Chapter 18

PROBLEM 18.
1
A rectangular plate o f mass 8 kg is attached to a shaft as shown. K now ing
that the plate has an angular velocity o f constant magnitude co = 5 rad/s,
determine the angular momentum H 0- o f the plate about its mass
center G.
S O L U T IO N
w = 8 kg, a = 600 mm = 0.6 m
b = 300 mm = 0.3 m
Use principal axes x\ z' as shown.
tan p = = 0.5 P = 26.565

0.30
to = (5 rad/s)i
= o)x\' + eoy-j' + co. k'
cox- = 5 cos p rad/s, co = 0
coz- = - 5 sin/? rad/s
^ \ For the rectangular plate.
12 12
/ r.= -^ m a 2 =-l(8)(0.6)2 =0.24kgm2

j/
r\
H(; = 7 > y i' + TyCOy 'i + T.co.k'
H (, = (0 .0 6 )(5 c o s / ? )i' + 0 j + (0 .2 4 )(- 5 c o s / ? )k '
= (0.3cos/?)(cos/?i + sin/?k) + (-1 .2 s in / ? )(-s in / ? i + cos/?k)
= (o .3 co s2/? + 0.24sin2 /?)i - (1.2 - 0.3)sin/?cos/?k
= 0.480 i - 0.360 k
H 0 = (0.480 kg m 2/sji - (0.360 k g -m 2/s|k A

PROBLEM 18.2
A uniform 1.8-kg rod A B is welded at its midpoint G to a vertical shaft
G D . K now ing that the shaft rotates with an angular velocity o f constant
magnitude ft) = 1200 rpm, determine the angular momentum H 0 o f the
rod about G.
300 mm
S O L U T IO N
m = 1.8 kg, / = 600 mm = 0.6 m
( I 200) ( 2;r)
ft) = = 125.664 rad/s
60
Use principal axes x\ y ' as shown.
G)t. = -ft)sin 2 0 = -42.980 rad/s
ft)v- = ft) cos 20 = 118.085 rad/s
For the rod, I x. 0
Jy = ^ l 2 = ^ ( l - 8 ) ( 0 . 6 ) 2 = 0.054 k g -m 2
H c = Jx.(ox.i' + Jy.CDy.ji + Tz* ) z.k'
= 0 + (0 .0 5 4 )(ll 8.085) j ' + O
= 6.3766j'
= 6.3766(sin20i + c o s 2 0 j)
= 2.1809 i + 5.9920j
H 0- = ^2.18 k g -m : /s)i + (5.99 k g-m 2/s) j 4

PROBLEM 18.3
T w o uniform rods A B and CE, each o f w eight 3 lb and length 24 in., are
welded to each other at their midpoints. K now ing that this assembly has
an angular velocity o f constant magnitude (o - 12 rad/s, determine the
magnitude and direction o f the angular momentum H 0 o f the assembly
about D.
S O L U T IO N
W
m = = 0.093168 lb-s2/ft, / = 24 in. = 2 ft.
g 32.2
w = (12 rad/s)i
For rod4DZ?, H = I xco\ * 0, since/,. * 0.
For rod C D E , use principal axes x', y as shown.
co s# = , # = 41.410
12
<y . = cucos# = 9 rad/s'
ru,,. = cusin# = 7.93725 rad/s'
(!). - 0
I x. * 0
1
/' = i i ," /: = T2 ( 0 0 9 3 ,6 8 )(2 ):
= 0.0310559 lb s2-ft
H /( = I x <ox\' + I v<ov \ + 1.(0. k'
= 0 + (0.0310559)(7.93725) j' + 0
= 0.246498j'
H d = 0.246 lb s-ft <
H = 0.246498 ( sin # i + c o s # j) = 0.1630451 + 0.184874j
0.163045
cos#. = 0X = 48.6 <
0.246498
0.184874
COS#, = e v = 4 1 .4 ^
0.246498
cos#. = 0 #. = 90 <
PROBLEM 18.4
A thin homogeneous square plate o f mass m and side a is w elded to a
vertical shaft A B with which it forms an angle o f 45. K n ow in g that the
shaft rotates with a constant angular velocity co, determine the angular
momentum H A o f the plate about p o in ts .
PROBLEM 18.5
r = 160 ram
A homogeneous disk o f mass m = 6 k g rotates at the constant rate
i = 16 rad/s with respect to arm A B C , w hich is w elded to shaft D C E
rotating at the constant rate co2 = 8 rad/s. Determine the angular
momentum H A o f the disk about its center A.
S O L U T IO N
o) = J + co2i = (8 rad/s)i + (16 rad/s) j
For axes x', y , z parallel to x, y, z w ith origin at A,
Jx, = L m r2 = i ( 6 ) ( 0 . 1 6 0 ) 2 = 0.0384 k g -m 2
7z, = Jx, = 0.0384 k g-m 2, Ty. = I x, + 7Z. = 0.0768 k g -m 2
H A * 4 - v j + 7 f 0 y l + Tz'0)z>k
= (0 .0 3 8 4 )(8 )i + (0 .0 768)(16 ) j + 0
- 0.3072i + 1.2288j
H 4 = 10.307 k g -m 2/sji + ^1.229 k g -m 2/sjj M

PROBLEM 18.6
A homogeneous disk o f mass m = 8 kg rotates at the constant rate
Q)\ = 12 rad/s with respect to arm O A , which itself rotates at the constant
rate co2 = 4 rad/s about the y axis. Determine the angular momentum
H o f the disk about its center A.
r > 100 iuiii
S O L U T IO N
to = <y,j + <y,k = (4 rad/s) j + (12 rad/s)k
For axes x', y , z' parallel to x ,y , z with origin at A,
Jx. = I m r2 = i ( 8) ( 0. 100)2 = 0.02 k g-m 2
7y. = Jx. = 0.02 k g-m 2, L = l x. + I y. = 0.04 k g-m 2
H .( = I xcox-i + I Y(o v j + I . f o . k
= 0 + (0 .0 2 )(4 ) j + (0 .0 4 )(l2 )k = 0.08j + 0.48k
= (0.0800 k g-m 2/s)j + ^0.480 kg m 2/s)k A

PROBLEM 18.7
A solid rectangular parallelepiped o f mass m has a square base o f side a
and a length 2a. K now ing that it rotates at the constant rate a> about its
diagonal AC' and that its rotation is observed from A as
counterclockwise, determine (a ) the magnitude o f the angular momentum
H (; o f the parallelepiped about its mass center G, (b ) the angle that H c
forms with the diagonal A C '.
S O L U T IO N
Body diagonal: d = yja 2 + ( 2 a )~ + a 2 = y/6a
a) i . _. ,x
w = 7 ( - i + 2 4 - , , l 0 = - - i + - 7?, - - k
a) . 2(0 . co
'' + !] =
, 1 f 2 2"1 I 2
= m\ a ' + a = m a
> 12 L J 6
5 2
= ma
L- = i i m [ 2 + ^ \ 12
(a ) H g = I xcoxi + Iy<oyi + I.co.k
( \
f 5 m a 2 ) CO . ( 1 2' ( 5 2 s] CO '
1+ m a i f 2 ( ' j + m a'
\ 12 J u > IU J 1 12
m a 'c o , .. v
ma'co \f\lm a2co

H g = ^ V 5 2 + 42 + 52 = H t; = 0.276 m a'co A
12n/6 12
( b) H r; (o = - ^ r r r - - r (-5 i + 4j - 5 k ) ( - i + 2j - k )
m * r
18m a2co2 1 2
= ma'co
(1 2 )(6 ) 4
H Gco = m a2co2
12
cos 9 = = - ^ = = 0.90453 0 = 25.2 <

H gco 4n/TT
PROBLEM 18.8
S olve Prob. 18.7, assuming that the solid rectangular parallelepiped has
been replaced by a hollow one consisting o f six thin metal plates welded
together.
S O L U T IO N
Body diagonal d = yja2 + ( 2 a ) * + a 2 = \[6a
co, . _ . , v co . 2co . co ,
w _ _ ( _ OI + 2aJ - a k ) - - - j - l + j - -^ k
Total area = 2â2 + 2a2 + 2a1j = 10a'
For each square plate: m = m

10
. 1 2 i 2 13 , 2 13 2
I r = ma +m a = ma = ma
12 12 120
/ 1 2 1 2
= m a = ma
y 6 60
, . 13 2
/ .= / _ = ma
* 120
For each plate parallel to th eyz plane: m = m

5
I = m' j[ a 2 + ( 2 a ) J = -j^ -m 'a 2 = J ^ ma2

1 12
I = m a 2 + m 'f 1 = m 'a 2 = m a 2
y 12 {2 J 3 15
i = 1 ml 2a
/. \2) +, m = 7m'a 2 = 7ma 2
* 12 v ' 12 60
I
For each plate parallel to the xy plane: m = m
5
1 1 .2 1 2
h = - h m\ 2a X + ' T = m a~ = ma"
12 12 60
PROBLEM 18.8 CONTINUED
1 , 2 1 2
/,, = ma~ + m' = - m e t = ma
y 12 3 15
5 , 2 1 2
I
z- ml a 2 + (2 a )
12
- ma
12
- ma
12
Total moments o f inertia:
13 1 7 2 37 2
7 = 2 ma - ma
120 + 12 60 60
i
1
i
1
-
n
ma
2 J
= ma
2
*> = 2 60 15 15 J 10
13 7 1 2 37 2
h =2 ma = ma
v 120 + 60 + 12 60
() H g = I xcox i + / v^ , j + /2 zk = (~ 3 7 i + 36j - 3 7 k )
ma2co
^/(37) 2 + (3 6 )2 + (3 7 ) 2 = 0.432 \6ma2co
H 60a/6
H n = 0.432 m a2co A
m a2a> 2 2
(b ) H G 09 = ( 37i + 36j - 3 7 k ) ( - i + 2 j - k ) = 0.40556m,/ 03
q _ _ 040556 =
COS
H c co 0.43216
9 = 20.2 A
PROBLEM 18.9
r = IfiO mm
Determine the angular momentum H D o f the disk o f Prob. 18.5 about
point D.
S O L U T IO N
to = <y2i + = (8 rad/s)i + (16 rad/s) j
For axes x\ y\ z' parallel to x, y, z with origin at A,
Jx. = I mr 2 = i(6 )(0 .1 6 0 ): = 0.0384 kg m 2
= Jx. = 0.0384 k g m 2, Jy. = Jx + L = 0.0768 k g m 2
H ^ = I x O)x\ + I y(o vi + I .c o .k
= (0 .0 3 8 4 )(8 )i + (0 .0 7 6 8 )(l6 )j + 0
= (0.3072 kg m 2/s)i + ( l .2288 k g m 2/s)j
Point A is the mass center o f the disk.
AID = (0.24 m )i + (0.18 m ) j - (0.18 m )k
v = = <u2i x = 8i x (0.24i + 0.18j - 0.18k)
= (1.44 m /s)j + (1.44 m/s)k
my = (8.64 kg m/s) j + (8.64 kg m/s)k
i j k
tm d * my = 0.24 0.18 -0.18

0 8.64 8.64
= (3.1104 k g m 2/s)i - (2.0736 k g m 2/s)j + (2.0736 k g m 2/s)k
H = H A + xMD x m\
H = (3.42 k g m 2/s)i - (o.845 k g m 2/s) j + (2.07 k g -m 2/s)k

PROBLEM 18.10
Determine the angular momentum H 0 o f the disk o f Prob. 18.6 about the
fixed point O.
S O L U T IO N
to = 2j + = (4 rad/s) j + (12 rad/s)k
For axes x\ y\ z parallel to jc, y, z with origin at A,
Jx. = - m r 2 = i ( 8) ( 0. 100)2 = 0.02 k g -m 2
Jy. = Tx. = 0.02 k g -m 2, = 7X. + 7y. = 0.04 k g-m 2
H A = 7x (ox\ + 7y 0)y.j + 7,0). k
= 0 + (0 .0 2 )(4 )j + (0 .0 4 )(l2 )k = (0.08 k g-n r/ s) j + (o.48 k g -m 2/s)k
r.m = (0.32 m )i - ( 0 . 2 m ) j
v = v A = o) 2j x rA/a = 4j x (0.321 - 0 .2 j) = - (l.2 8 m / s )k
mv = (8 )(- 1 .2 8 k ) = - (1 0 .2 4 kg m/s)k
rm x mv = (0.321 - 0.2j ) x (-1 0 .2 4 k )
= (2.048 k g-m 2/s)i + (3.2768 k g -m 2/s)j
H o = H ., + vv o x mv
H 0 = ^2.05 k g -m 2/sji + (3.36 k g m 2/s) j + (0.480 k g -m 2/s)k A

PROBLEM 18.11
The 60-lb projectile shown has a radius o f gyration o f 2.4 in. about its
axis o f symmetry G x and a radius o f gyration o f 10 in. about the
transverse axis Gy. Its angular velocity to can be resolved into tw o
components: one component, directed along Gx, measures the rate o f spin
o f the projectile, w hile the other component, directed along G D , measures
its rate o f precession. K now ing that # = 5 and that the angular
momentum o f the projectile about its mass center G is
H (; = (0 .6 4 0 lb -ft-s )i - (0.018 lb -ft-s) j , determine (a ) the rate o f spin,
(b ) the rate o f precession.
S O L U T IO N
m = = 1.86335 lb-s2/ft, k = 2.4 in. = 0.2 ft, k = 10 in. = 0.83333 ft.

32.2 * y
Jx = mk\ = (1 .8 6335)(0 .2)2 = 0.074534 lb s2-ft
Jy = 7. = mky = (1.86335)(0.83333)2 = 1.29400 lb-s2-ft
Hc = {Hc)xi + (Hc)yj + (HG) k = Jx(oxi + Tvcoyj + 7m :k
{H g ) x 0.640 oco J#
= = -------------- = 8.5867 rad/s
Ix 0.074534
{H a )y -0.018
co.. = = - = = -0.013910 rad/s
1.29400
co. - 0
(op sin 0 = -c o v
~(Oj_ _ 0.013910
con = = 0.1596 rad/s
p sin # sin 5
(Ox - (Os + (Op C O S #
(Os = (Ox - (Op C O S #
= 8.5867 -0 .1 5 9 6 c o s 5
co, = 8.43 rad/s A
(b ) Rate o f precession.
(Op = 0.1596 rad/s A

PROBLEM 18.12
Determine the angular momentum H o f the projectile o f Prob. 18.11
about the center A o f its base, knowing that its mass center G has a
velocity v o f 1950 ft/s. G ive your answer in terms o f components
respectively parallel to the x and y axes shown and to a third axis z
pointing toward you.
S O L U T IO N
60 . ........... f 11
m = = 1.86335 lb s /ft, rG/A = ft i
32.2 V 12 1
v = v c o s ^ i - v s in ^ j
H , = H 0- + rc/A x m \
11 ^
= 0.640i - 0.018j + | i x (I9 5 0 co s5 i - 1950sin5j)
= 0.640i - 0 .0 18j - | ij(l9 5 0 s in 5 )k
H 4 = (0.640 Ib -s-ft)i - (0.018 lb s ft ) j + (290 lb s - ft)k A

PROBLEM 18.13
Determine the angular momentum H 0 o f the disk o f Sample Prob. 18.2
from the expressions obtained for its linear momentum m v and its
angular momentum H G, using Eqs. (18.11). V erify that the result
obtained is the same as that obtained by direct computation.
S O L U T IO N
Using Equation (18.11)
H 0 = r x mv + H c
r
- ( L i ) x (mr<y,k) + mr'co^
' ~ 2 L ,
, . 1 7 . 1 r3
= - mrL(t)\j + m r co,i - m t y j
= m r2co,\ - m
[ l2 + ^ r2)(r|/Z')j
which is the answer obtained in part b o f Sample Problem 18.2.

PROBLEM 18.14
(a ) Show that the angular momentum H g o f a rigid body about point B
can be obtained by adding to the angular momentum H A o f that body
about point A the vector product o f the vector r MB drawn from B to A
and the linear momentum m \ o f the body:
H fl = ^ A + rA/BXm ^
(b ) Further show that when a rigid body rotates about a fix ed axis, its
angular momentum is the same about any tw o points A and B located on
the fixed axis (H ^ = H /;) if, and only if, the mass center G o f the body
is located on the fixed axis.
S O L U T IO N
(a ) Angular momenta and H fl are related to H e and mv by
h a = r G/A x mv + H g and H fl = rGIB x my + H G
Subtracting, H fi - = rG/B x my - rG/A x my
H * = H A + ( r G/B - ^G/A ) X ' W
= 1 1 A + ( r G/B + r A / c ) X
= h a + rA!B x my
(b ) It follow s that H 4 = H 6 if, and only i f
r a/s x my = 0
W ith points A and B located on the fixed axis,
co = (ok
W here X is a unit vector along the fixed axis, and
v = co x rG/A - a>k x rG/A
Then, r m x (mcoX x rG/A) = 0
but, rA/B is parallel to X, hence,
X x (X x rG/A) = 0
L et u = X x rG/A , so that X x u = 0.
N ote that u must be either perpendicular to X or equal to zero. But, i f u is perpendicular to

X, X x u cannot be equal to zero.
Hence, u = X x rG/A = 0
tg /a ' s parallel to X and point G lies on the fixed axis.

PROBLEM 18.15
A 5-kg rod o f uniform cross section is used to form the shaft shown.
K n ow in g that the shaft rotates with a constant angular velocity cy o f
magnitude 12 rad/s, determine (a ) the angular momentum H G o f the
250nun shaft about G, (b ) the angle form ed by H G and the axis AB.
250min/
inirT
* 250mm
S O L U T IO N
co = (12 rad/s)i, co. = coz = 0
E a. F
( h g ) x = ~hco
(X Q,
A D S w B
^ ( H C,)y = -Ix y
a
a. a.
<x ( h g ), = - 4
L
The shaft is comprised o f 8 sections, each o f length
ffi
a = 0.25 m and o f mass m' = = 0.625 kg.
8
Jx = ( 4 ) m 'a ^ + (2 )(m 'a 2)j = ma 2 = (0 .6 2 5 )(0 .2 5 f = 0.130208 k g -m 2
Im = o
4 z = (4 ) m a = 2m 'a2 = (2 )(0 .6 2 5 )(0 .2 5 ) - 0.078125 k g -m 2

\
( H g ) x = (0.130208)(12) = 1.5625 k g -m 2/s
f a ), = 0
( H g ) z = (0.078125 )(12) = -0.9375 k g -m 2/s
() H g = ( l .563 k g -m 2/sji - (0.938 k g -m 7 s k 4
H q = yf(1.5625)2 + (0.9375) 2 = 1.82217 k g -m 2/s
(b ) H G co = (l.5 6 2 5 i - 0.9375k) 121 - 18.75 k g -m 2/s2
/a H g - co 18.75
cos# = - 0.85749 9 = 3 1 .0 ^
H gco (1.82217)(12)
PROBLEM 18.16
Determine the angular momentum o f the shaft o f Prob. 18.15 about
(a ) point A, ( b) point B.
250
50 nun x
S O L U T IO N
co = (12 rad/s) i, cov = co. = 0

F F
a a. { H c ) x = Txa>
A D G v a B
[H c )y =
a
=t <x\
(X \ (//c ) . = -J ^ c o
L M
The shaft is comprised o f 8 sections, each o f length
a = 0.25 m and o f mass rri = = 0.625 kg.

8
I x = ( 4 ) f /w'cr2! + (2 )(w j'o 2) = m 'a2 = (0 .6 2 5 )(0 .2 5 )2 = 0.130208 k g m 2

\3 J 3 3
I x. = ( 4 ) m ' a - ) = 2m'a2 = (2 )(0 .6 2 5 )(0 .2 5 )2 = 0.078125 kg m 2

\
(//6. ) ( = (0.130208 )(12) = 1.5625 kg m 2/s
(* o ), = 0
[ H c )_ = (0.07812 5 )( 12) = -0.9375 kg m 2/s
H f; = ( l .5625 kg m 2/s)i - (0.9375 kg m 2/s)k
Since point G lies on the axis o f rotation, its velocity is zero.
v = vG = 0
(a) H , = H 0 + rCIA x mx = H (;
H,, = ( l .563 k g m 2/s)i - (0.938 k g-m 2/sjk M
(b ) = H g + rG/B x m v = H c
H fl = ^1.563 k g m 2/s)i - (o.938 kg m 2/sjk 4

PROBLEM 18.17
The triangular plate shown has a w eight o f 16 lb and is welded to a
vertical shaft A B. K now ing that the plate rotates at the constant rate
a) - 12 rad/s, determine its angular momentum about (a ) point C,
(b ) point A. (H int. T o solve part b find v and use the property indicated
in part a o f Prob. 18.14.)
S O L U T IO N
co = (12 rad/s)j, cox = 0, cov = 12 rad/s, co. - 0
(a ) (H C )X = ~ V > , (.H C ) y = iyCO, ( H C ) : = ly.0)
Use axes with origin at C as shown. D ivide the plate A B D into right
triangles A C D and CBD.
8 For plate A C D , the product o f inertia o f the area is
b (/ , ) = cr2c 2 .
V Jr* /area 24
C For plate B C D , it is
CL
(/ J = - U 2ft2 .
' 'area 24
c
For both areas together,
( /v_ /area
V ) - - U2 4 r' * - = )' *
A
Area:
A = ^ C+ 6)
) - " I f ) - m( C ~ b) a
' 'mass V ^ ' area J2
For both areas together, (/ ,,) = (c + b )a }

V '/area \2V 7
(/ ,.) = (/ ,.) = m a2
' ^ 'mass A 'area 5
(v7 )/mass * 0
Data: m = 16 = 0.49689 lb-s2/ft, a = 6 in. = 0.5 ft

32.2
b = 4.5 in. = 0.375 ft, c = 8 in. = 0.66667 ft

, , _ (0 .4 9 6 8 9 )(0 .2 9 1 6 7 )(0 .5 ) _ ^
V ^/m ass 12
, . = ( 0 A 9 6 S 9 ) H = 0 0 2 0 7 0 4 1 b s 2 ft
V '/mass 6
( H c ) x = -(-0 .0 0 6 0 3 8 6 )(1 2 ) = 0.072463 lb-s-ft
(.H c ) = (0.020704)(12) = 0.24845 lb-s-ft
(c ), = 0
H c = (0.0725 lb -s -ft ) i + (0.248 lb -s-ft) j A
Locate the mass center. rc/c = t * + y i
V elo city o f mass center: v = o ix r.G/C
v - a>j x - i + y,j - coaV. = - (I 2 ) ( 0 . 5 ) k = - ( 2 ft/s)k

3 3
rc/A = ci = (0.66667 ft ) j
rC!A >< mv = (0.66667j) x [(0 .4 9 6 8 9 )(- 2 k )] = -(0 .6 6 2 5 2 lb-s f t ) i
ib ) = H c + rc/A x mv = (0.072463 - 0.66253)i + 0.24845j
H a = -(0 .5 9 0 lb -s -ft ) i + (0.248 lb -s -ft) j A

PROBLEM 18.18
The triangular plate shown has a weight o f 16 lb and is welded to a
vertical shaft AB. K n ow in g that the plate rotates at the constant rate
co = 12 rad/s, determine its angular momentum about (a ) point C,
(b ) point B (See hint o f Prob. 18.17.)
S O L U T IO N
(0 = (12 rad/s)j, eox = 0, cov = 12 rad/s, a>. = 0
(a ) {H c )x = { ^ c )y = V . = " V
Use axes with origin at C as shown. D ivide the plate A B D into right
y ' triangles A C D and CBD.
8 For plate A C D , the product o f inertia o f the area is
b (/ .) = a 2c 2 .
V /area 24
- yw mmm V 17 i . r x T~\ *4 *
c a
7 r o r plate BC D , it is
' (/ ) = -L V .
' 'area 24
c For both areas together,
(/ . ) = (c : - b '- y
V 'J/area 24'
A
Area: /I = + *>)<!
(/)
' 'mass
-"(/Jarca 12
For both areas together, ( /,. j = ~ ( c + b )a 3
( /,,) = ( /,,) = -m a 2
' / 'mass A arca 6
(A )
' t 'mass
Data: m = = 0.49689 l b s 2/ft, a = 6 in. = 0.5 ft

32.2
b = 4.5 in. = 0.375 ft, c = 8 in. = 0.66667 ft

(0.4 9689 )(0 .2 9 1 6 7 )(0 .5 ) _

= -0.0060386 lb-s -ft
(U 12
, = (0.496 8 9 )^ = 0Q207041b. , ; f t
' '/mass 6
[ H c ) x = -(-0 .0 0 6 0 3 8 6 )(1 2 ) = 0.072463 lb-s ft
(H c ) = (0.0 20704)(12) = 0.24845 lb-s-ft
(c ), = 0
H c = (0.0725 lb -s -f t ) i + (0.248 ] b s f t ) j M
Locate the mass center. rc/c = - i + y j
V elo city o f mass center: v = to x r,G/C
v = <yj x - i + m = ~ \ (o a k = - f i | (l2 )(0 .5 )k = - ( 2 ft/s)k

v3 J 3 U/
r c/B = - b i = -(0 .3 7 5 f t ) j
rc/B x m v = ( 0.375j ) x [(0 .4 9 6 8 9 )(- 2 k )] = (0.37267 lb -s -ft)i
(b ) H fl = H c + rc/B x mv = (0.072463 + 0.37267)i + 0.24845j
H s = (0.445 lb -s -ft)i + (0.248 lb -s-ft) j ^

PROBLEM 18.19
T w o L-shaped arms, each o f mass 5 kg, are welded at the one-third points
o f the 600 mm shaft A B to form the assembly shown. K now ing that the
2<MI mm assembly rotates at the constant rate o f 360 rpm, determine (a ) the
angular momentum H A o f the assembly about point A, (b ) the angle
formed by and AB.
S O L U T IO N
m = 5 kg, a = 200 mm = 0.2 m
(2/r)(360)
co = - ------ - = l I n rad/s. cor = 0, co.. = 0, co. = 12n rad/s
60 * y
Use parallel axes z' with origin at the mass center as

shown.
A ( h g )x = - 7 >
{ H c )y = -V
( H a ) . = L eo
@ Segments l, 2, 3, and 4, each o f mass m = 2.5 kg,
contribute to /xz, /,_ and /..
Part I* 'j e I.
f 1 1 ,)> 2
- m 'a 2 m 'a2 ----- 1- i-l m a '
2 4 L 12 4 J
I i 2 1 . 2
ma 0 m a
4 3
1 2 1 , 2
ma 0 m a
4 3
1 i 2 1 #2 f 1 H1 + 1
.1\ma~
- 1
ma m a
2 4 L12 4 J
3 , 2 1 /2 10 ,
I ma m a m a'
2 2 3
( % ^
- m 'a2 co
(* ), = { 2
2 j
(2 .5 )(0 .2 )2(1 2 ^ )
= 5.6549 k g m /s
1 , 2
m a \co
(H o ), = 2
(2 .5 )(0 .2 )2( 1 2 * )
= -1.8850 k g -m 2/s
2 10 , 2 '
(H a ), = m a <y
V3 ,
(2 .5 )(0 .2 )2(1 2 ^ )
= 12.5664 k g-m /s
V elo city o f the mass center: v = 0
(a ) = H c + rG//) x/nv = H (
= (5 .6 5 k g m2/s) i - ( l .885 k g m 2/s) j + (l2 .5 7 kg m2/s

)k <
(b ) Â B = ^ A B '^ A ~ = { H a )z
H a = y j(5.6549)2 + (1.8850)2 + (12.5664)2 = 13.9085 kg-nr/s
{H a )z 12.5664
co s# = 9 = 25.4 <
Ha 13.9085
PROBLEM 18.20
For the assembly o f Prob. 18.19, determine (a ) the angular momentum
H g o f the assembly about point B, ( b) the angle formed by H g and BA.
-1
200inin
200 mm
S O L U T IO N
m = 5 kg, a = 200 mm = 0.2 m
(2 ;r )(3 6 0 )
co -= - = 12;r rad/s. cox = 0, co.. = 0, co. = 12/r rad/s
60
Use parallel axes x ', / , z with origin at the mass center as

shown.
(H a ), =
(H a ), = -T
(H a ), = CO
Segments 1, 2, 3, and 4, each o f mass m' = 2.5 kg,
contribute to /xz, and /_.
Part l r- I.
1 2 1 f 2 f 1 1 , 2
m a m a + + 1 ma

2 4 L 12 4 J
1 2 1 r 2
m a 0 m a
4 3
1 i 2 1 <2
m a 0 m a

4 3
1 t 2 1 i 2
m a m a m 'a 2

2 4 j H +1.
3 , 2 1 i 2 10 , 2
I m a m a m a"
2 2 3
( H g ) x = ~ - m 'a2 co
2
(2 .5 )(0 .2 )2(1 2 ^ )
= 5.6549 k g -m 2/s
1 , 2
(H g ) = ~ m a \co
2
= -1.8850 k g -m 2/s
co
( h g \ = f y '"2
(2 .5 )(0 .2 )2(1 2 ^ )
= 12.5664 k g-m /s
V elocity o f the mass center: v - 0
(a) H s = H g + rGIB x mv = H c
= ^5.65 k g -m 2/s)i - ^1.885 k g -m 2/s) j + (l2 .5 7 kg- m 2/s)k <
0b) ^BA = - k > ^ B A '^ A = kH /f = - ( H a)
H a = y j(5.6549)2 + (1.8850)2 + (12.5664)2 = 13.9085 k g -m 2/s
{H a )z 12.5664
co s# = d = 154.6 <
13.9085
PROBLEM 18.21
One o f the sculptures displayed on a university campus consists o f a
h ollow cube made o f six aluminum sheets, each 1.5 m x 1.5 m, w elded
together and reinforced w ith internal braces o f n egligible mass. The cube
is moimted on a fixed base A and can rotate freely about its vertical
diagonal A B . A s she passes b y this display on the w a y to a class in
mechanics, an engineering student grabs com er C o f the cube and pushes
it for 1.2 s in a direction perpendicular to the plane A B C with an average
force o f 50 N . H avin g observed that it takes 5 s fo r the cube to complete
one full revolution, she flips out her calculator and proceeds to determine
the mass o f the cube. What is the result o f her calculation? (H int. The
perpendicular distance from the diagonal jo in in g tw o vertices o f a cube to
any o f its other six vertices can be obtained by m ultiplying the side o f the
cube by yfl/3. )
S O L U T IO N
Let rri = m be the mass o f one side o f the cube. Choose x, y, and z axes perpendicular to the face o f the
6
cube. L et a be the side o f the cube.
For a side perpendicular to the x axis, { l x \ - ^ r r ia 2.
1 1
For a side perpendicular to the y or z axis, (/ x ),, = 1
---- m 'a2 = - m 'a 2
12 4
Total moment o f inertia: I x = 2 ( / ^ + M j x ) 2 = ~ m 'a 2 = -yryma2

3 18
B y symmetry, / = / and I z = I x.
Since all three moments o f inertia are equal the ellipsoid o f inertia is a sphere. A ll centroidal axes are
principal axes.
5 ,
Moment o f inertia about the vertical axis: L = ma
18
[2
Let b = . - a be the moment arm o f the impulse applied to the comer.
Using the impulse-momentum principle and taking moments about the vertical axis,
b F ( A t ) = H v = l vco = ^ - m a 2o) (1 )
18
Data: a = 1.5 m, b = =* 1.22474 m
co = = 1.25664 rad/s, F = 50 N , At = 1.2 s.

5
18 b F ( A l ) 1 8 (l.2 2 4 7 4 )(5 0 )(l.2 )

Solving Equation (1 ) for m, m = -------- ) - = --- - = 93.563 k g m = 93.6 k g A
5 a 1co 5 (1.5) (1.25664)
PROBLEM 18.22
I f the aluminum cube o f Prob. 18.21 were replaced by a cube o f the same
size, made o f six plyw ood sheets o f mass 8 kg each, how long would it
take for the cube to complete one full revolution i f the student pushed its
com er C in the same w ay that she pushed the com er o f the aluminum
cube?
S O L U T IO N
Let m = m be the mass o f one side o f the cube. Choose x, y, and z axes perpendicular to the face o f the
6
cube. Let a be the side o f the cube.
For a side perpendicular to the x axis, ( l x ) t = ^^m'a2.
For a side perpendicular to the y or z axis, ( I x), = ^ -4 + ma

i 2 = m
l a2
Total moment o f inertia: I x = 2 ( / , ) + 4 ( l x ) x = m 'a2 = m a2

3 18
By symmetry, I y - I x and I . = I x.
principal axes.
Moment o f inertia about the vertical axis: /,. = -rz m a 2

18
-fr
Let b = J T a be the moment arm o f the impulse applied to the comer.
b F ( A f ) = H v = I vo) = m a2co (1 )
18
Data: rri = 8 kg, m = 6m = 48 kg, a = 1.5 m,
b = J | a = 1.22474 m, F = 50 N , A t = 1.2 s
Solving (1 ) for co,
. = = j (1 2 2 4 7 4 )(S0 ) ( . . 2 ) _ 2449S ^
5 m a' 5 (4 8 ) ( L 5 )
t = =
2n 2n ,
t = 2.57 s 4
.
co 2.4495
PROBLEM 18.23
A wire o f uniform cross section w eighing 0.8 lb/ft is used to form the
w ire figure shown, which is suspended from cord A D . K now ing that an
impulse FAr = (1.2 lb-s) j is applied to the w ire figure at point E,
determine (a ) the velocity o f the mass center G o f the assembly, ( b) the
angular velocity o f the assembly.
S O L U T IO N
08 > ->
p = mass per unit length = 1 = 0.024845 l b s 2/ft2
32.2
r = 9 in. = 0.75 ft, / = 12 in. = 1.0 ft.
Moments and products o f inertia: Formulas
m 4 4 I. 4=
(I , 1 .,"1
m f1 r 2 + r~2 + I
1 ,2^
Upper ring 2 n rp
U 4 ,
m [ r 2 + r 2) m r + I
U 4 J
m
(-H
1 2 + r 2 + I
f r 1 ,2 ' f 1 2 1p )
L o w er ring 2 n rp . m ( r 2 + r 2) m r + I m
U 4 , U 4 J I 2 J
1
K>
-m l1
3
Rod AB Ip 0 0
12
Moments and products o f inertia: Values
m ( l b s 2/ft) / , ( l b s 2-ft) /v (lb -s 2 ft ) /; ( l b s 2-ft) l b s 2/ft

'r - )
Upper ring 0.117078 0.128054 0.131713 0.062198 -0.043904
L ow er ring 0.117078 0.128054 0.131713 0.062198 -0.043908
Rod AB 0.024845 0.002070 0 0.002070 0
Totals 0.259001 0.258178 0.263426 0.126466 -0.087808

Impulse-momentum principle: Before impact, v = 0, HG = 0
v = (4.63 ft/s) j A
(b ) Moments about G: rt:/G x FA/ = H 0
(0.751 - 0.5 j + 0.75k) x ( l . 2 j ) = ( H a ) x i + { H c ) y j + (//G ) . k
-0.9i + 0.9k = I xcoxi + { l / o y - j + [ ~ I xza)Y + /-tu.jk
Substitute numerical values for moments and products o f inertia and resolve into components.
i: - 0 . 9 = 0.258178<u,
j: 0 = 0.263426o Y + 0.087808w.
k: 0.9 = 0.08780&yv + 0.126466<y.
Solving, cox = -3.4860 rad/s, coY = -3.0865 rad/s, co. = 9.2596 rad/s
to = -(3 .4 9 rad/s)i - (3.09 rad/s)j + (9.26 rad/s)k A

PROBLEM 18.24
A wire o f uniform cross section w eighing 0.8 lb/ft is used to form the
w ire figure shown, which is suspended from cord A D . K now ing that an
impulse FA/ = - (1 .2 lb s ) i is applied at point E, determine (a ) the
velocity o f the mass center G o f the w ire figure, ( b) the angular velocity
o f the w ire figure.
S O L U T IO N
08 ~> ->
p = mass per unit length = : = 0.024845 lb s'/ft"
32.2
r = 9 in. = 0.75 ft, / = 12 in. = 1.0 ft.
Moments and products o f inertia: Formulas
m K b i; *r-
(\ , 1 ,2^1
Upper ring 2n r p m ( r~
1 2 2 1
+ r~ + I m (r~ + r 2) m r + / m
12 4 J 12 4 J 2 J
f 1 2 2 1 ,2'I f I 2 1 ,2^1
Low er ring 2n r p m r + r~ + I
{2 4 J
m ( r 2 + r 2) m r + /
12 4 J (-H
Rod AB Ip -m l2 0 -m l2 0
12 12
Moments and products o f inertia: Values
m (lb -s2/ft) I x (lb s 2 ft) /v (lb -s 2 -ft) /. (lb -s 2-ft) l r- l b s 2/ft)
Upper ring 0.117078 0.128054 0.131713 0.062198 -0.043904
L ow er ring 0.117078 0.128054 0.131713 0.062198 -0.043908
Rod AB 0.024845 0.002070 0 0.002070 0
Totals 0.259001 0.258178 0.263426 0.126466 -0.087808

Impulse-momentum principle: Before impact, v = 0, Hc = 0
(a )
m 2.59001
v = - (4 .6 3 ft/s)i A
(h ) Moments about G: x FAT = H 0-
(0.751 - 0.5j + 0.75k) x (-1 .2 1 ) = ( H c ) x 1 + ( H c ) y j + (//c )_ k
-0 .9 j - 0.6k = I xcoxi + [ l voi}. - I xzcor ) j + ( - I x.a)y + l.a >.) k
Substitute numerical values for moments and products o f inertia and resolve into components.
i: 0 = 0.25817&yt
j: - 0 .9 = 0.263426<yv + 0.08780&W.
k: - 0 .6 = 0.08780&ylt + 0.126466<y.
y
Solving, o)x = 0, (Oy = -2.3877 rad/s, to. - -3.0865 rad/s
= - (2 .3 9 rad/s) j - (3.09 rad/s)k A

PROBLEM 18.25
A uniform rod o f mass m is bent into the shape shown and is suspended
from a w ire attached to its mass center G. The bent rod is hit at A in a
direction perpendicular to the plane containing the rod (in the positive x
direction). Denoting the corresponding impulse by FA t, determine
immediately after the impact (a ) the velocity o f the mass center G , (b ) the
angular velocity o f the rod.
SOLUTION
Moments and products o f inertia:
M h Jy h
1 (I ) 1 2 1 2 2^ fl i (1 > fl )
AB m m a + a + a - m a2 m \ -a 2 m
4 U J \12 4 , 4 14 J \3 j U J( - H
1 f m
1 ^ (2 a f f m
1 ^ (2 a f
BC m 0 0
2 12 . u 12 _
1 ^m ) 1 a 2 +
1 2 2 1 2 fl ^f 1 "i ( 1 >
CD m a + a ma m f1 m1\ - - a 2
4 ^4 , v 12 4 J 4 U JU J U J{ 2 J
5 2 2 2 1 2 1 2
I M ma ma ma ma
6 3 6 4
Impulse-momentum principle: B efore impact, v = 0, Hc = 0
( )
FA t
v = v =
m
(b ) Moments about G : rMG x FA/ = H G
( - a j + a k ) x (F A / ) i = ( H g ) x i + ( H G ) y j + { H g \ k
(a F A / )j + ( a F A t )k = 7vtyxi + [ l ya>y - I }Zcoz ) j + ( - / ^ + 7./z ) k
Substitute expressions for moments and products o f inertia and resolve into components.
5 2
i: 0 = m a a>r
6
2 2 1 2
i: a F A t = ma to,, H ma co.
3 4
k: uFA/ = ma2a>v + ma2co.

4 6
(F A / ) (F A / )
Solving, cox = 0 , cyy = 1.714------tz = 8.57---------------- -
ma ma
c
F A t\
co = J (-1 .7 1 4 j + 8.57k)
ma
PROBLEM 18.26
S olve Prob. 18.25 assuming that the bent rod is hit at B.
SOLUTION
m h h 4-
1 1 2 1 2 2 /"1 > fl ^f 1 >

f m
1 I a + a 1 + a ( 1 m 1 a 2 m - ia 2
AB m ma2
4 14 J \12 4 J 4 14 J 1 3 J u 2 j
1 f m
l 1 ( 2a ) 2 hy= 0
BC m
2 U j 12 ' . (H - ( 2a ) 2
12 ' .
0 0
1 ( 1m ) ( 1 a 2 + a
1 2 2 1 2 fl ^ f m
1 )f-L > ]
CD m + a ma m a
4 14 J V12 4 J 4 14 J 1 3 J u 2 J
5 2 2 2 1 2 1 2
I m ma ma ma ma
6 3 6 4
Impulse-Momentum Principle: B efore impact, y = 0, H G= 0

(b ) Moments about G: r B/G X f A / = H 6
ak x ( F A t ) i = ( H g ) x i + ( H a ) y j + { H G ) k
( a F A t ) j = I xcoxi + ( / ^ - / y 2) j + (-IyzCOy + I zo) z ) k
Substitute expressions for moments and products o f inertia and resolve into components.
5 2
i: 0 = ma a>Y
6
2 2 1 2
i: a F A t = ma~a>,, H ma <y
3 x 4 y
1 2 1 2
k: 0 = ma cov + ma a>,
4 6
(fA < ) (F A ,)
Solving, cox = 0, cov - 3.43 >z = -5.14
ma ma
r F A t ''
co (3.43j - 5.14k) A
\ ma j
PROBLEM 18.27
A uniform rod o f mass m and length 5a is bent into the shape shown and
is suspended by a w ire attached at point B. K n ow in g that the rod is hit at
point A in the negative y direction and denoting the corresponding
impulse by - ( F A / ) j , determine immediately after the impact (a ) the
velocity o f the mass center G, ( b ) the angular velocity o f the rod.
S O L U T IO N
Part m I* b b Ar
(W ( H
OA i ( l m ) ( a 2 + l 0 2)
( i m ) ( 4 a2)
x ( i 3 " 2 + i 2 + i 2) X( l 2 2 + fl2 + 4 2)
( H
AB ( I m ) ( - i a 2)
( H ( 2)
x(iy 2 + + 7 2)
BC i 0 ( s m ) ( l 2 a2) 0
( i m)
CD i " (W ( i 2) ( H ( i fl2) ( H K 2)
* ( l 2a2 + 4 2 + 4 2)
(W (W
DE ( l m ) ( 0 2 + a 2) ( i m ) ( - i f l 2)
x (-jL a 2 + a 2 + { a 2)
I m 0.35 m a2 0.66661ma2 O .lSm a2 -0.3 m a2
Angular momentum about the mass center.
( H g ) x = I xcox - - I x:(0: = 0.35ma2cox + 0.3m a2cov - Q .ln u rco.
(H a ) = ~1Xy,o)x + Iy,0)y - Iyjco. = 0.3m a 'o)x + 0.66667m a2coy + 0.1m a2co.
(//G) = - I X-( 0X - + 1.(0. = 0.1m a1o)x + 0.2m a2cov + 0.75mcrco.

Constraint o f the supporting cable: v, = 0
Impulse-Momentum Principle: Before impact, v = 0, H G = 0.
(a ) Linear momentum: F (A z ) + T At j = mv R esolve into components.
0 = mvx, - F A t + TAt\ = 0, 0 = mv,
vx = 0, T A t = F A t, vz = 0 v = 0M
( b) Angular momentum, moments about G : r A/G x F A t = H G
j j - x [ ~ ( ) j ] = { a F A t ) k = { H c ) x i + ( H G ) y j + (//G) z k
U sing expressions for ( H g ) x , ( H G) ( , and ( H g )^ and resolving into components,
i: 0 = 0.35wa2<v + 0 3 m a 2a> - 0.2m a2a>,
j: 0 = 0 3 m a 2cox + 0.66661ma2co + 0.1 m a2a>.
k: a F A t = -0.2 ma2co,. + 0.1ma2a> + 0.75ma2,co.
( F ir )
Solving, co, = 2.5 coz = 2.19
ma ma ma
/ F A t '1
(0 (2 .5 0 i- 1 .4 5 4 j + 2.19k) <
V ma y
PROBLEM 18.28
Solve Prob. 18.27, assuming that the rod is hit at point C in the negative z
direction.
S O L U T IO N
Part M ly
OA i ( H (W ( l m ) ( a 2 + I a 2) ( l m ) ( _ l a 2)
5
x ( i 2a2 + i a2 + i 2) X( l 2 2 + q 2 + 4 fl2)
AB 1
~s
MM ( H ( i 2)
( H
( i m) ( - 7 a2)
X( l 2a2 + { 2 + 4 2)
BC In ,
M (M 0 (H ( i 2 2) 0
CD
(W
i " (H t i * 2) ( H ( t 2) ( H K * 2)
x ( 1L a 2 + j a 2 + { a 2)
DE l m
(W M ( l m ) ( a 2 + l 0 2)
x ( i T a2 + i fl2 + 7 fl2) X( l 2 2 +fl2 +4 fl2)

I M 0.35ma2 0.66667ma2 0.75 m a2 -0.3/na2
Angular momentum about the mass center.
(//(, ) t = I xo>x - IjcyODy - I^ co. = 0 3 5 m a 2cox + 0.3m a2cov - 0.1 ma2o).
{ H c ) v = ~ l xy(Ox + 1V(I )V - IyjCO. = 0 .3m a 2(o x + 0 .6 6 6 6 7 m a 2o>y + 0.2m a 20) .
{ H a ) - = ~^xz0)x ~ 1 \z: + h 0*: = -Q A m a 2a)x + 0 2 m a 2cov + O.ISm arco.

Constraint o f the supporting cable: Vy = 0
Impulse-Momentum Principle: Before impact, v = 0, HG = 0
(H<P4
(a ) Linear momentum: F (A / ) + T A t] = m x R esolve in components.
0 = m vx, 0 + T A t = 0, - F A t = m y,
F At
\ x = 0, T A T = 0, y, = y = - ( / 7At/m)k M
m
(b ) Angular momentum, moments about G:
-fj x [ ~ ( f 7A ? ) k ] = [ \ a F A t ^ = ( H G ) x i + ( H c ) y j + { H G ) k
U sing expressions for (//G)^, ( H g ) , and ( H G )_ and resolving into components,
i: a F A t = 035 m a2a>y + 0.3ma2cov - O .lm a'co,

2 x y z
j: 0 = 03m a2o)x + 0.66667m a2a>v + 0 .lm a 2ak
k: 0 = - 0.2 ma2coy + 0.1m a2co + O.15ma2o),
(F A / )
Solving, m = 3.75- L m -1.875! 1, ^ . ,.25( ^
m
f p Af\
(3.75i - 1.875j + 1.250k) 4
ma
PROBLEM 18.29
A circular plate o f radius a and mass m supported by a ball-and-socket
joint at point A is rotating about the y axis with a constant angular
velocity o) = (o0j when an obstruction is suddenly introduced at point B
in the xy plane. Assuming the impact at point B to be perfectly plastic
(e = 0), determine immediately after the impact (a ) the angular velocity o f
the plate, (b ) the velocity o f its mass center G.
S O L U T IO N
The disk is constrainted to rotate about the fixed point A. Point B o f the disk does not rebound after the
impact.
(vs)_- = 0
Kinematics. x B = co x rWA
i j k
K ) , i + (v ).k = (Ox coy wz
a -a 0
( vb ) x = -a co ., ( v B) y = ao)., 0 = -acox - acoy cox + my = 0 ( 1)
Moments o f inertia:
. 1 2 * 5 2 . 1 2 t 1 2 2 ^ 2
I x = m a ' + m a ' = m a ', = m a , /.Z =
2
m a' + m a' =
2
m a'
lmpulse-Momentum Principle:
Moments about A : ( H 4)0 + (a i - a j) x (Z?A/)k = (1 1 ^ ^
I va)Qj + ( - a B A l) i - a ( f i A / ) j = I xa)xi + I vcot j + /.<u.k

Substitute values for I x, I y, and I z and resolve into components.
i: 0 - ( a B A t) = ^ m a 2a>x ( 2)
j: - [a B A t) = ^ m a 2coy (3 )
3 2
k: 0 = ma co, co, = 0
2
Solving (1 ), (2 ) and (3 ) simultaneously for cox, coy and BAt,
1 1 A , 5
COx = 6 0. BA t = ma0>()
{a) Angular velocity: co = i + -< y 0J <

0 0
(b ) V elocity o f mass center: v c = co x rG/A
v G = -jcy0o k 4
o
PROBLEM 18.30
Determine the impulse exerted on the plate o f Prob. 18.29 during the
impact by (a ) the obstruction at point B , (b ) the support at point A.
Substitute values for I x, I , and/z and resolve into components.
i: 0 - (a B A t) = ^ ma2cox (2 )
j: -^m a2a>0 - (a B A t) = ^ m a 2a>y (3)
3 2
k: 0 = ma a>7 a>=0
2
Solving (1 ), (2 ) and (3 ) simultaneously for cox, coy and BAt,
1 1 5
<aY - <an, a>v - n, B A t = macon
6 y 6 ^ 24 0
(a ) Impulse at B: B A t = O.2O8ma<0ok A
V elo city o f the mass center: v G = co x rG/A
~ ( 0 $ + - 0j j X ( a j) = CW0ak
( b) Linear momentum: m\0 + A A t + ( f i A t ) k = mv
A A t = m v m v0 - ( 5 A t )k
1 macOfik - n
= 0 5 ma(lmnk
l.
6 0 24 0 0
AAt maa)(,k ^
24 0
PROBLEM 18.31
A rectangular plate o f mass m is falling with a velocity v 0 and no
angular velocity when its com er C strikes an obstruction. Assuming the
impact to be perfectly plastic ( e = 0) , determine the angular velocity o f
|C the plate immediately after the impact.
\
4
A fter using (2 ) to eliminate vy , (3 ) and (4 ) become ccox + acoz = v0
4
ccox + - a o j z = v0
3 3
from which ccox = ~ vo> <*a>z = J v o
PROBLEM 18.32
For the plate o f Prob. 18.31, determine (a ) the velocity o f its mass center
G immediately after the impact, ( b) the impulse exerted on the plate by
the obstruction during the impact.
S O L U T IO N
Principle o f impulse-momentum:
Linear momentum: - m v 0j + (C A r ) j = m vxi + m v vj + m v.k
i: 0 = mvr v, = 0
j: - m v 0 + C A t = m vy C A t = /w(v0 + Vy'j ( 1)
k: 0 = mv, v. - 0
Since the impact is perfectly plastic, (v c ) ( = 0.
v f = v c + to x rc/G = v,,j + (<yti + coyj + tu.k) x ( a i - c k )
(v c ) t i + (v c )_ k = -c (0 yi + (v y + ceox + aa>.) j - a<yyk
j: vc + ccox + aco, = 0 vy = -ccox - aco. ( 2)
Moments about C:
cmv0i + amv0k = ( H c ) x i + ( H a ) y j + ( H g ). k + ( - a i + c k ) x mvyj
7 2 2
= m c2coxi + m ( c 2 + a 2 + m a2co2k - mcvyi - mav,,k
1 2
i: cmvn = m e'cor - mcv (3)
3
j: 0 = - m ( c 2 + a 2)coy coy = 0
. 1 2
k: amv0 = ma co, - mavy (4 )
A fter using (2 ) to eliminate vy, (3 ) and (4 ) become ^ CC X acoz =
4
C 0 )x + ~ a ( z = V0
3 3
from which ca>x = v0, acoz = v0
(a ) V elocity o f mass center:
3 3 6
From (2 ), vy = - - v 0 - - v (l = - ~ v 0
(b ) Impulse at C:
From (1), C A t = m (v 0 + = m
PROBLEM 18.33
The coordinate axes shown represent the principal centroidal axes o f
inertia o f a 1500-kg space probe whose radii o f gyration are
kx = 0.55 m, k v = 0.57 m, and k. = 0.50 m. The probe has no
angular velocity when a 0.14-kg meteorite strikes one o f its solar panels
at A with a velocity v 0 = (720 m/s)i - (900 m /s)j + (960 m/s)k
relative to the probe. K now ing that the meteorite emerges on the other
side o f the panel with no change in the direction o f its velocity, but with a
speed reduced by 20 percent, determine the final angular velocity o f the
probe.
S O L U T IO N
Point o f impact: rA = (2.7 m )i + (0.225 m )k
Initial linear momentum o f the meteorite, (k g m / s ):
m v0 = (0.14 ) ( 7201 - 900j + 9 60 k) = 100.81 - 126j + 134.4k
Its moment about the origin, ( k g m 2/s):
i j k
2.7 0 0.225 = 28.351 - 340.2j - 340.2k
100.8 -126 134.4
Final linear momentum o f meteorite and its moment about the origin, (k g m/s) and (k g -n r/ s ):
0.8mv0 = 80.64i - 100.8j + 107.5k
rA x (0 .8 w v0) = 22.681 - 272.16j - 272.16k
Let H^, be the angular momentum o f the probe and m be its mass. Conservation o f angular momentum
about the origin for a system o f particles consisting o f the probe plus the meteorite:
rA x m v0 = H , + r A x (0.8m vn)
H , = (5.67 k g m 2/s)i - (68.04 k g m 2/s)j - (68.04 k g m 2/s)k
_ ( HA 5.67
= 0.012496 rad/s
m 'k 2 (1 5 0 0 )(0 .5 5 )'
{ " a), -68.04

- = -0.139612 rad/s
m 'k2 (1 5 0 0 )(0 .5 7 )2
_ ("A -68.04
= -0.18144 rad/s
m 'k: ( l 5 0 0 )(0 .5 0 )
to = (0.0125 rad/s)i - (0.1396 rad/s)j - (0.1814 rad/s)k 4

PROBLEM 18.34
The coordinate axes shown represent the principal centroidal axes o f
inertia o f a 1500-kg space probe whose radii o f gyration are
kx = 0.55 m, ky = 0.57 m, and kz = 0.50 m. The probe has no
angular velocity when a 0.14-kg meteorite strikes one o f its solar panels
,mm at A and emerges on the other side o f the panel with no change in the
direction o f its velocity, but with a speed reduced by 25 percent.
K now ing that the final angular velocity of the probe is
0) = (0.05 rad/s)i - (0.12 rad/s)j + coM and that the x component o f
the resulting change in the velocity o f the mass center o f the probe is
-1 7 mm/s, determine (a ) the component co. o f the final angular velocity
o f the probe, (b ) the relative velocity v 0 with which the meteorite strikes
the panel.
S O L U T IO N
Initial linear momentum o f the meteorite, (k g m / s ):
/ m v () = (0 .1 4 )(v ri + v,.j + v .k ) = 0.14vti + 0.14vvj + 0.14v.k
i j k
2.7 0 0.225
(HA -= r A x m v0 =
0.14vx 0.14vv 0.14v.
= -0 .0 3 15v,,i - (0.378V. - 0.0315vx ) j + 0.378v,.k
Final linear momentum o f the meteorite, (k g m / s ):
0.75mv0 = 0.105vti + 0.105v,.j + 0.105v.k
Its moment about the origin, (k g -n r/ s ):
r A x (0.75/wv,,) = -0.023625v,,i - (0.2835v. - 0.023625vx) j + 0.2835v,.k
Initial linear momentum o f the space probe, (k g m/s): mvj, = 0
Final linear momentum o f the space probe, (k g m/s):
w i'(v;i + v'vj + v'.k) = 15 0 0 (0.017i + v'vj + v': k )
Final angular momentum o f space probe, (k g m 2/s):
H = m '[k lc o x\ + A:2<y,,j + A:.2rv.k)
= 1500^(0.55)2(0 .0 5 )i + (0 .5 7 ) 2 ( 0.12) j + (0 .5 0 ): *u.kJ
= 22.6875i - 58.482j + 375<u.k

Conservation o f linear momentum o f the probe plus the meteorite, (k g -m2/s):
0.14vxi + 0 . 1 4 ^ + 0.14vzk = 0.105vxi + O.lOSv^j + 0.105vzk
+ (l5 0 0 )(- 0 .0 1 7 )i + 1500v;,j + 1500v;k
i: 0.035vx = -25.5 vx = -728.57 m/s
j: 0.035V, = 1500v;
k: 0.03 5vz = 1500vz
Conservation o f angular momentum about the origin, (k g m 2/s):
-0.0315v,i - (0.378vz - 0.0315vx) j + 0.378v,k
= -0.023625v>,i - (0.2835vz - 0.023625V,) j + 0.2835v,k
+22.6875i - 58.482j + 3 7 5 zk
i: -0.007875v, = 22.6875 Vy = -2880.95 m/s
j: -0.0 945vz + 0.007875vx = -58.482 vz = 0.083333vx + 618.86 = 558.15 m/s
k: -0.0945V,, = 375coz
(a ) coz - -2 5 2 x I0~6vy coz = -0.726 rad/s 4
(b ) v 0 = - (7 2 9 m/s)i - (2880 m/s) j + (558 m/s)k 4

PROBLEM 18.35
A 5000-lb probe in orbit about the moon is 8 ft high and has octagonal
bases o f sides 4 ft. The coordinate axes shown are the principal centroidal
axes o f inertia o f the probe, and its radii o f gyration are kx = 2.45 ft,
k v = 2.65 ft, and k, = 2.55 ft. The probe is equipped with a main
125-lb thruster E and with four 5-lb thrusters A , B, C, and D which can
expel fuel in the positive y direction. The probe has an angular velocity
a = (0.040 rad/s)i + (0.060 rad/s)k when tw o o f the 5-lb thrusters are
used to reduce the angular velocity to zero. Determine (a ) which o f the
thrusters should be used, ( b) the operating time o f each o f these thrusters,
(c ) for how long the main thruster E should be activated i f the velocity o f
the mass center o f the probe is to remain unchanged.
S O L U T IO N
H 0- = I xcoxi + lyfi)y\ + /.<y.k = m [k 2

x (oxi + k 2
varv\ + 22<y.k)
= f ^ [ ( 2 - 4 5 ) 2 (0.040)1 + (2 .6 5 )2( 0 ) j + (2 .5 5 )2(0 .0 6 0 )k ]
= (37.283 lb -s -ft ) i + (60.582 l b s - f t ) k
Let - A ] , - B y - C j , and -D \ be the impulses provided by the

5-lb thrusters at A, B, C, and D respectively. Let j be that
provided by the 125-lb main thruster.
Position vectors for intersections o f the lines o f action o f the

truster impulses with the xz plane.
a = 1 ( 4 ) = 2 ft, b = 2 + 2>/2 = 4.8284 ft

2
r A = - a i + 6k, rfi = ai + 6k
r( - = ai - 6k, rD = - a i - 6k
The final linear and angular momenta are zero.
Principle o f impulse-momentum. Moments about G:
H c + rA x ( - ^ j ) + r B x ( - f l j ) + rc x ( - C j ) + rD x ( - D j ) = 0
H g + b (A + B - C - >)i + a ( A - B - C + D ) k = 0
Resolve into components.
( " c )rjL
x _ _ 37.283 = _ 7_72i61b s
i: A + B - C - D = ( 1)
6 4.8284
(H G)Z 60.582
k: A - B - C + D = - = -30.291 lb s (2 )
a 2
O f A, B, C, and D, tw o must be zero or positive, the other tw o zero.
Set A = 0 and B - D = N . Solve the simultaneous equations (1 ) and (2).

C = 19.006 lb s and N = 11.285 lb s. Set D = 0 and B = 11.285 lb s
( ) Use thrusters C and B. 4
( ) Z7c (A
(A t* c ^
) - ^
C, A, -_ c _-
Atc 19.006
- A tc = 3.80 s 4
''c 5
p /a* V - .. B _ 11.285
A tB = 2.26 s 4
Eg 5
(c ) Linear momentum: j - j - C j = 0, = 30.291 lb s
VEV
F (( A/c-)
K * \ = V A
A ,tF E 30291
E) E = = ---------
125 A tE = 0.242 s 4
PROBLEM 18.36
Solve Prob. 18.35 assuming that the angular velocity o f the probe is
0) = (0.060 rad/s)i - (0.040 rad/s)k.
SOLUTION
H (; = I xtox\ + IytOyi + I.co. k = m{k\o)xi + k].co2

Yj + kjco.k^j
= | ^ [ ( 2 . 4 5 ) 2(0 .0 6 0 )i + (2 .6 5 )3( 0 ) j + (2 .5 5 ):!(- 0 .0 4 0 )k j
= (55.924 l b s - f t ) i - (40.388 lb -s -ft)k
Let - A y - B y - C j , and - D ] be the impulses provided by the

5-lb thrusters at A , B, C, and D respectively. Let j be that
provided by the 125-lb main thruster.
Position vectors for intersections o f the lines o f action o f the

truster impulses with the xz plane.
a = 1 ( 4 ) = 2 ft, 6 = 2 + = 4.8284 ft
2
r , = - a i + bk, rB = ai + bk
rc = a\ - 6k, rD = - a i - 6k
The final linear and angular momenta are zero.
Principle o f impulse-momentum. Moments about G:
h g + rA x M i ) + tr x + rc * ( - Q ) + r x ( - Di) = 0
H 6- + b (A + B - C - D ) i + a ( A - B - C + D ) k = 0
{H o i 55.924
i: A + B -C - D = - = -11.582 lb s 0)
b 4.8284
k: A -B -C + 194 lb s (2 )
a 2
O f A , B, C, and D, tw o must be zero or positive, the other tw o zero.
Set B = 0 and A - C = N . S olve the simultaneous equations (1 ) and (2).

D = 15.888 lb s and N = 4.306 lb-s. Set C = 0 and A = 4.306 lb s
() U se thrusters D and ^4. ^
W Fd {M d ) = D , AtD = A = l M 8 8 AtD = 3.18 s 4

rD S
r? ( \ ^ ^ 4.306
Fa K â) = a> A tA = = r ~ A tA = 0.861 s
rA 5
(c ) Linear momentum: j - D j - v4j = 0 E = 20.194 lb s
Fite { M e ) - E r aAt, E 20194 A tE = 0.1616 s A

PROBLEM 18.37
Denoting, respectively, by co, H 0 , and T the angular velocity, the
angular momentum, and the kinetic energy o f a rigid body with a fixed
point O , (a ) prove that H 0 co = 2T, (b ) show that the angle 0 between
co and H 0 w ill always be acute.
SOLUTION
(a ) Hq ( j xCOx lyyCOy 7x2Wz j i + ( ~^xy^x "F ^yy ~ ^yz^z ) J
+ ( - I x z >x - + 4 ^ ) k
co = coxi + coyj + co, k
H 0 0) = I xco; - I xy(Oycox - I xzcozcox - I xyCOx(Dy + I ycoy - I yzCOz(Oy
~ 1yz0) v0): + I ,(Dz
= ( 2) 7 ](^ X + ^ - 2 l yzcoycoz - 2 I xz0)x0)z )

2
= 2T
(b ) H 0 (B = H 0co cos#
2 T = H ()co cos 6
2T
cos# =
H 0CO
But T > 0, H 0 > 0, co > 0
cos# > 0 0 < 90

PROBLEM 18.38
Show that the kinetic energy o f a rigid body with a fixed point O can be
expressed as T = lo i. 2, where CO is the instantaneous angular
velocity o f the body and I OL is its moment o f inertia about the line o f
action O L o f co. D erive this expression (a ) from Eqs. (9.46) and (18.19),
(b ) by considering T as the sum o f the kinetic energies o f particles
describing circles o f radius p, about line O L.
SOLUTION
(a ) T = \ - [ l xco2
x + I vco] + I.c o ] - 2 Ixycoxeoy - 2 Iyzcoycoz - 2 Ix:coxco. j
Let cox = co cos 0X = coXx
cov = co cos 8 v = coXv
co. = co cos 8. = coX.
T = + l y t f + I - A 2 - U xy X A y - 2 I r x yx 2 - 2 Ix.X xX. )co2
= J 1OL6)2 T = ^ I o l co2 <
(b ) Each particle o f mass ( A m ), describes a circle o f radius p r
The speed o f the particle is v, = p,co
Its kinetic energy is = =
The kinetic energy o f the entire body is
r = Z (A T ).= iz (A m > V
but I OL = Z ( A m i ) p 2
Hence, T = ^ I OLco2 A
PROBLEM 18.39
Determine the kinetic energy o f the rectangular plate o f Prob. 18.1.
S O L U T IO N
m = 8 kg, a = 600 mm = 0.6 m
b = 300 mm = 0.3 m
Use principal axes x', z as shown.
tan p = = 0.5 p = 26.565

0.30
to = (5 rad/s)i
= o)xi ' + wy i + co.V!
cox' = 5 cos p rad/s, coy. = 0
a). = - 5 sin p rad/s
For the rectangular plate
12
7X' = T Z m ^2 = T t ( )(0 - 3) 2 = 0 6 kg m 2
12
I* = = A ( 8 ) ( 0 . 6 ) 2 = 0.24 kg m 2
_ 1 _> 1 t 2 1 T 2 1 T 1
T = mv + I r (D~H------- 1,,CO., H-------- 1 .(0 ,.
2 2 * * 2 y y 2 1 *
= 0 + ^ (0 .0 6 )(5 c o s / ? )2 + 0 + (0 .2 4 )(5 sin P )
= 0 .6 + 0.6 = 1.2 k g m 2/s2 = 1.2 N m = 1.2 J
T = 1.200 J <
S O L U T IO N
m = 1.8 kg, / = 600 mm = 0.6 m
(l2 0 0 )(2 / r)
(o = i ^ = 125.664 rad/s
60
Use principal axes x\ y ' as shown.
(ox- = -<ysin20 = -42.980 rad/s
cov- = <ycos20 = 118.085 rad/s
For the rod. * 0
7/ = 12 = - ^ ( l - 8 ) ( 0 . 6 ) 2 = 0.054 kg m 2
1 2 I t 2 1 t 2 I t 2
T = mv + I r o)y + I + I.co :-
2 2 2 2
= 0 + 0 + (0 .0 5 4 )(l 18.085)2 + 0
= 376.48 kg m 2/s2 = 376.48 N m = 376.48 J
T = 376 J 4
IT
m = = 0.093168 lb s /ft, / = 24 in. - 2 ft,
g 32.2
eo = (12 rad/s) i
For rod A D B , H D = I xa>i ~ 0, since I x 0.

E *X,
For rod C D E , use principal axes x', y ' as shown.
co s# - , 6 = 41.410
12
<yv. = rycos# = 9 rad/s2
= rwsin# = 7.93725 rad/s
rz- = 0
4- * 0
= l i " 1'2 = n (-09316S) ( 2)2

= 0.0310559 lb s2 -ft
T = m v 2 + - ^ - r t f2 + 7 -<y2, + - 7 z-rtf2
2 2 * 2 * 2 z
= 0 + 0 + -i-(0.0310559)(7.93725)2 + 0
= 0.97826 ft lb T = 0.978 ft l b
SOLUTION
w = (o2i + <yj = (8 rad/s)i + (15 rad/s) j
For axes x', y\ z parallel to x, y , z with origin at A,
7X. = -m r2 = 1 (6 )(0 .1 6 0 ): = 0.0384 k g-m 2
7:, = 7X. = 0.0384 kg m 2, 7y. = 7X. + 7.. = 0.0768 k g m 2

r.i/c = (0.18 m ) j - (0 .l8 k )m
v = v4 = ftM x r A/c = 8i x (0 .l8 j - 0.18k)
= ( l .44 m/s) j + ( l .44 m/s)k
v = ^/(l.44)2 + (1.4 4)2 = 2.0365 m/s
Kinetic energy: T = m v 2 + I xa)2 + I..a )2 + I . a ) 2

aj 2 2 * 2 y 2 " :
T = 1 (6 )(2 .0 3 6 5 )2 + 1 (0 .0 3 8 4 )(8 )2 + l ( 0 . 0 7 6 8 ) ( l 6 ) 2 + 0
= 12.4416 + l .2288 + 9.8304
= 23.5 kg nr/s2 = 23.5 N m = 23.5 J
T = 23.5 J <
S O L U T IO N
co = a>2j + <y,k = (4 rad/s)j + (12 rad/s)k
For axes x', y ', z' parallel to x, y , z with origin at A,
Tx. = i m r2 = (8 )(0 .1 0 0 )2 = 0.02 k g m 2
ly = ly = 0.02 kg m 2, = l y + l y = 0.04 kg m 2
tmo = ( - 32 m ) ' ( - 2 m ) j
v = = co2j x rm = 4 j x (0.321 - 0 .2 j) = -(1 .2 8 m/s)k
v = 1.28 m/s
Kinetic energy: T = - m v 2 + L e o 1 + J .,a r + l . a r

2 2 * 2 y 2 '
T= ~ (8 )(l.2 8 )2 + 0 + ^ (0 .0 2 )(4 )2 + ^ (0 .0 4 )(l2 )2
= 6.5536 + 0.16 + 2.88
= 9.5936 kg nr/s2 = 9.5935 N m = 9.5935 J
f = 9.59 J <
S O L U T IO N
Body diagonal: d = ^ a 2 + (2 a ) ' + a2 = 4ba
1 0 x (o 2(0 . co
**= ~d l~
a = ~^6 76
f ir
>+ a i = 1ma :
/, = m l a 2
' 12 L -I 6
1
T > /-.
/. = /?; o " + [2 a ]
5
= m a'
' 12L V7 J 12
A xis o f rotation passes through the mass center, hence v = 0.
Kinetic energy: T = m v 2 + I rco2 + /..co2 + l.co~

2 2 2 y 2 *
A if 5 , v V > f 5 V 1 2
T = 0 + m a' f= + ma" - 7= + m a' j= = m a'co
2 {\ 2 ){\ J 6 ) 2U ){4 6 ) 2 ll2 ) { f i ) 8
T = 0.1250 m a 'c o ' 4

S O L U T IO N
Body diagonal d = yja2 + ( 2 a ) ' + a 2 = \fba
(0 , . _ . , x (o . 2(0 . co ,
to = l - a i + 2aj - a k ) = p=-i + 7= j -----=^k
d K J ' >/6 yfc x/6
Total area = 2 ( a 2 + 2a 2 + 2a 2} = 10a'
For each square plate: m = m

10
# * 2 , 2 13 , 2
2 13
1J 2
/ = ma + m a = ma = ma
12 12 120
i 1 r 2 1 2
= m a = ma
y 6 60
// . = // , = 13 ma 2
* 120
For each plate parallel to the ^z-plane: m = m

5
I 1 >r 2 . to \21 5 ,2 1 2
/, = m a + 2 a ) = ma = ma
12 L V 7J 12 12
r 1 , 2 ,[fl 1 , i 1 >
= ma + m = m a ' = m a '
7 12 I2 3 15
r a '' 7 , , 7
I . = m (2 a )' + m' = m a ' = m a'
- 12 V 12 60
1
For each plate parallel to the xy plane: m = m
5
7 ,2 7 2
/r
at = -!-m'i2a)"
,2 V / +w I = m a ' = m a'
UJ 12 60
fa )2 1 / 2 1 2
L = m 'a2 + m' = m a = ma
y 12 3 15
2 5 / 2 1 2
I = m' a2 + (2 a ) = ma = ma
z 12 12 12
Total moments o f inertia:
13 1 7 A 2 37 2
L = 2 ma = ma
120 12 60 60
1 1 1
/, = 2 1 1----- ma 2 =
3
ma
2
60 15 15 10
13 7 O 2 37
+ + \ma = ma
,120 60 12^ 60
A x is o f rotation passes through the mass center, hence v = 0.
Kinetic energy: T = - m v 2 + - I xco2 + - I va 2 + - I zco2

2 2 x 2 y 2 2
>2 j, f
3 2 2a) Y 1 f 37 2 CO
T = 0 + l f m a A i-^ + ma
2U 0 AV6. 2 10 a/6 J +2 l 60ma An/6
73 2 2
ma co
360
T = 0.203 m a W <
S O L U T IO N
E * F to = (12 rad/s)i, tov = co. = 0
la . a.
A .. 4 S V a B T = L a i1 + I o r + I.to 1 - /,..tovto.. - I .-to..to. - l. . t o rto.
j ' X -) ' v -) - : v x > x -
a |
a.
= l xto '
L 2
The shaft is comprised o f eight sections, each o f length
a = 0.25 m and o f mass m - = 0.625 kg.

8
l x = ( 4 ) i/ n 'o 2 j + ( 2 = m \ r = (0 .6 2 5 )(0 .2 5 ) = 0.130208 kg m 2
T = (0.130208 )(12)" = 9.38 kg nr/s2 = 9.38 N m = 9.38 J
T = 9.38 J <
S O L U T IO N
m = 5 kg, a = 200 mm = 0.2 m
(2 )(3 6 0 ) ..
co = - ----- = 1I n rad/s.
60
cox = 0, coY = 0 , <y. = \2n rad/s
Use parallel axes x\ y\ z' with origin at the mass center as shown.
T = + 2 Iz0>2* ~ ~
1 /_2
m a T = -^-(0.33333)( 12/r)2
3
f 1 +
1 + .1 = 237 kg-nr/s2 = 237 N -m
1 m 'a2

1 12 4 J
T = 237 J A
10 , 2
I /wCl~
3
S O L U T IO N
to = (12 rad/s)j, cox = 0, <y, = 12 rad/s, coz - 0
Kinetic energy: T = /.to2 + l.x o 2 + L eo2 - I. 0).,<d. - I . ra).a)r - I.(OjCO,.

2 * 2 ' 2 A * y
1/ 2
= 1.0}
2 '
For the plate: 6 = ,45 = 4.5 + 8 = 12.5 in. = 1.04167 ft
h = C D = 6 in. = 0.5 ft
Area: A = - b h = 0.26042 ft2
(/ ..) = bh2 = 0.0108507 ft4

' ' /area J2
m = - = 0.49689 lb s2/ft
32.2
( } __m( ) _ (0.49689) (0.0108507) _ Q 020703 lb .s2.ft

v > 'mass ^ v >/area 0.26042
F = ^ (0 .0 2 0 7 0 3 )(1 2 )2 = 1.491 ft-lb T = 1.491 ft-lb >4

PROBLEM 18.50
Determine the kinetic energy imparted to the cube o f Prob. 18.21.
S O L U T IO N
Let m = m be the mass o f one side o f the cube. Choose x ,y , and c axes perpendicular to the face o f the
6
cube. Let a be the side o f the cube. For a side perpendicular to the x axis; ( l x ) f = m 'a2.
For a side perpendicular to th e y or z axis. (/ ) , = ( + ! ma

i 2 = m
1 ra 2
v x )2 ^ 12 4
Total moment o f inertia: I x = 2 ( l x ) i + 4 (/ r ) , = m 'a2 = m a2

3 18
By symmetry, / = I x and I . = I x.
principal axes.
Moment o f inertia about the vertical axis: /.. = m a2

v 18
Let h = ^ a be the moment arm o f the impulse applied to the comer.
h F ( A t ) = H v = /,.<y = m a2(o (1 )
Data: a = 1.5 m, b = .J -| 1( 1. .55 ) = 1.22474

U m
co = - y = 1.25664 rad/s, F = 50 N , At = 1.2 s.

Solving Equation (1 ) for m,
- 18 b F ( A t) _ 18 ( l .2 2 4 7 4 )(5 0 )( l .2)
m = 93.563 kg.
5 a 2a 5 (1.5 )2 (1.25664)
For principal axes, T = - I xO)2 + - J Yco2 + I co2

2 x 2 y 2 1
T = L,co2 = - -m a co
18
= ^ ( * * 5 6 3 ) 0 .s f(U 5 6 6 4 )2
T = 46.2 J 4
PROBLEM 18.51
Determine the kinetic energy lost when the plate o f Prob. 18.29 hits th
obstruction at point B.
' )< r
S O L U T IO N
The disk is constrainted to rotate about the fixed point A. Point B o f the disk does not rebound after the
impact. ( v H)_ = 0
Kinematics. v = to x r B/,1
> j k
K ), i + K ) rk =
a -a 0
(v H) x = -a co ., ( v B) y - aco., 0 = -acox - acov cox + coy = 0
1
Moments o f inertia: /, = m a ' + m a ' = m a ', I, = m a ', I . = m a ' + m a ' = ma
> 4 4 -> 4 - 2
Impulse-Momentum Principle:
-h
Moments about A: ( H , )0 + ( i - a j) x ( B A t ) k = ( H , ) (
I yco0j + ( - a 5 A / )i - a ( B A t ) j = I xcoxi + l ycoy\ + I.c o .k
Substitute values for I x, 1 y, and /. and resolve into components.
i: 0 - (a B A t) = ma2cox
j: ma2cou - (a B A t) = ma~coy
k: 0 = ma'co. co. = 0
2
Solving (1 ), (2 ) and (3 ) simultaneously for cox, my and BAt
1
<ay = - a o, B A t - ma(on
6 24 0
1 . 1 .
Angular velocity: 0 = - ~ o )01 + - 0j
o o
1 2 ^, 2
Kinetic energy before impact: r n = Lyw n
0 = ma co,
8
Kinetic energy after impact:
1r5 /
l ^
1 2^f -<u0
f 1 f ma
J +
ma + 0 = ma2co()2
21
4 JV 214 J v 6 J 48 0
Energy lost: 5 2 2^
T0 - 21 = ma2con ma <yn
48 48
PROBLEM 18.52
Determine the kinetic energy lost when com er C o f the plate o f
Prob. 18.31 hits the obstruction.
S O L U T IO N
i: 0 = m vx v, = 0
j: - m v 0 + CA/ = m vv CA/ = w (v 0 + v,.) ( 1)
k: 0 = mv. v. = 0
Since impact is perfectly plastic, (v r ) v = 0.
V = v 6- + to x rclG = v,.j + la )xi + covj + ry.k ) x (a i - c k )
(v c ) i + (v c )_ k = -c<y,.i + ( v y + ccox+ aco. j j - acox k
j: vc + ccox + ao)z = 0 v,, = -ccox - aco. (2 )
Moments about C:
cmv0i + amv(lk - ( H c ) x i + ( H c ) j + ( H c ) . k + ( - a i + c k ) xrw v j
2 7 . 2 ( 2 2 \ 2 2 i
= me coxi + + a + ma <y.k - /wcv,.i - m avvk
1 ^
j (3 )
3
j: 0 = m ^c2 + o 2)<y,. cov = 0
k: amv,, = m a'co. - mav. (4 )

A fter using (2 ) to eliminate vy , (3 ) and (4 ) become
-c a > x + acoz = v0
ccox + - a c o z = v0
from which c L = - v 0, acoz = v0
3 3 6
From (2 ), Vv = - ^ V0 - - V 0 = - - V 0
Kinetic energy before impact: To = ^ v 02
^ 1 7 1 7 1 7 1 , 7
Kinetic energy after impact: T, = mv + + L,coi
y y
+ L eo ,
2 x x 2
1 r 6 1 f 1 N
= m Vn H---- m e2 1co1 + 0 + ma2 a :
2 2 v3 ) x 2 v3
1 1(3-2
= m + - Vn = -m vn
2 317
Energy lost: Tq ~T\ - ~ mvo T o -T , =

PROBLEM 18.53
Determine the kinetic energy o f the space probe o f Prob. 18.33 in its
motion about its mass center after its collision with the meteorite.
S O L U T IO N
Initial linear momentum o f the meteorite, (k g m/s):
m\0 = (0 .1 4 )(7 2 0 i - 900j + 960k) = 100.8i - 126j + 134.4k
i j k
r , X f f l Vn - 2.7 0 0.225 = 28.351 - 340.2j - 340.2k
100.8 -1 2 6 134.4
Final linear momentum o f meteorite and its moment about the origin, (k g m/s) and (k g m 3/s).
0.8mv0 = 80.64i - 100.8j + 107.5k
rA x (0.8/mv0) = 22.681 - 272.16j - 272.16k
Let H 4 be the angular momentum o f the probe and m be its mass. Conservation o f angular momentum
about the origin for a system o f particles consisting o f the probe plus the meteorite:
r A x m\0 = H a + r A x (0.8m v0)
H,, = (5.67 k g m 2/s)i - (68.04 kg m 2/s)j - (68.04 kg m 2/s)k,
I xcox = { H a \ , 0)r =
m 'k ] (1 5 0 0 )(0 .5 5 )2
( ), -68.04
C0y = = -0.139612 rad/s
m'ky (1 5 0 0 )(0 .5 7 )2
( H A ); -68.04
L co: = ( H a ) , CO, = = -0.18144 rad/s
m 'k2 (l5 0 0 )(0 .5 0 )2
Kinetic energy o f motion o f the probe about its mass center:
T = + l y t f + / * ? ) = ^ ( kW x + kW y + k W : )
1500
(0 .5 5 )2(0.012496)2 + (0 .5 7 )2(0.139612 )2 + (0 .5 0 )2 (0.18144)2
= 10.96 k g-m 2/s2 = 10.96 N m T = 10.96 J A

PROBLEM 18.54
Determine the kinetic energy o f the space probe o f Prob. 18.34 in its
motion about its mass center after its collision with the meteorite.
S O L U T IO N
Point o f impact: = (2.7 m )i + (0.225 m )k
Initial linear momentum o f the meteorite, (kg-m /s):
m v0 = (0 .1 4 )(v vi + v,,j + v .k ) = 0.14vvi + 0.14v, j + 0.14v.k
' j k
(HA = rA = " ,v<> = 2.7 0 0.225

0.14yr 0 .14v,. 0 .14v.
= -0.0315v, i - (0.378v. - 0.0315vv) j + 0.378v,k
Final linear momentum o f the meteorite, (k g m/s):
0.75 w v 0 = 0.105vrl + 0.105v,.j + 0.105v.k
rA x (0.75m vo) = -0.023625vri - (0.2835v. - 0.023625vv) j + 0.2835v,k
Initial linear momentum o f the space probe, (kg-m /s): w 'vq = 0
Final linear momentum o f the space probe, (kg-m /s):
m '(v 'i + v'.j + v'.k) = 1500(-0.017i + v'.j + v'.k)
Final angular momentum o f space probe, (k g -n r/ s ):
H , = m '{k la )x\ + k~.covj + k 2a).k\
= 150o|jo.55): (0 .0 5 )i + (0 .5 7 )2 (- 0 .1 2 ) j + (0 .5 0 )2 ft>.kj
= 22.68751 - 58.482j + 375ry.k
Conservation o f linear momentum o f the probe plus the meteorite, (k g -n r/ s ):
0.14vvi + 0.14v,j + 0 .14v.k = 0.105v( i + 0 .105 V, j + 0.105v.k
+ (1500) (-0 .0 1 7 ) i + 1500v', j + 1500v >

i: 0.035vx = - 2 5 .5 vx = -728.57 m/s
j: 0.035vv = 1500v'
y y
k: 0.035vz = 1500/
Conservation o f angular momentum about the origin.
-0.0 315vyi - (0.378vz - 0.0315vx ) j + 0.378v^k = -0.023625vî - (0.2835vz - 0.023625vz ) j
+ 0 . 2 8 3 5 ^ + 22.6875i - 58.482j + 375ft>zk
i: -0.007875v>) = 22.6875 vy = -2880.95 m/s
k: -0.0945vr = 315coz
G)z = -2 5 2 x lO ^ v^ coz - -0.726 rad/s
Kinetic energy o f motion o f probe relative to its mass center:
T ' = ^ ( l xa 2
x + I y t f + I za>]) = ~ m ( k 2
xco2
x + k2
yco2
y + k2
z( o ] )
= - ( 1 5 0 0 )[(0 .5 5 )2 (0 .0 5 )2 + (0 .5 7 )2 (- 0 .1 2 )2 + (0 .5 0 )2 (-0 .7 2 6 )2
r - 102.9 J <
PROBLEM 18.55
Determine the rate o f change H c o f the angular momentum H c o f the
plate o f Prob. 18.1.
S O L U T IO N
m 8 kg, a = 600 mm = 0.6 m
b = 300 mm = 0.3 m
Use principal axes x', z' as shown.
0.15
tan/? = = 0.5 /? = 26.565
0.30
to = (5 rad/s)i
= cox\' + eoyjf + ta ,k '
co, = 5 cos p rad/s, coy. = 0
co.- = - 5 sin p rad/s
V JLr For the rectangular plate,
I , = m b 2 = - ^ ( 8 ) ( 0 . 3 ) 2 = 0.06 kg m 2
h = ^ m 2 = - ^ ( 8) ( 0-6 ) 2 = 0.24 k g m 2
H c = I,c o xX + I j a y ! + I , c o , k '
H c = (0 .0 6 )(5 c o s y 9 )i' + 0 j + (0 .2 4 )(- 5 c o s / ? )k '
= (0.3 cos/ ?)(cos/ ?i + sin/?k) + (- 1 .2 sin / ? )(- s in /?i + cos/?k)
= ^0.3cos2 P + 0.24sin2 /?)i - (1.2 - 0.3)sin /?cos /?k
= (0.480 k g m 2/s)i - (0.360 kg m 2/s)k
Let the frame o f reference Gxyz be rotating with angular velocity
f l = to = (5 rad/s)i
Then, Hc = (h g ) + Q x H c = 0 + to x H 0
' ' Gxyz
H 0 = 5i x (0.480i - 0.360k) = (l.8 kg m 2/s)j
H c = (1.800 N m ) j A
PROBLEM 18.56
Determine the rate o f change H G o f the angular momentum H G o f rod
A B o f Prob. 18.2.
SOLUTION
m = 1.8 kg, I = 600 mm = 0.6 m
y y
, . ( 1 2 0 0 J M = 125.664rad/s
60
x Use principal axes x', y as shown.
a>x< = -<ysin 20 = -42.980 rad/s
a>y = rucos20 = 118.085 rad/s
For the rod, 0
I y = ~ ^ m l2 = ^ ( l . 8 ) ( 0 . 6 ) 2 = 0.054 k g-m 2
H G = I x O)xH + Iy O j/ i + I z,0)2.k '
= 0 4-(0.054)(118.085) j' + O
= 6.3766j'
= 6.3766 (sin20i + c o s 2 0 j)
= (2.1809 k g m 2/s)i + (5.9920 k g -m 2/ s)j
L et the frame o f reference Gxyz be rotating with angular velo city
Q = <yj = (125.664 rad/s) j
Then, H G = ( H g ) g^ + Q x Hg
H g = 0 + (125.664j ) x (2.1809i + 5.9920j) = -(2 7 4 .0 6 k g -m 2/s2) k
H g = - (2 7 4 N - m )k A
PROBLEM 18.57
Determine the rate o f change H D o f the angular momentum H 0 o f the
assembly o f Prob. 18.3.
S O L U T IO N
m - W = 0.093168 lb s /ft, / = 24 in. = 2 ft,

g 32.2
o) = (12 rad/s)i
For rod A D B , H D = I xco\ ~ 0, since I x 0.
For rod C D E , use principal axes x', y as shown.
co s# = , # = 41.410
E -x .'
12
cox- = <y c o s # = 9 rad/s2
<y. = rusin# = 7.93725 rad/s2
co.' = 0
I r. 0
7 / = i l m' ! = i i ( 0 0 9 3 l 6 8 ) ( 2 ) !
= 0.0310559 lb s2 -ft
H0 = I x cox\' + Iy(oyj' + L e o , k'
= 0 + (0.0310559) (7.93725) j ' + 0
= 0.246498j'
H d = 0.246498(sin#i + c o s # j) = 0.1630451 + 0.184874j
Let the frame o f reference Dxyz be rotating with angular velocity
Q = to = (12 rad/s)i
Then, Ho = (^ d) ^ + Q * H d = 0 + (d x H d
H d = 12i x (0.1630451 + 0.184874j)
H 0 = (2.22 lb ft ) k 4
PROBLEM 18.58
Determine the rate o f change H o f the angular momentum H ^ o f the
square plate o f Prob. 18.4.
PROBLEM 18.59
Determine the rate o f change H , o f the angular momentum H A o f the
d is k o fP ro b . 18.5.
S O L U T IO N
co = (o2i + e o j = (8 rad/s)i + (16 rad/s)j
For axes x\ y , z' parallel t o x ,y , z with origin at A,
Tx. = - m r2 = (6 )(0 .1 6 0 )2 = 0.0384 kg m 2
L = Tx. = 0.0384 k g m 2, = Tx. + L = 0.0768 k g m 2
H , = I xcox\ + j + I . co. k
= (0 .0 3 8 4 )(8 )i + (0.0768) (1 6 ) j + 0
= (0.3072 kg m 2/s)i + ( l .2288 k g-m 2/s)j
Let the frame o f reference Axyz be rotating with angular velocity
Q = eo2i = (8 rad/s)i
Then, H = (HA + Q x H , = 0 + eo{\ x H ,
H A = 8i x (0.30721 + 1.2288j) = (9.8304 k g-m 2/s2)k
H 4 = (9.83 N m )k <
PROBLEM 18.60
Determine the rate o f change H ,, o f the angular momentum H 4 o f the
d is k o fP ro b . 18.6.
r - 100 tutu
S O L U T IO N
to = ft>2j + <u,k = (4 ra d / s)j + (l2 ra d / s)k
For axes x', y', z parallel to x ,y , z with origin at A,
Jx. = m r 2 = ^ (8 ) (0.100) 2 = 0.02 k g -m 2
I y = I x. = 0.02 k g -m 2, I z- = I x- + I y, = 0.04 k g -m 2
H A = Tx 0)x\ + Ty.(Oy.} + T .c o .k
= 0 + (0 .0 2 )(4 ) j + (0 .0 4 )(l2 )k = (0.08 kg m 2/s) j + (0.48 kg m 2/s)k
Q = a>2j = (4 rad/s) j
Then, 11^= (H ^ )^ + O x = 0 + <y2j x H ,
H 4 = 4 j x (0.08j + 0.48k) = (l.9 2 k g m 2/s2) i
H 4 = (1.920 N m )i A
PROBLEM 18.61
Determine the rate o f change H 0 o f the angular momentum H 0 o f the
assembly o f Prob. 18.3, assuming that at the instant considered the
assembly has an angular velocity co = (12 rad/s)i and an angular
acceleration a = (96 rad/s2)i.
S O L U T IO N
m = = = 0.093168 l b s 2/ft, / = 24 in. = 2 ft, to = (12 rad/s)i

g 32.2
F o rrod 4 D , H 0 = /t<yi 0, since I x 0.
For rod C D E , use principal axes x', y ' as shown.
cos<9 = , (9 = 41.410
12
cox- = co cos 6 = 9 rad/s2
coy. = tusin# = 7.93725 rad/s2
CD,' = 0
a = (96 rad/s2j i
a x> = a co s# = 72 rad/s
or . = a sin # = 63.498 rad/s2
I, = 0
I y- = m l2 = ^ ( 0 . 9 3 1 6 8 ) ( 2 ) 2 = 0.0310559 kg m 2
I , = Iy-
Ho =
= 0 + (0 .0 3 10559)(7.93725)j + 0 = (0.246498 lb s - ft )j'
Let the reference frame D x 'y 'z' be rotating with angular velocity
2 = tui = cox.i' + c o .$ = 9i' + (7.93725 rad/s) j'

= I x , a x.i' + Iy C t/j + I z.azk ! + Q x H D
- 0 + (0.0 31055 9)(63.4 98)j + 0 + (9 i' + 7.93725j ') x (0.246498j')
= 1.97199j' +2.21848k
= (l.97199 k g -m 2/s2)(s in # i + c o s # j) + (2.21848 k g -m 2/s2) k
H d = (1.304 N - m ) i + (1.479 N - m ) j + (2.22 N m ) k <

PROBLEM 18.62
Determine the rate o f change H D o f the angular momentum H D o f the
assembly o f Prob. 18.3, assuming that at the instant considered the
assembly has an angular velocity co = (12 rad/s)i and an angular
acceleration a = -^ 9 6 rad/s2)i.
SOLUTION
m = = = 0.093168 lb s2/ft, / = 24 in. = 2 ft, = (12 rad/s)i

g 32.2
For rod A D B , H D = I xcoi 0, since I x ~ 0.
For rod C D E , use principal axes x , y ' as shown.
co s# = , 0 = 41.410
12
co, = cocosO = 9 rad/s2

%
tw. = cosmO = 7.93725 rad/s2

y
co.- = 0
a - - { 9 6 rad/s2 j i
a , = a co s # = -7 2 rad/s
a,,. = a sin d = -63.498 rad/s2
I, 0
1 1
ly ' = 1 = 1 ^ ( - 93168) ( 2) = -0310559 kg m 2
h ' = //
H D = I x'0)xX + IyCOyf + 1,00, k '
= 0 + (0.0310559)(7.93725) j + 0 = (0.246498 lb s -ft) j'
L et the reference frame D x 'y 'z ' be rotating with angular velocity
Q = coi = co,i' + coyH = 9i' + (7.93725 rad/s) j '

H = ( 4 * > y + n x H >
= I x,ax.i' + l y,ay,j' + I z,az,k' + Q x H D
= 0 + (0 .0 3 1 0 5 5 9 )(-6 3 .4 9 8 )j + 0 + (9 if + 7.93725j') x (0.246498j')
= -1.97199j' + 2.21848k
= -(1.97199 k g -m 2/s2 )(s in # i + c o s # j) + 12.21848 k g -m 2/s2)k
H d = -(1 .3 0 4 N - m ) i - (1.479 N - m ) j + (2.22 N - m ) k 4

PROBLEM 18.63
|
A homogeneous 4-kg disk is mounted on the horizontal shaft AB. The
20
plane o f the disk forms a 20 angle with the yz plane as shown. K n ow in g
that the shaft rotates with a constant angular velocity co o f magnitude
10 rad/s, determine the dynamic reactions at points A and B.
S O L U T IO N
a' .y
Use principal axes x ', y ', z' as shown.
to = (o > c o s # )i' - (< w sin # )j'
o a = 0
J X
B
a - J\\ Moments o f inertia:
A
/ = m r 2, I = /.. = m r 2
x 2 y 2 4
Angular momentum:
H 0 = I x (Ox\' + Iy COy \ + 1. (0. k
9
1 2 1 2
= mr~co cos B \-----m r o s in t fj
2 4 J
Let the frame o f reference G x'y 'z' be rotating with angular velocity
Q = to
" c = ( h 4 , / , + O H 0
= I x a x i' + Iy -O y i + / . a - k
+ (< ycos# i' - < ysin ^ j') x [ m r2cocos 0 i' - m r2 sin 0 j'
1 , 2
= m r"< y sin # cos 0k
4
Since the mass center G lies on the rotation axis, v = 0, a = 0
XF = ma: A + B = ma = 0 B = -A
X M 0. = H 0 :
- a i x A + a i x B = -2 a i x yA} ,j + y4.k)
2aA.i - 2aA,k = m r2a)2 sin # c o s # k

4
1 m rW s m O co s e _ (4 )(0 .2 5 )2( l 0 ) 2sin 20cos20

2.01 N
y 8 a (8 )(0 .5 )
4 = 0 A = -(2 .0 1 N ) j <
By = - A y = 2.01 N , 4 = 0 B = (2.01 N ) j <

PROBLEM 18.64
A thin homogeneous 0.8-kg rod is used to form the shaft shown.
K now ing that the shaft rotates with a constant angular velocity a> o f
magnitude 20 rad/s, determine the dynamic reactions at points A and B.
S O L U T IO N
Length o f rod: L = 0.2 + 0 .2 * = 0.82832 m
Angular velocity: to = o)\ = (2 0 rad/s)i
Angular acceleration: a - ai
Angular momentum: H (; = I Kco\ - I r:cok
Let the reference frame Gxyz be rotating with angular velocity
Q = co = coi
Rate o f change o f angular momentum: H G = (H e ,) + Q x H (;

' ' Gxyz
H g = I xa xi - l xza xk + roi x ( / rrui - /t.ruk)
= I xa\ + I XZG)~\ - I x.a k
E F = m a: A + B = ma B = -A
X M g = A/0i + ( - 6 i x A ) + (fci x B ) = M ()i - 2bi x A
= A f0i - ( 2 b \ ) x [ a v\ + /Lk) = A/0i + 2bA .j - 2bA}k
Set Z M C = H (/ and resolve into components.
i: M 0 = I xa
j: 2bA. = /c <y
2b
k: -2 b A v = - 7 Av = = _
y > 2 b y
Calculation o f I x and I x:
m
Let p = mass per unit length = .
For portions A C and DB,
I x = o, /c = 0
For portion C G use polar coordinate 6.

= - r ( l - c o s # ), z = - r sin # dm = p r d d
x = \z2dm = r 1 d prd d =
xz - fxzdm = J^r2 ( l - c o s # )s in # p r# # = 2p r 3
Likew ise, for portion G D ,

h = 7 = 2P r
v 3 / zw 3 . 3 4 mrJ
Total: 7X = * p r = - , = 4pr =
Reactions:
2bL (2 )(0 .3 )(0 .8 2 8 3 2 )
Ay = 0, By = 0 A = (2.58 N ) k <
Bz = - A z = -2.58 N B = - (2 .5 8 N ) k <
PROBLEM 18.65
When the 40-lb wheel shown is attached to a balancing machine and
P
made to spin at a rate o f 750 rpm, it is found that the forces exerted by the
wheel on the machine are equivalent to a force-couple system consisting
of a force F = (36.2 l b) j applied at C and a couple
M c = (10.85 l b f t ) k , where the unit vectors form a triad which rotates
with the wheel, (a ) Determine the distance from the axis o f rotation to the
mass center o f the wheel and the products o f inertia I xy and I :x,
L ( b) I f only tw o corrective weights are to be used to balance the wheel

statically and dynamically, what should these weights be and at which o f
the points A, B, D , or E should they be placed?
S O L U T IO N
m = = 1.24224 lb s2/ft, co = 3 ^ i Z l j = (78.54 rad/s)i

32.2 60 v
(a ) The force-couple system acting on the wheel is
F ' = -(3 6 .2 lb )j, M'c = -(1 0 .8 5 l b f t ) k
_ _ 2 _ __ i F
F = m a = -m rco~ r = y j + zk = ----- -
mco~
> -JO.Z = 4 7241 x I0 -3 ft y _ 0 0567 in

mco- (1.24224) (7 8 .5 4 )
F'
z = *= = 0 r = 0.0567 in. 4
mco~
H ( . = l xco\ - /<uj - I x:eok
M'c = H c- = co x H ( = a)i x ( I xcoi - Ico\ - I x-(o k )
{ M 'c )y i + { M 'c ) . k = / * 2j " Ix / o 2V.
I = ^Mc) z = _ ( _1 0 -8^ ) - 1.75893 x 1 0 '3 lb s2/ft

v co2 (78.54)
I v = 1.759 x 10"3 lb s2 ft <

o
o
II
II
II

"a
( b) Positions for the balance masses.
yA = t b = - y E = - y o = 7 25 in- = 0-60417 ft
- x A = x B = x E = - x D = 3 in. = 0.25 ft
Balance masses must be added to m ove the mass center to point C a n d to reduce the product
o f inertia to zero.
mAy A + mByts + Ey E + W d + my =
( 0 . 6 0 4 n )(m A + mB - mE - mD ) + (l.24224)(4.7241 x 1 0 '3)
mA + mB - mE - mD = -9.7133 x 10-3 (1)

mAxAyA + mBx ByB + + mDx Dy D + I xy = 0
(0 .2 5 )(0 .6 0 4 1 7 )(-w ^ + mB - mE + mD ) + 1.75893 x 10 3 - 0
- m A + mB - mE + mD = -11.6452 (2)
T o solve (1 ) and (2 ), set mB = 0 and let mAD = mA - mD .
Then, mAD - mF = -9.7133 x 10~3
and ~ m AD ~ m E ~ -11-6452 x 10-3
Solving, mAD = 0.9660 x 10 3 lb s2/ft, mE = 10.6792 x 10~3 lb s2/ft
Set mD = 0, so that mA = 0.9660 x 10 3 lb-s2/ft.
Then, WE = mEg = (l0.6792 x 10 3)(3 2 .2 ) = 0.3439 lb, WE = 5.50 o z -A
WA = mAg = (0.9660 x 10-3)(3 2 .2 ) = 0.0311 lb, WA - 0.498 o z <

PROBLEM 18.66
A fte r attaching the 40-lb wheel shown to a balancing machine and
making it spin at the rate o f 900 rpm, a mechanic has found that to
balance the wheel both statically and dynamically, he should use two
corrective weights, a 6-oz w eight placed at B and a 2-oz w eight placed at
D . Using a right-handed frame o f reference rotating with the wheel (w ith
the z axis perpendicular to the plane o f the figure), determine before the
corrective weights have been attached ( a) the distance from the axis o f
rotation to the mass center o f the wheel and the products o f inertia /
O
and I a , ( b) the force-couple system at C equivalent to the forces exerted
by the wheel on the machine.
S O L U T IO N
m - - 1.24224 l b s 2/ft, to = j - (94.248 rad/s ) i

32.2 60 V ;
mB = 7 w --------r = 1 1.646 X 10"3 l b s 2/ft

(1 6 )(3 2 .2 )
mD = ^ = 3.882 x 10"3 lb s2/ft

(1 6 )(3 2 .2 )
x B = 3 in. = 0.25 ft, y B = 7.25 in. = 0.60417 ft
xD = -0.25 ft, y D = -0.60417 ft
(a ) Balance masses are added to m ove the mass center to point C and to reduce the products o f inertia to
zero.
mByB + mo y o + my = 0
(l 1.646 x 10_3)(0 .6 0 4 1 7 ) + (3.882 x 10-3)(- 0 .6 0 4 17) + 1.24224y = 0
y = -3.7761 x 10"3 ft y = -0.0453 in. <
1 =0 I = 0 <
mBx By B + mDx Dy D + 1 ^ = 0
( l 1.646 x 10 3)(0 .2 5 )(0 .6 0 4 1 7 ) + (3.882 x 10_3)(- 0 .2 5 )(- 0 .6 0 4 1 7 ) + 1 ^ = 0
I v = -2.3454 x 10 '3 lb-s2 -ft
l xy = -2.35 x 10-3 lb-s2 -ft <
Ia = 0 <
( b) Force-couple system exerted on the wheel:
F ' = ma = - m r o ) 2 = (l.2 4 2 2 4 )(3.7761 x 10 3j)(9 4 .2 4 8 )2
= (41.7 l b) j
H G = I /ox - I XYCt)\ - I x-Cok
M 'c = H c = to x H r = I^ tu 2j - /rvt : k
= 0 - (-2 .3 4 5 4 x 10 )(9 4 .2 4 8 ): k = (20.8 lb -ft)k
Force-couple system exerted by the wheel on the machine.
F = -F ' F = - (4 1 .7 lb ) j <
M c = -M e M c = - (2 0 .8 l b- f t ) k <
PROBLEM 18.67
The assembly shown consists o f pieces o f sheet aluminum o f uniform
thickness and o f total mass 1.5 kg w elded to a light axle supported by
120tutu bearings A and B. K now ing that the assembly rotates at the constant rate
co = 240 rpm, determine the dynamic reactions at A and B.
S O L U T IO N
Mass o f sheet metal: m = 1.5 kg.
Sheet metal dimension: b = 0.120 m
Area o f sheet metal: A = - b 2 + b 2 + b 2 + - b 2 = 3b2 = 0.0432 m 2
Let p = ~ = - = 34.722 kg/m2 = mass per unit area.

A 0.0432
Moments and products o f inertia: ^mass = P li m.a

xy plane (rectangles)
1 \d
------------
\ / = - b A + - b4 = - b A
x 3 3 3
D b b
i Va C b Ix = \ p b A 34.722)(0.120)4
b
= 4.8 x 10-3 k g - n r
i
1 .4
-5 *1 - - - b
2
l*y = ~ p b A = --J -(34.722)(0.120)4
= -3 .6 x 10 3 kg-m "
xz plane (triangles)
I x = bA + bA = - b A
12 12 6
l x = - p b A = (3 4 .7 2 2 )(0 .1 2 0 )4
6 6
= 1.2 x 10 "3 kg- m

For calculation o f/ rz, use pairs o f elements dA{ and dA2: dA2 = dAv
Ixz ~ f x j d A 1 + J(4b - x ) ~ ^ j d A 2 = - j ( 2 b - x )z d A x = -J ^ (2 b - x ) z 2dx
but z - x.
2^4 _ I z>4A
Hence, h z = - ( 2bxl - x ^ d x = b4
3 4 12
4z = - = -^ | (3 4 .7 2 2 )(0 .1 2 0 )4 = -3 .0 x 10~3 k g -m 2
Total for l x : I x = 4.8 x 10-3 + 1.2 x 10~3 = 6.0 x 10"3 k g -m 2
The mass center lies on the rotation axis, therefore a = 0
X F = A + B = /wa = 0 A = -B
= 7x<wi - I xyco] - 7xz&>k & - coi, a - ai
Q = co = co\
M 0i + 4b\ x [B y\ + J92k ) = I xa\ - I ^ a ] - I n a k + c o ix (7xtyi - I^ c o j - f x:cok)
M 0i - 4b B J + 4bByk = I xa\ - ( l ^ a - 7xz<y2) j - ( l xza + I ^ c o ^ k
R esolve into components and solve for By and Bz.
i: M 0 = I xa
[ xya ~ I xz<a
4b
(h z a + I Xy ( 2 )
k: B
4b
Data: a = 0, co = ----- = 25.133 rad/s, b - 0.120 m A70 = 0

60 0
0 - ( - 3 . 0 x l 0 ' 3)(2 5 .1 3 3 )2
B, = = 3.95 N
( 4 )( 0 . 120)
0 + (- 3 .6 x 10~3)(2 5 ,1 3 3 )2
Bv = * = 4.74 N
y
(4 )(0 .1 2 0 )
Ay = -B y = -4.74 N
Az = - B z = -3.95 N
A = - (4 .7 4 N ) j - (3.95 N ) k <
B = (4.74 N ) j + (3.95 N ) k <

S O L U T IO N
Mass o f sheet metal: m - 1.5 kg.
Sheet metal dimension: b = 0.120 m
A rea o f sheet metal: A = - b 2 + b 2 + b2 + - b 2 = 3b2 = 0.0432 m 2

2 2
Let p = = = 34.722 kg/m2 = mass per unit area.

A 0.0432
Moments and products o f inertia: ^mass P i arca
J xy p lane (rectangles)
V>
Ix = -b 4 + - b 4 = - b 4
Vi x 3 3 3
D b fc b
c: b IS I x = | p b 4 = | (3 4 .7 2 2 )(0 .1 2 0 )4
b
= 4.8 x 10 3 k g -m 2
L i , ' = - - b 4
v 2 j 2
i v - p * ' = - L 34-722) ! 0-120) 4
= -3 .6 x 10~3 k g -m 2
/ = l _ b* + b* = }_ b4
x 12 12 6
4 = = 7 ( 34-7 2 2 )(0.120) 4
0 o
For calculation o f/ xz,use pairs o f elements dA, and dA2 : dA2 = dA]
f \
I xz = x dA] + |(4b - x ) - dA2 = - J (2 b - x )z d A ] = - J*{2b - x ) z 2dx
v 2y
But z - x,
Hence, h z = - r ( 2fox 2 - x 3)<& - * -b '

12
I Xz = ~ P b 4 = - ^ (3 4 . 7 2 2 )(0 . 1 2 0 )4 = -3 .0 x 10 3 k g -m 2
Total for 7V I x = 4.8 x 10~3 + 1.2 x 10~3 = 6.0 x 10 3 k g -m 2
The mass center lies on the rotation axis, therefore a = 0
F = A + B = ma = 0 A = -B
H a = I xcoi - I xycoj - Jxzcok ffi = on, a = ai
L et the frame o f reference Axyz be rotating with angular velocity
Q = co = m
SM , = H, = (H ,)^ + !x H ,
M 0i + 4Si x ( B j j + S .k ) = I , a i - / . . j - ! : a k + m\ x (7 / xi - / y j - I a mk )
M , ,i - 4W?Z.j + 4 ^ k = 7X - (/x>,a - 4 # E)j - (/â + F>/w2)k
R esolve into components and solve for B and Bz.
i: M 0 = I xa
( I xya ~ I xz(D2)
j: Bz
4b
( / + I xyo )2)
k: By = -
4b
Data: a -0 , co = 2;r( 360i = 37.699 rad/s

60
M0 = 0
0 - ( - 3 . 0 x l 0 " 3) (37.699)2
= 8.88 N
(4 )(0 .1 2 0 )
0 + ( - 3 . 6 x l 0 ~ 3) (37.699)
= 10.66 N
5, = -
(4 )(1 2 0 )
Ay = - B y = -10.66 N
-B , = -8.88 N
A - -(1 0 .6 6 N ) j - (8.88 N ) k <
B = (10.66 N ) j + (8.88 N ) k ^
PROBLEM 18.69
21r K n ow in g that the assembly o f Prob. 18.63 is initially at rest ((< y = 0 )

when a couple o f moment M 0= ( 2 5 N m ) i is applied to the shaft,
determine (a ) the resulting angular acceleration o f the assembly, ( b) the
2S0 mm
dynamic reactions at points A and B immediately after the couple has
been applied.
S O L U T IO N
U se principal axes x\ / , z' as shown.
(0 = 0
a = (a c o s # )i' - (a s in ^ )j'
Moments o f inertia:
/, = m r2, I = I = m r2
* 2 y 2 4
Angular momentum:
H c = l x (Ox-i' + I y (oy-} + 1. (0. k
1 2 1 2
= m r'co cos 0 \ ---- m r'c o s m d i
2 4
Let the frame o f reference G x'y'z' be rotating with angular velocity
Q = to = 0
" - K W + q h c
= {xaA ' + +0
= m r 'a cos 9 'i - m r 2a sin 6 'i

2 4
= -^m r2a c o s 0 (c o s ^ i + s in tfj) - ^mr2a r s in ^ (- s in ^ i + c o s # j)
2 f 1
= m r a cos ~ 6 + sin2^ i + m r2a sin 6 cos 6\
U 4 4
Z F = m a: A + B = ma = 0 B = -A
X M g = M 0i + ( ~ a i ) x (A yj + Azk ) + ( a i ) x ( Byj + Bzk )
= M 0\ - 2ai x (/ ivj + A ,k )
= M 0i + 2aA J - 2aAz
SM C = HG Resolve into components.
(a ) i: M n = m r2a\ cos2 9 + sin2 9
1 ( 1 1
25 = (4 )(0 .2 5 0 ) a - c o s 2 20 + - s i n 2 20
v2 4
= 212 rad/s2 4
1 9
(b ) j: 2aA = m r~a sin 9 cos 9
J z 4
m r2a s m 9 c o s 9 _ (4 )(0 .2 5 0 )2(2 1 2 )sin 2 0 co s2 0 _

8a _ (8 )(0 .5 0 0 ) =
k: - 2 aAy = 0 Ay 0 ^ = (4.27 N ) k <
B = - { A l l N )k A
PROBLEM 18.70
100 nun K now ing that the shaft o f Prob. 18.64 is initially at rest (<y = 0 ),
/
determine ( a) the magnitude o f the couple M 0 = A/0i required to impart
to the shaft an angular acceleration a = ( l 5 0 rad/s2ji, ( b) the dynamic
reactions at points A and B immediately after the couple has been applied.
S O L U T IO N
Length o f rod: L = 0.2 + 0.2n = 0.82832 m
Angular velocity: co = co\ = (2 0 rad/s)i
Angular acceleration: a = ai
Angular momentum: H g- = I x(o\ - I x.eok
Let the reference frame Gxyz be rotating with angular velocity
Q = to = co\
Rate o f change o f angular momentum: H (; = ( H g ) ( . + f l x Hc
H c = I xa xi - I xza xk + co\ x y xco\ - /t.<yk)
= Txa i + 1^ ( 0" ) - Tx:a k
I F = ma A + B = ma B = -A
= M ()i + ( - 6 i x A ) + (6 i x B ) = M 0i - 2b\ x A
= M 0i - (2 6 i) x Âyj + /Lk j = A/0i + 26/1. j - 2bAt k
Set = H G ar>d resolve into components.
i: M 0 = I xa
j : 2bA. = 7 _ 2 A. = ^x:C~ = B,
2b
k: 2bA v = I^ a Av = a = Bv
> ** y 2b y
Calculation o f I x and l x, :
. A , m
Let p = mass per unit length =
D L
--------- ----------- V
= = 'C Q \ r For portions A C and D B y
z / l x = 0, 1^=0
z
S- For portion C G use polar coordinate 9.
x - - r ( l - c o s # ), z = -r s in # dm - p r d d
I x = f z 2dm = r 2 sin2 Oprdd = p r 3
I xz = jxzdm = j ^ r 2( l - c o s # )s in Oprdd = 2 p r i
Likew ise, for portion G D
3 n m r2 4 m r2
Total: I x = npr = I xz -
n m r3 ; r ( 0 .8 )(0 .l)3 (150)

(a ) M n = ------- a =
0 L 0.82832
M 0 = 0.455 N -m A
. W a .W ( M X M f ( ) . aM 6N
(b )
261 (2 )(0 .3 )(0 .8 2 8 3 2 )
o
cq
O
^hn
_N
A = (0.966 N ) H
II
II
B y = - A y = -0.966 N B = -(0 .9 6 6 N ) j M
PROBLEM 18.71
A 5-lb piece o f sheet metal with dimensions 8 x 32 in. was bent to form
the component shown. The component is at rest (co = 0 ) when a couple
M 0 = (0.6 lb f t ) k is applied to it. Determine (a ) the angular
acceleration o f the component, ( b ) the dynamic reactions at A and B
immediately after the couple is applied.
S O L U T IO N
m = *= 0.15528 lb -s2/ft, b = 8 in. = ft

32.2 3
A rea o f sheet metal: A = b2 + (2 b )b + b 2 = 4b 2 = 1.77778 ft2
_ m _ 0.15528
Let = 0.087345 lb-s /ft = mass per unit area
P ~ A ~ 1.77778
Angular velocity and angular acceleration: co = cyk, a - ak
Angular momentum about G:
H g = - I xzcoi - I yzco] + /.cyk = - I yza)j + /zcuk
L et the frame o f reference Gxyz be rotating with angular velocity Q = co = cyk
H g = ( H 4 , v_. + Q X H g = -I y . a j + I za k + I y,o)2\
Required moment and product o f inertia: P i*
Part A h
2
plate A b2 - b 2 + b2f V b2 ( b )
6 U j ( i 6) l z = p b 4 = (0.087345) (1.77778)4
plate A B 2b2 0 = 0.0172533 lb-s2 -ft
2 l m = p b 4 = 0.0172533 lb-s2-ft
plate B b2 - b 2 + b2 b2( - b )
6 u :4 *3
E 4b 2 b4 b4
Since the mass center lies on the rotation axis, a = 0
E F = A + B = mH B = -A
SM c : M 0k + bV. x A + ( - b k ) x B = A/0k + 2bk x + A vj )
= M 0k + 2bA J - 2bAvi
SM g = Hc Resolve into components.
M0 = I a a = M l = ----^ -----= 34.776 rad/s2

/, 0.0172533
a = 34.8 rad/s2 ^
^ - ( O . O n 2 5 M ) <3 4 . 7 7 6 ) . _ o 45Q|b
2bAx =
^ 2b (2 )(0 .6 6 6 6 7 )
- 2bAy
A = - (0 .4 5 0 lb )i <
B = (0.450 lb )i <
PROBLEM 18.72
For the component o f Prob. 18.71, determine the dynamic reactions at A
4 in. and B after one full revolution o f the component.
r r
S in .
- i '
8in.
4
S O L U T IO N
m = = 0.15528 lb-s2/ft, /> = 8 in. = - f t

32.2 3
Area o f sheet metal: A = b2 + (2 b )b + b 2 - 4b2 = 1.77778 ft2
Let p = = = 0.087345 lb-s2/ ft3 = mass per unit area

A 1.77778
Angular velocity and angular acceleration: co = cuk, a = ak
Angular momentum about G:
H (i- = - /,w j + I.cok = + J.cok
Let the frame o f reference Gxyz be rotating with angular velocity Q = co = <ok
H c = ( H g )c^ + n X H (; = - l r a\ + I . a k + /,_<y2i
Required moment and product o f inertia: /mass = pl.dKa
Part A 1.
2
plate A 1 l2 + b
b l' ( 1f ]
b
b2
6 12 J I , = p bA = (0.087345)(1.77778)J
plate AB 2b2 0 = 0.0172533 lb-s2-ft
1 /w = p b A = 0.0172533 lb-s2-ft
plate B b2 I * *(!*) '
S 4b2 hA bA
Z F = A + B = ma B = -A
I M G = A70k + 5 k x A + ( - 6 k ) x B = M 0k + 2bk x {A xi + Ay} j
= M 0k + 2bAxj - 2bAyi
SM g = H g Resolve into components.
k: M 0 = I.a a = ^ - = ----- ------ = 34.776 rad/s2

0 z I z 0.0172533
i-
j. 2bA -- - lV a*
2bAx A -- - ! *2b? - - -
Ax ( - 0172533)
(2 )(0 6 6 6( 34-776)
6?) - -004450
5 0 1lb
b
From kinematics: co2 = 2a d = (2 )(3 4 .7 7 6 )(2 w ) = 437.01 (rad/s)2
, I vzO}2 (0.0172533)(437.01)
i: -2 b A = I a2 Av = 2 = ^ & r 1 = -5.65 lb
y 71 y 2b (2 )(0 .6 6 6 6 7 )
A = - (0 .4 5 0 l b )i - (5.65 lb ) j <
B = (0.450 l b ) i + (5.65 lb )
PROBLEM 18.73
'J\
The shaft o f Prob. 18.64 is initially at rest [co = 0 ) when a couple o f
100nun moment M 0 = A/0i is applied. K n ow in g that the dynamic reaction at
100mill
point B is (1.5 N )j immediately after the couple has been applied,
/ ^y5l v- / ^ a i
lOrtiiim^^^T , -' b determine (a ) the initial angular acceleration o f the shaft, ( b) the applied
200rnm>*'^s^ ^ couple M 0.
200lum'*''^^^
X
100irniT^^^
SOLUTION
Length o f rod: L = 0.2 + 0.2n = 0.82832 m
Angular velocity: to = <ui = 20 rad/s i
Angular acceleration: a = ai
Angular momentum: H c = I xco\ - 7r.<yk
Let the reference frame Gxyz be rotating with angular velocity Q = co = <yi
Rate o f change o f angular momentum: Hc = (Hc ) + fix Hc

' ' Gxyz
Ho = / A * - + o)i x ( I xoj\ - l x:cok)
= I xa i + I x,co2j - I xza k
E F = ma A + B = ma B = -A
E M G = M 0i + ( - 6 i x A ) + (6 i x B ) = M 0i - 2bi x A
= M 0i - (2 6 i) x (/1J + /L k) = M 0i + Ib A .j - 2 b A y
Set E M C = H G and resolve into components.
i: M 0 = I xa
j: 2bA. = T^co2 A. = = -B z
2b z
k: 2bAv = L a Av = 7" a = fl
y 1 2b y
Calculation o f I x and I xz:
m
Let p = mass per unit length = .
L
For portions A C and D B ,
h = > J xz = 0
For portion C G use polar coordinate 6.
x = - r { \ - c o s # ), z = - r sin # dm = p rd Q
I x = j z 2dm = j f^ r 2 sin2 # p r d d - ~ P r3
I xz = fxzdm = f g f 2( 1 - c o s # )s in 0 p r d d - 2 p r
_ 71 T. r _ -2
Likew ise, for portion G D ,
h = ^Pr ^ = lpr
- 7 ;r/w 4/nr
Total: / = npr =
= 3 = = (2 )(0 .3 )(1 .5 )(0 .8 2 8 3 2 ) = ^

() a
4mr
a = - (2 3 3 rad/s2) i A
- _ nm Pcx _ (^ )(0 .8 )(0 .l)3 (-2 3 2 .9 7 )

(* ) M 0 = I xa =
0.82832
M 0 = - (0 .7 0 7 N - m ) i <
PROBLEM 18.74
The assembly o f Prob. 18.67 is initially at rest () the dynamic reactions at A and B immediately after the
couple is applied.
S O L U T IO N
Mass o f sheet metal: m = 1.5 kg.
Sheet metal dimension: b - 0.120 m
A rea o f sheet metal: A = b2 + b 2 + b2 + - b 2 = 3b 2 = 0.432 m 2
1YI 15
Let p - - = 34.722 kg/m" = mass per unit area
A 0.0432

( 7 Lass ~ P\ a
\o
V,
O b tZ b
v> c b B
x v plane (rectangles)
I x = - b A + - b A = - b4
1 3 3 3
/, = | p b A = | (3 4 .7 2 2 )(0 .1 2 0 )4
= 4.8 x 10"3kg m 2
1 .4
--b = --b
2 2
' = - ^ * 4 = - i(3 4 .7 2 2 )(0 .l2 0 )J
= -3 .6 x 10 3 kg m 2
/, = Z>4 + Z>4 = - b A
12 12 6
/- = io ^ 4 = 7o ( 34-722) ( 0 -120) 4
1.2 x 10~3k g m 2
For calculation o f I xz, use pairs o f elements dAxand dA2: dA2 = dAx
I xz = Sx-^dAj + S(4b - x ) f j c 4 2 = - f ( 2 b - x )z d A x = -J ^ (2 b - x^z2dx
But z = x.
Hence,
7*z = - x3) ^ = - f f - \ b*) = ~ f i b
I xz = ~ p b 4 = - ]| (3 4 .7 2 2 )(0 .1 2 0 )4 - -3 .0 x lO ^ k g - m 2
Total for L
\-3 i
I x = 4.8 x 10 3 + 1.2 x 10"3 - 6.0 x lO ^ k g - m "
The mass center lies on the rotation axis, therefore, a = 0
L F = A + B = ma = 0 A = -B
H 4 - I xcoi - l xyo>\ - I xzo)k cb = <yi, a = czi
Let the frame o f reference Axyz be rotating w ith angular velocity Q = oo = co\.
2 M ,= H ,= (H j^ + 2 x H ,
M 0i + 46i x [B y\ + B zk ) = I xa i - I xya ) - I xza k + c a i x ( l xo>\i - I xyco\ - I xzcok)
M 0i - 4bB J + 4bByk = I xca - [ l ^ a - I^ c o 2) j - ( i ^ a + 7 y y 2) k
R esolve into components and solve for B v and Bz.

i: M 0 - I xa
{jxy01 ~ Ixz> )
B 5 -----
(/n g
y 4b
Data: a = 150 rad/s2, co = 0, b - 0.120 m
{a ) M 0 = (6 .0 x 1 0 3)(1 5 0 ) = 0.9 N m M 0 = 0.900 N m 4
(- 3 .6 x 10_3) ( l 5 0 ) - 0
(b ) Bz =
= 4--------
; w -:
-2---- = --1-1
= -1.125 N
(4 )(0 .1 2 0 )
(- 3 .0 x 10-3) ( l 5 0 ) + 0
Bv = -4 = 0.9375 N
y (4 )(0 .1 2 0 )
Ay = - B v = -0.9375 N
Az = - B z = 1.125 N
A = - (0 .9 3 8 N ) j + (1.125 N ) k <
B = (0.938 N ) j - (1.125 N ) k <

PROBLEM 18.75
The assembly shown has a mass o f 6 kg and consists o f 4 thin 400-mm-
diameter semicircular aluminum plates w elded to a light 1-m-long shaft
AB. The assembly is at rest (<y = 0 ) at time t = 0 when a couple M 0 is
applied to it as shown, causing the assembly to complete one full
revolution in 2 s. Determine (a ) the couple M 0, ( b) the dynamic
reactions at A and B at t = 0.
SOLUTION
Fixed axis rotation with constant angular acceleration. a = a i, a> - <wi
0 = 0O + o j + a t 2 = a t 2 a = = 3.1416 rad/s2
0 v 2 2 t2 22
co = 0
Use centroidal axes x, y, z with origin at C. H c = l xco\ - I xy( 0\ - I^ co k
Let the reference frame Cxyz rotate with angular velocity Q = a> = coi
H c = ( H c ) Cn; + ft x H c = I xa i - / .a j - I x:a k + I^ c o 2j - I c o 2k
Required moments and products o f inertia. Let p = = mass per unit area
A
'mass = P A, r = 200 mm = 0.2 m
Part A K l *y
1 4
n r 2
2
n r
8
- V
3
0
1 4
n r 2
2
n r
8
0 - ^ 4
3
1 2
nr~
1
n r
4
-lr 4
2 8
0
3

1
nr~
2 1
n r
4
-!r 0
2 8 3
S 2n r 2
1
n r
2
4
- - r 4
3
- - r4
3
p = = ----- t 23.873 kg/m2

2n r 1 (0.2 f
= ( 2 3 . 8 7 3 ) ^ j ( 0 . 2 ) 4 = 0.06 k g' m
I xy = (23.873) (0 .2 ) = -0.05093 k g m 2
I xz = ( 2 3 . 8 7 3 ) f - - ] ( 0 . 2 ) 4 - -0.05093 kg m 2
V
F = A + B = Feff = ma = 0 A = -B
E M C = M 0i + ( - M ) x A + bi x B = M 0i + 2b\ x {^Byj + 5 zk )
= M 0i - 265zj + 2bByk where 2b = 1.0 m
SM C = H c R esolve into components.
i: M 0 = I xa = (0 .0 6)(3.14 16) M 0 = (0 .1 8 8 5 N - m )i M
j: - 2 b B z = - l ^ c t + I xzco2
_ - ( - 0 05093)(3.1416) + 0 _
1.0
B, 1600 N A = 0.1600 N
k: 2bBy = - I xza - I xyco2
(-0 .0 5 0 9 3 )(3 .1 4 1 6 ) + 0
= 0.1600 N Ay = -0.1600 N
y " L0
A = -(0 .1 6 0 0 N ) j + (0.1600 N ) k <
B = (0.1600 N ) j - (0.1600 N ) k ^
PROBLEM 18.76
For the assembly o f Prob. 18.75, determine the dynamic reactions at A
and B at I = 2 s.
S O L U T IO N
Fixed axis rotation with constant angular acceleration. a - a i, co = co\
1 2 2(9 2 (2 * ) 2
6 = 0a + (OfJ + at~ = a t ' a = , = 3.1416 rad/s
o 2 2 I2 22
co = (Oq + a t = a t = (3 .1 4 1 6 )(2 ) = 6.2832 rad/s
Use centroidal axes x ,y , z with origin at C. H c = I xcoi - I xy(o j - I x:cok
Let the reference frame Cxyz rotate with angular velocity Q = to = <ui
He = ( H r ) c^ + O * H r = I xa i - I a j - I ^ a k + I^ c o 2j - /,<y2k
Required moments and products o f inertia. Let p = = mass per unit area
A
Lass = P 1 a
rea r = 200 mm = 0.2 m
Part A L L
1 4
n r 2
2
-n r
8 3
0
1 4
n r 2
2
n r
8
0 -* r*
3
1 4 2 4
n r2 n r 0 r
2 8 3
1 4
n r2 n r -* r* 0
2 8 3
1 4
i 2n r 2 n r - r
2 3 3
m
y = 23.873 kg/m2
P ~ 2 ^ 2 * (0 .2 )
( \ \ ,
I x = (23.873) - n (0 .2 ) = 0 .0 6 k g m 2
= (23.873) (0 .2 )4 = -0.05093 k g -m 2
' 4 V . v4
/ = (23.873) - - ( 0 . i f = -0.05093 k g -m 2
V 3^
E F = A + B = F eff = ma = 0 A = -B
E M C = M 0i + ( - M ) x A + M x B = M 0i + 2bi x (B yj + Bzk )
= M 0i - 2bBzj + 2bByk where 2b = 1.0 m
EMC = H c R esolve into components.
i: M 0 = I xa = (0 .0 6 )(3 .1 4 1 6 ) M 0 = 0.1885 N m
j: - 2 b B z= - I ^ a + I^ c o 2
-(-0 .0 5 0 9 3 )(3 .1 4 1 6 ) + (-0 .0 5 0 9 3 )(6 .2 8 3 2 )2

-------------------------- 1.851 N , A , = -1.851 N
1.0
k: 2bBy = - I ^ a - I^ c o 2
(-0 .0 5 0 9 3 )(3 .1 4 1 6 ) + (~ 0.0 5093)(6 .2832 )2

2.17 N ,
1.0
By = Ay = - 2 .1 7 N
A = - (2 .1 7 N ) j - (1.851 N ) k <
B = (2.17 N ) j + (1.851 N ) k ^
PROBLEM 18.77
The flyw h eel o f an automobile engine, which is rigidly attached to the
crankshaft, is equivalent to a 20-in.-diameter, 0.75-in.-thick steel plate.
Determine the magnitude o f the couple exerted by the flyw h eel on the
horizontal crankshaft as the automobile travels around an unbanked curve
o f 600-ft radius at a speed o f 60 mi/h, with the flyw h eel rotating at
2700 rpm. Assume the automobile to have (a ) a rear-wheel drive with the
engine mounted longitudinally, (b ) a front-wheel drive with the engine
mounted transversely. (S pecific w eight o f steel = 0.284 lb/in3. )
SOLUTION
Let the x axis be a horizontal axis directed along the engine mounting, i.e., longitudinally for rear-wheel drive
and transversely for front-wheel drive.
Let the y axis be vertical.
The angular velocity o f the automobile, to2, equal to (y i p ) j, where v = 60 mph = 88 ft/s and p = 600 ft.
88 .
j = (0.146667rad/s)j
600
Angular velocity o f the fly w heel relative to the automobile: 0), = COxl
_ 2 ^ (2 7 0 0 ) _
where CO, 282.74 rad/s
60
Angular momentum o f fly wheel: H G = I xa\ i + I ycoyj
Let the reference frame Gxyz be rotating w ith angular velocity Q = co2j
H g - (H g )g + f l x H G = 0 + 2j x (/ x<y,i + I yco2j ) = - I xcoxco2k
Couple exerted by the shaft on the fly w heel: M = ~ I xcoxa>2k
Couple exerted by the fly wheel on the shaft: M ' = - M = I xcoxco2k (1 )
Data for fly wheel: W = y = (0.284 lb/in3) - ( 2 0 in.)2 (0.75 in.) = 66.916 lb
v4 j
W 66.916 2/a
m = = ---------- = 2.0781 lb-s /ft
g 32.2
^10a2
For a circular plate, / ^ m r 2 = (2 .0 7 8 1 ) = 0.72157 lb-s2-ft
12
Using Equation (1), M ' = (0 .7 2 1 57)(2 82.74 )(0.146 667)k = (29.9 lb - ft )k
(a ) Magnitude o f couple for rear-wheel drive: A f = 2 9 .9 1 b -ft4
(b ) For front-wheel drive: M ' = 29.9 lb-ft 4

PROBLEM 18.78
A n airplane propeller weighs 360 lb and has a radius o f gyration o f 32 in.
K n ow in g that the propeller rotates at 1600 rpm as the airplane is traveling
on a vertical circular path o f 2000-ft radius at 340 midi, determine the
magnitude o f the couple exerted b y the propeller on its shaft due to the
rotation o f the airplane.
S O L U T IO N
* ^
V V . X V
Choose axes x, y, z as shown.
Angular velocity o f airplane:

II

where v = 340 mph = 498.67 fit/s, p = 2000 ft
co2 = 49867 = 0.24933 rad/s, co, = <a2k

2000 2 2
Angular velocity o f propeller relative to the airplane: [ = a>xi
= (2 *0 (1 6 0 0 ) _ 552
1 60
Angular momentum o f propeller: H g = I xoJ\\ + I zco2k
L et the reference frame Gxyz be rotating with angular velocity Q = a>2k.
+ Q x H g = 0 + o)2k x ( i ^ i + I zco2k ) = - I xa>xa>2\

H0 - (* = W
Couple exerted on the propeller: M = H G = ~ I xo)xco2i
Couple exerted by the propeller: M ' = - M = I xcoxco2\ (1 )
Data for the propeller: m = W = 360 = 11.1801 lb-s2/ft

g 32.2
( 32^\2
h = iwJfcJ = (11.1801) I = 79.503 lb-s2-ft
v 12 y
U sing Equation (1), M ' = (7 9 .5 0 3 )(l6 7 .5 5 2 )(0 .2 4 9 3 3 )k = (3320 l b f t ) k
Magnitude o f couple: M = 3320 lb ft <

PROBLEM 18.79
The blade o f a portable saw and the rotor o f its motor have a total mass o f
l .75 kg and a combined radius o f gyration o f 30 mm. K now ing that the
blade rotates as shown at the rate coi = 2500 rpm, determine the
magnitude and direction o f the couple M that a worker must exert on the
handle o f the saw to rotate it with a constant angular velocity
co2 = - ( 2 . 4 rad/s)j.
S O L U T IO N
( 2^r)(2 5 0 0 )
co, = - = 261.8 rad/s to, = <y,k
1 60 1
Angular velocity: ca = a)2j + <y,k
Angular momentum o f rotor: H c = I vct)2j + /,<U|k
Let the reference frame Gxyz be rotating with angular velocity Q = co2\.
H c = (H c )c + O x H g = 0 + co2j x (/,.<y2j + /.<y|k j = I.a^coyi
Couple exerted on the saw: M = H G = I : co{(02\ = mk:co^(o2\
M = (1 .7 5)(30 x 10 3) 2(2 6 1 .8 )(- 2 .4 )i M = -(0 .9 9 0 N m )i <

PROBLEM 18.80
The blade o f an oscillating fan and the rotor o f its motor have a total mass
o f 300 g and a combined radius o f gyration o f 75 mm. They are supported
by bearings at A and B, 125 mm apart, and rotate at the rate
(Ox = 1800 rpm. Determine the dynamic reactions at A and B when the
motor casing has an angular velocity co-, = (0.6 rad/s) j.
S O L U T IO N
2 ^ (18 00)
to, = co,i co, = 1------ - = 188.5 rad/s
1 1 ' 6 0
Angular velocity: co = co,i + co-,j
Angular momentum: H () = /tcy,i + /,.<y2j
Let the reference frame be rotating with angular velocity O = <y-,j.
H c = (H c ) _ _ + Q x H c = 0 + <y2j x (/ T<y,i + /,.cy2j ) = - I xcoxco2k
Assume that the acceleration o f the mass center is negligible. Then the dynamic reactions at A and B reduce to
a couple.
A = -B
M = b\ x B = b\ x ( vj + _ k ) = - b B .j + b B vk
M = H0 Resolve into components,
j: -bB: = 0 B. = 0, A. = 0
, . D , D ZvCUiCU-, mkzcoM-,
k: bB.. = I.cotCO-, B.. = x 1 - =
y y a a
(0 .3 0 0 )(7 5 x 10 3) 2(1 8 8 .5 )(0 .6 )

B = ^ --------------------- 1 = _ i .527 N , A v = 1.527 N
-
y 0.125 3
A = (1.527 N ) j -4
B = -(1 .5 2 7 N ) j <
PROBLEM 18.81
Each w heel o f an automobile has a w eight o f 48 lb, a diameter o f 23 in.,
and a radius o f gyration o f 9 in. Th e automobile travels around an
unbanked curve o f radius 450 ft at a speed o f 65 mi/h. K n ow in g that the
transverse distance between the wheels is 4.5 ft, determine the additional
normal force exerted by the ground on each outside w heel due to the
motion o f the car.
SOLUTION
y For each wheel,
v = 65 mph = 95.333 ft/s, 0) x - 0
v 95.333 n l1 o r ,,
\ \ co = = --------- -- 0.21185 rad/s
J I P 450
I
7 \ r = = in. = = 0.95833 ft
2 2 24
J = m k2 = W k 2 = ( 48) ( 0-75) _ 0.83851 lb s2 ft

g 32.2
vv = 95 333 = 099478rad/s
r 0.95833
H g = I xa>xi + 7ya)yi + j z0)zk = IytOyi + ,k
L et reference frame Gxyz be rotating with angular velocity Q = a>yj.
H g = ( H c ) c^ + n x H g = 0 + 0)yi X {ly(Oy\ + I z(Ozk ) = l z0)z0)yi
H g = (0.83851 )(-0 .9 9 4 7 8 )(0 .2 1 1 8 5 )i = -(17.671 l b f t ) i
Let 0 be the point at the center o f the axle. For the tw o wheels plus the axle,
H 0 = H g + H g = -(3 5 .3 4 2 l b f t ) i
The distance between the wheels is 4.5 ft.
M g - 4.5k x F y) = -A .5 F yi
Set M 0 = H 0 and solve fo r F .
= 35.342 = _ ? g5 lfe * ^
y -4.5
PROBLEM 18.82
The essential structure o f a certain type o f aircraft turn indicator is shown.
Each spring has a constant o f 40 lb/ft, and the 7-oz uniform disk o f 2-in.
radius spins at the rate o f 10,000 rpm. The springs are stretched and exert
equal vertical forces on yoke A B when the airplane is traveling in a
straight path. Determine the angle through which the yoke w ill rotate
when the pilot executes a horizontal turn o f 2250-ft radius to the right at a
speed o f 500 mi/h. Indicate whether point A w ill m ove up or down.
S O L U T IO N
Let the a: axis lie along the axle A B and the y axis be vertical.
2;r( 10000)
cox = i = 1047.2 rad/s, v = 500 mph = 733.33 ft/s
60 K
73.333
p = 2250 ft, o)y = ~ = ~ = -0.32593 rad/s co. = 0
P 2250
To
Angular momentum: H c = l x<oxi + I ycovj + F c o .k = I x<ox\ + I vo>vj
Let the reference frame Gxyz be turning about the y axis with angular
velocity Q = cov'y
H e = ( H c ) Gxyz + O x H (; = (oy\ x [7 xo) xi + 7ycoyj )
Data for the disk: m = = 13.587 x 10'3 lb s2/ft

32.2
/ = mr~ = -(1 3 .5 8 7 x 10 3) f 1 = 188.708 x 10'6 lb-s2-ft

x 2 2' >{12J
M c = H c = -(188.708 x 10 6)(l0 4 7 .2 )(-0 .3 2 5 9 3 )k = (0.06441 lb - ft)k
The spring forces F., and F/; exerted on the yoke provide the couple
M c .T h e force exerted by spring B is upward.
Let Ffi = n Then F, = -F y
M p = rWA\ x T j = ^ - i x F j = 0.41667 F k
From M c = H G, 0.41667F = 0.06441 F = 0.154581b.

, a Compression o f spring B:
*Xk. t V . Q
^ i 0. F 0.15458
T 7 |e ^ - = 0.0038645 ft = 0.04637 in.
A r / A: 40
K-
Point B m oves 0.0464 in. down. Point A moves 0.0464 in. up
Turning angle for yoke:
0.4637 + 0.4637 A A 10 4
6 = = 0.01855 rad
9 = 1.063 ) 4
Point A m ovesi up. 4

PROBLEM 18.83
II 1 A thin ring o f radius r = 200 mm is attached by a collar at point A to a
'1 vertical shaft which rotates with a constant angular velocity co.
1 Determine ( a) the constant angle P that the plane o f the ring forms with
c j p > " the vertical when co = 10 rad/s, ( b) the largest value o f co for which the
ring w ill remain vertical ( P = 0 ).
if ' \
S O L U T IO N
Choose principal axes x ,y , z with origin at the fixed p o in ts.
J . U)
I x = m r 2 + m r2 = 2 m r2, 1 = I , = m r2
* 2
to = a>sin/?i + rwcos/Zj
H A = l x*>A + V y j + ! ; < *
= Zx<y sin /?i + I Yco cos /?j
Let the reference frame Axyz be rotating with angular velocity f i = to.
= fiÂxyz + X ^ = + * XHa
= (co sin p\ + co cos /?j) x (/ x<asin p\ + I Yco sin /?j)
= (/ v - Zx )<y2sin/?cos/?k = m r2co2 sin P cos /?k
I M ^ = -(/ n g rs in / ? )k =
g = rco2 cos P
2
2(9.81)
(a) COS P =
.*2 = 0.327
3rcoL (3 )(0 .2 0 0 )(1 0 )
P = 70.9 <
(6 ) Set P = 0, cos P = 1
; , j g = ( 2) ( 9.8 I )
3r (3 )(0 .2 0 0 )
co = 5.72 rad/s ^
PROBLEM 18.84
A thin ring o f radius r = 300 mm is attached by a collar at point A to a
vertical shaft which rotates with a constant angular velocity co.
Determine (a ) the value o f <a for which the ring forms a constant
angle P = 45 with the vertical y axis, ( b) the largest value o f co for
which the ring w ill remain vertical (/? = 0).
Choose principal axes x, y, z with origin at the fixed point A.
I Xr = m r2 + m r 2 = 2 m r2, /,,
y
= Lz =
2
m r2
co = casin fi\ + cacos p j
= I xa xi + ly V y i + B o j y
= I x0) sin [f t + I yco cos p\
L et the reference frame Axyz be rotating with angular v elocity Q = co.
HA = + Q x H /4= 0 + x H , (
= (co sin P'\ + co cos p ] ) x ( I xco sin p i + I yco sin P j )
-J
= [ l y - I x^co2 s in p c o s p k = m r2<a2sin/?cos/?k
E M a = - ( m g r sin P ) k = H A
g = -3 rco"2 cos P
2
0) 3rcos P (3 )(0 .3 0 0 )c o s 4 5
= 30.83
co = 5.55 rad/s 4
(b ) Set P = 0, cos P = 1
2 2g (2 )(9 .8 1 ) _
21.8
3r (3 )(0 .3 0 0 )
<a = 4.67 rad/s 4

PROBLEM 18.85
A uniform square plate o f side a = 9 in. is hinged at points A and B to a
clevis which rotates with a constant angular velocity co about a vertical
axis. Determine (a ) the constant angle P that the plate forms with the
horizontal x axis when co = 12 rad/s, ( b) the largest value o f (o for
which the plate remains vertical ( p - 90).
S O L U T IO N
Let point O be the midpoint o f axle AB. Choose principal axes
x ',y ',z ' with origin at point O.
r I 2 1 2
= 12 = 3 ma
/..
y = 1 + /..
. =
12 m a2
co = -<ysin/?i' + <ycos/?j'
H C) = I x (Ox\' + j + 1. (0M '
= - I xco sin p\
Let the reference frame Ox'y'z' be rotating about the fixed point O with
angular velocity Q = co.
H o = ( H o ) 0xy . ' + n X H 0 = 0 + CO X H f,
= (-cysin p i ' + co cos P \ ) x [ ~ I X(0 sin p\' + I ya) cos /9j')
= - ( / y - I x- } a r sin /9cosp k
1 ,
= - - m a ~ s\n P cos P k
M 0 = -W -c o s p k = H 0
2 )
W = ma(o~ sin P = mg
2 2 a
g = aco sin p
sin /9 = = P )(3 2 .2 ) = 0 44722 P = 26.6 <

()
W (2 )( 0 12f
(b ) Set p = 90, sin >0 = 1
2 _ 3g _ (3 )(3 2 .2 ) _
CO = 64.4 - 8.02 rad/s M
2a
( 2)
12
PROBLEM 18.86
A uniform square plate o f side a = 12 in. is hinged at points A and B to a
clevis which rotates with a constant angular velocity a> about a vertical
_ axis. Determine (a ) the value o f co for which the plate forms a constant
angle/? = 60 with the horizontal x axis, ( b ) the largest value o f (o for
which the plate remains vertical (/? = 9 0 ).
S O L U T IO N
Let point O be the midpoint o f axle AB. Choose principal axes
x \ y ',z ' with origin at point O.
. 1 2 , 1 2
/ = ma , = ma ,
12 ' 3
i i 5 >
/ = l r + = m a'
' * * 12
a) = -rusin p\' + rucos (1\
H = I x (ox\' + + l.m .k '
- ~/y(o sin p i
Let the reference frame Ox'y'z be rotating about the fixed point O with
angular velocity Q = to.
Ho = + f l x H () = 0 + ( o x H ()
= (-rosin /?i' + r o c o s ^ j') x ( - / vrosin p i ' + I vcocos/?j')
= - (/ ,. - / v )r o : s in / ? c o s / ? k
= m a ' sin /? cos /?k
W - m a w sin /? = m g
g = a w sin P
3
PROBLEM 18,86 CONTINUED
(a ) co2 = 3g = = 55.772(rad/s)2
^ (2 )(| | ]s in 6 0
co = 7.47 rad/s -4
(ft) Set >0 = 90, sin/? = 1
co2 - = _ 4g 3 ^ra(j/sl 2 & = g 95 racj/s ^
20 <2>
PROBLEM 18.87
<JJ>- The slender rod AB is attached by a clevis to arm B C D which rotates with
I
n a constant angular velocity co about the centerline o f its vertical portion
CD . Determine the magnitude o f the angular velocity co.
30*
y VXIitmi
S O L U T IO N
Let A B - L = 0.3 m, and B C = b = 0.1 m.
Choose x ,y ,z a x e s as shown. 7X * 0, T = I . = mL2

> - 12
u)
\
*
Angular velocity: co = <ysin30i + <ycos30j
Angular momentum o f rod A B about its mass center G:
H c = I xcoxi + I vcoy\ + Leo. k = /v<ycos30j
Let the reference frame Gxyz be rotating with angular velocity Q = co.
H o = ( H c ) c^ + Q x H 0.
= 0 + (cysin30i + cucos30j) x /v<ucos30j
G
= I. co2 sin 3 0 cos30k = mLrco2k
48
Radius o f circular path o f point G : r = co s30 + b - 0.22990 m

2
Acceleration o f the mass center: a = rco~
Equations o f motion:
if - S i r , 3 < ^
\
+) = wg-^-cos30k ^ sin 30 mrco k + H g
v2 j
~ -m g L k 1
m T H-------mL
Lr 72 <y2k
v4 48 ,
-g 1 +
r L co
4 48
(9.81) , -(0 .2 2 9 9 0 ) + ^ - ( 0 . 3 ) co
CO2 = 62.194 co = 7.89 rad/s A

PROBLEM 18.88
< j>
The slender rod A B is attached by a clevis to arm B C D which rotates with
a constant angular velocity co about the centerline o f its vertical portion
C D . Determine the magnitude o f the angular velocity co.
S O L U T IO N
Let A B = L = 0.3 m, and B C = b = 0.1 m.
Choose x ,y ,z a x e s as shown. I x 0, I y = I z = m l}
y 1 12
A 'x
Angular velocity: to = -cusin30i + <acos30j
Angular momentum o f rod A B about its mass center G:
H c = l xcox\ + TyCOy} + I.co.V. = /v<ucos30j
Let the reference frame Gxyz be rotating with angular velocity Q = to.
"= = ( " 4 + n * H=
= 0 + (-<wsin30i + <ycos30j) x /v<acos30j
= - I vco2 sin 30cos30k - - ^ 2 . mlscork

48
Radius o f circular path o f point G: r = co s30 - b = 0.029904 m

2
Acceleration o f the mass center: a - rco"
Equations o f motion:
w
S M s = -w g ^ -c o s 3 0 k 5= - f y s i n 3 0 mrco k + H G
m gL k = - r r H-------m L
1 mL r2 co2k
4 48
-g =
1 + L
r co
4 48
i F\
(9.81) -^-(0.029904) + ^ - ( 0 - 3 ) co
co1 = 232.11 co = 15.24 rad/s

PROBLEM 18.89
The 2-lb gear A is constrained to roll on the fixed gear B, but is free to
rotate about axle A D . A x le A D , o f length 20 in. and negligible weight, is
connected by a clevis to the vertical shaft D E which rotates as shown
with a constant angular velocity cox. Assuming that gear A can be
approximated by a thin disk o f radius 4 in., determine the largest
allowable value o f <a, i f gear A is not to lose contact with gear B.
-1 V ,
S O L U T IO N
P = 30, L = 20 in. = ft, r = 4 in. = ft

12 12
Choose principal axes x ,y , z as shown.
Kinematics: co, = coxsin p\ + o)\ cos p\ to, = <y2j
co = co, + to, = <y, sin p\ + (cu, cos p + <y,) j
o>x = <y, sin P cov = <y, cos p + <y2
VG = I x *67d = |j x r G /D = -c o tL s in p k
a6 = to, x \G = a p L sin p
v r = v (; + co x rc/c
0 = - o ) xL s m p k + (<yti + <wvj ) x ( - r i )
= -<y|Lsin/?k + covr k
cov = <y, sin P

r
Angular momentum: H 0 = l ( O xi + TJOyj

L et the reference frame Dxyz be rotating with angular velo city Q = (Oj.
H (, = ( H g ) + Q x H g = 0 + ( , s in ^ i + col c o s ^ j ) x iJ xcoxi + 7ya>yj )
________________ _ J |
= [iyOiyCO^mp - I xa>xG \ c o $ p }k = m r2a>y sin ( 3 ----- m r2cox co sf3 |<y,k
Moments about D :
= F d k - m gL sin (3k,
where d = 'J l 2 + r 2
( M D )eff = H C + rG/D X M C
= H g + m a ; I ; sin (3 cos /3k
Equating M D = ( M d ) and taking the z component,
f \ r 1 'A
Fc d -m g L s in (3 = mr* sir-" (3 - m r2 sin (3 cos f3 a>f + mcoÎs sin /? cos f t
\2 r 4 J
(I j
= rrnof sin (3 - rL sin (3 - - r cos (3 - Is cos [3
Set F = 0 and solve for a)x :
/ 20'x
(32.2)
gL v 12/
oF =
L 2 co s/3 + r ' cos/3 - rL s in (3 f 20 X co s30 + r 4 V 1 ' 4 Y 2,0'
co s30 - sin 30
12 4 12 J
-
2 12 J v i 2 ;
= 23.427 a>l = 4.84 rad/s A

PROBLEM 18.90
Determine the force F exerted b y gear B on gear A o f Prob. 18.89 when
shaft D E rotates with the constant angular velocity a>{ = 4 rad/s. (H int.
The force F must be perpendicular to the line drawn from D to C.)
SOLUTION
20 4
B = 30, L = 20 in. = ft, r = 4 in. = ft
12 12
Choose principal axes x, y, z as shown.
Kinematics: tOj = coj sin p i + coxcos p\ a>2 =
= Oj + 2 = h S*n P'1 + (1 C0SP + ^l) J

cox = cox sin p co, = a>xc o s P + co2
v c = J X rG/D = jj x rG/D = -coxL sin p k
aG = ! x v G = C9,2sin P
rc = v G + x rc/G
0 = -|Lsin p k + (ravi + coyj j x ( - r i )
= -o y L sin p k + coyr k
L . _
co = ajj sm p
Angular momentum: H g = l xcoxi + ly c o j

L et the reference frame Dxyz be rotating with angular velocity Q = (,.
H g = (H c ) + O x H g = 0 + (cw, sin/?i + <y, cos/?j) x (7x<yxi + 7yo)yj )
= ( l ycoya>xsin p - l x(Ox(oxcos/?)k = j m r2coy sin/? - m r 2cox co s /? Jr,k
Moments about D :
M 0 = F d k - m gL sin p k ,
where d = V zF + r 2
( M o)eff = + rc/D x
H g + m o)2L 2 sin j8 cos p k
Equating M D = ( M d ) eff and taking the z component,
(1 r 1 ^
Fc d - m gL sin p - m r2 sin2 P m r1 sin/? cos p at2 + mco2L 2 sin p cos p
k2 r 4
( 1 1
= mco2 sin P r L s in P r 2 co s /? - L2 co sp
12 4
Solving fo r F c ,
/wsin p 1 1
Fc = g L ~ o)\ L co sP + r c o s p r L sin /?
Additional data: m = = 0.062112 lb-s2/ft, <y, = 4 rad/s

32.2
'2 0 ^ (4 \ 2
d = + = 1.69967 ft
V12 y ,1 2 ,
_(0.061112 )s in 3 0 . /20
T cos 30 + cos30 - Y lsin 3 0
C 1.69967 }K 1 12 ^ 12 J 4 20) 2{l2j{l2)
= 0.3111b
a = B - tan 1 = 30 - tan 1 a = 18.7

L 20
0.311 lb ^ 1 8 . 7 ^
PROBLEM 18.91
The 300-g disk shown spins at the rate cox = 750 rpm, w hile axle AB
rotates as shown with an angular velocity eo2 o f 6 rad/s. Determine the
dynamic reactions at A and B.
S O L U T IO N
Angular velocity: to = eo2i - <o,k
Angular momentum: H c = I xa>xi + I vcovj + I.c o .k = I xeo2i - I.eoxk
Let the reference frame Cxyz be rotating with angular velocity Q = co2i,
H (. = ( H c ) c + f l x H(- = 0 + eo2i x [ l xco2i - I.eo,k ) = I : eo2e o j
Acceleration o f mass center:
a = 0
I F = ma
Ak - Bk = 0
A = B
M c = Hc
, D. 7 d Lw eox
LBj = I.(o 2eox] B =
1
Data: m = 0.3 kg, I z = ^ m r 2 = -i(0 .3 )(0 .0 5 0 )2 = 375 x 10~6 k g -m 2
2 ^ (7 5 0 )
co, = = 25/r rad/s, ro, = 6 rad/s, L = 0.200 m
' 60
(375 x 106) ( 6 ) ( 2 5 zt)

A = B = -------------- ' - 4 ----- i = 0.88357 N
0.200
A = (0.884 N ) k <
B = -(0 .8 8 4 N ) k <
PROBLEM 18.92
The 300-g disk shown spins at the rate <y, = 750 rpm, w hile axle A B
rotates as shown with an angular velocity co2. Determine the maximum
allowable magnitude o f <u2 i f the dynamic reactions at A and B are not to
exceed 1 N each.
SOLUTION
Angular velocity: = co2i - coxk
Angular momentum: H c = l xcoxi + I vcoyj + I zcozk - I xa 2\ - /.<y,k
Let the reference frame Cxyz be rotating with angular velocity Q = co2i.
H (- = (H c )(. + O x H f = 0 + co2\ x ( l xa)2i - /; <y|k) = I . c o ^ j
Acceleration o f mass center:
a = 0
I F = ma
A k - Bk = 0
A = B
M c = H(
7 D-
LBj = 7l : co2cox\ D
B = ~^
Data: m = 0.3 kg, I , = 2 m r 2 = i(0 . 3 ) (0 . 0 5 0 ) 2 = 375 x 10*6 kg m 2
2 ^ (7 5 0 )
<y, = ----- - = 25;r rad/s, L = 0.200 m
1 60
A = B = IN
LB (0 .2 0 0 )(1 .0 )
co-, = 6.79 rad/s M
2 I : cox (375 x 10_6)(2 5 zr)
PROBLEM 18.93
T w o disks, each o f w eight 10 lb and radius 12 in., spin as shown at the
ratecy, = 1200 rpm about a rod A B o f negligible mass which rotates
about the horizontal z axis at the rate ru: = 60 rpm. (a ) Determine the
.-in dynamic reactions at points C and D . (b ) S olve part a assuming that the
direction o f spin o f disk A is reversed.
.in
Z M 0 = c d = H a + l l B = m r2co2coxi C = ^
c
(a ) Data: m = = 0.31056 lb-s2/ft, r - 12 in. = 1.0 ft, c = 2 ft,

32.2
2^ (1200) 2 ^ (6 0 )
co, = - = AOn rad/s co2 = - - - = 2 n rad/s
60 2 60
c = (0 :3 1 0 5 6 )(1. 0 J ) ( 2 J ) = i 2 2 6|b C = -(1 2 2 .6 l b ) j ^
D = (122.6 lb ) j A
(b ) For disk A : = - ij - 2 k > = - l ya\\ - Jzco2k
1 . . .
H a = ~ ~ m r o)2coxi, H^ + H b = 0 C = D = 0
PROBLEM 18.94
T w o disks, each o f w eight 10 lb and radius 12 in., spin as shown at th<
rate = 1200 rpm about a rod A B o f negligible mass which rotate:
about the horizontal z axis at the rate a>2. Determine the maximun
allowable value o f co2 i f the magnitudes o f the dynamic reactions a
points C and D are not to exceed 80 lb each.
S O L U T IO N
For disk A: (0A = <w,j - o)2k
H 4 = l x(oxi + I Ya)Yj + Lco.Vi = 0 + I Yru,j - l z(o2j
1 2 . 1 2 b
= m r co,j m r 0) 2k
2 1 4
Let the reference frame Oxyz be rotating with angular velocity Q = -co-M..
H ^ jH j^ + n x B ^ O + ^ x m r 2(o,j - m r'o )-,k |

2 4 - )
= m r a)2a)xi
Acceleration o f its mass center: a A = -bco2j
For disk B : = = = a fl = bo)2j
m o.
. mQn
yo
Let the system o f particles be disks A and B together with axle A B and shaft CD .
N eglect the mass o f the axle and the shaft.
Z F = ma , + man
- C j + D ) = -bco\ j + ba)\ j
2
I M 0 = c C i = U A + H b = m r2(D2(D{\ C =
cC
Solving for a>2, '2 ~ 2
m r a>x
Data: m = = 0.31056 lb-s2/ft, r = 12 in. = 1.0 ft, c = 2 ft

32.2
_ 2^ (1 2 0 0 ) = 4Q^ ^ _ = go ib
1 60
(2 )(8 0 )
tw2 = v A ----------= 4.0998 rad/s
(0 .3 1 0 5 6 )(l.0 ) ( 4 0 * )
cd2 - 39.2 rpm M

PROBLEM 18.95
A homogeneous disk o f mass m = 4 kg rotates at the constant rate
320 mm co, = 12 rad/s with respect to arm O A , which itself rotates at the constant
K
rate co2 = 4 rad/s about the y axis. Determine the force-couple system
ii j
representing the dynamic reactions at the support O.
'f
r x n,,T|
r 100nun
S O L U T IO N
Angular velocity o f arm OA: Q = co2j
Angular velocity o f disk ^4: co = cw2j + <U|k
Angular momentum about its mass cen ter^:
- - - 1 2 1 2
= I xc o \ + I yQ}y\ + I.co: = I y(o2j + = mr~(o2j + m r'co ,k
Let the reference Oxyz be rotating with angular velocity 2 = cu2j.
= (H ^) + Q x = m r2d)2j + m r2d>,k + a)2j x H A
1 2 1 2 I 2 *1 ,
= mr~a),co-,i + m r co->j + mr cw,k
2 4 2
V elocity o f point A : y A = <y2j x r^Q = w2j x ( bi - c j) = -bco2k
Acceleration o f point A : a .f = x r Ato + * v a ~ -ba )\ i - bcb2U.
Consider the system o f particles consisting o f the

arm OA and disk A. N eglect the mass o f the arm.
I F = ma
f - /?ri + 7?.k = -mbu>\i - mbco2k
K <3* 'lx Rx - -mba>\
R. = -mbcb-,
I M = H n - H A + r^Q x ma
r i \
fl 2 . - I .
{ M 0 )x i + { M 0 ) y j + { M 0 ) k = m r ~ bcco-, \i + m - r 2 + b2 cb2\ + m r 2cb, - bccoZ
\2 4 2 1 2
Data: m = 4 kg, r = 0.1 m, b - 0.32 m, c = 0.2 m
cox = 12 rad/s, cbx = 0, co2 = 4 rad/s, <b2 = 0
Then, Rx = - ( 4 ) ( 0 . 3 2 ) ( 4 ) 2 = -20.48 N , Rz = 0
R = - (2 0 .5 N ) i <
- 0.960 N m, { M 0 )y = 0
(" ),= ( 4 ) [ 0 - (0 .3 2 )(0 .2 )(4 )2 = -4.096 N -m
M 0 - (0.960 N - m ) i - (4.10 N m )k <

PROBLEM 18.96
A homogeneous disk o f mass m = 3 k g rotates at the constant rate
ry, = 16 rad/s with respect to arm A B C , which is welded to shaft D C E
rotating at the constant rate co2 = 8 rad/s. Determine the dynamic
reactions at D and E.
S O L U T IO N
Angular velocity o f shaft D E and arm CBA: Q = co2i
Angular velocity o f disk/I: co = co2i + ruj
Angular velocity about its mass center A:
- - - - - I 2 1 2
H , = I xo)xi + I vtoyj + I z0) 2k = I xco2i + I vcoxj = m r'co21 + mr~coxj
Let the reference frame Oxyz be rotating with angular velocity Q = co2\.
H ,, = ( H . , ) + 1 x = m r2cb2i + m r2cbxj + co2i x
1 2 I 2
= mr co-,1 + mr co, j HI mr 2com -M
i,
.
4 - 2 1 2 1 -
V elocity o f p o in ts : v A = co2i x r = co2\ x (-Z>k + c j) = bco2j + cru2k
Acceleration o f point A : a a = 6>2} x r^ o + co2j x V/1
= [b<b2 - c<u2 ) j + (ccb2 + bco2)k
Consider the system o f particles

consisting o f the shaft, the arm, and
the disk. N eglect the mass o f the arm.
I F = m aA
D vj + D .k + E vj + .k = m aA
R esolve into components.
Dy + Ey = m(beb2 - c<y|)
D . + E . = m [ccb2 + bat2)
IM d = H0 = + r ^ o X m aA
( M 0) i + 2/i x [ E yj + E zk ) = + (/i + cj - b k ) x maA
/1 2 ,
f r 2 + b2 + c 2 d>9
&i + m r Oj - /c2 ~ I b a 2
U ; \
, 1 2 j
+m| r ry,<2 + //r2 - lcco2
.2
i: M 0 = m r 2 + b 2 + c 2 Iw
2 2
k: r 2<o,2 + //><y, - le a l 1,
0 1 2 2 J
Z)
>
=
2/ r o)xoi2 + lba>2 - lca>2
* 21
]_
lcd >2 + //>f - r 2ft>! |, Dz = /cft>2 + /i 2 +
21 2 2
Data: m = 3 kg, r = 0.2 m, b - c = 0.225 m, / = 0.3 m
Oj = 16 rad/s, ru, = 0, a>2 - 8 rad/s, <y2 = 0
3
- j ) ( 0.2 )2(1 6 )(8 ) + 0 - ( 0 . 3 ) ( 0 . 2 2 5 ) ( 8 ) 2 = -34.4 N
D ( 4 ( 0 . 3 )
D. = 0 + (0 .3 )(0 .2 2 5 )(8 )2 + o ] = 21.6 N

(4 (0 - 3 )
D = - (3 4 .4 N ) j + (21.6 N ) k <
i ( 0 . 2 ) 2( l 6 ) ( 8 ) + 0 - ( 0 . 3 ) ( 0 . 2 2 5 ) ( 8 ) 2 = -8.8 0 N
E = (2 )(0 .3 )
0 + (0 .3 )(0 .2 2 5 )(8 )2 + 0 = 21.6 N

(2 )(0 .3 )
E = -(8 .8 0 N ) j + (21.6 N ) k A
PROBLEM 18.97
A 100-lb advertising panel o f length 2a = 7.2 ft and width 2b = 4.8 ft
is kept rotating at a constant rate <y, about its horizontal axis by a small
electric motor attached at A to frame A CB . This frame itself is kept
rotating at a constant rate (o2 about a vertical axis by a second motor
attached at C to the column CD . Know ing that the panel and the frame
complete a full revolution in 6 s and 12 s, respectively, express, as a
function o f the angle 9, the dynamic reaction exerted on column C D by
its support at D.
S O L U T IO N
Use principal axes x\ y\ z as shown.
Moments o f inertia: I x- = m [ a 2 + / r )
I..- = m a', /.. = mb2

> 3 3
Kinematics: 9 = cox
cox- = a)2 s \ n 9 , a ) = <y2cos#, <y.- =
d)x- = coxco2 c o s 9, d) = -c o xeo2 sin#, o>.. = 0
Since the acceleration o f the mass center is zero, the resultant force acting on the column C D is zero.
R = 0 A
Euler s equations o f motion for the plate:
EA/X- = / > x- -(/ ,. - = Jxcoxco2 c o s 9 - - /..)<y,<y2co s#
_ 2 >
= (/x- + /.. - I Y }a)xa)2co s 9 = mb2(oxco2 cos 9
EA/,, = Tvd)y- - (/.. - Ix )eox (Oz- = - / ,. !(o2 sin 9 - (/ . - I x }coxco2s\n9
= (/x. - l y - I . }cox(o2s\r\9 = 0
EM.- = I.c o .j - (/ x- - I y ^(Ox a)y = 0 - (/ x- - /y ) a >\sin 0 c o s #
= - - m b 2a)2 sin 9 cos9

3
2 1
E M = w i 2<y1<y2c o s ^ i' - m b2co\ sin # cos #k
= - j m b2coxo)2 co s# (cos # i + sin # j ) - - j m b2a)\ sin 0 cos 0k
2
R esolve into components: E M X = m b2coxco2 cos2 <9
2 1
E M y = mb2a>x(D2s m 0 c o s 9 , EMZ = mb2co\ s in # c o s #
Data: m = = 3.1056 lb-s2/ft, b = 2.4 ft

32.2
27 1 7 7 1
cox = 1.0472 rad/s, 0) 2 = = 0.5236 rad/s
6 12
Y M X = | (3 .1 0 5 6 )(2 .4 )2(l.0 4 7 2 )(0 .5 2 3 6 )co s26 = 6.54cos2# lb ft
Z M y = - j ( 3 . 1056)(2 .4 )2 (l,0 4 7 2 )(0 .5 2 3 6 )s in # co s0 = 6.54sin 9 co s9 lb-ft
E M Z = - - j(3 .1 0 5 6 )(2 .4 )2(0.5 236)2s in # c o s # = -1 .6 3 5 sin6 co s6 lb ft
M d = (6.54 lb -ft)c o s 2# i + (6.54 l b f t ) s i n # c o s # j - (1.635 lb ft )s in 9 co s# k A

PROBLEM 18.98
For the system o f Prob. 18.97, show that (a ) the dynamic reaction at D is
independent o f the length 2a o f the panel, (b ) the ratio M x/M 2 o f the
magnitudes o f the couples exerted by the motors at A and C, respectively,
is independent o f the dimensions and mass o f the panel and is equal to
eo2/2col at any given instant.
S O L U T IO N
Use principal axes x', y\ z as shown.
Moments o f inertia: I x- = m (a 2 + b 2^
- _i_
I = ma 2, = m b2
y 3 - 3
,
Kinematics: 9 = co.
cox = co2 sin#, cov- = co2 c o s 9, co.- = cox
oox- = coxco2 cos 9, cbv- = -coxco2 sin #, co.- = 0
Euler s equations o f motion for the plate:
I . M X- = I x oox- - (/,. - I : -Jcoy co.- = I x-coxco2co s 9 - (/,, - I : -^coxco2 c o s 9
_ 2
= (/ x- + I.- - I y }coxco2 cos 9 = m b2coxco2 cos 9
T.M y- = lyOOy- - (/.- - I x-}cox-co: - = - I vco{co2 sin6* - (/ . - I x ^coxco2 sin 9
= ( l x- - I v- - I : -}ooxco2sin 9 = 0
IA/_. = I.cb.- - - l y ) ^ x (y = 0 - ( - /v Jco2 sin 0 co s9
= - m b2co2 sin 9 cos 9

3
2 1
E M = m b2a>xiy2c o s # i ' m b2a>j s in # c o s # k
= ^ m b 2cox(02ôs0{co&9\ + s in # j) - ^ m b 2a>l sin?cos0k
2 2 2
R esolve into components: Z M X = mb G)xa)2 cos" 6
T.My = m b ' 0^ 0)2 sin # co s# , E M Z = - - m b c o 2 s in # c o s <9
(a ) M D = E M , which is independent o f the dimension 2a.
(.b ) M 2 = IZ M z I =
2 2,,
mb o),a>2 s in # c o s #
3 1 2
M, = EM I= m b26>Z sin 9 cos 0
ratio i i - = -S-
M2 2<a,
PROBLEM 18.99
A 40-kg disk o f radius 250 mm spins as shown at the constant rate
coK = 80 rad/s with respect to the bent axle ABC . The system is at rest
when a couple M 0 = ( 2 N m ) j is applied for 5 s and then removed.
Determine the force-couple system representing the dynamic reaction at
the support at point A after the couple was removed. Assume that the bent
axle A B C has a negligible mass.
S O L U T IO N
Angular velocity o f the shaft and arm A B C : O = o)2j
Angular velocity o f disk C: to = (o2j + ry,k, <y, = 0
Its angular momentum about C: H c = I xcoxi + I ya)yj + I z(o.k = I vco2j + I : o xk
Let the reference frame Axyz be turning with angular velocity Q .
H r = ( H c )^ + Q x H c = l y<b2j + o)2j x (/ v<y2j + 7,<ytk )
= I .(o 2(ox\ + I y<b2j = m rl Q32coxi + ^ m r 2<b2j
V elocity and acceleration o f the mass center C o f the disk:
v c = Q x raA = o) 2j x (M + c k ) = a y 2i - bo) 2k
ar = d) 2j x rc/A + <y2j x v c = (cry2 - foy; j i + [b o )2 + cry2) k
At
I F = I F efr: Axi + A .k = mar Resolve into components.
/lx = m [c b )2 - bco\^ A. = - m [b (o 2 + cry; j
I M , = H A = H ( + rc/A x mac = H c + (6 i + c k ) x mac
= i / n r 2<y,<y,i + m ^ r 2 + b2 + c 2jr y 2j Resolve into components.

(M a )x = ^ r 2co26>, ( M a) = A/0 = m f^ - r 2 + ft2 + c 2
Solving for a>2: a, =

'l '
m j r 2 + h2 + c 2 I (4 0 ) (0 .2 5 0 )2 + (0 .4 )2 + (0 .3 )2
= 0.188235 rad/s2
A t t - 5 s, co2 = d)2t = (0 .1 8 8 2 3 5 )(5 ) = 0.94118 rad/s
A fte r 5 s, let ca2 0 so that cy2 is constant.
4 = -m b co2 = - (4 0 )(0 .4 )(0 .9 4 1 1 8 )2 = -14.17 N
4 = -m c c o l = - (4 0 )(0 .3 )(0 .9 4 1 1 8 )2 = -10.63 N
R = -(1 4 .1 7 N ) i - (10.63 N ) k M
( M A )y = 0
1 ( 1A
( M a ) x = - m r2co2(0, = - (4 0 )(0 .2 5 0 )2 (0.9 411 8 )(8 0 ) - 94.1 N m
* 2 12 J
= (9 4 .1 N - m )M
PROBLEM 18.100
A 40-kg disk o f radius 250 mm spins as shown at the constant rate
cox = 80 rad/s with respect to the bent axle A BC . The system is at rest
when a couple M 0 is applied as shown for 3 s and then removed.
K n ow in g that the maximum angular velocity reached by the bent axle
A B C is 2.4 rad/s, determine (a ) the couple M (), (b ) the force-couple
system representing the dynamic reaction at the support at point A just
100 unit 300 i before the couple was removed. Assume that the bent axle A B C has a
negligible mass.
S O L U T IO N
Angular velocity o f the shaft and arm A B C : f i = co2j
Angular velocity o f disk C: co = a)2j + <y,k, <y, = 0
Its angular momentum about C: H c- = I xcoxi + I vcoxj + /.co.k = I vco2j + /.a>,k
Let the reference frame Axyz be turning with angular velocity Q .
H (. = (H ( + Q x H c- = Jxxb2j + co2j x (/ ,ty2j + /-rw,k)
T 7 1 2 1 2
= I.co2coxi + I v(o2j = m r co2coxi + m r a) 2j
V elocity and acceleration o f the mass center C o f the disk:
v r = Q x rc/A - co2j x (6 i + c k ) = c<u2i - bco2k
r = cb2j x rc/A + co2j x v (- = (ca)2 - bcol j i + [b (b 2 - cat; j k
I F = I F cfl:Axi + /Lk = mac Resolve into components.
Ax = m [ccb2 - b co l) A. = -m [b c b 2 + cco\)
IIM .i = = H c + rc/A x mac = H r + (6 i + c k ) x mac
= ^ m r 2co-,cO\\ + w ^ r2 + b2 + c 2^jcb2i Resolve into components.

(M a )x = j * w 2 W ( M A) y = M 0 = m ( X 2 + b2 + c
Since the couple M 0 is given as constant, 2 is constant.
2 - = = 0.8 rad/s2
2 t 3
(a ) M 0 = ( 4 0 ) ^ ( 0 . 2 5 ) 2 + (0 .4 )2 + (0 .3 )2J(0.8) M 0 = (8 .5 0 N - m )H
(b ) Ax = (4 0 )[(0 .3 )(0 .8 ) - (0 .4 )(2 .4 )2] = -82.6 N
Az = - ( 4 0 ) [ ( 0 . 4 ) ( 0 . 8 ) + (0 .3 )(2 .4 )2J = -81.9 N
R < = -(8 2 .6 N ) i - (81.9 N ) k < *
( M a ) x = | (4 0 )(0 .2 5 )2(2 .4 )(8 0 ) = 240 N m
= (240 N m ) i M
PROBLEM 18.101
A 5-lb homogeneous disk o f radius 4 in. rotates with an angular velocity
o i with respect to arm A B C , which is welded to a shaft D C E rotating as
shown at the constant rate co2 = 12 rad/s. Friction in the bearing at A
causes ft), to decrease at the rate o f 15 rad/s . Determine the dynamic
reactions at D and at a time when ft), has decreased to 50 rad/s.
S O L U T IO N
Angular velocity o f shaft D C E and arm CBA: Q = ro2k
Angular velocity o f disk A : co = ft)J + ft)2k
Its angular momentum about A : H A = l xcoxi + /,.ft),.j + /.ft).k = /,.ft)|j + I . ( 02k
Let the reference frame Cxyz be rotating with angular velocity fi.
H 4 = (H ^ + Q x H , = /,ft),j + I : (b2k + ft)2k x (/,.ft)|j + /.ft)2k )
= -/ ,ft)2ft)|i + I Yd)J + J/o2k = ~ n ir2(o2(o ,i + + ^ m r Z(b2 k
V elocity and acceleration o f the mass center A o f the disk:
x A = to2k x r^ - ft)2k x (/>i - c j) = cco2i + ba) 2j
a , = rt)2k x r w - + (o2k x y A = [c (b 2 - b(o\ ) i + {bto2 + c(o\ ) j
(a c )
4^ H
I F = I F efr
D xi + D, j + vi + , j = ma |
D v + v = i[c c b 2 - b(o\ J
>,.+,. =m[b(o2 +cft)2 j

IM = H = H * + xm X maA = H A + ( bi - c j + I k ) x maA
21k. x ^Dxi + D yj ) + M 0k = + m{blcb2 - clco2^ji + m {clco2 + b l a + m {b 2 + c 2Jcb2
- 2 / D i + 21DJ + M 0k = ml ~ r 2co2co, + bld>2 - c l coil |i
+ m r cb, + clcb2 - b loj2 j + m r 2 + b2 + c 2 ci>,k

4
k: Me, - m r 2 + ft2 + c 2 c,
4
m m
j: A - = r 2cb, + c/co, - blcol E, = - ^ r 2<W| + clcb2 - bla>\
* 2/ 27
1 2 m f 1
1: D = r co2co, + bld>2 + clco E = r co2co, + bld>2 + clco2
y 2/ 2/1 2
Data: m = = 0.15528 lb-s2/ft, r = 4 in. = - ft,

32.2 3
b = 6 in. = ft, c = 3 in. = ft, / = 7.5 in. = ft

2 4 8
co, = 50 rad/s, co, = -1 5 rad/s , co2 = 12 rad/s, d>2 = 0
\2
0.15528 1 5
A = ( 1 5 )+ 0 = -5 .6 9 lb.
12 113 2A 8
( 2)
.8
0.15528
Dy =
= 6.94 lb
( 2)
D = -(5 .6 9 lb ) i + (6.94 lb ) j
/,\ 2
0.15528
A = (- 1 5 )+ 0 - (1 2 )2 = -5.49 lb
'5 ' v3 y v2y
( 2)
.8.
0.15528
Ey = (1 2 )(5 0 ) + 0 + f Y | -1.3461b
( 2 ) f- 1
/
u ,
E = - (5 .4 9 lb )i - (1.346 lb ) j M
PROBLEM 18.102
A 5-lb homogeneous disk o f radius 4 in. rotates at the constant rate
/ A * <y, = 50 rad/s with respect to arm A B C , which is welded to a shaft D C E .
K now ing that at the instant shown shaft D C E has an angular velocity o f
0)-, = (1 2 rad/s)k and an angular acceleration a 2 = ( 8 rad/s2 )k ,
determine (a ) the couple which must be applied to shaft D C E to produce
that angular acceleration, (b ) the corresponding dynamic reactions at D
and E.
S O L U T IO N
Angular velocity o f shaft D C E and arm C B A : Q = co-M
Angular velocity o f disk A : a = a>xj + eo2k
Its angular momentum about A: = I xtuxi + I V0) Yj + L eo.k = + I.co2k
Let the reference frame Cxyz be rotating with angular velocity fi.
H , = ( H , ) , n r + Q x H ^ = 7> > j + I.eb2k + <y: k x (/,.G>|j +
= - I v(o2o)\i + /,.<y|j + l.(b 2k = - m r20)2(0,i + m r2<u,j + ^ m r '6 ) 2k
v = 0) 2k x = eo2k x (A i - c j ) = cco2\ + beo2\
a , = <y2k x r AiC + co2k x \ A = [cd )2 - beo2 j i + [ba)2 + ecu2j j
S F = IF .cIT
D xi + D y i + E x i + E y j = m a ,
D x + E x = m(c<b2 - bco2 j
D y + E y = m [beb2 + ceo\ j
EM = H = H 4 + ta/e x maA = U A + (b i - cj + I k ) x m aA
2/k x [ D xi + D y] ) + M 0k = + m{bld>2 ~ c/&>|) i + m {clco2 + blcoj^jj + m {b 2 + c 2j 2k
-2 lD yi + 21DJ + M 0k = m| - \ ^ r 2m2cox + bla>2 - c l col Ji
+ m r 2(bx + cld>2 - blco\ Ij + m r 2 + b 2 + c 2 cb2k
r 2 + b2 + c 2 I,
r>r = 1 2
m r 2 m
J: D ft), + cld>2 - blco2 E. = - r 2, - cIm) 2 - bla)\
x 21 27
r 1
m 1 2
1: r> =
>
y
r 2<y,
21 v2
+ bl&>2 + c/22 = - - r 2co2a>x + blcb2 + clct)2
7 2/
Data: m = = 0.15528 lb-s2/ft, r = 4 in. = - ft,

32.2 3
b = 6 in. = ft, c = 3 in. = ft, / = 7.5 in. = ft

2 4 8
, = 50 rad/s, , = 0, co2 = 12 rad/s, d>2 = a 2 = 8 rad/s2
\ 2'
(a) M 0 = (0.15528) (s ) M 0 = (0.423 lb -f t ) k ^

v3y i ) +( i
D _ 0.15528 '_ l V 5 '
( b) 0+ = 5.43 lb
r S '' v4y
(8 )- I K12)2
( 2)
v y
0.15528 1V ( 1 \ f 5^ ( 1 5^\
I ) (12)t5o) + ( i ) ( 0 8) + ( I ) ( | ) ( 12) = 7.25 lb.
D = -(5 .4 3 lb )i + (7.25 lb ) j <
0.15528
Ex = -0 + -5.43 lb
v 4 y v8 y
(2 )
0.15528
T 2( ! 2 ) ( 5 0 ) + fi = -1.035 1b
v3 y
( 2)
E = - ( 5 . 4 3 l b ) i - (1.035 l b ) H
PROBLEM 18.103
It is assumed that at the instant shown the disk o f Prob. 18.95 has an
angular velocity <y, = (12 rad/s)k, which is decreasing at the rate o f
.120r 4 rad/s2 due to friction in the bearing at A. Recalling that arm OA rotates
with a constant angular velocity co2 = (4 rad/s)j, determine the force-
couple system representing the dynamic reaction at the support at O.
SOLUTION
Angular velocity o f arm OA : O = co2j
Angular velocity o f disk A : co = <w2j + fi>,k
Angular momentum about its mass center A :
= I xcoxi + IyCOy} + 1 jo) . = I vct)2j + I.co ,k = m r 2a)2J + m r2coxk
Let the reference Oxyz be rotating with angular velocity Q = oo2j.
H/f = x ^ m r20) 2] + \^mr26) xk + a>2j x
1 2 > 1 2 I 2 -1,
= mr c o m -,i + m r (o-,j + m r *u,k
2 1 4 2 1
V elocity o f point A : vA = ^2j x rAIO = X {bi ~ C'i) ~ -btoJl

Acceleration o f point A : *A = X TAIO + ^2i X y A = - b ( 0 2l - bcb2k
Consider the system o f particles consisting o f the arm OA and disk A. N eglect the mass o f the arm.
S F = m aA
R xi + R .k = -mbco\i - mb&>2k
i T = - mbah
R , = - mba
= H0 = HA
AT+ r1AIO
i i r x ma
( M 0), i + (M q )^ j + ( M 0 ) z k = /w Y r2 1 2 - bca>2 j i + m f ^ -r2 + b1 a>2j + m
Data: w = 4 kg, r = 0.1 m, 6 = 0.32 m, c = 0.2 m
= 12 rad/s, cox = - 4 rad/s, co2 - 4 rad/s, <b2 = 0
\2
Then, = - ( 4 ) ( 0 . 3 2 ) ( 4 ) = -20.48 N , Rz = 0
R = - (2 0 .5 N ) i A
( M o l = ( 4) j 2 (12)0 ) = 0.960 N -m , {M 0 ) = 0
( M o l = (4 ) i | ( 0 . l ) 2 ( - 4 ) - ( 0 . 3 2 ) ( 0 . 2 ) ( 4 ) 2 = -4.176 N - m
M 0 = (0.960 N - m ) i - (4.18 N - m )k ^
PROBLEM 18.104
2<HI mill It is assumed that at the instant shown shaft D C E o f Prob. 18.96 has an
angular velocity a>2 = (8 rad/s)i and an angular acceleration
a 2 = (6 rad/s2 ) i . Recalling that the disk rotates with a constant angular
velocity cu, = (16 rad/s)j, determine (a ) the couple that must be applied
to shaft D C E to produce the given angular acceleration, (b ) the
corresponding dynamic reactions at D and E.
S O L U T IO N
Angular velocity o f shaft D E and arm CBA : Q = co-3
Angular velocity o f disk A: co = <w2i + cwj
Angular velocity about its mass center A :
H = ! xo)xi + j + Leo. k = l xco2i + /vcw,j = m r'co2i + m r 2o)x]
Let the reference frame Oxyz be rotating with angular velocity Q = (o2\.
H^, = ( h . i ) ^ + O x H 4 = ^mr2a)2i + ^mr2cbxj + <y2i x H 4

1 2 1 2 1 1 i
= mr cu-,1 + m r cw.j + m r 'c o .w k
4 * 2 ' 2 1 -
V elocity o f point A : v /( = <y2i x r /VO = <u2i x ( - 6 k + c j) = bco2\ + c<y2k
Acceleration o f point A : aA = 6j2j x r v o + <y2j x \ A
aA = [bu}2 - cco\ j j + (c<y2 + b(o2)k
Consider the system o f particles consisting o f the shaft, the arm, and the disk. N eglect the mass o f the arm.
I F = ma A
D, j + D .k + j + _k = m aA
D y + E y = m[bco2 - c o x j
D . + E . = m{cd>2 + b a r
Z M d - K d = U A + fj/D x maA
( M 0 ) i + 2/i x f E y\ + zk ) = 11A + (/i + cj - 6 k ) x mttA
( M 0 ) i - 21EJ + 2lE yV. = m\ - r 2 + b2 + c 2 co- r 2d)j - /c<y2 - lba)\ Ij
+ w r 2coxco2 + lba>2 ~ \
i: M 0 = m r 2 + b2 + c J co-.
4
k: Ey = ^r2(OjCD2 + lbd>2 - lcco\ - l: r 2co]co1 + lba >2 - Iccol

Dy = ~
y 21 y 21
j: E = led)-, + Ibcoi - r 2cb, I, D = lcd>2 + Ibcoj + ~ r 2a\

J z 21 { 2 2 2 y z 21
Data: m = 3 kg, r = 0.2 m, b = c = 0.225 m, I = 0.3 m
<y, = 16 rad/s, ft), = 0, co2 = 8 rad/s, cb2 = 6 rad/s"
(a ) M 0 = (3 ) -i-(0,2)2 + (0.225)2 + (0.2 25)2 ( )6

M 0 - (2 .0 0 N - m )i< 4
3
(b ) - | (0 .2 )2(1 6 )(8 ) + (0 .3 )(0 .2 2 5 )(6 ) - (0 .3 )(0 .2 2 5 )(8 )2 -3 2 .4 N
= (2 )(0 .3 )
D, = (0 .3 )(0 .2 2 5 )(6 ) + (0 .3 )(0 .2 2 5 )(8 )! + 0 23.6 N

(2 )(0 .3 )
D - - (3 2 .4 N ) j + (23.6 N ) k <
| ( 0 . 2 ) 2(1 6 )(8 ) + (0 .3 )(0 .2 2 5 )(6 ) - (0 .3 )(0 .2 2 5 )(8 ): = -6.78 N
E, = (0 .3 )(0 .2 2 5 )(6 ) + (0 .3 )(0 .2 2 5 )(8 )2 + 0 - 23.6 N

(2 )(0 .3 )
E = - (6 .7 8 N ) j + (23.6 N ) k <
PROBLEM 18.105
A uniform thin disk o f 150-mrn diameter is attached to the end o f a rod
A B o f negligible mass which is supported b y a ball-and-socket jo in t at
point A . K n ow in g that the disk is observed to precess about the vertical
axis A C at the constant rate o f 36 rpm in the sense indicated and that its
axis o f symmetry A B forms an angle p = 60 with A C , determine the
rate at which the disk spins about the axis A B .
SOLUTION
Use principal axes x , y , z with origin at A .
Angular velocity: <o = <psin p i + { y - <pco$ P )k
cox = tp s'm p , a>y = 0 , coz = y/ - <pco$P
Angular momentum about A :
H i = I/O A + Iy(O yi + l z0)zk
= f t p sin p i + / (y/ - <p cos 0 ) k
Let the reference frame A xy z be rotating w ith angular velocity

Q = (psinpi - ^cos/ffk.
-<j. I w sin /? + ( / ' - / ) <p sin p cos /?] j
ZM , =
- m g c s i n p j = -<p\ I\j/$m.p + (/ ' - / )^ sin / ?co s/ 5 ]j
m g c = I<p\jr + (/ ' - l)< p " c o s P
W + ( / ' ~ / ) y 2cos^ _ i = o
(i)
m gc m gc
Data: r = 75 mm = 0.075 m, c - 600 mm = 0.6 m,
g = 9.81 m/s'
= r 2 = (0.0 75)2 = 2.8125 x 10 3 m 2

m 2 2
L = I r2 + c2 = I ( 0 . 0 7 5 ) 2 + (0 .6 )2 = 0.361406 m 2
P = 60, <p = 36 rpm = 3.7699 rad/s
Substituting into (1 ),
(2.8125 x 10 3)(3 .7 6 9 9 )r (0.35859)(3.7699)2cos60
(9 .8 1 )(0 .6 ) + (9^81)(0.6) 1"
1.80137 x 1 0 ~ V + 0.43292 - 1 - 0
^ = 314.8rad/s iff - 3 0 1 0 rp m -4
PROBLEM 18.106
A uniform thin disk o f 150-mm diameter is attached to the end o f a rod
A B o f n egligible mass which is supported by a ball-and-socket jo in t at
point A . K n ow in g that the disk is spinning about its axis o f symmetry A B
at the rate o f 2100 rpm in the sense indicated and that A B forms an angle
B = 45 with the vertical axis A C , determine the tw o possible rates o f
steady precession o f the disk about the axis A C .
U se principal axesx, y, z with origin at A .
Angular velocity: os = ipsm ji\ + Uj/ - oscos/?)k
cox - <psin/?, o )v = 0, a>z = y/ - (p c o s f i
\ Angular momentum about A :

Y
11A = + Iyy} + Jz(z k
= I'<psm /3i + l ( y s - ^cos/?)k
L et the reference frame A xyz be rotating w ith angular velocity

Q = tp s in fti - <pcosj3k.
HA - Q x H a
- ^ [ /i^sin /? + ( / ' - /)^ sin j?cos /} j j
m A = h ,
- m g c s in f t j = -<p\ly/ sin/? + (/ ' - /)<psin/?cos/: j r
m g c = I (pig + (/ ' - l ) t p l cos P
! w _ + { r - I ) < p 2cos/? _ j_ 0
( 1)
m gc m gc
Data: r = 75 mm = 0.075 m, c = 600 mm = 0.6 m,
g = 9.81 m/s2
= - r 2 = - (0 .0 7 5 ) 2 = 2.8125 x 10 3 m 2
m 2 2V
L = I r 2 + c 2 = I ( 0 . 0 7 5 ) 2 + (0 .6 )2 = 0.361406 m 2
P = 45, y/ = 2100 rpm = 219.91 rad/s
Substituting into (1),
(2.8125 x l 0 3)(2 1 9 .9 l)^ (0 .3 5 8 5 9 )^ 2 cos 45 f
(9 .8 1 )(0 .6 ) + (9 .8 1 )(0 .6 )
(105.079 x 1 0 '3) ^ + 43.079 x 10 3^ 2 - 1 = 0
= -1.2196 + 4.9700 = -6.1896 rad/s, 3.7504 rad/s
-59.1 rpm, 35.8 rpm A

PROBLEM 18.107
A solid aluminum sphere o f radius 4 in. is welded to the end o f an 8-in.-
I rpm
long rod A B o f negligible w eight which is supported by a ball-and-socket
joint at A . K n ow in g that the sphere is observed to precess about a vertical
axis at the constant rate o f 50 rpm in the sense indicated and that rod A B
forms an angle p = 25 with the vertical, determine the rate o f spin o f
the sphere about line AB.
Use principal axes x ,y , z with origin at A.
Angular velocity: = <psin P'i + ( y/ - <pcos P ) k
<ox = (p s m p , cov = 0, co, = ip - tp c o s p
Angular momentum about A:
H , = I x0) x1 + I yc o j + I zcoM
= I'q o s m P 'i + I [ip - ^>cosy9)k
Let the reference frame Axyz be rotating with angular velocity

Q = ^>sin p i - <pcospk..
= - ^ [ / ^ s i n ^ + (/ ' - / )^ > s in ^ c o s ^ J j
IM , = H ,
-m g c s m P ] = -ip ^ Iif/ s m P + (/ ' - /)$bsin/?cos/?]j
m gc = l/pif/ + (/ ' - l)< p 2co sP
i/pij, , { r - i ) < p 2c o s p i _ Q
o:
m gc m gc
Data: r = 4 in. = ft, c = 8 in. + 4 in. = 12 in. = 1.0 ft,

3
g = 32.2 ft/s2
I_ _ 2 r 2 _ 2
= 0.044444 lb-s2-ft
m 5 5
= - r 2 + c 2 = 0.044444 + (l.O )2 = 1.044444 lb-s:

m 5 v
P = 25, ep = 50 rpm = 5.2360 rad/s
(0 .0 4 4 4 4 4 )(5 .2 3 6 0 )^ > (l.0 0 0 )(5 .2 3 6 0 )2cos25 J

= 0
(3 2 .2 )(1 .0 ) ~ + (3 2 .2 )(1 .0 )
7.2270 x 1 0 ~ V + 0.77165 - 1 = 0
y/ = 31.597 rad/s y/ = 302 rpm A

PROBLEM 18.108
A solid aluminum sphere o f radius 4 in. is w elded to the end o f an 8-in.-
long rod A B o f negligible weight which is supported by a ball-and-socket
joint at A. K now ing that the sphere spins as shown about line A B at the
rate o f 800 rpm, determine the angle p for which the sphere w ill precess
about the vertical axis at the constant rate o f 50 rpm in the sense
indicated.
S O L U T IO N
Angular velocity: to = ip s in P i + (ip - ^ co s/ ?)k
cox = <ps\nP, cov = 0, (a, = \j/ - cpcos p
HA = + JyVyj + I - a M
- I'cpsm p\ + l ( y - cos/?k.
H a = Q x H a
= -cp^hj/s\n P + (/ ' - l)<ps\n / ?cos/ ?]j
IM , = H ,
- m g c s m P i = -< p [h j/ s in P + (/ ' - /)<bsin/?cos/?] j
m gc = I<p*j/ + (/ ' - l)< p 2 co sp
icpy, , ( r - i ) < p 2c o s p l Q
m gc m gc
Data: r = 4 in. = ft, c = 8 in. + 4 in. = 12 in. = 1.0 ft

3
g = 32.2 ft/s2
I_ 2 2 2r iV
= 0.044444 lb s2 ft
m 5 5
L = 1 r2 c 2 = 0 044444 + o ) 2 = 1.044444 lb-s2-ft

m 5 v 7
^ = 800 rpm = 83.776 rad/s <p = 50 rpm = 5.2360 rad/s
(0.0 44444)(5.2360)(83.776) (l.0 0 0 )(5 .2 3 6 0 )2 cosyS

(3 2 .2 )(1 .0 ) + (3 2 .2 )(1 .0 )
0.60545 + 0.85142cos/7 - 1 = 0
c o s = 0.46340 P = 62.4
PROBLEM 18.109
The 3-oz top shown is supported at the fixed point O. The radii o f
gyration o f the top with respect to its axis o f symmetry and with respect
to a transverse axis through O are l.05 in. and 2.25 in., respectively.
Know ing that c = 1.875 in. and that the rate o f spin o f the top about its
axis o f symmetry is 1800 rpm, determine the tw o possible rates o f steady
precession corresponding to 6 = 30.
S O L U T IO N
Use principal axes x ,y , z with origin at O.
Angular velocity: to = ^>sin0i + (i// + 0> co s# )k
cox = <ps\n6, cov = 0, a). = if/ + <pco s#
Angular momentum about O:
H 0 = I x(oxi + I 0)yj + /2<y.k = r<ps\x\G\ + Ico.k
Let the reference frame Oxyz be rotating with angular velocity

f i = ^>sin#i + #>cos0k.
h () = n x h q
= ( ^ s i n 0 i + #>cos#k) x [I 'p s i n O + Ic o .k )
= (/'$!> sin # c o s # - Ico. sin#)^>j
ZM 0 = H
-IT c s in ^ j = (/V >sin #cos# - Ico. s in # )j
Wc = [Ic o . - I'(pcosO)<p
Wc = - (/ ' - / ) ^ c o s # ] ^ (1 )
Data: [V = lb = 0.1875 lb
16
m = = 5.823 x 10~3 lb s2 -ft

32.2
/ = m k2
z = (5.823 x 1(T3) [ = 44.582 x 1 0 '6 lb -s2 -ft
12 .
f *7 'ir
/' = mk 2
x = (5.823 x 1 0 '3) ( ~ - - 204.715 x 10"6 lb -s2 -ft
c = 1.875 in. = 0.15625 ft, y/ = 1800 rpm = 188.496 rad/s,
9 = 30.
Substituting into (1 ),
(0.1875)(0.15625) = [(44.582 x 10-6) (188.496)
-(160 .133 x 10 6) ^ cos 30 o]< z
138.679 x 10-V - 8.4035 x 1 0 ~ V + 29.297 x 1 0 '3 = 0
cp = 30.298 26.584 = 35.6 rpm, 543 rpm M

PROBLEM 18.110
The top shown is supported at the fixed point O and its moments o f
inertia about its axis o f symmetry and about a transverse axis through O
are denoted, respectively, by 7 and /'. (a ) Show that the condition for
steady precession o f the top is
= Wc
where ip is the rate o f precession and co. is the rectangular component o f

the angular velocity along the axis o f symmetry o f the top. ( b) Show that
i f the rate o f spin ip o f the top is very large compared with its rate o f
precession ip, the condition for steady precession is Iij/(p ~ Wc.
( c ) Determine the percentage error introduced when this last relation is
used to approximate the slower o f the tw o rates o f precession obtained for
the top o f Prob. 18.109.
S O L U T IO N
Use principal axes x, y, z with origin at O.
Angular velocity: co = ^>sin#i + ( y + ^>cos#)k
ooI = <ps\n9, cov = 0 , co. = y/ + cpco s#
y Angular momentum about O:
H 0 = I xo)xi + IyCOyj + I.c o .k = I'cp sin # i + Ico.k
Let the reference frame Oxyz be rotating with angular velocity

Q = tps\n9i + #>cos#k.
H0 = O x tta
= ( ^ s i n ^ i + $i>cos#k) x (l'sin#cos# - /z s in # )j
(a ) Wc = (/ . - I'<pcos0)<p A
Wc = [ l i y - I)< p cos0 ]< p (1 )
(b ) For \<p\ y/ Wc a Iij/<p (2 ) A
(c ) Data: W = lb = 0.1875 lb
16
m = 0 1875 = 5.823 x 10 3 lb s2 -ft

32.2
/ = m k ] = (5.823 x 10 3) ( j = 44.582 x 10"6 lb -s2 -ft

12
\2
2.25
/' = m k l = (5.823 x 10~3) - 204.715 x l O '6 lb s2 -ft
12
c = 1.875 in. = 0.15625 ft, \j/ - 1800 rpm = 188.496 rad/s,
0 = 30.
(0.1875)(0.15625) = [(44.582 x 10 6) (188.496)
( l 60.133 x 10~6)<ocos30 qt
138.679 x 10 V 2 - 8.4035 x 1 0 ~ V + 29.297 x 10~3 = 0
<p = 30.298 26.584 (p = 3.714 rad/s, 56.882 rad/s
. Wc (0.1875)(0.15625)
From (2 ), (p = r = - *-------- ~ s ~ . ------- - - 3.486 rad/s
Iyr (44.582 x l 0 - 6)(l8 8 .4 9 6 )
3.486 - 3.714
% error x 100% % error = -6 .1 4 % -4
3.714
PROBLEM 18.111
A solid cone is attached as shown to cord A B . The cone spins about its
axis B C at the constant rate \j/ = 1200 rpm and precesses about the
vertical axis through point A at the constant rate <)> = 1000 rpm.
Determine the angle P fo r w hich the axis B C o f the cone is aligned with
the cord A B ( 0 = P ) .
U se principal centroidal axes x, y, z as shown.
Angular velocity: to = -#>sin0i + (y/ + ^ c o s # ) k
Angular momentum about the mass center G:
H c = I xcoxi + I ycoy\ + I z0)zk
= -I'cos0)k
L et the reference frame Gxyz be rotating with angular velocity
Q = -c p s m d i + #>cos#k
Hg = Q x Hg
= \j<pijrsm 0 - (/ ' - /)(z>2s in 0 c o s # jj
Acceleration o f the mass center:
a = (/sin/9 + c s i n # ) ^ 2 * -
I F = I F eff
+ t: T c o s P ~ m g = 0, T = (1 )
cos p
+ : T s i n P = ma
g ta n p = (/sin p + c s i n # ) ^ 2 (2 )
+ ) I M a = T c s m (p - 0 ) = H g
= f y < p s m 0 - ( r - I ) < p 2s m 0 c o s 0 (3 )
COS P
Data: r = 75 mm = 0.075 m, h = 300 mm = 0.3 m,
c = h - 0.225 m
4
10 10v
= r 2 = (0.0 75)2 - 1.6875 x 10 3 m 2
m
= ~r2 + ft* - c 2 = (0.0 75)2 + - ( 0 . 3 ) 2 - (0 .2 2 5 )2

m 20 5 20 5
= 4.21875 x l O -3 m 2
^ = 2.53125 x l O -3 m 2
m
F or alignment o f axis B C w ith cord A B , Q = j3.
Substituting into (3 )
n
0 1 y/-----------
' V ~ 1 <pcosp
a
m m
hi/ f 1.6875 x 10_3)(l2 0 0 )

co s p = ... Y 22-------L = 0.8000
{ 1 -1 )9 (2.53125 x 10 | {l0 0 0 )
/3 = 36.9 <
PROBLEM 18.112
A solid cone is attached as shown to a cord A B. K n ow in g that the angles
that cord A B and the axis B C o f the cone form with the vertical axis are,
respectively, p = 45 and 9 = 30, and that the cone precesses at the
constant rate ^ = 8 rad/s in the sense indicated, determine (a ) the rate o f
spin ip o f the cone about its axis B C , ( b) the length o f the cord AB.
SOLUTION
U se principal centroidal axes x, y, z as shown.
Angular velocity: = -<psm.di + [ y + </>cos#)k
H G = 1x0)x^ + iy V y i +
= -/ '^ )s in # i + l{y / + ^>cos#)k
Q = -^>sin#i + </>cos#k
Hc = Q x h g
= \lq>\j/smO - (/ ' - l)2 (2)
-is .* / 8
+ ) S M g = 7csin(/? - 9 ) = H g
m gc sin(/? # ) _ n d cosB
(3 )
cos p
Data: r = 75 mm - 0.075 m, h - 300 mm = 0.3 m,
c = h = 0.225 m, g = 9.81 m/s2

4
= r 2 = (0.0 75)2 = 1.6875 x 10 3 m 2

m 10 10v
= r 2 + - h 2 - c 2 = (0.0 75)2 + - ( 0 . 3 ) 2 - (0 .2 2 5 )2
m 20 5 20 ; 5V v '
= 4.21875 x 10~3 m 2
^ = 2.53125 x 10 3 m 2
m
p = 45, 0 = 30
(a ) D ividin g Eq. (3 ) by m and substituting numerical data,
(1.6875 x 1 0 - y ( 8 )s m 3 0 )
-(2 .5 3 1 2 5 x 10~3) ( 8 ) 2 sin30cos30
0.80791 = 6.75 x 10-3^ - 0.07015
y/ = 130.08 rad/s \j/ = 130.1 rad/s 4
(b ) Substituting data into Eq. (2),
9.81 tan 45 = (/sin45 + 0 .2 2 5 sin 3 0 )(8 )2
9.81 = 45.255/ + 7.2, / = 57.7 x 10 3 m
/ = 57.7 mm 4
PROBLEM 18.113
A solid sphere o f radius c = 60 mm is attached as shown to cord AB.
The sphere is observed to precess at the constant rate $ = 6 rad/s about
the vertical axis A D . K n ow in g that /? = 40, determine the angle 6 that
the diameter B C forms with the vertical when the sphere (a ) has no spin,
(b ) spins about its diameter B C at the rate \f/ = 50 rad/s, (c ) spins about
B C at the rate ij/ = -5 0 rad/s.
Data: c = 60 nun - 0.06 m, f l = 40, (p = 6 rad/s
= = - c 2 = 1 .4 4 x l0 " 3 m 2 / '- / = 0
m m 5
Substituting into Eq. (1),
1 2 5 1 X 2 ^ ^ 1 , , , . 4 4 , , 0- - ) ( 6 ) ^ i -
0.5886(sin/7cos# - cos/?sin #) = 8.64 x 10_3^ sin ^ co s/ ?
tan# = ------
1 + 0.014679^
(a ) if/ = 0, 0 = 40.0
tan 40
(b ) \j/ = 50 rad/s, tan#
1 + (0 .0 14679 )(50)
6 = 25.8 <
. Q tan 40
(c ) if/ = -5 0 rad/s, tan# =
1 + (0 .0 1 4 6 7 9 )(-5 0 )
9 = 72.4 <
PROBLEM 18.114
A solid sphere o f radius c = 60 mm is attached as shown to a cord A B o f
length 300 mm. The sphere spins about its diameter B C and precesses
about the vertical axis A D . K n ow in g that 0 = 20 and = 35,
determine (a ) the rate o f spin o f the sphere, ( b) its rate o f precession.
SOLUTION
Use principal centroidal axes x, y, z as shown.
Angular velocity: to = -^>sin OS. + { y + ^>cos#)k
H g = I xo)xi + I ycoyj + I za zk
= -I'(psm.0i + l(y/ + ^>cos#)k

Q = -(p s in O i + ^cos6*k
Hg = Q x Hc
= \jq)y/s'm9 - (/ ' - l)q > 2 s in # co s# J j
a = (/sin/0 + csin#)^>2 -
2 F = L F eff:
+ f: T cos f i - m g = 0, T = ( 1)
C O S /?
+ ., : T s in j3 -m a
gtan/3 = (/ sin f i + csm O )<p2 (2)
Xs'*/8*csi$[* + ) I M a = T c s m (j3 - 9 ) = H g
m gcsm { p 0 ) _ _ /j, _ s in ^ c o s ^
(3 )
C O S /?
Data: c = 60 mm = 0.06 m, I = 300 mm = 0.3 m,
g = 9.81 m/s2
= = - c 2 = 1.44 x 10 3 m 2 I '-1 = 0,
m m 5
p = 35, 6 = 20
From Equation (2), (9 .8 l)ta n 3 5 = (0.3sin35 + 0 .0 6 s in 2 0 )^ 2
<p2 = 35.666 <p = 5.9721 rad/s
(9 .8 l)(0 .0 ^ s m l5 = ^ ^ 1Q-3 9721) sin 20o

From Equation (3 ),
() y/ = 63.228 rad/s i/ = 63.2 rad/s A
(b ) (p = 5.97 rad/s-4
PROBLEM 18.115
A high-speed photographic record shows that a certain projectile was
fired with a horizontal velocity v o f 1800 ft/s and with its axis o f
symmetry form ing an angle /? = 3 with the horizontal. The rate o f spin
\j/ o f the projectile was 6000 rpm, and the atmospheric drag was
equivalent to a force D o f 25 lb acting at the center o f pressure C P
located at a distance c = 7.5 in. from G. (a ) K n ow in g that the projectile
has a w eight o f 40 lb and a radius o f gyration o f 2.5 in. with respect to its
axis o f symmetry, determine its approximate rate o f steady precession.
( b) I f it is further known that the radius o f gyration o f the projectile with
respect to a transverse axis through G is 10 in., determine the exact values
o f the tw o possible rates o f precession.
SOLUTION
7>
Choose principal centroidal axes xyz as shown.
The symmetry (spin) axis is the z axis.
Reduce the drag force to a force-couple system at the mass center.
F = ( Dsin/3 - W c o s P )\ - ( Dcos/? - lF sin / ?)k
M c = D c sin p\
For the occurrence o f steady precession, the precession axis must be parallel to the drag force.
Thus, 9 = p = 3.
(a ) Using Equation (18.44), EMC = Hc
D c s in p = [ l a . - I'<pcos0)<psin0
Using p = 6 and co. = ij/ + tpcosO gives
Iif/cp - (/ ' - l)< p 2 cosO = D c (1 )
Neglectin g the quadratic term in (p,
... _ . Dc
Il//<p a D c <p ~ ----
It/
Data: W = 40 lb, m = = 1.24224 lb-s2/ft

32.2
( 2 5^2
I = mk.2 = (1.24224) = 53.917 x 10 3 lb-s2-ft
v 12 J
\f/ = 6000 rpm = 628.32 rad/s, c = = 0.625 ft

12
(p ~ t ( 5)(0 .6 2 5 ) _ q rad/s 4.40 rpm -4

(53.917 x 1 0 '3)(6 2 8 .3 2 )
^10^2
(6 ) /' - mk2
x = (1.24224)
V12,
= 862.667 x l O -3 lb-s2-ft
I '- I = 808.75 x 10~3 l b s 2 -ft
Substituting into Equation (1),
(53.917 x 10~3)(6 2 8 .3 2 )p - (808.75 x 10 3)<z>2cos3 = (2 5 )(0 .6 2 5 )
0.80764^z>2 - 33.8770 + 15.625 - 0
<p = 20.97283 20.50642 = 0.46641 rad/s, 41.479 rad/s
<p = 4.45 rpm, 396 rpm A

PROBLEM 18.116
I f the earth were a sphere, the gravitational attraction o f the sun, moon,
Axis of and planets would at all times be equivalent to a single force R acting at
precession the mass center o f the earth. H ow ever, the earth is actually an oblate
spheroid and the gravitational system acting on the earth is equivalent to
a force R and a couple M . K now ing that the effect o f the couple M is to
cause the axis o f the earth to precess about the axis GA at the rate o f one
revolution in 25,800 years, determine the average magnitude o f the
couple M applied to the earth. Assume that the average specific weight o f
the earth is 344 lb/ft3, that the average radius o f the earth is 3960 mi.and
2 *>
that I = m R 2 . (N ote. This forced precession is known as the
recession o f the equinoxes and is not to be confused with the free
precession discussed in Prob. 18 .121.)
S O L U T IO N
25800 years = (25800 yr)(365.24 day/yr)(24 h/day)(3600 s/h) = 814.16 x IQ1 s
2 71
<P = = 7.7173 x 1 0 12 rad/s
814.16 x 10v
In
y, = = 72.935 x 10-6 rad/s
(23.93 h )(3 6 0 0 s/h)
Y 344
mass density o f Earth: p = ~ = 10.6832 lb-s2/ft4
g 32.2
radius o f Earth: R = (3960 m i)(5 2 8 0 ft/mi) = 20.9088 x lO6 ft
mass o f Earth: = - j* (2 0 .9 0 8 8 x IQ6) (10.6832) = 409.05 x 1021 lb s2/ft
O O . i
J = mR 2 = j ( 409.05 x 1021)(20.9088 x 106)" = 71.531 x 1036 lb-s2-ft
Using Equation (18.44),
M = [Ic o , - / '^ cos# )# > sin 0
= [/<!/ + (/ - / ')^ c o s # ]^ > s in #
= Iy/tp sin #
= (71.531 x 1036)(72.935 x 10_6)(7.7173 x 10_l2)s in 23.45
= 16.02 x 1021 lb-fl
M = 16.02 x l O 21 lb-ft <

PROBLEM 18.117
Show that for an axisymmetrical body under no force, the rates o f
precession and spin can be expressed, respectively, as
and
H g cos 0 ( I ' - I )
V II'
where H G is the constant value o f the angular momentum o f the body.
SOLUTION
D D * /,o ant H G sm O H g co s#
B y Equations (18.48), cox= ------- ^ , a)y = 0, co, - -
B y Equation (18.35) with <9 = 0,
tox = -cos# = ^ -----
_ H g co s 9 _ H c cos# H g co s 0 _ H G ( l ' - 1 ) co s#
IK - - ^cos - - - -
PROBLEM 18.118
(a ) Show that for an axisymmetrical body under no force, the rate o f
precession can be expressed as
Id) 2
d> =
I'c o s 6
where co2 is the rectangular component o f co along the axis o f symmetry
o f the body, (b ) U se this result to check that the condition (18.44) for
steady precession is satisfied by an axisymmetrical body under no force.
SOLUTION
(a ) Angular velocity o f the body: = -tp s in d i + a>2k
Its angular momentum about G: H c = -V cp sin # i + Ia >2k
Let the reference frame Gxyz be rotating with angular velocity Q , where
Q = cp sin # i + cpcos #k
H c = ( H G) G + n x H g = 0 + (-(psm .6\ + <pc o s ^ k ) x ( - I'cp sm d i + /<w2k )
= I<pco2 sin # - I 'q r sin # c o s #
For no force, HG = 0
Hence, (/ 2 ~ I'<pcosO)<psm d = 0 or Ia>2 - I'cpco s# = 0 (1 )
Solving for cp, <p = ~ ~ ~

I co s#
(b ) Comparing Equation (1 ) with Equation (18.44) yields I M 0 = 0, which is the condition for no force.
PROBLEM 18.119
Show that the angular velocity vector o f an axisymmetrical body
under no force is observed from the body itself to rotate about the axis o f
symmetry at the constant rate
/ '- /
n = cd2
where a>2 is the rectangular component o f co along the axis o f symmetry

o f the body.
SOLUTION
Angular velocity o f the body: a = - p s in G i + (^sin #j
The rate o f change o f angular velocity as observed from the body is - a .
Assume that - a may be represented as the angular velocity vector rotating with angular velocity
li + mj + wk.
-a = (/i + mj + w k) x (cox\ + cozk) = mcozi + (ncox - lcoz ) j - mcoxk
Matching components: i: 0 = mcoz m =0

j: -<py/s'mG = ncox - lcoz (1 )
k: 0 = -m cox m = 0
From Equation (1), <p\j/smG = -n tp sm O - l(<pcosG + y/)
from which 1= 0 and n = ye.
Using Equation (18.44) with M 0 - 0 yields Icoz - I'<pcos0 = 0
or cpcosG =
But, coz = y/ + (pcosO = y/ + ~ f ~

5
1
Solving for </>,

li
a
N
U sing coz = a>2 and n = y/ yields n =

^
PROBLEM 18.120
For an axisymmetrical body under no force, prove (a ) that the rate o f
retrograde precession can never be less than tw ice the rate o f spin o f the
body about its axis o f symmetry, ( b) that in Fig. 18.24 the axis o f
symmetry o f the body can never lie within the space cone.
SOLUTION
For no force, M 0 =0
(a ) U sing Equation (18.44), 0 = [ l o ) z - / '^ > co s# )^ sin #
Ic o z - I'<pcos9 = 0
Using coz = y/ + (p cos9 yields Iy/ - (/ ' - /)#>cos# = 0
( / '- / ) c o s #
\<p\ = sec9
11 (/ - / ')
For a flat disk, 7 = -7

2
For any other shape, 7' > - 7

2
Hence, 7 7 < 1/ and _ 1 - > 2

2 I - I'
A lso sec 6 > 1. \<p\ > 2y/
I /' 1
(b ) tany = tan# or tan# = y t a n y > tany
A n g le o f surface o f space cone is y - 9.
A n g le o f axis is #.
1 r / 1 tan# + ta n (y - # )
tan# > - t a n f 9 + ( y - 0)1 = ------------------ ^ {
2 1 v 21 + ta n # ta n (y - 9 )
+ ta n # ta n (y - # ) ] t a n # > -^tan# + ^ -ta n (y - # )

['
tan # + tan2 # t a n (y - # ) > ~ tan^ + ~ tan( / ~ # )
-^-tan# > ^ t a n (y - # ) - tan2# t a n (y -#)
-jta n # > -^ ta n (y - # )
tan# > ta n (y - # )
# > ( r - # )
The axis lies outside the space cone.

PROBLEM 18.121
Using the relation given in Prob. 18.119, determine the period o f
precession o f the north pole o f the earth about the axis o f symmetry o f the
earth. The earth may be approximated b y an oblate spheroid o f axial
moment o f inertia I and o f transverse moment o f inertia /' = 0.996717.
(N ote. Actual observations show a period o f precession o f the north pole
o f about 432.5 mean solar days; the difference between the observed and
computed periods is due to the fact that the earth is not a perfectly rigid
body. The free precession considered here should not be confused with
the much slower precession o f the equinoxes, which is a forced
precession. See Prob. 18.116.)
SOLUTION
Angular velocity o f the body: co = -cos 6 + y/) k
L e t the reference frame Gxyz be rotating with angular velocity f2, where
Q = -<psm 9\ + <pcos
Angular acceleration o f the body: a = tbGxyz + Q x
The rate o f change o f angular velocity as observed from the body is - a
Assume that - a may be represented as the angular velocity vector rotating with angular velocity
li + m j + k .
- a = (/i + mj + k ) x ( c o j + c o M ) = -m cozi + (na>x - la>zj) - ma>xk
Matching components: i: 0 = ma>: m = 0
j: -tp y r sin # = ncox - lea. (1 )
k: 0 = -m o )x m = 0
From Equation (1), sin<9 = -tu p sin # - l(c p c o s 0 + y/)
from which 1= 0 and n = y/.
Using Equation (18.44) with XM0 = 0 yields Icoz - I'cpcosO = 0
or tpcosO =
/l I *
But, coz = y/ + tpcosO = y/ + - j f -
I
-%
II
Solving for y/,

^
Using coz = (o2 and n = y/ yields n = co2
Data for Earth: I ' = 0.99677, V - I = -0.00337,
0 0033
n - ----- -a>2 = -0.00331 \co2
0.9967 - 2
period = = ------ ------ = 302.03 = (3 0 2 .03)(24 h ) = 7248 h

0.003311 co2 a>2
period = 302 days A

PROBLEM 18.122
A coin is tossed into the air. It is observed to spin at the rate o f 600 rpm
about an axis G C perpendicular to the coin and to precess about the
vertical direction G D . K n ow in g that G C forms an angle o f 15 with G D ,
determine (a ) the angle that the angular velocity co o f the coin forms
with G D , ( b) the rate o f precession o f the coin about G D .
S O L U T IO N
1 2 1 2
Moments o f inertia: / = m r ', /' = m r '
2 4
Euler angle 9 for steady precession: 9 - 15
For axisymmetric body under no force, Equation (18.49) gives for the body cone angle:
tany = y U a n # = 2 tan 15 y = 28.187
(a ) Angular velocity co = < y(-/ sin y + k c o s y )
Its projection onto the vertical direction is
co cos /? = co k = < y(-/ sin y + k c o s y ) ( - s i n # i + c o s tfk )
= cy (s in y s in # + c o s y c o s O ) = <ycos(y - 9 )
cos/? = c o s (y - 9 ) p = \ y -9 \ = 28.187 - 15 = 13.187
A n gle between co and vertical direction G D : P = 13.19 A
cor cbsin#
( b) tan y = - =
co. cos 9 + \y
... . i^ sin y i/sin28.187 , .....

from which <p = ---------- = ------------------- = -2 .0 1 OSy/
s in (0 - y ) - s in 13.187
W ith y/ = 600 rpm, cp = (-2 .0 7 0 5 )(6 0 0 ) \<p\ = 1242 rpm (retrogra d e)^
PROBLEM 18.123
c The angular velocity vector o f a football which has just been kicked is
horizontal, and its axis o f symmetry O C is oriented as shown. K n ow in g
that the magnitude o f the angular velocity is 200 rpm and that the ratio o f
The axial and transverse moments o f inertia is ///' = , determine

3
(a ) the orientation o f the axis o f precession O A, ( b) the rates o f precession
and spin.
PROBLEM 18.124
A space station consists o f tw o sections A and B o f equal masses, which
are rigidly connected. Each section is dynamically equivalent to a
homogeneous cylinder o f length 15 m and radius 3 m. K n ow in g that the
station is precessing about the fixed direction G D at the constant rate o f
2 rev/h, determine the rate o f spin o f the station about its axis o f
symmetry CC'.
S O L U T IO N
1 ">
For entire station: /' = m h a 2 + L 2), / = - m a"
12 1 1 2
/ 6 a~ (6 )(3 )2
= 0.0582524
I' 3a2 + 1} ( 3) ( 3 ) 2 + (3 0 )2
From Equation (18.49), tany = tan# = 0.0582524 tan 40 y = 2.7984
cox = -<ps\n0 -- - ( 2 rev/h)sin40 = -1.28557 rev/h
<y, 1.28557
(O. = = 26.3005 rev/h
tany tany
\j/ = (o. - <pcos0 = 26.3005 - 2cos40
y/ = 24.8 rev/h A
PROBLEM 18.125
I f the connection between sections A and B o f the space station o f
Prob. 18.124 is severed when the station is oriented as shown in
Fig. P I 8.124 and i f the tw o sections are gently pushed apart along their
common axis o f symmetry, determine (a ) the angle between the spin axis
and the new precession axis o f section A , ( b) the rate o f precession o f
section A , (c ) its rate o f spin.
S O L U T IO N
For entire station: /' = m (3 a 2 + L2) , / = m a2

12 ' 1 2
- = j = 0.0582524
/' 3a2 + L 2 ( 3) ( 3 ) + (3 0 )
From Equation (18.49), tan/ = tan# = 0.0582524tan40 y = 2.7984
cox = -<ps\nO = - ( 2 rev/h)sin40 = -1.28557 rev/h
<w, 1.28557
co. = = = 26.3005 rev/h
tan y tan y
tj/ = co, - cpcos 6 - 26.3005 - 2 cos 40 tj/ = 24.8 rev/h
During severing, the angular momentum about G remains constant, thus to and y do not change.
For each section: I ' = m i'ia 2 + l 2\, I = m a2

12 ' 2
I _ 6a2 _ (6 )(3 )2
= 0.214286
r 3a2 + 12 (3 )(3 )2 + (l5 )2
From Equation (18.49), tan y = tan 6
(a ) tan# = - t a n y = tan2~7984 d = 12.8497 6 = 12.85 <

I 0.214286
(b) (ox - -^sin# ip = ^ = *-28557 _^ rev/h A

sin # sin 12.8497
(c ) ip = a). - <pcosO = 26.3005 - 5.7806cosl2.8497 ij/ = 20.7 rev/h A

PROBLEM 18.126
A 5-kip satellite is 7.2 ft high and has octagonal bases o f sides 3.6 ft. The
coordinate axes shown are the principal centroidal axes o f inertia o f the
\l
satellite, and its radii o f gyration are kx = k2 = 2.7 ft and ky = 2.94 ft.
o > The satellite is equipped with a main 125-lb thruster E and four 5-lb
thrusters A, B, C, and D , which can expel fuel in the positive y direction.
The satellite is spinning at the rate o f 36 rev/h about its axis o f symmetry
Gy, which maintains a fixed direction is space, when thrusters A and B
are activated for 2 s. Determine (a ) the precession axis o f the satellite,
( b) its rate o f precession, (c ) its rate o f spin.
S O L U T IO N
f 2rc rad 1h
<y = (36 rev/h) = 0.062832 rad/s
rev ^3600 s ,
5000
m = = 155.28 lb s2/ft
32.2
l x = mk\ = (1 5 5 .2 8 )(2 .7 )2 = 1131.99 lb-s2-ft
l z = l x = 1131.99 lb-s2-ft
I y = m k ] = (1 5 5 .2 8 )(2 .9 4 )2 = 1342.17 lb s2-ft
( H o-)0 = I vco0j = ( l 342.18)(0.06283 2) j = (84.331 lb - s - ft)j
a = 1.8 ft, b = 1.8 + 3.6cos45 = 4.3456 ft
When thrusters A and B are activated,
M c = - b ( F A + Fb ) i = - ( 4 . 3 4 5 6 ) ( l 0 ) i = -(4 3 .4 5 6 lb - ft)i
% Angular momentum after 2 s:

f
H c = ( H c )0 + M C (A / ) = 84.33 l j + (- 4 3 .4 5 6 )(2 )i
3 = -(8 6 .9 1 2 lb -s -ft)i + (84.331 lb - s - ft)j
Hx 86.912
cox = - = = -0.076778 rad/s = -43.991 rev/h
Ix 1131.99
Hv H
co,. = = 36 rev/h co. = - = 0
(a ) Precession axis:
tan# = - 2 * - = 86912 # = 45.864

Hy 84.331
9x = 44.1, # = 45.9, 9Z = 90 <4
cox 43.992
tany = - = --------- y = 50.705
co 36
Y -0 = 4.841c
co = yja>x + coj, = 56.814 rev/h
L a w o f sines
cp \j/ CO
sin^ s in (^ - # ) sin #
56.814 sin 50.705

(b ) <p =
sin 45.864
<p = 61.3 rev/h A
V
56.814sin4.841c
(c ) y/ =
sin 45.864
y/ = 6.68 rev/h A
PROBLEM 18.127
S olve Prob. 18.126 assuming that thrusters A and D (instead o f A and B )
are activated for 2 s.
S O L U T IO N
2k rad lh
<y0 = (36 rev/h) = 0.062832 rad/s
rev 3600 s
m = = 155.28 lb s2/ft
32.2
l x = m kI = (1 5 5 .2 8 )(2 .7 )2 = 1131.99 lb-s2-ft
I. = l x = 1131.99 lb-s2-ft
I y = m k; = (1 5 5 .2 8 )(2 .9 4 )2 = 1342.17 lb-s2-ft
( H c ) 0 = I v(O0j = (I3 4 2 .1 7 )(0 .0 6 2 8 3 2 )j = (84.331 lb -s-ft) j
a = 1.8 ft, b = 1.8 + 3.6cos45 = 4.3456 ft
W hen thrusters A and D are activated,
M g = - a ( F A + FD ) k = - ( l . 8 ) ( l 0 ) k = - (1 8 lb f t ) k
56 Angular momentum after 2 s:
H c = ( H c )0 + M 0.(A / ) = 84.33 l j + ( - 1 8 ) ( 2 ) k
AJ
= (84.331 lb -s -ft)j - (36 lb -s -ft)k
H Hv
a) = - = 0, cd = = 36 rev/h
H2 -3 6
co. - - = -0.031802 rad/s = -18.2214 rev/h
I. 1131.99
(a ) Precession axis:
H. 36
tan# = - # = 23.117
//,, 84.331
# t = 90, 6 V = 23.1, #2 = 66.9
a)2 18.2214
tan/ = - = ------------ / = 26.846
<y 36
/ - # = 3.729
<y = yjtol + ft)2 = 40.349 rev/h
Law o f sines
<y
sin/ s in (/ - # ) sin #
40.349sin 26.846
(A ) <p =
sin 23.117
<P = 46.4 rev/h A

If
. 40.349sin3.729
(c) ^ = ----------------------
sin 23.117
6.68 rev/h A
PROBLEM 18.128
Solve Sample Prob. 18.6 assuming that the meteorite strikes the satellite
at C with a velocity v 0 = (2000 m/s)i.
SOLUTION
(a ) A ngular velocity after impact
From Sample Problem 18.6:
I - I . - ma2, I '= 1 = 1 = m a2
Z 2 9 4
Conservation o f angular momentum: Angular momentum after

impact:
H g = rc x m0\ 0 + 7cw0k = ( - a j - erk) x /w0v0i + Ico0k
= - a w ovoj + (Ico0 + om0v0) k

Data: a = 800 mm = 0.8 m, coQ = 60 rpm = 2n rad/s,
v0 = 2000 m/s, mp = m
1000
_ (H c\ amQV0 4 m0 VQ
3 I 5 2 5 m a
y m a
4
r 1 'I 2000
= - 2 rad/s
U 0 0 0 j 0.8
= 2 * + 2| = 11.2832 rad/s
1000 J 0.8
PROBLEM 18.129
A homogeneous square plate o f mass m and side c is held at points A and
B by a frame o f negligible mass which is supported by bearings at points
C and D. The plate is free to rotate about A B y and the frame is free to
rotate about the vertical CD . K now ing that, initially, 9() = 45, 9it = 0,
and <f>n = 8 rad/s, determine for the ensuing motion (a ) the range o f
values o f 9, (b ) the minimum value o f <j>, (c ) the maximum value o f 9.
S O L U T IO N
Place the origin at the center o f mass and let Oxyz be a principal axis
frame o f reference with they' axis directed along the m oving axle AB. Let
the Z axis lie along the fixed axle. Useful unit vectors are i, j, and k along
the x, y, z axes and K along the Z axis.
K = - is in # + k co s#
Angular velocity: to = <pK + 9']
co - -^>sin#i + 9 j + <pcos9k
Moments o f inertia: I x = eiI v, I , = e2l v
H 0 = I xa)xi + /,&>, j + Leo. k
= I Y[-e\<ps\n9\ + 9 j + e2^>cos#k)
The moment about the fixed Z axis is zero, hence H 0 K = constant.
H (> K = I y (e, sin2 9 + e2 cos2 9^ T7> C i = ( ei sin2 <Po
+ e2cos2 90)<p
s in ' 9 + e2 c o s ' 9 '
T w ice the kinetic energy: I T = I xo)x + /,,<y2 + I.c o 2 = constant
2 T = /v ^ e ,s in 20 + e2cos2^ j ^ 2 + 0 2J
= I y {C\<p2 + 9 2) = l yC 2
0 2 = C 2 - Cytp C 2 = 0Q + C t f 0
Data: ex = 1, e2 =2 e, sin2 0 + e2 cos2 0 = 1 + cos2 0
0O = 45, 0O = 0, ra<^ s
C. - ( l + cos245 W = [ l + 1 |(8) = 1 2 rad/s = 12 ,

V ; 0 I 2J Y 1 + cos 0
C2 = 0 + (1 2 )(9 6 ) = 96 (rad/s)2
., 144
(a ) 0 2 = 96 - 12<j> = 9 6 ------- > 0
1 + cos 0
cos2 0 > 0.5 cos 0 > 0.70711
- 4 5 < 0 < 45 4
( b)
^ mm ' 1 + cosO '
(pmm = 6.00 rad/s
(c ) (^max)2 = C2 - C > min = 96 - (1 2 )(6 ) = 24 (rad/s)2
0max = 4 .9 0 rad/s <

PROBLEM 18.130
A homogeneous square plate o f mass m and side c is held at points A and
B by a frame o f negligible mass which is supported by bearings at points
C and D . The plate is free to rotate about AB, and the frame is free to
rotate about the vertical C D . Initially the plate lies in the plane o f the
frame (# 0 = 9 0 ) and the frame has an angular velocity = 8 rad/s. I f
the plate is slightly disturbed, determine for the ensuing motion (a ) the
minimum value o f cf>, ( b) the maximum value o f 6.
S O L U T IO N
Place the origin at the center o f mass and let Oxyz be a principal axis
frame o f reference with th e y axis directed along the m oving axle AB. Let
the Z axis lie along the fixed axle. Useful unit vectors are i, j, and k along
the x, y , z axes and K along the Z axis.
K = - i s i n # + k c o s tf
Angular velocity: co = cpK + 0\
co = -cp sin d i + 6\ + $>cos#k
Moments o f inertia: I x = e,/v, /. = e2I y
H 0 = I xcox\ + I vcoy) + l.co . k
= I y [ - e |^>sin<?i + G\ + e2^ co s ^ k )
The moment about the fixed Z axis is zero, hence H 0 K = constant.
H 0 K = I v (e, sin2 6 + e, cos2 O^cp = 7,.C,
* = C 2/7 C i = ( ei sin2 Go + e2 cos2 0o )<po

e|S in '^ + e2c o s *0 ' '
T w ice the kinetic energy: 2T = I xcorx + I vco\ + l.c o 2= constant
2T = /v^ e , sin2 6 + e2 cos2 0 ^ + tp2 + 0 2j
= / V( C > 2 + 0 2 ) = I , C 2
0 = C2 C x(p C2 = 0O + Cf<p0
Data: ex = 1, e2 = 2 e, sin2 0 + e2 cos2 0 = 1 + cos2 9
90 = 90, 0O = 0, rad/s
C, = ( l + cos29 0 )(8 ) = 8 rad/s <p = ----------

V 'V ' 1 + cos 0
( ) Pm in = 7 ~~2a = 4
1 + COS 0
^min = 4.00 rad/s <
C2 = 0 + ( 8 ) ( 8 ) = 64 rad/s2
0 2 = C2 C ,p
(* ) (^max)2 = C 2 - C ^ min = 64 - ( 8 ) ( 4 ) = 32 (rad/s)2
0ma, = 5.66 rad/s <

PROBLEM 18.131
A homogeneous disk o f mass m is connected at A and B to a fork-ended
shaft o f negligible mass which is supported by a bearing at C. The disk is
free to rotate about its horizontal diameter A B and the shaft is free to
rotate about a vertical axis through C. Initially the disk lies in a vertical
plane f 90 = 9 0 ) and the shaft has an angular velocity = 16 rad/s. I f
the dislc is slightly disturbed, determine for the ensuing motion (a ) the
minimum value o f tj>, ( b) the maximum value o f 9.
S O L U T IO N
Place the origin at the center o f mass and let Oxyz be a

principal axis frame o f reference with the y axis directed along
the m oving axle AB. Let the Z axis lie along the fixed axle.
Useful unit vectors are i, j and k along the x, y , z axes and K
along the Z axis.
K = - is in # + k co s#
Angular velocity: to = <pk + 9 j
co = ~(psm9\ + 9\ + <pcos9k
Moments o f inertia: l x = e j y, I , = e2I y
Angular momentum about O.
H 0 = I xcoxi + l a ) j + I.co.k
= /v (-e,$bsin#i + 9 j + e>$jcos#k)
The moment about the fixed Z axis is zero, hence, H 0 K = constant
H 0 K = I y [ e xsm 29 + e2cos~ O^cp = I yQ
2 + ^ 2J = I y [C\<p + 9 2) = /VC2
9'2 C 2 C xcp C 2 = 9q + Cj^q
Data: e, = 1 , e2 = 2, e, sin2 9 + e2 cos2 9 = 1 + cos2 9
90 = 90, 90 = 0, (jpg = 16 rad/s
C. = ( l + cos2 9 0 )(1 6 ) = 16 rad/s 
(b )
( ^ ) m a x = C z " Cl<"min = 2 5 6 ~ = 1 2 8 ( ra d /S ) 2 ^rnax =11-31 rad/s

PROBLEM 18.132
A homogeneous disk o f mass m is connected at A and B to a fork-ended
shaft o f negligible mass which is supported by a bearing at C. The disk is
free to rotate about its horizontal diameter A B and the shaft is free to
rotate about a vertical axis through C. K n ow in g that, initially, 9 0 = 40,
90 - 0, and = 16 rad/s, determine for the ensuing motion (a ) the
range o f values o f 9, (b ) the minimum value o f <f>, (c ) the maximum
value o f 6.
SOLUTION
Place the origin at the center o f mass and let Oxyz be a
principal axis frame o f reference with t h e y axis directed along
the m oving axle AB. L et the Z axis lie along the fix ed axle.
Useful unit vectors are i, j, and k along the x, y, z axes and K
along the Z axis.
K = - is in # + k c o s #
Angular velocity: to = qjk + 9 j
co = -<psm9\ + 9 j + </>cos#k
Moments o f inertia: I x = exI y, I z = e2I y
Angular momentum about O.
H 0 = I xcoxi + IyCoy\ + I zco2k
= I y { - e x<psxnO\ + 9 j + e2^ c o s # k )
The moment about the fixed Z axis is zero, hence, H 0 K = constant
H 0 K = I y [e xsin2 6 + e2 cos2 O^cp = I yCx
C,
C, = { e xsin2 90 + e2 cos2 90^j(p
<Po
exsin2 9 + e2 cos2 9
T w ice the kinetic energy: I T = I xa>x + I y(0 y

2 + I zco2
z = constant
2T = /y [(e ,s in 20 + e2 cos2^ ) ^ 2 + 9 2] = I y ( c x C 2 = 9q + C x<pQ
Data: ex = 1, e2 = 2 exsin2 9 + e2 cos2 9 = 1 + cos2 9
90 = 40, 90 = 0 cp0 = 16 rad/s2
25.389
C, = ( I 6 ) ( l + cos2 4 0 ) = 25.389 rad/s 0 cos2 6 > 0.56880
1 + cos 6
co s# > 0.76603 - 4 0 < 6 < 40 A
(b ) <pmln = - - - = 12.6945 rad/s <pmin = 12.69 rad/s A

1 + cosO
(c ) ( # 2) = C 2 - C }<pmm = 83.926 (rad/s)2 #max = 9 .1 6 rad/'s^

PROBLEM 18.133
A homogeneous disk o f radius 9 in. is w elded to a rod A G o f length 18 in.
and o f negligible weight which is connected by a clevis to a vertical shaft
AB. The rod and disk can rotate freely about a horizontal axis A C , and
shaft A B can rotate freely about a vertical axis. Initially rod A G is
horizontal ( 0 O = 9 0 ) and has no angular velocity about A C . Know ing
that the maximum value <j>m o f the angular velocity o f shaft AB in the
ensuing motion is tw ice its initial value 0O, determine (a ) the minimum
value o f 0, (b ) the initial angular velocity <j>0 o f shaft AB.
S O L U T IO N
Let the Z axis be vertical.

11
For principal axes xyz with origin at A , the principal moments o f
inertia are
17 2
/' = / = = m i = + (2<,)3 = m a '
4
1i =i 1. =
^ ma 2
Angular velocity components:
0) x - (ps\n9, (o v = - 0 , co, = ip + tpcosd
H <= + ty V y i +
= I'ips'm B i - I '0 j + Ico.k
Kinetic energy: T = l xco\ + - ^ I vco2

y + ^ I.c o ]
T = ^ / '(< ir s in 20 + 0 2) +
Potential energy: V = -2 m g a cos 9
Conservation o f angular momentum about fixed Z axis:
H ^ -K = H ^ i s i n # + k co s0 )
= /'^>sin2 9 + 1(0. cos 9
17 9 ) I t
= ma2<psin2 9 + ma'co. co s9 = a (1 )
4 2
where a is a constant.
Conservation o f energy: T + V = E, where is a constant.
17 1
m a2 (tp2 sin2 9 + 9 1 j + ma2oj2 - 2 m g a cos9 - E (2)
Constraint o f clevis: y/ = 0 <dz = <pcos9
17 1 17 1
(a ) F r o m (l), ma"(pmsin' 9m + m c2<pmcos2 9m = ma2>pa sin2 90 + ma2<p0 cos'' 90
17 . 2 _ 1 2. 17 <p0 (1 7
sur + - c o s l 9m = -
4 <Pm
17 . 17
sm 29m + j ( l - s i n 20m) =
4 8
sin 9 - sin 9m = 0.65828 9m = 41.169

m 20
9m = 4 \ . 2 <
( b) A t the minimum value o f 9, 9 -0
17 1
From (2 ), ma2 (<p2 sin2 9m + o) + - ma2<p2 cos2 9m - 2m gaco s9
= ~ ma2 ( si n2 90 + o j + m a1^ cos2 90 - 2m gacos90c
17
(2 )2 sin2 9m + ( j j (2 )2cos2 9m - ~ - m a2<j>l = 2mga cos 9m
2.1250 ma <pd = 1.5055mga
q>l = 0.70849 = 0.70849 = 30.418 <p0 = 5.52 rad/s *!

0 a 0.75
PROBLEM 18.134
and o f negligible weight which is connected by a clevis to a vertical shaft
AB. The rod and disk can rotate freely about a horizontal axis A C , and
shaft AB can rotate freely about a vertical axis. Initially rod A G is
horizontal = 90j and has no angular velocity about A C . K now ing
that the smallest value o f 9 in the ensuing motion is 30, determine
(a ) the initial angular velocity o f shaft AB, (b ) its maximum angular
velocity.
SOLUTION
17 Let the Z axis be vertical.
\7
inertia are
17 2
I ' ~ IX - ly - m = ma~
4
/1 =1 /. =
^ ma 2
cox = <ps\n9, cov = - 9 , co. - \j/ + ^ c o s 9
= I xcoxi + I yo)y] + L co: k
= / '^ s in # i - I'9 \ + I co. k
Kinetic energy: T = i I xa) ] + ^ I yco2

v + i l zcof
T = - I'(< p 2 sin2 9 + 9 2) + ^ I c o ]
Potential energy: V = -2 m g a c o s 9
H , K = H , (is in # + k c o s # )
= /'^sin2 9 + Ico. cos 9
17 2 n 1 1 a
= ma cpsm~9 + ma co. co s 9 = a (1 )
4 2
Conservation o f energy: T + V = E, where E is a constant.
1
<
^-ma2(<p2sm 20 + 0 2^j + m a2o) 2 - 2 m g a cos0 = E (2 )
Constraint o f clevis: y/ = 0 <oz = <pcos0
(n ) A t 6 = 9m - 30 and at 0 = 0O = 90, (9 = 0.
17 1 17
From (1), sin2 9m + - ma2<pm cos2 0m = m a2<p0 sin2 0O + 0
(1 7 ' S 2 2- 17 2- 68 .
ma <Pm = ~ ^ ma <P0 <Pm =
I 4 2
From (2 ), - -ma
68 . 1
<p0 | sin 30 + ma
68 .
cos 30 - 2m gacos30
<Pv
23
17 1
= ma2<pl sin2 90 + ma2<pl cos2 90 - 2m gacos90
17 _3_][ 68 17
m a2<pl = 2m gacos30
32 + 16 J l 23 8
ml = 0.41660 = 0.41660 = 17.886

0 a 0.75
<p0 = 4.2292 rad/s <p0 = 4.23 rad/s 4
( b) 9 . = ||(4J2292) = 12.50 rad/s -4

PROBLEM 18.135
The top shown is supported at the fixed point O. Denoting by <j>, 9, and
y the Eulerian angles defining the position o f the top with respect to a
fixed frame o f reference, consider the general motion o f the top in which
all Eulerian angles vary.
r . 3 in. (a ) Observing that EA/Z = 0 and E A f . = 0, and denoting by I and /',

respectively, the moments o f inertia o f the top about its axis o f
symmetry and about a transverse axis through O , derive the tw o first-
order differential equations o f motion
I'4>s\xy29 + l [ y + j>cos0 ^cos9 = a (1 )
l[y + j>cosO} = P (2 )
where a and p are constants depending upon the initial conditions.

These equations express that the angular momentum o f the top is
conserved about both the Z and z axes, that is, that the rectangular
component o f H 0 along each o f these axes is constant.
(b ) Use Eqs. (1 ) and (2 ) to show that the rectangular component co. o f

the angular velocity o f the top is constant and that the rate o f
precession <j> depends upon the value o f the angle o f nutation 9.
SO LUTIO N
Use a rotating frame o f reference with th e y axis pointing into the paper.
Angular velocity o f the frame:
Z
z
f i = -$?sin#i + 9j + <pcos9k
Angular velocity o f the top:
to = -(p s in Q i + 9j + ( y + ^>cos^)k
T & '* / )
Its angular momentum about O.
T H0 = I xcox1 + I y0) yj + I : (0M

/
1 IB = - I tpsmGi + V9\ + l { y + ^>cos^)k
where I x = l y = /' and /2 = I.
The moment M 0 about O is due to the w eight mg.

K A ..
M 0 = m gc sin 9j
\6
X (a) Since the fixed Z axis refers to a Newtonian frame o f reference and
(A 40 )z - 0, it follow s that ( H a )z is constant. Thus,
^ -c
{H 0 )z = H0 K = H 0 (- is in i9 + k c o s tf)
= / '^ s in 20 + l{[j/ + (p cosO )cosO = a ( 1 ) ^
M 0 = H 0 = (H o ) ^ + x H0
m gc sin 0 j = - I ' ((p s m 0 )i + I '0 j + + 0> co s# )k
+ cp cos 0 ) 9 - I'cos0)^>sin0 - /'^>2s in # c o s # J j
z-components: 0 = + 0*cos0)
Integrating, l(y / + ^ c o s # ) = fl
where f l is a constant.
(b ) Since <az = \jf + <pcos 9, 0) z = y = constant (3 ) -4
From (1 ) and (2 ), I'<psm2 9 + f l cos 9 = a
a - flco s O .
<P = 2a
I sm 9
which is a fimction o f 9.
PROBLEM 18.136
(a ) A pplyin g the principle o f conservation o f energy, derive a third
differential equation for the general motion o f the top o f
Prob. 18.135.
(b ) Eliminating the derivatives <f> and y from the equation obtained and
from the tw o equations o f Prob. 18.135, show that the rate o f nutation
9 is defined by the differential equation 9 2 - f { 9 ) , where
3 in
o a^2
a - /3cos9
f(9 ) = -y - - 2m gccos#j - ( 1)
/ 'sin 0
(c ) Further show, by introducing the auxiliary variable x = cos 9, that the

maximum and minimum values o f 9 can be obtained by solving for x
the cubic equation
/ \
2E - Im g c x 2
( )
SOLUTION
(a ) Angular velocity o f the top:
to = - 0>sin#i + 9 ) + [{j/ + cos#)k
Kinetic energy:
1 1 1
T = - I xcot + l.xo., + - 1 , 0 ) ;
2 2 2
= - r ( sin#)~ + V O 2 + -j/cu2 + m g c c o s 9 = E A
( b ) Solving for 9 2,
92 = ~ ^c 1
- ~ 2 g c c o s t f j - (^ > sin 0 )' (A )
Equation (2 ) o f Problem 18.135, with o) . = y/ + (p cos9 gives
(B )
Equation (1 ) o f Problem 18.136 gives
I'cpsm 2 9 + /?cos 9 = a (C )
a - B cos9
(D )
l+ C s>*&J
Substituting Equations (D ) and (B ) into Equation (A ),
& = / (* ),
P2 a - /ffcosffV
where 2E - 22 2 m g cco s9 (1 )
m = 7
7 's in 0 J
) M aximum and minimum values o f 0 occur when / ( 0 ) = 0. Setting co s0 = x and sin20 = 1 - x 2 in

Equation (1 ), and letting / ( 0 ) = 0 gives
P2 ( a - ygx)2
2E - 22- + 2mgcx
(7')2(l-x2)
M ultiplying by 7 '(l - x 2 j gives the cubic equation F ( x ) = 0:
/ 2 \
2F - 2m gcx \([ l - x2) - y ( a - Pxf = 0 (2)"-4
Solving this equation w ill yield three values o f x. The tw o values lyin g between -1 and +1 correspond to
the maximum and minimum values o f 0.
F (0
PROBLEM 18.137
A solid cone o f height 180 mm with a circular base o f radius 60 mm is
supported by a ball and socket at A. The cone is released from the
position 9() = 30 with a rate o f spin <//0 = 300 rad/s, a rate o f
precession = 20 rad/s, and a zero rate o f nutation. Determine (a ) the
maximum value o f 9 in the ensuing motion, (b ) the corresponding values
r 60 nun o f the rates o f spin and precession. [H int. Use Eq. (2 ) o f Prob. 18.136;
you can either solve this equation numerically or reduce it to a quadratic
equation, since one o f its roots is known.]
SOLUTION
Data; r = 60 mm = 0.06 m, h = 180 mm = 0.18 m, c = h = 0.135 m,

4
90 = 30, tj/0 - 300 rad/s, <pQ = 20 rad/s, 90 = 0
Calculate the follow ing:
= r 2 = (0 .0 6 ) 2 = 1.08 x 10'3 n r
m 10 10v '
V _= 3
- r 2 + hs \ = - ^ (0 .0 6 )2 + (0 .1 8 )2 = 19.98 x 10"3 m 2
m 5
Initially, cox = - 0>()sin#() = -2 0 sin 3 0 = -1 0 rad/s, coy = 9() = 0
co. = + <Ph COs 9{) = 300 + 20cos30 = 317.32 rad/s
T I lI ' t/ 2
1 > 1 / >
= K + J + -
m 2 m' ' 2m
= ^19.98 x 10"3) ( l 0 2 + 0 ) + ( l .08 x 10"3)(3 1 7 .3 2 )2 = 55.3728 nr/s2
= g c c o s 9 {) = (9 .8 l)(0 .1 3 5 )c o s 3 0 = 1.1469 m 2/s2

m
2E
= 2(55.3728 + 1.1469) = 113.0394 nr/s"
m
= co. = (1.08 x 10-3) ( 3 17.82) = 0.342706 nr/s

m m * ' '
=
= L
^()sin20o + p c o s 9 = ^19.98 x 10~3)(2 0 )s in 230 + 0.342706co s30
m m
= 0.396692 nr/s
A fter dividing by m, Equation (2 ) o f Problem 18.136 becomes
IE 7T
F (x ) = Mr - 2gcx ( l - x 2) - " \ * - S * '
wt
m J ' 1 r{m m ,
^ ^ _ (0.396692 - 0.342706x)2 _
113.0394 - ( - 342706) _ (2 )(9 .8 1 )(0 .1 3 5 ) x
1.08 x 10 ' 19.98 x 10"3
(4.29198 - 2 .6 4 8 7 x )(l - x 2) - 5.87825(1.157529 - x ) 2 = 0
(a ) Roots are: x = cos<9 = 0.68170, 0.86603, 2.2919
<9max = cos-1 (0.68170) = 47.023 = 47.0 A

( b) B y Equation (4 ) o f Problem 18.135,
. _ a - 0 cost? _ 0.396692 - (0.342706)(0.68170) _

= 15.2474
/'sin 2# ( l 9 .9 8 x l0 ~ 3)s in 2 47.023
co_ = 317.32 rad/s
y/ = coz - <z>cost? = 317.32 - (15.2474)(0.68170) spin\ y/ - 307 rad/s A

precession: ip = 15.25 rad/s A
PROBLEM 18.138
A solid cone o f height 180 mm with a circular base o f radius 60 mm is
supported by a ball and socket at A. The cone is released from the
position 00 = 30 with a rate o f spin \j/0 = 300 rad/s, a rate o f
precession = - 4 rad/s, and a zero rate o f nutation. Determine (a ) the
maximum value o f 6 in the ensuing motion, ( b) the corresponding values
o f the rates o f spin and precession, (c ) the value o f 6 for which the sense
r 60 nun o f the precession is reversed. (S ee hint o f Prob. 18.137.)
SOLUTION
Data: r - 60 mm = 0.06 m, h = 180 mm = 0.18 m, c = h = 0.135 m

4
0O = 30, \j/0 = 300 rad/s, <p() - - 4 rad/s, 0O = 0
Calculate the follow in g:
= r 2 = (0 .0 6 ) 2 = 1.08 x 10~3 m
m 10 10v '
/' _ 3|
r > + h1.21 =
3
- ( 0 .0 6 ) 2 + (0 .1 8 )2 = 19.98 x 10"3 n r
m 5 !,4 5
Initially, 0)x = -^>o sin0o = - ( - 4 ) sin 30 = 2 rad/s, cov = 0O = 0
co. = 300 + (- 4 )c o s 3 0 = 296.536 rad/s
i l i t \ 1 / 2
y +
~ = T (co: + c o 2 CO.
m 2 m ' > 2m -
= (19.98 x 10 3) ( ( 2 ) 2 + o ) + ( l .08 x 10-3)(2 9 6 .5 3 6 )2 = 47.5241 m 2/s2
= g c c o s 0 = (9 .8 l)(0 .1 3 5 )c o s 3 0 = 1.1469 m 2/s2

m
2E _
= 2(47.5241 + 1.1469) = 97.3419 m 2/s2
m
I
= CO.
m m
= ^ 0sin2(90 + P cos Oq = (l9 .9 8 x 10~3) ( - 4 ) s i n 230 + 0.320259cos30

m m v '
= 0.257372 m /s
A fter dividing by m, Equation (2 ) o f Problem 18.136 becomes
2E _2 a f ix
F {x ). 2 g cx = 0
m M ) - ? \m m
97.34,9 - <-320259) ; - ( 2 ) ( 9 . 8 , 35)1(1 - * * ) - _

1.08 x 10 v A A ) \ I 19 98 X10-3
(2.37324 - 2 .6 4 8 7 x )(l - x 2) - 5.13342(0.80364 - x ) 2 = 0
(a ) Roots are: x = cos# = 0.23732, 0.86603, 1.73
0max = c o s '1(0.23732) = 76.272 #max = 76.3 <
(.b) B y Equation (4 ) o f Problem 18.135,
. a - p co s# 0.257372 - (0.320259)(0.23732)
cp --------- ,----- = ------ ------------ r---- ^ - 9.6192 rad/s
/'sin # /( lio
9 .n9o8.,ift-3 | sin2 76.272
x l 0 3)
a)z = 296.536 rad/s
\j/ = (o2 - cpcos 0 = 296.536 - (9.6192)(0.23732) spin: y/ = 294 rad/s 4
precession: cp = 9.62 rad/s A
a -/ ? c o s #
(c) cp = ------ = 0
/'sin2 #
a_ _ 0.257372
co s# = # = 36.5 A
p ~ 0.320259
PROBLEM 18.139
and o f negligible w eight which is supported by a ball and socket at A . The
disk is released with a rate o f spin = 50 rad/s, with zero rates o f
precession and nutation, and with rod A G horizontal ( # 0 = 90).
Determine (a ) the smallest value o f 6 in the ensuing motion, \b) the rates
o f precession and spin as the disk passes through its lowest position.
SOLUTION
For principal axes xyz with origin at A, the principal moments o f

inertia are
17 2
1' - l x - ly - m ^ a 2 + ( 2 a f = ma
4
11 =1 1 ^ma2
=
2 2
o)x = (psind, 6)v = - 0 , ooz = \j/ + <pco s#
= I x0)x\ + l ya>yj + I : co: k
= I'<ps'\n9i - I 'd j + la ), k
1, 1 1_ ? 1, 2
Kinetic energy: T = I XQ)X + Iy (ov + 1 . ( 0 .
2 2 2
T = / '(^ r s in 2# + + I oj]
2 v > 2
Potential energy: V = -2 m g a co s6
H ^K = H /<- (is in 0 + k c o s # )
= I'<psin2 6 + 1 (0. cos9
17 1 l- >
= m a2a>s'm2 9 h ma2(o. c o s 9 = a (1 )
4 2
Conservation o f energy: T + V = E , where E is a constant.
17
~ m a 2 [tp1 sin2 0 + #2j + 1 m a 2a >2 - 2 m g aco s0 = E (2)
L et the reference frame Axyz be turning with angular velocity
Q = <psm9\ - # j + $>cos#k
Then
mgas'm&j = s in # )i - I 'd j + I ~ i - k + Q x H A
dt
z-component: 0 = / ^ - + k 'Q x H ,
dt A
0 0 1
dcoz
0 = 1 (psm& -0 49cos# . / i ^ L + o = / ^ 2 t
dt dt dt
I<p$ind - I 'd coz
Integrating, Icoz = p (3)
where p is a constant.
Data: #0 = 90, <p0 = 0 , #0 = 0,
From (3), coz =
17 1 17 1
From (1), ma2<psin2 6 + m a2coz co s# - m a: <p0 sin290 + -m a 2eoz co s90
2 a>2 cos#
q> = - (4)
17 sin2#
From (2), ma' ( <p2 sin ' # + 0 l ) + - mat'. - 2m ga cos0
17 1
= ma" | sin2 #0 + #q I + ~ 2 gm acos9 0c
17
or ma21ip2 sin2# + # 2j = Im g a c o s d
8
(a ) A t # = #m,
~ ma2<pl, sin2 0m = 2m gacos0m

O
/
17 2 ^cos#m
-m e sin2#m = 2m gacos0m
V 17 sin2#m ,
1 ma2col cos16
= 2mga cos Qm
34 sin2 6
sin 20m = ma2(0l _ aa>l _ (Q -7 5 )(5 0 )2 = Q g5632

cos 6m 68mga 68g (6 8 )(3 2 .2 )
1 - cos2 9m
m = 0.85632cos6*
cos26m + 0.85632cos#, - 1 = 0
cos9m = -^[-0.85632 2.17561] = 0.65965, -1.514
6m = c o s '1(0.65965) = 48.727 6m = 48.7 <
2 50co s48.727 . n ai *
(b ) From (4), wm = ------------ z------------- = -6.8694 q>m = -6.8 7 rad/s A
17 sin2 48.727
Wm = >z - <P m C 0 S 6 m = 50 - (-6 .8 6 9 4 )(0 .6 5 9 6 5 )
y/m = 54.5 rad/s ^

PROBLEM 18.140
< ] A homogeneous disk o f radius 9 in. is welded to a rod A G o f length 18 in.
and o f negligible weight which is supported by a ball and socket at A. The
disk is released with a rate o f spin ty0 , counterclockwise as seen from A,
with zero rates o f precession and nutation, and with rod A G horizontal
= 90 ). K n ow in g that the smallest value o f 9 in the ensuing motion
is 30, determine (a ) the rate o f spin i//0 o f the disk in its initial position,
(b ) the rates o f precession and spin as the disk passes through its lowest
position.
SOLUTION

inertia are
17 2
/' = / , = / , = m I , + (2 a f = ma
4
w i 1 2
/ = /. = ma
tox = <psm9, coy = - 9 , a)z = ij/ + p c o s 9
H <= W + I yG>yi + 1: 0}M
= r<psm9\ - I ' 9 ] + Ico.k
,2
Kinetic energy: T = - I xco2
x + - I ml + -I.c o :
2 2 y y 2
T = - I ' ( q r s m 29 + 9 2) + - I c o 2
Potential energy: V - -2 m g a c o s 9
H ^ -K = H ^ is in # + k co s# )
= /'^>sin2 9 + Ico. cos 9
17 2 2q 1 2 n
= ma sin 9 h ma co. co s 9 = a ( 1)
4 2
Conservation o f energy: T + V = , where is a constant.
17 1
ma2[ j ) 2s\n2 9 + 9 2} + m a2col - 2m ga cos9 = E (2 )
L et the reference frame Axyz be turning with angular velocity
Q = <z>sin#i - 9} + #>cos#k
Then IM ^ = = (H ^ ) +Q xH ^
m g a s in 9 j = / '-^ -(# > sin # )i - / '# j + / ^ z-k + Q x H ,
z-component: 0 = / ^ - + k -Q x H ^
dt
0 0 1
0 = / *S l + #>sin# 9 <pcos9
dt dt dt
I6 is a constant.
Data: 9q 90, 0, 9q 0,
From (3), n
From (1), ma2<psin2 9 + - m a 2 z co s# = ma2cp sin2 90 + ~ m a 2coz co s90
2 0) . cos 9
^ 17 sin2#
IV 1
From (2), ma2 [tp1 sin2 # + # 2j + met)2 - 2m ga cos9
= ~ ~ 1710,2 (^ o sin2 ) + ~^m0)z ~ 2 w âcos90
or m a2^ 1 sin2 9 + # 2) = 2 m g a cos9
{a ) A t 9 = #m, # = 0
17
m a2<pl sin2 9m = 2m gacos9m
f
17 2 2 coz cos #L
ma sin2 #m = 2m gacos9m
17 sin2#m
1 ma2(o 2
z cos2 #.
= 2mga cos #.
34 sin2 #,
^ = 68 i H ! _ a
a cos#
( 68 ) ^ 32.2 "l sin2 30 = 842.78
0.75) cos30
co, = 29.031 rad/s
From (3), o - (oz \j/o = 29.0 rad/s A
_ 2 (2 9 .0 3 l)c o s 3 0
(b ) From (4), 9m <pm = -11.83 rad/s A
17 sin2 30
y/m = coz - <pmcos0m = 29.031 - (-1 1 .8 3 )co s3 0 y/m = 39.3 rad/s A

PROBLEM 18.141
Consider a rigid body o f arbitrary shape which is attached at its mass
center O and subjected to no force other than its w eight and the reaction
o f the support at O.
(a ) Prove that the angular momentum H 0 o f the body about the fixed
point O is constant in magnitude and direction, that the kinetic energy T
277//, o f the body is constant, and that the projection along H 0 o f the angular
velocity co o f the body is constant, (b ) Show that the tip o f the vector co
describes a curve on a fixed plane in space (called the invariable plane),
which is perpendicular to H 0 and at a distance 2T/H() from O. (c ) Show
that with respect to a frame o f reference attached to the body and
coinciding with its principal axes o f inertia, the tip o f the vector co
appears to describe a curve on an ellipsoid o f equation
I xco2 + I vco2 + I.c o ] = 2 T = constant
The ellipsoid (called the Poinsot ellipsoid ) is rigidly attached to the body
and is o f the same shape as the ellipsoid o f inertia, but o f a different size.
S O L U T IO N
(a ) From Equation (18.27), I M 0 = H (,
Since M 0 = 0, H () = 0. H f; = constant O H
Conservation o f energy: T + V = constant
Since V = 0, T = constant (2 ) <
For a rigid body rotating about point O , T = + I vco\ + L e o ] j
H a = I xcoxi + I veovj + I.co, k, co = coxi + <y,,j + <y.k
H i(s ) co = Leo2
* x + I.c
y oy
2 + I.co2
z = 2T
Let [ i be the angle between the vectors H 0 and co.
H 0 -co = H q Co c o s P
The projection o f co along H 0 is co cos/?
IT
c o c o s p = ----- = constant co cos p = constant (3 )
Ho
. . . 2T
(b ) co cos P is the perpendicular distance from the invariable plane. This distance is equal t o ----- .
Ho
(c ) For a frame o f reference attached to the body, the moments o f inertia with respect o f orthogonal axes
o f the frame do not change.
l x(o\ + I ya>] + I za>l = 2 T (4 )
Let ai=Jr W f *y c, =J f (5)

a>l col col
Then, - f + -j- + - f = 1 (6 )
which is the equation o f an ellipsoid.

PROBLEM 18.142
Referring to Prob. 18.141, (a ) prove that the Poinsot ellipsoid is tangent
to the invariable plane, ( b) show that the motion o f the rigid body must be
such that the Poinsot ellipsoid appears to roll on the invariable plane.
[Hint. In part a, show that the normal to the Poinsot ellipsoid at the tip o f
a) is parallel to H 0 . It is recalled that the direction o f the normal to a
surface o f equation F ( x , y , z ) = constant at a point P is the same as that
o f grad F at point P .]
S O L U T IO N
(a ) From Problem 18.141, the equation o f the Poinsot ellipsoid is
I rco2 + I.,(o2 + 1.(02 = 2 T = constant

* x y y z
Let F ( ( o x,(oy,o)z) = I x(o ] + I y(o 2 + I j o 2
. _ dF . dF . dF .
grad F = ------ 1 + j + k
d(ox da>y d(0 .
= 2 Ix(ox\ + 21 Y(o v] + 2 I.( o .Yl = 2 H 0
The direction o f the normal at a point on the surface o f the ellipsoid is parallel to grad F , which, in turn
is parallel to H 0 . Since H 0 is normal also to the invariable plane, it follow s that the Poinsot ellipsoid is
tangent to the invariable plane at the point common to the plane and the ellipsoid.
(b ) The Poinsot elipsoid m oves with the body. Thus, its angular velocity is co, the angular velocity o f the
body. Since point O is regarded as fixed, the angular velocity vector lies along the axis o f rotation, or the
locus o f points o f zero velocity. Thus, the velocity o f the point o f contact o f the Poinsot ellipsoid with the
invariable plane is zero. The Poinsot ellipsoid rolls without slipping on the invariable plane.
PROBLEM 18.143
Using the results obtained in Probs. 18.141 and 18.142, show that for an
axisymmetrical body attached at its mass center O and under no force
other than its weight and the reaction at O , the Poinsot ellipsoid is an
ellipsoid o f revolution and the space and body cones are both circular and
are tangent to each other. Further show that (a ) the tw o cones are tangent
externally, and the precession is direct, when / < where I and /'
denote, respectively, the axial and transverse moment o f inertia o f the
body, (b ) the space cone is inside the body cone, and the precession is
retrograde, when / > I'.
S O L U T IO N
Let I x = /, = /' and l z = I so that the z axis is the symmetry axis. Then, the equation o f the Poinsot
ellipsoid (Equation (4 ) o f Problem 18.141) becomes
I ' [ t o ] + <y2) + I or. = 2 T = constant
which is the equation o f an ellipsoid o f revolution. It follow s that the tip o f to describes circles on both the
Poinsot ellipsoid and on the invariable plane, and that the vector id itself describes circu la r body and space
cones. The Poinsot ellipsoid, the invariable plane, and the body and space cones are shown below for cases a
and b.
(a ) I< 1 ' (b) I >V
3 u n O a .fi aL2? Z
p2av.fi \
Axes Cif
P<3tVZ o t
Sp jfs ir t -i
Space
Cone
D ire ct Precession R etrograde Precession

PROBLEM 18.144
Refer to Probs. 18.141 and 18.142. (a ) Show that the curve (called
p olh od e) described by the tip o f the vector co with respect to a frame o f
reference coinciding with the principal axes o f inertia o f the rigid body is
defined by the equations
I xa>l + I ya>y + l.c o : = I T = constant (1 )
/2<y2 + l 2
vco2 + I:c o : = H q = constant (2 )
and that the curve can, therefore, be obtained by intersecting the Poinsot
ellipsoid with the ellipsoid defined by Eq. (2).
( b) Further show, assuming I x > I y > I . , that the polhodes obtained for
various values o f H 0 have the shapes indicated in the figure.
(c ) Using the result obtained in part b, show that a rigid body under no
force can rotate about a fixed centroidal axis if, and only if, that axis
coincides with one o f the principal axes o f inertia o f the body, and that
the motion w ill be stable i f the axis o f rotation coincides with the major
or minor axis o f the Poinsot ellipsoid (z or x axis in the figure) and
unstable i f it coincides with the intermediate axis (y axis).
S O L U T IO N
(a ) Equation (1 ) expresses conservation o f energy as shown in the solution to Problem 18.141. It is the
equation o f the Poinsot ellipsoid.
[ 2T
Let ai = ci =
0 1 = k
Then, f- + -hj- + f- = 1 (3 )
which is the equation o f an ellipsoid.
Equation (2 ) expresses the constancy o f H (] = ( H 0 )~x + (H o )~ v + { ^ o Y - ' lê scIuare o f the magnitude o f
the angular momentum vector.
Let 2 = . &2 = . ^2 =
7jr ji z
Then, 4 + ? f + 4 = 1 ( 4)
O2 bj C7
which is the equation o f a second ellipsoid.
Since the coordinates cox, cov, co. o f the tip o f the vector to must satisfy both Equations (1 ) and (2 ), the
curve described by the tip o f (0 is the intersection o f the tw o ellipsoids.
( b) Assume I x > I v > I . .
Then, a, < />, < c, and a2 < b2 < c 2.

Thus, for both ellipsoids, the minor axis is directed along the
x axis, the intermediate axis along the y axis, and the major axis
along the z axis. H ow ever, because the ratio o f the major to minor
semi axis is I for the Poinsot ellipsoid and is for the second
1 i I2
ellipsoid, the deviation from a spherical shape is more pronounced
in the second ellipsoid.
ePipS oiii
The largest ellipsoid o f the second type to be in contact with the Poinsot ellipsoid w ill lie outside that
ellipsoid and touch it at its points o f intersection with the x axis, and the smallest w ill lie inside the
Poinsot ellipsoid and touch it at its points o f intersection with the z axis (see left-hand sketch). A ll
ellipsoids o f the second type comprised between these tw o w ill intersect the Poinsot ellipsoid along the
curves called polhodes, as shown in the right-hand figure.
z 2
Note that the ellipsoid o f the second type, which has the same intermediate axis as the Poinsot ellipsoid,
intersects that ellipsoid along two ellipses whose planes contain th e y axis. These curves are not
polhodes, since the tip o f to w ill not describe them, but they separate the polhodes into four groups. T w o
groups loop around the minor axis (x axis) and the other tw o around the major axis (z axis).
(c ) I f the body is set to spin about one o f the principal axes, the Poinsot ellipsoid w ill remain in contact with
the invariable plane at the same point (on the x ,y , or z axis); the rotation is steady. In any other case, the
point o f contact w ill be located on one o f the polhodes, and the tip o f to w ill start describing that polhode,
w hile the Poinsot ellipsoid rolls on the invariable plane.
A rotation about the m inor or the m ajor axis (x or z axis) is stable. I f that motion is disturbed, the tip o f
to w ill m ove to a very small polhode surrounding that axis and stay close to its original position.
On the other hand, a rotation about the intermediate axis (y axis) is unstable. I f that motion is disturbed,
the tip o f co w ill m ove to one o f the polhodes located near that axis and start describing it, departing
com pletely from its original position and causing the body to tumble.
PROBLEM 18.145
A thin, homogeneous disk o f mass m and radius r spins at the constant
rate C0\ about an axle held by a fork-ended vertical rod which rotates at
the constant rateru-,. Determine the angular momentum H 0- o f the disk
about its mass center G.
S O L U T IO N
Angular velocity: co = co2j + <U|k
Moments o f inertia: I = m r1, I = m r1, I . = m r2

x 4 4 * 2
Products o f inertia: By symmetry. L = Tr. = L = o
Angular momentum: H 6 = I xcoxi + IyCOyj + I.co. k
f1 \ |
Hc = 0 + m r1 co2j + m r 2co{k
<4 / 2
Ho
r = -4m r fflij
.j +
2 m r 2co,k ^
PROBLEM 18.146
Determine the kinetic energy o f the disk o f Prob. 18.145.
S O L U T IO N
Angular velocity: = co2i + (o,k
- 1 - 1
Moments o f inertia: I , = mr~, I .. = m r ' , I, = mr
x 4 > 4 - 2
Products o f inertia: By symmetry, Tv = J vz = 7zx = o
Kinetic energy: T = + T y rf + L - )
T = 0 + f 1 m r2'' ) f \ 2]
+ | m r CO{
2 u a )
PROBLEM 18.147
T w o circular plates, each o f mass 4 kg, are rigidly connected by a rod AB
o f negligible mass and are suspended from point A as shown. K now ing
that an impulse F At = - ( 2 . 4 N s )k is applied at point D , determine
(a ) the velocity o f the mass center G o f the assembly, ( b ) the angular
velocity o f the assembly.
ISO nun
S O L U T IO N
1 = 21 - m r 2 + m b2 I = 2 = 0.2448 k g -m '
Iy = + m r2j = 3m r 2 = (3 )(4 )(0 .1 8 )2 = 0.3888 kg m
I . = 2 i m r 2 + m (b 2 + r 2) = 2 ^ ( 4 ) ( 0 . 1 8 ) 2 + ( 4 ) ( o . l 5 2 + 0.182) = 0.504 k g -m '
/. = m b ( - r ) + m ( - b ) ( r ) = - 2 m br = - ( 2 )(4 )(0 . 1 5 )(0 .1 8 ) = -0.216 kg-m "
/ =0, / = 0 total mass = 2m
Constraint o f cable: {v G )y = 0 v = vc
Principle o f impulse-momentum: 2my = 0, H (, = 0 initially.
F At
(a ) Direct components:
FA/ = 2 m\
0 = 2 mv, v = 0
T A t - 2mvv = 0
- F A t = 2mv,
FAt 2.4
= -0.3 m/s
2 2 . (2 )(4 )
v = - (0 .3 0 0 m/s)k -4
(b ) Moments about G. (b\ - r i ) x ( - F A / k ) = H c
- b F { A t ) i - rFAt\ = [ l xcox - I xy<oy ) i + ( - / ^ + I ya)y ) j + I 2cozk
R esolve into components and apply the numerical data.
i: - (0 .1 5 )(2 .4 ) - 0.2448cox - (-0.216)n>v (1 )
j: - (0 .1 8 )(2 .4 ) = - ( - 0 . 2 1 6 ) ^ + 0.3888^, (2 )
k: 0 = 0.504<yz coz = 0
S olving (1 ) and (2 ), cox = -0.962 rad/s, coy = -0.577 rad/s
co = - (0 .9 6 2 rad/s)i - (0.577 rad/s) j -4

PROBLEM 18.148
T w o L-shaped arm, each w eighing 5 lb, are welded to the one-third
points o f the 24-in. shaft A B. K n ow in g that shaft A B rotates at the
constant rate <y = 180 rpm, determine (a ) the angular momentum H,, o f
the body about A, ( b) the angle H A forms with the shaft.
SOLUTION
3 2
m = = 0.15528 lb s2/ft b = 9 in. = ft, c = 8 in. = ft
32.2 4 3
cox = 0, cuv = 0 , co. = 6tt rad/s

60
Use parallel axes x \ y ',z ' with origin at the fixed

point A as shown.
( H a ) x = - l c a>
{H a ) , = ~ Iy * >
{H a\ = l ( o
Segments 1,2, 3, and 4, each o f mass

m = 0.07764 lb s2/ft, contribute to 1^, 7^, and /..
Segment 'XT ** I.
f 1 + 1 + ,11 n ib 2
0 -tr ib e - m'bc
2 112 4 J
0 - tribe 0 m b 1
2 3
0 tribe 0 m o1
m'h2
3
0 Im 'b c -m 'b c
1 + -1 +
f 1,1 m b 2
ll2 4 )
z m'bc - m'bc
2 2 3
(H a )x = m'bc a>
2
(0 .0 7 7 4 )(| Y | )(* )
v 4 ,v .
= -1.0976 lb-s-ft
(H a) v = - - m'bc co
2
= 1.0976 lb-s-ft
= r m 'b co
' ( f )(0-07764)(|J(6*)
= 2.744 lb-s-ft
(a ) = -(1 .0 9 8 lb - s - ft)i + (1.098 lb - s - ft)j + (2.74 lb - s - ft)k <
H a = ^ (l.0 9 7 6 )2 + (1.0976)2 + (2 .7 4 4 )2 = 3.1526 lb-s-ft
unit vector H-a '^ ab = ~ { H a ) 2 = -2.744 lb-s-ft
2.744
(b ) co s# = - ^ AB - ----- = -0.87039 # = 150.5 A
Ha 3.1526
PROBLEM 18.149
A square plate o f side a and mass m supported by a ball-and-socket joint
at A is rotating about th e y axis with a constant angular velocity co = co0j
when an obstruction is suddenly introduced at B in the xy plane.
Assuming the impact at B is perfectly plastic ( e = 0 ), determine
immediately after impact (a ) the angular velocity o f the plate, ( b) the
velocity o f its mass center G.
S O L U T IO N
For the x' and y axes shown, the initial angular velocity <y0j has components
n/2 72
COx . = <y0 , COy = co0,
Initial angular momentum about the mass center:

8
( H c ) 0 = 7 > , - i ' + TyCOyjf = ~ c o 0 ( i ' + j ')
Initial velocity o f the mass center: v = 0
Let to be the angular velocity and v be the velocity o f the mass center immediately after impact. Let
(F A / )k be the impulse at B.
Kinematics: v B = to x r WA = i' + coy j[ + co. V ) x ( - a j ')
v s = a (co. i + tatk')
Since the com er B does not rebound, ( v B)., = 0 or cox> = 0
v = to x rG/A = (co / ]' + <y-'k ' ) x j ') = ~ " - J + > k ')
_ I
Also, rG/A x = ~ m a2( - c o v i' + coy,j ' + 2<y. k 'j
4
and
y y *
}'
H r = /r <yr i' + I.. C0., + I . co. k ' = m a2co..
- - 12 - 6
j' +
mcCco.V!
13
4-
Moments about A : ( H , ) 0 + H ) x ( F A / ) k = H4
( H g ) 0 + rG/A x m\0 - ( a F A t ) i = H G + rG,A x mv
i': V 2 ma2con - a F ( A t ) = - ma2a>v<

24 0 y 4 7
1 / ^ 2 1 2 1 2 >/2
f = ma cow + ma /),, < = a)n
24 0 12 y 4 y y 8 0
1 2 1 ?
k' : 0 = ma co.' + ma co,' a>,. = 0
6 2
V2 1 nr y jl , . ...
(a ) = ~ f 0}oJ = g V 2 0 ( l - i ) =^ > (- i +
(b )
-v = -1 ^
a tf^ k ^
- .
a<y0k v = 0.0884a0k A
PROBLEM 18.150
Determine the impulse exerted on the plate o f Prob. 18.149 during the
impact by (a ) the obstruction at B, ( b ) the support at A.
S O L U T IO N
For the simpler x ' and y ' axes, the initial angular velocity co0j has components
72 7?
av = <y, o)y = a>0.
Initial angular momentum about the mass center:

e
(H (,)0 = + Ty>yi' = ^ c r ^ - c o 0{\' + j ')
12 2
Initial velocity o f the mass center: v0 = 0
Let to be the angular velocity and v be the velocity o f the mass center immediately after impact. Let
(F A / )k be the impulse at B.
Kinematics: \H = w x rB/A = (<yt i' + cov j ' + ry. k 'j x (-a j')
v,j = a [o )A + <ut k ')
Since the com er B does not rebound, ( v fl) , = 0 or 0) x- = 0
v = <o x rc/A = ( a y / + ru .k ') x j ( - i ' - j ') = ^ a ( o ) A ' - co: j + <y,.k')
A lso, rc/A x m v = m a2( - a ) v i' + 0)y j ' + 2ru.k')
and H 0- = l x (ox i' + Iy COy j ' + l - co. k ' = m a2o )v j ' + m a2o). k'
12 6
4-
Moments about A: ( H , ) 0 + ( - a j ') x ( F A t ) k = H ,
( H g ) 0 + rG/A x m\0 + a F A ti' = H G + rG/A x mv
i : \[lm a2o)n - a F f A t ) = - ma2co,,' ( 1)

24 0 v ' 4 y
j: . Lma2a>n = ma2o )v + m a2(ov

24 0 12 y 4 y
1 2 1 2
k ': 0 = ma co,< + ma co (oz. = 0
1 1 7
(a ) From (1), F A t = \J2macon h -\J2macon = sj2maon
24 0 32 0 96 0
( F A i ) k = 0.1031wa<ank -4
v = aa>,,k ' - V2a<wnk '

2 16 0
Linear momentum: m \n + A A t + F A tk = m v
1 1
0 + A A t H------\f2maconk' = fimacoAk!
96 16 0
(b ) A A t = - J 2 imaco.o A A t = -0.01473wa&)nk *4
96
PROBLEM 18.151
The 16-lb shaft shown has a uniform cross section. K n ow in g that the
shaft rotates at the constant rate a) = 12 rad/s, determine the dynamic
reactions at A and B.
S O L U T IO N
Angular velocity: to = coi
Angular momentum about the mass center G : H G = I xco\ - I xy(o\ - I x:a>k
Let the reference frame Axyz be rotating with angular velocity Q = coi.
H c = (H g ) + fi x Hg = 0 + <yi x (J xco\ - I x o j - /v.cuk)
= Târj - 7.<y2k
Since the shaft lies in the xz plane, /, = 0.
By symmetry, the mass center lies on line AB. ma = 0
I F = I Fe{( : A + B = m a = 0 A and B form a couple.
A = -B
bi x (rj + B.k) = H
T 2
I r.O)
-b B : j + bBxk = Tx.(oj B. = - By = 0
Calculation o f I a .
(D
D ivide the shaft into eight segments, each o f length
a = 9 in. = 0.75 ft.
Let m' be the mass o f one segment.
16
m = = 0.062112 lb s3/ft
(8 )(3 2 .2 )
For , @ , (5 ), a n d , 7 ^ = 0
f
a .f a
Then, + m = 2 m 'a2
2 v2y
2 m 'a W (2 )(0 .0 6 2 1 1 2 )(0 .7 5 )2(1 2 )2

B = - -3.35 lb.
4a (4 )(0 .7 5 )
A =0, Az = - B z = 3.35 lb. = (3.35 lb )k <
B -(3 .3 5 lb )k <
PROBLEM 18.152
Each o f the tw o triangular plates shown has a mass o f 5 kg and is welded
to a vertical shaft AB. K n ow in g that the assembly rotates at the constant
rate co = 8 rpm, determine the dynamic reactions at A and B.
S O L U T IO N
B y symmetry, the mass center is at G as shown.
Angular velocity and angular acceleration: co = co'], a = arj = coj
Angular momentum about the mass center: H c = -T ^ c o i + Jycoj - 7,-cok
Since the body lies in the xy plane, 1^ = 0.
Let the reference frame Gxyz be rotating with angular velocity Q = co'}
H o = ( h g ) Gxj + o x H g = -JxyCoi + 7y0) j + coj X (~ 7 xyco\ + 7/0j )
m 2m
Calculation o f and I y : Let p = = - = mass per unit area.
A ab
(\ ' )/mass = Pr (\I )/ area
For the pairs o f area elements shown,
d Ixy = I x ^ d A = 2^-yxdy = x 2ydy
ydy
TO
= ^ b 2y d y - 2 ^ - ^ y 2dy + ^ T ^ y i dy
1 ,2
= b~a~
1 ^ ,b~a
2 3 + 1b~a~
, 2 2= 1 1l 2 _ 2
1
b a
12
r j_
ly ~ 2 ab3 = -a *
12
1
For mass,
Ixy = i mab' I y = \ mt>2
Since the mass center lies on the rotation axis, a = 0.
L F 2Fefj
A + B = ma = 0
B = -A
Reactions A and B form a couple.
s m g = h g
M 0i + cj x (A xi + Azk ) = H g
cAzi + M 0j - cAxk = H g
- L a
i: cAz = - I xya Az = 2 - (1)
j: M0 = la (2)
_
k: - c A r = I^ c o 1
xy C (3 )
Data: m - 5 kg, a = 900 mm = 0.9 m, b - 600 mm = 0.6 m, c = 2a = 1.8 m
co = 8 rad/s, a = 0
Jy = ! ( 5 ) ( 0 . 6 ) 2 - 0.60 kg m 2, 7 = {5 ) ( 0 . 9 ) ( 0 . 6 ) = 0.45 k g -m 2
3 6
From (2), M0 -0
(0 .4 5 )(8 )2
From (3), 4 = -
1.8
F r o m (l), A=0 A = -(1 6 .0 0 N ) M
B = (16.00 N ) i
PROBLEM 18.153
O " K n ow in g that the assembly o f Prob. 18.152 is initially at rest (a> = 0 )
when a couple o f moment M 0 = (3 6 N - m ) j is applied to the shaft,
determine (a ) the resulting angular acceleration o f the assembly, ( b) the
dynamic reactions at A and B immediately after the couple is applied.
onii
w 'vi
/ ' Wt f e | | \600 |nrait' v
-
900
SOLUTION
B y symmetry, the mass center is at G as shown.
Angular velocity and angular acceleration: CO = (O J, a = a j = 0 )J
Angular momentum about the mass center: H g = - I xya>i + 7y<yj - Jyzcok
Since the body lies in the xy plane, I yz = 0.
Let the reference frame Gxyz be rotating with angular velocity Q. = a>\
H ( = ( H t,.)( + n x H g = - j xy(bi + 7 > j + CO} X ( - I xym + l ycoj )
I xya i + I Ya j + I xvco
xy k v
m 2m
Calculation o f x y and I yv : Let p = = ------= mass per unit area.
A a
(/ ) = p (l) .
\ /mass V /area
For the pairs o f area elements shown,
dl = 2xelyeldA = 2 - y x d y = x 2ydy
\2
Jxy = % x 2ydy = y#y
T6
= b2ydy - 2 ^ - % y 2dy + ^ % y 3dy
1 72 2 2 2 3 . 1 .2 2 1 >22
= b a b a H b a = b a
2 3 4 12
ab3 - ab3
12 6
1 1 2
For mass, = mab, / = - mb
y 6 3
Since the mass center lies on the rotation axis, a = 0.

I F = I F c(r
A + B = ma = 0
B = -A
Reactions A and B form a couple.
IM C - Hc
M 0j + cj x (A xi + i4.k) = H 0
cA ,i + - cAxk = H c
Ia
i: cA. = ~/,a Az = ( 1)
c
j: Mq
j
= I ya a = j
A/0
2
( )
~ 2
k: ~ cAx = l xy< 4 = ~ (3 )
Data: m = 5 kg, a = 900 mm = 0.9 m, b = 600 mm = 0.6 m, c = l a = 1.8 m
co = 0, M q = 36 N m
Ty = j ( 5 ) ( 0 . 6 ) 2 = 0.60 kg m 2, 7^ = ^ ( 5 ) ( 0 . 9 ) ( 0 . 6 ) = 0.45 kg m 2
36
(a ) From (2), a = = 60 rad/s2 a = 60.0 rad/s2 A
0.60
From (3), A = 0
( b) From (1 ),
, , _ ( - < S ) ( 6 0 ) , _ 1500N A = -(1 5 .0 0 N ) k A
1.8
B = (15.00 N ) k A
PROBLEM 18.154
A slender rod is bent to form a square frame o f side 6 in. The frame is
O attached by a collar at A to a vertical shaft which rotates with a constant
angular velocity co. Determine (a ) the angle [ i that line AB forms with
the horizontal .r axis when co = 9.8 rad/s, (b ) the largest value o f co for
which p = 90.
S O L U T IO N
Choose principal axes .r', y\ z with origin at the fixed point A.
m I 0 a] 1 2
L = 2 a = m a'
112 * (t ) 2 6
fflV 1 2 l( )\2 =
5 ma 2
= 217 II 3 v ' 12
/., = /r. + /. = m a '

> x 12
Angular velocity: o) = - a ) sin p i ' + co cos P ']'
H ., = - / ( <usin p i ' + /, <ycos P 'j
Let the reference from Axvz be rotating with angular velocity Q = to.
H , = + O x H , = 0 + wx H ,
= (-ro sin p i ' + c o c o s P j') x f - / vrysin p i ' + /,rycos/?j')
= - /_)<y2sin/?cos/?k = --j^m r/2sin/?cos/?k
I M , = - m g c o s p k = H ,
g = aco' sin P
6
(a) sin p = = 0.80466

W (5 )(^ J (9 .8 ):
P = 53.6 A
(b ) Set J3 = 90, sin/3 = I .0.
G,2 = 6 g _ (6 )(3 2 .2 )
= 77.28
5a
a) = 8.79 rad/s -4
PROBLEM 18.155
A 3-kg homogeneous disk o f radius 60 mm spins as shown at the constant
rate co, = 60 rad/s. The disk is supported by the fork-ended rod AB,
which is welded to the vertical shaft CBD . The system is at rest when a
couple M 0 = (0.4 N m ) j is applied to the shaft for 2 s and then
removed. Determine the dynamic reactions at C and D after the couple
has been removed.
S O L U T IO N
Angular velocity o f shaft C B D and arm AB: Q = <y2j
Angular velocity o f disk A : co = co2j + co,k
Its angular momentum about A: H = I xcoxi + /vcu( j + /.<y.k = I vco2j + /.cu,k
Let the reference frame Bxyz be rotating with angular velocity Q.
H., = ( h . i ) 4 +Q x = 1 yco2j + T.a),k + <y2j x { J vco2j + 7-cu,k)
= /.<y|<y2i + /,.ca2j + T.cb k

, = ^ m r : co,to2i + ^ m r 2a)2j + ^ m r 2cb,k
v = <y2j x ci = -ccu2k,
a = ca2j x ci + cy;j x v = -c<y2k - cca2i
I F = I FefT = ma
C A + C, k + D j + D .k = ma
Cx + D x = -mcco\
i M n Hn H ,f + x mu = H a + (c l + b j) x f - c 2k - cm f i )
M 0j + 2b\ x (C xi + C .k ) = \\A - mbcd>2i + m c 2d>2j + mbcco \k
1 2 I 2 2
26Czi + M 0j - 26Cxk = - r j 2 - bcd>2 r + c 2J
4
+ r 2, + />c;
j: M0 = m COo
m
k: C = - r 2, + bcah D = f - r 2, + beet) I
2b 2b { 2
m m
i: C, = - r 20 j2 _ bed)2 D = - - r 1coico2 + bed)2
2b 2b
Data: m = 3 kg, r = 60 mm = 0.06 m, b = 75 mm = 0.075 m,
c = 100 mm = 0.1 m j = 60 rad/s, d)x = 0
W hile the couple is applied, M n = 0.4 N -m
M ,0 0.4
COj 12.2324 rad/s2
3
( ) i(0 .0 6 )2 + ( 0 . ! ) 2
A t t = 2 s, 2 = ( 2 ) 0 + 2^ - 0 + (1 2 .2 3 2 4 )(2 ) = 24.465 rad/s
For t > 2 s, M 0 = 0, d>2 = 0
= 0 + (0 .0 7 5 )(0 .1 )(2 4 .4 6 5 )2 -89.8 N

(2 )(0 .0 7 5 )
3
D = - - 0 + (0 .0 7 5 )(0 .l)(2 4 .4 6 5 ): = -89.8 N
(2 )(0 .0 7 5 )
3
C, = - ( 0 . 0 6 ) ( 6 0 )(2 4 .4 6 5 )- 0 = 52.8 N
(2 )(0 .0 7 5 )
3
D, = - ^ ( 0 . 0 6 ) (6 0 ) ( 2 4 . 4 6 5 ) - 0 = -52.8 N
(2 )(0 .0 7 5 )
C = -(8 9 .8 N ) i + (52.8 N ) k <
D = -(8 9 .8 N ) i - (52.8 N ) k <

PROBLEM 18.156
A solid cone o f height 9 in. with a circular base o f radius 3 in. is
supported by a ball-and-socket joint at A. K n ow in g that the cone is
observed to precess about the vertical axis A C at the constant rate o f
40 rpm in the sense indicated and that its axis o f symmetry A B forms an
angle P = 40 with A C , determine the rate at which the cone spins about
the axis AB.
S O L U T IO N
Angular velocity: co = <ps\nP'\ + [ij/ - ^>cos/?)k
cox = $9sin p , coy = 0, co. - ij/ - $9cos p
= V M + W J + / --< y - k
= / 'p s in p i + l ( t j t - $9cos/?)k
Q = $9sin/?i - $!>cos/?k
H, = n x H ,
= -^>[/^sin /? + (/ ' - /)^>sin/?cos/?] j
1M a = HA
-m g c s 'm P j = sin p + (/ ' - /)^c>sin/?cos/?] j
m gc = l<p\j/ + (/ ' - l)< p 2 c o s P
Icpij/ (/ ' - I)< p 2 c o s p

1= 0 (1 )
m gc m gc
Data: r = 3 in. = ft, h = 9 in. = ft,

4 4
c = -h = ft, g = 32.2 ft/s2

4 16
- = r2 = = 18.75 x l O -3 ft2
m 10r lo U
= - r 2 + h 2 0.346875 ft2
m 5 4
/3 = 40, (p = 40 rpm = 4.1888 rad/s
00
00
00
( l 8.75 x 10 3j
-1 = 0
(3 2 .2 )( (32.2)
a 16
4.3362 x 1 0 ~ V + -24350 - 1 = 0
y/ = 174.46 rad/s y/ = 1666 rpm 4

Chapter 18

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PROBLEM 18.

Use principal axes x\ z' as shown.

tan p = = 0.5 P = 26.565

= o)x\' + eoy-j' + co. k'

cox- = 5 cos p rad/s, co = 0

coz- = - 5 sin/? rad/s

^ \ For the rectangular plate.

/ r.= -^ m a 2 =-l(8)(0.6)2 =0.24kgm2

= (0.3cos/?)(cos/?i + sin/?k) + (-1 .2 s in / ? )(-s in / ? i + cos/?k)

= (o .3 co s2/? + 0.24sin2 /?)i - (1.2 - 0.3)sin/?cos/?k

H 0 = (0.480 kg m 2/sji - (0.360 k g -m 2/s|k A

Use principal axes x\ y ' as shown.

G)t. = -ft)sin 2 0 = -42.980 rad/s

ft)v- = ft) cos 20 = 118.085 rad/s

For the rod, I x. 0

H c = Jx.(ox.i' + Jy.CDy.ji + Tz* ) z.k'

= 0 + (0 .0 5 4 )(ll 8.085) j ' + O

H 0- = ^2.18 k g -m : /s)i + (5.99 k g-m 2/s) j 4

For rod4DZ?, H = I xco\ * 0, since/,. * 0.

For rod C D E , use principal axes x', y as shown.

<y . = cucos# = 9 rad/s'

ru,,. = cusin# = 7.93725 rad/s'

H /( = I x <ox\' + I v<ov \ + 1.(0. k'

H d = 0.246 lb s-ft <

H = 0.246498 ( sin # i + c o s # j) = 0.1630451 + 0.184874j

o) = J + co2i = (8 rad/s)i + (16 rad/s) j

For axes x', y , z parallel to x, y, z w ith origin at A,

7z, = Jx, = 0.0384 k g-m 2, Ty. = I x, + 7Z. = 0.0768 k g -m 2

H 4 = 10.307 k g -m 2/sji + ^1.229 k g -m 2/sjj M

r > 100 iuiii

to = <y,j + <y,k = (4 rad/s) j + (12 rad/s)k

For axes x', y , z' parallel to x ,y , z with origin at A,

Jx. = I m r2 = i ( 8) ( 0. 100)2 = 0.02 k g-m 2

7y. = Jx. = 0.02 k g-m 2, L = l x. + I y. = 0.04 k g-m 2

= 0 + (0 .0 2 )(4 ) j + (0 .0 4 )(l2 )k = 0.08j + 0.48k

= (0.0800 k g-m 2/s)j + ^0.480 kg m 2/s)k A

Body diagonal: d = yja 2 + ( 2 a )~ + a 2 = y/6a

(a ) H g = I xcoxi + Iy<oyi + I.co.k

ma'co \f\lm a2co

cos 9 = = - ^ = = 0.90453 0 = 25.2 <

Body diagonal d = yja2 + ( 2 a ) * + a 2 = \[6a

Total area = 2^a2 + 2a2 + 2a1j = 10a'

For each square plate: m = m

For each plate parallel to th eyz plane: m = m

I = m' j[ a 2 + ( 2 a ) J = -j^ -m 'a 2 = J ^ ma2

to = <y2i + = (8 rad/s)i + (16 rad/s) j

For axes x\ y\ z' parallel to x, y, z with origin at A,

Jx. = I mr 2 = i(6 )(0 .1 6 0 ): = 0.0384 kg m 2

= Jx. = 0.0384 k g m 2, Jy. = Jx + L = 0.0768 k g m 2

= (0.3072 kg m 2/s)i + ( l .2288 k g m 2/s)j

Point A is the mass center o f the disk.

AID = (0.24 m )i + (0.18 m ) j - (0.18 m )k

v = = <u2i x = 8i x (0.24i + 0.18j - 0.18k)

= (1.44 m /s)j + (1.44 m/s)k

my = (8.64 kg m/s) j + (8.64 kg m/s)k

tm d * my = 0.24 0.18 -0.18

= (3.1104 k g m 2/s)i - (2.0736 k g m 2/s)j + (2.0736 k g m 2/s)k

H = (3.42 k g m 2/s)i - (o.845 k g m 2/s) j + (2.07 k g -m 2/s)k

to = 2j + = (4 rad/s) j + (12 rad/s)k

For axes x\ y\ z parallel to jc, y, z with origin at A,

Jx. = - m r 2 = i ( 8) ( 0. 100)2 = 0.02 k g -m 2

Jy. = Tx. = 0.02 k g -m 2, = 7X. + 7y. = 0.04 k g-m 2

H A = 7x (ox\ + 7y 0)y.j + 7,0). k

= 0 + (0 .0 2 )(4 )j + (0 .0 4 )(l2 )k = (0.08 k g-n r/ s) j + (o.48 k g -m 2/s)k