edexeel advancing learning, changing lives x , Edexcel AS and A-level Modular MathematicsPublished by Pearson Education Limited, a company incorporated in England and Wales, having its registered office at Fdinburgh Gate, Harlow, Essex, CM20 2JE. Registered company number: 872828, www pearsonschoolsandfecolleges.co.uk Bdexcel isa registered trademark of Edexcel Limited. Text © Susan Hooker, Mick Jennings, Jean Littlewood, Bronwen Moran, Laurence Pateman 2009 131211109 10987654321 British Library Cataloguing in Publication Data is available from the British Library on request. ISBN 978 0 435519 25 4 Copyright notice Al rights reserved. No part of this publication may be reproduced in any form or by any means (including, photocopying or storing it in any medium by electronic means and whether ot not transiently or incidentally to some other use of this publication) without the written permission of the copyright owner, except In accordance “with the provisions of the Copyright, Designs and Patents Act 1988 or under the terms of a licence issued by the Copyright Licensing Agency, Saffron House, 6-10 Kirby Street, London ECIN 8TS (www.cla.co.uk). Applications {or the copyright owner's written permission should be addressed to the publisher. Edited by Susan Gardner ‘Typeset by Tech Set Ltd, Gateshead Tihistrated by Tech-Set Ltd, Gateshead Cover design by Christopher Howson Picture research by Chrissie Martin Cover photoillustration © Edexcel Printed in the UK by Seotprint Acknowledgements The author and publisher would like to thank the following individuals and organisations for permission to reproduce photographs: Alamy John Peter Photography pl; Rex Features/Keith Meatheri ‘p80; iStockPhoto/ Bryn Donaldon p79. 1am p28; Getty Images/Vladimir Rys/Bongarts Every effort has been made to contact copyright holders of material reproduced in this book. Any omissions will be rectified in subsequent printings if notice is given to the publishers Disclaimer ‘This Edexcel publication offers high-quality support for the delivery of Edexcel qualifications. Edexcel endorsement does not mean that this material is essential to achieve any Edexcel qualification, nor does it mean that this is the only suitable material available to support any Edexcel qualification. No endorsed material Will be used verbatim in setting any Edexcel examination/assessment and any resource lists produced by Edexcel shall include this and other appropriate texts. Copies of official specifications for all Edexce! qualifications may be found on the Edexcel website - www.edexcel. comContents About this book 1 Applications of vectors in mechanics 1.1 Simple first order vector differential equations 1.2 Simple second order vector differential equations 1.3 The work done by a constant force 1.4 The vector moment of a force about a point, 1.5. Analysing systems of forces 2 Variable mass 2.1 The impulse-momentum principle Review Exercise 1 3 Moments of inertia of a rigid body 3.1 The moment of inertia of a standard rigid body about an axis 3.2 Further standard results and the radius of gyration 3.3 Parallel and perpendicular axes theorems 4 Rotation of a rigid body about a fixed smooth axis 4.1 Kinetic and potential energies of a rotating body 4.2 The force that a rotating body exerts on the axis of rotation 4.3. Using angular momentum to solve problems involving a rotating body which receives an impulse 4.4 The period of a pendulum iv u 12 7 28 29 43, 50 60 66 79 80 85 92 98,Review Exercise 2 Examination style paper Answers Index 108 118 121 126About this book This book is designed to provide you with the best preparation possible for your Edexcel M5 unit examination: Sa ae ‘links’ to underline the importance of mathematics: to the real world, to your * This is Edexcel’s own course for the GCE specification + Written by Senior Examiners. + The LiveText CD-ROM in the back of the book contains even more resources to support you through the unit. study of further units and to your career Finding your way around the book - Every few chapters, a review exercise helps you consolidate Detailed contents your learning list shows which_|| Contents parts of the M5. specification are covered in each section i Each section begins with a statement of what is covered in the section {Concise learning points a oe Past examination questions are marked ‘E' Each section ends with an exercise =the questions are carefully graded so they increase in difficulty and gradually bring you up to standard Step-by-step worked examples ~ they are model solutions and include examiners hints (Each chapter has a different colour scheme, to help you find the right chapter quickly Each chapter ends with At the end of the book there is a mixed exercise and a an examination-style paper. summary of key pointsAfter completing this chapter you will be able to: * solve simple vector differential equations * use the scalar (or dot) product to calculate the work done by a constant force Vv y * use the vector (or cross) product to calculate the moment of a force * analyse systems of forces which are acting on a rigid body in three dimensions. The photograph shows the boat lift which moves boats between the Forth and Clyde canals. The forces which come into play when the lift rotates could be analysed using vectors.CHAPTER 1 1.1 You can solve simple first order vector differential equations. In book M3 and book M4 we used differential equations to model the motion of a particle moving in a straight line. I If the particle is moving in a plane, or in three dimensions, we can use vector differential equations to model the motion. I Many of the techniques used in the solution of differential equations in Further Pure Mathematics can also be adapted to solve vector differential equations, provided that any integration or differentiation is carried out with respect to a sealar quantity. A pasticle P is moving in a plane such that at time f seconds its position vector is rm and its velocity is vms~!. Given that v satisfies the differential equation dv dt Av and that, when ¢= 0, r = 2i — j and v = i + 3j, find an expression for r in terms of t. av at W_ay=0 eet dt ee cnatecc ns A-4=0-—__ ie A=4 as | 60 v= Ae‘ is the general solution. When t 60,1 + 3j 60,v = (i a Hence, 2 lence, = (i+ Spfe*ar coanieso—__ Sp ne 2i-j J=G+ opp + oo Se | rApplications of vectors in mechanics Example Solve the equation dr_2 dt given that when t= 1, = 2i-j [As we have a linear first order equation with We need to use an integrating factor, —t— a non-constant coefficients. (i+ aye? Multiply through by R. = (i+ 4pr? i+ ape-eae Integrate with respect to t. + Ajo te ‘Add on an arbitrary constant vector. (i+ 4) +¢—__ Use the conditions, t= 1, r= 24 — J +4)pt 31+ 3) sr= (i+ Aet Gi + Spe Multiply through by ee = (Bt? — til + (Be — 40y ei sell 0 Collecting i's and j's.. oF using column vectors. Check: et) oe — 4b If time permits, we can always check { 6t-1-6r+2 ) =( i) ur solution by differentiating it and 4 \er-4-6r+8 substituting in, aren 1 At time f seconds the position vector of a particle P is r metres and its velocity is wms~'. The motion of P is modelled by the differential equation dv dt Given that when f= 0, = 3iandv By. = j, find r in terms of t 2) The velocity vms~! of a particle P at time f seconds satisfies the differential equation av v=0. dt Given that the initial velocity of P is (124 + 6), find the velocity of P at t = In3,CHAPTER 1 3 The velocity vms~ at time t seconds of a particle moving in a plane satisfies the differential equation dv _ 7 OY Where v= 4i 2} when t= 0. Given that the particle starts, at t = 0, at the point with position vector (i + j)m find a the position vector of the particle P at time ¢ seconds, b the time when the magnitude of the acceleration of the particle P first equals 100m s~*. At time f seconds the position vector of a particle P is r metres and its velocity is vm". ‘The motion of P is described by the differential equation dv ay Given that when ¢ = 0, r = i— kand v= a find r in terms of t, D find the speed of P when f = 2, © find the magnitude of the acceleration of P when t= 2. At time f seconds the position vector of a particle P is r metres. The motion of P is described by the differential equation Pr _ pdr de dt Given that the initial velocity of P is (2i — j)ms"', find the speed of P at t = In 3. At time f seconds the position vector of a particle P is r metres. The motion of P is modelled by the differential equation dry ope a Gt 2k = (154 + 10jpe". Given that when t = 0, r = 2i + j, find a rin terms of t, b the velocity of P when t= In4. The position vector r metres of a particle P at time t seconds satisfies the vector differential equation dr ar ke', Given that when ¢ = 0, r = 2i +3] + k find rin terms of t. At time f the velocity v of a particle P satisfies the vector differential equation dv , 3v_ SY + SY = 0, where Tis a constant, At time ¢ = 0 the position vector of P is a(2i + j) and its velocity is a i Find the position vector of P at time t.Applications of vectors in mechanics 9) The position vector of a particle P at time t seconds is r metres. The motion of P is modelled by the vector differential equation OF yap a det oF + 3r= de Given that when t = 0, x = 24-j, find r in terms of t. 10 The position vector of a particle P at time t seconds is r metres. The motion of P is modelled by the vector differential equation de_ 2,4 p> at 7 Given that when f = 1, r = i — j, find rin terms of 1,2. You can solve simple second order vector differential equations. Pr, de jents of the form af + br The equations will be linear with constant coef += KH) where f(t) is a vector which is a function of t. The method used will be very similar to that used for solving (scalar) differential equations and will involve finding a complementary function and, where appropriate, a particular integral. Bae The position vector r metres, of a particle P at time ¢ seconds satisfies the differential equation dr | 2G tr = 0. Given that when ¢ = 0, r = 2i and * = Si + 3), find r in terms of t. Auxiliary equation is This is quadratic in A as we have a ol aera second order differential equation. w= 2A+1=-9 (-1)?=-9 Solve to give a pair of complex roots. A=123i This is the complementary function (C.F) which is also the general e* (A cos3t + B cin3t) solution since the R.H.S. of the differential equation (D.E.) is the zero vector. Note that we have two arbitrary constant vectors. General solution is Pot = e(Acos3t + Bsin3t) + e(-BAsin3r + 3Bcos3t) 9, ar When t Bi + 3j 90, Bi + 3)=A + 3B ie, 5+ 3j= 21+ 3B i+j=6 Hence, r = e*(2icos3t + (i + j) sin3t) ier = eX((2cos3t + sin3r)i + sin3x) »{2cos3t + sin Be \ sindt orr =e! A particle P is moving in a plane such that at time ¢ seconds its position vector is rm and its velocity is vm s~. Given that v satisfies av _ ay dt and that, when {= 0, r = 2i — j and v = i + 3j, find an expression for r in terms of t. This is the same as Example | (see page 2) and we now provide an alternative solution. The equation can be written ae ae at dat : a? — 4A = 0 —______ AA = 4) =0 =Oor4 r= Ae + Bet? A+ Be* When t = 0, = 2i-j 90,2i- j= A+B @ ar Fa 4Be TiApplications of vectors in mechanics Meaee stem ees, se“ A# 04S) attr ition) Example El ‘The vector r satisfies the differential equation @r_ dr _ de dt Given that when t = 0, r = 2i + 3j and « 12x = Sey. , find r in terms of t. Auxiliary equation is A* — A - 12 = 0 le. (A 4)(A + 3) = 0 | = A= 4or-3 Cio r = Ae“ + Bes For Pl. try = Ce — eb ae = a¢eze Beams eee - r= Ac + Be 4A - 38 -jCHAPTER 1 60, B = 21+ 31) — (1 + $j) =itg Hence, r = (i+ Spe" + (i+ 2pe> At time ¢, the position vector r of a particle P satisfies a @r ae Initially, when ¢ = 0, P passes through the point (0, 1) with velocity i. Find r in terms of tand deduce the Cartesian equation of the path of P. 4 4e = 3sinti Auxiliary equation is A? + 4 = 0 A= +21 CF is r = Acos2t + Boin2t For Fl. try r = Coint + Doost t =ae= —Deint = 4 = Ccoot - Doint = 40 = -Coint - Deost ae 90, —Ceint — Doost + 4(Csint + Doost) =Seintt ie. 3Ceint + 3Dcost =Seinti ~—__ 3C = 3iand 3D = 0 ie.C=iandD=0 20, Pl.ie r = feint 0, the general solution is r= Acos2t + Bein2r + icine When t= O,r=J 20,4 | -2Asin2t + 2Bcos2t + icootApplications of vectors in mechanics Velocity = St 60, F = Joos 2t + isint = leint + joos2t mee) \cos 2e. Thus, x = int | These are the parametric y eae equations of the path of P. y = cos 2t To find the cartesian equation we Path has equation y = 1 — 2x? Para 1| At time f seconds the position vector r metres of a particle P satisfies the vector differential equation Oy 4d gr = 4ah + Br =0. At = 0, r= 4+ jand the velocity of P is (24 - 49) ms~? Find an expression for r in terms of t. 2 | The position vector r metres of a particle P at time ¢ seconds satisfies the vector differential equation @r gdr 58 ae ae r= 0. At t= 0, the particle is at the point with position vector 2jm moving with velocity G+ jms” Find r in terms of t. 3| The position vector of a particle P at time t seconds is r metres, The motion of P is modelled by the differential equation 0, @r_ se ae ae Given that when = 0, r= Land 4F = j, find the distance of P from the origin O when ¢ = 2. 4| The position vector of a particle P at time f seconds is r metres and satisfies the differential equation r= ~2iand $F = i+ V3}, find r in terms of t.CHAPTER 1 2 10 The position vector of a particle P at time t seconds is r metres. The motion of P is modelled by the differential equation dr Ge * qr 7°. Given that when ¢= 0, r = 0 and $F = 4i, find r in terms of t ‘The position vector of a particle P at time t seconds is r metres and satisfies the differential equation r= 1004. de Given that when ¢ = 0, r = i and 4F = 2j, find rin terms of t. The position vector of a particle P at time t seconds is r metres. The motion of P is modelled by the differential equation a Sr 2G + Se = 1Osinel. Given that when f = 0, = 2i ~ jand $F =i + j, find r in terms of t. ‘The position vector of a particle P at time f seconds is r metres and satisfies the differential equation @r_ gary gy = gi Se fae * aF = 8 Att = 0, the particle is at the point with position vector (21 ~ k)m moving with velocity (+ 2j)ms"" Find r in terms of t. The position vector of a particle P at time t seconds is r metres and satisfies the differential equation er OF — ae = 121 ~ 25, Att = 0, the particle is at the point with position vector (i + k)m moving with velocity 2jms'. Find r in terms of ¢ ‘The position vector of a particle P at time £ seconds is r metres. The motion of P is modelled by the differential equation @r_5dr_ go; Z de ar” 88 =i + 18pe Given that when ¢ = 0, r =i + 2j and 4F = 24 + j, find r in terms ofApplications of vectors in mechanics 1,3. You can calculate the work done by a constant force. Suppose a particle P is pushed along a horizontal plane from A to B by a constant force F of magnitude F acting at a fixed angle # to the horizontal. How much work is done by the force? A B Split the force into two components, Fsin @ acting into and perpendicular to the plane, and Fos 6 acting along and parallel to the plane. The component Fsin @ does no work since it is always perpendicular to the motion. Ml Work done by F = Work done by component Fcos 0 ‘cos 0 x AB -AB force x distance This is the scalar or dot product. Example A par done by Fas it moves P from the point 4 with position vector (i + j + 2k)m to the point B with position vector (31 ~ 4j + k)m. cle P is acted upon by a resultant force F where F = (21 ~ 3j ~ 4k) N. Calculate the work We need to find the total AB = 21 - 5} displacement vector. Work done = (2i — 3j — 4k) - (21 — 5j — k) Use F - AB. Ce ee) a Gn) Use the components to evaluate =441544 the scalar product. ey) 1N x 1m = 1 Joule of work.CHA —, In this example i and j are perpendicular unit vectors in a horizontal plane and k therefore acts in a vertical direction. A particle P of mass 0.5 g is at rest on a smooth horizontal plane at the point A with position ‘vector (2i + j) m. It is then acted upon by a force (3i — j + 4k)N which moves it along the plane to the point B with position vector (Si + 5j)m. Find the speed of P as it reaches B. Method 1 AB = (31 + (Bi-j+ (Bi + 4p =9-4=5J V20me'=v Method 2 Gr] 48) 61 + 4)———1 sting te esr) =1N +2x 2x AB] ——__ Fae —————— . v= V20me~ 1,4 You can find the vector moment of a force about a point. ‘The phrase ‘moment of a force about a point P’ is, strictly speaking, meaningless, but it is a ‘common abbreviation for ‘turning effect of a force about an axis, passing through the point P, which is perpendicular to the plane containing the force and the point P* y The moment of F about P is actually the moment of F about the axis XY. To find the magnitude of this moment we need to find the perpendicular distance from P to the line of action of F, d in the @ diagram. xApplications of vectors in mechanics Then magnitude of the moment = |Fld Let Q be any point on the line of action of F. Then magnitude of the moment = |F||?0/sin 6 Denoting PG, which is the position vector of Q relative to P, by r, @ magnitude of the moment = |r x F\. We call r x F the vector moment of F about P. Note that since r, F and r x F form a right- hand set of vectors (in that order), (the vector r x F acts along the axis of rotation i.e. along XY). Note also that if r x F = a, say, then this is the vector equation of the line of action of F, since can be the position vector of any point on the line of action of F, taking P as the origin. Example E] A force (34 + 2 — 4k) N acts through the point P with position vector (24 — j — k)m relative to an origin O. Find the vector moment of the force about ad, b the point A with position vector (i + 3j + 2k) m. = This is the position a OP=(21-J- k) = reay. vector of P relative to OF. Vector moment about O = = k) x (Bi + 2j- 4%) Using rx F. Use the determinant method to find F x F. or using column vectore: (=) x| | bee used and either pe ale notation is acceptable. -1X -4)-(-1%2)) 76) (3X -1) - (2x -4) lhe [5] Nm (2x2)-(-1x3) | \7 b AP = (1-4) - 3k) To find the vector 7 moment about Awe a a ) need the position vector =) of Prelative to A, pF, 1 Vector moment about A= | ~4 -3/ 22) =5 |Nm 14 a Using or, x F. Either method canCHAPTER 1 Example [) A force F = (2i + j + 3K)N acts through the point with position vector (4i ~ j + 2k) m. Show that the vector moment of F about O the origin is the same using any point on the line of F. The position vector of any point on the line of action of F 1] | Vector moment of F about 0 = ¢ X F ine — 3k) N acts through the point P with position vector (24 — a Find the magnitude of the moment of F about the point A with position vector (i + j ~ 3k) m. b Find the vector equation of the axis through A. = V30 Nm = 3V10 Nm b The direction of the axis is parallel to r X F, and it passes through A, hence r ig the vector equation required.Applications of vectors in mechanics Example [2 (1) y ‘The vector moment of a force | 2) N about the origin is | 8) Nm. Find a vector equation of -3) \ 5) the line of action of the force. Ir Let r be the position vector of any point on the line of action of F Put r into component form. Evaluate the vector product on the LH.S. Equate coefficients of i, j and k. Note that the equations have an infinite number of solutions but we only need to find one. The line of action of F passes through the point (0, —5, 8). Th the same direction as F. Avis | y Exercise [Tq 1 In each of the following cases calculate the work done by the force F as it moves its point of of action must have application through the displacement d a F= (3i+j-2k)N,d = +5 -2k)m. b F = (-4i~j + 2k)N, d= Bij + 4k)m. ¢ F=(i- 2k)N, d= (§ -3k)m. 2) In each of the following cases calculate the work done by the force F as it moves its point of application from the point A with position vector r, to the point B with position vector rg: a F=(i+j-2k)N, b F= (i —j + 3K)N, ry = Qi -j + k)m, ry = (4 ¢ F=(@-W)N, ry = 2i- jm, r= Gi-j+ km (i+ j- 2k) m, x, = i - 35 + km. 3j — 2k) m.cHarren 1 3] In each of the following cases a particle P of mass 0.5 kg is moved from the point A with position vector r, to the point B with position vector r» by a force F. Assuming that in each, case there are no other forces, apart from F, doing work on P and that the speed of P at the it A is 4ms-!, find in each case the speed of P when it reaches the point B: a F= (ij + 2K)N,ey = +4 — 2k)m, ry = (24-3) + km. b F= i —j-3K)N, r= Qi -j + Kym, rp = (44 - 3) - 2k). © F=(@-W)N, r= Qi- jm, r= Gi-j+ km. 4 Forces of magnitudes 6N, 7N and 9N act in the directions 2i + 2j + k, 6i — 3j + 2k, and 7i + 4j — 4k, respectively. The three forces act on a particle causing a displacement of, (B4i + 10))m. a Find the work done by each force. b Verify that the total work done by all three forces is equal to the work done by the resultant force. 5) In each of the following cases the force F acts through the point with position vector r relative to the origin O. Find the vector moment of F about O. a F= (i+ 2)N, r= G-jim b F= (i+ 2K)N, r= Qi 2i — k)m. © F=(-j)N,r=3km, a F=(i+j-2K)Nr=Gi-j+kym. 6) In each of the following cases the force F acts through the point with position vector r relative to the origin O. Find the vector moment of F about the point A. a F= (i+j-k)N,r = (3i - 2j)m, AQ, 1, 0), b F= 21 -)N, r= G+ 2m, AQ, 1), ¢ F=(@+2W)N,r= (+ j- k)m, AQ, 0,2). 7 | A force F acts through a point with position vector p. Find, in terms of F, p and q, the vector moment of F about the point with position vector q. 8 | In each of the following cases the force F has vector moment m about the origin O. Find a vector equation of the line of action of F if a F=(i+j)N,n=4kNm, b F= (2i~ j)N,m = (i + 2))Nm, © F=(i+j-K)N,n = (Gi- 2j+ k)Nm. 9 | In each of the following cases the force F acts through a point P. Find a vector equation of the axis through the point Q about which the moment of Fis calculated. — 29)N, PCO, 1, 0), Q(0, 0, 0), b F= (+ 2K)N, OP + k) m, 00K + 2) - k)m, © F= (2i+j— K)N,OP(i + j + 2k) m,0Q(-i + 2j- ky. 10, The moment of a non-zero force F about a point P is equal to its moment about another point Q. Show that the line of action of F is parallel to the line PQ.Applications of vectors in mechanics 1,5. You can analyse systems of forces. Couples I Assystem of forces which has no translational (or pushing) effect but does have a rotational (or turning) effect is called a couple. The simplest example of a couple is two forces of equal magnitude with parallel lines of action but acting in opposite directions: = Suppose the two forces = are F and —F acting in some plane. ee 0 Now consider the sum of the vector moments of these two forces about a point O (which may or may not be in the plane of the couple). Let A be a point on the line of action of F and B be a point on the line of action of ~F. Sum of the vector moments about O = OA x F) + OB x -F) = OA ~ OB) x F =BAXF BA x Fis called the vector moment of the couple. Note a BA is independent of 0. b BA x Fis a vector which is perpendicular to the plane of the couple. ¢ |BA x F| = BA x |F| sing = |F\d, where d is the distance between the lines of action. From a, it follows that the vector moment of a couple is the same about any point, and is normally denoted by G. Systems of forces I Two systems of forces are equivalent if their effect on a body is the same translationally and rotationally. In 2 dimensions (ic. a system of coplanar forces), a system of forces is equivalent to: i a single force, or ii acouple, or ii the system is in equilibrium.cHarren 1 In 3 dimensions, however, there is a fourth possibility. For example, consider 2 forces whose lines of action are skew (non-parallel, non-intersecting). Such a pair of forces cannot be equivalent (or reduce) to a single force, a couple of be in equilibrium, but are equivalent to a combination of a force and a couple whose plane does not contain the force. Analysis of force systems in 3D Suppose a system of forces, S, consists of forces F,, Fs,..., F, acting through points with position VeCtOES Fy, yu By respectively. If Sreduces to a single force R acting through a point with position vector a then DR =R and Ye, xF, xR I If Sreduces to a couple of moment G then DR =O and Dex If Sis in equilibrium then DR=0 and Dex Identifying the nature of a system of forces The converse problem of identifying the equivalent form of a given system of forces is more difficult. 1 To prove that the system is in equilibrium, it is necessary to show that both K=O and Dx, xk=0 (Either condition on its own is not sufficient since ) F; = 0 is also true for a system which is equivalent to a couple and Sr, x F; = 0 holds for a system whose resultant is a single force acting through the origin 0.) 2 To prove that the system reduces to a couple, it is necessary to show that both =0 and Dx, x40 (Again either condition, on its own, is not sufficient.) If OF, 40, then either i the system reduces to a single force or ithe system reduces to a force and a non-coplanar couple. il if it reduces to a single force R then cither the line of action of R passes through the origin O and so 7, x F, = 0 or the line of action of R does not pass through O and the resultant moment of the system about O acts in the plane containing R and 0, i.e. the resultant vector moment of the system about 0 is perpendicular to the resultant force (see section 1.5 note b), Le. (Sr, x F)- LF = 0; = Applattons of vectors in mechanics 3 To prove that the system reduces to a single force, it is necessary to show that both SAO and {either Lx) x R= 0 rae [eeexm ER 0 ‘The condition (Sr; x F)-.F, = O includes the possibility that x, x F, = 0. However, in practice, it is sensible to work out Sor; x F; first and, only if it is non-zero, work out (Sor, x F)-SF. Thus, 4 to prove that the system reduces to a force and a non-coplanar couple it is necessary to show that both, 40 and (Sor, x BF) 4O Example [) Prove that the following system of forces is in equilibrium: F, = (-i~ 3j + 4K)N acting at the point with position vector r, = (-2j + 4k) m F, = (Gi — j + k)N acting at the point with position vector r, = (i + j)m. F, = (-2i + 4j ~ Sk)N acting at the point with position vector # = (3i ~ 3] + Sk)m We need to show that DF, = (-i— 3j + 4k) + (Bi-j + k) + (-2i + 4] - 5k) the net translational oO effect is zero. We, x F, = (-2] + 4k) X (-1- 3) + 4k) ++) x BI-J +6) | NWerneea show + (31 — 3] + 5k) x (-21 + 4j — 5k) that the net rotational effect is also zero. = (41-4) - 2k) + 0 - ° = 4k) + (-5i + 5j + Gk) You will have come Hence the eystem is in equilibrium, across this in book M2. If 3 non- Alternative method parallel forces are in 7 equilibrium then the Having shown that )OF, = O we could show that the lines of forces must all pass action of the three forces are concurrent. through the same point.CHAP? — | a[ghe-(3) Be - (3}+(3] : } Pea A quadrilateral has vertices P(1, 3, ~1), Q(2, 0, 4), RG, ~1, 0) and S(O, 1, 1) Forces PG, QR, RS and SP act along the sides PQ QR, RS and SP of the quadrilateral Prove that the system is equivalent to a couple and find its vector moment. @ = =3) ete. P Z) Taking the sum of the moments about O, er ely 3)*(-3)* (3) -6 12) + -6} \-2 1 = 4) This io the vector moment of the couple. -6 12\ 4 ails Alternative method Taking the sum of ti FQ X OR + PRX RS os ) (-4) (2) -6 =o -8) o —Peete 15) Applications of vectors in mechanics Forces F;, F, and F, act at the points with position vectors r;, r) and r3 respectively, where 4) A=4 so, r= Ae“ (no particular integral needed) @r_ dr eg. to solve: f — ar =0 to solve: qe a 3r=0 the auxiliary equation is 4? ~ 24-3 = 0 S(A-3)At1 sa so, F = Ae + Be (no PI.) Note that the arbitrary constants will always be vectors. Where a particular integral is required, use the same guidelines as in Further Pure, but it must be a vector. 2. Tosolve a vector differential equation of the form av Vs fpy = ae? {Ov = ago i.e. first order with non-constant coefficients, use an integrating factor e!", 3 When finding values of arbitrary constants, using boundary conditions, ensure that the complete general solution is obtained first. 4 The work done by a constant force F which moves its point of application through a displacement d is given by work done = F-dApplications of vectors in mechanics The vector moment of a force F about the origin 0 is given by vector moment = r x F, where r is the position vector, relative to O, of any point on the line of action of ‘Two systems of forces are equivalent if they have the same effect translationally and rotationally. A system of forces which has zero translational effect but non-zero rotational effect is called a couple. ‘The vector moment, G, of a couple is the same about any point. Let s be a system of forces F,, F),..., F, acting at the points with position vectors mF... % respectively, in three dimensions. s can be reduced to: i equilibrium + DF,=0 and Dx, x R= 0 acouple,@ = DK =0 and Dx,xk=G40 asingle force, Ro F,= R40 and either Dx, x F, or (Sor, x )-DR = 0 iv a single force, R plus a couple > R= R40 and (Yr,x F)-DR 40After completing this chapter you should be able to: * form and solve equations to model the motion of a particle of varying mass. In all of the problems considered so far you have assumed that the mass of the object involved has remained constant. However, this is not always true: * the mass of a rocket propelled car attempting the land speed record reduces as the motor burns fuel, the mass of a spacecraft reduces when its rockets burn fuel, * the mass of a raindrop increases as it passes through a cloud.Variable mass 2.1 You can use the impulse-momentum principle to describe the system. We talk about problems concerning ‘variable mass’, but what is actually happening is that the mass is being redistributed. Each situation involves the moving object together with any material ejected or absorbed as it moves. Ml The impulse-momentum principle states that the change of linear momentum of the system in the time interval dt is equal to the impulse of the external forces acting on the system in that time interval. Consider the following examples. A body is falling under gravity. It picks up matter as it falls, At time ft the body has mass mand speed v. Assuming that the matter picked up was stationary before it coalesced with the body, derive the differential equation for the motion of the body. Initially we have two elements, the body of mass m, moving with opeed v, and the additional matter of mass &m, which ie not moving. eter Consider the change After an interval 5t we have a body of mass m + 6m in momentum over a moving with speed v + &v. short time interval. |, +0 The external force acting on the system is the weight, (m + 8m) change in momentum = impulse Use the impulse~ [(m + Brmy(v + 8.) — [mv + Bm x O] = (m + Brn)g dt mv + mbv + vim + 8m 6v — mv = mg bt + gdm dt momentum principle. = m8 4 om 4 Smsv aa ae a = mg + gim Divide by 3t. Taking the limit as 8t + 0, ———____ oo As ot 0, bm > 0 mae + v4 = mg, ie ie, Arm) = mgcharren 2 A body is falling under gravity. It picks up matter as it falls. At time ¢ the body has mass and speed v. Assuming that the matter picked up was falling with speed u before it coalesced with the body, derive the differential equation for the motion of the body. Initially we have two elements, the body of mase m, moving with speed v, and the additional matter of mass 5m, moving with epeed u | \, Consider the change After an interval 8 we have a body mass m + 8m moving in momentum over a with opeed v + bv. short time interval. |, + bv The external force acting on the system is the weight, (m + dm) a. change in momentum = impulse [Co + 8m)(v + vy] — [mv + Smu] = (m + Sm)g dt Use the impulse momentum principle, iv + mv + vim + brn By — mv — udm = mg bt + gbm dt = m+ yom 4 dmv _ 8 rm 8 ot p ma + adm Divide by at. Taking the limit as 8 + 0, —_— —— As bt + 0, im—0 av dm dm dv 4 yd _ dit = my ac at aeVariable mass A spaceship is moving in deep space with no external forces acting on it. At time ¢ the spaceship has total mass m and is moving with velocity v. The spaceship reduces its speed by ejecting fuel from its front end with a speed c relative to itself and in the same direction a: own motion. Show that 2” ~ € dm Initially Consider the initial momentum and the momentum a short time later. After interval 5t The ejected fuel has speed c relative to the spaceship, so speed | | (+ Qin total. oto ote Use the impulse— change in momentum = impulse = 0 momentum principle Biel + 8) + (—8m)(v + oc) -— mv=O with zero external bm)(v + 8) + (-8m)(v + c) — mv=0 fae my + mév + vim + 8m6v — vim — Bm — mv = 0 mv + 8m dv — cim =O ———___ —— Divide by 6m. + §v-c=0 — Let 8m — 0 and divide by m.charren 2 aaa A rocket-driven car propels itself forwards in a straight line on a horizontal track by ejecting burnt fuel backwards at a constant rate Ags"? and at a constant speed ums * relative to the car. At time f seconds, the speed of the car is vms~! and the total resistance to the motion of the car has magnitude kv N, where k is a positive constant. When t ) the total mass of the car, including fuel, is Mkg. Assuming that at time t seconds some fuel remains in the car, show that dv _ Au kv dt Mat Initially I After interval 5t I = change in momentum = impulse vou (m + bm)(v + By) + (—4m)(v — u) — mv = —kv6e, ——L2—_. mv + vém + mév + 8mév — vim + udm — mv = —kvér dv , dm = py = mil + 8B = —h Consider the momentum at the beginning and at the end of the interval. ‘The car and the burt fuel are going in opposite directions, so the fuel has speed v= win the direction of the car, Use the impulse momentum principle. kvis a resistance to motion, so the force will be negative. Divide by at and take the limit as at — 0 Substitute for m and 2,Variable mass eae A rocket is launched vertically upwards under gravity from rest at time ¢ = 0. The rocket propels itself upwards by ejecting burnt fuel vertically downwards at a constant speed u relative to the rocket. The initial mass of the rocket, including fuel, is M. At time f, before all the fuel has been used up, the mass of the rocket (including fuel) is M(1 — kt) and the speed of the rocket is v. Air Sse an We ERE that = KU resistance can be ignored, Show that GY = Ml — ¢, After interval 8 Use the impulse- aa momentum principle. The external force | is the weight of the 2 rocket and its fue. 7 change in momentum = impulse a (mm + bmn)(v + 8) + (~4m)(v~ u) ~ mv = ~mgdt mv + Omv + mv + 8m bv — dmv + udm — mv = —mgér —_———_ Divide by &t and take the limit as 5t —> 0 dv dm = mv 4 yA = mat + 18004 = mg At time t, m = 1200 - 10t = (1200 ~ 10824 + 1800 x ~10 = ~(1200 ~ BOO = —4(120 — 1) ‘x *Zo-¢% [-gt — 18001n(120 — £)]2° = —90g - 1800In30 + 0 + 1800 In120 = 1610 ms" (3 sf). Use the impulse— momentum principle to form a differential ‘equation. Use the information we are given about the rate of burning fuel. Divide by 120 - Integrate and substitute the limits.Variable mass A spherical hailstone is falling under gravity in still air. At time ¢ the hailstone has speed v. dr dt ee ‘The radius increases by condensation. Given that {= kr, where k is a constant, and neglecting air resistance, dvi ig a show that SY = g ~ 3ky, b find the limiting speed of the hailstone. a Initially ‘The mass picked up through condensation is, stationary. After time dt ie change in momentum = impulse [lim + Smn)(v + 8] — [ev + Sm X O} = (m + Sm)g bt Use the impulse momentum principle. = mv + mbv + vim + émév — mv = mgdt + gdmae fv, om 4 Smby _ 5 = BL + Bt 4 ONOY = mg + g 6m -———___________ vide by at co mv + yan = co mM + yA = mg oat 2 de ———+ The mass of the hailstone is A X Sm? « Mass is proportional 3 4 = adm? = ana? x ke = 4k? to volume. at at +X 4thme = Ax Sarg Use ia chain rule o and & = k, and therefore ae =9- 3h Divide by 4 Ax Gar, b At the limiting speed, a = Acceleration zero at the limiting speed.caren 2 aaa A rocket uses fuel at a rate A. The rocket moves forwards by expelling used fuel backwards from. the rocket with speed U relative to the rocket. At time ¢ the rocket is moving with speed v and the combined mass of the rocket and its fuel is m. The rocket starts from rest at time t = 0 with a total mass M and reaches a final speed V at time T. Given that no external forces act on the rocket show that dv ay =U a moe AU, 7 M. b v=uing Se a Initially Start from first t principles. After an interval 6t vt dv S) -u =~ t t Use the impulse— momentum change in momentum = impulse -~ principle with no external force (m+ dm)(v + 61) + (-dm)(v — L) - mv = 0 acting. mv + vim + mbv + 8m bv — dmv + Sm — mv = 0 = mév + bm8v + 6mU = 0 Divide by at, and take the limit as ma 4 yam CE ae Ge but we are told that 4 = —, ——__ The rate is negative ae | because the fuel is som — AU = 0,m4% = AU ease at Mat Express m in. b The initial mage is M and 4 = -A,60 fers of band 7 substitute for m (M — At) = ay ———_ in the differential at equation. AU a Separate the —— variables and ) integrate.A particle falls from rest under gravity through a stationary cloud, At time ¢ the particle has mass m and speed v. The mass of the particle increases by accretion from the cloud at a rate of kimv, where k is a constant. Air resistance can be ignored. Find an expression, in terms of m, k and x, for the kinetic energy of the particle when it has fallen a distance x. Initially ee eos After an interval 6t: Ve change in momentum = impulse -——— (m+ dm)(v + 64] — [mv + 6m X O] = (m + Bm)g dr my + Smy + Bem + Sm bv — mv = mg br + Bmg bt mv + yt = mg take the i But we are told that 42! = kmy, 0 m4% + yx kmv = mg Variable mass accretion : growth by external addition. This is probably not a word that you ‘use very often, but you will find it used to describe the increase in mass of a particle in questions of this type. ‘The particle picks up a stationary mass. Use the impulse momentum principle. Divide by ét and a 0. == ‘We want an answer linking v and x, so substitute dv _ dv at “dx” Separate the variables and integrate. Remove the logarithm and rearrange to form ‘an expression for wvcoarren 2 Example [) A raindrop falls through a stationary cloud. When the raindrop has fallen distance x it has mass mand speed v. The mass increases uniformly by accretion so that m = M(1 + kx). Air resistance may be assumed to be negligible. Given that Owhen 0, find the speed of the raindrop when x Initially | u \, Consider the After an interval 6t change in momentum over a short time interval. |, + ov change in momentum = Impulse ee [(m + Sm)(v + v)] — [rv] = (m + Sm)g dt mn intennns’othee Dividing by ax gives a differential - my + mBv + dmv + mv — rm a By 4 8 4 5nd Fa lee mg 6t + ing &t mg SE + Brig St i dm equation with 4”. Take the limit as 6x > Oand use dx dry dt To solve this differential ‘equation, find the integrating factor and multiply through by it. Integrate and use the initial conditions tofind C __24 29 Bea ~ 34% (2Variable mass Ignore air resistance unless otherwise stated. 1 Arocket is launched vertically upwards under gravity from rest at time t = 0. The rocket propels itself upwards by ejecting burnt fuel vertically downwards at a constant speed w telative to the rocket. At time ¢ seconds after the launch the rocket has velocity v and mass (M — kf). Derive the equation of motion for the rocket. 2. Aspaceship is moving in deep space with no external forces acting on it. At time ¢ the spaceship has total mass m and is moving with velocity v. The spaceship reduces its speed by ejecting fuel from its front end with a speed ¢ relative to itself and in the same direction as its own motion. dy a Show that on mw Initially the spaceship is moving with speed V and has total mass M. Its speed is reduced tojV. b Find the mass of fuel ejected. 3. A rocket is launched vertically upwards from rest. The initial mass of the rocket and its fuel is 1000kg. The rocket burns fuel at the rate of 20kgs"?. The burnt fuel is ejected vertically downwards with a speed of 2000 ms" relative to the rocket, and burning stops after 30seconds. At time f seconds (¢ < 30) after the launch, the speed of the rocket is vm s~. Air resistance may be assumed to be negligible. a Show that ~s(50 ~ #) = (50 ~ 947 ~ 2000 b Find the speed of the rocket when the burning stops. 4} A rocket is launched vertically upwards from rest. The rocket expels burnt fuel vertically downwards with speed u relative to the rocket. Initially the rocket has mass M. At time f the rocket has speed v and mass M{ 1 3). a Show that 9¥ = ui ig b Find the speed of the rocket when f = © Find the height of the rocket above the launch site when ¢ = 1. 5 Aspherical hailstone is falling under gravity in still air. At time t the hailstone has speed v. The radius, r, increases by condensation. Given that 4” = kr, where k is a constant, and neglecting air resistance, a show that * = 3 - 3k, b find the time taken for the speed of the hailstone to increase from & to & 6) Aspaceshij ng in deep space with no external forces a ing on it. Initially it has total mass M and is moving with velocity V. The spaceship reduces its speed to 3 V by ejecting fuel from its front end with a speed c relative to itself and in the same direction as its own motion. Find the mass of fuel ejected.carrer 2 10 12 A rocket is launched vertically upwards from rest. The initial mass of the rocket and its fuel is 1500kg, The rocket burns fuel at the rate of 15 kgs". The burnt fuel is ejected vertically downwards with a speed of 2000 ms~' relative to the rocket, and burning stops after 60 seconds. Air resistance may be assumed to be negligible. Find the speed of the rocket when the burning stops. A rocket is launched vertically upwards from rest. The initial mass of the rocket and its fuel is 1200kg. The rocket burns fuel at the rate of 24kgs~!, The burnt fuel is ejected vertically downwards with a speed of 2000 ms" relative to the rocket, and burning stops after 30seconds. Air resistance may be assumed to be negligible. a Find the speed of the rocket when the burning stops. b Find the height of the rocket above the launch pad when the burning stops. A rocket is launched vertically upwards from rest. The rocket expels burnt fuel vertically downwards with speed u relative to the rocket. Initially the rocket has mass M. At time t the rocket has speed v and mass M{ 1 a Find the speed of the rocket when t = 2. b Find the height of the rocket above the launch site when ( = 2. A rocket uses fuel at a rate Akgs~!. The rocket moves forwards by expelling used fuel backwards from the rocket with speed 2500 ms“ relative to the rocket. At time ¢ the rocket is moving with speed v and the combined mass of the rocket and its fuel is m. The rocket starts from rest at time f = 0 with a total mass 10000 kg and reaches a final speed 5000m s~* after 200 seconds. Given that no external forces act on the rocket a show that mY b find the value of A. 500A, A rocket uses fuel at a rate A kgs“, The rocket moves forwards by expelling used fuel backwards from the rocket with speed 2000 ms“ relative to the rocket. At time f the rocket is moving with speed v and the combined mass of the rocket and its fuel is m. The rocket starts from rest at time f = 0 with a total mass 12 000 ky and reaches a speed of 5000 ms“! after 3 minutes. Given that no external forces act on the rocket dv a show that m{? b find the greatest and the least acceleration of the vehicle during these three minutes. 20004, A particle falls from rest under gravity through a stationary cloud. At time t the particle has fallen a distance x, has mass m and speed v. The mass of the particle increases by accretion from the cloud at a rate of kmv, where k is a constant. Show that a kv = (1 —e%), bx in[coshi yket)]Variable mass 13 A raindrop falls through a stationary cloud. When the raindrop has fallen distance x it has mass m and speed v. The mass increases uniformly by accretion so that m = M(1 + kx). Given that v = 0 when x = 0, find an expression, in terms of M, k and.x for the kinetic energy of the raindrop when it has fallen a distance x. 14 A rocket is on the ground facing vertically upwards. When launched it propels itself by ejecting mass backwards with speed u relative to the rocket at a constant rate k per unit time. The initial mass of the rocket is M. a Explain why it is necessary for ku > Mg. Given that ku > Mg, b show that the velocity of the rocket after time tis —wIn( 1 — Kt) — gt, ¢ find the height of the rocket above the ground when the mass of the rocket has reduced by one third of its initial value. 15, At time f = 0 a particle is projected vertically upwards. Initially the particle has mass M and speed gT, where T is a constant, At time the speed of the particle is v and its mass is Me??. If the added material is at rest when it is acquired, show that 4 (Mve2t) = —Mge?t a Gane Mge?, b the particle has mass 3M at its highest point, 16 At time ¢ = 0a particle is projected vertically upwards from the ground. Initially the particle hhas mass M and speed 2sT, where T'is a constant. At time ¢ the mass of the particle is Me" If the added material is at rest when it is acquired, show that the highest point reached by the particle is gT%(2 ~ In 3) above the ground, 17 At time t = 0 particle is projected vertically upwards. Initially the particte has mass M and speed gT, where T isa constant. At time t the mass of the particle is Me’. If the added material is falling with constant speed gT when it is acquired, show that the particle has 3M. mass 3M at its highest point. 18. A particle of mass M is projected vertically upwards in a cloud, During the motion the particle absorbs moisture from the stationary cloud so that when the particle is at distance x above the point of projection, moving with speed y, it has mass M(I + ax), where avis a constant. The initial speed of the particle is /2gk dv, 20 dx T+ b Show that at the greatest height, h, (1 + ah)? = 1+ 3ka. a Show that 2y' vcharren 2 19. A body of mass 3M contains combustible and non-combustible material in the ratio 2:1. ~The body is initially at rest and falls freely under gravity. At time f the body has speed v. ‘The combustible part burns at a constant rate of AM per second, where A is a constant. ‘The burning material is ejected vertically upwards with constant speed u relative to the body. Assuming that air resistance may be neglected, dv_ lw a show that = 7M + g, b find how far the body has fallen when all the combustible material has been used up. 20 A spherical hailstone falls vertically through a stationary cloud from rest under gravity. The initial radius of the hailstone is a. As the hailstone falls its volume increases through condensation. When the radius of the hailstone is r, the rate of increase of volume is 427? and the hailstone is falling with speed v. a Show that, at time t, r= a + At. _ Bay dv b Show that $Y m ¢ Find the speed of the particle when t = xReview Exercise B At time ¢ seconds a particle P has position vector r metres, relative to a fixed origin O. The particle moves so that or dt When t= 0,6 = -i+j Find r in terms of t oe With respect to a fixed origin O, the position vector, x metres, of a particle P at time t seconds satisfies ar a Given that P is at O when ¢ = 0, find i je*, a rin terms of ¢, a cartesian equation of the path of P. @ At time t seconds the position vector of 4 particle P relative to a fixed origin O is rmetres, The position vector satisfies the vector differential equation dr, op os ar=0. Attime t= $in3,r=i- 2 +k. a Find rin terms of t. b Find the greatest value of the magnitude of the acceleration of P fort =0. © The position vector, rm, of a particle P is measured relative to a fixed origin O, and its velocity vms~! at time ¢ seconds satisfies the differential equation dv dt When ¢ = 0, Pis at the point with position vector (~2i + j) m, and has velocity (12i + 8j)ms-!. Find a an expression for v in terms of f, b the position vector of P when t=1n2 oe G Attime tseconds the position vector of a particle P, relative to a fixed origin O, is r metres, where F satisfies the differential equation 2v, or 4 SEs an = 304. Given that r = 2i ~ j when f = 0, find in terms of t.@ the position vector r metres of a particle P, relative to a fixed origin O, at time seconds, satisfies the vector differential equation er dt When t = 0, r = 3iand SF = 24 + 45, at Find r in terms of t @ + 4r=0. A particle P moves in a horizontal plane containing a fixed origin O. At time ¢ OP = r, where r satisfies the vector differential equation Pry ate ae At time ¢ = 0 the particle is at the point with position vector aj, and has velocity ‘bi, where a, b and w are constants. Solve the differential equation to find r and hence find the cartesian equation of. the path of the particle, Attime t seconds, the position vector of, a particle P is r metres, relative to a fixed origin. The particle moves in such a way that # de Att = 0, Pis moving with velocity (8i — 6) ms, Find the speed of Pwhen t=!in2. @ © A particle P moves in the x-y plane and has position vector r metres at time tseconds. It is given that r satisfies the differential equation When ¢ = 0, Pis at the point with position vector 34 metres and is moving with velocity jms”! a Find r in terms of t. b Describe the path of P, giving its cartesian equation. @ At time t seconds, the position vector rmetres of a particle P, relative to a fixed origin O, satisfies the differential equation er - oF + ade +3r=0. At time t = 0, Pis at the point with position vector 2im and is moving with velocity 2jms"'. Find the position vector of P when t=In2. @®) A particle P of mass 2kg moves in the x-y plane. At time f seconds its position vector is r metres, When f = 0, the position vector of P is i metres and the velocity of Pis(-i+ jms" The vector r satisfies the differential equation @r adr, a Se + 2Gp + 2r=0. a Find r in terms of t. b Show that the speed of P at time tis et/2ms ¢ Find, in terms of e, the loss of kinetic energy of P in the interval t = 0 to t=L ® A particie of mass 0.5 kg is at rest at the point with position vector (2i + 3j ~ 4k)m. ‘The particle is then acted upon by two constant forces F, and F). These are the only two forces acting on the particle. Subsequently, the particle passes through the point with position vector (4i + 5j — 5k) m with speed 12ms~'. Given that F, = (i + 2) - K)N, find F). ‘Two constant forces F, and F, are the only forces acting on a particle. F, has magnitude 9 N and acts in the direction of 2i + j + 2k. F, has magnitude 18N and acts in the direction of i + 8) - 4k.Find the total work done by the two forces in moving the particle from the point with position vector (i + j +_k)m to the point with position vector i+ 2j- km. oe [In this question i and j are horizontal unit vectors.) A small smooth ring of mass 0.5kg moves along a smooth horizontal wire. The only forces acting on the ring are its weight, the normal reaction from the wire, and a constant force (Si + j ~ 3k). The ring is initially at rest at the point with position vector (i+ j + k)m, relative to a fixed origin. Find the speed of the ring as it passes through the point with position vector Gi+k)m, A smooth wire connects A(0, 3, 0) to B(2, 1, 4). The units of length on the x, y, and z axes are metres. A ring is threaded on the wire and a constant force is applied to the ring, The resultant of this force and the weight of the ring is (i —j + k)N. Find the increase in kinetic energy of the ring as it is moved from A to B. GB in this question i and j are perpendicular horizontal unit vectors and k is a vertical unit vector. A bead of mass 0.125 kg moves along a smooth straight wire in the direction ii + 2j, from rest at the point A with position vector (i + 3k) m, relative to a fixed origin O. The bead is acted on by three forces. These are a constant force (-2i + 2§)N, the force exerted by the wire and its own weight. Given that the speed of the bead when it reaches the point B on the wire is 2m, find the position vector of B relative to O. A bead of mass 0.5 kg is threaded on a smooth straight wire. The forces acting on the bead are a constant force (2i + 3] + xk)N, its weight (—4.9k)N, and the reaction on the bead from the wire. a Explain why the reaction on the bead from the wire does no work as the bead moves along the wire, ‘The bead moves from the point A with position vector (i + j — 3k)m relative toa fixed origin O to the point B with position vector (3i ~ j + 2k) m. The speed of the bead at A is 2ms~ and the speed of the bead at Bis dams". b Find the value of x. eo © In this question i ana j are perpendicular unit vectors in a horizontal plane and k is a unit vector vertically upwards, A small smooth ring of mass 0.1 kg threaded onto a smooth horizontal wire which is parallel to (i + 2}). The only forces acting on the ring are its weight, the normal reaction from the wire and a constant force (i + 2j - 2k)N. The ting starts from rest at the point A on the wire, whose position vector relative to a fixed origin is (24 ~ 2] ~ 3k)m, and passes through the point B with speed Sms"! Find the position vector of B. A particle P of mass 4kg is acted upon by the constant force F = (2i + 3j— k)N. The force Fis the resultant of all the forces, acting on P, including its weight. Initially Pis at rest at the point A with position vector (i ~ j + 3k) m, relative to a fixed origin O. Under the action of F, P moves to the point B with position vector (7i + 8m. a Find the speed of P when it reaches B. b Find the vector moment of F about the origin.‘Two constant forces F, and EF, are the only forces acting on a particle P of mass 2kg. ‘The particle is initially at rest at the point A with position vector (-2i — j — 4k) m. Four seconds later, P is at the point B with position vector (64 ~ 5j + 8K) m. Given that F, = (124 ~ 4j + 6k), find ak, b the work done on P as it moves from Ato B, BD A particle P of mass 4kg is constrained to move along a smooth straight horizontal wire. Relative to a fixed origin, the vector equation of the wire is r=2i+j +k + AGi~ 4j) where ris measured in metres. The particle moves under the action of a constant force (124 + 4j + 3K)N, from the point A where A= 1, to the point B where A = 3. Given that the speed of Pat B is 6ms~, find the speed of Pat A. ‘The diagram shows a box in the shape of a cuboid PQRSTUVW where?Q = 3i metres, PS = 4j metres and PT = 3k metres. A force (4i — 2j) N acts at Q, a force (4i + 2) N acts at R, a force (~2) + k)N acts at T, and a force (2j + k)N acts at W. Given that these are the only forces acting on the box, find a the resultant force acting on the box, b the resultant vector moment about P of the four forces acting on the box. When an additional force F acts on the box at a point X on the edge PS, the box is in equilibrium. c Find F. d Find the length of PX. oe Two forces F, and F,, and a couple G act on a rigid body. The force F, = (3i + 4)N acts through the point with position vector 2im and the force F, = (2 — j + k)N acts through the point with position vector (i + j) m, relative to a fixed origin 0. The forces and couple are equivalent to a single force F acting through O. a Find the force F. b Find G and show that it has magnitude 3V3Nm. ‘Two forces (i + 2j — k)N and (3i — k)N act through a point 0 of a rigid body, which is also acted upon by a couple of moment (i + j + 3k)Nm. a Show that the couple and forces are equivalent to a single resultant force F. b Find a vector equation for the line of action of Fin the form r = a + Ab, where a and b are constant vectors and Ais a parameter. ‘wo forces F, and F, act on a rigid body. F, = (21i— 12) + 12k)Nand F, = (pi + qj + AON, where p, q andr are constants. F, acts through the point A with position vector (3i — 2j + k)m, relative to a fixed origin O. F, acts through the point B with position vector (i + j + k)m relative to 0. The two forces F, and F, are equivalent to a single force (2Si ~ 14j + 12K)N, acting through O, together with a couple G. a Find the values of p, q and r. b Find the magnitude of 6. oe@® A system of forces consists of a force (i + 2k) N acting at the point with position vector (—i + 3j)m and a force (-j + k)N acting at the point with position vector (24 + j + k)m. This system is equivalent to a single force FN acting at the point with position vector (j + 2k) m together with a couple G Nm. a Find F. b Find G. © Give a reason why the system cannot be reduced to a single force without a couple. ‘The three forces F, = (qj + rk) N, F, = (pi + rk) N and F, = (pi + qj) N, where p, q and rare non-zero constants, act on a rigid body. F, acts at the point with position vector pim relative to a fixed origin O, F, acts at the point with position vector qj m relative to O. F, acts at the point with position vector rk m relative to 0. a Show that the three forces are equivalent to a single non-zero force acting at O. b Find the magnitude of this single force. [wo forces F, and F, act on a rigid body, where F, = (2j + 3k)Nand F, = (i + 4K)N. ‘The force F; acts through the point with position vector (i + k)m relative toa fixed origin O. The force F, acts through the point with position vector (2j)m. The two, forces are equivalent to a single force F. a Find the magnitude of F. b Find, in the form r = a + Ab, a vector equation of the line of action of F. ® Tiree forces, F,, F, and F, act on a tigid body. F, = (21 -j + 3K)N, F,= (i+ j-4k)Nand F, = (pi + gj + rN, where p, g and rare constants, All three forces act through the point with position vector (3i — 2j + k)m, relative to a fixed origin. The three forces F,, F, and F, are equivalent to a single force (Si — 4j + 2K)N, acting at the origin, together with a couple 6. a Find the values of p, q and r. b Find 6. oe A force system consists of three forces F, F, and F, acting on a rigid body. F, = (i+ 2))N and acts at the point with position vector (—i + 4j)m. F, = (-j + k)Nand acts at the point with position vector (2i + j + k)m, F, = Gi j + k)Nand acts at the point with position vector (i ~ j + 2k) m. It is given that this system can be reduced toa single force R. a Find. b Find a vector equation of the line of action of R, giving your answer in the form r= a + Ab, where a and b are constant vectors and Ais a parameter oe Three forces F,, F; and F, act on a rigid body. F, = (12i ~ 4j + 6k)N and acts at the point with position vector (2 — 3j)m, F, = (-3) + 2k)N and acts at the point with position vector (i + j + k)m. The force F, acts at the point with position vector (i-k)m. Given that this set of forces is equivalent to a couple, find ak, b the magnitude of the couple. oe A spaceship is moving in a straight line in deep space and needs to reduce its speed from U to V. This is done by ejecting fuel from the front of the spaceship at a constant speed k relative to the spaceship. When the speed of the spaceship is 1, its mass is m.ory a Show that, while the spaceship is dn _m dt k The initial mass of the spaceship is M. b Find, in terms of U, V, kand M, the amount of fuel which needs to be used to reduce the speed of the spaceship from Uto V. ejecting fuel © A rocket is launched vertically upwards under gravity from rest at time f = 0. ‘The rocket propels itself upward by ejecting burnt fuel vertically downwards at a constant speed u relative to the rocket. The initial mass of the rocket, including fuel, is M, At time tf, before all the fuel has been used up, the mass of the rocket, including fuel, is M(1 ~ kt) and the speed of the rocket is v. dy_ kw aa Show that $F a b Hence find the speed of the rocket when f= 4p oe A raindrop falls vertically under gravity through a cloud which is at rest. As it falls, water from the cloud condenses onto the drop in such a way that the mass of the drop increases at a constant rate of 0.02gs-'. At time f seconds, the speed of the drop is vms~, and when f = 0 the mass of the drop is 0.06. It is assumed that the only external force acting on the drop is gravity. a Show that v satisfies the differential equation di, Lear G+ oW+ v= 988 +9 Given that when f = 0, the raindrop is at rest, b find the speed of the raindrop when its mass is twice its initial mass. A rocket has total tial mass M. It propels itself by burning fuel and ejecting the burnt matter at a uniform rate with constant speed u relative to the rocket. The total mass of fuel in the rocket is initially 1M, and the fuel is all burnt up after a time T. The rocket is launched from rest vertically upwards from the surface of the Earth, It may be assumed that the acceleration due to gravity remains constant throughout the flight of the rocket, and that air resistance is negligible. At time ¢, the speed of the rocket is v. a Show that, while the fuel is being burnt, dv er- oe b Hence find the speed of the rocket at the instant when all the fuel has been burnt. sQT~ 0. © A socket initially has total mass M. It propels itself by its motor ejecting burnt fuel. When al of its fuel has been burned its mass is KM, k < 1. It is moving with speed U when its motor is started. The burnt fuel is ejected with constant speed ¢, relative to the rocket, in a direction ‘opposite to that of the rocket’s motion. Assuming that the only force acting on the rocket is that due to the motor, find the speed of the rocket when all of its fuel has been burned. ‘A rocket is launched vertically upwards from rest. Initially, the total mass of the rocket and its fuel is 1000 kg. The rocket bums fuel at a rate of 10 kgs", The burnt fuel is ejected vertically downwards with a speed of 2000m 5"! relative to the rocket, and burning stops after one minute. At time f seconds, f = 60, after the launch, the speed of the rocket is vms-'. Air resistance is assumed to be negligible.a Show that 9.8(100 ~ 1) = ov (100 ~ 2000. b Find the speed of the rocket when burning stops. A spherical raindrop falls under gravity through a stationary cloud. Initially the drop is at rest and its radius is a. As it falls, water from the cloud condenses on the drop in such a way that the radius of the drop increases at a constant rate k. At time f, the speed of the drop is v. a Show that (a+ key + 3kv = g(a + Kt). b Hence show that, when the swept i doubied its radius, its speed is 8" oe and as it falls its mass increases. Its initial ‘mass is Mp, The rate of increase of its mass is proportional to its speed v. a Show that, when the hailstone has fallen a distance x, it mass m is given by m=m( Assuming that there is no air resistance, b show that d £m + Ax), where A is a constant. (v?) = I 2 AE Given that v = 0 when x = 0, € find an expression for v? in terms of x, Aand g. A rocket-driven car propels itself forwards in a straight line on a horizontal track by ejecting burnt fuel backwards at a constant rate Akg s~! and at a constant speed Us relative to the car. At time tseconds, the speed of the car is yms"! and the total resistance to the motion of the car has magnitude kN, where kis a positive constant. When f = 0 the total mass of the car, including fuel, is Mkg. Assuming that at time tseconds some fuel remains in the car, a show that dv dt b find the speed of the car at time tseconds, given that it starts from rest, when f = 0 and that A= k= A rocket-driven car moves along a straight horizontal road. The car has total initial ‘mass M. It propels itself forwards by ejecting mass backwards at a constant rate A per unit time at a constant speed U relative to the car. The car starts from rest at time ¢ = 0. At time f the speed of the car is v. The total resistance to motion is modelled as having magnitude kv, where kis a constant. Given that t, = M. A typical particle P, of mass m,has linear speed Ibo kinetic energy is $ m(riw)* The total kinetic eneray of the body is obtained by the summation of the energies of each of the particles. So KE. of solid = 3 myri?w® + Lmmgr,Pw? + 4 ie. KE. The moment of inertia (M.L) of a rigid body about a fixed axis is given by the formula SY mj? where m,is the mass of a typical 4 constituent particle and s;is the fixed axis. ance of that particle from the @ = The moment of inertia of a rigid body about a fixed axis is that quantity which causes the body to resist change in its angular velocity about that axis. The units of moments of inertia are kg m2.CHAPTER 3. Find the moment of inertia of a circular hoop of mass nt and radius @ about an axis through its centre O and perpendicular to its plane. You consider the hoop as a large number of particles of masses My, thay Mh. Each particle io at a distance a from the axis through 0, as each is on the circumference of the hoop. The moment of inertia = > ma? Find the moment of inertia of a thin uniform rod of mass m and length 2! about a an axis through its centre and perpendicular to its length, b an axis through a point at a distance b from one end, perpendicular to its length, © an axis through one end inclined at an angle @ to the rod, an axis parallel to the rod and a distance d from it. a _—— =) aera Tal Ox z The mass per unit length for the rod is 2 ae a distance x from the axis. nen . 2 So the mass of the small piece is For the whole rod I=) mr?Moments of inertia of a rigid body ‘Ae dt — O the summations become integrals and ‘Again you divide the rod into small pieces of length x at a distance x from the axis and the mass of a Mitr omall piece io 2 bx, As before, | = as x, but the limits are —b and 21 — bwith the axis in this position. (ee = bP _ m(-b)? al or = [eee 12% + 6lb a 2 2 ot = [" eae ‘Again you divide the rod into small pieces of length 6x at a distance x along the rod from its end, The perpendicular distance from the small piece shown to the axis is xsin @, where @ is the constant given angle.‘Again, the mags of a small piece is ae You obeain = [ eae ells e mx? ein? |” 01 = [ee ey 4ml? sin? @ The perpendicular distance from the small piece of mass m, shown to the axis is d. The moment of inertia for the whole rod is Find the moment of inertia of a uniform circular disc of mass m and radius r about an axis through its centre O and perpendicular to its plane surface, The mage per unit area of the disc io centre O. The ring shown has inner radius x and outer radius x + 8x and so ite area is ax + bx)? — wx?» 2axbx. The mass of the ring shown is a cece] — Ei 7 = Divide the disc up into a number of concentric rings |Moments of inertia of rigid body The moment of inertia of this ring about the axis through its centre O and perpendicular to the ring is yx Qauba x x? ——___________4_ Then specfy ms) ie So for the whole disc, the moment of inertia about the given axis Ae 6x — O the summations become integrals and eral nf a es lb Standard results Body Axis ‘You will find a number of thin uniform rod, through centre, me Seas eae mass i, length 21 perpendicular to rod shown in this table) in your formula book. You may use thin uniform rod, through an end, fmt ‘them without proof to obtain mass 1, length 2) perpendicular to rod ‘other moments of inertia. You should also be able to circular hoop, through centre, mr? obtain these results from first mass m, radius r perpendicular to plane Lea gea aaa ala of hoop uniform circular disc, | through centre, pm mass m, radius r perpendicular to discCHAPTER 3, Example El Four light rods each of length a are joined together to form a square ABCD. Four particles of mass 1m, m, 2m and m respectively are attached to the vertices A, B, C, D respectively. Find the moment of inertia of the resulting system about a an axis through A perpendicular to the plane of the square, b an axis along the diagonal AC. a l= mX 02+ mX a + 2m (2a)? + ma? ie = b lnc Three uniform rods, each of length 2a and mass M are rigidly joined at their ends to form an ‘equilateral triangle ABC. Find the moment of inertia of this triangular structure about an axis passing through the vertex A, which is parallel to the base BC.Moments of inertia of a rigid body Use the result obtained in Moment of inertia of rod AB Example 3 part € to obtain /,, and |p. Use the result obtained in Example 3 part d to obtain Is and use Pythagoras’ Theorem or trigonometry to find the value of d. Moment of inertia of rod AC aaa Moment of inertia of rod BC = l = Ma, — where d= Ba a This example illustrates the The total moment of inertia of the triangular ee structure is inertia. f a body is made up of in 2 sin? 6 standard shapes for each of which kt b+ b= tMaei60 5 AMatsin® 60 + 5g you know the moments of inertia about the required axis, then you = Ma? + Ma? + 3Ma? obtain the moment of inertia of the compositie body about the axis = SMa? by adding the known moments of inertia, in this case |, + + by If two bodies have moments of inertia |, and J, about the same axis then the moment of inertia of the composite body about the same axis is /, + /2, This is the additive rule. Example EJ A uniform annulus of mass m is made from a disc of radius R by cutting out a concentric disc of radius r. Find the moment of inertia of the annulus about an axis perpendicular to the plane of the annulus and through its centre. You can list the shapes with their masses and their moments of inertia in a table Shape Mass Moment of inertia Put p equal to the mass per unit | b area of the large disc and hence of | Large dioc | 7R%p 4 (aR? p) X R? the small dsc and annuus which r are made from it. Small disc | mp Annulus | a(R?- Ap |1 The annulus has masa m som = m(R? ~ r®)p -—._ make p the subject of your mm formula. SSUES a(R — r2) As the annulus and the small disc together make up the large disc 1+ L(ar2p) x 2 = L(@R%p) x R? (aR? p) x R? - (ar*p) x e° ~—_________ an expression for |, the moment Of inertia of the annulus. Use the additive rule, to find | = Lanp(Ré — r4) m(R* — 4) Substituting from * gives |= A(R? = Substitute your expression for p eee to give Jin terms of m, R and r, praia) (Raia) then simplify your answer by 2(R? - r2) factorisation using the difference m(R2 + r?) of two squares.CHAPTER 3, eae A uniform lamina, of mass M, is bounded by the positive x and y axes and the portion of the curve y = 3cos5 for which 0 pydx a The moment of inertia of the thin strip about the x axis £5n( YY" is $an(¥) The moment of inertia of the lamina is >_ 4 py®8x, andMoments of inertia of a rigid body b The moment of inertia of the thin strip about the y axis is Sx? pyx?Bx The moment of inertia of the lamina is) pyx®6x and in the 7 limit’ MA -[ pyx2dx -——_ akan Answer questions 1 to 6 by using calculus. _1 Find the moment of inertia of a thin uniform rod of mass m and length / about an axis through one end perpendicular to its length. 2| Find the moment of inertia of a thin uniform rod of mass m and length [about an axis through its centre and inclined at an angle of 7 to its length, 3| Find the moment of inertia of a thin uniform rod of mass m and length 2/ about an axis through a point at a distance from its centre and inclined at an angle of Z to its length. 4| A uniform lamina, of mass M, is bounded by the curve with equation y2 = 16x and the line with equation x = 9. Using calculus, find its moment of inertia about the x axis. 5) Find the moment of inertia of a uniform triangular lamina of mass m which is isosceles with base b and height h about its axis of symmetry. | A uniform lamina, of mass M, is bounded by the positive x and y axes and the portion of the curve y = 2cosx for which 0 m(y? + 2?) Similarly, y= > yma? + z2) and l= omnia? + y?). : By symmetry, |, 31 = > mix? + y?) + omiy? + 2) + > mix? + 2?) 7 7 T = mate? + y? +2) = Domar® = art > 7 7 7 2m? 5 But | = mk?, where kis the radius of gyration say. = 2mr2 + mike = git Jomk? = 2m Find the moment of inertia of a uniform solid cone of mass M, base radius R and height h about its axis. Divide the cone into a number of | thin disce each of mace pay?6x, | where pie the mass per unit. volume of the cone. M But a i 5aRh 60 the mass of a disc = = M my? ax, jem) dah | 2 and its Ml. about the x-axis = —M ay? ox x 4 gar 2 fCHAPTER 3, ‘Summing the discs and letting 6x — O gives M.L for cone about x-axis = *3My? doe The radius of gyration The radius of gyration of a body about a given axis is defined by the equation | = mk, where 1 is the moment of inertia of the body about the axis, mis the total mass of the body, and kis the radius of gyration, Further standard results Body Axis ML rectangular lamina, __| in the plane of the ml mass m, length 21 rectangle, bisecting the two edges of length 2! rectangular lamina, —_| an edge perpendicular | $ imi? mass m, length 2! to the edges of length ar cylindrical shell through centre, mr mass m, with circular | perpendicular to plane base of radius r of base solid cylinder, mass m, | through centre, pir with circular base of | perpendicular to plane radius r of base solid sphere, mass m, | diameter gin with radius r spherical shell, diameter Jim? mass mn, radius r If the total mass of the body were to be concentrated at a point at a distance ik from the axis, then the moment of inertia would be the same as for the body with its original mass distribution. ‘These standard results for moments of inertia, summarised in the table, are in your formula book. You may use them without proof to obtain other moments of inertia. You should also be able to obtain these results from first principles as illustrated in Examples 9-12,Moments of inertia of a rigid body 1 oe 10 Find the moment of inertia of a uniform rectangular lamina of mass m with length 2a and width 2b about an axis along the side of length 2a. Find the moment of inertia of a square lamina of mass m with sides of length a about an axis along one of the sides. Find the moment of inertia of a uniform rectangular lamina of mass m with length 2a and width 2b about an axis in the plane of the lamina, parallel to the sides of length 2b and bisecting the sides of length 2a at right angles. Find the moment of inertia of a uniform circular solid cylinder of mass m, length fr and base radius a, about its axis of symmetry. Find the radius of gyration of a uniform circular hollow cylinder with height / and with a circular base of radius a of the same material, about its axis of symmetry. The total mass of the cylinder with its base is m. Find the moment of inertia, about its axis of symmetry, of a uniform circular hollow cylinder of height hand base radius «, which has a circular base and circular top. The circles have twice the density of the material which forms the curved surface. The total mass of the cylinder with its base and top is m. Use the additive rule, and the standard result for the moment of inertia of a solid sphere, to show that the radius of gyration of a uniform solid hemisphere of mass m and radius r about a diameter of the circular base is y?r. Use the additive rule, and the standard result for the moment of inertia of a uniform circular disc, to find the radius of gyration of a uniform semicircular lamina of mass Mand radius @ about an axis perpendicular to the lamina through the mid-point of the straight edge. A non-uniform solid sphere of radius R and mass M has mass kr per unit volume for all points at distance r from the centre of the sphere. a Express k in terms of Mand R. b Use calculus to find the moment of inertia of the sphere about a diameter, giving your answer in terms of M and R. Using the formula for the moment of inertia of a uniform solid sphere, a find the moment of inertia of a uniform spherical shell of inner radius r and outer radius Rand mass m. b Show that as r— R the moment of inertia reaches the value 31m.CHAPTER 3, 11*Using the formula for the moment of inertia of a uniform solid cone, (found in Example 13) a find the moment of inertia of a conical shell, with inner radius rand inner height h and outer radius R and outer height /t and mass m. You should assume that the inner and outer cone are geometrically similar. b Show that as r+ K the moment of inertia reaches the value } mr’, ¢ Explain how you could have deduced the value of the moment of inertia by considering a circular disc divided into a large number of concentric hoops. 12*Find, by integration, the moment of inertia of a uniform hollow sphere of mass m and radius rabout an axis through the centre of the sphere. Divide the sphere into composite hoops of surface area 2rrsin 6 x r69, where @ is the angle between the ‘axis and the radius which joins a point on the outer circular boundary of the hoop to the centre of the sphere. *Questions 11 and 12 extend the work of the specification and may be omitted. 3,3. You will learn the parallel and perpendicular axes theorem Parallel axes theorem Example [ZI] Given that the moment of inertia of a body of mass M about an axis AB through its centre of ‘mass is [,», show that the moment of inertia of the body about a parallel axis at a distance d from the first axis is Iyp + Mi. Let A'B’ be the axis parallel to AB at a distance d from AB. Consider a typical particle P of the body of mass m, -—— Let F be at a distance r from axis AB and at a distance x from axis A'B'. Let. N and N! be points on the axes which are nearest to point P, and let angle PN’ be 0. | From the cosine rule x? = 4? + r? — 2drcos 0 The moment of inertia of P about A'B" is mx? = m(a? + r® — 2drcos 6)Moments of inertia of a rigid body So the moment of inertia of the body about A'B’ is SEmx? = Sm (d + r? - 2drcos 6) = &m, + Dm? - 24m cos 0 But Som, = Mand Smr? = hae Also omyr cos @ = O So the moment: of inertia of the body about A's’, np + Md? If the moment of inertia of a body of mass M about an axis AB through its centre of mass is /4s, then the moment of inertia of eee the body about any parallel axis at a distance d from the first Which you should axis is Ip + Md’, teha, Example [9 Using the standard result for the moment of inertia of a uniform thin rod of mass M and length 2a about a perpendicular axis through its centre, and using the parallel axes theorem, find the moment of inertia of the rod about an axis through one end, perpendicular to the rod. So the moment of inertia of the rod about a perpendicular axis through one end is | Using the standard result for the moment of inertia of a uniform circular disc of mass M and radius a about a perpendicular axis through its centre, and using the parallel axes theorem, find the moment of inertia of the disc about an axis through a point on its circumference, perpendicular to the plane of the disc. Moment of inertia about axis through centre = 4Ma® This isa standard result. So the moment of inertia of the disc about an axis, through point on the circumference, perpendicular to the dise, isCHAPTER 3. eae Using the result obtained in Example 7 for the moment of inertia of a uniform circular annulus of mass M with outer radius K and inner radius r about a perpendicular axis through its centre, and using the parallel axes theorem, find the radius of gyration of the annulus about an axis through a point on the circumference of the inner circle, perpendicular to the plane of the annulus. Moment of inertia about axis through centre = £M(R? + r2) —-— So the moment of inertia of the disc about a perpendicular | axis through a point on the inner circumference is SM(R? + 2) + Mr® = LM(R® +r?) The radius of gyration is / 1(R® + Sr’) : Perpendicular axes theorem for a lamina ae Given that J, and I, are the moments of inertia of a lamina about two perpendicular axes Ox and Oy in the plane of the lamina and that J, is the moment of inertia of the lamina about a third axis Oz through their point of intersection perpendicular to the lamina, show that thal.Moments of inertia of a rigid body Given that /, and /, are the moments of inertia of a lamina eo about two perpendicular axes Ox and Oy in the plane of the RSE TER ARTA SET lamina and that /, is the moment of inertia of the lamina should learn, about a third axis Oz through their point of intersection NB It only applies to perpendicular to the lamina, then aed ht hale Assuming that the moment of inertia of a uniform circular disc, of mass m and radius r, about an axis through its centre and perpendicular to its plane is }mr?, a deduce that its moment of inertia about a diameter is |r’. b Calculate the moment of inertia of the disc about an axis tangential to the disc. a Choose O as the centre of the disc, I, and |, a9 moments of inertia about two perpendicular diameters and |, as the moment of inertia of the disc about a third axio through O perpendicular to the | disc. From eymmetry k= | = b From the parallel axes theorem thangent. = paral diameter + rmr® Lime? + mmr? = m2CHAPTER 3. Example EX) A uniform rectangular lamina ABCD, with AB = 2a and BC = a, has mass m. The lamina is rotating in a horizontal plane about a smooth fixed vertical axis, which passes through the centre of the lamina. Show that the moment of inertia of the lamina about this axis is ma’ oe Y; D ‘The moment of inertia of the rectangle about the axe of eymmetry XX" = Lm( 2)? = Lima? The moment of inertia of the rectangle about the axio of aymmetry YY! = $ma? From the perpendicular axes theorem In- + hry = ler G0 lee = ka? + Lima? = Sma Example i] A uniform square lamina ABCD is of mass 2m and side 3ay2. The axis L is a smooth fixed axis which passes through A and is perpendicular to the lamina. Show that the moment of inertia of the lamina about L is 24ma?. Yi The moment of inertia of the square about the axis of symmetry XX’ = the moment of inertia of the square about the axio of symmetry YY! 1 2m — y = 3ma® -Moments of inertia of a rigid body From the perpendicular axes theorem Ine + hry = lex So ler = Gma? The distance bevween the axes ZZ’ and Lio d | | From the parallel axes theorem I, = by + Oma? = 6ma? + 18ma® = 24ma® Example £2) Find the moment of inertia of a uniform solid cylinder of mass m, base radius a and height h about a diameter AB of the base. 7 A 1B For each diec ite moment of inertia about the axis 2 iT = pra? & 5, or a So, by the perpendicular axes theorem, the moment | of inertia of a disc about any of its own diameters pat ox Fo By the parallel axes theorem, the moment of inertia of such a disc about the diameter AB of the base of | 3 So the cylinder has moment of inertia is = [Somatae + [ pratxeax eater ee leres qomath + x pmarhCHAPTER 3. acca 1 je 10 iW 12 13, A uniform lamina of mass m is in the shape of a rectangle ABCD where AB = 6a and BC = 3a. Find the moment of inertia of the lamina about an axis perpendicular to the lamina, acting through the centre of the lamina. Find the moment of inertia of a square lamina of mass m and side @ about an axis through one corner perpendicular to the plane of the lamina. Find the moment of inertia of a rectangular lamina of mass m and sides @ and b about an axis through one corer perpendicular to the plane of the lamina. A uniform square lamina ABCD is of mass 4mm and side 2ay3. The axis L is a smooth fixed axis which passes through A and is perpendicular to the lamina. Show that the moment of inertia of the lamina about L is 32a’. A uniform lamina of mass m is in the shape of a square ABCD with sides of length 3m. Find the moment of inertia of the lamina about the diagonal AC. Find the radius of gyration of a uniform circular disc of radius r about a line in the plane of the disc which is tangential to the disc, Find the radius of gyration of a circular ting of radius r about a line in the plane of the ring which is tangential to the ring. Find the moment of inertia of a uniform solid sphere of radius a and mass m about a chord of the sphere which lies at a distance - from the centre of the sphere. Use calculus to find the moment of inertia of a thin hollow uniform right circular cylinder of mass M, radius R and height H about a diameter of an end circle. The cylinder is open at both ends. Find the moment of inertia of a solid uniform right circular cylinder of mass M, radius R and height H about an axis through the centre of gravity perpendicular to the axis of the cylinder. Find the moment of inertia of a uniform cube of mass M and edge a about an axis along one edge. Find the moment of inertia of a uniform rectangular lamina of mass m and sides a and b about an axis, perpendicular to the lamina, through the mid-point of a side of length a. A uniform semicircular lamina has mass m and radius r. a State the position of its centre of mass. b Find the moment of inertia of the lamina about an axis through its centre of mass, perpendicular to the lamina.Moments of inertia of a rigid body 14 Find the moment of inertia of a uniform solid sphere of mass m and radius r about a tangent at any point on the surface. 15, Find, by integration, the moment of inertia of a uniform solid cone of mass m, base radius r and height / about a diameter of the base. I bct Roocags ‘1. You may assume that the moment of inertia of a uniform circular disc, of mass m and radius a, about an axis through its centre and perpendicular to its plane is 5ma?. A cartwheel is modelled as a uniform circular disc, of mass m and radius a, to which is attached a thin metal circular rim, also of mass m and radius a. The cartwheel rotates about the axis through its centre and perpendicular to its plane, Find the radius of gyration of the cartwheel about this axis. oe [x—a—> A pendulum P is modelled as a uniform rod AB, of length 9a and mass M, rigidly fixed toa uniform circular disc of radius @ and mass 2M. The end B of the rod is attached to the centre of the disc and the rod lies in the plane of the disc as shown in the figure. The pendulum is free to rotate in a vertical plane about a fixed smooth horizontal axis L which passes through end A and is perpendicular to the plane of the disc. Show that the moment of inertia of P about L is 190Ma’. © easaptea) 3) Auniform wire of length 3a and mass 3m is bent into the shape of an equilateral triangle. Find the moment of inertia of the triangle about an axis through a vertex perpendicular to the plane of the lamina. 4) A uniform piece of wire ABC, of total length 3a and mass m, is bent to form a right angle at B, with straight arms AB and BC of length a and 2a respectively. Show that the moment of inertia of the wire about the axis L through B perpendicular to the plane of the wire is ma’. 5) A thin uniform rod of mass m and length 21 is attached at one end to the centre of a face of a uniform solid cube of mass 8m and side J. The rod is perpendicular to the face to which itis attached. Find the moment of inertia of the system about an edge of the cube which is parallel to the rod.CHAPTER 3. Au form disc has mass m and radius a. a Show that the moment of inertia of the disc about a tangent L lying in the plane of the disc is $ma?. ‘The line L is a tangent to the disc at the point A, and AB is a diameter of the disc, as shown in the figure. A particle of mass m is attached to the disc at B. b Find the moment of inertia of the loaded disc about the tangent L. eo A uniform rod AB of mass m and length 4a is free to rotate in a vertical plane about a fixed smooth horizontal axis | through the point X on the rod, where AX = a. The rod is hanging at rest with B below A when it is struck at its mid-point by a particle P of mass 3nt moving horizontally with speed w in a direction perpendicular to I. Immediately after the impact P adheres to the rod. Show that after the impact, the moment of inertia about / of the rod and the particle together is !®ma A uniform rod AB has mass m and length 2a. A particle of mass m is attached to the end B. The loaded rod is free to rotate about a fixed smooth horizontal axis L, perpendicular to the rod and passing through a point 0 of the rod, where AO = 4a. Show that the moment of 7 17ma? Inertia of the loaded rod about L is 7M @ An ear-ring is modelled as a uniform solid sphere of mass 2m and radius a, with a particle of mass m attached to a point P on the surface of the sphere. The ear-ring is free to rotate about a fixed horizontal axis L which is tangential to the sphere and passes through a point diametrically opposite to P, as shown in the figure. Show that the moment of inertia of the ear-ring about L is 4a’. oe <——2a >| ‘A mode! of a timing device in a clock consists of a uniform rod, of mass 3m and length 2a, the ends of which are attached to two uniform solid spheres, each of radius }a as shown in the figure, One sphere has mass 8m and the other has mass 2mm. The device rotates freely in a vertical plane about a horizontal axis through the centre of the rod and perpendicular to it Show that the moment of inertia of the system about this axis is “2mma?.1 12 13, 14 15 ‘Moments of inertia of igid body A uniform lamina of mass m is formed from a square lamina ABCD of side 2a by cutting out a square of side a. Both squares have the same centre O and their sides are parallel as shown in the figure, The points X and ¥ are the mid-points of AB and CD respectively. a Find the moment of inertia of the lamina about an axis passing through X and Y. b Hence find the radius of gyration of the lamina about 4 : B an axis perpendicular to its plane passing through O. lamina S is formed from a uniform disc, centre O and radius 2a, by removing the disc of centre 0 and radius a, as shown, The mass of S is M. a Show that the moment of inertia of § about an axis through O and perpendicular to its plane is $Ma’. ‘The lamina is free to rotate about a fixed smooth horizontal axis L. The axis L lies in the plane of S and is a tangent to its outer circumference, as shown. 1b Show that the moment of inertia of S about L is Ma’, © sacaptea) Use integration to show that the radius of gyration of a uniform solid hemisphere of mass mand radius r about a diameter of the circular base is 3 tr Assuming that the moment of inertia of a uniform circular disc, of mass m and radius r, about an axis through its centre and perpendicular to its plane is }mr?, a deduce that its moment of inertia about a diameter is jm, b Hence, using integration, show that the moment of inertia of a uniform solid circular cylinder, of mass M, radius r and height h, about a diameter of one of its plane faces is 5MGP + 4h). You may assume, without proof, that the moment of inertia of a uniform circular disc, of mass m and radius r, about an axis through its centre and perpendicular to its plane is mr, A uniform solid $ is generated by rotating the finite region bounded by the curve with equation y? = 2ax and the line with equation x = 3a through 180° about the x-axis. The volume of § is 97ra* and its mass is M. Show, by integration, that the moment of inertia of S about its axis of symmetry is 2Ma?. oeCHAPTER 3. 16) You may assume, without proof, that the moment of inertia of a uniform disc, of mass m and radius 1, about an axis through its centre perpendicular to its plane is 4mr?. y 0 @ = A region R is bounded by the curve y* = 4ax (y > 0), the x-axis and the line x = a (a > 0), as shown. A uniform solid 5 of mass M is formed by rotating R about the x-axis through 360°. Using integration, prove that the moment of inertia of S about the x-axis is 4Ma’ o 17a Show, by integration, that the moment of inertia of a uniform rod, of length 2L and ‘mass m, about an axis through the centre of the rod and inclined at an angle @ to the rod is pmL?sin? 6. A G; B A framework in the shape of an equilateral triangle ABC is formed from three uniform rods, each of length 2E and mass m, as shown in the figure. b Find the moment of inertia of the framework about an axis in the plane of the framework, parallel to BC and passing through A. Hence find the radius of gyration of the framework about this axis. oe Summary of key points 1 The moment of inertia (M.1.) of a rigid body about a fixed axis is given by the formula 1= )2inyr?, where m; is the mass of a typical constituent particle and 1, is the distance of a that particle from the fixed axis. 2 The moment of inertia of a rigid body about a fixed axis is that quantity which causes the body to resist change in its angular velocity about that axis.3. The units of moments of inertia are kgm”. 4 Standard results mass m, radius r Body Axis ML. thin uniform rod, through centre, ym mass m, length 21 perpendicular to rod thin uniform rod, through an end, gmP mass m, length 21 perpendicular to rod circular hoop, mass m, | through centre, me radius r perpendicular to plane of hoop uniform circular disc, | through centre, pr mass m, radius r perpendicular to dise rectangular lamina, in the plane ofthe | tml? mass m, length 21 rectangle, bisecting the two edges of length 21 rectangular lamina, an edge perpendicular | 4 mI? ‘mass m, length 2! to the edges of length 20 cylindrical shell through centre, mass m, with circular perpendicular to plane base of radius r of base solid cylinder, mass m, | through centre, Amr? with circular base of perpendicular to plane radius r of base solid sphere, mass m, | diameter 2mr? with radius 7 spherical shell, diameter gm Moments of inertia of a rigid body You will find a number of standard results for ‘moments of inertia (including those shown. in this table) in your formula book. You may use them without proof to obtain other moments of inertia. You should also be able to obtain these results from first principles. 5 If two bodies have moments of inertia I, and I; about the same axis then the moment of inertia of the composite body about the same axis is J, + I. This is the additive rule. 6 The stretch rule states that the moment of inertia of a uniform rigid object about an axis is unchanged when the object is stretched parallel to the axis. 7 The radius of gyration of a body about a given axis, is defined by the equation I = mk, where / is the moment of inertia of the body about the axis, 1 is the total mass of the body, and k is the radius of gyration, So k =CHAPTER 3.After completing this chapter you should be able to: * solve problems about the motion of a rigid body which is rotating about a fixed smooth horizontal or vertical axis * calculate the force exerted by the rotating body on the axis + investigate the effect of an impact on the rotating body * calculate the period of a pendulum foul iene rigi uta five smooth axis To study the rotational motion of a rigid body you need to know the moment of inertia of the body. Work in this chapter will therefore be confined to bodies which can be modelled as one of the solids considered in chapter 3 or as a combination of two or more of these solids. The pendulum inside a grandfather clock can be modelled as a rod with a particle attached at its end. This composite body is swinging through a small angle on either side of the vertical. In section 4 you will learn how to calculate the period of such oscillations.CHAPTER 4 Any rotating body will possess kinetic energy and a body which is rotating about an axis which is not vertical may, depending on the location of the axis and the mass distribution of the body, experience a change in its potential energy. Changes in potential energy are calculated in the usual manner but to calculate the kinetic energy you need to know the moment of inertia of the body about the axis of rotation. In this chapter you will learn about the motion of bodies which are rotating about a fixed smooth horizontal or vertical axis. I The gain in the potential energy of a rotating body is the product of its weight and the vertical height gained by its centre of mass. @ The \etic energy of a rotating body is found using the formula =1 KE = Ho? where /is the moment of inertia of the body and « is the angular speed of rotation. ‘This formula is obtained by considering the kinetic energies of each particle of the body. ‘The body is composed of a collection of particles m, at a distance r; from the axis. ‘The K.E. of each particle is $m(r,w)?. ‘Thus the KE. of the body is! mr2u? = When a rigid body is rotating about a smooth axis with no external forces acting on the body, the principle of conservation of energy will hold. So the sum of the kinetic and potential energies of the body will be unchanged throughout the motion. eae A uniform circular hoop of mass 1.2kg and radius 0.6 m is rotating in a horizontal plane about a smooth vertical axis through point A of its circumference, a Calculate the kinetic energy of the hoop when it is rotating at S rads“! A particle of mass 0.4 kg is now fixed to the hoop at point B where AB is a diameter, ‘The hoop continues to rotate at Srads~!. b Calculate the total kinetic energy of the hoop and the particle. The M.I. of the hoop about an axis through its centre is given in the formula book. a Mill of the hoop = mr? + mr? Use the parallel axes theorem =2X12 x 0.6" (see page 66) to obtain the spoil 2x 062X52= M.L. about an axis through a KE = $10? =5x 2x 12x 06? X 5 = 108) oo ee b KE. of particle 4x O4 x (2 X 06 x 5) ‘= the particle by using 3 mv? Total KE. = 72 + 10.8 = 18) orp lez. For elther youlmust use the diameter of the hoop.