BAKHTIYAROV

Synthesis Lectures on Series ISSN: 2573-3168

Mechanical Engineering

Solving Practical Engineering Mechanics Problems

DYNAMICS Solving Practical
Engineering
Sayavur I. Bakhtiyarov, New Mexico Institute of Mining and Technology

SOLVING PRACTICAL ENGINEERING MECHANICS PROBLEMS: DYNAMICS

Engineering mechanics is one of the fundamental branches of science that is important in
the education of professional engineers of any major. Most of the basic engineering courses,

Mechanics Problems
such as mechanics of materials, fluid and gas mechanics, machine design, mechatronics,
acoustics, vibrations, etc. are based on engineering mechanics courses. In order to absorb the
materials of engineering mechanics, it is not enough to consume just theoretical laws and
theorems—a student also must develop an ability to solve practical problems. Therefore, it

DYNAMICS
is necessary to solve many problems independently. This book is a part of a four-book series
designed to supplement the engineering mechanics courses. This series instructs and applies
the principles required to solve practical engineering problems in the following branches of
mechanics: statics, kinematics, dynamics, and advanced kinetics. Each book contains between
6 and 8 topics on its specific branch and each topic features 30 problems to be assigned as
homework, tests, and/or midterm/final exams with the consent of the instructor. A solution
of one similar sample problem from each topic is provided.
This third book in the series contains seven topics on Dynamics, the branch of mechanics
that is concerned with the relation existing between the forces acting on the objects and the
motion of these objects. This book targets undergraduate students at the sophomore/junior
level majoring in science and engineering.
The author welcomes all feedback/comments from the reader. Please feel free to contact
him at sayavur.bakhtiyarov@nmt.edu.
Sayavur I. Bakhtiyarov

ABOUT SYNTHESIS
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Solving Practical Engineering
Mechanics Problems: Dynamics
 iii

Synthesis Lectures on
Mechanical Engineering
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Solving Practical Engineering Mechanics Problems: Dynamics

Sayavur I. Bakhtiyarov
May 2018
Solving Practical Engineering Mechanics Problems: Kinematics
Sayavur I. Bakhtiyarov
April 2018

Mathematical Magnetohydrodynamics
Nikolas Xiros
January 2018

Design Engineering Journey

Ramana M. Pidaparti
January 2018

Introduction to Kinematics and Dynamics of Machinery

Cho W. S. To
December 2017

Microcontroller Education: do it Yourself, Reinvent the Wheel, Code to Learn

Dimosthenis E. Bolanakis
November 2017

Solving Practical Engineering Mechanics Problems: Statics

Sayavur I. Bakhtiyarov
October 2017

Resistance Spot Welding: Fundamentals and Applications for the Automotive Industry
Menachem Kimchi and David H. Phillips
October 2017

Unmanned Aircraft Design: Review of Fundamentals

Mohammad Sadraey
September 2017
Introduction to Refrigeration and Air Conditioning Systems: Theory and Applications
Allan Kirkpatrick
September 2017
iv

MEMS Barometers Toward Vertical Position Detection: Background Theory, System Prototyping, and Measure-
ment Analysis
Dimosthenis E. Bolanakis
May 2017

Engineering Finite Element Analysis

Ramana M. Pidaparti
May 2017
Copyright © 2018 by Morgan & Claypool

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Solving Practical Engineering Mechanics Problems: Dynamics

Sayavur I. Bakhtiyarov
www.morganclaypool.com

ISBN: 9781681733449 Paperback

ISBN: 9781681733456 ebook
ISBN: 9781681733463 Hardcover

DOI 10.2200/S00844ED1V01Y201804MEC014

A Publication in the Morgan & Claypool Publishers series

SYNTHESIS LECTURES ON MECHANICAL ENGINEERING, #14

Series ISSN: 2573-3168 Print 2573-3176 Electronic

Solving Practical Engineering
Mechanics Problems: Dynamics
Sayavur I. Bakhtiyarov
New Mexico Institute of Mining and Technology

SYNTHESIS LECTURES ON MECHANICAL ENGINEERING #14

M
&C MORGAN & CLAYPOOL PUBLISHERS
viii

ABSTRACT
Engineering Mechanics is one of the fundamental branches of science that is important in the education of profes-
sional engineers of any major. Most of the basic engineering courses, such as mechanics of materials, fluid and gas
mechanics, machine design, mechatronics, acoustics, vibrations, etc. are based on an Engineering Mechanics course.
In order to absorb the materials of Engineering Mechanics, it is not enough to consume just theoretical laws and
theorems—a student also must develop an ability to solve practical problems. Therefore, it is necessary to solve many
problems independently. This book is a part of a four-book series designed to supplement the Engineering Mechan-
ics courses in the principles required to solve practical engineering problems in the following branches of mechanics:
Statics, Kinematics, Dynamics, and Advanced Kinetics. Each book contains 6–8 topics on its specific branch and
each topic features 30 problems to be assigned as homework, tests, and/or midterm/final exams with the consent of
the instructor. A solution of one similar sample problem from each topic is provided.
This third book in the series contains seven topics on Dynamics, the branch of mechanics that is concerned
with the relation existing between the forces acting on the objects and the motion of these objects. This book targets
undergraduate students at the sophomore/junior level majoring in science and engineering.

KEYWORDS
Newton's laws, linear momentum, angular momentum, work, energy, moment of inertia
 ix

Contents
Acknowledgments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ���������������������������� xi

1 Topic D-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ����������������������������� 1

1.1 Application of Differential Equations for Particle Motion under Constant
Value Forces  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  1
1.2 Sample Problem  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  7
1.3 Solution  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  8

2 Topic D-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ��������������������������� 13

2.1 Application of Differential Equations for Particle Motion under Variable
Forces  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  13
2.2 Sample Problem  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  27
2.3 Solution  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  28

3 Topic D-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ��������������������������� 31

3.1 Mechanical Vibrations of Particle  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  31
3.2 Sample Problem  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  60
3.3 Solution  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  61

4 Topic D-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ��������������������������� 65

4.1 A Study of the Relative Motion of the Particle  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  65
4.2 Sample Problem  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  91
4.3 Solution  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  92

5 Topic D-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ��������������������������� 97

5.1 Application of Energy, Momentum, and D'Alembert's Methods for Particle
Motion  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  97
5.2 Sample Problem  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  117
5.3 Solution  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  118

6 Topic D-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ������������������������� 121

6.1 Application of Kinetic Energy Work Principle to Study the Motion of
Mechanical Systems  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  121
6.2 Sample Problem  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  144
6.3 Solution  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  146

7 Topic D-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ������������������������� 151

7.1 Study of Planar Motion of Rigid Body  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  151
7.2 Sample Problem  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  166
7.3 Solution  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  167

Author Biography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ������������������������� 171

 xi

Acknowledgments
The author acknowledges that this work is essentially a translation and a revision of selected problems provided by
Professor A. A. Yablonski (Collection of Problems for Course Projects in Theoretical Mechanics, 2nd ed., Vischaya Shkola
Publishers, 1972, in Russian). The author intended to introduce this unique work to western academia, which is
the product of material covered by him in many classes over a period of four decades of his career at a number of
universities and colleges.
 1

CHAPTER 1

Topic D-1

1.1 APPLICATION OF DIFFERENTIAL EQUATIONS FOR PARTICLE

MOTION UNDER CONSTANT VALUE FORCES
An object of mass m moves from position A along inclined AB = l surface (under angle α) during τ seconds (Figures
1.1–1.6). Initial velocity is VA. Coefficient of friction is μκ. At position B the object leaves the surface with velocity VB
and lands at point C with velocity VC. During the time T the object travels from B to C (P is the engine force moving
the motorcycle along AB in Problems 11–15 in the table below). All resistance forces are ignored in Problems 11–15.
Find the parameters marked with “?” in the table below. Additionally, in Problems 2, 10, and 22 find the equation of
the trajectory y = f (x) from point B to C.

Prob. Fig.
α VA τ T μκ l h d β VB VC P m
No. No.
deg m/s s s m m m deg m/s m/s kN kg
1 1 30 0 ? 0.2 10 ? 60
2 1 15 2 0.2 ? 4 45
3 1 30 2.5 ? ≠0 8 - 10 60 ?
4 1 ? 0 2 ? 0 9.8 60
5 1 30 0 3 ? 9.8 45 ?
6 2 20 0.2 0.1 ? 40 30 ?
7 2 15 16 ? 0.1 5 45 ?
8 2 ? 21 0.3 0 ? 60 20
9 2 15 ? 0.3 0.1 30√2 45 ?
10 2 15 12 ? 0 50 60
11 3 30 0 ? 0 40 ? 3 4.5 ≠0
12 3 30 ? 0 40 1.5 ? 4.5 0
13 3 30 0 20 0 ? 1.5 3 ? 400
14 3 30 0 0 40 5 ? ? 2.2 400
15 3 30 0 ? 0 50 2 4 2 ?
16 4 30 1 ? 0.2 3 ? 2.5
17 4 45 1 ? 6 6 ? 2vA
18 4 30 0 ? 0.1 2 ? 3
19 4 15 ? 1.5 ≠0 3 ? 2 3
20 4 45 0 ? 0.3 ? 4 2
21 5 30 1 1.5 0.1 10 ? ?
22 5 45 0 2 ? 10
23 5 ? 0 2 ? 0 9.81 20
24 5 30 0 ? 0.2 10 ? 12
25 5 30 0 ? 0.2 6 4.5 ?
2 1. TOPIC D-1

26 6 7 0.2 8 20 ? ?
27 6 4 2 0.1 ? 2 ?
28 6 ? ? 0.3 3 5 3
29 6 3 ? 2.5 20 ? 1
30 6 ? ? 0.25 4 5 3

B α
x
vB y1

b
β
C

D d
y
Figure 1.1.
 1.1 DIFFERENTIAL EQUATIONS FOR PARTICLE MOTION UNDER CONSTANT VALUE FORCES 3

vB
B
x
α
A F

h
C
β

Figure 1.2.
4 1. TOPIC D-1

vB
B
x

h
α
C

Figure 1.3.
 1.1 DIFFERENTIAL EQUATIONS FOR PARTICLE MOTION UNDER CONSTANT VALUE FORCES 5

B α
x
vB

C
d

y
Figure 1.4.
6 1. TOPIC D-1

B α
x
vB

y
Figure 1.5.
 1.2 SAMPLE PROBLEM 7

x1

vB B A
x x1

y1

h
C

y
Figure 1.6.

1.2 SAMPLE PROBLEM

An object of mass m moves from position A along inclined AB = l surface (under angle α) during τ seconds (Figure
1.7). Initial velocity is VA = 0. Coefficient of friction is μκ. At position B the object leaves the surface with velocity
VB and lands at point C with velocity VC. During the time T the object travels from B to C. Find the range b and
velocity VC. The given parameters: VA = 0; α = 60°; l = 4 m; τ = 1 s; μκ ≠ 0; h = 5 m; β = 75°.
 8 1. TOPIC D-1

N A
F
y1

B G
x
VB α

h
x1
G β
C
D E
b

d
y

Figure 1.7.

1.3 SOLUTION
→ First, consider the motion of the object from point A to point B. Assume the object is a particle (because it is in
translational motion). Next, we show the forces acting on the object (particle): G⃗ – weigh of the particle, N⃗ – normal
reaction force, and F⃗ – friction force. Then, we write a differential equation of motion of the particle on the distance
AB:
mẍ1 = ∑ Fxi ;

mẍ1 = G sin α – F.

The friction force:

F = μκ N,

where N = G cos α.
 1.3 SOLUTION 9

Then,
mẍ1 = G sin α – μκG cos α

or ẍ1 = g sin α – μκ g cos α.

Integrating this differential equation twice, we will obtain:

ẋ1 = g(sin α – μκ cos α )t + C1, (1.1)

g(sin α – μκ cos α)
x1 = 2
t2 + C1t + C2. (1.2)

To define the integral constants, we will use the initial conditions of the problem. At t = 0, x10 = 0, and ẋ10 = VA = 0.
Using these initial conditions in Equations (1.1) and (1.2), we will obtain:
ẋ10 = C1 and x10 = C2.

Then the integral constants:

C1 = 0, C2 = 0.

Substituting the values found for the integral constants in Equations (1.1) and (1.2):

ẋ1 = g(sin α – μκ cos α)t, (1.3)

g(sin α – μκ cos α)
x1 = 2
t2. (1.4)

For the time instant τ when the object leaves the surface AB:
ẋ1 = VB and x1 = l.

Substituting these values in Equations (1.3) and (1.4), we will obtain:

VB = g(sin α – μκ cos α)τ, (1.5)

g(sin α – μκ cos α)
l= 2 τ2. (1.6)

Solving Equations (1.5) and (1.6) will yield:

2l 2 ∙ 4
VB = τ = = 8 m⁄s.
1

Now we will consider the motion of the object (particle) from point B to point C. The only force acting on the ob-
ject in this motion will be the gravity force (weigh) G⃗. The differential equation of motion from point B to point C:

mẍ = 0, (1.7)

mÿ = G. (1.8)
10 1. TOPIC D-1

Integrating Equation (1.7):

ẋ = C3, (1.9)

x = C3 t + C4. (1.10)

Using the initial conditions (at point B): at t = 0, x0 = 0, and ẋ0 = VB cos α. Then from Equations (1.7) and (1.8)
for time t = 0:
ẋ0 = C3 and x0 = C4,

or C3 = VB cos α; C4 = 0.

Substituting the values of the integral constants in Equations (1.9) and (1.10):

ẋ = VB cos α, (1.11)

x = VB cos α ∙ t. (1.12)

Integrating Equation (1.8) twice:

ẏ = gt + C5, (1.13)

gt2
y= + C5 t + C6. (1.14)
2

The initial conditions at t = 0 (point B): y0 = 0 and ẏ0 = VB sin α. Using these initial conditions in Equations (1.13)
and (1.14), we will obtain:
ẏ0 = C5 and y0 = C6.

Then, the integral constants: C5 = VB sin α and C6 = 0.

Substituting the values of the integral constants in Equations (1.13) and (1.14):
ẏ = gt + VB sin α,
gt2
y= + VB sin α ∙ t.
2

Hence, the equations of motion of the object (particle):

x = VB cos α ∙ t, (1.15)

gt2
y= + VB sin α ∙ t. (1.16)
2

The equation of the trajectory of the object will be found if we will eliminate the parameter t (time) in Equations
(1.15) and (1.16). Defining the parameter t from Equation (1.15) and substituting it in Equation (1.16), we will
obtain the equation of the parabola:
gx2
y= + x tan α. (1.17)
2VB2 cos2 α
 1.3 SOLUTION 11

At point C when the object landed:

y = h = 5 m and x = d.

Substituting these values for y and x in Equation (1.17):

9.81 d2
5= + d√3.
2 ∙ 82 ∙ 0.52

From here: d1,2 = –2.82 ± 4.93, or d1 = 2.11 m and d2 = –7.75 m.

As the branch of the parabola is on the positive side of the abscissa, so we select d = 2.11 m.

The range b will be determined as:

h 5
b = d – ED = d – = 2.11 – = 0.77 m.
tan 75° 3.73

Using the equation of motion (1.15), we can find the time of travel of the object from the point B to the point C (T):
2.11 = 8 ∙ 0.5 T.

From here:
T = 0.53 s.

To find the velocity at the landing (at point C), we will use the equations of the velocity components (1.11) and
(1.13):
ẋ = VB cos α,

ẏ = gt + C5.

Substituting them in the equation:

v = √ẋ2 + ẏ2 at time t = T = 0.53:

m
VC = √(vB cos α)2 + (gT + VB sin α)2 = √(8 ∙ 0.5)2 + (9.81 ∙ 0.53 + 8 ∙ 0.87)2 = 12.8 s.

 13

CHAPTER 2

Topic D-2

2.1 APPLICATION OF DIFFERENTIAL EQUATIONS FOR PARTICLE

MOTION UNDER VARIABLE FORCES
Determine the equation of motion of object M with mass m (Figures 2.1–2.30). The object is considered as a particle
and it is under the variable force P⃗ =i ⃗Px + j⃗Py + k⃗Pz at the given initial conditions. In all problems (except problems
2.8 and 2.30) the axis z is in the vertical direction. The parameters needed to solve the problems are given in the table
below with the following nomenclature.

i ⃗, j ⃗, k⃗ – are unit vectors in the direction of the x, y, and z axes of a three dimensional Cartesian coordinate system

g – is a gravitational acceleration (9.81 m/s2)

f – is a friction coefficient

t – is a time (s)

x, y, z, ẋ, ẏ, ż – are the coordinates and the velocity components of the velocity of the particle in a Cartesian coor-
dinate system (m and m/s)
In problems where the force P⃗ depends on x, ẋ,z ,ż, consider the particle motion at positive values of these param-
eters.

Initial Conditions
P⃗, N
m,
No. f x0 y0 z0 ẋ0 ẏ0 ż 0 Notes
kg
m m/s
1 2 –0.5( i⃗ẋ + k⃗ż) - 0 - 0 20 20 -
2 0.25 100 i⃗x 0.3 0.03 - - 0.5 - -
3 2 i⃗(20x – ẋ) 0 0.15 - - 1 - -
Consider only force P ⃗; μ
–k ⃗μz–2
2μ
4 m - - - a - - �
ma and a are positive constants
5 50 i⃗(5x – 25ẋ) 0.2 0 - - 1 - -
6 m – i⃗ mμx–3 0 a - - v0 - - v0 > 0, μ > 0 (constant)
4 i⃗ cos t + j ⃗ẏ
π
7 2 6 0 0 0 - 0 3 -

120t(i ⃗ cos 30° +

k ⃗ sin 30°)
8 150 0 0 0 0 0.5 2 0

4r(i ⃗ cos φ + k ⃗
9 1 - 0 - 2 5 - 0
sin φ)
10 1 ⃗ ẋ
–3i √ 0 0 - - 16 - -

–3v ⃗
Consider motion at ẏ > 0,
11 20 - - 0 0 - 15 0
ż > 0
Consider only force P ⃗;
12 m –k ⃗mgR2 z–2 - - - R - - √2gR
R > 0 (constant)
14 2. TOPIC D-2

–9mr(i ⃗ cos α + j ⃗
cos β + k ⃗ cos γ
13 m - 2 2 2 1 0 1

14 1.5 i (⃗ 4.5 + 3x) 0.1 1 - - 0.3 - -

15 1.5 k ⃗(6 – 1.5z + 3ż) 0 - - 0.5 - - 1
16 100 –i ⃗20ẋ 0 0 - - 2.5 - -
17 1 5i ⃗[1 – exp(–2t)] 0 0 - - 0 - -
18 2 –6i ⃗ ẋ2 0 0 - - 10 - -
i ⃗[30exp(–3t) –
19 6 0 0 - - 10 - -
18ẋ –12x]
20 0.1 –0.2k ż⃗  4 - - - 200 - - 0.1 Consider only force P ⃗
21 0.1 0.1 k ⃗ż3 - - - 300 - - 2.5 Consider only force P ⃗
–4mr(i ⃗ cos φ + j⃗
22 m 0 20 0 0 0 8 0
sin φ)
23 100 50i (⃗ 30 + x) 0.2 - - - 1 - -
24 3 –3i ⃗(3ẋ + 2x) 0 0 - - 2 - -
25 1.5 –7.5(i ẋ⃗ 3 – 2gk ⃗) - 0 - 100 4 - 0
26 0.1 –k (⃗ 2ż3
– 0.981) - - - 0 - - 7
27 2 3i t⃗ 0 0 0 - 3 4 0
28 4 –2(i ⃗ẋ + j ⃗ẏ + k⃗ż) - 0 0 0 1 1 2
29 0.01 –3k ∛ ⃗ ż - - - 0 - - 125 Ignore gravity force
120(7.5 + t)(i ⃗
30 100 cos 30° + k ⃗ sin 0.25 0 - 0 0.5 - 0
30°)
 2.1 DIFFERENTIAL EQUATIONS FOR PARTICLE MOTION UNDER VARIABLE FORCES 15

M(x,z)

x
O
Figure 2.1.

60°

O
Figure 2.2.
16 2. TOPIC D-2

M
O x

Figure 2.3.

M
z

O
Figure 2.4.

30°

Figure 2.5.
 2.1 DIFFERENTIAL EQUATIONS FOR PARTICLE MOTION UNDER VARIABLE FORCES 17

O M
x

Figure 2.6.

O
y

M(x,y)

Figure 2.7.
18 2. TOPIC D-2

x
M(x,y)

15° y

Figure 2.8.

M(x,z) r

φ
x O
Figure 2.9.
 2.1 DIFFERENTIAL EQUATIONS FOR PARTICLE MOTION UNDER VARIABLE FORCES 19

x M O

Figure 2.10.

y O

M(y,z)
U

z
Figure 2.11.

M
z

O
Figure 2.12.
20 2. TOPIC D-2

M(x,y,z)
γ

β
O
y

Figure 2.13.

x
M

x O

Figure 2.14.
 2.1 DIFFERENTIAL EQUATIONS FOR PARTICLE MOTION UNDER VARIABLE FORCES 21

z
M

Figure 2.15.

30°
O
Figure 2.16.

M
O x

Figure 2.17.
22 2. TOPIC D-2

x
M
x
O

Figure 2.18.

M
O x

Figure 2.19.

O
z

z
Figure 2.20.
 2.1 DIFFERENTIAL EQUATIONS FOR PARTICLE MOTION UNDER VARIABLE FORCES 23

z
M

z
Figure 2.21.

z
y

M(x,y)
r

φ
O x

Figure 2.22.
24 2. TOPIC D-2

25°
O

Figure 2.23.

M
x O

Figure 2.24.
 2.1 DIFFERENTIAL EQUATIONS FOR PARTICLE MOTION UNDER VARIABLE FORCES 25

M(x,z)

x
Figure 2.25.

O
Figure 2.26.
26 2. TOPIC D-2

y
M(x,y)

30° x

Figure 2.27.

O
y

M(x,y,z)
x

x
Figure 2.28.
 2.2 SAMPLE PROBLEM 27

z
O

Figure 2.29.

45°
O
Figure 2.30.

2.2 SAMPLE PROBLEM

The given parameters: m = 1 kg, P ⃗ = – 4r(i ⃗ cos φ + k ⃗ sin φ) N, x0 = 10 m, z0 = 0, ẋ0 = 0, ż0 = 40 s (see Figure 2.31a).
m

28 2. TOPIC D-2

a)

r M(x/z)

φ
O x

b)

M(x/z)
P

φ G
O x

Figure 2.31.

2.3 SOLUTION
The particle M is under the action of the gravity force G⃗ and the force P⃗ with the line of action crossing the
non-moving center O (Figure 2.31b). The force P⃗ attracts the particle M to the center O. A magnitude of this force
is proportional to the distance r from the point M to the center O.
Initially (t =0), the particle M is located at the axis x and 10 m from the center O. The initial velocity of the
particle M is 40 m/s and it is directed vertically upward.
The given forces P⃗, G⃗ and the initial velocity vector are located at the plane xOz and, therefore, a further mo-
tion of the particle will take place on this plane.
 2.3 SOLUTION 29

The differential equations of motion of the particle M:

mẍ = ∑ Fxi ,
mz̈ = ∑ Fzi .

The sums of the x and z components of the forces given in this problem:

�Fxi = Px = –4r cos φ ,

� Fzi = Pz – G = –4r sin φ – G .

x z
As
cos φ = r , sin φ =  r , then

�Fxi = –4x, � Fzi = –4z – G.

Hence:
ẍ = –4x, z̈ = –4z – g or

ẍ + 4x = 0, (2.1)

z̈ + 4z = –g. (2.2)

Equations (2.1) and (2.2) are second-order linear differential equations with constant coefficients. Equation (2.1) is
a homogeneous, and Equation (2.2) is an inhomogeneous types differential equations.

A characteristic equation of Equation (2.1):

u2 + 4 = 0. (2.3)

The roots (solutions) of this equation:

u1,2 = ±2i, (i = √–1). (2.4)

A general solution of Equation (2.1):

x = C1 cos 2t + C2 sin 2t. (2.5)

A differential of Equation (2.5):

ẋ = 2(–C1 sin 2t + C2 cos 2t). (2.6)

The integral constants C1 and C2 are determined using the initial conditions:
10 = C1 cos 0 + C2 sin 0 ,
0 = 2(–C1 ∙ sin 0 + C2 ∙ cos 0).

Then:

C1= 10 and C2 = 0. (2.7)

30 2. TOPIC D-2

Hence, the equation of motion is:

x = 10 cos 2t . (2.8)

A general integral of the inhomogeneous equation (2.2):

z = z* + z**, (2.9)

where z* is a general solution of the respective homogeneous differential equation:

z̈ + 4z = 0. (2.10)

z** is a particular solution of the inhomogeneous differential Equation (2.2).

Equations (2.1) and (2.10) are similar. Therefore, a general integral of Equation (2.10):

z* = C3 cos 2t + C4 sin 2t. (2.11)

A particular solution z** will be:

z** = A = const. (2.12)

A substitution of (2.12) in Equation (2.2) will yield:

g
0
+ 4A = –g, A = – = –2.45. (2.13)
4

Hence:

z = C3 cos 2t + C4 sin 2t – 2.45. (2.14)

A first derivative of Equation (2.14):

ż = 2(–C3 sin 2t + C4 cos 2t ). (2.15)

Applying initial conditions at t = 0, Equations (2.14) and (2.15) can be rewritten as:
0 = C3 ∙ 1 + C4 ∙ 0 – 2.45,
40 = 2(–C3 ∙ 0 + C4 ∙ 1).

Then: C3 = 2.45 and C4 = 20.

Finally:

z = 2.45 cos 2t + 20 sin 2t - 2.45 (m). (2.16)

Equations (2.8) and (2.16) are the solutions of the problem.

 31

CHAPTER 3

Topic D-3

3.1 MECHANICAL VIBRATIONS OF PARTICLE

Problems 3.1–3.5 (Figures 3.1–3.5)

Determine the equation of motion of the load D with mass mD (Problems 3.2 and 3.4) or the system of the loads D
and E with masses mD and mB (Problems 3.1, 3.3, and 3.5) in the direction of the axis x. The initial reference point
will be a static state of the load D or the system of loads D and E (at the static deformation of the springs), respec-
tively. The rod connecting the loads is weightless and non-deformable.

Nomenclature

mD – mass of the load D (kg)

mE – mass of the load E (kg)
c, c1, c2, c3 – spring constants (rigidity) (N/cm)
R – damping (friction) force (N)
v – velocity (m/s)
ξ – coordinate of the axis along the motion direction (m)
v0 – initial velocity (m/s)
α – angle of inclination (degrees)
fst – elongation (deformation) of spring in static equilibrium (cm)
λ – initial deformation of spring (cm)
t – time (s)
k – natural circular frequency of the vibration (s-1)
h – height (m)
mD mE c c1 c2 c3 R ξ v0 α s fst kD h λ
No. Notes
kg N/cm N cm m/s deg m cm s-1 m cm
1 2 1 3 12v
2 1 2 12 36 1.5 sin 18t
a  c1
3 0.8 1.2 10 4 6 0.2 =
b c2
4 0.5 1.5 6v 4
5 1.6 2.4 4 2 sin 5t
6 4 48 24 0 30 0.1
7 2 12 6 0.02 sin 20t 0 45
a  c2
8 4 6 15 0.5 45 =
b c1
9 1.2 4.8 0.03 sin 12t 0 30 0.2
10 1 1.5 8v 0 60
a  c2
11 2.4 1 1.4 6v 2 =
b c1
32 3. TOPIC D-3

12 3 9 1.2 sin 8t 0 2
13 1 3 12 12v 0.5
14 1.5 4.4 2 8 1.8 sin 12t 0.4 2.5
15 1 4 12 0
a  c3
16 10 20 200 160 140 0.4 =
b c2
m D  2
17 20 =
mE 3
60√3
18 20 10 2
v
19 15 25 250 375 0.5 sin 30t
mE 
20 0.3 24 =3
mD
21 2 7 3 0.4 45
22 0.01 sin 10t 0 30 2
a  c2
23 3 2 4 12v 0 60 =
b c1
24 1 12 4 1.5 sin 10t 0 30
25 1.5 6v 0.3 30 4.9 0.1
a  c2
26 50 600 400 0 =
b c1
27 40 130 400v 0
28 1 0.05
29 200 400 400 400 200 0.6
30 100 2000 0.5 sin 20t 0
 3.1 MECHANICAL VIBRATIONS OF PARTICLE 33

Problem 3.1. The load D attached to the rod AB suspended on two identical springs (Figure 3.1). At some time
instant a second load E is attached to the load D. The damping (friction) force of the system of two loads (D and E)
is proportional to the velocity of the moving system. The masses of the rigid rod AB and the plunger attached to it
are ignored.

a a

C C
F

A B
D

x
Figure 3.1.
34 3. TOPIC D-3

Problem 3.2. When they cut the rod connecting loads D and E, the upper endpoint B of the springs starts
moving according to the equation of motion ξ(t).

ξ B

C2

C1

ξ x

Figure 3.2.
 3.1 MECHANICAL VIBRATIONS OF PARTICLE 35

Problem 3.3. The load D is suspended on a spring with rigidity c1 attached to the point F of the rod AB.
The rod AB is suspended on two parallel springs with the spring constants c2 and c3. At some instant the load E is
attached to the load D and to the system of loads is conveyed the velocity v0 vertically down. A mass of the rod AB
is ignored.

a b
C2 C3

F
A B

C1

E
x
Figure 3.3.
36 3. TOPIC D-3

Probleme 3.4. Loads D and E are suspended on two identical and parallel springs via the rigid rod AB. At
some instant the rod connecting the loads is cut. The friction force on the load D is R. Ignore the masses of the rod
and the plunger attached to it.

A B
D

x
Figure 3.4.
 3.1 MECHANICAL VIBRATIONS OF PARTICLE 37

Problem 3.5. At some instant the load E is attached the load D and the upper endpoint B of the spring starts
moving according to the motion equation ξ (t) vertically down.

ξ
C

x ξ
Figure 3.5.
38 3. TOPIC D-3

Problems 3.6–3.10 (Figures 3.6–3.10)

Define an equation of motion of the load D along inclined smooth surface (axis x) since this load touches the spring
(or system of springs) assuming that during the motion the load is not be detached from the spring. The origin of
the axis x coincides with the static state of the load.

Problem 3.6. The load D travels distance s and hits the non-deformed and connected in series springs.

C1

C2

Figure 3.6.
 3.1 MECHANICAL VIBRATIONS OF PARTICLE 39

Problem 3.8. At some instant the load D is attached to the endpoint N of the spring 3 with the velocity v0. A
mass of the rod AB is ignored.

A N
C3
C1

2 K 3

C2 B
1

Figure 3.8.
40 3. TOPIC D-3

Problem 3.9. At some instant the load D hits the non-deformed spring and the low endpoint B moves accord-
ing to the equation of motion ξ(t).

B
α

Figure 3.10.
 3.1 MECHANICAL VIBRATIONS OF PARTICLE 41

Problem 3.10. At some instant the load D is attached to the center point of the rod AB (supported by two
non-deformed identical and parallel springs) without initial velocity. The masses of the rod AB and the plunger are
ignored.

A D

C
F

C B

Figure 3.10.
42 3. TOPIC D-3

Problems 3.11–3.15 (Figures 3.11–3.15)

The load D is attached to the end of the weightless rod rotating on the picture plane around point E. The load is at-
tached to the spring or the system of springs. A vertical position of the rod corresponds to the non-deformed springs.
Define equation of motion of the load D, assuming it as a particle moving linearly. The motion consider relative to the
axis x and its origin corresponds to the rest position of the load (at non-deformed springs).

Problem 3.11. The load D attached to the point F of the rod AB, which connects the endpoints of two parallel
springs. The load D will be deflected λ distance to the left from the vertical position of the load and then it is released
without initial velocity. The friction force is R. The masses of the rod AB and the plunger are neglected.

D
C1

a
x F

C2
b
B

Figure 3.11.
 3.1 MECHANICAL VIBRATIONS OF PARTICLE 43

Problem 3.12. At some instant the load D held in the position when the spring is compressed (λ), they release
it without initial velocity. Simultaneously, the right endpoint B of the spring starts moving according to the ξ(t)
equation.

D C
x
B
ξ

Figure 3.12.
44 3. TOPIC D-3

Problem 3.13. The load D is attached to the spring. The other end of this spring is attached to the point F
of the rod AB. The rod AB connects the endpoints of two other parallel springs. At the vertical position of the rod
AB they convey velocity v0 to the right. The friction force is R(v), the shaft of the plunger is attached to the load D
through the opening in the weightless rod AB.

A C1
C D
F x
a

C
a

Figure 3.13.
 3.1 MECHANICAL VIBRATIONS OF PARTICLE 45

Problem 3.14. One side of the load D attached to the spring, and its other side attached to two springs con-
nected in series. They deflect the load D to the left (distance λ) from its position corresponding to the vertical position
of the rod, and then they release it with the initial velocity v0 to the right.

C3
C1
C2
x

D
Figure 3.14.
46 3. TOPIC D-3

Problem 3.15. The load D attached to the endpoint A of two springs connected in series. The other endpoint
B of these springs is moving according to ξ (t)equation. Initially, the load D was at the rest corresponding to the
non-deformed state of the springs.

D C1 C2

x A B
ξ

Figure 3.15.
 3.1 MECHANICAL VIBRATIONS OF PARTICLE 47

Problems 3.16–3.20 (Figures 3.16–3.20).

Define the equation of motion of the load D (Problems 3.17 and 3.19) or of the system of the loads D and E (Prob-
lems 3.16, 3.18, and 3.20) relative to the axis x with the origin corresponding to the rest position of the load or the
system of loads (at static deformations of the springs). It is assumed that the loads D and E are not separated during
the motion.
Problem 3.16. The spring 1 supports the load D, which is at the rest, and it is attached at the point F to the
weightless bar AB. The bar AB connects the endpoints of two parallel springs 2 and 3. At some instant the load E is
placed on the top of the load D and both loads will move downward with initial velocity v0.

1 C1
A B
F

C2 C3
2 3

a b
x

Figure 3.16.
48 3. TOPIC D-3

Problem 3.17. The loads D and E are at the rest corresponding to the static deformation state of spring. At
some instant the load E is removed from the load D. A natural circular frequency of the vibration of the load on the
spring is k.

x
Figure 3.17.
 3.1 MECHANICAL VIBRATIONS OF PARTICLE 49

Problem 3.18. A static deformation of each parallel and identical spring under the load D is fst. At some instant
they locate the load E on the top of the load D. The friction force on the loads is R(v). The masses of the rigid bar
AB and the plunger are neglected.

D
A B

x
Figure 3.18.
50 3. TOPIC D-3

Problem 3.19. The loads D and E at the rest state are supported by two springs connected in series. At some
instant they remove the load E and simultaneously the endpoint B of the springs start moving according to the ξ(t)
equation. The origin of the axis x corresponds to the middle position the point B (ξ = 0).

C1

C2
ξ

x ξ
Figure 3.19.
 3.1 MECHANICAL VIBRATIONS OF PARTICLE 51

Problem 3.20. The load D is at rest corresponding to the static deformation state of the spring. At some instant
the load E is placed at the top of the load D conveying the velocity v0 (downward) to both loads. A natural circular
frequency of the vibration of the load on the spring is k.

x
Figure 3.20.
52 3. TOPIC D-3

Problems 3.21–3.25 (Figures 3.21–3.25)

Define an equation of motion of the load D along inclined smooth surface along the axis x. The origin of the axis x co-
incides with the static deformation of the spring.

Problem 3.21. At some instant the load D is suspended at the endpoints of non-deformed springs and simul-
taneously the velocity v0 is conveyed to the load D along the inclined surface downward.

C1

C2

Figure 3.21.
 3.1 MECHANICAL VIBRATIONS OF PARTICLE 53

Problem 3.22. The load D is at rest on the inclined surface, which corresponds to the static deformation of the
spring. At some instant the upper endpoint B of the spring starts a motion according to ξ(t). The origin of the axis
x corresponds to the middle position the point B (ξ = 0).

Figure 3.22.
54 3. TOPIC D-3

Problem 3.23. At some instant they attach the load D to the point F of the bar AB, which connects the end-
points of two non-deformable parallel springs, and released without initial velocity. The friction force on the load is
R(v). The masses of the rigid bar AB and the plunger are neglected.

C1

C2 F

D
A
α

Figure 3.23.

Problem 3.24. At some instant the load D is suspended to the endpoint A of two non-deformable springs
connected in series, and it released without initial velocity. Simultaneously the other endpoint B of the springs starts
a motion according to ξ(t). The origin of the axis x corresponds to the middle position the point B (ξ = 0).

C2 B
C1
D

α
Figure 3.24.
 3.1 MECHANICAL VIBRATIONS OF PARTICLE 55

Problem 3.25. The endpoints of two identical and parallel springs are connected via the bar AB. A static de-
formation of each spring under the action of the load D is fst. At some instant the convey the velocity v0 to the load
D upward along the inclined surface. The friction force on the load is R(v). The masses of the rigid bar AB and the
plunger are neglected.

α
Figure 3.25.
56 3. TOPIC D-3

Problems 3.26–3.30 (Figures 3.26–3.30)

Determine an equation of motion of the load D since it touches weightless and rigid plate. It is assumed that the
load D doesn’t detach from the plate in further motion. The origin of the axis x coincides with a rest state of the load
D (static deformation of the springs).
Problem 3.26. The plate is supported by two parallel springs. The load D falls without initial velocity from the
height h and hits the plate at the point F.

C1 C2

a b
x

Figure 3.26.
 3.1 MECHANICAL VIBRATIONS OF PARTICLE 57

Problem 3.27. The plate is supported by two identical and parallel springs. At some instant the load D is placed
at the center of the plate and released without initial velocity at non-deformable springs. The friction force on the
load is R(v). The mass of the plunger is neglected.

C C

a a
x
Figure 3.27.
58 3. TOPIC D-3

Problem 3.28. The load D falls on the plate from the height h. The static deformation of the spring under the
action of the load D is fst.

h D

Figure 3.28.
 3.1 MECHANICAL VIBRATIONS OF PARTICLE 59

Problem 3.29. The plate is supported by two identical and parallel springs 1 and 2. At some instant the load
D is placed at the center of the plate and simultaneously attached to the non-deformable spring 3. At that instant at
non-deformable springs they convey the velocity v0 to the load D downward.

C3
3

1 1
C C

a a
x
Figure 3.29.
60 3. TOPIC D-3

Problem 3.30. At some instant the load D is placed at the center of the plate and released without initial ve-
locity at non-deformable springs. At this instant the low endpoint B of the spring moves vertically according to the
equation ξ(t). The origin of the axis x corresponds to the middle position the point B (ξ = 0).

ξ
x ξ
Figure 3.30.

3.2 SAMPLE PROBLEM

Two loads D and E are located on the smooth inclined surface and supported by the spring (Figure 3.31a). At some
instant the load E is removed and simultaneously the low endpoint B of the springs moves along the inclined surface
according to the equation ξ (t). Determine the equation of motion of the load D. The given parameters: mD = 2kg, mE
N N
= 3 kg, c = 6 cm m = 600 , ξ = 0.02 sin 10t (m).

 3.2 SAMPLE PROBLEM 61

a)
E
D D
P

O
GD
B
α N

P0

b)

B GD
α

Figure 3.31.

3.3 SOLUTION
To solve the problem we will apply a differential equation of motion of the particle. The origin of the reference co-
ordinate system is selected to the rest state of the load D, which corresponds to the static deformation state of the
spring, and the point B takes its middle position (ξ = 0).
The axis x is selected upward along the inclined surface in the direction of the motion of the load D after the
load E is removed. The motion of the load D is defined by the differential equation:
mD ẍ = ∑Fxi ,

where ∑ Fxi – is a sum of the x components of the forces acting on the load D (Figure 3.31a); GD ⃗ – is a weight of
the load D; N⃗ – a normal reaction force of the inclined surface; P⃗ – is an elasticity force of the spring.
Then:
mD ẍ = –GD sin α – P.
62 3. TOPIC D-3

Here:
P = c(x – fstD – ξ),

where fst – is a static deformation of the spring under the action of the load D and ξ – is a displacement of the low
point B of the spring, which changes according to the equation:
ξ = d sin pt; d = 0.02 m, p = 10 s–1.

A static deformation of the spring ( fstD) is determined from the equilibrium equation corresponding to the state of
rest of the load D on the inclined surface (Figure 3.31b):
∑Fxi = 0; –GD sin α + P0 = 0,

or
–GD sin α + cfstD = 0,

and from here:

G sin α
fstD = D .
c

A differential equation of the load D:
mD ẍ = –GD sin α – c(x – fstD – ξ),

or
mD ẍ + cx = cd sin pt.

We divide both sides of this equation to mD and introduce:

c cd
k2,
mD = mD = h.

Then:
ẍ + k2 x = h sin pt.

A solution of this inhomogeneous equation consists of the general solution x* of the respective homogeneous differ-
ential equation and a particular solution x** of the given inhomogeneous differential equation:
x = x* + x**.

The general solution of the homogeneous differential equation:

x* = C1 cos kt + C2 sin kt.

The particular solution of the given inhomogeneous differential equation:

h
x** = 2 sin pt.
k – p2

Then a general solution of the inhomogeneous equation:

h
x = C1 cos kt + C2 sin kt + 2 sin pt.
k – p2

 3.3 SOLUTION 63

A first derivative of x:
hp
ẋ = –C1 k sin kt + C2 k cos kt + 2 cos pt.
k – p2

To find the integral constants C1 and C2, we will use the initial conditions. The motion starts at the instant (t = 0)
when a deformation of the spring is a static deformation under the actions of the loads D and E. Then, the initial
G sin α
coordinate of the load D will be x0 = –fstE, where fstE = E c is a static deformation of the spring under the action
of the load E.

Hence, at t = 0: x0 = –fstE and ẋ0 = 0.

We construct the equations x = x(t) and ẋ = ẋ(t) at t = 0:

x0 = C1,
hp
ẋ 0 = C2 k + 2 .
k – p2
hp
From here: C1 = –fstE, C2 = – 2 .
k – p2

Then the equation of motion of the load D:

hp h
x = –fstE cos kt – sin kt + 2 sin pt.
k(k2 – p2) k – p2

Substituting the numerical values of the giving parameters:

k = � c = � 6 ∙ 100 = 17.3 s–1,

mD 2
GE sin α 3 ∙ 9.81 ∙ 0.5
fstE = = = 0.0245 m,
c 3∙9

h cd 600 ∙ 0.02
= = = 0.03 m,
k2 –p 2 2 2
mD (k – p ) 2(300 – 100)
hp 0.03 ∙ 10
= = 0.0173 m.
k(k2 – p2) 17.3

Finally, the equation of motion of the load D:

x = –2.45 cos 17.3t – 1.73 sin 17.3t + 3 sin 10t (cm).

 65

CHAPTER 4

Topic D-4

4.1 A STUDY OF THE RELATIVE MOTION OF THE PARTICLE

A particle M is moving inside of the cylindrical channel of the moving object A (Figures 4.1–4.30). Determine the
equation of the relative motion of this particle x = f (t), assuming that the motion is initiated at the point O.
The object A rotates around fixed axis with constant angular velocity. In Figures 4.2–4.4, 4.7, 4.10, 4.11, 4.14,
4.20, 4.23, 4.26, and 4.30 the axis of rotation z1 is vertical. In Figures 4.1, 4.12, 4.15, and 4.25 the axis of rotation
x1 is horizontal. In Figures 4.1, 4.5, 4.6, 4.8, 4.9, 4.13, 4.16-4.19, 4.21, 4.22, 4.24, and 4.27–4.29 the object A is in
translational motion parallel to the vertical plane y1O1z1.
Additionally, find the coordinate x and the pressure force the particle acting on the channel wall at given time
instant t = τ. The parameters necessary to solve the problems are given in the table below.

Nomenclature

m – is the mass of the particle M (kg)

ω – is a constant angular velocity of the object A (in Figures 4.1–4.4, 4.7, 4.10–4.12, 4.14, 4.15, 4.20, 4.23, 4.25, 4.26,
and 4.30) or the cranks O1B and O2C (in Figures 4.6, 4.17, and 4.22) (s–1)
c – is a rigidity of the spring attached to the particle M (N/cm)
l0 – is the length of the non-deformed spring (m)
f – is a friction coefficient between the particle M and the channel wall
Initial
α m ω Conditions τ c l0 Equation of Motion of r h
No. f
x0 ẋ0 Object A
deg kg s1 m m/s s N/cm m m
1 - 0.02 π 0 0.4 0.5 - - - - 0
2 - 0.02 π 0 0.2 0.4 - - - 0.15 0
3 45 0.03 2π 0.5 0 0.2 - - - - 0
4 - 0.09 4π 0.2 -0.8 0.1 0.36 0.15 - - 0
5 60 0.02 - 0.6 0 0.2 - - y1 = 0.6 – 2t3 (m) - 0
6 - 0.01 10π 0.5 0 0.2 - - - 0.1 0
7 - 0.03 2π 0.3 0 0.2 - - - 0.2 0
8 30 0.03 - 0.8 0 0.1 - - z1 = 0.1 cos 2πt (m) - 0
9 30 0.02 - 0.4 0 0.1 0.2 0.2 y1 = 4t3 (m) - 0
10 60 0.05 6π 0.4 0 0.1 - - - 0.2 0
11 30 0.05 π 0 0 0.4 - - - - 0
12 - 0.08 6π 0.05 0 0.1 0.2 0.1 - - 0
13 - 0.01 - 0 0.5 0.2 - - z1 = 5 – 10t2 (m) - 0.1
`14 - 0.05 4π 0.5 0 0.1 - - - 0.2 0.2
15 - 0.01 π 0.5 0 1.0 - - - - 0
16 45 0.02 - 1.0 2.0 0.1 - - y1 = 0.06t3 (m) - 0
66 4. TOPIC D-4

17 - 0.02 6π 0 4.0 0.2 - - - 0.2 0

18 40 0.02 - 0.6 0 0.1 - - y1 = 0.1 sin πt (m) - 0
19 - 0.08 - 0.4 -0.8 0.1 0.4 0.2 y1 = 8t – t3 (m) - 0
20 - 0.01 10π 0.1 0 0.2 0.2 0.1 - - 0
21 30 0.05 - 0.5 0.1 0.1 - - y1 = 2 + t2 (m) - 0.2
22 - 0.03 4π 0.1 3.0 0.1 - - - 0.1 0
23 - 0.01 2π -0.5 -0.1 0.2 - - - - 0

24 60 0.01 - 0 0.2 0.2 - - y1 = 0.1 cos 3 πt (m) - 0

2
25 - 0.05 2π 0.1 -0.4 0.1 0.2 0.2 - - 0
26 - 0.09 π 0.2 0.3 0.1 0.2 0.1 - - 0

27 75 0.02 - 1.0 0.6 0.3 - - z1 = 0.1 sin π πt (m) - 0

2
28 - 0.03 - 0.8 0 0.3 - - y1 = 8 – 5t3 (m) - 0.1
29 60 0.10 - 0.4 1.0 0.1 0.2 0.2 y1 = 8 + t3 (m) - 0
30 50 0.02 π⁄2 0 0.5 0.2 - - - 0.5 0

z1

O
y1
φ

M φ=ωt
ω

x
x1
Figure 4.1.
 4.1 A STUDY OF THE RELATIVE MOTION OF THE PARTICLE 67

z1 x

h M

Figure 4.2.
68 4. TOPIC D-4

z1

M
A
α

x
Figure 4.3.
 4.1 A STUDY OF THE RELATIVE MOTION OF THE PARTICLE 69

z1

O
x
M

Figure 4.4.
70 4. TOPIC D-4

z1

A
y1
α

y1
O1

x
Figure 4.5.
 4.1 A STUDY OF THE RELATIVE MOTION OF THE PARTICLE 71

z1

M
B

φ
y1
ω C
O1
A
φ φ=ωt
ω O2 x

Figure 4.6.
72 4. TOPIC D-4

z1

O ω
A

Figure 4.7.
 4.1 A STUDY OF THE RELATIVE MOTION OF THE PARTICLE 73

z1
A
x

α
O
z1

O1 y1

Figure 4.8.

z1 x

A
y1 M

α
O

y1
O1

Figure 4.9.
74 4. TOPIC D-4

z1
O

r
M

Figure 4.10.
 4.1 A STUDY OF THE RELATIVE MOTION OF THE PARTICLE 75

z1

x
ω

A M

Figure 4.11.
76 4. TOPIC D-4

z1

φ
y1
O

ω A φ=ωt

x1

Figure 4.12.
 4.1 A STUDY OF THE RELATIVE MOTION OF THE PARTICLE 77

z1
A

O
x
M
z1

y1
O1
Figure 4.13.
78 4. TOPIC D-4

z1

ω
O

A M

x
Figure 4.14.
 4.1 A STUDY OF THE RELATIVE MOTION OF THE PARTICLE 79

z1

φ
y1
O

ω A φ=ωt

x1

Figure 4.15.
80 4. TOPIC D-4

z1

A
y1

α
O

y1
O1

Figure 4.16.
 4.1 A STUDY OF THE RELATIVE MOTION OF THE PARTICLE 81

z1

B
ω
M φ
x y1
O
O1
C
ω φ=ωt
φ
O2

Figure 4.17.

z1

M
A

y1
α O
O1 y1
Figure 4.18.
82 4. TOPIC D-4

z1

M
O x

y1 A

y1
O1

Figure 4.19.
 4.1 A STUDY OF THE RELATIVE MOTION OF THE PARTICLE 83

z1

M
O x

Figure 4.20.
84 4. TOPIC D-4

z1

A M

y1

x y1
O1

Figure 4.21.

x O2

φ
ω z1
C

M
O1
y1
φ
ω
φ=ωt
O B
A

Figure 4.22.
 4.1 A STUDY OF THE RELATIVE MOTION OF THE PARTICLE 85

z1

ω
M
x
O

Figure 4.23.
86 4. TOPIC D-4

z1

M
A
y1
α

O1 y1

Figure 4.24.
 4.1 A STUDY OF THE RELATIVE MOTION OF THE PARTICLE 87

z1

O
y1
φ

M φ=ωt
ω

x
x1
Figure 4.25.
88 4. TOPIC D-4

z1

M
x O

Figure 4.26.
 4.1 A STUDY OF THE RELATIVE MOTION OF THE PARTICLE 89

z1

A
O

α z1

x
O1 y1

Figure 4.27.

z1

M A
y1

O
y1
O1
Figure 4.28.
90 4. TOPIC D-4

α y1

O1
y1
x

z1

Figure 4.29.
 4.2 SAMPLE PROBLEM 91

z1

ω
r
O

A M

Figure 4.30.

4.2 SAMPLE PROBLEM

A particle M is moving inside of the cylindrical channel of the moving object A (Figure 4.31). Determine the equa-
tion of the relative motion of this particle x=f(t), assuming that the motion is initiated at the point O. In addition,
find the coordinate x and the pressure force the particle acting on the channel wall at given time instant t = τ.
The given parameters: α = 30°; ω = π s–1; m = 0.01 kg; τ = 0.2 s; x0 = 0.3 m; ẋ0 = 2 m⁄s; c = 0.01 N⁄m; l0 =
0.2 m; r = 0.2 m.
92 4. TOPIC D-4

z1

x
ω

N2

N1 90° WC
Wen
M Φe n
ΦC y
P
G
α
z

r O

Figure 4.31.

4.3 SOLUTION
The reference system Oxyz is attached to the rotating channel (tube) and the axis x coincides with the trajectory of
the relative motion of the particle M. A rotation of this system about axis z1is a transfer motion for the particle M.
A relative motion of the particle M is its motion along the tube. As the transfer motion is a rotational motion with
constant angular velocity, a relative motion of the particle M will be described with the following equation:

mw⃗r = � Pi⃗ + Φ⃗en + Φ⃗C.

The forces acting on the particle M: the weight G⃗, the reaction force of the spring P⃗ and the reaction force normal
to the tube wall N⃗. The reaction force N⃗ can be resolved into two mutually perpendicular components: N⃗ = N1 + N⃗2.
 4.3 SOLUTION 93

Additionally, a normal component of the transfer inertia (effective) force Φe⃗ n and a Coriolis inertia force Φ⃗c will be
added to the forces acting on the particle M:

Φ⃗en = –mwe⃗ n ,
Φc⃗ = –mw⃗C.

The direction of the Coriolis acceleration wC ⃗ is determined if we assume that the x component of the relative
velocity v⃗r is positive. The Coriolis inertia force Φc⃗ will be parallel to the axis Oy and it will be perpendicular to the
plane xOy (Figure 4.31).
The magnitudes of the normal component of the transfer inertia (effective) force Φ⃗en and the Coriolis inertia
force Φ⃗c will be determined as:
Φen = mwen = mwe2 (r + x sin α ),

ΦC = mwC = 2mωe vr sin α,

where ωe= ω, vr = |ẋ|.

The reaction force of the spring P:

P = c(x – l0).

The equation of relative motion:

mw⃗r = G⃗ + P⃗ + N1⃗ + N2⃗ + Φ⃗en + Φ⃗c . (4.1)

The differential equation of the relative motion of the particle M along axis Ox:

mẍ = �Fxi = Φ⃗en sin α – G cos α – P,

mẍ = mω2 (r + x sin α) sin α – mg cos α – c(x – l0 ),

c cl
ẍ + ( m – ω2 sin2 α) x = ω2r sin α – g cos α + m0. (4.2)

A general solution of the differential equation (4.2) consists of the general solution x* of the respective homogeneous
differential equation and a particular solution x** of the given inhomogeneous differential equation (4.2):
x = x* + x**.

The characteristic equation of the differential equation (4.2) will be:

c
λ2 + m – ω2sin2 α = 0.

A solution of this quadratic equation:

c 1
λ1 = �ω2sin2 α – m = �π2 ∙ 0.52 – = 9.876 i,
0.01

λ2 = –9.876 i.
Hence, the general solution of the respective homogeneous differential equation:
94 4. TOPIC D-4

x* = C1 cos 9.876t + C2 sin 9.876t.

The particular solution of the inhomogeneous differential equation (4.2) will be defined as:
ẍ = B.

From the differential equation (4.2):

cl0 1 ∙ 0.
ω2 r sin α – g cos α + m π2 ∙ 0.2 ∙ 0.5 – 9.81 ∙ 0.866 + 0.01
x** = B = c – ω2 sin2α = = 0.128 m.
1 – π2 ∙0.52
m
0.01
The solution of the differential equation (4.2) of the relative motion of the particle M:

x = C1 cos 9.876t + C2 sin 9.876t + 0.128 (m). (4.3)

The velocity of the relative motion of the particle M:

ẋ = –9.876C1 sin 9.876t + 9.876C2 cos 9.876t (m⁄s). (4.4)

To find the integral constants C1 and C2 we will use the initial conditions.
At t = 0, x0 = 0.3 m, ẋ0 = 2 m⁄s.

Equations (4.3) and (4.4) at t = 0:

x0 = C1 + 0.128,
ẋ0 = 9.876 C2.

From here:
C1 = 0.3 – 0.128 = 0.172,

C2 = 2 = 0.202.
9.876

Then the equation of the relative motion of the particle M:

x = 0.172 cos 9.876t + 0.202 sin 9.876t + 0.128 (m).

The relative velocity of the particle M:

ẋ = –1.69 sin 9.876t + 1.99 cos 9.987t (m⁄s).

To determine the components of the reaction force on the tube wall N⃗1 and N⃗2 at t = τ = 0.2 s the vector equation
(4.1) will be rewritten in the projections on the axes y and z. As the vector w⃗r is perpendicular to both of these axes,
we will have:
0 = N2 – ΦC,

0 = N1 – G cos 60° – Φen cos 30°.

From these equations:

N2 = ΦC = 2mωvr sin α,
N1 = G cos 60° + Φen cos 30° = mg cos 60° + mω2 (r + x sin α) cos 30°.
 5.1 DETERMINATION OF ABSOLUTE VELOCITY AND ABSOLUTE ACCELERATION OF PARTICLE 95

To determine the magnitudes of N1 and N2 we will calculate the coordinate x and the x components of the relative
velocity ẋ at t = 0.2 s:
x = 0.172 cos 9.876 ∙ 0.2
+ 0.202 sin 9.876 ∙ 0.2 + 0.128
=0.172 cos 113° + 0.202 sin 113° + 0.128
= –0.172 ∙ 0.391 + 0.202 ∙ 0.92 + 0.128 = 0.246 m;

ẋ = –1.69 sin 113° + 1.99 cos 113° = –1.69 ∙ 0.92 – 1.99 ∙ 0.391 = –1.55 – 0.78 = –2.33 m⁄s.

Hence, the reaction force components can be determined:

1
N1 = 0.01 ∙ 9.81 ∙ 2 + 0.01π2 (0.2 + 0.246 ∙ 0.5) ∙ 0.866 = 0.077 N,

N2 = 2 ∙ 0.01π ∙ 2.33 ∙ 0.5 = 0.08 N.

Then the reaction force on the tube wall:

N = �N21 + N12 =�0.0772 + 0.082 = 0.111 N.

The unknown pressure force on the tube wall will be equal to N by magnitude and in the opposite direction to it.
 97

CHAPTER 5

Topic D-5

5.1 APPLICATION OF ENERGY, MOMENTUM, AND D'ALEMBERT'S

METHODS FOR PARTICLE MOTION
The particle is moving from initial position A inside the tube in a vertical plane. Determine the velocity of the par-
ticle at positions B and C, and pressure force of the particle on the tube’s wall at the position C. Ignore the friction
force at curvilinear sections of the tube. In Figures 5.3, 5.6, 5.7, 5.10, 5.13, 5.15, 5.17, 5.19, 5.25, 5.28, and 5.29 the
particle travels ho distance before separates from the spring.

Nomenclature

m – mass of particle
vA – initial velocity of particle
τ – time the particle travels on AB (Figures 5.1, 5.2, 5.5, 5.8, 5.14, 5.18, 5.20, 5.21, 5.23, 5.24, 5.27, 5.30) or on BD
(Figures 5.3, 5.4, 5.6, 5.7, 5.9–5.13, 5.15-5.17, 5.19, 5.22, 5.25, 5.26, 5.28, 5.29)
f – friction coefficient
ho – initial deformation of the spring
h – maximum compression of the spring
c – spring coefficient
H – maximum height the particle can move
s – distance traveled by particle before it stops
Additional
m vA α β ho c
No. τs Rm f Parameters to be
kg m/s degrees degrees cm N/cm
Determined
1 0.5 20 2.0 2.0 0.20 30 45 - - -
2 0.6 16 0.2 4.0 0.10 45 20 - - H
3 0.4 0 2.0 0.2 0.15 30 - 10 1 vD
4 0.2 5 0.5 1.0 0.10 45 - - - vD
5 0.1 8 1.5 2.0 0.20 30 - - - -
6 0.3 2 2.0 4.0 0.10 30 20 30 2 vD
7 0.4 5 1.0 1.0 0.10 30 - 50 5 vD
8 0.2 1 0.5 1.5 0.15 30 60 0 4 h
9 0.5 2 1.5 4.0 0.25 20 60 - - vD
10 0.4 4 0.1 0.5 0.10 30 60 0.2 0.2 vD
11 0.2 6 1.0 1.0 0.30 45 - - 3 v D, h
12 0.4 5 0.4 2.0 0.20 30 60 - - vD
13 0.3 0 0.1 1.0 0.10 30 60 50 10 vD
14 0.6 0 2.0 3.0 0.20 60 30 - - s
15 0.1 1 0.1 1.0 0.15 60 20 50 0.2 vD
16 0.4 2 0.2 2.0 0.40 30 - - - vD
98 5. TOPIC D-5

17 0.2 0 0.1 1.0 0.20 30 - 40 1.0 vD

18 0.3 3 0.4 1.5 0.10 45 - - - -
19 0.1 2 0.1 0.4 0.30 30 60 10 0.5 vD
20 0.2 10 1.0 0.5 0.10 60 - 0 1.2 h
21 0.7 3 0.3 0.3 0.20 45 - - - -
22 0.4 1 0.2 0.2 0.40 45 - 0 1.1 vD , h
23 0.6 2 0.4 0.2 0.20 45 - - - -
24 0.5 0 0.5 0.6 0.30 60 30 - - H
25 0.1 0 0.2 0.5 0.25 - 30 30 0.4 vD
26 0.2 2 0.1 0.2 0.20 30 - - - vD
27 0.8 3 0.2 0.4 0.15 45 - - - vD
28 0.3 4 0.1 0.6 0.35 30 15 60 0.1 vD
29 0.5 0 0.2 0.5 0.20 45 30 50 0.8 vD
30 0.8 5 0.3 0.6 0.15 30 - - - tDE

β C

vA
A α
Figure 5.1.
 5.1 ENERGY, MOMENTUM, AND D'ALEMBERT'S METHODS FOR PARTICLE MOTION 99

H
α
β
C

vA

α
A

Figure 5.2.

A
2h0

2α
α
C

D
α
Figure 5.3.
100 5. TOPIC D-5

vA A

α
C
B

Figure 5.4.

vA B
A
C

Figure 5.5.
 5.1 ENERGY, MOMENTUM, AND D'ALEMBERT'S METHODS FOR PARTICLE MOTION 101

C D
B

β
vA
A
α
α

Figure 5.6.

D α

vA
A
α
Figure 5.7.
102 5. TOPIC D-5

A
vA

B
α

α C

Figure 5.8.

A 2β

C α

vA B

β
Figure 5.9.
 5.1 ENERGY, MOMENTUM, AND D'ALEMBERT'S METHODS FOR PARTICLE MOTION 103

B
α β
vA

A h0 C

Figure 5.10.
104 5. TOPIC D-5

C
α
vA
α
B
A

α
Figure 5.11.
 5.1 ENERGY, MOMENTUM, AND D'ALEMBERT'S METHODS FOR PARTICLE MOTION 105

vA
2R

α
C

β D
Figure 5.12.
106 5. TOPIC D-5

A
β

B
β

α
Figure 5.13.
 5.1 ENERGY, MOMENTUM, AND D'ALEMBERT'S METHODS FOR PARTICLE MOTION 107

A
α

β α

B
C
S

Figure 5.14.

B
vA

Figure 5.15.
108 5. TOPIC D-5

α
A α
vA D

C
B

Figure 5.16.

B
α
α
D

Figure 5.17.
 5.1 ENERGY, MOMENTUM, AND D'ALEMBERT'S METHODS FOR PARTICLE MOTION 109

vA

α α

Figure 5.18.

α
α
2h0

vA
B
A

β
D
Figure 5.19.
110 5. TOPIC D-5

C
A vA B

Figure 5.20.
 5.1 ENERGY, MOMENTUM, AND D'ALEMBERT'S METHODS FOR PARTICLE MOTION 111

A
vA

α
B

α
Figure 5.21.
112 5. TOPIC D-5

A vA

B D
C

Figure 5.22.
 5.1 ENERGY, MOMENTUM, AND D'ALEMBERT'S METHODS FOR PARTICLE MOTION 113

vA

α B

C
α

Figure 5.23.
114 5. TOPIC D-5

α
β

H
B β
β
C

Figure 5.24.

D B
C
β
2h0

Figure 5.25.
 5.1 ENERGY, MOMENTUM, AND D'ALEMBERT'S METHODS FOR PARTICLE MOTION 115

α B
vA α
C

Figure 5.26.

α B
vA α
C
Figure 5.27.
116 5. TOPIC D-5

β
α
vA A
B
C
h0

Figure 5.28.

B
β

α
C
D
Figure 5.29.
 5.2 SAMPLE PROBLEM 117

vA B
A

α
E
C
D
S

Figure 5.30.

5.2 SAMPLE PROBLEM

The particle is moving from initial position A inside the tube in a vertical plane (Figure 5.31). Determine the velocity
of the particle at positions B (vB), C (vC), and D (vD), a pressure force of the particle on the tube’s wall at the position
C (NC), and a maximum compression of the spring (h). Ignore the friction force at the curvilinear sections of the tube.
The given parameters: m = 0.5 kg; vA = 0.8 m/s; τ = 0.1 s (a time the particle travels on BD); R = 0.2 m; f =
N N
0.1; α = 60°; β = 30°; h0 = 0; c = 10 cm = 1,000 m .
118 5. TOPIC D-5

vA
A
H2
H1

90°

D
C Nc’
Φτ Wn vB
Wτ α
G β
Φn vC B

Figure 5.31.

5.3 SOLUTION
A kinetic energy and work principle for the particle will be applied to find the velocities vB and vC. On the segments
AC and AB the particle moves and the actions of the gravity force only, as the friction forces on the curvilinear sec-
tions of the tube are ignored. Then:

mvB2 mvA2
– = �A = GH1 = mgAB sin α = mg6R sin α;
2 2

vB2 – vA2 = 2g6R sin α;

2 2
m
B = �vA + 12gR sin α = �0.8 + 12 ∙ 9.81 ∙ 0.2 ∙ 0.866 = 4.59 s ;
v

mvC2 mvA2
– = �A = GH2 = mg(4R sin α + 2R cos α);
2 2

vC2 – vA2 = 4gR(2 sin α + cos α );

vC = �vA2 + 4gR(2 sin α + cos α) = �0.82 + 4 ∙ 9.81 ∙ 0.2(2 ∙ 0.866 + 0.5) = 4.26 m/s.
 5.3 SOLUTION 119

Next, we will determine a pressure force of the particle on the tube’s wall at the position C. According to the
D’Alembert’s principle, the forces applied to the particle and the effective (inertia) force of this particle are in geo-
metrical equilibrium (Figure 5.31):
G⃗ + N⃗C' + Φ⃗ =0.

The effective force of the particle can be resolved into the normal and the tangent components:
Φ⃗ = Φ⃗n + Φ⃗τ.

The sum of the x components of the forces G⃗, N⃗C' , and Φ⃗ is equal to zero:
NC' – G cos 60° – Φn = 0.

From here:
NC' = G cos 60° + Φn = mg cos 60° + C = m �g cos 60° + C � = 0.5 �9.81 ∙ 0.5 + � = 25.2 N.
mv 2 v2 4.262
2R 2R 2 · 0.2

The unknown pressure force N⃗C of the particle on the tube’s wall by magnitude is equal to the normal reaction
force NC⃗ ' and in the opposite direction. The momentum-impulse principle will be applied on the segment BD to find
the velocity of the particle at the position D (Figure 5.32):

mvDx – mvBx = �Six .

On the segment AB the particle is moving under the actions of the gravity force G⃗, the reaction force of the
tube wall N⃗C' and the friction force F⃗. A magnitude of the friction force:
F = f  N ' = f  G cos β.

Also:
vDx = vD, vBx = vB, �Six = –G sin β ∙ t – Ft = –mg sin β ∙ t – fmg cos β ∙ t.

Then: mvD – mvB = –mg sin β ∙ t – fmg cos β ∙ t .

From here:
m
vD = vvB – gt(sin β + f cos β) = 4.59 – 9.81 ∙ 0.1(0.5 + 0.1 ∙ 0.866) = 4.01 s .

120 5. TOPIC D-5

N’ E
F

H3
VD G
P
N’
F D
VB
B G
β
Figure 5.32.

A kinetic energy and work principle for the particle will be applied to find a maximum compression (h) of the spring
on the segment DE (Figure 5.32):

mvE2 mvD2 ch2

2 – =
2 �Ai = – 2 – GH3 – Fh .

As: vE = 0 and H3 = h sin β,

then: 2
ch2 mvD
+ G(sin β
2 2 = 0, + f cos β)h –

or 2
2G(sin β + f cos β) mvD
h2 + h– = 0.
c c

The solution of this quadratic equation relative to h:

2
G(sin β + f cos β) G(sin β + f cos β) mvD2 0.5 ∙ 9.81(0.5 + 0.1∙0.866)
h=– ±�� � + c =–
c c 1,000
2
0.5∙9.81(0.5+0.1 ∙ 0.866) 0.5 ∙ 4.012
±�� �+ = –0.003 ± 0.09 m.
1,000 1,000

The unknown parameter h will a positive solution of this quadratic equation:

h = –0.003 + 0.09 = 0.087 m.

 121

CHAPTER 6

Topic D-6

6.1 APPLICATION OF KINETIC ENERGY WORK PRINCIPLE TO STUDY

THE MOTION OF MECHANICAL SYSTEMS
A mechanical system under the gravity force moves from the rest. Define the velocity of object A if it travels distance
s from the rest. The masses of the non-deformable ropes are ignored.

Nomenclature

mA, mB, mD, mE – masses of bodies A, B, D, E

RE, rB, RD, rD – radii of large and small circles
iBx, iDx – radii of gyration of bodies B and D
α, β – angles
f – coefficient of friction of the object A
δ – rolling friction coefficient of the object D
mA mB mD mE RB RD ίBx ίDx α β δ s
No. f
(kg) (kg) (kg) (kg) (cm) (cm) (cm) (cm) (deg) (deg) (cm) (m)
1 m 4m (1/5)m (4/3)m - - - - 60 - 0.10 - 2
2 m (1/2)m (1/3)m - - 30 - 20 30 45 0.22 0.20 2
3 m m (1/10)m m - - - - 45 - 0.10 - 2
4 m 2m 40m m 20 40 18 - - - - 0.30 0.1π
5 m 2v m - 20 15 18 - 60 - 0.12 - 0.28π
6 m 3m m - - 28 - - 30 45 0.10 0.28 1.5
7 m 2m 2m - 16 25 14 - 30 - - 0.20 2
8 m (1/2)m (1/3)m - - 30 - - 30 45 0.15 0.20 1.75
9 m 2m 9m - - 30 - 20 30 - 0.12 0.25 1.5
10 m (1/4)m (1/4)m (1/5)m - - - - 60 - 0.10 - 3
11 m (1/2)m (1/4)m - - 30 - 25 30 45 0.17 0.20 2.5
12 m (1/2)m (1/5)m m 30 - 20 - 30 - 0.20 - 2.5
13 m 2m 5m 2m 30 20 26 - 30 - - 0.24 2
14 m (1/2)m 5m 4m - 25 - - - - - 0.20 2
15 m (1/2)m 4m (1/2)m 20 15 18 - 60 - - 0.25 1.5
16 m (1/10)m (1/20)m (1/10)m 10 12 - - - - - - 0.05π
17 m (1/4)m (1/5)m (1/10)m 20 - 15 - 60 - 0.10 - 0.16π
18 m 3m m - 35 15 32 - 60 - 0.15 - 0.2π
19 m (1/3)m (1/10)m m 24 - 20 - 60 - 0.15 - 1.5
20 m 2m 20m - 20 15 16 - 30 - 0.10 0.20 0.2π
21 m m 2m - 20 20 16 - 30 45 0.20 0.32 1.2
22 m (1/2)m (1/4)m - 20 10 - - 60 - 0.17 - 0.1π
23 m m (1/10)m (4/5)m 20 - 18 - 30 - 0.10 - 1
122 6. TOPIC D-6

24 m 3m 20m - 20 30 18 - - - - 0.60 0.08π

25 m (1/3)m (1/4)m - 16 20 - - - - - - 0.04π
26 m (1/2)m m (1/3)m 30 - 20 - -- - - - 0.6π
27 m m 6m (1/2)m 20 20 16 - 30 - - 0.20 2
28 m 2m 3v - 20 - 14 - 60 - 0.10 - 0.1π
29 m (1/4)m (1/8)m - - 35 - - 15 30 0.20 0.20 2.4
30 m (1/2)m (3/10)m (3/2)m 26 20 20 18 30 - 0.12 - 2

No. Special Notes

1 -
2 -
3 -
4 Neglect the masses of the links FK, KC and the piston K
5 Neglect the mass of the crank
6 -
7 -
8 -
9 -
10 -
11 -
12 -
13 -
14 Masses of all four wheels are equal
15 -
16 Neglect the mass of the crank OC
17 Shaft EF to be considered as a thin rod
18 Neglect the mass of the crank
19 -
20 Neglect the masses of the links FK, KC and the piston K
21 -
22 Neglect the mass of the crank OC
23 -
24 Neglect the masses of links FK, KC and the piston K
25 Neglect the mass of the crank OC
26 The masses and the moments of inertia of the pulleys B and B1 are equal. The crank EF to be considered
as a thin rod
27 -
28 The crank EF to be considered as a thin rod
29 -
30 -
 6.1 KINETIC ENERGY WORK PRINCIPLE TO STUDY THE MOTION OF MECHANICAL SYSTEMS 123

Figure 6.1.
124 6. TOPIC D-6

A
rD =  32 * RD
D

α
β

Figure 6.2.
 6.1 KINETIC ENERGY WORK PRINCIPLE TO STUDY THE MOTION OF MECHANICAL SYSTEMS 125

Figure 6.3.
126 6. TOPIC D-6

D F

K
C

B
FK = 5RB

RE = TB
S

TB = 21 * Rb
 

Figure 6.4.
 6.1 KINETIC ENERGY WORK PRINCIPLE TO STUDY THE MOTION OF MECHANICAL SYSTEMS 127

α
rB = 0.8RB

Figure 6.5.

D
A

α
β

Figure 6.6.
128 6. TOPIC D-6

S
rB = 43 * Rb
 
Figure 6.7.
 6.1 KINETIC ENERGY WORK PRINCIPLE TO STUDY THE MOTION OF MECHANICAL SYSTEMS 129

rD = 12 * RD α
 
B

A
D

α
β

Figure 6.8.
130 6. TOPIC D-6

B
rD = 12 * RD
  α

Figure 6.9.
 6.1 KINETIC ENERGY WORK PRINCIPLE TO STUDY THE MOTION OF MECHANICAL SYSTEMS 131

Figure 6.10.
132 6. TOPIC D-6

α rD = 23 * RD
 

Figure 6.11.
 6.1 KINETIC ENERGY WORK PRINCIPLE TO STUDY THE MOTION OF MECHANICAL SYSTEMS 133

rB = 1* RB
2
 

Figure 6.12.
134 6. TOPIC D-6

E B

rB = 0.8 * RB
α

S
rE = 0.2 * RE

RE = RB

iEx = 1 * iBx
2
   
Figure 6.13.

E
B

A
S

Figure 6.14.
 6.1 KINETIC ENERGY WORK PRINCIPLE TO STUDY THE MOTION OF MECHANICAL SYSTEMS 135

RE = RB

rE = rB = 12 * RB
 
iEx = iBx
 
A
S

Figure 6.15.
136 6. TOPIC D-6

B E
D

O
C

OC = 6RD
A
RE = 2RD
S

Figure 6.16.
 6.1 KINETIC ENERGY WORK PRINCIPLE TO STUDY THE MOTION OF MECHANICAL SYSTEMS 137

D
α
rB = 0.8RB

Figure 6.17.

A
D

Figure 6.18.
138 6. TOPIC D-6

α
rB = 0.8RB

Figure 6.19.

D
K A

C
F
α

FK = 6rB
rB = 0.5RB

Figure 6.20.
 6.1 KINETIC ENERGY WORK PRINCIPLE TO STUDY THE MOTION OF MECHANICAL SYSTEMS 139

α
rB = 0.75RB

Figure 6.21.

B
D
A
O
C

OC = 2RB

Figure 6.22.
140 6. TOPIC D-6

α
rB = 0.8RB

Figure 6.23.

B D
K

F C

FK = 4rB
A rB = 0.8RB
S

Figure 6.24.
 6.1 KINETIC ENERGY WORK PRINCIPLE TO STUDY THE MOTION OF MECHANICAL SYSTEMS 141

B
D

O
C

A
OC = 2.5RB
S

Figure 6.25.
142 6. TOPIC D-6

RB = RB1
rB = rB1 = 0.5RB

A D
B1
S

Figure 6.26.
 6.1 KINETIC ENERGY WORK PRINCIPLE TO STUDY THE MOTION OF MECHANICAL SYSTEMS 143

E rB = 0.5rB
rE = rB

D E

α
A

Figure 6.27.

B
F A
E

F
α
rB = 0.5RB

Figure 6.28.
144 6. TOPIC D-6

α β

Fig 6.29.

rB = 0.5RB
rD = 0.5RD D

Figure 6.30.

6.2 SAMPLE PROBLEM

A mechanical system under the gravity force moves from the rest. Define the velocity of object A if it travels dis-
tance s from the rest (Figure 6.31). The masses of the non-deformable ropes are ignored. The given parameters:
mA = 3mB= 1 mD; RD = 30 cm; RB = 20 cm; rB = 15 cm; iBx = 17 cm; α = 30°; β = 60°; f = 0.2; δ = 0.25 cm; s = 6 m.
2
 6.2 SAMPLE PROBLEM 145

RB B
rB
D O
A
L
K1
C

α
K
β
L1

Figure 6.31.

z B

ωB
y
D O
VC VA
L
C V x K1 A
C

ξ p ωD VA
α
K
β
L1

Figure 6.32.
146 6. TOPIC D-6

ZO
B

O YO y
D

C L A
MC x GB K1
N1
F1
GD
ξ N
Frf
α GA
K
β
L1
Figure 6.33.

6.3 SOLUTION
A kinetic energy and work principle for the system of rigid bodies will be applied:

T2 – T1 = �Ai, (6.1)

where T1 and T2 – are kinetic energies of the system of rigid bodies at the initial and the final positions, respectively;
�Ai – is a sum of all forces applied on the system.

As the system initially was at the rest, then: T_1=0, and Equation (6.1) can be written as:

T2 = �Ai. (6.2)

First, we will determine the kinetic energy of the system T1 at the final position. The kinetic energy of the system is
equal to the sum of the kinetic energies of the objects A, B, and D:

T2 = TA2 + TB2 + TD2. (6.3)

The kinetic energy of the load A, which is in the translational motion:

mA vA2
TA2 = .
2
 6.3 SOLUTION 147

The kinetic energy of the disks B rotating about fixed axis:

JBx ωB2
TB2 = ,
2

where JBx – is a moment of inertia of the disks about axis of rotation Ox

2
JBx = mB iBx

and where ωB – is an angular velocity of the disks.

A kinetic energy of the cylinder D, which is in the planar motion:

mD vC2 JCξ ωD2

TD2 = + ,
2 2

where vC – is a linear velocity of the center of gravity C of the cylinder D and JCξ – is a moment of inertia of the
homogeneous solid cylinder D.
Substituting the given masses and the values of the moments of inertias in Equation (6.3) for the kinetic
energy of the system:
mA vA2 mA iB2x ωB2 m R2ω2 v 2 i 2 ω2 R 2ω 2
T2 = + + mA vC2 + A D D = mA A + B x B + vC2 + D D. (6.4)
2 6 2 2 6 2

The linear velocity vC and the angular velocities ωB and ωD must be expressed through the linear velocity vA.
The linear velocity of the point on the surface of the disks B is equal to the velocity of the strings attached to them
(Figure 6.32). Then:

vA v r
ωB = and C = B ,
RB VA RB
rB
or vC = v .
RB A

As the cylinder D rolls without slip, then an instantaneous center of velocities will be in the point P. Therefore:

vC v r
ωD = and C = B vA.
CP RD RB RD

Substituting the values of vC, ωB, and ωD into Equation (6.4) we can obtain an expression for the kinetic energy for
the system:
mA vA2 1 i2 r2 m v2
T2 =  �1 + ∙ Bx + 3 B  � = 2.93 A A . (6.5)
2 3 2
RB2 RB2

Next, we will determine a sum of works of the external forces applied to the system at the given displacement. Ex-
ternal forces acting on the load A are a weight G⃗, a normal reaction force N⃗1 of the surface K1 L1, a friction force F1⃗
opposite to the velocity vector v⃗A, and a reaction force of the string attached to the load A (Figure 6.33). The forces
acting on the disks B are their weight GB⃗ , the components of the reaction force of the fixed pin support Y0⃗ and Z0⃗ ,
and the reaction force of the string attached to the disks B. The forces acting on the cylinder D are the weight G⃗D,
a rolling friction force F⃗rf (which resists slipping of the cylinder D) due to rolling and sliding impending motion of
the cylinder D, a normal reaction force N⃗ of the surface KL, a moment MC of the pair of friction forces in rolling
148 6. TOPIC D-6

and sliding impending motion, and the reaction force of the string attached to the cylinder D. However, the reaction
forces of the non-deformable strings attached to the objects A, B, and D are the internal forces for the given system,
and therefore the works performed by these forces are equal to zero. Therefore, these reaction forces are not shown
in Figure 6.33.
The work of the gravity force G⃗A is defined as:
AGA = GAH = GAs sin β.

The works of the normal reaction forces N⃗1 and N⃗ are equal to zero.

The work performed by the friction force F⃗1 will be defined as:
AF = –F1s.

Here: F1 = fN1 = f GA cos β.

Then: AF = –FGA cos β ∙ s.

The forces GB⃗ ,Y⃗0, and Z⃗0 don’t perform works because they are applied to the fixed (non-moving) point.

The work of the gravity force G⃗D:

AGD = –GDHC = –GDsC sin α,

where sC – is a displacement of the gravity center of the cylinder D.

⃗ = 0 as it is applied at the instantaneous center of velocities.

The work performed by the rolling friction force Frf

The work done by the pair of friction forces in rolling and sliding impending motion:
AMC = –MC φD,

where MC = δN = δGD cos α – is the moment of the pair of friction forces in rolling and sliding impending motion;
φD – is an angular displacement (angle of turn) of the cylinder D.
A sum of the works performed by all forces applied to the given system:

�Ai = GA s sin β – GD sC sin α – f GA cos β ∙ s – δGD cos α ∙ φD. (6.6)

A displacement  sC of the center of gravity of the cylinder D and an angle of turn φD need to be expressed through
the displacement s of the load A. As the linear and angular displacements are proportional to the corresponding
linear and angular velocities, then:

rB s r
sC = s and φD = C = B s.
RB RD RB RD

Substituting these values in the equation (6.6):

rB rB
�Ai = GA s sin β – GD s sin α – f GA cos β ∙ s – δGD cos α s.
RB R B RD

or
 6.3 SOLUTION 149

rB r
�Ai = mA gs �sin β – 2 sin α – f cos β – 2δ cos α B � = 0.004mA gs (6.7)
RB RB RD

Equating the values of T2 and ∑Ai defined by Equations (6.5) and (6.7):

mA vA2
2.93 = 0.004mA gs.
2

From here:

2 ∙ 0.004 0.008
vA = � gs = � ∙ 9.81 ∙ 6 = 0.4 m
s .
2 2
 151

CHAPTER 7

Topic D-7

7.1 STUDY OF PLANAR MOTION OF RIGID BODY

Determine the maximum value of the constant force P if the wheel of mass m moves without slip under the action
of this force (Figures 7.1–7.30). Also determine the equation of the equation of motion of the center of gravity C if
at the initially its coordinate and velocity were xC0 = 0 and cC0 = 0, respectively. The wheels must be considered as
solid and homogeneous disks if their radii of gyration are not given. The required parameters to solve the problems
are given in the table below.

Nomenclature

R and r – are radii of large and small circles, respectively

iC – is a radius of gyration of the wheel about a central axis perpendicular to its plane
f – is a coefficient of friction
δ – is a rolling friction coefficient
m iC R r δ α β
No. f
kg cm deg deg
1 300 50 80 40 1 20 - 0.35
2 200 40 60 30 0.8 - - 0.2
3 180 50 60 20 0 30 - 0.1
4 220 30 70 25 0 30 30 0.2
5 240 40 60 15 1 - - 0.1
6 200 - 50 - 0.5 15 - 0.2
7 200 45 60 25 0 30 15 0.1
8 150 40 70 25 0 15 - 0.5
9 250 - - - 0 - 30 0.15
10 150 40 50 15 0.7 20 - 0.3
11 200 30 50 20 0.6 30 - 0.2
12 220 - - - 0 30 30 0.25
13 140 - - - 0 - 30 0.1
14 300 - - - 0 30 - 0.15
15 180 20 50 20 0 - 15 0.15
16 180 30 50 35 0.9 - - 0.15
17 160 50 60 20 0 15 20 0.3
18 260 - 50 - 1 - - 0.1
19 200 50 60 20 0 - 20 0.1
20 250 40 50 30 0 20 - 0.25
21 200 - 40 - 1.2 30 - 0.25
22 150 30 50 20 1.2 - - 0.25
23 200 30 60 30 0 30 15 0.4
152 7. TOPIC D-7

24 240 30 70 30 0 15 - 0.15
25 100 - - - 0 - 60 0.1
26 150 - - - 0 30 15 0.15
27 120 - 30 - 1.5 - - 0.4
28 150 30 60 25 0.8 15 - 0.3
29 200 - - - 0 - 20 0.3
30 160 - 40 - 0.7 20 - 0.2

x
C

a
Figure 7.1.

C
P

Figure 7.2.
 7.1 STUDY OF PLANAR MOTION OF RIGID BODY 153

x
C

a
Figure 7.3.

P
b

a
x
Figure 7.4.
154 7. TOPIC D-7

Figure 7.5.

x
C

a
Figure 7.6.
 7.1 STUDY OF PLANAR MOTION OF RIGID BODY 155

b C

P
a
x

Figure 7.7.

x
C

P
Figure 7.8.
156 7. TOPIC D-7

Figure 7.9.

P
C

a x
Figure 7.10.
 7.1 STUDY OF PLANAR MOTION OF RIGID BODY 157

a
x
Figure 7.11.

P
b

a x
Figure 7.12.
158 7. TOPIC D-7

C P
x

Figure 7.13.

P
C

a x
Figure 7.14.
 7.1 STUDY OF PLANAR MOTION OF RIGID BODY 159

C
P
x

Figure 7.15.

Figure 7.16.
160 7. TOPIC D-7

P
b
C

a x
Figure 7.17.

Figure 7.18.
 7.1 STUDY OF PLANAR MOTION OF RIGID BODY 161

C P
x

Figure 7.19.

P
a
x
Figure 7.20.
162 7. TOPIC D-7

C
P

a x
Figure 7.21.

Figure 7.22.
 7.1 STUDY OF PLANAR MOTION OF RIGID BODY 163

P
b
x C

a
Figure 7.23.

a x

Figure 7.24.
164 7. TOPIC D-7

C
P
b
x

Figure 7.25.

b C

a
x

Figure 7.26.
 7.1 STUDY OF PLANAR MOTION OF RIGID BODY 165

P
C

Figure 7.27.

P x
C

a
Figure 7.28.
166 7. TOPIC D-7

P
b

C
x

Figure 7.29.

P
x
C

a
Figure 7.30.

7.2 SAMPLE PROBLEM

Determine the maximum value of the constant force P if the wheel of mass m moves without slip under the action
of this force (Figure 7.31a). Also, determine the equation of the equation of motion of the center of gravity C if at
the initially its coordinate and velocity were xC0 = 0 and vC0 = 0, respectively. The wheels must be considered as solid
and homogeneous disks if their radii of gyration are not given.
The given parameters: m = 200 kg; R = 60 cm; r = 10 cm; iC = 50 cm; α = 15°; β = 30°; frf = 0.1; δ = 0.
 7.3 SOLUTION 167

b b
y N

P C P
a
C x
x G

Frf
a

a) b)
Figure 7.31.

7.3 SOLUTION
The following forces acting on the wheel: the weight of the wheel G,⃗ the normal reaction force N,⃗ the force P,⃗ and
⃗ (Figure 7.31b). In problems when δ ≠ 0, it is necessary to show the moment of the pair
the rolling friction force Frf
of the rolling friction forces.
According to the direction of the force P the wheel rotates clockwise, e.g., the wheel rolls upward on the
inclined surface. The direction of the force F⃗rf will be selected arbitrarily and its actual direction will be determined
in the process of the solving the problem. Next, we select the xOy coordinate system, and the direction of the axis x
will be in the direction of the wheel motion (Figure 7.31b).
The differential equations of the planar motion of the wheel:

mẍC = �F xei = P cos β – G sin α – Frf, (7.1)

mÿC = � F yei = N – G cos α – P sin β, (7.2)

JC φ̈ = �MCe i = Pr + Frf R. (7.3)

In Equation (7.3) it is assume that the moment of the force is positive if the moment supports a rotation of the
wheel, and it is negative if the moment resists the motion of the wheel.
Due to: y = R = const, ÿC = 0, from Equation (7.2):
N = G cos α + P sin β.
The angular velocity for the rolling wheel without slip:
vC ẋ
ω= or φ̇ = C.
R R
168 7. TOPIC D-7

ẍ C
Then: φ̈ = .
R

Therefore, Equation (7.3) can be rewritten as:

ẍ C
miC2 = Pr + Frf R. (7.4)
R

To eliminate ẍC, we divide Equation (7.1) to Equation (7.4):

R P cos β – G sin α – Frf

2
= .
iC Pr + Frf R

From here:
Frf (R2 + iC2) + GiC2 sin α
P= . (7.5)
iC2 cosβ – Rr
⃗ can be defined by analyzing Equation (7.5). The force P⃗
The correctness of the selected direction of the force Frf
approaches to its maximum value (which is required to find) when the force F⃗rf increases. Therefore, the equation
can be presented as:
P = aFrf + b,

where the coefficient a must be a positive number. In opposite case it is necessary to change a direction of the force
⃗ and to make appropriate changes in Equations (7.1) – (7.3).
Frf
A maximum value of the rolling friction force:
Frfmax = frf N = frf (G cos α + P sin β ).

Substituting the maximum value of the rolling friction force into Equation (7.5) and solving it relative to the force
P, we can find a maximum value of this force when the wheel will be rolled without slip:

G[(R2 + iC2) frf cos α + iC2 sin α ]

P= 2
iC cos β – Rr – (R2 + iC2 ) frf sin β

or

200[(0.62 + 0.52) ∙ 0.1 ∙ 0.966 + 0.52 ∙ 0.259] ∙ 9.81

P= =196 ∙ 9.81 = 1,920 N.
0.52 ∙ 0.866 – 0.6 ∙ 0.1 – (0.62 + 0.52) ∙ 0.1 ∙ 0.5

A maximum value of the rolling friction force:

Frfmax = frf (G cos α + P sin β) = 0.1(200 ∙ 0.966 + 196 ∙ 0.5)9.81 = 29 ∙ 9.81 = 284 N.

A differential equation of the motion of the gravity center of the wheel:

max
mẍC = P cos β – G sin α – Frf

or
200ẋC = 1,920 ∙ 0.866 – 200 ∙ 9.81 ∙ 0.259 – 284.
 7.3 SOLUTION 169

From here:
ẍC = 4.4 m ⁄s2.

Integrating this equation twice:

ẋC = 4.4t + C1,
xC = 2.2t2 + C1 + C2.

Using the initial conditions at t = 0:

xC0 = 0 and ẋC0 = 0,

We will determine the integral constants:

C1 = 0 and C2 = 0 .

Hence, the equation of motion of the center of gravity of the wheel:

xC = 2.2t2 (m).
 171

Author Biography
Dr. Sayavur I. Bakhtiyarov is a Professor at New Mexico Institute of Mining and
Technology (Socorro, NM, U.S.) and a Fulbright Fellow. Dr. Bakhtiyarov obtained his
Ph.D. from the Russian Academy of Sciences in 1978, and in 1992 a D.Sc. from the
Azerbaijan National Academy of Sciences. His areas of expertise are: multiphase flows,
nanotechnology, nonlinear fluid mechanics, tribology, rheology, and self-healing com-
posites. Dr. Bakhtiyarov taught engineering courses over four decades in several coun-
tries (Azerbaijan, Russia, China, UK, Turkey, U.S.). Dr. Bakhtiyarov authored 350+
scientific publications in refereed scholarly journals, books, international conferences
and symposia proceedings, and 14 patents. Dr. Bakhtiyarov was elected as a foreign
member of Russian Academy of Natural Sciences and International Ecoenergy Acad-
emy. He served as a Program director of US DOE and NASA research projects,
INSRP US DOD coordinator for NASA’s Mars Science Lab mission. Dr. Bakhtiyarov is a lead organizer of the
ASME annual symposia and forums, Editor in Chief of two international journals, Mechanics and Solids (IJM&S)
and Manufacturing Science and Technology (IJMS&T), and an Editorial Board Member of i-manager's Journal on
Engineering and Technology (IJET), Mathematics Applied in Science and Technology (MAST), International Journal of
Applied Engineering Research (IJAER), International Journal of Dynamics of Fluids (IJDF), and Far-East Journal of
Mathematics (FEJM).