Chapter 16

Plane Motion of Rigid Bodies:

Forces & Accelerations

All figures taken from Vector Mechanics for Engineers: Dynamics, Beer
and Johnston
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 Equations of Motion for a Rigid Body
Equations of motion:
   
 F  maG  M G  HG
remember:

H G = angular momentum about G
 
H G  I G
IG = mass moment of inertia about G

  
H G  I G  I G

 
 M G  IG
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 Plane Motion of a Rigid Body
Motion of a rigid body in plane motion is completely defined by
the resultant & moment resultant of the external forces about G.

Free-body diagram

 
 Fx  max  Fy  may M G  I g

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 Sample Problem 16.1

At a forward speed of 30 ft/s, the truck brakes were applied, causing the
wheels to stop rotating. It was observed that the truck skidded to a stop in
20 ft.
Determine the magnitude of the normal reaction and the friction force at
each wheel as the truck skidded to a stop.

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 Sample Problem 16.1
v 2  v02  2a  x  x0 
0   30   2a  20 
2
a  22.5 ft s

Free-body diagram:
 F  ma
x Gx FA  FB  m  22.5
 F  ma
y Gy W  mg  N A  N B
M  I  G G 7 N B  4 FB  4 FA  5 N A
But FA   N A , FB   N B
Unknowns: N A , N B , 
 N A   N B  m  22.5
  0.699
N A  N B  mg
5 N A  0.35mg , N B  0.65mg
 Sample Problem 16.2

The thin plate of mass 8 kg is held in place as shown.

Neglecting the mass of the links, determine immediately after the wire has
been cut (a) the acceleration of the plate, and (b) the force in each link.

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 Sample Problem 16.2

F ma
t t

mg cos 30  mat

at  g cos 30

at  8.50 m s 2

 n
F  man

FAE  FDF  mg sin 30  0

FAE  FDF  39.24

M G  I

 FAE sin 30  250    FAE cos 30 100  

 FDF sin 30  250    FDF cos 30 100   0

Solving: FAE  47.9 N tensile

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FDF  8.7 N compressive
 Sample Problem 16.3 (SI units)
25.4 cm

15.24 cm

2.268 kg
4.536 kg
A pulley weighing 5.44 kg and having a radius of gyration of 0.203 m is
connected to two blocks as shown.
Assuming no axle friction, determine the angular acceleration of the
pulley and the acceleration of each block.

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 Sample Problem 16.3
25.4 cm
note: I  mk 2  0.2246 kgm 2

For the entire system:

15.24 cm  M  I
G

 mB g  0.1524    mA g  0.254  
0.2246  mB  0.1524 2  mA  0.254 2  
2.268 kg  
4.536 kg
5.44 kg
  2.37 rad / s 2

a A  rA aB  rB
 0.36 m / s 2  0.6 m / s 2

2.268 kg
9 4.536 kg
 Sample Problem 16.3
Obtain the tension in the chord

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 Sample Problem 16.4

A cord is wrapped around a homogeneous disk of mass 15 kg. The

cord is pulled upwards with a force T = 180 N.
Determine: (a) the acceleration of the center of the disk, (b) the
angular acceleration of the disk, and (c) the acceleration of the cord.

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 Sample Problem 16.4
F x  max

0  max ax  0

F y  ma y

180  (15)(9.81)  15a y

a y  2.19 m / s 2

+  M G  I
I  12 mr 2  1.875 kgm 2
180(0.5)  I  1.875  
  48 rad / s 2
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 Sample Problem 16.4

 

acord   a A t  aGt  a A G  t

 2.19   0.5 48 
 26.19 m / s 2

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