Ch16-Plane Motion of Rigid Bodies (Forces and Accelerations)

VECTOR MECHANICS FOR ENGINEERS:
DYNAMICS
Ninth Edition
Ferdinand P. Beer
E. Russell Johnston, Jr.

Lecture Notes:
J. Walt Oler
Texas Tech University
CHAPTER
2010 The McGraw-Hill Companies, Inc. All rights reserved.
16
Plane Motion of Rigid Bodies:
Forces and Accelerations
Vector Mechanics for Engineers: Dynamics
N
i
n
t
h

E
d
i
t
i
o
n

Contents
16 - 2
Introduction
Equations of Motion of a Rigid
Body
Angular Momentum of a Rigid
Body in Plane Motion
Plane Motion of a Rigid Body:
dAlemberts Principle
Axioms of the Mechanics of Rigid
Bodies
Problems Involving the Motion of a
Rigid Body
Sample Problem 16.1
Sample Problem 16.2
Sample Problem 16.3
Sample Problem 16.4
Sample Problem 16.5
Constrained Plane Motion
Constrained Plane Motion:
Noncentroidal Rotation
Constrained Plane Motion:
Rolling Motion
Sample Problem 16.6
Sample Problem 16.8
Sample Problem 16.9
Sample Problem 16.10
N
i
n
t
h

E
d
i
t
i
o
n

Introduction
16 - 3
In this chapter and in Chapters 17 and 18, we will be
concerned with the kinetics of rigid bodies, i.e., relations
between the forces acting on a rigid body, the shape and mass
of the body, and the motion produced.
Our approach will be to consider rigid bodies as made of
large numbers of particles and to use the results of Chapter
14 for the motion of systems of particles. Specifically,
G G
H M a m F

= =

and
Results of this chapter will be restricted to:
- plane motion of rigid bodies, and
- rigid bodies consisting of plane slabs or bodies which
are symmetrical with respect to the reference plane.
DAlemberts principle is applied to prove that the external
forces acting on a rigid body are equivalent a vector
attached to the mass center and a couple of moment
a m
. o I
N
i
n
t
h

E
d
i
t
i
o
n

Equations of Motion for a Rigid Body
16 - 4
Consider a rigid body acted upon
by several external forces.
Assume that the body is made of
a large number of particles.
For the motion of the mass center
G of the body with respect to the
Newtonian frame Oxyz,
a m F

For the motion of the body with

respect to the centroidal frame
Gxyz,
G G
H M

=
System of external forces is

equipollent to the system
consisting of
. and
G
H a m


N
i
n
t
h

E
d
i
t
i
o
n

Angular Momentum of a Rigid Body in Plane Motion
16 - 5
Consider a rigid slab in
plane motion.
Angular momentum of the slab may be
computed by
( )
( ) | |
( )
e
e
e
I
m r
m r r
m v r H
i i
n
i
i i i
n
i
i i i G
=
' =
'

'
=
'
'
=
=
=
2
1
1
After differentiation,
o e

I I H
G
= =
Results are also valid for plane motion of bodies
which are symmetrical with respect to the
reference plane.
Results are not valid for asymmetrical bodies or
three-dimensional motion.
N
i
n
t
h

E
d
i
t
i
o
n

Plane Motion of a Rigid Body: DAlemberts Principle
16 - 6
o I M a m F a m F
G y y x x
= = =

Motion of a rigid body in plane motion is
completely defined by the resultant and moment
resultant about G of the external forces.
The external forces and the collective effective
forces of the slab particles are equipollent (reduce
to the same resultant and moment resultant) and
equivalent (have the same effect on the body).
The most general motion of a rigid body that is
symmetrical with respect to the reference plane
can be replaced by the sum of a translation and a
centroidal rotation.
dAlemberts Principle: The external forces
acting on a rigid body are equivalent to the
effective forces of the various particles forming
the body.
N
i
n
t
h

E
d
i
t
i
o
n

Axioms of the Mechanics of Rigid Bodies
16 - 7
The forces act at different points on
a rigid body but but have the same magnitude,
direction, and line of action.
F F

'
and
The forces produce the same moment about
any point and are therefore, equipollent
external forces.
This proves the principle of transmissibility
whereas it was previously stated as an axiom.
N
i
n
t
h

E
d
i
t
i
o
n

Problems Involving the Motion of a Rigid Body
16 - 8
The fundamental relation between the forces
acting on a rigid body in plane motion and
the acceleration of its mass center and the
angular acceleration of the body is illustrated
in a free-body-diagram equation.
The techniques for solving problems of
static equilibrium may be applied to solve
problems of plane motion by utilizing
- dAlemberts principle, or
- principle of dynamic equilibrium
These techniques may also be applied to
problems involving plane motion of
connected rigid bodies by drawing a free-
body-diagram equation for each body and
solving the corresponding equations of
motion simultaneously.
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.1
16 - 9
At a forward speed of 30 ft/s, the truck
brakes were applied, causing the wheels
to stop rotating. It was observed that the
truck to skidded to a stop in 20 ft.
Determine the magnitude of the normal
reaction and the friction force at each
wheel as the truck skidded to a stop.
SOLUTION:
Calculate the acceleration during the
skidding stop by assuming uniform
acceleration.
Apply the three corresponding scalar
equations to solve for the unknown
normal wheel forces at the front and rear
and the coefficient of friction between
the wheels and road surface.
Draw the free-body-diagram equation
expressing the equivalence of the
external and effective forces.
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.1
16 - 10
ft 20
s
ft
30
0
= = x v
SOLUTION:
Calculate the acceleration during the skidding stop
by assuming uniform acceleration.
( )
( ) ft 20 2
s
ft
30 0
2
2
0
2
0
2
a
x x a v v
+
|
.
|
\
|
=
+ =
s
ft
5 . 22 = a
Draw a free-body-diagram equation expressing the
equivalence of the external and effective forces.
Apply the corresponding scalar equations.
0 = + W N N
B A
( )

=
eff
y y
F F
( )
( )
699 . 0
2 . 32
5 . 22
= = =
=
= +
=
g
a
a g W W
N N
a m F F
k
k
B A k
B A
( )

=
eff
x x
F F
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.1
16 - 11
W N W N
B A
350 . 0 = =
( ) W N N
A rear
350 . 0
2
1
2
1
= = W N
rear
175 . 0 =
( ) W N N
V front
650 . 0
2
1
2
1
= =
W N
front
325 . 0 =
( )( ) W N F
rear k rear
175 . 0 690 . 0 = =
W F
rear
122 . 0 =
( )( ) W N F
front k front
325 . 0 690 . 0 = =
W F
front
227 . 0 . 0 =
Apply the corresponding scalar equations.
( ) ( ) ( )
W N
g
a W
a
g
W
W N
a m N W
B
B
B
650 . 0
4 5
12
4 5
12
1
ft 4 ft 12 ft 5
=
|
.
|
\
|
+ = |
.
|
\
|
+ =
= +
( )

=
eff
A A
M M
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.2
16 - 12
The thin plate of mass 8 kg is held in
place as shown.
Neglecting the mass of the links,
determine immediately after the wire
has been cut (a) the acceleration of the
plate, and (b) the force in each link.
SOLUTION:
Note that after the wire is cut, all
particles of the plate move along parallel
circular paths of radius 150 mm. The
plate is in curvilinear translation.
Resolve into scalar component equations
parallel and perpendicular to the path of
the mass center.
Solve the component equations and the
moment equation for the unknown
acceleration and link forces.
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.2
16 - 13
SOLUTION:
Note that after the wire is cut, all particles of the
plate move along parallel circular paths of radius
150 mm. The plate is in curvilinear translation.
Draw the free-body-diagram equation expressing
the equivalence of the external and effective
forces.
Resolve the diagram equation into components
parallel and perpendicular to the path of the mass
center.
( )

=
eff
t t
F F
=
=
30 cos
30 cos
mg
a m W
( ) = 30 cos m/s 81 . 9
2
a
2
s m 50 . 8 = a 60
o

N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.2
16 - 14
2
s m 50 . 8 = a 60
o

Solve the component equations and the moment
equation for the unknown acceleration and link
forces.
( )
eff
G G
M M

=
( )( ) ( )( )
( )( ) ( )( ) 0 mm 100 30 cos mm 250 30 sin
mm 100 30 cos mm 250 30 sin
= +

DF DF
AE AE
F F
F F
AE DF
DF AE
F F
F F
1815 . 0
0 6 . 211 4 . 38
=
= +
( )

=
eff
n n
F F
( )( )
2
s m 81 . 9 kg 8 619 . 0
0 30 sin 1815 . 0
0 30 sin
=
=
= +
AE
AE AE
DF AE
F
W F F
W F F
T F
AE
N 9 . 47 =
( ) N 9 . 47 1815 . 0 =
DF
F
C F
DF
N 70 . 8 =
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.3
16 - 15
A pulley weighing 12 lb and having a
radius of gyration of 8 in. is connected to
two blocks as shown.
Assuming no axle friction, determine the
angular acceleration of the pulley and the
acceleration of each block.
SOLUTION:
Determine the direction of rotation by
evaluating the net moment on the
pulley due to the two blocks.
Relate the acceleration of the blocks to
the angular acceleration of the pulley.
external and effective forces on the
complete pulley plus blocks system.
Solve the corresponding moment
equation for the pulley angular
acceleration.
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.3
16 - 16
Relate the acceleration of the blocks to the angular
acceleration of the pulley.
( )o
o
ft
12
10
=
=
A A
r a
( )o
o
ft
12
6
=
=
B B
r a
2
2
2
2 2
s ft lb 1656 . 0
ft
12
8
s ft 32.2
lb 12
=
|
.
|
\
|
=
= = k
g
W
k m I note:
SOLUTION:
Determine the direction of rotation by evaluating the net
moment on the pulley due to the two blocks.
( )( ) ( )( ) lb in 10 in 10 lb 5 in 6 lb 10 = =
G
M
rotation is counterclockwise.
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.3
16 - 17
Draw the free-body-diagram equation expressing the
equivalence of the external and effective forces on the
complete pulley and blocks system.
( )
( )
2
12
6
2
12
10
2
s ft
s ft
s ft lb 1656 . 0
o
o
=
=
=
B
A
a
a
I
( )

=
eff
G G
M M
( )( ) ( )( ) ( ) ( )
( )( ) ( )( ) ( ) ( )( )( ) ( )( )( )
12
10
12
10
2 . 32
5
12
6
12
6
2 . 32
10
12
10
12
6
12
10
12
6
12
10
12
6
1656 . 0 5 10
ft ft ft lb 5 ft lb 10
+ =
+ =
o o
o
A A B B
a m a m I
Solve the corresponding moment equation for the pulley
angular acceleration.
2
s rad 374 . 2 = o
( )( )
2
12
6
s rad 2.374 ft =
= o
B B
r a
2
s ft 187 . 1 =
B
a
( )( )
2
12
10
s rad 2.374 ft =
= o
A A
r a
2
s ft 978 . 1 =
A
a
Then,
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.4
16 - 18
A cord is wrapped around a
homogeneous disk of mass 15 kg.
The cord is pulled upwards with a
force T = 180 N.
Determine: (a) the acceleration of the
center of the disk, (b) the angular
acceleration of the disk, and (c) the
acceleration of the cord.
SOLUTION:
expressing the equivalence of the external
and effective forces on the disk.
Solve the three corresponding scalar
equilibrium equations for the horizontal,
vertical, and angular accelerations of the
disk.
Determine the acceleration of the cord by
evaluating the tangential acceleration of
the point A on the disk.
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.4
16 - 19
SOLUTION:
equivalence of the external and effective forces on the
disk.
( )

=
eff
y y
F F
( )( )
kg 15
s m 81 . 9 kg 15 - N 180
2
=
=
=
m
W T
a
a m W T
y
y
2
s m 19 . 2 =
y
a
( )

=
eff
G G
M M
( )
( )
( )( ) m 5 . 0 kg 15
N 180 2 2
2
2
1
= =
= =
mr
T
mr I Tr
o
o o
2
s rad 0 . 48 = o
( )

=
eff
x x
F F
x
a m = 0 0 =
x
a
Solve the three scalar equilibrium equations.
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.4
16 - 20
2
s m 19 . 2 =
y
a
2
s rad 0 . 48 = o
0 =
x
a
Determine the acceleration of the cord by evaluating the
tangential acceleration of the point A on the disk.
( ) ( )
( )( )
2 2
s rad 48 m 5 . 0 s m 19 . 2 + =
+ = =
t
G A
t
A cord
a a a a
2
s m 2 . 26 =
cord
a
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.5
16 - 21
A uniform sphere of mass m and radius
r is projected along a rough horizontal
surface with a linear velocity v
0
. The
coefficient of kinetic friction between
the sphere and the surface is
k
.
Determine: (a) the time t
1
at which the
sphere will start rolling without sliding,
and (b) the linear and angular velocities
of the sphere at time t
1
.
SOLUTION:
external and effective forces on the
sphere.
equilibrium equations for the normal
reaction from the surface and the linear
and angular accelerations of the sphere.
Apply the kinematic relations for
uniformly accelerated motion to
determine the time at which the
tangential velocity of the sphere at the
surface is zero, i.e., when the sphere
stops sliding.
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.5
16 - 22
SOLUTION:
equivalence of external and effective forces on the
sphere.
Solve the three scalar equilibrium equations.
( )

=
eff
y y
F F
0 = W N mg W N = =
( )

=
eff
x x
F F
=
=
mg
a m F
k
g a
k
=
( ) ( )o
o
2
3
2
mr r mg
I Fr
k
=
=
r
g
k
o
2
5
=
( )

=
eff
G G
M M
NOTE: As long as the sphere both rotates and slides,
its linear and angular motions are uniformly
accelerated.
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.5
16 - 23
g a
k
=
r
g
k
o
2
5
=
Apply the kinematic relations for uniformly accelerated
motion to determine the time at which the tangential velocity
of the sphere at the surface is zero, i.e., when the sphere
stops sliding.
( )t g v t a v v
k
+ = + =
0 0
t
r
g
t
k
|
.
|
\
|
+ = + =

o e e
2
5
0
0
1 1 0
2
5
t
r
g
r gt v
k
k
|
.
|
\
|
=

g
v
t
k
0
1
7
2
=
|
|
.
|
\
|
|
.
|
\
|
=
|
.
|
\
|
=
g
v
r
g
t
r
g
k
k k

e
0
1 1
7
2
2
5
2
5
r
v
0
1
7
5
= e
|
.
|
\
|
= =
r
v
r r v
0
1 1
7
5
e
0
7
5
1
v v =
At the instant t
1
when the sphere stops sliding,
1 1
e r v =
N
i
n
t
h

E
d
i
t
i
o
n

Constrained Plane Motion
16 - 24
Most engineering applications involve rigid
bodies which are moving under given
constraints, e.g., cranks, connecting rods, and
non-slipping wheels.
Constrained plane motion: motions with
definite relations between the components of
acceleration of the mass center and the angular
acceleration of the body.
Solution of a problem involving constrained
plane motion begins with a kinematic analysis.
e.g., given u, e, and o, find P, N
A
, and N
B
.
- kinematic analysis yields
- application of dAlemberts principle yields
P, N
A
, and N
B
.
. and
y x
a a
N
i
n
t
h

E
d
i
t
i
o
n

Constrained Motion: Noncentroidal Rotation
16 - 25
Noncentroidal rotation: motion of a body is
constrained to rotate about a fixed axis that does
not pass through its mass center.
Kinematic relation between the motion of the mass
center G and the motion of the body about G,
2
e o r a r a
n t
= =
The kinematic relations are used to eliminate
from equations derived from
dAlemberts principle or from the method of
dynamic equilibrium.
n t
a a and
N
i
n
t
h

E
d
i
t
i
o
n

Constrained Plane Motion: Rolling Motion
16 - 26
For a balanced disk constrained to
roll without sliding,
o u r a r x = =
Rolling, no sliding:
N F
s
s o r a =
Rolling, sliding impending:
N F
s
= o r a =
Rotating and sliding:
N F
k
= o r a, independent
For the geometric center of an
unbalanced disk,
o r a
O
=
The acceleration of the mass center,
( ) ( )
n
O G
t
O G O
O G O G
a a a
a a a

+ + =
+ =
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.6
16 - 27
The portion AOB of the mechanism is
actuated by gear D and at the instant
shown has a clockwise angular velocity
of 8 rad/s and a counterclockwise
angular acceleration of 40 rad/s
2
.
Determine: a) tangential force exerted
by gear D, and b) components of the
reaction at shaft O.
kg 3
mm 85
kg 4
=
=
=
OB
E
E
m
k
m
SOLUTION:
Draw the free-body-equation for AOB,
Evaluate the external forces due to the
weights of gear E and arm OB and the
effective forces associated with the
angular velocity and acceleration.
Solve the three scalar equations
derived from the free-body-equation
for the tangential force at A and the
horizontal and vertical components of
reaction at shaft O.
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.6
16 - 28
rad/s 8 = e
2
s rad 40 = o
kg 3
mm 85
kg 4
=
=
=
OB
E
E
m
k
m
SOLUTION:
Draw the free-body-equation for AOB.
Evaluate the external forces due to the weights of
gear E and arm OB and the effective forces.
( )( )
( )( ) N 4 . 29 s m 81 . 9 kg 3
N 2 . 39 s m 81 . 9 kg 4
2
2
= =
= =
OB
E
W
W
( )( ) ( )
m N 156 . 1
s rad 40 m 085 . 0 kg 4
2 2 2
=
= = o o
E E E
k m I
( ) ( ) ( )( )( )
N 0 . 24
s rad 40 m 200 . 0 kg 3
2
=
= = o r m a m
OB
t
OB OB
( ) ( ) ( )( )( )
N 4 . 38
s rad 8 m 200 . 0 kg 3
2 2
=
= = e r m a m
OB
n
OB OB
( ) ( )( ) ( )
m N 600 . 1
s rad 40 m .400 0 kg 3
2 2
12
1
2
12
1
=
= = o o L m I
OB OB
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.6
16 - 29
N 4 . 29
N 2 . 39
=
=
OB
E
W
W
m N 156 . 1 = o
E
I
( ) N 0 . 24 =
t
OB OB
a m
( ) N 4 . 38 =
n
OB OB
a m
m N 600 . 1 = o
OB
I
Solve the three scalar equations derived from the free-
body-equation for the tangential force at A and the
horizontal and vertical components of reaction at O.
( )
eff
O O
M M

=
( ) ( ) ( )
( )( ) m N 600 . 1 m 200 . 0 N 0 . 24 m N 156 . 1
m 200 . 0 m 120 . 0
+ + =
+ + = o o
OB
t
OB OB E
I a m I F
N 0 . 63 = F
( )
eff
x x
F F

=
( ) N 0 . 24 = =
t
OB OB x
a m R
N 0 . 24 =
x
R
( )
eff
y y
F F

=
( )
N 4 . 38 N 4 . 29 N 2 . 39 N 0 . 63 =
=
y
OB OB OB E y
R
a m W W F R
N 0 . 24 =
y
R
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.8
16 - 30
A sphere of weight W is released with
no initial velocity and rolls without
slipping on the incline.
Determine: a) the minimum value of
the coefficient of friction, b) the
velocity of G after the sphere has
rolled 10 ft and c) the velocity of G if
the sphere were to move 10 ft down a
frictionless incline.
SOLUTION:
Draw the free-body-equation for the
sphere, expressing the equivalence of the
With the linear and angular accelerations
related, solve the three scalar equations
derived from the free-body-equation for
the angular acceleration and the normal
and tangential reactions at C.
Calculate the velocity after 10 ft of
uniformly accelerated motion.
Assuming no friction, calculate the linear
acceleration down the incline and the
corresponding velocity after 10 ft.
Calculate the friction coefficient required
for the indicated tangential reaction at C.
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.8
16 - 31
SOLUTION:
Draw the free-body-equation for the sphere, expressing
the equivalence of the external and effective forces.
o r a =
With the linear and angular accelerations related, solve
the three scalar equations derived from the free-body-
equation for the angular acceleration and the normal
and tangential reactions at C.
( )

=
eff
C C
M M
( ) ( )
( ) ( )
o o
o o
o u
|
.
|
\
|
+ |
.
|
\
|
=
+ =
+ =
2
2
5
2
5
2
sin
r
g
W
r r
g
W
mr r mr
I r a m r W
r
g
7
sin 5 u
o =
( )
7
30 sin s ft 2 . 32 5
7
30 sin 5
2

=
= =
g
r a o
2
s ft 50 . 11 = a
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.8
16 - 32
Solve the three scalar equations derived from the free-
body-equation for the angular acceleration and the
normal and tangential reactions at C.
r
g
7
sin 5 u
o =
2
s ft 50 . 11 = = o r a
( )

=
eff
x x
F F
W W F
g
g
W
a m F W
143 . 0 30 sin
7
2
7
sin 5
sin
= =
=
=
u
u
( )

=
eff
y y
F F
W W N
W N
866 . 0 30 cos
0 cos
= =
= u
Calculate the friction coefficient required for the
indicated tangential reaction at C.
W
W
N
F
N F
s
s
866 . 0
143 . 0
= =
=
165 . 0 =
s

N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.8
16 - 33
r
g
7
sin 5 u
o =
2
s ft 50 . 11 = = o r a
Calculate the velocity after 10 ft of uniformly
accelerated motion.
( )
( )( ) ft 10 s ft 50 . 11 2 0
2
2
0
2
0
2
+ =
+ = x x a v v
s ft 17 . 15 = v
( )

=
eff
G G
M M
0 0 = = o o I
Assuming no friction, calculate the linear acceleration
and the corresponding velocity after 10 ft.
( )

=
eff
x x
F F
( )
2 2
s ft 1 . 16 30 sin s ft 2 . 32
sin
= =
|
.
|
\
|
= =
a
a
g
W
a m W u
( )
( )( ) ft 10 s ft 1 . 16 2 0
2
2
0
2
0
2
+ =
+ = x x a v v
s ft 94 . 17 = v

N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.9
16 - 34
A cord is wrapped around the inner
hub of a wheel and pulled
horizontally with a force of 200 N.
The wheel has a mass of 50 kg and a
radius of gyration of 70 mm.
Knowing
s
= 0.20 and
k
= 0.15,
determine the acceleration of G and
the angular acceleration of the wheel.
SOLUTION:
Draw the free-body-equation for the
wheel, expressing the equivalence of the
Assuming rolling without slipping and
therefore, related linear and angular
accelerations, solve the scalar equations
for the acceleration and the normal and
tangential reactions at the ground.
Compare the required tangential reaction
to the maximum possible friction force.
If slipping occurs, calculate the kinetic
friction force and then solve the scalar
equations for the linear and angular
accelerations.
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.9
16 - 35
SOLUTION:
Draw the free-body-equation for the wheel,.
Assume rolling without slipping,
( )o
o
m 100 . 0 =
= r a
( )( )
2
2 2
m kg 245 . 0
m 70 . 0 kg 50
=
= = k m I
Assuming rolling without slipping, solve the scalar
equations for the acceleration and ground reactions.
( )( ) ( )
( )( ) ( )
( )( )
2 2
2
2 2
s m 074 . 1 s rad 74 . 10 m 100 . 0
s rad 74 . 10
m kg 245 . 0 m 100 . 0 kg 50 m N 0 . 8
m 100 . 0 m 040 . 0 N 200
= =
+ =
+ =
+ =
a
I a m
o
o o
o
( )

=
eff
C C
M M
( )

=
eff
x x
F F
( )( ) N 5 . 490 s m 074 . 1 kg 50
0
2
+ = = =
=
mg N
W N
( )

=
eff
x x
F F
( )( )
N 3 . 146
s m 074 . 1 kg 50 N 200
2
=
= = +
F
a m F
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 16.9
16 - 36
N 3 . 146 = F N 5 . 490 = N
Without slipping,
Compare the required tangential reaction to the
maximum possible friction force.
( ) N 1 . 98 N 5 . 490 20 . 0
max
= = = N F
s
F > F
max
, rolling without slipping is impossible.
Calculate the friction force with slipping and solve the
scalar equations for linear and angular accelerations.
( ) N 6 . 73 N 5 . 490 15 . 0 = = = = N F F
k k

( )

=
eff
G G
M M
( )( ) ( )( )
( )
2
2
s rad 94 . 18
m kg 245 . 0
m 060 . 0 . 0 N 200 m 100 . 0 N 6 . 73
=
=

o
o
2
s rad 94 . 18 = o
( )

=
eff
x x
F F
( )a kg 50 N 6 . 73 N 200 =
2
s m 53 . 2 = a
N
i
n
t
h

E
d
i
t
i
o
n

16 - 37
The extremities of a 4-ft rod
weighing 50 lb can move freely and
with no friction along two straight
tracks. The rod is released with no
velocity from the position shown.
Determine: a) the angular
acceleration of the rod, and b) the
reactions at A and B.
SOLUTION:
Based on the kinematics of the constrained
motion, express the accelerations of A, B,
and G in terms of the angular acceleration.
Draw the free-body-equation for the rod,
equations for the angular acceleration and
the reactions at A and B.
N
i
n
t
h

E
d
i
t
i
o
n

16 - 38
SOLUTION:
Based on the kinematics of the constrained motion,
express the accelerations of A, B, and G in terms of
the angular acceleration.
Express the acceleration of B as
A B A B
a a a

+ =
With the corresponding vector triangle and
the law of signs yields
, 4o =
A B
a
o o 90 . 4 46 . 5 = =
B A
a a
The acceleration of G is now obtained from
A G A G
a a a a

+ = = o 2 where =
A G
a
Resolving into x and y components,
o o
o o o
732 . 1 60 sin 2
46 . 4 60 cos 2 46 . 5
= =
= =
y
x
a
a
N
i
n
t
h

E
d
i
t
i
o
n

16 - 39
Draw the free-body-equation for the rod, expressing
the equivalence of the external and effective forces.
( )
( )
( ) o o
o o
o o
69 . 2 732 . 1
2 . 32
50
93 . 6 46 . 4
2 . 32
50
07 . 2
s ft lb 07 . 2
ft 4
s ft 32.2
lb 50
12
1
2
2
2
2
12
1
= =
= =
=
=
= =
y
x
a m
a m
I
ml I
Solve the three corresponding scalar equations for the
angular acceleration and the reactions at A and B.
( )( ) ( )( ) ( )( )
2
s rad 30 . 2
07 . 2 732 . 1 69 . 2 46 . 4 93 . 6 732 . 1 50
+ =
+ + =
o
o o o
( )

=
eff
E E
M M
2
s rad 30 . 2 = o
( )

=
eff
x x
F F
( )( )
lb 5 . 22
30 . 2 93 . 6 45 sin
=
=
B
B
R
R
lb 5 . 22 =
B
R
45
o

( )

=
eff
y y
F F
( ) ( )( ) 30 . 2 69 . 2 50 45 cos 5 . 22 = +
A
R
lb 9 . 27 =
A
R

Ch16-Plane Motion of Rigid Bodies (Forces and Accelerations)

Загружено:

Сведения о документе

Авторское право

Доступные форматы

Поделиться этим документом

Поделиться или встроить документ

Параметры публикации

Этот документ был вам полезен?

Это неприемлемый материал?

Авторское право:

Доступные форматы

Ch16-Plane Motion of Rigid Bodies (Forces and Accelerations)

Загружено:

Авторское право:

Доступные форматы

VECTOR MECHANICS FOR ENGINEERS:

For the motion of the body with

System of external forces is

2010 The McGraw-Hill Companies, Inc. All rights reserved.

2010 The McGraw-Hill Companies, Inc. All rights reserved.

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Вам также может понравиться