PROBLEM 18.1 ‘Two uniform rods AB and C#, each of mass 1.5 kg and length 600 mm, are welded fo each other at their midpoints. Knowing that this assembly has an angular velocity of constant magnitude @ =12 radis, determine the magnitude and direction of the angular momentum H, of the assembly about D. Bum SOLUTION For rod ADB, oi 0, since T,~0. For rod CDE, use principal axes x’, y’ as shown. cog = 22M ge aLale 300 mm, cos 0 =9 rad/s & @, = wsin 8 = 7.93725 radis?® Lneseae Fa 5K0.5) 045 kg-m? A+ Toy f+ T0,k + (0.045)(7.93725);’ +0 3571764 M1, =0357 kg mis H,, =0.357176(sin6i-+ 086) 02362524 + 0.267880) cos 8, = 2286252 8.6 “0357176 2 cos, = 2207880 0, =414° 357176 50, a= 4 PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, Inc, All ighs reserve. No part of this Manual may he displayed reproduced or dotribued in any form or by any means, without the por written permusion ofthe publisher, or used Beyond the limited Aisribton ro teachers and educators permited by MeGraw- Hl for their india course prepara. Iyeuearea student win his Maral ow are sing 1 thot permission u31al PROBLEM 18.2 {A thin, homogencous disk of mass mand radius r spins atthe constant rate @, about an axle held by a fork-ended vertical rod, which rotates al the constant rate @,. Determine the angular momentum Hy, of the disk about its mass center G SOLUTION Angular velocity Moments of inertia: Products of inertia: by symmetry, Angular momentum: Hy =7,0i+7,0,)+7.0% meat dmerak € oo(Sar)aselmat ty a PROPRIETARY MATERIAL © 2009 The McGeaw-Hill Companies, Ine. All ighs teserved. No part of this Manual maybe displayed, reproduced or diributed in any form or by aay means, withou te prior writin perwision ofthe publisher, or used beyond the tinited ‘doin to teachers ans ecucaors permite by MeGraw-Hil fo thor individual course prsparaion, Ifyou area stadert sing his Manuel, sou are using if without permission 19324 PROBLEM 18.3 A thin homogencous square of mass mand side « is welded to a vertical shaft AB with which it forms an angle of 45°, Knowing that the shaft rotates with an angular velocity @, determine the angular ‘momentum of the plate about A. SOLUTION Use principal axes y’, 2” as shown, asin ds® woos AS? a, is a Was x 1 =04( me Joocosasy' rn eosin asx! a H, (i Jeocostsrycosti—s 45°k) ee “(5m ? eosin inde 45°k) Haya) € " Firm Coin ase ysin ase cos PROPRIETARY MATERIAL. ° 2009 The McGraw-Hill Companies, Ine. AIL rights wecved. Mo part of thir Manoal may he displayed reprntuced or dre any form or by-any means, witout the prior ween permission ofthe publisher, or ase beyond the tinited distribution ta tachers ard ductors permed by MeCrave ifr thet individual conse preparation you arse using this Maal ow are ting i widhoul pornision 1833PROBLEM 18.4 ‘A homogeneous disk of mass m and radius r is mounted on the vertical shaft 4. The normal to the disk at G forms an angle #=25° with the shaft. Knowing that the shaft has 0 constant angular velocity , determine the angle 8 formed by the shalt AB and the angular momentum He of the disk. about its mass center G. SOLUTION Use the principal centroidal axes Ga’, ¥ Angular velocities: Using Bq, (18.10): We have Hos Hat H+ Hk PROPRIETARY MATERIAL. (2 2009 The McGraw-Hill Companies, Ine. AM ighs reserved. No part of this Maat may be dkspayedt epee or dated in amy form or by cany mean, wilon the prior writin permission ofthe publisher. or ced beyond the hinted ‘isrsinion to teachers educators permite by Metre Hl for their individ course preparation I en are student wing his Mau ow ane sing i with permission rawhere fj’, kare the unit vectors along the x’ yz axes. ~ fm asin B+ L005 Prom Eq. (3.24), Hy: =[H| cos Hoo [Mole But H, =i meal sin Bi 4 2c05 8 j)-ca} or observing that issn and jf os pom sin + 20s") ye a (1 +e0s" A) Also, For f= 25°, PROPRIETARY MATERUAL, PROBLEM 18.4 (Continued) a I 2 , oy 8 7 a ‘ee 2 6) @) O=1188° 2000 The MeGiaw-Hit Companies, ne Al rights reserved. Mo prt of ths Manual may be displayed ‘eprntuced or distributed in any form or by any means, sttho the tor writen permission ofthe publisher, or nse beyund the linked ‘stibuton to teachers and educaions permit by McGraw Hl for ther ontvidual course preparaion Ifecare atten! wing ths Manas, dow are wing i withont permission 183s,PROBLEM 18.5 A thin disk of weight 1¥ =10 1b rotates at the constant rate @ =15 rad/s with respect to arm ABC, which itself rotates at the constant rate aj =S rad/s about the y axis. Determine the angular momentum of the disk about its center C, SOLUTION r=6in Angular velocity of disk: Og j+ak i = (6 rad/s)j+(15 rad/s) Centroidal moments of ine 2 “alee 0,019410 1 Ib-s' as22li2 nr? = 0.038820 fl-Ib-s* Angular momentum about Point C, yl Tay Tak -+-(0.019410)5 j +(0.038820)15 k (0.09705 f-Ib-s)j + (0.58230 f-Ib-s}k (0.0970 f-Ib-s)j + (0.582 Ne Ib-s)k PROPRIETARY MATERUAL. #209 The MeGisw-Hill Companies, Ine, AIL ighs eserved. No part of this Manval nay be displayed, reprenduced or dite in any far oF by any means, thot te por writen pormsion of the publisher, ov axed Deyond the Tinted Ldseibution to teachers and eucdors permite by Metre HI for thei individual course preparation ify areata using this Man ‘yor are sing i withou permision 1436PROBLEM 18.6 A homogeneous disk of weight I” = 6b rotates at the constant rate @ =16 rad/s with respect to arm ABC, which is welded to aa shaft DCE rotating atthe constant rate @, ~8 rad/s, Determine the angular momentum H., of the disk about its center A = a+ O41 =(B radls)i-+(16 rad/s)j For axes ., y’, parallel to.x, y, = with origin at 4, 186335 Ib-s?/A o.iseras($) 2 = 0.020704 Ib-s? ft Fy = 0.020704 Ib-s? tog + Tyt0yj4 Te00k = (0.020704)(8)i + (0.041408)(16)) 16564 + 0.66255 H., =(0.1656 lb-ft s)i+ (0.663 Ib- h-s)i PROPRIBTARY SAATERIAL. 1 2009 The MeGiaw-Hhill Companies, Inc.All ights reserved. No part of this Manna may be displayed. ‘reproduced or disributed in any form or by any mens, with the par rtten permission of the publisher, or se beyond the Tinted stsoibaion to teachers an eduons permitted by MeGraxe Bil for thor individual course preparation vw area student ig is Mana Jum are ning it witht pormision 1837PROBLEM 18.7 {A solid rectangular parallelepiped of mass m has a square base of side a and a length 2a, Knowing that it rotates at the constant rate @ about its diagonal AC’ and that its rotation is observed from 4 as counterclockwise, determine (a) the magnitude of the angular momentum Hg of the parallelepiped about its: mass center G, (b) the angle that H,, forms with the diagonal AC’ SOLUTION Body diagonal: daa ¥Qap +a = Vea oO. @ 20 2 (ai +2aj— ak) =—214 22 on Gait 2a ak) = he Jk ina? + (2a)? |= ma* nm “2 @ Hg =/,Q1+1,0,)4 1.0K mao = MEO C51 +4) —5k) eC) ’ 2 Hg = RN a eS a = 0.276 mao 120 2 mato ) = Sit 4j~5k)-(-i+ 2j-' Heo yg Ct 2 lmao? bay 26) 4 cosd= 7 90453 @ ain PROPRIETARY MATERFAL. © 2009 The MeGiraw-Hill Companies, Ie, All ights reserved. No part ofthis Manuel may be dipayed. Feprvdaced or distriuted ty any friar by any means. thou the prior wvuen permission of the publisher or wed beyond the lined Cisiibuiion ts teachers and econ permed by MeCraw lo ther wulsaal course preparation. If yow are asin using this Samu, ow are wing i witht persion sePROBLEM 18.8 Solve Problem 18.7, assuming that the solid rectangular parallelepiped has been replaced by a hollow one consisting of six thin metal plates welded together. SOLUTION Body diagonal: d= Je? +(2a) +0 For each square plate: For each plate parallel to the yz plane = pint’ +@ayt=5 bere) may »(ey PROPRIETARY MATERIAL. 10 2009 The McGraw-Hill Companies, Ine. All igh reserved. No part of this Manual may be displayed reproduced or distributed in any form or by any means, thud the prior rite parison ofthe publisher or used beyond the lined \striiution to teachers and educators permed by McCiaIE for thei dvidual course preparition Ifa sadn using ths Mea, ou ave uti i wthon!permivion.PROBLEM 18.8 (Continued) For each plate parallel to the xy plane: ‘Total moments of inertia Bade d ne 120 60 12. @ Hy =1,Q,4+1,0,§+1,0,k =" 20-371 436)~37k) nao (> oF 7 He = 222 [a1 + BOF + GTP = 043216 ma*w cove 37" +36 +G7Y Hg = 0432 mao ra 75 4 365 i do? b Hy-o= -37i + 36}—37k)-(Hi + 25k) = 0.40556 ma’ @ le oo! tree y¢ rj-k) a Hg _ 0.40556 Hg@ 043216 0.93844 cos PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, nc. AIL ighs reserved. No part of this Monval may be doped reproduced or diaributed in any form oF by any means, wilt the lor written permission of the publisher, or wxed Beyond the lnuted tdsabaion to teachers and edcors permed by McGraw Hl for her andvidal course preparation Ifow area seen wsig his Manel, {on me sing I wehou permission 1840PROBLEM 18.9 Determine the angular momentum of the disk of Problem 18.5 about Point 4. SOLUTION 6in, wtongyl® Angular velocity of disk: @=Qi+ (5 rad/s)} + (15 rad/s) 2 Centroidal moments of inertia: SEAR > 12 a) = 0.019410 f-Ib-s* 432212 1p pm? = 00388208 bs" Angular momentum about Point C. He = Teds Tayit beak = 0+ (0.019410)5} + (0.038820)15k = (0.097085 fb -s))+(0.58230 f-Ib-s)k (0.0970 ft-1b-s)j-+(0.582 2-Ib-s)ke Koy = (8 ine (9 ing] = (1.5 NYH+ (0.75 1} Velocity of mass center. Vo =O, X¥eu4 = SPX(LSEF0.7S)) =-(75 fUs)k Angular momentum about Po Hy He tre X(mve) H,, = 0.09705) +0,58230k + (1 514-0.75))x, (962| 322 = 0.097054 + 0.098230k +3.4938§ 1.746891 Hi, =~(1.747 Ib-s-A)i-+@.59 Ibs: Aj + (0.0582 b-s- fk PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, Ine. Al rights reserved. No part of tis Manual may be dsploye >repreduced or diswibted in any form or By any means, witow the prior wrtion permission ofthe publisher, or used beyond dhe timed slisoibation to feachors anh acicaors permite hy Merc Hil for tsi individual conrse preparation Ifyou area student using ths Manu, don are using ito permission, iatPROBLEM 18.10 Determine the angular momentum H,, of the disk of Problem 18.6 about Point D. SOLUTION © 4 GJ = (8 radls)i + (16 radls)j For axes x’, »%, 2" parallel to x, y, 2 with origin at 4, WO ge 322 0.186335 Ib-s*/f 020704 Ib-s* ft 0.020704 Ib-s?-f, (0,04 1408 Ibs? ft 4, (0.020704)(8)i + (0.041408)(16)5 (0.1656 Ib- L-s)i+ (0.6625 Ib: R-s)j Point is the mass center of the disk. (1.0 114 (0.75 j— (0.75 AK Va= OAT 4n =8ix(I.01+0.75j-0.75k) 6 £05) }-+ (6 fs) (1.118 tb-s)j+(.118 Ib -s)k iiesse fesail 3 FqpXmv=|10 0.75 0.75 O 141s 1.118 1.677 Ib f-s)i— (1.118 Ib- fs) +(1118 Tb s)k Hy te yy) xn tap Hy, =(1.843 Ib ft-s}i~(0.455 Ib ft-s)j + (118 Ib- Aes) PROPRIETARY MATERIAL. * 2009 he McCcaw-Hill Companies, Ine. AIL gh ose. Ne part of sls Manual may be duplayet reprxduced or disttbed ine form or by cay means, seihou the por wutten permission ofthe publisher, or used beyond the lived ‘dsribation wo teachers and educators permed by Meira fo the individual cows preparation Ifyou asta wing th Maral Yow are wing I warhou permission. issPROBLEM 18.11 ‘The 30-kg projectile shown has a radius of gyration of 60 mm about its axis of symmetry Gx and a radius of gyration of 250 mm about the transverse axis Gy. Its angular velocity @ can be resolved into two components; one component, direeted along Gx, measures the < rate of spin of the projectile, while the other component, directed S along GD, measures its rate of precession. Knowing that = 5° and that the angular momentum of the projeetile about its mass center G is Hy = G20 g-m'/5)i ~(9 g-m°ss)j, determine (a) the rate of spin, (0) the rate of precession. 250 mm =0.25 m ‘mk? = (30)(0.06)? = 0.108 kgm? mk? = (30)(0.25)° = 1,875 kg-m? (H,,),i+(Hg), i +(e). Toh + 10,44 1,0.% (Hg), “T0108 kgm 9621 radis 0.009 kg-m?és LS 0.0048 rads 1.875 kgm 0.0048 o, == = 0.05507 rads sind sin5® @ Rate of spin. 0, = 0, +0, 0088 @,=0,-0, 0080 = 2.9627 0.05507 c0s5° 0, =2.91 dls (b) Rate of precession. , = 0.0551 radls PROPRIETARY MATERIAL. 2000 The MeGraw-Hill Companies, Ine, All ight eseved. No part of this Manual maybe dspayed reproduced or distributed in any form or by any means, without the prior wet permission ofthe publisher, or used beyond the lite ‘fistribution to teachers and edacators permed by McGraw Hil for the invidual course preparation ify are aster using this Mae ‘you are ing it withow permission, 1443PROBLEM 18.12 Determine the angular momentum Hy of the projectile of > Problem 18.11 about the center 4 of its base, knowing that its mass center G has a velocity V of 650 mvs, Give your answer in terms of components respectively parallel to the x and y axes shown and to a thitd axis z pointing toward you, SOLUTION m=30KB, Fog = (0.275 mt ¥=Veos6i-Fsindj Hi, = (0.320 kg-m?/5)t~ (0.009 kg-m°/s)j inv = (30 kx}(650 mis)(cos 5°4~sin 5") = (19425.8 kg-m/sji~ (1699.5 kgm} Fa X08 = 0.275% (19425.8i -1699.5)) {467.37 kg-m"/s)k Hg +t Xm 320 kg-m’/s}i—(0.009 kg-m"/s)j— (467 kg-mPis)ke PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine. All sights eeserved. No part ofthis Manual may be displayed, reproduced or asrtbued bx any form or by ony means, without the prior wrlden permission of te publisher, or used beyond the lnited distribution io toachers and educators permit by MeGraw-H forte nlividual cose preparation Ifyou are ste axing hs Man yew are asin without permission. insPROBLEM 18.13 (@) Show that the angular momentum Hp of a rigid body about Point B can be obtained by adding to the angular momentum HL, of that body about Point 4 the vector product of the vector ty dravn from B to A and the linear momentum m¥ of the body: Hy Hy thy, <0 (6) Further show that when a rigid body rotates about a fixed axis, its angular momentum is the same about any two Points 4 and B located on the fixed axis (H, ~ Hp) if, and only if, the mass center G of the body is located on the fixed axis, SOLUTION (2) Angular momenta Hy and Hy are related to Hy, and mv by ria XMM and Hy = Subtracting, Hy tr yy Xn (b) follows that Hy =H if, and only if yy Xr With Points A and B located on the fixed axis, =o where 2. is a unit vector along the Fixed axis, and VOX 4 = ORXE, ‘Then Hg XOMOLX Fe, 4) =O but rey is parallel to 2, henee, DXAX IG )=0 Let wW=2xtgy_,80 that 2x =0. ‘Note that u must be either perpendicular to 2 or equal to zero. But if w is perpendicular to 2, Axweannot be equal to zero, Axtg =0 Hence, Yey4 is parallel to 2 and Point G lies on the fixed axis, PROPRIETARY MATERIAL. © 2009 The MeCraw-Hill Companies, Ine. AIL Fights reserve. No part of this Manna maybe dgplayed reprodnced or dsaibded tn any form oF by any meds, witow the prior written permission ofthe publisher ar used beyond dhe hinted Asian to teachers anu educiors permit by MeGna-Hilfor their individu conrse preparation If yon area stent xn his Man, Sou are ning i person. nasPROBLEM 18.14 Determine the angular momentum Hy of the disk of Sample Problem 18.2 from the expressions obtained for its linear momentum mv and its angular momentum Ho using Eq. (18.11). Verify that the result obtained is the me as that obtained by direct computation, SOLUTION Using Equation (18.11), xn + Fi, =n a qe mrbayy mri 2egh —m( Bt wapon[ited whieh is the answer obtained in Part b of Sample Problem 18.2, PROPRIETARY MATERIAL. © 2009 The MeCrawHill Companies, Ine. AW rights reserved. No part ofthis Manval may be displayed reproduced or estribuesd in ay form or By any means thon the prior site permission ofthe publisher, or wae Bevin the i! Cistibution to teachers ad ductors ported by MeCara-H for ets inva conse preparation fy arcs asin hs Mae, Yyoware using It wihout permission 1886,PROBLEM 18.15 ‘A rod of uniform cross section is used to form the staft shown. Denoting by m the total mass of the shaft and knowing that the shaft rotates with a constant angular velocity @ determine (a) the angular momentum Hg of the shaft about its mass center G, (6) the angle formed by Hog and the axis 4B, SOLUTION Length of rod: Angular velocity Angular momentum: Calculation of 7, and 7, Let p= mass per unit length Por portions AC and DB, For portion CG, use polar coordinate & x=-r(I-cos), fetan= [67 sn? opr rsin@ dm= prd@ Likewise, for portion GD, Total: (Angular momentum Hg 1 eo(0.379271 ~0.48291K) HH, = m0 ex(0.3791- 0.4838) € mv @(0.37927* + 0.48291") = 0.61404 mr?eo ® 6176 a=s19 4 PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine. All igh reserved. No part of this Mama may be displayed, ‘reproduced or disibuted in any form or by any moans, without the prior written permission ofthe publisher, or wsced beyond te time cdsribation te teachers aed educators permite by Metra forthe indivi course preparation If area stent usb hi Mana, ‘yore are sng without pernsson, 1807‘ PROBLEM 18.16 120 nm “The triangular plate shown has 2 mass of 7.5 ky and is welded to a = vertical shaft 4B, Knowing that the plate rotates at the constant rate rh @~=12 rad/s, determine its angular momentum about (a) Point C, wn (B) Point A. (Hint: To solve Part 6 find ¥ and use the property indicated in Part a of Problem 18,13.) hy SOLUTION O=(2 nd, ©, =0, @, =12radis, a, @ (Hele = hy He)y =, He): =n Use axes with origin at € For plate ACD, the product of inertia of the area is shown, Divide the plate ABD into right triangles ACD and CBD. papeaey r 1, ate? Cy aca 3g" 8 For plate BCD, itis b es © a fay? Oyen = 35 For both areas together, ¢ Coy oea = A Area: Cynon = Tila) = Forboth ares together, Ua =FR(ErD! a a Cane FE ana Foadnass = PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, lac. All righ reserved. Mo part of this Manual may be displayed, reprediced or ditibuted inane form or by any means. wathou the prior written permission ofthe publisher, oF ased beyond the tamed Aisribution teachers nd ecicotors permed by McCian-H1 fr thei neil conrse preparation Wfyamarecastudent wong hs Monn Dou ae sing 1 wou permit issPROBLEM 18.16 (Continued) Date: m=TS5kg a=120mm=0.12m b=90 mm=0.09m ¢=160 mm=0.16m (7.5}(0.07)(0.12) 1, 00525 ky-m? Cay daa 2 gem’ Cum =o SE oo kg-m? (He), = 0.00525) 12) = 0.063 kg-m"/s (He), =(0.018)(12) = 0.216 kg- m/s, ox Hi, = (0.063 kg-m'fsi +0216 ke-m'ish Locate the mass center: tige = S14 Fh Velocity of mass center: ¥= 0X Fa wr(taey—toa Joao oat Fog == (0.16 mj (0.169) x{(7.5)(-0.48k)] = (0.576 ke-n'is)i ) 4 eug XW = (0.072463 ~ 0.66253)i + 0.24845) (0.513 ky-mn’/s}i + (0.216 ke-m’s)j PROPRIETARY MATERIAL, © 2009 The MeGraw Hill Companies, ne. AI ightseosorved. No part of tie Manna may be cpanel repraduce or disbued in ey form or by ayy means, wu the prior writen pormisson ofthe publisher, or rsed beyond th limited ls 1 —m ma" 1,20 z M = ma? Sma? - momentum pt ple: Before impact, a PROPRIETARY MATERIAL. # 2009 The McGraw-Hill Compsnies, Ie, Allright reserved, No part of this Manual may be displayed, reproduced or distued zany form or hy any means, eth the prior wv permission ofthe publisher, wsed beyond the lined ‘dsributon i teachers and educators permite by MeCray forthe india coves preparation Ifyonrie stud using he San ‘yon are sing it withon permission, 1863PROBLEM 18.25 (Continued) @ F(a = Far v= Ft ®) about G. Ugg X FAL = Hy (ait ak) «(AD Hodit (Hedi + (Hed k (@FAN| + (QP ADK = 1,0,4+(,0, ~ 1,011.0, + 1,00,)k Substitute expressions for moments and products of inertia and resolve into compan 5 i 0=2 maa, 6 oF M=2 mater, +4 mare, 3 4 sea i ate ade a 6 Solving, @,=0, 0, =-1.714 289, =8.57FA0. © (Ja 7145 18.57k) ma PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, Ine. AI rights reserved. No part of this Maal may be dispavet represtuced or dtritted bv any for or by any means, without the rior writen permission of the publisher or azed bepond the Fined Initial angular momentum about the mass center: Helo Lei + Tyagi Initial velocity of the mass center: Y= Let @ be the angular velocity and ¥ be the velocity of the mass center immediately after impact. Let (FAdK be the impulse at B. Kinematics: Vp =OXty4 = (Opi +0, 7 40K - Hil for heir oval conrsepreparion ow area salen ig hs Marta, ‘ow are asin i withot permission 1876PROBLEM 18.32 For the plate of Problem 18.31, determine (a) the velocity of its mass center G immediately after the impact, (b) the impulse exerted ‘on the plate by the obstruetion during the impact. SOLUTION pea, ras + a= Cat iC (ole Ho, Linear momentum, anvgi + (CAQ|= 08 i+ i, | + mK i O=nv, <0 iy + CAV= mv, CAt= mT +¥,) oO k O=niv, %=0 Since the impact is perfectly plastic, (vy), =0. Principle of impulse-momentum. | | Yo SNe OX =I HO 0,140.) (ai —ck) | Wott We), K=CO,LH, He, + 40, )) a0, = cw, ~ a0, 2 Moments about C. coniyi + ami Ha) d+ (He) PH (He).K + ai + ok) xm, Jk ~ mev,i~ mavk. peat eee ete i+ Simic? +a), 4+ nie sil drs | z | | i en = 2 ncte, ~mev, 6) | i k ® PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, Ine. All ights eseved. No part of this Manual may be dpayed. repredeced or dosribued mn cy form or by aay meen, wuhou the prior writin permusion ofthe publisher, or used beyond the Lonted tribution ro teachers and dears permed hy MeGranHill fr tir nv corse preparation. om areca student ung his ane ow are sing i without permission 1877PROBLEM 18.32 (Continued) Anersng 2) etninae 5, £92 G)andbeeme ee, 00, = 4 ca, + 2a, =v 3 from which (@) Velocity of mass From Eq. 2), %, ()) Impulse at C From By. (D), CAL = mv +¥, PROPRIETARY MATERIAL, © 2009 The MeGrassHil Companies, Ine. Al nghts reserved. No part of thie Marna may be diplayed, reproduced o7 darted any fora or by any means, withowt the prior written permision of the publisher on need beyond the United ‘hetibuion to teachers and edscoors prot by McCraw Hil for hte wsdl corse proparation you area student wing this Maya, yom are wang i without permasion. 1978PROBLEM 18.33 ” A 2500-ky probe in orbit about the moon is 2.4 m high and has ‘octagonal bases of sides 12 m. The coordinate axes shown are the principal centroidal axes of inertia of the probe, and its radi of gyration re k, =0.98m, k, =1.06m, and k, =1,02m, The probe is equipped with a main 500-N thruster & and with four 20-N thrusters 4, B, C, and D which can expel fuel in the positive y direction, The probe has an angular velocity @= (0.040 rad/s)i+ (0.060 rad/s}k when two of the 20-N thrusters are used to reduce the angular velocity to ze. Determine (a) which of the thrusters should be used, (4) the operating time of each of these thrusters, (¢) for how long the main thruster E should be activated if the velocity of the mass center of the probe is to remain unchanged. SOLUTION He= Halt 1a,)+ Lak =m(Re +Ka}}+E0,k) = (2500)[(0.98)" (0.040)i + (1,06)" (0)j + (1.02)? (0.060)k] = (96.04 kg: m*/s)i + (156.06 kg-m?/s)k Let ~Aj, ~ Bi, ~Cj, and ~Dj be the impulses provided by the 20 N thrusters at 4, B, C, and D, respectively. Let Bj be that provided by the 500 N main thruster Position vectors for intersections of the lines of action of the thruster impulses with the xz plane: (1.2)=0.6 m, b= 0.6+0.6y2 =1.4485 m > +k, + 0K ai bk, “The final linear and angular momenta are zero, Principle of impulse-momentum. Moments about G: R Hg $4 XCAj) +4 XCBD + re XEHCD + Fp X(-D) =O Hg + (A+ B-C~D)ita(A-B-C+D)k=0 Resolve into components, Cade 96.04 «14485 ik AtB-C-D (Hg). __ 156.06 @ 06 Kk A-B-C+D 2) OF A, B,C, and D, two must be zero or positive, the other two zero. PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ie. All righ reserve. No part of tis Manual maybe displayed, 2epraduced or disrbuted ina form or by any means, without the prior wien permission ofthe publisher, or used beyond the livited 2 rysai tb, ny sai + bk . ee ator ee a—fhr ‘ The final Tinar and angular momenta are zero. ; & ‘ Prinejple ofimpulse-momentum, Moments about G: Kadked z Me $y Aj) my x CBD) 4 te X(-Ci) Hy XDI) =0 He A+B 1 Dyi ta(A~B-C + Dk = Resolve into components a ko 48-040 2) OF A, B, C, and D, two must be zero or positive, the other two zero. PROPRIETARY MATERIAL. © 2000 Tho McGraw-Hill Companies, ae. All vighs reseed. No part of this Mama may be dinplaed, reproced or dsbted in any form or by any means, without the prior writen permission ofthe publisher, or ued beyond the fated ‘dso to leachors nd educators pormitod by McGrew Hil forthe indivi course prepaaton If you area stent ths Mana, ou ore ning ition permission 888PROBLEM 18.34 (Continued) Set B= D=136.43N-s and N=36.97 Nis, Set C=: and A—C =. Solve the simultaneous equations (1) and (2). and A=36.97 Nos (a) Use thrusters D and 4. ® ‘plty)=D, At, =6.828 F(Aty)= A, An, = 1.8488 (6) Linear momentum: Ej Dj~i=0 Fp(Mty)=E Mp =03478 € PROPRIETARY MATERIAL. © 2009 The MeCraw-Vill Companies, ne. All ighs weserved. No port of this Manual may be displayed, epradced om dunsbated 1» any form oF by ony means, wthont the prior writen permission of the publisher or wsed beyond the lite ‘sothton Yo eachers and educators porated by McGraw HM for the va conrse preparation (sen are astdnt uring thi Aan pow are using i withou permission. 1882PROBLEM 18.35 ‘The coordinate axes shown represent the principal centroidal axes of inertia of a 3000-Ib space probe whose radi of gyration are £, = 1.375 ft, k, =1.425 ft, and k, =1.250 ft. The probe has no angular velocity when a 5-07 meteorite strikes one ofits solar panels at Point 4 with a velocity: vy = (2400 ftisji~ (3000 fs) f+ (3200 fs) relative to the probe. Knowing that the meteorite emerges on the other side of the panel with no change in the direction of its velocity, but with a speed reduced by 20 percent, dotermine the final angular velocity of the probe. SOLUTION Masses: Space probe; m’=220 93.17 b-s'/m, 32.2 Meteorite: 0.009705 Ib-s?/tt (692.2) Point of impact y= ML-+(0.75 NK Initial linear momentum ofthe meteorite, (Ibs): ng = (0.009705)(2400% + 3000} +3200k) = 23.2924 - 29.115] +31.056K Its moment about the origin, (Ib ft-s): i j k ryxmvy=] 9 0 0.75 |=21.836% ~ 262.04) - 262.04 [23.292 -29.115 31.056] Final finear momentum of meteorite and its moment about the origin, (Ib-s) and (ib-s-) O.8my, =i p+ ¥ ,x(OSnivg)= 17.4695 ~ 209.63} ~ 209.63 PROPRIETARY MATERIAL. £ 2009 The MeGraw Hill Companies, Ine. All ighis ress. No part ofthis Mana! may be displays ‘reproduced or diswibuted in ay form or by any means, without ihe prior rite permission of the publisher, oF wed beyond te nated disibution to teachers ad educators permed by MeGra-1l for thet Indsidual couse preparation 7 you are astuden using his Manual, “you are sing it io’ permission 89PROBLEM 18.35 (Continued) Let HL, be the angular momentum of the probe and. m’ be its mass. Conservation of angular momentum about the origin for a system of particles consisting of the probe plus the meteorite: ry X(O8mvy) 4.367 —— 4367 -0,02479 radis 7)0.375) 92.41 AP a 0.2770 rads ik (93.17\1.425)° Gade. S2Al mk? (93.17\(1.250) 1,0,=(Hy), @, 0.3600 rads © = (0.0248 rad/s)i—(0.277 radis)j~ (0.360 rad/s)k PROPRIETARY MATERIAL. 2009 The McGraw-Hill Companies, ae. All igh eserves, Ne port of this Manual may be displayed ‘repradiced distributed in any form or by any means, without the prior writes permission ofthe priser, or sed beyond the lated ‘sribvaion to teachers and ecucaors permite by NeCiane-Hil fri inivadua conse preparation If youve stot usin this Manual, Yo wen i thou! poriesion 1884PROBLEM 18.36 ‘The coordinate axes shown represent the principal centroidal axes of inertia of a 3000-Ib space probe whose radii of gyration 425, and k, =1.250 f. The probe has no angular yetocity when a 5.oz. meteorite strikes ‘one of its solar panels at Point 4 and emerges on the other side of the panel with no ‘change in the direction of its velocity, but with a speed reduced by 25 percent. Knowing that the final angular yelocity of the probe is @=(0.05 rad/s)i~ (0.12 rad/s)j-+@, and that the x component of the resulting change in the velocity of the mass center of the probe is -0.675 inJs, determine (a) the component @, of the cs the panel, SOLUTION Masses: Space probe: 3000 93.17 Ib st/it 322 Meteorite 5 __.0,000705 Ib-s*/t 16132.) Point of impact: (11+ 0.75 Mk Initial linear momentum of the meteorite, (Ib s/t): mv = (0.009705 4 +, 1+ ¥-K) Its moment about the origin, (Ib 7/3): ijk (Hy) =e, mv =0.009705]9 00.75 (0.0097051-0.75u, 4+ (0.95y, ~9y, i+ 9% K] Final finear momentum of the meteorite, (Ib sit): 0.75myy = 0.007279(y,i+¥, 54 ¥-K) ts moment about the origin, (Ib-s"/ft): 1, (0.75mv9) = 0.007279}-0.75v, i + (0.75y, ~9v,))+9¥, kk} PROPRIETARY MATERIAL, © 2009 The MeGiew-Hil Companies, Ine. All rights reserved. Nb port of this Manual may be diplaved priced or tated in ay form or By any means, wihowt the prior writin peronssion ofthe publishes, oF sed bexond the Lined ‘Asibution to eachorvand edicotors permit by AeCirow- Hil for fer ind idan enrse preparation, Ifyou avec student ws hs Manual, estore ming wth pormizsion sasPROBLEM 18.36 (Continued) Initial linear momentum of the space probe, (Ib-fV/s):m'v, =0 ‘inal linear momentum of the space probe, (Ib- fi/s): marry je vek) ~oo.n SBiy sie) Final angular momentum of space probe, (Ib- ft2/s) Hy, =n (20,i+k0,5+Ro,k) = 93,1 7[(1.375)?(0.05)i + (1.425) (-0.12)}+ (1.250)? ak] =8.57 22.703)-+145.580,k Conservation of linear momentum of the probe plus the meteorite, (Ibs) 0,009705(»,i-+ 4+ v_k) = 0.007279(v,i-+ v J++ v_k)-+93.17(-0.05625i+ v4 vik) ke 0,002426v, = 93.17%, Conservation of angular momenturn about the origin, (kg-m7/s) (0.009705){-0.750, i+ (0.75y, ~9v, )i+9",K] = (0.007279)[-0.75y,i + (0.75v, ~9v, )}+ 9v,k] + 8.80751 ~ 22.703} + 145.580, k i: ~0,0018195v, =8.8075 4840.5 fs J ~0.021834y, +0.0018195v, =-22.703 _v, =0.08333r, + 1039.8 =859.8 fis k = 0.021834y, =145.580, (@) @, =-149.98x10%v, ® % (2160 fs)i — (4840 1Vs)}+ (860 Fs) PROPRIETARY MATERIAL. & 2008 The MeGrow-Hil Companies, Ine. All rights reserve. No part ofthis Manual may be displayed ‘reproduced or distributed ican form or by any means, without the prior write permission ofthe publisher, or ase Beyond the lonited isributon to teachers and eucaors permite by MeCrase Hil fr their indo course preparation If you areastudent using his Mant, “you are using it without permision 1886