Chapter 17

PROBLEM 17.
1
It is known that 1500 revolutions are required for the 2720-kg flywheel to
coast to rest from an angular velocity o f 300 rpm. Knowing that the
radius o f gyration o f the flywheel is 914 mm, determine the average
magnitude o f the couple due to kinetic friction in the bearings.
S O L U T IO N
Kinetic energy. Position 1. o\ - 300 rpm = 10;r rad/s
I = m k1 = (2720)(0.914)2 = 2272.3 kg-m 2
7j = ^ I c o l = ^ (2 2 7 2 .3 )(1 0 ^ )2 = 1.12134 x 106 J
Position 2. 0)2 = 0 T2 = 0
Work. 6 = 1500 rev = 3000tt rad
u ^ 2 = - M S = -(3 0 0 0 a ) M
Principle o f W ork and Energy.
^1 + ^ l ->2 = ^2"
1.12134 x 106 - (3000n ) M = 0
M = 118.977 N -m
M = 119.0 N -m <
PROBLEM 17.2
The rotor o f an electric motor has an angular velocity o f 3600 rpm when
the load and power are cut off. The 110-lb rotor, which has a centroidal
radius o f gyration o f 9 in., then coasts to rest. Knowing that the kinetic
friction o f the rotor produces a couple o f magnitude 2.5 lb ft, determine
the number o f revolutions that the rotor executes before coming to rest.
SO LU T IO N
Kinetic energy. Position 1. a>j = 3600 rpm = 120# rad/s
m = W 1 = W k 2 = 110 f 9 ] = 1.92158 lb-s2 -ft

g g 32.2 { l 2 j
7] = = |(1 .9 2 1 5 8 )(1 2 0 # )2 = 136.55 x 103 ft lb
Position 2. co2 - 0 T2 = 0
Work. M = 2.5 lb -ft U ^ 2 = -M G = -2 .5 9
^1 + ^ 1
>2 = ^2 :
136.55 x 103 - 2.56 = 0 6 = 54620 radians
G - 8690 rev <

PROBLEM 17.3
The flywheel o f a punching machine has a weight o f 650 lb and a radius
o f gyration o f 30 in. Each punching operation requires 1800 ft lb o f
work, (a) Knowing that the speed o f the flywheel is 300 rpm just before a
punching, determine the speed immediately after the punching, (b) I f a
constant 15 lb ft couple is applied to the shaft o f the flywheel,
determine the number o f revolutions executed before the speed is again
300 rpm.
SO L U T IO N
Moment o f Inertia. I = m k2 = k 2 - 1 = 126.165 lb-s2 -ft

g 32.2 l l 2 J
Kinetic energy. Position 1. cox = 300 rpm = 10;r rad/s
7] = i / 2 = |(126.165)(10^-)2 = 62.26 x 103 ft-lb
Position 2. T2 = 2! = 63.08252
Work. U ^ 2 = -1800 ft-lb
Principle o f W ork and Energy for Punching.
~ ^2
62.26 x 103 - 1800 = 63.0825<y2
(a) co\ = 958.4 co2 = 30.958 rad/s co2 - 296 rpm 4
Principle o f W ork and Energy for Speed Recovery.
T2 + U2_yX = 7] U2^ i = 1800 ft-lb
M = 15 lb-ft
U2^ x = M 0 1800 = 15(9 9 = 120 rad
(b) $ - 19.10 rev 4

PROBLEM 17.4
The flywheel o f a small punching machine rotates at 360 rpm. Each
punching operation requires 2034 J o f work and it is desired that the
speed o f the flywheel after each punching be not less that 95 percent o f
the original speed, (a) Determine the required moment o f inertia o f the
flywheel, (b) If a constant 24.4 N m couple is applied to the shaft o f
the flywheel, determine the number o f revolutions that m ust occur
between two successive punchings, knowing that the initial velocity is to
be 360 rpm at the start o f each punching.
S O L U T IO N
Angular speeds. , = 360 rpm = Y in rad/s
co2 - 0.95 <ax = 11 A n rad/s
Work. Ux^ 2 = -2034 J
Principle o f W ork and Energy for Punching 7j + C/ 1_>2 = T2
A m i + I / , = U o ,i
,) Solving fo r/, / . 'f - - . W " 2034) 2

a>2 - ( o x (l2 ;r) - ( 1 1 .4 ^ )
I = 29.4 k g m 2 <
Principle o f W ork and Energy for Speed Recovery.
T2 + t / 2_3 = T}
But, T3 = Tx
U2->3 = T 3 - T 2 = Tx - T 2 = - U x^ 2 = 2034 J
Work. U2^ 3 = MO
(>b) 6 = = 2034 = 83.36 rad

M 24.4
9 = 13.27 rev A
PROBLEM 17.5
Two uniform disks o f the same material are attached to a shaft as shown.
Disk A has a mass o f 20 kg and a radius r = 150 mm. Disk B is twice as
thick as disk A. Knowing that a couple M o f magnitude 30 N - m is
applied when the system is at rest, determine the radius nr o f disk B if the
angular velocity o f the system is to be 480 rpm after 5 revolutions.
SOLUTION
Moments o f Inertia.
D isk/i: I a = \ aTa = ^ (2 0 )(0 .1 5 0 )2 = 0.225 kg-m 2
Disk B: mB = m. = (20)(2)(m )2 = 40m2 kg

<rA )
/fi = | mBrB = -j(40m2)(0.150m)2 = 0.45m4 kg-m 2
Total: / = i A + I B = (0.225 + 0.45m4 j kg-m 2
Work. 02 - 0{ = 5 rev = 10/r radian
Ut_ 2 = M (02 - 0 x) = (30)(10m) = 300m- J
Kinetic energy. rU| = 0 7j = 0
co2 = 480 rpm = 16m rad/s T2 = - j /<2
Principle o f Work and Energy. Ti + U ^ 2 = T 2
0 + t/ ,_ 2 =
Solving for /, ; = 2 ^ , m y , 0.74604 kg-m=

<y2
( ' * )
Radius o f Disk B.
Equating the two expressions for I, 0.225 + 0.45m4 = 0.74604
m4 = 1.1579 m = 1.03732
rB = nrA = (l.03732)(l50 mm)
rB = 155.6 mm ^
PROBLEM 17.6
Two uniform slender rods A B and D E o f weight (O per unit length are
attached to shaft CF as shown. The length o f rod A B is L and the length
o f rod D E is nL. A couple M o f constant moment is applied to shaft CF
when the system is at rest and removed after the system has executed one
complete revolution. Neglecting the mass o f the shaft, determine the
length o f rod D E which results in the largest final speed o f point D.
SOLUTION
Moments o f inertia.
3
RodA AA B
D O
: IT ar
in =

1
m ,Lt 2 = 1 W L Lj 2 = w E
,rtAL
12 12 g 12 g
T> A T 1
Rod DE. Ir>F - m nLT 2 = -----------
1 w n - 1 T \2
(nL)-= ---------
DE 12 B 12 g K ' 12g
Total: I = I AB(l + n3)
=0 71=0 T2 = Ia> 2 = I AB(l + n3)a>22
u ^ 2= mo
Tl + U ^ 2 = T 2: 0 + Me = I AB(l + n3)a>22
_ . . - 2 2 2M 6
Solving for a>2 , a>2 -
nLco2
Kinematics. vn -
D 2
2 _ n 2l}co\ _ M $ l} n2 _ n2
n = = ------- 7 = c =-
4 2I AB 1 + n 1+ n
where C is constant.
Find n such that vD is maximum.
d_ ( \ 2w(l + n3) - (32)n 2 _ 2 n - n 4

2 =0
dn v l + 3y (l + 3)2 (l + 3)
n3 = 2 n = V = 1.260
Length o f bar DE.
nL = 1.260L <
PROBLEM 17.7
The uniform cylinder A, o f mass m and radius r, has an angular velocity
co0 when it is brought into contact with an identical cylinder B which is
at rest. The coefficient o f kinetic friction at the contact point D is jjk.
After a period o f slipping, the cylinders attain constant angular velocities
o f equal magnitude and opposite direction at the same time. Knowing that
the final kinetic energy o f the system is one half the initial kinetic energy
o f cylinder A, derive expressions for the number o f revolutions executed
by each cylinder before it attains a constant angular velocity.
SOLUTION
Kinetic Energy. Cylinder A: ( 7 j ) ( = - j I col (^2
Cylinder B:
Total: 7j = I (On T2 =larf
But 7, = - T : = -<y,i
2 4
Let F, be the friction force at D.
Cylinder A : IF ,, = 0: N - mg = 0 N = mg
Kinetic friction: Ff = fjkN = p kmg
+) Z M a = F ,r = /Jkmgr
Work o f forces on A: ( ^ - > 2 ) ,, = ~ M a0 a = ~ B k" W 0 A
Cylinder B: +) I M h = F,.r = fikmgr
Work o f forces on B: i u \->2)H = M h^ h = BknW&n
Principle o f Work and Energy for Cylinder A.
(7i)^ + ( U , _ 2 ) A = { h ) A - -W w Oa =
I( a $ - (o)) - > , 7) _ 3rfflg

= radians
2/Jkmgr 2 Ft mgr
Oa = rev ) <
32 Knkg
PROBLEM 17.7 CONTINUED
Principle o f W ork and Energy for Cylinder B.
( S k + f t 'i - . * ) , = ( S ) :
1 2 1 1 2 2
0 + Mkmgr0B = -l< of = - -mr (On = mr (On
16 0
9b - r<y radians 0B -
r<o rev
1 6 /^g 32n n kg
PROBLEM 17.8
The uniform 8-lb cylinder A, o f radius r = 6 in., has an angular velocit;
(oQ = 50 rad/s when it is brought into contact with an identical cylinder j
/ \ . which is at rest. The coefficient o f kinetic friction at the contact point D i
a | //*. After a period o f slipping, the cylinders attain constant angula
r velocities o f equal magnitude and opposite direction at the same time
\
n Knowing that cylinder A executes three revolutions before it attains
, constant angular velocity and cylinder B executes one revolution before i
/
' B ^ attains a constant angular velocity, determine (a) the final angula
* velocity o f each cylinder, (b) the coefficient o f kinetic friction //*.
\
SOLUTION
Moment o f Inertia.
1 2-
/, - mr 1 f ----
8
= 31.056 x 10-3 lb-s2 - ft
2 2 1 32.2 A 12
Cylinder A: + | SFV = 0: N - W = 0 N = W = 8 lb
Kinetic friction force. Ft = /jkN = 8//* lb
Kinetic energy. 7| = leal ~ (31.056 x 10_3j(5 0 )
= 38.820 ft lb
T2 = i / a >2 = (15.528 x 10~3)/y
^ I A / , = F ,r = 8 ^ - j = 4//* lb-ft
Ui->2 = - M A = = -75.398//* ft-lb
Principle o f Work and Energy for Cylinder A.
Tx + 2 = f ,: 38.820 - 75.398//* = 15.528 x 10-3^
15.528 x 10~3cy; + 75.398//* = 38.820 (1
Kinematics. At the time o f no slipping,
rACOA ~ rBCOB
<A - <B = 0 (2
Cylinder B: Kinetic energy. T, = 0
h = ^ I o) b = 15.528 x 10"3<y|
IA /fl = Ff-r = 4//* lb-ft

^ 1-2 = M jfiB = (4 //,)(2 /r) = 25.133//, ft-lb

Principle o f W ork and Energy for Cylinder B.
Tx + Ux_>2 = T 2 : 0 + 25.133//, = 15.528 x 103/ |
15.528 x 10~3co2B - 25.133//, = 0 (3)
Solving (1), (2), and (3) simultaneously,
co2a = 625(rad/s)2 , a> \ = 625(rad/s)2 , //, = 0.386
(a) ooA = 25 rad/s J) 4
g = 25 rad/s ^ 4
(b) //, = 0.386 4
PROBLEM 17.9
4 in. 4 in. Each o f the gears A and B has a weight o f 5 lb and a radius o f gyration o f
4 in., while gear C has a weight o f 25 lb and a radius o f gyration o f 7.5 in.
A couple M o f magnitude 6.75 lb ft is applied to gear C. Determine
(a) the number o f revolutions o f gear C required for its angular velocity
10 in.
to increase from 100 to 450 rpm, (b) the corresponding tangential force
acting on gear A.
SOLUTION
Gears A and B :
i a = i b = mk 9.7050 x lO -3 lb-s2-ft
32.2 12
25
Gear C : I = 303.28 x l 0 ~3 lb-s2 -ft
32.2 12
Kinematics.
_ 10 -o s
rAc0A ~ rB COB ~ rC( C Â ~ ^B ~ ~ ^ 0)C ~
A = B ~ 2.59C
Kinetic energy. T = -Ia > 2 \

2
Position 1. a>c - 100 rpm = y ;r rad/s; mA - <vB = 250 rpm = - y / r rad/s
Gear ,4: (7|)^ = 1 (9.7050 x 10'3) j y y j = 3.32585 ft-lb
Gear B: (Zi)a = 1(9.7 0 5 0 x l O ^ l y ^ j - 3.32585 ft-lb
10;r
Gear C: ( r ,) c = y ( 3 0 3 .2 8 x ! 0 - 3) = 16.6292 ft-lb
2v \ 3
System: = ( ^ + f t ) , + ( 7 i ) c = 23.2809 ft-lb

Position 2. coc - 450 rpm = 15^ rad/s; a A = coB = 31.5n rad/s
Gear A: ( t 2) a = ^-(9.7050 x 103)(37.5^ ) 2 - 67.348 ft-lb
Gear B: (T2)b = ^-(9.7050 x 103)(37.5^ ) 2 = 67.348 ft-lb
Gear C: [T2)c = ^-(303.28 x 103)(1 5 ^)2 = 336.741 ft-lb
System: T2 = {T2) a + (T2) b + (T2) c = 471.437 ft-lb
W ork o f Couple. Ux_ 2 = M 9 C = 6.159c
Principle o f W ork and Energy for System. 7j + Ux^ 2 ~ T2:
28.2809 + 6.159c = 471.437 9C = 66.384 radians
(a) Rotation o f Gear C. 9C = 10.57 rev 4
Rotation o f Gear A. 9a = (2.5)(66.384) = 165.96 radians
Principle o f W ork and Energy for Gear A. (7J )A + M A9A = (T2) a :
3.32585 + M a (165.96) = 67.348 M A = 0.38576 lb ft
p _ MA 0.38576
(b) Tangential force on gear A.
' ~ rA 0.33333
Ft = 1.157 lb <
PROBLEM 17.10
Solve Prob. 17.9 assuming that the 6.75 lb ft couple is applied to
A
gear B.
tL _& T>
10 in. A
SOLUTION
Gear A and B:
3_
1a ~ I b ~ n,k ! = f - 9.7050 x 10-3 lb s2 ft
U 2.2 12
25
Gear C : Ic - = 303.28 x lO -3 lb-s2ft
32 5-.2 )A { 12.
-
Kinematics.
10
rACOA ~ rB(B ~ rC(C 01A ~ ^ B ~ ~ 2.5<WC
A = @B = 2-59C
Kinetic energy. T = l o r :
2
Position 1. o>c = 100 rpm = - ^ / r rad/s; eoA = coR = 250 rpm = rad/s
Gear A : (7j )A = i(9 .7 0 5 0 x lO-3) ^ ^ j = 3.32585 ft-lb
G ear/?: (7 - ,),= 1 (9 .7 0 5 0 1 0 -J ) ( ^ = 3.32585 ft-lb
Gear C: (7])c = 1(303.28 x l0 -J) [ I 2 l ' = 16.6292 ft-lb
System: 7l = ( 7 i) +(7*,). + ( T ,L = 23.2809 ft-lb

Position 2. coc = 450 rpm = 15n rad/s; coA = coB = 31.5n rad/s
Gear ,4: (T2) a = ^(9 .7 0 5 0 x 103)(37.52t)2 = 67.348 ft-lb
G ear5 : (T2) b = |( 9 .7 0 5 0 x 10-3)(37.5^ ) 2 = 67.348 ft-lb
Gear C: (T2) c = ^(3 0 3 .2 8 x 103)(l5 ;r)2 = 336.741 ft-lb
System: T2 = (T2) a + {T2\ + {T2) c = 471.437 ft-lb
W ork o f Couple. ^ i -2 = M 9 B = 6.159B
Principle o f W ork and Energy for System. 7] + Ux^ 2 = T2:
28.2809 + 6.750 b = 471.437 dB = 66.384 radians
(a) Rotation o f Gear C. 9r = = 26.553 radians 9C = 4.23 rev A

2.5
Rotation o f Gear A. 9A = 9B = 66.384 radians
Principle o f Work and Energy for Gear A. (71 )A + M A0A = (T2)a -
3.32585 + M a (66.384) = 67.348 M A = 0.96442 lb-ft
T ^ Ma 0.96442
(b) Tangential force on gear A. Ft = = --
ra 0.33333
Ft = 2.89 lb <
PROBLEM 17.11
The double pulley shown has a mass o f 14 kg and a centroidal radius of
gyration o f 165 mm. Cylinder A and block B are attached to cords that are
wrapped on the pulleys as shown. The coefficient o f kinetic friction
between block B and the surface is 0.25. Knowing that the system is
released from rest in the position shown, determine (a) the velocity o f
cylinder A as it strikes the ground, (6) the total distance that block B
moves before coming to rest.
SOLUTION
Let v ( = speed o f block A, vH = speed o f block B, co = angular speed o f pulley.
Kinematics. vA = rAo) = 0.250tu vH = rH(o = 0.150ro
s A = r ,0 = 0.2500 sH = rH0 = 0.1506>
(a) Cylinder A falls to ground.
5 , = 0.900 m .Vo = ^ ^ ( 0 . 9 0 0 ) = 0.540 m

A " 0.250V
Work o f weight A: ^ i ->2 = m.-iKsA = (1 L 5)(9.8I)(0.900) = 101.534 J
Normal contact force acting on block B: N = mHg = (9 )(9 .8 l) = 88.29 N
Friction force on block B: Ff = = (0.25)(88.29) = 22.0725 N
Work o f friction force: = - F f s B = -(22.0725)(0.540) = -11.919 J
Total work: Ut_ 2 = 101.534 - 11.919 = 89.615 J
Kinetic energy: T\ = o; r2 = ^ m Av\ + ^ I( 2 + \ m Bv \
1
T2 = mArA(i)~ + mc k~a>~ +
= i [ ( l 1.5)(0.250)2 + (I4)(0.165)2 + (9)(0.150)2J 2 = 0 .6 5 1 2 ^
Principle o f Work and Energy. 7] + U]_2 = T '
0 + 89.615 = 0.6512 w 2 (O = 11.7309 rad/s
Velocity o f cylinder A: vA = (0.250)(11.7309)
v A = 2.93 m/s t 4
(b) Block B comes to rest.
1 ? 1
For block B and pulley C. T3 - l o r + mBvB, T4 - 0 :
T3 = ^ m c k W + ^ m Brlco2 = ^-[(14)(0.165)2 + (9)(0.150)2 (11.7309)2
= 40.159 J
W ork o f friction force: f/ 3^,4 = ~F j s 'b - -22.0125sB
Principle o f W ork and Energy. T3+ U3_>4= T4 :
40.159 - 22.0125s'B = 0 s'B = 1.819 m
Total distance for block B. d = sB + s'B :
d = 0.540 + 1.819
d = 2.36 m <4
150 n un
PROBLEM 17.12
The 200-mm-radius brake drum is attached to a larger flywheel that is not
shown. The total mass moment o f inertia o f the flywheel and drum is
19 kg m 2 and the coefficient o f kinetic friction between the drum and
the brake shoe is 0.35. Knowing that the initial angular velocity o f the
flywheel is 360 rpm counterclockwise, determine the vertical force P that
must be applied to the pedal C if the system is to stop in 100 revolutions.
SOLUTION
Kinetic energy.
<U| = 360 rpm = 12/r rad/s <u2 = 0
I.-. 1
7] = L lc o - = - i( l9 ) ( l2 ;r )2 = 13.502 x 10 J
f, = 0
Work.
6 = (100)(2;r) = 628.32 rad
M d = Ff r = / 7 (0 .200)
t/ , _ 2 = - M d6 = - F f (0.200)(628.32) = -125.664F ,
Principle o f Work and Energy. 7] + Ul_>2 = 72:
13.502 x 10 - 125.664F, = 0 F, = 107.445 N
\ ^ S o Kinetic friction force. Ff = n kN
N _ fj_ _ 107.445 = 3Q6 99 N

Ft 0.35
Statics.
+ ) I M a = 0: 0.225P + 0.050FA - 0.250yV = 0
0.225P + (0.050)( 107.445) - (0.250)(306.99) = 0
P = 317.22 P = 317 N
PROBLEM 17.13
ISO mm
Solve Prob. 17 .12 assuming that the initial angular velocity o f the
flywheel is 360 rpm clockwise.
SOLUTION
(o{ = 360 rpm = \2 n rad/s co2 = 0
9 = (l0 0 )(2 /r) = 628.32 rad
M n = F ,r = F, (0.200)
= -M 0 = - F , (0.200)(628.32) = -125.664F ,
Principle o f Work and Energy. 7j + U ^ 2 =
13.502 x 10* - 125.664F, = 0 F, = 107.445 N
Kinetic friction. F, = n kN \
_ F/( _ 107.445 = 306.99 N

N =
Hk 0.35
Statics.
+) I M a = 0: 0.225P - 0.050Ff - 0.250N = 0
0.225F - (0.050)(107.445) - (0.250)(306.99 ) = 0
P = 364.98 P = 365 N \ A
PROBLEM 17.14
A
A slender 6-kg rod can rotate in a vertical plane about a pivot at B. A
spring o f constant K = 600 N/m and an unstretched length o f 225 mm is
attached to the rod as shown. Knowing that the rod is released from rest
in the position shown, determine its angular velocity after it has rotated
through 90.
5 2i 5' m m
SOLUTION
Position I.
BG = 0.270 m CD = Vo.525: + 0 .180; = 0.555 m
Spring: .r, = CD - / = 0.555 - 0.225 = 0.330 m
( K )( = 7 ^ , 2 = ^ (6 0 0 )(0 .3 3 0 )2 = 32.67 J
Gravity: h. = BG = 0.270 m
, D
(Fk ) = Why = mghy = (6 )(9 .8 l)(0 .2 7 0 ) = 15.892 J
Kinetic energy: 7] = 0
Position 2.
CD = 0.525 - 0.180 = 0.345 m
ISO
Spring: x 2 = CD - /
T1
8 C D .vs = 0.345 - 0 .2 2 5 = 0.120 m
u>. 535 -4
(Ft.), = 1 (6 0 0 )(0 .1 2 0 )2 = 4.32 J
Gravity: h2 = 0 (Kk ), = 0
Kinetic energy: J = = -^ (6 )(0 .9 0 0 )2 = 0.405 k g n r
v2 = ( BG)<o2 = 0.270ft*
T2 = i v 22 + ^ / f t *2 = ^ (6 )(0 .2 7 0 w : )2 + ^(0.405)g*2 = 0.4212ft>;
C onservation of Energy. 7j + Vx = T2 + V2:
0 + 32.67 + 15.892 = 0.4212ft* + 0 + 4.32
ft* = 10.249 o)2 = 10.25 rad/s ^

PROBLEM 17.15
A slender 6-kg rod can rotate in a vertical plane about a pivot at B. A
spring o f constant K = 600 N/m and an unstretched length o f 225 mm is
attached to the rod as shown. Knowing that the rod is released from rest
in the position shown, determine its angular velocity after it has rotated
91X1 n u n
through 90.
52.5111111-
SOLUTION
C Position I.
BG = 0.270 m CD = Vo.5252 + 0.1802 = 0.555 m
Spring: x, = CD - l0 = 0.555 - 0.225 = 0.330 m
= i(600)(0.330)2 = 32.67 J
Gravity: /r, = BG = 0.270 m
= Whx = mgh = (6 )(9 .8 l)(-0 .2 7 0 ) = -15.892 J
Kinetic energy: 7] = 0
Position 2.
CD = 0.525 - 0.180 = 0.345 m
180 Spring: x2 = CD - /
x, = 0.345 -0 .2 2 5 = 0.120 m
(Ke)2 = ^(600)(0.120)2 = 4.32 J
Gravity: h2 = o (k ,)2 = o
Kinetic energy: I = ^ ml? = -|^(6)(0.900)2 = 0.405 kg-m 2
v2 = (BG)co2 = 0.270a>2
l,,w \2 1
T2 = ^ I o >2 = jl6)!0-270" )2 + -j( 0.405 )ru2 = 0.4212<u|
C onservation of Energy. T\ +V\ = T2 + V2:
0 + 32.67 - 15.892 = 0.4212<y22 + 0 + 4.32
a>2 = 5.44 to2 = 5.44 rad/s J ^

PROBLEM 17.16
A slender rod o f length / is pivoted about a point C located at a distance b
from its center G. It is released from rest in a horizontal position and
R swings freely. Determine (a) the distance b for which the angular velocity
o f the rod as it passes through a vertical position is maximum, (b) the
corresponding values o f its angular velocity and o f the reaction at C.
SOLUTION
& & Position 1. v = 0, co = 0 7j = 0
D
n T " Elevation: h = 0 V] = mgh = 0
w
Position 2. v, = b o o / = m l2
12
T 1 2 1 T 2
T, = mvj + 1 0)-,
2 2 '
= L J h 2 + _L /2 co;
c T 2 I 12
b Elevation: h = -b V2 = -m gb
& _sL
Principle o f Conservation o f Energy. tx + vx = t 2 + v 2.
0 + 0 = m b2 + - ^ l 2 -
2
2 gb
co2 =
b2 + yy I2
B
(a) Value o f b for maximum co2.
( b2 + r - ) - h{2b) ^
d_
b2 = - r -
db 12
b=
y/l2
(b) Angular velocity.
^ = i i? = ju s .
12 12
(o2 = 1.861 j j - <

^ = l2iJ f
Reaction at C.
f
+ Z F y = man : Cy - m g = mg
Cy = 2 mg
mQt m a*
t 1. ) + ) 2 M C = mbat + l a :
id
0 = {mb2 + I j a a = 0, at = 0
- i - SFX = ma( : Cx = -m a t = 0
C = 2 mg | A
PROBLEM 17.17
A 73-kg gymnast is executing a series o f full-circle swings on the
horizontal bar. In the position shown he has a small and negligible
clockwise angular velocity and will maintain his body straight and rigid
as he swings downward. Assuming that during the swing the centroidal
radius o f gyration o f his body is 457 mm, determine his angular velocity
and the force exerted on his hands after he has rotated through (a) 90,
(b) 180.
SOLUTION
Position I. (Directly above the bar).
Elevation: /i, = 1.1 m
Potential energy: Pj = mght = (7 3 )(9 .8 1 )(l.l) = 787.74 J
Speeds: <y, = 0 , vj = 0 Kinetic energy: 7 ^ = 0
(a) Position 2. (Body at level o f bar after rotating 90 ).
Elevation: h2 = 0. Potential energy: V2 = 0
Speeds: v2 = l.la>2. Kinetic energy: T2 = -^ntv} + m k2(o\
T2 = i ( 7 3 ) ( l . l <2)2 + ^ (7 3 )(0 .4 5 7 )2w ; = 51.788ru:2
Principle o f Conservation o f Energy. 7] + Vx = T2 + V2:
~ i=t r L a 0 + 787.74 = 5 1.788co\ m \ = 15.2 11
m<it o>2 = 3.90 rad/s ) <
Kinematics: dr = l.lar
a = 1,\(o\ = (1.1)(15.211) = 16.732 m/s2
+ ) IA70 = I(A 70 )c|r:
(1.1)(73)(9.81) = ( 7 3 ) ( l .l ) ( l .l a ) + (73)(0.457)2a
a = 7.6055 rad/s2 a, = 8.3660 m/s2 |

*- SFX = man: = (73)(16.732) = 1221.4 N
+ t S Fy = -m a t : R , - (7 3 )(9 .8 l) = -(7 3 )(8 .3 6 6 0 ) Ry = 105.4 N |
R - 1.226 kN 2b^4.93 M
(b) Position 3. (Directly below bar after rotating 180 ).
Elevation: fa, = -1 .1 m .
Potential energy: F3 = mgh^ = ( 7 3 ) ( 9 .8 l) ( - l.l) = -787.74 J
Speeds: v3 = l.k y 3. Kinetic energy: T3 = 51.788<a32
Principle o f Conservation o f Energy. 7] + Vx = T3 + V3:
0 + 787.74 = 51.788<y| - 787.74
<a3 = 30.422 co3 = 5.52 rad/s
Kinematics: an = (l.l)(3 0 .4 2 2 ) = 33.464 m /s2 j
From M 0 = (M 0)eff and = 0,
a = 0, a, = 0 Rx = 0
+ | I F , = ma: F , - (7 3 )(9 .8 l) = (73)(33.464)
R =3159N R = 3160Nf^
PROBLEM 17.18
Two identical slender rods AB and BC are welded together to form an
L-shaped assembly. The assembly is pressed against a spring at D and
released from the position shown. Knowing that the maximum angle o f
rotation o f the assembly in its subsequent motion is 90
counterclockwise, determine the magnitude o f the angular velocity o f the
assembly as it passes through the position where rod AB forms an angle
o f 30 with the horizontal.
PROBLEM 17.19
The 60-lb turbine disk has a centroidal radius o f gyration o f 7 in. and is
rotating clockwise at a constant rate o f 60 rpm when a small blade o f
weight O.l lb at point A becomes loose and is thrown off. Neglecting
friction, determine the change in the angular velocity o f the turbine disk
after it has rotated through (a) 90, (6) 270.
SOLUTION
.. , _ . .2 - 60 ( 7 V O.l ( 1 2 }
Moment of inertia about O. l n = mk - m. r , = ------ = 0.630952 lb s*-ft
* 32.2 { \ 2 32.2 U 2
Location o f mass center for the position shown.
i \
( m - m . Lr = - m ,r. x = -------
' Al AA W - WA
Position I. 0 = 0, = 60 rpm = 2n rad/s
Kinetic energy: Tt =
Center o f gravity lies at the level o f point O. /;, = 0
Potential energy: V{ = (IT - fT,)/;, = 0
(a) Position 2. 9 = 90
Kinetic energy: T2 =
W r W r
Center o f gravity lies a d ista n c e above point O. lu = -----
W -W A v - W - WA
f \2 \
Potential energy: V2 = (IT - WA)h2 = WArA = (0.1) = 0 .1 ft -lb
v 12 )
Conservation o f energy. 7j + Pj = T-, + V-,:
+ 0 = -{ I ()(ol + V2
to, = <uf - = (2sr)~ - = 6.257910 rad/s

I0 0.630952
Aco = a>2 - = 6.257910 - 2 n - -0.025275 rad/s
Aco = -0.241 rpm A
(b) Position 3. 9 = 270
1 ,
Kinetic energy: T3 = I 0 oj3
W r W r
Center o f gravity lies a distance A A below point O. h, = -------- A
W -W A W -W A
a 12a
Potential energy: V3 = {W - = ~WArA - -(0 .1 ) = - 0.1 ft-lb
V12 y
Conservation o f energy. 7j + Fj = T3 + V3:
U 0C02 + 0 = 1 / X + ^
co3 = a>2 - - (2 x )2 - o)3 = 6.308359 rad/s

3 1 In V 0.630952
A = co3 - e/, = 6.308359 - 2 n - 0.025174 rad/s
A = 0.240 rpm A
PROBLEM 17.20
3(H) mm a 24-kg uniform cylindrical roller, initially at rest, is acted upon by a
loo N 100 N force as shown. Knowing that the body rolls without slipping,
determine (a) the velocity o f its center G after it has moved 1.8 m, (b) the
friction force required to prevent slipping.
PROBLEM 17.21
A rope is wrapped around a cylinder o f radius r and mass m as shown.
Knowing that the cylinder is released from rest, determine the velocity o f
the center o f the cylinder after it has moved downward a distance s.
SOLUTION
Point C is the instantaneous center.
v = ro) (O =
r
C i
Position 1. At rest. Tx = 0
Position 2. Cylinder has fallen through distance s.
T 1
7, = mv 2 + I
I 7
co2 = mv
I 2 , ]1 (I /
h ] 2
1
mr
vV 3 _2
= mv
2 2 2 2 2^2 r ) 4
Work. = mXs
Principle o f Work and Energy.
2
T\ + C/|_>2 = T2: 0 + mgs = - m v 2
-2 _ 4gs
V 3
PROBLEM 17.22
A collar B, o f mass m and negligible dimensions, is attached to the rim o f
a hoop o f the same mass m and o f radius r that rolls without sliding on a
horizontal surface. Determine the angular velocity tox o f the hoop in
terms o f g and r when B is directly above the center A, knowing that the
angular velocity o f the hoop is Atox when B is directly below A.
SOLUTION
The point o f contact with ground is the instantaneous center.
Position 1. Point B is at the top.
to = to, Vo = 2rco, v, = rto.
7, = mvR + m v , + I to
2 2 2
= m{2rtoi )~ + m (rto ^)" + - | m r ' Jru,2 = 3m r2co2
Position 2. Point B is at the bottom.
to = co2 vH = 0 v^ = ra>2
t ^
/> = mvR + ^mv-. + I to-,2
I T
- 2 2 2
= 0+ jco2 = m r2co2
= /?//" (4<y,) ' = \6m r2to2
Work. u \->2 = fg(Ah) = 2 mgr
Principle o f Work and Energy. T . + U = T,:
3mr2co2 + 2 mgr = 16mto2 to2 =

13r
to. = 0.392,/ <

PROBLEM 17.23
A half-cylinder o f mass m and radius r is released from rest in
the position shown. Knowing that the half-cylinder rolls without sliding,
determine (a) its angular velocity after it has rolled through 90,
(b) the reaction at the horizontal surface at the same instant.
[Hint. N ote th at GO = Arl!>n and that, by the p arallel-ax is theorem ,
7 = I m r2 - m(GO)2.]
PROBLEM 17.24
The 1.5-kg uniform slender bar AB is connected to the 3-kg gear B which
meshes with the stationary outer gear C. The centroidal radius o f gyration
o f gear B is 30 m. Knowing that the system is released from rest in the
position shown, determine (a) the angular velocity o f the bar as it passes
through the vertical position, (b) the corresponding angular velocity o f
gear B.
SOLUTION
i *iA
Kinematics: VB ~ IA liC0AB ~ rB( B ~ OiAH
1 1
VAB = - V n = - I ABW
i n (0 AB
Moments o f inertia. I AB - ~ ^ m ABÂB' 1b - *
Kinetic energy. T = ^ m ABvAB + ^ abP ab + + ^ I bm 2b :
1 1 I2 , , 2
T = - ~ m1AB
AB + T Z m AB + m B + m B ~ ab^ ab
2 V4 12 rB J
-(1 .5 ) + (1.5) + 3 + 3 ^'030^ ( Q . \ l f (02ba = 0 . 0 3 2 9 7 6 ^

4 1 12V ' (0.050)
Position 1. As shown in the drawing above. V\ = 0
Position 2. Point B is directly below A.
V2 = -W Ab -f ~ w bI ab = -(1.5)(9.81)(0.060) - (3)(9.8l)(0.120) = -4.4145 J
Conservation o f energy. 7 i+ K , = T 2 + V2:
0 + 0 = 0.032976(ta/(B)2 - 4.4145 {<oab )\ = 133-87
(a) Angular velocity o f the bar. (aAB = 11.57 rad/s j A
0. 120, , ,
(b) coR = (l 1.57) <aB = 27.8 rad/s ^ A
B 0.050v
PROBLEM 17.25
The 1.5-kg uniform slender bar AB is connected to the 3-kg gear B which
meshes with the stationary outer gear C. The centroidal radius o f gyration
o f gear B is 30 m. The system is released in the position shown when the
angular velocity o f the bar is 4 rad/s counterclockwise. Knowing that the
magnitude o f the angular velocity o f the bar as it passes through
the vertical position is 12 rad/s, determine the amount o f energy
dissipated in friction.
SOLUTION
Kinematics: VB = l AB>AB = rB<B (0 B = ~ (0 AB
1 1/
VAB = ~ VB = ~ l ABO>AB
Moments o f inertia. I AB ~ J 2 n , IBÂB' m B ^~
1 1Y 2 I ^ 17 1
Kinetic energy. T = 2 m ABVAB + 2 J ABM AB + 2 m B VB + ~ I B ^ B '
T =- 12 2
~ m AB H W ,J"
AB T T
+ mB + m ~ ' ab^ ab
2 12 rB i
- ( 1 .5 ) + (1.5) + 3 + s i 0-030) (0.12)2<y2Ifl = 0.032976ft>2(/,

4 V ; 12V ' (0.050)
Position 1. As shown in the drawing above. Vx = 0
Position 2. Point B is directly below A.
v2 = ~ WAB- y - - w J ah = -(1-5)(9.81)(0.060) - (3 )(9 .8 l)(0 .1 2 0 ) = -4.4145 J
Energy lost = (7 , + Vx) - ( T 2 + V2)
= [o.032979(4)2 + 0 j - [o.032976(l2)2 - 4.4145]
= 0.1936 J
energy dissipated = 0.1936 J A

PROBLEM 17.26
81b
The 18-lb cradle is supported as shown by two uniform disks that roll
without sliding at all surfaces o f contact. The weight o f each disk is
W = 12 lb and the radius o f each disk is r - 4 in. Knowing that the
system is initially at rest, determine the velocity o f the cradle after it has
m oved 15 in.
SOLUTION
Wr
2g
Kinematics. a , = coR = V , = Vn = Vr
Kinetic energy. 7] = 0
T2 = ~ m AvzA + ^ I A(o2A + | mBv2B + ^ I Bo)2 + ^ m c v2
W W W W Wc 2 1 3W + Wc It 2
+ + + + &
V r -
g 2g g 2g g g
= 1(3)(12) + 18
2 32.2 c c
Work. U ^ 2 = K = (8) I = 10 ft-lb

\1 2 ,
Principle of Work and Energy. T\ + ^ l-2 - ^2 :
0 + 10 = 0.83851v
v c = 3.45 ft/s-
PROBLEM 17.27
s The 18-lb cradle is supported as shown by two uniform disks that roll
v W = 12 lb and the radius o f each disk is r = 4 in. Knowing that the
D' 8
1 -a mP --------
moved 15 in.
SOLUTION
Wr
Moments o f inertia. /, = / =
2g
Kinematics. a>A = a > B = - C - va = vb =Q
Kinetic energy. 7j = 0
_ 1 2 1T 2 1 2 1T 2 1
2 = ~ m A VA + - I / O A + 2 m BVB + J + 2 m ( Vc
. W W wc > 1 w + wr ,
0 + + 0 + + Vr = --------- Vr
2g 2g g 2 g
1 12 + 18 2 = n0.46584vr
------------vr A n eO A 2
2 32.2 c c
Work. t/._o = Fs lb
Principle o f W ork and Energy. 71 + ^ 1-2 = 7*2:
0 + 10 = 0.46584v
vr = 4.63 ft/s A
PROBLEM 17.28
81b
The 18-lb cradle is supported as shown by two uniform disks that roll
W = 12 lb and the radius o f each disk is r - 4 in. Knowing that the
moved 15 in.
SOLUTION
wr
Moments o f inertia. I a = I b =
2g
Kinematics. -Y c _
VA = VB = ~ VC
2r
Kinetic energy. 7j = 0
T 2 = Z m Av A + ~ r ^ A a A + \ m BVB + ^ B ^ B + \ m CVC
W W W W Wc 2 1 0.75 W + Wc 2
+ + + + ~ L~ Ve = -Z--------------- vc
.4 g 8g 4g 8g g 2 g
4 H ! M i i v ? = 0 .41925vJ
32.2
'15''
Work. U \ t2 = F * = ( 8 ) = 10 ft-lb
,1 2 ,
Principle o f Work and Energy. T\ + U\^>2 ~ ^2 :
0 + 10 = 0.41925v
v c = 4.88 ft/s * A
PROBLEM 17.29
The mechanism shown is one o f two identical mechanisms attached to the
two sides o f a 200-lb uniform rectangular door. Edge A B C o f the door is
guided by wheels o f negligible mass that roll in horizontal and vertical
tracks. A spring o f constant k = 40 lb/ft is attached to wheel B. Knowing
that the door is released from rest in the position 0 = 30 with the spring
unstretched, determine the velocity o f wheel A just as the door reaches
the vertical position.
SOLUTION
Kinematics. Locate the instantaneous center at point /.
vA = (5sin#)<y v = vB = (5cos#)<y
Moment o f inertia. T= *r-:

12 g
J = 1 200 (10)2 = 51.760 lb -s2 - ft

" 12 32.2
Kinetic energy. T 1 w v-> + Ico

t- = ------- 17
2 g 2
T = (5cos 0 )2(O2 + -(5 1 .7 6 0 )< y 2

2 3 2 .2 v ' 2
= (77.640 cos2 0 + 25.880)<y2
Potential energy.
Gravity. Datum at le v e ls. Vg = Wh = (2 0 0 )(-5 s in # )
= -1000sin<9 ft-lb
(1 ^
Two springs. Ve = 2 ke2 = ^ (5 s in 0 - 5sin30)~
2
= 25Ar(sin0 - 0.5 )'
Position 1. 0 = 30 to = <y, = 0 T, = 0
V, = ( K) , + ( yg \ = - 1000sin 30 = -5 0 0 ft-lb
Position 2. 0 = 90 co = co-,
T2 = (77.640 cos2 90 + 25.880)<y2 = 25.880<y2

v2 = (Ve)2 + (vg)2 = (2 5 )(4 0 )(sin 9 0 - 0.5)2 - 500sin90
= -7 5 0 ft-lb
Conservation o f energy. 7j + Vx = T2 + V 2 :
0 - 500 = 25.8802 - 750 to = 3.1080 rad/s
Kinematics. vA - (5sin90)(3.1080)
\ A = 15.54 fit/s * -4
PROBLEM 17.30
The mechanism shown is one o f two identical mechanisms attached to the
two sides o f a 200-lb uniform rectangular door. Edge ABC o f the door is
guided by wheels o f negligible mass that roll in horizontal and vertical
tracks. A spring o f constant k is attached to wheel B in such a way that its
tension is zero when 9 = 30. Knowing that the door is released from
rest in the position 6 = 45 and reaches the vertical position with an
angular velocity o f 0.6 rad/s, determine the spring constant k.
SOLUTION
f\ Kinematics. Locate the instantaneous center at point /.
T = (5cose f a r +-(51.760W 2
2 32.2v ' 2
= (77.640 cos2# + 25.880)<y2
Potential energy.
Gravity. Datum at level A.
Vg = W h = (2 0 0 )(-5 s in # ) = -lOOOsin# ft-lb
Two springs. j
Ve = 2^-jAre2 = (5 s in # - 5sin30)2
= 2 5 * ( s i n # - 0 .5 ) 2
Position 1. 6 = 45 (o = = 0 7j=0
V\ = (ê), + K ) , = 25*(sin45 - 0.5)2 - 1000sin45
= L 07233ifc-707.il
Position 2. 9 - 90 <a = a>2 = 0.6 rad/s
T2 = ^77.640 cos290 + 25.880)(0.6)2 = 9.3168 ft-lb
v2 = (Ve)2 + {vg )2 = 2 5 ^(sin 90 - 0.5)2 - 1000sin90
= 6.25k - 1000
Conservation o f energy. Tx + Vx = T2 + V2:
0 + 1.07233A: - 707.11 = 9.3168 + 6.25k - 1000
k = 54.8 lb/ft <

PROBLEM 17.31
The motion o f the uniform slender 2.4-kg rod AB is guided at A and C by
collars o f negligible mass. The system is released from rest in the position
9 = 45. Knowing that the applied force P is zero, determine the angular
velocity o f rod AB when 9 = 30.
Kinematics. Locate the instantaneous center at point /. Let

b = 225 mm and I = 600 mm.
AC
AC = AI =
sin # sin # sin2#
= (A/ ) ( o =
sin #
Let point G be the mass center
v o- = * A + VGM
= [V, ] + -< y ^ 0
.2
Draw velocity diagram.
Law o f cosines: v(2 = v2 + vjjIA - 2vAvc/A cos fi
hW te a 2 b lu r
sin4# 4 sin#
_ l -> 1 y > 1 > 1

Kinetic energy. T = m vr + 1(0 = m l2+|
niVf to2
2 2 2 2 12
bl
= m + ------- (O
2 sin4 # 3 sin#
Potential energy. Gravity: Vg = Wh = wi^/sin#
Position I. # = 45 co = coy = 0 T, = 0
V, = ( 2.4)(9.81)(0.600)sin 45 = 4.9944 J
Position 2. 0 = 30 O) C07
\
I2 bl
T
T7 = 1
m + m l = mf 16*2 + - / 2 - 2 bl col
2 2 sin4 30 sin30c 2 2 3
1 ^ ?
= - ( 2 .4 ) (16)(0.225) + - (0.600) - (2)(0.225)(0.600) col
2
= 0.792col
V2 = |(2 .4 )(9 .8 l)(0 .6 0 0 )s in 3 0 = 3.5316 J
Conservation o f energy. Tl + Vx = T 2 + V2 :
0 + 4.9944 = 0.792<wf + 3.5316 co2 = 1.359 rad/s j A

PROBLEM 17.32
The motion o f the uniform slender 2.4-kg rod AB is guided at A and C by
collars o f negligible mass. The system is released from rest in the position
Q = 30. Knowing that the magnitude o f the force P applied to collar A
is ION, determine the angular velocity o f rod AB when 9 = 45.
SOLUTION
Kinematics. Locate the instantaneous center at point I. Let
b = 225 mm and I = 600 mm.
AC
AC = AI =
sin # sin # sin2#
vA = (Al )co = T T
sin*#
Let point G be the mass center
vc = + y G!A
tie.G /4
-0 )^ p
2
Draw velocity diagram.
Law o f Cosines: vG = vA + Vq/a - 2vAvG/A cos p
b2o r l 2co2 bio)2

+
sin4 # 4 sin #
Kinetic energy. T = mvG + ^ I a > 2 = ^ m v G + -m l2W

12
f b2 I2 bl
= m + ------- co
2 sin # 3 sin #
Potential energy. Gravity: V = Wh = mgl sin #

* 2
Pb
Force R Vp = PxA =
tan #
Position 1. 9 = 30 co = co| = 0 7j = 0
= t(2.4)(9.8l)(0.600)sin30 + (10)(0 2 2 s)
2 tan 30
= 7.428714 J
Position 2. 0 = 45 (0 = 0)2
i r
I2 bl
T0 = m + ------ &o = m 4 b2 + - I 2 - oIlbl\col
sin4 45 3 sin 45 \
4 ( 2 - 4 ) (4)(0.225)2 + - ](0.600)2 - (>/2)(0.225)(0.600) COo
= 0.157897,
V2 = ^ (2 .4 )(9 .8 l)(0 .6 0 0 )sin 4 5 + = 7.244437 J
Conservation o f energy. Tx +V x = T 2 + V2:
0 + 7.428714 = 0.157897! + 7.244437
= 1.080 rad/s ^ M
PROBLEM 17.33
The motion o f the uniform rod AB is guided by small wheels o f
negligible mass that roll on the surface shown. If the rod is released from
rest when 9 = 0, determine the velocities o f A and B when 9 = 30.
SOLUTION
Position 1. 9 =0 va = vh =0 to = 0 7]=0 V,i = 0
Position 2. 9 = 30
Kinematics. Locate the instantaneous center C. Triangle ABC is
equilateral.
vA = vB = Leo
va = Leo cos 30
Moment o f inertia. I = m l2
12
I t i
Kinetic energy. T-, = mvp: + i to':
' 2 G 2
T2 = -^/(L gjcosS O 0)* + - j ml? to'

v 12
5 .2 2
= ml to
12
Potential energy. V-, = - m g sin 30 = -m gL

2 4
Conservation o f energy. 7] + V, = T2 + V2:
0 + 0 = m L 'to ' mgL to' = 0.6

12 4 L
to = 0 . 7 7 5 ^ v, = 0 . 7 7 5 vH = 0 . 7 7 5 ^
v^ = 0.775y[gL
\ B = 0.775J g L 7 T 60 <
PROBLEM 17.34
Two uniform rods, each o f mass m and length L, are connected to form
the linkage shown. End D o f rod BD can slide freely in the horizontal
slot, while end A o f rod AB is supported by a pin and bracket. If end D is
moved slightly to the left and then released, determine its velocity
(a) when it is directly below A, (b) when rod AB is vertical.
it= !
D
SOLUTION
Moments o f inertia. I ah ~ I Hi) ~ ~^2
g Position 1. At rest as shown. T, = 0

" f
L 1
V \ = m X h AB + m X h BC = 0 + = ~ 2 mgL
.X
(a) Position 2. In position 2, point A is the instantaneous center o f both

AB and BD. Since point B is common to both bars.
D
(0 a h ~ (0 R1) ~ <u' vn = I(02
vG = la) cos 30
Kinetic energy. T2 = ^ a<4 + \ ' m i + ~ ^Rl/2 '

B
1( 1
(ol + nt(la)-, cos30) + I mLr
3 - 2 v - ' 2 1 12
7 ,2 2
= niL
12
Potential energy. V2 = mghAB + mghm
t 3/ ^
V2 = mg sin 30 | + mg - sin 30 = ~mgL
2
Conservation o f energy. 7J + V, = T2 + V2:
1 , 7 2 ; , i
0 ------mgL = mL co-, - mgL a)-> = -----
2 12 - - 1L
to-, = 0 . 9 2 6 ^ v0 = L a 2 = 0.926Jg L
V/J = 0.926y[gL
u>>.
(b) Position 3. In position 3, bar BD is in translation.
VI) = vh = L(Oab = L(0,
1 , ^ 1
D a* Kinetic energy. T, = I .a), + mv~R:
3 2 ' 2
T3 = = ^ m l}c o \
Potential energy.
( L\ 3
*3 = + ms{~L) = ~ ^ msL
Conservation o f energy. T \ + V \ - T 3 + V3 :
3 g
0 - ^ m g L = ~m l?col ~ \ m%L co7 -
2L
co-. = L 2 2 5 i j f vd = L (0 3 = L225J g L
yD = 1 .2 2 5 ^
PROBLEM 17.35
The uniform rods AB and BC are o f mass 2.4 kg and 4 kg, respectively,
and the small wheel at C is o f negligible mass. If the wheel is moved
slightly to the right and then released, determine the velocity o f pin B
after rod AB has rotated through 90.
SOLUTION
Bar AB: Ia = \ n , ABL2AB = I(2 .4 )(0 .3 6 0 )2 = 0.10368 kg-m 2
Bar BC: 1 = ^ mBCC-BC = -^ (4 )(0 .6 0 0 )2 = 0.1200 k g m 2
Position 1. As shown with bar AB vertical. Point G is the midpoint o f BC.
V\ = ABgf>AB + >Bcgl>BC = (2 .4)(9.8l)(0.180) + (4)(9.81)(0.180) = 11.3011 J
Bar BC is at rest. (oBC = 0
v = vc = vB = vc = 0 a)A B = = 0
-AH
7; = o
Position 2. Bar AB is horizontal.
c o AS YcT a
V-, = 0
VB _ VB
Kinematics. ÂB ~ m bc ~
L ab 0.360 L bc 0.600
T2 = ^ A ^ A B + ^ mBCv2 + \ ! >BC
1/ .J 1 VB
= ^-(0.10368) +-(4)-vs + -( 0 .1 2 0 0 )
1,0.360 j 2 '12 0.600
= 1.06667v;B
Conservation o f energy. T\ + V] = T2 + V2:
0 + 11.3011 = 1.06667Vg
vB = 3.25 Vg = 3.25 m/s | M

PROBLEM 17.36
The uniform rods AB and BC are o f mass 2.4 kg and 4 kg, respectively,
and the small wheel at C is o f negligible mass. Knowing that in the
position shown the velocity o f wheel C is 1.5m/s to the right, determine
the velocity o f pin B after rod AB has rotated through 90.
SOLUTION
Bar AB: I A = ^ mABI?AB = j(2 .4 )(0 .3 6 0 )2 = 0.10368 k g m 2
Bar BC: T =^ = - ^ (4) (0.600 )2 = 0.1200 kg m 2
Position I. As shown with bar AB vertical. Point G is the midpoint o f BC.
F, = mABghAB + mBCghBC = (2.4)(9.81)(0.180) + (4)(9.81)(0.180) = 11.3011 J
Kinematics. Bar BC is in translation. (oBC = 0
v = vc = vB = vr = 1.5 m/s
1.5
(0 ,R = = = 4.16667 rad/s
'AB ~ L ab ~ 0.360
T\ = ^ a& ab +\ mB t v 2 +\ Io }l c
= ^(0.10368)(4.16667)2 + y ( 4 ) ( l .5 ) 2 + 0 = 5.400 J
Position 2. Bar AB is horizontal.
... Vo Vo Vo Vo _ 1
Kinematics. co.H = = - (or = = - v = v
L ab 0.360 L bc 0.600 2 "
T2 = + ^ mBc-v2 + { I A
= - ( 0 .1 0 3 6 8 ) f - ^ - l + - ( 4 ) f - U l + (0.1200)f ^ )
2 v0.360) 2 \ 2 B) 2 ' (,0-600)
= 1.06667vfl
Conservation o f energy. TX + VX = T 2 + V2:
5.400 + 11.3011 = 1.06667v| + 0
vB = 3.96 \ B - 3.96 m/s

PROBLEM 17.37
The 8-lb rod AB is attached to a collar o f negligible weight at A and to a
flywheel at B. The flywheel has a weight o f 32 lb and a radius o f gyration
o f 9 in. Knowing that in the position shown the angular velocity o f the
flywheel is 60 rpm clockwise, determine the velocity o f the flywheel
when point B is directly below C.
SOLUTION
Moments o f inertia. Rod/15: = i / s = f Y 1 = 0.186335 lb-s2-ft

AB 12 g AB \2 \2 2 .2 ) \\2 )
Flywheel: = 0.55901 lb-s2-ft

g 32.2 v 12y
Position I. As shown. to = 0),
12
sin 5 = B = 19.471
36
A, = - 3 6 c o s p = 16.9706 in. = 1.41422 ft
Vx = = ( 8 ) ( l.41422) = 11.3137 ft-lb
12
Kinematics. Vp = rco, = co, - 1.000a,,
1 12 1 1
Bar AB is in translation. coAB = 0 , v = vB
T ^ ^ AB 2 1 T 2 I f ">
T\ = T V + 2 JABÂB + J I C6>\
2 g
^ ^ ( l .O O O a ,,) ' + 0 ^ ( 0 .5 5 9 0 1 ) * ,,
= 0.403729a,,2
Position 2. Point B is directly below C.
h2 = - j l ab ~ r = -j(3 6 ) - 12 = 6 in. = 0.5 ft
V2 = WAB*2 = (8)(0 -5) = 4.00 ft-lb
12
Kinematics. Vo = ra)-, = co-, = 1.000a,,
- 12 -
co. = -5- = 0.33333a,, v = ~^vb = 0.500a,,

T2 = l E l ^ v 2 + \rkl AB0?AB
/ID /ID
+ *-X I c co\
2 g 2 2
1 8
(0.500fi>2)2 + -(0.186335)(0.33333 2)2
2 3 2 .2 v 2
+ ^ (0 .5 5 9 0 l)ty |
= 0.320913fi>2
Conservation o f energy. Tx + V{ = T2 + V2:
0.403729,2 +11.3137 = 0.320913<yf + 4.00 (1)
Angular speed data: <y, = 60 rpm = 2n rad/s
Solving Equation (1) for <a2, <a2 = 8.5121 rad/s
oa2 = 81.3 rpm -A

PROBLEM 17.38
If in Prob. 17.37 the angular velocity o f the flywheel is to be the same in
the position shown and when point B is directly above C, determine the
required value o f its angular velocity in the position shown.
SOLUTION
Moments o f inertia. \ W ABr2 1 f 8 ^36^2

Rod AB\ 1 AB -TzAB ~- = 0.186335 lb-s2 -ft
12 g 121 32.2 12
32 A \2
Flywheel: = 0.55901 lb -s2 -ft
g 32.2 12
Position 1. As shown. co = co.i J
12
sin y# = p 19.471c
36
hx = 3 6 co sP = 16.9706 in. = 1.41422 ft
Vx = WABhx = (8)(1.41422) = 11.3137 ft-lb
12
Kinematics. vB = rcox = cy, = l.OOOco,
Bar AB is in translation. Al
. It
2 g 2 2
1 8
2 32 f ^ 1'000^ ^ + + ^ ( - 55901W
= 0.403729<u,2
Position 2. Point B is directly above C.
h = ^ ^ AB + r = (36) + 12 = 30 in. = 2.5 ft
V2 = WABh2 = (8)(2.5) = 20.00 ft-lb
12
Kinematics. rcu, co2 - 1.000co2
12
_ VB _ 0.33333<y7 1
10AB ~ v = vB - 0.500eo2
T2 = I E a L v 2 + I i abco2A
b + \IcCoI
2 g 2 2
1 8
(0.500<y2)2 + -(0 .1 8 6 3 3 5 ) (0.333332)2
2 3 2 .2 v 2
(0.55901)22
- 0.320913,2
2
Conservation o f energy. 7j + Vx = T2 + V2:
0.4037292 +11.3137 = 0.320913f + 20.0 (1)
Angular speed data: a>2 = ,
Then, 0.082816? = 8.6863 , = 10.241 rad/s
! = 97.8 rpm J) A
PROBLEM 17.39
The flywheel shown has a radius o f 20 in., a weight o f 250 lb and a radius
o f gyration o f 15 in. A 44-lb block A is attached to a wire that is wrapped
around the flywheel. Determine the power delivered by an electric motor
attached to the shaft o f the flywheel at the instant when the velocity o f
block A is 25 ft/s up and its acceleration is (a) zero, (b) 3 ft/s2 up.
SOLUTION
aA VA
Kinematics. a = co =
Wf k 2 (250)({)2
Moment o f inertia. In = ^ - = ----------------= 12.131 lb-S2-I
g 32.2
=0.
h f
Iw
W (/ Wr
Kinetics. 1 M 0 = l ( M 0 )cff: M - Wr = I(/ x + - a Ar = M U \aA
M = Wr + (1)
r g
Power. P = Mco ( 2)
Data: W = 44 lb, r = 20 = 1.66667 ft, vA = 25 ft/s
25
co = = 15 rad/s
1.66667
(a) aA = 0
From Equation (1), M = (4 4 )(l.66667) + 0 = 73.333 lb-ft
From Equation (2), P = (73.333)(15) = 1100 ft-lb/s =
P = 2 hp M
0b) aA = 3 ft/s2 f
12.131 (44) (1.66667)

From Equation (1), M = (4 4 )(l.66667) + ( 3. - 102.00 lb ft
1.66667 + 32.2
1530
From Equation (2), P = (102.00)(15) = 1530 ft-lb/s = ^ - h p
P = 2.78 hp <
PROBLEM 17.40
Knowing that the maximum allowable couple that can be applied to a
shaft is 1.75 kN m, determine the maximum power that can be
transmitted by the shaft at (a) 180 rpm, (b) 480 rpm.
SOLUTION
M = 1.75kN -m = 1750N -m
0) (0 = 180 rpm = 6n rad/s
Power. P = Mco = (1750)(6#) = 33.0 x 103 W
P = 33.0 kw -4
(b) a = 480 rpm = 16# rad/s
Power P = Mo) = (1750)(16#) = 88.0 x 103 W P = 88.0 kw 4

PROBLEM 17.41
A motor attached to shaft AB develops 3.36 kW while running at a
constant speed o f 720 rpm. Determine the magnitude o f the couple
SO mm exerted (a) on shaft AB, (b) on shaft CD.
50 mm
SO LU TIO N
Power. P = 3.36 kW = 3360 W
Angular speed. (oAB = 720 rpm = 24;r rad/s
(a) Shaft AB F = M ABcoAB
= p = 3360 = 44.6c.
a AB 24n
M ab = 44.6 N m <
Kinematics. r A(0 AH = rCC0CI)
r 80
(ocn = o)AB - (24/r) = 38.4/r rad/s
(b) Shaft CD P = M cd6)cd
P 3360
M rn = ------= --------- = 27.9
c o>CD 38.4^
M cd = 27.9 N -m <
PROBLEM 17.42
The shaft-disk-belt arrangement shown is used to transmit 3.2 hp from
1.5 in. point A to point D. Knowing that the maximum allowable couples that
can be applied to shafts AB and CD are 18 lb ft and 58 lb-ft,
respectively, determine the required minimum speed o f shaft AB.
SOLUTION
Power. 3.2 hp = (3.2 hp)(550 ft lb/s/hp) = 1760 ft-lb/s
M ab < 18 lb -ft
1760
P = M ABÂB
iRo> mm coAB = = 97.778 rad/s
max M ab 18
M cd < 58 lb-ft
1760
P = M CDa)CD min (oCD = = 30.344 rad/s
max M cd 58
Kinematics. r AcoAB = rC0)CD
r ( 6
m in a^g = (minruCD) = (30.344) = 121.38 rad/s
rA v I -5
Choose the larger value for minty^g.
m infi^g = 121.38 rad/s
min o)AB = 1159 rpm 4

PROBLEM 17.43
The rotor o f an electric m otor has a weight o f 70 lb and a radius o f
gyration o f 10 in. It is observed that 5.3 min is required for the rotor to
coast to rest from an angular velocity o f 3600 rpm. Determine the average
magnitude o f the couple due to kinetic friction in the bearings o f the
rotor.
PROBLEM 17.44
A 1.815-Mg flywheel with a radius o f gyration o f 686 mm is allowed to
coast to rest from an angular velocity o f 450 rpm. Knowing that the
kinetic friction produces a couple o f magnitude 14.1 N -m , determine the
time required for the flywheel to coast to rest.
SOLUTION
Mass. m = 1815 kg
Moment o f inertia. T = m k2 = (1815)(0.686)2 = 854.13 kg-m 2
Angular velocity. 0] = 450 rpm = 15^ rad/s
Syst M om enta! + Syst M om enta2
+ j moments about A: I cox - M t - 0
Im i _ (854.13)(l5ff) _
285 s
M 14.1
t = 47.6 m in A
PROBLEM 17.45
A uniform 72-kg cube is attached to a uniform 68-kg circular shaft as
shown and a couple M o f constant magnitude is applied to the shaft when
the system is at rest. Knowing that r = 100 mm, L = 300 mm, and the
angular velocity o f the system is 960 rpm after 4 s, determine the
magnitude o f the couple M.
SOLUTION
Moments o f inertia. Cube: - ^ m ^ L 2 + Is j = -^-(72)^(0.300)" + (0 .3 0 0 )'J = 1.08 kg-m 2
Cyl: i / w r 2 = ^ (6 8 )(0 .1 0 0 )2 = 0.34 kg-m 2
Total: I = 1 .4 2 kg-m 2
Final angular velocity. (02 = 960 rpm = 32;r rad/s
Syst Momenta! + Syst Ext Im p ,^ , = Syst M om enta,
Moments about cylinder axis: 0 + Mt = I co2
u 7a, (1.42)(32*)
t 4
M = 35.7 N -m A
PROBLEM 17.46
A uniform 168-lb cube is attached to a uniform 156-lb circular shaft as
shown and a couple M o f constant magnitude 180 lb -in . is applied to
the shaft. Knowing that r = 4 in. and L = 12 in., determine the time
required for the angular velocity o f the system to increase from 1000 rpm
to 2000 rpm.
SOLUTION
Moments o f inertia. Cube:

12 ' '
=
12 32.2 U 2 j
+fii)
U 2j
= 0.86957 l b s 2-ft
_ 1 2 1 156 _4_
Cyl: mr = -------- = 0.26915 lb-s2-ft
2 2 32.2 12
Total: / = 1.1387 lb-s2-ft
Angular speeds. <y, = 1000 rpm = i2!2L ra(j/s
co2 = 2000 rpm = 322^. ra(j/s
Applied couple. M = 180 lb-in. = 15.0 lb-ft
Syst M om enta, + Syst Ext I m p , ^ = S y stM o m en ta2
Moments about cylinder axis: 7<y, + Mt = /tw,
T ( o)2 <w,) (I .1 3 8 7 ) ( 2 0 0 - 1 0 0 ) f
" m " iT o
t = 7.95 s <
PROBLEM 17.47
A sphere o f radius r and weight W with an initial clockwise angular
velocity 0 is placed in the com er formed by the floor and a vertical
wall. Denoting by n k the coefficient o f kinetic friction at A and B, derive
an expression for the time required for the sphere to come to rest.
PROBLEM 17.48
A 6-lb sphere o f radius r = 5 in. with an initial clockwise angular
velocity 0 = 90 rad/s is placed in the com er formed by the floor and a
vertical wall. Knowing that the coefficient o f kinetic friction is 0.10 at A
and B, determine the time required for the sphere to come to rest.
SOLUTION
7 2 2 2W 2
Moment o f inertia. 1 = mr = r
5 5 g
Syst M om enta, Syst M om enta2
-*.jc components: 0 + /ikN j - N Bt = 0 N B = jukN A
+ Jy components: 0 + N At - W t + p kN Bt = 0
W
N A - W + M2N A = 0 N
moments about A : I O )o - M kN Bt r - M kN At r = 0
T(O0 _ 2 Wr2 {} + d )
Hk {N A + N B)r 5 g n kW(p + fik )r
2 l + juj rco0
t =-
5 P k{l + Mk)
Data: W = 6 lb, r = 5 in. = ft, 0 = 90 rad/s, /uk = 0.10
t_ 2 (LQ1) fe )(90) t = 4.28 s A

5 (0.10)(1.10) 32.2
PROBLEM 17.49
A disk o f constant thickness, initially at rest, is placed in contact with a
belt that moves with a constant velocity v. Denoting by /uk the
coefficient o f kinetic friction between the disk and the belt, derive an
expression for the time required for the disk to reach a constant angular
velocity.
PROBLEM 17.50
Disk A, o f mass 2 kg and radius r = 60 mm, is at rest when it is placed
in contact with a belt which moves at a constant speed v = 15 m/s.
Knowing that p k = 0.20 between the disk and the belt, determine the
time required for the disk to reach a constant angular velocity.
SOLUTION
Moment o f inertia. / = -m r2
2
Final state o f constant angular velocity. co2 = -

r
+ 1y components: 0 + Nt - mgt = 0 N = mg
moments about A : 0 + p kNtr = Ico2
Ico2 _
t =
Hkmgr Mi, mgr 2 Mkg
t =
2Pkg
Data: v = 15 m/s Mk = 0.20
15
t =
(2)(0.20)(9.81)
t = 3.82 s <
PROBLEM 17.51
The 700-lb flywheel o f a small hoisting engine has a radius o f gyration o f
24 in. If the power is cut o ff when the angular velocity o f the flywheel is
100 rpm clockwise, determine the time required for the system to come to
rest.
SOLUTION
Kinematics. v = ro)
Syst Ext Im p 1
2 Syst M om enta2
moments about A: I A(0\ + mB(vB)| r - Wgtr = I Ao)2 + mB(vB)2r
co-,
g g
(w Ak 2 + WBr 2)(co] - c o 2)
t =
WBrg
Data: WA = 700 lb, k = 24 in. = 2.0 ft, WB = 240 lb r = 9 in. = 0.75 ft
i = 100 rpm = 10.472 rad/s, 2 = 0
\2
(700)(2.0) + (240)(0.75) (10.472 - 0)
t = t = 5.30 s 4
(240)(0.75)(32.2)
PROBLEM 17.52
In Prob. 17.51, determine the time required for the angular velocity o f the
flywheel to be reduced to 40 rpm clockwise.
/ aw ih ^
SOLUTION
Kinematics. v = rco
/'7> moments about A : I Acox + mB{vB\ r - WBtr = I Aco2 + mB(v)2r
a)-,
V8 g g
(w Ak 2 + ^ s r 2)(<y, -c o 2)
Data: WA = 700 lb, k = 24 in. = 2.0 ft, WB = 240 lb r = 9 in. = 0.75 ft
<y, = 1 0 0 rpm = 10.472 rad/s, a>2 = 40 rpm = 4.189 rad/s
[(7 0 0 )(2 .0 )2 + (240)(0.75)2](10.472 - 4.189)

t = 3.18 s ^
1~ (240)(0.75)(32.2)
PROBLEM 17.53
Each o f the gears A and B weighs l.5 lb and has a radius o f gyration
l.6 in., while gear C weighs 8 lb and has a radius o f gyration o f 4 i
Assume that kinetic friction in the bearings o f gears A, B and C produc
couples o f constant magnitude 0 .1 lb ft, 0 .1 lb ft, and 0.2 lb f
respectively. Knowing that the initial angular velocity o f gear C
2000 rpm, determine the time required for the system to come to rest.
SOLUTION
Moments o f inertia. / = / = = C '5) ^ ) _ 82g , 6 x , 0 -6 lb.s2 .ft

A H z 32.2
= _ (8)( I2 ) _ 2 7 6 0 5 x l 0 -3 )b . s 2 . ft
( #r 32.2
Kinematics. (<%), = 2000 rpm = 209.44 rad/s
rA<A = rH(0H = rC(0C 0

{( a \ = (<*>), = ^-("c)| = Y ^ i 209-4 4 ) = 5 2 3 -6 0 rad/S
Gear A :
Syst M om enta, + Syst Ext I m p ,^ , = Syst M om enta2
, moments about A : ' a M , + r i \ FAC^ ~ ( M , ) At = 0
(828.16 x 10-3 )(523.60) + ^ \ F M dt - 0.1/
or 0.1/ - 02 \ F iCdt = 0.43362
Gear B: By a similar analysis 0.1/ - 0.2 \FHcdt = 0.43362
Let .v = \F ACdt + JFHCdt and add Equations (1) and (2).
0.2/ - 0.2.t = 0.86724

Gear C:
SF ^M -
Syst Momenta! Syst Ext Imp1>2 = Syst Momenta2
moments about C: ^c( c)i _ {M c )f t ~ rc \F ACdt + rc \F BCdt - 0
(27.605 x 10~3)(209.44) - 0.2/ - ^ \ _ \ F ACdt + \FBCd i\
0.2/ + 0.5* = 5.7816 (4)
Solving Equations (3) and (4) simultaneously,
/ = 11.36 s, x = 7.02 lb s
/ = 11.36 s <
PROBLEM 17.54
Two identical uniform cylinders o f mass m and radius r are at rest at time
t = 0 when a couple M o f constant magnitude M < mgr is applied to
cylinder A. Knowing that the coefficient o f kinetic friction between
M
cylinder B and the horizontal surface is /uk < ------- and that no slipping
2mgr
occurs between the two cylinders, derive an expression for the angular
velocity o f cylinder B at time t.
SOLUTION
Moment o f inertia. / = m r2
2
Kinematics. No slip. vAB = ro)j = rcoB co -= coA

U'B WA = 0)
Cy-P. ,mvV.j 2 At
'>
/
A
I t
$>FM
Cy-P.
e
2^ t I
Syst M om enta, + Syst Ext Imp,_>2 = Syst M om enta2
Cyl. A. j moments about A: 0 + Mt - r jF d t = / 0)2 ( 1)
Cyl. B. ^ moments about B: 0 - 2Hkmgtr + r jF d t - Ico2 (2)
Adding Equations (1) and (2), Mtr - 2n kmgtr = 21co2
Mt - 2fikmgtr _ Mt - 2/Jkmgtr
C t)-, =
21 mr
M
co-, =
mr
PROBLEM 17.55
Two identical 8-kg uniform cylinders o f radius r = 100 mm are at rest
when a couple M o f constant magnitude 5 N-m is applied to cylinder A.
Slipping occurs between the two cylinders and between cylinder B and
the horizontal surface. Knowing that the coefficient o f kinetic friction is
0.5 between the two cylinders and 0.2 between cylinder B and the
horizontal surface, determine the angular velocity o f each cylinder
after 5 s.
SOLUTION
l
Moments o f inertia. / = i , r 2 = ^ (8 ) ( 0 .l0 0 ) 2 = 0.040 k g -n r
Kinetic friction. f ab = PkN AR = -5m8 fb = BkN R = (-2)(2 m g) = OAmg
A \ At :
Syst M om enta, + Syst Ext I m p ,.,, = Syst M om enta2
Cy I A. y moments about A: 0 + Ml - (0.5m gt)r = I (toA),
Ml - 0.5mgtr (5)(5) - (0 .5 )(8 )(9 .8 l)(5 )(0 .l0 0 )

M 2 =
0.040
= 134.5 rad/s \ A
O.H t
2m ^t
Syst M om enta, Syst Ext Im p, >2 = Syst M om enta,
Cyl B. m o m e n t s about B: 0 - (0.4m g t)r + (0.5m g t)r = / (a>)2
0.1 mgtr _ (0 .l)(8 )(9 .8 l)(5 )(0 .l0 0 )

M i = (to,,), = 9 8 .1 rad/s ^ A
I 0.040
PROBLEM 17.56
Show that the system o f momenta for a rigid slab in plane motion reduces
to a single vector, and express the distance from the mass center G to the
line o f action o f this vector in terms o f the centroidal radius o f gyration
k o f the slab, the magnitude v o f the velocity o f G, and the angular
velocity co.
PROBLEM 17.57
Show that, when a rigid slab rotates about a fixed axis through O
perpendicular to the slab, the system o f the momenta o f its particles is
equivalent to a single vector o f magnitude mrco, perpendicular to the
line OG, and applied to a point P on this line, called the center o f
percussion, at a distance GP = k~ 17 from the mass center o f the slab.
PROBLEM 17.58
Show that the sum o f the moments about a point A o f the momenta
o f the particles o f a rigid slab in plane motion is equal to I Aco, where ca
is the angular velocity o f the slab at the instant considered and I A is the
moment o f inertia o f the slab about A , if and only if one o f the following
conditions is satisfied: (a) A is the mass center o f the slab, (ft) A is the
instantaneous center o f rotation, (c) the velocity o f A is directed along a
line joining point A and the mass center G.
SOLUTION Kinematics.
Let to = cok and rG/A = rG/A 6
Then, \ G/A - o x rGIA = (avG/il) ^ P
where P = 6 + 90
Also v = y A + \ G/A
Define h = rG/A x v G/A
h = (rG/A)(vc/A)k = ( ^ ) 2 k
System momenta. Moments about A:
H A = rG/A x m v + Toi
= rG!A x m (Â + Vg/a ) + T a
= rGIA X mÂ + mrG/A X y G/A + Tm
= rG/A x m \ A + mh + /to
= rG/A x m y A + mrG!A& + 7 *
= rG/A X m yA + ( mrG/A + 7 )
The first term on the right hand side is equal to zero if
(a) rG/A ~ 0 (A is the mass center)
or (b) vA = 0 (A is the instantaneous center o f rotation)
or (c) rG/A is perpendicular to v^.
In the second term, mrG/A + I = ^ a
by the parallel axis theorem. Thus, = I A<o
when one or more o f the conditions (a), (ft) or (c) is satisfied.

PROBLEM 17.59
Consider a rigid slab initially at rest and subjected to an impulsive force F
\ contained in the plane o f the slab. We define the center o f percussion P as
the point o f intersection o f the line o f action o f F with the perpendicular
/ drawn from G. (a) Show that the instantaneous center o f rotation C o f the
slab is located on line GP at a distance GC = k 2IG P on the opposite

side o f G. (/>) Show that if the center o f percussion were located at C the
instantaneous center o f rotation would be located at P.
Eliminate F A t to obtain
P
co mdp dP
Kinematics. Locate point C.
k2
GC = dr = = GC = *
(o dP GP
(b) Place the center o f percussion at F = C. Locate the corresponding instantaneous center C'. Let
d p, = GP' = GC = dc .
Syst M om enta, Syst E xt Im p, >2 = Syst M o m en ta2
Components parallel to FA/: 0 + F A t = rriv
Moments about G: 0 + dP, [F A t) = I co'
7 1 k2
Eliminate F A t to obtain
co' mdP d p.
Kinematics. Locate point C .
GC' = d c 1 - = * 1 = *1
co' dP d c
Using dc = dp, = gives
dc = d P or GC' = GP <
Thus point C' coincides with point P.

PROBLEM 17.60
A wheel o f radius r and centroidal radius o f gyration k is released from
rest on the incline shown at time t = 0. Assuming that the wheel rolls
without sliding, determine (a) the velocity o f its center at time t, (b) the
coefficient o f static friction required to prevent slipping.
1L
+ \ components parallel to incline: 0 + mgt sin P - F t = mv
_ . m r2gtsxa.p k 2m g tsm P
F t = mgt s m / 3 -------- * H = f -f-
+ kL r + kz
+ / components normal to incline: 0 + N t - mgt cos p = 0
N t = mgt cos P
(b) Required coefficient o f static friction.
F _ Ft k 2m gtsm .p
Ms *
>
-V Nt {r2 + k 2^mgt cos P
PROBLEM 17.61
A flywheel is rigidly attached to a 38-mm-radius shaft that rolls without
sliding along parallel rails. Knowing that after being released from rest
the system attains a speed o f 152 mm/s in 30 s, determine the centroidal
radius o f gyration o f the system.
PROBLEM 17.62
A drum o f 4-in. radius is attached to a disk o f 8-in. radius. The disk and
drum have a combined weight o f 10 lb and a combined radius o f gyration
o f 6 in. A cord is attached to the drum at A and pulled with a constant
force P o f magnitude 5 lb. Knowing that the disk rolls without sliding and
that its initial angular velocity is 10 rad/s clockwise, determine (</) the
angular velocity o f the disk after 5 s, (b) the corresponding total impulse
o f the friction force exerted on the disk at B.
WrBsin/? - P (rB - rA)

W 0 , 2 I T( P + r i) *
Data: fF = 10 lb, r ^ = 4 i n . = j ft, rf i = 8 in . = | f i t
A: = 6 in. = ft P = 5 lb t = 5s
2
<! = -1 0 rad/s P = 30
(1 0 )(f)s in 3 0 -(5 )(f-l)i
10
(*r+ ttr
, _ 1 0 + ( l .66667)(32.2)(5) = 2 8 6 4 ra d /s
6.9444
v>
o 2 = 28.6 rad/s
+ / components parallel to incline:
W W
v, + IFtsin p - P t - fF dt = v2
g g
W
(b) \F d t = (JFsinP - P ) t - (v2 - v,)
PFr
= (iT sinP - P ) t (<w2 ~ i)
= (I0sin30 - 5)(5) - C ^ l [ 2 8.64 - (- 1 0 ) ]
- -8.00 lb s
JF dt = 8.00 lb s 3 ^ 30
PROBLEM 17.63
The bar AB o f negligible mass is attached by pins to two disks and the
system is released from rest in the position shown. Disk A has a mass o f
6 kg and a radius o f gyration o f 90 mm. Disk B has a mass o f 3 kg and a
radius o f gyration o f 80 mm. Assuming that disk A does not reach the
com er D, determine (a) the velocity o f bar AB after 0.6 s, (b) the
corresponding total impulse o f the force exerted by disk A on the bar.
SOLUTION
0.175
Slope angle. tan/? = P = 12.26 sin /? = 0.28
0.600
Kinematics. vA = vB = v
A = ^ = (On =
rA 0.150 rB 0.100
IB ~ mB^B
Kinetics.
Disk A:
Syst M om enta, + Syst Ext Im p ,..^ = Syst M o m en ta,
\ components parallel to incline: 0 + m ^gtsin /? + jA d t - FAt = mAvA
0 + (6)(9.81)(0.6)(0.28) - jA d t - FAt = 6v
\A d t = 9.888848 - FAt - 6v ( 1)
moments about A: Fa* a = i ^ A
( 0 .1 5 0 )f7 = (48.6 x 10-3) V F jf = 2.16v (2)

150
Disk B:
SB JJt Xg u>g
m .3 t
N ,t
Syst M om enta, + Syst Ext I m p ,.^ Syst M om enta,

j moments about B :
(0.100)F Bt = (l9.2 x 10-3) ^ FBt = 1.92v (3)
Disk A plus Disk B + Rod AB:
*+
Syst M om enta, +
\ components parallel to incline:
mAg t sin/? + mBg t - F j - FBt = mAvA + mBvB
(6)(9.81)(0.6)(0.28) + (3 )(9 .8 l)(0 .6 )(0 .2 8 ) - F j - FBt = 6v + 3v
or 9v + FAt + FBt = 14.83272 (4)

(a) Velocity at 0.6 s.
Substituting from Equations (2) and (3) into Equation (4),
9v + 2.16v + 1.92v = 14.83272 v = 1.134 m/s 16.3 <
(b) Impulse o f force exerted by disk A on the rod.
From Equation (2), FAt = (2 .1 6 )(l.l3 4 ) = 2.44944 N -s
From Equation (1), jA d t = 9.888848 - 2.44944 - (6 )(l.l3 4 )
jA d t = 0.635 N -s jA d t = 0.635 N -s ^ 16.3 M

PROBLEM 17.64
The 5-kg uniform bar AB is attached by pins to two uniform disks and the
system is released from rest in the position shown. The mass o f disk A is
6 kg and that o f disk B is 3 kg. Assuming that disk A does not reach the
com er D, determine the velocity o f bar AB after 0.6 s.
moments about B: FB*rB ~ I bm b
(0.100 )F Bt = ( I 5 .0 x l 0 - 3) U ^ FBt = 1.50v (2)
Disk A plus Disk B Rod AB:
Syst M om enta, + Syst Ext Im p I->2
\ components parallel to incline:
/?.,/sin p + mBgt sin P + mABgt sin p - FAt - FBt
= mAVA + mBVB + mABÂB

(6 + 3 + 5)(9.81)(0.6)(0.28) - FAt - FBt = (6 + 3 + 5)v
14v + FAt + FBt = 23.07312 (3)
Substituting Equations (1) and (2) into Equation (4),

14v + 3.00v + 1.50v = 23.07312 v = 1.247 m / s ^ 16.3 A
PROBLEM 17.65
A 12-in.-radius cylinder o f weight 16 lb rests on a 6-lb carriage. The
system is at rest when a force P o f magnitude 2.5 lb is applied as shown
for 1.2 s. Knowing that the cylinder rolls without sliding on the carriage
and neglecting the mass o f the wheels o f the carriage, determine the
resulting velocity o f (a) the carriage, (6) the center o f the cylinder.
SOLUTION
Moment o f inertia.
1
f16 )
' \2 '
2 1 32.2 J <12/
= 0.24845 lb s -ft
Cylinder alone:
*Nmoments about C: 0 + 0 = I co mAvAr
16
or 0 = 0.24845<y - ( 1)
32.2.m
Cylinder and Carrage:
" o o
-L . horizontal components: 0 + Pt = mAvA + mBvB
16
or 0 + (2 .5 )(l.2 ) = vA + - ( 2)
32.2 " 32.2
Kinematics. vA = v B - rco
Solving Equations (1), (2) and (3) simultaneously gives to = 5.68 rad/s ^
v A = 2.84 ft/s
v B = 8.52 ft/s
PROBLEM 17.66
A^ |> A 12-in.-radius cylinder o f weight 16 lb rests on a 6-lb carriage. The
* system is at rest when a force P o f magnitude 2.5 lb is applied as shown
B for 1.2 s. Knowing that the cylinder rolls without sliding on the carriage
j and neglecting the mass o f the wheels o f the carriage, determine the
JM ---------------------------W resulting velocity o f (a) the carriage, (b ) the center o f the cylinder.
SOLUTION
11 '1 2 '
Moment o f inertia. /7 = m
1
.r 2 ( 16 1 = 0.24845 lb s -ft
2 A 2 132.2 J J 2 ,
Cylinder alone:
Syst M om enta, Syst Ext Im p ,. Syst M om enta,
moments about C: 0 + Ptr = I (o + mAv ,r
r 16 ( 12^
or = 0.24845<y - ( 1)
, 32.2 M ) a
Cylinder and Carrage:
-* horizontal components: 0 + Pi = mAvA + mHv
or 0 + (2.5)(1.2)
v n / =
32 2 va. +
32 2 vB
(2)
Kinematics. va = vH + r ( o (3)
Solving Equations (1), (2) and (3) simultaneously gives co = 2.13 rad/s
\ A = 4.97 ft/s
v H = 2.84 ft/s
PROBLEM 17.67
A 30-lb double pulley has a radius o f gyration o f 5 in. and is attached to
a 20-lb slider block by a pin at point G. The system is at rest when
constant forces and Pfl are applied to the cords as shown. Knowing
that after 2 s the velocity o f point A is 11 ft/s to the left and the velocity
o f point B is 19 ft/s to the right, determine the magnitudes o f the forces
PA and Pfl.
SOLUTION
Kinematics.
6
rAo) - vc = vA or ( 1)
12
9
rH(o + vG. = vB or ( 2)
12
Solving Equations (1) and (2) simultaneously, co = 24 rad/s ; vf = 1.00 ft/s
Moment o f inertia. = 0.161749 lb s"-ft

g U 2.2 A 12.
Kinetics.
Block and Pulley:
la )
-t* horizontal components: 0+ pb* ~ PJ = i m.i + WI ) vc
f 30 + 2 0 x
or 0 + 2Ph - 2 P a = (1.00) (3)
32.2
Pulley alone:
at ^
+ {( s v rW o
Pet
Syst M om enta, Syst Ext I m p ,^ , Syst M om enta2
moments about G : 0 + rAPAt + rHPHl = I (o
0+ (4)
12 (2)/,"+(iI)(2
)Pb=(0-161749)(24)
Solving Equations (3) and (4) simultaneously, PA = 1.087 lb A
P = 1.863 lb A
PROBLEM 17.68
A sphere o f radius r and mass m is placed on a horizontal floor with no
linear velocity but with a clockwise angular velocity 0)0. Denoting by
Hk the coefficient o f kinetic friction between the sphere and the floor,
determine (a) the time /, at which the sphere will start rolling without
sliding, (ft) the linear and angular velocities o f the sphere at time
SOLUTION
_ 2
Moment o f inertia. Solid sphere. / = ~ mr 2
\
-fr
I 5 1------*" j h ,4 r*
Nt
Syst M om enta, Syst Ext Imp,_>2 Syst M om enta,
+ | y components: M, - Wtx = 0 N = W = mg ( l)
x components: Ft{ = mv2 (2)
+} moments about G: let)0 - Ftxr = lco2 (3)
Since F = p kN = p kmg, Equation (2) gives
Fkm& l = mv2 or v2 = i (4)
Using the value for / in Equation (3),
2 2 5 t
m r2a)0 - fJkm g t/ = m r2co-, or ta, = <y0 -------- 1 (5)
5 5 2 r
(a) Time /, at which sliding stops.
From kinematics, v, = rco
5 _ 2 ra)n ^
FkSh = rco0 - p kgt\ t, = - S . 4
2 7 p kg
(ft) Linear and angular velocities.
From Equation (4), v, = p kg ^ ~ v 2 = rcoQ 4

7 p kg 7
From Equation (6), <y, = ^ q , = co0 4

r 7 ~ 1
PROBLEM 17.69
A sphere o f radius r and mass m is projected along a rough horizontal
surface with the initial velocities shown. If the final velocity o f the sphere
is to be zero, express (a) the required magnitude o f <u0 in terms o f v0
and r, (b) the time required for the sphere to come to rest in terms o f v0
and the kinetic coefficient o f friction /jk.
SO L U TIO N
Moment o f inertia. Solid sphere. I7 = 2 m r2

- mr
5
/C T '
I \*
Wt \
\
/
l + I 1 & "
\ G vn/iy
i
F t
Nt
Syst M om enta, + Syst Ext Im p, _>2 = Syst M om enta2

o
+ \ y components: N t - W t -- (1)
ii
it
II
-L . x components: mv0 - Ft = 0 Ft = mv0 (2)

+*) moments about G: (3)

II
1
2 2
mr con - mv0r = 0
5 0
5 v0 .
(a) Solving fo r coQ,
(b) Time to come to rest.

t _mv0 mv0
From Equation (2), - = 3 - *
F n kmg Fkg
PROBLEM 17.70
A 1.134-kg disk o f radius 100 mm is attached to the yoke BCD by means
o f short shafts fitted in bearings at B and D. The 0.68-kg yoke has a
radius o f gyration o f 75 mm about the x axis. Initially the assembly is
rotating at 120 rpm with the disk in the plane o f the yoke (0 = 0). If the
disk is slightly disturbed and rotates with respect to the yoke until
9 = 90, where it is stopped by a small bar at D, determine the final
angular velocity o f the assembly.
SOLUTION
Moment o f inertia o f yoke: Ic = m k2 = (0.68)(0.075) = 3.825 x 10~3 k g -m '
Moment o f inertia o f disk:
0 = 0: lA = ^m r2 = 1.13 4 )(0 .100)2 = 2.835 x 10~3 kg-m 2
0 = 90: I A = i / n r 2 = |(1 .1 3 4 )(0 .1 0 0 )2 = 5.67 x 10~3 kg-m 2
Total moment o f inertia about the x axis:
0 = 0: ( / , ) , = / (- + I A = 6.66 x 10'3 kg-m 2
0 = 90: ( / , ) , = Ic + 1A = 9.495 x 10'3 kg-m 2
Angular momentum about the x axis:
0 = 0: //, = ( l x \ a ), = 6.66 x 10~3<y,
0 = 90: H 2 = ( I x )2 co2 = 9.495 x 1 0 ~ V
Conservation o f angular momentum. //, = H 2.
6.66 x 10'3a>, = 9.495 x 1 0 'V
(02 = 0.70142<y, = (0.70142)(l20 rpm) co2 = 84.2 rpm A

PROBLEM 17.71
A semicircular panel o f radius r is attached with hinges to a circular plate
o f radius r and initially held in the vertical position as shown. The plate
and the panel are made o f the same material and have the same thickness.
Knowing that the entire assembly is rotating freely with an initial angular
velocity <oQ, determine the angular velocity o f the assembly after the
panel has been released and comes to rest against the plate.
SOLUTION
Let m be the mass o f the plate. Then, the mass o f the panel is
Moment o f inertia o f plate plus panel:
I , 1 (1 'j , 5 ,
( l ) Panel is vertical. /, = mr~ H m \r~ = mr~
1 2 4U J 8
1 , 1 (1 \ 3 ,
(2) Panel is horizontal. I t = mr~ + m r~ = mr~
' 2 2{2 ) 4
Angular momentum about vertical axis.
( l ) Panel is vertical. H \ = V to = j r 2ao
(2) Panel is horizontal. H t - IiCOt = m r2a)t

- - 4
Conservation o f angular momentum. H1 = H2-
5 > 3 >
mr'con = mr'cot
8 4 "
(Ot = eon 4
- 6
PROBLEM 17.72
Two 0.36-kg balls are put successively into the center C o f the slender
1.8-kg tube AB. Knowing that when the first ball is put into the tube the
initial angular velocity o f the tube is 8 rad/s and neglecting the effect o f
friction, determine the angular velocity o f the tube just after (a) the first
ball has left the tube, (b) the second ball has left the tube.
SOLUTION
Conservation o f angular momentum about C.
mA^r
Ioi\ = 1 (02 + mrve = 1 0)2 + mr(r<y2)
(a-, = -=------- -<y, = Ccox ( 1)

I + mr~
Data: T = = -^ (1 .8 )(0 .7 2 0 )2 = 0.07776 kg-m 2
(one ball) m = 0.36 kg r = 0.360 m
/ + m r2 = 0.07776 + (0.36)(0.360) = 0.124416 kg-m 2
c = = 0.625
0.124416
(a) First ball moves through the tube. (Ox = 8 rad/s
By Equation (1), (o2 = (0.625)(8)
<u-> = 5.00 rad/s A
(b) Second ball moves through the tube. (ox = 5.00 rad/s
By Equation (1), io2 = (0.625)(5.00)
(o2 = 3 .1 3 rad/s A
PROBLEM 17.73
Two 0.36-kg balls are put successively into the center C o f the slender
1.8-kg tube AB. Knowing that when the first ball is put into the tube the
initial angular velocity o f the tube is 8 rad/s and neglecting the effect o f
friction, determine the angular velocity o f the tube just after (a) the first
ball has left the tube, (b) the second ball has left the tube.
Determine the final angular velocity o f the tube o f Prob. 17.72, assuming
that a single ball o f mass 0.72 kg is introduced into the tube.
SOLUTION
1 ^, lu>.
Io)\ = I co2 + mrvg = I a >2 + mr(rco2)
7
a)-, = yCW, = C(0\ ( 1)
I + mr
Data: / = = -^ (1 .8 )(0 .7 2 0 )2 = 0.07776 kg-m 2
m = 0.72 kg r = 0.360 m
7 + m r2 = 0.07776 + (0.72)(0.360)2 = 0.171072 kg-m 2
0.07776
C = = 0.454545 co, = 8 rad/s
0.171072
By Equation (1), co2 = (0.454545)(8)
co2 = 3.64 rad/s A

PROBLEM 17.74
The 60-lb uniform disk A and the bar B C are at rest and the 10-lb uniform
disk D has an initial angular velocity tot o f magnitude 440 rpm when the
compressed spring is released and disk D contacts disk A. The system
then rotates freely about the vertical spindle BE. After a period o f
slippage, disk D rolls without slipping. Knowing that the magnitude o f
the final angular velocity o f disk D is 176 rpm, determine the final
angular velocities o f bar B C and disk .4. Neglect the mass o f bar BC.
SOLUTION
12 ft 4 -5 ft
Data: r.A =
] 2 ft, rn , 2 ft
I) = ----
T 1 1 60
I. = = ---------- I = 0.93168 lb-s2-ft
A 2 2 32.2 1 2 .
7 _ 1 2 _ 1 10
d ~ 2 ~ 2 32 2
12
I = 0.021836 lb-s" -ft
(<u/J)| = 440 rpm = 46.077 rad/s, (<y/j), = 176 rpm = 18.4307 rad/s
Kinematics. Let P be the disk contact point on disk D and Q be the disk contact point on disk A.
vo = 1
For rolling without slipping. vq = vp
r ,a)A = r,/oD - v/j
r ,(oA + vD = rnion ( 1)
Kinetics.
Syst Ext I m p ^ j
j moments about D : 1d { P d )1 + 0 = i d {> d ) 2 + { rA + rD ) m Dv D ~ I .A&A
I a>a - i rA + rD)m DvD = - I D[(cuD\ - (<uD) J ( 2)
Substituting numerical data into Equations (1) and (2),
12 4^5
O), + v D = (18.4307) ( 1)
12 D 12
"12
0 .9 3 1 6 8 ^ - f 10 1vD = -(0.021836)(46.077 - 18.4307) (2)
,12 12 J U 2 .2 J
Solving simultaneously, coA - 1.72787 rad/s, vD = 5.1836 ft/s
vD _ 5.1836
a BC ~ 12 . 4.5
= 3.7699 rad/s
_r r,
rA, + 'D 12 12
coBC = 36.0 rpm ) 4
oo^ = 16.50 rpm ^ 4

PROBLEM 17.75
In the helicopter shown, a vertical tail rotor is used to prevent rotation o f
the cab as the speed o f the main blades is changed. Assuming that the tail
rotor is not operating, determine the final angular velocity o f the cab after
the speed o f the main blades has been changed from 180 to 240 rpm. (The
speed o f the main blades is measured relative to the cab, and the cab has a
centroidal moment o f inertia o f 881 kg m 2. Each o f the four main
blades is assumed to be a slender 4.27-m rod o f mass 24.9 kg.)
SOLUTION
Let f t be the angular velocity o f the cab and ca be the angular velocity o f the blades relative to the cab. The
absolute angular velocity o f the blades is Q + co.
af, = 180 rpm = 6n rad/s co2 = 240 rpm = 8n rad/s
Moments o f inertia. Cab: Ic = 881 kg-m 2
(\ \ ( 1\ ,
Blades: I B = 4 ml? = (4) - (24.9)(4.27) = 605.33 kg-m 2
Assume ft, = 0.
Conservation o f angular momentum about shaft.
I b (g)\ + ft)) + / r f t| = 1 + O')) + /f-fti
= _ / ( * - * > ,) _ (605.33)(8ff - 6jr) _

Ic + I B 605.33 + 881
Q2 = - 2 4 .4 rpm A
PROBLEM 17.76
Assuming that the tail rotor in Prob. 17.75 is operating and that the
angular velocity o f the cab remains zero, determine the final horizontal
velocity o f the cab when the speed o f the main blades is changed from
180 to 240 rpm. The cab has a mass o f 567 kg and is initially at rest. Also
determine the force exerted by the tail rotor if the change in speed takes
place uniformly in 12 s.
SOLUTION
Let f t be the angular velocity o f the cab and co be the angular velocity o f the blades relative to the cab. The
absolute angular velocity o f the blades is f t + co.
<y, = 180 rpm = 6n rad/s co2 = 240 rpm = 8;r rad/s
Moments o f inertia. Cab: Ic = 881 kg-m 2
Blades: I B = 4 ^ m L 2 j = ( 4 ) ^ j( 2 4 .9 ) ( 4 .2 7 ) 2 = 605.33 kg-m 2
The cab does not rotate. ft, = f t 2 = 0
Syst M om enta, + Syst Ext Im p ,_>2 = Syst M om enta,
Moments about shaft: ^(**>1 + ^ i ) + + ^ rt = + ^ 2) + h '^ 2
Frt = I B{(o2 - (0\) = (605.33)(8;r - 6n ) = 3803.4 N -m -s
Ft = = = 779.39 N .s
r 4.88
Linear components: mv{ + Ft = mv 2
Ft 779.39
v, - v, = = ---------i 7 = 1.169 m/s
' 1 m 567 + (4)(24.9)
(a) Assume v, = 0.
v, = 1.169 m/s A
Ft 779.39
(b) Force. F = = ----------
t 12
F = 64.9 N A
PROBLEM 17.77
The 8-lb disk B is attached to the shaft o f a motor mounted on plate A,
which can rotate freely about the vertical shaft C. The motor-plate-shaft
unit has a moment o f inertia o f 0.14 lb-ft-s- with respect to the axis o f
the shaft. If the motor is started when the system is at rest, determine the
angular velocities o f the disk and o f the plate after the motor has attained
'Motor its normal operating speed o f 360 rpm.
> - J
SOLUTION
Moments o f inertia, motor-plate-shaft: Ic = 0.14 lb-ft-s
Disk: , 1 2 1 I f 1 = 17.469 x 103 lb-ft-s2

<H = ~ mHrB =-
1 32.2 A 12 J
Kinematics.
vb - rBic0)c ~
Kinetics.
-h
Syst M om enta, Syst Ext I m p ,^ , = Syst M om enta,

\ moments about C: 0 + 0 = Ic 0)c + mBvB - I B(0B
Ic O)c + mB[rB/ca)c - I Ba>B = 0
( / c + mBr l c )(oc = I B(oB
0.14 +
8)f-Tl
132.2J l l 2 J .
eoc = 17.469 x 103<yfl (Oc = 0.09986<yfl
Angular velocity o f motor.
(oM = o)B + a>c = 1.09986<wg
coM = 360 rpm
wM 360 rpm
con = ------ = - 327.3 rpm
B 1.09986 1.09986
coB = 327 rpm M
coc = (0.09986)(327.3 rpm)
<oc = 32.7 rpm A

PROBLEM 17.78
A small 3-kg collar C can slide freely on a thin ring o f mass 4.5 kg and
radius 325 mm. The ring is welded to a short vertical shaft, which can
rotate freely in a fixed bearing. Initially the ring has an angular velocity
o f 35 rad/s and the collar is at the top o f the ring (0 = 0) when it is given
a slight nudge. Neglecting the effect o f friction, determine (a) the angular
velocity o f the ring as the collar passes through the position 9 = 90,
(ft) the corresponding velocity o f the collar relative to the ring.
SOLUTION
Moment o f inertia o f ring about a diameter.
l R = ^ mRR 2 = ^ (4 .5 )(0 .3 2 5 )2 = 0.237656 kg-m 2/s
Position 1 Position 2
Position J. <y, = 35 rad/s, (v ^ =0
[( //0 ) J = I RG,, = (0.237656)(35) = 8.31796 kg-m 2/s
V, = mc gR = (3)(9.81)(0.325) = 9.56475 J
T\ = ^ W = y (-237656) ( 35)2 = 145.5643 J
Position 2. >2 = ?. (vc ), = ?
Kinematics.
[(*U = **2
[ ( / H i = Ir 0 > 2 + OTC - 4 ( Vc ) x ] 2 = ( 7 * + m c R 2 ) >2 =
I 2 = I R + mc R 2 = 0.237656 + (3)(0.325)2 = 0.554531 kg-m 2

T2 = \ i Rg>I + l mc [ ( vc ) x] l + ^ mc \ ( vc )
1 T 2 1 r\2 2 1 2 1r 2 1
= I r oj2 + co2 + ~ mc ( Vc ) v = I 7co7 -\ mr (Vc ) v
2 2 2 c
(a) Conservation o f angular momentum. ( H o )y \ r [(H o )y
8.31796 - 0.554531,
oh = 15 rad/s A
(b) Conservation o f energy. 7] + Vx = T2 + V2:
1...... ........... \ /, _\2 1 r . i2

145.564 + 9.56475 = (0.55453 l) ( l 5)2 + - ( 3 ) ^ ) ^ + 0
{vc ) y = 7.86 m /s -4
PROBLEM 17.79
Collar C has a weight o f 18 lb and can slide freely on rod AB, which in
turn can rotate freely in a horizontal plane. The assembly is rotating with
an angular velocity <u o f 1.5 rad/s when a spring located between A and
C is released, projecting the collar along the rod with an initial relative
speed o f vr = 4.5 ft/s. Knowing that the combined mass moment o f
inertia about B o f the rod and spring is 0.84 lb - f t s , determine (a) the
minimum distance between the collar and point B in the ensuing motion,
(b) the corresponding angular velocity o f the assembly.
SOLUTION
Kinematics. v0 = rto
18 i
Moments o f inertia. / = / H + m, r 2 = 0.84 + r~
32.2
= 0.84 + 0.5590 l r 2
Conservation o f angular momentum. (^ )i
I b<i + nh { vo )tr\ = /* * > :+ <-(ty)2r2
+ mc rl^(02 or /,<, = I 2(o2
<0, = ^ L ( i)
12
Potential energy. fj = 0 V2 = 0
^ 1 - 1 i 1 , i
Kinetic energy. T = mc v~ + mc vjj +
1 > 1 , >
= mr v~ H 1 (0~
2 2
Position I. Just after spring is released. r = rx, vr = ( vr )(
(0 = (Ox / = /,
Position 2. Distance r is minimum. r = r2, ( vr ) = ( vr ) = 0
(O = o>2 I = l2
Conservation o f energy. 7j + Vx = T2 + V2:

30
Data. = 2.50 ft, &), = 1 .5 rad/s, (v,.^ = 4.5 ft/s
12
/, = 0.84 + (0.5590l)(2.50)2 = 4.3338 lb s2 -ft
Equation (2): 5 ^ 1 ( 4 - 5 )2 = (4.3338) J - - 1 (1.5)2 = 2.1609

\ l2 ) /,
= 43338 = 2 0Q56 = Q g4 + 0 55901 2

2 2.1609
() r, - 1.4440 ft
r, = 17.33 in. A
4.3338 , .
(b) Equation (1): co-, = ----------(1.5)
' 2.0056v
cy, = 3.24 rad/s A

PROBLEM 17.80
In Prob. 17.79, determine the required magnitude o f the initial relative
speed vr if during the ensuing motion the minimum distance between
collar C and point B is to be 15 in.
SOLUTION
Kinematics. v = rco
1O
Moments o f inertia. I = lo + mc r 2 = 0.84 + r2
H ( 32.2
= 0.84 + 0.5590 l r 2
Conservation o f angular momentum. (^ b )i = (^ K :
V i + = ^ + mc { vo )2r2
(/ + m( r\2) (0l = (/ + n >Cr2 ) (0 2 or 1\(\ ~ h M2
'I,C
p Oi,
O)-, = - L-L ( 1)
- i2
Potential energy. V, = 0 V2 = 0
~ 1 > 1 1 1 .1
Kinetic energy. T = mcv;+ - m c v~0 + -Jo)-
1 -> 1 .
= mr v; + I(om
2 1 2
Position /.J u s t after spring is released. ' = 'i> v'r = ( v r )l
(0 = 0), 1 = 1,
Position 2. Distance r is minimum. r = r2, ( vr ) = (vr ) = 0
(0 = 0)2 7 = 12
Conservation o f energy. 7j + V, = T2 + V2:
^ mc i vr t + \ W + 0 = 0 + ^ 2>2
V
I\CQ\
m, - 7,<f = 7. A _ , ( 2)
< 72 V72 /
Data. r, = = 2.50 ft, cox = 1.5 rad/s, r2 = = 1.25 ft

12 1 2 12
I\ = 0.84 + (0.55901)(2.50)2 = 4.3338 lb-s2 -ft
I 2 = 0.84 + (0.55901)(1.25)2 = 1.71345 lb-s2 -ft
r 18 N 4.3338
Equation (2): (vr )2 = (4.3338) (1.5)2
32.2 1.71345
(vr ) ' = 26.676 ft2/s2 >

r \ = 5.16 ft/s M
PROBLEM 17.81
A 1.8-kg collar A and a 0.7-kg collar B can slide without friction on a
frame, consisting o f the horizontal rod OE and the vertical rod CD, which
is free to rotate about its vertical axis o f symmetry. The two collars are
connected by a cord running over a pulley that is attached to the frame at
O, At the instant shown, the velocity v^ o f collar A has a magnitude o f
2.1 m/s and a stop prevents collar B from moving. The stop is suddenly
removed and collar A moves toward E. As it reaches a distance o f 0.12 m
from O, the magnitude o f its velocity is observed to be 2.5 m/s.
Determine at that instant the magnitude o f the angular velocity o f the
frame and the moment o f inertia o f the frame and pulley system
about CD.
S O LU T IO N
Components o f velocity o f collar A. vA = (v^)* + (v .,)^ ( 1)
Constraint o f rod OE. [va )0 = rA< (2)
Constraint o f cable AB. ACi = 4>, (v A)r = vB (3)
Position /. (Ar.,) = 0.1 m, [{vA)r\ = 0, (v ,), = 2.1 m/s
From Equation (1), ( 2. 1)2 = 0 + [ ( v , ) , ] [ ( v 4)0\ = 2.1 m/s
From Equation (2), (2.1) = O.hy, co, = 21 rad/s
From Equation (3), vB = 0
Potential energy. Take position 1 as datum. Fj = 0 (4)
Angular momentum. (H a \ = Ia>, + mA[(v A)r \ { r A\ \
(H 0 \ = / ( 2 l ) + (l.8 )(2 .l) (0 .l) {H 0 \ = 217 + 0.378 (5)
Kinetic energy. T
T, / ),- j+. -^m AvA
= -' la . -^m BvB\
2 j+ 2
7j = ^ / ( 2 1 )2 + i ( l . 8 ) ( 2 . l )2 7; = 220.5/ + 3.969 (6)
Position 2. ( r , ) , = 0.12m , (v ^), = 2.5 m/s co = co2
From Equation (2), [ ( vA ] 2 = - 12ft>2
From Equation (1), [(v )r J = K ) 2 - [ ( v , ) J ; = ( 2 .5 ) 2 - ( 0 . 1 2 ) V
= 6.25 - 0 .0 1 44<y;
From Equation (3), v | = 6.25 - 0.0144e>22
Change in radial position. & A = fo )2 - W l = 0 -0 2 m
From Equation (3), Ay B = 0.02 m
Potential energy. V2 = mBg (A y B) = (0.7)(9.81)(0.02)
V2 = 0.13734 J
Angular momentum. (.H 0 )2 = Ia )2 + mA [(vA)e \ 2 (rA)2 .
(.H 0 ) = Ico2 + (l.8)(0.12ru2)(0.12) (H a ) = ( / + 0.02592)r2
Kinetic energy. T2 = \ I( l +
T2 - - l ( o \ + -(1 .8 )( 2 .5 )2 + -( 0 .7 )(6 .2 5 - 0.0144 f)

2 " 2V y 2
T2 = (0 .5 / - 0.00504)2 + 7.8125
Conservation o f angular momentum. (H 0 ) = (H 0 ) :
211 + 0.378 = ( I + 0.02592) <y2
211 + 0.378 N
Solving for a>2,
I + 0.02592 D
Conservation o f energy. Tx + Vx = T2 + F2:
220.5/ + 3.969 = (0 .5 / - 0.00504)22 + 7.8125 + 0.13734
N
220.5/ - (0 .5 / - 0 .0 0 5 0 4 )-^- - 3.98084 = 0
220.5ID 2 - 0.5IN 2 + 0.00504N 2 - 3.98084D 2 = 0
220.5/ ( / 2 + 0.05184/ + 0.0006718464) - 0 .5 /(4 4 1 /2 + 15.876/ + 0.142884)
+-0.00504(441/2
( + 15.876/ + 0.142884) - (3 .9 8 0 8 4 )(/2 + 0.05184/ + 0.0006718464) = 0
0/ 3 + 1.7345212 - 0.04965167/ - 0.001954378 = 0
Solving the quadratic equation for I,
= 0.04965167 0.126590 =
and -0.022179
3.46904
Reject the negative root.
(21)(0.050804) + 0.378 ,, .
From Equation (10), co2 - - ------------------------- o = 18.83 rad/s ^
M 2 0.050804 + 0.02592
I = 0.0508 k g-m 2 ^
PROBLEM 17.82
In Prob. 17.72, determine the velocity o f each ball relative to the tube as
it leaves the tube.
Problem 17.72: Two 0.36-kg balls are put successively into the center C
o f the slender 1.8-kg tube AB. Knowing that when the first ball is put into
the tube the initial angular velocity o f the tube is 8 rad/s and neglecting
the effect o f friction, determine the angular velocity o f the tube just after
(a) the first ball has left the tube, (ft) the second ball has left the tube.
SOLUTION
Iu),
i . m i
= -a) | = C<y, ( 1)
I + mr~
Conservation o f energy. 7i = T+.
1 1 1T 1 1 i 1 >
I (07 - 10)7 + mv:, + mv:
2 i 2 * 2 2
1It *\ 1 > 1/ t I of i
= - I / + mr jco2 + - m v r = - I / + mr I -=----- h mv:
2V ' 2 2V 1 / + mr 2 r
1 / T , 1 ,
=----------- (07 h mv;
2 1 + mr ' 2
7 2/
> Jco, I
v; = 1- = -
m / + m r I + mr
vr = 7 ( / i ) = y fc (r(o [) (2)
V / + mr~
Data: I = ^ r n XuWC- = ~ (l- 8 ) ( 0 .7 2 0 ) 2 = 0.07776 kg-m 2
(one ball)w; = 0.36 kg r = 0.360 m
J + m r2 = 0.07776 + (0.36)(0.360)2 = 0.124416 k g m 2
C = M H 2 L = 0.625
0.124416
First ball moves through the tube. a>\ = 8 rad/s
By Equation (1), <o2 = (0.625)(8) a \ = 5.00 rad/s
By Equation (2), vr = V 0.625(0.360)(8) vr = 2.28 m/s -4
Second ball moves through the tube. cox = 5.00 rad/s
By Equation (2), v,. = V0.625 (0.360)(5.00)
vr - 1.423 m/s 4
PROBLEM 17.83
In Prob. 17.73, determine the velocity o f the ball relative to the tube as it
leaves the tube.
Problem 17.72: Two 0.36-kg balls are put successively into the center C
o f the slender 1,8-kg tube AB. Knowing that when the first ball is put into
the tube the initial angular velocity o f the tube is 8 rad/s and neglecting
the effect o f friction, determine the angular velocity o f the tube just after
(a) the first ball has left the tube, (b) the second ball has left the tube.
Problem 17.73: Determine the final angular velocity o f the tube o f
Prob. 17.72, assuming that a single ball o f mass 0.72 kg is introduced into
the tube.
SOLUTION
lu>, jT " '' ltO t

l_ ~ m ; I
3S-
c ->1
/<u, = I (02 + mrv0 = I co2 + mr{r(02)
T
a)-, = -a)\ = Cry, ( 1)
I + mr
Conservation o f energy. T\ = T2:
1-7-1 1 1 1 1 1 1
1 (0? - 1 (0? + mv:, + mv:
2 1 2 " 2 2
\-
1 1 (0,
= + m r2)(o; + m v ; = ^ ( / + m r2)l -= + mv~
+ m r 2 r
1 I T i 1 i
-J + - >v;
2 1 + mr~ 2
1
T
J1(0
2f
to 1t
v; = 1 1 - = - t ( ^ if
m I + mr~ J I + mr
vr = J 1 , (ro i,) = J c (rw ,) (2)

V1 + mr
Data: / = ^ ,ube^2 = (l-8)(0.720)2 = 0.07776 kg-m 2
m = 0.72 kg r = 0.360 m
I + m r2 = 0.07776 + (0.72)(0.360)2 = 0.171072 k g-m 2
C = = 0.454545
0.171072
From Equation (2), vr = V 0.454545(0.360)(8) vr = 1.942 m/s 4

PROBLEM 17.84
Rod AB has a weight o f 6 lb and is attached to a 10-lb cart C. Knowing
that the system is released from rest in the position shown and neglecting
friction, determine (a) the velocity o f point B as rod AB passes through a
vertical position, (b) the corresponding velocity o f the cart C.
Conservation o f energy. T \+ V x = T2 + V2.
0 + 7.5 = 0.63492v - 15.0 vc = 5.9529 ft/s
16
From Equation (2), L ab0* (5.9529) = 31.749 ft/s
v3/
(a) By kinematics, vB = L abcd - vc = 31.749 - 5.9529
v B = 25.8 ft/s * 4
(b) Velocity o f the cart. v c = 5.95 ft/s 4

PROBLEM 17.85
IS * .
-A /V Y V '"
A 3-kg uniform cylinder A can roll without sliding on a 5-kg cart C and is
attached to a spring o f constant k = 100 N/m as shown. The system is
released from rest when the spring is stretched 20 mm. Neglecting wheel
JL
friction, determine the velocity o f the cart and the angular velocity o f the
cylinder when the spring first reaches its undeformed state.
SOLUTION
Since all external forces acting on the system are vertical, the horizontal
component o f linear momentum is conserved.
A = L2'-
0 = mAvA ~ mc vc
mr 5
VA = VC = ~VC
mA 3
Kinematics. v A = ra> - vr
CO
VA + VC _ 3 VC + VC = 17.7778vr
( 1)
r 0.150
Moment o f inertia.
I a = \ Ar 2 = ^ (3 )(0 .1 5 0 )2 = 33.75 x 10~3 kg- m
Potential energy. Position 1.
Vx = i ke2 = 1 (1 0 0 )(0 .0 2 0 )2 = 20 x 103 J
Position 2. V2 = 0
Kinetic energy. Position 1. 7] = 0
Position 2. Ti = j c vc + ^ m Av 2 + 1 / Aa>2:
r5
?2 = y ( 5 K + 1 (3 ) | v c + 1(33.75 x ! 0 - 3)(17.7778vc )2
= i 2v;
Conservation o f energy. 7J + Vx = T2 + V2'.
0 + 20 x 103 = \ l v 2c + 0 vc 40.825 x 10"3 m/s
v c = 40.8 mm/s
From Equation (1), co - (l7.7778)(40.825 x 103j
co = 0.726 rad/s j A
PROBLEM 17.86
A 65-lb uniform circular plate o f radius r is supported by a ball-and-
socket joint at point A and is at rest in the vertical xy plane when a bullet
weighing 0.03 lb is fired with the velocity v0 = - (700 ft/s)k and hits the
plate at point C. Knowing that r = 16 in. and h = 28 in., determine (o) the
angular velocity o f the plate immediately after the bullet becomes
embedded, (b) the impulsive reaction at point A, assuming that the bullet
becomes embedded in 1.1 ms.
SOLUTION
Moment o f inertia. Y l i 'l = 0.89717 lb s2 -ft

4 4 U 2 .2 A 1 2 J
16 . 28
Kinematics. vG = r(o = (o, v(- = mo = (o
12 12
Kinetics.
Sa m
T Iu >
Syst M om enta, Syst Ext Im p, = Syst M om enta,
.! moments about A: m()v0h + 0 = mv( h + mvGr + I co
28 0.03 V 28 ^1 ' 65 'j( 1 6 'j

-3 '(700) +0 = f 281 (0 f 6 l + 0.89717co
.32.2. 1 12 32.2 l
1 12 J 3 2 . 2 J V12 J 112 J
+ ,
(</) 1.52174 = 4.4909 (0 = 0.33885 to = (0.339 rad/s)i A
(b ) z components: ~mova ~ = -ntva - mtlvc
\A d t = - / m v 0 + mv0- + m()vc
( 0.03 'I 65 'l / 16 n 0.03 28'

.32.2
(7 0 0 )+
32.2 v l 2 y
(0.33885) +
32.2 12 ,(0.33885)
= 0.26058 lb s
A _i A cit _ 0-26058 _= 237

-3
A = -( 2 3 7 lb)k A
At 1.1x10
PROBLEM 17.87
1 In Prob. 17.86, determine (a) the required distance h if the impulsive
reaction at point A is to be zero, (6) the corresponding velocity o f the
mass center G o f the plate immediately after the bullet becomes
"* embedded at C.
I u
1 A 65-lb uniform circular plate o f radius r is supported by a ball-and-
I, \ X1 J
socket joint at point A and is at rest in the vertical xy plane when a bullet
I
/ weighing 0.03 lb is fired with the velocity v0 = -( 7 0 0 f t/s ) k and hits
the plate at point C. Knowing that r = 16 in. and h = 28 in., determine (a)
the angular velocity o f the plate immediately after the bullet becomes
embedded, (b) the impulsive reaction at point A, assuming that the bullet
becomes embedded in 1.1 ms.
SOLUTION
1 , I f 65_
65 W
Moment o f inertia. = m r' = ---- I = 0.89717 lb s2-ft
4 4v32. 2 12 .
16
Kinematics. vro = rco =
12 a) vr
c = hco
Kinetics.
1 Ico
+ rr)A f,
Syst M om enta, Syst Ext Im p, _>2 = Syst M om enta,
moments about C: 0 + 0 = Ico - (/j - r)m vG
65 V 16
0 = 0.89717<y- h - -(W
12 .3 2 .2 A 1 2
Dividing by (o, 0.89717 - 2 . 6 9 1 5 l ( / j - r ) = 0
() h - r = 0.33333 ft h = 1.66667 ft h = 20.0 in. <
- z components: m0v0 = m()vr + /wvG-
^ 1 (7 0 0 ) = { J3333 ) + {- ^ - Y I V
32.2 ) K U 2 .2 U 2 .2 J U 2
o) = 0.242196 rad/s
(b) Vr: = (0.242196) vc = -(0 .3 2 3 m /s)k <

PROBLEM 17.88
j A 40-g bullet is fired with a horizontal velocity o f 600 m/s into the lower
end o f a slender 7-kg bar o f length L = 600 mm. Knowing that
h = 240 mm and that the bar is initially at rest, determine (a) the angular
1 velocity o f the bar immediately after the bullet becomes embedded, (b)
the impulsive reaction at C, assuming that the bullet becomes embedded
in 0.001 s.
SOLUTION
Moment o f inertia. / = - ^ m L 2 = -^ (7 )(0 .6 0 0 )2 = 0 . 2 l0 k g m 2
Kinematics. vB = (L - h)co = (0.600 - 0.240)<y = 0.360ro
~ h \c o = (0.300 - 0.240)<y = 0.060<y
Kinetics.
+ Vn/t
'J O
lo o
Syst M om enta, Syst Ext Im p l->2 ~ Syst M om enta,
( moments about C: m.\)vo i L ~ h) = m0vB( L - h ) + mvc < L . h + 1(0

2
(0.040) (600) (0.360) = (0.040)(0.360<y)(0.360) + (7)(0.060<y)(0.060) + 0.210<y
(a) 8.64 = 0.240384<y or co = 35.942 co = 35.9 rad/s J 4
v = (0.360)(35.942) = 12.9393 m/s
vG. = (0.060)(35.942) = 2.15655 m/s
horizontal components: - 'ovo + C7(A/) = - m QvB - mvG\
C (A t) = mn(v0 - vB) - mv0
= (0.040)(600 - 12.9393) - (7)(2.15655) = 8.3866 N-s
(b) c = = H ! = 8387N C = 8.39 kN

At 0.001
PROBLEM 17.89
* In Prob. 17.88, determine (a) the required distance h if the impulsive
[' I reaction at C is to be zero, (b ) the corresponding angular velocity o f the
bar immediately after the bullet becomes embedded.
, f e -1 A 40-g bullet is fired with a horizontal velocity o f 600 m/s into the lower
end o f a slender 7-kg bar o f length L = 600 mm. Knowing that
h = 240 mm and that the bar is initially at rest, determine (a) the angular
velocity o f the bar immediately after the bullet becomes embedded,
(b ) the impulsive reaction at C, assuming that the bullet becomes
embedded in 0.001 s.
SOLUTION
Moment o f inertia. I = ^ m l} = ^ ( 7 ) ( 0 .6 0 0 ) 2 = 0.210 k g -n r
Kinematics. vH = (L - h)(o = (0.600 - h)a)
V,: = Y - /;j<y = (0.300 - h)(o
Kinetics.
+
Ito
I
e,
Syst M om enta, Syst Ext Im p,. Syst M om enta2
(L
: moments about B: 0 + 0 = I a) - mv.
2
0 + 0 = 0.210co - (7)(0.300 - /i)<y(0.300)
Divide by co. 0.210 = 7(0.300 - h)(0.300)

(a) 0.300 - h = 0.100 h = 0.200 m h = 200 mm A
vB = 0.400 vB - 0.100
J t - horizontal components: m0v0 + 0 = mvG + m0vB
(0.040)(600) - (7)(0.100 ) + (0.040)(0.400 )
= 33.5 = 33.5 rad/s ^ 4

w/> PROBLEM 17.90
A 15-g magnet D is released from rest in the position shown, falls a
120 m ill
distance o f 320 mm, and becomes attached at A to the 200-g steel bar AB.
Assuming that the impact is perfectly plastic, determine the angular
velocity o f the bar and the velocity o f the magnet immediately after the
impact.
SOLUTION
Free falling. Conservation o f energy: 7] + Fj = T2 + V2.
Fj = mngh = (0.015)(9.81)(0.320) = 47.088 x 10' 3 J 7] = 0
V2 = 0 T2 = ^ m Dv20 = -j (0.015)vq = 0.0075vJ
47.088 x 10' 3 + 0 = 0 + 0.0075vj v0 = 2.5057 m/s
Moment o f inertia. 7 = mL2 = -^ (0 .2 0 0 )(0 .6 0 0 )2 = 6.00 x 10~3 kg-m 2
Kinematics. v A, =
2 co = 0.300
Kinetics.
i "W o
i Sctf I CO
Syst M om enta, + S yst Ext I m p ^ j Syst M om enta2
L L T
moments about C: mDvo ~ = mDvA ~ + 1 to
(0.015)(2.5057)(0.300) = (0.015)(0.300 )(0.300) + 6.00 x 10'3
co = 1.53410 rad/s = 1.534 rad/s ^ A
vD = vA = (0.300)(l.53410)
\ D = 0.460 m/s | M
PROBLEM 17.91
The uniform slender rod AB o f weight 5 lb and length 30 in. forms an
angle f i = 30 with the vertical as it strikes the smooth com er shown with
a vertical velocity v, o f magnitude 8 ft/s and no angular velocity.
Assuming that the impact is perfectly plastic, determine the angular
velocity o f the rod immediately after the impact.
PROBLEM 17.92
The uniform slender rod AB o f weight 5 lb and length 30 in. forms an
/r
angle 0 with the vertical as it strikes the smooth com er shown with a
,/ vertical velocity v, o f magnitude 8 ft/s and no angular velocity. Knowing
/X that the magnitude o f the velocity o f the mass center G o f the rod
V jJ r I immediately after the impact is 2 ft/s and assuming that the impact is
. /J *' perfectly plastic, determine (a) the angle 0 , (b) the impulse exerted on
/ /.\ the rod at point A.
SOLUTION
,7
Moment o f inertia. ] = 80.875 x 1O3 lb s2-ft

12 121 32.2 A 12 )
Kinematics. (Rotation about A)
v.: = 0) B M -
" L ' ~
Kinetics.
Syst M om enta Syst M om enta2
J moments about A : mv, sin 0 + 0 = I o> + mvn

' 2 2
5
y (8) ( i f ) s M + 0 = (80.875 x ,0->)(,.6) ( ^ j ) ( 2 ) ( i f
32
(a) sin 0 = 0.33333 cos 0 = 0.94281
0 = 19.47 A
horizontal components: 0 + \A xdt = mvG cos f3
f 5 '
\A xdt = (2)(0.94281) = 0.29280 lb-s
\3 2 .2 y
+ 1vertical components: -m v l + \A ydt = -m v G sin j3
\A ydt = m {vx - vGsinyS) = ~ (2)(0.33333)] = 1.1387 lb-s f
b) Impulse aXA. jA d t = 1.176 lb-s 75.6 <

PROBLEM 17.93
A uniform slender rod AB o f mass m is at rest on a frictionless horizontal
surface when hook C engages a small pin at A. Knowing that the hook is
pulled upward with a constant velocity v0, determine the impulse
exerted on the rod (a) at A, (b) at B. Assume that the velocity o f the hook
is unchanged and that the impact is perfectly plastic.
SOLUTION
Moment o f inertia. / = m l}
12
Kinematics. (Rotation about B). co =
L 1
vc = = 2 v
Kinetics.
rm i
I* >
3 +
Syst Momenta, + Syst Ext I m p ,^ = Syst M omenta2
moments about B: 0 + L jA d t = mvG - j + / (o
mvc mLco _ mv0 mv0 _ mv0

(a) \A d t = + = - +
2 12 4 12 3
j) moments about A: 0 + L jB dt = mvG- j - / co
(b) [Bdt = mV<3- mL( = ^ ^ = ^ 2-

J 2 12 4 12 6
I. /.
PROBLEM 17.94
2 o
A uniform slender rod AB o f mass m and length L has a vertical velocity
o f magnitude v, and no angular velocity (<y, = 0) when it strikes a rigid
h - i n frictionless support at point C. Knowing that h = LI4 and assuming
perfectly plastic impact, determine (a ) the angular velocity o f the rod and
" p i the velocity o f its mass center immediately after the impact, (b) the
impulse exerted on the rod at point C.
SOLUTION
Moment o f inertia. I = mL~

12
Kinematics. (Rotation about Q v,; = - h\co = io

2 ) 4
Kinetics.
Iu i
C Z> ~ C ^-
H i rmJ,
ISCetf
Syst Momenta, Syst Ext Imp, Syst M omenta2
L L
J) moments about C: mv, + 0A = mvG I- 7I to
4 4
= m (L
co 1 - + 1 ml'co = ( ml}(o - ml}co
14 Ju , 12 I 48
12v,
(a) (0 = s'
7L
' V 3
V/: = v6' = T VI *
k 4, I 7 J
| vertical components: -wv, + fC dt = -m v G
3 >
(A) fC d/ = /m(v, - vG) = w| v, - v,
fC dt = - wv, f <
PROBLEM 17.95
/.
o A uniform slender rod AB o f mass m and length L strikes a rigid
frictionless support at point C with an angular velocity o f magnitude
'1 r; (o| when the velocity o f its mass center G is zero (v, = 0 ). Knowing that
the angular velocity o f the rod immediately after the impact is o>,/2
counterclockwise and assuming perfectly elastic impact, determine
(a) the ratio h/L, (b) the velocity o f the mass center o f the
rod immediately after the impact, (c) the impulse exerted on the rod at
point C.
SOLUTION
Moment o f inertia. / = mLr

12
Kinematics before impact. Let b = - h.
WI a r x =
(vc )( = v, + bco = 0 + bo)| = bo)\ |
Rebound at C. e = 1
(vc ) 2 = (vc)| ( Vc ); = t
Kinematics after impact.
(a rc \ j a>t
= =
' 1 N
v2 = (vr ), + ba>2 = bo}\ + b CO, = bco.
1 J
Kinetics.
-> 4- Cl c
ScM I L b *1
Syst Momenta, + Syst Ext Imp,_>2 - Syst M omenta2
moments about C: / co, + 0 = / ct)2 + mv2b
1 1 1 + m f ory.
3 , ^
; + 0 = ml? f ry. (*) b =
12 12 U 'J 12 'J
L , L L
() h = ----- b = -
2 2 6
L 3
f 3Y 1 ^
(b) v2 = - I t 1
\2J\o J
v2 = L |4
+ 1 vertical components: 0 + jCdt = mv2
(c) fCdt = mf
1 a>xL ^
y
jCdt = ^mco^L | 4
PROBLEM 17.96
A uniform slender rod AB is at rest on a frictionless horizontal table when
end A o f the rod is struck by a hammer which delivers an impulse that is
perpendicular to the rod. In the subsequent motion, determine the
distance b through which the rod will move each time it completes a full
/ revolution.
wr
v > -.-
SOLUTION
Moment o f inertia. I = m l}
12
Kinetics.
4- -> YnAX
Syst Momenta, + Syst Ext Imp, _,2 Syst M om enta2
_L
^ moments about A: 0 + 0 + Ico + mv
2
_ 2 1 co 2 7^ m l} co 1
v = ------- = ---------- = c o l
mL mL
Motion after impact.
9 2n
9 = cot t = =
co co
b - vt =
.6 J co
b =-L <
3
PROBLEM 17.97
A uniform sphere o f radius r rolls down the incline shown without
slipping. It hits a horizontal surface and, after slipping for a while, it
starts rolling again. Assuming that the sphere does not bounce as it hits
the horizontal surface, determine its angular velocity and the velocity o f
its mass center after it has resumed rolling.
/ + m r2 cos B i m r2 + m r2 cos /?
CO 2 = = ------------ 2-------------- = 9-------- 2--------------2-------
I + mr -jm r + mr
CD- = (2 + 5cos/?)cy, A
_ 2 + 5 cos B
v2 = = -------- rca.
v2 = y (2 + 5COS/0)V] -- ^
PROBLEM 17.98
The slender rod AB o f length L forms an angle P with the vertical axis as
it strikes the frictionless surface shown with a vertical velocity v, and no
angular velocity. Assuming that the impact is perfectly elastic, derive an
expression for the angular velocity o f the rod immediately after
the impact.
SOLUTION
Moment o f inertia. I = ml?

12
Perfectly elastic impact.

6= 1 [(VA ] , = H j V4v], = ^ t
= K ) i i + (v<()y j = (v^)jti + vlj
Kinetics.
m /l/y
<,A A
Syst Momenta| Syst Ext Imp, _^2 = Syst M om enta2
- U horizontal components: 0 + 0 = mvr mv, = 0
Kinematics. vC = ^ + y GIA [vy | ] = [v, | ] + [ ( v ,) , ] +
Velocity components j : = vi - - ( o s i n p
j) moments about A : mv, sin P + 0 = -m v.,sin P + I (o

2 >2
(L NL n 1
mv. sin P = m rysin P - v, sin P + mL,2 co
12 2 1 2 12
J J \
mL' + mLr sin" P co = mv.Lsin P
U2 4 H) 1
12sin/? v, .
co = ---------- ^ ----- L A
1 + 3sin P L
PROBLEM 17.99
Solve Prob. 17.98, assuming that the impact between rod AB and the
frictionless surface is perfectly plastic.
in
\! /
-
SOLUTION
Moment o f inertia. I = mL2

12
Perfectly plastic impact.

' = 0 [ (vA l * = 0
v ,< = ( ^ ) , i + ( ^ ) , j = ( v , ) , i
Kinetics.
iA h
Syst M om enta, Syst Ext I m p , = Syst M om enta2
horizontal components: 0 + 0 = mv, mv, = 0
Kinematics. VG = VA + VGM [ yy \ ] = [ ( VA ] + [f< y ^ P
Velocity components | : vv = -y rw s in P
J) moments about A: mv, sin P + 0 = -m v.,sin P + I co

12 } 2
L (L \L 1 >
mv, sin/? = m rwsin/7 sin /? + mL'co
12
1 mL-2 +
, 1m , l2 sin
- 2 P \o ) - m
1 v.LsinP
12 4 j 2 1
6 sin/?
co =
1 + 3sin2 /?
PROBLEM 17.100
A uniformly loaded square crate is falling freely with a velocity v0 when
cable AB suddenly becomes taut. Assuming that the impact is perfectly
plastic, determine the angular velocity o f the crate and the velocity o f its
mass center immediately after the cable becomes taut.
21 co co !
aco
ma ma
72 72
^ 45 linear components: 2 mvn
o + 0 = mv,
a
+ 2 mbco
72 f7 2 1
mvn = m\ aco + m a co = maco
2 \3 . 2 2 6
= 372^
(0 = 0.849 *) A
5 a
v = -a c o ^ 45 + [Z*y f ]
3
bco | + [6o> i ]
3
4
Vn
v = 0.825v ^ 76.0 <

PROBLEM 17.101
<
A uniform slender rod AB o f mass m and length L is falling freely with a
velocity v 0 when end B strikes a smooth inclined surface as shown.
V, Assuming that the impact is perfectly elastic, determine the angular
velocity o f the rod and the velocity o f its mass center immediately after
the impact.
^ moments about B:
72
mVn h0 = - -mvn ' * L + mv, ' & L + mLco + 1(0
,v 4 , , 4 , 2
1 72 72 '
= mVnL + m vn Leo + m l} co + m l} co
2 0 4 ,v 4 , 4 12
= m l} co
24
12
co CO
5 L
_ 72 _72 12 72
Vf ~ 2 V 4 5 V _ io
72 _ !l^ o _ I 2 '3 | '

v - Vn ^ 45 + v0 ^ 45 + J v 1 _
10 2 5 Z, ? V
v = 0.72lv0 ^ 56.3 -A
PROBLEM 17.102
A.
A slender 10-lb rod is released from rest in the position shown. It is
observed that after the rod strikes the vertical surface it rebounds to a
12h> \ .
horizontal position, (a) Determine the coefficient o f restitution between
knob K and the surface. (b) Show that the same rebound can be expected
11 for any position o f knob K. (Neglect the mass o f knob K.)
Position 4. V4 = 0 T4 = 0
Conservation o f energy. T3 + V3 = T4 + V4
e2WL - - W L = 0 + 0
(a)
e = 0 .8 1 6 ^
(b) Note that e is independent o f the length and weight o f the rod and o f
the position o f the knob.
PROBLEM 17.103
A uniform slender rod AB o f mass m and length L is released from rest in
the position shown. Knowing that the impact between knob B and the
horizontal surface is perfectly elastic, determine (a) the angular velocity
o f the rod immediately after the impact, (b) the impulses exerted on the
rod at points A and B. (Neglect the masses o f the knobs at points A and B
and the friction between the knobs and the horizontal surface.)
SOLUTION
12
End B falls to surface.
Position 1. At rest and inclined at angle 0 as shown.
L .
L, = 0 , V, = m g sin 0 , T2 = 0
Position 2. Just before impact at B.

Since there are no horizontal forces acting on the rod, the horizontal component o f linear momentum is
conserved: m (vx)2 = 0
*2 = 0 h = \ m ( v x f 2 + \ m ( v y f 2 + j l co:
\
= 0 + m o>2 + m l} co-,2 = mL
1 r2co-,2
2 V z 2 12 2 6 2
Conservation o f energy. Tl + VX = T 2 + V2:
0 + ^-m g isin 0 = ^ m l}co\ + 0 co2 = ^
v2 = = \ ^ 3SL s in 0 I
( v b ) 2 - Lco 2 = ^3gLsm0 |
Perfectly elastic impact. = 1 K )3 = - e ( y s )2
( v *)3 = JlgLsinP (
Kinematics. Assume that end A remains in contact with the horizontal surface. (VA
(Vb \
ifl)
3g sin p
CO, =
(b) Kinetics.
lmA
r &

SkM
L
SB#
8
Syst M om enta2 + Syst Ext Im p2_>3 Syst M om enta3
( moments about B: ~^mv2 + I + L jA d t = ~ ~ m v 3 - /<u3
Jiidr = | i ( v 2 + v3) - ^ ( o 2 + <u3)
3g sin P
= m [ l^ 3 g L sin P j -
fA d t = m^j3gL sin /? |
^ moments about ^4: ~ ~ mv2 ~ I ! + L jB d t = y wjv3 + /<y3
Jfldf = ^ m (v 2 + v3) + ~ ( 2 + j)
= m (2 j3 & s i^ ) +
fB d t = m ^3gL sin f t j A
PROBLEM 17.104
The uniform slender rod AB is in equilibrium in the position shown when
end A is given a slight nudge, causing the rod to rotate counterclockwise
and hit the horizontal surface. Knowing that the coefficient o f restitution
between the knob at A and the horizontal surface is 0.50, determine the
maximum angle o f rebound 6 o f the rod.
SOLUTION
/:
Moment o f inertia. I = ml?
12

Position 1. At rest, nearly vertical.
I 7j = 0
V\ = mghj = ~ m g L
, i
/ /f *
Position 2. Horizontal. Just before impact.
1 - 2 -tI Ico
mv7 t
2 2
T r f ' 2
& 1 (L >
m co7 +
r2 2
ml? co22 - mL
1
cOj
2 V^2 12 2 6 2
V-, = 0
Conservation o f energy. t 1 + vx = t 2 + v2 -.
1 1
0 + mgL - mL co2
2 2
a>2 -
i
317 X
J
2 6 VL
Kinematics. (va )2 = L(03 = 7 3 gL
Impact at A. = -4 v a )2 = t
A )3 A \
Kinematics. co-, = M s = eA ~ g J
L \L S y
P osition 3. Horizontal. Just after impact.
1 _? 1 - 7
r 3 = - m v 3 + - / ft>3
= m
2 21,12
= e2mgL
2
V3 = 0
Position 4. Maximum rise. J4 = 0 V4 = mgL sin 6
Conservation o f energy. t i + V3 = T4 + V4 :
1 ? 1
e mgL + 0 = 0 + mgLsm.9
sin 9 = e2 = (0.50)2 = 0.250
9 = 14.48 4
PROBLEM 17.105
A 1.25-oz bullet is fired with a horizontal velocity o f 950 ft/s into the
18-lb wooden beam AB. The beam is suspended from a collar o f
negligible weight that can slide along a horizontal rod. Neglecting friction
4ft
I between the collar and the rod, determine the maximum angle o f rotation
i o f the beam during its subsequent motion.
SOLUTION
1.25
Mass o f bullet. m = = 2.4262 x I0_I lb-s'/ft
(16)(32.2)
18
Mass o f beam AB. m = = 0.55901 l b s 2/ft
32.2
m
Mass ratio. P = = 0.0043403 m = pm
m
Since P is so small, the mass o f the bullet will be neglected in comparison with that o f the beam in
determining the motion after the impact.
Moment o f inertia. / = m l}
12
Impact Kinetics.
J S A c tt
vr\/o. lu J .
@*r\nX0
e I
Syst Syst Syst

Momenta, Ext l m p ^ 2 Momenta?
J - linear components: ~Pmv0 + 0 = mv2 v2 = Pv0
) moments about B: 0 + 0 = I co mv-,

22
mv-,L \2m P vnL 6 Z?vn

co = _ = -------r a> - u
21 2mL
PROBLEM 17.106
For the beam o f Prob. 17.105, determine the velocity o f the 1.25-oz bullet
for which the maximum angle o f rotation o f the beam will be 90.
Problem 17.105: A 1.25-oz bullet is fired with a horizontal velocity o f
950 ft/s into the 18-lb wooden beam AB. The beam is suspended from a
collar o f negligible weight that can slide along a horizontal rod.
Neglecting friction between the collar and the rod, determine the
maximum angle o f rotation o f the beam during its subsequent motion.
SOLUTION
Mass o f bullet. m = , = 2.4262 * 1 0 lb s !/ft

(16)(32.2)
1o
Mass o f beam AB. m = ------- = 0.55901 l b s 2/ft
32.2
Mass ratio. P = = 0.0043403 m = pm

m
Since p is so small, the mass o f the bullet will be neglected in comparison with that o f the beam in
determining the motion after the impact.
12
Impact Kinetics.
9 cJ
Syst + Syst
Momenta Ext Imp,_>2 M om enta,
*+ linear components: ~Pm v0 + 0 = mv, v, = Pv0
j) moments about B: 0 + 0 = I co - mv-,

2
mv-,L M m P vtL 6 Pvn
co = ^ , co =
21 2m l} L
PROBLEM 17.107
A uniformly loaded square crate is released from rest with its com er D
i> directly above A; it rotates about A until its com er B strikes the floor, and
then rotates about B. The floor is sufficiently rough to prevent slipping
B and the impact at B is perfectly plastic. Denoting by a>0 the angular
velocity o f the crate immediately after B strikes the floor, determine
(a) the angular velocity o f the crate immediately before B strikes the
floor, (b) the fraction o f the kinetic energy o f the crate lost during the
impact, (c) the angle 6 through which the crate will rotate after B strikes
the floor.
SOLUTION
Let m be the mass o f the crate and c be the length o f a edge.
v
T 1* /I 2, 1\ 1' 1
Moment o f inertia I = m \c + c = m e'
12 ' ' *
C
I W w
f A m
c b
mrtC
*
A B
!> & ,#
Syst M om enta, Syst Exp Im p, >2 = Syst M om enta2
Kinematics: V0 = <0 =
rGIA v = rGIH< = -J's/2CO)
(f moments about B: I ct)o + 0 = Ico + rGIBmv
1
mc~o)n + 0 = mc~co + j'J l c \ m - r >/2c<y) = \ -mc~(o
(a) Solving for <y,
Kinetic Energy.
Before impact: _
r, = -1IT( 0Q + - m v 0 = I f -1m e AJ(002 + -1m ^f -1y /R2 c(o0
2 ^ 1 -2
1 t 1
= mc'cor
o
3
After impact:
_ 1 1 2 = 1 f me
I co2 + mv
1
1 2^ co2 + ml' i V t a x l
2 2 2 ^6 2 .2 J
1 2 2 1 2f l \2 1
2,.
me <a = me ru0 --- me 03o
3 3 U / 48
1 1 1
Ti - 7 2 3 48 = 1 15
(b) Fraction o f energy lost: 1
7] 3 16 16
Conservation o f energy during falling. T0 + V0 = TX + VX ( 1)

Conservation o f energy during rising. t 3 + v3 = t 2 + v2 (2)
Conditions: To = 0, T3 = 0 T2 = 7]
V0 = m g | -vVz2c
c V\ = *2 = g| *3 =
From Equation (1), T x = V t - V 3 = H j i - \ ) mgc
From Equation (2), T2 = V3 - V 2 = mglh, - - m g c
hj ~ l c = J _
- + (y/ 2 - l )
^V 2 - l 16 2 16' '
(c) From geometry, A, = i 7 2 c sin (<9 + 45)
is
Equating the two expressions for A3,
sin (45 + 0 ) =
450 + 0 = 46.503
e = 1 . 500 <
PROBLEM 17.108
A uniform slender rod AB o f length L = 600 mm is placed with its
center equidistant from two supports that are located at a distance
T b = 100 mm from each other. End B o f the rod is raised a distance
Hq = 80 mm and released; the rod then rocks on the supports as shown.
n Assuming that the impact at each support is perfectly plastic and that no
slipping occurs between the rod and the supports, determine (a) the
height hx reached by end A after the first impact, (b) the height h 2
reached by end B after the second impact.
Impact at D.
6 S>
cv . ^r -
m7r' ju )' I
Syst M om en ta' + Syst Ext Imp ' - Syst M omenta "
Kinematics. V = b o ' V = bco"

2 2
( moments about D: m V - - 1 6) + 0 = m v"- + I o f
-m w l + ml} a)' + 0 = m[b o f \ + m l}of

2 J2 12 U J2 12
L2 - 3b2
03 = Q}' = C20)' (3)
L 2 + 3b2
L2 - 3b2
where (4)
2 L2 + 3b2
Position 1 Maximum elevation o f end A.
Conservation o f energy. TX+ VX = T + V :
Result (o>'f = Cfy
;i| ( > t c 2> f c j c , ./jj

. C2/z,
^
-i -'l
Data: L = 600 mm = 0.600 m b = 100 mm = 0.100 m
(0.600)2 -( 3 )(0 .1 0 0 )2 _ Q.330

C, = - 0.84615
(0.600)2 + (3)(0.100)2 0.390
C22 = 0.71598
(o) ^ = 0.715981*0 = (0.71598)(80 m m ) = 57.278 mm
h = 57.3 mm A
(A) 1*2 - 0.715981*! = (0.71598)(57.278) = 41.010 mm
1*2 = 41.0 mm A
PROBLEM 17.109
The 9-kg rigid body BD consists o f two identical 60-mm-radius spheres
and the rod which connects them and has a centroidal radius o f gyration
o f 250 mm. The body is at rest on a horizontal frictionless surface when it
is struck by the 3-kg sphere A which has a radius o f 60 mm and is moving
as shown with a velocity v, o f magnitude 4 m/s. Assuming a perfectly
plastic impact, determine immediately after the impact (a) the angular
velocity o f body BD, (b) the velocity o f point G.
SOLUTION
Moment o f inertia. I = mABk
w Anr, SFJtf
( y z
v m/t/,,
Syst M om enta, Syst Ext I m p , ^ Syst M om enta2
Sphere A : + 1 components: 0 + 0 = mA(vA) K ), = 0
+ 1 linear components: 0+0 = + mVy = 0
y linear components: m fvi + 0 = mA(v A)x + mVx yx = ^ k [ V|
Let ( v , ) be named v . and note that = = .

V A,x A m 9 3
Then, vx = t ( v , - va )
+#) moments about B: 0 + 0 = I co - (6sin60)w vx
mb sin 60 _ b sin 6 0 / ,
< = = 3p ( vi " va )
m k2
Kinematics. v B = vc + v BIG = [vx ] + [bco ^ 30]
c \ \ , , . o 6sin2 6 0 / ,
( V ) x = " V^ ) + 6COS3Q 3k2 ( Vl " Va )
Air*
\ J
, , (3)(0.300):
( vi " vj ) = 0.69333(v, - v ,)
(4)(0.250)
Impact condition. (vs )x ~ v A = e(v, - 0)
0.69333 (v, - v A) - v A = ev,
1.69333v^ = (0.69333 - e)v.
For perfectly plastic impact, e = 0
1.69333^ - 0.69333v, vA = 0.40945v,
v, vA 0.59055v, = (0.59055)(4) = 2.3622 m/s
^ ( 0 3 0 0 ) ^
(a)
(3)(0.250)
co = 3.27 rad/s ) M
(b) v = j(2 .3 6 2 2 )
v = 0.787 m/s M
SOLUTION
Moment o f inertia. 1 = m ABk ~
^ Wa<i7. JF M
O * + o 1
~T~
b s in 6o
I roar.
Syst M om enta, Syst Ext Im p I

*2 Syst M om enta,
Sphere A: + 1 components: 0 + 0 = mA(vA)y (vy)^ = 0
+ 1 linear components: 0 + 0 = mA(v A)y + mvy vy = 0
- linear components: m ,v, + 0 = mA(vA)x + mvx vx = - ^ .[ v , - ( v y ) J
Let ( v .) be named v . and note that = = .

v Ax A m 9 3
Then, = j ( v , - Vy)
moments about B: 0 + 0 = 1(0 - (6sin60)m vx
m ftsin60_ Zsin60/ ,
CO = --------- = ^ V. = 3~ , (V, - Vy)
m k2
Kinematics. v = vc + v b ig = K ~ - ] + [bo} ^ 301
/ \ 1/ \ , ->/\o ^ i n 00 / ,
( v*)x = j ( vi - va) + ^ c o s30 3- 2 (v, - Vy)
11 +
36 (vi ~ v A)
\ 4kl J
t , (3)(0-300)
(vj - v A) = 0.69333 (v, - v^)
(4)(0.250)z
Impact condition. M * - v a = e {vi ~ )
0.69333(v, - v A) - v A - evt
1.69333^ - (0.69333 - e )v x
For perfectly elastic impact, e = 1
1.69333V,, = (0.69333 - l)v, vA = -0.18110V,
v, - vA = 1.18110v, = (1.18110)(4) = 4.7244 m/s
(0.300)sin60
() co - -(4.7244)
(3)(0.250)
0) = 6.55 rad/s ^ A
(b) v = i (4.7244)
v = 1.575 m/s A
PROBLEM 17.111
A slender rod AB is released from rest in the position shown. It swings
down to a vertical position and strikes a second and identical rod CD
which is resting on a frictionless surface. Assuming that the coefficient o f
^ restitution between the rods is 0.4, determine the velocity o f rod CD
immediately after the impact.
SOLUTION
Moment o f inertia. / = m l} for each rod.

12
Rod AB swings to vertical position.
I * '" . -v
v J -U lo o
\Y)Ci
A
Position 1 Fj = 0 7] = 0
Position 2 v2 = ~mS ~
T 1 2 17 2
Tt = mv-, + I co-,
~ 2 ' 2
= m co-,
2 + \ [ h mL2 ^
1 mLr2 co22
=
6
Conservation o f energy. T\ + V\ = T2 + V2:
0 + 0 = m l}co2 - m g to-, = ./
6 * 2 - VL J
{v)2 = Leo =
Impact Condition: (vc) 3 - ( v)3 =<?(vfl)2
( vc )3 ~ La>3 = eyfigL (vc )3 = Lco3 + e J ig L

Principle o f Impulse-Momentum at Impact.

S ed*
> TV**
i* .
Syst M omenta2 Syst Ext Imp 2 _ ),3 = Syst M omenta3
L - - L -
moments about 5 : mv-> + Ico2 + 0 = wv3 + I oj3 + m (vc )3L
L 3g L 1 mL.2 1 U _i
m + + 0 = ml J + mI?coj + m{Lco3 + efegL^L
v2 n y2 12 2 12 12
co-. = l3g
4 4
(vc )3 = { ~ ^ e ] f i g L + e f i g L (vc )3 = j ( l + e ) f i g L
For e = 0.4, (vc )3 = i ( l + 0.4) 7 3 i t
(v c ) = o . m ^ L
PROBLEM 17.112
Solve Prob. 17.111 assuming that the impact between the rods is
perfectly elastic.
Problem 17.111: A slender rod A B is released from rest in the position
shown. It swings down to a vertical position and strikes a second and
identical rod CD which is resting on a frictionless surface. Assuming that
the coefficient o f restitution between the rods is 0.4, determine the
velocity o f rod CD immediately after the impact.
SOLUTION
1 2
Moment o f inertia. mL for each rod.
12
Rod AB swings to vertical position.
IL L
7 F Q
//ft, -V
.It* )
T A
Position 1 K, = 0 Tx = 0
Position 2 V2 = -m g -
1 2--- 1 (On
= mv7 H
1T 2
2 2
1 1
= m ( La>7) + m l} co\
2
2 2 2 12
1 t2 2
- mL a>2
6 2
Conservation o f energy. Tx + Vx = T 2 + V2:
(0, =
- f t '*
L 3g
v, = ( v b ) 2 = Leo = 7 3 gL
2 VL
Impact Condition: (vc )3 (vb )3 = e (Vfl)2
(vc )3 - Lg>3 = e f i g L (vc )3 = Lco3 + e f i g L
Principle o f Impulse-Momentum at Im pact

SB ctt
m/14
iu > .
* 3
Syst M o m enta2 Syst E xt Im p 2_>3 = Syst M om enta3
_ L _ L -r
^ moments about 5 : mv- + /fi)2 + 0 = mv3 + / 3 + m (vc )3Z,
f +h m L2^ t + 0 = m( f 3] f + h + m ( L e 3 + e J
. m L l(D i ^ ) L
'l 3 N
(Or, - e
4 4
(vc )3 = ^ ~ ^ e Jy/3gL + ey/3gL (vc )3 = ( l +
For perfectly plastic impact, e = 1.
(v A = 0,866,/it
PROBLEM 17.113
The plank CDE has a weight o f 30 lb and rests on a small pivot at D. The
110-lb gymnast A is standing on the plank at C when the 140-lb gymnast
B jum ps from a height o f 7.5 ft and strikes the plank at E. Assuming
perfectly plastic impact and that gymnast A is standing absolutely
straight, determine the height to which gymnast A wiil rise.
SOLUTION
Moment o f inertia. / = m J l L )1 = m l }
12 3 '
Velocity o f jum per at E. H = y/2~gh{ ( 1)
Principle o f Impulse-Momentum.
trc n/t
m EtJ,
I
Iw
I
//Fb r
L - L J
Syst M om enta, Syst Ext Im p , - Syst M om enta2
Kinematics: v(. = Leo vD = Leo
J moments about D: mEvxL + 0 = mEvEL + mc vc L + I eo
= mEl}co + mc L2eo + - j mr L2eo
m.
eo =
mE + mc + ^ L
vr = Leo = (2 )
mE + mC + 3mP WE + Wc + j W p
Flier rising. hc = ^ (3)

2g
Data: WE = WB = 140 lb Wc = lVA = U Q \b WP = 30 lb
/>, = 7.5 ft
From Equation (1), v, = 2)(32.2)(7.5) = 21.977 ft/s
( 140)(21.977)
From Equation (2), vc = ^ = 11.834 ft/s
140 + 110 + 10
_ (11.834)2
From Equation (3), h-, = h, = 2 .1 7 1 H
= (2)(32.2)
PROBLEM 17.114
, Solve Prob. 17.113 assuming that the gymnasts change places so that
b % gymnast A jumps onto the plank while gymnast B stands at C.
Jj *' I h Problem 17.113: The plank CDE has a weight o f 30 lb and rests on a
i; I J small pivot at D. The 110-lb gymnast A is standing on the plank at C
when the 140-lb gymnast B jum ps from a height o f 7.5 ft and strikes the
plank at E. Assuming perfectly plastic impact and that gymnast A is
standing absolutely straight, determine the height to which gymnast A
will rise.
SOLUTION
Moment o f inertia. I =
12 mP(2
p \
L )2
I
= m
3 p
l}
Velocity o f jum per at E. ( v), = ( 1)
Principle o f Impulse-Momentum.
no6y e
O
iu i
i
/s fe f/ I
/tP fr r
SD otf L <X L J
Syst M om enta, Syst Ext Im p, _>2 = Syst M om enta?
Kinematics: vc = Leo Vp = Leo
J) moments about D : mEvxL + 0 = mEvEL + mc vc L + 1 oo
= mEl}(o + mc l}(o + i mPl}(o
m.
co =
mE + mc + | mP L
mEvt
vr = Leo = (2)
mE + mc + ^m P WE + Wc + j WP
Flier rising. h c = f- (3)

2g
Data: WE = WA = 110 lb WC = WB = 140 lb WP = 30 lb
A, = 7.5 ft
From Equation (1), v, = >/(2)(32.2)(7.5) = 21.977 ft/s
From Equation (2), V c = f l L ) ( 21-977) = 9,298 ft,,

c 110 + 140 + 10
^ 9 2 9 8 )^ i
From Equation (3),
^ (2)(32.2) *
PROBLEM 17.115
I Member ABC has a weight o f 5 lb and is attached to a pin support at B. A
1.5-lb sphere D strikes end C o f member A B C with a vertical velocity v,
o f 9 ft/s. Knowing that L = 30 in. and that the coefficient o f restitution
L /. iB /.-------J between the sphere and member ABC is 0.5, determine immediately after
the impact (a) the angular velocity o f member ABC, (b) the velocity o f
the sphere.
SOLUTION
For member/1BC: / = - ^ m ABC(2L)~ = -^ m ABCl}
r. i jjB Jt
O , o o
q- r 3 - r ......... J
cJ /...)
A B C- 1* L L H
'fu>
Syst M om enta, + Syst Ext I m p , = Syst M om enta,
Kinematics. vc = Leo
Condition o f impact. vc - v0 = ev, or vu = Leo - ev, (1)
) moments about B: mDv{L + 0 = Ieo + mn vn L
= Ieo + nip(Lco - ev, ) L
(1 + e)m ,)Lv, = ( f + mp L2êo
(l + e )m nLv|
(a) Angular velocity o f ABC. eo = =---------- ,
/ + mDL?
Data: L = 30 in. = 2.5 ft e - 0.5 v, = 9 ft/s
m , R(. = = 0.15528 lb-s2/ft mn = = 0.046584 l b s 2/ft

ABt 32.2 32.2
T + mn I? = -j(0.15528)(2.5)2 + (0.046584)(2.5)2 = 0.61465 l b s 2 ft
^ = (1 + 0.5)(0.046584)(2.5)(9) = 2 5579
0.61465
to = 2.56 rad/s ) A
(b) Velocity o f D.
From Equation (1), vD = (2.5)(2.5579) - (0.5)(9) = 1.895
v/j = 1.895 ft/s \ <

PROBLEM 17.116
The uniform slender rod AB o f mass mAB is attached by a pin to collar C
Ho f mass mc and the system is falling freely with a velocity v0 when
collar C strikes a horizontal surface as shown. Denoting by e the
coefficient o f restitution between the collar and the surface, determine
(a) the angular velocity o f the rod immediately after the impact, (b) the
impulse exerted on collar C by the surface.
SOLUTION
Moment o f inertia. I = m.uLr

12 AB
c.
f aT
Syst Momenta, Syst Ext Im pi^j Syst Momenta2
Condition o f impact: vr = ev,0
_ L _ L
Kinematics: v = co - v r or v = co - evn
2 c 2 0
j) moments about C: mABvo ~L + 0n = Ico

7 + mABv
- L
-
(L
= I co + m AB - c o - ev,
2 | 1 r2
- ^ 0 + e ) m ABL v 0 = ^ + ^ m ABL: 1co = mABL co
(a) Angular velocity. CO = - ( 1 + e ) ( A

2 ' L K
(b) Impulse exerted on the collar.
+ 1 linear components: -m c v0 - mABv0 + fC dt = - m ABv + mc vc
fC dt = mc (vc + v0) + mAB(v0 - v)
L
= m c [ e v 0 + v o ) + m AB
= mc (\ + e)v0 + mAB vo " - ( ! + e)va + ev0
= mc (l + e)v0 + - m AB(l + e)v0
jC dt = (1 + e) mc + ~ m AB vo
PROBLEM 17.117
The 2.5-kg slender rod AB is released from rest in the position shown and
swings to a vertical position where it strikes the 1.5-kg slender rod CD.
Knowing that the coefficient o f restitution between the knob K attached
to rod AB and rod CD is 0.8, determine the maximum angle 6m through
which rod CD will rotate after the impact.
SOLUTION
m,
Let CD. = h i = o.6
m AB 2.5
Let m = m AB-
Then mCD = Pm.
Moments o f inertia. 1 = 7 = ml} I CD = ^ P m L 2

AB 12
Rod AB falls to vertical position.
///S -
=S& i
%
<ef
Position 0.
Position 1. Vx = ~mg-
( VAB ) i - {<A b \
T\ = \ m ( v AB)] + ^ T { o ) AB)]
= | mL2(o)ABfx
Conservation o f energy.
0 + 0 = ^ mL2(6)ABfl - ~mgL (a>ABfx = ^ ( 1)

Impact.
////s S& Jt
W
O r +
SK Jt
Syst Momenta, + Syst Ext Im p ,^ , = Syst Momenta,
Kinematics ( v.t)i ~ {0}ah)\
( vah ), - y ( w.i
Q moments about B: W
'(V^ )| J + '("-()| - = m i VAB)2 -J] + ' ( <ah )2
(2 )
C ic jf
1# c
C :^
+ 1 /s rto j,
Syst Momenta, + Syst Ext lm p ,^ , = Syst Momenta2
Kinematics ( va >)2 = - ( ( c d )2
moments about C: 0 + b \K d t = P m {vc n )2^ + p i {(oc d )2
b\Kclt = - p m L 2 (<oc n )2 (3)
Add Equations (1) and (2) to eliminate b\K dt.
j , mC-{(oAH\ = y t L 2 {(oAB)2 + i pm L 2 ((oCD)2 P{(oa >)2 + K i )2 = (< (4)
Condition o f impact. h ((0ci))2 ~ = e h { a Ag )t
((cd)2 - ( m.ib)2 = ^ s ) , (5)

Add Equations (4) and (5) to eliminate (l + P){(^ c d )-, ~ 0 +
Rod CD rises to maximum height.
Position 2.
= - f i m L 2 ( a CD)22
Position 3. V3 = ~ P m g - c o s Gm
r3 = o
C onservation o f energy. T2 + V2 = T 3 + Vy
^ PmL2 {o)CD)\ - ^ fim gL = 0 - ^/3 m g L cos 0m

PROBLEM 17.118
Sphere A o f mass m and radius r rolls without slipping with a velocity v,
on a horizontal surface when it hits squarely an identical sphere B that is
at rest. Denoting by p k the coefficient o f kinetic friction between the
spheres and the surface, neglecting friction between the spheres, and
assuming perfectly elastic impact, determine (a) the linear and angular
velocities o f each sphere immediately after the impact, (b) the velocity o f
each sphere after it has started rolling uniformly.
SOLUTION
Moment o f inertia. I = - m r2
5
Analysis o f Impact. Sphere A.
rmJ,
Syst Momenta, Syst M om enta2
Kinematics: Rolling without slipping in position 1. co, =
, Vi
j) moments about G: IG)x + 0 = I (0A (Oa = G)x =
-1 linear components: mv. - \P dt = m v . ( 1)
Analysis o f Impact. Sphere B.
SPdt
+ no ATg
Syst Momenta, + Syst Ext Imp,_>2 = Syst Momenta?
- t linear components: 0 + jP dt = mvB ( 2)
Add Equations (1) and (2) to eliminate \Pdt.
WV, = mvA + mvB or vB + vA = v. ( 3)
Condition o f impact, e = 1. vB - vA = ev, = v. (4)
Solving Equations (4) and (5) simultaneously, vA = 0, vB = v,
moments about G: 0 + 0 = I coB coB = 0

V, \
(a) Velocities After Impact. v.( = 0; co., = J ; v B = v, - ; coB = 0 ^
r
Motion After Impact Sphere A.
PROBLEM 17.119
A small rubber ball o f radius r is thrown against a rough floor with a
/ \ \ velocity \ A o f magnitude v Q and a backspin coA o f magnitude co0 . It is
a
bo0 /bV TS observed that the ball bounced from A to B, then from B to A, then from A
to B, etc. Assuming perfectly elastic impact, determine the required
magnitude o)0 o f the backspin in terms o f v 0 and r.
SOLUTION
2
M oment o f inertia. I = m r2 Ball is assumed to be a solid sphere.
Impact at A.
SfJalf
Syst Momenta! Syst Ext I m p j^ Syst M om enta2
For the velocity o f the ball to be reversed on each impact,
Vj = v. (O a = CO, = 0)n
This is consistent with the assumption o f perfectly elastic impact.
^ moments about C: cos 60 - I coA + 0 = I a>'A - mv'Ar cos 60
2 i 2 2
/ m y cos 60 - mr a)0 + 0 = mr <w0 - / m y cos 60
rco0 = v0cos60 4 vo ^
"0 = 7 ^
5 r
PROBLEM 17.120
In a game o f pool, ball A is rolling without slipping with a velocity v0 as
it hits obliquely ball B, which is at rest. Denoting by r the radius o f each
ball and by p k the coefficient o f kinetic friction between the balls, and
assuming perfectly elastic impact, determine (a) the linear and angular
velocity o f each ball immediately after the impact, (b) the velocity o f ball
B after it has started rolling uniformly.
SOLUTION
Moment o f inertia. /7 = mr
2 2
5
(a) Impact Analysis.
Ball A:
\& *
* +
mtJ.
Syst M om enta, + Syst Ext Im p, Syst M om enta,
Kinematics o f rolling: "(i =

r
- t* linear components: mv()cost? - jP dt = m (v A) ( 1)
+ 1 linear components: mv()sin 0 + 0 = m (v A) (2 )
Moments about v axis: I co{) cos# + 0 = I (oa qos/J (3)
Moments about x axis: - I (o() sin 6 + 0 = - / toA sin fi (4)
Ball B:
Syst M om enta, Syst Ext Im p, _>2 = Syst M om enta^
linear components: 0 + \Pclt = m (v B)x (5)
+ 1 linear components: 0 + 0 = m (v B) (6)

Moments abouty axis: 0 + 0 = IcoB cosy (7)
Moments about x axis: 0 + 0 = I <oB siny (8)
Adding Equations (1) and (5) to eliminate \P dt,
mv0 co s0 + 0 = m (v A)x + m (vB)x or (vB)x + ( v ^ = v0 cos<9 (9)
Condition o f Impact. e =1 ( vb )x ~ (va )x = cos ^ = vo cos 0 (10)
Solving Equations (9) and (10) simultaneously, (v^)* = (vg)^ = v0 cos 8
From Equations (2) and (6), (vA = v0 sin#, ( vs ) y = 0
(v0sin#)j4
vA =
vB=(v0cos#)i4
From Equations (3) and (4) simultaneously, p = 9, a)A = a)0 = ^
to. = ( - s i n # i + c o s# j) 4
From Equations (7) and (8) simultaneously, = 0 co = 0 ^
(b) Subsequent Motion o f Ball B.
Syst M om entaj Syst M om enta2
Kinematics o f rolling without slipping. v'g = ra)'B
J moments about C: mvBr + 0 = I (o'B + mv'Br
2 - 2,
= mrco'g + m(rco'B)r
a _ 5 v'B _ 5 Vjcos#
10B - ~ _ T
7 r 7 r
v'B = Vjcos 6
v'b = - ( v0cos# ) H
PROBLEM 17.121
Disk B has an initial angular velocity <o0 when it is brought into contact
with disk A which is at rest. Show that the final angular velocity o f disk B
depends only on eo0 and the ratio o f the masses mA and mB o f the
two disks.
SOLUTION
Let points A and B be the centers o f the two disks and point C be the contact point between the two disks.
Let (oA and coB be the final angular velocities o f disks A and B, respectively, and let vr be the final velocity
at C common to both disks.
Kinematics: No slipping vr = rAcoA = rBa)B
Moments o f inertia. Assume that both disks are uniform cylinders.
/ I 2 , l 2
1 a = 2 m trA 7 fl = ~ m BrB
Principle o f Impulse and Momentum.

Disk A
Disk B
Ft
Nt 16 J
Syst M om enta, + Syst Ext I m p ,^ , = Syst M om enta2
Disk A: moments about A: 0 + rAFt = I AcoA
c** _ 1 / F a _ 1 m Ar A VC _ 1 ............
b t = ---------- = i - = ~ m AVC = ~ m ArBM B
rA 2 rA 2 2
Disk B: J) moments about B: I b0*o rFt - I b^ b
1 (I ) 1 ,
- m BrB(o{, - rB\ - m ArB(0B I = - m r BcoH
CO,
(Or =
\ + ^L
mB
PROBLEM 17.122
The 7.5-lb disk A has a radius rA = 6 in. and is initially at rest. The 10-lb
disk B has a radius rB = 8 in. and an angular velocity <aQ o f 900 rpm
when it is brought into contact with disk A. Neglecting friction in the
bearings, determine (a) the final angular velocity o f each disk, (b) the
total impulse o f the friction force exerted on disk A.
SOLUTION
Let points A and B be the centers o f the two disks and point C be the contact point between the two disks.
Let (oA and coH be the final angular velocities o f disks A and B, respectively, and let vc be the final velocity
at C common to both disks.
Kinematics: No slipping vc = rAcoA = rBcoB
Moments o f inertia. Assume that both disks are uniform cylinders.
, 1 2 , 1 2
1A = ~ m ArA l R = ^ m BrB

Disk A
4-
Disk B
Syst M om enta, Syst Ext lm p ,_>2 = Syst M om enta2
Disk A: moments about A: 0 + rAFt = I A(oA
* >A r A V C 1
Ft _= J A ^ A _ _
= mAvc = m asab)
b b
2 rj 2 2
Disk B: J) moments about B: Ib0*0 ~ rB ^r = 1 H(0H
1 ( 1 "1 1 >
- m BrB(o{) - rB\ mArBcoB \ = - m r BcoH
0)n
l + ^L
mB
7.5
Data: 0.23292 lb-s2/ft
32.2 mB WB 10
= t0 = 900 rpm - 30# rad/s

12 rA
0 30#
(a) a>B = = 53.856 rad/s
1 + 0.75
/ 8n
?! 0 s
(53.856) = 71.808 rad/s
II
mA =
v
a>A = 686 rpm ^ 4

coB = 5 1 4 rpm ) 4
_ j (0.23292)(1|) ( 3 0 # )
(b) Ft F t = 4.18 lb-s f
1 + 0.75
120Him PROBLEM 17.123
A uniform disk o f constant thickness and initially at rest is placed in
contact with the belt shown, which moves at a constant speed
v = 25 m/s. Knowing that the coefficient o f kinetic friction between the
disk and the belt is 0.15, determine (a) the number o f revolutions
executed by the disk before it reaches a constant angular velocity, (b) the
time required for the disk to reach that constant angular velocity.
SOLUTION
Kinetic friction.
+ | I Fy = N cos 25 - Fj sin 25 - mg = 0
(cos25 - sin25)/V = mg
mg
N = = 1.18636/wg
cos 25 - 0.15 sin 25
Ff = (0 .1 5 )(l.l8 6 3 6 )m g = 0.177954mg
v
Final angular velocity. co-, =
r
Moment o f inertia. J = -m r2
2
(a) Principle o f Work and Energy. T ,+ W ^ 2 = T2:
T{ = 0 W ,_ 2 = Ff r d = 0.177954/ngr#
r7, = *Ico-,
7 2 =M 1mr2 = mv~
2 2 2l2 4
0 + 0.177954mgrO = - m v '
9 = 1.40486 = ( L4 486) ( 25) = 745.87 radians

gr (9.81 )(0 .120)
e = 118.7 rev 4
PROBLEM 17.124
A uniform slender rod o f length L is dropped onto rigid supports at A and
b i B. Since support B is slightly lower than support A, the rod strikes A with
;~yt a velocity v, before it strikes B. Assuming perfectly elastic impact at
i both A and B, determine the angular velocity o f the rod and the velocity
o f its mass center immediately after the rod (a) strikes support A,
(b) strikes support B, (c) again strikes support A.
SOLUTION
12
(a) First Impact at A .
tr
A f B A e A
f < * Ic o x
Syst M om enta, + Syst Ext Imp, Syst M om enta,
Condition o f impact: e = 1: ( v .-i)2 = I !
_ L
Kinematics: v2 - 2 > ~ {va )2 =
) moments about A : 0 = mv, + I co-,

- 2
(L )L ( 1
= m eo - v, + i
U 'J 2 I 12
L 3v, 1
" vi = - vi v2 v ,t ^
Vl ~ 2 L ) ' 2
(v ) 2 = L e o - ( va )2 = 3v, - v, = 2v, |
(b ) Impact at B.
IK SB
Syst M om enta2 Syst Ext I m p , ^ Syst M om enta3
Condition o f impact. * = I: ( v )3 = 2v, |
Kinematics: (!)
( moments about B : -niv-y + / <o~, + 0 = mv, I a-,

- 2 ' 32
( 1 1 ,->V 3v, i. r
f 1 rtiLA \o)x
ii
-m \ -v . + 0 = m 2v , ----- 1Ox
i
2 U2 2 2 I112 J 3
0),
v,3 = 2vI . -----

2 = -V , v, = - v , I *
u ; 2
( v^ )3 = L c o - (y )3 = 3v, - 2v, = v, {
(c) Second Impact at A.
cL- # IiO s
ik J t
Syst M omenta^ Syst Ext lm p 3_>4 = Syst M om enta4
Condition o f impact. e = 1: ( v ^)4 = vi \
Kinematics: - i \ L L tOa
V4 = ( V^ ) 4 + T " 4 = Vl +
^m o m en ts about/I: mvx
32 + I (O3x + 0 = mv,4
2 + I a),4
(\ U ( 1 , 2^ ( L \ L
m v, + mL V 0 = m v, + a). + mLr \to,
2 4 2 I 12
12 J 2 V12 JI L J 1 4
co4 = 0 4
v4 = V, + 0
PROBLEM 17.125
Two uniform cylinders, each o f weight W = 14 lb and radius r = 5 in.,
are connected by a belt as shown. Knowing that the initial angular
velocity o f cylinder B is 30 rad/s counterclockwise, determine (a) the
distance through which cylinder A will rise before the angular velocity o f
cylinder B is reduced to 5 rad/s, (b ) the tension in the portion o f belt
connecting the two cylinders.
SOLUTION
Kinematics. v a h = r0 }B
Point C is the instantaneous o f cylinder A.
CO,
_
=
ab =_ 1 CO c
-2 2 -
A 2r 2 R
v . = reo. = rcou
Moment o f inertia. 7/ = 1 ^ 2r
2 g
1 IF 2 I 2
Kinetic energy. Cyl. B: -Ic o l= - ~ ~ r K
3 2 * 2 12 g
1W , ,
= r'CO'n
4 g B
i a 1 "> 1 t 2 WfI l1
i1 rr 1' I V 2'
Cyl .A : - m v , + Ico . = ~rcoR + r ~OJa
2 a 2 A 2 g \ 2 B 2 2 g
3 W , ,
-r'con
16 g
Total: T = rW B
16 g
(a) Distance h that cylinder A will rise.
Conservation o f energy for system. Tx + Vx = T 2 + V2:
- < * 4 - s :) 2 m o
h = 2.06 ft <
p (b) Tension in belt between the cylinders.
W hen cylinder A moves up a distance h, the belt moves up a

distance 2 h.
Work: U^ 2 = P (2 h ) - Wh
Principle o f W ork and Energy for Cylinder .4.
Tl + A-*2 = ^2 :
3 W 2/ \ 2 ->rw tjtj 3 W 2( \2
r (o)R\ + 2 P h - W h = r [a>B)
16 g K h 16 g B 2
1 3 Wr2 f , ,2 , \ 2~] 1 3 2
P =-W - \{ (O b ) \ - {(o B ) w w = - w
2 32 gh 2 14 7
2
(14)
7
P = 4 lb <
PROBLEM 17.126
Two uniform cylinders, each o f weight W = 14 lb and radius r = 5 in.,
are connected by a belt as shown. Knowing that at the instant shown the
angular velocity o f cylinder B is 30 rad/s counterclockwise, determine
(a) the time required for the angular velocity o f cylinder B to be reduced
to 5 rad/s, (b) the tension in the portion o f the belt connecting the
K J two cylinders.
C y l.A :
V t
(6 ) c 4-
\ J
Syst M om enta, + Syst Ext lm p ,_>2 = Syst M om enta,
( moments about C: T M t + m {vA \ r + 2Ptr - mgtr = T{coa )2 + m (v A)2 r
^ m r 2 [(a)A\ - {o)A)^ \ + mr[(coA\ - {a>A)2] r + 2 Ptr - mgtr = 0
3 ,
mr~ 2{imr2[(^), - (<y)2]J - mgtr = 0
2
7 2r / x / xn . . 7r [ K ) . - K ) 2]
- m r [(Wfl), - [(Og), J - mgtr = 0 / = t ------ J. (2)
Data: W = 14 lb m = = 0.43478 lb s2/ft r = 5 in. = ft

32.2
( 7 ) ( , |) ( 3 0 - 5 )
From Equation (2), t = v L = 0.56612
(4)(32.2)
t = 0.566 s <
(b) Tension in belt between cylinders.
1 ( 5 V
From Equation (1), Ptr = -(0 .4 3 4 7 8 ) (30 - 12) = 0.94353 lb-s-ft
2 V12 /
Fm SL 0.94353 0Q
,r (0 .5 6 6 1 2 )(i)
P = 4.00 lb <
PROBLEM 17.127
A 3-kg bar AB is attached by a pin at D to a 4-kg square plate, which can
.Wllmm rotate freely about a vertical axis. Knowing that the angular velocity o f
the plate is 120 rpm when the bar is vertical, determine (a) the angular
4
velocity o f the plate after the bar has swung into a horizontal position and
V *
has come to rest against pin C, (b) the energy lost during the plastic
impact at C.
SOLUTION
Moments o f inertia about the vertical centroidal axis.
Square plate. I = ^ m L1 = -j^(4)(0.500)2 = 0.083333 kg-m 2
B ar/15 vertical. / = approximately zero
Bar AB horizontal. J = -^ m L 2 = -j^(3)(0.500)2 = 0.0625 kg-m 2
Position I. Bar AB is vertical. /, = 0.083333 kg-m 2
Angular velocity. co| = 120 rpm = 4/r rad/s
Angular momentum about the vertical axis.
(H a \ = /,, = (0.083333)(4;r) = 1.04720 kg-m 2/s
Kinetic energy. T\ = j W = -^(0.083333)(4^)2 = 6.5797 J
Position 2. Bar AB is horizontal. / 2 = 0.145833 kg-m 2
(H 0 )2 = I 2a>2 = 0.145833,
Conservation o f angular momentum. { ^ o \ = (^ o ) ,:
1.04720 = 0.145833, , = 7.1808 rad/s
(a) Final angular velocity. , = 68.6 rpm A
(b) Loss o f energy.
7; - t 2 = 7] - i / , , 2 = 6.5797 - -^(0.145833)(0.71808)2
T{ - T 2 = 2.82 J M
PROBLEM 17.128
The double pulley shown has a mass o f 3 kg and a radius o f gyration o f
100 mm. Knowing that when the pulley is at rest, a force P o f magnitude
24 N is applied to cord B, determine (a) the velocity o f the center o f the
pulley after 1.5 s, (b) the tension in cord C.
SOLUTION
For the double pulley, rc = 0 .1 5 0 m, rH = 0.080 m, k = 0.100 m
Qt
C + c -
Kinematics. Point C is the instantaneous center. v = rc (o
( moments about C: 0 + P t(rc + rB) - mgtrc = I co + mvrc
= m k2co + m (rc co)rc
_ Pt{rc + rB) ~ mgtrc _ (2 4 )(l.5 )(0 .2 3 0 ) - (3 )(9 .8 l)(l.5 )(0 .1 5 0 )

co =
m\(* 2 +r<?) 3 (0 .1002 + 0.1502)
= 17.0077 rad/s
(fl) v = (0.150)(17.0077) = 2.55115 m/s
v = 2.55 m/s | A
| linear components: 0 + Pt - mgt + Qt = mv
3 ) ( 9 .8 l ) - 2 4
(b) Tension in cord C. Q = 10.53 N A

PROBLEM 17.129
A uniform slender bar o f length L and mass m is supported by a
ffictionless horizontal table. Initially the bar is spinning about its mass
center G with a constant angular velocity co,. Suddenly latch D is moved
to the right and is struck by end A o f the bar. Assuming that the impact o f
A and D is perfectly plastic, determine the angular velocity o f the bar and
the velocity o f its mass center immediately after the impact.
SOLUTION

12
Before impact. (v3)( = ~tu, i
Impact condition. ( v ,) , = = êLco} \
Kinematics after impact. v, = ( v ^ + y<y, = êL co{ + ^Lco-,
Principle o f Impulse-Momentum at impact.
.la ),
3 H- . M u
f; I to .
Syst M om enta, + Syst Ext I m p ,^ , = Syst M om enta,
*) moments about D : Ico, + 0 = Ico, + mv,

2
Ico, = Ico-, + m\ eLco, + Lco-, |

{2 1 2 -)2
I r2 1 f2 1 r2 1 ">
mL co, = mL co-, + mL eco, + mL'co-,
12 1 12 - 4 1 4 ~
co2 ~ ~ 0 3e)<u,
-v, = Leco,
1r 1,
+ L (l-3 e )to , = ^ ( l +
' 2 2 \ ^4 /
For perfectly plastic impact, e = 0
to, = co,"*)4
- 4 i /
v, = -Lco, t4
- 8 1
PROBLEM 17.130
Solve Prob. 17.129 assuming that the impact o f A and D is perfectly
elastic.
Problem 17.129: A uniform slender bar o f length L and mass m is
supported by a frictionless horizontal table. Initially the bar is spinning
about its mass center G with a constant angular velocity <,. Suddenly
latch D is moved to the right and is struck by end A o f the bar. Assuming
that the impact o f A and D is perfectly plastic, determine the angular
velocity o f the bar and the velocity o f its mass center immediately after
the impact.
SOLUTION

12
Before impact. ( v ^ = ~<\ \
Impact condition. ( v^)-> = ~ c { va ), = eLa^ |

2
Kinematics after impact. v2 = (v ^), + = +^ <y2
Principle o f Impulse-Momentum at impact.
* rS d
I CO.
Syst M om enta, + Syst Ext Im p ,_>2 = S y stM o m en ta2
moments about D: la), + 0 = Ico, + mv-,

, . . . 2
f 1 , 1,
la), = I co, + m eL(o, h La),
I mLr"> a), = 1 mL, 2 a), H1 mL, 2 eco, + mL

1 ,2 0),
12 12 - 4 1 4 -
0)2 = 1 (1 - 3e)a)]
-v, =
1 Lea),
, 1 L, i j ( l - 3e)a)l = 1(1 + e)a)lL
+
' 2 1 2
For perfectly elastic impact, e = 1
PROBLEM 17.131
At what height h above its mass center G should a billiard ball o f radius r
be struck horizontally by a cue if the ball is to start rolling
without sliding?
PROBLEM 17.132
The ends o f a 9-lb rod AB are constrained to move along slots cut in a
vertical plane as shown. A spring o f constant k = 3 lb/in. is attached to
end A in such a way that its tension is zero when 9 = 0 . If the rod is
released from rest when 9 = 0, determine the angular velocity o f the rod
and the velocity o f end B when 9 = 30.
SOLUTION
Moment o f inertia. Rod. / = m l}

12
w Position I. 6>, = 0 v, = 0 (o{ = 0

ht = elevation above slot.
e, = elongation o f spring. et = 0
7j = mv? + Icof = 0
i 2 1 2 1
Vx = ~ ke\ + W7;, = 0
9 = 30
e2 + Z.cos30 = L e2 = 1(1 - cos30)
ih = - sin 30 = - L
2 4
V-, = - k e l + W!u
2
= - k l ? { l - cos30)2 - - W L
2 4
Kinematics. Velocities at A and B are directed as shown. Point C is the
instantaneous center o f rotation. From geometry, b =
v = ba) = vB = (Lcos30)ft>
_ 1 _> 1 7 , 1 f L V 1 1 1W ,, ,
Ti = mv + I(o = m (O + mLr = ------ L~(o~
' 2 2 2 {2 J 2 12 ) 6 g
Conservation o f energy. Ti + V { = T2 + V2:
1 W ,, , 1 1
0+0 = Z .V + ArZ.2 (1 - cos 30 )2 - WL
6 g 2 V ' 4
a, 2 = _ COs30)2
i w ' '
Data: W = 9 lb, g = 32.2 ft/s2, L = 25 in. = 2.0833 ft,
k = 3 lb/in. = 36 lb/ft
j (3)(32.2) (3)(36)(32.2)(1 - cos 30)2

' = 16.2484
2.0833 9
co = 4.03 rad/s J) M

vB = (2.0833)(cos30
\ B = 1 2 1 ft/s { <

Chapter 17

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PROBLEM 17.

Kinetic energy. Position 1. o\ - 300 rpm = 10;r rad/s

I = m k1 = (2720)(0.914)2 = 2272.3 kg-m 2

7j = ^ I c o l = ^ (2 2 7 2 .3 )(1 0 ^ )2 = 1.12134 x 106 J

Work. 6 = 1500 rev = 3000tt rad

Principle o f W ork and Energy.

1.12134 x 106 - (3000n ) M = 0

Kinetic energy. Position 1. a>j = 3600 rpm = 120# rad/s

m = W 1 = W k 2 = 110 f 9 ] = 1.92158 lb-s2 -ft

7] = = |(1 .9 2 1 5 8 )(1 2 0 # )2 = 136.55 x 103 ft lb

Work. M = 2.5 lb -ft U ^ 2 = -M G = -2 .5 9

Principle o f W ork and Energy.

136.55 x 103 - 2.56 = 0 6 = 54620 radians

G - 8690 rev <

Moment o f Inertia. I = m k2 = k 2 - 1 = 126.165 lb-s2 -ft

Kinetic energy. Position 1. cox = 300 rpm = 10;r rad/s

7] = i / 2 = |(126.165)(10^-)2 = 62.26 x 103 ft-lb

Work. U ^ 2 = -1800 ft-lb

Principle o f W ork and Energy for Punching.

62.26 x 103 - 1800 = 63.0825<y2

(a) co\ = 958.4 co2 = 30.958 rad/s co2 - 296 rpm 4

Principle o f W ork and Energy for Speed Recovery.

T2 + U2_yX = 7] U2^ i = 1800 ft-lb

U2^ x = M 0 1800 = 15(9 9 = 120 rad

(b) $ - 19.10 rev 4

Angular speeds. , = 360 rpm = Y in rad/s

co2 - 0.95 <ax = 11 A n rad/s

Work. Ux^ 2 = -2034 J

Principle o f W ork and Energy for Punching 7j + C/ 1_>2 = T2

,) Solving fo r/, / . 'f - - . W " 2034) 2

Principle o f W ork and Energy for Speed Recovery.

(>b) 6 = = 2034 = 83.36 rad

D isk/i: I a = \ aTa = ^ (2 0 )(0 .1 5 0 )2 = 0.225 kg-m 2

Disk B: mB = m. = (20)(2)(m )2 = 40m2 kg

/fi = | mBrB = -j(40m2)(0.150m)2 = 0.45m4 kg-m 2

Total: / = i A + I B = (0.225 + 0.45m4 j kg-m 2

Work. 02 - 0{ = 5 rev = 10/r radian

Ut_ 2 = M (02 - 0 x) = (30)(10m) = 300m- J

Kinetic energy. rU| = 0 7j = 0

co2 = 480 rpm = 16m rad/s T2 = - j /<2

Principle o f Work and Energy. Ti + U ^ 2 = T 2

Solving for /, ; = 2 ^ , m y , 0.74604 kg-m=

Equating the two expressions for I, 0.225 + 0.45m4 = 0.74604

rB = nrA = (l.03732)(l50 mm)

Total: I = I AB(l + n3)

Principle o f W ork and Energy.

=0 71=0 T2 = Ia> 2 = I AB(l + n3)a>22

Find n such that vD is maximum.

d_ ( \ 2w(l + n3) - (32)n 2 _ 2 n - n 4

Kinetic Energy. Cylinder A: ( 7 j ) ( = - j I col (^2

Total: 7j = I (On T2 =larf

Let F, be the friction force at D.

Kinetic friction: Ff = fjkN = p kmg

Work o f forces on A: ( ^ - > 2 ) ,, = ~ M a0 a = ~ B k" W 0 A

Cylinder B: +) I M h = F,.r = fikmgr

Work o f forces on B: i u \->2)H = M h^ h = BknW&n

Principle o f Work and Energy for Cylinder A.

I( a $ - (o)) - > , 7) _ 3rfflg

Principle o f W ork and Energy for Cylinder B.

Kinetic friction force. Ft = /jkN = 8//* lb

Kinetic energy. 7| = leal ~ (31.056 x 10_3j(5 0 )

T2 = i / a >2 = (15.528 x 10~3)/y

Ui->2 = - M A = = -75.398//* ft-lb

Principle o f Work and Energy for Cylinder A.