Homework #8 (1457pts) Due November 23, 2016

6. (354pts) The space satellite in Fig. 5.6 has a mass of 125kg and a moment of inertia Iz = 0.94kgm2 , ex-
cluding the four solar panels A, B, C, and D. Each solar panel has a mass of 20kg and can be approximated
as a thin plate. If the satellite is originally spinning about z axis at a constant rate ωz = 0.5rad/s when
θ = 90◦ , determine the rate of spin if all the panels are raised and reach the upward position, θ = 0◦ , at
the same instant.

gm (2pts) gm (6pts)
N (1pts) (2pts)
^
k (1pts)
^j Y^ E Y^ A
q (1pts) q7
(1pts) 6 q1 ^
(1pts) ^
^ YC DY
B (1pts) C Y B
(1pts)
E
(1pts)
(1pts) (1pts)
(1pts) q A S(1pts) D q8 (6pts)
5
L (1pts) h(1pts) ^i X^
E
w (2pts) ^ ^
(1pts) gm (2pts) gM (2pts) gm X B ^ ^ XA
XC XD
Three coordinates are
used to relate points E and N
(1pts) Point E is a distance r
abouve the plane in which
but are not shown here point A, B, C, and D lie
(3pts) in the configuration shown.

Figure 5.6: Frames (12pts), points (7pts), coordinates (8pts), parameters (4pts), forces (10pts).

Simplifications: We will use conservation of angular momentum to solve this problem.

Rigid Bodies: There are five rigid bodies in this problem, the central hub and the four solar panels.
(5pts)
Inertial Reference Frame and Point: The inertial reference point is labeled N and the inertial reference
frame is N = (bi, bj). (3pts)
Other Points and Frames: The body-attached points A, B, C, D, and E represent the mass centers of
each solar panel and the spacecraft’s central hub. Point S is the system’s mass center. The associated body-
attached frames are A = (X b A, Y
b A ), B = (X
b B, Y
b B ), C = (X
b C, Y
b C ), D = (X
b D, Y
b D ), and E = (X
b E, Y
b E ).
(11pts)
Location Descriptions:
LE = {PNE , N
E R} + geom. LA = {PEA , E
A R} + geom. LB = {PEB , E B R} + geom. (12pts)
E E
LC = {PEC , B R} + geom. LD = {PED , D R} + geom. (8pts)
b b b
PNE = q2 i + q3 j + q4 k (2pts)
bE − h Y
PEA = −r Z bE − L bA
Y PEB bE − h X
= −r Z bE − L bB
X (4pts)
2 2
bE + h Y
PEC = −r Z bE + L bC
Y PED bE + h X
= −r Z bE + L bD
X (4pts)
2 2

^j (1pts)

^ (1pts)
Y E
^
X E  b
 XE = cos(q1 ) bi + sin(q1 ) bj (4pts)
(1pts) N
ER =
bE
Y = b b
− sin(q1 ) i + cos(q1 ) j (4pts)
q1 |{z} 

(1pts) (2pts) bE
Z = b
k (2pts)
q1 (1pts) ^i

105
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Homework #8 (1457pts) Due November 23, 2016

^
Y E 
(1pts)
b bE
 XA = X (2pts)
^ (1pts)
Y ^ 
A X A
(1pts)
E
AR =
bA
Y = b E + sin(q5 ) Z
cos(q5 ) Y bE (4pts)
q5 |{z} 
 b
(2pts) ZA = b E + cos(q5 ) Z
− sin(q5 ) Y bE (4pts)
(1pts)
q5 ^
(1pts) XE

^
Y E 
(1pts)
b b E − sin(q6 ) Z
bE
 XB
 = cos(q6 ) X (4pts)
^ (1pts)
Y ^
B X B
(1pts)
E
BR =
bB
Y bE
= Y (2pts)
q6 |{z} 
 b
(2pts) ZB b E + cos(q6 ) Z
= sin(q6 ) X bE (4pts)
(1pts)
q6 ^
(1pts) XE

^
Y E 
(1pts)
b bE
 XC
 = X (2pts)
^ (1pts)
Y ^
C X C
(1pts)
E
CR =
bC
Y b E + sin(q7 ) Z
= cos(q7 ) Y bE (4pts)
q7 |{z} 
 b
(2pts) ZC b E + cos(q7 ) Z
= − sin(q7 ) Y bE (4pts)
(1pts)
q7 ^
(1pts) XE

^
Y E 
(1pts)
b b E − sin(q8 ) Z
bE
 XD = cos(q8 ) X (4pts)
^ (1pts)
Y ^ 
D X D
(1pts)
E
DR =
bD
Y = bE
Y (2pts)
q8 |{z} 
 b
(2pts) ZD = b E + cos(q8 ) Z
sin(q8 ) X bE (4pts)
(1pts)
q8 ^
(1pts) X E

Coordinates: Eight coordinates are used to describe this problem, q1 through q8 . (8pts)
Constraints: All coordinates can be set freely so there are no constraints on the system. (1pts)
Degrees-of-Freedom (DOFs):
8 coordinates − 0 constraints = 8 DOFs (1pts)
Givens: w = 0.2m, h = 0.2m, L = 0.75m, Iz = 0.94kgm2 , m = 20kg , M = 125kg − 4 · 20kg = 45kg,
q5 (t = t1 ) = q6 (t = t1 ) = q7 (t = t1 ) = q8 (t = t1 ) = 0, q5 (t = t2 ) = q8 (t = t2 ) = −90◦,
q6 (t = t2 ) = q7 (t = t2 ) = 90◦ , N ωE (t = t1 ) = 0.5rad/s Z b E , E ω A (t = t1 ) = E ω A (t = t2 ) = 0,
E B E B E C E C
ω (t = t1 ) = ω (t = t2 ) = 0, ω (t = t1 ) = ω (t = t2 ) = 0, and
E D
ω (t = t1 ) = E ω D (t = t2 ) = 0 (23pts)
Objectives: Find N ωE (t = t2 ). (1pts)
Velocity: The angular velocity can be obtained by inspection
N E
ω = q˙1 Zb E , E ωA = q̇5 X b E , E ωB = q̇6 Y bE ,
b E , E ω C = q̇7 X E bE
ωD = q̇8 Y (10pts)
Mass Properties: M is the mass of the main body of the spacecraft and m is the mass of each solar
panel. (2pts)
We want to use the conservation of angular momentum to solve this problem so we need to consider the
system’s inertia dyadic about a common point. Since it is difficult to determine a stationary point in this
system, we will use the system’s mass center to keep the calculations as simple as possible. We can locate
the mass center as:
M PEE + mPEA + mPEB + mPEC + mPED
PES =
 M + 4m
m b bE − L Y b A + −r Z
bE − h X bE − L Xb B+
= −r ZE − h Y
M + 4m 2 2 (6pts)
bE + h Y
−r Z bE + L Y b C + −r Z bE + h X
bE + L X bD
 2 2 
m L
bE − Y bA − XL bB + YL bC + L X bD
= −4rZ
M + 4m 2 2 2 2

106
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Homework #8 (1457pts) Due November 23, 2016
It will be a mess to carry this formulation of the mass center throughout all of the calculations so we will
stick to the two configurations we are interested in at times t1 and t2 :
−4rm b
PES (t1 ) = ZE (1pts)
M + 4m
 
PES (t2 ) =
m
−4rZbE + L Z bE + L ZbE + L Z bE + L Z b E = m (2L − 4r) Z bE (1pts)
M + 4m 2 2 2 2 M + 4m
We can represent then represent the position of the mass center as
bE −4rm m (2L − 4r)
PES = a Z where a(t1 ) = and a(t2 ) = (1pts)
M + 4m M + 4m
which are identical. You should be able to convince yourself that the mass center only moves
We can find the moments of inertia for the solar panels as thin plates where
mw2 mL2 m(L2 + w2 )
Ix = Iy = Izz = (3pts)
12 12 12
Therefore the inertia dyadics about each body’s mass center are:
IEE = IEx X b E + IEy Y
b EX b EZ
b E + Iz Z
b EY bE (3pts)
IAA = Iy X b A + Ix Y
b AX b A + Izz Z
b AY bA
bAZ (3pts)
IBB = Ix X b B + Iy Y
b BX b B + Izz Z
b BY bB
bBZ (3pts)
ICC = Iy X b C + Ix Y
b CX b C + Izz Z
b CY bC
bCZ (3pts)
IDD = Ix X b D + Iy Y
b DX b D + Izz Z
b DY bD
bDZ (3pts)
We can move these to point S by finding their displacement vectors, all of which are given in the location
descriptions, at times t1 and t2 :
PSE = −a ZbE (2pts)


PSA (t1 ) = −a(t1 )Zb A − rZ
b A − hY
bA − Y
L bA = − h + L b b
2 2 YA − (a(t1 ) + r) ZA (2pts)


b A + rY
PSA (t2 ) = a(t2 )Y b A − hZ
bA − L Yb A = a(t2 ) + r − L Y bA − h Z
bA (2pts)
2 2

PSA = b YbA + c Z
bA


b B − rZ
PSB (t1 ) = a(t1 ) Z bB − h X
bB − L X
bB = − h + L b B + (a(t1 ) − r) Z
X bB (2pts)
2 2


b B + rX
PSB (t2 ) = −a(t2 ) X bB − h Z
bB − L bB =
X r − a(t2 ) − L2 XbB − h ZbB (2pts)
2

PSB = d X bB + e Z
bB


b C − rZ
PSC (t1 ) = a(t1 )Z bC + h Y
bC + Y
L bC = h + L Y b C + (a(t1 ) − r) Z
bC (2pts)
2 2


PSC (t2 ) = a(t2 )Yb C − rY
bC − h Z
bC + L Yb C = a(t2 ) − r + L Y bC − h Z bC (2pts)
2 2

PSC = f Y bC + n Z
bC


b D − rZ
PSD (t1 ) = a(t1 )Z bD + h XbD + L X bD = h + L X b D + (a(t1 ) − r) Z
bD (2pts)
2 2


PSD (t2 ) = a(t2 )Xb D − rXbD − h Z
bD + L X b D = a(t2 ) − r + L X b D + hZ bD (2pts)
2 2

PSD = p XbD + u ZbD

 
DSE = a2 X bE + Y
b EX bA
b AY (2pts)

 
DSA = b 2 + c2 X b A + c2 Y
b AX b A + b2 Z
b AY bA −
b AZ bc Y bA + Z
b AZ b AYbA (4pts)

 
DSB = e2 X bB +
b BX d2 + e2 Y b B + d2 Z
b BY bB −
bBZ de Xb BZbB + Z
bBX bB (4pts)

 
DSC = f 2 + n2 X b C + n2 Y
b CX b C + f 2Z
b CY bC −
bCZ nf Y b CZbC + Z
bCY bC (4pts)

 
DED = u2 X bD +
b DX p2 + u 2 Y b D + p2 Z
b DY bD −
b DZ pu X bD + Z
b DZ b DXbD (4pts)
Adding the inertia and displacement dyadics yields



IES = IEx + M a2 X b E + IEy + M a2 Y
b EX b E + Iz Z
b EY bE
b EZ (1pts)

107
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Homework #8 (1457pts) Due November 23, 2016



 
IAS = Iy + mb2 + mc X 2 b A + Ix + mc2 Y
b AX b A + Izz + mb2 Z
b AY b A − mbc Y
b AZ bA + Z
b AZ bA
b AY
(1pts)



 
IBS = Ix + me2 X b B + Iy + md2 + me2 Y
b BX b B + Izz + md2 Z
b BY bBZb B − mde X bB + Z
b BZ bBXbB
(1pts)



 
ICS = 2
Iy + mf + mn 2
X b C + Ix + mn
b CX 2
Y b C + Izz + mf
b CY 2
Z bC
bCZ − mnf Y bC + Z
b CZ bCYbC
(1pts)



 
IDS = Ix + mu2 X b D + Iy mp2 + mu2 Y
b DX b D + Izz + mp2 Z
b DY bD
b DZ − mpu X bD + Z
b DZ bD
b DX
(1pts)
Forces and Moments: Recall that we are neglecting all of the reaction forces so we only need to address
the gravity forces on the different bodies.
P bE P bE P bE
( F)E = −gM Z ( F)A = −gm Z ( F)B = −gm Z (6pts)
P bE P bE
( F)C = −gm Z ( F)D = −gm Z (4pts)
Since we have moved all of the inertia dyadics to point E, we want to find the moments on each body about
point E:
P
( M)ES = 0 (2pts)
P b
( M)AS = P  SA × −gm ZE  
= b
(r − a) ZE + h Y b E + L cos(q5 ) Y b E + sin(q5 ) Z
b E × −gm Z bE
2
  (6pts)
 X b YbE bE
Z 
 E 

 L L  L
=  0 h + 2 cos(q5 ) r − a + 2 sin(q5 )  = − h + 2 cos(q5 ) gm XE b
 0 0 −gm 
P b
( M)BS = P  SB × −gm ZE  
= (r − a) ZbE + h X b E + L cos(q6 ) X b E − sin(q6 ) Z
b E × −gm Z bE
2
  (6pts)
 bE
X bE
Y bE
Z 
 

=  h + L2 cos(q6 ) 0 r − a + L2 sin(q6 )  = h + L2 cos(q6 ) gm Y bE
 0 0 −gm 
P bE
( M)CS =  PSC × −gm Z  
= b
(r − a) ZE − h Y b E − L cos(q7 ) Y b E + sin(q7 ) Z
b E × −gm Z bE
2
  (6pts)
 X b YbE bE
Z 
 E


 L L 
=  0 − h + 2 cos(q7 ) r − a − 2 sin(q7 )  = h + 2 cos(q7 ) gm XEL b
 0 0 −gm 
P b
( M)DS = P  SD × −gm ZE  
= bE − h X
(r − a)Z b E − L cos(q8 ) X b E − sin(q8 ) Z
b E × −gm Z bE
2
  (6pts)
 XbE bE
Y bE
Z 



=  − h + L2 cos(q8 ) 0 r − a + L2 sin(q8 )  = − h + 2 cos(q8 ) gm Y
L bE
 0 0 −gm 
Since we are hoping to use the conservation of angular momentum, we want to examine the sum of moments
on the system about point E:
P b E + gm L (cos(q6 ) − cos(q8 )) Y
bE
( M) = gm L (cos(q7 ) − cos(q5 )) X
S 2 2 (2pts)
b E direction so we can expect that angular
So we notice that there is no moment acting about the Z
momentum will be conserved about this direction.
Solution:
From the given information
N b E = 0.5rad/s Z
ωE (t1 ) = q˙1 (t1 ) Z bE → q˙1 (t1 ) = 0.5rad/s (1pts)
E A bE = 0
ω (t1 ) = q̇5 (t1 ) X E A bE = 0
ω (t2 ) = q̇5 (t2 ) X → q̇5 (t1 ) = q̇5 (t2 ) = 0 (2pts)
E B bE = 0
ω (t1 ) = q̇6 (t1 ) X E B bE = 0
ω (t2 ) = q̇6 (t2 ) X → q̇6 (t1 ) = q̇6 (t2 ) = 0 (2pts)

108
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Homework #8 (1457pts) Due November 23, 2016
E bE = 0
ωC (t1 ) = q̇7 (t1 ) X E bE = 0
ω C (t2 ) = q̇7 (t2 ) X → q̇7 (t1 ) = q̇7 (t2 ) = 0 (2pts)
E D
ω (t1 ) = q̇8 (t1 ) XbE = 0 E D
ω (t2 ) = q̇8 (t2 ) X bE = 0 → q̇8 (t1 ) = q̇8 (t2 ) = 0 (2pts)
We can find the angular momentum of the system about point E as
HE = IES · N ω E + IAS · N ωA + IBE · N ωB + ICE · N ω C + IDE · N ω D (2pts)
IES · N ω E = IEE · q̇1 Z bE
b E = Iz q̇1 Z (1pts)
     
IAS · N ω A = IAS · q˙1 Z b E = IAS · q˙1 sin(q5 )Y
b E + q̇5 X b A + cos(q5 )Z
b A + q̇5 XbA (1pts)
     
IBS · N ω B = IBS · q˙1 Z b E = IBS · q˙1 − sin(q6 )X
b E + q̇6 Y b B + cos(q6 )Z
b B + q̇6 YbB (1pts)
     
ICS · N ω C = ICS · q˙1 Z b E = ICS · q˙1 sin(q7 )Y
b E + q̇7 X b C + cos(q7 )Z bC
b C + q̇7 X (1pts)
     
IDS · N ω D = IDS · q˙1 Z b E = IDS · q˙1 − sin(q8 )X
b E + q̇8 Y b D + cos(q8 )Zb D + q̇8 Y
bD (1pts)
Calculating all of these terms will be a mess so we will look at conservation of momentum to see what is
needed.
Z t2
P b E dt = 0 = HE (t2 ) · Z
b E − HE (t1 ) · Z
bE
( M)S · Z (2pts)
t1

HS (t2 ) = b E − IAS · q˙1 (t2 ) Y

Iz q̇1 (t2 ) Z b A − IBS · q˙1 (t2 ) X
b b b

 B + ICS · q˙1 (t2 ) YC + IDS · q˙1 (t2 ) XD
= b 2 b
Iz q̇1 (t2 ) ZE − Ix + mc YA − mbc ZA q˙1 (t2 )− b

 

Ix + me2 X b B − mde Z b B q˙1 (t2 ) + Ix + mn2 Y b C − mnf Z b C q˙1 (t2 )+


Ix + mu2 X b D − mpu Z b D q˙1 (t2 )
mbox (2pts)
 2


mw
b E = Iz + 4Ix + m(c2 + e2 + n2 + u2 ) q̇1 (t2 ) =
HS (t2 ) · Z Iz + + 4mh2 q̇1 (t2 ) (1pts)
3
HE (t1 ) b E + IAS · q˙1 (t1 ) Z
= Iz q̇1 (t1 ) Z b A + IBS · q˙1 (t1 ) Z
b B + ICS · q˙1 (t1 ) Z
b C + IDS · q˙1 (t1 ) Z
bD


b E + Izz + mb Z
= Iz q̇1 (t1 ) Z 2 b A − mbc Y b A q̇1 (t1 )+

 

Izz + md2 Z b B − mde X b B q̇1 (t1 ) + Izz + mf 2 Z b C − mnf Y b C q̇1 (t1 )+


Izz + mp2 Z b D − mpu X b D q̇1 (t1 )
mbox (2pts)
 2 !  2
!
b E = Iz q̇1 (t1 ) + 4 Izz L m(L2 + w2 ) L
HE (t1 ) · Z +m h+ q˙1 (t1 ) = Iz + + 4m h + q˙1 (t1 )
2 3 2
(1pts)
So finally we get
  2   2 !
w 2 m(L2 + w2 ) L
0 = Iz + 4m +h q̇1 (t2 ) − Iz + + 4m h + q˙1 (t1 )
12 3 2
  
(0.2m)2
= 0.94kgm2 + 4 · 20kg + (0.2m)2 q̇1 (t2 )−
12
20kg((0.75m)2 + (0.2m)2 )
  !
0.75m 2
(1pts)
0.94kgm 2
+ + 4 · 20kg 0.2m + 0.5rad/s
3 2

= 4.4066667kgm2 q̇1 (t2 ) − 31.406667kgm2/s

q̇1 (t2 ) = 7.13rad/s
N bE
ω E (t2 ) = 7.13rad/s Z (2pts)

109
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Homework #8 (1457pts) Due November 23, 2016
7. (164pts) The 80kg man in Fig. 5.7 is holding two dumbbells while standing on a turntable of negligible
mass, which turns freely about a vertical axis. When his arms are fully extended, the turntable is rotating
with an angular velocity of 0.5rev/s. Determine the angular velocity of the man when he retracts his arms
to the position shown. When his arms are fully extended, approximate each arm as a uniform 6kg rod
having a length of 650mm, and his body as a 68kg solid cylinder of 400mm. With his arms in the retracted
position, assume the man is an 80kg solid cylinder of 450mm diameter. Each dumbbell consists of two 5kg
spheres of negligible size.

(1pts)
^
k Z^A (1pts)
Larm
(1pts)

q1
(1pts) LB LB (1pts)
(1pts)
w
C D E
(1pts) (1pts) w
C D E
(1pts) B
^
B(1pts) X A
A
A
(1pts)
(1pts)

L T mAg (1pts)
(1pts) (1pts)

LT (1pts)

(1pts)

fx
^i (1pts) N (1pts)
(1pts) N Mx
(1pts)

f (1pts)
NA(1pts)
(1pts) y
M y

Figure 5.7: Frames (4pts), points (7pts), coordinates (1pts), parameters (5pts), forces (12pts).

Simplifications: We will use the conservation of angular momentum to solve this problem. We will
assume that the system’s mass center, at point A, is stationary. We also assume that the dumbbells move
on a straight horizontal line as they approach the man’s body.
Rigid Bodies: This problem will be modeled as a single rigid body composed of three rigid bodies and
two particles at two different times. The three rigid bodies are the man’s two arms and the combination
of the man’s legs and torso along with the platform. The two particles represent the two barbells. (1pts)
Inertial Reference Frame and Point: The inertial reference point is labeled N and the inertial reference
frame is N = (bi, bj). (3pts)
Other Points and Frames: The body-attached point A represents the system’s mass center at times t1
and t2 . Point T is the mass center of the man’s torso at times t1 and t2 . Points B and C represent the
mass centers of the barbells. Points D and E represent the mass centers of the man’s arms at time t1 . The
body-attached frame is A = (X b A, Y
b A ). (7pts)
Location Descriptions:
LA = {PNT , N
A R} + geom. (4pts)
b
PNT = LT k (2pts)
Coordinates: One coordinate is used to describe this problem, q1 . (1pts)
Constraints: The coordinate can be set freely so there are no constraints on the system. (1pts)
Degrees-of-Freedom (DOF):
1 coordinates − 0 constraints = 1 DOFs (1pts)

110
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Homework #8 (1457pts) Due November 23, 2016
^j (1pts)
^ (1pts) ^ 
Y A X A b
 XA
 = cos(q1 ) bi + sin(q1 ) bj (4pts)
(1pts)
N
AR =
bA
Y = − sin(q1 ) bi + cos(q1 ) bj (4pts)
q1 |{z} 
 b
(1pts) (2pts) bA
Z = k (2pts)
q1 (1pts) ^i

Givens: mT (t1 ) = 68kg, mT (t2 ) = 80kg , mB = 10kg, mC = 10kg, mD = 6kg , mE = 6kg , LB (t1 ) = 0.85m,
LC (t1 ) = 0.85m, LB (t2 ) = 0.3m, LC (t2 ) = 0.3m, Larm = 650mm, w = 525mm, rman (t1 ) = 200mm,
b = −π rad/s k
rman (t2 ) = 225mm, and N ω A (t1 ) = −0.5rev/s k b (15pts)
Objectives: Find N ωA (t2 ). (1pts)
Velocity:
N N b
dPNA NdLT b dk
= VNA =
k + LT = 0 (6pts)
dt dt dt
The angular velocity can be obtained by inspection
N A
ω = q˙1 k b = q̇1 Z
bA (2pts)
Forces and Moments: The sum forces is:
P b
( F)A = −fx bi − fy bj + (NA − mA g) k (4pts)
Since point N is also a stationary point we will sum moments about it to save finding the mass center.
This also eliminates the reaction forces from the moments,
P
( M)AN = −Mx bi − My bj (2pts)
b direction so we know angular momentum will be conserved
We see that there are no moments about the k
in that direction.
Mass Properties: mT is the mass of the man’s torso at times t1 and t2 . The masses of the barbells are
mB = mC and the masses of the arms are mD = mE . (5pts)
mA = mT + mB + mC + mD + mE (1pts)
The system can be considered as a composite body at two different times. So we can use the parallel
axis theorem to compose the inertia dyadic for they system. The inertia dyadics for the torso, arms, and
barbells are:
IBB = ICC = 0 (2pts)
IDD (t1 ) = IEE (t1 ) = Ix X b A + Iy Y
b AX b A + Iz Z
b AY bA
b AZ (6pts)
ITT = ITx X b AXb A + IT Y b A + IT Z
b AY bAZbA (3pts)
y z

The displacement vectors for these bodies are

PNB = L Z b A + LB X bA PNC = L Z bA
b A − LB X bA − w X
PND (t1 ) = L Z bA (6pts)
PNE (t1 ) = L Z bA + w X bA PNT = LT Z bA (4pts)
The displacement dyadics for each of the bodies is

 
DNB = L2 X b A + L2 + L2 Y
b AX b AYb A + L2 Z b b b b b b
B B A ZA − LB L XA ZA + ZA XA (4pts)

 
DNC = L2 X b A + L2 + L2 Y
b AX b AYb A + L2 Z bAZb A + LB L X b AZbA + Z
b AXbA (4pts)
B B

 
DND (t1 ) = L2 X b A + L2 + w 2 Y
b AX b AYb A + w2 Zb AZb A + wL X bA + Z
b AZ bAXbA (4pts)

 
DNE (t1 ) = L2 X b A + L2 + w 2 Y
b AX b AYb A + w2 Z b A − wL X
b AZ bA + Z
b AZ bA
b AX (4pts)
 
DNT = L2T X b AXbA + Y bA
b AY (4pts)
INB = IBB + mB DNB


= mB L 2 X b A + mB L 2 + L 2 Y
b AX b AY b b
b A + mB L 2 Z
 
B B A ZA − (1pts)
b b b b
mB LB L XA ZA + ZA XA

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Homework #8 (1457pts) Due November 23, 2016
INC = ICC + mC DNC


= mB L 2 X b A + mB L 2 + L 2 Y
b AX b AY b b
b A + mB L 2 Z
 
B B A ZA + (1pts)
mB L B L X bA + Z
b AZ bA
bAX

IND (t1 ) = IDD (t1 ) + mC DND (t1 )

= Ix + mD L2 X b AXb A + Iy + mD L2 + mD w2 Y bA +
b AY (1pts)

 
Iz + mD w2 Z bAZb A + mD wL X bA + Z
b AZ b AXbA

INE (t1 ) = IEE (t1 ) + mE DNE (t1 )

= Ix + mD L2 X b AXb A + Iy + mD L2 + mD w2 Y bA +
b AY

  (1pts)
Iz + mD w2 Z b A − mD wL X
b AZ bA + Z
b AZ b AXbA



INT = ITT + mT DNT = ITx + mT L2T X b A + IT + mT L2 Y
b AX b A + IT Z
b AY bA
bAZ (1pts)
y T z

So we can find the inertia dyadic for the system about point N at the two times t1 and t2
IAN (t1 ) = INB (t1 ) + INC (t1 ) + IND (t1 ) + INE (t1 ) + INT (t1 ) (1pts)
IAN (t2 ) = INB (t2 ) + INC (t2 ) + INT (t2 ) (1pts)
Instead of evaluating these here, we want to see which terms survive the conservation of momentum.
Solution: We will use conservation of angular momentum to solve this problem.
Z t2
P b A dt = 0 = HAN (t2 ) · Z
b A − HAN (t2 ) · Z
bA
( M)AN · Z (2pts)
t1
bA
HAN (t1 ) = IAN (t1 ) · N ω A = IAN (t1 ) · q̇1 (t1 ) Z


(2pts)
bA
= 2mB L2B (t1 ) + 2 Iz + mD w2 + ITz (t1 ) q̇1 (t1 ) Z


bA =
HAN (t2 ) = IAN (t2 ) · N ωA = IAN (t2 ) · q̇1 (t2 ) Z bA
2mB L2B (t2 ) + ITz (t2 ) q̇1 (t2 ) Z (2pts)
Therefore



2mB L2B (t1 ) + 2 Iz + mD w2 + ITz (t1 ) q̇1 (t1 )
q̇1 (t2 ) = (1pts)
2mB L2B (t2 ) + ITz (t2 )
Now we can find Iz and ITz as
mD L2arm 6kg (0.65m)2
Iz = = = 0.21125kgm2 (1pts)
12 12
2
ITz (t1 ) = mT rman = 68kg · (0.2m)2 = 2.72kgm2 (1pts)
2 2
ITz (t2 ) = mT rman = 80kg · (0.225m) = 4.05kgm2 (1pts)
From the given information we get
N A b = −0.5rev/s k
ω (t1 ) = q˙1 (t1 ) k b = −π rad/s k
b = q˙1 (t1 ) k
b → q˙1 (t1 ) = −π rad/s (1pts)
Plugging everything in we get



2 · 10kg(0.85m)2 + 2 0.21125kgm2 + 6kg · (.525m)2 + 2.72kgm2 (−π)rad/s
q̇1 (t2 ) =
2 · 10kg(0.3m)2 + 4.05kgm2
(1pts)
20.9kgm2 · (−π rad/s)
= = −11.22rad/s = −1.79rev/s
5.85kgm2
So finally
N bA
ω A (t2 ) = −11.22rad/s Z (2pts)
Notice how much faster the man rotates when he pulls his arms in.

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Homework #8 (1457pts) Due November 23, 2016
5.7.7 Solutions to Practical Exercises

1. (418pts) The 20lb block B in Fig. 5.1 rests on the surface of a table for which the coefficient of kinetic
friction is µk = 0.1. Determine the speed of the 10lb block A after it has moved downward 2f t from rest.
Neglect the mass of the pulleys and cords.

(1pts) E T1 (2pts) D (1pts)

Ex(2pts) (2pts)
T2 Dx
(2pts)
Ey(2pts) T4 (2pts)
(1pts) Dy

D
(2pts) (1pts)

Y^
α T3 (1pts) (2pts)

D
X^
E
X^ mBg (2pts)
L (1pts) (1pts)
E
Y^

(1pts) (1pts)
(1pts)
Ν T1 (1pts)
T2 (1pts) θ
rE (1pts) rD
A B YC

(1pts) Β (2pts) (1pts)

^ ^

f
(1pts)
^ Y

T3 y (1pts)
x (2pts) m (2pts) T4
^j Y

(2pts)
z (1pts) N(2pts)
(4pts)

Α (1pts)
(2pts) C (1pts)
m Cg
m Ag
(2pts) ^ X
^i X ^ ^ (4pts)
A B XC

Figure 5.1: Frames (12pts), points (6pts), coordinates (5pts), parameters (4pts), forces (36pts).

Simplifications: Assume that the ropes passing through block B pass through its mass center. Assume
that at the instant shown θ = α = 0◦ .

Rigid Bodies: There are five rigid bodies to consider in this problem, the three blocks and the two pulleys.
(5pts)

Inertial Reference Frame and Point: The inertial reference point is labeled N and the inertial reference
frame is N = (bi, bj). (3pts)

Other Points and Frames: The body-attached points, A, B, and c represent the mass centers of each
b A, Y
block and D and E are the mass centers of the pulleys. The body-attached frames are A = (X b A ), B
b b b b b b b b
= (XB , YB ), C = (XC , YC ), D = (XD , YD ), and E = (XE , YE ). (10pts)

Location Descriptions:
N N N
LA = {PNA , A R} + geom. LB = {PNB , B R} + geom. LC = {PNC , C R} + geom. (12pts)

LD = {PND , N
D R} + geom.
N
LE = {PNE , E R} + geom. (8pts)

PNA = −x bj PNB = z bi PNC = L bi − y bj (6pts)

PND = −L bi + rD bi − rD bj PNE = −rE bi − rE bj (4pts)

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Homework #8 (1457pts) Due November 23, 2016

^j ^ (2pts)
YA

b
 XA
 = bi (2pts)
N
AR =
bA
Y = bj (2pts)
|{z} 

(2pts) bA
Z = b
k (2pts)
^
^i X
(2pts) A

^j ^ (2pts)
YB

b
 XB
 = bi (2pts)
N
BR =
bB
Y = bj (2pts)
|{z} 

(2pts) bB
Z b
= k (2pts)
^
^i X
(2pts) B

^j ^ (2pts)
YC

b
 XC
 = bi (2pts)
N
CR =
bC
Y = bj (2pts)
|{z} 
 b
(2pts) ZC b
= k (2pts)
^^
(2pts) i XC

^j (1pts)
^ (1pts) ^ 
Y X b cos(θ) bi + sin(θ) bj
 XD = (4pts)
D D
(1pts)

N
DR =
bD
Y = b b
− sin(θ) i + cos(θ) j (4pts)
θ |{z} 

(2pts) bD
Z = b
k (2pts)
(1pts)
θ (1pts) ^i

^j (1pts)
^ (1pts) ^ 
Y X b cos(α) bi + sin(α) bj
 XE = (4pts)
E E
(1pts)

N
ER =
bE
Y = b b
− sin(α) i + cos(α) j (4pts)
α |{z} 

(2pts) bE
Z = b
k (2pts)
(1pts)
α (1pts) ^i

Coordinates: Five coordinates are used to describe this system, x, y, z, θ and α. (5pts)
Constraints: Examining this system one can see that the five coordinates are not independent (assume
the rope is always in tension); fixing one of the coordinate fixes the others. Thus we need to find four
constraints. (4pts)
Two of the constraints are found by noticing that the length of the rope must be constant,
L − z + y = H = constant x + z = J = constant (4pts)
We can use arclength constraints to relate the rotational coordinates
y = −rD θ x = rE α (4pts)
Degrees-of-Freedom (DOF):
5 coordinates − 4 constraints = 1 DOF (1pts)
Givens: µk = 0.1, mB = 20lb, mA = 10lb, mC = 6lb, N VNA (t = 0s) = N VNB (t = 0s) = N VNC (t = 0s) = 0,
PNA (tf ) − PNA (0) = −2f t bj. (8pts)
Objectives: kN VNA (tf )k =? (1pts)
Velocity:
N
dPNA
N
VNA = = ż bi (4pts)
dt

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Homework #8 (1457pts) Due November 23, 2016
N
dPNB
N
VNB = = ż bi (4pts)
dt
N
dPNC
N
VNC = = −ẏ bj (4pts)
dt
N
N dPND
VND = = 0 (2pts)
dt
N
N dPNE
VNE =
= 0 (2pts)
dt
We can find the angular velocities by inspection as:
N
ωA = N
ωB = N
ωC = 0 (6pts)
N
ω D b
= θ̇ k N
ω E b
= α̇ k (4pts)
We can also differentiate the constraints to get
d
(x + y + L = H) → ẋ + ẏ = 0 (2pts)
dt
d
(x + z = J) → ẋ + ż = 0 (2pts)
dt
d
(y = −rD θ) → ẏ = −rD θ̇ (2pts)
dt
d
(x = rE α) → ẋ = rE α̇ (2pts)
dt
Acceleration:
dN VNA
N
V̇NA = = −ẍbj (4pts)
dt
dN VNB
N
V̇NB = = z̈bi (4pts)
dt
dN VNC
N
V̇NC = = −ÿbj (4pts)
dt
N
V̇ND = N V̇NE = 0 (2pts)
The angular accelerations are
N
ω̇A = N
ω̇B = N
ω̇ C = 0 (6pts)
N D N E
d ω b d ω b
N
ω̇ D = = θ̈ k N E
ω̇ = = α̈ k (4pts)
dt dt
We can also differentiate the constraints to get
d
(ẋ + ẏ = 0) → ẍ + ÿ = 0 (2pts)
dt
d
(ẋ + ż = 0) → ẍ + z̈ = 0 (2pts)
dt
d  
ẏ = −rD θ̇ → ÿ = −rD θ̈ (2pts)
dt
d
(ẋ = rE α̇) → ẍ = rE α̈ (2pts)
dt
Mass Properties: The mass of the block A is mA , mass of the block B is mB and mass of the block C is
mC . The masses mD = mE = 0 (5pts)
The inertia dyadics for each of the bodies is:
IAA = IAx X b A + IAy Y
b AX b A + IAz Z
b AY bA
bAZ (3pts)
IBB = IBx X b B + IBy Y
b BX b B + IBz Z
b BY bB
bBZ (3pts)
ICC = ICx X b C + ICy Y
b CX b C + ICz Z
b CY bC
b CZ (3pts)
IDD = IDx X b D + IDy Y
b DX b D + IDz Z
b DY bD = 0
b DZ (3pts)
IEE = IEx X b E + IEy Y
b EX b E + IEz Z
b EY bE = 0
b EZ (3pts)

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Homework #8 (1457pts) Due November 23, 2016
Forces and Moments:
P
( F)A = (T3 − mA g) bj (4pts)
P
( F)B = (T2 − T1 + f ) bi + (N − mB g) bj (10pts)
P
( F)C = (T4 − mC g) bj (4pts)
P
( F)D = (Dx − T2 ) bi + (Dy − T4 ) bj (8pts)
P
( F)E = (T1 − Ex ) bi + (Ey − T3 ) bj (8pts)
The sum of moments for each body is
P P
( M)AA = ( M)CC = 0 (4pts)
P
( M)BB = −h bj × (−f )bi + m k
b (6pts)

bi bj b
k
P
( M)BB = b b
0 −h 0 + m k = (m − f h) k (3pts)
−f 0 0
P
( M)DD = rD bj × (−T2 )bi + rD bi × (−T4 )bj (8pts)

bi b bi
bj k bj b
k
P
( M)DD = rD 0 0 b
0 + rD 0 = rD (T2 − T4 ) k (4pts)
−T2 0 0 0 −T4 0
P
( M)EE = rE bj × (T1 )bi + (−rE ) bi × (−T3 )bj (8pts)

bi bj b
k bi bj b
k
P
( M)EE = + −rE b
= rE (T3 − T1 ) k (4pts)
0 rE 0 0 0
T1 0 0 0 −T3 0
Equations of Motion: The Newton-Euler equations for this system are
P
( F)A = mA N V̇NA → (T3 − mA g) bj = −mA ẍ bj (3pts)
P
( F)B = mB N V̇NB → (T2 − T1 + f ) bi + (N − mB g) bj = mB z̈ bi (3pts)
P
( F)C = mC N V̇NC → (T4 − mC g) bj = −mC ÿ bj (3pts)
P
( F)D = mD N V̇ND → (Dx − T2 ) bi + (Dy − T4 ) bj = 0 (3pts)
P
( F)E = mE N V̇NE → (T1 − Ex ) bi + (Ey − T3 ) bj = 0 (3pts)
P
( M)AA = IAA · N ω̇ A + N ω A × IAA · N ω A → 0 = 0 (3pts)
P b = 0
( M)BB = IBB · N ω̇ B + N ω B × IBB · N ω B → (m − f h) k (3pts)
P
( M)CC = ICC · N ω̇ C + N ω C × ICC · N ω C → 0 = 0 (3pts)
P N D N D N D b = 0
( M)DD = IDD · ω̇ + ω × IDD · ω → rD (T2 − T4 ) k (3pts)
P b = 0
( M)DD = IEE · N ω̇ E + N ω E × IEE · N ω E → rE (T3 − T1 ) k (3pts)
Separating these into scalar equations yields
T3 − mA g = −mA ẍ (1pts)
T2 − T1 + f = mB z̈ N = mB g (2pts)
T4 − mC g = −mC ÿ (1pts)
Dx = T 2 Dy = T 4 (2pts)
T1 = Ex Ey = T3 (2pts)
m = fh T2 = T4 T3 = T1 (3pts)
Most of these scalar equations indicate a force balance. However, three of them involve acceleration and
yield
T1 − mA g = −mA ẍ

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Homework #8 (1457pts) Due November 23, 2016
T2 − T1 + µk N = T2 − T1 + µk mB g = mB z̈
T2 − mC g = −mC ÿ
We can combine these three equations to obtain
(mC g − mC ÿ) − (mA g − mA ẍ) + µk mB g = mB z̈
Using the constraints on acceleration we can obtain
(mC g + mC ẍ) − (mA g − mA ẍ) + µk mB g = −mB ẍ
or
m A g − m C g − µk m B g
ẍ =
mB + mC + mA
is our equation of motion.
Solution:
Substituting the known parameters
10lb − 6lb − 0.1 · 20lb
ẍ = 32.2f t/s2
10lb + 20lb + 6lb
ẍ = 1.79f t/s2 (2pts)
We can find the speed of block A by integrating the acceleration as
Z
(ẍ = 1.79f t/s2 ) dt
Z
(ẋ = 1.79tf t/s2 + C1 ) dt (2pts)

1.79f t/s2 t2
x(t) = + C1 t + C2 (2pts)
2
Using the initial conditions we find that
N
VNA (0s) = −ẋ(0s) bj = C1 bj = 0 bj → C1 = 0 (2pts)
Now using the change in height condition
!
1.79f t/s2 t2f
PNA (tf ) − PNA (0) = −x(tf ) bj + x(0s) bj = − − C2 + C2 bj = −2f t bj
2
r
2
tf = 2f t = 1.5s (2pts)
1.79f t/s2
and we can find the speed at tf as
kN VNA (tf )k = |ẋ| = |(1.79f t/s2 )(1.5s)| = 2.6758f t/s (2pts)

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Homework #8 (1457pts) Due November 23, 2016
2. (133pts) Determine the acceleration of the 150lb cabinet in Fig. 5.2, and the normal reaction under the
legs A and B if P = 35lb. The coefficients of static and kinetic friction between the cabinet and the plane
are µs = 0.2 and µk = 0.15, respectively. The cabinet’s center of gravity is located at G.

^ ^ (2pts)
Y AYN
L
(1pts)
L
(1pts)

(1pts) (1pts)
C
P (1pts)
^ X^ (2pts)
G X A N

(1pts)

LP LG
mAg (1pts)

(1pts)
(1pts) (1pts) (1pts)
(1pts)
N fΑ A B
(1pts) fΒ
x NΒ(1pts)
(1pts)
NΑ (1pts)

Figure 5.2: Frames (4pts), points (2pts), coordinates (1pts), parameters (0pts), forces (10pts).

Simplifications: Assume that the feet of the cabinet are in point contact with the ground. We will
examine tipping of the cabinet at the instant before any rotation actually occurs, so no extra coordinates
are added here.
Rigid Bodies There is one rigid body to consider in this problem, the cabinet. (1pts)
Inertial Reference
 Frame
 and Point: The inertial reference point is labeled N and the inertial reference
b b
frame is N = XN , YN . (3pts)
Other Points and Frames: The body-attached point, G represents the mass center of body A. Points
A and B reprsent the contact points where the cabinet’s feet touch the ground.
 Point C is the point of
application of the human’s force. The body-attached frame is A = X b A, Y
bA . (2pts)
Location Descriptions:
LG = {PNG , N bN
b N + LG Y
A R} + geom. PNG = (x + L) X (6pts)

^ ^
Y N YA
(2pts) 
b bN
 XA
 = X (2pts)
N
AR =
bA
Y bN
= Y (2pts)
|{z} 
 b
(2pts) ZA bN
= Z (2pts)
^ X
(2pts) X ^
N A

Coordinates: One coordinate is used to describe the cabinet, x. (1pts)

Constraints: Since all coordinates can be set freely, no constraints are required. (1pts)
Degrees-of-Freedom (DOFs):

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Homework #8 (1457pts) Due November 23, 2016
1 coordinates − 0 constraints = 1 DOFs (1pts)
Givens: LP = 4f t, LG = 3.5f t, L = 1f t, µs = 0.2 and µk = 0.15. (5pts)
N
Objectives: Find V̇NG , NA and NB . (3pts)
Velocities: The translational velocity of the mass center is:
N dPNG bN
VNG = = ẋ X (4pts)
dt
The angular velocity of the cabinet can be found by inspection
N
ωA = 0 (2pts)
Acceleration:
N dN VNG bN
V̇NG = = ẍ X (4pts)
dt
N A dN ω A bN
ω̇ = = θ̈ Z (4pts)
dt
Mass Properties: The mass of the cabinet is mG . (1pts)
The inertia dyadic for the cabinet is
IGG = Ix X b A + Iy Y
b AX b A + Iz Z
b AY bA
b AZ (3pts)
Forces and Moments: The sum forces on the cabinet are:
P b N + (P − fA − fB ) X
bN
( F)G = (NA + NB − gmG ) Y (12pts)
If the cabinet begins to tip over, NA = fA = 0.
Summing moments about point G yields
P    
( M)GG = PGA × NA Y b N − fA X b N − fB X
b N + PGB × NB Y bN
b N + PGC × P X (8pts)
where
bN − L X
PGA = −LG Y bN PGB = −LG Y b N + LXbN (4pts)
PGC = (LP bN − L X
− LG ) Y bN (2pts)
     
 X
bN YbN ZbN   XbN bN Z
Y bN   X b bN
Y bN 
Z
P      N 
( M)GG =  −L −LG 0 +
  L  + 
−LG 0   −L LP − LG 0  (6pts)
 −fA NA 0   −fB NB 0   P 0 0 
P bN
( M)GG = (−LNA − fA LG + LNB − fB LG − P (LP − LG )) Z (5pts)
If the cabinet begins to tip over, then NA = fA = 0.
Equations of Motion: Here we will use Euler’s First and Second Laws to obtain:
P
( F)G = mG N V̇NG (2pts)
b N + (P − fA − fB ) X
(NA + NB − gmG ) Y b N = mG ẍ X
bN (1pts)
P N A N A N A
( M)GG = IGG · ω̇ + ω × IGG · ω (2pts)
bN = 0
(−LNA − fA LG + LNB − fB LG − P (LP − LG )) Z (1pts)
These vector equations can be separated into scalar equations as
P − fA − fB = mG ẍ (1pts)
NA + NB − gmG = 0 (1pts)
−LNA − fA LG + LNB − fB LG − P (LP − LG ) = 0 (1pts)
Now the question is how to eliminate the unknown forces from the equations. There are four unknown
forces in the above equations, fA , fB , NA , and NB , but we only have three equations. Thus we can not
simply use algebra to eliminate the unknown forces and find our single equation of motion. We first need
to assess whether the cabinet slips or tips over before we can determine the equation of motion. Therefore
we will stop the process here with these equations and move on to solving the problem.
Solution: First we want to consider if the cabinet will tip over, which will occur if point B does not move
and point A begins to lift off of the ground. Here we will examine the instant before the cabinet begins to
rotate, ẍ = 0 and NA = fA = 0:

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Homework #8 (1457pts) Due November 23, 2016
P − fB = mG ẍ = 0 (1pts)
NB − gmG = 0 (1pts)
LNB − µs NB LG − P (LP − LG ) = 0 (1pts)
such that
fB = P = 35lb (1pts)
NB = gmG = 150lb (1pts)
If the cabinet tips then
?
35lb = |fB | < µs |NB | = 0.2 · 150lb = 30lb (2pts)
This relation is not satisfied so we know that the cabinet will slip:
P − µk NA − µk NB = mG ẍ (1pts)
NA + NB − gmG = 0 (1pts)
−LNA − µk NA LG + LNB − µk NB LG − P (LP − LG ) = 0 (1pts)
or
P − µk (NA + NB ) = mG ẍ
NA + NB = gmG = 150lb
−LNA − µk NA LG + LNB − µk NB LG − P (LP − LG ) = 0
The first scalar equation above yields
P − µk (NA + NB ) 35lb − 0.2 · 150lb
ẍ = = 150lb
= 1.07f t/s2 (1pts)
mG 2
32.2f t/s
Therefore
N bN
V̇NG = 1.07f t/s2 X (2pts)
Now we can solve for NA as
NA = 150lb − NB
We can also write
−LNA + LNB = P (LP − LG ) + µk LG (NA + NB )
−L (150lb − NB ) + LNB = P (LP − LG ) + µk LG (NA + NB )
2LNB = P (LP − LG ) + µk LG (NA + NB ) + L150lb

P (LP − LG ) + µk LG (NA + NB ) + L150lb

NB =
2L
35lb (4f t − 3.5f t) + 0.15 · 3.5f t · 150lb + 1f t · 150lb
NB = = 123.125lb (2pts)
2 · 1f t
Finally
NA = 150lb − 123.125lb = 26.875lb (2pts)

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Homework #8 (1457pts) Due November 23, 2016
3. (225pts) The 5kg cylinder in Fig. 5.3, is initially at rest when it is placed in contact with the wall B and
the rotor at A. If the rotor always maintains a constant clockwise angular velocity of ω = 6rad/s, determine
the initial angular acceleration of the cylinder. The coefficient of kinetic friction at the contacting surfaces
B and C is µk = 0.2.

^
R
^ (1pts)
X A
fA
^
Y
(1pts)

A
(1pts)

ΝΑ (1pts)
R(1pts) (1pts)
(1pts)

ΝΒ mBg

C fB D
θ(1pts)
^
T ΝΒ
(1pts)

Β fx
(1pts)

Ε fB
(2pts) Ν,Α (1pts) mAg
(1pts) (1pts)
fy(1pts)
(1pts)
β
^
Y B
^ (1pts)
X
C,D B
(2pts)
α (1pts)
^j (1pts) r Β
^i(1pts)
(1pts)
(1pts)

Figure 5.3: Frames (6pts), points (5pts), coordinates (2pts), parameters (2pts), forces (20pts).

Simplifications: None.
Rigid Bodies: There are two rigid bodies in this problem, the wheel and the cylinder. (2pts)
Inertial Reference Frame and Point: The inertial reference point is labeled N and the inertial reference
frame is N = (bi, bj). (3pts)
Other Points and Frames: The body-attached points, A and B, represent the mass centers of the
cylinder and wheel. The body-attached frames are A = (X b A, Y
b A ) and B = (X
b B, Y
b B ). Point C is attached
to the cylinder and point D is attached to the small wheel and they represent the contact points between
the cylinder and wheel. The frame C = (R, b T)
b is used to locate the contact point between the wheel and
b
the cylinder where the T direction is tangent to both the wheel and the cylinder at the contact point; Note
that frame C does not rotate. (6pts)
Location Descriptions:
LA = {PNA , N
A R} + geom. LB = {PNB , N
B R} + geom. (8pts)
PNA = 0 b
PNB = −(R + r) R (4pts)
^j (1pts)
^ (1pts)
Y ^
A X A 
b = cos(θ) bi + sin(θ) bj
(1pts)  XA
 (4pts)
θ
N
AR =
bA
Y b b
= − sin(θ) i + cos(θ) j (4pts)
|{z} 

(1pts) (2pts) bA
Z b
= k (2pts)
θ (1pts) ^i

Coordinates: Two coordinates are used to describe this system, θ and α; β is a constant. (2pts)
Constraints: Notice that if we allow the cylinder to slip at the wall and wheel then α does not determine
θ. Thus both coordinates are independent and no constraints are needed. (1pts)

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Homework #8 (1457pts) Due November 23, 2016
^j (1pts)
^ (1pts)
Y ^
B X B 
(1pts)  b
 XB = cos(α) bi + sin(α) bj (4pts)
α
N
BR =
bB
Y = − sin(α) bi + cos(α) bj (4pts)
|{z} 

(1pts) (2pts) bB
Z = b
k (2pts)
α (1pts) ^i
^j (1pts)
^ (1pts)
R ^
T 
(1pts)  b
 T = cos(β) bi + sin(β) bj (4pts)
β
N
CR =
b
R = − sin(β) bi + cos(β) bj (4pts)
|{z} 

(1pts) (2pts) b
Z = b
k (2pts)
β (1pts) ^i

Degrees-of-Freedom (DOF): The system has two coordinates and no constraints, therefore there are
two DOF.
2 coordinates − 0 constraints = 2 DOF (1pts)
b
Givens: The cylinder has a mass mA = 5kg , β = 45 , R = 0.125m, ω (0s) = −6rad/sk,
◦ N B
N A
ω (t = 0s) = 0, and µk = 0.2. (6pts)
N A
Objectives: Find ω (0s). (1pts)
Velocity: The velocity of point A is found by differentiating the position vector:
N
N dPN A
VNA = = 0 (2pts)
dt
N N b
N dPN B d(−R − r) b dR
VNB = = R + (−R − r) = 0 (2pts)
dt dt dt
The angular velocities can be found by inspection
N A
ω = θ̇ k b N B
ω = α̇ k b (4pts)
Acceleration: Since the velocities of points A and B equal zero, the accelerations will also be:
N
V̇NA = N V̇NB = 0 (2pts)
The angular accelerations are:
N N
N A d ωA b
ω̇ = = θ̈ k (4pts)
dt
N N
d ωB b
N
ω̇B = = α̈ k (4pts)
dt
Mass Properties:
The cylinder’s mass is mA and the wheel’s mass is mB . (2pts)
The inertia dyadics for the cylinder and the wheel are:
IAA = IAx X b A + IAy Y
b AX b A + IA Z
b AY bA
bAZ (3pts)
IBB = IBx X b B + IB Y
b BX b B + IB Z
b BY bB
bBZ (3pts)
y

where the moments of inertia about the kb direction and with respect to the mass center can be found in
the back of the textbook as:
mA R 2
IA = (2pts)
2
b direction
and likewise the wheel has a moment of inertia about the k
mB r 2
IB = (2pts)
2
Forces and Moments: The sum of forces on each body are:
P
( F)A = NA bi + NB R b + fB T b + (fA − mA g) bj (10pts)

126
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Homework #8 (1457pts) Due November 23, 2016
P b
b + fB T
( F)B = −fx bi + (fy − mB g) bj − NB R (10pts)
The sum moments on the cylinder about its mass center is:
P    
( M)AA = PAE × NA bi + fA bj + PAC × NB b + fB T
R b (6pts)
P    
( M)AA = −Rbi × NA bi + fA bj − RR b × NB b + fB T
R b (4pts)
   
 bi bj k b   T b R b b 
Z
P    

( M)AA =  −R 0 0  −  0 R   0  (4pts)
 NA fA 0   fB NB 0 
P b
( M)AA = −R (fA − fB ) k (2pts)
The sum moments on the wheel about its center of mass is:
P  
( M)BB = PBD × −NB R b − fB T b (3pts)
 
   b
T b
R b 
Z
P  
( M)BB = rR b × −NB R b − fB T b =  0 r 0  (4pts)

 −fB −NB 0 
P b
( M)BB = rfB k (2pts)
Equations of Motion: We will use Newton’s second law to solve this problem:
P
( F)A = mA N V̇NA (2pts)
NA bi + NB R b + (µk NA − mA g) bj = 0
b + µk N B T (1pts)
   
NA bi + NB − sin(β) bi + cos(β) bj + µk NB cos(β) bi + sin(β) bj + (µk NA − mA g) bj = 0 (2pts)
P N
( F)B = mB V̇NB (2pts)
−fx bi + (fy − mB g) bj − NB Rb − µk N B T b =0 (1pts)
   
−fx bi + (fy − mB g) bj − NB − sin(β) bi + cos(β) bj − µk NB cos(β) bi + sin(β) bj = 0 (2pts)
P
( M)AA = IAA · N ω̇A + N ω A × IAA · N ω A (2pts)
−Rµk (NA − NB ) k b A + θ̇ Z
b = IA θ̈ Z b A × IA θ̇ Z b
b A = IA θ̈ k (1pts)
P
( M)BB = IBB · N ω̇ B + N ωB × IBB · N ω B (2pts)
b = IB α̈ Z
rµk NB k b B + α̇ Z
b B × IB α̇ Z b
b B = IB α̈ k (1pts)
Separating into scalar equations yields
NA − NB sin(β) + µk NB cos(β) = 0 (1pts)
NB cos(β) + µk NB sin(β) + (µk NA − mA g) = 0 (1pts)
−fx + NB sin(β) − µk NB cos(β) = 0 (1pts)
(fy − mB g) − NB cos(β) − µk NB sin(β) = 0 (1pts)
−Rµk (NA − NB ) = IA θ̈ (1pts)
rµk NB = IB α̈ (1pts)
Solving the first two scalar equations yields
NA = NB (sin(β) − µk cos(β))
NB (cos(β) + µk sin(β)) + µk NA = mA g
NB (cos(β) + µk sin(β)) + µk NB (sin(β) − µk cos(β)) = mA g

mA g
NB cos(β) + 2µk sin(β) − µ2k cos(β) = mA g → NB =
cos(β) + 2µk sin(β) − µ2k cos(β)
mA g (sin(β) − µk cos(β))
NA =
cos(β) + 2µk sin(β) − µ2k cos(β)
Now having found NA and NB we can find the two equations of motion as

127
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Homework #8 (1457pts) Due November 23, 2016
 
sin(β) − µk cos(β) − 1 mA R 2
−Rµk mA g = θ̈ (2pts)
cos(β) + 2µk sin(β) − µ2k cos(β) 2
mA g mB r 2
rµk 2 = α̈ (2pts)
cos(β) + 2µk sin(β) − µk cos(β) 2
Solution:
We can now find θ̈(0s) using the equations of motion
 
sin(45◦ ) − 0.2 cos(45◦ ) − 1 5kg(0.125m)2
−(0.125m)0.2(5kg)(9.81m/s )2
= θ̈(0s)
cos(45◦ ) + 2 · 0.2 sin(45◦ ) − 0.22 cos(45◦ ) 2
0.5538kgm2 /s2 = 0.0391kgm2 θ̈(0s)
14.2rad/s2 = θ̈(0s) (2pts)
N b
ω̇ A (0s) = 14.2rad/s2 k (2pts)

128
page total (8pts)
Homework #8 (1457pts) Due November 23, 2016
4. (163pts) The door will close automatically using torsional springs mounted on the hinges. If the torque
on each hinge is M = kθ, where θ is measured in radians, find the equations of motion for this system.
(Bonus (13pts): Determine the required torsional stiffness k so that the door will close (θ = 0◦ ) with an
angular velocity ω = 2rad/s when it is released from rest at θ = 90◦ . For the calculation, treat the door as
a thin plate having a mass of 70kg.)

Four reaction moments, Mx1, My1,

fy1 (1pts) fz1 Mx2, and My2, also act at the hinges
but are not shown. (4pts)
(1pts)
B (1pts)

fx1 (1pts)
(1pts)
L2
(1pts)
(1pts) mAg (1pts)
^
ZA k

(2pts) N
^

A (1pts)

(1pts) fz2 L1
fy2 (1pts)
(1pts) C (1pts)
L2
fx2 (1pts)
(1pts) ^j Y^ A
θ (1pts)
(2pts)

Frames (4pts), points (4pts), coordinates (1pts), parameters (2pts) forces (26pts)

Rigid Bodies There is only one rigid body, the door, in this problem. (1pts)
Inertial Reference Frame and Point: The inertial reference point is labeled N and the inertial reference
frame is N = (bi, bj). (3pts)
Other Points and Frames: The body-attached point is labeled A and represents the mass center of the
b A, Y
door. The body-attached frame is A = (X b A ). (2pts)
Location Descriptions:
N
LA = {PNA , A R}+ geom. (4pts)
PNA bA
= L1 Y (2pts)

^j
^ (1pts) (1pts) ^ 
Y X b = cos(θ) bi + sin(θ) bj
 XA (4pts)
A A
(1pts)

N
AR =
bA
Y b b
= − sin(θ) i + cos(θ) j (4pts)
θ |{z} 

(1pts) (2pts) bA
Z b
= k (2pts)
θ ^
(1pts) i

Coordinates: A single coordinate, θ, is needed to describe this system. (1pts)

Constraints: This problem has no constraints because θ can be set freely. (1pts)
Degrees-of-Freedom (DOF):
1 coordinate − 0 constraints = 1 DOF (2pts)
Givens: The door has a mass mA = 70kg. θ(0s) = −90 = ◦
− π2 , θ(tf ) = 0 ,
◦ N A
ω (0s) = 0, N A
ω (tf ) =
b L1 = 0.6m, and L2 = 1.15m.
2rad/sk, (7pts)

129
page total (64pts)
Homework #8 (1457pts) Due November 23, 2016
Objectives: Find k. (1pts)
Mass Properties: The mass of the door is mA . (1pts)
b axis and with respect to the mass center can be found in the back of
Its moment of inertia about the k
the textbook as:
IAA = Ixx X b A + Iyy Y
b AX b A + Izz Z
b AY bA
b AZ (3pts)
mA 4L21
Ixx = (2pts)
12
Velocity: The translational velocity of point A can be found by differentiating its position vector
N
N dPNA
VNA = (2pts)
dt
N b
N dL1 b dYA bA
VNA =
YA + L1 = −L1 θ̇ X (2pts)
dt dt
The angular velocity can be found by inspection as:
N b
ωA = θ̇ k (2pts)
Acceleration: The acceleration of point A is found by differentiating its velocity vectors:
N N
N d VNA
V̇NA = (2pts)
dt
N b
N dL1 θ̇ b dXA bA
b A − L1 θ̇2 Y
V̇NA =− XA − L1 θ̇ = −L1 θ̈ X (4pts)
dt dt
N N
d ωA b
N
ω̇A =
= θ̈ k (4pts)
dt
Forces and Moments: The sum forces on the rod is:
P b A + (fx1 + fx2 ) X
b A + (fy1 + fy2 ) Y
bA
( F)A = (fz1 + fz2 − mA g) Z (3pts)
Summing moments about the mass center yields
P b A + (Mx1 + Mx2 ) X b A + (My1 + My2 ) Y
b
( M)AA = 2M Z    A+ 
b A + fz1 Z
b A + fy1 Y b A + fy2 Y
b A + PAC × fx2 X bA
b A + fz2 Z (14pts)
PAB × fx1 X
Now
PAB = −L1 Y bA
b A + L2 Z (1pts)
PAC = −L1 Y bA
b A − L2 Z (1pts)
so that
 
   XbA Y bA Z bA 

PAB × fx1 X b A + fy1 Y bA = 
b A + fz1 Z 0 −L1 L2  (5pts)

 fx1 fy1 fz1 
 
PAB × fx1 X b A + fz1 Z
b A + fy1 Y b A + L2 fx1 Y
b A = − (L1 fz1 + L2 fy1 ) X bA
b A + L1 fx1 Z (2pts)
 
   XbA Y bA Z bA 

PAC × fx2 X b A + fy2 Y bA = 
b A + fz2 Z 0 −L1 −L2  (5pts)

 fx2 fy2 fz2 
 
PAC × fx2 X b A = (−L1 fz2 + L2 fy2 ) X
b A + fz2 Z
b A + fy2 Y b A − L2 fx2 Y bA
b A + L1 fx2 Z (2pts)
so finally the sum of moments is
P b A + (Mx1 + Mx2 ) X b A + (My1 + My2 ) Y b A+
( M)AA = −2kθZ
− (L1 fz1 + L2 fy1 ) X b A+
b A + L1 fx1 Z
b A + L2 fx1 Y (2pts)
(−L1 fz2 + L2 fy2 ) X bA
b A + L1 fx2 Z
b A − L2 fx2 Y
Equations of Motion: We will use Newton’s second law and the rotational equations of motion to solve
this problem:
P
( F)A = mA N V̇NA (2pts)

130
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Homework #8 (1457pts) Due November 23, 2016
 
b A + (fx1 + fx2 ) X
(fz1 + fz2 − mA g) Z b A + (fy1 + fy2 ) Y
b A = mA b A − L1 θ̇2 Y
−L1 θ̈ X bA (1pts)
P
( M)AA = IAA · N ω̇ A + N ωA × IAA · N ωA (2pts)
mA 4L21 b b A + (Mx1 + Mx2 ) X b A + (My1 + My2 ) Y b A+
θ̈ ZA = −2kθZ
12
b A + L2 fx1 Y
− (L1 fz1 + L2 fy1 ) X bA+
b A + L1 fx1 Z (1pts)

(−L1 fz2 + L2 fy2 ) X bA

b A + L1 fx2 Z
b A − L2 fx2 Y
Separating into scalar equations yields
fx1 + fx2 = −mA L1 θ̈ (1pts)
2
fy1 + fy2 = −mA L1 θ̇ (1pts)
fz1 + fz2 − mA g = 0 (1pts)
Mx1 + Mx2 − L1 fz1 − L2 fy1 − L1 fz2 + L2 fy2 = 0 (1pts)
My1 + My2 + L2 fx1 − L2 fx2 = 0 (1pts)
mA 4L21
−2kθ + L1 (fx1 + fx2 ) = θ̈ (1pts)
12
We can eliminate the reaction forces from the sixth scalar equations to get our single equation of motion
that corresponds to the single DOF as:
  mA 4L21
−2kθ + L1 −mA L1 θ̈ = θ̈ (1pts)
12
4
0 = 2k θ + mA L21 θ̈ (2pts)
3
Solution:
In order to achieve our objectives, We cannot simply integrate the equation of motion because it contains
θ directly. However, notice that the equation of motion has the form of a harmonic oscillator:
2mA L21
0 = θ + θ̈ = θ + a θ̈
3k
There are many techniques available for solving this equation and they are discussed in the differential
equations course. One way to solve it is to guess the form of the solution as:
θ(t) = Aest θ̇(t) = Asest θ̈(t) = As2 est (1pts)
Substituting these relations into the equation of motion yields


0 = Aest 1 + as2
Setting Aest = 0 would yield the trivial solution θ(t) = 0 so instead we consider
r
2 1
0 = 1 + as and thus two solution for s as s = ±i where i2 = −1 (1pts)
a
A general solution can be composed from these two solutions for s as
√1 √1
θ(t) = A1 eit a + A2 e−it a (1pts)
ix
This solution can be expressed differently using Euler’s formula e = cos(x) + i sin(x) to get
r ! r !
1 1
θ(t) = (A1 + A2 ) cos t + (A1 − A2 ) i sin t (1pts)
a a
We can use the initial conditions in the givens to solve for the constants in this equation
N A
ω (0s) = 0 k b = θ̇(0s) kb or θ̇(0s) = 0 (1pts)
which when used with the derivative of θ(t):
r r ! r r !
1 1 1 1
θ̇(t) = − (A1 + A2 ) sin t + (A1 − A2 ) i cos t
a a a a
we get
r r r
1 1 1
θ̇(0) = 0 = − (A1 + A2 ) sin (0) + (A1 − A2 ) i cos (0) = (A1 − A2 ) i (1pts)
a a a

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Homework #8 (1457pts) Due November 23, 2016
Now looking at the initial position from the givens yields
π
θ(0) = − = (A1 + A2 ) cos (0) = (A1 + A2 ) (1pts)
2
and thus the solution is
r ! r r !
π 1 π 1 1
θ(t) = − cos t θ̇(t) = sin t (1pts)
2 a 2 a a
In order to solve for k we impose the conditions when the door closes from the givens tf
N b = θ̇(tf ) k
ωA (tf ) = 2rad/s k b or θ̇(tf ) = 2rad/s (1pts)
to get
r ! r r !
π 1 π 1 1
θ(tf ) = 0rad = − cos tf θ̇(tf ) = 2rad/s = sin tf (1pts)
2 a 2 a a
From the θ(tf ) equation we find that
r ! r √
1 1 π π a
0 = cos tf or tf = therefore tf = (1pts)
a a 2 2
Plugging this into the θ̇(tf ) equation yields
r √ r ! r π  r
π 1 π a 1 π 1 π 1
2rad/s = sin = sin = (1pts)
2 a 2 a 2 a 2 2 a
or
π2 1 π2 2mA L21
4rad2 /s2 = a = =
4 a 16rad /s
2 2
3k
and finally
2mA L21 16rad2 /s2 2 · 70kg · (0.6m)2 · 16rad2 /s2 268.8kgm2 /s2
k = = = = 27.24N m (1pts)
3π 2 3π 2 π2

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