ME345 Exam4 Review

Mechanical Engineering 345
Engineering Mechanics: Dynamics
9 December 2022
FINAL EXAM REVIEW
ME 345 / Exam 4 Review © 2018 to 2022 Iowa State University; all rights reserved. Posting on websites available to non-ISU students is prohibited. 1
qExam on Tuesday December 13, 2022, from 4:30-6:30 PM
qLocation: HOOVER HALL auditorium (Room 2055)
q4 problems
qRecitation session from 4 PM on Sunday, Dec 11 in HOOVER HALL auditorium
(Room 2055)
qAn equation sheet will be provided with your exam
qMake sure you know your EXAM ID
qAll problems require detailed calculations and numerical answers
qBe attentive to crucial words and phrases:
• Constant, uniform, “starts from rest”, “relative to”
qBe attentive to units
• Meters, kilograms, seconds
• Feet, slugs, seconds
• Weight is a force, lbf
!" $ & '(" *
• 𝐹 = 𝑚𝑎; 𝑥 𝑙𝑏! = 𝑚 32.2 ! ; 𝑚 = = 𝑠 = 𝑠𝑙𝑢𝑔𝑠
# % )*.* !"
Previous Problem Types/Methods NOT on the Final Exam
1. Oblique Impact
2. Use of Radial & Transverse coordinates
3. Projectile Motion
4. Relative Acceleration of Linkage Systems[ Simple object determination of normal & tangential
acceleration components may be included].
5. Rigid Body “f=ma” Kinetics of the general plane motion type (i.e. simultaneous rotation and
translation); this does not mean combined Rotation and Translation problems are excluded from
WORK-ENERGY or IMPULSE-MOMENTUM problems (in those problems, you are quantifying
velocities, not accelerations).
New Problem Types/ Topics

1. Work–Energy Methods for Rigid Bodies
o Kinetic Energy due to rotation and translation
o Work done by an applied couple
2. Impulse-Momentum for Rigid Bodies [linear and angular]
3. Free vibration of particles and rigid bodies including deriving and solving equations of motion.
Analysis of damping, including the characteristics of underdamped, critically damped, overdamped
and un-damped harmonic motion. Predicting the time response of overdamped and critically
damped motion is NOT required.
EXAM 4 REVIEW
Work-Energy of Rigid Bodies
• Principle of Work-Energy: / 𝑇, + / 𝑈,→*(/&"/012') = / 𝑇*
• Work of a force during a displacement of its point of application,

4! #!
𝑈,→* = 3 𝑭 5 𝒅𝒓 = 3 𝐹 cos 𝛼 𝑑𝑠
4# ##
5!
• The work done by a moment is 𝑈,→* = 3 𝑀𝑑𝜃
5#
1 1 *
• Kinetic energy of rigid body in plane motion 𝑇 = 𝑚𝑣̅ + 𝐼𝜔 * ̅
2 2
1
• Kinetic energy of rigid body for fixed axis rotation 𝑇 = 𝐼6 𝜔*
2
1
• Kinetic energy of rigid body for pure translation motion: 𝑇 = 𝑚𝑣̅ *
2
EXAM 4 REVIEW
Standard Equations for Work-Energy of a Rigid Body
Summary of Modifications
* *
• Work done by external forces and moments
𝑈,→* = 3 F ⋅ 𝑑⃗r + 3 𝑀𝑑𝜃
, , includes work done due to rotation
𝑈,→* = 𝑇* − 𝑇,
, * , • Kinetic Energy now includes terms
𝑇 = * 𝑚𝑣 + * 𝐼𝜔* or
accounting for angular velocity
, * , *
𝑇= 𝐼
* 6
𝜔 or 𝑇 = 𝐼
* 7
𝜔
𝑉 = 𝑉/ + 𝑉%
𝑇, + 𝑉, + 𝑈′,→* = 𝑇* + 𝑉* • Conservation of energy applies to the
sum of all objects in the system
𝑘
∆𝑉/ = 𝑥* * − 𝑥, *
2
• Gravitational Potential Energy is based
𝑉% = mgh on the location of the Mass Center
5
ME 345 / Exam 4 Review © 2018 to 2022 Iowa State University; all rights reserved. Posting on websites available to non-ISU students is prohibited.
EXAM 4 REVIEW
EXAMPLE:
Three interconnected rigid bodies start from rest in the configuration shown in the illustration shown below, when
the angle 𝜃 is 45°. The wheel is a uniform disk with a weight of 20 lbf. The slender bar BC has a weight of 4 lbf.
There is a collar at C with a mass of 1 lbf. Assume the wheel rolls without slipping. The collar at C is constrained to
vertical motion on the smooth pole shown. The pins at B and C produce negligible friction as the wheel, bar and
collar rotate relative to one another. Determine the velocity of the slider at the instant the rod is horizontal.
Initial Configuration 𝐺%
𝐺"#$
𝐺!
Final Configuration
𝐺! 𝐺"#$ 𝐺%
EXAM 4 REVIEW
EXAMPLE:
the angle 𝜃 is 45°. The wheel is a uniform disk with a weight of 20 lbf. The slender bar BC has a mass of 4 lbm.
There is a collar at C with a mass of 0.031056 slugs. Assume the wheel rolls without slipping. The collar at C is
constrained to vertical motion on the smooth pole shown. The pins at B and C produce negligible friction as the
wheel, bar and collar rotate relative to one another. Determine the velocity of the slider at the instant the rod is
horizontal. Applying the Work-Energy Principle:
Initial Configuration 𝐺 % $%
𝑇! + 𝑉! + 𝑈!→# = 𝑇# + 𝑉#
Where the potential energy 𝑉 = 𝑉& + 𝑉'
𝐺"#$
(1) Kinetic Energy:

𝐺! 𝑇! = 0 [Initial state is at rest]
1 1 #
𝑇# = ' #
[ 𝑚𝑣̅ + 𝐼𝜔 ̅ ]
2 2
()) *+'+, -.,+&/
Final Configuration
Kinematics: Using the relative–velocity equation:
𝐺! 𝐺"#$ 𝐺% 𝒗𝑪 = 𝒗𝑾 + 𝝎𝑩×𝒓𝑪/𝑾
𝒗𝑪 = 𝑣% 𝒋
𝒗𝑾 = 𝑣4 𝒊
EXAM 4 REVIEW
EXAMPLE:
Initial Configuration 𝐺% Kinematics: Using the relative–velocity equation:

𝒗𝑪 = 𝒗𝑾 + 𝝎𝑩×𝒓𝑪/𝑾
𝐺"#$ 𝒗𝑪 = 𝑣% 𝒋
𝒗𝑾 = 𝑣4 𝒊
𝑣% 𝒋 = 𝑣4 𝒊 + (𝜔5 𝐤)×(𝐿 𝒊)
𝐺! 𝑣% 𝒋 = 𝑣4 𝒊 + (𝜔5 𝐿 𝐣)
Equating x and y components:

Final Configuration 𝑣% = 𝜔5 𝐿
𝑣4 = 0
𝐺! 𝐺"#$ 𝐺% Velocity of the bar’s mass center:
1 1 𝜔5 𝐿
𝒗𝑩 = (𝒗𝑾 + 𝒗𝑪) = (0 + 𝜔5 𝐿 𝒋) = 𝒋
2 2 2
EXAM 4 REVIEW
EXAMPLE:
(1) Kinetic Energy:
Initial Configuration 𝐺% 𝑇& = 0 [Initial state is at rest]
1 1 '
𝐺"#$ 𝑇' = = '
[ 𝑚𝑣̅ + 𝐼𝜔 ̅ ]
2 2
#(( $)*)+ ,-+)./
𝜔0 = 0 [This is because before reaching the final configuration, the wheel was
𝐺! rolling to the left, and after reaching the final configuration, the wheel starts
rolling rolling to the right. Thus, at the instant the rod is horizontal, 𝜔0 = 0]
0 0 0
1 1 1 1 1 1
Final Configuration ̅ ' + 𝐼0̅ 𝜔0
𝑇' = 𝑚0 𝑣0 '
+ 𝑚" 𝑣̅"' + 𝐼"̅ 𝜔"' + 𝑚% 𝑣̅%' + 𝐼%̅ 𝜔%'
2 2 2 2 2 2
𝐺% 1 𝜔" 𝐿 ' 1 1 1
𝐺! 𝐺"#$ 𝑇' = 𝑚" ( ) + ( 𝑚" 𝐿' )𝜔"' + 𝑚% 𝑣̅%'
2 2 2 12 2
1 1
𝑇' = 𝑚" 𝜔" 𝐿 + 𝑚% 𝜔"' 𝐿'
' '
ME 345 / Exam 4 Review © 2018 to 2022 Iowa State University; all rights reserved.
6 2
Posting on websites available to non-ISU students is prohibited. 9
EXAM 4 REVIEW
EXAMPLE:
(2) Potential Energy:
Initial Configuration 𝐺% !
𝑉&* =0
"
𝐿
𝐺"#$ 𝑉&* = 𝑚" 𝑔 sin 45°
2
%
𝑉&* = 𝑚% 𝑔𝐿 sin 45°
𝐺! Datum !
𝑉'* =0
"
𝑉'* =0
%
𝑉'* =0
Final Configuration
(3) Work done by non-conservative forces:
𝐺! 𝐺"#$ 𝐺%
2
𝑈&→' =0
There is no applied force or moment acting on each rigid body.

EXAM 4 REVIEW
EXAMPLE:
There is a collar at C with a weight of 1 lbf. Assume the wheel rolls without slipping. The collar at C is constrained to
(4) Applying the Work-Energy Principle:
Initial Configuration 𝐺% 3%
𝑇& + 𝑉& + 𝑈&→' = 𝑇' + 𝑉'
𝐺"#$ 𝐿 1 1
0 + (𝑚" 𝑔 sin 45° + 𝑚% 𝑔𝐿 sin 45°) + 0 = 𝑚" 𝜔"' 𝐿' + 𝑚% 𝜔"' 𝐿' + 0
2 6 2
𝐺! Datum 4
()(32.2)(1.5) sin 45° + (
1
)(32.2)(3) sin 45°
'
𝜔" = 32.2 32.2 = 19.533
1 4 1 1
( )(3)' + ( )(3)'
6 32.2 2 32.2
Final Configuration
𝑟𝑎𝑑
𝜔" = 4.42
𝐺% 𝑠
𝐺! 𝐺"#$
𝑓𝑡
𝑣% = 𝜔" 𝐿 = 13.26 (𝑑𝑜𝑤𝑛𝑤𝑎𝑟𝑑𝑠)
𝑠
EXAM 4 REVIEW
EXAMPLE
The uniform slender bar of mass 𝑚 = 2 𝑘𝑔 and length 𝐿 = 1.6 𝑚 is released from rest when in the
horizontal position shown. The moment of inertia of a slender rod about an axis passing through the mass
!
center is 𝑚𝐿# . Determine its angular velocity and mass-center speed as it passes the vertical position.
!#
Applying the Work-Energy Principle:
$%
𝑇! + 𝑉! + 𝑈!→# = 𝑇# + 𝑉#
Where the potential energy 𝑉 = 𝑉& + 𝑉'
(1) Kinetic Energy:

Datum (State 1)
𝑇! = 0 [Released from rest]
!
𝑇# = 𝐼6 𝜔# [Kinetic energy for fixed axis rotation]
#
(2) Gravitational Potential Energy:

𝑉!' = 0 [Datum is at the horizontal configuration]
𝐿
𝑉#' = −𝑚𝑔( )
4
(3) Elastic Potential Energy:
(State 2) 𝑉!& = 𝑉#& = 0
(4) Work done by non-conservative forces and moments:
$%
𝑈!→# =0
EXAM 4 REVIEW
EXAMPLE
The uniform slender bar of mass 𝑚 = 2 𝑘𝑔 and length 𝐿 = 1.6 𝑚 is released from rest when in the
horizontal position shown. The moment of inertia of a slender rod about an axis passing through the mass
!
center is 𝑚𝐿# . Determine its angular velocity and mass-center speed as it passes the vertical position.
!#
Applying the Work-Energy Principle:
$%
𝑇! + 𝑉! + 𝑈!→# = 𝑇# + 𝑉#
Combining all the terms:
! 7
0 + 0 + 0 = 𝐼6 𝜔# − 𝑚𝑔( )
# 8
#
1 #
1 #
7
𝐼6 = 𝐼9 + 𝑚(𝐿/4) = 𝑚𝐿 + 𝑚𝐿 = 𝑚𝐿#
Datum (State 1) 12 16 48
1 7 # #
𝐿
𝑚𝐿 𝜔 = 𝑚𝑔( )
2 48 4
#8 '
𝜔=− = −4.58 𝑟𝑎𝑑/𝑠
:7
𝐿 24 𝑔 3𝑔𝐿
(State 2) 𝑣9 = 𝑟𝜔 = = = 1.834 𝑚/𝑠
4 7𝐿 14
EXAM 4 REVIEW
Impulse-Momentum of Rigid Bodies
• Linear Momentum of a Rigid Body: 𝑳 = 𝑚Q
𝒗
̅
• Angular Momentum of a Rigid Body: 𝑯𝑮 = 𝐼𝝎
"! "! _
• Linear Impulse of a Rigid Body: ∑ ∫" 𝑭𝑑𝑡 = ∫" 𝑳 𝑑𝑡 = 𝑳𝟐 − 𝑳𝟏
# # _"
" " _
• Angular Impulse of a Rigid Body: ∑ ∫" ! 𝑴𝑷𝑑𝑡 = ∫" ! _" (𝑯𝑷) 𝑑𝑡 = 𝑯𝑷 𝟐 − 𝑯𝑷 𝟏
# #
EXAM 4 REVIEW
"
• Principle of Impulse-Momentum: 𝑳𝟏 + ∑ ∫" 5 𝑭𝑑𝑡 = 𝑳𝟐
4
"5
𝑯𝑷 𝟏 + * + 𝑴𝑷 𝑑𝑡 = 𝑯𝑷 𝟐
"4
• This leads to three equations of motion:

• summing and equating linear momentum and linear impulse in the x and y directions. (2
equations)
• summing and equating the angular momenta and angular impulse with respect to any given
point (often choose G). (1 equation)
EXAM 4 REVIEW
• Principle of Impulse-Momentum for a fixed axis rotation (or
about instantaneous center of zero velocity):
"!
𝐼6 𝜔, + / 3 𝑀6 𝑑𝑡 = 𝐼6 𝜔*
"#
• For any point P:

"!
̅ , + 𝒓𝑮∕𝑷×𝑚Q
𝐼𝝎 ̅ * + 𝒓𝑮∕𝑷×𝑚Q
𝒗, + / 3 𝑴𝑷𝑑𝑡 = 𝐼𝝎 𝒗*
"#
"!
̅ , + 𝑚Q
𝐼𝝎 ̅ * + 𝑚Q
𝒗,𝑑d + / 3 𝑴𝑷𝑑𝑡 = 𝐼𝝎 𝒗*𝑑d
"#
• Conservation of momentum:
No external force: 𝑳𝟏 = 𝑳𝟐 𝑯𝑶 𝟏 = 𝑯𝑶 𝟐
Net angular impulse pass through O: 𝑯𝑶 𝟏 = 𝑯𝑶 𝟐 𝑳𝟏 ≠ 𝑳𝟐
EXAM 4 REVIEW
EXAMPLE
A sphere of radius r and mass m is projected along a rough horizontal surface with the initial velocities
shown. If the final velocity of the sphere is to be zero, express (a) the required magnitude of ω0 in terms of
v0 and r, (b) the time required for the sphere to come to rest in terms of v0 and coefficient of kinetic friction
𝜇𝑘 . Use the impulse-momentum equations to derive the expressions. Moment of inertia of a solid sphere is
2
𝐼 ̅ = 𝑚𝑟 2
5
7"
𝐿&6 + = f 𝐹6 𝑑𝑡 = 𝐿'6
7!
𝑚𝑣8 + −𝐹𝑡 = 0
𝑚𝑣8
𝐹=
𝑡
7"
𝐿&9 + = f 𝐹9 𝑑𝑡 = 𝐿'9
7!
0 + 𝑁 − 𝑊)(𝑡 = 0
𝑁 = 𝑊 = 𝑚𝑔
EXAM 4 REVIEW
EXAMPLE
A sphere of radius r and mass m is projected along a rough horizontal surface with the initial velocities
shown. If the final velocity of the sphere is to be zero, express (a) the required magnitude of ω0 in terms of
v0 and r, (b) the time required for the sphere to come to rest in terms of v0 and coefficient of kinetic friction
𝜇> . Use the impulse-momentum equations to derive the expressions. Moment of inertia of a solid sphere is
#
𝐼 ̅ = 𝑚𝑟 #
?
7"
𝐼: 𝜔& + = f 𝑀: 𝑑𝑡 = 𝐼: 𝜔'
7!
2
𝑚𝑟 ' 𝜔8 + −𝐹𝑡𝑟 = 0
5
𝑚𝑣8
𝐹𝑡𝑟 5 𝑡 5𝑣8
𝜔8 = = 𝑡 =
2 2𝑚𝑟 2𝑟
𝑚𝑟 '
5
𝑚𝑣8 𝑚𝑣8 𝑣8
𝑡= = =
𝐹 𝜇; 𝑚𝑔 𝜇; 𝑔
EXAM 4 REVIEW
Summary: Free Vibrations
• Differential equation expression for a free vibration system
𝑥̈ + 𝜔@# 𝑥 = 0 Natural circular frequency: 𝜔@
Solution form: 𝑥 = 𝑥A sin 𝜔@ 𝑡 + 𝜑 2𝜋
Natural period: 𝜏@ =
𝜔@
• Use initial conditions to determine the amplitude and phase angle
𝑣B #
𝑥A : 𝑎𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒, 𝑥A = + 𝑥B#
𝜔@ 𝑚𝑎𝑥𝑖𝑚𝑢𝑚 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦: 𝑣A = 𝜔@ 𝑥A
𝑥B 𝜔@
𝜑: 𝑝ℎ𝑎𝑠𝑒 𝑎𝑛𝑔𝑙𝑒, 𝜑 = tanC! 𝑚𝑎𝑥𝑖𝑚𝑢𝑚 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛: 𝑎A = 𝜔@# 𝑥A
𝑣B
>
• For a simple mass-spring system, 𝜔@ =
A
• In general, 𝜔@ is determined from the equations of motion
EXAM 4 REVIEW
Summary: Damped Vibration
• Differential equation expression for a damped vibration system (c is the damping constant)
𝑘
𝑚𝑥̈ + 𝑐 𝑥̇ + 𝑘𝑥 = 0 𝑐 𝑐 # 𝑘 𝜔@ =
Solution form: 𝑥 = 𝑒 DE
𝜆 = − ± − 𝑚
𝑥̈ + 2𝜁𝜔@ 𝑥̇ + 𝜔@ # 𝑥 = 0 2𝑚 2𝑚 𝑚 𝑐G = 2𝑚𝜔@
Type Condition Equation Form Motion
Heavy 𝜁>1 𝑥 = 𝐶! 𝑒 D!E + 𝐶# 𝑒 D"E Exp. decay
damping
Critical 𝜁=1 𝑥 = (𝐶! + 𝐶# 𝑡)𝑒 CF# E Exp. decay
damping
𝑥 𝜔,
G Decaying #
Light damping 𝜁<1 = 𝑒
C #A E
(𝐶! sin 𝜔, 𝑡 𝑐
oscillation = 𝜔@ 1−
+ 𝐶# cos 𝜔, 𝑡) 𝑐G
𝑐
For light damping, the logarithmic 𝑥 𝑡A 2𝜋
𝑐G
decrement describes the decay in the ln = Use initial conditions to
𝑥 𝑡A + τ, 𝑐 #
determine 𝐶! and 𝐶#
maximum for each successive oscillation: 1−
𝑐G

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Mechanical Engineering 345

Engineering Mechanics: Dynamics

FINAL EXAM REVIEW

New Problem Types/ Topics

• Work of a force during a displacement of its point of application,

(1) Kinetic Energy:

Initial Configuration 𝐺% Kinematics: Using the relative–velocity equation:

Equating x and y components:

There is no applied force or moment acting on each rigid body.

(1) Kinetic Energy:

(2) Gravitational Potential Energy:

• This leads to three equations of motion:

• For any point P:

• In general, 𝜔@ is determined from the equations of motion

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