BES 6 – Dynamics of Rigid Bodies Chapter 4: Rotation

Rotation with constant angular acceleration

1. A flywheel 6 ft in diameter accelerates from rest 𝜔𝑓 2 = 𝜔𝑜 2 + 2α𝜃

at the constant rate of 4 rpm per sec. Compute
0 = (35.2)2 + 2𝛼(288)
the normal and tangential components of the
acceleration of a particle on the rim of the 𝜶 = −𝟐. 𝟏𝟓 𝒓𝒂𝒅/𝒔𝒆𝒄𝟐 Answer
flywheel after 10 sec. 1 𝑟𝑒𝑣
𝑛 = 288 𝑟𝑎𝑑 ( )
2𝜋
Given:
𝒏 = 𝟒𝟓. 𝟖𝟒 𝒓𝒆𝒗. Answer
𝑑 = 6 𝑓𝑡, 𝛼 = 4𝑟𝑝𝑚/𝑠𝑒𝑐, 𝜔0 = 0, 𝑡 = 10 𝑠𝑒𝑐
3. Determine the horizontal and vertical
Required:
components of the acceleration of point B on the
𝑎𝑛 =? , 𝑎𝑡 =? rim of the flywheel shown in the figure. At the
given position,  = 4 𝑟𝑎𝑑 𝑝𝑒𝑟 𝑠𝑒𝑐 and  =
Solution:
12 𝑟𝑎𝑑 𝑝𝑒𝑟 𝑠𝑒𝑐 2 both clockwise.
𝑟𝑒𝑣 2𝜋 1𝑚𝑖𝑛
𝛼=4 ( )( )
𝑚𝑖𝑛∗𝑠𝑒𝑐 𝑟𝑒𝑣 60𝑠𝑒𝑐

2𝜋
𝛼= 𝑟𝑎𝑑/𝑠𝑒𝑐 2 = 0.42 𝑟𝑎𝑑/𝑠𝑒𝑐 2
15

2𝜋 2
𝑎𝑡 = 𝑟𝛼 = 3 ( ) = 𝜋 = 𝟏. 𝟐𝟓 𝒇𝒕/𝒔𝒆𝒄𝟐 Answer
15 5

After 10 seconds…

𝜔𝑓 = 𝜔0 + 𝛼𝑡
2𝜋 Given:
𝜔𝑓 = 0 + (10)
15
 = 4 𝑟𝑎𝑑 𝑝𝑒𝑟 𝑠𝑒𝑐,  = 12 𝑟𝑎𝑑 𝑝𝑒𝑟 𝑠𝑒𝑐 2
4
𝜔𝑓 = 𝜋 𝑟𝑎𝑑/𝑠𝑒𝑐 = 4.19 𝑟𝑎𝑑/𝑠𝑒𝑐
3
Required:
4 2
2
𝑎𝑛 = 𝑟𝑤 = 3 ( 𝜋) = 𝟓𝟐. 𝟔𝟐 𝒇𝒕/𝒔𝒆𝒄 𝟐
Answer 𝑎𝑥 =? , 𝑎𝑦 =?
3

2. The rim of a 50-in. wheel on a brake shoe testing Solution:

machine has a speed of 60 mph when the brake
𝑎𝑡 = 𝑟𝛿 = 3(12) = 36 𝑓𝑡/𝑠𝑒𝑐 2
is dropped. It comes to rest after the rim has
traveled a linear distance of 600 ft. What are the 𝑎𝑛 = 𝑟𝜔2 = 3(4)2 = 48 𝑡/𝑠𝑒𝑐 2
constant angular acceleration and the number of
𝑎𝑡 = 𝑎𝑥 cos 𝜃 + 𝑎𝑦 sin 𝜃
revolutions the wheel makes in coming to rest?
36 = 𝑎𝑥 cos 45° + 𝑎𝑦 sin 45°
Given:
48 = −𝑎𝑥 sin 45° + 𝑎𝑦 cos 45°
𝑑 = 50 𝑖𝑛. , 𝑣0 = 50 𝑚𝑝ℎ, 𝑠 = 600 𝑓𝑡. , 𝑣𝑓 = 0
𝑎𝑥 = −8.48 𝑓𝑡/𝑠𝑒𝑐 Answer
Required:

𝛼 =? , 𝑛 =? 𝑎𝑦 = 59.40 𝑓𝑡/𝑠𝑒𝑐 Answer

Solution:
𝑚𝑖 5280 𝑓𝑡 1 ℎ𝑟
𝑣0 = 50 ( )( )
ℎ𝑟 1 𝑚𝑖 3600 𝑠𝑒𝑐

220
𝑣0 = 𝑓𝑡/𝑠𝑒𝑐 = 73.33 𝑓𝑡/𝑠𝑒𝑐
3

1 𝑓𝑡 25
𝑑 = 50 𝑖𝑛 ( )= 𝑓𝑡
12 𝑖𝑛 6

𝑑 25
𝑟= = 𝑓𝑡
2 12

𝑣 220(12) 176
𝑤0 = = = = 35.2 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑟 3(25) 5

𝑠 600 𝑓𝑡
𝜃= = 25 = 288 𝑟𝑎𝑑
𝑟 ( 𝑓𝑡)
12

Prepared by: Engr. Lucia V. Ortega Page 1 of 6

BES 6 – Dynamics of Rigid Bodies Chapter 4: Rotation

Rotation with Variable Angular Acceleration

1. The rotation of a pulley is defined by the relation
𝜃 = 2𝑡 4 − 30𝑡 2 + 4 where  is measured in radians
and t in seconds. Compute the velocity and
angular accelerations at the instant when t = 4
sec.
3. Determine the number of revolutions through
which a pulley will rotate from rest if its angular
acceleration is increased uniformly from zero to
12 𝑟𝑎𝑑/𝑠𝑒𝑐 2 during 4 sec and then uniformly
decreased to 4 𝑟𝑎𝑑/𝑠𝑒𝑐 2 during the next 3 sec.

Solution: Solution:
4
𝜃 = 2𝑡 − 30𝑡 + 4 2
Using motion curves
𝑑𝜃
𝜔= = 8𝑡 3 − 60𝑡
𝑑𝑡

When 𝑡 = 4 𝑠𝑒𝑐

𝜔 = 8(4)3 − 60(4) = 272 𝑟𝑎𝑑/𝑠𝑒𝑐 Answer

𝑑𝜔
𝛼= = 24𝑡 − 60
𝑑𝑡

When 𝑡 = 4 𝑠𝑒𝑐

𝛼 = 24(4) − 60 = 36 𝑟𝑎𝑑/𝑠𝑒𝑐 2 Answer

2. A body rotates according to the relation 𝛼 = 2𝑡

where  is in radians per second per second and t
is in seconds.  = 4 rad per sec and  = 0 when t is
zero. Compute the values of  and  at the instant
when t = 2 sec.

Solution:
𝑑𝜔
𝛼 = 2𝑡 𝛼= = 2𝑡 𝑑𝜔 = 2𝑡 𝑑𝑡
𝑑𝑡
At the end of 7 sec,  = 152 rad
𝑤 𝑡
∫4 𝑑𝑤 = ∫0 2𝑡 𝑑𝑡 𝜔]𝜔 2 𝑡
4 = 𝑡 ]0
1 𝑟𝑒𝑣
𝑛 = 152 𝑟𝑎𝑑 ( ) = 24.19 𝑟𝑒𝑣 Answer
2𝜋
𝜔−4=𝑡 𝜔 =𝑡+4

When 𝑡 = 2𝑠𝑒𝑐

𝜔 = 2 + 4 = 6 𝑟𝑎𝑑/𝑠𝑒𝑐 Answer
𝑑𝜃
𝜔= =𝑡+4 𝑑𝜃 = (𝑡 + 4) 𝑑𝑡
𝑑𝑡

𝑡
𝜃 𝑡 𝑡2
∫0 𝑑𝜃 = ∫0 (𝑡 + 4) 𝑑𝑡 𝜃]𝜃0 = + 4𝑡]
2 0

1 2
𝜃= 𝑡 + 4𝑡
2

When 𝑡 = 2 𝑠𝑒𝑐
1
𝜃 = (2)2 + 4(2) = 10 𝑟𝑎𝑑 Answer
2

Prepared by: Engr. Lucia V. Ortega Page 2 of 6

BES 6 – Dynamics of Rigid Bodies Chapter 4: Rotation

General Kinetics of Rotation

1. The compound pulley in the Figure has a 2. Determine the time required for the compound
horizontal; mass moment of inertia of 20ft. lb. sec 2 . pulley shown in the figure to reach a speed of 600
Find the tension in the chord supporting the 161 lb rpm starting from rest.
weight.

Solution:
Solution:

3
𝑊𝑡 = 400 ( ) = 240 𝑙𝑏
5
4
𝑊𝑛 = 400 ( ) = 320 𝑙𝑏 = 𝑁
5
𝐹 = 𝜇𝑁 = 0.2(320) = 64 𝑙𝑏
For 161 lb block For the 322 lb block
𝑊 𝑊
∑ 𝐹𝑣 =
𝑔
𝛼 ∑ 𝐹𝑣 =
𝑔
𝛼 For the 300 lb block (Block A)
𝑤
161
(3𝛼)
322
(𝛼) ∑ 𝐹𝑣 = 𝑎𝑡
𝑇1 − 161 = 322 − 𝑇2 = 𝑔
32.2 32.2
300
𝑇1 = 161 + 15𝛼 𝑇2 = 322 − 10𝛼 𝑇𝐴 − 300 = (3𝛼)
32.2
𝑇𝐴 = 300 + 27.95𝛼
∑ 𝑀𝑧 = 𝐼𝑧 𝛼
𝑇2 (1) − 𝑇1 (3) = 20𝛼 For the 300 lb block (Block A)
(322 − 10𝛼) − (161 + 15𝛼 )(3) = 20𝛼 𝑤
∑ 𝑇 = 𝑎𝑡
𝑔
322 − 10𝛼 − 483 − 45𝛼 = 20𝛼 400
−75𝛼 = 161 𝑇𝐵 − 240 − 64 = (2𝛼)
32.2
𝛼 = −2.15 𝑟𝑎𝑑/𝑠𝑒𝑐 2 𝑇𝐵 = 304 + 24.84𝛼

Therefore, the tension in the cord supporting the For the equilibrium of the pulley
161 lb block is, ∑ 𝑀𝑧 = 𝐼𝑧 𝛼
𝑊
𝑇1 = 161 + 15(−2.15) = 𝟏𝟐𝟖. 𝟖 𝒍𝒃 Answer 𝑇𝐵 (2) − 𝑇𝐴 (3) = 𝑘2𝛼
𝑔
322
(304 + 24.84𝛼)(2) − (300 + 27.95𝛼)(3) = (2)2 𝛼
32.2
900 − 83.85𝛼 − 608 − 49.68𝛼 = 40𝛼
173.83𝛼 = 292
𝛼 = 1.68270616 𝑟𝑎𝑑/𝑠𝑒𝑐 2

Time to reach a speed of 600 rpm starting from rest

𝜔0 = 0
𝑟𝑒𝑣 2𝜋 1 𝑚𝑖𝑛
𝜔 = 600 ( )( ) = 20𝜋 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑚𝑖𝑛 1 𝑟𝑒𝑣 60 𝑠𝑒𝑐
𝜔 = 𝜔0 + 𝛼𝑡
20𝜋 = 0 + (1.68 … )𝑡
𝒕 = 𝟑𝟕. 𝟑𝟒 𝒔𝒆𝒄 Answer

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BES 6 – Dynamics of Rigid Bodies Chapter 4: Rotation

3. If the weight shown in the figure is descending After the load P = 100 lb is applied…
freely, determine the tension in the cord both
before and after a brake force P = 100 lb is applied. For the 200 lb block
Neglect thickness of brake. ∑ 𝐹𝑣 =
𝑊
𝑎𝑡
𝑔
200
200 − 𝑇 = (2𝛼)
32.2
400
𝑇 = 200 − 𝛼
32.2

For the pulley

∑ 𝑀𝑧 = 𝐼𝑧 𝛼
𝑇(2) − 𝐹(3) = 12𝛼
400
(200 − 𝛼) (2) − (0.2𝑁)(3) = 12𝛼
32.2
800
400 − 𝛼 − 0.6𝑁 = 12𝛼
Solution: 32.2
2000 29660
𝑁= − 𝛼
3 483

Considering the FBD of the brake lever

∑ 𝑀𝐴 = 0 100(4) − 𝑁(1) = 0
2000 29660
400 − + 𝛼=0
3 483
𝛼 = 4.342548887 𝑟𝑎𝑑/𝑠𝑒𝑐 2

Solving for T….

400
𝑇 = 200 − (4.342548887)
32.2

Before the load P is applied, there will be no contact 𝑻 = 𝟏𝟒𝟔. 𝟎𝟔 𝒍𝒃 Answer

with the brake, N = 0, F = 0

For the 200 lb block

𝑊
∑ 𝐹𝑣 = 𝑎𝑡
𝑔
200
200 − 𝑇 = (2𝛼)
32.2
400
𝑇 = 200 − 𝛼
32.2

For the pulley

∑ 𝑀𝑧 = 𝐼𝑧 𝛼 𝑇(2) = 12𝛼
400 800
(200 − 𝛼) (2) = 12𝛼 400 − 𝛼 = 12𝛼
32.2 32.2
𝛼 = 10.85637222 𝑟𝑎𝑑/𝑠𝑒𝑐 2

Solving for T
400
𝑇 = 200 − (10.865 … ) = 𝟔𝟓. 𝟏𝟒 𝒍𝒃 Answer
32.2

Prepared by: Engr. Lucia V. Ortega Page 4 of 6

BES 6 – Dynamics of Rigid Bodies Chapter 4: Rotation

Non-Centroidal Rotation: Dynamic Equilibrium

1. A man weighing 161 lb is seated on a horizontal Solution:

turntable 2 ft away from the vertical axis of
rotation, as shown in the figure. The coefficient
of friction between him and the turntable is 0.40.
If the turntable starts from rest and accelerates
1
at the rate of 𝑟𝑎𝑑 𝑝𝑒𝑟 𝑠𝑒𝑐 2, how many seconds
2
will elapse before he starts to slide? Determine
the angle  of the direction in which he will slide.

∑ 𝑀𝐴 = 0
6𝑇 − 168(3) − 96.6(1.5) = 0
𝑇 = 108.15 𝑙𝑏 Answer

∑ 𝐹𝑣 = 0
Solution: 𝑅𝐴𝑣 = 96.6 𝑙𝑏 Answer

∑𝑁 =
𝑊
𝑟𝜔 ∑ 𝐹𝐻 = 0
𝑔
𝑊
168 − 108.15 − 𝑅𝐴𝐻 = 0
𝐹= 𝑟𝜔 𝑅𝐴𝐻 = 59.85 𝑙𝑏 Answer
𝑔
161
0.40(161) = (2)𝜔2
32.2
𝜔 = 2.537715508 𝑟𝑎𝑑/𝑠𝑒𝑐 2 3. Determine the speed of rotation in rpm at which the
cord in Problem 2 will have a tensile force of 200 lb.
𝜔 = 𝜔0 + 𝛼𝑡 Solution:
2.537715508 = 0 + 0.5𝑡
𝒕 = 𝟓. 𝟎𝟖 𝒔𝒆𝒄 Answer ∑ 𝑀𝐴 = 0
96.6
6(200) − ( ) (3.5)(𝜔2 )(3) − 96.6(1.5) = 0
32.2
1
𝑎𝑡 = 𝑟𝛼 = 2 ( ) = 1 𝑓𝑡/𝑠𝑒𝑐 2 2
1200 − 31.5𝜔 − 144.9 = 0
2
𝑎𝑛 = 𝑟𝜔2 = 2(2.537715508)2 𝜔 = 5.787507071 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑎𝑛 = 12.88 𝑓𝑡/𝑠𝑒𝑐 2
𝑟𝑎𝑑 1 𝑟𝑒𝑣 60 𝑠𝑒𝑐
𝑛 = 5.787507071 ( )( )
𝑠𝑒𝑐 2𝜋 1 𝑚𝑖𝑛
𝑎𝑡 1
tan 𝜃 =
𝑎𝑛
=
12.88 𝑛 = 55.27 𝑟𝑝𝑚 Answer
𝜃 = 4.44° Answer
4. The system shown in the figure consists of a circular
2. A uniform slender rod weighing 96.6 lb is disk welded to the end of a uniform bar. The
fastened to the rotating frame in the figure by a assembly rotates in a vertical plane about a
smooth pin at A and a horizontal cord at B. The horizontal axis at A. At the given position, the
frame rotates about its vertical axis at a constant angular velocity is 4 rad per sec. Compute the
speed of 4 rad per sec. Find the tension in the magnitude of the bearing reaction.
cord and the horizontal and vertical
components of the hinge reaction.

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BES 6 – Dynamics of Rigid Bodies Chapter 4: Rotation

Solution:

∑ 𝐹𝑣 = 0
𝑅𝐴𝑣 = 64.4 + 76.8 + 32.2 + 89.6
𝑅𝐴𝑣 = 263 𝑙𝑏

∑ 𝐹𝐻 = 0
𝑅𝐴ℎ = 0

Prepared by: Engr. Lucia V. Ortega Page 6 of 6