MASSACHUSETTS INSTITUTE OF TECHNOLOGY

Department of Physics
8.01 Physics 8.01

W02D3_0 Group Problem: Pulleys and Ropes Constraint Conditions

Consider the arrangement of pulleys and blocks shown in the figure. The pulleys are
assumed massless and frictionless and the connecting strings are massless and
unstretchable. Denote the respective masses of the blocks as
1
m ,
2
m and
3
m . The upper
pulley in the figure is free to rotate but its center of mass does not move. Both pulleys
have the same radius R .



a) How are the accelerations of the objects related?

b) Draw force diagrams on each moving object.

c) What are Newtons equations of motion for the system of pulleys and objects?


Solution: Choose an origin at the center of the upper pulley. Introduce coordinate
functions for the three moving blocks,
1
y ,
2
y and
3
y . Introduce a coordinate function
P
y
for the moving pulley (the pulley on the lower right in the figure). Choose downward for
positive direction; the coordinate system is shown in the figure below then.



a) The length of string A is given by


1 A P
l y y R ! = + + (1)

where R ! is the arclength that the rope is in contact with the pulley. This length is
constant, and so the second derivative with respect to time is zero,


2 2 2
1
,1 , 2 2 2
0
A P
y y P
d l d y d y
a a
dt dt dt
= = + = + . (2)

Thus block 1 and the moving pulleys components of acceleration are equal in magnitude
but opposite in sign,


, ,1 y P y
a a = ! . (3)

The length of string B is given by


3 2 3 2
( ) ( ) 2
B P P P
l y y y y R y y y R ! ! = " + " + = + " + (4)

where R ! is the arclength that the rope is in contact with the pulley. This length is also
constant so the second derivative with respect to time is zero,


2 2 2 2
2 3
, 2 ,3 , 2 2 2 2
0 2 2
B P
y y y P
d l d y d y d y
a a a
dt dt dt dt
= = + ! = + ! . (5)

We can substitute Equation (3) for the pulley acceleration into Equation (5) yielding the
constraint relation between the components of the acceleration of the three blocks,


, 2 ,3 ,1
0 2
y y y
a a a = + + . (6)
b) Free Body Force diagrams:

The forces acting on block 1 are: the gravitational force
1
mg
!
and the pulling force
1, r
T
!
of
the string acting on the block 1. Since the string is assumed to be massless and the pulley
is assumed to be massless and frictionless, the tension
A
T in the string is uniform and
equal in magnitude to the pulling force of the string on the block. The free body diagram
is shown below.



Newtons Second Law applied to block 1 is then


1 1 ,1

:
A y
m g T m a ! = j . (7)

The forces on the block 2 are the gravitational force
2
m g
!
and the string holding the
block,
2, r
T
!
, with magnitude
B
T . The free body diagram for the forces acting on block 2
are shown below.



Newtons second Law applied to block 2 is


2 2 , 2

:
B y
m g T m a ! = j . (8)

The forces on the block 3 are the gravitational force
3
m g
!
and the string holding the
block,
3, r
T
!
, with magnitude
B
T . The free body diagram for the forces acting on block 3
are shown below.



Newtons second Law applied to block 3 is


3 3 ,3

:
B y
m g T m a ! = j . (9)

The forces on the moving pulley are the gravitational force
P
m = g 0
!
!
(the pulley is
assumed massless); string B pulls down on the pulley on each side with a force,
, P B
T
!
,
which has magnitude
B
T . String A holds the pulley up with a force
, P A
T
!
with the
magnitude
A
T equal to the tension in string A. The free body diagram for the forces
acting on the moving pulley are shown below.



Newtons second Law applied to the pulley is


,

: 2 0
B A P y P
T T m a ! = = j . (10)

Since the pulley is massless we can use this last equation to determine the condition that
the tension in the two strings must satisfy,

2
B A
T T = (11)

We are now in position to determine the accelerations of the blocks and the tension in the
two strings. We record the relevant equations as a summary.


, 2 ,3 ,1
0 2
y y y
a a a = + + (12)

1 1 ,1 A y
m g T m a ! = (13)

2 2 , 2 B y
m g T m a ! = (14)

3 3 ,3 B y
m g T m a ! = (15)
2
B A
T T = . (16)

Optional

d) Solve for the accelerations of the objects and the tensions in the ropes.

There are five equations with five unknowns, so we can solve this system. We shall first
use Equation (16) to eliminate the tension
A
T in Equation (13), yielding


1 1 ,1
2
B y
m g T m a ! = . (17)

We now solve Equations (14), (15) and (17) for the accelerations,


, 2
2
B
y
T
a g
m
= ! (18)


,3
3
B
y
T
a g
m
= ! (19)

,1
1
2
B
y
T
a g
m
= ! . (20)

We now substitute these results for the accelerations into the constraint equation,
Equation (12),


2 3 1 2 3 1
4 1 1 4
0 2 4
B B B
B
T T T
g g g g T
m m m m m m
! "
= # + # + # = # + +
$ %
& '
. (21)

We can now solve this last equation for the tension in string B ,


1 2 3
1 3 1 2 2 3
2 3 1
4 4
4 1 1 4
B
g g m m m
T
m m m m m m
m m m
= =
! " + +
+ +
# $
% &
. (22)

From Equation (16), the tension in string A is


1 2 3
1 3 1 2 2 3
8
2
4
A B
g m m m
T T
m m m m m m
= =
+ +
. (23)

We find the acceleration of block 1 from Equation (20), using Equation (22) for the
tension in string B,


2 3 1 3 1 2 2 3
,1
1 1 3 1 2 2 3 1 3 1 2 2 3
2 8 4
4 4
B
y
T g m m m m m m m m
a g g g
m m m m m m m m m m m m m
+ !
= ! = ! =
+ + + +
. (24)

We find the acceleration of block 2 from Equation (18), using Equation (22) for the
tension in string B,


1 3 1 3 1 2 2 3
,2
2 1 3 1 2 2 3 1 3 1 2 2 3
4 3 4
4 4
B
y
T g m m m m m m m m
a g g g
m m m m m m m m m m m m m
! + +
= ! = ! =
+ + + +
. (25)

Similarly, we find the acceleration of block 3 from Equation (19), using Equation (22) for
the tension in string B,


1 3 1 2 2 3
1 2
,3
3 1 3 1 2 2 3 1 3 1 2 2 3
3 4
4
4 4
B
y
m m m m m m
T g m m
a g g g
m m m m m m m m m m m m m
! +
= ! = ! =
+ + + +
. (26)

As a check on our algebra we note that


1, 2, 3,
1 3 1 2 2 3 1 3 1 2 2 3 1 3 1 2 2 3
1 3 1 2 2 3 1 3 1 2 2 3 1 3 1 2 2 3
2
4 3 4 3 4
2
4 4 4
0.
y y y
a a a
m m m m m m m m m m m m m m m m m m
g g g
m m m m m m m m m m m m m m m m m m
+ + =
+ ! ! + + ! +
+ +
+ + + + + +
=