knowns in Fig. (b): Os, O,, 4, nd, ons of motion, we wip) : nt equal MAD. The requ tere eo Jependet equations &f © rean ete only thee ioe ont eee fa dt +C Thetefong all unknowe Tory of motion: the history bar will not determine the te v ee of the FBD and Map ,. "8 i I a, because it is tp sitio cceleration &, on, that Posen the angulet 2 O is used as the moo sve posable to determine the PEW TT hen 7 ssible 10 det en that itis poss orn fas in the tion is this moment equa in Fig. (D)> the diagrams i unknown that appe center Refering © (2Mo)wap 2 Lb me pa at (mea) 5 = yy 2 mg c08 60 = 2°)2 (2Mo)ee! from which we find that 7 A a 38 cos60" = 0.7505 inswer () ion of Oi t equation could have mn of O is zero, the above moment Because the acceleration of : also been obtained from Ea, (17.14): EM = lot, wher “Q- from the parallebaxis theorem. We now see that EMo = oa will yield aq ‘equation that is identical to Eg, (a). a Sample Problem 17.5 ‘The body shown in Fig. (a) consists of the homogeneous slender bar I that i aaty comected tothe homogeneous sphere 2. The body is rotating in the ver- cal plane about the pin at O, When the body is in the Position where @ = 30°, angular velocity is = i i acceleration a and the Solution Position 6 = 30° are shown in Fig (b). It foe and the sphere are treated as iti +h with its own ii “ Separate entities, eac! Sindy se ea Ec (An equivalent form of the MAD woud © 1° Fe. 17.13) Deals of ge ga ouPE a inertia vere for the assembly; rete ae diagrams ibed in the following. piative tothe me and p88 On ‘dO; ate the components of the pin reactio® act at teie®, EME. The weights W, and Wz of the MASS centers G, and Gp. The distancej= 04 mand Fy = 1.0m, A 1 measured from O to the center from the dimensions in Fig. (a) er mass-acceleration diagram In the MAD, we assume that the al I , , we assume that the angular accelera- tion, measured in rad/s?, is clockwise. Using the fact that the body rotates about the fixed point O, kinematic analysis enables us to express the accelerations of G and G in terms of a and « of the body. The inertia terms that appear in the MAD have been computed in the following manner. For the slender bar: 300.8)? 12 12 co? = 30(0.4)(1.2)? my Fyor = 30(0.4)or = 12.000 N For the sphere: Ra = F002 = 1.2800. N-m hawaer it = Za mahno? = 80(1.0)(1 mghyar = 80(1.0)0 = gy = 115.2N 80.000 N i if the Inthe MAD, the directions of the tangents compan (those containing «) are consistent wt the sume sb From Pig, (b) we see that there 12 1 Pel unknown (a) in the MAD: SNe - three independentBD and the MAD in Fig. (6), We obtain, onthe Faquating moments EMo)Map 15 30° cos 30° + 80(9.8)(1.0) 608 3 Da 349 8)04) 60830 Bae Seon = 1.6000 + (12.000)(0.4) + cc = 87.680 (2 Moro from which we find that 905 rad/s? Answer int 0 is 2ero, this result could also have bey, cleation of ot 0 8 aloe. ' in Shoe? and efeing to Fig. (Bs he force equat Si the Using a 1 and n directions give EF =mé, Y 0, +30(9.8)c0s 30° + 80(9.8) c05 30° = 12.00(8,905) + 80.00(8,995) ° O, = -114.3N and DA, = mi, Xf _} ~ 30(9.8) sin 30° — 80(9.8) sin 30° = 17.28 + 115.2 O, = 671.5N Therefore, the magnitude of the pin reaction at O is VO? + 05 = VT43 + GIS! = 681.2 N o disk. Determine the angular = 588N and Wy = he MAD displays the inewaa oes SPPea™ On this FED, block. There is noite thea RE disk and the inertia vector ofthe snGtlt acceleation a oF the i an because its mass center G is oad corresponding inertia Couple of the disk fg ntMed to be dizected clockwise, The Jas mig = 60(0.4)7a = 9.600¢ 19 . +m_ ble es not slip onthe disk, the inthe inertia vector @ of the disk. Since the number FBD and MAD is also three, all the “To find the tension in the cable, we anal: iso be used). The FED and MAD for the block ming forces in the y-d the cable tension. S EF,=ma, | 1%6-T= 7 =129.0N AnswerSample Problem 17.7 rout signe ur he a e40-kg unt el in Fig. (a) is rolling We wheel is in the Posina” crane nia se Forth poiion ca ‘shown, its angular velocity is @ = 2 rad/s, loc the wheel at C by the ro exerted on the whee fC the peal acceleration a andthe Fores exe pout eae 1. The radius of gyration © horizontal pl & = 200 mm, Yy20mm R= 250 mor me i the wheel, shown in Fig. ( ‘The free-body and mass-acceleration diagrams for the wheel, ig. (), Were constructed as foliows. Free-bodydagran The FBD consists of the applied couple Co, the weigh W =40(9.8) =392 N, and the normal and friction forces that act at the contay Print , denoted by Ne and Fe, respectively. Observe that Fe has been assuines {be directed to the right. Mess-aceleraton diagram In the MAD of Fig. (b) the angular acceleration Ineasured in rads, has been assumed to be clockwise. The Corresponding inertia couple shown on this diagram ig mi? = 40(0,200)2a = 1 60a N - m 1.600a N-m 10.00 ~ 19.20) Nel $30a.N Bpig. (b), weight ontact sumed on a, nertia 50a HVS", directed HP, the ae, a) a ed 10 the igh lato ton Between 7A O, we gpa, HEM Appin a= ag = ay [ a“ oF y from which we find a =0.250e plying these results by m = AO kg, nix = (10.000 ~ 19.20) N, downward, The FBD and MAD in Fig. (b) now anda, which can be fovnd using any thee independent equations fre ns of motion, Because Ne and Fe act at C, it is com + itis convenient to use th center, the corresponding moment equation being ian 0.1200 = 0.480 mus? the component directed to the righ and a, = 0.1200 mis 8 ofthe inertia vector bo and ma, setter 80a N, directed Contain only three unknowns: No, Fe, (EMc)rav = (ZMe)mav 0) ~ 20 + 392(0.120) = 1.600a + 0.250(10.00a — 19.20) +0.120(4.800) ‘The solution to this equation is ex = 6.820 radis? Answer its direction is clockwise, as assumed. Because a is positive, force equation of motion ‘The forces at C can now be found from EF, =ma, + Fee = 10.00 ~ 19.20 = 10:00(6.820) = 1929 rma, ty Fe = 104 and = 4,800 = 4,80(6.820) npj=mi, 1 392-Ne Which yield Answer60 is applied to its 1 are 0.20 ang es in contact ind the acceleras, Mt kinetic friction for we putas tthe disk and th Pectin eration of \ ; | B | - —<— . penis ing. and r foes Hag win che dak olla withos © a pinotions of the disk are possible ‘suring that peterpan Slipping. We will solve tne robles by som compe Fond: This assumption witt then be el force with its ; cceleration diagram (M44, xin stati wee ac \¢ free-body diagram (FBD) based on 1008) = Sp tion force F, assumed sing wth ven tl ee aes assumed to be clockwise. The FBD containg (). The FBD conta eet we eed Sie Neca pe tee peer contains the inert 98N weight, the 60N appl ea ETaaen eleration a, mes 0.2m. The disk is rier KS homogeneous isk of rads omy before of eotizontl force po a ents oF ga tj 2200 \ | | | | | rap MAD ® | | Note that d= Re is g Valid kinematic equation because the disk is assumed 0 be rolling without slipping. There MAD: FW, a ATC 8 total of three unknowns in the FRD and | of mong, 4%. which can bes “SINE any three independene equanoes | ‘motion Fesultant Moment about C or - * about C on the MAD ang Utilize the fore(EMe)00 = (EME ay D OM mu. D602) 095 45 + 2410.2 = mi, © = 20 raays? BEmm aay ae F=20N ER =may ft Ny~op 60-015Nq = 104 a 2 © EM = Ta D_ 0.20.15Na) = 0-20 c) yields inte is. (b) and (¢) yi Ik Substituting N = 50 Ib from Eq. (a) into Eq: pa = rad/s @=453mis? and & wedsem 17-9 aN pof mass mand length Lis 1 relea menine the acceleration of end ed from p A, there acto sample probl veneous slender bar A A homog! position shown in Fig. (2) Det ret the angular acceleration jf the bar immediately after the is frictionless. release, 4,..%% Sung the horizontal plane ! Solution mag - ww QV fa = 1 13 oN me, 60° i. 2 MAD 8G @ locity o ere SU is zeny pune to b becau to the left and cl clockwise, Eq. (a) by i the mas: being consi MAD of eeu Iiplying the oust bee of Fig. (by S at G iy i the right-h; n released 2S the cent hand side of components of themu quent equations of motion (b) reve ction of F solution ca Miyerefore, een. moments about An the Fi he FBD ang nd MAD in Pig () yields (eM adeno = EM a)saap mL 9 L me (§ 0860") ky (2 mote o( L 2*(5) man (5 snr) «pie on simplification, becomes dq = 0.1698La ~ O5TI4g (b) refering again to Fig (D), the Fores equation forthe or the horizontal direction becomes EF, =ma, +> 0 L i = —may +m Za sin 60" ra + m5 asin which reduces to ay = 0.4330L0 o solving Eqs. (b) and (e) simultaneously yields Answer ay =0.742¢ and a= 1i4e Fig. (b), the force 1 direction is Using the diagrams in @ BF, = may 4 Substituting the expression FOF Answer y e0sTams_———_ inetics of Rigid Bodies: Force-Mass-A thod stcs of Rigid Bodies: Force-Mass- icceleration Met! ar Kinetics of Rigi 390 cHAPTER17 Plane" | problems ato ‘zontal force is applied to the cabinet that is sy 100-N norco. The mass of the cabinet is 180kg, and gPeTes cleration of the cabinet assuming that it gg, Se omputing the reactions at 4 ade hy 47.47 The 4 frictionless casters atA a center. (a) Determine the acceleration of th (©) Verify that the cabinet does not tip by ned mass center of the motorcycle and the cyclist i [| i .eceleration for which the cyclist can } at G. (a) Find the smallest a “ | see rire ia: tase the front wheel off the ground. (b) What mae coefficient of static friction between the tires and the road is require j8 Il 00N Fei , ‘L—osm— | 37.48 The comb Fig. P17.17 Fig. Pa7.a8 Fig. Paz.ag 37.49 Find the largest force P that would accelerate the 1-kg uniform bar AB to the right without causing the roller at B to lift off the guide rail, Neglect he masses of the rollers. 47.20 The uniform S-kg bar AB is attached to the 7-kg cart C with a pin at A and @ horizontal cord at B. If the force in the cord is 40N, determine the horizonl force P acting on the cart. 17.21 The mass center of the 200-kg trailer is located at G. The trailer is attached to the car by a ball-and-socket. joint at C. Determine (a) the maximum acceleration of the car for which the trailer does not pull up on the hitch a (b) the corresponding horizontal force on the hitch,STATA7.66 Problems 394 Ke Homogeneous pane Pinned to a frictionless roller A and a anion of the panel and the roller reson NOTzO Fig. Pa7.2 eae Fig. Ps7.23 7.23 The homogeneous cylinder of mass m slides down the inclit ings 2. The Kinetc coefficient of friction between the cylinder ‘and he acne is» Determine the expression for the smallest ratio d/h for which the cylinder wall not OP. - 20-kg pallet B carrying the 40-kg homogeneous box A rolls freely and kinetic coefficients of friction between A SSE are 04 and 0.35, respectively.) Show thatthe box will slide on the pallet sssuming that the dimensions ‘of the box are such that it does not! tip. (b) Determine the smallest ratio b/ht for which the box will not tp. 37.24 The down the inclined plane. The static Fig. Pa7-24 to two paralfel arms SY ‘ fDead’s COW. Deter™ ‘box p 17.25 The 20-k8 ‘at the constant angus ‘ox by the platform WER the ted on Side relative 10 Fig. A725 is attached -jon Method ycomassAcceleratin dies: Fo! id Bo ; mas ced from rest in the horizontal posi, ABis rele . of od Bf he PE ver ap is aac 08 34B AY 8 : eore tension in the cord imi a termine the (2 ccd BC ese postin Sow” _ » DE, each of mass mane ical uniform bars AC an ms 7 47.28 The oie ends. The assembly hangs inthe ame are connected ae tension in cord CE the inst wn from a pin at BF cumpreR 17 PIaN2" The unl 392 ial accele® 37.26 the i Fig. Ps7.28 is ted by the parallel str The 2-kg homogeneous bar AB is suppo: P ™ ached at and B. Ifthe bar is released from rest when @ = 35, Calculate the forces in the strings immediately after release. 37.30 The 125-kg refrigerator is being lowered to the ground by the Platform ¢, Which is controlled by the parallelogram linkage shown. Lips on the platfom, event the refrigerator fom rolling on its wheels at A and B. Prove that the refi erator will not tip when 6 = 0, « = 1.2 rad/s, and a = 1.6 rad/s?. (Hint: Assume thatthe refrigerator does not tip, and find the reactions at A and B.) 3734 | Determine the angular accelerations of the homogeneous pulleys shown in @) and (b), The mass moment of inertia for each Pulley about its mass centersje radivs of BYFALION of the 20, 12, ‘Compute the angular acceleration Piles about 979747.66 Probie Of the Ut its me ™ ae ey and the tone Gis : \ petermine the maximum possi) = _ 1133, pesion betWeen i tires and ihe age < re 'ON of the c; q ie twheldive, —— |\ ang oo Ck Fig. Piz.g3, \demtical 8-kg homo, es 473m The two ident 'g homogenous cylinders are connected by a ca te the tension in the cable the instant after the cylinders are released oa Cer the postion shown. Assume that ition allows he ylners toro wit Sing and neglect the Weight ofthe smal pally, Fig. P1734 siding racks. I the ges the two sliding of mass 10kg ens*8t tion of the center 4735 The compound ne gear, determine Me acceler 120N-m couple is appli the gear. js released fro" a a -kg bar 1736 The romogeneoos 5 ein of the be shown, Compute the ane BC immediately after the release- 393 lors iS Fig. 736fion Method roaies: Force-Mass-Acceleral par kinetics of RIghd 8 ease ones spinning. at 500 rev/min COuntErClock ya" My 27. Disk B is spins “alculate the angular ges, “bia cuaerer 37 394 te disks is 0 tionary disk A faced in contact with the stationary ite eat ak during te time that sipping occurs between the disks, Ney tn of bar AD. “ iform di Rand mass m is free to rotate g 47.39 The uniform disk of radivs fe 37.34 sarmine the magnitude of the pin reaction at A immediately aj hee is released from rest when 0 = 90”. 17.40. The solid steel cone of density 7850. kg/m? is released from, rest 22°, Assume that there is sufficient friction at A to prevent slippin the cone and the normal and friction for, ap mine the angular acceleration of immediately after release 47.44 The uniform 2-kg slender bar AB is mounted on a vertical shan A constant couple of 9N-m is applied to the bar. Calculate the angular 0,25¢ ation ofthe bar and the magnitude of the horizontal reaction at C at thee ins, when the angular velocity of the bar is 6 rad/s. 04m——_} Fig. Paz.g2 tial proy whichis eae Of the connecting rod AB, iiss nthe n Srp ered Cut. Load cells are used 0 Be 6.80.N ate i the position shown i ed that in the wire at 4 204 :20N at B. Immediate) the rod about G.* !9°4t€S the mass center crt + iS Feduced to 3.6N. Comput °t G; and (b) the radius of gyration The mass Bk MASS Moment of iners.- KS COllar C js tem is at rege jr art Of inertia of | ~ is fastened . the masse He position shag, OM" its center ig fs Uniform 4-kg rod AB MIE Of the collar. Cqnn WHEN the horizontal fo 0.105 kg - m?, The 518 force P is applied throvs* at. Comput i te the dis diately after p ig are 4 for which the pin reactionst Ni 21089 is cesting aginst he frame, Th vat the instant show © the frame wit the angular velocity safe tha pina A while Fipreation tA at this instant 37.45 The 1.8-ke unifon Avnen the bar is in the ae rotates in the vertical Fortis position find, shown, its argent lane abou ec ab the angules een angle voc 1 the pin at 0. ofthe pin reaction at O. lation Sethe ber ele ar; and (te maga magnitude 47.n6 The axle of the 41 ‘as, which rotates ofthe 4-kg homogeneous disk simtains the disk in eo werteal pac) eae on ne oh Hedipekion Slake Wie tate, BC ve bar. Find the cable ten- Sion immediately after the assei [Neglect the mass of the bar AB. =mbly is released from rest in the in the position shown. sq.s7_Arope is wrapped aro und the uni 20-kg block A. If the 5) xe uniform 50-, system is released ¢g pulley B and attached if A; and velocit from: sched to the oa i (b) the velocity of A after it has met nd (0) heal aeration red 11m down the incline. Neglect Fig. Pa7.48 asp m and rads can oll without spp if the radius of the hub sr jomR), Where Fig. Pa7.47 17.48 (a) Show that the spool of ms cnthe frictionless horizontal surface i 7 is the mass moment of inert of the sp js not frictionless, what is the direction of Gr > TmR)s and GT < TMmR)? sal about G. (p) If the horizontal surface the friction foree acting on the spool if 47.49 The homogeneous sphere of mass M and radius R is released from rest and moves down the rou ee ined plane. Caeulate the raceleration ofthe center sufficient to prevent SHPPINE tthe sphere if the coeficien of static friction is ‘The coefficient of ‘kinetic frietion 1S 0.075. 147.50 The mass ent of inertia of the 60-kg p00! iS ie wen The static and kinetic 60% ts of fi iction be ne os om oe ae i ple wound around afte spool ib 0 pe ge P= me of the spool. rob. 17:50 P 2450 ‘The uniform 40-ke bar AB is attached 17.4717.66 G2 Gs A Problems Fig. Ps7.46 395ion Method gaccelerat (, the shts of the spoke weighs 361s th weigl spokes and wel wc atte ane the horizontal, ig" st, Se, inline inate coef of friction «Ping eat 30 and 0.25: respectively. If B = 0, (a) sho" Ce re find the anelar ‘acceleration of tye 2 Whey : , at prob, 17.52, find the smallest ve ee eserived in Prob é angle 1 wheel aT witout SPPIME® ‘and determine the corres me {x ‘ ‘ ing 4 f 1m and radius R is rel neous sericylinder of mas release emo assuring n0 SUPPINES “determine (a) the initial nga me Ab) the smallest static coefficient fee Sars consis Kon, (Note: The mass center of semicylinder is Jocated at * = ) sion of the eccentric disk of mass M about its m ‘on shown, the angular acceleration of the aks out slipping, find the angular velocity ofthe ‘ink The radius of gy center G is Q-4m. In the posi Assuming rolling wit position. 1f the uniform 2-kg bar is released from rest it in the posit «the initial angular acceleration of the bar. Neglect fiction 37.56 determine 1757 The radi O5m. The cable men etion ile ‘ of determi tid sppon rei vena ee $P00l about j nits angular accent ™™- Ifthe sop bout its mass center 6 8 1758 On and the teng is moving bo of the spool iS nn! Repeat Prob. 17.57 ig ical ion in the -" the rough plane, © unwi nds. From the top of the hubThe 3.6-kg hi 1 atest in the positon ba 9 , no = ® neglecting friction, com * 0 befor the 2 jion of the bar i Pute the acon ee 124 ke sli tion immediately aera tton 2 force verre TUN foregt® Collar a lied to the ‘The 8:kg uniform forces apptieg Oe neta Eh ee slender bar plied, © sean toe yeh tin ear th (@) the seceieg go Forth insta ine com ration, * ) the x-coorinn ordinate of 4 ‘The uniform + rm bar AB of mass m and le position shown. If the inclined pla ne js ath 2 Mreration of end A, ath L is released from rest in Ge rictionless, calculate the inital A 30° Fig. P17.61 Fig, Pa7.62 17.62 The uniform 30-kg bar AB hangs from a pin atached to the 50-kg homo- geneous disk C. The system is at 1% ‘when the horizontal force P =200N is applied. Find the angular accelerations oi the disk and the bar immediately after P is applied. inertia of the 128-ke disk: about its mass center Gis lf of a split bearing 47.63, The mass moment o 1 is supported by the loves hi ; i isk is pulled. porizontally with 2) kg m?. The axle of the dis se dk Th ‘d the periphery of the eG bearing. Neglect friction. 1747-17.66 Problems en 397hod reveteration Met” Moss Meee wt bo the amis were 8 ponte the rod antacled (0 th #17.66 The pin fate CDA 76 sun Oat Acosta ty of 200016V his expression (0 show th ional foran of the crank mil forces. Neglect friction are nghsile 6 Fig. P17.66 Differential Equations of Motion av preceding article discussed the derivation of the equations of motion fr Tsid body using the FBD-MAD method. ‘Th 18 problems were f the forces and accelerations at the instant when specified position, In this icle we consider the more practill body as a function of time andl i © accompanying ‘estricted to the computation of the f the body was in a sp ‘hen th + wh ey contain only kinematic “ MteS and their ¢ : ns, lerivatives) as the unknow!s37.6 if Differential Equations of Motion 399 @ © Fig. 17.14 consirint forces must be eliminated from t the equations of motic r= ma, Ox @ EFy=ma, t Op- me z me ® L L mL? Dd 045 sind + Oy c088 = a oO ‘These equations of motion contain the ‘components of the unknown pin reaction O in addition to the kinematic variables 6 vand a Substituting the expressions for 0, and Oy, obtainable from Eas. (a) and (b), into Ea, (6) vets he differential equation of motion = (3g/2L) e088 @ Equation (d) could also be obtained directly from the special case ofthe moment equation of motion: EMo = !o% The following conclusions can now be drawn. i ions of motion the number of independent equations ©! f freedom (DOFs) plus the number ‘of unknown yunber of independent equations of 4. If a problem is solvable, equals the number: of degrees 0! forces, In the preceding ‘llustration, the ™~ ————— goo CHAPTER 17 Plo jon Method Acceleration Mel Bodies: Force-Mass nar Kinetics of Rigid | / body had one DOF ein the generalized oon, motion eyo unknown components of the pin reac ' a eS ale required eliminate each of the unkngyy Feet, eros the number of differential equations of mation isequaltone aon DORE Inthe foregoing lustraion, two equations, Eqs. (a) ane 0, aa io cliinateO, and Op resulng inthe single differential cama were used to eliminate O, and 0, of motion, Eq. (d. i ical integration the primary method of solutios fone inh sfele we consider bt analytical and mfricl ss aimee thes tion ofthe diferenal equations of motion (note that they are mmiaare aeaeee ie knowledge of two inital condiions forever DOF th vel ote genaled coordinates ane he seeec es 4 The differential equations of motion can be solved analytically onty jn instant of time (usually at ¢ = 0). : oon i rosle wo eta part soiion to the diferent cone as the complete solution would require pression for « versus 6 for Eq. (A) into « d0 =~ dy, tions of motion in closed form, whereas th numerical integration. For example, to obtain the ex the bar shown in Fig. 17.14, we substitute « from obtaining wda = (3g/2L) cos6 db © Integrating both sides of this equation, and applying the initial condition @ = 9 when @ = 0, the relationship between cw and @ becomes VGgi2L) sind 0 ‘he relationships between the kinematic Variables and rime, however, cannot be fetermined this easily. To find 6 veraug time, for example, we substitute ws fron Ea. (0 into» = ade. Solving for dt, we find dt = d61/ BRD anb ® ' and 0, as functions of time,sample Problem 4 7.10 180kg uniform plate shown waa. The plate is released fro nN Fig. (a) rotates {Re Vertical plane abou g f rest when @ = ion of motion fo re =0, 2 vane late isa = 0.588¢4 cosa Ry aan fo the differential in) rads, (2) sierential equation of mot, oe cit 7 ion analytical ‘ function o lytical ‘ Se piate as 8 function oF 8. (3) Find the maximum ea the angular velocity of value of 8, eat solution part ss of the plate is m = qhe mass of the plate is m = 180k, an ; is (see Table 17.1) Kg, and the moment of inertia about its mass 3) = 37Skg-m? Figure (b) shows the free-body diagram (FBD) and mass-acceleration diagram (MAD) for an arbitrary position of the plate. The FBD contains A, and A,, the unknown components of the pin reactions at A, and the 180(9.8) = 1764N weight scting at G. The MAD consists of the inertia couple Za and the components of the inertia vector mi acting at G. Because the path of G is a citele of radius 2.5 m centered at A, the normal component of is G = ra* = 2.50? fus?, and its tangential component is a, = ra = 2.5a fs*, Observe that the angular xcceleration a is assumed to be clockwise in the MAD. The units for w and o are rad/s and rad/s”, respectively. @hod of deriving this equation is by equating convenient met of mation. The (0m pe FBD and MAD, thereby obtaining oments about A iP = (EM,)map EMa)eao = (EMa coos 3 64 — (1764 sin 8)(3) = 375a + 180(2.5a)(2.5) D (1764005 8)(2) — (1764 sin 8)(3) which reduces to cia - Answe 0.588(4cos 0 — 3sin 6) rad/s? Inswer (2) identical result could be obtained by using the special case of the moment The identical result cou equation: EM, = [ye Part 2 . To find the angular velocity as a function of @, we substitute o from Eq. (a) into w dw = a d6, which yields @ dw = 0.588(4.c0s 8 — 3 sin8) do The result of integrating this equation is 0.588(4sin8 +3cos6) +C The constant of integration C is evaluated bj when 6 = 0, which gives C = —3(0.588) becomes y applying the initial condition rad’/s?, Therefore, the above equation o J = 0:5884sind +3.cos9 — 3) from which the angular velocity is found tobe = £1.08 45nd + e003 rad/s Answer (b) Part 3 The maximum value of 8 occ UTS When w = . . oT isan eon ind Seng NE 1, (this vali this equation yields ES . The numerical solution fon = 106.3 Answer Only one equati : The remaining two ingen oO” Was Used to deter ing two , termi Independent equations of Metin forsee of te plate n t 4Ay ated Asin terms of 9, gy, nz tf ‘i etn Ea. (®). WE WOU ther hy Solution part a ‘the differential equation ation of motion gi 0:9660(4c05 8 ~ 3sin) radis?, The equivatens ane, Problem 17.10 alent firstorder equations are. sate 6=0 w= = 0.588(4.cos 0 — 3sind) rads? radi @ with the initial conditions @ = =O at = 0 (the time of release). Letting m=8 m=0 wwe obtain the following MATLAB ee rears program for the solution of the differential function example17_11 x0 =[0 0]; time =[0:0.05:1.617 [t,x] = odeaS (@£, time, x0); axes('fontsize’, 14) plot (t,x(:,1)+ ‘Linewidth’,1.5) grid on xlabel(‘t (s)/); ylabel (“theta (rad) ') printSol (t,x) = £(t,x) function dxdt dxdt = (x(2) = F120 cgncos (x(3)) 3488002717 end end F ts maxi- ‘The period of integration is from! Ol er pe tines 08s ve where = OY BY it Oe sun in the following 403 mum va! irst til ue forthe fist ime Trg versus 8 to be approximately 1.5 figure.