EGR 2513.

001 and 002

MT Exam #2
Spring 2014
Review Problems
Review Problems
Given:
At the instant shown, boat A
travels with a speed of 15
m/s, which is decreasing at 3
m/s
2
, while boat B travels
with a speed of 10 m/s,
which is increasing at 2 m/s
2
.
Find:
The velocity and acceleration
of boat A with respect to boat
B at this instant.
Example 1 (Section 16.8)
20 m
Example 1 (continued)
Solution:
Reference Frame: The xyz
rotating reference frame is
attached to boat B and
coincides with the XYZ fixed
reference frame at the instant
considered, Fig. a. Since
boats A and B move along the
circular paths, their normal
components of acceleration are

=

=
15
2
50
= 4.5 /
2

and

=

=
10
2
50
= 2.0 /
2
.
Review Problems
Thus, the motion of boats A and B with respect to the XYZ
frame are

= 15 /

= 10 /

= 4.5 3
2

= 2 2 /
2

Example 1 (continued)
Solution:
Also, the angular velocity and angular acceleration of the
xyz reference frame with respect to the XYZ reference
frame are
=

=
10
50
= 0.2 / = 0.2 /
=

=
2
50
= 0.04 /
2
= 0.04 /
2

Review Problems
Example 1 (continued)
Solution:
And the position of boat A with respect
to B is
/
= 20
Velocity: Applying the relative velocity equation,

+
/
+


15 = 10 + 0.2 20 +


15 = 14 +

= 29 /
Acceleration: Applying the relative acceleration equation,

+
/
+2

+


4.5 3
= 2 2 + 0.04 20 + 0.2 0.2 20
+ 2 0.2 29 +

= 8.8 2.8 +

= 4.3 0.2 /
2

Review Problems
Given:
The arm is rotating at a rate of

= 5 rad/s when

= 2 rad/s
2

and = 90.
Find:
The normal force it must exert
on the 0.5-kg particle if the
particle is confined to move
along the slotted path defined
by the horizontal hyperbolic
spiral = 0.2 m.
Example 2 (Section 13.6)
Review Problems
Example 2 (continued)
Solution:
=

2
rad

= 5 rad/s

= 2 rad/s
2

= 0.2 = 0.12732 m
= 0.2
2

= 0.40528 m/s
= 0.2 2
3

2
+
2

= 2.41801 m/s
2

2
= 2.41801 0.12732 5
2
= 0.7651 m/s
2

+2

= 0.12732 2 +2 0.40528 5 = 3.7982 m/s

2

Review Problems
Example 2 (continued)
tan =

=
0.2
0.2
2
=
= tan
1

2
= 57.5184
+

cos 32.4816 = 0.5 0.7651

: +

sin 32.4816 = 0.5 3.7982

+
Hence,

= 0.453 N
= 1.66 N
= -57.5184
32.4816
F
N
P

F
N
P

Therefore, both N
P
and F are acting
opposite to the assumed directions.
Why?
r

Review Problems
Example 3 (Section 13.6)
Given:
The pilot of an airplane
executes a vertical loop which
in part follows the path of a
cardioid, = 600 1 +cos ft.
His speed at A = 0 is a
constant

= 80 ft/s. He
weighs 150 lb
f
.
Find:
The vertical force the seat belt must exert on him to hold
him to his seat when the plane is upside down at A.
Review Problems
Example 3 (continued)
Solution:
r = 600 1 +cos |
=0
= 1200 ft
= 600sin

|
=0
= 0
= 600sin

600cos

2
|
=0
= 600

2
=
2
+

2
(1)
80
2
= 0 + 1200

2

yields

= 0.06667
Also by taking the time derivative of Eq. (1)
2

= 2 +2

0 = 0 +0 +2
2

yields

= 0
Review Problems
Example 3 (continued)
Thus,

2
= 600 0.06667
2
1200 0.06667
2
= 8 ft/s
2

+2

= 0 +0 = 0
Therefore,

+

: 150 =
150
32.2
8
yields
= 113 lb
f

Review Problems
Example 4 (Section 17.5)
Given:
The spool has a mass of
100 kg and a radius of
gyration

= 0.3 m. The
coefficients of static and
kinetic friction at A are and

= 0.2 and

= 0.15.
Find:
The angular acceleration of the spool if P = 600 N.
Review Problems
Example 4 (continued)
Solution:

=

: 600 +

= 100

(1)
+
+

=

:

100 9.81 = 0 (2)

+

: 600 0.25

0.4 = 100 0.3

2
(3)
Assuming a no slip condition at A, then

= 0.4. Solving
Eqs. (1) and (3) simultaneously for F
A
and and a
G
and
then Eq. (2) for N
A
, we have

= 15.6 rad/s
2

= 6.24 m/s
2

= 981 N

= 24.0 N
Since

= 0.2 981 = 196.2 N > 24.0 N, the no-
slip assumption checks.

Review Problems
Example 4 (continued)
Now, lets consider the effect of two potential errors in setting
up this problem.
Case 1 Friction Force in Wrong Direction
Consider the following FBD:
F
A

Still assuming

= 0.4 but that F

A
is in the
opposite direction, Eqs. (1) and (3) become,
600

= 40 (1a)
150 +0.4

= 9 (3a)
Solving these simultaneously, we have

= 15.6 rad/s
2

= 6.24 m/s
2

= 24.0 N
Which is identical to our original answer since it shows that
F
A
was chosen in the wrong direction. Therefore, this error
is self-correcting.
Review Problems
Example 4 (continued)
Case 2 and

in Inconsistent Directions
Assuming

= 0.4 (i.e., and

are in inconsistent
directions), Eqs. (1) and (3) become,
600 +

= 100

= 40 (1b)
150 0.4

= 9 (3b)
Solving these equations simultaneously, we have
= 12.2 rad/s
2

= 4.88 m/s
2

= 600.0 N

Since

>

, the no-slip assumption is incorrect and,
therefore,

= 0.15

= (0.15)(981) = 147.15 N.
Substituting this result into Eqs. (1 b) and (3b), we have

= 18.68 rad/s (1c)
= 10.13 rad/s (3c)
Review Problems
Example 4 (continued)
Case 2 (continued)
Therefore, there is no solution (i.e. the two lines do not
intersect) and, not surprisingly, the final results do not agree
with the correct solution. Therefore, the moral to this case is
to follow the admonition given in the Section 17.5 Lecture,
namely,

Be consistent in using the assumed directions. The
direction of a
G
must be consistent with .

Review Problems
Example 5 (Section 17.5)
Given:
Assume the 50-lb roller is a
uniform cylinder and the
friction coefficients between
the roller and the ground
are

= 0.25 and

= 0.2.
Find:
(a) The maximum force P that can be applied to the handle
so that the roller rolls on the ground without slipping
(b) The angular acceleration and acceleration of the
roller

with this P
(c) The angular acceleration and acceleration of the
roller

with P = 77 lb
f
.
Review Problems
Example 5 (continued)
Solution:
Equations of Motion: The
mass moment of inertia of the
roller about its mass center is

=

: cos 30

=
50
32.2

(1)
+

=
1
2

2
=
1
2
50
32.2
1.5
2
= 1.7469 slugft
2
. Therefore,
+

=

: sin30 50 = 0 (2)
+

1.5 = 1.7469 (3)

Since the roller is required to be on the verge of slipping,

= = 1.5 (4)

= 0.25 (5)
(a) and (b)
Review Problems
Example 5 (continued)
Solving Eqs. (1) through (5) yields
= 18.93 rad/s
2

= 76.37 lb
f
= 88.5 lb
f

= 28.39 ft/s
2

= 22.05 lb
f

(c) EOMs
Since P >76.37, the roller is slipping. If we set P = 77 lb
f
and

= 0.2 in Eqs. (1) and (3), we have the

following EOMs:
77cos 30 0.2 =
50
32.2

(1)
77sin30 50 = 0 = 88.5 (2)
0.2 1.5 = 1.7469 (3)
Review Problems
Example 5 (continued)
(c) continued
Using known values and solving Eqs. (1) through (3)
yields
= 15.19 rad/s
2

= 77.0 lb
f
= 88.5 lb
f

= 31.54 ft/s
2

= 17.7 lb
f

Comparing these results to the no-slip results tells us that
slipping causes the rollers translational acceleration to
increase and its rotational acceleration to decrease which is
intuitively correct since the frictional force, resisting the
translational motion and causing the rotation, is reduced.
Review Problems