APL 100 Practice Sheet 1

Part A:
1) A point moves along a logarithmic spiral in the x-y plane, given by the equation, r = ce φ , where, c is a constant.
(a) If φ& = b / r 2 , where, b is a constant, find the velocity, acceleration and radius of curvature at any position r. Note
r3 r r
the radius of curvature ρ, may be obtained as ρ = v / v × a .
(b) Rework part (a) if the speed of the point along the path is constant and equal to V.

2) Consider the fly-ball governor shown in the figure. Arms OA and OB are hinged to the shaft at O, however, when
the sleeve, S, moves up, θ increases and the balls move radially outward and upward.
At this instant, θ = 40ο; ω = 2 rad/s; ω& = 0.4 rad/s2, and the sleeve, S, is moving up at a speed v = 2 m/s which is
changing at the rate a = −0.1m/s2 (i.e. the speed is decreasing).
OA = 0.5m and OC = 0.3m.

Find the velocity and acceleration of ball B, with respect to ground, at this instant. Hence find the force exerted by
the ball, B, on the shaft. The mass of each ball is 0.2 Kg.

O
a0
C θ θ D
θ θ
A B
S

ω, ω

Problem 2 Problem 3 Problem 4

3) A pin P moves in a fixed parabolic slot whose equation is given by, x = cy2, and in a straight horizontal slot as
shown. The straight slot translates in the y-direction at a constant acceleration ao, starting from rest at t=0, when the
pin is at the origin. Find the position, velocity and acceleration of P at time t.

4) Body 1 (cam) moves to the right with velocity v, and acceleration a, as shown. Determine the velocity and
acceleration of body 2 (follower).

5) A small block of mass, m = 0.5Kg, slides down a hill whose shape may
be approximated by y = H cos(πx/L) , where H = 200m and L = 800m.
Its speed at the position shown is 40m/s. Find the rate of increase of speed
in this position if the coefficient of friction between the hill and the block
is 0.2
 Part B:

1) A rod of uniform density slips at A with AB = s(t) and makes an angle θ(t) with the horizontal as shown. Find the
velocity and acceleration of its centre of mass C.

2) Rework problem 3 (Part A) if the parabolic slot is not fixed but starts from rest at t=0, when the pin is at the origin
and accelerates in the x-direction at rate bt. The horizontal slot moves in the y-direction as before.

3) A bead, C, of mass, m, moves over a parabolic rod ED which is welded to a vertical rod AB. Rod AB rotates about
the vertical axis at the rates shown while C moves w.r.t. to the parabolic rod, with a speed, v, that is changing at an
unknown rate a. The radius of curvature of the parabola at the location of C is ρ and the coefficient of friction
between the rod and the bead is μ. Determine the normal reaction, N, from the rod onto the bead and the rate of
change of speed, a.

θ(t)

Problem 1 Problem 3
 Tutorial 2 APL100
Set 2A

1.

2.

3.
4.

Set 2B

1.

2.
3.

4.
The drive wheel of a tape-recorder has a constant angular velocity𝜔1 . The thickness of the
tape is t. Find the angular acceleration of the driven wheel at the instant shown in Fig.P1.27.
 Tutorial 3 (APL100)
PART A
Question 1. An arm 𝑂𝐴 rotates at angular velocity 𝜔1 and angular acceleration 𝜔̇ 1 at the instant shown in
Fig 1.1. Find the velocity and acceleration of point 𝑃 at the given instant.

Fig. 1.1

Question 2. The axis of a disc is inclined to the vertical at angle 𝜃 (Fig. 2.1). The disc has angular motion
relative to the shaft on which it is mounted. The shaft is rotated about the vertical axis at the rates shown.
The disc rolls without slip at point 𝐴 on the ground. Find the angular acceleration of the disc and the
acceleration of the disc and the acceleration of its point of contact 𝐴
I. for 𝜃 = 𝜋/2 and
II. for general value of 𝜃.
[Hint: the system can be considered as an epicyclic gear train with disc meshing at 𝐴 with a fixed gear of
radius (𝐿 𝑠𝑖𝑛𝜃 − 𝑅 𝑐𝑜𝑠𝜃) on ground.]

Fig 2.1
Question 3. A stationary truck is carrying a cockpit for a worker who repairs overhead fixtures. At the
instant shown in Fig. 3.1, the base 𝐷 is rotating at angular speed 𝜔2 of 0.1 𝑟𝑎𝑑/𝑠 with 𝜔2̇ = 0.2 𝑟𝑎𝑑/𝑠 2
relative to the truck. Arm 𝐴𝐵 is rotating at angular speed 𝜔1 of 0.2 𝑟𝑎𝑑/𝑠 with 𝜔1̇ = 0.8 𝑟𝑎𝑑/𝑠 2 relative
to 𝐷𝐴. Cockpit is rotating relative to 𝐴𝐵 so as to always keep the man upright. Find the velocity and
acceleration of the point P at the back of his neck if 𝛼 = 45𝑜 and 𝛽 = 30𝑜 at the given instant. 𝐷𝐴 =
13𝑚, 𝐴𝐵 = 3𝑚.

Fig 3.1

PART B

1. A conveyor belt moves with speed 𝑣 and acceleration 𝑎. A disc rolls over it with an angular velocity 𝜔
and angular acceleration 𝜔̇ . Find linear velocities and accelerations at 𝐴, 𝐵, and 𝐶.

Fig 1
2. Body 1 rolls without slip on fixed body 2 with angular velocity 𝜔 and angular acceleration 𝜔̇ as shown
in figure below. Find acceleration of 𝐶.

Fig. 2
 Tutorial 4

1.

2.

cm, EF = 20 cm. Find MAB and

resultant at A for the force system.

3.

4. Draw FBD of body 1 of mass m1 in the systems in Figure. The cables are light. Assume all hinge and ball and socket
joints and surfaces to be smooth. Make simplifications due to the presence of two-force members, if any. Rework case
(a) if member 1 is light.
5.
 Tutorial Sheet-5
1.

2.

3.

4.
 Tutorial-6

1.

2.

3.

4.
 APL100 Tutorial Sheet 7
Topic: Moments of Inertia, Angular Momentum

Part A: Will be solved during tutorial sessions

1. PCD 3.1 (p185) Four rectangular plates (density , thickness t, width b and length L) have been
welded to a pipe (density , length L, inner radius r and outer radius R). Find the moment of inertia
matrix [IA] at A, and list the principle axes, if any, at A,B,D, by inspection.

2. B&J 18.67 Find the angular momentum of the rotating shaft (consisting of square and triangular
plates) about the point A with respect to the ground frame. The shaft weighs 1.25 kgs and is rotating
at an angular velocity . Uniform mass per unit area can be assumed for the plates in
the shaft.
Part B: Practice problems

1. PCD 3.1 (p185) A sheet with mass per unit area kg/m2 is shown below. ABCD is perpendicular
to the x-z plane. Find the moment of inertia matrix [IO] at O, and list the principle axes, if any, at O,
by inspection. Note that the origin O is at the center of rectangular plate ABCD.

2. B&J 18.66 A thin homogeneous triangular plate of mass 2.5 kg is welded to a light vertical axle
supported by bearings at A and B. The plate rotates with angular velocity rad/s. Find the
angular momentum of the shaft around point A, with respect to the ground.
 Tutorial-8A

1. Which of the rotors shown in Figure are balanced for rotation about the z axis?

2.

3.
 Practice sheet 8B
1.

2.

3.
 APL100 Tutorial Sheet 9
Topic: Rigid Body Dynamics

Part A: Will be solved during tutorial sessions

1. B&J 18.67 The rotating shaft consists of square and triangular plates. The shaft weighs 1.25 kgs
and is rotating at an angular velocity . Uniform mass per unit area can be assumed for
the plates in the shaft. Determine the dynamic reactions at A and B.

2. PCD 3.15 (p 241) A thin uniform bent rod of mass per unit length is welded to a shaft and is
rotated about a fixed vertical axis. Find the normal force (reaction force along the rod), shear force
(reaction perpendicular to the rod), twisting moment (reaction moment along the rod) and bending
moment (reaction moment perpendicular to the rod) at sections A and B at an instant when the shaft
rotates at angular velocity, angular acceleration of respectively, under an axial moment .
Find if the axial moment of inertia of the portion other than the rod is I.

3. B&J 18.92 The essential structure of a certain type of aircraft turn indicator is shown. Springs AC
and BD are initially stretched and exert equal vertical forces at A and B when the airplane is
traveling in a straight path. Each spring has a constant of 600 N/m and the uniform disk has a mass
of 250 g and spins at the rate of 12,000 rpm. Determine the angle through which the yoke will rotate
when the pilot executes a horizontal turn of 800-m radius to the right at a speed of 720 km/h.
Indicate whether point A will move up or down.
Part B: Practice problems

1. B&J 18.66 A thin homogeneous triangular plate of mass 2.5 kg is welded to a light vertical axle
supported by bearings at A and B. The plate rotates with angular velocity rad/s. Determine
the dynamic reactions at A and B.

2. B&J 18.100 An experimental Fresnel-lens solar-energy concentrator can rotate about the
horizontal axis AB, which passes through its mass center G. It is supported at A and B by a steel
framework, which can rotate about the vertical y axis. The concentrator has a mass of 30,000 kg, a
radius of gyration of 12 m about its axis of symmetry CD, and a radius of gyration of 10 m about
any transverse axis through G. Knowing that the angular velocities ω1 and ω2 have constant
magnitudes equal to 0.20 rad/s and 0.25 rad/s, respectively, determine for the position θ = 60° (a)
the forces exerted on the concentrator at A and B, (b) the couple M2 k applied to
2the concentrator at that instant.
 Tutorial-10
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 Tutorial-11
Sheet-A

1. Find the zero-force members in the trusses in Fig.Q4.25 and specify the simple trusses.

2. Find the forces in all members of the trusses

3. Find, if possible, the forces in members 1, 2, 3 in the truss.

 4. Find the maximum BM in the beams shown in Figure.

5. Draw the AF, SF and BM diagrams for the beams shown. Find the maximum values of AF,
BM and SF.

Sheet-B

Questions of PC Dumir book

1. 4.55
2. 4.26c
3. 4.72a,