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Kinetics of Particles
Question 31
A particle of mass m moves in the vertical plane along a track in the form of a
circle as shown in Fig. P3-1. The equation for the track is
r = r0 cos
Knowing that gravity acts downward and assuming the initial conditions (t =
= 0) =
0 , determine (a) the differential equation of motion for
0) = 0 and (t
the particle and (b) the force exerted by the track on the particle as a function
of .
r=
O
r0
os
Figure P 3-1
62
Solution to Question 31
Kinematics
Let F be a reference frame fixed to the track. Then, choose the following coordinate system fixed in reference frame F :
Ex
Ez
Ey
Origin at point O
=
=
=
Along OP when = 0
Out of page
Ez Ex
Next, let A be a reference frame fixed to the direction OP . Then, choose the
following coordinate system fixed in reference frame A:
er
ez
e
Origin at point O
=
=
=
Along OP
Ez
ez er
The geometry of the bases {Ex , Ey , Ez } and {er , e , ez } is shown in Fig. 3-1. Using
Fig. 3-1, we have that
Ex
Ey
= cos er sin e
(3.1)
= sin er + cos e
(3.2)
Ey
er
e
Ex
Figure 3-1
Next, the position of the particle is given in terms of the basis {er , e , ez } as
r = r er = r0 cos er
(3.3)
Furthermore, since the angle is measured from the fixed horizontal direction,
the angular velocity of A in F is given as
F
z
A = e
(3.4)
63
Applying the transport theorem to r from reference frame A to F , the velocity
of the particle in reference frame F as
F
v=
dr Adr F A
=
+ r
dt
dt
(3.5)
Now we have
A
dr
sin er
= r0
dt
F A
z r0 cos er = r0
cos e
r = E
(3.6)
(3.7)
Adding the expressions in Eq. (3.6) and Eq. (3.7), we obtain the velocity in reference frame F as
F
sin er + r0
cos e
v = r0
(3.8)
Re-writing Eq. (3.8), we obtain
F
sin er + cos e )
v = r0 (
(3.9)
v = kF vk = r0
(3.10)
(3.11)
det /dt
k det /dtk
(3.12)
A
det
det F A
=
+ et
dt
dt
(3.13)
Now
A
det
dt
F A
et
cos er
sin e
=
z ( sin er + cos e )
= e
cos er
sin e
=
(3.14)
(3.15)
Consequently,
F
det
cos er 2
sin e
= 2
dt
(3.16)
64
en =
(3.17)
(3.18)
a=
d F A d F F A F
v =
v + v
dt
dt
(3.19)
Now we have
A
d F
t + r0
det
v
= r0 e
dt
dt
cos er
sin e )
= r0 et + r0 (
t + r0
2 ( cos er sin e )
= r0 e
t + r0
2 en
= r0 e
z r0 e
t
v = e
2 en
t = r0
b r0 e
= e
(3.20)
(3.21)
where we note that the results of Eqs. (3.14) and (3.17) have been used to obtain
the result given in Eq. (3.20). Therefore,
F
t + 2r0
2 en
a = r0 e
(3.22)
Kinetics
Next, in order to obtain the differential equation of motion, we need to apply
Newtons 2nd Law to the particle. The free body diagram of the particle is given
in Fig. 3-2 as where
m
N
mg
Figure 3-2
N
= Reaction Force of Track on Particle
mg = Force of Gravity
65
Now we know that the reaction force is orthogonal to the track while gravity
acts vertically downward. Consequently, we have that
N = Nn en + Nb
mg = mgEy
(3.23)
(3.24)
Then, using the expression for Ey from Eq. (3.2), we obtain the force of gravity
as
mg = mg(sin er + cos e ) = mg sin er mg cos e
(3.25)
The total force on the particle is then given as
F = N + mg = Nn en + Nb eb mg sin er mg cos e
(3.26)
Applying Newtons 2nd Law using the acceleration from Eq. (3.22), we obtain
t + 2mr0
2 en
Nn en + Nb eb mg sin er mg cos e = mr0 e
(3.27)
Now it is seen that the unknown reaction forces exerted by the track lie in the
directions of en and eb . Therefore, the reaction force exerted by the track can
be eliminated if the scalar product with et is taken with both sides of Eq. (3.27)
as
t +2mr0
2 en )et (3.28)
(Nn en +Nb eb mg sin er mg cos e )et = (mr0 e
Then, observing that en et = eb et = 0, Eq. (3.28) simplifies to
(3.29)
Now, using the expression for et from Eq. (3.11), we have that
er et
e et
(3.30)
(3.31)
Substituting the results of Eq. (3.30) and Eq. (3.31) into Eq. (3.29), we obtain
(3.32)
(3.33)
mg cos 2 = mr0
(3.34)
Next, taking the scalar product of Eq. (3.28) in the en direction, we obtain
2
Nn mg sin er en mg cos e en = 2mr0
(3.35)
66
Then, using the expression for en from Eq. (3.17), we have that
er en
e en
(3.36)
(3.37)
Substituting the results of Eq. (3.36) and Eq. (3.37) into Eq. (3.35) gives
2
Nn + mg sin cos + mg cos sin = 2mr0
(3.38)
(3.39)
(3.40)
Finally, taking the scalar product of Eq. (3.28) in the eb direction, we obtain
Nb = 0
(3.41)
The following three scalar equations then result from Eqs. (3.34), Eq. (3.40), and
Eq. (3.41):
= mg cos 2
mr0
2 = Nn + mg sin 2
2mr0
0 = Nb
(3.42)
(3.43)
(3.44)
(3.45)
Rearranging this last equation, we obtain the differential equation of motion for
the particle as
+ g cos 2 = 0
(3.46)
r0
Force Exerted by Track on Particle As a Function of
First we note the following:
d
= d = d d =
dt
d dt
d
(3.47)
d + g cos 2 = 0
d
r0
(3.48)
67
Rearranging Eq. (3.48) and separating variables, we obtain
= g cos 2d
d
r0
(3.49)
(3.50)
0
r0
(3.51)
We then obtain
2 mg sin 2
Nn = 2mr0
(3.52)
2 g sin 2 mg sin 2
Nn = 2mr0
0
r0
(3.53)
(3.54)
(3.55)
68
Question 32
A collar of mass m slides without friction along a rigid massless rod as shown
in Fig. P3-2. The collar is attached to a linear spring with spring constant K and
unstretched length L. Assuming no gravity, determine the differential equation
of motion for the collar.
O
K
m
x
Figure P 3-2
Solution to Question 32
First, let F be a fixed reference frame. Then, choose the following coordinate
system fixed in reference frame F :
Ey
Ez
Ex
Origin at Attachment
Point of Spring
=
Up
=
Out of Page
=
Ey Ez
Then, in terms of the basis {Ex , Ey , Ez }, the position of the collar is given as
r = xEx LEy
(3.56)
Since reference frame F is fixed and L is constant, the velocity of the collar in
reference frame F is given as
F
v=
dr
x
= xE
dt
(3.57)
a=
d F
x
v = xE
dt
(3.58)
Next, using the free body diagram of the collar as shown in Fig. 3-3, we have
that
Fs = Spring Force
N = Reaction Force of Rod on Collar
69
N
Fs
Figure 3-3
(3.59)
(3.60)
(3.61)
where the position of the attachment point is zero, i.e., rA = 0. Therefore, the
stretched length of the spring is given as
p
= krk = kxEx LEy k = x 2 + L2
(3.62)
Furthermore, the unstretched length of the spring is given as
0 = L
(3.63)
Finally, the direction from the attachment point to the particle, us , is given as
us =
xEx LEy
r rA
=
kr rA k
x 2 + L2
(3.64)
i xEx LEy
hp
x 2 + L2 L
x 2 + L2
(3.65)
hp
hp
i
i
x
L
Ex + K x 2 + L2 L
Ey
x 2 + L2 L
2
2
2
x +L
x + L2
(3.66)
70
hp
i
x 2 + L2 L
x
x 2 + L2
(3.69)
i
hp
x 2 + L2 L
x
x2
+ L2
=0
(3.70)
71
Solution to Question 33
A bead of mass m slides along a fixed circular helix of radius R and constant
helical inclination angle as shown in Fig. P3-3. The equation for the helix is
given in cylindrical coordinates as
z = R tan
(3.71)
Knowing that gravity acts vertically downward, determine the differential equation of motion for the bead in terms of the angle using (a) Newtons 2nd law
and (b) the work-energy theorem for a particle. In addition assuming the initial
= 0) =
0 , determine (c) the displacement
conditions (t = 0) = 0 and (t
attained by the bead when it reaches its maximum height on the helix.
Om P
Figure P 3-3
Solution to Question 33
Kinematics
Let F be a reference frame fixed to the helix. Then, choose the following coordinate system fixed in reference frame F :
Ex
Ey
Ez
Origin at O
=
=
=
Along er at t = 0
Along e at t = 0
er e
72
er
ez
e
Origin at O
=
=
=
Now, since is the angle formed by the helix with the horizontal, we have from
the geometry that
z = R tan
(3.72)
Suppose now that we make the following substitution:
tan
(3.73)
(3.74)
+ R e
z
v = R e
(3.78)
p
1 + 2 d F s
v = kF vk = R
dt
(3.79)
Consequently,
F
p
ds = R 1 + 2 d
(3.80)
ds =
p
R 1 + 2 d
(3.81)
73
We then obtain
F
p
s F s0 = R 1 + 2 ( 0 )
(3.82)
(3.83)
Fv
(3.84)
Fv
Using the speed from Eq. (3.79) and the velocity from Eq. (3.78), the tangent
vector in reference frame F is obtained as Substituting the expressions for F v
and F v from part (a) into Eq. (3.84), we obtain
et =
+ R e
z
R e
1 + 2
R
(3.85)
(3.86)
Next, we have
F
det
= F ven
dt
(3.87)
Applying the rate of change transport theorem between reference frames A and
F , we have
F
A
det
det F A
=
+ et
(3.88)
dt
dt
where
A
det
dt
A et
= 0
(3.89)
z e + ez =
er
= e
1 + 2
1 + 2
(3.90)
det
er
=
dt
1 + 2
(3.91)
F
F
det /dt
k det /dtk
= er
(3.92)
74
(3.93)
1
det /dt
=
Fv
R(1 + 2 )
(3.94)
a=
2
d F
v et + F v en
dt
(3.95)
(3.96)
2
h p
i2
1
1 + 2 = R
2
R
R(1 + 2 )
(3.97)
p
2 en
1 + 2 et + R
a = R
(3.98)
Kinetics
Using the free body diagram in Fig. 3-4, we have that
Nn = Reaction Force of Track on Bead in en Direction
Nb = Reaction Force of Track on Bead in eb Direction
mg = Force of Gravity
Therefore,
Nb
Nn
mg
Figure 3-4
(3.99)
75
From the geometry we have that
Nn
Nb
= Nn en
= Nb en
(3.100)
(3.101)
mg = mgez
(3.102)
F = Nn en + Nb eb mgez
(3.103)
Consequently,
Now from Eqs. (3.86) and (3.93) we have
et
eb
e + ez
1 + 2
e ez
=
1 + 2
(3.104)
1 + 2 et
1 + 2 eb
= e + 2 ez
= e ez
(3.105)
(3.106)
F = Nn en + Nb eb mg
1 + 2
Separating this last equation into components, we obtain
mg
mg
F =
eb
et + Nn en + Nb
1 + 2
1 + 2
(3.107)
(3.108)
(3.109)
et + Nn en + Nb
eb = mR
1 + 2
1 + 2
76
Equating components in Eq. (3.110) yields the following three scalar equations:
mg
1 + 2
Nn
Nb
p
1 + 2
= mR
2
= mR
mg
=
1 + 2
(3.111)
(3.112)
(3.113)
It is noted that, because it contains no reaction forces, Eq. (3.111) is the differential equation of motion for the particle, i.e., the differential equation of motion
is given as
p
1 + 2 + mg = 0
(3.114)
mR
1 + 2
+ mg = 0
mR(1 + 2 )
(3.115)
g
=0
R(1 + 2 )
(3.116)
Then, using the the fact that = tan from Eq. (3.73), we obtain
+
g
tan = 0
R(1 + tan2 )
(3.117)
(3.118)
Using the result of Eq. (3.118) in Eq. (3.117), we obtain the differential equation
of motion as
+ g tan = 0
(3.119)
R sec2
(b) Differential Equation Using Work-Energy Theorem
Applying the work-energy theorem to the bead, we have
d F
T = F Fv
dt
(3.120)
Using the expression for F v from Eq. (3.78), the kinetic energy in reference frame
F is given as
F
T =
1 F
1
2 2 R 2
2 ) = 1 mR 2 (1 + 2 )
2
m v F v = m(R 2
2
2
2
(3.121)
77
Computing the rate of change of kinetic energy, we obtain
d F
T = mR 2 (1 + 2 )
dt
(3.122)
Next, using the resultant force acting on the bead as given in Eq. (3.109), the
power produced by all forces is given as
mg
mg
(3.123)
eb F v
et + Nn en + Nb
F Fv =
1 + 2
1 + 2
Recalling by definition that F v = F vet , Eq. (3.123) simplifies to
mg F
F Fv =
v
1 + 2
(3.124)
(3.125)
= mg R
mR 2 (1 + 2 )
1 + 2
Rearranging Eq. (3.126) yields
p
mR 2 (1 + 2 )
+ mg R 1 + 2 = 0
1 + 2
(3.126)
(3.127)
(3.130)
Using the expressions for Nn and Nb from Eq. (3.100) and Eq. (3.101), we have
that
Fnc = Nn en + Nb eb
(3.131)
78
(3.133)
d F
E =0
dt
(3.134)
Consequently,
E = constant
(3.135)
T + F U = constant
(3.136)
Next, we know that the bead will attain its maximum distance when its velocity is
= 0. Using Eq. (3.136),
zero, i.e., the maximum distance will be attained when
we have that
F
T0 + F U 0 = F T1 + F U 1
(3.137)
where the subscript 0 is at time t = t0 = 0, and the subscript 1 is at time t =
= 0. We already have the kinetic energy of the bead from Eq. (3.121).
t1 when
Next, since the only conservative force acting on the bead is due to gravity, the
potential energy of the bead in reference frame F is given as
F
U = F Ug = mg r
(3.138)
Substituting the expression for r from Eq. (3.74) and the expression for mg from
Eq. (3.102) into Eq. (3.138), we obtain
F
T and
(3.139)
1
2 (1 + 2 ) + mgR = constant
mR 2
2
(3.140)
(3.141)
79
Now we know that since the maximum distance is obtained when the velocity of
1 = 0. Furthermore, since the initial value
the bead is zero, we must have that
of is zero, we have that 0 = 0. Consequently, Eq. (3.141) reduces to
1
2 (1 + 2 ) = mgR1
mR 2
0
2
(3.142)
2 (1 + 2 )
R
0
2g
(3.143)
Finally, since the distance traveled along the helix is equivalent to the arclength,
the distance traveled along the helix is given from Eq. (3.83) as
F
p
2 (1 + 2 )
R
0
s = R 1 + 2
2g
(3.144)
Simplifying Eq. (3.144), we obtain the maximum distance traveled along the incline as
3/2
2
R2
0
F
1 + 2
(3.145)
s=
2g
80
Question 35
A collar of mass m is constrained to move along a frictionless track in the form
of a logarithmic spiral as shown in Fig. P3-5. The equation for the spiral is given
as
r = r0 ea
where r0 and a are constants and is the angle as shown in the figure. Assuming that gravity acts downward, determine the differential equation of motion in
terms of the angle using (a) Newtons 2nd law and (b) the work-energy theorem
for a particle.
r0
e a
Figure P 3-5
Solution to Question 35
Kinematics
Let F be a reference frame fixed to the track. Then, choose the following coordinate system fixed in reference frame F :
Ex
Ez
Ey
Origin at O
=
=
=
To the Right
Out of Page
Ez Ex
Next, let A be a reference frame fixed to the direction of Om. Then, we choose
the following coordinate system fixed in reference frame F :
er
Ez
e
Origin at O
=
=
=
Along Om
Out of Page
Ez e r
81
The relationship between the bases {Ex , Ey , Ez } and {er , e , ez } is given as
er
e
= cos Ex + sin Ey
= sin Ex + cos Ey
(3.146)
(3.147)
(3.148)
v=
dr Adr F A
=
+ r
dt
dt
(3.150)
where
A
dr
a er
= rer = ar0 e
dt
F A
z r er = E
z r0 ea er = r0 e
a e
r = E
(3.151)
(3.152)
Adding the expressions in Eq. (3.151) and Eq. (3.152), we obtain the velocity of
the particle in reference frame F as
F
a er + r0 e
a e
v = ar0 e
(3.153)
a [aer + e ]
v = r0 e
(3.154)
Now we need the acceleration of the collar in reference frame F . For this problem it is most convenient to obtain F a in terms of an intrinsic basis as viewed
by an observer fixed to the track. First, the tangent vector is given as
et =
Fv
kF vk
Fv
kF vk
(3.155)
where F v is the speed of the particle in reference frame F . Now we know that
the speed of the particle in reference frame F is given as
p
F
a a2 + 1
(3.156)
v = kF vk = r0 e
Dividing F v in Eq. (3.154) by F v in Eq. (3.156), we obtain et as
aer + e
et =
a2 + 1
(3.157)
82
det /dt
k det /dtk
(3.158)
where
det
dt
A
det F A
det
=
+ et
dt
dt
= 0
+ e
er + ae
z ae
r
=
et = E
2
a +1
a2 + 1
Adding the expressions in Eq. (3.160), we obtain
(3.159)
(3.160)
F A
Consequently,
Dividing
det
er + ae
=
dt
a2 + 1
F de
t
=
dt
(3.161)
(3.162)
(3.163)
kF det /dtk
Fv
(3.164)
Substituting kF det /dtk from Eq. (3.162) and F v from Eq. (3.156), we obtain
as
1
(3.165)
=
a
r0 e
a2 + 1
The acceleration is then given in terms of the intrinsic basis as
2
d F
F
a=
v et + F v en
(3.166)
dt
Now we have that
Furthermore,
2
Fv =
p
d F
a
2 )ea a2 + 1
v = r0 (
dt
(3.167)
(3.168)
r0 ea a2 + 1
p
2 e2a (a2 + 1) = r0
2 ea a2 + 1
r02
(3.169)
83
Kinetics
The free body diagram of the particle is shown in Fig. 3-5. It can be seen that
N
Figure 3-5
mg
the following two forces act on the collar: (1) the reaction force of the track, N,
and (2) gravity, mg. Since N acts in the direction normal to the track, we have
N = Nn en
(3.170)
(3.171)
(3.173)
(3.174)
(3.175)
84
Now, using the expression for et from Eq. (3.157) and the expression for en from
Eq. (3.163), we have that
er et
e et
a
aer + e
=
= er
2
2
a +1
a +1
aer + e
1
= e
=
2
2
a +1
a +1
(3.177)
a
a2 + 1
mg cos
1
a2 + 1
p
a
2 )
= mr0 ea a2 + 1(
(3.178)
(3.179)
ea (cos a sin ) = 0
r0 (a2 + 1)
(b) Differential Equation Using Work-Energy Theorem for a Particle
To obtain the differential equation of motion using the work-energy, we choose
to apply the alternate form of the work-energy theorem for a particle. The
alternate form of the work-energy theorem is given in reference frame F as
d F
E = Fnc F v
dt
(3.180)
Now for this problem we know that the only two forces acting on the particle are
the force of gravity and the reaction force of the track. Moreover, we know that
the force of gravity is conservative while the reaction force is non-conservative.
Therefore, we have Fnc as
Fnc = N
(3.181)
Now, since N acts in the direction of en and F v acts in the direction of et , we
have that
Fnc F v = N F v = Nen F vet = 0
(3.182)
Consequently,
d F
E =0
dt
(3.183)
E = FT + FU
(3.184)
T =
1 F
m v Fv
2
(3.185)
85
Using the expression for
reference frame F as
F
Fv
1 a
a [aer + e ]
m r0 e
[aer + e ] r0 e
2
1
2 e2a
= mr02 (a2 + 1)
2
T =
(3.186)
Next, since gravity is the only conservative force acting on the particle, the potential energy in reference frame F is given as
F
U = F Ug
(3.187)
Ug = mg r
(3.188)
Using the expression for r from Eq. (3.148) and the expression for mg from
Eq. (3.171), we obtain F Ug as
F
Ug = mg r = (mgEy ) r0 ea er = mgr0 ea Ey er
(3.189)
(3.190)
Ug = mgr0 ea sin
(3.191)
Then, adding Eq. (3.186) and Eq. (3.191), the total energy in reference frame F
is given as
F
E = FT + FU =
1
2 e2a + mgr0 ea sin
mr02 (a2 + 1)
2
(3.192)
(3.193)
86
Simplifying Eq. (3.194) and setting the result equal to zero, we obtain
i
d F h
a
2 ) + mgr0 ea (cos a sin ) = 0
E = mr02 (a2 + 1)e2a (
dt
(3.195)
(3.196)
Then, dividing Eq. (3.196) by mr02 (a2 + 1)e2a , we obtain the differential equation of motion as
a
2 +
g
ea (cos a sin ) = 0
r0 (a2 + 1)
(3.197)
It is seen that the result of Eq. (3.197) is identical to that obtained in part (a).
87
Question 37
A particle of mass m slides without friction along the inner surface of a fixed
cone of semi-vertex angle as shown in the Fig. P3-7. The equation for the cone
is given in cylindrical coordinates as
z = r cot
Knowing that the basis {Ex , Ey , Ez } is fixed to the cone, that is the angle between the Ex -direction and the direction OQ where Q is the projection of the
particle into the {Ex , Ey }-plane, and that gravity acts vertically downward, determine a system of two differential equations in terms of r and that describe
the motion of the particle.
Ez
g
m
Ey
Ex
Figure P 3-7
Solution to Question 37
Kinematics
First, let F be a reference frame fixed to the cone. Then, choose the following
coordinate system fixed in reference frame F :
Ex
Ey
Ez
Origin at O
=
=
=
As Given
As Given
Ex Ey = As Given
Next, let A be a reference frame fixed to the plane formed by the points O, Q,
and P . Then, choose the following coordinate system fixed in reference frame
88
A:
er
ez
e
Origin at O
=
=
=
Along OQ
Ez
Ez er
(3.198)
v=
dr Adr F A
=
+ r
dt
dt
(3.200)
dr
= rer + r cot ez
dt
F A
z (r er + r cot ez ) = r e
r = e
(3.201)
(3.202)
Adding the expressions in Eq. (3.201) and Eq. (3.202), we obtain the velocity of
the particle in reference frame F as
F
+ r cot ez
v = rer + r e
(3.203)
Next, applying the rate of change transport theorem to F v, we obtain the acceleration of the particle in reference frame F as
F
a=
d F Ad F F A F
v =
v + v
dt
dt
(3.204)
d F
+ r )e
+ r cot ez
v
= rer + (
r
(3.205)
dt
F A
r
2 er (3.206)
+ r cot Ez = re
z rer + r e
F v = E
Adding the expressions in Eq. (3.205) and Eq. (3.206), we obtain the acceleration
of the particle in reference frame F as
F
2 )er + (r
+ 2
+ r cot ez
a = (
r r
r )e
(3.207)
89
N
m
mg
Figure 3-6
Kinetics
In order to determine the differential equations of motion, we need to apply
Newtons 2nd Law, i.e., we need to apply F = mF a. The free body diagram of
the particle is shown in Fig. 3-6. Using Fig. 3-6, we see that the only two forces
acting on the particle are
N
= Reaction Force of Cone on Particle
mg = Force of Gravity
Since we now that N must lie in the direction orthogonal to the surface of the
cone while the force of gravity acts vertically downward, we can write N and
mg, respectively, as
N = Nn
mg = mgez
(3.208)
(3.209)
where n is the direction orthogonal to the surface of the cone at the location of
the particle. Now we know that the direction orthogonal to the surface of the
cone is the same as the direction of the gradient of the function that describes
the cone. In particular, the function that describes the surface of the cone is
given as
z = r cot
(3.210)
Rearranging Eq. (3.210), the function that describes the surface of the cone is
given in cylindrical coordinates as
f (r , , z) = z r cot = 0
(3.211)
f
1 f
f
er +
e +
ez
r
r
z
(3.212)
90
where
f
r
f
f
z
We then obtain f as
= cot
(3.213)
= 0
(3.214)
= 1
(3.215)
f = cot er + ez
(3.216)
cot er + ez
f
= q
kf k
1 + cot2
(3.217)
(3.218)
Substituting the result of Eq. (3.218) into Eq. (3.217), we obtain the unit normal
to the surface of the cone as
n = sin ( cot er + ez ) = cos er + sin ez
(3.219)
Then, substituting the expression for n from Eq. (3.219) into Eq. (3.208), we
obtain the reaction force of the cone on the particle as
N = N( cos er + sin ez ) = N cos er + N sin ez
(3.220)
0 = m(r
r )
N sin mg
= m
r cot
(3.223)
(3.224)
(3.225)
91
Now, it is seen that Eq. (3.224) has no unknown reaction forces. Consequently,
Eq. (3.224) is one of the differential equations of motion. Dropping m from
Eq. (3.224), the first differential equation of motion can be written as
+ 2
=0
r
r
(3.226)
The second differential equation of motion can be obtained using Eq. (3.223)
and Eq. (3.223). In particular, we can rearrange Eq. (3.225) as
N sin = m
r cot + mg
(3.227)
(3.228)
r cot + g
2
r r
2 ) tan =
(
r r
r cot g
(3.229)
(3.230)
(3.231)
(3.232)
Once again, using the fact that 1 + cot2 = csc2 , Eq. (3.232) simplifies to
2 + g cot = 0
csc2
r r
(3.233)
Dividing Eq. (3.233) by csc2 , we obtain the second differential equation of motion as
2 sin2 + g cos sin = 0
r r
(3.234)
The two differential equations that govern the motion of the particle are then
given from Eq. (3.226) and Eq. (3.234) as
+ 2
= 0
r
r
(3.235)
(3.236)
92
Question 39
A particle of mass m is attached to one end of a flexible but inextensible massless rope as shown in Fig. P3-9. The rope is wrapped around a cylinder of radius
R where the cylinder rotates with constant angular velocity relative to the
ground. The rope unravels from the cylinder in such a manner that it never
becomes slack. Furthermore, point A is fixed to the cylinder and corresponds
to a configuration where no portion of the rope is exposed while point B is the
instantaneous point of contact of the exposed portion of the rope with the cylinder. Knowing that the exposed portion of the rope is tangent to the cylinder
at every instant of the motion, that is the angle between points A and B, and
= 0) = (where = kk),
assuming the initial conditions (t = 0) = 0, (t
determine (a) the angular velocity of the exposed portion of the rope as viewed
by an observer fixed to the ground, (b) the acceleration of the particle as viewed
by an observer fixed to the ground, (c) the differential equation for the particle
in terms of the variable , and (d) the tension in the rope as a function of time.
m
P
B
O
R
Figure P 3-9
Solution to Question 39
Kinematics
First, let F be a reference frame that is fixed in the ground. Then, choose the
following coordinate system fixed in reference frame F :
Ex
Ez
Ey
Origin at O
=
=
=
Along OA at t = 0
Out of Page
Ez Ex
93
Next, let A be a reference frame fixed to the cylinder. Then, choose the following
coordinate system fixed in reference frame A:
ux
uz
uy
Origin at O
=
=
=
Along OA
Out of Page
uz ux
Finally, let B be a reference frame fixed to the rope. Then, choose the following
coordinate system fixed in reference frame B:
ex
ez
ey
Origin at B
=
=
=
Along OB
Out of Page
ez ex
Now, we note that the cylinder rotates with constant angular velocity
about the uz -direction. Consequently, the angular velocity of the cylinder in
reference frame F is given as
F
A = = uz
(3.237)
Next, since A is fixed in the cylinder and B is fixed in the rope, the angular
velocity of the rope relative to the cylinder is equivalent to the angular velocity
of reference frame B relative to reference frame A. Observing from Fig. 3-7 that
defines the rotation of the rope relative to the cylinder, we have that
A
z
B = e
(3.238)
Then, applying the angular velocity addition theorem, the angular velocity of
the rope relative to the ground is obtained by adding the results of Eq. (3.237)
and Eq. (3.238) to obtain
F
z = ( + )e
z
B = F A + A B = uz + e
(3.239)
where we note that uz = ez . Next, we know that, when no portion of the rope is
exposed (i.e., s = 0), the particle is in contact with point A on the cylinder. Using
Fig. 3-7 along with the fact that the cylinder is circular, the arclength along the
cylinder from point A to point B is given as
s = R
(3.240)
s = R
(3.241)
Next, the position of the particle is given in terms of the basis {ex , ey , ez } as
r = Rex sey = Rex Rey
(3.242)
94
s=
R
A
R
Figure 3-7
v=
dr Bdr F B
=
+ r
dt
dt
(3.243)
where
B
dr
dt
y
= R e
F B
ez Rex Rey
r =
+
ex + R +
ey
= R +
(3.244)
(3.245)
Adding the expressions in Eq. (3.244) and Eq. (3.245), we obtain the velocity of
the particle in reference frame F as
F
y + R +
ex + R +
ey
v = R e
(3.246)
Simplifying Eq. (3.246), we obtain
F
ex + Rey
v = R +
(3.247)
v=
d F B d F F B F
v =
v + v
dt
dt
(3.248)
where
B
h
i
d F
+
+ R
ex
v
=
R
dt
i
h
F B
ez R +
ex + Rey
Fv =
+
(3.249)
95
2
ex + R +
ey
= R +
(3.250)
Adding Eq. (3.249) and Eq. (3.250), we obtain the acceleration of the particle in
reference frame F
F
h
i
2
+
+ R
ex R +
ex + R +
ey
a = R
(3.251)
h
i
2
2 + R
R2 ex + R +
ey
a = R
(3.252)
T
Figure 3-8
(3.254)
mR +
= T
(3.255)
(3.256)
(3.257)
2 + R
R2 = 0
R
(3.258)
(3.259)
96
2 +
= d
dt
(3.260)
(3.261)
(3.262)
where c1 is an arbitrary constant of integration. Then, applying the initial condition (t = 0) = 0, we have that
c1 = 0
(3.263)
= 2 t
(3.264)
Therefore, we have
Then, separating variables in Eq. (3.264), we obtain
d = 2 tdt
(3.265)
(3.266)
(3.267)
2 t 2
2
=
2
2
(3.268)
2 = 2 t 2
(3.269)
Consequently,
which gives
Since has to be positive, we can take the principal square root of Eq. (3.269)
to obtain
= t
(3.270)
Differentiating with respect to time, we have
=
(3.271)
97
from Eq. (3.271) into Eq. 3.257 gives
Then, substituting from Eq. (3.270) and
T = mRt ( + )2 = 4mR3 t
The tension in the rope is then given as
h
i
T = 4mR3 t ey
(3.272)
(3.273)
98
Question 310
A particle of mass m moves under the influence of gravity in the vertical plane
along a track as shown in Fig. P3-10. The equation for the track is given in
Cartesian coordinates as
y = ln cos x
where /2 < x < /2. Using the horizontal component of position, x, as the
variable to describe the motion determine the differential equation of motion
for the particle using (a) Newtons 2nd law and (b) one of the forms of the workenergy theorem for a particle.
Ey
g
m
y = ln cos x
O
Ex
Figure P 3-10
(3.274)
Now, since the basis {Ex , Ey , Ez } does not rotate, the velocity in reference frame
F is given as
F
x +x
tan xEy
v = xE
(3.275)
Using the velocity from Eq. (3.275), the speed of the particle in reference frame
F is given as
q
F
F
1 + tan2 x = x
sec x
v = k vk = x
(3.276)
99
Arclength Parameter as a Function of x
Now we recall the arclength equation as
q
d F F
1 + tan2 x = x
sec x
s = v=x
dt
(3.277)
ds = sec xdx
(3.278)
(3.279)
x0
s s0 = ln [sec x
+ tan x]x
x0
sec x + tan x
= ln
sec x0 + tan x0
(3.280)
(3.281)
s = ln
sec x + tan x
sec x0 + tan x0
(3.282)
Intrinsic Basis
Next, we need to compute the intrinsic basis. First, we have the tangent vector
as
Fv
x + tan xEy )
x(E
tan x
1
Ex +
Ey
(3.283)
=
et = F =
sec x
sec x
sec x
x
v
Now we note that sec x = 1/ cos x. Therefore,
tan x
= sin x
sec x
(3.284)
(3.285)
det
= F ven
dt
(3.286)
100
det
sin xEx + x
cos xEy
= x
dt
(3.287)
Consequently,
F de
t
=x
= Fv
dt
F
sin xEx + x
cos xEy
x
det /dt
=
en =
= sin xEx + cos xEy
F
x
det /dt
(3.288)
(3.289)
1
x
=
= cos x
sec x
x
sec x
(3.290)
(3.291)
mg
free body diagram, we can see that
N
= Nen
mg = mgEy
Therefore, the resultant force acting on the particle is
F = N + mg = Nen mgEy
(3.292)
a=
d F
v et + F v en
dt
(3.293)
101
Now, using F v from Eq. (3.276), we obtain d(F v)/dt as
h
i
d F
sec x + x
2 sec x tan x = sec x x
+x
2 tan x
v =x
dt
Then, using from Eq. (3.290) we obtain
sec x)2 = x
2 sec x
F v = cos x(x
(3.294)
(3.295)
(3.296)
Setting F from Eq. (3.292) equal to mF a using F a from Eq. (3.296), we obtain
h
i
+x
2 tan x et + mx
2 sec xen
Nen mgEy = m sec x x
(3.297)
Now we can take the scalar products on both sides of Eq. (3.297) in the et and
en directions. Taking the scalar product on both sides of Eq. (3.297) in the
et -direction, we obtain
i
h
+x
2 tan x
(3.298)
mgEy en = m sec x x
(3.299)
(3.300)
sec x + x
2 sec x tan x + g sin x = 0
x
(3.303)
102
Question 311
A particle of mass m moves in the horizontal plane as shown in Fig. P3-11. The
particle is attached to a linear spring with spring constant K and unstretched
length while the spring is attached at its other end to the fixed point O. Assuming no gravity, (a) determine a system of two differential equations of motion
for the particle in terms of the variables r and , (b) show that the total energy
of the system is conserved, and (c) show that the angular momentum relative to
point O is conserved.
O
r
K
Figure P 3-11
er
Ez
e
Origin at O (Corner)
=
Along Om
=
Out of Page
=
Ez er
(3.304)
z
A = E
(3.305)
103
The velocity in reference frame F is computed from the rate of change transport
theorem as
F
dr Adr F A
F
=
+ r
(3.306)
v=
dt
dt
where
Adr
dt
= rer
F A
(3.307)
z r er = r e
r = E
v = rer + r e
a=
(3.308)
F v,
d F Ad F F A F
v =
v + v
dt
dt
(3.309)
where
Ad
dt
Fv
F A
+ r )e
= rer + (
r
z (
) = r
2 er + re
F v = E
r er + r e
(3.310)
2 )er + (r
+ 2
a = (
r r
r )e
(3.311)
Figure 3-9
we note that the general form for the force of a linear spring is
Fs = K( 0 )us
(3.312)
104
Now since the attachment point of the spring for this problem is rA = 0, we
have that
= kr rA k = krk = r
(3.313)
Furthermore, the direction us is given as
us =
r er
r rA
=
= er
kr rA k
r
(3.314)
(3.315)
(3.316)
Next, since the only force acting on the particle is that of the spring, we can set
Fs from Eq. (3.316) equal to mF a from Eq. (3.311) to give
2 )er + m(r
+ 2
K [r L] er = m(
r r
r )e
(3.317)
(3.318)
Since there are no reaction forces in either of the equations in Eq. (3.318), these
two equations are the differential equations of motion for the particle.
Conservation of Energy
From the work-energy theorem for a particle, we have that
d F
E = Fnc F v
dt
(3.319)
For this problem, the only force acting on the particle is that of the linear spring.
Since the spring force is conservative, we have that Fnc = 0. Therefore,
d F
E =0
dt
(3.320)
E = constant
(3.321)