PROBLEM 16.

61

A thin plate of the shape indicated and of mass m is suspended from two springs as shown. If spring 2 breaks, determine the acceleration at that instant (a) of point A, (b) of point B.

A circular plate of radius b.

SOLUTION

Statics:

Kinetics:

Kinematics:

I 1

11 = T2 = - W = - mg

2 2

+ zu; = L(MC)crr b - 1I-=/a

2

.!. mg (k) = .!. mb2 a

2 2 8

a=2g) b

+ LF = r.(F) :

Y Y err

w -11 = rna

I _ mg --mg = rna 2

_ I I a = -g + 2

a A = ac + a AlC = i + kat = .!. g l + k (2 g ) t ;

2 2 2 b

a8 = ac +aBIC = i l + kal =.!.g l + k(2g)L

2 2 2 b

Plane motion

(a)

(b)

=

Translation

+

Rotation

PROBLEM 16.62

A thin plate of the shape indicated and of mass m is suspended from two springs as shown. If spring 2 breaks, determine the acceleration at that instant (a) of point A, (b) of point B.

A thin hoop of radius b.

SOLUTION

Statics:

Kinetics:

J;= 1..""9 z:

{+

0'::-?nB

Kinematics:

( )2

- b I,

1=111 2" = 4111b-

-

a=g

b

=

Translation

1 _

mg --mg = ma 2

- I

a =-g

2

Plane motion

(a)

(b)

a A = aG + a A1G = a

b

+ -a 2

I

= -g 2

b

+ -a 2

I

= -g 2

+

Rotation

+ %(!) + %(!)

PROBLEM 16.63

A thin plate of the shape indicated and of mass m is suspended from two springs as shown. If spring 2 breaks, determine the acceleration at that instant (a) of point A, (b) of point B.

A square plate of side b.

----------- B

SOLUTION

Statics:

f = l~m(b2 +b2) I = ]_mb2

6

I I

To1 = T, = -W = -mg

- 2 2

Kinetics:

::

I _

mg --mg = ma 2

Kinematics:

Plane motion

Translation

=

+ 'i.MG = 'i.(MG)CIT T!!.. = fa

2

]_mg(!!..) = ]_mb2a

2 2 6

a = 3g 2b

_ 1

a =-g 2

~16

1 b/::z.. hi?.

I<III!ft-""'G'__-13:PIJ ~g

'--_---

+

+

Rotation

PROBLEM 16.63 CONTINUED

(a)

(b)

PROBLEM 16.64

A bowler projects a 200-mm-diameter ball of rna 5 kg along an alley with a forward velocity Vo of 5 mls and a backspin (t)o of 9 rad/s. Knowing that the coefficient of kinetic friction between the ball and the alley is 0.10, determine (a) the time 'I at which the ball will start rolling without liding (b) the peed of the ball at time II' (c) the di tance the ball will have traveled at time t I'

SOLUTION

Kinetics:

= rng

- 2 2

I = -mr

5

Kinematics:

Eq. (1): v = rca:

(a)

+ r.MG = r.(MG)ctr: Fr = fa 2

(flkmg)r = _1771.2

5

When sphere roll ,instant center of rotation is at C and when I = II' v = rio

Vo = 5 mis, (t)o = 9 rad/s, r = 100 mm = 0.10 m

2 5 mls + (0.01 m)(9 rad/s)

'1= ( 2) =1.7184s

7 0.19.8Jmls

or II = 1.718s'"

(1) (2)

(3)

(b)

PROBLEM 16.64 CONTINUED

Vi = Vo - f.Lkgf = 5 mls - 0.1(9.81 mls2)(1.7184 s) = 3.3142 s

or Vi = 3.31 mls -~

(c) a = f.Lkg = 0.1(9.81 mls2) = 0.981 mls2 --

_±... s, = iV, - iaff = 5 mls(1.7184 s) - i(0.981 mls2)(1.7184 S)2 = 7.1436 m

or s, = 7.14 m ~

PROBLEM 16.65

Solve Prob. 16.64 assuming that the bowler projects the ball with the same forward velocity but with a backspin of 18 rad/s,

SOLUTION

Use equations derived in P16.64

Have Vo = 5 mis, (j)o = 18 rad/s, r = 0.10 m

(a)

(b)

(c)

_ 2[5m/s+o.l(18radlS)]_

t[ - - ( ') - 1.98049

7 0.1 9.81 rn/s"

or tl = 1.980 s ~

= 3.0571 mls

or v1 = 3.06 m/s ---~

a = J.ikg = 0.1(9.81 mls) = 0.981 mls

or s( = 7.98m ~

PROBLEM 16.66

A sphere of radius r and mass m is projected along a rough horizontal surface with the initial velocities indicated. If the final velocity of the sphere is to be zero, express, in terms of vo, r, and Jik' (a) the required magnitude of tVo, (b) the time t, for the sphere to come to rest, (c) the distance the sphere will move before coming to rest.

SOLUTION

Kinetics:

Kinematics:

For v = 0 when t = I,

For t» = 0 when t = I,

I =mP

+ 'EMG = 'E( MG )efT: Fr = T a (Jikmg)r = mPa

a = Ji!._~r ) k

+ v = Vo - al

+ tV = tVo - at

tV = tVo - Ji!._f I k

(I)

(2)

Set Eq. (1) = Eq. (2)

Distance traveled:

Problem 16.71 Sphere

(a) Eq. (3):

(b) Eq. (1)

(c) Eq. (4)

PROBLEM 16.66 CONTINUED

(3)

(4)

-2 2 2 k =-r

5

r 5 Vo

Wo = -Yo =--

2 2 2 r

-r

5

roo = ~ Vo ) ... 2 r

PROBLEM 16.67

Solve Prob. 16.66 assuming that the sphere is replaced by a uniform thin hoop of radius r and mass m.

SOLUTION

Use equations derived for P 16.66

Hoop

(a) Eq. (3):

(b) And (c) same as above:

k = r

PROBLEM 16.68

A uniform sphere of radius r and mass m is placed with no initial velocity on a belt that moves to the right with a constant velocity vI' Denoting by J.lk the coefficient of kinetic friction between the sphere and the belt, determine (a) the time II at which the sphere will start rolling without sliding, (b) the linear and angular velocities of the sphere at time II'

SOLUTION

Kinetics:

Kinematics:

C = Point of contact with belt

-

-

+ 'LM G = 'L ( M G )CIT : Fr = T a (J.lkmg)r = 3..mr2a

5

(a) When sphere starts rolling (I = II)' we have

(b) Velocities when I = 'I

Eq (I):

Eq (2):

_ (2 vI )

v = ug '7 J.lkg

_ 2 .... v = -VI - ......

7

ro = ~~ .... 7 r

(I)

(2)

PROBLEM 16.69

A sphere of radius r and mass m has a linear velocity Vo directed to the left and no angular velocity as it is placed on a belt moving to the right with a constant placed velocity vI. If after first sliding on the belt the sphere is to have no linear velocity relative to the ground as it starts rolling on the belt without sliding, determine in terms of VI and the coefficient of kinetic friction Jik between the sphere and the belt (0) the required value of vo, (b) time It at which the sphere will start rolling on the belt, (c) the distance the sphere will have moved relative to the ground at time t I.

SOLUTION

Kinetics:

Kinematics:

C = Point of contact with belt

r

But, when I = 'I' V = 0 and Vc = VI

Eq (3):

Eq (I):

a = Jikg

+ LMG = L(MG)efT: Fr = fa 2

(Jikmg)r = -mr2a

5

+ (jJ = at = 2. Jikg t 2 r

_±_ V = -v + rai

Vc = -v + 5Jikg I 2

(I)

(2)

(3)

When t = (1' V = 0,

Distance when ( = t1:

PROBLEM 16.69 CONTINUED

Go ",a" I I r

Od~

PROBLEM 16.70

p

Show that the couple T a of Fig. 16.15 can be eliminated by attaching the vectors ma, and man at a point P called the center of percussion, -2

located on line OG at a distance GP = k_ from the mass center of the

body. ,.

SOLUTION

-

We first observe that the sum of the vectors is the same in both figures. To have the same sum of moments about G, we must have

mPa = mra( GP)

-2

GP = k_ (Q.E.D.) ~

,.

Note: The center of rotation and the center of percussion are interchangeable. Indeed, since OG = F, we may write

GP= P GO

P

or GO =-

GP

Thus, if point P is selected as center of rotation, then point 0 is the center of percussion.

PROBLEM 16.71

A uniform slender rod of length L = 900 rom and mass m = I kg hangs freely from a hinge at A. If a force P of magnitude 3.5 N is applied at B horizontally to the left (h = L), determine (a) the angular acceleration of the rod, (b) the components of the reaction atA.

p

SOLUTION

G

p

~-

(a)

(b)

_ L

a =-a

2

- I 2 I =-rnL 12

- ,....

PL = (rna) L + T a 2

3P 3(3.5 N) ,

a = - = = 11.667 rad/s"

ml: (1 kg)(O.9 m)

a = 11.67 rad/s ' ....

Ay = 9.81 N ....

= 1.750 N

Ax = 1.75 N

PROBLEM 16.72

A uniform slender rod of length L = 36 in. and weight W = 10 lb hangs freely from a hinge at C. A horizontal force P of magnitude 15 lb is applied at end B. Knowing that F = 9 in., determine (a) the angular acceleration of the rod, (b) the components of the reaction at C.

I'

SOLUTION

Substitute data:

(a)

(b)

f = J...rnL2 12

+) "i.Mc = "i.(Mdcrr:

p(r + ~) = (rna)r + fa

= (rnra)r + J...rnL2a 12

p(r + ~) = rn(r2 + I~ L2)a

L :z

B '-

10lb

m =~--"'7

( 32.2 ftls2)

L = 3 ft

r = 9 in. = 0.75 ft

10 Ib ( 32)

151b(0.75ft+ 1.5 ft)= 20.752+- a

32.2 ftls 12

33.75 lb-ft = (4.07611b.ft.s2)a; a = 82.7999 rad/s2

or a = 82.8 rad/s2 ) .....

or Cy = 10 Ib .....

C, - P = -rna

c, -151b = 10Ib 2 (0.75 ft)(82.8 rad/s2)

32.2 ft/s

C, = -4.2857 lb

or C, = 4.29 Ib - .....

PROBLEM 16.73

In Prob. 16.71, determine (a) the distance h for which the horizontal component of the reaction at A is zero, (b) the corresponding angular acceleration of the rod.

SOLUTION

.C1~ 1 E"F=O A f_

-

h

L

a =-a

2

L/'Z

/}rIO.

-

P= ma

"_' _--:._

B

2P

a=mL

_ 2(3.5N) _ 2

a - ( )( ) - 7.7778 radls

1 kg 0.9 m

a. = 7.78 rad/s'' ) ~

P(h _ L) = i_mL2(2P) = PL

2 12 mL 6

or h = 600mm ~

PROBLEM 16.74

In Prob. 16.72, determine (a) the distance r for which the horizontal component of the reaction at C is zero, (b) the corresponding angular acceleration of the rod.

L 1 2

P- = -mLa

2 12

- 1 L

r=-

6

_ 36 in.

r=--

6

Eq (1):

P P 6P

a=-=--=-

mr m(~) mL

_ 6(15 lb) _ 2

a - ( 10lb ) 3 ft - 96.6 rad/s

32.2 ft/s2 ( )

P = rna

P = m(ra)

P

a=-= mr

or r = 6 in ....

or a = 96.6 rad/s'' ) ...

(1)

PROBLEM 16.75

A uniform slender rod AB of length L and mass m is pivoted at end A and released from a horizontal position. The angular velocity of the rod as it passes through the vertical position is known to be co = J3g I L. (a) Express the tension in the rod at a distance z from end B in terms of z, m, g, and L for the vertical position. (b) Knowing that the weight of the rod is 10 N, determine the maximum tension in the rod for the vertical position.

SOLUTION

A •

+ i r..F = T - mgz = 3mgz (L - !...J

y L L2 2

T = mgz (1 + 3 - ~J or

L 2L

(a)

(b) Tmax at z = L,

= (2.5)(10 N) = 25 N

or TA = 25 N ....

PROBLEM 16.76

A large flywheel is mounted on a horizontal shaft and rotates at a constant rate of 1200 rpm. Experimental data indicate that the total force exerted by the flywheel on the shaft varies from 12 kip upward to 18 kip downward. Determine (a) the weight of the flywheel, (b) the distance from the center of the shaft to the mass center of the flywheel.

SOLUTION

0(=) =

R=&~

Df=~)

R:.SS-.hY

...

Eq (1) - Eq (2):

Eq (1) + Eq (2):

0) = 1200 rpm ( !~ ) = 401l'rad/s

6 - 2W = 0 ~ W = 3 kip

30 = 2( 3 k 2)r (401l' rad/s)2 32.2 ftls

r = 0.0101954 ft = 1.01954 x 10-2 ft

= 0.122345 in.

+ t 'i.F = 'LFeff

18k - W = man

18k - W = W r 0)2 g

(1)

W + 12k = W r0)2 g

(2)

or W = 3000 lb ....

or r = 0.1223 in .....

PROBLEM 16.77

A uniform slender rod of weight 0.24 lb/ft is used to form the assembly shown. The assembly rotates clockwise at a constant rate of 120 rpm under the combined effect of gravity and the couple M which varies in magnitude and sense. Determine the magnitude and sense of the couple M and the reaction at point A for (a) () = 900, (b) () = 1800•

SOLUTION (a)

w = 0.24Ib/ftC~ ft) = 0.161b W = 0.24Ib/ft(21r)(I~ ft )

= 1.00531b

OJ = 41r radls

(0.16Ib )C~ ft } 41r radls)2

,,£Fx = Ax = 2 = -0.26155Ib

2 x 32.2 fils

,,£Fy: Ay = W + W = 0.161b + 1.0053lb = 1.1653lb

0.16Ib(!_ft)

"£MA: M = - wr = 12 = 0.5333Ib.ft

2 2

= O.64lb·in.

or M = 0.64 lb-in, ) ~

and

R = ~-0.261552 + 1.16532 = 1.19429lb

or R = 1.194lb 77.3° ~ ~

(b)

"iFy = Ay -1.16531b = 0.26155 lb Ay = 1.42686 lb

or M = O~ and R = 1.427 lb t ~

PROBLEM 16.78

The shutter shown was formed by removing one quarter of a disk of 15-nun radius and is used to interrupt a beam of light emitting from a lens at . Knowing that the shutter has a mass of 50 g and rotates at the constant rate of 24 cycles per second, determine the magnitude of the force exerted by the shutter on the shaft at A.

SOLUTION

~I.

See inside front cover for centroid of a circular sector

2rsina r ==

3a

4 c= O.7SI/t, 6_---.

~·0~J

r == 0.0030 m

- 2 a" = r to

-

-

(i) = 24 revls

= 24(27r )radls

(i) == 150.8 rad/s

a" == 0.0030 m(150.8 radls)2 == 68.22192 m/s2

I r.F = r.( F)eff: R:= mall := (0.050 kg)( 68.22192 m/s2) =3.4111N I

Force on shaft is R = 3.4111 N /

Magnitude R = 3.41 ....

.\

r-----t ----I

PROBLEM 16.79

A uniform rod of length L and mas m i upported as shown. If the cable attached at B suddenly breaks, determine (0) the acceleration of end B, (b) the reaction at the pin upport.

/I

SOLUTION

OJ = 0

_ L

0= -a

2

-

-

-

A- <_A __ +~~_J._~ _---.)

L ~ --1 "On;;_ .B

() L - L

+ r.M II = r. Mil cIT: W - = I a + md-«

2 2

mg~ = ~mL-a + m(L a)~

2 12 2 2

3g

0.=--

2L

_ L

A - mg = -mo = -m-a

2

A - mg = -m ( ~ )( % f)

3

A - mg = --mg 4

1

A = -mg'

4 '

A = .!.mg t ~ 4

L 1 2

mg- = -mL a

2 3

PROBLEM 16.80

A ~(O"::=:;;-:::::::=:--:=:::::::::::::it .__I. ---l. ------I

A uniform rod of length L and mass m is supported as shown with b = 0.2 L when the cable attached to end B suddenly breaks. Determine at this instant (a) the acceleration of end B, (b) the reaction at the pin support .

SOLUTION

1YJ (!7(?JL ) rx J._ L 2 fX.
R;! I
"- 11. m
"
\JI ~ B
• • Gl r
~
R :>c..
~( l. 111~
- ~ r
O.2L 20.3L mL2a 2

+) r.Mc = mg(O.3L) = -- + m(0.3L) a 12

a = 0.3g = 1.73077 g = 45 g

0.1733L L 26 L

(a)

36g aB = O.SLa =- 26

ISg

or a8 = 13 ~

(b) e, = 0

+ t tr, ~ Ry - mg = -o.3mL(45g) 26L

135 25

Ry = mg - 260 mg = 52 mg ~

PROBLEM 16.81

A uniform rod of length L and mass m is supported as shown. If the cable attached at B suddenly breaks, determine (a) the distance b for which the acceleration of end A is maximum, (b) the corresponding acceleration of end A and the reaction at C.

SOLUTION

L

S = --b

2 '

a = Sa

Let

I h

s -

fir ~I. ~I ~_-

~(--~--- ~r4------~IB

~(J..

-

-

+) r.M = r.( Mc)etr: WS = T a + maS 1

mgS = -mL2 + m(Sa)S 12

Sg

a = --::--=--

L2 S2

-+

12

For rotation about C:

L

aA = - - S 2

(~-S)Sg LS_S2

a - - 2 g

A - L2 - L2 ,

- + S2 - + S-

12 12

LS - 2S2 (6 ) aA = L2 + 12S2 g

Differentiate with respect to S.

(1)

PROBLEM 16.81 CONTINUED

Set numerator equal to zero

L3 - 4SL2 + 12S2L - 4'8_S3 - 24S2 L + 4'8_S3 = 0 JJ - 4SL2 -12S2L = 0

L(L2 - 4SL -12S2) = 0

L(L - 6S)(L + 2S) = 0

L S= -- 2

and

S=L 6

(a) For S = - L , b = L and support was at E, impossible 2

For S = L, b = L this results in max aA

6 3

(b) Eq. 1 with S = L 6

3g

a=--

2L

C - mg = -mSa

C-mg = -m(~)(%~)

1 C-mg = --mg 4

L

b =- ....

3

1

Max: a A = - g t .... 2

c = ~mg t .... 4

PROBLEM 16.82

A half cylinder of mass m is released from rest in the position shown and swings freely about the horizontal diameter AB. Determine, at this instant, (a) the acceleration of point D (b) the acceleration of the mass center of the half cylinder.

SOLUTION

'f

or:

1 2 1 2 r2

lAB = =mr + -mL = 19m-

4 3 12

(L) 19mr2

'LM= = mg "2 = mgr = -12-a

12g

a=-

19r

aD = 12g (2r) = 24g

19r 19

-24g. ~ aD = --J ~ 19

a(4r) = 12g ~ = 16g

3n 19 3n 19n

PROBLEM 16.83

7e Two identical 2-kg slender rods AB and BC are connected by a pin at B and by the cord AC. The assembly rotates in a vertical plane under the combined effect of gravity and an 8 Nvm couple M applied to rod AB;

300m", Knowing that in the position shown the angular velocity of the assembly

•• i'5Bmr4im_;;:::~r ... =-UJ ~z:: ::~~. (a) the angular acceleration of the assembly. (b) the

t---:::- 300 mm .1

SOLUTION

2 r c137S1c< ~

I.: ? C\2{.h)(_2.)(O~~)~

, ~

t

~---

2 (DIS) (0. ~,,)o<

g = 9.81 mls2

) 'LMA = 2g(0.15~m) +2g(0.375m) -SH.rn

= 2(1~)(2 kg)(0.3 m)2 a + {2 kg)(0.15 m)2 a + (2 kg)(0.375 m)2 a

+(2 kg)[ 0.15 m(O.866)J a

(10.3005 - 8) kg.m2/s2 = (0.38999 kg.m2)a

(a)

a = 5.89875 rad/s? or

a = 5.9 rad/s2 ) ..

/0.86' T

r;2~

C \ 2:.. (O.J/·b(

) ''Z.

2(037S)0(1 ;

~ 2. ( o. J s) (0 . ~ "b ) ex

t - -> + 2 kg(0.375 m)(0.075 m)a

1D.I'1r}'l) 1 z.~. +2 kg(O.15 m)(0.866)(0.1299 rn)a

~ :Eb / 0.075"))1 (2)

~ = 0.10499kg·m a

2 kg(9.81 mls2)(0.075 m) - T(0.15 m) = 0.61944 kg.m2/s2

+) 'LMB = 2g(0.075 m) - T (0.3 m) 2

= 2 kg (0.3 m)2 a 12

T = 5.6804 N

or T = S.68N"

I.

f

?t c; PROBLEM 16.84

.-/ 0 I Two identical 2-kg slender rods AB and BC are connected by a pin at B

/ and by the cord AC. The assembly rotates in a vertical plane under the

;:lOnlm combined effect of gravity and a couple M applied to rod AB. Knowing

V that in the position shown the angular velocity of the assembly is zero

. and the tension in cord AC is 2 N, determine (a) the angular acceleration

.' of the assembly, (b) the magnitude of the couple M.

SOLUTION

From P16.84

ABC,

BC,

(a)

(b)

+ 'f:.M A = 10.3005 - M = 0.38999a

+ 'f:.MB = 0.15g - 0.15T = 0.105a

0.15g - 0.15(2) = 0.105a

a = 11.l5714 radls2

or a = 11.l6 radls2 ) ~

M = 10.3005 - 0.38999a = 5.9493 N· m

or M = 5.95N·m ~

PROBLEM 16.85

/'

A 3-1b slender rod is welded to a 10-lb uniform disk as shown. The

:\ B assembly swings freely about C in a vertical plane. Knowing that in the

J position hown the assembly has and angular velocity of 10 rad/s

L clockwise, determine (a) the angular acceleration of the assembly, (b) the components of the reaction at C.

o in.

SOLUTION

Kinematics:

0" = 58.333 ftls2

af = (CG)a = C~ ft)a

= (0.58333 ft)a

Kinetics:

- 1 ()2 1 ( 10 Ib )( 4 )- ')

IOisk = -mOisk CG = - 2 - ft = 0.01725 lb-ft-s"

2 2 32.2 ftls 12

( )( )2

- I ') 1 31b 6 2

lAB = -mAB(ABt = - 2 - ft = 0.00194Ib·ft·s

12 12 32.2 ftls 12

-

(a)

(3 Ib)(_2_ ft) = (0.01725 Ib.ft.s-)a + 31b 2 (_2_ ft)(0.58333 ft)a

12 32.2 ftls 12

+(0.00194Ib.ft.s2)a

a = 34.38605 rad/s2

or a = 34.4 rad/s2 ) ....

PROBLEM 16.85 CONTINUED

(b)

- (3Ib)( 2)

C, = -mABam = - 2 58.333 fils = 5.4347 lb

32.2 fils

or Cx = 5.43Ib-~

at = (0.58333 ft)a

Cy - 10 lb - 3 lb = 3 lb 2 (0.58333 ft )(34.38605 rad/s2)

32.2 fils

Cy = 11.13121b

or C y = 11.13 lb t ~

PROBLEM 16.86

!I A 10-lb uniform disk is attached to the 6-lb uniform rod Be by means of

I a frictionless pin AB. An elastic cord is wound around the edge of the disk and is attached to a ring at E. Both ring E and rod Be can rotate freely about the vertical shaft. Knowing that the system is released from re t when the tension in the elastic cord is 3 Ib, determine (a) the angular acceleration of the disk, (b) the acceleration of the center of the disk.

x

SOLUTION

Disk:

( )( )2

- 1 2 1 10lb 3 2

IOisk = -mOiskr = - 2 - ft = 0.0097050 lb-ft-s

2 2 32.2 ftls 12

-

-

'EM A = 'E( M A )cfT: (3 Ib )('32 ft) = IOiskaoisk 1: lb-ft = (0.0097050 Ib.ft.s2)aoisk

aOi k = 77.2797 rad/s2

QOisk = 77.3 rad/s! ') .....

Entire assembly

- 1 ( )2 1 ( 6 Ib )( 6 ) 2

l ec = -moc Be = - 2 - ft = 0.00388Ib·ft·s

2 12 32.2 ftls 12

"0/~ q.fi

rmB,_?-

-;»;

PROBLEM 16.86 CONTINUED

Assume f1. BC is )

aA = C~ ft ) aBC = 0.5 ft aBC t a = C~ ft ) aBC = 0.25 ft aBC t ( r..Mc = r..{MCtff

o = 0.00971 lb· ft- S2 ( 77 .23995 radls2)

_( 10lb 2){0.5ft)2aBc-( 6lb 2){0.25ft)2aBc-(0.00388Ib.ft.s2)aBC

32.2 ftls 32.2 ftls

aBC = 8.05017 radls2

or aBC = 8.05 rad/s? ) aA = 0.5 ft(8.05017radls2) = 4.0251 ftls2

or a A = 4.03 ftls2 ...

Note: Answers can also be written

f1.Disk = (77.3 rad/s'' ) j aA = -(4.03 ftls2)i

PROBLEM 16.87

Derive the equation "iMe = lea for the rolling disk of Fig. 16.17, where "iMe represents the sum of the moments of the external forces about the instantaneous center C, and leis the moment of inertia of the disk about C.

SOLUTION

-

-

= (mra)r + Ia

2 - But, we know that Ie = mr + I

Thus:

'LMe = lea (Q.E.D.) ....

PROBLEM 16.88

Show that in the case of an unbalanced disk, the equation derived in Prob. 16.87 is valid only when the mass center G, the geometric center 0, and the instantaneous center C happen to lie in a straight line.

SOLUTION

Kinematics:

= ac + ex x rGic + ro x ( ro x rG/C)

or, since 0) j_ "o«:

- 2

a = ac + ex x rGic - t» "o«:

c

Kinetics:

-

-

Recall Eq. (1):

EMC = 7 a + rG/c x m( ac + ex x rG/c -w2rG/c ) EMc = 7 a + 'o«: x mac + mrGlc x (ex x rGlc) - mw2rG/c x rGic

But: rG/c x rG/c = 0 and ex j_ /c«:

Thus:

Since

- 2

lc= I + mrG/C

Eq. (2) reduces to EMc = lca when rG/c x mac = 0; that is, when rG/c and ac are collinear.

Referring to the first diagram, we note that this will occur only when points G, 0, and ere in a straight line. (Q.E.D.) ....

(1)

(2)

PROBLEM 16.89

A wheel of radius r and centroidal radius of gyration k is relea ed from rest on the incline and rolls without sliding. Derive an expression for the acceleration of the center of the wheel in terms of r, k, /3, and g.

SOLUTION

fa = mPa

ma = mra

(mgsin/3)r = (mra)r + mJC2a

rgsin/3 = (r2 + P)a

rgsin/3

a =, .,

r: + k '

_ rgsin/3

a = ra = r -:;----''-;:r2 + k2

2

a = 2 r 2 g sin /3 ~ r + k

PROBLEM 16.90

A flywheel is rigidly attached to a shaft of 30-mm radius that can roll along parallel rails as shown. When released from rest, the system rolls 5 m in 40 s. Determine the centroidal radius of gyration of the system.

SOLUTION

Kinematics:

Since r = 30 mm = 0.03 m

Kinetics:

S 1_, = vot + -ar 2

16 ft = 0 + 2.0{40 S)2 2

a = 0.00625 mls2

0= ra;

0.00625 mls2 = (0.03 m)a

a = 0.20833 rad/s '

-

-

+) LMe = L{ Me )efT: {mgsinI5°)r = fa + {mo)r {mgsinI5°)r = m_Pa + {m_ra)r

(9.81 mls2){0.03 m)sinI5° = [p + (0.03 m)2J( 0.20833 rad/s2) P = 0.36472 m2 => k = 0.60392 m

or k = 0.604 m ....