PROBLEM 18.

16

Determine the angular momentum of the shaft of Problem 18.15

about (a) Point A, (b) Point B.

SOLUTION

ω = (12 rad/s)i, ω y = ω z = 0, m = 5 kg

( H G ) x = I xω

( H G ) y = − I xyω

( H G ) z = − I xzω

The shaft is comprised of 8 sections, each of length

m
a = 0.25 m and of mass m′ = = 0.625 kg.
8

1  10 10
I x = (4)  m′a 2  + (2)(m′a 2 ) = m′a 2 = (0.625)(0.25)2 = 0.130208 kg ⋅ m 2
3  3 3
I xy = 0
 a
I xz = (4)  m′a  = 2m′a 2 = (2)(0.625)(0.25) 2 = 0.078125 kg ⋅ m 2
 2
( H G ) x = (0.130208)(12) = 1.5625 kg ⋅ m 2 /s
(HG ) y = 0
( H G ) z = −(0.078125)(12) = −0.9375 kg ⋅ m 2 /s
H G = (1.5625 kg ⋅ m 2 /s)i − (0.9375 kg ⋅ m 2 /s)k

Since Point G lies on the axis of rotation, its velocity is zero.

v = vG = 0

(a) H A = H G + rG /A × mv = H G H A = (1.563 kg ⋅ m 2 /s)i − (0.938 kg ⋅ m 2 /s)k 

(b) H B = H G + rG /B × mv = H G H B = (1.563 kg ⋅ m 2 /s)i − (0.938 kg ⋅ m 2 /s)k 

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1979
 PROBLEM 18.17

Two L-shaped arms, each weighing 4 lb, are welded at the third
points of the 2-ft shaft AB. Knowing that shaft AB rotates at the
constant rate ω = 240 rpm, determine (a) the angular momentum of
the body about A, (b) the angle formed by the angular momentum
and shaft AB.

SOLUTION

4
W = 4 lb, m = = 0.12422 lb ⋅ s 2/ft , a = 8 in. = 0.66667 ft
32.2
(2π )(240)
ω= = 8π rad/s, ω x = 0, ω y = 0, ω z = 8π rad/s
60

Use parallel axes x′, y ′, z ′ with origin at Point A as shown.

( H A ) x′ = − I x′z′ω

( H A ) y ′ = − I y′z′ω

( H A ) z′ = I z′ω

Segments 1, 2, 3, and 4, each of mass m′ = 0.06211 lb ⋅ s 2/ft , contribute to I x′z′ , I y′z′ , and I z′ .

Part I x′z′ I y′z ′ I z′

 1 1 
 12 + 4 + 1 m′a
2
2m′a 2 − m′a 2
 
1
m′a 2 0 m′a 2
3
1 1
− m′a 2 0 m′a 2
2 3

1  1 1 
− m′a 2  12 + 4 + 1 m′a
2
− m′a 2
2  
3 3 10
Σ m′a 2 − m′a 2 m′a 2
2 2 3

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1980
 PROBLEM 18.17 (Continued)

(a) Angular momentum about A.

3
( HA ) x′ = − I x′z′ω = − m′a 2ω
2
3
= − (0.06211)(0.66667) 2 (8π )
2
= −1.04067 lb ⋅ s ⋅ ft

 3 
( HA ) y′ = − I y′z ′ω = −  − m′a 2  ω
 2 
3
= (0.06211)(0.66667) 2 (8π )
2
= 1.04067 lb ⋅ ft ⋅ s

10
( HA ) z ′ = I z′ω = m′a 2ω
3
10
= (0.06211)(0.66667)2 (8π )
3
= 2.3126 lb ⋅ ft ⋅ s

HA = −(1.041 lb ⋅ ft ⋅ s)i + (1.041 lb ⋅ ft ⋅ s)j + (2.31 lb ⋅ ft ⋅ s)k 

HA = (1.04067)2 + (1.04067)2 + (2.3126) 2 = 2.7412 lb ⋅ ft ⋅ s

(b) Angle formed by HA and shaft AB.

Unit vector along shaft AB: λ = −k

H A ⋅ λ −2.3126
cos θ = = = −0.84365 θ = 147.5° 
HA 2.7412

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1981
 PROBLEM 18.18

For the body of Problem 18.17, determine (a) the angular

momentum about B, (b) the angle formed by the angular
momentum about shaft BA.

SOLUTION

4
W = 4 lb. m = = 0.12422 lb ⋅ s 2 /ft
32.2
a = 8 in. = 0.66667 ft
(2π )(240)
ω= = 8π rad/s, ω x = 0, ω y = 0, ω z = 8π rad/s
60

Use parallel axes x′, y ′, z with origin at Point B as shown.

( H B ) x = − I xzω

( H B ) y = − I yz ω

( H B ) z = I zω

Segments 1, 2, 3, and 4, each of mass m′ = 0.06211 lb ⋅ s 2/ft, contribute to I xz , I yz , and I z .

Part I xz I yz Iz

1  1 1 
m′a 2  12 + 4 + 1 m′a
2
− m′a 2
2  
1 1
− m′a 2 0 m′a 2
2 3
1
m′a 2 0 m′a 2
3
 1 1 
 12 + 4 + 1 m′a
2
2m′a 2 m′a 2
 
3 3 10
Σ m′a 2 m′a 2 m′a 2
2 2 3

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1982
 PROBLEM 18.18 (Continued)

(a) Angular momentum about B.

3
( HB ) x = − I xz ω = − m′a 2ω
2
3
= − (0.06211)(0.66667)2 (8π )
2
= −1.04067 lb ⋅ s ⋅ ft
3
( HB ) y = − I yz ω = − m′a 2ω
2
3
= − (0.06211)(0.66667) 2 (8π )
2
= −1.04067 lb ⋅ s ⋅ ft

10
( HB ) z = I zω = m′a 2ω
3
10
= (0.06211)(0.66667)2 (8π )
3
= 2.3126 lb ⋅ s ⋅ ft

H B = −(1.041 lb ⋅ ft ⋅ s)i − (1.041 lb ⋅ ft ⋅ s)j + (2.31 lb ⋅ ft ⋅ s)k 

HB = (1.04067)2 + (1.04067)2 + (2.3126) 2 = 2.7412 lb ⋅ ft ⋅ s

(b) Angle formed by H B and shaft BA.

Unit vector along shaft BA: λ =k

H B ⋅ λ 2.3126
cos θ = = = 0.84365 θ = 32.5° 
HB 2.7412

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1983
 PROBLEM 18.19

The triangular plate shown has a mass of 7.5 kg and is welded to a vertical
shaft AB. Knowing that the plate rotates at the constant rate ω = 12 rad/s,
determine its angular momentum about (a) Point C, (b) Point A. (Hint: To solve
part b find v and use the property indicated in part a of Problem 18.14.)

SOLUTION

ω = (12 rad/s)j, ω x = 0, ω y = 12 rad/s, ω z = 0

(a) ( H C ) x = − I xyω , ( H C ) y = I yω , (H C ) z = − I yzω

Use axes with origin at C as shown. Divide the plate ABD into right triangles ACD and CBD.
For plate ACD, the product of inertia of the area is
1 2 2
( I xy )area = − a c
24
For plate BCD, it is
1 2 2
( I xy )area = a b
24
For both areas together,
1 2
( I xy )area = − (c − b 2 ) a 2
24
1
Area: A= (c + b)a
2
m m(c − b ) a
( I xy ) mass = ( I xy )area = −
A 12
1
For both areas together, ( I y )area = (c + b) a 3
12
m 1
( I y ) mass = ( I y )area = ma 2
A 6
( I xz ) mass ≈ 0

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1984
 PROBLEM 18.19 (Continued)

Data: m = 7.5 kg a = 120 mm = 0.12 m

b = 90 mm = 0.09 m c = 160 mm = 0.16 m

(7.5)(0.07)(0.12)
( I xy ) mass = − = −0.00525 kg ⋅ m 2
12

(7.5)(0.12) 2
( I y ) mass = = 0.018 kg ⋅ m 2
6

( H C ) x = −(−0.00525)(12) = 0.063 kg ⋅ m 2/s

( H C ) y = (0.018)(12) = 0.216 kg ⋅ m 2/s

(HC )z = 0 H C = (0.063 kg ⋅ m 2/s)i + (0.216 kg ⋅ m 2/s)j 

a
Locate the mass center. rG/C = i + yj
3
Velocity of mass center: v = ω × rG/C

a  1 1
v = ω j ×  i + y j  = − ω ak = −   (12)(0.12)k = −(0.48 m/s)k
3  3  3
rC/ A = cj = (0.16 m)j

rC/ A × mv = (0.16 j) × [(7.5)(−0.48k )] = −(0.576 kg ⋅ m 2/s)i

(b) HA = H C + rC/ A × mv = (0.063 − 0.576)i + 0.216 j

HA = −(0.513 kg ⋅ m 2/s)i + (0.216 kg ⋅ m 2/s)j 

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1985
 PROBLEM 18.20

The triangular plate shown has a mass of 7.5 kg and is welded to a vertical shaft
AB. Knowing that the plate rotates at the constant rate ω = 12 rad/s, determine its
angular momentum about (a) Point C, (b) Point B. (See hint of Problem 18.19.)

SOLUTION

ω = (12 rad/s)j, ω x = 0, ω y = 12 rad/s, ω z = 0

(a) ( H C ) x = − I xyω , ( H C ) y = I yω , (H C ) z = − I yzω

Use axes with origin at C as shown. Divide the plate ABD into right triangles ACD and CBD.
For plate ACD, the product of inertia of the area is
1 2 2
( I xy )area = − a c
24
For plate BCD, it is
1 2 2
( I xy )area = a b
24
For both areas together,
1 2
( I xy )area = − (c − b 2 ) a 2
24
1
Area: A= (c + b)a
2
m m(c − b ) a
( I xy ) mass = ( I xy )area = −
A 12
For both areas together,
1
( I y )area = (c + b ) a 3
12
m 1
( I y ) mass = ( I y )area = ma 2
A 6
( I xz ) mass ≈0

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1986
 PROBLEM 18.20 (Continued)

Data: m = 7.5 kg a = 120 mm = 0.12 m

b = 90 mm = 0.09 m c = 160 mm = 0.16 m

(7.5)(0.07)(0.12)
( I xy ) mass = − = −0.00525 kg ⋅ m 2
12

(7.5)(0.12) 2
( I y ) mass = = 0.018 kg ⋅ m 2
6

( H C ) x = −( −0.00525)(12) = 0.063 kg ⋅ m 2/s

( H C ) y = (0.018)(12) = 0.216 kg ⋅ m 2/s

(HC )z = 0

H C = (0.063 kg ⋅ m 2/s)i + (0.216 kg ⋅ m 2/s)j 

a
Locate the mass center. rG/C = i + yj
3
Velocity of mass center: v = ω × rG/C

a  1 1
v = ω j ×  i + y j  = − ω ak = −   (12)(0.12)k = −(0.48 m/s)k
3  3  3
rC/B = −bj = −(0.09 m)j

rC/B × mv = (−0.09 j) × [(7.5)(−0.48k )] = (0.324 kg ⋅ m 2/s)i

(b) H B = H C + rC/B × mv = (0.063 + 0.324)i + 0.216 j

 H B = (0.387 kg ⋅ m 2/s)i + (0.216 kg ⋅ m 2/s)j 

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1987
 PROBLEM 18.21

One of the sculptures displayed on a university campus consists of a

hollow cube made of six aluminum sheets, each 1.5 × 1.5 m, welded
together and reinforced with internal braces of negligible weight. The
cube is mounted on a fixed base at A and can rotate freely about its
vertical diagonal AB. As she passes by this display on the way to a class
in mechanics, an engineering student grabs corner C of the cube and
pushes it for 1.2 s in a direction perpendicular to the plane ABC with an
average force of 50 N. Having observed that it takes 5 s for the cube to
complete one full revolution, she flips out her calculator and proceeds
to determine the mass of the cube. What is the result of her calculation?
(Hint: The perpendicular distance from the diagonal joining two vertices
of a cube to any of its other six vertices can be obtained by multiplying
the side of the cube by 2/3.)

SOLUTION

Let m′ = 16 m be the mass of one side of the cube. Choose x, y, and z axes perpendicular to the face of the
cube. Let a be the side of the cube.
For a side perpendicular to the x axis, ( I x )1 = 16 m′a 2 .
 1 1 1
For a side perpendicular to the y or z axis, ( I x ) 2 =  +  m′a 2 = m′a 2
 12 4  3
5 5
Total moment of inertia: I x = 2( I x )1 + 4( I x ) 2 = m′a 2 = ma 2
3 18
By symmetry, I y = I x and I z = I x .
Since all three moments of inertia are equal, the ellipsoid of inertia is a sphere. All centroidal axes are
principal axes.
5
Moment of inertia about the vertical axis: I v = ma 2
18
Let b = 2
3
a be the moment arm of the impulse applied to the corner.
Using the impulse-momentum principle and taking moments about the vertical axis,
5
bF (Δt ) = H v = I vω = ma 2ω (1)
18
2
Data: a = 1.5 m, b= (1.5) = 1.22474 m
3
2π
ω = = 1.25664 rad/s, F = 50 N, Δt = 1.2 s.
5
18 bF (Δt ) 18 (1.22474)(50)(1.2)
Solving Equation (1) for m, m= = = 93.563 kg m = 93.6 kg 
5 a 2ω 5 (1.5) 2 (1.25664)

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1988
 PROBLEM 18.22

If the aluminum cube of Problem 18.21 were replaced by a cube

of the same size, made of six plywood sheets with mass 8 kg
each, how long would it take for that cube to complete one full
revolution if the student pushed its corner C in the same way
that she pushed the corner of the aluminum cube?

SOLUTION

Let m′ = 16 m be the mass of one side of the cube. Choose x, y, and z axes perpendicular to the face of the
cube. Let a be the side of the cube.

For a side perpendicular to the x axis, ( I x )1 = 16 m′a 2 .

 1 1 1
For a side perpendicular to the y or z axis, ( I x ) 2 =  +  m′a 2 = m′a 2
 12 4  3
5 5
Total moment of inertia: I x = 2( I x )1 + 4( I x ) 2 = m′a 2 = ma 2
3 18
By symmetry, I y = I x and I z = I x .
Since all three moments of inertia are equal, the ellipsoid of inertia is a sphere. All centroidal axes
are principal axes.
5
Moment of inertia about the vertical axis: I v = ma 2
18
Let b = 2
3
a be the moment arm of the impulse applied to the corner.
Using the impulse-momentum principle and taking moments about the vertical axis,
5
bF (Δt ) = H v = I vω = ma 2ω (1)
18
Data: m′ = 8 kg, m = 6m′ = 48 kg, a = 1.5 m,

2
b= a = 1.22474 m, F = 50 N, Δt = 1.2 s
3
Solving (1) for ω ,
18 bF (Δt ) 18 (1.22474)(50)(1.2)
ω = = = 2.4495 rad/s
5 ma 2 5 (48)(1.5) 2
2π 2π
t = = t = 2.57 s 
ω 2.4495

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1989
 PROBLEM 18.23

A uniform rod of total mass m is bent into the shape shown and is suspended by a
wire attached at B. The bent rod is hit at D in a direction perpendicular to the
plane containing the rod (in the negative z direction). Denoting the corresponding
impulse by FΔt, determine (a) the velocity of the mass center of the rod, (b) the
angular velocity of the rod.

SOLUTION
We apply the principle of impulse and momentum, considering only the impulsive forces.

(a) Velocity of mass center

From constraints: vy = 0

x components: 0 = mvx vx = 0

y components: T Δt = mv y = 0 T Δt = 0

F Δt
z components: − F Δt = mvt vz = −
m
F Δt
v=− k 
m
(b) Angular velocity
Equating moments about G:
(− ai − a j) × (− F Δt k ) = H x i + H y j + H z k
aF Δt i − aF Δt j = H x i + H y j + H z k

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1990
 PROBLEM 18.23 (Continued)

Thus: H x = aF Δt , H y = −aF Δt , H z = 0 (1)

To determine angular velocity, we shall use Eqs. (18.7).

First, we determine the moments & products of inertia:
1 m m m 2
Ix =   (2a )2 + a 2 + a 2 = ma 2 (2)
12  2  4 4 3

1  m   1
I y = 2    a 2  = ma 2 (3)
3 4   6
ma m a 1
I xy =   (a ) +  −  (− a) = + ma 2 (4)
4 2 4  2 4

I xz = 0 I yz = 0 (5)

We substitute the expressions (1) through (5) into Eqs. (18.7):

2 2 1
aF Δt = ma ω x − ma 2ω y + 0 (6)
3 4
1 1
− aF Δt = − ma 2ω x + ma 2ω y + 0 (7)
4 6
0 = 0 + 0 + I zωz (8)
Multiplying Eq. (7) by 3/2 and adding to Eq. (6):
1 7 12 F Δt
− aF Δt = ma 2ω x ωx = −
2 24 7 ma
Substituting for ω into (7):

1  122  1 2 60 F Δt
− aF Δt + −
4  7  aF Δt = 6 ma ω y , ω y = − 7 ma


From Eq. (8): I zω z = 0 ω z = 0

12 F Δt
Thus: ω= (−i − 5 j) 
7 ma

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1991
 PROBLEM 18.24

Solve Problem 18.23, assuming that the bent rod is hit at C.

PROBLEM 18.23 A uniform rod of total mass m is bent into the shape shown and is
suspended by a wire attached at B. The bent rod is hit at D in a direction
perpendicular to the plane containing the rod (in the negative z direction). Denoting
the corresponding impulse by FΔt, determine (a) the velocity of the mass center of
the rod, (b) the angular velocity of the rod.

SOLUTION
We apply the principle of impulse and momentum, consider only impulsive forces.

(a) Velocity of mass center

From constraints: vy = 0

x components: 0 = mvx vx = 0

y components: T Δt = mv y = 0 T Δt = 0

F Δt
z components: − F Δt = mvz vz = −
m
F Δt
v= k 
m
(b) Angular velocity
Equating moments about G:
− a j × (− F Δt k ) = H x i + H y j + H z k
aF Δt i = H x i + H y j + H z k

Thus: H x = aF Δt , H y = 0, H z = 0 (1)

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1992
 PROBLEM 18.24 (Continued)

To determine angular velocity, we shall use Eqs. (18.7) first, we determine the moments & products of
inertia:
1 m m m 2
Ix =   (2a )2 + a 2 + a 2 = ma 2 (2)
12  2  4 4 3

1  m   1
I y = 2    a 2  = ma 2 (3)
3 4   6
ma m a 1
I xy =   (a ) +  −  (− a) = + ma 2 (4)
4 2 4  2 4

I xz = 0 I yz = 0 (5)

2 2 1
aF Δt = ma ω x − ma 2ω y + 0 (6)
3 4
1 1
0 = − ma 2ω x + ma 2ω y + 0 (7)
4 6
0 = 0 + 0 + I zωz (8)
Multiplying Eq. (7) by 3/2 and adding to Eq. (6):
 2 3 24 F Δt
aF Δt =  −  ma 2ω x, ωx =
 3 8 7 ma

Substituting for ωx into (7):

3 3 24 36 F Δt
ω y = ωx = aF Δt , ω y =
2 2 7 7 ma
From Eq. (8): I zω z = 0, ω z = 0

12 F Δt
Thus: ω= (2i + 3j) 
7 ma
 Note that ω y ≠ 0, even though Point C where impulse is applied is on the y axis.

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1993