Problem:

Body A, weight P, lies on inclined surface of prism B,

weight Q, inclined angle alpha. Initially, the system
stands still, after that, body A start sliding downward.
Neglecting friction. Determine velocity of body B if
relative velocity of body A w.r.t. inclined surface is u?

B 
P
Q 1
Analyze the motions:
- Body A translates downward the inclined surface.
- Body B translates on horizontal ground.

B 
P
Q 2
Mechasyst includes 2 bodies: body A and body B.
Choose axis x to the right.
External forces acting on mechasyst includes: P, Q, N .

N A
vB
vB
B vA
P u
Q 3
Applying theorem of momentum variation:
Q1  Q0   ske (1)
Project equation (1) on axis x:
Q1x  Q0 x   skxe (1' )

N A
vB
vB
B vA
P u
Q 4
We have:
t1

 k   k .dt
s e
 F e

t0
Since all external forces are perpendicular to axis x hence:
t1

 kx   kx .dt  0
s e
 F e

t0

N A
vB
vB
B vA
P u
Q 5
Inferring left side of equation (1’) must equals 0:
Q1x  Q0 x  0
Because at first, the system stands still hence:
Q0 x  mA .v Ax
(0)
 mB vBx
(0)
 mA .0  mB .0  0

N A
vB
vB
B vA
P u
Q 6
Inferring:
Q1x  0(2)
But:
Q1x  mA .v Ax  mB vBx (2' )

N A
vB
vB
B vA
P u
Q 7
Body A translates downward the inclined surface of body B
but body B translates on horizontal ground, hence we
have problem of union of motion w.r.t. body A.
Choose body B as moving system.
- Espousing motion is translation of body B on horizontal
ground.

N A
vB
vB
B vA
P u
Q 8
- Relative motion is motion of body A sliding downward
inclined surface of body B.
- Absolute motion is motion of body A w.r.t. fixed ground.

N A
vB
vB
B vA
P u
Q 9
Applying theorem of union of velocity:
va  ve  vr
Assume after the system moves, body B slides to the right
on horizontal ground with velocity vB.
va  v A ; ve  vB ; vr  u
Inferring: v A  vB  u (3)

N A
vB
vB
B vA
P u
Q 10
Project equation (3) on axis x:
v Ax  vB  u.cos 
Substituting into equation (2’):
P Q
Q1x  mA .v Ax  mB vBx  .  vB  u.cos    .vB
g g

N A
vB
vB
B vA
P u
Q 11
Substituting into equation (2):
P Q
Q1x  .  vB  u.cos    .vB  0
g g
P
 vB   .u.cos 
PQ
Sign (-) proves that body B slides to the left, not to the right.

N A
vB
vB
B vA
P u
Q 12
Problem:
A 10-kg package drops from a chute into a 25-kg cart with a
velocity of 3 m/s. Knowing that the cart is initially at rest and
can roll freely, determine (a) the final velocity of the cart, (b)
the impulse exerted by the cart on the package, (c) the
fraction of the initial energy lost in the impact?

13
Solution:
1) Impulse-momentum principle: Package and cart

14
2) Impulse-momentum principle: Package

15
3) Fraction of energy lost

a) Initial and final energy

b) Fraction of energy lost

16
Problem:
A car, weight P, moves from head to end of ferry. Ferry has
weight Q, length l. Neglect horizontal drag of water.
Initially, the system stands still.
Calculate the movement of ferry in that motion?

x
O P

Q
l 17
Consider the mechasyst including 2 bodies: car and ferry.
Choose O as coordinate origin and x axis to the right.
External forces acting on mechasyst : gravity P ,
gravity Q , Archimedes thrust force N .

N

x
O P

Q
l 18
Applying theorem of mass center movement:
M .aC   Fke
 M .aC  P  Q  N (1)

Mass of mechasyst M=(P+Q)/g.

aC is acceleration vector of mass center C of mechasyst.

N

x
O P

Q
l 19
Project equation (1) on x axis:
M .aCx   Fkxe
 M .aCx  0
 aCx  0(2)
From (2) inferring:
vcx  const

N

x
O P

Q
l 20
But initially, the system stands still hence:
vcx  0(3)

N

x
O P

Q
l 21
From (3) inferring:
xC  const
 xC(0)  xC(1) (4)
xC(0) is abscissa of mass center C of mechasyst when the car
is at head of ferry.
xC(1) is abscissa of mass center C of mechasyst when the car
moved to the end of ferry.
N

x
O P

Q
l 22
Review the old knowledge:
xC 
 mk .x k
 mk
mk is mass of body number k of mechasyst.
xk is abscissa of mass center of body number k of
mechasyst.

N

x
O P

Q
l 23
Assume that when the car moves from head to end of ferry,
then the ferry moves to the left a distance  .

N

x
O P

Q
l 24
Abscissa of mass center C of mechasyst when car is at head
of ferry:
xC(0) 
 k k  oto oto pha pha
m .x (0)
m . x (0)
 m . x (0)

 mk moto  m pha
P Q l
.0  .
g g 2

P Q

g g
N

x
O P

Q
l 25
Abscissa of mass center C of mechasyst when the car moved
to the end of ferry:
xC(1) 
 k k  oto oto pha pha
m .x (1)
m . x (1)
 m . x (1)

 mk moto  m pha
P Q l 
.l     .   
g g 2 

P Q

g g N

x
O P

Q
l 26
Substituting everything to equation (4) :
x (0)
C x
(1)
C

P.l

PQ

N

x
O P

Q
l 27
Problem:
2 bodies PA and PB are bound to 2 cables winding to 2
barrels of winch C, inner radius r and outer radius R. To
lift body PA, people also act on winch a couple having
moment M. Gives weight of winch Q, inertial radius of
winch w.r.t. rotating axis  .
Find angular acceleration of winch?

M
E C
D

Q
B A
28
PB PA
Analyze the motions:
- Body A translates upward.
- Body B translates downward.
- 2-floor winch C rotates counterclockwise about fixed axis
going through C.
- Cables BE and AD translate.
M
E C
D

Q
B A
PB PA
29
Mechasyst includes 3 main bodies: body A, body B, winch C.
Assume winch C has angular velocity  , angular accel  .
Choose z axis going through C and perpendicular to board.
External forces acting on mechasyst including:
PA , PB , Q, M , X C , YC
YC
quay
M
E C
D XC

Q
B A
PB PA 30
Applying theorem of angular momentum variation w.r.t.
rotating axis z:
d
dt
 
Lz   mz Fke (1)

YC
quay
M
E C
D XC

Q
B A
PB PA 31
Calculate right side of equation (1) :
       
 z k  mz PA  mz PB  mz Q  mz  M   mz X C  mz YC
m F e
   
  PA .r  PB .R  0  M  0  0
  PA .r  PB .R  M

YC
quay
M
E C
D XC

Q
B A
PB PA 32
Calculate angular momentum of mechasyst w.r.t. axis z:
Lz  Lz  A   Lz  B   Lz  C  2 
Angular momentum of body A (body A is in translation):
PA PA PA 2
Lz  A   mz  mAv A    r  v A  r  r  r 
g g g

quay

E C
D

mAvA

B A
mBvB 33
Angular momentum of body B (body B is in translation):
PB PB PB 2
Lz  B   mz  mB vB    R  vB  R  R  R
g g g

quay

E C
D

mAvA

B A
mBvB 34
Angular momentum of 2-floor winch C (in rotation):
Q 2
Lz  C   J z .  J z .     J z
C  C  C 
.   
g

Substituting into equation (2) :

 PA 2 PB 2 Q 2  YC
Lz   r  R     quay
 g g g 
M
dLz  PA 2 PB 2 Q 2 
   r  R    E C
dt  g g g  D XC

Q
B A
PB PA
35
Substituting everything into equation (1):
dLz
dt
 
  mz Fke

P P Q 
  A r 2  B R 2   2     PA r  PB R  M
 g g g 
 PA r  PB R  M
 
 PA 2 PB 2 Q 2 
 g r  g R g 
 
Winch is in accelerated rotation if  PA r  PB R  M  0 .

36
Problem:
A satellite is launched in a direction parallel to the surface
of the earth with a velocity of 18,820 mi/h from an altitude
of 240 mi. Determine the velocity of the satellite as it
reaches its maximum altitude of 2340 mi? It is recalled that
the radius of the earth is 3960 mi.

37
Solution:
Since the satellite is moving under a central force directed
toward the center O of the earth, its angular momentum LO
is constant.
r.m.v.sin   LO  const

38
v is minimum at B where both r and sin  are maximum.
Expressing conservation of angular momentum between A
and B:

39
Problem:
Determine the kinetic energy of the 100-kg object?

40
Solution:
The horizontal bar is in curvilinear translation.
vB  AB    2  4  8m / s
vBC  vB  8m / s
1
 TBC  mBC vBC
2
 3200 J
2

B C
vB

A D
41
Problem:
Determine the kinetic energy of the 100-kg object?

42
Solution:
The disk O rotates about axis going through point A.
1 2 1
JO  mr  100  22  200 kg .m 2
2 2
J A  J O  md 2  200  100  22  600 kg .m 2
1 1
T  J A  600  42  4800 J
2

2 2

43
Problem:
Determine the kinetic energy of the 100-kg object?

44
Solution:
The disk O is in general plane motion, P is instantaneous center
of zero velocity.
vO  OP    2  2  4m / s
1 2 1 1 11 
T  mvO  J O  100  4   100  22   22  1200 J
2 2

2 2 2 22 

O
vO

P  IC
45
Problem:
Give mechasyst as shown. Body A (weight PA=200N) moves downward
from rest state through cable AM making 2-floor pulley B (weight
PB=100N) rotating clockwise, through cable EN pulling
homogeneous disk C (weight PC=1000N) rolling without slipping on
inclined surface. RC=RB=2rB=0.5m. Pulley B has inertial radius
w.r.t. rotating axis   0.4m . Couple m acting on pulley B has
moment m=300Nm. g  10m / s 2 . Calculate acceleration of body A
and tension in cable AM?
N
B M
m
E
PB
C
D 30° A

PC PA 46
Mechasyst includes 5 bodies: body A, 2-floor pulley B,
roller C, cable AM, cable EN.
Analyze the motions:
- Body A, cable AM, cable EN are in translation.
- 2-floor pulley B rotates about axis going through B.
- Roller is in GPM, D is ICoZV.
N
B M
m
E
PB
C
D 30° A

PC PA 47
1) Calculate kinetic energy of mechasyst
Kinetic energy of mechasyst equals sum of kinetic energies
of all bodies belonging to mechasyst :
T  TA  TB  TC  TAM  TEN
TAM  TEN  0

N
N
B M
vE
E
vM
vC
C
D 30° A
vA
48
Kinetic energy of body A (body A is in translation):
1 1 PA 2
TA  mAv A 
2
vA
2 2 g

N
N
B M
vE
E
vM
vC
C
D 30° A
vA
49
Kinetic energy of pulley B (pulley B rotates about fixed axis
going through B) :
2
1  PB 2   vM  1  PB 2   v A 
2
1
TB  J BB     
2
     
2 2 g   BM  2  g   RB 
1 PB  2
2
 v
2 A N
N

2 g RB B M
vM  vA since cable vE
E
AM is inextensible and vM
vC
keeps vertical direction. C
D 30° A
vA

50
Kinetic energy of roller C (roller C is in GPM):
1 PC 2 1
TC  vC  J CC2
2 g 2
vN vM rB 1
B    vN  vA  vA
rB RB RB 2
vE  v N
N
N
1 1 B M
vC  vE  vC  v A vE
2 4 E
vM
1 PC 2 vC
JC  RC C
2 g D A
30°
vC vA
C 
RC 51
Kinetic energy of roller C (roller C is in GPM):
1 PC 2 1
TC  vC  J CC2
2 g 2
1 PC v 2
 
1 1 PC 2 vA 2
  
A
RC  2
2 g 16 2  2 g  16 R C

3 PC 2 N
 vA N
64 g B M
vE
E
vM
vC
C
D 30° A
vA
52
Kinetic energy of mechasyst :
2
32 PA  32 PB 2
 3PC
1 R
T  TA  TB  TC  B
v A2
64 g
2
32 PA  32 PB 2  3PC N
1 RB N
Call Ptd 
32 g B M
vE
E
vM
vC
C
D 30° A
vA

53
Kinetic energy of mechasyst :
1
T  Ptd v A2
2
dT 1
  Ptd .  2v A a A   Ptd .v A .a A
dt 2

N
N
B M
vE
E
vM
vC
C
D 30° A
vA
54
2) Calculate sum of capacities of forces acting on mechasyst:
Sum of capacities of forces equals sum of capacities of
external forces and internal forces acting on mechasyst:
W Fk
 WF e  WF i  WPA  WPB  WPC  Wm
k k

WX B  WYB  WN D  WTE  WTN  WTM  WTA

YB

N
TN B M XB
TE
m TM
E
ND TA
PB
C
D 30° A

PC PA 55
We have:
WPB  WX B  WYB  0 because points of application of
these forces do not move.
WND  0 because this force is perpendicular to motion
direction.

YB

N
TN B M XB
TE
m TM
E
ND TA
PB
C
D 30° A

PC PA 56
We have:
WTE  WTN  0
WTM  WTA  0

YB

N
TN B M XB
TE
m TM
E
ND TA
PB
C
D 30° A

PC PA 57
Inferring:
W Fk
  WF e   WF i  WPA  WPC  Wm
k k

WPA  PA .v A  PA .v A .cos 0o  PAv A

PC vA
WPC  PC .vC  PC .vC .cos120   PC vC s in30  
o o

YB 8

N
TN B M XB
TE
m TM
E
ND TA
PB
C
D 30° A

58
PC PA
Also have: couple m causes motive work (positive):
vA
Wm  m.B   m.B   m.
RB
 PC m 
  WFk   PA    vA
 8 RB 
YB

N
TN B M XB
TE
m TM
E
ND TA
PB
C
D 30° A

59
PC PA
3) Applying theorem of kinetic energy in derivative format:
dT
  WF e   WF i
dt k k

 PC m 
 Ptd .vA .a A   PA    vA
 8 RB 
YB
PC m
PA   N
8 RB M XB
 aA  TE
TN B
Ptd E
m TM
ND TA
PB
C
D 30° A

60
PC PA
4) Consider motion of body A, according to basic equation:
PA
.a A   Fk  PA  S AM
g
Project this equation on motion direction:
PA
SAM
.aA  PA  S AM
g
PA
 S AM  PA  .aA
g A
vA aA

PA

61
Problem:
Gives mechasyst of crank-slider as shown. Crank AB, length
0.4m, weight P=200N. Con-rod BC is weightless. Slider
C, weight Q=400N, is subjected to action of horizontal
force F=200N. D is midpoint of bar AB. Determine
acceleration of slider C?
B

D
45° C
A F

P
Q 62
Analyze the motions:
- Bar AB rotates about fixed axis going through A.
- Bar BC is in general plane motion.
- Slider C translates to the right.
Mechasyst includes 3 bodies: bar AB, bar BC, slider C.

D
45° C
A F

P
Q 63
1) Calculate kinetic energy of mechasyst:
Kinetic energy of mechasyst equals sum of kinetic energies
of all bodies belonging to mechasyst:
T  TAB  TBC  TC
TBC  0

YA vB NC
D
vD C
A vC F
 XA
P
Q 64
Bar AB rotates about fixed axis going through A hence:
1 ( AB ) 2
TAB  .J A .
2
Bar BC is in general plane motion hence:
vB / BC  vC / BC  vB  vC .cos 45o

YA vB NC
D
vD C
A vC F
 XA
P
Q 65
Angular velocity of bar AB:
vB vC .cos 45o
 
AB AB
Inferring kinetic energy of bar AB:
2
1 1 P 2   vC .cos 45 
o
1 P
TAB  .  . . AB  .    . .cos 2
45 o 2
.vC
2 3 g  AB  6 g

YA vB NC
D
vD C
A vC F
 XA
P
Q 66
Slider C is in translation hence:
1 1 Q 2
TC  .mC .vC  . .vC
2

2 2 g

YA vB NC
D
vD C
A vC F
 XA
P
Q 67
Kinetic energy of mechasyst:
1 P.cos 2 45o  3Q 2
T  TAB  TC  . .vC
6 g
dT 1 P.cos 2 45o  3Q
  . .vC .aC
dt 3 g

YA vB NC
D
vD C
A vC F
 XA
P
Q 68
2) Calculate sum of capacities of forces acting on mechasyst:
W Fke
  WF i  WP  WQ  WF  WX A  WYA  WNC
k
Capacity of Q equals 0 because Q is perpendicular to motion
direction.
Capacity of XA and YA equal 0 since these 2 forces have
point of application A not moving.
Capacity of NC equals 0 since this force is perpendicular to
motion direction.
YA vB NC
D
vD C
A vC F
 XA
P
Q 69
Calculate capacities of remaining forces:
vB vc
WP  P.vD  P.vD .cos 45  P. .cos 45  P. .cos 2 45o
o o

2 2
WF  F .vC  F .vC .cos 0o  F .vC
P 
 WF e  WF i   .cos 45  F  .vC
2 o
k k
2 

YA vB NC
D
vD C
A vC F
 XA
P
Q 70
3) Applying theorem of kinetic energy in derivative format:
dT
  WF e   WF i
dt k k

1 P.cos 2 45o  3Q P 
 . .vC .aC   .cos 45  F  .vC
2 o

3 g 2 

YA vB NC
D
vD C
A vC F
 XA
P
Q 71
Obtain acceleration of slider C:
P
.cos 2 45o  F
aC  2 .3g
P.cos 45  3Q
2 o

YA vB NC
D
vD C
A vC F
 XA
P
Q 72
Problem:
The wheel shown in the figure weighs 40 lbs, and has a radius of
gyration kG  0.6 ft about its mass center G. If it is subjected
to clockwise couple moment of 15 lb.ft and rolls from rest
without slipping, determine its angular velocity after its center
G moves 0.5 ft? The spring has a stiffness k  10lb / ft and is
initially unstretched when the couple moment is applied.

73
Solution:
Since the wheel is initially at rest, the initial kinetic energy is
T0  0

74
The final kinetic energy is determined from
1 1 1 2 2 1 2 2
T1  m  vG 2  J G2  mr 2  mkG2
2 2

2 2 2 2
1 40 lb 1 40 lb
 2
0.8 
2 2
2  2
0.6 2
2 2

2 32.2 ft / s 2 32.2 ft / s
 0.621122

75
- The normal force NB is perpendicular to motion direction, hence
it does not do work.
- The weight of wheel does not do work since it is perpendicular
to motion direction.
- The frictional force does no work since the velocity of its point
of application is 0 (no slipping).

76
Since the wheel does not slip, when the center G moves 0.5 ft
then the wheel rotates
sG 0.5 ft
   0.625rad
r 0.8 ft
Hence the spring stretches
s   d   0.625rad 1.6 ft   1 ft

77
Only couple moment M and spring force Fs do work. So the total
work is identified
1 2
 A  AM  AFs   M   2 ks
The work of spring force is negative because spring force is in
opposite sense to displacement.

78
Applying theorem of kinetic energy
1 2
T1  T0   A  T1  T0   M   ks
2
1
 0.62112  0  15  0.625  10  12
2

2
 2  2.65rad / s

79
Problem:
The 10-kg rod AB is pin connected at A and subjected to a couple
moment of M = 15 Nm. If the rod is released from rest when the
spring is unstretched at theta = 30°, determine the rod’s angular
velocity at the instant theta = 60°. As the rod rotates, the spring
always remains horizontal, because of the roller support at C.

80
Solution:
The spring force Fsp does negative work since it acts in the opposite
direction to that of its displacement ssp, whereas the weight of the rod
acts in the same direction of its displacement sw and hence does positive
work. Also, the couple moment M does positive work as it acts in the
same direction of its angular displacement theta. Ax and Ay do no work
because point of application A does not move.

81
82
83
Problem:
Gear A has a mass of 1 kg and a radius of gyration of 30 mm; gear B
has a mass of 4 kg and a radius of gyration of 75 mm; gear C has a
mass of 9 kg and a radius of gyration of 100 mm. The system is at rest
when a couple M0 of constant magnitude 4 Nm is applied to gear C.
Assuming that no slipping occurs between the gears, determine the
number of revolutions required for disk A to reach an angular velocity
of 300 rpm.

D E J F
I

84
Solution:

D E J F
I

85
 v2
D E J F
I

v1

86
 v2
D E J F
I

v1

87
 v2
D E J F
I

v1

88
 v2
D E J F
I

v1

89