- 544 -

Solutions to Chapter 14 Exercise Problems

Problem 14.1
The four-wheeled vehicle shown slides down a steep slope with its rear wheels locked (not
moving relative to the body) and its front wheels rolling freely. If M is the mass of the vehicle, h
the normal distance from its center of mass, G, to the ground, r the wheel radius, and 2c the
distance between the axles, find the acceleration of the vehicle. The angle of the slope is , and
the coefficient of friction between the wheels and the ground is The mass and moment of
inertia of each wheel about its axle may be neglected. What is the largest value for the angle at
which the vehicle will not slide?
c
c
r
r
h
G

a
Front
Solution
A freebody diagram of the vehicle is shown in Fig. 14.1.1a. For the analysis, we will write the
equations of dynamics relative to an n-t coordinate system with t parallel to and and n normal to
the direction of motion as shown in Fig. 14.1.1b.
Summing forces in the n and t directions and summing moments about point G gives
Fn
= man = 0 = N1 + N2 mgcos (1)
Ft
= mat = N1 + mgsin (2)
MG
= I = 0 = N2(c) N1(c) N1(h) (3)
From Eq. (3),
N
2 = N11+
h
c
[ ]
(4)
Combining Eqs. (1) and (4) gives
- 545 -
c
c
r
r
h
G

mg

N1
N
1
N
2
c
c
r
r
h
G

mg

N1
N
1
N
2

mg sin
mg cos
n
t
(a)
(b)
Fig. 14.1.1: Freebody diagram for Problem 14.1
N1 + N1 1+
h
c
[ ]
mgcos = 0 N1 =
mgcos
2 +
h
c
(5)
From Eqs. (4) and (5),
N
2 = N11+
h
c
[ ]
=
mgcos
2 +
h
c
1+
h
c
[ ]
= mgcos
c + h
2c + h
Combining Eqs. (2), (4), and (5),
ma
t = N1 + mgsin =
mgcos
2 +
h
c
+ mgsin
or
at = g sin
ccos
2c + h






If a
t
= 0 (no sliding),
- 546 -
tan =
c
2c + h
and
= tan
1
c
2c +h






Problem 14.2
The flyball governor shown is started from rest and accelerated slowly about the axis of rotation.
At what speed of rotation will it be in the position shown? Friction may be neglected. Ignore the
masses of the four links.
AB = GH = 2.50 in
EG = FH = 3.76 in
CG = DH = 5.54 in
AE = BF = 3.76 in
1 lb weight
10 lb weight
1 lb weight

Axis of Rotation
Attached to the
Frame
A B
C D
E F
G
H
2
3 4
5
6
7
45
Solution:
Because the mechanism is symmetric, we need only consider one half of it. The inertia force on
each weight will be
f
I = mar =
W
g
r
2
=
W
2
g
HDsin45+AB/ 2 [ ] =
(1)
2
386
5.54sin45+2.5 / 2 [ ] = 0.01339
2
(1)
The problem is to determine the angular velocity. Therefore, we will treat the inertia force as an
unknown force. Once we determine the magnitude of f
I
, we can determine the value for the
angular velocity from Eq. (1).
A freebody diagram of links 2, 3, and 6 are shown in Fig. 14.2.1. To analyze the system, start
with link 2 and sum forces in the vertical direction . Before doing this, however, note that
F
32 = F42
Then, summing forces in the vertical direction for link 2 gives
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Fy
= 0 = 10+ 2F32 cos45F32 =
10
2cos45
= 7.071 lb
Because link 3 is a two-force member,
F
36
= F
32
1 lb weight
10 lb weight
1 lb weight

Axis of Rotation
Attached to the
Frame
A B
C
D
E
F
G
H
2
3 4
5
6
7
45
10 lb
A
B
2
F
32
45 45
F
42
B
F
3
F
63
F
23
1 lb
D
F
H
6
45
f I
F
36
F
76
F
76
x
y
Fig. 14.2.1: Freebody diagrams for Problem 14.2.
as indicated in Fig. 14.2.1. The freebody diagram for link 6 now has only three unknowns.
Therefore, we can solve for the unknowns. To find the inertia force, we can sum moments about
point H without solving for F
76 . Then,
MH
= 0 = F36(FH) + fI (HDcos 45) 1(HDsin45)
or
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7.071(3.76)+ f
I
(5.54cos45) 1(5.54sin 45) = 0
or
f
I =
(5.54sin45)+ 7.071(3.76)
(5.54cos45)
= 7.787 lb
Therefore, from Eq. (1),
0.01339
2
= 7.787
Then,

2
=
7.787
0.01339
= 581.5
and
= 24.1 rad/ s
Problem 14.3
Solve Problem 14.2 assuming a coefficient of friction of 0.3 at each of the six pin joints. The
diameter of each joint is 0.8 in.
Solution:
The inertia force on each weight will be
f
I = mar =
W
g
r
2
=
W
2
g
HDsin45+AB/ 2 [ ] =
(1)
2
386
5.54sin45+2.5 / 2 [ ] = 0.01339
2
(1)
The problem can be approached either graphically or analytically. However, because a nonlinear
problem is involved, it is easiest to solve the problems graphically using friction circles (Chapter
11). To determine the general direction of the force vectors, we need to conduct a friction free
analysis first. Freebody diagrams of the links are shown in Fig. 14.3.1. Note that we are using
the fact that the mechanism is symmetric so that we need analyze only half of the mechanism.
Also, we will use skeletal diagram for the links to simplify the drawings.
To start the analysis, sum forces on link 2. Then,
F

= 0 = F32 + F42 10j

The force polygon is shown in Fig. 14.3.2. From the polygon,
F
32 = 7.07 lb.
The freebody diagram for link 6 has three unknowns. To solve the problem graphically, we need
to resolve the weight of the counter weight and F
36
into a single vector. The resultant we will
call P. Next, resolve P and f
I
into a single vector. We cannot find the magnitude yet, but we
know that the resultant must go through the point of intersection of the two vectors. After this is
done, there will be only two forces acting on link 6. Therefore, the line of action of F
76
must
pass through the intersection of P and f
I
. Knowing the direction of F
76
, we can complete the
analysis by summing forces on link 6. That is,
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F

= 0 = F76 + F36 1j + fI
From the polygon,
f
I
= 7.60 lb.
Force Scale
10 lb
10 lb
2
F
B
3
f
I
1 lb
H
D
Position Scale
2 in
6
10 lb
B
2
F
42
F
32
F
B
3
F
23
F
63
F
f
I
1 lb
H
D
6
F
76
Fig. 14.3.1: Freebody diagrams for Problem 14.3.
Next consider the friction case. We now know the general direction of the forces, and from a
kinematic analysis, we can determine the direction of the friction torques. These tend to oppose
the relative motion. The general directions of the relative angular velocities and friction torques
are shown in Fig. 14.3.3.
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To use the friction circle approach, we need to compute the radius of the friction circles. This is
given by Eq. (11.15) as
R
f
= Rsin
where
= tan
1
= tan
1
0.3 =16.7
Then,
R
f = Rsin = 0.4sin(16.7) = 0.115 in.
The friction circles are also shown in Fig. 14.3.3. The forces are located relative to the friction
circles so that the effect of the force is to create the friction torque on the free body of the link.
The forces are located on the proper sides of the circle in Fig. 14.3.3.
The freebody diagrams with the forces located properly are shown in Fig. 14.3.4. We can then
follow the same general procedure as was used in the nonfriction case. That is, start summing
forces on link 2. Then,
F

= 0 = F32 + F42 10j

The force polygon is shown in Fig. 14.3.4. From the polygon,
10 lb
B
2
F
42
F
32
F
42
10 lb
F
32
F
36
F
f
I
1 lb
H
D
6
F
76
P
F
36
1 lb
fI
P
F
76
Fig. 14.3.2: Force polygons for friction-free case.
F
32
= 7.53 lb.
The freebody diagram for link 6 has three unknowns. To solve the problem graphically, we need
to resolve the weight of the counter weight and F
36
into a single vector. The resultant we will
- 551 -
call P. Next, resolve P and f
I
into a single vector. We cannot find the magnitude yet, but we
know that the resultant must go through the point of intersection of the two vectors. After this is
done, there will be only two forces acting on link 6. Therefore, the line of action of F
76
must
pass through the intersection of P and f
I
. Knowing the direction of F
76
, we can complete the
analysis by summing forces on link 6. That is,
Force Scale
10 lb
10 lb
2
F
B
3
f
I
1 lb
H
D
Position Scale
2 in
6
10 lb
B
2
F
42
F
32
F
B
3
F
23
F
63
Increasing
decreasing
Increasing
F
f
I
1 lb
H
D
6
F
76
F
36
Fig. 14.3.3: Freebody diagrmas for friction case.
F

= 0 = F76 + F36 1j + fI
From the polygon,
- 552 -
f
I
=8.69 lb.
Therefore, from Eq. (1),
0.01339
2
= 8.69
Then,

2
=
8.69
0.01339
= 649
and
= 25.5 rad / s
F
42
10 lb
F
32
F
76
P
F
36
1 lb
f
I
P
F
76
10 lb
B
2
F
42
F
32
F
f
I
1 lb
H
D
6
F
36
Fig. 14.3.4: Force polygons for friction case.
Problem 14.4
A wheel, of mass m and radius r, rolls without slipping on a horizontal plane. It hits a step of
height h. If the velocity of the center of the wheel before striking the step is V, directed as
shown, find:
1. The magnitude and direction of the velocity of the center of the wheel immediately after the
impact
2. The minimum value of V for which the wheel surmounts the step
3. The impulse exerted on the wheel by the edge of the step at impact
- 553 -
The impact may be considered to take place over a vanishingly small time interval. The wheel is
assumed to remain in contact with the edge of the step after the impact. The wheel may be
considered to have moment of inertia about its center in the direction of rotation I = mr
2
.
h
r
V
Solution
Part 1
Before impact, the angular momentum about the top edge of the step is
H1 = mV(r h) +
IV
r
for the wheel,
I = mr
2
Therefore,
r
u
h

Fig. 14.4.1: Wheel immediately after impact with the step

H1 = mV(r h) + I = mV(r h) +
IV
r
= mV(r h)+
V
r
mr
2
= mV r h + r
[ ]
= mV 2r h
[ ]
(1)
Immediately after impact, the wheel will rotate about the corner of the step. Let the velocity be u
as shown in Fig. 14.4.1. Then, the angular momentum about the edge of the step is
H2 = mru +
Iu
r
= mur +
u
r
mr
2
= 2mur (2)
By conservation of angular momentum,
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H
1
= H
2
2mur = mV 2r h [ ]
Then,
u =V 2r h [ ]
/ (2r)
The direction is given by
= cos
1
r h
r
( )
Part 2
The cylinder will just reach the top of the step, when all of the initial kinetic energy is converted
to potential energy. The kinetic energy just after impact (energy is not conserved during impact)
is
KE =
1
2
mu
2
+ I
2 [ ]
=
1
2
mu
2
+ I
u
r
( )
2
[ ]
=
1
2
mu
2
+ mr
2
u
r
( )
2
[ ]
= mu
2
= mV
2
2r h
[ ]
2
/ (4r
2
)
and the potential energy is zero. After just reaching the top of the step, the potential energy is
mgh and the kinetic energy is zero. Therefore,
mgh = mV
2
2r h
[ ]
2
/ (4r
2
)
or the initial velocity required to just reach the top of the step is
V = gh
2r
2r h
Part 3:
To determine the impulse exerted on the wheel, we must determine the change in momentum
before and after the impact. Before the impact
q
1 = mVi
After impact (see Fig. 14.4.1),
q
2 = mu cosi +sinj ( )
From Fig. 14.4.2,
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r
u

r - h
r
2
r h ( )
2
h
Fig. 14.4.2: Geometry at step
cos =
r h
r
and
sin =
r
2
r h ( )
2
r
=
2rh h
2
r
Therefore,
q
2 = mu
r h
r
i +
2rh h
2
r
j
( )
= m
V 2r h [ ]
2r
r h
r
i +
2rh h
2
r
j
( )
The impulse is
im= q2 q1 = m
V 2r h
[ ]
2r
r h
r
i +
2rh h
2
r
j
( )
mVi
=
mV
2r
2
(r h)(2r h) 2r
2
{ }i + (2r h) 2rh h
2
j ( )
=
mV
2r
2
h(h 3r)i + h(2r h)
(3/ 2)
j ( )
Problem 14.5
In the mechanism shown below, link 2 rotates at an angular velocity of 20 rad/s (CW) and
angular acceleration of 140 rad/s
2
(CW). Find the torque that must be applied to link 2 to
maintain equilibrium. Link 2 is balanced so that its center of mass is at the pivot O
2
. The center
of mass of link 3 is at A, and the mechanism moves in the horizontal plane. Friction may be
neglected.
O
2
A = CA = 100 mm, m
3
= 0.74 kg, m
4
= 0.32 kg
I
G2
= .00205 N-s
2
-m, I
G3
=.0062 N-s
2
-m
- 556 -
A
B
4
3
2
G
3
C G
4
,
O
2
G
2
,
15
T
12
Solution:
Velocity Analysis:
1
v
A2
=
1
v
A2 /O2
=
1
v
A3
=
1

2
r
A2/ O2
1
vC3 =
1
vC4 =
1
vA3 +
1
vC3/ A3 (1)
Now,
1
v
A3
=
1

2
r
A2/ O2
= 20100 = 2000 mm / s ( to r
A2 /O2
)
1
vC3 in horizontal direction
1
vC3/ A3 =
1
3 rC3/ A3

1
vC3/ A3 =
1
3 rC3/ A3
(to rC3/ A3
)
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1
vC3 =1035.3 mm/ s
Also,
1
v
C3 / A3
= 2000 mm/ s
or
1

3
=
1
v
C3/ A3
r
C
3
/ A
3
=
2000
100
= 20 rad / s CCW
Acceleration Analysis:
1
aC3 =
1
aC4 =
1
aA3 +
1
aC3/ A3
1
aC3 =
1
a
A2/ O2
r
+
1
a
A2/O2
t
+
1
a
C3/ A3
r
+
1
a
C3/ A3
t
(2)
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A
C
2
4
3
D
o
1000 mm/s
Velocity Polygon
a2 a
3
,
c
3
, c
4
1
v
C3
1
v
A
3
1
v
C
3
/A
3
o'
20,000 mm/s
Acceleration Polygon
2
a
2
'
a
3
' ,
1
a
A2 / O
2
r
1
a
A
2
/O
2
t
1
a
C
3
c 3
'
1
a
C
3
/ A
3
r
1
a
C
3
/ A
3
t
G4
G3
g
3
'
,
g4
'
,
Fig. 14.5.1: Position, velocity, and acceleration polygon for Problem 14.5
Now,
1
aC3 in horizontal direction
1
a
A
2
/O
2
r
=
1

2

1

2
r
A2/O2
( )
1
a
A
2
/ O
2
r
=
1

2
2
r
A/O2
= 20
2
100 = 40,000 mm/ s
2
in the direction opposite to rA/ O2
1
a
A2/O2
t
=
1
2 rA2/O2
1
a
A2/ O2
t
=
1
2 rA/ O2 = 140100 =14, 000 mm / s
2
(to rA/O2)
1
a
C
3
/ A
3
r
=
1

3
r
C3/ A3
( )
1
a
C
3
/ A
3
r
=
1

3
2
r
C3/ A3
= 20
2
100 = 40, 000 mm/ s
2
in the direction opposite to rC3/ A3
1
a
C3/ A3
t
=
1
3 rC3/A3
1
a
C3/ A3
t
=
1
3 rC3/A3 (to rC3/A3)
Solve Eq. (2) graphically with a acceleration polygon. From the polygon,
1
aC3 =
1
aG4 = 70,028 mm / s
2
and
1
a
A3
=
1
a
G3
= 42, 400 mm/ s
2
Also,
- 558 -
1

3
=
1
a
C3/A3
t
r
C3/ A3
=
14000
100
=140 rad / s
2
CCW
Inertia Force Analysis:
We can now conduct the inertia force analysis. There will be an inertia force associated with
each center of gravity. We will represent these forces with a lower case f to distinguish between
internal inertia forces and externally applied forces. The forces are
f
12
= m
2
1
a
G2
= 0
f
13
= m
3
1
a
G3
= 0.74(42, 400) = 31,380 kg mm / s
2
=31.380 kg m/ s
2
= 31.380 N(opposite
1
a
G3
)
f
14
= m
4
1
a
G
4
= 0.32(70, 028) = 22, 409 kg mm / s
2
= 22.409 kg m/ s
2
= 22.409 N(opposite
1
a
G
4
)
Links 2 and 3 have angular accelerations so only these links have inertia moments. The inertia
moments are given by
M
12
= I
2
1

2
= 0.00205(140) = 0.287 N m (opposite
1

2
or CCW)
M
13
= I
3
1

3
= 0.0062(140) = 0.868 N m (opposite
1

3
or CW)
The inertia forces are shown in Fig. 14.5.2. The orientation angles for the forces and links are
shown in Fig. 14.5.2.
A freebody diagram for each of the links is shown in Fig. 14.5.2. From the free body diagrams,
it is clear that no single free body can be analyzed separately because in each case, four
unknowns result. Therefore, we must write the equilibrium equations for each freebody and
solve the equations as a set.
For the freebody diagram for link 4, assume initially that all of the unknown forces are in the
positive x and y directions. Then a negative result will indicate that the forces are in the negative
direction. Note that F
14
x
= 0 because there is no friction between the slider and the frame.
Summing forces in the X and Y directions gives
F
x

= 0 F
34
x
+ f14 = 0 F
34
x
= 22.409 N
F
y
= 0 F
14
y
+ F
34
y
= 0
(3)
Between links 3 and 4,
F
43
x
= F
34
x
F
43
y
= F
34
y
(4)
Now move to the free body diagram for link 3. Summing forces in the X and Y directions gives:
F
x
= 0 F
23
x
+ F
43
x
+ f
13
cos34.30 = 0 = F
23
x
+ F
43
x
+31.38cos34.30 F
23
x
+ F
43
x
= 25.92 N
F
y
= 0 F
23
y
+ F
43
y
+ f
13
sin34.30 = 0 = F
23
y
+ F
43
y
+ 31.38sin34.30 F
23
y
+ F
43
y
= 17.64 N
(5)
and summing moments about point A gives
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3
Force Scale
13
C
4
G4
f14
15
2
M12
T12
15
A
20 N
G
3
M13
f
34.3
C
4
f14
F
34
x
F
34
y
14
F
2
M
12
T12 F
12
x
F
12
y
A
G3
F
32
x
F
32
y
A
3
G3
M13
C
15
34.3
F
23
f13
x
F
23
y
x
F
43
y
F
43
O
2
O
2
Fig. 14.5.2: Force diagrams for Problem 14.5
M
A
= 0 M
13
+ F
43
x
(ACsin15) + F
43
y
(ACcos15) = 0
= 0.868(1000)+ F
43
x
(100sin15) + F
43
y
(100cos15)
F
43
x
(25.88) + F
43
y
(96.59) = 868
(6)
Now using Eqs. (4),
F
23
x
F
34
x
= 25.85
F
23
y
F
34
y
= 17.65
F
34
x
(25.88) F
34
y
(96.59) = 868
(7)
Between links 2 and 3,
F
32
x
= F
23
x
F
32
y
= F
23
y
(8)
For link 2, the equilibrium equations are
Fx

= 0 F
32
x
+ F
12
x
= 0
F
y
= 0 F
32
y
+ F
12
y
= 0
(9)
- 560 -
and summing moments about point O
2
gives
M
O2
= 0 F
32
x
(ADsin15) + F
32
y
(ADcos15) +T
12
+ M
12
= 0
= F
32
x
(100sin15) + F
32
y
(100cos15)+ T12 + 0.287(1000) = 0
F
32
x
(25.88) + F
32
y
(96.59) + T12 = 287
(10)
Now using Eqs. (8),
F
x

= 0 F
23
x
+ F
12
x
= 0
F
y
= 0 F
23
y
+ F
12
y
= 0
M
O
2
= 0 F
23
x
(25.88) F
23
y
(96.59) + T
12
= 287
(11)
Equations (3), (7), and (11) can be written in matrix form for solution. This gives,
0 1 0 0 0 0 0 0
1 0 1 0 0 0 0 0
0 ~1 0 1 0 0 0 0
0 0 ~1 0 1 0 0 0
0 ~25.88 ~96.59 0 0 0 0 0
0 0 0 ~1 0 1 0 0
0 0 0 0 ~1 0 1 0
0 0 0 25.88 ~96.59 0 0 1
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F
14
y
F
34
x
F
34
y
F
23
x
F
23
y
F
12
x
F
12
y
T12
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=
~22.409
0
~25.85
~17.65
868
0
0
~287
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(12)
Equation (12) can be easily solved using MATLAB. The results are
F
14
x
= 0 N
F
14
y
= 2.98 N
F
34
x
= F
43
x
= 22.41N
F
34
y
= F
43
y
= 2.98 N
F
23
x
= F
32
x
= 48.26 N
F
23
y
= F
32
y
= 20.63 N
F
12
x
= 48.26 N
F
12
y
= 20.63 N
T12 = 1030.9 N mm
- 561 -
Problem 14.6
Find the external torque (T
12
) that must be applied to link 2 of the mechanism illustrated to drive
it at
2
=1,800 rad/s CCW and
2
=0 rad/s
2
. Link 2 is in a horizontal position. and it is balanced
so that its center of mass is at the pivot O
2
. The mechanism moves in the horizontal plane, and
friction may be neglected.
W
3
=0.708 lb I
G
3
= 0.0154 lb-s
2
-in
W
4
=0.780 lb I
G
4
= 0.0112 lb-s
2
-in
G3
G4

2
2
3
4
AO
2
= 3.0 in
O O
2
= 7.0 in
AG = 4.0 in
BO
4
= 6.0 in
AB = 8.0 in
4
BG
4
= 3.0 in
3
O4
G2
O
2
A
B
T
12
Solution:
Velocity Analysis:
1
v
A2
=
1
v
A2 /O2
=
1
v
A3
=
1

2
r
A2/ O2
1
v
B3
=
1
v
B4
=
1
v
A3
+
1
v
B3/ A3
=
1
v
O4
+
1
v
B4/ O4
=
1
v
B4 /O4
(1)
Now,
1
v
A3
=
1

2
r
A2/ O2
=1800 3 = 5400 in/ s
1
vB4/O4 =
1
4 rB4/ O4

1
vB4/ O4 =
1
4 rB4/ O4
( torB4/ O4
)
1
vB3/ A3 =
1
3 rB3/A3

1
vB3/A3 =
1
3 rB3/ A3
(to rB3/ A3
)
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1
vB3/ A3 = 4283.4 in / s
and
1
vB4/ O4 = 3195.6 in / s
Then,
- 562 -
1

3
=
1
v
B3/ A3
r
B
3
/ A
3
=
4283.4
8
= 535.4 rad / s CCW
and
1

4
=
1
v
B4/O4
r
B
4
/ O
4
=
3195.6
6
= 532.6 rad / s CCW
Acceleration Analysis:
1
aB3 =
1
aB4 =
1
aA3 +
1
aB3/ A3 =
1
aO4 +
1
aB4/ O4 =
1
aB4/ O4
1
aB3 =
1
a
A2/O2
r
+
1
a
A2/ O2
t
+
1
a
B3/ A3
r
+
1
a
B3/A3
t
=
1
a
B4/ O4
r
+
1
a
B4/O4
t
(2)
Now,
1
a
A
2
/O
2
r
=
1

2

1

2
r
A2/O2
( )
1
a
A
2
/ O
2
r
=
1

2
2
r
A/O2
=1800
2
3 = 9,720,000 in / s
2
in the direction opposite to rA/ O2
1
a
A2/O2
t
=
1
2 rA2/O2 = 0
1
a
B3/ A3
r
=
1
3
1
3 rB3/ A3
( )
1
a
B3/ A3
r
=
1
3
2
rB3/ A3 = 535.4
2
8 = 2,293, 000 in/ s
2
in the direction opposite to rB3/ A3
1
a
B3/ A3
t
=
1
3 rB3/ A3
1
a
B3/A3
t
=
1
3 rB3/ A3 ( to rB3/ A3)
1
a
B4/ O4
r
=
1
4
1
4 rB4/ O4
( )
1
a
B4/O4
r
=
1
4
2
rB4/ O4 = 532.6
2
6 =1,702,000 in / s
2
in the direction opposite to rB4 / O4
1
a
B4/O4
t
=
1
4 rB4/O4
1
a
B4/ O4
t
=
1
4 rB4 /O4 (to rB4/O4)
Solve Eq. (2) graphically with a acceleration polygon. From the polygon,
1
aG3 = 7, 700, 000 in / s
2
1
aG4 = 2,867, 000 in / s
2
1
a
B3/ A3
t
= 4,151, 000 in / s
2
1
a
B4/O4
t
= 5,533, 000 in / s
2
Also,
1

3
=
1
a
B3/ A3
t
r
B
3
/ A
3
=
4,151,000
8
= 518,900 rad / s
2
CCW
- 563 -
G
3
G
4

2
2
3
4
AO
2
= 3.0 in
O O
2
= 7.0 in
AG = 4.0 in
BO
4
= 6.0 in
AB = 8.0 in
4
BG
4
= 3.0 in
3
O
4
G
2
O
2
A
B
T
12
3000 in/s
Velocity Polygon
a2 a
3
,
b3
, b
4
1vB
3
1
v A
3
1
vB
3
/A
3
o
5,000,000 in/s
Acceleration Polygon
2
a'2 a'3
,
1
aA2/O
2
r
1
aB
3
/A
3
t
o'
b
'
2 b
'
3
,
B
3
/A
3
r
a
1
g'
4
1
aB
4
/O
4
t
1
aB
4
/
O
4
r
g'
3
Fig. 14.6.1: Position, velocity, and acceleration polygon for Problem 14.6.
and
1

4
=
1
a
B4/ O4
t
r
B4 /O4
=
5,533, 000
6
= 922,200 rad / s
2
CW
Inertia Force Analysis:
We can now conduct the inertia force analysis. There will be an inertia force associated with
each center of gravity. We will represent these forces with a lower case f to distinguish between
internal inertia forces and externally applied forces. The forces are
f
12
= m
2
1
a
G
2
= 0
f
13
= m
3
1
a
G3
=
0.708
386
(7, 700, 000) =14,100 lb (opposite
1
a
G3
)
f
14
= m
4
1
a
G4
=
0.780
386
(2, 867,000) = 5, 800 lb (opposite
1
a
G4
)
- 564 -
Links 3 and 4 have angular accelerations so these links have inertia moments. The inertia
moments are given by
M
13
= I
3
1

3
= 0.0154(518, 900) = 7,990 in lb (opposite
1

3
or CW)
M
14
= I
4
1

4
= 0.0112(922,200) = 10,300 in lb (opposite
1

4
or CCW)
The inertia forces are shown in Fig. 14.6.2. The orientation angles for the forces and links are
shown in Fig. 14.6.2.
A freebody diagram for each of the links is shown in Fig. 14.6.2. From the free body diagrams,
it is clear that no single free body can be analyzed separately. Therefore, we must write the
equilibrium equations for each freebody and solve the equations as a set.
For the freebody diagram for link 4, assume initially that all of the unknown forces are in the
positive x and y directions. Then a negative result will indicate that the forces are in the negative
direction. Summing forces in the X and Y directions gives
F
x
= 0 F
14
x
+ F
34
x
f
14
cos20.19= 0 F
14
x
+ F
34
x
= 5800cos20.19= 5, 440 lb
F
y
= 0 F
14
y
+ F
34
y
f
14
sin20.19= 0 F
14
y
+ F
34
y
= 5800sin20.19= 2,000 lb
(3)
M
O4
= 0 M
14
F
34
x
(BO
4
sin52.55) F
34
y
(BO
4
cos52.55)
+ f
14
cos20.19(G
4
O
4
sin52.55) + f
14
sin20.19(G
4
O
4
cos52.55) = 0
10,300 F
34
x
(6sin52.55) F
34
y
(6cos52.55)
+ 5800cos20.19(3sin52.55) + 5800sin20.19(3cos52.55) = 0
F
34
x
(4.763) F
43
y
(3.648) = 26,920
Between links 3 and 4,
F
43
x
= F
34
x
F
43
y
= F
34
y
(4)
Now move to the free body diagram for link 3. Summing forces in the X and Y directions gives:
Fx

= 0 F
23
x
+ F
43
x
f13cos7.25= 0 = F
23
x
+ F
43
x
14,100cos7.25F
23
x
+ F
43
x
= 13, 990 lb
F
y
= 0 F
23
y
+ F
43
y
f13sin7.25= 0 = F
23
y
+ F
43
y
14,100sin7.25F
23
y
+ F
43
y
=1,780 lb
(5)
and summing moments about point A gives
M
A
= 0 M
13
F
43
x
(ABsin36.39) + F
43
y
(ABcos36.39)
+ f
13
cos7.25(AG
3
sin36.39) f
13
sin7.25(AG
3
cos36.39) = 0
= 7, 990 F
43
x
(8sin36.39) + F
43
y
(8cos36.39)
+14,100cos7.25(4sin36.39) 14,100sin7.25(4cos36.39) = 0
F
43
x
(4.74) + F
43
y
(6.44) = 19, 470
(6)
Now using Eqs. (4),
- 565 -
G
3
G
4
2
3
4
O
4
G
2
O
2
A
B
T
12
5000 lb
Force Scale
M
1 3
f
1 3
M
1 4
f
1 4
G
4
4
O
4
B
M
1 4
f
1 4
F
34
x
F
34
y
F
14
x
F
14
y
T
2
G2 O2
A
12
F12
x
F
12
y
F
32
x
F
32
y
G3
3
A
B
M
1 3
f
1 3
F
23
x
F
23
y
x
F
43
y
F43
36.39
52.55
20.19
7.25
Fig. 14.6.2: Force diagrams for Problem 14.6.
F
23
x
F
34
x
=13, 990
F
23
y
F
34
y
=1,780
F
34
x
(4.74) F
34
y
(6.44) = 19, 470
(7)
Between links 2 and 3,
F
32
x
= F
23
x
F
32
y
= F
23
y
(8)
For link 2, the equilibrium equations are
Fx

= 0 F
32
x
+ F
12
x
= 0
F
y
= 0 F
32
y
+ F
12
y
= 0
(9)
- 566 -
and summing moments about point O
2
gives
M
O2
= 0 F
32
x
(AO
2
sin0)+ F
32
y
(AO
2
cos0) +T
12
= 0
= F
32
y
(3cos0) +T12 = 0
F
32
y
(3) + T12 = 0
(10)
Now using Eqs. (8),
Fx

= 0 F
23
x
+ F
12
x
= 0
F
y

= 0 F
23
y
+ F
12
y
= 0
MO2
= 0 F
23
y
(3) + T12 = 0
(11)
Equations (3), (7), and (11) can be written in matrix form for solution. This gives,
1 0 1 0 0 0 0 0 0
0 1 0 1 0 0 0 0 0
0 0 ~4.763 ~3.648 0 0 0 0 0
0 0 ~1 0 1 0 0 0 0
0 0 0 ~1 0 1 0 0 0
0 0 ~4.74 ~6.44 0 0 0 0 0
0 0 0 0 ~1 0 1 0 0
0 0 0 0 0 ~1 0 1 0
0 0 0 0 0 ~3 0 0 1
|
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|
F
14
x
F
14
y
F
34
x
F
34
y
F
23
x
F
23
y
F
12
x
F
12
y
T
12
|

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|

|
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|
=
5, 444
2, 000
~26, 920
13,990
1,780
~19, 470
0
0
0
|

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(12)
Equation (12) can be easily solved using MATLAB. The results are
F
14
x
= 3310 lb
F
14
y
= 2594 lb
F
34
x
= F
43
x
= 2134 lb
F
34
y
= F
43
y
= 4594 lb
F
23
x
= F
32
x
=16,124lb
F
23
y
= F
32
y
= 6374 lb
F
12
x
=16,124 lb
F
12
y
= 6374 lb
T
12
=19,121 in lb
- 567 -
Problem 14.7
Find the external torque (T
12
) that must be applied to link 2 of the mechanism illustrated in order
to drive it at
2
=210 rad/s CCW and
2
=0 rad/s
2
. Link 2 is balanced so that its center of mass is
at the pivot O
2
. The mechanism moves in the horizontal plane and friction may be neglected.
W
3
= 3.4 lb I
G
3
= 0.1085 lb-s
2
-in
W
4
= 2.86 lb
O
2
G
2
A
B
G
3
G
4
2
3
4
AO
2
= 3.0 in
BG = 6.0 in
AB = 12.0 in
3
T
12
45
2
Solution:
Velocity Analysis:
1
v
A2
=
1
v
A2 /O2
=
1
v
A3
=
1

2
r
A2 /O2
1
v
B3
=
1
v
B4
=
1
v
A3
+
1
v
B3/ A3
(1)
Now,
1
v
A3
=
1

2
r
A2/ O2
= 210 3 = 630 in/ s( tor
A2 /O2
)
1
v
B3
in horizontal direction
1
vB3/ A3 =
1
3 rB3/A3

1
vB3/A3 =
1
3rB3/ A3
(to rB3/ A3
)
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1
vB3 = 525 in/ s
Also,
1
vB3/ A3 = 452.7 in/ s
or
1

3
=
1
v
B3/ A3
r
B
3
/ A
3
=
452.7
12
= 37.72 rad/ s CW
Acceleration Analysis:
1
aB3 =
1
aB4 =
1
aA3 +
1
aB3/ A3
1
aB3 =
1
a
A2/O2
r
+
1
a
A2/O2
t
+
1
a
B3/ A3
r
+
1
a
B3/A3
t
(2)
- 568 -
Now,
1
a
B3 in horizontal direction
O
2
G2
A
B
G3
G4
2
3
4
T1
2
45
2
300 in/s
Velocity Polygon
a
2
a
3
,
b
3
, b
4
1v
B3
1
v
A
3
1
vB
3
/A
3
o'
50,000 in/s
Acceleration Polygon
2
a2
'
a
3
' ,
1
aA2/O
2
r
1
aB
3
1
aB
3
/A
3
r
1
a
B
3
/A
3
t
b3
' g4
' ,
o
Fig. 14.7.1: Position, velocity, and acceleration polygon for Problem 14.7.
1
a
A2/ O2
r
=
1
2
1
2 rA2/O2
( )
1
a
A2/O2
r
=
1
2
2
rA/ O2 = 210
2
3 =132,300 in / s
2
in the direction opposite to rA/ O2
1
a
A2/O2
t
=
1
2 rA2/O2
1
a
A2/ O2
t
=
1
2 rA/O2 = 0
1
a
B3/ A3
r
=
1
3
1
3 rB3/ A3
( )
1
a
B3/ A3
r
=
1
3
2
rB3/ A3 = 37.72
2
12 =17, 070 in/ s
2
in the direction opposite to rC3/ A3
1
a
B3/ A3
t
=
1
3 rB3/ A3
1
a
B3/A3
t
=
1
3 rB3/ A3 (to rB3/ A3)
Solve Eq. (2) graphically with a acceleration polygon. From the polygon,
1
a
B3
=
1
a
G4
= 94,100 in / s
2
and
1
a
B3/ A3
t
= 91,610 in / s
2
- 569 -
Determine the acceleration of G
3
by image. Then,
1
aG3 =104, 740 in / s
2
Also,
1

3
=
1
a
B3/A3
t
r
B3/ A3
=
91,610
12
= 7634 rad / s
2
CCW
Inertia Force Analysis:
We can now conduct the inertia force analysis. There will be an inertia force associated with
each center of gravity. We will represent these forces with a lower case f to distinguish between
internal inertia forces and externally applied forces. The forces are
f
12
= m
2
1
a
G
2
= 0
f
13
= m
3
1
a
G3
=
3.4
386
(104,740) = 922.6 lb (opposite
1
a
G3
)
f
14
= m
4
1
a
G4
=
2.86
386
(70, 028) = 518.9 lb (opposite
1
a
G4
)
Only links 3 has an angular acceleration so only this link has an inertia moment. The inertia
moment is given by
M
13
= I
3
1

3
= 0.1085(7634) = 828.3 in lb (opposite
1

3
or CW)
The inertia forces are shown in Fig. 14.7.2. The orientation angles for the forces and links are
shown in Fig. 14.7.2.
A freebody diagram for each of the links is shown in Fig. 14.7.2. From the free body diagrams,
it is clear that no single free body can be analyzed separately because in each case, four
unknowns result. Therefore, we must write the equilibrium equations for each freebody and
solve the equations as a set.
For the freebody diagram for link 4, assume initially that all of the unknown forces are in the
positive x and y directions. Then a negative result will indicate that the forces are in the negative
direction. Note that F
14
x
= 0 because there is no friction between the slider and the frame.
Summing forces in the X and Y directions gives
F
x

= 0 F
34
x
+ f14 = 0 F
34
x
= 518.9 lb
F
y
= 0 F
14
y
+ F
34
y
= 0
(3)
Between links 3 and 4,
F
43
x
= F
34
x
F
43
y
= F
34
y
(4)
Now move to the free body diagram for link 3. Summing forces in the X and Y directions gives:
- 570 -
M
13
B
4
f
14
F
34
x
F
34
y
14 F
F
12
x
F
12
y
F
32
x
F
32
y
F
23
f
13
x
F
23
y
x
F
43
y
F
43
B
G3
G4
4
O
2
G2
A
2
3
T12
45
2
Force Scale
500 lbs
M
13
A
B
G3
3
O
2
A
2
T12
10.19
26.48
f13
f
14
Fig. 14.7.2: Force diagrams for Problem 14.7.
Fx

= 0 F
23
x
+ F
43
x
+ f13cos26.48 = 0 = F
23
x
+ F
43
x
+ 922.6cos26.48 F
23
x
+ F
43
x
= 825.8 lb
F
y
= 0 F
23
y
+ F
43
y
+ f13sin26.48 = 0 = F
23
y
+ F
43
y
+ 922.6sin26.48 F
23
y
+ F
43
y
= 411.4 lb
(5)
and summing moments about point A gives
M
A
= 0 M
13
+ F
43
x
(ABsin10.19) + F
43
y
(ABcos10.19)
+ f
13
cos26.48(AG
3
sin10.19) + f
13
sin26.48(AG
3
cos10.19) = 0
= 828.3 + F
43
x
(12sin10.19)+ F
43
y
(12cos10.19)
+ 922.6cos26.48(6sin10.19)+ 922.6sin26.48(6cos10.19) = 0
F
43
x
(2.123) + F
43
y
(11.81) = 2477.6
(6)
Now using Eqs. (4),
F
23
x
F
34
x
= 825.8 lb
F
23
y
F
34
y
= 411.4 lb
F
34
x
(2.123) F
34
y
(11.81) = 2477.6
(7)
Between links 2 and 3,
F
32
x
= F
23
x
F
32
y
= F
23
y
(8)
- 571 -
For link 2, the equilibrium equations are
Fx

= 0 F
32
x
+ F
12
x
= 0
F
y
= 0 F
32
y
+ F
12
y
= 0
(9)
and summing moments about point O
2
gives
M
O2
= 0 F
32
x
(AO
2
sin45) + F
32
y
(AO
2
cos45) +T
12
= 0
= F
32
x
(3sin45)+ F
32
y
(3cos45) + T
12
= 0
F
32
x
(2.121)+ F
32
y
(2.121) +T
12
= 0
(10)
Now using Eqs. (8),
Fx

= 0 F
23
x
+ F
12
x
= 0
F
y
= 0 F
23
y
+ F
12
y
= 0
MO2
= 0 F
23
x
(2.121) F
23
y
(2.121)+ T12 = 0
(11)
Equations (3), (7), and (11) can be written in matrix form for solution. This gives,
0 1 0 0 0 0 0 0
1 0 1 0 0 0 0 0
0 ~1 0 1 0 0 0 0
0 0 ~1 0 1 0 0 0
0 ~2.123 ~11.81 0 0 0 0 0
0 0 0 ~1 0 1 0 0
0 0 0 0 ~1 0 1 0
0 0 0 2.121 ~2.121 0 0 1
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
F
14
y
F
34
x
F
34
y
F
23
x
F
23
y
F
12
x
F
12
y
T
12
|

|
|
|
|
|
|
|
|
|
|

|
|
|
|
|
|
|
|
|
=
~518.9
0
~825.8
~411.4
~2477.6
0
0
0
|

|
|
|
|
|
|
|
|
|
|

|
|
|
|
|
|
|
|
|
(12)
Equation (11) can be easily solved using MATLAB. The results are
F
14
x
= 0 lb
F
14
y
= 303.1 lb
F
34
x
= F
43
x
= 518.9 lb
F
34
y
= F
43
y
= 303.1lb
F
23
x
= F
32
x
= 1344.7 lb
F
23
y
= F
32
y
= 108.3 lb
F
12
x
= 1344.7 lb
F
12
y
= 108.3lb
T
12
= 2622.3 in lb
- 572 -
Problem 14.8
In the mechanism shown, the center of mass of link 3 is at G
3
, which is located at the center of
link 3. The mass of link 3 is 0.5 kg. Its moment of inertia about G
3
is 0.0012 N-s
2
-m. The
weights and moments of inertia of members 2 and 4 may be neglected. Link 2 is driven at a
constant angular velocity of 50 rad/s CW by the torque applied to link 2. The mechanism moves
in the horizontal plane, and friction may be neglected.
1. Find the magnitudes and directions of the inertia force and inertia torque acting on link 3.
2. Find the magnitudes and directions of the forces exerted on link 3 by link 2 at A and by link 4
at B. You may use either a graphical solution or numerical solution of the dynamic
equilibrium equations.
= 50 rad/s
2
o
a
b
A
B
2
1
3
4
G
3
O A = 20 mm
AB = 70 mm
O B = 60 mm
O O = 80 mm A B
A
B
OB OA
90
1000 mm/s
513 mm/s
756 mm/s
o'
b
'
a'
50 m/s
2
8.16 m/s
2
4.37 m/s
2
37.1 m/s
2
36.9 m/s
2
(Velocity Polygon)
(Acceleration Polygon)
T
12
- 573 -
Solution:
The basic position, velocity, and acceleration analysis have already been conducted. We need
only determine the acceleration of G3 by image and the angular acceleration of link 3. To do
this, we will redraw the acceleration diagram to scale as shown in Fig. 14.8.1. From the
polygon,
1
aG3 = 39.8 m/ s
2
= 39,800 mm / s
2
1
a
B3/ A3
t
= 37.1 m / s
2
= 37,100 mm / s
2
Also,
1

3
=
1
a
B3/ A3
t
r
B
3
/ A
3
=
37,100
70
= 530 rad / s
2
CCW
o'
b
'
a'
50 m/s
2
8.16 m/s
2
4.37 m/s
2
37.1 m/s
2
36.9 m/s
2
= 50 rad/s
2
A
B
2
1
3
4
G
3
OB OA
90
12.5 m/s
Acceleration Polygon
2
g'
3
1
a
B
3
/A
3
t
1
a
G
3
39.8 m/s
2
Fig. 14.8.1: Position, velocity, and acceleration polygon for Problem 14.8.
- 574 -
Inertia Force Analysis:
We can now conduct the inertia force analysis. There will be an inertia force associated with the
center of gravity of link 3. We will represent this force with a lower case f to distinguish
between internal inertia forces and externally applied forces. The force is
f
13
= m
3
1
a
G3
= 0.5(37.1) =18.55 kg m / s
2
=18.55 N (opposite
1
a
G3
)
Links 3 has an angular acceleration so this links has an inertia moment. The inertia moment is
given by
M
13
= I
3
1

3
= 0.0012(530) = 0.636 Nm (opposite
1

3
or CW)
The inertia forces are shown in Fig. 14.8.2 along with a freebody diagram of each link. From the
free body diagrams it is clear that this problem can be solved graphically. To do this, we must
replace the inertia force and inertia moment by offsetting the inertia force by a distance h. The
distance h is give by
h =
M
13
f
13
=
0.636
18.55
= 0.0343 m = 34.3 mm
The solution is shown in Fig. 14.8.2. We know the direction of F
14 and F34 because link 4 is a
two-force member. We then know the direction of F
43 because
F
43 = F34
Using the procedure given in Section 11.5 of the text, we can find the direction of F23 because
the force F
23 must pass through point A and the intersection of f13 (after it is offset by h) and
F43 . Knowing the direction of F23 , we can sum forces vectorially on link 3 and determine the
magnitudes of F
43 and F23 . Then,
F

= f13 + F23 + F43 = 0

From the force polygon,
F
23
=22.2 N
and
F
43
=7.54 N
The directions are given on the force polygon for link 3. Link 2 can now be analyzed for forces
if necessary; however, this is not required for this problem.
- 575 -
A
B
2
1
3
4
G
3
OB OA
90
M
13
f
13
Force Scale
10 N
A
2
O
A
14
B
4
OB
F
F
34
A
B
3
G3
90
M
13
f
13
F
43
F
23
F
32
F
12
T
13
h
f
13
F
43
F
23
Force polygon for link 3
Fig. 14.8.2: Force diagrmas for Problem 14.8.
Problem 14.9
Link AB of the geared five-bar linkage shown drives CCW against a load torque T
15
= 25 in-lb. If
1
2 = 0.001 rpm CW, find the driving torque T
12
. The mechanism moves in the horizontal plane,
and friction may be neglected. The gears 2 and 3 are represented by their pitch circles. Both
gears turn on bearings supported by the tie link, 4. The weight of link 2 is small and can be
neglected. Gear 3 is 0.2 in thick and may be treated as a solid disk.
- 576 -
2
3
4
5
T
T
12
15
r
r
A
B
C
D
3
E
2

2
AB
= 1.0 in
BC
= 2.0 in
CD = 1.0 in
AE = 2.0 in
DE
= 2.0 in
r
= 0.5 in
r
= 1.5 in
2
3
= 135
2
= 90

ABC
W = 0.235 lb
3
Solution
This problem can be solved as a dynamics problem by performing a velocity, acceleration, and
inertia force analysis; however, because of the slow speed of link 2, the accelerations will be
extremely small. Therefore, the inertia forces throughout the system will be negligible compared
to the applied forces. As a result, this problem can be treated as a statics problem. Because the
mechanism operates in the horizontal plane, only the applied torque, T
15
needs to be considered.
The problem then can be solved most easily using conservation of power and instant centers.
From conservation of power,
T
12
1
2 +T15
1
5 = 0 (1)
To use instant centers, we must draw the mechanism to scale. From Eq. (1), power is involved in
links 2 and 5. Therefore, we I
12
, I
15
, and I
25
. Using the procedure discussed in Chapter 2, the
instant centers are located as shown in Fig. 14.9.1. Because I
25
lies outside of both I
12
and I
15
,
both
1
2 and
1
5 will be in the same direction. Therefore, for Eq. (1) to be satisfied, the torques
T12 and T15 must be in opposite directions. As a result, T12 will be CW, and we need only
determine the magnitude of T
12 . From Eq. (1),
T12 = T15
1

5
1

2
.
From the relationships for instant centers,
vI25
=
1
5(rI25/ I15
) =
1
2(rI25/ I12)
and
1

5
1

2
=
rI25/ I12
r
I25/ I15
Therefore,
T
12 = T15
1

5
1

2
= T15
rI25/ I12
r
I25/ I15
.
From Fig. 14.9.1,
r
I25/ I15
= 4.819 in
and
- 577 -
r
I25/ I12
= 2.833 in
Therefore,
T
12 = T15
rI25/ I12
r
I25/I15
= 25
2.833
4.819
=14.70 in lb
and
T
12 =14.70 in lb CW
A E
B
C
D
2
3
4
5
I
12
I
15
I
35
I
34
I
24
I
23
1
2
3
4
5
I
25
Fig. 14.9.1: Instant center locations for Problem 14.9.
Problem 14.10
A punch press similar to that of Example 14.5 is to punch holes of diameter up to 0.75 in through
steel plate up to 0.375 in thick. The shear strength of the steel will range up to 60,000 psi. The
rated speed of the motor is 1500 rpm, and a 10 % drop in motor speed is allowable. If holes are
to be punched at a maximum rate of 1 per second, find the requisite motor power and flywheel
inertia.
Solution
The maximum punch force is
F = d t
- 578 -
where = 60,000 psi is the shear strength of the material, d is the diameter of the hole, and t is
the plate thickness. That is, the maximum punch force is simply the shear area multiplied by the
shear strength. Then,
F = d t = (0.75)(0.375)(60,000) = 53, 014 lb
The area under the curve of punch force versus depth of penetration is the energy used in the
punching operation. It can be measured experimentally, but as discussed in the text,
E =
Ft
2
(14.16)
is a frequently used approximation. Therefore,
E =
Ft
2
=
53, 014(0.375)
2
= 9, 940 in lb= 828.3 ft lb
At a punching rate of once every second the average power required is
P =828.3 ft lb/ (1)s =828.3 ft lb/ s =1.506 hp
This is the power for which the motor should be sized.
Now, if the rated motor speed is 1500 rpm, we can assume that the maximum motor speed will
be this value so
2 =
1,500 2
60
= 157 rad/s
Also, we can assume that the motor speed quickly drops to its minimum value during the punch
stroke and that it is then built back up approximately uniformly to the maximum value in the
remainder of the cycle time. Therefore
=

1
+
2
2
is an adequate approximation to the average motor speed, .
Since the allowable motor speed variation is 10%, c

= 0.10 and so, applying Eq. (14.13),

0.10 =

2

1

=
2 2 1
( )

2
+
1
or
2 +1 = 20 2 1
( )
and
1 = (19 / 21)2
Substitution of
2
= 157 gives
1 = (19 / 21)2 = (19 / 21)157 = 142 rad/s
- 579 -
Also, applying Eq. (14.14),
E =
I
w
2

2
2

1
2
( )
or
I
w =
2E

2
2

1
2
( )
=
2(828.3)
157
2
142
2
( )
= 0.369 ft-lb s
2
Problem 14.11
A uniform rectangular plate is suspended from a rail by means of two bogies as shown. The
plate is connected to the bogies by means of frictionless hinge joints at A and at B. At time t=0
the pin of joint B breaks, allowing the plate to swing downward. Write the equations of motion
of the plate as it starts to move. Hence find its initial angular acceleration and the initial
acceleration of point A.
You may assume that the rollers which support point A are frictionless and that they remain in
contact with the rail. You may also assume that the angular displacement from the initial
position is small. The moment of inertia of a uniform rectangular plate with sides 2a and 2b
about an axis normal to its plane passing through its centroid is m[(2a)
2
+(2b)
2
]/12, where m is
the mass of the plate.
A B
G
a a
b
b
Solution
First draw a free-body diagram (FBD) of the bogie. If it is assumed to be weightless, the free
body diagram is as follows:
From this FBD, it is apparent that the forces must all be vertical. Now draw a FBD for the place.
A B
W
FA
G
- 580 -
Summing forces in the y direction,
Fy

= FA W = maG
y
Summing forces in the x direction,
Fx
= 0 = maG
x
aG
x
= 0
Summing moments about the center of mass of the plate,
M
G

= FAa = I =
1
12
m (2a)
2
+(2b)
2
[ ] =
1
3
m a
2
+ b
2
[ ]
Because the angular velocity is zero, the acceleration relationship is as shown in the following:
A
B
G
a
A
aG/A
a
b
r
aG/A
aA
a
G
In equation form,
a
G = aA +aG/A
and
a
G
x
= 0 = a
A
+ a
G/ A
b
r
= a
A
+r
b
r
a
A
= b
a
Gy
= a
G/A
a
r
= r
a
r
= a
Combining terms,
F
A = W + maG
y
= W +ma = mg + ma = m(g a)
where g is the acceleration of gravity. From the moment equation
F
A =
1
3a
m a
2
+b
2
[ ]
Then,
1
3a
m a
2
+ b
2
[ ] = m(g a)
or
- 581 -
1
3a
a
2
+ b
2
[ ] + a =
1
3a
a
2
+ b
2
[ ]+ a
{ }
= g
Then
=
g
1
3a
a
2
+ b
2
[ ]
+a
{ }
=
3ag
a
2
+ b
2
[ ]
+ 3a
2
{ }
=
3ag
4a
2
+ b
2
{ }
in the CW direction. Also,
aA
= b =
3abg
4a
2
+ b
2
{ }
From the figure,
aA =
3abg
4a
2
+ b
2
{ }
to the right. Also,
FA =
1
3a
m a
2
+b
2
[ ] =
1
3a
m a
2
+ b
2
[ ]
3ag
4a
2
+b
2
{ }
=
gm a
2
+ b
2
[ ]
4a
2
+ b
2
{ }