Problems

H. Okubo

a
B

r=0.25 m

15 kg

30

Figure 1: Problem 1

1. For what acceleration a of the frame

will the uniform slender rod maintain
the orientation shown in the figure? Neglect the friction and massof the small
rollers at A and B. (a = g 3)
Solution. Applying the three equations of motion gives
ma = RA

(1)

0 = RB mg

(2)

0 = RB l cos 30 RA l sin 30

8 kg
10 kg
Figure 2: Problem 2

vectors, i, j, k, are attached to point

O, with the y-axis vertical and the zxplane horizontal. The moment of inertia of the drum is
1
I = Mr 2
(5)
2
where M is the drum mass. The equations of motion are

(3)

Substituting Eqs (1) and (2) into Eq.

(3) gives

0 = mg( 3/2) ma/2

0 = g 3a

a = g 3
(4)

r(T10 T8 ) = I
T10 m10 g = m10 a10
T8 m8 g = m8 a8

2. Calculate the downward acceleration a

of the 10-kg cylinder. The drum is a
uniform cylinder, and friction at the
pivot is negligible. Compare your answer with that obtained by ignoring
the inertia effects of the drum. (a =
0.769 m/s2 , a = 1.090 m/s2 )
Solution. The axes x-y-z with unit

(6)
(7)
(8)

where T10 is the tension of the cable

attached the 10-kg cylinder, T8 is the
tension of the cable for the 8-kg cylinder, m10 and m8 are the masses of 10kg and 8-kg cylinders. The accelerations of the cylinders are a10 and a8 ,
1

O
B

2b
A

Figure 4: Problem 4

where is the angular acceleration of

the plate, and I is the moment of inertia
which is
Z b/2 Z b/2
m
I =
dxdy(x2 + y 2 )
2
b
b/2 b/2
Z
Z
m b/2 b/2 2
x dxdy
= 2
b b/2 b/2
Z
Z
m b/2 2 b/2
dxdy
y
+ 2
b b/2
b/2

P
Figure 3: Problem 3

and the angular acceleration of drum is

. The relationship between a10 and a8
is a = a10 = a8 . a can be expressed
as = a/r. Eliminating , T10 , and T8
from Eqs. (6)-(8), we have
r 2 (m10 a + m10 g m8 a m8 g)
1
= Mr 2 a
2
m10 m8
g
a=
M/2 + m10 + m8
= 0.769 m/s2
(9)

mb2
6

(12)

Using the expressionn of I and Eq.

(11), we calculate .

With M = 0, a = 1.09 m/s2 .

3. The uniform square plate of mass m is

lying motionless on the horizontal surface when the force P is applied at A
as shown. Determine the resulting initial acceleration of point B. Friction is
negligible. (a = (P/2m)(3i j))
Solution. We apply the equations of
motion

3P
k
mb

(13)

The acceleration of B, aB is

aB = aG + GB


P
3P
b
b
=
j+
i+ j
m
mb
2
2
P
(3i j)
(14)
=
2m

maG = P j
P
aG =
j
(10)
m
where m is the mass of the plate, and
aG is the acceleration vector of the center of mass.

I = GA P j
(11)

4. The uniform rectangular plate is released from rest in the position shown.
Determine the maximum angular velocity during the ensuring motion.
Friction
p g at the pivot is negligible.
(0.861 b )
Solution.
The moment of inertia
2

about O is
Z
IO =
=

A
2b
0

Z b
m 2
(x + y 2)dydx
2
2b
0

5 2
mb
3

(15)

Figure 5: Problem 5

The change in kinetic energy is

1
5
T = IO 2 = mb2 2
2
6

The virtual change in kinetic energy is

(16)

b
b
dT = m( )( d) + Id
2
2
m 2
m
=
b d + b2 d
4
12
1 2
mb d
(20)
=
3

The change in gravitational potential

energy is
!
 
5
b
Vg = mg
b mg
2
2
1
= ( 5 1)mgb
(17)
2

The virtual change in potential energies

of the system becomes
b
b
dVg = d(mg sin + mg )
2
2
b
= d{mg (1 sin )}
2
b
= mg cos d
(21)
2

when the center of gravity is located at

the lowest position. Substituting into
the energy equation gives
5 2 2 1
mb ( 5 1)mgb
6
2
3(
5

1)
g
2 =
5r b
g
(18)
= 0.861
b
0 =

Substitution into the work-energy equation for virtual change gives

b
1
0 = mb2 d mg cos d
3
2

(22)

from which the angular acceleration is

5. The two uniform slender bars are

hinged at O and supported on the horizontal surface by their end rollers of
negligible mass. If the bars are released
from rest in the position shown, determine their initial angular acceleration
as they collapse in the vertical plane.
cos
( = 3g 2b
)
Solution. The moment of inertia of the
slender bar is
Z b/2
m
m 2
x dx = b2
(19)
I=
12
b/2 b

3g cos
2b

(23)

6. The 75-kg flywheel has a radius of gyration about its shaft axis of k = 0.50
m and is subjected to the torque M =
10(1 et Nm, where t is in seconds. If
the flywheel is at rest at time t = 0, determine its angular velocity at t = 3
s. ( = 1.093 rad/s)
Solution. Application of the angular
impulse-momentum equation over the
3

0
z

y 0.4 m

A
A

x0

Figure 7: Problem 8

Figure 6: Problem 7

interval gives
Z 3
2
Mdt = mk
0

3
75(0.52 ) = 10 t + et 0

8. The collar at O and attached shaft OC

rotate about the fixed x0 -axis at the
constant rate = 4 rad/s. Simultaneously, the circular disk rotates about
OC at the constant rate p = 10 rad/s.
Determine the magnitude of the total angular velocity of the disk and
find its angular acceleration . ( =
10.8 rad/s, = 40 rad/s2 )
Solution. We use x-y-z components
with unit vectors i, j, k. The system
has two components of angular velocity: about x0 -axis and p about zaxis. The x0 -axis coincides with x-axis.
Thus, the angular velocity vector becomes

(24)

10(3 + e3 1)
75(0.25)
= 1.093 rad/s
(25)

7. The rotor and shaft are mounted in a

clevis which can rotate about the z-axis
with an angular velocity . With = 0
and constant, the rotor has an angular
velocity 0 = 4j 3k rad/s. Find
the velocity v A of point A on the rim
if its position vector at this instant is
r = 0.5i + 1.2j + 1.1k m. What is the
rim speed vB of any point B? (vB =
2.62 m/s)
Solution. The velocity v A becomes

= i + pk
= 4i + 10k rad/s
The magnitude of is
p
=
2 + p2

42 + 102
=

=
116 = 10.8 rad/s

vA = 0 r
= (4j 3k)
(0.5i + 1.2j + 1.1k)
= 0.8i 1.5j + 2k
(26)

(28)

(29)

The angular acceleration vector is

The rim speed vB equal the magnitude

of velocity of A. Thus
p
vB =
(0.8)2 + (1.5)2 + 22
= 2.62 m/s
(27)

= i pk
= pj
= 40j rad/s2
4

(30)

9. For the conditions of Prob. 8, determine the velocity v A and acceleration

A of point A on the disk as it passes
the position shown. Reference axes xy-z are attached to the collar at O and
its shaft OC. (v A = 3i 1.6j + 1.2k
m/s, aA = 34.8j 6.4k m/s2 )
Solution. We use x-y-z components
with unit vectors i, j, k. The vector

CA has two components of angular velocity: about x0 -axis and p about

z-axis. The x0 -axis coincides with xaxis. Thus, the angular velocity vector
becomes
= i + pk
= 4i + 10k rad/s

O
b
z

x
b

Figure 8: Problem 10

velocity as shown. Neglect the radius of each sphere compared with the
other dimensions and write expressions
for the magnitudes of their linear momentum G and their angular momentum H O about the origin
O of the coordinates. (G = mb 2( 12 i 12 j),
H O = 3mb2 ( 31 i + 32 j 32 k))
Solution. We use unit vectors i, j, k
for x-y-z components. The linear momentum is

(31)

The velocity of A is given by

v A = v C + CA
= 4i 0.4k + (4i + 10k) 0.3j
= 3i 1.6j + 1.2k
(32)

The angular acceleration vector of CA

is
= i pk
= 40j rad/s2

G = m r
= m{(k) (bj + 2bk)
+(k) (bi + bk)
+(k) (bk)}
= mb(i j)
1
1
= mb 2( i j) (35)
2
2

(33)

The acceleration of A becomes

aA = i (i OC)

+ CA + ( CA)
= 4i (4i 0.4k)
+(40j) 0.3j
+(4i + 10k)
{(4i + 10k) 0.3j}
= 34.8j 6.4k m/s2
(34)

The angular momentum is

H O = r m( r)
= m(bj + 2bk) bi
+m(bi + bk) (bj)
= mb2 (i + 2j 2k)
1
2
2
= 3mb2 ( i + j k)(36)
3
3
3

10. The three small spheres, each of mass

m, are rigidly mounted to the horizontal shaft which rotates with the angular
5

pressed by
X

M = H


dH
=
+ H (38)
dt xyz
= (H x Hy z + Hz y )i

+(H y Hz x + Hx z )j
+(H z Hx y + Hy x )k

(39)

When H x = H y = H z = 0, x = y =
0, and z = , the moment is

Figure 9: Problem 11

11. Each of the two rods of mass m is

welded to the face of the disk which rotates about the vertical axis with a constant angular velocity . Determine the
bending moment M acting on each rod
at its base. (M = 21 mbl 2 )
Solution. The rotating reference axes
x-y-z with unit vectors i, j and k are
attached to the disk. The x and y axes
lie in the horizontal plane of the disk
and the z axis is vertical. The z-x plane
includes the two rods. General angular
momentum H can be described as

M = Hy i + Hx j
= Iyz 2i Ixz 2 j

(40)

Iyz and Ixz are calculated as

Iyz = 0
Ixz =

xzdm
l

m
bz dz
l
0
Z l
mb
=
zdz
l 0
1
=
mbl
2
=

H = (Ixx x Ixy y Ixz z )i

+(Iyx x + Iyy y Iyz z )j
+(Izx x Izy y + Izz z )k
= Hx i + Hy j + Hz k
(37)

(41)

(42)

The moment equation gives

1
M = mbl 2 j
2

(43)
where the quantities Ixx , Iyy , and Izz
are the moment of inertia of the body
The bending moment M B equals M ,
about the respective axes, and Ixy (=
so that
1
Iyz ), Iyz (= Izy ), and Izx (= Ixz ) are the
M B = mbl 2
(44)
products of inertia with respect to the
2
coordinates axes, Hx , Hy , and Hz are 12. For the spring-mass system shown, decomponents of H, and x , y , z are
termine the static deflection st , the systhe components of angular velocity vectem period , and the maximum vetor .
locity vmax which result if the cylinThe general moment releation is exder is displaced 0.1 m downward from
6

x
k=144 N/m

k=392 N/m
Equilibrium
position

2 kg

m=4 kg

c=42 Ns/m
y

Figure 11: Problem 13

Figure 10: Problem 12

its equilibrium position and released.

(st = 0.273 m, = 3 s, vmax = 0.6
m/s)
Solution. From the spring relationship, we see that at equilibrium,

k=100 kN/m

m=10 kg

0 = mg kst
mg
4(9.81)
st =
=
= 0.273 m
F=1000 cos 120t N
k
144
(45)
Figure 12: Problem 14
r
r
k
144
=
= 6 rad/s
n =
m
4
13. Determine the value of the damping ra6
3
n
tio for the simple spring-mass-dashpot
=
= Hz
fn =
2
2

system shown. ( = 0.75)

1

Solution. We compute the damping

= = s
ratio .

3
The motion of the mass is
p
p
n = k/m = 392/2 = 14 rad/s
y = A cos n t + B sin n t
(46)
y = An sin n t + Bn cos n t
c
42
=
=
= 0.75 (47)
2mn
2(2)(14)
Evaluating the displacement and velocity at time t = 0 gives
14. Determine the amplitude X of the
0.1 = A cos 0, 0 = Bn cos 0
steady-state motion of the 10-kg mass
if (a) c = 500 Ns/m and (b) c =
Solving the two equations for A and B
0. ((a)X = 1.344(102) m (b)X =
yields A = 0.1 m and B = 0. Therefore,
2.27(102) m)
the velocity is
Solution. The equation of motion is
y = 0.1n sin n t
m
x + cx + kx = f cos t
from which the maximum velocity is
f
x + 2n x + n2 = cos t(48)
vmax = 0.1(6) = 0.6 m/s
m
7

where
n =

k
c
, =
m
2mn

k
O

The solution of Eq. (48) for the steadystate can be expressed as

x = X1 cos t + X2 sin t
(49)
x = (X1 sin t + X2 cos t)
(50)
2
x = (X1 cos t + X2 sin t)
(51)

Figure 13: Problem 15

Substituting Eqs (49)-(51) into Eq.

(48) gives
(n2

X=

1000/10
= 1.344(102) m
7440.43

(b)

f
=
m
(52)
= 0
(53)

=0
p
(n2 2 )2 + (2n )2 = 4400
1000/10
2n X1 + (n2 2 )X2
= 2.27(102 ) m
X=
4400
15. The light rod and attached sphere of
Therefore,
mass m are at rest in the horizontal
2
2
position shown. Determine the period
(n )f /m
X1 =
(54)
for small oscillations in the verti(n2 2)2 + (2n)2
calpplane about the pivot O. ( =
2nf /m
(55)
X2 =
6 m/5k)
(n2 2)2 + (2n)2
Solution. The equation of motion is
p
The amplitude X = X12 + X22 is
m(3b)2 = k(2b)2 kb2 mg(3b)


3mg
f /m
2
= 5kb +
(57)
(56)
X=p
5kb
(n2 2 )2 + (2n)2


p
3mg
k
5
+
(58)
=
n = 100(103)/10 = 100
9m
5kb
(n2 2 )2 = (1002 1202)2 = 44002
The angular velocity is
r
(a)
1 5k
500
=
= 0.25,
=
3 m
2(10)(100)
The period is
p
r
(n2 2)2 + (2n)2
2
m
p
= 6
=
= 44002 + (2(0.25)(100)(120))2

5k
= 7440.43
)X1 + 2nX2