16 Lecture

Tenth
Edition
CHAPTER VECTOR MECHANICS FOR ENGINEERS:
16 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell
PlaneMotion
Plane Motionof of Rigid
Rigid Bodies:
Lecture Notes: Bodies:
Forces Forces and
and Accelerations
Brian P. Self
California Polytechnic State University Accelerations
© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

Tenth
Vector Mechanics for Engineers: Dynamics
Contents
Introduction Sample Problem 16.3

Equations of Motion of a Rigid Bod Sample Problem 16.4
y Sample Problem 16.5
Angular Momentum of a Rigid Bod Constrained Plane Motion
y in Plane Motion
Constrained Plane Motion:
Plane Motion of a Rigid Body: d’
Noncentroidal Rotation
Alembert’s Principle
Constrained Plane Motion:
Axioms of the Mechanics of Rigid
Rolling Motion
Bodies
Sample Problem 16.6
Problems Involving the Motion of a
Rigid Body Sample Problem 16.8
Sample Problem 16.1 Sample Problem 16.9
Sample Problem 16.2 Sample Problem 16.10
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 2

Tenth
Rigid Body Kinetics
Early design of prosthetic legs
The forces and moments applied to
relied heavily on kinetics. It
a robotic arm control the resulting
was necessary to calculate the
kinematics, and therefore the end
different kinematics, loads, and
position and forces of the actuator
moments applied to the leg to
at the end of the robot arm.
make a safe device.

Tenth
Introduction
• In this chapter and in Chapters 17 and 18, we will be

concerned with the kinetics of rigid bodies, i.e., relations
between the forces acting on a rigid body, the shape and mass
of the body, and the motion produced.
• Results of this chapter will be restricted to:

- plane motion of rigid bodies, and
- rigid bodies consisting of plane slabs or bodies which
are symmetrical with respect to the reference plane.
• Our approach will be to consider rigid bodies as made of

large numbers of particles and to use the results of Chapter
14 for the motion of systems of particles. Specifically,
   

F  ma and M H  G G

Tenth
Equations of Motion for a Rigid Body
• Consider a rigid body acted upon
by several external forces.
• Assume that the body is made of
a large number of particles.
• For the motion of the mass center
G of the body with respect to the
Newtonian frame Oxyz,
 
 F  ma
• For the motion of the body with
respect to the centroidal frame G
x’y’z’,  
 M G  HG
• System of external forces is
equipollent to the
 system

consisting of ma and H G .
Tenth
Angular Momentum of a Rigid Body in Plane Motion
• Angular momentum of the slab may be
computed by
 n  
H G   ri viΔmi 
i 1
n  
  ri   riΔmi 
i 1


   ri 2 Δmi 

 I
• After differentiation,
  
H G  I   I 
• Results are also valid for plane motion of
• Consider a rigid slab in bodies which are symmetrical with respect to
plane motion. the reference plane.
• Results are not valid for asymmetrical bodies or
three-dimensional motion.
Tenth
Plane Motion of a Rigid Body: D’Alembert’s Principle
• Motion of a rigid body in plane motion is
completely defined by the resultant and moment
resultant about G of the external forces.
 Fx  ma x  Fy  ma y  M G  I
• The external forces and the collective effective
forces of the slab particles are equipollent (reduce
to the same resultant and moment resultant) and
equivalent (have the same effect on the body).
• d’Alembert’s Principle: The external forces
acting on a rigid body are equivalent to the
effective forces of the various particles forming
the body.
• The most general motion of a rigid body that is
symmetrical with respect to the reference plane
can be replaced by the sum of a translation and a
centroidal rotation.
Tenth
Axioms of the Mechanics of Rigid Bodies
 
• The forces F and F  act at different points
on a rigid body but but have the same
magnitude, direction, and line of action.
• The forces produce the same moment about

any point and are therefore, equipollent
external forces.
• This proves the principle of transmissibility

whereas it was previously stated as an axiom.

Tenth
Problems Involving the Motion of a Rigid Body
• The fundamental relation between the forces
acting on a rigid body in plane motion and
the acceleration of its mass center and the
angular acceleration of the body is illustrated
in a free-body-diagram equation.
• The techniques for solving problems of
static equilibrium may be applied to solve
problems of plane motion by utilizing
- d’Alembert’s principle, or
- principle of dynamic equilibrium
• These techniques may also be applied to
problems involving plane motion of
connected rigid bodies by drawing a free-
body-diagram equation for each body and
solving the corresponding equations of
motion simultaneously.
Tenth
Free Body Diagrams and Kinetic Diagrams
The free body diagram is the same as you have done in statics and
in Ch 13; we will add the kinetic diagram in our dynamic analysis.
1. Isolate the body of interest (free body)
2. Draw your axis system (Cartesian, polar, path)
3. Add in applied forces (e.g., weight)
4. Replace supports with forces (e.g., tension force)
5. Draw appropriate dimensions (angles and distances)
y
x
Include your
positive z-axis
direction too
Tenth
Put the inertial terms for the body of interest on the kinetic diagram.
1. Isolate the body of interest (free body)
2. Draw in the mass times acceleration of the particle; if unknown,
do this in the positive direction according to your chosen axes. For
rigid bodies, also include the rotational term, IG.
F  ma
M G  I
Tenth
Draw the FBD and KD for

the bar AB of mass m. A
known force P is applied at
the bottom of the bar.

Tenth
1. Isolate body
y 2. Axes
Cy 3. Applied forces
A x 4. Replace supports with forces
5. Dimensions
C Cx 6. Kinetic diagram
L/2
ma y
r
I
G G max
L/2 mg
B P
Tenth
A drum of 100 mm radius is

attached to a disk of 200 mm
radius. The combined drum and
disk had a combined mass of 5 kg.
A cord is attached as shown, and a
force of magnitude P=25 N is
applied. The coefficients of static
and kinetic friction between the
wheel and ground are s= 0.25 and
k= 0.20, respectively. Draw the
FBD and KD for the wheel.

Tenth
1. Isolate body
2. Axes
3. Applied forces
4. Replace supports with forces
5. Dimensions
6. Kinetic diagram
100 P ma y
mm
I
= max
200 mm
W
F y
N x
Tenth
The ladder AB slides down

the wall as shown. The wall
and floor are both rough.
Draw the FBD and KD for
the ladder.

Tenth
1. Isolate body 3. Applied forces 5. Dimensions
2. Axes 4. Replace supports with forces 6. Kinetic diagram
NB ma y
m

25
FB
0.2
I
= max
m
25
W
0.2
FA x
NA
Tenth
Sample Problem 16.1
SOLUTION:
• Calculate the acceleration during the
skidding stop by assuming uniform
acceleration.
• Draw the free-body-diagram equation
expressing the equivalence of the
external and effective forces.
At a forward speed of 10 m/s, the truck • Apply the three corresponding scalar
brakes were applied, causing the wheels equations to solve for the unknown
to stop rotating. It was observed that the normal wheel forces at the front and
truck to skidded to a stop in 7 m. rear and the coefficient of friction
Determine the magnitude of the normal between the wheels and road surface.
reaction and the friction force at each
wheel as the truck skidded to a stop. The
weight of the truck is WN.

Tenth
Sample Problem 16.1
SOLUTION:
• Calculate the acceleration during the skidding stop
by assuming uniform acceleration.
m m
v0 = 10 x = 7m a = - 7.14
s s2
• Draw a free-body-diagram equation expressing the
equivalence of the external and inertial terms.
• Apply the corresponding scalar equations.
 Fy   Fy eff N A  NB  W  0
- FA - FB = - ma
 Fx   Fx eff - mk ( N A + N B ) =
- mk W = - (W g ) a
a 7.14
mk = = = 0.728
g 9.81

Tenth
Sample Problem 16.1
• Apply the corresponding scalar equations.
 M A   M A eff
N A = W - N B = 0.341W
N rear = 12 N A = 1
2 (0.341W ) N rear = 0.1705 W
Frear = mk N rear = (0.728)(0.1705 W )
Frear = 0.124W
N front = 12 N B = 1
2 (0.659 W ) N front = 0.3295 W
Ffront = mk N front = (0.728 )(0.3295 W )

Ffront = 0.240W
Tenth
Sample Problem 16.2
SOLUTION:
• Note that after the wire is cut, all
particles of the plate move along parallel
circular paths of radius 150 mm. The
plate is in curvilinear translation.
The thin plate of mass 8 kg is held in • Resolve into scalar component

place as shown. equations parallel and perpendicular to
the path of the mass center.
Neglecting the mass of the links,
• Solve the component equations and the
determine immediately after the wire
has been cut (a) the acceleration of the moment equation for the unknown
plate, and (b) the force in each link. acceleration and link forces.

Tenth
Sample Problem 16.2
SOLUTION:
• Note that after the wire is cut, all particles of the
plate move along parallel circular paths of radius
150 mm. The plate is in curvilinear translation.
• Draw the free-body-diagram equation expressing
the equivalence of the external and effective
forces.
• Resolve the diagram equation into components
parallel and perpendicular to the path of the mass
center.
 Ft   Ft eff
W cos 30  ma
mg cos 30 
 
a  9.81m/s 2 cos 30
a  8.50 m s 2 60o

Tenth
Sample Problem 16.2
• Solve the component equations and the moment
equation for the unknown acceleration and link
forces.
 M G   M G eff
FAE sin 30250 mm  FAE cos 30100 mm 
FDF sin 30250 mm   FDF cos 30100 mm   0
38.4 FAE  211.6 FDF  0
FDF  0.1815 FAE
 Fn   Fn eff
a  8.50 m s 2 60o FAE  FDF  W sin 30  0
FAE  0.1815 FAE  W sin 30  0

FAE  0.6198 kg  9.81m s 2  FAE  47.9 N T
FDF  0.1815 47.9 N  FDF  8.70 N C

Tenth
Sample Problem 16.3
SOLUTION:
• Determine the direction of rotation by
evaluating the net moment on the
pulley due to the two blocks.
• Relate the acceleration of the blocks to
the angular acceleration of the pulley.
external and effective forces on the
A pulley of mass 6 kg and having a radius complete pulley plus blocks system.
of gyration of 200 mm. is connected to two
• Solve the corresponding moment
blocks as shown.
equation for the pulley angular
Assuming no axle friction, determine the acceleration.
angular acceleration of the pulley and the
acceleration of each block.
Tenth
Sample Problem 16.3
SOLUTION:
• Determine the direction of rotation by evaluating the net
moment on the pulley due to the two blocks.
rotation is counterclockwise, MG is positive.

note: I = mk 2
= (6 kg)(0.2 m)2
= 0.24 kg-m 2
• Relate the acceleration of the blocks to the angular
acceleration of the pulley.
a A = rAa aB = rBa
= (0.25m )a = (0.15m ) a

Tenth
Sample Problem 16.3
• Draw the free-body-diagram equation expressing the
equivalence of the external and effective forces on the
complete pulley and blocks system.
• Solve the corresponding moment equation for the pulley
angular acceleration.
 M G   M G eff
(5 kg) (9.81 sm ) (0.15m ) – (2.5 kg ) (9.81 ms )
2
2
(0.25m ) = I a + mB aB (0.15m ) - mA aA (0.25m )

7.3575 - 6.1312 = (0.24 )a + (5)(0.15a )(0.15) - (0.252 )(0.25)(0.25 )
a = 2.41rad s2
I = 0.24 kg ×m 2 Then,
a A = (0.25a ) m s2 a A = rAa
a B = (0.15a ) m s2 (
= (0.25m ) 2.41rad s2 ) a A = 0.603m s2
aB = rBa
(
= (0.15m ) 2.41rad s2 ) aB = 0.362 m s2

Tenth
Sample Problem 16.4
SOLUTION:
external and effective forces on the disk.
• Solve the three corresponding scalar
equilibrium equations for the horizontal,
vertical, and angular accelerations of the
disk.
A cord is wrapped around a
homogeneous disk of mass 15 kg. • Determine the acceleration of the cord by
The cord is pulled upwards with a evaluating the tangential acceleration of
force T = 180 N. the point A on the disk.
Determine: (a) the acceleration of the

center of the disk, (b) the angular
acceleration of the disk, and (c) the
acceleration of the cord.
Tenth
Sample Problem 16.4
SOLUTION:
equivalence of the external and effective forces on
the disk.
• Solve the three scalar equilibrium equations.
 Fx   Fx eff
0  ma x ax  0
 Fy   Fy eff
T  W  ma y
ay 

T  W 180 N - 15 kg  9.81m s 2


m 15 kg
a y  2.19 m s 2
 M G   M G eff
 Tr  I   12 mr 2 
2T 2180 N 
     48.0 rad s 2
mr 15 kg 0.5 m 
Tenth
Sample Problem 16.4
• Determine the acceleration of the cord by evaluating the
tangential acceleration of the point A on the disk.

acord  a A t  a  a A G t

 2.19 m s 2  0.5 m  48 rad s 2 
acord  26.2 m s 2
ax  0 a y  2.19 m s 2
  48.0 rad s 2

Tenth
Sample Problem 16.5
SOLUTION:
external and effective forces on the
sphere.
• Solve the three corresponding scalar
equilibrium equations for the normal
A uniform sphere of mass m and radius reaction from the surface and the linear
r is projected along a rough horizontal and angular accelerations of the sphere.
surface with a linear velocity v0. The • Apply the kinematic relations for
coefficient of kinetic friction between uniformly accelerated motion to
the sphere and the surface is k. determine the time at which the
tangential velocity of the sphere at the
Determine: (a) the time t1 at which the surface is zero, i.e., when the sphere
sphere will start rolling without sliding, stops sliding.
and (b) the linear and angular velocities
of the sphere at time t1.
Tenth
Sample Problem 16.5
SOLUTION:
equivalence of external and effective forces on the
sphere.
• Solve the three scalar equilibrium equations.
N W  0 N  W  mg
 F  ma
  k mg  a  k g
 M G   M G eff
Fr  I 
5 k g
 k mg r  23 mr 2  
2 r
NOTE: As long as the sphere both rotates and
slides, its linear and angular motions are uniformly
accelerated.
Tenth
Sample Problem 16.5
• Apply the kinematic relations for uniformly accelerated
motion to determine the time at which the tangential
velocity of the sphere at the surface is zero, i.e., when the
sphere stops sliding.
v v 0  a t v 0   k g t
5 g
  0  t  0   k t
2 r 
At the instant t1 when the sphere stops sliding,
a  k g v1  r1
5 k g 2 v0
  5 k g  t1 
2 r v0   k gt1  r   t1
2 r  7 k g
5  g  5  g  2 v0  5 v0
1   k t1   k  1 
2 r   2 r  7  k g  7 r
5v 
v1  r1  r  0  v1  75 v0
7 r 
Tenth
Group Problem Solving
SOLUTION:
Knowing that the coefficient of
• Draw the free-body-diagram and
static friction between the tires kinetic diagram showing the
and the road is 0.80 for the equivalence of the external forces
automobile shown, determine the and inertial terms.
maximum possible acceleration • Write the equations of motion for
on a level road, assuming rear- the sum of forces and for the sum
wheel drive of moments.
• Apply any necessary kinematic

relations, then solve the resulting
equations.

Tenth
SOLUTION: • Draw your FBD and KD
• Given: rear wheel drive, • Set up your equations of motion,
dimensions as shown, = 0.80 realizing that at maximum acceleration,
may and  will be zero
• Find: Maximum acceleration
y ma y
I
x
= max
FR mg
NR NF
F x  max F y  ma y M G  I G
FR  max N R  N F  mg  0  N R (1.5)  N F (1)  FR (0.5)  0
Tenth
• Solve the resulting equations: 4 unknowns are FR, max, NF and NR

FR  max (1) N R  N F  mg  0 (2) FR   N R (3)
 N R (1.5)  N F (1)  FR (0.5)  0 (4) max
(1)→(3) N R  (5)

(5)→(2) max
N F  mg  N R  mg  (6)

(1) and (5) and (6) →(4)
max  max 
   
1.5  mg   1  max  0.5  0
   
Solving this equation,

g ax  3.74 m/s 2
ax 
5
 0.5
2
Tenth
• Alternatively, you could have chosen to sum moments about the front wheel
y ma y
I
x
= max
FR mg
NR NF
M F  I G  mad 
 N R (2.5)  mg (1)  0  max (0.5)
• You can now use this equation with those on the previous slide to solve for
the acceleration
Tenth
Concept Question
The thin pipe P and the uniform cylinder C have the same outside
radius and the same mass. If they are both released from rest,
which of the following statements is true?
a) The pipe P will have a greater acceleration

b) The cylinder C will have a greater acceleration
c) The cylinder and pipe will have the same acceleration

Tenth
Kinetics: Constrained Plane Motion
The forces at the bottom of the The forces one the wind turbine
pendulum depend on the blades are also dependent on
pendulum mass and mass moment mass, mass moment of inertia, and
of inertia, as well as the pendulum kinematics.
kinematics.

Tenth
Constrained Plane Motion
• Most engineering applications involve rigid
bodies which are moving under given
constraints, e.g., cranks, connecting rods, and
non-slipping wheels.
• Constrained plane motion: motions with
definite relations between the components of
acceleration of the mass center and the angular
acceleration of the body.
• Solution of a problem involving constrained
plane motion begins with a kinematic analysis.
• e.g., given and , find P, NA, and NB.
- kinematic analysis yields ax and a y .
- application of d’Alembert’s principle yields
P, NA, and NB.

Tenth
Constrained Motion: Noncentroidal Rotation
• Noncentroidal rotation: motion of a body is
constrained to rotate about a fixed axis that does
not pass through its mass center.
• Kinematic relation between the motion of the mass

center G and the motion of the body about G,
at  r  an  r  2
• The kinematic relations are used to eliminate

at and an from equations derived from
d’Alembert’s principle or from the method of
dynamic equilibrium.

Tenth
Constrained Plane Motion: Rolling Motion
• For a balanced disk constrained to
roll without sliding,
x  r  a  r
• Rolling, no sliding:
F  s N a  r
Rolling, sliding impending:
F  s N a  r
Rotating and sliding:
F  k N a, r independent
• For the geometric center of an
unbalanced disk,
aO  r
The acceleration of the mass center,
  
aG  aO  aG O


t 
 aO  aG O  aG O

n
Tenth
Sample Problem 16.6
SOLUTION:
• Draw the free-body-equation for AOB,
mE  4 kg
• Evaluate the external forces due to the
k E  85 mm
weights of gear E and arm OB and the
mOB  3 kg
effective forces associated with the
angular velocity and acceleration.
The portion AOB of the mechanism is
actuated by gear D and at the instant • Solve the three scalar equations
shown has a clockwise angular velocity derived from the free-body-equation
of 8 rad/s and a counterclockwise for the tangential force at A and the
angular acceleration of 40 rad/s2. horizontal and vertical components of
Determine: a) tangential force exerted reaction at shaft O.
by gear D, and b) components of the
reaction at shaft O.

Tenth
Sample Problem 16.6
SOLUTION:
• Draw the free-body-equation for AOB.
• Evaluate the external forces due to the weights of
gear E and arm OB and the effective forces.
 
WE  4 kg  9.81m s 2  39.2 N

WOB  3 kg  9.81m s 2  29.4 N

I E  mE k E2  4kg 0.085 m 2 40 rad s 2 
 1.156 N  m

mOB aOB t  mOB r    3 kg 0.200 m  40 rad s 2 
mE  4 kg   40 rad s 2  24.0 N
k E  85 mm
mOB  3 kg
  8 rad/s
 
mOB aOB n  mOB r  2  3 kg 0.200 m 8 rad s 2
 38.4 N
I OB  121 mOB L2   121 3kg 0.400 m2 40 rad s2 

 1.600 N  m
Tenth
Sample Problem 16.6
• Solve the three scalar equations derived from the free-
body-equation for the tangential force at A and the
horizontal and vertical components of reaction at O.
 M O   M O eff
F 0.120m   I E  mOB aOB t 0.200m   I OB
 1.156 N  m  24.0 N 0.200m   1.600N  m
F  63.0 N
 Fx   Fx eff
WE  39.2 N Rx  mOB aOB t  24.0 N
WOB  29.4 N Rx  24.0 N
I E  1.156 N  m  Fy   Fy eff
mOB aOB t  24.0 N R y  F  WE  WOB  mOB aOB 
mOB aOB n  38.4 N R y  63.0 N  39.2 N  29.4 N  38.4 N
R y  24.0 N
I OB  1.600 N  m
Tenth
Sample Problem 16.8
SOLUTION:
• Draw the free-body-equation for the
sphere, expressing the equivalence of the
• With the linear and angular accelerations
related, solve the three scalar equations
derived from the free-body-equation for
the angular acceleration and the normal
A sphere of weight W is released with
and tangential reactions at C.
no initial velocity and rolls without
slipping on the incline. • Calculate the friction coefficient required
for the indicated tangential reaction at C.
Determine: a) the minimum value of
• Calculate the velocity after 3 m of
the coefficient of friction, b) the
uniformly accelerated motion.
velocity of G after the sphere has
rolled 10 ft and c) the velocity of G if • Assuming no friction, calculate the linear
the sphere were to move 3 m down a acceleration down the incline and the
frictionless incline. corresponding velocity after 3 m.
Tenth
Sample Problem 16.8
SOLUTION:
• Draw the free-body-equation for the sphere, expressing
the equivalence of the external and effective forces.
• With the linear and angular accelerations related, solve
the three scalar equations derived from the free-body-
equation for the angular acceleration and the normal
and tangential reactions at C.
 M C   M C eff
W sin  r  ma r  I
a  r  mr r  52 mr 2 
W   2W 2  5 g sin 
  r  r   r  
g  5 g  7r
a = 3.504 m s2

Tenth
Sample Problem 16.8
• Solve the three scalar equations derived from the free-
body-equation for the angular acceleration and the
normal and tangential reactions at C.
 Fx   Fx eff W sin   F  ma
W 5 g sin 

g 7
2
F  W sin 30  0.143W
7
 Fy   Fy eff N  W cos  0
N  W cos 30  0.866W
5 g sin 

7r • Calculate the friction coefficient required for the
indicated tangential reaction at C.
a = ra = 3.504 m s2
F  s N
F 0.143W
s    s  0.165
N 0.866W

Tenth
Sample Problem 16.8
• Calculate the velocity after 3 m of uniformly
accelerated motion.
v 2 = v02 + 2a ( x - x0 )
(
= 0 + 2 3.504 m s2 (3m ))
• Assuming no friction, calculate the linear acceleration

and the corresponding velocity after 3 m.
 M G   M G eff 0  I   0
5 g sin 
  Fx   Fx eff
7r
a = ra = 3.504 m s2
v 2 = v02 + 2a ( x - x0 )
( )
= 0 + 2 9.81m s2 (3m )

Tenth
Sample Problem 16.9
SOLUTION:
• Draw the free-body-equation for the
wheel, expressing the equivalence of the
• Assuming rolling without slipping and
therefore, related linear and angular
accelerations, solve the scalar equations
for the acceleration and the normal and
A cord is wrapped around the inner tangential reactions at the ground.
hub of a wheel and pulled • Compare the required tangential reaction
horizontally with a force of 200 N.
to the maximum possible friction force.
The wheel has a mass of 50 kg and a
radius of gyration of 70 mm. • If slipping occurs, calculate the kinetic
Knowing s = 0.20 and k = 0.15, friction force and then solve the scalar
determine the acceleration of G and equations for the linear and angular
the angular acceleration of the wheel. accelerations.

Tenth
Sample Problem 16.9
SOLUTION:
• Draw the free-body-equation for the wheel,.
• Assuming rolling without slipping, solve the scalar
equations for the acceleration and ground reactions.
 M C   M C eff
200 N 0.040 m   ma 0.100 m   I
8.0 N  m  50 kg 0.100 m 2  0.245 kg  m 2 
I  mk 2  50 kg 0.70 m 2   10.74 rad s 2
 0.245 kg  m 2  
a  0.100 m  10.74 rad s 2  1.074 m s 2
Assume rolling without slipping,
a  r

F  200 N  ma  50 kg  1.074 m s 2 
F  146.3 N
 0.100 m 
N W  0
 
N  mg  50kg  1.074 m s 2  490.5 N
Tenth
Sample Problem 16.9
• Compare the required tangential reaction to the
maximum possible friction force.
Fmax   s N  0.20490.5 N   98.1 N
F > Fmax , rolling without slipping is impossible.
• Calculate the friction force with slipping and solve the

Without slipping, scalar equations for linear and angular accelerations.
F  146.3 N N  490.5 N F  Fk   k N  0.15490.5 N   73.6 N
200 N  73.6 N  50 kg a a  2.53 m s 2
 M G   M G eff
73.6 N 0.100 m   200 N 0.0.060 m 
 
 0.245 kg  m 2 
  18.94 rad s 2   18.94 rad s 2
Tenth
Sample Problem 16.10
SOLUTION:
• Based on the kinematics of the constrained
motion, express the accelerations of A, B,
and G in terms of the angular acceleration.
• Draw the free-body-equation for the rod,
The extremities of a 1.2-m rod of
mass 25 kg can move freely and • Solve the three corresponding scalar
with no friction along two straight equations for the angular acceleration and
tracks. The rod is released with no the reactions at A and B.
velocity from the position shown.
Determine: a) the angular
acceleration of the rod, and b) the
reactions at A and B.

Tenth
SOLUTION:
• Based on the kinematics of the constrained motion,
express the accelerations of A, B, and G in terms of
the angular acceleration.
Express the acceleration of B as
  
aB  a A  aB A
With a B A = 1.2a , the corresponding vector triangle and

the law of sines yield
a A = 1.639a aB = 1.47a
The acceleration of G is now obtained from

   
a a G  a A  aG A where aG A = 0.6a
Resolving into x and y components,
a x = 1.639a - 0.6a cos60° = 1.339a

a y = - 0.6a sin 60° = - 0.52a

Tenth
• Draw the free-body-equation for the rod, expressing
the equivalence of the external and effective forces.
• Solve the three corresponding scalar equations for the
angular acceleration and the reactions at A and B.
 M E   M E eff
(25)(9.81)(0.520) = (33.5a )(1.34) + (13.0a )(0.520) + 3a
a = +2.33 rad s2
a = 2.33 rad s2
1
I = 121 ml 2 = 25 kg (1.2 m )
2
12
= 3 kg ×m 2
I a = 3a 45o
ma x = 25 (1.39a ) = 33.5a
ma y = - 25 (0.520a ) = - 13.0a
RA = 136.6 N
Tenth
The uniform rod AB of weight W is SOLUTION:
released from rest when Assuming that
• Draw the free-body-diagram and
the friction force between end A and the
kinetic diagram showing the
surface is large enough to prevent
equivalence of the external forces
sliding, determine immediately after
and inertial terms.
release (a) the angular acceleration of
the rod, (b) the normal reaction at A, (c) • Write the equations of motion for
the friction force at A. the sum of forces and for the sum
of moments.
• Apply any necessary kinematic

relations, then solve the resulting
equations.

Tenth
SOLUTION: Given: WAB = W, = 70o • Draw your FBD and KD
• Set up your equations of motion
• Find: AB, NA, Ff • Kinematics and solve (next page)
y ma y
L/2
x
I
L/2
= max
W
70o 70o
Ff
NA
M G  I G
F  max
x F y  ma y  N A ( L2 cos(70 ))  FF ( L2 sin(70 ))
Ff  max N A  mg  ma y
 121 mL2 AB
Tenth
• Set up your kinematic relationships – define rG/A, aG
1 L/2
rG /A  ( L cos(70 )i  L sin(70 ) j)
2
 (0.17101 L)i  (0.46985 L)j
2
aG  a A   AB  rG /A   AB rG /A L/2
 0  ( AB k )  (0.17101 L i  0.46985 L j)  0
70o
 0.46985 L  AB i  0.17101 L  AB j
• Realize that you get two equations from the kinematic relationship
ax  0.46985 L  AB a y  0.17101 L  AB
• Substitute into the sum of forces equations

Ff  max N A  mg  ma y
Ff  (m)0.46985 L  AB N A  m(0.17101 L  AB  g )
Tenth
• Substitute the Ff and NA into the sum of moments equation
 N A ( L2 cos(70 ))  FF ( L2 sin(70 ))  121 mL2 AB
[m(0.17101 L  AB  g )]( L2 cos(70 ))  [ ( m)0.46985 L  AB ]( L2 sin(70 ))

 121 mL2 AB
• Masses cancel out, solve for AB
0.171012 L2  AB  0.469852 L2  AB  121 L2 AB  g ( L2 cos(70 ))

g • The negative sign means  is
 AB  0.513 k
L clockwise, which makes sense.
• Subbing into NA and Ff expressions,

Ff  (m)0.46985 L  0.513 Lg  N A  m(0.17101 L  0.513 Lg   g )
Ff  0.241mg  N A  0.912mg 
Tenth
Concept Question
What would be true if the floor was

smooth and friction was zero?
= 70o
NA
a) The bar would rotate about point A
b) The bar’s center of gravity would go straight downwards
c) The bar would not have any angular acceleration

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Tenth

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

Introduction Sample Problem 16.3

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 2

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 3

• In this chapter and in Chapters 17 and 18, we will be

• Results of this chapter will be restricted to:

• Our approach will be to consider rigid bodies as made of

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 4

• The forces produce the same moment about

• This proves the principle of transmissibility

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 8

Draw the FBD and KD for

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 12

A drum of 100 mm radius is

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 14

The ladder AB slides down

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 16

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 18

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 19

Ffront = mk N front = (0.728 )(0.3295 W )

The thin plate of mass 8 kg is held in • Resolve into scalar component

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 21

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 22

FDF  0.1815 47.9 N  FDF  8.70 N C

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 23

rotation is counterclockwise, MG is positive.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 25

(0.25m ) = I a + mB aB (0.15m ) - mA aA (0.25m )

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 26

Determine: (a) the acceleration of the

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 29

• Apply any necessary kinematic

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 33

• Solve the resulting equations: 4 unknowns are FR, max, NF and NR

Solving this equation,

a) The pipe P will have a greater acceleration

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 37

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 38

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 39

• Kinematic relation between the motion of the mass

• The kinematic relations are used to eliminate

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 40

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 42

I OB  121 mOB L2   121 3kg 0.400 m2 40 rad s2 

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 46

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 47

• Assuming no friction, calculate the linear acceleration

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 48

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 49

I  mk 2  50 kg 0.70 m 2   10.74 rad s 2

• Calculate the friction force with slipping and solve the

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 52

With a B A = 1.2a , the corresponding vector triangle and

The acceleration of G is now obtained from

Resolving into x and y components,

a x = 1.639a - 0.6a cos60° = 1.339a

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 53

• Apply any necessary kinematic

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 55

• Substitute into the sum of forces equations

[m(0.17101 L  AB  g )]( L2 cos(70 ))  [ ( m)0.46985 L  AB ]( L2 sin(70 ))