4/17/2012

EXAMPLES

1. The jet aircraft has a total mass of 22 Mg and a center of

mass at G. Initially at take-off the engines provide a thrust
of 2T = 4 kN and T = 1.5 kN . Determine the acceleration of
the plane and the normal reactions on the nose wheel and
each of the two wing wheels located at B. Neglect the mass
of the wheels and, due to low velocity, neglect any lift
caused by the wings.

= m aGx
T + 2T = m aGx
1,500 + 4,000 = 22,000 aGx aGx = 0.25 m / s 2

1)

2)

= m aGy = 0

N A + 2 N B 22,000 9.81 = 0

N A + 2 N B = 215,820
3) M G = 0
T (2.5 1.2) 2T (2.3 1.2) 2 N B 3 + N A 6 = 0

N A N B = 1,058.33
Data:

m = 22 106 gr = 22 103 kg
2T = 4000 N
T = 1500 N

aG = ?
NA = ?
NB = ?

N A = 72,646 N = 72.6 kN
1

2. The pipe has a length of 3 m and a mass of 500 kg . It is

attached to the back of the truck using a 0.6 m long chain
AB. If the coefficient of kinetic fiction at C is = 0.4,
determine the acceleration of the truck if the angle = 10D
with the road as shown.
Data:

LCA = 3m
LAB = 0.6m
m = 500kg
W = 4,905 N
k = 0.4
= 10D
ax = aG = ?
c
G
a

3
b

SOLUTION
1) Geometry:

a
a = 0.52094 m
3
b
cos10D =
b = 2.9544 m
3

sin10D =

N C + 0.79843T = 4,905.0 (2)

10D
T sin 42.98D

1.5sin10D

3) Moments:

= ( Mk

T sin 42.98D

W
C

G
C

52.98D 10D
10D
T cos52.98D

1.5sin10D

maG

N B = 71,587 N = 71.6 kN

c = 1.0 0.52094 = 0.47906 m

sin =

0.47906
= 0.79843 = 52.98D
0.6

2) Forces:

W
G

T
10D
T sin 42.98D

aG

11.5sin10
5sin10D

NC

52.98D 10D
10D
T cos52.98D

= maG N C + T cos52.98D = maG

0.4 NC + 0.60209 T = 500 aG

=0

(1)

N C W + T sin 52.98 = 0
4

3. The pipe has a mass of 460 kg and is held in place on the

truck bed using the two boards A and B. Determine the
greatest acceleration of the truck so that the pipe begins to
lose contact at A and the bed of the truck and starts to pivot
about B. Assume board B will not slip on the bed of the
truck, and the pipe is smooth. Also, what force does board
B exert on the pipe during the acceleration?

e = 1.5cos10D

Data:

W (1.5cos10D ) + 3(T sin 42.98D ) = maG (1.5sin10D )

2.0452 T 72.457 = 130.23 aG

m = 460 kg
W = 4512.6 N

(3)

Solving the equations T = 3.39 kN , N C = 2.2 kN

aG = 2.33 m / s 2

SOLUTION

4/17/2012

At the moment of interest

= 0 and N = 0.

0.4

1) Equilibrium in the x - direction

= m ax Px = m ax

Curvilinear Translation:
In a body subjected to a Curvilinear Translation all the points in
the body travel along parallel curvilinear paths.
Here it is convenient to write the equations of motion in normal
and tangential coordinates.

0.5

0.3
d = 0.1

F = ma
F = ma
M = 0

N=0

Gn

2) Equilibrium in the y - direction

= m a y Py W = 0 Py = 4513 N

If the summation of moments about G is replaced by the

summation about another point B then we must account for the
kinetic moments

3) Equilibrium of moments about G

Gt

= 0 Px 0.4 Py 0.3 = 0 Px = 3384 N

ax = 7.36 m / s 2

= ( Mk

EXAMPLES

1. The arm BDE of the industrial robot manufactured by Cincinnati

Milacron is activated by applying the torque of M = 50 N m to
link CD. Determine the reactions at the pins B and D when the
links are in the position shown and have an angular velocity of
2 rad / s. The uniform arm BDE has a mass of 10 kg and a center
of mass at G1 . The container held in its grip at E has a mass of
12 kg and a center of mass at G2 . Neglect the mass of links AB
and CD

= e (m aGt ) h (m aGn )

This is a curvilinear translation

aD = rD / C = 2 0.6
2

aD = 2.4 m / s 2 = aG

an

0.6

M C = 0 Dx 0.6 50 = 0

Dx
M

Cy

Cx

2) In member BDE take M D = (Mk ) D , this eliminates Dy

Data:

mG1 = 10 kg
mG2 = 12 kg
M = 50 N m
= 2 rad / s

By

Dy
aG W
1

aG

W2

W1 = 10 9.81 = 98.1 N
W2 = 12 9.81 = 117.72

By 0.22 98.1 0.365 117.72 1.1 = ( 10 2.4) 0.365 (12 2.4) 1.1

By = 568 N

10

2. The two 3 - lb rods EF and HI are fixed (welded) to the link

AC at E. Determine the normal force N E , the shear force VE ,
and moment M E , which the bar AC exerts on FE at E if at the
instant = 30D link AB has an angular velocity = 5 rad / s
and an angular acceleration = 8 rad / s 2 as shown

3) Find Dy using equilibrium in the y-direction

By + Dy W1 W2 = m1 aG1 m2 aG2
Dy
aG W
1

Dy

1) Element CD: Rotation about fixed point C

Dx = 83.3 N

By

Data:
aG

W2

567.54
567 54 + Dy 98
98.11 117.72
117 72 = 24 28
28.8
8

Dy = 731 N
4) Find Bx using equilibrium in the x-direction. Because at
this instant ax = at = 0 we have
Bx + Dx = 0 Bx = 83.3 N
11

WHI = WEF = 3 lb
mHI = mEF = 0.093168
0 093168 slug
= 5 rad / s
= 8 rad / s 2
NE = ?
VE = ?
SOLUTION
ME = ?
12

4/17/2012

5) We must have aG = a A and we can find a A :

The bars EFHI are undergoing a curvilinear translation, therefore

their angular velocity and acceleration must be zero.
1) Find the position of G:

Gy = 0
3 lb (1 ft ) + 3 lb (2 ft )
Gx =
= 1.5 ft
6 lb

2) Equilibrium in the x-direction:

a A = rA / B 2rA / B rA / B = 3cos30D i + 3sin 30D

a A = (8k ) (2.5981i + 1.5 j) 52 (2.5981i + 1.5 j)
a A = 53 i 58.3 j

Fx = N E = 2 m aGx

VE M
E

3) Equilibrium in the y-direction:

= 2W VE = 2 m aGy

N E = 9.87 lb
VE = 4.86 lb
M E = 7.29 lb ft

NE

4) Equilibrium of moments about G:

= M E VE 1.5 = 0

13

The moment equation can be replaced by a summation about

any point P lying inside or outside the body. In that case we
must take into account the moments ( Mk ) P due to I g ,
m aGn and m aGt .

ROTATION ABOUT A FIXED AXIS

aG = rG aGt + 2 rG aGn

F = m a = m r
F = m a = m r
M = I
2

Gn

Gt

In many problems it is convenient to choose moments about O.

This eliminates the unknown rection FO , and the kinetic moments
become
M O = (Mk )O = m rG aGt + IG

Free Body Diagram

Note that the component m aGn does not appear, because its
line of action goes through the point O.

Kinetic Diagram

Furthermore, using aGn = rG we have M O = rG2 m + I G

or M O = ( rG2 m + I G ) and from the parallel axis theorem

15

EXAMPLES

SOLUTION

1) Moment of inertia:

IO =

I O = I G + m rG2 . Therefore we also have M O = I O

16

2) Equilibrium of moments:

1. The 10 lb bar is pinned at its center O and connected to a

torsional spring. The spring has a stiffness k = 5 lb ft / rad ,
so that the torque developed is M = (5 ) lb ft , where is
in radians. If the bar is released from rest when it is vertical
at = 90D , determine its angular velocity when = 45D.

There are no forces involved

so only the moments
equation applies:
MO = IO

14

Data:

W = 10 lb
m = 0.31056 slugg
k = 5 lb ft / rad
M = 5 lb ft
0 = / 2
1 = / 4
( / 4) = ?

1
1
m A 2 = 0.31056 22 = 0.10352 slug ft 2
12
12
17

= 5 = 0.10356 = 48.281

3) Kinematics:

/4

/2

d = d

48.281 d = d
0

/4

1 2
= 24.141 2
2
/2

= 9.45 rad / s
2. The lightweight turbine consists of a rotor which is powered
from a torque applied at its center.
at the instant the rotor is horizontal
it has an angular velocity 0f 15 rad/s and a
clockwise angular acceleration of 8 rad/s2 .
Determine the internal normal force, shear force
and moment at a section through A. Assume the
rotor is a 50 m long slender rod, having a mass
18
of 3 kg/m.

4/17/2012

Data:

2) Equilibrium in the Tangential direction: r = 17.5 m

MA
15m
A

= 15 rad / s
= 8 rad / s 2
= 3 kg / m

SOLUTION

MA
7.5m

NA

VA

m aGN

1) Equilibrium in the Normal direction:

m aGN

m aGT

VA

VA = 5858.6 N = 5.86 kN
3) Find the Moment of Inertia:

Kinetic Diagram

m = 45 kg r = 17.5 m
W = 441.45 N
A

15m

IG
G

= m aGT VA + W = m rG / O VA + 441.45 = 45 8 17.5

Consider the segment of the blade to the right of A.

Free Body Diagram

NA

NA = ?
VA = ?
MA = ?

7.5m

1
1
m A 2 = 45 152 = 843.75 kg m 2
12
12
4) Equilibrium of Moments about A: Recall that aGT = rG / O

IG

IG =

m aGT

FN = m aGN N A = m 2 rG / O = 45 152 17.5

N A = 177188 N = 177.2 kN

= ( Mk

M A + W rG / A = m( rG / O )rG / A + I G

M A + 441.45 7.5 = 45 (8 17.5) 7.5 + 843.75 8

M A = 50689 N m = 50.7 kN m

19

3. The cord is wrapped around the inner core of the spool. If

a 5 lb block B is suspended from the cord and released from
rest, determine the spool's angular velocity when t = 3 s.
Neglect the mass of the cord. The spool has a weight of 180 lb
and the radius of gyration about the axle A is k A = 1.25 ft . Solve
the problem in two ways, first by considering the "system"
consisting of the block and spool, and then by considering the
block and spool separately.

20

1) Consider the whole system:

= ( Mk ) A

WB rB / A = mB rC2/ A + I A

5 1.5 = 0.15528 1.52 + 8.7345

I A

A an C
at

1.5m

at = aB
5lb

5lb
mB aB

= 0.82564 rad / s 2

SOLUTION
First calculate the Moment
of Inertia about A:

Data:

I A = mA k A2 = 5.5901 1.252
I A = 8.7345 slug ft 2

WA = 180 lb
WB = 5 lb
mA = 5.5901 slug
mB = 0.15528 slug
k A = 1.25 ft
(3s) = ? 21

= 0 + t = 0.82564 3 = 2.48 rad / s

2) Consider each particle separate.

a) Spool

= I A

T 1.5 = 8.7345 T = 5.823

Ay
Ax

1.5m

T
22

b) Weight B:

= mB aBy 5 T = 0.15528 (1.5 )

T
T = 5 0.23292
W

Solving the system:

= 0.826
0 826 radd / s 2
Same as before

23