University of Twente Reference: ET.

22/TM-59XX
Faculty of Engineering Technology
BSc Program Mechanical Engineering

Course Name : Dynamics - 1

Module Code : 201700125
Course Code : 202000127
Date : 14 January 2022
Nominal Time : 08:45–11:45 – 3 hours
Extra Time : 25% for students with extra time rights
Questions : 4 (25:25:25:25 points)
Pages : 8 (Instruction, hints i–ii; questions: 1–6)
Type : Closed book, no formula sheet, calculators allowed
Confidentiality : The questions are open and may be shared after the exam with others.
Lecturer : R. Loendersloot

Hint: Work neatly, work in a structured manner. First read the question
carefully, collect what is known, write down the equations you think are
important, answer the questions and see how they guide you to the final
questions – the questions are not random. Graphs typically score a decent
number of points and form the base of a higher score for the remainder of
the question (historical evidence!). Make them clear and ensure consistency
between figures and equations derived from them. Evaluate your answer: does
it make sense, can you in some way verify it, e.g. in terms of consistency.

Watch the clock: in principle, each exercise can be completed in 45 minutes.

If you notice that you are taking more time than this, move on to the next
(sub-)question; first score the ‘big points’, the things you easily know or can
easily calculate.

If a short motivation is asked (“in a few words”), you do not have to write down
long sentences, covering multiple lines. Short, concise, means some keywords,
headline-style text, which make your point clear. A short example:
Question: “Do you prefer the train or car to travel from A to B. Motivate
your answer in a few words.”
Answer: “Train; free with student public transportation card, no hassle with
parking, better for the environment.”

First make those sub-questions you can most easily answer. Make them as
complete as possible, maximising the score for these. If there is time left, you
can continue with other sub-questions.

Calculation of the final mark:

4
9 X
cfinal = si + 1
100
i=1

where si are the scores for each exercise which are registered in Canvas. Only
the final mark will be registered in Osiris and this is the only official mark or
score for the course.

i
Intentionally left blank

ii
 START OF QUESTIONS

Question 1 Kinematics (25 points)

Given the solid wheel driven by a slender beam as shown in fig. 1. The
dimensions are as given in the figure, with R a known value. No friction needs
to be accounted for in the slot and in the hinges, and there is no slip between
the disc and the ground. The objective is to calculate the angular velocity and
angular acceleration of the beam, needed to give the solid wheel a constant
angular velocity ωwheel . The direction of rotation of the beam is indicated.
The angle θ equals 61 π.

Unless indicated otherwise, all answers are to be given in terms of the values
R, ωwheel and any unknown (to be solved) variable.

3 points a. Draw two kinematic diagrams of the arm OA, one with the velocities in
A and one with the accelerations in A, all with respect to hinge point O.

6 points b. Draw two kinematic diagrams of the disc, one with the velocities in A and
one with the accelerations in A, all with respect to the ground contact
point C.

2 points c. Is an instantaneous point/center of zero velocity present in this problem?

If yes, graphically indicate where it is.

1 point d. What is the velocity of the point of the disc in point C?

2 points e. What are the magnitude and direction of the acceleration of the point
of the disc in point C?

4 points f. Calculate the angular velocity ωOA .

6 points g. Calculate the angular acceleration αOA , such that the wheel has a
constant angular velocity.

1 point h. Which term in the acceleration equation (as used in the previous
question) vanishes if the slot is converted to a straight rather than a
curved slot?

1
 Question 2 Kinetics (25 points)
A solid disc is placed on a cart as displayed in fig. 2. The disc has radius R and
the lighter gray half (I) has a lower mass than the darker gray half (II). The
friction between the disc and the cart is µ, while there is no friction between
the cart and the ground.
The mass moment of inertia of a half-disc of mass m and radius r is given by:
 
half-disc 1 1 16
Izz = mr 2 ; IG half-disc
= − 2 mr 2
2 2 9π

With zz the axis along the straight edge. The center of gravity of a half-disc
4r
with radius r is located a distance of x = 3π from the straight edge.
The objective of the question is to find the maximum force P for which the
disc will not slip, but roll. Initially, the system is at rest, until force P is
applied.
Use the following values:
8
mdisc,I = m mdisc,II = 2m mcart = 5m µ=
9π
Unless indicated otherwise, all answers are to be given in terms of the values
m, R, (gravitation) g and any unknown (to be solved) variable.

4 points a. Draw the Free-Body Diagrams of the disc and the cart.

3 points b. Show that the mass moment of inertia of the disc equals:
 
3 16
IG = − mR2
2 27π 2

3 points c. The acceleration of which point on the solid disc is of relevance? What
is the relation between the linear acceleration of this point and both the
angular acceleration of the disc and the linear acceleration of the cart?

5 points d. Formulate the dynamic equilibrium equations.

Under the condition that the maximum force P is applied for which the disc
rolls without slipping:

3 points e. Find the expression for the angular acceleration of the disc.

3 points f. Find the expression for the acceleration of the cart.

2 points g. Solve the maximum force P .

Insight, no calculations required, just reasoning:

2 points h. What changes if the lighter and heavier sides of the disc are swapped:
will the maximum force P be lower or higher?

2
 Question 3 Work & Energy (25 points)
Given the cart as displayed in fig. 3, consisting of a frame, four wheels with
radius R (two visible in the side view) and a beam. The wheels roll without
slipping, while the friction coefficient between wheels and ground is µ.
A beam is attached to the wheels, with frictionless hinges, at a distance from
the center of the wheels. The hinge points follow the dashed line.
Two (massless) springs are positioned between the frame and the beam: their
orientation and location with respect to the frame remains constant. Hence,
they are sliding over the beam at the points s. No friction is present in this
contact. To ensure contact, the unloaded length of the springs equals the
maximum length they can get in this system. The velocity with which the
springs are compressed is defined as:
3
vcompression = ωR cos θ
4
with θ the angular position of the wheel and θ̇ = ω the angular velocity.
The cart is positioned on a slope and is released from rest. The objective is
to calculate the velocity of the cart after an arbitrary number of revolutions
n of the wheels.
Use the following values:
mg
mframe = 10m k= Rwheel = R
R
32 π 3
mbeam = m ϕ= rad Rhinge = R
5 12 4
wheel 1 2
mwheel = 2m IG = mwheel Rwheel µ = 0.3
2
Unless indicated otherwise, all answers are to be given in terms of the values
m, R, (gravitation) g, n and any unknown (to be solved) variable.
For the situation after n revolutions of the wheels:
3 points a. Find the equation for the change of the gravitational energy.

2 points b. Find the equation for the change of the elastic energy.
5 points c. Find the equation for the change of the kinetic energy.

2 points d. Calculate the velocity of the cart.

For the situation after n + 14 revolutions of the wheels (reuse as many
as the results of the above as possible, focus on the changes!):
2 points e. Find the equation for the change of the gravitational energy.

3 points f. Find the equation for the change of the elastic energy.
3 points g. Find the equation for the change of the kinetic energy.

2 points h. Calculate the velocity of the cart.

Suppose there is friction between the beam and the spring (at point s):
3 points i. Does this change the velocity of the cart? If so: which terms must be
calculated? If not so: briefly explain why not.

3
 Question 4 Impulse & Momentum (25 points)
The uniform slender bar of length L and mass m with a point mass of m at
one of its end (further referred to as ‘the bar’) has velocity v 1 and clock-wise
angular velocity ω1 as it strikes the ground against the stop with no rebound.
The dashed line indicates the path of the bar.
The objective is to calculate the minimum value for the velocity v1 for a given
ω1 > 0 such that the bar will rotate about the ground contact point (A) to
the vertical position. To this end, the velocity is defined as:

v1 = ξω1 L

with ξ an arbitrary number (ξ ∈ R+ ).

Use the following values for the angles:
5π π
θ1 = rad θ2 = rad
12 3
Unless indicated otherwise, all answers are to be given in terms of the values
m, L, (gravitation) g, ξ and any unknown (to be solved) variable.

4 points a. Formulate the equation for the angular momentum of the bar about
point A an (infinitesimal) instant before the bar touches the ground.

3 points b. Formulate the equation for the angular momentum of the bar about
point A an (infinitesimal) instant after the bar touches the ground.

3 points c. Show that the angular velocity immediately after the bar touches the
ground must be: s   
9 5π g
ω= 1 − sin
8 12 L
to just reach the final position.

3 points d. Formulate the equation for the angular velocity ω1 .

3 points e. What is the minimum value for ξ such that the bar will end in the vertical
position?

2 points f. Describe what happens if the velocity v1 is smaller than ξmin ω1 L? (no
calculations needed).

2 points g. Will a minimum value larger than 0 be found for ξ if the angular velocity
of the bar (ω1 > 0) is counter clock-wise?

3 points h. Argue if energy is conserved or not during the entire period, so from just
before the impact until the vertical position is reached for an arbitrary
value of ξ (no elaborate calculations are asked!).

2 points i. What would happen if the bar does not hit solid ground but an object
with mass M ≈ m and the bar will rebound? What is the main difference
between this situation and that of the previous (sub-)question?

4
Figure Question 1

R
4R
A
R

ω
α C

1
4R
θ

Figure 1: Solid wheel driven by a slender beam.

Figure Question 2

I II
µ
P
Cart

Figure 2: Solid disc with lighter (I) and heavier (II) halves on a moveable cart to
which force F is applied.

5
Figure Question 3

Front view
e
Fram
hee l
2× w
k θ
s
B ea m µ
k
s
R
hee l
2× w ϕ 3
4R

3
4R

θ = 0o θ = 60o θ = 120o θ = 180o

Figure 3: Cart on a slope in the rest position from which it is released (θ = 0). The
slope continues to the left for indefinite distance.

Figure Question 4

θ2

L
v1

θ1

A
Figure 4: Slender beam with point mass at end, following the blue path with velocity
v 1 while rotating in clock-wise direction with angular velocity ω1 until it hits the
ground, no rebound, and starts rotating about the stop.