Pref

Engineering Mechanics
by
Yousef Haik
FAMU-FSU College of Engineering
Department of Mechanical Engineering
Tallahassee, FL 32310
2
Contents
Preface v
1 Introduction 1
1.1 Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Fundamental Concepts . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Mathematical Review . . . . . . . . . . . . . . . . . . . . . . . . 7
1.3.1 Trigonometry . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.3.2 Angles or Rotations . . . . . . . . . . . . . . . . . . . . . 7
1.3.3 Denitions of the Trigonometric Functions . . . . . . . . . 8
1.3.4 Functions of Negative Angles . . . . . . . . . . . . . . . . 9
1.3.5 Functions of the Sum and Di erence of Two Angles . . . 10
1.3.6 Problem Set 1 . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3.7 Linear Algebra . . . . . . . . . . . . . . . . . . . . . . . . 11
1.3.8 Problem set 2 . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.4 Vector Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.4.1 Denitions . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.4.2 Position Vector . . . . . . . . . . . . . . . . . . . . . . . . 14
1.4.3 Vector operation . . . . . . . . . . . . . . . . . . . . . . . 15
1.4.4 Vector Addition . . . . . . . . . . . . . . . . . . . . . . . 15
1.4.5 Vector Subtraction . . . . . . . . . . . . . . . . . . . . . . 18
1.4.6 Resolution of vectors . . . . . . . . . . . . . . . . . . . . . 18
1.4.7 Addition of system of coplanar forces . . . . . . . . . . . 27
1.4.8 Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
1.4.9 Dot Product . . . . . . . . . . . . . . . . . . . . . . . . . 31
1.4.10 Cross Product . . . . . . . . . . . . . . . . . . . . . . . . 31
1.4.11 Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
1.5 Calculus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1.5.1 Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2 Mechanics of a Particle 35
2.1 statics of a particle . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2.1.1 Conditions for Equilibrium of a Particle . . . . . . . . . . 35
2.1.2 Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.1.3 Coplanar Force Systems . . . . . . . . . . . . . . . . . . . 37
i
ii CONTENTS
2.1.4 Procedure for Analysis . . . . . . . . . . . . . . . . . . . . 37
2.2 3-D Force Systems . . . . . . . . . . . . . . . . . . . . . . . . . . 63
2.3 Kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
2.4 Constant Acceleration . . . . . . . . . . . . . . . . . . . . . . . . 85
2.5 Erratic Motion: Changeable Motion . . . . . . . . . . . . . . . . 91
2.6 General Curvilinear Motion . . . . . . . . . . . . . . . . . . . . . 96
2.7 Motion of a Projectile . . . . . . . . . . . . . . . . . . . . . . . . 100
2.8 Curvilinear Motion: Normal & Tangential Components . . . . . 104
2.9 Curvilinear Motion: Cylindrical Components . . . . . . . . . . . 109
2.10 Absolute Dependent Motion Analysis of Two Particles . . . . . . 119
2.11 Relative Motion Analysis of Two Particles Using Translating Axes124
2.12 Newton's Laws . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
2.13 Rectangular coordinates . . . . . . . . . . . . . . . . . . . . . . . 133
2.14 Normal and Tangential Coordinates . . . . . . . . . . . . . . . . 133
2.15 Cylindrical Coordinates . . . . . . . . . . . . . . . . . . . . . . . 134
3 Mechanics of Rigid Bodies 159
3.1 Centroids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
3.1.1 Center of gravity: . . . . . . . . . . . . . . . . . . . . . . . 159
3.1.2 Body . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
3.1.3 Composite Bodies . . . . . . . . . . . . . . . . . . . . . . 170
3.2 Statics of Rigid Bodies . . . . . . . . . . . . . . . . . . . . . . . . 174
3.3 Cross Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
3.4 Moment of a Force - Scalar Formulation . . . . . . . . . . . . . . 176
3.5 Moment of a Force about a speciec axis . . . . . . . . . . . . . . 192
3.6 Moment of a Couple . . . . . . . . . . . . . . . . . . . . . . . . . 199
3.7 Movement of a force on a rigid body . . . . . . . . . . . . . . . . 203
3.8 Resultants of a force and couple system . . . . . . . . . . . . . . 207
3.9 Further reduction of a force and couple system . . . . . . . . . . 209
3.10 Reduction of a simple distributed loading . . . . . . . . . . . . . 211
3.11 Moment Of Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . 217
3.11.1 Composite Bodies . . . . . . . . . . . . . . . . . . . . . . 220
3.12 Dynamics of Rigid Bodies . . . . . . . . . . . . . . . . . . . . . . 225
3.13 Absolute General Plane Motion Analysis . . . . . . . . . . . . . . 233
3.14 Relative Motion Analysis: Velocity . . . . . . . . . . . . . . . . . 233
3.15 Rotation about a xed axis . . . . . . . . . . . . . . . . . . . . . 233
4 Energy Method of Particles and Rigid Bodies 269
4.1 Energy Method of particles . . . . . . . . . . . . . . . . . . . . . 269
4.2 Principle of Work and Energy . . . . . . . . . . . . . . . . . . . . 269
4.3 Power and Eciency . . . . . . . . . . . . . . . . . . . . . . . . . 270
4.4 Conservative Forces and Potential Energy . . . . . . . . . . . . . 270
4.5 Conservation of Energy . . . . . . . . . . . . . . . . . . . . . . . 271
4.6 Energy Method for Rigid Bodies . . . . . . . . . . . . . . . . . . 293
CONTENTS iii
5 Supports and Structures 295
5.1 Structures and Machines . . . . . . . . . . . . . . . . . . . . . . . 325
5.2 Truss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
5.3 Method of Joints . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
5.4 Zero Force Members . . . . . . . . . . . . . . . . . . . . . . . . . 325
5.5 Method of Sections . . . . . . . . . . . . . . . . . . . . . . . . . . 337
5.6 Frames & Machines . . . . . . . . . . . . . . . . . . . . . . . . . . 345
5.7 Internal Force Analysis . . . . . . . . . . . . . . . . . . . . . . . . 358
6 Principle of Linear Impulse and Momentum 375
6.1 Particles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
6.2 Principle of Linear Impulse and Momentum for System of Particles375
6.3 Conservation of Linear Momentum for a System of Particles . . . 375
6.4 Impact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
6.5 Steady Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
6.6 Angular Momentum . . . . . . . . . . . . . . . . . . . . . . . . . 393
iv CONTENTS
Preface
Although, the principles of Mechanics are the simplest and earliest to discover
in the range of Science, and moreover are directly illustrated in almost every
act of our lives, it is found that students nd a diculty in getting a real grip
of the concepts. This may be attributed to the way in which text books deals
with the subject. In these notes the material will be presented in the following
sequance.
1. Review of physics and Math required for the course
2. Mechanics of particles
(a) Statics
(b) Dynamics
3. Mechanics of Rigid Bodies
(a) Statics
(b) Dynamics
4. Energy principles
(a) Particles
(b) Rigid Bodies
5. Momentum Principles
(a) Particles
(b) Rigid Bodies
6. Supports and Structures
7. Vibration
The need to review the mathematical maniplulations for vectors is essential.
It was found that the scattering of the material over 20 chapters may misslead
the students to think there is no connection between the chapters. The arrang-
ment that was followed here will certainly illustrate the concept and demonstrate
the di erences and the similarities in handeling the di renet concepts. Many
v
vi PREFACE
solved examples are given. The students are advised to work the examples on
their own before studying the solution. The number of solved example is a trial
to show the di erent techniques in solving an engineering problem. Future de-
velopment of these notes will include a CD-ROM that contain the text and the
illustrations. If you have any comments, please email me at haik@eng.fsu.edu.
Chapter 1
Introduction
This chapter will introduce the basic denitions that will be used during the
semester, the units and the mathematical review.
1.1 Concepts
Mechanics: It is a branch of science that is concerned with the state of rest or
motion of bodies that are subjected to action of force.
Rigid bodies
P
{ Statics: Bodies at rest. F~ = 0.
{ Dynamics: Bodies in motion. P F~ = m~a.
Kinetics

Kinematics

Deformable bodies
{ Statics ! Deformation ! Stresses.
{ Dynamics ! Deformation ! Stresses.
Fluids
{ Incompressible
{ compressible
Statics: deals with Newtons 1-st law: If a body is at rest it will remain at
rest and if the body is in uniform motion it will remain in uniform motion
unless acted upon by an external force.
Dynamics: Deals with the unbalanced force. (2-nd law) & 3-rd law.
1
2 CHAPTER 1. INTRODUCTION
1.2 Fundamental Concepts
Basic quantities: Length, time mass and force.
Particle: mass with negligible size. orbit 1:5 107mi
radius = 3:9 103mi
Rigid body: Particles remain at xed distance from each other.
Concentrated force: Force applied at a point.
Newton's Laws (1642-1727)
1-st law: Bodies at rest will stay at rest bodies at motion and in straight line
will remain in uniform motion unless acted upon by an unbalanced force.
2-nd law: F~ = m~a.
3-rd law: For every action there is a reaction equal in magnitude in opposite
direction.
1.2. FUNDAMENTAL CONCEPTS 3
Figure 1.1: demo of g
Newton's Gravitational attraction:
Find the acceleration of gravity using Newton's Gravitational Law.
F = G mr1 m
2
2
(1.1)
ME = 6 1024Kg
RE = 6:378 106m (equator)
RE = 6:35 106m (pole)
G = 6:673 10;11m3 =Kg sec2
Weight:
F = GmM E
RE2 = w = mg (1.2)
g = GM
RE2
E (1.3)
Newton's law of gravitation gives us insight as to why the acceleration due
to gravity at earth is constant and why the acceleration does'nt depend on the
mass of the object.
||||||||||| |||||||||||
International system of units: SI
Prex: Very large Small
Giga G 109 Nano n 10;9
Mega M 106 Micro 10;6
Kilo K 103 Milli m 10;3
Dimensional Homogeneity:
One way to chech the eqution is by checking the units. If the units are not
homogenous then you may have a problem in the equation. Example:
s = vt + 21 at2 (1.4)
m sec + 1 m (sec)2 = m
= sec 2 sec2
1.2. FUNDAMENTAL CONCEPTS 5
Examples:
1. Find the Weight in (N) if
(a) m = 8Kg
(b) m = 0:04g
(c) m = 760Mg.
(a) w = mg = (8)(9:81) = 78:5N .
(b). m = 0:04g. Convert unity. 0:04g = 0:04g 1000 Kg = 4 10;5 Kg .
g
w = mg = (4 10;5(9:81) = 39:24 10;5N = 3:92 10;4N = 0:392 10;3N =
0:0392mN .
(c). m = 760Mg = 760 106g = 760 103Kg.
w = mg = (760) 103(9:81) = 7:46 106N = 7:46MN .
2. Find the density of wood in kg=m3 if wood = 4:7 slug
ft3
4:7 slug slug Kg 13 ft3 3 Kg
ft3 = 4:7 ft3 14:5938 1 slug (0:3048)3 m3 = 2:42 10 m3 (1.5)
3. Convert 1 Pa = 1 mN2 to ft2 .
lb
1 Pa = 1 mN2 4:4482
1 lb (6:3048)2 m2 = 0:0209 lb
N (1)2 ft2 ft2 (1.6)
14:7 inlb2 = 14:7 inlb2 4:4482 N (12)2 in2 1 ft2
1 lb (1)2 ft2 (0:3048)2 m2 (1.7)
= 101 103 Pa = 101 Kpa
1.3. MATHEMATICAL REVIEW 7
Figure 1.2: Demo of an angle
1.3 Mathematical Review
In this sectioon a review of the important mathematics needed for
the course is reviewd. The math needed for this course include, trig-
nometry, vector algebra,linear algebra and calculus. In the following
a review of these topics
1.3.1 Trigonometry
1.3.2 Angles or Rotations
An angle is generated by the rotation of a ray as OX, about a xed
point O in the plane. Every angle has an initial line AO from which
the rotation started and a terminal line OB where it stopped and
the counterclockwise direction of rotation is taken as positive. Since
the rotation ray may reveolve as often as desired, angles of any mag-
nitude, positive or negative, may be obtained. Two angles are con-
gruent if they may be superposed so that their initial lines coincide
and their terminal lines coincide i.e., two congruent angles are either
equal or dier by som multiples of 360o. Two angles are complemen-
tary if their sum is 90o supplementary if their sum is 180o. If the
initial line is placed so that it runs horizontally to the right, then
the angle is said to be an angle in the 1st, 2nd, 3rd or 4th quadrant
according as the terminal line lies across the region marked I, II, III,
or Iv in the gure.
Units of Angular Measurement
Sexagesimal Measure
360o= 1 revelotion. Denoted on many calculators by DEG. 1o = 1=90
of a right angle. The dgree is usually divided into 60 equal parts
Figure 1.3: quadrant
called minutes, and each minut into 60 seconds. While the second is
subdivided decimally. But for many purposes it is more convenient
to divid the degree itself into decimal parts, thus avoiding the use of
minutes and seconds.
Centesimal Measure
Used chiey in France. Denoted on the calculators by GRAD. 400
grades= 1 revlotion. 1 grade =1/100 of a right angle. The grade is
always divided decimally, the following terms being sometimes used:
1 centesimal minute=1/100 of a grade 1 centesimal second=1/100 of
centesimal minute.
Radian or Circular Measure
radian = 180o. Denoted by RAD. 1 radian= the angle subtended
by an arc whose length is equal to the length of the radius. Many the-
orems in calculus assume that angles are being measured in radians,
not degrees, and are not true without that assumption
1.3.3 Denitions of the Trigonometric Functions
Let x be any angle whose initial line is OA and terminal line OP as
in the gure.
Drop a perpendicular from P on OA or OA produced. In the
right triangle OMP, the three sides are MP, side opposit O OM side
adjacent to O, OP hypotenuse or radius, the six ratios between these
sides are the principal trignometric functions of the nagle thus:
sine of = sin = opp = MP
hyp OP
adj = OM
cosine of =cos = hyp OP
Figure 1.4: Trig functions
tangent of =tan = opp
adj = OM
MP
adj = OM
cotangent of =cot = opp MP
secant of =sec = hyp
adj = OM
OP
cosecant of =csc = hyp
opp = MP
OP
Relations Between the Functions of a Single Angle
sin2 + cos2 = 1
tan = sin
cos
1 = cos
cot = tan sin
1 + tan2 = sec2 = cos12
1 + cot2 = csc2 = sin12
1.3.4 Functions of Negative Angles
sin(;) = ;sin()
cos(;) = cos()
tan(;) = ;tan()
1.3.5 Functions of the Sum and Dierence of Two Angles
sin(x + y) = sinxcosy + cosxsinY
cos(x + y) = cosxcosy ; sinxsiny
tan(x + y) = 1tanx + tany
; tanxtany
cot(x + y) = cotxcoty ;1
cotx + coty
sin(x ; y) = sinxcosy ; cosxsiny
cos(x ; y) = cosxcosy + sinxsiny
tan(x ; y) = tanx ; tany
1 + tanxtany
cot(x ; y) = cotxcoty +1
coty ; cotx
sinx + siny = 2(sin x +2 y )(cos x ;2 y )
sinx ; siny = 2(cos x +2 y )(sin x ;2 y )
1.3.6 Problem Set 1
1.3.7 Linear Algebra
Because of the nature of the space vector you may be required to
solve a system of of 3 equations with at the most three unknowns.
The system of equations can be writen as
AX = B
where A is a 3x3 matrix and X is the 3x1 matrix and B is 3x1 ma-
trix. A represents the coecients of the unknown variables X . Lets
demonstrate by using the following example
x1 + 2x2 ; 4x3 = ;4
5x1 ; 3x2 ; 7x3 = 6
3x1 ; 2x2 + 3x3 = 11
this can be written as
0 1 2 ;4
12 x1
3 2 ;4 3
@ 5 ;3 ;7 A4 x2 5=4 6 5
3 ;2 3 x3 11
The solution of this system can be obtained by nding the invers of
matrix A and multiply it with the equation
X = A;1B
The invers of Acan be obtained as follows
1. Adjoin the identity matrix to make 3x6 matrix
0 1 2 4 1 0 0
1
@ 5 ;3 ;7 0 1 0 A
3 ;2 3 0 0 1
2. pivot on the entry of row 1 column 1
0 1 2 ;4 1 0 0
1
@ 0 ;13 13 ;5 1 0 A
0 ;8 15 ;3 0 1
3. Pivot on row 2 column 2
0 1 0 ;23=13 2=13 0
1
@ 0 1 ;15=13 ;1=13 0 A
0 0 7 1=13 ;8=13 1
4. pivot row 3 column 3
0 1 0 0 23=91 ;2=91 26=91
1
@ 0 1 0 36=91 ;15=91 13=91 A
0 0 1 1=91 ;8=91 13=91
5. multiply A;1 B 2 3
2
X = 4 ;1 5
1
Cramer Rule
The solution of 3 system of equations can be done using Cramer rule.
Consider the following example
a1 x1 + a2 x2 + a3 x3 = b1
c1 x1 + c2 x2 + c3 x3 = b2
d1 x1 + d2 x2 + d3 x3 = b3
in the matrix form
2 a1 a2 a3
32 x1
3 2 b1
3
4 c1 c2 c3 54 x2 5 = 4 b2 5
d1 d2 d3 x3 b3
The solution using cramer rule will be as
b a a
b1 c2 c33
b2 d2 d
x1 = 3 det(2A) 3
a b1 a
c1 b c3
d1 b2 d3
x2 = 1 det(3A) 3
a a b
c1 c2 b1
d1 d2 b2
x3 = 1 det(2A) 3
The determinant of A det(A) can be found as

det(A) = a1 dc2 dc3 ; a2 dc1 dc3 + a3 dc1 dc2

2 3 1 3 1 2
det(A) = a1 (c2 d3 ; c3 d2 ) ; a2 (c1 d3 ; c3 d1 ) + a3 (c1 d2 ; c2 d1 )
Numerical Solution
Mathcad, Maple and Matlab are available in the College computers.
The students are advised to utilize these softwares.
1.3.8 Problem set 2
Figure 1.5: Position Vector
1.4 Vector Analysis
Force is a vector quantity magnitude and direction.
1.4.1 Denitions
Scalar: Magnitude with no direction. Such as mass, tempera-
ture, volume.
Vector: Magnitude and direction. Position, force, moment, ve-
locity.
Vector symbol A~ magnitude jA~ j.
direction is dened by the angle with reference to an axis.
1.4.2 Position Vector
In the Cartesian rectangular coordinat the reference point is at the
origion. Dening a point is space will refernced to the point of origion.
The line that connect the origion to the point in space is called the
position vector. Consider point A is the space A(2,3,5) which means
you have to go 2 steps from the origion along the x direction then 3
steps on an axis parallel to the y axis and then go up 5 steps along the
z direction to reach point A. The vector OA~ = (2 ; 0)^{ +(3 ; 0)^| +(5 ; 0)k^.
Its length is found as
p
jOAj = 22 + 32 + 52 = 6:16
Consider two point in the space A(x1 y1 z1) and B(x2 y2 z2) the vector
~ = (x2 ; x1 )^{ + (y2 ; y1 )^| + (z2 ; z1 )k^ the length of the vector is found
AB
as p
jAB j = (x2 ; x1 )2 + (y2 ; y1 )2 + (z2 ; z1 )2 )
1.4. VECTOR ANALYSIS 15
Figure 1.6: product by scalar
A unit vector along this line can be found by
~
AB
uAB
~ = jAB j
The magnitude of the unit vector is 1 and its dircetion is along the
line. We use this to present the dircetion of a force which may be
acting along a cord or cable.
1.4.3 Vector operation
(1) Product by scalar
Change magnitude if a is positive and keep direction opposite direc-
tion if a is negetive.
Same as division.
1.4.4 Vector Addition
If A~ and B~ of same type.
R~ = A~ + B~ (1.8)
using the Parallelogram law.
Join the tails.
or using the triangle construction Add head to tail.
Figure 1.7: Parallelogram
Figure 1.8: triangle
Figure 1.9: sine law
Figure 1.10: cosine law
Sine law
A B C :
sin(a) = sin(b) = sin(c) (1.9)
Cosine law
p
C = A2 + B 2 ; 2 A B cos(c) : (1.10)
Figure 1.11: Subtraction
Properties: Vector addition is commutative.
R~ = A~ + B~ = B~ + A~ : (1.11)
Collinear: both vectors are in same direction.
1.4.5 Vector Subtraction
R~ = A~ ; B~ = ~a + (;B~ ) : (1.12)
1.4.6 Resolution of vectors
1. Draw line parallel parallel to facing axis.
2. were they meet sign the head.
Vector addition of forces:
If more than two forces are involved , then sucessive application of
parallelogram law,
procedure for analysis of problems contains atmost two unknowns.
1. use Parallelogram law & Trignometry.
2. P of all angles = 360 in Parallelogram P of all angles = 180 in
triangles.
3. Use Sine and Cosine laws.
Figure 1.12: Resolution of vectors
Figure 1.13: Addition of forces
Figure 1.14: Trignometry
Trignometry: If right triangle,
cos() = AAx (1.13)
sin() = AAy
Ay
tan() = A :
x
Examples section 1.8
Example 1: Addition of Forces Find the resultant force in the
gure
F~R = F~1 + F~2
= 180 ; (45 + 30) (1.14)
= 105

= 360 ; 2(105) = 360 ; 210 = 150
2 = 75 (1.15)
q 22 2 2
FR = F + F ; 2 F1 F2 cos(
)
p1 2 2
= (600) + (800)
2 ; 2(600)(800)cos(75)
= 866:9 N = 867 N
FR F1 F2
sin(
) = sin( ) = sin(1 ) (1.16)
FR F2
sin(
) = sin(1 ) (1.17)
867 800
sin(75) = sin(1 )
1 = 63
from positive x-axis = 63 + 45 = 108.
x
F1 = 600 N
45
y
60
75
F2 = 800 N
F3 = 450 N
Figure 1.15: Example 1
Example 2: Resolution of vectots
Resolve F1 to F1u and F1v

= 180 ; 70 = 110
= 180 ; (30 + 110) = 40
F1u F1 F1v
sin( ) = sin( ) = sin(30)
sin(40) (300) = 205:2 N
F1u = sin( ) sinF(1) = sin (110)
sin(30) (300) = 159:6 N
F1v = sin(30) sinF(1) = sin (110)
u
F1 = 300 N
30
v
45
F2 = 500 N
70
600 lb
60
A
θ
B
T

Example 3: Use of Sine and Cosine Law
FA = 600 lb
FB = ?
R~ = 1200 lb
FB R FA :
sin(30) = sin( ) = sin() (1.18)
q
FB = FA2 + R2 ; FA Rcos(30)
p
= (600)2 + (1200)2 ; 2 (600) (1200) cos(30)
= 743:6
FA FB
sin() = sin(30) (1.19)
sin() = FFA sin(30)
B
600
= 743:6 sin(30)
= 23:79
1.4.7 Addition of system of coplanar forces
For systems of many forces it is easier to obtain the component of
each force along the axis of the coordinate system then add the
components.
F~ = F~x + F~y : (1.20)
Cartesian vector notation
Unit vector: It has a magnitude of one unit and direction. Unit
vector along x-axis.
F~ = F~x î + F~y ^j : (1.21)
For multi force system.
X X
F~ = ( F~x ) î + ( F~y ) ^j : (1.22)
along positive axis are positive, along negetive axis are negetive.
q
jF~R j = F~Rx ~Ry
2 + F 2 Pythagrean : (1.23)
= tan;1 FFRy : (1.24)
Rx
Section 1.9 Examples
Example 1
Find F~R .
= tan;1 xy = tan;1 12
5 = 67:38 : (1.25)
Scalar notation:
X
FRx = Fx (1.26)
= ;F2x ; F1x
= ;26 cos(67:38) kN ; 30 cos(60) kN
= ;25 kN
FRy = ;F1y ; F2y (1.27)
= ;30 sin(60) kN + 26 sin(67:38) kN
: = ;1:98 kN
:98 = 4:53
= tan;1 125 : (1.28)
p
FR = 1:982 + 252 = 25:078 kN (1.29)
Cartesian vector notation:
F~1 = ;30 cos(60) î ; 30 sin(60) ^j kN : (1.30)
F~2 = ;26 cos(67:38) î + 26 sin(67:38) ^j kN : (1.31)
F~R = F~1 + F~2 (1.32)
= (;30 cos(60) ; 26 cos(67:38)) î + (26 sin(67:38) ; 30 sin(60)) ^j kN
= ;25 î ; 1:98 ^j kN :
q
FR = F~Rx ~Ry
2 + F 2 = 25:078 kN : (1.33)
= tan;1 FFRy = 4:53 : (1.34)
Rx
F~1 = ;30 cos(60) î ; 30 sin(60) ^j kN : (1.35)
x
y
30
13
5
F2 = 26 kN
12
F1 = 30 kN
F~2 = ;26 cos(67:38) î + 26 sin(67:38) ^j kN : (1.36)
F~R = F~1 + F~2 (1.37)
= (;30 cos(60) ; 26 cos(67:38)) î + (26 sin(67:38) ; 30 sin(60)) ^j kN
= ;25 î ; 1:98 ^j kN :
q
FR = F~Rx ~Ry
2 + F 2 = 25:078 kN : (1.38)
= tan;1 FFRy = 4:53 : (1.39)
Rx
1.4.8 Problems
Figure 1.19: dot product
1.4.9 Dot Product
This also called a scalar product. The output of the product is a
scalar quantity. let A~ = a1^{ + a2 |^ + a3k^ and B~ = b1^{ + b2|^ + b3k^ then
A~ B~ = a1 b1 + a2 b2 + a3 b3
The result is a scalar quantity. The physical meaning of the dot
product is aprojection of one vector into another.
A~ B~ = jAjjB j cos
where is the angle between A~ and B~ . It is useful to consider the
various dot products which can be made up from the unit
coordinate vectores
^{ ^{ = |^ |^ = k^ k^ = 1
and
^{ |^ = ^{ k^ = |^ k^ = 0
1.4.10 Cross Product
The cross product is also called a vector product. Its output is a
vector.
C~ = A~ B~
jC j = jAjjB j sin
where is the angle between A~ and B~ . The direction of C~ is
perpendicular to the plane dened by A~ and B~ and such that the
rotation through the angle of A~ right hand screw advancing along
C~ carries A~ into B~
Figure 1.20: dot product
From the denition of the cross product B~ A~ has the same
magnitude as A~ B~ but the rotation which carries B~ into A~ is
opposite to that which carries A~ into B~ . The cross products among
the unit corrdinate vectors are often useful.
î î = ^j ^j = k^ k^ = 0
î ^j = k
k^ î = j
^j k^ = i
The cross product can be evaluated as

^{ |^
C~ = a1 a2
k^

a3
b1 b2 b3
the evaluation of this determinenatcan be as follows

C~ = ab22 ab33 ^{ ; ab11 ab33 |^ + ab11 ab22 k^
then
C~ = (a2 b3 ; a3 b2 )^{ ; (a1 b3 ; a3 b1 )^| + (a1 b2 ; a2 b1 )k^
the cross product will be used when we talk about moments
1.4.11 Problems
1.5. CALCULUS 33
1.5 Calculus
Review your calculus, Engineering Math with emphasis on
1. chain rule
2. integration by parts
3. derevative of vector with respect to a scalar
insert
1.5.1 Problems
Chapter 2
Mechanics of a Particle
2.1 statics of a particle
Equilibrium:No change of the state of the body or particle Static
Equilibrium:particle at rest Particle:has mass but negligible volume
(size)
2.1.1 Conditions for Equilibrium of a Particle
Necessary to satisfy Newton's 1st Law Resultant Force = zero
X~
F =0
Necessary and sucient
Free Body Diagram
The following is a sketch of the particle "free from its surroundings"
and shows all acting forces on the particle.
Springs
Force in the spring
F1 = k(X1 ; X0 ) = kS
S : elongated or compressed distance and equal to
S = Xf ; Xi
35
36 CHAPTER 2. MECHANICS OF A PARTICLE
Figure 2.1: Spring Demo
Cables and Springs
We will assume that all cables have negligble weight and cannot be
stretched (no change in length). The force direction along the cable
will have the same tension.
Procedure of Drawing Free Body Diagram
1. Isolate the particle from its surroundings.
2. Draw all the forces that act on the particle.
3. label the magnitude and direction of all forces. Unknown
forces will be assumed positive until proven otherwise.
2.1.2 Problems
2.1. STATICS OF A PARTICLE 37
Figure 2.2: demo of cables, pulleys and springs
2.1.3 Coplanar Force Systems
In 2D, the case of equilibrium
X~
F =0
X~ X X
F= Fx^{ + Fy |^ = 0
For Equilibrium P Fx = 0 P Fy = 0
For vector A~ , to be called null vector, all components =
0A~ = 0^{ + 0^| + 0k^ = 0
2.1.4 Procedure for Analysis
1. Draw free body diagram
2. Analyze all forces along x and y axies
Example 1
X~ X X
F= Fx^{ + Fy |^ = 0
F~AC = 800 cos ^{ ; 800 sin |^
F~BA = ;800 cos ^{ ; 800 sin |^
F~A = 900^|
X
Fx = 800 cos ; 800 sin = 0
X
Fy = ;800 sin ; 800 sin + 900 = 0
1600 sin = 900
900
sin = 1600
= 34:22o
C
θ
A
θB
+
B
+ +
++
mm
150
+
+F
r = 200 mm
50 mm
-F
+
+++
+
mm
150
A+
+
Example 2 k = 500 N/m
Lo = 6 m, for one part lo = 3 m
F = 175 N
F~BA = FBA cos ^{ + FBA sin |^
F~BC = FBC cos ^{ ; FBC sin |^
FB = ;FB^{
X
Fx = 0
FBA cos + FBC cos ; FB = 0
sumFy = 0
FBA sin ; FBC sin = 0 =) FBA = FBC = FS
From X
Fx = 0
2FS cos = FB
FS = kS S = lf ; li
p
lf = d2 + 32
l =3
pi
S = d2 + 9 ; 3
cos = p 2d
d +9
2Fs cos() = FB
Example 3
2FS cos = FB
FS cos = F2B = 175
2 = 85
p d = 87:5
k d2 + 9 ; 3 p
d2 + 9
p p p
d2 + 9 ; 3 d = 87k:5 d2 + 9 = 0:175 d2 + 9
p
d d2 + 9 ; 3d = 0
d ; 0:175 = 3 p 2d = 3 cos
d +9
d ; 0:175 = cos = d
3 d2 + 9
0 cos 1
upper & lower limits if
= 90 =) d = 0:175
if
= 0 =) d = 2:825
trial and error, d = 1.56m
Example 4

= tan;1 ( 12
5 ) = 67:38
o
maximum load = 100 lb
F~ = 0
F~AC = ;W |^
F~BC = ;W cos
^{ ; W sin
|^ = ;0:385W ^{ ; 0:92W |^
vecFCD = 100 cos ^{ + 100 sin |^
Fx = 0 = ;0:385W + 100 cos = 0 =) cos = 3:85x10;3W
Fy = 0 = ;W ; 0:92W + 100 sin = 0 =) sin = 1:92x10;2W
2 equations - 2 unknowns
D
A
C
12
5
13
B
cos2 ) + sin2 = 1
(3:85x10;3W )2 + (1:92x10;2W )2 = 1
W = 51:06lb
= cos;1 (3:85x10;3)51:06 = 78:66o
Example 5
The 10-lb lamp xture is suspended from two springs, each having
an unstretched length of 4 ft and stiness of k = 5 lb/ft. Determine
the angle for equilibrium.
Fc = 10lb
k = 5 lb/ft
lo = 4ft
F~C = ;10^|
F~A = FA cos ^{ + FA sin |^
F~B = ;FB cos ^{ + FB sin |^
Fx = 0 = FA cos ; FB cos =) FA = FB = FS
Fy = 0 = 2FS sin ; 10 = 0 =) FS sin = 5
FS = k(l ; lo ) = 5(l ; 4)
p
sin = 1 ; (cos )
cos = 4l
r
sin = 1 ; 16 1p 2
l2 = l l ; 16
p
FS sin = 5 = 5(l ; 4) 1l l2 ; 16 = 5
p
l = (l + 4) l2 ; 16
p
l = (l ; 4) l2 ; 16
l>4
by trial and error l = 5:47ft
= cos;1 4l = 43o
θ
k = 5 lb/ft
4 ft
k = 5 lb/ft
4 ft
θ Figure 2.7: Example 5

Example 6
P = 80 lb k = 50 lb/ft
p
l = 42 + 22 ; 2(4)(2) cos 60 = 3:464ft
2 l 2sin60 2
sin = sin 60 =) l = 3:464 sin 60 = 0:5
= 30o
P~ = ;80^|
F~C = FC cos 30^{ + FC sin 30^|
F~B = ;FB cos 60^{ + FB sin 60^|
Fx = 0
0:866FC ; 0:5FB = 0 =) FC = 0:577FB orFB = 1:732FC
Fy = 0
0:5FC + 0:866FB ; 80 = 0
0:5FC + 0:8661:732FC ] = 80
FC = 40lb
FC = kS = K (lf ; li )
40 = 50(3:464 ; li )
li = 2:664ft
C
2 ft
P
2 ft
θ
B
Example 7 Analyze one at a time at A
P~ = ;W |^ = ;294:3^|
F~AE = FAE^{
F~AB = ;FAB cos 60^{ + FAB sin 60^| = ;0:5FAB^{ + 0:866FAB |^
Fx = 0 = FAE ; 0:5FAB = 0 =) FAE = 0:5FAB
Fy = 0 = 0:866FAB ; 294:3 = 0 =) FAB = 339:8N
FAE = 169:9N
at B
F~BA = FBA cos 60^{ ; FBA sin 60^| = 169:9^{ ; 294:3^|
F~BC = ;FBC^{
F~BD = FBD cos ^{ + FBD sin |^ = FBD 54 ^{ + FBD 53 |^
Fx = 0 = 169:9 ; FBC + 45 FBD = 0
E
D
A
4
5
60
B
C
30
B
θ
Fy = 0 = ;294:3 + 35 FBD = 0 =) FBD = 490:5N
FBD = 169:9 + 54 FBD = 169:9 + 392:4 = 562:3N
Example 8 Determine the maximum weight W of the block that can
be suspended in the position shown if each cord can support a
maximum tension of 80 lb. Also, what is the angle for equilibrium.
Fx = 0 Fy = 0
F~AB = 80 cos 60^{ + 80 sin 60^|
T~ = ;W sin ^{ ; W cos |^
~ = ;W |^
=W
Fx = 80 cos 60 ; W sin = 0 =) W sin = 80 cos60
Fy = 0 = 80 sin 60 ; W cos ; W = 0 =) W (1 + cos ) = 80 sin 60
1 + cos = tan 60 =) 1 + cos = tan 60 sin 60
sin
p
(1 + cos ) = 3(1 ; cos 2 ) 21 ] =) 1 + 2 cos + cos2 = 31 ; (cos )2 ]
Solve for
cos = 12 =) = 60o
=) W = 80 cos 60
sin 60 = 46:2
o
Example 9
Determine the magnitude and angle of F so that the particle is in
equilibrium.
F~A = 2:25 cos 60^{ ; 2:25 sin 60^| = 1:125^{ ; 1:95^|
F~B = ;7:5 cos 60^{ ; 7:5 sin 60^| = ;3:75^{ ; 6:5^|
F~C = ;4:5^{
F~ = F cos ^{ + F sin |^
Fx = 1:125 ; 3:75 + F cos ; 4:5 = 0
F cos = 7:125
Fy = ;1:95 ; 6:5 + F sin = 0
F sin = 8:45
F sin 8:45
F cos = 7:125 = tan
= 49:86
F = 11.05 N
Example 10
Two electrically charged pith balls, each having a mass of 0.2g, are
suspended from light threads of equal length. Determine the
resultant horizontal force of repulsion, F, acting on each ball if the
measured distance between them is r = 200 mm.
W~ = mg = ;(0:2)x10;3(9:81) = ;1:962x10;3|^N
75 = 60o
= cos;1 150
T~ = ;T cos ^{ + T sin |^ = ;0:5T ^{ + 0:866T |^
F~ = +F ^{
Fx = ;0:5T + F = 0
Fy = 0:866T ; 1:962x10;3 = 0 =) T = 2:265x10;3N
F = +0:5T = 1:133x10;3N
F = k qr1 q22 = kqr2 = 99xx1010q9 = 5x10;15C
2 9 2
F
x
θ
2.25 kN
60
y
30
5
3
4
7.5 kN
4.5 kN
+
B
+ +
++
mm
150
+
+F
r = 200 mm
50 mm
-F
+
+++
+
mm
150
A+
+
Example 11
The unstretched length of spring AB is 2 m. If the block is held in
the equilibrium position shown, determine the mass of the block at
D.
FAB = k(lf ; li ) = 30(5 ; 2) = 90N
F~AB = FAB 45 ^{ + FAB 53 |^
F~AC = ;FAC p3 ^{ + FAC p33
18 18
|^
W~ = ;W |^
Fx = (90) 54 ; FAC p3 = 0 =) FAC = 101:8N
18
Fy = (90) 53 + FAC p3 ; W = 0 =) W = 126N
18
m = Wg = 9126
:81 = 12:84kg
B
K_AB = 30 N/m
4m
K_AD = 40 N/m
D
K_AC = 20 N/m
3m
3m
Example 12
The street-lights at A and B are suspended from the two poles as
shown. If each light has a weight of 50 lb, determine the tension is
each of the three supporting cables and the required height h of the
pole DE so that cable AB is horizontal.
F~AB = FAB^{
F~AD = ;FAD cos ^{ + FAD sin |^
W~ A = ;50^|
~ = ;FBC cos
^{ + FBC sin
|^
= tan;1 6 = 45o
FBC 6
W~ B = ;50^|
FxA = FAB ; FAD cos = 0
FyA = FAD sin ; 50 = 0
FxB = FBC cos 45 ; FBA = 0
FyB = FBC sin 45 ; 50 = 0 =) FBC = 70:7N
FBA = 50
FAB = FAD cos = 50
FAD sin = 50
50 = 45o F = 50 = 70:7lb
= tan;1 50 AD cos 45
tan = h ;5 18 = 1
h = 23 ft
24 ft
C
6 ft
B
18 ft
10 ft
A
5 ft
E
D
h
C
30
600 lb
4 ft
θ
l

Example 13
The car is to be towed using the rope arrangement shown. The
towing force required is 600 lb. Determine the minimum length l of
rope AB so that the tension in either rope AB or AC does not
exceed 750 lb. Hint: Use the equilibrium condition at point A to
determine the required angle for attachment, then determine l
using trigonometry applied to triangle ABC.
F~A = 600^|lb
F~AC = FAC cos 30^{ ; FA sin 30^|
F~AB = FAB cos ^{ ; FAB sin |^
Fx = 0 = FAC cos 30 ; FAB cos = 0
(1)
Fy = 0 = ;FA sin 30 ; FAB sin + 600 = 0
(2)
if
FAB = FAC = 750
then from (1) = 30 which violates (2)
then assume
FAC = 750
the limit then
750 cos 30 = FAB cos = 649:5 lb
;750 sin 30 ; FAB sin = ;600
FAB sin == 225
225 =) 19:1o
tan = 649 :5
FAB = 687:36lb
4 l
sin 180 ; 30 ; 19:1 = sin 30 =) 2:64 ft
2.2. 3-D FORCE SYSTEMS 63
2.2 3-D Force Systems
For 3-D System
F~ = 0 = Fx^{ + Fy |^ + Fz k^ = 0
Example 1
F~ = ;480^{ ; 850^| + 275k^N
(F1 ) = F1 cos 30
0
F1z = F1 cos 30
F1x = (F1 ) cos 20
0
F1y = (F1 ) sin 20
0
F~1 = F1 cos 30 cos 20^{ ; F1 cos 30 sin 20^| + F1 sin 30k^
F~2 = F2 (cos 2^{ + cos
2 |^ + cos 2 k^ = F2 cos 120^{ + F2 cos 60^| + F2 cos 135k^
F~3 = F3 |^
F = 0
Fx = F1 cos 30 cos 20 + F2 cos 120 ; 480 = 0 = 0:814F1 ; 0:5F2 = 480
Fy = ;F1 cos 30 sin 20+F2 cos 60+F3 = 850 = 0 = ;0:246F1 +0:5F2 +F3 = 85
Fz = F1 sin 30 + F2 cos 135 + 275 = 0 = 0:5F1 ; ;0:707F2 = ;275
0:814F1 ; 0:5F2 = 480x ; 0:5 ) ;0:407F1 + 0:25F2 = ;240
0:5F1 ; 0:707F2 = ;275x0:814 ) 0:497F1 ; 0:575F2 = ;223:85
0:325F2 = 463:85 =) F2 = 1427:23N
0:5F2 = 1466:35N
F1 = 4800+:814
F3 = 850 ; 0:5F2 + 0:296F1 = 570:4N
Example 2
Find F~1 , F~2 , and F~3
F~1 = F1 cos 60^{ + F1 sin 60k^
F~2 = ;F2 cos 53:13^|
F~3 = ;F3 cos 30^{ ; F3 sin 30^j
F~ = ;800 cos30k^ + 800 sin 30^|
F~ = 0
Fx = 0 = F1 cos 60 ; F2 cos 53:13 ; F3 cos30 = 0
Fy = 0 = F2 sin 53:13 ; F3 sin 30 + 800 sin 30 = 0
Fz = 0 = F1 sin 60 ; 800 cos 30 = 0
F1 = 800sincos30
60 = 800N
800 cos60 ; F2 cos 53:13 ; F3 cos 30 = 0
;800 sin 30 F2 sin 53:13
F3 sin 30 = 0
;F2 (cos 53:13 + sin 53:13) + F3 (sin 30 ; cos 30) = 0
;1:4F2 ; 0:36F3 =0
F2 = ;0:26F3
800 cos60 + 0:26F3 cos 53:13 ; F3 cos 30 = 0
F3 = 564N
F2 = ;146:65N
Example 3
A(2,4,0)
D(0,0,4)
AD = ;2^{ ; 4^| + 4k^ U AD = ;0:33^{ ; 0:66^| + 0:66k^
F~AB = FAB |^
F~AC = FAC^{
F~AD = FAD U AD = ;0:33FAD^{ ; 0:66FAD ^j + 0:66FAD k^
F~ = ;800k^
Fx = 0 = FAC ; 0:33FAD =) FAC = 0:33FAD
Fy = 0 = FAB ; 0:66FAD =) FAB = 0:66FAD
Fz = 0 = 0:66FAD ; 800 =) FAD = 1200N
FAC = 400N
FAB = 800N
Example 4 Determine the tension developed in the three cables
required to support the trac light, which has a mass of 20 kg.
Take h=3.5 m (Question 3-47 page 100)
A(0,0,3.5)
B(3,4,4)
C(4,0.3,4)
D(-6,-3,6)
AC = ;6^{ ; 3^| + 2:5k^ U AC = 0:84^{ ; 0:42^| + 0:35k^
AB = 3^{ + 4^| + 0:5k^ U AB = 0:6^{ + 0:8^| + 0:1k^
AD = 4^{ ; 3^| + 0:5k^ U AD = 0:8^{ ; 0:6^| + 0:1k^
F~A = ;(9:81)(20) = ;196:2k^
Fx = 0 = ;0:84FAC + 0:6FAB + 0:8FAD
Fy = 0 = ;0:42FAC + 0:8FAB ; 0:6FAD
Fz = 0 = 0:35FAC + 0:1FAB + 0:1FAD ; 196:2
2 ;0:84 0:6 0:8
32 FAC
3 20
3
4 ;0:42 0:8 ;0:6 54 FAB 5 40
= 5
0:35 0:1 0:1 FAD 196:2
0 0:6

0:8
0 0:8 ;0:6
196:2 0:1 0:1
FAC =
;0:84 0:6 0:8
;0:42 0:8 ;0:6
0:35 0:1 0:1
;0:6(117:72) + 0:8(;156:92) ;196:2
= ;0:84(0 :14) ; 0:6(0:168) ; 0:8(0:322) = ;0:476 = 412:18N
;0:84 0 0:8
;0:42 0 ;0:6
0:35 196:2 0:1
FAB = ;0:476
= ;0:84(117;
:72) + 0:8(;82:4) = 346:2N
0:476
;0:84 0:6 0

;0:42 0:8 6
0:35 0:1 196:2 ;0:84(156:96) + 0:6(82:4)
FAD = ;0:476
= ;0:476
= 173:1N
Example 5
F~A = 9500lb
A(0,0,2.4)
B(0,-1,0)
C(1,0,0)
D(-0.707,0.707,0)
AD = ;0:707^{ + 0:707^| ; 2:4k^ U AD = ;0:272^{ + 0:272^| ; 0:923k^
AB = 0^{ ; |^ ; 2:4k^ U AB = ;0:384^| ; 0:923k^
AC = ^{ + 0^| ; 2:4k^ U AC = 0:384^{ ; 0:923k^
F~A = 9500k^
F~ = 0
Fx = 0:384FAC ; 0:272FAD = 0 =) FAC = 0:708FAD
Fy = 0:272FAD ; 0:384FAB = 0 =) FAB = 0:708FAD
Fz = ;0:923FAD ; 0:923FAB ; 0:923FAB + 9500 = 0
;0:923FAD ; 0:923(0:708)FAD ; 0:923(0:708)FAD = ;9500
FAD = 4258:97lb
FAC = 3015:35lb = FAB
Example 6 Find F~1 F~2 F~3
5 ^{ ; F 12 |^
F~1 = F1 13 1
13
f~2 = F2 cos 35^| ; F2 sin 35k^
F~3 = F3 (cos 120^{ + cos 60^| + cos 45k^)
F~ = ;8 cos 30^| + 8 sin 30k^
5
Fx = 0 = 13 F 5
1 + F3 cos 120 =
13 F1 ; 0:5F3
(1)
Fy = 0 = ; 12
13 F1 + F2 cos 35 + F3 cos 60 ; 8 cos 30 = 0
(2)
Fz = 0 = ;F2 sin 35 + F3 cos 45 + 8 sin 30
(3)
From (1)
F1 = 13 13
5 0:5F3 = 10 F3
From (3)
F2 = F3 cos 45 + 8 sin 30 = 0:707F3 + 4
sin 35 0:573
From (2)

12 13
cos 35
;
13 10 F3 + sin 35 F3 cos 45 + 4] + F3 cos 60 ; 6:928
12
10 F3 + 1:430:707F3 + 4] + F3 cos 60 = 6:928
F3 = 3:91N
F1 = 5:08N
F2 = 11:8N
Example 7
m = 25kg
UADx = sin 30 = (U 0 )AD
(U 0 )AD = UAD cos 30
UADy = (U 0 )AD sin60
UADz = (U 0 )AD cos 60
UAD = sin 30^{ ; cos 30 sin 60^| + cos 30 cos 60k^
Similarly
UAC
(U 0 )AC = UAC cos 30
UAC = ; sin 30^{ ; cos 30 sin 60^| + cos 30 cos 60k^
F~AD = FAD (sin 30^{ ; cos 30 sin 60^| + cos 30 cos 60k^)
= FAD 0:5^{ ; 0:75^| + 0:43k^]
F~AC = FAC ;0:5^{ ; 0:75^| + 0:43k^]
P = ;245:25k^
~ = FAB (cos 45^| + sin 45k^) = FAB (0:707^| + 0:707k^)
FAB
Fx = 0 = 0:5FAD ; 0:5FAC = 0 =) FAD = FAC
Fy = 0 = ;0:75FAD ; 0:75FAC + 0:707FAB = 0
Fz = 0 = 0:43FAD + 0:43FAC + 0:707FAB ; 245:25 = 0
0:75FAD ; 0:75FAC = ;0:707FAB
2x0:75FAC = 0:707FAB =) FAB = 2:12FAC
0:43FAC + 0:43FAC + 0:707(2:12FAC ) = 245:25
2:36FAC = 245:25
FAC = 103:9N
FAD = 103:9N
FAB = 220:3N
Example 8
The 500-lb crate is suspended from the cable system shown.
Determine the force in each segment of the cable, i.e., AB, AC, CD,
CE, and CF. Hint: First analyze the equilibrium of point A, then
using the result for AC, analyze the equilibrium of point C.
F(0,7,-24)
E(0,-7,-24)
D(-10,0,24)
C(0,0,0)
CF = 0^{ + 7^| ; 24k^ U CF = 0:28^| ; 0:96k^
CD = ;10^{ + 24k^ U CD = ;0:38^{ + 0:92k^
CE = ;7^| ; 24k^ U CE = ;0:28^| ; 0:96k^
F~AB = FAB cos 20^{ + FAB sin 20k^
F~AC = ;FAC cos 35^{ + FAC sin 35k^
F~A = ;500k^
cos 35 F
Fx = 0 = FAB cos 20 ; FAC cos 35 = 0 =) FAB = cos 20 AC
FAB = 0:87FAC
Fz = 0 = FAB sin 20 + FAC sin 35 ; 500 = 0
(0:87FAC ) sin 20 + FAC sin 35 = 500
FAC = 573:5lb
FAB = 499lb
~ = FCF U~ CF = FCF (0:28^| ; 0:96k^
FCF
~ = FCD U~ CD = FCD (;0:38^{ + 0:92k^
FCD
~ = FCE U~ CE = FCE (;0:28^| ; 0:96k^
FCE
F~CA = 573:5 cos35hati ; 573:5 sin 35k^
= 469:8^{ ; 328:9k^
Fx = 0 = ;0:38FCD + 469:8 = 0
FCD = 1236:3lb
Fy = 0 = 0:28FCF ; 0:28FCE = 0 =) FCF = FCE
Fz = 0 = ;0:96FCF + 0:92FCD ; 0:96FCE ; 328:9 = 0
2(;0:96)FCF = 328:9 ; 0:92(1236:3)
FCF = FCE = 421lb
Example 9
The ball is suspended from the horizontal ring using three springs
each having a stiness of k = 50 lb/ft and an unstretched length of
1.5 ft. If h = 2 ft, determine the weight of the ball.
li = 1:5ft
p
lf = 1:52 + 22 = 2:5ft
Fs = k(lf ; li ) = 50(2:5 ; 1:5) = 50lb
in z coordinate all spring forces are the same
Fz = 0 = 3Fs cos ; W = 0
W = 3Fs cos = 3(50) 22:5 = 120lb
Example 10
Determine the tension in cables AB, AC, textmdand AD, required
to hold the 60-lb crate in equilibrium.
A(12,0,0)
B(18,0,0)
C(0,9,8)
D(0,-4,6)
AB = 6^{ U AB
AC = ;12^{ + 9^| + 8k^ AC = ;0:706^{ + 0:53^| + 0:47k^
AD = ;12^{ ; 4^| + 6k^ AD = ;0:86^{0:29^| + 0:43k^
F~AB = FAB^{
F~AC = FAC ;0:706^{ + 0:53^| + 0:47k^]
F~AD = FAD ;0:86^{ ; 0:29^| + 0:43k^]
P~ = ;60k^
Fx = 0 = FAB ; 0:706FAC ; 0:86FAD
Fy = 0 = 0:53FAC ; 0:29FAD
Fz = 0 = 0:47FAC + 0:43FAD ; 60 = 0
FAC = 0:547FAD
0:47(0:547FAD ) + 0:43FAD = 60
FAD = 87:3lb
FAC = 47:76lb
FAB = 108:79lb
Example 11
F~A = FA cos ^{ + FA sin |^
F~B = ;FB cos
^{ + FB sin
|^
W~ = ;mg|^ = ;588:6N |^
Fx = 0 = FA cos ; FB cos
= 0
Fy = 0 = FA sin + FB sin
; 588:6 = 0
To nd &
FA = FB
Tension on a pulley From
FA cos ; FB cos
= 0 =) =
Similarity of triangles
10 ; S 2 + y l2
p(10 ;pS )2 + (2 + y)2 = 15 p
p
; S 2 + y2
S = y =l = 1 S +y
2 2 S +y
2 2
l1 + l2 = 15
p
l1 = S 2 + y2
p
l2 = (10 ; S )2 + (2 + y)2
p p
15 = S 2 + y2 + (10 ; S )2 + (2 + y)2
p
10 ; S = 15p
; S 2 + y2
S S 2 + y2
p p
15 = ( S 2 + y2 ) 10 S; S + S 2 + y2
p
p
15 = S 2 + y2 10 S; S + 1 = S 2 + y2 10
S
p
15S = 10 S 2 + y2
p
225S 2 = 10 S 2 + y2
(225 ; 100)S 2 = 100y2
S = 0:89y
10 ; 0:89y 2 + y
0:89y = y
(10 ; 0:89y)y = 0:89y(2 + y)
10y ; 0:89y2 = 1:78y + 0:89y2
10 ; 0:89y = 1:78 + 0:89y
y = 4.6m S = 0.89y = 4.11m

= tan;1 Sy = tan;1 44::11
6 = 48:2o =
FA sin 48:2 + FA sin 48:2 = 588:2
FA = FB = 394:78N
Shorter way
l1 + l2 = 15
l1 cos + l2 cos = 10
l1 cos + (15 ; l1 ) cos = 10
15 cos = 10 ;!= cos;1 10
15 = 48:2
o
From
l2 sin ; l1 sin = 2
(15 ; l1 ) sin ; l1 sin = 2
= 48:2o then l1 = 6:158m
S = l1 cos = 6:15 cos48:2 = 4:11m
2.3 Kinematics
Kinematics: Geometric aspects of motion
Kinetics: Forces that cause motion
Rectilinear Kinematics: Straight or curved path
Position: Straight line path of the particle using a single coordinate
axis
Position Vector: Position of particle P at any instant
Displacement: Change in position (vector)
Distance: Total length of travel
Velocity: Average velocity vavg = rt
Instantaneous Velocity: V = limt!0 rt V = drdt
Speed: Magnitude of velocity v = dsdt
Average Speed: VSP = STt = totaldistance
time
Acceleration: aavg = Vt
Instantaneous Acceleration:
a = dVdt
a = dtd ds d2 s
dt = dt2
a = dV ) dV = adt = a ds
dt V
ds ds
dt = V ) dt = V
V dV = ads
Constant Acceleration: ads = V dV
Velocity as a function of time
dV = a
dt c
dV = acdt
V = Vo + ac t
Position as a function of time
ds = V
dt
ds = (Vo + ac t)dt
s = so + Vo t + 12 ac t2
2.4. CONSTANT ACCELERATION 85
Velocity as a function of position
ac ds = vdv
ac(s ; so ) = 21 V 2 ; 21 Vo2
V 2 = Vo2 + 2ac(s ; so)
Free Fall
ac = g = 9:8m=sec2 = 32:2ft=sec2
2.4 Constant Acceleration
Vo = 0
s = 20m
V = 30km=hr = 8:33m=s
Vf2 = Vi2 + 2ac(sf ; si )
(8:33)2 = 0 + 2ac(20)
ac = 1:736m=sec2
Vf = Vi + ac t
t = Vf a; Vi = 18::736
33 = 4:8sec
c
Example 1. The acceleration of a particle as it moves along a
straight line is given by a = (2t ; 1)m=s2, where t is in seconds.
If s = 1 m and v = 2 m/s when t = 0, determine the particle's
velocity and position when t = 6 s. Also, determine the total
distance the particle travels during this time period. //
a = (st ; 1)
so = 1m
vo = 2m=secatt = 0
Find v(t = 6)
s(t = 6)
dv = a
dt
Z Z t
t0 dv = adt
Z 0
v(t) ; v(0) = (st ; a)dt = t2 ; tj0t = t2 ; t
v = v0 + t2 ; t
v(6) = 2 + (6)2 ; (6) = 32m=sec
ds = v = v + t2 ; t ) ds = (v + t2 ; t)dt
dt o o
s ; so = vo t + t3 t2 jt
3
;
2 0
s = so + vo t + ; t3 t2
3 2
s(6) = 1 + 2(6) + (6)3 ; (6)2 = 67m
3 2
s = s(6) ; so = 67 ; 1 = 66m
Example 2 The position of a particle along a straight line is
given by s = (t3 ; 9t2 + 15t) ft, where t is in seconds. Determine
the position when t = 6 s and the total distance the particle
travels during the 6-s time interval. Plot the path to determine
the total distance traveled.
Find v and a at t = 6
s = t3 ; at2 + 15t
ds = v = 3t2 ; 18t + 15
dt
v(6) = 3(6)2 ; 18(6) + 15 = 15ft=sec
dv
dt = a = 6t ; 18
a(6) = (6)(6) ; 18 = 18ft=sec2
Example 3 When a train is traveling along a straight track at 2
m/s, it begins to accelerate at a = (60v;4)m=s2, where v is in
m/s. Determine its velocity v and the position 3 s after the
acceleration.
a = dv
dt = 60v
;4
Zt Z t 1
dt = 60dv
v ;4 = 60 v dv
4
0 0
1v t
t = 60
5 1 5 5
5 j0 = 300 v ; vo ]
vo = 2m=sec
at 3 sec
1 V 5 ; (2)5 ]
3 = 300
V = (900 + 32)1=5 = 3:925m=sec
ds = v or ads = vdv
dt
ds = vdv;4 = 60 1 v5 dv
Z s60v 1 v 6
ds = 60 v
0 6 jvo
s = 1 v6 ; v06 ] = 360
360
1 (3:925)6 ; (2)6
= 9:98m
Example 4 A particle travels to the right along a straight line
with a velocity v = 5=(4 + s)]m=s, where s is in meters.
Determine its position when t = 6 s if s = 5 m when t = 0.
Also nd its deceleration when s = 2 m.
v = 4 +5 s = ds
dt
5dt = (4 + 5)ds
5t = 4s + ss jsso = 4s + =fracs2 2 ; 4(5) + 25=2
= s2 + 4s ; 32:5
2
at t = 6
30 = s2 + 4s ; 32:5 ) s2 + 8s ; 125 = 0
2
p
s = ;8
642 + 4(125) = 7:874or = 15:874
to the right ) 7.874 m
vdv = ads
v = 4 +5 s ) dv = (4;+5ds
s)2
5
;5
4 + s (4 + s)2 ds = ads
a = (4;+25s)3
at s = 2
a= ; 25
(6)3 = ;0:116m=sec
2
Example 5 Ball A is released from rest at a height of 40 ft at
the same time that a second ball B is thrown upward 5 ft from
the ground. If the balls pass one another at a height of 20 ft,
determine the speed at which ball B was thrown upward.
sA = sAo + VAo t + 21 gt2
20 = 0 + 0 + 21 (32:2)t2
tA = 1:1146sec
sB = sBo + vBo t ; 12 gt2
20 = 0 + vBo (1:1146) ; 21 32:2(1:1146)
voB = 31:4ft=sec
2.5. ERRATIC MOTION: CHANGEABLE MOTION 91
2.5 Erratic Motion: Changeable Motion
Graphical method
use:
a = dv
dt
v = ds
dt
v
ads = dv
Given s-t construct v-t take the slope
Given v-t construct a-t take the slope
Given a-t construct v-t by integration v = R adt
Given v-t construct s-t by integration v = R Radt
Given a-s construct v-s vdv = ads (vf ; vi ) =
1 2 2 ads
Given v-s construct a-s dv = a a =2 dv v
ds v ds
Example 1 An airplane lands on the straight runway, originally
traveling at 110 ft/s when s = 0. If it is subjected to the
decelerations shown, determine the time t ' needed to stop the
plane and construct the s-t graph for the motion.
dv = a
dt
Z Z
dv = adt
v = vo = 110 0 t 5
v = 110 ; 3tj515 5 t 15
v = 80 ; 8tj15
20
15 t 20
v = 40 ; 3(t0 ; 20)
v = 0 ) t0 = 33:3
ds = v ) ds = vdt
dt
Z
s = so + vdt
s = 0 + 110tj05 0 t 5
s = 550 + (110t ; 32 t2 )j515
s = 1862 + (80t ; 28 t2 )j15
20
s = 1862 + 40t ; 32t
2
33:3
j20
Example 2 A motorcycle starts from rest at s = 0 and travels
along a straight road with the speed shown by the v-t graph.
Determine the motorcycle's acceleration and position when t =
8 s and t = 12 s.
v0 = 0
s0 = 0
From graph
at t = 8 sec
a = 0 m=sec2
s = 30 m
at t = 12 sec
a = -1 m=sec2
s = 48 m
a = dv dv
dt att = 8sec a = dt = 0
ds = v
dt
ds = vdt
Zv
s = s0 = vdt
v0
0t4
Z
s = vdt = int1:25tdt
s = 1:225 t2 j0t
4 t 10
s = s4 = 5tj4t
s = 10 + 5(t ; 4)
10 t 15
s ; s10 = ; t2 + 15tj10
2
6
s = 40 ; t2 + 15t
2
Example 3 The s-t graph for a train traveling along a straight
track has been experimentally determined. From the data,
construct the v-t and a-t graphs for the motion 0 t 60 s.
For 0 t 30 s, the curve is s = (0:4t2) m, where t is in seconds.
s = 0:4t2 0 t 30
s = 24t
ds = v
dt
v = 0:8t 0 t 30
s = 0:4t2 0 t 30
s ; 360 = 600 ; 360
40 ; 30 (t ; 30)
s = 24(t ; 30) + 360 30 t 30
s = 600 40 t 60
ds
dt
v = 0:8t 0 t 30
= 24 30 t 40
= 0 40 t 60
a = dv
dt
a = 0:8 0 t 30
2.6 General Curvilinear Motion
Along curved path, magnitude and direction may change
Position r = r(t)
r = r0 ; r
v avg = r
t
Instantaneous velocity v = dvdt tangent of the curve
Acceleration
Average aavg = vt
Instantaneous
a = dv dr
2
dt = dt2 a
in general is not tangent to the path of motion
Rectangular Components: if
r = x^{ + y|^ + z k^
v = dr ^ ^
dt = vx^{ + vy |^ + vz k = x_ ^{ + y_ |^ + z_ k
p
jv j = x_ 2 + y_ 2 + z_ 2
~a = dv ^ ^
dt = ax^{ + ay |^ + az k = x!^{ + y!|^ + z!k
q
jaj = ax2 + ay2 + az2
2.6. GENERAL CURVILINEAR MOTION 97
Example 1 Motion of particles A and B is described by the
position vectors rA = 2ti + (t2 ; 1)j ft and rB = (t + w)i + (2t2 ; 5)j
ft, respectively, where t is in seconds. Determine the point
where the particles collide and their speeds just before the
collision.
xA = xB
st = t + 2 ) t = 2
yA = yB
(t2 ; 1) = 2t2 ; 5
t2 = 4 ) t = 2
at t = 2 sec, will collide
xB = xA = 4
yA = yB = 3
rA = rB = 4^{ + 3^|
dv A = 2^{ + 2t|^ = 2^{ + 4^|
dt
p p
vA = 22 + 42 = 20 = 4:47ft=sec
dv B = ^{ + 4t|^ = imath
^ + 8^|
dt
p
vB = 1 + 82 = 8:06ft=sec
Example 2 The position of a particle is dened by
r = 3 i + sin2j + cos2 k
ft, where is in radians. If
= 2t2
rad, where t is in seconds, determine the particle's velocity and
acceleration when t = 1 s. Express v and a as Cartesian
vectors.
r = 3^{ + sin2|^ + cos3 k^
= 2t2
r = (2t2 )3^{ + sin4t2|^ + cos2 2t2 k^
v = dr 2 2 2 2 2 ^
dt = 240t ^{ + (8t );sin4t ] + 8cos4t ]^| ; (8t)(4t)cos4t + 4sin4t ]k
4
at t = 1 sec.
v = 48^{ ; 5:23^| + 3:03k^ft=sec
^ + 23:9k^ft=sec2
a = 240^{ + 43:2jmath
2.6. GENERAL CURVILINEAR MOTION 99
Example 3 If x = 1 ; t and y = t2, where x and y are in meters
and t is in seconds, determine the x and y components of
velocity and acceleration and construct the path y = f (x).
vx = x_ = dtd (1 ; t) = ;1m=sec
vy = y_ = dtd (t2 ) = 2tm=sec
ax = x! = dtd x_ = 0m=sec2
ay = y! = dtd y_ = 2m=sec2
x=1;t)t=1;x
y = t2 = (1 ; x)2
2.7 Motion of a Projectile
Projectile acceleration always in vertical direction
Only force on it is its weight ) g is the acceleration
ay = ;g
ax = 0
Horizontal motion:
! +vel
v = vo + act ) vx = vx )o
x = xo + vo t + 21 ac t2 ) x = xo + vx )o t
v2 = vo2 + 2ac(s ; so ) ) vx = vx )o
Vertical motion:
" +vel
vy = v0y ; gt
y = yo + vy jo t ; 12 gt2
vy2 = vy j02 ; 2g(y ; yo )
2.7. MOTION OF A PROJECTILE 101
Example 1 Measurements of a shot recorded on a videotape
during a basketball game are shown. The ball passed through
the hoop even though it barely cleared the hands of the player
B who attempted to block it. Neglecting the size of the ball,
determine the magnitude vA of its initial velocity and the
height h of the ball when it passes over player B.
x ; xo = vo cos30t
30 = vo cos30t ) vo = cos3030t
hf ; hi = vo sin30t ; 21 (32:2)t2
10 ; 7 = vo sin30t ; 12 (32:2)t2
3 = 30tan30 ; 21 (32:2)t2
t = 0:9431sec
vo = cos3030t = 36:73ft=sec
x ; xo = vo cos30tB
25 = 36:73cos30tB ) tB = 0:7859sec
h ; hi = vo sin30tB ; 21 (32:2)(tB )2
h ; 7 = 36:73sin30(0:7859) ; 12 (32:2)(0:7859)2
h = 11:49ft
Example 2 The girl always throws the toys at an angle of 30o
from point A as shown. Determine the time between throws so
that both toys strike the edges of the pool B and C at the same
instant. With what speed must she throw each toy? at B
x ; xo = vo cos30t ) 2:5 = voB cos30t
y ; yo = voB sin30t ; 21 (9:8)t2
0:25 ; 1 = voB sin30t ; 12 (9:8)t2
0:75 = cos2:30
5
t sin30t ; frac129:8t
2
t = 0:669sec
at C
x ; xo = voC cos30t ) 4 = voC cos30t
y ; yo = voB sin30t ; 12 (9:8)t2
1
;0:75 = 4tan30 ; (9:8)t2
2
t = 0:79sec
t = 0:79 ; 0:669 = 0:121sec
2:5
voB = cos30(0 :669) = 4:3m=sec
4
voC = cos30(0 :79) = 5:846m=sec
2.7. MOTION OF A PROJECTILE 103
Example 3 Determine the smallest angle , measured above the
horizontal, that the hose should be directed so that the water
stream strikes the bottom of the wall at B. The speed of the
water at the nozzle is vC = 48ft=s.
x = x 0 + v 0x t
30 = 48 cos t ) t = 48 30
cos
y = y0 + v0y t ; 12 gt2
0 = +3 + 48 sin t ; 21 (32:2)t2
= 3cos2 + 30sincos ; 6:289
= cos2 + 10
2 sin2 ; 3:1445
p
3:1445 = cos22 + 1 + 5sin2 ) cos2 + 10 1 ; cos2 2 = 5:2891
p
10 (1 ; x2 ) = 5:2891 ; x
100(1 ; x2 ) = 27:99 ; 10:578x + x2 ) = 6:41o
2.8 Curvilinear Motion: Normal &
Tangential Components
~v = ds
dt = v~ut
v = s_
acceleration:
a = at u^t + an u^n
_ n = s_ u^n = v u^n
u_ t = u
a = at u^t + an u^n
at = v_ = v dv dv dv ds dv
ds = dt = ds dt = v ds
an = v
2
s
3=2
2
dy
1 + dx
= d2 y=dx2
q
a = at2 + an2
if v = constant, an = Centripetal Acceleration
u^b = binormal axis = u^t u^n
2.8. CURVILINEAR MOTION: NORMAL & TANGENTIAL COMPONENTS105
Example 1 At a given instant the train engine at E has a speed
of 20 m/s and an acceleration of 14m=s2 acting in the direction
shown. Determine the rate of increase in the train's speed and
the radius of curvature of the path.
at = 14cos75 = 3:62m=sec2
an = 14sin75 = 12:52m=sec2
an = v v2
2
)=
13:52 = 29:58m
Example 2 At a given instant the jet plane has a speed of 400
ft/s and an acceleration of 70 ft=s2 acting in the direction
shown. Determine the rate of increase in the plane's speed and
the radius of curvature of the path.
at = a cos 60 = 70ft=sec2 cos 60 = 35ft=sec2
an = a sin 60 = 70 sin 6060:62ft=sec2
an = v v2 (400)2
2
)=
an = 60:62 = 2639:3ft
2.8. CURVILINEAR MOTION: NORMAL & TANGENTIAL COMPONENTS107
Example 3 A go-cart moves along a circular track of radius 100
ft such that its speed for a short period of time, 0 t 4 s, is
v = 60(1 ; e;t2 )ft=s. Determine the magnitude of its acceleration
when t = 2 s. How far has it traveled in t = 2 s? Use
Simpson's rule with n = 50 to evaluate the integral.
v = 60(1 ; e;t2 )
at == dv ;t2
dt = ;60e (;2t) = 120te
;t2
at jt=2 = 120(2)e;4 = 4:3958
vjt=2 = 60(1 ; 3;4 ) = 58:9011
an = v = (58:100
9011)2 = 34:693
2
q
a = at2 + an2 = 35m=sec2
Zs Z2 Z2
vdt = 60(1 ; e;t )dt = 67:1ft
2
=
Z2
0 0 0
= 60tj02 ; 60e;t dt
2
0
Example 4 The jet plane travels along the vertical parabolic
path. When it is at point A it has a speed of 200 m/s, which is
increasing at the rate of 0:8m=s2. Determine the magnitude of
acceleration of the plane when it is at point A.
at = 0:8m=sec2
an = v
2

23=2
dy
1 + dx
= d2 y
dx2
dy
dx jx=5 = 0:8x = 4
d2 y
dx2 = 0:8
2 ]3=2
= 1 + 0(4)
:8 = 87:62km
an = (0 :2)
2
;4
87:62 = 4:57x10 km=sec = 0:457m=sec
2 2
q p
a = at2 + an2 = 0:82 + 0:4572 = 0:921m=sec2
2.9. CURVILINEAR MOTION: CYLINDRICAL COMPONENTS 109
2.9 Curvilinear Motion: Cylindrical
Components
inrad 1rad = 180

_
u_ r = u
Position:
r = ru^r
Velocity:
a = ar u^r + a u^
ar = r! ; r_2
a = r! + 2r__
rP = ru^r + 2ûz
_ + z_ u^z
v = r_ u^r + ru
a = (!r ; r_2 )ûr + (r! + 2r_ _)û + z!u^z
Example 1 A particle travels along the portion of the "four-leaf
rose" dened by the equation r = (5cos2) m. If the angular
velocity of the radial coordinate line is _ = (3t2)rad/s, where t is
in seconds, determine the radial and transverse components of
the particle's velocity and acceleration at the instant
= 30o
. When t =0, = 0.
r = 5ocs2
_ = 3t2 rad=sec
at = 30o
to = 0 o = 0
vr = r_
v = r_
ar = r! ; r_2
a = r! + 2r__
d Z Zt
dt = 3t ) 0 = 0 3t dt
2 2
; 0 = t3 ) t3
= 30o = 6 rad
t = 6
1=3
= 0:806sec
_ = 3t2 = 3(0:806)21:95rad=sec
! = 6t = 6(0:806) = 4:84rad=sec2
r = 5cos2
r_ = (;10sin2)_
r! = ;10(2cos2)_2 + (sin2)!]
at = 30o
r = 5cos60 = 2:5m
r_ = ;10sin60(1:95) = ;16:88m=sec
r! = ;20cos60(1:95)2 + 10sin60(4:84) = 79:87m=sec2
vr = r_ = ;16:88m=sec
v = r_ = 2:5(1:95) = 4:87m=sec
ar = r! ; r_2 = ;79:86 ; 2:5(1:95)2 = ;89 4m=sec2
a = r! + 2r__ = 2:5(4:84) + 2(;16:88)1:95 = ;53:7m=sec2
Example 2 The slotted arm AB drives the pin C through the
spiral groove described by the equation r = (1:5) ft, where is
in radians. If the arm starts from rest when = 60o and is
driven at an angular rate of _ = (4t)rad=s, where t is in seconds,
determine the radial and transverse components of velocity
and acceleration of the pin C when t = 1 s.
= 180
?60
60
180 = 3
r = 1:5ft
t = 0 _0 = 0 0 = 60 = 3
_ = 4trad=sec
Find vr v ar a @t = 1sec
Z d Z Zt
dt = 4t ) 0 d = 0 4tdt
; 3 = 2t2 ) = 3 + 2t2
@ t = 1 sec,
r = 1:5 = 3 + 2 = 3:047rad r = 1:5(3:047) = 4:571
r_ = 1:5 _ = 4t = 4 r_ = 1:5(4) = 6ft=sec
r! = 1:5! ! = 4 = 4 r! = 1:5(4) = 6ft=sec2
vr = r_ = 6ft=sec
v = r_ = 4:571(4) = 18:3ft=sec
ar = r! ; r_2 = 6 ; 4:571(4)2 = ;67:1ft=sec2
a = r! + 2r__ = (4:571)(4) + 2(6)(4) = 66:3ft=sec2
Example 3 For a short time the jet plane moves along a path in
the shape of a lemniscate, r2 = (2500cos2)km2. At the instant
= 30o, the radar tracking device is rotating at _ = 5(10;3)
rad/s with ! = 2(10;3)rad=s2. Determine the radial and
transverse components of velocity and acceleration of the plane
at this instant.
r2 = 2500cos2km2
@ = 30 6
_ = 5x10;3rad=sec
! = 2x10;3rad=sec
at =
6
p
r = 2500cos60 = 35:35km
2rr_ = ;2(2500sin2)_
_ ;3
r_ = 2500sin
r
2 = (;2500sin60)5x10 = ;0:306km=sec
35:35
rr! + r_2 = ;2500sin2! ; (2500)(2)cos2_2
! _2 2
r! = ;2500sin2 +r 2cos2 ] ; r_ = ;0:12687km=sec2
vr = r_ = ;0:306km=sec v = r_ = (35:35)5x10;3 = 0:177km=s
ar = r! ; r_2 = ;0:12687 ; 35:35(5x10;3)2 = ;0:128km=sec2
a = r! + 2r__ = 35:36(2x10;3)2 + 2(;0:306)(5x10;3) = 0:0676km=sec2
Example 4 The slotted link is pinned at O, and as a result of
the constant angular velocity _ = 3 rad/s it drives the peg P
for a short distance along the spiral guide r = (0:4) m, where
is in radians. Determine the velocity and acceleration of the
particle at the instant it leaves the slot in the link, i.e., when r
= 0.5 m.
r = 0:4
r_ = 0:4_
r! = 0:4!
at r = 0.5 m
r_ = 0:4_ = 0:4(3) = 1:2m=sec
r! = 0:4(!) = 0
= 0r:4 = 00::45 = 1:25rad
vr = r_ = 1:2m=sec
v = r_ = (0:5)(3) = 1:5m=sec
ar = r! ; r_2 = 0 ; 0:5(3)2 = ;4:5m=sec2
a = r! + 2r__ = 0 + 2(1:2)(3) = 7:2m=sec2
Example 5 At the instant shown, the watersprinkler is rotating
with an angular speed _ = 2rad=s and an angular acceleration
! = 3rad=s2 . If the nozzle lies in the vertical plane and water is
owing through it at a constant rate of 3 m/s, determine the
magnitudes of the velocity and acceleration of a water particle
as it exits the open end, r = 0.2 m.
r = 0:2m
r_ = 3m=sec
_ = 2rad=sec
! = 3rad=sec2
r! = 0
vr = r_ = 3m=sec
v = r_ = 0:2(2) = 0:4m=sec
q p
v = vr2 + v2 = 32 + (0:4)2 = 3:03m=sec
ar = r! ; r_2 = 0 ; (0:2)(3) + 2(3)(2) = 12:6m=sec2
a = r! + 2r__ = 0:2(3) + 2(3)(2) = 12:6m=sec2
q p
a = ar2 + a2 = 0:82 + 12:62 = 12:625m=sec2
Example 6 The mechanism of a machine is constructed so that
the roller at A follows the surface of the cam described by the
equation r = (0:3 + 0:2cos) m. If _ = 0:5rad=s and ! = 0,
determine the magnitudes of the roller's velocity and
acceleration when = 30o. Neglect the size of the roller at this
instant. The rod to which the roller is attached remains
vertical and can slide up or down along the guides while the
guides translate horizontally to the left.
_ = 0:5 ! = 0
r = 0:3 + 0:2cos
r_ = ;0:2sin_
r! = ;0:2(cos2 + sin!)
at = 30o
r = 0:473
r_ = ;0:05 r! = ;0:0433
vr = r_ = ;0:05 v = r_ = 0:473(0:5) = 0:273
p
v = 0:052 + 0:2372 = 0:242m=sec
ar = r! ; r_2 = ;0:0433 ; 0:473(0:5)2 = ;0:162m=sec2
a = r! + 2r__ = 0 + 2(;0:05)(0:5) = ;0:05m=sec2
p
a = 0:1622 + 0:052 = 0:169m=sec2
vx
Example 7 A particle moves along a path dened by polar
coordinates r = (3sint) m and = (2t3)rad, where t is in seconds
and the argument for the sine is in radians. Determine the
components of its velocity and acceleration when t = 1 s.
r = 3sint
= 2t3
vr = r_ v = r_
ar = r! ; r_2 a = r! + 2r__
@ t = 1 sec
= 2t3 = 2rad
_ = 6t2 _ = 6rad=sec
12! t ! = 12rad=sec2
vr = r_ = 1:62m=sec
v = r
_ = 2:524(6) = 15:1m=sec
ar = r! ; r_2 = ;2:524 ; 2:524(6)2 = ;93:4m=sec2
a = r! = 2:524(12) + 2(1:62)(6) = 49:7m=sec2
p
a = (6)2 + (16:5)2 = 17:6m=sec2
Example 8 At the instant shown, the man is twirling a hose
over his head with an angular velocity _ = 3rad=s and an
angular acceleration ! = 3rad=s2. If it is assumed that the hose
lies in a horizontal plane, and water is owing through it at a
constant rate of 3 m/s, determine the magnitudes of the
velocity and acceleration of a water particle as it exits the open
end, r = 1.5 m.
_ = 2rad=sec
! = 3rad=sec2
r_ = 3m=sec
r = 1:5m
r! = 0
vr = r_ = 3m=sec
v = r_ = (1:5)(2) = 3m=sec
p p
v = (3)2 + (3)2 = 18 = 4:24m=sec
ar = r! ; r_2 = 0 ; 1:5(2)2 = 6m=sec2
a = r! + 2r__ = (1:5)(3) + 2(3)(2) = 16:5m=sec2
a = sqrt(6)2 + (16:5)2 = 17:6m=sec2
2.10. ABSOLUTE DEPENDENT MOTION ANALYSIS OF TWO PARTICLES119
2.10 Absolute Dependent Motion Analysis
of Two Particles
If two particles are connected by inextensible cords, their
position and motion will depend on each other
sA + lCD + sB = Lt
dsA = ; dsB ) vB = ;vA
dt dt aB = ;aA
Example 1 The cable and pulley system is used to lift the load
A. Determine the displacement of the load if the end C of the
cable is pulled 4 ft upward. Also, determine the speed of A if
the end C of the cable is given an upward speed of 6 ft/s.
2sA + sA ; sC = l
3sA ; sC = l
3sA = sC = ;4
3sA ; sC = 0 ) sA = ; 34 = ;1:33ft upward
3vA ; vC = 0
vA = v3C = ; 63 = ;2ft=secupward
Example 2 If block A of the pulley system is moving downward
with a speed of 4 ft/s while block C is moving up at 2 ft/s,
determine the speed of block B.
vA = 4ft=sec #
vC = 2ft=sec "
sA + 2sB + 2sC = l
vA + 2vB + 2vC = 0
4 + 2vB ; 2(2) = 0
vB = 4 ;2 4 = 0ft=sec
Example 2 Determine the displacement of the block at B if A
is pulled down 4 ft.
2sA + 2sC = l1 and 2sB ; sC = l2
2sA = ;2sC and 2sB = sC
sA = ;sC
Then
sA = ;2sB
4 = ;2sB
sB = ;2ftup
Velocity and acceleration
vA = ;vC
aA = ;aC
2vB = vC
2aB = aC
Then
vA = ;vC = ;2vB
aA = ;aC = ;2aB
Example 3 Determine the time needed for the load at B to
attain a speed of 8 m/s, starting from rest, if the cable is
drawn into the motor with an acceleration of 0:2m=s2.
4sB + sA = L
4vB = ;vA
4aB = ;aA
aB = ;40:2 = ;0:05m=sec2
vB = vBO + aB t
;8 = 0 ; 0:05t
t = 160sec
2.11 Relative Motion Analysis of Two
Particles Using Translating Axes
Position:
rB = rA + rB=A
Velocity:
vB = vA + v B=A
Acceleration:
aB = aA + aB=A
2.11. RELATIVE MOTION ANALYSIS OF TWO PARTICLES USING TRANSLATING AXES125
Example 1 Two planes, A and B, are ying at the same
altitude. If their velocities are vA = 600 km/h such that the
angle between their straight-line courses is = 75o, determine
the velocity of plane B with respect to plane A.
vB = vA + vB=A
vBx = vAx + vB=Ax
;500 = 600cos75 + vB=Ax
vB=Ax = ;655:29km=h
vBy = vAy + vB=Ay
0 = ;600sin75 + vB=Ay
vB=Ay = 579:5km=h
p
vB=A = (655:29)2 + (579:5)2 = 874:8km=hr
= tan;1 ;579 :5
655:29 = 138:51
Example 2 At a given instant the football player at A throws a
football C with a velocity of 20 m/s in the direction shown.
Determine the constant speed at which the player at B must
run so that he can catch the football at the same elevation at
which it was thrown. Also calculate the relative velocity and
relative acceleration of the football with respect to B at the
instant the catch is made. Player B is 15 m away from A when
A starts to throw the football.
x = x0 + v0x t
y = y0 + v0y t ; 12 gt2
vB = constant
at catch, y = 0
vx2 = v02 ; 2gx
vy = v0y ; gt = 21 gt ; gt = ; 21 gt
x = 0 + 20cos60t ) x = 20cos60t
y = y0 + v0y t ; 12 gt2 ) v0y = + 21 gt ) t = 2 vg0y
t = 2(209sin60)
:8 = 3:53sec
x = (20cos60)(3:53) = 35:34m
vB = tx = 35:34 ; 15
3:53 = 5:764m=sec
at the time of catch
vx = vx0 = 20cos60 = 10m=sec
vy = ; 21 gt = ; 21 (9:8)(3:53) = ;17:297m=sec
vC = 10^{ ; 17:297^|
vB = 5:764^{
vC = vB + vC=B ) vC=B = vC ; vB
vC=B = (10^{ ; 17:297^|) ; 5:764^{ = 4:236^{ ; 17:297^|
p
jvC=B j = (4:236)2 + (17:297)2 = 17:8m=sec
:297 = ;76:23o
= tan;1 ;417:236
aC = ;9:8^|
aB = 0
aC=B = aC ; aB = ;19:8^|
Example 3 At the instant shown, cars A and B are traveling at
speeds of 55 mi/h and 40 mi/h, respectively. If B is decreasing
its speed at 1500mi=hr2 while A is increasing its speed at
800mi=h2, determine the acceleration of B with respect to A.
Car B moves along a curve having a radius of curvature of 0.75
mi.
vB = ;40cos30^{ + 40sin30^|
v A = ;5^{
aA = ;800^{mi=h2
jaBt j = 1500
aBt = 1500cos30^{ ; 1500sin30^|
jaBn j =
v2 = (40)2 = 2133:3mi=hr2
0:75
aBn = 2133:3cos60^{ + 2133:3sin60^|
vB = vA + v B=A
v = vB ; vA = ;40cos30^{ + 40sin30^|] ; ;55^{]
B=A
= 20:36^{ + 20^|
jvB=A j = 28:54mi=hr
= tan;1 = 2020:30 = 44:48o
aB = aA + aB=A
aB=A = aB ; aA = (2365:68 + 1097:5)^| ; (;800)^{3165:68^{ + 1097:5^|
jaB=A = 3350:5
1097:5 = 19:1o
= tan;1 3165:68
Example 4 Two boats leave the shore at the same time and
travel in the directions shown. If vA = 20 ft/s and vB = 15 ft/s,
determine the speed of boat A with respect to boat B. How
long after leaving the shore will the boats be 800 ft apart?
vA = ;20sin30^{ + 20cis30^|
vB = 15cos45^{ + 15sin45^|
vA = V B + vA=B
vA=B = vA ; vB = ;20sin30^{ + 20cos30^|] ; 15cos45^{ + 15sin45^|]
= ;20:61^{ ; 6:714^|
p
jvA=B j = (;20:61)2 + (;6:714)2 = 21:7ft=sec
;6:714
= tan;1 ; 20:61 = 198
o
Use the cosine law
(800)2 = (20t)2 + (15t)2 ; 2(20t)(15t)cos75
t = 36:9sec
or
800 = vA=B t ) t = v800 = 21
800 = 36:9sec
:7
A=B
Example 5 At the instant shown, the bicyclist at A is traveling
at 7 m/s around the curve on the race track while increasing
his speed at 0:5m=s2. The bicyclist at B is traveling at 8.5 m/s
along the straight-a-way and increasing his speed at 0:7m=s2.
Determine the relative velocity and relative acceleration of A
with respect to B at this instant.
vA = 7cos50^{ ; 7sin50^|
vB = 8:5^{
7 = 0:98m=sec2
aA )n = 50
2
aB = 0:7^{
aA )t = 0:5
vA = vB + vA=B
7cos50^{ ; 7sin50^|] ; 8:5^{ = vA=B
v A=B = ;4^{ ; 5:36^|
p2
jvA=B j = 4 + 5:362 = 6:69m=sec
= tan;1 5:436 = 233:26o
aA = aB + aA=B
aA = ;an cos50^{ ; an sin50^| + at cos50^{ ; at sin50^|
= (;0:98cos50 + 0:5cos50)^{ ; 0:98sin50 + 0:5sin50]^|
= ;0:308^{ ; 1:133^|
aA=B = ;0:308^{ ; 1:133^|] ; 0:7^{ = ;1:08^{ ; 1:133^|
aA=B = 1:565m=sec2
= tan;1 ;;11::133
08 = 226
o
Example 6 The boy A is running in a straight line away from
the building at a constant speed of 4 ft/s. At what horizontal
distance d must he be from C in order to make the catch if the
ball is thrown with a horizontal velocity of vC = 10ft=s? Also
determine the relative speed of the ball with respect to boy A
a the instant the catch is made.
x = xo + vox t ) x = 10t
y = yo + voy t + 21 gt2 ) 20 = 21 (32:2)t2 ) t = 1:1146sec
) x = 10(1:1146) = 11:146ft
vB = vA + v B=A
vBx = vox = 10
vBy
2
= voy
2
+ 2g(20) ) vBy = 35:89ft=sec
v B=A = vB ; vA = 10^{ ; 35:89^|] ; 4^{ = 6^{ ; 35:89^|
p2
jvB=A j = 6 + 35:892 = 36:4ft=sec
2.12. NEWTON'S LAWS 133
2.12 Newton's Laws
Newton's Laws: A particle originally at rest, or moving in a
straight line with a constant velocity, will remain in this state
provided the particle is not subjected to unbalanced force.
2nd: F = ma
3rd: The mutual forces of action and reaction between two
particles are equal, opposite and colinear.
F = ma = m dv dmv
dt = dt mlinearmomentum
Newton gravitational acceleration:
F = Gmr12m2
G = 6:673x10;11Nm2 =kg2
w = mg
g = 9:8m=sec2or32:2ft=sec2
If more than one particle F = maG m = mi
2.13 Rectangular coordinates
Fx = max
Fy = may
Fz = maz
2.14 Normal and Tangential Coordinates
F t = mat
Ft u^t = mat Fn u^n = man
at = dv dv
dt = v ds an = v =
2

23=2
dy
1 + dx
= d2 y=dx2
2.15 Cylindrical Coordinates
Fr = mar
F = ma
Fz = maz
To nd the tangent & normal
r
tan = dr=d
ar = r! ; r_2
a = r! + 2r__
az = z!
2.15. CYLINDRICAL COORDINATES 135
Example 1 The baggage truck A has a mass of 300 kg and is
used to pull each of the 300-kg cars. Determine the tension in
the couplings at B and C if the tractive force F on the truck is
F = 480 N. What is the speed of the truck when t = 2 s,
starting from rest? The car wheels are free to roll. Neglect the
mass of the wheels.
F = ma
480 = (800 + 600)a ) a = 0:343m=sec2
vt = vot + at
vt = 0 + (0:343)(2) = 0:686m=sec
FB = ma = (600)(0:343) = 205:7N
FC = ma = 300(0:343) = 102:86N
Example 2 The 500-kg fuel assembly for a nuclear reactor is
being lifted out from the core of the nuclear reactor using the
pulley system shown. If the allowable load in the cable cannot
exceed 8 kN, determine the shortest possible time needed to lift
the assembly to s = 2.5 m. Also, what speed does it have when
s = 2.5 m? Originally the assembly is at rest when s = 0.
F = ma
2T ; mg = ma
2(800) ; 500(9:8) = 500a
a = 22:19m=sec2
s = so + vo t + 21 at2
2:5 = 0 + 0 + 12 (22:19)t2
t = 0:475sec
v = vo + ac t
v = (22:19)(0:475) = 10:5m=sec
Example 3 The boy having a weight of 80 lb hangs uniformly
from the bar. Determine the force in each of his arms in t = 2s
if the bar is moving upward with (a) a constant velocity of 3
ft/s, and (b) a speed of v = (4t2)ft=s, where t is in seconds. a)
v=c)a=0
2T = w ) T = w2 = 80
2 = 40lb
b)
v = 4t2 ) a = 8t @t = 2sec ) a = 16ft=sec2
F = ma w = mg ) m = wg
2T ; w = wg a
2T = 2 + wg a
T = (w + wg a)=2 = (80 + 3280:2 16)=2 = 59:9lb
Example 4 A 40-lb. suitcase slides from rest 20 ft down the
smooth ramp. Determine the point where it strikes the ground
at C. How long does it take to go from A to C?
Fs = mas
w sin = wg as
as = g sin = 32:2 sin 30 = 16:1ft=sec2
vB =?
vB2 = vA2 + 2as = 2as = 2(16:1)20 = 644
vB = sqrt644 = 25:4ft=sec
t =?
AB
vB = vA + at ) t = vaB = 25:4
16:1 = 1:576sec
B-C projectile motion
R = 0 + vox t = vB cos 30t )
sy = soy + voy t + 21 act2
4 = 0 + vB sin 30t + 12 (32:2)t2
4 = 25:4 sin 30t + 1 (32:2)t2
p 2
16:1t2 +12:7t ; 4 = 0 ) t = ;12:7
(122(16 :7)2 ; 4(16:1)(;4) = 0:2412sec
:1)
R = 25:4 cos 30(0:2412) = 5:3ft
t = tAB + tBC = 1:576 + 0:2412 = 1:817sec
Example 5 Each of the two blocks has a mass m. The
coecient of kinetic friction at all surfaces of contact is . If a
horizontal force P is applied to the bottom block, determine
the acceleration of the bottom block in each case. a)
F = ma
P ; (mA + mB )g + mB g = mA aA
a = mP ; 3g
A
b)
sB + sA = l
aA = ;aB

Block A) P ; T ; 3mg = maA
Block B) mg ; T = maB ) T = mg ; maB
P ; (mg ; maB ) ; 3mg = maA
P ; 4mg = m(aA ; aB ) = 2maA
Example 6 The winding drum D is drawing in the cable at an
accelerated rate of 5m=s2. Determine the cable tension if the
suspended crate has a mass of 800 kg.
sA + 2sB = l
aA = ;2aB
aB = ;2aA = ; 25 = 2:5m=sec2
Fy = may
2T ; 800(9:81) = 800(2:5)
T = 4924N
Example 7 The 2-kg collar C is free to slide along the smooth
shaft AB. Determine the acceleration of collar C if (a) the
shaft is xed from moving, (b) collar A, which is xed to shaft
AB, moves downward at constant velocity along the vertical
rod, and (c) collar A is subjected to a downward acceleration
of 2m=s2. In all cases, the collar moves in the plane.
~ac = ~aA + ~aC=A
a) A is not moving
Fs = mac
mg sin = mac = 6:93m=sec2
b) A has constant velocity
~aA = 0
ac = 6:93m=sec2
c) A has 2m=sec2 #
Fs = mac
mgw sin = m(aA cos 45 + aC=A )
aC=A = g sin ; aA cos 45 = 5:515m=sec2
~aC = ~aA + ~aC=A
~ac = s|^ + (5:515 cos45^{ + 5:515 sin 45^|) = 3:9^{ + 5:9^|
p
ac = 5:92 + 3:92 = 7:08m=sec2
Example 8 The spring-held follower AB has a weight of 0.75 lb
and moves back and forth as its end rolls on the contoured
surface of the cam, where r = 0:2ft and z = (0:1 sin )ft. If the
cam is rotating at a constant rate of 6 rad/s, determine the
force at the end A of the follower when = 90o. In this position
the spring is compressed 0.4 ft. Neglect friction at the bearing
C.
z = 0:1 sin
z_ = 0:1 cos _
z! = ;0:1 sin _2 + 0:1 cos !
_ = 6rad=sec ! = 0
at = =2 z! = ;3:6
Fz = maz
FA ; Fs = maz
FA ; 12(0:4) = 032:75
:2 (;3:6)
FA = 4:72lb
Example 9 The speed of the 3500-lb sports car is plotted over
the 30-s time period. Determine the traction force F acting on
the car need to cause the motion at t = 5 s and t = 20 s.
When t = 5 sec
v = 60
10 t 0 t 10
a = dv
dt = 6ft=sec
2
F = ma = 3500
32:2 (6) = 652lb
When t = 20 sec
v = 80 ; 60
30 ; 10 (t ; 10) + 60 = 50 + t
a = dv
dt = 1ft=sec
2
F = ma = 3500
32:2 (1) = 109lb
Example 10 The water-park ride consists of an 800-lb sled
which slides from rest down the incline and then into the pool.
If the frictional resistance on the incline is Fr = 30lb, and in the
pool for a short distance Fr = 80lb, determine how fast the sled
is traveling when s = 5 ft.
Fx = max ) mg sin ; Fr = max
800
800 sin 45 ; 30 = ax ) ax = 21:561ft=sec
2
32 : 2
p
v12 = vo2 + 2as = 0 + 2(21:561) 1002 + 1002 ; 0]
v1 = 78:093ft=sec
F = ma
;Fr = ma
800
;80 =
32:2 a ) a = ;3:22ft=sec
2
v22 = v12 + 2a(s) = (78:093)2 + 2(;3:22)(5 ; 0)
v2 = 77:9m=sec
Example 11 A force F = 15 lb is applied to the cord.
Determine how high the 30-lb block A rises in 2 s starting from
rest. Neglect the weight of the pulleys and cord.
F = ma ) ;wA + 4F = mA aA
30
;30 + 4(15) =
32:2 aA
aA = 32:2ft=sec2
y = yo + vo t + 21 at2
y = 0 + 0 + 21 (32:2)(2)2 = 64:4ft
Example 12 A car of mass m is traveling at a slow velocity vo.
If it is subjected to the drag resistance of the wind, which is
proportional to its velocity, i.e., FD = kv, determine the
distance and the time the car will travel before its velocity
becomes 0:5vo. Assume no other frictional forces act on the car.
Fx = ma
;F = ma
D
;kv = m
dv
dt
k
; dt =
dv
m v
k
; t = ln
v
m vo
t = ; mk ln vv = mk ln vvo
o
at v = 12 vo ) t = mk ln2 = 0:693 mk
;kv = m dv dv dx dv
dt = m dx dt = mv dx
k
; dx =
vdv
m v = dv
k
; (x ; xo ) = v ; vo
m
x = ; mk (v ; vo ) = ; mk ( 21 vo ; vo ) = 0:5 mk vo
Example 13 The smooth block B of negligible size has a mass
m and rests on the horizontal plane. If the board AC pushed
on the block at an angle with a constant acceleration ao,
determine the velocity of the block along the board and the
distance s the block moves along the board as a function of
time t. The block starts from rest when s = 0, t = 0.
Fx = 0 = maB sin
aB = aAC + aB=AC
aB sin = ;ao sin + aB=AC
aB=AC = ao sin
Z vB=AC Z t
dvB=AC = ao sin dt
0 0
vB=AC = ao sin t
Z t
sB=AC = s = ao sin tdt
0
s = 12 ao sin t2
Example 14 Determine the constant speed of the passengers on
the amusement-park ride if it is observed that the supporting
cables are directed at = 30o from the vertical. Each chair
including its passenger has a mass of 80 kg. Also, what are the
components of force in the n, t, and b directions which the
chair exerts on a 50-kg passenger during the motion?
Fn = man = m v = m 4 + 6vsin 30
2 2
T sin 30 = 80 4 + 6vsin 30
2
Ft = 0
Fb = 0 = T cos 30 ; mg = 0
T = 906:2N
v = 6:3m=sec
Fn = 50 v = 50 (6:73) = 283N
2 2
SigmaFb = mab ) Fb = (mg) = 0
Fb ; 490:5 = 0
Fb = 490:5
Example 15 The collar has a weight of 5 lb, and the attached
spring has an unstretched length of 3 ft. If the collar is
positioned on the rod so that = 30o and released from rest,
determine the initial acceleration of the collar and the normal
force on it. Neglect friction.
p
L = 32 + 32 ; 2(3)(3) cos 120 = 5:196ft
Fs = k(sf ; si ) = 2(5:196 ; 3) = 4:392lb
Ft = mat
5 sin 30 ; Fs sin 30 = 325:2 at
at = 1:96ft=sec2
Fn = man
;N + 5 cos 30 + 4:39 cos30 = 0
N = 8:13lb
a = at = 1:96ft=sec2
Example 16 The cylindrical plug has a weight of 2 lb and it is
free to move within the connes of the smooth pipe. The
spring has a stiness k = 14 lb/ft and when no motion occurs
the distance d = 0.5 ft. Determine the force of the spring on
the plug when the plug is at rest with respect to the pipe. The
plug is traveling with a constant speed of 15 ft/s, which is
caused by the rotation of the pipe about the vertical axis.
Fn = man
Fs = m v = 322:2 (3(15)
2 2
; d)
= 14(0:5 ; d)
(0:5 ; d)(3 ; d) = 0:998
d = 0:1498ftchoosingd < 0:5
Fs = 14(0:5 ; 0:1498) = 4:9lb
Example 17 If the bicycle and rider have a total weight of 180
lb, determine the resultant normal force acting on the bicycle
when it is at point A while it is freely coasting at vA = 6ft=s.
Also, compute the increase in the bicyclist's speed at this
point. Neglect the resistance due to the wind and the size of
the bicycle and rider.
w = 180lb
vA = 6ft=sec
x
y = 20 cos 20
dy
dx = ; sin 20 x]x=5ft = ;2:221
d2 y ; 2
dx2 = 20 cos 20 x]x=5ft = ;0:3489

23=2
dy
1 + dx
= d2 y
dx2

1 + (;2:221)2

3=2
= ;0:3489
= 41:43ft
Ft = mat = w sin = mat

dy = tan;1 ; 2:221 = ;65:76o
= tan;1 dx
at = w sin
m = (32:2) sin 65:76 = 29:4ft=sec
2
Fn = an ) mg cos ; N = man
180 6
180 cos65:76 ; N = 32
2
:2 41:43 ) N = 69lb
Example 18 Solve Prob. 13-93 if the arm has an angular
acceleration of ! = 3rad=s2 when _ = 2rad=s at = 30o.
m = 0:5kg
cos = 0r:5
r = cos0:5 = 0:5 sec

r_ = 0:667m=sec
r! = 0:5(sec tan _) tan + sec (sec2 _)]_ + sec tan !]
= 0:5sectan2_2 + sec3_2 + sectan!]
= 30o _ = 2rad=sec ! = 3rad=sec2
r = 0:5sec30 = 0:5774m
r_ = 0:667m=sec
r! = 4:849m=sec2
ar = r! ; r_2 = 4:85 ; 0:577(2)2 = 2:54m=sec2
a = r! + 2r_ _ = 4:398m=sec2
Fr = mar ) Ncos30 ; 0:5(9:8)cos30 = 0:5(2:54)
N = 6:37N
F = ma ) F + 0:5(9:8)sin30 ; 6:37sin30 = 0:5(4:39)
F = 2:93N
Example 19 Solve Prob. 13-99 if ! = 2rad=s2 when _ = 5rad=s
and = 60o.
r = 0:8 sin
r_ = 0:8 cos _
r! = ;0:8 sin _2 + 0:8 cos !
_ = 5rad=sec ! = 2rad=sec2 = 60o
r = 0:6928m
r_ = 2m=sec
r! = ;16:521m=sec2
ar = r! ; r_2 = ;16:521 ; 0:6928(5)2 = ;33:84m=sec2
a = r! + 2r__ = 0:6928(2) + 2(2)(5) = 21:386m=sec2
Fs = ks = 30(0:6928 ; 0:25) = 13:28N
Fr = ;Fs + Np cos 30 = mar
= 13:284 + Np cos 30 = 0:08(;33:84)
Np = 12:2N
F = ma = F ; Np sin = 0:08(21:386)
F = 7:82N
Example 20 The ball has a mass of 2 kg and a negligivle size. It
is originally traveling around the horizontal circular path or
radius ro = 0:5m such that the angular rate of rotation is
_o = 1rad=s. If the attached cord ABC is drawn down through
the hole at a constant speed of 0.2 m/s, determine the force
the cord exerts on the ball at the instant r = 0.25 m. Also,
compute the angular velocity of the ball at this instant. Neglect
the eects of friction between the ball and horizontal plane.
Hint: First show that the equation of motion in the direction
yields a = r! + 2r__ = r1 d(dtr2_ = 0. When integrated, r2 _ = C ,
where the constant C is determined from the problem data.
F = ma
2_
0 = r! + 2r__ = 1r d(rdt)
r2 _ = C = (0:5)2(1) = (0:25)2 _
_ = 4rad=sec
r_ = ;0:2m=sec r! = 0
ar = r! ; r_2 = 0 ; 0:25(4)2 = ;4m=sec2
Fr = mar ; T = 2(4)
T = 8N
Example 21 By using an inclined plane to retard the motion of
a falling object, and thus make the observations more accurate,
Galileo was able to determine experimentally that the distance
through which an object moves in free fall is proportional to
the square of the time for travel. Show that this is the case,
i.e., s / t2 , by determining the time tB tC andtD needed for a
block of mass m to slide from rest at A to points B, C, and D,
respectively. Neglect the eects of friction.
mgsin20 = ma
a = gsin20 = 3:35m=sec2
s = 21 at2 = 12 (3:35)t2
s t
2 1.09
4 1.54
9 2.32
Example 22 A smooth 2-lb collar C ts loosely on the
horizontal shaft. If the spring is unextended when s = 0,
determine the velocity of the collar when s = 1 ft if the collar
is given an initial horizontal velocity of 15 ft/s when s = 0.
p
Fx = max ) Fs cos = 322:2 a = ;4 s2 + 1 ; 1] p 2s
s +1

a = ;64:4 s ; p 2s
s +1
vdv = ads
Z v Z 1
vdv = ;64:4 s ; p 2s ds
15 0 s +1
v2

s2 p 1
v
2 j15 = ;64:4 2 ; s2 + 1
0
v = 14:6ft=sec
Example 23 The conveyor belt delivers each 12-kg crate to the
ramp at A such that the crate's speed is vA = 2:5m=s, directed
down along the ramp. If the coecient of kinetic friction
between each crate and the ramp is k = 0:3, determine the
smallest incline of the ramp so that the crates will slide o
and fall into the cart.
vB = 0
vA = 2:5m=sec
s = 3m
k = 0:3
m = 12kg
vB2 = vA2 + 2as
0 = (2:5)2 + 2a(3) ) a = 1:0417m=sec2
Fy = may ) N ; mg cos = 0
N = mg cos = 12(9:81) cos = 117:72cos
Fx = max ) mg sin ; Ff = ma
Ff = N = 0:3(117:72cos)
(12)(9:81) sin ; 35:316 cos = 12(1:0417)
117:72 sin ; 35:316 cos ; 12:5 = 0
= 22:6o
Chapter 3
Mechanics of Rigid
Bodies
Arigid bosy has a mass and a sizable volume. No longer be
presented as a point.
3.1 Centroids
3.1.1 Center of gravity:
For distributed load, can be represented by a single load
applied at x y z where x y z are the coordinates of the center
of gravity.
Particles
x = wwi xi y = wwi yi z = wwi zi
i i i
Need reference point.
x = xm
i mi y = yi mi z = yi mi
mi mi
i
3.1.2 Body
R R R
x = R x~dw
dw y = R y~dw z = R z~dw
dw dw
Same material.
159
160 CHAPTER 3. MECHANICS OF RIGID BODIES
R dV
x = R x~dV
R
y = R y~dV
dV
R dV
z = R z~dV
Centroid: Geometric center of an object for uniform bodies.
Volume
R R R
x = R x~dV
dV y = R y~dV z = R z~dV
dV dV
Area
R R R
x = R x~dA
dA y = R y~dA z = R z~dA
dA dA
Line
R R R
x = R x~dL
dL y = R y~dL R z~dL
dL z = dL
Symmetry: For bodies or shapes that have an axis of symmetry
) Centroid will be along that axis
if two axes of symmetry, then at the intersection
if three " " " " " " "
Procedure of Analysis:
1. Select coordinate system
2. Select a dierential element
3.1. CENTROIDS 161
x b b
h ; y = h ) x = h (h ; y )
x~ = x2 dA = xdy
y~ = y
Z Z Zh
ydA = y~dA = y b (h ; y)dy
h
0
b Z bZh

b hy2 y3 h
h y (h ; y)dy = h 0 (hy ; y )dy = h 2 ; 3 0
2
b

y2 h b

hy2 y3 h
h y hy ; 2 0 = h y 2 ; 3 0
h3 ; h3 h3
y= 2 = h62 = 31 h
h2
3
2
Simple Areas
dA = xdy = bdy
x~ = x2 = 2b
y~ = y
Z Z Zh Zh
ydA = ydA = ybdy = b ydy
h 0 0
R
b h ydy h
= bb y =2hj0 = h2
2
y = R h0 yj0
0 bdy
R R
b h x~bdy b2 =2 0h dy b
x= R h bdy = b R h dy = 2
0
0 0
3.1. CENTROIDS 163
Example 1 Locate the centroid of the shaded area bounded by
the parabola y = a1 x2 and the line y = a.
dA = xdy
R dA R x2 dy
x = R x~dA = R2
xdy
Ra a a y2 a
R 0 2 ydy
a p
aydy
= p2 2 j0
ay 3=2 a
0 3=2 j0
= paaa=34=2 = 83 a
3
3=2
Ra y~dA R
a y paydy
y = R0 a = 0 2 2 =
0 dA 3a
p R a 3=2 p y5=2
a y dy a
0 = 2 52=2 = 53 a
a
2 2
3 3a
Example 2 Determine the distance y to the center of gravity of
the homogeneous rod bent into the parabolic shape.
Z Z
ydL = ydL
s s 2
p
dL = dx2 + dx 2 = dy dx dy
2
dy + 1 = dx 1 + dx
dy
dx = x
Z p 1 Z 1 p
y 1 + x2 dx = 0:5x2 1 + x2 dx
0 0

p p 1
y x2 1 + x2 + 12 ln(x + x2 + 1
0

p p 1
= 0:5 x(2x8 + 1) x2 + 1 ; 81 ln(x + x2 + 1)
2
0
; p
0:5 3 2 ; 18 ln(1 + 2)
p
:21 = ;:183ft

y= 8
p p = 1:014779
2 + 21 ln(1 + 2)
1
2
Z Z Z Z1 p
x dL = x~dL = xdL = x 1 + x2 dx
0
Z1 p
1:1479x = x 1 + x2 dx = 31 (x2 + 1)3=2 j01 = 13 (2)3=2 ; 31 = 0:6095
0
x = 0:5309
3.1. CENTROIDS 165
Example 3 Locate the centroid of the solid.
Z Z
dV = y2 dz
y = az2
2
h
y2 = ha4 z 4
2
Z Z Zh Zh
ha4 z 5 dz = ah4
2 2
zdV = zdV = z 5dz
0 0
R
a4 h z 5 dz
z = Rhh4 a02 4
0 h4 z dz
a2 R h z 5 dz
h4 R0
= a 2 h z 4 dz =
h
4
0
z 6 jh 5
z 5 jh = 6 h
6 0
5 0
Example 4 Locate the centroid of the shaded area.
x~ = x
y~ = y=2
dA = ydx
y = bh2 x2
R R
dA = R xydx
x = R x~dA ydx
Rb h 2
x x dx h x jb 4
= R0 b hb 2 = bh x4 b0
2 2
0 x dx
b2 j
b2
3
3 0
= 34 b
R R
dA = R y2 ydx
y = R y~dA ydx
R
1=2 b h2 x4 dx
= h R0 b b42
b2 0 x dx
h x jb
2 5
3h
= 2hb4 x53 b0 = 10
b2 3 j0
3.1. CENTROIDS 167
Example 5 Locate the centroid of the spandrel area.
dA = xdy
y~ = y
x~ = x=2
(x ; r)2 = r2 ; (y ; r)2 = (r ; (y ; r))(r + (y ; r)) = y(2r ; y)
p
x ; r =
y(2r ; y)
p
x = r ; y(2r ; y)
R R r y hr ; py(2r ; y)i dy
y = R y~dA
dA = 0
R r r ; py (2r ; y )dy
0
Z r hp i
p
2ry ; y2 dy = ; 2y ;4 2r 2ry ; y2 + 48r arcsin 2y 2;r 2r +ryj0r
2 4
0 0
= r2 ; r2 arcsin(0) ; arcsin(;1)] = r2 ; r2 2 ; 23 ] = 0:2146r2
2 2
Z rh p i
Z rp r
yr ; y y(2r ; y) dy = ry ]0r ; ; 1 (2ry ; y2 )3=2 + r
2
2 3 2ry ; y2 dy
0 0

2
0
= ry j0r + 1 (2ry ; y2 )3=2 j0r ; r r2 (arcsin(0) ; arcsin(;1))
2
2 3
= r2 + 31 r3 ; r 4 = 0:04793r3
3 3
y = 00::04793 r3
2146r2 = 0:22336r
x = ybysymmetry = 0:22336r
Example 6 Determine the location r of the centroid C for the
loop of the lemniscate. r2 = 2a2 cos 2 (;45o 45o).
dA = 21 rrd
r~ = 32 r
R
45
r~dA
r = R;4545
;45 dA
Because of symmetry the limit of integral can be changed from
(-45 to 45) to (0 - 45) and multiply by 2.
R
2 45 r~dA
r = R045
2 dA
0
R 45 2 1 2 R
0 3 r 2 r d = 3 0 r d
1 45 3
= R 45 1 r2 d 1 R 45 r2 d
0 2 2 0
r2 = 2a2 cos 2r3 = (2a2 cos 2)3=2
R 3 3=2 2)3=2 d
3 0 (2a ) = 23 (2a2) sin(02:436)
R 2a2(cos
1 45 3
r= = 0:824a
1 45
2 0 cos 2d 2a 2 j45
0
3.1. CENTROIDS 169
Example 7 Locate the centroid of the solid. y = out
dV = y2 dz
z~ = z
y2 = a(a ; 2z
z = 2a
R
z = R z~dV
dV =
R 2a
R02azy dz
2
=
0 y dz
2
R2a
(a ; z2 )zdz
R a
0
2a
a(a ; z2 )dz
=
0
h i2a
a az22 ; z63 0 2
= a
a az ; z42 02a 3
3.1.3 Composite Bodies
Divide the total body into parts which have known center and
weight - then we use
xi L
x= ~
L
y = ~yi L
L
z = ~zi L
L
xA
xi = ~
A
3.1. CENTROIDS 171
Example 1 Determine the location (x y) of the centroid of the
No. A x Ax y Ay
1 6 1.5 9 1 6
2 6 1 6 3 31 20
area. 3 12 6 72 1 12
4 6 10.5 63 1 6
5 6 11 66 3 31 20
36 216 64
x = Ax 216
A = 36 = 6"
y = Ay 64
A = 36 = 1:778"
Example 2 Determine the location y of the centroid of the
beam's cross-sectional area.
No A x y Ax Ay
1 12,000 0 15 0 180,000
2 17,600 0 250 0 44 105
3 6,000 0 485 0 2,910,000
35,600 74,900,000
y = Ay 7490000
A = 35600 = 210:39mm
3.1. CENTROIDS 173
Example 3 Determine the location y of the centroidal axis xx of
the beam's cross-sectional area. Neglect the size of the corner
welds at A and B for the calculation.
No. A y Ay
1 2250 7.5 16,875
2 2250 90 202,500
3 7853.98 215 1,688,605.7
12353.98 1,907,980.7
y = Ay 1 907 980:7
A = 12 353:98 = 154:44mm
3.2 Statics of Rigid Bodies
For particles and equilibrium
F~ = 0
sucient and necessary For bodies
F~ = 0
necessary but not sucient
Moment tend to turn the body, equilibrium requires the body
to have no rotation
3.3 Cross Product
Vector multiplication
C~ = A~ B~
kC k = kAkkB k sin
C direction is perpendicular to the plane containing A~ & B~
! right hand rule
operations 1)
A B = ;B~ A~
2)
a(A B ) = aA~ B~ = A~ aB~
3)
A~ (B~ + D~ ) = (A B ) + (A~ D
î ^j = k^
î î = 0
A~ = Axî + Ay ^j + Az k^
A~ = Axî + Ay ^j + Az k^
3.3. CROSS PRODUCT 175

î ^j k^
~ ~ A A ;A
C~ = AxB
Bxx Byy Bz z
=
= (Ay Bz ; Az By )î ; (Ax Bz ; Az Bx )^j + (Ax By ; Ay Bx )k^
M~ O = ~rxF~
Moment around O =
rOA xF~
Example
A~ = 3î + r~j ; k^
B~ = 2î ; ~j + k^

î ^j
C = 3 4
k^

;1
2 ;1 1
= (4 ; 1)î ; (3 + 2)^j + (;3 ; 8)k^
= 3î ; 5^j ; 11k^
Example 1
A(4,5) P(-3, -7)
~rPA = 7î + 10^j
F~ = 800î

î
~ F~A = 7
M~P = rPA
^j k^

10 0
800 0 0
= (0)î ; (0)^j + (;8000)k^ = ;8000k^N m
3.4 Moment of a Force - Scalar Formulation
Measure of the tendency of a force to rotate a body around a
point or axis
Moment in plane
MO = dF
the perpindicular distance or
M = rF sin = dF
Direction: use the right-hand rule
Resultant moment
+M = Fd
3.4. MOMENT OF A FORCE - SCALAR FORMULATION 177
if F can be resolved into components sometime will help then
Mo = dxFx + dyFy
dx = perpendicular distance between Fx and 0 dy =
perpendicular distance between Fy and 0
Example 1
d1 = distanceFAy andP = 2 + 6 = 8m
d2 = distanceFAxandP = 3:46m
d1 = distanceFAy andP = 3 + 3:46 = 6:46m
M = dF
= d1 FAy ; d2 FAx ; d3 FB
= 8 12 5
13 520 ; 3:46 13 (520) ; (6:46)(400)
= 546N:m
Example 3
sin 90 + = sin 90 cos + cos 90 sin = cos
Find MP
MP = rF sin = dF
r sin = d = 10m = 7 + 3
MP = (10)(800) = 8000N:m
MP ; ;8000k^N:m
Example 4 at point O
FAy = FA sin = 12
13 FA
5F
FAx = ;FA cos = ; 13 A
MO = di Fi
d is the perpindicular distance d for FAx = 0 d for FAy = 6 m d
for FB = 3 m
12 F )6 ; 3x400 = 6x 12 x520 ; 3x400
M = d1 FAx + d2 FAy ; d3 FB = 0 + ( 13 A 13
MO = 1680N:m
Example 5
Determine the magnitude and directional sense of the resultant
moment of the forces about point P.
5 = 5 x260 = 100N
F1x = F1 13 13
12 = 12 x260 = 240N
F1y = F1 13 13
F2x = F2 cos 30 = 400 cos30 = 346:4N
F2y = F2 sin 30 = 400 sin 30 = 200N
d1x = 3m d1y = 2m
d2x = 5 + 3 = 8m d2y = 4 ; 2 = 2m
M = d1x F1x +d1y F1y +d2x F2x ;d2y F2y = 3x100+2x240+8x346:4;2x200 = 3151:2N:m
Example 6 Determine the moment of each force about the bolt
located at A. Take
FB = 40lb FC = 50lb:
M = d1 FBy + d2 FCy
FBy = FB cos 25 = 40 cos 25 = 36:25lb
FCy = FC cos 30 = 50 cos 30 = 43:3lb
MB = 2:5 FBy = 2:5 36:25 = 90:62lb ; ft
MC = (2:5 + 0:75) 25:98 = 140:73ft ; lb
Example 7 If the resultant moment about point A is 4800 N-m
clockwise, determine the magnitude of F3 if
F1 = 300NandF2 = 400N
M = ;2F1y ; 5F2y ; 5F3y + 4F3x
F1y = F1 cos 30 = 300 cos30 = 259:8N
F2y = F2 sin 60 = 400 sin 60 = 346:4N
F3x = 53 F3
F3y = 54
MA = ;2F1y ; 5F2y ; 5F3y + 4F3 x
4800 = ;2(259:8) ; 5(346:4) ; 5 45 F3 + 4 53 F3
4800 = ;519:6 ; 1732 ; 4F3 + 12 5 F3
F3 = ;1592:75N
Example 8
F~1 = 400î + 300^j + 120k^
~r1 = 0î + 0^j + 12k^
F~2 = 100î ; 100^j ; 60k^
~r2 = 0î + 0^j + 12k^
F~3 = ;500k^
~r3 = 0î ; 1^j + 8k^
M~ 1 = ~r1 F~1

î ^j k^
= 0 0 12
400 300 120
= (;12 300)î ; (;12 400)^j + 0k^ = ;3600î + 4800^j
M~ 2 = r~2 F~2

î ^j
= 0 0
k^

12
100 ;100 ;60
= (12 100)î ; (;12 100)^j + 0k^ = 1200î + 1200^j
M~ 3 = r~3 F~3

î ^j k^
= 0 ;1 8
0 0 ;500
= 500î ; 0^j + 0k^
M~ = M~ 1 + M~ 2 + M~ 3 = (;3600 + 1200 + 500)î + (4800 + 1200)^j
= ;1900î + 600^jN ; m
|M| = 6293.6 N-m
;1900 ;1 o
= (cos 6293:6 ) = 107:6

= 17:60
= 90
Example 9
Determine the smallest force F that must be applied along the
rope in order to cause the curved rod, which has a radius of 5
ft, to fail at the support C. This requires a moment of M = 80
lb-ft to be developed at C.
A(0:5 sin 60 5 cos 60)
A(0, 4.33, 2.5) B(6, 7, 0) C(0, 0, 5)
AB = 6î + 2:67^j ; 2:5k^
U AB = 0:85î + 0:38^j ; 0:36k^
F~ = FU AB = F (0:85î + 0:38^j ; 0:36k^)
~ = oî + 4:33^j ; 2:5k^
~r = CA

î
M~ = ~r F~ = 0
^j k^

4:33 ;2:5
0:85F 0:38F ;0:36F
= (4:33)(;0:36);(0:38)(;2:5)]F î;(;2:5)(0:85)]F ^j+;4:330:85]F k^ = ;0:61F î+2:12F ^j;3:68Fk
jM j = 4:29F = 80lb ; ft
F = 18:6lb
Example 10 Determine the magnitude and directional sense of
the resultant moment of the forces about point P.
F1x = ;F1 sin 30 = ;300 sin 30 = ;150lb
F1y = ;F1 cos 30 = ;300 sin cos = ;260lb
F2x = 45 F2 = 250 54 = 200lb
F2y = ;53 F2 = ;250 53 = ;150lb
MP = ;d1x F1x + d1y F1y ; d2x F2x ; d2y F2y
d1x = 6 ; 4 = 2ft
d1y = 4 + 3 = 7ft
d2x = 10 sin 30 + 4 = 9ft
d2y = 10 cos 30 ; 4 = 4:66ft
MP = ;2(150) + 7(260) ; 9(200) ; (4:66)(150) = ;979:038lb:ft
MP = 979lb:ftc:w:
Example 11 Determine the direction (0o 180o) of the
force F = 40 lb so that it produces (a) the maximum moment
about poing A and (b) the minimum moment about point A.
Compute the moment in each case.
F~ = F cos î ; F sin ^j
dx = 2 dy = 8f
M = ;dxF cos ; dyF sin
M = ;2(40) cos ; 8(40) sin = ;80 cos ; 320 sin
remember
M~ = r F~ = rF sin
so if

= 90o M = max = rF
a)
Mmax = rF
, p
r = 82 + 22 = 8:24ft
r = arctan 82 = 14o
= 90 ;
= 90 ; 14 = 76o
b)
Mmin = 0 = ;80 cos ; 320 sin
80 sin o
;
320 = cos = tan =) = invtan = ;14
= 180 ; 14 = 166o
Example 12 The twoline exerts a force of P = 4 kN at the end
of the 20-m-long crane boom. If x = 25 m, determine the
position of the boom so that this force creates a maximum
moment about point O. What is this moment? For max M it
will need a 90o between P & r
M = (20)(4) = 80 kN.m
To nd nd
Px = P cos
Py = ;P sin
Mo = ;Px(1:5) + 25Py = ;1:5P cos + 25P sin = 80
;(1:5)(4) cos + 25(4) sin = 80
25 sin ; 1:5 cos = 20
=)= = 56:43o
= 90 ; = 90 ; 56:43 = 33:6o
Another solution for Example 12
(1:5)2 + x2 = y2
y 25 + x 20 + y
x = x = y Similarityoftriangles
25 + x 20 + y
=
y x
p
25x + x2 = 20y + y2 = 20y + 2:25 + x2 = 20 2:25 + x2 + 2:25 + x2
p
20 2:25 + x2 + 2:25 = 25x
x = 2.26 m y = 2.7 m
= arctan 21::26
5 = 33:6o
Example 13 The crowbar is subjected to a vertical force of P =
25 lb at the grip, whereas it takes aaaa force fo F = 155 lb at
the claw to pull the nail out. Find the moment of each force
about point A and determine if textbfP is sucient to pull out
the nail. The crowbar contacts the board at point A.
MP = 14P cos 20 + 1:5P sin 20 = 25(14 cos20 + 1:5 sin 20 = 341:7in:lb
MF = ;3F sin 60 = ;155(3) sin 60 = ;402:7in:lb
MF > MP
P is nt sucient to pull the nail
P should be
P = 14 cos 20M+F1:5 sin 20 = 13
402:7 = 29:46
:66
3.5 Moment of a Force about a speciec
axis

uax uay uaz
M~ a = ~ua (~r F~ )]~ua = rx ry rz
Fx Fy Fz
1) Find the moment at one point in the axis 2) Find the unit
vector of the axis 3) Then Maxis magnitude =
ua (~r F~ )
(scalar) 4)
M~ = (~ua (~r F~ )~ua
For more than one force
jMA j = ~ua ~r F~
3.5. MOMENT OF A FORCE ABOUT A SPECIFIEC AXIS 193
Example 1
F~ = 50î ; 20^j + 20k^
~rOF = î ; 2^j + 6k^
Oa = 0î + 4^j + 3k^
uOa = 45 ^j + 53 k^
h i 0 4 3

M~ oa = ~uoa (~rOF F~ ) uoa = 1 6 uoa
5 5
;2
50 ;20 20
= ; 45 (20;300)+ 53 (;20+100)]uoa = 272uoa ] = 272left( 54~j + 35 k^) = 217:6^j+163:2k^N ;m
Example 2
The cutting tool on the lathe exerts a force F on the shaft in
the direction shown. Determine the moment of this force about
the y axis of the shaft.
F~ = 6î ; 4^j ; 7k^kN
~r = (30mm cos 40)î + 30mm sin 40k^ = 23î + 19:3k^
ua = ^j
M~ a = (ua (~r F~ ))ua

0 1 0
= 23 0 19:3 ^j ]
6 ;4 ;7
= ;1((23 ;7) ; (19:3)6)]^j = 276:8^jN ; m
Example 3
A vertical force of F = 60 N is applied to the handle of teh
pipe wrench. Determine the moment that this force exerts
along the axis AB (x axis) of the pipe assembly. Both the
wrench and pipe assembly ABC lie in teh x-y plane.
Suggestion: Use a scalar analysis.
F~ = ;60k^N
U AB = î
A(o,o,o)
E (150 cos 45 + 500 150 sin45)
D500 + 150 cos45 + 200 150 sin45 + 200 cos45]
F~ = ;60k^
U AB = î
d = 150 sin 45 + 200 cos45 = 247:49mm
Mx = Fd = (60)(0:247) = 14:8N ; m
d1 = 150 sin 45
d2 = 150 cos45
Example 4 Determine the magnitude of the moment of the
force F = 50i - 20j - 80k N about the base line CA of the
tripod.
F~ = 50î ; 20^j ; 80k^
D(2.5, 2, 4) C(2,0,0) A(0,2,0)
CA = ;2î + 2^j
UCA = ;0:707î + 0:707^j
M~CA = UCA (r F~ )]UCA
r = AD = 2:4î + 0^j + 4k^
;0:707 0:707

0
M~ CA = 2:5 0 4 ;0:707î + 0:707^j ]
50 ;20 ;80
= ;0:707(80) ; 0:707(;2:5x80 ; 4x50)];0:707î + 0:707^j]
= 226:24;0:707î + 0:707^j] = ;160î + 160^j
d = 0:75 + 10 sin 60 = 9:41in
M = Pd = 80 lb.in = P 9.41
P = 8.5 lb
Example 6 Two couples act on the frame. If d = 4ft, determine
the resultant couple moment. Compute the result by resolving
each force into x and y components and (a) nding the
moment of each couple and (b) summing the moments of all
the force components about point B.
M~ = r F~
r1 = 3î
F~1 = ;50 sin 30î ; 50 cos 30^j = ;25î ; 43:3^j
î ^j k^
M~ 1 = r1 F~1 = 3 0 0 = 0î + 0^j ; 129:9k^lb:ft
;25 ;43:3 0
r2 = ;4^j
F~2 = F2 45î + F2 53 ^j = 80 54î + 80 35 ^j = 64î + 48^j
^j k^
î
M~ 2 = 0 ;4 0 = 0î + 0^j + 256k^
64 48 0
M~ = M~ 1 + M~ 2 = (256 ; 129:9)k^ = 126:1k^lb:ft
MB = (50 cos 30)2;(50 cos30)5+80 53 ;80 53 1 = 50 cos 30(2;5)+80 35 (5;1)
MB = 126:1lb:ftc:c:
Example 7 The meshed gears are subjected to the coule
moments shown. Determine the magnitude and coordinate
direction angles of the resultant couple moment.
M~ 1 = 50k^N:m
M2 0 = M2 cos 20 = 20 cos 20 = 18:8N:m
M2z = M2 sin 20 = 20 sin 20 = 6:84N:m
M2y = ;M2 0 cos 30 = ;18:8 cos30 = ;16:28N:m
M2x = ;M20 sin 30 = ;18:8 sin30 = ;9:4N:m
M~ 2 = ;9:4î ; 16:28^j + 6:84k^
M~ R = M~ 1 + M~ 2 = ;9:4î ; 16:28^j + 56:84k^
p
jMR j = (9:4)2 + (16:28)2 + (56:84)2 = 59:86
;9:4 o
= arccos 59:86 = 99:03
:28 = 105:8o

= arccos ;5916:86
56:84 = 18:3o
= arccos 59:86
3.6. MOMENT OF A COUPLE 199
3.6 Moment of a Couple
Couple two forces of teh same magnitude and opposite
direction and seperated by a perpendicular distance d.
A couple moment is a free vector depends on the distance
between the two forces and doesn't need a reference point or
axis
Equivalent couples: two couples are equivalent if they produce
the same moment.
Resultant Couple Moment:
M~R = ~r F~
Take the moment at any point lying on the line of action of any
one force of the couple.
Example 1
Two couples act on the beam. Determine teh magnitude of F
so that the resultant couple moment is 450 lb-ft,
counterclockwise. Where on the beam does the resultant
couples moment act?
M1 = F1 d1 = (1:5)(200) = 300lb ; ft
M2 = F2 d2 = (F2 cos 30)1:25 = 450
F2 = 138:6lb
3.6. MOMENT OF A COUPLE 201
Example 2 Determine the couple moment. Express the result
as a Cartesian vector.
Take the moment at A
A(5, 8, -3) B(-6, -10, 4) C(0, -22, 0)
Direction of the force is along BC
BC = 6î ; 12^j ; 4k^
U BC = 0:428î ; 0:85^j ; 0:28k^
~r = AB = ;11î ; 18^j + 7k^
F~ = 50(0:428î ; 0:85^j ; 0:28k^)

î ^j
M~ A = ;11 ;18
k^
= 557î ; 7:14^j + 857k^N ; m
21:4 ;42:86 ;14:28
7
Take the moment at B
F~A = 50(0:428î ; 0:85^j ; 0:28k^)
~r = BA = 11î + 18^j ; 7k^

î
M~B = 11
^j k^
18 ;7 = 557î ; 7:14^j + 857k^N ; m
;21:4 42:86 14:28
Example 3 A couple acts on each of the handles of teh minidual
valve. Determine the magnitude and coordinate direction
angles of the resultant couple moment.
M1 = F1 d1
d1 = (175) 2 = 350mm = 0:35m
M1 = 35 0:35 = 12:25N ; m
M~ 1 = ;12:25î
M2 = F2 d2
d2 = 175 2 = 350mm = 0:35m
M2 = 25 0:35 = 8:75N ; m
M~ 2 = ;(8:75 cos60î + 8:75 sin 60) = ;4:375î ; 7:57^j
M~ = M~ 1 + M~ 2 = ;16:625î ; 7:57^j
p
jM j = (16:625)2 + (7:57)2 = 18:26N ; m
UM = ;0:91î ; 0:414^j
= (cos ;0:91);1 = 155:5o

= (cos ;0:414);1 = 114:5o
= (cos 0);1 = 90o
3.7. MOVEMENT OF A FORCE ON A RIGID BODY 203
3.7 Movement of a force on a rigid body
Principle of transmissibility: The external eect on a rigid
body remain unchanged when a force acting at a given point
on the rigid body is applied to another point laying on the line
of action of the force.
Not a line of will produce a moment.
For forces
F~R = F~
M~ RO = M + MO
Find the equivalent force by
FR = FR
Find d at which
d = MFRO
R
textbfExample 2 Replace the three forces acting on the shaft
by a single resultant force. Specify where the force acts,
measured from end B.
F~R = F~1 + F~2 + F~3
5 î ; F 12 ^j = 100î ; 240^j
F~1 = F1 13 1
13
F~2 = ;200^j
F~3 = ;F3 54î ; F3 35 ^j = ;400î ; 300^j
p
F~RB = ;300î ; 740^j jFR j = 3002 + 7402 = 798:5lb
MB = 4F1y + 6F2 + 9F3 = 4(240) + 6(200) + 9(300) = 4860lb:ft
d = FMB = 4860
740 = 6:567ft
Ry
3.7. MOVEMENT OF A FORCE ON A RIGID BODY 205
Example 3 Replace the three forces acting on the beam by a
single resultant force. Specify where the force acts, measured
from B.
F1x = ;700 sin 30 = ;350N
F1y = ;700 cos30 = ;606:2N
F2x = 450 cos 60 = 255N
F2y = ;450 sin 60 = ;389:7N
F3 = ;300N
Fx = ;350 + 225 = ;125N
Fy = ;606:2 ; 389:6 ; 300 = ;1295:9N
p
FR = (125)2 + (1295:9)2 = 1301:9N
= arctan ;;1295:9 o
125 = 84:49
MB = Fy X = ;1500 ; 3 606:2 + 4 389:7 = ;1759:8
;1759:8
X=;1295:9 = 1:36
Example 1 Replace the force at A by an equivalent force and
couple moment at point P.
FAX = 375 sin 30 = 187:5N
FAY = 375 cos30 = 324:75N
FP = 375N
F~A = FA sin 30î ; FA cos 30^j = 375 sin 30î ; FA cos 30^j
M + = FAY (2 + 2) ; FAX (4 ; 1) = (324:75)(4) ; (187:5)3 = 736:5N:m
3.8. RESULTANTS OF A FORCE AND COUPLE SYSTEM 207
3.8 Resultants of a force and couple system
F~o = F~1 + F~2 = F~RO
M~ RO = M~ + M~ F 1 + M~ F 2
Example 1 Replace the force and couple system by an
equivalent force and couple moment at point P.
F~P = F~A + F~C

5 12 ^
F~A = 6kN 13 ^
i + 6 ^ ^
13 j = 2:3i + 5:5j kN
FC = ;4 cos60î ; 4 sin 60^j = ;2î ; 3:46^j
MPA = 5FAX ; 7FAy = 5(2:3) ; 7(5:5) = ;27kN:m
MPC = ;4FCX + 3FCy = ;4(2) + 3(3:46) = 2:38kN:m
MP = 8kN:m ; 27kN:m + 2:38 = ;16:62kN:m
F~R = 0:3î + 2:04^j
jFR j = 2:06kN
= arctan 20::04
3 = 81:6
o
3.9. FURTHER REDUCTION OF A FORCE AND COUPLE SYSTEM 209
3.9 Further reduction of a force and couple
system
You can replace the resultant force and moment by a resultant
force acts at a distance d from the point such that
d = MFRO
R
Concurrent all the forces acts on one moment No moment
If at an angle resolve the moment to ? and k to the force.
d = MFR
?
Example 1 A force and couple act on the pipe assembly.
Replace this system by an equivalent resultant force. Specify
the point where the line of action of the resultant force
intersects the x axis. The pipe lies in the x-y plane. Take
F1 = F2 = 45N
.
F~R = F~1 + F~2 + F~3
F~1 = 45k^ F~2 = ;45k^ F~3 = ;180k^
F~R = (;180 + 45 ; 45)k^ = ;180k^
M~ o = (180)(1:25)^j ; (0:75)(45)^j] = 191:25^jN:m
x= M o 191:25
FR = 180 = 1:0625m
3.10. REDUCTION OF A SIMPLE DISTRIBUTED LOADING 211
3.10 Reduction of a simple distributed
loading
Z
FR = w(x)dx
L
location Z
xFR = xw(x)dx
L
R
x = R xw (x)dx
w(x)dx
Example 1 The loading on the bookshelf is distributed as
shown. Determine the equivalent resultant force and its
location, measured from point A.
Z4 Z 5:5
FR = w1 (x)dx + w2 (x)dx
0 4
w1 (x) = 2lb=ft
w2 (x) = 3:5lb=ft
Z 4 Z 5:5
FR = 2dx + 3:5dx = 2xj04 + 3:5xj45:5
0 4
= 2(4 ; 0) + 3:5(5:5 ; 4) = 8 + 5:25 = 13:25lb
R 4 xw (x)dx + R 5:5 xw (x)dx
x= 0 1
FR
4 2
4
2xdx
R+ 45:5 3:5xdx
R
= 0 13:25
2x2 j4 + 3:5x j5:5 16 + 3:5 (30:25 ; 16)
2
= 2 0 2
13:25
4
= 2
13:25 = 3:09ft
Z
FR1 = w1 dx = 2xj04 = 2(4) = 8lb
Z
FR2 = w2 dx = 3:5xj01:5 = 5:25lb
FR = 13:25lb
xFR = 2FR1 + (4 + 0:75)FR2 = 2(8) + (4:75)(5:25)
x = 3:09ft
Example 2 Replace the distributed loading by an equivalent
resultant force and specify its location, measured from point A.
Z2
FR1 = w1 dx = 800xj02 = 800(2) = 1600N
0
x1 = 22 = 1m
Z 5
FR2 = 200dx = 200(5 ; 2) = 600N
2
x2 = 2 + 1:5 = 3:5m
Z3
(;200x + 600)dx = ;200 x2 + 600xj03 =
2
FR3 =
0
800(2) = 1600N = ;200
2 9 + 600(3) = 900N
R
xw(x)dx
R
x3 = 0 900 = (;200x900
3 2 + 600x)dx
;200 3
x + 600x2 j3
= 3
900
2 0
= ;1800900
+ 2700 = 1m
x3A = 2 + 1 = 3m
FR = 1600 + 900 + 600 = 3100
3100x = (1600)(1) + 600(3:5) + 900(3)
x = 2:06m
Example 3 Replace ther loading by an equivalent resultant
force and specify its location on the beam, measured from
point B.
Z 12
FR1 = w1 (x)dx
0
w1 (x) = 800
12 x
straight line equation
Z 12
800 800 x2 12
FR1 = 12 xdx = 12 2 j0 = 4800lb
0
Z 9
FR2 = w2 (x)dx
0
w2 (x) = 500
Z 9
FR2 = 500dx = 500xj09 = 500(9 ; 0) = 4500lb
0
Z9
FR3 = w3 (x)dx
0
w3 (x) = 8000 ;
;9
500 x + 300 = ;300 x + 300
9
Z9 ;300 x 9
( ;300
2
FR3 = 9 x + 300)dx = 9 2 j0 + 300xj0 = 1350lb
9
0
R xw1 (x)dx
R x 800 800 x3 j12
12 xdx
12 12
x1 = 0
FR1 = 0
4800
3 0 = 8ft
= 124800
R 9
xw2 (x)dx
R9
500xdx
x2 = 0
FR2 = 0
4500
500 x2 j09
2
= 4500 = 4:5ft
R R h ;300 x3 + 300x2
i9
9
xw3 (x)dx 12 ;300
x( x + 300)dx 9 3 2
x3 = 0
FR3 = 0 9
1350 = 1350
0 = 3ft
FR = FR1 + FR2 + FR3 = 4800 + 4500 + 1350 = 10650lb
xFR = (12;8)FR1 ;4:5FR2;3FR3 = (4)(4800);4:5(4500);3(1350) = ;5100
5100 = ;0:4788ft
x = ;10650
right of point B
Example 5 A force and couple act on the pipe assembly. If
F1 = 50N and F2 = 50N , replace this system by an equivalent
resultant force and couple moment acting at O. Express the
results in Cartesian vector form.
F1 = 50k^
F2 = ;80k^
F3 = ;180k^
F~R = (50 ; 80 ; 180) = ;210k^N
r3 = 1:25î
r2 = 1:25î + 0:5^j
r1 = 2î + 0:5^j
î ^j
î ^j k^
Mo = 2 0:5 0 + 1:25 0:5
k^ î ^j k^

0 + 1:25 0
0 0
0
0 0 50 ;80 0 0 ;180
= 25î ; 100^j ; 40î + 100^j + 225^j = ;15î + 225^j N:m
3.11. MOMENT OF INERTIA 217
3.11 Moment Of Inertia
Second moment of area: R x2dA
Z
Ix = y2 dA
Z
Iy = x2 dA
Z Z
Jo = r2 dA = Ix + Iy = (x2 + y2 )dA
A
If the moment of inertia is known about an axis passing
through its centroid, then to determine the moment of inertia
on an axis that is parallel to the centroid axis we use the
parallel axis thereom.
Ix = Ix0 + Ady2
Iy = Iy0 + Adx2
Jo = Jc0 + Ad2
Radius of Gyration
r r r
kx = IAx ky = IAy ko = JAo
Moment of Inertia for Composite Areas
{ Find the moment of inertia about the centroid axis
{ Use Parallel Axis Theorem to nd along the reference axis
{ Sum all
Z Z h=2
3 3
Ix0 = y02 dA = by2dy = 3b y3 j;h=h=2 2 = 3b h8 + h8 = 12b h3
;h=2
b
Ix = Ix0 + dy2 A = 12 h h2 bh3 bh3 bh3
+ ( 2 ) bh = 12 + 4 = 3
3
Zh Z
y2 dA = by2dy = b y3 joh = bh3
3 3
Ix =
0
Example 1 Determine the moment of inertia of the area
enclosed by the arch of the curve y=sin x about the x axis.
Z 1 3 1Z 3
Ix = 3 y dx = 3 0 sin (x)dx
= ;91 cosx(sin2 x + 2)]0 = 0:444
Example 2 Determine the moment of inertia of the equilateral
triangle about the x' axis passing through its centroid.
dA = 2xdy
x = a2 ; py
3
Z Z p
a Z p
a

2y2 a2 ; py
3 3
2 2
Ix = y2 dA = (2x)y2 dy =
0 0 3

2 a
p
3 p
= 2 ay6 y4 = 323 a4
3
; p
4 3 0
p p p !2 p
Ix0 = Ix ; Ad2 = 323 a4 ; 21 a 23 a 3
6a = 963 a4
Example 3 Determine the moment of inertia of the shaded area
about the x axis. //
Z Z Z 2
x2 dx = 8(x;2tan;1(x=2))]2 = 6:87m4
Iy = x2 dA = x2 ydx = ;2
;2 x2 + 4
Z Z Z
Ix = 13 y2 dA = 1 y2 ydx = 1 8
2 2 3
3 ;2 3 ;2 x2 + 4 dx

x(20 + 3x2 ) x 2

= (8)3 8(16)( 3
3
x2 + 4)6 + 8(32) arctan 2 ;2 = 5:81m
4
3.11.1 Composite Bodies
Example 1 Determine the moment of inertia of the beam's
cross-sectional area about the y axis.
1 bh3
Ix0 = 12
1 hb3
Iy0 = 12
Ix = Ix0 + Ady2
Iy = Iy0 + Adx2
No. A x y Ix0 Ix Iy Ax Ay
1 2500 -100 75 2083333.3 130308.3 2270833.3 25130208.3 -25x104 187500
2 2500 100 75 2083333.3 130208.3 2270833.3 25130208.3 25x104 187500
3 2500 0 -50 2083333.3 130208.3 8333333.3 0 -125000
4 8125 0 12.5 423177.08 71516927 524739.6 71516927 0 101562.5
13399739.5 0
y = 22:5
Ix = 13:4x106
Iy = 121:9x106mm4
Example 2 Determine the moment of inertia of the wing
channel about the y-axis.
No. I y~ Ad2 Iy = I y~ + Ad2
1 1
12 (3)(3) 3
12 (3)(3) =
1 3 6.75
2 ; 121 (2:5)(2)3 1 (2:5)(2)3 =
; 12 -1.67
3 2 121 (0:5)(2)3] 22(0.5)(2.5)2] 2 121 (0=5)(2)3 + 2(0.5)(2.5)2] = 13.16
18.246
Iy = 18:246in4
Example 3 Compute the polar moments of inertia Jo for the
cross-sectional area of the solid shaft and tube. What
percentage of Jo is contributed by the tube to that of the solid
shaft?
Jo = Ix + Iy
Ix = 41 r4
Iy = 41 r4
Jo = 12 r4
shaft ) Jo = 21 (20)4 = 25:13x103mm4
tube ) J = 2 (ro )4 ; 2 (ri )4 = 2 (20)4 ; (15)4] = 172x103mm4
Tube 172x103
Shaft = 251:3x103 x100% = 68:4
Example 4 Determine the polar moment of inertia of the
shaft's cross-sectional area about the center O.
Jo = Ix + Iy
Ix = Iy ) Jo = 2Ix = 2Iy
Ix = 14 r4 ; 12
1 a(a)3
= 41 ( d2 )4 ; 12
1 a 4
= 1 4 1 4
64 d ; 12 a

1 d4 ; 1 a4 = 1 d4 ; 1 a4
Jo = 2Ix = 2 64 12 32 6
3.12. DYNAMICS OF RIGID BODIES 225
3.12 Dynamics of Rigid Bodies
Rigid body motion: Translation, rotation, general
Translation: Line segment on the body remain parallel to its
original direction
Rotation: Rigid body rotates around xed axis
General: Combination of translation and rotation
Translation
~rB = ~rA + ~rB=A
~vB = V~A
~aB = ~aA
Example 1 The mechanism is used to convert the constant
circular motion ! of rod AB into translating motion of rod CD.
Determine the velocity and acceleration of CD for any angle
of AB. If the rod also has an angular acceleration .
x = lcos
vx = x_ = ;lsin_
x! = ax = ;l(sin! + cos_2 )
vx = vCD x = aCD _ = ! ! = = 0
vCD = lsin!
aCD = ;lsin(0) + cos!2 ] = ;!2lcos
x = lcos
x_ = vCD = ;lsin_ = ;l!sin
x! = ;lsin! + cos_2 ]
x! = aCD = ;lsin + cos!2 ]
Example 2 The block moves to the left with an acceleration a0
and velocity v. Determine the angular velocity and angular
acceleration of the bar as a function of .
tan = xa
x = acot
x_ = ;acsc2_ = ;v ) _ = ! = acscv 2 = va sin2
x! = ;acsc2! + 2acsc2 cot_2
cos v2 4
ao = 2a sin12 sin 1
a2 sin ; a sin2
= 2cossin va a
2
;
sin2

= sina va sin2 ; ao
2 2
Example 3 The end A of the bar is moving to the left with a
constant velocity vA. Determine the angular velocity ! and
angular acceleration of the bar as a function of its position x.
sin = xr ) xsin = r
xsin
_ + xcos_ = 0
xsin
_
_ = ;xcos ;x_ r
= x tan = ;va xpx2 ; r2 = !
_ _ + xcos
x!sin + xcos _ _ ; xsin_2 + xcos! = 0
" p #
; (x2 ; r2 )vA + 12 x(x2 ; r2 );1=2 2xvA
! = = ;vA r x2 (x2 ; r2 )
= v2A r(22 x ;2 r3=)2
2 2 2
x (x ; r )
Example 4 The crankshaft AB is rotating at 500 rad/s about a
xed axis passing through A. Determine the speed of the
piston P at the instant it is in the position shown.
vB = !r = 500(0:1) = 50m=sec
~vC = ~vB + ~vC=B
x-direction
0 = 0 ; 0:5!cos30 = ! = 0
y-direction
vC = vB = 50m=sec
OR
~vC = ~vB + ~! ~rC=B
| + !k^ 0:5cos60^{ + 0:5sin60^|]
;vC |^ = ;50^
In x, 0 = 0 ; !(0:5sin60) ) ! = 0 In y, vC = 50m=sec
Example 5 The Scotch yoke is used to convert the constant
circular motion of crank OA into translating motion of rod BC.
If OA is rotating with an angular acceleration = 2rad=s2 and
has an angular velocity ! = 5rad=s when = 30o, determine the
velocity and acceleration of BC at this instant.
= 2rad=sec2
! = 5rad=sec
= 30o
x = 0:15sin
x_ = vx = 0:15cos_
x! = 0:15cos! ; 0:15sin_ 2
= 30o
x = 0:15sin30 = 0:075
x_ = 0:15cos30(5) = 0:65m=sec
x! = 0:15cos30(2) ; sin30(5)2] = ;1:62m=sec2
Example 6 When = 60o bar AB is rotating uniformly about
the xed pin A with an angular acceleration = 2rad=s2 and
angular velocity ! = 3rad=s. Determine the velocity and
acceleration of block C at this instant.
= 60o
= 2rad=sec2
! = 3rad=sec
Lcos + Lcos = L
cos + cos = 1
sin_ + sin_ = 0
sin _
_ = ; sin
cos_2 + sin! + sin! + cos_ 2 = 0
_2 ! _2
! = ; cos + sin
sin
+ cos
cos = 1 ; cos = 1 ; cos60 ) phi = 60o
then
_ = ;_ = ;3rad=sec
! = ;12:39rad=sec2
SC = Lsin ; Lsin
vC = Lcos_ ; Lcos_ = Lcos60(;3) ; Lcos(60)(3) = ;3L "
aC = ;Lsin_ 2 + Lcos! ; Lcos!2 + Lsin60(3)2 = ;7:2L
Example 7 The wheel is rotating with an angular velocity ! =
8 rad/s. Determine the velocity of the collar A at this instant.
! = 8rad=sec
vA = vB + vA=B
vB = 8(0:15) = 1:2m=sec
v A=B = 0:5!AB
vA^{ = 1:2cos60^{ + 0:5!AB cos30^{
0 = 1:2sin60^{ ; 0:5!AB sin30^|
!AB = 4:16rad=sec
vA = 2:4m=sec
vB = ! rB
v A = v B + !AB rA=B
vA^{ = ;8k^ (0:15cos30^{ + 0:15sin30^|) ; !AB k^(0:5cos60^{ + 0:5sin60^|
vA = 0:6 + 0:43!AB
0 = 1:039 ; 0:25!AB
!AB = 4:16rad=sec
vA = 2:4m=sec
3.13. ABSOLUTE GENERAL PLANE MOTION ANALYSIS 233
3.13 Absolute General Plane Motion
Analysis
General Translation + Rotation
v = ds dv
dt a = dt
! = d d!
dt = dt
3.14 Relative Motion Analysis: Velocity
~vB = ~vA + ~vB=A = ~vA + ~! ~rB=A
a~B = ~aA + ~ rB=A
~ ; !2~rB=A
~aB = ~aA + ~aB=At + ~aB=An
aB=At
~ = ~ ~r
aB=An
~ = ~! (~! rA=B
~ ) = ;!2 rB=A
~
3.15 Rotation about a xed axis
Angular position:
Angular displacement: d~ 1 rev = 2 rad
Velocity ! = ddt ccw positive
Acceleration = d! d2
dt = dt2
d = !d!
Constant Angular Acceleration
! = !O + C t
= O + !O t + 21 C t2
!2 = !O2 + 2 C ( ; o )
Motion of a Point
v = !r
v = r_ = r!
vr = r_
~v = ~! ~r
Acceleration
at = dv
dt
an = v
2
at = r
an = !2 r
~a = ~ ~r + ~! (~! ~r)
= ~ ~r ; !2~r = at + an
ar = r! ; r_2
ar = ;!2 r
a = r! + 2r_if
_ r_ = r! = 0
a = r
3.15. ROTATION ABOUT A FIXED AXIS 235
Example 1 A motor rotates its attached input shaft S at 1750
rev/min. This shaft turns gear A, which turns gear B and then
gear C. Determine the required radius of gear D so its attached
output shaft E turns at 50 rad/sec. The radii of gears A, B and
C are rA = 28 mm, rB = 80 mm, and rC = 15 mm,
respectively.
!A = 1750 260 = 183:26rad=sec
!A rA = !B rB
!B = !A rrA = (183:26) 80
28 = 64:14rad=sec
B
!C rC = !D rD
!C = !B
rD = !!C rC = 64:14(15)
50 = 19:6mm
D
Example 2 If the motor turns gear A with an angular
acceleration of A = 2rad=s2 when the angular velocity is
!A = 20rad=s, determine the angular acceleration and angular
velocity of gear D.
A = 2rad=sec2
!A = 20rad=sec
!A rA = !B rB ) !B = !A rrA = (20) 100
40 = 8rad=sec
B
!D rD = !C rC
!C = !B
!D = !C rrC = 8 100
50 = 4rad=sec
D
A rA = B rB ) B = A rrA = (2) 100
40 = 0:8rad=sec2
B
D rD = C rC ) D = C rrC = 100
50 (0:8) = 0:4rad=sec2
D
Example 3 A ywheel has its angular speed increased
uniformly from 15 rad/s to 60 rad/s in 80 s. If the diameter of
the wheel is 2 ft, determine the magnitudes of the normal and
tangential components of acceleration of a point on the rim of
the wheel when t = 80 s, and the total distance the point
travels during the time period.
!o = 15rad=sec
! = 60rad=sec
t = 80sec
D = 2r = 2ft
at an
! = !o + t
60 = 15 + (80) ) = 0:5625rad=sec
at = r = (0:5625)(1) = 0:5625ft=sec2
an = !2 r = (60)2 (1) = 3600ft=sec2
!2 = !o2 + 2 ()
(60)2 = (15)2 + 2(0:5625)
= 3000rad
S = rd = 1(3000) = 3000ft
Example 4 A motor gives disk A an angular acceleration of
A = (0:6t2 + 0:75)rad=s2 , where t is in seconds. If the initial
angular velocity of the disk is !o = 6rad=s, determine the
magnitudes of the velocity and acceleration of block B when t
= 2 s.
= d!
dt ) d! = dt
Z! Z2
d! = (0:6t2 + 0:75)dt
0 0
! ; 6 = 03:6 t3 + 0:75t]02
! = 9:1rad=sec
vB = !r = (9:1)(0:15) = 1:37m=sec
aB = at = r = 0:6(2)2 + 0:75](0:15) = 0:472m=sec2
Example 5 A motor gives gear A an angular acceleration of
A = (0:253 + 0:5)rad=s2 , where is in radians. If this gear is
initially turning at (!A)o = 20rad=s, determine the angular
velocity of gear B after A undergoes an angular displacement
of 10 rev.
10rev = 20
d = !d!
d = !d!
Z 20 Z !A
():253 + 0:5)d = !A d!A
0 20
0:25 4 + 0:5j20 = 1 !2 ]!A
4 0
2 A 20
!A = 1395:94rad=sec
!A rA = !B rB
!B = !A rrA = 1395:94 00::05
15 = 465rad=sec
B
Example 6 Due to the screw at E, the actuator provideslinear
motion to the arm at F when the motor turns the gear at A. If
the gears have the radii listed in the gure, and the screw at E
has a pitch p = 2 mm, determine the speed at F when the
motor turns A at !A = 20 rad/s. Hint: The screw pitch
indicates the amount of advance of the screw for each full
revolution.
!A rA = !B rB
!B rB = !C rC
!C rC = !D rD
) !A rA = !D rD
!D = !A rrA = 20 (10)
60 = 3:33rad=sec
D
1rev = 2 ) !D = 32:33
= 0:53rev=sec
VF = !D P = 0:53rev=sec(2mm) = 1:06mm=sec
Example 7 Find the velocity and acceleration at point C when
t=2sec, assuming that the angular deformation of gear A is
dened by the relation A = (;0:5e;0:4t2 )rad=s2 , where t is in
seconds. Use Simpson's rule with n = 50 to evaluate the
integral.
A = ;0:5e;0:4t2
Z !A Z2
d! = ;0:5e;0:4t dt
2
0 0
!A ; 8 = ;0:649
!A = 7:35rad=sec
!ArA = !B rB ) !B = !A rrA
B
vC = 50!B = (50) 100
200 (7:351) = 184mm=sec
A rA = B rB
aC = ;0:5e;0:4(2)2 100
200 (50) = ;2:524m=sec
2
Example 8 Starting from rest when S=0, pulley A is given a
constant angular acceleration C = 6rad=sec2. Determine the
speed of block B when it has risen S=6 m. The pulley has an
inner hub D which is xed to C and turns with it.
A rA = C rC
6(50) = C (150)
C = 2rad=sec2
aB = C rB = 2(0:075) = 0:15m=sec2
v2 = v02 + 2aC (S ; S0 )
v2 = 2(0:15)(6)
v = 1:34m=sec
Example 9 The motor M begins rotating at ! = 4(1 ; e;1)
rad/s, where t is in seconds. If the pulleys and fan have the
radii shown, determine the magnitudes of the velocity and
acceleration of point P on the fan blade when t = 0.5 s. Also,
what is the maximum speed of this point?
!m = 4(1 ; e;t
m = d!dt = 4e
;t
t = 0:5sec
!m = 4(1 ; e;0:5) = 1:574rad=sec
m = 4e;0:5 = 2:426rad=sec2
!m rm = !p rp ) !p = !m rrm = 1:574 41 = 0:3935rad=sec
p
vp = !p 16 = 0:3935(16) = 6:3in=sec
m rm = p rp ) p = m rrm = 2:426 14 = 0:6065rad=sec
p
at = r = 0:6065(16) = 9:704in=sec2
an = !2 r = (0:39347)2(16) = 2:4771in=sec2
q
ap = at2 + an2 = 10in=sec2
ast ! 1 !m = 4rad=sec
!p = !mr rm = 4 14 = 1rad=sec
p
vp = !p r = (1)(16) = 16in=sec
Example 10 A mill in a textile plant uses the belt-and-pulley
arrangement shown to transmit power. When t = 0 and
electric motor is turning pulley A with an angular velocity of
!A = 5rad=s. If this pulley is subjected to a constant angular
acceleration 2rad=s2, determine the angular velocity of pulley B
after B turns 6 revolutions. The hub at D is rigidly connected
to pulley C and turns with it.
B = 6rev
4B = 3C
C = 4(6)
3 = 8rev
C (5) = 4:5A
A = 8:889rev
!A2 2 = !A2 1 + 2 C A2 ; A1 ] = (5)2 + 2(2)8:889(2) ; 0]
!A2 = 15:76rad=sec
!A2rA = !C rC
!C = 15:76 (45:5) = 14:18rad=sec
!B2 = !C rrC = 14:18 43 = 10:6rad=sec
B
Example 11 The board rests on the surface of two drums. At
the instant shown, it has an acceleration of 1ft=s2, while points
located on the periphery of the drums have an acceleration of
3ft=s2. If the board does not slip on the surface of the drums,
determine the velocity of the board.
an = !2 r = 0:25!2
at = aft=sec2
a2 = an2 + at2
32 = (0:25!2) + 1 ) ! = 3:363rad=sec
v = !r = (3:3634)(0:25) = 0:841ft=sec
Example 12 If link CD is rotating at !CD = 5 rad/s, determine
the angular velocity of link AB at the instant shown.
vB = !AB rB=A
v C = !BC rCD
vB = vC + !BC rB=C
;!AB k^ 6^{ = 5k^ (;4cos45^{ + 4sin5^
|) + !BC k^ (8sin30^{ + 8cos30^|
^{ ;14:142 ; 6:928!BC ) !BC = ;2:04rad=sec
|^ = ;6!AB = ;14:142 + 4!BC ) !AB = 3:72rad=sec
Example 13 If rod CD is rotating with an angular velocity !DC
= 8 rad/s, determine the angular velocities of rods AB and CB
at the instant shown.
vB = vC + ! rB=C
vB = !AB rB=A = ;!AB k^ 0:15cos45^{ + 0:15sin45^|
= 0:106!AB^{ ; 0:106!AB |^
v C = !CD k^ ;0:2cos30^{ ; 0:2^|
= 8k^ ;0:2cos30^{ ; 0:2^|
= 0:8^{ ; 1:385^|
0:106!AB^{ ; 0:106!AB |^ = 0:8^{ ; 1:385^| + !BC k^ ;0:4cos31^{ + 0:4sin31^|]
0:106!AB^{ ; 0:106!AB |^ = (0:8 ; 0:206!BC )^{ ; (1:385 + 0:342!BC )^|
0:106!AB = 0:8 ; 0:296!BC
+0:106!AB = +1:385 + 0:342!BC
!AB = 9:62rad=sec
!BC = 1:07rad=sec
Example 14 If the slider block A is moving downward at vA = 4
m/s, determine the velocity of point E at the instant shown.
rA =IC 550
sin53:13 = 1
rA =IC = 440mm
rB =IC = 330mm
Cosine law
rD =IC = 268:79mm
!AB ; r vA = 0:444 = 9:09rad=sec
A=IC
vD = !AB rICD = 2:44m=sec
v B^{ = ;4^| ; !AB k^ ;0:55 45^{ + 0:55 53 |^]
vB = !AB 0:55 35
0 = ;4 + 0:55!AB 54
!AB = 9:09rad=sec
vB = 3m=sec
vD = vA + vD=A
= ;4^| ; 9:09;0:3 45^{ + 0:3 53 |^]
= 1:636^{ ; 1:818^| ; 5:25k^ cos30(0:3)^{ + sin30(0:3)^|] = 2:42^{ ; 3:18^|
Example 15 The conveyor belt is moving to the right at v = 12
ft/s, and at the same instant the cylinder is rolling
counterclockwise at ! = 6 rad/s while its center has a velocity
of 4 ft/s to the left. Determine the velocities of points A and B
on the disk at this instant. Does the cylinder slip on the
conveyor?
rA;IC = 64 = 0:667ft
vA = 6(1 ; 0:667) = 2ft=sec
vB = 6(1 + 0:667) = 10ft=sec
vA 6= 12ft=sec
The cylinder slips on the conveyor
Example 16 The disk of radius r is conned to roll without
slipping at A and B. If the plates have the velocities shown,
determine the angular velocity of the disk.
v 2v
2r ; x = x
x = 4r ; 2x
3x = 4r ) x = 34 r
! = 24v = 1:5 vr
3r
Example 17 At a given instant, link CD has an angular
acceleration CD = 5rad=s2 and angular velocity !CD = 2rad=s.
Determine the angular velocity and angular acceleration of link
AB at this instant.
aC = aD=C = CD rCD ; !2 rCD
= 5k^ ;1:5cos60^{ + 1:5sin60^|] ; (2)2 ;1:5cos60^{ + 1:5sin60^|]
aC = ;3:495^{ ; 8:946^|
aB = aB = aC + aB=C
vC = 1:5(2) = 3ft=sec
rI=C ;C
) rIC=C = 1:464ft
sin45
!BC = r vC = 1:464
3 = 2:049rad=sec
IC=C
aB = aC + BC rBC ; !BC
2
rBC
= ;3:495^{ ; 8:946^| + BC k^ ;2^{] ; (2:049)2;2^{]
aB = 4:9^{ ; (8:946 + 2 BC )^|
vB = rIC=B !BC
rIC=B 2
sin60 = sin105 ) rIC=B = 1:793 ) vB = 3:67ft=sec
!AB = 2v:B5 = 1:4695rad=sec
aB = aA + AB rAB ;!AB
2
rAB = AB k^ 2:5cos45^{+2:5sin45^|];1:47rAB
= ;(1:767 AB + 2:6)^{ + (1:676 AB ; 2:6)^| = 4:9^{ ; (8:946 + 2 BC )^|
1:767 AB + 2:6 = ;4:9 ) AB = ;4:24rad=sec2
Example 18 The tied crank and gear mechanism gives rocking
motion to crank AC, necessary for the operation of a printing
press. If link DE has the angular motion shown, determine the
respective angular velocities and angular accelerations of gear
F and crank AC at this instant.
vD = !D rDE = 4(0:1) = 0:4m=sec
vB = vD + vB=D
vB = 0:4^| + !Gk^ ;0:075^{] = 0:4^| ; 0:075!G|^
vBx^{ + vBy |^ = (0:4 ; 0:075!G)^|
vBx = 0
From point A vB ? vA ) vB = 0
:4 = 5:33rad=sec
!G = 0:0075
vB = 0 ) !AB = 0 ) vC = 0
aD = aE + aD=E = 0 + DE (;k^) ;0:1^{] ; 16;0:1^{]
= 1:6^{ + 0:1 DE |^ = 1:6^{ + 2^|
aB = aD + aB=D = 1:6^{ + 2^| + BD k^ ;0:075^{] ; (5:33)2;0:075^{]
= 3:73^{ + (2 ; 0:075 BD )^|
aB = abn + aBt = 0 + aBt
= bBt cos30^{ + sin30^|]
aBtcos30^{ + sin30^|] = 3:73^{ + (2 ; 0:075 BD )^|
aBtcos30 = 3:73 ) aBt = 4:3m=sec
aBt sin30 = 2 ; 0:075 BD ) BD = ;2rad=sec2
AC = raBt = 04::15
3 = 28:7rad=sec2
B=A
Example 19 At a given instant the wheel is rotating with the
angular motions shown. Determine the acceleration of the
collar at A at this instant.
! = 4:16rad=sec
aA = aB + aA=B
;aA^{ = 2:4cos60^{ + 2:4sin60^ | + 9:6cos30^{ ; 9:6sin30^|
+(4:16)20:5;cos60^{ ; sin60^|] + (0:5);cos30^{ + sin30^|]
;aA = 2:5cos60 + 9:6cos30 ; 8:65cos60 ; (0:5)cos30
0 = 8:4sin60 ; 9:6sin30 ; 8:65sin60 + 0:5 sin30
= 40:8rad=sec2
aA = 12:5m=sec2
OR
aA = aB + rA=B ; !2 rA=B
aA^{ = (8)2 (0:15)cos30^{;(8)2 (0:15)sin30^|+16(0:15)sin30^{+cos30^|]+ k^0:5cos60^{+sin60^|];(4:16)
aA = 12:5m=sec2
= 40:8rad=sec2
Example 20 If the collar at C is moving downward to the left
at vC = 8 m/s, determine the angular velocity of link AB at
the instant shown.
0:35 rIC=B rIC=C
sin75 = sin45 = sin60
rIC=B = 0:2562m
rIC=C = 0:3138m
8 = 25:494rad=sec
!CB = 0:3138
vB = 25:49(0:2562) = 6:5315m=sec
!AB = 6:05315
:5 = 13:1rad=sec
Example 21 The two-cylinder engine is designed so that the
pistons are connnected to the crankshaft BE using a master
rod ABC and articulated rod AD. If the crankshaft is rotating
at ! = 30 rad/s, determine the velocities of the pistons C and
D at the instant shown.
vB = ! rB=E
vC = v B + !BC rC=B
| = 30k^ 0:05^| + !BC k^ 0:25cos60^{ + 0:25sin60^|]
;vC cos45^{ ; vC sin45^
;vC cos45 = ;1:5 ; !BC (0:2165)
;vC sin45 = 0:125!BC
vC = 0:776
!BC = ;4:39rad=sec
vA = vB + !BC rA=B
vD = vA + !AD rD=A
vD cos45^{ ; vD sin45^| = 30k^ 0:05^| ; 4:39k^ (0:05cos45^{ + 0:05sin45^|)
+!AD k^ (;0:25cos45^{ + 0:25sin45^|
vD cos45 = ;1:5 + 0:1552 ; !AD (0:1768)
;vD sin45 = 0:1552 ; 0:1768!AD
!AD = 3:36rad=sec
vD = 1:06m=sec
OR
vC = vB + v C=B
50 = 1:5m=sec
vB = 30 1000
vC=B = !BC rC=B
vC = vC cos45^{ + vC sin45^|
vC=B = ;!C (0:25)cos30^{ + !C (0:25)sin30^|
vC cos45 = 1:5 ; !C (0:25)(cos30)
vC sin45 = 0 + !C (0:25)(sin30)
vC = 0:776m=sec
!C = 4:39rad=sec
v A = v B + vA=B
vA = ;1:5^{ ; 0:05(4:39)cos45^{ + sin45^|]
= ;1:34^{ + 0:155^|
vD = vA + vD=A = (;1:34^{ + 0:155^|) + !0 (0:25)cos45^{ + sin45^|]
vD = 1:06m=sec
Example 22 Link CB rotates with an angular velocity
!CB = 2rad=s and angular acceleration CB = 4rad=s2 .
Determine the angular velocity and angular acceleration of the
disk at this instant.
!CB = 2rad=sec
CB = 4rad=sec2
vB = 2(1:5) = 3ft=sec
ICisat1
!=0
vB = vA = 2(1:5) = 3ft=sec
! = 03:5 = 6rad=sec
aA = aB + AB rA=B ; !2 rA=B
^ +4(1:5)^{ + AB k^ (;2cos30^{ ; 2sin30^|
aAt^{ +(6)2 (0:5)^| = (2)2 (:15)jmath
aAt = 6 + AB
18 = 6 ; 1:732 AB ) AB = ;6:92rad=sec2
aAt = ;0:928ft=sec2
= ; 00:928
:5 = ;1:86rad=sec
2
Example 23 At a given instant the wheel is rotating with the
angular velocity and angular acceleration shown. Determine
the acceleration of block B at this instant.
vB = vA + ! rB=A
|) ; !k^ (0:5cos45^{ + 0:5sin45^|)
;vB |^ = (;0:16cos30^{ ; 0:65sin30^
0 = ;0:6cos30 + !(0:5)sin45
! = 1:47rad=sec
aB = aA ; !2 rB=A + rB=A
;aB |^ = +1:2(;sin30^{+cos30^|);1:8(cos30^{;sin30^|); k^(0:5cos45^{+0:5sin45^|)
0 = ;1:2sin30 ; 1:8cos30 ; (1:47)2(0:5)cos45 + 0:5sin45
aB = 1:2cos30 ; 1:8sin30 ; (1:47)20:5sin45 ; 0:5sin45
= 8:26rad=sec
aB = 3:5m=sec2
Example 24 If link AB is rotating at !AB = 6 rad/s, determine
the angular velocities of links BC and CD at the instant
= 45o.
= 45o
vB = !AB rAB = 6(0:25) = 1:5m=sec
vB = !BC rIC=B
!BC = r vB = 0:12196
:5 = 6:83rad=sec
IC=B
rIC=B 300
sin45 = sin105
rIC=B = 219:6mm
vC = !BC rIC=C
rIC=C 300
sin30 = sin105
rIC=C = 155:29mm
vC = !BC rIC=C = 6:83(0:15529) = 1:06m=sec
!CD = 0:v400
C = 1:06 = 2:65rad=sec
0:4
OR
vB = vA + !AB rAB
= 0 + 6k^ ;0:25cos30^{ ; 0:25sin30^|] = ;1:50:866^| ; 0:5^{]
jvB j = 1:5m=sec
vB = ;1:3^| + 0:75^{ = 0:75^{ ; 1:3^|
vC = vB + !BC rBC
= 0:75^{ ; 1:3^|] + !BC k^ ;0:3^{]
vCx^{ + vCy |^ = 0:75^{ ; 1:3^| + !BC (0:3)^|
vCx = 0:75
vCy = 0:3!BC ; 1:3
tan45 = vCy ) vCy = vCx
v Cx
) !BC = 6:83
vC = vD + !CD rCD = !CD k^ ;0:4cos45^{ + 0:4sin45^|]
0:75^{ + 0:75^| = !CD k^ ;0:2828^{ + 0:2828^|]
= ;0:2828!CD|^ ; !CD 0:2828^{
:75 = 2:65
!CD = 0:02828
!AB = 6k^
!BC = 6:83k^
!CD = ;2:65k^
= 2rad=sec2 k^
aB = aA + rB=A ; !2rBA
aB = 2k^ ;0:25cos30^{ ; 0:25sin30^|] ; 36;0:25cos30^{ ; 0:25sin30^|]
= ;0:433^| + 0:25^{ + 7:79^{ + 4:5^| = 8:04^{ + 4:067^|
aC = aB + rB=C ; !2 rBC
= 8:04^{ + 4:067^| + k^ ;0:3^{] ; ](6:83)2;0:3^{]
= 8:04^{ + 4:067^| ; 0:3 |^ + 14^{
= 22:04^{ + (4:067 ; 0:3 BC )^|
aC = ;0:2828 CD|^ ; 0:2828 CD^{ + :1986^{ ; 1:1986^|
= (1:986 ; 0:2828 CD )^{ ; (1:986 + 0:2828 CD )^|
22:04 = 1:986 ; 0:2828 CD
CD = ;71rad=sec2
;18:068 = 4:067 ; 0:3 BC ) 73:78rad=sec2
Example 25 At a given instant the top end A of the bar has the
velocity and acceleration shown. Determine the acceleration of
the bottome B and the bar's angular acceleration at this
instant.
aB = aA ; !2 rB=A + rB=A
aB^{ = ;7^| ; 110cos60^{ ; 10sin60^|] + k^ 10cos10^{ ; 10sin60^|]
aB = ;10cos60 + (10)cos60
= ;0:332rad=sec2
aB = ;7:87ft=sec2
Determine the angular velocity of link AB at the instant shown
if the block is moving upward at 12 in/sec.
4 rIC=B rIC ;C
sin45 = sin30 = sin105
rIC ;C = 5:464in
rIC ;B = 2:828in
vC = !BC rIC ;C
12 = !BC (5:464)
!BC = 2:1962rad=sec
vB = !BC rIC ;B = 2:1962(2:828) = 6:211in=sec
vB = !AB rAB
!AB = 6:211
5
!AB = 1:25rad=sec
vB = vA + !AB k^ 5cos45^{ ; 5sin45^|] = !AB (5)sin45^{ + cos45^|]
v B = v C + vB=C = 12^| + !BC k^ ;4cos30^{ ; 4sin30^|]
5!AB sin45^{ + cos45^|] = 12^| + 4!BC sin30^{ ; cos30^|]
5!AB sin45 = 4!BC sin30
5!AB cos45 = 12 ; 4!BC cos30
) 4!BC sin30 + 4!BC cos30 = 12
40:86 + 0:5]!BC = 12
!BC = 2:196
!AB = 1:24
Example 26 The slider block B is moving to the right ith an
acceleration of 2ft=s2. At the instant shown, its velocity is 6
ft/s. Determine the acceleration of link AB and the
acceleration of point A at this instant.
!AB = r vB = 1 6 =0
B=IC
vA = vB
!AC = rvA = 36 = 2rad=sec
AC
aB = 2^{
aA = aAt^{ + aAn |^
an = !2 r = (2)2 (3) = 12^|
aB = aA + rB=A ; !2 rB=A
2^{ = aAt^{ + 12^| ; k^ (4^{ + 3^|) ; 0
0 = 12 ; 4 AB ) AB = 3rad=sec2
2 = at + 3(3) ) aAt = ;7ft=sec2
aA = ;7^{ + 12^|
p
aA = (;7)2 + 122 = 13:7ft=sec2
= tan;1 12
17 = 59:7
o
Example 26 At a given instant, link AB has an angular
acceleration AB = 12rad=s2 and an angular velocity
!AB = 4rad=s. Determine the angular velocity and angular
acceleration of link CD at this instant.
AB = 12rad=sec2
!AB = 4rad=sec
vC = vB + !BC rBC
vB = (2:5)(4) = 10ft=sec
!BC =?
vC ;cos30^{ ; sin30^|] = 10;cos45^{ + sin45^|] + !BC k^ 2^{]
;cos30vC = ;10cos45
cos45 = 8:16ft=sec
vC = 10cos 30
;sin30vC = 10sin45 + !BC (2)
!BC = 5:58rad=sec
!CD = 1v:C5 = 81::16
5 = 5:44rad=sec
aC = aB + r ; !2 r
aCn = !2 r = (5:44)2 (1:5) = 44:4ft=sec2
CD
aBn = !AB
2
r = (4)2 (2:5) = 40ft=sec2
aBt = r = 12(2:5) = 30ft=sec2
aC = aCn cos60^{ ; sin60^|] + aCt ;cos30^{ ; sin30^|]
aB = aBn ;cos45^{ ; sin45^|] + aBt ;cos45^{ + sin45^|]
rBC = k^ 2^{] = 2 |^
!2 r = (5:58)2 (2^{) = 62:2^{
aC = aB + r ; !2 r
0:4cos60^{ ; sin60^|] + aCt ;cos30^{ ; sin30^|] = 40;cos45^{ ; sin45^|]
+30;cos45^{ + sin45^|] + 2 |^ ; 62:2^{
44:4cos60 ; aCt cos30 = ;40cos45 ; 30cos45 ; 62:2
aCt = 155ft=sec2
;44:4sin60 ; aCt sin30 = ;40sin45 + 30sin45 + 2
BC = 54:5rad=sec2
aCt = r
= 155
1:5 = 103rad=sec
2
Chapter 4
Energy Method of
Particles and Rigid
Bodies
4.1 Energy Method of particles
dU = F dr
R R
Variable force: U1;2 = rr22 F dr ss12 F cos ds
Constant force: U1;2 = Fc cos Rss12 ds
Work of a weight: U1;2 = R F dr = ;2y
Work of a spring force: U1;2 = 21 k(s22 ; s12) work on a spring
U1;2 = ; 21 k(s22 ; s12 ) work on a particle
4.2 Principle of Work and Energy
F dr = ma dr
Ft ds = mat ds = mvdv
U1;2 = 12 m(U22 ; U12 )
T1 + U1;2 = T2
269
270CHAPTER 4. ENERGY METHOD OF PARTICLES AND RIGID BODIES
4.3 Power and Eciency
P = dU F dr
dt = dt = F v
1 W = 1 J/sec
1 hp = 746 W = 550 ft.lb/sec
Powerout forsametime = Energyout
" = Powerinput Energyinput
4.4 Conservative Forces and Potential
Energy
Conservative: depends on net change in position, independent
of path, independent of velocity and acceleration
Example: Weight & spring
Weight:
U = ;wy
Depends on change of vertical displacement
Elastic spring: by elastic spring on particle
U = ;( 12 ks22 ; 21 ks12 )
Friction nonconservative, depends on path
Energy: the capacity of doing work
Potential Energy conservative force work position]
Potential function: V = Vg + Ve
U1;2 = V1 ; V2
4.5. CONSERVATION OF ENERGY 271
dU = F dr

F = ;rV = ; @V @V @V ^
@x ^{ + @y |^ + @z k
4.5 Conservation of Energy
U1;2 (conservative) = V1 ; V2
T1 + V1 + U1;2 (nonconservative) = T ; 2 + V2
If only conservative forces
T1 + V1 = T2 + V2 Conservation of mechanical energy
Example 1 A 0.5-kg ball of negligible size is red up the
vertical circular track using the spring plunger. The plunger
keeps the spring compressed 0.08 m when s = 0. If the plunger
is pulled back s = 0.2 m and released, determine the speed of
the ball when = 90o. Also, what is the normal force of the
track on the ball at this instant?
Compressed Spring
T1 + U1;2 = T2
Z 0:28
0+ ksds ; mgy = T2 = 21 mv22
0:08
0 + 12 500(0:28)2 ; (0::08)2] ; 0:5(9:8)1:5 = 12 0:5v22
v2 = 6:52m=sec
N = Fn = man = m v = 0:5 (61:52)
2 2
:5
N = 14:2N
Example 2 The sports car has a mass of 2.3 Mg and accelerates
at 6m=s2, starting from rest. If the drag resistance on the car
due to the wind is FD = (10v) N, where v is the velocity in m/s,
determine the power supplied to the engine when t = 5 s. The
engine has a running eciency of " = 0.68.
Fx = max ) F ; FD = 2:3x103ax
F ; 10v = (2:3)x103 x6 = 13:8x103
v = vo + at
v = 0 + 6(5) = 30m=sec
F = 13:8x103 + 10v = 13:8x103 + 10(30) = 14:1x103
Po = Fv = (14:1x103)(30) = 423kW
Pi = =fracPo " = 04::68
23 = 622kW
Example 3 Two equal-length springs are "nested" together in
order to form a shock absorber. If it is designed to arrest the
motion of a 2-kg mass that is dropped s=-.5 m above the top of
the springs from an at-rest position, and the maximum
compression of the springs is to be 0.2 m, determine the
required stiness of the inner spring, kB , if the outer spring has
a stiness kA = 400 N/m.
T1 + V1 = T2 + V2
0 + 0 = 0 ; mgy2 + 12 kA s2 + 21 kB s2
= 0 ; 2(9:8)(0:5 + 0:2) + 21 (400)(0:2)2 + 21 kB (0:2)2
kB = 287N=m
Example 4 The rocket sled has a mass of 4 Mg and travels from
rest along the smooth horizontal track such that it maintains a
constant power output of 60 kW. Neglect the loss of fuel mass
and air resistance, and determine how far it must travel to
reach a speed of v = 60 m/s.
Fx = max = mv dv
ds
P = Fv = (mv dv 2 dv
ds )v = mv ds
Z Z v
Pds = mv2 dv
Zv 0
ds = m v3
3
P
0
Ps = mv3
3
s = mv (4x103 )(60)3
3
3P = 3(60)x103 = 4800m
Example 5 The cyclist travels to point A, pedaling until he
reaches a speed vA = 4 m/s. He then coasts freely up the
curved surface. Determine how high he reaches up the surface
before he comes to a stop. Also, what are the resultant normal
force on the surface at this point and his acceleration? The
total mass of the bike and man is 75 kg. Neglect friction, the
mass of the wheels, and the size of his bicycle.
T1 + V1;2 = T2
1 2
2 mvA + (;mgy) = 0
1
2 (75)4 ; (75)(9:8)y = 0 ) y = 0:815m
2
x1=2 + y1=2 = 2 ) x = 1:203m
Fn = man
dy 1 ;1=2 1 ;1=2 dy
dx =? 2 x + 2 y dx = 0
dy
tan = dx = x;1=2
; ;1=2 = ;0:823 ) = ;39:46
y
N ; mgcos = 0 ) N = mgcos39:46 = 568N
Ft = mat mgsin39:46 = mat
at = gsin39:46 = 6:23m=sec2
Example 6 The 200-kg roller coaster car is accelerated
uniformly from rest at A until it reaches a maximum speed at
B in t = 3.5 s, at which point it begins to travel freely along
the spiral loop. Determine this maximum speed at B so that
the car just makes the loop without falling o the track. Also,
compute the constant horizontal force F needed to give the car
the necessary acceleration from A to B. The radius of
curvature at C is C = 25 m. @ t=3.5 sec
vA = 0
vB = max
At point C
Fn = m v = mg
2
p
vC = pg = (25)(9:8) ) 15:66
) TB + UB ;C = TC
1 2 1 2
2 mvB ; mgy = 2 mvC
1 1
2 (200)vB ; (200)(9:8)35 = 2 (200)245:25
2
vB = 30:53m=sec
vB = vA + at
30:53 = 0 + a(3:5) ) a = 8:72m=sec2
Fx = max ) F = ma = (200)(8:72) = 1744N
Example 7 The toboggan and passenger have a total mass of 60
kg. When it reaches point A it ahs a speed vA = 4 m/s.
Determine the angle at which it leaves the smooth circular
curve and the distance s where it plunges in the snow. Neglect
friction.
Fn = man = mgcos = m vB
2
T1 + V1 = T2 + V2
1 mv2 + mg12cos20 = 1 mv2 + mg12cos
2 A 2 B
1 (60)(4)2 + 60(9:8)(12cos20) = 1 60v2 + (60)(9:8)(12)cos
2 2 B
vB = 8:89m=sec = 47:8o
= ; 20 = 47:8 ; 20 = 27:8o
y = yo + voy t + 21 ac t2
12sin47:8 = 0 + 8:89sin47:8t + 12 9:8t2
t = 0:775sec
x = xo + vox t
s = 0 + 8:89cos47:8(0:775) = 4:63m
Example 8 The ride at an amusement park consists of a
gondola which is lifted to a height of 120 ft at A. If it is
released from rest and falls along the parabolic track,
determine the speed at the instant y = 20 ft. Also determine
the normal reaction of the tracks on the gondola at this
instant. The gondola and passenger have a total weight of 500
lb. Neglect the eects of friction and the mass of the wheels.
1 x2
y = 260
dy 1
dx = 130 x
d2 y 1 ;1 dy o
dx2 = 130 ) = tan dx = 29:02

23=2
dy
1 + dx
= d2 y
dx2
2 3=2
Aty = 20ft x = 72:11ft ) = 1 + (0:155) ] = 194:4ft
130
500 v
Fn = man : N ; 500cos29:02 = 32
2
:2 194:4
T1 + V1 = T2 + V2

1 500 2
0 + 0 = 2 32:2 v ; 500(100)
v2 = 6440 ) v = 80:2ft=sec
N = 952lb
Example 9 Design considerations for the bumper B on the
5-Mg train train car require use of a nonlinear spring having
the load-deection characteristics shown in the graph. Select
the proper value of k so that the maximum deection of the
spring is limited to 0.2 m when the car, traveling at 4 m/s,
strikes the rigid stop. Neglect the mass of the car wheels.
Zs
U1;2 = ; ks2 ds
0
T1 + U1;2 = T2
Work on particle = - Work on spring
1 2 Z 0:2
2 mv1 + ; 0 ks ds] = 0
2
1 s3 (0:2)3
2 (5000)(4) = k 3 = k 3
2
k = 15MN=m2
Example 10 The car having a mass of 2 Mg is originally
traveling at 2 m/s. Determine the distance it must be towed
by a force F = 4 kN in order to attain a speed of 5 m/s.
Neglect friction and the mass of the wheels.
T1 + U1;2 = T2
U1;2 = F dr = (;mgsin10 + Fcos20)s
1 2 1 2
2 mv1 + (;mgsin10 + Fcos20)s = 2 mv2
1 (2000)(2)2 + (4000cos20 ; (2000)(9:8)sin10)s = 1 2000(5)2
2 2
s = 59:7m
Example 11 The sports car has a mass of 2.3 Mg, and while it
is traveling at 28 m/s the driver causes it to accelerate at
5m=s2 . If the drag resistance on the car due to the wind is
FD = (0:3v2 ) N, where textitv is the velocity in m/s, determine
the power supplied to the engine at this instant. The engine
has a running eciency of = 0:68.
Fx = max
F ; FD = ma
F ; 0:3v2 = (2:3x103)5 ) F = 0:3v2 + 11:5x103
at v = 28 m/sec
F = 11735:2N
P = Fv = (11735:2)(28) = 328:59kW
Pi = Po = 328 :59
0:68 = 483kW
Example 12 Marbles having a mass of 5 g fall from rest at A
through the glass tube and accumulate in the can at C.
Determine the placement R of the can from the end of the
tube and the speed at which the marbles fall into the can.
Neglect the size of the can.
TA + UA;B = TB
0 + mg(3 ; 2) = 21 mvB2
p p
vB = 2g = 2(9:81) = 4:429m=sec
y = yo + voy t + 12 gt2
voy = 0
2 = 0 + 0 + 21 (9:81)t2 ) t = 0:6386sec
x = xo + vox t
R = 0 + 4:43(0:639) = 2:83m
TA + UA;C = TC
1 2 1 2
2 mvA + mgh = 2 mvC
p
0 + mgh = 12 mvC2 ) vC = sqrt2gh = 2(9:81)3 = 7:67m=sec
Example 13 Determine the height h to the top of the incline D
to which the 200-kg roller coaster car will reach, if it is
launched at B with a speed just sucient for it to round the
top of the loop at C without leaving the track. The radius of
curvature C is C = 25 m.
Fn = man
mg = m v
2
) v2 = g = (25)(9:81) = 245:25m2=sec2
TB + UB;C = TC
1 2 1 2
2 mvB + ;mgh] = 2 mvC
1 (200)v2 ; 200(9:8)(35) = 1 (200)(245:25)
2 B 2
vB = 30:53m=sec
TB + UB;D = TD
1 2
2 mvB ; mgh = 0
h = 12 vgB = 12 (309::81
53)2 = 47:5m
2
Example 14 The 5-lb. cylinder is falling from A with a speed
vA = 10 ft/s onto the platform. Determine the maximum
displacement of the platform, caused by the collision. The
spring has an unstretched length of 1.75 ft and is originally
kept in compression by the 1-ft long cables attached to the
platform. Neglect the mass of the platform and spring and any
energy lost during the collision.
T1 + U1;2 = T2
1 2 1 2 1 2
2 mv + mgh ; 2 ks2 + 2 ks1 = 0
1 5 1
2 32:2 (10) + 5(3 + s) ; 2 400(0:75 + s) ; (0:75) ] = 0
2 2 2
200s2 + 295s ; 22:76 = 0
s = 0:0735ft < 1ft
Example 15 The man at the window A wishes to throw the
30-kg sack on the ground. To do this he allows it to swing from
rest at B to point C, when he releases the cord at = 30o.
Determine the speed at which it strikes the ground and the
distance R.
TB + UB;C = TC
1 2 1 2
2 mvB + mglcos = 2 vC ) vC = 2glcos
2
p p
vC = 2glcos = 2(9:81)(8)cos30 = 11:66m=sec
TB + UB;D = TD
p p
0 + mgh = 21 mvD2 ) vD = 2gh = 2(9:81)(16) = 17:7m=sec
Between C & D
y = yo + voy t + 12 gt2
16 = 8cos30 ; 11:66sin30t + 21 (9:81)t2
t = 2:08sec
x = xo + vox t ) x = 8sin30 + 11:66cos30(2:08) = 25m
R = 8 + 25 = 33m
Example 16 The crate has a mass of 150 kg and rests on a
surface for which the coecients of static and kinetic friction
are s = -.3 and k = 0.2, respectively. If the motor M supplies
a cable force of F = (8t2 + 20)N, where t is in seconds, determine
the power output developed by the motor when t = 5 s.
At starting condition
Fx = 0 ) 3F ; Ff = 0
F = F3f = s3mg = (0:3)(150)(9
3
:81) = 147:15N
F = 8t2 + 20 = 147:15 ) t = 4sec
In motion
Fx = ma ) 3F ; k mg = ma
3(8t2 + 20) ; 0:2(150)(9:81) = 150a
a = dv
dt = 0:16t ; 1:56
2
Zv Z5
dv = (0:16t2 ; 1:56)dt = 0:316 t3 j45 ; 1:56tj45 = 1:7m=sec
0 4
At t = 5
P = Fv = 3(8(5)2 + 20)(1:7) = 1:13kW
Example 17 The 20-lb collar is constrained to move on the
smooth rod. It is attached to the three springs which are
unstretched when s = 0. If the collar is given a velocity of 2
ft/s to the right when s = 0, determine the maximum
compression of each spring as the collar travels back and forth
(oscillates) on the rod.
T1 + V1 = T2 + V2
1 2 1 2 1 2 1 2
2 mv1 + 0 = 0 + 2 kB x + 2 kA x + 2 kC x
1 20 2 1
2 32:2 (2) = 2 (10 + 10 + 30)x
2
x = 0:223ft = 2:67in
Example 18 The girl has a mass of 40 kg and center of mass at
G. If she is swinging to a maximum height dened by = 60o,
determine the force developed along each of the four
supporting posts such as AB at the instant = 0o. The swing is
centrally located between the posts. When = 0
T1 + V1 = T2 + V2
0 + 40(9:81)(;2cos60) = 21 40v2 + 40(9:81)(;2)
v = 4:429m=sec
Fn = man
T ; 40(9:81) = 40 (4:429)
2
)T = 784:8N
2
Fy = 2(2Fcos30) ; 784:8 = 0
F = 227N
Example 19 The roller-coaster car has a mass of 800 kg,
including its passenger, and starts from the top of the hill A
with a speed vA = 3 m/s. Determine the minimum height h of
the hill crest so that the car travels around both inside loops
without leaving the track. Neglect friction, the mass of the
wheels, and the size of the car. What is the normal reaction on
the car when the car is at B and when it is at C?
TA + VA = TB + VB
1 1
2 (800)3 + 0 = 2 800vB ; 800(9:81)(h ; 20)
2 2
Fn = man ) mg = m v
2
) vB
2
= (10)(9:8) = 9:81m2=s2
) vB = 9:9m=sec
h = 24:5m
TA + VA = TC + VC
1 800(3)2 + 0 = 1 800v2 ; 800(9:81)(24:5 ; 14)
2 2 C
vC = 14:69
an = vC = (14:769) = NC + mg = man
2 2

NC = 800 147:69
2
; 800(9:81) = 16:8kN
Example 20 The skier starts from rest at A and travels down
the ramp. If friction and air resistance can be neglected,
determine his speed vB when he reaches B. Also, compute the
distance s to where he strikes the ground at C, if he makes the
jump traveling horizontally at B. Neglect the skier's size. He
has a mass of 70 kg.
TA + VA = TB + VB
0 + mgh = 21 mv2 + 0
p p
v = 2gh = 2(9:81)46 = 30m=sec
y = yo + voy t + 12 gt2
4 + ssin30 = 0 + 0 + 21 9:8t2
scos30 = vox t = 30t
s = 130m
t = 3:75sec
Example 21 The block has a mass of 20 kg and is released from
rest when s = 0.5 m. If the mass of the bumpers A and B can
be neglected, determine the maximum deformation of each
spring due to the collision.
T1 + V1 = T2 + V2
0 + 0 = 0 + 21 kA sA2 + 12 kB sB2 + mg(;(sA + sB ) ; 0:5)
Fs = kA sA = kB sB ) 500sA = 800sB
sA = 1:6sB
sB = 0:638m sA = 1:02m
4.6. ENERGY METHOD FOR RIGID BODIES 293
4.6 Energy Method for Rigid Bodies
insert non pre
Chapter 5
Supports and Structures
Rigid bodies have a size they have the ability of rotation
For equilibrium
F = 0
M = 0
Free body diagram:
Supports
1) Single force along or perpendicular to the surface
2) Two force component
3) Force & Moment
295
296 CHAPTER 5. SUPPORTS AND STRUCTURES
Weight & Center of Gravity:
For a sizable mass we assume the weight is acting on one point,
the center of gravity for homogeneous material it is at the
geometric center.
Free body diagram:
1) Isolate the body
2) Show the external forces
3) Show the location
Equations of Equilibrium:
Fx = 0
Fy = 0
Mo = 0
297
Example 1 Determine the reactions at the roller B, the rocker
C, and where the beam contacts the smooth plane at A.
Neglect the thickness of the beam.
Fy = 0 = FC + FB + FAy ; 500 ; 800=sin60 = 0
Fx = 0 = ;800 cos60 + FAx = 0
FAx = 800 cos60 = 400N
FAx 4
FAy = 3 or
FAx = FA cos 53:13
FAy = FA sin 53:13
FAx = FA cos 53:13 = 400 ) FA = 666:6N
MC = 0 = (800 sin 60)(6) + 500(8) ; FB (8) ; FAy (12) = 0
FAy = 666:6 sin53:13 = 533:3N
FB = 4156:9 + 4000
8
; 6399:6
= 219:66N
FC = 439:8N
Example 2 The man is pulling a load of 8 lb with one arm held
as shown. Determine the force FH this exerts on the humerus
bone H, and the tension developed in the biceps muscle B.
Neglect the weight of the man's arm.
Fx = 0 = FH ; TB + 8 = 0
MH = 0 = 1:75TB ; 8(14:75) = 0
TB = (8)14:75
1:75 = 67:4lb
FH = TB ; 8 = 67:4 ; 8 = 59:4lb
299
Example 3 If rope BC will fail when the tension becomes 50
kN, determine the greatest vertical load F that can be applied
to the beam at B. What is the magnitude of the reaction at A
for this loading? Neglect the thickness of the beam.
Fx = 0 = FAx + FBCx ; FDx = 0
FAx + 50 45 ; 26 13
5 =0
Fx = 30kN
12 + F = 0
Fy = 0 = FBCy ; F ; FDy + FAy = 0 = 50 35 ; F ; 26 13 Ay
MB = 0 = FDy (4) ; FAy (6) = 0
FAy = 4F6Dy = 64 (26) 12
13 = 16kN
Then,
12 + 59 3 = 16 ; 24 + 30 = 22kN
F = FAy ; 26 13 5
textbfExample 4 Determine the reactions at the smooth collar,
A, the rocker B, and the short link CD.
Fx = 0 = FC ; 2:5 cos 60 + FA cos 45 = 0
Fy = 0 = FB ; 2:5 sin 60 + FA sin 45 = 0
MB = 0 = 3FC + (2:5 sin 60)6 ; FA sin 45(10) ; 4 = 0
FA = 1:06kN
FB = 1:42kN
FC = 0:5kN
301
Example 5 The power pole supports the three lines, each line
exerting a vertical force on the pole due to its weight as shown.
Determine the reactions at the xed support D. If it is possible
for wind or ice to snap the lines, determine which line(s) when
removed create(s) a condition for the greatest moment reaction
at D.
Fx = Dx = 0
Fy = ;400 ; 450 ; 800 + dy = 0
Dy = 1650lb
MD = 0 = MD ; 4(450) + 2(800) ; 3(400) = 0
MD = 1200 + 1800 ; 1600 = 1400lb:ft
The 800 line snape or removed
MD = 3000lb:ft
Example 6 The lineman has a weight of 175 lb, mass center at
G, and stands in the position shown. If he lets go of the pole
with his hands, determine the magnitude of the resultant force
that both his feet must exert on the pole at B and the
horizontal force on the ring at A. Assume the pole and his waist
have the same diameter, so the sides of the belt are parallel.
Fx = 0 = Bx ; FA = 0
Fy = 0 = By ; W = 0
MB = 0 = FA (3 cos 30) ; W (3 sin 30) = 0
sin 30
FA = W cos 30 = 175 tan 30 = 101lb
Bx = FA = 101lb
By = W = 175lb
p
B = (101)2 + (175)2 = 202lb
175 = 60o
= tan;1 101
303
Example 7 (Extra Credit) Determine the distance d for
placement of the load P for equilibrium of the smooth bar in
the position as shown. Neglect the weight of the bar.
cos a ; b = cos a cos b + sin a sin b
sin a ; b = sin a cos b ; cos a sin b
Fx = 0 = Fa ; FB cos
= 0
= 90 ;
FA ; FB sin = 0
Fy = 0 = FB sin
; P = 0
F cos ; P = 0
B
FB = cosP

sin = P tan
FA = FB sin = P cos
MA = 0 = ;Pd cos + FB cosa = 0
aFB = a
d = Pcos P a
2 P cos2 cos = cos3
Example 8 The wing of the jet aircraft is subjected to a thrust
of T = 8 kN from its engine and the resultant lift force L = 45
kN. If the mass of the wing is 2.1 Mg and the mass center is at
G, determine the x, y, z components of reaction where the
wing is xed to the fuselage at A.
T = 8^{
L = +45k^
G = ;(9:8)(2100) = ;20 580k^ = ;20:58kN k^
Fx = 0 = Ax + 8 = 0 ) Ax = ;8kN
Fy = Ay = 0
Fz = 0 = L ; G + Az ) Az = G ; L = 20:58 ; 45 = ;24:4kN

^{ |^
M~ = 0 8
k^ ^{ |^ k^ ^{ |^ k^
+ 0 15 0 + 0 5 0 +M ^{+M |^+M k^ = ;(0+(2:5)8)^|+(0;64
;2:5
8 0 0 0 0 45 0 0 20:58 x y z
Mx = 0
Mx = 572:1kN:m
My = 20kN:m
Mz = 64kN:m
305
Example 9 Cable BC or DE can support a maximum tension of
900 lb before it fails. Determine the greatest weight W of the
crate that can be suspended from the end of the boom. Also,
determine the x, y, z components of reaction at the
ball-and-socket joint A. D(0,6,0)
E(-3,0,2)
C(2,0,6)
B(0,3,0)
G(0,8,0)
DE = ;3^{ ; 6^| + 2k^ U DE = ;0:42^{ ; 0:86^| + 0:29k^
BC = 2^{ ; 3^| + 6k^ U BC = 0:29^{ ; 0:42^| + 0:86k^
F~D = FD (;0:42^{ ; 0:86^| + 0:29k^)
F~B = 900(0:29^{ ; 0:42^| + 0:86k^) = 261^{ ; 378^| + 774k^
W~ = ;W k^
A = Ax^{ + Ay |^ + Az k^
Fx = 0 = Ax + 257 ; 0:42FD = 0
Fy = 0 = Ay ; 378 ; 0:86FD = 0
Fz = 0 = Az ; W + 774 + 0:29FD = 0

^{ |^
M~ = 0 8
k^ ^{ |^ k^ ^{ |^ k^

0 + 0 + 0

0 6 3 0
0 0 ;W ;0:42FD ;0:86FD 0:29FD 261 ;378 774
= ;8W ^{ + 1:74FD^{ + 2:52FD k^ + 2322^{ ; 783k^
Mx = 0 = ;8W + 1:74FD + 2332 = 0
Mz = 0 = 2:52FD ; 783 = 0 ) FD = 310:7lb:ft < 900
W = 2322 +81:74FD = 357:8lb
Az = W ; 774 ; 0:29FD = 357:8 ; 774 ; 0:29(310:7) = ;506lb
Ay = 378 + 0:86FD = 378 + 0:86(310:7) = 645:2lb
Ax = 0:42FD ; 257 = ;126:8lb
307
Example 10 Determine the tensions in the cables and the
components of reaction acting on the smooth collar at A
necessary to hold the 50-lb sign in equilibrium. The center of
gravity for the sign is at G.
W = ;50k^
B(-2,2,0) C(-3,0,2)
D(3,2,0) E(4,0,2)
G(0.5,2,-1)
DE = ^{ ; 2^| + 2k^ U DE = 0:33^{ ; 0:66^| + 0:66k^
BC = ;^{ ; 2^| + 2k^ U BC = ;0:33^{ ; 0:66^| + 0:66k^
F~B = FB (;0:33^{ ; 0:66^| + 0:66k^
F~D = FD (0:33^{ ; 0:66^| + 0:66k^
Fx = 0 = ;0:33FB + 0:33FD + Ax = 0
Fy = 0 = ;0:66FB ; 0:66FD + Ay = 0
Fz = 0 = ;50 + 0:66FB + 0:66FD = 0

^{ |^
M~ = MAx^{+MAy |^+ 0:5 2
k^
+
^{ |^ k^ ^{ |^ k^

0 + 3
;0:33FB
;1 ;2 2 2 0
0 0 ;50 ;0:66FB 0:66FB 0:33FD ;0:66FD 0:66FD
= MAx^{+MAy |^;100^{+25^|+1:32FB^{+1:32FB |^+1:98FB k^+1:32FD^{;1:98FD jmath
^ ;2:64FD k^ = 0
Mx = 0 = MAx ; 100 + 1:32FB + 1:32FD = 0
My = 0 = MAy + 25 + 1:32FB ; 1:98FD = 0
Mz = 0 = 1:98FB ; 2:64FD = 0
FD = 0:75FB
From
Fz = 0 = ;50 + 0:66FB + 0:66(0:75FB )
FB = 43:2lb
FD = 32:4lb
MAy = ;17:7lb:ft
MAx = ;0:208lb:ft
Ax = 3:56lb
Ay = 49:896lb
309
Example 11 Draw the free-body diagram of the hand punch,
which is pinned at A and bears down on the smooth surface at
B. To nd the reaction forces
Fx = 0 = Ax ; 8 = 0 ) Ax = 8
Fy = 0 = Ay + By = 0 ) Ax = ;By
MB = 0 = 2Ay + (1:5 + 0:2)8 = 0
Ay = ; 8(12:7) = ;6:8lb
By = ;Ay = 6:8lb
Example 12 Draw the free-body diagram of the uniform pipe,
which ahs a mass of 100 kg and a center of mass at G. The
supports A, B, and C are smooth.
W = (100)(9:8) = 980N
Find the reaction forces:
Fx = 0 = ;FC cos 60 + FA = 0 ) FA = FC cos 60
Fy = 0 = FB ; W + FC sin 60 = 0 ) FB = W ; FC sin 60
MB = 0 ; W (1:75 cos30) + (1:25 + 1:75)FC ; FA 0:2 sin 60 = 0
FC = FA (0:2) sin 60 + W (1:75 cos 30
(1:25 + 1:75)
FC = FC cos 60(0:2) sin 60 W (1:75) cos 30
(1:25 + 1:75) + 1:25 + 1:75
FC = 282:9N
FA = 145:65N
FB = 735N
311
Example 13 Determine the magnitude of the reactions on the
beam at A and B. Neglect the thickness of the beam.
Fx = 0 Ax ; 400 sin 15 ) Ax = 103:5N
Fy = 0 Ay ; 600 ; 400 cos 15 + By = 0
MB = 0 = 8(600) ; 12Ay = 0
Ay = 400N
By = 600 + 400 cos15 ; 400 = 586:37N
q p
A = Ax2 + Ay2 = (400)2 + (103:5)2 = 413:17N
400
= tan;1 103 o
:5 = 75:5
Example 14 When holding the 5-lb stone in equilibrium, the
humerus H, assumed to be smooth, exerts normal forces FC
and FA on the radius C and ulna A as shown. Determine these
forces and the force FB that the biceps B exerts on the radius
for equilibrium. The stone has a center of mass at G. Neglect
the weight of the arm.
Fx = 0
FC ; FB cos 75 = 0
Fy = 0
;FA + FB sin 75 ; 5 = 0
MC = 0 = ;(14 ; 0:8)(5) + (FB sin 75)(2 ; 0:8) + 0:8FA = 0
FC = FB cos 75
FA = FB sin 75 ; 5
;13:2(5) + 1:2FB sin 75 + 0:8(FB sin 75 ; 5) = 0
2FB sin 75 = (13:2 + 0:8)(5)
FB = 36:23lb
FC = 9:37lb
FA = 30lb
313
Example 15 The wall crane is supported by the journal bearing
(smooth collar) at B and thrust bearing at A. If the journal
bearing can support a force of 12 kN before it fails, determine
the maximum load P that can be suspended from the crane.
The thrust bearing at A can support both horizontal and
vertical components of force.
Fx = 0 = Ay ; P = 0 ) Ay = P
Fy = 0 = Ax ; Bx = 0 ) Ax = Bx = 12kN
MA = 0 = ;(5)(P ) + 12(6) = 0
P = 14:4kN = Ay
Example 16 Determine the resultant normal force acting on
each set of wheels of the airplane. There is a set of wheels in
the front, A, and a set of wheels under each wing, B. Both
wings have a total weight of 50 kip and center of gravity at Gw ,
the fuselage has a weight of 180 kip and center of gravity at Gf ,
and both engines (one on each side) have a total weight of 22
kip and center of gravity at Fe .
Ww = 50kip
Wf = 180kip
We = 22kip
Fy = 0 = Ay + 2By ; Ww ; Wf ; We = 0
Ay + 2By = 50 + 180 + 22 = 252kip
MB = 0 = We (2) + Wf (9) ; Ay (40) = 0
Ay = (22)(2)40
+ 9(180) = 41:6kip
By = 252 ;2 41:6 = 105:2kip
315
Example 17 The uniform ladder has a mass of 60 kg and is
placed against the smooth step A. It is lowered to the
horizontal position by a man who applies a normal force to it
always from a height of 2.5 m. Determine the largest length L
at which it can be so that he can let it down slowly without
causing the ladder to slip at A.
W = mg = 60(9:8) = 588N
Fx = 0 = Ax ; FC sin = 0
Fy = 0 = Ay ; W + FC cos = 0
2:5
MA = 0 = FC sin L
; W 2 cos = 0
set W
Ay = 0 ) FC = cos
W 2:5 L
cos sin ; 2 W cos = 0
5
L = sin cos2
dL = 0 = 5(;sin(2cos)sin + cos2 cos) = 0
d ((sin)cos2 )2
cos3 ; 2sin2cos = 0
cos2 ; 2sin2 = 0
cos2 ; 21 ; cos2 ] = 3cos2 ; 2 = 0
cos2 = 32
cos = 0:816
= 35:26o
L = 13 m
317
Example 18 The pole is subjected to the two forces shown.
Determine the components of reaction at A assuming it to be a
ball-and-socket joint. Also, compute the tension in each of the
guy wires, BC and ED. D(-6,-3,0)
C(6,-4.5,0)
E(0,0,6)
B(0,0,4)
F~1 = 860 cos45^{ ; 860 sin 45k^ = 608:1^{ ; 608:1k^
F 02 = 450 cos20 = 422:86N
F2z = ;450 sin20 = ;154N
F2x = ;F 02 cos 30 = ;366:2N
F2y = F 02 sin 30 = 211:43N
ED = ;6^{ ; 3^| ; 6k^ U ED = ;0:66^{ ; 0:33^| ; 0:66k^
BC = 6^{ ; 4:5^| ; 4k^ U BC = ;0:706^{ ; 0:53^| ; 0:47k^
F~1 = 608:1^{ ; 608:1k^
F~2 = ;366:2^{ + 211:43^| ; 154k^
F~E = FE (;0:66^{ ; 0:33^| ; 0:66k^)
F~B = FB (0:706^{ ; 0:53^| ; 0:47k^)
A~ = Ax^{ + Ay |^ + Az k^
Fx = 0 = 608:1 ; 366:2 ; 0:66FE + 0:706FB + Ax = 0
Fy = 0 = 211:43 ; 0:33FE ; 0:53FB + Ay = 0
Fz = 0 = ;608:1 ; 154 ; 0:66FE ; 0:47FB + Az = 0

M~ A =
^{ |^ k^ ^{ |^ k^
8 + 8
0:706F ;0:53F ;0:47F ;366:2 211:43 ;154
0 0 0 0
B B B

+
^{ |^ k^ ^{ |^ k^
6 + 4 =0
;0:66FE ;0:33FE ;0:66FE 0:706FB ;0:53FB ;0:47FB
0 0 0 0
= 8(608:1)^|;8(211:43)^{;8(366:2)^|+2FE^{;4FE |^+2:12FB^{+2:824FB |^ = 0
Mx = 0 = ;8(211:43) + 2FE + 2:12FB = 0
My = 0 = 8(608:1) ; 8(366:2) ; 4FE + 2:82FB = 0
FE + 2:12FB = 1 691:44
;4FE + 2:84FB = ;1 935:2
FB = 205N
FE = 628:46N
Az = 1 280N
Ax = 32:4N
Ay = 107N
319
Example 19 Both pulleys are xed to the shaft and as the shaft
turns with constant angular velocity, the power of pulley A is
transmitted to pulley B. Determine the horizontal tension T in
the belt on pulley B and the x, y, z components of reaction at
the journal bearing C and thrust bearing D if = 45o. The
bearings are in proper alignment and exert only force reactions
on the shaft.
Fx = 0 = Dx = 0
Fy = 0 = Cy + Dy + 50 cos 45 + T = 0
Fz = 0 = Cz + Dz + 50 sin 45 ; 80 ; 65 = 0

^{
M~ D = 0:2
|^ k^ ^{ |^ k^ ^{ |^ k^ ^{ |^ k^

0:15 + 0:2 0 ;0:15 + 0:45 0:08 0 + 0:45 ;0:08
0 0
0 0
0 50 cos 45 50 sin 45 0 T 0 ;80 0 0 ;65

^{ |^ k^
+ 0:75 0 0
0 Cy Cz
|+(0:2)(50) cos 45k^+0:15T ^{+0:2T k^;(0:08)(80)^{+(0:45)(80)^|+(0:08)(65)^{+(6:45
;(0:15)50 cos45^{;0:2(50 sin45)^
Mx = 0 = ;0:15(50) cos45 + 0:15T ; (0:08)(80) + (0:08)(65) = 0
T = 43.3 N
My = 0 = ;0:2(50) sin 45 + 0:45(80) + (0:45)(65) ; 0:75Cz = 0
Cz = 77:6N
Mz = 0
0:2(50) cos45 + 0:2T + 0:75Cy = 0
Cy = ;21N
Dy = ;T ; 50 cos 45 ; Cy = ;57:65N
Dz = 65 + 80 ; 50 sin 45 ; Cz = 32N
321
Example 20 The bar AB is supported by two smooth collars.
At A the connection is with a ball-and-socket joint and at B it
is a rigid attachment. If a 50-lb load is applied to the bar,
determine the x, y, z components of reaction at A and B.
B(-5,3,6) C(0,0,6) (A(0,3,0) D(-9,3,6) H(-5,3,0)
Fx = 0 = Ax + Bx = 0
Fy = 0 = 50 + By = 0
By = ;50lb
Fz = 0 = Az + Bz = 0

^{ |^
MB = 0 = 0 0
k^ ^{ |^ k^
+ 5 0 ;6 + Mx^{ + My |^ + Mz k^
Ax0 Az
;6
0 50 0
= +300^{ ; (5Az + 6Ax)^| + Mx^{ + My |^ + Mz k^
Mx = 0 = Mx = ;300lb:ft
My = 0 = My ; 5Az + 6Ax = 0
Mz = 0 = Mz = 0
rCD = ;9^{ + 3^| U CD = 0:95^{ + 0:31^|
F~B U CD = 0
(Bx^{ ; 50^| + Bz k^)(;0:95^{ + 0:31^|) = 0
Bx = ;17:6lb = ;Ax
~ U CD = 0
MB
(;300^{ + My |^)(;0:95^{ + 0:31^|) = 0
My = ;900lb:ft
323
Example 21 Member AB is supported at B by a cable and at A
by a smooth xed square rod which ts loosely through the
square hole of the collar. Determine the tension in cable BC if
the force F = -45k lb.
C(0,8,6)
B(12,4,0)
F(12,0,0)
BC = ;12^{ + 4^| + 6k^
U BC = ;0:86^{ + 0:29^| + 0:43k^
F~ = ;45k^
Fz = 0
;45 + 0:43FB = 0
FB = 104:65lb
Example 22 The wall footing is used to support the column
load of 12,000 lb. Determine the intensities w1 and w2 of the
distributed loading acting on the base of the footing for
equilibrium.

Fy = 0 = w2 (35) + w1 ;2 w2 35 ; 12 000 = 0

w1 ; w2 35 = 0
MA = 0 = ;14(12 000) + 17:5w2(35) + 353 2
35w2 + 17:5w1 ; 17:5w2 = 12 000 = 17:5w1 ; 17:5w2 = 12 000
35w2 ; 35 35
2 w2 + 2 w1 = 12 000
35 (w + w ) = 12 000 ) w + w = 685:7lb=in
2 2 1 1 2
;168 000 + 612:5w2 + 204(w1 ; w2 ) = 0
;168 000 + 612:5w2 + 204(685:7 ; w2 ; w2 ) = 0
w2 = 137:7lb=in
w1 = 549lb=in
5.1. STRUCTURES AND MACHINES 325
5.1 Structures and Machines
The analysis is based on equilibrium condition of each member
in the structures.
5.2 Truss
Structure composed of members joined together at their end
points.
Planar trusses: One-plane trusses
Assumption for design:
1) loading at joints
2) Members joined by smooth pins (1 force)
5.3 Method of Joints
Joints are in equilibrium, each member is one force member
then can apply
Fx = 0 Fy = 0
1) Draw joint F.B.D.
2) Start with joints that have at least one known & at most
two unknown forces
3) Direction of the unknown can be assumed
a) tension
b) correct sense (by inspection)
5.4 Zero Force Members
{ If only two members form a truss joint and no external
load or support reaction is applied to the joint, the
members must be zero force members.
{ If three members form a truss joint for which two of the
members are collinear, the third member is a zero
member, provided no external force or support reaction
applied to the joint.
Example 1 Determine the force in each member of the truss
and state if the members are in tension or compression. Set
P1 = 8kN , P2 = 10kN .
Fx = 0 = Bx + Cx = 0
Fy = 0 = By ; P2 ; P1 ) P1 + P2 = 8 + 10 = 18kN
MC = 0 = ;2Bx + 2P1 + 2 sin 45 cos 45P2 = 0
Bx = 2(P2 sin 452cos 45 + P1 = 13N
Cx = ;Bx = ;13N
Joint A
Fx = 0 = FAB + FAD cos 45 = 0
Fy = 0 = ;P1 ; FAD sin 45 = 0 ) FAD = ; sinP145 = ; sin845 = ;11:3N
FAB = ;FAD cos 45 = 11:3 cos45 = 8Ntension
Joint D
Fx = 0 = FDB cos 45 + FDC cos 45 + FAD cos 45 = 0
Fy = 0 = FDB sin 45 ; FDC sin 45 ; P2 ; FAD sin 45 = 0
FDB + FDC = ;11:3
FDB ; FDC = 11:3 + sin1045 = 25:44N
FDB = 7:07Ntension
5.4. ZERO FORCE MEMBERS 327
FDC = ;18:37Ncompression
Joint C
Fx = 0
Cx + FDC cos 45 = 0 ) Cx = ;FDC cos 45 = ;13Ncompression
]
Fy = 0 = ;FDC sin 45 + FCB = 0
FCB = 13Ntension
Joint B
Fx = 0 = ;FAB + Bx ; FBD cos 45 = 0
Bx = +FBD cos 45 + FAB = +13N
Fy = 0 = By ; FCB ; FBD sin 45 = 0
By = 13 + 5 = 18N
6-11. Determine the force in each member of the truss and
state if the members are in tension or compression. Set
P1 = 400lb, P2 = 400lb, P3 = 0
Fx = 0 = Ax ; D cos 60 = 0 ) Ax = D cos 60
Fy = 0 = Ay ; P1 ; P2 + D sin 60 = 0 ) Ay = P1 + P2 ; D sin 60
MA = 0 = (D sin 60)30 ; P2 (10) = 0 ) D = 3010sinP260 = 154lbtension
Ax = D cos 60 = 77lb
Ay = 666:6lb
Joint A
Fx = 0 ) Ax + AF + AB cos 45 = 0 ) AF = ;Ax ; AB cos 45
Fy = 0 ) Ay ; P1 + AB sin 45 = 0 ) AB = Psin
1 ; Ay
45
; 666:6
AB = 400sin 45 = ;377lbcompression
AF = ;Ax ; AB cos 45 = ;77 ; (;377 cos45) = 189:6lb
Joint B
Fx = 0 = ;AB cos 45 + BC = 0
BC = ;AB cos 45 = ;(377) cos45 = 266:6lb
Fy = 0 = ;AB sin 45 ; BF = 0 ) BF = ;AB sin 45
BF = ;(;377) sin 45 = 266:6lb
Joint F
Fx = 0 = FE ; AF + FC cos 45 = 0
Fy = 0 = BF ; P2 + FC sin 45 ; BF = 0 ) FC = P2sin; 45
BF
; 266:6
F = 400sin 45 = 188:7lb
FE = AF ; FC cos 45 ; 189:6 ; 188:7 cos45 = 56:2lb
Joint C
Fx = 0 = ;BC + FC cos 45 + CD cos 45 = 0
Fy = 0 = ;CE ; CD sin 45 ; FC sin 45 = 0
Joint D
Fx = 0 = ;FDE ; D cos 60 ; FDC cos 45 = 0
Fy = 0 = D sin 60 + FDC sin 45 = 0 ) FDC = ;D sin 60
sin 45
sin 60 = ;188:6lb(C )
FDC = ;154 sin 45
FDE = FDC cos 45 + D cos 60 = ;56:36lb(C )
Joint E
Fx = 0 = ;FED ; FEF = 0 ) FEF = ;FED = ;56:36lb(C )
Fy = 0 = FEC = 0
Joint F
Fx = 0 = ;FEF ; FAF + FFC cos 45 = 0
FFC = FEFcos+45FAF = 189:57 + 56:36 = 347:8lb
cos 45
Fy = 0 = FFB ; P2 + FFC sin 45 = 0
FFB = P2 ; FFC sin 45 = 154lb
FC fcos45 266:6 ; 188:7 cos45 = 188:7
CD = BC ;cos 45 = cos 45
CE = ;CD sin +FC sin 45 = 0lb
Joint E
Fx = 0 = ;FE + ED = 0 ) ED = FE = 56:2lb
and state if the members are in tension or compression. Hint:
The vertical component of force at C must equal zero. why?
MD = 0 = 8(2) + 6(3:5) + Dx(2) = 0
Cx = ;8(2) ;2 6(3:5) = ;18:5kN
Fx = 0 = Dx + Cx = 0 ) Dx = ;Cx = 18:5kN
Joint C
Fy = 0 ) Cy = 0
;Cx + BC = 0 ) BC = Cx = ;18:5kN
Joint A
Fx = 0 = AB 21::55 ; AE = 0 ) AE = 12::55 AB = 4:5kN
Fy = 0 = ;6 + AB 22:5 = 0 ) AB = 6 22:5 = 7:5kN
Joint E
Fx = 0 = 4:5 ; ED = 0 ) ED = 4:5kN
Fy = 0 = EB ; 8 = 0 ) EB = 8kN
Joint B
Fx = 0 = ;BD = cos45 + BC ; 7:5 12::55 = 0
18:5 ; (7:5) 21::55
BD = cos 45 = 19:8lb
Example 3 The maximum allowable tensile force in the
members of the truss is (Ft )max = 2kN , and the maximum
allowable compressive force is (Fc)max = 1:2kN . Determine the
maximum magnitude P of the two loads that can be applied to
the truss. Take L = 2 m and = 30o.
Fx = 0 = Ax + P = 0 ) Ax = ;P
Fy = 0 = Ay + Dy ; P = 0
MA = 0 = Dy L ; L cos P = 0 ) Dy = P cos 2
Ay = P ; Dy = P ; P cos 2 = P (1 ; cos 2)
Joint B
Fx = 0 = ;BC + AB sin = 0 ) BC = AB sin = P tan = 0:577P
P = 1:15P
Fy = 0 = AB cos ; P = 0 ) AB = cos
Joint C
Fx = 0 = P + BC + CA cos + CD sin = 0
CA cos + CD sin = ;P ; P tan = ;P (1 + tan )
sin
Fy = 0 = CA sin + CD cos = 0 ) CD = ;CA tan = ;CA cos
CA cos ; CA sin
2
cos = ;P (1 + tan )
2 ; sin2
CA cos cos = ;P (1 + tan )
sin
= ;CA cos

= CA (cos + sin cos
)(cos ; sin )

CA = cos ;;Psin = ;2:73P
CD = cosPtan = 1:57P
; sin
Joint D
Fx = 0 = AD ; CD cos 2 = 0 ) AD = CD cos 2
AD = cosPtan cos 2 = 0:7887P
; sin
Joint A
and state if the members are in tension or compression. Set
P1 = 0, P2 = 20 kN
Fx = 0 = Ax + Gx = 0
Fy = 0 = Ay + Gy ; P1 ; P2 = 0 ) Ay + Gy = P2
MA = 0 = ;6P2 ; 4Gx = 0 ) Gx = ; 64 P2 = ;30kN
Ax = ;Gx = 30kN
Joint G
Fx = 0 = ;Gx ; GB = 0
GB = ;Gx = +30kN (C )
Fy = 0 Gy = 0
)= Ay == P2 = 20kN
Joint A
Fx = 0 ) 30 ; AF ; AB p2 = 0
20
Fy = 0 ) 20 ; AB p4 = 0
20
AB = 22:36kN
AF = 30 ; 2pAB = 20kN
20
Joint B
p p
Fx = 0 = ;BC ; GB + AB 2 20 = 0

BC = AB p2 ; GB
2 ; 30 = ;20kN (C )
= 22:36 p
20 20
Fy = 0 = BF + AB p4 = 0 ) BF = ;AB p4 = ;20kN (C )
20 20
Joint F
Fx = 0 = AF ; EF ; CF cos 45 = 0
Fy = 0 = BF ; CF sin 45 = 0
BF = 20 = 28:28kN
CF = sin 45 sin 45
EF = AF ; CF cos 45 = 20 ; 28:28 cos45 = 0
Joint E
Fx = 0 = ;ED + EF = 0 ) EF = 0&ED = 0
Fy = 0 = ;CE ; P2 = 0 ) CE = ;P2 = ;20kN (C )
Joint D
Fx = 0 = ED + CD p2 = 0 ) CD = 0
20
No need to solve at Joint C every force in the members are
known.
Example 5 Members AB and BC can support a maximum
compressive force of 300 lb, and members AD, DC, and BD
can support a maximum tensile force of 2000 lb. If a - 6 ft,
determine the greatest load P the truss can support.
For this design problem the direction notation is important:
Fx = 0 Ax = 0
Fy ; 0 Ay + Cy ; P = 0
MA = 0 Cy2a ; aP = 0 ) Cyh = P2
) Ay = P ; Cy = P2
Joint A
Fx = 0 = ;AB p1 + AD p4 = 0
2 17
p
AD = p17 AB
4 2
if AB = 800 lb then Ad = 583 lb < 2000 lb
Fy = 0 = P2 ; AB p
1 + AD 1
p =0
2 17

P = 2 AB p1 ; AD p
1 = 848:53lb
2 17
Joint D
Fx = 0 = DC p4 ; AD p4 = 0 ) DC = AD = 583lb
17 17
Fy = 0 = BD ; P ; DC p1 ; AD p1 = 0
17 17
BD = P + 2pAD = 1131:3 < 2000lb
17
! by symmetry CD = AD & CD = AB
! Pmax = 849 lb
Example 6 The maximum allowable tensile force in the
members of the truss is (Ft )max = 3 kN, and the maximum
allowable compressive force is (Fc )max = 5kN. Determine the
maximum magnitude of the load P that can be applied to the
truss. Take d = 2 m.
Fx = 0 = Ex ; P = 0 ) Ex = P
Fy = 0 = Ey + Ay = 0 ) Ey = ;Ay
ME = 0 = (2d)P ; 23 dAy = 0
Ay = 34 P ) Ey = ; 43 P
Joint C
Fy = 0 = CB p2 = 0 ) CB = 0
13
Fx = 0 = CD
Joint A
Fx = 0 = AB p3 + AF = 0
13
p
Fy = 0 = AB p2 + Ay = 0 ) AB = ; 13 4 ;4 13
2 3P = 6 P
13
AB is compression
ABmaxcom = 5kN = 4 13
6P
P = 2:08
5.5. METHOD OF SECTIONS 337
p !
AF = ;AB p3 = ; ;
13 4 p3
2 3 P 13 = 2P
13
max:tenstion = 3kN = 2P ) P = 1:5kN
) max:P = 1:5kN
6-32. Determine the force in members GF, CF, and CD of the
bridge truss and state if these members are in tension or
compression.
Fx = 0 = Ex
Fy = 0 = Ey ; 18 ; 14 ; 12 + Ay = 0
Ey + Ay = 44
MA = 0 = Ey (12) ; 18(9) ; 14(6) ; 12(3) = 0
Ey = 23:5kN
Ay = 44 ; 23:5 = 20:5kN
Mc = 0 = GF (3) + Ey (6) ; 18(3) = 0
GF = +(18)(3)3; Ey (6) = ;29kN (c)
Fy = 0 = ;CF sin 45 + 23:5 ; 18 = 0 ) CF = 7:8kN (T )
Fx = 0 = ;GF ; CF cos 45 ; CD = 0
CD = ;GF ; CF cos 45 = ;(;29) ; 5:5 = 23:5kN
5.5 Method of Sections
{ Imaginary section
{ Not more than 3 members with unknown forces
{ Determine the external reaction forces then do the cut
Assume the unknown is in tension or use correct sense.
Example 1 The roof truss supports the vertical loading shown.
Determine the force in members DE and DJ and state if these
members are in tension or compression.
Fx = 0 = Ax = 0
Fy = 0 = Ay + Gy ; 8 ; 4 = 0 ) Ay = 12 ; 5:33 = 6:67kN
MA = 0 = ;4(4) ; 8(6) + Gy (12) = 0 ) Gy = 5:33kN
MJ = ; p2 (3)DE + 6Gy = 0 ) DE = 11:92kN
5
Joint D
Fx = 0 = DC p2 ; DE p2 = 0 ) DC = DE = 11:92kN
5 2
Fy = 0 = DC p1 + DE p1 + DJ ; 8 = 0
5 5
DJ = ;2:66kN (C )
Example 2 Determine the force in members EI and JI of the
truss which serves to support the deck of a bridge. State if
these members are in tension or compression.
Fx = 0 = Ax = 0
Fy = 0 = Ay ; 4000 ; 8000 ; 5000 + Gy = 0
MA = 0 = ;9(4000) ; 18(8000) ; 5000(45) + 54Gy = 0
Gy = 7500lb
Ay = 9500lb
ME = 0 = ;5000(9) + 7500(18) + JI (12) = 0
JI = ;7500lb(C )
Fy = 0 = ;EI ; 5000 + 7500 = 0
EI = 2500lb(C )
Example 3 Determine the force developed in members FC and
BC of the bridge truss and state if these members are in
tension or compression.
Fx = 0 ) Ax = 0
Fy = 0 ) Ay = ;600 ; 800 + Dy = 0
MA = 0 = ;600(10) ; 800(18) + Dy (28) = 0
Dy = 728:57lb
Ay = 671:4lb
MB = 0 = FG(10) ; Ay (10) = 0 ) FG = Ay = 671:4lb
Fy = 0 = ;GB + Ay = 0 ) GB = Ay = 671:4lb
Example 4 The truss is used to support three electrical power
lines that exert the forces shown on the structure. Determine
the force developed in members BC, BD, and DE and state if
these numbers are in tension or compression.
MB = 0 ) (5)(9) ; 5(12 + 9) ; DEy (9) ; DEx 12 = 0
DEy 12 12
DEx = 3 ) DEy = 3 DEx
orDEx = DE p 3 DEy = p12
153 153
45 ; 105 ; (9)(12)
p DE = (12)(3)
p DE = 0
153 153
DE = ;5:1538kips
MD = 0 ) 5(6 + 3 + 9) ; 5(3 + 9) + CBy = (6) = 0
(5)(8) ; 5(12) + CB p12 (6) = 0
153
;5(6) p
CB = (12)(6) 153 = ;5:1538kips
Fy = 0 = ;5 ; 5 ; DE p12 ; CD p12 ; DB sin 45 = 0
153 153
DB = 0
Example 5 Determine the force in members JE and GF of the
truss and state if these members are in tension or compression.
Also, indicate all zero-force members.
Joint D
Fx = 0 ) DC = 0
Fy = 0 ) DE = 0
Similarly, Joint B
Fx = 0 ) BC = 0
Fy = 0 ) BA = 0
Joint H
Fx = 0 ) HI = 0
Joint I
Fx = 0 IC ; IA + GI sin = 0
Fy = 0 GI cos = 0 ) GI = 0
Whole truss
Fx = 0 Ax = 0
Fy = 0 Ay ; 6 ; 6 + Ey = 0 ) Ay + Ey = 12
MA = 0 Ey (6) ; 6(4:5) ; 6(3) = 0 ) Ey = 7:5kN
Ay = 4:5kN
MF = 0 Ey (1:5) + JE 22:5 1:5 = 0
:5)(1:5) E = ;9:375kN (C )
JE = ; (22(1 :5) y
Fy = 0 JF ; 6 + Ey + JE 22:5 = 0
JF = 6 ; Ey ; JE 22:5 = 6kN
Fx = 0 ; FG ; JE
1:5
2:5 = 0
FG = ; 21::55 JE = 5:625kN (T )
Example 6 Determine the force in members GF, CF and CD of
the truss and state if these members are in tension or
compression. After the truss is sectioned, use a single equation
of equilibrium for the calculation of each force.
Fx = 0 Ax = 0
Fy = 0 Ay ; 8 ; 12 ; 6 + Ey = 0 ) Ay + Ey = 26
MA = 0 ; 8(3) ; 12(6) ; 6(9) + 12Ey =0
Ey = 12:5kN
Ay = 13:5kN
MF = 0 (12:5)3 + 3(DC ) p6 = 0 ) DC = ;14kN (C )
45
Fy = 0 DC p3 + FC p 9 + Ey ; 6 = 0
45 117
9 FC =
3 ; 6:5 =
3 ; 6:5

p ;DC p ;(;14) p
117 45 45
FC = ;0:827kN (C )
MC = 0 ; 3(6) + (12:5)6 ; FG4:5 = 0
FG = 12:67kN (T )
5.6. FRAMES & MACHINES 345
5.6 Frames & Machines
Pin-connected multi-force members
F.B.D.
1. Isolate each part by drawing its outlined shape, then show
the forces
2. Two force members, line of action is the line joining the
points
3. Contacting members have equal force, opposite in direction
Example 1 Determine the force P that must be applied to
the handles of the pliers so that it develops a force of 100
lb on the smooth bolt at B. Also, what is the magnitude of
the resultant force acting on the pin at A?
MA = 0 = 5P ; 100(1:5) = 0
P = 30lb
Fy = 0 = Ay ; P ; 100 = 0 ) Ay = 130lb
Fx = 0 ) Ax = 0
Example 2 The smooth block is held in place using the
vice clamp. If the screw exerts a force of 500 N on the
block, determine the magnitude of the resultant force on
the pin at A.
MA = 0 = ;500(80) + R(50) = 0
R = 800N
Fx = 0 = 500 ; Ax = 0 ) Ax = 500N
Fy = 0 = Ay 0R = 0 ) Ay = R = 800N
q p
A = Ax2 + Ay2 = 5002 + 8002 = 943N
Example 3 Determine the greatest force P that can be
applied to the frame if the largest force resultant acting at
A can have a magnitude of 2 kN.
MA = 0 = ;1:5P + 0:6T = 0
P = 01:6:5T )T = 10:5:6P = 2:5P
Fx = 0 = Ax ; T = 0 ) Ax = T
Fy = 0 = Ay ; P = 0 ) Ay = P
q p
A = 2kN = Ax2 + Ay2 = (2:5)2 P 2 + P 2
p
2 = P 7:25
P = 0:7427kN
Example 4 Determine the force P on the cord, and the
angle that the pulley-supporting link AB makes with the
vertical. Neglect the mass of the pulleys and the link. The
block has a weight of 200 lb and the cord is attached to the
pin at B. The pulleys have radii of r1 in. and r2 = 1 in.
Fy = 0
2T = 200 ) T = 100lb
Fx = 0 = 100 cos45 ; FAB sin = 0
Fy = 0 = FAB cos ; 2T ; P sin 45 = 0
FAB cos ; 200 ; 100 sin 45o = 0
FAB sin = 70:7
FAB cos = 270:7
tan = 0:26 ) = 14:6o
FAB = sin7014:7:6 = 280lb
Example 5 By squeezing on the hand brake of the bicycle,
the rider subjects the brake cable to a tension of 50 lb. If
the caliper mechanism is pin-connected to the bicycle
frame at B, determine the normal force each brake pad
exerts on the rim of the wheel. Is this the force that stops
the wheel from turning? Explain.
MB = 0 = ;3N + 2:5(50) = 0
N = 41:7lb
Normal force will act on the friction
Ff = N
Example 6 If each cord can support a maximum tension of
500 lb, determine the largest weight that can be supported
by the pulley system. Each pulley has a weight of 10 lb.
5P + 10 = 500
P = 490
2 = 245lb
Fy = 0 = 2P + 10 + 2P ; W ; 10 = 0
W = 4P = 4(245) = 980lb
Example 7 The three-hinged arch supports the loads F1 = 4
kN and F2 = 7 kN. Determine the horizontal and vertical
components of reaction at the pin supports A and B. Take
h = 0. vspace2in
MA = 0 = By (14) + Bx(h) ; 4(F1 ; 12F2 = 0
h = 0 ) By = 4F1 +1412F2 = 7:142kN
Fy = 0 = By + Ay ; 7 = 0 ) Ay = 7 ; By = 7 ; 7:142 = ;0:142kN
Fx = 0 = Ax + Bx + F1 = 0
MC = 0 = 3F1 ; 8Ay + 7Ax = 0
Ax = 8Ay ;7 3F1 = ;1:876kN
Bx = ;F1 ; Ax = ;4 ; (;1:876) = ;2:12kN
Fx = 0 = Cx + Ax + F1 = 0 ) Cx = ;F1 ; Ax = ;2:124kN
Fy = 0 = Cy + Ay = 0 ) Cy = ;Ay = 0:142kN
Example 8 Determine the force P needed to support the
50-kg mass using the textitSpanish Burton rig. The
pulleys have a mass of mD = 10 kg, mE = mF = 5kg, and
mG = mH = 2kg. Also, what are the reactions at the
supporting hooks A, B, and C? Pulley D
Fy = 0 = 3T ; WD ; Wmass = 0
WD = 10(9:8) = 98N
Wmass = 50(9:8) = 490N
)T = 196N
Pulley E
Fy = 0 = 3P ; WE ; T = 0
WE = 5(9:8) = 49N
)P = 49 +3 196 = 81:7N
Pulley H
WH = 2(9:8) = 19:6N
HA = 2P + WH = 2(81:7) + 19:6 = 183N
Pulley G
WG = WH = 19:6N
GB = 2P + WG = 183N
Pulley G
WF = 5(9:8) = 49N
CF = 2(196) + 49 = 441N
Example 8 The derrick is pin-connected to the pivot at A.
Determine the force in the cable at C and in the hoisting
cable at D if the suspended crate is 900 kg. Also, what is
the resultant force acting on the pin at A? vspace2in
MA = 0 = ;2T (5 cos60 + HB 5 sin 60 = 0
HB = 2T cos 60 cos60
sin 60 = 2(4410) sin 60 = 5092:2N
HB = 3P ) P = 1697:4N
Then cable at
C = P = 1697:4N
at
D = T = 4410N
Fx = 0 = Ax ; HB ; T cos 30 = 0 ) Ax = 8911:3N
Fy = 0 = Ay ; 2T ; T sin 30 = 0 ) Ay = 11025N
q
A = Ax2 + Ay2 = 14176:1N
Example 9 The two-bar mechanism consists of a lever arm
AB and smooth link CD, which has a xed collar at its end
C and a roller at the other end D. If a force P is applied to
the lever, determine the required stiness of the spring so
that the lever will reach the equilibrium position when
= 45o. The unstretched length of the spring is 2L, and
the roller contacts either the top or bottom portion of the
horizontal guide. Express k in terms of P and L.
MD = 0 = M = 0
FS = k(lf ; li )&li = 2L
p
lf = 2L
p
FS = k( 2L ; 2L)
Fx = 0 = ;Fs + CD p1 = 0
2
p p p
CD = + 2Fs = + 2k( 2L ; 2L)]
MA = 0 = CDL + P 2L = 0
P = ; CD
2 orCD = ;2P
p p
;2P = + 2(k)( 2L ; 2L)
p
k = ;p p
2P = p
2 Pp = 2 P
p = 2: 41 P
2( 2L ; 2L) 2 2L ; 2L 2 ; 2 L L
Example 10 Determine the horizontal and vertical
components of force at pins A and C of the two-member
frame.
MC = 0 = ;Ax(3) ; (1200)1:5 ; 750(2) ; 900(1) = 0
Ax = ;1400N
Fx = 0 Ax + Cx + 900 = 0 ) Cx = ;900 ; Ax = 500N
Fy = 0 Ay + Cy ; 750 ; 1200 = 0
MB = 0 750 ; Ay (3) = 0
Ay = 250N
) Cy = 1700N
5.7 Internal Force Analysis
The external force will produce internal forces. These
internal forces may not be the same in all points because
of variation of external loading. The method sections can
be used to expose the internal forces. Normal (tensile,
axial, tangential) = shear force, M = bending moment.
Analysis
(a) Find the support reaction forces
(b) F.B.D.
(c) Section & E of equilibrium
Shear & Moment Diagram
dV = ;w(x)
dx
dM = V
dx
5.7. INTERNAL FORCE ANALYSIS 359
Example 1 The shaft is supported by a journal bearing
at A and a thrust bearing at B. Determine the normal
force, shear force, and moment at a section passing
through (a) point C, which is just to the right of the
bearing at A, and (b) point D, which is just to the left
of the 3000-lb force.
Fx = 0 = Bx = 0
Fy = 0 = Ay + By ; 75(12) ; 2500 ; 3000 = 0
MC = 0 = 2500(6) ; 75(12)(6) ; 3000(12) + By (14) = 0
By = 1885:7lb
Ay = 4514:3lb
Fy = 0 = VC ; 2500 + 4514:3 = ; ) VC = ;2014:3lb
Fx = 0 = NC = 0
MC = 0 = MC + 2500(6) = 0 ) MC = ;15000lb:ft
Fx = 0 ND = 0
Fy = 0 VD ; 3000 + 1885:7 = 0 ) VD = 1114:3lb
MD = 0 MD + 2By = 0 ) MD = ;2(1885:7) = ;3771:4lb:ft
dV
dx = ;w(x)
dM = V
dx
dV
dx = ;75
Z
dV = ;75dx ) V = ;75x
V ; Vo = ;75(x ; xo )
V = Vo ; 75x =
dM
dx = V
M = V dx
M ; Mo = V x
V = Vo ; 75x
x2
M = Vo x ; 75 2 + Mo = 15000
37:5x2 + 2014:3x + 15000 = 0
Example 2 Draw the shear and moment diagrams for
the beam.
Fy = 0 = By + Ay ; 4(800) = 0
MB = 0 = 800(12) + 800(24) + 800(36) ; 48Ay = 0
Ay = 1200lb
By = 2000lb
dV = ;w(x)
dx
dM = V
dx
the shaft. The support at A is a thrust bearing and at
B it is a journal bearing.
Fx = 0 = Ax = 0
Fy = 0 = By + Ay ; 1:5 ; 2 = 0
MA = 0 ; (0:25)(1:5) ; 0:8(2) + 1:0By = 0
By = 1:975kN
Ay = 1:525kN
dV
dx = ;w(x)
dM = V
dx
dM
dx = V = Vo ; 3x
M = Mo + Vo x ; 3x2
2
dM
dx = 0:025
M = Mo + 0:025x
dM
dx = ;1:975
the beam.
Fx = 0 = Ax = 0
Fy = 0 = By + Ay ; 225 = 0
MA = 0 = ;225(6) + By (9) ; 200 = 0
By = 172:2lb
Ay = 52:8lb
dV 50
dx ; w(x) = ; 9 x
50 x2
V = Vo ; 18
dM 50 2
dx = V + Vo ; 18 x
M = Mo + Vo x ; 5450 x3
50 x3 = 0
M = 0 Vo x ; 54
50 x2 = 0
52:8 ; 54
the beam (a) in terms of the parameters shown (b) set
w - 500 N/m, L = 3 m.
dV = ;w(x)
dx
dM = V
dx
Fx = 0 ) Ax = 0
Fy = 0 = Ay + By ; (500)(3) ; 500(3) 21 = 0
MA = 0 = ;(3)(500)1:5 ; 12 (500)(3)(3 + 1) + By (3) = 0
By = 1750N
Ay = 500N
dV = ;500 ) dV = ;500dx ) V ;V = ;500(x;x ) = ;500x
dx o o
V = Vo ; 500x
dV

500

dx = ; 500 ; 3 x
V ; Vo = ;500x + 500
6 x
2
V = 750 + 500
6 x ; 500x
2
dM
dx = V = 500 ; 500x
M = Mo + 500x ; 500
2 x
2
dM = 750 + 500 x2 ; 500x
dx 6
M = Mo + 750x + 500 500 2
18 x ; 2 x
3
the beam (a) in terms of the parameters shown (b) set
P = 800 lb, a = 5 ft, L = 12 ft.
Fx = 0 ) Ax = 0
Fy = 0 ) Ay + By ; 2P = 0
Ay + By = 1600
MA = 0 ; 5P ; 7P + 12By = 0
By = 1212P = P = 800lb
Ay = 800lb
dV
dx = ;w(x) = 0
V = constant
dM = V =
dx
M = Mo + Vo x
the beam.
Fx = 0 ) Ax ; Bx = 0
Fy = 0 ) Ay ; 12 (6)(5) + By = 0
Ay + By = 9
MA = 0 ; 4(9) + By (6) = 0
By = 36
6 = 6kN
Ay = 9 ; By = 3kN
By 3
Bx = 6 ) Bx = 12kN = Ax

dV = ;w(x) = ; 3 ; 0 x

dx 6;0
dV = ; 1 x
dx 2
V = Vo ; 21 x2 = Ay ; 41 x2
2
V = 0at3 ; 41 x2 = 0
p
) x = 12 = 3:46m
V (x = 6) = 3 ; 41 x2
dM 1 2
dx = V = 3 ; 4 x
M = 3x ; 41 x3
3
M (x = 3:46) = 6:928
M (x = 6) = 0
the shaft. The support at A is a journal bearing and at
B it is a thrust bearing.
Fx = 0 ) Bx = 0
Fy = 0 ) ;200 + Ay ; 400 + By = 0
Ay + By = 600
MA = 0 200(1) ; 400(2) + By (4) ; 300 = 0
By = 225lb
Ay = 375lb
dV
dx = ;w(x) = 0 0 x 1
V = constant
dV = ;100for1 x 5
dx
V = 175 ; 199x
dV = 0for5 x 6
dx
dM = ;200for0 x 1
dx
M = ;200x
dM
dx = 175 ; 100xfor1 x 5
M = ;200 + 175x ; 1002x
2
Mmaxatx = 175
100 = 1:75
Mmax = ;46:875
the shaft. The supports at A and B are journal
bearings.
Fy = 0 Ay + By ; 21 (0:45)2 ; (0:6)2 ; 21 (0:3)2 = 0
Ay + By = 0:45 + 1:2 + 0:3 = 1:95
MA = 0 = ;(0:2)0:3 ; 1:2(0:6) ; 0:45(1:05) + 1:35B ; y = 0
By = 0:9278kN &Ay = 1:022kN
wx =
2
0:3 xfor0 x 0:3
2for0:3 x 9
2 ; 0:245 xfor0:9 x 1:35
dV
dx = ;w(x)
R
V = Vo ; w(x)dx =
1:022 ; 0x:3 for0 x 0:3
2
0:722 ; 2xfor0:3 x 0:9
;478 + 2x ;
x2
0:45 for0:9 x 1:35
R
M = Mo + V dx =
1:022x ; 0x:9 for0 x 0:3
3
0:277 + 0:722x ; x2 for0:3 x 0:9
0:350 ; 478x + 22x x3
2
;
3(0:45) for0:9 x 1:35
Example 10 Determine the ration of a/b for which the
shear force will be zero at the midpoint C of the beam.
Use the method of sections
MB = 0 w 2
;
2 (2a + b) 3 (2a + b) ; (a + b)] ; bA + y = 0
Ay = ; 62b (2a + b)(a ; b)
Fx = 0 ) Ax = 0
For the section
Fx = 0 ) Nc = 0
Fy = 0 = Vc ; 6wb (2a + b)(a ; b) ; 24 (a + 2b ) = 0
Vc = 0 ) 6wb (2a + b)(a ; b) = ; w8 (2a + b)
(a ; b) = ; 68 b
a 6
b ; 1 = ;8
a =1; 6 = 2 = 1
b 8 8 4
Chapter 6
Principle of Linear
Impulse and
Momentum
6.1 Particles
F = ma = m dv
dt
Z t2 Z v2
Fdt = m dv = mv2 ; v1 ]
t1 v1
Linear Impulse: I = R Fdt (N.sec) lb.sec
Linear Momentum: L = mv kg.m/sec, slug.ft/sec
Direction
6.2 Principle of Linear Impulse and
Momentum for System of Particles
Fi = mi dv
dt
i
mi vi ]1 + 2tt12 Fi dt = mi vi ]2
6.3 Conservation of Linear
Momentum for a System of Particles
When I = 0 ) mi vi ]1 = mivi ]2
375
376 CHAPTER 6. PRINCIPLE OF LINEAR IMPULSE AND MOMENTUM
Conservation of Linear Momentum
Forces that cause negligible impulses are called
nonimpulsive forces
Very short period of time
Impulse forces
6.3. CONSERVATION OF LINEAR MOMENTUM FOR A SYSTEM OF PARTICLES377
Example 1 A man kicks the 200-g ball such that it
leaves the ground at an angle of 30o with the horizontal
and strikes the ground at the same elevation a distance
of 15 m away. Determine the impulse of his foot F on
the ball. Neglect the impulse caused by the ball's
weight while it is being kicked.
x = xo + vox t + 12 at2
15 = vo cos30t + o
vy = voy t ; gt
;vo sin30 = vo sin30 ; 9 8t
t = 1:329sec
vo = 13:04m=sec
Z
mv1 + Fdt = mv2
0 + I = (0:2)(13:04) = 2:6N:sec
Example 2 The 50-kg block B is hoisted using the
cable and motor arrangement shown. If the block is
moving upward at v1 = 2m=s when t = 0, and the
motor developsp a tension in the cord of
T = (500 + 120 t)N , where t is in seconds, determine
the velocity of the block when t = 2 s. Neglect the
mass of the pulleys and cable.
Z
mv1 + Fdt = mv2
Z 2 p
Z 2
50(2) + (500 + 120 t)dt ; mgdt = 50v2
0 0

2
100 + 500t + 23 (120)t3=2 ; (50)(9:8)t]02 = 50v2
0
v = 6:91m=sec
Example 3 The twitch in a muscle of the arm develops
a force which can be measured as a function of time as
shown in the graph. If the eective contraction of the
muscle lasts for a time t0 , determine the impulse
developed by the muscle.
Z t0 Z t0 Z t0
I = Fdt = Fo Tt e;t=T dt = FTo te;t=T dt
0 0 0
u = tthendu = dt
v = ;Td;t=T anddv = e;t=T dt
Z to
I = FTo ;tTe;t=T ]0to + Te;t=T dt
0
= ;to Te;t=T ] + ;T 2e;to =T ; 1]] FTo eto =T ;to T ; T 2 ] + T 2]
= Fo T a ; eto =T ( tTo + 1)]
=Example 3 The car A has a weight of 4500 lb and is
traveling to the right at 3 ft/s. Meanwhile a 3000-lb
car B is traveling at 6 ft/s to the left. If the cars crash
head-on and become entangled, determine their
common velocity just after the collision. Assume that
the brakes are not applied during collision.
ma vA )1 ; mB vB )2 = (mA + mB )v2
4500 3000 7500
32:2 (3) ; 32:2 (6) = 32:2 v2
v2 = ;0:6ft=sec
Example 4 The boy B jumps o the canoe at A with a
velocity of 5 m/s relative to the canoe as shown. If he
lands in the second canoe C, determine the nal speed
of both canoes after the motion. Each canoe has a mass
of 40 kg. The boy's mass is 30 kg, and the girl D has a
mass of 25 kg. Both canoes are originally at rest.
vB=A = 5m=sec
vA1 = 0
VC 1 = 0
massofcanoe = 40kg
mboy = 30kg
mgirl = 25kg
Solve for B & A
mA vA1 + mB vB1 = mA vA2 + mB vB2
0 + 0 = ;40vA + 30vB
vB = vA + vB=A
vB(x) = ;vA + 5cos30
vA = ;1:856m=sec
vB = 2:474m=sec
mC vC + mB vB = (mC + mB + mD )v2
30(2:474) = (30 + 40 + 25)v2
v2 = 0:781m=sec
Example 5 The block has a mass of 50 kg and rests on
the surface of the cart having a mass of 75 kg. If the
spring which is attached to the cart and not the block
is compressed 0.2 m and the system is released from
rest, determine the speed of the block with respect to
the cart after the spring becomes undeformed. Neglect
the mass of the wheels and the spring in the
calculation. Also neglect friction. Take k = 300 N/m.
T1 + V1 = T2 + V2
1 1 1 2 1 1
2 mC vC + 2 mB vB + 2 ks1 = 2 mB vB + 2 mC vC 2
2 2 2 2
0 + 0 + 21 300(0:2)2 = 21 (50)vB2 2 + 12 (75)vC2 2
12 = 50vB2 2 + 75vC2 2
mv1 = mv2
mC vC 1 + mB vB1 = mB vB2 ; mC vC 2
0 + 0 = 50vB2 ; 75vC 2
vB2 = 0:379m=sec
vC 2 = 0:253m=sec
vB = vC + vB=C
0:379 = ;0:253 + vB=C
vB=C = 0:632m=sec
Example 6 The 10-lb projectile is red from ground
level with an initial velocity of vA = 80 ft/s in the
direction shown. When it reaches its highest point B it
explodes into two 5-lb fragments. If one fragment
travels vertically upward at 12 ft/s, determine the
distance between the fragments after they strike the
ground. Neglect the size of the gun.
vx = vox = 80cos60 = 40ft=sec
vy2 = voy
2
; 2gh
0 = (80sin60)2 ; 2(32:2)h
h = 74:5ft
mv1x = mv2x
10 5
32:2 (80cos60) = 32:2 vFx
vFx = 80ft=sec
mv1y = mv2y
0 = 325:2 vFy + 325:2 (12)
vFy = ;12ft=sec
y = yo + voy t + 21 gt2
74:53 = 0 + 12t + 12 (32:2)t2
t = 1:81sec
R = vox t = 80(1:81) = 145ft
Example 7The 20 g bullet red horzontally at
vb1 = 1200 m/sec into the 300 g block which rests on the
smooth surface. Determine the distance the block
moves to the right before momentarily coming to rest.
The spring has a stiness k=200 N/m and is originally
unstretched.
mv1 = mv2
0:02(1200) + 0 = 0:32v2
v2 = 75m=sec
T1 + V1 = T2 + V2
1 1
2 (0:32)(75) + 0 = 0 + 2 200x
2 2
x = 3m
Example 8 Two men A and B, each having a weight of
160 lb, stand on the 200-lb. cart. Each runs with a
speed of 3 ft/s measured relative to the cart.
Determine the nal speed of the cart if (a) A runs and
jumps o, then B runs and jumps o the same end,
and (b) both run at the same time and jump o at the
same time. Neglect the mass of the wheels and assume
the jumps are made horizontally.
WA = 160lb
WB = 160lb
Wcart = 200lb
a) A jumps rst
0 + 0 = mA vA ; (mC + mB )vC0
vA = 3 ; vC0
160 0 360 0
32:2 (3 ; vC ) ; 32:2 vC = 0
vC0 = 0:923ft=sec
Then B jumps
0 + (mC + mB )vC0 = mB vB ; mC vC vB = 3 ; vC
360 160 200
32:2 (;0:9231) = 32:2 (3 ; vC ) ; 32:2 vC
320 (3 ; v ) ; 200 v
0 = 32:2 C 32:2 C
vC = 1:85ft=sec
Example 9 Solve Prob. 15-18 if the coecients fo static
and kinematic friction between the tracks and the sled
are S = 0.3 and k = 0.2, respectively. Neglect air
resistance and the loss of fuel during the motion.
Ff = mg
Check static
Ff = s mg
= 0:3(3000)(9:8)
= 8829N < 104Natt = 0
Z
I = mv2 ; mv1 = Fdt
Z 4
mv2 = (40 ; 30d;0:1t)103 ; 0:2(3000)(9:81)]dt
0
3000v2 = 10340t + 300e;0:1t ; 0:2(3)9:81t]04
v2 = 12:5m=sec
Example 10 The tennis ball has a horizontal speed of
15 m/s when it is struck by the racket. If it then
travels away at an angle of 25o from the horizontal and
reaches a maximum altitude of 10 m, measured from
the height of the racket, determine the magnitude of
the net impulse of the racket on the ball. The ball has
a mass of 180 g. Neglect the weight of the ball during
the time the racket strikes the ball.
vy2 = voy
2
+ 2ac (sy ; soy )
(v2 sin25)2 = 0 + 2(9:81)(10 ; 0)
v2 = 33:14m=sec
Z
mvx1 + Fx dt = mvx2
Ix = mvx2 ; mvx1 = 0:18(33:14cos25 + 15) = 8:1N:sec
mvy1 + Iy = mvy2
Iy = mvy2 ; 0 = 0:18(33:14sin25) = 2:52N:sec
I = sqrt(8:1)2 + (2:52)2 = 8:49N:sec
= tan;1 28::52
1 = 17:3
o
Example 11 Blocks A and B have masses of 40 kg and
60 kg, respectively. They are placed on a smooth
surface and the spring connected between them is
compressed 1.5 m. If they are released from rest,
determine the speeds of both blocks the instant the
spring becomes uncompressed.
mA vA1 + vB vB1 = mA vA2 + mB vB2
0 + 0 = ;40vA + 60vB
T1 + V1 = T2 + V2
V1 = 21 ks2
0 + 21 (180)(1:5)2 = 12 40vA2 + 21 60vB2
vA = 2:46m=sec
vB = 1:64m=sec
6.4. IMPACT 389
6.4 Impact
Impact: Collision during a very short time (large
impulsive force)
Central Impact: Masses along the same line line of
impact]
Oblique: One or both at an angle
mA vA1 + mB vV 1 = mA vA2 + mB vB2
e coecient of restitution
e = vv ; v;Av2 = vvB;2 v; v
A1 B2
e = vvB2 ;
; vA2
A1 vB 1
Elastic impact: e = 1
Plastic impact: e = 0
Oblique:
mvx1 = mvx2
e = vvBx2 ;
; vAx2
Ax1 vBx1
Momentum of A along y is conserved
Momentum of B along y is conserved
Example 1 Block A, having a mass of 2 kg, is released
from rest, falls a distance h = 0.5 m, and strikes the
plate B having a mass of 3 kg. If the coecient of
restitution between A and B is e = 0.6, determine the
velocity of the block just after collision. The spring has
a stiness k = 30 N/m.
Before impact
T1 + V1 = T2 + V2
0 + 0 = 21 (2)vA2 + (;mgh) = vA2 ; 2(9:8)(0:5)
vA = 3:13m=sec
e = vvB3 ;
; vA3
= vB33:;13vA3 = 0:6
A2 vB 2
vB3 ; vA3 = 0:6(3:13) = 1:879
mA vA2 + mB vB2 = mA vA3 + mB vB3
2(3:13) + 0 = 2vA3 + 3vB3
vB3 = 2m=sec
vA3 = 0:125m=sec
6.4. IMPACT 391
Example 2 If the girl throws the ball with a horizontal
velocity of 8 ft/s, determine the distance d so that the
ball bounces once on the smooth surface and then
lands in the cup at C. Take e = 0.8.
v12y = voy
2
+ 2gh1
v12y = 0 + 2(32:2)(3) ) v1y = 13:9ft=sec #
y = yo + voy t + 21 gtAB
2
3 = 0 + 0 + 21 (32:2)tAB
2
) tAB = 0:432sec
e = vv2y = 0:8 ) v2y = 13:9(0:8) = 11:12ft=sec "
1y
v = voy t + gt
11:12 = ;11:12 + 32:2tBC ) tBC = 0:69sec
tAC = tAB + tBC = 1:12sec
d = vA tAC = 8(1:12) = 8:98ft
Example 3 Two smooth disks A and B have the initial
velocities shown just before they collide at O. If they
have masses mA = 10 kg and mB = 8 kg, determine
their speeds just after impact. The coecient of
restitution is e = 0.4.
;8(3cos67:38) + 10(7cos76:38) = 8vBx + 10vAx
e = vvB2 ;
; vA2
= 0:4 = 7cos67v:Bx ; vAx
A1 vB 1 38 ; 3cos67:38
vBx = 1:8376m=sec
vAx = 0:299m=sec
vBy = 3sin67:38 = 2:769m=sec
vAy = ;7sin67:38 = ;6:462m=sec
p
vB = (1:8736)2 + (2:769)2 = 3:32m=sec
p
vA = (0:299)2 + (6:46)2 = 6:47m=sec
6.5. STEADY FLOW 393
6.5 Steady Flow
F = dm
dt (v B ; vA )
dm = v A = v A
dt A A A B B B
MO = dm
dt (dOB vB ; dOA vA )
6.6 Angular Momentum
H0 )z = d(mv)
H O = r mv
F = m dvdt
r F = mr v
M O = HO = r dmv dv dH O
dt = mr dt = dt
M O dt = dH O
Z
H + M O dt = H O2
01
Z
mv1 + Fdt = mv2
H 01 = H 02
Fs = m dv dme
dt ; vD=e dt
vD=e = v + ve
Lose mass
T ; FD ; W = ma
Fs = m dv dmi
dt + vD=i dt
vD=i = v ; vi
Example 1Disk A weighs 2 lb and is sliding on a
smooth horizontal plane with a velocity of 3 ft/sec.
Disk B weighs 11 lb and is initially at rest. If after
impact A has a velocity of 1 ft/sec directed along the
positive x axis, determine the velocity of B after
impact. How much kinetic energy is lost in the
collision?
x-momentum
mA1 vA1x + mB1 vB1x = mA vA2x + mB vB2x
0 + 0 = 322:2 (1) + 3211:2 vB2x
vB2x = ;0:18ft=sec
y-momentum
mAvA1y + mB vB1y = mA vA2y + mB vB2y
2 11
32:2 (3) + 0 = 0 + 32:2 vB2y
vB2y = 0:54ft=sec
p
vB2 = (0:18)2 + (0:54)2 = 0:575ft=sec
= tan;1 ;00:54:18 = 161:5
T1 = 21 mA vA2 1 = 21 322:2 (1)2 + 21 3211:2 (0:575)2 = 0:0875
DT = T2 ; T1 = ;0:192ft:lb
6.6. ANGULAR MOMENTUM 395
Example 2Two smooth billiard balls A and B ahve an
equal mass of m = 200 g. If A strikes B with a velocity
of VA1 = 2 m/sec as shown, determine their nal
velocities just after collision. Ball B is originally at rest
and the coecient of restitution is e = 0.75.
x-momentum
mA vAx1 + mB vBx1 = mA vAx2 + mB vBx2
;0:2(2cos40) + 0 = 0:2vAx2 + 0:2vBx2
e = vvAx2 ; vBx2 = vAx2 ; vBx2
Bx1 ; vAx1 2cos40
) vAx2 = ;0:19m=sec
vBx2 = ;1:134m=sec
y-momentum
mA vAy1 = mA vAy2
vAy2 = vAy1 = 2sin40 = 1:28m=sec
mB vBy1 = mB vBy2
vBy2 = vBy1 = 0
vB2 = vBx2 = ;1:34m=sec
p
vA2 = (1:28)2 + (0:19)2 = 1:3m=sec
A2 = tan;1 01::19
28 = 188:47
o
Example 3The blade divides the jet of water having a
diameter of 3 in. One-fourth of the water ows
downward while the other three fourths ow upward.
If the ow is Q = 0:5ft3=sec, determine the horizontal
and vertical components of force exerted on the blade
by the jet. w = 62:4lb=ft3.
62:4 (0:5) = 0:9689slug=sec
m_ = Q = 32 :2
v = Q = ;0:35 2 = 10:19ft=sec
A
4 12
Fx = m_ (vBx ; vAx )
;Fx = 0:9689(0 ; 10:19) ; 14 (0:9689)(10:19) = 4:94lb
Example 4 The three balls have the same mass m. If A
is released from rest at , determine the angle to
which C rises after collision. The coecient of
restitution between each ball is e. Ball at A
T1 + V1 = T2 + V2
0 + l(1 ; cos)mg = 12 mvA2
p
vA = 2l(1 ; cos)g
Collision of A with B
mvA + mvB ]1 = mvA + mvB ]2 )
vA = vA2 + vB2
evA = vB2 ; vA2
1
2 (1 + 3)vA = vB2
e = vB2 v; vA2
A
vB2 = 12 (1 + e)vA2
Collision of B with C
mvB2 + 0 = mvB3 + mvC 3
e = vC 3v; vB3
B2
vC 3 = 21 (1 + e)vB2 = 41 (1 + e)2 (vA )2
p
vC 3 = 41 (1 + e)2 2(1 ; cos)lg]
T3 + V3 = T4 + V4
1 2
2 mvC 3 + 0 = 0 + l(1 ; cos)mg
1 1 (1 + e)4 (2)(1 ; cos)gl = lg(1 ; cos)
2 16
1
16 (1 + e) (1 ; cos) = 1 ; cos
4

= cos;1 1 ; (1 +16e) (1 ; cos)
4
Example 3 The ping-pong ball has a mass of 2 g. If it
is struck with the velocity shown, determine how high
h it rises above the end of the smooth table after the
rebound. Take e = 0.8.
x1 = xo1 + vox1 t
2:25 = 0 + 18cos30t ) t = 0:144sec
vx1 = vx2 = 18cos30 = 15:58m=sec
vy1 = voy1 + gt = 18sin30 + 9:8(0:144) = 10:4m=sec
e = 0:8 = vvy2 ) vy2 = 0:8vy1 = 0:8(10:4) = 8:33m=sec
y1
x2 = xo2 + vox2 t
0:75 = 0 + 15:58t ) t = 0:048sec
y2 = yo2 + voy2 t ; 21 gt2
h = 0 + 8:33(0:048) ; 21 9:8(0:048)2 = 0:39
Example 4 Two smooth disks A and B each have a
mass of 0.5 kg. If both disks are moving with the
velocities shown when they collide, determine the
coecient of restitution between the disks if after
collision B travels along a line, 30o counterclockwise
from the y axis.
x-direction
mA vA1x + mB vB1x = mA vA2x + mB vB2x
y-direction
mA vA1y = mA vA2y
mB vB1y = mB vB2y

4 45 = vB2y = 3:2m=sec
vB2y vB2x
vB2x = tan60 or tan30 = vB2y
vB2y = 1:8475m=sec
vB2x = tan 60
vA2x = ;1:75m=sec
e = vvA2 ; vB2 ;1:75
= ; ; (;1:874) = 0:0113
B 1 ; vA1 4 53 ; (;6)

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Engineering Mechanics

Figure 1.17: Example 3

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