61

Fixed Axes Rotation:

For a rigid body motion rotation about fixed axes means that body will rotate
about fixed point O as shown in the figure. In this case all points on the rigid
body describe circle about the rotation axes.

The acceleration components of the mass center for circular motion cab be
expressed in normal tangential coordinates (n-t) as

ܽ௡ ൌ ‫ ߱ݎ‬ଶ ܽ݊݀ܽ௧ ൌ ߙ‫ݎ‬

r…… The distance from G to O

From the general equation of plane motion.

σ ࡲ ൌ ࢓ࢇࡳ

Two scalar comp. of force equation can be expressed as:

σ ࡲ࢔ ൌ ࢓ࢇ࢔ = m‫ ߱ݎ‬ଶ and σ σ ࡲ࢚ ൌ ࢓ࢇ࢚ ൌ ݉ߙ‫ݎ‬

And from σ ࡹࡳ ൌ ۷હ it can be apply the moment about the rotation axis O
 62

From the alternative moment equation. σ ࡹ࢖ ൌ Ƚ +݉ܽீ ݀ it can be deduce that:

σ ࡹ૙ ൌ Ƚ +݉ܽ௧ ‫ [ ݎ‬because an is pass through O.]

σ ࡹ૙ ൌ Ƚ +݉ߙ‫( ן = ݎݎ‬I + mr2)

From transfer axis I0 = I + mr2

So

σ ࡹ૙ ൌ‫ܫ‬଴ ‫ן‬

Example:
The concrete block weight 292 kg is elevated by the hosting mechanism shown,
where the cables are securely wrapped around the respective drums. The drums,
which are fastened together and turn as single unit about their mass center at O. have
a combined weight of 146 kg and radius of gyration about O of 0.45 m. If a constant
tension P of 181.4 kg is maintained by the power unit at A, determine the vertical
acceleration of the block and the resultant on the bearing at O.

Solution:
F.B.D and the Kinetic diagram
 63

σ ࡹ࢕ ൌ ࡵࢻ

ࡵ ൌ  ࢑૛
࢕࢓ So I= (0.45)2 x 146 = 29.5 kg.m2

Then

181.4(9.81) (0.6) – T (0.3) = 29.4 ߙ …. (1)

The acceleration of the block is in the y direction.

σ ࡲ࢟ ൌ ࢓ࢇ࢟

T- 292(9.81) = 146 a …. (2)

But ܽ௧ ൌ ߙ‫ ݎ‬՜ a = 0.3 ‫ן‬ …. (3)

Solving eqns. (1) & (2), and (3) gives.

T = 3195 N, a =1.1 m/s2, ᅇ = 3.75 rad/s2
For the drum since the power unit A maintain a constant tension then (a =0)
Bearing reactions:
σ ‫ܨ‬௫ ൌ Ͳܱ௫ െ ͳͺͳǤͶሺͻǤͺͳሻ …‘• Ͷͷ ൌ Ͳ ՜  ܱ௫ = 1258 N
σ ‫ܨ‬௬ ൌ Ͳ ܱ௬ െͳͶ͸ሺͻǤͺͳሻ െ ͵ͳͻͷ െ ͳͺͳǤͶሺͻǤͺͳሻ •‹ Ͷͷ ൌ Ͳ
ܱ௬ = 5885 N
ܱ ൌ  ξͳʹͷͺଶ ൅ ͷͺͺͷଶ = 6018 N

Example
 64

Solution:

F.B.D and Kinetic diagram

The n-t coordinate is used:

 65

TXET BOOK PROBLEMS:

 66

Work and energy:

Usually the work done as force act on the bodies by single force act or couple of
forces acting. The forces itself is cannot be seen but the action of which can be
observed by the movement of the particles or bodies.

a) Work done by single force.

The work done by the force F act on the differential displacement dr. As shown in
the figure the force act on a point A to move it on its path to ‫ܣ‬ሗ

In this case the work done can be express as:

ܷ݀ ൌ ‫ܨ‬Ǥ ݀‫ [ ݎ‬F dot dr]

The dot product between two vector produce scale quantity. The magnitude of this dot
product is

ܷ݀ ൌ ‫ן ݏ݋ܿݏ݀ܨ‬

Where

F …. is the magnitude of the vector force F.

ds ….is the magnitude of the vector of dr.

‫… ן‬.. is the angle between the two vector F and dr.

The force F has two components normal and tangential as shown in the figure.
 67

‫ܨ‬௧ ൌ ‫ן ݏ݋ܿ ܨ‬ and ‫ܨ‬௡ ൌ ‫ן ݏ݋ܿ•݀ ܨ‬

Since point A is move in the path shown, so it mean the normal component Fn to the
displacement does no work. In this case it can be deduce that the work can be written as:

ܷ݀ ൌ ‫ܨ‬௧ ݀‫ݏ‬

The work is positive (+) if the force is in the same direction of the displacement, and
negative (-) if it is in the opposite direction of the displacement. And the force called active
in the first condition and reactive for the author.

The unit of the work in IS unit is [N.m] and to avoid the confusing between the unit of
moment and torque is given a special name joule [J]. And in the US unit is [ ft-Ib] which is
the same units of the moment or torque.

b) Work done by the couple.

If a couple of force M acting on a rigid body as shown in the figure.

As shown previously the work produced is the force F multiply by ࢈ࢊࣂ

ܷ݀ ൌ ‫ܨ‬ሺܾ݀ߠሻ but the couple moment M= Fb

So

ܷ݀ ൌ ‫ܨ‬ሺܾ݀ߠሻ ൌ ‫ߠ݀ܯ‬ or during a finite rotation.

ܷ ൌ  න ‫ߠ݀ܯ‬

Kinetic Energy.
a) Kinetic Energy of Particle:
The kinetic energy (T): is the total work which must be done on a particle of mass
(m) to change its status from rest to a velocity v, and can be expressed as:

ͳ
ܶ ൌ ݉‫ ݒ‬ଶ
ʹ
 68

Work and Curvilinear Motion.

If a particle of mass m moves under the action of the force F on the path from 1 to 2

For distance from s1 to s2 then the work done can be expressed as

ଶ ௦
ܷଵିଶ ൌ ‫׬‬ଵ ‫ܨ‬Ǥ ݀‫ ݎ‬ൌ ‫׬‬௦ మ ‫ܨ‬௧ ݀‫ݏ‬
భ

From Newton 2nd Law F=ma then

ଶ ଶ
ܷଵିଶ ൌ න ‫ܨ‬Ǥ ݀‫ ݎ‬ൌ න ݉ܽǤ ݀‫ݎ‬
ଵ ଵ

But ܽǤ ݀‫ ݎ‬ൌ ܽ௧ ݀‫ݏ‬ and ܽ௧ ݀‫ ݏ‬ൌ ‫ݒ݀ݒ‬ then the work can be written as:
௩ ଵ
ܷଵିଶ ൌ ‫׬‬௩ మ ݉‫ ݒ݀ݒ‬ൌ  ݉ሺ‫ݒ‬ଶଶ െ ‫ݒ‬ଵଶ ሻ
భ ଶ

Or the work Energy Equation is

ܷଵିଶ ൌ οܶ
ଵ ଵ
ܷଵିଶ ൌ ܶଶ െ ܶଵ , where ܶଵ ൌ  ݉‫ݒ‬ଵଶ and ܶଶ ൌ  ݉‫ݒ‬ଶଶ
ଶ ଶ

b) Kinetic Energy of Rigid Body.

Three classes of rigid body plane motion, which they are a) Translation, b) Rotation
about fixed axes, and c) General plane motion. Each of which has its Kinetic energy,
as follows:
a) Translation: As shown in the figure.
 69

A rigid body of mass m and it consist of particles of common velocity of v, the

ଵ
kinetic energy of a particle of mass mi of the body is ܶ௜ = ଶ ݉௜ ‫ ݒ‬ଶ , and for all the
body ܶ ൌ σ ݉௜ ‫ݒ‬ଶ where σ ݉௜ ൌ ݉
so
ଵ
ܶ ൌ ݉‫ ݒ‬ଶ
ଶ
b) Fixed axes rotation:
As shown that the rigid body rotate with angular velocity ߱ about fixed axes
through O.

ଵ ଵ
ܶ௜ ൌ  ݉௜ ሺ‫ݎ‬௜ ߱ሻଶ ൌ ߱ଶ ݉௜ ‫ݎ‬௜ ଶ and for the all body σ ݉௜ ‫ݎ‬௜ ଶ ൌ  ‫ܫ‬௢
ଶ ଶ

So
ଵ
ܶ ൌ  ‫ܫ‬௢ ߱ଶ
ଶ

c) General plane motion:

The rigid body in this plane motion at this instant considered, the velocity of its
mass center G is ‫ ீݒ‬and its angular velocity is ߱ then
ଵ ଵ
ܶ ൌ ‫ ܫ‬ҧ ߱ଶ + ݉‫ ீݒ‬ଶ
ଶ ଶ
Potential Energy and work Energy equation:
For the potential energy there are two part
a) Gravitational Potential Energy: when work done to lift a rigid body to some position
from some arbitrary reference plane to another, an energy will store on it call the
potential energy and can be express as.
ࢂࢍ ൌ ࢓ࢍࢎࡳ
݄ீ …. Is the elevation of mass center G from some arbitrary reference plane.
 70

b) Elastic Potential Energy: The work done on a spring to deform it an potential energy
will store on it call the elastic potential energy, and can be express as:
૚
ࢂࢋ ൌ  ࡷ࢞૛
૛
‫ ܭ‬ǥ ݅‫ݏݏ݂݂݁݊݅ݐݏ݃݊݅ݎ݌ݏ݄݁ݐݏ‬

‫ ݔ‬ǥ ‫݄ݐ݈݈݃݊݁ܽ݊݅݃݁ݎ݋݄݁ݐ݉݋ݎ݂݊݋݅ݐ݁ݎ݌݉݋݂ܿ݋݊݋݅ݐܽ݃݊݋݈݁݋ݐ݁ݑ݀ݐ݈݊݁݉݁ܿܽ݌ݏ݄݅݀݁ݐ‬

Work Energy Equation:

With the elastic member in the system need to modify the work energy equation.

If U stand for the work of all external forces other than gravitational forces and spring
forces. Work and Energy Equation can be express as:

ࢁ ൌ οࢀ ൅ οࢂࢍ ൅ οࢂࢋ

or

ܷ ൌ ο൫ܶ ൅ ܸ௚ ൅ ܸ௘ ൯ ൌ ο‫ܧ‬

Or

‫ ܧ‬ൌ ܶ ൅ ܸ௚ ൅ ܸ௘ ൌ ܶ‫ݕ݃ݎ݁݊ܧ݈݄ܽܿ݅݊ܽܿ݁ܯ݈ܽݐ݋‬

If there is No external force on the system then ο‫ ܧ‬ൌ Ͳ

Or E= constant, [law of conservation of dynamical Energy]

Power:

The power is the derivation of the work with respect to time.

ௗ௎
ܲൌ
ௗ௧

For a force:
ௗ௎ ிǤௗ௥
ܲൌ ௗ௧
ൌ ௗ௧
ൌ ‫ܨ‬Ǥ ‫ݒ‬

For couple:
ௗ௎ ெǤௗఏ
ܲൌ ௗ௧
ൌ
ௗ௧
ൌ ‫ܯ‬Ǥ ߱

If the force and the couple are act simultaneously, at this instance

ܲ ൌ ‫ܨ‬Ǥ ‫ ݒ‬൅ ‫ܯ‬Ǥ ߱

If there are more than one force and one couple are act on the body.
 71

Then ഥ߱
ܲ ൌ ܴǤ ‫ݒ‬ҧ ൅‫ܯ‬

Where

R …. is the resultant of all forces acting on the center mass G of the body.
ഥ ….. is the resultant of all couple of act on the center mass G of the body.
‫ܯ‬

Unit of Power is [Joule/second = Watt = J/s =W] and the relation between the horse power
[hp]

1 hp = 746 W = 0.746 kW

Example:

The wheel rolls up the incline on its hubs without slipping and is pulled by the 100 N force
applied to the cord wrapped around its outer rim. If the wheel starts from rest, compute its
angular velocity ᅟ after its center has moved a distance of 3m up the incline. The wheel has
a mass of 40 kg with center of mass at O and a centroidal radius of gyration of 150 mm.
Determine the power input from the 100 N force at the end of the 3m motion interval.

Solution:

F.B.D

ࢁ ൌ οࢀ ൅ οࢂࢍ ൅ οࢂࢋ

Since no elastic energy in the system οࢂࢋ = 0

 72

There is No slipping so the friction force and the normal force N has no effect on the work
done, so the force 100 N and the weight of the wheel are doing work only.

The wheel starts from rest ߱଴ ൌ Ͳ ܶଵ ൌ Ͳ

ࢁ ൌ οࢀ ൅ οࢂࢍ
ଵ ଵ
The wheel has a general plane motion ܶଶ ൌ  ଶ ݉‫ ݒ‬ଶ + ଶ ‫߱ܫ‬ଶ

ଵ ଵ
‫ܨ‬Ǥ ܵ ൌ ଶ ݉‫ ݒ‬ଶ + ଶ ‫߱ܫ‬ଶ ൅ οࢂࢍ

Since the force subjected to point A So S = SA and SO = 3

଴Ǥଷ
‫ݒ‬஺ ൌ ‫ݒ‬௢
଴Ǥଵ

ௗ௦ಲ ଴Ǥଷ ௗ௦೚

ൌ  ՜  ܵ஺ ൌ ͵ܵ௢ ൌ ͵ሺ͵ሻ ൌ ͻ݉
ௗ௧ ଴Ǥଵ ௗ௧

οࢂࢍ ൌ ࢓ࢍοࢎࡳ , ‫ ݒ‬ൌ ‫ ߱ݎ‬, ‫ ܫ‬ൌ ݉݇ ଶ

ଵ ଵ
ͳͲͲሺͻሻ ൌ ଶ  ሺͶͲሻሾሺͲǤͳሻሺ߱ሻሿଶ ൅ ଶ ሺͶͲሻሺͲǤͳͷሻଶ ሺ߱ሻଶ ൅ሺͶͲሻሺͻǤͺͳሻሺ͵‫ͳ݊݅ݏ‬ͷሻ

ͻͲͲ ൌ ͲǤʹ߱ଶ ൅ ͲǤͶͷ߱ଶ ൅ ͵ͲͶǤ͸ͺ

ଽ଴଴ିଷ଴ସǤ଺଼
߱ൌට ଴Ǥ଺ହ
ൌ ͵ͲǤʹ͸ rad/s

ܲ ൌ ‫ܨ‬Ǥ ‫ ݒ‬ൌ ͳͲͲሺͲǤ͵ሻሺ͵ͲǤʹ͸ሻ ൌ ͻͲͺܹܽ‫ݐݐ‬Ǥ

Example:

The 1.2 m slender bar weight 18 kg with mass center at B is released from rest in the position
for which ߠ is essentially zero. Point B is confined to move in the smooth vertical guide,
while end A moves in the smooth horizontal guide and compresses the spring as the bar falls.
Determine (a)the angular velocity of the bar as the position ߠ ൌ ͵Ͳ଴ is passed and (b) the
velocity with which B strikes the horizontal surface if the stiffness of the spring is 5.25
kN/m.
 73

Solution:

a) At this instant when ߠ ൌ ͵Ͳ the end A of the bar will not reach the spring.
ࢁ ൌ οࢀ ൅ οࢂࢍ ൅ οࢂࢋ with οࢂࢋ ൌ ૙
ࢁ ൌ οࢀ ൅ οࢂࢍ T1 = 0 , U=0 {release from rest. And No external force}

οܸ௚ ൌ െ݉݃ο݄ ൌ െͳͺሺͻǤͺͳሻሾͲǤ͸ െ ሺͲǤ͸ሻܿ‫Ͳ͵ݏ݋‬ሻ ൌ  െͳͶ‫ܬ‬

ଵ ଵ ଵ ଵ
ܶଶ ൌ  ݉‫ ݒ‬ଶ + ‫߱ܫ‬ଶ ՜  ܶଶ ൌ  ݉ሺ‫߱ݎ‬ሻଶ + ሺ ݉‫ܮ‬ଶ ሻ ߱ଶ
ଶ ଶ ଶ ଵଶ

ଵ ଵ ଵ
ܶଶ ൌ  ሺͳͺሻሺͲǤ͸߱ሻଶ ൅ ሺ ሺͳͺሻሺͳǤʹሻଶ ߱ଶ ൌ ͶǤ͵ʹ߱ଶ
ଶ ଶ ଵଶ

So

ܶଶ ൅  οࢂࢍ ൌ Ͳ

ͶǤ͵ʹ߱ଶ െ ͳͶ ൌ Ͳ ߱ ൌ ͳǤͺ‫݀ܽݎ‬Ȁ‫ݏ‬

b) In this case ߠ ൌ ͻͲ and the end A strike the spring and will has no velocity ‫ݒ‬஺ ൌ Ͳ,
let this state be ܶଷ so

ܶଷ ൌ ‫ܫ‬஺ ߱ଶ ՜  ܶଷ ൌ ሺ ݉‫ܮ‬ଶ ሻሺ ಳ ሻଶ ,‫ ݎ‬ൌ ‫ܮ‬ൗʹ

ଵ ଵ ଵ ௩
ଶ ଶ ଷ ௥

ଵ ଵ ௩
ܶଷ ൌ  ଶ[ଷ ሺͳͺሻሺͳǤʹሻଶ ሺ଴Ǥ଺
ಳ ଶ
ሻ ൌ ͳͳǤ͹͸‫ݒ‬஻ ଶ 
 74

οܸ௚ ൌ െ݉݃ο݄ ൌ ͳͺሺͻǤͺͳሻሺെͲǤ͸ሻ ൌ െͳͲ͸‫ܬ‬

ଵ
οܸ௘ ൌ ݇‫ ݔ‬ଶ
ଶ

ଵ
οܸ௘ ൌ ଶ ሺͷͲͲͲሻሺͲǤ͸ െ ͲǤͶͷሻଶ ൌ ͷ͸Ǥʹͷ‫ܬ‬

ܶଷ ൅ οܸ௚ ൅ οܸ௘ ൌ Ͳ

ͳͳǤ͹͸‫ݒ‬஻ ଶ  െ ͳͲ͸ ൅ ͷ͸Ǥʹͷ ൌ Ͳ

‫ݒ‬஻ ൌ ʹ݉Ȁ‫ݏ‬

TEXT BOOK PROBLEMS:

75
 76

Impulse Momentum Equations:

Definitions:

Impulse: In classical mechanics, impulse is the integral of a force, F, over the time
interval, t, for which it acts. Since force is a vector quantity, impulse is also a vector in the
same direction, unit in SI [N.s]

Momentum is a measurement of mass in motion: how much mass is in how much motion.
Units in SI [kg.m/s]

From Newton's 2nd Law.

ௗ௩
σ ‫ ܨ‬ൌ ݉ܽ ൌ ݉ or σ ‫ ݐ݀ܨ‬ൌ ݉݀‫ݒ‬
ௗ௧

௧మ
‫׬‬௧ σ ‫ ݐ݀ܨ‬ൌ ݉ሺ‫ݒ‬ଶ െ ‫ݒ‬ଵ ሻ …….. (1)
భ

F is the resultant force applied,

t1 and t2 are times when the impulse begins and ends, respectively,
m is the mass of the object,
v2 is the final velocity of the object at the end of the time interval, and
v1 is the initial velocity of the object when the time interval begins.

a) For linear momentum.

‫ܩ‬ଵ ൌ ݉‫ݒ‬ଵ ܽ݊݀‫ܩ‬ଶ ൌ ݉‫ݒ‬ଶ

Then

Then equation (1) can be rewritten as:

‫ݐ‬
‫ܩ‬ଵ ൅ ‫ ʹ ݐ׬‬σ ‫ ݐ݀ܨ‬ൌ  ‫ʹܩ‬
ͳ

b) For angular momentum.

In same way for Newton's 2nd law of angular plane motion.

ௗఠ
σ ‫ ܯ‬ൌ ‫ן ܫ‬ൌ ‫ܫ‬ or σ ‫ ݐ݀ܯ‬ൌ ‫߱݀ܫ‬
ௗ௧

௧మ
‫׬‬௧ σ ‫ ݐ݀ܯ‬ൌ ‫ܫ‬ሺ߱ଶ െ ߱ଵ ሻ …….. (2)
భ

M is the resultant moment applied,

t1 and t2 are times when the impulse begins and ends, respectively,
I is the mass moment of inertia of the object,
࣓2 is the final angular velocity of the object at the end of the time interval, and
࣓1 is the initial angular velocity of the object when the time interval begins.
 77

Let ሺ‫ ீܪ‬ሻଵ ൌ ‫߱ܫ‬ଵ ܽ݊݀ሺ‫ ீܪ‬ሻଶ ൌ ‫߱ܫ‬ଶ

Then equation (2) can be rewritten as:

‫ݐ‬
ሺ‫ ீܪ‬ሻଵ ൅ ‫ ʹ ݐ׬‬σ ‫ ݐ݀ܯ‬ൌ ሺ‫ ீܪ‬ሻଶ
ͳ

With the establishment of the linear and angular momentum resultants in the figure,
represents the momentum diagram, the angular momentum ‫ܪ‬௢ about any point O is easily
written as:

ࡴ࢕ ൌ ࡵത ࣓ + ࢓࢜
ഥࢊ

When a body rotates about a fixed point O on the body or body extended, as shown in the
figure, the relation ‫ݒ‬ҧ = ‫ݎ‬ҧ ߱ and ݀ ൌ ‫ݎ‬ҧ

തതത૛ ࣓ . But ࡵത + ࢓࢘
Substituted into ‫ܪ‬௢ giving ࡴ࢕ ൌ ࡵത ࣓ + ࢓࢘ തതത૛ ൌ ‫ܫ‬௢ so that

ࡴ࢕ ൌ ‫ܫ‬௢ ࣓

The final form a fixed point O rotation on the plane motion can be express as:
࢚
ሺࡴࡻ ሻ૚ ൅ ‫ ࢚׬‬૛ σ ࡹ࢕ ࢊ࢚ ൌ ሺࡴࡻ ሻ૛
૚
 78

Interconnected Rigid Bodies:

The equations of impulse and momentum may be used for a system of interconnected rigid
bodies since the momentum principles are applicable to any general system of constant
mass. The interconnected rigid bodies system is shown in the figure.

Where O is a fixed reference point, so the system equations can be written as

௧మ ௧
‫׬‬௧ σ ‫ ݐ݀ܨ‬ൌ ሺο‫ܩ‬ሻ௦௬௦௧௘௠ and ‫׬‬௧ మ σ ‫ ݐ݀ܯ‬ൌ ሺο‫ܪ‬௢ ሻ௦௬௦௧௘௠
భ భ

Conservation of Momentum:

If σ ‫ ܨ‬ൌ Ͳfor a given interval of time, then

‫ܩ‬ଵ ൌ ‫ܩ‬ଶ

And if the resultant moment about a given fixed point O σ ‫ ܯ‬ൌ Ͳ then

ሺ‫ܪ‬௢ ሻଵ ൌ ‫ܪ‬௢ ሻଶ‫ݎ݋‬ሺ‫ ீܪ‬ሻଵ ൌ ‫ ீܪ‬ሻଶ

Example:

The force P, which applied to the cable wrapped around the central hub of the symmetrical
wheel, is increased slowly according to P=1.5t, where P is in N and t is the time in seconds
after P is first applies. Determine the angular velocity ߱ଶ of the wheel 10 second after P is
applied if the wheel is rolling to the left with a velocity of its center of 1 m/s at time t=0. The
wheel weight 55 kg with a radius of gyration about its center of 0.25 m, and rolls without
slipping.
 79

Solution:

F.B.D

A general plane motion [linear and angular]

࢚
ࡳ࢞૚ ൅ ‫ ࢚׬‬૛ σ ࡲ࢞ ࢊ࢚ ൌ  ࡳ࢞૛
૚

‫ܩ‬௫ଵ ൌ ݉‫ݒ‬ଵ ǡ ‫ܩ‬௫ଶ ൌ ݉‫ݒ‬ଶ

ͳͲ ଵ଴
ͷͷሺെͳሻ ൅ ‫ Ͳ׬‬ሺܲ െ ‫ܨ‬ሻ݀‫ ݐ‬ൌ 55 ‫߱ݎ‬ଶ ՜ ͷͷሺͳሻ ൅ ‫׬‬଴ ሺͳǤͷ‫ ݐ‬െ ‫ ܨ‬ሻ݀‫ ݐ‬ൌ 55( ͲǤͷሻ߱ଶ
ͳͲ
െͷͷ ൅ ‫ Ͳ׬‬ሺͳǤͷ‫ ݐ‬െ ‫ܨ‬ሻ݀‫ ݐ‬ൌ 27.5߱ଶ
െͷͷ ൅ ͹ͷ െ ͳͲ‫ ܨ‬ൌ ʹ͹Ǥͷ߱ଶ
20-10F=27.5߱ଶ …… (1)
࢚
ሺࡴࡳሻ૚ ൅ ‫ ࢚׬‬૛ σ ࡹࢊ࢚ ൌ ሺࡴࡳ ሻ૛
૚
ሺ‫ ீܪ‬ሻଵ ൌ ‫ ͳ߱ܫ‬ሺ‫ ீܪ‬ሻଶ ൌ ‫ ʹ߱ܫ‬
ଵ଴
݉݇ ଶ ߱ଵ ൅ ‫׬‬଴ ሺͲǤͷ‫ ܨ‬െ ሺͲǤʹͷሻͳǤͷ‫ݐ‬ሻ ݀‫ ݐ‬ൌ ݉݇ ଶ ߱ଶ
ଵ
ͷͷሺͲǤʹͷሻଶ ቀെ ଴Ǥହቁ ൅ ͷ‫ ܨ‬െ ͳͺǤ͹ͷ ൌ ͷͷሺͲǤʹͷሻଶ ߱ଶ
-25.625+5F= 3.4375߱ଶ ….. (2)
Solving eqns. 1 &2 gives:
߱ଶ ൌ ͲǤͺ͹‫݀ܽݎ‬Ȁ‫ ݏ‬c.w
F = - 0.4 N
Example:
The sheave E of the hosting rig shown has a mass of 30 kg and a centridal radius of gyration
of 250 mm. The 40 kg load D which is carried by the sheave has an initial download velocity
v1 = 1.2 m/s at the instant when a clockwise torque is applied to the hoisting drum A to
maintain essentially a constant force F=380 N in the cable at B. compute the angular velocity
߱ଶ of the sheave 5 seconds after the torque is applied to the drum and the tension T in the
cable at O during the interval. Neglect all friction.
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Solution:
F.B.D and Impulse momentum diagram of the system.

The angular momentum.

Ans.
The linear momentum.
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TEXT BOOK BROBLEMS:

The End of the lecture Notes in

Dynamic