END OF UNIT ASSESSMENT: Examination

COLLEGE: Science

DEPARTMENT: School of Engineering

MODULE: Engineering Science & Mathematics (2): Dynamics

UNIT CODE: EGR1003M

LEVEL: One

EXAMINER: Dr C. F. Dowding

DATE:

START TIME:

TIME ALLOWED: 2 hrs

==========================================================

INSTRUCTIONS TO STUDENTS:

QUESTIONS TO ANSWER: Answer any THREE (3) Questions

MARKING SCHEME: All questions carry TWENTY FIVE (25) marks

MATERIALS PROVIDED: Plain Paper is provided for diagrams.

MATERIALS ALLOWED: Scientific Calculators; Graphical Calculators are

NOT allowed.

NOTES TO STUDENTS: No further marks will be awarded for answers

to a fourth question.
Clearly cross-out any answers to a question that you do
not wish to be considered for marking.

Page 1 of 7
LIST OF EQUATIONS
MOTION ANALYSIS RIGID BODY MOTION
𝑑𝜃 𝑑𝜔
𝑑𝑠 𝑑2 𝑠 𝜔= 𝑑𝑡
; 𝛼= 𝑑𝑡
𝑣= ; 𝑎= 2
𝑑𝑡 𝑑𝑡
𝛼 𝑑𝜃 = 𝜔 𝑑𝜔
∫ 𝑎 𝑑𝑠 = ∫ 𝑣 𝑑𝑣; 𝑎 = 𝑣(𝑑𝑣/𝑑𝑠)
𝒗 = 𝝎×𝒓𝑃 ; 𝒂𝑡 = 𝜶×𝒓𝑃
3⁄
𝑑𝑦 2 2
𝑣2 [1+( ) ]
𝑎𝑛 = ; 𝜌=
𝑑𝑥 𝒂𝑛 = 𝝎×(𝝎×𝒓𝑃 ) = −𝜔2 𝒓
𝜌 𝑑2 𝑦
| 2|
𝑑𝑥
Relative Motion Analysis:
𝑑𝒗 𝑑2 𝒓 𝒂𝐵 = 𝒂𝐴 + 𝛼×𝒓𝐵/𝐴 − 𝜔2 𝒓𝐵/𝐴
𝒂= = = 𝑎𝑥 𝒊 + 𝑎𝑦 𝒋 + 𝑎𝑧 𝒌
𝑑𝑡 𝑑𝑡 2
Sliding Rotating Axis:
𝒗 = 𝑟̇ 𝒖𝑟 + 𝑟𝜃̇ 𝒖𝜃 ; 𝑣 = √𝑟̇ + 𝑟𝜃̇ 𝒗𝐵 = 𝒗𝐴 + (𝒗𝐵/𝐴 ) + 𝜴×𝒓𝐵/𝐴
𝑥𝑦

𝒂 = (𝑟̈ − 𝑟𝜃̇ 2 )𝒖𝑟 + (𝑟𝜃̈ + 2𝑟̇ 𝜃̇)𝒖𝜃

𝒂𝐵 = 𝒂𝐴 + (𝒂𝐵 ) + 2𝜴× (𝒗𝐵 )
𝐴 𝑥𝑦 𝐴 𝑥𝑦
Absolute dependent motion:
+ 𝜴̇×𝒓𝐵/𝐴 + 𝜴×(𝜴×𝒓𝐵/𝐴 )
𝑣𝐴 = −𝑣𝐵
2nd Moment of Inertia
Relative motion:
𝒓𝐵 = 𝒓𝐴 + 𝒓𝐵/𝐴 𝐼 = ∫ 𝑟 2 𝜌 𝑑𝑉
𝑉
NEWTON’S 2nd LAW
𝐼 = 𝐼𝐺 + 𝑚𝑑2
∑ 𝑭 = 𝑚𝒂𝐺
𝐼
𝐼 = 𝑚𝑘 2 ; 𝑘 = √𝑚
𝑑𝜃 𝑟
tan 𝜓 = 𝑟 =
𝑑𝑟 𝑑𝑟
𝑑𝜃 ∑ 𝑀𝐺 = 𝐼𝑃 𝛼;

WORK & ENERGY Sum of kinetic moments:

𝑇1 + |𝑈1−2 | = 𝑇2 ∑ 𝑀𝑃 = ∑(ℳ𝑘 )𝑃
1
𝑇 = 𝑚𝑣 2 General Plane Motion:
2
1 1 ∑ 𝑀𝐼𝐶 = 𝐼𝐼𝐶 𝛼
|𝑈1−2 | = 𝑚𝑣2 2 − 𝑚𝑣1 2
2 2
WORK & ENERGY
𝑈1−2 = 𝐹 cos 𝜃 (𝑠2 − 𝑠1 ) 1 1
𝑇 = 𝑚𝑣𝐺 2 + 𝐼𝐺 𝜔2
2 2
𝑇1 + 𝑉1 = 𝑇2 + 𝑉2
IMPULSE & MOMENTUM
IMPULSE & MOMENTUM (𝐻𝑃 )𝑖 = 𝒓×𝑚𝑖 𝒗𝑖 ; 𝐻𝐺 = 𝐼𝐺 𝜔
(𝑣𝐵 )2 − (𝑣𝐴 )2
𝑒=
(𝑣𝐴 )1 − (𝑣𝐵 )1 𝐻𝑂 = 𝐼𝐺 𝜔 + 𝑟𝐺 (𝑚𝑣𝐺 )

(𝒗𝐺 )1 = (𝒗𝐺 )2 𝐻𝐴 = 𝐼𝐺 𝜔 + (𝑑)(𝑚𝑣𝐺 )

Page 2 of 7
1. A smooth can C, having a mass of 3 kg is lifted from a feed at A to a ramp at B by a forked
rotating rod. If the rod maintains a constant angular motion of 𝜃̇ = 0.7 𝑟𝑎𝑑 ∙ 𝑠 −1 , determine
the force which the rod exerts on the can at the instant 𝜃 = 35°. Neglect the effects of friction
in the calculation. The ramp from A to B is circular, with a radius of 730 mm.

𝜃̇ = 0.7 𝑟𝑎𝑑 ∙ 𝑠 −1
A

700 mm DIAGRAM NOT TO SCALE

Figure 1: Sliding joint problem for Question 1

a) Draw a Free Body Diagram to describe the key factors in the problem. [5 Marks]
b) Write an equation that completely describes the radial motion occurring. [5 Marks]
c) Given r, derive expressions to describe the radial velocity and acceleration. [6 Marks]
d) Write an equation that completely describes the radial and transverse motion. [4 Marks]
e) What is the magnitude of the reaction force acting on the rotating rod and [5 Marks]
the curved rail?

SOLUTION

a) Draw a Free Body Diagram to describe the key factors in the problem. [5 Marks]

aθ
θ ar

θ
FC
NC mg
 b) Prove the expression 𝑟 = 1.43 cos 35 describes the radial position of the can. [4 Marks]

𝑟 = 0.7 cos 35 + 0.73 cos 35

𝑟 = (0.7 + 0.73) cos 35

𝑟 = 1.43 cos 35

𝑟 = 1.17

c) Given r, derive expressions to describe the radial velocity and acceleration. [6 Marks]
- APPLY CHAIN RULE
𝑟̇ = −𝑟 sin 𝜃 ×𝜃̇; thus substituting:
𝑟̇ = −1.17 sin 35 ×0.7;
𝑟̇ = −0.47 m.s-1

- APPLY CHAIN RULE WITHIN PRODUCT RULE

𝑟̈ = −𝑟 cos 𝜃×𝜃̇ 2 + 𝑟 sin 𝜃̇ ×𝜃̈; thus substituting:

𝑟̈ = −1.17 cos 35×0.72 + 1.17 sin 0.7×0;

𝑟̈ = −0.47 m.s-2

d) Write an equation that completely describes the radial and transverse motion. [4 Marks]

∑ 𝐹𝑟 = 𝑚𝑎𝑟 ;

𝑁𝐶 cos 35 − 3×9.81 sin 35 = 3𝑎𝑟 .

∑ 𝐹𝜃 = 𝑚𝑎𝜃 ;

𝐹𝐶 + 𝑁𝐶 sin 35 − 3×9.81 cos 35 = 3𝑎𝜃 .

e) What is the magnitude of the reaction force acting on the rotating rod and [5 Marks]
the curved rail?

𝑎𝑟 = 𝑟̈ − 𝑟𝜃̇ 2;

𝑎𝑟 = −0.47 − 1.17(0.7)2;

𝑎𝑟 = −1m.s-1

𝑎𝜃 = 𝑟𝜃̈ + 2𝑟̇ 𝜃̇;

𝑎𝜃 = 1.17(0) + 2(−0.47)0.7;

𝑎𝜃 = −0.658rad.s-1

Sub into EoM in (d): Nc = 16.94N & Fc = 12.42N

2. In the mechanism shown in Figure 2, AB rotates clockwise at a constant rate of 1.5 rad∙s-1 while
the pin P moves outward without friction at a constant rate of 1.3 m∙s-1 along a radial slot in the
rotating disc. At the instant shown, r = 0.15 m, and the disc rotates at an angular velocity of 2.5
rad∙s-1 and an angular acceleration of 0.9 rad∙s-2.

15 cm
B

P
25°

1.5 rad∙s-1

35°
A

DIAGRAM NOT TO SCALE

Figure 2: sliding, rotating joint problem for Question 2.

a) Draw a Free Body Diagram of the problem concerned. [5 Marks]

b) Choose a suitable location of the origin for some translating and rotating [2 Marks]
axis and make this clear on your Free Body Diagram.
c) Determine the absolute velocity of pin P at the instant described [5 Marks]

APPLY THE EQUATION: 𝒂𝑃 = 𝒂𝐵 + (𝒂𝑃/𝐵 )𝑥𝑦 + 2𝜴×(𝒗𝑃/𝐵 )𝑥𝑦 + 𝜴̇×𝒓𝑃/𝐵 + 𝜴×(𝜴×𝒓𝑃/𝐵 )

d) Determine the absolute acceleration of pin B at the instant described [3 Marks]

e) Determine the absolute position, velocity and Coriolis acceleration of [8 Marks]
pin P relative to pin B on the translating rotating axis
f) Using vector analysis, determine the absolute acceleration of pin P at [2 Marks]
the instant described.
SOLUTION

a) Draw a Free Body Diagram of the problem concerned. [5 Marks]

φ
Y B
Ω
φ Ω̇

A
X
b) Choose a suitable location of the origin for some translating and rotating [2 Marks]
axis and make this clear on your Free Body Diagram.

Around B

c) Determine the absolute velocity of pin P at the instant described [5 Marks]

𝑣𝑃 = 𝑣𝐵 + Ω×𝑟𝑃𝐵 + (𝑣𝑃𝐵 )𝑥𝑦 ;

𝑣𝐵 = 1.5(0.45)(cos 35 𝐼 − sin 35 𝐽) = 0.553𝐼 − 0.387𝐽 m.s-1;

Ω×𝑟𝑃𝐵 = −2.5𝐾×0.15𝑖 = −0.375𝐽;

(𝑣𝑃𝐵 )𝑥𝑦 = 1.3𝑖;

Substituting gives: 𝑣𝑃 = 0.553𝐼 − 0.387𝐽 − 0.375𝐽 + 1.3𝑖 = 1.853𝐼 − 0.762𝐽 ;

Apply Pythag and TAN: 𝑣𝑃 = 1.853m.s-1 @ 337.6°

d) Determine the absolute acceleration of pin B at the instant described [3 Marks]

2
𝒂𝐵 = −𝜔𝐵𝐴 𝑟𝐵𝐴 = −1.52 (0.45 cos 35 𝐼 + 0.45𝑠𝑖𝑛35𝐽) = −0.829𝐼 − 0.581𝐽;

e) Determine the velocity, acceleration and Coriolis acceleration of [8 Marks]

pin P relative to pin B on the translating rotating axis

(𝒂𝑃/𝐵 ) = 0;
𝑥𝑦

2𝜴×(𝒗𝑃/𝐵 ) = 2(−2.5𝑘)×1.3𝑖 = −6.5𝑗;

𝑥𝑦
 𝜴̇×𝒓𝑃/𝐵 = −0.9𝐾×0.15𝑖 = −0.135𝐽;

𝜴×(𝜴×𝒓𝑃/𝐵 ) = −2.5k×(−2.5𝑘×0.15𝑖) = −0.9375𝑖;

f) Using vector analysis, determine the absolute acceleration of pin P at [2 Marks]

the instant described.

𝒂𝑃 = 𝒂𝐵 + (𝒂𝑃/𝐵 ) + 2𝜴×(𝒗𝑃/𝐵 ) + 𝜴̇×𝒓𝑃/𝐵 + 𝜴×(𝜴×𝒓𝑃/𝐵 );

𝑥𝑦 𝑥𝑦

𝒂𝑃 = −0.829𝑖 − 0.581𝑗 + 0 − 6.5𝑗 − 0.135𝑗 + 0.9375𝑖;

𝒂𝑃 = −0.7665 − 7.216.

Applying Pythag and TAN gives: 7.257m.s-2 @ 263.94°.

3. The 80 kg reel shown in Figure 3, is formed from two 10kg thin disc flanges (diameter of 0.9m)
either side of a 60kg solid cylinder drum (diameter 0.52m), begins at rest. It starts to roll down a
smooth incline that is 22° from horizontal. A cord connects drum of the reel to wall a as
described. There is enough cord to allow the reel to roll 5m down the slope.

0.7m

22° DIAGRAM NOT TO SCALE

Figure 3: Inclined reel problem for Question 3.

a) Draw a Free Body Diagram of the problem concerned [5 Marks]

b) Calculate the total Mass Moment of Inertia of the reel [5 Marks]
c) Develop an equation that relates linear velocity to angular velocity [3 Marks]
d) Define all five of the possible routes for energy to be stored at different [7 Marks]
stages in the motion of the reel.
e) Apply the conservation of energy to derive the linear velocity of the reel at the [5 Marks]
end of its 5m displacement from its initial resting place.

SOLUTION

a) Draw a Free Body Diagram of the problem concerned. [5 Marks]

0.2 m

IC

mg
b) Calculate the total Mass Moment of Inertia of the reel [5 Marks]
1 1
𝐼𝑧𝑧 𝐹𝐿𝐴𝑁𝐺𝐸 = 𝑚𝑟 2 = (10)0.452 = 1.0125 kg.m2
2 2
1 1
𝐼𝑧𝑧 𝐷𝑅𝑈𝑀 = 2 𝑚𝑟 = 2 (60)0.262 = 2.028 kg.m2
2

𝐼𝑧𝑧 𝑇𝑂𝑇𝐴𝐿 = 2(𝐼𝑧𝑧 𝐹𝐿𝐴𝑁𝐺𝐸 ) + 𝐼𝑧𝑧 𝐷𝑅𝑈𝑀 = 4.053 𝑘𝑔 ∙ 𝑚2.

c) Develop an equation that relates linear velocity to angular velocity [3 Marks]

𝑣𝑂 = 𝜔𝑟𝑂/𝐼𝐶 = 𝜔(0.26);

d) Define all five of the possible routes for energy to be stored at different [7 Marks]
stages in the motion of the reel.

𝑇1 = 0;
1 1
𝑇2 = 𝑚𝑣𝑂 2 + 𝐼𝑂 𝜔2 ;
2 2

1 1
𝑇2 = (80)[𝜔2 (0.26)]2 + (4.053)𝜔22 = 12.43𝜔22;
2 2

(𝑉𝑔 )1 = 𝑊𝑦1 = 𝑚𝑔(𝑠𝑂 sin 30) = (80)(9.81)((5) sin 22) = 1469.96 J ;

(𝑉𝑔 ) = 𝑊𝑦2 = 0 .
2

e) Apply the conservation of energy to derive the velocity of the reel at the [5 Marks]
end of its 5m displacement from its initial resting place.

𝑇1 + 𝑉1 = 𝑇2 + 𝑉2 ;

0 + 1469.96 = 12.43𝜔22 + 0;

1469.96
𝜔2 = √ 12.43
= 10.88 rad.s-1.

𝑣𝑂 = 10.88(0.26) = 2.83 m.s-1 parallel to the inclined plane.

4. Gears A and B have a mass of 18 kg and 42 kg respectively. Also, they have respective radii of
gyration about their respective mass centres of kA = 65 mm and kB = 120 mm. Gear A is
subjected to the couple moment M = 16 Nm for six seconds.
180 mm

90 mm

M = 16 N·m

DIAGRAM NOT TO SCALE

Figure 4: Gear-train arrangement for Question 4.

a) Using the Equation of Motion (𝑟×𝐹 = 𝑟×𝑚𝑎) derive the principle of [5 Marks]
Angular Impulse and Momentum from first principles.
b) Define the Mass Moments of Inertia of both gears [3 Marks]
c) Define the ratio of angular velocities between the two gears [2 Marks]
d) Define the Change in Momentum of Gear A [7 Marks]
e) Define the Change in Momentum of Gear A [4 Marks]
f) Use your relations to define the resultant angular velocities of both gears [4 Marks]

SOLUTIONS

a) Using the Equation of Motion (𝑟×𝐹 = 𝑟×𝑚𝑎) derive the principle of [5 Marks]
Angular Impulse and Momentum from first principles.
𝑟×𝐹 = 𝑀𝑂 ;
𝑑𝒗
𝒓×(𝑚𝑎) = 𝒓× (𝑚 𝑑𝑡 );
𝑡 𝒗
∫𝑡 2 𝑴𝑂 𝑑𝑡 = ∫𝒗 2 𝒓×𝑚 𝑑𝒗;
1 1

𝐻𝑂 = 𝒓×𝑚𝒗2 − 𝒓×𝑚𝒗1 .

b) Define the Mass Moments of Inertia of both gears [3 Marks]

 𝐼𝐴 = 𝑚𝐴 𝑘𝐴2 = (18)(0.0652 ) = 0.0761 𝑘𝑔 ∙ 𝑚2 ;

𝐼𝐵 = 𝑚𝐵 𝑘𝐵2 = (42)(0.1802 ) = 1.3608 𝑘𝑔 ∙ 𝑚2 .

c) Define the ratio of angular velocities between the two gears [2 Marks]
𝑟 0.18
𝜔𝐴 = (𝑟𝐵 ) 𝜔𝐵 = (0.09) 𝜔𝐵 = 2𝜔𝐵 .
𝐴

d) Define the Change in Momentum of Gear A [7 Marks]

𝑡2
+ (𝐻𝐴 )1 + ∫𝑡1 [𝑀𝐴 ] 𝑑𝑡 = (𝐻𝐴 )2 ;

6
𝐼𝐴 (𝜔𝐴 )1 + ∫0 [𝑀 − 𝑟𝐴 (𝐹)𝑡 ] 𝑑𝑡 = 𝐼𝐴 (𝜔𝐴 )2 ;

6
0.0761(0) + ∫0 [16] − [(0.09)(𝐹)𝑡 ] 𝑑𝑡 = 0.0761(2𝜔𝐵 )2 ;

6
0 + [16(6)] − ∫0 [(0.09)(𝐹)𝑡 ] 𝑑𝑡 = 0.1522(𝜔𝐵 )2 ;

6
∫0 [(0.09)(𝐹)𝑡 ] 𝑑𝑡 = 96 − 0.1522(𝜔𝐵 )2 . ① OR

6
∫0 (𝐹)𝑡 𝑑𝑡 = 1066.6 − 1.691(𝜔𝐵 )2 ①

e) Define the Change in Momentum of Gear A [4 Marks]

𝑡2
+ (𝐻𝐵 )1 + ∫𝑡1 [𝑀𝐵 ] 𝑑𝑡 = (𝐻𝐵 )2 ;

6
𝐼𝐵 (𝜔𝐵 )1 + ∫0 [𝑟𝐵 (𝐹)𝑡 ] 𝑑𝑡 = 𝐼𝐵 (𝜔𝐵 )2 ;

6
∫0 [0.18(𝐹)𝑡 ] 𝑑𝑡 = 1.3608(𝜔𝐵 )2 . ② OR

6
∫0 (𝐹)𝑡 𝑑𝑡 = 7.56(𝜔𝐵 )2. ②

f) Use your relations to define the resultant angular velocities of both gears [4 Marks]

SOLVE VIA SUBSTITUTION ② into ①.

1066.6 − 1.691(𝜔𝐵 )2 = 7.56(𝜔𝐵 )2 ;

1066.6 − 1.691(𝜔𝐵 )2 − 7.56(𝜔𝐵 )2 = 0;

1066.6 − (𝜔𝐵 )2 (1.691 + 7.56) = 0;

1066.6
(𝜔𝐵 )2 =
9.251
= 115.3 rad.s-1.