Qdoc - Tips Solution Manual For Engineering Mechanics Statics

30 Solutions Manual
Chapter 2 Solutions
Problem 2.1
E
If vavg is the average velocity of a point P over a given time interval, is vavg , the magnitude of the average jE j
velocity, equal to the average speed of P over the time interval in question?
Solution
jE j
In general, vavg is not equal to v avg. To see this, consider a car that drives along a loop of length  L over a
time interval  t such that the departure and arrival points coincide. Since the departure and arrival positions
E jE j
coincide, vavg is equal to zero. This, implies that vavg is also equal to zero. By contrast, the average speed
will be different from zero becaus e it is equal to the ratio  L=t .
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Dynamics 2e 31
Problem 2.2
A car is seen parked in a given parking space at 8:00 A . M . on a Monday morning and is then seen parked
in the same spot the next morning at the same time. What is the displacement of the car between the two
observations? What is the distance traveled by the car during the two observations?
Solution
The displacement is equal to zero because the difference in position over the time interval considered is equal
to zero. As far as the distance traveled is concerned, we cannot determine it from the information given. To
determine the distance traveled we would need to know the position of the car at every time instant during the
time interval considered instead of just at the beginning and end of the time interval in question.

32 Solutions Manual
Problem 2.3
E
Is it possible for the vector v shown to represent the velocity of the point P ?
Solution
E
No, because the vector v shown is not tangent to the path at point P , which it must.

Dynamics 2e 33
Problem 2.4
E
Is it possible for the vector a shown to be the accelerati on of the point P ?
Solution
E
No, because a does not point toward the concave side of the trajectory of P , which it must.

34 Solutions Manual
Problem 2.5
Two points P and Q happen to go by the same location in space (though at different times).
(a) What must the paths of P and Q have in common if, at the location in question, P and Q have
identical speeds?
(b) What must the paths of P and Q have in common if, at the location in question, P and Q have
identical velocities?
Solution
Part (a) In the first case, what we can expect the paths to shar e is that point in space which, at dif ferent
instants, is occupied by P and Q .
Part (b) In the second case, the pat hs in question wil l not only share a point, lik e in the previous case, but
will also have the same tangent line at that point, since the velocity vector is always tangent to the path.

Dynamics 2e 35
Problem 2.6
The position of a car traveling between two stop signs along a straight city block is given by r D
Œ9t  .45=2/ sin.2t=5/ ç m, where t denotes time (in seconds) , and where the argument of the sine function
is measured in radians. Compute the displacemen t of the car between 2:1 and 3:7 s, as well as between
11:1 and 12:7 s. For each of these time intervals compute the average velocity.
STOP STOP
Solution
We denote the quantities computed between 2:1 and 3:7 s by subscript 1, and between 11:1 and 12:7 s by
subscript 2 .
Using the definition of displacement, we have
r1 E D Œr.3:7 s/  r.2:1 s/ç ur O and r2 E D Œr.12:7 s/  r.11:1 s/ç ur : O (1)
Applying the definition of average velocity we have
E
.vavg/1 D r.3:73:7ss/ 

r.2:1 s/
2:1 s
ur O and E
.vavg/2 D r.12:7 s/
12:7 s


r.11:1 s/
11:1 s
ur : O (2)
Using the expression for r.t/ in the problem statement, the expressions in Eqs. (1) and (2) can be evaluated
to obtain
r1 E D 8:747 uO r m and r2 E D 13:73 uO r m;
and
E
.vavg/1 D 5:467 uO r m=s and E
.vavg/2 D 8:579 uO r m=s:

36 Solutions Manual
Problem 2.7
A city bus covers a 15 km route in 45 min. If the initial departure and final arrival points coincide, determine
the average velocity and the average speed of the bus over the entire duration of the ride. Express the
answers in m =s.
Solution
Since the departure and arrival points coincide, the displacement vector over the duration of the ride is equal
to zero. This implies that the average velo city of the bus over the duration of the ride is equal to zero:
E D 0E:
vavg
Letting d denote the total distance traveled by the bus and letting  t denote the time to travel the distance d ,
the average speed over the duration of the ride is
vavg D dt : (1)
Since d D 15 km D 15  103 m and t D 45 min D 2700 s, we can evaluate the above expression to obtain
v D 5:556 m=s:
avg

40 Solutions Manual
Problem 2.11
The position of a car as a function of time t , with t > 0 and expressed in seconds, is
E D Œ.5:98t 2 C 0:139t 3
r.t/  0:0149t 4 / {
O C .0:523t 2 C 0:0122t 3  0:00131t 4 / | ç ft:
O
Determine the velocity, speed, and acceleration of the car for t D 15 s.
Solution
The velocity is obtained by taking the derivative of the position with respect to time. This gives
E D Œ.11:96t C 0:4170t 2
v  0:05960t 3 / { O C .1:046t C 0:03660t 2  0:005240t 3 / | ç ft=s:
O (1)
The speed is the magnitude of the velocity . Using Eq. (1), we have
v D
q .11:96t C 0:4170t 2  0:05960t 3 /2 C .1:046t C 0:03660t 2  0:005240t 3 /2 ft=s; (2)
which can be simplified to
v Dt
p 144:1 C 10:05t  1:261t 2  0:05009t 3 C 0:003580t 4 ft=s: (3)
The acceleration is computed by taking the derivative of the velocity with respect to time. Using Eq. (1), we
have
a Œ.11:96 0:8340t  0:1788t 2 / { .1:046 0:07320t  0:01572t 2 / | ç ft=s2 :
ED C OC C(4) O
Evaluating Eqs. (1), (3), and (4) for t D 15 s, we have
2
E
v.15 s/ D .72:08 {O C 6:240 |O/ ft=s; v.15 s/ D 72:34 ft=s; aE.15 s/ D .15:76 { O C 1:393 |O/ ft=s :

Dynamics 2e 41
Problem 2.12
E D Œ12:3.t C 1:54e 0:65t / {O C 2:17.t C 1:54e 0:65t / |Oç m:

r.t/
Find the difference between the average velocity over the time interval0  t  2 s and the true velocity
computed at the midpoint of the interval, i.e., at t D
1 s. Repeat the calcula tion for the time interval
8 s  t  10 s. Explain why the difference between the average velocity and the true velocity over the
time interval 0  t  2 s is not equal to that over 8 s  t  10 s.
Solution
The velocity is obtained by taking the derivative of the position with respect to time. This gives
E D Œ12:30.1 1:001e0:6500t / {O C 2:170.1 1:001e0:6500t / |Oç m=s:

v   (1)
Using Eq. (1), for t D 1 s we have
vE.1 s/ D .5:872 {O C 1:036 |O / m=s: (2)
The average velocity over the time interval 0 t 2 s, which we will denote by .vE /1 , is
  avg
.vE /1 D rE .2 s/ rE.0/ D .5:410 {O C 0:9545 |O / m=s:

avg

(3)
2s
Letting  vE1 D . vE /1 vE.1 s/, using the results in Eqs. (2) and (3), we have
avg 
vE1 D .0:4623 {O C 0:08155 |O / m=s: 
Using Eq. (1), for t D 9 s we have
vE.9 s/ D .12:26 {O C 2:164 |O / m=s: (4)
The average velocity over the time interval 8 s t 10 s, which we will denote by .vE /2 , is
  avg
rE.10 s/ rE.8 s/ 
.vE /2 D avg D .12:26 {O C 2:163 |O/ m=s: (5)
2s
Letting  v2 E D .vE avg/2  E
v.9 s/, using the results in Eqs. (4) and (5), we have
v2E D .0:002550 { O C 0:0004499 |O/ m=s:

We observe that v1 E ¤ E
 v2 . This is due to the fact that, in general, the approxima tion of the true velocity by
the average velocity over a given time interval is a function of the time interval in question, i.e.,  v changes E
depending on the interval on which it is computed.

42 Solutions Manual
Problem 2.13
E D Œ.66t
r.t/  120/ { O C .1:2 C 31:7t  8:71t 2 / | ç ft:
O
If the speed limit is 55 mph, determine the time at which the car will exceed this limit.
Solution
In order to solve the problem we need to determine the speed of the car. So, we first determine the velocity of
the car and then we compute its magnitude.
The velocity is found by taking the time deriv ative of the position. This yields,
E D Œ66 {O C .31:7
v  O
17:42t/ | ç ft=s: (1)
The speed is the magnitude of the velocity . Using Eq. (1), we have
v D
q 662 C .31:7  17:42t/ 2 ft=s; (2)

v D 5361  1104t C 303:5t 2 ft=s: (3)
Setting the speed in Eq. (3) equal to the speed limit p 55 mph D 80:67 ft=s, and solving for t we have
p 5361  1104t C 303:5t 2 ft=s D 80:67 ft=s ) 5361 1104t C 303:5t 2 D .80:67 ft=s/2:
 (4)
The second of Eqs. (4) is a second order algeb raic equation in t with the following two roots:
t D 0:8427 s and t D 4:482 s: (5)
Since t > 0 we can only accept the second of the two roots in Eq. (5). Therefore, we conclude that the car
will exceed the given speed limit at
t D 4:482 s:

Dynamics 2e 43
Problem 2.14
O C .1:2 C 31:7t 8:71t 2/ |Oç ft:

E D Œ.66t
r.t/  120/ { 
Determine the slope  of the trajectory of the car for t 1 D 1 s and t 2 D 3 s. In addition, find the angle 
between velocity and acceleration for t 1 D 1 s and t 2 D 3 s. Based on the values of  at t 1 and t 2 , argue
whether the speed of the car is increasing or decreasin g at t 1 and t 2 .
Solution
Since the velocity is always tangent to the path, the angle  can be computed by finding the velocity and
then determining the orientation of the velocity relative to the horizontal direction. The velocity is the time
derivative of the position. Differentiating the given expression for the position with respect to time, we have
E D Œ66 {O C .31:7
v  17:42t/ | ç ft=s:O (1)
The orientation  of the velocity vector can be computed as:

v 
 D tan1 vx
y
; (2)
where, referring to Eq. (1),
vx D 66 ft=s and vy D .31:7  17:42t/ ft=s: (3)
Substituting Eqs. (3) into Eq. (2) and evaluating the corresponding expression for t D t1 D 1 s and
D D
t t 2 3 s, we have
1 D 12:21 ı and 2 D 17:30
ı
; (4)
where  1 and  2 are the values of  at t 1 and t 2 , respectively.

To determine the angle  , we first determine the acceleration as the time derivative of the velocity.
Differentiating Eq. (1) with respect to time gives
2
ED
a 17:42 | O ft=s : (5)
The angle  is obtained as
D cos1 vEvE aaEE D cos1 17:4217:42.17:42t 31:7/

  
  
 ˇˇ ˇ ; p (6)
662 C .31:7 17:42t/ 2 
where we have used Eqs. (1) and (5). Denoting by  1 and  2 the values of  at times t 1 and t 2 , respectively,
Eq. (6) gives
1 D 102:2 ı and 2 D 72:70 ı: (7)
Since  1 > 90ı , at

t 1 the acceleration has a component opposite to the velocity . This indicates that the speed
of the car is decreasing at t 1 . Since  2 < 90ı , at t 2 the acceleration has a component pointing in the same
direction as the velocity. This indicates that the speed of the car is increasing at t2 .

44 Solutions Manual
Problem 2.15
Let r Œt { .2 3t 2t 2 / | ç m describe the motion of the point P relative to the Cartesian frame
ED OC C C O
of reference shown. Determine an analytic expression of the type y y.x/ for the trajectory of P for D
0  t  5 s.
Solution
The position of P is given as
E D x.t/ {O C y.t/ |O;

r.t/ (1)
where
x.t/ D tm and y.t/ D 2 C 3t C 2t 2 m: (2)
Solving the first of Eqs. (2) with respect to time, we have
t D x: (3)
Substituting Eq. (3) into the second of Eqs. (2), we obtain:

y.x/ D 2 C 3x C 2x 2 m: (4)
Now we observe that the coordinate x is an increasing funct ion of time. Therefore, the range of x covered for
0t  5 s is determined by computing the value of x corresponding to t 0 and t 5 s. Using the first of D D
Eqs. (2), we have
x.0/ 0 and x.5 s/ 5 m: D D
(5)
So, the trajectory of P for 0  t  5 s is given by
y.x/ D 2 C 3x C 2x 2 m for 0x  5 m:

Dynamics 2e 45
Problem 2.16
Let r Œt { .2 3t 2t 2 / | ç ft describe the motion of a point P relative to the Cartesian frame of

ED OC C C O
reference shown. Recalling that for any two vectors p and q we have that p q E
p q cos ˇ , where ˇ E E E D j EjjEj

E E
is the angle formed by p and q , and recalling that the velocity vector is always tangent to the trajectory,
determine the function  .x/ describing the angle between the acceleration vector and the tangent to the
path of P .
Solution
The velocity vector is the time derivative of the position vector:
E D Œ1 {O C .3 C 4t/ |Oç ft=s:

v (1)
The acceleration vector is the time derivative of the velocity vector. Therefore, differentiating both sides of
Eq. (1) with respect to time, we have
a 4 | ft =s2 : ED O (2)
As stated in the problem,  is the angle between the acceleration vector and the tangent to the path of P .
Since v is always tangent to the path,  can be computed as the angle formed by the vectors a and v , which is
E E E
 vE aE 
 D cos1 vE aE 
ˇˇ ˇ : (3)
From Eqs. (1) and (2) we have that

q  p10 C 24t C 16t  2
jEvj D 12 C .3 C 4t/2 ft=s D 2 ft=s and jEaj D 4 ft=s : (4)
EE E ˇ ˇ ˇ Eˇ
Substituting the expressions for v , a, v , and a into Eq. (3), we have

C 4t
D cos1 p10 C3 24t
 
: (5)
C 16t 2
Since we have that r x D x D t ft, we can replace t with x in the last of Eqs. (5) to obtain:
 .x/ D cos1 p10 C324x
C 4xC 16x 2 :

46 Solutions Manual
Problem 2.17
The motion of a point P with respect to a Cartesian coordinate system is described by r E D 2pt {O C
4 ln.t 1/ 2t 2 | ft, where t denotes time, t > 0, and is expressed in seconds.
 C C  O
Determine the angle  formed by the tangent to the path and the horizontal direct ion at t D 3 s.
Solution
Since the velocity is always tangent to the path, we can find the angle  by determining the angle formed by
the velocity vector and the horizontal direction. The velocity is the time derivative of the position. Hence,
differentiating the position with respect to time, we have
E D p1t {O C 4 t C1 1 C t |O
  
v ft=s: (1)
Evaluating Eq. (1) at t D 3 s, we have

vE.3 s/ D .0:5774 {O C 13:00 |O / ft=s: (2)
Since both components of the velocity are positive, at t 3 s, the angle  can be computed as follows
 vD.3 /  s
 D tan1 y
vx .3 s/
; (3)
where, referring to Eq. (2),
vx .3 s/ D 0:5774 ft=s and vy .3 s/ D 13:00 ft=s: (4)
Substituting Eqs. (4) into Eq. (3), we have
 D 87:46ı:

Dynamics 2e 47
Problem 2.18
The motion of a point P with respect to a Cartesian coordinate system is described by r 2 t{ ED  p OC

4 ln.t 1/ 2t 2 | ft, where t denotes time, t > 0, and is expressed in seconds.
 C C  O
Determine the average acceleration of P between times t1 4 s and t 2 6 s and find the difference D D
between it and the true acceleration of P at t 5 s. D
Solution
By definition, the average acceleration over a time interval t 1  t  t2 is
E D t2 1 t1
aavg
Z t2
E
adt: (1)
 t1
Recalling that a E D d vE=dt , we can write aE dt D d vE. Substituting this expressio n into Eq. (1), gives
aE D
E2 vE1 ;
v
avg

(2)
t2 t1 
where v1 and v2 are the values of v at times t 1 and t 2 , respectively.

E E E 
We now proceed to determine the velocity as the time derivative of the position. This gives
1 
1
vE D p {O C 4 C t |O ft=s: (3)
t t C1
Evaluating the expression in Eq. (3) at t D t1 D 4 s and t D t2 D 6 s, and using the results to evaluate
Eq. (2), we have
2
E D.
aavg 0:04588 { O C 3:886 |O/ ft=s : (4)
We now determine the (true) acceleration as the time derivative of the velocity. Using Eq. (3), this gives
1 1
  
ED
a  O C4
{ 1 | ft=s2 :
O (5)
2t 3=2 .t C 1/2
At t D 5 s, Eq. (5) gives 2
E
a.5 s/ D. 0:04472 { O C 3:889 |O/ ft=s : (6)
Subtracting Eq. (6) from Eq. (4) side by side, we have
E
aavg  a.5 s/ E D. 0:001154 {  O 0:003175 | / ft=s2 :
O
The above results allow s one to measure the error made in approximating the true acceleration at t D s s with
E
aavg.

Dynamics 2e 49
Problem 2.20
As part of a mechanism, a peg P is made to slide within a rectilinear guide with the follow ing prescribed
motion:
E D 
r.t/
O
x 0 sin.2 !t /  3 sin. !t/ {;
where t denotes time in seconds, x 0 D 1:2 in:, and ! D 0:5 rad=s. Determine the displacement and the
distance traveled over the time interval 0  t  4 s. In addition, determi ne the corresponding average
velocity and average speed. Express displacement and distance traveled in ft , and express velocity and
speed in ft =s. You may find useful the following trigonometric identity: cos .2ˇ/ 2 cos2 ˇ  1. D
Solution
E
The function that describes r.t/ is the sum of two periodic funct ions. The period of the function sin .2 !t /
is half the period of the function sin . !t /. Hence, the overall period p of r.t/ coincides with the period of E
sin. !t/. We determine p as follows:
 !p D 2 ) p D 2=! D 4 s; (1)
where we have used the fact that ! D

0:5 rad=s. Therefore, letting t i 0 and tf 4 s p , we see that t i D D D
and tf are exactly one period apart. This implies that the position of the peg at times t i and tf is identical.
These considerations tell us that the displacement over the given time interval is equal to zero:
r E D 0E;
where  r E D rE.tf / rE.ti /. This implies that the correspondin g average velocity is also equal to zero:

vE D 0E: avg
To determine the distance traveled, we begin by observing that the peg starts its motion at the srcin, i.e.,
E D 0E. Next we determine the veloci ty of the peg as the time deriva tive of the position:
r.0/
 
vE D  !x 0 2 cos.2 !t/ 3 cos. !t/ {O:  (2)
Using the expression in Eq. (2), at time t D 0 , we have vE.0/ D  !x 0 {O. This result implies that, at t D 0 ,
the peg is moving to the left. In order to come back to its initial position, the peg must revers e the direction of
motion. This observation is important in that it leads us to a strategy to determine the distance traveled. Let
the total time interval starting at t i and ending at tf be subdivided as follows:
0 t i < t1 < t2 <  < tn < tf 4 s; (3)

D
where t 1 , t 2 , .. . , and t n , are the times at which the peg changes direc tion of motion. If we can determine the
D
n times t 1 , t2 , .. . tn , then the total distance trave led is the sum of the length of each segment trav eled between
the time instants in Eq. (3), that is,
d D jx.ti /  x.t1 / j C jx.t1/  x.t2 / j C C jx.t n/

  x.tf / ; j (4)

50 Solutions Manual
where, referring to the problem statement,
x.t/ D x0sin.2 !t/  3 sin. !t / :

 (5)
To determine the times at which the peg changes the direction of motion, we need to determine the times at
which the x component of velocity changes sign, which correspond s to the times at which the velocity equals
zero. Referring to Eq. (2), this requires that we solve the equation
2 cos.2 !t /  3 cos. !t/ D 0: (6)
Using the trigonometric identity provided in the problem statement, Eq. (6) can be rewritten as
4 cos2 . !t/  3 cos. !t/  2 D 0; (7)
which is a quadratic equation in cos . !t/ whose solution is

p
cos. !t / D 3 ˙8 41 ) cos. !t / D 1:176 and cos . !t / D 0:4254: (8)
The first root is not acceptable because the cosine function cannot take on values larger than one. Hence, the
times at which the x component of the velocity is equal to zero are given by the following sequence of time
values:  p41 !
t D 1! cos1 3
D 0 ;1;2;:: : 8
˙ 2 n;
(9) n
Since the time values we are interested in must be between t i D 0 and tf D 4 s, then the only acceptable
solutions are
t1 D 1:280 s and t2 D 2:720 s: (10)
Now that the times at which the peg changes direction of motion are known, referring to Eq. (4), we can then
apply the formula giving the distance traveled:
d D jx.0/  x.t1 / j C jx.t1/  x.t2 / j C jx.t2/  x.4 s/ : j (11)
Using Eqs.(5) and (10), we have
x.0/ D0; x.t 1 / D 0:3485 ft; x.t 2 / D 0:3485 ft; x.4 s/ D 0: (12)
Using the (full precision value s of the) results in Eq. (12), we can evalua te Eq. (11) to obtain
d D 1:394 ft: (13)
Now that the distance traveled is known, the corresponding average speed is obtained by dividing the distance
traveled by the length of the time interval considered:
vavg D 4ds : (14)
Using the (full precision value of the) result for d in Eq. (13) we have
vavg D 0:3485 ft=s:

Dynamics 2e 51
Problem 2.21
The position of point P as a function of time t , t  0 and expressed

in seconds, is
E D 2:0 Œ0:5 C sin.!t/ ç {OC9:5 C 10:5 sin.!t/ C 4:0 sin2.!t/  |O;

r.t/
where ! D 1:3 rad=s and the position is measured in meters.

Find the trajectory of P in Cartesian components and then, using
the x component of rE.t/ , find the maximum and minimum value s of x
reached by P . The equation for the trajectory is valid for all values
of x , yet the maximum and minimum values of x as given by the x
E
component of r.t/ are finite. What is the srcin of this discrepanc y?
Solution
We begin by writing the position of P as
E D x.t/ {O C y.t/ |O;

r (1)
where
x.t/ D Œ2:0.0:5 C sin !t/ç m and y.t/ D .9:5 C 10:5 sin !t C 4:0 sin2 !t / m: (2)
Next, we solve the first of Eqs. (2) for sin !t as a function of x :
sin !t D x 2 1:

(3)
Substituting Eq. (3) into the second of Eqs. (2) we have

 x 1 x 1  2
 
y.x/ D 9:5 C 10:5 2
C 4:000 2
m
) y.x/ D 5:250 C 3:250x C 1:000x2 m: (4)
We now need to determine the range of x covered by the motion of P . To do so, referring to the first of
Eqs. (2), we observe that the minimum and maximum values of x are achieved when the function sin !t
achieves its minimum and maximum values, respectively, which are the values 1 and 1, respectively. C
C
Substituting the values 1 and 1 for sin !t in the first of Eqs. (2), we have, respectively,
xmin D 1 m and xmax D 3 m:

The maximum and minimum values of the x coordinate occur due to the presence of a periodic function in
the equation for this component. Therefore, the trajectory, which is valid for all times t , is constrained to
oscillate between 1 m and 3 m on the x axis.

52 Solutions Manual
Problem 2.22
The position of point P as a function of time t , t  0 and expressed

in seconds, is
E D 2:0 Œ0:5 C sin.!t/ ç {OC9:5 C 10:5 sin.!t/ C 4:0 sin2.!t/  |O;

r.t/
where ! D 1:3 rad=s and the position is measured in meters.
(a) Plot the trajectory of P for 0  t  0:6 s, 0  t  1:4 s, 0  t 

2:3 s, and 0  t  5 s.
(b) Plot the y.x/ trajectory for 10 m  x  10 m.
(c) You will notice that the trajectory found in (b) does not agree with
any of those found in (a). Explain this discrepa ncy by analytically
determining the minimum and maximum values of x reached by
P . As you look at this sequence of plots, why does the trajectory
change between some times and not others?
Solution
Part (a). D 1:3 rad=s, we write the x and y coordinates of point P as

Since !
x.t/ D f2:0Œ0:5 C sin.1:3t/ çg m and y.t/ D Œ9:5 C 10:5 sin.1:3t/ C 4:0 sin2 .1:3t/ ç m: (1)
One strategy to plot the trajectory of point P is to plot the line that connects the points of coordinates
Œx.t/;y.t/ ç as time t varies within a given time interval. This way of plotting the trajectory does not involve
finding y as a function of x . Rather, it consists of generating a list of .x ; y/ values, each of which is computed
by first assigning a specific value of time. This procedure is called a parametric plot, where the parameter
used to generate the plotted poin ts is time and does not appear directly on the plot (i.e., the plot uses x and y
axes, but it does not show the time values corresponding to the points on the plot). Parametric plots can be
generated using any appropriate numerical software such as MATLAB or Mathematica.
The parametric plots of the trajectory of P shown below were generated in Mathematica with the
following code:

Dynamics 2e 53
Part (b). In this part of th e problem we first need to write the tra jectory in the form y D y.x/ . To do so,
we start with solving the first of Eq. (1) for sin .1:3t/ as a function of x . This gives
sin.1:3t/ D x 2:000
1:000 m

m
; (2)
which can then be substituted into the second of Eqs. (1) to obtain
x 2
1:000
 
 x  1:000

y.x/ D 9:500 C 10:50 2:000
C 4:000 2:000
m
) y.x/ D 5:250 C 3:250x C 1:000x2 m: (3)
Now that we have the trajectory in the form y.x/ , we can plot it over the
given interval 10 m  x  10 m as shown on the right. This plot was generated
using Mathematica with the following code:

Part (c). Referring to Eq. (1), for x max; sin 1:3t D C1 ) t D 2.1:3/ s and for x min ; sin 1:3t D 1)t D

3
2.1:3/
s: Thus, the minimum and maximum values are, respectively,
xmin D 1:000 m and xmax D 3:000 m: (4)
The minimum and maximum values of the x coordinate occur due to the presence of a periodic functio n in the
equation for this component. Therefore, the trajectory, which is valid for all times t , is constrained to oscillate
between 1:000 m and 3:000 m on the x axis. This fact explains why in the plot sequence in Part (a) the
trajectory seems not to change after a while: point P keeps tracing the same curve segmen t again and again.
The periodicity of the motion of P also explains the discrepancy between the trajectory obtained in Part (a)
and that obtained in Part (b). In fact, since the plot generated in Part (a) was based on a direct application of
Eqs.
point(1), we contrast,
P . By see that the
the plot in question
trajectory correctly
computed reflects
in Part (b) nothe periodic
longer time
carries anydependence the coordinates
direct relationship of
with time.
The trajectory plotted in Part (b) does contain the trajectory plotted in Part (a) as a sub-curve. The problem
with the trajectory in Part (b) is that we have no direct way of knowing what part of the entire curve actuall y
pertains to the motion of point P .

54 Solutions Manual
Problem 2.23
A bicycle is moving to the right at a speed v0 20 mph on a D

horizontal and straight road. The radius of the bicycle’s wheels is
D
R 1:15 ft. Let P be a point on the periphery of the front wheel.
One can show that the x and y coordinates of P are described by
the following functions of time:
x.t/ D v 0t C R sin.v0t=R/ and y.t/ D R 1 C cos.v0t=R/ :

Determine the expressions for the velocity, speed, and accelera-
tion of P as functions of time.
Solution
The velocity of P is the time derivative of P ’s position, which, in the coordinate system shown, is
E D v0t C R sin.v0t=R/  {O C R1 C cos.v0t=R/  |O:

r (1)
Differentiating the above expression with respect to time, we have

  v t 
0
v t 0
E D v 0 1 C cos
v
R
O
{  v0 sin
R
O
|: (2)
Since v 0 D 20 mph D 20 5280

3600 ft =s and R D 1:15 ft, we have
E D .29:33 ft=s/Œ1 C cosŒ.25:51 rad=s/t ç {O

v  .29:33 ft=s/ sinŒ.25:51 rad=s/t ç | : O
The speed is the magnitude of the velocity vector:
q s v t 
0 p
v D vx2 .t / C vy2 .t/ D v 0 2 C 2 cos ) v D .29:33 ft=s/ 2 C 2 cosŒ.25:51 rad=s/t ç:
R
(3)
The acceleration of P is the time derivative of P ’s velocity. From Eq. (2), we have
v02 v0 t v02 v0 t
   
ED
a 
R
sin
R
O
{
R
cos
R
O
|: (4)
5280
Since v 0 D 20 mph D 20 3600 ft =s and R D 1:15 ft, we have
ft s2 sinŒ.25:51 rad=s/t ç { ft s2 cosŒ.25:51 rad=s/t ç | :

ED
a 
748:2 =  O 
748:2 =  O

Dynamics 2e 55
Problem 2.24

D

Determine the maximum and minimum speed achieved by P ,
as well as the y coordinate of P when the maximum and minimum
speeds are achieved. Finally, compute the acceleration of P when
P achieves its maximum and minimum speeds.
Solution
The speed of P is the magnitude of the velocity of P . Hence, we first compute the veloc ity of P , which is
the time derivative of P ’s position. In the coordinate system shown , the position of P is
r (1)
Differentiating the above expression with respect to time, we have
  v t 
0
v t 0
vE D v 0 1 C cos R
O
{  v0 sin
R
O
|: (2)
Hence, the speed is
C vy2.t / D v0 2 C 2 cos vR0t ;

 
v D vx2 .t/ (3)
q
which implies that v is maximum when cos .v0 t=R/ D 1 and minimum when cos .v0 t=R/ D 1, i.e.,
s 
v D 2v 0 D 58:67 ft=s and v D 0 ft=s;

max (4) min
5280
where we have used the fact that v 0 D 20 mph D 20 3600 ft =s.
Since v D v when cos.v0 t=R/ D 1 and v D v
min when cos .v0 t=R/ D 1 , using the expression for
 max
the y component of the position of P in Eq. (1), we have
D 0 ft and yvmin yvmax D 2R D 2:300 ft;

where we have used the fact that R D 1:15 ft.
To determine the acceleration corresponding to vmin and v max, we first determine the acceleration of P by
differentiating with respect to time the expression in Eq. (2). This gives
v02 2
O vR0 cos vR0t |O: v0 t
   
ED
a 
R
sin
R
{ (5)
Now, recall that for v D v we have cos .v0 t=R/ D 1 and for v D v
min we have cos .v0 t=R/ D 1. In
 max
both cases, we have sin .v t=R/ D 0 . Using these consider ations along with Eq. (5), we have
0
v2 v02
aEv D 0 |O D .748:2 ft=s / |O and aEv D
min
2
|O D . 748:2 ft=s / |O ; max
 
2
R R
where we have used the following numerical data: v 0 D 20 mph D 20.5280=3600/ ft=s and R D 1:15 ft.

56 Solutions Manual
Problem 2.25

D

Plot the trajectory of P for 0  t  1 s. For the same time inter -
val, plot the speed as a function of time, as well as the components
of the velocity and acceleration of P .
Solution
The velocity of P is the time derivative of P ’s position, which, in the coordinate system shown, is

r (1)
Differentiating Eq. (1) with respect to time, we have

  v t 
0
v t 0
vE D v 0 1 C cos R
O
{  v0 sin
R
|:O (2)
The speed is now found by taking the magnitude of the velocity vector. Hence, we have
2 2
v0 t
v D q vx .t / C vy .t/ D v 0 2 C 2 cos  R :
s (3)
The acceleration of P is the time derivative of P ’s velocity. Hence, from Eq. (2), we have
v02 v0 t v02 v0 t
   
ED
a 
R
sin
R
O
{
R
cos
R
O
|: (4)
Trajectory of P . We can plot the trajectory of P for 0  t  1 s by plotting the line connecting the x
and y coordinates of P computed as functions of the parameter t . The x and y coordinates of P are the
E
component of r (in Eq. (1)) in the x and y direction, respectively. This can be done with a variety of pieces
of numerical software. Since v 0 D D
20 mph 29:33 ft=s and R 1:15 ft, the plot presented below has been D
obtained using Mathematica with the following code

Dynamics 2e 57
Speed of P . The speed of P can be plotted for 0  t  1 s using Eq. (3), with v 0 20 mph 29:33 ft=s D D
and R D
1:15 ft. The plot shown below was generate d using Mathematica with the following code:
Velocity Components The components of the velocity of P can be plotted for 0  t  1 s using the
expressions in Eq. (2) with v0 D D
20 mph 29:33 ft=s and R 1:15 ft. The plot shown below was generated D

58 Solutions Manual
Acceleration Components The components of the acceleration of P can be plotted for 0  t  1 s using
the expressions in Eq. (4) with v 0 20 mph D
29:33 ft=s and R D
1:15 ft. The plot shown below was D
generated using Mathematica with the following code:

Dynamics 2e 59
Problem 2.26
Find the x and y components of the acceleration in Example 2.3 (except for the plots) by simply differenti -
ating Eqs. (4) and (5) with respect to time. Verify that you get the results given in Example 2.3.
Solution
Referring to Eqs. (4) and (5) of Example 2.3 on p. 38 of the textbook, we recall that the x and y components
of the velocity are, respectively,
v0 y 2v0 a
x
P D y 2 C 4a 2 and yP D y 2 C 4a 2 :
p p (1)
To determine xR , we differentiate xP with respect to time with the help of the chain rule:
d xP
xR D
dt
D ddyxP dy
dt
D yP ddyxP : (2)
Differentiating the first of Eqs. (1) with respect to y and substituting the result along with the second of
Eqs. (1) into Eq. (2) we then have
2 8v02 a3
RD
x  y vC y4ayP
2
0
2 3=2
C p P
v0 y
y 2 C 4a 2
) x RD
y2 C 4a 22
: (3)
R P
To determine y we differentiate y with respect to time with the help of the chain rule. This gives
y
dyP P
d y dy
y
dy P: (4)
R D dt D dy dt D P dy
Substituting the second of Eqs. (1) into Eq. (4) and simplifying, we have
2 a2 y
4v0
y RD :
y2 C 4a 22
Our results match those in Example 2.3.

60 Solutions Manual
Problem 2.27
Find the x and y components of the acceleration in Example 2.3 (except for the plots) by differentiating
the first of Eqs. (3) and the last of Eqs. (1) with respect to time and then solving the result ing two equations
R R
for x and y . Verify that you get the results given in Example 2.3.
Solution
We recall that the first of Eqs. (3) and the last of Eqs. (1) in Example 2.3 on p. 38 are, respecti vely,
v2 x2 y2 and 2y y 4ax: (1)

0 DP CP PD P
Recalling that v 0 and a are constants, differentiating Eqs. (1) with respect to time gives
0 D 2xP xR C 2yP yR and 2a x R D yP 2 C y y:R (2)
We now view Eqs. (1) as a system of two equations in the two unknowns P P
x and y . Solving the system in
question gives
yv0 2av0
xPD p y2 C 4a 2 and yPD p y2 C 4a 2 ; (3)
where, similarly to what was done in Example 2.3 on p. 38 of the textbook, we have enforced the condition
P
that y > 0. Next, we view Eqs. (2) as a system of two equations in the two unknowns x and y whose solution R R
is
3 2
R D y xP CyP 2a yP
x and yR D y xP CxP yP2a yP :

(4)
Substituting Eqs. (3) into Eqs. (4) and simplifying, we have
8v02 a3 2 a2 y
4v0
xRD 2
and yRD :
4a 2 C y2
 4a 2 C y 22
Our results match those in Example 2.3.

Dynamics 2e 61
Problem 2.28
Airplane A is performing a loop with constant radius  D 1000 ft. The equation describing the loop is as
follows:
.x  xC /2 C .y  y C /2 D  2 ;
where x C D
0 and y C D
1500 ft are the coordinates of the center of the loop. If the plane were capable of
maintaining its speed constant and equal to v 0 D
160 mph, determine the velocity and acceleration of the
plane for  30 ı .
D
Solution
We begin by expressing the position as follows:
rE D x {O C y |O : (1)
For  D 30ı, the plane is in the lower right quadrant of the loop and the expression for the path of the airplane
can be written as
y D yC 2 x 2 ; 
q  (2)
where we have accounted for the fact that x C D 0 . We observe that
x D  sin  : (3)
Equations (1) and (2) combined indicate that we can regard position as being a known function ofx . With
this in mind, we can write an expression for the velocity of the airplane by differentia ting Eq. (1) with respect
to time with the help of the chain rule. This gives
v
dy
E D xP {O C dx xP |O ) vE D xP {O C p xx P O
|: (4)
2  x 2
P
The quantity x in the last of Eqs. (4) is unknown, but it can be found by enforcing the condition that the
magnitude of the velocity is equal to v 0 . Doing so gives
x 2x 2
P v0
v2 x2 v 02 x 2  x 2 ; (5)
DP C 2  x2D ) PD  q
where we have accounted for the fact that, at  D 30 ı , xP > 0. Substituting the last of Eqs. (5) into the last of
Eqs. (4), we have q
E D v0
v 2  x 2 { O C v 0x |O: (6)

62 Solutions Manual
5280
Since v 0 D 160 mph D 160 3600 ft =s,  D 1000 ft, and using Eq.(3), we can evaluate Eq. (6) to obtain
E D .203:2 {O C 117:3 |O/ ft=s:

v
To determine the acceleration we differentiate the expression for the velocity in Eq. (6) with respect to time,
which gives
aED  pv0 x x P {O C v0 xP |O : (7)
 2  x 2 
Substituting the last of Eqs. (5) into Eq. (7) and simplifying, we have
v02 x
O C v022
aED  {
q 2  x 2 | : O (8)
2
5280
Recalling that v 0 D 160 mph D 160 3600 ft =s, and using Eq.(3), we can evalua te Eq. (8) to obtain
2
aE D. 27:53 { O C 47:69 |O/ ft=s :

Dynamics 2e 63
Problem 2.29
An airplane A takes off as shown with a constant speed equal to

D
v0 160 km=h. The path of the airplane is described by the equa-
tion y  x 2 , where 
D 6  104 m1 . Using the comp onent
D
system shown, provide the expression for the velocity and accelera-
tion of the airplane when x D
400 m. Express the velocity in m =s
and the accelerat ion in m =s2 .
Solution
The position of the airplane can be described as
E D x {O C y |O :
r (1)
Since y D  x 2 , Eq. (1) becomes

E D x {O C  x2 |O:
r (2)
Using the chain rule to differentiate Eq. (2) with respect to time, the velocity of the airplane is
E D xP {O C 2 xxP |O :
v (3)
P
The term x in Eq. (3) can be determined by enforcing the conditio n that the magnitude of the velocity is equal
to v 0 . This gives
P C 4  2x2xP 2 D v02 ) xP D p1 Cv40  2x2 ;
x2 (4)
P
where we have chosen x > 0 because the airplane is moving in the positive x direction. Substituting the last
of Eqs. (4) into Eq. (3) gives
v0 2 v0 x
v { : (5)
1 4 x 2 2 1 4  2x 2
E D Dp C O C p CD
For v 0 D
160 km=h 160 3600 1000
D
m =s,  6  104 m1 , and x 400 m, we can evaluate Eq. (5) to obtain
vE D .40:07 {O C 19:23 |O / m=s:
The acceleration is the time derivative of the velocity. Using Eq. (3) and the chain rule, we have
E D ddxxP xP {O C 2 xP 2 C 2 x ddxxP xP |O:

 
a (6)
Differentiating the last of Eqs. (4) with respect to x , we have

dx PD 2
dx
 1 C44 vxx 2
0
2 3=2
: (7)
Substituting the last of Eqs. (4) and Eq. (7) into Eq. (6), after simplification, gives
4  2 v02 x 2 v02
ED
a 
2
OC
{
2 2
O
|: (8)
1 C 4  2x 2  1 C 4 x  2
4 
For v 0 D 160 km=h D 160 1000
3600 m =s,  D 6 10 m , and x D 400 m, Eq. (8) gives

1
2
aE D . 0:7516 {O C 1:566 |O / m=s : 

64 Solutions Manual
Problem 2.30
A test track for automobi les has a portion with a specific profile describe d by:
y D h 1  sin.x=w/ ;

D
where h 0:5 ft and w D
8 ft, and where the argument of the sine function is understood to be in radians.
A car travels in the positive x direction such that the horizontal component of velocity remains constant
and equal to 55 mph. Modeling the car as a point moving along the given profile, determine the maximum
speed of the car. Express your answer in ft =s.
Solution
Letting x and y represent the coordinat es of the car, the position of the car is
E D x {O C h1
r  sin.x=w/ | :
O (1)
The velocity is the time deriva tive of the position. Using Eq. (1) and the chain rule, we have
h x
 
E D xP {O
v 
w
cos
w
x |: PO (2)
To determine the maximum speed, we first determine the speed, which is the magnitude of the velocity. From
Eq. (2), we have
v
ˇD P ˇs C
x 1
h2
w2
cos 2
x
w
:
 
(3)
From Eq. (3) we see that the speed varies because of the presence of the cosine function, whose maximum
possible value is equal to one. We conclude that the maximum value of the speed is
vmax
ˇD P ˇs C
x 1
h2
w2
: (4)
For x P D 55 mph D 55 5280

3600 ft =s, h D 0:5 ft, and w D 8 ft, Eq. (4) gives
vmax D 80:82 ft=s:

Dynamics 2e 65
Problem 2.31
y D h 1  cos.x=w/ ;

where h D
0:20 m and w D
2 m, and where the argument of the cosine function is understood to be
in radia ns. A car travels in the positive x direction with a constant x component of velocity equal
to 100 km=h. Modeling the car as a point moving alon g the given profile, deter mine the velocit y and
acceleration (expressed in m=s and m =s2 , respectively) of the car for x 24 m. D
Solution
Letting x and y represent the coordinat es of the car, the position of the car is r E D x {O C y |O , i.e.,

rE D x {O C h 1  cos

.x=w/ |O : (1)
E D xP {O C wh sin
x
v
w
PO
x |: (2)
The acceleration is the time derivative of the velocity. Recalling that x is constant, differentiating Eq. (2)
with respect to time and using the chain rule, we have P
h x
 
ED
a cos x2 | : P O (3)
w2 w
For x PD 100 km=h 100 1000 D

3600 m =s, h D 0:20 m, w D 2 m, and x D 24 m, we can evaluate the expressions
in Eqs. (2) and (3) to obtain
2
E D .27:78 {O
v  O
1:490 | / m=s and E D 32:56 |O m=s :
a

66 Solutions Manual
Problem 2.32
y D h 1  cos.x=w/ ;

where h D D
0:75 ft and w 10 ft, and where the argument of the cosine function is understood to be in
radians. A car drives at a constant speed v0 D
35 mph. Modeling the car as a point moving along the given
profile, find the velocity and accelera tion of the car for x D
97 ft. Express velocity in ft =s and acceleration
in ft =s2 .
Solution
Letting x and y represent the coordinat es of the car, the position of the car is bvr D x {O C y |O , i.e.,

rE D x {O C h 1  cos

.x=w/ |O : (1)
E D xP {O C wh sin
x
v
w
PO
x |: (2)
The quantity x is currently unknown but it can be determined by enforcing the conditio n that the speed is
equal to v 0 . Recalling that v
P D xP 2 C yP 2, from Eq. (2), setting the speed equal to v0 gives
p
h2
x 2 2 wv 0
xP 2 C 2 sin2 xP D v 0 ) xP D ; q (3)
w w
w C h2 sin2 .x=w/
2
where we have taken xP > 0 because the car moves in the positive x direction. Substituting the last of Eqs. (3)
into Eq. (2), we have
wv 0 hv 0 sin.x=w/
vED q 2
|O: OC
{ q (4)
C h2 sin .x=w/ w2 w 2 C h2 sin2 .x=w/
5280
For v 0 D 35 mph D 35 3600 ft =s, h D 0:75 ft, w D 10 ft, and x D 97 ft, Eq. (4) gives
E D .51:32 {O
v  O
1:046 | / ft=s:
The acceleration is the time derivative of the velocity. Differentiating Eq. (2) with respect to time and using
the chain rule, we have
2     
E D ddxxP xP {O C wh xwP cos wx C sin wx ddxxP xP |O:
a (5)

Dynamics 2e 67
Differentiating the last of Eqs. (3) with respect to x we have
dx PD 2
dx
  hv
2 w Ch 2
0 sin .2x=w/
2 sin2 .x=w/ 3=2
 ; (6)
where we have used the trigonometric identity 2 sin ˛ cos ˛ D sin.2˛/. Substituting the last of Eqs. (3) and
Eq. (6) into Eq. (5) and simplifying, we have
h2 wv 02 sin .2x=w/ hw 2 v02 cos.x=w/

aED 
2
OC
{ O
|; (7)
2 w2 C h2 sin2.x=w/ w2 C h2 sin2.x=w/ 2
2 sin ˛ cos ˛ D sin.2˛/ . D 35 mph D
where, again, we have used the trigonometric identity
    For v0
35 5280
3600 ft =s, h D D
0:75 ft, w 10 ft, and x 97 ft, Eq. (7) gives D
2
ED
a .0:3873 { O C 19:00 |O/ ft=s :

68 Solutions Manual
Problem 2.33
The orbit of a satellite A around planet B is the ellipse shown and is described by the equation .x=a/ 2 C
.y=b/ 2 D
1, where a and b are the semimajor and semiminor axes of the ellipse, respectively. When
D
x a=2 and y > 0, the satellite is moving with a speed v 0 as shown. Determine the expression for the
E
satellite’s velocity v in terms of v 0 , a , and b for x a=2 and y > 0. D
Solution
We begin by identifying the value of the y coordinate of the satellite corresponding to x a=2 and the D
condition y > 0. Setting x D
a=2 in the equation describ ing the path of the satellite, we have
1 2
p3
4
C yb2 D 1 ) y D 2
b; (1)
where we have selected the positive root to satisfy the requirement that y > 0. Next, differentiating the
relation describing the path of the satellite with respect to time, we have
xxP yy P 0: (2)
2 2
a b D
Substituting x D a=2 and the last of Eqs. (1) in Eq.C(2), after simplifying, we have
p
a 3yP
xP C D 0: (3)
b
We also know that
x2
P C yP 2 D v02; (4)
where we treat the speed v 0 as a known quantity. Equations (3) and (4) form a system of two second order
P P
algebraic equations in the two unknowns x and y . This system has two solutions. However, as shown in the
figure, at the instant considered A is moving upward and to the left. Hence, we have that x < 0, which is P
sufficient to allow us to determine the following unique solution:
p
P D p3a23av
x
0
C b2 and yP D p3av20bC b 2 : (5)
Recalling that the velocity is given by v x{ y | , using Eq. (5), we can express the velocity as
EDPOCP O p
v0 
vE D p 3a {O C b |O : 
2
3a C b 2

Dynamics 2e 69
Problem 2.34
In the mechanism shown, block B is fixed and has a profile described by the following relation:
"  x  1 x  #
2 4
y D h 1 C 12 d

4 d
:
The follower moves with the shuttle A , and the tip C of the follower remain s in contact with B .
Assume that h 0:25 in:, d D D
1 in:, and the horizontal position of C is x d sin .!t/ , where D
! D 2 rad=s, and t is time in seconds. Determine an analytical expre ssion for the speed of C as a
function of x and the parameters d , h , and ! . Then, evaluate the speed of C for x 0 , x 0:5 in:, and
D
x 1 in. Express your answers in ft =s. D D
Solution
The position of C is
E D x {O C y |O :
r (1)
C B C y x
Since remains
the problem in contact
statemen with
t. Hence, , then
we can the vertical
rewrite Eq. (1) position of , namely , is given as a function of
as follows: in
"  x  1 x  #
2 4
E D x {O C h 1 C 21
r
d

4 d
O
|: (2)
The velocity of C is obtained by differe ntiating Eq. (2) with respect to time. Using the chain rule, this gives
x3
x 
E D xP {O C h
v
d2

d4
x |: PO (3)
Recalling that the speed is the magnitude of the velocity, using Eq. (3) we have
v
ˇD P ˇs C
x 1 h2
x
d2

x3
d4
 2
: (4)
Since x D d sin .!t/ , differentiating this expression with respect to time, we have
xP D d ! cos.!t/: (5)
Equation (5) implies that
ˇ Pˇ D
x j
d ! cos.!t/ j ) xP D d ! ˇˇ q 1  sin2 .!t/ ) xP D d ! ˇˇ q 1  .x=d/ 2 ; (6)

70 Solutions Manual
where, in obtaining the last of Eqs. (6), we have used the fact that x d sin .!t/ . Substituting the last of D
Eqs. (6) into Eq. (4), we have the expression for the speed requested by the problem statement:
p
s x x3
 2
v D! d2  x2 1 C h2  : (7)
d2 d4
0:25
Recalling that h 0:25 in: D 12 ft, d D D 1 in: D 121 ft, and ! D 2 rad=s, we can evaluate Eq. (7) for
0:5
D
x 0 , x 0:5 in: D 12 ft, and Dx 1 in: D D 121 ft to obtain, respectively,
v D 0:5236 ft=s; v D 0:4554 ft=s; and v D 0:

Dynamics 2e 71
Problem 2.35
In the mechanism shown, block B is fixed and has a profile described by the following relation:
"  x  1 x  #
2 4
y D h 1 C 12 d

4 d
:
The follower moves with the shuttle A , and the tip C of the follower remain s in contact with B .
Assume that h 2 mm, d D D
20 mm, and A is made to move from x d to x d with a constant D D
speed v 0 0:1 m=s. Determine the acceleration of C for x 15 mm. Express your answer in m =s2 .
D D
Solution
The position of C is
E D x {O C y |O :
r (1)
Since C remains in contact with B , then the vertical position of C , namely y , is given as a function of x in
the problem statemen t. Hence, we can rewrite Eq. (1) as follows:
" 2 4
 x  1 x  #
E D x {O C h 1 C 21
r
d

4 d
O
|: (2)
The velocity of C is obtained by differe ntiating Eq. (2) with respect to time. Using the chain rule, this gives
x3
x 
vE D xP {O C h d2

d4
x |: PO (3)
Since the follower moves with A , and since A moves to the right with the constant speed v 0 , we then have
xP D v 0: (4)
Substituting Eq. (4) into Eq. (3) we then have that the velocity of C is
x3
x 
E D v 0 {O C v0h
v
d2

d4
O
|: (5)
The acceleration of C is obtained by differentiating the expression of the velocity in Eq. (5) with respect to
time. Using the chain rule, this gives
2
x2
E D hvd 20
 
a 13
d2
O
|; (6)

72 Solutions Manual
2
where we have accounted for the fact that v 0 is constant. Recalling that h 2 mm D D 1000 m, d D 20 mm D
20 15
1000 m, v 0 D
0:1 m=s, we can evaluate the expressi on in Eq. (6) for x 15 mm D D 1000 m to obtain
2
ED
a 0:03438 | O m =s :

Dynamics 2e 73
Problem 2.36
The Center for Gravitational Biology Research at NASA’s Ames Research Center runs a large centrifuge
capable of 20g of acceleration, where g is the acceleration due to gravity ( 12:5g is the maximum for
human subjects). The distance from the axis of rotati on to the cab at either A or B is R
q 25 ft. The q D
trajectory of A is described by yA D R 2  xA2 for yA  0 and by yA  R 2  xA2 for yA < 0. If A D
moves at the constant speed vA D 120 ft=s, determine the velocity and acceleration of A when xA 20 ft D
and yA > 0.
Photo credit: NASA
Solution
Starting with the equation of the trajectory for yA > 0, and differentiating it with respect to time, we have
P D
yA q xA xA P : (1)
R2  xA2
2 2
We now recall that the speed of A can be computed as vA D xPA C yPA, which implies
q
2 2
xA2
P C yPA2 D vA2 ) xPA2 C Rx2AxPAx2 D vA2 ;  A
(2)
where the last of Eqs. (2) was obtained by using Eq. (1). The last of Eqs. (2) can be solved for xA to obtain P
P D
xA 
vA
q R2  xA2 ; (3)
R
where, referring to the figure in the problem statement, we have chosen the root with xA < 0 since, for P
D
xA 20 ft, A is moving down and to the left. Substituting Eq. (3) into Eq. (1), we have
P D vARxA :
yA (4)
Since vA E D xPA {O C yPA |O , using Eqs. (3) and (4), we can now express the velocity of A as
vA vA xA
v  R2  x 2 { |: (5)
EA D R AOC R O q
For vA D 120 ft=s, R D 25 ft, and xA D 20 ft, we can evaluate Eq. (5) to obtain

vEA D .72:00 {O C 96:00 |O / ft=s: 

74 Solutions Manual
Since the acceleration is the time derivative of the velocity, we can determine the acceleration of A by
differentiating Eq. (5) with respect to time. Using the chain rule, this gives
E D vRA
aA q xA xA P O C vRA xPA |O :
{ (6)
R 2  xA2
Substituting Eq. (3) into Eq. (6) and simplifying, we have
vA2 xA vA2 q
E D
aA  O
{ R2  xA2 | : O (7)
R2 R2
For vA D 120 ft=s, R D 25 ft, and xA D 20 ft, we can evaluate Eq. (7) to obtain

2
aEA D .460:8 {O 345:6 |O / ft=s : 

Dynamics 2e 75
Problem 2.37
Point C is a point on the connecting rod of a mechanism called a slider-

crank. The x and y coordinates of C can be expressed as follows:
p
xC D R cos  C 12 L2  R 2 sin2  and y C D
.R=2/ sin  , where  describes
the position of the crank. The crank rotates at a constant rate such that  !t, D
where t is time.
Find expressions for the velocity, speed, and acceleration of C as functions
of the angle  and the parameters, R , L , and ! .
Solution
Using the coordinate system and expression s given in the problem statement, the position of point C can be
expressed as as a function of  as follows:
E D xC {O C yC |O D
rC
R cos  C 21
p L2  R 2 sin2 
 {O C  R  |O:
1
2 sin  (1)
The velocity is the time derivative of the position. Hence, differentiating Eq. (1) with respect to time and
using the chain rule, we have
 RP R sin  cos  P
R
vC 2 sin   {O C cos  | : (2)
E D 2 Cp L2  R 2 sin2  2 O
Since  D ! t and that therefore P D ! , we can rewrite Eq. (2) as
!R R sin  cos 
O C !R
 
E D
vC
2
2 sin  C p {
2
cos  |O: (3)
L2  R 2 sin2 
The speed is now found by taking the magnitude of the velocity vector. Using Eq. (3), this gives
s 4R sin2  cos  2 2 2
vC D !R
2
4 sin2  C p 2
C RL2 sinR2 cos 
sin2 
C cos2  : (4)
L2  R2 sin  
The acceleration is found by taking the derivative of the velocity. Hence, differentiating Eq. (3) with respect
to time, using the chain rule and recalling that  ! , we have PD
! 2 R 2  sin2  / 3 cos2  sin 2  ! 2R
C R.cos2 C .LR2
 
E D
aC
2
2 cos  p 2
 R2 sin  /3=2
O
{
2
O
sin  | : (5)
L  R 2 sin2 

76 Solutions Manual
Problem 2.38
Point C is a point on the connecting rod of a mechanism called a slider-

crank. The x and y coordinates of C can be expressed as follows:
p
xC D R cos  C 12 L2  R 2 sin2  and y C D
.R=2/ sin  , where  describes
the position of the crank. The crank rotates at a constant rate such that  !t, D
where t is time.
Let t be expressed in seconds, R D
0:1 m, L 0:25 m, and ! 250 rad=s. D D
Plot the trajectory of point C for 0  t  0:025 s. For the same interval of time,
plot the speed as a function of time, as well as the components of the velocity
and acceleration of C .
Solution
The velocity of point C is the time derivative of the position of C . Using the coordinate system shown and
since  D
! t , can be written as
E D xC {O C yC |O D
rC
R cos !t C 12
p L2  R 2 sin2 !t
 {O C  R 1
2
O
sin !t | : (1)
Hence, differentiating the above expression with respect to time and simplifying, we have
!R R sin !t cos !t

O C !R
 
vC E D 2
2 sin !t C {
2
cos !t |O: (2)
L2  R 2 sin2 !t
The speed is now found by taking the magnitude of the velocity vector:
p
!R
s 4R sin2 !t cos !t 2 2 2
vC D 2
4 sin2 !t C p C RL2sin R!t2 sincos2 !t!t C cos2 !t : (3)
L2  R 2 sin2 !t 
The acceleration is found by taking the derivative of the velocity. Hence, differentiating Eq. (2) with respect
to time, we have
2
! 2 R 2 3 cos2  sin 2 !t ! 2R
C R.cos2 !t 2 sin2 !t / C .LR2
 

E D
aC
2
2 cos !t p 2
 R2 sin !t /3=2
O
{
2
O
sin !t | : (4)
L  R sin !t
Plot of the trajectory and speed of C . Plots of the trajectory and speed of C for 0 < t < 0:025 s can be
generated with appropriate numerical software. The plots presented below were generated using Mathematica
with the following code:

Dynamics 2e 77
E E
Plots of the components of vC and aC . The components of point C ’s velocity and acceleration are shown
below in the plots to the left and right, respectively. These plots were obtained using the following code:

78 Solutions Manual

Dynamics 2e 79
Problem 2.39
The following four problems refer to a car traveling between two STOP STOP
stop signs, in which the car’s velocity is assumed to be given by

v.t/ D
Œ9  9 cos.2t=5/ ç m=s for 0  t  5 s.
Determine vmax , the maximum velocity reached by the car.
Furthermore, determine the position svmax and the time tvmax at
which v max occurs.
Solution
The expression for v.t/ consists of the difference between the constant 9 m=s and a cosine function multiplied
by the value 9 m=s. The cosine function can only range between 1 and 1. The corresponding range of v is
therefore v D
18 m=s, when cos .2t=5/ 1, and v D
0 , when cos .2t=5/ D
1 . Hence, the maximum value D
of v.t/ is
vmax D 18:00 m=s: (1)
Since v Dv max when the cosine function is equal to 1, we have
cos.2t vmax =5/ D 1 ) 2t vmax =5 D s ) tvmax D .5=2/ s; (2)
where the last of Eqs. (2) is the only admissible solution with 0  t  5 s. Evaluating the last of Eqs. (2) to
four significant figures, we have
tvmax D 7:854 s:
To find the position s vmax at which v max is achieved, we first determine s.t/ . Recalling that v D ds=dt , we
can write Z Z
s t
ds D v. t/ dt ) 0
ds D 0
v.t/dt; (3)
where the limits of integration reflect the fact that s D 0 for t D 0. Integrating v.t/ , we have
45 2t
  
s D 9t 
2
sin
5
m: (4)
Given that we have already determin ed t vmax , we can find s vmax by letting t D tv
max
in Eq. (4). This gives
svmax D
.45  =2/ m, which, to four significant figures, gives
svmax D 70:69 m: (5)

80 Solutions Manual
Problem 2.40

v.t/ D
Œ9  9 cos.2t=5/ ç m=s for 0  t  5 s.
Determine the time at which the brakes are applied and the car
starts to slow down.
Solution
Applying the brakes causes the acceleration a D

dv=dt to go from a positive value to a negative value.
The instant t D
tbraking at which the brakes are applied corresponds to the time instant at which a 0. D
Differentiating the given expression for v.t/ with respect to time and setting the result equal to zero, we have
 18  2t
D 52 s;
braking

5
sin
5
D0 ) tbraking (1)
where we have selected the only solution in the range 0  t  5 s . Expressing the above result to four
siginificant figures, we have
tbraking D 7:854 s: (2)

Dynamics 2e 81
Problem 2.41

v.t/ D
Œ9  9 cos.2t=5/ ç m=s for 0  t  5 s.
Determine the average velocity of the car between the two stop
signs.
Solution
By definition, the average velocity is the change in position divided by the time it takes for the change in
position to occur. We denote by t i and tf the times at which the car starts moving and comes to a stop,
respectively (the subscripts i and f stand for initial and final, respectively). The car starts moving at time
ti D0 . For t D D
tf , v 0 , so that we can find tf by solving the equat ion v.tf / 0 , i.e., D
Œ9  9 cos.2tf =5/ç m=s D0 ) cos.2tf =5/ D1 ) tf D 5  s: (1)
To compute the change in position, we first determine s.t/ . Recalling that v D ds=dt , we can write
s t
ds D v. t/ dt )
D 0 v.t/dt; 0
ds (2)
Z
where the limits of integration reflect the fact that s D 0 for t D 0 . Integrating v.t/ , we have
Z
45 2t
  
s D 9t 
2
sin
5
m: (3)
Evaluating Eq. (3) with the value of the last of Eqs. (1), we have
s.tf / D 45 m: (4)
As stated earlier,
vavg D s.tftf/ 
 ti
s.t i /
: (5)
Recalling that t i D 0, s.ti / D 0, and using the results in Eqs. (1) and (4), we can evaluate v avg to obtain
v D 9:000 m=s: avg

82 Solutions Manual
Problem 2.42

v.t/ D
Œ9  9 cos.2t=5/ ç m=s for 0  t  5 s.
jj
Determine a max , the maximum of the magnitude of the accel-
eration reached by the car, and determine the position(s) at which
jj
a max occurs.
Solution
The acceleration is the time derivative of the velocity:
D dv D 185 sin 2t5 m=s ) jaj D 185 sin 2t5 m=s :

a
  2
(1)
ˇˇ  ˇˇ 2
dt ˇ
The maximum value of jaj corresponds to the maximum value of j sin.2t=5/ j, which is equal to one. Therefore
2
jaj D .18=5/ m=s , which, expressed to four significant figures, is
max
2
jaj D 3:600 m=s :
max
Letting t jajmax denote the time at which a max is achieved, we have that sin.2t jajmax =5/ 1, i.e.,
t  D j.5j =4/ jamax j 1  s and
t jamax j 2 D .15=4/ s;
D˙
(2)
where we have considered the only solutions in the time interval 0

t  t   t  5 s. Expressed to four significant
figures, times jamaxj 1 and jamax j 2 are
t  D 3:927 jamax j 1 s and

t 
jamax j 2 D 11:78 s:
To find the positions at which a jj max is achieved, we first determine s.t/ . Recalling that v D ds=dt , we can
write Z Z
s t
ds D v. t/ dt ) 0
ds D 0
v.t/dt; (3)
where the limits of integration reflect the fact that s D 0 for t D 0. Integrating v.t/ , we have
 45 2t
 
s D 9t 
2
sin
5
m: (4)
Evaluating s in Eq. (4) at the times in Eqs. (2), we have
s 
jamax j 1 D 12:84 m and
s 
jamax j 2 D 128:5 m:

Dynamics 2e 83
Problem 2.43
The acceleration of a sled is prescribed to have the following form: a ˇ t , where t is time expressed D p
in seconds, and ˇ is a constant. The sled starts from rest at t 0 . Determine ˇ in such a way that the D
distance traveled after 1 s is 25 ft.
Solution
The acceleration is a D dv=dt . Since a is given as a function of time, we can separate the velocity and time
variable as follows:
dv
D a.t/ ) dv D a. t/ dt: dt
(1)
p
Recalling that a.t/ D ˇ t and that the velocity is equal to zero for t D 0 , we integrate the last of Eqs. (1) as
follows: Z Z
v t p
0
dv D 0
ˇ t dt ) v.t/ D 23 ˇt 3=2: (2)
We recall that the velocity is ds=dt , so that we can write
ds
dt
D v.t/ ) ds D v. t/ dt: (3)
Letting s 0 denote the value of s for t D 0 and using the expression for v.t/ in the last of Eqs. (2), we can
integrate the last of Eqs. (3):
s t
Z ds D Z 2 ˇt 3=2 dt
3 ) s  s0 D 154 ˇt 5=2: (4)
s0 0
Letting d denote the distance traveled during  t D 1 s, we can rewrite the last of Eqs. (4) as follows:
4
d D 15 ˇt 5=2; (5)
which can be solved for ˇ to obtain

ˇ D 415dt 5=2 : (6)
Recalling that d D 25 ft and that t D 1 s, we can evaluate Eq. (6) to obtain

ˇ D 93:75 ft=s = : 5 2

84 Solutions Manual
Problem 2.44
The acceleration of a sled can be prescribed to have one of the following forms: a ˇ1 t , a ˇ2 t , D p D
and a ˇ3 t 2 , where t is time expressed in seconds, ˇ 1
D 1 m=s5=2 , ˇ 2 1 m=s3 , and ˇ 3 1 m=s4 . D D D
The sled starts from rest at t D
0 . Determine which of the three cases allows the sled to cover the largest
distance in 1 s. In addition, determ ine the distance cover ed for the case in question.
Solution
We will determine how position depends on time for each of the three cases. We observe that the acceleration
is given as a function of time in each of three cases. Recalling that dv=dt a , we can separate velocity and D
time by writing
dv
D a.t/ ) dv D a. t/ dt:
dt
(1)
Recalling that the velocity is equal to zero for t D 0 , we can integrate the last of Eqs. (1) as follows:
Z v
dv D
Z t
a.t/dt: (2)
0 0
Using the expression for a.t/ for the three given cases, we have, respectively,
v D 23 ˇ1t 3=2; v D 12 ˇ2t 2; and v D 13 ˇ3t 3: (3)
We recall that the velocity is ds=dt . Since the velocity is now known as a function of time, we can separate
the position and time by writing

ds
D v.t/ ) ds D v. t/ dt: dt
(4)
Letting s 0 denote the value of s for t D 0 and using the expression for v.t/ , we can integrate the last of
Eqs. (4) as follows:
Z s
ds D
Z t
v.t/dt ) s  s0 D
Z t
v.t/dt: (5)
s0 0 0
Substituting into the last of Eqs. (5) the expression s for v.t/ given in Eqs. (3), we have
d D 154 ˇ1t 5=2; d D 61 ˇ2t 3; and d D 121 ˇ3t 4; (6)
where we have denoted by d the distance s  s0 traveled by the sled as a function of time. Recalling that
ˇ1 1 m=s5=2 , ˇ 2 1 m=s3 , ˇ 3 1 m=s4 , we can evaluate Eqs. (6) for t
D D D 1 s to obtain, respectively, D
d D 0:2667 m; d D 0:1667 m; and d D 0:08333 m: (7)
Comparing the three values of d we conclude that
Largest distance traveled in 1 s is d D 0:2667 m, corresponding to a D ˇ 1pt :

Dynamics 2e 85
Problem 2.45
A peg is constrained to move in a rectilinear guide and is given the following acceleration: a D a0 sin !t ,
where a 0 20 ft=s2 , ! 250 rad=s, and t is time expressed in seconds.
D D
If x D
0 and v 0 for t D D
0 , determine the position of the peg at t 4 s. D
Solution
Recall that aD dv=dt . Since a is given as a function of time, we can separate the variables v and t by
writing
dv D a. t/ dt ) dv D a 0 sin !t dt: (1)
Since v D 0 for t D 0 , we can integrate the last of Eqs. (1) as follows:

Z v
dv D
Z t
a0 sin !t dt ) v D a!0 .1  cos !t/: (2)
0 0
Next recall that dx=dt D

v . Since the velocity is now a known function of time, applying separation of
variables for this case, we have
dx D v. t/ dt ) dx D a!0 .1  cos !t/dt; (3)
where we have made use of the last of Eqs. (2). Recalling that x D 0 for t D 0, we can integrate the last of
Z x
dx D
Z t
a0
.1  cos !t/dt ) x D a!0

t 
1
sin !t :

(4)
0 0 ! !
2
Recalling that a 0 D 20 ft=s and ! D 250 rad=s, at t D 4 s, we have
x.4 s/ D 0:3197 ft:

86 Solutions Manual
Problem 2.46
A peg is constrained to move in a rectilinear guide and is given the following acceleration: a D a0 sin !t ,
where a 0 20 ft=s2 , ! 250 rad=s, and t is time expressed in seconds.
D D
Determine the value of the velocity of the peg at t 0 so that x.t/ is periodic. D
Solution
Recall that the acceleration is dv=dt . Hence, applying separ ation of variables for the case in which
acceleration is given as a function of time, we can write
D a. t/ dt ) dv D a0 sin !t dt:
dv (1)
Letting v 0 be the value of the velocity for t D 0 , we can integrate the last of Eqs. (1) as follows:
Z v
dv D
Z t
a0 sin !t dt ) v D v0 C a!0 .1  cos !t/: (2)
v0 0
Next recall that dx=dt D

v . Since the velocity is now a known function of time, applying separation of
variables for this case, we have
C a!0 .1
 
dx D v. t/ dt ) dx D v0  cos !t/ dt; (3)
where we have made use of the last of Eqs. (2). Letting x 0 be the value of x for t D 0, we can integrate the
last of Eqs. (3) as follows:
Z x
dx D

v0 C a!0 .1 

cos !t/ dt ) x D x0 C v0t C a!0

t 
1

sin !t : (4)
0 !
To answer the question in the problem statement, we rewrite x as follows:
C a!0 a0
 
x D x0 C v0 t 
!2
sin !t: (5)
We now observe that the first term on the right-hand side of Eq. (5) is a constant and therefore is a special
case of a periodic function. The second term on the right-hand side of Eq. (5) is linear in t and therefore is
not periodic. Finally, the third term term on the right-hand side of Eq. (5), is a periodic function of time with
period p D
2  rad=! . We therefore concl ude that for the motion to be periodic, we must require that
v0 C a!0 D 0 ) v0 D 
a0
!
: (6)
Recalling that v 0 D v.0/, a0 D 20 ft=s , and ! D 250 rad=s, we can evaluate the last of Eqs. (6) to obtain
2
v.0/ D 0:08000 ft=s: 

Dynamics 2e 87
Problem 2.47
A ring is thrown straight upward from a height h 2:5 m off the ground D
and with an initial velocity v 0 D
3:45 m=s. Gravity causes the rin g to
have a constant downward acceleration g 9:81 m=s2 . Determine h max ,D
the maximum height reached by the ring.
Solution
We note that the motion of the ring occurs with constant acceleration equal to g and directed downward.
Denoting the release height of the ring by s 0 , and using the constant acceleration equation relating position
and velocity, we have
v 2 v 02  2g.s  s0 /; D (1)
where v 0 is the value of the speed corresponding to the position value s 0 . The maximum height is the value
of s corresponding to v D D D
0 . Hence, setting s h max and v 0 in the above equation, and solving for h max ,
we have
v0 2
hmax D 2g C s0 : (2)
Recalling that v 3:45 m=s, s 2:5 m, and g 9:81 m=s2 , we can evaluate Eq. (2) to obtain
0 D 0 D D
hmax D 3:107 m:

88 Solutions Manual
Problem 2.48
A ring is thrown straight upward from a height h 2:5 m off the ground. D
Gravity causes the ring to have a constant downward acceleration g D
9:81 m=s2 . Letting d D
5:2 m, if the person at the window is to receive
the ring in the gentlest possible manner, determine the initial velocity v 0
the ring must be given when first released.
Solution
We note that the motion of the ring occurs with constant acceleration equal to g and directed downward.
Denoting the release height of the ring by s 0 , and using the constant acceleration equation relating position to
velocity, we have
v 2 v 02  2g.s  s0 /; D (1)
where v 0 is the value of the speed corresponding to the position value s 0 .

The person receives the ring in the gentlest possible manner when the ring reaches the height h d with C
velocity equal zero. Hence, substituting s 0 D D C
h , s .h d /, and v 0 into Eq. (1) and setting the outcome D
equal to zero, gives
0 v 02  2gd; D (2)
which is an equation that can be solved for v 0 to obtain

v0 D
p 2gd; (3)
where we have selected the positive root since the ring is thrown in the positive s direction. Recalling that
g 9:81 m=s2 and d
D D
5:2 m, we can evaluate Eq. (3) to obtain
v0 D 10:10 m=s:

Dynamics 2e 89
Problem 2.49
A hot air balloon is climbing with a velocity of 7 m=s when

a sandbag (used as ballast) is released at an altitude of 305 m.
Assuming that the sandbag is subject only to gravity and that
therefore its acceleration is given by y g , g being the accel-RD
eration due to gravity, determine how long the sandbag takes to
hit the ground and its impact velocity.
Solution
Since the acceleration of the sandbag is constant and equal to g , position and time are related by the
following equation
1 2
y D y0 C yP0t  2 gt ; (1)
P
where y 0 and y0 are the position and velocity at time t D 0. Letting t impact denote the time at which the
sandbag hits the ground, at t D
t impact we must have
1 2
0 D y0 C yP0t impact  2 gt impact: (2)
This is a second order algeb raic equation for t impact whose only physically admissi ble solution is
timpact D g1 yP0 C yP02 C 2gy0:

q (3)
2
Recalling that g D 9:81 m=s , yP 0 D 7 m=s, and y0 D 305 m, we can evaluate Eq. (3) to obtain
t D 8:631 s: impact
The expression of the velocity can be obtained by differentiating Eq. (1) with respect to time. This gives
yP D yP0  gt : (4)
The impact velocity can be found by substituti ng t impact from Eq. (3) into the (constant acceleration) Eq. (4),
which, after simplification, gives q
P D yP02 C 2gy0: yimpact  (5)
2
Recalling again that g D 9:81 m=s , yP 0 D 7 m=s, and y 0 D 305 m, we can evaluate Eq. (5) to obtain
yP D 77:67 m=s: impact 

90 Solutions Manual
Problem 2.50
Approximately 1 h 15 min into the movie King Kong (the one

directed by Peter Jackson), there is a scene in which Kong is
holding Ann Darrow (played by the actress Naomi Watts) in his
hand while swinging his arm in anger. A quick analysis of the
movie indicates that at a particular moment Kong displaces Ann
from rest by roughly 10 ft in a span of four frames. Knowing that
the DVD plays at 24 frames per second and assuming that Kong
subjects Ann to a constant acceleration, determine the acceleration
Ann experiences
in terms in the scene
of the acceleration into
due question.
gravity Express your on
g . Comment answer
what
would happen to a person really subjected to this acceleration.
Solution
Let  t denote the time it takes to play four frames at 24 frames per second. Hence we have
t D 244frames
frames
=s
D 16 s: (1)
t is also the time it takes for King Kong to displace Ann by a distance  s 10 ft. Since we are assuming D
that the acceleration is constant, the motion is rectilinear and we can apply the constant acceleration equatio n
relating position to time:
1
s s 0 v0 .t  t0 / ac .t  t0 /2 ;
D C C (2)
2
where s is the position at time t , and where s0 and v0 are the position and velocity at time t t 0 , respectively. D
Letting  t Dt  t0 and  s Ds  s0 , solving Eq. (2) for ac
gives
s  v0 t
ac D2 t 2
: (3)
Since  t D 16 s, s D 10 ft, and v0 D 0, we can evaluate ac =g, with g D 32:2 ft=s , to obtain 2
ac =g D 22:36: (4)
Finally, in terms of g we can then say that the acceleration to which Ann is subject is
ac D 22:36 g:
Since the human body cannot withstand much more that 10–15g of acceleration, an acceleration of more
than 22g would likely kill Ann.

Dynamics 2e 91
Problem 2.51
A car travels on a rectilinear stretch of road at a constant speed v 0 65 mph. At s 0 the driver applies D D
the brakes hard enough to cause the car to skid. Assume that the car keeps sliding until it stops, and assume
that throughout this process the car’s acceleration is given by s k g , where  k RD
0:76 is the kinetic D
friction coefficient and g is the acceleration of gravity. Compute the car’s stopping distance and time.
Solution
To determine the stopping distance, we recall that
R D ddtsP ) sR D ddssP ds
s
dt
) sR D sP ddssP ; (1)
where we have used the chain rule and the definition of velocity to obtain the second and the third of Eqs. (1),
respectively. Recalling that s RD
k g , using the last of Eqs. (1), we can write
Z s Z sP
k g ds D sP d sP ) 0
k g ds D sP0
P P
s d s; (2)
where s D
0 is the position at which the brakes are applied, and where s0 is the velocity of the car for s P D 0.
Carrying out the integration in the last of Eqs. (2), we obtain
1 2
k gs 2
.s  s02 /: (3)
Letting s stop
D P P
denote the stopping distance, we have that sP D 0 for s D s stop . Enforcing this condition in
Eq. (3) and solving for s stop , we have
2
D 2sP0k g : sstop (4)
5280 2
Recalling that sP0 D v 0 D 65 mph D 65 3600 ft =s,  k D 0:76, and g D 32:2 ft=s , we can evaluate Eq. (4) to
obtain
s D 185:7 ft: stop
To determine the stopping time, we recall that sR D d sP=dt . Also, recalling that sR D k g , we can then write 
k g dt D d sP and integrate as follows:
Z tstop
k g dt D
Z 0
P )
ds k gt stop D sP0 )
 tstop D sP0=.k g/; (5)
0 sP0
where tD 0 is the time at5280

which the brakes are applied and t denotes the stopping time. Recalling that stop
2
s0
P D D 65 mph D 65 ft=s,  D 0:76, and g D 32:2 ft=s , we can evaluate the last of Eqs. (5) to
v0 3600 k
obtain
t D 3:896 s: stop

92 Solutions Manual
Problem 2.52
If the truck brakes and the crate slides to the right relative to the truck, the horizontal acceleration of the
crate is given by s RD
gk , where g is the acceleration of gravity,  k 0:87 is the kinetic friction D
coefficient, and s is the position of the crate relative to a coordinate system attached to the ground (rather
than the truck).
Assuming that the crate slides without hitting the right end of the truck bed, determine the time it takes
to stop if its velocity at the start of the sliding motion is v 0 55 mph. D
Solution
To determine the stopping time, we recall that s R D d sP=dt . Since sR D k g , we can then write k g dt D
P
d s and integrate as follows:
Z tstop
k g dt D
Z 0
P )
ds k gt stop D sP0 ) tstop D sPk0g ; (1)
0 sP0
where tD 0 is the time at which the crate starts sliding and t denotes the stopping time. Recalling that stop
P D v 0 D 55 mph D 55 5280
s0 3600 ft =s,  k D 0:87, and g D 32:2 ft=s , we can evaluate the last of Eqs. (1) to
2
obtain
tstop 2:880 s:
D

Dynamics 2e 93
Problem 2.53
If the truck brakes and the crate slides to the right relative to the truck, the horizontal acceleration of the
crate is given by s RD
gk , where g is the acceleration of gravity,  k 0:87 is the kinetic friction D
coefficient, and s is the position of the crate relative to a coordinate system attached to the ground (rather
than the truck).
Assuming that the crate slides without hitting the right end of the truck bed, determine the distance it
takes to stop if its velocity at the start of the sliding motion is v 0 75 km=h. D
Solution
To determine the stopping distance, we recall that
R D ddtsP ) sR D ddssP ds
s
dt
) sR D sP ddssP ; (1)
where we have used the chain rule and the definition of velocity to obtain the second and the third of Eqs. (1),
respectively. Recalling that s RD
k g , using the last of Eqs. (1), we can write
Z s Z sP
k g ds D sP d sP ) 0
k g ds D sP0
P P
s d s; (2)
where s 0 is the position at which the brakes are applied and s0 is the velocity of the crate at s
D P D 0.
Carrying out the integration in the last of Eqs. (2), we obtain
D 21 .sP2 sP02/: k gs  (3)
Letting s denote the stopping distance, we have that sP D 0 for s D s

stop stop . Enforcing this condition in
Eq. (3) and solving for s , we have stop
2
s D sP0 : stop
2k g
(4)
Recalling that s0 P D v 0 D 75 km=h D 75 1000

3600 m =s,  k D 0:87, and g D 9:81 m=s , we can evaluate Eq. (4)
2
to obtain
s D 25:43 m: stop

Dynamics 2e 95
Problem 2.55
A sphere is dropped from rest at the free surf ace of a thick polym er fluid. The
acceleration of the sphere has the form a D
g  v , where g is the acceleration due
to gravity,  is a constant, and v is the sphere’s velocity.
If  50 s1 determine the velocity of the sphere after 0:02 s. Express the
D
result in feet per second.
Solution
We recall that a D
dv=dt . Here the acceleration is given as a function of velocity, i.e., a D a.v/. Therefore
we have a.v/ D
dv=dt so that we can separate the v and t variables by writing
dv
dt D a.v/ ) dt D g dvv : 
(1)
Let tf D
0:02 s and vf D
v.tf /. Since the sphere is released from rest at time t D 0, we can integrate the
last of Eqs. (1) as follows:
Z tf Z vf vf
g   vf
dt
 1
 1
 
0
dt D 0 g  v
) tf D 

ln .g   v/ ) tf D 

ln
g
; (2)
0
where we have used the logarithm property according to which ln a  ln b ln .a=b/ . The last of Eqs. (2) D
can be solved for vf . To do so, we first isolate the logarithmic term and then take the exponential of both
sides of the resulting equation:
g vf
Dg  vf
D g 1

 
e  tf e  tf :
 tf D ln ) ) vf 
 (3)
g g
Recalling that vf D v.0:02 s/, g D 32:2 ft=s ,  D 50 s , and tf D 0:02 s, we can evaluate the last of
2 1
Eqs. (3) to obtain

v.0:02 s/ D 0:4071 ft=s:

96 Solutions Manual
Problem 2.56
The motion of a peg sliding within a rectilinear guide is controlled by an actuator in such a way that
the peg’s acceleration takes on the form x a 0 .2 cos 2! t  ˇ sin !t/, where t is time, a 0 3:5 m=s2 ,
RD D
D
! 0:5 rad=s, and ˇ 1:5 . D
Determine the expressions for the velocity and the position of the peg as functions of time if x.0/ P D
0 m=s and x.0/ 0 m. D
Solution
Since x R D d x=dt
P D a0.2 cos 2! t  ˇ sin !t/, we can write
Z t Z xP
a0 .2 cos 2! t  ˇ sin !t/dt
0
D d xP ) D 0 d x;P a0 .2 cos 2!t
(1)  ˇ sin !t/dt
where, in choosing the limits of integration, we accounted for the fact that xP D 0 for t D 0 . Carrying out the
integration in the second of Eqs. (1) and solving for xP , we have
a0
xP D . sin 2! t C ˇ cos !t ˇ/: (2) 
!
2
Recalling that a 0 D 3:5 m=s , ! D 0:5 rad=s, and ˇ D 1:5 , we can express Eq. (2) as
x 7:000 sinŒ.1:000 rad=s/t ç 10:50 cosŒ.0:5000 rad=s/t ç  10:50 m=s;

PD ˚ C 
where t is in seconds.
Recalling that xP D dx=dt so that we have dx D xP d t and using the expression of xP in Eq. (2), we can
write
a0
. sin 2!t C ˇ cos !t  ˇ/dt D dx )
Z t
C ˇ cos !t ˇ/dt D 0 dx ; (3) a0
. sin 2! t 
Z x
! 0 !
where, in choosing the limits of integration, we accounted for the fact that x D 0 for t D 0 . Carrying out the
integration in the second of Eqs. (3) and solving for x , we have
D 2!a02 .1 cos 2! t C 2ˇ sin !t 2ˇ!t/:

x   (4)
2
Recalling that a 0 D 3:5 m=s , ! D 0:5 rad=s, and ˇ D 1:5 , we can express Eq. (4) as
x D 7:000  7:000 cosŒ.1:000 rad=s/t ç C 21:00 sinŒ.0:5000 rad=s/t ç  .10:50 s1 /t m=s2 ;
˚
where, again, t is in seconds.


Dynamics 2e 97
Problem 2.57
The motion of a peg sliding within a rectilinear guide is controlled by an actuator in such a way that
the peg’s acceleration takes on the form x a 0 .2 cos 2! t  ˇ sin !t/, where t is time, a 0 3:5 m=s2 ,
RD D
D
! 0:5 rad=s, and ˇ 1:5 . D
Determine the total distance traveled by the peg during the time interval 0 s  t  5 s if x.0/ a 0 ˇ=! . P D
Solution
Since x R D d x=dt
P D a0.2 cos 2! t  ˇ sin !t/, we can write
Z t Z xP
a0 .2 cos 2!t  ˇ sin !t/dt D d xP ) 0
a0 .2 cos 2! t  ˇ sin !t/dt D a0 ˇ
d x;P (1)
!
where, in choosing the limits of integrati on, we accounted for the fact that x P D a0ˇ=! at t D 0. Carrying
out the integration in the second of Eqs. (1) and solving for x , we have P
P D a!0 .sin 2! t C ˇ cos !t/:
x (2)
To find the total distance traveled we must first determine when xP .t/ changes sign during the specified time
interval. To do so, we first rewrite Eq. (2) as follows:
P D a!0 cos !t 2 sin !t C ˇ ;

x.t/ (3)
where we have used the trigonometric identity sin 2! t D 2 sin !t cos !t and then factored the cos !t term.
Then, referring to Eq. (3), and keeping in mind that we are only interested in the peg’s motion for 0 t 5 s,  
we see that
  rad
cos !t > 0 for 0 < !t <
2
rad 0<t < )
2!
D  s < 5 s; (4)
where we have used the fact that ! D 0:5 rad=s. In addition, we have that
C ˇ > 0 for all 0 < t < 5 s:

2 sin !t (5)
Since, for 0  t  5 s, xP changes sign when t D  s , the distance traveled must be computed by integratin g
the velocity as follows:
d
Z s
D 0 a!0  cos !t.2 sin !t C ˇ/ dt 
Z 5s
a0 
cos !t.2 sin !t C ˇ/  dt
s s !
5s
D 2!a02 cos 2! t C 2ˇ sin !t 0 s a0
h 
i 
h  cos 2! t C 2ˇ sin !t
i
s 2! 2 s
a0
2 cosŒ2!.  s /ç 4ˇ sinŒ!. s /ç 1 cosŒ2!.5 s/ç  2ˇ sinŒ!.5 s/ç : (6)
2! 2
D Cn 2
C C
Recalling a0 D 3:5 m=s , ! D 0:5 rad=s, and ˇ D 1:5 , we can evaluate the result in Eq. (6) to obtain
o
d D 52:42 m:

98 Solutions Manual
Problem 2.58
A package is pushed up an incline at x D

0 with an initial speed v 0 . The incline is coated with a thin
viscous layer so that the acceleration of the package is given by a .g sin   v/ , where g is the D C
acceleration due to gravity,  is a constant, and v is the velocity of the package.
If  30 ı , v 0 10 ft=s, and  8 s1 , determine the time it takes for the package to come to a stop.
D D D
Solution
D
We recall that a dv=dt and since the acceleration is given as a function of velocity, we can separate the
variables v and t by writing
dv
D a.v/ ) dt D g sindv C v :
dt  (1)
Letting t stop be the time at which v D 0 and given that v D v0 at t D 0, we can integrate the second of
tstop 0
dv
0
dt D v0

g sin   v
Z Z C 1 ˇ
) tstop D 

ln .g sin  C v/ v0 0
) t D 1 ln g sing sinCv0 ;
 
stop (2)
where we have used the logarithm property ln a  ln b ln.a=b/ . Given that  D D 8 s , g D 32:2 ft=s ,
1 2
 D30 ı , and v 0 10 ft=s, we can evaluate t stop to obtain

D
tstop D 0:2233 s:

Dynamics 2e 99
Problem 2.59
A package is pushed up an incline at x D

0 with an initial speed v 0 . The incline is coated with a thin
viscous layer so that the acceleration of the package is given by a .g sin   v/ , where g is the D C
acceleration due to gravity,  is a constant, and v is the velocity of the package.
If  25 ı , v 0 7 m=s, and  8 s1 , determine the distance d traveled by the package before it
D D D
comes to a stop.
Solution
We recall that a D
dv=dt and that, since we need to relate a change in position to a corresponding change in
velocity, the chain rule allows us to write a D
vdv=dx . Then, since the accelera tion is given as a function of
velocity, we can separate the x and v variables as follows:
vdv v
dx D a.v/ ) dx D 
g sin  C v d v: (1)
Since v D v0 for x D 0 and v D 0, for x D d , we can integrate the second of Eqs. (1) as follows:
d 0 0
v v
dx  dv d  d v: (2)
Z 0 DZ v0 g sin  C v ) DZ v0 g sin  C v
To facilitate the integration of the right-hand side of the last of Eqs. (2), we observe that the integrand can be
rewritten as follows:
v 1 g sin 

g sin   v

 C D
.g sin   v/
: C (3)
C
Substituting Eq. (3) into the last of Eqs. (2) and carrying out the integratio n, we have
D v0 C g sin D v0 C g sin g sin 

 0 ˇ 
 
d ln.g sin  C  v/ v ) d ln ; (4)
2 0 2 g sin   v0 C
where we have used the logarithm property ln a  ln b ln.a=b/ . Given that v0 D D 7 m=s,  D 8 s ,1
g 9:81 m=s2 , 
D 25 ı , we can evaluate the last of Eqs. (4) to obtain
D
d D 0:7017 m:

100 Solutions Manual
Problem 2.60
Referring to Example 2.8 on p. 56, and defining terminal velocity as the velocity at which a falling object
stops accelerating, determine the skydiver’s terminal velocity without performing any integrations.
Solution
From Example 2.8 on p. 56, we have that the acceleration of the skydiver is
Cd 2
a Dg 
m
v : (1)
Denoting the terminal velocity by v term, we have that a D 0 for v Dv term . Enforcing this condition in Eq. (1)
and solving for v term, we have r mg
vterm D Cd
: (2)
From Example 2.8, we have that C 43:2 kg=m, m 110 kg, and g 9:81 m=s2 , so that we can evaluate
Eq. (2) to obtain d D D D
vterm D 4:998 m=s:

Dynamics 2e 101
Problem 2.61
Referring to Example 2.8 on p. 56, determine the distance d traveled by the skydiver from the instant the
parachute is deployed until the difference between the velocity and the terminal velocity is 10% of the
terminal velocity.
Solution
The acceleration can be related to the velocity and position as follows:
D dv
dt
D dv ds
ds dt
D v dv
ds
: a (1)
From Example 2.8 on p. 56 we have that a D g Cd v 2 =m . Hence, substituting this expression into Eq. (1),

we can separate the variables s and v as follows:
v
ds 2
d v: (2)
Dg  Cd v =m
From Example 2.8, we know that when the parachute is deployed, the velocity of the skydiver is v0 p D
44:5 m=s. In addit ion, we know that the termi nal velocity is vterm mg=C d , where m 110 kg, D D
g D9:81 m=s2 , and C d D
43:2 kg=m. Letting v qt D
1:1vterm denote the value of the velocity that is 10%
away from that of the terminal velocit y (where the subscript ‘qt’ stands for quasi-terminal), and letting d be
the distance traveled to achieve v qt starting from v 0 , we can integrate Eq. (2) as follows:
Z d
ds D
Z vqt
v
d v: (3)
0 v0 g  .Cd =m/v 2
Carrying out the above integrations, we have

2
m g  .Cd =m/v qt m g.1  1:12 /
   
d D 
2Cd
ln
g  .Cd =m/v 02
D 
2Cd
ln
g  .Cd =m/v 02
; (4)
where we have used the expression of v qt to obtain this last expres sion. So, recalling that m 110 kg, D
v0 44:5 m=s, C d 43:2 kg=m, and g 9:81 m=s2 , we can evaluate the above expression to obtain
D D D
d D 7:538 m:

Problem 2.62
In a physics experiment, a sphere with a given electric charge is constrained to move along a rectilinear
guide with the following acceleration: a a 0 sin.2 s= /, where a 0 8 m=s2 ,  is measured in radians,
D D
s is the position of the sphere measured in meters,   s  , and  0:25 m. D
If the sphere is placed at rest at s D
0 and then gently nudged away from this position, what is the
maximum speed that the sphere could achieve, and where would this maximum occur?
Solution
Recall that a D
dv=dt . In this problem, the accelerati on is given as a function of position. Hence, to relate a
change in velocity to a correspondent change in position, we start by rewriting the acceleratio n via the chain
rule: a D
vdv=ds . This allows us to write
v dv D a. s/ ds ) v dv D a0 sin.2 s=/ds; (1)
where we have separated the variables v and s and used the given expressio n for the acceleration. Recalling
that v D D
0 for s 0 , we can now integra te the last of Eqs. (1) as follows:
Z v
v dv D
Z s
D a0 Œ1 cos.2 s= /ç:
a0 sin.2 s= / ds ) v2 (2) 
0 0
p
The speed is the magnitude of the velocity, namely, jv j. Since jv j D v 2 , we can solve the second of Eqs. (2)
for jv j to obtain
a0 
 Œ1  cos.2 s= /ç: jv j D r (3)
To determine the maximum possible value of the speed, we observe that the cosine function under the square
root in Eq. (3) can vary only between the values 1 and 1 . Hence, the maximum possib le value of the speed
is achieved where the cosine function takes on the value 1, which gives
jv j D
r 2a 0 
: (4)
max

2
Recalling that a 0 D 8 m=s and  D 0:25 m, we can evaluate Eq. (4) to obtain
jvj D 1:128 m=s:
max
jj
We have already argued that v max occurs where the cosine function under the square root in Eq. (3) achieves
the value 1. In turn, this implies that
2 sjvjmax

D  C 2 n; n D 0; ˙1; ˙2;::: ) sjvjmax D 12 .1 C2n/; n D 0; ˙1; ˙2;:::; (5)
where s jv jmax denotes the value of s for which v v max. Recalling that  0:15 m and that   s  ,
j jDj j
we can evaluate the second of Eqs. (5) to obtain followi ng two values for s jvjmax that are within the admissible D
range for s :
D 0:1250 m and sjvjmax sjvjmax D 0:1250 m;
which correspond to n D 0 and n D 1, respectively. 

Dynamics 2e 103
Problem 2.63
In a physics experiment, a sphere with a given electric charge is constrained to move along a rectilinear
guide with the following acceleration: a a 0 sin.2 s= /, where a 0 8 m=s2 ,  is measured in radians,
D D
s is the position of the sphere measured in meters,   s  , and  0:25 m. D
Suppose that the velocity of the sphere is equal to zero for s  =4. Determine the range of motion of D
the sphere, that is, the interval along the s axis within which the sphere moves. Hint: Determine the speed
of the sphere and the interval along the s axis within which the speed has admissible values.
Solution
Recall that a D
dv=dt . Since the acceler ation is given as a function of position, to relate a change in velocit y
to a correspondent change in position, we start by rewriting a dv=dt via the chain rule: a D
vdv=ds . D
This allows us to write
v dv a. s/ ds D
v dv a 0 sin.2 s= /ds; ) D (1)
that v D D
0 for s  =4, we can now integra te the last of Eqs. (1) as follows:
Z v
v dv D
Z s
a0 sin.2 s= / ds ) v2 D 
a0 
cos.2 s= /: (2)
0 
4

The speed is the magnitude of the velocity, namely, v . Since v jj j j D pv2, the second of Eqs. (2) implies
jv j D r 
a0  cos.2 s= /: (3)

The result in Eq. (3) is acceptable if cos .2 s= /  0. From a mathematical viewpoint, this implies that
1 2 s 3
2 C 2 n 

 2 C 2 n; n D 0; ˙1; ˙2;:::
) 41 .1 C 4n/  s 3
 4 .1 C4n/ n D 0; ˙1; ˙2;::: (4)
However, from a physical viewpoint, we do not expect the sphere to “jump” from an admissible range of
motion to another. Observing that a a0 > 0 for s D D
=4, the sphere will move to the right when it is
released from rest at  =4. Therefore, referring to the last of Eqs. (4), the only acceptable range of motion is
1 3
s
4    4 , corresponding to D D
n 0 . Since  0:25 m, we have that the range of motion is
0:06250 m  s  0:1875 m:

Problem 2.64
The acceleration of an object in rectilinear free fall while immersed in a linear viscous
fluid is a D
g  Cd v= m, where g is the acceleration of gravity, C d is a constant
drag coefficient, v is the object’s velocity, and m is the object’s mass.
Letting t 0 D D
0 and v 0 0 , find the velocity as a function of time and find the
terminal velocity.
Solution
Acceleration is given as a function of velocity, so we first find time as a function of velocity and invert that
result to determine the velocit y as a function of time. Recalling that a dv=dt , we can write D
dt D dva )
Z t
dt D
Z v
dv
0 0 g  .Cd =m/v
) t D 
m 
ln g  .Cd =m/v
ˇˇ v
D 
m ˚
ln g  .Cd =m/v
  ln g

Cd 0 Cd
m g  .Cd =m/v
D Cmd ln Cd
  
 
D 
Cd
ln
g
1
mg
v ;
where we have used t 0 D D

0 and v 0 0 to obtain the lower limits on the two definite integrals. Solving this
result for t as a function of v to find v.t/ , we obtain
mg Cd t=m
v.t/ D C d 1 e

:
To find the terminal velocity, we can either take the limit as t of v.t/ or we can determine the velocit y!1
at which a D
0 in the given expression for the acceleration. Doing the latter, we obtain
Cd vterm
0 Dg 
m
) vterm D mg
Cd
.

Dynamics 2e 105
Problem 2.65
fluid is a D
drag coefficient, v is the object’s velocity, and m is the object’s mass.
Letting s 0 D D
0 and v 0 0 , find the position as a function of velocity.
Solution
Recall that acceleration, velocity, and position can be related as follows:
a D v dv
ds
) ds D vdv
a
: (1)
Since the accelerat ion is given as a function of the velocity, we can determine the position as a function of the
velocity as follows:
s.v/ D
Z v
v
dv D
Z v
.Cd =m/v g  g C dv D
Z v
mg=C d

m

dv ; (2)
0 g  .Cd =m/v 0 .Cd =m/Œg  .Cd =m/v ç 0 g  .Cd =m/v Cd
which can be evaluated to obtain
mg m g  .Cd =m/v m m

C mg Cd v
    
s.v/ D Cd Cd
ln
g

Cd
v ) s.v/ D 
Cd
v
Cd
ln 1
mg
: (3)

Problem 2.66
A 1:5 kg rock is released from rest at the surface of a calm lake. If the resistance
offered by the water as the rock falls is directly proportional to the rock’s velocity,
the rock’s acceleration is a D
g  Cd v= m, where g is the acceleration of gravity,
Cd is a constant drag coefficient, v is the rock’s velocity, and m is the rock’s mass.
Letting C d D
4:1 kg=s, determine the rock’s velocity after 1:8 s.
Solution
We recall that a D dv=dt . Using the given expre ssion for a we can write
Cd dv
g
m
vD

dt
) dt D g .Cdvd =m/v ; 
(1)
where, in writing the second of Eqs. (1), we have separated the variables v and t . Observing that v 0 at D
D
t 0 , and letting vf (f stands for final) denote the value of v at t tf 1:8 s, we can integrate the last of D D
Z tf
dt D
Z vf
dv
) tf D 
m
ln
g  .Cd =m/vf
 
0 0 g  .Cd =m/v Cd g
m Cd
 
) tf D 
Cd
ln 1 
mg
vf : (2)
Solving the last of Eqs. (2) for vf , we have
D mg
vf
1  e Cd tf =m :
 (3)
Cd
2
Given that m D 1:5 kg, g D 9:81 m=s , Cd D 4:1 kg=s, and tf D 1:8 s, we can evaluate vf to obtain
vf D 3:563 m=s:

Dynamics 2e 107
Problem 2.67
A 3:1 lb rock is released from rest at the surface of a calm lake, and its acceleration
is a D
g  Cd v=m, where g is the acceleration of gravity, C d 0:27 lb  s=ft is a D
constant drag coefficient, v is the rock’s velocity, and m is the rock’s mass.
Determine the depth to which the rock will have sunk when the rock achieves
99% of its terminal velocity.
Solution
We begin by determining the expression of the terminal velocity, which we denote by vterm . This is the
velocity at which the accelerati on is equal to zero. Using the given expres sion for the acceleration, we have
Cd
0 Dg 
m
vterm ) vterm D mg
Cd
: (1)
We denote by v qt (qt stads for quasi-terminal) the value of v corresponding to 99% of v term, i.e.,
99 mg
vqt D 100 Cd
: (2)
D dv=dt . To relate the acceleration to position, we can use the chain rule and write
Next, we recall that a
a D .dv=ds/.ds=dt/ D vdv=ds . Using this expressio n and the given expression for a , we can then write
Cd dv v
g v v ds d v; (3)
m ds g  .C =m/v
D ) D d
where, in writing the second of Eqs. (3) we have separated the variables v and s . We now observe that v 0 D
for s D D
0 and letting d be the value of s corresponding to v v qt , we can integrate the second of Eqs. (3) as
follows:
Z d
ds D
Z vqt
v
dv ) d D
Z vqt
.Cd =m/v g  g C dv
0 0 g  .Cd =m/v 0 .Cd =m/Œg  .Cd =m/v ç
) d D
vqt Z mg=C d


m

dv; (4)
0 g  .Cd =m/v Cd
m2 g Cd m 2
D mC 2g 99
   
d D 
Cd2
ln 1 
mg
vqt 
Cd
vqt ) d ln.100/ 
100
; (5)
d
2
where, in writing the last of Eqs. (5), we have used Eq. (2). Recalling that m D 3:1 lb=g, g D 32:2 ft=s , and
Cd 0:27 lb  s=ft, we can evaluate the last of Eqs. (5) to obtain
D
d D 14:80 ft:

Problem 2.68
A 3:1 lb rock is released from rest at the surface of a calm lake, and its acceleration
is a D
g  Cd v=m, where g is the acceleration of gravity, C d 0:27 lb  s=ft is a D
constant drag coefficient, v is the rock’s velocity, and m is the rock’s mass.
Determine the rock’s velocity after it drops 5 ft.
Solution
We recall that a D dv=dt . To relate the acceleration to position, we can use the chain rule and write
a D .dv=ds/.ds=dt/ D vdv=ds . Using this expressio n and the given expression for a , we can then write
Cd dv
g
m
v Dv
ds
) ds D g .Cvd =m/v d v;
 (1)

where, in writing the second of Eqs. (1) we have separated the variables v and s . We now observe that v D 0
for s D 0 so that we can integrate the second of Eqs. (1) as follows:
Z s
ds D
v Z v
dv ) s D
v
.Cd =m/v C g g
dv
Z 
0 0 g  .Cd =m/v 0 .Cd =m/Œg  .Cd =m/v ç
) s D
Z v
mg=C d

m

dv; (2)
0 g  .Cd =m/v Cd
m2 g Cd m
 
s D 
Cd2
ln 1 
mg
v 
Cd
v: (3)
We now need to solve the above equation for v after setting s D

5 ft. Since this cannot be done analytically,
we will need to do it numerically. Given that m 3:1 lb=g , g 32:2 ft=s2 , and C dD 0:27 lb  s=ft, the D D
solution presented below was obtained using Mathematica via the following code:
where we note that, as required by most root finding algorithms, one needs to specify an initial guess for the
solution (we have used v D
1 ft=s). The execution of the above code, gives the followi ng result (expressed to
4 significant figures)
v.5 ft/ D 10:07 ft=s:

Dynamics 2e 109
Problem 2.69
Suppose that the acceleration of an object of mass m along a straight line is a g  Cd v= m, where the D
constants g and C d are given and v is the object’s velocity. If v.t/ is unknown and v.0/ is given, can you
determine the object’s velocity with the following integral?
v.t/ D v.0/ C
Z t
g
Cd
v dt:

0 m
Solution
No, because the integrand is not an explicit function of the variable of integration, which is t . Clearly, if v.t/
is provided as an explicit function of time then one could integrate . However, if v.t/ were given it would
seem superfluous to perform the integration to obtain it a second time.

Problem 2.70
Heavy rains cause a particular stretch of road to have a coefficient

of friction that changes as a function of location. Specifically, mea-
surements indicate that the friction coefficien t has a 3% decrease
per meter. Under these conditions the acceleration of a car skidding
while trying to stop can be approximated by s .k  cs/g (the RD
3% decrease in friction was used in deriving this equation for accel-
eration), where  k is the friction coefficient under dry conditions,
g is the acceleration of gravity, and c , with units of m 1 , describes
1
the rate
v D45ofkm
friction decrement.
=h, where v 0 is theLet
initial 0:5 , ty
 k veloci c of 0:015
the car. D
m Deter-
, and D
0
mine the distance it will take the car to stop and the percentage of
increase in stopping distance with respect to dry conditions, i.e.,
when c 0. D
Solution
We recall that the acceleration is a D

dv=dt . The acceleration can be related to the position and velocity
using the chain rule: a .dv=ds/.ds=dt/ D D
vdv=ds , where we have also used the fact that ds=dt v. D
Hence, observing that a DRD
s .k  cs/g , we can write
.k  cs/g D v dv
ds
)
D v dv; . k 
(1) cs/ g ds
where we have separated the variables s and v . We now observe that v D v 0 for s D 0 . In addition, letting
s denote the stopping distance over wet ground, we have that v D 0 for s D s . Therefore, the last of
wet wet
Eqs. (1) can be integrated as follows:
Z swet Z 0
0
. k  cs/ g ds D v0
v dv )   k swet C 12 cs 2 wet
g D 1 2
 2 v0 : (2)
Dividing the last of Eqs. (2) by g , multiplying by 2, and rearranging terms, we have
C v02=g D 0 ) s D 1c k ˙ 2k .cv 02/=g :

2
cs wet  2k swet (3)wet
 q 

Given that c D 0:015 m ,  k D 0:5 , v 0 D 45 km=h D 45.1000=3600/ m=s, and g D 9:81 m=s , we can
1 2
evaluate the last of Eqs. (3) to obtain the followin g two values of swet :
.swet /1 D c1

k 
q 2k  .cv 02 /=g

D 26:31 m and .swet/2 D c1

k C
q 2k  .cv 02 /=g

D 40:35 m:
(4)
D
Only the solution swet .s wet/1 is meaningful because for the is not assumed to keep moving after it comes
to a stop at s wet D
.s wet/1 . Hence, we have
swet D 26:31 m:
For dry conditions, c 0 so that s k g , which implies that the acceleration is constant and we can use
D RD
the equation v 2 v 02 2a c .s  s0 / to determine the stopping distance. Denoting by s dry the position s at
D C
which v D
0 under dry conditions, we have
2
0 D v02  2k g.s dry  s0 / ) sdry D 2v0k g : ) sdry D 15:93 m; (5)

Dynamics 2e 111
where we have set s0 D

0, and where we have used the following numerical values: k 0:5, v0 D D
12:50 m=s, and g 9:81 m=s2 .D
Using the values of swet and sdry in the first of Eqs. (4) and the last of Eqs. (5), respectively, the percentage
increase in stopping distance is calculated as follows:
.swet  sdry/ q v02

D 2v2k g
1  
.100%/ k  2k  .cv 02 /=g  / .100%/: (6)
sdry 0
c 2 k g
Recalling that c 0:015 m1 ,  k

D 0:5, v 0 D D 45 km=h D 45.1000=3600/ m=s, and g D 9:81 m=s , we 2
can evaluate the above expression to obtain
.swet  sdry/
sdry
.100%/ D 65:21%:

Problem 2.71
A car stops 4 s after the application of the brakes while covering a rectilinear stretch 337 ft long. If
the motion occurred with a constant acceleration a c , determine the initial speed v 0 of the car and the
acceleration ac . Express v 0 in mph and a c in terms of g , the acceleration of gravity.
Solution
Recall that a D
dv=dt . Since a D
ac is constant, we can separate the v and t variables by writing
dv Dac d t . Letting t D
0 be the time at which the brakes are applied and for which v v0 , we can D
integrate the expression dv a c d t as follows D
Z v
dv D
Z t
ac d t ) v D v 0 C ac t: (1)
v0 0
Recalling that v D ds=dt , we can write ds D v dt and use the expressi on in the last of Eqs. (1) to write
Z s
ds D
Z t
.v0 C ac t/dt ) s D v 0t C 12 ac t 2; (2)
0 0
where we have chosen s D

0 to be the value of s when the brakes are applied. Letting t s and d s be stopping
time and distance, respec tively, and using the last of Eqs. (1) and of Eqs. (2), we must have
0 D v 0 C ac ts and ds D v 0ts C 21 ac ts2: (3)
This is a system of two equations in the two unknowns v 0 and ac whose solution is
2
v0 D 2ds =t s and ac D 2d s =t s : (4)
Recalling that t s D 4 s and ds D 337 ft we can evaluate the above results to obtain
v0 D 114:9 mph and ac D 1:308g; 
2
where we have expressed the acceleration in term of g D 32:2 ft=s , the acceleration of gravity.

Dynamics 2e 113
Problem 2.72
As you will learn in Chapter 3, the angular acceleration of a simple pendulum is given
by  RD.g=L/ sin  , where g is the acceleratio n of gravity and L is the length of
the pendulum cord.
Derive the expression of the angular velocity  as a function of the angular P
coordinate  . The initial conditi ons are  .0/  0 and  .0/ 0 . D P DP
Solution
R D d P=dt . Applying the chain rule, we write

Recall that 
d P d P d  d P
R D D D P ) P d P D R d  : (1)
dt d  dt d
Substituting the given expression for R into the last of Eqs. (1), we can then write
P d P D .g=L/ sin  d  ;  (2)
where we have separated the variables P and  . Since P D P 0 for  D  0 , we can integrate Eq. (2) as follows:
P 
P P P P g
 d .g=L/ sin  d 1
 2  0
Z P
0 DZ 0 )
2
  D L. cos   cos 0 /: (3)
P
Solving the last of Eqs. (3) for  as a function of  , we have
 . /
r
P D ˙ P02 C 2 g  cos   cos 0 :

L

Problem 2.73
by  RD .g=L/ sin  , where g is the acceleratio n of gravity and L is the length of
the pendulum cord.
Let the length of the pendulum cord be L 1:5 m. If  3:7 rad=s when D PD
 D14 ı , determine the maximum value of  achieved by the pendulum.
Solution
Let  max be the maximum value of  . This value is achieved when  PD

0 . To find  max we need to relate
velocity with position. To do so, we recall that  RD P
d  =dt and, applying the chain rule, we write
d P P P
R D
dt
D dd ddt D P dd ) P d P D R d  : (1)
P d P D .g=L/ sin  d  ;  (2)
where we have separated the variables P and  . Letting Pi D 3:7 rad=s and  i D 14 ı be the initial angular
velocity and the initial angle, respectively, we can then integrate Eq. (2) as follows:
Z 0
P PD
d
Z max
.g=L/ sin  d ) 1 2
 2 i P D g .cos  max  cos i /: (3)
Pi i L
The last of Eqs. (3) can be solved for  max to obtain

 Li2P 
max D cos1 cos i 
2g
: (4)
Recalling that L D 1:5 m, i D 14ı, Pi D 3:7 rad=s, and g D 9:81 m=s 2
 D 94:38 ı: max

Dynamics 2e 115
Problem 2.74
the pendulum cord.
The given angular acceleration remains valid even if the pendulum cord is re-
placed by a massless rigi d bar. For this case, let L 5:3 ft and assume that the D
pendulum is placed in motion at  0 ı . What is the minimum angular velocity at
D
this position for the pendulum to swing through a full circle?
Solution
The minimum value of  at  P D

0 for which the pendulum swings through a full circle is the value that
allows the pendulum to reach the angle  D
 rad with  PD
0 . This means that we need to relate velocity
with position. To do so, we recall that  RD P
d  =dt and, applying the chain rule, we write
d P P P
R D
dt
D dd ddt D P dd ) P d P D R d  : (1)
P d P D .g=L/ sin  d  ;  (2)
where we have separated the variables P and  . Then, using the above observation concerning the value of P
for   rad, we can integrate Eq. (2) as follows:
D 0 Z Z  rad
P
P d P D
0min
.g=L/ sin  d  ) 
1 P2
2 D 2 Lg : (3)  min 
The last of Eqs. (3) can be solved for min to obtain P

P D ˙2
min
r g
: (4)
L
2
Recalling that g D 32:2 ft=s and L D 5:3 ft, the result in Eq. (4) can be evaluated to obtain
P D 4:930 rad=s;
min
P
where we have considered only the positive value of min because in going from 0 to  rad the pendulum bob
moves counterclockwise.

Problem 2.75
the pendulum cord.
Let L D 3:5 ft and suppose that at t 0 s the pendulum’s position is  .0/ 32 ı
D D
P D
with  .0/ 0 rad=s. Determine the pendulum’s period of oscillation, i.e., from its
initial position back to this position.
Solution
To determine the period of the pendulum using the given initial conditions, we need to establish a relationship
between the angle  and time. To do so, we begin by establis hing a relation between the angular velocity
P
 and and swing angle  , and then we integrate that result to determine  .t/. To find  . /, we begin by P
applying the chain rule as follows
R D d P D d P d D P d P ) P d P D R d  ) P d P D R d  :
 (1)
dt d  dt d
P d P D .g=L/ sin  d  :  (2)
ı
Since  P D 0 when  DP 0 D 32 , we can integrate Eq. (2) as follows:
Z Z
 
g
P d P D .g=L/ sin  d  ) 12 P 2 D .cos 
  cos 0 /: (3)
0 0 L
P
Solving for  , we have r
2g
P D ˙ . cos  cos 0 /: (4)
L
ı ı
Once the pendulum is released from  0 D 32 , the angle  will decrease until it becomes 32 . Then the 
ı ı
pendulum will then swing back to the srcinal angle. The time taken to go from 32 to 32 is equal to the
time taken to swing back from 32ı to 32 ı . Hence, the period of oscillation, which we will denote by p , is
twice the time that the pendulum takes to go from 32 ı to 32ı . With this in mind, referring to Eq. (4), and
because  will initially decrease after release, the expression for  to use when  goes from 32 ı to 32ı is P
PD
r 
2g
. cos   cos 0 /; (5)
L
Now, recalling that  P D d =dt , we can write d t D d =P , which, because of Eq. (5), we can write
s L
dt D 
2g
pcos d cos 
: (6)
0

Dynamics 2e 117
We now integrate over one half of a complete swing to obtain
Z p=2
dt
ZD s 32 ı

L
pcos  d
) p
ZD s 32 ı

2L
pcos  d cos 32ı :
0 32 ı 2g  cos 32ı 32 ı g 
2
The above integral can be evaluated numerically. Recalling that L D 3:5 ft and g D 32:2 ft=s , we have used
Mathematica with the following code:
which yields
p D 2:113 s:

Problem 2.76
As we will see in Chapter 3, the acceleration of a particle of mass m suspended by

a linear spring with spring constant k and unstretched length L0 (when the spring
length is equal to L0 , the spring exerts no force on the particle) is given by x RD
g  .k=m/.x  L0 /.
Derive the expression for the particle’s velocity x as a function of position x . P
Assume that at t D
0 , the particle’s velocity is v 0 and its position is x 0 .
Solution
The acceleration can be related to the position and the velocity as follows: x xd x=dx , which can then be RDP P
rewritten as xd x P PDR
xd x . This latter expression can be integrated as follows:
Z xP Z x k  
v0
P PD
xdx
x0
g
m
.x  L0 / dx ; (1)
where, as indicated in the problem statement, v 0 is the value of x for x P D x0. Evaluating the integral gives
us the velocity as a function of x .
1 2 k  C kL .x 0
x  12 v02 x 2  x02
2 P D g.x  x0 / 
  x0 /: (2)
2m m
P
Solving for x , we have
x P D˙ s v02 C 2g C kLm0 .x x0 /  k x 2  x02 :


  (3)
m

Dynamics 2e 119
Problem 2.77

g  .k=m/.x  L0 /.
Let k D D D
100 N=m, m 0:7 kg, and L 0 0:75 m. If the particle is released from
rest at x D
0 m, determine the maximum length achieved by the spring.
Solution
Z xP Z x k  
v0
P PD
xdx
x0
g
m
.x  L0 / dx ; (1)
where as indicated in the problem statement, v 0 is the value of x for x P

x 0 . Now, in this particular problem, D
since the particle starts from rest at x D D
0 , we set v 0 0 and x 0 0 . We now observe that the coordinate x D
(when positive) measures the length of the spring. In addition, denoting the maximum length by x max , we
observe that x max is achieved when x PD
0 , i.e., when the spring has stretched to the point that its velocity is
equal to zero (before recoi ling back). Using these considerat ions, we can rewrite Eq. (1) as
Z 0
P PD
xdx
Z xmax  k 
g .x  L0 / dx

) 0 D gx max 
k 2
x C kLm0 x
max : (2)
0 0 m 2m max
Solving the last of the above equati ons for x max, we obtain
D 2.mg Ck kL0/ : xmax (3)
2
Recalling that m D 0:7 kg, g D 9:81 m=s , k D 100 N=m, and L 0 D 0:75 m, we can evaluate Eq. (3) to
obtain
x D 1:637 m: max

Problem 2.78

g  .k=m/.x  L0 /.
Let k D D
8 lb=ft, m 0:048 slug, and L 0 2:5 ft. If the particle is released from D
rest at x D
0 ft, determine how long it takes for the spring to achieve its maximum
length. Hint: A good table of integrals will come in handy.
Solution
Z xP Z x  k  
v0
P PD
xdx
x0
g
m
.x  L0 / dx ; (1)
where as indicated in the problem statement, v 0 is the value of x for x P D x0. Evaluating the integral gives us
the velocity as a function of x .
1 2 k  C kL .x 0
x  12 v02 x 2  x02
2 P D g.x  x0 / 
  x0 /: (2)
2m m
Then, keeping in mind that we are interested in the motion of the spring for x  0 (i.e., we are not interested P
in the recoiling motion of the spring after it has stretched to its maximum length), and solving for x , we have P
C 2 g C kLm0 k 2
PD
x
s v02
 
.x  x0 / 
m
x  x02 :
  (3)
Since the particle is released from rest at x D 0 , we have v 0 D 0. Consequently, the above equation can be
simplified to obtain r
x PD 2.mg C kL0/ x 
k 2
x : (4)
m m
Next, we determine the maximum length of the spring, which is achieved when x P D 0. Hence, setting xP D 0
and x D
x max in Eq. (4) and solving for x max , we have
2.mg C kL0/ x max 

k 2
x D0 ) xmax D 2.mg Ck kL0/ ) 2.mg C kL0/ D x maxk: (5)
m m max
Substituting the last of Eqs. (5) into Eq. (4), we have
k k k
xPD xx max  x 2 ) xP D x xmax  x : (6)
m m m
Now we recall that x
r r q 
P D dx=dt . Therefore, we can rearrange the terms in the last of Eqs. (4) to integrate as
follows:
P D dx )
Z txmax
D
Z xmax
dx
rZ p m xmax
dx
x
dt 0
dt
0 P )
x
D
txmax
k 0 x .x max  x/
: (7)

Dynamics 2e 121
The integral on the right-hand side of the last of Eqs. (7) can be carried out by substitution, or by consulting a
table of integrals, or by using a symbolic mathematical software. Regardles s of the method, we have
Zp dx
r x 
x .x max  x/
D 2 sin1 xmax
C C; (8)
where C is a constant of integration . Then using the above resul t we have that the last of Eqs. (7) gives
txmax D
r m
2Œ sin1 .1/  sin1 .0/ç D
r m
) txmax D 0:2433 s; (9)
k k
where we have used the following numerical data: m D 0:048 slug and k D 8 lb=ft.

Problem 2.79
A weight A with mass m D

18 kg is attached to the free end of a nonlinear spri ng such
that the acceleration of A is a g  . =m/.y  L0 /3 , where g is the acceleration
D
due to gravity,  is a constant, and L 0 D
0:5 m. Determine  such that A does not fall
below y D
1 m when released from rest at y L 0 . D
Solution
Recall that a D
dv=dt . In this problem, the accelerat ion is given as a function of position. Hence, to relate, a
change in velocity to a correspondent change in position, we start by rewriting the acceleratio n via the chain
rule: a D
vdv=dy . This allows us to write
 

v dv D a.y/ dy ) v dv D g .y  L0 /3 dy; (1)
m
that v D D
0 for y L 0 , we can now integra te the last of Eqs. (1) as follows:
v y
 
v dv g .y  L0 /3 dy v2 2g.y  L0 /  .y  L0 /4 : (2)
Z 0 DZ  L0 m ) D 2m

Let y QD
1 m. In order for the weight not to fall below y , the speed must become equal to zero at yQ D yQ .
Hence, letting v 0 for y D DQ
y , the last of Eqs. (2) gives

0 D 2g.yQ  L0 /  .y  L 0 /4 ;
Q (3)
2m
which is an equation in  whose solution is
 D .yQ 4mgL0/3 :

(4)
2
Recalling that m D 18 kg, g D 9:81 m=s , L0 D 0:5 m, and yQ D 1 m, we can evaluate Eq. (4) to obtain
2 2
 D 5651 kg=.m s /:

Dynamics 2e 123
Problem 2.80
Two masses mA and mB are placed at a distance r 0 from one another. Because of their mutual gravitational
attraction, the acceleration of sphere B as seen from sphere A is given by
r RD G
m A C mB  ;
r2
where G 6:674  1011 m3 =.kg  s2 / 3:439  108 ft3 =.slug  s2 / is the universal gravitational constant.
D D
If the spheres are released from rest, determine
(a) The velocity of B (as seen by A ) as a function of the distance r .

(b) The velocity of B (as seen by A ) at impact if r 0 D 7 ft, the weight of A is 2:1 lb, the weight of B is
0:7 lb, and
(i) The diameters of A and B are dA D 1:5 ft and dB D 1:2 ft, respectively.
(ii) The diameters of A and B are infinitesimally small.
Solution
Part (a). Recalling that we can relate the accelerat ion to the veloci ty and position as r R D rP d rP=dt , we can
then write
rP r
rR D rP ddrrP ) 0
P D
rdr G .mA C mB / r
1
r2
dr;
Z Z 0
1 2
rP D G mA C mB 
1 1 
 ) rPD 
p 2G .mA C mB /
r r0  r
; (1)
2 r r0 rr0
where we have chosen the negative root because the masses are moving toward each other.
Part (b). Now that we have the velocity as a function of positio n, we can proceed to answer the ques tions
posed in Part (b) of the problem. For question (i), when the masses touch r rA rB .dA dB /=2, so D C D C
that s
rPD 
p C mB / dA C2 dB r10 :
2G .mA  (2)
Recalling that G 3:439  D  108 ft3 =slug s2 , mA D 2:1 lb=g , mB D 0:7 lb=g , g D 32:2 ft=s , dA D 1:5 ft, 2
dB D D
1:2 ft, and r 0 7 ft, we can evaluate the above expression to obtain
5
r
PD 5:980  10 ft=s: (3)
For part (ii), we take the limit of Eq. (2) as r ! 0 to obtain
rP ! 1:


Problem 2.81
Two masses mA and mB are placed at a distance r 0 from one another. Because of their mutual gravitational
attraction, the acceleration of sphere B as seen from sphere A is given by
RD
r G
mA C mB  ;
r2
where G 6:674  1011 m3 =.kg  s2 / 3:439  108 ft3 =.slug  s2 / is the universal gravitational constant.
D D
Assume that the particles are released from rest at r r0. D
(a) Determine the expressio n relating their relativ e position r and time. Hint:
Zp x=.1  x/ dx D sin1px  
p x.1  x/:
(b) Determine the time it takes for the objects to come into contact if r 0 D 3 m, A and B have masses of
1.1 and 2:3 kg, respectively, and
(i) The diameters of A and B are dA D 22 cm and dB D 15 cm, respectively.

(ii) The diameters of A and B are infinitesimally small.
Solution
Part (a). To find the relation between position and velocity, we observe that we can relate the acceleration
to the velocity and position as r RDP P
r d r=dt . Hence, we can then write
Z rP Z r
d rP 1
rR D rP ) P D
rdr G .mA C mB / dr;
dr 0 r0 r2
where we have used the fact that the spheres are released from rest so P D 0 and have let their initial
r
separation distance be r 0 . These integrals can be evaluated to obtain
1 2
P D G mA C mB 
1 1 
) rP D
p C mB /
r r0  r
2r r

r0
 2G .mA
rr0
; (1)
where we have chosen the negative root because the masses are moving toward each other and so r is
decreasing.
Next, we observe that r PD D
dr=dt and we write d t d r= r . Using this expression and the expression for P
P
r in the last of Eqs. (1), we can then write
Z t
dt D 
1
Zr r
r
d r;
0 2G .mA C mB / r0 1  r= r0
where we have divided both the numerator and the denominator of the fraction under the square root by r 0
p
and we have used the fact that t 0 D
0 . Making the substitution x r=r 0 so that d r r 0 dx , and evaluating D D
the integral on the left-hand side, we obtain
3=2 Z r r=r 0
r0 x
t D  p 2G .mA C mB / 1 1x
dx :

Dynamics 2e 125
Using the hint given in the problem statemen t, this becomes becomes
3=2
t D  p r0 h sin1
px 
p iˇˇx .1  x/
r=r 0
;
2G .mA C mB / 1
" r s 3=2
r 0 r r
 r
 
#
) t Dp sin1  1  : (2)
C 2G .mA mB / r0 r0 r0 2
Part (b). We are given that r 0

11 3
D 3 m, mA D 1:1 kg, and mB D 2:3 kg, and we know that G D 6:674 
 2
10 m =kg s .
(i) Using dA 22 cm D D 0:2200 m, dB D 15 cm D 0:1500 m, and r D .dA C dB /=2 D 0:1850 m in
Eq. (2), we obtain
D 380;600 s: t
(ii) If the diameters are infinitesimally small, r ! 0 . Hence, from Eq. (2) we obtain
3=2
.=2/r 0
t D p 2G.mA C mB / ) t D 383;100 s.

Problem 2.82
R
Suppose that the acceleration r of an object moving alon g a straight line takes on the form
RD
r G
m A C mB  ;
r2
P
where the constants G , mA , and mB are known. If r.0/ is given, under what conditions can you determine
P
r.t/ via the following integral?
t
r.t/ r.0/  G
mA C mB dt:
P DP Z 0 r2
Solution
P
r.t/ can be determined if the position r of the object is known as a function of time t and if r.t/ ¤ 0 during
the time interval of interest.

Dynamics 2e 127
Problem 2.83
If the truck brakes hard enough that the crate slides to the right
relative to the truck, the distance d between the crate and the front
of the trailer changes according to the relation
RD
( k g C aT for t < ts ;
d
k g for t > ts ;
where ts is the time it takes the truck to stop, aT is the acceleration

of the truck, g is the acceleration of gravity , and  is the kinetic
friction coefficient between the truck and the crate.k Suppose that
the truck and the crate are initially traveling to the right at v 0 D
60 mph and the brakes are applied so that aT 10:0 ft=s2 . D
Determine the minimum value of  k so that the crate does not hit
the right end of the truck bed if the initial distance d is 12 ft. Hint:
The truck stops before the crate stops.
Solution
Referring to figure on the right, the acceleration of the truck relative

to the crate is given by
(
R D xR 1 D  k g C aT for t < ts ;
d (1)
xR 2 D  k g for t > ts ;
where ts is the time at which the truck comes to a stop, and where the
subscripts 1 and 2 are used to distinguish expressions corresponding
to t < ts from those for t > ts , respectively. Using the constant accelerat ion equation of the type v D
C
v0 ac .t  t0 /, the time ts at which the truck stops is
v0
0 D v 0 C aT ts ) ts D 
aT
; (2)
where v 0 is common the initial speed of the truck and crate. Letting x 1 be the position of the truck relative
to the crate at the time the truck comes to a stop, using the constant acceleration equation of the type
1 2
D C
s s 0 v0 t C
2 ac t , we have
x1 D x0 C xP 0ts C 21 xR 1ts2
D d C 21 .k g C aT / ts2; (3)
where x 0 D
d is the initial position of the truck relative to the crate and x0 0 is the initial velocity of the P D
truck relative to the crate.
After the truck comes to a stop, the truck continues to slide relative to the crate with the acceleration x2
in Eq. (1). Using this accelera tion, the distance the truck moves relati ve to the crate after the truck comes to a
stop can be found using
R
xf2 x12 2x2 xf  x1 ; R
P DP C 
(4)
where xf P D0 is the final velocity of the truck relative to the crate, x1 is the velocity of the truck relative to P
the crate at time t s , xf D
0 is final position of the truck relative to the crate, and x 1 is the position of the

truck relative to the crate at time t s and is given by Eq. (3). We now need to find x1 , which can be done using: P
P D xP 0 C xR 1ts ) xP 1 D .k g C aT / ts ;
x1 (5)
where we have again used the fact that xP 0 D 0 . Substituting Eqs. (1), (3) and (5) into Eq. (4), we obtain
0 D Œ. k g C aT / ts ç2 C 2. k g/ d 21 . k g C aT / ts2 :
    (6)
Finally, substituting in t s from Eq. (2), we get the final equation for  k :
2 2
0
D
. k g
C
aT /
 av  C 2.

0
T
k g/
" d 
1
2
. k g
C
aT /
 av  # ;

0
T
(7)
which, after simplification, becomes

2
0 D avT0 .k g C aT /  2d k g: (8)
Solving for  k we get

2
D g 2dva0 aT v2 ) k

k D 0:3012, (9)
T5280 0ft=s, aT D
where we have used v 0 D 60 mph D 60 3600 
2
10 ft=s , g D 32:2 ft=s , and d D 12 ft to 2
obtain the numerical result.

Dynamics 2e 129
Problem 2.84
Cars A and B are traveling at vA 72 mph and vB D 67 mph, D

respectively, when the driver of car B applies the brakes abruptly,
causing the car to slide to a stop. The driver of car A takes 1:5 s to
react to the situation and applies the brakes in turn, causing car A to
slide as well. If A and B slide with equal accelerations, i.e., sA R D
R D
sB k g , where  k D
0:83 is the kinetic friction coefficient
and g is the acceleration of gravity, compute the minimum distance
d between A and B at the time B starts sliding to avoid a collision.
Solution
We will denote by dA and dB the stopping distances of cars A and B , respectively. The stopping distance of
car B is completely determined by the application of the brakes. The stopping distance of car A is determined
by both the reaction time and the subsequent applica tion of the brakes, that is,
dA D dA C dA ;
r b
(1)
where dAr is the distance trave led by A during the reaction time and dAb is the distance trave led by A during
the application of the brakes. During the reaction time, the speed of A remains constant. Therefore,
dAr D vAtr ; (2)
where t r D
1:5 s is the reaction time of the driver of car A . After both cars apply the brakes, for both cars we
can use the constant acceleratio n equation v 2 v 02 2ac .s  s0 / to relate the speeds of the cars to their
D C
acceleration and stopping distances. Setting to zero the final velocities of both cars, we have
0 D vA2  2k gdAb ) dAb D 2vA2k g ; (3)

2
vB
0 D vB2  2k gdB ) dB D 2 k g : (4)
From Eqs. (1)–(4), we have
2 2
dA D vAtr C 2vAk g and dB D 2vBk g : (5)
We observe that, in order to avoid a collision, the separation d between A and B at the moment that B applies
the brakes must be such that dA D C
dB d . Then, using Eqs. (5), we have
d D dA  dB D 21k g vA2 2
 vB
Cv t : A r (6)
Recalling that  k 0:83, g 32:2 ft=s2 , vA 72 mph 72 5280

3600 ft =s, vB 67 mph 67 5280
3600 ft =s, and
tr D 1:5 s, we can Devaluate d Dto obtain D D D D
d D 186:4 ft:

Problem 2.85
The spool of paper used in a printing process is unrolled with velocity vp and acceleration ap . The
thickness of the paper is h , and the outer radius of the spool at any instant is r .
If the velocity at which the paper is unrolled is constant, determine the angular accelerati on ˛ s of the
spool as a function of r , h , and vp . Evaluate your answer for h 0:0048 in:, for vp 1000 ft=min, and D D
two values of r , that is, r 1 D
25 in: and r 2 10 in: D
Photo credit: © David Lees/CORBIS
Solution
The radius decreases by the paper thickness h for every one revolution. Hence, letting  be the angle
measuring the angular position of a fixed radial line on the spool (  increases when the spool turns clockwise),
then we have
r h
 2
: D (1)
Assuming that the decrease in radius can be viewed as occurring continuously, we can change the above
relation into a relation in terms of differentials. That is we can write
dr
D 2h : d

(2)
Next, observing that the angular velocity of the spool is ! s D d  =dt , we can then use the above equation to
relate the time rate of change of r to ! s by applying the chain rule as follows:
r P D ddtr D ddr ddt ) rP D 2h !s ) 

!s D  2
h
P
r: (3)
Recalling that the linear velocity of the paper is related to the angular velocity of the spool as vp D r !s , we
can use Eq. (3) to relate vp to r as follows: P
 2 hvp
vp D r !s ) vp D rr P ) rP D : (4)
h 2 r
Taking the time derivative of vp in the second of Eqs. (4), accounting for the fact that vp is constant (i.e.,
D
ap 0 ), and using the last of Eqs. (4), we have
 2 2  2 h2 vp2
a 0 rP rr 0 rr : (5)
p D D h C R ) D h  4 2 r 2 C R !
Taking the time derivati ve of the last of Eqs. (3) and solving the last of Eqs. (5) to find expressions for ˛ s and
R
r , respectively, we have
 2 h2 vp2
˛s
h
r and r D
4 r2 3
; R RD (6)

Dynamics 2e 131
which, when combined, imply that

2
D 2hv rp3 : ˛s
Evaluating the expression above for h D 0:0048 in: D .0:0048=12/ ft, vp D 1000 ft=min D .1000=60/ ft=s,
r1 D 25 in: D .25=12/ ft, and r 2 D 10 in: D .10=12/ ft, we have
˛s
ˇ r Dr1
D 0:001956 rad=s 2
and ˛s
ˇ r Dr2
D 0:03056 rad=s : 2

Problem 2.86
If the velocity at which the paper is unrolled is not constant, determine the angular acceleratio n ˛ s of
the spool as a function of r , h , vp , and ap . Evaluate your answer for h 0:0048 in:, vp 1000 ft=min, D D
ap 3 ft=s2 , and two values of r , that is, r 1 25 in: and r 2 10 in:
D D D
Solution
The radius decreases by the paper thickness h for every one revolution. Hence, letting  be the angle (in
radians) measuring the angular position of a fixed radial line on the spool (  increases when the spool turns
clockwise), then we have
r h
 2
: D (1)

dr
D 2h : d

(2)
rP D ddtr D ddr ddt ) rP D 2h !s ) 

!s D  2
h
P
r: (3)
 2 hvp
vp D r !s ) vp D h
rr P ) rP D 2 r
: (4)
Taking the time derivative of the second of Eqs. (4) and then using the last of Eqs. (4) to substitute for the
P
term r , we have
2  h2 v 2
vp ap h 4 2 r 2 r r :
p P D D
C R  (5) !
To find an expression for the term rR , we take the time derivative of rP in Eq. (3) and obtain
h 
rR D ˛s : (6)
2

Dynamics 2e 133
Substituting the result from Eq. (6) into Eq. (5), we have
 2
 h2 vp2 hr
!
ap D h 4 2 r 2

2
˛s : (7)
Then, solving for ˛ s and simplifying, we obtain
2
˛s D arp C 2hv rp3 :
Evaluating the expression above for h 0:0048 in: .0:0048=12/ ft, vp
D 1000 ft=min D .1000=60/ ft=s,
ap 3 ft=s2 , r 1 25 in: .25=12/ ft, and r 2 10 in: .10=12/ ft, we have
D D D D DD D
˛s
ˇ r Dr1
D 1:442 rad=s 2
and ˛s
ˇ r Dr2
D 3:631 rad=s : 2

Problem 2.87
If the velocity at which the paper is unrolled is constant, determine the angular acceleration ˛ s of
the spool as a function of r , h , and vp . Plot your answer for h 0:0048 in: and vp 1000 ft=min as a D D
function of r for 1 in:  r  25 in. Over what range does ˛ s vary?
Solution
The radius decreases by the paper thickness h for every one revolution. Hence, letting  be the angle
measuring the angular position of a fixed radial line on the spool (  increases when the spool turns clockwise),
then we have
r h
 2
: D (1)
dr
D 2h : d

(2)
rP D ddtr D ddr ddt ) rP D 2h !s ) 

!s D  2
h
P
r: (3)
 2 hvp
vp D r !s ) vp D rr P ) rP D : (4)
h 2 r
Taking the time derivative of vp in the second of Eqs. (4), accounting for the fact that vp is constant (i.e.,
D
ap 0 ), and using the last of Eqs. (4), we have
 2 2  2 h2 vp2
ap D0 D h
rP C r rR  ) 0 D h  4 2 r 2 C r rR ! : (5)
Taking the time derivative of the last of Eqs. (3) and the last of Eqs. (4) to find expressions for ˛ s and r , we R
can write
 2 h2 vp 2
˛s
h
r and r 2
D
4 r 3
; R RD (6)

Dynamics 2e 135
from which we have

2
˛s D 2hv rp3 :
To plot the above function, we first substitute the values of the known coefficients, i.e., we recall that
D
h 0:0048 in:, and vp D
1000 ft=min 200:0 in:=s and rewrite ˛ s as D
3 2
˛s D 30:56rin3 : =s : (7)
The above function can now be plotted. The plot below was generated using Mathematica with the following
code:
The quantity ˛ s appears to vary from 30:5 rad=s2 to close to zero as r varies from 1 in: to 4 in:

Problem 2.88
Derive the constant acceleration relation in Eq. (2.32), starting from Eq. (2.24). State what assumption you
need to make about the acceleration a to complete the derivation. Finally, use Eq. (2.27), along with the
result of your derivat ion, to derive Eq. (2.33). Be careful to do the integral in Eq. (2.27) before substituti ng
your result for v.t/ (try it without doing so, to see what happens). After completing this problem, notice
that Eqs. (2.32) and (2.33) are not subject to the same assumption you needed to make to solve both parts
of this problem.
Solution
Assuming that the acceleration is not equal to 0 and integrating Eq. (2.24), we have
t.v/ D t0 C a1c
Z v
dv ) t.v/ D t 0 C a1c .v  v0 / ) v D v0 C ac .t  t0 /: (1)
v0
Integrating Eq. (2.27) we have
s D s0 C a1c
Z v
v dv ) s D s0 C 2a1 c
v 2


v02 : (2)
v0
Substituting for v from Eq. (1), we obtain
D s0 C 2a1 c
s
h ac2 .t  t0 /
2
C 2v0ac .t  t0 /
i ; (3)
which can be simplified to obtain
1 2
s D s0 C v0.t  t0 / C 2 ac .t  t0 / : (4)

Dynamics 2e 137
Problem 2.89
The discussion in Example 2.12 revealed that the angle  had to be greater than  min D 0:716ı. Find an
analytical expression for  min in terms of h , w , and d .
Solution
The smallest possible angle (with respect to the horizontal) corresponds to the straight-line trajectory that
going from the point at which the ball is hit to the top of the center field wall.
Using elementary trigonometry, we have that the analytical expression of the slope of the straight-line
trajectory is
w h 
 D tan1 d
:
To achieve this trajectory the ball would need to be imparted an infinite speed. That is, the straight-line
trajectory cannot be achieved in practice.

Problem 2.90
A stomp rocket is a toy consisting of a hose connected to a “blast pad” (i.e., an air bladder)
at one end and to a short pipe mou nted on a tripod at the other end. A rocket wit h a
hollow body is mounted onto the pipe and is propelled into the air by “stomping” on
the blast pad. Some manufacturers claim that one can shoot a rocket over 200 ft in the
air. Neglecting air resistance, determine the rocket’s minimum initial speed such that it
reaches a maximum flight height of 200 ft.
Solution
The maximum height depends on the vertical component of the launch velocity. The higher
this component the higher the height. Therefore, the minimum value of the speed needed
to reach the desired height is found by launching the rocket purely in the vertical direction.
Referring to the figure at the right, we consider the case in which the motion is completely
in the y direction. Since the positive y direction is opposite to gravity, we have that the acceleration of the
rocket is y gRD D
constant. We can relate velocity to position using the following constant acceleration
equation:
y 2 y02  2g.y  y0 /;
P DP (1)
where yP 0 is the velocity of the rocket for y D y 0 , and where we choose y 0 to denote the launch position of
the rocket. Setting y 0 D 0 and recalling that the maximum height is achieved when yP D 0 , for y D h max
Eq. (1) becomes p
0 D yP02 2gh ) yP0 D 2gh ; max (2) max
where we have chosen the positive root since the rocke t is initi ally launched upward. Recalling that
hmax 200 ft and g 32:2 ft=s2 , and observing that the initial speed coincides with y0 , we can evaluate the
D D P
last of Eqs. (2) to obtain
vmin D 113:5 ft=s:

Dynamics 2e 139
Problem 2.91
An airplane flying horizontally at elevation h 150 ft and at a constant speed v 0 D80 mph drops a D
package P when passing over point O . Determine the horizontal distance d between the drop point and
point B at which the package hits the ground.
Solution
We model the motion of the package as projectile motion. Observing that the positive direction of the y axis
shown is opposite to that of gravity, we have that the components of the constant acceleration of the package
P are
x 0 and y g: RD RD (1)
Letting t denote time and t D
0 denote the instant at which the package is released, Eqs. (1), along with
Eq. (2.33) on p. 49, tell us that the x and y coordinates of the package as functions of time are
1 2
x.t/ D x.0/ C xP .0/t and y.t/ D y.0/ C y.0/t
P  2 gt ; (2)
where x.t/ and y.t/ are the x and y components of the package’s velocity. The package is released at a
P P
height h over point O . Also, the velocity of the package at the instant of release is equal to the velocity of the
plane. Hence, at the instant of release, we have
x.0/ D0; y.0/ D h; xP .0/ D v0; and P D 0:

y.0/ (3)
Substituting Eqs. (3) into Eqs. (2), x.t/ and y.t/ become:
1 2
x.t/ D v 0t and y.t/ Dh  2 gt : (4)
Let t i denote the time at which the package impacts the ground. Since y.ti / D 0, referring to the second of
Eqs. (4), we have s 2h
h  21 gt i2 D0 ) ti D : (5)
g
We now observe that d D x .ti /. Substituting the second of Eqs. (5) into the first of Eqs. (4), we have
2h
d D v0 g
: (6)
Recalling that v 0
sD
D 80 mph D 80.5280=3600/ ft=s, h 150 ft, and g D 32:2 ft=s , we can evaluate Eq. (6) 2
to obtain
d D 358:1 ft:

Problem 2.92
An airplane flying horizontally at elevation h D

60 m and at a constant speed v 0 120 km=h drops a D
package P when passing over point O . Determine the time it takes for the package to hit the ground at
point B . In addition, determ ine the velocity of the package at B .
Solution
We model the motion of the package as projectile motion. Observing that the positive direction of the y axis
shown is opposite to that of gravity, the components of the constant acceleration of the package P are
xR D0 and yRD g: (1)
Letting t denote time and t D

0 denote the instant of release, Eqs. (1), along with Eq. (2.32) on p. 49 and
Eq. (2.33) on p. 49, tell us that the x and y components of the velocity of the package, along with the x and
y coordinates of the package as functions of time are
1 2
P D xP .0/; y.t/
x.t/ P D y.0/P gt; x.t/ D x.0/ C xP .0/t; and y.t/ D y.0/ C y.0/t
 P 2 gt ; (2) 
where xP .t/ and yP .t/ are the x and y components of the package’s velocity. Since the package is released at a
height h over point O while traveling with the airplane, at the instant of release we have
x.0/ D0; y.0/ D h; xP .0/ D v0; and P D 0:

y.0/ (3)
Substituting Eqs. (3) into Eqs. (2), we have

1 2
P D v0; y.t/
x.t/ P D gt; x.t/ D v0t; and y.t/ Dh  2 gt : (4)
Let t i be the time at which P impacts the ground. Since y .ti / D 0, referring to the last of Eqs. (4), we have
h  12 gt i2 D0 ) ti
p
D 2h=g: (5)
2
Recalling that hD 60 m and g D 9:81 m=s , we can evaluate the last of Eqs. (5) to obtain
ti D 3:497 s:
Denoting the velocity of P at B by vEB , we now observe that the velocity at B is vEB D xP .t i / {O C y.t
P i / |O.
Hence, substituting the second of Eqs. (5) into the first two of Eqs. (4), we have
vEB D v 0 {O g 2h=g |O :  p (6)

2
Recalling that v 0 D 120 km=h D 120.1000=3600/ m=s, h D 60 m, and g D 9:81 m=s , Eq. (6) gives
vEB D .33:33 {O 34:31 |O / m=s: 

Problem 2.94
The jaguar A leaps from O at speed v0 6 m=s and angle D

ˇ D35ı relative to the incline to try to intercept the panther
B at C . Determine the distance R that the jaguar jumps from
O to C (i.e., R is the distance between the two points of the
trajectory that intersect the incline), given that the angle of the
incline is  25 ı .
D
Solution
The acceleratio n of A is completely in the vertical directi on. Hence,

referring to the figure at the right, the components of the acceleration
of A in the x and y directions are x g sin  and y RD
g cos  . RD
The components of the initial velocity of A are v x0 v 0 cos ˇ and D
vy0 Dv0 sin ˇ . Observing that the x and y components of accel-
eration of A are both constants, we can use constant acceleration
equations to write
D v0.cos ˇ/t C 21 g.sin  /t 2 D tv0 cos ˇ C 21 g.sin  /t; (1)

x
y D v 0 .sin ˇ/t 12 g. cos  /t 2 D t v0 sin ˇ 12 g. cos  /t ; (2)
 
where we have accounted for the fact that, at time t D 0 , A is at the srcin of the chosen coordinate system.
Denoting by t C the time at which A reaches C , we observe that for t tC , y 0 . Therefore, from Eq. (2),
D D
D v0 sin ˇ 12 g.cos  /tC
0  ) tC D 2vg 0cossinˇ : (3)
Observing that, for t D t C , x .tC / D R , substituting the last of Eqs. (3) into Eq. (1), we have
D 2vg0cossinˇ C 12 g.sin  / 2vg0cossinˇ

 
R v0 cos ˇ ; (4)

2
D 2vg0cossinˇ cos ˇ C tan  sin ˇ:
R (5)
Recalling that v 0 D 6 m=s, ˇ D 35ı , g D 9:81 m=s , and  D 25ı , we can evaluate the above result to
2
obtain
R D 5:047 m:

Dynamics 2e 145
Problem 2.97
A golfer chips the ball into the hole on the fly from the rough at the
edge of the green. Letting ˛ 4ı and d D
2:4 m, verify that the D
golfer will place the ball within 10 mm of the center of the hole if
the ball leaves the rough with a speed v 0 5:03 m=s and an angle D
ˇ 41 ı .
D
Solution
Referring to the figure at the right, we will use the coordinate system
with axes x 1 and y 1 , which are horizontal and vertical, respectively. The
acceleration of the ball in this coordinate system has components
xR 1 D 0 and yR1 D g: (1)

Letting t D 0 be the initial time, and using constant accelera tion equations,
we have
P D v 0 cos.˛ C ˇ/
x1 and P D v 0 sin.˛ C ˇ/
y1  gt; (2)
where the have used the fact that the initial velocity of the ball is v.0/ E D v0.cos.˛ C ˇ/ {O C sin.˛ C ˇ/ |O/.
Integrating Eqs. (2) with respect to time, and enforcing the fact that x 1 D 0 and y1 D 0 for t D 0, we have
x1 D v 0 cos.˛ C ˇ/t and y1 D v 0 sin.˛ C ˇ/t 12 gt 2 :  (3)
From the first of Eqs. (3) we have t x 1 =Œv0 cos.˛ ˇ/ ç. Substituting this resul t into the second of Eqs. (3),
we have D C  g sec2.˛ C ˇ/  2
y1 D tan .˛ C ˇ/x 1 x1 :  (4)
2v02
Recalling that ˛ D 4 ı and ˇ D 41 ı , so that ˛ C ˇ D 45 ı , tan .˛ C ˇ/ D 1 and sec 2 .˛ C ˇ/ D 2 , so that
Eq. (4) simplifies to:
g 2
y1 D x 1 x :  (5)
v02 1
The x 1 and y 1 coordinates of the point at which the ball lands must satisfy the condition x 1 tan ˛ D y1 .
Combining this requirement with Eq. (5) we have
2
x1 tan ˛ D vg0 1 tan ˛ D 2:399 m;
D x1 
g
v02
x12 ) x1 (6) 
where we have used the following numerical values: v 0 D 5:03 m, g D 9:81 m=s , and ˛ D 4 ı . The value 2
of x 1 in Eq. (6) is the x 1 coordinate of the ball’s landing spot. With this information , letting dL denote
the distance between the ball’s landing spot and the the golfer, we can determine dL using trigonometry as
follows:
x1
dL
D cos ˛ D 2:405 m ) d dL D 0:005 m < 10 mm;  (7)
where we have used the fact that ˛ D 4 ı and d D 2:4 m. We can then conclude that
The golfer’s chip shot is successful.

Problem 2.98
In a movie scene invol ving a car chase, a car goes over the top of a ramp
at A and lands at B below.
If ˛ 20 ı and ˇ 23 ı , determine the distance d covered by the
D D
car if the car’s speed at A is 45 km=h. Neglect aerodynamic effects.
Solution
The acceleration of the car in the xy coordinate system shown is

ED
a g sin ˇ {  g cos ˇ | O O ) RD
x g sin ˇ and y g cos ˇ: RD (1)
We set t D
0 to be the time at which the car jumps off at the srcin A . Hence,
D
y 0 at t D
0 . Also, at t D
0 , the velocity components of the cars are
vx .0/ D v 0 cos.˛ C ˇ/ and vy .0/ D v0 sin.˛ C ˇ/: (2)
Hence, using the above considerations along with constant acceleration equations, the y coordinate of the car
as a function of time is given by
1 2
y D v 0 sin.˛ C ˇ/t  2 g. cos ˇ/t : (3)
Letting tB denote the time at which the car lands at B , since yB D 0, from Eq. (3) we have
v0 sin.˛ C ˇ/tB 1 2
 2 .g cos ˇ/tB D0 ) tB D 2v0 gsincos.˛ ˇC ˇ/ : (4)
Next observing that the x component of the acceleration in the second of Eqs. (1) is also constant, using
constant acceleration equations, the x coordinate of the car as a function of time is given by
x D v 0 cos.˛ C ˇ/t C 12 .g sin ˇ/t 2: (5)
2
xB D d D 2v0 gsincos.˛ ˇC ˇ/ Œcos.˛ C ˇ/ C tan ˇ sin.˛ C ˇ/ç: (6)
Recalling that v0 45 km=h D D

45.1000=3600/ m=s, ˛ D 20ı, ˇ D 23ı, and g D 9:81 m=s , we can 2
evaluate the above result to obtain

d D 24:09 m: (7)

Dynamics 2e 147
Problem 2.99
In a movie scene invol ving a car chase, a car goes over the top of a ramp
at A and lands at B below.
Determine the speed of the car at A if the car is to cover distance
d D 150 ft for ˛ 20 ı and ˇ 27 ı . Neglect aerodynamic effects.
D D
Solution
The acceleration vector of the car in the xy coordinate system shown is

ED
a g sin ˇ {  g cos ˇ | O O ) RD
x g sin ˇ and y g cos ˇ: RD (1)
We set t D
0 to be the time at which the car jumps off at the srcin A . Hence,
D
y 0 at t D
0 . Also, at t D
0 , the velocity components of the cars are
vx .0/ D v 0 cos.˛ C ˇ/ and vy .0/ D v0 sin.˛ C ˇ/: (2)
Hence, using the above considerations along with constant acceleration equations, the y coordinate of the car
as a function of time is given by
1 2
y D v 0 sin.˛ C ˇ/t  2 g. cos ˇ/t : (3)
Letting tB denote the time at which the car lands at B , since yB D 0, from Eq. (3) we have
v0 sin.˛ C ˇ/tB 1 2
 2 .g cos ˇ/tB D0 ) tB D 2v0 gsincos.˛ ˇC ˇ/ : (4)
Next observing that the x component of the acceleration in the second of Eqs. (1) is also constant, using
constant acceleration equations, the x coordinate of the car as a function of time is given by
x D v 0 cos.˛ C ˇ/t C 12 .g sin ˇ/t 2: (5)
2
xB D d D 2v0 gsincos.˛ ˇC ˇ/ Œcos.˛ C ˇ/ C tan ˇ sin.˛ C ˇ/ç; (6)
which can be solved for v 0 to obtain

s dg cos ˇ
v0 D
C ˇ/Œ cos.˛ C ˇ/ C tan ˇ sin.˛ C ˇ/ ç :
2 sin.˛
(7)
Recalling that d D 150 ft, ˛ D 20 ı , ˇ D 27 ı , and g D 32:2 ft=s , Eq. (7) can be evaluated to obtain 2
v0 D 52:82 ft=s:

Problem 2.100
The M777 lightweigh t 155 mm howitzer is a piece of artillery whose

rounds are ejected from the gun with a speed of 829 m=s. Assuming that
the gun is fired over a flat battlefield and ignoring aerodynamic effects,
determine (a ) the elevation angle needed to achieve the maximum range,
(b ) the maximum possible range of the gun, and ( c ) the time it would
take a projectile to cover the maximum range. Express the result for
the range as a percentage of the actual maximum range of this weapon,
which is 30 km for unassisted ammunition.
Photo credit: U.S. Army Photo
Solution
We will solve the problem using the xy coordinate system show n in the figure at the right.
The x axis is assumed to lie on the ground. We assume that the projectile is launched at
D
t 0 from the srcin. The acceleration of the projectile is constant and has horizontal and
vertical components x 0 and y RD RD
g , respectively. Then, letting  be the elevation angle
and v 0 the intial speed of the projectile, and using constant acceleration equations, the x and
y coordinates of the projectile are given by
D .v0 cos  /t and y D .v0 sin  /t 21 gt 2:
x (1) 
Denoting the time of flight by tf , then y D 0 for t D tf . Hence, from the second of Eqs. (1), we have
tf D 2v 0 sin  =g: (2)
The range R is given by the value of x for t D tf . Substituting Eq. (2) into the first of Eqs. (1), and using the
trigonometric identity 2 sin  cos  D sin 2 , we have
R D .v 02 =g/ sin 2 : (3)
Part (a). From Eq. (3), R occurs when sin 2 D 1 . This equation has infinitely many solutions for  ,
max
but the only meaningful solution is
2Rmax D 2 rad ) Rmax D 4 rad D 45ı: (4)
Part (b). Substituting the last of Eqs . (4) into Eq. (3), we ha ve that R max is
Rmax D v02=g: (5)
2
Recalling that v 0 D D
829 m=s and g 9:81 m=s , and expressing R max as a percentage of the actual range of
30 km, we can evaluate the above expression to obtain
Rmax D 233:5% of the actual maximum rang e :

Part (c). Denoting the time the projectile takes to cover R max by t Rmax , we have that t Rmax is equal to tf for
 D Rmax . Hence, substituting the last of Eqs. (4) into Eq. (2), we have
tR D p2v0 =g: max (6)

2
Recalling that v 0 D 829 m=s and g D 9:81 m=s , we can evaluate the above result to obtain
tR D 119:5 s: max

Dynamics 2e 149
Problem 2.101
You want to throw a rock from point O to hit the vertical advertising
sign AB , which is R D
30 ft away. You can throw a rock at the speed
D
v0 45 ft=s. The bottom of the sign is 8 ft off the ground and the sign
is 14 ft tall. Determine the range of angles at which the projectile can
be thrown in order to hit the target, and compare this with the angle
subtended by the target as seen from an observer at point O . Compare
your results with those found in Example 2.11.
Solution
This problem can be solved as illustrated in Example 2.11 on p. 70 of the textbook. We recall Eq. (7) in
Example 2.11 on p. 70 of the textbook:
v02 ˙
q v04  g.gR2 C 2y v02/
tan  D gR
: (1)
Observe that we are given all of the data needed to use the above equation. Namely, we havev 0 45 ft=s, D
g 32:2 ft=s2 , R 30 ft, so that substituti ng in the above equati on yA 8 ft and yB 22 ft we have
D D D D
(
D 30:43ı;
1
y D yA D 8 ft ) 2 D 74:50 ı ;
(2)
(
56:84ı ;
y D yB D 22 ft ) 1 DD 69:41 ı:
(3)
2
Following the same logic as in Example 2.11, we obtain the two ranges of firing angles as
30:43ı    56:84ı and 69:41ı    74:50 ı :
The sizes of these intervals are, respectively,
1 D 26:41ı and 2 D 5:087ı:

The angle subtended by the target as seen from an observer at point O is
 22  8
ˇ D tan1 30
 tan1
30
) ˇ D 21:32ı: (4)
Unlike Example 2.11, the difference between the angle subtended by the target
and  1 or  2 is significant. In addition, we see that the value of  1 is much
closer to ˇ than 2 .

Problem 2.102
Suppose that you can throw a projectile at a large enough v 0 so

that it can hit a target a distance R downrange. Given that you
know v 0 and R , determine the general expressions for the two
distinct launch angles  1 and  2 that will allow the projectile to
hit D . For v 0 D
30 m=s and R D
70 m, determine numerical
values for  1 and  2 .
Solution
Using the axes in the figure, the components of the acceleration of the projectile are x 0 and y g , RD RD
where g is the acceleration due to gravity. Therefore, the acceleration of the projectile is constant and applying
the constant accele ration relation in Eq. (2.33) on p. 49 of the textbook, we have
x D y0 C .v0 sin  /t 12 gt 2;
D x0 C .v0 cos  /t; and y (1) 
where we have accounted for the fact that the projectile is at O for t D 0 , and where we have denoted by
 the orientation of the initial velocit y of the projectile. For x D R we have that y D 0. Enforcing this
condition, Eqs. (1) give
1 2
R D x0 C .v0 cos  /tD ; and 0 D y 0 C .v0 sin  /tD  2 gtD ; (2)
where tD is the time the projectile takes to go from O to D . Eliminating tD from Eqs. (2), with x 0 D 0 and
D
y0 0 , we have
gR  2v02 sin  cos  0 sin.2 / gR=v02 ; (3)
D ) D
where, in writing the second of Eqs. (3), we have used the trigonometric identity sin .2 / D 2 sin  cos  . As
long as the values of R and v 0 are such that gR=v02  1, and observing that the physically acceptable values
of  lie in the range 0    90ı , we have that the last of Eqs. (3) admits the following two solutions:
1 D 21 sin1.gR=v02/ and 2 D 90ı 1

 2 sin 1 .gR=v02 /:
2
For the given values of R D 70 m and v0 D 30 m=s, and recalling that g D 9:81 m=s , we can evaluate 1
and  2 to obtain
1 D 24:86 ı and 2 D 65:14ı:

Dynamics 2e 151
Problem 2.103
An alpine ski jumper can fly distances in excess of 100 m by using

his or her body and skis as a “wing” and therefore, taking advantage
of aerodynamic effects. With this in mind and assuming that a
ski jumper could survive the jump, determine the distance the
jumper could “fly” without aerodynamic effects, i.e., if the jumper
were in free fall after clearing the ramp. For the purpose of your
calculation, use the following typical data: ˛ 11ı (slope of
D
ramp at takeoff point A), ˇ D 36ı (average slope of the hill),
v 0 D 86 km=h (speed at A ), h D 3 m (height of takeoff point with

respect to the hill). Finally, for simplicity, let the jump distance be
the distance between the takeoff point A and the landing point B .
Solution
We will solve the problem using a Cartesian coordinate system with srcin at A and
axes x and y oriented such that the x axis is parallel to the hill (see figure at the right).
In the chosen coordinate system, the veloci ty of the jumper at A is
E D v0 cos.ˇ
vA  ˛/ { O C v0 sin.ˇ  ˛/ | :O (1)
Once airborne, the acceleration of the jumper is
aE D g sin ˇ {O  g cos ˇ | : O (2)
Using constant acceleration equations, we then have that

1 2 1 2
x v 0 cos.ˇ  ˛/t 2 .g sin ˇ/t and y v 0 sin.ˇ  ˛/t  2 .g cos ˇ/t ; (3)
where we have set D t D 0 to be theCtime at which the jumperDtakes off at A, and where we have accounted
for the fact that, at t D 0 , the velocity of the jumper is that in Eq. (1). Letting tB denote the time at which
the jumper lands at B , we can replace t with tB in the second of Eqs. (3) and enforce the condition that
yB D h cos ˇ . This gives

h cos ˇ D v 0 sin.ˇ ˛/tB 21 .g cos ˇ/tB2

 
v sin.ˇ ˛/ ˙ v02 sin 2 .ˇ ˛/ C 2hg cos2 ˇ 

q 
) tB D 0 g cos ˇ
: (4)
The solution for tB corresponding to the minus sign in front of the square root is negativ e. Hence, the
only acceptable value for tB is that with the sign. Recalling that v 0 C
86 km=h 86.1000=3600/ m=s, D D
ˇ 36 ı , ˛ 11 ı , h 3 m, and g 9:81 m=s2 , we then have
D D D D
tB D 2:765 s: (5)
Using the data listed right above Eq. (5) and substituting tB into the first of Eqs. (3), we have xB D 81:92 m.
 
Then, recalling that h cos ˇyB 2:427 m, we have that
D 2 the D
2distance between points A and B can be
q
calculated using the Pythagorean theorem, i.e., dAB xB yB which gives D C
dAB D 81:96 m: (6)

Problem 2.104
A soccer player practices kicking a ball from A directly into the goal (i.e., the ball does not bounce first)
while clearing a 6 ft tall fixed barrier.
Determine the minimum speed that the player needs to give the ball to accomplish the task. Hint:
Consider the equation for the projectile’s trajectory of the form y C 0 C1 x C2 x 2 , with the y axis D C C
parallel to the direction of gravity, for the case in which the ball reaches the goal at its base. Solve this
equation for the initial speed v 0 as a function of the initial angle  , and finally find .v 0 /min as you learned
in calculus. Don’t forget to check whether or not the ball clears the barrier.
Solution
The coordinate system shown at the right has srcin at A , the position of the ball
at t D0 . The trajectory of the ball has the form y C 0 C1 x C2 x 2 . To find D C C
C0 , C 1 and C 2 we proceed as follows. First, we observe that y 0 for x 0, D D
which implies that C 0 D
0 . Second, recall that the velocity is always tangen t to the
trajectory. Therefore, given that ˇ is the orientation of the velocity at t 0, the D
slope of the trajectory at x D
0 must be equal to tan ˇ , i.e., C 1 .dy=dx/ xD0 tan ˇ . We know that the D D
trajectory has the form y . tan ˇ/x C2 x 2 . To find C 2 , we now recall that y g. Using the chain rule
D C RD
to differentiate the trajectory with respect to time, we have
P D .tan ˇ/xP C 2C2xxP ) yR D .tan ˇ/xR C 2C2xP 2 C 2C2xxR :

y (1)
Since xR D 0, xP is constant and therefore equal to its initial value, i.e., xP D v0 cos ˇ . Substituting this
condition into the last of Eqs. (1) along with yR D g , we have 
g D 2C 2 .v0 cos ˇ/ 2 ) C2 D g sec2 ˇ=.2v 02 /:

 (2) 
In summary, the trajectory of the ball is given by
y D .tan ˇ/x  Œg sec2 ˇ=.2v 02 /çx 2 : (3)
Let x G D
80 ft and y G D 0 be the coordinates of the base of the goal. For the ball to land at the base of the
goal, we have p
0 D . tan ˇ/x G Œg sec2 ˇ=.2v 02 /çxG

2
) v0 D gxG = sin 2ˇ: (4)
Minimizing v 0 with respect to ˇ requires making the denominator of the fraction under the square root of the
last of Eqs. (4) as large as possible. The maximum value of the sine function is 1, which is achieved when
D
2ˇ .  =2/ rad. Hence, we have
ˇ D .=4/ rad ) .v0 /min D pgxG ) .v0 /min D 50:75 ft=s, (5)
where we have used the fact that g 32:2 ft=s2 and x G 80 ft. Substituting ˇ
D . =4/ rad and v 0 D D D
.v0 /min into Eq. (3), and computing the value of y corresponding to x 58 ft (which is the x coordinate of D
the barrier), we have
y.58 ft/ 15:94 ft > 6 ft; D
that is, the ball clears the obstacle in front of the goal.

Dynamics 2e 153
Problem 2.105
A soccer player practices kicking a ball from A directly into the goal (i.e., the ball does not bounce first)
while clearing a 6 ft tall fixed barrier.
Find the initial speed and angle that allow the ball to barely clear the barrier while barely reaching
the goal at its base. Hint: A projectile’s trajectory can be given the form y C1 x  C2 x 2 , where the D
coefficients C 1 and C 2 can be found by forcing the parabola to go through two given points.
Solution
As explained in the hint, the trajectory can be given the form
y D C 1x  C2 x 2 ; (1)
where, referring to the figure at the right, it is understood that the srcin of the
coordinate system used is at point A . Let xB 58 ft and yB D
6 ft be the coordinates of the top of the D
barrier. Also, let x G D
80 ft and y G D
0 be the coordinates of the base of the goal. The ball must barely
clear the barrier and then it must barely reach the goal. Hence, we have
2 2
yB D C1xB  C2 xB and 0 D C 1 xG  C 2 xG : (2)
The above equations form a system of two equations in the two unknowns C 1 and C 2 whose solution is
xG yB yB
C1 and C2 : (3)
xB / D xB .xG xB .xG  xB /
 D
We now need to relate the coefficients C 1 and C 2 to the initial speed and angle of the ball. To do so, we begin
with noticing that since the velocity is tangent to the trajectory, and since the initial orientation of the velocity
is the angle ˇ , the slope of the trajectory at x D
0 must be equal to tan ˇ . That is
D C1 D tan ˇ ) ˇ D tan1 xB .xxGG yB xB / ) ˇ D 20:62ı,

 
.dy=dx/ xD0 (4)

where we have used the fact that x G D 80 ft, yB D 6 ft, and xB D 58 ft. Next we recall that yR D g . Using
the chain rule to differentiate Eq. (1) with respect to time, we have
P D C1xP 2C2xxP ) yR D C1xR 2C2xP 2 2C2xxR:

y  (5)
 
We now observe that we have xR D 0 . This also implies that xP is constant and therefore equal to its initial
value, i.e., xP D v 0 cos ˇ . Enforcing these conditions, along with yR D g , in the last of Eqs. (5), we have 
g D 2C2 .v0 cos ˇ/ 2 ) v0 D g=.2C 2 / sec ˇ:

  (6)
p
Now that ˇ is known, recalling again that x G 80 ft, yB 6 ft, and xB 58 ft and using the second of
Eqs. (3) to evaluate C 2 , we can evaluate v 0 to obtain D D D
v0 D 62:52 ft=s;
2
where we have also used the fact that g D 32:2 ft=s .

Problem 2.106
In a circus act a tiger is required to jump from point A to point C so that it goes through the ring of fire at
B . Hint: A projectile’s trajectory can be given the form y C 1 x  C2 x 2 , where the coefficients C 1 and
D
C2 can be found by forcing the parabola to go through two given points.
Determine the tiger’s initial velocity if the ring of fire is placed at a distance d 5:5 m from A. D
Furthermore, determine the slope of the tiger’s trajectory as the tiger goes through the ring of fire.
Solution
Referring to the figure at the right, we adopt a Cartesian coordi-

nate system with srcin at A . The trajectory of the tiger is of the
form:
y C 1 x  C2 x 2 : D (1)
We find C 1 and C 2 by observing that the tiger passes through

point B of coordinates .xB ; yB / D
.5:5; 3/ m, and lands at C
of coordinates .x C ; yC / D
.9; 0:5/ m. Using Eq. (1) to enforce
these conditions, we have
yB D C 1xB  C2 xB
2 and yC D C 1 xC  C 2 xC
2; (2)
which is a system of two equations in the two unknowns C 1 and C 2 whose solution is
2 2
C1 D xxCCxyBB.xCxB yxCB /


and C2 D xxCCxyBB.xCxB yxCB / :


(3)
We now need to relate the C 1 and C 2 to the initial speed and angle of the tiger. To do so, we notice that since
the velocity is tangent to the trajectory, and since the initial orientation of the velocity is the angle ˇ , the
slope of the trajectory at x D
x y 2 2
C B  xB yC

.dy=dx/ xD0 D C1 D tan ˇ ) ˇ D tan1 xC xB .xC  xB /
D 52:75 ı; (4)
where we have used the fact that .x B ; yB / .5:5; 3/ m and .x C ; yC / D

.9; 0:5/ m. Next we recall th at D
RD
y g . Using the chain rule to differentiate Eq. (1) with respect to time, we have
2
y
P D C1xP 2C2xxP ) yR D C1xR 2C2xP 2C2xxR:
 (5)  
We now observe that we have xR D 0 . This also implies that xP is constant and therefore equal to its initial
value, i.e., xP D v 0 cos ˇ . Enforcing these conditions, along with yR D g , the last of Eqs. (5) gives 
g D 2C2 .v0 cos ˇ/ 2 ) v0 D g=.2C 2 / sec ˇ ) v0 D 9:781 m=s;

 
p (6)

Dynamics 2e 155
D
where, again recalling that .xB ; yB / .5: 5; 3/ m and .x C ; yC / D
.9; 0:5/ m, we have evaluated v 0 by first
evaluating C 2 in the last of Eqs. (3) and then the angle ˇ in the last of Eqs. (4). Now that v 0 and ˇ are known,
E D OC O
observing that vinitial v 0 cos ˇ { v 0 sin ˇ | , we can evaluate vinitial to obtain E
E
vinitial D .5:920 {O C 7:786 |O/ m=s:
The slope of the trajectory is obtained by differentiating Eq. (1) with respect to x :
dy=dx D C1  2C2 x: (7)
Recalling that .xB ; yB / .5:5; 3/ m and .x C ; yC /

DD D .9; 0:5/ m, and evaluating C1 and C2 in Eqs. (3), we
can evaluate to slope at x xB to obtain
dy
ˇˇ D 0:2244:
dx x DxB

Problem 2.107
In a circus act a tiger is required to jump from point A to point C so that it goes through the ring of fire at
B . Hint: A projectile’s trajectory can be given the form y C 1 x  C2 x 2 , where the coefficients C 1 and
D
C2 can be found by forcing the parabola to go through two given points.
Determine the tiger’s initial velocity, as well as the distance d so that the slope of the tiger’s trajectory
as the tiger goes through the ring of fire is completely horizon tal.
Solution
Referring to the figure at the right, we will be using a Cartesian

coordinate system with srcin at A . The trajectory of the tiger is
y D C 1x  C2 x 2 ; (1)
where C 1 and C 2 are constants to be determined by making sure

that the tiger passes through point B of coordinates .xB ; yB / D
.d;3 m/ with zero slope, and then lands on point C of coordi-
nates .x C ; yC / D
.9 m;0:5 m/. Using Eq. (1) to enforce these
conditions, we have
2
ˇˇ yB D C1xB  C2 xB ) 3mD C 1d C2d 2;  (2)
dy
dx
D0 ) 0 D C 1 2d C2  (3)
x Dd
2 2
y C D C 1 xC  C2 xC ) 0:5 m D .9 m/C1 .81:00 m /C2 :  (4)
The last of Eqs. (2)–(4) form a system of three equations in the three unknowns d , C 1 , and C 2 , which can be
solved numerically. For example we have used Mathematica with the following code
which yields the following two solutions:
D
C1 0:05809 C 2 D 0:0002812 m 1
d D 103:3 m; (5)
 1
D
C11:275 C 2 D 0:1355 m d D 4:705 m: (6)
Because the first solution implies that d > xC , the solution in question is not acceptable and therefore we
have that the only acceptable solution is
C1 D1:275; C 2 D 0:1355 m ; 1
d D 4:705 m. (7)

Dynamics 2e 157
Now we turn to the determination of the initial velocity of the tiger. To do so, we notice that since the velocity
is tangent to the trajectory, and since the initial orientation of the velocity is the angle ˇ , the slope of the
trajectory at x D
.dy=dx/ xD0 D tan1.C1/ D 51:89ı;

D C1 D tan ˇ ) ˇ (8)
where we have used the numerical solution for C 1 . Next we recall that yR D g . Differentiating Eq. (1) with 
respect to time, we have
yP D C1xP  2C2 x xP ) yR D C1xR  2C2 x 2  2C2 x x:

P R (9)
We now observe that we have x 0 . This also implies that x is constant and therefore equal to its initial
RD P RD
value, i.e., x PD
v 0 cos ˇ . Enforcing these conditions, along with y g , the last of Eqs. (9) gives
g D 2C2 .v0 cos ˇ/

2
) v0 D p g=.2C 2 / sec ˇ ) v0 D 9:749 m=s; (10)
where we have used the fact that g 9:81 m=s2 , and, again, we have used the numerical solution for C 2 and
D
E D
ˇ . Now that v 0 and ˇ are known, observing that vinitial v 0 cos ˇ { v0 sin ˇ | , we can evaluate vinitial to OC O E
obtain
E
vinitial D .6:017 {O C 7:671 |O/ m=s:

Problem 2.108
A jaguar A leaps from O at speed v0 and angle ˇ relative to the incline to attack a panther B at C .
Determine an expression for the maximum perpendicular height h max above the incline achieved by the
leaping jaguar, given that the angle of the incline is  .
Solution
We will use a Cartesian coordinate system aligned with the incline

as shown at the right. The acceleration vector is then given by
aE D g sin  {O  g cos  | O ) ay D g cos  :
Applying the constant acceleratio n equation in the y direction, we

have
vy2 v 0y2
D
2ay .y  y0 /: C (1)
At the h max position the y component of velocity must be equal to
zero. Enforcing this condition, we have

0 D .v 0 sin ˇ/2  2g cos  .hmax  0/: (2)
Solving Eq. (2) for h max , we obtain
2 2
hmax D v2g0 sincos ˇ :

Dynamics 2e 159
Problem 2.109
The jaguar A leaps from O at speed v 0 and angle ˇ relative to

the incline to intercept the panther B at C . The distance along
the incline from O to C is R , and the angle of the incline with
respect to the horizontal is  .
Determine an expression for v 0 as a function of ˇ for A to
be able to get from O to C .
Solution
Using the xy coordinate system shown at the right, we write the

following two constant acceleration equations describing the x and
y coordinates of jaguar A as a function of time:
x D x0 C v0x t; (1)
1 2
y D y0 C v0yt  2 gt ; (2)
where it is understood that the jaguar leaps at time t 0, and D

where .x0 ; y0 / are the coordinates of the point from which the
jaguar leaps. Since the jaguar leaps from the srcin of the chosen
coordinate system, letting t C denote the time at which jaguar A arrives at C , we have
R cos  D Œv0 cos.ˇ   /ç tC ; (3)

R sin  D Œv0 sin.ˇ   /ç tC  12 gt C2 ; (4)
where R is distance from O to C . Eliminating t C from Eqs. (3) and (4) gives
gR cos2 
 sin  D cos  tan.ˇ  / 
2v02 cos2 .ˇ   /
: (5)
Multiplying all terms in the above equation by cos.ˇ   /, we have
gR cos2 
 sin  cos .ˇ   / D cos  sin.ˇ  / 
2v02 cos.ˇ   /
2 2
) sin  cos .ˇ   / C cos  sin.ˇ  / D 2vgR2 coscos
.ˇ  /
) sin ˇ D 2vgR2 coscos
.ˇ  /
; (6)
0 0
where we have used the identity sin .A C B/ D sin A cos B C cos A sin B . Solving the last of Eqs. (6) for v0 ,
we have
v0 D r p gR cos  :
2 sin ˇ cos.ˇ   /

Problem 2.110
The jaguar A leaps from O at speed v 0 and angle ˇ relative to

the incline to intercept the panther B at C . The distance along
the incline from O to C is R , and the angle of the incline with
respect to the horizontal is  .
Derive v0 as a function of ˇ to leap a given distance R
along with the optimal value of launch angle ˇ , i.e., the value
of ˇ necessary to leap a given distance R with the minimum
v0 . Then plot v0 as a function of ˇ for g D 9:81 m=s2 ,
ı
R D 7 m, and  D 25 , and find a numerical value of the
optimal ˇ and the corresponding value of v 0 for the given set
of parameters.
Solution
Using the xy coordinate system shown at the right, we write the

following two constant acceleration equations describing the x and
y coordinates of jaguar A as a function of time:
x D x0 C v0x t; (1)
1 2
y D y 0 C v0y t  2 gt ; (2)
where it is understood that the jaguar leaps at time t 0, and D

where .x 0 ; y0 / are the coordinates of the point from which of the
jaguar leaps. Since the jaguar leaps from the srcin of the chosen
coordinate system, letting t C denote the time at which jaguar A arrives at C , we have
R cos  D Œv0 cos.ˇ   /ç tC ; (3)

1 2
 R sin  D Œv 0 sin.ˇ   /ç tC  2 gt C ; (4)
where R is distance from O to C . Eliminating t C from Eqs. (3) and (4) gives
gR cos2 
 sin  D cos  tan.ˇ  / 
2v02 cos2 .ˇ   /
: (5)
Multiplying all terms in the above equation by cos.ˇ   /, we have
gR cos2 
 sin  cos .ˇ   / D cos  sin.ˇ  / 
2v02 cos.ˇ   /
2 2
) C cos  sin.ˇ  / D 2vgR2 coscos
sin  cos .ˇ   /

.ˇ  /
) sin ˇ D 2vgR2 coscos


.ˇ  /
;
 
(6)
0 0
where we have used the identity sin .A C B/ D sin A cos B C cos A sin B . Solving the last of Eqs. (6) for v0 ,
we have
v0 D
r p gR cos 
: (7)
2 sin ˇ cos.ˇ   /
Recalling that g 9:81 m=s2 , R 7 m, and 

D 25 ı , we can plot the above function with any appropriate
D D
mathematical software. The plot shown below was obtained using Mathematica with the following code:

Dynamics 2e 161
We can find the optimal value of ˇ to reach a distance of R D 7 m by differentiating v0 with respect to ˇ
and setting it equal to zero. Recalling that  25 ı , this gives D
dv 0
D 
1
r gR
cos 
cos ˇ cos.ˇ   /  sin ˇ sin.ˇ   /
D0
dˇ 2 2 Œsin ˇ cos.ˇ   /ç3=2
) cos ˇ cos.ˇ  25ı /  sin ˇ sin.ˇ  25ı / D 0: (8)
The above equation is a transcendental equation that we will solve numerically. Again, this can be done with
any appropriate mathematical software. We have used Mathematica with the following code
Note that the use of root finding algorit hms generally requir es the user to provide a guess of the value of the
solution. As can be seen in the above code (see information provided at the end of the code line), we have
provided a guess of 25 ı . The outcome of this calculation giv es
ˇoptimal D 57:52ı:
Then, using the above value of ˇ along with g D 9:81 m=s , R D 7 m, and  D 25ı, from Eq. (7) we have
2
that the corresponding value of v 0 is
.v0 /optimal D 6:297 m=s:

Problem 2.111
A stomp rocket is a toy consisting of a hose connected to a blast pad (i.e., an air bladder) at one end and to
a short pipe mounted on a tripod at the other end. A rocket with a hollow body is mounted onto the pipe
and is propelled into the air by stomping on the blast pad.
If the rocket can be imparted an initial speed v 0 D
120 ft=s, and if the rocket’s landing spot at B is
D
at the same elevation as the launch point, i.e., h 0 ft, neglect air resistance and determine the rocket’s
launch angle  such that the rocket achieves the maximum possible range. In addition, compute R , the
rocket’s maximum range, and tf , the corresponding flight time.
Solution
Referring to the figure at the right, we will use an xy coordinate system

with srcin at the launch point of the rocket. Let  be the elevation
angle and v 0 D
120 ft=s be the intial speed. The acceleration of the
rocket is equal to  g in the y direction and zero in the x direction.
Hence, we can use the constant acceleration equation s v 0 t 12 ac t 2 , D C
to express the x and y coordinates of the rocket as a function of time.
This gives
x D .v 0 cos  /t; (1)
1 2
y .v 0 sin  /t  2 gt : (2)
Since in this problem point B lies on the line y D D 0, the time taken by the rocket to arrive at B can be
obtained by equating Eq. (2) to zero. This gives
tB D 2v0gsin  : (3)
Substituting Eq. (3) in place of t into Eq. (1), using the trigonometr ic identity 2 sin  cos  D sin 2 , and
observing that xB R , we getD
v02 sin 2
R D g
; (4)
where R is the range of the rocket. The maximum valu e of R occurs when sin 2 D 1, i.e.,
2 D 2 rad ) Rmax D 4 rad D 45:00ı: (5)
Substituting  Rmax D 45:00ı into Eq. (4) with g D 32:2 ft=s 2

gives
Rmax 447:2 ft:
Observing that the time of flight is the same as DtB given in Eq. (3), for  D Rmax , we have tf D
2v0 sin Rmax =g , which can be evaluated to obtain
tf D 5:270 s:

Dynamics 2e 163
Problem 2.112
A stomp rocket is a toy consisting of a hose connected to a blast pad (i.e., an air bladder) at one end and to
a short pipe mounted on a tripod at the other end. A rocket with a hollow body is mounted onto the pipe
and is propelled into the air by stomping on the blast pad.
Assuming the rocket can be given an initial speed v 0 D
120 ft=s, the rocket’s landing spot at B is 10 ft
D
higher than the launch point, i.e., h 10 ft, and neglecting air resistance, find the rocket’s launch angle 
such that the rocket achiev es the maximum possible range. In addition, as part of the solution, compute the
corresponding maximum range and flight time. To do this:
(a) Determine the range R as a function of time.
(b) Take the expression for R found in (a), square it, and then differentiate it with respect to time to find
the flight time that corresponds to the maximum range, and then find that maximum range.
(c) Use the time found in (b) to then find the angle required to achie ve the maximum rang e.
Solution
Referring to the figure on the right, we will use an xy coordinate

system with src in at the laun ch point of the rock et. Let  be the
elevation angle and v0 D
120 ft=s be the intial speed. The acceleration
of the rocket is equal to g in the y direction and zero in the x
direction. Hence, we can use the constant acceleration equation s D
1 2
v0 t C
2 ac t , to express the x and y coordinates of the rocket as a
function of time. This gives
x D .v 0 cos  /t; (1)

1 2
y D .v 0 sin  /t  2 gt : (2)
Letting tf denote the time of fligh t, for t D tf the rocket is at B , so that we must have
R D v 0 .cos  /tf ) cos  D v0Rtf : (3)
2h C gt 2
h D v 0 .sin  /tf 1 2
gt
2 f ) sin  D 2v0tf f ;
 (4)
Next, recalling that sin2  C cos2  D 1, using the last of Eqs. (3) and (4), we have
2
2h gt 2 2
 C f C  v0Rtf  D 1;
2v0 tf
! (5)
which, for convenience, we view as an equation for R 2 whose solution is
2 2
R2 D v02tf2 1

h C gt  :
2 f (6)

Now we maximize R with respect to tf . Since the value of tf for which R is maximum coincides with the
value of tf for which R 2 is maximum, we can find the value of tf in question by differentiating Eq. (6) with
respect to tf and then setting the res ults to 0. This gives
dR 2  1 2
.gt s 2 2
dtf
D 0 D 2v 0tf Rmax
 2 hC gt
2 fRmax fRmax / ) tfRmax D .v  hg/:
g2 0
(7)
2
Recalling that g D 32:2 ft=s , v0 D 120 ft=s, and h D 10 ft, we can evaluate tf Rmax
to obtain
tfRmax 5:211 s:
D
To find R max , we substitute the expression of tfRmax from the last of Eqs. (7) into Eq. (6) and then we take a
square root. To find the corresponding value of  we substitute the value of tfRmax from the last of Eqs. (7)
into the last of Eqs. (4) and solve for  . Recalling that we have g 32:2 ft=s2 , v 0 120 ft=s, h 10 ft, D D D
these operations yield the following results:
Rmax D 437:1 ft and Rmax D 45:66ı:

Dynamics 2e 165
Problem 2.113
A trebuchet releases a rock with mass m D

50 kg at the point O . The
initial velocity of the projectile is v0 E D OC O
.45 { 30 | / m=s. If one
were to model the effects of air resistance via a drag force directly
proportional to the projectile’s velocity, the resulting accelerations
in the x and y directions would be x . =m/ x and y RD
g  P RD
P
.=m/ y , respectively, where g is the acceleration of gravity and
D
 0:64 kg=s is a viscous drag coefficient. Find an expression for
the trajectory of the projectile.
Solution
We can integrate the x and the y components of acceleration to obtain the x and y displacement as a function
d xP
of time. The problem state s that x RD
.=m/ x . Then, recalling that x
dt
P
, we can write RD
Z xP Z t


m
x P D ddtxP ) 

m
dt D dxPxP ) ) xP D .v 0/x e t ; (1)
.v0 /x
dx
x
P
P D 
0

m
dt

m
where .v 0 /x is the x component of the velocity of the projectile at t D 0 . Next, we recall that xP D dx=dt .
So, using the last of Eqs. (1) we have
dx  
dt
D .v0/x e mt ) dx D .v 0/x e mt dt
Z x Z t 
e  m t dt D m.v0/x 
e  m t : (2)
) dx D .v0/x ) x
1 

0 0
We can now repeat these steps starting with the acceleration in the y direction. Doing so, we have
Z yP Z t
dy P ) yP D mg
e 
m t
 C .v / e 
m t

.v0 /y g C . =m/ y PD 0
dt

 1 0 y (3)
where .v 0 /y is the y component of the velocity of the projectile at t D 0. Integrating Eq. (3) again wit h
respect to time, we obtain
m g2 mgt
 m g 2 
y D 2


C m .v0/y 
2
C m .v0/y 
e m t : (4)
From Eq. (2) we find

x m x

   
e m t D 1 ) t D  ln 1  : (5)
m.v0 /x  m.v0 /x
Substituting the last of Eqs. (5) into Eq. (4) and recalling that m D 50 kg, .v0/x D 45 m=s, .v0/y D 30 m=s
and  D
0:64 kg=s, we obtain
D 59:88 3
ln 1  2:844  104 x
y  10
  C 17:70x m: (6)

Problem 2.114
Continue Prob. 2.113 and, for the case where  0:64 kg=s, deter- D
mine the maximum height from the ground reached by the projectile
and the time it takes to achieve it. Compare the result with what you
would obtain in the absence of air resistance.
Solution
When the projectile is at its maximum height, the y component of its velocity must be zero. Therefore, we
P RD P
first need to find y as a function of time. Using y RD
d y=dt and yP g  .=m/ y , we obtain
yP
  yP ˇˇ
d yP
D Œg C . =m/ yP ç )

d yP
D
t
dt )
m 
Z
ln g C yP
 Dt
Z 
dt v g C .=m/ yP 0  m 0yv 0y
 
!
) ln g C m yP ln g C m v0y D  t=m ) ln ggCC mvy0yP D  t=m
      

m
   t=m mg mg
y v0y e  t=m
) mPD
g C m v  e 0y



; (1)g
)
y
PD C  
where we have used t0 D

0 and have let the y component of the initial velocity be v 0y .
P
Now that we have an expression for y.t/ , we again observe that the maximum height is reached when
PD
y 0 . Letting H max denote the maximum height achieved by the projectile and t max the time at which this
height is achiev ed, setting the last of Eqs. (1) to zero, we obtain
 mg  mg mg
 
C v0y e  tmax =m  D0 )  tmax =m D ln
  mg  v0y C
) tmax D m
ln

mg  v0y C ) tmax D 3:000 s, (2)
 mg
where we have used m 50 kg, g 9:81 m=s2 , v 0y 30 m=s, and  0:64 kg=s to obtain the numerical
D D D D
result.
The maximum height in the presence of air resistance can be calculated as H max y max h, where h is D C
given as 4:5 m and y max is the value of y when t D
t max . Therefore, we now need to find y.t/ by integrating
Eq. (1) one more time using
yP D dy D
 mg
C v0y

e  t=m 
mg
)
Z y
dy D
Z  t mg
C v0y

e  t=m
mg
 dt

dt   0 0  
m
 mg  mg

) y D  C v0y e  t=m 1  t; (3)
  

Dynamics 2e 167
where we have used y0 0 and t0 D

D 0. Substituting t D t D 3:000 s from Eq. (2), m D 50 kg, max
g 9:81 m=s2 , v 0y 30 m=s, and 
D D D 0:64 kg=s into Eq. (3), we obtain y D 44:71 m. Therefore, H max max
is
H D y C h D 49:21 m ) H D 49:21 m,
max max max
where h D 4:5 m. In the absenc e of air resist ance, the maxi mum height is given by .H / D max no air
.ymax /no air C h, where .y / can be calculated by letting yP D 0 in the projectile motion equatio ns with
max no air
constant gravity. Therefore,
2
y2
P D yP02  2g.y max /no air D0 ) .ymax/no air D y2gP0 D 45:87 m; (4)
2
where we have used the fact that y 0 0 , y0 30 m=s, and g D P D D 9:81 m=s . Hence, the maximum height in
the absence of air resistance .H max /no air is given by
.Hmax /no air D .y max/no air C h D 50:37 m; (5)
where h D 4:5 m. Therefore, the percent incre ase in height with no air resistance is
percent increase in height with no air resistance D 50:3749:2149:21

 100%
) percent increase in height with no air resistance D 2:363 %.

Problem 2.115
Continue Prob. 2.113 and, for the case where  0:64 kg=s, deter- D
mine tI and xI , the value of t , and the x position corresponding to
the projectile’s impact with the ground.
Solution
We begin by working part of the solution to Prob. 2.113. Specifically, we can integrate the x and the y
components of acceleration to get the x and y displacement as a function of time. The problem states that
d xP
RD P
x . =m/ x . Then, recalling that x dt
, we can write RD
Z xP Z t


m
x P D ddtxP ) 

m
dt D
d xP
xP
) .v0 /x
dx
x P
PD 
0

m
dt ) xP D .v0/x e 
m
t
(1)
where .v 0 /x is the velocity component of the projectile. Integrating Eq. (1) again with respect to time, we
obtain
x t  mvx0 
dx .v / e  m t dt x 1  e m t : (2)
Z 0 D 0 x Z 0 ) D 
Proceeding similarly to obtain the expression of y as a function of time, we have
Z yP Z t
dyP ) yP D mg
e 
m t
 C .v / e 
m t

.v0 /y g C . =m/ y PD 0
dt

 1 0 y : (3)
Integrating Eq. (3) again with respect to time, we obtain

m g 2 mgt
 m g 2 
y D 2


C m .v0/y 
2
C m .v0/y e m t :

(4)
Next, from Eq. (2) we find
x m x

   
e m t D 1 ) t D  ln 1  : (5)
m.v0 /x  m.v0 /x
2 2 2
y D  m2g C m2g ln 1  x
m.v0 /x
 C m .v /   m g C m .v / 1

0 y 
2 
0 y  x
m.v0 /x
: (6)
To find the time of impact tI and the location xI of the impact we observe that the impact is characterized
by the condition y h D D
4:5 m. Hence we can use a numerical root finding method to find the value
of t in Eq. (4) for which the condition y D
h is satisfied. Similarly, we can use a numerical root finding

Dynamics 2e 169
method to find the the value of x in Eq. (6) for which the condition y h is satisfied. Because the D
majority of root finding methods require us to provide a guess of the solution, before using any such methods,
we proceed to plot y.t/ as given in Eq. (4) and y.x/ as given in Eq. (6). Recalling that we are given
m D50 kg, .v 0 /x D
45 m=s, .v 0 /y 30 m=s and  D D
0:64 kg=s, the plots shown below were obtained
which gives
From the above two plots, we see that tI is close to 6 s and xI is close to 250 m. Hence, we will use the
values just listed as guesses in an appropriate root finding numerical method to find more accurate values to
the quantities tI and xI . For example, this can be done using Mathematica with the following code:
Evaluating the outcome of the above code, we have
tI D 6:189 s and xI D 267:7 m:

Problem 2.116
With reference to Probs. 2.113 and 2.115, assume that an experiment

is conducted so that the measured value of xI is 10% smaller than
what is predicted in the absence of viscous drag. Find the value of
 that would be required for the theory in Prob. 2.113 to match the
experiment.
Solution
For the case of no air drag, the time of impact can be calculated by equating the constant acceleration equation
for the y coordinate of the projectile to h. Letting tI denote the time of impact, we would have
1 2 1 2
y D .v 0/y t  2 gt ) .v0 /y tI D h  ) gtI2 2.v0/y tI  2h D 0
 2 gtI   
) tI D .1=g/ .v0/y ˙ v0y2 C 2gh ) tI D 6:263 s;

q (1)
where we have discarded the solution with the negative square root because it yields a negative time value,
and where we have used the following numerical data: .v0 /y 30 m=s, g 9:81 m=s2 , and h 4:5 m. D D D
The impact distance xI for the case of no air drag can be calculated again by using constant acceleration
equations (with ax D 0). This gives
x D .v 0 /x t ) xI D .v 0/x tI D 281:8 m; (2)
where .v 0 /x D
45 m=s and we used the expressi on for tI in Eq. (1). The problem state ment indicates that the
x position of the rock in the presence of air drag is: .x I /air 0:9xI , i.e., D
.xI /air D 253:6 m: (3)
To be able to use these results, we first determine the trajectory of the projectile in the presence of air
resistance. We begin by working part of the solution to Prob. 2.113. Specifically, we can integrate the x
and the y components of acceleration to get the x and y displacements as a function of time. Starting with
d xP
the given acceleration components, using x dt
RD
, we can integrate the expression for the x component of
acceleration to get x .
xP
P t Z Z
dx


dt
PD 
x .v 0 /x e  m t (4) ) PD
.v0 /x x P 0 m
where .v 0 /x is the velocity component of the projectile. Integrati ng Eq. (4) with respect to time, we obtain
x t 
m t mvx0 
m t
Z dx D .v 0 /x Z e dt ) x D  1e :
0 0
  (5)
d yP
Using y RD dt
, we can integrate the expression for the y component of acceleration to get y . P
Z yP Z t

dy P D dt ) yP D mg   t
e m
 

1 C .v / e 0 y

m t
: (6)
.v0 /y g C . =m/ y P 0 

Dynamics 2e 171
Integrating Eq. (6) with respect to time, we obtain

m g 2 mgt 2
C m .v0/y
 m g
C m .v0/y
 
y D   e m t : (7)
2  2
Next, from Eq. (5) we find
x m x

   
e m t D 1 ) t D  ln 1  : (8)
m.v0 /x  m.v0 /x
2 2 2
y D  m2g C m2g ln 1 x

 C m .v /   m g C m .v / 1
0 y  0 y  x
: (9)
m.v0 /x  2  m.v0 /x
We now observe that at impact the x and y coordinates of the rock are .xI /air and h. By enforcing
this condition in Eq. (9) we obtain an equation in  that can be solved numerically. Because most root
finding algorithms require the user to supply a guess of the solution, we begin by plotting the value of y
for x D
.xI /air D
253:6 m (see Eq. (3)) as a function of . The plot presented below was obtained in
Mathematica using the following code:
From the plot above, we see that y D D

0 for x .xI /air when  is a bit greater than 1 kg=s. Hence, we will
use the value  D
1 kg=s as the guess for a root finding algorithm in order to find a more accurate value of
the value of  . When using Mathema tica, this can be done with the following code
which yields the following solution

 D 1:345 kg=s:

Problem 2.117
Consider the vectors a E D 2 {O C 1 |O C 7 kO and bE D 1 {O C 2 |O C 3 kO . Compute the following quantities.

E
(a) a  b E
(b) bE  aE
(c) aE  bE C bE aE 
(d) aE  aE
(e) .aE  aE/ bE


(f) aE  .aE bE/


Parts (a)–(d) of this problem are meant to be a reminder that the cross product is an anticommutative
operation, while Parts (e) and (f) are meant to be a reminder that the cross product is an operation that is
not associative.
Solution
Using the vectors given in the problem statement, various properties of the cross-product are illustrated
through a few simple exercises.
Part (a) The commutative relationship for the cross-product is demonstrated by first evaluating
{O |O kO
ˇ ˇ
aE bE D det 2 1 7 ) E ED
ab 11 { O C 1 |O C 3 kO

ˇ 1 2 3 ˇ  : (1)
Part (b) The cross-product is again evaluated, but this time in the opposite order such that
ˇˇO
{ | k O O ˇˇ
E ED
ba det 1 2 3
ˇ ˇ ) E E D 11 {O
ba  1| O  O
3k : (2)
2 1 7
Thus the cross-product is anti-commutative because the results are equal in magnitude, but opposite in
direction (sign).
Part (c) The fact that the cross-product relation between two vectors is anti-commutative is also demon-
strated through the equation below, where
{O |O kO
ˇˇ
{O |O kO  ˇˇ ˇˇ ˇˇ  
aE bE C bE aE D det 2 1 7 C det 1 2 3 D
  11 { O C 1 |O C 3 kO C 11 {O  O
1|  O
3k ; (3)
1 2 3 2 1 7
ˇ ˇ )ˇ E
ab EˇC E ba E D 0E: (4)

Dynamics 2e 173
Part (d) The cross-product of a vector wit h itself, such as
{ | k
ˇˇO O O ˇˇ
E ED
aa det 2 1 7
2 1 7
ˇ ˇD E 0; (5)
will always yield the zero vector.
Part (e) Demonstrating the non-associative nature of the cross-product, the example shows one possible
way to calculate the product of three vectors, where
aE aE
  E D 0E bE D 0E:
b  (6)
Part (f) The associative property does not hold for cross-products since the result of part (e) is not equal to
the result of
E
a
aE bE D aE

ˇˇˇO
{ | k
 det 2 1 7
O O ˇˇˇ D ˇˇˇ O
{
det 2
| k
1 7 ;
O O ˇˇˇ
1 2 3 11 1 3
  
) aE aE bE D 4 {O
    83 | O C 13 kO
: (7)

Problem 2.118
Consider two vectors a E D 1 {O C 2 |O C 3 kO and bE D 6 {O C 3 |O. 
(a) Verify that aE and bE are perpendicular to one another.
(b) Compute the vector trip le product aE .a E bE/.  
(c) Compare the result from ca lculating aE .a E bE/ with the vector jEaj2 bE.
  
The purpose of this exercise is to show that as long as aE and bE are perpendicular to one another, you can
always write aE .aE bE/ D jE
 aj2 bE. This identity turns out to be very useful in the study of the planar
 
motion of rigid bodies.
Solution
Part (a) Two vectors are perpendicular if their dot product is zero. Thus,
E ED1
a b   6 C 2 3 C 3 0 D 0:
  (1)
Part (b) The triple product is evaluated by first calculating the cross-product of a and b and then taking the E E
E E
cross-product of a with the cross-product of a and b . The calculation proceeds by E
aE bE D aE ˇˇ O
{ | k O O ˇˇ   {
ˇˇ O | Ok O ˇˇ
E
a   det 1 2 3 DE O
a 9 {  18 |O C 15 kO D det 1 2 3 ; (2)
6 3 0 9 18 15
)ˇ E
a ab
 Eˇ E D  O 84 {  42 | O C 0 kO  : ˇ ˇ (3)
Part (c) The vector expression is evaluated as
jEaj2bE D 12 C 22 C 32 2
 
p  6 {

O C 3 |O C 0 kO ; (4)
 
D 84 {O 42 |O C 0 kO ;  (5)
which is the same as aE

aE bE.  

Dynamics 2e 175
Problem 2.119
E
Let r be the position vector of a point P with respect to a Cartesian coordinate system with axes x , y ,
and ´ . Let the motion of P be confined to the xy plane, so that r r x { ry | (i.e., r k 0). Also, ED OC O E OD

E D O
let !r !r k be the angular velocity vector of the vector r . Compute the outc ome of the products E
E E E E
!r  .!r  r / and !r  .r  !r /. E E
Solution
Use the property verifie d in part (c) of the solution to Problem 2.118 :
E
!r 
!E rE D
r   jE!r j2rE D 2
! r
r {O C r |O  :
x y (1)
The cross-product is anti-commutative, as verified in part (b) of the solution to Problem 2.117. Therefore the
E E 
E
triple cross-product !r  r  !r is Eq. (1) multiplied by 1.
2
E rE !E  D !E
! r   r r  Œ
!E rE D ! r {O C r |O  :
r  ç r x y (2)

Problem 2.120
The three propellers shown are all rotating with the same angular
speed of 1000 rpm about different coordinate axes.
(a) Provide the proper vector expressions for the angular velocity
of each of the three propellers.
(b) Suppose that an identical propeller rotates at 1000 rpm about

the axis ` oriented by the unit vector u` . Let any point P on ` O
have coordinates such that xP yP D
´P . Find the vector D
representation of the angular velocity of this fourth propeller.
Express the answers using units of radians per second.
Solution
Part (a) 1000 rpm D .100=3/ rad=s D 104:7 rad=s. The angular veloc ity vectors can be written as
!E1 D 104:7 kO rad=s; !E 2 D 104:7 {O rad=s and !
    E3 D  104:7 |O rad=s:  (1)
Part (b) The unit vector in the ` direction is
O D p13 {O C |O C kO
u`
 : (2)
Therefore, the angular velocity is expressed as
E D 100
p {O C |O C kO
!`
  rad=s

D 60:46 {O C |O C kO
 rad=s: (3)
3 3

Dynamics 2e 177
Problem 2.121
Point P is constrained to move along a straight line ` whose positive orientation is described by the unit
O
vector u` . Point A is a fixed reference point on ` . Let the vector rP =A denote the position of P relative to E
O
A and let uP =A be a unit vector pointing from A to P . Use the concept of time derivat ive of a vector to
describe the velocity and acceleration of P . In addition, comment on what happens to the description of
the velocity and acceleration when P happens to coincide with the fixed point A .
Solution
O
The motion of P is rectilinear. Using the unit vector uP =A, we write the position vector of P as
E D rP =A uO P =A;
rP =A (1)
where rP =A is the distance between P and A . We can calculate the velocity of P using Eq. (2.48) on p. 81 of
the textbook:
vP rP =A uP =A !r  rP =A;E DP O CE E (2)
E E
where !r is the angular velocity vecto r of rP =A, which is the same as that of the unit vector uP =A, and by O
Eq. (2.46) on p. 81 of the textbook, we can write
uOP P =A D !E r uO P =A:  (3)
Since the motion of P is rectilinear, uP =A is essentially a constant (see discussion at the end of the solution).
O O
Referring to Eq. (3) (and since uP =A can never be zero), this means that, for rectilinear motions,
E D 0E:
!r (4)
Hence the expression for the velocity of P is
E D rPP =A uO P =A:
vP (5)
To derive the acceleration vector of P , we can proceed in the same manner as for the velocity to obtain
E D vEPP D rRP =A uO P =A C !E v vEP ;

aP (6) 
where ! E v is the angular velocity of the vector vEP . As with rEP =A, the angular velocity of vEP is the same as
O P =A, which, by Eq. (4), is zero. Therefore , the acceleration of P is
that of u
aEP D rRP =A uO P =A: (7)
We stated that u O P =A is essentially a constant. Referring to the problem’s figure, we have

O uP =A.t/
D uuOO `` when P follows A, ( (8)
when P precedes A . 
When P coincides with A , then uO P =A is undefined. Hence we can say that uO P =A is constant except when P
coincides with A , at which case uO P =A is undefined and therefore cannot be used to describe the position, and
consequently velocity and acceleration, of P relative to A .

Problem 2.122
Starting with Eq. (2.48), show that the second derivative with respect to time of an arbitrary vector A is E
given by
AER D AR uOA C 2!EA AP uOA C !EP A AE C !EA !EA AE :
   
Keep the answer in pure vector form, and do not resort to using components in any component system.
Solution
Beginning with Eq. (2.48),

A EP D AP uOA C !EA A:E  (1)
and taking the derivative with respect to time, gives
A ER D AR uOA C AP uOPA C !PEA AE C !EA A:EP  
PO D !EA uOA and AEP is given by Eq. (1), so this expression becomes
But, uA 
R
AE D AR uOA C AP !EA uO A C !PEA AE C !
  EA AP uOA C !EA AE ;
   
Noting that AP is a scalar and so it can be moved inside the cross product !
EA uOA and distributing the cross 
product in the last term yields
ER D AR uOA C !EA AP uOA C !PEA AE C !EA AP uOA C !EA !E AE :

A     
Combining the two terms !A AP uA , we obtain the desired result, that is,

RE O EP A AE C !EA !EA AE :
AE D AR uOA C 2!EA AP uOA C !    

Dynamics 2e 179
Problem 2.123
The propeller shown has a diameter of 38 ft and is rotating with

a constant angular speed of 400 rpm. At a given instant, a point
P on the propeller is at rP E D
.12:5 { 14:3 | / ft. Use Eq. (2.48) OC O
and the equation derived in Prob. 2.122 to compute the velocity
and acceleration of P; respectively.
Solution
The position of point P is

E D rP x {O C rP y |O ;
rP (1)
where rP x D 12:5 ft and rP y D 14:3 ft. Applying Eqs. (2.48 ) on p. 81 of the textbook, we have
d jErP j
vEP D rEPP D uO r C !E r rEP ; P P
 (2)
dt
where urP O D E jE j E
rP = rP and where !rP is the angular velocity of rP and coincides with the angular velocity of E
the propeller so that
!rP ! prop k; E D O
(3)
D O
where !prop 400 rpm and k is a unit vector pointing in the positive ´ direction. We observe that d rP =dt jE j D
0 because P does not change its distance from the axis of rotation. Hence, substituting Eqs. (1) and (3) into
Eq. (2), and carrying out the cross product, we have
E D!
vP prop.rP y O C rP x |O / )
{ E D.
vP 599:0 { O C 523:6 |O/ ft=s; (4)
where we have used the fact that rP x 12:5 ft, rP y D

14:3 ft, and ! prop D D 400 rpm D 400 260 rad=s. Next,

applying the equation derived in Problem 2.122, we have that
2
E D d dtjEr2P j C 2!Er d dtjErP j uO rE C !EP r rEP C !Er
aP P
 P P
 P
 E
.!rP  rP /:E (5)
Because jErP j and !

E r are constant, Eq. (5) reduces to
P
aEP D ! Er .!Er rEP /: P

 P
 (6)
Substituting Eqs. (1) and (3) into Eq. (6), and carrying out the cross products, we have
2 2
aP
E D !prop.rP x {
O C rP y |O / ) aEP D .21;930 {O C 25;090 |O/ ft=s ; (7) 
2 
where, again, we have used the fact that rP x D 12:5 ft, rP y D 14:3 ft, and ! D 400 rpm D 400 60 rad=s. prop

Problem 2.124
E D
Consider the four points whose positions are given by the vectors rA
 OC O
2 { 0 k m, rB E D  OC O E D  OC O
2 { 1 k m, rC E D  OC O
2 { 2 k m, and rD 2 { 3 k m.
Knowing that the magnitude of these vectors is constant and that the angular
ED O
velocity of these vectors at a given instant is ! 5 k rad=s, apply Eq. (2.48)
E E E E
to find the velocities vA , vB , vC , and vD . Explain why all the velocity vect ors
are the same even though the position vectors are not.
Solution
Using Eq. (2.48), the velocities of points A , B , C , and D are
E D ddtjErAj uO r C !Er rEA; vEB D d dtjErB j uO r C !E r rEB ;

vA A A
 (1) B B

d jErC j
vEC D
dt
uO r C ! E r rEC ; vED D d jEdtrD j uO r C !E r rED ;
C C
 (2) D D

where uO r D rEA =jErA j, u

A O r D rEB =jErB j, uO r D rEC =jErC j, uO r D rED =jErD j, and where, following the problem
B C D
statement
!E r D !E r D !E r D !E r D !E D 5 kO rad=s:
A B C D
(3)
Since the magnitudes of rEA , rEB , rEC , and rED are constant, and in view of Eq. (3), Eqs. (1) and (2) reduce to
vEA D ! E rEA; vEB D !E rEB ;   (4)
vE D !
C E rE ; vE D !E rE :
C D D   (5)
Recalling that rEA D 2 {O C 0 kO m, rEB D 2 {O C 1 kO m, rEC D 2 {O C 2 kO m, rED D 2 {O C 3 kO m, and

       
!E D 5 kO rad=s, we can evaluate Eqs. (4) and (5) to obtain
E D 10:00 |O m=s; vEB D 10:00 |O m=s; vEC D 10:00 |O m=s;

vA and E D 10:00 |O m=s:
vD
The velocities are the same because the given position vectors all have the same { component and because the O
points in question have the same distance from the axis of rotation.

Problem 2.126
When a wheel rolls without slipp ing on a stationary surface , the point O on the wheel that is in contact
with the rolling surface has zero velocity. With this in mind, consider a nondeformabl e wheel rolling
without slip on a flat stationary surface. The center of the wheel P is traveling to the right with a constant
speed v 0 D D
23 m=s. Letting R 0:35 m, determine the angular velocity of the wheel, using the stationary
component system shown.
Solution
Since P moves parallel to the ground, we have that the velocity of P can be expressed as follows:
E D v0 {O:
vP (1)
E
Letting rP denote the position of P relative to O , since the velocity of O is equal to zero at the instant
considered, we also know that vP E D EP
rP . Hence, applying Eq. (2.48) on p. 81 of the textbook, we can write
E D d dtjErP j uO r C !Er rEP ;

vP P P
 (2)
where !rP is the angular veloci ty of the vector rP . As both points O and P are on the wheel, we have that
E E
jErP j D R Dconstant and E D !E
!rP wheel D! wheel k:
O (3)
In addition, at the instant shown, we also have
E D R |O:
rP (4)
Substituting Eqs. (3) and (4) into Eq. (2), carrying out the cross product and simplifying, we have
E D
vP !wheelR {: O (5)
Comparing Eqs. (1) and (5), we then conclude that

v0 v0 O
!wheel D 
R
) !E wheel D 
R
k: (6)
Recalling that v 0 D 23 m=s and R D 0:35 m, we can evaluate the last of Eqs. (6) to obtain
!E D 65:71 kO rad=s: wheel 

Dynamics 2e 183
Problem 2.127
The radar station at O is tracking the meteor P as it moves through the

atmosphere. At the instant shown, the station measures the following data
for the motion of the meteor: r 21;000 ft,  40 ı , r
D 22;440 ft=s, D PD
and  PD2:935 rad=s. Use Eq. (2.48) to determine the magnitu de and
direction (relative to the xy coordinate system shown) of the velocity
vector at this instant.
Solution
Referring to the figure at the right, the unit vector ur always points toward O
O
P . The unit vector u is perpendicular to ur and points in the direction of O
increasing  . Then, letting r denote the distance between P and the fixed
point O , we have that the position of P is described by rP r ur . Applying E D O
Eq. (2.48) on p. 81 of the textbook, we have
E D rP uO r C r !Er uO r ;
vP  (1)
E
where !r is the angular velocity of the unit vector ur . Since the angle  O
describes the orientation of rP , we have that E
E D P kO ;
!r (2)
where k O D uO r uO . Substituting Eq. (2) into Eq. (1) gives

 
vEP D rP uO r C r P uO :  (3)
Finding the magnitude of the vector, we then have that

q
jEvP j D rP 2 C r 2P 2 ) jEvP j D 65;590 ft=s; (4)
where we recalled that r D 21;000 ft, rP D 22;440 ft=s, and P D 2:935 rad=s. We now observe that
 
uO r D cos  {O C sin  |O and uO D sin  {O C cos  |O;   (5)
so that Eq. (3) can be rewritten as
E D .rP cos 
vP
„ ƒ‚ P … O C „P ƒ‚C P …

vx
r  sin  / { .r sin 
vPy
r  cos  / | O D .22;430 {O  O
61;640 | / ft=s: (6)
Since vP is directed downw ard and to the right, the orientation of vP is  tan1 . vP y =vPx /:
E E j j
Orientation of vP from x axis
E D  tan1
ˇ rP sin  C rrPP cos 
D
ˇ 70:01ı
P
r cos   sin 
) E
Orientation of v from x axis D 70:01ı (cw), (7)
where, again, r D 21;000 ft, rP D 22;440 ft=s, and PD 2:935 rad=s.

Problem 2.128
The radar station at O is tracking the meteor P as it moves through the

D 22;440 ft=s, D PD
PD 2:935 rad=s, r 187;500 ft=s2 , and 
RD 2
5:409 rad=s . Use the RD
equation derived in Prob. 2.122 to determine the magnitude and direction
(relative to the xy coordinate system shown) of the acceleration vector at
this instant.
Solution
Referring to the figure at the right, the unit vector ur always points toward O
O
P . The unit vector u is perpendicular to ur and points in the direction of O
increasing  . The distance betwe en P and O is r so the position of P is
E D O
rP r ur . Applying the equation derived in Problem 2.122, we can write
aEP D rERP D rR uO r C 2!
Er rP uO r C !EP r rEP C !E r !Er rEP  ; (1)
   
where ! Er is the angular velocity of ErP . Since the an gle  describes the
orientation of rEP , we have that
!E r D P kO ; (2)
O
where k D u O r uO . Because the direction of k is fixed, !EP r D R kO . Hence, substituting rEP D r uO r and Eq. (2)
 
O
into Eq. (1) and simplifying, we have
E D .rR
aP  P O C .r R C 2rP P / uO :
r  2 / ur  (3)
Finding the magnitude of the vector, we then have that

q
jEaP j D rR r P 22 C r R C 2rP P 2 ) jEaP j D 19;300 ft=s ;

2
(4)
where r D 21;000 ft, rP D 22;440 ft=s, P D 2:935 rad=s, rR D 187;500 ft=s , and R D
  2
5:409 rad=s2 .
O r D cos  {O C sin  |O and uO D sin  {O C cos  |O , Eq. (3) becomes
Noting that u  
aEP D rR r P 2 cos 
  r R C 2rPP sin   {O C rR r P2 sin  C r R C 2rPP cos   |O
  
„ ƒ‚ aP x
… „ ƒ‚ apy
…
2
) aEP D . 6599 {O C 18;130 |O/ ft=s ; (5) 
Since aEP is directed upward and to the left, the orientation of aEP is given by 180 ı tan1 .jaP y =aP x j/, i.e., 
rR r P2 sin  C r R C 2rPP cos  
Orientation of aEP from x axis D 180 ı tan1 
rR r P2 cos  r R C 2rPP sin 
"ˇˇ   ˇ#
) Orientation of aEP from x axis D 110:0ı .ccw/.
where  D 40ı , r D 21;000 ft, rP D 22;440 ft=s, P D 2:935 rad=s, rR D 187;500 ft=s , and R D
 
2
2
5:409 rad=s .

Dynamics 2e 187
Problem 2.131
The end B of a robot arm is being extended with the constant rate r 4 ft=s. PD
Knowing that  PD
0:4 rad=s and is constant, use Eq. (2.48) and the equation
derived in Prob. 2.122 to determine the velocity and acceleration of B when
D
r 2 ft. Express your answer using the component system shown.
Solution
The position of point B relative to the fixed point O , can be expressed as r r ur . Differentiating r with ED O E
respect to time according to Eq. (2.48) on p. 81 of the textbook, gives the velocity of B as follows:
E D rP uO r C !E r r uO r ; vB  (1)
where ! O
E r is the angular velocity of the vector rE. Letting k denote the unit vector perpendicular to the plane
of motion such that kO D u O r uO , and observing that the angle  describes the orientation of the vector rE, we
 
have
!Er D P kO : (2)
Substituting Eq. (2) into Eq. (1) and carrying out the cross-prod uct, we have
E D rP uO r C P kO
vB  O
r ur ) vEB D rP uO r C P r uO :  (3)
Given that r 2 ft, r 4 ft=s, and  0:4 rad=s, we can evaluate the last of Eqs. (3) to obtain
D PD PD
vEB D .4:000 uO r C 0:8000 uO / ft=s: 
To obtain the acceleration of B , we compute the second time derivati ve of the position vector r E D r uO r using
the equation derived in Problem 2.122. This gives
E D rR uO r C 2!Er rP uO r C !PEr
aB   O C !E r !Er
r ur   O
r ur :
 (4)
Using Eq. (2), we have

EP D R kO C P kPO D R kO ; !r (5)
P
where kO D 0E because the motion is planar. Since rP and P are constant,
rR D 0; and R D 0: (6)
Using Eqs. (2), (5), and (6) we can simplify Eq. (4) to read
POaB P kO P kO r ur
2  k  r ur ar  r P 2 ur 2P r u :
   (7)
E D PO C  O ) ED
 O C PO
Again, since r D 2 ft, rP D 4 ft=s, and P D 0:4 rad=s, we can evaluate the last of Eqs. (7) for to obtain
2
aEB D . 0:3200 uO r C 3:200 uO / ft=s :
 

Problem 2.132
The end B of a robot arm is moving vertically down with a constant speed
D
v0 2 m=s. Letting d D
1:5 m, apply Eq. (2.48) to determine the rate at which
r and  are changing when  37 ı . D
Solution
Referring to the figure on the right, we begin by describing the position of point
O O
B relative to O using the . ur ; u / component system:
rEB D r uO r : (1)
P
The velocity of B is vEB D rEB . Then, using Eq. (2.48 ) on p. 81 of the textbook,
we have
vEB D rP uO r C !
E r r uO r ; (2)
where !E r is the angular velocity of the vector rEB . Since the vector rEB rotates
with the robotic arm, we have
!Er D P kO : (3)
Substituting Eq. (3) into Eq. (2) we have
vB
E D rP uO r C P kO  r ur
O ) vEB D rP uO r C P r uO :  (4)
Since point B is moving downward along a vertical line with speed v 0 , using the . {; | / component system, OO
the velocity of B can also be described as follows:
E D
vB v 0 | : O (5)
We now observe that

O D sin  uO r C cos  uO :
|  (6)
Therefore, Eq. (5) can be rewritten as
E D
vB v0 .sin  O C cos  uO /:
ur  (7)
Equating the second of Eqs. (4) and Eq. (5) component by component, we have
P D v0 sin  and P r D v0 cos  :

r   (8)
Recognizing that r cos  D d , i.e., r D d = cos  , we can solve Eqs. (8) for rP and P to obtain
v0 cos2 
r v0 sin  and   : (9)
PD PD d
Finally, recalling that v 0 D 2 m=s,  D 37 ı , and d D 1:5 m, Eqs. (9) can be evaluated to obtain
rP D 1:204 m=s and P D 0:8504 rad=s:

 

Dynamics 2e 189
Problem 2.133
The end B of a robot arm is moving vertically down with a constant speed
v0 D
6 ft=s. Letting d D
4 ft, use Eq. (2.48) and the equation derived in
PPR
Prob. 2.122 to determine r ,  , r , and  when  0 ı. R D
Solution
Referring to the figure on the right, the velocity is expressed both in terms of the
OO
.{; | / component system and using the component system . ur ; u / along with O O
Eq. (2.48) on p. 81 of the textbook. This gives
E D v0 |O and vE D rP uO r C P kO r uO r D rP uO r C P r uO :
v   (1) 
Expressing . uO r ; uO / in terms of . {O; |O /, we have


uO r D cos  {O C sin  |O and uO D sin  {O C cos  |O :  (2)
Substituting Eqs. (2) into the last of Eqs. (1) and collecting the {O and |O terms, we
have
v r cos   r  sin  { r sin  r  cos  | : (3)
E D P P  O C P C P  O
Equating the {O and |O components of velocity given by the first of Eqs. (1) and Eq. (3), and keeping in mind
that r D d = cos  , we have
rP cos  r P sin  D 0 ) rP cos  P d tan  D 0

 (4) 
P
rP sin  C r  cos  D v0 ) rP sin  C P d D v0 :
 (5) 
Substituting  D 0 into Eqs. (4) and (5), we have
v 0
P D0
r and  PD D 1:500 rad=s; (6)
d
where we have used the following numerical data: v 0 D

6 ft=s and d D
4 ft. Using the equation derived in
O O
Problem 2.122, the acceleration expressed in the . ur ; u / component system is:
aE D rR uO r C 2P kO rP uO r C R kO r uO r C P kO .P kO r uO r /
   
2
) aE D rR uO r C 2P rP uO C R r uO P r uO r :   
Alternatively, differentiating Eq. (3) with respect to time and rearranging terms, the acceleration expressed in
the . {O; |O / component system is:
aE D rR .cos  {O C sin  |O/ C 2P rP . sin  {O C cos  |O /



C R r. sin  {O C cos  |O/ P 2r.cos  {O C sin  |O/:

  (7)
Collecting {O and |O terms, then substituting r D d ,  D 0 , and the expressions in Eqs. (6), we have
 v02   R  ˇ
aE D0 D rR {O C  d |O :
 ı

d
E
Since v is constant, a E D 0E, so that
v02
and R
r 0; 9:000 ft=s2
RD d D D
where, again we have used the fact that v 0 D 6 ft=s and d D 4 ft.

Dynamics 2e 191
Problem 2.134
A micro spiral pump consists of a spiral channel attached to a stationary plate. This plate has two ports,
one for fluid inlet and the other for outlet, the outlet being farther from the center of the plate than the
inlet. The system is capped by a rotating disk. The fluid trapped between the rotating disk and stationary
plate is put in motion by the rotation of the top disk, which pulls the fluid through the spiral channel. With
this in mind, consider a channel with geometry given by the equation r  r0 , where  12 m is D C D
called the polar slope, r 0 D
146 m is the radius at the inlet, r is the distance from the spin axis, and  ,
measured in radians, is the angular position of a point in the spiral channel. If the top disk rotates with a
constant angular speed ! D
30;000 rpm, and assuming that the fluid particles in contact with the rotating
disk
at r are170
Dessentially stuck the
m. Express to it, determine
answer usingthe
thevelocity and system
component acceleration
shown of(which
one such fluid with
rotates particle
the when it is
top disk).
Photo credit: “Design and Analysis of a Surface Micromachined Spiral-Channel Viscous Pump,” by M. I. Kilani, P. C. Galambos, Y. S. Haik,
C. H. Chen, Journal of Fluids Engineering, Vol. 125, pp. 339–344, 2003.
Solution
Referring to the problem’s figure, we focus our attention on a single fluid particle moving along the channel.
O
The unit vector ur always points from the srcin of the coordinate system to the particle so that the position
of the particle is r ED O
r ur , where r is the distance of the particle from the spin axis. Using Eq. (2.48) on
p. 81 of the textbook, we can express the velocity of a particle as
E D rP uO r C !E rE;
v  (1)
where ! ED PO
 k , with  PD 30;000 260

rad=s, is the angular velocity of r . Recalling that r E D  C r0, Eq. (1)
can be rewritten as
E D P uO r P kO . C r0/ uO r ) vE D P uO r C P . C r0/ uO ;

v   (2) 
where we have used the fact that kO uO r D uO . Solving r D  C r 0 for  we find that  D .r r0 /=.
   
Recalling that r 0 D 146 m and  D 12 m, for r D 170 m,  D 2:000 rad. Hence, given that P D
1000 rad=s, we can evaluate vE in the last of Eqs. (2) to obtain
vE D .0:03770 uO r C 0:5341 uO / m=s: 
Differentiating the last of Eqs. (2) with respect to time, we have
E D R uO r C P uPO r C R . C r0/ uO C P 2 uO C P . C r0/ uOP :

a    (3)

O O
Observing that both ur and u rotate with angular velocity ! E D P kO , applying Eq. (2.46) on p. 81 of the

textbook, we have
ur PO D P O O D P O
 k  u r  u and u OP D P kO uO D P uO r :
    (4)
Substituting Eqs. (4) into Eq. (3), with R D 0 because P is constant, we have
aE D P 2 . C r0 / uO r C 2P 2 uO :
  (5)
Recalling that, for r D 170 m,  D 2:000 rad, and recalling that r0 D 146 m,  D 12 m, and
P D 30;000 260 rad=s, we can evaluate aE to obtain

aE D 1678 ur O C 236:9 uO  m=s2: 

Dynamics 2e 193
Problem 2.135
A disk rotates about its center, which is the fixed point O . The disk has
a straight channel whose centerline passes by O and within which a collar
A is allowed to slid e. If, when A passes by O , the speed of A relative to
the channel is v D
14 m=s and is increasing in the direction shown with a
rate of 5 m=s2 , determine the acceleration of A given that ! 4 rad=s and D
is constant. Express the answer using the component system shown, which
rotates with the disk. Hint: Apply the equation derived in Prob. 2.122 to the
vector describing the position of A relative to O and then let r 0. D
Solution
E
Let rA be the position of A relative to the fixed point O . Using the . {; | / component system, r can be written OO E
as
rA r | : E D O (1)
Applying the equation derived in Problem 2.122, the acceleration of A is
E rP |O C !PEr rEA C !E r !Er rEA;

E D rR |O
aA   2! r   (2)  
E r is the angular veloci ty of the vector rE. When A is at O , rE D 0E so that Eq. (2) can be simplified to
where !
aEA r D0 D rR |O 2!E r rP |O:

ˇ    (3)
Now, we observe that

!r ! k: (4)
Substituting Eq. (4) in Eq. (3), we have

E D O
ˇ
E r D0 D rR |O 2! kO rP |O ) aEA r D0 D 2! rP {O rR |O :
aA    (5)
ˇ 
2
Recalling that rP D v D 14 m=s, rR D 5 m=s , and ! D 4 rad=s, we can evaluate the last of Eqs. (5) to
  
obtain
E
aA
ˇ r D0
D. 112:0 { O C 5:000 |O/ m=s : 2

Dynamics 2e 195
Problem 2.137
Assuming that the child shown is moving on the merry-go-round

along a radial line, use the equation derived in Prob. 2.122 to
P
determine the relation that ! , ! , r , and r must satisfy so that the P
child will not experience any sideways acceleration.
Solution
Using the component system shown, the position of the child is r r ur , where r is the distance from the ED O
O
spin axis and ur is the unit vector always pointing fro m the srcin of the system towar d the child. Using the
equation derived in Problem 2.122, we can express the acceleration of the child takes in the following form:
E D rR uO r C 2!E rP uO r C !PE rE !E .!E rE/;

a   (1)  
where we have recognized that the angular velocity of the vector rE is !

E , which is the angular velocity of the
merry-go-round. Using the component system shown in the figure, we have that
!E D ! kO and !EP D !P kO ; (2)
since the direction of the unit vector kO remains fixed. Recalling that rE D r uO r , and substituting Eqs. (2) into
Eq. (1), we have

aE D . rR ! 2 r/ uO r C .2! rP C r !/
P uO q :
 (3)
Equation (3) shows that the component of the accelerati on in the direction of u O q is
aq D .2! rP C !r/:
P (4)
Hence, in order for the child not to experience sideways acceleration, we must have
2! r P C !rP D 0:

Problem 2.138
The mechanism shown is called a swinging block slider crank. First used in various steam locomotive
engines in the 1800s, this mechanism is often found in door-closing systems. If the disk is rotating with
a constant angular velocity  60 rpm, H PD
4 ft, R D D
1:5 ft, and r is the distance between B and O ,
P
compute r and  when  P
90 ı . Hint: Apply Eq. (2.48) to the vector describ ing the position of B relative
D
to O .
Solution
We can express the velocity of B in two ways. First, as the time derivative of the position vector rB=A and E
E
second as the time derivative of the position vector rB=O . Referring to the figure in the problem statement,
we can express these two position vectors as follows:
E D R uOB=A
rB=A and E
rB=O D r uO S ; (1)
where, as given the problem statement, r is the distance between B and O , and where we observe that the
angular velocities of the unit vector in the above equations are
!uO B=A
E D P kO and !uO S
E D P kO:  (2)
Hence, observing that R P D 0 since R is a constant, using Eq. (2.48) on p. 81 of the textbook, we have
vEB D rEPB=A D P kO R uO B=A and vEB D rEPB=O D rP uO S P kO r uO S :
   (3)
Next, we observe that, for  D 90 ı , we have

p 1
uO B=A D {O; r D H 2 C R 2 ; and uO S D p .R {O C H |O/: (4)
R2 C H 2
Substituting Eqs. (4) into Eqs. (3), for  D 90ı, we have
ˇ ˇ rP
E
vB  D90ı
D R P |O and vEB D90 D p
 ı
R2 C H 2
.R {O C H |O/ C H P {O  PO
R | : (5)
E
Equating the two above expressions for vB component by component, we have
O W pR2rP RC H 2 C H P D 0;
{ (6)
rP H
|O W p R P D R P :  (7)
R2 C H 2

Dynamics 2e 197
Equations (6) and (7) form a system of two equations in the two unknowns r and  (at  P P D 90ı) whose
solution is
P
RH  ˇ P R2  ˇ P
P
r  D90 D pR 2 C H 2 and   D90
ı
D R CH

2 2
: (8) ı
Recalling that we have P D 60 rpm D 60.2 =60/ rad=s, H D 4 ft, R D 1:5 ft, we can evaluate the quantities
in Eqs. (8) to obtain
P
r
ˇ  D90
ı
D 8:825 ft=s and P ˇ
  D90 ı
D 0:7746 rad=s:

Problem 2.139
A sprinkler essentially consists of a pipe AB mounted on a hollow shaft. The water comes in the pipe
at O and goes out the nozzles at A and B , causing the pipe to rotate. Assume that the particle s of water
move through the pipe at a constant rate relative to the pipe of 5 ft=s and that the pipe AB is rotating
at a constant angular velocity of 250 rpm. In all cases, express the answers using the right-handed and
orthogonal component system shown.
Determine the acceleration of the water particles when they are at d=2 from O (still within the
horizontal portion of the pipe). Let d 7 in: D
Solution
Referring to the figure at the right, we consider a water particle P

that is in the horizontal part of the tube. Using the component system
shown, the position of P is
E D r uO B :
rP (1)
Then, applying Eq. (2.48) on p. 81 of the textbook, the velocity of

P is
E D rP uO B C !E
vP  O
r uB ; (2)
where the angular velocity of the arm is also the angular velocity of the vector rP as well as that of the unit E
O
vector uB . Differentiating Eq. (2) with respect to time, we have
E D rR uO B C rP uPO B C !EP
aP  O C !E rP uO B C !E
r uB   PO
r uB : (3)
P
In Eqs. (2) and (3), r denotes the rate at which the water particles move relati ve to the arm. Therefore
PD
r RD ED O D
5 ft=s and r 0 . Also, ! ! k , where ! 250 rpm is constant. In addition, using Eq. (2.46) on p. 81
of the textbook, we have that uBPO D O O
! k  uB . Therefore, Eq. (3) can be simplified to
aEP D 2rP ! uO C r! 2 uO B :  (4)
Recalling that rP D 5 ft=s and ! D 250 rpm D 250.2 =60/ rad=s, for r D d =2, where d D 7 in: D .7=12/ ft,
we can evaluate the above expression to obtain
E D.
aP 261:8 uC  O 199:9 uB / ft=s2 :
O

Dynamics 2e 199
Problem 2.140
A sprinkler essentially consists of a pipe AB mounted on a hollow shaft. The water comes in the pipe
at O and goes out the nozzles at A and B , causing the pipe to rotate. Assume that the particle s of water
move through the pipe at a constant rate relative to the pipe of 5 ft=s and that the pipe AB is rotating
at a constant angular velocity of 250 rpm. In all cases, express the answers using the right-handed and
orthogonal component system shown.
Determine the acceleration of the water particles right before they are expelled at B . Let d 7 in:, D
ˇ 15 ı , and L 2 in: Hint: In this case, the vector describing the positio n of a water particle at B goes
D D
from O to B and is best written as r rB uB r´ k . ED O C O
Solution
Referring to the figure at the right, we consider a water particle P

that is in the slanted part of the tube. Using the compon ent system
shown, the position of P is
E D Œd
rP  .L  `/ cos ˇ ç uB O C ` sin ˇ kO: (1)

E D P̀ cos ˇ uO B C Œd
vP OP C P̀ sin ˇ kO;
 .L  `/ cos ˇ ç uB (2)
O
where we have used the fact that d , L , and ˇ are constant as well as the fact that k does not change direction.
We observe that P̀ is the rate at which the water particles move through the pipe, so that P̀ D 5 ft=s and R̀ D 0
because P̀ is constant. Using Eq. (2.46) on p. 81 of the textbook, we have that uPO B D ! kO uO B , where we 
have recognized that the angular velocity of the arm, i.e., ! E D ! kO , is also the angular velocity of the unit
O B . Hence, aEP can be rewritten as
vector u
vEP D P̀ cos ˇ uO B !Œd .L `/ cos ˇ ç uO C C P̀ sin ˇ kO :

   (3)
E D P̀ cos ˇ uPO B ! P̀ cos ˇç uO C !Œd .L `/ cos ˇç uOP C ;

aP   (4)
 
P̀ O
where we have used the fact that , ! , d , L , ˇ , and k are constant. Using Eq. (2.46) on p. 81 of the textbook
PO B D ! kO uO B D ! uO C and uPO C D ! kO uO C D ! uO B , we can rewrite aEP as
again to write u   
aP 2! `P cos ˇ uC ! 2 Œd .L `/ cos ˇ ç uB :
   (5)
Recalling that P̀ D 5 ft=s, !E DD250 rpm D 250.2 O =60/ rad=s, ˇ D 15ı, and O d D 7 in: D .7=12/ ft, for
` D L D 2 in: D .2=12/ ft, we can evaluate the above expression to obtain
2
aEP D . 252:9 uO C 399:8 uO B / ft=s :  

Problem 2.141
A particle P is moving along the curve C , whose equation is given

by
2 2
x 2 .x  1/.2x  3/ D 4 x 2 C y 2
y 
  2x ;

at a constant speed vc . For any posi tion on the curv e C for
which the radius of curvature is defined (i.e., not equal to infinity),
what must be the angle  between the velocity vector v and the E
acceleration vector a? E
Solution
The speed is constant. This tells us that there is no component of acceleration in the direction of velocity.
Therefore, the angle  between v and a must be 90 ı . E E

Dynamics 2e 201
Problem 2.142
A particle P is moving along a path with the velocity sho wn. Is the sketch of the normal-tangential
component system at P correct?
Solution
O
No, the unit vector u t must point in the direction of v . E

Problem 2.143
A particle P is moving along a path with the velocity sho wn. Is the sketch of the normal-tangential
component system at P correct?
Solution
O
No, the unit vector un must point toward the concave side of the curve.

Dynamics 2e 203
Problem 2.144
A particle P is moving along a straight line with the velocity and acceleration show n. What is wrong with
the unit vectors shown in the figure?
Solution
O
The unit vector un is not defined for a straight line.

Problem 2.145
A particle P is moving along some path with the velocity and acceleration shown. Can the path of P be
the straight line shown?
Solution
No, because the path is straig ht. It would need to be curved with a tangent at P coincident with u t and O
concavity on the side of un . O

Dynamics 2e 205
Problem 2.146
The water jet of a fountain is let out at a speed v 0 D 80 ft=s and at an angle ˇ D 60ı. Determine the radius
of curvature of the jet at its highest point.
Solution
The tangent to the trajectory of the water jet at the highest point is horizo ntal. Therefore, the velocity at
the highest point is completely horizontal and the normal direction coincides with the direction of gravity.
We model the motion of the jet as projectile motion. This implies that the water particles have constant
acceleration equal to the acceleration of gravity. In addition, the horizontal component of the velocity of the
water particles is constant and therefore equal to the value it has when the jet is first emitted by the nozzle,
namely, v 0 cos ˇ . Since at the highest point the acceleration, which is due to gravity, is along the normal
direction, we have
2
an D v D g and at D 0; (1)
where v is the speed of the water particles at the highest point on the trajectory. We have already argued that
at the point in question the velocity vector is parallel to the horizontal direction. Therefore we must have
v D v0 cos ˇ: (2)
Substituting Eq. (2) into the first of Eqs. (1) and solving for  , we have
v02 cos 2 ˇ
 D g
: (3)
Recalling that v 0 D 80 ft=s, ˇ D 60ı and g D 32:2 ft=s , we can evaluate Eq. (3) to obtain
2
 D 49:69 ft:

Problem 2.147
A telecommunications satellite is made to orbit the Earth in such a way as to appear to

hover in the same point in the sky as seen by a person standing on the surface of the
Earth. Assuming that the satellite’s orbit is circular with radius rg 1:385  108 ft and D
knowing that the speed of the satellite is constant and equal to vg 1:008  104 ft=s, determine the D
magnitude of the acceleration of the satellite.
Solution
Using normal-tangential components, the acceleration of the satellite is

2
aE D vP uO t C v uO n; (1)
where v is the speed,  is the radius of curvatu re of the path, and where u t and un are the unit vectors tangent O O
and normal to the trajectory, respectively. We have
v D v g D constant; vP D 0; and  D rg : (2)
2 2
aE D vrgg uO n ) jEaj D vrgg : (3)
Recalling that v g D 1:008  104 ft=s and r g D 1:385  108 ft, we can evaluate the last of Eqs. (3) to obtain
2
jEaj D 0:7336 ft=s :

Dynamics 2e 207
Problem 2.148
A car travels along a city roundabout with radius  D

30 m. At the instant shown, the speed of the car
is v 35 km=h and the magnitude of the acceleration of the car is 4:5 m=s2 . If the car is increasing its
D
speed, determine the time rate of change of the speed of the car at the instant shown.
Solution
Using normal-tangential components, the acceleration of the car can be expressed as

2
E D vP uO t C v uO n;
a (1)
O O
where the unit vectors u t and un are tangent and perpendicu lar to the path, respectiv ely. Therefore, the
magnitude of the acceleration is
jEaj D vP 2 C v2 2: s   (2)
Solving the above equation for vP and recalling that vP > 0 because the car is increasing its speed, we have
s v  2 2
vP D jEaj2 

: (3)
2
Recalling that a jEj D 4:5 m=s , v D 35 km=h D 35.1000=3600/ m=s, and  D 30 m, we can evaluate Eq. (3)
to obtain
2
v P D 3:213 m=s :

Problem 2.149
A car travels along a city roundabout with radius  D

100 ft. At the instant shown, the speed of the car is
v 25 mph and the speed is decreasing at the rate 8 ft=s2 . Determine the magnitude of the acceleration of
D
the car at the instant shown.
Solution
Using normal-tangential components, the acceleration of the car can be expressed as
2
O O
where the unit vectors u t and un are tangent and perpendicu lar to the path, respectiv ely. Therefore, the
magnitude of the acceleration is
2 2
jEaj D vP 2 C  v  : s (2)
2
Recalling that vP D 8 ft=s , v D 25 mph D 25.5280=3600/ ft=s, and  D 100 ft, we can evaluate Eq. (2) to

obtain
2
jEaj D 15:64 ft=s :

Dynamics 2e 209
Problem 2.150
Making the same assumptions stated in Example 2.15, consider the map of the Formula 1 circuit at
Hockenheim in Germany and estimate the radius of curvature of the curves Südkurve and Nordkurve (at
the locations indicate d in gold).
Photo credit: Courtesy of FIA
Solution
As was done in Example 2.15 on p. 95 of the textbook, we assume that by lateral G -force the Federation
Internationale de l’Automobil e (FiA) that compiled the map in the problem statement really meant to provide
a measurement of the acceleration norma l to the path of the racing cars expressed in “units of g ,” where g is
the acceleration due to gravity. With this in mind, at the Südkurve the car is traveling at a speed of 150 km=h
with an acceleration of 3:5g . Therefore, denoting by  Südkurve the radius of curvatu re of the Südkurve, we
must have
2
150 1000 2 
3600 m =s
a n Südkurve D v Südkurve
Südkurve
) Südkurve D 3:5.9:81 m=s2 /
) Südkurve D 50:56 m.
Similarly, at the Nordkurve the car is traveling at a speed of 200 km=h with an acceleration of 3:4g . Therefore,
denoting by  Nordkurve the radius of curvature of the Nordkurve, we have
2 1000 2
vNordkurve 200 = 3600 m s
a n Nordkurve D Nordkurve ) Nordkurve D 3:4.9:81 = / m s2 ) Nordkurve D 92:54 m:

Dynamics 2e 211
Problem 2.152
An aerobatics plane initiates the basic loop maneuver such that, at the bottom of the loop, the plane is going
140 mph, while subjecting the plane to approximately 4g of acceleration. Estimate the corresponding
radius of the loop.
Solution
The acceleration of the airplane, expressed in normal tangential components, is

2
O
where v is the speed of the airplane, u t is the unit vector tangent to the path, un is the unit vector normal to O
the path, and  is the radius of curvat ure of the path. The change in speed as the airplane init iates the loop
maneuver is negligible, so that, right at the beginning of the maneuver, we can simplify Eq. (1) to
2
E D v uO n:
a (2)
Since a 4g , from Eq. (2) we have

jEj D 2 2
4g D v ) 
v
D 4g : (3)
2
Recalling that v D 140 mph D 140.5280=3600/ ft=s and g D 32:2 ft=s , we can evaluate  to obtain
 D 327:3 ft:

Problem 2.153
The portion of a race track between points A (corresponding to x 0 ) and B is part of a parabolic curve D
described by the equation y  x 2 , where  is a constant. Let g denote the acceleration due to gravity.
D
Determine  such that a car driving at constant speed v 0 180 mph experiences at A an acceleration D
with magnitude equal to 1:5g .
Solution
Referring to the figure at the right, at point A the tangent and normal
directions to the trajectory coincide with the x and the y axes, respectively.
The expression of the acceleration in normal-tangential components is
2
where v is the speed and  is the radius of curvature. Since the speed is constant and equal to v 0 , we have
that v PD
0 and Eq. (1) reduces to
2
E D v0 uO n:
a (2)
We can determine  using Eq. (2.59) on p. 93 of the textbook, namely,

2 3=2 2 3=2
   
 D 1 Cd.dy=dx/
ˇ
2 y=dx 2
) ˇ  D 1 C .22x/ ; (3)
where, recalling that y  x 2 , we have used the fact that dy=dx

D D 2 x and d 2y=dx 2 D 2 . Substituting
the last of Eqs. (3) into Eq. (2) gives
2 v02
aED O
un : (4)
1 C .2 x/23=2
Recalling that a jEj D 1:5g for x D 0, from Eq. (4) we have
2 v02 D 1:5g D 32 g )  D 4v3g2 : (5)
0
Recalling that g 32:2 ft=s2 and v0 180 mph 180.5280=3600/ ft=s, we can evaluate the last of Eqs. (5)
to obtain D D D
3
 D 0:3465  10 ft1 :

Dynamics 2e 213
Problem 2.154
D
If  0:4103 ft1 , determine d such that a car driving at constant speed v0 180 mph experiences
D D
at B an acceleration with magnitude equal to g .
Solution

2
a (1)
where v is the speed and  is the radius of curvatu re. Since the speed is
constant and equal to v 0 , v PD
2
E D v0 uO n:
a (2)
2 3=2 2 3=2
   
 D 1 Cd.dy=dx/
ˇ
2 y=dx 2
) ˇ  D 1 C .22x/ ; (3)

D 2  x and d 2 y=dx 2 2  . Substituting D D
the last of Eqs. (3) into Eq. (2), setting the magnitude of the result equal to the specified value of g , and
letting x D
d , we have
2 v02 1
s 2 v02
 2=3
1 C .2 d / 
 Dg )
2 3=2
d D 2 g
 1: (4)
Recalling that  0:4  103 ft1 , v0

D D 180 mph D 180.5280=3600/ ft=s, and g D 32:2 ft=s , we can 2
evaluate the last of Eqs. (4) to obtain

d D 831:0 ft:

Problem 2.155
D
Suppose a car travels from A to B with a constant speed v 0 180 mph. Let a min and a max denote D jEj jEj
the minimum and maximum values of the magnitude of the acceleration, respectively. Determine a min if jE j
d D1200 ft and a max 1:5g . jEj D
Solution

2
a (1)
where v is the speed and  is the radius of curvatu re. Since the speed is
constant and equal to v 0 , v PD
2
a E D v0 uO n: (2)
2 3=2 2 3=2
   
 D 1 Cd.dy=dx/
ˇ
2 y=dx 2
) ˇ  D 1 C .22x/ ; (3)

D D 2 x and d 2y=dx 2 D 2 . Substituting
Eq. (3) into Eq. (2), we have
2 v02 2 v02
aED 2 3=2
O
un ) jEaj D  : (4)
1 C .2 x/
  1 C .2 x/23=2
From the last of Eqs. (4) we see that the magnitude of the acceleration is maximum at for x D 0, i.e., at A
and becomes smaller as x increases. This implies that, for 0  x  d ,
2 v02
jEaj D
min and jEaj D 2 v02:
max (5)
1 C .2 d /2 3=2
Setting a jEj
 
from the last of Eqs. (5) equal to the specified maximu m value of 1:5g , we have
max
2 v02 D 1:5g D 23 g )  D 4v3g2 : (6)

0

Dynamics 2e 215
Substituting the last of Eqs. (6) into the first of Eqs. (5), we then have that
3g
jEaj D
min "  # 2 3=2
; (7)
3gd
2 1 C 2v02
2
Recalling that g D 32:2 ft=s , d D 1200 ft, and v 0 D 180 mph D 180.5280=3600/ ft=s, we can evaluate
Eq. (7) to obtain
2
jEaj D 21:95 ft=s :
min

Dynamics 2e 219
Problem 2.159
A jet is flying at a constant speed v 0 D

750 mph while performing a constant
speed circular turn. If the magnitude of the acceleration needs to remain constant
and equal to 9g , where g is the acceleration due to gravity, determine the radius
of curvature of the turn.
3 3
Solution
Expressed in normal tangential components, the acceleration of the airplane is

2
O
where v is the speed of the airplane, u t is the unit vector tangent to the path in the direction of motion, un is O
the unit vector normal to the path and pointing toward the concave side of the path, and  is the radius of
curvature of the path. Since the speed is constant, v 0 and Eq. (1) simplifies to PD
2
E D v uO n;
a (2)
Recalling that a jEj D 9g , from the above equation we have that

v2 v2
9g D  )  D 9g : (3)
2
Recalling that v D v 0 D 750 mph D 750.5280=3600/ ft=s and g D 32:2 ft=s , we have
 D 4175 ft:

Problem 2.160
Particles A and B are moving in the plane with the same constant speed v , and their
paths are tangent at P . Do these particles hav e zero acceleration at P ? If not, do
these particles have the same acceleration at P ?
Solution
Without
curve hadknowledge of the
zero curvature at curvatur e for
P , then the the two curves
acceleration of theitparticles
is not possible to answer
at P would the to
be equal question. If each
zero because the
particles are moving with constant speed . If the two curves at P had the same nonzero curvature, then the
acceleration of the two particles at P would be the same. If the curves had differ ent nonzero curv ature at P ,
then the accelerations of the two particles would be different.

Dynamics 2e 221
Problem 2.161
Uranium is used in light water reactors to produce a controlled nuclear reaction for the generation of power.
When first mined, uranium comes out as the oxide U 3 O8 , 0.7% of which is the isotope U-235 and 99.3%
the isotope U-238. For it to be used in a nuclear reactor, the concentration of U-235 must be in the 3–5%
range. The process of increasin g the percentage of U-235 is called enrichment, and it is done in a number
of ways. One method uses centrifuges, which spin at very high rates to create artificial gravity. In these
centrifuges, the heavy U-238 atoms concentrate on the outside of the cylinder (where the acceleration is
largest), and the lighter U-235 atoms concentrate near the spin axis. Before centrifuging, the uranium is
processed into gaseous uranium hexafluoride or UF 6 , which is then injected into the centrifuge. Assuming
that the radius of the centrifuge is 20 cm and that it spins at 70;000 rpm, determine
(a) The velocity of the outer surfa ce of the centrifu ge.
(b) The acceleration in g experienced by an atom of uranium that is on the inside of the outer wall of the
centrifuge.
Photo credit: Courtesy of the Department of Energy
Solution
Part (a). Since the speed v and the angular speed ! are related as v D !, we have that the speed of points
on the outer surface of the centrifuge is
v D ! ) v D 1466 m=s, (1)
where we have used the fact that ! D 70;000 rpm D 70;000.2=60/ rad=s and  D 20 cm D 0:2000 m.
Part (b). Under the assumpt ion that the centrifug e is spinning with a constant angula r speed, the only
component of acceleration of a point on the wall of the centrifuge will be the normal component. Hence, the
acceleration experienced by an atom at the inside outer wall of the centrifuge is
2 2 2
an D v D .!g/ g D !g  g ) E D 1:096
a  10
6
O
g un ,
O
where the unit vector un always points from a point on the periphery of the centrifuge toward the center of the
centrifuge, and where we have used the expression of v in Eq. (1) along with the fact that ! 70;000 rpm D D
D
70;000.2=60/ rad=s,  20 cm 0:2000 m, and g 9:81 m=s2 .
D D

Problem 2.162
Treating the center of the Earth as a fixed point, determine the magnitude of the
acceleration of points on the surface of the earth as a function of the angle 
shown. Use R D
6371 km as the radius of the Earth.
Solution
Let ! denote the angular speed of the Earth. Since the Earth undergoe s one full revolution per day, the
angular speed ! is given by
! D 11 day
rev
D .24 h2/.3600
 rad
s=h/

D 43;200 rad =s: (1)
Let  denote the distance between the point indicated on the figure and the axis of rotation of the Earth, i.e., a
point on the surface of the Earth characterized by the angle  between the equator and the axis of rotation of
the Earth. Then, we have we
 R cos  : D (2)
Next we observe that under the assumption that the angular speed of the Earth is constant, the only component
of the accelerati on of the point in question is the normal component. Hence, we must have
v2
a a  !2 R! 2 cos  : (3)
jE j D D  D n D
Recalling that R D 6371 km D 6;371;000 m, using the value of ! in Eq. (1), Eq. (3) can be evaluated to
obtain
ˇ Eˇ D
a .33:69  103 cos  / m=s2 :

Dynamics 2e 223
Problem 2.163
An airplane is flying straight and level at a speed v 0 D

150 mph and with a constant time rate of increase
of speed v 20 ft=s2 , when it starts to climb along a circular path with a radius of curvature  2000 ft.
PD D
P
The airplane maintains v constant for about 30 s.
Determine the acceleration of the airplane right at the start of the climb and express the result in the
Cartesian component system shown.
Solution
Using normal-tangential components, the acceleration can be expressed as

2
O O
where the unit vectors u t and un are parallel and normal to the path, respectively. At the bottom of the loop,
we have
ut { and un | : O DO O DO (2)
Substituting Eqs. (2) into Eq. (1), and recalling that at the start of the loop v D v0, we have
2
E D vP {O C v0 |O:
a (3)
2
Recalling that v P D 20 ft=s , v0 D 150 mph D 150.5280=3600/ ft=s, and  D 2000 ft, we can evaluate
Eq. (3) to obtain
2
E D .20:00 {O C 24:20 |O/ ft=s :
a

Dynamics 2e 225
Substituting the last of Eqs. (7) into Eq. (5) we have

 1  .v C vPt /  1 v t C vPt  {O 2
1 2 0 1 2
E D vP cos
a v t C vP t

0 2 

sin

0 2
2
C vP 1 v t C vPt  C .v C vP t /
   1
1 2
 |O: 0 1 2
sin 0 2v t C vP t cos 0 2 (8)
  
Recalling that v 20 ft=s2 , v0

PD D 150 mph D 150.5280=3600/ ft=s, and  D 2000 ft, we can evaluate
Eq. (8) for t D
25 s to obtain
a .121:2 { 230:0 | / ft=s2 :
ED OC O

Problem 2.165
An airplane is flying straight and level at a speed v 0 D

150 mph and with a constant time rate of increase
of speed v 20 ft=s2 , when it starts to climb along a circular path with a radius of curvature  2000 ft.
PD D
P
The airplane maintains v constant for about 30 s.
Determine the acceleration of the airplane after it has traveled 150 ft along the path and express the
result in the Cartesian component system shown.
Solution
Using normal-tangential components, the acceleration can be expressed as

2
a (1)
where the unit vectors uO t and uO n are parallel and normal to the path, respectively.
Letting s D 0 correspond to v D v 0 , recalling that vP is constant, and using the
chain rule, we can write
vP D v dv ) v dv D vP ds )
Z v
v dv D
Z s
P
v ds ) v2 D v02 C 2vPs: (2)
ds v0 0

2
aE D vP uO t C v0 C 2vPs uO n; (3)
Referring to the figure at the right of Eq. (1), we now observe that we can provide the solution to the problem
by evaluating Eq. (3) for s D
150 ft as long as we are able to express u t and un for s 150 ft in terms of { O O D O
O
and | . To do so, we observe that
O D cos  {O C sin  |O
ut and O D
un  sin  O C cos  |O :
{ (4)
Substituting Eqs. (4) into Eq. (3) we can then express the acceleration of the airplane as follows:
v02 C 2vPs sin   {O C vP sin  C v02 C 2vPs cos   |O:


aE D vP cos  
 
(5)
Equation (5) implies that we will be able to provide the answer to the problem once we express  as a function
of the path coordinate s . To this end, we observe that
s
s D  )  D : (6)
v02 C 2vPs sin s  {O C vP sin s  C v02 C 2vPs cos s  |O:

 s
aE D vP cos 

    
(7)

Dynamics 2e 227
Recalling that v 20 ft=s2 , v0

PD D 150 mph D 150.5280=3600/ ft=s, and  D 2000 ft, we can evaluate
Eq. (7) for s D
150 ft to obtain
2
E D .17:91 {O C 28:62 |O/ ft=s :
a

Problem 2.166
Suppose that a highway exit ramp is designed to be a circular

segment of radius  D
130 ft. A car begins to exit the highway at
A while traveling at a speed of 65 mph and goes by point B with a
speed of 25 mph. Compute the acceleration vector of the car as a
function of the arc length s , assuming that the tangential component
of the acceleration is constant between points A and B .
Solution
Using normal tangential components, we have that the acceleration is given by
E D a t uO t C an uO n;
a (1)
O O
where u t and un are the unit vectors tangent and normal to the path, respectively, and where, letting v denote
the speed of the car,
2
at D vP and an D v ; (2)
where  is the radius of curv ature of the path. The first of Eqs. (2) impl ies that the chan ge in speed is
completely due to the tangential acceleration. Since this component of acceleration is assumed to be constant,
the speeds at A and B are related via the following constant acceleration equation:
2
vB 2
 vA D 2at .sB  sA / ) at D 2.svB2B  vA
2
 sA /
: (3)
The expression for the speed in terms of arc length s can be found again using constant acceleration equations,
i.e.,
2  v2
v 2 .s/ D vA2 C 2a t .s  sA / ) v 2 .s/ D vA2 C vsBB A
 sA
.s  sA /: (4)
Combining Eqs. (1)–(4), we can then write

2  v2 2  v2
E D 2.svBB O C 1 C vsBB
A
 
a ut vA2 A
.s  sA / un : O (5)
 sA /  sA
Recalling that sA 0, vA D65 mph D

65.5280=3600/ ft=s, v B D D 25 mph D 25.5280=3600/ ft=s,  D
130 ft, and sB  2 D D
.65  / ft, we can express Eq. (5) as follows:
ED ft s2 ft s2 s2
a 
18:96 =  uO C 69:91 =  0:2917 s uO :
t  n

Dynamics 2e 229
Problem 2.167
Suppose that a highway exit ramp is designed to be a circular

segment of radius  D
130 ft. A car begins to exit the highway at
A while traveling at a speed of 65 mph and goes by point B with
a speed of 25 mph. Compute the acceleration vector of the car as
a function of the arc length s , assuming that between A and B the
speed was controll ed so as to maintain constant the rate dv=ds .
Solution
Using normal-tangential components, the acceleration has the form

2
a (1)
where v is the speed of the car and  is the radius of curvature of the path. To solve the problem, we need
P
to express both v and v as a function of s . We are told that the quantity dv=ds is constant. We begin by
determining this constant, which we denote by K . Since K D
dv=ds we can separate the variables s and v
as follows:
dv D K ds )
Z vB
dv D
Z sB
K ds ) vB  vA D K.sB  sA / ) K D vsBB  vA
: (2)
vA sA  sA
Now that K is known, we repeat the integration process using generic upper limits of integration, that is,
dv D K ds )
Z v
dv D
Z s
K ds ) v  vA D K.s  sA /: (3)
vA sA
Using the expression for K in the last of Eqs. (2), we have
v D vA C vsBB  vA
 sA
.s  sA /: (4)
P
To determine v as a function of s , we use the chain rule to write
P D dv
dt
) vP D dv ds
v
ds dt
) vP D v dv ds
: (5)
We know observe that v is given in Eq. (4) and dv=ds D K is given in the last of Eqs. (2). Using these
consideration, we can go back to Eq. (1) and rewrite it as follows:
2
C vsBB  vA
v B  vA
O C 1 vA C vsBB vsAA .s sA/ uO n:
  

ED
a
sA
vA
sB sA 
.s  sA /

ut(6)


Recalling that vA D 65 mph D 65.5280=3600/ ft=s, vA D 25 mph D 25.5280=3600/ ft=s,  D 130 ft,
sA D 0 , sB D  =2 D 65  ft, we can write Eq. (6) as follows:
aE D
 27:39 ft=s  C 0:08254 s s uO t

2 2
C 69:91 ft=s  0:4214 s s C 0:0006349 ft s s2 uO n:

2

2 1

2

Problem 2.168
A water jet is ejected from the nozzle of a fountain with a speed v 0 12 m=s. D
Letting ˇ 33ı , determine the rate of change of the speed of the water
D
particles as soon as these are ejected as well as the corresponding radius of
curvature of the water path.
Solution
Using the normal-tangent ial component system shown in the figure at the right,
we can express the acceleration of a water particle as it is emitted from the
nozzle as follows:
2
where v D O
v 0 is the speed of the particle as it leaves the nozzle, u t is the unit vector tangent to the path, un O
is the unit vector normal to the path, and  is the radius of curvature of the path. We assume that, as soon as a
water particle leaves the nozzle, its motion is that of a projectile subjected only to the acceleration due to
gravity. Therefore, the acceleration in question must be equal to
aE D g.  sin ˇ u t O C cos ˇ uO n/: (2)
Comparing Eqs. (1) and (2) we conclude that
v0 2
vPD g sin ˇ and  D g cos ˇ
; (3)
where we have used the fact that v D

v 0 . Recalling that v 0 D 12 m=s, g D 9:81 m=s 2 and ˇ D 33ı, we can
evaluate the results in Eqs. (3) to obtain
2
vPD 5:343 m=s and  D 17:50 m:

Dynamics 2e 231
Problem 2.169
A water jet is ejected from the nozzle of a fountain with a speed v 0 . Letting ˇ D 21ı, determine v0 so that
the radius of curvature at the highest point on the water arch is 10 ft.
Solution
The water particles are in projectile motion after they are emitted
from the nozzle. Therefore, their acceleration is vertically downward
and equal to the acceleration due to gravity. At the highest point on
the water arch the vertical component of the velocity of the water
particles is equal to zero. As is the case in projectile motion, the
horizontal component is constant and therefore equal to the value at
the beginning of the motion, namely, v 0 cos ˇ . Because this component of velocity is positive and it is the
only nonzero component at the instant considered, v 0 cos ˇ is also the value of the speed:
v D v0 cos ˇ:
Recalling that speed and radius of curvature are related through the relation a n v 2 = and observing that at D
the highest point on the water arch the normal direction coincides with the direction of gravity, we have that
an g , which implies
D 2 2 2ˇ r
g D v ) g D v0 cos ) v0 D g
cos2 ˇ
) v0 D 19:22 ft=s,
where we have used ˇ D 21ı, g D 32:2 ft=s , and  D 10 ft. 2

Problem 2.170
A car traveling with a speed v 0 D

65 mph almost loses contact with the ground when it reaches the top of
the hill. Determine the radius of curvature of the hill at its top.
Solution
Using normal-tangential components, the acceleration of the car is

2
E D vP t C v uO n;
a (1)
where v is the speed of the car,  is the radius of curvature of the path, and
O O
u t and un are the unit vectors tangent and normal to the path, respectively.
The speed of the car is constant and equal to v 0 . Therefore, Eq. (1) simplifies to
2
E D v0 uO n:
a (2)
If the car were to lose contact with the ground, the car would be in projectile motion and its acceleration
would be equal to that due to gravity. At the top of the hill the tangent to the path is horizontal and the normal
direction coincides with that of gravity. Therefore, in view of Eq. (2), at the top of the hill we would have
v2 v2
a
E D g uO n ) g D 
0 )  D g:
0 (3)
2
Recalling that v 0 D 65 mph D 65.5280=3600/ ft=s and g D 32:2 ft=s , we can evaluate  to obtain
 D 282:2 ft:

Dynamics 2e 233
Problem 2.171
A car is traveling at a constant speed over a hill. If, using a Cartesian coordinate system with srcin O

at the top of the hill, the hill’s profile is described by the function y .0:003 m 1 /x 2 , where x and D
y are in meters, determine the minimum speed at which the car would lose contact with the ground at
the top of the hill. Express the answer in km =h.
Solution

2
E D vP t C v uO n;
a (1)
O O
u t and un are the unit vectors tangent and normal to the path, respectively.
For a car moving at constant speed, Eq. (1) simplifies to
2
E D v uO n:
a (2)
We will denote by v min the minimum speed at which the car loses contact with the ground. If v were to
exceed v min , the car would be in projectile motion and its acceleration would be equal to that due to gravity.
At the top of the hill the tangent to the path is horizontal and the normal direction coincides with that of
gravity. Therefore, in view of Eq. (2), for v D
v min , at the top of the hill, i.e., for x 0 , we would have D
v2 min
p
aE D g uO n ) g D  jx D 0 ) vmin D g jx D 0 : (3)

Recalling that the profile of the hill is y D .0:003 m 1 /x 2 , and recalling that
2 3=2
1 C .dy=dx / 
 D ˇ d 2 y=dx 2
ˇ ; (4)
we have 2 3=2
m x 2 1
 
.x/ D 1 C 0:006000
0:006000 m
) 1
1
D 0:006000 m
: .0/ 1
(5)
2
Substituting the last of Eqs. (5) into the last of Eqs. (3) and recalling that g D 9:81 m=s , we have
vmin 145:6 km=h;

D
where, as requested in the problem statemen t we have expressed the final answer in km =h.

Dynamics 2e 235
Problem 2.173
A race boat is traveling at a constant speed v 0 130 mph when it performs a turn D
with constant radius  to change its course by 90 ı as shown. The turn is performed
while losing speed uniformly in time so that the boat’s speed at the end of the turn is
vf D116 mph. If the magnitude of the acceleration is not allowed to exceed 2g , where
g is the acceleration due to gravity, determine the tightest radius of curvatur e possible
and the time needed to complete the turn.
Solution
Using normal tangentia l components, the accelerat ion of the boat is given by
a E D a t uO t C an uO n; (1)
O O
where u t and un are unit vectors tangent and normal to the path. Denoting by  min the minimum value of the
radius of curvature, a n is given by
2
an D v min
; (2)
where v is the speed of the boat. The tangential acceleration a t is constant. Therefore, applying constant
acceleration equations, we have
 

vf2  v02 D 2 at .sf  s0 / ) vf2  v02 D 2at min ; (3)
2
where sf  s0 D
. =2/min is the distance covered by the boat along its path while performing the turn.
Solving the above equation for a t , we obtain
vf2  v02
at D min
: (4)
The magnitude of the acceleration must not exceed the value 2g . Recalling that a jEj D
q a2t C an2, we can
2
write a n C a2t D 4g 2, which, using Eqs. (2) and (4), gives
2  v2 2 r
v04
v 
2
C f
D 2g1 v04 C 12 vf2 v022:
 2 2
0
D 4g 2 ) (5)min 
min min
Recalling that v 0 D 130 mph D 130.5280=3600/ ft=s, vf D 116 mph D 116.5280=3600/ ft=s, and g D
32:2 ft=s2 , we can evaluate the last of Eqs. (5) to obtain
min D 565:7 ft:

We denote the time needed to perform the turn by tf  t0 . Because a t is constant, we must have vf D
C
v0 a t .tf  t0 /, which, using Eq. (4) and the last of Eqs. (5), after simplifi cation, gives
tf  t0 D 2g.vfC v0/
r v04 C 12 vf2  v02
2
 ) tf D 4:926 s,
2
where we have used fact that g D 32:2 ft=s , v0 D 130 mph D 130.5280=3600/ ft=s, and vf D 116 mph D
116.5280=3600/ ft=s.

Problem 2.174
A truck enters an exit ramp with an initial speed v 0 . The ramp is a circul ar arc
with radius  . Derive an expression for the magnitude of the acceleration of the
truck as a function of the path coordinate s (and the parameters v 0 and  ) if the
truck stops at B and travels from A to B with a constant rate of change of the
speed with respect to s .
Solution
Using normal-tangential components, the acceleration of the truck is

2
a (1)
where v is the speed of the truck,  is the radius of curvature of the path, and where u t and un are the unit O O
vectors tangent and normal to the path, respectively. The problem statement states that the quantity dv=ds is
constant. Letting  denote the constant in question, we can then write
 D dv=ds )  ds D d v: (2)
Keeping in mind that the truck moves along a circular arc of radius  , let sA 0 and sB  =2 be the D D
values of the path coordinate s at A and B , respectively. Also, let vA v0 and vB 0 be the values of D D
D
speed for s
ZD
sA and s sB , respectively. Then, we can integrate the last of Eqs. (2) as follows:
 =2
 ds D
Z 0
dv ) 1
D v 0 ) D 2v0
:
2   

(3)
0 v0
Now let v be the value of speed corresponding to the generic value s of the path coordinate. Then, substituting
the last of Eqs. (3) into the last of Eqs. (2), we can integrate again as follows:
Z s

2v0
ds D
Z v
dv ) 
2v0
s Dv  v0 ) v D v0 
2v0
s: (4)
0  v0  
Now we recall that, using the chain rule, we can write
P D dv D dv ds
) vP D dv 2v0 2v0
 
v v ) vP D  v0  s ; (5)
dt ds dt ds  
where we have used the expression for v in the last of Eqs. (4), as well as the expression for  dv=ds in p D
the last of Eqs. (3). Referring to Eq. (1), we have that a v 2 .v 2 =/2 . Therefore, using the last of
jEj D P C
Eqs. (4) and the last of Eqs.(5), after simplificati on, we have
s 4v 
2 2
jEaj D 1 2v0 2v0
 0

v0 

s
 2
C v0 

s :

Carrying out the above integration, we have
8g
C avt 0tf D 2 :
 
ln 1 (7)
at
Because a t is constant, we must have a t D .vf  v0 /=tf , which, upon substituting into Eq. (7), gives
8gtf
C vf v0 v  .vf v0 /
 
vf  v0
ln 1
 0
D 2 ) tf D 16g ln.vf =v 0 /

: (8)
Recalling that g D 9:81 m=s2 , vf D 800 km=h D 800.1000=3600/ m=s, and v0 D 1100 km=h D
1100.1000=3600/ m=s, from the last of Eqs. (8) we have
tf D 5:238 s:

Dynamics 2e 239
Problem 2.176
A car is traveling over a hill with a constant speed v 0 D

70 mph. Using the Cartesian coordinate system

shown, the hill’s profile is given by the function y .0:0005 ft 1 /x 2 , where x and y are measured
D
in feet. At x D
300 ft, the driver applies the brakes, causing a constant time rate of change of speed
v 3 ft=s2 until the car arrives at O . Determine the distance traveled while applying the brakes along
PD
with the time to cover this distance. Hint: To compute the distance traveled by the car along the car’s path,
p C Dp C
observe that d s dx 2 dy 2
D 1 .dy=dx /2 dx , and that
x
C 2 x 2 dx C 2x 2 C 2C1 ln 2 2
ZpC D pC 1
2
1
C x C p1 C C x :
Solution

2
where u t and un are the unit vectors tangent and normal to the path, respectiv ely. Let t 0 0 the time at
which v v 0 and tf the time at which the car arrives at O . Using the path coordinate s (see figure at the
OD O
right), we denote by d D
sf  s0 the distance traveled between t 0 and tf . Since a t v is constant, we can DP D
apply constant acceleration equations to write
d D v0tf C 12 at tf2 ) tf D 
1 
v0 ˙
q v02 C 2a t d
: (2)
at
Recalling that a t 3 ft=s2 < 0, we see that v 0 >

D
q
v02 2a t d . This implies that there are two positive
C
real roots for tf . The physically acceptable root is the smaller of the two, which correspo nds to when the car
arrives at O for the first time after applying the breaks. To interpret the second root we need to keep in mind
that the car is still traveling to the right when it arrives at O for the first time. Hence, if a t < 0 is maintained
after the car arrives at O , the car would keep slowing down while travel ing to the right until stopping and
then to is would travel back and reach O a second time. For the purpose of the present calculati on, we are
only interested in the first time that the car arrives at O , which is
1  :
tf D  v0  v02 C 2a t d (3)
at
q
All the quantities in Eq. (3) are known except for d , which is one of the unknowns of the problem. Hence,
we now determine d and then we will use Eq. (3) to determine tf . One way to obtain d is to realize that
d D
Z sf
ds : (4)
s0

From the problem figure, we have that q

ds D dx 2 C dy 2: (5)
Since the trajectory of the car is given in the form y

pC y.x/ , we have dy D
.dy=dx/ dx , so that Eq. (5) D
implies that d s 1 .dy=dx/ 2 dx , and Eq. (4) can therefore be rewritte n as
D
d D
Z qC xf
1 .dy=dx/ 2 dx ; (6)
x0
where x0 D 300 ft and xf D

0. Now we rec all that y .0:0005 ft1 /x 2 so that we can write
D
dy=dx C x , where C 0:001000 ft1 . Hence, we can write Eq. (6) as follows:
d D
ZD p C
xf
1 C 2 x 2 dx
D
) d D
x p
1 C C 2x2 C 2C1 ln C x C
 pC 1 C 2x 2
 xf
x0 2 x0
) d D 
x0
qC1 C 2 x02 
1
ln C x0
 q
C C 1

C 2 x02 ; (7)
2 2C
where we have accounted for the fact that xf D 0. Substituting the last of Eqs. (7) into Eq. (3), we have
1
( s x q C x C q1 C C x ) :
tf D 
at
v0 C v02  2a t
2
0
1 C C 2x02 C 2C1 ln 0
2 2
0 (8)
Recalling that x 0 D
 300 ft, v 0 D
70 mph 70.5280=3600/ ft=s, C D D 0:001000 ft , and a t D 1
 3 ft=s2 ,
we can evaluate the last of Eqs. (7) and Eq. (8) to obtain
d D 304:4 ft and tf D 3:106 s:

Dynamics 2e 241
Problem 2.177
Recalling that a circle of radius R and center at the srcin O of a Cartesian

coordinate system with axes x and y can be expressed by the formula x 2 y 2 C D
R 2 , use Eq. (2.59) to verify that the radius of curvature of this circle is equal to
R.
Solution
Equation (2.59) on p. 93 of the textbook tells us that, given a curve of the form y .x /, where x and y are D
Cartesian coordinates, then the radius of curvature of the curve as a function of x is
2 3=2
 D Œ1 Cd.dy=dx/
ˇ
2 y=dx 2
ç
ˇ : (1)
To solve the problem we need to determine the quantities dy=dx and d 2 y=dx 2 for a circle. To do so, we start
from the given equatio n for a circle with center at the srcin and radius R , i.e., x 2 y 2 R 2 . Differentiating C D
this expression with respect to x , we have
dy dy x
2x C 2y dx D0 ) dx
D 
y
: (2)
Taking the derivative of Eq. (2) with respect to x , we have
2 2 2 2
d y D 1 C yx2 dx
dy ) d y D x Cy ; (3)
dx 2 y dx 2 y3
where we have used the last of Eqs. (2) to obtain the last of Eqs. (3). Substituting the last of Eqs. (2) and the
last of Eqs. (3) into Eq. (1), we have
 2 23=2
D 1 Cx2x C=yy 2 y 3 )  D x x2CCy y 2
 ˇ ˇˇˇ  2 23=2
ˇ ˇ ˇˇ y3
y3
ˇˇ )  D
x 2
x2
y2
ˇ CC  ˇ
y2
3=2
: (4)
Recalling that x 2 C y 2 D R 2 , the last of Eqs. (4) gives
3
 D RR2 )  D R. (5)

Problem 2.178
A particle P is moving along a path with the velocity sho wn. Discuss in detail whether or not there are
incorrect elements in the sketch of the polar component system at P .
Solution
O O
The unit vectors ur and u are both incorrect. The unit vector ur must be oriented along the radial line r O
O
and point away from the srcin. The unit vector u must be oriented perpendicular to ur and pointing in the O
direction of increasing  .

Dynamics 2e 243
Problem 2.179
Solution
O
Since u is perpendicula r to the radial line connecting P to O and it is directed in the direction of increasing
O O
 , the unit vector u is oriented correctly. The unit vector ur is parallel to the radial line connect ing P to O ,
but it is pointing toward O and this is incorrect.

Problem 2.180
Solution
O O
The unit vector ur is oriented correctly, but u must be oriented opposite to the direction shown.

Dynamics 2e 245
Problem 2.181
A particle P is moving along a circle with cente r C and radius R in the direction shown. Letting O be the
srcin of a polar coordinate system with the coordinates r and  shown, discuss in detail whether or not
there are incorrect elements in the sketch of the polar component system at P .
Solution
O O
Both ur and u are oriented as they should be.

Problem 2.182
A radar station is tracking a plane flying at a constant altitude with

a constant speed v 0 D
550 mph. If at a given instant r 7 mi and D
 D32 ı , determine the corresponding values of r ,  , r , and  . PPR R
Solution
Referring to the figure at the right, the unit vector { described the O
direction of the airplane. Hence, we can give the following form to
E
the velocity v of the airplane:
E D v 0 {O:
v (1)
Using the polar component system with unit vectors ur and u , the O O
velocity of the airplane can also be written as
E D rP uO r C r P uO :
v (2)

In order to compare the expressions for vE in Eqs. (1) and (2), we

observe that the unit vector {O can be written in terms of uO r and uO as {O D cos  u
Or   O
sin  u , so that Eq. (1)
can be rewritten as
v v 0 cos  ur  v0 sin  u : (3)
O
Equating Eq. (2) and Eq. (3) component by component, we have O ED
P
rP D v 0 cos  and r  D v0 sin  uO ) rP D v 0 cos  and P D .v0=r / sin  : (4)
  
Recalling that v 0 D 550 mph D 550.5280=3600/ ft=s,  D 32 ı , and r D 7 mi D 36;960 ft, we can evaluate
the last two of Eqs. (4) to obtain
P D 684:1 ft=s
r and PD
 0:01157 rad=s:
Denoting the acceleration of the airplane by a, we have a E EDE

0 because the airplane is flying at constant
speed on a straight path. Therefore, recalling the expression of the acceleration in polar coordinates, we have
P O C .r R C 2rP P / uO ) rR r P 2 D 0 and r R C 2rP P D 0:
.rR  r  2 / ur   (5)
R P
Solving the last two of Eqs. (5) for rR and  and using the expressions for rP and  in the last two of Eqs. (4)
we have
rR D .v 02 =r / sin2  and R D .v 0 =r /2 sin.2 /; (6)
where we have used the following trigonometricıidentity: 2 sin  cos  D sin.2 /. Recalling again that
v0 D 550 mph D 550.5280=3600/ ft=s,  D 32 , and r D 7 mi D 36;960 ft, we can evaluate Eqs. (6) to
obtain
r R D 4:944 ft=s 2
and R D 0:0004281 rad=s :
 2

Dynamics 2e 249
Problem 2.185
At a given instant, the merry-go-round is rotating with an angular

velocity ! 18 rpm, and it is slowing down at a rate of 0:4 rad=s2 .
D
When the child is 2 :5 ft away from the spin axis, determine the
time rate of change of the child’s distance from the spin axis so
that the child experiences no transverse acceleration while moving
along a radial line.
Solution
Using polar coordinates, the transverse component of acceleration is
a D r R C 2rP P : (1)
Setting a  equal to zero and solving for r , we have P

R
rP D r2P :
 (2)
Recalling that  ! P D D 18 rpm D 18.2=60/ rad=s, and R D ˛ D 0:4 rad=s2 , P

we can evaluate r for
r D
2:5 ft to obtain
rP D 0:2653 ft=s:

Problem 2.186
At a given instant, the merry-go-round is rotating with an angular

velocity ! D
18 rpm. When the child is 0:45 m away from the
spin axis, determine the second derivative with respect to time of
the child’s distance from the spin axis so that the child experiences
no radial acceleration.
Solution
Using polar coordinates, the transverse component of acceleration is
a D rR  P
r  2: (1)
Setting a r equal to zero and solving for r , we have R

rR D r P 2: (2)
Recalling that  P D ! D 18 rpm D 18.2=60/ rad=s, we can evaluate rR for r D 0:45 m to obtain
2
R D 1:599 m=s :
r

Problem 2.188
The polar coordinates of a particle are the following functi ons of time:
r D r0 sin.t 3= 3/ and  D  0 cos.t = /;

where r 0 and  0 are constants,  D
1 s, and where t is time in seconds.
Determine r 0 and  0 such that the velocity of the particle is completely in
the radial direction for t D
15 s and the corresponding speed is equal to
6 m=s.
Solution
In polar coordinates, the velocity vector is given by
v  (1)
Using the expressions for r and  given in the problem statement, we can rewrite Eq. (1) as follows:
2 3 3
E D 3r03t cos t 3 uO r r00 sin t 3 sin t uO :
    
v   (2)
Recalling that  D 1 s, for t D 15 s, Eq. (2) reduces to
vE D .403:8 s /r0 uO r .0:5211 s /r0 0 uO : 1


1
 (3)
From Eq. (3) we conclude that in order for the velocity to be completely in the radial direction, we must have
0 D 0: (4)
Substituting the result in Eq. (4) into Eq. (2) we have
vE D 3r03t
2
cos
t 
3
3
O )
ur v D ˇˇ 3r0 t 2
3
t3
cos 3

 ˇˇ
ˇ ) r0 ˇ 3
D 3t 2 cos .tv3= 3/ :
ˇ (5)
Enforcing the condition that v D 6 m=s for t D 15 s, and recalling that  D 1 s, we can evaluate the last of
Eqs. (5) to obtain
r0 D 0:01486 m:

Dynamics 2e 255
Problem 2.191
During a given time interval, a radar station tracking an airplane records

the readings
P D Œ449:8 cos  .t / C 11:78 sin  .t/ç mph;

r.t/
P D Œ11:78 cos  .t / 449:8 sin  .t/ç mph;
r.t/  .t/ 
where t denotes time. Determine the speed of the plane. Furthermore,

determine whether the plane being tracked is ascending or descending
and the altitude)

plane’s corresponding climbing
expressed in ft=s.rate (i.e., the rate of change of the
Solution
In polar coordinates, the radial and transverse components of the velocity are vr r and v r, DP D P
respectively. We observe that the problem statement provides v r and v  as a function of time. With this in
q
mind, we recall that the speed is given by v D vr2 C v 2. Hence, using the information provide d, we have

2
D C v v r2 v2
D rP C .r P /2 2
2
cos2  C .11:78/2 sin2  C 2.449:8/.11:78/ sin  cos  mph
D .449:8/ 
C .11:78/2 cos2  C .449:8/2 sin2  2.449:8/.11:78/ sin  cos   mph:
 (1)
Using the trigonometric identity sin 2 ˇ C cos2 ˇ D 1 , we can simplify the above expr ession to
v 2 D .449:8/2 C .11:78/2 mph )

  v D 450:0 mph. (2)
Letting y denote the elevation of the airplane, we have that y D r sin  . Taking the derivative of y with
respect to time we have
P D rP sin  C r P cos 
y
D Œ.449:8/ sin  cos  C .11:78/ sin2  C .11:78/ cos2   .449:8/ sin  cos  ç mph
D 11:78 mph:
Recalling that 1 mph D .5280=3600/ ft=s, we have that
The airplane is ascending at a rate of 17:28 ft=s.

Problem 2.192
The polar coordinates of a particle are the following functions of

time:
2
D r0 1 C t and  D 0 t 2 ;
 
r
where r 0 D 3 ft,  0 D 1:2 rad,  D 20 s, and t is time in seconds.

Determine the velocity and the acceleration of the particle for
t D 35 s and express the result using the polar component system
formed by the unit vectors u O r and uO at t D 35 s. 
Solution
In polar coordinates, the velocity is given by
v  (1)
E D r0 uO r C 2r0t 0.t3 C  / uO :

v  (2)
In polar coordinates, the acceleration is given by
P
a r
E D R

 O C r R C 2rP P uO :
r  2 ur    (3)
Again using the expressions for r and  given in the problem statement, we can rewrite Eq. (1) as follows:
4r0 t 2 02
C  / uO r C 2r030 .3t C  / uO :
ED
a 
5
.t (4) 
Recalling that r 0 D 3 ft,  0 D 1:2 rad, and  D 20 s, for t D 35 s we can evaluate the expressions in Eqs. (2)
and (4) to obtain
2
vE D .0:1500 uO r C 1:732 uO / ft=s  and E D.
a 0:3638 ur O C 0:1125 uO / ft=s : 

Dynamics 2e 257
Problem 2.193
The polar coordinates of a particle are the following functions of

time:
2
D r0 1 C t and  D 0 t 2 ;
 
r
where r 0 D 3 ft,  0 D 1:2 rad,  D 20 s, and t is time in seconds.

Determine the velocity and the acceleration of the particle for
t D 35 s and express the result using the Cartesian component
system formed by the unit vectors {O and |O .
Solution
In polar coordinates, the velocity is given by

v  (1)
E D r0 uO r C 2r0t 0.t3 C  / uO :

v  (2)
In polar coordinates, the acceleration is given by

E D rR
a  P  O C r R C 2rP P  uO :
r  2 ur  (3)
Again using the expressions for r and  given in the problem statement, we can rewrite Eq. (1) as follows:
2 2
a  4r0 t 0 .t
C  / uO r C 2r030 .3t C  / uO :
ED (4) 
5
We now observe that the unit vectors u O r and uO can be expressed in terms of the unit vectors {O and |O as

follows:
uO r D cos  {O C sin  |O and uO D sin  {O C cos  |O :  (5) 
Substituting Eqs. (5) in Eq. (2), collecting terms, and using the given expression for  as a function of time,
the velocity take s on the form
2 2 2 2
E D r03
t   t 
OC r03
 0 0
 t  0
 t 
0
v  2 cos  2t 0 .t C / sin { 2t 0 .t C / cos C 2 sin O
| : (6)
2 2 2 2
Substituting Eqs. (5) in Eq. (4), collecting terms, and using the given expression for  as a function of time,
we that the acceleration takes on the form
2r0 0
 t  2  t 2
0 0
ED
a  2t 2 0 .t C  / cos C  2.3t C  / sin {O
5 2 2
2 2
C 2r050  2.3t C  / cos 20 2t 20.t C  / sin t 20 |O: (7)
 t   

Recalling that r 0 D 3 ft,  0 D 1:2 rad, and  D 20 s, for t D 35 s we can evaluate the expressions in Eqs. (6)
and (7) to obtain
2
E D .0:7518 {O
v  O
1:568 | / ft=s and E D .0:3705 {O C 0:08812 |O/ ft=s :
a

Problem 2.194
A particle is moving such that the time rate of change of its polar
coordinates are
rP D constant D 3 ft=s and P D constant D 0:25 rad=s:


Knowing that at time t D 0 , a particle has polar coordinates

r0 D 0:2 ft and  0 D 15ı, determine the position, velocity, and
acceleration of the particle for t D 10 s. Express your answers in
the polar component system formed by the unit vectors ur and u 
at t D 10 s. O O
Solution
P P
Since r and  are constant, they can be integrated with respect to time to obtain
D 0 C P t;
r D r0 C rPt and  (1)
where r 0 and  0 are the values of r and  , respectively, for t D 0 . The position vect or is given by
rE D r uO r ) rE D .r 0 C rP t/ uO r ; (2)
where we have used the expression for r in the first of Eqs. (1). Recalling that r 0 D 0:2 ft and rP D 3 ft=s, for
t D 10 s the position of the particle can be evaluated to obtain
rE D 30:20 uO r ft :
The velocity of the particle is given by

vE D rP uO r C r P uO :  (3)
P
Recalling that rP and  are given and substituting the first of Eqs. (1) into Eq. (3), we have
vE D rP uO r C .r0 C rP t /P uO :  (4)
Recalling that r 0 D 0:2 ft, rP D 3 ft=s, P D 0:25 rad=s, for t D 10 s, Eq. (4) gives
vE D .3 uO r C 7:550 uO / ft=s: 
The acceleration of the particle is given by
E D rR
a  P  O C r R C 2rP P  uO :
r  2 ur  (5)
Substituting Eqs. (1) into Eq. (5) gives
a .r0 rt/ 2 ur 2 r  u : (6)
Recalling that r 0 D 0:2 ft, rP D 3 ft=sE, PDD 0:25CradP =sP, forO tCD P10P Os the acceleration of the particle can be
evaluated to obtain
2
a E D. 1:888 ur O C 1:500 uO / ft=s : 

Dynamics 2e 259
Problem 2.195
A particle is moving such that the time rate of change of its polar
coordinates are
rP D constant D 3 ft=s and P D constant D 0:25 rad=s:


Knowing that at time t D 0 , a particle has polar coordinates

r0 D 0:2 ft and  0 D 15ı, determine the position, velocity, and
acceleration of the particle for t D 10 s. Express your answers in
the Cartesian component system formed by the unit vectors { and
|O. O
Solution
P P
Since r and  are constant, they can be integrated with respect to time to obtain
D 0 C P t;
r D r0 C rPt and  (1)
where r 0 and  0 are the values of r and  , respectively, for t D 0 . The position vect or is given by
rE D r uO r ) rE D .r 0 C rP t/ uO r ; (2)
where we have the expression for r given in the first of Eqs. (1). The velocity of the particle is given by
v  (3)
P P
Recalling that r and  are given and substituting the first of Eqs. (1) into Eq. (3), we have that the velocity
becomes
v r ur .r0 r t / u : EDPO C CP PO (4)
The acceleration of the particle is given by

E D rR
a  P  O C r R C 2rP P  uO :
r  2 ur  (5)
Substituting Eqs. (1) into Eq. (5) gives
C rPt/P 2 uO r C 2rP P uO :
a ED .r0 (6) 
We now observe that we can express the unit vectors uO r and u O in terms of the unit vectors {O and |O as follows:

uO r D cos  {O C sin  |O and uO D sin  {O C cos  |O :   (7)
Using Eqs. (1), substituting Eqs. (7) into the last of Eqs. (2), Eq. (4), and Eq. (6), we have
E D .r 0 C rPt/cos0 C P t  {O C sin0 C P t  |O;

r (8)
vE D rP cos 0 C P t .r0 C rP t /P sin 0 C P t {O

C .r0 C rPt/Pcos0 C P t  C rP sin 0 C Pt  |O; (9)

 P 2
aE D .r0 C rP t/ cos 0 C  t
 P P P
2rP  sin 0 C  t {O 
2r  cos   t  .r rt / 2 sin  t  | :
 (10)
C P PP 0 C P
 0C P P
ı
0C P O
Recalling that r 0 D 0:2 ft, rP D 3 ft=s,  D 0:25 rad=s, and  0 D 15 , for t D 10 s Eqs. (8)–(10) give
2
rE D . 28:05 {O C 11:20 |O / ft; vE D . 5:585 {O 5:900 |O / ft=s; and aE D .1:197 {O 2:093 |O / ft=s :
   

Problem 2.196
one for fluid inlet and another for outlet, the outlet being farther from the center of the plate than the inlet.
The system is capped by a rotating disk. The fluid trapped between the rotating disk and the stationary
plate is put in motion by the rotation of the top disk, which pulls the fluid through the spiral channel.
Consider a spiral channel with the geometry given by the equation r  r0 , where r 0 146 m D C D
is the starting radius, r is the distance from the spin axis, and  , measured in radians, is the angular position
of a point in the spiral channel. Assume that the radius at the outlet is r out 190 m, that the top disk D
rotates with a constant angular speed ! , and that the fluid particles in contact with the rotating disk are
essentially
top disk, thestuck to of
speed it.the
Determine
particlesthe constant
in contact  and
with thisthe value
disk v ! 0:5
is of (in rpm) such
m=s at the that after 1:25 rev of the
outlet. D
Photo credit: “Design and Analysis of a Surface Micromachined Spiral-Channel Viscous Pump,” by M. I. Kilani, P. C. Galambos,
Y. S. Haik, C. H. Chen, Journal of Fluids Engineering, Vol. 125, pp. 339–344, 2003.
Solution
We denote by  out the value of the coordinate  corresponding to r D r , where r is the radial position of out out
the outlet. Since r D C
 r0 , we have
r r0 out 
r D  C r0 )  D
out out )  D 5:602 m, (1)
 out
where we have used the fact that r D 190 m, r 0 D 146 m, and  D 1:25 rev D 1:25.2 / rad. Next,
out out
we recall that the velocity in polar coordinates is vE D rP uO r C r rP uO , so that the speed is 
 2
v D rP 2 C r P :
q (2)
We can obtain rP by differentiating r with respect to time. This gives

rP D  P : (3)
Substituting Eq. (3) into Eq. (2) and solving for P , we have
v
P D
2 C r 2
) ! D .r r /2 C Œ.rv r / C  r ç2 ; (4)
out
out  0 out  0 out 0
where we have
the second used
of Eqs. theRecalling
(1). ! r , r 190
fact that thatp mr, 0r, and 146D P DD C
where
mwe have
, and used
that
p
for the
 expression
out  in
forrev
1:25 D D D D
out 0
D
1:25.2 / rad we must have v 0:5 m=s, the last of Eqs. (4) gives
! D 2630 rad=s D 25;120 rpm:


Dynamics 2e 261
Problem 2.197
one for fluid inlet and another for outlet, the outlet being farther from the center of the plate than the inlet.
The system is capped by a rotating disk. The fluid trapped between the rotating disk and the stationary
plate is put in motion by the rotation of the top disk, which pulls the fluid through the spiral channel.
Consider a spiral channel with the geometry give n by the equation r  r0 , where  12 m D C D
is called the polar slope, r 0 D
146 m is the starting radius, r is the distance from the spin axis, and  ,
measured in radians, is the angular position of a point in the spiral channel. If the top disk rotates with a
constant angular speed ! D
30;000 rpm, and assuming that the fluid particles in contact with the rotating
disk are essentially

acceleration stuckparticle
of one fluid to it, use the itpolar
when is atcoordinate
r 170 system
m. shown and determine the velocity and
D
Photo credit: “Design and Analysis of a Surface Micromachined Spiral-Channel Viscous Pump,” by M. I. Kilani, P. C. Galambos,
Y. S. Haik, C. H. Chen, Journal of Fluids Engineering, Vol. 125, pp. 339–344, 2003.
Solution
In polar components, the velocity is given by

vE D rP uO r C r P uO : (1) 
P
Since r D  C r0 and  D ! , Eq. (1) becomes
vE D  ! uO r C r ! uO : (2) 
 6 2 
Recalling that  D 12 m D 12 10 m and ! D 30;000 rpm D 30000 60 rad=s, for r D 170 m D

6
170  10 m, Eq. (2) gives
vE D .0:03770 uO r C 0:5341 uO / m=s: 
For the acceleration we have

P  O C r R C 2rP P  uO :
E D rR
a  r  2 ur  (3)
Recalling that P D ! D const., and recalling that r D  C r0 , we have
rP D  !; rR D 0; and R D 0: (4)
Hence, Eq. (3) can be simplified to
2 2

a EmDandr!! uDO r C30;000
2! uO : 
Recalling that  12 m D D 12  106 rpm D 30000 2 
60 rad=s, for r D 170 m (5)D
170  106 m, Eq. (5) gives
2
E D.
a 1678 ur O C 236:9 uO / m=s : 

Dynamics 2e 263
Problem 2.199
A particle moves along a spiral described by the equation r r 0  , D C

where r 0 and  are constants, and where  is in radians. Assume that
PD ˛t , where ˛ 0:15 rad=s2 and t is time expressed in seconds.
D
If r D0:25 m and  0 for t D D
0, determine  such that, for
t D 10 s, the accel eration is comple tely in the radial direc tion. In
addition, determine the value of the polar coordinates of the point for
D
t 10 s.
Solution
Since r D 0:25 m and  D 0 for t D 0, using the equation of the spiral, we must have that
r0 D 0:25 m: (1)
Next, recalling that the acceleration has the expression
E D rR
a  P  O C r R C 2rP P  uO ;
r  2 ur  (2)
we proceed to determine expressions for the first and second time derivatives of the radial and transverse
coordinates. The first time derivative of the transverse coordinate is given as ˛t . Hence, for this coordinate
we have
 ˛t  ˛: PD ) RD (3)
In addition, since we will need it to properly compute the radial coordinate, recalling that D 0 for t D 0,
we can integrate the first of Eqs. (3) with respect to time to obtain
1 2
 2 ˛t : D (4)
To determine the time derivatives of the radial coordinate, we first substitute Eq. (4) into the equation of spiral
and then differentiate with respect to time. This gives
r D r0 C 12  ˛t 2 ) rP D  ˛t ) rR D  ˛: (5)
Substituting Eqs. (3) and (5) into Eq. (2) gives
aED
˛
  r0 ˛
2 2
t 1 3 4
 2 ˛ t
 uO C ˛r C 25  ˛2t 2 uO :
 (6)
r 0 
For t D tf D 10 s (the subscript f stands for “final”) the transverse component of the acceleration vanishes,
i.e.,
2r 0
C 25  ˛2tf2 D 0 )  D 5˛t
˛r 0 2
:  (7)
f
2
Using Eq. (1), and recalling that ˛ D 0:15 rad=s and tf D 10 s, the last of Eqs. (7) gives
 D 0:006667 m:  (8)
Substituting the last of Eqs. (7) into the first of Eqs. (5), and recalling that  is given by Eq. (4), we can
evaluate r and  for t D
10 s to obtain
r D 0:2000 m and  D 7:500 rad:


Problem 2.200
A point is moving counterclockwise at constant speed v 0 along a spiral

described by the equation r D C
r 0  , where r 0 and  are constants
with dimensions of length. Determine the expressions of the velocity
and the acceleration of the particle as a function of  expressed in the
polar component system shown.
Solution
In polar coordinates, the expressions for the velocity is
v  (1)
observing that r is as a function of  is given in the problem statement, we need to determine expres sion for
P P
r and  as functions of  and the known quantities v 0 , r 0 , and  . To do so, we begin with differentiating the
given expression for r with respect to time:
r : PD P (2)
Substituting Eq. (2) into Eq. (1) and keeping in mind that r D r0 C  , we enforce the condition that jEvj is
equal to v 0 as follows:
P C .r0 C  /2P 2 D v02 ) P D v0

 2 2
2 C .r0 C  /2 ; (3)
where we have chosen the root with  > 0 to be consistent with the fact that the point is moving counter-
P p
clockwise. Using the last of Eqs. (3) along with Eqs. (1) and (2), we can rewrite the velocity as a function of
 and known constants:
ED  v0 v0 .r0 C  /
v p 2 C .r0 C  /2 uO r C p 2 C .r0 C  /2 uO : 
To determine the acceleration, we recall that in polar coordinates the acceleration is given by
P  O C r R C 2rP P  uO :
E D rR
a  r  2 ur (4) 
We observe that we already have an expression for P and, through Eq. (2), a corresponding expression for rP .
We now need to determine expressions for rR and R . For R we can write
d P P 2
R D
dt
D dd P ) R D 2 v0 .r0 C  /2 2 ; (5)
 C .r0 C  /
where we have used the last of Eqs. (3) to express P and to determine an expression for d P =d  . Next,
 
differentiating Eq. (2) with respect to time we have rR D  R so that, using the last of Eqs. (5) we have
 2 v02 .r0 C  /
rR D  2 : (6)
 2 C .r0 C  /2

Dynamics 2e 265
Finally, recalling that r D C

r 0  , using Eq. (2), the last of Eqs.(3), the last of Eqs. (5), and Eq. (6), after
simplification, we can rewrite Eq. (4) to obtain
ED
a 
˚
C  /3  uO r C  v02 .r0 C  /2 C 2 2 C .r 0 C  /2 uO :
v02 .r0

2 2 2 2 Œ 2 C .r0 C  /2
2
r 0 C 2r 0  C .1 C  /

Problem 2.201
A person driving along a rectilinear stretch of road is fined for speeding, having been clocked at 75 mph
when the radar gun was pointing as shown. The driver claims that, because the radar gun is off to the side
of the road instead of directly in front of his car, the radar gun overes timates his speed. Is he right or wrong
and why?
Solution
The driver is wrong. The speed recorded by the radar gun is the component (or projection ) of the actual speed
along the line connecting the radar gun and the moving car. As such, i.e., being a component, it can only be
smaller than the true speed.

5280 5280
Recalling that vA 110 mph D D 110  3600 ft=s, vB D 175 mph D 175. 3600 / ft=s, L D 50 ft, and d D
1 mi D
5280 ft, Eqs. (8) give
P D
A 0:001157 rad=s and P D
H 4:287 rad=s:
R
We now turn to the determination of  at A and H . The acceleration of the car is
E D ac .sin  uO r C cos  uO /:
a  (9) 
P 2 R P
In polar coordinates we have aE D rR r  uO r C r  C 2rP  uO , which, when compared to Eq. (9), implies
 
   
ac sin  D rR r P 2 and
 ac cos  D r R C 2rP P :
 (10)
R
Solving the second of Eqs. (10) for  , we have
1
R D ac cos  2v P sin  ;
  (11)
r
P
where we have used the expression for r in the first of Eqs. (5). Hence, observing that sin A D d=.2rA/,
using Eqs. (7), (8), the last of Eqs. (3), and the last of Eqs. (2), after simplification, we have
2
vB 2 2 vA2 2
 vA
dL vB
C .d=2/v2AC L2
R D
  
A  and RH D : (12) 
C .d=2/ 2 L2 2d 2 2dL
Recalling that vA D 110 mph D 110 5280

 3600  ft=s, vB D 175 mph D 175. 5280
3600 / ft=s, L D 50 ft, and d D
1 mi D 5280 ft, Eqs. (12) give
4
 1:684  10 rad=s2 and  0:07547 rad=s
2
:
RA D RH D

Dynamics 2e 269
Problem 2.203
The radar station at O is tracking a meteor P as it moves through the

D 22;440 ft=s, D PD
PD 2:935 rad=s, r 187;500 ft=s2 , and 
RD 5:409 rad=s .
2 RD
(a) Determine the magnitude and direction (relati ve to the xy coordinate
system shown) of the velocity vector at this instant.
(b) Determine the magnitude and direction (relati ve to the xy coordinate

system shown) of the acceleration vector at this instant.
Solution
Part (a). Referring to the figur e at the right, the ve locity of the me teor is
v  (1)
Then the speed is

q
jEvj D rP 2 C r P 2 )
jEvj D 65;590 ft=s, (2)
where we have used the following numerical data: rP D 22;440 ft=s, r D 

21;000 ft, and P D 2:935 rad=s. To find the orientation of vE relative to the xy axes, we note that


ur
O D cos  {O C sin  |O and u
O D sin  { O C cos  |O; (3)
so that Eq. (1) can be rewritten
v
„ ƒ‚ P …  O C „P ƒ‚C P …  O D
E D rP cos  
vx
r  sin  { r sin 
vy
r  cos  | O
.22;430 {  61;640 {/ ft=s: O (4)
E
Since v points downward and to the right, its orientation from the x axis is
E
Orientation of v from x axis D
ˇˇ ˇˇ
D
ˇˇ P
 tan
1 vy C r P cos   D 70:01ı; (5)
 tan
1 r sin  ˇˇ 
vx rP cos  r P sin  
where, again, we have used the fact that rP D 22;440 ft=s, r D 21;000 ft, and P D 2:935 rad=s. Therefore,
 
we have
E
Orientation of v from x axis D 70:01ı (cw):
Part (b). The acceleration of the meteor is
a
E D rR  r  2 ur
P  O C r R C 2rP P  uO :  (6)
Then the magnitude of a is E

jEaj D rR
q  r2P 2 C r R C 2rP P /2 ) jEaj D 19;300 ft=s , 2
(7)

where we have used the following numerical data: r 187;500 ft=s2 , r 22;440 ft=s, RD 2:935 rad=s, PD PD
r D21;000 ft, and  RD
5:409 rad=s2 .
E
To determine the orientation of a relative to the xy system, we use Eqs. (3) to rewrite Eq. (6) as
rP
r R C 2rP P/  {O C rR P

aE D rR
„   2 cos 

ƒ‚ 
ax

…  sin 
„  r  2 sin 
ƒ‚ C  R C …P P
ay
r 2r  / cos  |
O
D. 6599 { O C 18;130 {O/ ft=s: (8)
E
Since a is directed upward and to the left, its orientation from the x axis is
E
Orientation of a from x axis D 180ı  tan1
ˇ a ˇy
ı 1
"ˇaˇ rR r P 
x
 C r R C 2rP P / cos  D 110:0ı; (9)
 2 sin 
ˇˇ#
D 180  tan ˇ rR r P 
 2 cos 
 r R C 2rP P / sin 
 ˇ
where, again, we have used the fact that rR D 187;500 ft=s , rP D 22;440 ft=s, P D 2:935 rad=s, r D
2
 
21;000 ft, and  RD
5:409 rad=s2 . Hence, we have
E
Orientation of a from x axis D 110ı (ccw):

Dynamics 2e 271
Problem 2.204
EP
The time derivative of the acceleration, i.e., a, is usually referred to as the jerk. Starting from Eq. (2.70),
compute the jerk in polar coordina tes.
Solution
Equation (2.70) on p. 105 of the textbook states
aE D rR  P O C r R C 2rP P uO D ar uO r C a uO ;
r  2 ur    (1)
where
   
ar D rR  r2P
D r R C 2rP P : and a (2)
Differentiating with respect to time the second expression for aE in Eq. (1), we have
aEP D aP r uO r C ar uOP r C aP uO C a uPO :     (3)
Recalling that
ur OP D P kO uO r D P uO
  and u OP D P kO uO D P uO r ;
   (4)
Eq. (3) can be rewritten as

EP D aP r P a  uO r C aP C P ar  uO :
a     (5)
Differentiating with respect to time Eqs. (2) gives
P D «r rPP 2
ar   PR
2r   and P D rP R C r « C 2rR P C 2rP R :
a (6)
Substituting Eqs. (2) and (6) into Eq. (5) and simplifying, we have
EP D «r
a
  PR
3r    PP O C

3r  2 u r
h «r   P  C 3rR P C 3rP R uO :
3
i 

Problem 2.205
The reciprocating rectilinear motion mechanism shown consists of a disk

pinned at its center at A that rotates with a constant angular velocity !AB ,
a slotted arm CD that is pinned at C , and a bar that can oscillate within
the guides at E and F . As the disk rotates, the peg at B moves within the
slotted arm, causing it to rock back and forth. As the arm rocks, it provides
a slow advance and a quick return to the reciprocating bar due to the
change in distance between C and B . Letting  30 ı , !AB 50 rpm, D D
D D
R 0:3 ft, and h 0:6 ft, determine  and  , i.e., the angular velocityP R
and angular acceleration of the slotted arm CD , respectively.
Solution
Referring to the diagram at the right, we define two component systems: one consisting
O O
of the unit vectors ur and u , and the other consisting of the unit vectors u` and u . O O
Both these component systems are polar, the first with coordinates r and  , and the
other with coordinates ` and  . The coordinate r R D D
const., whereas the coordinate
D
` varies with time. Because h 2R , geometry tells us that
when  D 30ı, uO D uO r ; uO ` D uO ;
    D ; and D h cos  : (1)
`
The position of B can be described relative to the fixed points A and C : ErB=A D r uO r and rEB=C D ` uO ` .
Hence, the velocity of B can be given the following two expressions:
E D rP uO r C r P uO D R!AB uO and vE D P̀ uO ` C `P uO ;

v    (2) 
where we accounted for the fact that r D R D const. and P D !AB . Setting the above two expressions of 
velocity equal to each other and using Eqs. (1), when  D 30 ı , we have
R!AB uO D P̀ uO C .h cos  /P uO r ) P̀ D R!AB and

    P D 0 . (3) 
E
Similarly to v , the acceleration of B has the following two expressions:

aE D rR P  O C r R C 2rP P  uO D R!AB
 r  2 ur 2
uO r and aE D `R `P 2 uO ` C `R C 2 P̀P uO ;

  

 (4)  
where we recalled that r D R D const. and P D !AB D const. Setting the above two expres sions of

acceleration equal to each other, using Eqs. (1) and the last of Eqs. (3), when  D 30 ı , we have
R!AB 2
R!AB2
uO r D R̀ uO C .h cos  /R uO r ) R̀ D 0 and R D
   : (5) 
h cos 
2
Recalling that R 0:3 ft, !ABD D 50 rpm D 50  60 rad=s, h D 0:6 ft, and  D 30 ı , the last of Eqs. (5) can
be evaluated to obtain
RD 15:83 rad=s
2
:

Dynamics 2e 273
Problem 2.206
As a part of an assembly process, the end effect or at A on the robotic arm needs
to move the gear at B along the vertical line shown with some known velocity
v0 and acceleration a 0 . Arm OA can vary its length by telescoping via internal
actuators, and a motor at O allows it to pivot in the vertical plane.
When  50 ı , it is required that v 0 8 ft=s (down) and that it be slowing
D D
down at a0 2 ft=s2 . Using h 4 ft, determine, at this instant, the values for
D D
R R
r (the extensional acceleration) and  (the angular acceleration).
Solution
Referring to the figure at the right, the length of the arm as a function of  is
r D h= cos  : (1)
The velocity of B can be expressed in both the Cartesian and polar compo-
nent systems shown. Since B moves downward, this gives
E D
vB v 0 | O D rP uO r C r P uO :  (2)
We note that
O D sin  uO r C cos  uO ;
| (3) 
so that Eq. (2) can be written as v0 .sin  ur O C O D rP uO r C r P uO ,
cos  u / 
which implies r PD
v0 sin  and r  PD
v0 cos  , i.e.,
v0 cos2 
rP D v0 sin  and P D
 ; (4)

h
where we have used Eq. (1). Since B is slowing down (in its downward motion), the acceleration of B , using
both component systems, is
aBE D a0 |O D rR  P  O C r R C 2rP P  uO

r  2 ur 
) a0 .sin  uO r C cos  uO / D rR   P  O C r R C 2rP P  uO ;

r  2 ur  (5)
where we have used Eq. (3). Equating components, we obtain
R
r  r2 P D a0 sin  and r R C 2rP P D a0 cos  : (6)
Using the results from Eqs. (1) and (4), Eqs. (6) give
2 2 3
v0 cos2 
R D a0 sin  C cosh  ) rR D a0 sin  C v0 cosh
  2
r 
h
) R D 5:781 ft=s ,
r
and
2 2 2 2 3
 R D a0 cos
h
  2.v0 sin  /
h h
  v0 cos
) R D a0 cos h
 2v0 cos 2 sin 
  cos 
h

R
)  D 1:421 rad=s , 
2
where we have used the following numerical data  D 50 ı , v 0 D 8 ft=s, a 0 D 2 ft=s , and h D 4 ft. 2

Problem 2.207
As a part of an assembly process, the end effect or at A on the robotic arm needs
to move the gear at B along the vertical line shown with some known velocity
v0 and acceleration a 0 . Arm OA can vary its length by telescoping via internal
actuators, and a motor at O allows it to pivot in the vertical plane.
Letting v 0 and a 0 be positive if the gear moves and accelerates upward,
PRP R
determine expressions for r , r , r ,  , and  that are valid for any value of  .
Solution
Referring to the figure at the right, the length of the arm as a function of  is
r D h= cos  : (1)
The velocity of B can be expressed in both the Cartesian and polar compo-
nent systems shown. Since v 0 > 0 when B moves upward, this gives
E D v0 |O D rP uO r C r P uO :
vB  (2)
We note that
O D sin  uO r C cos  uO ;
| (3) 
so that Eq. (2) can be written as v 0 .sin  ur O C O D rP uO r C r P uO ,

cos  u / 
which implies r v sin  and r  v cos  , i.e.,
PD 0 PD 0
v0 cos2 
rP D v 0 sin  and P D ; (4)
h
where we have used Eq. (1). Since a0 > 0 when B accelerates upward, the acceleration of B , in both
component systems, is
E D a0 |O D rR
aB  P  O C r R C 2rP P  uO
r  2 ur 
) a0 .sin  uO r C cos  uO / D rR   P  O C r R C 2rP P  uO ;

r  2 ur  (5)
where used Eq. (3). Equating components, we obtain
rR  P D a0 sin 
r2 and r R C 2rP P D a0 cos  : (6)
Using the results from Eqs. (1) and (4), Eqs. (6) give
2 2 2 3
R D a0 sin  C cosh  R D a0 sin  C v0 cosh
v 0 cos

r
h
) r ,
and
R D a0 cos2  2
R D a0 cos2  2v02 cos 3  sin 
v 0 cos
  cos 

h
 2v0 sin 
h h
) 
h

h2
.

Since the speed of C is constant, the acceleration of C must always be directed toward the center of the
cutting path. Therefore, when C is at D , we have
v02
ED
a 

O
{: (8)
Substituting the first of Eqs. (2) into Eq. (8), we have
v02 cos  2
ED
a 

ur O C v0 sin


uO :  (9)
2
Now we recall that, in polar coordinates, we have a
E D rR r P  uO r C r R C 2rP P  uO , which, by comparison
 
with Eq. (9), implies that, when C is at D
v02 cos  rP P v02 sin 

rR D r P 2 and R D 2  C : (10)

 r r
Substituting the expressions for r in Eq. (1), sin  and cos  in Eqs. (6), and for rP and P in Eqs. (7) into
Eqs. (10), after simplification, when C is at D we have
RD
r 
v02 . C d / d 2 C h 2 C d   and R D v02 

h d2
 C h 2 2  : 
(11)
 d2
 C h2 C 2 C 2d 3=2  d 2 C h 2 C  2 C 2d 
2

Dynamics 2e 277
Problem 2.209
In the cutting of sheet metal, the robotic arm OA needs to move

the cutting tool at C counterclockwise at a constant speed v0
along a circular path of radius  . The center of the circle is located
in the position shown relative to the base of the robotic arm at O .
For all position s along the circular cut (i.e., for any value of
PPR R
 ), determine r , r ,  , r , and  as functions of the given quantities
(i.e., d , h ,  , v 0 ). These quantities can be found “by hand,” but it
is tedious, so you might consider using symbolic algebra software,
such as Mathematica or Maple.
Solution
Referring to the figure at the right, for a generic value of  we have
r D
q .h C  sin  /2 C .d C  cos  /2: (1)
O O
We note that the unit vectors { and | can be expressed as follows:
O D cos  uO r
{  sin  u O and |O D sin  uO r C cos  uO :  (2)
The velocity of C must be tangent to the cutt ing path. Since C

moves counterclockwise around the cutting path and since the speed
of C is v 0 , we must have
v E D v 0.  sin  O C cos  |O /:
{ (3)
E D v 0.cos  sin  cos  sin  / uO r C v0.cos  cos  C sin  sin  / uO :

v  (4) 
Since in polar coordinates we have vE D rP u P

O r C r  uO , then from Eq. (4) we deduce that 
v0
rP D v 0 .sin  cos  cos  sin  / and P D  .cos  cos  C sin  sin  /: (5)
r
Using geometry, we have sin  D .h C  sin  /=r and cos  D .d C  cos  /=r , which, in view of Eq. (1),
give
sin  D C  sin  h
and cos  D
d C  cos 
: (6)
.h  sin  /2
.d  cos  /2 .h  sin  /2 .d  cos  /2
p C C C
Substituting Eqs. (1) and (6) into Eqs. (5), and simplifying, we have
C C C p
v0 .h cos   d sin  / PD v0 . C d cos  C h sin  /
PDp C
r
.d  cos  /2 C .h C  sin  /2 and 
d2 C h2 C 2 C 2d  cos  C 2h sin  : (7)

Since the speed of C is constant, the acceleration of C must always be directed toward the center of the
cutting path. Therefore, we have
v02
ED
a 

.cos  { O C sin  |O /; (8)
which, along with Eqs. (2), imply
v02 2
ED
a 

.cos  cos  C sin  sin  / uO r C v0 .cos  sin   cos  sin  / u : O (9)
v02
 C d cos  C h sin  v02 h cos  d sin  
ED
a 
C  sin  /2 C .d C  cos  /2 uO r C  .h C  sin  /2 C .d C  cos  /2 uO : (10)
p .h
p 
Now recall that in polar coordinates, we have aE D . rR r P 2 / uO r C .r R C 2rP P / uO , and therefore, by comparison
 
with the above expression, we can conclude that
v02 C d cos  C h sin 


R D r P 2
r 

p .h C  sin  /2
C .d C  cos  /2 (11)
and
R D 2 rP P C v02 h cos   d sin 

r

r
p .h C  sin  /2 C .d C  cos  /2 : (12)
Substituting Eqs. (1) and (7) into Eqs. (11) and (12), after simplificati on, we have
RD
r 
C d cos  C h sin  /d 2 C h2 C d cos  C h sin   ;
v02 .
d 2 C h2 C 2C 2d  cos  C 2h sin 3=2
v2 .h cos  d sin  / d 2 C h2 2
 
R D 0  :
 d 2 C h2 C  2 C 2d  cos  C 2h sin  2

Dynamics 2e 279
Problem 2.210
The cam is mounted on a shaft that rotates about O with constant angu-
lar velocity ! cam. The profile of the cam is descr ibed by the funct ion
`. / R 0 .1 0:25 cos3  /, where the angle  is measured relative to
D C
the segment OA, which rotates with the cam. Letting ! cam 3000 rpm D
and R 0 D
3 cm, determine the velocity and acceleration of the follower
when  33ı . Express the acceleration of the follower in terms of g ,
D
the acceleration due to gravity.
Solution
The point on the follower in contact with the cam corresponds to  90ı   . Therefore, letting r D
be the distance between the point on the follower in contact with the cam and point O , we had that
r `.  90 ı   / (  is measured in degrees), which gives
D D
D R01 C 0:25 cos3.90ı  / D R01 C 0:25 sin3  ;
r  (1)
where we have used the fact that cos 90 ı  D sin  . Next, we observe that the velocity and acceleration of

the follower are
vE D rP |O and aE D rR |O : (2)
From Eq. (1), we have

P D 0:75R0P sin2  cos 
r (3)
and
R D 0:75R0R sin2  cos  C 0:75R0P 22 sin  cos2  sin3  :
r  (4)
Recognizing that P D ! D constant, Eqs. (3) and (4) simplify to

cam
rP D 0:75R0 ! sin2  cos  and rR D 0:75R0 ! 2 2 sin  cos 2  sin3  :

cam
  cam  (5)
Substituting Eqs. (5) into Eqs. (2), we have
E D 0:75R0! sin2  cos  |O and aE D 0:75R0! 2 2 sin  cos2  sin3   |O:

v cam cam  (6)
Recalling that R 0 D 3 cm D 0:03000 m, ! D 3000 rpm D 3000 260 rad=s, for  D 33ı, we have
cam

v 1:758 | m =s and a 136:9g | :

ED O ED O
2
where we have expressed the acceleration in terms of the acceleration due to gravity g D 9:81 m=s .

Carrying out the integration, we have

K D !: (8)
Recalling that ! D !f D 0:5 rad=s for  D .=4/ rad, from Eq. (8) we have
K.=4/ D !f ) K D 4!f =: (9)
Substituting the last of Eqs. (9) into Eq. (8) and recalling Eq. (6), we have
PD 4!f
 ; (10)
. rad/
where it is understood that  is expressed in radians. Then, differentiating Eq. (10) with respect to time we
have
2
4!f
RD P ) R D
 4!  f
  ; (11)
. rad/ . rad/
P
where we have used Eq. (10) to express  , and where we note again that  is expressed in radians.
Keeping in mind that the last of Eqs. (4) implies  D
 =2, we can now rewrite Eqs. (5) using the results
in Eqs. (10) and the last of Eqs. (11). This gives
2
4!f
PD RD
 4!  f
  and  ; (12)
. rad/ . rad/
where it is understood that  must be expressed in radians. Substituting Eqs. (12) in Eqs. (3), we have
 4!  q 2
v D .4!fR
 rad/
j j and
ˇ Eˇ D
a R
. rad/
f
4 C  2: (13)
4 ı 
Recalling that !f D 0:5 rad=s, R D 4 in: D 12 ft,  D 32 D 32 180 rad, we can evaluate Eqs. (13) to obtain
v D 0:1185 ft=s and aE D 0:08642 ft=s :
ˇˇ 2

Dynamics 2e 283
Problem 2.213
The mechanism shown is called a swinging block

slider crank. First used in various steam locomotive
engines in the 1800s, this mechanism is often found
in door-closing systems. If the disk is rotating with
a constant angular velocity  60 rpm, H PD4 ft, D
D
R 1:5 ft, and r denotes the distance between B
PP R
and O , compute r ,  , r , and  when  R
90 ı . D
Solution
Using the diagram at the right, the velocity of B at  D 90ı in the .uO n; uO t /
O O
and . ur ; u / component systems is, respectively,
vE D R P uO t and vE D rP uO r C r P uO ; (1)
where the first of Eqs. (1) is true because B is in circular motion about A .
We note that
O D O
u t cos  ur  sin  u and un  sin  ur  cos  u ; O O D O O (2)
where, for  D 90 ı, p p
sin  D R= R2 C H2
D H = R2 C H 2 : and cos  (3)
Substituting the first of Eqs. (2) into the first of Eqs. (1), we have vE D R P .cos  uO r  sin  O
u /, which, when
compared to the second of Eqs. (1) component by component, yields
RH  P
R cos  r r r 8:825 ft=s (4)
and
D P ) P D p C H2 ) P D
P R2
R2 P
R P sin  D r P ) P D
 ) P D 0:7746 rad=s,  (5) 
R C H2
2
p
where we have used Eqs. (3), the fact that r D R2 C H 2 , and the following data: R D 1:5 ft, H D 4 ft,
and P D 60 rpm D 60 260 rad=s. 
The acceleration of B at  D 90 ı in the two component systems is
aE D R P 2 uO n and aE D rR r P 2 uO r C r R C 2rP P uO ;
     (6) 
where, in the first of the above equations, we have used the fact that B is in uniform circular motion about A .
Substituting the second of Eqs. (2) into the first of Eqs. (6) gives a R  2 .sin  ur cos  u /, which, ED P O C O
when compared to the second of Eqs. (6) component by component, yields
p
R  P 2 sin  D rR  r2 P ) rR D R4P 22 R2 C2H2 2 p R22P 2 2 )  RD
r 18:23 ft=s
2
R CH R CH
and
P 2 cos  D r R C 2rP P ) R D P R3 H P 2 RH  2
R 2
R
C C 2 R2 C H 22 )  D 9:779 rad=s ,

R2 H 2

p
where we have used Eqs. (3)–(5), the fact that r D R 2 C H 2 , and the following data: R D 1:5 ft, H D 4 ft,
and P D 60 rpm D 60 60 rad=s.
2 

Problem 2.214
A satellite is moving along the elliptical orbit show n. Using the polar
coordinate system in the figure, the satellite’s orbit is described by
the equation
p2 b 2 cos 
r. / D 2b2 a2 CabC2 .aa 2 

 b 2 / cos.2 /
;
which implies the following identity
rr 00  2.r 0 /2  r 2 D  a;
r3 b2
where the prime indicates differentiation with respect to  . Using
this identity and knowing that the satellite moves so that K r 2 D P
with K constant (i.e., according to Kepler’s laws), show that the
radial component of acceleration is proportional to 1=r 2 , which is
in agreement with Newton’s universal law of gravitation.
Solution
We need to show that a r D .constant/ 

  
1
. First we will rewrite Kepler’s law as
r2
K D r 2P ) P D rK2 : (1)
We are given r D r . / so we use the chain rule to write its derivative with respect to time as
Kr 0
rP D r 0 P ) rP D 2 ; (2)
r
where the prime denotes differentiation with respect to  , and where we have substitu ted Eq. (1) for  . Next P
we take the second derivative of r with respect to time to obtain
2K r Pr C K r P 2 00 2.r 0 /2

) rR D Kr 2
0 0 00
r 
rRD r3

r2

r2

r3
; (3)
P
where we have factored K  out of the first of Eq. (3) and substituted Eq. (1) for P
 . Now recall that
ar DR P
r  r  2 and we have expressions for r , r , and  so we can write R P
00 00  0 2  r2
2 2.r 0 /2 K2 2  rr 2r 
D Kr 2
r
D Kr 2
 
ar
r2

r3
r
r4
) ar
r3
: (4)
We see that the expression in brackets is the identity giv en in the problem statement , so we will replace it
with a=b 2 . Recalling that K , a , and b are constants, we prove the radial component of acceleration is
proportional to 1=r 2 .
2
D Kb2a
 1
ar  :
r2

Dynamics 2e 285
Problem 2.215
At a given instant, an airplane flying at an altitude h 0 10;000 ft D

begins its descent in preparation for landing when it is r.0/ 20 mi D
from the radar station at the destination’s airport. At that instant,
the aiplane’s speed is v0 D
300 mph, the climb rate is constant
and equal to 5 ft=s, and the horizontal component of velocity is
decreasing steadily at a rate of 15 ft=s2 . Determine the r ,  , r , and PPR
R
 that would be observed by the radar station.
Solution
When expressed in the Cartesian coordinate system shown, the

velocity and acceleration of the airplane are
vE D xP {O C yP |O and E D xR {O C yR |O ;
a (1)
where
yPD 5 ft=s; PD
x 
q v02  y 2 ; P
R D 15 ft=s ; yR D 0; (2) x 2
where it is understood that these values are at t D 0 . Using the polar

component system shown, the velocity and acceleration are
E D rP uO r C r P uO and aE D rR r P 2 uO r C r R C 2rP P  uO ;

v    (3)
O r and uO are related to the unit vectors {O and |O as follows:

where the unit vectors u 
{O D cos  uO r sin  uO and |O D sin  u O r C cos  uO :

  (4)
Using Eqs. (4), we can rewrite Eqs. (1) as follows:

ED P
v . x cos  y sin  / ur CP O C . xP sin  C yP cos  / uO
  (5)
and
E D .xR cos  C yR sin  / uO r C . xR sin  C yR cos  / uO :
a   (6)
Equating the components of the first of Eqs. (3) and (5), we have
P D r 1. xP sin  C yP cos  /:
P D xP cos  C yP sin 
r and  (7) 
1
At the instant considered in the problem, we have that  D sin .h=r/ . With this in mind, using the data
in Eqs. (2) along with the fact that r D 20 mi D 20.5280/ ft, h D 10;000 ft, v 0 D 300 mph D 300 5280
3600 ft =s,
we can evaluate Eqs. (7) to obtain:
P D 347:4 6
PD
r 438:5 ft=s and   10 rad=s:
Similarly, equating the components of the second of Eqs. (3) and (6), we have
2 1
 
r
R D xR cos  C yR sin  C r P
and  r x sin  y cos  2r  ; RD R CR P P
 (8)
which can be evaluated with the help of Eqs. (7) and the data used in the evaluation of Eq. (7) to obtain
2 RD 6
R D 14:95 ft=s
r and  10:59  10 rad=s2 :

Dynamics 2e 287
Executing the above code we obtain the following plot:
We now determine the trajectory of the projectile starting from Eqs. (3) and (4) derived in Example 2.21 on
p. 110 of the textbook, and subject to the initial conditions in Eqs. (9) and (10) of the example in question.
For convenience, we repeat the equations we need here below:
rR r P 2 D
 g sin  ; (7)
r  C 2rP P D
R g cos  ; (8)
with the initial conditio ns
r.0/ D h;  .0/ D 2 rad; (9)

v0
rP.0/ D v 0 sin  ; P .0/ D cos  :
 (10)
h
The above system of differential equations and initial conditions can be integrated with any appropriate
mathematical software. The solution of these equations will be in terms of r and  as a function of time.
To obtain the plot of the trajectory, we must resort to a parametric plot, i.e., a plot of the coordinates of the
projectile for 0  t  tf D
2:491 s. To produce a plot that can be compared to the one shown above, we
must plot values of x and y corresponding to the values of r and  given by the numerical solution. We do so
by observing that
x r cos  and y r sin  : D D (11)
With the above in mind, we have used Mathematica with the following code to obtain a solution with time t
going from 0 to 2:491 s:
The code above yields the following trajector y, which can be seen to be identical to the one obtained earlier
(as expected).


Dynamics 2e 289
Problem 2.217
Reference frame A is translating relative to reference frame B . Both frames track the motion of a particle
C . If at one instant the velocity of particle C is the same in the two frames, what can you infer about the
motion of frames A and B at that instant?
Solution
For two frames to measure the same velocity these frames must be at rest relative to one another at least at
the instant at which the measurement is made. Therefore, we can conclude that frame A has zero velocity
relative to frame B at the instant considered.

Problem 2.218
Reference frame A is translating relative to reference frame B with velocity vA=B and acceleration aA=B . E E
A particle C appears to be stationary relative to frame A. What can you say about the ve locity and
acceleration of particle C relative to frame B ?
Solution
If the particle is stationary relative to frame A , then, relative to B , it moves just like frame A . Therefore, the
velocity and acceleration of particle C relative to frame B are vA=B and aA=B . E E

Dynamics 2e 291
Problem 2.219
Reference frame A is translating relative to reference frame B with constant velocity vA=B . A particle C E
appears to be in uniform rectilinear motion relative to frame A . What can you say about the motion of
particle C relative to frame B ?
Solution
Because the relative velocity of frame A is constant, then A is in uniform rectilinear motion relative to B .
Since the velocity of particle C is constant relative to A , and since the velocity of C relative to B is the sum
of the velocity of A relative to B and of the velocity of C relative to A , then the velocity of C relative to
be will also be constant. In turn, this implies that particle C will appear to be in uniform rectilinear motion
relative to frame B .

Problem 2.220
A skier is going down a slope with moguls. Let the skis be short enough for
us to assume that the skier’s feet are tracking the moguls’ profile. Then, if the
skier is skilled enough to maintain her hips on a straight-line trajectory and
vertically aligned over her feet, determine the velocity and acceleration of her
hips relative to her feet when her speed is equal to 15 km=h. For the profile
of the moguls, use the formula y.x/ D
hI  0:15x 0:125 sin. x=2/ m, C
where hI is the elevation at which the skier starts the descent.
Solution
The expressions of the vertical position of the skier’s hips and feet are denoted by yH and y F , respectively.
yH D .h I  x tan 8:53ı / m; (1)


 x 
yF D hI  0:15x C 0:125 sin m: (2)
2
Now, calculating the relative position of her hips with respect to her feet,
  x 

yH=F D yH  yF D .0:15  tan 8:53ı /x  0:125 sin m; (3)
2
and taking the derivat ive of Eq. (3) with respect to time yields
0:125 x
  
vH=F D xP 0:15  tan 8:53ı  cos m=s: (4)
2 2
However, x P D v0 cos 8:53ı and v0 D 15 km=h D 15 1000

3600 m =s. With this substituti on Eq. (4) becomes
vH=F D
h 5:630  105  0:8091 cos
 x i

m=s: (5)
2
The relative acceleration of the skier’s hips with respect to her feet can now be determined by differentiating
Eq. (4) and substituting x v 0 cos 8:53ı . This yields
PD
aH=F D 1:271xP sin
 x
m=s2 ) aH=F D 5:237 sin
 x
m=s2 :
2 2

Dynamics 2e 293
Problem 2.221
Two particles A and B are moving in a plane with arbitrary velocity vectors vA and vB , respectively. E E
Letting the rate of separation ( ROS) be defined as the component of the relative velocity vector along the
line connecting particles A and B , determine a general expression for ROS. Express your result in terms
E DE E
of rB=A E E
rB  rA , where rA and rB are the position vectors of A and B , respectively, relative to some
chosen fixed point in the plane of motion.
Solution
O
We begin by writing uB=A in terms of rB=A: E
O
uB=A D jErrEB=A
B=Aj
: (1)
The velocity of B relative to A is:

E
vB=A D vEB vEA:  (2)
The component of Eq. (2) in the direction of Eq. (1) is the ROS , which is therefore obtained by dotting vB=A E
O
with uB=A. This gives
ROS D vEB=A uO B=A )  ROS D vEB vEA jErrEB=A


B=A
j. 

Problem 2.222
Airplanes A and B are flying along straight lines at the same altitude and with speeds vA D 660 km=h and
D
vB 550 km=h, respectively. Determine the speed of A as perceived by B if  50 ı . D
3 3
Solution
Referring to the figure at the right, we use the Cartesian coordinate system
shown to express the velocities of the airplanes A and B :
E D vA |O
vA and E D vB .sin  {O C cos  |O /:
vB (1)
Using relative kinematics, the velocity of A as perceived by B is 3
vA=B
E D vEA vEB D  vB sin  { O C .vA  vB cos  / | : O (2) 3 3
The speed of A as perceived by B is the magnitude of the vector vA=B . Using E

the result in Eq. (2), we have
vA=B
ˇ ˇ q
D vEA=B D vB2 sin2  C .vA vB cos  /2: (3) 
Recalling that vA D 660 km=h D 660 1000 3600 m =s, vB D 550 km=h D
550 1000 ı
3600 m =s and  D 50 , we can evaluate the expressio n in Eq. (3) to obtain
vA=B D 144:7 m=s:

Dynamics 2e 295
Problem 2.223
Three vehicles A, B , and C are in the positions shown and are

moving with the indicated directions. We define the rate of sepa-
ration ( ROS) of two particles P 1 and P2 as the component of the
relative velocity of, say, P2 with respect to P 1 in the direction of
the relative position vector of P 2 with respect to P 1 , which is along
the line that connect s the two particles. At the given inst ant, de-
termine the rates of separation ROSAB and ROSCB , that is, the
rate of separation between A and B and between C and B . Let
vA 60 mph,
D
the vehicles as vparticles
B 55 and D
mph,use v Cdimensions
andthe 35 mph.shown
Furthermore, D
treat
in the figure.
Solution
We need to derive a convenient expression for the rate of separation.

O
We begin by writing uB=A in terms of rB=A E
O
uB=A D jErrEB=A
B=A j
: (1)
The velocity of B relative to A is:
E
vB=A D vEB vEA:  (2)
The component of Eq. (2) in the direction of Eq. (1) is the ROS, i.e.,
ROS D vEB=A uO B=A )

 D vEB vEA jErrEB=A B=A
ROS
j : (3)  
Now that we have a formula for the ROS, consider the . {O; |O / component
system shown in the figure at the right.
ˇE ˇ D p
rB=A
rB=A
C . 94/
 2 ft .23/2
O
23 {  94 | ft
D .0:2377 {O 0:9713 |O/ ;

O (4) 
rEC=B 42 {O C 65 |O ft
rC=B
D .42/ 2 C .65/2 ft
D .0:5427 {O C 0:8399 |O/ : (5)
Recalling that vA D 60 mph D 60 36005280 ft =s, v D 55 mph D 55 5280 ft =s, and v D 35 mph D 35 5280 ft =s,
ˇ ˇ pB 3600 C 3600
and observing that vEA D vA |O , vEB D vB |O , and vEC D v C .cos 54ı {O C sin 54ı |O/, we have

vEA D . 88:00 |O / ft=s; vEB D .80:67 |O / ft=s; vEC D .30:17 {O C 41:53 |O / ft=s:
 (6)

The rate of separation between vehicles A and B is found as
ROSAB D vEB vEA rrEB=A )

 
ˇ ˇ ROSAB D 163:8 ft=s:
B=A
Similarly, the rate of separation between vehicles C and B is found as
ROSCB D vEB vEC  rrEC =B )

 
ˇ ˇ ROSCB D 16:50 ft=s: (7)
C =B

Observing that un O D sin 54ı {O

O  cos 54ı | , recalling that aC=A
E D aEC aEA, and using Eqs. (5) and (3), we 
have
2
= .sin 54ı {O cos 54ı |O/:

aEC =A D vC
 (6) 
Recalling that v C D 42 km=h D 42 1000

3600 m = s and  D 80 m, we can evaluate Eq. (6) to obtain
E
aC=A D .1:376 {O  1:000 | / m=s2 :
O

Problem 2.226
During practice, a player P punts a ball B with a speed v 0 25 ft=s, D

at an angle  60ı , and at a height h from the gro und. Then the
D
player sprints along a straight line and catches the ball at the same height
from the ground at which the ball was initially kicked. The length d
denotes the horizontal distance between the player’s position at the start of
the sprint and the ball’s position when the ball leaves the player’s foot.
Also, let  t denote the time interval between the instant at which the
ball leaves the player’s foot and the instant at which the player starts
sprinting.
Assume that d D
3 ft and  t D
0:2 s, and determine the average
speed of the player so that he catches the ball.
Solution
Referring to the figure at the right, we model the motion of the ball as
projectile motion and since we are interested in computing the player’s
average speed, we will model the player’s motion as rectilinear motion
with constant speed. We adopt a Cartesian coordinate system with srcin
at point O , which we choose as the point at which the ball leaves the
player’s foot. Let tf (f stands for final) denote the time the playe r catches
the ball. Then at time tf , the relative horizontal position of the player with
respect to the ball must be equal zero:
xP =B .tf / D0 ) xP .tf /  xB .tf / D0 ) xP .tf / D xB .tf /: (1)

Let t 0 be the time at which the ball leave s the player’s foot. Since the horizon tal component of the
D
acceleration of the ball is equal to zero, the ball moves in the x direction with a velocity component that is
constant and equal to v 0 cos  . Therefore, we have that
xB .tf / D v0tf cos  : (2)
Since the player starts sprinting  t after the ball is kicked, the motion of the player occurs during the time
interval that starts at time t  t and ends at tD D
tf . Therefore, denoting by  the time during which the
player sprints, we have that
 tf  t: D (3)
We also observe that the total distance traveled by the player, which we will denote by L , is given by
L D xP .tf / C d ) L D xB .tf / C d ; (4)
where, in writing the last of Eqs. (4), we have used the last of Eqs. (1). By definition, the average speed of the
player is now given by
L d v0 tf cos 
.vP /avg  .vP /avg D tf  t ) : D C (5)
This result tells us that the value of .vP /avg can be determined if we determine the value of tf . To this end we
observe that since the player catches the ball at the same height from the ground at which the ball leaves the
player’s foot, and given our choice of coordinate system, we can calculatetf as the time at which the ball

Dynamics 2e 301
comes back down to y D

0 . Recalling that the motion of the ball is projectile motion, we have that the y
coordinate of the ball as a function of time is given by
D v0t sin  12 gt 2; yB  (6)
where g is the acceleration due to gravity. Setting yB D 0 , we obtain
2v0 sin 
tf D 0 and tf D : (7)
g
The first root can be neglected since it coincides with the initial time. Hence, substituting the second of
Eqs. (7) into the last of Eq. (5) and simplifying, we have
2
.vP /avg D 2vdg0 Csinv0 sing2t ;

(8)
2
where we have used the trigonometric identity 2 sin  cos  sin 2 . Recalling that d 3 ft, g D D D 32:2 ft=s ,
D
v0 25 ft=s,  60 ı , and  t 0:2 s, we can evaluate the above expression to obtain
D D
.vP /avg D 17:30 ft=s:

Problem 2.227
A remote controlled boat, capable of a maximum speed of 10 ft=s in still water, is made to cross a stream
with a width w D
35 ft that is flowing with a speed v W D
7 ft=s. If the boat starts from point O and keeps
its orientation parallel to the cross-stream direction, find the location of point A at which the boat reaches
the other bank while moving at its maximum speed. Furthermore, determine how much time the crossing
requires.
Solution
Using a Cartesian coordinate system with its srcin at O , as the boat is crossing the stream,
E
its velocity vB can be written as
E D vEW C vEB=W D .7 {O C 10 |O/ ft=s;

vB
where vEW D 7 {O ft=s is the velocity of the water and vEB=W D 10 |O ft =s is the velocity of the boat relative to
the water. Using the the y component of velocity, the time of crossing is
t D vwBy ) t D 3:500 s, (1)
where w D
35 ft. Since the x component of velocity is constant, using the crossing time in Eq. (1), we can
calculate the downstream position of A as
x D vBx t ) x D 24:50 ft.

which, given that the boat starts at O at time t D 0, are subject to the following initial conditions:
x.0/ D 0 and y.0/ D 0: (8)
These equations can be integrated using appropriat e mathematical software . We have used Mathematica.
Before presenting the code used to solve the problem, a remark about Eqs. (7) is necessary. Let’s suppose that
the boat does make it to point A . In this case, the coordinat es of the boat would be .x 0; y w/. When D D
this happens, the argument of the square roots in Eqs. (7) becomes equal to zero. In turn, because the square
roots appear at the denominator of fractions, when the boat makes it to A , the equations suffer a division by
zero that will cause the numerical software to fail. Now, when using a numerical method to solve Eqs. (7) we
must specify the time interval we want the solution to cover. As just discussed, as soon as the boat makes it
to A the numerical integ ration fails. Therefore, we need to use trial and error to find the maximum amount of
time for which the equations can be integrated before numerical failure. However, this maximum amount
of time will correspond to the time taken by the boat to reach A , which is one of the quantities we need to
determine in this problem. With all the above in mind, we have integrated the equations in question for the
boat traveling at the maximum speed relative to water, i.e., wB=W 10 ft=s, using Mathematica with the D
following code:
Notice that, using trial and error, we were able to integrate our equations only up to t D 6:8627 s. Hence,
expressing this result to three significant figures, we will say that
For vB=W D 10 s, the boat reaches A in 6:863 s.

The solution obtained using Mathematica with the above code, can be plotted to depict the path followed by
the boat. This path was plotted with the following code:

Dynamics 2e 305
Now we consider the case for which the speed of the boat is equal to the speed of the water current. We
repeat the same calculations just described but with vB=W D
7 ft=s. This time we find that the mathematical
software does not fail for any amount of time, indicating that
When vB=W D 7 s, the boat does not reach A:

We present our solution for t going from zero to 20 s and we plot both the path of the boat and the distance
p
dAB D x 2 .w  y/ 2 of the boat from A as a function of time. As can be seen from the plot of the path
C
of the boat, the boat does reach the other side of the stream but when it does it points toward A while moving
relative to the water with speed equal to the (absolute) speed of the water. As a result, an observer stationary
with the banks of the stream sees the boat become station ary. The fact that the boat no longer moves relati ve
to the banks can be seen from the plot of the distance dAB , which, after about 9 s becomes constant (and
remains different from zero).

Problem 2.231
An airplane is initially flying north with a speed v0 430 mph relative to D

the ground, while the wind has a constant speed v W 12 mph, forming D
an angle  23 ı with the north-south direction. The airplane performs a
D 3
course change of ˇ 75 ı eastward while maintaining a constant reading

D 3
E
of the airspeed indic ator. Letting vP =A be the velocity of the airplane
relative to the air and assuming that the airspeed indicator measures the
E
magnitude of the component of vP =A in the direction of motion of the
airplane, determine the speed of the airplane relative to the ground after
the course correction.
Solution
We will express the velocity of the airplane using a normal tangential component system.
In this manner, the tangent direction will always be the direction of motion of the airplane.
In addition, we will use subscripts 1 and 2 to denote quantities before and after the change
in course, respectively. Before turning, the velocity of the airplane and wind relative to
the ground are
E D v0 uO t
vP1 1
and E D vW .
vW1  cos  u t1O C sin  uO n /: 1
(1)
The airspeed of the plane before the turn is
v1 D .vEP vEW / uO t )
1
 1

1
v1 D v 0 C vW cos  : (2)
After turning, the velocity of the wind is
E D vW fcosŒ rad .ˇ C  /ç uO t C sinŒ rad .ˇ C  /ç uO n g

vW2  2
 2
D vW Œ cos.ˇ C  / uO t C sin.ˇ C  / uO n ç;
 2 2
(3)
where we have used the trigonometric identities cos. rad  / D cos  and sin . rad    / D sin  . The
airspeed of the plane after the turn is
D .vEP vEW / uO t ) v2 D vP C vW cos.ˇ C  /:

v2 2
 2

2 2
(4)
Enforcing the condition that v 2 D v 1 , we have
v0 C vW cos  D vP C vW cos.ˇ C  / ) vP D v 0 C vW Œcos  cos.ˇ C  /ç:

2 2
 (5)
Recalling that v 0 D 430 mph, v W D 12 mph,  D 23 ı , and ˇ D 75 ı , we can evaluate vP to obtain 2
vP D 442:7 mph: 2

Dynamics 2e 311
Problem 2.234
An interesting application of the relative motion equations is the

experimental determination of the speed at which rain falls. Say
you perform an experiment in your car in which you park your
car in the rain and measure the angle the falling rain makes on
your side window. Let this angle be  rest 20 ı . Next you drive D
forward at 25 mph and measure the new angle  motion 70 ı that D
the rain makes with the vertical. Determine the speed of the falling
rain.
Solution
O O
In the figure shown, { and | are horizontal and vertical, respectively. Since
rest is the orientation of the velocity of raindrops relative to the ground,
the velocity in question is
E D
vR vR .sin rest { O C cos  |O /; rest (1)
where v R is the speed of the falling rain. The angle  motion describes the orientation of vR=C , the velocity of E
the raindrops relative to the moving car:
E
vR=C D vR=C .sin motion { O C cos  motion | /;O (2)
where vR=C is the speed of the raindrops as perceived by an observer moving with the car. Relative kinematics
requires that
vR vC vR=C ; E DE CE (3)
where vC is the velocity of the car. Substituting Eqs. (1) and (2) into Eq. (3),
E
vR sin rest {  O vR cos rest | O D vC {O  O
vR=C sin motion {  vR=C cos motion | : O (4)
Equating components, Eq. (4) yields the following system of two equations in two unknowns v R and v R=C :
vR sin rest D vC  vR=C sin motion and  vR cos rest D vR=C cos motion; (5)
whose solution is
vC vC
vR D cos  rest tan motion  sin rest
and vR=C D sin  motion  cos motion tan rest
: (6)
5280
Recalling that we have  rest D 20ı,  motion D 70ı, vC D 25 mph D 25 3600 ft =s, we can evaluate the first of
Eqs. (6) to obtain
vrain D 16:37 ft=s:

Problem 2.235
A woman is sliding down an incline with a constant acceleration of

a0 2:3 m=s2 relative to the incline. At the same time the incline is
D
accelerating to the right at 1:2 m=s2 relative to the ground. Letting
 D 34ı and L D
4 m and assuming that both the woman and the
incline start from rest, determine the horizontal distance traveled by
the woman with respect to the ground when she reaches the bottom
of the slide.
Solution
The xy and pq frames shown at the right are attached to the ground
and to the incline, respecti vely. The srcins of these frames are
chosen so that the x and p coordinates of the woman are both
equal to zero at the initial time. We denote by aW and aW=I the E E
accelerations of the woman relative to the ground and to the incline,
E
respectively. Denoting by aI the acceleration of the incline relative
to the ground, from the problem’s statement we have
E
aW=I D a0 uOp and E D as {O:
aI (1)
Then, using relative kinematics, we have
E D aEI C aEW=I : aW (2)
Op D cos  {O sin  |O , we obtain

Substituting Eqs. (1) into Eq. (2) and observing that u  
aEW D .a s a0 cos  / {O a0 sin  |O;  (3)


which implies that the x component of aEW is constant. Recalling that x W D 0 for t D 0 and that the woman
starts from rest, using constant acceleration equations, we have
xW D 12 .as  a0 cos  /t 2 : (4)
Denoting by tf and d the time taken by the woman to slide to the bottom of the incline and the corresponding
horizontal distance traveled (with respect to the ground), respectively, we have
d D ˇˇ 1
.a
2 s
a0 cos  /tf2 : ˇˇ (5)
We observe that tf is also the time needed to travel the distance L in the p direction with the constant
acceleration a 0 . Hence, recalling that p 0 and p 0 for t D PD
0 , applying constant acceleration equations D
in the p direction we have
p D 21 a0t 2 ) L D 21 a0tf2 ) tf D
p 2L=a0 : (6)
d D ˇ .as  a0 cos  /.L=a0 / : ˇ (7)

Recalling that a s 2
D 1:2 m=s , a0 D 2:3 m=s ,  D 2
34 ı , L
D 4 m, we can evaluate Eq. (7) to obtain
d D 1:229 m:

Dynamics 2e 313
Problem 2.236
The pendulum bob A swings about O , which is a fixed point, while bob B swings
about A . Express the components of the acceleration of B relative to the Cartesian
component system shown with srcin at the fixed point O in terms of L 1 , L 2 ,  ,  ,
and the necessary time derivatives of  and  .
Solution
Referring to the figure at the right, we use two polar component systems, one with unit
O O
vectors ur and u attached to A , the other with unit vectors uq and u attached to B . O O
O O
When expressed in terms of the unit vectors { and | , the unit vectors of the chosen polar
component systems are:
O D sin  {O
ur  cos  | ;O uO D cos  {O C sin  |O;
 (1)
O D sin  {O
uq  cos  | ;O uO D cos  {O C sin  |O :
 (2)
O O
Using the . ur ; u / component system, and denoting by r and  the corresponding polar
coordinates of A , the acceleration of A is
E D rR
aA  P  O C r R C 2rP P  uO :
r  2 ur  (3)
Recalling that rD L1 D constant, Eq. (3) can be written

aEA D L1  2 uO r C L1 R uO
P  ) aEA D L1R cos  P 2 sin   {O C L1R sin  C P 2 cos   |O; (4)
 
where we used Eqs. (1) to express aEA in terms of {O and |O . Using the . uO q ; uO / component system, and denoting 
by q and  the polar coordinates of B relative to A , the acceleration of B relative to A is
E
aB=A D qR  P  O C qR C 2qP P  uO
q  2 uq : (5)
Recalling that qB D L2 D constant, Eq. (5) can be written

aEB=A D L2 P 2 uO q C L2 R uO
 ) aEB=A D L2R cos  P 2 sin   {O C L2R sin  C P 2 cos   |O; (6)
 
where we used Eqs. (2) to express a EB=A in terms of {O and |O. Relative kinematics demands that aEB D
aEA C aEB=A. Therefore, using the last of Eqs. (4) and (6), we have
aEB D L1 R cos  L1 P 2 sin  C L2 R cos  L2 P 2 sin  {O

 
C L1R sin  C L1P 2 cos  C L2R sin  C L2P 2 cos   |O:

Problem 2.237
Revisit Example 2.24 in which the movie’s hero is traveling on train car A
with constant speed vA D
18 m=s while the target B is moving at a constant
speed vB D
40 m=s (so that aB D
0). Recall that 4 s before an otherwise
inevitable collision between A and B , a projectile P traveling at a speed of
300 m=s relative to A is shot toward B . Take advantage of the solution in
Example 2.24 and determine the time it takes the projectile P to reach B
and the projectile’s distance traveled.
Solution
Referring to Example 2.24 on p. 127 of the textbook and to the figure on

the right, (Fig. 3 in Example 2.24), we denote by ˇ the angle A C B , so that O
ˇ D 48:2ı . As was done in Example 2.24, we denote by d the distance
between A and C at the time of firing, so that d .4 s/vA 72:00 m. To D D
find the time taken by the projectile to hit the target, we observe that the
distance traveled by the projectile in the x direction, is given by
dx D d sin ˇ: (1)
In Example 2.24, we had determined that the (absolute) velocity of the

projectile was
E D .vA sin ˇ C vP =A cos  / {O C .vA cos ˇ vP =A sin  / |O: (2)

vP 
Since vEP is constant, the time taken by the projectile to hit the target, which we denote by  t , is simply equal
to d x in Eq. (1) divided by vP x , i.e.,
D vA sin ˇdCsinvPˇ=A cos  ;

t (3)
which, recallin g that we have d D 72:00 m, ˇ D 48:2ı , vA D 18 m=s, vP =A D 300 m=s, and  D 64:40 ı
(final result in Example 2.24), can be evaluated to obtain
D 0:3752 s: t
To find the distance traveled, we observe again that vEP is constant, so that the distance trav eled is
q
.v sin ˇ C vP =A cos  /2 C .vA cos ˇ vP =A sin  /2 .d sin ˇ/ 
jEvP t j D A vA sin ˇ C vP =A cos 
; (4)
where we have used the expressions for vEP in Eq. (2) and  t in Eq. (3). Since d D 72:00 m, ˇ D 48:2ı ,
vP =A D 300 m=s, and  D 64:40 ı , we can evaluate the right-han d side of Eq. (4) to obtain
Distance traveled by P D 110:9 m:

Dynamics 2e 315
Problem 2.238
Consider the following variation of the problem in Example 2.24 in which a

movie hero needs to destroy a mobile robot B , except this time they are not
going to collide at C . Assume that the hero is traveling on the train car A with
constant speed vA D
18 m=s, while the robot B travels at a constant speed
vB D
50 m=s. In addit ion, assume that at time t 0 s the train car A and D
the robot B are 72 and 160 m away from C , respectively. To prevent B from
reaching its intended target, at t D
0 s the hero fires a projectile P at B . If
P can travel at a constant speed of 300 m=s relative to the gun, determine the
the type sinˇ thatAmust

orientation cos ˇbe given
˙ C hasto the
the solution
D gun to hitˇ DB . Hint:

1 .C
C sinAn equation
cos  /,ofif
j j
C cos   1, where  tan 1 A. D
Solution
We base the solution of this problem on the solution of Example 2.24 on p. 127 of the textbook. All the
quantities used in this solution are defined in Example 2.24. We report here Eq. (14) from the Example,
which remains valid under the conditions stated in this problem and which determines the value of the angle
 that we want to determine:
.`  d cos ˇ/ cos   d sin ˇ sin  D vsinP =Aˇ .vB d  vA `/ : (1)
Dividing both sides of this equation by d sin ˇ , we have
`  d cos ˇ
sin  
d sin ˇ
cos  D vAv`P =AvdB d :

(2)
The above equation is a transcendental equatio n in  whose solution can be obtained using the following
technique. We consider the term multiplying the cos  on the left-hand side of the equation and we define an
angle  such that
`  d cos ˇ `  d cos ˇ
 
tan   tan 1
D : ) D (3)
d sin ˇ d sin ˇ
Then, recalling that tan  D sin  = cos  , we can rewrite Eq. (2) as
sin  
sin 
cos 
cos  D vAv`P =AvdB d )

sin  cos   sin  cos  D .vA` vPv=A
B d / cos 
d

) sin.  / D .vA` vPv=A

B d / cos 
d

; (4)
where we have used the trigonometric identity sin  cos   sin  cos  sin . D   /. The last of Eq. (4) can
now be solved for  to obtain
.vA `  vB d / cos 
 
  sin1 D C : (5)
vP =Ad
Recalling that vA 18 m=s, vB 50 m=s, vP =A 300 m=s, and where, using the results in Example 2.24,
` D
160:0 m, d DD72:00 m, we Dcan evaluate  inDin the last of Eqs. (3) and then evaluate  in Eq. (5) to
obtain
 D 63:57ı :

Problem 2.239
Consider the following variation of the problem in Example 2.24 in which a

movie hero needs to destroy a mobile robot B . As was done in that problem,
assume that the movie hero is traveling on the train car A with constant speed
D
vA 18 m=s and that, 4 s before an otherwise inevitable collision at C , the hero
fires a projectile P traveling at 300 m=s relative to A . Unlike Example 2.24,
assume here that the robot B travels with a constant acceleration aB 10 m=s2 D
and that v B .0/ D
20 m=s, where t D
0 is the time of firing. Determine the
orientation  of the gun fired by the hero so that B can be destroyed before the
collision at C .
Solution
The general strategy for the solution of moving target problems has been discussed in the Road Map of
Example 2.24 on p. 127. According to this strategy, letting t D
0 be the time at which the projectile is fired,
there is a time tI > 0 such that
E
rP =B .tI / rP .tI /  rB .tI / 0; DE E (1) DE
that is, there is a time tI at which the projectil e and the target meet. To solve this problem we need to find
the positions of the projectile and of the target as functions of time and then set them equal to each other as
required by the above equation.
Because A is moves at a constant speed along a straight line, then E
vA is
constant. Once P is fired, its velocity is also a constant given by
vP
E D vEA C vP =A uO P =A.0/; (2)
where vP =A in known. Hence,
E
rP .t/ D rEP .0/ C vEA.0/ C vP =A uO P =A.0/ t: (3)
Because B has a constant acceleration, we can use constant acceleration

equations to write
E
rB .t / D rEB .0/ C vEB .0/t C 21 aEB t 2: (4)
Substituting Eqs. (3) and (4) into Eq. (1), we have
E
rP .0/ C vEA.0/ C vP =A uO P =A.0/ tI rEB .0/ vEB .0/tI  
1
E D 0E;
2
 2 aB tI (5)
Referring to the figure at the right (similar to Fig. 3 in Example 2.24 and showing the geometry at the time of
firing) we have that rA .0/ E DE
rP .0/, so that Eq. (5) can be rewritten as
rEA=B .0/ C Œ vEA=B .0/ C vP =A uO P =A.0/çtI 2 aB tI2

 1 E D 0E: (6)
The problem is solved when we are able to express all of the terms in Eq. (6) via known quantities and the
only two unknowns of the problem, which are tI and the firing angle  . We therefore proceed to determine
convenient expressions for each of the vectors in Eq. (6).

Dynamics 2e 317
D 0 in this problem is the same as that in the figure shown, we have

Since the position at t
rEA=B .0/ D d sin ˇ {O C .` d cos ˇ/ |O :   (7)
Again referring to the geometry at t D 0 , and recalling that ˇ is known ( ˇ D 48:2ı ), we have
vEA .0/ D vA uO C=A D vA .sin ˇ {O C cos ˇ |O / and vEB .0/ D vB .0/ |O ; (8)
so that
E
vA=B .0/ D vA sin ˇ {O C .vA cos ˇ  vB .0// | : O (9)
Since t 0 is the time of firing, we must have

D
O
uP =A.0/ D cos  {O  O
sin  | : (10)
Finally, the problem statement and the geometry of the problem tell us that
E D aB |O:
aB (11)
Substituting Eqs. (7) and Eqs. (9)–(11) into Eq. (6) and expressing the result on a component by component
basis, we have
d sin ˇ C .vA sin ˇ C vP =A cos  /tI D 0 (12)

and
1 2
`  d cos ˇ C ŒvA cos ˇ  vB .0/  vP =A sin çtI  2 aB tI D 0; (13)
where vA D D
18 m=s, vB .0/ 20 m=s, vP =A 300 m=s, aB 10 m=s2 , ˇ 48:2ı , and where, using the
D D D
results in Example 2.24, d D
72:00 m and ` 160:0 m. D
Equations(12) and (13) form a system of two equations in the two unknowns  and tI that can be solved
numerically with appropriate mathematical software. We have used Mathematica with the following code:
Notice that we have provided the root finding algorithm an initial guess for the solution consisting of the
values  64:40 ı and tI
D D
2 s, the first of which is the solution to the case discussed in Example 2.24 and
the second is between the initial time and the time of collision. The above code yields the following solution:
 D 65:88ı and tI D 0:3947 s:

Dynamics 2e 319
Problem 2.241
The object in the figure is called a gun tackle, and it used to be very
common on sailboats to help in the operation of front-loaded guns.
If the end at A is pulled down at a speed of 1:5 m=s, determine the
velocity of B . Neglect the fact that some portions of the rope are not
vertically aligned.
Solution
By neglecting vertical misalignments, and using the y axis shown at

the right, we can expresss the length of the cord as follows:
L D yA C 2yB : (1)
Since L is constant, taking its time derivative, we have
D yPA C 2yPB : 0 (2)
Solving for yP B , and recalling that vEB D yPB |O, we have
1
vB  2 yA | : (3)
E D P O
Recalling that yPA D 1:5 m=s, we can evaluate the above expression to
obtain
E D
vB 0:7500 | O m=s:

Problem 2.242
The gun tackle shown is operated with the help of a horse. If the horse moves to the right at a constant
speed of 7 ft=s, determine the velocity and acceleration of B when the horizontal distance from B to A is
15 ft. Except for the part of the rope between C and A, neglect the fact that some portions are not vertically
aligned. Also neglect the change in the amount of rope wrapped around pulle y C as the horse moves to the
right.
Solution
Using the coordinate system shown in the figure at the right, and
denoting the length of the rope by L , we have
L D 2yB C
q xA2 C h2 : (1)
Since L is constant, differentiating Eq. (1) with respect to time gives
0 D 2yPB C q xA xA P : (2)
xA2 C h2
Solving Eq. (2) for yB , we have P
P : P D
yB 
xA xA
q (3)
2 C h2 xA2
Since vEB D yPB |O , recalling that h D 8 ft, xPA D 7 ft=s, and xA D 15 ft, we can evaluate Eq. (3) to obtain
E D
vB 3:088 | O ft=s: (4)
To obtain the acceleration of B we differentiate Eq. (3) with respect to time and, observing that xA R D 0, we
obtain
h2 xA2 P
R D
yB 
3=2
: (5)
2 x2 h2
E D yRB |O, again recalling that we have h D 8 ft, CxPA D 7 ft=s, and xA D 15 ft, we can evaluate Eq. (5)
A
 
Since aB
to obtain
2
E D
aB 0:3192 | O ft=s :

Dynamics 2e 321
Problem 2.243
The figure shows an inverted gun tackle with snatch block, which
used to be common on sailboats. If the end at A is pulled at a speed
of 1:5 m=s, determine the velocity of B . Neglect the fact that some
portions of the rope are not vertically aligned.
Solution
Neglecting vertical misalignments, and using the Cartesian coordinate

system shown at the right, we can express the length of the cord as
follows:
L yA 3yB : D C (1)
Since L is constant, taking its derivative with respect to time, we have
0 D yPA C 3yPB : (2)
Recalling that vB E D yPB |O , solving Eq. (2) for yPB , we have

1
vB  3 yA | : (3)
E D P O
Recalling that yPA D 1:5 m=s, we can evaluate vEB to obtain
E D
vB 0:5000 | O m=s:

Problem 2.244
In maritime speak, the system in the figure is often called a whip-upon-whip

purchase and is used for controlling certain types of sails on small cutters (by
attaching point B to the sail to be unfurled). If the end of the rope at A is pulled
with a speed of 4 m=s, determine the velocity of B . Neglect the fact tha t the
segment of the rope between C and D is not vertically aligned, and assume that
the slope of segment AC is constant.
Solution
Neglecting the vertical misalignment of the segment CD , assuming that the

slope of the segment AC is constant, and using the coordinate system shown
at the right, we can write the lengths of the two rope in the system as follows:
L1 D 2yB  yC and L2 D y C C sA: (1)
Since L 1 and L 2 are constant, taking their time derivative we have
0 D 2yPB yP C
D yPC C sPA:
 and (2)0
Recalling that sPA D vA is known and eliminating yP C from Eqs. (2), we can
solve for yB to obtain
P
yPB D 21 vA ) vEB D 21 vA |O :
 (3) 
Recalling that vA D 4 m=s, we have
E D
vB 2:000 | O m =s :

Dynamics 2e 323
Problem 2.245
The pulley system shown is used to store a bicycle in a garage.

If the bicycle is hoisted by a winch that winds the rope at a rate
D
v0 5 in:=s, determine the vertical speed of the bicycle.
Solution
Referring to the figure at the right, we have that pulleys B and C are
at the same height. Also, A is a point on the branch of the rope that
is being pulled in by the winch. The length of the rope between the
left end of the system and point A can be written as follows:
L D 4yB C sA: (1)
Since L is constant, taking its time derivative with respect to time,

P
and recalling that sA  v0 , we have
1
0 D 4 yPB C sPA ) yPB D  4 v0 : (2)
5
Recalling that we have v 0 D 5 in: D 12 ft=s, and observing that the speed of the bicycle is equal to jyPB j, we
have
v D 0:1042 ft=s:
bicycle

Problem 2.248
Block A is released from rest and starts sliding down the incline with an acceleration a 0 3:7 m=s2 . D
Determine the acceleration of block B relative to the incline. Also, determine the time needed for B to
move a distance d D
0:2 m relative to A.
Solution
Expressing the length of the rope L in terms of the coordinates of

A and B , we have
L 3xA xB : D C (1)
Since L is constant, differentiating Eq. (1) twice with respect to
time gives
0 3 xA xB : D R CR (2)
Solving Eq. (2) with respect to xB , gives
R D 3RxRA D 3a0; xB  (3) 
where we have used the fact that xRA D a0 . Recalling that a 0 D

2
3:7 m=s and that aEB D xRB {O, evaluating Eq. (3), we have
2
E D 11:10 {O m=s : aB  @
Using the result in Eq. (3), we observe that xR B=A D xRB xRA D
 4a 0 constant. Therefore, xB=A, namely, D
the relative position of B with respect to A , can be expressed as a function of time as follows:
xB=A.t/ D xB=A.0/ C xP B=A.0/t  2a 0 t 2 ; (4)
P
where xB=A.0/ and xB=A.0/ denote the initial values of xB=A and xB=A, respectively. Recalling that P
P D
xB=A.0/ 0 since the blocks are released from rest, Eq. (4) simplifies to
xB=A.t / D xB=A.0/  2a 0 t 2 : (5)
Denoting by t d the time needed to travel the distance d , observing that d D xB=A.td /  xB=A.0/ , and
letting t t d in Eq. (5), we have
D d D 2a0 td2 ) td D p d=.2a 0 /:
ˇ ˇ (6)
2
Recalling that d D 0:2 m and a0 D 3:7 m=s , the last of Eqs. (6) can be evaluated to obtain
td D 0:1644 s:

Dynamics 2e 327
Problem 2.249
In the pulley system shown, the segment AD and the motion of A are not impeded
by the load G . Assume all ropes are vertical ly aligned.
Determine the velocity and acceleration of the load G if v0 3 ft=s and D
a0 1 ft=s2 .
D
Solution
Referring to the figure at the right, and using the y coordinate shown, the length
of the ropes labeled 1 , 2 , and 3 are
L1 D yG C 3yB ; L2 D y G C yD  2yB ; L3 D y G C yA  2yD : (1)
Since L 1 , L 2 , and L 3 are constant, taking the time derivative of Eqs. (1) gives
0 yG 3yB ; 0 yG yD  2yB ; 0 yG yA  2yD : (2)

DP C P DP CP P D P CP P
Equations (2) forms a system of three equations in the three unknowns yB , yD , P P
P
and yG whose solution is
P D 131 v0; yPD D 135 v0; yPG D 133 v0;

yB (3) 
where we have used the fact that yPA D v 0 . Differentiating Eqs. (3) with respect
to time, we have
1 5 3
yRB D 13 a0 ; yRD D 13 a0 ; yRG D 13 a0 ; (4) 
where we have used the fact that vP 0 D a 0 . Recalling that vEG D yPG |O and a EG D yRG |O , and recalling that
2
v0 D 3 ft=s and a0 D 1 ft=s , we can evaluate the last of Eqs. (3) and (4) to obtain
2
E D
vG 0:6923 | O ft=s and E D
aG 0:2308 | O ft=s :

Problem 2.250
In the pulley system shown, the segment AD and the motion of A are not impeded
by the load G . Assume all ropes are vertical ly aligned.
The load G is initially at rest when the end A of the rope is pulled with the
constant acceleration a0 . Determine a 0 so that G is lifted 2 ft in 4:3 s.
Solution
Referring to the figure at the right, and using the y coordinate shown, the lengths
of the ropes labeled 1 , 2 , and 3 are
L1 D yG C 3yB ; L2 D y G C yD  2yB ; L3 D y G C yA  2yD : (1)
Since L 1 , L 2 , and L 3 are constant, taking the time derivative of Eqs. (1) gives
0 D yPG C 3yPB ; 0 D yPG C yPD  P

2yB ; 0 D yPG C yPA  P
2yD : (2)
Equations (2) form a system of three equations in the three unknowns yB , yD ,

P P
P
and yG whose solution is
P D 131 v0; yPD D 135 v0; yPG D 133 v0;

yB (3) 
where we have used the fact that yPA D v 0 . Differentiating Eqs. (3) with respect
to time, we have
1 5 3
yRB D 13 a0 ; yRD D 13 a0 ; yRG D 13 a0 ; (4) 
where we have used the fact that vP 0 D a 0 . The last of Eqs. (4) implies that the acceleration of G is constant.
Therefore, using constant acceleration equations, we can write the following express ion of y G as a function
of time:
3
yG .t / y G .0/ yG .0/t  26 a0 t 2 :
D CP (5)
Let tf D
4 :3 s (f stands for final). Hence, recalling that G starts from rest and that therefore yG .0/ P D 0,
from Eq. (5) we have
yG .tf / D y G .0/ 3 2
 26 a0 tf ) a0 D 26ŒyG .0/3t 2 yG .tf /ç :

(6)
f
Recalling that y G .0/  yG .tf / D 2 ft and that tf D 4:3 s, we can evaluate the last of Eqs. (6) to obtain
2
a0 D 0:9374 ft=s :

Dynamics 2e 329
Problem 2.251
A crate A is being pulled up an inclined ramp by a winch retracting the cord at a constant rate v 0 D 2 ft=s.
Letting h D
1:5 ft, determine the speed of the crate when d 4 ft. D
Solution
Referring to the problem’s figure, we begin by observing that the motion of the crate is rectilinear and,
denoting the speed of the crate by vA , we have
vA
ˇˇ
D dP : (1)
P
To determine d , we can write p
L Dw C C h2 d 2; (2)
where L denotes the length of the cord and w denotes the (constant) horizontal distance between the winch
and the pulley. Recalling that L decreases at the rate v 0 , we have that
P
D ph2d d d 2 : v 0 (3)
Solving Eq. (3) for dP and substituting the result in Eq. (1)C
gives
D vd0
vA
p h2 C d 2: (4)
Therefore, recalling that h D 1:5 ft and v0 D 2 ft=s, we can evaluate Eq. (4) for d D 4 ft to obtain
vA D 2:136 ft=s:

Problem 2.252
A crate A is being pulled up an inclined ramp by a winch. The rate of winding of the cord is control led so
as to hoist the crate up the incline with a constant speed v 0 . Letting denote the length of cord retracted P̀
by the winch per unit time, determine an expressi on for in terms of v 0 , h , and d . P̀
Solution
Letting L denote the length of the cord and w denote the (constant) horizontal distance between the winch
and the pulley, we can write p
D w C h2 C d 2: L (1)
Recalling that L decreases at the rate P̀, i.e., L

P D `P, differentiating Eq. (1) with respect to time, we have

d dP
`P D p :  (2)
h C d2
2
where dP is the time rate of change of the distance d . When the crate move s up the incline, dP < 0 and is equal
in magnitude to the speed of the crate, i.e., dP D v0 . Substituting this relation into Eq. (2), we obtain the

desired relation:
P D p dv
`
0
:
h2 C d 2

Problem 2.254
E
Let !BC denote the angular velocity of the relative position vector rC =B . As such, E
E
!BC is also the angular velocity of the connecting rod B C . Using the concept of
time derivative of a vector given in Section 2.4 on p. 80, determine the component
of the relative velocity of C with respect to B along the direction of the connecting
rod B C .
Solution
We being by observing that vC=B E D rEPC=B , where rEC=B D L uO C=B . Since L is

P
constant, we must have rEC =B D L uOP C =B . Using the formula for the time derivative
of a unit vector, we have uPO C=B D !EBC uO C=B , so that 
vEC =B D L !EBC uO C=B : 
We now observe that ! EBC uO C=B is perpendicular to uO C=B . Therefore the component

of vEC=B along the direction u O C=B is
Component of vC=B along B CE D 0:

Dynamics 2e 333
Problem 2.255
The piston head at C is constrained to move along the y axis. Let the crank AB be
rotating counterclockwise at a constant angular speed  2000 rpm, R 3:5 in:, PD D
and L D
5:3 in: Determine expressions for the velocity and acceleration of C as a
function of  and the given parameters.
Solution
Using the diagram at the right and the law of cosines, we have
L2 D R 2 C yC2  ) yC D R cos  ˙ L2 R2 C R2 cos2 

2RyC cos 
p 
) yC D R cos  ˙ L2 R2 sin2  ; (1)

p 
where we have used the identity sin2  D 1 cos2  . To determine the appropriate root,

observe that for  D 0 we expect y C D R C L. Therefore, we have
yC D R cos  C L2 R2 sin2  :
p (2)
Differentiating Eq. (2) with respect to time and simplifying yields
P P
R2  cos 
yC R
P D
 sin 
 Cp L2 
2
R 2 sin 
: (3)
Recalling that vC E D P O
yC | , and recalling that R 3:5 in: D D 3:5
12 ft, L D 5:3 in: D 5:3
12 ft, and  PD
2000 rpm 2000 260D
rad=s, we can evaluate Eq. (3) to obtain
17:82 cos 
 
E D
vC  sin  61:09 C p 2
O
| ft =s:
0:1951  0:08507 sin 
Recalling that  P D constant, differentiating Eq. (3), we have

(  R cos 
! " R3 cos2  sin  R sin 
#)
yRC D R P 2 cos  1 C p C sin  3=2
 p :
L2  R 2 sin2  2 R 2 sin2  L2  R 2 sin2 
L 
(4)
3:5 5:3
Recalling that aC E DR O
yC | , and recalling again that R 3:5 in: D D 12 ft, L D 5:3 in: D 12 ft, and
PD
 2000 rpm 2000 260

D
rad=s, we can evaluate Eq. (4) to obtain
4 0:2917 cos 
aC
E D 1:279  10 ( "  Cp
cos  1 0:1951  0:08507 sin2 
!
0:02481 cos2  sin  0:2917 sin 
#)
C sin  3=2
 p | ft =s2 :
O
sin2  0:1951  0:08507 sin2 
0:1951 0:08507


Dynamics 2e 335
Problem 2.257
In the cutting of sheet metal, the robotic arm OA needs to move

the cutting tool at C counterclockwise at a constant speed v0
along a circular path of radius  . The center of the circle is located
in the position shown relative to the base of the robotic arm at O .
For all position s along the circular cut (i.e., for any value of
R R
 ), determine r and  as functions of the given quantities (i.e., d ,
h,  , v 0 ). These quantities can be found by hand, but it is very
tedious, so you might consider using symbolic algebra software,
such as Mathematica or Maple.
Solution
Referring to the figure at the right, the coordinates C are

xCD d C  cos  D r cos  and yC D h C  sin  D r sin  : (1)
Observing that r 2 D x C
2 C y 2 , we have
C
q
r D .d C  cos  /2 C .h C  sin  /2 : (2)
Differentiating Eqs. (1) with respect to time, we have
  sin  r cos  r  sin  and  cos  r sin  r  cos  :
P DP P P D P C P (3)
Equations (3) can be viewed as a system of two equations in the two
unknowns P and rP whose solution is
P D . P =r/. cos  cos  sin  sin  /; 
(4)
rP D  P .sin  cos  cos  sin  /: 
Next, observe that we have
sin  D h C r sin  ; cos  D d C r cos  ; and P D v 0 =: (5)
Hence, substituting Eqs. (2) and (5) into Eqs. (4) and simplifying , we have
v0 . C d cos  C h sin  /
PD v0 .h cos  d sin  / 
C  cos  /2 C .h C  sin  /2 and rP D .d C  cos  /2 C .h C  sin  /2 :

.d
(6) p
To find expressions for rR and R we must take the time derivative of Eqs. (6) and then replace P with its
expressions in the last of Eqs. (5). Doing so, after simplification, yields the following expres sions:
RD
r 
v02 .
C d cos  C h sin  /.d 2 C h2 C  d cos3=2C h sin  / ;
 .d C  cos  /2 C .h C  sin  /2
v0 .d C h2 2 /.d sin  h cos  /
2 2  
R D  2 :
 .d C  cos  /2 C .h C  sin  /2


Problem 2.258
At the instant shown, block A is moving at a constant speed v 0 3 m=s to the D

left and w D D
2:3 m. Using h 2:7 m, determine how much time is needed to
lower B 0:75 m from this position.
Solution
Referring to the figure at the right, we will use the Cartesian coordinate system
shown with srcin at the fixed pulley O . The length of the rope can be descri bed
as q
L D xA C yB C xA2 C h2 : (1)
We will denote quantities evaluated at the initial and final positions of the
system by the subscripts 1 and 2 , respectively. Because the length of the rope is
constant, we set the expressions of the length of the rope corresponding to the
initial and final positions of the system equal to each other. Initially, we have
D
xA1 w . In addition, we have yB2  yB1 d D D
0:75 m. Hence, referring to
Eq. (1), we have
w C yB1 C
p w2 C h2 D xA2 C yB2 C
q C 2
xA2 h2
xA2 d  w w2 h2  x2 h2
)  C p p  C 2
 D q Cp A2 
) xA22 C d  w C C w2 h2 2xA2 d  w w2 C h2 D xA22 C h2: (2)
This last equation can be solved for xA2 to obtain
h2  d
  w
p w 2 C h 2 2
xA2 D  pw 2 C h 2  : (3)
2 d  w
The expression above gives the position of A corresponding to the final position achieved by B as given by
the problem statement . Because A and B are connected by an inextensible rope that is assumed not to go
slack, the time taken by B to achieve its final position will be equal to the time taken by A to achieve its final
position. With this in mind, letting t denote the time to be determined, and recallin g that the velocity of A is
constant, we then have
h2  d  w
pw 2 C h 2 2
w
xA2 D xA1  v0 t ) t
D v0 2v0d w pw2 C h2 ) t D 0:1556 s,
  
where we have used the fact that xA1 D w , and where we have used the following numerical data: v 0 D 3 m=s,
h D 2:7 m, d D 0:75 m, and w D 2:3 m.

Dynamics 2e 337
Problem 2.259
At the instant shown, h D D

10 ft, w 8 ft, and block B is moving with a speed
v0 5 ft=s and an acceleration a 0 1 ft=s2 , both downward. Determine the
D D
velocity and acceleration of block A .
Solution
We will use the Cartesian coordinate system shown at the right with srcin at
the fixed pulley O . The length of the rope can be described as
L D xA C yB C
q xA2 C h2 : (1)
Since the length of the rope is constant, differentiating the above equation with
respect to time, we have
P xA xA yPB xA2 C h2
q
0 D xPA C yPB C ) q xPA D : (2)  q
xA2 C h2 xA C xA2 C h2
EA D xPA {O, recalling that yPB D v0 D 5 ft=s and h D 10 ft, we can

Since v
evaluate the last of Eqs. (2) for x D w D 8 ft to obtain
E D
vA 3:078 { O ft=s:
Taking the derivative with respect to time of the last of Eqs. (2), after simplification, we have
R
yB
qC xA2 h2 P
yB

2 x 
A
qC xA2 h2
R D
xA  q C x q  2
: (3)
xA C C xA2 h 2
A C C xA2 h2
2
Since aA E DR O
xA { , recalling that yB v0 P D D 5 ft=s, yRB D a 0 D 1 ft=s , and h D 10 ft, we can evaluate the
last of Eq. (3) for x D D
w 8 ft to obtain
2
E D
aA O
0:8931 { ft =s :

Problem 2.260
As a part of a robotics competition, a robotic arm with a rigid

open hand at C is to be designed so that the hand catches an
egg without breaking it. The egg is released from rest at t 0 D
from point A . The arm, initial ly at rest in the position show n,
starts moving when the egg is released . The hand must catch
the egg without any impact with the egg. This can be done by
specifying that the hand and the egg must be at the same position
at the same time with identica l velocities. A student proposes
to
of do this itusing
work) a constant
is found that thevalue
arm of  forthe
catches which
egg (after R
at t a0:4391
fair bits D
for  RD13:27 rad=s2 . Using these values of t and  , determine R
the acceleration of both the hand and the egg at the time of catch.
Then, explain whether or not using a constant value of  , as has R
been proposed, is an acceptable strategy.
Solution
Referring to the diagram at the right, we will use a Cartesian

coordinate system with its srcin at O . As far as the acceleration
of the egg is concerned, up to the time of catch the acceleration of
the egg is
2
R D
ye 9:81 m=s ; (1)
where the subscript e stands for ‘egg’. As far as the determination
of the acceleration of point C is concerned, we begin by observing

R P
that since C is constant, and since C .0/ 0 because the arm D
starts from rest, we can use the constant accelerati on relations to
provide the expression of the angular coordinate  C as a function
of time:
C .t/  C .0/ 21 C t 2 : D C R (2)
Since the trajectory of C is a straight vertical line,  C .t/ is related to y C .t/ as follows:
yC .t/ D d tanŒC .t /ç: (3)
Differentiating Eq. (3) twice with respect to time, we have
R D d RC sec2 C .t/ C 2d PC2 .t / sec2 C .t / tan C .t/

yC .t/
) yRC .t / D d sec 2 C .t/RC C 2PC2 .t / tan C .t/: (4)
To evaluate the expression above, in addition to RC (which is given), we need the values of  C and PC at the
time of catch. To determine these values, we begin by denoting by tf the time of catch, where the subscript
f stands for ‘final.’ Since the egg is falling under the action of gravity, using constant acceleration equations,
for t D
tf , the y coordinate of the egg is given by
1 2
ye .tf / D y e .0/  2 gtf ; (5)

Dynamics 2e 339
D
where y e .0/ 0:6 m is the initial vertical position of the egg. At the time of catch we must have y e .tf / D
yC .tf /. Therefore, setting t D
tf in Eq. (3), replacing yC .tf / with the right-hand side of Eq. (5), and solving
for  C .tf /, we have
" 2ye .0/  gtf2
#
C .tf / D tan1 2d
: (6)
P
Next, we determine an expression for C .tf /. To do so, we different iate Eq. (2) and evaluate it for t D tf :
P
C .tf / D RC tf : (7)
Substituting Eq. (7) into the last of Eqs. (4), at the time of catch, we have
D d sec 2 C .tf /RC C 2RC2 tf2 tan C .tf /:

R
yC .tf / (8)
2
Recalling that tf D 0:4391 s, d D 0:5 m, g D 9:81 m=s , and y e .0/ D 0:6 m, we can evaluate  C .tf / in
Eq. (6) (this gives  C .tf / D 34:66 ı ) and then use it, along with RC D 13:27 rad=s , in Eq. (8) to obtain
  2
R
yC
ˇ t D0:4391 s
D 44:51 m=s
2
:
jR j jR j
Since, at the time of catch, the acceleration yC > ye , the arm and egg will only be in contact for an instant
and will then separate again. Consequently, the proposed strategy is not acceptable for catching the egg.

Problem 2.261
Referring to the problem of a robot arm catc hing an egg

(Prob. 2.260), the strategy is that the arm and the egg must have
the same velocity and the same position at the same time for
the arm to gently catc h the egg. In addition, what should be
true about the accelerations of the arm and the egg for the catch
to be successful after they rendezvous with the same velocity
at the same position and time? Describe what happ ens if the
accelerations of the arm and egg do not match.
Solution
After they rendez vous, the relati ve acceleration of the arm with respect to the egg must be zero. If ye < yC R R
then the arm and egg will separate right after the catch . If ye > yC the egg will experience a jerk. R R

Dynamics 2e 345
Problem 2.266
A glider is descending with a constant speed v 0 30 m=s and a D

constant descent rate of 1 m=s along a helical path with a constant
radius R D
400 m. Determine the time the glider takes to complete
a full 360 ı turn about the axis of the helix (the ´ axis).
Solution
Referring to the figure at the right, we adopt a cylindrical coordinate

system with srcin on the ground and the ´ axis coinciding with the
axis of the helical path. Using the polar component system correspond-
ing to the chosen coordinate system, we can write the velocity of the
airplane as follows:
E D RP uO R C RP uO C Ṕ uO ´:
v  (1)
Since the radius of the helix is constant, we have that R 0 and PD

Eq. (1) simplifies to
v R  u u´ : E D P O C Ṕ O (2)
Since the speed of the airplane is constant and equal v 0 , using Eq. (2) we can write
v02 D R 2P 2 C Ṕ 2; (3)
which we can solve for  since P Ṕ is known and equal to 1 m=s:

q v02  Ṕ 2
PD˙ : (4)
R
Of the two roots in Eq. (4) we will select the positive one to match the direction of motion of the glider
indicated in the problem’s figure. We now observe that since v 0 , , and R are constant,  is also a constant. Ṕ P
Therefore, letting t denote the time needed to complete a full 360ı arc around the helix, t can be computed
by simply dividing the measure of the angle 360 ı in radians, i.e., 2  , by the angular veloci ty  . This gives P
2 R
t D q : (5)
v02  Ṕ 2
Recalling that R 400 m, v 0 30 m=s, and ´ 1 m=s, we can evaluate Eq. (5) to obtain
D D PD
t D 83:82 s:

Problem 2.267
An airplane is flying horizontally at a constant speed v0 320 mph while D

its propellers rotate at a constant angular speed ! 1500 rpm. If the D
propellers have a diameter d D
14 ft, determine the magnitude of the
acceleration of a point on the periphery of the propeller blades.
Solution
Referring to the figure at the right, we define a fixed cylindrical coordinate system
with the ´ axis coinciding with the propeller’s shaft, R direction perpendicular to
the shaft and going from the ´ axis to the point whose acceleration we want to
O O O
measure, and such that the triad . uR ; u ; u´ / is right-handed . Next, we recall that
in cylindrical coordinates the acceleration is given by the following formula:
aE D RR  P  O C RR C 2RP P  uO C Ŕ uO ´:

R  2 uR  (1)
Using the problem’s given information, we have
R D 21 d D 7:000 ft; RP D 0; RR D 0; P D ! D 1500 rpm D 157:1 rad=s; Ŕ D 0: (2)
Substituting the above information in the formula for the acceleration we have
ED
a R  P 2 uO R D . 1:728  10
5
ft=s2 / uR :
O (3)
The magnitude of the above vector is
2
a
ˇ Eˇ D 17;280 ft=s :

Problem 2.271
A golfer chips the ball on a flat, level part of a golf course as shown. Letting
˛ 23 ı , ˇ 41 ı , and the initial speed be v 0 6 m=s, determine the x and y
D D D
coordinates of the place where the ball will land.
Solution
For projectile motion ax D 0, ay D 0, and a´ D g. Hence 
x D x 0 C xP 0 t; y D y 0 C yP0 t; and ´ D ´ 0 C Ṕ 0 t 12 gt 2 : 
At time t D 0 the ball is at the srcin of our coordinate syst em so x0 D y 0 D ´ 0 D 0 . The initial compone nts
of the velocity are
P D v 0 cos ˇ cos ˛; yP0 D v0 cos ˇ sin ˛;

x0 and Ṕ 0 D v 0 sin ˇ:
Using the equations written so far, we have that the motion of the ball is described by the following equations:
1 2
x D .v0 cos ˇ cos ˛/t; y D .v 0 cos ˇ sin ˛/t; and ´ D .v0 sin ˇ/t  2 gt :
To determine the location of landing, we observe that the ´ coordinate of the landing spot must be ´ D 0.
Next we find the time corresponding to ´ 0 , i.e., D
´ D .v0 sin ˇ/t 1 2
 2 gt D0 ) t D 2v0 gsin ˇ :
The x and y components of the position corresponding to this time are
2
D v0 sin 2ˇ cos ˛
 2v ˇ  0 sin
xland D .v 0 cos ˇ cos ˛/ ) xland D 3:345 m;
 2v g ˇ  2
g
yland D .v 0 cos ˇ sin ˛/ 0 sin

g
) yland D v0 sin 2ˇ
g
sin ˛
D 1:420 m;
where we have used the following numerical data: v 0 6 m=s, ˛ 23 ı , ˇ 41 ı , and g D D D 2
D 9:81 m=s . In
summary, the location of the ball’s landing spot is identified by the following coordinates
xland D 3:345 m; yland D 1:420 m; and ´land D 0:

Dynamics 2e 351
Problem 2.272
Relative to the cylindrical coordinate system shown, with srcin at

O , the radial and ´ coordinates of point G are R d .L=2/ cos ˇ D C
and ´ D
.L=2/ sin ˇ , respectively, where d 0:5 m and L D D
0:6 m. The shaft CD rotates as shown with a constant angular velocity
!s D10 rad=s, and the angle ˇ varies with time as follows: ˇ D
ˇ0 sin.2!t/ , where ˇ0 0:3 rad, ! D
2 rad=s, and t is time in D
seconds. Determine the velocity and the acceleration of G for t 3s D
(express the result in the cylindrical component system . uR ; u ; u´ /, O O O

with u O D uO ´ uO R ).
Solution
The problem gives the radial and vertical coordinates of point G , which are
R D d C 12 L cos ˇ and ´ D 1
 2 L sin ˇ: (1)
In addition, the angle ˇ is given as a function of time: ˇ D

ˇ 0 sin.2!t/ . Substituting the expression for ˇ
into Eqs. (1) we have the R and ´ coordinates of G directly as a function of time:
R D d C 12 L cosŒˇ0 sin.2!t/ ç and ´ D 1

 2 L sinŒˇ0 sin .2!t/ ç: (2)
Now we recall that, in cylindrical coordinates, the velocity is given by
v R uR R  u ´ u´ : (3)
ED P O C PO CP O
The quantities RP and Ṕ can be computed by differentiating Eqs. (2) with respect to time. This process, while
possibly tedious, is straightforward and gives
R PD Lˇ0 ! sinŒˇ0 sin.2!t/ ç cos.2!t/; (4)

Ṕ D Lˇ0 ! cosŒˇ0 sin.2!t/ ç cos.2!t/: (5)
P
As far as  is concerned, we observe that the whole system rotate s in the  direction with a constant angular
velocity ! s :
PD D
 !s constant: (6)
Recalling that d D 0:5 m, L D 0:6 m, ! s D 10 rad=s, ˇ 0 D 0:3 rad, and ! D 2 rad=s, for t D 3 s, we can
evaluate the first of Eqs. (2) as well as Eqs. (4)–(6) to obtain
R D 0:7961 m; RP D 0:04869 m=s; Ṕ D 0:2999 m=s; and P D 10:00 rad=s:

 (7)
Using the results in Eqs. (7) we can evaluate Eq. (3) to obtain the velocity at t D 3 s:
vE D .0:04869 uO R C 7:961 uO   O
0:2999 u´ / m=s:
In cylindrical coordinates, the acceleration is given by
E D RR
a  P  O C RR C 2RP P  uO C Ŕ uO ´:
R  2 ur  (8)

P P
We have already computed the terms R , R ,  . Hence, we only need to determine the terms R ,  , and R R Ŕ to
compute the acceleration of point G . Differentiating Eqs. (4)–(6) with respect to time we have
R
˚
P D 2Lˇ0! 2 sin.2!t/ sinŒˇ0 sin.2!t/ ç ˇ0 cosŒˇ0 sin.2!t/ ç cos2.2!t/ ;  (9)
R D 0 (10)
˚
Ṕ D 2Lˇ0! 2 sin.2!t/ cosŒˇ0 sin.2!t/ ç C ˇ0 sinŒˇ0 sin.2!t/ ç cos2.2!t/ ; (11)
Again recalling that d D 0:5 m, L D 0:6 m, ! s D 10 rad=s, ˇ 0 D 0:3 rad, and ! D 2 rad=s, for t D 3 s, we
can evaluate Eqs. (9)–(11) for t D 3 s wo obtain
2 2
R RD 0:1798 m=s ; R D 0; and Ŕ D 0:8120 m=s : (12)
Hence, using Eqs. (7) and (12), we can evalua te the expression in Eq. (8) for t D 3 s to obtain
E D.
a 79:79 uR O C 0:9738 uO   0:8120 u´ / m=s2 :
O

v D r P D vE uO  ) P D p2p2`v02 C h2 cos  .cos  sin  /

  (9)
v D r P sin  D vE uO ) P D sin  p2pv02`2 C h2 .sin  C cos  /;


  (10)
where we have used the expression for r in Eq. (3). Recalling that v 0 450 mph 450 5280
3600 ft =s, ` D D D
D D
5 mi 5.5280/ ft, and h 10;000 ft, and using Eqs. (4), we can evaluate Eqs. (8)–(1 0) to obtain
P D 0; P D 0;
r and PD 0:01768 rad=s:
The second of Eqs. (1) states that all of the components of the acceleration are equal to zero. Therefore, we
have
D rR r P2 r P 2 sin2  D 0
ar   ) rR D r P2 C r P 2 sin2  ; (11)
a D r R C 2rP P r P 2 sin  cos  D 0

  ) R D P 2 sin  cos  2 r PrP (12) 

rP
a D r R sin  C 2rP P sin  C 2r P P cos  D 0 ) R D 2 P 2P P .tan  /1 : (13)  
r
Recalling again that v 0 D 450 mph D 450 5280

3600 ft =s, ` D 5 mi D 5.5280/ ft, and h D 10;000 ft, and using
Eqs. (4), as well as Eqs. (8)–(10), we can evaluate Eqs. (11)–( 13) to obtain
6 R D 0:
R D 11:27 ft=s ; R D 78:10
r 2
 10 rad=s2 ; and 

Dynamics 2e 355
Problem 2.274
A carnival ride called the octopus consists of eight arms that rotate about the ´ axis at the constant angular
velocity  PD D
6 rpm. The arms have a length L 22 ft and form an angle  with the ´ axis. Assuming that
D C
 varies with time as  .t /  0 1 sin !t with  0 70:5ı ,  1 25:5ı , and ! 1 rad=s, determine
D D D
the magnitude of the accelera tion of the outer end of an arm when  achieves its maximum value.
Photo credit: © Gary L. Gray
Solution
Since  0 and  1 are positive, the function  .t / D 0 C 1 sin !t is maximum when sin !t D 1:
 D max D 0 C 1 for !t D .=2/ rad: (1)
Next, we recall that the components of acceleration in spherical coordinates are
D rR r P2 r P 2 sin2  ;
ar  
a D r R C 2rP P r P 2 sin  cos  ;

  (2)
a D r R sin  C 2rP P sin  C 2r P P cos  :

To use these equations we need the values of r , rP , rR , P , R , P , and R for  D  max . First we observe that
r D L D costant ) rP D 0 and rR D 0: (3)
Using the given  .t/, we have
P D 1! cos !t and RD 1 !

2
sin !t: (4)
P
Finally, for  and  we have R
P D 6 rpm D constant ) R D 0:
 (5)
Using the results in Eqs. (3)–(5), for  D  D 0 C 1 the components of acceleration become
max
ar D LP 2 sin2 .0 C 1 /; a D L1 ! 2 LP 2 sin.0 C 1 / cos.0 C 1 /; a D 0;

    (6) 
where we have used the fact that, for  D  , sin !t D 1 and cos !t D 0 . Recalling that the magnitude of
q max
the acceleration is jEaj D ar2 C a 2 C a 2 , using Eqs. (6), for  D  , we have

  max
aE D  LP 2 sin2.0 C 1/2 C  L1! 2 LP 2 sin.0 C 1/ cos.0 C 1/2;

max   
 
which, recalling that  0 D 70:5ı D 70:5 180 rad ,  1 D 25:5ı D 25:5 180 rad , ! D 1 rad=s, L D 22 ft, and
ˇ ˇ q
P D 6 rpm D 6 2 rad=s, can be evaluated to obtain

60
ˇE ˇ D
amax 12:36 ft=s2 :

Problem 2.275
A particle is moving over the surface of a right cone with angle ˇ

and under the constraint that R 2  PD
K , where K is a constant. The
equation describing the cone is R D
´ tan ˇ . Determine the expressions
for the velocity and the acceleration of the particle in terms of K , ˇ , ´ ,
and the time derivatives of ´ .
Solution
We use the the cylindrical coordinate system implied by the problem’s figure. Next we recall that the general
expressions for the velocity and acceleration in cylindrical coordinates are as follows:
E D RP uO R C RP uO C Ṕ uO ´
v 
P  O C RR C 2RP P  uO C Ŕ uO ´:
and aE D RR  R  2 uR
(1) 
The problem is solved by determining all of the terms in the expressions for vE and aE and then substituting the
terms in question into the above equations .
We begin by determining the terms related to the coordinate R . We are told that R D ´ tan ˇ . Hence,
recalling that ˇ is constant, we have
R D ´ tan ˇ ) RP D Ṕ tan ˇ ) RR D Ŕ tan ˇ: (2)
Next we consider the terms related to  . Specifically, we start with the constraint equation R 2  P D K , and
obtain
K D R 2P ) P D RK2 D ´2 tan
K
) R D 
2K
:
Ṕ (3)
2ˇ ´3 tan2 ˇ
Substituting the first two of Eqs. (2) and the second of Eqs. (3) into the first of Eqs. (1), we have
K
v E D Ṕ tan ˇ uO R C ´ tan ˇ
O C Ṕ uO ´:
u 
Substituting Eqs. (2) and the last two of Eqs. (3) into the second of Eqs. (1), we have
K2
 
aE D Ŕ tan ˇ 
´3 tan3 ˇ
O C Ŕ uO ´:
uR

Dynamics 2e 357
Problem 2.276
Solve Prob. 2.275 for general surfaces of revolution; that is, R is no

longer equal to ´ tan ˇ , but is now an arbitrary function of ´, that is,
R Df.´/ . The expressions you need to find will cont ain K , f.´/ ,
derivatives of f .´/ with respect to ´, and derivatives of ´ with respect to
time.
Solution
We use the cylindrical coordinate system implied by the problem’s figure. Next we recall that the general
expressions for the velocity and acceleration in cylindrical coordinates are as follows:
E D RP uO R C RP uO C Ṕ uO ´
v 
P  O C RR C 2RP P  uO C Ŕ uO ´:
and aE D RR  R  2 uR
(1) 
The problem is solved by determining all of the terms in the expressions for vE and aE and then substituting the
terms in question into the above equations .
We begin by determining the terms related to the coordinate R . Since we are told that R D f.´/ , and
keeping in mind that ´ D ´.t/ , using the chain rule, we have
dR d´ 2
) RP D Ṕ df and RR D d Ṕ df ) RR D Ŕ df C Ṕ 2 d f2 : (2)
 
RP D
d´ dt d´ dt d´ d´ d´
Next we consider the terms concerning the coordinate  . Recalling that we have the constra int equation
K D R 2P . Hence, we can write
K d P d´
K D R 2 P ) P D 2
f .´/
) R D
d´ dt
D f 32K df
.´/ d´
Ṕ : 
(3)
Recalling that R D P
f.´/ , substituting the expression for R from Eqs.(2) along with the expression for  P
from Eqs. (3) into the first of Eqs. (1) we have
vE D df
d´
K
Ṕ uO r C f.´/ uO C Ṕ uO ´ : 
Again recalling that R D

f.´/ , substituting the expressions for R and R from Eqs.(2) along with the P R
P R
expressions for  and  from Eqs. (3) into the second of Eqs. (1) we have
2 K2
E D Ŕ C Ṕ 2 dd´f2
 
a 
f 3 .´/
uR O C Ŕ uO ´:

Problem 2.277
In a racquetball court, at point P with coordinates xP 35 ft, D

yP D
16 ft, and ´P D
1 ft, a ball is imparted a speed v0 90 mph D
and a direction defined by the angles  63 ı and ˇ 8 ı (ˇ is the
D D
angle formed by the initial velocity vector and the xy plane). The
ball bounces off the left vertical wall to then hit the front wall of
the court. Assume that the rebound off the left vertical wall occurs
such that (1) the component of the ball’s velocity tangent to the
wall before and after rebou nd is the same and (2) the component of
velocity normal
and opposite in to the walltoright
direction the after
same impact is equal
component of in magnitude
velocity right
before impact. Accounting for the effect of gravity, determine the
coordinates of the point on the front wall that will be hit by the ball
after rebounding off the left wall.
Solution
From P to the left wall the racquetball undergoes projectile motion and therefore the components of the
ball’s acceleration in the given coordinate system are ax D
0 , ay 0 , and a´ g. In turn, the coordinate s D D
of the ball as a function of time are
D xP C xP 0t; y D yP C yP0t; and ´ D ´P C Ṕ 0t 12 gt 2;

x  (1)
where xP D 35 ft, yP D 16 ft, and ´P D 1 ft. Next, the initial compone nts of velocity are
xP 0 D v0 cos ˇ sin  ; yP0 D v0 cos ˇ cos  ; and Ṕ 0 D v 0 sin ˇ:

  (2)
The first part of the motion of the ball is described by
1 2
x D xP  .v0 cos ˇ sin  /t; y D yP  .v0 cos ˇ cos  /t; and ´ D ´P C .v0 sin ˇ/t  2 gt : (3)
Letting the subscript lw stand for ‘left wall’, we must have y.tlw / D 0 so that
yP  D 0 ) t D v0 cosyˇP cos  D 0:2696 s:
.v0 cos ˇ cos  /tlw (4)
lw
The corresponding x and ´ coordinates at t D t are lw
x D xP .v0 cos ˇ sin  /t

lw ) x D 3:598 ft;
 lw (5) lw
1
´ D ´P C .v0 sin ˇ/tlw 2
gt ) ´ D 4:783 ft; lw  (6)
lw lw
where, in Eqs. (4)–(6), we have used the fact that x P D 35 ft, yP D 16 ft, ´P D 1 ft, v0 D 90 mph D
90 5280 ı ı
3600 ft =s, ˇ D 8 , and  D 63 .
After impact the x and y components of velocity are
P D
xlw v0 cos ˇ sin  and P D v 0 cos ˇ cos  :
ylw (7)
The ´ component of velocity after impact is calculated with the constant acceleratio n equation v D v0 C at .
Ṕ D v 0 sin ˇ
lw  gt lw: (8)

Dynamics 2e 359
After the impact with the left wall, the ball is again in projectile motion. Hence, the equations describ ing the
motion of the ball after the impact are
x Dx lw  D .v 0 cos ˇ cos  /t; and ´ D ´ C .v0 sin ˇ gt /t 12 gt 2; (9)

.v0 cos ˇ sin  /t; y lw  lw 
where we have “reset” the time variable so that t D 0 now corresponds to when the ball bounces off the the
left wall. We are now ready to consider the impact of the ball with the front wall. Letting the subscript fw
stand for ‘front wall’, we must have x .t / D 0 , so that fw
x lw
x Dx .v0 cos ˇ sin  /t D 0 ) t D
fw lw  fw D 0:03089 s: (10)
fw
v0 cos ˇ sin 
The corresponding values of the y and ´ coordinates are
yfw D .v 0 cos ˇ cos  /t fw ) yfw D 1:833 ft; (11)

2
´fw D ´ C .v0 sin ˇ
lw  gt lw/tfw  12 gt fw ) ´fw D 5:067 ft: (12)
In summary, the coordinates of the point on the front wall that is impacted by the ball, we have
xfw D 0; yfw D 1:833 ft; and ´fw D 5:067 ft:

Problem 2.278
An airplane is being tracked by a radar station at A . At the instant

t D 0, the following data is recorded: r 15 km,  80ı , D D
 D 15ı , r PD
350 km=h,  PD
0:002 rad=s,  0:003 rad=s. PD
If the airplane is flying to keep each of the spherical velocity
components constant for a few minutes, determin e the spherical
components of the airplane’s acceleration when t 30 s. D
Solution
In spherical coordinates, the components of acceleration are
D rR r P2 r P 2 sin2  ;
ar  
a D r R C 2rP P r P 2 sin  cos  ;

  (1)
a D r R sin  C 2rP P sin  C 2r P P cos  :

To solve this problem, we must provide the values of r , rP , rR ,  , P , R , P , and R for t D 30 s.

We will now use the assumption that the velocity components are constant to determine the value of the
quantities just listed. The expression of the velocity in spherical coordinates is
E D rP uO r C r P uO C r P sin  uO D v r uO r C v uO C v uO :
v       (2)
Then, under the assumption that v r is constant, for the radial coordinate r we have
vr .0/ D rP.0/ D constant ) rR.t/ D 0 and r.t/ D r.0/ C rP.0/t: (3)

1000
Recalling that r.0/ D 15 km D 15;000 m and that rP.0/ D 350 km=h D 350 3600 m=s, then, using Eqs. (3),
at t D
30 s we have
D 17920; rP.30 s/ D 97:22 m=s; and rR.30 s/ D 0:

r.30 s/ (4)
Next we proceed to determine the values of  , P , and R at t D 30 s. To do so, referring to Eq. (2), we
start from the consideration that v D r P . Hence, using the expression for r in the last of Eqs. (3) we have

r.0/ P .0/ r.0/ rP.0/ P .0/

v D r P D constant D r.0/ P .0/; ) P D ) R D Œr.0/

r.0/ C rP.0/t C rP.0/t ç2 : (5) 
The last two of Eqs. (5) will allow us to compute P and R at t D 30 s. However, we also need the value of 
at t D 30 s. To compute such a value we now proceed to integrat e the second of Eqs. (5) with respect to time.
This gives
P D ddt D r.0/r.t/P .0/ ) P

  .t/   .0/ D
Z t
r.0/  .0/
dt
0 CP
r.0/ r.0/t
D  .0/ C r.0/rP.0/P .0/ ln 1 C rr.0/

P.0/ t
)  .t /
 : (6)
Using the last of Eqs. (6) and the last two of Eqs. (5) we then have
6
 .30 s/ D 76:86ı; P .30 s/ D 0:001674 rad=s; and R
 .30 s/ D 9:086  10 rad=s2 ; (7)

Dynamics 2e 361
where we have used the following numerical data: r.0/ D 15 km D 15;000 m, rP.0/ D 350 km=h D
350 1000
3600 m =s,  .0/ 80 ı , and  .0/ 0:002 rad=s.
D P D
Next we proceed to determine the values of P , and R at t D 30 s. We start from the fact that v D r P sin  
is assumed to be constant. Hence, we have
P
P
r.t/  .t / sin  .t / D r.0/ P .0/ sin  .0/ ) P .t / D r.0/r.t/ .0/sinsin .t/.0/
P
) R D r.0/  .0/ sin  .0/fPr.t/2 sin 2.t / C r.t/Œ cos  .t/çP .t /g :

r .t/ sin  .t/
(8)
Hence, recalling that r.0/ 15 km 15;000 m, r.0/

D 350 km=h
D P D D 350 1000
3600 m =s,  .0/ D 80 ı , P .0/ D
0:003 rad=s, and using Eqs. (4) and (7), for t 30 s, we have D
P
 .30 s/ D 0:002540 rad=s and R
 .30 s/ D 0:00001279 rad=s
2
: (9)
In conclusion, substituting Eqs. (4), (7), and (9) into Eqs. (1), for t D 30 s we have
2 2 2
ar D 0:1598 m=s ; a D 0:1884 m=s ; and a D 0:2232 m=s :

Problem 2.279
An airplane is being tracked by a radar station at A . At the instant

t D 0 , the following data is recorded: r 15 km,  80 ı ,  D D D
ı
15 , r PD 350 km=h,  PD
0:002 rad=s,  0:003 rad=s. If the PD
airplane is flying to keep each of the spherical velocity components
constant, plot the trajectory of the airplane for 0 < t < 150 s.
Solution
To plot the trajectory of the airplane we need to find expressions for the coordinates of the airplane as a
function of time. Clearly, this must be done while enforcing the condition that the velocity components
remain constant during the time interval of interest. For this purpose, we consider the general expression for
the velocity in spherical coordinates , which is
E D rP uO r C r P uO C r P sin  uO D v r uO r C v uO C v uO :
v       (1)
Then, under the assumption that v r is constant, for the radial coordinate r we have
D rP.0/ D constant ) r.t/ D r.0/ C rP.0/t;

vr .0/ (2)
where r.0/ D 15 km and that rP.0/ D 350 km=h.

Next we proceed to determine an expression for  .t/. To do so, referring to Eq. (1), we start from the
consideration that v D r P . Hence, using the expressi on for r in the last of Eqs. (2) we have

r.0/ P .0/
v D r P D constant D r.0/ P .0/; ) P D
 : (3)
r.0/ r.0/t
Then, to determine  .t/ we now proceed to integrate the last of Eqs. (3) with respect to time. This gives CP
P D ddt D r.0/r.t/P .0/ ) P
  .t/   .0/ D
Z t
r.0/  .0/
dt
0 CP
r.0/ r.0/t
D  .0/ C r.0/rP.0/P .0/ ln 1 C r.0/

 rP.0/ 
)  .t /
t ; (4)
where r.0/ D 15 km D 15;000 m, rP.0/ D 350 km=h,  .0/ D 80 ı , and P .0/ D 0:002 rad=s. 
Next we try and provide an expression for  .t /. We start from the fact that v D r P sin  is assumed to 
be constant. Hence, we have
P
P
r.t/  .t / sin  .t / D r.0/ P .0/ sin  .0/ ) P .t / D r.0/r.t/ .0/sinsin .t/.0/ : (5)
Although the expressions for r.t/ and  .t/ are currently known, even if one were to substitute these
expressions into the above equation, we would obtain an expression for  that cannot be integrated with P
respect to time in closed-form. Hence, we must proceed to integrate with respect to time numerically. This
can be done with appropriate mathematical softwa re. We have used Mathematica as described below. Once
r.t/ ,  .t/, and  .t / are known, in order to plot the trajectory of the airplane, we need to transform the
spherical coordinates into corresponding Cartesian coordinates. We do so using the following relations:
x D r sin  cos  ; (6)

Dynamics 2e 363
y D r sin  sin  ; (7)

´ D r cos  : (8)
The code provided below first defines the known parameters of the problem. Then the functions giving r.t/
and  .t/ are stated, followed by the instructions necessary to determine  .t/. Once the solution for  .t/ is
obtained, the spherical coordinates of the airplane are transformed into corresponding Cartesian coordinates
and the resulting trajectory is plotted for 0 < t < 150 s. Referring to the plot of the trajectory, the airplane is
moving from the upper right to the lower left.
Executing the above code yields the following plot (except for the labels “start” and “finish”):
start
finish

Problem 2.280
The velocity and acceleration of point P expressed relative to frame A at some time t are
E
vP =A D .12:5 {OA C 7:34 |OA/ m=s and E
aP =A D .7:23 {OA  3:24 |A / m=s2 :
O
Knowing that frame B does not move relative to frame A , determine the expressions for the velocity
and acceleration of P with respect to frame B . Verify that the speed of P and the magnitude of P ’s
acceleration are the same in the two frames.
Solution
To express the velocity and acceleration vectors relative to the reference frame B , the base vectors of frame A
need to be expressed in terms of the base vectors of frame B . Because of the orientation of frame B relative
to A , we have
O D cos.15ı/ {OB C sin.15ı/ |OB

{A and O D
|A  sin.15
ı
O C cos.15ı/ |OB ;
/ {B (1)
Substituting the expressions in Eqs. (1) into the given expres sion for the velocity of P , we have
E
vP =B D ˚ Œ12:5 cos.15ı /  7:34 sin.15ı /ç {B O C Œ12:5 sin.15ı/ C 7:34 cos.15ı/ç |OB  m=s: (2)
The magnitude of vP =B is E
vB=P D
q Œ12:5 cos.15ı /  7:34 sin.15ı /ç2
C Œ12:5 sin.15ı/ C 7:34 cos.15ı/ç m=s
q
12:5 2 Œcos2 .15ı / C sin2 .15ı /ç C 7:342 Œcos2 .15ı / C sin2 .15ı /ç m=s
D
D 12:52 C 7:342 m=s D vP =A; (3)
p
where we have used the trigonometric identity sin2 ˛ C cos2 ˛ D 1 . Equation (3) states that the speed of P
as seen by the two frames is the same. Evaluating Eqs. (2) and (3), we have
E
vP =B D .10:17 {OB C 10:33 |OB / m=s and vP =B D vP =A D 14:50 m=s:
Substituting Eqs. (1) into the given expression for the acceleration of P , we have
E
aP =B D ˚ Œ7:23 cos.15ı / C 3:24 sin.15ı/ç {OB C Œ7:23 sin.15ı/  3:24 cos.15ı /ç |B m=s2 :
O  (4)
The magnitude of aP =B is E

Dynamics 2e 365
ˇE ˇ D q
aP =B Œ7:23 cos.15ı /
C 3:24 sin.15ı/ç2 C Œ7:23 sin.15ı/ 3:24 cos.15ı/ç m=s 
2
D
q 7:232 Œcos2 .15ı / C sin2 .15ı /ç C 3:242 Œcos2 .15ı / C sin2 .15ı /ç m=s 2
D 7:232 C 3:242 m=s D aEP =A ; (5)

p 2
ˇ ˇ
where we have used the trigonometric identity sin 2 ˛ C cos2 ˛ D 1 . Equation (5) states that the magnitude of
the acceleration of P as seen by the two frames is the same. Evaluatin g Eqs. (4) and (5), we have
E
aP =B D .7:822 {OB  1:258 |B / m=s2
O and E
aP =B D aEP =A D 7:923 m=s : 2
ˇ ˇ ˇ ˇ

Problem 2.281
The motion of a point P with respect to a Cartesian coordinat e system is described

by r ED f p OC
2 t { Œ4 ln.t 1/ 2t 2 ç | ft, where t is time expressed in seconds.
C C Og
Determine the average velocity between t 1 D
4 s and t 2 6 s. Then find the time D
N
t for which the x component of P ’s velocity is exactly equal to the x component
of P ’s average velocity between times t1 and t 2 . Is it poss ible to find a time at
which P ’s velocity and P ’s average velocity are exactly equal? Explain why. Hint:
Velocity is a vector.
Solution
The average velocity over the time interval Œt 1 ; t2 ç is
E D rE.t2t2/ rtE1.t1/ :
vavg


(1)
Using the given function for r.t/ , for t 1 E D 4 s and t2 D 6 s, we have

vE D .0:4495 {O C 20:67 |O / ft=s;
avg (2)
Next, we compute the velocity of P by differentiating the position vector r.t/ with respect to time. This gives E
1 
C 1 C4 t |O

vE D pt {O C 4t ft=s: (3)
N
To determine t we then need to solve the equation
 
vx .t /N D p1 N ft=s D 0:4495 ft=s; (4)
t
which, can be solved for t to obtain N
N D 4:949 s:
t (5)
Substituting the result in Eq. (5) to compute the y component of the velocity vector in Eq. (3), we have
vy .t / N D 20:47 ft=s ¤ .v avg/y : (6)
This result implies that
In general, it is not possible to find a time instant in an interval Œt 1 ; t2 ç

for which the velocity and the average velocity are equal.
While it is always possible for a scalar function to find a value of time t at which the function is equal to its N
average
works forover a time
every interval
scalar containing
component t , when itnot
is, in general, comes N
to a vector function, finding a common time that
possible.

Dynamics 2e 367
Problem 2.282
The figure shows the displacement vector of a point P between two

time instants t 1 and t 2 . Is it possible for the vector vavg shown to be the E
average velocity of P over the time interval Œt1 ; t2 ç?
Solution
No. vavg must have the same direction as  r .t 1 ; t2 /.

E E

Problem 2.283
A dynamic fracture model proposed to explain the behavior of cracks

propagating at high velocity views the crack path as a wavy path .
In this model, a crack tip appearing to travel along a straight path
actually travels at roughly the speed of sound along a wavy path.
Let the wavy path of the crack tip be described by the function
D
y h sin.2 x= /, where h is the amplitude of the crack tip fluctu-
ations in the direction perpendicular to the crack plane and  is the
corresponding period. Assume that the crack tip travels along the
the vx component
wavy path s (e.g., the speed of sound).
Find theatexpressio
a constant speed
n for of the crack tip velocity
as a function of v s ,  , h , and x .
Solution
Using the coordinate system shown , the velocity of the crack tip has the form v E D xP {O C yP |O . Hence, letting
vs be the speed of the crack, we must have
vs
q
D xP 2 C yP 2: (1)
Now recalling that y D h sin.2 x=/, we have

dy dx
) yP D 2h xP cos
2 x 

yP D dx dt 
: (2)
vs
s
D xP 2 C
 2h xP  2 x 

cos
 2
s
D jPxj 1 C
 2h  2 x 

cos
 2
; (3)
   
which can be solved to find that the x component of the velocity is
vs 
xPD q  ;
2 C 4h 2  2 cos2 2x
P
where we have chosen x to be positive since the crack is assumed to propagate in the positive x direction.

Dynamics 2e 369
Problem 2.284
A dynamic fracture model proposed to explain the behavior of cracks

propagating at high velocity views the crack path as a wavy path .
In this model, a crack tip appearing to travel along a straight path
actually travels at roughly the speed of sound along a wavy path.
Let the wavy path of the crack tip be described by the function
D
y h sin.2 x= /, where h is the amplitude of the crack tip fluctu-
ations in the direction perpendicular to the crack plane and  is the
corresponding period. Assume that the crack tip travels along the
wavy path at a constant speed v s (e.g., the speed of sound).

Denote the apparent crack tip velocity by v a , and define it as the
average value of the x component of the crack velocity, that is,
va D 1
Z 
vx dx:
0
In dynamic fracture experiments on polymeric materials, va D

2vs =3, vs is found to be close to 800 m=s, and  is of the order
of 100 m. What value of h would you expect to find in the experi-
ments if the wavy crack theory were confirmed to be accurate?
Solution
To solve this problem we need to first determine the x component of the velocity of the crack tip. Once, we
determine an expression for v x , then we will solve the equation stated in the problem numeri cally for h .
We begin by observing that, using the coordinate system shown, the veloci ty of the crack tip has the form
v
E D xP {O C yP |O . Hence, letting vs be the speed of the crack, we must have
vs D xP 2 C yP 2 :
q (1)
Now recalling that y D h sin.2 x= /, we have

dy dx 2h xP
 2 x 
yP D ) yP D cos : (2)
dx dt  
s  2h xP  2 x 
  2
s  2h  2 x 
  2
vs D P C x2 cos D jPxj 1 C cos ; (3)
   
which can be solved to find that the x component of the velocity is
vs 
vx D xP D ; (4)
2 C 4h 2  2 cos2 2x
P q
where we have chosen x to be positive since the crack is assumed to propagate in the positive x direction.
 
Now, that v x is known, using the formula for v a given in the problem statement, we have
D 1
Zq 
vs 
Zq 
vs
va
0 2 C 4h 2  2 cos2 2x
  dx D 0 2 C 4h 2  2 cos2 2x
  dx : (5)

2
Recall that we have v s 800 m=s, v a D 3 vs , and  D D
100 m. Hence, since the variable x in Eq. (5) has
the role of dummy variable of integration, Eq. (5) is an equation in the single unknown h . The equation
in question is an integral equation and can be solved numerically using appropriate mathematical software.
We have used Mathematica with the code given below . As is often the case with the numerical solut ion
of equations, we had to supply Mathematica with an initial guess for the solution. Since the quantity h is
expected to be of the same order of a few  m, our guess for h was set to 1 m.
The execution of the code above yields the following result:
6
h D 29:43  10 m:

Dynamics 2e 371
Problem 2.285
The motion of a peg sliding within a rectilinear guide is controlled by

an actuator in such a way that the peg’s acceleration takes on the form
xRD a0 .2 cos 2! t  ˇ sin !t/, where t is time, a 0 3:5 m=s2 , ! D D
0:5 rad=s, and ˇ D
1:5. Determine the total distance tra veled by the
peg during the time interval 0 s  t  5 s if x.0/ a 0 ˇ=! 0:3 m=s. P D C
When compared with Prob. 2.57, why does the addition of 0:3 m=s in
the initial velocity turn this into a problem that requires a computer to
solve?
Solution
We begin by obtaining an expression for the velocity of the peg as a function of time. Since the acceleration
is given as a function of time, we can integrate it as follows:
v D xP .0/ C
Z t
a0 .2 cos 2! t  ˇ sin !t/dt
0
D a0 !ˇ C 0:3 m=s C a0
2
C !ˇ cos !t ˇ

) v
2!
sin 2! t  a0
!
; (1)
which we can simplify to obtain
v D a!0 Œsin 2! t C ˇ cos !t ç C 0:3 m=s: (2)
To find the distance traveled, we need to establish if and when the peg switches direction during the time
interval considered. This can be easily done by using any appropriate mathematical software that can plot the
function v over the time interval considered. Recalling that a 0 D 3:5 m=s , ! D 0:5 rad=s, and ˇ D 1:5, we
2
have used Mathematica with the following code:
The above code yields the following plot:
As can be seen from the above plot, the velocity changes sign near t 3 s. Hence, we need to solve the D
equation v D
0 to determine where exactly the sign switch occurs. Because the expressi on we have for v

includes the constant term 0:3 m, the equation v D

0 cannot be solved analytically. Hence, we will solve it
numerically. This can be done with any appropriate mathematical software. As is common with root finding
algorithms, we need to provide a guess for the solution. Based on the graph presented above, we set our
guess to t D
3 s and then use the following Mathematica code:
which yields the following solution:

t D 3:166 s: (3)
Using this result, and letting d denote the distance traveled, we have
d D
Z 3:166 s a 0
cos !t.2 sin !t Cˇ/C0:3 m=s

dt 
Z 5s a 0
cos !t.2 sin !t Cˇ/ C0:3 m=s

dt: (4)
0 ! 3:166 s !
The above integrals can be computed either numerica lly or analytically. Since this is a computer problem, we
have chosen to carry out the integration numerically. We have used Mathematica with the following code:
The execution of the above code, yields the following result:
d D 52:81 m:

Dynamics 2e 373
Problem 2.286
fluid is a D
drag coefficient, v is the object’s velocity, and m is the object’s mass. Letting v 0 D
and s D
0 for t D
0 , where s is position and t is time, determine the position as a
function of time.
Solution
The acceleration is given as a function of velocity. Recalling that a D dv=dt , we can separate the time and
velocity variables as follows:
dt D dva )
Z t
dt D
Z v
dv
) t D Cmd ln


1
Cd

v ; (1)
0 0 g  Cd v= m mg
where we have enforced the condition that v D 0 for t D 0 . We now solve the last of Eqs. (1) for v . This
gives
Cd mg
Cd
 Cd

e m t
D1  v ) v D Cd 1  e m t
: (2)
mg
Now that we have velocity as a function of time, we recall that v D ds=dt , so that we can separate the
variables s and t by writing
s t
mg Cd
ds v dt ds e t
D ) ZD 0 D Cd Z0
1  m
 dt; (3)
where we have enforced the condition that s 0 for t D 0. Carrying out the above integration and
simplifying, we have
D mg
  Cd

s Cd t Cm e m t
 1 :
C2 d

Problem 2.287
Heavy rains cause a stretch of road to have a coefficient of friction

that changes as a function of location. Under these conditions, the
acceleration of a car skidding while trying to stop can be approxi-
mated by s RD
.k  cs/g , where  k is the friction coefficient un-
der dry conditions, g is the acceleration of gravity, and c , with units
of m 1 , describes the rate of fricti on decrement. Let  k 0:5, D
c 0:015 m1 , and v 0 45 km=h, where v 0 is the initial velocity
D D
of the car. Determine the time it will take the car to stop and the
percent increase
i.e., when c 0 . in stopping time with respect to dry conditions,
D
Hint:
Zp 1
dx D log x C
 pC 1 x2 :

1 C x2
Solution
We are given the acceleration as a function of position. We will first relate the acceleration to the velocity
using the chain rule, and then relate the velocity to position:
D ddssP ds
a
v s
) a D ddssP sP ) a ds D sP d sP ) v sP d sP D 0 .k cs/ g ds; (1)
Z Z  
dt 0
where v D sP, v D v 0 for s D 0 , and where we have used the given expression of the acceleration in that last
of Eqs. (1). Carrying out the integration, we have
g s g c
2 v2  1
1 2 v0
2 D 2c .cs  k /2 ) v D g v02 C .cs k /2  2k :
 ˇ 0
rr c  (2)
This result will be needed later. We now determine the expression for the stopping position of the car, which
we will denote by sf (f stands for final). Setting v D
0 for s sf in Eq. (2), and solving for sf , we have D
s cv 02
sf D ck ˙ c1 2k 
g
: (3)
Only the smaller of the two roots in Eq. (3) makes physical sense (once the car stops, it will not stop at an
increased position). Hence, we select the following root:
k 1
s cv 02
sf D  2k  : (4)
c c g
Note that we could have identified the correct the solution to choose by evaluating the two roots numerically.
Recalling that k 0:5, c 0:015 m1 , g
D 9:81 m=s2 , and v0
D 45 km=h 45 1000
D
3600 , the roots D D
corresponding to the minus and plus signs are sf 26:31 m and sf 40:35 m, respectively. D D
We now go back to Eq. (2) and proceed to determine the relatio n between position and time. To do so, we
recall that v D
ds=dt . Observing that we have the velocity as a function of position, we can separate the
variables s and t as follows: d t
Z D Dr Z q
ds=v . Hence, using Eq. (2), we have
tf
dt
c sf ds
; (5)
0 g 0 c 2
C .cs k /2  2k
g v0 

Dynamics 2e 375
where we have enforced the condition that s 0 for t D D 0 and we have denoted by tf the time at which the
car comes to a stop. To carry out the integration, we let
A D gc v02  2k ; (6)
and we perform the following change of variables of integration:
x D cs  k ) ds D c1 d x: (7)
For s 0 we have x k and for s sf we have x c sf  k . Hence, Eq. (5) becomes
D D D 1 Z cs  D k
pAdxC x 2 :
f
tf D p (8)
cg k
Using the hint, we obtain
1  p ˇ csf k 1 csf  k C

qC A .csf  k /2
tf Dp ln x C C ˇ A x2 ) tf Dp ln q ; (9)
cg k cg  k C C A 2k
which, recallin g the definition of A in Eq. (6), after simplification yields
tf D p1cg ln v csfc=g k p 

: (10)
0 k
Realling that c 0:015 m1 , g 9:81 m=s2 ,  k 0:5 , and v 0

D D D D 45 km=s D 45 1000
3600 m =s, we can evaluate
sf in Eq. (4) and then eva luate tf in Eq. (10) to obtain
tf D 5:839 s: (11)
With dry conditions, i.e., for c D

0 , the acceleration of the car would be s k g. Hence, we can use the RD
constant acceleration equation s PDP C
s0 ac t to find the stopping time. This gives
0 D v0  k gtf ) tf D 2:548 s: (12)
Comparing this result to that in Eq. (11), we find the percent increase to be
Stopping time percent increase D tf wet

 tfdry
tfdry
 100 ) Stopping time percent increase D 129:1%.

Problem 2.288
The acceleration of a particle of mass m suspended by a linear spring with spring constant
k and unstretched length L 0 (when the spring length is equal to L 0 , the spring exerts
no force on the particle) is given by x RD
g  .k=m/.x  L0 /. Assuming that at t 0 D
the particle is at rest and its position is x D
0 m, derive the expression of the particle’s
position x as a function of time. Hint: A good table of integrals will come in handy.
Solution
We have acceleration as a function of position and we integrate it as follows:

Z xP Z x
D ddxxP dx k
   dx :
a
dt
) 0
P PD
xdx
0
g
m
x  L0
k 2 kL0
1 2
P D gx C ) PD
r k 2
C 2kL 0
2m2xx
m
x  x 2gx 
m
x
m
x:
P
Now that we have x as a function of x , we relate it to time as follows:
P D dx )
Z t
D
Z x
dx
Zr x
dx
x
dt 0
dt
0 x P ) t D 0
x 2kL0
C 2g
 k
 m x2
:
m
Now we let A D mk
 2kL0
C 2g D 2
 L0 C gkm and we rewrite the expression for t as follows:
m
rZm x

dx
 r m p x ˇˇ
pA x x :

t D pAx ) t D2 tan1
k 0  x2 k  0
Making use of the trigonometric identity 1 C tan2  D sec2  , we have that

r !t k
"  r !# r !
tan2
2 m
D Ax x ) 
x sec2
t
2
k
m
D A tan2 t
2
k
m
:
Now making use of the trigonometric identity sin 2 . =2/ D 12 .1  cos  /, we can express x as
r !
t k
" r !#
x D A sin2 2 m
) x D A2 1  cos
k
m
t :
Finally, recalling that A is the quantity 2 L0

 C gkm , the expression for x can be written as
x D L0 C gkm 1  cos

r k t :
m

Dynamics 2e 377
Problem 2.289
In a movie scene involving a car chase, a car goes over the top of a ramp
at A and lands at B below. Letting ˛ 18 ı and ˇ 25 ı , determine the
D D
speed of the car at A if the car is to be airborne for a full 3 s. Furthermore,
determine the distance d covered by the car during the stunt, as well as
the impact speed and angle at B . Neglect aerodynamic effects. Express
your answer using the U . S . Customary system of units.
Solution
This is a projectile problem and we begin by relating the jump speed v 0

to the velocity of the car and then to the car’s trajectory. Referring to
the figure at the right, the initial velocity and acceleration in the .x ; y/
coordinate system are
P D v0 cos.˛ C ˇ/; yP0 D v0 sin.˛ C ˇ/;

x0 (1)
xR D g sin ˇ; yR D g cos ˇ:  (2)
Using constant accele ration equations , we have that the coordinates of the (airborne) car as a function of time
are
D v0 cos.˛ C ˇ/t C 21 g sin ˇ t 2;

x (3)
y D v 0 sin.˛ C ˇ/t 21 g cos ˇ t 2 :  (4)
We want to satisfy the condition that y D 0 at t D tf D 3 s, where the subscript f stands for flight.
1 2 gtf cos ˇ
0
D v0 sin.˛ C ˇ/tf 2 g cos ˇ tf ) v0 D 2 sin.˛ C ˇ/ :  (5)
Recalling that g D 32:2 ft=s , tf D 3 s, ˇ D 25ı , and ˛ D 18ı , we can evaluate the result in the last of
2
Eqs. (5) to obtain

v0 D 64:19 ft=s:
We now observe that the distance d is equal to the valu e of x at time t D tf . Using Eq. (3) and the expressio n
for v 0 in the last of Eqs. (5), we have that the distance d is given by
gtf cos ˇ
d D 2 sin cos .˛ C ˇ/tf C 12 g sin ˇ tf2 ) d D 202:1 ft. (6)
.˛ C ˇ/
To find the impact speed and the impact angle, we need to determine the velocit y at impact. To do so, we
use the constant acceleration equation v v 0 ac t to obtain D C
E D Œv0 cos.˛ C ˇ/ C g sin ˇ tf ç {O C Œv0 sin.˛ C ˇ/
vi  g cos ˇ tf ç | O
cos ˇ 1
v gt 2 sin ˇ {  gt cos ˇ | ; (7)
) Ei D tan.˛ C ˇ/ C
f
O 2 f O
where we have used the expression for v 0 in the last of Eqs. (5). Therefore, the impact speed is
s cos ˇ
 2
vi D gtf 2 tan.˛ C ˇ/
C sin ˇ C 41 cos2 ˇ: (8)

Recalling that g D 32:2 ft=s , tf D 3 s, ˇ D 25ı, and ˛ D 18ı, we can evaluate the result in Eq. (8) to
2
obtain
vi D 98:08 ft=s:
We now compute the impact angle of the car with the ground at B measuring it with respect to the slope. This
angle is given by
v 1
cos ˇ
iy
   
Impact angle D tan1 
vix
D tan1 1
2 cos ˇ
2 tan.˛ C ˇ/
C sin ˇ : (9)
Recalling that ˇ 25 ı and ˛ 18 ı , we can evaluate the above result to obtain

D D
Impact angle D 26:51ı measured clockwise from the slope:

Dynamics 2e 379
Problem 2.290
Consider the problem of launching a projectile a distance R from

O to D with a known launch speed v 0 . It is probably clear to you
that you also need to know the launch angle  if you want the
projectile to land exactly at R . But it turns out that the condition
determining whether or not v 0 is large enough to get to R does
not depend on  . Determine this condition on v 0 . Hint: Find v 0
as a function of R and  , and then remember that the sine function
is bounded by 1.
Solution
For projectile motion we have the initial velocity and acceleration in the .x ; y/ coordinate system, i.e.,
P D v 0 cos  ; yP0 D v0 sin  ;

x0 (1)
xR D 0; yR D g:  (2)
Using the constant acceleration equations, we obtain
1 2
x D v 0 cos  t and y D v0 sin  t  2 gt : (3)
For t D tD we have y.tD / D 0. Using this fact in the second of Eqs. (3), yields
2v0 sin 
tD D : (4)
g
Then substituting Eq. (4) into the first of Eqs. (3) and setting x R , we obtain
v02
D
R D g
2 sin  cos  ) v02 D singR2 ; (5)
where we have used the trigonometric identity 2 sin  cos  sin 2 . Since we must have sin 2 D j j  1, we
have a corresponding condition on v 0 of the following form:
v0 
p gR:

Dynamics 2e 381
Problem 2.292
A roller coaster travels over the top A of the track section shown with a
speed v D
60 mph. Compute the largest radius of curvature  at A such
that the passengers on the roller coaster will experience weightlessness at
A.
Solution
To experience weightlessness, the passengers must be in free fall, i.e., their acceleration must be equal
to the acceleration of gravity . Since the tangent to the trajectory at A is horizontal, at A the direction of
acceleration must be toward C , i.e., it must be completely in the normal direction. With this in mind, using
normal-tangential components and recalling that the normal acceleration is given by v 2 = , we must have
v2 2

Dg )  D vg )  D 240:5 ft,
5280 2
where we have used the fact that v D 60 mph D 60 3600 ft =s and g D 32:2 ft=s .

Problem 2.293
Determine, as a function of the latitude  , the normal acceleration

of the point P on the surface of the Earth due to the spin !E of
Earth about its axis. In addition, determin e the normal accelerati on
of the Earth due to its rotation about the Sun. Using these results,
determine the latitude above which the acceleration due to the orbital
motion of the Earth is more significant than the acceleration due
to the spin of the Earth about its axis. Use R E 6371 km for the D
mean radius of the Earth, and assume the Earth’s orbit about the Sun
8
is circular with radius R O D 1:497  10 km.
Solution
Assuming that the center of the Earth is fixed and the Earth rotates as shown, the point P moves around a
circle centered at the spin axis of the Earth with radius P R E cos . The speed of vP P !E cos . D D
Therefore, the normal acceleration of P due to rotation is
2 2 2 2
aP n D vPP D !ERREEcoscos  ) aP n D ! E2 RE cos  D 0:03369 cos  m=s , 2
(1)
2
where we have used the data R E 6371 km 6371  103 m and ! E
D 1 rev=dayD .24/.3600/
rad =s. We D D
now model the motion of the Earth around the Sun as a circular motion along a circle centered at the Sun
with radius R O and angular speed ! O . The speed of P due to this motion is the same as that of the Earth,
namely, v E D
R O !O . The corresponding normal accelera tion is
2 2 2
aE n D vEO D !ORRO O ) aEn D !O2 RO D 0:005942 m=s , 2
(2)
2
where we have used the data !O D 1 rev=year D rad =s and RO D 1:497  108 km D
.365/.24/.3600/
1497  108 m.
The latitude  at which the acceleration due to the motion of the Earth around the Sun is equal to that due
to the Earth’s spin about its own axis is
2
! R 
O O
2
!E RE cos  D !O2 RO )  D cos1 2R
!E
: (3)
E
2 
Recalling that R E D 6371 km D 6371  103 m, !E D 1 rev=day D .24/.3600/ rad =s, ! O D 1 rev=year D
2
rad =s, and R O D 1:497  108 km D 1497 108 m, we can evaluate the last of Eqs. (3) to

.365/.24/.3600/
obtain
 D 79:84ı :

Dynamics 2e 383
Problem 2.294
A car is traveling over a hill with a speed v 0 D

160 km=h. Using the Cartesian coordinate system shown,

the hill’s profile is described by the function y .0:003 m 1 /x 2 , where x and y are measured in
D
meters. At x D
100 m, the driver realizes that her speed will cause her to lose contact with the ground
once she reaches the top of the hill at O . Verify that the driver’s intuition is correct, and determine
the minimum constant time rate of change of the speed such that the car will not lose contact with
the ground at O . Hint: To compute the distance traveled by the car along the car’s path, observe that
p pC
ds D dx 2 dy 2 C 1 .dy=dx/ 2 dx and that
D
x 1
ZpC 1 C 2 x 2 dx D 2 1 C C 2x2 C 2C lnC x C
p pC 1 C 2x 2 :

Solution
The minimum speed to lose contact with the ground is such that
2
vmin 2

Dg ) vmin D g.0/: (1)
To calculate the radius of curvature at the srcin of the coordinate system indicated in the problem’s figure we
use the following equation:
2 3=2 2 3=2 ˇˇ
1 C .dy=dx/  1 C .0:006x/ 
.x/ D ˇ d 2 y=dx 2
ˇ ) .0/ D 0:006
D 166:7 m: (2)
x D0
Therefore
vmin D pg D 40:44 m=s: (3)
Since v 0 D 160 km=h D 44:44 m=s, we conclude that
The car will lose contact with the ground.
Now we have to find the minimum constant value of v PD

a c such that the car does not lose contact. Since
we need to relate a change in speed to a change in position, we can use the constant acceleration equation
v 2  v02 2ac .s  s0 / with s 0 0 and vf
D D D
v min , where s is the path coordinate along the profile of the
hill and the subscript f stands for ‘final.’ This gives
2 v02
2
vmin 2
 v0 D 2ac s ) ac Dv min 
2sf
: (4)
To evaluate this equation we need to express the path coordinate s in terms of the Cartesian coordinates x and
y . Taking advantage of the hint given in the problem, we can write
Z qC0 x p 0
C C 2x2 C 2C1 ln C x C 1 C C 2x2
sf D 1 .0:006x/ 2 dx D 1
 p  D 105:7 m;
100 m 2 100 m
(5)

where C D 0:006 m . Using this result in Eq. (4), along with the fact that v0 D 160 km=h D 44:44 m=s

1
and v min D 40:44 m=s (see Eq. (3)), we have

2
ac D 1:606 m=s :

which can be solved for  to obtain
f
v 
D  2rad ln D  4rad ln
  f

0
) 
v0
; (6)
where we have used Eq. (1) and the following property of logarithms: ln x n D n ln x. From Eq. (2) we see
that  d =ds . Next recalling that an 8g and an v 2 =, we can write
D D D
dv
v2 D 8g ) 2v
ds
D 8g dds ) v
dv
ds
D 4g : (7)
We now observe that v dv is also the quantity v dv=dt . Therefore, we can write
ds PD
dv
D 4gdv :
dt
D 4g  ) dt
(8)
Letting t D 0 correspond to the beginning of the maneuver, we have v D v 0 for t D 0 and v D vf for t D tf
so that we can integrate the last of Eqs. (8) as follows:
Z tf
dt D
Z vf
dv
) tf D vf4gv0 )

tf D .v16g
f v0 / rad

; (9)
0 v0 4g  ln.vf =v0 /
where we have used the last of Eqs. (6). Recalling that we have g 9:81 m=s2 , v0 1100 km=h D D D
1100 1000
3600 m = s, and vf 800 km = h 800 1000
3600Dm = s, we can evaluateDthe last of Eqs. (9) to obtain
tf D 5:238 s:

Dynamics 2e 387
Problem 2.296
The mechan ism show n is called a swinging block slider cran k. First used in various steam lo-
comotive engines in the 1800s, this mechanism is often foun d in door-closing systems. Let
H D 1:25 m, R D
0:45 m, and r denote the distance between B and O . Assum-
ing that the speed of B is constant and equal to 5 m=s, determine r ,  , r , and  when P P R R
 180 ı .
D
Solution
We start by defining a polar coordinate system with

srcin at O and radial direction along the segment OB
so that the coordinate r measures the distance from
O to B . We take as transverse coordinate the angle  .
Observe that for 0 <  < 180 ı , r is growing. For  D
180ı , r achieves its maximum value r max R H , D C
and for 180ı <  < 360 ı , r decreases. Therefore,
the rate of change of r for  180 ı must be equal to
D
zero, i.e.,
P
r
ˇ  D180 ı
D 0: (1)
In polar coordinates, the velocity of B is expressed as
vB E D rP uO r C r P uO : (2)
For  D 180 ı , recalling that B is moving counterclockwise with the constant speed v 0 , we have
Eˇ
vB  D180
D v0 uO )  D180 D R Cv0 H :
ı
Dr max
 Pˇ
  D180 ı
 uO   
Pˇ  ı
 (3)
Recalling that v 0 D 5 m=s, R D 0:45 m, and H D 1:25 m, we can evaluate the last of Eqs. (3) to obtain
P D180 D 2:941 rad=s:

ˇ  ı

Next we recall that the general expression of the acceleration in polar coordinates is
aB
E D .rR r P2/ uO r C .r R C 2rP P/ uO :  (4) 
Recalling that, for  D 180 ı , r D R C H , rP D 0 , and P takes on the expression in the last of Eqs. (3), Eq. (4)
reduces to
v02
 ˇ  ˇ ˇ
aEB D180 D rR D180  ı
uO r C Œ.R C H /R D180 ç uO :
 ı
 (5)  ı 
RCH

Since B is in uniform circula r motion along a circle with center at A , the acceleration of B is always directed
toward A and, for  180 ı , we must have
D
ˇ v02
E
aB  D180 ı
D 
R
O
ur : (6)
Setting Eqs. (5) and (6) equal to each other component by component, we have
v02 v02
D v02 R C1 H 1
ˇ ˇ  
R
r  D180ı

RCH
D 
R
) rR  D180 ı

R
(7)
and
C H /R D180 D 0: .R ˇ  (8)

ı
Recalling that v 0 D 5 m=s, R D 0:45 m, and H D 1:25 m, we can evaluate the last of Eqs. (7) and Eq. (8) to
obtain
ˇ
rR D180 D 40:85 m=s and R D180 D 0:
 ı

2
ˇ  ı

Dynamics 2e 389
Problem 2.297
The cam is mounted on a shaft that rotates about O with constant angu-
lar velocity ! cam. The profile of the cam is descr ibed by the funct ion
`. / R0 .1 0:25 cos3  /, where the angle  is measured relative
D C
to the segment OA, which rotates with the cam. Letting R0 3 cm, D
determine the maximum value of angular velocity !max such that the
maximum speed of the follower is limited to 2 m=s. In addition, com-
pute the smallest angle  min for which the follower achieves it maximum
speed.
Solution
Let y denote the position of the follow er when in contact with the cam. In addition, let f (where the
subscript f stands for follo wer) denote the value of  that identifies the radial line on the cam that goes from
point O to the follower. Hence, we have that the relation between f and  is f 90 ı   . Keeping in D
P
mind that y describes the velocity of the follower, we have
y D `.f / D R0.1 C 0:25 cos3 f / ) yP D dd`f ddtf : (1)
Since f P D P and P D !
 cam , we have
y
P D P dd`f ) yP D
 !cam d` : (2)
d f
Since ! cam is constant, y is maximum when dd` is maximum. Hence, taking the derivative of `. f / with
P f
respect to f , we have
d` 2
d f
D 0:75R0 cos f sin f : (3)
To maximize dd` , we differentiate the above quantity with respect to f and set the result equal to 0. This
f
gives
d 2`
d f2
D 1:5R0 cos f sin2 f  0:75R0 cos3 f D0 ) cos2 f  2 sin2 f D0
) sin f yP
ˇ Dp
max
1=3 and cos 2 f yP
ˇ
max
D 2=3: (4)
Thus, the maximum magnitude of Eq. (3) and the maximum magnitude of Eq. (2) are, respectively,
d` R0 !camR0
df
ˇ ˇ D 2p 3 and ymax
ˇP ˇD p 2 3 : (5)
max
Setting ymax jP jDv max and solving for ! cam, we have

p3
!max Dv max 2
R0
) !max D 230:9 rad=s, (6)

where we have used the data v max D D

2 m=s and R 0 3 cm 0:03000 m. The minimum angle  for which D
the follower achieves its maximum speed is obtained by recalling that f 90 ı   and that, by the first of D
Eqs. (4), we have
sin f D p 1=3 )  D sin1 p ˇ 1=3 yP max

D 90ı   ) min D 90ı  sin1
p 1=3; (7)

min D 54:74 ı:

P
Recalling that  is given in Eq. (3), and substituting Eqs. (4) and (6) into Eq. (5), we obtain
RD v02 ŒR 2  .RL R 2 / cos ç 2 C

  cos 3  sin 
R2 .R L  R cos  /4 C
v02
(
.RL R 2 / sin  C R sin  ŒR2  .RL R 2 / cos ç C
)
 cos2  2 : (7)
R2 .R L  R cos  /2
C .R L  R cos  /3
C
1000
Recalling again that R D D
137 m, L 15 m, and v 0 210 km=h 210 3600 m =s, for  30 ı , again we
D D D
can first evaluate  from the second of Eqs. (1) (this gives  ı
64:04 ), and then evaluate  in Eq. (7) to D R
obtain
RD
 0:2380 rad=s
2
:

Dynamics 2e 393
Problem 2.299
A plane is initially flying north with a speed v 0 430 mph relative to the ground D
while the wind has a constant speed v W D
12 mph in the north-south direction.
The plane performs a circular turn with radius of  0:45 mi. Assume that the D
airspeed indicator on the plane measures the absolute value of the component
of the relative velocity of the plane with respect to the air in the direction of
motion. Then determine the value of the tangential component of the airplane’s
acceleration when the airplane is halfway through the turn, assuming that the
airplane maintains constant the reading of the airspeed indicator. 3 3
Solution
Let the subscripts P and W denote quantities pertaining to the airplane and wind,
respectively. Then, referring to the figure on the right and using a normal tangential
component system, the velocity of the airplane and wind are
E D vP uO t
vP and E D vW .
vW  cos  O C sin  uO n/:
ut (1)
Therefore the velocity of the airplane relati ve to the wind is
E
vP =W D .vP C vW cos  / uO t  vW sin  un : O (2)
Now we recall that the quantity measured by the airspeed indicator is the component of vP =W that is in the E
direction of motion, i.e.,
vai vP =A u t vP vW cos  ; D jE  O jD C
where the subscript ‘ ai’ stands for ‘airspeed indicator.’ Now, recalling that the measure of  in radians is
given by  D s =, we can rewrite v ai as follows:

vai D vP C vW cos s : (3)
Observing that for  D D C

0 we have v ai v 0 vW and recalling that v ai is maintained constant along the turn,
we can solve Eq. (3) for vP as a function of s to obtain
s
 
vP .s/ D v 0 C vW 1  cos

: (4)
The tangential component of acceleration is the time derivative of Eq. (4). Hence, we can write
D dvdsP ds D vP dvdsP ) at D v0 C vW 1 cos s vW sin s :

  
at (5) 
dt
p
For s= D .  =4/ rad, we have sin .s= / D cos .s=  / D 2=2. Therefore, midway through the turn, we have
p2 v p2 "  !#
W
a t D v0 C vW 1 :  (6)
2 2
Recalling that v0 430 mph D 430 5280 = v

3600 ft s, W D 12 mph D D 12 5280 =
3600 ft s, and  D 0:45 mi D
0:45.5280/ ft, we can evaluate the above expression to obtain
2
at D 3:330 ft=s :

Problem 2.300
A fountain has a spout that can rotate about O and whose angle ˇ is controlled so as to vary with time
according to ˇ ˇ0 Œ1 sin 2 .!t/ ç, with ˇ0
D C 15ı and ! D
0:4 rad=s. The length of the spo ut is D
D
L 1:5 ft, the water flow through the spout is constant, and the water is ejected at a speed v 0 6 ft=s, D
measured relative to the spout.
Determine the largest speed with which the water particles are released from the spout.
Solution
We define a polar coordinate system with srcin at O and transverse coordinate coinciding with ˇ . The
expression of the velocity of the water particle s as they leave the spout is given by
E D rP uO r C LˇP uO ˇ )
v v
q
D rP 2 C .Lˇ/P 2: (1)
where, based on the problem statement,
r P D 2ˇ0! sin !t cos !t D ˇ0! sin.2!t/;

P D v 0 D 6 ft=s and ˇ (2)
where we have used the trigonometric identity 2 sin x cos x D sin .2x/ . Substituting Eqs. (2) into the last of
Eqs. (1) we obtain the following expression for the speed:
v D
q v02 C ŒLˇ0! sin.2!t/ ç2: (3)
From the above expression, recalling that v0 , ˇ0 , and ! are constant, we see that v is maximum when
sin.2!t/ is maximum. Since the sine function has maximum value equal to 1, we have
vmax D
q
C L2ˇ02! 2 ) v D 6:020 ft=s,v02 (4) max
where we have used the following numerical data: v 0 D 6 ft=s, L D 1:5 ft, ˇ 0 D 15 ı , and ! D 0:4  rad =s.

Dynamics 2e 395
Problem 2.301
D C 15ı and ! D
D
Determine the magnitude of the acceleration immediately before release when ˇ 15 ı . D
Solution
We define a polar coordinate system with srcin at O and transverse coordinate coinciding with ˇ . The
expression of the acceleration in polar coordinates is
E D .rR
a  P O C .r ˇR C 2rP ˇ/P uO ˇ :
r ˇ 2 / ur (1)
Now, recalling that v 0 is constant, when the water particles leave the spout we have
D L; rP D v0; rR D 0; ˇP D 2ˇ0! sin !t cos !t D ˇ 0! sin.2!t/; and ˇR D 2! 2ˇ0 cos.2!t/; (2)

r
where we have used the trigonometric identity 2 sin x cos x D sin.2x/ . Now, we observe that ˇ 0 D 15ı ,
and therefore for ˇ D 15ı , we must have ˇ D ˇ0 and sin.!t/ D 0, which implies sin.2!t/ D 0 and
cos.2!t/ 1 . Hence, for ˇ 15 ı , we have
D D
r D L; rP D v 0 ; rR D 0; ˇP D 0; and ˇR D 2! 2 ˇ0 ; (3)
so that, for ˇ D 15 ı , the acceleration takes the form
aE D 2L! 2 ˇ0 uO ˇ : (4)
ı
Consequently, for ˇ D 15 , we have
jEaj D 2L! 2ˇ0 )

jEaj D 1:240 ft=s , 2
(5)
where we have used the following numerical data: L D 1:5 ft, ˇ 0 D 15 ı , and ! D 0:4  rad=s.

Problem 2.302
D C 15ı and ! D
D
Determine the highest position reached by the resulting water arc.
Solution
Referring to the figure at the right, in the solution of this problem

we will use two coordinate systems. The first is a polar coordinate
system with srcin at O and transverse coordinate ˇ . Let ˇ be the N
value of ˇ corresponding to the trajectory of the water jet achieving
the maximum height. Then the second is a fixed Cartesian coordi-
nate system with srcin coinciding with the position of the mouth
N
of the spout corresponding to ˇ . Letting v denote the speed of the
water particles at the spout’s mouth, then the velocity of the water particles at the spout’s mouth is
E D v.cos ˇ {O C sin ˇ |O /:
v (1)
Once the water particles leave the spout, they are in projectile motion and the trajectory with the maximum
height is determine d both by the vertical component of the speed, i.e,
vy D v sin ˇ; (2)
and the vertical position of mouth of the water spout.

To derive an expression for the speed v of the water particles as they leave the spout, we use the chosen
polar coordinate system, for which the velocity at the mouth of the spout is expressed as
E D rP uO r C LˇP uO ˇ )
v v
q
D rP 2 C .Lˇ/P 2: (3)
where, based on the problem statement,
r P D 2ˇ0! sin !t cos !t D ˇ0! sin.2!t/;

P D v 0 D 6 ft=s and ˇ (4)
where we have used the trigonometric identity 2 sin x cos x D sin .2x/ . Substituting Eqs. (2) into the last of
Eqs. (3) we obtain the following expression for the speed:
v D q v02 C ŒLˇ0! sin.2!t/ ç2: (5)
Consequently, the vertical component of velocity at the spout is
vy D
q v02 C ŒLˇ0! sin.2!t/ ç2 sin ˇ0.1 C sin2 !t/: (6)

Dynamics 2e 397
Now let h D C
h 1 h2 where h 1 is the height of the mouth of the spout with respect to the base of the spout,
and where h 2 is the maximum elevation of the water jet measured from the horizontal line going through the
mouth of the spout. Hence, for h 1 we have
D L sin ˇ D L sin ˇ0.1 C sin2 !t /:

h1 (7)
By contrast, h2 is found using the constant acceleration equation v 2 D v02 C 2a.s  s0 / in the vertical
direction. Recalling that vy D 0 for y D h 2 , we have
  2
0 D v02 C ŒLˇ0! sin.2!t/ ç2 sin ˇ0 .1 C sin2 !t /  2gh 2 ;
which can be solved for h 2 to obtain

q  
D 2g1
h2
nv02 C ŒLˇ0! sin.2!t/ ç2
o sin2 ˇ0 .1
 C sin2 !t/: (8)
Consequently, the expression for the height of the water jet as a function of time is
D L sin ˇ0.1 C sin2 !t / C 2g1

h
n v02 C ŒLˇ0! sin.2!t/ ç2
o sin2 ˇ0 .1
 C sin2 !t /: (9)
This function needs to be maximized. This can be done by differentiating h with respect to time and setting
the result equal to zero. Doing so, after simplificati on, yields the following equation:
ˇ0 ! n
2g
sin.2!t/ 2Lg cos ˇ0 .1C sin2 !t/ C 2Lˇ0 cos.2!t/ sin2 ˇ0.1 C sin2 !t/

C Œv02 C L2ˇ02 C ! 2 sin2.2!t/ ç sin 2ˇ0.1 C sin2 !t/ D 0 (10)
 
Recalling that we have L D 1:5 ft, ˇ 0 D 15 ı , ! D 0:4  rad=s, and g D 32:2 ft=s , and although this may 2
o
require plotting the terms within braces as a function of time, it turns out that the term within braces can
never be equal to zero. Hence, the solution of the above equation reduc es to the solution of the equation
D 0 ) t D 0 ˙ n! and t D 2! ˙ n! ; with n D 0 ;1;2;:: :

sin.2!t/ (11)
Since the function ˇ D ˇ 0 .1 C sin2 !t/ is at a maximum for t D 2! ˙ n! the function h will also achieve  
its maxima for t D 2! ˙ n! . In addition, since the function h is a periodic function with period ! , the values
  
of h for t D 2! ˙ n! are all identical to one another and we can therefore evaluate h
 
by simply letting max
t D 2! , i.e., for n D 0 . Hence, recalling that L D 1:5 ft, ˇ 0 D 15ı , ! D 0:4  rad=s, and g D 32:2 ft=s ,
 2

for t D 2! D 1:250 s, we can evaluate h in Eq. (9) to obtain
hmax D 0:8898 ft:

Problem 2.305
Block B is released from rest at the position shown, and it has a

constant acceleration downward a 0 5:7 m=s2 . Determine theD
velocity and acceleration of block A at the instant that B touches
the floor.
Solution
The length of the rope is
C yA2 C yB :
L D
q d2 (1)
For t D 0, we have that yA .0/ D l w . Letting tf represent the 

time at the final position, the length of the rope at the initial and final
positions is
L D d2 C yA2 .0/CyB .0/ and L D d2 C yA2 .tf /CyB .tf /:

(2)
q
Equating these two expressions for L and rearranging terms, we
q
have q q
d2 C yA2 .tf / D d2 C yA2 .0/  ŒyB .tf /  yB .0/ç D 0: (3)
Ssquaring both sides of the above equation, with yB .tf /  yB .0/ D h, we obtain
d2 C yA2 .tf / D d 2 C yA2 .0/  2h
q d 2 C yA2 .0/ C h2 : (4)
Solving the above equation for yA .tf / , we have
yA .tf / D
r yA2 .0/
C yA2 .0/ D 0:1864 m;
C h2 
q
2h d 2 (5)
where we have used the following numerical data: yA .0/ D l w D 3:75 m, h D 2 m, and d D 2:5 m. Next, 
differentiating Eq. (1) with respect to time and solving for yPA , we have
yA yPA yPB 
0 yB yA d 2 y2: (6)
D d C yA C P ) P D yA
2 2 q CA q
Now, we use the constant acceleration equation sP 2 D sP02 C 2ac .s s0 / to find yPB after B has traveled a 
distance h . This gives p
2
yPB D 2a0h ) yPB D 2a0h D 4:775 m=s; (7)

Dynamics 2e 401
where we have used the fact that yB a0 5:7 m=s2 and h R D D2 m. Then, using Eq. (5) and the last of D
Eqs. (7), and recalling that d D
2:5 m, we can evaluate Eq. (6) to obtain for t tf to obtain D
P
yA .tf / D 64:22 m=s: (8)
Now we differentiate Eq. (6) with respect to time to obtain
R D yyARB
yA

q d2 C yA2 C yPByy2PA
q d2 C yA2  q P CP
yB yA
:
A d2 yA2
Recalling that d 2:5 m and yB a 0 5:7 m=s2 , and using the (full precision) value of yA .tf / in Eq. (5),
D R D D
P
the (full precision) value of yA .tf / in Eq. (8), and the (full precision) value of yB .tf / in the last of Eqs. (7), P
we can evaluate the above expression for t tf to obtain D
2
R
yA .tf / D 22;080 m=s :

Problem 2.306
At a given instant, an airplane is flying horizontally with speed v0 D

290 mph and acceleration a 0 12 ft=s2 . At the same time, the airplane’ s
D
propellers rotate at an angular speed ! D
1500 rpm while accelerating at
a rate ˛ 0:3 rad=s2 . Knowing that the propeller diameter is d
D 14 ft, D
determine the magnitude of the acceleration of a point on the periphery
of the propellers at the given instant.
Solution
Using a cylindrical coordinat e system with srcin at the propeller’s axis of rotation and ´ axis in the direction
of motion, the general expression for acceleration is
E D RR RP 2 uO R C RR C 2RP P  uO C Ŕ uO ´:

a  
For the propeller tip we have R D d =2, RP D 0 , RR D 0 , Ŕ D a 0 , P D ! , and R D ˛ . Thus, the accelera tion is
d! 2
ED
a 
2
uR O C d˛2 uO C a0 uO ´;

and the magnitude of the acceleration is
ˇEˇ D s
a 
d! 2
2
2
  d˛ 
C 2
2
C a02 ) ˇ Eˇ D
a 172;700 ft=s2 ,
where we have used the data a 0 D 12 ft=s , ! D 1500 rpm D 1500 260 rad=s, ˛ D 0:3 rad=s , and d D 14 ft.
2  2

Dynamics 2e 403
Problem 2.307
A golfer chips the ball as show n. Treating ˛ , ˇ , and the initial speed v 0 as
given, find an expression for the radius of curvature of the ball’s trajectory as a
function of time and the given parameters. Hint: Use the Cartesian coordinate
system shown to determine the acceleration and the velocity of the ball. Then
reexpress these quantities, using normal-tangential components.
Solution
This is 3 -D projectile motion. We will follow the hint and develop equations both in Cartersian components
as well as in normal-tangential components. In Cartesian coordinates the components of acceleration are
x R D 0; yR D 0; and Ŕ D g:
Using constant acceleration equations, the velocity vector expressed in the . {; | ; k/ and . u t ; un ; ub / compo- OOO O O O
nent systems are
vE D v 0 cos ˇ cos ˛ {O C v0 cos ˇ sin ˛ |O C .v0 sin ˇ  O

gt / k;
vE D v uO t ;
where, v is the speed, which can be given the form
v D
q vx2 C vy2 C v´2 ) v D
q v02 C g 2t 2  2v0 gt sin ˇ; (1)
and where the tangent unit vector u t can be related to the base vectors of the Cartesian component system as
O
follows:
v0 cos ˇ cos ˛ v0 cos ˇ sin ˛ v0 sin ˇ  gt O
ut O D {
v
| OC k:
v
(2) OC v
To express the acceleration in normal-tangential components, we will need an expression for the time
derivative of the speed. Hence, we proceed to differentiate v with respect to time, to obtain
g2t v0 g sin ˇ
vPD q 
D gv gt  v0 sin ˇ :
 (3)
v02 C g2t 2  2v0 gt sin ˇ
OOO
The acceleration vector expressed in the . {; | ; k/ and . u t ; un ; ub / component systems are O O O
v2 O
a E D vP uO t C  uO n and a ED g k :
Equating the above expressions for the acceleration, we obtain an expression for the normal unit vector

unO D  2
v
vP uO C g kO :
t (4)
Using Eq. (3), we can rewrite Eq. (4) as follows:
g 1
 
O D
un 
v2 v
.g t  v0 sin ˇ/ u t O C kO :

Now, recalling that we must have un un O O D 1, we obtain the following equation :


2 g2
 1 2

1 D 1 C 2 .gt v0 sin ˇ/ 2 C .g t v0 sin ˇ/ kO uO t :
   (5)
v4 v v
Observe that the last term on the right-hand side of Eq. (5) requires the computation of the product k u t . O O

v0 sin ˇ gt O O D
This computation can be done by using Eq. (2), which shows that k u t v . Consequently, Eq. (5) 
becomes
2 2 2 2
D vg4 C v12 .gt 2
D vg6
 
1 1  v0 sin ˇ/2  .gt  v0 sin ˇ/2 v 2  .gt  v0 sin ˇ/2 : (6)
v2
 
Keeping in mind that the above expression is to be solved for , the term v 2  .gt  v0 sin ˇ/2 can be
simplified using Eq. (1) and the trigonometric identity cos 2  1  sin2  as follows: D
v 2  .gt  v0 sin ˇ/ 2 D v2  g2t 2 C 2gtv 0 sin ˇ  v02 sin 2 ˇ D v02  v02 sin 2 ˇ
D v 02.1  sin2 ˇ/ D v02 cos2 ˇ: (7)
This result allows us to rewrite Eq. (6) as follows:
2 2
1 D vg6 v02 cos 2 ˇ: (8)
Solving Eq. (6) for  , we have

3
 D gv0vcos ˇ : (9)
Finally, substituting the expression for v in Eq. (1), we have
2 2 2 3=2
 D .v0 C g tgv0 2v 0 gt sin ˇ/
cos ˇ
:

Dynamics 2e 405
Problem 2.308
A carnival ride called the octopus consists of eight arms that rotate about the ´ axis with a constant angular
velocity  PD D
6 rpm. The arms have a length L 8 m and form an angle  with the ´ axis. Assuming that
D C
 varies with time as  .t /  0 1 sin !t with  0 70:5ı ,  1 25:5ı , and ! 1 rad=s, determine
D D D
the magnitude of the accelera tion of the outer end of an arm when  achieves its minimum value.
Photo credit: © Gary L. Gray
Solution
Using a spherical coordinate system the components of acceleration of a point C at the end
of an arm with constant length L are
ar D L12! 2 cos2 !t LP 2 sin2.0 C 1 sin !t/;

  (1)
a D L! 21 sin !t LP 2 sin.0 C 1 sin !t / cos.0 C 1 sin !t/;
  (2)
a D 2L1! P cos !t cos.0 C 1 sin !t/: (3)
To determine the minimum value of  , recall that 

function is equal to 1, then the minimum valu e of  is
0 D C 1 sin !t . Because the mininum of the sine
min D 0  1 D 45ı D 41  rad; (4)
where we have used the data  0D 70:5ı and  D 25:5ı. We observe that  occurs when sin.!t/ D 1, min 
i.e., when ˇ
!t D 270 ı D 32  rad: min
(5)
Evaluating the acceleration components for  D  D 41  rad and ! t D 32  rad, we have

min
ar D 21 LP 2 ; a D L ! 2 1 21 P 2 ; and a D 0:
 
  (6)
 
Consequently, the magnitude of the acceleration for  D  is jE

aj D ar2 C a2 C a2, which gives min min
q  
E
a min
D L 21 P 4 C ! 412  P
! 2  2 1 ) E
a min
D 2:534 m=s , 2
ˇˇ
where we have used the following numerical data: L
q ˇˇ
D 8 m, P D 6 rpm D 6 260 rad=s, ! D 1 rad=s, and

1 25:5ı 25:5 180

D 
D
rad.

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30 Solutions Manual

Full file at http://testbankwizard.eu/Solution-Manual-for-Engineering-Mechanics-Statics-and-Dynamics-2nd-Edition-by-Plesha

Full file at http://testbankwizard.eu/Solution-Manual-for-Engineering-Mechanics-Statics-and-Dynamics-2nd-Edition-by-Plesha

Full file at http://testbankwizard.eu/Solution-Manual-for-Engineering-Mechanics-Statics-and-Dynamics-2nd-Edition-by-Plesha

Full file at http://testbankwizard.eu/Solution-Manual-for-Engineering-Mechanics-Statics-and-Dynamics-2nd-Edition-by-Plesha

Full file at http://testbankwizard.eu/Solution-Manual-for-Engineering-Mechanics-Statics-and-Dynamics-2nd-Edition-by-Plesha

Applying the deﬁnition of average velocity we have

Full file at http://testbankwizard.eu/Solution-Manual-for-Engineering-Mechanics-Statics-and-Dynamics-2nd-Edition-by-Plesha

vavg D dt : (1)

Full file at http://testbankwizard.eu/Solution-Manual-for-Engineering-Mechanics-Statics-and-Dynamics-2nd-Edition-by-Plesha

which can be simpliﬁed to

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E D Œ12:3.t C 1:54e 0:65t / {O C 2:17.t C 1:54e 0:65t / |Oç m:

E D Œ12:30.1 1:001e0:6500t / {O C 2:170.1 1:001e0:6500t / |Oç m=s:

Using Eq. (1), for t D 1 s we have

vE.1 s/ D .5:872 {O C 1:036 |O / m=s: (2)

.vE /1 D rE .2 s/ rE.0/ D .5:410 {O C 0:9545 |O / m=s:

vE1 D .0:4623 {O C 0:08155 |O / m=s: 

Using Eq. (1), for t D 9 s we have

vE.9 s/ D .12:26 {O C 2:164 |O / m=s: (4)

v2E D .0:002550 { O C 0:0004499 |O/ m=s:

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which can be simpliﬁed to

t D 0:8427 s and t D 4:482 s: (5)

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O C .1:2 C 31:7t 8:71t 2/ |Oç ft:

The orientation  of the velocity vector can be computed as:

where, referring to Eq. (1),

vx D 66 ft=s and vy D .31:7  17:42t/ ft=s: (3)

where  1 and  2 are the values of  at t 1 and t 2 , respectively.

The angle  is obtained as

D cos1 vEvE aaEE D cos1 17:4217:42.17:42t 31:7/

Since  1 > 90ı , at

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The position of P is given as

E D x.t/ {O C y.t/ |O;

Solving the ﬁrst of Eqs. (2) with respect to time, we have

Substituting Eq. (3) into the second of Eqs. (2), we obtain:

So, the trajectory of P for 0  t  5 s is given by

y.x/ D 2 C 3x C 2x 2 m for 0x  5 m:

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Let r Œt { .2 3t 2t 2 / | ç ft describe the motion of a point P relative to the Cartesian frame of

The velocity vector is the time derivative of the position vector:

E D Œ1 {O C .3 C 4t/ |Oç ft=s:

From Eqs. (1) and (2) we have that

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Evaluating Eq. (1) at t D 3 s, we have

where, referring to Eq. (2),

vx .3 s/ D 0:5774 ft=s and vy .3 s/ D 13:00 ft=s: (4)

Substituting Eqs. (4) into Eq. (3), we have

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The motion of a point P with respect to a Cartesian coordinate system is described by r 2 t{ ED  p OC

By deﬁnition, the average acceleration over a time interval t 1  t  t2 is

where v1 and v2 are the values of v at times t 1 and t 2 , respectively.

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where we have used the fact that ! D

0 t i < t1 < t2 <  < tn < tf 4 s; (3)

d D jx.ti /  x.t1 / j C jx.t1/  x.t2 / j C C jx.t n/

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where, referring to the problem statement,

x.t/ D x0sin.2 !t/  3 sin. !t / :

2 cos.2 !t /  3 cos. !t/ D 0: (6)

4 cos2 . !t/  3 cos. !t/  2 D 0; (7)