FACULTY OF ENGINEERING, D.E.I., DAYALBAGH, AGRA – 5.

SYLLABUS L T P S T Cr
4 1 0 0 5 3
MEM 301 Engineering Mechanics II 5
No. of
UNIT – 1 Periods
Kinematics of Particles:
Cartesian, cylindrical and path coordinates for velocity and acceleration. Relative motion. 6
Translating reference frame.
Kinetics of Particles:
Equations of rectilinear and curvilinear motions in different coordinate systems. 5
Application to system of particles.

UNIT – 2
Energy Principles:
Work done by a force. Potential energy. Conservative forces. Principle of conservation of 5
energy. Power and efficiency.
Impulse Momentum Principle:
Linear and angular momentum. Application to system of particles. Problems involving both 5
energy and momentum principles.

UNIT – 3

Kinematics of Rigid Bodies:

Translation and rotation. Planar motion. Moving reference frame. Differentiation in a 10
moving reference frame. Velocity and acceleration. Angular velocity and angular
acceleration.

UNIT – 4

Kinetics of Rigid Bodies:

10
Planar motion. Translation. Rotation. General motion. Energy & momentum principles.
Kinetics in 3-D motion, limited to Euler’s equations.

UNIT – 5

Mechanical Vibrations:
6
Degree of freedom. Equations of motion for undamped & damped single degree systems.
Vibration of rigid bodies.

Central Force Motion: 5

Two body problem. Satellite motion.
SUGGESTED READING: TOTAL 52
1. Shames Engineering Mechanics
2. Ginsberg & Genin Dynamics
3. Meriam,Kraige Dynamics
4. Sundara Rajan Dynamics
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 QUESTION BANK

CHAPTER – 1 KINEMATICS OF PARTICLES

Note: - All the problems are not of equal standard nor do they take equal time. Quite a number of them take less
than 15 min. to solve.

1.1 A car moves in a straight line such that for a short time its velocity is defined by v= 9t2 + 2t m/s where t is in
seconds. Determine its position, velocity and acceleration at t =3s given that at t=0, it is at the origin. (ANS.
90 m, 87 m/s, 56 m/s2)
1.2 A small projectile is fired vertically downward into a fluid medium with an initial velocity of 60 m/s.
(Refer Fig.) If the projectile experiences a deceleration given by a = - 0.4 v3 m/s2 , where v is measured
in m/s, determine the velocity, v and position d, 4 seconds after the projectile is fired. (ANS. 0.559 m/s,
4.43 m)
1.3 A metallic particle is subjected to the influence of a magnetic field such that it travels vertically downwards
from plate A to plate B. If the particle is released from rest at the mid point C, and the acceleration is
measured as a = 4s m/s2 ,determine the velocity of the particle when it reaches plate B. (s=200 mm) and
the time needed to travel from C to B.(ANS.-0.346 m/s, 0.657s)
1.4 A particle moves along a horizontal straight line with a velocity v = 3t2 – 6t m/s. If it is initially located at
the origin (at t=0) determine – (i) The displacement and (ii) the distance travelled during the time interval
0 to 3.5 s. Find also the average velocity and the average speed of the particle during this time
interval.[ANS. (i) 6.12 m; (ii) 14.12 m; Av. Vel.=1.75 m/s; Av. Speed = 4.03 m/s]
1.5 Derive expressions for velocity and acceleration of a particle moving along a plane curve using (i) path
coordinates (ii) polar coordinates.
1.6 A particle at A moves along a plane circular path of radius r equal to 1 m. The position OA is given as a function
of time as θ = 6 sin 5t rad where t is in seconds. What are the rectangular components of velocity of the particle
at time, t = 1/5 sec.? (ANS. x =15.3, y =5.35 m/s)
1.7 A car starts from rest at A in the figure and travels along a horizontal track. During motion, the acceleration, a is
given by 0.2t m/s2. Determine the magnitude of the car’s acceleration (and its vector) when it arrives at B. Find
also its velocity at B. (ans. 1.14 et + 5.25 en m/s2 , 3.24 m/s

1.8 A particle moves along a path given as y = 3x2 m. The projection of the
2
particle along the x axis varies as 0.2t m (where t is in s.) starting at the
origin at t=0. What are the acceleration components normal and tangential to
the path at t=2s? What is the radius of curvature at this point? (Ref. Fig.) (ans.
an = 1.779 m/s2, at = 28.8 m/s2 , R = 209 m)

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 t3
1.9 A car is moving along a circular track of radius 40m. The position S along the path is given as s = 3t 2 + m
6
The time t is given in sec. What are the angular velocity and angular acceleration of the car at t=5s? (ANS. 1.063
Rad/s, 0.275 rad/s2)
1.10 A vertical member with control axis CD rotates in accordance with  = 3 sin (0.1t ) rad s with t in seconds.
Attached to CD is a system of rods HI & FG pinned together at K and of length 200 mm and GA and IA of length
100 mm pinned together as shown. At the end of A is a stylus which scribes a curve on plate J. The angle  of
t
the system is given as  = 1.3 − rad with t in sec. What are the radial and transverse velocity and
10
acceleration components of the stylus at time t=5sec. about axis C-C? (NOTE: Pin F is fixed but pin H moves
vertically in a slot as shown). ANS. 21.5 er + 358 e mm s, − 517 e + 127.4 e mm s
θ R θ

1.11 A plane is shown in a dive bombing mission. It has at the instant of interest a speed of 485 km/hr and is
increasing its speed downward at a rate of 81 km/hr/sec. The propeller is rotating at 150 rpm and has a diameter
of 4m. What is the velocity of the tip of the propeller shown at A and its acceleration at the instant of interest?
(Ans. v = 31.4 eθ + 134.7 ez m/s,a = - 493 eθ + 22.5 ez m/s2)
1.12 A wheel with a threaded hub is rotating at an angular speed of 80 rpm on a right hand screw having a pitch
of 4 cm. At the instant of interest, the rate of change of angular speed is 20rpm/sec. A sleeve A is advancing
along a spoke at this instant with a speed of 5m/sec. and a rate of increase of speed of 5m/sec 2. The sleeve is
2m from the center line at O at the instant of interest. What are the velocity vector and the acceleration vector
of the sleeve at this instant? Use cylindrical coordinates.
1.13 A threaded rod rotates with angular position θ = 0.315t2 rad. On the rod is a nut which rotates relative to the
rod at the rate ω = 0.4 t rad/s When t=0, the nut is at a distance 0.6m from A. What is the velocity and
acceleration of the nut at t=10s? The thread has a pitch of 5mm. Give results in radial & transverse directions.

1.14 Two wheels rotate about stationary axes each, at the same angular velocity, θ = 5 rad/sec A particle A moves
along the spoke of the larger wheel at the speed V1 of 5 m/s relative to the spoke and at the instant shown is
decelerating at the rate of 3m/s2 relative to the spoke. (I)What are the velocity and acceleration of particle A
as seen by an observer on the hub of the smaller wheel? (II) What are the velocity and acceleration of particle
A to an observer on the hub of the smaller wheel P, if the axis of the larger wheel moves at the instant of
interest to the left with a speed of 10m/s while decelerating at the rate of 2m/s2? Both wheels maintain equal
angular speeds.( Ans. (I) NA = 3.54 (i + j), aA = 2.12 (i –j) (Note: Relative motion is ni l)

1.15 The rotating arm AB guides pin P through the fixed spiral, which is defined by R=4, where R has units of
meters, and  is in radians. The arm has a constant CCW angular speed of
 16 rad/s. Determine the horizontal and vertical components of velocity and acceleration of the pin when
=45. (Ans. vP = 80.8i + 9.7j m/s, aP = 880i – 2017j m/s2 (i left, j up)
1.16 A cockpit C is used to carry a worker for service work on road lighting systems. The cockpit is moved always
in a translatory manner relative to the ground. If the angular speed  of arm AB is 1 Rad/min. when =30,
what are the velocity and acceleration of any point in the cockpit body relative to the truck? At this instant,
what are the velocity and acceleration, relative to the truck, of a particle moving with a horizontal speed V
of 0.5m/s and with a rate of increase of speed of 0.02 m/s2 both relative to the cockpit?

1.17 A Ferris wheel rotates at the instant of interest with an angular speed  of 0.5 rad/s and is increasing its
angular speed at the rate of 0.1 rad/s2. A ball is thrown from the ground to an occupant at A. The ball arrives
at the instant of interest with a speed relative to the ground given as vxyz = -10j – 2k m/s What are the velocity
and the acceleration of the ball relative to the occupant at seat A provided that this seat is not “swinging”?
The radius of the wheel is 20m.(Ans. vxyz = -10j – 2k m/s)
1.18 A boat is about to depart from point A on the shore of a river, which has a uniform velocity Vo of 5 m/s. If
the boat can move at the rate of 15 m/s relative to the water. If we want to move along a straight path from
A to B, how long will it take to go from A to B? At what angle  should the boat be aimed relative to the
water? [ANS. t=6.76s, =80.50]
1.19 A particle moves with constant speed of 1.5m/s along a path given as x = y2 – In y (m). Give the acceleration
vector of the particle in terms of rectangular components when the particle is at position y=3m. Do the
problem by using path coordinate techniques and then by Cartesian component techniques. How many g’s
of acceleration is the particle subject to? (Ans. a = 0.00430i – 0.0245j m/s2 and 0.00255 g’s)
1.20 A freighter is moving at a steady speed V1 = 15 km/h relative to the water as shown. The freighter is 200 m
long at the waterline with point A at amidships. A stalking sub-merged submarine fires a torpedo when the
ships are at the positions shown in the diagram. The torpedo maintains a steady speed V2 relative to the
water of 40 km/hr. Will the torpedo hit the freighter? (HINT: Make your conclusion using the velocity of the
torpedo relative to the freighter). (ANS. No. The torpedo misses the freighter)

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1.21 A radar station tracks an airplane by measuring the distance R to the airplane and the angle of elevation .
At a certain instant an airplane is sighted at R=3500m, =55.2. What is the approximate value of R and the
approximate angle  after 0.50 s? The aircraft is traveling at 3300km/hr at a climb angle of 30. (ANS.
R=4348m, =50.040)
1.22 A wheel C attached to arm AB rotates about a pin at B with an angular velocity of 2rad/s and an acceleration
of 1rad/s2 in the CW direction. Arm AB pinned at A rotates with an  of 6rad/s and an  of 2 rad/s2 in CCW
direction. Determine the absolute velocity and acceleration of a point P on the wheel ‘C’, if – (a) ABP is a
straight line and (b) if ABP = 135 at the instant. (ANS. (a) V=4m/s, a=28.03m/s2)
0

1.23 The tow truck A pulls the automobile B out of a ravine by driving forward. Starting from the position shown,
t2 t3
the distance the truck moves is given by s = − where S is measured in meters and t in seconds.
2 100
Determine how far the automobile is pulled after 10 seconds and its velocity at the end of this time interval.
(ANS. 20m, 3.5 m/s (up))
1.24 A pin is confined to slide in a circular slot of radius 6m. The pin must also slide in a straight slot which
moves to the right at a constant speed V of 3m/s while maintaining a constant angle of 30 with the horizontal.
What are the velocity and acceleration of the pin A at the instant shown? (ANS. y =1.298 m/s, y=0.1869
m/s2), HINT: use velocities rel. is the deer.)
1.25 An archer in a Jeep is chasing a deer. The Jeep moves at 50 km-ph and the deer moves at
25 km-ph along the same direction. At what inclination must the arrow be shot if the deer is 100m ahead of
the Jeep and if the initial speed of the arrow is 70m/s relative to archer? (Neglect friction). [ANS. 6.28 0]
1.26 A pin in a machine follows a parabolic path defined by y = x2 /200 where x and y are measured in millimeters.
When first observed, the pin is at x=255.2 mm and 2ms later it is at x=239.4 mm. Determine the approximate
velocity of the pin.(ans. v = -7.9i – 19.5j m/s ms = mill seconds)
1.27 Pins A and B must always remain in the vertical slot of yoke C which moves to the right at a constant speed
of 6m/s as shown in the figure. Furthermore, the pins cannot leave the elliptic slot.
a) What is the speed at which the particles approach each other when the yoke slot is at x=5m?
b) What is the rate of change of speed toward each other when the yoke slot is at x=5m?
1.28 In Q.27 what is the acceleration of B if the yoke C is accelerating at 10 m/s2?
1.29 Particles A and B are confined to always be in a circular groove of radius 5m. At the same time, these
particles must also be in a slot which has the shape of a parabola. The slot is shown at time t=0. If the slot
moves to the right at a constant speed of 3 m/s, what are the speed and rate of change of speed of particles
toward each other at t=1s ? [ANS. 2.02 m/s, 1.522 m/s2]
1.30 A sportsman in a valley is trying to shoot a deer on a hill. He quickly estimates the distance of the deer along
his line of sight as 500 m and the height of the hill as 100 m. His gun has a muzzle velocity of 1,000 m/s. If
he has not graduated sight, how many feet above the deer should he aim his rifle in order to hit it? [ANS.
4.22 m]

CHAPTER – 2 KINETICS OF PARTICLES

2.1 A particle of mass 1 kg is moving in a constant force field given as F= -3i + 10j – 5k N. The particle
starts from rest at position (3, 5,-4). What is the position and velocity of the particle at time t=8s? What
is the position when the particle is moving at a speed of 20 m/s?
2.2 A block is permitted to slide down an inclined surface inclined at 300. The co-efficient of friction is
0.05. If the velocity of the block is 30 m/s on reaching the bottom of the incline, how far up was it
released and how many seconds has it travelled?
2.3 A mass D at t=0 is moving to the left at a speed of 0.6 m/s relative to the ground on a horizontal belt
that is moving at constant speed to the right at 1.6 m/s. If there is coulumbic friction present with μd =
0.3 how long does it take before the speed of D relative to the belt is 0.3 m/s to the left? (Ans. 0.646 s)
2.4 Do problem 2.3 with the belt system inclined 15 with the horizontal so that end B is above end
A.(Ans. 6.26 s)

2.5 A particle in rectilinear motion passes the origin traveling at 400 m/s when it is given a deceleration of
50 t (mm/s2) where t is in seconds. Determine – (a) the length of time required to bring the particle to
rest, (b) the distance it has travelled in 6s, (c) the distance of the particle from the origin when it has
stopped.

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2.6 A system of light pulleys and inextensible wire connects bodies A, B and C as shown. If the co-
efficient of friction between C and the support is 0.4, what is the acceleration of each body? Take MA
as 100 kg, MB as 300 kg and MC as 80 kg. (Ans. aA = 0.504 m/s2,aB = 3.61 m/s2,ac = -7.72 m/s2)
2.7 A rod B of mass 500 kg rests on a block A of mass 50 kg.(Ref. Fig) A force F of 10,000 N is applied to
block A at the position shown. If the coefficient of friction μd = 0.4 for all contact surfaces, what is the
speed of A when it has moved 3m to the end of the rod? (Ans. 29.15m/s)

2.8 Shown is a simply supported beam. You will learn in strength of materials that a vertical force F applied
at the center causes a deflection at the center given as FL3/ 48 EI. If a mass of 100 kg, fastened to the
beam at its midpoint, is suddenly released, what will its speed be when the deflection is 2mm? Neglect
the mass of the beam. The length of beam L is 6 m. Young’s modulus E is 200 GPa and the moment of
inertia I of the cross section is 720 cm4.
2.9 A 50 kg crate shown rests on a horizontal plane μ = 0.3. If the crate is subjected to a 400 N towing force
as shown; determine the velocity of the crate 5 s after starting from rest. [Ans. 26m/s]
2.10 A 10kg projectile is fired vertically upward from the ground, with an initial velocity of 50m/s.
Determine the maximum height to which it will travel if – (a) air resistance is neglected and
(b) if air resistance F=0.01 v2 (N) where v is in m/s. (Ans. 127, 113 m)
2.11 The 10 kg block is pulled upward from rest by a constant force of 400N as shown. Determine the
velocity of the body when it reaches A if – (a) the friction is negligible, (b) the coefficient of friction
between the block and its guide is 0.1 Neglect friction in the pulley. (Ans. (a) 2.6 m/s up, (b) 1.799
m/s up)

2.12 A steel block weighing 400 kg is to be picked up by an electromagnet whose attractive force is
given by F= 15x104 /s2 where s in meters. Initially s =1.6m. Determine the velocity with which the
block strikes the electromagnet. Refer figure.
2.13 A 0.25 kg collar slides over a horizontal rod under the action of a linear spring whose constant is
20 N/m. When the collar is at A, the spring is free (no force). If the collar is released from rest at B,
Determine the velocity of the collar when it passes the point A. Neglect friction.(Ans. 8.94 m/s)
2.14 The viscous friction between a 300 incline coated by a layer of lubricant and the 10 kg block
is given by f = 0.25 v where f is in N and v in m/s. The block is released from rest. Determine
the time required for block to attain a speed of 3 m/s and the corresponding distance traveled
by the block.
2.15 A 200 g ball is thrown vertically up from the ground with an initial velocity of 25 m/s. The
air resistance, f = 2 x 10-4 v2 (N) where v is in m/s. Determine (a) the maximum height attained
by the ball, (b) the speed of the ball when it returns to the ground, (c) the total elapsed time.
(Ans. (a) 30.9, (b) 24.2 m/s, (c) 4.92 s)
2.16 The 0.5 kg collar is pulled down the curved rod by the spring whose stiffness is 20 N/m and whose
free (unstretched) length is 500 mm. Neglect friction. If the collar has a speed of 10 m/s in the
position shown, determine the corresponding acceleration of the collar and the force the collar exerts
on the rod.

2.17 A small steel ball moves down a smooth circular surface after being released from rest at the top.
Determine the location when the ball will cease to be in contact with the cylinder.[ANS. = 48.2]
2.18 The slotted arm shown rotates in a horizontal plane at a constant  of 4 Rad/s as it guides the pin
‘P’ over the fixed cam. The cam is defined by R= 16 + 8 Cos φ where R is in cm from the fixed
point O to a point on the perimeter of the cam. The compression force in the spring is 15N when φ
= 00 and 5N when φ = 1800 Calculate the value of the contact force exerted between the 300 g pin
and the cam for φ = 600.

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2.19 The system shown in the figure is released from rest. A, B & C weigh 5, 4 and 15
kg respectively. What distance does the body C drop in 2s? Take μ = 0.4 for
contact surfaces.
2.20 A rod CD rotates with shaft G-G at an angular speed  of 300 rpm. A sleeve A of
mass 500 g slides on CD. If no friction is present between A and CD, what is the
distance S for no relative motion between A & CD?
2.21 In problem 2.20 what is the range of values for S for which A will remain
stationary relative to CD if there is coulumbic friction between A and CD such
that μs = 0.4 ?
2.22 A stationary uniform block of ice is acted on by forces that maintain constant
magnitude and direction at all times. If F1= 25 g N, F2= 10 g N, F3= 15 g N,(Refer
figure).What is the velocity of the center of mass of the block after 10 s? Neglect
friction. The density of ice is 800 kg/m3. Forces are given in newtons)
2.23 A young man is standing in a canoe awaiting a young lady. The man weighing 80
kg is at the far end of the canoe, which weighs 100 kg. When the young lady
appears, he scrambles forward to greet her, but when he has moved the 8 m to the
forward end of the canoe, to his surprise he finds (not having studied mechanics)
that he cannot reach her. How far is the tip of the canoe from the dock when our
“gallant” has made the 8m dash? The canoe is in no way tied to the pier, and there
are no currents in the water. (Hint: Does the moment of mass of the man canoe
system change about any fixed point?)
2.24 Two men climb aboard a barge at A to shift a load with the aid of a fork lift. The
barge has a mass of 20,000 kg and is 10 m long. The load consists of four
containers each with a mass of 1300 kg and each having a length of 1 m. The men
shift the containers to the opposite end of the barge, put the fork lift where they
found it, and prepare to step off the barge at A, where they came on. If the barge
has not been constrained and if we neglect water friction, currents, wind, and so
on, how far has the barge shifted its position? The fork lift has a mass of 1000kg.
(See the hint of problem 2.23) (Ans. 1.587 m)

2.25 A spring requires a force x2 N for a deflection of x mm, Because the spring force
is not proportional to x, the spring is called a nonlinear spring. If a 100 kg block
is suddenly released on the un-deformed spring, what is the speed of the block
after it has descended 10 mm? (Ans. 0.435 m/s)

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2.26 Weights A and B are held by light pulleys. If released from rest, what is the speed
of each weight after 1s? Weight A is 10 kg and weight B is 40 kg.
2.27 The following data are given for the fly ball governor
l = 0.275m D = 50mm  = 300rpm  = 45 0 what is the force P acting on
frictionless collar a if each ball has a mass of 1 kg and we neglect the weight of
all other moving members of the system? (Ans. 199.5N)
2.28 The smooth 2 kg cylinder C in the fig. has a peg P through its center which passes
through the slot in arm OA. If the arm rotates in the vertical plane at a constant
rate of 0.5 Rad/s, determine the force that the arm exerts on the peg at =600. (Ans.
0.305N)
2.29 . A can C mass 0.5 kg moves along a grooved horizontal slot shown in the fig. The
slot is in the form of a spiral given by the equation r = 0.1 θ m where  is in radians.
If the arm OA is rotating at a constant rate =4 rad/s in the horizontal plane,
determine the force it exerts on the can C at the instant when = rad. Neglect
friction and the size of the can. (Ans. 0.797N)

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CHAPTER – 3 ENERGY PRINCIPLES
3.1 A simple pendulum of mass m and length L is released from rest in the horizontal position. The cord hits peg B and begins
to wrap around it. Determine the smallest value of d (=AB) for which the mass m will follow a complete circle about peg B.
[ANS. d=0.6 L]

3.2 Two collars of mass M each can slide on a frictionless rod. The collars are connected by means of strings of length L(m) to
a mass 3 M(kg). Initially the distance between the collars is L(m) when the mass 3 M is released from rest at the position
shown. Determine the velocity with which the masses collide. Ans. 0.402 gL
3.3 What value of constant force P is required to bring the 100 kg body, which starts from rest, to a velocity of 30 m/s in 20 m?
Neglect friction.

3.4 A light cable is wrapped around two drums fixed between a pair of blocks. The system has a mass of 50 kg. If a 250-N tension
is exerted on the free end of the cable, what is the velocity change of the system after 3 m of travel down the incline? The
body starts from rest. Take d for all surfaces as 0.05. [ANS. 3.98 m/s]
3.5 A 50 kg mass on a spring is moved so that it extends the spring 50 mm from its unextended position. If the coefficient of
friction between the mass and the supporting surface is 0.3
a) What is the velocity of the mass as it returns to the underformed configuration of the spring?
b) How far will the spring be compressed when the mass stops instantaneously before starting to the left.[ANS. 0.454
m/s, 20.6 mm]

3.6 A freight car weighing 90 kN is rolling at a speed of 1.7 m/s toward a spring stop system. If the spring is nonlinear such that
it develops a 0.0450 x2 –kN force for a deflection of x mm, what is the maximum deceleration that the car A undergoes?
[ANS. 45. m/s2]
3.7 A particle of mass 10 kg is acted on by the following force field - F = 5 xi + (16 + 2 y ) j + 20k ( N ) ,when it is at the origin,
the particle has a velocity V0 given a by- V0 = 5i + 10 j + 8 m/s. What is the kinetic energy when it reaches position
(20,5,10) while moving along a frictionless path? Does the shape of the path between the origin and (20,5,10) affect
the result? (Ans. 2250J)

3.8 A block weighing 50 kg is shown on an inclined surface. The block is released at the position shown at a rest condition. What
is the maximum compression of the spring? The spring has a spring constant k of 10 N/mm and the coefficient of friction
between the block and the incline is 0.3.

3.9 A weight W is to be lowered by a man. He lets the rope slip through his hands while maintaining a tension of 130N on the
rope. What is the maximum weight W that he can handle if the weight is not to exceed a speed of 5 m/s, starting from rest
and dropping 3 m? Use the coefficients of friction shown in the diagram. Neglect the mass of the rope. There are three wraps
of rope around the post. [ANS. W=121 kN]

3.10 A body A of mass 1 kg is moving at time t=0 with a speed V of 1 m/s on a smooth cylinder as shown. What is the speed
of the body when it arrives at B? Take r=2m.

3.11 A children’s boat ride can be found in many amusement parks. Small boats each weighing 100 kg are rotated in a tank
of water. If the system is rotating with a speed  of 10 rpm, what is the kinetic energy of the system? Assume that each boat
has two 30 kg children on board and that the kinetic energy of the supporting structure can be accounted for by “lumping” an
additional 15 kg into each boat. If a wattmeter indicates that 4 kW of power is being absorbed by the motor turning the system,
what is the drag for each boat? Take the mechanical efficiency of the motor to be 80%. (Refer Figure)

3.12 A block A of mass 200 g slides on a frictionless surface as shown in figure. The spring constant K1 is 25 N/m and initially,
at the position shown, it is stretched 0.40 m. An elastic cord connects the top support to point C on A. It has a spring constant
K2 of 10.26 N/m. Furthermore, the cord disconnects from C at the instant that C reaches point G. If A is released from rest at
the indicated position, what value of  corresponds to the position B where A just loses contact with the surface? The elastic
cord is initially unstretched. [ANS. =4.340]
3.13 A block weighing 5 kg is released from rest where the springs acting on the body are horizontal and have a tension of
50N each. What is the velocity of the block after it has descended 100 mm, if each spring has a spring constant K=10 N/cm.

3.14 Masses A and B (both are 75 kg) are constrained to move in frictionless slots. They are connected by a light bar of length
0.3m, and weight B is connected by two springs of equal spring constant K=900N/m. The springs are unstretched when the
connecting bar is vertical. What is the velocity of B when A descends a distance of 25mm? [ANS. 0.1524 m/s]

3.15 A body A is released from rest on a vertical circular path as shown. If a constant resistance force of 1N acts along the
path, what is the speed of the body when it reaches B? The mass of the body is 0.5 kg and the radius r of the path is 1.6m.
[ANS. 2.853 m/s]

3.16 A chain of total length L is released from rest on a smooth support as shown. Determine the velocity of the chain when
the last link moves off the horizontal surface. In this problem, neglect friction. Also, do not attempt to account for centrifugal
effects stemming from the chain links rounding the corner. (Refer figure). Ans. yg/L (L2-a2)

3.17 A cylinder of radius R rotates about its own axis with an angular speed of . If the total mass is M, show that the
kinetic energy is (1 / 4 )MR 2 2

3.18 A pendulum has a bob with a comparatively large uniform disc of diameter 2m and mass M of 3kg. At the instant shown,
the system has an angular speed  of 0.3 rad/s. If we neglect the mass of the rod, what is the kinetic energy of the pendulum
at this instant? What error is incurred if one considers the bob to be a particle as we have done earlier for smaller bobs?

3.19 A cylinder with a mass of 25 kg is released from rest on an incline, as shown. The shaft diameter of the cylinder is
300mm. If the cylinder rolls without slipping, compute the speed of the center after the cylinder has moved 1.6m along the
incline. Ascertain the friction force acting on the cylinder. The radius of gyration K about 0 is 0.30 2 (m ). (Ans. 81.75N)
3.20 Cylinders A and B each have a mass of 25 kg and a diameter of 300 mm. Block C, riding on A and B, has a mass of 100
kg. If the system is released from rest at the configuration shown, what is the speed of C after the cylinders have made half
a revolution? (Hint:- you can find KE of a cylinder rotating about its ours axis as MR2ω2/4.) (Ans. 2.58 m/s).

3.21 A 15 kg vehicle has two bodies (each with mass 1kg) mounted on it, and these bodies rotate at an angular speed of 50
rad/s relative to the vehicle. If a 500-N force acts on the vehicle for a distance of 17m, what is the kinetic energy of the
system assuming that the vehicle starts from rest and the bodies in the vehicle have constant rotational speed? Neglect
friction and the inertia of the wheels.

3.22 A body of weight 1kN is on a horizontal table linked to a spring of stiffness 500 N/m as shown. =0.08 between the
body and the table. If the body is displaced through a distance of 0.5m from the position when the spring force is zero and
released at zero velocity, find out how many times it will oscillate and where it will come to rest finally. At this position of
rest what are the spring force and friction force?

3.23 The motor M of the hoist shown operates with an efficiency of 0.85. Determine the power in watts that must be
supplied to the motor to lift the crate C having a weight 35kg. Point P on the cable is being drawn in with an acceleration of
1.25 m/s2 and at the instant shown, its speed is 0.6m/s.

3.24 A smooth 2kg collar C shown fits loosely on the vertical shaft. If the spring is unstretched when the collar is at A, in
level with B (in the dashed position A) determine the speed at which the collar is moving when y=1m, if (a) it is released
from rest at A (b) it is released at A with an upward velocity VA=2m/s. [Ans. (a) 4.39 m/s, (b) 4.82 m/s]
3.25 Compute the work done by the force along the two paths (1) and (2) from A to G. The force is
F = y 2 i + z 2 j + x 2 k Refer fig.

3.26 Find out, if the following are conservative forces –

a) a constant force
b) central force field
c) F = 9i + 10 j + 6k
d) F = 3x 2 i + 5 y 2 j + 7 zk
e) F = −5r
f) ( )
F = 3x 2 i + x 2 i + 5 y 2 j + 7 zk
g) F = 3r e R + 3zk
h) F = A( y 2 − z 2 )i + B( z 2 − x 2 ) j + C ( x 2 + y 2 )k
i) F = 3 sin 2ti + 5 cos 7tj + 9t 2 k
j) F = −5r
k) F = Ax 3 yi + Bx 4 j

3.27 For the above force fields, find the potential energy associated with each of the conservative fields. (for h and k
above, find A, B and C for F to be conservation)

Compute the work done by a force F = x yi + x y j ( N ) on a particle as it moves from (0,0) to (2,8) along
3 4 3
3.28
the path y=x3.

A 1kg particle is moving along a parabolic wire y=2x2. The force field F = ( x + y )i + xyj acts on the
2 2
3.29
particle. If the particle begins from rest at (1,2), determine its velocity at (3,18).

3.30 The rope shown in (a)-part of the figure is released from rest on the smooth semi-circular surface and acquires a
velocity v, when all of it slips off as shown in (b) - part. Find v.
CHAPTER – 4 IMPULSE MOMENTUM PRINCIPLES

4.1 A particle of mass 1kg is initially stationary at the origin of reference. A force given by
F (t ) = t 2 i + (6t + 10) j + 1.6t 3 k ( N ) where t is in seconds act on the particle After 10s, what is the velocity of
the body?

4.2
a) A body of mass 16kg is required to change its velocity from V1 = 2i + 4 j − 10k m/s to a velocity of
V2 = 10i − 5 j + 20k m/s in 10s. What average force F over this time interval will do the job?
b) In the above problem, find the force as a function of time for the case where force varies linearly with time starting
with a zero value. [ANS. (a) 12.8i+14.4j+48k (N); (b) (2.56i-2.88j+9.6k)t (N)]

4.3 A vertical conveyor has sprocket A as the driver, and sprocket B turns freely. The bodies to be lifted are pushed onto the
conveyor belt by a plunger C and are taken off from the conveyor at D as shown in the diagram. If the belt runs at 2m/s and
the bodies being transported each has a mass of 0.25kg, what average torque is required by the driving sprocket A? On the
average, 40 bodies are on the conveyor at any time.[ANS. 14.76 N-m]

4.4 An 890 N rowboat containing a 668 N man is pushed off the dock by an 800 N man. The speed that is imparted to the boat
is 0.3 m/s by this push. The man then leaps into the boat from the dock in the direction of motion of the boat. When the two
men have settled down in the boat and before rowing commences, what is the speed of the boat? Neglect water resistance.
[ANS. 0.402m/s]

4.5 A hawk is a predatory bird which often attacks smaller birds in flight. A hawk having a mass of 1.3kg is swooping down on a
sparrow of mass 0.15kg. Just before seizing the sparrow with its claws, the hawk is moving downward with a speed of 20km/h.
The sparrow is moving at 15km/h. Directly after seizure, what is the speed of the hawk and its prey? What is the kinetic
energy loss in this process? [ANS. 18 kmph; 3.24 J]

18
4.6 As the 1,000 kg automobile descends the hill, the total traction force exerted between the tyres and the ground varies as
shown, where a negative value represents braking. The initial speed of the car was 72kmph. Determine the speed of the car
(a) after 15s and (b) after 30s. Neglect air resistance. [ANS. 2.86 m/s uphill, 38.2 m/s uphill]

4.7 A 16 kg carriage moves horizontally in its guide with a speed of 1.2 m/s and carries two assemblies of balls and light rods
that rotate about a shaft at O in the carriage. Each of the 4 balls has a mass of 1.6kg. The assembly on the front face rotates
CCW at 80rpm and that on the back rotates CW at 100rpm. For the entire system, calculate (a) the K.E., (b) the linear
momentum and (c) the angular momentum about O. [ANS. 54.66J, 26.88 kg m/s, 2.41 kg m2/s]

4.8 Two cylinders move along a smooth rod. Cylinder A (mass 10kg) moves to the right at 3m/s, while B (mass 5kg) moves to
the left at 2.5 m/s. What is the speed of the cylinder B after impact for a coefficient of restitution of 0.8? What is the loss in
the kinetic energy?[ANS. 4.1 m/s, 18.15J]

4.9 Assume a perfectly plastic impact as the 5kg body falls from a height of 2.6 m onto a plate of mass 2.5kg. This plate is
mounted on a spring having a spring constant of 1772 N/m. Compute the maximum deflection of the spring after impact.
[ANS. 0.338 m]

4.10 A thin disc weighing 5kg translates along a frictionless surface at a speed of 6 m/s. The disc strikes a square stationary
plate B weighing 8kg at the center of a side. What are the velocity and direction of motion of the plate and the disc after
collision? Assume that the surfaces of the plate and disc are smooth. Take =0.7
4.11 A ball is thrown against a floor at an angle of 60 with a speed at impact of 16 m/s. What is the angle of rebound? =0.7.
Neglect friction.[ANS. 50.50]

4.12
a) A small elastic ball is dropped from a height of 5m onto a rigid cylindrical body of radius 1.5m. At what position on the x-
axis does the ball land? [ANS. 9.093m]
b) Solve the above problem for =0.6. [ANS. 4.464m]

4.13 Three identical collars slide over a smooth horizontal rod. Initially the block A is moving to the left at speed V and the
other blocks are at rest. Determine how many collisions will occur and the velocity of each block after all collisions are over.
Let the coefficient of restitution between the collars be , where 0<<1
[ ANS. 3 Collisions. Va = v 3 − 3ε + ε2 − ε3  8, V = V  3 − ε − 3ε2 + ε3  8, Vc = V  1 + ε2  4 ]
  b    

4.14 Two disks sliding over a horizontal surface collide in the position shown. The masses of the disks are 0.8kg for A and
0.2kg for B. The coefficient of restitution is 0.8. the initial velocity of B and the final velocity of A are unknown. Find them.

4.15 A boat containing a man is moving near a dock. See figure. He throws out a light line and lassos a piling on the dock at
A. He starts drawing in on the line so that when he is in the position shown, the line is taut and has a length of 8m. His speed
is 1.5m/s in a direction normal to the line. If the net horizontal force F on the boat from tension in the line and from water
resistance is maintained at 250N essentially in the direction of the line, what is the component of his velocity towards piling
A after the man has pulled in 1m of the line The boat and the man have a combined weight of 180kg.

4.16 A particle rotates at 30rad/s along a frictionless surface at a distance of 0.6m from the centre. A flexible cord restrains
the particle. If this cord is pulled so that the particle moves inward at a velocity of 1.5m/s, what is the magnitude of the total
velocity when the particle is 0.3m from the centre?
4.17 A system is shown rotating freely with an angular speed  of 2rad/s. A mass A of 1.5kg is held at P against a
spring such that the spring is compressed 100mm. If the device P holding the mass in position is suddenly removed,
determine how far toward the vertical axis of the system the mass will move. The spring constant K is 0.531 N/mm.
Neglect friction and inertia of the bars. The spring is not connected to the mass.[ANS. 0.205 m]

4.18 A body of mass 5kg is moving at a speed of 6m/s on a frictionless surface. An elastic cord AO, which has a length
6m becomes taut but not stretched at the position shown in the diagram. What is the radial speed toward O of the
body when the cord is stretched 0.6m? The cord has an equivalent spring constant 1.5 N/cm.

4.19 Two masses slide along bar AB at a constant speed of 1.5m/s. Bar AB rotates freely about axis CD. Consider
only the mass of the sliding bodies to determine the angular acceleration of AB when the bodies are 1.5m from CD if
the angular velocity at that instant is 10rad/s.[ANS. -20rad/s2]

4.20 If the coefficient of restitution is 0.8 for the two spheres shown, what are the maximum angles from the vertical
that the spheres will reach after the first impact? [ANS. 5.47 and 29.9]

4.21 A pellet is shot at the hard, rigid surface. The speed of the pellet is 100m/s as it strikes the surface. The direction
of the velocity of the pellet is given by -0.6i -0.8k. Find the final velocity vector of the pellet for a collision having =0.7.
[ANS. 53.7i+23.6j-8.7k m/s]( Hint: AB  BC given a vector normal to ABC).

4.22 Two thin discs A and B slide along a frictionless surface. Each disc has a radius of 25mm. Disc A has a mass of
85g, whereas disc B has a mass of 227g. What are the speeds of the discs after collision for =0.7? Neglect friction.
Refer figure.[ANS. 2.74 and 1.014 m/s]

4.23 A set of particles, each having a mass of 0.5 N rotates about axis AA. The masses are moving out radially at a
constant speed of 1.5 m/s at the same time that they are rotating about AA. When they are 0.3m from AA, the angular
velocity is 5 rad/s and at that instant a torque is applied in the direction of motion which varies with time t in seconds

21
 as Torque = 6t2 + 10t N-m. What is the angular velocity when the masses have moved out radially at constant speed
to 0.6m? See fig.

4.24 A uniform rod with a mass of 7 kg/m rests flat on a frictionless surface. A force of 250N acts on the rod as
shown. What is the angular acceleration of the rod? What is the acceleration of the mass centre? Ans.1.856 rad/s2 ,
3.09i – 1.786j m/s2

4.25 A 50 g bullet traveling at 400 m/s in the direction shown, hits and is embedded in the 4 kg sphere. The impact is
completed in 0.05s. Find (a) the average increase in the tension of the cable during the impact; (b) the speed of the
sphere immediately after the impact, and (c) the height to which the sphere rises after the impact.

4.26 Refer fig. A 20 kg shell has a muzzle velocity of 500 m/s. The shell emerges 1 ms after being fired. The mass of
the barrel and its movable support is 600 kg. Also, the spring has a stiffness of 1000 kN/m. Compute , a)The average
increase in the reaction force on the rails during the firing., b) The recoil velocity of the barrel., c)The maximum distance
that the spring is compressed.

4.27 A particle mass 0.5kg has a velocity 10m/s in the x direction at time t=0. Forces F1 and F2 act on the particle,
and their magnitudes change with time according to the graphs shown. Determine the velocity of the particle at the
end of 3s. Ans.V = (−6i + 8 j )m / s

4.28 A particle is given an initial velocity VO tangent to the horizontal rim of a smooth hemispherical bowl of radius ro
from the vertical centre time, as shown at point A. As the particle slides past point B, a distance h below A, and a
distance r from the vertical centre line, its velocity v makes an angle  with the horizontal tangent to the bowl at B.
Find .

1
Ans.  = Cos −1
2 gh  h 2 
1+ 1 − 
V02  r02 

4.29

22
CHAPTER – 5 KINEMATICS OF RIGID BODIES
5.1 A reference frame xyz is moving such that the origin O has at time t a velocity relative to reference XYZ
given as V0 = 6i + 12 j + 13k m/s the xyz reference has an angular velocity  relative to XYZ at time t given
as  = 10i + 12 j + 2k rad/s. What is the time rate of change relative to XYZ of a directed line segment 
going from position P (3,2,-5) to Q (-2,4,6) in xyz ? What is the time rate of change relative to XYZ of
position vectors i’ and k’?

5.2 A reference xyz is moving relative to XYZ with a velocity of the origin given at time t as Vo=6i + 4j + 6k
m/s. The angular velocity of reference xyz relative to XYZ is ω=3i+14j+2k rad/s. What is the time rate of
change as seen from XYZ of a directed line segment ρ1,2 in xyz going from position 1 to position 2 where
the position vectors in xyz for these points are, respectively ρ1= 2i’+3j’ m, ρ2= 3i’-4j’+2k m. Ans. -1060i +
7.31j-35.2k m/s

5.3 Find the second derivative as seen from XYZ of the vector ρ1,2 specified in Problem 5.2. Take the angular
acceleration of xyz relative to XYZ at the instant of interest as α = ώ = 15i-2k rad/s2. Ans. -
521i+108.7j+65.2k m/s2.

5.4 A tank is maneuvering its gun into position. At the instant of interest, the turret A is rotating at an angular
speed  of 2 rad/s relative to the tank and is in position θ=200. Also, at this instant, the gun is rotating at an
angular speed  of 1 rad/s relative to the turret and forms an angle φ=300 with the horizontal plane. What
are ω ,ώ (ang.accn.) of the gun relative to the ground? Ans. -3.76i -1368j

5.5 In Problem 5.4 determine ω and ώ assuming that the tank is also rotating about the vertical axis at a rate
of 0.2 rad/s relative to the ground in a clockwise direction as viewed from above. Ans. 0.941i+0.342j+1.8k
rad/s, 1.692j-0.616i rad/s2.

5.6 A cord is wrapped around a wheel which is initially at rest as shown. If the end A of the cord is given
acceleration a=4t m/s2 where t is in seconds, find, as a function of time - (a) the angular velocity of the
wheel, and (b) the angular position of line OP in radians. (Line OP is on the wheels) , Ans.10t2 rad/s, 3.33
t3 rad

5.7 Disc A, shown in fig. starts from rest and rotates with a constant ang. Acceleration of 2 rad/s2. If disk A is
in contact with disc B and no slipping occurs between the discs, compute the angular velocity and angular
 acceleration of B just after A turns 10revs. (HINT: Tang. Comp. of acceleration of A & B are equal), (Ans.
21.2 rad/s, 2.67 rad/s2)

5.8 The end B of rod EB shown maintains contact with the cam by means of a spring. If the cam rotates about
an axis through point O with an angular acceleration  and angular velocity, compute the velocity and
acceleration of rod BE when the cam is in the arbitrary position.(A is the centre of the circular cam. OB=
‘c’, Rad. of cam= r

5.9 A cone is rolling without slipping such that its centerline rotates at the rate ω1 of 5 revolutions per second
about the z axis. What is the angular velocity  of the body relative to the ground? What is the angular
acceleration vector for the body? Ans. -121.6 j rad/s, 3823 I rad/s2

5.10 An amusement park ride consists of a stationary vertical tower with arms that can swing outward from the
tower and at the same time can rotate about the tower. At the ends of the arms, cockpits containing
passengers can rotate relative to the arms. Consider the case where cockpit A rotates at angular speed ω2
relative to arm BC, which rotates at angular speed ω1 relative to the tower. If  is fixed at 90, what are the
total angular velocity and the angular acceleration of the cockpit relative to the ground? Use ω1=0.2 rad/s,
ω2= 0.6 rad/s. Ans. 0.2k+0.6i rad/s, -0.024i rad/s2

5.11 In Prob. 5.10 find ώ of the cockpit for the case where θ=ω3=0.8 rad/s at the instant that θ = 900. Ans. -0.04j
rad/s

5.12 In Prob. 5.4 find the angular acceleration vector  for the gun barrel, if for the instant shown in the
diagram, the following data apply -

24
  = 0.30rad / s, = 20 0 ,  = 0.26rad / s 2 ,  = 30 0 , = 0.17rad / s, = −0.34rad / s 2 , Ans-0.227i+0.1369j-
0.34k rad/s2.

5.13 A wheel radius 0.3m is rolling along at 17 m/s without slipping. What is the angular speed? What is the
velocity of point B on the rim of the wheel at instant shown? Ans. 29j-12.03.k m/s

5.14 A bar moves in the plane of the page so that end A has a velocity of 7 m/s and decelerates at a rate of 3.3
m/s2. What are the velocity and acceleration of point C when BA is at 30 to the horizontal? Ans. 0.548i-
3.73j m/s, -43.4i-63.7j m/s2

5.15 A piston, connecting rod, and crankshaft of an engine are represented schematically. The engine is rotating
at 3,000 rpm. At the position shown, what is the velocity of pin A relative to the engine block and what is
the angular velocity of the connecting rod AB? Ans. -54.7 rad/s, 28.73 m/s

5.16 If ω1=5 rad/s and ώ1=3 rad/s2 for bar CD, compute the angular velocity and angular acceleration of the gear
D relative to the ground. Ans. -25 rad/s, 15 rad/s2 , (This is called epicyclic gear train )

5.17 The rod AB shown in fig. is confined to move along the inclined planes at A and B. If point A has an
acceleration of 3 m/s2 and a velocity of 2 m/s, both directed down the plane at the instant the rod becomes
horizontal, determine the angular acceleration of the rod at this instant. Ans. 0.344 rad/s2

5.18 Locate the Instantaneous centre of zero velocity for the connecting rod AB in the figure of prob. and the
coupler link BC in fig. of this problem.

25
5.19 The collar C in fig. is moving downward with a velocity of 2m/s and an acceleration of 1 m/s2. Find (a)
the angular velocity of the link CB, (b) the angular accelerations of CB and AB. Ans. 10rad/s, 5,-95 rad/s2

5.20 A particle moves on a circular path at a constant angular speed of 10rad/s on a platform, while the platform
rotates with a constant angular speed of 50rad/s about axis A-A. What is the velocity of the particle P at the
instant the platform is in the XY plane and the radius vector to the particle forms an angle of 30 with the Y
axis as shown? Ans. -1.732i-j-5k m/s

5.21 An anti-aircraft gun is shown in action. The values of ω1 and ω2 are 0.3 rad/s and 0.6 rad/s respectively. At
the instant shown what is the velocity of a projectile normal to the direction of the gun barrel when it just
leaves the gun barrel as seen from the ground? Ans. -0.908i-0.5253j-0.6k m/s

5.22 Also determine the acceleration of the top tip of the gun. Ans. -0.54i-0.311j-0.246k m/s2

5.23 Rod AD rotates at a constant speed θ of 2 rad/s. Collar C on the rod DA is constrained to move in the
circular groove shown in the diagram. When the rod is at the position shown, compute the speed of collar C
relative to the ground. What is the speed of collar C relative to the rod AD? Point A is stationary. Ans. 7.168
m/s, 3.753 m/s

5.24 A truck has a speed V of 20 m/s and acceleration Vof 3m / s 2 at time t. A cylinder of radius equal to 2m is
rolling without slipping at time t such that relative to the truck it has an angular speed ω1 and angular
acceleration  1 of 2 rad/s and 1 rad/s2 respectively. Determine the velocity and acceleration of the center of
the cylinder relative to the ground.

5.25 A truck is moving at a constant speed V=1.7 m/s at time t. The truck loading compartment has at this instant
a constant angular speed θ of 0.1 rad/s at an angle θ=450. A cylinder of radius of 300 mm rolls relative to
the compartment at a speed ω1 of 1 rad/s accelerating at a rate of ώ1 of 0.5 rad/s2 at time t. What are the

26
 velocity and acceleration of the center of the cylinder relative to the ground at time t? The distance d at time
t is 5m. Ans. -1.113i+12.2j m/s, 0.969i-0.1859j m/s2

5.26 A light plane is circling an airport at a constant elevation. The radius R1 of the path=3km and the speed of
the plane is 120km/hr. The propeller of the plane is rotating at 100 rpm relative to the plane in a clockwise
sense as seen by the pilot. What are ω, ώ & ώ of the propeller as seen from the ground at the instant shown
in the diagram. Ans. -1047i + 0.011k rad/s, -0.116j rad/s2, 0.0013 rad/s3

5.27 A slider A has at the instant of interest a speed V A of 3m/s with a deceleration of 2m/s2. Compute the
angular velocity and angular acceleration of bar AB at the instant of interest. What is the position of the
instantaneous axis of rotation of bar AB? Ans. 3rad/s, -44.6rad/s2, Inst. Centre is at (0,1).

5.28 The rod AB, shown in figure rotates CW at 2 rad/s with =4rad/s2, when =45. Determine the angular
motion of the rod DE. The collar C is pin connected to AB & slides over DE.

27
CHAPTER – 6 KINETICS OF RIGID BODIES

6.1 A shaft with a disc of steel having a density of 7626 kg/m3 originally at rest are subjected to a constant torque
T of 67.5 N-m, as shown. After 1 min., what is the angular velocity of the system? How many revolutions have
occurred during this interval? Neglect friction of the bearings. Use I= ½ Mr2 for the disc (278 ard/s, 1329 rev).

6.2 A shaft A is rotating at an angular speed of 1750 rpm when the hand brake is applied. If the shaft and its parts
have a radius of gyration of 200 mm and a mass of 500 kg, how long does it take to halve the speed of the
shaft? The dynamic coefficient of friction between belt and shaft is 0.3. (ANS. 13.38 s)

6.3 A torque M of 15 N-m is applied to a rod AB as shown. At B there is a pin which slides in a frictionless slot in
a disc E whose mass is 10 kg and whose radius of gyration is 300 mm. If the system is at rest at the instant
shown, what is the angular acceleration of the rod and the disc? The rod has a mass of 18kg. Ans. θ of rod = -
θ of disc = -16.07 rad/s2

6.4 A uniform slender member is supported by a hinge at A. A force P is applied at an angle  with the horizontal.
What value should P have and at what distance d should it be applied to result in zero reactive forces at A at
the configuration shown if β=450? The weight of the member AB is W. What is the angular acceleration of the
bar for these conditions at the instant of interest? (Ans. Centre of precision : d=2/3L, θ =-2g/L rad/s2

6.5 A stepped cylinder is released from a rest configuration where the spring is stretched 200 mm. A constant force
F of 360N acts on the cylinder, as shown. The cylinder has a mass of 146kg and has a radius of gyration of 1m.

28
 What is the friction force at the instant the stepped cylinder is released? Take μS=0.3 for the coefficient of
friction. The spring constant k is 270 N/m.

6.6 A semi-cylinder A is shown. The diameter of A is 0.3m and the weight is 50kg. What is the angular acceleration
of A at the position shown if at this instant there is no slipping and the semi-cylinder is stationary? Ans. 28.5
rad/s2 (Given OG=0.424r)

6.7 The car shown in fig. has a mass of 2 Mg with its centre of mass at G. Determine the car’s acceleration if the
driving wheels in the back are always slipping, whereas the front wheels freely rotate. Neglect the mass of the
wheels.  between the driving wheels and the road is 0.25. Ans. a=1.59 m/s2

6.8 The 100 kg beam BD shown in fig. is supported by two rods having negligible mass. Determine the force
created in each rod if at the instant θ=300, the rods are both rotating at ω=6 rad/s.

6.9 A block B weighing 100 kg rides on two identical cylinders C & D weighing 50 kg each as shown. On top of
block B is a block A weighing 100 kg. Block A is prevented from moving to the left by a wall. If we neglect

29
 friction between A and B; between A and wall; and we consider no slipping at the contact surfaces of the
wheels, what is the angular speed of the wheels in 2s for P=800N?

6.10 A ring rests on a smooth surface shown as seen from above. The ring has a mean radius of 2m and a mass
of 30kg. A force of 400N is applied to the ring at B. What is the acceleration of point A on the ring? Compute
the acceleration of point O, also. (ANS. Zero).

6.11 A rod AB of length 3m and weight 445N is shown immediately after it has been released from rest. Compute
the tension of wires CA and DB at this instant. Ans. TA=246N, TB=201N

6.12 Identical bars AB and BC are pinned as shown with frictionless pins. Each bar is 2.3m in length and has a
mass of 9kg. A force of 450N is exerted at C when the bars are inclined at 60. What is the angular acceleration
of the bars? Ans. θAB= -θBc= -18.34 rad/s2

6.13 A shaft shown supported by bearings A and B is rotating at a speed  of 3 rad/s. Identical blocks C and D
weighing 30kg each are attached to the shaft by light structural members. What are the bearing reactions in the
x and y directions if we neglect the weight of the shaft?

6.14 Rod AB, of length 1m and mass 10kg is pinned to a disc D having a mass of 20kg and a diameter of 0.5m.
A torque T=15 Nm is applied to the disc. What are the angular accelerations of the rod AB and disc at this
instant? Ans. θAB=-3.805 rad/s2, θD=19.307 rad/s2

6.15 Two slender rods CD and EA are pinned together at B. Rod EA is rotating at a speed  equal to 2 rad/s.
Rod CD rides in a vertical slot at D. For the configuration shown in the diagram, compute the kinetic energy

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 of the rods. Rod CD weighs 50N and rod EA weighs 80N. AB=1m, BE=0.3, BC=0.2, BD=0.8m (ans. 24.5 J)
Refer figure.

6.16 A homogeneous solid cylinder of radius 300mm is shown with a fine wire held fixed at A and wrapped
around the cylinder. If the cylinder is released from rest, what will its velocity be when it has dropped 3m? Ref.
Fig. Ans. 6.26 m/s

6.17 Four identical rods each of length L=1.3m and weight 90N are connected at the frictionless pins A, B, C
and D. A compression spring of spring constant k=5.3N/mm connects pins B and C, and a weight w of 450N
is supported at pin D. The system is released from a configuration where θ=450. If the spring is not compressed
at that configuration, show that the maximum deflection of the weight w is 0.1966m. Refer Fig.

6.18 An unbalanced 20kg flywheel shown has a radius of gyration k=0.2m about an axis passing through its
C.G. If it has a CW angular velocity of 8 rad/s at the instant shown, determine the horizontal and vertical
components of the reaction at O.

6.19 A uniform cylinder C of radius 0.3m and thickness 8m rolls without slipping at its center plane on the
stationary platform B such that the centerline of CD makes 2 revolutions per second relative to the platform.
What is the angular momentum vector for the cylinder about the center of mass of the cylinder? The cylinder
weighs 30kg.

6.20 In Prob. 6.19 find the angular momentum of the disc about the stationary point O along the vertical axis A-
A.

6.21 A stepped cylinder is released on a 45 incline where the dynamic coefficient of friction at the contact is
0.2 and the static coefficient of friction is 0.22. What is the angular speed of the stepped cylinder after 4sec?

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 The stepped cylinder has a weight of 500N and a radius of gyration about its axis of 250mm. Be sure to check
if the cylinder moves at all. Ans.69.18 rad/s

6.22 If the disc shown were to be undergoing regular precession as shown at the rate of 0.3rad/s, what would
have to be the spin velocity ? The disc weighs 90N. Neglect the mass of the rod. Ans. 1744 rad/s

6.23 A uniform homogeneous slender rod of mass M is shown. Compute Ixx & Ix’x’ . Ans.ML2/12, ML2/3

6.24 Compute Ixy for the thin homogeneous hoop of mass M. Ans. MR2

6.25 Compute Ixx, Iyy, Izz & Ixy for the homogeneous rectangular parallelepiped. Ans. Ixy=0

6.26 Compute the moment of inertia, IBB for the half-cylinder shown. The body is homogeneous and has a mass
M. Ans. MR2/2

6.27 Find the mass moment of inertia Ixx for a very thin plate forming a quarter sector of a circle. The plate
weighs 0.4N. What is the second moment of area about the x-axis? What is the product of inertia?

6.28 Can you identify by inspection any of the principal axes of inertia at A? At B? Explain. The density of the
material is uniform.

6.29 By inspection, identify as many principal axes as you can for mass moments of inertia at positions A & B.
Explain your choices. The mass density of the material is uniform throughout.

6.30 A block having a uniform density of 5 g/cm3 has a hole of diameter 40mm cut out. What are the principal
moments of inertia at point A at the centroid of the right face of the block? Ans.
2
0.01258,0.01239,0.00391kg-m

6.31 Compute Iyy & Ixy for the right circular cylinder, which has a mass of 50kg, and the square rod, which has
a mass of 10kg, when the two are joined together so that the rod is radial to the cylinder. Ans. 67, -14.125kg-
m2

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CHAPTER – 7 VIBRATIONS

7.1 Write down the differential equation of motion of a spring mass system in (a) the horizontal direction shown
and (b) the vertical direction shown. Give its solution as a function of time.

7.2 If a 5kg mass causes an elongation of 50mm when suspended from the end of a spring, determine the natural
frequency of the spring mass system. Ans. 14.01 rad/s

7.3
a) Show that the spring constant is doubled if the length of the spring is halved.
b) Show that two springs having spring constants k1 & k2 have a combined spring constant of k1 + k2 when
connected in parallel and have a combined spring constant whose reciprocal is (1/k1)+ (1/k2) when
combined in series.

7.4 Write down the differential equations of motion for the following cases (Refer Fig.)
(i) Spring mass system on an inclined plane.
(ii) Simple pendulum.
(iii) Simple pendulum with spring
(iv) Light cantilever with end mass
(v) Compound pendulum
(vi) Torsional Pendulum
(vii)

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7.5 For small oscillations, what is the natural frequency of the system in terms of a, b, K and W? (Neglect the mass
 a  kg
of the rod). Ans.  
b W

7.6 A rod is supported on two rotating grooved wheels. The contact surfaces have a coefficient of friction .
Explain how the rod will oscillate in the horizontal direction if it is disturbed in that direction. Compute the
natural frequency of the system. Ans. 2 g / L rad/s

7.7 A hydrometer is a device to measure the specific gravity of liquids. The hydrometer weighs 0.36N, and the
diameter of the cylindrical portion above the base is 6mm. If the hydrometer is disturbed in the vertical
direction, what is the frequency of vibration in cycles/sec. as it bobs up and down? Recall from Archimedes’s
principle that the buoyant force equals the weight of the water displaced. Water has a density of 1000
kg/m3.Ans. 0.438 cycle/s

7.8 The hydrometer of Prob. 7.5 is used to test the specific gravity of battery acid in a car battery. What is the
period of oscillation in this case? (Hint: Note if hydrometer goes down, the water surface will have to rise a
certain amount simultaneously. The battery acid has a density of 1100 kg/m3. Battery may be taken as a cylinder
of dia=0.03m.

7.9 A horizontal platform is rotating with a uniform angular speed of ω rad/s. On the platform is a rod CD on which
slides a cylinder A having weight W. The cylinder is connected to C through a linear spring having a spring
constant K. What is the equation of motion for A relative to the platform after it has been disturbed? What is
k
the natural frequency of oscillations? Take r0 as the unstretched length of spring. Ans. −2
m

7.10 A small pendulum is mounted in a rocket that is accelerating upward at the rate of 3g. What is the natural
frequency of oscillation of the pendulum if the bob has a mass of 50g? Neglect the weight of the rod. Consider
small oscillations. Ans. 19.81 rad/s

7.11 A slender rod weighing 140N is held by a frictionless pin at A and by a spring having a spring constant of
8.80 N/mm at B.
a) What is the natural frequency of oscillation for small vibrations?
b) If point B of the rod is depressed 25mm at t=0 from the static equilibrium position, what will its
position be, when t=0.02sec? Ans.7.88 Hz, -0.3420

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7.12 A cylinder of mass M and radius R is connected to identical springs and rotates without friction about O.
For small oscillations, what is the natural frequency? The cord supporting W1 is wrapped around the cylinder.
1/ 2
  M W 
Ans. 2 Kr 2 / R 2  + 1 
  2 g 

7.13 A rod of weight W and length L is restrained in the vertical position by two identical springs having spring
constant K. A vertical load P acts on top of the rod. What value of P, in terms of W, L & K, will cause the rod
to have a natural frequency of oscillation about A approaching zero for small oscillations? What does this
signify physically? (Hint: for small  we may take cosθ=1, Ans. P=(2KL-W/2) (Note: This is the principle for
stability of columns which you will learn in Mechanics of Solids later on).

7.14 A cylinder of radius r and weight W rolls without slipping along a circular path of radius R as shown in
figure. Compute the natural frequency of oscillation for small oscillation. Ans. [2g/3(R-r)]1/2

7.15 A manometer used for measuring pressures is shown. If the mercury has a length L in the tube, what is the
formation for the natural frequency of movement of the mercury? Ans. 4 g / L

7.16 A differential manometer is used for measuring high pressures. What is the natural frequency of oscillation
of the mercury? Ans. 0.923 Hz

7.17
a) Develop an equation of motion (second order differential equation) for a spring-mass-dash pot
system where the dash pot has viscous damping and the spring is a linear one.
b) Explain the meanings of critical damping, underdamping and overdamping.
c) Solve the differential equation of (a) above for the 3 cases as given in (b) to find the x as a function
of time.
d) Explain the term logarithmic decrement.

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7.18 The mass of a spring mass dashpot system is given an initial velocity (from the equilibrium position) of
Aωn where ωn is the undamped natural frequency of the system.
Find the equation of motion for the system, for the cases, when
(i) =2.0 (ii) =1.0 (iii) =0.2
Plot displacement time graphs for the three cases.

7.19 Between a solid mass of 10kg and the floor are kept two slabs of isolators, natural rubber and felt, in series,
as shown in figure. The natural rubber slab has a stiffness of 3000N/m and an equivalent viscous damping
coefficient of 100 N-s/m. The felt slab has a stiffness of 12000 N/m and an equivalent viscous damping
coefficient of 330 N-s/m. Determine the undamped and the damped natural frequencies of the system in vertical
direction. Neglect the mass of the isolators. (Ans. 2.47 Hz, 2.39 Hz)

7.20 A gun barrel of mass 600kg has a recoil spring of stiffness 294,000 N/m. If the barrel recoils 1.3m on firing,
determine –
a) the initial recoil velocity of the barrel;
b) the critical damping coefficient of the dashpot which is engaged at the end of the recoil stroke;
c) find the natural frequency & the time period of undamped vibrations.

7.21 The disc of a torsional pendulum has a moment of inertia of 600 kg-cm2 and is immersed in a viscous fluid.
The brass shaft attached to it is of 10cm diameter and 40cm long. When the pendulum is vibrating, the observed
amplitudes on the same side of the rest position for successive cycles are 9, 6 and 4. Determine –
a) Logarithmic decrement
b) Damping torque at unit velocity, and
c) The periodic time of vibration
Assume for the brass shaft G=44 Gpa What would the frequency be if the disc is removed from the viscous
fluid?

7.22 For the system shown in figure.

m=1.5kg k=490 N/m a=6cm L=14cm
Taking the rod on which the mass is fixed, as light and stiff, determine the value of c for the system to be
critically damped.

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CHAPTER – 8 CENTRAL FORCE MOTION
8.1 Prove that a particle moving under the influence of central force is in planar motion, and that the path is a conic
section.

8.2 A proposed amusement ride consists of a flat disc rotating in a horizontal plane at an angular speed of 0.1 rad/s.
A 70kg person P walks radially from point O to A at a constant speed of 1m/s relative to the disc. Find the
moment that must be applied to the disc to maintain its angular speed when the person is at (a) 2m and (b) 3m
from O still walking toward A. (28 N-m, 42 N-m)

8.3 State Keplers Laws and prove them using principles of mechanics.

8.4 The radar record of a comet indicates that it is moving at a speed of 42000 kmph in a direction perpendicular
to the radial line r, and that r is 8000 km from the centre of the earth. Will this comet be captured by the earth?
(ANS. NO)

8.5 An earth satellite of mass 1000kg is planned to move in an elliptical orbit with semi-major axis 3 x 107 m and
semi-minor axis 2 x 107 m. Calculate the maximum and minimum velocities. The earth is at one of the foci of
the ellipse.

8.6 A device used in amusement park consists of a circular room that is made to revolve about its axis of symmetry.
People stand up against the wall, as shown in the diagram. After the whole room has been brought up to speed,
the floor is lowered. What minimum angular speed is required to ensure that a person will not slip down the
wall when the floor is lowered? Coefficient of friction is 0.3.

8.7 A particle moves under gravitational influence about a body M, the centre of which can be taken as the origin
of an inertial reference. The mass of the particle is 800kg. At time t, the particle is at a position 7000 km from

37
 the centre of M with direction cosines I=0.5,m=0.5 and n=0.707. The particle is moving at a speed of 27000
kmph along the direction 0.8i+0.2j+0.566k. What is the direction of the normal to the plane of the trajectory?

8.8 The acceleration of gravity on the planet Mars is about 0.305 times that on earth and the radius of Mars is about
0.532 times that of Earth. What is the escape velocity from Mars at a position 160km from the surface of the
planet? Ans. 17700 kmph

8.9 A satellite is placed into its orbit at an altitude of 300km above the earth’s surface at a speed of
5 km/s and an angle of 30 as shown. Determine the equation for its trajectory and show that its orbit is
elliptical. Also determine the perigee and apogee distances. Ans. 365 and 8069 km

8.10 A satellite is launched and attains a velocity of 30,000 kmph relative to the centre of the earth at a distance
of 400 km from the earth’s surface. The satellite has been guided into a path that is parallel to the earth’s surface
at burnout.
a) What kind of trajectory will it have?
b) What is the farthest point from the earth’s surface?
c) If it is in orbit, compute the time it takes to go from the minimum point to the maximum point?

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 8.11 The Pioneer 10 space vehicle approaches the planet Jupiter with a trajectory having an eccentricity of 3.
The vehicle comes to within 1600km of the surface of Jupiter. What is the speed of the vehicle at this instant? The
acceleration of gravity of Jupiter is 30 m/s2 and the radius is 69400km.

8.12 A meteor is moving at a speed of 32000 kmph relative to the centre of earth when it is 560 km from the
surface. At that time, the meteor has a radial velocity component of 6400 kmph toward the centre of earth. How
close does it come to the earth’s surface?

8.13 A spy satellite to observe India is put into a circular orbit about the North and South poles. The satellite is
to make 10 cycles a day (24 hours). What must be the distance from the surface of the earth for this satellite?
(ANS. 2727 km)

8.14 Two satellites A and B in the same orbit are 1 km apart when A is at the apogee at a height of 1000 km
above the earth’s surface. Find the distance between them when A is at the perigee, 200 km above the earth.

8.15 A particle moves under a central force in a circular path of dia r as shown. The circle passes through the
centre of force O. Show that its speed is V=VoCos2θ, where Vo is the speed of the particle at point P, directly
across from O.

8.16 If the moon has a motion about the earth that has an eccentricity of 0.0549 and a period of
27.3 days, what is the closest distance of the moon to the earth in its trajectory? Ans. 359600km

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