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Problem 13.
1 The position of point P relative to point O P

s
O is given as a function of time by s = 40 + 2t 3 ft.
s
Determine the position, velocity, and acceleration of the
point at t = 4 s.
Strategy: Use Eqs. (13.3) and (13.4) to determine the

velocity and acceleration as functions of time.
Solution:
s = 40 + 2t 3 ft
s(4s) = 168 ft
ds
v= = 6t 2 ft/s ⇒ v(4s) = 96 ft/s
dt
a(4s) = 48 ft/s
dv
a= = 12t ft/s2
dt
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1
Problem 13.2 The milling machine is programmed so
that the position of its head is given as a function of
time by s = 0.3 − 0.2 cos(5t) m. (When t is in seconds,
the argument of the cosine is in radians.)
(a) Determine the velocity of the head as a function

of time.
(b) What is the acceleration of the head at t = 4 s?
s
Solution:
s = 0.3 − 0.2 cos(5t)
ds v = sin(5t)m
v= = sin(5t) ⇒
dt a(4s) = 2.04 m/s2
dv
a= = 5 cos(5t)
dt
1
Problem 13.3 The person drops a ball at time t = 0.
The ball’s position relative to the floor is given as a
function of time by s = −16.1t 2 + 4 ft. s
(a) How long does it take the ball to fall to the floor?
(b) What is the ball’s velocity just before it hits
the floor?
(c) Determine the ball’s acceleration.
Solution:
s = −16.1t 2 + 4
a) 0 = −16.1t 2 + 4 ⇒ t = 0.498 s
ds
v= = −32.2t ⇒ b) v(0.498s) = −16.05 ft/s
dt
c) a = −32.2 ft/s2 s0
a = −32.2
1
Problem 13.4 The boat’s position during the interval
of time from t = 2 s to t = 10 s is given by s = 4t +
1.6t 2 − 0.08t 3 m.
(a) Determine the boat’s velocity and acceleration at
t = 4 s.
(b) What is the boat’s maximum velocity during this
interval of time, and when does it occur?
Solution:
s = 4t + 1.6t 2 − 0.08t 3
a) v(4s) = 12.96 m/s2
ds a(4s) = 1.28 m/s2
v= = 4 + 3.2t − 0.24t 2 ⇒
dt b) a = 3.2 − 0.48t = 0 ⇒ t = 6.67s
v(6.67s) = 14.67 m/s
dv
a= = 3.2 − 0.48t
dt
1
Problem 13.5 The rocket starts from rest at t = 0 and
travels straight up. Its height above the ground can be
approximated by the function s = bt 2 + ct 4 , where b and
c are constants. At t = 10 s, the rocket’s velocity and
acceleration are v = 229 m/s and a = 28.2 m/s2 . What
are its velocity and acceleration at t = 5 s?
Solution:
s = bt 2 + ct 4
v = 2bt + 4ct 3 (1)
s
a = 2b + 12ct 2 (2)
At t = 10 s
v = 229 m/s = 20b + 4000 c
a = 28.2 m/s2 = 2b + 1200 c
Solving, we get
b = 10.125 and c = 0.006625
substituting these into (1) and (2) and evaluating at t = 5 s, we get
v = 104.6 m/s
a = 22.2 m/s2
1
Problem 13.6 The position of a point during the inter-
val of time from t = 0 to t = 6 s is given by s = − 21 t 3 +
6t 2 + 4t m.
(a) What is the maximum velocity during this interval
of time, and at what time does it occur?
(b) What is the acceleration when the velocity is a
maximum?
dv
Solution: Maximum velocity occurs where a = = 0 (it could be a minimum)
dt
da
This occurs at t = 4 s. At this point = −3 so we have a maximum.
s = − 12 t 3 + 6t 2 + 4t m dt
(a) Max velocity is at t = 4 s. where v = 28 m/s and

v = − 32 t 2 + 12t + 4 m/s
(b) a = 0 m/s2
a = −3t + 12 m/s2
1
Problem 13.7 The position of a point during the inter-
val of time from t = 0 to t = 3 seconds is s = 12 +
5t 2 − t 3 ft.
(a) What is the maximum velocity during this interval
of time, and at what time does it occur?
(b) What is the acceleration when the velocity is a
maximum?
Solution:
d2v
ds This is indeed a maximum, since = −6 < 0. The maximum
(a) The velocity is = 10t − 3t 2 . The maximum occurs when dt 2
dt velocity is
dv
= 10 − 6t = 0, from which
dt v = 10t − 3t 2 t=1.667 = 8.33 ft/s
10
t= = 1.667 seconds.
6 dv
(b) The acceleration is = 0 when the velocity is a maximum.
dt
1
Problem 13.8 The rotating crank causes the position
of point P as a function of time to be s = 0.4 sin
(2π t) m. P
(a) Determine the velocity and acceleration of P at

t = 0.375 s. s
(b) What is the maximum magnitude of the velocity
of P ?
(c) When the magnitude of the velocity of P is a
maximum, what is the acceleration of P ?
Solution:
s = 0.4 sin(2π t)
a) v(0.375s) = −1.777 m/s
ds a(0.375) = −11.2 m/s2
v= = 0.8π cos(2π t) ⇒
dt b) vmax = 0.8π = 2.513 m/s2
c) vmax ⇒ t = 0, nπ ⇒ a = 0
dv
a= = −1.6π 2 sin(2π t)
dt
1
Problem 13.9 For the mechanism in Problem 13.8,
draw graphs of the position s, velocity v, and acce-
leration a of point P as functions of time for 0 ≤ t ≤ 2 s.
Using your graphs, confirm that the slope of the graph
of s is zero at times for which v is zero, and the slope
of the graph of v is zero at times for which a is zero.
Solution:
1
Problem 13.10 A seismograph measures the horizon-
tal motion of the ground during an earthquake. An engi-
neer analyzing the data determines that for a 10-s interval
of time beginning at t = 0, the position is approximated
by s = 100 cos(2π t) mm. What are (a) the maximum
velocity and (b) maximum acceleration of the ground
during the 10-s interval?
Solution:
(b) The acceleration is
(a) The velocity is
d2s
ds = −0.4π 2 cos(2π t).
= −(2π )100 sin(2π t) mm/s = −0.2π sin(2π t) m/s. dt 2
dt
The acceleration maxima occur at
The velocity maxima occur at
d3s d2v
dv = 2 = 0.8π 3 sin(2π t) = 0,
= −0.4π 2 cos(2π t) = 0, dt 3 dt
dt
n
from which from which 2π t = nπ , or t = , n = 0, 1, 2, . . . K, where
2
(2n − 1)π (2n − 1) K
2π t = , or t = , ≤ 10 seconds.
2 4 2
(2M − 1) These acceleration maxima have the absolute value
n = 1, 2, 3, . . . M, where ≤ 10 seconds.
4
dv

nπ = 0.4π = 3.95 m/s .
2 2
These velocity maxima have the absolute value dt
t=
2
ds
= [0.2π ] = 0.628 m/s.
dt (2n−1)
t= 4
1
Problem 13.11 During an assembly operation, the s
robot’s arm moves along a straight horizontal line.
During an interval of time from t = 0 to t = 1 s, the
position of the arm is given by s = 30t 2 − 20t 3 mm.
(a) Determine the maximum velocity during this interval
of time. (b) What are the position and acceleration when
the velocity is a maximum?
Solution:
1 1
v = (60) − 60 mm/s
s = 30t 2 − 20t 3 mm 2 4
v = 60t − 60t 2 mm/s v = 15 mm/s
(b) The position and acceleration at this time are

a = 60 − 120t mm/s2
s = 7.5 − 2.5 mm
da
= −120 mm/s3
dt
s = 5 mm
dv
(a) Maximum velocity occurs when = a = 0. This occurs at
dt a = 0 mm/s2
0 = 60 − 120t or t = 1/2 second. (since da/dt < 0, we have
a maximum). The velocity at this time is
1
Problem 13.12 In the test of a prototype car, the driver
starts the car from rest at t = 0, accelerates, and then
applies the brakes. Engineers measuring the position of
the car find that from t = 0 to t = 18 s the position is
1 1
approximated by s = 5t 2 + t 3 − t 4 ft.
3 50 s
(a) What is the maximum velocity, and at what time

does it occur?
(b) What is the maximum acceleration, and at what
time does it occur?
Solution: Assume that s is measured in feet, and that t is measured The maximum velocity is
in seconds.

2 3
(a) The velocity is v = 10t + t 2 − t = 125.8 ft/s.
25 t=11.85
ds 2 3
= v = 10t + t 2 − t ft/s. (b) Acceleration is
dt 25

dv 6
The maximum occurs at a= = 10 + 2t − t 2.
dt 25
dv 6 2
= 10 + 2t − t = 0. The maximum occurs at
dt 25
In canonical form this quadratic equation is da 12 50

=2− t = 0, from which t= = 4.17 seconds.
dt 25 12
25 125
t 2 + 2bt + c = 0, where b = − , c=− , This is a maximum since
6 3
√ d2a 12
with the solution t = −b ± b2 − c = 11.85 or −3.52 seconds. =− < 0.
The negative value is outside the interval of interest. At t = dt 2 t=4.17 25
11.85 s there is a maximum since
The maximum acceleration is

d2v 12 6 2
= 2− t = −3.69 < 0. a = 10 + 2t − t = 14.17 ft/s2 .
dt 2 t=11.85 25 t=11.85 25 t=4.17
1
Problem 13.13 Suppose you want to approximate the
position of a vehicle you are testing by the power series
s = A + Bt + Ct 2 + Dt 3 , where A, B, C, and D are
constants. The vehicle starts from rest at t = 0 and s =
0. At t = 4 s, s = 176 ft, and at t = 8 s, s = 448 ft.
(a) Determine A, B, C, and D.

(b) What are the approximate velocity and acceleration
of the vehicle at t = 8 s?
Solution: The velocity at t = 8 seconds is
(a) At t = 0, s = 0, hence 0 = A , and s = Bt + Ct 2 + Dt 3 .

v = 30t − 3t 2 t=8 = 48 ft/s .
Since the vehicle starts from rest at t = 0, the velocity is zero,

The acceleration is
and 0 = B .
dv
At t = 4 seconds, s = 176 ft, from which 176 = 16C + 64D. a= = 30 − 6t.
dt
At t = 8 seconds s = 448 ft, from which 448 = 64C + 512D. The acceleration at t = 8 seconds is
Solve these two simultaneous equations to obtain C = 15 and a = [30 − 6t]t=8 = −18 ft/s2 .
D = −1 .
(b) The position is given by s = 15t 2 − t 3 , from which the velocity is
ds
v= = 30t − 3t 2 .
dt
1
Problem 13.14 The acceleration of a point is a =
20t m/s2 . When t = 0, s = 40 m and v = −10 m/s.
What are the position and velocity at t = 3 s?
Solution: The velocity is At t = 0, s = 40 m, thus C2 = 40. The position is

10 3
v= a dt + C1 , s= t − 10t + 40 m.
3
where C1 is the constant of integration. Thus At t = 3 seconds,

v= 20t dt + C1 = 10t 2 + C1 . s=
10 3
t − 10t + 40 = 100 m.
3 t=3
At t = 0, v = −10 m/s, hence C1 = −10 and the velocity is v =

10t 2 − 10 m/s. The position is The velocity at t = 3 seconds is

s= v dt + C2 , v = 10t 2 − 10 t=3 = 80 m/s .
where C2 is the constant of integration.

10 3
s= (10t 2 − 10) dt + C2 = t − 10t + C2 .
3
1
Problem 13.15 The acceleration of a point is a =
60t − 36t 2 ft/s2 . When t = 0, s = 0 and v = 20 ft/s.
What are position and velocity as a function of time?
Solution: The velocity is The position is

v= a dt + C1 = (60t − 36t 2 ) + C1 = 30t 2 − 12t 3 + C1 . s= v dt + C2 = (30t 2 − 12t 3 + 20) + C2
At t = 0, v = 20 ft/s, hence C1 = 20, and the velocity as a function = 10t 3 − 3t 4 + 20t + C2 .

of time is
At t = 0, s = 0, hence C2 = 0, and the position is
v = 30t 2 − 12t 3 + 20 ft/s .
s = 10t 3 − 3t 4 + 20t ft
1
Problem 13.16 The snow petrel takes off with con-
stant acceleration. If it requires a distance s = 4 m and
is moving at 6 m/s when it lifts off, how much time does
its takeoff require?
Solution:
a = constant
v = at + v o0
s = at 2 /2 + s o0
when s = 4 m, v = 6 m/s

4 = at 2 /2
6 = at
4 = (at)t/2 = 6 t/2
s
t = 1.33 s
1
Problem 13.17 A bioengineer studying the mechanics
of bird flight models the acceleration of the snow petrel
shown in Problem 13.16 by an equation of the form
a = C + Dt, where C and D are constants. Measure-
ments obtained from videotape indicate that one bird
requires 1.42 seconds and a distance of 4.3 m to take
off and is moving at 6.1 m/s when it lifts off. What are
the constants C and D?
Solution: s0 = v0 = 0 We have two equations in two unknowns. Solving, we get

a = C + Dt 
 C = 4.20 m/s2
v = Ct + Dt 2 /2 Integrating twice D = 0.130 m/s3


s = Ct 2 /2 + Dt 3 /6
Substituting the known numbers, we get
6.1 = C(1.42) + D(1.42)2 /2
4.3 = C(1.42)2 /2 + D(1.42)3 /6
1
Problem 13.18 Missiles designed for defense against
ballistic missiles have attained accelerations in excess
of 100 g’s, or 100 times the acceleration due to gravity.
Suppose that a missile lifts off from the ground and has
a constant vertical acceleration of 100 g’s.
(a) How long does it take to reach a velocity of

60 mi/h?
(b) How long does it take to reach an altitude of
10,000 ft? How fast is it going when it reaches U
S
that altitude? A
R
M
Y
Solution:
a = 100g = 100(32.2 ft/s2 ) = 3220 ft/s2
v = (3220 ft/s2 )t
s = (1610 ft/s2 )t 2

88 ft/s
a) 60 mph = (3220 ft/s2 )t ⇒ t = 0.0273 s
60 mph
b) 10,000 ft = (1610 ft/s2 )t 2 ⇒ t = 2.49 s
v(2.49 s) = (3220 ft/s2 )(2.49 s) = 8025 ft/s
1
Problem 13.19 The acceleration due to gravity at sea
level on earth is 9.81 m/s2 and the acceleration due to
gravity at the surface of the moon is 1.62 m/s2 .
(a) If an object at sea level on the earth is given an

upward velocity of 10 m/s and aerodynamic drag
is negligible, how high does it go?
(b) If the object is at the surface of the moon and is
given an upward velocity of 10 m/s, how high does
it go?
Solution:
a = −g
v0
v = −gt + v0 ⇒ v = −gt + v0 = 0 ⇒ t =
g
2
1 1 v0 v0 v0 2
s = − gt 2 + v0 t s=− g + v0 =
2 2 g g 2g
(10 m/s)2
a) Searth = = 5.10 m
2(9.81 m/s2 )
(10 m/s)2
b) Smoon = = 30.9 m
2(1.62 m/s2 )
1
Problem 13.20 The airplane releases its drag para-
chute at time t = 0. Its velocity is given as a function
of time by
80
v= m/s.
1 + 0.32t
What is the airplane’s acceleration at t = 3 s?
Solution:
80 dv −25.6
v= ; a= = ⇒ a(3 s) = −6.66 m/s2
1 + 0.32t dt (1 + 0.32t)2
1
Problem 13.21 How far does the airplane in Problem Solution:
13.20 travel during the interval of time from t = 0 to

t = 10 s? 80 10 s 80 1 + 3.2
v= ; s= dt = 250 ln = 359 m
1 + 0.32t 0 1 + 0.32t 1
1
Problem 13.22 The velocity of a bobsled is v = Solution: The equation for straight line displacement under con-
10t ft/s. When t = 2 s, the position is s = 25 ft. What stant acceleration is
is its position at t = 10 s?
a(t − t0 )2
s= + v(t0 )(t − t0 ) + s(t0 ).
2
Choose t0 = 0. At t = 2, the acceleration is

dv(t)
a= = 10 ft/s2 ,
dt t=2
the velocity is v(t0 ) = 10(2) = 20 ft/s, and the initial displacement is

s(t0 ) = 25 ft. At t = 10 seconds, the displacement is
10
s= (10 − 2)2 + 20(10 − 2) + 25 = 505 ft
2
1
Problem 13.23 In September, 2003, Tony Schumacher
started from rest and drove a quarter mile (1320 ft) in
4.498 seconds in a National Hot Rod Association race.
His speed as he crossed the finish line was 328.54 mi/h.
Assume that the car’s acceleration can be expressed by
a linear function of time a = b + ct.
(a) Determine the constants b and c.
(b) What was the car’s speed 2 s after the start of
the race?
Solution:
ct 2 bt 2 ct 3
a = b + ct, v = bt + , s= +
2 2 6
Both constants of integration are zero.

88 ft/s c
(a) 328.54 mph = b(4.498 s) + (4.498 s)2
60 mph 2
b c
1320 ft = (4.498 s)2 + (4.498 s)3
2 6
b = 177 ft/s2
⇒
c = −31.16 ft/s3
c
(b) v = b(2 s) + (2 s)2 = 292 ft/s
2
1
Problem 13.24 The velocity of an object is v = 200 −
2t 2 m/s. When t = 3 seconds, its position is s = 600 m.
What are the position and acceleration of the object at
t = 6 s?
Solution: The acceleration is
dv(t)
= −4t m/s2 .
dt
At t = 6 seconds, the acceleration is a = −24 m/s2 . Choose the ini-

tial conditions at t0 = 3 seconds. The position is obtained from the
velocity:

6 2 6
s(t − t0 ) = v(t) dt + s(t0 ) = 200t − t 3 + 600 = 1070 m .
3 3 3
1
Problem 13.25 An inertial navigation system mea-
sures the acceleration of a vehicle from t = 0 to t = 6 s
and determines it to be a = 2 + 0.1t m/s2 . At t = 0,
the vehicle’s position and velocity are s = 240 m, v =
42 m/s. What are the vehicle’s position and velocity at
t = 6 s?
Solution:
a = 2 + 0.1t m/s2
v0 = 42 m/s s0 = 240 m
Integrating
v = v0 + 2t + 0.1t 2 /2
s = v0 t + t 2 + 0.1t 3 /6 + s0
Substituting the known values at t = 6 s, we get
v = 55.8 m/s
s = 531.6 m
1
Problem 13.26 The missile shown in Problem 13.18
lifts off and accelerates for 3 s at 100g’s. After 3 s, its
weight and aerodynamic drag cause it to have a nearly
constant deceleration of 4g’s. How long does it take the
missile to go from the ground to an altitude of 15 km
(approximately 50,000 ft)?
Solution: (0 ≤ t ≤ 3 s) v0 = s0 = 0 a = 981 m/s2 We must solve for v0 and s0 . Note, v0 and s0 are not the velocity and
acceleration at t = 3 s. They are values that correspond to a constant
a = 981 m/s2 4g deceleration starting at t = 0 which flies through the conditions
v = 2943 m/s, s = 4415 m at t = 3 s. Thus,
v = 981t m/s
2943 = v0 − 4g(3)
4415 = s0 + v0 (3) − 4g(3)2 /z
981t 2
s= m = 490.5t 2
2
Solving, v0 = 3061 m/s, s0 = −4591 m. We now need to find
At t = 3 s, when s = 15000 m, we have s = −4591 + 3061t − 4gt 2 /z and s =
15000 m. Solving, we get
v = 2943 m/s, s = 4415 m
t = 6.69 seconds
For 3 ≤ t; a = −39.24 m/s 2
a = −39.24 m/s2
v = v0 − 39.24t m/s
s = s0 + v0 t − 39.24t 2 /2 m
1
Problem 13.27 The graph shows the airplane’s accel-
eration during its takeoff. What is the airplane’s velocity
when it rotates (lifts off) at t = 30 s?
a
9 ft/s2
3 ft/s2
0 t
0 5s 30 s
Solution: Velocity = Area under the curve

1
v= (3 ft/s2 + 9 ft/s2 )(5 s) + (9 ft/s2 )(25 s) = 255 ft/s
2
1
Problem 13.28 Determine the distance traveled during
its takeoff by the airplane in Problem 13.27.
Solution: for 0 ≤ t ≤ 5 s

6 ft/s2 6 ft/s2 t2
a= t + (3 ft/s2 ), v= + (3 ft/s2 )t
5s 5s 2

6 ft/s2 t3 t2
s= + (3 ft/s2 )
5s 6 2
v(5 s) = 30 ft/s, s(5 s) = 62.5 ft
for 5 s ≤ t ≤ 30 s
a = 9 ft/s2 , v = (9 ft/s2 )(t − 5 s) + 30 ft/s,
(t − 5 s)2
s = (9 ft/s2 ) + (30 ft/s)(t − 5 s) + 62.5 ft
2
⇒ s(30 s) = 3625 ft
1
Problem 13.29 The car is traveling at 30 mi/h when
the traffic light 295 ft ahead turns yellow. The driver 30 mi/h
takes one second to react before he applies the brakes.
(a) After he applies the brakes, what constant rate of

deceleration will cause the car to come to a stop 295 ft
just as it reaches the light?
(b) How long does it take the car to travel the 295 ft?
Solution: for 0 ≤ t ≤ 1 s

88 ft/s
a = 0, v = 30 mph = 44 ft/s, s = (44 ft/s)t
60 mph
s(1 s) = 44 ft
for t > 1 s
t2
a = −c (constant), v = −ct + 44 ft/s, s = −c + (44 ft/s)t + 44 ft
2
At the stop we have
t2
295 ft = −c + (44 ft/s)t + 44 ft
2 a) c = 3.857 ft/s2
⇒
0 = −ct + 44 ft/s b) t = 11.41 s
1
Problem 13.30 A t = 0 a motorist traveling at
100 km/h sees a deer standing in the road 100 m ahead.
After a reaction time of 0.3 seconds, he applies the
brakes and decelerates at a constant rate of 4 m/s2 . If
the deer takes 5 seconds from t = 0 to react and leave
the road, does the motorist miss it?
Solution: Divide the time into two intervals, the reaction time
of the motorist (0.3 s) and the time before the deer leaves the road
(5 − 0.3 = 4.7 s). The initial velocity is
km
v(0) = 100 = 27.8 m/s.
h
The distance traveled in the first interval is s = 27.8(0.3) = 8.33 m.

The distance traveled in the second interval is
a
s(t) = − t 2 + v(0)t = −2(4.7)2 + 27.8(4.7) = 86.4 m.
2
The total distance traveled is s(5) = 8.33 + 86.4 = 94.7 m, which is

less than the 100 m from motorist to deer at t = 0. Yes, the motorist
misses the deer.
1
Problem 13.31 A high-speed rail transportation sys-
tem has a top speed of 100 m/s. For the comfort of the
passengers, the magnitude of the acceleration and decel-
eration is limited to 2 m/s2 . Determine the time required
for a trip of 100 km.
Strategy: A graphical approach can help you solve this

problem. Recall that the change in the position from an
initial time t0 to a time t is equal to the area defined
by the graph of the velocity as a function of time from
t0 to t.
Solution: Divide the time of travel into three intervals: The time
required to reach a top speed of 100 m/s, the time traveling at top
speed, and the time required to decelerate from top speed to zero. From
symmetry, the first and last time intervals are equal, and the distances
traveled during these intervals are equal. The initial time is obtained
from v(t1 ) = at1 , from which t1 = 100/2 = 50 s. The distance trav-
eled during this time is s(t1 ) = at12 /2 from which s(t1 ) = 2(50)2 /2 =
2500 m. The third time interval is given by v(t3 ) = −at3 + 100 = 0,
from which t3 = 100/2 = 50 s. Check. The distance traveled is s(t3 ) =
a
− t32 + 100t3 , from which s(t3 ) = 2500 m. Check. The distance trav-
2
eled at top speed is s(t2 ) = 100000 − 2500 − 2500 = 95000 m
= 95 km. The time of travel is obtained from the distance traveled at
zero acceleration: s(t2 ) = 95000 = 100t2 , from which t2 = 950. The
total time of travel is ttotal = t1 + t2 + t3 = 50 + 950 + 50 = 1050 s
= 17.5 minutes .
A plot of velocity versus time can be made and the area under the
curve will be the distance traveled. The length of the constant speed
section of the trip can be adjusted to force the length of the trip to be
the required 100 km.
1
Problem 13.32 The nearest star, Proxima Centauri, is
4.22 light years from the Earth. Ignoring relative motion
between the solar system and Proxima Centauri, sup-
pose that a spacecraft accelerates from the vicinity of
the Earth at 0.01 g (0.01 times the acceleration due to
gravity at sea level) until it reaches one-tenth the speed
of light, coasts until time to decelerate, then decelerates
at 0.01 g until it comes to rest in the vicinity of Proxima
Centauri. How long does the trip take? (Light travels at
3 × 108 m/s. A solar year is 365.2422 solar days.)
Solution: The distance to Proxima Centauri is where v(0) = 0 and s(0) = 0 (from the conditions in the problem),
from which s(t1 ) = 4.587 × 1015 m. From symmetry, t3 = t1 , and
86400 s s(t1 ) = s(t3 ). The length of the middle interval is s(t2 ) = d − s(t1 ) −
d = (4.22 light - year)(3 × 108 m/s)(365.2422 day)
1 day s(t3 ) = 3.0777 × 1016 m. The time of flight at constant velocity is
= 3.995 × 1016 m. 3.0777 × 1016 m

t2 = = 1.026 × 109 seconds.
3 × 107
Divide the time of flight into the three intervals. The time required to
reach 0.1 times the speed of light is The total time of flight is ttotal = t1 + t2 + t3 = 1.63751 × 109 sec-
onds. In solar years:
v 3 × 107 m/s
t1 = = = 3.0581 × 108 seconds.
a 0.0981 m/s2 1 solar years 1 days
ttotal = 1.63751 × 109 sec
365.2422 days 86400 sec
The distance traveled is
a 2 = 51.9 solar years

s(t1 ) = t + v(0)t + s(0),
2 1
1
Problem 13.33 A race car starts from rest and accel-
erates at a = 5 + 2t ft/s2 for 10 seconds. The brakes
are then applied, and the car has a constant acceler-
ation a = −30 ft/s2 until it comes to rest. Determine
(a) the maximum velocity, (b) the total distance trav-
eled; (c) the total time of travel.
Solution: (c) the total time of travel is t2 = 15. The total distance traveled is
(a) For the first interval, the velocity is a

s(t2 − 10) = (t2 − 10)2 + v(10)(t2 − 10) + s(10),
2
v(t) = (5 + 2t) dt + v(0) = 5t + t 2 from which (b)
since v(0) = 0. The velocity is an increasing monotone function; −30 2

hence the maximum occurs at the end of the interval, t = 10 s, s(5) = 5 + 150(5) + 583.33 = 958.33 ft
2
from which
vmax = 150 ft/s .
(b) The distance traveled in the first interval is
10
10 5 2 1 3
s(10) = 0 (5t + t 2 ) dt = t + t = 583.33 ft.
2 3 0
The time of travel in the second interval is
v(t2 − 10) = 0 = a(t2 − 10) + v(10), t2 ≥ 10 s,
from which
150
(t2 − 10) = − = 5, and
−30
1
Problem 13.34 When t = 0, the position of a point is
s = 6 m and its velocity is v = 2 m/s. From t = 0 to t =
6 s, the acceleration of the point is a = 2 + 2t 2 m/s2 .
From t = 6 s until it comes to rest, its acceleration is
a = −4 m/s2 .
(a) What is the total time of travel?
(b) What total distance does the point move?
Solution: For the first interval the velocity is The total time of travel is

2 (a) ttotal = 39.5 + 6 = 45.5 seconds.
v(t) = (2 + 2t 2 ) dt + v(0) = 2t + t 3 + 2 m/s.
3
(b) The distance traveled is
The velocity at the end of the interval is v(6) = 158 m/s. The dis-
placement in the first interval is −4
s(t − 6) = (t − 6)2 + v(6)(t − 6) + s(6)
2
2 1
s(t) = 2t + t 3 + 2 dt + 6 = t 2 + t 4 + 2t + 6.
3 6 = −2(39.5)2 + 158(39.5) + 270,
The displacement at the end of the interval is s(6) = 270 m. For the from which the total distance is stotal = 3390 m
second interval, the velocity is v(t − 6) = a(t − 6) + v(6) = 0, t ≥ 6,
from which
v(6) 158
(t − 6) = − =− = 39.5.
a −4
1
Problem 13.35 Zoologists studying the ecology of the
Serengeti Plain estimate that the average adult cheetah
can run 100 km/h and that the average springbuck can
run 65 km/h. If the animals run along the same straight
line, start at the same time, and are each assumed to
have constant acceleration and reach top speed in 4 s,
how close must the a cheetah be when the chase begins
to catch a springbuck in 15 s?
Solution: The top speeds are Vc = 100 km/h = 27.78 m/s for the
cheetah, and Vs = 65 km/h = 18.06 m/s. The acceleration is ac =
Vc Vs
= 6.94 m/s2 for the cheetah, and as = = 4.513 m/s2 for the
4 4
springbuck. Divide the intervals into the acceleration phase and the
chase phase. For the cheetah, the distance traveled in the first is
6.94 2
sc (t) = (4) = 55.56 m. The total distance traveled at the end
2
of the second phase is stotal = Vc (11) + 55.56 = 361.1 m. For the
springbuck, the distance traveled during the acceleration phase is
4.513 2
ss (t) = (4) = 36.11 m. The distance traveled at the end of the
2
second phase is ss (t) = 18.06(11) + 36.1 = 234.7 m. The permissible
separation between the two at the beginning for a successful chase is
d = sc (15) − ss (15) = 361.1 − 234.7 = 126.4 m
1
Problem 13.36 Suppose that a person unwisely drives
75 mi/h in a 55 mi/h zone and passes a police car
going 55 mi/h in the same direction. If the police begin
constant acceleration at the instant they are passed and
increase their speed to 80 mi/h in 4 s, how long does it
take them to be even with the pursued car?
Solution: The conversion from mi/h to ft/s is

ft − h
1.467 .
mi − second
The acceleration of the police car is
(80 − 55)(1.467) ft/s

a= = 9.169 ft/s2 .
4s
The distance traveled during acceleration is
9.169 2
s(t1 ) = (4) + 55(1.467)(4) = 396 ft.
2
The distance traveled by the pursued car during this acceleration is
sc (t1 ) = 75(1.467)t1 = 110(4) = 440 ft.
The separation between the two cars at 4 seconds is
d = 440 − 396 = 44 ft.
This distance is traversed in the time
44
t2 = = 6.
(80 − 75)(1.467)
The total time is ttotal = 6 + 4 = 10 seconds.
1
dθ
Problem 13.37 If θ = 1 rad and = 1 rad/s, what
dt
is the velocity of P relative to O?
Strategy: The position of P relative to O as s = 2 ft 2 ft

(2 ft) cos θ + (2 ft) cos θ and take the derivative of this
expression with respect to time to determine the velocity.
θ
O
P
s
Solution: The distance s from point O is
s = (2 ft) cos θ + (2 ft) cos θ.
The derivative is
ds dθ
= −4 sin θ .
dt dt
dθ
For θ = 1 radian and = 1 radian/second,
dt
ds
= v(t) = −4(sin(1 rad)) = −4(0.841) = −3.37 ft/s
dt
1
Problem 13.38 In Problem 13.37, if θ = 1 rad, dθ /dt
= −2 rad/s and d 2 θ /dt 2 = 0, what are the velocity and
acceleration of P relative to O?
Solution: The velocity is
ds dθ
= −4 sin θ = −4(sin(1 rad))(−2) = 6.73 ft/s .
dt dt
The acceleration is
2
d2s dθ d2θ
= −4 cos θ − 4 sin θ ,
dt 2 dt dt 2
from which
d2s
= a = −4 cos(1 rad)(4) = −8.64 ft/s2
dt 2
1
dθ
Problem 13.39 = 1 rad/s, what
If θ = 1 rad and
dt
is the velocity and acceleration of P relative to O?
400 mm
200 mm
θ
Solution: The acute angle formed by the 400 mm arm with the O
horizontal is given by the sine law: P
s
200 400
= ,
sin α sin θ
from which

200
sin α = sin θ.
400
For θ = 1 radian, α = 0.4343 radians. The position relative to O is.
s = 200 cos θ + 400 cos α.
The velocity is

ds dθ dα
= v(t) = −200 sin θ − 400 sin α .
dt dt dt
From the expression for the angle

dα dθ
α, cos α = 0.5 cos θ ,
dt dt
from which the velocity is

dθ
v(t) = (−200 sin θ − 200 tan α cos θ) .
dt
Substitute: v(t) = −218.4 mm/s .
1
Problem 13.40 An engineer designing a system to
control a router for a machining process models the
system so that the router’s acceleration during an interval
of time is given by a = −0.4v in/s2 , where v is the
velocity of the router in in/s. When t = 0, the position is
s = 0 and the velocity is v = 2 in/s. What is the velocity
at t = 3 s?
Solution:
dv
a= = −(0.4 s−1 )v
dt
v 3s
dv v
= −(0.4 s−1 )dt ⇒ ln = −1.2
2 in./s v 0 2 in./s
v = (2 in./s)e−1.2 = 0.602 in./s
1
Problem 13.41 What is the position of the router in
Problem 13.40 at t = 3 s?
Solution:
dv
a= = −(0.4 s−1 )v
dt
v t
dv v
= −(0.4 s−1 )dt ⇒ ln = −(0.4 s−1 )t
2 in./s v 0 2 in./s
ds −1
v= = (2 in./s)e−(0.4 s )t
dt
3s
−1 )t
s(3 s) = (2 in./s)e−(0.4 s dt = 3.494 in.
0
1
Problem 13.42 The boat is moving at 10 m/s when
its engine is shut down. Due to hydrodynamic drag, its
subsequent acceleration is a = −0.05v 2 m/s2 , where v
is the velocity of the boat in m/s. What is the boat’s
velocity 4 s after the engine is shut down?
Solution:
dv
a= = −(0.05 m−1 )v 2
dt

v dv t 1 v
= −(0.05 m−1 ) dt ⇒ − = −(0.05 m−1 )t
10 m/s v2 0 v 10 m/s
10 m/s
v=
1 + (0.5 s−1 )t
v(4 s) = 3.33 m/s
1
Problem 13.43 In Problem 13.42, what distance does
the boat move in the 4 s following the shutdown of
its engine?
Solution: From Problem 13.42 we know

4 s
ds 10 m/s 10 m/s
v= = ⇒ s(4 s) = dt
dt 1 + (0.5 s−1 )t 0 1 + (0.5 s−1 )t

2 + (1 s−1 )(4 s)
s(4 s) = (20 m) ln = 21.97 m
2
1
Problem 13.44 A steel ball is released from rest in a
container of oil. Its downward acceleration is a = 2.4 −
0.6v in/s2 , where v is the ball’s velocity in in/s. What is
the ball’s downward velocity 2 s after it is released?
Solution:
dv
a= = (2.4 in./s) − (0.6 s−1 )v
dt
v t
dv
−1
= dt
0 (2.4 in./s) − (0.6 s )v 0

5 v + 4 in./s s−1 )t
− ln = t ⇒ v = (4 in./s) 1 − e−(0.6
3 4 in./s
v(2 s) = 2.795 in./s
1
the ball fall in the first 2 s after its release?
Solution: From 13.44 we know
ds
s−1 )t
v= = (4 in./s) 1 − e−(0.6
dt
t
s−1 )t
s(2 s) = (4 in./s) 1 − e−(0.6 dt
0
20 in. (−0.6 s−1 )t

= e − 1 + (4 in./s)t
3
s(2 s) = 3.34 in.
1
Problem 13.46 The greatest ocean depth yet discov-
ered is the Marianas Trench in the western Pacific Ocean.
A steel ball released at the surface requires 64 minutes
to reach the bottom. The ball’s downward acceleration
is a = 0.9g − cv, where g = 9.81 m/s2 and the constant
c = 3.02 s−1 . What is the depth of the Marianas Trench
in kilometers?
Solution: Integrating,
dv s t
a= = 0.9g − cv. 0.9g
dt ds = (1 − e−ct ) dt.
0 0 c
Separating variables and integrating, We obtain
v t
dv
= dt = t. 0.9g e−ct 1
0.9g − cv s= t+ − .
0 0 c c c
Integrating and solving for v, At t = (64)(60) = 3840 s, we obtain
ds 0.9g
v= = (1 − e−ct ). s = 11,225 m.
dt c
1
Problem 13.47 The acceleration of a regional airliner
during its takeoff run is a = 14 − 0.0003v 2 ft/s2 , where
v is its velocity in ft/s. How long does it take the airliner
to reach its takeoff speed of 200 ft/s?
Solution:
dv
a= = (14 ft/s2 ) − (0.0003 ft−1 )v 2
dt
200 ft/s t
dv
= dt
0 (14 ft/s2 ) − (0.0003 ft−1 )v 2 0
t = 25.1 s
1
the airliner require to take off?
Solution:
dv
a=v = (14 ft/s2 ) − (0.0003 ft−1 )v 2
ds
200 ft/s s
vdv
−1
= ds
0 (14 ft/s ) − (0.0003 ft
2
)v 2 0
s = 3243 ft
1
Problem 13.49 A sky diver jumps from a helicopter
and is falling straight down at 30 m/s when her parachute
opens. From then on, her downward acceleration is
approximately a = g − cv 2 , where g = 9.81 m/s2 and
c is a constant. After an initial “transient” period she
descends at a nearly constant velocity of 5 m/s.
(a) What is the value of c, and what are its SI units?

(b) What maximum deceleration is the sky diver
subjected to?
(c) What is her downward velocity when she has fallen
2 meters from the point where her parachute opens?
Solution: Assume c > 0. Integrate:
(a) After the initial transient, she falls at a constant velocity, so that
1
the acceleration is zero and cv 2 = g, from which − ln |g − cv 2 | = s + C.
2c
g 9.81 m/s2 When the parachute opens s = 0 and v = 30 m/s, from which
c= = = 0.3924 m−1
v2 (5)2 m2 /s2
1
C=− ln |g − 900c| = −7.4398.
(b) The maximum acceleration (in absolute value) occurs when the 2c
parachute first opens, when the velocity is highest:
The velocity as a function of distance is ln |g − cv 2 | = −2c(s +
C). For s = 2 m,
amax = |g − cv 2 | = |g − c(30)2 | = 343.4 m/s2
v = 14.4 m/s
(c) Choose coordinates such that distance is measured positive down-
ward. The velocity is related to position by the chain rule:
dv dv ds dv
= =v = a,
dt ds dt ds
from which
v dv
= ds.
g − cv 2
1
Problem 13.50 The rocket sled starts from rest and
accelerates at a = 30 + 2t m/s2 until its velocity is
400 m/s. It then hits a water brake and its acceleration
is a = −0.003v 2 m/s2 until its velocity decreases to
100 m/s. What total distance does the sled travel?
dv
Solution: Acceleration Phase a=v = −0.003v 2
ds
a = 30 + 2t m/s2 sf vf
1 v dv
ds = −
s1 (0.003) v1 v2
v = 30t + t 2 m/s
1
s = 15t 2 + t 3 /3 m sf − 1833 m = − [ln(100) − ln(400)]
(0.003)
When v = 400 m/s, acceleration ends. At this point, t = 10 s and s = sf = 2300 m

1833 m. Deceleration Phase starts at s1 = 1833 m, v1 = 400 m/s. Let
us start a new clock for the deceleration phase. vf = 100 m/s
1
Problem 13.51 In Problem 13.50, what is the sled’s
total time of travel?
Solution: From the solution to Problem 13.50, the acceleration
takes 10 s. At t = 10 s, the velocity is 400 m/s. We need to find out
how long it takes to decelerate from 400 m/s to 100 m/s and add this
to the 10 s required for acceleration. The deceleration is given as
dv
a= = −0.003v 2 m/s2
dt
td 100
dv
−0.003 dt =
0 400 v2

1 100 1 1
−0.003td = − = − −
v 400 100 400
3
0.003td =
400
td = 2.5 s
t = 10 + td = 12.5 s
1
Problem 13.52 A car’s acceleration is related to its
position by a = 0.01s m/s2 . When s = 100 m, the car
is moving at 12 m/s. How fast is the car moving when
s = 420 m?
Solution:
dv
a=v = 0.01s m/s2
ds
vf 420
v dv = 0.01 s ds
12 100
vf 420 m
v2 s2
= 0.01
2 12 m/s 2 100 m
vf2 122 (4202 − 1002 )

= + 0.01
2 2 2
vf = 42.5 m/s
1
Problem 13.53 Engineers analyzing the motion of a
linkage determine that the velocity of an attachment
point is given by v = A + 4s 2 ft/s, where A is a con-
stant. When s = 2 ft, its acceleration is measured and
determined to be a = 320 ft/s2 . What is its velocity of
the point when s = 2 ft?
Solution: The velocity as a function of the distance is When s = 2 ft, a = 320 ft/s2 , from which A = 4.
dv The velocity at s = 2 ft is
v = a.
ds
v = 4 + 4(22 ) = 20 ft/s
Solve for a and carry out the differentiation.
dv
a=v = (A + 4s 2 )(8s).
ds
1
Problem 13.54 The acceleration of an object is given
by the function a = 2s ft/s2 . When t = 0, v = 1 ft/s.
What is the velocity when the object has moved 2 ft
from its initial position?
Solution: The differential equations for the velocity and distance
are
dv ds
= 2s, and = v.
dt dt
Use the chain rule, separate variables and integrate:
dv
v = 2s,
ds
from which C1 = 1 and v 2 = 2s 2 + 1. At s = 2 ft, v 2 = 9,
v = 3 ft/s
where the positive sign on the square root is chosen because the veloc-
ity increases with distance.
1
Problem 13.55 Gas guns are used to investigate
the properties of materials subjected to high-velocity
impacts. A projectile is accelerated through the barrel
s
of the gun by gas at high pressure. Assume that the
acceleration of the projectile is given by a = c/s m/s2 ,
where s is the position of the projectile in the barrel in
meters and c is a constant that depends on the initial
gas pressure behind the projectile. The projectile starts
from rest at s = 1.5 m and accelerates until it reaches
the end of the barrel at s = 3 m. Determine the value of
the constant c necessary for the projectile to leave the
barrel with a velocity of 200 m/s.
Solution:
200 m/s 3m
dv c c
a=v = ,⇒ vdv = ds
ds s 0 1.5 m s

(200 m/s)2 3m
⇒ = c ln
2 1.5 m
c = 28.85 × 103 m2 /s2
1
Problem 13.56 If the propelling gas in the gas gun Solution:
described in Problem 13.55 is air, a more accurate 200 m/s 3m
modeling of the acceleration of the projectile is obtained dv c c
a=v = 1.4 , ⇒ vdv = ds
by assuming that the acceleration of the projectile is ds s 0 1.5 m s 1.4
given by a = c/s γ m/s2 , where γ = 1.4 is the ratio of
(200 m/s)2
specific heats for air. (This means that an isentropic = −2.5c (3m)−0.4 − (1.5m)−0.4
2
expansion process is assumed instead of the isothermal
process assumed in Problem 13.55.) Determine the value
of the constant c necessary for the projectile to leave the c = 38.86 × 103 m2.4 /s2
barrel with a velocity of 200 m/s.
1
Problem 13.57 A spring-mass oscillator consists of a
mass and a spring connected as shown. The coordinate
s measures the displacement of the mass relative to its
position when the spring is unstretched, If the spring
is linear, the mass is subjected to a deceleration pro-
portional to s. Suppose that a = −4s m/s2 , and that you s
give the mass a velocity v = 1 m/s in the position s = 0.
(a) How far will the mass move to the right before the
spring brings it to a stop?
(b) What will be the velocity of the mass when it has
returned to the position s = 0?
Solution: The velocity of the mass as a function of its position

is given by v dv/ds = a. Substitute the given acceleration, separate
variables, and integrate: v dv = −4s ds, from which v 2 /2 = −2s 2 +
C. The initial velocity v(0) = 1 m/s at s = 0, from which C = 1/2.
The velocity is v 2 /2 = −2s 2 + 1/2.
(a) The velocity is zero at the position given by
1
0 = −2(s1 )2 + ,
2

1 1
from which s1 = ± = ± m.
4 2
Since the displacement has the same sign as the velocity,
s1 = +1/2 m
is the distance traveled before the spring brings it to a stop.

2
(b) At the return to s = 0, the velocity is v = ± = ±1 m/s. From
2
the physical situation, the velocity on the first return is negative
(opposite the sign of the initial displacement),
v = −1 m/s .
1
Problem 13.58 In Problem 13.57, suppose that at t = Solution: From the solution to Problem 13.57, the velocity as a
0 you release the mass from rest in the position s = 1 m. function of position is given by
Determine the velocity of the mass as a function of s as
it moves from the initial position to s = 0. v2
= −2s 2 + C.
2
At t = 0, v = 0 and s = 1 m, from which C = 2(1)2 = 2. The velocity

is given by
1 √
v(s) = ±(−4s 2 + 4) 2 = ±2 1 − s 2 m/s.
From the physical situation, the velocity is negative (opposite the sign
of the initial displacement):
√
v = −2 1 − s 2 m/s .
[Note: From the initial conditions, s 2 ≤ 1 always.]
1
Problem 13.59 In Problem 13.57, suppose that at t =
0 you release the mass from rest in the position s = 1 m.
Determine the position of the mass as a function of time
as it moves from its initial position to s = 0.
Solution: The differential equations for the velocity and posi- Separate variables and integrate:
tion are
ds
dv ds √ = ±2 dt, − cos−1 (s) = ±2t + C.
= −4s, and = v. 1 − s2
dt dt
At t = 0, s = 1 m, from which C = cos−1 (1) = 0, from which
Use the chain rule:
dv s(t) = cos 2t m
v = −4s.
ds
where the negative sign for the square root is chosen because s
Separate variables and integrate: v 2 = −4s 2 + C. At t = 0, s = 1 m, decreases with increasing t at t = 0 + · · ·
and v = 0, from which C = 4, and v 2 = 4(1 − s 2 ) Substitute:
ds √
= ±2 1 − s 2 .
dt
1
Problem 13.60 The mass is released from rest with
the springs unstretched. Its downward acceleration is
a = 32.2 − 50s ft/s2 , where s is the position of the mass
measured from the position in which it is released.
(a) How far does the mass fall? (b) What is the
maximum velocity of the mass as it falls?
Solution: The acceleration is given by
dv dv ds dv
a= = =v = 32.2 − 50s ft/s2 .
dt ds dt ds
Integrating, we get

v s v2
v dv = (32.2 − 50s) ds or = 32.2s − 25s 2 .
0 0 2
(a) The mass falls until v = 0. Setting v = 0, we get 0 = (32.2 −

25s)s. We find v = 0 at s = 0 and at s = 1.288 ft. Thus, the
mass falls 1.288 ft before coming to rest.
(b) From the integration of the equation of motion, we have v 2 =

dv
2(32.2s − 25s 2 ). The maximum velocity occurs where = 0.
ds
dv
From the original equation for acceleration, we have a = v =
ds
(32.2 − 50s) ft/s . Since we want maximum velocity, we can
2
assume that v = 0 at this point. Thus, 0 = (32.2 − 50s), or s =

(32.2/50) ft when v = vMAX . Substituting this value for s into
the equation for v, we get

(32.2)2 (25)(32.2)2
2
vMAX =2 − ,
50 502
or vMAX = 4.55 ft/s
1
Problem 13.61 Suppose that the mass in Problem
13.60 is in the position s = 0 and is given a downward
velocity of 10 ft/s.
(a) How far does the mass fall?

(b) What is the maximum velocity of the mass as
it falls?
Solution: (a) The mass falls until v = 0
dv
a=v = (32.2 ft/s2 ) − (50 s−2 )s 0 = (10 ft/s)2 + (64.4 ft/s2 )s − (50 s−2 )s 2 ⇒ s = 2.20 ft
ds
v s
vdv = [(32.2 ft/s2 ) − (50 s−2 )s]ds (b) The maximum velocity occurs when a = 0
10 ft/s 0
0 = (32.2 ft/s2 ) − (50 s−2 )s ⇒ s = 0.644 ft
v2 (10 ft/s)2 s2
− = (32.2 ft/s2 )s − (50 s−2 )
2 2 2 v 2 = (10 ft/s)2 + (64.4 ft/s2 )(0.644 ft) − (50 s−2 )(0.644 ft)2
v 2 = (10 ft/s)2 + (64.4 ft/s2 )s − (50 s−2 )s 2 v = 10.99 ft/s
1
Problem 13.62 If a spacecraft is 100 mi above the sur-
face of the earth, what initial velocity v0 straight away 100 mi
from the earth would be required for the vehicle to
reach the moon’s orbit 238,000 mi from the center of 0
the earth? The radius of the earth is 3960 mi. Neglect

the effect of the moon’s gravity. (See Example 13.5)
238,000 mi
Solution: For computational convenience, convert the acceleration from which C = −10405562 mi2 /h2 . At the 100 mile altitude, the
due to Earth’s gravity into the units given in the problem, namely miles equation for the velocity is
and hours:

RE2
32.17 ft 1 mile 36002 s2 v02 = 2 g + C.
g= = 78962.7 mi/h2 . RE + 100
1 s2 5280 ft 1 h2
From which
The velocity as a function of position is given by
√
dv gR 2 v0 = 599575671 = 24,4862 mi/h
v = a = − 2E .
ds s
Converting:
Separate variables,

24486.2 mi 5280 ft 1h
ds v0 = = 35,913.1 ft/s .
v dv = −gRE2 . 1h 1 mi 3600 s
s2
Integrate: Check: Use the result of Example 13.5

1 1 1
v 2 = −2gRE2 − + C. v0 = 2gRE2 − ,
2 s0 H
Suppose that the velocity at the distance of the Moon’s orbit is zero.
(where H > s0 always), and H = 238,000,
Then
from which v0 = 24,486.2 mi/h. check.
39602
0 = 2(78962.7) + C,
238,000
1
Problem 13.63 The moon’s radius is 1738 km. The
magnitude of the acceleration due to gravity of the moon
at a distance s from the center of the moon is
4.89 × 1012
m/s2 .
s2
Suppose that a spacecraft is launched straight up from
the moon’s surface with a velocity of 2000 m/s.
(a) What will the magnitude of its velocity be when it

is 1000 km above the surface of the moon?
(b) What maximum height above the moon’s surface
will it reach?
Solution: Set G = 4.89 × 1012 m3 /s2 , r0 = 1.738 × 106 m,
v0 = 2000 m/s

dv G v r G v2 v0 2 1 1
a=v =− 2 ⇒ vdv = − ds ⇒ − = G −
ds s v0 r0 s2 2 2 r r0

r0 − r
v 2 = v0 2 + 2G
rr0
(a) v(r0 + 1.0 × 106 m) = 1395 m/s
(b) The maximum velocity occurs when v = 0
2G
r= = 6010 km ⇒ h = r − r0 = 4272 km
2G − r0 v0 2
1
Problem 13.64* The velocity of an object subjected
only to the earth’s gravitational field is

1 1 1/2
v = v0 + 2gRE
2 2
− ,
s s0
where s is position relative to the center of the earth, v0
is the velocity at position s0 , and RE is the earth’s radius.
Using this equation, show that the object’s acceleration
is given as a function of s by a = −gRE2 /s 2 .
Solution:
1/2
1 1
v = v02 + 2gRE2 −
s s0
dv dv
a= =v
dt ds
2gRE2 2gRE2
Rewrite the equation given as v 2 = v02 + −
s s0
Take the derivative with respect to s.
dv 2gR 2
2v =− 2E
ds s
Thus
dv gR 2
a=v − 2E
ds s
1
Problem 13.65 Suppose that a tunnel could be drilled N
straight through the earth from the north pole to the south
Tunnel
pole and the air evacuated from it. An object dropped
from the surface would fall with the acceleration a = s
−gs/RE , where g is the acceleration of gravity at sea
level, RE is radius of the earth, and s is the distance of
RE
the object from the center of the earth. (The acceleration
due to gravitation is equal to zero at the center of the
earth and increases linearly with the distance from the
center.) What is the magnitude of the velocity of the S
dropped object when it reaches the center of the earth?
Solution: The velocity as a function of position is given by
dv gs
v =− .
ds RE
Separate variables and integrate:

g
v2 = − s 2 + C.
RE
At s = RE , v = 0, from which C = gRE . Combine and reduce:

s2
v2 = gRE 1− 2
RE
√
At the center of the earth s = 0, and the velocity is v = gRE
1
Problem 13.66 Determine the time in seconds required
for the object in Problem 13.65 to fall from the surface
of the earth to the center. The earth’s radius is 6370 km.
Solution: From Problem 13.65, the acceleration is
dv g
a=v =− s
ds RE
v s
g
v du = − s ds
0 RE RE

g
v2 = (RE2 − s 2 )
RE
Recall that v = ds/dt

ds g 2
v= =± RE − s 2
dt RE
0 tf
ds g
=± dt
RE RE2 − s 2 RE 0

g s 0
tf = ± sin−1 = ± sin−1 (1)
RE RE RE

RE π
tf = ± = ±1266 s = ±21.1 min
g 2
1
Problem 13.67 The coordinates (in meters) of a point
moving in the x-y plane are given as functions of time by
x = 20t 2 − 160 and y = t 3 + 40t. Determine the mag-
nitudes of the velocity and acceleration of the point at
t = 2 s.
Solution:
x = 20t 2 − 160, vx = 40t, ax = 40
y = t 3 + 40t, vy = 3t 2 + 40, ay = 6t
vx (2) = 40(2) = 80

⇒ v= (80)2 + (52)2 = 95.4 m/s
vy (2) = 3(2)2 + 40 = 52
ax (2) = 40

⇒ a= (40)2 + (12)2 = 41.8 m/s2
ay (2) = 6(2) = 12
1
Problem 13.68 In terms of a particular reference
frame, the position of the center of mass of the F-14
at the time shown (t = 0) is r = 10i + 6j + 22k (m).
The velocity from t = 0 to t = 4 s is v = (52 + 6t)i +
(12 + t 2 )j − (4 + 2t 2 )k (m/s). What is the position of
the center of mass of the plane at t = 4 s?
Solution:
r0 = 10i + 6j + 22k m
v = (52 + 6t)i + (12 + t 2 )j − (4 + 2t 2 )k m/s
4
x4 = vx dt = 52t + 3t 2 + x0
0
x4 = (52)(4) + 3(4)2 + 10 m = 266.0 m
4
y4 = vy dt = 12t + t 3 /3 + y0
0
y4 = 12(4) + (4)3 /3 + 6 m = 75.3 m
4
z4 = vz dt = −(4t + 2t 3 /3) + z0
0
z4 = −4(4) − 2(4)3 /3 + 22 = −36.7 m
r|t=4s = 266i + 75.3j − 36.7k (m)
1
Problem 13.69 The acceleration of an object moving
in the x-y plane is
a = (4t − 2)i + (−2t 2 + 4)j (ft/s2 ).
At t = 0, its position is r = 3i − 2j (ft) and is velocity
is v = 6i + 8j (ft/s). What are the position and velocity
of the object at t = 3 s?
Solution:
2 3
ax = 4t − 2, vx = 2t 2 − 2t + 6, sx = t − t 2 + 6t + 3
3
2 1
ay = −2t 2 + 4, vy = − t 3 + 4t + 8, sy = − t 4 + 2t 2 + 8t − 2
3 6
2 3
sx (3) = (3) − (3)2 + 6(3) + 3 = 30
3
1
sy (3) = − (3)4 + 2(3)2 + 8(3) − 2 = 26.5
6
⇒ r(3) = (30i + 26.5j)ft
vx (3) = 2(3)2 − 2(3) + 6 = 18
2
vy (3) = − (3)3 + 4(3) + 8 = 2
3
⇒ v(3) = (18i + 2j)ft/s
1
Problem 13.70 A projectile is launched from ground y
level with initial velocity v0 = 20 m/s. Determine its
range R if (a) θ0 = 30◦ ; (b) θ0 = 45◦ (c) θ0 = 60◦ .
0
u0
x
R
Solution: Set g = 9.81 m/s2 , v0 = 20 m/s

1
ay = −g, vy = −gt + v0 sin θ0 , sy = − gt 2 + v0 sin θ0 t
2
ax = 0, vx = v0 cos θ0 , sx = v0 cos θ0 t
When it hits the ground, we have

1 2v0 sin θ0
0 = − gt 2 + v0 sin θ0 t ⇒ t =
2 g
v0 2 sin 2θ0
R = v0 cos θ0 t ⇒ R =
g
a) θ0 = 30◦ ⇒ R = 35.3 m
⇒ b) θ0 = 45◦ ⇒ R = 40.8 m
c) θ0 = 60◦ ⇒ R = 35.3 m
1
Problem 13.71 A projectile is launched from ground
level with an initial velocity v0 = 20 m/s. What initial
angle θ0 above the horizontal causes the range R to be
a maximum, and what is the maximum range?
Solution: From 13.70 we know that

v0 2 sin 2θ0 dR 2v0 2 cos 2θ0 ◦
R= , = = 0 ⇒ θ0 = 45
g dθ0 g
◦ v0 2 sin(90◦ ) v0 2
R(45 ) = =
g g
Putting in the numbers for this problem,
θ0 = 45◦ , R = 40.8 m
1
Problem 13.72 Suppose that you are designing a
mortar to launch a rescue line from coast guard vessel y
to ships in distress. The light line is attached to a weight
fired by the mortar. Neglect aerodynamic drag and the 45°
x
weight of the line for your preliminary analysis. If you 72
want the line to be able to reach a ship 300 ft away

when the mortar is fired at 45◦ above the horizontal,
what muzzle velocity is required?
Solution: From 13.70 we know that

v0 2 sin 2θ0 Rg
R= ⇒ v0 =
g sin 2θ0

(300 ft)(32.2 ft/s2 )
v0 = = 98.3 ft/s
sin(90◦ )
1
Problem 13.73 In Problem 13.72, what maximum
height above the point where it was fired is reached by
the weight?
Solution: From Problem 13.70 we have

1
vy = −gt + v0 sin θ0 , sy = − gt 2 + v0 sin θ0 t
2
When we reach the maximum height,
v0 sin θ0
0 = −gt + v0 sin θ0 ⇒ t =
g
2
1 1 v0 sin θ0 v0 sin θ0
h = − gt 2 + v0 sin θ0 t ⇒ h = − g + v0 sin θ0
2 2 g g
v0 2 sin2 θ0
h=
2g
Putting in the numbers we have
(98.3 ft/s)2 sin2 (45◦ )

h= = 75 ft
2(32.2 ft/s2 )
1
Problem 13.74 When the athlete releases the shot, it is
7 ft above the ground. The horizontal distance the shot
travels from the point of release to the point where it 0
hits the ground is 60 ft. What was the initial velocity v0
30⬚
of the shot?
Solution:
◦ ◦
ax = 0, vx = v0 cos 30 , sx = v0 cos 30 t
◦
ay = −32.2 ft/s2 , vy = −(32.2 ft/s2 )t + v0 sin 30
◦
sy = −(16.1 ft/s2 )t 2 + v0 sin 30 t + 7 ft
When it hits the ground we have

◦
60 ft = v0 cos 30 t
◦
0 = −(16.1 ft/s2 )t 2 + v0 sin 30 t + 7 ft
Solving simultaneously we find
t = 1.608 s, v0 = 43.08 ft/s
1
Problem 13.75 A pilot wants to drop survey markers
at remote locations in the Australian outback. If he flies
at a constant velocity v0 = 40 m/s at altitude h = 30 m
0
and the marker is released with zero velocity relative to
the plane, at what horizontal d from the desired impact
point should the marker be released?
h
Solution: We want to find the horizontal distance traveled by the

marker before it strikes the ground (y goes to zero for t > 0.)
ax = 0 ay = −g
v x = v x0 vy = vy0 − gt
x = x0 + vx0 t y = y0 + vy0 t − gt 2 /2
From the problem statement, x0 = 0, vy0 = 0, vx0 = 40 m/s, and y0 =

30 m The equation for y becomes
y = 30 − (9.81)t 2 /2
Solving with y = 0, we get tf = 2.47 s.

Substituting this into the equation for x, we get
xf = 40tf = 98.9 m
1
Problem 13.76 If the pitching wedge the golfer is 0
using gives the ball an initial angle θ0 = 50◦ , what range
of velocities v0 will cause the ball to land within 3 ft of
the hole? (Assume the hole lies in the plane of the ball’s
trajectory). θv0 3 ft
Strategy: We need to find the velocities which cause 30 ft

the ball to pass through the points (27,3) ft (3 feet short
of the hole) and (33,3) feet (3 feet beyond the hole).
Solution: Set the coordinate origin at the point where the golfer
strikes the ball. The motion in the horizontal (x) direction is given by
ax = 0, Vx = V0 cos θ0 , x = (V0 cos θ0 )t. The motion in the vertical
(y) direction is given by
gt 2
ay = −g, Vy = V0 sin θ0 − gt, y = (V0 sin θ0 )t − .
2
From the x equation, we can find the time at which the ball reaches
the required value of x (27 or 33 feet). This time is
tf = xf /(V0 cos θ0 ).
We can substitute this information the equation for Y with Yf = 3 ft

and solve for V0 . The results are: For hitting (27,3) feet, V0 = 31.2 ft/s.
For hitting (33,3) feet, V0 = 34.2 ft/s.
1
Problem 13.77 A batter strikes a baseball 3 ft above
home plate and pops it up. The second baseman catches
it 6 ft above second base 3.68 s after it was hit.
What was the ball’s initial velocity, and what was
Second
the angle between the ball’s initial velocity vector and base
the horizontal?
90
ft
Solution: The equations of motion g = 32.2 ft/s2
ax = 0 ay = −g
vx = v0 cos θ0 vy = −gt + v0 sin θ0
1
sx = v0 cos θ0 t sy = − gt 2 + v0 sin θ0 t + 3 ft
2
ft
90
When the second baseman catches the ball we have Home plate
127.3 ft = v0 cos θ0 (3.68 s)
1
6 ft = − (32.2 ft/s2 )(3.68 s)2 + v0 sin θ0 (3.68 s)
2
Solving simultaneously we find
v0 = 70.02 ft/s, θ0 = 60.4◦
1
Problem 13.78 A baseball pitcher releases a fastball
with an initial velocity v0 = 90 mi/h. Let θ be the initial
angle of the ball’s velocity vector above the horizontal.
When it is released, the ball is 6 ft above the ground
and 58 ft from the batter’s plate. The batter’s strike
zone extends from 1 ft 10 in. above the ground to 4 ft
6 in. above the ground. Neglecting aerodynamic effects,
determine whether the ball will hit the strike zone (a) if
θ = 1◦ ; (b) if θ = 2◦ . 4 ft 6 in
1 ft 10 in
58 ft
Solution: The initial velocity is v0 = 90 mi/h = 132 ft/s. The Substitute:

velocity equations are
2
g d
dvx y(tp ) = h = − + d tan θ + 6.
(1) = 0, from which vx = v0 cos θ. 2 v0 cos θ
dt
dvy For θ = 1◦ , h = 3.91 ft , Yes, the pitcher hits the strike zone.
(2) = −g, from which vy = −gt + v0 sin θ.
dt
For θ = 2◦ , h = 4.92 ft No, the pitcher misses the strike zone.
dx
(3) = v0 cos θ, from which x(t) = v0 cos θt, since the initial
dt
position is zero.
dy
(4) = −gt + v0 sin θ, from which
dt
g
y(t) = − t 2 + v0 sin θt + 6,
2
since the initial position is y(0) = 6 ft. At a distance d = 58 ft,

the height is h. The time of passage across the home plate is
x(tp ) = d = v0 cos θtp , from which
d
tp = .
v0 cos θ
1
Problem 13.79 In Problem 13.78, assume that the
pitcher releases the ball at an angle θ = 1◦ above the
horizontal, and determine the range of velocities v0 (in
ft/s) within which he must release the ball to hit the
strike zone.
Solution: From the solution to Problem 13.78, For h = 4.5, v0 = 146.8 ft/s. For h = 1.833, v0 = 102.2 ft/s. The
pitcher will hit the strike zone for velocities of release of
2
g d
h=− + d tan θ + 6,
2 v0 cos θ 102.2 ≤ v0 ≤ 146.8 ft/s ,
where d = 58 ft, and 4.5 ≥ h ≥ 1.833 ft. Solve for the initial velocity: and a release angle of θ = 1◦ . Check: The range of velocities in miles
per hour is 69.7 mph ≤ v0 ≤ 100.1 mph, which is within the range of
gd 2 major league pitchers, although the 100 mph upper value is achievable
v0 = . only by a talented few (Nolan Ryan, while with the Houston Astros,
2 cos2 θ(d tan θ + 6 − h)
would occasionally in a game throw a 105 mph fast ball, as measured
by hand held radar from behind the plate).
1
Problem 13.80 A zoology student is provided with a
bow and an arrow tipped with a syringe of sedative 20°
and is assigned to measure the temperature of a black
rhinoceros (Diceros bicornis). The range of his bow
when it is fully drawn and aimed 45◦ above the horizon-
tal is 100 m. A truculent rhino charges straight toward
him at 30 km/h. If he fully draws his bow and aims 20◦
above the horizontal, how far away should the rhino be
when the student releases the arrow?
Solution: The strategy is (a) to determine the range and flight time
of the arrow when aimed 20◦ above the horizontal, (b) to determine the
distance traveled by the rhino during this flight time, and then (c) to
add this distance to the range of the arrow. Neglect aerodynamic drag
on the arrow. The equations for the trajectory are: Denote the constants
of integration by Vx , Vy , Cx , Cy , and the velocity of the arrow by VA .
dvx
(1) = 0, from which vx = Vx . At t = 0, Vx = VA cos θ.
dt
dvy
(2) = −g, from which vy = −gt + Vy . At t = 0, Vy =
dt
VA sin θ.
dx
(3) = vx = VA cos θ, from which x(t) = VA cos θt + Cx . At t =
dt
0, x(0) = 0, from which Cx = 0.
dy
(4) = vy = −gt + VA sin θ, from which
dt
g
y = − t 2 + VA sin θt + Cy .
2
At t = 0, y = 0, from which Cy = 0. The time of flight is

given by
g
y(tflight ) = 0 = − tflight + VA sin θ tflight ,
2
from which
2VA sin θ
tflight = .
g
The range is given by
2VA2 cos θ sin θ

x(tflight ) = R = VA cos θtflight = .
g
The maximum range (100 meters) occurs when the arrow is

aimed 45◦ above the horizon. Solve for the arrow velocity: VA =
√
gRmax = 31.3 m/s. The time of flight when the angle is 20◦ is
2VA sin θ
tflight = = 2.18 s,
g
and the range is R = VA cos θtflight = 64.3 m. The speed of

the rhino is 30 km/h = 8.33 m/s. The rhino travels a distance
d = 8.33(2.18) = 18.2 m. The required range when the arrow is
released is
d + R = 82.5 m .
1
Problem 13.81 The crossbar of the goalposts in 0
American football is yc = 10 ft above the ground. To
kick a field goal, the ball must make the ball go between
the two uprights supporting the crossbar and be above θv0 yc
the crossbar when it does so. Suppose that the kicker
attempts a 40-yard field goal (xc = 120 ft), and kicks
xc
the ball with an initial velocity v0 = 70 ft/s and θ0 =
40◦ . By what vertical distance does the ball clear the
crossbar?
Solution: Set the coordinate origin at the point where the ball
is kicked. The x (horizontal) motion of the ball is given by ax = 0,
Vx = V0 cos θ0 , x = (V0 cos θ0 )t. The y motion is given by ay = −g,
gt 2
Vy = V0 sin θ0 − gt, y = (V0 sin θ0 )t − . Set x = xc = 120 ft and
2
find the time tc at which the ball crossed the plane of the goal posts.
Substitute this time into the y equation to find the y coordinate YB
of the ball as it passes over the crossbar. Substituting in the numbers
(g = 32.2 ft/s2 ), we get tc = 2.24 s and yB = 20.06 ft. Thus, the ball
clears the crossbar by 10.06 feet.
1
Problem 13.82 An American football quarterback C
stands at A. At the instant the quarterback throws the
football, the receiver is at B running at 20 ft/s toward
C, where he catches the ball. The ball is thrown at an
angle of 45◦ above the horizontal, and it is thrown and
caught at the same height above the ground. Determine
the magnitude of the ball’s initial velocity and the length
of time it is in the air.
Receiver’s
path
Solution: Set x as the horizontal motion of the football, y as the
vertical motion of the football and z as the horizontal motion of the Path of the ball
receiver. Set g = 32.2 ft/s2 , θ0 = 45◦ . We have
az = 0, vz = 20 ft/s, sz = (20 ft/s)t
1
ay = −g, vy = −gt + v0 sin θ0 , sy = − gt 2 + v0 sin θ0 t
2 90⬚
ax = 0, vx = v0 cos θ0 , sx = v0 cos θ0 t
When the ball is caught we have A

B
sz = (20 ft/s)t 30 ft
1
0 = − gt 2 + v0 sin θ0 t
2
sx = v0 cos θ0 t
sx 2 = sz 2 + (30 ft)2
We can solve these four equations for the four unknowns sx , sz , v0 , t
We find t = 1.67 s, v0 = 38.02 ft/s
1
Problem 13.83 The cliff divers of Acapulco, Mexico
must time their dives that they enter the water at the
crest (high point) of a wave. The crests of the waves
are 1 m above the mean water depth h = √ 4 m. The
horizontal velocity of the waves is equal to gh. The
diver’s aiming point is 2 m out from the base of the cliff.
Assume that his velocity is horizontal when he begins
the dive.
(a) What is the magnitude of the driver’s velocity when 26 m
he enters the water?
(b) How far from his aiming point must a wave crest
be when he dives in order for him to enter the water
at the crest?
1m
Solution: h
6.4 m 2m
t = 0, vy = 0, y = 27 m, x0 = 0
ay = −g = −9.81 m/s
Vy = Vy00 − gt
y = y0 − gt 2/2
27 m
y = 1 m at tIMPACT
for an ideal dive to hit the crest of the wave
t1 = tIMPACT = 2.30 s
Vy (t1 ) = 22.59 m/s

8.4 m
ax = 0
Vx = Vx0
XI = Vx0 t1 + X0
At impact XI = 8.4 m.
For impact to occur as planned, then
Vx = 8.4/t1 = 3.65 m/s = constant
The velocity at impact is

(a) |V | = (Vx )2 + [Vy (t1 )]2 = 22.9 m/s
√
The wave moves at gh = 6.26 m/s.
The wave crest travels 2.30 seconds while the diver is in their s =
√
ght1 = 14.4 m.
1
Problem 13.84 A projectile is launched at 10 m/s from 10 m/s
a sloping surface. The angle α = 80◦ . Determine the
range R. 30⬚
a
Solution: Set g = 9.81 m/s2 , v0 = 10 m/s.

The equations of motion are
◦ ◦ ◦
ax = 0, vx = v0 cos(80 − 30 ), sx = v0 cos 50 t
◦ ◦ 1 ◦
ay = −g, vy = −gt + v0 sin(80 − 30 )t, sy = − gt 2 + v0 sin 50 t
2
When the projectile hits we have
◦ ◦
R cos 30 = v0 cos 50 t
⇒ t = 2.32 s, R = 17.21 m
◦ 1 ◦
− R sin 30 = − gt 2 + v0 sin 50 t
2
1
Problem 13.85 A projectile is launched at 100 ft/s at y
60◦ above the horizontal. The surface on which it lands 100 ft/s
is described by the equation shown. Determine the point
of impact.
Strategy: Find the equations for the x and y coor- 60°

dinates of the projectile and substitute them into the x
equation for the surface. Solve for the time of impact
then substitute this time back into the equations for the y = –0.001x 2
x and y coordinates of the projectile.
Solution: The motion in the x direction is ax = 0, vx = V0 cos θ0 ,

x = (V0 cos θ0 )t, and the motion in the y direction is given by
ay = −g, vy = (V0 sin θ0 ) − gt, y = (V0 sin θ0 )t − gt 2 /2. We know
that V0 = 100 ft/s and θ0 = 60◦ . The equation of the surface upon
which the projectile impacts is y = −0.001x 2 . Thus, the time of
impact, tI , can be determined by substituting the values of x and
y from the motion equations into the equation for the surface.
t2
Hence, we get (V0 sin θ0 )tI − g I = −0.001(V0 cos θ0 )2 tI2 . Evaluating
2
with the known values, we get tI = 6.37 s Substituting this value
into the motion equations reveals that impact occurs at (x, y) =
(318.4, −101.4) ft.
1
Problem 13.86 At t = 0, a steel ball in a tank of oil y
is given a horizontal velocity v = 2i (m/s). The compo-
nents of the ball’s acceleration in m/s2 are ax = −1.2vx ,
ay = −8 − 1.2vy , az = −1.2vz . What is the velocity of
the ball at t = 1 s?
Solution: Assume that the effect of gravity is included in the given

accelerations. The equations for the path are obtained from:
dvx
(1) = ax = −1.2vx . Separate variables and integrate:
dt
dvx
= −1.2 dt,
vx
from which ln(vx ) = −1.2t + Vx . At t = 0, vx (0) = 2, from

which
v
x
ln = −1.2t.
2
Inverting: vx (t) = 2e−1.2t .
dvy
(2) = ay = −8 − 1.2vy . Separate variables and integrate:
dt
dvy
= −1.2 dt,
8
+ vy
1.2
from which

8
ln + vy = −1.2t + Vy .
1.2
At t = 0, vy (0) = 0, from

1.2
ln 1 + vy = −1.2t.
8
8 −1.2t
Inverting: vy (t) = (e − 1).
1.2
dvz
(3) = az = −1.2vz , from which ln(vz ) = −1.2t + Vz . Invert to
dt
obtain vz (t) = Vz e−1.2t . At t = 0, vz (0) = 0, hence Vz = 0 and
vz (t) = 0. At t = 1 second,
vx (1) = 2e−1.2 = 0.6024 m/s , and

8
vy (1) = − (1 − e−1.2 ) = −4.66 m/s , or
12
v = 0.602i − 4.66j (m/s) .
1
Problem 13.87 In Problem 13.86, what is the position
of the ball at t = 1 s relative to its position at t = 0?
Solution: Use the solution for the velocity components from Prob- At t = 0, y(0) = 0, from which
lem 13.86. The equations for the coordinates:

8 e−1.2t 1
dx y(t) = − +t − .
(1) = vx = 2e−1.2t , from which 1.2 1.2 1.2
dt
(3) Since vz (0) = 0 and z(0) = 0, then z(t) = 0. At t = 1,
2
x(t) = − e−1.2t + Cx .
1.2
2
x(1) = (1 − e−1.2 ) = 1.165 m .
At t = 0, x(0) = 0, from which 1.2

2
x(t) = (1 − e−1.2t ). 8 e−1.2 1
1.2 y(1) = − +1− = −2.784 m , or
1.2 1.2 1.2

dy 8
(2) = (e−1.2t − 1), from which
dt 1.2 r = 1.165i − 2.784j (m) .

8 e−1.2t
y(t) = − + t + Cy .
1.2 1.2
1
Problem 13.88 The point P moves along a circular y
path with radius R. Show that the magnitude of its veloc-
ity is |v| = R|dθ/dt|.
Strategy: Use Eqs. 13.23
P
Solution:
θ
x
x = R cos θ
y = R sin θ

dθ
vx = −R sin θ
dt

dθ
vy = R cos θ
dt

|V| = Vx2 + Vy2
2 2
dθ dθ
|V| = R 2 sin2 θ + R 2 cos2 θ
dt dt
2
dθ
|V| = R2 (sin2 θ + cos2 θ)
dt

dθ
|V| = R
dt
1
dy
Problem 13.89 If y = 150 mm, = 300 mm/s, and
dt
d 2y
= 0, what are the magnitudes of the velocity and
dt 2
acceleration of point P ?
Solution: The equation for the location of the point P is R 2 = P

1
x2 + y2, from which x = (R 2 − y2) 2 = 0.2598 m, and
dx y dy
=− = −0.1732 m/s, y
dt x dt
300 mm
2 y d2y
d2x 1 dy y dx dy
=− + −
dt 2 x dt x2 dt dt x dt 2
= −0.4619 m/s2 .
The magnitudes are:
2 2
dx dy
|vP | = + = 0.3464 m/s
dt dt

2 2
d2x d2y
|ap | = + = 0.4619 m/s2
dt 2 dt 2
1
Problem 13.90 A car travels at a constant speed of y
100 km/h on a straight road of increasing grade whose
vertical profile can be approximated by the equation
shown. When the car’s horizontal coordinate is x =
y = 0.0003x 2
400 m, what is the car’s acceleration?
dx
Solution: Denote C = 0.0003 and V = 100 km/h = 27.78 m/s. The is positive (car is moving to right in sketch). The acceleration is
dt
magnitude of the constant velocity is

2 2 d2x d V −4C 2 V x dx
dy dx = =
V = + dt 2 dt (2Cx)2 + 1 3 dt
dt dt ((2Cx)2 + 1) 2 .
= −0.0993 m/s2
The equation for the road is y = Cx 2 from which

dy dx 2
= 2Cx . d2y dx d2x
dt dt = 2C + 2Cx = 0.4139 m/s2 , or
dt 2 dt dt 2
Substitute and solve:
a = −0.099i + 0.414j(m/s2 )
dx V
= = 27.01 m/s.
dt
(2Cx)2 + 1
1
Problem 13.91 Suppose that a projectile has the initial y
conditions shown in Fig. 13.18. Show that in terms of y′
the x y coordinate system with its origin at the high-
est point of the trajectory, the equation describing the
trajectory is x′
g
y = − (x )2 .
2v02 cos2 θ0
v02 cos θ0 sin θ0

Solution: The initial conditions are t = 0, x(0) = 0, y(0) = 0, Substitute xp = ,
g
vx (0) = v0 cos θ0 , and vy (0) = v0 sin θ0 . The accelerations are ax (t) =
0, ay (t) = −g. The path of the projectile in the x, y system is obtained
by solving the differential equations subject to the initial conditions: −g(x )2 v 2 sin2 θ0 v 2 sin2 θ0
y = 2 2
− 0 − x tan θ0 + x tan θ0 + 0
2v0 cos θ0 2g g
g
x(t) = (v0 cos θ0 )t, y(t) = − t 2 + (v0 sin θ0 )t
2 v02 sin2 θ0
− .
Eliminate t from the equations by substituting 2g
x g
t= y = − (x )2
v0 cos θ0 2v02 cos2 θ0
to obtain
gx 2
y(x) = − + x tan θ0 .
2v02 cos2 θ0
At the peak,

dy
= 0,
dx
peak
from which
v02 cos θ0 sin θ0

xp = ,
g
v02 sin2 θ0
and yp = .
2g
The primed coordinates: y = y − yp x = x − xp . Substitute and

reduce:
g(x + xp )2
y = − + (x + xp ) tan θ0 − yp .
2v02 cos2 θ0
g
y = − ((x )2 + xp2 + 2x xp ) + (x + xp ) tan θ0
2v02 cos2 θ0
v02 sin2 θ0
− .
2g
1
Problem 13.92 The acceleration components of a
point are ax = −4 cos 2t, ay = −4 sin 2t, az = 0. At
t = 0, its position and velocity are r = i, v = 2j. Show
that (a) the magnitude of the velocity is constant; (b) the
velocity and acceleration vectors are perpendicular; (c)
the magnitude of the acceleration is constant and points
toward the origin; (d) the trajectory of a point is a circle
with its center at the origin.
Solution: The equations for the path are (b) The velocity is v(t) = −i2 sin(2t) + j2 cos(2t). The accel-
eration is a(t) = −i4 cos(2t) − j4 sin(2t). If the two are
dvx perpendicular, the dot product should vanish: a(t) · v(t) =
(1) = ax = −4 cos(2t), from which vx (t) = −2 sin(2t) + Vx .
dt (−2 sin(2t))(−4 cos(2t)) + (2 cos(2t))(−4 sin(2t)) = 0,
dx and it does
At t = 0, vx (0) = 0, from which Vx = 0. = vx = −2 sin(2t),
dt
from which x(t) = cos(2t) + Cx . At t = 0, x(0) = 1, from which (c) The magnitude of the acceleration:
Cx = 0.

dvy |a| = (−4 cos(2t))2 + (−4 sin(2t))2 = 4 = const .
(2) = ay = −4 sin(2t), from which vy (t) = 2 cos(2t) + Vy . At
dt
dy
t = 0, vy (0) = 2, from which Vy = 0. = vy = 2 cos(2t), The unit vector parallel to the acceleration is
dt
from which y(t) = sin(2t) + Cy . At t = 0, y(0) = 0, from which
a
Cy = 0. e= = −i cos(2t) − j sin(2t),
|a|
(3) For az = 0 and zero initial conditions, it follows that vz (t) = 0
which always points to the origin.
and z(t) = 0.
(a) The magnitude of the velocity is
(d) The trajectory path is x(t) = cos(2t) and y(t) = sin(2t).
These satisfy the condition for a circle of radius 1:
|v| = (−2 sin(2t))2 + (2 cos(2t))2 = 2 = const.
1 = x2 + y2
1
Problem 13.93 When an airplane touches down at
t = 0, a stationary wheel is subjected to a constant angu-
lar acceleration α = 110 rad/s2 until t = 1 s.
(a) What is the wheel’s angular velocity at t = 1 s?
(b) At t = 0, the angle θ = 0. Determine θ in radians

θ
and in revolutions at t = 1 s.
Solution:
α = 110 rad/s2
ω = αt + ω0
θ = ( 12 αt 2 ) + ω0 t + θ0
From the problem statement, ω0 = θ0 = 0
(a) At t = 1 s,
ω = (110)(1) + 0 = 110 rad/s
(b) At t = 1 s,
θ = 110(1)2 /2 = 55 radians (8.75 revolutions)
1
Problem 13.94 Let L be a line from the center of the
earth to a fixed point on the equator, and let L0 be a fixed L
reference direction. The figure shows the earth seen from
above the North Pole. θ
L0
(a) Is dθ/dt positive or negative?
(b) What is the magnitude of dθ/dt in rad/s?
Solution:
(a) Positive. The earth rotates such that a point on the equator moves
eastward. θ
L
2π rad L0
(b) ω= = 7.27 × 10−5 rad/s
24(3600) s
Actually, earth rotates 2π radians in 23 hours 56 min 4.01 s. Noon to

Noon is 24 hrs. (The earth moves about 1◦ around its orbit each day.)
1
Problem 13.95 The angular acceleration of the line L L
relative to the line L0 is given as a function of time by
α = 2.5 − 1.2t rad/s2 . At t = 0, θ = 0 and the angular
velocity of L relative to L0 is ω = 5 rad/s. Determine θ
and ω at t = 3 s. u
L0
Solution:
α = 2.5 − 1.2t
ω = 2.5t − 0.6t 2 + 5
θ = 1.25t 2 − 0.2t 3 + 5t
θ(3) = 1.25(3)2 − 0.2(3)3 + 5(3) = 20.85 rad

⇒
ω(3) = 2.5(3) − 0.6(3)2 + 5 = 7.1 rad/s
1
Problem 13.96 The angular acceleration of the line
L shown in Problem 13.95 relative to the line L0 is
given α = −2ω2 rad/s2 where ω is the angular velocity
in rad/s. When θ = 30◦ , the angular velocity is 10 rad/s.
What is the angular velocity when θ = 60◦ ?
Strategy: Use the chain rule to write the angular accel-

eration as
dω dω dθ dω
α= = = ω.
dt dθ dt dθ
Solution:
ω π/3
dω dω
α=ω = −2ω2 ⇒ = −2dθ
dθ 10 rad/s ω π/6
π
ω π π
ln = −2 − =−
10 rad/s 3 6 3
ω = (10 rad/s)e−π/3 = 3.509 rad/s
1
Problem 13.97 The stationary astronaut activates
hydrogen peroxide jets that give him a constant angular
acceleration α = 0.4 rad/s2 for 2 s. He then turns off the
jets and rotates with constant angular velocity. From the
time he activates the jets, how long does it take him to
rotate 180◦ relative to his original position?
Solution: The motion has two parts, the angular acceleration phase
and the constant angular velocity phase. Angular Acceleration Phase:
θ0 = 0, ω0 = 0
dω
α= = 0.4 rad/s2
dt
2
ω2 = αdt = αt|20 = 0.8 rad/s
0
2
θ2 = αt dt = αt 2 /2|20 = 0.8 rad
0
Constant Angular Velocity Phase:
θ = θ2 + ω2 (t − 2) rad
We want θf = 180◦ = π radians
π = 0.8 + 0.8(tf − 2)
π + 0.8
Solving tf = s
0.8
tf = 4.93 s
1
Problem 13.98 The hydroelectric generator is started
from rest. Its angular acceleration is given by α = 6 −
0.2ω rad/s2 , where ω is the angular velocity in rad/s.
What is the angular velocity of the generator 10 s after
it is started?
Solution:
ω 10 s
dω dω
α= = 6 − 0.2ω ⇒ = dt
dt 0 6 − 0.2ω 0

6 − 0.2ω
− 5 ln = 10 ⇒ ω = 30(1 − e−2 )
6
ω = 25.9 rad/s
1
Problem 13.99 The rotor of an electric generator is
rotating at 200 rpm when the motor is turned off. Due
to frictional effects, the angular deceleration of the rotor
after it is turned off is α = −0.01ω rad/s2 , where ω is
the angular velocity in rad/s. How many revolutions does
the rotor turn after the motor is turned off?
Solution: The angular velocity at t = 0 is from which θ(t) = −2094.4e−0.01t + C. Count the angular travel from
the time the motor is turned off, from which θ(0) = 0, and C = 2094.4,
rev 1 min 2π rad and θ(t) = 2094.4(1 − e−0.01t ). The rotor comes to rest at a time so
ω(0) = 200 = 20.944 rad/s. great that
min 60 s rev
The angular velocity at time t is given by ω → 0 = lim (20.944e−0.01t ) → 0.

t→∞
dω
= α = −0.01ω. Substitute e−0.01t → 0 into the angular travel to obtain
dt
revs
Separate variables and integrate: θtotal = 2094.4 rad = 333.33 revs
2π rad
dω
= −0.01 dt,
ω
from which ln(ω) = −0.01t + C. Invert to obtain ω(t) = Ce−0.01t .

At t = 0, ω(0) = 20.944 rad/s, from which C = 20.944. The angular
travel is
dθ
= ω = 20.944e−0.01t ,
dt
1
Problem 13.100 The needle of a measuring instrument
is connected to a torsional spring that gives it an angu-
lar acceleration α = −4θ rad/s2 , where θ is the needle’s
angular position in radians relative to a reference direc-
tion. The needle is given an angular velocity ω = 2 rad/s θ
in the position θ = 0.
(a) What is the magnitude of the needle’s angular

velocity when θ = 30◦ ?
(b) What maximum angle θ does the needle reach
before it rebounds?
Solution:

dω ω θ ω2 22
α=ω = −4θ ⇒ ωdω = −4 θdθ ⇒ − = −2θ 2
dθ 2 0 2 2

ω = 2 1 − θ2

(a) ω = 2 1 − (π/6)2 = 1.704 rad/s
(b) Maximum angle means ω = 0. θ = 1 rad = 57.3◦
1
Problem 13.101 The angle θ measures the direction of y
the unit vector e relative to the x axis. The angular veloc-
ity of e is ω = dθ/dt = 2 rad/s, constant. Determine the
derivative de/dt when θ = 90◦ in two ways: e
(a) Use Eq. (13.33). θ

x
(b) Express the vector e in terms of its x and y com-
ponents and take its time derivative of e.
Solution:
y y
n
de dθ n
(a) = n = ωn
dt dt
when θ = 90◦ , n = −i e ω = dθ = 2 rad/s e

dt
θ θ = 90°
de
= −2i rad/s when θ = 90◦ x x
dt
(b) e = (1) cos θi + (1) sin θj

de dθ dθ
= − sin θ i + cos θ j
dt dt dt
Evaluating at θ = 90◦
de dθ
= − i = −2i rad/s
dt dt
1
Problem 13.102 The angle θ measures the direction
of the unit vector e relative to the x axis. The angle θ is
given as a function of time by θ = 2t 2 rad. What is the
vector de/dt at t = 4 s?
Solution: By definition: The angle is θ = [mod(2t 2 , 2π )]t=4 = mod(32, 2π ) = 0.5841 rad,

where mod(x, y) (“modulus”) is a standard function that returns the

de dθ remainder of division of the first argument by the second. From which,
= n,
dt dt

de π π
where = 16 i cos 0.5841 + + j sin 0.5841 +
dt t=4 2 2
π π
n = i cos θ + + j sin θ + = −8.823i + 13.35j
2 2
is a unit vector in the direction of positive θ. The angular rate of

change is

dθ
= [4t]t=4 = 16 rad/s.
dt t=4
1
Problem 13.103 The line OP is of constant length R. y
The angle θ = ω0 t, where ω0 is a constant.
dx dy P
(a) Use the relations vx = and vy = to deter- R
dt dt
mine the velocity of P relative to O.
(b) Use Eq. (13.33) to determine the velocity of P rel- θ
ative to O, and confirm that your result agrees with x
O
the result of (a).
Strategy: In part (b), write the position vector of P

relative to O as r = Re where e is a unit vector that
points from O toward P .
dP de
Solution: (b) Note that P = Re, and =R when R is constant. Use the
dt dt
definition (Eq. (13.33)),
(a) The point P is described by P = ix + jy. Take the derivative:

de dθ
dP dx dy = n,
=i +j . dt dt
dt dt dt
where n is a unit vector in the direction of positive θ, (i.e., per-
The coordinates are related to the angle θ by x = R cos θ, y =
pendicular to e). Thus
R sin θ. Take the derivative and note that R is a constant and
θ = ω0 t, so that π π
n = i cos θ + + j sin θ + .
2 2
dθ dx dθ
= ω0 : = −R sin θ ,
dt dt dt Use the trigonometric sum-of-angles identities to obtain: n =
−i sin θ + j cos θ. Substitute,

dy dθ
= R cos θ .
dt dt dP
= Rω0 (−i sin(ω0 t) + j cos(ω0 t))
dt
Substitute into the derivative of the vector P,
The results are the same.

dP dθ
=R (−i sin θ + j cos θ)
dt dt
= Rω0 (−i sin(ω0 t) + j cos(ω0 t))
which is the velocity of the point P relative to the origin O.
1
Problem 13.104 The armature of an electric motor
rotates with a constant angular velocity of 400 rpm
(revolutions per minute).
P
(a) What is the magnitude of the velocity of point P
relative to point O? O
(b) What are the normal and tangential components of
the acceleration of P relative to O?
80 mm
Solution:

2π rad 1 min
(a) vP /O = (0.08 m)(400 rpm) = 3.35 m/s
1 rev 60 s
(vP /O )2
(b) at = 0, an = = 140.4 m/s2
0.08 m
1
Problem 13.105 The armature shown in Problem
13.104 starts from rest at t = 0. Its angular acceleration
is given as a function of time by α = 2t m/s2 . Determine
the velocity and acceleration of point P relative to point
O in terms of normal and tangential components at
t = 10 s.
1
Solution: α = 2t, ω = t 2 , θ = t 3
3
vP = (0.08)(10)2 = 8 m/s
vP = (8et ) m/s2
aP t = (0.08)2(10) = 1.6 m/s2 ⇒
aP = (1.6et + 800en ) m/s2
aP n = (0.08)(10)4 = 800 m/s2
1
Problem 13.106 Suppose you want to design a medi-
cal centrifuge to subject samples to a normal acceleration
of 1000 g’s. (a) If the distance from the center of the
centrifuge to the sample is 300 mm, what speed of rota-
tion in rpm is necessary? (b) If you want the centrifuge
to reach its design rpm in 1 min, what constant angular
acceleration is necessary?
300 mm
Solution:
(a) The normal acceleration at a constant rotation rate is an = Rω2 ,
giving

an (1000)9.81
ω= = = 180.83 rad/s.
R 0.3
The speed in rpm is

rad 1 rev 60 s
N =ω = 1730 rpm .
s 2π rad 1 min
(b) The angular acceleration is
ω 180.83
α= = = 3.01 rad/s2
t 60
1
Problem 13.107 The medical centrifuge shown in
Problem 13.106 starts from rest at t = 0 and is subjected
to a constant angular acceleration α = 3 rad/s2 . What
is the magnitude of the total acceleration to which the
samples are subjected at t = 1 s?
Solution: α = 3, ω = 3t, θ = 1.5t 2

at = (0.3 m)(3 rad/s2 ) = 0.9 m/s2
an = (0.3 m)(3 rad/s)2 = 2.7 m/s2

a= (0.9)2 + (2.7)2 m/s2 = 2.85 m/s2
1
Problem 13.108 The radial distance from the axis of
the centrifuge in Fig. 13.38 to the sample container is
8 m. Suppose that you want to subject a sample to a
normal acceleration of 100g’s.
(a) What speed of rotation in rpm is necessary?

(b) If you want the centrifuge to reach the rpm deter-
mined in part (a) in 2 min, what constant angular
acceleration is necessary?
Solution: r = 8 m
(a) aN = ω2 r = 981 m/s2

ω
ω2 = 981/8 rad 2
/s2 an
ω = 11.07 rad/s 8m
ω = 106 rpm
dω
(b) = α, constant
dt
ω = ω0 + αt ω0 = 0
11.07 rad/s = α(120 s)
α = 0.0923 rad/s2
1
Problem 13.109 A powerboat being tested for maneu-
verability is started from rest at t = 0 and driven in
a circular path of 12 m radius. The tangential compo-
nent of the boat’s acceleration as a function of time is
at = 0.4t m/s2 .
(a) What are the boat’s velocity and acceleration in

terms of normal and tangential components at t =
4 s?
(b) What distance does the boat move along its circular
path from t = 0 to t = 4 s?
Solution:
(a) at = 0.4t m/s2 an = +v 2 /r
v = 0.2t 2 m/s
At t = 4 s,
a = 0.4tet + v 2 /ren
a = 1.6et + 0.853en
v = 3.2et m/s
(b) s = 0.2t 3 /3
s|4s = 4.27 m
1
Problem 13.110 The angle θ = 2t 2 rad. P
(a) What are the velocity and acceleration of point P

in terms of normal and tangential components at
t = 1 s? θ
(b) What distance along the circular path does point P O
move from t = 0 to t = 1 s? 4m
Solution: (b) s = Rθ = 8t 2
θ = 2t 2 = 8(1)2 = 8 m
dθ
= 4t = ω et
dt
d2θ rad P
=4 2 =α
dt 2 s
eN
s = rθ = 4θ = 8t 2 θ
O
vt = 16t m/s 4m
v = rω = 4(4t) = 16t
dv
at = = 16 m/s2
dt
(a) v = 16(1)et m/s = 16 et (m/s)
a = Rαet + Rω2 eN
a = (4)(4)et + (4)(42 )eN (m/s2 )
a = 16et + 64eN (m/s2 )
1
Problem 13.111 The angle θ = 2t 2 rad. What are the
velocity and acceleration of point P in terms of normal
and tangential components when P has gone one
revolution around the circular path starting at t = 0?
Solution: From the solution to Problem 13.110, We want to know v and a when θ = 2π . Substituting into the first eqn,
we find that θ = 2π when t = t1 = 1.77 seconds. From the solution
θ = 2t 2 rad to Problem 13.110,
ω = 4t rad/s vt = 16tet and
α = 4 rad/s2 a = Rαet + Rω2 eN
Substituting in the time t1 , we get

s = 8t 2 m
vt = 28.4et (m/s)
vt = 16t m/s
at = 16 m/s2 a = 16et + 201.1eN (m/s2 )
1
Problem 13.112 At the instant shown, the crank AB y
is rotating with a constant counterclockwise angular
velocity of 5000 rpm. Determine the velocity of point
B (a) in terms of normal and tangential components;
(b) in terms of cartesian components.
C
Solution:

2π rad min
ω = (5000 rpm) = 524 rad/s
rev 60 sec
45⬚

1 ft B
(a) VB = (2 in.) (524 rad/s)et = (87.3et ) ft/s
12 in. x
A
in
VB = (87.3 ft/s)(− cos 45◦ i − sin 45◦ j) = (−61.71i − 61.71j) ft/s
2
(b)
1
Problem 13.113 The crank AB in Problem 13.112
is rotating with a constant counterclockwise angular
velocity of 5000 rpm. Determine the acceleration
of point B (a) in terms of normal and tangential
components; (b) in terms of cartesian components.
Solution:

2π rad min
ω = (5000 rpm) = 524 rad/s
rev 60 sec

1 ft
at = 0, an = (2 in.) (524 rad/s)2 = 45,693 ft/s2 ≈ 45,700
12 in.
(a) aP = (45, 700en ) ft/s2
(b) ap = (45,700 ft/s2 )(cos 45◦ i − sin 45◦ j) = (32, 300i − 32, 300j) ft/s2
1
Problem 13.114 Suppose that you are standing at
point P at 30◦ north latitude (that is, a point 30◦ P
north of the equator). The radius of the earth is RE = RE 30°
6370 km. What are the magnitudes of your velocity and
acceleration relative to a nonrotating reference frame
with its origin at the center of the earth? Equator
Solution: Standing at 30◦ North latitude, your radius from the spin
axis of the earth is r = Re cos 30◦ .
N
Your velocity is given by
r
|v| = rωe 30°
and your acceleration is Re
|a| = ωe2 r.
2π rad S
ωe = = 7.27 × 10−5 rad/s.
(24 h)(3600 s/h)
ωe = 7.27 × 10−5 rad/s. Hence
|v| = 401 m/s
|a| = 0.0292 m/s2
1
Problem 13.115 At the instant shown, the magnitude
of the airplane’s velocity is 130 m/s, its tangential
component of acceleration is at = −4 m/s2 , and the rate
θ
of change of its path angle is dθ/dt = 5◦ /s.
(a) What are the airplane’s velocity and acceleration

in terms of normal and tangential components?
(b) What is the instantaneous radius of curvature of the
airplane’s path?
Solution:
π
◦ π rad
ω = (5 /s) = rad/s
180◦ 36
aP t = −4 m/s2 , an = (130 m/s)ω = 11.34 m/s2
vp = (130et ) m/s
(a)
ap = (−4et + 11.34en ) m/s2
v2 (130 m/s)2
(b) ρ= = = 1490 m
an 11.34 m/s2
1
Problem 13.116 In the preliminary design of a sun-
powered car, a group of engineering students estimates
50 m
that the car’s acceleration will be 0.6 m/s2 . Suppose that B
the car starts from rest at A and the tangential compo-
nent of its acceleration is at = 0.6 m/s2 . What are the A
car’s velocity and acceleration in terms of normal and
tangential components when it reaches B? 200 m
Solution:
v s
dv
at = v = 0.6 m/s2 ⇒ vdv = (0.6 m/s2 )ds
ds 0 0
v 2 = 2(0.6 m/s2 )s
At point B

50π vB2
SB = 200 + m ⇒ vB = 18.28 m/s, aBn = = 6.68 m/s2
2 50 m
Thus
vB = (18.28et ) m/s
aB = (0.6et + 6.68en ) m/s2
1
Problem 13.117 After subjecting the car design
described in Problem 13.116 to wind tunnel testing,
the students estimate that the tangential component of
the car’s acceleration will be at = 0.6 − 0.002v 2 m/s2 ,
where v is the car’s velocity in m/s. If the car starts
from rest at A, what are its velocity and acceleration
in terms of normal and tangential components when it
reaches B?

50π
Solution: At point B SB = 200 + m
2
vB sB
dv vdv
at = v = 0.6 − 0.002v 2 ⇒ = ds
ds 0 0.6 − 0.002v 2 0
vB2
vB = 14.20 m/s, aBn = = 4.03 m/s2
50 m
at = 0.6 − 0.002(14.20 m/s)2 = 0.197 m/s2
Thus
vB = (14.20et ) m/s
aB = (0.197et + 4.03en ) m/s2
1
Problem 13.118 Suppose that the tangential compo-
nent of acceleration of the car described in Prob-
lem 13.117 is given in terms of the car’s position by
at = 0.4 − 0.001s m/s2 , where s is the distance the car
travels along the track from point A. What are the car’s
velocity and acceleration in terms of normal and tangen-
tial components at point B?
Solution:
dv dv ds
at = = = 0.4 − 0.001s m/s2
dt ds dt
dv
v = 0.4 − 0.001s
ds
v SB
v dv = (0.4 − 0.001s) ds
0 0
S
v2 0.001s 2 B
= 0.4s −
2 2 0
From Fig. P13.116, SB = 200 + 2πρ/4 where ρ = 50 m, so SB =

278.5 m
Solving for v,
v = 12.05 m/s
v = 12.05et (m/s)
a = (0.4 − 0.001sB )et + v 2 /ρeN (m/s2 )
Solving, a = 0.121et + 2.905eN (m/s2 )
1
Problem 13.119 A car increases its speed at a constant y
rate from 40 mi/h at A to 60 mi/h at B. What is the
magnitude of its acceleration 2 s after the car passes
point A? 120 ft
30° B
A
Solution: Use the chain rule to obtain
80 ft x
30°
dv
v = a, 80 ft
ds 100 ft
where a is constant. Separate variables and integrate: v 2 = 2as +

C. At
The velocity is as a function of time is v(t) = v(0) + at = 58.67 +
5280
s = 0, v(0) = 40 = 58.67 ft/s, 7.817t ft/s. The distance from A is
3600
7.817 2
from which C = 3441.78. The acceleration is s(t) = 58.67t + t .
2
v2 − C At a point 2 seconds past A, the distance is s(2) = 132.97 ft, and the
a=
2s velocity is v(2) = 74.3 ft/s. The first part of the hill ends at 142.83,
so that at this point the car is still in the first part of the hill. The
The distance traveled from A to B is tangential acceleration is at = 7.817 ft/s2 . The normal acceleration is
π
s = 2(80) + (30) (120 + 100) = 275 ft, v2 (74.3)2
180 an = = = 46.0 ft/s2 .
R 120
and the speed in
The magnitude of the acceleration is

5280
[v(s)]s=275 = 60 = 88 ft/s, √
3600 |a| = 7.8172 + 46.02 = 46.66 ft/s2
from the constant acceleration is Note: This is a large acceleration–the driver (and passengers) would
no doubt be uncomfortable.
(88)2 − 3441.78
a= = 7.817 ft/s2 .
2(275)
1
Problem 13.120 The car increases its speed at a con-
stant rate from 40 mi/h at A to 60 mi/h at B. Deter-
mine the magnitude of its acceleration when it has trav-
eled along the road a distance (a) 120 ft from A and
(b) 160 ft from A.
Solution: Use the solution in Problem 13.119. (b) The velocity at distance 160 ft from A is
(a) The velocity at a distance 120 ft from A is √

v(160) = 2(7.817)(160) + C = 77.1 ft/s.
√ √
v(120) = 2as + C = (2)(7.817)(120) + 3441.78 At 160 ft the car is on the second part of the hill. The tangential
acceleration is unchanged: at = 7.817 ft/s2 . The normal acceler-
= 72.92 ft/s. ation is
At 120 ft the car is in the first part of the hill. The tangential (v(160))2 5943.1
acceleration is at = 7.817 ft/s2 from Problem 13.119. The normal an = = = 59.43 ft/s2 .
R 100
acceleration is
(v(120))2 (72.92)2
an = = = 44.3 ft/s2 . √
R 120 |a| = 7.8172 + 59.432 = 59.94 ft/s2
[Note: The car will “lift off” from the road.]
√
|a| = 7.8172 + 44.32 = 45 ft/s 2
1
Problem 13.121 Astronaut candidates are to be tested
in a centrifuge with 10-m radius that rotates in the hor-
izontal plane. Test engineers want to subject the can-
didates to an acceleration of 5 g’s, or five times the
acceleration due to gravity. Earth’s gravity effectively
10 m
exerts an acceleration of 1 g in the vertical direction.
Determine the angular velocity of the centrifuge in rev-
olutions per second so that the magnitude of the total
acceleration is 5 g’s.
Solution:
√
an 2 + g 2 = (5g)2 ⇒ an = 24g

an = rω2 ⇒ ω = an /r
√
24(9.81 m/s2 )
ω= = 2.19 rad/s
10m
1
Problem 13.122 After first-stage separation and before
the second-stage engines have fired, a rocket is mov- 60°
ing at v = 3000 m/s and the angle between its veloc-
ity vector and the vertical is 60◦ . Because aerodynamic
forces are negligible, the rocket’s acceleration is that due
to gravity, which is 9.50 m/s2 at the rocket’s altitude.
Determine: (a) the normal and tangential components
of the rocket’s acceleration; and (b) the instantaneous
radius of curvature of the rocket’s path.
Solution: The components of the acceleration are aT = g cos(60◦ )

toward the rear of the rocket, and aN = g sin(60◦ ) normal to the axis
of the rocket directed 30 degrees away from straight down.
The normal acceleration is also given by aN = v 2 /r, where r is

the radius of curvature of the path. Substituting g = 9.50 m/s2 and
v = 3000 m/s into these relations, we get aT = −4.75 m/s2 , aN =
8.23 m/s2 , and r = 1094 km.
1
Problem 13.123 The athlete releases the shot with
velocity v = 16 m/s at 20◦ above the horizontal. 20°
(a) What are the velocity and acceleration of the shot

in terms of normal and tangential components when
it is at the highest point of its trajectory?
(b) What is the instantaneous radius of curvature of
the shot’s path when it is at the highest point of its
trajectory?
Solution:
ax = 0
vx = vx0 = 16 cos 20◦ , vy0 = 16 sin 20◦

(c) |aN | = v 2 /ρ, ρ = v 2 /|an |
ay = −9.81 m/s 2
ρ = (15)2 /9.81 = 23.0 m

vy = vy0 − 9.81t = 5.47 − 9.81t
y
At highest point, vy = 0 et
(a) v = 16 cos 20◦ et = 15.0et (m/s) eN
(b) a = 9.81en (m/s2 ) x
1
Problem 13.124 At t = 0, the athlete releases the shot
with velocity v = 16 m/s.
(a) What are the velocity and acceleration of the shot

in terms of normal and tangential components at
t = 0.3 s?
(b) Use the relation an = v 2 /ρ to determine the instan-
taneous radius of curvature of the shot’s path at
t = 0.3 s.
Solution: From the solution to Problem 13.123, |an | = v 2 /ρ
vx = 15.0 m/s vy = 5.47 − 9.81t m/s ρ = v 2 /|an | = (15.2)2 /9.67

v= vx2 + vy2 ρ = 24.0 m
y
At t = 0.3 s, v = 15.2 m/s
V
v = 15.2et (m/s) et
r Vy
en
We have the following geometry
x
From the diagram
Vx
m
9.81
tan r = vy /vx r = 9.55◦ s2
an
|an | = 9.81 cos r = 9.67 m/s2
|at | = 9.81 sin r = 1.63 m/s2 at
a = −1,63et + 9.67en (m/s2 ) r
1
Problem 13.125 At t = 0, the athlete releases the shot
with velocity v = 16 m/s. Use Eq. (13.42) to determine
the instantaneous radius of curvature of the shot’s path
at t = 0.3 s.
Solution: We now have y(x)
2 3/2
dy dy vy x
1+ = 0 − 9.81
dx dx v x0 vx20
ρ= 2
d y

dx 2 d2y
= −9.81/vx20
dx 2
From the solution to 13.123,
We also know v0 = 16 m/s and
vy = vy0 − 9.81t, hence
vy0 = v0 sin 20◦ = 5.47 m/s
y = y0 + vy0 t − 9.8/(t 2 /2), y0 ≡ 0
vx0 = v0 cos 20◦ = 15.04 m/s
Also, vx = vx0
At t = 0.3 s, x = 4.5 m,
x = x0 + vx0 tx0 ≡ 0
dy
= 0.168
Hence t = x/vx0 and dx
2 d2y
x 9.81 x = −0.0434
y = v y0 ( )− dx 2
v x0 2 v x0
and ρ = 24.0 m
1
Problem 13.126 The cartesian coordinates of a point
moving in the xy-plane are x = 20 + 4t 2 m, y = 10 −
t 3 m. What is the instantaneous radius of curvature of
the path of the point at t = 3 s?
Solution: The components of the velocity: v = 8ti − (3t 2 )j.

t = 3 seconds, the magnitude of the velocity is |v|t=3 =
At
(8t)2 + (−3t 2 )2 = 36.12 m/s. The components of the acceleration
are a = 8i − (6t)j. The instantaneous path angle is
vy −3t 2
tan β = = .
vx 8t
At t = 3 seconds, β = −0.8442 rad. The unit vector parallel to the

path is et = i cos β + j sin β. The unit vector normal to the path point-
ing toward the instantaneous radial center is
π π
en = i cos β − + j sin β − = i sin β − j cos β.
2 2
The normal acceleration is the component of acceleration in the direc-

tion of en . Thus, an = en · a or an = 8 sin β + (6t) cos β. At t = 3
seconds, an = 5.98 m/s2 . The radius of curvature at t = 3 seconds is
|v|2
ρ= = 218 m
an
1
Problem 13.127 The helicopter starts from rest at t = y
0. The cartesian components of its acceleration are ax =
0.6t m/s2 and ay = 1.8 − 0.36t m/s2 . Determine the tan-
gential and normal components of its acceleration at
t = 6 s.
Solution: The solution will follow that of Example 13.11, with x

the time changed to t = 6 s. The helicopter starts from rest (vx , vy ) =
(0, 0) at t = 0. Assume that motion starts at the origin (0, 0). The
equations for the motion in the x direction are ax = 0.6t m/s2 , vx =
The magnitude of the acceleration is given by
0.3t 2 m/s, x = 0.1t 3 m, and the equations for motion in the y direction
are ay = 1.8 − 0.36t m/s2 , vy = 1.8t − 0.18t 2 m/s, and y = 0.9t 2 −
0.06t 3 m. At t = 6 s, the variables have the values ax = 3.6 m/s2 , |a| = ax2 + ay2 = 3.62 m/s2 .
ay = −0.36 m/s2 , vx = 10.8 m/s, vy = 4.32 m/s, x = 21.6 m, and
y = 19.44 m. The magnitude of the velocity is given by The normal acceleration component is given by

|v| = vx2 + vy2 = 11.63 m/s. aN = |a|2 − aT2 = 1.67 m/s2
The unit vector in the tangential direction is given by
v vx i + vy j
eT = = = 0.928i + 0.371j.
|v| |v|
The tangential acceleration component is given by aT = a · eT

= 0.928ax + 0.371ay = 3.21 m/s2 .
1
Problem 13.128 Use Eq. (13.42) to determine the
instantaneous radius of curvature of the path of the
helicopter in Problem 13.127 at t = 6 s.
2 3/2
dy
1+
dx
Solution: Equation (13.42) is ρ = 2 .
d y

dx 2
We need y(x)for the path of the helicopter of Example 13.11.
We have x = 0.1t 3 and y = 0.9t 2 − 0.06t 3 . Solving the x relation for

t and substituting this into the y relation, we get y = (0.9)(10x)2/3 −
0.06(10x).
The derivatives required to evaluate the radius of curvature are

dy 2
= (0.9)(10)2/3 x −1/3 − 0.6,
dx 3

d2y 1 2
and = − (0.9) (10)2/3 x −4/3 .
dx 2 3 3
dy
Substituting these into Equation (13.42), we get x = 21.6 m, =
dx
d2y
0.4, = −0.0154, and ρ = 80.96 m. This agrees with the value
dx 2
|v|2
found from ρ = = 80.96 m using the values in Problem 13.128
aN
1
Problem 13.129* For astronaut training, the airplane y
shown is to achieve “weightlessness” for a short period
of time by flying along a path such that its acceleration
is ax = 0 and ay = −g. If the velocity of the plane at
O at time t = 0 is v = v0 i, show that the autopilot must
fly the airplane so that its tangential component of the
acceleration as a function of time is
x
gt
O
v0
at = g 2 .
gt
1+
v0
Solution: The velocity of the path is v(t) = v0 i − gtj. The path

angle is
vy −gt
β : tan β = = ,
vx v0
−gt
sin β = .
v0 + (gt)2
2
The unit vector parallel to the velocity vector is e = i cos β + j sin β.

The acceleration vector is a = −jg. The component of the acceleration
tangent to the flight path is at = −g sin β., from which
gt
at = g .
v0 + (gt)2
2
Divide by v0 ,
2 − 21
gt gt
at = g 1 +
v0 v0
1
Problem 13.130* In Problem 13.129, what is the air- Solution: From Problem 13.129, the velocity is v(t) = v0 i − gtj.
plane’s normal component of acceleration as a function The flight path angle is β, from which
of time?
v0
cos β = .
v02 + (gt)2
The unit vector parallel to the flight path is e = i cos β + j sin β. The
unit vector normal to e is
π π
en = i cos β − + j sin β −
2 2
= i sin β − j cos β,
pointing toward the instantaneous radial center of the path. The accel-
eration is a = −jg. The component parallel to the normal component
is an = g cos β, from which
2 − 12
v0 gt
an = g =g 1+
v02 + (gt)2 v0
1
dy
Problem 13.131 If y = 100 mm, = 200 mm/s,
dt
d 2y
and = 0, what are the velocity and acceleration of
dt 2
P in terms of normal and tangential components?
y
300 mm
Solution: The equation for the circular guide is R 2 = x 2 + y 2 ,

from which x = R 2 − y 2 = 0.283 m, and
dx y dy
=− = vx = −0.0707 m/s.
dt x dt
The velocity of point P is vp = ivx + jvy , from which the velocity is

|v| = vx2 + vy2 = 0.212 m/s. The angular velocity
|v|
ω= = 0.7071 rad/s.
R
The angle is
y
β = tan−1 = 19.5◦
x

dvx d y dy
ax = = −
dt dt x dt
2 y d2y
1 dy y dx dy
=− + −
x dt x2 dt dt x dt 2
= −0.1591 m/s2
The unit vector tangent to the path (normal to the radius vector for a
circle) is ep = −i sin β + j cos β, from which
at = −ax sin β = 53.0 mm/s2
since ay = 0
an = −Rω2 = −0.150 m/s2 .
Check: an = ax cos β = −0.15 m/s2 check.
1
Problem 13.132* Suppose that the point P in
Problem 13.131 moves upward in the slot with velocity
dy
v = 300et (mm/s). When y = 150 mm, what are and
dt
2
d y
?
dt 2
Solution: The position in the guide slot is y = R sin θ, from which and vx = −150 mm/s (Since the point is moving upward in the slot, vy
is positive.). The velocity along the path in the guide slot is assumed
y
constant, hence at = 0. The normal acceleration is
θ = sin−1 = sin−1 (0.5) = 30◦ .
R
|v|2
x = R cos θ = 259.8 mm. an = = 300 mm/s2
R
From the solution to Problem 13.131,
directed toward the radius center, from which
y dy y
vx = − =− vy . d2y
x dt x = −an sin θ = −150 mm/s2
dt 2

y 2
The velocity is |v| = 300 = vx2 + vy2 = vy + 1, from which
x
− 1
y 2 2
vy = 300 +1 = 259.8 mm/s
x
1
Problem 13.133* A car travels at 100 km/h on a y
straight road of increasing grade whose vertical profile
can be approximated by the equation shown. When x = y = 0.0003x 2
400 m, what are the tangential and normal components
of the car’s acceleration?
Solution: The strategy is to use the acceleration in cartesian coor-

x
dinates found in the solution to Problem 13.90, find the angle with
respect to the x-axis,

dy
θ = tan−1 ,
dx
and use this angle to transform the accelerations to tangential and nor-
mal components. From the solution to Problem 13.90 the accelerations
are a = −0.0993i + 0.4139j (m/s2 ). The angle at

d
θ = tan−1 Cx 2 = tan−1 (6x × 10−4 )x=400 = 13.5◦ .
dx x=400
From trigonometry (see figure) the transformation is at = ax cos θ +

ay sin θ, an = −ax sin θ + ay cos θ, from which
at = 0.000035 . . . = 0 ,
an = 0.4256 m/s2
Check: The velocity is constant along the path, so the tangential com-
dv
ponent of the acceleration is zero, at = = 0, check.
dt
1
Problem 13.134 A boy rides a skateboard on the y
concrete surface of an empty drainage canal described
by the equation shown. He starts at y = 20 ft, and y = 0.03x 2
the magnitude of his velocity is approximated by v =
√
2(32.2)(20 − y) ft/s.
(a) Use Equation 13.42 to determine the instantaneous

radius of curvature of the boy’s path when he
reaches the bottom. x
(b) What is the normal component of his acceleration
when he reaches the bottom?
Solution: At the bottom of the canal the values are

dx √
(a) y = 0.03x 2 , so = K 20 = 35.89 ft/s.
dt x=0
dy d2y
= 0.06x and = 0.06. dy d2x
dx dx 2 = 0, = 0,
dt x=0 dt 2 x=0
From Eq (13.42),
2
d2y dx
[1 + (0.06x)2 ]3/2 = 2C = 77.28 ft/s2 .
ρ= ft. dt 2 x=0 dt
0.06 x=0
At x = 0, ρ = 16.7 ft. The angle with respect to the x axis at the bottom of the canal is

dy
(b) The magnitude of the velocity is θ = tan−1 = 0.
dx x=0
2 2
dy dx 1 1
+ = v = K(20 − y) 2 = K(20 − Cx 2 ) 2 , From the solution to Problem 2.133, the tangential and normal
dt dt accelerations are at = ax cos θ + ay sin θ, an = −ax sin θ +
ay cos θ, from which
where K = 8.025, C = 0.03. From y = Cx 2 ,
at = 0 , and an = 77.28 ft/s2 .
dy dx
= 2Cx ,
dt dt
Check: The velocity is constant along the path, so the tangential
dv
2 component of the acceleration is zero, at = = 0. check. By
d2y dx d2x dt
= 2C + 2Cx . inspection, the normal acceleration at the bottom of the canal is
dt 2 dt dt 2
identical to the y component of the acceleration. check.
Substitute:
1
dx K(20 − Cx 2 ) 2
= .
dt 1
(4C 2 x 2 + 1) 2
Since the boy is moving the right,

dx dx dx
> 0, and = .
dt dt dt
The acceleration is

d2x −KCx dx
=
dt 2 1 1 dt
(20 − Cx 2 ) 2 (4C 2 x 2 + 1) 2
1
K(4C 2 x)(20 − Cx 2 ) 2 dx
− 3
.
dt
(4C 2 x 2 + 1) 2
1
Problem 13.135 In Problem 13.134, what is the nor-
mal component of the boy’s acceleration when he has
passed the bottom and reached y = 10 ft?
Solution: Use the results of the solutions to Problems 13.133 and From the solution to Problem 13.133,
13.134. From the solution to Problem 13.134, at y = 10 ft,
at = ax cos θ + ay sin θ, an = −ax sin θ + ay cos θ,
y
x= = 18.257 ft, from which
C from which

dx 1 1 at = −23.78 ft/s2 , an = 11.84 ft/s2
= K(20 − Cx 2 ) 2 (4C 2 x 2 + 1)− 2 = 17.11 ft/s.
dt y=10 y=10


d2x dx  Cx
= −K
dt 2 dt 1 1
y=10 y=10 (20 − Cx 2 ) 2 (4C 2 x 2 + 1) 2
1

(4C 2 x)(20 − Cx 2 ) 2 
+ 3
(4C 2 x 2 + 1) 2 y=10
= −24.78 ft/s.
2
d2y dx d2x
= 2C + 2Cx = −9.58 ft/s2 .
dt 2 y=10 dt dt 2
y=10

dy
The angle is θ = tan−1 = 47.61◦ .
dx y=10
1
Problem 13.136* Using Eqs (13.41): (a) Show that
the relations between the cartesian unit vectors and the
unit vectors et and en are
i = cos θ et − sin θ en
and j = sin θ et + cos θ en
(b) Show that
det /dt = dθ/dten and den /dt = −dθ/dtet .
Solution: Equations (13.41) are et = cos θi + sin θj and en =

− sin θi + cos θj.
(a) Multiplying the equation for et by cos θ and the equation for en
by (− sin θ) and adding the two equations, we get i = cos θet −
sin θen . Similarly, by multiplying the equation for et by sin θ and
the equation for en by cos θ and adding, we get j = sin θet +
cos θen .
det
(b) Taking the derivative of et = cos θi + sin θj, we get =
dt
dθ dθ
(− sin θi + cos θj) = en .
dt dt
Similarly, taking the derivative of en = − sin θi + cos θj, we get
den /dt = −(dθ/dt)et
1
Problem 13.137 The polar coordinates of the collar A
as functions of time are r = 1 + 0.2t 2 m and θ = 2t rad.
Determine the velocity of the collar in terms of polar
coordinates at t = 1 s. A
r
Solution:
r = 1 + 0.2t 2 m θ = 2t rad
ṙ = 0.4t m/s θ = 2 rad/s
v = ṙer + r θ̇eθ
At t = 1 s, ṙ = 0.4 m/s,
r = 1.2 m, and
v = 0.4er + 2.4eθ (m/s)
1
Problem 13.138 In Problem 13.137, what is the accel-
eration of the collar in terms of polar coordinates at
t = 1 s?
Solution:
r = 1 + 0.2t 2 m θ = 2t rad
ṙ = 0.4t m/s θ̇ = 2 rad/s
r̈ = 0.4 m/s2 θ̈ = 0
At t = 1 s, r = 1.2 m, ṙ = 0.4 m/s,
r̈ = 0.4 m/s2 , and θ̇ = 2 rad/s
a = (r̈ − r θ̇ 2 )er + (2ṙ θ̇ + r θ̈)eθ
a = −4.4er + 1.6eθ (m/s2 )
1
Problem 13.139 The polar coordinates of point A of
the crane are given as functions of time by r = 12 + A
0.4t 2 ft and θ = 0.02t 3 rad. Determine the velocity of
A in terms of polar coordinates at t = 2 s.
r
Solution:
r = 12 + 0.4t 2 , θ = 0.02t 3
ṙ = 0.8t, θ̇ = 0.06t 2
u
r̈ = 0.8, θ̈ = 0.12t
At t = 2 s we have
r = 13.6, θ = 0.16
ṙ = 1.6, θ̇ = 0.24
r̈ = 0.8, θ̈ = 0.24
vA = ṙer + r θ̇eθ = (1.6er + 3.26eθ ) ft/s2
1
Problem 13.140 In Problem 13.139, determine the
acceleration of A of the crane in terms of polar
coordinates at t = 2 s.
Solution: Use the data from problem 13.139
aA = (r̈ − r θ̇ 2 )er + (r θ̈ + 2ṙ θ̇ )eθ = (0.0166er + 4.03eθ ) ft/s2
1
Problem 13.141 The radial line rotates with a constant y
angular velocity of 2 rad/s. Point P moves along the line
at a constant speed of 4 m/s. Determine the magnitude
2 rad/s
of the velocity and acceleration of P when r = 2 m. 4 m/s
P
Solution: The angular velocity of the line is
dθ
= ω = 2 rad/s, r
dt
d2θ x
from which = 0. O
dt 2
The radial velocity of the point is The magnitude is
dr √
= 4 m/s, |v| = 42 + 42 = 5.66 m/s .
dt
The acceleration is
d2r
from which = 0.
dt 2
a = [−2(4)]er + [2(4)(2)]eθ = −8er + 16eθ (m/s2 ).
The vector velocity is
The magnitude is

dr dθ
v= er + r eθ = 4er + 4eθ (m/s). √
dt dt |a| = 82 + 162 = 17.89 m/s2
1
Problem 13.142 The collar A slides on the vertical y
bar. At the instant shown, its coordinates are x = 0.9 m,
y = 0.6 m, and its velocity and acceleration are v =
4j (m/s) and a = −9.81j (m/s2 ). Determine the velocity
of A in terms of polar coordinates.
A
Solution: Given
x = 0.9, ẋ = 0, ẍ = 0
y = 0.6, ẏ = 4, ẏ = −9.81
We have y
0.6 ◦
θ = tan−1 = tan−1 = 33.7
x 0.9
Then

er = cos θi + sin θj i = cos θer − sin θeθ
⇒
eθ = − sin θi + cos θj j = sin θer + cos θeθ
vA = (4j) m/s = 4 m/s(sin θer + cos θeθ )

vA = (2.22er + 3.33eθ ) m/s
1
acceleration of A in terms of polar coordinates.
Solution: See Problem 13.143

aA = −(9.81 m/s2 )j = −(9.81 m/s2 )(sin θer + cos θeθ )
aA = −(5.44er + 8.16eθ ) m/s2
1
Problem 13.144 A boat searching for underwater y
archaeological sites in the Aegean Sea moves at 4 knots
and follows the path r = 10θ m, where θ is in radians.
(A knot is one nautical mile, or 1852 meters, per hour.)
When θ = 2π rad, determine the boat’s velocity (a) in
terms of polar coordinates and (b) in terms of cartesian
coordinates.
x
Solution: The velocity along the path is

1852 m 1h
v=4 = 2.06 m/s.
1 knot 3600 s
(a) The path is r = 10θ. The velocity
dr d dθ
vr = = (10θ) = 10 m/s.
dt dt dt
The velocity along the path is related to the components by
2 2
dr dθ
v 2 = vr2 + vθ2 = + r2 = 2.062 .
dt dt
At θ = 2π , r = 10(2π ) = 62.8 m. Substitute:
2 2
dθ 2 dθ dθ
2.062 = 10 + r2 = (100 + 62.82 ) ,
dt dt dt
dθ
from which = 0.0323 rad/s,
dt
dθ dθ
vr = 10 = 0.323 m/s , vθ = r = 2.032 m/s
dt dt
(b) From geometry, the cartesian components are vx = vr cos θ +

vθ sin θ, and vy = vr sin θ + vθ cos θ. At θ = 2π ,
vx = vr , and vy = vθ
1
Problem 13.145 The collar A slides on the circular y
bar. The radial position of A (in meters) is given as
a function of θ by r = 2 cos θ . At the instant shown,
θ = 25◦ and dθ/dt = 4 rad/s. Determine the velocity of A
A in terms of polar coordinates.
u
x
Solution:
r = 2 cos θ, ṙ = −2 sin θ θ̇ , r̈ = −2 sin θ θ̈ − 2 cos θ θ̇ 2
Using the given data we have
◦
θ = 25 , θ̇ = 4, θ̈ = 0
r = 1.813, ṙ = −3.381, r̈ = −29.00
v = ṙer + r θ̇eθ = (−3.381er + 7.25eθ ) m/s
1
Problem 13.146 In Problem 13.145, d 2 θ/dt 2 = 0 at
the instant shown. Determine the acceleration of A in
terms of polar coordinates.
Solution: See problem 13.145

a = (r̈ − r θ̇ 2 )er + (r θ̈ + 2ṙ θ̇ )eθ = (−58.0er − 27.0eθ ) m/s2
1
Problem 13.147 The radial coordinate of the earth
satellite is related to its angular position θ by Satellite
1.91 × 107
r= m. θ
1 + 0.5 cos θ r
The product of the radial position and the transverse

component of the velocity is
rvθ = 8.72 × 1010 m2 /s.
What is the satellite’s velocity in terms of polar

coordinates when θ = 90◦ ?
Solution:
At θ = 90◦ , r = 1.91 × 107 m = p
p
r= ,
1 + 0.5 cos θ
(−p)(0.5)(− sin θ)θ̇

ṙ =
(1 + 0.5 cos θ)2
We also know that
rvθ = 8.72 × 1010 m2 /s
However vθ = r θ̇, hence
r 2 θ̇ = 8.72 × 1010 m2 /s
Solving for θ̇ , we get
θ̇ = 0.000239 rad/s
and ṙ = 2283 m/s and from above
vθ = 4565 m/s
v = 2283er + 4565eθ (m/s)
1
Problem 13.148* In Problem 13.147, what is the satel-
lite’s acceleration in terms of polar coordinates when
θ = 90◦ ?
Solution: Set A = 1.91 × 107 m, B = 8.72 × 1010 m2 /s
A
r= , rvθ = r(r θ̇) = B
1 + 0.5 cos θ

B B
θ̇ = = (1 + 0.5 cos θ)2
r2 A2

B B2
θ̈ = − (1 + 0.5 cos θ) sin θ θ̇ = − (1 + 0.5 cos θ)3 sin θ
A2 A4
0.5A sin θ 0.5B sin θ

ṙ = θ̇ =
(1 + 0.5 cos θ)2 A
2
0.5B cos θ B
r̈ = θ̇ = 0.5 cos θ(1 + 0.5 cos θ)2
A A3
When θ = 90◦ we have
B B B2
r = A, ṙ = , r̈ = 0, θ̇ = 2 , θ̈ = − 4
2A A A
Thus
a = (r̈ − r θ̇ 2 )er + (r θ̈ + 2ṙ θ̇ )eθ = (−1.091er ) m/s2
1
Problem 13.149 A bead slides along a wire that rotates y
in the xy-plane with constant angular velocity ω0 . The
radial component of the bead’s acceleration is zero. The
radial component of its velocity is v0 when r = r0 . Deter-
mine the polar components of the bead’s velocity as a ω
function of r.
Strategy: The radial component of the bead’s velocity
dr
is vr = , and the radial component of the acceleration r
dt x
is
2
d 2r dθ dvr
ar = −r = − rω02 .
dt 2 dt dt
By using the chain rule, viz.,
dvr dvr dr dvr

= = vr .
dt dr dt dr
you can express the radial component of the acceleration
dvr
in the form ar = vr − rω02 .
dr
Solution: From the strategy: The transverse component is

dvr dθ
ar = 0 = vr − ω02 r. vθ = r = rω0 , from which
dr dt
Separate variables and integrate: vr dvr = ω02 rdr, from which

v= v02 + ω02 (r 2 − r02 )er + rω0 eθ
vr2 r2
= ω02 + C.
2 2
At r = r0 , vr = v0 , from which
v02 − ω02 r02

C= , and
2

vr = v02 + ω02 (r 2 − r02 ).
1
Problem 13.150 If the motion of a point in the xy-
plane is such that its transverse component of accelera-
tion aθ is zero, show that the product of its radial position
and its transverse velocity is constant: rvθ = constant.
Solution: We are given that aθ = rα + 2vr ω = 0. Multiply the

entire relationship by r. We get

dω dr d 2
0 = (r 2 α + 2rvr ω) = r 2 + 2r ω = (r ω).
dt dt r dt
d 2
Note that if (r ω) = 0, then r 2 ω = constant. Now note that vθ =
dt
rω. We have r 2 ω = r(rω) = rvθ = constant. This was what we
needed to prove.
1
Problem 13.151* From astronomical data, Kepler t2
deduced that the line from the sun to a planet traces out
t1 + ∆ t
equal areas in equal times (Fig. a). Show that this result t2 + ∆ t A
follows from the fact that the transverse component aθ of
the planet’s acceleration is zero. [When r changes by an A
amount dr and θ changes by an amount dθ (Fig. b),
the resulting differential element of area is given by
t1
dA = 12 r(rdθ )].
Solution: From the solution to Problem 13.150, aθ = 0 implies

that (a)
y
dθ
r 2ω = r 2 = constant.
dt
The element of area is
1 r + dr
dA = r(rdθ),
2
dθ dA
r
dA 1 dθ 1
or = r r = r 2 ω = constant.
dt 2 dt 2 θ
x
dA (b)
Thus, if = constant, then equal areas are swept out in equal times.
dt
1
Problem 13.152 The bar rotates in the xy-plane with y
constant angular velocity ω0 . The radial component of
acceleration of the collar C is ar = −Kr, where K is a
constant. When r = r0 , the radial component of veloc- ω0
ity of C is v0 . Determine the polar components of the
velocity of C as function of r.
C
Solution: Use the same strategy used in Problem 13.131. The At r = r0 , vr = v0 , from which
radial acceleration is given by
v02 − (ω02 − K)r02
dvr C= ,
ar = vr − rω02 , 2
dr

where the chain rule has been used to obtain and vr = v02 + (ω02 − K)(r 2 − r02 ).
dvr dvr The transverse velocity is vθ = ω0 r, from which

= vr ,
dt dr

dvr v= v02 + (ω02 − K)(r 2 − r02 )er + rω0 eθ
from which ar = −Kr = vr − ω02 r.
dr
Separate variables and integrate:
vr dvr = (ω02 − K)rdr,
vr2 r2
from which = (ω02 − K) + C.
2 2
1
Problem 13.153 The hydraulic actuator moves the pin y
P upward with constant velocity v = 2j (m/s). Deter-
mine the velocity of the pin in terms of polar coordinates
and the angular velocity of the slotted bar when θ = 35◦ . P
Solution:
vP = 2j (m/s)
θ
r = rer
x
v = ṙer + r θ̇eθ 2m
Also, r = 2i + yj (m)
v = ẏj (m/s) = 2j (m/s) Hence V = ṙer + r θ̇eθ
ṙ = ẏ sin θ tan θ =
y V = 1.15er + 1.64eθ (m/s)
x
r θ̇ = ẏ cos θ θ

r= x2 + y2 .
y
θ = 35◦ ,
eθ
Solving, we get y = 1.40 m, er
ṙ = 1.15 m/s,
θ
r = 2.44 m,
rad
θ̇ = 0.671
s
1
Problem 13.154 The hydraulic actuator moves the
pin P upward with constant velocity v = 2j (m/s).
Determine the acceleration of the pin in terms of polar
coordinates and the angular acceleration of the slotted
bar when θ = 35◦ .
Solution: From Problem 13.153
V = 2j m/s, constant ÿ = 2(2 sec θ)(sec θ tan θ)θ̇ 2 + 2 sec2 θ θ̈
dv θ̇ = ω = 0.671 rad/s [−2 sec θ tan θ](θ̇ )2

a= ≡0 θ̈ =
dt θ = 35◦ sec θ
θ̇ = ω ẏ = 2 m/s θ̇ = 0.631 rad/s2
θ̈ = α ÿ = 0
y
y y
tan θ = =
x 2
y = 2 tan θ
θ
ẏ = 2 sec2 θ θ̇
x = 2m
1
Problem 13.155 In Example 13.15, determine the y
velocity of the cam follower when θ = 135◦ (a) in
coordinates.
Solution: r Follower
◦
(a) θ = 135 , ω = dθ/dt = 4rad/s, and α = 0. u
x
r = 0.15(1 + 0.5 cos θ)−1
Cam
= 0.232 m.
dr dθ
= 0.075 sin θ(1 + 0.5 cos θ)−2
dt dt
= 0.508 m/s.
dr dθ
v= er + r eθ
dt dt
= 0.508er + 0.928eθ (m/s).
(b) vx = vr cos θ − vθ sin θ
= −1.015 m/s.
vy = vr sin θ + vθ cos θ
= −0.297 m/s.
1
Problem 13.156* In Example 13.15, determine the
acceleration of the cam follower when θ = 135◦ (a) in
coordinates.
Solution: See the solution of Problem 13.155.
2
d2r dθ
(a) 2
= 0.075 cos θ(1 + 0.5 cos θ)−2
dt dt
2
dθ
+ 0.075 sin2 θ(1 + 0.5 cos θ)−3
dt
= 0.1905 m/s2 .
2 2
d2r dθ d θ dr dθ
a= −r er + r 2 + 2 eθ
dt 2 dt dt dt dt
= −3.52er + 4.06eθ (m/s2 ).
(b) ax = ar cos θ − aθ sin θ
= −0.381 m/s2
ay = ar sin θ + aθ cos θ
= −5.362 m/s2 .
1
Problem 13.157 In the cam-follower mechanism, the y
slotted bar rotates with constant angular velocity ω =
10 rad/s and the radial position of the follower A is
determined by the profile of the stationary cam. The
path of the follower is described by the polar equation
A
r
r = 1 + 0.5 cos(2θ ) ft.
Determine the velocity of the cam follower when θ = θ x

30◦ (a) in terms of polar coordinates and (b) in terms of
cartesian coordinates.
Solution:
(a) θ = 30◦ , ω = dθ/dt = 10 rad/s, and α = 0.
r = 1 + 0.5 cos 2θ
= 1.25 ft.
dr dθ
=− sin 2θ
dt dt
= −8.66 ft/s.
dr dθ
v= er + r eθ
dt dt
= −8.66er + 12.5eθ (ft/s).
(b) vx = vr cos θ − vθ sin θ
= −13.75 ft/s,
vy = vr sin θ + vθ cos θ
= 6.50 ft/s.
1
Problem 13.158* In Problem 13.157, determine the Solution: See the solution of Problem 13.157.
acceleration of the cam follower when θ = 30◦ (a) in
terms of polar coordinates and (b) in terms of cartesian d2r
(a) = −2θ 2 cos 2θ
coordinates. dt 2
= −100 ft/s2 .
2 2
d2r dθ d θ dr dθ
a= −r er + r 2 + 2 eθ .
dt 2 dt dt dt dt
= −225er − 173eθ (ft/s2 ).
(b) ax = ar cos θ − aθ sin θ
= −108 ft/s2 ,
ay = ar sin θ + aθ cos θ
= −263 ft/s2 .
1
Problem 13.159 The cartesian coordinates of a point y
P in the x−y plane are related to its polar coordinates of
the point by the equations x = r cos θ and y = r sin θ .
(a) Show that the unit vectors i, j are related to the

unit vectors er , eθ by i = er cos θ − eθ sin θ and j = eθ
er sin θ + eθ cos θ .
(b) Beginning with the expression for the position vec- er
tor of P in terms of cartesian coordinates, r = r P
xi + yj, derive Eq. (13.52) for the position vector
in terms of polar coordinates.
θ
(c) By taking the time derivative of the position vector x
of point P expressed in terms of cartesian coordi-
nates, derive Eq. (13.47) for the velocity in terms
of polar coordinates.
Solution:
(a) From geometry (see Figure), the radial unit vector is er =
i cos θ + j sin θ, and since the transverse unit vector is at right
angles:
π π
eθ = i cos θ + + j sin θ + = −i sin θ + j cos θ.
2 2
Solve for i by multiplying er by cos θ, eθ by sin θ, and subtracting

the resulting equations:
i = er cos θ − eθ sin θ .
Solve for j by multiplying er by sin θ, and eθ by cos θ, and the

results:
j = er sin θ + eθ cos θ
(b) The position vector is r = xi + yj = (r cos θ)i + (r sin θ)j =

r(i cos θ + j sin θ). Use the results of Part (a) expressing i, j in
terms of er , eθ :
r = r(er cos2 θ − eθ cos θ sin θ + er sin2 θ + eθ sin θ cos θ)

= rer
(c) The time derivatives are:

dr dr dθ
=v=i cos θ − r sin θ
dt dt dt

dr dθ
+j sin θ + r cos θ ,
dt dt
from which
dr dθ
v= (i cos θ + j sin θ) + r (−i sin θ + j cos θ).
dt dt
Substitute the results of Part (a)
dr dθ dr
v= er + r eθ = er + rωeθ
dt dt dt
1
Problem 13.160 The airplane flies in a straight line at
400 mi/h. The radius of its propellor is 5 ft, and the pro-
peller turns at 2000 rpm in the counterclockwise direc- 5 ft
tion when seen from the front of the airplane. Determine z
the velocity and acceleration of a point on the tip of the
propeller in terms of cylindrical coordinates. (Let the
z-axis be oriented as shown in the figure.)
Solution: The speed is The radial acceleration is

mile 1h 5280 ft ar = −rω2 = −5(209.4)2 = −219324.5 ft/s2 .
v = 400 = 586.7 ft/s
h 3600 s 1 mile
The transverse acceleration is
The angular velocity is
d2θ dr dθ
aθ = r + 2 = 0,
2π rad 1 min dt 2 dt dt
ω = 2000 = 209.4 rad/s.
1 rev 60 s
since the propeller rotates at a constant angular velocity. The acceler-
The radial velocity at the propeller tip is zero. The transverse velocity ation az = 0, since the airplane travels at constant speed. Thus
is vθ = ωr = 1047.2 ft/s. The velocity vector in cylindrical coordi-
nates is a = −219324.5er (ft/s2 )
v = 1047.2eθ + 586.7ez (ft/s) .
1
Problem 13.161 A charged particle P in a magnetic y
field moves along the spiral path described by r = 1 m,
θ = 2z rad, where z is in meters. The particle moves
along the path in the direction shown with constant speed x
|v| = 1 km/s. What is the velocity of the particle in terms
of cylindrical coordinates?
P
z
1 km/s
Solution: The radial velocity is zero, since the path has a constant The velocity along the cylindrical axis is
radius. The magnitude of the velocity is

dz 1 dθ
2 2 = = 447.2 m/s.
dθ dz dt 2 dt
v= r2 + = 1000 m/s.
dt dt
The velocity vector: v = 894.4eθ + 447.2ez
dθ dz
The angular velocity is =2 .
dt dt
y
2 2 x
dθ 1 dθ
Substitute: v= r2 +
dt 4 dt

dθ 1 √ z
= r 2 + = 1.25, V
dt 4
dθ 1000
from which = √ = 894.4 rad/s,
dt 1.25
from which the transverse velocity is

dθ
vθ = r = 894.4 m/s.
dt
1
Problem 13.162 At t = 0, two projectiles A and B are y
simultaneously launched from O with the initial veloci-
ties and elevation angles shown. Determine the velocity
of projectile A relative to projectile B (a) at t = 0.5 s
10 m/s
and (b) at t = 1 s.
A
10 m/s
B
60⬚
30⬚
O
x
Solution:
◦ ◦
vA = −(9.81 m/s2 j)t + (10 m/s)(cos 60 i + sin 60 j )
◦ ◦
vB = −(9.81 m/s2 j)t + (10 m/s)(cos 30 i + sin 30 j )
vA/B = vA − vB = (10 m/s)(−0.366i + 0.366j)
vA/B = (−3.66i + 3.66j) m/s
Since vA/B doesn’t depend on time, the answer is the same for both
times
vA/B = (−3.66i + 3.66j) m/s
1
Problem 13.163 Relative to the earth-fixed coordinate y
system, the disk rotates about the fixed point O at
10 rad/s. What is the velocity of point A relative to point A 10 rad/s
B at the instant shown?
B
x
O
2 ft
Solution:
vA = −(10 rad/s)(2 ft)i = −(20 ft/s)i
vB = (10 rad/s)(2 ft)j = (20 ft/s)j
vA/B = vA − vB = (−20i − 20j) ft/s
1
Problem 13.164 Relative to the earth-fixed coordinate
system, the disk rotates about the fixed point O with
a constant angular velocity of 10 rad/s. What is the
acceleration of point A relative to point B at the
instant shown?
Solution:
aA = −(10 rad/s)2 (2 ft)j = −(200 ft/s2 )j
aB = −(10 rad/s)2 (2 ft)i = −(200 ft/s2 )i
aA/B = aA − aB = (200i − 200j) ft/s2
1
Problem 13.165 The train on the circular track is trav-
eling at 50 ft/s. The train on the straight track is traveling
at 20 ft/s. In terms of the earth-fixed coordinate system y
shown, what is the velocity of passenger A relative to
passenger B?
t
0f
50
B A x
O
20 ft/s
50 ft/s
Solution:
vA = (−20j) ft/s, vB = (50j) ft/s
vA/B = vA − vB = (−70j) ft/s
1
Problem 13.166 The train on the circular track is trav-
eling at a constant speed of 50 ft/s. The train on the
straight track is traveling at 20 ft/s and is increasing its
speed at 2 ft/s2 . In terms of the earth-fixed coordinate
system shown, what is the acceleration of passenger A
relative to passenger B?
Solution:
(50 ft/s)2
aA = (−2j) ft/s2 , aB = − i = (−5i) ft/s2
500 ft
aA/B = aA − aB = (5i − 2j) ft/s2
1
Problem 13.167 Each bar is 0.4-m long and rotates in y
the x-y plane. They are connected by a pin at A. Relative B
to the reference frame shown, bar OA has a counter-
clockwise angular velocity of 5 rad/s and bar AB has a
counterclockwise angular velocity of 10 rad/s. What is
the velocity of point B relative to the reference frame at
the instant shown?
Strategy: Point A moves in a circular path about O. 60⬚
A
Relative to point A, point B moves in a circular path.
(Imagine yourself sitting on point A with point B rotating
around you.) Determine the x and y components of the
velocity of A relative to O and the velocity of B relative 25⬚
O x
to A. Then you can determine the velocity of B relative
to O.
Solution:
vB/O = vB/A + vA/O
◦ ◦
vA/O = (5 rad/s)(0.4 m)(− sin 25 i + cos 25 j) = (−0.845i + 1.813j) m/s
◦ ◦
vB/A = (10 rad/s)(0.4 m)(− sin 60 i + cos 60 j) = (−3.46i + 2.00j) m/s
vB/O = (−4.31i + 3.81j) m/s
1
Problem 13.168 A private pilot wishes to fly from a Q
city P to a city Q that is 200 km directly north of city P .
The airplane will fly with an airspeed of 290 km/h. At
the altitude at which the airplane will be flying, there is
an east wind (that is, the wind’s direction is west) with a
N
speed of 50 km/h. What direction should the pilot point
the airplane to fly directly from city P to city Q? How
W E 200 km 50 km/h
long will the trip take?
S
Solution: Assume an angle θ, measured ccw from the east.

VPlane/Ground = VPlane/Air + VAir/Ground
VPlane/Air = (290 km/h)(cos θi + sin θj) P
VAir/Ground = −(50 km/h)i
VPlane/Ground = [(290 cos θ − 50)i + (290 sin θ)j] km/h
We want the airplane to travel due north therefore

50 ◦
290 cos θ − 50 = 0 ⇒ θ = cos−1 = 80.07
290
Thus the heading is
90◦ − 80.07◦ = 9.93◦ east of north

The ground speed is now
◦
v = (290 km/h) sin(80.1 ) = 285.6 km/h
The time is
d 200 km
t= = = 0.700 h = 42.0 min
v 285.6 km/h
1
Problem 13.169 The river flows north at 3 m/s. Solution: Assume an angle θ, measured ccw from the east.
(Assume that the current is uniform.) If you want to VBoat /Ground = VBoat /Water + VWater/Ground
travel in a straight line from point C to point D in a
boat that moves at a constant speed of 10 m/s relative to VBoat /Water = (10 m/s)(cos θi + sin θj)
the water, in what direction should you point the boat?
How long does it take to make the crossing? VWater/Ground = (3 m/s)j
3 m/s VBoat /Ground = [(10 cos θ)i + (3 + 10 sin θ)j] m/s

400
D We want the boat to travel at an angle tan φ =
500
Therefore
3 + 10 sin θ 400 ◦
= ⇒ θ = 25.11
10 cos θ 500
400 m N Thus the heading is
W E 25.11◦ north of east
S The ground speed is now

v = (10 cos θ)2 + (3 + 10 sin θ)2 = 11.60 m/s
C
The time is
500 m
√
d 5002 + 4002 m
t= = = 55.2 s
v 11.60 m/s
1
Problem 13.170 The river flows north at 3 m/s. Solution: Assume an angle θ, measured ccw from the east.
(Assume that the current is uniform.) What minimum VBoat /Ground = VBoat /Water + VWater/Ground
speed must a boat have relative to the water in order to
travel in a straight line from point C to point D? How VBoat /Water = vB /W (cos θi + sin θj)
long does it take to make the crossing?
VWater/Ground = (3 m/s)j
VBoat /Ground = [(vB /W cos θ)i + (3 + vB/W sin θ)j] m/s

400
We want the boat to travel at an angle tan φ =
500
Therefore
3 + vB/W sin θ 500 12
= ⇒ vB/W =
vB/W cos θ 400 5 cos θ − 4 sin θ
To be a minimum we must have
dvB/W 12(4 cos θ + 5 sin θ) 4 ◦
= = 0 ⇒ tan θ = − ⇒ θ = −38.7
dθ (5 cos θ − 4 sin θ)2 5
Notice, that this heading puts the boat’s relative velocity perpendicular
to the line from C to D.
The relative speed is now
12
vB/W = = 1.874 m/s
5 cos θ − 4 sin θ
The time is
√
d 5002 + 4002 m
t= = = 342 s
v 1.874 m/s
1
Problem 13.171 Relative to the earth, the sailboat sails
north with speed v0 = 6 knots (nautical miles per hour)
and then sails east at the same speed. The tell-tale indi-
cates the direction of the wind relative to the boat. Deter-
0
mine the direction and magnitude of the wind’s velocity
(in knots) relative to the earth. 60⬚
0
Tell-tale
W E
S
Solution:
vwind /ground = vwind /boat + vboat /ground
In position one we have

vwind /ground = vwind /boat1 i + (6 knots)j
In position two we have

◦ ◦
vwind /ground = vwind /boat2 (− cos 60 i + sin 60 j) + (6 knots)i
Since the wind has not changed these two expressions must be the
same. Therefore

vwind /boat1 = −vwind /boat2 cos 60◦ + 6 knots
6 knots = vwind /boat2 sin 60◦

vwind /boat1 = 2.536 knots
⇒
vwind /boat2 = 6.928 knots
Using either position one or position two we have
vwind /ground = (2.536i + 6j) knots

vwind /ground = (2.536)2 + (6)2 knots = 6.51 knots

2.536
direction = tan−1 = 22.91◦ east of north
6
1
Problem 13.172 An engineer analyzing a large-scale
machining process determines that a tool that moves in
a straight line starts from rest at time t = 0 and position
s = 0 and moves with acceleration
a = 2 + t 1/2 − t 3/2 m/s2 from t = 0 to t = 4 s.

(a) Draw a graph of the tool’s position from t = 0 to
t = 4 s.
(b) What is the maximum velocity of the tool during
this time interval, and at what time does it occur?
Solution: (a) 10
s0 = v0 = 0 8
6
a = 2 + t 1/2 − t 3/2 m/s2
s, m
t 4
v= a dt
0 2
2 3/2 2 5/2 0
v = 2t + t − t m/s 0 1 2 3 4
3 5
(a) t, s
t
s= 0 v dt

2 2 5/2 2 2 7/2
s = t2 + t − t m
3 5 5 7
Plotting, we get
(b) Maximum velocity can be found two way — Plotting the velocity
or finding where acceleration is zero, calculating the velocity, and
checking to see if it is a max or min.
The acceleration is
a = 2 + t 1/2 − t 3/2 m/s
Acceleration is zero at t1 = 2.31 s
da 1 1 3 1
= t− 2 − t 2
dt 2 2
Evaluating this at t1 , we get
da
= −1.95
dt
Hence, velocity is a maximum. Evaluating velocity at t = t1 ,

we get
v(t1 ) = 3.72 m/s at t1 = 2.31 s
1
Problem 13.173 A projectile is launched at 10 m/s 10 m/s
from a sloping surface.
30⬚
(a) Determine the value of the angle α for which the a
range R = 15 m.
(b) Determine the angle α for which the range R is a
maximum. What is the maximum range? R
Solution: Set g = 9.81 m/s2 , v0 = 10 m/s

Using horizontal x and vertical y we have
ax = 0, ay = −g
vx = v0 cos(α − 30◦ ), vy = −gt + v0 sin(α − 30◦ )
1
sx = v0 cos(α − 30◦ )t, sy = − gt 2 + v0 sin(α − 30◦ )t
2
When the projectile hits

◦ ◦
R cos 30 = v0 cos(α − 30 )t
◦ 1 ◦
−R sin 30 = − gt 2 + v0 sin(α − 30 )t
2
Solving we find
8v0 2 ◦
R= cos(α − 30 ) sin α
3g
(a) Using a root solver we find
8v0 2
15 = cos(α − 30◦ ) sin α ⇒ α = 33.6◦ or α = 86.4◦
3g
(b) To maximize
dR 8v0 2 ◦
= cos(30 − 2α) = 0 ⇒ α = 60◦
dα 3g
The maximum range is therefore
8v0 2 2v0 2
R= cos(30◦ ) sin(60◦ ) = = 20.4 m
3g g
1
Problem 13.174 A catapult designed to throw a line to – 0.4 sin θ0 )
0 (1
ships in distress throws a projectile with initial velocity
v0 (1–0.4 sin θ0 ), where θ0 is the angle above the hori-
zontal. Determine the value of θ0 for which the distance θ0
the projectile is thrown is a maximum, and show that
the maximum distance is
0.559v02
.
g
Solution: The path is obtained by integrating the equations of Range factor

.6
motion:
.5
dvy dvx F .4
= −g, and = 0, from which a
dt dt
c .3
vy (t) = −gt + V0 sin θ0 , and t
o .2
r
vx (t) = V0 cos θ0 . .1
g 0
y(t) = − t 2 + (V0 sin θ0 )t, and x(t) = (V0 cos θ0 )t. 0 10 20 30 40 50 60 70 80 90
2 Launch angle, deg
At the end of flight, y(tflight ) = 0, from which
2V0 sin θ0
tflight = .
g
The range is
2V02 sin θ0 cos θ0

R = x(tflight ) = .
g
Noting V0 = v0 (1–0.4 sin θ0 ), the maximum range occurs when

dR d 2V02 sin θ0 cos θ0
=0= = 0,
dθ0 dθ0 g
from which: after some algebraic reduction,

dR −0.8 cos2 θ sin θ
= + cos(2θ) = 0,
dθ0 (1 − 0.4 sin θ0 )
from which
θ0 = 33.41◦ .
This is confirmed as a maximum by graphing

g
R
v02
as shown. The maximum range is

v02 (1 − 0.4 sin θ0 )2 sin θ0 cos θ0 v02
Rmax = = 0.5589
g g
θ0 =33.41◦
1
Problem 13.175 At t = 0, a projectile is located at the y
origin and has a velocity of 20 m/s at 40◦ above the hori-
20 m/s
zontal. The profile of the surface the projectile strikes can
y = 0.4x – 0.006x 2
be approximated by the equation y = 0.4x − 0.006x 2 ,
where x and y are in meters. Determine the approxi-
mate coordinates of the point where the projectile hits 40°
the ground.
x
Solution: The path of the projectile is obtained by integrating the Impact point
equations of motion: 6
d2y 4
= −g
dt 2 2
and f(x) 0
d2x −2
=0
dt 2 −4 x =29.48
using the initial conditions. The result: −6

25 26 27 28 29 30 31 32 33 34 35
g x, meters
y(t) = − t 2 + (V0 sin θ)t m,
2
and
x(t) = (V0 cos θ)t m.
At impact,
y(tflight ) = yimpact
= 0.4ximpact − 0.006ximpact
2 .
Solve for tflight :

V0 sin θ 2gyimpact
tflight = 1± 1− .
g V02 sin2 θ
Substitute:

V 2 cos θ sin θ 2gyimpact
ximpact = 0 1± 1− .
g V02 sin2 θ
The two functions

 

V02 cos θ sin θ 2g(0.4ximpact − 0.006ximpact
2 )
f (ximpact ) = 1 ± 1 −  − ximpact
g V02 sin2 θ
were graphed against values of ximpact to determine the zero crossings.

Only one crossing is of interest (the other was ximpact = 0), and this
value was refined by iteration (using TK Solver Plus) to yield
ximpact = 29.477 m
from which
yimpact = 6.577 m
1
Problem 13.176 A carpenter working on a house asks
his apprentice to throw him an apple. The apple is thrown
at 32 ft/s. What two values of θ0 will cause the apple to
land in the carpenter’s hand, 12 ft horizontal and 12 ft
vertically from the point where it is thrown?
θ0
Solution: The path obtained from the equations of motion is Launch angles
given by 3
g 2
y(t) = − t 2 + (V0 sin θ0 )t,
2 1
f
and x(t) = (V0 cos θ0 )t. When the apple reaches the hand , 0
h
g 2 –1
y(tflight ) = − tflight + (V0 sin θ0 )tflight = 12 ft.
2 –2
Solve for the time of flight: –3
60 62 64 66 68 70 72 74 76 78 80
angle, deg
V0 sin θ0 24g
tflight = 1± 1+ ,
g (V0 sin θ0 )2
from which

V02 sin θ0 cos θ0 24g
x(tflight ) = 12 = 1± 1−
g (V0 sin θ0 )2
The two functions

V02 sin θ0 cos θ0 24g
f (θ0 ) = 1± 1− − 12
g (V0 sin θ0 )2
were graphed to determine the zero crossings and the results were
refined by iteration (using TK Solver Plus) to obtain θ0 = 60.9◦ and
θ0 = 74.08◦
1
Problem 13.177 A motorcycle starts from rest at t = 0
and moves along a circular track with a 400-m radius.
The tangential component of its acceleration is at =
2 + 0.2t m/s2 . When the magnitude of its total accel-
eration reaches 6 m/s2 , friction can no longer keep the
motorcycle on the circular track, and it spins out. How
long after it starts does it spin out, and how fast is it
going?
O
s
P 400 m
en
et
Solution: The tangential component of the acceleration can be

integrated independently of the radial acceleration to determine the
angular velocity: Zero Crossing
10
8
d2θ dr dθ d2θ 6
aθ = r + 2 = r 2 = 2 + 0.2t m/s2 , 4
dt 2 dt dt dt
2
f(t) 0
since the radius is a constant. From which –2
–4
–6
rω = 2t + 0.1t 2 m/s. –8
–10
10 11 12 13 14
The radial acceleration is time, s

d2r 2 = − 1 (2t + 0.1t 2 )2 m/s2 .
ar = − rω
dt 2 r

2
(2t + 0.1t2 )2
|a| = (2 + 0.2t)2 + ,
r
from which, at time of spin out:
2
(2t + 0.1t 2 )2
36 = (2 + 0.2t)2 + .
r
The function
2
(2t + 0.1t 2 )2
f (t) = (2 + 0.2t)2 + − 36
400
was graphed to determine the zero crossing and the result refined by
iteration. The result: t = 12.36 s (A zero crossing also occurs at a
negative time; it is ignored.) The velocity at spin out is
V = [rω]t=12.36 s = [2t + 0.1t 2 ]t=12.36 s = 40 m/s
m 1 km 3600 s
V = 40 = 144 km/h
s 103 m 1h
1
Problem 13.178 At t = 0, a steel ball in a tank of oil is y
given a horizontal velocity v = 2i m/s. The components
of the ball’s acceleration are ax = −cvx , ay = −0.8g −
cvy , az = −cvz , where c is a constant. When the ball
hits the bottom of the tank, its position relative to its
position at t = 0 is r = 0.8i − j (m). What is the value x
of c?
Solution: Choose a coordinate system with the origin at O and the Zero Crossing
.5
x axis parallel to the plane surface. The path is obtained by integrating
the equations of motion: .4
.3
dvx dvy dvz .2
= −cvx , = −0.8g − cvy , and = −cvz . .1
dt dt dt
f 0
Separating variables and integrating: −.1
−.2
vx (t) = Cvx e−ct , vy (t) = −
0.8g
+ Cvy e−ct , and vz (t) = Cvz e−ct . −.3
c −.4
−.5
From the initial conditions, 0 .5 1 1.5 2
c, 1/s
0.8g
Cvx = 2, Cvy = , Cvz = 0, from which vx = 2e−ct ,
c
0.8g −ct
vy (t) = (e − 1), and vz (t) = 0.
c
Integrating:

2 0.8g 1 −ct
x(t) = − e−ct + Cx , y(t) = − e + t + Cy , z(t) = 0.
c c c
From the initial conditions,
2
x(0) = 0, y(0) = 0, from which Cx = ,
c
0.8g 2
Cy = , from which x(t) = (1 − e−ct ) m,
c2 c
0.8g 0.8g
y(t) = (1 − e−ct ) − t m, and z(t) = 0.
c2 c
When the ball strikes the bottom
y(t) = −1, x(t) = 0.8.
From the equation for x, at time of impact,
e−ct = 1 − 0.4c, or ct = − ln(1 − 0.4c).
Substitute these into the equation for y to obtain
0 = (0.8g)(0.4c + ln(1 − 0.4c)) + c2 .
A graph of f (c) = 0.8g(0.4c + ln(1 − 0.4c)) + c2 was used to find

the zero crossing, and the result refined by iteration to obtain c =
1.313 s−1
1
Problem 13.179 The polar coordinates of a point P
moving in the xy-plane are r = t 3 − 4t m, θ = t 2 −
t rad. (a) Draw a graph of the magnitude of the velocity
of P from t = 0 to t = 2 s. (b) Estimate the minimum
magnitude of the velocity and the time at which it occurs.
Solution:
Magnitude of Velocity
10
(a) The velocity is
9
8
dr dθ
v= er + r eθ = (3t2 − 4)er + (t3 − 4t)(2t − 1)eθ . 7
dt dt
6
The magnitude is 5
|v | 4
3
|vp | = (3t2 − 4)2 + (t3 − 4t)2 (2t − 1)2 m/s.
2
The graph of the magnitude is shown. 1
0
0 .5 1 1.5 2
(b) The minimum magnitude is found from a search of the tabulated time, s
values of the magnitude:
|vp | = 2.63 m/s at t = 0.79 s
1
Problem 13.180 (a) Draw a graph of the magnitude of
the acceleration of the point P in Problem 13.179 from
t = 0 to t = 2 s.
(b) Estimate the minimum magnitude of the acceleration
and the time at which it occurs.
Solution: The acceleration is
Acceleration
2 2 50
d2r dθ d θ dr dθ 45
a= −r er + r + 2 eθ .
dt 2 dt dt 2 dt dt 40
35
From Problem 13.197, 30
|a| 25
dr d2r Minimum = 2.074 @ 0.31 s
r = (t 3 − 4t), = 3t 2 − 4, 2 = 6t; 20
dt dt
15
10
dθ d2θ
θ = t 2 − t, = 2t − 1, 2 = 2. 5
dt dt
0
Substitute: 0 .5 1 1.5 2
time, s
ar = 6t − (2t − 1)2 (t 3 − 4t), aθ = (t 3 − 4t)(2) + 2(3t 2 − 4)(2t − 1).

The magnitude is |a| = ar2 + aθ2 .
The graph is shown. The minimum is found from a search of the tabu-
lated values of the magnitude of the acceleration: |a|min = 2.0738 m/s2
at t = 0.310 s Note for user’s of TK Solver Plus.
1
Problem 13.181 The robot is programmed so that y
point P describes the path r = 1 − 0.5 cos 2π t m, θ =
0.5 − 0.2 sin[2π(t − 0.1)] rad. Determine the values of
r and θ at which the magnitude of the velocity of P
attains its maximum value. r
P
θ
Solution: The velocity is Robot hand Velocity

4
3.5
dr dθ dr
vp = er + r eθ = π sin(2π t) m, 3
dt dt dt
2.5
dθ |v | 2
= −0.4π cos[2π(t − 0.1)] 1.5
dt
1
Maximum = 3.248
The magnitude of the velocity is .5 at 0.73 s
0
0 .1 .2 .3 .4 .5 .6 .7 .8 .9 1
|vp | = (π sin(2π t))2 + (1 − 0.5 cos(2π t))2 (−0.4π cos[2π(t − 0.1)])2 . time, s
The maximum value was found from a search of the tabulated values:
|vp |max = 3.248 m/s. The corresponding values of r and θ are r =
1.066 m and θ = 37◦
1
values of r and θ at which the magnitude of the
acceleration of P attains its maximum value.
Solution: The acceleration components are: Robot arm acceleration
25
2
d2r dθ 22.5
ar = −r , from which: 20
dt 2 dt
17.5
15
ar = 2π 2 cos(2π t) − (1 − 0.5 cos(2π t))(−0.4π cos(2π(t − 0.1)))2 |a| 12.5
10
7.5
Max = 22.636
d2θ dr dθ at t = 0.475 s
aθ = r +2 , from which: 5
dt 2 dt dt
2.5
0
aθ = (1 − 0.5 cos(2π t))(0.8π 2 sin(2π(t − 0.1)) + 2(π sin(2π t)) 0 .2 .4 .6 .8 1
time, s
× (−0.4π cos(2π(t − 0.1))).

The magnitude is |ap | = ar2 + aθ2 . Although not required by the prob-
lem, a graph of the acceleration as a function of time is shown. The
magnitude is found by a search of the tabulated values: |ap |max =
22.64 m/s2 . The values of the radius and angle are r = 1.494 m and
θ = 20.5◦ .
1
slotted bar rotates with a constant angular velocity ω =
10 rad/s, and the radial position of the follower A is
path of the follower is described by the polar equation
r = 1 + 0.5 cos 2θ . A
r
(a) Draw a graph of the magnitude of the follower’s
acceleration as a function of θ for 0 ≤ θ ≤ 360◦ . θ x
(b) Use your graph to estimate the maximum magni-
tude of the follower’s acceleration and the angle(s)
at which it occurs.
Solution: Refer to the solutions of Problems 13.157 and 13.158. We can now solve for the accelerations and the magnitude is
In these problems, the acceleration components for the follower were given as |a| = ar2 + aθ2 . Using an automatic numerical solver
derived as functions of the angle θ. We proceed as in Example 13.15. to plot the results, we get the graph at the right.
(a) We find the value for (b) From the graph, the maximum magnitudes of acceleration occur
at θ = 0◦ and θ = 180◦ , and the value for the maximum is
vr = ṙ =
dr
by
dr
=
dr dθ
=
dr
ω = −0.5(2) sin(2θ)ω |a|MAX ∼
= 350 ft/s2
dt dt dθ dt dθ
= −ω sin(2θ). Follower Accel. Magnitude (ft/s^2) vs Angle (deg)

360
340
Note that ω = θ̇ = constant and θ̈ = 0. Hence, a
320
m
300
a
v = vr er + rωeθ = −ω sin(2θ)er + rωeθ . g 280
260
In order to determine the components of the acceleration in polar f 240
t
220
coordinates, we need to be able to determine all of the variables –
in the right hand sides of ar = r̈ − r θ̇ 2 and that aθ = r θ̈ + 2ṙ θ̇ . s 200
– 180
We already know everything except r̈ and θ̈ . Since ω is constant, s
160
θ̈ = ω̇ = 0. We need only to find r̈. To find r̈, we start with 140
ṙ = vr . Taking a derivative, we get 0 50 100 150 200 250 300 350 400
Follower Angle (deg)
d d
r̈ = (vr ) = − sin(2θ)θ̇ , or
dt dt
d dθ d
r̈ = [vr ] = [− sin(2θ)ω]ω = −2 cos(2θ)ω2 .
dθ dt dθ
1
Problem 13.184 Suppose you throw a ball straight
up at 10 m/s and release it at 2 m above the ground.
(a) What maximum height above the ground does the
ball reach? (b) How long after release it does the ball
hit the ground? (c) What is the magnitude of its velocity
just before it hits the ground?
Solution: The equations of motion for the ball are (b) The ball hits the ground when y = 0 m. To find out when this
occurs, we set y = 0 m into the y equation and solve for the
ay = −g = −9.81 m/s2 , time(s) when this occurs. There will be two times, one posi-
tive and one negative. Only the positive time has meaning for
vy = vy0 − gt = 10 − 9.81t (m/s), and us. Let this time be t = t2 . The equation for t2 is y = 0 = 2 +
10t2 − 9.81t 2 2 /2 (m). Solving, we get t2 = 2.22 s.
y = y0 + vy0 t − gt 2 /2 = 2 + 10t − 9.81t 2 /2 (m). (c) The velocity at impact is determined by substituting t2 = 2.22 s
into the equation for vy . Doing this, we find that at impact, vy =
(a) The maximum height occurs when the velocity is zero. Call this −11.8 m/s
time t = t1 . It can be obtained by setting velocity to zero, i.e.,
vy = 0 = 10 − 9.81t1 (m/s). Solving, we get t1 = 1.02 s. Substi-
tuting this time into the y equation, we get a maximum height of
yMAX = 7.10 m.
1
Problem 13.185 Suppose that you must determine the
duration of the yellow light at a highway intersection.
Assume that cars will be approaching the intersection
traveling as fast as 65 mi/h, that the drivers’ reaction
times are as long as 0.5 s, and that cars can safely
achieve a deceleration of at least 0.4g.
(a) How long must the light remain yellow to allow

drivers to come to a stop safely before the light
turns red?
(b) What is the minimum distance cars must be from
the intersection when the light turns yellow to come
to a stop safely at the intersection?
Solution: The speed-time equation from initial speed to stop is (b) The distance traveled after brake application is traveled from
d2s brake application to full stop is given by
given by integrating the equation = −0.4g. From which
dt 2
s(t)0 = −0.2gt02 + V0 t0 , from which s(t0 ) = 353.14 ft.
ds
= −0.4gt + V0 , and s(t) = −0.2gt 2 + V0 t,
dt The distance traveled during the reaction time is
where V0 is the initial speed and the distance is referenced from the
d = V0 (0.5) = 95.33(0.5) = 47.66 ft,
point where the brakes are applied. The initial speed is:
from which the total distance is
65 mi 5280 ft 1h
V0 = 95.33 ft/s.
1h 1 mi 3600 s
dt = 353.14 + 47.66 = 400.8 ft
(a) The time required to come to a full stop
ds(t0 ) V0 95.33
= 0 is t0 = = = 7.40 s.
dt 0.4g (0.4)(32.17)
The driver’s reaction time increases this by 0.5 second, hence

the total time to stop after observing the yellow light is T =
t0 + 0.5 = 7.90 s
1
Problem 13.186 The acceleration of a point moving
along a straight line is a = 4t + 2 m/s2 . When t = 2 s,
its position is s = 36 m, and when t = 4 seconds, its
position is s = 90 meters. What is its velocity when t =
4 s?
Solution: The position-time equation is given by integrating from which

d2s ds 94
= 4t + 2, from which = 2t 2 + 2t + V0 , and (2) 4V0 + d0 = .
dt 2 dt 3
Subtract (1) from (2) to obtain

2 3
s(t) = t + t 2 + V0 t + d0 ,
3
94 − 80
V0 = = 2.33 m/s.
where V0 , d0 are the initial velocity and position. From the problem 6
conditions:
The velocity at t = 4 seconds is

2 3
s(2) = 2 + (22 ) + V0 (2) + d0 = 36,
3 ds(t)
= [2t 2 + 2t + V0 ]t=4 = 32 + 8 + 2.33 = 42.33 m/s
dt t=4
from which

80 2 3
(1) 2V0 + d0 = .s(4) = 4 + (42 ) + V0 (4) + d0 = 90,
3 3
1
Problem 13.187 A model rocket takes off straight up.
Its acceleration during the 2 s its motor burns is 25 m/s2 .
Neglect aerodynamic drag, and determine
(a) the maximum velocity of the rocket during the

flight and
(b) the maximum altitude the rocket reaches.
Solution: The strategy is to solve the equations of motion for the

two phases of the flight: during burn 0 ≤ t ≤ 2 s seconds, and after
burnout: t > 2 s.
Phase 1: The acceleration is:
d2s ds
= 25, from which = 25t, and s(t) = 12.5t 2 ,
dt 2 dt
since the initial velocity and position are zero. The velocity at burnout
is Vburnout = (25)(2) = 50 m/s. The altitude at burnout is hburnout =
(12.5)(4) = 50 m.
Phase 2. The acceleration is:
d2s ds
= −g, from which = −g(t − 2) + Vburnout (t ≥ 2), and
dt 2 dt
s(t) = −g(t − 2)2 /2 + Vburnout (t − 2) + hburnout , (t ≥ 2).
The velocity during phase 1 is constantly increasing because of the

rocket’s positive acceleration. Maximum occurs at burnout because
after burnout, the rocket has negative acceleration and velocity con-
stantly decreases until it reaches zero at maximum altitude. The velo-
city from maximum altitude to impact must be constantly increasing
since the rocket is falling straight down under the action of grav-
ity. Thus the maximum velocity during phase 2 occurs when the
rocket impacts the ground. The issue of maximum velocity becomes
this: is the velocity at burnout greater or less than the velocity at
ground impact? The time of flight is given by 0 = −g(tflight − 2)2 /2 +
Vburnout (tflight − 2) + hburnout , from which, in canonical form:
(tflight − 2)2 + 2b(tflight − 2) + c = 0,
where b = −(Vburnout /g) and c = −(2hburnout /g).

√
The solution (tflight − 2) = −b ± b2 − c = 11.11, = −0.92 s. Since
the negative time is not allowed, the time of flight is tflight = 13.11 s.
The velocity at impact is
Vimpact = −g(tflight − 2) + Vburnout = −59 m/s
which is higher in magnitude than the velocity at burnout. The time

of maximum altitude is given by
ds
= 0 = −g(tmax alt − 2) + Vburnout , from which
dt
Vburnout
tmax alt − 2 = = 5.1 s, from which
g
tmax alt = 7.1 s.
The maximum altitude is
g
hmax = − (tmax alt − 2)2 + Vburnout (tmax alt − 2) + hburnout = 177.42 m
2
1
Problem 13.188 In Problem 13.187, if the rocket’s
parachute fails to open, what is the total time of flight
from takeoff until the rocket hits the ground?
Solution: The solution to Problem 13.187 was (serendipitously)

posed in a manner to yield the time of flight as a peripheral answer.
The time of flight is given there as tflight = 13.11 s
1
Problem 13.189 The acceleration of a point moving
along a straight line is a = −cv 3 , where c is a constant.
If the velocity of the point is v0 , what distance does the
v0
point move before its velocity decreases to ?
2
dv
Solution: The acceleration is = −cv 3 . Using the chain rule,
dt
dv dv ds dv
= =v = −cv 3 . Separating variables and integrating:
dt ds dt ds
dv 1
= −cds, from which − = −cs + C. At s = 0, v = v0 , from
v2 v
1 1 v0 v0
which − = −cs − , and v = . Invert: v0 cs = − 1.
v v0 1 + v0 cs v

v0 1
When v = , s=
2 cv0
1
Problem 13.190 Water leaves the nozzle at 20◦ above
the horizontal and strikes the wall at the point indicated.
What was the velocity of the water as it left the nozzle?
Strategy: Determine the motion of the water by treat-

ing each particle of water as a projectile.
20°
20 ft
12 ft
35 ft
Solution: Denote θ = 20◦ . The path is obtained by integrating the Substitute:

equations:
2
g 35
dvy dvx 0=− + 35 tan θ − 8,
= −g and = 0, from which 2 Vn cos θ
dt dt

35 g
dy dx from which Vn = = 68.62 ft/s
= −gt + Vn sin θ, = Vn cos θ. cos θ 2(35 tan θ − 8)
dt dt
g
y = − t 2 + (Vn sin θ)t + y0 .
2
x = (Vn cos θ)t + x0 .
Choose the origin at the nozzle so that y0 = 0, and x0 = 0. When the

stream is y(timpact ) = (20 − 12) = 8 ft, the time is
g
0 = − (timpact )2 + (Vn sin θ)timpact − 8.
2
At this same time the horizontal distance is
35
x(timpact ) = 35 = (Vn cos θ)timpact , from which timpact = .
Vn cos θ
1
Problem 13.191 In practice, a quarterback throws the
football with a velocity v0 at 45◦ above the horizontal. At
0
the same instant, a receiver standing 20 ft in front of him 45°

starts running straight down field at 10 ft/s and catches 10 ft/s
the ball. Assume that the ball is thrown and caught at the
same height above the ground. What is the velocity v0 ?
20 ft
Solution: Denote θ = 45◦ . The path is determined by integrating

the equations;
v0
d2y d2x 45°
= −g, 2 = 0, from which
dt 2 dt 10 ft/s
dy dx
= −gt + v0 sin θ, = v0 cos θ.
dt dt
g
y = − t 2 + (v0 sin θ)t,
2
20 ft
x = (v0 cos θ)t,
Zero crossing
where the origin is taken at the point where the ball leaves the quar- 100
terback’s hand. 80
60
When the ball reaches the receiver’s hands, 40
20
2v0 sin θ f(v) 0
y = 0, from which tflight = .
g –20
–40
At this time the distance down field is the distance to the receiver: –60
–80
x = 10tflight + 20. But also –100
35 35.5 36 36.5 37 37.5 38
Velocity, ft /s
x = (v0 cos θ)tflight , from which
20
tflight = .
(v0 cos θ − 10)
Substitute:

20 2v0 sin θ
= , from which
(v0 cos θ − 10) g
400 g = 2v0 sin θ(v0 cos θ − 10)2 .
The function
f (v0 ) = 2v0 sin θ(v0 cos θ − 10)2 − 400 g
was graphed to find the zero crossing, and the result refined by iter-
ation: v0 = 36.48 ft/s . Check : The time of flight is t = 1.27 s and
the distance down field that the quarterback throws the ball is d =
12.7 + 20 = 32.7 ft = 10.6y ds, which seem reasonable for a short,
“lob” pass. check.
1
Problem 13.192 The constant velocity v = 2 m/s. y
What are the magnitudes of the velocity and acceleration
of point P when x = 0.25 m? y = 0.2 sin π x
1m
Solution: Let x = 2t m/s. Then x = 0.25 m at t = 0.125 s. We

know that vx = 2 m/s and ax = 0.
From
y = 0.2 sin(2π t), we obtain
dy
= 0.4π cos(2π t) and
dt
d2y
= −0.8π 2 sin(2π t).
dt 2
At t = 0.125 s,
y = 0.141 m and
dy
= vy = 0.889 m/s and
dt
d2y
= ay = −5.58 m/s.
dt 2
Therefore

|v| = vx2 + vy2 = 2.19 m/s,

|a| = ax2 + ay2 = 5.58 m/s2 .
1
Problem 13.193 The constant velocity v = 2 m/s.
What is the acceleration of point P in terms of normal
and tangential components when x = 0.25 m?
Solution: See the solution of Problem 13.192. The angle θ ay

between the x axis and the path is
at
vy 0.889
θ = arctan = arctan = 24.0◦ . Then
vx 2 θ
ax
at = ax cos θ + ay sin θ = 0 + (−5.58) sin 24.0◦ = −2.27 m/s2 ,
aN
aN = ax sin θ − ay cos θ = 0 − (−5.58) cos 24.0◦ = 5.10 m/s2 .
The instantaneous radius is
vx2 + vy2 (2)2 + (0.889)2

ρ= = = 0.939 m.
aN 5.10
1
Problem 13.194 The constant velocity v = 2 m/s.
What is the acceleration of point P in terms of polar
coordinates when x = 0.25 m?
Solution: See the solution of Problem 13.192. The polar angle θ is ay
y aθ
0.141
θ = arctan = arctan = 29.5◦ . Then ar
x 0.25
ar = ax cos θ + ay sin θ = 0 + (−5.58) sin 29.5◦ = −2.75 m/s2 , θ

ax
◦
aθ = −ax sin θ + ay cos θ = 0 + (−5.58) cos 29.5 = −4.86 m/s . 2
1
Problem 13.195 A point P moves along the spiral path P
r = (0.1)θ ft, where θ is in radians. The angular position
θ = 2t rad, where t is in seconds, and r = 0 at t = 0. r
Determine the magnitudes of the velocity and accelera-
tion of P at t = 1 s. θ
Solution: The path r = 0.2t ft, θ = 2t rad. The velocity compo-

nents are
dr dθ
vr = = 0.2 ft/s, vθ = r = (0.2t)2 = 0.4t.
dt dt
At t = 1 seconds the magnitude of the velocity is
√
|v| = vr2 + vθ2 = 0.22 + 0.42 = 0.447 ft/s
The acceleration components are:
2
d2r dθ
ar = −r = −(0.2t)(22 ) ft/s2 ,
dt 2 dt

d2θ dr dθ
aθ = r +2 = 2(0.2)(2) = 0.8 ft/s2 .
dt 2 dt dt

The magnitude of the acceleration is |a| = ar2 + aθ2 = 1.13 ft/s2
1
slotted bar rotates with a constant angular velocity ω =
12 rad/s, and the radial position of the follower A is
slotted bar is pinned a distance h = 0.2 m to the left of
the center of the circular cam. The follower moves in r A
a circular path of 0.42 m radius. Determine the veloc-
ity of the follower when θ = 40◦ (a) in terms of polar θ x
coordinates, and (b) in terms of cartesian coordinates. h
Solution:
(a) The first step is to get an equation for the path of the follower in P
terms of the angle θ. This can be most easily done by referring
to the diagram at the right. Using the law of cosines, we can r
R
write R 2 = h2 + r 2 − 2hr cos θ. This can be rewritten as r 2 −
θ
2hr cos θ + (h2 − R 2 ) = 0. We need to find the components of
the velocity. These are vr = ṙ and vθ = r θ̇. We can differentiate O h c
the relation derived from the law of cosines to get ṙ. Carrying
out this differentiation, we get 2r ṙ − 2hṙ cos θ + 2hr θ̇ sin θ = 0.
Solving for ṙ, we get
hr θ̇ sin θ
ṙ = .
(h cos θ − r)
Recalling that ω = θ̇ and substituting in the numerical values,

i.e., R = 0.42 m, h = 0.2 m, ω = 12 rad/s, and θ = 40◦ , we get
r = 0.553 m, vr = −2.13 m/s, and vθ = 6.64 m/s
(b) The transformation to cartesian coordinates can be derived from

er = cos θi + sin θj, and eθ = − sin θi + cos θj. Substituting these
into v = vr er + vθ eθ , we get v = (vr cos θ − vθ sin θ)i + (vr sin θ +
vθ cos θ)j. Substituting in the numbers, v = −5.90i + 3.71j (m/s)
1
Problem 13.197* In Problem 13.196, determine the
acceleration of the follower when θ = 40◦ (a) in terms
of polar coordinates and (b) in terms of cartesian coor-
dinates.
Solution: Evaluating, we get r̈ = −46.17 m/s2 . Substituting this into the
equation for ar and evaluating an , we get ar = −125.81 m/s2
(a) Information from the solution to Problem 13.196 will be used and aθ = −51.2 m/s2
in this solution. In order to determine the components of the
acceleration in polar coordinates, we need to be able to determine (b) The transformation of cartesian coordinates can be derived from
all of the variables in the right hand sides of ar = r̈ − r θ̇ 2 and er = cos θi + sin θj, and eθ = sin θi + cos θj. Substituting these
that aθ = r θ̈ + 2ṙ θ̇ . We already know everything except r̈ and into a = ar er + ae eθ , we get a = ar er + aθ eθ , we get a = (ar cos θ −
θ̈. Since ω is constant, θ̈ = ω̇ = 0. We need only to find the aθ sin θ)i + (ar sin θ + aθ cos θ)j. Substituting in the numbers, we
value for r and the value for r̈ at θ = 40◦ . Substituting into the get a = −63.46 i − 120.1 j(m/s2 ).
original equation for r, we find that r = 0.553 m at this position
on the cam. To find r̈, we start with ṙ = vr . Taking a derivative,
we start with r ṙ − hṙ cos θ + hr θ̇ sin θ = 0 from Problem 13.196
(we divided through by 2). Taking a derivative with respect to
time, we get
ṙ 2 + 2hr θ̇ sin θ + hr θ̇ 2 cos θ + hr θ̈ sin θ

r̈ = .
(h cos θ − r)
1

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Problem 13.

1 The position of point P relative to point O P

Strategy: Use Eqs. (13.3) and (13.4) to determine the

(a) Determine the velocity of the head as a function

v = 2bt + 4ct 3 (1)

v = 229 m/s = 20b + 4000 c

a = 28.2 m/s2 = 2b + 1200 c

b = 10.125 and c = 0.006625

substituting these into (1) and (2) and evaluating at t = 5 s, we get

(a) Max velocity is at t = 4 s. where v = 28 m/s and

(a) Determine the velocity and acceleration of P at

v = 60t − 60t 2 mm/s v = 15 mm/s

(b) The position and acceleration at this time are

(a) What is the maximum velocity, and at what time

In canonical form this quadratic equation is da 12 50

(a) Determine A, B, C, and D.

(a) At t = 0, s = 0, hence 0 = A , and s = Bt + Ct 2 + Dt 3 .

Since the vehicle starts from rest at t = 0, the velocity is zero,

(b) The position is given by s = 15t 2 − t 3 , from which the velocity is

Solution: The velocity is At t = 0, s = 40 m, thus C2 = 40. The position is

where C1 is the constant of integration. Thus At t = 3 seconds,

At t = 0, v = −10 m/s, hence C1 = −10 and the velocity is v =

where C2 is the constant of integration.

Solution: The velocity is The position is

At t = 0, v = 20 ft/s, hence C1 = 20, and the velocity as a function = 10t 3 − 3t 4 + 20t + C2 .

Substituting the known numbers, we get

6.1 = C(1.42) + D(1.42)2 /2

4.3 = C(1.42)2 /2 + D(1.42)3 /6

(a) How long does it take to reach a velocity of

(a) If an object at sea level on the earth is given an

Choose t0 = 0. At t = 2, the acceleration is

the velocity is v(t0 ) = 10(2) = 20 ft/s, and the initial displacement is

At t = 6 seconds, the acceleration is a = −24 m/s2 . Choose the ini-

Substituting the known values at t = 6 s, we get

Solution: Velocity = Area under the curve

v(5 s) = 30 ft/s, s(5 s) = 62.5 ft

(a) After he applies the brakes, what constant rate of

The distance traveled in the first interval is s = 27.8(0.3) = 8.33 m.

The total distance traveled is s(5) = 8.33 + 86.4 = 94.7 m, which is

Strategy: A graphical approach can help you solve this

= 3.995 × 1016 m. 3.0777 × 1016 m

a 2 = 51.9 solar years

(a) For the first interval, the velocity is a

since v(0) = 0. The velocity is an increasing monotone function; −30 2

vmax = 150 ft/s .

(b) The distance traveled in the first interval is

The time of travel in the second interval is

v(t2 − 10) = 0 = a(t2 − 10) + v(10), t2 ≥ 10 s,

Solution: The conversion from mi/h to ft/s is

The acceleration of the police car is

(80 − 55)(1.467) ft/s

The distance traveled during acceleration is

The distance traveled by the pursued car during this acceleration is

sc (t1 ) = 75(1.467)t1 = 110(4) = 440 ft.

The separation between the two cars at 4 seconds is

d = 440 − 396 = 44 ft.

This distance is traversed in the time

The total time is ttotal = 6 + 4 = 10 seconds.

Strategy: The position of P relative to O as s = 2 ft 2 ft

Solution: The distance s from point O is

s = (2 ft) cos θ + (2 ft) cos θ.

For θ = 1 radian, α = 0.4343 radians. The position relative to O is.

s = 200 cos θ + 400 cos α.