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130
SOLUTION
Let Point G be the mass center of the sphere and Point C be that of the rod AB.
2
Rod AB: WAB = 2 lb. m AB = = 0.06211 lb ⋅ s 2 /ft
32.2
2
1 1 10
I AB = mP L2 = (0.06211) = 0.003594 lb ⋅ s 2 ⋅ ft
12 12 12
3
Sphere: WS = 3 lb mS = = 0.09317 lb ⋅ s 2 /ft
32.2
2
2 2 3
IG = mS r 2 = (0.09317) = 0.002329 lb ⋅ s 2 ⋅ ft
5 5 12
Impact. Before impact, bar AB is rotating about A with angular velocity ω0 = ω0 (ω0 = 3 rad/s) and the
sphere is falling with velocity v 0 = v0 (v0 = 2 ft/s). After impact, the rod and the sphere move together,
rotating about A with angular velocity ω = ω .
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1924
PROBLEM 17.130 (Continued)
ΣM A = Σ( M A )eff :
L L
WAB + WS L = I ABα + m AB (aC )t + I Gα + mS (aG )t R
2 2
1
= I AB + mAB L2 + I G + mS R 2 α
4
10
2
5 1 10
(2) + (3) = 0.003594 + (0.06211) + 0.002329 + (0.09317)(0.87) 2 α
12 12 4 12
3.3333 = 0.087226α α = 38.214 rad/s 2
5
(aC )t = (38.214) = 15.923 ft/s 2 , (aG )t = (0.87)(38.214) = 33.247 ft/s 2 16.7°
12
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1925
PROBLEM 17.130 (Continued)
ΣFx = Σ( Fx )eff :
Ax = 0.719 lb A x = 0.719 lb
Ay = 1.006 lb A y = 1.006 lb
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1926
PROBLEM 17.131
SOLUTION
2 2
Moment of inertia. I = mr Ball is assumed to be a solid sphere.
5
Impact at A.
2 2 2
mv0 r cos 60° − mr ω0 + 0 = mr 2ω0 − mv0 r cos 60°
5 5
2 5 v0
rω0 = v0 cos 60° ω0 =
5 4 r
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1927
PROBLEM 17.132
SOLUTION
2 2
Moment of inertia. I = mr
5
Analysis of impact. Sphere A.
Linear components:
mv1 − Pdt = mv A (1)
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reproduced or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited
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1928
PROBLEM 17.132 (Continued)
Moments about G: 0 + 0 = I ωB ωB = 0
v1
(a) Velocities after impact. vA = 0; ω A = ; vB = v1 ; ωB = 0
r
Motion after Impact. Sphere A.
2 2 v1 2 2
mr + 0 = mr ω ′A + m(rω A′ )r
3 r 5
2v
ω A′ = 1
7 r
2
v′A = v1
7
Motion after impact. Sphere B.
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1929
PROBLEM 17.132 (Continued)
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1930
PROBLEM 17.133
SOLUTION
2 2
Moment of inertia. I = mr
5
(a) Impact analysis.
Ball A:
v0
Kinematics of rolling: ω0 =
r
Linear components:
mv0 cos θ − Pdt = m(v A ) x (1)
Linear components:
0 + Pdt = m(vB ) x (5)
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1931
PROBLEM 17.133 (Continued)
v B = (v0 cos θ )i
From Equations (3) and (4) simultaneously,
v0 v0
β = θ , ω A = ω0 = ωA = (− sin θ i + cos θ j)
r r
From Equations (7) and (8) simultaneously,
ωB = 0 ωB = 0
(b) Subsequent motion of ball B.
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1932
PROBLEM 17.134
Each of the bars AB and BC is of length L = 400 mm and mass m = 1.2 kg. Determine
the angular velocity of each bar immediately after the impulse QΔt = (1.5 N ⋅ s) i is
applied at C.
SOLUTION
Principle of impulse and momentum.
Bar BC:
L L
Kinematics vBC = vB + ωBC = Lω AB + ωBC
2 2
L
Moments about B: 0 + (QΔt ) L = I ωBC + mvBC
2
1 L L
(QΔt ) L = mL2ωBC + m Lω AB + ω BC
12 2 2
1 1
QΔt = mLω AB + mLωBC (1)
2 3
L
x components: QΔt − Bx Δt = m Lω AB + ωBC (2)
2
Bar AB:
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1933
PROBLEM 17.134 (Continued)
L
Moments about A: 0 + ( Bx Δt ) L = I ω AB + mv AB
2
1 L L
( Bx Δt ) L = mL2ω AB + m ω AB
12 2 2
1
Bx Δt = mLω AB (3)
3
We now have 3 unknowns (Bx Δ t1, ωAB, and ωBC) and 3 equations.
4 1
Add Eqs. (2) and (3): QΔt = mLω AB + mLω BC (4)
3 2
5 1
Subtract Eq. (1) from Eq. (4): 0= mLω AB + mLωBC
6 6
ωBC = −5ω AB (5)
1 1
Substitute for ωBC in Eq. (1): QΔt = mLω AB + mL(−5ω AB )
2 3
7
= − mLω AB
6
6 QΔt
ω AB = − (6)
7 mL
6 QΔt
Substituting into Eq. (5): ωBC = −5 −
7 mL
30 QΔt
ωBC = (7)
7 mL
Given data: L = 0.400 m
QΔt = 1.5 N ⋅ s
m = 1.2 kg
6 Q Δt (6)(1.5)
Angular velocity of bar AB. ω AB = − =− ω AB = 2.68 rad/s
7 mL (7)(1.2)(0.4)
30 QΔt (30)(1.5)
Angular velocity of bar BC. ωBC = = ω BC = 13.39 rad/s
7 mL (7)(1.2)(0.4)
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1934