at the 8 the 88) ved, rotating about q is fixed a the effective forces about the axis of aie cai aa! Let the axis of rotation be OZ A Take a plane AOZ through OF nd aed tte Plane of the paper. the paper along » cutting the plane of OA. Let this plane be taken as the plane of reference. Let @ be the angle, which another plane ZOG through the axis fixed in the body makes with the plane AOZ. Take a particle of mass m at Q and let the plane through OZ and Q cut he ‘plane of the paper along OP. Let the angle between ZOP and ZOG be a . When body rotates about OZ, o remains constant, Let the angle between the plane ZOP and the plane ZOA be}. Now 6+ a= 6 ~ 6= > and O=5 The accelerations of the particle of mass m are rg? and rg along ON and perpendicular to QN respectively. Therefore effective forces on the particles are mr” and mr’ in the above said directions. Again rb? = r@? andré = r6 The moment of the force mr6? about OZ is zero and moment of the force mr§ about OZ (& NZ) is r.mro = mP§ =m?6 Hence 'the moment of the effective forces of the whole body about OZ is Zm?°6 = 6 Sm/?= Mk, where k is the radius of gyration of the body about OZ. : ‘ Moment of momentum about the axis of rotation. Velocity of the particle m iso perpendicular to ON. Therefore the moment of momentum of the particle about OZ is m6 or m?6. ” OE ie Be | ak. nee Scanned with CamScanner_ 80 DYNAMICS OF A RIGID Bopy Hence the moment of momentum of the whole body about OZ is Em? = (EmP)0 = OLmP = MPO pence (0 2 02. Kinetic Energy : The kinetic energy of the particles of mass m js MoTION AB ace we require smo. x2. A P' 2 1 rount Hence K.E. of the whole body is 1 of : . 0 xh mg? = sh m2? = $0 Dn? Mee. completed 2 2 a et é 2-03. Equation of motion : oo ited The impressed forces include besides the external forees, the reactions ae tet F on the axis of rotation OZ. We take moment about OZ, so that this ean reaction could be avoided i.e. the moment of the effective forces about ve ‘OZ will be equal to the moment of the external forces about OZ. Thus for the mi M&26 = L, where L represents the moment of all external forces Bava about OZ. Above equation is called the equation of motion of the body. mk In the case of impulsive forces if «, and @, be angular velocities of the On elimir body just before and just after the action of the impulses, L the moment 2g a e s i of the impulses then we have MK*(o)- @,) = L. ILLUSTRATIVEEXAMPLES ein Ex. A straight uniform rod can tum freely about one end O, hangs from Therefor © vertically: Find the least angular velocity with which it must begin to we get, 3 move so that it may perform complete revolution in a vertical plane. This is t Sol. Let the rod OA at any instant t make an angle @ Ex3.A u with the initial vertical position OX. Let G be the centre} inclinatio of gravity and GN perp. to OX. Let OA = a and mass @ smoot! of the rod be m. The equation of motion is position ae a N angle thr mk§ = -mg| 5) sin® - Moment of effective forces about the axis of » | \A peltet about the axis o eS 6 with v : 2 Tod, per rotation = mk°6 and moment of external forces about its weig the axis of rotation = — mg(a/2)sin ® are, (i) a 2 actin, 206 = -3gsin0}-» P= G (ent 2 UR nu | R= Multiplying the above equation by 8 and integrating, we get | Satin ‘4 to av a® = 3gcos@+C i. mMk® , Let@=@ when O=0 -.aw'= 3g+C : 8 | = 2G IC] Nath ¢ Scanned with CamScanner51D Roy Z is ASS m jg eactions that this 2s about Z. Thus ll forces 1e body, S of the noment gs from egin to 1e. aun ea yoTION ABOUT A FIXED Axis : a Hence from (1) and (2), we get a6 = aw ~ 391 ~ cos 0) we require that 0 = OwhenO= nr .0= aut 6, a= V(6g/a). Ex2, A perfectly rough circular horizontal board is capable of revolving reely round a venical axis through the centre. A man whose weight is equal to that of the board walks on and around it at the edge. when he has completed the circuit, what will be his position in space. Sol. Let any time 1,6 and be the angles described by the board and man respectively and let F be the action between the feet of the man and the board. Equation of motion (rman) for the man ismag = F (1) F f motion for the board i: Equation of rd is enn mk) =-Fa (2) On eliminating F between (1) and (2), we get 2 @§ +6 = 052646 =0¢- P= =i Integrating twice the above equation and considering that initially both man and the board were at rest, we get 26+0= 0 Therefore when @ - @= 2n ( after completing the circuit) we get, 39 = 2n >= 27/3, This is the angle in space described by the man. Ex3. A uniform rod AB if freely movable on a rough inclined plane whose inclination to the horizon is i and whose coefficient of friction is , about @ smooth pin fixed through the end A; the bar is held in the horizontal position in the plane and allowed to fall from this position, if @ be the angle through which it falls from rest show that (sin 8/8) = [1 cot i. [Agra 89,Raj. 80,Meerut 94,95] Sol. Let any instant 1, the position of the rod be AB, making an angle 8 with the initial horizontal position. The external forces acting on the od, perp. to the plane, are the normal reaction R and resolved part of ts weight ie. mgcos i. External forces acting on the rod in the plane at; (i) the resolved ‘part of its weight, mgsin i Gling down the line of greatest slope through G (centre of gravity). (ii) the friction pe Hmgcosi acting perp. to AB through ‘il the reaction at A. We take moments about 410 avoid Teaction, so a n 7 i "6 = mgsin i.acosd— [mgcosia 2 ; Lk 8 = ga(sinicos— cos’), where 2a is “nath of the rod. Scanned with CamScanner= aD DYNAMICS OF A RIGID Bopy ort Multiplying the above equation by 20 and integrating, we get a 1°. = 2ag sin i sin O- tag 0 cos i+ D. LT When 0= 0,0 = 0+. D= 0. Hence k? 6 = 2ag sin i sin @- ha 6 os; Rod will come to rest when 6 = 0 Int ©. 0= 2agsin isin 0— 2Wag cos i =9(sin 0/0) = [Lcot i. Ex. A uniform venical circular plate of radius a, is capable of revolyy about a smooth horizontal axis through its centre; a rough perfectly flexige ane chain, whose mass is equal to that of the plate and whose length is equg to its circumference hangs over its rim in equilibrium, if one end be sligy displaced show that the velocity of the chain when the other end reach 1 the plate is (a [Meerut 1996,94,92,59 ah Sol. Let x be the distance described in time ¢. Let v be the velocity of a6 the string and @ be the angular velocity of the plate, then v= x Let m be the mass of the plate and that of the string, then K.E. of the string = 3 my. KE. of the plate = 1 me26 = hme? Bx (Bax Hence, the total K.E. generated = pms tm? = amv At time 4, length of the string hanging to the right is (s+4 and hanging to the left is (4) the weights of these two portion aft and 5 mg {ta mg {ta te | r tively 2] << sue | Ra ae ively fe 7 tt and ona 272: - f | Agai The ‘depths of the C.G,’s of these portions below AB are { On, na ll na i Hence when x is the displacement, work function on the right is Sub: = mg] Ra, Ina : 1 Baal 2 **)-2\-2 +*}- ; Be ? Scanned with CamScannerMOTION ABOUT A FIXED Axis 3 Work function of the left is W,= ras ra ~. Total work function 2 2 = = 78) Ra | We W+Wy= 7 te + ae (te-.) eI) In the initial position ic, when x= 22 = 2-m& Ra? Wo= 2ang a= gmena {from (1)] Hence total work done 2 2 me[(na.- = W-Wo= #4 (42+5) _ (s2- ) eS br] mae, Therefore energy equation gives ames mee ee 2a ta na Ra, When x= a (i.e. when other end reaches the plate) 7 ?2dnagave (1, Ws Gtagave | oxag Ex. One end of a light string &s fixed t0 a point of the rim of a uniform circular disc of radius a and mass m and the string is wounded several is held so that the part of the string not in contact with it, s vertical. If the disc be let go, find the acceleration and the tension of the string, Sol. Let the free end be attached to the fixed point P. Let A be the initial position of the centre of gravity G. Let T be the tension of the string. There being no horizontal force the C.G. will move vertically downwards. Let x be the distance moved by p G in time ¢ and during this period, @ be the angle turned through some radius. “mg-T= mi (1) | and Ta= me 6 = m £6 (2) a | Again x= a6, ab ~@) | On eliminating 7 and & from (1), (2) and (3), we get ; | mga= max +m5e =i a | Substituting this value in (1), we get T= 3m EXx6. Two unequal masses mj and mo (m,> mz) are suspended by a light Scanned with CamScanner84 DYNAMICS OF A RIGID Bopy string over a circular pulley of mass M ahd radius a. There is no slipping and the friction of the axis may be neglected. If f be the acceleration; shoe that this is constant, and if k? be the radius of gyration of the pulley abou 2 the axle, show that k2 = agl e-9m i- (e+fm] Sol. Let in time 1m, move a distance x downwards and my move g distance x upwards. Let 0 be the angle chrough which the pulley hag rotated in time rt. Since x= 70, 2.x = a6 Equations of motion of m, and my are mi = mg-% () and myX = T,-—mg (2) bp Te Equation of motion of the pulley is Tp T ie : mg MR = Tia-Tya mg (Moment is taken about the axle) ae =T-T, ©. &%) me) ; 2. Adding (1), (2) and (3), we get ¥ (mtm +m) = mg-myg a , (m - my), 128. which is constant. mj+m,+M-> a Me From above we get f(my +m) += f= (m,—m)g a 2 2 2_ a == mag mi made~ (m+ mf] = gL @-Pm = e+ pm]. Pressure on the pulley = T, +7, Again on subtracting (1) from (2), we get (my— mE = Ty+T,~(m,+m,)¢ M47) = (m.~ m)¥ + (my + my) g= (mz — m)) f+ (my + my) 8. Ex7. A fine string has two masses M and M’ tied to its ends and passes overa rough pulley, of mass m, whose centre is fixed, If the string does not slip over the pulley, show that M will descend with acceleration =m" nem im Pr! (Aer 859 morio where ip th desce pulley sol. E proce and and 1 of rot Again Addin => Acc Secon then v Scanned with CamScannerMOTION ABOUT A FIXED Axis _ where a is the radius and & the radius of gyration of the pulley If the pulley be not sufficiently rough to Prevent sliding, and M be the M-M'e¥™ : M+M'e¥* pulley will now spin with an angular acceleration equal to 2M M‘ ga(e"™ 1) oars eee Agra, 90 me (M+M' ec) f : Sol. First part, when the Pulley is rough enough to prevent sliding. Proceeding like Ex.6 the equations of motion of masses ond pulley are Mx =Mg-T wn 1) descending mass, show that its acceleration is gand that and M‘x = T'-M'g oak and moment of effective forces about the axis ofrotation = mk?6 = (T-T’)a (3) Again x= a0, = a6, a4) Adding (1), (2) and (4), we get < [M+ M’ + (mk/a?)]= (M—M’) g (MaMa M+M' + (mke/a?) Second Part. When the pulley is not sufficiently rough to prevent sliding, then we can not take x= a6. In this case, from Statics, we have T= T'et® ~-(5). Solving (1), (2) and (5), we have T= 2MM’ ge*™ 2MM’ g M+M' eh” M+M’eb™ and ¢ = MM" e® M+M’ ehh Further putting above values of T and 7’ in (3), we get 6 = 2ea(e#™—1) MM‘ : me M+M'el® £8. Two unequal masses, M and M’ rest on two rough planes inclined ar an angles and B to the horizon: they are connected by a fine string Passing over a small pulley, of mass m and radius a, which is placed at the common vertex of the two planes; show that the acceleration of either mass js 81M (sin a— cos a) - M zai Brwicos By, oy Agra 1991] M+M‘+(mk?/a’) = Acceleration = x = & . ses not 39) Scanned with CamScanner86 DYNAMICS OF A RIGID Bopy where Land p’ are the coefficients of friction, k is the radius of gyration of the pulley about its axis and M is the mass which moves downwards, Sol. Suppose in time 1, the mass M moves a distance x downwards, and also M’ moves a distance x upwards. Let the pulley turn through an angle ®, in the same time ft. «x= a0,%= a0,X = a8. The equation of motion of the masses M and M ‘ are MX = Mgsina-Mgpcosa-T (I) M'R=T'-M’gsinB- Mg’ cosB (2) Equation of motion of pulley ism k mkx , So (- 3) Adding (1), (2) and (3), we get 2 ( ty tM eM’) i = g{M(sin a 1 cos @) — M “(sin B - 11’cos B)] ax = §1M (sin a- pcos a) ~ M “(sin B + u ‘cos B)] ome : M+M‘+ me a Ex.9.4 uniform circular disc is free to turn about a horizontal axis through us centre perp. to its plane. A particle of mass m is attached to a point in the edge of the disc. If the motion starts from the position in which radius to the particle makes an angle 0. with the upward vertical, find the angular velocity when m is in its lowest position. Take the mass of the disc aM (Meerut 1973] Sol. The circular disc is turning about the fixed horizontal axis OX, through its centre O. Let w be the angular velocity when m is in its lowest Position, say L then energy principle gives, Change in K.E. = work done by forces. 2 be gteheg A ye =} nt +7M To -0 = m g(a+acos a) or a @ (2m + M) = 4g(1+ cos a) ay 2 a : w= 2 im +My V(g/a) cos 5. mark : The weight of the disc d as its C.G. is fixed. ea orion au which which | Ans. 6 makes 2, In § friction 3.A un over a pulley t of the | smaller 2-04. T To dete and mo Let us t G of th axis. Le the ang the angl plane fi Let CG (i) its w Gi) the ; © tak climinat Scanned with CamScanner1ODy Ation rds, and (3) yugh oint hich 1 the disc 73) OX, 1 its orion ANOUT A FIXED AXis S Supplementary Problems 1.4 uniform rod, of mass m and length 2a, can tum freely about one end which is fixed, it is started with angular velocity « from the position in which it hangs vertically; find its angular velocity at any instant Ans. @ = «0° ~ (3¢72a) (1~ cos 0), where 0 is the angle which the rod makes downward venical. 2. In solved example 8 show that to prevent slipping the coefficient of M’ (2M a? +m RP) 3.4 uniform string of length 20 fect and mass 40 Ibs. hangs in equal length gver a circular pulley, of mass 10 lbs, and small radius, the axis of the pulley being horizontal, masses of 40 and 35 Ibs. are attached to the ends of the string and motion takes place. Show that the time taken by the smaller mass to reach the pulley is +V(15) log,(9 + 4V5) seconds. [Raj. 1982,Delhi Hons. 83) 1 fiction must be greater than = log, 2-04. The Compound Pendulum : To determine the motion of a body acted on by the force of gravity only and moving about a fixed horizontal axis, Let us take plane of the paper as the plane through the centre of gravity G of the body and perpendicular to the fixed axis. Let the plane meet the axis in C. Let @ be the angle between the vertical and CG i.e. @ is the angle between a plane fixed in space and a plane fixed in the body. Let CG = h. The forces on the body are : (i) its weight M g acting downward through G. (ii) the reaction at C of the fixed axis. We take moments about the fixed axis to eliminate this reaction, The equation of motion is Mk76 = - M ghsin® de h alae Ue ee wat Ap sin = - Ho, (@being small) ma) Equation (1) shows that motion is S.H.M. Henge the time of complete . 2 Sscillation of compound pendulum is 2x V £ Simple Equivalent Pendulum. We know tNat cquation of motion of a Particle of any mass suspended by a string of length J is 0 2 = -Ssino= - £ i ae 7] in O= 79 (0 being small) Scanned with CamScanner8 DYNAMICS OF A RIGID Bopy 8 wave The time of complete oscillation is 2 (3) I 2nV(i/g) = 2nV(P2/(gh)), then I= (K77h). ; This length (K2/h) in the case of a compound pendulum is called the lengh i valent pendulum. af the simple equivalent pendi as 2.05. Centre of Suspension + : t Through C, ifa line be drawn perpendicular to the axis of rotation cutting it at C, then C is called the Centre of suspensio Centre of Oscillation. If O is the point on CG produced such that 42 CO= I= £ (the length of the simple equivalent pendulum) then the i point O is called the centre of oscillation. : 2-06. To show that the centres of suspension and oscillation are convertible. [Meerut 1993,85,83, Agra 86] Let us take OandO’ as the centre of suspension and oscillation A i : rok = is respectively. -. 00’ = where OG = h, and k is 40. 10 radius of gyration of the body about the axis through O. ! Now if K is the radius of gyration of the body about an 1! G axis through G parallel to the axis of rotation, then V IG MK? = MK?+M 0G? =MP=MR 4M Roe ee _R+ K+0G? h OG 32007 0G= K+ 0G? >K*= 06 (00'- 0G) = 0G.0'G. ..) Let 0” be the centre of oscillation when the body rotates about a Parallel axis through O’. We can show as above that K*=0'G.0'G (2) From (1) and (2), we observe that 0” is simply the point O. Thus if the body were suspended from a parallel axis through O’, O is the centre of oscillation. This proves the theorem, 2-07. Minimum time of oscillation of a compound pendulum. : : : [Meerut 1980] IEK is the radius of gyration of the body about an axis through G parallel to the axis of rotation, then k2= K2+ 42, Therefore length of the simple equivalent pendulum is jh K+ fhe chee ee The time of oscillation of a compound pendulum will be least when the length of the simple equivalent pendulum is minimum, For that Ren? “00° MoT Th Ther Ex oscil equiy Sol. cone Scanned with CamScannerThe length of simple equivalent pendulum in this case 24h K24K? 95,94) Lak Kaas CUlting | In case i= 0 or co ice. if the axis of 5 ( ‘uspension either passes through G or be at infinite, the corresponding simple equivalent pendulum is of infinite length, thus the time of oscillaion is infinite. a Ex.10.A solid homogeneous cone of height h and vertical ‘angle 2 woscillates about a horizontal axis through its vertex. Show that the length of the simple equivalent pendulum is +h (4+ tan? a), [Meerut 190,93] Sol. Let OX be the horizontal axis through the vertex 0. Let us take a circular disc PQ of thickness 8x at distance x from O. Moment of Inertia of disc about OX = (prvtan?a 8x) ( Ptan2o+ x). 4 Therefore M.1. of whole cone about OX ice G Mi= prtan’a(1+ dian? cg faite 4 : 0 aa eo 2, a. Joy pS 3 = prtan?o(1+ ttan%ay + 1 i = 5 mtan?0e (tan?or+ 4) hS AM (anrat 4h? (Os Ma 4x ftan’ap) Bs zit. 3 3p (tana+ 4) H. Again OG = 3h. Therefore the length of the simple equivalent pendulum ie. 2 t= 552 Seana 4h, Exll. A solid homogeneous cone of height h and semi-vertical angle 0, oscillates about a diameter of its base. Show that the length of the simple equivalent pendulum is ; (2+ 31tan?o), : Sol. Referring to the fig, of the Example 10, we observe that M.L. of the Cone about AB 2, = f prvtana a| Pata +(h- a 0 4 2, ; a PAIS Manat 4h a)? i) Scanned with CamScanner0 DYNAMICS OF A RIGID Bopy . = Pxsan?a: f (thtan2ac4 4x4 — Bh? + 4h22) die 0 5 se 3 s K A p rtan7ol £ tan’o+ 4 x — Bh + On 4 3 2 I pruanai’| Lanter 4 | FP mh tana [3 tan?ar+ 2) = Far? Banat 2), since M= 10h tan?a..p 1 4 1 4 2 1 2 oMBP= 4 Mi? (tanta 2) =k = 3-H? Btan’a+ 2), where kis the radius of gyration of the cone about AB. Hence length of the simple equivalent pendulum Re ~ distance of G fromAB~ (h/4)~ Ex.12. An elliptical lamina is such that when it swings about one latus rectum as @ horizontal axis, the other latus rectum passes through the centre of oscillation, prove that the eccentricity is 4 Sol. When one of the focii say H, is the centre of suspension then the other focus H’ is the centre of oscillation. LHL ’ is the latus rectum (horizontal axis) about which the elliptic lamina, oscillates. The length of simple equivalent pendulum I= HH’ = 2ae, (1) Also HG = ae and Mk*= Moment of Inertia of the body about the axis of the rotation ‘LHL” = M tn GB tan?a+2). Rie (+4) 2) HG 4° ae 2 2 2) From (1) and (2), we get 2ae= 14 -(1+4e =8e"= 14 4c? d= 1en t Ex.13. A uniform elliptic board swings about a horizontal axis at right angles to the plane of the board and passing through one focus. If the centre of oscillation be the other focus prove that its eccentricity is V(2/5). Sol. Refer fig. Ex12, here Mk?= M(t (a?+ 6%) + a°e4} «. length of simple equivalent pendulum [ Scanned with CamScanner »ar ee ore Opy MOTION ABOUT A FIXED axis of Reecgie eas eee ol 2 '= HG Fae = Fae (+ B+ dae? (1) 2 alee Also [= ae v. 2ae= 7 (a+b? + 4ae% aeare= a4 b+ dare = a (1-2) aa gate? wSa’e?= 2a =e = V(2/5). Ex14, A flat circular dise of mdius a has a hole in it of radius b whose ‘ centre is at a distance c from the centre of the disc (c< a—b). The disc is is free 10 oscillate in a vertical plane about a smooth horizontal circular ple rod of radius b passing through the hole. Show that the length of the P 1at—p4 equivalent pendulum is c+ 32? : 2 de Sol. Let 0" be the centre of the hole in the disc whose centre is O. a 00’ = c (given). The disc is oscillated in a vertical the plane about a smooth horizontal circular rod of radius b passing through 0’. If h be the depth of C.G. of the body from 0’, ae pra’c—prb?.0 if _de pra’—prb? a? 5? ) Let k be the radius of gyration about the axis of rotation, then we have 2 (pra? pnb?) 2 = pra’ of + @) -pm at + 20°? ot 2 2 ’ =P= 2(a’-b?) Bp dente 7 fey hook ag? (a?- by _ barat 68 ido 2ae 2 ae” Ex5. A bent lever, whose ams are of length a and b, the angle between them being 0, makes small oscillations in its own plane about the fulcrum, show that the length of the comesponding simple pendulum is 3 3 2 aoe : [Meerut 1993,85,84] 3 V(a* + 2a°b*cos a+ b*) At 1€ Sol. Let G, and G, be the centres of gravity of the arms OA and OB of is the lever, Let OA = aand OB = b.Also let OA be the axis of xand a Perp. line OY the axis of y. Then the co-ordinates of G, and G, will be (54,0) and (4 b cos a, 5 sin a) respectively. Ie ete 2 ete BIH ISO Ile: Scanned with CamScanner2 DYNAMICS OF A RIGID Bopy Now if (%,}) is the C.G. of the lever, then ao.ta+ bo.+ bcos a _ 1 @+b cosa. aw@+ bo 2 a+b : where @ is the weight of unit length of the rod, ao .0+bo.+b sina 1B sina a+ bo pelea Also the distance of C.G. (%,}) from O (0, 0) is 2 = 4, Vay) = Tarn Vide cos a+ b4} a+ : : Now if k isthe radius of gyration about the axis of rotation through 0, 3 4 ly? 4 lp? 2. 2 +0 then we have (a+b) @k?= 40.5 (5a) +b 0.35 by k= aah: Hence the length of the simple pendulum K ~ Dist. of C.G. of the lever from O a+b? 2(a+b) “3 ath" (a*+ 276? cos a+ 64)? ag ath 3 ats 2076? cos 0+ bY? Ex16. A uniform triangular lamina can oscillate in its own plane about the angle A. Prove that the length of the simple equivalent pendulum is a g [Agra 1990] Sol. Let AH be perpendicular to the plane of the lamina so that it oscillates in its own plane about AH. Instead of the triangular lamina of mass m, we can have three particles each of mass. I 3” placed at the mid points D, E, F of the sides respectively. Distance of D from AH is 172 2 AD= (AL? + LD) = (AL? +(BD- BL)*] 2 2 2 ie = IAL?+ BD?+ BL?~ 2BD.BL] 2 2 2 We = [(AL?+ BL’) + BD?~ 28D. BL] 2. tp ey? 1 ws = (A B)'+ (5B C)"- 2(5B8C). AB cosB] ~ Ex. 17. same s with th plane a simple Sol. M Mass o Of the - Mass ¢ Scanned with CamScanner> BOny MOTION ABOUT A FIXED Axis 2 2 =(2+ e- accost J = (24 2 4, fed-y? 77a. © Todi 2b? + 2c? — ag? 2 gad 2 4 pistance of E from AH =/EA = 4/2 Distance of F from AH = FA = ¢/2 MLL of the triangle about AH Bie oe at oe ee 1 | 2b +. 2c°- a 1 =3” a +t F |= pmaets 32— a 2h O, ‘ 2 2 £be : mk?= 0+ 3c? a? app 2= 3bo+ 30?~ a +b) : Y Hence length of the simple equivalent pendulum Ke eed sere ig © Dist. of C.G. from AH ~ AG™ Zap 3 eee 3k? a 1 aoe a 2.3 (267+ 20? a2) V (2b + 2% a’) ~ 3GP+ 3 ya e he d 12V (26? + 2c? a) 4V (26? + 20%) — a) bout m is 5 b+ 2b* =a Sol. Mass of the circle = x bp Mass of the ellipse = mab p, where p is the mass Of the sheet per urit area, Mass of the system = nb’p + nab p Now taking & to be the radius of gyration of the A f body about a line through A perpendicular to 4 ie lamina, we have \ y e (nab + mb) pK? = mb aE be 2 mb o.( a + nab of + 4 b (a+ b) pk? = mb2p (4a? + 2b?) + nab p (Sa°+ 6’). A 2 3 SKA bb + 4a) + a (Sa?+ B) _ Sa?+ da°b+ ab? + 2b 4(a+ 6) 4(a+ b) simple pendulum is P+ ot) rN | id BIRD Fae a 9 anes — Ex 17. An ellipse of axis a,b and a circle of radius b are cut from the same sheet of thin uniform metal and are superposed and fixed together with their centres coincident. The figure is free to move in its own vertical plane about one end of the major axis. Show the length of the equivalent 2 93 BP ea | Scanned with CamScanner vé ER fl DY. dedDYNAMICS OF. A RIGID Bopy 94 + Sa? (a+ b) ~ ab (at b) + 2b (at b) a 4 (a+b) _ (at b) (Sa? = ab+ 267) _ 1 (gq? ab+ 20°) a(a+ b) 4 Hence length of the equivalent simple pendulum K2 k2_ Sa— ab+ 2? = a : eee Dist of CG. of the system fromA a Fx. 18 A uniform rod of mass m and length 2a can oscillate about q Px ontal axis through one end. A circular disc of mass 24 m and radiu, La can have its centre clamped to any point of the rod and its plane 2 omtains the axis of rotation. Show that for oscillations under gravity the fength of the simple equivalent pendulum Ties between (a/2) and 2a, Sol, Let AB be the rod axis of rotation pass through A. Let the centre C of the disc, be A clamped at a distance x from A. The distance of C.G. of the system ie. of the rod and the disc together, 1 mat 2Am.x_ 22+ 24 ~ m+ 24m Ost then if k is the radius of gyration then iB 2 4 1 : Am) k?= mea i 4.4 ] (m+ 2m) k?= mea mx | | Ag +2 5 att 2a? + T22_ Da? 24° mp2 Ot 3x2 25 Hence length of the simple equivalent pendulum. k 2a? + WX) 77 at 24 P+ 247 fa Bea ( EM) / ( Ss — a Ue re mae (As a= “Tas 4 For maximum or minimum of 44= 0 7 48x (a+ 24x) — 24(2a"+ 247) (a+ 24x? ee (24.2 + 2ax- 2a) = 0 = 2437+ Bax— bax- 2a”= 0 = Bx (3x+ a) — 2a(3x+ a)= 09 (3x+ a) (8x— 2a)= 0 eas dx a Gc Sexe FOr x= 3: Since x# - $e we have x= a a a When x= ] We get [= 2 [from (1)] The other extreme value of I(ie.2a) is given by putting x20 r= 2a in (1). Hence the length of the simple equivalent pendulum tie | Scanned with CamScanner ~~ moTio? petwet Ex19- aad given where Sol. $ oc= is M ( 26MOTION ABOUT A FIXED AXIS ie between 5 and 2a, Exl9. A sphere of radius a, is suspended by a fine wire from a fixed point ara distance | fiom its centre. Show that the time of a nat gelato v2 SP + 2a” i. won| Sle ) [i+ cond) where ot reptesents the“amplitude of the vibration, [Meerut 1988] Sol. Suppose that ‘the axis of rotation is Passing through O, where OC =I. Moment of inertia of sphere of mass M about the axis of rotation is M(Za?+P), Equation of motion is M(2a*+?)6 = -M glsine = Sel, a sin 8. oO eee ose . 2 _ 10g! Integrating, we get 6° = > 8 cos 042 ea) Let when 0= a, 6 = 0. Mg Hence (1) reduces to 10g! 45 (cos 0- cos a) +5i a8 LalOg tS EB 25 a S7z) V eos cos a) (.- Sphere is coming in the direction of @ decreasing) =- (fee )A(~ 2 sin? S— 14 2 sin? $) J 2a? + 51? 10g! Asie i) A 5a) 12 sin? sin 2). Wt be the time from one extreme to the lowest point, then 1 “4 2+ 517 de 2) 10gT |e ¥ (sin? (a/2)— sin? (0/2)} = pV sy fF ao Wgt J ‘9 V{sin? (a/2) - sin? (6/2)} Putin sn 072) = sin (&/2) sin 6, ied 2685 40= sin da cos dé, we get ts t west)" 2 do Set ‘9 cos (0/2) Scanned with CamScannera DYNAMICS OF A RIGID Bopy = 284 )f d ‘Sel a V(C1~ sin? $ sin? 9)) sv? ‘tt J sin? & sin? - (ey V+ Zin? Fin? +... Jag % -y I2L 1 be = 9 = te bee -\ wie st Ey Sgl , f sin” 6 d= (n/4) 0 = 1 ESET 1 sg 8] neglecting higher powers of sin &, since ois small, +. Time for one small oscillation is 2a? + 51? 1 oa a= on V ser L4G sin? $]. Ex20. Three equal panticles are attached to a weightless rod at equal distances a apart. The system is suspended, and is free to tum about a point of the rod distant x from the middle panicle. Find the time of a small oscillation and show that it is least when x= - 82a nearly. Sol. Let the three particles each of mass m, be attached to thé rod at the points A,B and C such that A B= BC= a. Again let the system rotate about O N such that O B= x. Then MLL. of the three particles about ON Hai sega mnie 2 m(a~x)?+ m+ m(at x) =3mk?= m (a~ x)? + me+ m (at x)? 3P + 2a? aks where k is the radius of gyration of the system about ON . Now if /is the length of the equivalent simple pendulum then we have 2. ei ce tueaueeeee >) See = * Dist of C.G. of the system fromO x dl ae orion je I porthe Hence 21. aed and dic Sol. Lé attache If his he Also if (m+n Scanned with CamScannerSaree a a MOTION ABOUT“A~FIXED Axis 2a? ie. 1- Ss O=x= SV 6- he. pl ao St $V6= 8160 = . 820 neatly, BAB hah et sos Further “a= 3 3° Which is positive for x= «820 Hence min. value of / is given by x= . 82g Ex.21. Find the time of oscillation of a com; ipound pendulus stir a rod of mass m and length a, caring ai one ena iphow of nae and diameter 2b, the other end of the rod being fixed. ' Sol. Let OA = a be the rod of mass m, and a sppere of mass m, be attached to it at A. e If h is the distance of the C.G. of the system from O, then i $+ mj (at b) ome “O Also if k is the radius of gyration of the system about |g the axis through O, we have 2 (m+ m,)k?= m. $+ m,[ 20% (a+ »] im 2 as mi[ 58+ (a+ by] wept Sas Ses tos m+ my Hence length’of equivalent simple pendulim («:) @ 2 fe mS+m[ 5e+ (a+ b)*] ns mi paki +m or i 1 m+ m (a+b) meee a [20+ (a+b)*] rote Les mot m, (a+b) and the timé\of complete oscillation is +S; 2 apne fy my (2+ (a+b) =2n Ea a ae =a 7 igh eee me mar) ° |: Ex. 22. A simple circular pendulum is formed of a mass M suspende froma fixed point by a weightless wire of length | if'a mass m, very ‘mall compared with M , be knotted on to the wire ata distance a from the point Scanned with CamScannero 98 DYNAMICS OF A RIGID Bopy of suspension, show that the time of a small vibration of the pendulum ig approximately diminished by ma ays om. Tin 7) of itselt [Meerut 1993, Agra 84, 83) Sol. Let t be the period of simple pendulum before knotting the mass 1 m, then t= 2nV( =) Let k be the radius of gyration when mass m is attached to the wire ata distance a from the point of suspension O . Then (m+ M)k?= MI?+ ma” 9 2. MI2+ ma? ae oo ee Distance of C.G. of the system from 0 is f he Mit ma if M+m If’ be period for the compound pendulum consist- ing of masses M and m, then 2 2 V2 t= anv) © |e on] £] mit mal M+ mm gh g| M+m MI+ ma = ‘mits mae)? l ma™ 41/2 -2 = 2n| Me tm |) _ mi(2)0 14 25)? +8 8 MI 3(M1+ ma) MIs, f oni(Jf Ii B4]. neglecting higher powers of I ma a ma a = (BaD LAC) , ma a =r =oil! it Ex. 23. A weightless straight rod ABC of length 2a is movable about the end A which is fixed and carries two particles of the same mass, one fastened to the middle point B and. the other to the end C of the rod. If the rod be held in a horizontal position and then let go, show that its angular velocity when’ vertical is (f) and that 5 is the length of he simple equivalent pendulum. : Sol. Let v, v’ be the velocities of the masses at B and Cowhen in vertical position. Let @ be the angular velocity of the rod in this position. Then we have energy equation as aS s0N yom Am ae 10" 9 bs jm @ oe & 2o=\ 5a again (1 pistance ¢ m Ex2A.A re If its perio Sol. Let k A and per me =m = “+ period - Scanned with CamScannerMOTION ABOUT A FIXED Axis 9 1 Liyt2 dav? + zmv =mgatmg2a Also v= aw and v’ = 2aw gdm (@ +40") @? = mga+ 2mga a Ww ete +0-(§ ) Again (m+ mt) k= ma? + m (2a)? =k? Distance of C.G. from A 5a* _ma+m2a_3a 2 “Vmtm 2 3a 2 Ex24.A rectangular plate swings in a vertical plane about one of its comers. If its period is one second , find the length of the diagonal. [Meerut 1989] Sol. Let k be the radius of gyration of the plate about the axis, through A and perpendicular to its plane; then we have ase mb =m Te 2 = ee mie = BG=GD. Further, distance of C.G. from A =AG=h= 40 (a? +09) ss ee a R: ane ye a period =2n V( F-') =2n ($5; ) = 4" (55) e But period = 1=o4n-V[ 4 | =1 or A= 285 38 16n 3z. 3 an Ex25. A pendulum is supported-at O, and P is the centre of oscillation. - Show that, if an additional weight is rigidly attached at P, the period of oscillation is unaltered. [Meerut 1986, 84] Sol. Let m be the mass of the body forming the compound pendulum and let h be the depth of its C.G. below the point of suspension O. Also let k be its radius of gyration about the horizontal axis through O ; then We easily obtain OP =(k/h) +mh? [by parallel axis theorem] 4mi? 2 _ 4 pees Length of the diagonal = 2h= Scanned with CamScanner100 Rh = Period of Oscillation = 2 u Ee ) = T, say. Let an additional weight M be knotted at P, then if K’ is the radius of gyration about the horizontal axis through O , we immediately have (M+ m) K2 = mk? + MOP” 2 2 = me EyYop & = mk +M{ h ) k (m+mis) and by well known C.G. formula, o pCentre of Suspension €--2-- +s Centre of ~pOstliation (1) i ¥ Rv (M+ m) h’ = mh+ MOP = mh+M.A=h(m+ot55) bo wd, () and Q) 2575 EST f ie On (020) oan {20 |er => Period of oscillation is unaltered. ol Ex. 26. Three uniform rods AB, BC, CD each of length a, are freely jointed ‘at B and C and suspended from the points A and D which are in the same horizontal line and a distance a apart. Prove that when the rods move in a vertical plane, the length of simple equivalent pendulum is a [Meerut 1990,"84] Sol. The system form a compound pendulum swinging about the horizontal AD . The figure is self explanatory. Let m be the mass of the each rod. Let A be the depth of C.G. of the system from AD and k the radius of gyration of the system about the horizontal axis AD , then we easily obtain. 3mk?= sum of the moments of inertia of three rods about AD e A 2 Sma? oe (52/9) +ma= = 2ma_ 2a 3a 3 (27h) = (Sa*/9)/(2a/3) = # => length of simple equivalent pendulum DYNAMICS OF A RIGID Bopy | 2D | 2,08. Rea | CG. pep perpendic axis, By 53 toa singh | Let the | Xandy Perpendic Now G d. accelerati ne and Mh Mh By take Where vis br, Scanned with CamScanner(2) | yoTN ABOUT A FIXED AXIS 101 Supplementary Problems 4, Find the length of the equivalent simple pendulum in the following cases, the axis being forzontil ¢ Circular disc; avis a tangent 0 it. : ‘Ans. (Sa/4) {i Hemisphere: axs a diameter of the base, ‘Ans.(16a/15) (a) a diagonal of one face, (b):an edge, Ans. (a) (Sa/3), (b) 4V(2a/3) 4.Find the length of the simple equivalent pendulum for an elliptic lamina when the axis isa Intus rectum. [Meerut 74] Ans. ale+(te)] 4.4 uniform wire, in the form of an arc of a circle of given radius; is swinging about a jorizontal axis through the ‘middle point of the arc perpendicular to the plane of the arc tow that the time of a small oscillation is independent of ghe length of the arc, and ieagh of an equivalent simple pendulum is equal to the diameter of the circle, [Agra 1976, 69, Punjab 54] 4, Two bodies can move freely and independently under the action of gyration about the same horizontal axis, their masses are m, m ‘and the distance of their centres of gravity from the axis are hand h ’. If the lengths of their equivalent simple pendulum be. 1’, Prove that when fastened togther the length of the-equivalent simple pendulum will be mhl+m‘h'l ‘ . mh+m he” 2.08. Reactions of the axis of rotation. A body moves about a fixed axis under the action of forces and both the body and the forces are symmetrical with respect to the plane through. the CG. perpendicular to the axis, find the reactions of the axis of rotation. Let O be the point where the plane through G " perpendicular to the axis of rotation meets this axis. By symmetry the actions on the axis reduce toa single force at O, the centre of suspension. Let the components of this single force be Xand Y along and , Perpendicular to GO respectively. Now G describes a circle round O as centre, its acceleration along and perpendicular to GO are A and 48, Equations of motion of C.G. are Mh @ =X - Mg cos® eu) arene Mh® = Y—Mg sin@ (2) By taking moments about O, M78 =~ Mgh sin ® ~@) Where k is the radius of gyration about the axis. Y is obtained by eliminating 6 from (2) amd (3), By integrating (3) and Scanned with CamScanner ARIUS Vite mene aren— 102 DYNAMICS OF A RIGID popy orton and then from (1) determining the constant from the initial conditions, we ob: we can find X . Resultant reaction R= V(X?+ yy and tan =(X/Y) | je. where ¢ is the angle which the direction of R makes with GO, a ¢ Note : On resolving X and Y horizontally and vertically . ‘The horizontal reaction = X sin @-Y cos Vertical reaction = X cos 6+¥ sin ® JUSTRATIVE EXAMPLES x27. A thin uniforg rod has one end attached to a smooth hinge and i which | allowed to fall from a horizontal position. Show that the horizontal strain positio on the hinge is greatest when the rod is inclined at an angle of 45 "10 the upon # vertical, and that the vertical strain is then 4 times the weight of the rod, | of a [Meerut 1995) =o Sol. Let OA =2a, and let the rod make an angle @ with the horizontal Sol. Le after time ¢ . Equations of motion of G along and when t perpendicular to GO are ma6?=Y sin@+ X cosO-mg sin@.— ..(1) 0Go= : : y where mab =-Y cos0+ X sin@+ mg cos® (2) Equati 7 2a 7 * a toGO Since k= a’ Se x i .. moment equation about O is : . and m m.42°6 = mga cos0=96 = cos i: 0), where oF of the Intergrating (3), we gt P= Ze sin @+C | Meme when @=0,6=0 «.C=0, -. @= sino. =m¢ Putting this value of & in (1), we get . Integr: 3 mg sin @=¥ sin @+ X cos @—_mg sin® i j i nit + = sin@+ X cosO= 3 mg sin®, nf) a With the help of (3), the equation (2) becomes as ks e. =¥ cos 0+ X sinO+mg cos = 28 cos rom: : : 5 =~ ¥.cosO+ X sin@=— img cos@ ASD 27mg Multiplying (4) by cos @ and (5) by sin @'and adding, we get Sxs 2 . a X= - }) mgsin @ cosO= 2 mgsin @ cos = 2 mgsin 28. . Similarly, we have Y= mg (§ sin? 0+ 4 cos? ). Wher, a re Scanned with CamScannerwl) MOTION ABOUT A FIXED AXIS 103 We observe that X_ is maximum when sin 20=1 x x ie, when 20= For O25. when O= (7/4), we have Y= mg ($sin? (n/4) + 4cos?(n/4)] eo. Ss u 3, = mg l-3+7-g]2 ye = 4 times the weight of the rod. Ex28.A heavy homogeneous cube of weight W , can swing about an edge which is horizontal, it stans from rest being displaced from its unstable position of equilibrium. When the perpendicular from the centre of gravity upon the edge has tumed through an angle ®, show that the components of the action at the hinge along and at right angles to this perpendicular are 3W(3-5 cos@) and 1W sin Sol. Let Go be the initial position of C.G. and G bg the position of C.G. when the edge has turned through an angle 0. 0G)= OG =V(OL? + LG}) = V(a? + a) = a2, where 2a is the length of the edge. Equation of motion of G along and perpendicular to GO are Ma 26" = mg cos @- X “a and maV26 =mg sin®-Y (2) where X,Y are the components of the reaction of the axis in this position. oe ™ Moment equation about O is mk?6 = mgaV2 sin® =m (a? +20) 6 = V2amg sin =6 = 332 g sind (3) Integrating, we get 6 = Bree cos0+C. Initally 6 = 0, when 0=0 a By . 28 = 281 cosg), (4) From (1) and (4), we have }mg(1—cos 6) = mgcos@-X X= mg(3.cos 0+ cos 0-3) = 8 (50s 8-3) = - 78 (3-5.c0s 6) = -}W(3-5cos@) Ls mg= W), Where negative sign of X shows its opposite direction. ve A TAMARA ASN em Scanned with CamScanner104 : DYNAMICS OF A RIGID Bopy From (2) and (3), we have 3 mgsin O= mgsin0-¥ == mgsind— 3mgsinO= tmgsin x29. A circular area can tum freely about a horizontal axis which passeg through a point O of its circumference and is perp. 10 its plane. If motion commences when the diameter through O is vertically above, show thay when the diameter has tumed through an angle @ the components of the strain at O along and perp. to this diameter are. respectively 3. (70s - 4) and 4 W sin @ [Agra 1985) Sol. Initially, when the diameter through O is vertically above O. MLL. of the disc about an axis nN through O perp. to the disc = MS + Me Me =a If k is the radius of gyration, then . mea Me ogre SE After time 2, Yet the diameter QA makes an angle @ with the vertical. In this position we will have mete. wersine ee i ‘ where he eae of CG. fae disc from O = a. 32 P @e_ 2 MPSS M gasin 29S eas Bsine 72 ge Dogan erin rs 34510 Multiplying by 26 on both sides and integrating it, we get (ao/dn?= ~ Beor ose, pa Initially 8= O,(@b/d)e 0. 208 = MY ace using a 3a 7 2 . 1 de a wee $8) = Fra -ceg, wn(2) 2 Now considering the motion of C.G. wehave > rig If 2K ba egie av > my MOTION | Ma and M@ similarly y= Ex30. A perp. 10 | it stants fi pressure O are re be able 1 Sol. Thi: When th X= Hence r When th 6= Resulta: in gene v This is the ma Limes Scanned with CamScannerMOTION ABOUT A FIXED Axis iis 2 ue(i) = Mgcos0-X 3) #0 : and ve” MgsinO-Y (A) where X,Y are the components of the reaction and perp. to GO. Solving equation (3), we get 4 xe Mgcos 0 Ma 38 (1 ~ cos 0) =X = M8 cos 0-4) = 3 (7c0s 8-4) wn(5) similarly, solving equations (1) and (4), we get ye Mgsin 0- Ma 28 sin O= MB sino= Lwsind (6) £x.30. A circular disc of weight W can tum freely about a horizontal axis perp. 10 its plane which passes through a point O on its circumference. If itstart from rest with the diameter venically above O, show that the resultant pressure on the axis when that diameter is horizontal and vertically below O are respectively $V(17) W and +! W, Further prove that the axis must be able to bear at least +t times the weight of the disc. Sol. This question is a particular case of the previous example. : 1 Hence resultant pressure in this case = | Bws When the diameter is vertically below. Ww iw = 1Wsinn= =n, ag CI-ae- Y= ,Wsinn= 0 3 a erqua 2 Ww Resultant pressure in this case = (44) + of = in general, we have 2 wn 2172 Wxr4 P= [{reos0-a a {sine} ] ¥ 4 v2 « = apcost oe = | - (48c0s' 2 sseox0+1t)| : i ig 2 WeWhich impli This is maximum when @= 7 and its value is -; W. which implies that ; ‘i il the maximum pressure, that the axis, must be able to bear is at least‘ limes the weight of the disc: 10 1999 uo eu ramets borscht ile DAI IH Of 1585 "TSH IEBEIR -ocmm Scanned with CamScannerDYNAMICS OF A RIGID 106 Bony i about an axis passing thro, icone of angle 2a. can tum freely about ar a oni A ‘its ee and perpendicular to the axis; if the cone starts from, rest with its axis horizontal, show that, when the axis is verical th tn on the fixed axis is to the weight of the cone as 1+>c0s'@:1— > cosly [Agra 1974) Sol. Let initially the cone be as shown in fig.(i). After any time 2, let the cone take the Peon in fe : x ZN ZX <2 x If the height of the cone ie.OV= hthen eS a\ where G deno- Mg + tes the centre of gravity of the cone. Now since the C.G. of the cone i.e. point G is describing a circle of radius 4/4, the equations of motion of G are M ARG = X—-Mgsin® (1) ;M.4h6 = Mgcos@-¥ 2) where X and Y denote the components of reaction at O along and perp. to OX. Taking moments about O, we have MP6 = M gi hcos@ Also M = MLL of the cone about AB= M 4 (2h? + 34? tan?) (3) w 2 =i 39 (2+ 3 tan?o) (4) Substituting this value of k? in (3), we get h6 = 8 (5 2+3tamae oe Multiplying both sides by 26 and integrating, we get a@ 28 in oac 2+ 3tan*o Initially 6 = 0, when @= 0, giving there by the constant C= 0. Therefore, we have hd? = = sin ® 6) . 2+ 3tan*o Using (6) in (1), we get M.1—198 sin = X- Mgsin® 2+ 3tan*a moTION axe M ‘also ¥si when th x= , Resull x pa Mg Note : If Fd Sol. Le AB witt C.G. of the poi about Let Xa Ponen A and ) tions ay Totating force Taking m von Scanned with CamScannerMOTION ABOUT A FIXED AXIS = Dugh : Gtan’a Fre = Mgsin 2+ Stan-a hase ake MES 4+ 6tanta x t 2, sz ‘Also using (5) in (2), we get Y= M pcos 3+ 6uante $71) see 8+ 12 tan2a, t the When the axis is vertical ic. when 0= 2/2; we have x= mg 246tate) yg : 4+ 6tan’o = Resultant pressure * 7 iY 2 a =V+P)= X= M 2+ 6tan'a = M gl 2008 6sin’a 4+ 6 tana 4.cos*at 6 sin2o. 2, X _ 6+3cos’a_ +7 008° aig Stee Mg 6-2cos’a 1-Feos%a! Note: If 2a= /2 then in that case, we have J east 1 rcle x ee. leas Me” See ease DF ig ied gosta) 1-5 Ex32.A uniform semi-circular arc, of mass m and radius a, is fixed at its ends to two points in the same vertical line and is rotating with constant angular velocity w®. Show that the horizontal thrust on the upper end is 2 nt oe [Meerut 1993] Sol. Let the uniform semi-circular are with centre at O rotate about AB with constant angular velocity w. If G is the C.G. of the arc, then OG = 24, As the arc rotate, (3) 4) the point G will describe a circle of radius ™ about the point O. Let X and ¥ be the horizontal and vertica! com- Ponents of reactions at the point A and X’ and Y’ the horizontal and vertical reac- tions at the lower end B. Now since the arc is ‘ Totating with constant angular velocity @ about AB, the only effective 5) force on itis m 24 «? along GO. Taking moments about the point B, we have mg ~mg™4 X.2a {-.» moment of the effective forces = moraent of external forces). Scanned with CamScanner108 DYNAMICS OF A RIGID Bopy 2, axe whtae) Ex.33. A uniform rod OA of mass M and length 2a rests on a smoot, table and is free to um about a smooth pivot at its end O; in contact with it at distance b from O is an inelastic panicle of mass ma horizontal blow of impuise P, is given to the rod at a distance x from O in a direction pem, to the rod ; find the resulting instantaneous angular velocity of the rod and the impulsive action at O and on the particle. [Agra 1994) Sol. Let OA be the rod of length 2a and let a horizontal blow of impulse P be given at a distance x from O. Further let S be the impulse of the action between the rod and inelastic particle of mass m. Then the Po= Px-Sb 1) ‘ aaa moment equation about “ is M 3 a’ But S= mb (since velocity b @ is generated in mass m by the impulse S). 1 M4 do= Px-mBo oe a Px mPbx° = Tyan ts tea fMa+mb $M a? + mb + Now since the change in the motion of C.G. of the rod is the same as if all the impulsive forces were applied there, so Ma@= P-—S-X, where X is the impulsive action at 0. «X= P-(Mat+mb)o= P[l-(m b+ Ma) xVM 4a +m B). 2-09. Motion about a fixed axis : Impulsive forces. 3 Consider a rigid body under the effect of impulsive forces. Let « and ©’ be the angular velocities about the axis just before and just after the action of impulsive forces. Now change in moment of momentum about the axis = M k(w’ —@). Also let L the moment of external impulses about the axis of rotation, then we have M k(a! - @) = L (since change ig moment of momentum of the body about the axis is equal to the moment of the impulsive forces about it). Ex34, A rod, of mass m and length 2a, which is capable of free motion about one end A falls from a vertical position and when it is horizontal strikes a fixed inelastic obstacle at a distance b from the end.A. Show that the impulse of the blow is m 2241 (25a/3) and ‘that the impulse ofthe 0 =o reaction at A is mV(3ga/2)[ 1 -# vertically upwards. Sol. If w is the angular velocity just before striking the obstacle then ¥° have the energy equation as im 4ao?-0= mga . [Change of K.E. = work done]. -. @= V(3g/2a) to qagaine Scanned with CamScanner oT! pet t osu pe P the ¥ there and Elim Note. in tha fixed blow mov, ene Sol. be a if th then as SoMOTION ABOUT A FIXED AXIS id Let the rod AB strike the inelastic obstacle at such that AO = b and the impulse of the blow be Pand the impulsive reaction at A be X. Since the rod reduces to rest after striking the obstacle, therefore we get on taking moment about A m 4a? (0-0) = ~Pb Ama’ 36 2m .V(2ga/3) =. Also for G, we have m (0- aw) =~P-X =X = m VGga/2)[1- $2), Ex.35. A uniform beam AB can tum about its end A is in equlibrium; find the point of its length where a blow must be applied to it so that the impulses at A may be in each case dik of that of the blow. Sol. Let AB be the uniform rod of mass m and length 2a. Let an impulse P be applied at a distance x from A so as to produce an impulsive action pata. If the angular velocity produced is @, then the equations of n dP motion are mo= Pramiao= Px (1) and mao= pris att cgay ® Eliminating P from these two equations, we get Note. If the direction of the impylsive i. is opposite to that as shown in the fig, then a 4 in that case we will have x= 3 ” Ex36, A rod of mass nM is lying in a horizontal table and has one end fied ; a particle of mass M is in contact with it. The rod receives a horizontal blow at its free end; find the position of the panicle so that it may start moving with the maximum velocity. In this case show that the kinetic energies communicated to the rod and mass are equal: Sol. Let AB be the rod, the end A of which is fixed. Let an impulse P be applied to the rod at the end B so as to give an angular velocity @, if the particle of mass M is at C where A then the velocity V acquired by the particle be V= xw. Thus we get the moment equa as nM $aa+Mxo.%= P. 2a eon ae MA (@en+x) >0 Scanned with CamScanner0 DYNAMICS OF A RIGID Bopy 4 na? -22 ror maximum V, we must hae Vx omp2ae| tt = 28) ‘or maximum V, we must have “7 = | nate send? P= 0=x= 2a\(n/3) Also K.E. of the rod = pa 4aw= 3nM aor (1) 2 4a’ 2 A eit and KE. ofthe particle = 4 Mx? @?= pu Bwr= 3M naw, ..(2) From (1) and (2), we observe that kinetic energies of the rod and mass are equal. : Ex.37. The door of a railway cariage stands upon at right angles to the length of the train when the latter starts to move with an acceleration f: the door being supposed to be smoothly hinged to the carriage and to be uniform and of breadth 2a, show that its angular velocity when it has tumed through an angle 8 is V( 2 sin 8). Sol. Let ABCD be the door which can rotate about AB. If the train moves with acceleration f, then every element of the door will have the same acceleration f parallel to the rails, Now consider an elementary strip PORS at a distance x from AB. Mass of the strip = #4 5x, where M is the mass of the door. Hence moment equation about AB gives 44% m M3a@6 =} 2 axfcosOx= e ; Ts ‘feos @.x= mafcos igus =. of 622 > 4g 0088 Multiplying both sides by 2@ and integrating it, we get o' i3f. : C= Lenora Initially @ = Owhen @= 0 A= 0 Hence 6 = v( 2 si ence 0 = W( Hsin 8). Ex.38. Two wheels on spindles in fixed bearings suddenly engage so that their angular velocities become inversely proportional to their radii and in opposite directions, One wheel, of radius a and moment of inertia 1, has angular velocity © initially, the other of radius b and rioment of inentia 1, is initially at rest. Show that their new angular velocities are 10 Taba eee Phos an ee) eee 3° 1B +ha' Lb +ha’ Substitut 2: 10. Ce If.a bed impulsiv the force is known of sponte fixed axi 211. Ce Consider end A. | C where Scanned with CamScannerCis lle Base te ta BE MOTION ABOUT A FIXED Axis 1a Sol.Let A and B be the two wheels. The wheel 4 is of radius a and moment of inertia whereas the wheel B is of radius & and moment of inertia I, Initially A was rotating with angular velocity «@ and the wheel B was at rest. Now let @, and @, be the angular velocity of A and B after the impact. Since the velocity of the point of contact is the same for each wheel, we haveaw,= ba, (1) Also 1, (@-@)= RX a (for the wheel A) (2) 1,(@-O)=RxXb ‘(for the wheel B) (3) where R is the impulsive force. From the last two equations, we get J; (@-@,) b= I,a@, (4) Now substituting the value of 3 from (1) in (4), we get 1 a= —>— 50 Ue the lab Pine Lb +ha 2-10. Centre Of Percussion : [Meerut 1990,94,93,82,80,76] If a bedy , rotating about a given axis, is so struck that there is no impulsive pressure on’ the axis, then any point on the line of action of the force is called a centre of percussion. If the line of action of the blow is known, the axis about which the body begins to turn is called the axis of spontaneous rotation. Obviously this combines with the position of the fixed axis in the first case. 211. Centre of Percussion of a rod : [Meerut 1996,75] Consider a rod AB of length 2b. Let it be suspended freely from one end A. Let a horizontal blow of impulse P be applied to it at the point Substituting the value of @, in (1), we have @,= C where AC= x. If X is the impulsive action at A and @ the angular velocity communicated to the rod, then the equations apex of motion are MB a= Px (momenteq') BxeD) M(a@-0)= P+X (2) al 8 Where aw is the velocity with which G moves. Now if the blow has been given through the centre of _¢ Percussion then X= 0 and equation (2) becomes P Maw= Pp, Substituting this value of P in (1), we get e ee ern eeeneS ce ted cos Scanned with CamScannernz _ DYNAMICS OF A RIGID Bopy 2 x= = tength of the equivalent simple pendulum, a 2: 12. General Case of Centre of Percussion : Let us take the fixed axis as the axis of y. Also let centre of gravity g lie in the xy plane, so that coordinates of G are (¥, 7,0). If-Q is the point where the blow is applied then take a plane through Q and perp. to xy -plane as the xz-plane so that coordinates of @ may be (E,0,0). Now consider any other point P of mass m of the body at a distance r from Oy at any angle @ with z-axis. The coordinates of P will be x= rsin @,y= const.,z= rcos ®, If before the blow, angular velocity is @ and the velocity component along the axes are u, v, w respectively, then we have X= w= rcos0,6 = 20, = v= 0,2 = w= -rsin@.6 = -x0, If after the blow, the angular velocity is @ and velocity component along the axes becomes as u’,v’,w’, then u’= 20',v'= Ow’ = - x0". If X, ¥,Z are the components of the blow at the point Q, then equations of motion will be X= Em(u’ —u)= Emz(w’ — w) = (@! = o)Emz = (w’- 0) Em= M(@’ -@)Z= 0 (since z= 0) (1) Y= Em(v’-v)=0 (since v’= Oand v= 0) ¥ (2) Z= Em(w’ —w) = —(w’— @)Emx= —(@’- @) FEm : ! -M(o'- @)* ..) ~¥G= Em (yw! —w)-z(v/— v)) = -(w’- w)Emay = -(@’- 0) F 4) | =F=0 (! ¥='0) OX-EZ= Em (eu ~u)—x(w’ -w)} = -(0'- 0) Em (2+27)= MP (w'- w) AS) ha is the M.I. of the body about y+ axis) )°«) Ao, Y= Em (x(v’ —v)—y(w’—u)) = (= "@) Em ‘- aD z= —(@’- 0) =D=0 - Y= 0) : (6) Thus we get X= 0, Y= 0, which implies that blow has:no: components parallel (o the axes of x and y. Hence the blow must be perp. to x)= plane which contains the fixed axis and the instantaneous position of the centt® of gravity. Also we see that F='0 and D= 0 which implies that the y+ axis which is also the axis of the body is a principal axis. at the poit! where the plane through the line of action of the blow perp. to the fixed a which that thei distance “from the Sol. Let @and m rod. Distance h= Let k be O” then (m Se =. i * Dist; Scanned with CamScannerMOTION ABOUT A FIXED Axis axis cuts it. This is a necessary conditio of percussion. So if the fixed axis is no then there is no centre of percussion, 113 n for the existence of thecentre t a principal axis at some point, 2 U ing equation (3) and (5), we get E= £ AT) The obvious conclusion from the relation (7) is that the distance of the centre of percussion from the fixed axis is the same as that of the centre of oscillation, Points to remember in finding out the centre of percussion of a body for fied axis. (i Find the point where the fixed axis is. principal axis, nS (i Take a distance“. (i) Draw am axis perp. to the plane containing the fixed axis and C.G. at a distance £ below the point where fixed axis is principal axis. (iv) Any point on this line is a centre of percussion of the body for the Ex39. A pendulum is constructed of a solid sphere of mass M and radius a which is attached to the end of a rod of mass m and length b. Show that there will be t ‘strain on the r if the pendulum be struck at a * distance — [M. 3at+(a+e)? zme"] + [m(a+b)+ tmo] from the axis. Sol. Let OA = b be the rod fixed at the point O, Let a sphere of radius a and mass M be attached to the other end A of the rod. Distance of the C.G. of the pendulum from O he m (b/2)+M (b+a) a) m+M m Let k be the radius of gyration of the pendulum about 0, then we have (m+ M) P= M (b+ a)?+ 2a} +4 m( sy =P “4 (6+a)*+ 204] + sore (2) . KE “+ Distance of centre of percussion from O = : _ M Ba" (a+ b)"]+ pmb? }mb+M (a+b) Scanned with CamScanner> 114 DYNAMICS OF A RIGID gop, wor! Ex40. Find the centre of percussion of a triangle ABC which is free ,, move about its side BC. : (Meerut 1983.80.75 Sol. To find out the point where BC is a principal axis. Let us proceed like this. Draw AD, the median and AL the perp. from A on BC. Let be the mid point of DL. Then, by the elementary knowledge of M.I. and PI. .M BC is a principal axis at the point O. Let the mass of the AABC be m. The triangle of mass Dae : m : rm is kinetically equivalent to the particles each of mass 7 placed at the mid points D, E,and F. Let AL = p, then Ml iy2g Ml 24 Mga ling pt =i mPa Bp tt Gert Oa gm P= oP But the depth of C.G. below BC= h= ip. Hence depth of ghe centre of percussion below BC along a vertica through O= (7h) = Ep. Particular Case : If the triangle ABC is an equilateral triangle, then the point D and 9 coincide. In this case 47 = dehne tp Hence’ the depth of the centre of percussion below BC along the median bisecting ee ea = Fm dp. ExAL Find how an equilateral lamina must be struck that it may commence to rotate about a side. 2 [Meerut 1974,73] Sol. Refer fig. Ex40. The triangle ABC rotate about the side BC. The blow should be given at the centre of percussion when BC is the axis of rotation of the lamina. Here BC is the principal axis of triangle at its middle point (points D, O,L will coincide). . 1 . i 5 Again P= tp? sh= 4p where p is the height of the triangle. *- Depth of the centre of percussion below BC along the median bisecting ee BC is 7 ie. p. Hence the blow should be given at the middle point of the median bisecting the side about which the lamina rotates. ExA2 Find the position of the centre of percussion of a sector of a cit axis in the plane of the sector perp. to its symmetrical radius and passits through the centre of the circle. Sol. Consider the sector AOB of a circle of radius a. Let ZAOB= 20 Let a line OY perp. to the plane of the Sector be the axis of rotatio™ Then MLL. of the sector AOB about OY = 2 j J. Poos?@ rd @dr 00 Scanned with CamScannerMOTION ABOUT “A-FIXED AXIS . 4 Ee p-TPascos2040= p.(a+ sin a.cos a) 2 2 B= ME (ect sin o1c0s a) =i? & a Faq, (+ sin cos a) 2a sina | 3: a A Hence distance of centre of percussion from O ee || B _ Bar a+ sin coos uw mT anes + sin a L Distance of C.G. from O= he RI Scanned with CamScanner