Solution for Tutorial No.

2020 Fundamental Physics III & IV

(Kinematics of Rigid Body)
(Friday 2nd Hour 10:30～12:00)

16. The uniform 30-kg slender rod is being pulled by the cord that passes over the small smooth
peg at A. If the rod has an angular velocity of ω = 6 rad/s at the instant shown, determine the
tangential and normal components of reaction at the pin O and the angular acceleration of the
rod.

P = 300 N

Fig. 11

Solution

(𝑎𝐺 )𝑡 = 𝛼𝑟𝐺 = 𝛼 (0.45)

(𝑎𝐺 )𝑛 = 𝜔2 𝑟𝐺 = 62 (0.45) = 16.2 m/s 2

1 1
𝐼0 = 𝑚𝑙 2 = (30 )(0.9)2 = 8.1 kg ∙ m2
3 3

The angular acceleration of the rod can be obtained by

+ ∑ Mo =𝐼0 𝛼
4
300 𝑥 ( ) (0.6 ) − 30 x (9.81 )(0.45 ) = 8.1𝛼
5
𝛼 = 1.43 rad/s2

The normal components of reaction at the pin O

+ 3
← ∑ 𝐹n = m (aG)n ; 𝑂𝑛 + 300 (5) = 30(16.2)
𝑂𝑛 = 306 N
The tangential components of reaction at the pin O
4
+↑ ∑ 𝐹t = m (aG)t ; 𝑂𝑡 + 300 (5) − 30(9.81) = 30[1.428(0.45)]
𝑂𝑡 = 73.58 N
17. The uniform 50-kg bar in Fig. 12 is held in the equilibrium position by cords AC and BD.
Determine tension BD and angular acceleration of the bar immediately after AC is cut.

3m

3m

Fig. 12a
y

50(9.81) N TB
x
G
B

1.5
1.5 mm
Fig. 12b

(b)
(aG)y
(aG)x = 0
aB
rG/B
𝝎 α 1.5 m
=𝟎
Fig. 12c
Solution
Free-Body Diagram.
As shown in Fig.12 b, there are four unknowns, TB, (aG)x , (aG)y , and α.
Equation of Motion.
+
→ ∑ 𝐹𝑥 = m (aG)x ; 0 = (50 kg) (aG)x
Thus (aG)x = 0
+↑ ∑ 𝐹𝑦 = m (aG)y ; TB − 50(9.81) N = – (50 kg) (aG)y
(1)
1
+ ∑ MG = IGα; 𝑇𝐵 (1.5𝑚) = [12 (50 𝑘𝑔)(3 𝑚)2 ] 𝛼
(2)

Kinematics.
Since the bar is at rest just after the cable is cut, its angular velocity and the velocity of point
B at this instant are equal to zero. Thus (aB)n = 𝑣𝐵2 /ρBD = 0 .
Therefore, aB only has a tangential component, which is directed along the x axis, Fig.12c.
Applying the relative acceleration equation to points G and B,
aG = aB +α× rG/B - ω2 rG/B
– (aG)yj = aBi + (αk) × (-1.5i) - 0

– (aG)yj = aBi - 1.5αj

Equation the i and j components of both sides of this equation,
0 = aB
(aG)y = 1.5α
（3）
Solving Eq. (1) through (3) yields
α = 4.905 rad/s2
TB = 123 N
(aG)y = 7.36 m/s2

18. As shown in Fig. 13, the 20-kg sphere rolls down the inclined plane without slipping.
Determine the angular acceleration of the sphere and the acceleration of its mass center.

Fig. 13

Solution

The moment of inertia of the sphere about G

2𝑚𝑟 2 2 × 20 × (0.15)2
𝐼= = = 0.18 kg ∙ m2
5 5

+ M A = ( M k ) A

20(9.81) sin30° (0.15) =0.18α+20 ac (0.15)

0.18 + 3aG = 14.715

aG =  r =  (0.15m)

From the above equations, we obtain:

The angular acceleration of the sphere

α=23.36 rad/s2.

The acceleration of its mass center

αc=αr = α (0.15) = 3.504 m/s2

27. The hemisphere is formed by rotating the shaded area around the y axis (refer to Fig. 22).
Determine the moment of inertia Iy and express the result in terms of the total mass m of the
hemisphere. The material has a constant density .

Fig. 22

Solution

According to the definition

𝑟1 4𝜌𝜋𝑟 5
𝐼𝑦 = ∫ 𝑥 2 𝑑𝑚 = 𝜌 ∫0 2 𝜋(√𝑟 2 − 𝑥 2 )2 (√𝑟 2 − 𝑥 2 )2 𝑑𝑦 = 15
(1)

𝑟 2𝜌𝜋𝑟 3
𝑚 = ∫ 𝜌 𝑑𝑉 = 𝜌 ∫0 𝜋(√𝑟 2 − 𝑥 2 )2 𝑑𝑦 = 3
(2)

Substituting Eq. (2) into Eq. (1), the moment of inertia in terms of the total mass m of
hemisphere can be obtained as

2
𝐼𝑦 = 𝑚𝑟 2
5

28. Determine the maximum acceleration of the truck without causing the assembly to move
relative to the truck (refer to Fig. 23). Also what is the corresponding normal reaction on legs
A and B? The 100-kg table has a mass center at G and the coefficient of static friction between
the leg of the table and the bed of the truck is s = 0.2.
 Fig. 23

Solution

The friction between the leg of the table and the bed of the truck can be determined as

FA = μS NA = 0.2NA FB = μS NB = 0.2NB

Equations of Motion.
+
→∑ Fx = m(aG )x

0.2NA + 0.2NB = 100a

(1)

+↑ ∑ Fy = m(aG )y

NA +NB − 100(9.81) = 0
(2)

↺ + ∑ MG = 0

0.2NA (0.75)+NA (0.9) + 0.2NB (0.75) − NB (0.6) = 0

(3)

Solving Eqs. (1), (2), and (3),

NA = 294.3 N

NB = 687.7 N

a = 1.96 m/s2

Since NA is positive, the table will indeed slide before it tips.