PROBLEM 17.

54
A bolt located 50 mm from the center of an automobile wheel is
tightened by applying the couple shown for 0.10 s. Assuming that the
wheel is free to rotate and is initially at rest, determine the resulting
angular velocity of the wheel. The wheel has a mass of 19 kg and has a
radius of gyration of 250 mm.

SOLUTION

Moment of inertia. I = mk 2 = (19 kg)(0.25 m) 2 = 1.1875 kg-m 2

Applied couple. M = (100 N)(0.460 m) = 46 N-m

Syst. Momenta1 + Syst. Ext. Imp.1→ 2 = Syst. Momenta 2

Moments about axle: 0 + Mt = I ω

0 + (46 N-m)(0.10 s) = (1.1875 kg-m 2 )ω

ω = 3.87 rad/s 

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1790
 PROBLEM 17.76

In the gear arrangement shown, gears A and C are attached to rod ABC,
which is free to rotate about B, while the inner gear B is fixed. Knowing
that the system is at rest, determine the magnitude of the couple M which
must be applied to rod ABC, if 2.5 s later the angular velocity of the rod is
to be 240 rpm clockwise. Gears A and C weigh 2.5 lb each and may be
considered as disks of radius 2 in.; rod ABC weighs 4 lb.

SOLUTION
Kinematics of motion
Let ω ABC = ω v A = vC = ( BC )ω = 2rω
Since gears A and C roll on the fixed gear B,
vC 2rω
ω A = ωC = = = 2ω
r r
Principle of impulse and momentum.

Syst. Momenta1 + Syst. Ext. Imp. 1→2 = Syst. Momenta 2

Moments about D: 0 + (Qt )r = mC vC r + I C wC

1
(Qt ) r = mC (2rω )r + mC r 2 (2ω )
2
Qt = 3mC rω (1)

Syst. Momenta1 + Syst. Ext. Imp. 1→2 = Syst. Momenta 2

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1823
 PROBLEM 17.76 (Continued)

Moments about B: Mt − Qt (4r ) = I ABC ω

1
Mt − 4(Qt )r = m ABC (4r ) 2ω
12
4
Mt − 4(Qt )r = mABC r 2ω (2)
3
Substitute for (Qt) from (1) into (2):
4
Mt − 4(3mC rω ) r = m ABC r 2ω
3
4
Mt = r 2ω (m ABC + 9mC ) (3)
3
Couple M.
Data: t = 2.5 s
2
r= ft
12
4 lb
m ABC =
32.2 ft/s
2.5 lb
mC =
32.2 ft/s 2
ω = 240 rpm
= 8π rad/s
2
4 2   4  2.5  
Eq. (3): M (2.5 s) =  ft  (8π rad/s)  + 9 
3  12   32.2  32.2  
2.5 M = 0.76607
M = 0.3064 lb ⋅ ft M = 0.306 lb ⋅ ft 

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1824
 PROBLEM 17.126 (Continued)

Kinematics.
To locate the instantaneous center C
draw line AC perpendicular to vA and
line BC perpendicular to vB. Let point G
be the mass center of the plank AB and
Point S be that of the sphere.

CH = L cos 30° + r
= (0.500 m) cos 30° + 0.040 m
= 0.47301 m

L
HS = − a = 0.21 m
2
2 2
CS = CH + HS = 0.51753 m
HS
tan β = = 0.44397 β = 23.94°
CH
vS = (CS )ω = 0.51753ω
vG = ( L cos 30°)ω = 0.43301ω
Principle of impulse and momentum.

Syst. Momenta1 + Syst. Ext. Imp.1→ 2 = Syst. Momenta2

Moments about C:

L 
mS vS  − a  + 0 = mS v1S (CS ) + m AB vG1 (CH ) + I S ω + I ABω
2 
L  2
mS vS  − a  = [mS (CS ) 2 + m AB CG + I S + I AB ]ω = I C ω
 2 

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1916
 PROBLEM 17.126 (Continued)

L 
where mS vS  − a  = (2 kg)(1.9809 m/s)(0.21 m) = 0.83198 kg ⋅ m 2 /s
 2 

and I C = (2 kg)(0.51753 m) 2 + (4 kg)(0.43301 m) 2 + 1.28 × 10−3 kg ⋅ m 2 + 83.333 × 10 −3 kg ⋅ m 2

= (0.53567 + 0.75 + 0.00128 + 0.08333) kg ⋅ m 2 = 1.37028 kg ⋅ m 2

0.83198 kg ⋅ m 2 /s = (1.37028 kg ⋅ m 2 )ω ω = 0.60716 rad/s 

v1S = (0.51753 m)(0.60716 rad/s) = 0.31422 m/s

vG1 = (0.43301 m)(0.60716 rad/s) = 0.26291 m/s

To check that neither cable becomes slack during the impact, we show that  Adt and  B dt are positive
quantities.

components: − mS vS + (  Adt +  Bdt ) cos 30° = − mv1S sin β

3
(  Adt +  Bdt ) = [mS vS − mS v11 sin β ]/ cos 30°
2
= 7.9236 − (2)(0.31422) sin 23.94°
= 7.6686 N ⋅ s

components: 0 + (  Adt −  Bdt ) sin 30° = mAB vG1 + mS vS cos β

1
(  Adt −  Bdt ) = (4)(0.26291) + (2)(0.31422) cos 23.94°
2
= 1.6260 N ⋅ s
Solving the simultaneous equation gives
 Adt = 6.05 N ⋅ s  Bdt = 2.80 N ⋅ s
The cables remain taut as assumed.

Velocity of sphere: v1S = 0.314 m/s 23.9° 

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1917
 PROBLEM 17.128

Member ABC has a mass of 2.4 kg and is attached to a pin

support at B. An 800-g sphere D strikes the end of member
ABC with a vertical velocity v1 of 3 m/s. Knowing
that L = 750 mm and that the coefficient of restitution
between the sphere and member ABC is 0.5, determine
immediately after the impact (a) the angular velocity of
member ABC, (b) the velocity of the sphere.

SOLUTION

Let M be the mass of member ABC and I its moment of inertia about B.
1
M = 2.4 kg I = M (2 L) 2
12
where L = 750 mm = 0.75 m
Let m be the mass of sphere D. m = 800 g = 0.8 kg
Impact kinematics and coefficient of restitution.

(v1 sin θ )e = Lω2 − (vD ) n : (vD ) n = Lω2 − (v1 sin θ ) e (1)

Principle of impulse and momentum.

Syst. Momenta1 + Syst. Ext. Imp.1→2 = Syst. Momenta 2

Moments about B: mv1 L sin θ = I ω2 + m(vD ) n L

1
mv1 L sin θ = M (2 L) 2 ω2 + m[ Lω2 − (v1 sin θ )e]L
12
1
mv1 sin θ = MLω2 − mLω2 − m(v1 sin θ )e
3
v1 1 
m(1 + e) sin θ =  M + m  ω2
L  3 

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1920
 PROBLEM 17.128 (Continued)

(3)(1 + e) mv1 sin θ

(a) Angular velocity. ω2 =
( M + 3 m) L

(3)(1.5)(0.8)(3) sin 60°

ω2 =
(2.4 + 2.4)(0.75)
= 2.5981 ω 2 = 2.60 rad/s 
(b) Velocity of D.
From Eq. (1), (vD ) n = (0.75)(2.5981) − (3sin 60°)(0.5)
= 0.64976 m/s
(vD )t = v1 cos 60°
= 3cos 60°
= 1.5 m/s
( v D ) n = 0.64976 m/s 30°
( v D )t = 1.5 m/s 30°

vD = (0.64976) 2 + (1.5) 2
= 1.63468 m/s
0.64976
tan θ =
1.5
θ = 23.4°
θ + 30° = 53.4° vD = 1.635 m/s 53.4° 

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1921
 PROBLEM 17.116

A slender rod of length L and mass m is released from rest in the position
shown. It is observed that after the rod strikes the vertical surface it
rebounds to form an angle of 30° with the vertical. (a) Determine the
coefficient of restitution between knob K and the surface. (b) Show that
the same rebound can be expected for any position of knob K.

SOLUTION
For analysis of the downward swing of the rod before impact and for the upward swing after impact use the
principle of conservation of energy.
Before impact.

V1 = 0
L L
V2 = −W = − mg
2 2
T1 = 0
2
1 1 1 1  1 1  1
T2 = I ω22 + mv22 =  mL2  v22 + m  ω2  = mL2ω22
2 2 2  12  2  2  6
1 2 2 L g g
T1 + V1 = T2 + V2 : 0 = mL ω2 = −mg ; ω22 = 3 ω 2 = 1.73205
6 2 L L
After impact.

L L
V3 = −W = − mg
2 2

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1893
 PROBLEM 17.116 (Continued)

L
V4 = −W cos 30°
2
1 1
T3 = I ω32 + mv32
2 2
2
1 1 2 2 1 1 
= mL  ω3 + m  ω3 
2  12  2 2 
1
= mL2ω32
6
T4 = 0
1 2 2 L L
T3 + V3 = T4 + V4 : mL ω3 − mg = 0 − mg cos 30°
6 2 2
g g
ω32 = 3(1 − cos 30°) ω3 = 0.63397
L L
Analysis of impact.
Let r be the distance BK.
g
Before impact, ( v k )3 = rω3 = 1.73205r
L

g
After impact, ( v k ) 4 = rω4 = 0.63397r
L
|(vk ) 4 n |
Coefficient of restitution. e=
|(vk )3n |

0.63397
e= e = 0.366 
1.73205

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1894