=~mgh 30 eo o hao ad static acting on the ring of mass m. swe [(Temg) sin 30° Tain(p-36]}85=0 > where T= Jug, Lae = ang sin(se) AS Upm sguaring, we obtain i } | | | | { | | sin(p-30)=¥%5 or Y= 718/° : Jo c0d9 (/~3iner sine) = sinte(anperine Bite) eguilibrium. dh _ 7 [_6cos9=Asin8 co88 4 3656]'- 6 de v TSHIZSInG 9 Sin 4 ‘ or 27 sin@-3Gsin'O-235i46 HB sinE—IB= 6-2. Isr (I cos) ° | t The root for stable eguiliériam is sin he (rl) sin = rin @ +24 cas 6 sin& 620.4216, 9: 6717" 6-4. | 3 - va ~gngr cos8-ngr sine Veengh , dV. oat shefi 7") Ge? Beliriam : gh ar(-cosé + 2c0%6~Zsin'6) =r (4eos'4 ~cds8 ~2)=O At eguilibrian, 2 d.ngr sind-mgr cos 0=0 i taasS or 626914" + 7!uy Ss i — Gi ~' J 6-5, the the cosine) law to { 6-7 . tay . Se ot 1 a lé) ape TB tint ase ao a i ebm | er fg va(e24t'-2r1005 9)8* Used “2d plirensg)t2Bkasd i \t va =mg [re sinact éeos(ora)] ea V = ~2mgleos 6 ~ mgd cos( 5 , . > ae os ei . = = m(rPe1h2rl cos 6)6 . f 3s v * [(at2cosaié seni y x Else (Pel erreose)S remoting 3 0 50 tinh N ) Conservative system. T'+v' where T" ~ "One To reach the origin, the pactrele must o ever the Vio “hI. Et = Vy atv Tayts Lmettmgn, At yeig, Ty's gma omg a reach the ahath, Reo, hen rs0, Ela imetscbmgy o 6, i Lm ep eAaleadats aghacet wt sin) r Va my (y sing rAsiewt) c -\ BRE) s mk, Bee, Bee z x equations m=O where x(o)0, X(0)=% <0 ' ate mgt mAw sin geo l , Biro its sinh 3 AI) of -mAw' sing sinwl — | eh" Pomel . gy euation? nif massing sini tg sing =o with ¥ After an integration, G=-Aesing cut gl sing the, (zy, & After secon integration, Y= y -nsingsinat-dyt sing rAwtsin gd erin, TH r equation: ie rrr paid, Mig ae a Const g equation: 6 OB star Anirg for rp ze ® re=%, Fe)=0, #02 G7 | xe 30° | 9 |TELE TL Pe Se 6-17. Ceentd.) reget (Fy, fey ele 6-19, (cont'd.) The absolute velocity of the particle is given by : This meas hit the angudee momentiem absuh the verbal ants US conserved. Frinm the © eguat ion, eh) geet SRE Barro whe Ee tgre ag spesy Al points om the helig hove speed 6. m(S4ngif-2g 52 cos?) Integra ) ee Fay CCHS when P26 gp yp? Bre me—mapeosr , Bee sg sing g o ° ' pts gn (- 39-2. ab 444) = 1.405337, . s oguations mS-mr,$ corY-mgsin¥ =o LO ?, 1855 9% oT - 7: ar av 7 2s (mgrmpep-myseasy, ae, Wee 6-16, From problem 6-/7 solution, H, Hans of problem 6-17 solution, the equations 6 vation: 4/20) 2 22 ap Beosy = motion are Bore side e: cose equations Pra 34) = robm) tp - mgs cos ¥ =O r#£+2Fds0 or vA = const gael Z =n pPeovegsiny i ™m cos Fer civeulur ynotion at FH with FoF o, on Peos? (mgrm)g Sin¥ we obtain FE ge meses ant Wg tm SarF to (rg rim sin? Y) eo Gms emsnF¥) Substi ing for bin the eguatiion uve cbt i Vertical aculeral fan 2 = —¥ she Then = 24 . 24 coset ngetst=O, — S4iy Belew sree ae 4 2 eee ees 6-20. Introduce the votation Licose , €E0sin8 4iésine , $= Wbeos6 = usa The circular Fraguency 13 ws v= % 6-19. Let $= relative displacement of verti downward The particle velocities relubive to the com. ave long hel . av j-ey - absolute rotation angle eb helix ecbout ifs Cage) etre 8) eens ! = (epi) Hod a) 80 8! i } \ Fixed vertiowl axis. - |ee eee ee a 6-20, (vont'd.) Totm(wrid)emege | veo tnt" [Circos elas esin'o)e] N Te milage Si bane SF . Ee . Ge Gg] 3g =° ‘= md" [orco 68> 25sinteos0] 5° oe ) Ga) a ee: ml? [ Creat OS = sinecese(@> wera 0 fe (3, ° $ eyuution: me [Girsit6)p t2dp sindeshé]= 6 (») elas EG) =-1 , dlo)= 1 Conservation of Hayy, 97 3 econsh, gies $= Sag Conservurtrins of energy, (incor) a” “+ Orsctee* zs 4 = 35.26° At 8=6nin, G20, 86 as Opin? 35-26 LE AG) and Glo) pre nonzero, a uniform feanslation is added, ah i : eal petey and & Al LsT-V and aG 35 @ where Qsxcr, O57 = o Te kim (ents HEH siete] Vz rayr cos6 L(t)? SE SE ee aT 6-21, (contd) ) Dz med emegine Be my cos + k(n a). p eguation? mi -mré™ | . rd sing -tmy cos kl) ke mr2S 2 mB rnin, SLemerpisine case tai ave rage sin 8 “ equations mv StemrFg- "PP sinbeosb- Ing sin6=0 sin’ ar av. alin vinta, Seen |8e Bor # sin?é) $ equation, mr*g sia @ t2 Ire g sintor2mr*éd sinbcosO=0 =o (b) r@)=l, # (0) = a2 Plo) = 2/97; Zn genertel, Hayy? meng sini = me [Eva canst As tro, we assume rl, and theve com be mo energy dissipation in this steady-staze anebion. Hence PRE, Feo, From the -4guation fv costes! r, =r (6+ site) tg cos 6 = comet Bul THV seont as C7@. al iplying by Be» (6 rg sin a) PP gcos6 = const Adding equation’, Then,from the 8 eguatiin, —mit * (haga) inbcost- mg sin = C680 or Coslel- 2c9s'er cos6tl = 0 34.008 gzeos, 30 O=consh. ov sidé = vs oene 50069, Q= 121. 66% » beh 003 [E 83!OU a a ea es sir aly wl 6-22. Adding individaa! kinetic m eneryies, tg SN T= bourke + Limfed) Hrd) 42002 eos] ” brn (rd prdces +1 pc054)* “ILA +Crésing etd sing) ] ad #)-2 ov aly or “B*(StHcos6) Up ¥2+189 [eos(ang)-cos #]f Ve mg (2rcose -Zeos 6) , mrt est 4 e0s6) rmr7B [evslory) tees f], MB -2ngrain VPS (st 4005 6) tmréZ [eos (rp) recs] Yr sin = wmv 2d [6 t9)sin(ars) + psig] ! . bs -2metdt sin O-mrlég sin(rd) B equation: me'B (sr4ces6)tmrl} [cos(orA)+ cos] “amP8 "sing -mr} p'[sin (6+4) t sing] -2 nage sit SF = mi demr2é [eos(sep)ecosd] , 3 mgl sings amt Pt marl, eosloeyeces)-melalrs}sn(ord) oBahd] - age ~mr2d gp [sintorpprshé| $ equation ms mrt [ees(org)+ cos ¢)-mel* sin(649) tmgl in po y a4 te Ete hee 6-23, dfoe} 2 lj) Te hme (+9 Us -ngl cosE- £C0°6 sin"G d [at yy asa 2 = eB sindeeso- niga ot cigs ecosé equation: mé*B~ml*s*sing cosO— Clip sind cas Er mglaind=O —IE—e rer Bhs mit b sine tho sina = const since o odd # equation : AS (i) e612 F , do)=0, #o)= ZF, = ml pin tem t'p + CU')S3inBc0sO=0 Use conservabion of energy. TV = const were V=~mp)eea9 gmt’ (8% gine) mgt cose = (F-Jz) mg au id Srcost or (meth CL) sine a(t Hence f= 3/F( ue From envroy equa iy et 9 ogi afin - BetET a yo-( 4° A) =0 sae | er Zang -2(2-Vijside~Ssidaces te (Le vt) =o Let sit > (oeas'f do ehlain COS rHeape~\Zeotoless H(t e+ The only other 6.60" A known vost, fromintial vondihiins, is cos 6 = root with feos lel & cos 63 o.s504 Sma” Notes Without the vlecify-depenaeat U, Glo) wrouldl be Ean rather thar its acTual Onin « | - 856-24, Take cylindrical unit w= const. vectors &,,€y,8, ab the attachment point P. The absolute velocity of the partielle is F=[-U(btajsind sing riécese cos 4] é, ce de H1U(pra)sinGeos p +16 cose singteRa] Bp td sine & | Taker a Ble 2G rapsiPa+ Rw" rRypsresdsing 2 z 5 - +28 1e(Pra)sind cos $] Venmgl cos (4) Frim the T expression stmt (6p site, rz mlo[p sie + SG cosa sine glsin@ cos $)) mun®(ePshte tR*+2RI sin @ eos 4) av ov —=0 36 é | . a fary. /-§ sinOsin asin$, agg)" B bet Rlua(-6 sin sing ising 2B tm Bla) £05 (B e2wb tal) singcas@ PnRtel Estee Gra}cesseoss] : RlaTeosGc0s $rmglin =O 1Gralsindcos mOG SiO # ml wsin'B+mRlasingcosé , Wao Ey 4 (a } lip sink@-+2m2S (Gru) Sin cos . e\ae $mRley(Seos0 cor Psindsing) 32 wm Ria (600s 0 c0s$—4 sing sin p—wsinasind) ¢ equations . wet tb site ramU6(Orw) sin ocosa+ mRla*sin6 sing =O 86 Conservative systein, Use the energy and obtain (Tez for B= 2% 25. Nenhelonemic system. | r rp cosdaxsp) 6-24. (eant'd) () Ral, whe fat, 6080, O0)™ integral te Find the mesiune jf mau 2 sible 6 Teo TetV=censt. |Owit the cowstem sin cosp)~migl cos @ : so mgl B20 at 028mac~ Snag implies Vax oF Te Ta)min + 20, Losk for Tolan oT en! ptt ate dtsive)ongl Ee Anume o<6 6l8.0y, £ ret By EY =e, = T8232 tage Teepe 70804 vitetion mabe US 0.8060 0.3830 -0.45/2 (a) = [2.1980 0.2930 578 0.2394 Summariving, th ) ra] 2.4946 =0r2 ee, The cbivection cosmes ef the rofation axis are = 0.4372 i“8-60 Wo] | 60 500 7 |kgem* 00 7 «550 Charwcterishe eguation: |(450-L) 60 100 -6o (o0-l) 1/20 joo «7 (850-1) 1806 L* + 733,85) I-16, 663,250=0 Reots ave I, 366.44, I 16.47, 2. (6) Let Guy2) be @ poind on a principal axis. Then i ~ 60% +002 = ~ (450-1): Geo-t+7 2 = 66 VE + (ss0-1)2 = 100 Solving the first tua equations, und then fiest and’ Hy ix/, ¥. 956-75 uso eOT~ 33,160 2s-0.5600 we maximize trl] = (+2605 $., thats, He maximize Leg thy tly, This determines Me sign of x ‘0 each case, For this case, take x=. Then, for the x! axts, = 6.8060, 1 fo Tae ay OFT! w fhe a1 86 that uy wll be posibive, = Fae 272.1786 L 1504. 6.v93¢ , Byes foe. 0.042 Fo T3* 6l¥.0Y, £2-0,92573, 221.4262. take ul Via = nte26. e Zy,5 SOP 2-0,286 = LMR = 9 795 By Lee vy hes rane = 0° 7956 Summarizing, the rofi/in mefrix 1s 8060 0.3830 -0.45/3 (d= .IGBC 0.8930 O-4042) ) Gr [t]= 2.4946 =I 2cE, cos 518 ~0.2304 0.1956. G.7473 aod” The divection cosines ef tha rofatien axis are barley Zane = 0.4526Characteritic epuatin: [¢ s-I) +1 i | (0-1) 2 | -2 2 (w-D)) | 1. fas 2.8916 = lt2ea8, cosfrovme, S164! The direction cesines of the axis of rotahen are byarly, bach bey Ws tly. then = ers a= SEs ONAaS, ays SEZ ONS, o> Sg 7-E, ©) Velocity, LF Yo, then ts xB. Hence, any petnt on the cexis of refation { AY through A will hve Gee \ LS vince Wand Bare parallel in tha case. (6) Acceleration, If dys, then Zp> BaP r dix (Sah), Assume P#O, Ey will be zere only iF 0) beth terms are ere, or if @) the terms are geal in magmibsede ancl opposite in direction. _ Case 1. Suppose 2. (Bx P)=G. This will occur only if Band pare parelle’. Bub tie. Bx p to since Gand Dare net paradile/, Hence, both terms aannet be tera. Case 2, Suppore Bx (Inp) #0. La general, (SAP) Wes in the plane of Bane &, and is perpensticular He 0. @ xB is pevpendieulur fe 6, s0 if canta} cane) Dx(iap)= a4 aan Reeeeeeeeeemeeeeeeeeeeeeee et iret tcaenen een nelaww ea ew Yea : as ie se vet ally Fp % pod 1-8 (ended) Bince both ca equal 2eve , wee conclucte Thal A is The’ om having Zere accelerobiin. ; 7-9, The moment of inertia of asolidl sphere of padius r and density P about « diameter '% 22 = 2dr, Ledger? Typ = = agree) zig TP 5 AIy= }mpMdr and amv dy Sor ee vhell of thickness Ares Replace ly by rae Too the shell. E25 mmv. 1-10. For a solic ellipsoid of density P. the mast ns mez arpabe where abe ave the Semiants. pase (it+c) about the x axis Ta onder fe vary the siz? of te ellipsoid’, Kl ake, bo kb, Cm KC, Ww nab kb variable with a namin) value. of one, Them ale Arpabe(sre) kk are abc. are wow constant, ay tye I, Aapareeredk, Fer an ellipseicl, L HE dorubek®, d= wabe Kalk is me Yrrpabedk, kel. Thus, He hell mass Rephee dl, bg Lyef Me shell und set k=l. Simnileer ly Tells Vertveul motion of sphere— on = 2 (smenp cos d)—mg. 2(sin go =p 005 #) Retation eyuation of rod. 2 3r. Zinger Sing tNv cot $-3Pr cos # Pre king sing Meotg—mrd ] [gle<} so neglect #* teren Substitute for N and p 7% obtain pz mgsind 4 (E+ 9) msbep tr Beet * singling POP) caret Now set $= 305, Jag and pre 20. sine 6 Ve meu = Emglces © 's egualion da (ot) 2t 1 . dt \ 36 aeae eS ee ea eee eee alee eee eee © equahien: (b) Use conservation of energy - Tryv= Bi (I+ 3 shte)é + bmg l cose = mgt g2 = SEU or é=2 [Fetes (itd sin*6) LCr3sun€) 7-13. The sphere velecity am is girtn by "yy 2G*-2r Ox cose inatt gm, (ebre% 208i cosa) plmrtet wy gre since vo aat TGs St my -myré cose, 20 lm rt gemrecosx, 2 2fs FmerO-mricosx, 36 @ epustion: Lmgr?é=m,r Kcosd -mogr sina =O Tort rp) = 5g SX (= sino ces Je Th +My) ~5 mecos, Solving the two equations For X, ke with (0) = Cu 102 8l0)= 0 x(o}=0 | 6lo)0 Angular mémentum is conserved about 0. ie (8 rt)]S + mbx =O or —mbx Tt m(ihex*) Integrating, es -f 5 . Takel moments abeut’ fhe cm. For a positive (clockwise) tipping onoment, a BUS >Ne Ff Pt! Gnve fprteg begins, the lever arm for uN cacreasts, white thet for N decreases, causing an increasing rotation rate, For a slope t,where -Zane t,he results ate unchanyed because the targentiol & normal force rato ye is wsuchangect. 7-10, Using linear impulse and momentum, ping ab roy wakapg at ™ “a oy \e Using ungulay impulse and momontum Ang about 0, , (Q) oF pool Ne mg cos x : mk = mig sind pM = mg (sinr-H oS 4) Sliding occurs if kee or p< tane Hence, bvth slichiny and tipping occur if 1
1 $9 °% 30> — ge equations miteyi')@ Famrbb-mg(rryl}ces6 =e 107a > EP ae ee vital accele °, Be 7, loud it ial com. acceleration is 2mg-F = 2m/£9) $y aownuard. 2mg-F = 2m($9) F 428 = Just atier impact | (07) = 23... Zmg upward 7d oP Leg Take an inertial frame translating horizontally with — the cum. at $t5, There & COnservehin of energy after 24, Me Ol, eF 0.5 impact. Relative t this frame, the cm. it at he final motion fo rolling with me PPG) SC apr 4= 710056. ancl then G=~ Fis sine » yeast in 3578 smgleosé = Gmt [ER a + age grgllinase) ry o 20 ~ frafieg tices 9) #3 Ve") Sl*(sF 33a) 7-26. At each impact, there /s conservation of HH about fhe contect point. Fusthermer’, this H value is the some ing [near impulse and momenta, & fetal horizental impulse fs Remo smras » (Sab sirelmté or (2 ++sin'@)ml 6 sing angular impulse and momentum, (ve tis") 2 Dnt, «Boe: PE (uaye0o) or Zmrtay = Bmore, a resulting jin Fiat velecity wv cuncing time after the first impact is Zerg Iretet ( & pe eras, t= 2% fy 2F pret fer succeeding contact points since / ‘the angle of departure from one. ‘| | otal vertical impulse up le Hine G, exerted by the Fleer bounce eguuls the angle of approach Fp é To the next, measuned relative the local radial direction. The £ sluling continues until bouncing stops, then we radial velocity decreases at each vo where Romgdy smth gti f= Bmty TNE btain Soy P = mee bounce und finally goes Te 26VC, Alex, Fy SHA = Jang = 03 may thon sliding at the wall will step, resulting in pure relling nda Sina velocity are o.3v5 . THs» larger Hem along te walt. oe ot he actual v= 5%) SC sli sping stops first. fis mito Br) 2 Hey w= foe ‘ 169EES aT ae ae ae le a ee ee EE EE ESE aS eS eS 7-27, Initilly @,76,7¢- a ust ufler the inpuke, =&=6 t Cring angular impulse and momentin — ¥ about O fer the western, Nade= Fy 3 Use angular impulse anal om gular Impulse anal momentiem for te lewer rel with a fenced mateo point at He Ritual’ position of The fart, This svoiets having % calewhede i i ee." 1g TE calewlede the Mytaraction impulse heturen mst mE(B18)= Fly) or Emi Divile equations ie = eer 8 fre —-7-28, Choose an inertial A frame whith branslates horizontolly Dy with the com, Relative f this from re bmjtr ES = wh Yinasitee® | Py ~~ ~ Ve my. Teas 6 tase te 5 on % je-bidune 3G E(ir3sir@), d (ab). me i wf 35) aL 8 (hr Boi’) 4 ml - far at #)-2 © equations BEG (rasta) 4 mG sis6 eos —$mglsin6=0 we need te chlain 8° as a function of O. Use conse r- vation of energy. From Example 7-8, the conditions when the ber leaves the wall are 6+ c0s'(3), 8 = (iE LNT. 410 fl 7-28. (cont'd.) Thus: we obtain mil gi(seasite) + gmgleose = yng! ot é aa 6 equation becomes _ = feng)eos 4 BUF satel Then the = Jsine| ee 3sin'6) W2- 100008. amyl ne [SECS ae 2g sind (12-16 eos 8470058) Ul+ 3 sin? 8)™ Solving fer €, (b) The retational equation (8 és acto ves4T 036) SUrssmey 5 A (2f) 2 mgcrd Bermaé 8 (es) meHK Be a 2.x myx ceosé, mice Jétamaid —mygrcos © = 0 2 > 2b) d ~ — = mx. Qlemna? Me 9 6 Bom ma, La rnd), acmysrs an =x S*ng sin6=0 7-30. Choose an inertial Frame translating 1 the right with velocity %- eptive fo this Frame, the wed transes fethe left at vy when, suddenly at tc, the lower end P is Fined, Angular rmomentam about P is consurved during impssts ae gig = ER t uials Solbing, At = 96°) TB. By symmetey, the angular velocities of the two rods are egucl xe |" and opposite, Each red receives an impulse at its pivot end and begirs fe rotate ahout the center of percussion at 22 From the pivot, eh Hence s2u wr 827 a Using conservation of linear momentam, ° wv tam(rdta) =mgrt2m(e) or Using conservation of H about 0, Cla mrt} emr6 = 6, HZ When rtwiy, B56 and ES (emer = mage 3 (itm )ots £ Dwi Then ng these putin 7-33. and w, are inifiol angular velecities, Let oh, Anil Up be the corvespenting Final vies when steps of tone 2. Using angular impulse amel momentuny, Tue) = Nt and Tylonmuts -w,e) iting Dwvieling, or wp 2 Se When slipping steps, rads i zr aril + feu Jor (Ere +i, if) og eh tk Zo (G- ep) yp cond similarly Oyy* oo1-34, Giver that wi, and wy wy are inifial Values. Let Ye, yh and w! be Pina! valves, where wi is the absolute angular velocity ef Hie Jine of centers, Sine myrysmzry, The cm. & at He contact point. Let vy, Let f be the fine Te step slipping. Using angela impuhe and yrementum on each whedl separately. To SAMOS yw) Je Ln (one 1, (a pp) = ple 9) Salty 28) Angular momentum is conserved ahout-the &.m, Tyoip Lake Hotemart)ul = Ta, tL, Slipping stops when the contact pointsion the fed aiieels have identical velecities, : F (ujpre') =~ Wap) Using the given parameter ratios, the three abpee eguations . . 1 become w,- Gp = 2 (wy Weg) ge) Zeno) i (4 sré=rg v0 $236 “ ugh Ts E(der'} gta Forté Vs Bmgr cos Use conservation of energy. mnt" tSmyreese = 3mer ofr ging 88s TE Gncose) 7] For vadial components, M-mpcasg = ~ 3m" cass} = ee (res8-4) Disk leaves sphere when N=0,90ing E72: Ns rng [eos 6 equation: BLinyt@ ~ mgr sin € Disk relations { extrem 3 mel sir where 9 36 7-36, The absolute angular velocity of the disk is ys Or & ve ~2myr sind omy (on sin€ +r eos8) ~y ” a 2 mE oe, Te gm Od ahs Lmferrd)rRS*] EERE NY anette EmekS ymaRole tio elk db ei wie 2 a a ks 7-36. (cont'd.) TL ame e med » ame, Ws my sine equation: ams Line mxB%mg sin@ = 0 av i 0, Ba mgf-zreast-nea9e 38 ional ay sin) ME): mn rte )Bie pone ene Sy ae & dupactions m(Lert re )B + pmemramsss soations ol ) eM nglarsniceseeesin d= (b) ole)se, Ho}=0, xlel=ar, Aero Frem a wguuticn, Xbre= SE tao. tence, the moment applied KE the dine sere, or Ah or From the € equation, at £0 (Lee on (E-B)reaay Rehstionad equattien of red * 7-37 tee em, (a) No slipping <1. 16 7-37. (ceat'd.) The ® epuation ts (2-2) mee mgr? or Bt or 840.6518 £9 =0 (4) Smaoth plane. The com. moves vertealy since The horizon tal Focce fs zero, Tae height of Phe com 13 ge r(i- end) 80 d= easing $2 iy Fourth order in amall grunfifis and cum be neglected tthe kinebic energy expression. V ' unchunyed. Ey], he wetéle “| a @ equation’ Le-GaY] mrs ogre =0 or B413266£0=0 or (sr27sin“@) Bmgl 2088 Use conservation of energy. fiona alt 825427 site) + 3mgleos = Bmg? j= [12 =a) YON Sr RT si Nokes Aa @ increases From 0 0%, & increases centinwonsly, so the applitd moment is positive Clockwise) throaghout « Hence, the vod dees not lewe the Por. uTew i che del beds ~de ie Eh - de Le Eo le re «er we my fie 1-37. Previous fo slipping, H= # abeut the Cortict point, my ean wl getmgtsne, Fe Haine Use conservation of energy. le), 8(0)=0. Pe gmglcosesimyl, a= (cess) nf ~$16 sind, Gx $18 sine -$16.cas8 Vertical mation’ Nong mij = =$onl (9+ B58) | = ae HES vealed] cohe)+ Beos'p - pead)= "8 (0-300 ot The condition for incipient slinoing 1 te eft & that Rye HN =k = (8 c0s6~8*sin8) fps snl cd] -tesnol tne) Selving for Hy yes esine (2058-1) Ferlg= 30! (i-3c03s8)* 3513 ¥ sae (b) Assuming o<0<, slipping To the left Jnyplies Fpand X ave positive, or deose-! 70, on 20s 6>F or 0448.19. On the olber hand, slipping b the right _ implies Wat Rand More negative ar eosB<% , or 6248.19 — Now slipping begins when mix] Birst equals HN, and NV goas Te 340 af cosB=$ or 9270.58 Heuce slipping metst begin in the range o< $70.53". The pessibilities are hest vibwalyed by plotting Nanel relkl versus 6. Lf wee then the WN curve 7-34. (cont'd.) mg intersects the mx] ~ curya in three places, and the smallest of These, values of 6 is the angle af whith sling fs the left begins. On the other hand, if 7H, Ne TE (\-3e0s0)” Shaeae) ge ae satersect only once af jhe value of 6 where sliding To the right bats. The critical value pape that divides the tue regiwes 13 Found by equating slopes of the pW and mil curves at some value of 6 corvesporiching Te the tanguney point ae png sna (-Sces6)= bog Asin cost pdtem where un bia $eee-) | 1-308) : This results in 4eas~6 = degs6~ 3 or eos = SVB i Then He = “SGP = 0.3706, Now consider the intersection of the /i,W curve ant the right-hand brunch of the mlxl curve, We have _ esi (1-3 088) _ psVi8_ golvi = 5h.25° pice PEASE) 0 EE shiny Summary? For 40.3106, sliding occurs First fo the lett aban angle 0<£35,10°. For px 70-9700, stiding occurs first fo the right for $125°< 047053. Sliding cannot begin for 35.10% 8< 51.25° or 8? 10-53% O2381 regardless of the value of pe- ngs=m 1X5 308 3 aT wv TW He Be 37. (b) le) = , 60= 4. Pye ml8-d26sin6) From the x eguxtion, stem, where Xlels X's Then X= %gr £26 sin6 Using conservatiin of OED T= Lon (ibe Di hsins ele site) Sere aeribe) 30 the 6 mating is india 4 ay er! Nete that the %e termes cum There remains mat 8 (psito- gside eg) = 3, wiper? ene weeny sven 4, eens £16 r164.605(9~8) pee e PET BETS pees(p- jem or ys ml ae BP eLinr Bt pels cof a = mgd cas mgr con 2s -swtfcnla-g ameti(ée8) sinlb-6) Mok Sye-anglsme is and peas(p-gegmrld sinld-a)- 3 mg [3 8=0 mrtg -pmetdcos(-6), 3T bmr76¢ sin(-€) 4 (3E)= neigh - grnrl8 cvs(p-6) + par (B-€)>1»(# -€) ate mngr sing # eyuation 13 eee ~zrrisicon(or 6)—zr® sin(g-6) beg sin =O ye lees. eee, y Nome = mig or N=mg-"% (BS sine Rotational eguation a an’ ml Ni (sing ry cos) 121= 7-42. (contel.) Satstifating the axpression Fer N, sg mlst = Laine rp 20> Eling - tab sine - 6 ccs 6) OF mls (irdeto ry syusind cose) + BE B*ees6( sing races.) = gongd lin ence )* ° (b) when @2¢, Nemy stave Ste) wnt! 8)= 0. when 2246, N any sme Bs i - : The total fleer reaction torce I "na. is the sum cf Nand wv ane (23 ort | goad the cont ef Friction: with a constant angle ¢ with fhe vertical and a \ 7 decrensing mugritude a's N detrenses Trihilly 220, Momy , f= Vie mn pe tan ye anne aul 15 horizontal To the left Abert egg, Ravine Ea CE = VIF gs SH fer coeenT o. ong | lohen es 7-43, The rotational equation ubout the centact peint Loapt = mgr si Lyart E = mgr sine F a 2h sin Free or é assuming no slipainy, laze 7-43, (cent'd.) = mg cos a Fer incipient in he rotational eguaticn about the cm, 19 . EmrrB=pne spimyr cas = BL cose Eguating the Awe expressions fer 8 s, { ' 8 in ye AS - Ghia a= BP cos or Hai, 7-44, The disk volts dewnward | and > the riyht. The bleek sliles! To the left. The vertical acceler ~ ation eguation i>. ee soay 008, Nodmg = TEE, Ne zy 8 The herizental acceleration equation 1S + )eAw mit mGee f or, gubstitating tor N, anit + to (LE) 2yemy To avoid solving for the inleraction forces hetween the disk aad the block, fake w reference frame Feed om He block , ane include an inertia force, at the evmol" the etfsk Then the rafatiin equation about the couiet pout is dur Bs (GX or Re rae Substitute For K de the horiven etlaining ag av ob «(ttt———E—— a a Se ol Gan a, i . 1-46. Let @ be the un py Prem the eaxpressin fer x, the upper bit an pc jo HF TF the te ne contradedien with the orginal usoiimption thut the block slides to the left, The rane oF & Fer slipping of block is OSHS 0.20 “45, Lut 6, > clockwise angular velecify ' of the upper disk ye 2 arh=rbrr&, & mfréreilgtvred Jang] (2 Rmgr cos B venplitying the T expression, as ~ = mr!] BAA + 38* +6 B(2e0s 8 -l] rs, Sis eyuston “Ai 3 nr : eguahion: émr ) For [pi independent of the tnitizl anyular velocity 2, 1257-47, Consider fhe fewer ber. A berizental impulse 1s applied at Vy upper end, Tes center of percussien, which & located att El rem its upper end, has 26r0 Velesity just offer the Hmpuhe, Hence 3g =-3 8 Oe p26 F16,= 0, Ouriv ves mpact, His conserved ubeut O- ml (argé 6), smal * Ger im) 16 + Em's, mel Substitute 6,> - 26, aud ehtain (mer bm)t6 = mul or 622m "| ame Caner 218m, tee Then we ehtayn 6, rue (2) [e]lelle] In detarl, cesy sinP clr 0 © [f cost sine 0) [7] = [-sio¥ cet ofjo cose sing aang cose © - 0 6 jfto -sin@eesel 2° 0 TI er [Kes 4 coo? (sin ¢ cos # . (ees teva aint) ir cenpeene sin¥) sine sin] eesd SO (-sing sinw |e ces cet to cov) “peaspecseecry) *| 8 cosy ~cesp sin L ving sin Sa 126 ioe? 2 7-48.(contd.) Type TE Euler Angles 7-49, Use the neainertiul relerence point P. From (1-1d), Hy = Lp 65 Mp > amin pio. Integrate over the time interval of the impale and obtain B =-m@x av, r abet Tpad =-max di, or id= 127avoid having impabes belween the bors, fet us ase generalited impulse and momentum. Note thet B=]. Usiay angular iinpahe and momentum, {Ade [an] =r] few} where [es Selving ber fa}, Gls law} = LET PA} where, j~ £2 pihve i ey esd) y 264 -1ee -20 x \ vo sea we kh t2 : . 2370 ver L : Hee wee sbfain The tefal Kinete energy is ey ~e0 re} i} on (e.2828) ae yal iay = yoo aco 40/} 57 = {V4 f fe.35 4) = EGinl* 1 2 Gb) BEG) zd ‘ lewle anal AT” peyal ane ate = etm’ : RS api Pee ye ap m® \ ud Hee Tan AB Gor am agr? ch a : 2 et apz= Qe or Sm az = ~3F Divielng Those eguafiens, : B-2, C520, 5 abe -2 or ABSA BAP : 4s? ne ute = i / = Tw, 2 Fatt 4 Suet wow paint c pits the Flea, ays Yagh = Wa Tait, = “ee [DS 7 Goce Ree Te ty Hence af = 22h ancl ad= Txt, then ah 20 and HF Now AH= Mand Mn = Trmechiote ly affer im pach, 1 —— { ze o | . : \ (28 i | in a divection opposite te the ini heal MH.CHAPTER 8 Brl. Using &nguler iinpuhe cord momentum, = fan} 2(]fow} where fe go (xl= 2e4 -100 29] nies 28 49 4-50, Te avoid having Te Find the intecactica impabes between the burs, let us use generolized impulse and momentum. Note that Solving Fer {aw}, fo 4 2 2 (peitive | 2B (pipward) {as} [x] PAP ohere Hence we obtain The tofal Kinetic energ i Tey ~ico 2014) {oe} (o.e203} a swe 200 40/)5 Wor je. asaey 3 : {aw} = ane) 40 hey 26} CE se) ing i 4 > | Adding the inibdal components, Aye 2208 rad lee yy 2 13540 = 4 or . weep ane ar. = Q, or dmaes3F Dividing These egeations, 8-2, Leet, oaks br 482-349 asst ng usu),= BE ii / 5 - Vcr > i Wye Ty 2 Fae (Aisin of wince point C hils the Flor, Aw= agh = aj se8 | Qe Tai? SUSE [33,7 SSmimerry Ae evE Ta, ta Hence AGS ZyRyh and ad | If as0, then weC and A, ; | Now SH= Mund 4, = bl, = V2 Lee : Trmecliately offer impach | oo Y | ina. elwection oppesite Te the in rel My 128 | 129" Osh, and Hat Tate em, “Symmeny 2 : «tan = 2 tam ro or tina 2 tang fanet= fom fang New tan(e-3) = = * Tp y tan (af) 1+ lanes tan B (13 tep Use Bulers eyuation, Tyg Oy + (L.-T ,)aid, = My = 0 raat This leads J To musiriize XB, marimize ten(4-f). BaP) tS (aL) a sinGeose =e Leb ustan 3, Then tan(-3) = 4 El wast) CrP)” 42) ad The perturkalion epuation about @= £ is TAG )se = BU) a s8 = 6 7S or B23s.1h", fan x=VZ or ay which resulls ia the circular Frequency ws [LT : - . dé e-4#, M> T,20 (b) Let 8°68 Tey and itearal the differential Hy, Dnand Ty cere the same fur é chlute end prolufe cuses All = PUG the same In both cases Therefore B= tan! x 15 the Same ~ in both cases, The maximum angular deviation ef Symmetry aais in 28 in each fae the was incon, ! angular devietiins are egital, { Tine preassiin rae p= eho i Te) 5 fa . : G erat? Theat Heme [il p> Mlle 130 'BG, Ceaverve angular mementum aheut tae &.m. ee Fim =~ EUE fer all ¢. The com, velocity Taking velecities ries TE The cry jjzme Cots end = mete smrta,t eemeyk before Impact. After impact, T= rhe (Eye (EY = Sir? = dmr* Paclareees re ae Tyg t pmr” Lys Be hms ens) Hence n= meta = mrtuy 2a, Hz erase, wy =6 = mpta)y = binrasy ve Hprmeraztbery, w= oe Note: The same result is obhtined more dircetly by cheesing 4 aed reference point uf the Cm. position at the time oF impuct. (b) The teansluticnal velovily of the ring just after impact eo re Using linear Impulse and momentum For the rag, . Reap = -Lmyi-dmruyk +Eabjo- gra k= pita z 8-1 xy 8 is a principal axis system. ye, Use The Euler equations 1. (By Ly) eM tout se €-1. (contd) Hence we obtim | Hya Mp2 Mb afsinat cos wt = - mE wh sin 2wyt Als _ et Cyr Tygi) ape, =O Ty) ny wa cose t= a a Py aygonnst = yes aault New malay naysiant cosige ral aul, Sin 2a woe 8-8, Choose the Fixed point 0 as the reference ant use (4-106), Zfemtavele pr ¥(HA) v A where @ is the absolute velecity of the material af a The volume integral represents the control position B relative Ie O. the angular mtomentiem of Hie malerial wit volume « a setdve 4 Fe fepr= % Hece we assme that the internal Flew relative f the rocket i axially symmebw'e and does nef influence the velune integral. Jopne (Gah) H a, his is the angular momentum oufliow rate. Finally, wilding 2 pte, Terms, 133B-9. For no slipping, pats theaugh the Center PF must of percussion relutive & the contact paint = {b) Use anyular impalse und momentum 7 tout the cm, The horizontal eepiponent of Bs = amey, te s pls Thee yada? uslaqror < 8-10. In general, the velocity of the contact point P on the ball i's = 7+ Bx At t=c,we have Then The vertical component of Bt a knrtwy, or” SF One eae = Fo. 16 oar @rk) Sug (ragt+4t) 2r faze rae Bee ene eee 9-10. Ccont'd.) (b) In general, we see_ that pay 2. 2 Gk ape 4, = Bei nk =e tial nbs ceeg Since Hh is opposite in direction fo dy , the divection of Fe with not chaye and therefere the cirechin of will be unchanged as lang as sliding continues, la topes © Vals bere ny aa Time 1 stop sliding 1 T; = fs stop sliding 1 Ty Tap itras) ave rae Verer Tag Bo SyinPragj Bol, T2 ELyG~ sero) + ET, (B24 eo) Ai veo 4 (at) _ at * Bet rey alg h o eguction is TS ribues6( tsind) 4 £(p-iaing) ations (2 $e £O 3 8=O equation: A ay LB -1, 46 co: These epiation of motion could also haw been obtained fro (3-149). 135Sl EE Bi. (b) 6)=0, Go)0, PoO)=2,>0, 0. From the p epuution, 37> const or F-Psin6 =D, o Then the 8 equation becomes LE+L $0, cosd +1, b sing cos8=0 tet 6 ae ond integrats, fi.6a8 = -{] [7, G1, c050+5, %'sin8 cose]do or bagsind-£LU side | - ei resulting in o=~ABin, sno~P sige t ‘ ) Te find limits of 6, set Case 1, -2, 2 2usin8 -P sin O=0 0 (Brsce)ae 2 Bs sk or sine atsing 0< 6 -/80° 8-12. There“is conservation of H about the systems com, which ts at the Center of the vod afler impact ve,=415 8-12. (cout) ton p= te el ae pes’ Max ange deity 2, . sae () Ge Hh where Term em Sy me mies Bet 2r(show9 aver, Bm, oly = iB yt ae , von = 28 Perio of precession = 20 . Te (©) Use Linear impulse und momentum of particle Tamra. je “12g Pet oa mre BE ‘The velocity of the particle after impact Serie “a = Kos %ySr : Tay BP SHG Oe = eet te ye The impulse aching on the particle ty é 1 18 mri.ys 013@ nr =m eyry)= mb - str 1, = mr, = 01 3Emrly This Is also The impulse of the parce eeting on the reek F 196 mi 8-13. Since [W]>W, Tr7Land arp 5 ii metry axis changes direction by 282 90% Symmetry axis changes Yon by ape; —_ 50 B=45°. Then «= At30"> 75°, Ny a Symmeh From @-9), Ea fan a atnmely fans Using (6-93), B= ae as Using (@95), px EP Ds 1378-1, (0) = We , 60) + 0, Blo)=0 Conservation of the axial Mv gies My [Tr am(er doing) Ye (orem Je or (Ztamr2) ee San Use conservation of energy and rete that the system on, is treed. Hence, the downward velecity 4yiof the disk is equal fe Ke upward velegty oF _ the particles, sys fle sind Then . . Ts2m(reising)]a*+m($Tésiné) a? tm [(51ésing)"+ (04 cos a) Jah subshitufe for wand obtain | (cr2me) es 2[Le2m(retein 6)" ] Solving for 6%, + EE (cote) = LI tmrfaae (Thame?) a [vs Tr2mn* = inc é) Tram(rrtain)| Ts 8-15. When the vertex begins fe rise, the Forces acting on ‘the cone are as shown, Take the fixed point at Oas a reference pont and _ se a= A The velocity of the center of the base is he coi P=hwsinB or w= Pat g. Then Fi, = Tuy, (cosp i# sip j) + Tu, (sina T~cosp }) 138 8-15. (cont’d.) where up aud u, are defined as shown, A, has constant Perlite and changing direction, se B= wy (Zeon prt sinta) i The applied moment is due f the couple Hz mg (Peosp train p)k = FG lotrel mh (blang Then, trem F= ib, . . preot p [zed sat symh ain'a (x+Tor'p)] = ngh as = ep (+359) 5g (ib Bsin® "Bh sing (1+ 5 resulling in e 8-16. 6@)=0, &(0)=0, 4@)=9 Because there is axial symmetry * und no axial moment, the total spin 2a constant, Conserve the vertical exmponent of about O. + sail Ab OD) Heere= ("Et m2) Ho). AE ONE Hyg? EO where we take positive downward. Hence we obfrin peeve Gone “zen Baer) Pols "EX. er Yoo)= Faye From conservation of energy, | ars mrt e's E( re ae a zee JO = Py Then at _&__ fate sy) 2 é aalett waar) ae, [RAPS ates ge, Ra oe rine 139tear, M3 10, S r T= downy (6) When support breaks, D ta wel free matin that follows, Tz = $m? ) por about the center of the afisk. At the time. of the «at sO = odes, FI Then the angler momentum about ta trn af He sk rs He (Gea Solgy = 10 [ee SSP = 1. spt Meaturng P abeat the new Fl vector, 2.cooda.n = ~20,005/F = ancl ay 35° &, je so.ornis, Max deviation 20> 2 B18. Is 3h 23h) 0=45°, a= 10 @) Fixed vertex.: Tae 2 gr. ie seem Ber at ests ~ ee = Ftng i Fi) Homi /E WHO 8-18. (cont'd.) (b) No Frittic The Gm. is e-4s°, FeO. | din an inertial Frame , 30 take com. as ME L. The applied moment is the same as in la), 22 rei,a eam aie 2 so take t= Br. Piet, Le Bh (aren')= Sime reference pi bs asio ae ; es iok P= wha li o SE*)= of (in [m g=- 09 8-19, Complex: netation method: Starting wik @-201), By, Me imgdw results tw ($-209). inp eds yl Wee ow 7 Assuring soletions of the form CX the characteristic equation is a mg? ia ¥ 0 with vooks y2i(e RPE a r Arie aE ¢ The nutation period is Gee p.vyy) = 2m 2 Way fl = 135 Tv aed ym 1.7562 Elliotts Infegral mathed. This ts Case 2 of cuspidal motven. ~ gh. 2myl _ g. ne 56g we = 2myt 2 88 ten VE Tet sp ea ez BO or WoycHu hese beep vss) 2 (ite ware Rats, Uj 0.1058 ond u, ay F442 Then, using (8-121), 4K)L lie ee Ge8a, her 8-21. (cont'd) D rt : Mh @, Iy= Srer oor ie Bora, , 42 bwin, Sinta D> Igy , where pp the silermediins moment of Xl o Mert, we Anew that the polhode encircles He exis, where H= VASFAE = abmrin, _ Corresperating 6 the rmuxiimumn moment of inertia, The e pest on He palhoile correspendiing 12 may Js eileen Fer Free motion, = p= -YIL pn, = 0.6403 24 Paws HO. S103 ro the ty plese or the s® plant, Recall Het “27 ,y ane _() When vertex 0 15 Fixed, Ay is Conserved since ihe reachin Hare beth conserved along a polhode, Unpulse gees through ©, Since v.20 before impact, uve see F 6. sorta ebay that H,, kefore iinpact equals I, after impact om A ples, 200 aT ab mY Wen THe . " ee Hs Gor!) (ash +75 8) Sar) ae Abter impact, 3,2 3m (Pest) = Bort : : 20 a Solving, es Shap yy, a= Bar _ nH =f NE|(H) 0 =~ 0.04425 09 I, 4/3 TT ‘ For xe ple, ay=0, jue, just after imparts B-21. Angulir momentum is @ By. wats bap, abs Lud ging w= 3G Me" ~ conserved about the system cum, ™ : eee ee eS TN Particle and disk each Pranstate of “Gla befere tewpact, Gabe F< Mu am (EEL Able T= maby (4) em(E)'s mer® laut ave) tou(f) tee) = Bone™ Hence tein, occiers tn the xy planes Wyay> = a: e-r2, m= 009/t , o=F, alo tn eget, Ls Gott Consider a noninertial frame accelerating with point 0 a Hy Io the rights In this frame, posnt O 4 is Fixed and there is am artifiecad vi a a (b) pera, . Relotive 1 the ems groity gis te the left, as wellas 2 (marty) 4 (2s)? = koe ae he actual gravity g downward, we (meu) (CES) = 2 giving an ebfective gravity mitag (peg) Teo 1 Gap VF* Cal = dig al 30° te the let of verhical, Hs F ) F+I,,u,k= w= Teeth OF Ly P+ Taga k 2S Tally hth ye “uathis frome, the effective horieontel plane rs Tipped 3 30° from the actual horivetel pland Let 6! be fhe Euler angle relative he the effective hovitumntal plane. Then we can use the equations for Case L of cuspid motion, u, = sin 0'@)=sin Gots Be) ow Ferd! Gut) er 2 The corresponding @'= Sin 0.16602 247°. This value of will be ceached piriodically as the Tp precesses about! the effective vertical axis, The actutl Onin will occur for a precession Ample of 186% fie, cw the forward direction, Gyin =~ 30% = 8.53" dsine 7 Losing) + mE (84 9B sivs) we Vie cic 0) 6° $*sin a] av ° vat Bo ty A [atiivssitdéjem Blow dieet now] 6-23. y= Eres, ge~t ae ing cs F 3 intend), 3 Bhs -Lmglsind @ equation Sinee B50 and 3420, we have the < ag oh wer mas shO0s8 =9 ¢ eguation: &l3)= 2 ¢ oa 8 (143 sie a) emt (s8* = sine cos6— "EE sin 0 ont'd.) ofeye EF, so)e0, Alo) () No mg emi eS sue al gten re From the © equation at ¢=0, onl? 43)s tod) = 92 gp Gu OEE onl lq 43)8-geb] = 2H or 65 7 Then, since 6l)=0, a ta 2 yg le ieee ek Ne mgn img Mish = Eng Toye here onswab 8-24, The disk is an axially symmetric aisha, Ay body with no applied moment about the he symmetry axis, Hence u,=0 = const, Let oy be the angular velecity about Lt - « dianeter Frough the comoet pant. hy ‘ = mr Huet = GP oy cos 8 = wa, consk ; hat height oF em, be y=reos@. Then youd sing. From ‘conservation of energy, mating ae)=0, 60)=0, (APY ee ba) + n(réshdemgr one ar®, = Beater | At 62 Ona, , ue huve 820. (2) (Sp)rryr cetes EEE enge or mgr cos*6 (I-cosg)~ MUS (~ cast6) =O 7 Divide by the knewn Factor (1-c0s6) and vote thal wy = Then Cos'@—geos6~ZF=C , cos 6 75 {) To shibilize , cos 6=/ & secone roi angr cose Mtial (rreose)=a giving alg= “E, ES ‘8-26. (cont'd,) wh Ben6, 39 gin 2aine "= z a Tyas (i sa) ta (VE cos0)] 8 , cos Vs dingd cos Use canservation of energy und he expression for § Te ' al iain 2 2 on mm ebiain iirs2, Os a ee aia tee J+ cos6= ay 72 Ot ay . whieh leads To Eta) hak (VE ces8) The red will leave the floor when W drops fy 2ere. | Ns mg. bf where () gates Hee fi! Bee pail pe 2088" The maximam deviation of the symmelry axis is 2p= Hl 146 147(4) Use angular inpulsé and momentarn. = Ee om g272208 ie Fr on 6= 63m cy F 8554 = PSE Conser 2(E BGT = power (8). PRE, Conserve Mya about (b) Total energy is conserved after the mpulse- the cm, as @ goes From 40° fo OF ee simutedtybetnw® , ve =- . pe-leps - Te gmt ea tg the, Veomgy o, La BP. on Ps Be a 2.4384 fe Immedtietely after The impulse, hemi= ee att | ere . Ise conser’ ie Et af. impulse. on) = (24 § eB ug n 2 ot mgr [eer (©) Use eonse vation» © after the impulse 4 cany t LT 6*+S =t 1 wNih,we woke, equals LPay. ert” zi Bg = aly eegr ¢ S . i 53 20) Vl0%)* Emgr. Hence EGH)=204llmgr, — \ Sos 1 Lo (3) 2 + aye Now suppse ther Khe vim just N . giving rv, Peo.77 mgr fches the Floor und the fled Face, 's vertiial. ° _ Then ce Hyeyy = const , the value of uy ak This tine. : 8-30. He) =we , Ofe)=45°, B)=- VE Ts fowea! Fi = Eps . ze ’ . vom Truss Pre minir on w= Ge 1 The moment of inertia abeut AC ta Nobing that Ihe horiandtal component of Vii, and alae the varies as the syusea of the distance A ‘i Z : o nuss element From AC. axial angular velecity comprnent a, dic constant Hhreugleut “ ang mess clement F the raston fn #20, we oblaim a final kinetic energy : > r= pmb sin’ = =, igo - i T= (RF 5+ Belge = 36771 mgr Use conservation of Hye» © 8 Also Ve= mgr ae Eg = 4.6777 mgr. : Amt pss = Emly Since E,>E(ot), the reguived tinal energy i | ow ¢s 7 greater Than the available energy E(ot); and so Use conservation of energy. » c ue é . 2gtona, 22 2 2. giving Smid sine +pmt 8 Fmd wy we if Is inptssible fer the face To become vertical. | Te Smi'sine PHF (ZY + | 149 |8-30, (cont'd.) Now substifue the expression for ¢ and _ 2etain EOS 4 2mI*S? = Zmlwh Goin 4 ~ 6S (mt) or 8 set 6=0 and oblain site Bin = 30 (b) Te find Emin y 8-31, The linear impulse acting on 1 the rocket is Fs mtg info page, Memly so gst = mele 6% ee, (Eo HE (2a_\* 8-32. Given B=Y5° where ton p= SE 380 Hy? Ay rst = lees Now I= 101, ve = deassow. low T= 107, ve = SEo,s 108 owe reat aC)? = RTUp whi, is constant sebtetet = 4] B(oayeral]= ZI EA a32.(contid.) At the final time, we hawe 41, TE . Because His conserved ty 28 ea ee Pyteartwt Toa rial = Fey eRe Ss 2a, oe ant + 2G uh" = $06 Also, T co triplecl, s¢ I, st a _ caste Btw Tak BE al me Solve — They! OX) = 2 Fink Yan A= 2 = 16 leatiesa) 0.479], B=25.60 . . : ke 8-33, 0(0) = 0, Gle)=d, Plo)=0, Plo) = M= ool 1G-%: na) HEE (aF Restg) , ve sh(E-o at av. Iy(f~Psina)sine HF, Pease = const 20 sie 35°3 Eatsind Ty cor est 50 $= ne é-Psin Using conservation oF E} Ty gt, Te fesinte 4 ka kt gy tee = ret yore 8 z ore é cos 8&1, and obtain C1or e+ re) To find Bugg 546 670 amd obfar Bmag= red = 1.182" Then kK . Tah = f= = 0.30 fE rad/se Prax = Ey Smee = 10 F, Omax JE Hse 15!Ste Tye 1o™ age m= 108 kgvm™ 10 rad/sec Gyro: 0 « ys 10 rad ec ) G@) Use conservation of angular momentum. Be id? rio R sconst = ta Trista, k Hence, 41,510 ralbee conc after clamping gyro. uy =e. The angular impulse appli te the veckel is the wegahice of thal applied fe Ke gyro, Ns ~ [eos K ©.) (o')R] = 0. a H, (b) B= teil FE = tan! FP = tao. = o.° Mag deviiction 2 = HH2° hick Nemesec ©) A= foaFuioy = 1acse< ic’ , Period T= 25 8-35, Same Figure as ty 8-34, and also the same rocket and gyro parameters, necet fi" 13 kyon Gy Te 10" hyo Wye 10 vad jsec aah aysleradisec before clumping. His constant in space threughout the motion = 10TH 108K = ((o%e.05)a,F +10 duviny clamping WL CAUSE Ste cosdlae just after clampis const sinte there & no axtal moment applied Te fhe gyre, the angular impulse applied TE the rocket is the negative of that aphid % the gyre. Dut Te the sudden chaiye of ut af The yyrs, the veckel angular sinpuke 5 wre, ar = —(eoso)} aig 152 mn af the syne Py axis Ccuxis) of the rocket, let us use. The complex nolition ymethod with L2W,* 10 rad/sec, The mement applied FF iro loXioWo)] ana vetates with Me reckil. Hense, in the Pied y's complex plane., M, = 107 ef OF the recket is — Using (@-207), wind recalling That weyltiz', we have a with the initial condibims wlo)=0, Wl) =o. The sclution fer Ww has the fer Agree here B= “i im staady- sto sebatin (particular Sutgrel) and “ge-B= E trow WH)=6, Then we & eit. pilet) amy pin octegreziing swe) we €Cig7 FE" HE The maximum deviation after hal? a precession cycle és Wha bgt ds 2 Masimwam angular deviation = % reel (C) The precession periad T= 21 sec 153 \ 'Take the rexis _ 8-36. 1,>1,. Out oF the page at the ems of the From (@-312), satellite, ¥S where we assiine that yo, The senher of gravilyas discussed tn Example 5-6, i8 detined such Hat M Hence m ence yg MOR, ora where y= 8-37, Choose Pas the reference point and use B= wk where K is out of paper. Choose (2%, 10) as gen speeds th fhat order. The ° ins sevrd J-?h = 9.95 ¥,= 2% = we SEH eM SE ja 8-31. Cont'd.) GrEB =o, fix d= 3(%-yo)k G,=Q,=0. The dynamical epuations are as follows + 4a')z0 The 4% eguatinn i om(aige The @eguatin is matey tbmaty~bmay The vonholonanie constraint eguation is as Rising -Jees6- Alve, we have the kinematic relations K 03 6 +g sinh ~ $a és These a) the reguivec! First-order differential equations, An equivalent sef, abtained by solving ter the First derivatives, is ke “yg, 008 8+ pau(sine rose) Js tps 6+ awl(sinb~ces 6) é 5, Ol=0, wlo)= 2 Te find Oyag Se = 0 giving ye gaw b) %lor= Now 7, Use ermnervatinn of energy 1 BP obtai golly Su)” +e ea ]+ +d Substituting for Ye, (s oda = (Ht Su) 8 ~ fue be tye any deyThe total angular momentum about O is Haft,.0, +I, (+n) +4? 2 leyj +Caat Lu k Since Wis constant, we obtarr ite (i), +OxH=o where D is the angular velocity oF the xy2 frame (platform). (A), = late) +L A]E+ ye 1), F + Cet TIGR BH = (yt meaty) Etre QM 74 (Hy ay HIE Setting each component efual fe Lero, we obbtin the three first-order differential epuations : ect Ta), F 1,2 + Cag Ty,) yi =O Dyyt Teddy + Tegra Tas Taye +L, Aah =o Gyet 5) dt Ey Belch) 204 agakt Tel Be Se ee In addition, there is the cotey equation 156 CHAPTER 4 2) gel. T= Em’ (4+ 8 v= x (E) (o-8) + pngl (Sez) Symmetric Mode , 6, = -6, Let the amplitude of 6, be A, amd ket the Frequency bed, Trae 2 AERA Vana = (EU mg) Ay Antisymmetnic Mode, 6,5 8, = rs Tray = ENA, Vines = mg TAT spring is unstressed 9-2, x20, 80 at t equi, qe i ak ebind™ é* ak(B) rok G8)” =k (geile + Ze*) Les bee eet TIE Use the orcfer (x, 8). Then 2 ™ tm} = [aa = [7 3 nny t ae >hkTs 157 vy [Fs]: [ Lay = k a ‘ kl ext ~9-2, Conte.) Equations of motion are on thx -k1e 20 $l S—klet Ex = 0 Assume selations of the form cos(At +d). The character— istic equa} Hon 1s (kemat) ok | ee Sart gmt') Be % fuss 32 (AEE) ey AS ae = WY eae KO TPN = Bel o 8 = 4s865 & fe kentt tg maty EMME sont at 7 fat. fais 2etMedet ), 22.1416 JE * 1-3. T= am(viree) where ate page rahe R[O*+G+3)+28(6¢B)a 4] Seweodtain gg ee T= $ma*[38?+ $'+284+2(8'748)oos4], Veo. 4(20)-2b=0 bp 3 2f)- oe needy To tT: 03g], 2 = Bam [adr b+ 26+ Ho sd], 35=0 Ré @ equation; (42c038) 5404205 I P- (24H) Gin mR (844 A)aing equation: mR* [Crees g)6+b~Ed sing 105-84) sin FeO * or (head +p +a? snp =0 158 Te yiRe(ded+desd), at fpr ) 3 4-3, (cot'd.) Reference condition; 88,820,820, #= ssb+ 2590 2n8 +8¢+4 AFEd=0 The perturbatYon equations are Assume solutions of form cos(it+). The characteristic equation fs “3k wast - [8 Ps 28 [=x 38)=0 witk roots Amplitude ratias are obtained from ~SKA,- 2K Ag =o Non-20rd Prpreey mode 1s TRA Ag+ (8-H )Ag= 0 wave 6 9-4. Assuming small motions, the velecity of the com. ef the lover rod ® 2 U(8+%6,) Th "re aE seer Grd a yemter emt (Sabet tS4 3.) Also y= eh cos e~myl eset 205 8) = ~rgi(Z.c0s6,+ £25 &) The reference eguilirinrm oteditin is @= , jer Af 20 [#]= Bea, ont i i. ofkl= ee smalls a Characteristic eguatiin: | Googe gmt) emt ye | mgmt (gmigl-} gneX)} whe, or get Luigl Rt Gm gG UH 0 . ; ov ee ee +27E-0, » Aye 8.2078 15g

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