BeerJohnson Vector Mechanics Sample

Third Edition
Vector Mechanics for Engineers
DYNAMICS
Ferdinand R Beer and
E. Russell
Johnston,
Jr.
liiil
SI Prefixes
Multiplication Factor
1000000000000
1
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1 000 000
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(XX) (XX) 001
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Symbol
=
=
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tera
109
giga
=
=
=
106
mega
kilo
hecto]
10
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10-
= 10'
= l<r
= 10" 2
= 10" 3
= l(r
= 10"
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centit,
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=
=
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10
in
milli
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micro
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femto
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syllable of every prefix is accented so thai the prefix will retain

Thus, the preferred pronunciation of kilometer places the accent
on the first syllable, not the second.

{The use of these prefixes should be avoided, except for the measurement
of centimeter, as for body
of areas and volumes and for the nontechnical use
and clothing measurements.
Principal SI Units
Used
in
Mechanics
Symbol Formula
Quantity
Unit
Acceleration
Meter per second squared
Angle
Radian
Angular acceleration
Angular velocity
Radian per second squared

Radian per second
rad/s-
Area
Square meter
111'
Density
Kilogram per cubic meter
kg/
Energy
Force
Frequency
Joule
Impulse
Length
Mass
s-
in
rad
rad/s
m3
N-m
.1
Newton
kg m/s-
Hertz
11/
Newton-second
Meter
Kilogram
kg
kg
m/s
in
Power
Newton-meter
Watt
Pressure
Pascal
Pa
J/
X. ni-
Stress
Pascal
Pa
\ m-
Time
Second
Meter per second
Cubic meter
Liter
foule
Moment
of a force
Velocity
Volume,
solids
.iquids
Work
(Supplementary
J
Base
unit.
unit (I
revolution
= 2w
rad
in
m3
360).
10
'
nv
N-m
1 1
U.S. Customary Units
and Their
Quantity
U.S.
SI
Equivalents
Customary Unit
SI Equivalent
0.02.54
m/s 2
m/s 2
0.0929
m2
0.3048
PRESTON POLYTECHNIC
645.2
LIBRARY & LEARNING RESOURCES SERVICE
mm 2
1.356 J
This book must be returned on or before the date last stamped
4,448
kN
4.448
N
N
0.2780
4.448
m
25,40 mm
0,3048
-Z'-'JAIt
l',"50
km
1.609
28.35 g
0.4536 kg
14.59 kg
907.2 kg
N m
1.356
0.1130
0.4162
X lO^mm 4
1.356 kg
4.448 kg
745.7
.'
m2
1.356
I9&Q
SEP.
N-m
m/s
47.88 Pa
1980
6.895 kPa
90550
0.3048 m/s
0.4470
Vector mechanics for

engineers. Dynamics.
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m/s
m/s
1.609 km/h
0.0254
BEER, F.P.
0.02832
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1
1.356 J
90550
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m3
cm 3
U.S. Customary Units

Quantity
and Their
U.S.
Acceleration
SI
Customary Unit
SI Equivalent
m/s2
0.3048
,-
fl
Equivalents
0.0254 m/s 2
in./s'-'
0.0929
645.2
1.356
11.
iM-
mm 2
J
4.448 kN
4.448
Impulse
lb-s
0.2780 X
4.448 N
Length
ft
0.3048
,>
oz
25.40
in.
mi
Mass
mass
lb
907.2 kg
ton
of a force
lb
0.1162
in
lb
fl
Momentum
lb-s
Power
Ii
s*
Ib/'s
hp
Pressure or stress
ti
mil) (mph)
mi/h (mph)
solids
in
4.448 kg
m/s
1.356
VV
47.88 Pa
6.895 kPa
1.609
km/h
16.39
3.785
0.9464
lb
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m/s
0.0254 m/s
0.4470 m/s
gal
li
mm'
2
ro
0.02832
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Liquids
10"
0.3048
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1.356 kg
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lb/ft2
lb/in- ;psi)
Velocity
Work
0.1 130
of inertia
Of an area
Of a mass
Volume,
N*m
1.336
ft
!!> in.
Moment
km
28,35 s
(). (536 kg
14.59 kg
slug
Moment
mm
1.609
02 mass
1.356 J
:i
Vector
Mechanics
for
Engineers dynamics
Third Edition
Ferdinand
Department
of
P.
Beer
Professor and Chairman

Mechanical Engineering and Mechanics
Lehigh University
E.
Russell Johnston,
Professor and
Department
of Civil
Jr.
Head
Engineering
University of Connecticut
McGraw-Hill Book Company
New
St.
York
Louis
San Francisco
Auckland
Bogota
Dusseldorf
Johannesburg
London
Madrid
Mexico
Montreal
New
Delhi
Panama
Paris
Sao Paulo
Singapore
Sydney
Tokyo
Toronto
Vector Mechanics for Engineers
DYNAMICS
1977, 1972, 1962 by McGraw-Hill, Inc. All rights reserved.

may be
Printed in the United States of America. No part of this publication
or by any
any
form
in
transmitted,
system,
or
in
retrieval
stored
a
reproduced,
Copyright
means, electronic, mechanical, photocopying, recording, or otherwise,

without the prior written permission of the publisher.
234567890
This book
B.
J.
was set
Clark and
supervisor
J.
in
DODO
783210987
Laurel by York Graphic Services, Inc.
W. Maisel; the designer
was Thomas
J.
LoPinto.
In
Merrill
The
editors
printer
and
were
Haber; the production
The drawings were done by
Cooper.
R. R. Donnelley & Sons Company was
Library of Congress Cataloging
was
Felix
binder.
Publication Data
Beer, Ferdinand Pierre, date

Vector mechanics for engineers.
Includes index.
CONTENTS:
[1]
Statics.-[2]
Dynamics.
Mechanics, Applied. 2. Vector analysis.

Mechanics, Applied Problems, exercises, etc.
joint author.
Johnston, Elwood Russell, date
1.
3.
I.
II.
Title.
TA350.B3552 1977
ISBN 0-07-004281-0
531 '.01 '51 563
76-54914
fl.^h^.M^ y " c
No.
90550
12 JUL 397/
Contents
Preface
l
List of
Symbols
x v
j
11
KINEMATICS OF PARTICLES
435
11.1
435
Introduction to
Dynamics
RECTILINEAR MOTION OF PARTICLES
436
11.2
11.3
11.4
11.5
436
440
448
448
450
456
458
1 1
.6
--.
11.7
*11.8
and Acceleration
Determination of the Motion of a Particle
Uniform Rectilinear Motion
Uniformly Accelerated Rectilinear Motion
Position. Velocity,
Motion of Several Particles

Graphical Solution of Rectilinear-Motion Problems
Other Graphical Methods
CURVILINEAR MOTION OF PARTICLES
464
11.9
Position Vector, Velocity, and Acceleration
11.10 Derivatives of Vector Functions
11.11 Rectangular .Components, of VelpciJy. and.Acceleration
11.12 Motion Relative to a Frame in Translaiion..
11.13 Tangential and Normal Components,
11.14 Radial and transverse Components'
464
467
470
471
..
,'
:-
480
483
T
KINETICS OF PARTICLES; NEWTON'S
12
v<
"'
SECOND LAW
494
12.1
Newton's Second Law
12.2
Momentum
Momentum
12.3
12.4
Systems
Linear
of
Motion
of a' Particle.
'
494
Rate-or-Change -of Linear
496
497
500
of Units
Equations of Motion
ill
iv
CONTENTS
12.5
1 2.6
Dynamic Equilibrium
Momentum
Momentum
Angular
Angular
12.7
Equations
of
Motion
of a Particle.
in
Terms
Rate of Change
of Radial
of
and Transverse
518
Components
1
2.8
Motion under a Central Force. Conservation

Angular Momentum
2.9
Newton's Law
*12.10
*12.11
*12.12
of
of Gravitation
Trajectory of a Particle under a Central Force
Application to
Kepler's
Laws
Space Mechanics
of Planetary Motion
13
KINETICS OF PARTICLES: ENERGY
AND MOMENTUM METHODS
13.1
1 3.2
1 3.3
1 3.4
1 3.5
1 3.6
*13.7
3.8
13.9
1
541
Introduction
Work
Force
Energy of a
of a
Kinetic
Particle.
Power and
Work and Energy

Work and Energy
Principle of
Applications of the Principle of

Efficiency
Energy
Conservative Forces
Conservation of Energy
Motion under a Conservative Central Force. Application
Space Mechanics
Potential
13.10
Principle of Impulse
13.11
Impulsive Motion
to
584
and Momentum
13.12 Impact
13.13 Direct Central Impact
13.14 Oblique Central Impact
13.15 Problems Involving Energy and Momentum
597
14
SYSTEMS OF PARTICLES
14.1
Application of Newton's
Particles.
14.2
14.3
14.4
14.5
546
Laws
61
to the Motion of a
System
of
Effective Forces
and Angular Momentum of a System of Particles

Motion of the Mass Center of a System of Particles
Angular Momentum of a System of Particles about Its Mass
Linear
Center
Conservation
of
Momentum
for
a System
of Particles
CONTENTS
14.6
14.7
1
4.8
Energy of a System of Particles

Work-Energy Principle. Conservation of Energy for a
System of Particles
Principle of Impulse and Momentum for a System of
Kinetic
Particles
:
627
14.9
Variable Systems of Particles
14.10 Steady Stream of Particles
14.11 Systems Gaining or Losing Mass
g28
635
635
639
15
KINEMATICS OF RIGID BODIES
655
15.1
Introduction
15.2
15.3
15.4
translation
Rotation about a Fixed Axis
655
657
658
Equations Defining the Rotation of a Rigid Body about a

Fixed Axis
General Plane Motion
660
666
15.5
1 5.6
Absolute and Relative Velocity in Plane Motion
15.7
Instantaneous Center of Rotation in Plane Motion
1 5.8
Absolute and Relative Acceleration in Plane Motion
V
15.9
Analysis of Plane Motion in Terms of a Parameter
15.10 Rate of Change of a Vector with Respect to a Rotating
Frame
15.1
*
626
15.1 2
* 15.13
"15.14
Plane Motion of a Particle Relative to a Rotating Frame.

Coriolis Acceleration
Motion about a Fixed Point
General Motion
Three-dimensional Motion of a Particle Relative
Rotating Frame. Coriolis Acceleration
"15.15 Frame
of
Reference
in
to
694
696
705
707
716
General Motion
16
PLANE MOTION OF RIGID BODIES:
FORCES AND ACCELERATIONS
729
16.1
1 6.2
72g
730
16.3
1 6.4
*16.5
1 6.6
16.7
16.8
Introduction
Equations of Motion
Angular Momentum
for
a Rigid Body
of a Rigid Body in Plane Motion

Plane Motion of a Rigid Body. D'Alembert's Principle
A Remark on the Axioms of the Mechanics of Rigid Bodies

Solution of Problems Involving the Motion of a Rigid Body
Systems of Rigid Bodies
735
Constrained Plane Motion
756
vi
CONTENTS
17
PLANE MOTION OF RIGID BODIES:
ENERGY AND MOMENTUM METHODS
17.1
1 7.2
1 7.3
7.4
17.5
1
7.6
1 7.7
1
Work and Energy for a Rigid Body

Forces Acting on a Rigid Body
Kinetic Energy of a Rigid Body in Plane Motion
Systems of Rigid Bodies
780
782
783
Power
785
Principle of
Work
7.8
7.9
of
of
and Momentum
for the
Systems
784
Plane Motion
798
a Rigid Body
801
of Rigid Bodies
17.10
Conservation of Angular
Impulsive Motion
17.11
Eccentric Impact
779
802
Momentum
813
18
KINETICS OF RIGID BODIES
THREE DIMENSIONS
*18.1
Introduction
*18.2
*18.3
Angular
Momentum
of a Rigid
Body
IN
828
in
Three Dimensions
Application of the Principle of Impulse and
Momentum
a Rigid Body
Three Dimensions
to the Three-dimensional
Motion
"18.4
"18.5
"18.6
Kinetic Energy of a Rigid
Body
*18.7
*18.8
*18.9
Motion of a Rigid Body about a Fixed Point

Rotation of a Rigid Body about a Fixed Axis
Motion of a Gyroscope. Eulerian Angles
M8.10
M8.11
Steady Precession of a Gyroscope

Motion of an Axisymmetncal Body under No Force
of
in
828
829
832
833
843
Motion of a Rigid Body in Three Dimensions

Euler's Equations of Motion. Extension of D'Alembert's
Principle to the Motion of a Rigid Body in Three Dimensions 845
847
848
858
860
862
19
MECHANICAL VIBRATIONS
875
19.1
875
Introduction
876
VIBRATIONS WITHOUT DAMPING

19.2
Free Vibrations of Particles.
Simple Harmonic Motion
876
CONTENTS
19.3
*19.4
19.5
19.6
19.7
Simple Pendulum (Approximate Solution)

Simple Pendulum (Exact Solution)
880
Free Vibrations of Rigid Bodies
887
896
904
Application of the Principle of Conservation of Energy

Forced Vibrations
DAMPED VIBRATIONS
911
*19.8
Damped Free Vibrations
"19.9
Damped Forced Vibrations
*19.10 Electrical Analogues
Appendix A
Some
911
914
915
Useful Definitions and
Properties of Vector Algebra
Appendix B
Moments
of Inertia of
Masses
Index
Answers
to
881
Even-numbered Problems
925
931
955
965
vii
Preface
The main
develop
objective of a
in the
problem
course in mechanics should be to
first
engineering student the ability to analyze any
in a simple
and
logical
manner and
to
this text, as well as
apply
to
its
hoped that
the preceding volume, Vector Mechanics for
solution a few, well-understood, basic principles.
It is
Engineers: Statics, will help the instructor achieve this goal.t
Vector algebra was introduced
volume and used

statics, as
at the
beginning of the
first
in the presentation of the basic principles of
well as in the solution of
three-dimensional problems.
many
problems, particularly
Similarly, the concept of vector
differentiation will be introduced early in this volume,
and vector
be used throughout the presentation of dynamics.
analysis will
This approach results in a more concise derivation of the funda-
mental principles.
It also
makes
it
possible to analyze
many
problems in kinematics and kinetics which could not be solved by

the standard scalar methods. The emphasis in this text, however,
remains on the correct understanding of the principles of mechanics and on their application to the solution of engineering
problems, and vector analysis
is
presented chiefly as a convenient
tool-t
One
umes
of the characteristics of the approach used in these vol-
is
that the mechanics of particles has been clearly sepa-
rated from the mechanics of rigid bodies. This approach
makes
it
possible to consider simple practical applications at an early
stage and to postpone the introduction of

cepts.
treated
more
difficult
con-
In the volume on statics, the statics of particles was
and the principle of equilibrium was immediately
first,
applied to practical situations involving only concurrent forces.
The statics of rigid bodies was considered
later, at
which time the
vector and scalar products of two vectors were introduced and
used to define the moment of a force about a point and about an

axis. In this volume, the same division is observed. The basic
Both texts are also available
neers: Statics
and Dynamics,
tin a parallel
text,
volume. Vector Mechanics for Engi-
Mechanics for Engineers: Dynamics,
third edition, the use
limited to the addition and subtraction of vectors, and vector
of vector algebra
is
differentiation
omitted.
is
in a single
third edition.
PREFACE
concepts of force, mass, and acceleration, of work and energy,
and of impulse and momentum are introduced and first applied
to problems involving only particles. Thus the student may
familiarize himself with the three basic
methods used in dynamadvantages before facing the difficulties associated with the motion of rigid bodies.
ics
and learn
Since
their respective
this text is
designed for a
concepts have been presented

explained in detail.
On
in
first
course in dynamics,
new
simple terms and every step
the other hand, by discussing the broader
aspects of the problems considered
and by
stressing
methods of
general applicability, a definite maturity of approach has been

achieved. For example, the concept of potential energy
is
dis-
cussed in the general case of a conservative force. Also, the study

of the plane motion of rigid bodies
had been designed
to lead
naturally to the study of their general motion in space. This

true in kinematics as well as in kinetics,
is
where the principle of
equivalence of external and effective forces
is
applied directly to
the analysis of plane motion, thus facilitating the transition to the
study of three-dimensional motion.
The fact that mechanics is essentially a deductive science based

on a few fundamental principles has been stressed. Derivations
have been presented in their logical sequence and with all the
rigor warranted at this level. However, the learning process
being largely inductive, simple applications have been considered first. Thus the dynamics of particles precedes the dynamics
of rigid bodies; and, in the latter, the fundamental principles of
kinetics are
first
applied to the solution of two-dimensional prob-
which can be more easily visualized bv the student (Chaps.

16 and 17), while three-dimensional problems are postponed
until Chap. 18.
lems,
The
third edition of Vector
Mechanics for Engineers retains the

which charac-
unified presentation of the principles of kinetics
terized the second edition.
momentum
The concepts
of linear
and angular
are introduced in Chap. 12 so that Newton's second
law of motion may be presented, not only in its conventional

form F = ma, but also as a law relating, respectively, the sum of
the forces acting on a particle and the sum of their moments to
the rates of change of the linear and angular momentum of the
particle. This
makes
possible an earlier introduction of the prin-
ciple of conservation of angular
momentum and
a more mean-
motion of a particle under a central force

More importantly, this approach may be readily
the study of the motion of a system of particles
ingful discussion of the

(Sec.
12.8).
extended to
(Chap. 14) and leads to a more concise and unified treatment of
the kinetics of rigid bodies in two and three dimensions (Chaps.
16 through 18).
PREFACE
Free-body diagrams were introduced early in statics. They
to solve equilibrium problems but also to
were used not only
express the equivalence of two systems of forces or,
more gener-
two systems of vectors. The advantage of this approach

becomes apparent in the study of the dynamics of rigid bodies,
where it is used to solve three-dimensional as well as two-dimensional problems. By placing the emphasis on "free-body-diagram
equations" rather than on the standard algebraic equations of
motion, a more intuitive and more complete understanding of
the Fundamental principles of dynamics may be achieved. This
approach, which was first introduced in 1962 in the first edition
of Vector Mechanics for Engineers, has now gained wide acceptally, of
ance among mechanics teachers in this country. It is, therefore,

used in preference to the method of dynamic equilibrium and to
the equations of motion in the solution of
this
new
all
sample problems
in
edition.
Color has again been used in this edition to distinguish forces

from other elements of the free-body diagrams. This makes it
easier for the students to identify die forces acting on a given
particle or rigid
body and
to follow the discussion of
sample
problems and other examples given in the text.

Because of the current trend among American engineers
to
adopt the international system of units (SI metric units), the SI

units most frequently used in mechanics were introduced in
Chap. 1 of Statics. They are discussed again in Chap. 12 of this
volume and used throughout the text. Half the sample problems
and problems to be assigned have been stated in these units,
while the other half retain U.S. customary
units.
The
authors
believe that this approach will best serve the needs of the students,
who
will
be entering the engineering profession during the
period of transition from one system of units to the other.
It
also
should be recognized that the passage from one system to the

other entails
more than the use
of conversion factors. Since the
an absolute system based on the units of time,

length, and mass, whereas the U.S. customary system is a gravitational system based on the units of time, length, and force,
different approaches are required for the solution of many problems. For example, when SI units are used, a body is generally
specified by its mass expressed in kilograms; in most problems of
statics it was necessary to determine the weight of the body in
newtons, and an additional calculation was required for this
purpose. On the other hand, when U.S. customary units are used,
a body is specified by its weight in pounds and, in dynamics
problems, an additional calculation will be required to determine
2
its mass in slugs (or lb sec /ft). The authors, therefore, believe
SI system of units
is
that problems assignments should include both types of units.
xi
xii
PREFACE
number
have been provided so

two complete sets of assignments may be
selected from problems stated in SI units only and two others
from problems stated in U.S. customary units. Since the answers
to all even-numbered problems stated in U.S. customary units
have been given in both systems of units, teachers who wish to
sufficient
of problems, however,
that, if so desired,
give special instruction to their students in the conversion of
may
units
assign these
problems and ask their students to use SI
This has been illustrated in two sample

problems involving, respectively, the kinetics of particles (Samunits in their solutions.
ple Prob. 12.2) and the computation of mass
(Sample Prob. 9.13
A number
in
Appendix
moments
of inertia
B).
been included. These

by asterisks and may thus easily be distinguished from those which form the core of the basic dynamics
course. They may be omitted without prejudice to the underof optional sections have
sections are indicated
standing of the rest of the
text.
The
topics covered in these
additional sections include graphical methods for the solution of
rectilinear-motion problems, the trajectory of a particle under a

central force, the deflection of fluid streams, problems involving
jet
and rocket propulsion, the kinematics and
kinetics of rigid
damped mechanical
vibrations, and
These topics will be found of particular
interest when dynamics is taught in the junior year.
The material presented in this volume and most of the problems require no previous mathematical knowledge beyond alge-
bodies in three dimensions,

electrical analogues.
bra,
trigonometry, elementary calculus, and the elements of
in Chaps. 2 and 3 of the volume on

However, special problems have been included, which
make use of a more advanced knowledge of calculus, and certain
sections, such as Sees. 19.8 and 19.9 on damped vibrations, should
be assigned only if the students possess the proper mathematical
vector algebra presented

statics.!
background.
The
been divided into units, each consisting of one or

one or several sample problems, and a
large number of problems to be assigned. Each unit corresponds
to a well-defined topic and generally may be covered in one
lesson. In a number of cases, however, the instructor will find it
desirable to devote more than one lesson to a given topic. The
sample problems have been set up in much die same form that a
text has
several theory sections,
student will use
in
solving the assigned problems.
serve the double purpose of amplifying the text
Some
They
thus
and demonstrat-
and properties of vector algebra have been .summaend of this volume for the convenience of the reader.
Also, Sees. 9.10 through 9.16 of the volume on statics, which deal with the
moments of inertia of masses, have been reproduced in Appendix B.
t
rized in
useful definitions
Appendix A
ut the
PREFACE
ing the type of neat and orderly work that the student should
cultivate in his
own
solutions.
Most of the problems
to
be
as-
signed are of a practical nature and should appeal to the engineering student. They are primarily designed, however, to illustrate the material presented in the text
and to help the student

understand the basic principles of mechanics. The problems
have been grouped according to the portions of material they

illustrate and have been arranged in order of increasing difficulty. Problems requiring special attention have been indicated
by asterisks. Answers to all even-numbered problems are given
at the end of the book.
The authors wish to acknowledge gratefully the many helpful
comments and suggestions offered by the users of the previous
editions of
Mechanics for Engineers and of Vector Mechanics for
Engineers.
E.
FERDINAND P. BEER
RUSSELL JOHNSTON, JR.
xlil
List of
a
a
a,
Symbols
Acceleration
Constant; radius; distance; semimajor axis of
el-
lipse
a,
"B/.4
Acceleration of mass center

Acceleration of B relative to frame in translation
with
a,.
A, B, C,
A,B,C
Coriolis acceleration
Reactions at supports and connections

Points
A
b
Area
Width; distance; semiminor
Constant; coefficient of viscous damping
axis of ellipse
Centroid; instantaneous center of rotation;
capacitance
Distance
Coefficient of restitution; base of natural
logarithms
E Total mechanical energy; voltage

/ Frequency; scalar function
Force; friction force
Acceleration of gravity
Center of gravity; mass center; constant of

gravitation
/i
II
11,,
Angular
Angular
momentum
momentum
per unit mass

about point O
Rate of change of angular
momentum
Hc
with
Hn
with
respect to frame of fixed orientation
(H G
Gnl .
Rate of change of angular

respect to rotating frame
j,
i,
i,
i,
L,
/,
kv k u
xiv
i,
Unit vectors along coordinate axes

Unit vectors along normal and tangent
Unit vectors in radial and transverse directions
Current
Centroidal
Polar
Spring constant
kn
Radius of gyration
Moment
momentum
Gxyz
of inertia
moment of inertia
moment of inertia
LIST
k
I
Centroidal radius of gyration
Length
momentum
L
L
Linear
Mass; mass per unit length

Couple; moment
Length; inductance
Moment
M5 Moment
M0L
about point
Magnitude of couple or moment; mass of earth
Moment about
axis
OL
Normal direction
Normal component
Origin of coordinates
p
P
Circular frequency
resultant about point
of reaction
Force; vector
P Rate
of change of vector
P with
respect to frame
of fixed orientation
PrK
Q
Q
Product of inertia
Mass rate
of flow; electric charge
Force; vector
Rate of change of vector
with respect
to
frame
(Q-W*
Rate oi cnan ge Of vector

frame Oxyz
with respect to
Position vector
Radius; distance; polar coordinate
Resultant force; resultant vector; reaction
Radius of earth; resistance
Position vector
Length of arc
Time; thickness; tangential direction
Force
T
T
u
u
Tension; kinetic energy

Velocity
Rectangular coordinate; variable
U Work
v,
Velocity
Speed; rectangular coordinate
v, v
vb/a
Velocity of mass center

Velocity of
relative to
frame
in translation
with A.
Vector product
Volume; potential energy

Load per unit length
Weight; load
to
W,
x, y,
Rectangular coordinates; distances
OF SYMBOLS xv
xvi
LIST
OF SYMBOLS
v,
y, i
.v.i/,3
Time
derivatives of coordinates x, y, z
Rectangular coordinates of centroid, center of
gravity, or
a,
mass center
a, a
Angular acceleration
/,'.
Angles
y
y
Specific weight
Elongation
Eccentricity of conic section or of orbit
\
1
Unit vector along a line

Efficiency
Angular coordinate; Eulerian angle; angle; polar

coordinate
!'
Coefficient of friction
Density; radius of curvature
Period; periodic time
Angle of
friction;
Eulerian angle; phase angle;
angle
1
Phase difference
Eulerian angle
w,u'
Angular velocity
Circular frequency of forced vibration
Angular velocity of frame of reference
Kinematics
of Particles
11.1. Introduction to Dynamics. Chapters 1 to 10

were devoted to statics, i.e., to the analysis of bodies at rest.
We
shall now begin the study of dynamics, which is the part

of mechanics dealing with the analysis of bodies in motion.
While the study of statics goes back to the time of the Greek
philosophers, the
made by
first
significant contribution to
Galileo (1564-1642).
accelerated bodies led
dynamics was
His experiments on uniformly
Newton (1642-1727)
to formulate his
fundamental laws of motion.
Dynamics
is
divided into two parts:
(1)
Kinematics, which
the study of the geometry of motion; kinematics
is
is
used to relate
displacement, velocity, acceleration, and time, without reference

to the cause of the motion. (2) Kinetics, which is the study of
the relation existing between the forces acting on a body, the
mass of the body, and the motion of the body; kinetics is used
to predict the motion caused by given forces or to determine
the forces required to produce a given motion.
Chapters
and Chap.
The use
of
to 14 are devoted to the dynamics of particles,

more particularly to the kinematics of particles.
the word particles does not imply that we shall
11
1
our study to that of small corpuscles; it rather indicates

that in these first chapters we shall study the motion of bodies
possibly as large as cars, rockets, or airplanes without regard
restrict
435
CHAPTER
11
436
DYNAMICS
By saying
to their size.
we mean
'hat the bodies are analyzed as particles,
motion as an entire unit will be conany rotation about their own mass center will be neglected. There are cases, however, when such a rotation is not
negligible; the bodies, then, may not be considered as particles.
The analysis of such motions will be carried out in later chapters
dealing with the dynamics of rigid bodies.
that only their
sidered;
RECTILINEAR MOTION OF PARTICLES

Position, Velocity, and Acceleration. A particle moving along a straight line is said to be in rectilinear
motion. At any given instant t, the particle will occupy a certain
position on the straight line. To define the position P of the
particle, we choose a fixed origin O on the straight line and a
positive direction along the line. We measure the distance x
from O to P and record it with a plus or minus sign, according
to whedier P is reached from O by moving along the line in
the positive or the negative direction. The distance x, with the
1 1 .2.
appropriate
it
is
sign,
completely defines the position of the particle;
called the position coordinate of the particle considered.
For example, the position coordinate corresponding

11.1a is x = +5m, while the
= 2 m.
in Fig. 11.1b is
to
in Fig.
coordinate corresponding to P'
ar"
t^l
{<)
vr
i
ni
Fig. 11.1
(fc)
When the position coordinate x of a particle is known for

every value of time t, we say that the motion of the particle
is known. The "timetable" of the motion may be given in the
3
2
form of an equation in x and f, such as x = 6t t , or in the
form of
graph of x
vs. t as
shown
in Fig. 1 1.6.
The
units most
generally used to measure the position coordinate .rare the meter

in the SI system of units, t and the foot (ft) in the U.S.
customary system of units. Time t will generally be measured
(m)
in
seconds
tCf. Sec.
1.3.
(s).
Consider the position P occupied by the particle at time

and the corresponding coordinate x (Fig. 11.2). Consider also
the position ?' occupied by the particle at a later time t + At;
t
die position coordinate of ?'
may be obtained by adding
to the
A.v
O
(0
(t
At)
Fig. 11.2
coordinate * of P the small displacement Ax, which will be

positive or negative according to whether ?' is to the right or
to the left of P. The average velocity of the particle over the
time interval At
A.r
and the time
is
defined as the quotient of the displacement
interval At,
Ar
=
Average velocity
SI units are used, Ax is expressed in meters and At in seconds;

the average velocity will thus be expressed in meters per second
If
customary units are used, A.v is expressed in feet

average velocity will then be expressed
feet per second (ft/s).
(m/s).
and At
in
If U.S.
in seconds; the
The instantaneous
velocity v of the particle at the instant *

obtained from the average velocity by choosing shorter and
shorter time intervals At and displacements A.v,
is
Instantaneous velocity
lim
4<-o At
The
instantaneous velocity will also be expressed in m/s or ft/s.

Observing that the limit of the quotient is equal, by definition,
to the derivative of x with respect to t, we write
II.
dt
The
velocity c
is
represented by an algebraic number which
be positive or negative.!
x increases,
i.e.,
(Fig. 11.3a); a
(a)
that the particle
moves
in the positive direction
negative value of v indicates that % decreases,
that the particle
The magnitude
moves
of v
is
in the negative direction (Fig.
known
may
positive value of v indicates that
as the
(i
i.e.,
11.36).
speed of the particle.

(b)
Fig. 11.3
tAs we
shall see in Sec.
11.9,
the velocity
is
actually a vector quantity.
However, since we are considering here the rectilinear motion of a particle,

where the velocity of the particle has a known and fixed direction, we need
only specify the sense and magnitude of the velocity; this may be conveniently
done by using a scalar quantity with a plus or minus sign. The same remark
will
apply to the acceleration of a particle
in rectilinear
motion.
>o
437
438 DYNAMICS
Consider the velocity v of the particle at time t and also its
+ Ao at a later time / + Ar (Fig. 11.4). The average
acceleration of the particle over the time interval At is defined
+ As
velocity v
(i)
!'
A()
and
as the quotient of At)
Fig. 11.4
Af,
Average acceleration
Af.
If
SI units are used,
Ad
is
expressed in
m/s and Af in seconds;

m/s 2 If U.S.
the average acceleration will thus be expressed in
customary units arc used, At; is expressed in ft/s and Ar in

2
seconds; the average acceleration will then be expressed in ft/s
.
The instantaneous
t is
acceleration a of the particle at the instant
obtained from the average acceleration by choosing smaller
and smaller values for Ar and Ac,

Instantaneous acceleration
lim
ii-o At
The instantaneous
or ft/s 2 The limit
.
^-
-m
We
be expressed
in
m/s 2
definition the derivative
is by
and measures the
of the quotient
with respect to
velocity.
of
acceleration will also
rate of
change of the
write
fl>0
(11.2)
dt
{)
or, substituting for v
from
(11.1),
d*x
(11.3)
dfa
(*)
l''i
>0
The acceleration a is represented by an algebraic number which
may be positive or negative.! A positive value of a indicates
that the velocity (i.e., the algebraic number c) increases. This
may mean that the particle is moving faster in the positive
direction (Fig. 11.5a) or that it is moving more slowly in the
negative direction (Fig. 11.5b); in both cases, At;
<
is
positive.
negative value of a indicates that the velocity decreases; either

the particle is moving more slowly in the positive direction (Fig.
11.5c), or
it
is
moving
faster
in
the negative direction (Fig.
11.5c/).
sometimes used to refer to a when

the magnitude of r;) decreases:
the particle is then moving more slowly. For example, the
particle of Fig. 11.5 is decelerated in parts b and c, while it
is truly accelerated (i.e., moves faster) in parts a and d.
Another expression may be obtained for the acceleration by
eliminating the differential dt in Eqs. (11.1) and (11.2). Solving
The term
Fig. 11.5
deceleration
is
the speed of the particle
tScc footnote, page 137.
(i.e.,
KINEMATICS OF PARTICLES 439
we
(11.1) for dt,
obtain dt
dx/v; carrying into (11.2),
Example. Consider a
that
its
position
particle
we
dv
dx
write
(11.4)
moving
and assume
in a straight line,
defined by the equation
is
= OP -
where t is expressed in seconds and x in meters. The velocity

any time I is obtained by differentiating x with respect to /,
= 41 =
The acceleration a
to
is
12r
al
i>
- 3^
obtained by differentiating again with respect
f,
%=
12
Bt
dt
The
position coordinate, the velocity,
plotted against
motion curves.
in Fig.
11.6.
and the acceleration have been
The curves obtained
arc
known
as
should be kept in mind, however, that the particle

does not move along any of these curves; the particle moves in a
straight line.
It
Since the derivative of a function measures the slope
of the corresponding curve, the slope of the x-t curve at
any given
equal to the value of v at that time and the slope of the v-t
curve is equal to the value of a. Since a =
at t = 2 s, the slope
of the c-t curve must be zero at / = 2 s; the velocity reaches a maxitime
is
mum at this instant. Also, since c = at t = and at [ = 4s, the

tangent to the x-l curve must be horizontal for both of these values
of
t.
A study
of the three motion curves of Fig. 11.6 shows that the

motion of the particle from t =
to / = oo may be divided into four
phases:
1.
particle starts from the origin, * = 0, with no velocity but with

a positive acceleration. Under this acceleration, the particle gains
The
and moves
and a are all
a positive velocity
to t
2.
= 2s,
x, v,
t = 2 s, the acceleration is zero; the

maximum value. From t = 2 s to t = 4
and more
still
moves
slowly; the particle
From
positive.
At
negative; the particle
3.
in the positive direction.
is
velocity has reached

s,
is
positive, but a
in the positive direction but
its
is
more
decelerated.
At t - 4 s, the velocity is zero; the position coordinate x has

reached its maximum value. From then on, both v and a are
negative; the particle is accelerated and moves in the negative
direction with increasing speed.
4.
= 6s, the particle passes through the origin; its coordinate

then zero, while the total distance traveled since the beginning
of the motion is 64 m. For values of t larger than 6 s, .v, o, and
At
X
is
a will
all
direction,
be negative. The particle keeps moving

away from O, faster and faster.
in the negative
440 DYNAMICS
11.3. Determination of the Motion of a Particle.
saw in the preceding section that the motion of a particle
said to be known if the position of the particle is known for
We
is
every value of the time
/.
In practice, however, a motion
is
seldom defined by a relation between x and t. More often, the

conditions of the motion will be specified by the type of acceler-
For example,
ation that the particle possesses.
body
will
have
m/s2
equal to 9.81
a freely falling
a constant acceleration, directed
or 32.2 ft/s2
which has been stretched
will
downward and
a mass attached to a spring
have an acceleration proportional

measured from the
to the instantaneous elongation of the spring
equilibrium position; etc.

particle
may be
variables
and
x, v,
In general, the acceleration of the
expressed as a function of one or more of the

In order to determine the position coordi-
/.
nate X in terms of
be necessary
will thus
it
I,
to
perform two
successive integrations.
We
I.
shall consider three
/(f).
(11.2) for
common
classes of motion:
The Acceleration Is a Given Function oft. Solving

dv and substituting /(f) for a, we write
dv
dv
Integrating both members,
adt
= /(f) dt
we
obtain the equation
Sdv=ff(t)dt
which
defines v in terms of
I.
that an arbitrary constant will
the integration. This
is
due
should be noted, however,

be introduced as a result of
It
to the fact that there are
many
motions which correspond to the given acceleration a = f(t).

In order to uniquely define the motion of the particle, it is
necessary to specify the initial conditions of the motion, i.e.,
the value D
of the velocity and the value
coordinate at
definite integral?
conditions
to
and v
0.
with lower limits corresponding to the initial

and o = t; and upper limits corresponding
v,
we
write
v-v =
We
yields v in terms of
shall
now
of the position
Replacing the indefinite integrals by
[\lv=
which
.v
f'f(t)dt
f(t) dt
t.
solve (11.1) for dx,
dx
vdt
and substitute
Both memmember with respect

and the right-hand member with
t t. The position coordinate x
for o the expression just obtained.
bers arc then integrated, the left-hand

to
x from x
respect to
is
XqXo x
from I =
x,
to
thus obtained in terms of
t;
the motion
is
completely deter-
mined.
Two
important particular cases will be studied
greater
in
and 11.5: the case when a = 0, correuniform motion, and the case when a
detail in Sees. 11.4
sponding
to
constant, corresponding to a uniformly accelerated motion.

2.
= f(x). The Acceleration Is a Given Function of x. Rearranging Eq. (11.4) and substituting f(x) for a, we write
a
v dv
v dv
member
Since each
a dx
f(x) dx
the initial values of the velocity
we
nate,
and .r
and of the
inte-
respectively,
position coordi-
obtain
which
wc may
contains only one variable,
grate the equation. Denoting again by v
dv
yields c in terms of
x.
f(x)
dx
We now
solve (11.1) for
dt,
dt=**and
bers
and
3.
substitute for v the expression just obtained.
may be
t
is
and the desired
relation
Both
mem-
between %
obtained.
= f(v).
may
integrated,
The Acceleration
then substitute
/(i;)
Is
a Given Function of
v.
We
for a eidier in (11.2) or in (11.4) to
obtain either of the following relations:
m=
dt
dt
dv
/w-f
dx
dv
/(c)
Integration of the
first equation will yield a relation between

and I; integration of the second equation will yield a relation
between d and x. Either of these relations may be used in
conjunction with Eq. (11.1) to obtain the relation between

t which characterizes the morion of the particle.
x and
441
SAMPLE PROBLEM
11.1
be zero,
which moves along a straight line is defined

lot + 40, where .v is expressed in feet
seconds. Determine (a) the time at which the velocity will
(/>) the position and distance traveled by the particle at that
time,
the acceleration of the particle
The
position of a particle
by the relation x
arid
in
(c)
6t-
traveled by the particle from
The equations
Solution.
time, (d) the distance
al that
to
s.
of motion arc
= ^- =
3
t
(it-
3fi
lor
12r
40
(1)
15
(2)
dt
Time
a.
ut
3fi
for
>5
s,
(J),
we
%=
Which d
0.
= +5s
We make DsOin
(5)
to
6(5)*
= +5
-+
Carrying*
0.
= +5s
15(5)
was
When
.v
:>
100
Since
~*
during the
i:
carry
6(5)
s to
ft
40
= KM) ft
ft
in the negative direction
ft
We
0.
T}
= -60
.^
to
= +5s
12
the negative direction from

t
= -60 ft
-v,
= +40 ft.
.r
Distance Traveled from
positive direction from
40
we have
s,
in
(2),
and
ami Distance Traveled When
.\cc(!erntioi>
d.
= -
Distance traveled
moves
(3)
corresponds to a time after the motion has
Distance traveled
12
have
initial position at
interval
s,
%=
The
6*
dt
< 5 < 0, the particle moves in the negative direction;

v > 0, the particle moves in the positive direction.
Position
/;.
into
-lit -15 =
Onlv the root

begun: for
fl
s,
we
(3):
IS
II
s--
-*
s.
to
Since the particle

= 5 s and in the
fi
shall
into
= +
-*
compute separately
the distance traveled during each of these time intervals.
From
to
.v,
= 5 s:
= (4) 3 -
=
=
Distance traveled
From
to
(6)
.v
6(4)*
x8
ft
Distance traveled
Total distance traveled
=
=
-60ft
6(6)*
15(6)
10
from
= -52 ft
40
= -50 ft
= -50 ft - (-60
ft
in the positive direction
:<
to
ft)
= +10 ft
s is
442
ft
the negative direction
xB
40
= -60 ft - (-52 ft) = -8
x,
in
Xj
s:
= 60 ft
- 15(4) +
ft
10
ft
18
ft
-*
SAMPLE PROBLEM
A
ball is
11.2
thrown from the top of a tower 18 m high, with a velocity

upward. Knowing that the acceleration
of 12 iti/s directed vertically

of the ball
(a)
any time
= -
9.S1 in
.-
velocity.
and Elevation. The y
measuring the position coO on the ground and

its positive sense upward. The value of the acceleration and the initial
values of v and </ are as indicated. Substituting for a in a = dv/dt
and noting that, at t = 0, v u = + 12 m/s, we have
Velocity
a.
ordinate (or elevation)
12m.
and the
when the ball will hit the ground

Draw the v-t and ij-t curves.
the time
(c)
t,
and the corresponding
= +
of the ball above the ground at
;/
the highest elevation reached by the ball
(b)
t,
and elevation
t:
corresponding value of
m/s 3 downward, determine
constant and equal to 9.8]
is
the velocity
axis
chosen with
is
f =
its
origin
-9.81 m/s 2
at
di>
l-
= -
9.81
J\o
<-
Ml.
= -9.8K
12
clt
-[9-81r]f,
i;
Substituting for c in c
dy/dt and noting
12
that, at t
9.811
0,
i/
(1)
18
-*
in,
we have
CUTYC
4...
= = 1112
9.81f
di
dy
[y]^
[12t
121
18
f (12-9.81r)</r
4M)t*}'
4.9012
Highest Elevation.
b.
we have
When
(1),
12 -9.811
Carrying
1.223
i/
3.50
18
18
0.
Substituting into
12/
Only the
4.90(2
root
begun. Carrying
D
+3.50
this
= 12 -
When
(2),
12r
we
its
4.901*
(2)
-+
highest elevation,
obtain
=0
-*
-+
223
we have
12(1.223)
Bull Hits the Ground.
c.
l.22:i
into (2),
the ball reaches
Substituting into
0.
lft
we
4.9CK1.223)
25.3
the ball hits the ground,
we have
obtain
= -
1.05 s
and
3.50
~+
value of
9.81(3.50)
into (1),
we have
-22.3 m/s
22.3
s .
-*
443
SAMPLE PROBLEM
-
Pistu
11.3
The brake mechanism used
reduce recoil
lo
may move
in
a fixed cylinder
filled
is
moves and
forced through orifices
an
initial
in
the piston, causing the piston and the barrel to decelerate at a
velocity u
the piston
rate proportional to their velocity,

^-Oil
types of guns
in certain
attached to the barrel and

with oil. As the barrel recoils with
which
consists essentially of a piston
terms of
f,
(b) x in
terms of
i.e.,
o in
(c)
f,
oil is
kv. Express
terms of
Draw
x.
o in
(a)
the corre-
sponding motion curves.
a. o in Terms of I.
Substituting kv for a in the fundamental
formula defining acceleration, a = do/dt, we write
-kv =
= -kdl
do
do
-dt
l>.
x in Terms of
dx/dt,
= _ fa
I
-
,-
dt
-*<
,-.
Substituting the expression just obtained for
t.
we
= -k
J
Vn
ln-2-
v into f
do
write
-*!
_
dt
f dx=
f'
e~
kl
dt
k
c.
v in
Terms ofx.
Substituting
kv =
,
do
he
for
in
o do/dx,
we
write
do
dx
v -7-
= -kdx
f*--*f*
Check.
used as a check.
for parts a
From
the answer of part h,
444
part a
we
and
we
b.
Vr,
Part c could have been solved by eliminating
answers obtained
% = kx
from the
This alternate method
obtain e~
hl
v/v
kx
may be
substituting in
obtain
= ,.-,-., = (,
-i)
I
On
kx
(checks)
PROBLEMS
The motion
11.1
X
2<
8(2
of
of a
particle
where x
9,
is
onds. Determine the position, velocity,
11.2
X
The motion
2(3
Qt2
Determine the time,
11.3
,v
lOf
Determine
11.4
.r
3f-
8t
the total distance
The
.5
At
t.
defined
is
s.
relation
0.
by the
I
in secf
in seconds.
zero, (b) the position
particle
where x
{a)
is
relation
in seconds.
and the
total
0,
defined
is
by the
relation
expressed in meters and
velocity
is
zero, (b) the position
the acceleration
acceleration of a particle
of
2,
when the
traveled when
seconds. Determine
time
the
expressed in meters and

is
relation
t
The motion
$f 3
particle
is
when the velocity

when = 8 s.
(a)
distance traveled
by
defined
is
expressed in inches and
and acceleration when
of
where x
30,
the
particle
is
position,
The motion
of a
where x
12,
by
defined
is
expressed in inches and
is
in
and
zero.
is
directly proportional to the
the velocity of the particle
is
= 16 m/s.
Knowwhen
ing that both the velocity and the position coordinate are zero
t
write the equations of motion for the particle.
s,
11.6
a
The
= 2 m/s 2
If
velocity, position,
11.7
The
(a)
= +8 m/s
t;
and
and
.v
total distance
is
defined by the relation
when t =
traveled when
is
determine the
0,
r
6s.
Knowing that v = 250 in./s when I =

and that
D = +250 in./s when / = 5 s, determine the constant k. (b) Write the
equations of motion knowing also that x =
when t = 2 s.
a
kt
The
1 .8
a - 18 - 6fi. The particle starts at t =

Determine (a) the time when the velocity
and velocity when

cle from
11.9
to
The
r
t
=
=
s,
(c)
is
with u
is
again zero,
and x
100
in.
(h) the position
the total distance traveled by the parti-
4 s.
is defined by the relation

where a is expressed in m/s 2 and x in meters. The
particle starts with no initial velocity at the position x = 0. Determine
(a) the velocity when x = 1.5 m, (b) the position where the velocity
is again zero, (c) the position where the velocity is maximum.
21
11.10
12.r
The
and x
acceleration of an oscillating particle
= kx. Find the value

= 2 m when c = 0.
the relation a
of k such that v
is
defined by
10
m/s when
445
446 DYNAMICS
The
11.11
moving
directed toward a fixed point
and
distance of the particle from O. At
when
12
it is
velocity
its
Determine
away from O,
in.
is
is 8 in. to the
and has an accelera-
0, the particle
right of 0, has a velocity of 16in./s to the right,
tion of 12 in./s 2 to the left.
in a straight line
inversely proportional to the
is
the velocity of the particle
(a)
(b) the position of
the particle at which
zero.
is
The acceleration of a particle is defined by the relation

The particle starts with no initial velocity at x = 12 in.,
and it is observed that its velocity is 8 in./s when x = 6 in. Determine
(a) the value of k, (b) the velocity of the particle when X 3 in.
11.12
= kx~~ 2
= I0t,
11.13
at
The acceleration of a particle is

where a is expressed in m/s 2 and
m/s. Knowing that
30 m/s, determine (a) the distance the particle

travel before coming to rest, (b) the time required for the particle
will
the velocity
to
come
to
be reduced
is
to rest, (c) the time required for the velocity of the particle
to
11.14 The
a

o in
percent of
0.0125c8, where a
velocity in m/s.
the distance
value,
(/>)
If
is
the particle
given an
is
The
comes
it
m/s 2 and
initial velocity
drops to half the
is
the
find
initial
to rest.
acceleration of a particle falling through the atmos-
defined by the relation a
is
is
the acceleration in
will travel (a) before its velocity
before
11.15
phere
it
value.
its initial
particle slarts at
and
that the velocity at any time f
g(l
with no
is
k2 c 2 ). Knowing that the

initial
velocity, (a)
show
an
(1/k) tanh kgt. (b) write
equation defining the velocity for any value of
x.
Why
(c)
is v,
\/k
called the terminal velocity?
11.16
in
It
has been determined experimentally that the magnitude
ft/s 2 of the
deceleration due to air resistance of a projectile
0.001c 2 where c
,
rest
is
expressed in
ft/s.
If
the projectile
and keeps pointing downward, determine

500 ft. [Hint. The total acceleration
fallen
= kv'
velocity va
t
velocity after
0.001 c 2
it
has
where
The acceleration of a particle is defined by the relation

The particle starts at r =
with an initial
and X =
(a) Show that the velocity and position coordinate at any
are related by the equation x/t
knowing
traveling 5 ft.
value of
after
is
is
released from
32.2 ft/s 2 .)
11.17
time
its
is
k,
that for
t;
\/v
i>.
{b}
Determine the
100 ft/s the particle comes to rest
11.18
The acceleration of a particle is denned by the relation

k sin (nt/T). Knowing that both the velocity and the position coordinate of the particle are zero when t 0, determine (a) the equations
a
of motion, (b) the
maximum
velocity, (c) the position at
11.19
The
when
dinate
tan
>
is
defined by the
by
to
Denoting the velocity and position coor-
).
and
.v
maximum
(b) that the
(</)
position of an oscillating particle
XqP/c
2T,
2T.
= A sin (pt +
relation X
the average velocity during the interval
respectively,
show
(a)
that
value of the position coordinate-
is
a =
1 1
The
.20
J4 +
(?)'
acceleration due to gravity at an altitude
surface of the earth
may be
a
-32.2
=
1
20.9
io";
where a is measured in ft/s 2 and tj in

compute the height reached by a bullet
the surface of the earth with
1000
1 1
ft/s, (b)
The
.21
the earth
10,000
is
above the
i/
expressed as
ft/s, (c)
feet.
Using
this expression,
fired vertically
upward from
the following initial velocities:
36,700
(a)
ft/s.
acceleration due to gravity of a particle falling toward
= gfi 2 /r 2
where
of the earth to the particle,
is
r is
the distance from the center
the radius of the earth,
and g
the acceleration due to gravity at the surface of the earth.
is
Derive
an expression for the escape velocity, i.e., for the minimum velocity
with which a particle should be projected vertically upward from the
surface of the earth
for r
if it is
not to return to the earth.
(Hint.
oc.)
.22
When
dropped on a rigid surface, the accelmay be defined by the relation

a = k tan (w.r/2/'.), where /. is the distance through which the cushioning material can be compressed. Denoting by c the velocity when
x = 0, show that o* = u 2 + (4kL/v) In cos (tt.v/2L). If k = 300 m/s2
and L = 0.36 in, compute the initial velocity v for which the maximum value of the position coordinate .r is (a) 0.18 m, (b) 0.36 m.
1 1
eration of
its
a package
is
cushioned contents
Fig.
P11.20
Fig.
P11.21
447
448 DYNAMICS
*1 1.23
Using the expression
for the acceleration
due
to gravity
given in Prob. 11.21, derive an expression for the time required for a
particle to reach the surface of the earth if
velocity at a distance
1 1 .4.
Uniform Rectilinear Motion.
straight-line
motion which
applications.
is
This
The
t.
a typo of
is
frequently encountered in practical
is
In this motion, the acceleration
zero for every value of
and Eq.
released with no
is
it
from the center of the earth.
velocity v
is
a of the particle
therefore constant,
becomes
(11.1)
dx
=
constant,
dt
The
tion.
position coordinate x
Denoting by
obtained by integrating
is
f dx
x
x
This equation
is
value of
Xq the initial
may be
=
=
=
x,
we
this
equa-
write
f dt
c
vt
used only
vt
(11.5)
if the velocity
of the particle
known
to be constant.
1 1 .5.
Uniformly Accelerated Rectilinear Motion.
This
is
another
common
type of motion.
acceleration a of the particle
dv
constant,
is
In this motion, the
and Eq.
(1 1.2)
becomes
constant
dt
The
velocity
t;
of the particle
obtained by integrating
is
this
equation,
r"
|
r'
do
at
Vq
dt
at
(11.6)
where
we
is
t;
the initial velocity.
Substituting for
into (11.1),
t;
write
dx
Denoting by
.v
the
We may
dx
*,
(c
\af
at) dt
Jar
(11-7)
and write
also use Eq. (11.4)
we have
value of x and integrating,
initial
constant
ax
v
dv
Integrating both sides,
we
obtain
a dx
/v
-r
vdv
l(v2
-v*) =
v
dx
a(x
-x
=4+
2a(x
The three equations we have derived provide
among
position coordinate, velocity,
(11.8)
X,,)
and time
useful relations
in the case of a
uniformly accelerated motion, as soon as appropriate values have
been substituted for a, c and *. The origin O of the x axis

should first be defined and a positive direction chosen along the
axis; this direction will be used to determine the signs of a, v
and xn Equation (1 1.6) relates v and I and should be used when
,
the value of v corresponding to a given value of

or inversely.
desired,
is
Equation (11.7) relates x and t; Eq. (11.8) relates

important application of uniformly accelerated
and x. An
motion is the motion of a freely falling body. The acceleration
of a freely falling body (usually denoted by g) is equal to
t;
9.81 ra/s2 or 32.2 ft/s2

It is
important to keep in mind that the three equations above
may be
used only when the acceleration of the particle
is
known
to
be constant.
its
motion should be determined from the fundamental equations

according to the methods outlined in Sec. 11.3.
(11.1) to (11.4),
If
the acceleration of the particle
is
variable,
449
450 DYNAMICS
Motion of Several Particles. When several parmove independently along the same line, independent
equations of motion may be written for each particle. Whenever
1 1 .6.
ticles
be recorded from the same initial instant

and displacements should be measured from the
same origin and in die same direction. In other words, a single
clock and a single measuring tape should be used.
Relative Motion of Two Particles. Consider two particles
A and B moving along the same straight line (Fig. 11.7). If the
possible, time should
for all particles,
position coordinates
v,l
""I
*B/A~
nate of
and xB are measured from the same
x,,
origin, the difference xB
with respect to
Flg. 11.7
xA defines the relative position coordiand is denoted by xB/A Wc write
or
positive sign for xB/A
negative sign that
of
and B with respect
means that
to the left of
is
is
to the right of A, a
A, regardless of the position
to the origin.
The rate of change of xB/A is known as the

of B with respect to A and is denoted by v B/A
(11.9),
we
relative velocity
Differentiating
write
U B/A
(11.9)
X BIA
or
V,
positive sign for v

B/A
means that B
in the positive direction;
VBIA
is
observed from
a negative sign, that
it
is
(11.10)
to
move
observed to
move in the negative direction.

The rate of change of v B/A is known as the relative acceleration
of B with respect to A and is denoted by a B/A Differentiating
.
(11.10),
we
obtain
aB/A
aB
aA
Dependent Motions.
or
aa
aB/A
(11.11)
Sometimes, die position of a particle
depend upon the position of another or of several other

particles. The motions are then said to be dependent.
For
example, the position of block B in Fig. 11.8 depends upon the
will
t
Fig. 11.8
position of block A.
Since the rope
ACDEFC
is
of constant
and since the lengths of the portions of rope CD and

wrapped around the pulleys remain constant, it follows that
length,
F.F
the
sum
of the lengths of the segments
AC, DE, and
FG
is
constant.
AC
Observing that the length of the segment
differs
from xA only by a constant, and that, similarly, the lengths of

the segments DE and FG differ from xB only by a constant, we
write
xA
2xB
constant
Since only one of the two coordinates xA and xB may be chosen

arbitrarily, we say that the system shown in Fig. 11.8 has one
From
degree of freedom.
the relation
between the position coor-
xA is given an increment
lowered by an amount \xA the coordinate
XB will receive an increment lxB = JA.v,, that is, block B will
rise by half the same amount; this may easily be checked directly
dinates xA and xB
aA
i.e., if
from
block
follows that
it
if
is
Fig. 11.8.
In the case of the three blocks of Fig. 11.9,
we may
again
observe that the length of the rope which passes over the pulleys
is constant, and thus that the following relation must be satisfied
by the position coordinates of the three
2xA
2xB
xc
blocks:
constant
Fig. 11.9
Since two of the coordinates
When
shown
may be chosen
arbitrarily,
we
say
has two degrees of freedom.

the relation existing between the position coordinates
that the system
of several particles
is
in Fig. 11.9
linear, a similar relation holds
between
the velocities and between the accelerations of the particles.

In the case of the blocks of Fig. 11.9, for instance,
entiate twice the equation obtained
dxA
dxc
dt
~dT
dv A
dux
dv c
~dT
dt
~~di
we
differ-
and write
or
2v A
2v B
or
2aA
2a B
+ ae =
dt
451
SAMPLE PROBLEM
A
ball
shaft,
is
11.4
thrown vertically upward from the
with an
velocity of 50
initial
an elevator
40-ft level in
At the same instant an open-
ft/s.
platform elevator passes the 10-ft level, moving upward with a constant velocity of
Determine
fl/s.
when and where
(a)
hit the elevator, (b) the relative velocity of the ball
when
the elevator
Motion of
t=t
e
the ball will
with respect to
the ball hits the elevator.
Since the ball has a constant acceleration,
Ball.
its
motion is uniformly accelerated. Placing the origin O of the y axis

at ground level and choosing its positive direction upward, we find
that the initial position is
y + 40 ft, the initial velocity is t =
+ 50 ft/s, and the acceleration is a = -32.2 ft/s 2 Substituting these
= 50 ft/j
we
values in the equations for uniformly accelerated motion,
!/
a - -32.2ft
=
=
vB
Ub
= 40f(
write
--
+
+
fl
!/ U
at
B
l
<;
o'
Motion of Elevator.
\a(
i/a
=
=
50
32.2f
40
50<
(1)
16.lt2
(2)
Since the elevator has a constant velocity,
its
Again placing the origin U at the ground level

and choosing the positive direction upward, we note that i/ = + 10 ft
and write
motion
is
uniform.
- +5 ft/s
= !/o + c e'
vE
\If,
Ball Hits Elevator.

V,
r:
same
5
origin
ft/s
the ball
We
were used
(3)
Vs
5/
(4)
note that the same time
first
We
and the elevator.
see from the figure that,
ft
VE
Substituting for
;/,.;
and
10
Only the root
3.35
(/
from
and the
when
the ball
>!
yE
(5)
'Jb
and
(2)
or
40
-0.56
(4) into (5),
50r
16.lt
and
we have
2
f
= + 3.35
wc have
(4),
= 10 + 5(3.35)
26.7
ft
Elevation from ground
The
26.7
relative velocity of the ball with respect to the elevator
B/S
When
= v- B =
(50
â/B
sign
means that the
45
32.2/)
the ball hits the elevator at time
The negative
to be moving
begun. Substituting this value into
452
in writing the equations of motion of both
hits the elevator,
(/= 10
'',.
= 10 +
32,2(3.35)
3.35s,
i;
a/K
-^
is
32.2f
we have
= -62.9 ft/s
-*
is observed from the elevator

(downward).
ball
in the negative sense
5 = 45 -
ft
SAMPLE PROBLEM
Two
A and B
blocks
C, D, and
11.5
arc connected by a cord passing over three pulleys
as shown.
Pulleys
and
are fixed, while
pulled
is
downward with a constant velocity of 1.5 m/s. At = 0, block A starts

moving downward from the position K with a constant acceleration
and no initial velocity. Knowing that the velocity of block A is 6 m/s
J
as
passes through point L, determine the change in elevation, the
it
and the acceleration of block B when
velocity,
passes through
/-.
Motion of Block A. We place the origin

at the horizontal surface
and choose the positive direction downward. We observe that when
t
= 0, block A is
(xA = 4 in
XA
r:
4
The time
m
I
ST\
When
2<ufa
H
{cA )
aA t
Dp
block
1.5
(6)
4.50
2A (4)
m/s2
m/s
xD
reaches L, at
xn
fa)
is
4.50
obtained by writing
r
1.333
Recalling that the positive direction
Motion of Pulley D.
ward, we write
a
'T%
which block A reaches point L
at
when
K and (vA )
0. Since vA
6 m/s and
the block passes through I., we write
at position
1.333
(xD)
s,
c Dt
down-
Lot
we have
+ 1-5(1.333) = (xD) +
XB - (xD) = 2 m
fa)
Thus,
(xD )
is
Motion of Block B. We note that the total length of cord ACDEB

from the quantity (.v., + 2xD + x B) only by a constant. Since
the cord length is constant during the motion, this quantity must also
remain constant. Thus considering the times r =
and I = 1.333 s,
differs
we
write
xA
fa But
2xD
fa)ol
xB
we know
= (xA + 2{xD + (xB

- fa)ol + fa - (*s)o] =
= 4m and xD {xD =
)
2fa>
(1)
that xA
(xA )
tuting these values in (2), we find
(2)
2 m; substi-
iB
"
o-
2(2)
[xB
(xB ) Q ]
xB
Change
Thus:
we
Differentiating (1) twice,
in
(xB) a
= -8 m
K
elevation of
2v D
0:
vB =
= 9 m/s
4.50 + 2(0) + a B =
2
S = 4.50 m/s
6
2(1.5)
2a
aB
0:
-^
velocities
vB
aM
obtain equations relating the velocities
and the accelerations of A, B, and D. Substituting for the

and accelerations of A and D at t = 1.333 s, we have
A
in
i"
4.50 in
-^
s- T
-^
453
454 DYNAMICS
PROBLEMS
0.2
m, s-
11.24
An automobile
travels
ated at a constant rale of 0.2

(b) its final velocity, (c) the
P11.24
Fig.
240
ni in
30
while being acceler-
m/s 2 Determine
.
(a) its initial velocity,
distance traveled during the
first
10s,
.25 A stone is released from an elevator moving up at a speed

m/s and reaches the bottom of the shaft in 3 s. (a) How high
was the elevator when the stone was released? (b) With what speed
1 1
of 5
does the stone strike the bottom of the shaft?
1 1
.26
stone
bridge located 135
water 4
s after
is
ft
thrown vertically upward from a point on a

above the water. Knowing that it strikes the
determine (a) the speed with which the stone
the speed with which the stone strikes the
release,
was thrown upward,
(b)
water.
-I5mi/h
1 1
motorist
ft
stay red for 15
s.
stopping
Fig.
.27
traffic light 8(X)
is
If
red.
the motorist wishes to pass the light without
green again, determine
just as it turns
form deceleration of the

500
mi/h when he observes that a

The traffic light is timed to
traveling at 45
ahead of him turns
(a)
the required uni-
speed of the ear as
car, \b) the
it
passes the
fe
light.
P11.27
1 1
.28
Automobile
rate of 4 ft/s 2
A starts from O and accelerates
short time later
is
it
at the constant
passed by truck
B which
traveling in the opposite direction at a constant speed of
Knowing
that truck
from there, determine
''it'
;;
after automobile
started
the vehicles passed each other.
ô^
A
o
passes point O, 25
when and where
is
45 ft/s.
'111!'
Fig.
P11.28
11.29
at
An open-platform
when
a constant velocity ve
a stone.
elevator
Assuming that the stone
(a)
show
of
magnitude
is
moving down a mine
shaft
the elevator platform hits and dislodges

starts falling
with no
initial velocity,
that the stone will hit the platform with a relative velocity
v r . (b) If
Oe
16
ft/s,
stone will hit the elevator platform.
determine when and where the
1.30 Two automobiles A and B
are traveling in the same direchighway lanes. Automobile B is stopped when it is

passed by A, which travels at a constant speed of 36 km/h. Two
seconds later automobile B starts and accelerates at a constant rate
of 1.5 m/s 2
Determine {) when and where B will overtake A, (b)
1
tion in adjacent
the speed of
at that
time.
11.31 Drops of water are observed to drip from a faucet at

uniform intervals of time. As any drop B begins to fall freely, the
preceding drop A has already fallen 0.3 m. Determine the distance
drop
will
A will have fallen by the time the distance between

have increased to 0.9 m.
11.32
The
elevator
shown
in the figure
constant velocity of 18ft/s. Determine

C,
(a)
moves upward
and B
at
the
the velocity of the cable
the velocity of the counterweight W,
(/;)
(c)
the relative velocity
with respect to the elevator, (d) the relative velocity

of the counterweight
with respect to the elevator.
of the cable
11.33
The
and moves upward

moves through
determine (a) the accelerations of the elevator and the
the velocity of the elevator after 4 s.
elevator
shown
with a constant acceleration.

24
in 4
ft
cable C,
s,
(b)
{'
If
starts
from
rest
the counterweight VV
Fig.
P11.32 and P11.33
.34 The slider block A moves to the left at a constant velocity

300 mm/s. Determine ia) the velocity of block B, {b) the velocities
1 1
of
of portions
C and
respect to B,
(</)
of the cable,
7)
the relative velocity of
(c)
the relative velocity of portion
with
of the cable with
respect to portion D.
FS
,
1 1
.35
The
slider
block B starts from
with a constant acceleration. After 4

respect to
is
60 mm/s. Determine
B, (h) the velocity
1 1
.36
Collars
and position of B
and B start from
rest
and moves
to the right
Fig.
P11.34 and P11.35
A with
of A and
the relative velocity of

the accelerations
(a)
after
rest
s.
and move with the following
3 in./s2 upward and a B = 6t in./s 2 downward.

Determine (a) the time at which the velocity of block C is again zero,
(b) the distance through which block C will have moved at that time.
accelerations:
1 1
.37
of block
(a)
aA
Choosing the positive sense upward, express the velocity

A and B. (b) Knowing
in terms of the velocities of collars
thai both collars start
tions aA
at t
time.
=
s
4 in./s 2
from
rest
-i
and move upward with the accelera-
3 in./s 2 determine the velocity of block C

and the distance through which it will have moved at that
and a B
Fig.
P11.36 and P11.37
utz
455
456 DYNAMICS
xf^^
11.38 The three blocks shown move with constant velocities.

Find the velocity of each block, knowing that the relative velocity of C
with respect to A is 200 mm/s upward and that the relative velocity of
B with
respect to
11.39
ties.
7?
to
The
is
120
mm/s downward.
move with constant
three blocks of Fig. 11.9
Find the velocity of each block, knowing that
is
veloci-
observed from
move downward with a relative velocity of 180 mm/s and A

B to move downward with a relative velocity
observed from
is
of
160 inm/s.
Fig.
P11.38 and P11.40
*1 1 .40 The
shown are equally spaced horizontally

Knowing that initially
they are at the same level and that the relative velocity of A with
respect to B is 160 mm/s downward, determine the velocity of each
and move
three blocks
vertically with constant velocities.
block so that the three blocks will remain aligned during their motion.
*11.7. Graphical Solution of Rectilinear-Motion

Problems. It was observed in Sec. 1.2 that the fundamental
1
formulas
and
dt
have
dt
a geometrical significance.
the velocity at
at the
same
any instant
is
is
The
first
formula expresses that
equal to the slope of the %-i curve
instant (Fig. 11.10).
that the acceleration
dv_
The second formula
expresses
equal to the slope of the v-t curve. These
Fig. 11.10
two properties may be used
and
to derive graphically the v-l
when
known.
Integrating the two fundamental formulas from a time
a time (.,, we write
a-t curves of a motion
Xo
The
X,
first
v-t curve
vdt
the Xt curve
is
-13,=
and
r'-'
adt
to
(11.12)
formula expresses that the area measured under the

from <, to t 2 is equal to the change in X during that
The second formula
time interval
(Fig. 11.11).
larly that the
area measured under the a-t curve from
is
<
expresses simir,
to
equal to the change in v during that time interval. These two
may be
when
properties
used to determine graphically the x-t curve
of a motion
Sample Prob.
its
v-t curve or
its
a-t curve
is
known
(see
11.6).
when the motion

when x, and
They may also be used to
of distinct parts and when
Graphical solutions are particularly useful

considered
defined from experimental data and
is
a are not analytical functions of
t.
advantage when the motion consists

its
i>,
analysis requires writing a different equation for each of
parts.
When
its
using a graphical solution, however, one should
be careful to note (1) that the area under the v-t curve measures
the change in x, not x itself, and, similarly, that the area under
the a-t curve measures the change in v; (2) that, while an area
above the / axis corresponds to an increase in x or v, an area
located below the t axis measures a decrease in X or v.
It will
if
be useful to remember,
the velocity
is
constant,
it
will
drawing motion curves, that,

be represented by a horizontal
in
straight line; the position coordinate X will then be a linear
function of
If
and
will
the acceleration
is
be represented by an oblique straight

constant and different from zero, it
be represented by a horizontal
straight line;
t:
line.
will
will then be a
/, represented by an oblique straight line; and

be expressed as a second-degree polynomial in t, represented by a parabola. If the acceleration is a linear function
of t, the velocity and the position coordinate will be equal,
respectively, to second-degree and third-degree polynomials; a
is then represented by an oblique straight line, v by a parabola,
and x by a cubic. In general, if the acceleration is a polynomial
linear function of
will
of degree
in
t,
the velocity will be a polynomial of degree
and the position coordinate a polynomial of degree n + 2;

these polynomials are represented by motion curves of a corre-
sponding degree.
Fig. 11.11
457
458 DYNAMICS
*1
"1
tl-i
Other Graphical Methods. An

may be used to determine directly
1 .8.
graphical solution
alternate
from the
a-t curve the position of a particle at a given instant. Denoting
and p the values of x and v at t = 0, by x

f = f
and observing that the area under
l5
the v,-l curve may be divided into a rectangle of area D f, and
horizontal differential elements of area (l 1 t) dv (Fig. 11.12a),
respectively by
and
1
,
rff
we
.r
values at
o, their
write
Xj
.r
area under v-t curve
f,
r"'
J
(/j
()
at
()
Substituting
cfc
= adf
-
*,
in the integral,
.r.
Referring to Fig. 11.126,

the
moment
first
to the line t
of solution
the abscissa
coordinate
Xj
Fig. 11.12
If
is
I
we
may
in (11.13)
f)a
as the
moment-area method. If
is known, the position
C of the area
be obtained by writing
f,
(area under a-t curve)(f,
is
the
axis
(11.13)
t)
a composite area, the last
multiplying each component
may be obtained by
Areas
its centroid to the line t = l y
should be considered as positive and areas below
area by the distance from
above the
df
note that the integral represents
the area under the a-t curve
term
under the a-t curve with respect

bounding the area on the right. This method
t,
obtain
of the area
of the ccntroid
(^
known, therefore,
.r,
"0*i
wc
axis as negative.
Another type of motion curve, the v-x curve, is sometimes

used. If such a curve has been plotted (Fig. 1 1.13), the acceleration a may be obtained at any time by drawing the normal
curve and measuring the subnonnal BC. Indeed, observing
that the angle between AC and AB is equal to the angle 6
between the horizontal and the tangent at A (the slope of which
to (he
is
tan
dv/dx),
we
write
BC = AB tan
= v^dx
and
Fig. 11.13
thus, recalling
formula
(11.4),
BC =
SAMPLE PROBLEM
A subway
for 6
s,
of 48
11.6
A;
train leaves station
and then
The
ft/s.
2 until
at the rate of
gains speed at the rate of 4 ft/s2
it
ft/s
has reached the speed
it
same speed
train maintains the
until
it
approaches
station K; brakes are then applied, giving the train a constant deceler-
and bringing
ation
to
is
40
to a stop in 6
it
Draw
s.
distance between stations
and
Acceleration-Time Curve.
or zero, the a-t curve
The
values of
< < 6:
olfl/v*)
< < 34:

34 < < 40:
I
ti
10
l(s)
in
48
The
(6 s)(4 ft/s-)
=
=
t;
24
Change
24
ft/s
48
(t,
is
6)(6 ft/s8)
/,
10
constant, the acceleration
area under a-t curve
(6 s)a4
a4
is
zero.
= -8 ft/s2
acceleration being negative, the corresponding area
r axis; this
ft/s,
in v
either constant
is
Since the velocity
2 4
Change
31
and determine the
B.
Since the velocity increases from 24 to 48
"n
-
running time from
of horizontal straight-line segments.
=
=
in v
v tt
</<
total
curves,
and , are determined as follows:
Change
The
Since the acceleration
made
is
s.
and x-f
the a-l, c-L
is
below the
area represents a decrease in velocity-
Velocity-Time Curve.
zero, the c-t curve
is
Since the acceleration
made
is
either constant or
of segments of straight line connecting
the points determined above.
4S
24
Change
< < 6:
< < 10:
10 < !< 34:
34 < r < 40:
Xg
:u
xl0
x34
.v.
10
Adding the changes
in
in x
= 5(8P4) =
=
=
xe
area under v-l curve
- a 10
- xM = J(6)(48) =
x,
we
72
ft
+ 48) =
(24X48) = 1152
144
1(4X24
144
ft
ft
ft
obtain the distance from
= x40 Q=
1512
The
to B:
1512
ft
(/
Position-Time Curve.
ft
points determined above should
be
joined by three arcs of parabola and one segment of straight line.
The
construction of the x-t curve will be performed more easily and
more accurately
if
we keep
in
of the tangent to the x-l curve
mind
is
that for any value of f the slope

equal to the value of V at that instant.
6 10
459
460 DYNAMICS
PROBLEMS
-3
11.41 A particle moves in a straight line with the acceleration

shown in the figure. Knowing that it starts from the origin with
c = -16ft/s, (a) plot the v-t and x-t curves for
< t < 16 s,
(b) determine its velocity, its position, and the total distance traveled
-5
after 12
10
Fig.
<(s)
s.
P11.41
1 1
.42
For the particle and motion of Prob. 11.41, plot the v-t and
< <
X-t curves for
16
and determine
the velocity of the particle,
(b) the
(fl)
the
maximum
maximum
value of
its
value of
position
coordinate.
d(m/s)
.43
1 1
Knowing
curves for
X-t
moves
particle
in the figure.
shown
draw the a-t and
in a straight line with the velocity
that
= 12
.r
0<t<16s
in at
0,
and determine (a) the total distance

s, (b) the two values of / for which
traveled by the particle after 12
the particle passes through the origin.
11.44 For the particle and motion of Prob. 11.43, plot the a-t
and x-t curves for < I < 16 s and determine [a) the maximum value
of the position coordinate of the particle, (b) the values of / for which
the particle is at a distance of 15 in from the origin.
1 1
.45
series of city traffic signals
traveling at a constant speed of 25
turns green.
Knowing
is
mi/h
timed so that an automobile
motorist misses a signal and
that the next signal
acceleration of his automobile
is
is
750
6
is
ahead and that the maximum
ft
ft/s
each signal just as it

stopped at signal A.
will reach
2
,
determine what the motorist
maximum speed as small as possible, yet reach

turns green. What is the maximum speed readied?
should do to keep his

signal
just as
11.46
rate of 0.9
it
bus starts from rest at point
m/s2
until
it
and accelerates
reaches a speed of 7.2 m/s.
It
at the
then proceeds
m/s until the brakes are applied; it comes to rest at point B,

beyond the point where the brakes were applied. Assuming
uniform deceleration and knowing that the distance between A and
at 7.2
18
90 m. determine the time required
is
for the
bus to travel from
to B.
1 1
.47
The
firing of a
howitzer causes the barrel to recoil 800
before a braking mechanism brings
photographic record,
velocity
is
5.4
it is
m/s and
it
found that the

is reached 0.02 s after
that this
that the recoil period consists of
mm
From a high-speed
maximum value of the recoil
to rest.
firing.
two phases during which
Assuming
the acceler-
ation has, respectively, a constant positive value a. and a constant
negative value a 2 determine

,
()
of the barrel 0.02 s after firing,
the barrel
is
zero.
the values of , and a 2 ib) the position

(c) the time at which the velocity of
,
1 1
.48 A
traffic signal
is traveling at 45 mi/h when he observes that a

ahead of him turns red. He knows that the signal
motorist
1200
ft
timed to stay red for 24 s. What should he do to pass the signal at

45 mi/h just as it turns green again? Draw the v-t curve, selecting the
solution which calls for the smallest possible deceleration and acceleration, and determine (a) the common value of the deceleration and
is
acceleration in ft/s 2 (b) the

,
1 1
A policeman on
.49
which
is
minimum speed reached

a motorcycle
traveling at 54 km/h.
new
in
mi/h.
escorting a motorcade
is
The policeman suddenly decides
position in the motorcade, 70
to
Assuming that
he accelerates and decelerates at the rate of 2.5 m/s 2 and that he does
not exceed at any time a speed of 72 km/h, draw the u-t and v-t
curves for his motion and determine (a) the shortest time in which
he can occupy his new position in the motorcade, (/;) the distance
he will travel in that time.
take a
ahead.
.50 A freight elevator moving upward with a constant velocity

m/s passes a passenger elevator which is stopped. Three seconds
later, the passenger elevator starts upward with an acceleration of
1.25 m/s 2
When the passenger elevator has reached a velocity of
10 m/s, it proceeds at constant speed. Draw the v-t and y-t curves,
1 1
of 5
and from them determine the time and distance required by the
passenger elevator to overtake the freight elevator.
.51
A car
and a truck are both traveling at the constant speed

is 40 ft behind the truck.
The driver of the car
wants to pass the truck, i.e., he wishes to place his car at H, 40 ft in
front of the truck, and then resume the speed of 35 mi/h. The maximum acceleration of the car is 5 ft/s 2 and the maximum deceleration
obtained by applying the brakes is 20 ft/s 2 What is the shortest time
in which the driver of the car can complete the passing operation if he
does not at any time exceed a speed of 50 mi/h? Draw the o-t curve.
1
of 35 mi/h; the car
^
40
1.52
fl
r-
30
ft
--
"-
-10 ft
Solve Prob. 11.51 assuming that the driver of the car does
not pay any attention to the speed limit while passing and concentrates
on reaching position B and resuming a speed of 35 mph

possible time.
curve.
What
is
the
maximum speed
reached?
in
the shortest
Draw
the v-t
461
462
DYNAMICS
of
and a truck are both traveling at the constant speed

is 30 ft behind the truck. The truck driver suddenly
1 1
.53
60
ini/h; the car
car
applies his brakes, causing the truck to decelerate at the constant rate
ft/s 2
of
and
Two
rate at
Two
.54
1 1
seconds later the driver of the car applies his brakes
manages to avoid a rear-end

which the car decelerated.
just
collision.
Determine the constant
cars are traveling toward each other on a single-lane
When
road at 16 and 12 m/s, respectively.

realize the situation
and apply
their brakes.
120
in apart,
both drivers
They succeed
in
stopping
Assuming a constant de-
simultaneously, and just short of colliding.
celeration for each car, determine (a) the time required for the cars
to stop,
())
the deceleration of each car,
and
(c)
the distance traveled
by each car while slowing down.
...
g "' o
-O
'
120
Fig.
P11.54
An
.55
1 1
express
subway
train
and a
run on parallel tracks between stations

'
350
in
350 in
330
in
330
apart.
The
local train
stations B, C,
Fig.
P11.55
ft_
stop.
Each
As the train approaches
proceeds to station
train
its
A 4 min
which
two
of the
without
it
m/s 2
then proceeds at that constant
next stop, the brakes are applied,
providing a constant deceleration of 1.5 m/s 2

leaves station
making local stops

which are 1400 m
train accelerates at a rate of 1.25
reaches a speed of 12.5 m/s;
it
speed.
E,
stops of 30-s duration at each of the
and D; the express
any intermediate
until
makes
train
A and
If
the express train
after the local train has left A,
trains will arrive at station
first,
determine
(h)
(a)
how much
later the other (rain will arrive at station E,
1 1
a
x
=
=
.56
The
acceleration of a particle varies uniformly from
75 in./s 2 at t = 0, to a = 75 in./s2 at t
and
when / = 0, determine (a) the
the particle,
interval
(fo)
its
< <8
j
position at
s.
Draw
8s,
(c) its
the a-t, c-l,
8s.
Knowing
maximum
that
velocity of
average velocity over the

for the motion.
and x-t curves
change of acceleration is known as the jerk;

change of acceleration cause discomfort to
elevator passengers. If the jerk, or rate of change of the acceleration,
of an elevator is limited to rrO.5 m/s 2 per second, determine the
1 1
.57
The
rate of
large or abrupt rates of
shortest time required for
and
stop.
an elevator, starling from
rest, lo rise
1 1
.58
The
shown was obtained

Knowing that the initial
acceleration record
traveling on a straight highway.
for a track
velocity of
the track was 18 km/h, determine the velocity and distance traveled
when
a(
(a)
s,
(fo) I
s.
'
ii
2.0
'--
r-*
/\
1.0
4
'is!
Fig.
P11.58
-a(ft/si)
11.59
training airplane lands on an aircraft carrier
brought to rest in 4 s by the arresting gear of the carrier.
An
and
is
acceler-
50
40
ometer attached to the airplane provides the acceleration record

shown. Determine by approximate means (a) the initial velocity of
30-
the airplane relative to the deck,
(b)
20
along the deck before coming to
rest.
the distance the airplane travels
10
lit)
Fig.
1 1
.60 The v-x curve shown was obtained experimentally during
bed of an industrial planer. Determine by approximate means the acceleration (a) when x = 3 in., (b) when o = 40 in./s.
the motion of the
i:;ln./s!
Fig.
P11.60
P11.59
463
464 DYNAMICS
(.in
A2
11.61
The maximum
possible acceleration of a passenger train
under emergency conditions was determined experimentally; the
shown
sults are
2
when
(solid curve) in
the train
means
the figure.
traveling at 90
is
km/h, determine by approximate
the time required for the train to
(a)
re-
the brakes are applied
If
come
to rest, (b) the
distance traveled in that time.
11.62
30
F 9- =11
<m/s)
40
50
xu
Using the
v
Jot
2
,
method of
Sec.
11.8,
derive
the
formula
for the position coordinate of a particle in uni-
formly accelerated rectilinear motion.
.61
11.63
Using the method of Sec.
obtain an approximate
11.8,
solution for Prob. 11.59, assuming that the a-t curve
from point
120
is
a straight line
to point B.
1 1 .64
The acceleration of an object subjected to the pressure
wave of a large explosion is defined approximately by the curve shown.
The object is initially at rest and is again at rest at time tj. Using the
method of Sec. 11.8, determine (<j) the time t t (b) the distance through
which the object is moved by the pressure wave.
,
Fig.
P11.64
11.65 Using the method of Sec. 11.8, determine

when t = 12 S.
the position of the
particle of Prob. 11.41
1.66
For the particle of Prob. 11.43, draw the a-t curve and,
using the method of Sec. 11.8, determine
when
14
s,
(b)
the
maximum
(a)
value of
the position of the particle
its
position coordinate.
CURVILINEAR MOTION OF PARTICLES

Vector, Velocity, and AcceleraWhen a particle moves along a curve other than a
straight line, we say that the particle is in curvilinear motion. To
define the position P occupied by the particle at a given time
we select a fixed reference system, such as the x, y. z axes shown
11.9. Position
tion.
t,
in Fig.
point
and
11.14a,
P.
its
and draw the vector
Since the vector r
is
O and
magnitude r
joining the origin
characterized by
its
direction with respect to the reference axes,
it
completely
defines the position of the particle with respect to those axes;
the vector r
is
time t.
Consider
now
referred to as the position vector of the particle at
the vector
r'
defining the position P' occupied
by the same particle at a later time t + A/. The vector Ar joining

P and P' represents the change in the position vector during the
we may easily check from Fig. 11.14a,

obtained by adding the vectors r and Ar according
time interval At since, as

the vector
r' is
to the triangle rule.
direction as well as a
r.
The aterage
We note that Ar represents a change in

change in magnitude of the position vector
velocity of the particle over the time interval Ar
defined as the quotient of Ar and Ar. Since Ar

a scalar, the quotient Ar/Ar
is
a vector attached
is
is
a vector and A/
at P, of the
same
direction as Ar, and of magnitude equal to the magnitude of Ar
divided by At (Fig. 11.146).
The instantaneous
velocity of the particle at time
t is
obtained
by choosing shorter and shorter time intervals Ar and, correspondingly, shorter and shorter vector increments Ar. The instantaneous velocity
is
thus represented
lira
by the vector
41
(11.14)
Af-0 At
As Ar and Ar become
shorter, the points
P and
P' get closer; the
vector v obtained at the limit must therefore be tangent to the

path of the particle (Fig. 11.14c).
Since the position vector

refer to
it
by
it
r(f).
depends upon the time
as a vector function of the scalar variable
t,
we may
and denote
Extending the concept of derivative of a scalar func-
tion introduced in elementary calculus,
we
shall refer to the limit
of the quotient Ar/A< as the derivative of the vector function
We
r(r).
write
(11.15)
dt
The magnitude v of the vector v is called the speed of the

may be obtained by substituting for the vector Ar in
particle. It
formula (11.14) its magnitude represented by the straight-line

segment PP'. But the length of the segment PP' approaches the
length As of the arc PP' as Ar decreases (Fig. 11.14a), and we may
write
= lim^l=lim^
Ai-o
At
Ai-o Ar
ds
ill.lO)
dt
The speed
may
thus be obtained
by
differentiating with respect
to t the length s of the arc described
by the
particle.
Fig.
11.14
466
DYNAMICS
Consider the velocity v of the particle
SI
velocity v' at a later time
vectors v
and
v'
vector Av joining
time
at
and
also
its
It (Fig. 11.15a). Let us draw both
from the same origin O' (Fig. 11.15b). The

and Q' represents the change in the velocity
of the particle during the time interval A<, since the vector v'

that
Av
We should note
the vectors v and Av.
represents a change in the direction of the velocity as
The average
well as a change in speed.
particle over the time interval A(
is
acceleration of the
Av
defined as the quotient of
and A*. Since Av is a vector and At a scalar, the quotient Av/A?

a vector of the same direction as Av.
The instantaneous
acceleration of the particle at time
is
is
obtained by choosing smaller and smaller values for \t and Av.

The instantaneous acceleration is thus represented by the vector
O,
(a)
Noting that the velocity v
we may
lim M-0 It
(11.17)
a vector function
is
refer to the limit of the quotient
of v with respect to
t.
We
Av/A<
v(t)
of the time
t,
as the derivative
write
c/v
(11.18)
dt
We
observe that the acceleration a
described by the tip
from a
O'
fixed origin
acceleration
is
of the vector v
(Fig.
is
tangent to the curve
when
die latter
drawn
not tangent to the path of the particle (Fig.
11.15</).
The curve described by
11.15c
called the hodograph of the motion.
is
is
11.15c) and that, in general, the
the tip of v and
Fig.
11.15
shown
in Fig.
11.10. Derivatives of Vector Functions.
We
saw
in
the preceding section that the velocity v of a particle in curvilinear motion
function
larly,
may be
r(t)
represented by the derivative of the vector
characterizing the position of the particle.
the acceleration a of the particle
the derivative of the vector function
may be
In this section,
v(f).
Simi-
represented by
we shall
give a formal definition of the derivative of a vector function and
few
establish a
governing the differentiation of sums and
rules
products of vector functions.
Let P(m) be a vector function of the scalar variable u. By that

that the scalar u completely defines the magnitude and
we mean
P is drawn from a fixed

and the scalar u is allowed to vary, the tip of P will
describe a given curve in space. Consider the vectors P corresponding respectively to the values u and u + Au of the scalar
variable (Fig. 11.16a). Let AP be the vector joining the tips of
direction of the vector P. If the vector
origin
the
two given
we
vectors;
write
AP = P(u + Au)
Dividing through by
Au and
letting
P(h)
Au approach
zero,
we
define
the derivative of the vector function P(u):
dP
lim
Au-o
du
AP
=
Au
Pfu
As Au approaches zero, the
lim
a-o
is
Au)
P(u)
(11.19)
AP becomes
line of action of
to the curve of Fig. 11.16o.
vector function P(u)
Thus, the derivative
tangent
dP/du
of the
tangent to the curve described by the
lip
of
P() (Fig. 11.16b).
We shall now show
that the standard rules for the differentia-
sums and products of scalar functions may be extended to vector functions. Consider first the sum of two vector
functions Pfu) and Q(u) of the same scalar variable u. According
tion of the
to the definition given in (11.19), the derivative of the vector
P +
Fig. 11.16
is
d(P
Q)
du
or, since the limit
A(P
,.
lim
Au-0
of a
sum
Q)
Au
is
AQ
lta
(t\Au
iu .o
A -)
u /
equal to the sum of the limits of
its
terms,
rf(P
Q)
(lU
rf(P
+
du
AP
hni Au-0 All
Q)
In
1 1
Au-0
dP
dQ
du
du
AQ
Au
(11.20)
467
468 DYNAMICS
Next,
and of a
we
product of a scalar function f(u)
shall consider the
vector function P(w) of the
/P
derivative of the vector
d{fV)
du
jm
The
Am.
(|fp
liI
iu-0 \All
or, recalling the
scalar variable u.
(/+A/)(P + AP)-/P
a->o
same
is
+/ iL)
111 I
properties of the limits of sums and products,
The
derivatives of the scalar product and of the vector product of

two vector functions P(m) and Q() may be obtained in a similar
way. We have
du
du
du
We shall
du
du
du
use the properties established above to determine the
rectangular components of the derivative of a vector function

P(). Resolving P into components along fixed rectangular axes x,
y, z,
we
write
Px
+ PJ +
P,k
(11.24)
where Px Py Pt are the rectangular scalar components of the

vector P, and i, j, k the unit vectors corresponding respectively to
By (11.20), the derivative of P is
the
(/, and z axes (Sec. 2.11).
equal to the sum of the derivatives of the terms in the right-hand
member. Since each of these terms is the product of a scalar and
,
.r,
we should use
But the unit vectors i, j,

k have a constant magnitude (equal to 1) and fixed directions.
Their derivatives are therefore zero, and we write
a vector function,
(11.21).
* 4, + &+*
du
du
du
du
is not commutative
must be maintained.
'Since the vector product

factors in (11.23)
(U.25)
(Sec. 3.3), the order of the
Noting that the coefficients of the unit vectors are, by definition,

the scalar components of the vector dP/du, we conclude that the
rectangular scalar components of the derivative dP/du of the
vector function P(u) are obtained by differentiating the corre-
sponding scalar components of P.

Rate of Change of a Vector. When the vector P is a
function of the time t, its derivative dP/dt represents the rate of
change of P with respect to the frame Oxyz. Resolving P into
rectangular components,
we
have, by (11,25),
dP_
dt
dt
dt
or, using dots to indicate differentiation
i+
dt
with respect to
= Px + PJ + Ps k
t,
(11.25')
As we
shall see in Sec. 15.10, the rate of change of a vector,

observed from a mewing frame of reference, is, in general,
different from its rate of change as observed from a fixed frame of
as
reference.
However,
tion, i.e., if its
the fixed frame
if
the
moving frame
O'x'y'z'
is
in transla-
axes remain parallel to the corresponding axes of
Oxyz (Fig.
11.17), the
same unit vectors
i,
j,
k are
c/,
Fig.
11.17
used
in
both frames, and the vector
the same components
Pr Py P:
(11.25') diat the rate of
in
change P
frames Oxyz and O'x'y'z'.
We
is
has, at
any given
both frames.
It
instant,
follows from
the same with respect to the
therefore: The rate of

change of a vector is the same with respect to a fixed frame and
with respect to a frame in translation. This property will greatly
simplify our work, since

translation.
we
state,
shall deal
mainly with frames
in
469
470 DYNAMICS
11.11. Rectangular Components of Velocity and

Acceleration. When the position of a particle I' is defined at
any
by
instant
rectangular coordinates
its
X,
and
(/,
z, it is
con-
venient to resolve the velocity v and the acceleration a of the
components
particle into rectangular
Resolving the position vector
components,
we
write
r
where the coordinates
we
twice,
x,
x, y,
xi
i/j
(11.26)
;k
z are functions of
Differentiating
t.
obtain
d =
= -^
if,
z and
2k
(11.27)
- + +
(11.28)
where
(Fig. 11.18).
of the particle into rectangular
-vi
!/j
first and
with
to
I.
It
follows
from
and
z
respect
y,
that the scalar components of the velocity and
x,
y,
~ represent, respectively, the
second derivatives of x,
(
and
1.27)
1 1
.28)
acceleration are
ov
=y
a^=x
av
o,
0,
positive value for
ft,
\l
si
=2
indicates that the vector
directed to the right, a negative value that

(b)
Fig.
11.18
(11.29)
(11.30)
component vx
it is
is
directed to the
the sense of each of the other vector components may be

determined in a similar way from the sign of the corresponding
scalar component. If desired, the magnitudes and directions of
the velocity and acceleration may be obtained from their scalar
left;
components by the methods of Sees. 2.6 and 2.11.

The use of rectangular components to describe the position,
the velocity, and the acceleration of a particle is particularly
effective when the component a r of the acceleration depends
only upon f, x, and/or v x and when, similarly, a y depends only
,
upon
t,
y,
and/or v y and a z upon

,
t,
z,
and/or vs
Equations
then be integrated independently, and so may Eqs.

(11.29). In other words, the motion of the particle in the x
direction, its motion in the y direction, and its motion in the z
(11.30)
may
direction
may be
considered separately.
motion of a projectile, for example, it may be

Sec. 12.4) that the components of the acceleration are
In the case of the
shown
(see
a.
=i=
a,
= y = -g
a.
if
the resistance of the air
is
of the initial velocity v
by
neglected. Denoting
by
coordinates of the gun, and
(c x )
(c
of the projectile,
.r
we
i/
the
components
(vz ) u the
integrate twice in
and obtain
=
=
vx
*
If
x
*o
(ig
+ (*M
the projectile
have x
!/
is
(V
2g'
= z = (v
=
zn
t)
(v,) t
xy plane from the origin O, we

= 0, and the equations of mos)
fired in the
=z =
j/
</o
and
(t;
VV
tion reduce to
"*.>0
e )o
-&
= (o)o*
(a) Motion of u projVcUlo
These equations show that the projectile remains in the xy plane

and that its motion in the horizontal direction is uniform, while
its motion in the vertical direction is uniformly accelerated. The
motion of a projectile may thus be replaced by two independent
rectilinear motions,
the projectile
is
which are
easily visualized
fired vertically
with an
initial
if
we assume
velocity (v
that
from
a platform moving with a constant horizontal velocity (v ) (Fig.

r
1 1.19). The coordinate .v of the projectile is equal at any instant
to the distance traveled
may
be computed as
by the platform, while its coordinate y

the projectile were moving along a
if
vertical line.
It
may
be observed that the equations defining the coordinates
and y of a projectile at any instant are the parametric equations

of a parabola. Thus, the trajectory of a projectile is parabolic.
-v
This
result,
however, ceases to be valid when the resistance of the
air or the variation
with altitude of the acceleration of gravity
is
taken into account.

1
1.12. Motion Relative to a
Frame
in
Translation.
In the preceding section, a single
frame of reference was used to

describe the motion of a particle. In most cases this frame was
attached to the earth and was considered as fixed. We shall now
analyze situations in which it is convenient to use simultaneously
several frames of reference. If
the earth,
we
shall call
it
a.
one of the frames
fixed frame of reference
is
attached to
and the other
frames
will be referred to as moving frames of reference. It

should be understood, however, that the selection of a fixed frame
of reference is purely arbitrary. Any frame may be designated as
"fixed"; all other frames not rigidly attached to this
frame
will
then be described as "moving."
A and B moving in space (Fig. 1.20);

and rB define their positions at any given instant
with respect to the fixed frame of reference Oxyz. Consider now
Consider two particles
the vectors
r,,
(b)
Fig.
11.19
Equivalent rectilinear motioas
471
472 DYNAMICS
x', y', z" centered at A and parallel to the x, y, z
While the origin of these axes moves, their orientation
a system of axes
axes.
remains the same; the frame of reference Ax'y'z is in translation

with respect to Oxyz. The vector iB/A joining A and B defines tlie
position of
relative to the
the position of
We note from
B
moving frame
Ax'y'z' (or, for short,
relative to A).
Fig. 11.20 that the position vector rB of particle
sum
of the position vector r A of particle

position vector rB/A of B relative to A; we write
Fig.
is
the
11.20
rB
Differentiating
reference,
(1
1.31)
rA
and of the
(11.31)
XBIA
with respect to
and using dots
within the fixed frame of
to indicate time derivatives,
rR
r,
we have
(11.32)
ra/A
The
derivatives iA and rB represent, respectively, the velocities

v^ and v B of the particles A and B. The derivative rB/A represents the rate of change of r B/A with respect to the frame Ax'y'z',
as well as with respect to the fixed frame, since Ax'y'z'
translation (Sec. 11.10).
is
in
This derivative, therefore, defines the
velocity v B/A of B relative to the frame Ax'y'z" (or, for short, the
write
velocity vB/A of B relative to A).
We
VB
= VA +
(11.33)
"B/A
Differentiating Eq. (11.33) with respect to
r,
and using the
deriv-
ative \ B/A to define the acceleration aB/A of B relative to the

frame Ax'y'z' (or, for short, the acceleration of a B/A of B relative
to A),
we
write
aB
The motion
of
*A
(11.34)
aB/A
with respect to the fixed frame Oxyz
is
The equations derived in

motion of B may be obtained
referred to as the absolute motion of B.

this
section
show
that the absolute
by combining the motion of A and the
motion of B with
respect to the moving frame attached to A. Equation (11.33), for
example, expresses that the absolute velocity v B of particle 8
may be obtained by adding vcctorially the velocity of A and the
relative
frame Ax'y'z Equation (11.34)

expresses a similar property in terms of the accelerations. We
should keep in mind, however, that the frame Ax'y'z' is in translation; i.e., while it moves with A, it maintains the same orientation. As we shall see later (Sec. 15.14), different relations must
velocity of
be used
in the
relative to the
case of a rotating frame of reference.
-,0
SAMPLE PROBLEM
A
projectile
from the edge of a 150-m
fired
is
11.7
cliff
with an
initial
velocity of 180 m/s, at an angle of 30 with the horizontal. Neglecting

air resistance, find (a) the horizontal distance
where the projectile strikes the ground,

the ground reached by the projectile.
We
Solution.
from the gun to the point
the greatest elevation above
(b)
and the
shall consider separately the vertical
hori-
zontal motion.
gun,
.'(
upward and placing the
origin
at the
we have
=
=
(u)
-150m
Choosing the
Uniformly accelerated motion.
Vertical Motion.
positive sense of the y axis
(180 m/s)
= +90 m/s
30
sin
-9.81 m/s 2
Substituting into the equations of uniformly accelerated motion,
--'
we
have
0y
=
=
oj
ISO m/s
+ at
(o )
v
(c JS
vf
= 90 -9.811
(1)
- 4.90/2
s = 8100 - 19.62./
+ ?
(c)o*
!/
2ay
90t
(2)
(3)
Horizontal Motion. Uniform motion. Choosing the positive sense

.v axis
to the right, we have
of the
Vl)
(180 m/s) cos 30"
+155.9 m/s
Substituting into the equation of uniform motion,

,v
a.
(t-,) f
When
Horizontal Distance.
we
obtain
155.9*
(4)
the projectile strikes the ground,
wc have
us - 150 m
Carrying
this
-150 =
90r
Carrying
value into Eq.
4.90f
19.91
t-
18.37*
30.6
we
elevation,
vertical
write
155.9(19.91)
0;
8100
19.6%
m
m+
19.91
we
its
(3)
obtain
3100 m
the projectile reaches

carrying this value into Eq.
Greatest elevation above ground
write
ta
When
Greatest Elevation.
we have
motion, we
the vertical motion,
into Eq. (4) for the horizontal motion,
b.
(2) for
-*
greatest
for the
413
150
413
= 563 m
-+
473
SAMPLE PROBLEM
11.8
800ft/s
^r-
>Hi
projectile
with an initial velocity of S0()ft/s at a target B

above the gun A and at a horizontal distance of
fired
is
located 2000
ft
UivUU
11
2000
ft
12,000
angle
Neglecting air resistance, determine the value of the
ft.
We shall
Solution.
cal
= 800ft/s
consider separately the horizontal and the verti-
motion.
Horizontal Motion.
Placing the origin of coordinates
/'
IZ.VUU
II
The time required

distance of 12,000
Vertical
y<f>'
_-/
2000
move through
a horizontal
obtained by making x equal to 12,000 ft.
(800 cos
r.)/
12,000
15
800 cos a
cos a
800
sin
-32.2
ft/s
Substituting into the equation of uniformly accelerated vertical mo-
l'i
-j
obtain
Motion
(c)
= miiA
we
(800 cos a)t
for the projectile to
ft is
"1"
u,)f
12,000
the gun,
800cosa
Substituting into the equation of uniform horizontal motion,
,|
"
(pj
at
we have
J^
sT
firing
a.
tion,
we
obtain
ft
i/
(v)
lap
Hits
Substituting for y and
above,
we
ft.
Target.
12,000
making
800 sin
a-^- -
Since 1/cos- a
2000
sec 2
800(15) tan
3622 tan 2 a
tan'-'
we must have
M^-V
\cos a 1
we have
16.1(15 2 )(1
12,000 tan a
Solving this quadratic equation for tan o,
tan 2 a)
5622
we have
tan
The
target will be hit
figure).
if
tan
and
0.565
474
ft,
equal to the value found
16.1
cos n
\b/
16.U2
write
2000
/ 70.0"
(800 sin n)l
When
Projectile
2000
29.5"
either of these
two
and
2.75
<i
70.0
firing angles is
-^
used (see
SAMPLE PROBLEM
Automobile A
30 m
rest
J_
25km,h
30
traveling east at the constant speed of 25 kin/h.
is
crosses the intersection shown, automobile
automobile
eration of
and
two
m/s2
relative to
We
Solution.
streets
Determine the
five
As
from
and
position, velocity,
seconds after
accel-
crosses the intersection.
north.
25
25 km/h
.,
oA
*4
t
= 5 s, we
First the
=
=
=
speed
25 000 m
3600 s
km
lh
Noting that the motion of
For
starts
choose x and y axes with origin at the intersection

and with positive senses directed respectively east
Motion of Automobile A.
30 m
north of the intersection and moves south with a constant
acceleration of 1.2
of the
11.9
we
uniform,
is
^=
*_,
t,
+6.94 m/s
fejp
+ vj = +
6.94*
have
*i
v,
+6.94 m/s
m/s
6.94
write, for any time
"a
expressed in m/s;
is
+(6.94 m/s)(5 s)
We
Molion of Aulomohile B.
+34.7
=
=
rA
6.94
m/s ->
34.7
m -
note that the motion of B
uniformly
is
accelerated, and write
= 1.2 m/s 2
aR
=
=
fl
Sb
For
Ofl
B
ij
(<-*)<>
(>Jb)o
+ "' = - ,2
+ (c)o* + i"B*2 =
'
-1.2 m/s-
eb
of
Relative
/J
r fl
Proceeding
1.2
"11
m.
5-
37.8
A,
r^
vB
rB
m/s2 J,
m/s
1.2
15
J,
We draw the triangle corresponding to

+ rB/A and obtain the magnitude and
to
direction of the position vector of

r B/A
=
=
=
aB
= (1.2m/s)(5s) = 6 m/s
= 30 - |(1.2 m/s)(5 s) 2 = + 15 m
.\/n/ioii
of
we have
s,
the vector equation
6 m/s
+0- J(l. 2)t
3<
relative to A.
23.4
in a similar fashion,
we
rBtA
37.8
find the velocity
m !^ 23. f
-*
and acceleration
relative to A.
b/a
aS
=
=
9 -l" /*
aa
a B/A
B =
40.8
vn
9.17
aB
m s^
= 1.2
40.8'
it.
475
476 DYNAMICS
PROBLEMS
Neglect
Note.
11.67
x
^t
and
()
The motion
2r and
1 S,
.68
1 1
(b)
of a particle
\l 2
where
21,
is
s.
In Prob. 11.67, determine
the y coordinate
projectiles.
defined by the equations

and y are expressed in meters
Determine the velocity and acceleration when
1/
seconds.
in
problems concerning
air resistance in
minimum,
is
(a)
the time at which the value of
the corresponding velocity
(b)
and
acceleration of the particle.
11.69
x
' /2
Show
seconds.
and
The motion
and y
e~'
is
velocity
the
in feet
a rectangular
is
and
in
hyperbola
(a)
0,
s.
.70
1 1
of a particle
where x and y are expressed
that the path of the particle
determine
(b)t=l
The motion
of a particle
is
x = 5(1 e~') and y = 5t/(t + 1), where X and y are expressed in feet
and t in seconds. Determine the velocity and acceleration when
t
vector
"*T"\.'
r -,
'"^>
'''
\^
A-
Fig.
IJ
1
P11.72
"^
when
in seconds,
1 s.
1 1
.72
(a)
27rt)j,
is
where
defined by the position

r is
expressed in milli-
Determine the velocity and acceleration
that the path of the particle
moves
particle
is
parabolic,
an elliptic path defined by the position
in
(B sin
directed toward the origin, (b)
Show
pt)j.
that the acceleration (a)
is
proportional to the distance from the
is
origin to the particle.
1 1
and
lies
the
.73
The three-dimensional motion

r
seconds.
in
Afi
Show
ABt'j
of a particle
Bt 2 V, where
r is
is
denned by the
expressed
that the space curve described
by the
in feet
particle
on the hyperbolic paraboloid y = xz. For A = B = 1, determine

magnitudes of the velocity and acceleration when (o) * = 0,
(b) t
P11.73
vibrating particle
(25 cos
Show
(/))
(A cos pt)i
position vector
Fig.
(100sinwt)i
}
vector
The motion of a
meters and
v
l
s.
11.71
"/'
/T
s,
11.74 The three-dimensional motion
defined by the
Determine the
magnitudes of the velocity and acceleration of the particle. (The space
curve described by the particle is a helix.)
position
vector r
(R sin pt)i
ctj
of a particle
[R cos pt)V.
is
A man
1.75
(a)
from a bridge 5
1.76
velocity vu.
opening
that the stone hits the
in
the stone would hit the water
above the water throws
from a point on the water directly below the man, deterthe initial velocity of the stone, {b) the distance at which
water 30
mine
Knowing
standing on a bridge 20
a stone in a horizontal direction.
were thrown with the same velocity
if it
1.5
lower.
Water issues at A from a pressure tank with a horizontal

For what range of values v will the water enter the
Fig.
P11.76
Fig.
P11.77
Fig.
P11.79
BC?
11.77
nozzle at
discharges water with an
the stream of water strikes the roof.
Check
initial
velocity
Determine where
of 40 ft/s at an angle of 60 with the horizontal.
that the stream will clear
the edge of the roof.
11.78
In Prob. 11.77, determine the largest
velocity for which the water will
1 1
.79
ball
is
dropped
fall
on the
and smallest
15ft-
initial
25 ft
roof.
vertically onto a 20 incline at A; the
direction of rebound forms an angle of 40 with the vertical.
Knowing
that the ball next strikes the incline at B, determine (a) the velocity
of
rebound
at
A,
(b)
the time required for the ball to travel from
to B.
1 1
.80
Sand
is
discharged at
collection pipe at B.
Knowing
from a conveyor belt and
falls
into a
that the conveyor belt forms an angle
R =
15 with the horizontal and moves at a constant speed of 20 ft/s,

determine what the distance d should be so that the sand will hit the
center of the pipe.

10
11.81
Knowing
The conveyor belt moves at a constant speed of 12 ft/s.

that d = 8 ft, determine the angle ft for which the sand
reaches the center of the pipe B.

Fig.
11.82
projectile
Find the angle at which

at a distance of
1 1
in
fired
with an
should be
on the same
{a)
where g
it is
velocity of 210 rn/s.

to hit a target located
level.
boy can throw a baseball a maximum distance of 30 in

where g = 9.81 m/s2 How far could he throw the
in Singapore, where g = 9.78 m/s-? (b) On the moon,
York,
baseball
initial
fired if
.83
New
3600
is
it
1.618
m/s2?
P11.80
ft
478 DYNAMICS
.84
1 1
the
maximum
horizontal range of a given gun is R,

angle which should be used to hit a target located
at a distance JK on the same level.
If
determine the
1 1.85
A projectile is fired with an initial velocity v at an angle
with the horizontal. Determine (a) the maximum height h reached
<
by the
projectile, (b) the horizontal range
maximum
20
firing
1 1
ft
horizontal range
.86
A player throws
from a point
the
located 5
gymnasium
20
is
ft
ft
of the projectile,
floor.
Knowing
the
of 50 ft/s
that the ceiling of
high, determine the highest point

ft
(c)
firing angle a.
a ball with an initial velocity v
above the
the ball can strike the wall 60

Fig.
and the corresponding
fi
at
which
away.
P11.86
A
80
determine
(b) the
fire
nozzle discharges water with an initial velocity v of

that the nozzle is located 100 ft from a building,
Knowing
ft/s.
(a)
the
maximum
height h that can be reached
by the water,
corresponding angle a.
D
B P
r
a
\
S
-100
Fig.
P r
P r
r
ft-
P11.87
1 1
Two
.88
tude; plane
plane
Will
*=&r
mi
B is
is
flying
A and B are each flying

due east at a constant speed
airplanes
at a constant alti-
of 600 mi/h while

southwest at a constant speed of 400 mi/h. Determine
flying
the change in position of plane

during a 1.5-min interval.
relative to plane
.89
A which takes place
Instruments in an airplane indicate that, with respect to

is moving east at a speed of 350 mi/h. At the same
time ground-based radar indicates the plane to be moving at a speed of
325 mi/h in a direction 8 north of east. Determine the magnitude and
1 1
the
Fig.
P11.88
air,
the plane
direction of the velocity of the
air.
.90
1 1
As he passes a pole, a
man
riding in a
tmek
tries to hit
the pole by throwing a stone with a horizontal velocity of

relative to the truck.
determine
(a)
Knowing
that the speed of the truck
is
20m/s
40 km/h,
the direction in which he must throw the stone,
(b)
the
horizontal velocity of the stone with respect to the ground.

120 km h
11.91 An automobile and a train travel at the constant speeds

shown. Three seconds after the train passes under the highway bridge
the automobile crosses the bridge. Determine (a) the velocity of the
train relative to the automobile, {b) the change in position of ihe train
relative to the automobile during a 4-s interval,
tween the
and the automobile 5
train
after
(c)
the distance be-
the automobile has
Grossed the bridge.
Fig.
P11.91
1 1 .92
During a rainstorm the paths of the raindrops appear to
form an angle of 30 with the vertical when observed from a side
window of a train moving at a speed of 15 km/h. A short time later,
30 km/h, the angle between the vertical and the paths of the drops appears to be 45. If
the train were stopped, at what angle and with what velocity would
the drops be observed to fall?
after the speed of the train has increased to
1 1 .93 As the speed of the train of Prob. 1 1 .92 increases, the angle
between the vertical and the paths of the drops becomes equal to 60.
Determine the speed of the train at that time.
yookm h
1 1.94
As observed from a ship moving due south at 10 mi/li, the
wind appears to blow from the east. After the ship has changed course,
and as it is moving due west at 10 mi/h, the wind appeals to blow
from the northeast. Assuming that the wind velocity is constant during
the period of observation, determine the magnitude and direction of
2500 in
the true
1 1
wind
velocity.
An
airplane
.95
is
flying horizontally at
an altitude of 2500
Fig.
P11.95
speed of 900 km/h on a path which passes directly

over an antiaircraft gun. The gun fires a shell with a muzzle velocity
and
at a constant
500 m/s and hits the airplane. Knowing that the firing angle of
the gun is 60, determine the velocity and acceleration of the shell
of
relative to the airplane at the time of impact.
1 1
and
.96
Water
is
discharged at
strikes a series of
downward with
vanes at B.
a constant
with an
initial velocity of
Knowing
10 m/s
that the vanes
move
speed of 3 m/s, determine the velocity and
acceleration of the water relative to the vane at B.
Fig.
11.96
480 DYNAMICS
11.13. Tangential and Normal Components.

saw
in Sec. 11.9 that the velocity of a particle
is
We
a vector tangent
to the path of the particle but that, in general, the acceleration
not tangent to the path.
is
sometimes convenient to resolve the

acceleration into components directed, respectively, along the
tangent and the normal to the path of the particle.
It is
We shall first consider a particle
otion of a Particle.
which moves along a curve contained
in the plane of the figure.

Let V be the position of the particle at a given instant. We attach
at P a unit vector i, tangent to the path of the particle and
pointing toward the direction of motion (Fig. 11.21a). Let
be
i,'
the unit vector corresponding to the position P' of the particle at
Drawing both vectors from the same origin O', we

= i't - i, (Fig. 11.216). Since i, and i are of
unit length, their tips lie on a circle of radius 1. Denoting by AO
the angle formed by i, and i;, we find that the magnitude of M, is
a later instant.
define the vector
'
2 sin (A0/2). Considering now the vector

/M, we note that,
t
as AO approaches zero, this vector becomes tangent to the unit
circle of Fig. 11.216, i.e., perpendicular to i,, and that its magnitude approaches
Oil-
,.
2sin(M/2)
sin(A0/2)
Thus, the vector obtained at the limit
W
Fig. 11.21
normal
i,
a unit vector along the
is
to the path of the particle, in the direction
turns.
Denoting
by
this vector
L"
lim
A9-0
we
*k
Since the velocity v of the particle
may
express
We
have
it
as the
f/i,
He
(11.35)
tangent to the path,
we
product of the scalar p and the unit vector
To obtain
is
toward which
write
(11.36)
ei,
the acceleration of the particle,
(11.36) with respect to
i,
we
shall differentiate
Applying the rule for the differentiation

of the product of a scalar and a vector function (Sec. 11.10), we
f.
write
do
~dT
di,
1
'
But
di t
dt
dO ds
S5
(11.37)
-d7
~di
Recalling
d\,/dB
1/p,
1 1
from (11.16) that ds/dt = v, from (11.35) that

i,,, and from elementary calculus that 66/ ds is equal to
where p
.22),
is
the radius of curvature of the path at
(Fig.
we have
dit
dt
Substituting into (11.37),
we
(11.38)
~p~ h>
obtain
dv
~17 1 '
at
(11.39)
Fig.
Thus, the scalar components of the acceleration are

a,
dv_
a.
(11.40)
dl
The
relations obtained express that the tangential
component
equal to the rate of change of the speed of

the particle, while the normal component is equal to the square of
of the acceleration
is
by the radius of curvature of the path at P.

Depending upon whether the speed of the particle increases or
decreases, a, is positive or negative, and the vector component a,
the speed divided
points in the direction of motion or against the direction of
motion. The vector component a, on the other hand, is always

directed toward the center of curvature C of the path (Fig. 1 1 .23).
Qt>
It
Fig. 11.23
appears from the above that the tangential component of
the acceleration reflects a change in the speed of the particle,

its normal component reflects a change in the direction of
motion of the particle. The acceleration of a particle will be
zero only if both its components are zero. Thus, the acceleration
of a particle moving with constant speed along a curve will not
be zero, unless the particle happens to pass through a point of
inflection of the curve (where the radius of curvature is infinite)
or unless the curve is a straight line.
while
o
11.22
481
482 DYNAMICS
The fact that the normal component of the acceleration depends upon the radius of curvature of the path followed by the
particle is taken into account in the design of structures or
mechanisms as widely different as airplane wings, railroad tracks,
and cams. In order to avoid sudden changes in the acceleration
of the air particles flowing past a wing,
wing profiles are designed

without any sudden change in curvature. Similar care is taken in
designing railroad curves, to avoid sudden changes in the acceleration of the cars (which would be hard on the equipment and
unpleasant for the passengers). A straight section of track, for
instance,
is
never directly followed by a circular section. Special
transition sections are used, to help pass

infinite radius of
smoothly from the

curvature of the straight section to the finite
radius of the circular track. 1 likewise, in the design of high-speed

cams, abrupt changes in acceleration arc avoided by using transition curves which produce a continuous change in acceleration.
Motion of a Particle
(11.40)
in
Space.
The
and
relations (11.39)
hold in the case of a particle moving along a space
still
However, since there is an infinite number of straight

which arc perpendicular to the tangent at a given point P of
curve.
lines
a space curve,
<)
it is
then necessary
direction of the unit vector
to define
more
precisely the
i.
Let us consider again the unit vectors i, and

tangent to the
path of the particle at two neighboring points P and P' (Fig.
11.24a) and the vector Ai, representing the difference between i,
i,'
and
i,
(Fig.
Let us
1 1.24/;).
now
imagine a plane through P (Fig.

by the vectors i,, i,', and Ai,
11.24a), parallel to the plane defined

(Fig. 11.24b). This
and
is
plane contains the tangent to the curve at P
parallel to the tangent at P'.
obtain at the limit the plane which

the neighborhood of
at P.\
It
This plane
P.
is
we
let P'
approach
P,
we
the curve most closely in
called the osculating plane
follows from this definition that the osculating plane
contains the unit vector

of the vector Ai,/A0.
imit vector
(Fig.
L,,
since this vector represents the limit
The normal defined by
in the osculating plane;
i,, i, i
b
If
fits
it is
in is
called the principal
thus contained
normal at
P.
The
which completes the right-handed triad

11.24c) defines the binomial at P. The binomial is
i,
L,
thus perpendicular to the osculating plane.
We conclude
stated in (11.39), the acceleration of the particle at
that, as
P may be
resolved into two components, one along the tangent, the other
along the principal normal at

nent along the binormal.
P.
The
(c)
Fig.
11.24
'From
the Latin osculuri, to embrace.
acceleration has no
compo-
11.14. Radial and Transverse Components.
In
certain problems of plane motion, the position of the particle
defined by
polar coordinates
its
and
(Fig. 11.25a).
It is
P is
then
convenient to resolve the velocity and acceleration of the parti-
components parallel and perpendicular, respectively, to

components are called radial and transverse
cle into
the line OP. These
components.
We
P two
attach at
vector
is
rotating
OP
if r
through 90 counterclockwise.
defines the radial direction,
move
and i e (Fig. 11.25b). The

i
r
and the vector v is obtained by
unit vectors,
directed along
the direction in
i.e.,
P would
kept constant; the unit vector
defines the transverse direction,
would move
unit vector
the direction in which
i.e.,
were increased and
The
which P
were increased and r kept constant. A derivaone we used in Sec. 11.13 to determine the
if
tion similar to the
derivative of the unit vector
leads to the relations
i,
di,
where
i.
(11.41)
dO
d0
denotes a unit vector of sense opposite to that of
(Fig. 11.25c).
Expressing the position vector
of the particle
uct of the scalar r and the unit vector
respect to
t,
we
=n
P as
the prod-
differentiating with
(11.42)
dr
dr
-d7
= Tt
l
'
di,
r
first
lr
dt
Fig.
dt de
of the relations (11.41),
ri
r
-f
nig
Differentiating again with respect to
...
dL
6\ B and dig/dt
(f
and using dots
to
we have
indicate time derivatives,
^v
*
de di.
dr.
"
or, since di r/dl
and
write
r
Recalling the
r,
(11.43)
we
x.
.a.
- ii% +
= 0i
(ri)
write
;,
dig
r,
2r9)i 6
(11.44)
11.25
483
484 DYNAMICS
The
It is
components of the velocity and acceleration

and transverse directions arc therefore
in the
scalar
radial
e,
=r
ve
aT
= r- -rO 2
ag
important to note that a r
of v r and that a $
is
(11.45)
2r0
(11.46)
not equal to the time derivative
nor equal to the time derivative of v
is
= rO
=T0 +
moving along a circle of center O, we

f = 0, and the formulas (11.43) and
In the case of a particle
have
constant, f
(11.44) reduce, respectively, to
Extension
to
The
sometimes defined by
Fig.
It is
rf) 2 r
'\
rOi e
(11.47)
the Motion of a Particle in Space: Cylindri-
cal Coordinates.
11.26a).
rdi e
position of a particle
in
space
is
and z (Fig.
vectors i^,
and k
cylindrical coordinates R, 0,
its
then convenient to use the unit
11.26
shown
in Fig.
particle
Resolving the position vector r of the
11.26/?.
into
components along the unit

r
RiR
vectors,
we
zk
write
(11.48)
Observing that
i
K and i s define, respectively, the radial and
transverse direction in the horizontal xy plane, and that the
vector
k,
which defines the axial direction,
tion as well as in magnitude,
dr
fli
dt
(R
dt
we
+ R9L +
is
constant in direc-
easily verify that
m% +
ik
(RO
(11.49)
2R0)i a
+ zk
(11.50)
SAMPLE PROBLEM
A
train
11.10
traveling on a curved section of track of radius 3000
is
The brakes
the speed of 90 mi/h.
ft
at
arc suddenly applied, causing the
train to slow down at a constant rate; after 6 s, the speed has been
reduced to 60 mi/h. Determine the acceleration of a car immediately
after the brakes have been applied.
90
mi/li
Component
Tangential
pressed in
of Acceleration.
speeds are ex-
First the
ft/s.
w-K)ffif%*li)-w
=
60mi/h
Since the train slows
a,
average
down
fl,
Normal Component
at a constant rate,
%=
88
of Acceleration.
have been applied, the speed

e*
*-7',
(132 ft/s) 2
Magnitude and Direction
3000
'-
a.
7.
5.81 ft/s 2
components
-2=-
The magnitude and

a
and
are
7.33 ft/s 2
a
a,
5.81 ft/s2
5.81 ft/s 2
an
sin
SAMPLE PROBLEM
after the brakes
and we have
ft
tan
ft/s,
of Acceleration.
direction of the resultant a of the
= _ 733ft/s2
Immediately
132
still
is
we have
ft/s
-^132
ft/s
88ft/s
38.4
9.35 ft/s 2
sin 38.4
11.11
Determine the minimum radius of curvature of the trajectory described by the projectile considered in Sample Prob, 11.7.
Since a n
Solution.
small
when
is
small or
v t /p,
we have
when
at the top of the trajectory since v

at that
same
is
v 2 /a.
The
The speed
large.
at that point;
radius will be
D
is
an
is
minimum
maximum
point, since the direction of the vertical coincides with
the direction of the normal. Therefore, the

ture occurs at the top of the trajectory.
o,
155.9
m/s
v2
an
minimum
At
m/s 2
we have
9.81 m/s 2
(155.9 m/s) 2
9.81
radius of curva-
this point,
2480
m
485
SAMPLE PROBLEM 11.12

The
8
B
r
arm
rotation of the 3-ft

0.1 of2 ,
where 8
arm
where r
slides along the
0.40/ 2
OA
Solution.
30
is
such a way that
in
is

in
Block
seconds.
distance from
its
expressed in feet and
mine the total velocity and the

the arm CM has rotated through
about
expressed in radians and
is
in seconds.
total acceleration of block
is
Deter-
after
30.
We first find the time f at which 8 = 30. Substituting

0.524 rad into the expression for 0, we obtain
=
0.1 of 2
0.524
0.15< 2
1.869
Equations of Motion. Substituting t = 1.869 s in the expressions

r, 6, and their first and second derivatives, we have
for
=
r =
r=
fl r
i,
+ Osiy
0.40r 2
0899 ft
ft
= -1.495 ft/s
-0.80 = -0.800 ft/s 2
1.889
Using Eqs.
8
8
(11 .45),
we
O.lof 2
=
=
0.301
0.30
=
a
0,524 rad
0.561 rad/s
0.300 rad/s 2
obtain the values of vr and v $
s.
D,
v,
1.603
-0.80r
Velocity of B.
when
vi.
c,
=
=
= - 1.495 ft/s
r8
1.603(0.561)
we
Solving the right triangle shown,
0.899 ft/s
obtain the magnitude and direc-
tion of the velocity,

D
Acceleration of B.
= (-1.495 ft/s)i,
Using Eqs. (11.46),
= f - rO- -0.800 at = r'6 + 2t8
1.603(0.56'1) 2
1.603(0.300)
2(a
486
= (-1.196 ft
1.744 ft/s
we
ft
31.0"
-*
obtain
ar
a,
--
-1.304
I.495)(0.561)
1.770
fl/s
ft/s
-1.196
y
ft/s 2
42.5
-*
PROBLEMS
1 1 .97
Ail automobile travels at a constant speed on a highway
curve of 1000-m radius. If the normal component of the acceleration is
not to exceed 1.2 m/s 2 determine the maximum allowable speed.
,
1 1
.98
car goes around a highway curve of 300-m radius at a

'"
speed of 90 km/h.
tion? (b) At
(a)
What
what speed
is
component of its accelerathe normal component of the acceleration

is
the normal
Determine the peripheral speed of the centrifuge test cab A

which the normal component of the acceleration is lOg.
for
.99
11.100
small grinding wheel has a 5-in. diameter and
is
Fig.
P11.99
at-
an electric motor which has a rated speed of

3600 rpm. Determine the normal component of the acceleration of a
point on the circumference of the wheel when the wheel is rotating at
tached
to the shaft of
the rated speed.
11.101
motorist starts from rest on a curve of 400-ft radius and
accelerates at the uniform rate of 3 ft/s 2

his
is
automobile will
Determine the distance that

travel before the magnitude of its total acceleration
.
r.
Fig.
P11.100
Fig.
P11.105
ft/s2.
1 1.102 A motorist enters a curve of 500-ft radius at a speed of

45 mi/h. As he applies his brakes, he decreases his speed at a constant
rate of 5 ft/s 2 Determine the magnitude of the total acceleration of
the automobile when its speed is 40 mi/h.
.
1 1 .1 03 The speed of a racing car is increased at a constant rate

from 90 km/h to 126 km/h over a distance of 150 m along a curve of
250-m radius. Determine the magnitude of the total acceleration of
the car after
it
has traveled 100
along the curve.
1 1 .1 04 A monorail train is traveling at a speed of 144 km/h along

a curve of 1000-m radius. Determine the maximum rate at which the
speed may be decreased if the total acceleration of the train is not to
exceed 2 m/s 2
11.105
shown with an
nozzle discharges a stream of water in the direction

initial
velocity of 25 m/s.
curvature of the stream
(a) as it
Determine the radius of
leaves the nozzle,
(!>)
at
the
maximum
height of the stream.
11.106 Determine
the radius of curvature of the trajectory de-
scribed by the projectile of Sample Prob. 11.7 as the projectile leaves

the gun.
ft
=*
one-half as large as that found in part a?
1 1
25
487
488 DYNAMICS
11.1 07
(a)
Show
that the radius of curvature of the trajectory of a
minimum
projectile reaches its
value at the highest point
of the
Denoting by a the angle formed by the trajectory and
trajectory, (b)
the horizontal at a given point B,
the trajectory at
is
show
that the radius of curvature of
3
P mi/eos a,
11.1 08 For each

11.8,
of the two firing angles obtained in Sample Prob.

determine the radius of curvature of the trajectory described by
the projectile as
Fig.
it
leaves the gun.
*1 1 .1 09 Determine the radius of curvature of the path described

by the particle of Prob. 11.73 when (a) t = 0, (b) t = 2 s.
P11.107
#11.110
Determine the radius of curvature of the helix
of
Prob. 11.74.
11.111
satellite will
around the earth

2 where
g(fl/r)
g
if
the normal
32.2 ft/s2,
travel
indefinitely in a circular orbit
component of its acceleration
is
equal to
3960 mi, and

r = distance from the center of the earth to the satellite. Determine
the height above the surface of the earth at which a satellite will travel
,
indefinitely
11.112
at a
Determine the speed
speed of 15,000 mi/h.
of an earth satellite traveling in a
circular orbit 300 mi above the surface of the earth. (See information
given
Fig.
around the earth
radius of the earth
in
Prob. 11.111.)
P11.111
11.113
Assuming the
orbit of the
moon to be a circle of
moon relative to the
239,000 mi, determine the speed of the
radius
earth.
(See information given in Prob. 11. 111.)
11.114 Show
circular orbit
of
its orbit.
Also,
determine the minimum time
circle the earth.
11.115
that the speed of an earth satellite traveling in a
inversely proportional to the square root of the radius
is
The two-dimensional motion
the relations r
millimeters,
60t 2
in seconds,
20/3
11.116 The
Fig.
P11.115
its
11.117
the relations
Determine
which a
satellite
can
and
of a particle
where
21?,
when
(a) t
0,
(fc) /
particle of Prob. 11. II 5
velocity
is
defined
by
expressed
in
is
and 9 in radians. Determine the velocity and
acceleration of the particle
Determine
in
(See information given in Prob. 11.111.)
and acceleration
1 s.
at the origin at f
is
as
it
0.
returns to the origin.
The two-dimensional motion of a particle is defined by

r = 2h sin tot and 6 s tot, where b and to are constants.
(a)
the velocity and acceleration of the particle at any
instant, (b) the radius of curvature of its path.
you draw regarding the path of the particle?
What
conclusion can
11.118
As circle
on the
rolls
cardioid defined by the relations
fixed circle
r
2b(l
Determine the velocity and acceleration
(b) t
+
of
A, point P describes a
cos
2jt()
P when
and 8
(a)
= 2w<.
= 0.25,
0.50.
11.119 A
Knowing
wire
OA connects
that the collar
determine dO/dt
in
moves
terms of v
the collar
A and
a reel located at O.
to the right with a constant speed v

,
b,
and
0.
Fig.
"
Fig.
P11.118
P11.119
11.1 20
flight is
rocket
is fired
vertically
from a launching pad at
H.
Aw
Its
tracked by radar from point A. Determine the velocity of the
rocket in terms of b,
and
9.
6.
#^
\e
1 1
in
.121
Determine the acceleration

b, 8, 8, and 8.
terms of
of the rocket of Prob. 11.120
Fig.
1 1 .1
22
As the rod
OA rotates, the pin P moves along the parabola

equation of the parabola
r = 2Z>/(1 + cos 8)
BCD. Knowing that the

and that 8
8=0,
(a)
Fig.
=
lb)
P11.122
kt,
is
determine the velocity and acceleration of P when
90.
P11.120
/-
489
490 DYNAMICS
1
1.123 The
pin at
along the rotating rod OC.
is
free to slide along the circular slot
If pin
circular slot at a constant speed v
rod
(a)
and
B slides counterclockwise around

.
determine the rate dO/dl
at
the
which
OC rotates and the radial component 0, of the velocity of the pin B

- 90.
<> = 0, (b) when
when
<i>
1(1 iiiiii
Fig.
P11.123
24 The
motion of a particle on the surface of a right circular

= 2^t, and z =
by the relations R = A,
Determine
integer.
and
n
is
an
are
constants
B sin 2xnt, where A and B
at any
acceleration
of
the
particle
magnitudes
of
velocity
and
the
the
1 1
cylinder
time
.1
Fig.
P1 1.124
is
defined
t.
= 10
11.125
For the case when n = 1 in Prob. 11.124, (a) show that

is contained in a plane, (b) determine the
the path of the particle
maximum and minimum
11.126 The motion

cone
is
where
rises in
radii of
of a particle on the surface of a right circular

ht,
2irt, and z
ht tan R, 6
defined by the relations
ft is
curvature of the path.
R=
the apex angle of the cone and h
is
the distance the particle
one passage around the cone. Determine the magnitudes of the
velocity and acceleration at any time
Fig.
f.
P11.126
27 The three-dimensional motion of a particle is defined by

R = A,
= 2t:t, and z = A sin 2 Ir.t. Determine the
1 1 .1
the relations
magnitudes of the velocity and acceleration
*1
28 For the helix of Prob.
osculating plane forms with the y
11.129
11.74,
any time
determine the angle that the
Determine the direction of the binomial
The
t.
axis.
described by the particle of Prob. 11.73
#1 1.130
al
when
(a)
position vector of a particle
is
of the path
0, (b) t
s.
defined by the
relation
r
where
.v,
y,
.vi
yj
^k
z are known functions of the time
t,
and
i, j,
k are unit
vectors along fixed rectangular axes. Express in terms of the functions

y,
z and their
first
and second
of the acceleration of the particle,
acceleration,
(c)
x,
component
the norma! component of its
derivatives (a) the tangential

(fa)
the radius of curvature of the path described by the
particle.
11.131
For the particle of Prob. 11.130, express the direction

(fa) the binomial, (c) the principal normal of
the path described by the particle, in terms of the functions x, y, z and
their first and second derivatives.
cosines of (a) the tangent,
REVIEW PROBLEMS
11.132 The
a-l curve shown was obtained during the motion of a

Knowing that the sled started from rest at t = 0, determine
the velocity and position of the sled at 1 = 0.08 s.
test sled.
Fig.
11.133
An experimental
P11.132
ion-propulsion engine
is
capable of
giving a space vehicle a constant acceleration of 0.01 ft/s 2
engine
is
placed in operation
when
If
the speed of the vehicle
the
is
21,000 mi/h, determine the time required to bring the speed of the
vehicle to 22,000 mi/h. Assume that the vehicle is moving in a straight
line, far
from the sun or any planet.
491
492 DYNAMICS
The velocity of a particle is given by the relation v =
where c is expressed in meters per second and x in
meters. Knowing thai x =
at t = 0, determine (a) the distance
traveled before the particle comes to rest, (b) the time t when X = 5 m,
1.134
100
iO.v,
the acceleration at
(c)
11.135
0.
nozzle discharges a stream of water with an
end of
velocity v of 50 ft/s into the

ter
cl
Determine the
oft.
a horizontal
initial
pipe of inside diame-
largest distance x that the
stream can
reach.
Fig.
P11.135
1.136
The magnitude
in
m/s 2
of the deceleration
due
resistance of the nose cone of a small experimental rocket
to be 6
10
-4
v-.
where
projected vertically from

1
00 m/s, determine the

1 1 .1
when
37
is
the
expressed
m/s.
in
ground with an
maximum
height thai
it
If
to air
known
the nose cone
initial
is
velocity of
will reach.
Determine the velocity of the nose cone of Prob. 11.136
returns to the ground.
it
1 1 .1
is
38
with an
Standing on the side of a
initial
hill,
an archer shoots an arrow
velocity of 250 ft/s at an angle a
15 with the
Determine the horizontal distance d traveled by the arrow

strikes the ground at R.
horizontal.
before
it
..
15'
~
'
10
Fig.
P11 .138
1 1 .1
39
In Prob. 11.138, determine the radius of curvature of the
trajectory (a) immediately after the
arrow passes through
its
point of
arrow has been
maximum
shot, (b) as the
elevation.
.1
11.140 A
a rate of 0.6
at the constant
traveled
if its
1.141
How
train starts at a station
m/s 2
until
it
and accelerates uniformly
reaches a speed of 24 m/s;
it
at
then proceeds
speed of 24 m/s. Determine the time and the distance

is (a) 16 m/s, (b) 22 m/s.
average velocity
A man jumps from
long does
a 20-ft
him
cliff
with no
initial velocity.
lo reach the ground,
and with what

moon,
where g = 5.31 ft/s 2 what are the values obtained for the time and
velocity? (c) If a motion picture is taken on the earth, but if the scene
is supposed to take place on the moon, how many frames per second
should be used so that the scene would appear realistic when projected
at the standard speed of 24 frames per second?
(a)
it
take
velocity does he hit the ground?
(/>)
If this
takes place on the
11.142
Drops of water fall down a mine shaft at the uniform

one drop per second. A mine elevator moving up the shaft
at 30 ft/s is struck by a drop of water when it is 300 ft below ground
level. When and where will the next drop of water strike the elevator?
rate of
1.143 Knowing
velocity of 180
that block
mm/s, determine
velocity of pulley D.
B moves downward
(a)
with a constant
the velocity of block A, (b) the

Fig.
P11.143
493
CHAPTER
Kinetics
12 of Particles:
Newton's
Second Law
12.1. Newton's Second Law of Motion. Newton's

first and third laws of motion were used extensively in statics
to study bodies at rest and the forces acting upon them. These
used in dynamics; in fact, they are sufficient
for the study of the motion of bodies which have no acceler-
two laws are

ation.
also
However, when bodies are accelerated,
magnitude
i.e.,
or the direction of their velocity changes,
when
it is
the
neces-
sary to use the second law of motion in order to relate the motion
of the body with the forces acting on it. This law may be stated
()
as follows:
/Y,
<5
,
;/)
If the resultant force acting on a particle ii not zero, the

have an acceleration proportional to the magnitude
particle will
of the resultant and in the direction of this resultant force.

Newton's second law of motion may best be understood if we
imagine the following experiment: A particle is subjected to a
force F, of constant direction and constant magnitude Fv Under
the action of that force, the particle will be observed to
and
in a straight line
By determining the
we
find that
its
the experiment
in the direction
(Fig.
is
move
12.1a).
position of the particle at various instants,
acceleration has a constant magnitude
(Fig.
12.16
av
If
F2 F etc., of different
and c), we find each time
repeated with forces
magnitude or direction
that the particle moves
494
of the force
in die direction of the force acting
on
KINETICS OF PARTICLES: NEWTON'S
it
and
that the
magnitudes a v a 2 a 3
,
sponding
etc.,
,
of the accelerations
etc.,
a,
a.,
constant
constant value obtained for the ratio of the magnitudes
of the forces
and accelerations
under consideration.
It is
is
a characteristic of the particle
called the
mass of
a force F, the
When a particle of mass m

force F and the acceleration
must therefore
satisfy the relation
is
of the corre-
forces,
E ==
F,
=
a
The
Fv F2 F3
are proportional to the magnitudes
denoted by m.
the particle
is
and
acted upon by
a of the particle
F = ma
(12.1)
This relation provides a complete formulation of Newton's sec-
ond law;
it
expresses not only that the magnitudes of
are proportional, but also (since
is
a positive
and a
scalar) that the
F and a have the same direction (Fig. 12.2). We should

note that Eq. (12.1) still holds when F is not constant but varies
with f in magnitude or direction. The magnitudes of F and a
vectors
remain proportional, and the two vectors have the same direction at any given instant. However, they will not, in general,
be tangent to the path of the particle.
When a particle is subjected simultaneously to several forces,

Eq. (12.1) should be replaced by
2F =
where
on the
It
2F represents the sum,
or resultant, of
(12.2)
all
the forces acting
particle.
should be noted that the system of axes with respect to
which the acceleration a is determined is not arbitrary. These

axes must have a constant orientation with respect to the stars,
and their origin must either be attached to the sunt or move
with a constant velocity with respect to the sun. Such a system
of axes
is
called a
newtonian frame of referenced
system of
axes attached to the earth does not constitute a newtonian frame

of reference, since the earth rotates with respect to the stars
and
is
accelerated with respect to the sun.
However,
in
most
* More accurately, to the mass center of the solar svstem.

{Since the stars are not actually fixed, a more rigorous clcliuilion of a newIonian frame of reference (also called inertiul system) is one with respect to
which Eq.
(12,2) holds.
SECOND LAW 495
496 DYNAMICS
engineering applications, the acceleration a
may be determined
with respect to axes attached to the earth and Eqs. (12.1) and
(12.2) used without any appreciable error. On the other hand,
if a represents a relative acceleration
measured with respect to moving axes, such as axes attached
to an accelerated car or to a rotating piece of machinery.
these equations do not hold
We may observe
on the
particle
that,
zero,
is
ation a of the particle

at rest (v
used,
it
that
also zero.
is
remain
will thus
is,
the particle
If
is
initially
it
at rest (v
0).
If originally
moving
the particle will maintain a constant velocity

will
move with
we
recall, is the
This,
straight line.
of the forces acting
with respect to the newtonian frame of reference
0)
with a velocity v
2F
the resultant
if
follows from Eq. (12.2) that the acceler-
it
the constant speed
in a
t>
statement of Newton's
first
law (Sec. 2.9). Thus, Newton's first law is a particular case of

Newton's second law and may be omitted from the fundamental
principles of mechanics.
12.2. Linear
Momentum
of a Particle.
Rate of
of Linear Momentum. Replacing the acceleration

by the derivative dv/dt in Eq. (12.2), we write
Change
a
or, since the
mass
of the particle
constant,
is
2F =
w)
i('
The vector mv is
momentum, of the
called the linear

particle.
It
(12.3)
momentum,
or simply the
has the same direction as the
and its magnitude is equal to the product

and the speed v of the particle (Fig. 12.3). Equa-
velocity of the particle

of the mass
of the forces acting on the

change
of
of the linear momentum of
the particle. It is in this form that the second law of motion was
originally stated by Newton. Denoting by L the linear momention (12.3) expresses that the resultant
particle
Fig. 12.3
tum
is
equal
to the rate
of the particle.
L = mv
and by
its
derivative with respect to
in the alternate
(12.4)
r,
we may write
Eq. (12.3)
form
2F
=L
(12.5)
SECOND LAW 497
It should be noted that the mass

of the particle is assumed
constant in Eqs. (12.3), (12.4), and (12.5). Equations (12.3) or
(12.5), therefore,
should not be used to solve problems involving
the motion of bodies
which gain or lose mass, such as rockets.

Problems of that type will be considered in Sec. 14.11. t
It follows from Eq. (12.3) that the rate of change of the linear
momentum mv is zero when 2F =

acting on a particle
is
remains constant, both
in
principle of conservation of linear
first
law (Sec.
F = ma,
equation
just
of the particle
This is the
direction.
momentum
for a particle,
an alternate statement of New-
2.9).
Systems of
12.3.
momentum
magnitude and
which we may recognize as

ton's
Thus, if the resultant force
0.
zero, the linear
In
Units.
using the
fundamental
the units of force, mass, length, and time
cannot be chosen arbitrarily.
If they are, the magnitude of the

required to give an acceleration a to the mass
will
not be numerically equal to the product ma; it will only be
force
proportional to this product. Thus, we may choose three of the

four units arbitrarily but must choose the fourth unit so that
the equation F = ma is satisfied. The units are then said to form
a system of consistent kinetic units.
Two systems of consistent kinetic units are currently used by

American engineers, the International System of Units (SI
units}), and the U.S. customary units. Since both systems have
been discussed in detail in Sec. 1.3, we shall describe them only
briefly in this section.
International System of Units (SI Units). In this system,

the base units are the units of length, mass, and time, and are
called, respectively, the meter (m), the kilogram (kg), and the
second
(s).
of force
is
The
All three are arbitrarily defined (Sec. 1.3).
a derived unit.
It is
called the newton (N)
defined as the force which gives an acceleration of

a mass of 1 kg (Fig. 12.4). From Eq. (12.1) we write
1
N =
(1 kg)(l
m/s 2)
unit
and
m/s 2
On
the other hand, Eqs. (12.3)
kg m/s 2
and (12.5) do hold in relativistic mechanic*

assumed to vary with the speed of the
of the particle is
particle.
J
SI stands for
Syst&me International a" Unites (French).
= 1 m/s
is
to
The SI units are said to form an absolute system of units. This

means that the three base units chosen are independent of the
location where measurements are made. The meter, the kilogram, and the second may be used anywhere on the earth; they
where the mass
m=
Fig. 12.4
F=1N
498 DYNAMICS
another planet. They will always have
same significance.
of a body should be
Like any other force, the weight
expressed in newtons. Since a body subjected to its own weight
acquires an acceleration equal to the acceleration of gravity g,
of
it follows from Newton's second law that the magnitude
may even be used on

the
m=
= 9.81
kg
m/s 2
body of mass
the weight of a
W = 9.S1N
=
Recalling that g
Fig. 12.5
mass
kg
is
= mg
(12.6)
m/s 2 we find
9.81
that the
weight of a body of
(Fig. 12.5) is
VV
(1
kg)(9.81
m/s 2 )
9.81
Multiples and submultiplcs of the units of length, mass, and

force are frequently used in engineering practice.
They
are,
respectively, the kilometer (km) and the millimeter (mm); the

megagram] (Mg) and the gram (g); and the kilonewton (kN).
By
definition
km
Mg =
1000 in
1000 kg
1
mm =
1
0.001
0.001 kg
kN = 1000 N
and newtons,
decimal
point
moving
the
can be effected by simply
of these units to meters, kilograms,
The conversion
respectively,
three places to the right or to the
left.
may all be
For example, the
unit of linear momentum may be obtained by recalling the
definition of linear momentum and writing
Units other than the units of mass, length, and time
expressed in terms of these three base units.
mv =
(kg)(m/s)
kg
m/s
Customary Units. Most practicing American engineers

commonly use a system in which the base units are the units
U.S.
still
of length, force,
(ft),
the
pound
and time. These units are, respectively, the fool

and the second (s). The second Is the same
(lb),
as the corresponding SI unit.
The
foot
is
defined as 0.3048 m.
defined as the weight of a platinum standard, called

the standard pound and kept at the National Bureau of Standards
in Washington, the mass of which is 0.453 592 43 kg. Since the
The pound
is
weight of a body depends upon the gravitational attraction of

the earth, which varies with location, it is specified that the
standard pound should be placed at sea level and at the latitude
of 45 to properly define a force of 1 lb. Clearly the U.S. cus-
Also
known
as
a metric
Ion.
tomary
SECOND LAW 499
do not form an absolute system of units. Because

dependence upon the gravitational attraction of the
units
of their
earth, they are said to
form a gravitational system of units.

While the standard pound also serves as the unit of mass in
commercial transactions in the United States, it cannot be so
used in engineering computations since such a unit would not
be consistent with the base units denned in the preceding paragraph. Indeed, when acted upon by a force of 1 lb, that is, when
subjected to its own weight, the standard pound receives the
acceleration of gravity, g
32.2 ft/s 2 (Fig. 12.6), not the unit
acceleration required by Eq. (12.1). The unit of mass consistent
with the foot, the pound, and the second is the mass which
receives an acceleration of I ft/s 2 when a force of ] lb is applied
to it (Fig. 12.7). This unit, sometimes called a slug, can be
derived from the equation F = ma after substituting 1 lb and
1 ft/s
for
and
a, respectively.
F ma
lb
We
(1
write
slug)(l ft/s 2 )
and obtain
1
slu S
= -ArT5-=l lb -sVft
I
It/S
m = llb
a
lib
Fig. 12.6
Fig. 12.7
Comparing
Figs. 12.6 and 12.7, we conclude that the slug is a

mass 32.2 times larger than the mass of the standard pound.
The fact that bodies are characterized in the U.S. customary
system of units by their weight in pounds, rather than by their
mass in slugs, was a convenience in the study of statics, where
we were dealing constantly with weights and other forces and
only seldom with masses. However, in the study of kinetics,
forces, masses,
weight
(12.6),
W of which
and accelerations are involved, we repeat-
we
in slugs of a
has been given in pounds.
body, the
Recalling Eq.
shall write
(12.7)
where g
is
the acceleration of gravity (g
slug
(= llb-sVfl)
I'
edly shall have to express the mass
1 ft/s 2
m=1
32.2 ft/s2
where
32.2 ft/s 2 ).
K=1
11)
500
DYNAMICS
Units other than the units of force, length, and time may all be
expressed in terms of these three base units. For example, the
unit of linear momentum may be obtained by recalling the
definition of linear
momentum and
me =
The conversion from
versa, has
(lb
writing
sVftXft/s)
lb
U.S. customary units to SI units,
been discussed
in Sec. 1.4.
We
and vice
con-
shall recall the
version factors obtained respectively for the units of length,

force,
and mass:
Length:
1 ft
0.3048
Force:
1 lb
4.448
Mass:
Although
slug
1 lb
s /ft
14.59 kg
cannot be used as a consistent unit of mass,
it
mass of the standard pound
recall that the
This constant
pound-mass
is,
by
we
also
definition,
0.4536 kg
used to determine the mass in SI units

body which has been characterized by its weight
may be
(kilograms) of a
customary units (pounds).

2.4. Equations of Motion. Consider a particle of mass
m acted upon by several forces. We recall from Sec. 12.1 that
Newton's second law may be expressed by writing the equation
in U.S.
1
2F =
(12.2)
"(a
on the particle and the vector ma

(Fig. 12.8). In order to solve problems involving the motion of a
particle, however, it will be found more convenient to replace
Eq. (12.2) by equivalent equations involving scalar quantities.
Rectangular Components. Resolving each force F and the
which
relates the forces acting
acceleration a into rectangular components,
2(Fx
from which
it
"2F.
+ FJ + F2 k) =
we
write
m(a z i + aj
ma.
= ma
a, k)
follows that
ma.
2F
ZFZ
(12.8)
Recalling from Sec. 11.11 that the components of the acceleration arc equal to the second derivatives of the coordinates of the
particle,
we have
2FX = mi
2F
= my
1FZ = mz
(12.8')
Consider, as an example, the motion of a projectile.

resistance of the air
projectile after
it
is
If
the
neglected, the only force acting on the
has been fired
is its
weight
W=
Wi.
The
equations defining the motion of the projectile are therefore
my = W
mx =
mz =
and the components of the acceleration of the

x
projectile are
where g
is 9.81 m/s
or 32.2 ft/s2 The equations obtained may
bo integrated independently, as was shown in Sec. 11.11, to
obtain the velocity and displacement of the projectile at any
.
instant.
Tangential
and Normal Components.
and the acceleration of the
Resolving the forces
components along the

tangent to the path (in the direction of motion) and the normal
(toward the inside of the path) (Fig. 12.9), and substituting into
Eq. (12.2), we obtain the two scalar equations
particle into
Fig. 12.9
2fJ
Substituting for a,
ma,
and an from
x2.K
1
The
2F
= man
Kqs. (11.40),
= m dv
dt
(12.9)
we have
2Fn = m^-
(12.9')
may be solved for two unknowns.

12.5. Dynamic Equilibrium. Returning to Eq. (12.2)
and transposing the right-hand member, we write Newton's
equations obtained
second law in the alternate form
2F - ma =
(12.10)
which expresses that, if we add the vector -ma to the forces

acting on the particle, we obtain a system of vectors equivalent to
zero (Fig. 12.10). The vector ma, of magnitude ma and of
direction opposite to that of the acceleration,
vector.
The
particle
may
is
called an inertia
thus be considered to be in equilibrium
Fig. 12.10
SECOND LAW
501
502 DYNAMICS
under the given forces and the inertia vector. The particle is said
to be in dynamic equilibrium, and the problem under consideration may be solved by the methods developed earlier in statics.
In the case of coplanar forces,
fashion
the vectors
all
vector, to
shown
form a closed-vector polygon. Or

all
ZFy =
tangential
ma, and -ma
Using rectangular
including inertia vector
and normal components arc
convenient to represent the inertia vector
component
by
its
used,
component
(12.11)
it
is
more
two components
in the sketch itself (Fig. 12.11).
The
tangential
of the inertia vector provides a measure of the resist-
ance the particle offers to a change in speed, while
write that
therefore write
2FZ =
When
we may
the vectors in Fig. 12.10,
including again the inertia vector, are zero.
components, we
in tip-to-tail
in Fig. 12.10, including the inertia
sums of the components of
the
we may draw
its
(also called centrifugal force) represents the
normal
tendency
its curved path. Wc should note that

two components may be zero under special conditions: (1) if the particle starts from rest, its initial velocity is
zero and the normal component of the inertia vector is zero at
t = 0; (2) if the particle moves at constant speed along its path,
the tangential component of the inertia vector is zero and only
of the particle to leave

either of these
Fig.
12.11
normal component needs to be considered.

Because they measure the resistance that particles offer when
we try to set them in motion or when we try to change the
its
conditions of their motion, inertia vectors are often called inertia

forces. The inertia forces, however, are not forces like the forces
found
in statics,
which are either contact forces or gravitational
forces (weights).
Many people,
word "force" when
therefore, object to the use of the
referring to the vector
ma
or even avoid
altogether the concept of dynamic equilibrium. Others point out

that inertia forces and actual forces, such as gravitational forces,
affect
our senses in the same
physical measiuements.
way and cannot be
A man
distinguished by
riding in an elevator
which
is
accelerated upward will have the feeling that his weight has
suddenly increased; and no measurement made within the eleva-
whether the elevator is truly accelerated or

whether the force of attraction exerted by the earth has suddenly
tor could establish
increased.
Sample problems have been solved

application of Newton's second
and
12.9, rather
in this text
by the
direct
law, as illustrated in Figs. 12.8
than by the method of dynamic equilibrium.
SAMPLE PROBLEM
A
of
P required to give the block an acceleration of 10ft/s 2 to

The coefficient of friction between the block and the plane
the right.
0.25.
The mass
Solution.
200
on a horizontal plane. Find the magnitude
200-Ib block rests
the force
is ix
12.1
of the block
is
200 lb
32.2 ft/s2
6.21 lb
2
s /ft
ll>
We note
fcs_
thai
F=
fiN
0.25.V and that a
ft/s2
]()
Expressing that
the forces acting on the block are equivalent to the vector ma,
we
write
->
2% =
+ t2F =
Solving
0.252V
(6.21 lb
P cos 30 -
0.25JV
62.11b
P cos
ma:
N-
0:
(2) for ,V
30
Pcos 30
/ft)(10 ft/s 2)
P sin 30 - 200 lb
and carrying the
(2)
result into (1),
we
= Psin30 +200 lb
+ 200 lb) = 62.1 lb
P=
0.25(Psin 30
SAMPLE PROBLEM
obtain
151
11>
12.2
Solve Sample Prob. 12.1 using SI units.
Using the conversion factors given
Solution.
(10ft/s )(0.3048m/ft)
in Sec. 12.3,
3.05 m/s
we
write
W = (200 lb)(4.448 _\/lb) = 890 N
iBO.N
Recalling that, by definition,
30"
we
find that the
1 lb is the weight of a mass of 0.4536 kg,

mass of the 200-lb block is
m=
m = 90.7 kg
200(0.4536 kg)
90.7 kg
Noting that F = yN = 0.25A' and expressing that the forces acting

on the block are equivalent to the vector ma, we write
* 2F,
ma:
P cos 30 -
0.252V
0.25.V
Peas 30
+f2F =
Solving
.V
0:
(2) for
- P sin 30 -
and carrying the

.Y
P cos
30
or, in U.S.
0.25(P sin 30
customary
=
=
890
(90.7 kg)(3.05
277
(1)
N =
(2)
result into (1),
we
obtain
Psin30
890
277 N
890 \)
m/s 2 )
P =
674
units,
(674 N)
-i-
(4.448 N/lb)
151 lb
503
SAMPLE PROBLEM
100 kg
The two
from
start
rest.
pulley are frictionless, and the pulley

mass.
shown
blocks
12.3
Determine the acceleration of
The
horizontal plane and the

assumed to be of negligible
each block and the tension in
is
each cord.
300 kg
Solution.
We
denote by
block
B moves
7",
We
the tension in cord BC.
=
=
aB
m,
= 100
kg
^ZFt = mA aA
we
2 a,
(1)
7\
100a,
B,
= msg =
m/s
(300kg)(9.81
2
)
is
2940
write
+ lZFy = mBaB
300a B
2940 -T.,
300(40,,)
2940
aB from
''
7'
(1),
T2 = 2940 Since
Pulley C.
(2)
Observing that the weight of block
or, substituting for
W = 2940
we have
I,
apply Newton's second law successively to block A, block
shall
wb
T2
s,,
and pulley C.
Block A
Block
m, = .300 kg
block
\aA
Differentiating twice with respect to
B,
if
through
sB
Wc
ACD and by
moves through
the tension in cord
note that
+ 12F = mcac =
Substituting for
7",
mc
is
assumed
T,
0:
and
150a,
be
to
(3)
zero,
we have
2T,
T, from (2)
(4)
and
(3),
respectively, into
(4),
we
write
2940
1.50a,
2940
2(10()o,)
350a,
Substituting the value obtained for a, into
aB
T,
* 100% =
Recalling
(4),
wc
504
and
aB
(100 kg)(8.40
8.40 m/s-
(2),
-*
we have
4.20 m/s-
Tx =
m/s
-*
840
-*
1680
-*
write
2T,
Ta =
note that the value obtained for
of block B.
(1)
T2 =
We
a,
= (8.40 m/s2
Ja,
=0
2(840 N)
7"
is
T2 =
not equal to the weight
SAMPLE PROBLEM
The bob
plane.
of a
12.4
2-m pendulum describes an arc of
the tension in the cord
If
shown,
for the position
circle in a vertical
2.5 times the weight of the
is
find the velocity
bob
and acceleration of the bob
in that position.
The weight
Solution.
cord
ing
T = 15 mg
+ /2/'" = ma
a, =
rug sin 30
+ \2l'n =
Since a
sin
30
ma:
2.5
an
1.634 g
v /p,
V
W = mg;
is
the tension in the
directed toward
is
a,,
we apply Newton's second law and
as shown,
a,
bob
of the
thus 2.5 mg. Recalling that
is
+4.90 m/s2
+16.03 m/s 2
v
pan
(2 m)( 16.03
5.66 m.
5.66 m/s
SAMPLE PROBLEM
assum-
4.90 m/s-
-^
16.03 m/s-
-*
down}
-^
mg mgcos30 = man
we have
= ma
O and
obtain
m/s
2
)
7 ;up or
12.5
Detennine the rated speed of a highway curve of radius p = 400 ft

banked through an angle d = 18. The rated speed of a banked curved
road
the speed at which a car should travel
is
force
is
if
no
lateral friction
to be exerted on its wheels.
The car travels in a horizontal circular path of radius

The normal component a of the acceleration is directed toward
the center of the path; its magnitude is a = c?/p, where
is the
speed of the car in ft/s. The mass m of the car is W/g, where
Solution.
p.
is
the weight of the car. Since no lateral friction force
on the
car, the reaction
of the road
is
*=.
-t\ =
0:
cos
I.
we
W=
'":
R from
sin
cose
0=1S
Substituting the given data, p
we
400
(1)
(2)
"
and recalling that u n

v
W
= a
=
g
ft
to the
costf
sin
(1) into (2),
be exerted
write
fl
g
Substituting for
to
shown perpendicular
roadway. Applying Newton's second law,
+ T2/' =
is
and 8
gp tan
c 3 /p:
18, into this equation,
obtain
2
(32.2 ft/s 2)(400
64.7 ft/s
ft)
tan IS"
i-
14.
mi/h
-^
505
506 DYNAMICS
PROBLEMS
12.1
The value
of g at any latitude
6 may be obtained from
the
formula
9.7807(1
0.0053 sin 2
m/s 2
:
<f>)
Determine to four significant figures the weight in ncwtons and the

mass in kilograms, at the latitudes of 0, 45, and 90, of a silver bar
whose mass is officially defined as 10 kg.
1
2.2
The
acceleration due to gravity on the
Determine the weight

2
lb s /ft, on the moon,
100.00
in
moon
is
2
5.31 ft/s
pounds, the mass in pounds, and the mass in
of a silver bar
whose mass
is
officially
defined as
lb.
12.3 A 100-kg satellite has been placed in a circular orbit 2000 km

above the surface of the earth. The acceleration of gravity at this
elevation
5.68
knowing
lite,
is
m/s 2
2.4 Two boxes
scale; scale
Determine the linear momentum of the

speed is 24 800 km/h.
is
are weighed on the scales shown: scale a
The
a spring scale.
When
20
the spring scale indicates a load of 18
lb.
the elevator
is
at rest,
2.5
determine the
by the
lever scale.
motorist traveling at a speed of 45 mi/h suddenly applies

to a stop after skidding 150 ft. Determine (a) the
and comes
time required
the tires
2.6
stop.
is
lb,
P12.4
his brakes
a lever
each scale indicates a load of
acceleration of the elevator and the load indicated
Fig.
is
scales are attached to the roof of an
elevator.
If
satel-
that its orbital
If
0.75,
car to stop,
(b) the coefficient of friction
An automobile
skids
90
ft
on a
between
determine
(fo)
(a)
coming to a
and the pavement
level road before
the coefficient of friction between the tires
were applied,
stop.
for the
and the pavement.
the speed of the automobile before the brakes
the time required for the automobile to
come
to a
2.7
truck
is
proceeding up a long 3-percent grade
speed of 60km/h.
If
throttle or shift gears,

it
starts
at a constant
the driver does not change the setting of his
moving on the
what
will
be the acceleration
of the truck as
level section of the road?
-3*
Fig.
2.8 A 5-kg package is projected down the incline with an initial

Knowing that the coefficient of friction between
velocity of 4 m/s.
the package and the incline
package after 3
comes
is
0.35,
determine
of motion, (b) the distance
(a)
the velocity of the
at
which the package-
to rest.
Fig.
m/s
P12.8
12.9 The 3-kg collar was moving down the rod with a velocity
m/s when a force P was applied to the horizontal cable. Assuming
of 3
between the collar and the rod, determine the

magnitude of the force P if the collar stopped after moving I m more
negligible friction
down
Fig.
the rod.
P12.9
12.10
Solve Prob. 12.9, assuming a coefficient of friction of 0.20
between the
collar
and the
rod.
12.11 The subway train shown travels at a speed of 30 mi/h.

Determine the force in each coupling when the brakes are applied,
knowing that the braking force is 5000 lb on each car.
30 mi h
3*)
tons
FI
A
Fig. P12.11
40 ions
30 tons
P12.7
grad
SECOND LAW
507
508
DYNAMICS
:101b
packages are placed on an incline as shown. The

is 0.25 between the incline and package A, and
0.15 between the incline and package B. Knowing that the packages
are in contact when released, determine (a) the acceleration of each
12.12
Two
coefficient of friction
Fig.
P12.12
package,
{b) the force
12.13
exerted by package
A on package
75.
Solve Prob. 12.12, assuming the positions of the packages
are reversed so that package
12.14 When
ation of block
is
to the right of
the system shown
is
package
B.
released from rest, the acceler-
observed to be 3 m/s 2 downward. Neglecting the

determine (a) the tension in the cable, (b) the mass
is
effect of friction,
of block B.
The system shown is released from rest when h = J .4 m.

Determine the mass of block B, knowing that it strikes the ground
with a speed of 3 m/s. (b) Attempt to solve part a, assuming the final
speed to be 6 m/s; explain the difficulty encountered.
12.15
(a)
Fig.
P12.14, P12.15. and P12.16
12.16 The system shown

mass of block B
it
is
30
kg,
is
reaches a speed of 2.5 m/s,
weightless and frictionless,

the cable must slip, with
12.17
released from rest.
determine
jx
(a) if
(b) if
how
far
Knowing that the

move before
the cart will
the pulley
may be
considered as
the pulley "freezes" on
its
shaft and
0.10, over the pulley.
Each of the systems shown is initially at rest. Assuming

and neglecting axle friction, determine
the pulleys to be weightless

for
each system
block
after 4
s,
(a)
(c)
the acceleration of block A,

the velocity of block
100
after
(b)
it
the velocity of
has
moved
n>
2100
200
2200 lb
11,
(2)
10
(3)
111
ft.
KINETICS OF PARTICLES:
2.1
B by
rest,
3 s,
8 The
determine
(c)
(a)
A is connected
Block
system
is
after
has
it
moved
509
counterweight
to a 25-kg
If the
is
released from
the tension in the cable, (b) the velocity of
the velocity of
12.19
0.9
100-kg block
the cable arrangement shown.
NEWTON'S SECOND LAW
after
1.2 in.
observed to move with an acceleration of

(a) the mass of block B, (b) the
m/s 2 directed upward. Determine
corresponding tension in the cable.

1
2.20 The system shown
is
initially at rest.
Neglecting the effect
of friction, determine (a) the force

is
to be 12ft/s after it
sponding tension
P required if the velocity

has moved 18 in. to the right, (b)
of collar
the corre100 kg
the cable.
in
Fig.
Fig.
P12.18 and P12.19
P12.20 and P12.21
2.21
force
P of magnitude
observed to move 3
ft
15 lb
is
applied to collar B, which
in 0.5 s after starting from rest.
effect of friction in the pulleys,
is
Neglecting the
determine the friction force that the
rod exerts on collar B.

A
Neglecting the effect of friction, determine

ation of each block, (b) the tension in the cable.
'
21) lb
(a)
the acceler-
^_
501b
fr
fcl
12.23
The rimpull
between (he rubber
of a truck
tires of
is
defined as the tractive force
the driving wheels and the ground. For a
track used to haul earth at a construction

utilized by the average driver in each of the
the
maximum speed
Gear
the rimpull actually
forward gears and
attained in each gear are as follows:
Max
v (mi/h)
1st
2d
3d
site,
first five
Average rimpull
4th
15
2800
2000
5th
27
1500
Knowing
(lb)
6000
3800
that a truck (and load) weighs 44,000 lb
resistance of 60 lb/ton for the
and has a rolling

unpaved surface encountered, determine
the time required for the truck to attain a speed of 27 mi/h. Neglect
the time needed to shift gears.
Fig.
P1 2.22
501b
510 DYNAMICS
12.24
moved from one

arm shown; the coefficient of friction
0.20. Determine the magnitude of the
In a manufacturing process, disks arc
elevation to another by the lifting
between
a disk
and the arm
is
acceleration for which the disks slide on the arm, assuming the acceleration
is
directed
(a)
downward
as
shown,
(b)
upward.
2.25 The coefficient of friction between the load and the

shown is 0.40. Knowing that the forward speed of the
trailer
50 km/h, determine the shortest distance

Fig.
brought to a stop
P12.24
if
the load
is
flat-bed
truck
is
which the truck can be
in
not lo shift.
=0^
Fig.
P12.2S and P12.26
the load and the flat-bed

While traveling at 100 km/h, the driver makes an
emergency stop and the truck skids to rest in 90 m. Determine the
1
2.26 The coefficient of friction between
trailer
0.40.
is
velocity of the load relative to the trailer as
reaches the forward edge
it
of the trailer.
12.27
lullifl
25
20 111
lb
Knowing
that the coefficient of friction
determine
faces of contact,
(a)
is
0.30 at
all
sur-
the acceleration of plate A, (b) the
tension in the cable. (Neglect bearing friction in the pulley.)

Fig.
P12.27
1
2.28
Solve Prob. 12.27, assuming that the 25-lb force
is
applied
to plate B.
2.29
friction
A 30-kg
crate rests on a 20-kg cart; the coefficient of static
between the crate and the cart
with respect to the cart, determine

tude of
P, (h)
(a)
is 0.2-5.
the
If
the crate
maximum
is
not to slip
allowable magni-
the corresponding acceleration of the cart.
30 kg
Fig.
P12.29 and P12.30
2.30 The coefficients
150
is
of friction
between the 30-kg crate and the
0.25 and p k = 0.20. If a force P of magnitude

applied to the cart, determine the acceleration (u) of the cart,
20-kg cart are
/*,
(h) of the crate, (c) of the crate
with respect to the
cart.
2.31 The
force exerted by a
magnet on a small
When
magnet.
is
1.5 N.
the block
The
250
mm
and the
">
from the magnet, the magnetic

between the steel block and
its
is 0.50.
If
velocity
the block
when
it is
is
released from the position
100
mm
from the magnet.
250 mm Fj
1 2.32 A constant force P is applied to a piston and rod of total

mass m in order to make them move in a cylinder filled with oil.
As the piston moves, the oil is forced through orifices in the piston
and exerts on the piston an additional force of magnitude kv, propor-
speed
and in a direction opposite to its

motion. Express the acceleration and velocity of the piston as a
function of the time r, assuming that the piston starts from rest at
tional to the
time
is
ship of total mass
is
anchored
flowing with a constant velocity v
in the
The
middle of a river
compo-
horizontal
nent of the force exerted on the ship by the anchor chain
is
If
the anchor chain suddenly breaks, determine the time required for
the ship to attain a velocity equal to |v
resistance of the water
is
Assume
thai the frictional
proportional to the velocity of the ship
relative to the water.
Fig.
P12.33
2.34
A spring AB of constant k is attached
to a support at A and
m. The unstretched length of he spring is /.
between the collar and the horizontal rod, express
to a collar of mass
Neglecting friction
the acceleration of the collar as a function of the distance
Fig.
P12.34
pio 31
f
I
I
x.
--"
v of the piston
0.
2.33 A
which
60 g
the horizontal surface
shown, determine
is
Magnet
steel block varies
inversely as the square of the distance between the block
force
NEWTON'S SECOND LAW
"
I
Fig.
P12.32
51
512 DYNAMICS
1
2.35 Knowing
ously and exactly 1
WB and
lb,
that blocks
WB
B and C
after the system
\V( in terms of
12.36
10
strike the
ground simultane-
released from rest, determine
is
=
Determine the acceleration of each block when
A
=
Which
strikes the ground
30 lb, and
20
lb.
block
c
first?
ill
18
12 in.
Fig.
P12.35, P12.36, and P12.37
2.37
In the system shown,
mine the required weight

is
if
block B
10 lb
is
and
not to
Wc s 20
move when
lb.
Deter-
the system
released from rest.
12.38
15 kg,

10 kg, and m c = 5 kg.
of each block
when
mA =
mu =
2.39 Knowing that /i =

when mA = mB = m c
block
Fig.
WB
0.30,
determine the acceleration of each
P12.38
Fig.
P12.39 and P12.40
2.40 Knowing thai /* 0.50, determine the acceleration

when m A = 5 kg, m B = 20 kg, and m c = 15 kg.
block
of each

1
2.41
length
L=
small ball of mass
made
Knowing
and
constant speed
i:.
is
with the vertical, determine
m =
5 kg
is
attached to a cord of
to revolve in a horizontal circle at a
that the cord forms an angle 6
(a)
40
the tension in the cord, (h) the speed
of the ball.
2.42
small ball of mass
horizontal circle as shown.

tension in the cord
velocity
if
Two
12.43
The sphere
speed
is
L = 2 m,
wires
made to revolve in a
maximum allowable
the maximum allowable
is
that the
J00 \, determine
(b)
made
is
m 5 kg
Knowing
[a)
the corresponding value of the angle
AC
and
BC
and P12.42
are each tied to a sphere at C.
to revolve in a horizontal circle at a constant
Determine the range of values of the speed
v.
Fig. P12.41
0.
i;
for
which both
wires are taut.
60"
ft
Fig.
P12.43 and P12.44
2.44 Two
sphere
is
made
Determine
(a)
wires
AC and BC are each
tied to a 10-lb sphere.
to revolve in a horizontal circle at a constant
the speed for
which the tension
is
the
same
The
speed
in
c.
both
wires, (b) the corresponding tension.
2.45
3-kg ball
cord of length
in the
cord
is
is
0.8 m.
swung in a vertical circle at the end of a

Knowing that when
= 60" the tension
25 N, determine the instantaneous velocity and acceler-
ation of the ball.
12.46
ball of weight
is
released with no velocity from
and oscillates in a vertical plane at the end of a cord of

length I. Determine (a) the tungential component of the acceleration
in position B in terms of the angle 6, (b) the velocity in position B
in terms of 6, 9
and /, (t) the tension in the cord in terms of YV
and 6 when the ball passes through its lowest position C, (d) the
value of 8 n if the tension in the cord is T = 2\V when the ball passes
position
lt
through position C.
Fig.
P12.45 and P12.46
SECOND LAW
513
514 DYNAMICS
1
2.47
is
2.48
A man
held as shown
is
then cut. Determine
(ft)
full of
What
m.
is
water
a vertical plane
in
the .smallest velocity that the
bucket should have at the top of the circle

Fig.
the acceleration
has been cut.
swings a bucket
in a circle of radius 0,75
by two wires
the tension in wire
(a)
CD and
the tension in wire
AB
of the sphere just after
small sphere of weight
AB and CD. Wire AB

CD before AB was cut,
if
no water
be spilled?
is to
P12.47
1
2.49
that at point
]75-lb pilot Hies a small plane in a vertical loop of 400-fl
Determine the speed of the plane
radius.
at points
A and
B,
knowing
the pilot experiences weightlessness and that at point
the pilot's apparent weight
is
600
lb.
\
\
100
ft
>
\
I
p-500ll
Straight
Fig.
P12.49
12.50 Three automobiles are proceeding at a speed of 50 mi

along the road shown. Knowing that the coefficient of friction between
and
the tires
the road
of each automobile
is
if its
0.60,
determine the tangential deceleration
brakes are suddenly applied and the wheels
skid.
The rod CM 7}
2.51
rotates in a vertical plane at a constant rate
such that the speed of collar

the rod between
two stops
between the stops
is
(.'
is
1.5
A and
m/s. The collar

B.
Knowing
is
in
is
12.52
Fig.
P12.51
on
only slightly larger than the collar and neglecting
the effect of friction, determine the range of values of

collar
free to slide
that the distance
for
which the
contact with stop A.
Express the
minimum and maximum
safe speeds,
with
banked road, in terms of

the radius r of the curve, the banking angle 0, and the friction angle
ci between the tires and the pavement.
respect to skidding, of a car traveling on a
2.53
A man on
road at 72 km/'h.
minimum
If
a motorcycle takes a turn on a
the radius of the turn
value of the coefficient of friction
flat
unbanked
50 m, determine the
between the tires and
is
the road which will ensure no skidding.
2.54 What angle of banking should be given

if the man on the motorcycle is to be able
km/h with a coefficient of friction ji = 0.30?
to the road in Prob.
12.53
to take the turn at
72
12.55 A
SECOND LAW
Stunt driver proposes lo drive a small automobile on the
40 ft. Knowing that the coeffibetween the tires and the wall is 0.6.5, determine the
minimum speed at which the stunt can be performed.
vertical wall of a circular pit of radius
cient of friction
12.56
The assembly shown rotates about a vertical axis at a

Knowing that the coefficient of friction between the
small block A and the cylindrical wall is 0.20, determine the lowest
constant rate.
speed
D for
2.57
which the block
will
Fig.
;/
with the wall.
in contact
along a horizontal circle
small ball rolls at a speed c
inside the circular cone shown.
height
remain
Express the speed D
The
inside surface of the
bowl
2.59 Assuming
fa:*,
where n
(/
that the equation of the curve
is
axis.
;/
mine the required equation of the curve

is to be proportional to the distance X from the
a surface of
is
OA about the
OA if the speed
P12.58
along a horizontal circle
small ball rolls at a speed v
revolution obtained by rotating the curve
Fig.
P12.57
12.58
is
P12.56
above the apex of the cone.
of the path
inside a bowl as shown.
Fig.
terms of the
in
Deter-
r n of the ball
axis to the ball.
OA
in Prob. 12.58
an arbitrary positive number, express the speed

above the origin.
in terms of the height y of the path
12.60
In the cathode-ray tube shown, electrons emitted by the
Anode
cathode and attracted by the anode pass through a small hole in the
anode and keep traveling in a straight line with a speed D until they
strike the screen at A.
established between the
subjected to a force
between the
r!
However, if a difference of potential V is

two parallel plates, each electron will be
perpendicular to the plates while
plates and will strike the screen at point
from A. The magnitude of the force
the charge of the electron and
Derive an expression
of the electron,
</ is
is
at
it
travels
a distance
eV/d, where
is
the distance between the plates.
terms of
V,
i;
mass m, and the dimensions
cl,
t,
for the deflection S in

its
/'
(l
the charge
and L.
Fig.
P12.60
Screen
51 5
516 DYNAMICS
2.61
manufacturer wishes to design a new cathode-ray tube

be only half as long as his current model. If the size of
the screen is to remain the same, how should the length / of the plates
be modified if all the other characteristics of the circuit are to remain
1
which
will
unchanged? (Sec Prob. 12.60

1
2.62
for description of
cathode-ray tube.)
In Prob. 12.60, determine the smallest allowable value of
the ratio d/l in terms of
e,
m, v
and
if
the electrons are not to
strike the positive plate.
1 2.63
A cathode-ray tube emitting electrons with a velocity v is
placed as shown between the poles of a large electromagnet which
creates a uniform magnetic field of strength B. Determine the coordi-
nates of the point where the electron
when no
difference of potential exists
that an electron (mass
and charge
beam
strikes the
between the
plates.
e) traveling with
tube screen
It is
known
a velocity v at
a right angle to the lines of force of a magnetic field of strength
F =
subjected to a force
eB
is
v.
Fig.
P12.63
Momentum of a Particle. Rate of

of Angular Momentum. Consider a particle P of
mass in moving with respect to a newtonian frame of reference
Oxyz. As we saw in Sec. 12.2, the linear momentum of the
12.6. Angular
Change
particle at a given instant
is defined as the vector mv obtained by

multiplying the velocity v of the particle by its mass m. The
moment about O of the vector mv is called the moment of
momentum,
that instant
moment
or the angular
momentum, of the
and is denoted by
of a vector (Sec. 3.5),
vector of
P,
we
write
particle about
O at
Recalling the definition of the
and denoting by
the position
H = r X mv
(12.12)
and note that H is a vector perpendicular

ing r and mv, and of magnitude
H =
where 6
is
between
the angle
rmv
sin
and
mv (Fig.
may be determined from
to the plane contain-
(12.13)
12.12).
The
sense of
mv
by applying the
right-hand rule. The unit of angular momentum is obtained by
multiplying die units of length and of linear momentum (Sec.
12.3). With SI units we have
(m)(kg
the sense of
m/s)
while, with U.S. customary units,

(ft)(lb
Resolving the vectors
formula
(3.10),
we
we
= ft
s)
and
kg
mv
write
lb
of
which
(12.14)
mv.
also represent the
in (12.14).
m{yv2
Hy =
Ht =
m(zvx
- zvy
- xt;J
m(xvy
moments
of the
v,
angular
and the components
momentum
is
We
have
(12.15)
ijv )
x
In the case of a particle moving
and applying
momentum mv about the coordinate axes, may be obtained
by expanding the determinant
into components,
mo. mv
linear
m 2 /s
write
H
The components
Fig. 12.12
in the xij plane,
Hx and //
we have
reduce to zero.
thus perpendicular to the xy plane;
The
it is
then completely defined by the scalar
H =
H,
m(xv y
yv r )
(12.16)
which will be positive or negative, according

which the particle is observed to move from O.
nates are used,
into radial
we
resolve the linear
H = nnv sinrj) =
from (11.45) that v 6
If
momentum
and transverse components
or, recalling
to die sense in
(Fig.
rmv e
polar coordi-
of the particle
12.13)
and write
(12.17)
rt).
H = mr 2e
(12.18)
Fig. 12.13
SECOND LAW
51
518 DYNAMICS
We
now compute the derivative with respect to

momentum H of a particle P moving in space.
shall
angular
entiating both
members
of Eq. (12.12),
and recalling the
the differentiation of a vector product (Sec. 11.10),
of the
Differ-
rule for
we
write
H = f X mv + r X mv v X mv + r X ma
Since the vectors v and
expression obtained
equal to the sum

r
x 2F
is
wc
are collinear, the
first term of the

by Newton's second law, ma is
of the forces acting on P. Noting that
2F
represents the
these forces,
mv
zero; and,
SM
sum
moments about
of the
of
write
^M = H
Equation (12.19), which
(12.19)
results directly
from Newton's second
sum of the moments about O of the forces

is equal to the rate of change of the moment
law, expresses that the
acting on the particle
of momentum, or angular momentum, of the particle about O.

1 2.7. Equations of Motion in Terms of Radial and
Transverse Components. Consider a particle P, of polar
coordinates
and
0,
which moves
in a plane
under the action of
several forces. Resolving the forces
and the acceleration of the

particle into radial and transverse components (Fig. 12.14), and
substituting into Eq. (12.2), we obtain the two scalar equations
SR
Substituting for a r
and a
2FS = ma*
ma,.
from Eqs.
2FT =
2Fe =
m(f
m(rO
(11.46),
r6 z)
+ m)
The equations obtained may be solved
Fig.
12.14
for
(12.20)
we have
(12.21)
(12.22)
two unknowns.
Equation (12.22) could have been derived from Eq. (12.19).

Recalling (12.18) and noting that
r2Fe
Eq. (12.19) yields
d_
= 4('nr20)
= m(r
and, after dividing both
2M = rZFe
+ 2rr0)
members by
2F8 =
m(r6
r,
2r6)
(12.22)
12.8. Motion under a Central Force. Conservation

of Angular Momentum. When the only force acting on a
particle P is a force F directed toward or away from a fixed point
O, the particle is said to be moving under a central force, and the
point
is
referred to as the center offorce (Fig. 12.15). Since the
line of action of
any given
instant.
passes through O,
we
~M =
must have
Substituting into Eq. (12.19),
we
at
therefore
obtain
H o =0
for all values of
or, integrating in
H =
We
thus conclude that
moving under a
tlie
central force
t.
constant
angular
is
(12.23)
momentum
Fig.
12.15
of a particle
constant, both in magnitude
and
direction.
Recalling the definition of the angular

(Sec. 12.6),
we
momentum
of a particle
write
=H =
constant
(12.24)
from which it follows that the position vector r of the particle P

must be perpendicular to the constant vector H
Thus, a particle under a central force moves in a fixed plane perpendicular to
H The vector H and the fixed plane are defined by the initial
position vector r and the initial velocity v of the particle. For
convenience, we shall assume that the plane of the figure coincides with the fixed plane of motion (Fig. 12.16).
Since the magnitude H of the angular momentum of the
particle Pis constant, the right-hand member in Eq. (12.13) must
be constant. We therefore write
.
rmv
sin
<>
mv
sin
(12.25)
This relation applies to the motion of any particle under a
Fig. 12.16
SECOND LAW 519
520 DYNAMICS
central force. Since the gravitational force exerted by the sun on
a planet
a central force directed toward the center of the sun,
is
is fundamental to the study of planetary motion. For

a similar reason, it is also fundamental to the study of the motion
of space vehicles in orbit about the earth.
Eq. (12.25)
Recalling Eq. (12.18),

that the magnitude
P is
we may
alternatively express the fact
of the angular
momentum
of the particle
constant by writing
mr-0
or, dividing
unit mass
ll
constant
(12.26)
by ro and denoting by h the angular

/m,
r*9
momentum
per
(12.27)
7i
Equation (12.27) may be given an interesting geometric interpretation. Observing from Fig. 12.17 that the radius vector OP
sweeps an
infinitesimal area
dA
\r 2 dO as
it
rotates through an
angle dO, and defining the areal velocity of the particle as the
quotient dA/dt,
we
note that the left-hand
member
of Eq. (12.27)
represents twice the areal velocity of the particle.

Fig. 12.17
conclude
that,
areal velocity
when
is
We
thus
a particle moves under a central force,
its
constant.
12.9. Newton's Law of Gravitation. As we saw in the

preceding section, the gravitational force exerted by the sun on a
planet, or
example
by the earth on an orbiting
satellite, is
of a central force. In this section
we
an important
shall learn
how
to
determine the magnitude of a gravitational force.

In his law of universal gravitation, Newton states that two
particles at a distance r from each other and, respectively, of
mass
and in attract each other with equal and opposite forces
F and F directed along the line joining the particles (Fig.
12.18).
The common magnitude F of the two
forces
is
F = G Mm
(12.28)
C is a universal constant, called the constant of gravitaExperiments show that the value of G is (6.673
0.003) X 10" 11 mVkg ' S a in SI units, or approximately 3.44 X
10" s ft 4 /lb ' S4 in U.S. customary units. While gravitational
where
tion.
forces exist
between any pair of bodies,
ciable only
when one
effect of gravitational forces

tion of a planet
their effect
is
appre-
of the bodies has a very large mass.

is
The
apparent in the case of the mo-
about the sun, of satellites orbiting about the

on the surface of the earth.
earth, or of bodies falling
Since the force exerted by the earth on a body of mass

located on or near
surface
defined as the weight
is
substitute the magnitude

and the radius R of the earth for
F,
W of the
W = mg of the weight
we may
body,
for
its
in
r,
We
Eq. (12.28).
obtain
is
R'
or
the mass of the earth.
Since the earth
1X1
-=ts-jij
2
where
CM
= ^f
W=mg = ^fm
R
g
6
(12.29)
is
not truly
R from the center of the earth depends

point selected on its surface, and the values of \V
spherical, the distance
upon the
and g will thus vary with the
considered.
Another reason
the latitude
is
altitude
and latitude of the point

and g with
for the variation of
that a system of axes attached to die earth does
not constitute a newtonian frame of reference (see Sec. 12.1).

A more accurate definition of the weight of a body should therefore include a
component representing the
to the rotation of the earth.
9.781
m/s2
32.26 ft/s
The
in
or
32.09 ft/s 2
due
at the poles.
force exerted by the earth on a
space at a distance
from
The compulations
(12,28).
centrifugal force
Values of g at sea level vary from

2
or
at the equator to 9.833 m/s
its
center
will be
body
of mass
located
may be found from
somewhat
simplified
if
Eq.
we
note that, according to Eq. (12.29), the product of the constant

of gravitation (.' and of the mass
of the earth may be expressed
as
GM = gR2
(12.30)
where g and the radius R of the earth will be given their average
values g = 9.81 m/s 2 and R = 6.37 X 10 m in SI units.t or
g = 32.2 ft/s 2 and R = (3960 mi)(5280 ft/mi) in U.S. customary
units.
The discovery of the law of universal gravitation has often

been attributed to the fact that Newton, after observing an apple
falling from a tree, had reflected that the earth must attract an
apple and the moon in much the same way. While it is doubtful
that this incident actually took place, it may be said that Newton
would not have formulated his law if he had not first perceived
that the acceleration of a falling body must have the same cause
as the acceleration which keeps the moon in its orbit. This basic
concept of continuity of the gravitational attraction is more
easily understood now, when the gap between the apple and
the moon is being filled with long-range ballistic missiles and
artificial
t
earth satellites.
formula expressing g in terms of the latitude 6 was given in Prob. 12.1.

value of H is easily found if one recalls that the circumference of the
t'lTie
earth
is
2^R
40
108
in.
SECOND LAW
521
PROBLEM
S AMPLE
A
block
12.6
m may
of mass
on a
slide freely
is
released at a distance
component v r of the
Since
all
from O, express as a function of
r,
the
(a)
of
other forces are perpendicular to the plane of
shown acting on B
the force
is
perpen-
OA.
Equation* of Motion.
Using radial and transverse components:
+ S>1F = maT
+ \2F, = ma:
=
F=
a.
velocity of
the figure, the only force

dicular to
B along OA, (h) the magnitude

F exerted on B by the arm OA.
the horizontal force
Solutioi
arm OA which
Knowing that B
frictionless
rotates in a horizontal plane at a constant rate
Component
Substituting for f into
dv r
dv, dr
IT
dr dt
(1)
2f0)
(2)
we have
f,
dr
'
recalling that
(1),
rO-)
m{r'6
Since v r
vr of Velocity,
o*-
m(f
and separating the
n,
variables:
vr dvr
Multiplying by
2,
0%rdr
and integrating from
sf-Jftr*-f8
b.
llori/ontal
and substituting
SAMPLE PROBLEM
A
satellite
is
far*
to
r.
r^
F.
Making
=d
= 0, r = ur in Eq.
c r the expression obtained in part a:
,
F = tmBfi* - r$v%
p,
Force
for
and from
to v T
launched
F=
2,n0i(r*
(2),
12.7
in a direction parallel to the surface of the
earth with a velocity of 18,820
210 mi
mi/h from an altitude of 240 mi.

Determine the velocity of the satellite as it reaches its maximum
altitude of 2340 mi. It is recalled that the radius of the earth is
3960 mi.
Solution.
Since the satellite
toward the center

stant.
From Eq.
(12.13)
moving under a central force directed
is
its
</>
II
minimum
rA mv
A
momentum H
where both
of angular
rR
and
sin<> are
3960 mi + 240 mi
a = (18,820 mi/h) 3960 mi + 2340 mi
con-
momentum between
mvB
vB
522
is
constant
at B,
maximum. Expressing conservation

A and B:
vb
angular
wc have
rmv sin
which shows that v
is
of the earth,
12,550 mi/h
PROBLEMS
2.64 The
relations r
two-dimensional motion of particle
seconds, and 8
Ji
in radians.
in a horizontal plane,
and 8
2f
2
,
2.65 For
2.66
when
defined by the
t in
(a)
= 0, (b) =
s.
Fig.
P12.64 and P12.66
force acting
10(1
in seconds,
of a particle
cos 2wt) and
and 8
on the 2-kg particle
as
Fig.
P12.67
it
s.
The two-dimensional motion

r
is
the motion defined in Prob. 12.64, determine the radial
returns to the origin at
expressed in meters,
and moves
and transverse components
determine the radial
and transverse components of the
the relations
r is
the particle has a mass of 2 kg
If
of the force acting on the particle
where
l*t,
where
is
r is
defined by
expressed in
If the particle weighs 2 lb and

determine the radial and transverse
components of the force acting on the particle when (a) t = 0,
inches,
moves
in a horizontal plane,
(b) t
0.25
2.67
which
in radians.
s.
block
of
mass
rotates, the
frictionless
2.68
T in the cord, (b) the magnitude

on B by the arm OA.
ft,
2.69
Slider
C has
as the
arm
12 rad/s.
is
OA
of the horizontal
in.,
and 0
a mass of 250 g
is
8 rad/s.
and
oscillates in the radial slot
rotates in a horizontal plane at a constant rate
In the position shown,
moving outward along the

spring
arm
As the arm
Solve Prob. 12.67, knowing that the weight of the block
arm AB
exerted
3 lb and that
on the
(a) the tension
force
in
slide
cord wraps around a fixed drum of radius b and pulls the

with a speed bd
Express as a function of m, r, b, and
block toward
8
may
rotates in a horizontal plane at a constant rate 8
slot at the
it
is
compressed and exerts a force of 10
ing the effect of friction, determine
(a)
known
speed of
1.5
that the slider
m/s and
on the
slider.
is
that the
Neglect-
the components of the acceler-
ation of the slider, (b) the horizontal force exerted on the slider by the
arm AB.
PQ
y>
*"
S'
Fig.
P12.69
SECOND LAW 523
524 DYNAMICS
12.70
While aiming
at a
moving
target, a
man
rotates his
rifle
clockwise in a horizontal plane at the rate of 15 per second. Assuming that he can maintain the motion as the
rifle
is
fired,
determine
the horizontal force exerted by the barrel on a 45-g bullet just before
it
leaves the barrel with u muzzle velocity of 550 m/s.
12.71
of diameter
moves under a central force in a circular path

which passes through the center of force O, Show that
2
its speed is v = q/cos 0, where v is the speed of the particle at
point /J, directly across the circle from O. [Hint. Use Eq, (12.27) with
r
cosd],
12.72
Fig.
P12.71
particle
moves under a central force in a path defined

/eos nO, where n is a positive constant. Using
that the radial and transverse components of the
velocity are u r nv sin n& and v t = v cos nO, where i; is the velocity of the particle for ff 0, What is the motion of the particle when
n
and when n = 1?
particle
by the equation r
Eq. (12,27) show
12.73
For the particle and motion of Prob. 12.72, show

and transverse components of the acceleration are
l)(ig/r ) cos 3 nO and a = 0.
t
the radial
(n-
12.74
If
a particle of mass
shown
light circular rod as
of
magnitude F
The path
a
is
in./s,
and b
in.
constant
(I)
P12.74
kr directed
in.
is
(a)
is
k/m
is
attached to the end of a very
the rod exerts on the mass a force
toward the origin O, as shown in
(2).
observed to be an ellipse with semiaxes
Knowing
that the speed of the particle at
determine the speed at B.
the path at
Fig.
of the particle
in (I),
that
a,
(b)
Further knowing that the
equal to 16 s~ 2 , determine the radius of curvature of
and
at B.
12.75 Show
mined from the
that the radius r of the
radius
moon's orbit
may be
SECOND LAW 525
deter-
of the earth, the acceleration of gravity
the surface of the earth, and the time t required by the moon to
revolve once around the earth. Compute r knowing that 7 = 27.3
days.
at
12.76
Determine the mass of the earth from Newton's law of

knowing that it takes 94.14 min for a satellite to describe
circular orbit 300 mi above the surface of the earth.
gravitation,
a
2.77 Two
-solid steel
spheres, each of radius 100
mm,
are placed
so that their surfaces are in contact, (a)
Determine the force of gravitational attraction between the spheres, knowing that the density of
steel is 7850 kg/m 3
(b) If the spheres are moved 2 mm apart and
.
released with zero velocity, determine the approximate time required

for their gravitational attraction to bring
(Hint.
Assume the
12.78
chronous
Communication
orbit,
them back
into contact.
gravitational forces to remain constant.)
i.e.,
satellites
in a circular orbit
have been placed
in a
geosyn-
such that they complete one
full
revolution about the earth in one sidereal day (23 h 56 min), and thus
appear stationary with respect to the ground. Determine (a) the
altitude of the satellites above the surface of the earth, (b) the velocity
with which they describe their

U.S.
customary
Give the answers
orbit.
in
both SI and
units.
-0.5
12.79
Collar
B may
of radius 0.5 in with a speed
between
and B
is
=!&&-
on rod OA, which in turn mayThe collar is describing a circle

0.28 m/s when a spring located
slide freely
rotate freely in the horizontal plane.

i;,
released, projecting the collar along the rod with
m-
Fig.
P12.79
an initial relative speed 1:, = 0.96 m/s. Neglecting the mass of the rod,
determine the minimum distance between the collar and point O in
the ensuing motion.
2.80
A heavy ball
is
mounted on
vx
30
which rotates
shown, the speed of the
u horizontal rod
freely about a vertical shaft. In the position
and the ball is held by a cord attached to the

suddenly cut and the ball moves to position A' as the
rod rotates. Neglecting the mass of the rod, determine (a) the speed of
the ball in position A', (b) the path (on the x= plane) of the ball as it
moves from A to A'.
ball
is
shaft.
The cord
lfiin.
in./s
,A
is
Fig.
P12.80
526 DYNAMICS
Second transfer
orbit
2.81
Plans for an
unmanned landing
earth-retum vehicle to
call for the
mission on (he planet Mars
describe a circular orbit about
first
2200 km with a velocity of 2771 m/s. As

the planet at an altitude dA
vehicle will be inserted into an elliptic
point
the
passes
through
A,
it
orbit
transfer
by
firing
AvA = 1046' m/s. As

dB = 100 000 km, the
it
its
and increasing
engine
passes
through
point
R,
speed by
an altitude
its
at
vehicle will be inserted into a second transfer
by changing the direction of

speed by \vB = 22 m/s. Finally, as the
vehicle passes through point C, at an altitude dc = 1000 km, its speed
will be increased by A c = 660 m/s to insert it into its return trajectory. Knowing that the radius of the planet Mars is R 3400 km,
determine the velocity of the vehicle after the last maneuver has been
orbit located in a slightly different plane,
its
\
First transfer orbit
Return trajectory
Fig.
P12.81
velocity and reducing
its
completed.
12.82
around the
space tug describes a circular orbit of 6000-mi radius

In order to transfer
earth.
24,000-mi radius, the tug
engine as
its
it
is first
Fig.
2(10(1
2.83
radius
is
P12.83
it
by
velocity
be increased as
it
into the larger circular orbit?
P12.82
An Apollo spacecraft
around the moon with a
transfer
Fig.
to insert
tug's velocity
AB by firing
its
km
1
-2100 km
to a larger circular orbit of
passes through A, thus increasing
3810 mi/h. By how much should the

reaches
it
placed on an elliptic path
first
it
describes a circular orbit of 2400-km

velocity of 5140
placed on an elliptic path
AB
by reducing
4900 km/h as
it
passes through A. Determine
spacecraft as
it
approaches B on the
which
its
km/h. In order
to
to a smaller circular orbit of 2000-km radius, the spacecraft
velocity
circular orbit.
must be reduced
at
(a)
its
velocity to
the velocity of the
elliptic path, (h) the
to insert
it
value to
into the smaller
2.84
Solve Prob. 12.83, assuming that the Apollo spacecraft
is
be transferred from the orbit of 2400-km radius to a circular orbit

ISOO-kin radius and that its velocity is reduced to 4760 km/h as
to
of
it
passes through A.
2. 85
3-oz ball slides on a smooth horizontal table at the end of
a string which passes through a small hole in the table at 0.
length of string above the table

t>!
3.00
Knowing
ft/s.
determine
lb,
is r,
15
When
the
the speed of the ball
in.,
the breaking strength of the string
that
is
is
which can be achieved
(a) the smallest distance r
by slowly drawing the string through the hole,

speed v 2
(b) the
corresponding
Fig.
2.86
small ball swings in a horizontal circle at the end of a
with the vertical. The cord is

/, which forms an angle 6
i
then slowly drawn through the support at O until the free end is l
2
(a) Derive a relation between l lt l , 0,, and B
(b) If the ball is set in
2
cord of length
motion
length
so that, initially,
l
for
which 6 2
/,
= 600mm
and 0,
30, determine the
60.
Fig.
P12.86
*12.10. Trajectory of a Particle under a Central

Consider a particle P moving under a central force
propose to obtain the differential equation which defines
Force.
We
F.
its
trajectory.
Assuming that the force F is directed toward the center of

we note that and 2F, reduce respectively to F and
zero in Kqs. (12.21) and (12.22). We therefore write
force O,
m(r
m(rd
- r6 2 = -F
+ 2r6) =
(12.31)
(12.32)
These equations define the motion of P. We shall, however,

replace Eq. (12.32) by Eq. (12.27), which is more convenient to
use and which is equivalent to Eq. (12.32), as we may easily
check by differentiating it with respect to t. We write
r
=h
or
,d0
dt
(12.33)
P12.8S
SECOND LAW
527
528 DYNAMICS
Equation (12.33) may be used to eliminate the independent
variable t from Eq. (12.31). Solving Eq. ( 12.33) for 6 or dO/dt, we
have
$-M-\
dt
from which
it
(12 34)
r*
follows that
dr
= dL
cW
dO dt
dt
.._ d
r
hdL=
r
_,,_! (1)
(12.35)
V
dd\rl
dO
_ di^dO__h_d^
dO
dt
or, substituting for f
dt
from
dO
(12.35),
dO\rl\
r*df)l
'
dO'2
and r from (12.34) and (12.36), respectively,

and introducing the function u = 1/r, we obtain
Substituting for 6
into Eq. (12.31),
after reductions
In deriving Eq. (12.37), the force
O. The magnitude
F should
J?
<
F was assumed directed
O (attractive force)
O (repulsive force). If F is a known
thus of U, Eq. (12.37)
is
toward
differential equation defines the trajectory
if
function of
and
This
u and
followed by the parti-
a differential equation in
cle under the central force F.
12 37'
F is actually
and negative if F is directed
therefore be positive
directed toward
away from
The equation
0.
of the trajectory will
w as a
be obtained by
integration
from
constants
of
of
and
determining
the
function
8
solving the differential equation (12.37) for
the initial conditions.
* 12.11. Application to
Space Mechanics.
After
the last stage of their launching rockets has burned out, earth
and other space vehicles are subjected only to the

motion may therefore be
determined from Eqs. (12.33) and (12.37), which govern the
satellites
gravitational pull of the earth. Their
motion of a particle under a central force, after F has been

replaced by the expression obtained for the force of gravitational
attraction.!
Setting in Eq. (12.37)
F=
where
M = mass of earth
m = mass of space
we
= GMmu 2
vehicle
distance from center of earth to vehicle
\/r
obtain the differential equation
d 2u
cW 2
GM
where the right-hand member
is
observed
The
to
solution u s=
equation
C cos
(i.e.,
member equal
we write
= CM/h 2
{()
to zero).
Equation (12.39)
is
by
axis so that
CM + C cos
2
0,
(12.39)
the equation of a conic section (ellipse, parab-
which
is
origin
located at the center of the earth,
is
and
a focus of this conic section, and the polar axis
symmetry
obtained
setting the right-hand
Choosing the polar
hyperbola) in the polar coordinates
of the coordinates,
is
to the general
of the corresponding homogeneous
the equation obtained
The
be a constant.
solution of the differential equation (12.38)
by adding the particular solution u
ola, or
(12.38)
h2
is
0.
The
one of its axes of
(Fig. 12.19).
ratio of the constants
C and CM/li2 defines the eccentricity
of the conic section; setting
we may
C
GM/h 2
Fig. 12.19
Ch 2
GM
(12.40)
write Eq. (12.39) in die form

1
GM
h2
COS 0)
'12.39'
fit is assumed that the space vehicles considered here are attracted only
by the earth and that their mass is negligible compared to the mass of the earth.
If a vehicle moves very far from the earth, its path may be affected by the
attraction of the sun, the moon, or another planet.
SECOND LAW 529
530
DYNAMICS
Three cases may be distinguished:
1.
>
C> GM/h
and -0, of the

for which the
right-hand member of Eq. (12.39) becomes zero. For both of
these values, the radius vector r becomes infinite; the conic
or
1,
polar angle, defined
There are two values
by
= GM/CfP,
cosflj
is a hyperbola (Fig. 12.20).

or C = GM/h2: The radius vector becomes infinite for
]80; the conic section is a parabola.
section
2.
3.
e
f)
<
1,
< GM/h 2
or
every value of
0; the
when
ular case
The
=C=
shall see
now how
is
an
In the partic-
ellipse.
vector
0, the length of the radius
constant; the conic section
We
radius vector remains finite for
conic section
is
is
circle.
C and GM/h 2 which

vehicle may be determined
the constants
characterize the trajectory of a space
from the position and the velocity of the space vehicle at the
flight. We shall assume, as it is generally the
beginning of its free

case, that the
way
such a
powered phase
of
its flight
has been
programmed in
the launching rocket burns
that, as the last stage of
out, the vehicle has a velocity parallel to the surface of the earth
(Fig.
we
In other words,
12.21).
vehicle begins
its
shall
assume
free flight at the vertex
Denoting respectively by
(l
and
of the vehicle at the beginning of
the velocity reduces to
its
of
its
trajectory.*
the radius vector and speed
its
diat the space
free flight,
we
observe, since
transverse component, that D
Recalling Eq. (12.27), we express the angular momentum per unit
mass
as
/i
Fig. 12.20
The value obtained
\, Free
GM/h
flight
2
.
We
for
h may be used to determine the constant

compulation of this constant will
if
wc
use the relation indicated in Sec. 12.9,
GM =
Powered
(12.41)
ro v
also note that the
be simplified
Burnout
gfi
(12.30)
where /i is the radius of the earth (R = 6.37 X 10 6 m or 3960 mi)

and g the acceleration of gravity at the surface of the earth.
The constant C will be determined by setting 9 = 0, r = r in
flight
Eq. (12.39);
we
obtain
- ,aunchine
1
c = -L-
Fig. 12.21
GM
(12.42)
h2
Problems involving oblique launchings will be considered
in
Sec. 13.9.
KINETICS
we may
Substituting for h from (12.41),
terms of
and v
then easily express
OF PARTICLES: NEWTON'S SECOND LAW
in
Let us now determine the initial conditions corresponding to

each of the three fundamental trajectories indicated above.
Considering
GM/h 2
in
first
the parabolic trajectory,
Solving for v
(12.42).
we
set
equal to
obtain
On
We may
we
Eq. (12.42) and eliminate h between Eqs. (12.41) and
easily
2GM
check that a larger value of the
initial
velocity
corresponds to a hyperbolic trajectory, and a smaller value to
an
elliptic orbit.
trajectory
is
not return to
We
Since the value of
its
starting point,
obtained for the parabolic-
which the space vehicle does
die smallest value for

it
called the escape velocity.
is
write therefore
m*
2GM
or
if
we make
be
use of Eq. (12.30).
hyperbolic
(1)
elliptic
if
Among
>
if
We note
that the trajectory will
parabolic
(2)
esc ;
the various possible elliptic orbits, one
value of the
initial
which
is
of special
C=
0.
The
is
found to be
or
Eq. (12.30)
is
^clrc
where
(.3.44,
We may note from Fig.

comprised between v circ and v 0KC
free flight begins
to the earth; this point
farthest
-/
taken into account.
12.22 that, for values of v
is
(3)
velocity corresponding to a circular orbit
r
'o
point
is
obtained when
IGM
if
= v^;
if
< o^.
interest, the circular orbit,
easilv
t;
(12.43)
is
is
the point of the orbit closest
called the perigee, while point A',
away from the
earth,
is
known
which
as the apogee.
For
values of o smaller than c cire point A becomes the apogee, while

,
point A", on the other side of the orbit, becomes the perigee.
For values of v much smaller than u clrc the

,
trajectory of the
space vehicle intersects the surface of the earth;

the vehicle does not go into orbit.
Ballistic missiles,
which are designed
realize that
any object projected
such a case,
to hit the surface of the
earth, also travel along elliptic trajectories.
now
in
in
In fact,
we
vacuum with an
should
initial
un <
Fig. 12.22
i;
clrc
531
532
DYNAMICS
velocity v
only
It is
move along an
winvolved
arc
smaller than o
when
path
done
elliptic path.
small that the gravita-
the distances
tional field of the earth

elliptic
will
may be assumed
may be approximated by
uniform, and that the
a parabolic path, as
was
earlier (Sec. 11.11) in the case of conventional projectiles.
An
Periodic Time.
of an earth satellite
describe
its orbit.
the satellite and
important characteristic of the motion

the time required by the satellite to
is
This time
known
is
denoted by
is
as the periodic time of
We
t.
observe, in view of
first
die definition of the areal velocity (Sec. 12.8), that t
may be
obtained by dividing the area inside the orbit by the areal velocity. Since the area of an ellipse is equal to tab, where a and
b denote, respectively, the semimajor and semiminor axes, and
since the areal velocity
equal to
is
/i/2,
we
write
2-rrab
(12.45)
While h may be readily determined from
and v in the case
of a satellite launched in a direction parallel to the surface of
the earth, the semiaxes a and b are not directly related to the
initial
f,
of
easily
conditions.
Since,
on the other hand, the values
corresponding to the perigee and apogee of the orbit
be determined from Eq.
semiaxes a and b in terms of
Consider the
elliptic orbit
we
(12.39),
and
shown
r
shall express
and
may
the
r,.
in Fig. 12.23.
The
earth's
and coincides with one of the two foci

of the ellipse, while the points A and A' represent, respectively,
the perigee and apogee of the orbit. We easily check that
center
Fig.
is
located at
+ r, =
2a
12.23
and thus
Recalling that the

to
any point of the
O'B
On
sum
\{r
(12.46)
r )
t
of the distances from each of the foci
ellipse
is
constant,
+ BO = O'A + OA =
the other hand,
we
la
we have CO
write
or
BO =a
We may
therefore
write
&
(BC) 2
=
b
- {COf = a 2 -(a- r f
= rr
(2a - r
(BO) 2
and thus
b
= VvT
(12.47)
Formulas (12.46) and (12.47) indicate that the scmimajor and

scmiminor axes of the orbit are respectively equal to the arithmetic and geometric means of the
values of die radius vector.
Once
maximum and minimum
may
and
have been deter-
r,
computed
and substituted for a and b in formula (12.45).
* 12.1 2. Kepler's Laws of Planetary Motion. The
equations governing the motion of an earth satellite may be used
to describe the motion of the moon around the earth. In that
case, however, the mass of the moon is not negligible compared
to the mass of the earth, and the results obtained are not entirely
mined, the lengths of the semiaxes
thus be easily
accurate.
The
theory developed in the preceding sections
may
also
be
applied to the study of the motion of the planets around the

sun.
While another error
is
introduced by neglecting the forces
exerted by the planets on each other, the approximation obtained

excellent. Indeed, the properties expressed by Eq. (12.39),
where
now represents the mass of the sun, and by Eq. (12.33)
had been discovered by the German astronomer Johann Kepler
(1571-1630) from astronomical observations of the motion of the
planets, even before Newton had formulated his fundamental
is
theory.
Kepler's three lows of planetary motion
may be
stated as
follows:
1.
Each planet describes an

of
2.
ellipse,
with the sun located
at
one
its foci.
The
radius vector
drawn from die sun
to
a planet sweeps
equal areas in equal times.

3.
The squares
tional to the
The
first
in Sec.
law
of the periodic times of the planets are propor-
cubes of the semimajor axes of their
states a particular case of the result established
12.11, while the
velocity of each planet
law may
also
orbits.
is
second law expresses that the areal

constant (see Sec.
be derived from the
(See Prob. 12.104
results
12.8).
Kepler's third
obtained in Sec. 12.11.+
SECOND LAW 533
36800 km
SAMPLE PROBLEM
A
satellite
12.8
launched
is
a direction parallel to the surface of the
in
km/h from an
by
earth with u velocity of 36 900
Determine
(a)
maximum
the
500 km.
altitude of
altitude reached
the satellite, (b) the
periodic time of the satellite.
500
km
Maximum
a.
Altitude.
After launching, the satellite
only to the gravitational attraction of the earth;
governed by Eq.
f -,\
(1)
Since the radial component of the velocity
we have h r v
R = 6370 km, we compute
launching A,
6370
36 900 km/h
=
=
ri)
4.96
thus
CM + f,Ccos0n
= -^-
h?
is
12.39).
is
subjected
is
motion
its
km +
km =
500
(6.87
10 n
km =
^X m
106 m)( 1.025
6870
=
4
zero at the point of
is
Recalling that the radius of the earth
106
1.025
10*
6.87
104 m/s)
m
m/s
7.04
10 10
m 2/s
/s 2
CM = gfl 2 where R is the radius of the earth, we have

CM = gfl 2 = (9.81 m/s2 )(6.37 X 106 m) 2 = 3.98 X 10" m 3 /s 2
CM _ 3.98xlOmVs' _ 8 '3 X 10 8 m _,
Since
ft
"
4.96
1021
mVs 2 "
Substituting this value into
-=
8.03
A we
Noting that
at
we compute
the constant C.
6.87
10"
point
8.03
we
(1),
obtain
have 6
10
+ C cos
10" s
+ C cos
and
(2)
C=
6.87
6.53
At A', the point on the orbit farthest from the earth,
180.
Using
b
r,
B_
b.
N,
'1
10- R
0.667
10s
(6.53
m =
10
66 700
j(f
v^ =
2-Ttab
cos 180
km
Since
A and
A' are the perigee and apogee,
we
i(6.87
66.7)(10
2b-(36.S
104
7.03
10s
10 ,0
s
km
of the orbit.
m=
36.8
m = 21.4 X
10" m)(21.4
7.04
80 300
use Eqs. (12.46) and (12.47) and
V(6.87)(66.7)
i,.
km - 6370 km =
Tj)
we have
66 700
compute he semimajor and semiminor axes
=
=
10r 8 T.-1
the corresponding distance

-8
10 6 m,
altitude
Periodic Time.
--r -~
8.03
respectively, of the elliptic orbit,
h
-
Maximum
we compute
(2),
10 6
10"
10s m)
m 2 /s
1
171
min
19 h 31
min
-^
SECOND LAW
535
PROBLEMS
1
2.87 A
spacecraft
is
describing a circular orbit at an altitude of
240 mi above the surface of the earth when its engine is fired and its
speed increased by 4000 ft/s. Determine the maximum altitude
reached by the spacecraft.
1 2.88 A space tug is used to place Communication satellites into a

geosynchronous orbit (see Prob. 12.78) at an altitude of 22,230 mi
above the surface of the earth. Knowing that the tug initially describes
a circular orbit at an altitude of 220 mi, determine (a) the increase in
speed required at
geosynchronous
an
to insert the tug into
the increase in speed required at
(b)
elliptic transfer orbit,
to insert the
tug into the
orbit.
Fig.
2.89
Plans for an
unmanned landing
call for the earth-return
the planet. As
it
vehicle to
first
passes through point
P12.88
mission on the planet Mars
describe a circular orbit about
Second
transfer orbit
the vehicle will be inserted
into an elliptic transfer orbit by firing its engine and increasing its
speed by lvA As it passes through point B, the vehicle will be inserted
into a second transfer orbit located in a slightly different plane, by
changing the direction of its velocity and by reducing its speed by
.
Ac B
Finally, as the vehicle passes through point C,
increased by
Sv c
to insert
it
into
its
its
return trajectory.
speed will be
Knowing
that
Mars is R = 3400 km, that its mass is 0.108

times the mass of the earth, and that the altitudes of points A and B
are, respectively, dA = 2500 km and dB 90 000 km, determine the
increase in speed At 4 required at point A to insert the vehicle into its
the radius of the planet
first
transfer orbit.
2.90 For
the vehicle of Prob. 12.89,
it is
known
that the altitudes
and C are, respectively, dA = 2500 km, dB = 90 000 km,

and d = 1000 km. Determine the change in speed lc B required al
point B to insert the vehicle into its second transfer orbit.
dc
2.91
For the vehicle of Prob.
it
is
known
that the altitudes
quired at point
12.89,
and C are, respectively, dB = 90 000 km and

1000 km. Determine the minimum increase in speed Av re-
points
to insert the vehicle into
an escape trajectory.
2.92 For the vehicle of Prob. 12.89, it is known

7? is d
B = 90 000 km. If, for a given mission,
that the altitude
the speed of the

215 m/s immediately after its insertion into the second
transfer orbit, determine (a) the altitude of point C, (b) the speed of the
vehicle as it approaches point C, (c) the eccentricity of the return
trajectory if the speed of the vehicle is increased at C by
of point
vehicle
Ac c
is
630 m/s.
Fig.
of points A, B,
of
\
First transfer orbit
P12.89
Return trajectory
536
DYNAMICS
12.93
After completing their inoon-exploration mission, the two
astronauts forming the crew of an Apollo lunar excursion
(LEVI) prepare to rejoin the
command module which
is
module
orbiting the
moon at an altitude of 85 mi. They fire the LEM's engine, bring it

along a curved path to a point A, 5 mi above the moon's surface, and
Knowing
shut off the engine.
that the
LEM
moving
is
direction parallel to the moon's surface and that

elliptic path to a
mine
(a) the
rendezvous
speed of the
at
B with
LEM
the
it
at that
time in a
will coast along an
command module,
at engine shutoff,
(/;)
deter-
the relative
which the command module will approach the LEVI at

(The radius of the moon is 1080 miles and its mass is 0,01230 times
velocity with
8.
the mass of the earth.)
Fig.
P12.93
12.94
module
is
12.95
Solve Prob.
2.96
at
assuming that the Apollo
an altitude
of
command
55 mi.
Referring to Prob. 12.89, determine the time required for
the vehicle to describe
12.93,
moon
orbiting the
its first
transfer orbit
form
to B.
Referring to Probs. 12.89 and 12.90, determine the time
required for the vehicle to describe
second transfer orbit from B
its
to C.
12.97 Determine
from A to B.
the time required for the
LEM of Prob.
.1
2.93 to
travel
2.98
Determine the time required
12.88 to travel from
for the
space tug of Prob.
to B.
2.99
Determine the approximate time required for an object to

being released with no velocity
from a distance equal to the radius of the orbit of the moon, namely,
1
fall
to the surface of the earth after
239,000 mi. (Hint. Assume that the object

velocity in a transverse direction, say, c 6
is
given a very small

1 ft/s,
An examination of
must be approximately equal
periodic time t of the object on the resulting orbit.

the orbit will
to Jt.)
show
that the time of
fall
initial
and determine the
12.100 A
km above
:5200
SECOND LAW 537
spacecraft describes a circular orbit at an altitude of
Preparatory to reentry
the earth's surface.
it
reduces
speed to a value c = 5400 m/s, thus placing itself on an elliptic

trajectory. Determine the value of 8 defining the point li where
splashdown will occur. (Hint. Point A is the apogee of the elliptic
its
trajectory.)
12.101
km
3200
on an
itself
spacecraft describes a circular orbit at an altitude of
above the
Determine v so
to
earth's surface.
thai
Upon
LEM's
the
return to the
is
faces to the rear. After completing a
again through B, the
LEM
is
command module,
turned around so that the

full orbit, i.e.,
cast adrift
I,
3200
km
Fig.
P12.100 and P12.101
the
KM
as the craft passes
and crashes on the moon's
Determine the velocity of the LEM relative to

as it is cast adrift, knowing that the angle BOC
surface at point C.
command module
90,
Point B
(Hint.
12.103
Upon
is
the apogee of the elliptic crash trajectory.)
LEM's
the
return to the
Apollo spacecraft of Prob. 12.93
is
command module,
relative to the
l.EM
2.1
04
is
cast adrift
on the moon's surface.
i.e.,
as the craft passes
with a velocity of 600 ft/s
command module. Determine
will crash
(12.39)
LEM
the
LEM
faces to the rear. After completing a full orbit,
again through B, the
places
120. (See hint of Prob. 12.100.)
12.102
is
it
the
Preparatory to reentry
by reducing its speed to a value t

splashdown will occur at a point B corresponding
elliptic trajectory
the point
C where
the
(See hint of Prob. 12.102.)
Derive Kepler's third law of planetary motion from Eqs.
and
(12.45).
12.105
(a)
Express the eccentricity
of the elliptic orbit de-
scribed by a satellite about the earth (or any other planet) in terms of
the distances r and
apogee of the
r,
corresponding, respectively, to the perigee and
orbit. (h)
Use the
result
obtained in part a to determine
the eccentricities of the two transfer orbits described in Probs. 12.89
and
12.90.
Earth
12.106
Two
space stations S, and S, are describing coplanar
circular counterclockwise orbits of radius
around the
earth.
It
is
rn
and 8r
respectively,
desired to send a vehicle from S, to S 2
The
be launched in a direction tangent to the orbit of S] and is

After a short
to reach S 2 with a velocity tangent to the orbit of S 2
powered phase, the vehicle will travel in free flight from S, to S 2
vehicle
is
to
S 2 at lime
Determine the launching velocity (velocity of the vehicle relative to

defining
Si) in terms of the velocity v of S v (b) Determine the angle
(a)
the required position of S 2 relative to S, at the time of launching.
nf
S 2 ul time of launching -^
Fig.
P12.106
docking
538 DYNAMICS
Parabolic trajectory
* 1 2. 1 07 A space vehicle is inserted at point A, at a distance rn

from the center O of the earth, into a parabolic trajectory, (a) For any
position B of the vehicle on its trajectory, express the distance r from O
to B and the time t elapsed since the insertion of the vehicle into its
trajectory in terms of 0,
g,
and the radius
of the earth, {b)
Use the
obtained in part a, assuming r 4300 mi, to determine the time

required for the space vehicle to reach a distance / equal to the radius
result
Earth
Fig.
P12.107 and P12.108
of the orbit of the
* 1 2.108 A
from the center
position
moon
(239,000 mi).
space vehicle
O of the earth,
of the vehicle on
and the radius R of the earth

vehicle, (b) the angle
<p
is
inserted at point A, at a distance r
into a parabolic trajectory, (a) For
its
(a)
trajectory, express in terms off, r
any
,
g,
the magnitude of the velocity v of the
that v forms with the line OB.
REVIEW PROBLEMS
12.109 A
made
bucket
radius
Fig.
P12.109
bucket
is
Drops
of
and strike the floor along the perimeter of a

Determine the radius a when
= 30.
fall
a.
2.1
Determine the radius a in Prob.

is 5 m/s.
(The angle 6
speed of the bucket
12.111
L = 1.2 and is
water leaking from the
attached to a rope of length
to revolve in a horizontal circle.
circle of
12.109, assuming that the

is
not 30 in this case.)
Determine the required tension T if the acceleration of

2
is to be (a) 6 ft/s
upward, (b) 6' ft/s 2 downward.
the 500-lb cylinder
200
Fig.
(a)
lb
P12.111 and P12.112
T = 300
Determine the acceleration of the 200-lb cylinder

T = 800 lb.
lb, (b)
if
12.1 13
series of small packages,
bell at a constant speed
Knowing
belt
do not
slip
maximum
determine the
0.75,
is
being moved by
conveyor
passes over an idler roller as shown.
v,
with respect to the
between the packages and the
value of v for which the packages
belt.
Fig.
12.1 14 A 4-kg collar slides without friction along a rod which

forms an angle of 30 with the vertical. The spring, of constant
k = 150 N'/m, is unstretched when the collar is at A. Determine the
initial
acceleration of the collar
if it is
released from rest at point B.
0.5 ni-
www/nfi,'
Fig.
P12.114
12.115
(a)
of the radius
Express the rated speed of a banked road in terms
and the banking angle
of the curve
(b)
8.
What
is
the apparent weight of an automobile traveling at the rated speed?

(See Sample Prob. 12.5 for the definition of rated speed.)
12.1 16
Denoting by
the terminal speed of an object dropped
v,
from a great height, determine the distance the object will

its
speed reaches the value
of the air
is
12.117
|t>,.
Assume
before
fall
that the frictional resistance
proportional to the square of the speed of the object.
spacecraft
is
describing a circular orbit of radius r
with a speed v around an unspecified celestial body of center O,

its
engine
is
suddenly
v n to
av n where
from
fired,
< a? <
2.
Show
that the
maximum
reached by the spacecraft depends only upon
express the ratio rmax/r
when
increasing the speed of the spacecraft from
as a function of a.
distance
r nlllx
and
and
o,
P12.113
SECOND LAW 539
540 DYNAMICS
12.1 18
32
Iff
In order to place a satellite in a circular orbit of radius
km
around the
earth, the satellite
projected horizon-
is first
from A at an altitude of ,500 km into an elliptic path whose

apogee A' is at a distance of 32 X 103 km from the center of the earth.
tally
Auxiliary rockets are fired as the satellite reaches A' in order to place
it
in its final orbit.
at
A,
Determine
(a)
the
initial velocity
(b) the increase in velocity resulting
from the
of the satellite
firing of the rockets
at A'.
2.1
The
rest.
9 Two packages
are placed on a conveyor belt which
is
A, and 0,10 between the belt and package

Fig.
P12.118
started to the right and slipping occurs
packages, determine
exerted by package
(a)
73.
If
the belt
between the
at
suddenly
is
and the
belt
(he acceleration of the packages,
A on package
is
0.20 between the belt and package
(b)
the force
B.
100 Hi
fin lb
O O O
Fig.
O O
12.120 Two
is
plates
15 incline.
and B, each of mass 50
The
between
P12.120
A and
placed as
between A and
the incline
is
0.20.
the plates are released from rest, determine the acceleration
each
plate,
(b)
Solve part a assuming that plates
together and act as a single rigid body.

Fig.
kg, are
0.10; the coefficient of friction
(a) If
of
P12.119
shown on a
and
are
welded
Kinetics
of Particles:
Energy and
Momentum
Methods
13.1. Introduction. In the preceding chapter, most problems dealing with the motion of particles were solved through
the use of the fundamental equation of motion F = ma. Given a
particle acted
upon by a
force F,
we
could solve
this
equation for
by applying the principles of kinematics, we could determine from a the velocity and position of the
particle at any time.
If the equation F = ma and the principles of kinematics are
combined, two additional methods of analysis may be obtained,
the method of work and energy and the method of impulse and
momentum. The advantage of these methods lies in the fact that
the acceleration
they
make
Indeed, the
a; then,
the determination of the acceleration unnecessary.
method
of
work and energy
relates directly force,
method of impulse
and momentum relates force, mass, velocity, and time.
The method of work and energy will be coasidered first. It is
based on two important concepts, the concept of the work of a
force and the concept of the kinetic energy of a particle. These
mass, velocity, and displacement, while the
concepts are defined

1
3.2.
Work
in the following sections.
of a Force.
Wc
shall
first
define the terms
displacement and work as they are used in mechanics, f Consider

a particle
which moves from a point
to a neighboring point A'
I The definition of work was given in Sec. 10.1, and Ihe basic properties of Ihc
work of a force were outlined in Sees. 10. 1 and 10.5. For convenience, we repeat
here the portions of (his material which relate to the kinetics of particles.
541
CHAPTER
13
542 DYNAMICS
(Fig. 13.1).
r denotes the position vector corresponding to
If
point A, the small vector joining

differential dr; the vector dr
is
and A' may be denoted by the
called the displacement of the
particle.
Now, let us assume that a force F is acting on the

The work of the force F corresponding to the displace-
ment dr
is
particle.
denned
as the quantity
dU = F
dr
(13.1)
obtained by forming the scalar product of the force F and of the

displacement dr. Denoting respectively by F and ds the magnitudes of the force and of the displacement, and by
the angle
formed by F and dr, and recalling the definition of the scalar

product of two vectors (Sec. 3.8), we write
dU = Fds<
Using formula
(13.1')
we may also express the work dU in terms

components of the force and of the displace-
(3.30),
of the rectangular
ment:
dU = Fx dx + Fy
dy
F.
dz
(13.1")
Being a scalar quantity, work has a magnitude and a sign, but no

Wc also note that work should be expressed in imits
obtained by multiplying units of length by units of force. Thus, if
direction.
or in
customary units are used, work should be expressed in ft lb

lb.
If SI units are used, work should be expressed in N
m.
The
unit of
U.S.
work N
is
called a joule
conversion factors indicated in Sec. 12.3,

ft
It
is
lb
(1 ft)(l lb)
of special interest.
work
dU
work dU
is
Recalling the
write
(0.3048 m)(4.448 N)
follows from (13.1') that the

acute, and negative
(J).t
we
1.356
positive
if
the angle
Three particular cases arc

If the force F has the same direction as dr, the
reduces to
if
F ds.
is
obtuse.
If
has a direction opposite to that of
work is dU = Fds. Finally, if F is perpendicular to dr,

the work dU is zero.
The work of F during a finite displacement of the particle
from A, to A 2 (Fig. 13.2a) is obtained by integrating Eq. (13.1)
along the path described by the particle. This work, denoted by
dr, the
L ,_ 2 ,
:
is
T'l'he joule (J)
is
the SI unit of energy, whether in mechanical form (work,
potential energy, kinetic energy) or in chemical, electrical, or thermal form.
should note thai, even though

expressed in
energy.
in,
and not
N-m = J,
moment
moment of a
the
in joules, since the
We
of a force must be
force
is
not a form of
U*
Using the alternate expression
and observing
till,
nent
(13.1') for the
(F cos ) as
where the variable of integration
= Fcosa
F,
F,
as
(1.3.2':
measures the distance trav-
eled by the particle along the path.
The work
(7,
2 is
curve obtained by
area under the
the
elementary work
F cos a represents the tangential compowe may also express the work U 1 2 as
U ,_ 2 =
sented by
(13.2)
that
of the force,
F,
F-dr
AND MOMENTUM METHODS 543
repre-
F cos a
plotting
against s (Fig. 13.2b).
When the force F is defined by its rectangular components, the

may be used
expression (13.1")
for the
We
elementary work.
write then
tfl-2
where the integration
is
'
(ft
to
dx
+ Fy dy +
it)
(13.2"
F, dz)
Fig. 13.2
be performed along the path de-
scribed by the particle.
Work of a Constant Force
Rectilinear Motion.
in
When
acted upon by a force F of

constant magnitude and of constant direction (Fig. 13.3), formula
particle
moving
in a straight line
is
(13.2') yields
U^ = (Fcosa) Ax
(13.3)
where a
angle the force forms with direction of motion
Ax
displacement from
A-,
to
A2
of a body is
Work of a Weight. The work of the weight
into (13.1") and
obtained by substituting the components of
(13.2"). With the y axis chosen upward (Fig. 13.4), we have
F,
0, F
= W,
F,
0,
and
we
write
\A.,
dU = -Wdy
LV 2 = L\_ 2
or
where Ay
is
down.
positive
Wt/ 2
(13.4)
= - W( ya - yj = - W A;/
is
(13.4')
to
A 2 The work
.
thus equal to the product of VV
vertical displacement
is
Wy,
the vertical displacement from
of the weight
work
Fwdy =
and of
the
of the center of gravity of the body. The
when Ay
<
0,
that
is,
when
the
body moves
Fig. 13.4
544
DYNAMICS
'
Spring
undeformed
|vwwwp
\AAAA/i/\/\
Work of the Force Exerted by a Spring. Consider a body

attached to a fixed point B by a spring; it is assumed that
the spring is undeformed when the body is at A (Fig. 13,5a).
Experimental evidence shows that the magnitude of the force

exerted by the spring on body A is proportional to the deflec-
tion x of the spring
measured from the position
F=
where k
and
kx
have
(13.5)
the spring constant, expressed in
is
SI units are used
A n We
N/m
in lb/ft or lb/in. if U.S.
or
kN/m
if
customary units
are used.t
The work
of the force
exerted by the spring during a
displacement of the body from Ajfx
x,) to
A.Jx
x2 )
finite
ob-
is
tained by writing
()
dU = -Fdx = -kxdx
L\., 2
= -j
*'kxdx
%kx\
~h k 4
(13.6)
Care should be taken to express k and x in consistent units. For

example, if U.S. customary units are used, k should be expressed
in lb/ ft and x in feet, or A: in lb/in. and X in inches; in the first
case, the work is obtained in ft lb, in the second case, in in lb.
We
note that the work of the force
on the body
returning to
positive
is
when
undeformed
its
Since Eq. (13.5)
is
x%
< xv
exerted by the spring
i.e.,
when
the spring
is
position.
the equation of a straight line of slope k
work U^ 2 of F during the disbe obtained by evaluating the

area of the trapezoid shown in Fig. 13.56, This is done by
computing
and F2 and multiplying the base Ax of the trapezoid by its mean height ^(F1 + F2 ). Since the work of the force
passing through the origin, the
placement from
(>>>
Fig. 13.5
to
A 2 may
/',
we
is
positive for a negative value of Ax,
write
c; i--2
-*(*;
Fa)
Ax
(13.6')
Formula (13.6') is usually more convenient to use than (13.6)

and affords fewer chances of confusing the units involved.
The
kx
correct under static conditions only.
Under dynamic
be modified to take (he inertia of the spring
into account. However, the error introdiiccd by using the relation F = fcr in
the solution of kinetics problems is small if the mass of the spring is small
compared with the other masses in motion.
f
relation
/'
is
conditions, formula (13.5) should
We
Work of a Gravitational Force.
saw
in Sec. 12.9 that
from each other and, respectively,

each
other with equal and opposite
and
m,
attract
of mass
forces F and F directed along the line joining the particles, and
two
particles at distance r
of
magnitude
Mm
F = G
Let us assume that the particle
while the particle
The work
occupies a fixed position
moves along the path shown
of the force
exerted on the particle
in Fig. 13.6.
to
component dr of the displacement. Since

toward O. the work is negative and we write
during an
A' may be
of
the
force
by the
the
magnitude
F
obtained by multiplying
infinitesimal displacement of the particle
from
radial
dU= -Fdr=
The work
7m
= rA
to
A 2 (r =
The formula obtained may be used

/
r ) is
2
to
finite displace-
The
earth; recalling the
letter
first
(13.7)
determine the work of
by the earth on a body of mass
from the center of the earth, when

of the earth.
during a
therefore
__|*!1*.2_2*!
the force exerted
directed
-G^P-dr
of the gravitational force
ment from Aj{r
is
is
M represents
m at
a distance
larger than the radius
then the mass of the
of the relations (12.29),
we may
thus
2
where R is
replace the product GMm in Eq. (13.7) by \VR
=
or
3960
mi) and
6.37 X 10 m
the radius of the earth (R
surface
of
the earth.
the value of the weight of the body at the
problems
of
encountered
in
frequently
number
of
forces
A
fixed
points
forces
applied
to
work.
They
are
no
kinetics do
,
fi
a direction perpendicular to the displacedie forces which do no work are the

following: die reaction at a frictionless pin when the body supported rotates about the pin, the reaction at a frictionless surface
when the body in contact moves along the surface, the reaction
at a roller moving along its track, and the weight of a body(rfc
0) or acting in
ment
(cos o
when
its
0).
Among
center of gravity moves horizontally.
545
546
DYNAMICS
Fig. 13.7
13.3. Kinetic Energy of a Particle.
Principle of
Work and Energy.
Consider a particle of mass in acted upon

by a force F and moving along a path which is either rectilinear
or curved (Fig. 13.7). Expressing Newton's second law in terms
of the tangential
components of the force and of the acceleration
we
(see Sec. 12.4),
write
R =
ma,
or
= m^-
F.
dt
where
i:
is
ds/dt,
the speed of the particle. Recalling
we
dv ds
dv
ds
ds
di
Integrating from A,, where*
and
u2,
wc
from Sec.
dt
A2
The
st wdv
F,ds
= mj
v dv
v 1 to
,
A 2 where s =
,
\mv\
|mef
s2
(13.8)
particle during the displacement
as indicated in Sec. 13.2, the
%mvs
is
work
L',_ 2
is
also a scalar quantity;
kinetic energy of the particle
and
is
b\.. 2 of the
from A
Substituting into (13.8),
to
it is
defined as the
denoted by
T.
We
write
(13.9)
we have
u
that,
a scalar quantify.
T = |mc 2
which expresses
that
write
F exerted on the
expression
.9
mi- dv
The left-hand member of Eq. (13.8) represents the work

force
1 1
obtain
1 ,
when
-T2 -
a particle
Tt
moves from
(13.10)
to
A 2 under

the action of a force F, the work of the force F
equal to the change
is
energy of the particle. This is known as the principle of

work and energy. Rearranging the terms in (13.10), wc write
in kinetic
T1 +
LV 2 =
(13.11)
72
Thus, the kinetic energy of the particle at A 2 may be obtained

by adding to its kinetic energy at A, the work done during the
to A 2 by the force F exerted on the particle.
second
law
from which it is derived, the principle
Xewton's
As
of work and energy applies only with respect to a newtonian
frame of reference (Sec. 12.1). The speed u used to determine
the kinetic energy T should therefore he measured with respect
to a newtonian frame of reference.
Since both work and kinetic energy are scalar quantities, their
sum may be computed as an ordinary algebraic sum, the work
displacement from A,
L,
negative according to the
as positive or
being considered
When
direction of F.
several forces act on the particle, the
expression l',_ 2 represents the total work of the forces acting

on the particle; it is obtained by adding algebraically the work
of the various forces.
As noted above, the kinetic energy of a particle is a scalar

It further appears from the definition T = fyntr that
quantity.
the kinetic energy
is
always positive, regardless of the direction
of motion of the particle. Considering the particular case

i-,
0, f 2
observe that
and substituting 1\
the work done by the
v,
0,
T2
when
we
into (13.10),
forces acting on the particle
Thus, the kinetic energy of a particle moving with

a speed o represents die work which must be done to bring the
is
equal to
T.
particle from rest to the

into (13.10),
we
speed
Substituting T,
c.
when
also note that,
Tand'f2 =
moving with
a particle
the work done by

Assuming that no energy is dissipated
into heat, we conclude that the work done by the forces exerted
by the particle on the bodies which cause it to come to rest is
speed v
on the
is
brought to
particle
the forces acting
rest,
T.
is
Thus, the kinetic energy of a particle also represents

the capacity to do work associated with the speed of the particle.
The kinetic energy is measured in the same units as work,
equal to
i.e.,
T.
in joules
if
units are used.
T=
SI units are used,
We
mc 2
check
and
in ft
lb
U.S. customary
if
that, in SI units,
kg(m/s) 2
(kg
m/s 2 )m
=N
while, in customary units,
T=
mc 2 =
(lb
sVft)(ft/s)
lb
ft
in
=J
548 DYNAMICS
13.4. Applications of the Principle of Work and

Energy. The application of the principle of work and energy
greatly simplifies the solution of many problems involving forces,
displacements, and velocities. Consider, for example, the pendulum OA consisting of a bob A of weight
attached to a cord
of length / (Fig. 13.8a). The pendulum is released with no initial
OA v and allowed to swing

wish to determine the speed of the bob
velocity from a horizontal position
We
through A 2
in a vertical plane.
as
it
passes
directly
(a)
under O.
<*)
Fig. 13.8
We
determine the work done during the displacement

by the forces acting on the bob. We draw a
free-body diagram of the bob, showing all the actual forces
acting on it, i.e., the weight
and the force P exerted by the
cord (Fig. 13.8/?). (An inertia vector is not an actual force and
(irst
from A,
to A;,
should not be included

the force
in the
free-body diagram.)
does no work, since
We
note that
normal to the path; the

only force which does work is thus the weight W. The work
of
is obtained by multiplying its magnitude
by the vertical
it is
displacement
the
work
is
(Sec. 13.2); since the
positive.
We
displacement
therefore write U,
is
downward,
Wl.
Considering, now, the kinetic energy of the bob,
we
find
A, and T, = |(W/g)o at A 2 We may now apply the

principle of work and energy; recalling formula (13.11), we write
T,
at
T,
Solving for v 2
obtained
is
M=T
J7
we
that of a
find v 2
body
+ Wl = -^S2
2 a
V2gT We
falling freely
note that the speed
from
a height
/.
The example we have considered illustrates

advantages of the method of work and energy:
1.
In order to find the speed at
A2
there
is
no need
the acceleration in an intermediate position

grate the expression obtained from
2.
3.
the following
to
A2
to
determine
and to
inte-
and may be added directly,

without using x and y components.
Forces which do no work are eliminated from the solution
All quantities involved are scalars
of the problem.
What
is
an advantage in one problem, however,
a disadvantage in another.
method
It is
may become
evident, for instance, that the
work and energy cannot be used
determine
supplemented
an acceleration. Wc also note that it should be
by the direct application of Newton's second law in order to
determine a force which is normal to the path of the particle,
since such a force does no work. Suppose, for example, that
we wish to determine the tension in the cord of the pendulum
of Fig. 13.8a as the bob passes through A 2 Wc draw a free-body
diagram of the bob in that position (Fig. 13.9) and express
of
to directly
Fig. 13.9
Newton's second law

nents.
in
terms of tangential and normal compo-
The equations 2F,
tively, a,
ma, and 2F
ma n
yield, respec-
and
o
Wv
But the speed at A 2 was determined earlier by the method of

work and energy. Substituting v 2 = 2gl and solving for F, we
write
P =
W + wad?_ - 3W
g
549
550 DYNAMICS
When
may be
energy
a problem involves two particles or more, each particle
considered separately and the principle of work and
may
be applied to each particle.
Adding the kinetic

and considering the work of all
energies of the various particles,

the forces acting on them,
work and energy
we may
also write a single equation of
for all the particles involved.
r,
e/ 1 ., 2
= r2
of
all
action
(all
have
(i3.ii)
where T represents the arithmetic sum of the

the particles involved
We
kinetic energies of
terms are positive) and L\^ 2 the work
the forces acting on the particles, including the forces of

and reaction exerted by the particles on each other. In
problems involving bodies connected by inextensihle cords or

links, however, the work of the forces exerted by a given cord or
link
on the two bodies
it
connects cancels out since the points of
application of these forces
move through
equal distances (sec
Sample Prob. 13.2).

1 3.5. Power and Efficiency.
Power is defined as the
time rate at which work is done. In the selection of a motor or
engine, power is a much more important criterion than (he
actual amount of work to be performed. A small motor or a large
power plant may both be used to do a given amount of work; but
the small motor may require a month to do the work done by the
power plant in a matter of minutes. If AC is the work done
during the time interval At, then the average power during this
time interval
is
Average power
Letting At approach zero,
we
AC/
=
obtain at the limit
Power
=4!L
(13.12)
x
dt
Substituting the scalar product
Power
'
dx for dU,
= dU
we may
also write
dr
dt
dt
and, recalling that dr/dt represents the velocity v of the point of
application of F,
Power
IThe
application of the
method
discussed in detail in Chap. 14.
=F
of work
and energy
(13.13)
to a system of particles
is
Since power was defined as the time rate at which work is

it should be expressed in units obtained by dividing units
done,
work by
of
the unit of time. Thus,
if
should be expressed in J/s; this unit
SI units are used, power
We
called a watt (W).
is
have
1
If
ft
W=
J/s
= 1X
m/s
power should be expressed
U.S. customary units are used,
in
lb/s or in horsepower (hp), with the latter defined as

1
hp
550 ft lb/s
Recalling from Sec. 13.2 that 1

1 ft
1
hp
lb/s
550(1.356
The mechanical
is
lb
1.356 J/s
1.356
J,
we
verify that
1.356 W
W = 0.746 k\V
746
machine was defined

work to the input work:
efficiency of a
i?
a constant rate.
ft
W) =
10.4 as the ratio of the output
This definition
in Sec.
output work
^7
rmput work
(13-14)
based on the assumption that work is done

ratio of the output to the input work
The
at
is
therefore equal to the ratio of the rates at which output and
input work are done, and
we have
power output
power input
Because of energy losses due to friction, the output work is

always smaller than the input work, and, consequently, the
power output is always smaller than the power input. The
always
less
used to transform mechanical energy
into
mechanical efficiency of a machine, therefore,

than
is
1.
When
a machine
is
electric energy, or thermal energy into mechanical energy,
its
obtained from formula (13.15). The

overall efficiency of a machine is always less than 1; it provides
a measure of all the various energy losses involved (losses of
overall efficiency
may be
electric or thermal
should note that

to express the
units.
it
energy as well as frictional losses). We

is necessary, before using formula (13.15),
power output and
the
power input
in the
same
SAMPLE PROBLEM
13.1
An automobile weighing 4000 lb is

when the brakes are
of 60 rni/h
driven
down
braking force (applied by the road on the
1500
tires) of
the distance traveled by the automobile as
it
comes
Determine
lb.
to a stop.
Kinetic Energy
Solution.
T,
= I mvl =
Position 2:
v2
Principle of
i{4000/32.2)(88) 2
T,
V^t - -1500* +
Work
a 5 incline at a speed
applied, causing a constant total
481,000
ft
lb
=
=
(4000 sin 5)x
-1151*
Work and Energy
+ P = T2
- 115 Lc =
7i
481,000
X=
41S
ft
1300 lb
SAMPLE PROBLEM
Two
is
blocks arc joined by an inextensible cable as shown.
released from
moved
2 m.
w,
Assume that
Solution.
v2=
friction force,
mA =
T,
2m
is
fi
equals 0.25 between block
200 kg
fiNA
M = Tt
+ ?
Vm
= T2
(200 kg)(9.81
We
it
has
and the plane
B.
We
FA
the
and write
m/s 2) = 1962 N
(1)
write
WB (2 m) - Fc (2 m)
(2940 N)(2 m)
in
denote by
cable,
WB = (300 kg)(9.81 m/s
mB = 3(K) kg
+
the system
after
= ixWA = 0.25(1962 N) = 490 N

+ Fc (2 m) - F,(2 m) = fa>
Fc (2 m) - (490 N)(2 m) = (200 kg)u 2
Work and Energy for Block
i\
If
weightless and frictionless.
Work and Energy for Block A.

by Fc the force exerted by the
FA =
determine the velocity of block
rest,
and that the pulley
v 1=
13.2
2
)
2940
>
Bi
- Fc (2 m) = #300 kg)u 2
Adding the left-hand and right-hand members
of (1)
(2)
(2), we
A and B
and
observe that the work of the forces exerted by the cable on

cancels out:
(2940 N)(2 m)
(490 N)(2 m)
4900
552
= #200 kg +
2
K500 kg)c
300 kg)c z
.
4.43
m/s
6in/s
SAMPLE PROBLEM
13.3
spring is used to stop a 75-kg package which is moving down a

20 incline. The spring has a constant k = 25 k\/m, and is held by
cables so that
it
maximum
mm.
the velocity of
If
is
Assume
to rest.
compressed 100
initially
is
6 m/s when it is 10 m from the spring, determine the

additional deformation of the spring in bringing the package
the package
,u
0.20.
Kinetic Energy
Position
Position 2
me?
(maximum
N m =
assume that when the package
and the
parallel to the plane
displacement,
through 10
i.e.,
1350 J
T2 =
additional deflection of the spring
forces
1350
spring deformation):
2
We
6 m/s
= 4(75 kg)(6 m/s) 2 =
v,
Work.
t,
/:
T,
is
is
friction force act
m +
brought to
The component
Ax.
The
Ax.
total
rest the
of the weight
through the entire
work done by these
is
= W,(10 m +
= (W sin 20
l/,_,
"
)(
or, since
Ax)
10
m +
m+
E(10
Ax)
Ay!
0.20(Wcos 20)(10m
= 0.1541W(10m + Ar)
= mg = (75 kg)(9.81 m/s2 = 736 N,
= 0.1541(736 X)(10m + Ax) = 1134 J +
Uj-j
A.v)
Ac
during the compression of the spring, the variable force
In addition,
P exerted by
(113.4 N)
the spring does an
amount
of negative
work equal
to
the area under the force-deflection curve of the spring force.

f>
mln
fee
(25 kN'/m)(100
"max
M -M
The
total
l?,_2
work
1134 J
Principle of
"mln
2500 N
2500
* ^*
(25 000
N/m) Ax
(12 500 N/m)(A*)
thus
(113.4 N)
Ax - (2500 N) Ax
(12 500 N/m)(Ax) 2
Work and Energy

ij
13,50
(25 000 N/m)(0.100 m)
+ Pm J ** = -(2500 N) A* -
n u>
is
=
s
mm) =
1134
(Ax) 2
113.4 Ax
C'j_, 2
-*2
- 2500 Av -
0.1909 Ax
Ax
0.360
0.1987
]2 500(Ax) 2
=
Ax
360
mm
-*
553
SAMPLE PROBLEM
f
urn
/p2 =20ft
\
--
"^rr
15
ll
A 2000-lb
down the
13.4
1 and moves without friction

Determine the force exerted by the track
where the radius of curvature of the track is
car starts from rest at point

track shown,
(a)
on the car at point 2,

20 ft. {b) Determine the minimum safe value of the radius of curvature
at
point
3.
a. Force Exerted by the Track at Point 2.

The principle of work
and energy is used to determine the velocity of the car as it passes
through point
2.
Tx =
Kinetic Energy:
Work.
The only
= \ mu = W
1
T%
work
force which does
the work of the weight
W. Since
downward,
the weight
is
the vertical displacement from point 1 to point 2
is
40
ft
is
[/,
..,
= + W(4Q ft)
Work and Energy
Principle of
0+
=-- vl
W(40ft)
v%
\ewlon
at
80g
Second Laic at Point
acceleration a of the car
vl/p and
the external forces acting on the car are
+ T2/-; =
.50.8 ft/s
The
2.
point 2 has a magnitude a
v2
80(32.2)
is
directed upward. Since
W and N, we write
-W + N = ma
ma:
_w_4
g
W 8Qg
"
20
,V=
5W
N a
10.000 lb
-+
b. Minimum Value of p at Point 3.

Principle of Work and Energy.
Applying the principle of work and energy between point 1 and point
3,
we
obtain
'\
l'^ 3
d
= T3
=
50g
a.
when
c|/p,
is
X=
554
3.
I^
=
40.1 ft/s
The minimum
safe value of
In this case, the acceleration a, of magnitude
directed downward, and
+ [1F = ma n
0.
o3
50(32.2)
Newton's Second Late at Point

occurs
N\
W(25ft)
we
write
W = ^l
g P
W 50g
p
50
It
SAMPLE PROBLEM
Motor
&
13.5
shown weighs 4000 lb when fully loaded. It is connected

C and is powered by an electric motor.
Determine the power required when the elevator (a) is moving upward
at a constant speed of 20 ft/s, (b) has an instantaneous velocity of
20 ft/s upward and an upward acceleration of 3 ft/s 2
The
elevator
to a 3000-lb counterweight
3000
lb
1000 Hi
Solution.
to Ft),
Since
the elevator
in
F and
v have the
same
direction, the
power
is
determine the force F exerted by cable

each of the two given situations.
VVe must
first
equal
AB
on
force F. The forces acting on the elevator and on the counterweight are shown in the adjoining sketches.
a.
Uniform Motion.
We
have a
0;
both bodies are
in equilib-
rium.
100<) lb
Free Body C:
H-fSF,
Free Body E:
+ T~F
Eliminating
.JtXKI Ih
b.
we
T - 3000
0:
F=
We
find:
Accelerated Motion.
+T
0:
lb
4000 lb
=
=
10001b
have a
ft/s2 .
The equations
of
motion are
li
Free Body C:
+iPM =
niffl:
Free Body E:
+f2F,
mgas
Eliminating
Power.
11
T,
=
=
A'"f
for
a.
'/':
1000
Ft
|^3 =
ft/s)
Fv
(1652 lb)(20
20,000
(20,000
ft/s)
ft
ft
30P,3
1852 lb
Substituting the given values of v
(1000 lb)(20
- T-
+T - 4000 = -Hr~3
32.2
and the values found
we have
into the expression for the power,
Power =
b.
3000
lb/s
^)^_ m m4
33,040 ft
hp
lb/s
4(I(KJ lb
555
556
DYNAMICS
PROBLEMS
A
stone which weighs 8 lb is dropped from a height h and

ground with a velocity of 75 ft/s. (a) Find the kinetic
energy of the stone as it strikes the ground and the height h from
1
3.1
strikes the
it was dropped,
(b) Solve part a, assuming that the same stone
dropped on the moon. (Acceleration of gravity on the moon =
which
is
5.31 ft/s8 .)
A 100-kg
3.2
satellite
km
was placed in a circular orbit 2000
above the surface of the earth. At this elevation (he acceleration of

gravity is 5.68 m/s 2 Determine the kinetic energy of the satellite,
knowing that its orbital speed is 24.8 X 103 km/h.
.
--"t12 m/s
3.3
20-kg package
velocity of 12 m/s.
the package
is
The
0.15.
Fig.
returns to
its
projected
Determine
package will move up the

it
is
up
a 20 incline with an initial
(a)
the
between the incline and
maximum
distance that the
incline, (b) the velocity of the
package when
original position.
P13.3
13.4
Using the method of work and energy, solve Prob.
12.8.
shown moves
vu
The conveyor
3.5
belt
at
a constant speed
and
The coefficient of friction

0.50. Knowing that the pack-
discharges packages on to the chute AB.
between the packages and the chute
is
ages must reach point B with a speed of 12
speed
Fig.
ft/s,
determine the required
of the conveyor belt.
P13.5
13.6 Solve Prob. 13.5, assuming that the

between the packages and the chute is 0.30,
3.7 The 2-kg collar was moving down the rod with a velocity
m/s when a force P was applied to the horizontal cable. Assuming
negligible friction between the collar and the rod, determine the
magnitude of the force P if the collar stopped after moving 1.2 m more
down the rod.
1
of 3
Fig.
P13.7
3.8
Solve Prob. 13.7, assuming a coefficient of friction of 0.20
between the
collar
and the
rod.
13.9
Knowing
that the system
shown
initially at rest
is
glecting the effect of friction, determine the force
velocity of collar
to
is
be 8
ft/s after
it
has
moved
and ne-
P required
2.5
ft
ENERGY AND MOMENTUM METHODS 557
if
the
to the right.
I:
The system shown
3.1
is
A. Neglecting the effect of
of block
after
it
moved
has
when
at rest
to block
the 20-lb force
friction,
is
lb
applied
determine the velocity

2 lb
ft.
Fig.
21) Hi
P13.9
5
501b
ce
__n_
tffi
501b
Fig. Pi:J.10
Solve Prob. 13.10, assuming that the

1 3.1 1
between the blocks and the horizontal plane is
0.20.
13.12 Three
pulley and
is
20-kg packages rest on a belt which passes over a

attached to a 40-kg block. Knowing that the coefficient
of friction between the belt and the horizontal surface
tween the
package B
and the packages
belt
as
2m
it falls
l1
is
0.50,
and
also be-
determine the speed of
off the belt at E.
2m
2in
20 kg
20 kg
20 kg
nn
'
f?
r->
10
-.
kg
Fig.
P13.12
13.13
falls off
In Prob.
Two
3.1 4
shown.
13.
2,
determine the speed of package
as
it
the belt at E.
If
cylinders are suspended from an inextensible cable as
the system
is
(a)
the
maximum
by the 10-lb cylinder, (h) the maximum height above

which the 10-lb cylinder will rise.
velocity attained
the floor to
2(1 lh
4(1
13.15
Solve Prob. 13.14, assuming that the 20-lb cylinder
replaced by a 50-lb cylinder.
is
Fig.
P13.14
101b
558 DYNAMICS
13.16 Four packages weighing 50
each are placed as shown on

its drive motor. Package 1
is just to the right of the horizontal portion of the belt. If the system is
released from rest, determine the velocity of package 1 as it falls off the
a conveyor belt
which
belt at point A.
Assume
compared
Fig.
is
lb
disengaged from
that the weight of the belt
and
rollers
is
small
to the weight of the packages.
P13.16
13.17
In Prob. 13.16, determine the velocity of package 2 as
it
from the belt at A.
falls
13.18
Using the method of work and energy, solve Prob. 12.16.
13.19
Using the method of work and energy, solve Prob. 12.15.
3.20 Using
3.21
Using the method of work and energy, solve Prob. 12.17c.
3.22
In order to protect
weighing 4 oz
is
the
method
packed
work and energy,
of
it
during shipping, a delicate instrument
in excelsior.
From
the static test of similar
shown was obtained. Determine the

package may be dropped if the force
excelsior, the force-deflection curve
maximum
height from which the
exerted on the instrument
is
not to exceed 12
('(II.)
Jr*
Fig.
P13.22
solve Prob. 12.18c.
!>n.)
lb.
1 3.23
A 5000-kg airplane lands on an aircraft carrier and is
caught by an arresting cable which is characterized by the force-
Knowing
deflection diagram shown.
plane
is
144 km/h, determine
come
to
to rest, (b) the
(a)
that the landing speed of the

F(kX)
400
the distance required for the plane
maximum
rate of deceleration of the plane.
300
^/
200
1
3.24
2-kg block
is
at rest
on a spring of constant 400 N/m.
4-kg block is held above the 2-kg block so thai it just touches it,
and released. Determine (a) the maximum velocity attained by the
blocks, (b) the
maximum
100
P13.23
= 600 N/m
1
P13.24
.
3.25 As
the bracket
ABC is slowly
rotated, the 6-kg block starts
toward the spring when 6 = 15. The maximum deflection

of the spring is observed to be 50 mm. Determine the values of the
to slide
coefficients of static
and
3.26
and kinetic
15-lb plunger
is
Fig.
friction.
released from rest in the position
shown
stopped by two nested springs; the stiffness of the outer spring is

20 lb/in. and the stiffness of the inner spring is 60 lb/in. If the maxiis
mum
deflection of the outer spring
is
the height h from which the plunger
Fig.
P13.26
observed to be 5
was
released.
in.,
determine
s7
x(m)
30
20
10
force exerted on the blocks.

Fig.
Fig.
559
P13.25
250
mm
40
30
60
560 DYNAMICS
13.27 A railroad car weighing 60,000 lb starts from rest and coasts
down a 1-percent incline for a distance of 40 ft. It is stopped by a
bumper having a spring constant of 7500 lb/in. (a) What is the speed
of the car at the bottom of the incline? (b) How many inches will the
spring be compressed?
3.28
friction
0.5-lb pellet is released
from
rest at
A and slides
without
along the surface shown. Determine the force exerted by the
surface on the pellet as
it
passes (a) point B,
(/;)
point
1 3.29 A roller coaster is released with no velocity at A and rolls

down the track shown. The brakes are suddenly applied as the ear
passes through point B, causing the wheels of the car to slide on the
Fig.
P13.28
Assuming no energy loss between A and B and

(fi = 0.30).
knowing that the radius of curvature of the track at B is 80 ft, determine the normal and tangential components of the acceleration of the
car just after the brakes have been applied.
track
60
ft
Fig.
P13.29
3.30
small package of mass
return loop at
with a velocity v
is
projected into a vertical
The package
travels without
and is deposited on a horizontal

surface at C. For each of the two loops shown, determine (a) the
smallest velocity v for which the package will reach the horizontal
friction along a circle of radius r
the corresponding force exerted by the loop on the
surface at C,
{b)
package
passes point B.
Fig.
as
P13.30
it
KINETICS
13.31
In Prob. 13.30,
on the horizontal surface

r
first
desired to have the package deposited
with a speed of 2 m/s, Knowing that
that this requirement cannot be fulfilled
3.32 A 6-in. -diameter piston weighing 8
of
the
(p
ARTICLES:
by the
when
the
used.
is
When
in a cylinder.
it is
at
loop, (b) determine the required initial velocity v

n
second loop
show
0.6 in, (a)
OF
cylinder,
the piston
the
is
pressure
lb slides without friction
at a distance x
the
in
10
cylinder
in.
from the end
is
atmospheric
14.7 lb/in 2 ). If the pressure varies inversely as the volume, find
the work done in moving the piston until x
in.
Fig.
1
3.33 The
piston of Prob. 13.32
with no velocity
maximum
is
moved
Neglecting
in.
to the left
friction,
velocity attained by the piston, (b) the
the coordinate
when
3.34 An
P13.32
and released
determine
maximum
(a)
the
value of
x.
object
is
released with
to the radius of the earth.
velocity of the object as
and U.S. customary
it
no velocity at an altitude equal

Neglecting air resistance, determine the
strikes the earth.
Give the answer
in
both SI
units.
3.35 A rocket is fired vertically from the ground. Knowing that

bumout the rocket is SO km above the ground and has a velocity of
1
at
5000 m/s, determine the highest altitude

1
be
3.36 A
rocket
is
its
3.37 An
400 mi.
object as
{a)
km
ground,
(b)
uniform gravitational
13.38 A
5 s.
80
from the ground. What should

above the ground, if it is to reach
object is released with no initial velocity at an altitude

Neglecting air resistance, determine the velocity of the
strikes the
it
assuming
70-kg
What percent
error
is
introduced by
field?
man and an 80-kg man
If the flight of stairs is
run up a
flight of stairs in
high, determine the average
power
required by each man.

1 3.39 An industrial hoist can lift its maximum allowable load of
60,000 lb at the rate of 4 ft/min. Knowing that the hoist is run by a
15-hp motor, determine the overall efficiency of the hoist.
13.40 A 1500-kg automobile travels 200 while being accelerated at a uniform rate from 50 to 75 km/h. During the entire motion,
the automobile is traveling on a horizontal road, and the rolling
resistance
Determine
is
80
km
will reach.
fired vertically
velocity vB at burnout,
an altitude of 1000 km?
of
it
equal to 2 percent of the weight of the automobile.

the maximum power required, (b) the power required to
(a)
maintain a constant speed of 75 km/h.
Fig.
P13.35 and P13.36
in.
561
562
DYNAMICS
WE
3.41
train of total
weight 600 tons starts from rest and accelmi/h in 40 sec. After reaching this
erates uniformly to a speed of 30
speed, the train travels with constant velocity.
motion the train

resistance
is
traveling
15 lb/ton.
is
During the entire
a 2 percent grade, and the rolling
up
Determine the power required as a function of
time.
The dumbwaiter D and its counterweight C weigh 750 lb

Determine the power required when the dumbwaiter (a) is
moving upward at a constant speed of 12 ft/s, (b) has an instantaneous
velocity of 12 ft/s upward and an upward acceleration of 3 ft/s-.
1
3.42
each.
The dumbwaiter D and its counterweight C weigh 750 lb

Knowing that the motor is delivering to the system 9hp al the
instant the speed of the dumbwaiter is 12 ft/s upward, determine the
1
P13.42 and P13.43
Fig.
3.43
each.
acceleration of the dumbwaiter.
13.44
chair-lift is
from the base
to the
designed to transport 900 skiers per hour

B. The average mass of a skier is
summit
75 kg, and the average speed of the lift is 80 m/min. Determine (a)
the average power required, (h) the required capacity of the motor
overload
if the mechanical efficiency is 85 percent and if a 300-percent
ldOO
ni
is
Fig.
to be allowed.
P13.44
1
3. 45
Crushed stone
struction site at
is
moved from a quarry
at the rate of
2000
Mg per
at
S-h period.
to a con-
An
electric
attached to the system in order to maintain a constant

belt speed. Knowing that the efficiency of the bell-generator system
is 0.65, determine the average power developed by the generator (a)
generator
if
Fig.
is
the belt speed
P13.45
1
3.46 The
is
0.75 m/s,
(b) if
fluid transmission of
the belt speed
is
2 rn/s.
a 15-ton truck permits the engine
power of 60 hp to the driving wheels.

Determine the lime required and the distance traveled as the speed of
the truck is increased (a) from 15 to 30 mi/h, (b) from 30 to 45 mi/h.
to deliver an essentially constant
3.47
The
fluid transmission of
a truck of mass
engine to deliver an essentially constant power
permits the
to
the driving
wheels. Determine the time elapsed and the distance traveled as the
speed
is
increased from v to
3.48 The
p,.
frictional resistance of a ship
is
known
to
vary directly
power of the speed c of the ship. A single tugboat at

full power can tow the ship at a constant speed of 5 km/h by exerting
a constant force of 200 k\. Determine (a) the power developed by
the tugboat, (b) the maximum speed at which two tugboats, capable
of delivering the same power, can tow the ship.
as the
1.75
3.49 Determine
13.48 will
the speed at which the single tugboat of Prob.
tow the ship
if
the tugboat
is
developing half of
maximum
its
power.
3.6. Potential Energy.' Let us consider again a body

which moves along a curved path from a point
of weight
A, of elevation i/j to a point A 2 of elevation y 2 (Fig. 13.4).

recall from Sec. 13.2 that the work of the weight
during
displacement
of
- Wy 2
Wy,
(13.4)
W may thus be obtained by subtracting the value
of
Wy
of the function
body from
We
this
is
IV =
The work
its
corresponding to the second position of the
value corresponding to the
first
The work
position.
independent of the actual path followed;
depends only
upon the initial and final values of the function Wy. This function is called the potential energy of the body with respect to
the force of gravity
and is denoted by V We write
g
is
^1-2
it
(V)i
"
Vg = Wy
with
(V) 2
(13.16)
We note that if Vg 2 > V^, i.e., if the potential energy increases

(
during the displacement

t/j 2
fa
negative.
If,
(as in
die case considered here), the
on the other hand, the work of
is
work
positive,
the potential energy decreases. Therefore, the potential energy
Vg of the body provides a measure of the work which may be

done by its weight W. Since only the change in potential energy,
and not the actual value of V is involved in formula (13.16),
f
an arbitrary constant
Vg
for
measured may
is
potential energy
joules
if
may be added
to the expression obtained
In other words, the level, or datum, from
elevation y
is
lie
chosen
arbitrarily.
which the
Note that
expressed in the same units as work,
SI units are used,
and
in ft
lb or in
lb
if
i.e.,
in
U.S. customary
units are used.

It
should be noted that the expression just obtained for the

body with respect to gravity is valid only
potential energy of a
as long as the
weight
constant,
as
i.e.,
compared
long
W of the body may be assumed to remain

as the
displacements of the body are small
to the radius of the earth.
vehicle, however,
we
In the case of a space
should take into consideration the variation
of the force of gravity with the distance r from the center of
Some
r^\.Aa
of the material in this section has already
been considered
in Sec. 10.6.
Fig. 13.4 (repeated)
563
564 DYNAMICS
Using the expression obtained in Sec. 13.2 for the
the earth.
work
we
of a gravitational force,
write (Fig. 13.6)
GMm
M = CMm
P
The work
of the force of gravity
may
(13.7)
therefore
be obtained by
GMm/r
subtracting the value of the function

to the
second position of the body from
to the
first
its
corresponding
value corresponding
Thus, the expression which should be used

energy V when the variation in the force of
position.
for the potential
gravity cannot be neglected
is
*.-- CM m
Fig. 13.6
(13.17)
(repeated)
Taking the
first
of the relations (12.29) into account,
we
write
V
(/
form
in the alternate
\=~ WR?
(13.17')
the value of the weight

where R is the radius of the earth and
of the body at the surface of the earth. When either of the
relations (13.17) and (13.17') is used to express Vg the distance r
should, of course, be measured from the center of the earth.
Note that V is always negative and that it approaches zero for
,
very large values of
r.
Consider, now, a body attached to a spring and moving from

a position A,, corresponding to a deflection Xj of the spring, to
a position
A2
corresponding to a deflection x2 (Fig.
from Sec. 13.2 that the work of the force

the spring on the body is
recall
13.5).
We
exerted by
r- Spring uudefoimed
\w\/\/w\/\J
The work of the
KaaaaaaaQ
I
.A,
'
1 .2
tion.
elastic force
is
(13.6)
thus obtained by subtracting
This function
is
denoted by
Ve
and
is
called the potential
energy of the body with respect to the elastic force F.
t>i-2
and observe
of the force
that,
(V,),
R, that
is,
with
(V) 2
V =
e
when
We
write
(13.18)
Jfcr*
during the displacement considered, the work
exerted by the spring on the body
IThc expressions given

(repealed)
- b
fcr?
the value of the function fix2 corresponding to the second position of the body from its value corresponding to the first posi-
'
Fig. 13.5
for
Vf
in (13.17)
the body considered
is
negative
and (13.17') arc valid only when

above the surface of the earth.
is
and the potential energy

spring
is
measured from
its
its
end
fixed
We should
increases.
valid only
is
undeformed
if
(Fig. 13.10a).
565
note that the
the deflection of the
position.
may be used even when
hand, formula (13.18)

rotated about
Ve
Ve
expression obtained for
The work
On
die other
the spring
is
of the elastic
Undeformed length
V.),=-fc^
(V.)
=i*x*
Fig. 13.10
force depends only
upon the
initial
and
final deflections
of the
spring (Fig. 13.10fo).
The concept
of potential energy
may be
used
when
forces
A 2 (*2,!/2.Z2)
other than gravity forces and elastic forces are involved. Indeed,
remains valid as long as the work of the force considered is

independent of the path followed by its point of application as
this point moves from a given position A to a given position A
:
2
it
Such forces are said
to
be conservative
forces; the general prop-
erties of conservative forces are studied in the following section.
* 1 3.7. Conservative Forces. As indicated

ceding section, a force F acting on a particle A is
Aîj.yj.Zj)
in the pre-
said to
be
conservative if its work LI _ 2 fa independent of the path followed

1
by the particle A as it moves from Aj to A 2 (Fig. 13.1 la).
may
then write
(a)
We
t/,_ 2
Vix^y^z^)
V(x 2 ,y2 ,z 2 )
i:s.19>
or, for short,
tfi-2
The
function V(x,y,z)
is
=yi '~V
(13.19')
called the potential energy, or potential
function, of F.
We
note that,
if
A2
is
A v i.e., if the
we have V, = V2
chosen to coincide with
particle describes a closed path (Fig. 13.11/?),
(b)
Fig.
13.11
566
DYNAMICS
and the work
force
We may
zero.
is
thus write for any conservative
#F-dr=0
where the
on the
circle
(13.20)
integral sign indicates that the path
is
closed.
Let as
dU
now apply
and A'{x
A(x,y,z)
corresponding
dU =
between two neighboring points

+ dz). The elementary work
the displacement dr from A to A' is
(13.19)
dx, y
to
dy, z
V(x,y,z)
V(x
+ dx, y +
dy, z
dz)
or,
dU =
-dV(x,y,z)
(13.21)
Thus, the elementary work of a conservative force
is
an exact
differential.
dU
Substituting for
tion of several variables,
from which
it
definition of the differential of a func-
we
dx
It
force
is
that
cisely if
p
The
relations (13.22)
-^dz
(13.22)
[
'
must be functions of the
may
position of
its
point of
be expressed more con-
write
and
is
/3V.
L'i
vector in parentheses
function
depend only upon the
it
The
we
F' =
dy
Thus, a necessary condition for a conservative
x, y, z.
application.
=-^
components of
clear that the
is
coordinates
write
follows that
= _iZ
the expression obtained in
(13.21)
in
and recalling the
(13.1"),
is
known
denoted by grad
3V.
av,\
as the gradient of the scalar

V.
We
thus write for any
conservative force
F = -grad V
(13.23)
were shown to be satisfied by

any conservative force. It may also be shown that if a force F
satisfies one of these relations, F must be a conservative force.
The
relations (13.19) to (13.23)
ing
3.8.
We
Conservation of Energy.
two sections
that the
work
saw
preced-
in the
of a conservative force, such as the
weight of a particle or the force exerted by a spring, may be

expressed as a change in potential energy. When a particle
moves under the action of conservative forces, the principle of
work and energy
Formula
may be
stated in Sec. 13.3
from
modified form. Substituting for r/

we write
v,
- v2 = r2 -
T1
+ Vl = T2 + V2
expressed in a
(13.19') into (13.10),
7\
(13.24)
when a particle moves under the

sum of the kinetic energy and
particle remains constant. The sum
(13.24) indicates that,
action of conservative forces, the
of the potential energy of the

T + V is called the total mechanical energy of the particle and
is denoted by E.
Consider, for example, the pendulum analyzed in Sec. 13.4,
which
is
released with no velocity from
from the
A, and allowed
to
swing
plane (Fig. 13.12). Measuring the potential energy
in a vertical
level of
7\
A 2 we
A 1>
V = Wl
Recalling that, at
have, at
li
A,,,
+ V& s Wl
pendulum
the speed of the
is
va
\/2g/,
we have
T2
=Jmui=-2
w
(2 gl)
= Wl
V2 =
Datum
T2 + V2 = Wl
We
thus check that the total mechanical energy
the pendulum
is
the same at A, and
entirely potential at A,,

as the
it
becomes
pendulum keeps swinging
A 2 While
.
E=T+ V
of
the energy
is
entirely kinetic at
A2
to the right, the kinetic
transformed back into potential energy. At
A 3 we
and,
energy
have
Wl.
Since the total mechanical energy of the pendulum remains
constant and since its potential energy depends only upon its
elevation, the kinetic energy of the pendulum will have the same
value at any two points located on the same level. Thus, the
speed of the pendulum is the same at A and at A' (Fig. 13.12).
This result may be extended to the case of a particle moving
along any given path, regardless of the shape of the path, as long
as the only forces acting on the particle are its weight and the
is
T3 =
and
V3 =
shall
568 DYNAMICS
normal reaction of the path. The particle of Fig. 13.13, for
example, which slides in a vertical plane along a frictionless
track, will
have the same speed
at A, A',
and A".
Fig. 13.13
While the weight of a
particle
and the force exerted by a
spring are conservative forces, friction forces are nonconservative
In other words, the work of a friction force cannot be

The work of a friction
forces.
expressed as a change in potential energy.
upon the path followed by its point of application;

and while the work C',^ 2 defined by (13.19) is positive or negative according to the sense of motion, tlie work of a friction force
force depends
is
always negative.
involves friction,
It
The mechanical energy
constant but decreases.
however,
is
not
when a mechanical system

mechanical energy does not remain
follows that,
total
its
lost; it is
of the mechanical energy
of the system,
transformed into heat, and the sum
and of the thermal energy of the system
remains constant.
Other forms of energy may
be involved in a system. For

instance, a generator converts mechanical energy into electric
energy; a gasoline engine converts chemical energy into mechanical
also
energy; a nuclear reactor converts mass into thermal enIf all
ergy.
system
forms of energy are considered, the energy of any
may be
considered as constant and the principle of con-
servation of energy remains valid under
all
conditions.
13.9. Motion under a Conservative Central Force.

Application to Space Mechanics. We saw in Sec. 12.8
that,
when
angular
is
a particle
momentum
constant.
If
= T + V of the
particle
P moves under a
central force F, the
of the particle about the center of force
the force
potential energy
is
also conservative, there exists a
associated with F, and the total energy
particle
is
constant (Sec. 13.8). Thus,
moves under a conservative central
when
force, both the
momentum and
may be used to study
principle of conservation of angular
the princi-
ple of conservation of energy
its
motion.
Consider, for example, a space vehicle moving under the
We
earth's gravitational force.

flight at
point
assume that it begins its free

from the center of the earth,
shall
at a distance r
with a velocity v forming an angle
Let
(Fig. 13.14).
P be
<>
with the radius vector
OP
a point of the trajectory described by the
O to P, by v the
and by <> the angle formed by v and
the radius vector OP. Applying the principle of conservation of
angular momentum about O between Pn and P (Sec. 12.8), we
vehicle;
we denote by
velocity of the vehicle at
the distance from
P,
write
mv
sin
<>
nnc
sin
(13.25)
Fig. 13.14
Recalling expression (13.17) obtained for the potential energy
due to a gravitational force, we apply the principle of conservation of energy between P and /' and write
T+V
T + V =
where
GMm _
C.Vfm
(13.26)
is the mass of the earth.

Equation (13.26) may be solved for the magnitude v of the
velocity of the vehicle at P when the distance r from O to P is
known; Eq. (13.25) may then be used to determine the angle <>
that the velocity forms with the radius vector OP,
may also be used to determine

maximum and minimum values of r in the case of a satellite
launched from P in a direction forming an angle <> with the
Equations (13.25) and (13.26)
the
vertical
making
(13.25)
OP
<>
(Fig. 13.15).
and
90
The
in (13.25)
desired values of r are obtained by
and eliminating
between Eqs.
(13.26).
should be noted that the application of the principles of
It
momenmore fundamental formulation of the problems of

space mechanics than the method indicated in Sec. 12.11. In all
conservation of energy and of conservation of angular
tum
leads to a
cases involving oblique launchings,
simpler computations.
And
it
will also result in
much
while the method of Sec. 12.11 must
be used when the actual trajectory or the periodic time of a space

vehicle is to be determined, the calculations will be simplified if
first used to compute the maxiand minimum values of the radius vector r.
the conservation principles are
mum
Fig. 13.15
SAMPLE PROBLEM
in.
jgbmVWvVW
13.6
20-lb collar slides without friction along a vertical rod as shown.
spring attached to the collar has an undeformed length of 4 in.

and a constant of 3 lb/in. If the collar is released from rest in position 1, determine its velocity after it has moved 6 in. to position 2.
The
n.
<
K
--'
Position
xl
The elongation
Potential Energy.
I.
in.
V,
Datum
in.
2
Jfcr
1(3 lb/in.)(4
in.) 2
in.
x2
10
V,
24 in
Potential Energy.
2.
in.
24 in
in.
Therefore,
lb
0.
of the spring
is
is
The elongation
zero, 2\
and we have
in.,
= J(3 lb/in.)(6 in.) 2 = 54 in

V = Wy = (201b)(-6in.) = -120 in
V,
is
11.
Since the velocity in position 1
Kinetic Energy.
Position
V,
Vg = 0.
lb = 2 ft
Choosing the datum as shown, we have

V,
of the spring
and we have
in.,
lb
ifctf
-lb
Therefore,
V2 =
V,
54
120
= -66 in
= -5.5ft
lb
-lb
Kinetic Energy
r2 = *m 2 = |.JLt, 2 =
Conservation f Energy.
of energy
between positions
r,
+
ft
v,
lb
v2
0.311c 2
Applying the principle of conservation

1
and
2,
we
write
= t2 + v2
= 0.311t>| - 5.5 ft
= 4.91 ft/s
lb
v..
570
4.91
ft
si
-*
SAMPLE PROBLEM
The 200-g
pellet
mm
A when
released from rest at
is
the spring
com-
is
around the loop ABODE. Determine the

smallest value of the spring constant for which the pellet will travel
around the loop and will at all times remain in contact with the loop.
pressed 75
300
13.7
mm
and
Required Speed
point C,
travels
As the
Point C.
at
pellet passes through the highest
potential energy with respect to gravity
its
is
maximum;
thus,
same point its kinetic energy and its speed are minimum. Since
the pellet must remain in contact with the loop, the force N exerted
on the pellet by the loop must be equal to, or greater than, zero.
Setting N = 0, we compute the smallest possible speed v c
at the
-IJ
+ 12F =
W = ma.
ma:
*-*
Position
0.075
vc
its
m) 2
(0.00281
at
A,
we have Vg
0;
Position
=
W=
V
2.
V,
(0.00281
compressed
m2
)fc
therefore
m 2 )k
released from rest, vA
is
The
0.450
is
and
m/s2 =
)
spring
Ve =Wy= (1.962 N)(0.450 m) =

V2 = V, + V, = 0.883J
Kinetic Energy.
J
m 2 /s2
is now undeformed; thus

above the datum, and since
1.962 N, we have
Potential Energy.
(0.200 kg)(9.81
T2 =
1.472
0.
Since the pellet
0.
+ V =
is
we have
J:(0.075
m/s2 )
Since the spring
position,
Since the pellet
Kinetic Energy.
T,
(0.150 m)(9.81
V,
we have
<z
Jfcr
Choosing the datum
rg
undeformed
Ve =
0.450
Potential Energy.
J.
from
ra
= ma n
">g
meg =
X m =
0.883 J
L'sing the value of v% obtained above,
i(0.200 kg)( 1.472
of energy between positions
T,
0.883
(0.00281
/s
2
)
0.1472
N m =
we
write
0.1472 ]
Applying the principle of conservation

1
and
2,
we
write
+ Vx = T2 + V2
0.1472 J + 0.883 J
k = 367 J/m 2 = 367 X/m
m2 =
The required minimum value
)fc
of k
is
therefore
= 367N/m
-+
571
.,
ion
SAMPLE PROBLEM
13.8
attached to a fixed point
ball
elastic
to 2
is
ft.
weighing 0,5
lb
is
cord of constant k
The
placed
at
ball slides
on a horizontal
is
lOft/s in a direction perpendicular to
that the ball will
The
come
= inn
<
of an
become
given an
If
the ball
initial velocity of
OA, determine
(a)
the speed
slack, (b) the closest distance
to O.
by the cord on the ball passes through

work may be expressed as a change in
potential energy. It is therefore a conservative central force, and both
the total energy of the ball and its angular momentum about O are
conserved between points A and B. After the cord has become slack
Solution.
force exerted
the fixed point 0, and
>,
by means
frictionless surface.
point A, 3ft from O, and
of the ball after the cord has
lOlb/fl and of undeformed length equal
its
at B, the resultant force acting
is
move
on the
ball
zero.
is
The
ball, therefore,
speed v. The straight line

the line of action of v B and the speed u is equal to c B
a. Conservation of Energy.
will
in a straight line at a constant
At point A:
TA = imoJS =
VA
At point B:
{ 32 2 f^ s2
= ikxl = (10 lb/ft)(3 ft
TB = Jmc| =
i-
(I0 ft/s)8
^v% =
2 32.2
ft)
0.776
ft
ft
lb
lb
0.0()776t;|
VB =
Applying the principle of conservation of energy between points
and B, wc write
TA + VA = TB + VB
+ 5 = 0.007761- 2
0.776
l-B
744
i-
i.
27.3 ft/s
Since rA and
h. Conservation of Angular Momentum About O.
respectively,
vg,
\
and
perpendicular
distances
to
represent
the
d
A
we write
rA (
(3
ft)
mc A) = d(mvB
(M\( l() ft/s =

)
d(M)(27.3ft/s)
(/
572
1.099
ft
-*
38900 km
SAMPLE PROBLEM
13.9
Earth
satellite
is
launched
in a direction parallel to the surface of the
km/h from an
earth with a velocity of 36 900
Determine
maximum
is
500
km
maximum
the
(a)
altitude reached
and to come not closer than 200
the
satellite, (b)
allowable error in the direction of launching
to go into orbit
km.
altitude of 500
by the
km
if
the satellite
to the surface
of the earth.
Maximum
a.
we
A',
denote by A' the point of the orbit

the corresponding distance from tho
r,
Since the satellite
center of the earth.
and
We
Altitude.
from the earth and by
farthest
between A
in free flight
is
apply the principle of conservation of energy.
TA + V.= TV + VA
_CMm
h n4
^ mv2i
_GMm
(1)
Since the only force acting on the satellite
which
is
is
Considering points
conserved.
'""."
r.mv.
v,
(2)
and dividing each term
(1)
after rearranging the terms.
*<--?(-*)
^ = 2GM
Recalling that the radius of the earth
is
(3)
Wo*
R = 6370 km, we compute
= 6370 km + 500 km = 6870 km = 6.87 x l^m

= 36900 km/h = (3.69 X 10 m)/(3.6 X 103 s) = 1.025 X
GX1 =
gfl 2
m/s 2 )(6.37 x
(9.81
Substituting these values into
Maximum
altitude
66.8
10 6
obtain
m -
6.37
r,
b.
10"
66.8
in a direction forming an angle
10s
m = 60.4 X
Allowable Error in Direction of Launching.
104 m/s
X 10" m 3 /s 2
3.98
we
(3),
106
m) 2 =
=
launched from
about
= On
Substituting this expression for t, into Eq.
by the mass m, we obtain
the force of gravity,
is
momentum of the satellite

A and A', we write
a central force, the angular
<>
60
The
10
m
-^
km
4(H)
satellite
is
with the vertical
OPn The value of corresponding to rmln = 6370 km + 200 km =

6570 km is obtained by applying the principles of conservation of
energy and of conservation of angular momentum between P and A.
.
GMm =
o
J""w '0
4" c o
rn
Solving
(5) for
solve (4) for sin
</>
0.9801
sin <>
f mlll
Glim
(4)
'mln
mc m>1
(5)
v max and then substituting for u m!l
a and noting that

sin
mv n
into
wc may
(4),
CM computed in
*,,
Using the values of D and

/rmla = 6870/6570 m 1.0457,
90
11.5
we
part
find
Allowable error
..5
573
574 DYNAMICS
PROBLEMS
1
CD
3.50 The uniform

is
of constant k
rods
and
is
AB and BC are
unstretched
energy of the system with
potential
(b) gravity.
(Place
datum
each of mass m; the spring
when 8=0. Determine

respect
to
the
spring,
the
(a)
at A.)
13.51 A slender rod AB of negligible mass is attached to blocks A

and W, each of mass m. The constant of the spring is k and the spring is
undeformed when AB is horizontal. Determine the potential energy of
the system with respect to (a) the spring, (b) gravity. (Place
Fig.
datum at B.)
P13.51
13.52 Prove
that a force {x,y,z)
is
conservative
if,
and only
if,
the
following relations are satisfied:
3i;_3fj
dy
1
dF _ciF
dF,
"
dx
"
dx
dz
L
dy
_
"
dF,
dz
The force F = (xi + yj)/(x 2 + y 2 ) acts on the

which moves in the xy plane, (a) Using the first of the
3.53
I'(x,y)
derived in Prob. 13.52, prove that
mine the
13.54
is
particle
relations
a conservative force, (b) Deter-
potential function V(x,y) associated with F.
The
force
the particle P(x,y,z)
F =
(xi
yj
which moves
derived in Prob. 13.52, prove that
mine the potential function
F =
in space,
is
zk)/(x 2
(a)
2 3' 2
acts on
y + z )
Using the relations
a conservative force,
V(x,y,z) associated
x 2 y'\
as
moves from
(fo)
Deter-
with F.
xy 2] acts on the particle P(x,y)

which moves in the xy plane. Prove that F is a nonconservative force
1
A
Fig.
P13.55
3.55
The
force
and determine the work of F

paths ABC, ADC, and AC.
it
to
C along each
of the

spring AB
The
4-lb
collar
is
by the
is
10
is
in.
shown, determine the
If
the collar
maximum
30
attached to the
freely along the horizontal
unstretched length of the spring

rest in the position
and
of constant 6 lb/in.
which moves
is
13.57
released from
velocity attained
In Prob. 13.56, determine the weight of the collar

is
30
ft/s.
1.5
kg
is
for
P13.56
Fig.
3.5I
collar of
mass
attached to a spring and slides
without friction along a circular rod which
The
in.
The
rod.
collar.
which the maximum velocity

1
spring
the spring
mine the
is
is
lies in a
horizontal plane.
undeformed when the collar is at C and the constant of

400 N/m. If the collar is released from rest at B, deter-
velocity of the collar as
it
passes through point C.
1 3.59 Plunger A has a mass of 200 g and is to be shot to the right

by the mechanism shown. The undeformed length of the spring is
180 mm and it is compressed to a length of 60 mm; it will expand to a
length of 110
of 36
is
mine the
1
mm when the plunger
3.60 The
its
Knowing
released.
velocity attained by the plunger as
that a force
it
leaves the mechanism.
-60
Fig.
mm
P13.S9
collar of Prob. 13.58 has a continuous, although non-
uniform, motion along the rod.

half of
is
required to hold the plunger in the position shown, deter-
speed
at C,
If
determine
the speed of the collar at

(a)
is
to
be
the required speed at C, (b) the
corresponding speed at B.
1
rod.
3.61 The 2-lb

Knowing that
12
shown
1
rod.
collar slides without friction along the horizontal
the constant of the spring is 3 lb/in. and that

determine the required spring tension in the position
the speed of the collar is to be 8 ft/s at point C.
ft/s,
if
3.62 The
Knowing
stretched
in
2-lb collar slides without friction along the horizontal
that the spring has a constant k
lb/in.
and
the position shown, determine the required speed v
to reach point C.
is
un-
if it is
Fig.
12 in
12
P13.61 and P13.62
in.
in.
576 DYNAMICS
1 3.63
The 50-kg block is released from rest when
= 0. If the
speed of the block when <> = 90 is to be 2.5 in/s, determine the
required value of the initial tension in the spring.
<J>
50 kg
P13.63
Fig.
3.64
sling shot is
made by
mm
stretching an elastic band between
same horizontal plane. The

is 600 X/m and
the tension in the band is 40 N when it is stretched directly between A
and B. Determine the maximum speed attained by a 50-g pellet which
is placed at C," and released.
pins
and B located 100
apart in the
spring constant for the entire length of the elastic band
Fig.
P13.64
*
1
3.65
The sphere C and the block A are both moving to the left
when the block is suddenly stopped by the wall.
with a velocity v
Determine the smallest velocity v
"fei
full circle
weight, (b)
Fig.
about the pivot B

if
BC
is
for
{a) if
which the sphere
BC
is
C will swing
in
a slender rod of negligible
a cord.
P13.65
13.66
The
collar of Prob. 13.58
is
released from rest at point A.
Determine the horizontal component of the force exerted by the rod on

the collar as the collar passes through point B.
component
is
independent of the mass of the
Show
collar.
that the force
KINETICS
OF PARTICLES: ENERGY AND MOMENTUM METHODS 577
3.67 A 1.5-lb collar may slide without friction along the semicirBCD. The spring is of constant 2 lb/in. and its undeformed
length is 12 in. The collar is released from rest at B. As the collar
1
cular rod
passes through point C, determine (a) the speed of the collar, (b) the
force exerted
by the rod on the
collar.
P13.67
Fig.
3.68 A
small block
is
released at
along the frictionless guide to point
a horizontal velocity. Knosving that h

(a)
the speed of the block as
sponding distance
it
A with
B where
strikes the
ft
zero velocity and moves

it
leaves the guide with
and b
ground
ft,
determine
at C, (b) the corre-
c.
A[
w
/
t
P13.68
Fig.
3.69
Assuming a given height h in Prob. 13.68, (a) show that

C is independent of the height b, {b) determine the height
which the distance c is maximum and the corresponding value
the speed at
b for
of c.
578 DYNAMICS
13.70 A
in
ball of
mass
a vertical circle of radius
maximum
7"
value
Tmax
attached to an inextensible cord rotates

r.
Show
that the difference
of the tension in the cord
and
its
between the
minimum
independent of the speed v n of the ball as measured

bottom of the circle, and determine 7"
r_, n
is
mln
value
at
the
A bag
3.71
off the top of a wall at A and swings

end of a 4-m rope which can withstand
a maximum tension equal to twice the weight of the bag. (a) Determine the difference in elevation h between point A and point B where
is
gently pushed
in a vertical plane at the
the rope will break,
How
(b)
far
from the vertical wall will the bag
strike the door?

Fig.
P13.71
3.72
of length
A
/
instrument
delicate instrument weighing 12 lb
so that its base is just touching the

is
is
placed on a spring
undeformed
spring.
The
then inadvertently released from that position. Deter-
mine the maximum deflection x of the spring and the maximum force
Fig.
if
the constant of the spring
is
15 lb/in.
P13.72
3.73
Nonlinear springs are classified as hard or soft, depending

their force-deflection curves (see figure). Solve
upon the curvature of

Prob.
13.72,
assuming
F=
loxfl
F=
15x(l
-O.lx 2
O.lx 2 ),
(b)
).
Hard spring
Fig.
P13.73
(a)
that a
that
hard spring
soft
spring
is
is
used,
used,
for
for
which
which
3.74
Determine the escape velocity of a missile, i.e., the velocity

it should be fired from the surface of the earth if it is
to reach an infinite distance from the earth. Give the answer in both
SI and U.S. customary units. Show that the result obtained is inde1
with which
pendent
of the firing angle.
How much
13.75
satellite in order to
500 km,
(ft)
energy per kilogram should be imparted to a

it in a circular orbit at an altitude of (a)
place
5000 km?
13.76 A
lunar excursion module
moon-landing missions
to save fuel
(LEM) was used
by making
it
in
the Apollo
unnecessary to launch
the entire Apollo spacecraft from the moon's surface on
its
return trip
Check the effectiveness of this approach by computing

the energy per pound required for a spacecraft to escape the gravitato the earth.
moon
tional field of the
if
the spacecraft starts
(a)
from the moon's
from a circular orbit 60 mi above the moon's surface.

Neglect the effect of the earth's gravitational field. (The radius of the
moon is 1080 mi and its mass is 0.01230 times the mass of the earth.)
surface,
(ft)
Show, by setting r = R + y in formula (13.17') and expower series in y/R, that the expression obtained in
(13.16) for the potential energy Vg due to gravity is a first-order approximation for the expression given in (13.17'). Using the same expansion,
13.77
panding
in a
derive a second-order approximation for
3.78 Show
an electron, as
12.60,
is
Vg
that the ratio of the potential
it
and
kinetic energies of
enters the plates of the cathode-ray tube of Prob.
equal to dS/IL. (Place the datum at the surface of the positive
plate.)
3.79
if
v_4
In
the ball
Sample Prob.
is
that the direction of vA
3.80
13.8,
determine the required magnitude of

d = 4 in. from point O. Assume
to pass at a distance
is
not changed.
is attached to an elastic cord of constant

undeformed when the sphere is located at the origin
O. Knowing that in the position shown v, is perpendicular to OP and
has a magnitude of 10 m/s, determine (a) the maximum distance from
150
A 2-kg sphere
N/m which
is
the origin attained by the sphere,
(ft)
the corresponding speed of the
0.6
sphere.
k
Fig.
1
3.81
In Prob. 13.80, determine the required initial speed cA if

distance from the origin attained by the sphere is to be
the
maximum
1.5
m.
P13.80
580 DYNAMICS
3.82
block P rests on a frictionless horizontal table at a

from a fixed pin O. The block is attached to pin O by
an elastic cord of constant k = 10 lb/ft and of undeformed length 2 ft.
1
distance of
the block
1.5-lb
ft
set in motion to the right as shown, determine (a) the

which the distance from O to the block P will reach a
maximum value of 3 ft, (h) the speed v 2 when OP = 3 ft, (c) the radius
If
speed
Oj
is
for
of curvature of the path of the block
when OP
ft.
^jr
Fig.
P13.82
1 3.83 Collar B weighs 10 lb and is attached to a spring

of constant
50 lb/ft and of undeformed length equal to 18 in. The system is set in
motion with r = 12 in., v = 16 ft/s, and v r = 0. Neglecting the mass
and the effect of friction, determine the

components of the velocity of the collar when r
of the rod
30
radial
21
and transverse
in.
in.
^]
Fig.
P13.83
1 3.84 For the motion described in Prob. 13.83, determine (a) the
maximum distance between the origin and the collar, \b) the corre-
sponding velocity.
1
3.85
v. for
In Sample Prob. 13.8, determine the smallest magnitude of

which the clastic cord will remain taut at all times,
1 3.86 through 1 3.89

Using the principles of conservation of
energy and conservation of angular momentum, solve the following
problems:
3.86
13.87
13.88
13.89
1
Prob. 12.88.
Prob. 12.93.
Prob. 12.92.
Prob. 12.89.
KINETICS
3.90 A space shuttle
which
is
to
OF PARTICLES: ENERGY AND MOMENTUM METHODS
rendezvous with an orbiting laboratory
circles the earth at the constant altitude of
240 mi. The shuttle
2-!0ml
has reached an altitude of 40 mi when its engine is shut off, and its
velocity v forms an angle = 45 with the vertical OB at that time.
What magnitude should

tangent at A to the orbit
have
if
the shuttle's trajectory
is
to be
of the laboratory?
1 3.91
A space shuttle is to rendezvous with an orbiting laboratory
which circles the earth at the constant altitude of 240 mi. The shuttle
has reached an altitude of 40 mi and a velocity v of magnitude
12,000 ft/s when its engine is shut off. What is the angle 6 that v
should form with the vertical

tangent at
13.92
OB
the shuttle's trajectory
if
is
to
be
to the orbit of the laboratory?
Fig.
Determine the magnitude and direction (angle
<>
P13.90 and P13.91
formed
with the vertical OB) of the velocity v B of the spacecraft of Prob.

12.100 just before splashdown at B. Neglect the effect of the atmosphere.
3.93 To what
value D should the speed of the spacecraft of Prob.

if its velocity v B just before
to form an angle <> = 30 with the vertical OB?
12.101 be reduced preparatory to reentry
splashdown at B is
Neglect the effect of the atmosphere.
13.94
Upon
the
LEM's
return to the

faces to the rear.
The
LEM
is
is
command module,
the
LEM
then cast adrift with a velocity of
600 ft/s relative to the command module. Determine the magnitude

and direction (angle <> formed with the vertical OC) of the velocity
v t of the LEM just before it crashes at C on the moon's surface.
.
13.95 At engine burnout a satellite has reached an altitude of

2400 km and has a velocity v of magnitude 8100 m/s forming an angle
<*> = 76 with the vertical.
Determine the maximum and minimum
heights reached by the satellite.
Knglnc
/
3.96
At engine burnout a
satellite
Powered
plmvr
has reached an altitude of
2400 km and has a velocity v of magnitude SlOO m/s. For what range
of values of the angle <>, formed by v and the vertical, will the
satellite go into a permanent orbit? (Assume that if the satellite gets
closer than 300 km from the earth's surface, it will soon burn up.)
Ixirnout
Fig. P1 3.95
and P13.96
581
582 DYNAMICS
13.97
satellite
is
projected into space with a velocity v
from the center of the earth by the
a distance r
launching rocket.
The
was designed
velocity v
at
last stage of its
to send the satellite
into a circular orbit of radius r

However, owing to a malfunction
u
of control, the satellite is not projected horizontally but at an angle
.
a with the horizontal and, as a result, is propelled into an elliptic

Determine the maximum and minimum values of the distance
orbit.
from the center of the earth to the
Fig.
satellite.
P13.97
* 1 3.98 Using the answers obtained in Prob. 13.97, show that the
intended circular orbit and the resulting elliptic orbit intersect at the
ends of the minor axis of the elliptic orbit.
3.99
spacecraft of mass
describes a circular orbit of radius
around the earth, (a) Show that the additional energy A which
must be imparted to the spacecraft to transfer it to a circular orbit
rl
of larger radius r2
is
CMm(r2 =
IE _
.
where M
from one
is
the mass of the earth,
(b)
circular orbit to the other
Further show that,

is
which must be imparted

proportional to r., and r,!
A/'.'
fl
A/'.'
Fig.
=
ri
P13.99
13.100
Show
AE
r2
AB, the amounts of energy

A and B are respectively
AE B =
'i
is
the transfer
at
E of a
E = -GMm/(r 1 +
that the total energy
describing an elliptic orbit
if
executed by placing the space-
craft on a transitional scmielliptic path
AK 4 and
i,)
+H
-A
satellite of
r2 ),
where
mass
is
the
mass of the earth, and i\ and r2 represent, respectively, the maximum

and minimum distance of the orbit to the center of the earth. (It
is
recalled that the gravitational potential energy of a satellite
defined as being zero at an infinite distance from the earth.)
was
* 1 3.1 01 (a) Express the angular momentum per unit mass, h, and
the total energy per unit mass, E/m, of a space vehicle moving under
the earth's gravitational force in terms of
and
rmln
v mKX (Fig.
13.15).
(6) Eliminating v max between the equations obtained, derive the
for-
mula
CM
llCMV
2(E/m)
1F + VVF7
Show
(c)
that the constant
expressed as
(d)
h-
Eq. (12.39) of Sec. 12.11
in
(GM\ 2
C =
Further show
-i-
be
2(E/m)
h*
that the trajectory of the vehicle
ellipse, or a parabola,
may
depending on whether
/.'
is
is
a hyperbola, an
positive, negative or
zero.
* 1 3.1 02 In Prob. 13.90, determine the distance separating the

two points located on the surface of the earth directly below points B
and A where engine shut-off and rendezvous with the orbiting laboratory respectively take place. [Hint Use Eq. (12.39) of Sec. 12.11,
noting that point
* 1 3.1 03
magnitude v
(Z>)
is
height
Use Eq.
d reached by
the vertical,
maximum
Ex(J>
BAC of the missile
and
<>
is
fired
180
for point .]
<i
from the ground with an
with the vertical.
If
initial
the missile
<i
is
denned by the
v
.
velocity
to reach
show
that
relation
the escape velocity,

allowable values of v
esc is
is
Fig.
altitude equal to the radius of the earth, (a)
the required angle
minimum
(a)
the missile in terms of
12.11 to solve part b, noting that
(12.39) of Sec.
forming an angle
t;
with a velocity v of
and explain what happens when $ a approaches 90.
180 for point
where
180.]
that the angle 2o subtending the trajectory
* 1 3.1 04 A missile
v
A missile is fired from the ground

VgR, forming an angle <> with
equal to 2d
[Hint.
corresponds to 6
maximum
press the
Show
V o
determine the
maximum and
P13.103 and P13.104
583
584 DYNAMICS
Momentum,
13.10. Principle of Impulse and

method
problems dealing with the

motion of particles will be considered now. This method is based
on the principle of impulse and momentum and may be used to
solve problems involving force, mass, velocity, and time. It is of
particular interest in the solution of problems involving impulsive motion or impact (Sees. 13.11 and 13.12).
Consider a particle of mass m acted upon by a force F. As we
saw in Sec. 12.2, Newton's second law may be expressed in die
form
third basic
for the solution of
F = -(mv)
where
mv
the linear
is
momentum
(13.27)
of the particle.
Multiplying
both sides of Eq. (13.27) by dt and integrating from a time

time
t2 ,
we
F dt -
transposing the
last
tnv 1
term.
mv, +
The
to a
dirnv)
F dt = mv2
or,
tx
write
integral in Eq. (13.28)
is
dt
= mv.
a vector
known
pulse, or simply the impulse, of the force
time considered.
Resolving
(13.28)
as the linear im-
F during
the interval of
into rectangular components,
we
write
ImPi-^J
=
r's
ij
dt
r*2
Fx dt+jj
'i
Fy dt+kj
'i
Fz
dt
(13.29)
<i
components of the impulse of the force F are,

under the curves obtained by
plotting the components Fx F and Fs against f (Fig. 13.16). In
y
the case of a force F of constant magnitude and direction, the
impulse is represented by the vector F(t2 tj), which has the
same direction as F.
If SI units are used, the magnitude of the impulse of a force is
and note
that the
respectively, equal to the areas

,
expressed in
But, recalling the definition of the newton,
s.
have
Fig.
13.16
= (kg
m/s2
kg
m/s
we
KINETICS OF PARTICLES;
which
is
the unit obtained in Sec. 12.3 for the linear
of a particle.
We
thus check that Eq. (13.28)
is
momentum
dimensionally
correct. If U.S. customary units are used, the impulse of a force

is
expressed in lb
for the linear
s,
which
momentum
also the unit obtained in Sec. 12.3
is
of a particle.
Equation (13.28) expresses that, when a particle is acted upon

by a force F during a given time interval, the final momentum
mv 2 of the particle may be obtained by adding cectorially its
initial momentum mv, and the impulse of the force F during the
time interval considered (Fig. 13.17).
mv,
O-^
+ Imp
..
We
write
= mv 2
(13.30)
0=0
Fig. 13.17
We
ties,
note that, while kinetic energy and work are scalar quantimomentum and impulse are vector quantities. To obtain an
analytic solution,
it is
thus necessary to replace Eq. (13.30)
by
the
equivalent component equations
K),
F, dt
K)
F dt
(mv y ) 2
c'1
'i
(me,),
+ f
''
(13.31)
'.
(mv z
When
f' 1
Fz dt = (mv t ) 2
several forces act on a particle, the impulse of each of
the forces must be considered.
We
have
mv, + 2 Imp 1 _ 2
= mv 2
(13.32)
Again, the equation obtained represents a relation between vector quantities; in the actual solution of a problem,
it
should be
replaced by the corresponding component equations.

When a problem involves two particles or more, each particle
may be considered
separately and Eq. (13.32)
may be
written for
586 DYNAMICS
We may
each particle.
also
add vectorially the momenta of
the particles and the impulses of
the forces involved.
all
all
We
write then
2mv,
+ 2 Imp,. =
2tv2
(13.33)
Since the forces of action and reaction exerted by the particles on
each other form pairs of equal and opposite forces, and since the
lime interval from t-y to t2 is common to all the forces involved,
the impulses of the forces of action
and reaction cancel
out,
and
only the impulses of the external forces need be considered.!

If
no external force
ally, if the
sum of
is
more gener-
exerted on the particles or,
the external forces
is
zero, the second
term
in
Eq. (13.33) vanishes, and Eq. (13.33) reduces to
Smv, = 2mv 2
which expresses
that the total
(13.34)
momentum
of the particles
conserved. Consider, for example, two boats, of mass

initially at rest,
which are being pulled together
the resistance of the water
is
is
mA and m B
(Fig. 13.18).
If
neglected, the only external forces
acting on the boats are their weights and the buoyant forces
exerted on them. Since these forces are balanced, we write
'" VR
Smv, = Smv 2
= mA v'A + mB v B
Fig. 13.18
where
v^,
and v^ represent the
interval of time.
move
in
velocities of the boats after a finite
The equation obtained
indicates that the boats
opposite directions (toward each other) with velocities
inversely proportional to their masses.}
We should
note the difference between this statement and the corresponding
made
work of the forces of action and

While the sum of the impulses of these
forces is always zero, the sum of their work is zero only under special circumstances, e.g., when the various bodies involved are connected by inextensible
cords or links and are thus constrained to move through equal distances.
Statement
reaction
(The
particles
in Sec.
I3.4 regarding the
between several
particles.
method of impulse and momentum to a system of

and the concept of conservation of momentum for a system of particles
application of the
are discussed in detail
in
Chap.
14.
13.11. Impulsive Motion.

large force
cle
may
some problems, a very

on a partimomentum. Such a force is
In
act during a very short time interval
and produce a
definite
called an impulsive force
change in
and the resulting motion an impulsive
For example, when a baseball is struck, the contact

between bat and ball takes place during a very short time interval It. But the average value of the force F exerted by the bat on
the ball is very large, and the resulting impulse F Af is large
enough to change the sense of motion of the ball (Fig. 13.19).
motion.
Fig. 13.19
When
impulsive forces act on a particle, Eq. (13.32) becomes
mv,
Any
which
force
+ 2F M = mv2
(13.35)
may be
not an impulsive force
is
since the corresponding impulse
A/
is
neglected,
very small. Nonimpul-
sive forces include the weight of the body, the force exerted
by a
be small compared
with an impulsive force. Unknown reactions may or may not be
impulsive; their impulse should therefore be included in Eq.
(13.35) as long as it has not been proved negligible. The impulse
of the weight of the baseball considered above, for example, may
be neglected. If the motion of the bat is analyzed, the impulse of
the weight of the bat may also be neglected. The impulses of the
spring, or
any other force which
reactions of the player's hands
is
known
on the
to
bat,
however, should be
included; these impulses will not be negligible

incorrectly
if
the ball
is
hit.
In the case of the impulsive motion of several particles, Eq.

(13.33)
may be
used.
It
reduces to
2mv,
+ZF\t = 2mv 2
where the second term involves only impulsive,

If all
(13.36)
external forces.
the external forces are nonimpulsive, the second term
vanishes,
mentum
and Eq.
(13.36) reduces to Eq. (13.34); the total
of the particles
is
conserved.
mo-
SAMPLE PROBLEM
13.10
An automobile weighing 4000 lb is driven down a 5 incline at a speed

when the brakes are applied, causing a constant total
of 60 ini/h
braking force (applied by the road on the

llie
time required for the automobile to
We apply
.Solution.
tires) of
1500
come
the principle of impidse
to
lb.
Determine
stop.
and momentum. Since
each force
is
impulse
equal to the product of the force and of the time interval
is
constant in magnitude and direction, each corresponding

f.
nv,=0
+ 2 Imp 1 _.i mv.,

mv + Wsin 5)< Ft =
(4000/32.2)(88 ft/s) 4- (4000 sin 5)r - 1500< =
mv,
+ \x
components:
SAMPLE PROBLEM
9.49
13.11
10 ft/s
An
employee
airline
tosses a 30-lb suitcase with
of 10 ft/s onto a 70-lb

roll
freely
and
is
baggage
initially at rest,
determine the velocity of the carrier
after the suitcase has slid to a relative stop
Solution.
We
a horizontal velocity
that the carrier can
Knowing
carrier.
on the
carrier.
apply the principle of impulse and
momentum
to
Since the impulses of the internal forces
the carrier-suitcase system.
cancel out, and since there are no horizontal external forces, the total
momentum
"'.\V\
of the carrier and suitcase
is
conserved.
'
m A + in a iv
~W_
m A vA + mBvB =
x components:
()+
30
(]()ft/s)=
(mA
+ mBW
70-f30
g
c'
588
3 ft/s
SAMPLE PROBLEM
An
gun
old 2000-kg
13.12
a 10-kg shell with an initial velocity of
fires
an angle of 30. The gun
600 m/s
at
free to
move
rests on a horizontal surface and is

Assuming that the barrel of the gun is
the frame (no recoil mechanism} and that the shell
horizontally.
rigidly attached to
leaves the barrel 6 CDS after
firing,
gun and the resultant R of the

ground on the gun.
We first apply
Solution.
then apply
it
interval At
gun and
to the
recoil velocity of the
the principle of impulse
the shell and find the impulse

the impulse
determine the
vertical impulsive forces exerted
and momentum
find the final
momentum
0.006
s is
we
very short,
neglect
to
We
At exerted by the gun on the shell.
A/ exerted by the ground on the gun.
6 ms
by the
of the gun and
Since the time

all
nonimpulsive
forces.
Free Body: Shell
(m s v s
"
ryi
('"S vs ),
+ 1 Imp,
FAt
F It
Free Body:
= (ms vs
=
=
si)i
)2
(10kg)(600m/s)
6000 kg
m/s
6000
Gun
mc v e i-
m o vn)i + 2 Imp, 2 = (m v 2
- (F At) cos 30 = m v a
- (6000 kg m/s) cos 30 = -(2000 kg)v
(
x components:
vG
+2.60 m/s
0+fiAl-
t y components:
R At =
3
=
.-'
0.006
!i
(6000
vc
(F At)
sin 30
sin 30
= + 500 000 X
s)
2.60
=
=
m/s <-
3000
R = 500 kN
The high value obtained for the magnitude of R stresses the need in
modern guns for a recoil mechanism which allows the barrel to move
and brings
it
Although the
to rest over a period of time substantially longer than At.

total vertical
impulse remains the same, the longer time
interval results in a smaller value for the
magnitude of R.
589
590 DYNAMICS
PROBLEMS
13.105
when
A 2750-lb automobile
is
moving
the brakes arc hilly applied, causing
at a speed of 45
all
Determine the lime required to stop the automobile

ill = 0.80), (b) on ice (p = 0.10).
ton
3.1 06
oil
A tugboat
mi/h
four wheels to skid.

(a)
on concrete
exerts a constant force of 25 tons on a 200,000-
tanker. Neglecting the frictional resistance of the water, deter-
mine the time required to increase the speed of the tanker

mi/h to 2 mi/h, (h) from 2 mi/h to 3 mi/h.
(a)
from
A
F=
A
v
14*2 (lb)
3-lb particle
which
acts
is
in
acted upon by a force

the
direction
of
the
of magnitude
vector
unit
= $i -f |j + fk. Knowing that the velocity of the particle at =

= (400 ft/s)j - (250 ft/s)k, determine the velocity when = 3
(
is
s.
3.108
A 2-kg particle is acted upon by the force, expressed in

F = (8 - 6r)i + (4 - t 2 )} + (4 + f)k. Knowing that the
velocity of the particle is v = (150 m/s)i + (100 m/s)j (250 m/s)k at
f = 0, determine (a) the time at which the velocity of the particle is
1
newtons,
parallel to the
1/2
plane,
(b)
13.109 and 13.110

5 m/s
the corresponding velocity of the particle.
The
initial velocity of
the 50-kg car
Determine the time r at which the car has

a velocity of 5 m/s to the right.
to the left.
velocity, (b)
50 kg
(a)
is
no
50 kg
^
101
20 kg
Fig.
P13.109
13.111
Fig.
P13.110
Using the principle of impulse and momentum, solve
I'rob. 12.17&.
13.112
Prob. 12.18b.
Using the principle of impulse and momentum, solve
KINETICS
3.1
mass of car
made of two cars travels at 100 km/h. The

Mg, and the mass of car H is 20 Mg. When the
light train
15
is
brakes are applied, a constant braking force of 25 k.\
Determine
car.
(a)
brakes are applied,

the train
KKI
km
is
is
applied to each
the time required for the train to stop after the
(b) the force in the
coupling between the cars while
slowing down.
15
Mg
20
Mr
TiJF
Fig.
P13.113
1 3. 1 1
of 25 k.N
Solve Prob. 13.113, assuming that a constant braking force

B but that the brakes on car A are not
applied to car
is
applied.
13.115 The
force
3-lb collav
initially at rest
is
Q which varies as shown.
velocity of the collar at (a)
13.116
In Prob.
Knowing
1 s, (77)
that
and
fi
acted upon by the
is
0.25,
13.115. determine (o) the
maximum
reached by the collar and the corresponding time,
which the
collar
comes
determine the
2s.
(b) the
time at
to rest.
13.117 A 20-kg block is initially at rest and is subjected to a force

P which varies as shown. Neglecting the effect of friction, determine
(a) the maximum speed attained by the block, (b) the speed of the
block
Fig.
at
1.5
s.
P13.117
1 3.1 1 8 Solve Prob. 13.117, assuming that

block and the surface.
13.119 A gun
an
to
0.25 between the
Mg is designed to fire a 250-kg shell with

600 m/s. Determine the average force required
of mass 50
initial velocity of
hold the gun motionless
fired.
,u
if
the shell leaves the
gun 0.02 s
velocity
after being
Fig.
P13.115
1.0
2.0
591
592 DYNAMICS
13.120
A 6000-kg plane lands on the deck of an aircraft carrier

speed of 2(X)km/h relative to the earner and is brought to a
stop in 3.0 s. Determine the average horizontal force exerted by the
carrier on the plane (a) if the carrier is at rest, (b) if the carrier is
at a
moving
(]
knot
at a
speed of 15 knots
13.121
4-oz baseball
toward a batter. After the

120
ft/s in the direction
0.025
s,
same
in the
direction as the airplane.
0.514 m/s.)
is
ball
is
shown.
pitched with a velocity of 40

hit
If
by the bat B,
it
ft/s
has a velocity of
the bat and ball are in contact
determine the average impulsive force exerted on the
ball
during the impact.

40
Fig.
ft/s
P1 3.121
'
"
P13.122
Fig.
13.122 A
160-lb
man
dives off the end of a pier with an initial
velocity of 9 ft/s in the direction shown. Determine the horizontal and

vertical
0.8
components
that the
man
of the average force exerted
on the
pier during the
takes to leave the pier.
13.123 A
steel-jacketed bullet of mass 20 g is fired with a velocity

600 m/s toward a steel plate; the bullet ricochets along the path CD
with a velocity of 500 m/s. Knowing that the bullet caused a 50-mm
scratch on the surface of the plate, determine the average impulsive
of
force exerted on the bullet during
its
contact with the plate. {Hint.
Assume an average speed of 550 m/s during

Fig.
13.1 24
Determine the
3.1
1200
25 A
ft/s into
2-oz
P13.126
kg
J.5 fcg fr
velocity of an 8-lb
bullet
is
fired horizontally
(a)
the
which
with a velocity of
wood which can move
Determine
rifle
ft/s.
final
freely in the
velocity of the block,
the ratio of the final kinetic energy of the block and bullet to the
initial kinetic
1.5
rifle
an 8-lb block of
horizontal direction.
(/>)
initial recoil
a j-oz bullet with a velocity of 1600
fires
Fig.
contact.)
P13.123
energy of the bullet.
13.1 26 Collars A and B are moved toward each other, thus

compressing the spring, and are then released from rest. The spring is
not attached to the collars. Neglecting the effect of friction and
knowing that collar B is observed to move to the right with a velocity
of 6 m/s, determine (a) the corresponding velocity of collar A, (b) the
kinetic energy of each collar.
A barge
and carries a 6(K)-kg crate. The

equipped with a winch which is used
to move the crate along the deck. Neglecting any friction between the
crate and the barge, determine (a) the velocity of both the barge and
the crate when the winch is drawing in rope at the rate of 1.5 m/s,
(b) the final position of the barge after 12 m of rope has been drawn in
by the winch, (c) Solve parts a and b assuming that p = 0.30 between
the crate and the barge.
barge has
is
initially at rest
mass of 3000 kg and
28
is
60-ton railroad car
is
to
'7-7:
Fig.
P13.127
Fig.
P13.130
Fig.
P13.132
be coupled to a second car
which weighs 40 tons. If initially the speed of the 60-ton car is 1 mi/h
and the 40-ton car is at rest, determine (a) the final speed of the
coupled cars, (b) the average impulsive force acting on each car if the
coupling is completed in 0.5 s.
ml/h
"-
60 tons
^P^
Fig.
torn
P13.128
is
MM,
10
X-
29
at rest
Solve Prob. 13.128, assuming that, initially, the 60-ton car

and the 40-ton car has a speed of 1 mi/h.
30 A
10-kg package
is
discharged from a conveyor belt with a
m/s and lands in a 25-kg cart. Knowing that the cart is

rest and may roll freely, determine the final velocity of the
velocity of 3
initially at
cart.
age
is
31
Solve Prob. 13.130, assuming that the single 10-kg packreplaced by two 5-kg packages. The first 5-kg package comes to
1
relative rest in the cart before the
132
second package
strikes the cart.
In order to test the resistance of a chain to impact, the
suspended from a 100-kg block supported by two columns. A

rod attached to the last link of the chain is then hit by a 25-kg cylinder
dropped from a 1.5-m height. Determine the initial impulse exerted on
the chain, assuming that the impact is perfectly plastic and that the
columns supporting the dead weight (a) are perfectly rigid, (h) are
chain
is
equivalent to two perfectly elastic springs,
absorbed by the chain
in parts
a and
(c)
Determine the energy
/).
A machine part is forged in a small drop forge. The

hammer weighs 300 lb and is dropped from a height of 4 ft. Determine
the initial impulse exerted on the machine part, assuming that the
800-lb anvil
springs.
(a) is
resting directly
on hard ground,
(b)
is
supported
by-
594 DYNAMICS
13.12. Impact.
>*V
collision
between two bodies which
occurs in a very small interval of lime, and during which die two
bodies exert on each other relatively large forces,
impact.
The common normal
called an
is
to the surfaces in contact during
is called the line of impact. If the mass centers of the

two colliding bodies arc located on this line, the impact is a
central impact. Otherwise, the impact is said to be eccentric. We
shall limit our present study to that of the central impact of two
the impact
particles
and postpone
impact of two
(a)Dircct central impact
If
until later the analysis of the eccentric
rigid bodies (Sec. 17.11).
the velocities of the two particles are directed along the line
of impact, the impact
is said to be a direct impact (Fig. 13.20a).

on the other hand, either or both particles move along a line
other than the line of impact, the impact is said to be an oblique
impact (Fig. 13.20&).
13.13. Direct Central Impact. Consider two particles
A and B, of mass mA and m B , which are moving in the same
straight line and to the right with known velocities vA and v s
If,
(Fig. 13.21a).
\A
is
larger than v B
particle
will eventually
strike particle B. Under the impact, the two particles will deform and, at the end of the period of deformation, they will have
the same velocity u (Fig. 13.21&). A period of restitution will
then take place, at the end of which, depending upon the magnitude of the impact forces and upon the materials involved, the
(b)Oblique central impact

Fig.
If
13.20
have regained their original shape or

permanently
deformed.
Our purpose here is to deterwill stay
mine the velocities v^, and \'B of the particles at the end of the
two
particles either will
period of restitution (Fig. 13.21c).
Considering first the two particles together, we note that there

no impulsive, external force. Thus, the total momentum of the
two particles is conserved, and we write
is
B
(a)
mA VA +
Before impact
Since
axis,
all
" BV B
l
" l A VA
+ mBVB
the velocities considered are directed along the
wc may
same
replace the equation obtained by the following
relation involving only scalar components:
(h)
At
maximum
deformation
mA vA + mBvB = mA v'A
A
J
(13.37)
positive value for any of the scalar quantities vA , vB v'A or v'B

that the corresponding vector is directed to the right; a
,
means
negative value indicates that the corresponding vector

to the left.
is
directed
To obtain the
and
velocities v^
v^,
a second relation between the scalars

pose,
we
v'
A
B For this purthe motion of particle A during' the
now
shall consider
necessary to establish
it is
v'
and
period of deformation and apply the principle of impulse and

momentum. Since the only impulsive force acting on A during
this period is the force P exerted by B (Fig. 13.22a), we write,
using again scalar components,
mA v A -SPdt = mA u
where the
'
integral
vVi
(13.38)
extends over the period of deformation.
Ofrdt
\U
III
(a) Period of deformation
OAdt
0-
(b) Period of restitution

Fig. 13.22
now the motion of A during the period of restituand denoting by R the force exerted by B on A during
Considering
tion,
this
period (Fig.
13.22fo),
we
write
mA u - fR dt = mA v'A
where the
(13.39)
integral extends over the period of restitution.
R exerted on A during the period of

from the force P exerted during the period
of deformation, and the magnitude fR dt of its impulse is smaller
than the magnitude J"P dt of the impulse of P. The ratio of the
magnitudes of the impulses corresponding respectively to the
In general, the force
restitution differs
period of restitution and to the period of deformation

the coefficient of restitution and
is
denoted by
e.
We
is
called
write
fRdt
(13.40)
SPdt
The value
is always between
and 1 and
on the two materials involved. However, it also varies considerably with the impact velocity and
the shape and size of the two colliding bodies.
depends
of the coefficient e
to a large extent
596 DYNAMICS
Solving Eqs. (13.38) and (13.39) for the two impulses and
substituting into (13.40),
we
write
e=^
A
similar analysis of particle
leads to the relation
?^
(13.41)
vA
(13.42)
Since the quotients in (13.41) and (13.42) are equal, they are also
equal to the quotient obtained by adding, respectively, their
We
numerators and their denominators.
= t(4-
and
v'
t-B
B
Since v'B
v'
v'a)
(oi
o)
(u
-v'
v'A =
have, therefore,
-u)
vB )
e(vA
v
"b)
B)
(13.43)
represents the relative velocity of the two parti-
impact and vA vB their relative velocity before

impact, formula (13.43) expresses that the relative velocity oftlie
two particles after impact may be obtained by multiplying their
cles after
impact by tlxe coefficient of restitution.

used to determine experimentally the value of
the coefficient of restitution of two given materials.
relative velocity before
This property
The
is
velocities of the
two
particles after
impact may now be
obtained by solving Eqs. (13.37) and (13.43) simultaneously for v'A

and v'B It is recalled that the derivation of Eqs. (13.37) and
.
(13.43)
was based on the assumption
that particle
the right of A, and that both particles are initially
is
located to
moving
to the
moving to the left, the scalar vB

should be considered negative. The same sign convention holds
right.
particle
If
is
initially
for the velocities after impact: a positive sign for v'A will indicate
that particle
sign that
Two
1.
it
0,
impact, and a negative
to the left.
When
Perfectly Plastic Impact.
particles
moves
to the right after
particular cases of impact are of special interest:
yields v'B
v'
A moves
v'
There
is
no period of
= 0,
and both
v'B
Eq. (13.37), which expresses that the total moof the particles is conserved, we write
stay
together
after
impact.
Substituting
v' into
mentum
mA vA + m R V B = mA + ms) D
(
This equation
two
Eq. (13.43)
restitution,
may be solved
particles after impact.
for the
'
(13.44)
common velocity v' of the
2.
= 1,
When
Perfectly Elastic Impact.
1,
Eq. (13.43)
reduces to
Vr
fj
v,
(13.45)
which expresses that the relative velocities before and after

impact are equal. The impulses received by each particle
during the period of deformation and during the period of
restitution are equal.
The
move away from each
particles
other after impact with the same velocity with which they
approached each other before impact. The velocities v'A and

v' may be obtained by solving Eqs. (13.37) and (13.45) simulB
taneously.
It is
worth noting
that, in the case
the total energy of the
tum,
is
two particles,
of a perfectly elastic impact,

as well as their total
conserved. Equations (13.37) and (13.45)
momen-
may be
written
as follows:
mJPd ~
v'a)
= mB
vB
(13.37')
*)
(13.45')
Multiplying (13.37') and (13.45')
mA( vA ~
+ ) = mB (v'B - vB ){v'B +
m
- AÂ? = mB( V B 2 ~ mB V l
v'a)(<>a
m.v
A"
Rearranging the terms
by
we
member by member, we have

vB )
'
in the
equation obtained, and multiplying
write
mA vA + WI = W^) 2 +
which expresses
hm^v'g) 2
that the kinetic energy of the particles
is
con-
should be noted, however, that in the general case of

impact, i.e., when e is not equal to 1, the total energy of the
served.
It
is not conserved. This may be shown in any given case

by comparing the kinetic energies before and after impact. The
lost kinetic energy is in part transformed into heat and in part
spent in generating elastic waves within the two colliding bodies.
particles
13.14. Oblique Central Impact. Let us now consider

the case when the velocities of the two colliding particles are not
directed along the line of impact (Fig. 13.23).
Sec. 13.12, the
v'A
and \'B
impact
is
of the particles after
as well as in
As indicated in
be oblique. Since the velocities
impact are unknown in direction
said to
magnitude, their determination will require the use
of four independent equations.
We choose x and y axes, respectively, along the line of impact

and along the common tangent to the surfaces in contact. Assuming that the particles are perfectly smooth and frictionless,
Fig. 13.23
598 DYNAMICS
we
observe that the only impulsive forces acting on the particles
during the impact arc internal forces directed along the x
We may
1.
axis.
therefore express that:
The y component
of the
momentum
of particle
is
con-
y component of the
momentum
of particle
is
con-
served.
2.
The
served.
3.
x component of the total
The
momentum
of the particles
is
conserved.
Fig. 13.23 (repealed)

4.
The
x component of the relative velocity of the two particles

is obtained by multiplying the x component of
after impact
their relative velocity before
impact by the coefficient of
restitution.
We
thus obtain four independent equations which
solved for the components of the velocities of
impact.
This method of solution
is
may be
illustrated in
and B after
Sample Prob.
13.15.
3.1 5. Problems Involving Energy and Momentum.

have now at our disposal three different methods for the
solution of kinetics problems: the direct application of Newton's
1
We
second law, SF = ma, the method of work and energy, and the
method of impulse and momentum. To derive maximum benefit
from these three methods, we should be able
method best suited for the solution
to choose the
of a given problem.
We should
be prepared to use different methods for solving the various parts of a problem when such a procedure seems advisable.
also
We
is
in
have already seen that the method of work and energy
many
cases
more expeditious than the
of Newton's second law.
direct application
As indicated in Sec. 13.4, however,
the method of work and energy has limitations, and it must

sometimes be supplemented by the use of 2F = ma. This is the
case, for example, when we wish to determine an acceleration
or a normal force.
There is generally no great advantage in using the method
of impulse and momentum for the solution of problems involving
no impulsive forces. It will usually be found that the equation
2F = ma yields a solution just as fast and that the method of
work and energy, if it applies, is more rapid and more convenient, However, the method of impulse and momentum is the
only practicable method in problems of impact. A solution based
on the direct application of SF = ma would be unwieldy, and
the method of work and energy cannot be used since impact
(unless perfectly elastic) involves a loss of mechanical energy.
KINETICS
Many problems
involve only conservative forces, except for a
short impact phase during
solution of such problems
which impulsive forces
may be
The
act.
divided into several parts.
While the part corresponding to the impact phase calls for the
use of the method of impulse and momentum and of the relation
between relative velocities, the other parts may usually be solved
by the method of work and energy. The use of the equation
2F = ma will be necessary, however, if the problem involves the

determination of a normal force.
Consider, for example, a pendulum A, of mass
which
is
13.24a).
The pendulum swings
mB
and same length
/,
After the impact (with coefficient of restitu-
initially at rest.
e),
and hits
which is
freely in a vertical plane
a second pendulum B, of mass

tion
A and length /,
released with no velocity from a position Aj (Fig.
pendulum B swings through an angle
that
we
wish to
determine.
The
1.
solution of the
problem may be divided into three
Pendulum A Swings from A,

vation of energy
may be
to
A 2 The
.
parts:
principle of conser-
used to determine the velocity (vA ) 2
of the pendulum at A 2 (Fig. 13.24fo).

Pendulum A Hits Pendulum B. Using the fact that the total
momentum of the two pendulums is conserved and the relation between their relative velocities, wc determine the velocities (vA ) 3 and (v ) of the two pendulums after impact
B 3
2.
(Fig. 13.24c).
3.
Pendulum B Swings from Ba
to
B4
Applying the principle of
we determine the maximum elevation

by pendulum B (Fig. 13.24d). The angle
may
conservation of energy,
y4 reached
then be determined by trigonometry.
Impact:
Conservation
Total
of energy
momentum
Conservation
of energy
conserved
Relative velocities
"V_
A ) 1=
(v
,-n
As
(:
We note
(c)
(d)
Fig. 13.24
that the
method
of solution just described should be
supplemented by the use of 2F = ma if the tensions

holding the pendulums are to be determined.
in the
cords
599

2()-Mg railroad car moving at a speed of 0.5 m/s to the right collides
with a 35-Mg car which

car
is
35-Mg
the collision the
If after
at rest.
is
observed to move to the right at a speed of 0.3 m/s, determine
two
the coefficient of restitution between the
We
Solution.
express that the total
cars.
momentum
two cars
of the
is
conserved.
v,
v=0
0,5 ni/s
20 Mg
38
"i B
v'
Mg
20
me\
v'A
vB
(20 Mg)v'A
-0.025 m/s
coefficient of restitution
(35Mg)(0)
is
,,
mA VA + ""fiVB
A VA + m B VB -
Mg
33
v fl
(20Mg)(+0.5m/s)
The
Mg
= 0.3 m/s
v^
(35Mg)(+0.3m/s)
0.025 m/s -
obtained by writing
- v4 _ +0.3 - (-0.025) _
0.325
g
+0.5
_
ft
0.5

A
ball
thrown against a
is
Immediately
frictionless vertical wall.
before the ball strikes the wall,
velocity has a magnitude D
its
forms an angle of 30 with the horizontal.
Knowing
that e
and
0.90,
determine the magnitude and direction of the velocity of the ball

it rebounds from the wall.
as
We resolve the initial velocity of the ball into components

= cos 30 = 0.866u
vy = v sin 30 = 0.5()(te
Solution.
D
Vertical Motion.
Since the wall
is
frictionless,
force acts on the ball during the time
The
vertical
component
component
it is
no
vertical impulsive
in contact with the wall.
momentum, and hence
of the
of the velocity, of the ball
is
the vertical
thus unchanged:
30
v;
0.500.>
:".;
of the ball
/
0.779 v
velocities,
and the wall
we
0.500i; T
no point
is
conserved. Using the relation between relative
write
- tf. =
v'z
Since the mass of the wall (and earth) is essenin expressing that the total momentum
Horizontal Motion.
tially infinite, there is
e(v x
0)
-0.9O(O.866i3)
Raultant Motion. Adding
-0.779t
v'x
vectorially the
v'
= 0.779d *-
components
\'
x
and
0.926l- !b. 32.7
\'
y,
-*
SAMPLE PROBLEM
The magnitude and
balls
less
e
v.
10
ft
,>
each
0.90,
13.15
direction of the velocities of two identical friction-
before they strike each other are as shown.
Assuming
determine the magnitude and direction of the velocity of
ball after the impact.
The impulsive
Solution.
balls
during the
line joining the centers of the balls called
Choosing X and u
the line of impact.
between the
forces acting
impact are directed along a
axes, respectively, parallel
perpendicular to the line of impact and directed as shown,
.in
and
we write
("A = a cos 30" = +26.0ft/s

3()C
= + 15.0 ft/s
("A = a sin
=
(v) x
-t B cos60" = -20.0 ft/s
() = u s sin60 = +34.6 ft/s
Momentum.
Principle of Impulse and
we show
In the adjoining sketches
momenta, the impulsive
in turn the initial
reactions,
and
the final momenta.
Motion Perpendicular
i/
0--0
components,
we
to the Line of Impact.

Considering onlv the
apply the principle of impulse and momentum to
each ball separately.
Since no vertical impulsive force acts during
the impact, the vertical

vertical
component
K) =
Motion Parallel
component
of the
of the velocity, of
15.0 ft/s f
to the
momentum, and hence
each
(vi),
ball
the
unchanged.
is
34.6 ft/s T
Line of Impact.
In the
.t
direction,
we
consider the two balls together and note that, by Newton's third law,
V St and F St and cancel.

momentum of the balls is conserved:
the internal impulses are, respectively,
We
thus write that the total
"b(A + "'ato), =
m(26.0) + m(-20.0) =
+ mB(o B
+ m(v B),
rn A (v'A )r
m(v'A )x
to),
I!
'/I!
)t
to)*
6<>
(1)
41-4
(2)
Using the relation between relative

34.6
to),
to).
to).
().
=
=
velocities,
tfto).
we
- to)J
(0.90)[26.0
(-20.0)]
to),
Solving Eqs.
(1)
and
(i>i).
K), =
23.7
Resultant Motion.
each
ball,
we
v.',
(2)
simultaneously,
-17.7
17.7 ft/s
write
we
"
(*)
obtain
to),
-+23.7
fy8),
23.7 ft/s -+
Adding vcctorially the velocity components
of
obtain
23.2 ft/s
40.3
vj,
=41.9 ft
55.6'
-4
601
30 kg
A
B
10 kg
30-kg block
dropped from a height of 2 in onto the 10-kg pan

Assuming the impact to be perfectly plastic, deter-
is
of a spring scale.
mine
maximum
the
is
deflection of the pan.
The
constant of the spring
20 kN/rn.
The impact between the block and the pan must be
Solution.
we
treated separately; therefore
divide the solution into three parts.
Impact! Total
of energy
t
2"l I
'
'
'
iiiiiiiu'iihiiii
JUr
or
energy
*3
Durum
.i\:irion
conserved
\;.= 0)
deformation
r f-^
\
|
'
-<
Cwwercatfon of Energy.
W, =
Block:
WO?
(30kg)(9.81
m/s2 = 294 N
)
vi = &I = 294 NX2 m) =

=
=
%=o
rs = Jm^)i = i(30kg)( Cjl
+ 588 J = <30kg)(<;Jl +
+ V1 = T2 + V2
=
6.26
m/s
(vjjj = 6.26 m/s ;
(cj,
+
r,
<
588
T,
lmi>act: Conservation
plastic, e
of Momentum. Since the impact
move
0; the block and pan
V^ _
3
V*
mB
98.1
deflection of the spring,
we
write
= (30 kg + 10kg)(4.70m/s) = 442 J

+ |fcr2 = |(20 X 103 )(4.91 X 10"3 2 = 0.241 J
2
)v'i
+ Vt =
= Vg+ V =
Wa
WB)(-ft)
Ifcx-f
Noting that the displacement of the pan
ra
weight
is
20x'10 3 N/m
maximum
X* the total
Ta = l(mA +
V,
deflection of the spring
2()Xl0 3 N/m
Denoting by
Vs =
T4 =
J,
Initially the spring supports the
initial
(10k g )(9.81m/s2 )
+4.70 m/s
\VB of the pan; thus the
perfectly
= m A + m B )v 3
= (30 kg + 10kg)t;,,
v3 = 4.70 m/s
">a( va)2 + m^Bl-i

(30 kg){6.26 m/s) +
D3
is
together after the impact.
+ |(20 X 103 )*2

x3 we write
-(392)ft
is ft
x&
+ v8 = 3; + v4i
442
x4
0.230
0.241
=
ft
i4
ft
392(.r4
*3
0.225
4.91
0.230
10" 3
m-
4.91
ft
|(20
10 3 )x=f
X 10~ 3 m
= 225 mm
-^
PROBLEMS
13.134
known
to
energy
loss
The
be
0.75;
between the two
coefficient of restitution
determine
(a) their velocities after
collars
impact,
ill)
is
(b) the
during the impact.
13.135
is
Sfl/s
12 ft/>
Fig.
Solve Proh. 13.134, assuming that the velocity of collar
P13.134
ft/s to the right.
13.136
Two steel blocks slide without friction on a horizontal

immediately before impact their velocities are as shown.
Knowing that e = 0.75, determine () their velocities after impact,
surface;
the energy loss during impact.
(b)
Fig.
2 m/s
m/s
0.6 kg
0.9 k R
P13.136 and P13.137
13.137
shown.
If
m/s
the two
to
2.5
two steel blocks before impact are as

impact the velocity of block B is observed to be
the right, determine the coefficient of restitution between
The
v,
blocks.
As ball
strikes ball
vertical.
velocities of
after the
13.138
which
is
falling,
a juggler tosses an identical ball
vs
= 5 m/s
A. The line of impact forms an angle of 30 with the
Assuming the
balls frictionless
and e
determine the
0.8,
Fig.
P13.138
Fig.
P13.139
velocity of each ball immediately after impact.
13.139
A and B, of 80-inni diameter, may

Puck B is at rest and puck A has an
initial velocity v as shown, (a) Knowing that b = 40 mm and e = 0.80,
and assuming no friction, determine the velocity of each puck after the
move
freely
impact,
Two
identical pucks
on
hockey
Show
(fo)
that
if
rink.
1,
the final velocities of the pucks form a
right angle for all values of b.
13.1 40
Assuming perfectly
elastic impact,
imparted to a quarter-dollar coin which

by (a) a dime moving with a velocity v,
velocity v
is
determine the velocity
at rest
[b)
and
is
struck squarely
a half-dollar
moving with
(Masses: half-dollar, 192.9 grains; quarter dollar, 96.45
grains; dime, 38.58 grains.)
II.
m/s
604 DYNAMICS
13.141
A dime which
is
at rest
on a rough surface
is
struck
squarely by a half dollar moving to the right. After the impact, each
coin slides
and comes
to rest; the
dime
slides 19.2 in. to the right,
and
Assuming the coefficient of

friction is the same for each coin, determine the value of the coefficient
of restitution between the coins. (See Prob. 13.140 for the mass of
the half dollar slides 3.8 in. to the right.
United Slates
coins.)
13.142 A
ball is thrown into a 90 corner with an initial velocity

Denoting the coefficient of restitution by e and assuming no friction,
show that the final velocity v' is of magnitude ev and that the initial
and final paths AS and CD are parallel.
v.
"O-
13.143
A and
Denoting by e the coefficient of
restitution and assuming no friction, determine (a) the required angle
0, (b) the magnitude of the velocity v r
A
steel ball falling vertically strikes a rigid plate
rebounds horizontally as shown.
Fig.
P13.142
Fig.
P13.143
13.144
ball
frictionless floor.
_o
<i,
16
in.,
is
dropped from a height /iu

that for the first bounce
Knowing
determine
(a)
36
/ij
in.
32
onto a
in.
and
the coefficient of restitution, (b) the height
and length of the second bounce.
VTviv^
Fig.
di
d 2 --
,l.
P13.144, P13.145, and P13.146
1 3.145
A ball is dropped onto a frictionless floor and allowed to
bounce several times as shown. Derive an expression for the coefficient
of restitution in terms of (a) the heights of two successive bounces /i n
and /i nJ.!, (6) the lengths of two successive bounces d and d n ,, (c) the
durations of two successive bounces t, and (L.,.
,
3.146 A
dropped onto a frictionless floor and bounces as

first two bounces are measured and found to
be rf, = 14.5 in. and d2 = 12.8 in. Determine (a) the coefficient of
restitution, (fo) the expected length d 3 of the third bounce.
1
ball
is
shown. The lengths of the
3.147 A
dropped from a height h above the landing and

Denoting by e the coefficient of
restitution, determine the value of h for which the bail will bounce to
the same height above each step.
1
ball
bounces down a
is
flight of stairs.
\
\
1
\(
P13.14 7
Fig.
#
ball
P13.148
Fig.
13.148 Ball B is suspended by an inextensible cord. An identical

A is released from rest when it is just touching the cord and
before striking ball R. Assuming e = 1 and no
determine the velocity of each ball immediately after impact.
acquires a velocity v
friction,
10
* 1 3.1 49 A 2-kg sphere moving to the left
with a velocity of 10 m/s
strikes the frictionless, inclined surface of a 5-kg block
and may move freely

direction. Knowing that e = 0.75, determine the
block and of the sphere immediately after impact.
The block
the
and
(a)
rollers
which
is
at rest.
in the horizontal
n
velocities of the
Fig.
n n n
P13.149
50 The 4.5-kg sphere A strikes the 1.5-kg sphere B. Knowing

= 0.90, determine the angle A at which A must be released
3.1
that e
if
on
rests
maximum
3.1 51
angle 6 B reached by B
The
strikes the
4.5-kg sphere
1.5-kg sphere B.
the highest position to
is
is
to
be 90.
released from rest
Knowing
which sphere B
that e
when
0.90,
will rise, (b) the
tension which will occur in the cord holding B.
m/s
60
determine
maximum
Fig. P1 3.150
and P13.151
605
606
DYNAMICS
13.152
{a)
Block
until
friction
it
is
when
released
strikes ball
B immediately
the velocity of
tension in the cord holding B,
Knowing
B.
(c)
90 and slides without
0.90,
determine
after impact, [b) the
maximum
B
that e
maximum
the
height to which ball
will rise.
ft
-SJ
3ft
JlO
lb
Fig.
5()(J
lb
53 What should be the value of the angle A in Prob. 13.152

maximum angle between the cord holding ball B and the vertical
3.1
if
the
is
to
P13.1S2
be 45?
54
3.1
It is
the resistance to
hammer
desired to drive the 400-lb pile into the ground until

its
penetration
is
24,000
the result of a 4-ft free
is
lb.
fall
Each blow
of the 1500-lb
onto the top of the
pile.
Determine how far the pile will be driven into the ground by a singleblow when the 24,000-lb resistance is achieved. Assume that the
impact
is
perfectly plastic.
13.155
The 1500-lb hammer
from a height of 4
ft
of a
drop-hammer
onto the top of a 400-lb
pile.
pile driver falls
The
pile
is
driven
Assuming perfectly plastic impact, determine

the average resistance of the ground to penetration.
Fig.
P13.154 and P13.155
into the ground.
in.
13.156
Cylinder
is
dropped 2 m onto cylinder B, which is

= 3 kN/m. Assuming a perfectly
resting on a spring of constant k

plastic impact,
(b) the
energy
determine
loss
(a)
0.5 kg
J
2.5
kg
r
.
the
maximum
during the impact.
Fig.
P13.156
deflection of cylinder B,
KINETICS
13.157
The
efficiency
drop-hammer
of a
i)
OF PARTICLES: ENERGY AND MOMENTUM METHODS 607
may be
pile driver
defined as the ratio of the kinetic energy available after impact to
the kinetic energy immediately before impact. Denoting by
mp
to the
show
that
of the pile mass

plastic impact,
r;
1/(1
the ratio
hammer mass m h and assuming
perfectly
r).
'
13.158
A bumper
from damage when it
Assuming perfectly
is
designed to protect a ]600-kg automobile

rigid wall
hits a
plastic impact,
by the bumper during
at speeds
determine
(</)
up
to
12km/h.
the energy absorbed
---^T'X
(<)
the impact, (b) the speed at which the automo-
can hit another 1600-kg automobile without incurring any

damage, if the other automobile is at rest and is similarly protected.
bile
(b)
Fig.
13.159
e
0.50.
P13.158
Solve Prob. 13.158, assuming a coefficient of restitution
Show
that the answer to part b
is
independent of
A small rivet connecting two pieces of sheet
13.1 60
metal
e.
is
being
clinched by hammering. Determine the energy absorbed by the rivet
under each blow, knowing that the head of the hammer weighs
and that
the anvil
it
strikes the rivet with a velocity of
supported by springs and
is
20
ft/s.
(a) is infinite in
1.5 lb
Assume
weight
that
(rigid
support), (b) weighs 10 lb.
A ball of mass m, moving to the right with a velocity v 4

second ball of mass B which is at rest. Derive an expression
for the kinetic-energy loss during impact. Assume that the balls strike
each other squarely, and denote the coefficient of restitution by e.
* 13.161
strikes a
REVIEW PROBLEMS
1
62
3.1
Collar
B has an
initial
velocity of 2 m/s.
It
strikes collar
causing a series of impacts involving the collars and the fixed support
at C.
Assuming e
mine
(a) the
of B,
(c)
number
final position of
the
-MOmm-H
IS
0.5 kg
1.5
P13.162
A.
v-2m/s
a
Fig.
impacts and neglecting
for all
of impacts
which
friction, deter-
will occur, (b) the final velocity
1~
(^T\
V_/
Fig.
'
\J_y
P13.161
__
~^&
608 DYNAMICS
13.163
The
0.5-lb pellet is released when the spring is comand travels without friction around the vertical loop
ABCD. Determine the force exerted by the loop on the pellet (a) at
pressed 6
in.
point A, (h) at point B,
k- 3 lb/in.
1
3.1
64
(c) at
In Prob. 13.163,
tion of the spring
if
point C.
determine the smallest allowable deflec-
the pellet
to travel
is
around the entire loop
without leaving the track.

Fig.
P13.163
Fig.
P13.165
3.1
65 Show that the values t, and c 2 of the speed of a satellite

A and the apogee ,4' of an elliptic orbit are defined by
at the perigee
the relations
0*
13.166 The 20-Mg

at rest
2GAf
2G.\f
fi
+H
r,
'i
r,
r, r.
40-Mg railroad flatcar are both

An engine bumps the flatcar and
moving with a velocity of 1 m/s to
truck and the
with their brakes released.
causes the flatcar alone to start
Assuming e = 1 between the truck and the ends of the

determine the velocities of the track and of the flatcar after
strikes the truck. Describe the subsequent motion of the sys-
the right.
flatcar,
end
tem.
Fig.
Neglect the effect of friction.
P13.166
13.167 An elevator travels upward at a constant speed of 2 m/s.

A boy riding the elevator throws a 0.8-kg stone upward with a speed
of 4 m/s relative to the elevator. Determine (a) the work done by
the boy in throwing the stone, {b) the difference in the values of the
kinetic energy of the stone before
and
after
it
was thrown,
same?
are the values obtained in parts a and b not the
(c)
Why
Two
If
the system
after
A and
it
is
has
blocks are joined by an inextensible cable as shown.

released from rest, determine the velocity of block
moved 2 m. Assume
that
,u
equals 0.25 between block
the plane and neglect the mass and friction of the pulleys.
200 kg
3
600 kg
Fig.
P13.168 and P13.169
Knowing
that the system
is
the additional mass that must be added to block B if its velocity is to be

4 m/s half a second after release. Assume that y. = 0.25 between
block A and the plane and neglect the mass and friction of the pulley.
steel plate at B,
is dropped from A, strikes a rigid, frictionless

and bounces to point C. Knowing that the coefficient
of restitution
0.80,
is
steel ball
Two
determine the distance
portions
AB
and
BC
d.
of the
same
elastic
cord are
while,
connected as shown. The portion of cord BC supports a load
initially, the portion AB is under no tension. Determine the maximum
tension which will develop in the entire cord after the stick
DE
suddenly breaks. (Assume that the tensions in AB and BC are instantaneously equalized after the stick breaks and that the elongation of the
cord
is
small
W
Fig.
P13.171
18 in
compared
<
''
to L.)
Fig.
P13.170
610
DYNAMICS
13.172 A 5-kg collar slides without friction along a rod which

forms an angle of 30 with the vertical. The spring is unstretched
when the collar is at A. If the collar is released from rest at A,
determine the value of the spring constant k for which the collar has
zero velocity at B.
0.5
m-
/'//'/'AMAA/pf5)
Fig.
P13.172
13.173
stant k for
In Prob. 13.172, determine the value of the spring conwhich the velocity of the collar at li is 1.5 m/s.
CHAPTER
Systems +jg
of Particles
1^1
14.1. Application of Newton's Laws to the Motion

of a System of Particles. Effective Forces. We shall
be concerned in this chapter with the application of Newton's
laws of motion to a system of particles, i.e., to a large number of
particles coasidered together.
The
obtained will enable us
results
on vanes or ducts and

with the basic principles underlying the theory of
and rocket propulsion (Sees. 14.9 through 14.11). Since a
to analyze the effect of streams of particles

will provide us
jet
body may be assumed
rigid
particles, the principles
to consist of a very large
developed
in this
number
of
chapter will also pro-
vide us with a basis for the study of the kinetics of rigid bodies.
In order to derive the equations of motion for a system of
particles,
we
shall
begin by writing Newton's second law for each
Pt where
be the mass of F and a, its acceleration with
respect to the newtonian frame of reference Oxyz. We shall
denote by f tj the force exerted on P by another particle E of the
system (Fig. 14.1); this force is called an internal force. The
resultant of the internal forces exerted on P by all the other
individual particle of the system. Consider die particle
1
<
<
n.
Let
particles of the system
is
thus
Fig. 14.1
â
(where i H has no meaning
;=i
and
is
assumed equal
to zero). Denoting,
on the other hand, by
611
612
DYNAMICS
the resultant of
the external forces acting
all
Newton's second law
for the particle
on P
we
write
as follows:
(14.1)
Denoting by ti the position vector of Pi and taking the moments

of the various terms in Eq. (14.1), we also write
about
U x
Repeating
this
F,
'i
X to =
*i
procedure for each particle
m,a.
(14.2)
of the system,
we
obtain n equations of the type (14.1) and n equations of the type

(14.2),
where
vectors
ma
{
takes successively the values
1, 2,
...
n.
The
are referred to as the effective forces of the parti-
Thus the equations obtained express the fact that the external forces Fj and the internal forces f
acting on the various
particles form a system equivalent to the system of the effective
forces nâ, (i.e., one system may be replaced by the other)
cles.
,,-
(Fig. 14.2).
Before proceeding further with our derivation,

the internal forces {tj
f(j
let us
examine
We note that these forces occur in pairs f^,
where fi; represents the force exerted by the particle E on the

P and f- the force exerted by P on P. (Fig. 14.2). Now,
particle
s
Fig. 14.2
6.1), as extended by Newlaw of gravitation to particles acting at a distance (Sec.

12.9), the forces ftj and f;i are equal and opposite and have the
according to Newton's third law (Sec.

ton's
same
sum
Their sum is therefore

moments about O is
line of action.
of their
r,
ty
r,
since the vectors
r,
rj
(f
and
r,
ifi)
(ij
in the last
i^,
-r X
t)
f/4
and the
term are collinear.
Adding
all
the internal forces of the system, and
moments about G, we
22% =
which express the
summing
their
obtain the equations
s:>>ixy = o
(14.3)
and the moment
fact that the resultant
result-
ant of the internal forces of the system are zero.
Returning
2,
the
now
to
the
equations
(14.1),
we add them member by member.

of Eqs. (14.3), we obtain
first
2F
where
2= m a
1,
Taking into account
n,
(14.4)
Proceeding similarly with Eqs. (14.2), and taking into account the
(14.3), we have
second of Eqs.
(ri
XF )=^
i
(r i
Xm a
i
(14.5)
i=l
Equations (14.4) and (14.5) express the fact that the system of
F and the system of the effective forces m,a

have the same resultant and the same moment resultant. Referring to the definition given in Sec. 3.18 for two equipollent
the external forces
systems of vectors,
we may
therefore state that the system of the
external forces acting on the particles
and
the system of the
effective forces of the particles are equipollent] (Fig. 14.3).
</*<"--
P,
Fig. 14.3
f The result just obtained is often referred
to as D' Akmbe.it' s principle, after
the French mathematician Jean le Rond d'Alembcrt (1717-1783). However,
d'Alembert's original statement refers to the motion of a system of connected
bodies, with itj representing constraint forces which, if applied by themselves,
will not cause the system to
move. Since,
as
it
will
now be shown,
this is in
general not the case for the internal forces acting on a system of free particles,
we shall postpone the consideration of D'Alembert's principle until the study of
the motion of rigid bodies (Chap.
16).
613
614
DYNAMICS
We may
note that Eqs. (14.3) express the fact that the system
of the internal forces fsj is equipollent to zero. It does not follow,
however, that the internal forces have no
effect
on the particles
under consideration. Indeed, the gravitational forces that the sun
and the planets exert on each other are internal to the solar
system and equipollent to zero. Yet these forces are alone responsible for the motion of the planets about the sun.
Similarly, it does not follow from Eqs. (14.4) and (14.5) that
two systems of external forces which have the same resultant and
the same moment resultant will have the same effect on a given
system of particles. Clearly, the systems shown in Figs. 14.4o and
have the same resultant and the same moment resultant;
first system accelerates particle A and leaves particle B
imaffectcd, while the second accelerates B and does not affect A.
14.4/?
yet the
7
o,
(a)
/..
Fig. 14.4
It is
important to recall
that,
when we
stated in Sec. 3.18 that
two equipollent systems of forces acting on a
we
equivalent,
extended
to
specifically
noted that
this
rigid
body are
also
property could not be
a system of forces acting on a set of independent
particles such as those considered in this chapter.
In order to avoid any confusion,
we
shall use
gray equals signs
to connect equipollent systems of vectors, such as those
shown
in
These signs will indicate that the two systems of vectors have the same resultant and the same moment
resultant. Blue equals signs will continue to be used to indicate
that two systems of vectors are equivalent, i.e., that one system
may actually be replaced by the other (Fig. 14.2).
Figs. 14.3
and
14.4.
14.2. Linear and Angular Momentum of a System

Equations (14.4) and (14.5), obtained in the
of Particles.
preceding section for the motion of a system of particles, may be
expressed in a more condensed form if we introduce the linear
and the angular momentum of the system of particles. Defining
the linear
momentum L
of the system of particles as the
sum
of
momenta
the linear
12.2),
we
of the various particles of the system (Sec.
write
L=X"V<
(14.6)
i=l
momentum H about O of
way (Sec. 12.6), we have
Defining the angular

particles in a similar
the system of
H =
'(ri
Xtn v
i
(14.7)
i=l
Differentiating both
respect to
t,
we
members
of Eqs. (14.6)
and
(14.7) with
write
L=2m
vJ
= ro,a
(14.8)
i=i
i=i
and
2 ft X m^) + ^
=
Ho =
i=l
which reduces
X miVi
(r,-
i=l
to
n
H =2(r*Xm a,)
(14.9)
f=i
since the vectors v ;
We
and
mv
i
are collinear.
observe that the right-hand members of Eqs. (14.8) and
(14.9) are, respectively, identical
Eqs. (14.4)
and
(14.5).
with the right-hand members of
It follows that the left-hand
these equations are respectively equal.
hand member of Eq.
about
(14.5) represents the
O of the external
members
Recalling that the
sum
of the
of
left-
moments
forces acting on the particles of the
system, and omitting the subscript
from the sums,
we
write
2F = L
(14.10)
2Mo = H
(14.11)
These equations express that the resultant and the moment

resultant about the fixed point O of the external forces are respectively equal to the rates of change of the linear momentum and of
the angular momentum about O of the system of particles.
615
616 DYNAMICS
Mass Center
14.3. Motion of the

Particles.
form
center of the system
position vector r
which
satisfies
mr =
the point
is
System
of a
of
written in an alternate
the mass center of the system of particles
if
The mass
where
may be
Equation (14.10)
considered.
is
defined by the
the relation
2 m*
Vm
represents the total mass
14 12 )
-
<
Re-
of the particles.
i=l
solving the position vectors r
we
and r
into rectangular
components,
obtain the following three scalar equations, which
used to determine the coordinates
2=
m9 =
**i
may be
mass center:
2 m*Vi
"**
i=1
y, z of the
mx =
x,
2= m 2
i
14 12 ')
-
m g represents the weight of the particle P,, and Dig the

weight of the particles, we note that G is also the center of
gravity of the system of particles. However, in order to avoid
Since
total
any confusion, we
particles
when
shall call
the mass center of the system of
discussing properties of the system associated
with the mass of die particles, and

center of gravity of the system
we
when
shall refer to
it
as the
considering properties
associated with the weight of the particles.
Particles located
outside the gravitational field of the earth, for example, have a
mass but no weight.
We may
then properly refer to their mass
center, but obviously not to their center of gravity.
we
members
of Eq. (14.12) with respect to
t,
write
n
or
mv =
^ "W
(14.13)
i=l
It
may
also
be pointed out that the mass center and the center of gravity of
a system of particles
do not exactly coincide, since the weights of the particles

do not truly form a system
are directed toward the center of the earth and thus

of parallel forces.
SYSTEMS OF PARTICLES 617
where v represents the
velocity of the mass center
system of particles. But the right-hand
by
momentum L
definition, the linear
We
member
of Eq.
G
(
of the
14. 13)
is,
of the system (Sec. 14,2).
have therefore
L=mv
(14.14)
members with
and, differentiating both
respect to
t.
L = mi
(14.15,
where a represents the acceleration of the mass center C. SubL from (14.15) into (14.10), we write the equation
stituting for
SF = ma
which
(14.16)
motion of the mass center
defines the
of the system of
particles.
We
note that Eq. (14.16) is identical with the equation we

for a particle of mass
equal to the total mass of
would obtain
the particles of the system, acted upon by
We
motes as
if
all
the external forces.
mass center of a system of particles

the entire mass of tire system and all the external
state therefore:
Tlie
forces were concentrated at that point.
This principle
We know
shell.
shell
is
best illustrated by the motion of an exploding
that,
may be assumed
the resistance of the air
if
to travel
shell has exploded, the
is
neglected, a
along a parabolic path. After the
mass center
of the fragments of shell
same path. Indeed, point G

must move as if the mass and the weight of all fragments were
concentrated at G; it must move, therefore, as if the shell had not
will continue to travel along the
exploded.
It
should be noted that the preceding derivation does not
moments of the external forces. Therefore, it would

assume that the external forces are equipollent to a
involve the
he wrong
vector
to
ma
attached at die mass center G. This
the case, since, as
moments about
we shall see
G of die
is,
in
general, not
sum
of the
in general, not
equal
in the next section, the
external forces
is,
to zero.
1
4.4. Angular
about
in
Its
Momentum of a System of Particles
Mass Center.
In
some
applications (for example,
the analysis of the motion of a rigid body)
it is
convenient
to
consider the motion of the particles of the system with respect to
a centroidal frame of reference Gx'y'z' which translates with

respect to the newtonian frame of reference Oxyz (Fig. 14.5).
618 DYNAMICS
While such a frame
reference,
we shall
when
is
not, in general, a
newtonian frame of
see that the fundamental relation (14.11)
still
Oxyz is replaced by Cx'y'z'.

Denoting respectively by
and vj the position vector and the
velocity of the particle P relative to the moving frame of reference Gx'y'z we define the angular momentum H'G of the system
of particles about tiie mass center G as follows:
holds
the frame
r,'
m,v0
H'g
(14.17)
Fig. 14.5
We now
to
members
differentiate both
of Eq. (14.17) with respect
This operation being similar to that performed in Sec. 14.2
t.
on Eq.
we
(14.7),
write immediately
He = i>J X m^)
(14.18)
denotes the acceleration of P relative to the moving

frame of reference. Referring to Sec. 11.12, we write
where
a|
where a and a denote,
a,'
(14.18),
we
frame Oxyz. Solving

have
ii'a
P and G
and substituting into
respectively, the accelerations of
relative to the
=2Xm
ai
for aj
)-
X
\=1
i=l
But, by (14.12), the second
sum
(14.19)
'
in Eq. (14.19)
is
equal to mi' and,
thus, to zero, since the position vector F of G relative to die

frame Gx'y'z' is clearly zero. On the other hand, since a repret
sents the acceleration of
may
m^
use Eq. (14.1) and replace
forces
i;
and of the resultant
Pj.
But
the
moment
resultant about
fore to the
is
zero.
moment
The
first
by the sum
used
in Sec. 14.1
shows
on
that
of the internal forces ftj of the
sum
in
resultant about
Eq. (14.19) reduces there-
of the external forces
acting on the particles of the system, and
2M =
fl
of the internal
of the external forces acting
a reasoning similar to that
entire system
we
newtonian frame,
relative to a
we
write
(14.20)
h;.
which expresses that the moment resultant about
of the exter-
rial forces is
about
It
equal
to the rate
of the system
of
of change of the angular
should be noted that, in Eq. (14.17),
momentum
Wn
momentum
particles.
sum
we
defined the angular
moments about
G' of the momenta of the particles m,-v{ in their motion relative to the centroidal frame of reference Gx'y'z'. We may sometimes want to
compute the sum H G of the moments about G of the momenta of
as the
of the
m v i in their absolute motion, i.e., in their motion as

observed from the newtonian frame of reference Oxyz (Fig.
the particles
14.6):
H,
Yi
ro,V;)
(14.21)
Fig. 14.6
Remarkably, the angular momenta H'G and H are identically

equal. This may be verified by referring to Sec. 11.12 and writing
v|
Substituting for v, from (14.22) into Eq. (14.21),
(14.22)
we have
H^fim^Xv+^rJXm,,!)
first sum is equal to zero. Thus H
sum which, by definition, is equal to H.f
But, as observed earlier, the
reduces
to
the second
fl
\ Note that this property is peculiar to the centroidal frame Cx'y'z' and does
not hold, in general, for other frames of reference (see Prob. 14,19).
619
620
DYNAMICS
Taking advantage of the property we have just established, we
our notation by dropping the prime (') from Eq.
shall simplify
(14.20).
We
therefore write
2MG = He
(14.23)
where it is understood that the angular momentum H G may be

computed by forming the moments about G of the momenta of
the particles in their motion with respect to either the newtonian
frame Oxijz or the centroidal frame
HG =
(rj
Gx'y'z':
miVi =
X mrf)
(14.24)
4=1
i=l
1 4.5. Conservation of Momentum for a System of

Particles. If no external force acts on the particles of a
system, the left-hand members of Eqs. (14.10) and (14.11) are
and H = 0.
equal to zero and these equations reduce to L =
We conclude that
L =
Hy =
constant
constant
(14.25)
The equations obtained express that the linear momentum of the

system of particles and its angular momentum about the fixed
point
are conserved.
some
In
forces, the
forces
such as problems involving central
applications,
moment about
may be
O of each of
a fixed point
zero, without
any of the forces being
the external
zero. In such
second of Eqs. (14.25) still holds; the angular momentum of the system of particles about O is conserved.
The concept of conservation of momentum may also be ap-
cases, the
plied to the analysis of the motion of the mass center
system of particles and
to
about G. For example,

the
first
if
the
straight line
sum
sum
of Eqs. (14.25) applies. Recalling Eq. (14.14),
which expresses
of the
and
at a constant speed.
mass center
is
zero,
write
moves
the other hand,
follows from Eq. (14.23) that the angular

its
of a
(14.26)
G of the system
On
is
we
constant
that the mass center
moments about
system about
the analysis of the motion of the system
is
momentum
if
in
the
zero,
it
of the
conserved:
HG = constant
(14.27)
SAMPLE PROBLEM
14.1
observed at
200-kg space vehicle
is
through the origin
to pass
of a newtonian reference frame Oxyz with the velocity v

relative to the frame.
(150 m/s)i
Following the detonation of explosive charges,
the vehicle separates into three parts. A, B, and C, of mass 100 kg,
kg, respectively. Knowing that, at t = 2.5 s, the positions
and B arc observed to be A(555, 180, 240) and
120), where the coordinates are expressed in meters, deter-
60 kg, and 40
of parts
(255, 0,
mine the position
Since there
Solution,
of part
at that time.
no external
is
force, the
system moves with the constant velocity v

its
position
mass center
(150 m/s)i. At
(375 m)i
C of the
= 2.5
s,
is
we
(150 m/s)i(2.5
s)
write
= mA tA + mB rB + mc xc
= (100 kg)[(555 m)i - (180 m)j + (240 m)k]
+ (60 kg) [(255 m)i - (120 m)k] + (40 kg)r c
105 nri 150 m J (420 m)k -^
r
ror
(200 kg)(375 m)i
"0 Ibr"^-
A
5
''
SAMPLE PROBLEM
is
14.2
moving with a velocity of 100 ft/sec when it

A and B, weighing 5 lb and 15 lb, respec-
explodes into two fragments
tively.
^Zjst)'
151b
20-lb projectile
Knowing
that immediately after the explosion the fragments
travel in the directions shown, determine the velocity of each frag-
ment.
Solution.
the system
Since there
is
is
no external
conserved, and
we
mA*A +
45
M?
'L
Ti^N*.
force, the linear
t!/
'
n flV B
components:
(20/g)v
20(100)
Solving simultaneously the two equations for o and v

A
B
vA
vA
207
207
vB
ft/s
ft/s
^L
of
= mv
(5/gK + (15/g)vB =
5vA cos 45 + 15% cos 30 =
5c,, sin 45 - 15% sin 30 =
A x components:
momentum
write
45
we have
97.6 ft/s
vfl
97.6 ft/s
"^
30
621
622 DYNAMICS
PROBLEMS
Two men
14.1
dive horizontally and to the right off the end of a
is initially at rest, and each man weighs 150 lb.

each man dives so that his relative horizontal velocity with respect
to the boat is 12 ft/s, determine (a) the velocity of the boat after the
The boat
300-0) boat.
If
after the second
dives and the velocity of the boat
H Icm/h
4.2 A 65-Mg engine
man
dive simultaneously, (b) the velocity of the boat after one
men
cally coupled with, a
load
is
coasting at 6
10-Mg
km/h
man
and
strikes,
dives.
automati-
is
The
car which carries a 25- Mg load.
flat
not securely fastened to the car but
may
slide along the dool-
= 0.20). Knowing that the car was at rest with its brakes released
and that the coupling takes place instantaneously, determine the
ie
Mg
65
Fig.
P14.2
velocity of the engine (a) immediately after the coupling, (b) after the
load has slid to a stop relative to the car.
m/s
4.3 Two
by a
ball
causes a series of
A
Fig.
P14.3
0.40,
B and C are at rest when ball B is struck

same mass, moving with a velocity of 4 m/s. This
collisions between the various balls. Knowing that
identical balls
of the
determine the velocity of each ball after
have
all collisions
taken place.
._
.,
3ll>
lb
P14.4
Fig.
14.4 A f-oz bullet is fired in a horizontal direction through block

A and becomes embedded in block B. The bullet causes A and B to
start
moving with
8 and 6 ft/s, respectively. Determine
velocities of
the initial velocity v u of the bullet, (b) the velocity of the bullet as
travels from block A to block B.
(a)
4.5
the
particles
lb,
= - lOj +
termine
(a)
W =
lb,
expressed
5k,
8i
and
6j
the components v x
axis, (b)
14.6 For
Wc = 4
feet
in
which the angular momentum

the z
lb
and that the
second
and vc = oj
per
4k,
Fig.
P14.5
(/?)
i>j
and v y of the velocity of
of the system about
the corresponding value of
O is
momentum
of the system about
De-
10k.
particle
for
parallel to
the system of particles of Prob. 14.5, determine
the corresponding value of
know
velocities of
respectively,
are,
components vr and v y of the velocity of particle

angular
We
system consists of three particles A, B, and C.
WA =2
vH
trr
that
it
is
for
(a)
the
which the
parallel to the x axis,
1
A system consists of three particles A, B, and C. We know

mA = 1 kg, mB - 2 kg, and m c = 3 kg and that the velocities of
4.7
that
the
particles
v4
3i
expressed
2j
4k,
vB
meters per second
in
+ 3j,
4i
mine the angular momentum H

result of part a and the answers
given in Prob. 14.17
4.8
and vc
2i
are,
5j
of the system about O.
respectively,
3k.
(a)
Deter-
Using the
(fa)
check that the relation
to Prob. 14.8,
is satisfied.
For the system of particles of Prob. 14.7, determine (a) the

7 of the mass center C of the system, (fa) the linear
position vector
momentum
niv of the system,
(c)
the angular
momentum
of the
system about G.
A
v
240-kg
space
vehicle
traveling
(500 m/s)k passes through the origin
with
at
the
velocity
Fig.
P14.7
Fig.
P14.10
Explosive
0.
charges then separate the vehicle into three parts, A, B, and C, of mass
kg, 80 kg, and 120 kg, respectively. Knowing that at t = 3 s the
40
B and C are observed to be B(375, 825, 2025) and

C'( 300, 600, 1200), where the coordinates are expressed in meters',
determine the corresponding position of part A. Neglect the effect of
positions of parts
gravity.
14.10
Two
30-lb cannon balls are chained together and fired
horizontally with a velocity of 500 ft/s from the top of a 45- ft wall.
The chain breaks during

ground at
strikes the
and 21
the wall,
ft
position of the other

of the
the flight of the cannon balls and one of
1.5
at a distance of
s,
720
to the right of the line of
cannon
them
ft
from the foot of
fire.
Determine the
ball at that instant. Neglect the resistance
air.
1 4.1 1
Solve Prob. 14.10, if the cannon ball which first strikes the
ground weighs 24 lb and the other 36 lb. Assume that the time of flight
and the point of impact of the first cannon ball remain the same.
'
velocity v
A
=
10-kg projectile
(60 m/s)i
when
is
it
passing through the origin
explodes into two fragments,
of mass 4 kg and 6 kg, respectively.

tion of the
first
fragment
position of fragment
is
at the
neglect the resistance of the
An
archer hits a
Knowing
that,
s later,
with a
A and
B,
the posi-
A(150 m, 12 m, 24 m), determine the
same
instant.
Assume g
9.81
m/s 2 and
air.
game
bird flying in a horizontal straight
above the ground with a 500-grain wooden arrow 1 grain =

(1/7000) lb]. Knowing that the arrow strikes the bird from behind with
a velocity of 350 ft/s at an angle of 30 with the vertical, and that the
line
30
ft
bird falls to the ground in 1.5
it
hit,
s and 48 ft beyond the point where

determine (a) the weight of the bird, (fa) the speed at which
Hying when it was hit.
it
was
was
623
624 DYNAMICS
game of billiards, ball A is moving with the velocity
when it strikes balls B and C which are at rest side by
After the collision, A is observed to move with the veloc= (3,92 ft/s)i (4,56 ft/s)j, while B and C move in the direc-
14.14
v
(10
side.
ity v
A
tions
In a
ft/s)i
shown. Determine the magnitudes of the velocities v g and v c
14.15 A 5-kg object is falling vertically when, at point D, it

explodes into three fragments A, B, and C, weighing, respectively,
1.5 kg, 2.5 kg,
and
each fragment
is
Immediately after the explosion the velocity of
kg.
directed as shown and the speed of fragment
observed to be 70m/s.
is
Determine the velocity of the 5-kg object
immediately before the explosion.
Fig.
P14.15
4.1 6
In a scattering experiment,
with the velocity u
stream
oxygen
of
an alpha particle
-{600 m/s)i + (750 m/s)j

nuclei moving with the
is
common
(600 m/s)j. After colliding successively with the nuclei
projected
(800 m/s)k into a

velocity
B and
C,
observed to move along the path defined by the points

A 1 (280, 240, 120), A 2 (360, 320, 160), while nuclei B and C are observed
to move along paths defined, respectively, by ,( 147, 220, 130), B 2 (114,
290, 120) and by C,(240, 232, 90), C2 (240, 280, 75). All paths are along
particle
is
straight lines
and
all
coordinates are expressed in millimeters.
ing that the mass of an oxygen nucleus

particle,
is
Know-
four times that of an alpha
determine the speed of each of the three particles after the
collisions.
Fig.
P14.16
4. 1 7
Derive the relation
between the angular

(14.24), respectively.
H = r X mv + H
momenta H and H defined
The
vectors
and v
in Eqs, (14.7)
and
define, respectively, the
and velocity of the mass center C of the system of particles

newtonian frame of reference Oxyz, and m represents
the total mass of the system.
position
relative to the
14.18
(14.11)
Show
that Eq. (14.23)
by substituting
14.19 Consider
for
may be
derived directly from Eq.
the expression given in Prob. 14.17.

1
the frame of reference Ax'y'z in translation with
respect to the newtonian frame of reference Oxyz.
angular
HA
momentum
We
A
of a system of n particles about
define the
as the
= ;x,v;
H.4
sum
(1)
moments about A of the momenta njjV,' of the particles in their

motion relative to the frame Ax'y'z'. Denoting by II,, the sum
of the
H, =
rj
X m^t
(2)
moments about A of the momenta nijVj of the particles in their

motion relative to the newtonian frame Oxyz, show that H^ = H!, at a
given instant if, and only if, one of the following conditions is satisfied
of the
at that instant: (a)
(b)
Oxyz
relative to
Fig.
has zero velocity with respect to the frame Oxyz,
coincides with the mass center
G of the system, (c) the velocity vA
directed along the line
is
AG.
P14.19
14.20 Show
that the relation
SM,
where
H^,
sents the
is
denned by Eq.
sum
the system of
conditions
of Prob. 14.19 and where
ZMA
repre-
moments about A of the external forces acting on

particles, is valid if, and only if, one of the following
is satisfied: (a)
H'A
of the
of reference, (b)
tion aA of
(1)
the frame Ax'y'z
is itself
a newtonian frame
coincides with the mass center G,
relative to
Oxyz
is
(c)
directed along the line
the accelera-
AG.
625
626 DYNAMICS
1
Energy of a System of Particles. The

T of a system of particles is defined as the sum of
4.6. Kinetic
kinetic energy
the kinetic energies of the various particles of the system. Referring to Sec. 13.3,
we
therefore write
m.v:
ii
(14.28)
1=1
Using a Centroidal Frame of Reference. It is often convenient, when computing the kinetic energy of a system comprising a large
number
of particles (as in the case of a rigid body),
to consider separately the
motion of the mass center
of the
system and the motion of the system relative to a moving frame

of reference attached to G.
Let Pt be a particle of the system, \ its velocity relative to the

newtonian frame of reference Oxyz, and \[ its velocity relative to
the moving frame Gx'y'z' which is in translation with respect to
i
Oxyz
(Fig.
14.7).
We
recall
v,
from the preceding section that

v
(14.22)
vj
where v denotes the velocity of the mass center

newtonian frame Oxyz. Observing that
v'f is
G relative
to the
equal to the scalar
Fig. 14.7
product
Vj
v,,
system relative
we
to
express as follows the kinetic energy
the newtonian frame Oxyz:
1 i=i
.=i
T of
the
from
(14.22),
The first sum

Eq. (14.13),
represents the total mass
we
m of the system.
note that the second sum
to zero, since v',
is
which represents the velocity of
the frame Gx'y'z',
is
clearly zero.
We
Recalling
equal to mv' and thus
relative to
therefore write
+ jivf
i
(14.29)
=l
This equation shows that the kinetic energy T of a system of

particles may be obtained by adding the kinetic energy
of the
muss center
(assuming the entire mass concentrated at G) and
the kinetic energy of the system in
its
motion relative
to the frame
Gx'y'z'.
14.7. Work-Energy Principle.

Conservation of
Energy for a System of Particles. The principle of work
and energy may be applied to each particle P of a system of
{
particles.
We
write
t,
each particle P , where
for
M=
r/
Ur
_.
represents the
(14.30)
work done by the
and the resultant external force F, acting on l\.

fy
the kinetic energies of the various particles of the system,
internal forces
Adding
and considering the work of
all
the forces involved,
we may
apply Eq. (14.30) to the entire system. The quantities T, and T

2
now represent the kinetic energy of the entire system and may be
computed from either Eq. (14.28) or Eq. (14.29). The quantity
represents the
of the system.
work
of
all
the forces acting on the particles
We
should note that, while the internal forces f

(/
and f;j are equal and opposite, the work of these forces, in
general, will not cancel out, since the particles P, and E on which
they act will, in general, undergo different displacements.
Therefore, in computing U1 2 , we should consider the work of
the internal forces fj; as well as the work of the external forces F
.
627
628 DYNAMICS
the forces acting on the particles of the system are
If all
may be
conservative, Eq. (14.30)
T1 +
where
internal
V,
replaced by
T.
(14.31)
V.2
represents the potential energy associated with the
and external forces acting on the
particles of the system.
Equation (14.31) expresses the principle of conservation of energy for the system of particles.
14.8. Principle of Impulse and Momentum for a
System of Particles. Integrating Eqs. (14.10) and (14.11) in
t
from a time
tt
to a time t2
^/
we
write
F dt = L 2 -
'
2j' M d(=(H
L,
(14.32)
-(Hc
(H.33)
),
Recalling the definition of the linear impulse of a force given in

Sec. 13.10, we observe that the integrals in Eq. (14.32) represent
the linear impulses of the external forces acting on the particles
shall refer in a similar way to the integrals in
of the system.
We
Eq. (14.33) as the angular impulses about
of the external
Thus, Eq. (14.32) expresses that the sum of the linear

impulses of the external forces acting on the system is equal to
forces.
the change in linear
momentum
(14.33) expresses that the
the external forces
about
is
sum
of the system.
Similarly, Eq.
of the angular impulses about
equal to the change in angular
of
momentum
of the system.
In order to understand the physical significance of Eqs. (14.32)
and
(14.33),
we
shall rearrange die terms in these equations
and
write
2|
Lx +
'
F dt = L 2
(14.34)
'i
2
(Ho)i+2/' M * =
We
have sketched
in parts
a and
(H) 2
c of Fig. 14.8 the
(14.35)
momenta
of
the particles of the system at times , and t 2 , respectively, and we

have shown in part b of the same figure a vector equal to the sum
of the linear impulses of the external forces
moment
equal to the
sum
and
couple of
of the angular impulses about
of the

external forces. For simplicity, the particles have been assumed
to
move
in the
remains valid
from Eq.
plane of the figure, but the present discussion
in the case of particles
(14.6) that L,
momenta m^, we note

ant of the vectors
by
moving
definition,
is
in
space. Recalling
the resultant of the
that Eq. (14.34) expresses that the result-
shown
in parts
a and b of Fig. 14.8
is
equal to
(m 4 A ),
('bV 2
(">r v h\
(m c v c ) s
(m c vc ),
()
(e)
Fig. 14.8
shown
the resultant of the vectors
Recalling from Eq. (14.7) that
momenta m,v,, we note

the moment resultant of
is equal to the moment
gether, Eqs. (14.34)
and
the particles at time t

t
in part c of the
is
the
moment
same
figure.
resultant of the
that Eq. (14.35) similarly expresses that
die vectors in parts a and b of Fig. 14.8

resultant of the vectors in part
(14.35) thus express that the
and
c.
To-
momenta
of
the impulses of the external forces
from j to t 2 form a system of vectors equipollent to the system of

the momenta of the particles at time t
This has been indicated
2
in Fig. 14.8 by the use of gray plus and equals signs.
If no external force acts on the particles of the system, the
integrals in Eqs. (14.34) and (14.35) are zero, and these equations
.
reduce to
L,
(Ho),
= L2
= (H
(14.36)
(14.37)
)2
We
thus check the result obtained in Sec. 14.5: If no external

force acts on the particles of a system, the linear momentum and
the angular momentum about
of the system of particles are
conserved. The system of die initial momenta is equipollent to
the system of the final
momentum
conserved.
momenta, and
it
follows that the angular
of the system of particles about
any
fixed point
is
SAMPLE PROBLEM
14.3
For (he 200-kg space vehicle of Sample Prob.

that,
at
(270 m/s)i
2.5
(120 m/s)j
Since there
Solution.
is
the sums of their
Lj
(H
= L2
), = (H
)2
is
no external
rc
=
=
(555 m)i
(180 m)j
(255 m)i
(120 m)k
(105 m)i
(450 m)j
(1)
100(270i
120j
160k)
555
-180
240
(240 m)k
(420 m)k
40[(o c ),i
270
-120
160
60
(.).
Equating
to zero the coefficient of
we
in (2'),
problem,
this
+ (e)t k]
(ta)
vj
(v c
o
j
105
450
-420
("o).
(c)y
and the
coefficients of
-300 =0
450(t>c ), + 420( C.) =
~ 450(c c ), - 45 000 =
"C/y
1>
which
yield, respectively,
(v c )
The
300
velocity of part
(o
vc
630
is
),
= -280
(vc ) z
= -30
thus
-(30 m/s)i
(300 m/s)j
(2')
VC I-
write, after reductions, the three scalar equations
WSlpeiv
(!')
(%)
in (1')
we
-120
255
+40
(2)
mc = 40 kg
60[(ca ),i
X m cv c
rc
(150m/s)i,
mB = 60 kg
+
100
is
momentum
force, the initial
and using the information given in the statement of

rewrite Eqs. (1) and (2) as follows:
momenta. Equating first

both parts of the adjoining sketch, and then
100 kg
rfi
v,
moments about O, wc write
rA
200(150i)
known
final
Recalling from Sample Prob. 14.1 that v
mA =
is
is
of part C.
mv = mA vA + m B v B + m cvc
= rA X "^v,, + rB X m B \B +
it
(160 m/s)k and the velocity of part
equipollent to the system of the
the sums of the vectors in
14.1,
part
of
Determine the velocity
parallel to the xt plane.
mv
velocity
the
s,
(280 m/s)k
and
SAMPLE PROBLEM
14.4
A'
-2ft -H
-8ft-
In a
*
-7ft-
DA
10 ft/s along line
and then
given an
is
which are both
ball C,
ft
Knowing that A and C hit

and C, respectively, that B
at rest.
and assuming
hits the side obliquely at B',
frictionless surfaces
,
=|F
problem and
problems which follow, the
in several of the
moving
Solution.
Conservation of Momentum.
momentum mv
force, the initial

i
" = m
10
menta
two
collisions
are.)
Since there
no external
is
equipollent to the system of
is
mo-
(and before any of the balls hits the side
we
of the table). Referring to the adjoining sketch,
after the
billiard balls
a horizontal plane, rather
freely in
than the rolling and sliding spheres they actually
and
perfectly elastic impacts, determine the velocities v^, v B and v with

c
which the balls hit the sides of the table. (Remark. In this sample
are assumed to be particles
v of magnitude
initial velocity
parallel to the axis of the table. It hits ball
the sides of the table squarely at points A'

3
Ti
game of billiards, ball A
write
ft
-> x components:
1
'1
tt
ft/
m(10
components:
- m(vB x + mvc
= mvA - m(oB
= (8 tt)mvA
(1)
(2)
moments about O: -(2
ft/s)
ft)m(10 ft/s)
-(7ft)m(c B ),-(3ft)inc <
c
B
7
3
I
7ft
Solving the three equations for v

A
ft
(oB )
3t>
(vB ) r ,
20
and
(v B )
(cB ),
in terms of
10
cc
(3)
vc
(4)
Contenation of Energy, Since the surfaces are frictionless and the

impacts are perfectly elastic, the initial kinetic energy imoj is equal to
the
final
kinetic energy of the system:
= \mA vA + \mB v\ + \mc c%

^+(^)l + (fB )? + ^ = (10ft/s)2
Imv*
Substituting for vA
(vB ) r
2(3v c
and
20)
(vB )
(10
20o|
Solving for vc
we
second root yields
we conclude
3i
vA
=
4
li
find vc
from
3(8)
^
ft/s
20
1.
op)
260t) c
ft/s
a positive value for
that vc
(*),
(4) into (5),

1>|
f 800
and vc
t;^
(5)
we have
loo
ft/s.
Since only the
after substitution into Eqs. (4),
and
4
ft/s
17 ft/s
(B )X
63.4=
= 10 - 8 m 2 ft/s
c
II
*m
631
632
DYNAMICS
PROBLEMS
14.21
arrow
In Prob. 14.13, determine the
hits the
14.22
game
amount
of energy lost as the
bird.
14.14, determine the percentage of the

due to the impacts among the three balls.
In Prob.
kinetic energy lost
14.23
initial
work done by the internal
forces during the explosion.
14.24
In Prob. 14.16, determine the percentage of the initial
due to the collisions between the alpha particle and

oxygen
nuclei
and check that, taking into account the numerithe two
cal accuracy of the given data and of the calculations, the result
kinetic energy lost
obtained suggests conservation of energy.
14.25
t
5-lb
weight
slides
without friction on the xy plane. At
passes through the origin with a velocity v
it
(20
ft/s)i.
Internal springs then separate the weight into the three parts shown.
and rB =
(27 ft)j
and
that
v
(6 ft)j, that v 4
(14 ft/s)i + (9
(60 ft)i
B is parallel
to the x axis, determine the corresponding position and velocity of
Knowing
that,
at
s,
xA
(42
ft)i
ft/s)j,
part C.
P14.2S
Fig.
3m
4.26 Two
mentum
(ft)
90,
P14.26
and B, respectively of mass m and 3m,

The two
/ and negligible mass.
spheres are resting on a horizontal, frictionlcss surface when A is

suddenly given the velocity v = v i. Determine (a) the linear mo-
G,
Fig.
small spheres
are connected by a rigid rod of length
(c)
180.
of the system
its angular momentum about its mass center

and B after the rod AB has rotated through
of A and B after the rod AB has rotated through
and
the velocities of
the velocities
14.27
v
240-kg space
(500 m/s)k
vehicle
with
traveling
through the origin
passes
at
the
velocity
Explosive
0.
charges then separate the vehicle into three parts, A, B, and C, of mass
40 kg, 80 kg, and 120 kg, respectively. Knowing that at f = 3 s the
positions of the three parts are, respectively, A(150, 150, 1350), 73(375,
825, 2025),
and C(-300, -600,
expressed
in
-(100m/s)i
meters,
4.28
where the coordinates are
velocity
the
is
vc
is
(400m/s)k, and that the y component

+350 m/s, determine the velocity of part A.
is
In the scattering experiment of Prob. 14.16,
the alpha particle
of
(200m/s)j
of the velocity of
1200),
that
projected from
with the oxygen nucleus
at
known
it is
that
and that it collides

where all coordinates
(300, 0, 300)
Q(2A0, 200, 100),
arc expressed in millimeters. Determine the coordinates of point
where the
original path of nucleus
momentum
Express that the angular
intersects the xz plane.
(Hint,
of the three particles about
is
conserved.)
14.29 In a game of billiards, ball A is moving with the velocity

= t,,i when it strikes balls B and C which are at rest side by side.
After the collision, the three balls are observed to

tions shown.
pacts
(i.e.,
velocities
14.30
v
move
v.,,
v B and v c in terms of t
and
elastic im-
game
when it
In a
6.
A is moving with
B and C which are at
of billiards, ball
strikes balls
After the collision, the three balls are observed to
directions shown, with 8
perfectly elastic impacts
30.
(i.e.,
magnitudes of the velocities
14.31
in the direc-
and perfectly
conservation of energy), determine the magnitudes of the
(3 m/s)i
side.
Assuming
Assuming
rest side
move
in
by
the
and
conservation of energy), determine the
v,, vB ,
and v c
In a scattering experiment, an alpha particle
with the velocity u
the velocity
is
projected
(1200 m/s)j + (1280 m/s)k into a

stream of oxygen nuclei moving with the common velocity v = v j.
After colliding successively with the nuclei B and C, particle A is
(960 m/s)i
to
move in the direction defined by the unit
\A = -0.463i + 0.853j - 0.241k, while nuclei B and C are
observed to move in directions defined, respectively, by \ =
B
0.939J + 0.344k and A c = 0.628i + 0.778J. Knowing that the mass of
observed
vector
an oxygen nucleus
is
four times that of
conservation of energy, determine

before the collisions,
the collisions.
(b)
(a)
an alpha
particle,
and assuming
the speed o of the oxygen nuclei
the speed of each of the three particles after
Fig.
P14.29 and P14.30
634 DYNAMICS
.8
4.32 When
the cord connecting particles
A and B is severed,
the
compressed spring causes the particles to fly apart (the spring is not
connected to the particles). The potential energy of the compressed
Ml.
spring
s*
Fig.
= 20 ft/sec
is
known
shown.
as
to
If
be 20
ft
the cord
lb
and the assembly has an

severed
is
when
initial
velocity
30, determine the
resulting velocity of each particle.
P14.32
14.33
along line
ball C,
game
In a
DA
of billiards, ball
is
given an
parallel to the axis of the table.
which are at
It
initial velocity
hits ball
B and then
Knowing that A and C hit the sides of the

C, respectively, with velocities of
and v c = 6 ft/s, and assuming frictionless sur-
rest.
table squarely at points A' and
magnitude vA = 4 ft/s
faces and perfectly elastic impacts (i.e., conservation of energy), determine (a) the initial velocity v of ball A, (b) the velocity v B of ball B,
(c) the point B' where B hits the side of the table.
14.34
P14.33
Fig.
/
o
Fig.
ft/s
and v c
ft/s.
tively,
connected by a cord of negligible mass and spin about their mass

center G. At t = 0, the coordinates of G are Xq = 0, y n = 1.6 m, and
= (1.5 m/s)i + (1.2 m/s)j. Shortly thereafter, the cord
its velocity is v
breaks and disk
v"
^<
axis at a distance
\\
observed to move along a path parallel to the y

from that axis. Knowing that, initially,
1.96
is
two disks about G was 3 kg m 2 /s

counterclockwise and that their kinetic energy relative to a centroidal
frame was 18.75 J, determine (a) the velocities of A and B after the cord
the angular
V|
vA
if
4.35 Two small disks A and B, of mass 2 kg and 1 kg, respecmay slide on a horizontal and frictionless surface. They are
R:
Solve Prob. 14.33
B'
momentum
of the
breaks, (h) the abscissa b of the point B'
where the path
of
intersects
the X axis.
P14.35 and P14.36
14.36 Two small disks A and B, of mass 2 kg and 1 kg, respecmay slide on a horizontal and frictionless surface. They are
tively,
connected by a cord of negligible mass and spin about their mass

center G. At t = 0, G is moving with the velocity v a and its coordinates arc x = 0, y = 1.89 m. Shortly thereafter, the cord breaks and
disk
line
and
is
observed to
move with
at a distance
2.56
the velocity v B = (7.2 m/s)i

axis at a distance b = 7.48
= (5 m/s)j in a straight
from the y axis, while B moves with
(4.6 m/s)j along a path intersecting the
the velocity v,
initial velocity
momentum H
from the origin O. Determine (a) the

G of the two disks, (b) the angular
of the system about G and its kinetic energy relative to
v u of the mass center
(t) the length of the cord

connecting the two disks, (d) the rate in rad/s at which the
a centroidal frame before the cord broke,

initially
disks
were spinning about G.
* 1 4.9. Variable Systems of Particles. All the systems of particles considered so far consisted of well-defined
particles. These systems did not gain or lose any particles during
their motion.
however,
i.e.,
In a large
number
of engineering applications,
necessary to consider variable systems of particles,

systems which are continuously gaining or losing particles,
it is
or doing both at the
draulic turbine.
same time. Consider,
Its analysis
for example, a hy-
involves the determination of the
forces exerted by a stream of water on rotating blades,
and we
note that the particles of water in contact with the blades form
an everchanging system which continuously acquires and loses
particles.
Rockets furnish another example of variable systems,
since their propulsion depends
upon the continuous
ejection of
fuel particles.
We
recall that all the kinetics principles established so far
were derived
for constant
gain nor lose particles.
systems of particles, which neither
We must
therefore find a
way
to reduce
the analysis of a variable system of particles to that of an auxiliary constant system.
and 14.11
The procedure
to follow
is
indicated in
two broad categories of applications.

* 14.10. Steady Stream of Particles. Consider a
Sees. 14.10
for
steady stream of particles, such as a stream of water diverted
by a
fixed
vane or a flow of
air
through a duct or through a
blower. In order to determine the resultant of the forces exerted
on the particles
in
contact with the vane, duct, or blower,
isolate these particles

(Fig. 14.9).
since
it
observe that S
is
a variable system of particles,
continuously gains particles flowing in and loses an equal
number
of particles flowing out.
ciples that
plied to
Fig. 14.9
We
we
and denote by S the system thus defined
S.
Therefore, the kinetics prin-
have been established so
far cannot
be directly ap-
635
DYNAMICS
636
However, we may easily define an auxiliary system of particles

which does remain constant for a short interval of time Af.
Consider at time t the system S plus the particles which will
enter S during the interval of time At (Fig. 14.10fl).
sider at time
Clearly, the
S during the interval At (Fig. 14.10c).
left
Next, con-
At the system S plus the particles which have
same
and we may apply to these

the principle of impulse and momentum. Since the
particles are involved in both cases,

particles
total
mass
of the system S remains constant, the particles
entering the system and those leaving the system in the time
At must have the same mass
tively, the velocities of
S at B,
we
Am. Denoting by v^ and v B respec,
the particles entering S at
represent the
and leaving
momentum of the particles

momentum of the
S by (Amjvj (Fig. 14.10a) and the

leaving S by (Am)vB (Fig. 14.10c).
menta
WIjVj of
We
entering
particles
also represent the
mo-
the particles forming S and the impulses of the
on S by the appropriate vectors, and indicate by

gray plus and equals signs that the system of the momenta and
impulses in parts a and b of Fig. 14.10 is equipollent to the
forces exerted
system of the
Ai.'i
v,
momenta
in part c
of the same figure.
Fig.
14.10
Since the resultant

S
is
We
^m^
of the
momenta
found on both sides of the equals sign,

conclude that the system formed by the
of the particles of
it may be omitted.
momentum (Am)\A
of the particles entering S in the time At and the impulses of

the forces exerted on S during that time is equipollent to the
momentum (Am)vfi of the particles

We may therefore write
leaving S in the
same time
At.
(Am)vA
+ 2F At =
(Am)vB
(14.38)
similar equation may be obtained by taking the moments of

the vectors involved (see Sample Prob. 14.5). Dividing all terms
of Eq. (14.38)
by At and
approach zero, we obtain
letting Af
at the limit
SF = dm
dt
where v B
and v^.
vb
(14.39)
*a)
v^ represents the difference between the vectors v B
If SI units are used,
dm/dt
we check
m/s;
ties in
is
expressed in kg/s and the veloci-
diat both
members
of Eq. (14.39) are
expressed in the same units (newtons). If U.S. customary units
dm/dt must be expressed in slugs/s and die velocities

again that both members of the equation are
expressed in the same units (pounds), t
The principle we have established may be used to analyze
a large number of engineering applications. Some of the most
are used,
in ft/s;
we check
common
are indicated below.
Stream Diverted by a Vane.
If the vane is fixed, the

above may be applied directly to find
the force F exerted by the vane on the stream. We note that
F is the only force which needs to be considered since the
Fluid
method
of analysis given
pressure in the stream
is
constant (atmospheric pressure).
The
force exerted by the stream on the vane will be equal and opposite to F.
If
moves with a constant velocity, the stream

However, it will appear steady to an observer
the vane
not steady.
is
moving with the vane. We should therefore choose a system

of axes moving widi the vane. Since this system of axes is not
accelerated, Eq. (14.38) may still be used, but v^, and \ B must
be replaced by the relative velocities of the stream with respect
to the vane (see Sample Prob. 14.6).
Fluid Flowing through a Pipe. The force exerted by the
fluid on a pipe transition such as a bend or a contraction may
be determined by considering the system of particles S in contact
with the transition.
will vary,
we
Since, in general, the pressure in the flow
should also consider the forces exerted on S by
the adjoining portions of the fluid.
It is
often convenient to express the mass rate of flow
pQ, where p
rate of flow
is
dm/dt
as the product
the density of the stream (mass per unit volume) and
(volume per unit time).
If SI units
are used, p
is
Q its volume
expressed in
kg/m 3
1000 kg/m 3 for water) and Q in m 3 /s. However, if U.S.

customary units are used, p will generally have to be computed from the
corresponding specific weight y (weight per unit volume), p = y/g. Since y
(for
is
instance, p
expressed in lb/ft 3
slugs/ft 3 .
(for instance,
The volume
rate of flow
is
62.4 lb/ft 3 for water), p
expressed in
ft /s.
is
obtained in
637
638 DYNAMICS
Jet Engine
In a jet engine, air enters with no velocity
through the front of the engine and leaves through the rear with
a high velocity.
The energy required
to accelerate the air parti-
While the exhaust gases contain

burned fuel, the mass of the fuel is small compared with the
mass of the air flowing through the engine and usually may be
cles
is
obtained by burning
fuel.
neglected. Thus, the analysis of a jet engine reduces to that of
an air stream. This stream

if all
air
velocities are
may be
considered as a steady stream
measured with respect
stream shall be assumed, therefore,
to
to the airplane.
The
enter the engine with
a velocity v of magnitude equal to the speed of the airplane

and to leave with a velocity u equal to the relative velocity of
the exhaust gases (Fig. 14.11).
Since the intake and exhaust
Fig. 14.11
pressures are nearly atmospheric, the only external force which
needs to be considered
the air stream.
We
Fan.
14.12.
The
This force
the force exerted

is
by the engine on
equal and opposite to the thrust, t
consider the system of particles S
shown
in Fig.
velocity v^ of the particles entering the system
assumed equal
to zero,
leaving the system

of flow
is
is
and the velocity vB of the
the velocity of the slipstream.
may be obtained by
is
particles
The
rate
multiplying vB by the cross-sectional
Slipstream
Fig.
14.12
newtonian
f Note that, if the airplane is accelerated, it cannot be used as a
frame of reference. The same result will be obtained for the thrust, however,
by using a reference frame at rest with respect to the atmosphere, since the
then be observed to enter the engine with no velocity and
with a velocity of magnitude u v.
air particles will
to leave
it

area of the slipstream. Since the pressure
around S
all
pheric, the only external force acting on S
is
is
atmos-
the thrust of the
fan.
Airplane Propeller.
air, velocities
In order to obtain a steady stream of
should be measured with respect to the airplane.
Thus, the air particles will be assumed to enter the system with
a velocity v of magnitude equal to the speed of the airplane
and to leave with a velocity u equal to the relative velocity of
the slipstream.
* 14.11. Systems Gaining or Losing Mass. We shall

now analyze a different type of variable system of particles,
namely, a system which gains mass by continuously absorbing
particles or loses mass by continuously expelling particles. Consider the system S
at the instant
order
to
t,
shown
increases
in Fig.
by
Am
14.13.
Its
must consider
analysis of this system, %ve
mass, equal to
in the interval of time At.
momentum
at time
m
In
to the
the system
V. V
1FAI
m + Am
m
(m+Am)(v + Av)
Fig. 14.13
S plus the particles of mass
The
Am which
S absorbs during the time
velocity of S at time
t is denoted by v, and
denoted by v + Av, while the
absolute velocity of the particles which are absorbed is denoted
by va Applying the principle of impulse and momentum, we
interval At.
its
velocity at time t
At
is
write
mv +
(Am)va
+ 2F At =
(m
Am)(v
Av)
640 DYNAMICS
Solving for the
SF Ai
sum
of the impulses of the external forces
acting on S (excluding the forces exerted
by the
particles being
we have
absorbed),
IF At = m Av +
Aro(v
- vj
4-
(Am)fAv)
(14.40)
Introducing the relative velocity u with respect to S of the

which are absorbed, we write u = va v and note,
particles
<
since va
v, that the relative velocity u is directed to the left,
as shown in Fig. 14.13. Neglecting the last term in Eq. (14.40),
which
is
of the second order,
we
write
SF At = m Av -
(Am)u
Dividing through by At and letting Ar approach zero,
we have
at the limitf
2F=m^-^-u
dt
dt
Rearranging the terms,
we
obtain the Equation
_ u=m _
vi? + dm
SF
i
which shows
(14.41)
dv
on S of the
that the action
,,
lxn
(14 .42)
particles being absorbed
equivalent to a thrust of magnitude (dm/dt)u which tends to
is
slow
down
particles
expressed
the motion of
since the relative velocity u of the
S,
directed to the
is
If SI units are used,
the relative velocity u in m/s,
in kg/s,
sponding thrust
left.
in
newtons,
dm/dt
and the
is
corre-
customary units are used,
If U.S.
and u in ft/s; the corresponding thrust will then be expressed in pounds, t

The equations obtained may also be used to determine the
dm/dt must be expressed
in slugs/s
motion of a system S losing mass. In this case, the rate of change

of mass is negative, and the action on S of the particles being
expelled
is
equivalent to a thrust in the direction of
in the direction
is,
being expelled.
u,
that
opposite to that in which the particles are

rocket represents a typical case of a system
continuously losing mass (see Sample Prob. 14.7).
I When the absolute velocity v of the

= v, and formula (14.41) becomes
Comparing the formula obtained

Newton's second law
particles
may be
absorbed are
mass, provided
tliat
absorbed
to Eq. (12.3) of Sec. 12.2,
is
zero,
we
we
have
observe that
applied to a system gaining mass, provided that
initially at rest.
It
may
also
See footnote on page 637.
tiie
be applied to a system losing
the velocity of the particles expelled
the frame of reference selected.

J
particles
is
zero with respect to
SAMPLE PROBLEM
Grain
from a hopper onto a chute
falls
hits the
It
chute at
a velocity of 15
Knowing
14.5
at the rate of
C'fl
with a velocity of 20
and leaves
ft/s
240
lb/s.
B with
at
forming an angle of 10 with the horizontal.
ft/s,
combined weight of the chute and of the grain it

supports is a force
of magnitude 600 lb applied at C, determine
the reaction at the roller-support B and the components of the reaction
(hat the
the hinge C.
al
We
Solution.
momentum
for
the time interval A( to the system consisting of the chute, the grain
amount of
supports, and the
it
We
grain which hits the chute in the
Since the chute does not move,
interval St.
sum 2m,v,
also note that the
supported by the chute
of the
the same at
is
and
momentum.
has no
it
momenta
of the particles
It and thus
may
be omitted.
-12-
10
BA'
momentum (&m)vA and

momentum (Am)v B we write
Since the system formed by the

equipollent to the
is
-**
Ct At =
x components:
moments about
given
the
-3(Am)ojl
C:
=
Using
(Am)t B cos 10
-(Am)vA
+ft/ components:
the impulses
data,
Am/At = 240/32.2 =
(1) for Cx
C At
W Af + B Ar
-(Am)i; B sinl0
7(WAl)
6(Am)t cos 10
W=
600
7.45 slugs/s,
vA
lb,
(1)
12(Am)i; B sin 10
20
(2)
12(BA)
vB
ft/s,
and solving Eq.
(3) for
(3)
15
ft/s,
B and
Eq.
12B
12B
=
=
7(600)
Cx =
3(7.45)(20)
(7.45)(15) cos 10
Substituting for
6(7.4o)(15)(cos 10
B and
600
C, =
110.1 lb
solving Eq.
423
sin 10)
B = 423
B = 423 lb
5075
(2) for
(7.45)(20
lb f
-*
-*
-*
'
-*
10.1 lb
C:
15 sin 10)
307 lb
307
lb
641
SAMPLE PROBLEM
A
14.6
nozzle discharges a stream of water of cross-sectional area
with
moves
to the right with a constant velocity V. Assuming that the water moves
along the blade at constant speed, determine () the components of
The stream
a velocity v,.
deflected by a single, blade which
is
F exerted by the blade on the stream,

which maximum power is developed.
(b) the velocity
the force
for
Components
a.
We
of Force Exerted on Stream.
choose a coordi-
nate system which moves with the blade at a constant velocity V.

-
The
water strike the blade with a relative velocity u^ =

and leave the blade with a relative velocity uB Since the
particles of
vA
move along
panicles
the blade at a constant speed, the relative veloci-
u /t and u n have the same magnitude it. Denoting the density of

the mass of the particles striking the blade during the
f>,
ties
water by
\m
V) At; an equal mass of particles

momentum to the system formed by the particles in contact with the
blade and by those striking the blade in the time A*.
time interval At
is
Ap(vA
We
leaves the blade during At.
F.
Recalling that u^ and u B have the same magnitude
the
-L*
momentum Zm,v, which

(Am)u
x components:
+ T;/
components:
Substituting
Am =
Ap(vA
appears on both
F At =
+FU At =
u,
and omitting
we
write
we
obtain
(im)u cos 6
(Ain)n sin 6
V) At and u
= Ap(oA - Vftl-cosO)*-
sides,
vA
F=
V,
,/',.,
'-'shiflT
~*
The power is obtained

b. Velocity of Blade for Maximum
by multiplying the velocity V of the blade by the component Fx of
Pnwer.
the force exerted by the stream on the blade.
Power = F.7 = Ap(cA

Differentiating the
equal to zero,
we
(/(power)
dV
V= o
A
Sote.
These
power with respect
V) 2 (l
to
- cos0)V
V and
setting the derivative
obtain
Ap(vA
V=
%vA
V + 3V 2 )(l -
4x>A
For
cos 6)
maximum power V
results are valid only
Jts^-
when a single blade deflects the

when a series of blades deflects
stream. Different results arc obtained
the stream, as in a Pelton-wheel turbine. (See Prob. 14.90.)
SAMPLE PROBLEM
rocket of initial mass
at time
The
0.
14.7
fuel
consumed
is
expelled at a constant speed
and is
an expression
m=m -
mass of
\t, a
= dm/dt
Derive
relative to the rocket.
time
t,
neglecting the
air.
f, the mass of the rocket shell and remaining

and the velocity is v. During the time interval
At time
Solution.
fuel
11
fuel) is fired vertically
at a constant rate
for the velocity of the rocket at
resistance of the
is
and
(including shell
qt,
1m =
fuel
expelled with a speed U relative to
is
the rocket. Denoting by v, the absolute velocity of the expelled fuel,
and time
momentum between
the principle of impulse and
we apply
"i,-
4*
[WAl-g(m -$l)Al]
write
(m
qt)v
g(m
qt)
Dividing through by
It,
-g("o
and
-qt
(m
-q M)(c +
letting A(
Remark.
and
U
the
In (tn
<?')
short
t;
ro
Ao)
= m o - i
<
"ft
0,
In
q M(u
we
o)
obtain
'/"
to
"'
-<7r)-gr]{,
t,
v.
The mass remaining
at
time
f,,
-&
'/'
after all the fuel has
equal to the mass of the rocket shell in, = m^,

maximum velocity attained by the rocket is
is
/ma -
gt,.
period
_i,
A.'
qt
[-ln(m
expended,
i,
0>]
approach zero,
Separating variables and integrating from
Km -
1,1
M
=
t)
A".v
(Ami r -r;Al(ll -
We
time
It.
of
u In (tn^/m,).
Assuming
time,
the
that the fuel
term
gt,
is
is
expelled
small
in
and
been
t>
qtt
a relatively
we have
In order to escape the gravitational field of the
must reach a velocity of 11180m/s. Assuming

and v m = 11 180 m/s. we obtain m /m, = 161.
Thus, to project each kilogram of the rocket shell into space, it is
necessary to consume more than 161 kg of fuel if a propellant yielding
earth,
rocket
u=2200m/s
2200 m/s
is
used.
644 DYNAMICS
PROBLEMS
problems use p = 1()(K) kg/nr* for llic density of
and y - 62.4 lb/ft 3 for its specific weight in U.S.
(See footnote on page 637.
Note.
In the following
water
in
SI units,
customary
1
units.
4.37 A
fireboat.
If
hose discharges 2000 gal/min from the stern of a 20-ton
the velocity of the water stream
is
90
ft/s,
determine the
reaction on the boat.

Fig.
P14.37
1
4.38 A stream
strikes the
of water of cross-sectional area A and velocity v,

curved surface of a block which is held motionless (V = 0)
by the forces Px and P. Determine the magnitudes of

A = 500 mm 2 and v 1 = 40 m/s.
P,.
and Pu when
4.39 A
stream of water of cross-sectional area A and velocity \

x
curved surface of a block which moves to the left with a
velocity V. Determine the magnitudes of the forces P.,. and P,, required
to hold the block when A = 3 in 2 o, = 90 ft/s, and V = 25 ft/s.
1
strikes the
'
Ffg.
P14.38 and P14.39

1 4.40 Sand is discharged at the rate m (kg/s) from a conveyor
moving with a velocity v The sand is deflected by a plate at B so
.
it
falls in
a vertical stream. .After falling a distance h, the sand
is
belt
that
again
shown by a curved plate at C. Neglecting the friction

between the sand and the plates, determine the force required to hold
deflected as
each plate in the position shown.
Fig.
P14.40
Fig.
P14.41
14.41 Water flows in a continuous sheet from between two plates

and B with a velocity v. The stream is split into two equal streams
1 and 2 by a vane attached to plate C. Denoting the total rate of
flow by Q, determine the force exerted by the stream on plate C.
4.42 Water flows in a continuous sheet from between two plates

and B with a velocity v. The stream is split into two parts by a
smooth horizontal plate C. Denoting the total rate of flow by
Q,
determine the rate of flow of each of the resulting streams. (Hint.
The plate C can exert only a vertical force on the water.)
1
V
.'
^,:...c
Fig.
P14.42
water of cross-sectional area A and velocity
AB in the shape of an arc of circle of radius
R. Knowing that the vane is welded to a fixed support at A, determine
the components of the force-couple system exerted by the support on
1
v,
4.43 A stream
is
of
deflected by a vane
the vane.
Fig.
P14.43
4.44
The
nozzle shown discharges 250 gal/min of water with
a velocity v^ of 120
ft/s.
The stream
is
deflected by the fixed vane
AB. Determine the force-couple system which must be applied

C in order to hold the vane in place (1 ft 3 = 7.48 gal).
14.45
Knowing
that the blade
AB
of
Sample
l'rob.
14.6
is
at
Fig.
in
the shape of an arc of circle, show that the resultant force F exerted
by the blade on the stream is applied at the midpoint C of the arc
AB.
(Hint.
the center
First
show
that the line of action of
F must
pass through
of the circle.)
3
of water shown flows at the rate of 0.9 m /min
and
B.
The
magnitude
30
m/s
at
both
A
moves
with
a
velocity
of
and
vane is supported by a pin connection at C and by a load cell at D
which can exert only a horizontal force. Neglecting the weight of the
vane, determine the reactions at C and D.
4.46 The stream
3.3
mm .
125
mm
8,
200 nun
Fig.
P14.46
P14.44
in.
645

646 DYNAMICS
14.47
The nozzle shown discharges water at the rate of

Knowing that at both A and B the stream of water moves
m 3 /min.
1.2
with a velocity of magnitude 25 m/s and neglecting the weight of

the vane, determine the components of the reactions at C and D.
P14.47
Fig.
14.48
5r-
v.\
m
2.5
-,-S*^*'
\\
ft
jo\
The
component of a conveyor system receives sand

A and discharges it at B. The sand is moving
horizontally at A and B with a velocity of magnitude n. = _ a
12 ft/s. Knowing that the combined weight of the component and
final
at the rate of 180 lb/s at
3ft
of the
and D.
sand
it
supports
is
VV
800
lb,
determine the reactions at
HDltt
-311 -1
Fig.
14.49
P14.4 9
Solve Prob. 14.48, assuming the velocity of the belt of the
final
component of the conveyor system
that,
while the sand
is
is still
discharged with a velocity v of 24

B
4.50
discharges
A
it
is
increased
in
such a
received with a velocity v of 12
way
ft/s, it
ft/s.
jet airplane scoops in air at the rate of 250 lb/s and

with a velocity of 2200 ft/s relative to the airplane. If
the speed of the airplane
is 600mi/h, detennine (a) the propulsive

horsepower actually used to propel the airthe horsepower developed by the engine.
force developed, (b) the
plane,
at
(c)
14.51 The
1000 km/h is
total
drag due to air friction on a
16 kN".
relative to the airplane,
Knowing
jet airplane traveling
that the exhaust velocity
is
600 m/s
determine the mass of air which must pass

through the engine per second to maintain the speed of 1 (XX) km/h
in level flight.
1 4.52 While cruising in horizontal flight at a speed of 800 km/h,
9000-kg
jet airplane scoops in air at the rate of 70 kg/s and discharges
a
it with a velocity of 600 m/s relative to the airplane, (a) Determine
the total drag due to air friction, (b) Assuming that the drag is propor-
tional to the square of the speed,
speed
i.e.,
if
determine the horizontal cruising
the flow of air through the
jet
is
increased by 10 percent,
CE
to 77 kg/s.
14.53 The cruising speed
of a jet airliner
is
600 mi/h. Each of the
four engines discharges air with a velocity of 2000 ft/s relative to the
plane. Assuming that the drag due to air resistance is proportional to
the square of the speed, determine the speed of the airliner
two
when
only
Fig.
P14.S3
Fig.
P14.54
of the engines are in operation.
For use in shallow water the pleasure boat shown is powwater

jet. Water enters the engine through orifices located in
ered by a
the bow and is discharged through a horizontal pipe at the stern.
Knowing that the water is discharged at the rate of 10 m 3 /min with a
velocity of 15 m/s relative to the boat, determine the propulsive force
14.54
developed when the speed of the boat
14.55
is
(a)
6 m/s,
(fc)
zero.
In order to shorten the distance required for landing, a
equipped with movable vanes which partially reverse

its engines. Each engine
scoops in air at the rate of 200 lb/s and discharges it with a velocity
of 2(XK) ft/s relative to the engine. At an instant when the speed of
the airplane is 120 mi/h, determine the reversed thrust provided by
jet airplane is
the direction of the air discharged by each of
120 mi/h
each of the engines.

1 4.56
An unloaded helicopter of weight 5000 lb produces a slip3
stream of 38-ft diameter. Assuming that air weighs 0.076 lb/ft determine the vertical component of the velocity of the air in the slipstream
,
when
the helicopter
is
hovering in midair.
Fig.
Fig.
P14.56 and P14.57
14.57 The helicopter shown weighs 5000 lb and can produce a

maximum downward air speed of 60 ft/s in the 38-ft diameter slipstream. Determine the maximum load which the helicopter can carry
while hovering
in
midair.
P14.55
647
648 DYNAMICS
mm and a
Assuming p = 1,21 kg/m 3 for
and neglecting the velocity of approach of the air, determine the
14.58 The
air
slipstream of a fan has a diameter of 500
lOm/s
velocity of
relative to the fan.
force required to hold the fan motionless.
Fig.
P14.58
14.59
when the
The
propeller of an airplane produces a thrust of 4000
on the ground and has a slipstream of

2-m diameter. Assuming p = 1.21 kg/m 3 for air, determine (a) the
speed of the air in the slipstream, (b) the volume of air passing through
airplane
is
at rest
the propeller per second,
(c)
the kinetic energy imparted per second
to the air of the slipstream.
14.60 Each arm
of the sprinkler shown discharges water at the

minute with a velocity of 12 m/s relative to the
arm. Neglecting the effect of friction, determine (c) the constant rate
at which the sprinkler will rotate, (b) the couple
which must be
rate of 10 liters per
applied to the sprinkler to hold
4.61
of diameter
Knowing
it
stationary.
circular reentrant orifice (also called Borda's mouthpiece)
is
placed at a depth h below the surface of a tank.
that the speed of the issuing stream
is
y/2gh and assum-
ing that the speed of approach t is zero, show that the diameter of the
a
stream is d D/ \2. (Hint. Consider the section of water indicated,
and note that P

area of the
'
in.
1U
is
equal to the pressure at a depth h multiplied by the
orifice.)
in.
Fig.
P14.61
14.62
A garden sprinkler has four rotating arms, each of which

two horizontal straight sections of pipe forming an angle of
120. Each arm discharges water at the rate of 3 gal/min with a
velocity of 48 ft/s relative to the arm. Knowing that the friction
between the moving and stationary parts of the sprinkler is equivalent
to a couple of magnitude
= 0.200 lb ft, determine the constant rate
at which the sprinkler rotates (1 ft'1 = 7.48 gal),
consists of
Fig.
P14.62
-
4.63
Each of the two conveyor
shown discharges sand at a

through a height h and is
belts
The sand falls

Knowing that
constant rate of 51b/s.
the velocity of the sand
deflected by a stationary vane.

horizontal as
the vane
it
leaves the vane, determine the force
when
14.64
(a)
Gravel
falls
ft,
(b)
12
P required
to
i?S f
*.-'
is
ft.
with practically zero velocity onto a conveyor

= dm/dt. A force P is applied to the belt
to maintain a constant
for
Fig.
hold
belt at the constant rate q
f)
V*
which the force P
speed
is
o.
for the angle
Fig.
P14.63
zero.
P14.64 and P14.65
4.65
Gravel
falls
with practically zero velocity onto a conveyor
belt at the constant rate
</
dm/dt.
(a)
Determine the magnitude
P required to maintain a constant belt speed D, when

6=0. (h) Show that the kinetic energy acquired by the gravel in
a given time interval is equal to half the work done in that interval
of the force
by the force
done by P.
Explain what happens to the other half of the work
P.
4.66 A
chain of mass
on the
At time
a pile
floor.
m
t
per unit length and
a force
is
total
length
Fig.
P14.66
Fig.
P14.67
lies in
applied and the chain
is
raised with a constant velocity v. Express the required magnitude of
the force P as a function of the time
14.67
chain of length
through a small hole in a plate.

chain
is
In each case
at rest.
t.
and mass
Initially,
per unit length
when
shown, determine
;/
is
(fl)
falls
very small, the
the acceleration
as a function of y, (b) the velocity of the chain

as the last link passes through the hole. In case 1 assume that the
of the
first
link
individual links are at rest until they
2 assume that
at
any instant
the effect of friction.
all links
fall
through the hole; in case
have the same speed. Ignore
(2)
649
650 DYNAMICS
14.68 A moving railroad car, of mass m when empty, is loaded
by dropping sand vertically into it from a stationary chute at the rate
q = dm/dt. At the same time, however, sand is leaking out through
the floor of the car at the lesser rate q'
P required to keep
of the horizontal force
speed
Fig.
Determine the magnitude

moving at a constant
the car
while being loaded.
P14.68
1
4.69 For the
a function of
car
and loading conditions
of Prob. 14.68, express as
the magnitude of the horizontal force
P required to keep
moving with a constant acceleration a while being loaded.
Denote by o the speed of the car at t = 0, when the loading operation
(
the car
begins.
14.70 A
railroad car, of
on a horizontal
mass
when empty and moving
freely
loaded by dropping sand vertically into it

from a stationary chute at the rate q = dm/dt. Determine the velocity
(rack,
is
and acceleration of the car as functions of

Fig.
P14.70
of the car at
0,
when
t.
Denote by
t>
the speed
the loading operation begins.
If the car of Prob. 14.68 moves freely (P = 0), determine its

and acceleration as functions of f. Denote by c the speed of
4.71
velocity
the car at
0,
when
the loading operation begins.
14.72 A test rocket is designed to hover motionless above the

The shell of the rocket weighs 2500 lb, and the initial fuel load
is 7500 lb. The fuel is burned and ejected with a velocity of 8000 ft/s.
Determine the required rate of fuel consumption (a) when the rocket is
ground.
tv
fired, (b) as
>'
the last particle of fuel
is
being consumed.
= 8000ft/s
14.73 The main engine
space shuttle consists of

to provide a total
thrust of 60(H) kN. Knowing that the hydrogen-oxygen propellent is
burned and ejected with a velocity of 3900 m/s, determine the required total rate of fuel consumption.
installation of a
three identical rocket engines
Fig.
P14.72
Fig.
P14.73
which are required
14.74 A
space vehicle describing a circular orbit
speed of
at a
15,000 mi/h releases a capsule which has a gross weight of 100011),
including 750 lb of fuel.
30 lb/s and
If
the fuel
consumed
is
the tangential acceleration of the capsule

(h) as the last particle of fuel is
4.75 A
90
determine
engine
(o) as the
when
Knowing
0.
and ejected with a
Fig.
P14.74
Fig.
P14.77
fired,
is
being consumed.
that fuel
consumed
is
when
is
at the rate
3500 m/s, determine
relative velocity of
the acceleration and velocity of the rocket

(c) I
ft/s,
rocket of gross mass 1000 kg, including 900 kg of fuel,
fired vertically
of 10 kg/s
at the constant rate of
ejected with a relative velocity of 8000
is
(a)
0, (b) t
45
s,
s.
14.76 A
space tug describing a low-level circular orbit
The maneuver
transferred to a high-level orbit.
is
by
started
is
to
be
firing the
rocket engines to increase the speed of the tug from 7370 to 9850 m/s.
The initial mass of the tug, fuel, and payload is 14.1 Mg. Knowing that
the hydrogen-oxygen propellent
is
is
consumed
at the rate of
ejected with a velocity of 37.50 m/s, determine
which must be expended to initiate the maneuver,

for which the engines must be fired.
14.77
The
rocket of Prob. 14.75
rocket consisting of rockets

ing 450 kg of fuel.
and
is
when
(h) the
fuel
and
is
13,
is
expells
its last
20 kg/s and
the mass of fuel
(h) the
time interval
redesigned as a two-stage
each of gross mass 500 kg, includ-
again
consumed
at the rate of 10 kg/s
Knowing
ejected with a relative velocity of 3500 m/s.
rocket
rocket
The
(a)
particle of fuel,
its shell is
B is fired, determine (a) the speed when

maximum speed attained by rocket B.
rocket
that,
released and
is
released,
14.78 A spacecraft is launched vertically by a two-stage rocket.

When the speed is 10,000 mi/h the first-stage-rocket casing is released
and the second-stage rocket is fired. Fuel is consumed at the rate of
200 lb/s and ejected with a relative velocity of 8000 fl/s. Knowing
that the combined weight of the second-stage rocket and spacecraft is
20,0001b, including 17,0001b of
fuel,
determine the
maximum speed
which can be attained by the spacecraft.
14.79 For
the rocket of
Sample Prob.
14.7, derive
for the height of the rocket as a function of the time
14.80
an expression
t.
Determine the distance between the spacecraft and the
first-stage-rocket casing of Prob. 14.78 as the last particle of fuel
is
being expelled by the second-stage rocket.

1 4.81
Determine the distance between the capsule and the space
vehicle of Prob. 14.74 as the last particle of fuel is being ejected by the
rocket of the capsule. Both the capsule and the space vehicle
considered to
ered.
move
in a straight line
may be
during the time interval consid-
651
652 DYNAMICS
4.82
gases
is
useful
In a jet airplane, the kinetic energy imparted to the exhaust

wasted as far as propelling the airplane is concerned. The
power
equal to the product of the force available to propel the

i> is the speed of the airplane
is
airplane and the speed of the airplane. If
and u
ciency
is
the relative speed of the expelled gases,
is
i|
14.83
2c/(u
why
Explain
c).
i)
that the
fuel
The
power
useful
wasted as
is
is
far as
propelling the rocket
is
-q
If
consumed
concerned.
the speed of the
is
the relative speed of the expelled fuel,
is
is
equal to the product of the force available to
propel the rocket and the speed of the rocket.

rocket and u
effi-
= v.
In a rocket, the kinetic energy imparted to the
and ejected
efficiency
show
when u
2uv/{u 2
4-
i>
why
Explain
).
tj
show
when u
that the
v.
REVIEW PROBLEMS
1 4.84
900km/h
A 9000-kg
airplane maintains a constant speed of
jet
while climbing at an angle a
5.
The
airplane scoops
80 kg/s and discharges il with a velocity of 700 m/s

relative to the airplane. If the pilot changes to a horizontal flight
and the same engine conditions are maintained, determine (a) the
initial acceleration of the plane, (b) the maximum horizontal speed
in air at the rate of
Fig.
P14.84
attained.
Assume
that the drag
due to
air friction
is
proportional to
the square of the speed.
14.85
Three
identical balls A, B,
horizontal surface,
struck by ball A, which
S,
(c\
Assuming
the path of
(a)
and no
is
P14.85
slightly before
14.86
it
1-oz bullet
and the cart
can
roll freely,
BC
is
is
lb.
0.50.
determine
(a)
21V
w
Fig.
P14.86
on a
when
to the right with a velocity
and A
final
velocity of ball
strikes
not perfectly centered
A if
B and C simultaand A strikes B
fired
with a velocity of 1600
ft/s into
The coefficient of friction between block

Knowing that the cart weighs 81b and
the
final
velocity of the cart
the final position of the block on the cart.
(b)
roll freely
strikes C.
block A, which weighs 10
is
C may
determine the
perfectly centered
and
are at rest and in contact
was moving
friction,
neously, (b) the path of

Fig.
B and C
Balls
and
block,
1
4.87 The ends of a chain of mass m per unit length lie in piles
at C; when released, the chain moves over the pulley at
A and
Determine the required initial speed u for which the chain

at a constant speed. Neglect axle friction.
1
4.88 Two
released,
and
it
B.
move
move with a velocity v through a

a third car C, which was at rest with its brakes
automatically couples with C. Knowing that all three
railroad freight cars
switchyard. Car
cars have the
will
at
hits
same mass, determine
their
common
velocity after they
coupled together, as well as the percentage of their total initial

kinetic energy which is absorbed by each coupling mechanism, assumare
all
Fig.
P14.87
ing (a) that cars A and B were originally coupled, (b) that cars A and 8
were moving a few feet apart and that the coupling operation between
B and C is completed before A hits B and becomes coupled with it.
<>
v,
91)
m/s
(fc)
Fig.
P14.88
4.89 A
5-kg sphere
is
moving with a velocity of 60
explodes into two fragments.
Immediately
in/s
when
it
after the explosion the
fragments are observed to travel in the directions shown and the speed
of fragment A is observed to be 90 m/s. Determine (a) the mass of
fragment A,
(b) the
speed of fragment
o-
r>
60 m/s
:a
B.
Fig.
P14.89
\f-6-.
4.90
water is deflected by
which water is deflected by the
blades is equal to the rate at which water issues from the nozzle
(Am/At = ApvA ). Using the same notation as in Sample Prob. 14.6,
(a) determine the velocity V of the blades for which maximum power is
1
In a Pclton-wheel turbine, a stream of
series of blades so that the rate at
developed,
(b)
an expression
derive an expression for the

for the
maximum power,
mechanical efficiency.
(c)
derive
Fig.
P14.90
653
654 DYNAMICS
-(
14.91
on a tabic
number
large
when
of small blocks of total
a constant force
is
after half of the blocks
table, (a) neglecting the effect of friction, (b)

friction
P14.91
are at rest
the blocks are in contact with each other but not connected, determine
the speed of block
Fig.
mass
applied to block A. Knowing that
/j
have been pushed off the

assuming a coefficient of
between the table and the blocks.
14.92 A
jet of
water having a cross-sectional area
A =
600
mm 2
and moving with a velocity of magnitude vA = vB 20 m/s is deflected by the two vanes shown, which are welded to a vertical plate.
Knowing that the combined mass of the plate and vanes is 5 kg,
determine the reactions at C and D.
200 mm
150
250
nun
Fig.
mm
P14.92
4.93
space vehicle equipped with a retrorocket, which
may
moving with a velocity v .

Denoting by m. the net mass of the vehicle and by mt the mass of the
unexpended fuel, determine the minimum ratio mf /m for which the
expel fuel with a relative velocity u,
is
velocity of the vehicle can
14.94
The
jet
to zero.
engine shown scoops
165 lb/s and discharges

the airplane.
be reduced
it
at
B with a
in air at
Determine the magnitude and
propulsive thrust developed by the engine

airplane
is (a)
Fig.
4.95
300 mi/h,
(b)
at the rate of
velocity of 2500 ft/s relative to

line of action of the
when the speed
of the
600 mi/h.
P14.94
Solve Prob. 14.94, including the effect of the fuel which
consumed by the engine
at the rate of
lb/s.
is
Kinematics of
Rigid Bodies
15.1. Introduction.
kinematics of rigid bodies.
existing
In this chapter,
We
between the time, the
we
shall
study the
shall investigate the relations
positions, the velocities,
and the
accelerations of the various particles forming a rigid body. As

shall see, the various types of rigid-body
iently
I.
grouped
motion
may be
we
conven-
as follows:
motion is said to be a translation if any

body keeps the same direction during
the motion. It may also be observed that in a translation all
the particles forming the body move along parallel paths. If
these paths are straight lines, the motion is said to be a
rectilinear translation (Fig. 15.1); if the paths are curved lines,
the motion is a curvilinear translation (Fig. 15.2).
Translation,
straight line inside the
Fig. 15.1
Fig. 15.2
655
CHAPTER
15
656 DYNAMICS
2.
In this motion, the particles
Rotation about a Fixed Axis.
forming the rigid body move in parallel planes along circles

centered on the same fixed axis (Fig.
15.3).
If this axis, called
the axis of rotation, intersects the rigid body, the particles

located on the axis have zero velocity and zero acceleration.
Rotation should not be confused with certain types of cur-
For example, the plate shown in Fig.

with all its particles moving
vilinear translation.
15.4a
is
in curvilinear translation,
along parallel
rotation, with
Fig. 15.3
circles,
while the plate shown in Fig.
15.4/j
is
in
moving along concentric circles.

In the first case, any given straight line drawn on the plate will
maintain the same direction, while, in the second case, point
remains
all its
particles
fixed.
(a) Curvilinear translation

Fig. 15.4
Because each particle moves in a given plane, the rotation

is said to be a plane motion.
of a body about a fixed axis

3.
General Plane Motion. There are many other types of plane

motion, i.e., motions in which all the particles of the body
move
in parallel planes.
Any plane motion which
rotation nor a translation
motion.
Two
is
neither a
examples of general plane motion are given
Fig. 15.5.
[a) Rolling wheel

Fig. 15.5
is
referred to as a general plane
Examples
(b) Sliding rod

of general plane
motion
in

4.
5.
Motion about a Fixed Point. This is the three-dimensional

motion of a rigid body attached at a fixed point 0. An example of motion about a fixed point is provided by the motion of
a top on a rough floor (Fig. 15.6).
General Motion. Any motion of a rigid body which does not
fall in any of the above categories is referred to as a general
motion.
15.2. Translation.
Consider a rigid body
in translation
and let A and B be

any two of its particles (Fig. 15.7a). Denoting respectively by r,,
and rB the position vectors of A and B with respect to a fixed
frame of reference, and by rB/A the vector joining A and B, we
(either rectilinear or curvilinear translation),
Fig. 15.6
write
rn
rA
+ rBM
(15.1)
Let us differentiate this relation with respect to t. We note that,

from the very definition of a translation, the vector r
B/A must
maintain a constant direction; its magnitude must also be constant, since A and B belong to the same rigid body. Thus, the
derivative of rB/A is zero and we have
v,
VB
Differentiating once more,
as
v.
"A
we
write
(15.2)
a.
(15.3)
Thus, when a rigid body is in translation, all the points of the

body have the same velocity and the same acceleration at any
given instant (Fig. 15.7/? and c). In the case of curvilinear translation, the velocity and acceleration change in direction as well
as in magnitude at every instant. In the case of rectilinear
O,
(*)
Fig. 15.7
to
657
658 DYNAMICS
body move along parallel straight
and acceleration keep the same direction
translation, all particles of the

lines,
and
their velocity
during the entire motion.
Consider a rigid
1 5.3. Rotation about a Fixed Axis.
body which rotates about a fixed axis AA'. Let P be a point of the
body and r its position vector with respect to a fixed frame of
reference. For convenience, we shall assume that the frame is
centered at point O on AA' and that the z axis coincides with AA'
(Fig. 15.8). Let B be the projection of P on AA'; since P must
remain at a constant distance from B, it will describe a circle of
denotes the angle formed
center B and of radius r sin d>, where
and
by r
AA'.
The position of P and of the entire body is completely defined
by the angle 8 the line BP forms with the zx plane. The angle 8
The angular
is known as the angular coordinate of the body.
c,'>
Fig. 15.8
coordinate
when counterclockwise
defined as positive
is
viewed from A' and
will
be expressed in radians (rad)
sionally, in degrees () or revolutions (rev).

1
We
t;
is
2wrad
the
360
a vector tangent to the path of
ds/dt. Observing that the length
P when
body
A0
rotates through
As
(BP)A0
and dividing both members by
=
St,
as
occa-
recall that
from Sec. 11.9 that the velocity v
recall
particle
rev
We
or,
P and
dx/dt of a
of magnitude
As of the arc described by

is
(rsint?>)A0
we
obtain at the limit, as At
approaches zero.
v
ds
=
dt
a sin
.
rti
(15-4)
where 8 denotes the time derivative of 8. (Note that, while the

angle depends upon the position of P within the body, the rate
of change 8 is itself independent of P.) We conclude that the
velocity v of
P is
a vector perpendicular to the plane containing
and of magnitude v defined by (15.4). But this is

precisely the result we would obtain if we drew along AA' a
vector <o = #k and formed the vector product to X r (Fig. 15.9).
AA' and
We
r,
thus write
dr
=
v=-
to
6k
(15.5)
The vector
<o
cok
(15.6)
is
called the angular velocity of the body. It
axis of rotation,
equal
it is
in
magnitude
of the angular coordinate, and
its
sense
is
directed along the
to the rate of
may be
change 8
obtained by the
right-hand rule (Sec. 3.5) from the sense of rotation of the body.t
We
shall
now determine
Differentiating (15.5)
the acceleration a of the particle
we
of a vector product (Sec. 11.10),
dv
write
..
.,
da ..
= lu xr + " x
.
dr
d-t
=*Xr + Xv
The
vector die
is
ill
P.
and recalling the rule for the differentiation
(15.7)
denoted by a and called the angular accelerwe have
ation of the body. Substituting also for v from (15.5),
a=aXr+wx(wXr)
Differentiating (15.6),
tude and direction,
and
recalling that
(15.8)
constant in magni-
is
we have
a = ak = wk = 0k
(15.9)
Thus, the angular acceleration of a body rotating about a fixed

axis
is
a vector directed along the axis of rotation,
magnitude
Returning to
of
two
the rate of change
to
(15.8),
vectors.
r; it is
we note
The
first
co
and equal
that the acceleration of
vector
is
in
of the angular velocity.
is
the
sum
equal to the vector product
tangent to the circle described by P and represents,
therefore, the tangential
second vector
component
equal to the vector
is
The
of the acceleration.
triple
product
a X
(w
r)
obtained by forming the vector product of
co
and
w X
P,
the vector triple
r is
product
tangent to the circle described by

is
directed toward the center
sents, therefore, the
to
r;
since
of the circle and repre-
normal component of the acceleration.
Rotation of a Representative Slab. The rotation of a rigid

body about a fixed axis may be defined by the motion of a
representative slab in a reference plane perpendicular to the axis
of rotation. Let us choose the xy plane as the reference plane
and assume
tit will be
that
it
shown
coincides with the plane of the figure, with the
in Sec.
15.12 in the
more general case
of a rigid
body
rotating simultaneously about axes having different directions, that angular

velocities
obey the parallelogram law of addition and,
quantities.
thus, arc actually vector
659
660 DYNAMICS
Recalling from
2 axis pointing out of the paper (Fig. 15.10).

(15.6) that
w =
we
cok,
note that a positive value of the scalar a
corresponds to a counterclockwise rotation of the representative

slab, and a negative value to a clockwise rotation. Substituting
ok
for
point
into Eq. (15.5),
we
Fig. 15.10
express the velocity of any given
of the slab as
Since the vectors k and
tude of the velocity v
is
= uk X
are mutually perpendicular, the magni-
and
its
direction
may be
(15.10)
(15.10')
fco
obtained by rotating
through 90 in
the sense of rotation of the slab.
k into Eq. (15.8), and observing

by k results in a 180 rotation of
we express the acceleration of point P as
Substituting to
cok
and a
that cross-multiplying r twice
the vector
r,
= ak X r -
co
(15.11)
Fig. 15.11
Resolving a into tangential and normal components (Fig. 15.11),
we
write
a,
The
tangential
=
=
k X
a,
ra
(15.11')
-co'r
component
a,
points in the counterclockwise
a is positive, and in the clockwise direction

if is negative. The normal component a always points in the
direction opposite to that of r, i.e., toward O.
15.4. Equations Defining the Rotation of a Rigid
Body about a Fixed Axis. The motion of a rigid body
rotating about a fixed axis AA' is said to be kntnen when its
angular coordinate 6 may be expressed as a known function of r.
direction
if
the scalar
S
In practice, however, the rotation of a rigid hocly
defined by a relation between
and
More
t.
seldom
is
often, the conditions
of motion will be specified by the type of angular acceleration

that the
body
function of
For example, a may be given
possesses.
as a
or as a function of 6, or as a function of w. Recall-
t,
we
ing the relations (15.6) and (15.9),
write
(1312 >
-*-S
or, solving (15.12) for dt
(i5,3
and substituting
into (15.13),
(15-14)
Since these equations are similar to those obtained in Chap. 11
motion of a particle, their integration may be

performed by following the procedure outlined in Sec. 11.3.
for the rectilinear
Two
1.
particular cases of rotation are frequently encountered:
Uniform Rotation.
This case
the angular acceleration

constant,
is
is
The angular
and the angular coordinate
e=0 o
2.
characterized by the fact that
zero.
is
velocity
In this case, the angular
angular velocity, angular coordinate, and time
may
relating
then be
derived in a manner similar to that described in Sec.
The
particle
is
easily noted.
SO + at
=
=
CO
0o
+u
2a(6
$at 2
any other
0,
(15.16)
should be emphasized that formula (15.15)
when a =
used.
11.5.
between the formulas derived here and those

the rectilinear uniformly accelerated motion of a
similitude
obtained for
It
thus
(15.15)
The following formulas
constant.
is
given by the formula
ut
Uniformly Accelerated Rotation.

acceleration
is
may be
and formulas (15.16) only when a
used only
constant.
In
case, the general formulas (15.12) to (15.14) should be
661
SAMPLE PROBLEM
A
two loads are connected by inextensible cords
pulley and
Load A has
15.1
as shown.
a constant acceleration of 10 ft/s 2 and an initial velocity
of 15 ft/s, both directed
upward. Determine (a) the number of revoluby the pulley in 3 s, (b) the velocity and position of
tions executed
load
after 3
at
0.
the acceleration of point
Motion of Pulley,
ti.
s, (c)
C on
the rim of the pulley
Since the cord connecting the pulley to load

C is equal to the velocity of A and
inextensible, the velocity of
is
component of the acceleration of
the tangential
equal to the
is
acceleration of A.
(v )o
(vj
15 ft/s t
Noting that the distance from
we
(a c)t
From
a4
10 ft/s 2 f
to the center of the pulley
is
ft,
write
(c)o
(a c),
=
=
rwo
15 ft/s
to
10 ft/s 2
=
=
w = 3 rad/s
(5 ft)o)
the equations for uniformly accelerated motion,
a = 2 rad/s 2
(5 ft)a
we
obtain, for
s,
w = w +
at
to
=u
fat
(2 rad/s )(3
9 rad/s
of revolutions
s)
9 rad/s
"j
(3rad/s)(3s)
6
Number
3 rad/s
2
(2 rad/s )(3
s)
18 rad
(18 rad)/
rev
|
\27rrad/
B6 rev
-^
of Load li.
Using the following relations between the
and angular motion, with r = 3ft, we write
i
linear
vB
SB
=
=
ru
r0
(3 ft)(9 rad/s)
c.
ation
0, u)
54
at
a,,
The
0.
ft
j.
-^
component
tangential
10
ft/s 2 T
3 rad/s, the normal component of the acceler-
is
(a c)n
<Vi
is
(a c),
Since, at
(3 ft)(18 rad)
Acceleration of Point
of the acceleration
= r4 =
The magnitude and
2
(5 ft)(3 rad/s)
(a c)
45
ft/s
*-
direction of the total acceleration are obtained
by writing
tan
$ =
2
(10 ft/s2 )/(45 ft/s )
a c sin 12.5
10 ft/s 2
<*,
ac
12.5"
46.1 ft/s 2
Be
662
= 46.1 ft/s*
3s. 12.5'
-*
663
PROBLEMS
The motion
15.1
8
2t
4t
cam
of
where 6
10,
defined
is
expressed
is
in
by
relation
the
radians and
in
seconds. Determine the angular coordinate, the angular velocity, and
cam when
the angular acceleration of the
15.2 The rotor of a steam

rpm when the steam supply
7200
that 5
min are required
turbine
is
number
is
come
for the rotor to

(a)
0, (h)
s.
rotating at a speed of
suddenly cut
formly accelerated motion, determine

the total
(a)
off.
to rest.
It
is
observed
Assuming
uni-
the angular acceleration, (b)
coming
of revolutions that the rotor executes before
to rest.
15.3 A small grinding wheel is attached to the shaft of an electric

motor which has a rated speed of 1800 rpm. When the power is turned
on, the unit reaches its rated speed in 4 s, and when the power is
turned off, the imit coasts to rest in 50 s. Assuming uniformly accelerated motion, determine the number of revolutions that the motor
executes
the
reaching
(a) in
5.4 The
power
is
rotor of an electric
cut
The
off.
rotor
executing 520 revolutions.
determine
rotor to
5.5
(a)
come
rated speed,
its
is
(b) in
coasting to
rest.
The assembly shown
(b)
P15.5
the time required for the
and
is
consists of the straight rod
ABC which
welded to the rectangular plate DEt'H.
AC with
axis
18 rad/s. Knowing that the motion
when viewed from C
is
In Prob. 15.5, assuming that the angular velocity

at the rate of
45 rad/s
The
a constant angular velocity of
counter-
clockwise, determine the velocity and acceleration of corner
and decreases
Fig.
Assuming uniformly accelerated motion,
to rest.
assembly rotates about the
5.6
P15.3
motor has a speed of 1200 rpm when

then observed to come to rest after
the angular acceleration,
passes through
Fig.
2
,
is
F.
18 rad/s
determine the velocity and
acceleration of corner H.
15.7
The assembly shown
rotates about the rod
AC
with a con-
Knowing that at the instant considis downward, determine the velocity and
stant angular velocity of 5 rad/s.
ered, the velocity of corner
acceleration of corner D.
15.8 In Prob. 15.7, determine the velocity and acceleration

comer , assuming that the angular velocity is 5 rad/s and increases
the rate of 25 rad/s 2
of
at
Fig. P15.7
5.9
The rod ABCD has been bent as shown and may rotate about
A and D. Knowing that the rod starts from rest
the line joining points
shown with a constant angular acceleration of 14 rad/s 2

initial acceleration of point B is upward, determine the
in the position
and that the
acceleration of point C.
initial
The bent rod ABCD rotates about the line joining points A
1 5.1
and D. At the instant shown, the angular velocity of the rod is 7 rad/s
and the angular acceleration is 21 rad/s 2 both counterclockwise when
viewed from end A of line AD. Determine the velocity and accelera,
Fig.
P15.9 and P15.10
tion of point C.
15.11
The earth makes one complete revolution on its axis in

Knowing that the mean radius of the earth is 3660 mi, determine the linear velocity and acceleration of a point on the surface
23.93
h.
of the earth (a) at the equator, (b) at Philadelphia, latitude 40 north,

(c)
at the North Pole.
15.12 The
makes one complete revolution about the sun in

is circular and has
93,(XK),(K)0 mi, determine the velocity and acceleration of
earth
365.24 days. Assuming that the orbit of the earth

a radius of
the earth.
15.13
small block
rests
on a horizontal plate which rotates
about
a fixed vertical axis.
and
accelerated at the constant rate a, derive an expression
is
If
the plate
is
the total acceleration of the block at time

the total acceleration
15.14
B and
It
is
and the radius
known
AB
t,
at
initially at rest at
I.
that the static-friction force
the plate will be exceeded
'
the angle between
(b) for
time
(a) for
and that the block
between block
will start sliding
on the plate when the total acceleration of the block reaches 5 m/s 2
If the plate starts from rest at ( =
and is accelerated at the constant
rate of 6 rad/s 2 determine the time f and the angular velocity of the
.
Fig.
P15.13 and P15.14
plate
when
15.15
the block starts sliding, assuming
The sprocket wheel and chain
acceleration of point
in./s 2
and
is
it
100
mm.
are initially at
of the chain has a constant
directed to the
the wheel after
left,
determine
(a)
rest.
If
the
magnitude of
the angular velocity of
has completed three revolutions,
(b)
the time re-
quired for the wheel to reach an angular velocity of KM) rpm.
15.16
At the instant shown the velocity of point
directed to the right and

I.
Fig.
[0
t.
|.
P15.15 and P15.16
|.
left.
Determine
(a)
its
acceleration
is
is
in./s
12 in./s 2 directed to the
the angular velocity and angular acceleration of
the sprocket wheel, (b) the total acceleration of sprocket B.
15.17
fixed shaft
The
friction
wheel B executes 100 revolutions about
during the time interval
f,
while
its
angular velocity
Knowing
increased uniformly from 200 to 600 rpm.
that wheel
without slipping on the inside rim of wheel A, determine

angular acceleration of wheel A,
15.18
Ring
(b) the
time interval
has an inside diameter of 120
is
its
being
rolls
(a)
the
t.
mm and hangs
30
from
mm
P15.17
Fig.
the 40-inm-diameler shaft which rotates with a constant angular velocity of
30 rad/s. Knowing that no slipping occurs between the shaft
and the
ring,
determine
(a)
acceleration of the points of
the angular velocity of the ring,
B and C which
40
(b)
the
are in contact.
mm
0
Fig.
P15.18
300
5.1 9
uniformly.
The system shown starts from rest at

Knowing that at t = 4 s the velocity
downward, determine
number
(a)
and accelerates
is 4.8 m/s
the angular acceleration of gear A, (b) the
of revolutions executed
positions.
P15.20
in.
mm
of the load
by gear A during the
4-s interval.
1 5.20
The two pulleys shown may be operated with the V belt in
2
any of three positions. If the angular acceleration of shaft A is 6 rad/s
and if the system is initially at rest, determine the time required for
shaft B to reach a speed of 4(X) rpm with the belt in each of the three
Fig.
mm
in.
in.
Fig.
P1S.19
300
mm
665
666 DYNAMICS
15.21 The two friction wheels A and B are to be brought toWheel A has an initial angular velocity of 600 rpm clockwise
gether.
and
will coast to rest in
40
s,
while wheel
is
and
initially at rest
is
given a constant counterclockwise angular acceleration of 2 rad/s 2
Determine
(a) at
are not to
slip,
what time the wheels may be brought together if they

(b) the angular velocity of each wheel as contact is
made.
Fig.
P15.21 and P15.22
Two friction wheels A and B are both rotating freely at

300 rpm clockwise when they are brought into contact. After 6 s of
slippage, during which each wheel has a constant angular acceleration,
wheel A reaches a final angular velocity of 60 rpm clockwise. Determine
the angular acceleration of each wheel during the period of
()
slippage,
(/))
the time at which the angular velocity of wheel
is
equal
to zero.
*1 5.23 The motion

by the
of the circular plate of Prob. 15.13
is
defined
and t
magnitude of the total
acceleration of ij, (b) for the values of at which the total acceleration
of B reaches its maximum and minimum values, and for the corresponding values of the total acceleration of B.
relation
in seconds.
#1 5.24
(l
sin (2nt/T),
Derive expressions
(a)
is
expressed
P15.24
we
radians
Denoting by
is
drawn
into the
paper on the
at any given time and by b the thickness of the paper, derive an
v.
r the radius of
expression for the angular acceleration of the paper
Fig.
in
for the
In a continuous printing process, paper
presses at a constant speed

roll
where 8
5.5. General Plane Motion.
roll.
As indicated
in
Sec. 15.1,
understand by general plane motion a plane motion which
neither a translation nor a rotation. As we shall presently see,

however, a general plane motion may always be considered as
is
the
sum of
a translation
and
a rotation.
Consider, for example, a wheel rolling on a straight track (Fig.

15.12).
Over
a certain interval of time,
s
/
I
Fig. 15.12
and
fi'i
Yh
A
A-i
Plane motion
two given points
Translation with
Rotation about
have moved, respectively, from A t to A 2 and from B

B 2 The same result could be obtained through a translation
which would bring A and B into A 2 and B\ (the line AB re-
will
to
maining
into
vertical),
B 2 Although
.
followed by a rotation about
bringing
the original rolling motion differs from the
combination of translation and rotation when these motions are

taken in succession, the original motion may be completely
duplicated by a combination of simultaneous translation and
rotation.
Another example of plane motion is given in Fig. 15.13, which

whose extremities slide, respectively, along a
horizontal and a vertical track. This motion may be replaced by
represents a rod
a translation in a horizontal direction and a rotation about

(Fig.
by a
15.13a) or
rotation about
translation in a vertical direction
and
A
a
(Fig. 15.136).
-A,
Plane motion
PliUie
motion
Translation with
Translation with
(b)
Fig. 15.13
Rotation about
Rotation about
667
668 DYNAMICS
In general,
we
consider a small displacement which
shall
and B of a representative slab, respectively, from A 1 and B x into A 2 and B 2 (Fig. 15.14). This displacement may be divided into two parts, one in which the particles
move into A 2 and B\ while the line A/3 maintains the same
direction, the other in which B moves into B., while A remains
fixed. Clearly, the first part of the motion is a translation and the
brings two particles
Fig.
15.14
second part a rotation about A.

Recalling from Sec. 11.12 the definition of the "relative mo-
moving frame
tion" of a particle with respect to a
ence
as
opposed
to
its
of refer-
"absolute motion" with respect to a fixed
frame of reference we may restate as follows the result obtained above: Given two particles A and B of a rigid slab in plane
motion, the relative motion of
to
A and
is
B with
a
respect to a frame attached
rotation.
with A, but not rotating, particle
will
To an observer moving
appear
to describe
an arc
of circle centered at A.
15.6. Absolute and Relative Velocity in Plane MoWe saw in the preceding section that any plane motion
of a slab may be replaced by a translation defined by the motion
of an arbitrary reference point A, and by a rotation about A.
The absolute velocity vB of a particle B of the slab is obtained
from the relative- velocity formula derived in Sec. 11.12,
tion.
+ vB/A
v,
(15.17)
where the right-hand member represents a vector sum. The

velocity v 4 corresponds to the translation of the slab with A,
while the relative velocity vB/A is associated with the rotation
of the slab about
and is measured with respect to axes centered
at
and of
position vector of
B relative
of the slab with respect to

(15.10)
and
is
to A,
(15.10')
'B/A
where
Denoting by iB/A the

and by wk the angular velocity
axes of fixed orientation, we have from
fixed orientation (Fig. 15.15).
cok
the distance from
(15.18) into (15.17),
(15.18)
we may
B/A
to B.
Substituting for \B/A from
also write
= v. +
wk X rB/A
(15.17')
Plane motion
Translation with
Hotation about
15.15
Fig.
As an example, we shall consider again the rod AB of Fig.

Assuming that the velocity vA of end A is known, we
propose to find the velocity vB of end B and the angular velocity
15.13.
of the rod, in terms of the velocity v^, the length
angle
motion
Choosing A
0.
(Fig.
is
as reference point,
equivalent to a translation with
The absolute
vector sum
vB
We note that,
v,
/,
and the
express that the given
velocity of
15.16).
equal to the
and
a rotation
B must
v B/A
about
therefore be
(15.17)
is known, its magnitude

compensated by the fact that
We may therefore complete the
for the magnitudes vB and u, we
while the direction of v B//t
unknown. However, this

the direction of \ B is known.
diagram of Fig. 15.16. Solving
lu
we
is
is
write
vB
v A tan
=^- =
(15.19)
Z
cos
.\
I'lanc
Fig.
15.16
motion
Translation with
Bxetl
Hnlation about
VB
= V A + V.A
B= V + V B/A
.\
669
670 DYNAMICS
The same
reference.
B and
result
may be
about
a rotation
B
*a
which
is
obtained by using
as a point of
Resolving the given motion into a translation with

(Fig. 15.17),
vB
we
write the equation
yA/B
(15-20)
We
represented graphically in Fig. 15.17.
note that
va/b anc^ v b/a bave the same magnitude lu but opposite sense.
The sense of the relative velocity depends, therefore, upon the
point of reference which has been selected and should be carefully ascertained
from the appropriate diagram
(Fig.
15.16 or
15.17).
B(flxcd)
e\
Plane motion
Translation with
Rotation about
V
.A= V B
+ VA/B
Fig. 15.17
Finally,
its
we
observe that the angular velocity
rotation about
is
the same as in
its
to
of the rod in
rotation about A.
It
both cases by the rate of change of the angle

0. This result is quite general; we should therefore bear in mind
that the angular velocity w of a rigid body in plane motion is
is
measured
in
independent of the reference point.

Most mechanisms consist, not of one, but of several moving
When
mechanism are pinby considering each

part as a rigid body, while keeping in mind that the points where
two parts are connected must have the same absolute velocity
(see Sample Prob. 15.3). A similar analysis may be used when
gears are involved, since the teeth in contact must also have
the same absolute velocity. However, when a mechanism contains parts which slide on each other, the relative velocity of
the parts in contact must be taken into account (see Sees. 15.10
and 15.11).
parts.
connected,
its
the
various
analysis
parts
may be
of
carried out
SAMPLE PROBLEM
^^2ku
gear shown
The double
of
-
100
mm
its
center
is
1.2
15.2
rolls
angular velocity of the gear,
of point
a.
rack,
on the stationary lower rack; the velocity
m/s directed
of the gear.
Angular Velocity of the Gear.

center
its
ference
2tt rad,
7/iir
A moves
each
for
(6
<
0),
we
Since the gear
moves
to the right (xA
_
= -or
2ir
v,
m/s and
r.u
1.2
r,
150
m/s
mm =
is
rev
and substituting the known

0.150 m,
we
obtain
w = -8
-(0.150 m)w
= (8
where k
the gear rotates
= -**
*a
Differentiating with respect to the time

1.2
> 0)
write
on the lower
revolution of the gear. Noting that
2W,
values vA
rolls
through a distance equal to the outer circum-
full
and that when
clockwise
Determine (a) the

upper rack R and
to the right.
(b) the velocities of the
rad/s
rad
-^
a unit vector pointing out of the paper.
Velocities.
The
motion
rolling
is
motions: a translation with the center
resolved into two component
and a rotation about the

move with the same
velocity v^. In the rotation, each point P of the gear moves about A
with a relative velocity \p/A = uk X rp/A where tp/A is the position
center A. In the translation,
all
points of the gear
vector of
relative to A.
Rotation
Rolling motion
Velocity of Upper Hock.
The
is
Translation
the velocity of point B;
=
=
vb
we
v.4
velocity of the upper rack
equal to
write
"b/a = y A + "> k X rB/A

(8 rad/s)k X (0.100 m)j
(1.2 m/s)i
(1.2 m/s)i
(0.8 m/s)i
(2 m/s)i
vs
-*
m/s ^45*
-+
m/s
Velocity of Point D:
vD
va + v dm = va + wk X rD/A
= (1.2 m/s)i - (8 rad/s)k X (-0.150
= (1.2m/s)i +(1.2 m/s) j
v-
1.697
m)i
671
SAMPLE PROBLEM
;
15.3
= Sin.
AB has a constant clockwise

angular velocity of 2000 rpm. For the crank position indicated, determine (a) the angular velocity of the connecting rod BD, (/>) the velocity
In the engine system shown, the crank
of the piston
Motion
pressing
of
u AB
P.
Crank AB.
in rad/s
The crank AB
and writing v B
rotates about point A.
ruAB
we
Ex-
obtain
(i2000
iin/\ 60s /\
vB
v8
(AB)uAB
627
rev /
(3 in.)(209 rad/s)
627
in./s
in./s "=5 50
We
Motion of Connecting Rod BD.
Using the law of
general plane motion.
B between
consider this motion as a
sines,
we compute
the angle
the connecting rod and the horizontal,

sin
40
sin
/i
13.9
in.
velocity vu of the point D where the rod is attached to the piston

must be horizontal, while the velocity of point B is equal to the
velocity vB obtained above. Resolving the motion of BD into a transla-
The
tion with
B and
a rotation about B,
wc
obtain
^=^?
Plane motion
Translation
Rotation
Expressing the relation between the velocities v D , v^, and v D/B ,
we
write
vd
vs
V D/B
We draw the vector diagram corresponding to this equation.

fi = 13.9, we determine the angles of the triangle
that
vp
<~i>
-? |-/3
= 13.9'
d/b
vn
=
=
495 in -/s
522
in./s
_ &2T
sin 50
sin 53.9
vfl/B
/wBD
495
in./s ^S. 76.1
vD
43.5 ft/s
=
vn
43.5 ft/s -*
43.5 ft/s
we have
495
672
sin 76,1
vp
Since v D/a
in
Recalling
and write
in./s
(8 in.)cc
u BI) =
61.9 rad/s}
KINEMATICS OF RIGID BODIES 673
PROBLEMS
15.25
An automobile
50 km/h.
(a) If
travels to the right at a constant
the diameter of a wheel
velocity of points B, C, D, and
E on
is
610
5.26
Collar
B moves with
At the instant when
the
the rim of the wheel, (b) Solve part
a assuming that the diameter of the wheel
left.
speed of
mm, determine
reduced
is
to
560 mm.
a constant velocity of 25 in./s to the
30, determine (a) the angular velocity

Fig.
of rod AB, (b) the velocity of collar A.
P15.26
Fig.
15.27
Solve Prob. 15.26, assuming that
15.28
The
(vA ) x
mine
120
plate
80 mra/s,
(a)
(vB )
shown moves in the xy

= 200 mm/s, and (c c ) y
45.
plane.
Knowing
= -40mm/s,
that
deter-
the angular velocity of the plate, (b) the velocity of point A.
mm
120
Fig.
5.29
P15.28
In Prob. 15.28, determine the equation of the locus of the
points of the plate for
which the magnitude
of the
velocity
is
100 mm/s.
1
5.30
(a)
point of the plate with zero velocity.
the velocity of point B,
(h) the
P15.25
674 DYNAMICS
5.31
In the planetary gear system shown, the radius of gears A,
D is a and the radius of the outer gear E is 3a. Knowing that

the angular velocity of gear A is a clockwise and that the outer gear E
A
S, C,
is
and
stationary, determine (a) the angular velocity of the spider connect-
ing the planetary gears, (b) the angular velocity of each planetary gear.
Two rollers A and B of radius r are joined by a link AB and

along a horizontal surface. A drum C of radius 2f is placed on the
rollers as shown. If the link moves to the right with a constant velocity
v, determine {a) the angular velocity of the rollers and of the drum, (b)
5.32
roll
the velocity of points D, E, and
Fig.
of the drum.
P15.31
n
( A(.
v y
P15.32
Fig.
5.33
of 60 rpm.
Gear A rotates clockwise with a constant angular velocity

Knowing that at the same time the arm AB rotates counter-
clockwise with a constant angular velocity of 30 rpm, determine the

angular velocity of gear B.
Fig.
P15.33 and P15.34
5.34
wise.
If
mine
(a)
Arm AB
rotates with an angular velocity of 120
the motion of gear
to
is
be a curvilinear
the required angular velocity of gear A,
velocity of the center of gear B.
(/>)
rpm
clock-
translation, deter-
the corresponding
15.35
AB
Crank
has a constant angular velocity of 12 rad/s
clockwise. Determine the angular velocity of rod

of collar
Fig.
when
()
5.36
90,
'(c)
160
BD and the
velocity
180.
0,
(fa)
mm and b =
60
mm;
rpm
Determine the velocity
15.37
connecting rod
90,
(c)
of the piston
for the position
I'
and the angu-
Fig.
corresponding to
180.
Solve
Prob.
15.36
for
the
position
corresponding to
Solve
Prob.
15.35
for
the
position
corresponding
to
12
in.
120.
15.39 through 15.42 In the position shown, bar AB has a

constant angular velocity of 3 rad/s counterclockwise. Determine the
angular velocity of bars
-12
BD
Fig.
P15.39
in.-
mm
in.
180
200
mm
120
mm
mm
lfiOmm
P15.40
6 in
and DE.
120
Fig.
P15.36
60.
15.38
rotates with a constant angular velocity of 1000
lar velocity of the
0, (fa)
In the engine system shown,
AB
clockwise.
P15.35
the crank
(a)
675
Fig.
P15.41
lfiOmm-
Fig.
B
200
mmi 160 mm-
P15.42
676
DYNAMICS
1
5.43
rod
Two
gears, each of 12-in. diameter, are
AC. Knowing that the center
connected by an
has a constant
velocity of 30 in./s to the right, determine the velocity of the center
18-in.
of gear
B =
0, (b)
Fig.
P15.43
15.44
of gear
and the angular velocity of the connecting rod
when
fi
(a)
when
60.
Solve Prob. 15.43, assuming
(a) (i
180, (b)
30.
1 5.45
Two collars C and D move along the vertical rod shown.
Knowing that the velocity of collar D is 0.210 m/s downward, deter-
mine
AB.
(a)
the velocity of collar C, (b) the angular velocity of
400
Fig.
member
mm
P15
*15.46
Prove
for
any given position of the mechanism of Prob.
15.45 that the ratio of the magnitudes of the velocities of collars
and
is
equal to the ratio of the distances
AC
and AD.
*15.47 Assuming that the crank AB of Prob. 15.36 rotates with

a constant clockwise angular velocity u and that = at t = 0, derive
an expression
for the velocity of the piston
in
terms of the time
t.
15.7. Instantaneous Center of Rotation in Plane

Motion. Consider the general plane motion of a slab, We shall
show that at any given instant the velocities of the various
particles of the slab are the same as if the slab were rotating
about a certain axis perpendicular to the plane of the
slab, called
the instantaneous axis of rotation. This axis intersects the plane

of the slab at a point C, called the instantaneous center of
rotation of the slab.
To prove our statement, we

of a slab
may
first
recall that the plane
motion
always be replaced by a translation defined by
the motion of an arbitrary reference point A, and by a rotation
about A. As
is
far as the velocities are
characterized by the velocity
the rotation
is
concerned, the translation
of the reference point
v^,
characterized by the angular velocity
co
and
of the
slab (which
is independent of the choice of A). Thus, the velocity

vA of point A and the angular velocity u of the slab define
completely the velocities of all the other particles of the slab
(Fig. 15.18a). Now let us assume that vA and to are known and
that they are both different from zero.

itself
(If
v^
the instantaneous center of rotation, and
0,
if to
point
0, all
is
the
have the same velocity v^.) These velocities could be

obtained by letting the slab rotate with the angular velocity w
about a point C located on the perpendicular to vA at a distance
r = vA /o> from A as shown in Fig. 15.18b. We check that the
velocity of A would be perpendicular to AC and that its magnitude would be roi = (vA /w)(o = vA Thus the velocities of all the
other particles of the slab would be the same as originally departicles
fined.
Therefore, as far as the vebcities are concerned, the slab
seems
to rotate
considered.
about the instantaneous center
at the instant
678 DYNAMICS
Fig.
15.19
The
position of the instantaneous center
may be
defined in
two other ways. If the directions of the velocities of two particles A and B of the slab are known, and if they are different,
the instantaneous center C is obtained by drawing the perpendicular to v_4 through A and the perpendicular to vB through
B and determining the point in which these two lines intersect
(Fig. 15.19a). If the velocities v^ and v B of two particles A and
B are perpendicular to the line AB, and if their magnitudes are
known, the instantaneous center may be found by intersecting
the line
AB
with the line joining the extremities of the vectors
v^ and v B (Fig. 15.19&).
Note
that,
v A and vs were parallel
if
if vA and vs had the same magnitude in Fig.

15.19b, the instantaneous center C would be at an infinite dis-
in Fig. 15.19a, or
tance and
same
To
would be
zero; all points of the slab
would have the
velocity.
see how the concept of instantaneous center of rotation

may be put to use, let us consider again the rod of Sec. 15.6.
Drawing the perpendicular
to v^ through
and the perpen-
dicular to v B through B (Fig. 15.20), we obtain the instantaneous

center C. At the instant considered, the velocities of all the
particles of the rod are thus the
Now,
same
as
if
the rod rotated about
the magnitude vA of the velocity of

is
the magnitude w of the angular velocity of the rod
C.
if
obtained by writing
Fig. 15.20
AC
cos e
known,
may be
The magnitude
of the velocity of
B may
then be obtained by
writing
vB
Note
(BC)u
Va
I
sin 6
v, tan Q
I cos a
computa-
that only absolute velocities are involved in the
tion.
The
instantaneous center of a slab in plane motion
located either on the slab or outside the slab.
on the
slab,
the particle
center at a given instant
If it
is
may be
located
coinciding with the instantaneous
must have zero velocity
at that instant.
However,
it
rotation
valid only at a given instant. Thus, the particle
the slab
is
should be noted that the instantaneous center of
which coincides with the instantaneous center
of
at time
will generally not coincide with the instantaneous center at time

t
At; while its velocity
different
from zero
the particle
C does
is
at time
zero at time
At.
t,
it
will
probably be
This means that, in general,
not have zero acceleration, and therefore that
the accelerations of the various particles of the slab cannot be

as if the slab were rotating about C.
As the motion of the slab proceeds, the instantaneous center
moves in space. But it was just pointed out that the position of
the instantaneous center on the slab keeps changing. Thus, the
instantaneous center describes one curve in space, called the
space centrode, and another curve on the slab, called the body
centrode (Fig. 15.21). It may be shown that, at any instant, these
two curves are tangent at C and that, as the slab moves, the body
centrode appears to roll on the space centrode.
determined
Fig. 15.21
679
SAMPLE PROBLEM
15.4
Solve Sample Prob. 15.2, using the method of the instantaneous center
of rotation.
Angular Velocity of the Gear.
a.
Since the gear
ary lower rack, the point of contact
no velocity; point
r
= 250mm
We
is
on the station-
rolls
of the gear with the rack has
therefore the instantaneous center of rotation.
write
v,
"a
b.
r.u1
'a"
Velocities.
m/s
1.2
m)u
{0.150
<>
seem
All points of the gear
Q rad
s )
to rotate about
the
instantaneous center as far as velocities are concerned.

Velocity of Upper Hack. Recalling that On = v
B we write
,
vH
t)
fl
vR
rB o>
(0.250 m)(8 rud/s)

v*
Velocity of Point D.
vn
Since rD
vD
rD co
(0.
150
(0.212 m)(8 rad/s)
SAMPLE PROBLEM
m) \/2
m/s
= 2 m /s -
we
write
m/s
*45"
-+
0.212 m,
1.696
1.696
~+
15.5
Solve Sample Prob. 15.3, using the method of the instantaneous center
of rotation.
Motion
Crank AB.
of
the velocity of point B;
Referring to Sample Prob. 15.3,

627 in./s "S* 50.
vB
we
obtain
Motion of the Connecting Rod BD. Wc first locate the instantaneC by drawing lines perpendicular to the absolute velocities
ous center
vB and v n
BD =
in.,
yB
Recalling from Sample Prob. 15.3 that
we
solve the triangle
40
ft
53.9"
BC =
BD
90
sin 53.9
10.14 in.
Since the connecting rod
yD
CD
BC
sin 76.1
ft
vB
=
=
and
that
76.1
in.
sin
CD =
ft
50
8.44
in.
we
write
(BC)u BD
(10.14 in.)w BD
01.9 rad/s)
-^
= (CD)uBD = (8.44 in.)(61. 9 rad/s)

= 522 in./s =43.5 ft/s
v = = 13. 5 ft/s -
-+
UBD -
680
13.9
seems to rotate about point C,
627 in./s
vD
BCD.
PROBLEMS
15.48
helicopter moves horizontally in the x direction at a
speed of 120 mi/h. Knowing that the main blades rotate clockwise at
an angular velocity of 180 rpm, determine the instantaneous axis of
rotation of the
main blades.
Fig.
P15.48
5.49
slab
Denoting by rA the position vector of a point A of a

which moves in plane motion, show that the position vector
the instantaneous center of rotation
tc
where
to is
rigid
r,,
of
is
=ta + "Xv.
the angular velocity of the slab and v^ the velocity of
point A.
in.
5.50 A drum, of radius 4.5 in., is mounted on a cylinder, of radius

A cord is wound around the drum, and its extremity D is pulled
to the left at a constant velocity of

roll
without sliding. Determine
(a)
in./s,
causing the cylinder to
the angular velocity of the cylin-
der, (b) the velocity of the center of the cylinder,
cord which
Fig.
is
wound
or
(o)
the length of
unwound per second.
P15.50
15.51
Solve Sample Prob. 15.2, assuming that the lower rack
not stationary but
moves
to the left with
a velocity of 0.6 m/s.
is
681
682
DYNAMICS
15.52
6(1
min/s
which moves
double pulley
radius inner pulley
Knowing
pulley.
is
(a)
velocity of the center

21
mn/i
15.53
Fig.
P15.52
is
20
Knowing
in./s
speed of 24 mm/s. The 60-mm80-mm-radius outer
is
pulled at a constant speed of 60
mm/s
the angular velocity of the pulley, (b) the

of the pulley.
shown the
that at the instant
upward, determine
lb) the velocity of
Fig.
without sliding on the plate AB,
rigidly attached to the
that cord
shown, determine
as
rolls
to the left at a constant
point B,
(c)
(a)
velocity of collar
the angular velocity of rod
AD,
the velocity of point A.
P15.53
1 5.54
The rod ABD is guided by wheels which roll
shown. Knowing that B = 60 and that the velocity of
downward, determine
(a)
in the tracks
is
24
in./s
the angular velocity of the rod, (b) the
velocity of point D.
5.55
5.56
of crank
of link
of link
Fig.
Knowing
AB
is
30.
shown the angular velocity
that at the instant
3rad/s clockwise, determine
BD, (b) the velocity

BD.
(a)
the angular velocity
of collar D, (c) the velocity of the
midpoint
P15.54
300
225 mm
1
5.57
Knowing
mm
Fig.
that at the instant
P15.56 and P15.57
shown the
velocity of collar
D is 1.5 m/S to the right, determine (a) the angular velocities of crank
AB and link BD, (b) the velocity of the midpoint of link BD.
15.58
Collar
slides
downward with
Determine the angle d corresponding

which the velocity of B is horizontal.
Fig.
15.59
Two
rods
AB
and
BD
a constant velocity v..
to the position of rod
velocity
for
P15.58 and P15.60
are connected to three collars as
Knowing that collar A moves downward with

of 120 mm/s, determine at the instant shown (a)
shown.
AB
constant
the angular
velocity of each rod, [b) the velocity of collar D.
5.60
Collar A slides
downward with a constant speed of 16 in./s.

2 in., L = 10 in., and
= 60, determine (a) the
angular velocity of rod AB, (b) the velocity of B.
1
Knowing
that
15.61 The rectangular plate is supported by two 6-in. links

Knowing that at the instant shown the angular velocity
shown.
link
AB
is
4 rad/s clockwise, determine
(a)
the angular velocity of the
plate, (b) the velocity of the center of the plate,
coiner
as
of
(c)
the velocity of
F.
Sin.
Fig.
P15.61 and P15.62
15.62
of link
AB
Knowing
is
the plate, (h)

velocity
is
that, at the instant shown, the angular velocity

4 rad/s clockwise, determine (a) the angular velocity of
the points of the plate for which the magnitude of the
equal to or
less
than 6
in./s.
Fig.
P15.59
683
684 DYNAMICS
15.63 At the instant shown, the velocity
Determine (a)
is 200mm/s to the right.
gear
B, (b) the velocity of collar
60
Fig.
of the center of the
the velocity of point
D.
mm
P15.63 and P15.64
5.64
At the instant shown, the velocity of collar
downward. Determine
(a)
D is 360 mm/s
BD,
(b)
the
velocity of the center of the gear.
15.65
Describe the space centrode and the body centrodc of gear

on the horizontal rack.
of Prob. 15.63 as the gear rolls
5.66
ABD
Describe the space centrode and the body centrode of rod
of Prob. 15.54 as point
centrode need not
lie
on
A moves downward.
(Note.
The body
a physical portion of the rod.)
5.67
15.7, solve Prob. 15.35.
5.68
15.7, solve Prob. 15.36.
5.69
15.7, solve
15.70
15.7, solve Prob. 15.40.
15.71
Using the method of Sec. 15.7, solve Prob. 15.41.
15.72
15.7, solve Prob. 15.42.
5.73
15.7. solve Prob. 15.43.
15.74
15.7, solve Prob. 15.32.
5.75
15.7, solve Prob. 15.33.
Prob. 15.39.
685
5.8. Absolute and Relative Acceleration in Plane

We saw in Sec. 15.5 that any plane motion may be
replaced by a translation defined by the motion of an arbitrary
reference point A, and by a rotation about A. This property
was used in Sec. 15.6 to determine the velocity of the various
1
Motion.
moving slab. We shall now use the same property

determine the acceleration of the points of the slab.
points of a
to
We
first
of the slab
recall that the absolute acceleration a of a particle

s
may be
mula derived
obtained from the relative-acceleration
for-
in Sec. 11.12,
a.
aB/A
where the right-hand member represents
(15.21)
The
a vector sum.
acceleration aA corresponds to the translation of the slab with

A, while the relative acceleration aBM is associated with the
A and
rotation of the slab about

axes centered at
and of
is
measured with respect
fixed orientation.
We
recall
to
from Sec.
15.3 that the relative acceleration a

B/A may be resolved into two
components, a tangential component (&
B/A ), perpendicular to the
line AB, and a normal component (a
B/A ) n directed toward A (Fig.
15.22). Denoting by r
the
position
vector of B relative to A
B/A
and, respectively, by ick and
ak the angular velocity and angular

acceleration of the slab with respect to axes of fixed orientation,
we have
(H/ A )t
(
where
r is
a B/A>n
<*k
~~
(aB/A \
rB/A
w rB/A
the distance from
ra
(15.22)
(a
to B. Substituting into (15.21)
expressions obtained for the tangential and normal

of a B/4 we may also write
the
components
a.
k X rB/A
- u 2 rB/A
(15.21')
/
"n/.-\\
Plane motion
Fig. 15.22
Translation with
Rotation about
a,
V a B/A
x U/.\i:
686 DYNAMICS
Fig. 15.23
we
As an example,
(a)
and a vertical
the accelvelocity
v^
and
Assuming
that
the
track (Fig. 15.23).
accelerdetermine
the
known,
we
propose
to
of
are
eration &A
A
Choosing
of
the
rod.
acceleration
o
of
B
and
the
angular
ation a B
A as a reference point, we express that the given motion is
where
while
(a B/yl )
no way of
is
aB/A
zA
(aB/
(a
BM
We
A. The
telling at
Jn +
),
(15.23)
(aB/A ) t
and is directed toward A,

and is perpendicular to AB.
the present time whether the
Zto
la
directed to the left or to the
is
rely
on
his "intuition" in this
both possible directions for

Fig. 15.23. Similarly, we indicate both possisince we do not know whether point B is
shall therefore indicate
component
in
ble senses for aB

accelerated upward or
,
<C)
and the student should not
matter.
this
a,
magnitude
component
tangential
right,
=
=
has the magnitude
(a B/-4 ), has the
There
A and a rotation about

B mast be equal to the sum
equivalent to a translation with
AB whose
rod
shall consider again the
extremities slide, respectively, along a horizontal
absolute acceleration of
\ {a B/\
Rotation about
Translation with
Plane motion
downward.
Equation (15.23) has been expressed geometrically in Fig.

15.24. Four different vector polygons may be obtained, depending upon the sense of aA and the relative magnitude of aA and
(aB/A ) n
we are to determine a B and a from one

we must know not only a A and but also
If
diagrams,
of these
w.
The
angular velocity of the rod, therefore, should be separately determined by one of the methods indicated in Sees. 15.6 and 15.7.
The values of aB and a may then be obtained by considering
'fl/A'n
successively the x
and y components of the vectors shown
Fig. 15.24. In the case of polygon

-*
(d)
x components:
+ \y
components:
aA
a, for
aB = lu
fw 2 sin 9
cos8
we
example,
in
write
la cos 9
la sin
and solve for aB and a. The two unknowns may also be obtained
by direct measurement on the vector polygon. In that case, care
should be taken to draw first the known vectors sla and (aBM ).

It is quite evident that the determination of accelerations is
considerably more involved than the determination of velocities.
example considered here, the extremities A and B

were moving along straight tracks, and the diagrams
drawn were relatively simple. If A and B had moved along
Yet, in the
of the rod
curved tracks, the accelerations nA and a B should have been

resolved into normal and tangential components and the solution
of the problem would have involved six different vectors.
When
a mechanism consists of several moving parts which
its analysis may be carried out by considering

each part as a rigid body, while keeping in mind that the points
where two parts are connected must have the same absolute
are pin-connected,
Sample Prob. 15.7). In the case of meshed

components of the accelerations of the teeth
contact are equal, but their normal components are different.
=15.9. Analysis of Plane Motion in Terms of a
acceleration (see
gears, the tangential

in
Parameter.
In the case of certain mechanisms,
to express the coordinates x
of the
and y of
all
it is
possible
the significant points
mechanism by means of simple analytic expressions con-
It may be advantageous in such a

case to determine directly the absolute velocity and the absolute
acceleration of the various points of the mechanism, since the
components of the velocity and of the acceleration of a given
taining a single parameter.
point
may be
obtained by differentiating the coordinates x and
y of that point.
Let us consider again the rod

respectively, in a horizontal
The
AB
and a
whose extremities
slide,
vertical track (Fig. 15.25).
coordinates xA and yB of the extremities of the rod may

in terms of the angle 6 the rod forms with the
be expressed
vertical.
xA
sin
yB
lcos0
(15.24)
Differentiating Eqs. (15.24) twice with respect to
*A
= *a = ie cos
=
aA
xA
-10 2
Recalling that
A
aA
- -lu 2 sin
a and
la
cos
write
-10
sin
10 cos 6
as la cos
B = yB
..
sin 6
we
f,
ub
a,
we
vB
aB
!Jb
= ~ W a cos
10 sin
obtain
= -lu sin
= -lu> 2 cos
(15.25)
la sin
(15.26)
We
note that a positive sign for v or a indicates that the

A
A
velocity v^ or the acceleration a is directed to the right; a
A
positive sign for v
B or aB indicates that vB or aB is directed
upward. Equations (15.25) may be used, for example, to determine vB and w when vA and
are known. Substituting for w
in (15.26),
we may
then determine a B and a
if
aA
is
known.
Fig. 15.
687
<o^XVv
SAMPLE PROBLEM
'-'-
a
*
r,
in s-
100
mm
15.6
The center of the double gear of Sample Prob. 15.2 has a velocity of
2
1.2 m/s to the right and an acceleration of 3 m/s to the right. Deterthe
gear,
(fc)
the acceleration of
mine (a) the angular acceleration of
points B, C, and
of the gear.
Angular Acceleration of the Gear. In Sample Prob. 15.2, we

the latter with
= rjl
A = fjM. Differentiating
respect to time, we obtain aA = rta.
a.
m&V
found that XA
vA
= -r xw
aA
m/s
1.2
3 m/s2
-Tja
=
=
-{0.150 m)
a
b.
The
Accelerations.
translation with
and
= -8rad/s
-(0.150 m)
rolling
= -20rad/s 2
ot
=ok =
-(20rad/s 2 )k
motion of the gear
is
-*
resolved into a
about A.
a rotation
Translation
Acceleration of Point B. Adding vectorially the accelerations corresponding to the translation and to the rotation, we obtain
B
'/-'
=
=
=
=
a /t
*B/A
k X
2
(3 m/s )! 2
(3 m/s )i +
a,
4-
aA
Is/a
aB//l)<
aB/A
~ <AR/A
l
2
(20 rad/s )k
2
(2 m/s )i
(0.100 m)j
(6.40
aB
*c
'
=
=
*a
*c/a
ax + ak
(20 rad/s 2 )k
(3
m/s
(8 rad/s) (0.100 m)j
8.12
)i
rC/A
(-0.150 m)j
(9.60 m/s^j
*D
=
=
*A
*D/A
m/s 2 )i 2
(3 m/s )i +
(3
WA - "^D/A
ak X X
*A
(20 rad/s^k X
(3
52.0
-*
2(
9.00
-0.150 m)j
m/s 2
-*
m/s2)]
-0.150 m)i
(9.60
(8 rad/sffl
m/s2)!
a
688
(8 rad/s)
ar
i>/\h
- ta\/A
V
m/s2
m/s2)i 2
(3 m/s )i (3
m/s 2)j
12.95 n:/s2
-0.150 m)i
13.4
-^
SAMPLE PROBLEM
15.7
AB of the engine system of Sample Prob. 15.3 has a constant

clockwise angular velocity of 2000 rpm. For the crank position shown,
determine the angular acceleration of the connecting rod BD and the
Crank
acceleration of point D.
Motion of Crank AB. Since the crank rotates about

r
3iii.\
A with constant
uAB = 2000 rpm = 209 rad/s, we have aAB = 0. The acceleration

B is therefore directed toward A and has a magnitude
=
=
aB
-10
Af(S
aB
= & ft)(209
ruAB
10,920 ft/s 2
rad/s) 2
of
10,920 ft/s 2
7* 40
Motion of the Connecting Rod BD. The angular velocity a BD and

B were obtained in Sample Prob. 15.3.
the value of
uBD =
The motion of
about B. The
BD is
61.9 rad/s
13.9
resolved into a translation with
relative acceleration D/B
is
B and
a rotation
resolved into normal and
tangential components.
(d/b)
= (BDKo =
ft)(61.9 rad/s)2
(A
2550
(/)/)= 2550
(a/*)i
(BD)a BD
While
(ft)a BI)
Plane inoiioii
its
Translation
-76.1
sense
aB
[10,920
?"
a
[aD *]
a D/B
40]
aB
[2560
Equating x and y components,
we
is
not known.
Rotation
Noting that the acceleration & u must be horizontal,
^13.9
0.667a BD
az, /B),=0.667 BD
must be perpendicular to BD,
(aB/D ),
ft/s
2
ft/s
+
5^
(a n/B) n
13.9=]
we
(a 0/B),
[0.667o Bn
write
76.1]
obtain the following scalar equa-
tions:
* x components:
-a D = - 10,920 cos 40 - 25.50 cos 13.9 + 0.667a BD sin 13.9

+ \y components:
= - 10,920 sin 40 + 2550 sin 13.9 + 0.667a BD cos 13.9
Solving the equations simultaneously,
we
obtain a Bn
= +9890
and aD = +9260 ft/s 2 The positive signs indicate that the

senses shown on the vector polygon are correct; we write
rad/s 2
a nn = 9890
a
= 9260
-^
-4
rad/s2
ft/s
SAMPLE PROBLEM
,
lliu.
15.8
ABDF. moves in the vertical plane. Knowing that in the

shown crank AB has a constant angular velocity to, of 20 rad/s
counterclockwise, determine the angular velocities and angular accelerations of the connecting rod BD and of the crank DE.
The
linkage
position
- 8
in.-"-"
12
in.
17
in.
While
Solution.
in
Sample Prob.
15.7,
and r0/B arc chosen
as
Since the motion of each element of the linkage
is
The
the present case.
shown
in
problem could be solved by the method used

we shall make full use of the vector approach in
this
position vectors rB r n
,
Velocities.
we have
contained in the plane of the figure,

rB
rD
t D/B
= 8i + 14j
= - 17i + 17
= 12i+3j
the sketch.
uAB = uAn k =
(20 rad/s)k
cc an
<"BD
=
"nnk
W
BJ3'
*i)fi
^DE*
where k
is
a unit vector pointing out of the paper.
VD
VB
We now
write
V D/B
u DeV X rD = uABV X r + to aflk X tD/B

(-171
+ 17j) = 20k x (8i + 14j) + u BD k X (12i
Bjk X
-17OTj - llu DE i = 160j - 280i + 12w BD j - 3BD i
Equating the coefficients of the unit vectors
and
j,
we
3j)
obtain the
following two scalar equations:
M = -280-3u
M = +160 + 12u aD
-17w
Bfl
-17<a
M = -(293rad/s)k
ta
Dg
= (11.29 rad/s)k
Accelerations. Noting that at the instant considered crank

constant angular velocity, we write
aAB =
Each term
of Eq. (1)
is
AB has a
aDE = Q DR k
= BO k
= aaB T
+ uaD//i
BD
a
n
D
-*
(1)
evaluated separately:
= DB k X r - mIbTd
= Mk X (-171 + 17j) - (11.29) 2(-17i + 17j)
= -n OE - 17<W + 2170i - 2170J
= v AH Y X rB - 2 B r B = - (20) 2 (8i + 14j)
i
a D/B
co
=
=
=
_3200i
5600J
UBD TD/B
a BD k X
+ 3j) - (29.3) 2 (12i + 3j)
12n BD - 3a BD - l(),320i - 2580J
"flD*
f/j/a
(12i
Substituting into Eq.
(1)
and equaling the
coefficients of
obtain
-17 K
-17jW-
690
-{645
3a B
=
2
rad/s *
12<1 />n
-15,690
-60J0
a nr = (
rai
and
j,
we
PROBLEMS
15.76
unwinding
beam is lowered by means of two cables

same speed from overhead cranes. As the beam
15-ft steel
at the
.\
approaches the ground, the crane operators apply brakes to slow down
the unwinding motion. At the instant considered the deceleration of
the cable attached at A is 13 ft/s 2 while that of the cable attached at B
12
3(1-
ft
2
7 ft/s
is
Determine
(a)
the angular acceleration of the beam,
(b)
the
Figs. P15.76
and P15.77
acceleration of point C.
15.77
The
C is 5 ft/s 2 downward and the

beam is 2 rad/s 2 clockwise. Knowing that
the beam is zero at the instant considered,
angular acceleration of the

determine the acceleration of each cable.
15.78
P
A 600-mm
applied
aA
0.8
above.
as
m/s 2
rod rests on a smooth horizontal table.
shown
produces
to the right,
a =
the
following
5.79
(a) of
point B,
(/>)
of point
(b)
has an acceleration of 0.350
(,'.
P15.78
In Prob. 15.78. determine the point of the rod which
no acceleration,
force
2 rad/s 2 clockwise as viewed from
Fig.
accelerations:
m/s2
(a)
has
to the right.
15.80 Determine the accelerations of points C and D of the

610-mm-diameter wheel of Prob. 15.25, knowing that the automobile
moves at a constant speed of 50 km/h.
1 5.81
Determine the accelerations of points K and E of the wheel
of Prob. 15.25, knowing that the automobile moves at a constant speed
of 50 km/h and assuming the diameter of the wheel

560 mm.
5.82
The Hanged wheel
rolls
is
reduced
to
without slipping on the horizontal
a given instant the velocity and acceleration of the center of

the wheel are as shown, determine the acceleration (a) of point B, (b) of
rail.
If at
point C,
(c)
5.83
Fig.
P15.82
of point D.
The moving
carriage
is
supported by two casters
C, each of J-in. diameter, and by a ^-in.-diameter ball B.
If at
A and
instant the velocity
and acceleration of the carriage are as shown,

and of each caster,
the accelerations of the center of the ball and of each caster.
determine
(b)
(a)
in./s
a given
"(j
the angular accelerations of the ball
Fig.
P15.83
<-.(&
>
V""^
691
692 DYNAMICS
15.84 and 15.85
a
At the instant shown, the disk rotates with

to
clockwise. Determine the angular
constant angular velocity
and the angular accelerations of the rods
velocities
Fig.
5.86
of 900
when
(a)
5.87
5.88
AB
Crank
rpm
6
clockwise.
A with a constant angular velocity

Determine the acceleration of the piston P
rotates about
clockwise.
90, (b) 9
180.
Solve Prob. 15.86
that gear
15.89 and 15.90

angular acceleration
5.89
15.90
1
P15.86
(a)
io
0, (b)
270.
20
rpm
does not rotate, determine the accelis in
contact with gear A.
For the linkage indicated, determine the

of bar
BD,
(b) of
bar HE.
Linkage of Prob. 15.41.

Linkage of Prob. 15.40.
5.91 and
midpoint
5.92
The end
in./s.
of the rod AB moves downward

For the position shown, determine
the angular acceleration of the rod,
(a)
(a)
B which
with a constant velocity of 9
Fig.
when
Ann AB rotates with a constant angular velocity of

Knowing
eration of the tooth of gear
Fig.
and BC.
P15.85
Fig.
P15.84
AB
(>)
the acceleration of the
of the rod.
mm
P15.88
Fig.
P1S.91 and P15.93
5.93 and
5.94
Fig.
P15.92 and P15.94
In the position shown, end
of the rod
AB
2
has a velocity of 9 in./s and an acceleration of 6 in./s both directed
acceleration
of
the rod, (b) the
angular
downward. Determine () the
,
acceleration of the midpoint
of the rod.
15.95
In the position shown, point
magnitude^
velocity of
250
mm/s with
the angular acceleration of the bracket,
ABCD
of bracket
dvA /dt
0.
has a
Determine (a)
(b) the acceleration of point C.
5.96
In Prob. 15.95, determine the acceleration of point D.
5.97
Show
that the acceleration of the instantaneous center of
rotation of the slab of Prob. 15.49
ark is
slides
with
the inclined plane. Using the

for the
Fig.
and only
if,
Fig.
v,
its
100
mm
100
P15.95
ends in contact with the floor and
method
of Sec. 15.9, derive an expression
angular velocity of the rod in terms of v g
8,
I,
and
/i.
P15.98 and P15.99
*1 5.99
rod
if,
the angular acceleration of the slab.
Rod AB
* 1 5.98
zero
= JvA + " X
*a
where a
is
AB
in
terms of v B
is
zero.
point
* 1 5. 1 0O
8,
I.
and
for the
B,
angular acceleration of the
knowing that the acceleration
of
The drive disk of the Scotch crosshead mechanism shown
has an angular velocity

clockwise.
u and an angular acceleration a, both directed

Using the method of Sec. 15.9, derive an expression (a)
for the velocity of point B, (b) for the acceleration of point B.
15.101
velocity
v.
disk of radius
r rolls
to the right with a constant
Denoting by P the point of the rim
in contact
with the
ground at t = 0, derive expressions for the horizontal and vertical

components of the velocity of P at any time t. (The curve described
by point P is called a cycloid.)
1 5.1 02 Knowing that rod AB rotates with an angular velocity u
and with an angular acceleration a, both counterclockwise, derive
expressions for the velocity
and acceleration
of collar D.
* 1 5. 1 03 Knowing that rod AB rotates with an angular velocity u

and an angular acceleration a, both counterclockwise, derive expressions for the components of the velocity and acceleration of point E.
Fig.
P15.102 and P15.103
mm
693
694 DYNAMICS
* 1 5. 1 04
Collar
slides
along rod
OC and is attached to a sliding
block which moves in a vertical slot. Knowing that rod OC rotates

witli an angular velocity to and with an angular acceleration a, both
counterclockwise, derive expressions for the velocity and acceleration
of collar B.
* 15. 105
Fig.
P15.104 and P15.105
Collar
slides
along rod
OC and
is
attached to a sliding
block which moves upward with a constant velocity v in a vertical

slot. Using the method of Sec. 15.9, derive an expression (a) for the
angular velocity of rod OC, (b) for the angular acceleration of rod
OC.
* 15.106 The
position of a factory
window is controlled by the rack
and pinion shown. Knowing that the pinion C has a radius r and
rotates counterclockwise at a constant rate to, derive an expression for
the angular velocity of the window.
*15.107
The crank
AB
of Sec. 15.9, derive
terms of the time
Fig.
P15.106
*1 5.108
to,
and
t.
Collar
slides
upward with a constant
velocity v^.
(a)
the angular
components of the velocity
of point B.
15.9, derive
velocity of rod AB, (b) the
*15.109
of Prob. 15.36 rotates with a constant
at 1 = 0. Using the method

an expression for the velocity of the piston P in
clockwise angular velocity
an expression for
In Prob. 15.108, derive an expression for the angular
acceleration of rod AB.
1 5.10. Rate of Change of a Vector with Respect to

a Rotating Frame. We saw in Sec. 11.10 that the rate of
change of a vector is the same with respect to a fixed frame and
Fig.
P15.108
we
shall
compare the rales of change of a vector Q with respect to a

frame and with respect to a rotating frame of reference, t
fixed
with respect
to
a frame in translation. In this section,
shall also learn to
to
one frame
determine the rate of change of
of reference
when
is
defined by
its
We
with respect
components
in
another frame.
Consider two frames of reference centered at O, a fixed frame

frame Oxyz which rotates about the fixed axis OA;
the angular velocity of the frame Oxyz at a given
OXYZ and a
let O denote
t It is
frame
recalled that the selection of a fixed frame of reference
may be designated as
"fixed'"; all
is
arbitrary.
others will then be considered
a.s
Any
moving.

Consider
sented by the vector
now
a vector function Q(t) repre-
attached at O; as the time
the direction and the magnitude of

tion of
is
viewed
differently
both
varies,
change. Since the varia-
by an observer using
OXYZ
as a
frame of reference and by an observer using Oxyz, we should

expect the rate of change of Q to depend upon the frame of
reference which has been selected. Therefore, we shall denote
y (Q)oxyz tne rate of change of Q with respect to the fixed frame
OXYZ, and by (Q) 0xv, its rate of change with respect to the
rotating frame Oxyz. We propose to determine the relationship
existing between these two rates of change.
Let us first resolve the vector Q into components along the .v,
(/, and z axes of the rotating frame.
Denoting by i, j, and k the
we
corresponding unit vectors,
write
Q = QA + Qj +
Differentiating (15.27) with respect to
vectors
i,
j,
we
as fixed,
QJt
(15.27)
and considering the
obtain the rate of change of
unit
with
frame Oxyz:
respect to the rotating
(QW
<?,*
Qi
ftk
(15.28)
To obtain the rate of change of Q with respect to Die fixed

frame OXYZ, we mast consider the unit vectors i, k as variable
j,
when
differentiating (15.27).
(0)om =
&+
Recalling (15.28),
in the right-hand
<?J
we
>
were
Q +
therefore write
Q,
j + Q | + ft f|
(15.29)
observe that the sum of the
membei
(9Wr- We note on
(QVra would reduce
vector
We
first
three terms
of (15.29) represents the rate of change
the otner
nand
'hat the rate of
change
to the last three terms in (15.29)
if
the
fixed within the
frame Oxyz, since (Q) 0ti/1 would

then be zero. But, in that case, (Q)
0ATZ would represent the
velocity of a particle located at the tip of Q and belonging to a
body rigidly attached to the frame Oxyz. Thus, the last three
terms in (15.29) represent the velocity of that particle; since the
frame Oxyz has an angular velocity

the instant considered,
<?4
we
write,
fi
by
with respect to
+ v, 4,+Q, clt
lit
Substituting from (15.28) and (15.30) into (15.29),

fundamental relation
(Q)OXYZ
OXYZ at
(15.5),
(QW
+ n x Q
(15.30)
we
obtain the
(15.31)
Fig. 15.26
695
696 DYNAMICS
We conclude that the rate of change of the vector Q with respect

to the fixed frame OXYZ is made of two parts: The first part
represents the rate of change of Q with respect to the rotating
frame Oxyz; the second part, fi X Q, is induced by the rotation
of the frame Oxyz.
use of relation (15.31) simplifies the determination of the
The
rate of
change of a vector
reference
OX YZ when
with respect
the vector
to
a fixed frame of
defined by
is
its
components
along the axes of a rotating frame Oxyz, since diis relation does
not require the separate computation of the derivatives of the
unit vectors defining die orientation of the rotating frame.
15.11. Plane Motion of a Particle Relative to a

Rotating Frame. Coriolis Acceleration. Consider two
O and both
frames of reference, both centered at
OXY, and
the figure, a fixed frame
in the
a rotating frame
plane of
Oxy
(Fig.
Let P be a particle moving in the plane of the figure.
15.27).
While the position vector r of P is the same in both frames, its

rate of change depends upon the frame of reference which has
been selected.
The absolute velocity vP of the particle is defined as the
velocity observed from the fixed frame OXY and is equal to the
rate of change (r) 0XY of r with respect to that frame. We may,
however, express \p in terms of the rate of change (r) 0l() observed
from the rotating frame if we make use of Eq. (15.31). Denoting
Oxy with
the angular velocity of the frame
by
at the instant considered,
vP
we
(f)oAT
respect to
OAT
write
=O X
(r) 0l
(15.32)
vP/F of the particle P relative to the

frame Oxy. If we imagine that a rigid slab has been attached to
the rotating frame, vP/F will represent the velocity of P along the
path that it describes on that slab (Fig. 15.28). On the other
But
\ ,.
ily
(r) 0j
defines the velocity
(/
hand, the term
Hxrin (15.32) will
the point P' of the slab
with
at
Vp.
=
=
Vp,y
Vp,
+ v,P/F
velocity of point P' of
velocity of
relative to
(15.33)
P
moving frame coinciding
absolute velocity of particle
with
Fig. 15.28
frame which coincides

we have
the instant considered. Thus,
Vp
where \P
represent the velocity v^. of
or rotating
moving frame
The
absolute acceleration a P of the particle
defined as the
is
rate of change of v P with respect to the fixed frame OXY.

Computing the rates of change with respect to OX Y of the terms
in (15.32),
we
aP
write
= vf =
SJ
+ S!xf + ;K*W
(15-34)
where all derivatives are defined with respect to OXY, except

where indicated otherwise. Referring to Eq. (15.31), wc note
may be
that the last term in (15.34)
dtKftoJ
expressed as
= W, + n X $0*
(
On
the other hand, f represents the velocity v and may be

p
replaced by the right-hand member of Eq. (15.32). After com-
pleting these two substitutions into (15.34),
ap
S2
+Q X
(O
r)
2fi
we
(r) ,
write
(r)
0zv
(15.35)
Referring to the expression (15.8) obtained in Sec. 15.3 for the

acceleration of a particle in a rigid
body rotating about a fixed

note that the sum of the first two terms represents the
acceleration ap of the point P' of the rotating frame which
coincides with P at the instant considered. On the other hand,
axis,
we
the last term defines the acceleration a

P/F of P relative to the
rotating frame. If it were not for the third term, which has not
been accounted
for,
a relation similar to (15.33) could be written
and a,, could be expressed as the sum of &p,

However, it is clear that such a relation would be
incorrect and that we must include the additional term. This
term, which we shall denote by ac is called the complementary
for the accelerations,
and ap/F
acceleration, or Coriolis acceleration, after the French

tician
De
We
Coriolis (1792-1843).
a,,
&p
a p/F
mathema-
write
ac
where ap
absolute acceleration of particle
a,,.
acceleration of point P' of
(15.36)
with P
aP/F
acceleration of
ac
2fl
complementary, or
(r)
relative to
2fl
moving frame
x y r
Coriolis, acceleration
697
698
DYNAMICS
We note that, since point P' moves in a circle about
the origin
acceleration a p has, in general, two components: a component (aP -), tangent to the circle, and a component (a,,.),, directed
O,
its
toward O. Similarly, the acceleration *p,F generally has two

components: a component (a P F), tangent to the path that P
describes on the rotating slab, and a component (&P/F) directed
toward the center of curvature of that path. We further note
,
vector
that, since the
SI is
perpendicular to the plane of motion,
and thus to \P/F the magnitude of the Coriolis acceleration

ac = 2fi X Vp/j is equal to 2Qv P/F and its direction may be
through 90 in the sense of
obtained by rotating the vector \
,
P/F
rotation of the
moving frame (Fig.
tion reduces to zero
when
15.29).
either $2 or
The
vp/F
is
Coriolis accelerazero.
Fig. 15.29
The following example will help in understanding the physical

meaning of the Coriolis acceleration. Consider a collar P which
is made to slide at a constant relative speed u along a rod OB
rotating at a constant angular velocity
about
(Fig. 15.30a).
According to formula (15.36), the absolute acceleration of
P may
be obtained by adding vectorially the acceleration a^ of the point
of the rod coinciding with P, the relative acceleration a P/0B

of P with respect to the rod, and the Coriolis acceleration ac
.
Since the angular velocity

to
its
normal component
of the rod
(aA ) n of
is
constant, a^ reduces
magnitude ru 2 and since

;
constant, the relative acceleration a P/0R is zero. According

to the definition given above, the Coriolis acceleration is a vector
is
perpendicular
in
the figure.
to Oli, of
The
magnitude 2u, and directed
acceleration of the collar
P consists,
as
shown
therefore,

of the two vectors
shown
To understand
we
Note
in Fig. 15.30a.
may be checked by applying
obtained
that the result
the relation (11.44).
better the significance of the Coriolis acceler-
P at time f and
At time f, the velocity may be
resolved into its components u and v,, and at time t + Af into
its components u' and v .. Drawing these components from the
4
same origin (Fig. 15.30c), we note that the change in velocity
during the time At may be represented by the sum of three
ation,
at
time
shall consider the absolute velocity of
Af (Fig.
15.30fo).
vectors
W,
change
in direction of the velocity v,,,
TTT, and T"f'.
The
,.
urn
ii-o
The
vector
TT"
=
,.
Iim v,
A
Af
TT"
i-o
RR' measures
is
the
and the quotient TT"/At
when Af approaches
represents the acceleration aA
check that the direction of

zero and that
TT' measures
vector
that of aA
zero.
We
when Af approaches
A0 =
ma = nr2 =
At
f \>-M
a,
A
the change in direction of
u due
to
the rotation of the rod; the vector T"T measures the change
in magnitude of vA due to the motion of P on the rod. The
RR' and T"T' result from the combined effect of the

motion of P and of the rotation of the rod; they would
vanish if either of these two motions stopped. We may easily
verify that the sum of these two vectors defines the Coriolis
acceleration. Their direction is that of ac when At approaches
vectors
relative
zero
(r
and,
Ar)u
RR =
since
rw =
lim
i-o \ At
'
Ar,
u AO
we check
T'T
and
= vA
vA
that
= lim L + a %)
+ Z*L)
Ar /
a/-o \ Af
Af /
=
(/CO
tau
2w
a.
Formulas (15.33) and (15.36) may be used to analyze the

motion of mechanisms which contain parts sliding on each other.
They make
it
possible, for
example, to relate the absolute and
relative motions of sliding pins
15.9
and
15.10).
The concept
and
collars (see
Sample Frobs.
of Coriolis acceleration
useful in the study of long-range projectiles
and
is
also very
of other bodies
whose motions are appreciably affected by the rotation of the

earth. As was pointed out in Sec. 12.1, a system of axes attached
to the
earth does not truly constitute a newtonian frame of
reference; such a system of axes should actually be considered

as rotating.
The formulas derived
facilitate the study of the
attached to the earth.
in this section will therefore
motion of bodies with respect
to axes
Fig. 15.30
699
SAMPLE PROBLEM
DiskS
/i
15.9
= 50 mm
The Geneva mechanism shown

and
many counting
used in
is
instalments
other applications where an intermittent rotary motion
in
Disk
required.
is
rotates with a constant counterclockwise angular
" D of 10 rad/s. A pin P is attached to disk D and slides along

one of several slots cut in disk S. It is desirable that the angular
velocity of disk S be zero as the pin enters and leaves each slot; in
the case of four slots, this will occur if the distance between the centers
velocity
of the disks
-1-V5R
is
= V2
R.
At the instant when 6
Disk/)
150, determine (n) the angular velocity
of disk S, (b) the velocity of pin
We solve
Solution.
4>
=
r-
From
R?
sin 30
= YSh
2RI cos 30
0.551R*
0.742JJ
sin
sin
30
42.4
Since pin
D rotates about
is
P is attached to disk. D, and since disk

magnitude of the absolute velocity of P
Ru.D
(30
500 mm/s 5^ 60
We consider now the motion of pin P along the slot in disk S.

by 7" the point of disk S which coincides with P
sidered,
we
Noting that v ;
slot,
above equation.
y
vp-
vp
op/s
=
=
=
=
90
42.4
v P sin y
151.2
mm/s
Vp cos y
30
mm/s)
(500
and that v p/a
is
151.2
17.6
sin 17.6
42.4
(500
mm/s)
perpendicular to the radius OP,

L-p.
OP
we draw the velocity triangle corresponding

From the triangle, we compute
Vp /S
is
Denoting
the instant con-
v p/a
perpendicular to the radius
is
,.
directed along the
at
write
"r
Since v p
point
mm)(10 rad/s) = 500mm/s

vp
to the
mm
0.742
B, the
Vp
mm/s =
cos 17.6
mm/s
477
we
(37.1
-gr 42.4
write
mm)ws
700
37.1
the law of sines

sin/?
OPB, which corresponds to the position
triangle
Using the law of cosines, we write
130.
relative to disk S.
4.08 rad/s
-^
SAMPLE PROBLEM
15.10
Geneva mechanism
In the
Sample Prob.
of
when =
instant
150, determine the angular acceleration of disk
and the velocity of the pin
velocity of disk S
ws =
P =
we
42.4
obtain the angular
4.08 rad/s \
v p/s
ap
= V2H
ap
of this vector equation
Absolute Acceleration
;
477
mm/s IF
the absolute acceleration ap
aP
&p
=
=
Ru'i
is
42.4
is
write
(1)
investigated separately.
is
rotates with constant u,
directed toward H.
mm/s 2
5000
of the Coinciding Point
P',
of the point P' of disk S which coincides with
sidered
we
^ 30
5000 mm/s
,
S,
ac
(50mm)(10rad/s) 2
2
Acceleration a t
ap/s
Since disk
a,..
S.
relative to disk S.
Since pin P moves with respect to the rotating disk
Each term
rotates with
B of 10 rad/s. At the
<o
Referring to Sample Prob. 15.9,
Solution,
15.9, disk
a constant counterclockwise angular velocity
The
P at
acceleration af
the instant con.
resolved into normal and tangential components.
from Sample Prob. 15.9 that
(We
recall
mm.)
37.1
= r"l = 37 -l mm)(4.08 rad/s) 2 = 618 mm/s 2

42.4
(a,.), = 618 mm/s2
(a,), = ra s = 37.1a s
(a,.), = 37.1a s % 42.4
vV)
Relative Acceleration
nr
Since the pin P moves in a straight
slot cut in disk S, the relative acceleration a p/s
the slot;
i.e., its
Coriolix Acceleration
==
618 mm
90
in
must be
parallel to
direction must be *3?42.4.
the sense of
<o
we
Rotating the relative velocity vp/S through

obtain the direction of the Coriolis compo-
nent of the acceleration.
/-** "MBOnrai
--'
ac
42.4'
2u8vP/8 =
2(4.08 rad/s)(477
ac
We
rewrite Eq.
[5000
301
(1)
and
3890 mm/s 2
mm/s) = 3890 mm/s 2

42.4
'Vj
*p
[618
substitute the accelerations found above.
(V)
s
"
42.4]
(V).
p/
[37.1a s
+ [aP/s
Equating components
in a direction
5000 cos 17.6
^ 42.4]
42.4]
[3890
perpendicular to the
37.1<x s
42.4]
slot:
3890
%
233 rad/s*}
701
702 DYNAMICS
PROBLEMS
Two rotating rods are connected by a slider
B rotates with a constant clockwise
15.110 and 15.111

block
The
P.
rod attached at
angular velocity
shown
(a)
to
For the given data, determine for the position
the angular velocity of the rod attached at A,
velocity of the slider block
15.110
15.111
Fig.
P15.110 and P15.112
Fig.
fa
10
fa
200
V with respect
in.,
o,-
to the rod on
(fa)
the relative
which
it
slides.
5 rad/s.
mm, uB = 9 rad/s.
P15.111 and P15.113
15.112 and 15.113

block
The
/'.
which
velocity v
slides
it
is
Two rotating rods are connected by a slider

of the slider block relative to the rod on
constant and
is
directed outward.
For the given
data, determine the angular velocity of each rod for the position
shown.
15.112
5.1
5.1
14 Two
200
mm, v = 300 mm/s.
h = 10 in.,
15
in./s.
AH
and BD pass through smooth holes drilled

(The holes are drilled in different planes so
not hit each other.) Knowing that rod AH rotates
rods
hexagonal block.
in a
that the rods will
counterclockwise at the rate w, determine the angular velocity of rod
BD
and the
when
relative velocity of the block with respect to
(a)
30,
(fa)
Fig.
5.1
each rod
15.
Solve Prob. 15.114
when
P15.114
(a)
90,
(fa)
60.
15.116
Four pins
When
plate as shown.
slide in four separate slots cut in a circular
the plate
is
at rest,
each pin has a velocity
directed as shown and of the same constant magnitude
pin maintains the same velocity in relation to the plate

rotates about
5.1
each
plate
U.
with a constant clockwise angular velocity
mine the acceleration
If
when the
to,
deter-
of each pin.
Solve Prob. 15.1 16, assuming that the plate rotates about
with a constant counterclockwise angular velocity .
15.118
At the instant shown the length of the
decreased at the constant rate of 150
lowered
mm/s and
at the constant rate of 0.08 rad/s.
determine
(a)
the
Knowing
boom
boom
is
being
is
being
that 6
Fig.
P15.116
30,
the velocity of point B, (b) the acceleration of point B.
18
in
.16 in.
^=4
Fig.
P15.118
Fig.
P15.119
15.119 Water flows through a straight pipe OB which rotates

counterclockwise with an angular velocity of 120 rpm. If the velocity
of the water relative to the pipe is 20 ft/s, determine the total acceleration (a) of the particle of water
15.120
Pin
P slides
constant relative speed u
constant rate u
passes through
(a)
Pv
(b) of
the particle of water
in the circular slot cut in the plate
0.5
m/s as
ABDF.
the plate rotates about
(c)
at a
as
it
point E.
15.121 Solve Prob. 15.120, assuming that at the instant considered the angular velocity u is being decreased at the rate of 10 rad/s 2
and that the
relative velocity
is
300
at the
6 rad/s. Determine the acceleration of the pin

point B, (b) point D,
P.,.
being decreased at the rate of 3 m/s2
100
Fig.
mm
P15.120
mm
703
704
DYNAMICS
15.122
mine elevator moves downward with a

Determine the magnitude and direction of
the Coriolis acceleration of the cage if the elevator is located (a) at the
The cage
constant speed of 40
equator,
parts b
of a
ft/s.
latitude 40 north,
(b) at
(c)
at latitude 40 south.
and c consider separately the components
(Hint.
In
of the motion paral-
and perpendicular to the plane of the equator.)
lel
5.1
23
at a constant
component
of
15.124
train crosses the parallel 50 north, traveling
speed
its
Determine the speed
v.
acceleration
is
0.01 ft/s 2
of the train
if
due north
the Coriolis
(See hint of Prob. 15.122.)
In Prob. 15.110, determine the angular acceleration of
the rod attached at A.
15.125
the rod attached at A.
f>
Fig.
in.
10
in.
P15.126
15.1 26
consists of
of 120.
garden sprinkler has four rotating arms, each of which
two horizontal
The
sprinkler
velocity of 180 rpm.

sections
is
12
ft/s,
straight sections of pipe forming an angle
when operating rotates with
If
a constant angular
the velocity of the water relative to the pipe
determine the magnitude of the total acceleration

it passes the midpoint of (a) the 10-in. section
of a particle of water as
of pipe, (b) the 6-in. section of pipe.
15.127
Water flows through the curved pipe OB, which has a

m and which rotates with a constant counter-
constant radius of 0.375
clockwise angular velocity of 120 rpm. If the velocity of the water

relative to the pipe
Fig.
P15.127
particle of water P.
is
12m/s, determine the
total acceleration of the
15.1 28
The
shown
disk
rotates with a constant clockwise angular
125
mm
velocity of 12 rad/s. At the instant shown, determine (a) the angular

velocity and angular acceleration of rod
BD,
{b)
the velocity and
acceleration of the point of the rod in contact with collar
29
5.1
I'..
Solve Prob. 15.128, assuming that the disk rotates with a
constant counterclockwise angular velocity of 12 rad/s.

250
*15.12. Motion about a Fixed Point.

motion of
We
have studied
body constrained to rotate

about a fixed axis. We shall now consider the more general case
of the motion of a rigid body which has a fixed point O.
in Sec. 15.3 the
First,
we
body
rigid
shall
ivith
a rigid
prove that the most general displacement of a

O is equivalent to a rotation of the
a fixed point
Fig.
P15.128
body about an axis through O.f Instead of considering the rigid

body itself, we may detach a sphere of center O from the body
and analyze the motion of that sphere. Clearly, the motion of the
sphere completely characterizes the motion of the given body.
Since three points define the position of a solid in space, the
O and two points A and B on the surface of the sphere will
center
define the position of the sphere and, thus, the position of the
body. Let
one
instant,
and B i characterize the position of the sphere at

l
and A., and B 2 its position at a later instant (Fig.
15.31a). Since the sphere

circle
A,B, and
A 2 B2
rigid, the lengths of the arcs of great
is
must be equal,
,
and B 2 are arbitrary. We

and B may be brought,
A 2 and B 2 by a single rotation
propose to prove that the points

respectively,
from
and
of the sphere about an
li
into
B so
that
its initial
axis.
For convenience, and without

point
but, except for this require-
A2 Bv
ment, the positions of A,,
loss of generality,
we may select
position coincides with the final position
B y = A 2 (Fig.
AÂ 2 A 2 B 2 and the
of A; thus,
15.316).
We
draw the
arcs of great
A A 2 and
A 2 B 2 Let C be the point of intersection of these last two arcs;
we complete the construction by drawing A ,0', A 2 C, and B 2 C. As
circle
arcs bisecting, respectively,
pointed out above, AjBj
on account of the rigidity of the

is by construction equidistant
from A,, A 2 and B 2 we have A^C = A 2 C = B 2 C. As a result,
the spherical triangles A^CA 2 and B CB 2 are congruent and the
angles A % CA 2 and B CB 2 are equal. Denoting by
the common
A.,B 2
sphere; on the other hand, since

,
value of these angles,
we conclude
that the sphere
brought from its initial position into its

rotation through
about the axis OC.
It
may be
by a
single
follows that the motion during a time interval \t of a rigid
body with
(
final position
This
is
a fixed point
known
O may
as Enler's theorem.
be considered as a rotation
{fcl
Fig. 15.31
mm
705
706
DYNAMICS
through A# about a certain
A#/Af and
of magnitude
axis.
Drawing along
letting Af
the limit the instantaneous axis
velocity
to
of the
body
vector
at the instant considered (Fig. 15.32).
of the
of the particle:
= X
v=f
at
Fig. 15.32
The
acceleration of the particle
(15.37) with respect to
where
The
body may then be obtained, as in

by forming the vector product of to and of the position
velocity of a particle
Sec. 15.3,
that axis a vector
approach zero, we obtain at

of rotation and the angular
As
t.
(15.37)
obtained by differentiating
is
in Sec. 15.3
wc have
aXr + x("Xr)
is
(15.38)
defined as the derivative
a = <
(15.39)
of the angular velocity w.
motion of a rigid body with a fixed point, the

and of the instantaneous axis of rotation changes
In the case of the
direction of
from one
to
The angular
instant to the next.
change
acceleration a, there-
u as
well as its change in

magnitude and, in general, is not directed along the instantaneous axis of rotation. While the particles of the body located on
the instantaneous axis of rotation have zero velocity at the instant
considered, they do not have zero acceleration. Also, the accelfore, reflects the
in direction of
body cannot be deterbody were rotating permanently about the in-
erations of the various particles of the
mined
as
if
stantaneous
the
axis.
Recalling the definition of the velocity of a particle with

position vector
we
r,
note that the angular acceleration a, as
expressed in (15.39), represents the velocity of the tip of the

vector
to.
This property
may be
useful in the determination of
the angular acceleration of a rigid body. For example,

that the vector
Body cone
a is tangent to
tip of the vector
We
it
follows
the curve described in space
by the
to.
should note that the vector
to
moves within the body,
as
well as in space. It thus generates two cones, respectively called

It may be shown
two cones are tangent along the
instantaneous axis of rotation and that, as the body moves, the
body cone appears to roll on the space cone.
the body cone and the space cone (Fig. 15.33). f

that, at
t It is
any given
instant, the
recalled that a cone
line passing
is,
by
definition, a surface
generated by a straight
through a fixed point. In general, the cones considered here will not
he circular cones.

Before concluding our analysis of the motion of a rigid body
with a fixed point,
we
actually vectors. As
it
should prove that angular velocities are
was indicated
in Sec. 2.2,
some
quantities,
such as the finite rotations of a rigid body, have magnitude and

direction, but do not obey the parallelogram law of addition;
these quantities cannot be considered as vectors.
We
shall see
presently that angular velocities (and also infinitesimal rotations)
do obey the parallelogram law and,
thus, are truly vector quanti-
ties.
which, at a given
Consider a rigid body with a fixed point
OA
We
instant, rotates simultaneously
and
to
rotation of angular velocity
We
to.
cc
i.e.,
<o,
propose
coj
to
show
OB
with
that
B
(15.40)
(tin
may be
that the resulting angular velocity
adding
and
know that this

(Fig. 15.34a).
t
2
equivalent at the instant considered to a single
angular velocities
motion must be
about the axes
and w, by the parallelogram law
obtained by
(Fig. 15.34/j).
Consider a particle P of the body, defined by the position
Denoting respectively by Vj, v 2 and v the velocity of P

when the body rotates about OA only, about OB only, and about
vector
r.
both axes simultaneously,
co
we
Vl
write
to,
v2
= w2 X
But the vectorial character of linear velocities
is
(15.41)
well established
(since they represent the derivatives of position vectors).
We
have therefore
where the plus sign

(15.41),
we
where the
indicates vector addition. Substituting from
write
Xr
to 1
a X
(,
plus sign
still
must be
+ w2 x
)
indicates vector addition.
relation obtained holds for
(15.40)
xr+<o 2 xr
an arbitrary
r,
Since the
we conclude
that
true.
* 15.1 3. General Motion.
We
shall
now
consider the
most general motion of a rigid body in space. Let A and B be

two particles of the body. We recall from Sec. 11.12 that the
velocity of B with respect to the fixed frame of reference OXY7.
may be expressed as
vb
Tg
+ vbm
(15.42)
(")
707
708 DYNAMICS
where vB/A
is
the velocity of
attached to
and of
relative to a
frame AX'Y'Z'
fixed orientation (Fig. 15.35).
Since
is
motion of the body relative to AX'Y'Z' is

the motion of a body with a fixed point. Therefore, the relative
fixed in this frame, the
velocity \B/A
may be
obtained from (15.37), after
replaced by the position vector xB/A of

tuting for vB/A into (15.42), wc write
vb
where
to is
+wX
vA
has been
relative to A.
Substi-
(15.43)
B/A
the angular velocity of the body at the instant consid-
ered.
The
first
acceleration of
is
obtained by a similar reasoning.
We
write
aB
&A
&B/A
and, recalling Eq. (15.38),
b = ** + X ttu + a X ( X
where a
is
rB/A )
body
(15.44)
at the instant
considered.
Equations (15.43) and (15.44) show that the most general moof a rigid body is equivalent, at any given instant, to the sum
of a translation, in which all the particles of the body have the
tion
same velocity and acceleration

motion in which particle
may
is
as a reference particle A,
assumed
to
ami of a
he fixedA
be shown, by solving (15.43) and (15.44) for v/t

motion of the body with respect to a frame
attached to B would be characterized by the same vectors w and
a as its motion relative to AX'Y'Z '. Thus, the angular velocity
and angular acceleration of a rigid body at a given instant are
independent of the choice of the reference point. On the other
hand, one should keep in mind that, whether it is attached to A
or to B, the moving frame should maintain a fixed orientation;
i.e., it should remain parallel to the fixed reference frame OX YZ
It
and
aA
easily
that the
throughout the motion of the rigid body. In many problems it is

found more convenient to use a moving frame which is allowed
to rotate as well as to translate.
will
be discussed
in Sees.
15.14
The
use of such
and
15.15.
moving frames
recalled from Sec, 15.12 that, in general, the vectors
u and are not

and that the accelerations of the particles of the body in their motion
relative to the frame AX'Y'Z' cannot be determined as if the body were rotating
permanently about the instantaneous axis through A.
tit
is
collinear,
SAMPLE PROBLEM
The crane shown
15.11
rotates with a constant angular velocity
boom
0.30 rad/s. Simultaneously, the
is
Knowing
angular velocity to 2 or -50 rad/s relative to the cab.

length of the
to
boom OP
boom,
of the
(b)
is
12 m, determine
boom,
velocity v of the tip of the
(rf)
to
of
being raised with a constant
that the
(a)
of the
boom,
(c)
the
the acceleration a of the tip of the
boom.
Adding the angular velocity tc 1 of the

a. Angular Velocity of Boom.
cab and the angular velocity to 2 of the boom relative to the cab, we
10.39 m-
,=
obtain the angular velocity
u=
0.30 j
w,
of the
to 2
to
boom
at the instant considered:
(0..30 rad/s)j
(0.50 rad/s)k
-^
Angular Acceleration of Boom. The angular acceleration a of

Since the vector to, is
is obtained by differentiating to.
constant in magnitude and direction, we have
b.
the
boom
a =
= tb +
<o
+ <b2
to2
where the rate of change to 2 is to be computed with respect to the fixed

frame OXY7,. However, it is more convenient to use a frame Oxyz
attached to the cab and rotating with it, since the vector to 2 also rotates
with the cab and, therefore, has zero rate of change with respect to
that frame. Using Eq. (15.31) with Q = to 2 and Q = to,, we write
(QW = (QW + xQ
= Wow +
X "2
("aWra
a
(a2) 0XYZ
<i
(0.30 rad/s)j
(0.50 rad/s)k
a
c.
Velocity of Tip of
is r
part a,
(10.39 m)i
we
-*
Boom. Noting that the position vector of point

and using the expression found for to in
(6 m)j
0.30 rad/s
0.50 rad/s
= to X r =
10.39
v
F.
:0.I5rad/s-)i
write
a=
= -{3 m/s)i +
(5.20 m/s)j
(3.12 m/s)k
-^
0.15i
Acceleration of Tip of Room.
d.
= 0.50k
Recalling that v
to
r,
we
write
a=axr
+ tox("Xr)=axr + toXv
=
!
10.39
0.90k
-3
6
0.94i
0.15
2.60i
0.30
0.50
5.20
-3.12
l.oOj
0.90k
= -i3.54m/s 2 - (LSOm/s^j +
ii
(1.80
m.
>k
709

The rod AB,
of length 7
in., is
attached to the disk by a ball-and-socket
connection and to the collar B by a clevis. The disk rotates in the yz

plane at a constant rate 10, = 12 rad/s, while the collar is free to slide
0=0, determine (a)
along the horizontal rod CD. For the position

velocity of the collar,
a.
B moves
v*
Denoting by
rA
<>,
rA
=2k
12i
we have
12i
2k
-24j
-24j
4-
we
+ X
-2
- H)" + (<H +
2"-v)J
we
Equating the coefficients of the unit vectors,
r=6i +3j
*B/A = 61 + 3j - 2k
=
=
=
vB
24
Multiplying Eqs.
write
rB IA
-24j
vB i
(-H
va
vB
the angular velocity of the rod,
to
vB i
attached to the disk and
is
parallel to the x axis,
yB=*A+ VB/A =
vi
Since point
Velocity of Collar.
since collar
the
the angular velocity of the rod.
(fo)
(3.
K> k
obtain
-2w,
(1)
2w.
+&,,
3w.
(1), (2), (3),
(2)
-6to
(3)
respectively,
by
6, 3,
and adding, we
write
(iv
b.
72
= 12
We
Angular Velocity of Rod AB.
cannot be determined from Eqs.
(1), (2),
formed by the
io
coefficients of ,,
= ;l2in./s;i -^
vB
note that the angular velocity
and (3), since the determinant

and u, is zero. We must therefore
obtain an additional equation by considering the constraint imposed by

the clevis at B.
The
rod
AB
collar-clevis connection at
B permits
AB
rotation of
about the
CD
and also about an axis perpendicular to the plane containing

and CD. It prevents rotation of AB about the axis EB, which is
perpendicular to CD and lies in the plane containing AB and CD.

Thus the projection of
on rF/B must be zero and we writet
..
'B/B
'E/B=
W++
Wvj +
-3w
~3j+2k
Solving Eqs.
i>
IWe
(1)
through
= - 12
co =
(4)
2u,
3.e
( 1
X (tu/v X rB/A ) and write

formulation would lie particularly useful
(-3j
2k)
=
(4)
simultaneously,
(3.89 rad/s)i
we
obtain
1.846
.846 rad/s)j
could also note that the direction of El!
product r /t.
710
,k)
is
w.
2.77
(2.77 rad/s)k
w[rB/c X (r /c X rHIA =
the rod CD were skew.
)]
if
-^
that of the vector triple

0.
This
PROBLEMS
1
5.1 30
body shown rotates about the origin of coordi Denoting the velocity of point A by
and
knowing that (vA ) t = 40 mm/s and
+
+
(^J.-k.
( Ai
(I)j
= 200 mm/s, determine (a) the velocity component (t-^) r (b)
The
rigid
nates with an angular velocity
.i
(c^),,
,;
the velocity of point B.
Fig. P1 5.130
5.131
The
rigid
body shown
and P15.131
rotates about the origin of coordi-
a = u T + u y j + w.k. Knowing that

300 mm/s, and co = 2 rad/s, determine
=
=
(vA
400
mm/s,
(v B
y
y
v
(a) the angular velocity of the body, (b) the velocities of points A and B.
nates with an angular velocity
)
15.132
The
circular plate
and rod arc
rotate about the ball-and-socket joint

a =u,i + biy) +W,k. Knowing that v,
(vA ) s k and
the assembly,
ay = 4
(fc)
rad/s,
determine
rigidly
connected and
O with an angular velocity

= (27 in./s)i + (18in./s)j
(a)
the velocity of point B.
15.133
15.134
The rotor of an electric motor rotates
oj
0.
Fig.
at
the constant rate
= 3600 rpm. Determine the angular acceleration of the rotor as the

motor is rotated about the y axis with a constant angular velocity of
6 rpm clockwise when viewed from the positive y axis.
Wj
Fig.
P15.134
P15.132
711
712
DYNAMICS
15.135
rate of 2200
Knowing
The
rpm
propeller of a small airplane rotates at a constant
when viewed by
in a clockwise sense
that the airplane
is
turning
left
the pilot.
along a horizontal circular
path of radius L000 ft, and that the speed of the airplane is ISO mi/h,
determine the angular acceleration of the propeller at the instant the
airplane
is
moving due
15.136
south.
The blade
of a portable
saw
rotates at a constant rate
1800 rpm as shown. Determine the angular acceleration of the

blade as a man rotates the saw about the y axis with an angular
ic
velocity of 3 rad/s and an angular acceleration of 5 rad/s 2 both clock,
wise
when viewed from
15.137
if
Knowing
that the turbine rotor shown rotates at a con10,000 rpm, determine the angular acceleration of the
the turbine housing has a constant angular velocity of 3 rad/s
stant rate
rotor
above.
io,
clockwise as viewed from

Fig.
(a)
the positive y axis, (b) the positive z axis.
P15.136
/^noh
Fig.
P1 5.137
5.1
38
In the gear system shown, gear
the horizontal rod
OA. Assuming
that gear
to,,
A
is
is
about
and that shaft OC
free to rotate
fixed
determine
(a)
the angular
velocity of gear A, (h) the angular acceleration of gear A.
Fig.
P15.138
15.139
Solve Prob. 15.138, assuming that shaft
rotate with constant angular velocities
os
and
to.,,
counterclockwise as viewed from the positive y
OC and
gear
respectively, both
axis.
Two
5.1 40
shafts
AC and CF,
which
are connected by a universal joint at C.
lie in
the vertical xy plane,
Shaft
constant angular velocity , as shown. At a time

crosspiece attached to shaft
velocity of shaft
CF
is
CF
when
rotates with a
the
arm
of the
horizontal, determine the angular
AC.
r&^.
Fig.
P15.140
Solve Prob. 15.140, assuming that the arm of the cross-
15.141
piece attached to shaft
42 The
5.1
velocity
to,
antenna
is
2 rad/s
CF
is vertical.
radar antenna shown rotates with a constant angular
of 1.5 rad/s about the y axis.
At the instant shown the
also rotating about the z axis with an angular velocity
and an angular acceleration a 2 of
angular acceleration of the antenna,
and
li.
Fig.
P15.142
2.5 rad/s2.
Determine
to,
(a)
the
(b) the accelerations of points
713
714 DYNAMICS
5. 1 43
The cone shown
rolls on the zx plane with its apex at the

Denoting by , the constant angular velocity of
the axis OB of the cone about the y axis, determine (a) the rate of spin
of the cone about the axis OB, (b) the total angular velocity of the cone,
origin of coordinates.
the angular acceleration of the cone.
(c)
Fig.
1 5. 44
A rod of length OP = 500 mm is mounted on a bracket as
shown. At the instant considered the angle B is being increased at the
constant rate dB/dt = 4 rad/s and the elevation angle / is being
P15.143
increased at the constant rate dy/dt
and y
30, determine
(<;)

point
Fig.
1.6 rad/s.
For the position
the angular velocity of the rod, (b)

(<;)
the velocity and acceleration of
P.
P15.144
Fig.
P15.145 and P15.146
disk of radius
spins at the constant rate
w 2 about an
by a fork-ended horizontal rod which rotates at the constant

Uy Determine the acceleration of point P for an arbitrary value of
axle held
rate
the angle 0.
15.146 A
axle held
rate ,,
disk of radius
acceleration of
pwwwwi'iiH,
P on
P when 8
In the
rigidly
Bin.
wm
F
t i
'
t
~V
J'
connected
about an
the rim of the disk
when 6
0, (c)
the
90.
planetary gear system shown, gears
is
lin..
and
is in
B, (b) the
A and
angular velocity of shaft
FII,
FG.
celeration of gears
which
rigidly attached to
15.148
and B arc
Gears C and 1)
30 rad/s, respectively (both counterclockwise when viewed from the
right). Choosing the .v axis to the right, the (/ axis upward, and the z
axis pointing out of the plane of the figure, determine {d> the common
which
-Bin.
each other and rotate as a unit about shaft FG.

rotate with constant angular velocities of 15 rad/s and
to
angular velocity of gears
Fig. P1 5.147
wa
spins at the constant rate
*- *
by a fork-ended horizontal rod which rotates at the constant

Determine (a) the angular acceleration of the disk, (/>) the
(<;)
the
common
angular ac-
B, (b) the acceleration of the tooth of gear
contact with gear
at point 2.
15.149
Three rods are welded together
to form the corner as-
sembly shown which is attached to a fixed ball-and-socket joint at 0.

The end of rod OA moves on the inclined plane D which is perpendicular to the xy plane.
E which
shown vB
sembly,
The end of rod OB moves on the horizontal plane

Knowing that at the instant
coincides with the ex plane.
[b]
15.150
(1.6m/s)k, determine (a) the angular velocity of the asthe velocity of point C.
In Prob. 15.149 the speed of point
is
known
to
be
constant. For the position shown, determine (a) the angular acceleration of the assembly, (b) the acceleration of point C.
5.151
In Prob. 15.149 the speed of point
the rate of 0.8
is
being decreased at
acceleration of the assembly,
15.152
m/s 2 For the position shown, determine
Rod AB,
(a)
the angular
Fig.
P15.149
Fig.
P15.154
Fig.
P15.155 and P15.156
the acceleration of point C.
[b)
of length 220
mm,
is
connected by ball-and-
A and B, which slide along the two rods shown.

Knowing that collar A moves downward with a constant speed of
63 mm/s, determine the velocity of collar B when c = 120 mm.
socket joints to collars
Fig.
P15.152
15.153
1 5.
54
Solve Prob. 15.152
Rod BC,
joints to the collar
AB
of length 21
and
in., is
to the rotating
40
mm.
connected by ball-and-socket
arm AB. Knowing that arm

= 38 rad/s, deter-
5.1
55
collar
collar C.
In Prob. 15.152, the ball-and-socket joint
5.1
between the rod

Determine (n)
A is replaced by the clevis connection shown.
and
rotates in the zx plane at the constant rate
mine the velocity of
and
when
(b)
the velocity of collar B.
56 In Prob. 15.154, the ball-and-socket joint between the rod

C is replaced by the clevis connection shown. Determine (a)
collar
(b)
the velocity of collar C.
715
716 DYNAMICS
15.157
In the linkage shown, crank
while crank
ED
BC
rotates in the yz plane
rotates in a plane parallel to the
that in the position
shown crank
BC
xi/
plane.
Knowing
has an angular velocity
ux
of
10 rad/s and no angular acceleration, determine the corresponding

angular velocity w 2 of crank ED.
Fig.
P15.157
58 Rod AT? has
a length of 25 in. and is guided by pins sliding

which lie in the zx and xy planes, respectively.
Knowing that in the position shown end A moves to the left along slot
CD with a speed of 17 in./s, determine the velocity of end B of the rod.
1
5.1
in the slots
CD and
EF,
#1 5.1 59 In Prob.
when = 40 mm.
15.152, determine the acceleration of collar
#1 5.1 60 In Prob.
when c = 120 mm.
15.152, determine the acceleration of collar
<;
#15.161
Fig.
P15.158
crank ED.
* 1 5. 1
62
Li Prob. 15.154, determine the acceleration of collar C.
'-15.14. Three-dimensional Motion of a Particle

Coriolis Accelera-
Relative to a Rotating Frame.
We saw in Sec. 15.10 that, given a vector function Q(l)

and two frames of reference centered at O a fixed frame OX YZ
and a rotating frame Oxyz the rates of change of Q with respect
to the two frames satisfy the relation
tion.
(Q)<*
(QW
xq
(15.31)
We had assumed at the time that the frame Oxyz was constrained
to rotate
about a fixed
axis
OA. However,
the derivation given in

Sec. 15.10 remains valid
to
have a
axis
OA
fixed point O.
when
the frame OxtjZ
Under
is
constrained only
more general assumption,
this
the
represents the instantaneous axis of rotation of the frame
Oxijz (Sec. 15.12), and the vector
S2
its
angular velocity at the
instant considered (Fig. 15.36).
We
now consider the three-dimensional motion of a

P relative to a rotating frame Oxyz constrained to have a
shall
particle
fixed origin O. Let r be the position vector of P at a given instant,

and B the angular velocity of the frame Oxyz with respect to the
fixed frame OXYZ at the same instant (Fig. 15.37). The derivations given in Sec. 15.11 for the two-dimensional motion of a
particle
may
readily be extended to the three-dimensional case,
and we may express the absolute velocity \ p of P (i.e.,

with respect to the
=Q X
vP
may be
This relation
vp
=
=
velocity
as
(15.45)
(f),Oxy:
written in the alternate form
Vp
where \p
OXYZ)
frame
fixed
its
v,,
(15.46)
v,
P/F
absolute velocity of particle
velocity of point
of
withP
vP/ p
The
ap
velocity of
moving frame
relative to
absolute acceleration ap of
P may be
2fl
fl
We may
fi
(0
r)
also use the alternate
aP
where a P
&p
ap
(i)
expressed as
0zvi
(r)
0lI
(15.47)
form
&p/ir
(15.48)
absolute acceleration of particle
acceleration of point P' of
P
with P
We
a p/F
acceleration of
ac
2fi
complementary, or
(r)
0w =
relative to
29,
vP/F
Coriolis, acceleration
note that the Coriolis acceleration
vectors
moving frame
is
and vP/F However, since these vectors are usually not

.
Fig. 15.36
718 DYNAMICS
perpendicular to each other, the magnitude of ac in general, is
not equal to 2lv p/F , as was the case for the plane motion of a
,
We
particle.
to zero
when
of thein
is
further note that the Coriolis acceleration reduces
the vectors
and v^^ are
parallel, or
when
either
zero.
Rotating frames of reference are particularly useful in the

study of the three-dimensional motion of rigid bodies.
body has
If
a rigid
was the case for the crane of Sample

Prob. 15.11, we may use a frame Oxyz which is neither fixed nor
rigidly attached to the rigid body. Denoting by fl the angular
velocity of the frame Oxyz, we then resolve the angular velocity
of the body into the components fl and uB/F where the second
component represents the angular velocity of the body relative
to the frame Oxyz (see Sample Prob. 15.14). An appropriate
choice of the rotating frame will often lead to a simpler analysis
of the motion of the rigid body than would be possible with axes
a fixed point O, as
of fixed orientation.
This
is
especially true in the case of the
general three-dimensional motion of a rigid body,

rigid
body under consideration has no
fixed
i.e.,
when
point (see
the
Sample
Prob. 15.15).
*15.15. Frame of Reference
in
General Motion.
OXYZ
and a frame Axyz

known, but arbitrary, fashion with respect to
OXYZ (Fig. 15.38). Let P be a particle moving in space. The
position of P is defined at any instant by the vector i P in the fixed
frame, and by the vector rp/A in the moving frame. Denoting by
r. the position vector of A in the fixed frame, we have
Consider a fixed frame of reference
which moves
in a
The
rA
absolute velocity vP of die particle
rp
r,
(15.49)
rP/A
is
obtained by writing
(15.50)
rP/A
where the derivatives are defined with respect
to the fixed frame

term in the right-hand member of (15.50)
represents the velocity v 4 of the origin A of the moving axes. On
the other hand, since the rate of change of a vector is the same
with respect to a fixed frame and with respect to a frame in
translation (Sec. 11.10), the second term may be regarded as the
velocity v P/A of P relative to the frame AX'Y'Z' of the same
OXYZ.
Thus, the
orientation as
first
OX YZ and the same
origin as Axyz.
We
therefore
have
yp
v,
vP/A
But the velocity v p/A of P relative to AX'Y'Z'
(15.51)
may be
obtained
from (15.45) by substituting rP/A

vP
where
= vA + Q X
for r in that equation.
tp/A
We write
(15.52)
(tp/a )Axi/,
the angular velocity of the frame Axijz at the instant
is
considered
The
absolute acceleration ap of the particle

and writing
is
obtained by
differentiating (15.51)
ap
vp
vA
vP/A
(15.53)
where the derivatives are defined with respect to cither of the

frames OXYZ or AX'Y'Z'. Thus, the first term in the right-hand
member
of (15.53) represents the acceleration
moving
of the
relative to
obtained from (15.47) by substituting

write
&p
aA
fi
rP/A
xP/A for r.
+ Si X (0 X rp/A
+ 2S2 x {iP/A Axvi +
Formulas (15.52) and (15.54) make

fixed
it
and acceleration of a given
We
therefore
(jp/A )Aty,
(15.54)
possible to determine the

particle with respect to a
frame of reference, when the motion of the particle
known with
velocity
of the origin
a.,
and the second term the acceleration a P/i of

the frame AX'Y'Z'. This acceleration may be
axes,
is
moving frame. These formulas become

more significant, and considerably easier to remember, if wc note
that the sum of the first two terms in (15.52) represents the
velocity of the point P' of the moving frame which coincides
with P at the instant considered, and that the sum of the first
three terms in (15.54) represents the acceleration of the same
point. Thus, the relations (15.46) and (15.48) of the preceding
section are
respect to a
valid in the case of a reference frame in general
still
motion, and
we
write
vP
ap
= vp + v p/F
= ap + ap/F +
(15.46)
(15.48)
a,.
where the various vectors involved have been defined
in Sec.
15.14.
We may note that, if the reference frame Axyz
is
in translation,
the velocity and acceleration of the point 7" of the frame which
coincides with
P become
respectively equal to the velocity and
acceleration of the origin
of the frame.
On
the other hand,
since the frame maintains a fixed orientation, a r is zero, and the

relations (15.46) and (15.48) reduce, respectively, to the relations
(11.33)
and (11.34) derived
in Sec. 11.12.
719
SAMPLE PROBLEM
The bent rod OAB
considered,
tively,
15.13
rotates about the vertical
OB.
At the instant
angular velocity and angular acceleration are, respec-
its
20 rad/s and 200 rad/s 2 both clockwise when viewed from the
Y axis. The collar D moves along the rod and, at the instant
,
positive
OD =
considered,
and the velocity and acceleration

respectively, 50 in./s and 600
in.,
of the collar
in./s 2 ,
relative to the rod are,
upward. Determine
both
(a) the velocity of the collar, (b) the acceleration
of the collar.
Frames
Oxyz
rotating frame
to the bent rod.
OXYZ,
acceleration relative to
il
(200 rad/s 2
r
Velocity v
a.
The
attach the
= 20 rad/s)j
D is
(
and
position vector of
cos 30j)
We
(4 in.)i
(6.93 in.)j
Denoting by D' the point of the rod which coin-
we
is fixed.
angular velocity and angular
Its
therefore, are fl
respectively.
)]',
(8 in.)(sin 30i
cides with D,
OXYZ
The frame
of Reference.
write from Eq. (15.46)

vD
ve
v D/F
(1)
where
a -
-200
mi!
=
=
vD
-2()md/s)i
v D/F
'-
SI
= (-20 rad/s)j x [(4 in.)i 4- (6.93 in.)j] = (80 in./s)k

+ cos 30j) = (25 in./s)i + (43.3 in./s)j
(50 in./s)(sin 30i
Substituting the values obtained for v D
vu
Acceleration vfl
b.
25
From
aD
in.
s)i
and \ D/F into
4:3.3 in.
we
Eq. (15.48)
aD
a n/F
s;j
we
find
in./s)k
-*
(1),
,-SO
write
ac
(2)
where
afl
= (l X r + SI X (O X r)
= -200 rad/s 2 x [(4 in.)i +
(
)j
(6.93
in.)j]
=
a D/J,
2
(600 in./s )(sin 30i
ar
2J2
2(
(80 in./s)k
-20
cos 30j)
(300 in./s 2)i
(520 in./s 2 )j
vD/F
rad/s)j
[(25 in./s)i
(43.3 in./s)j]
Substituting the values obtained for a n -, & D/F
720
(20 rad/s)j
+(800in./s 2)k-(1600in./s 2 )i
-(1300
in./s
)i
4-
(1000 in./s 2 )k
and a into
(520 in./s 2 )j
4-
(2):
(1800 in./s^k

The crane shown
rotates with a constant angular
boom
0.30 rad/s. Simultaneously, the
velocity
to,
of
being raised with a constant
is
2 of 0.50 rad/s relative to the cab. Knowing that the

boom OP is I = 12 m, determine (a) the velocity of the tip
angular velocity
length of the
boom,
of the
Frames
of Reference.
rotating frame
1 0.39
m-
OXYZ,
frame
Oxyz
aB/F = u 2 =
is
ft
where \p
r u
coincides with
vp
ft
attach the
The angular velocand the rotating frame Oxijz is
(0.30 rad/s)j.
From Eq.
we
(15.46)
Vp,
write
vp/F
(1)
Oxyz which
P,
and whore \ P/F
(0.30 rad/s)j
is
[(10.39 m)i
P relative to
boom relative
the velocity of
But the angular velocity of the
ub/f =
We
fixed.
the velocity of the point P' of the frame
is
is
(0.50 rad/s)k.
Vp
~ a = OS
50k
= <o =
relative to the cab
Velocity \>.
a.
The frame OXY7,
boom.
to the cab. Its angular velocity with respect to the
therefore,
boom
ity of the
6m
the acceleration of the tip of the
(/?)
The
(0-50 rad/s)k.
velocity of
-(3.12 m/s)k
the rotating frame Oxyz.

to
tip
its
(6 m)j]
Oxyz was found to be

V relative to Oxyz is
therefore
v p,f
*bif
= (- 50 rad/s)k X [(10.39 m)i +

= -(3 m/s)i + (5.20 m/s)j
Substituting the values obtained for \

p
vp
Acceleration
b.
From
a,..
ap
Since
ap
*P/F
and
SI
uU/r
-(3
m/s)i
&p
we
ap/F
are both constant,
into (1),
(5.20 m/s)j
Eq. (15.48)
(3.12 m/s)k
ac
2J2
2(0.30 rad/s)j
find
-*
(2)
we have
x (ft X r) (0.30rad/s)j x (-3.12 m/s)k =

= UB/F X (w B/r X r)
= (0.50rad/s)k x [-(3m/s)i + (5.20m/s)j]
= -(1.50m/s 2 - (2.60m/s 2
fi
we
write
-(0.94 m/s 2)i
)i
)j
ar
and \P/F
(6 m)j]
vP/ p
Substituting for a r
a,,
[-(3 m/s)i
a P/F and ac into

,
-(3.54 m/s
2
)i
(5.20 m/s)j]
(2),
we
(1.50
(1.80
(1.80 m/s'-)k
m/s 2 )k
find
m/s 2 )j
721
SAMPLE PROBLEM
Disk
through
The arm
plane of the disk.
in the
above A,
(fo)
ui
Determine
the velocity of point
(a)
the acceleration of P,
of length
(c)
rotates about a vertical axis
and the disk rotates about
at the constant rate Wj,
constant rate
OA
end A of die arm
of radius R, is pinned to
7),
located
15.15
P located
at the
directly
the angular velocity and angular
acceleration of the disk.
Frames of Reference. The frame OXYZ is fixed. We attach the

moving frame Axyz to the arm OA. Its angular velocity with respect to
the frame OX YZ, therefore, is $2 = wj, The angular velocity of disk D
relative to the frame Axyz is ip
= w 2 k. The position vector of P
/F
relative to O is r = Li + Tlj and its position vector relative to A is
r,.
/A
a.
Velocity
flj.
Denoting by ?' the point of the frame Axyz which
v,,.
coincides with F,
we
write from Kq. (15.46)
vP
where v r
v,,
/F
it
= wj X
= iaD/F X
!>/.,
= V,+
v p/F
(/-i
R])
ujc
Rj
Substituting the values obtained for
(1)
UjjUt
= -Wg Ri
and vp/F into
v,,.
= ojjfli
vF
Acceleration a/Jt
/>.
From
up
Since
S2
and
ap
a /7F
.
ac
UD ,F
we
Eq. (15.48)
ap
w,Lk
-^
a,,,,.
are both constant,
(2)
we have
(ft X r) = co,j X (-W,!*) = -fH

= "W X (D/* X *p/a> = u: 2k X i-u 2 Ri) = -u%Rj
= 20 x yP/F = 2wJ X (-WjRi) = 2w o,fik
=X
lt
Substituting the values obtained into

a ;,
(2),
we
find
= u\IA
cu'l'Rj
Angular Velocity and Angular Acceleration

<o
Using Fq. (15.31) with
Q=
(>aira
to,
=
=
$2
we
2w,to 2 iJk
w = wj +
+ mb/j.
-^
of. Disk.
-^
,o.'.,i
-^
u.-
write
i>)Ar{1!
ft
+ wj X
xw
+
(u j
o:
2k)
722
find
write
c.
we
(1),
cc
PROBLEMS
The bent rod ABC rotates at a constant rate

8 rad/s. Knowing that the collar D moves downward along the
15.163
u,
rod at a constant relative speed u 780 mm/s, determine for the

position shown (a) the velocity of D, (ft) the acceleration of D.
15.164
Solve
Prob.
15.163,
assuming
u,
6 rad/s
and
650 mm/s.
15.165
The bent
(hat the collar
speed
rod
ABC rotates at a constant
D moves downward along
determine
acceleration of
for the position
rate ,.
Knowing
the rod at a constant relative
shown
(a)
the velocity of D,
(ft)
the
7).
CQ>
Fig.
P15.165 and P15.167
Fig.
15.166
Solve
and
40
in./s,
Prob.
15.165,
assuming
that
=9 rad/s.
in.
15.167
ity
to,
At the instant shown the magnitude of the angular velocABC is 9 rad/s and is increasing at the rate of
while the relative speed u of collar D is 40 in./s and is
of the bent rod
20 rad/s2
increasing at the rate of 100 in./s 2

the acceleration of O.
Knowing
15.168
that r
in.,
determine
Solve Prob. 15.163, assuming that at the instant shown

tOj of the rod is 8 rad/s and is decreasing at the
rate of 18 rad/s 2 while the relative speed u of the collar is 780 mm/s

,
and
is
decreasing
at
the rate of 2.6
m/s 2
P15.163
723
724
DYNAMICS
15.169 The
angular velocity
fixed
cab of the backhoe shown rotates with the constant

<o,
about the Y
(0.4 rad/s)j
with respect to the cab, while the arm
horizontal axle
ing that
fi
at the constant rate
axis.
AB
OA
The arm
is
rotates about the
2 = dB/dt
0.6 rad/s.
30, determine (a) the angular velocity
Know-
and angular
acceleration of AB, (b) the velocity and acceleration of point B.
Fig.
P15.169
5.1
70
telescoping
Solve Sample Prob. 15.14, assuming that the crane has a
boom
as
shown and
increased at the rate dL/dt
OA
5.1 71
AB
and
that the length of the

rotate as a rigid
boom
is
being
1.5 m/s.
R =
body with respect
30 and that arms

to the
cab with a
constant angular velocity (0.6 rad/s)k.
15.172
disk of radius
u2
with
arm CD, which itself rotates at a constant rate to, about

the V axis. Determine (a) the angular velocity and angular acceleration
of the disk, (h) the velocity and acceleration of point B on the rim of
respect to the
the disk.
1
Fig.
P15.172
5.1
of point
73 In Prob. 15.172,
A on the rim of the
determine the velocity and acceleration

disk.
15.1 74
The 40-ft blades of the experimental wind-turbine generto = 30 rpm. Knowing that at the instant
entire unit is being rotated about the Y axis at a constant
ator rotate at a constant rate
shown
rate Q
the
determine (a) the angular acceleration of the blades,

and acceleration of blade tip B.
0.1 rad/s,
(b) the velocity
Fig.
P15.174
100
5.1
75
mm
Fig.
P15.176
Fig.
P15.178, P1S.179, and P15.180
In Prob. 15.174, determine the velocity and acceleration
of (a) blade tip C, (b) blade tip E.
15.176 A disk of radius 100 mm rotates at a constant rate

u2 = 20 rad/s with respect to the arm ABC, which itself rotates at a
constant rate u 1 = 10 rad/s about the X axis. Determine (a) the angular
acceleration of the disk,
on the rim of the

1
5. 1
77
(b)
the velocity and acceleration of point
disk.
In Prob. 15. 176, determine the acceleration (a) of point E,
[b) of point F.
15.178 through 15.180
Two collars A and B are connected

shown. Knowing that collar A moves downward
a constant speed of 18 in./s, determine the velocities and accelera-
by a
at
15-in. rod
tions of collars
AB
as
and B
for the constant rate of rotation indicated.
5.1
78 m,
10 rad/s,
u2 = u 3 =
0.
5.1
79 u 2 =
10 rad/s,
ux =
u3 =
10 rad/s,
to,
15.180
co
0.
<j
0.
725
726
DYNAMICS
15.181
which
rod
square plate of side It
is
welded to a vertical shaft

At the same time,
rotates with a constant angular velocity ,.
AB
of length
angular velocity
rotates about the center of the plate with a constant
.,
with respect to the plate. For the position of the
plate shown, determine the acceleration of end
o, (b)
90, (c) e
15.182 Solve
r = 100 mm.
of the rod
if (a)
iso.
Prob. 15.181, assuming
io,
2 rad/s,
<o
3 rad/s,
and
15.183
Fig.
P15.181
w,
Prob. 15.181, the plate rotates at a constant rate
In
2 rad/s. At the same time, the magnitude
increasing at the rate a,
5 rad/s 2
Knowing
termine the acceleration of end B of the rod
5. 1
84
the plate
<o 2
is
that r
if
3 rad/s and
100
mm,
is
de-
90.
In Prob. 15.181, the magnitude of the angular velocity of
is
u,
2 rad/s and
AB
At the same time, the rod

constant rate
co
acceleration of end
8 rad/s 2
rotates with respect to the plate at the
Knowing
3 rad/s.
increasing at the rate a,
is
of the rod
that
if
100
mm, determine
the
90.
REVIEW PROBLEMS
5.1
85
It
takes 0.8
s for
the turntable of a 33-rpm record player
to reach full speed after being started.
ated motion, determine
Assuming uniformly acceler-
the angular acceleration of the turntable,
(a)
the normal and tangential components of the acceleration of a

point on the rim of the 12-in.-diameter turntable just before the speed
(/>)
of 33
rpm
is
reached,
(c)
the total acceleration of the same point at
that time.
15.186
rod
Three gears A,
ABC. Knowing
that
B,
and
3rs
are pinned at their centers to

3rc and that gear
does not
determine the angular velocity of gears B and C when the rod

rotates clockwise with a constant angular velocity of 10 rpm.
rotate,
ABC
15.187
4
Fig.
P15.186
in.
In Prob. 15.186
it is
known
that
12
Determine the acceleration of the tooth of gear
contact with gear B.
in.,
C which
rc
is
=
in
15.188
as shown.
Three links AB, BC, and BD are connected by a pin B

Knowing that at the instant shown point D has a velocity
of 200 min/s to the right and no acceleration, determine

acceleration of each link,
(b)
(a)
the accelerations of points
100
100
the angular
A and
B.
300
mm
P15.188
Fig.
15.189 The
joint at O.
The
bent rod
AOB
is
lengths of portions
Fig.
P15.189
Fig.
P15.191
attached to a fixed ball-and-socket
OA and OB are 200 mm and
mm,
20
and the angle formed by the two portions is 45. As

moves on the horizontal surface, portion OB moves on the
respectively,
portion
OA
vertical wall.
Knowing
600 min/s, determine,
that
end A moves
at the instant
when
at a constant speed of
ft
60, (a) the angular
velocity of the rod, (b) the velocity of point B.

1 90
Water flows through the sprinkler arm ABC with a veloc16 ft/s relative to the arm. Knowing that the angular velocity of
the arm is 90 rpm counterclockwise, determine at the instant shown
5.
ity of
the total acceleration

of water
P2
Fig.
5.1 91
which
(a) of
the particle of water
Pv
(b)
of the particle
P15.190
thin ring of radius b
is
attached to a vertical shaft
constant speed u relative to the ring.
to.
Collar
C moves
For the position
ft
determine the velocity and acceleration of the collar when
la)
(b) 1
90.
AB
at a
30,
(9=0
727
728 DYNAMICS
is 2 m long and slides with its ends in contact
and the inclined plane. End A moves with a constant
= 25, determine
velocity of 6 m/s to the right. At the instant when
(a) the angular velocity and angular acceleration of the rod, (b) the
velocity and acceleration of end B.
15.192
with the
Fig.
P15.192
Rod AB
floor
5.1 93 Gear A rolls on the fixed gear B and rotates about the axle
which is rigidly attached at D to the vertical shaft DE. Knowing
that shaft DE rotates with a constant angular velocity ,, determine (a)
1
AD
the rate of spin of gear

tion of gear A,
(c)
about the axle
AD,
the acceleration of tooth
(b) the
100
Fig.
mm
Fig.
P15.193
angular accelera-
of gear A.
P15.194
At the instant shown, the slotted plate slides with a

z
velocity of 0.5 m/s upward and has an acceleration of 2 m/s downward. Determine the angular velocity and the angular acceleration of
15.194
rod OP.
15.195 Solve Prob. 15.193, assuming u t =

160 mm, and B - 30.
90 rpm, a
60
mm,
15.1 96 The eccentric shown
consists of a disk of 2-in. radius
which
from the center of the disk A.

Assuming that the disk rotates about O with a constant angular velocity
of 1800 rpm clockwise, determine the velocity and acceleration of block
revolves about a shaft
B when
point
is
located |
directly
in.
below the shaft O.
Plane Motion
of Rigid Bodies:
Forces and
Accelerations
6.1 Introduction.
we
In this chapter and in Chaps. 17 and
shall study the kinetics
of rigid bodies, i.e., the relations

between the forces acting on a rigid body, the shape and
mass of the body, and the motion produced. In Chaps. 12 and 13,
1
8,
existing
we studied similar relations, assuming then that the body could

be considered as a particle, i.e., that its mass could be concentrated in one point and that all forces acted at that point. We
shall
now
take the shape of the
body into account,
as well as the
exact location of the points of application of the forces. Besides,
we shall be concerned not only with the motion of the body as a

whole but also with the motion of the body about its mass center.
Our approach will be to consider rigid bodies as made of large
numbers of particles and to use the results obtained in Chap. 14
for the motion of systems of particles. In this chapter, we shall
use specifically Eq. (14.16), SF = ma, which relates the resultant
of the external forces and the acceleration of the mass center G
of the system of particles,
relates the
moment
and Eq.
(14.23),
2M C = H 0>
resultant of the external forces
which
and the angu-
momentum of the system of particles about G.

Except for Sec. 16.2, which applies to the most general case of
the motion of a rigid body, the results derived in this chapter will
lar
be limited in two ways: (1) They will be restricted to the plane

motion of rigid bodies, i.e., to a motion in which each particle of
729
CHAPTER
16
730 DYNAMICS
the
body remains
plane.
(2)
The
at a constant distance
from a
fixed reference
rigid bodies considered will consist only of plane
which are symmetrical with respect to the

study of the plane motion of nonsymmetrical three-dimensional bodies and, more generally, the motion of rigid bodies in three-dimensional space will be postponed
until Chap. 18.
16.2. Equations of Motion for a Rigid Body. Conslabs
and
of bodies
The
reference plane. f
body acted upon by several external forces F,, F2 F3

We may assume the body to be made of a large
number n of particles of mass Am, (i = 1,2,
,n) and apply the
results obtained in Chap. 14 for a system of particles (Fig. 16.2).
sider a rigid
etc. (Fig. 16.1).
Fig. 16.2
Fig. 16.1
the motion of the mass center
Considering
first
with respect
to the
of the
newtonian frame of reference Oxyz,
body
we recall
Eq. (14.16) and write
2F = ma
where
the mass of the
is
mass center G. Turning

to the centroidal
(16.1)
body and a the acceleration of the

to the motion of the body relative
now
frame of reference
Gx'y'z',
we recall
Eq. (14.23)
and write
2M 6 = HG
where
Hc
represents the rate of change of
momentum
about
G of the system
body. In the following
momentum
(16.2)
we shall
fl
the angular
of particles forming the rigid
simply refer to
of the rigid body about
its
(;
as the
angular
mass center G. Together
Eqs. (16.1) and (16.2) express that the system of the external forces
I
Or,
more
generally, bodies
which have a principal centroidal
perpendicular to the reference plane.
axis of inertia
PLANE MOTION OF RIGID BODIES: FORCES AND ACCELERATIONS

is
at
ma
equipollent to the system consisting of the vector

G and the couple of moment G (Fig. 16.3).
attached
Equations (16.1) and (16.2) apply in the most general case of

the motion of a rigid body. In the rest of this chapter, however,
we shall
limit our analysis to the plane motion of rigid bodies, i.e.,

motion in which each particle remains at a constant distance
from a fixed reference plane, and we shall assume that the rigid
bodies considered consist only of plane slabs and of bodies which
to a
are symmetrical with respect to the reference plane.
Further
study of the plane motion of nonsymmetrical three-dimensional

bodies and of the motion of rigid bodies in three-dimensional
space will be postponed until Chap. 18.

1 6.3. Angular Momentum of a Rigid Body in Plane
Motion. Consider a rigid slab in plane motion. Assuming the
slab to be made of a large number n of particles P, of mass Aflj
and
we
recalling Eq. (14.24) of Sec. 14.4,
momentum
c;
of the slab about
computed by taking
the
its
moments about
particles of the slab in their
note that the angular
G may be
G of the momenta of the
mass center
motion with respect
to either of the
frames Oxy or Gx'if. Choosing the latter course,
we
write
He = 2(ri'Xvf'Am
(16.3)
|)
where
r-
and Vj'
the linear
Am
Fig. 16.3
denote, respectively, the position vector and
momentum
of the particle
relative to the centroidal
frame of reference Gx'y' (Fig. 16.4). But, since the particle

belongs to the slab, we have v,' = u X r,', where w is the angular
velocity of the slab at the instant considered.
H =
write
2[r;x(coXr,0Am,.]
i
Referring to Fig. 16.4,
We
=l
we
easily verify that the expression ob-
tained represents a vector of the same direction as
to (i.e.,
per-
pendicular to the slab) and of magnitude equal to wSfj 2 Am,.
sum 2ff* Am,- represents the moment of inertia

of the slab about a centroidal axis perpendicular to the slab, we
Recalling that the

/
conclude that the angular

mass center is
momentum
Ho =
i
HG
of the slab about
Since the systems involved act on a rigid body,
its
(16,4)
we
could conclude at this
two systems are equivalent as well as

equipollent and use blue rather than gray equals signs in Fig. 16.3. However, by
postponing this conclusion, we shall be able to arrive at it independently (Sees.
point,
16.4
by
and
referring to Sec. 3.18, that the
18.3),
transmissibility
thus eliminating the necessity of including the principle
among
the axioms of mechanics (Sec. 16.5).
of
O
Fig. 16.4
731
732 DYNAMICS
members
H
Thus the
rate of
of Eq. (16.4)
lu
we
obtain
la
change of the angular
(16.5)
momentum
represented by a vector of the same direction as a,

dicular to the slab)
It
and of magnitude
of the slab
(i.e.,
is
perpen-
la.
should be kept in mind that the results obtained in this
section have been derived for a rigid slab in plane motion. As
Chap.
we
remain valid in the case of the plane

motion of rigid bodies which are symmetrical witli respect to the
reference plane, t However, they do not apply in the case of
nonsymmetrical bodies or in the case of three-dimensional moshall see in
18, they
tion.
16.4. Plane Motion of a Rigid Body. D'Alembert's

Principle. Consider a rigid slab of mass m moving under the
action of several external forces F,,
F2 F3
,
etc.,
contained in the
from Eq. (16.5)

and writing the fundamental equations of motion
and (16.2) in scalar form, we have
plane of the slab (Fig.
16.5).
Substituting for
(;
into Eq. (16.2),

(16.1)
= ma.
2F,
= ma y
SMG =
la
(16.6)
Equations (16.6) show that the acceleration of the mass center

of the slab and its angular acceleration a may easily be ob-
Fig. 16.5
tained, once the resultant of the external forces acting
on the slab
have been determined.
and
moment
G
Given appropriate initial conditions, the coordinates x and j/ of
the mass center and the angular coordinate 6 of the slab may then
be obtained at any instant / by integration. Thus the motion of
the slab is completely defined by the resultant and moment
resultant about
their
of the external forces acting on it.

lie extended in Chap. 18 to the case
of the three-dimensional motion of a rigid body, is characteristic
of the motion of a rigid body. Indeed, as we saw in Chap. 14, the
motion of a system of particles which are not rigidly connected
will in general depend upon the specific external forces, as well
as upon the internal forces, acting on die various particles.
Since the motion of a rigid body depends only upon the resultant and moment resultant of the external forces acting on it, it
follows that two systems of forces which are equipollent, i.e.,
which have the same resultant and the same moment resultant.
resultant about
This property, which will
tOr, more generally, bodies which have a principal centroidal axis of inertia
perpendicular to the reference plane.

are also equivalent;
i.e.,
they have exactly the same effect on a
given rigid hody.t
Consider
on a
in particular the
body
system of the external forces acting
and the system of the effective forces

associated with the particles forming the rigid body (Fig. 16.6fc).
It was shown in Sec. 14.1 that the two systems thus defined are
equipollent. But since the particles considered now form a rigid
body, it follows from the above discussion that the two systems
rigid
(Fig. 16.6a)
We may
are also equivalent.
thus state that the external forces
acting on a rigid body are equivalent to the effective forces of the

various particles forming the body. This statement is referred to
as D'Alembert's principle, after the
French mathematician Jean
Rond d'Alembert (1717-1783), even though D'Alembert's

original statement was written in a somewhat different form.
le
(b)
(b)
Fig. 16.6
The
Fig. 16.7
significance of D'Alembert's principle has
been emphaand also in
sized by the use of a blue equals sign in Fig. 16.6
Fig. 16.7, where, using results obtained earlier in this section, the
effective forces
the mass center
IThis
have been replaced by a vector ma attached

C of the slab and a couple of moment Ta.
result has already
that principle
and
16.5).
will
in Sec. 3,18 from
the principle of
The present derivation, however, is independent of

make possible its elimination from the axioms of me-
transniissibility (Sec. 3.2).
chanics (Sec.
been derived
at
733
734
DYNAMICS
./,:
<*)
Fig. 16.8
Fig. 16.9
Translation.
In the particular case of a body in translation,
the angular acceleration of the body
and
its
is
identically equal to zero
effective forces reduce to the vector
(Fig. 16.8).
ma
attached at
Thus, the resultant of the external forces acting on a
rigid body in translation passes through the mass center of the

body and is equal to ma,
Centroidal Rotation.
When a slab, or, more generally, a
body symmetrical with respect to the reference plane, rotates
about a fixed axis perpendicular to the reference plane and
passing through its mass center G, we say that the body is in
centroidal rotation. Since the acceleration a

to zero, the effective forces of the
(Fig. 16.9).
identically equal
is
body reduce
to the
couple la
Thus, the external forces acting on a body in cen-
troidal rotation are equivalent to a couple of
General Plane Motion.
Comparing
moment
la.
Fig. 16.7 with Figs. 16.8
and 16.9, we observe that, from the point of view of kinetics, the
most general plane motion of a rigid body symmetrical with
may be replaced by the sum of a

and a centroidal rotation. We should note that this
statement is more restrictive than the similar statement made
earlier from the point of view of kinematics (Sec. 15.5), since we
respect to the reference plane
translation
now
require that the mass center of the
body be selected
as the
reference point.
Referring to Eqs. (16.6),
we
observe that the
first
two equations
are identical with the equations of motion of a particle of mass
acted upon by the given forces

that the
(b)
Fig. 16.7 (.repeated)
if all
etc.
We
thus check
mass center C of a rigid body in plane motion moves as if

mass of die body were concentrated at thai point, and
the external forces acted on it. We recall diat this result
the entire
as
Fls F2 F3

has already been obtained in Sec. 14.3 in the general case of a
system of particles, the particles being not necessarily rigidly

connected. We also note, as we did in Sec. 14.3, that the system
of the external forces does not, in general, reduce to a single
vector
ma
attached at G. Therefore, in the general case of the
plane motion of a rigid body, the resultant of the external forces

acting on the body does not pass through the mass center of the
body.
Finally,
we may
observe that the
last of Eqs. (16.6)
would
still
be valid if the rigid body, while subjected to the same applied

forces, were constrained to rotate about a fixed axis through G.
Thus, a rigid body in plane motion rotates about its mass center
as if this point were fixed.
* 1 6.5. A Remark on the Axioms of the Mechanics
Of Rigid Bodies. The fact that two equipollent systems of
external forces acting on a rigid body are also equivalent, i.e.,
have the same effect on that rigid body, has already been established in Sec. 3.18. But there it was derived from the principle of
transmissibility, one of the axioms used in our study of the statics
of rigid bodies. It should be noted that this axiom has not been
used in the present chapter, because Newton's second and third
make
laws of motion
its
use unnecessary in the study of the
dynamics of rigid bodies.

In fact, the principle of transmissibility may now be derived
from the other axioms used in the study of mechanics. This
principle stated, without proof, (Sec. 3.2) that the conditions of
equilibrium or motion of a rigid body remain unchanged
acting at a given point of the rigid body
if
replaced by a
force F' of the same magnitude and same direction, but acting at a
force
different point,
is
provided that the two forces have the same line

F and F' have the same moment about any
of action. But, since
two equipollent systems of

what vvc
external forces. Thus, we may now
same
preceding
that
and
F'
have
Ihc
established in the
section,
F
given point,
it is
clear that they form
prove, as a result of
effect
The
on the
rigid
body
principle of transmissibility
from the
Fig. 3.3
(Fig. 3.3).
may
therefore be
removed
of axioms required for the study of the mechanics of
list
These axioms are reduced to the parallelogram law

and to Newton's laws of motion.
1 6.6. Solution of Problems Involving the Motion of
a Rigid Body. We saw in Sec. 16.4 that, when a rigid body is
rigid bodies.
of addition of vectors
in
plane motion, there
forces F,,
F2 F3
,
etc.,
exists a
fundamental relation between the
acting on the body, the acceleration a of
its
mass center, and the angular acceleration a of the body. This

relation, which is represented in Fig. 16.7, may be used to determine the acceleration a and the angular acceleration a produced
by
a given system of forces acting
on a
rigid
body
or, conversely,
(repeated)
735
736 DYNAMICS
to
determine the forces which produce a given motion of the
rigid body.
While the three algebraic equatioas (16.6) may be used to

solve problems of plane motion,f our experience in statics sug-
many problems involving rigid bodies

could be simplified by an appropriate choice of the point about
gests that the solution of
which the moments of the forces arc computed. It is therefore

preferable to remember the relation existing between the forces
and the accelerations in the vectorial form shown in Fig. 16.7,
and to derive from this fundamental relation the component or
moment equations which fit best the solution of the problem
under consideration.
The fundamental
in
(fc)
relation
an alternate form
if
shown
we add
vector
ma of sense opposite to
inertia
couple
la
of
Fig. 16.7 (repeated)
in Fig. 16.7
may be presented
to the external forces
an
inertia
and an
la and of
that of a, attached at G,
moment equal in magnitude to

a (Fig. 16.10). The system obtained
sense opposite to that of
equivalent to zero, and the rigid body
is
said to
be
in
is
dynamic
equilibrium.
Whether
forces
the principle of equivalence of external and effective
whether the concept

dynamic equilibrium is introduced, as in Fig. 16.10, the use of
free-body diagrams showing vectorially the relationship existing
between the forces applied on the rigid body and the resulting
linear and angular accelerations presents considerable advantages over the blind application of the formulas (16.6). These
advantages may be summarized as follows:
is
directly applied, as in Fig. 16.7, or
of
First of
forces
all,
much
clearer understanding of the effect of the
on the motion of the body
will result
from the use of
pictorial representation.
This approach makes
2.
it
possible to divide the solution of a
dynamics problem into two
parts: In the first part, the analysis

of the kinematic and kinetic characteristics of the problem
leads to the free-body diagrams of Fig. 16.7 or 16.10; in the
second part, the diagram obtained is used to analyze by the

methods of Chap. 3 the various forces and vectors involved.
unified approach is provided for the analysis of the plane

motion of a rigid body, regardless of die particular type of
motion involved. While the kinematics of die various motions
3.
We
recall that the last of Eqs. (16.6) is valid
motion of a
other cases,
body symmetrical with respect

the methods of Chap. 18 should be
rigid
only in the case of the plane

to the reference plane.
used.
In all
PLANE MOTION OF
considered
may
RIGID BODIES:
vary from one case to the other, the approach

motion is consistently the same. In every
to the kinetics of the
case
we
vector
shall
draw a diagram showing the external forces, the

with the motion of C, and the couple la
ma associated
body about G.
plane
motion
of a rigid body into a
The resolution of the
translation and a centroidal rotation, which is used here, is a
associated with the rotation of the

4.
basic concept
which may be applied
the study of mechanics.

the
method
of
work and energy and the method
and momentum.
As we shall see in Chap.
5.
effectively throughout
We shall use it again in Chap.
17 with
of impulse
approach may be extended
18, this
to
the study of the general three-dimensional motion of a rigid
The motion
of the body will again be resolved into a

and a rotation about the mass center, and freebody diagrams will be used to indicate the relationship existing between the external forces and the rates of change of the
linear and angular momentum of the body.
body.
translation
Systems of Rigid Bodies. The method described
16.7.
in the
preceding section
may
also
be used
in
problems involving
A diagram
the plane motion of several connected rigid bodies.

similar to Fig. 16.7 or Fig. 16.10
The equations
the system.
may be drawn
for
each part of
of motion obtained from these dia-
grams are solved simultaneously.

In some cases, as in Sample Prob. 16.3, a single diagram may
be drawn for the entire system. This diagram should include all
the external forces, as well as the vectors ma and the couples la
associated with the various parts of the system. However, internal forces, such as the forces exerted by connecting cables, may
be omitted since they occur in pairs of equal and opposite forces
and are thus equipollent to zero. The equations obtained by
expressing that the system of the external forces

the system of the effective forces
may be
is
equipollent to
solved for the remain-
ing unknowns.!
This second approach
may
more than three unknowns,

are available
rate
upon
when
not be used in problems involving
since only three equations of motion
a single diagram
is
used.
this point, since the discussion
We shall
completely similar to that given in Sec. 6.11

equilibrium of a system of rigid bodies.
Note that
with a single
we
in the case of the
cannot speak of equivalent systems since
rigid
body.
not elabo-
involved would be
we
are not dealing
FORCES AND ACCELERATIONS
737
SAMPLE PROBLEM
~~~i
111
\~4/
L-Tll
Tft&S^
yj^Â
ft
- 7fl
16.1
When
the forward speed of the truck shown was 30 ft/s, the brakes
were suddenly applied, causing all four wheels to stop rotating. It
was observed that the truck skidded to rest in 20 ft. Determine the
magnitude of the normal reaction and of the friction force at each
wheel as the truck skidded to rest.
Kinematics of Motion.
a
Choosing the positive sense to the right
and using the equations of uniformly accelerated motion, wc write
2 =
= +30 ft/s
ojj +
a = -22.5 ft/s 2
Equations of Motion.
The
2dx
i;
22.5
(30)
ft/s 2
2a(20)
external forces consist of the weight
and of the normal reactions and friction forces at the

wheels. (The vectors N^ and F,, represent the sum of the reactions
at the rear wheels, while N and F represent the sum of the reactions
B
fi
of the truck
at the front wheels.) Since the truck
ma
forces reduce to the vector
in translation, the effective
is
attached at C.
Three equations of
motion are obtained by expressing that the system of the external
forces
+!
is
SF,
Since
equivalent to the system of the effective forces.
FA =
S(F) pff
NA + NB
fiNA and
FB =
FA
^SFI
= 2(Fx
0f!
u\'B
we
find
+FB = fW4
+ NB = ixW
)
+F)=-nw
-(FA
W=
-pW = - 32.2w
ft/s
+ ) SMA = 2(MA
2 <
22 5ft/s2>
-
0.699
- \V(5 ft) +
),
.^(12
-W(5ft)+A'B (12ft) =
FB = pNB =
+ T*F = v (iar[:
ft)
W
32.2 ft/s 2
ma(4
ft)
(22.5 ft/s2)(4
ft)
NB = 0.650W
FB
(0.699){0.650VV)
NA + NB NA +
0.650
NA =
0.454 IV
W=
W -WaO
0.350VV
FA = pNA =
Reactions at Each Wheel.
FA = 0.245W
(0.699)(0.350W)
Recalling that the values computed
above represent the sum of the reactions at the two front wheels or
the two rear wheels, we obtain the magnitude of the reactions at each
wheel by writing
,
ffront
738
= k\n = 0.325W
= i FR = 0.227W
Na = h\A =
/;,
AF,
0.175W
-*
= 0.122W
-*
SAMPLE PROBLEM
The
thin plate
ABCD
16.2
has a mass of 50 kg and
is
held in position by
Wire
the three incxtcnsible wires AK. HI] and CH.
AE
is
then cut.
Determine both (o) the acceleration of the plate, ff>) the tension
wires BF and CI I immediately after wire AF. has been cut.
Motion of
After wire
l'lalc.
AK
has been cut,
we
in
observe that
B and C move along parallel circles of radius 1 rn centered,

respectively, at /'and H. The motion of the plate is thus a curvilinear
translation; the particles forming the plate move along parallel circles
corners
A
;10
-V
of radius
SJetr
in.
and
\
_-./
at
cut, the velocity of the plate
of the forces
Ta
and
Tr
is
zero; the
thus tangent to the circular
is
exerted by the wires.
in translation, the effective forces
and directed along the
external forces
is
path which will be described by C.

Equations of Motion. The external forces consist of the weight \V
is
0.75
AE
acceleration a of the mass center
a*
At the instant wire
Since the plate

reduce to the vector ma attached
Expressing that the system of the
axis.
equivalent to the system of the effective forces,
is
we
write
+\
2K.
2(F,) eU
W cos 30
mg cos
a
30
g cos 30*
= ma_
= ma
= (9.81 m/s 2
a
(1)
cos 30
8.50
TB + Tc - Wsin
30
z "=5
60"
-*
(2)
- [TB cos 30 )(] m)

+ (7'c sin 30)(0.75 m) + {Tc cos 30)(1 m) =
-0.49irB + 1.241TC =
c
[TB sin 30)(0.75 m)
T = 0,396%
Substituting for
Tc
from
TB
(3) into (2),
0.396'y
we
(3)
write
VV sin 30
TB = 0.358W
T =
Noting that
W=
mg =
0.396(0.358W)
(50 kg)(9.81
m/s 2 }
TB =
0.1418VV
175.8
49] X,
we have
Tc =
69.6
-^
739
SAMPLE PROBLEM
16.3
pulley weighing 120 lb and having a radius of gyration of 4 ft is

connected to two blocks as shown. Assuming no axle friction, deter-
mine the angular acceleration
of the pulley.
100 lb
Although an arbitrary sense of motion may be

and later checked by
Sense of Motion.
assumed (since no
friction forces are involved)
we may
the sign of the answer,
prefer
We
sense of rotation of the pulley.
first
first
to determine the actual
find the
weight of block
required to maintain the equilibrium of the pulley
We
upon by the 50-lb block A.
+ J 2M
WB(3
0:
Since block H
ft)
when
Ii
acted
is
it
write
(50 lb)(5
actually weighs 100
WB
ft)
83.3 lb
the pulley will rotate counter-
lb,
clockwise.
Assuming a counterclockwise and noting
that aA
rBa,
aA
and a B
rA t\
the
two blocks
is
we
obtain
oa f
aB
single system consisting of the pulley
3a i
of the weights of the pulley and the two blocks

at G.
and
Forces external to this system consist
considered.
and
of the reaction
(The forces exerted by the cables on the pulley and on the
blocks are internal to the system considered and cancel out.)
Since
a centroidul rotation and the motion of

each block is a translation, the effective forces reduce to the couple
7a and the two vectors maA and ma A
The centroidal moment of
the motion of the pulley
is
inertia of the pulley
is
f = mk* = Jpk" =
3^*^
(4 ft)'
Since the system of the external forces
we
of the effective forces,
(1001b)(3ft)
(100X3)
740
59.6 lb
ft
s*
equipollent to the system
write
(501b)(5ft)
(50X5)
is
= +Ia + mB aB(3ft) +
+59.6o
JJr-(3a)(3)
32.2
= +0.396 rad/s 2
%a4 (5ft)
~r(5)(5)
32.2
0.396 red
'
T = 1S0V
PROBLEM
S AMPLE
16.4
cord is wrapped around a homogeneous disk of radius r = 0.5 m

and mass in = 15 kg. If the cord is pulled upward with a force T
of magnitude 180 N, determine (a) the acceleration of the center of
the disk,
(b)
the angular acceleration of the disk,
(c)
the acceleration
of the cord.
We
assume that the components ax and a

y
of the acceleration of the center are directed, respectively, to the right
and upward and that the angular acceleration of the disk is counterclockwise. The external forces acting on the disk consist of the weight
and the force T exerted by the cord. This system is equivalent
to the system of the effective forces, which consists of a vector of
components ma, and ma attached
^2F, =
Z(Fx ) ff
at
W=
m=
=o
s,
T-
180 N,
write
r/w v
T =
We
la.
= ma.
T-
Since
and a couple
W = (15 kg)(9.81 m/s
15 kg, and
147.1 N,
we have
"
= 180X-147.1X m +2
]9 m/s2
= 219 m/s2
+ 5 2M C = V(M C
)C
-Tr =
-Tr
IT
mr
Acceleration of Cord.
to the tangential
we
la
(\mr 2 )a
2(180 N)
-48.0rad/s2
(15 kg)(0.5 in)
a=
disk,
15 kg
48.0 rad/s 2 I
Since the acceleration of the cord
component of
the acceleration of point
is
equal
on the
write
ord
[2.19
aJ/
m/s2
(*A/o)t
T]
[(0.5
m)(48 rad/s 2 )
a (nr,l
t]
26.2
111,'s 2 *
-^
741
SAMPLE PROBLEM
16.5
A hoop of radius r and mass m is placed on a horizontal surface with

no linear velocity but with a clockwise angular velocity co Denoting
by fi the coefficient of friction between the hoop and the floor, determine (a) the time f, at which the hoop will start rolling without sliding,
(b) the linear and angular velocities of the hoop at time t
v
.
Since the entire mass
Solution.
center of the hoop,
we
write
is
located at a distance
= mr 2
from the
The positive sense is chosen to the right for

The external forces acting on the hoop consist
a and clockwise for a.
W, the normal reaction X, and the friction force

While the hoop is sliding, the magnitude of the friction force
F = n-V. The effective forces consist of the vector ma attached
of the weight
and the couple
is
+ t^ =
** 2F,
+ }ZM =
W = nig
F = ma
V
nM
F = pN =
jimg
-Fr =
)r-
-(nmgjr
its
we
write
N-W = Q
N=
= S(Ft)M
fling
= ma
+/xg
Ta
(mr*)a
Kinematic* of Motion. As long as the hoop both rolls and

linear and angular motions arc uniformly accelerated.
The hoop
0,
0, to
ff
to
to
will start rolling
the point of contact
is
(it
to
at
At that time,
(1)
("*)
when
r
slides,
jigt
=w
without sliding
zero.
,,
the velocity v c of
point
C becomes
we have
',
=
2i.s
Substituting for
U,
into
(1),
we have
=ll%i x =,U ?
(3,
no
v,
iru
to,
ito
2,"g
u o = rw i
742
is
at
Expressing that the system of the external forces
la.
2(F) Brf
F.
PLANE MOTION OF RIGID BODIES: FORCES AND ACCELERATIONS 743
PROBLEMS
1
6.1
board
6-ft
a block on the
Determine the
the board
floor
maximum
remain
to
is
placed in a truck so that one end rests against
is
while the other end

in the position
6.2
same
vertical plane.
rests against a vertical wall.
possible uniform acceleration of the truck
if
shown.
ABC of mass
S kg is connected to two collars

of negligible mass which slide on smooth horizontal rods located in
1
the
uniform rod
If
a force
of magnitude 40
is
Fig. P16.1
applied
at C, determine (a) the acceleration of the rod, {b) the reactions at
B and
Fig.
1
if
C.
P16.2
6.3
In Prob. 16.2, determine (a) the required
the reaction at
is
be 45
to
upward,
(b)
magnitude of P
the corresponding
acceleration of the rod.
6.4
The motion
wheels which
of a 3-lb semicircular rod
roll freely in
tion of the rod
is
a vertical slot.
= Jg upward,
force P, (b) the reactions at
is
guided by two small
Knowing
determine
and B.
(a)
that the accelera-
the magnitude of the

Fig.
P16.4
Fig.
P16.5
16.5 Cylindrical cans are transported from one elevation to another by the moving horizontal arms shown. Assuming that [i = 0.20
between the cans and the arms, determine [a) the magnitude of the
upward acceleration a for which the cans slide on the horizontal
arms, (b) the smallest ratio h/d for which the cans tip before they
slide.
16.6
Solve Prob. 16.5, assuming that the acceleration a of the

is directed downward.
horizontal arms
in.
744 DYNAMICS
16.7 A 20-kg cabinet
move freely (n = 0) on the
determine
(a)
is
mounted on
floor.
If
rough
16.9 Determine
Prob. 16.1 will skid
front-wheel brakes
Fig.
it
to
applied as shown,
tip.
Solve Prob. 16.7, assuming that the casters are locked and
slide along the
0.6
is
the acceleration of the cabinet, (b) the range of values
of h for which the cabinet will not
16.8
which allow
casters
a KHI-N force
floor
(;i
0.25).
the distance through
if (a)
fail
which the truck
the rear-wheel brakes
of
Sample
to operate, (b) the
fail
to operate.
P16.7
16.10
600-kg
fork-lift
truck carries the 300-kg crate at the
moving to the left when the brakes are

applied causing a deceleration of 3 m/s 2 Knowing that the coefficient
of friction between the crate and the fork lift is 0.5, determine the
vertical component of the reaction (a) at each of the two wheels A (one
wheel on each side of the truck), (h) at the single stcerable wheel B.
height shown.
The
truck
is
1.2 in
P16.10
Fig.
6.1
truck
if
the crate
maximum
not to slide forward and
is
if
deceleration of the
the track
is
not to tip
forward.
16.12
and road
Knowing
is
0.80 for the car shown, determine the
acceleration on a level road, assuming
(a)
between the
maximum
four-wheel drive,
(b)
tional rear-wheel drive, (c) front-wheel drive,
II
4K
'..
P- 20
in.
60 in.
-4C in-!
Fig.
P16.12
tires
possible
conven-

1 6.1 3
A man rides a bicycle at a speed of 30 km/h. The distance
between axles is 1050 mm, and the mass center of the man and bicycle
located 650
is
ground.
the
If
mm
behind the front axle and 1000
man
applies the brakes on the front wheel only, deter-
mm
800
inin
above the
mine the shortest distance in which he can stop without being thrown
over the front wheel.
16.14 The total mass of the loading car and its load is 2500 kg.
Neglecting the mass and friction of the wheels, determine (a) the
minimum
tension
from the track,
16.15
which may
panel
is
T in
(b)
the cable for which the upper wheels are
200-lb rectangular panel
slide
lifted
the corresponding acceleration of the car.
is
suspended from two skids
with no friction on the inclined track shown.
(a)
If
the
the acceleration of the panel,
(h) the reaction at B.
Fig.
P16.15
16.16
Solve Prob. 16.15, assuming that the coefficient of friction
between each skid and the track
is
0.10.
16.17 The 2(K)-kg fire door is supported by wheels B and C which

may roll freely on the horizontal track. The 40-kg counterweight A is
connected to the door by the cable shown. If the system is released
from rest, determine (a) the acceleration of the door, (h) the reactions
at
B and
Fig.
C.
P16.17
Fig.
P16.14
745
746
DYNAMICS
16.18 Two uniform rods AB and CD, each of mass 2.5 kg, are
welded together and are attached to two links CE and DR Neglecting
the mass of the links, determine the force in each link immediately
after the system is released from rest in the position shown.
0.3
0.5
Fig.
P16.18
16.19 The
retractable shelf
shown
is
supported by two identical

is shown. A 40-lb
weight is supported
linkage-and-spring systems; only one of the systems
machine
is
placed on the shelf so that half of
by the system shown.

released from
rest,
If
the springs are
determine
the tension in link AB.
(a)
its
removed and
the system
the acceleration of the machine,
Neglect the weight of the shelf and
is
(b)
links.
3"
Fig.
P16.19
C/
8
-12
Fig.
P16.20
in. -
in.
1 6.20 The motion of the 20-lb plate ABCD is guided by two pins
which slide freely in parallel curved slots. Determine the pin reactions
at A and B immediately after the plate is released from rest in the
position shown.
The cranks AB and
16.21
240 rpm. For the position
<>
CD
rotate at a constant speed of
30. determine the horizontal
compo-
nents of the forces exerted on the 5-kg uniform connecting rod
by the pins
B and
BC
C.
The control rod AC is guided by two pins which slide freely

slots of radius 200 mm. The rod has a mass of 10 kg,
and its mass center is located at point G. Knowing that for the position
shown the vertical component of the velocity of C is 1.25 m/s upward
1
6.22
curved
in parallel
and the
vertical
component
of the acceleration of
determine the magnitude of the force
is
600
mm
5 m/s- upward,
P.
Fig.
P16
Fig.
P16.24 and P16.25
250 mm-J
375
Fig.
225
miii
mm-
P16.22
16.23
Assumingthat the plate of Prob. 16.20 has acquired a velocity
of 4 ft/s in the position shown, determine (a) the acceleration of the plate,
the pin reactions at
(/>)
* 16.24
A and
B.
is placed on a 3-kg platform BD which

shown by three wires. Determine the accelerations of the block and of the platform immediately after wire AB
has been cut. Assume () that the block is rigidly attached to BD,
between the block and BD.
(/>) that ji =
is
held
in
12-kg block
the position
* 16.25 The
the 3-kg platform
BD is 0.50.
Determine the accelerations of the block

and of the platform immediately after wire AB has been cut.
* 16.26
Draw
horizontal rod
16.27
rod
BC
AB
the shear
and bending moment diagrams
for the
of Prob. 16.18.
Draw
the shear and bending-moment diagrams for the
of Prob. 16.21.
0.7
between the 12-kg block and
>m
748
DYNAMICS
1
6.28
For a rigid slab in translation, show that the system of the
effective forces consists of vectors
(Am^t attached
to the various
where a is the acceleration of the mass center G of

Further show, by computing their sum and the sum of their
particles of the slab,
the slab.
moments about
ma
C, that ihe effective forces reduce to a single vector
attached at C.
Am
Fig.
P16.28
6.29
oir.
P16.29
Fig.
For a rigid slab in centroidal rotation, show that the system
(Amû 2^
of the effective forces consists of vectors
and
(Imâ X
r|)
attached to the various particles P of the slab, where to and a are the
angular velocity and angular acceleration of the slab, and where r,'
{
denotes the position vector of the particle P relative to the mass center
G of the slab. Further show, by computing their sum and the sum of
their moments about C, that the effective forces reduce to a couple la.
t
16.30
turbine-generator unit
tating at
3600 rpm;
7.10 min.
Knowing
of 234
it
is
is
when
shut off
its
rotor
observed that the rotor coasts to
ro-
is
in
rest
that the 1850-kg rotor has a radius of gyration
mm, determine
the average magnitude of the couple due to
bearing friction.
An
16.31
electric
and power are cut

gyration of 8
moment
in.
motor
off.
The
is
rotating at 1200
the kinetic friction
If
how many
15 lb mil,
rpm when
the load
rotor weighs 180 lb
and has a radius of

of the rotor produces a couple of
revolutions will the rotor execute before
slopping?
16.32
Disk
weighs 121b and
is
at rest
when
it
contact with a conveyor belt moving at a constant speed.
is
placed
The
link
in
AB
to the support at B is of negligible

6 in. and ,u = 0.35, determine the angular
acceleration of the disk while slipping occurs.
connecting the center of the disk

weight.
Knowing
6.33
that r
The uniform
disk
is
at rest
when
it is
placed in contact
with a conveyor belt moving at a constant speed.
Fig.
P16.32 and P16.33
weight of the link AB, derive an expression

of the disk while slipping occurs.
for the
Neglecting the
16.34
Each
inertia of 10
kg
of the double pulleys
m2
and
shown has a mass moment of
initially at
is
rest.
The
outside radius
is
400 mm, and the inner radius is 200 mm. Determine (a) the angular
acceleration of each pulley, (b) the angular velocity of each pulley
at r = 2 s, (c) the angular velocity of each pulley after point A on
the cord has
moved
2 m.
100 kg
(1)
Fig.
300 kg
200 kg
50 kg
(3)
(2)
(4)
P16.34
16.35
Solve Prob. 12.17fl assuming that each pulley
radius and has a centroidal mass
16.36
moment
of inertia 0.25 lb
is
of 8-in.
ft
s2 .
The
flywheel shown weighs 250 lb and has a radius of

A block A of weight 30 lb is attached to a wire
wrapped around the rim of radius r = 20 in. The system is released
gyration of 15
from
rest.
in.
Neglecting the effect of friction, determine
ation of block A, (b) the speed of block
16.37
In order to determine the
flywheel of radius
a cord which
is
600
mm
wrapped around
after
it
(a)
has
mass moment of
block of mass 12 kg
the acceler-
moved
ft.
inertia of a
is
attached to
Fig.
P16.36 and P16.37
Fig.
P16.38
The block
To eliminate
the rim of the flywheel.
released from rest and is observed to fall 3 m in 4.6 s.

bearing friction from the computation, a second block of mass 24 kg
is used and is observed to fall 3 m in 3. 1 s. Assuming that the moment
is
of the couple due to friction
is
constant, determine the mass
moment
of inertia of the flywheel.
A rope of total mass 10 kg and total length 20 m is wrapped

1 6.38
around the drum of a hoist as shown. The mass of the drum and shaft
is 18 kg, and they have a combined radius of gyration of 200 mm.
Knowing that the system is released from rest when a length h = 5 m
hangs from the drum, determine the initial angular acceleration of
the dram.
750 DYNAMICS
16.39 The
weighs 300
flywheel
is
lb.
flywheel
The
shown
which
between the band and the
consists of a 3-ft-diameter disk
0.30. If the initial angular velocity of the flywheel
clockwise, determine the magnitude of the force
is
300 rpm
P required sto stop the
flywheel in 20 revolutions.
Fig.
6.40
Solve Prob. 16.39 assuming that the initial angular velocity
of the flywheel
6.41
P16.39
is
300 rpm counterclockwise.
r and mass m is placed with no initial

Denoting by y. the coefficient of friction
B and assuming that n < 1, determine the angular acceler-
cylinder of radius
velocity on a belt as shown.

at
A and
ation
Fig. P16.41
at
of the cylinder.
Shaft A and friction disk B have a combined mass of 15 kg

1 6.42
and a combined radius of gyration of 150 mm. Shaft 1) and friction
wheel C rotate with a constant angular velocity of 1000 rpm. Disk
B is at rest when il is brought into contact with the rotating wheel.

Knowing thai disk B accelerates uniformly for 12 s before acquiring
its final
angular velocity, determine the magnitude of the friction force
between the
disk
and the wheel.
50
mm
Fig.
P16.42
6.43
Each of the gears A and H weighs 4
gyration of 3
in.,
while gear
C weighs
lb
and has a radius of
20 lb and has a radius of gyration
in. If a couple
of constant magnitude 60 lb -in. is applied to
gear C, determine (a) the angular acceleration of gear A, (b) the time
required for the angular velocity of gear A to increase from 150 to
500 rpm.
of 9
Fig.
6.44
of 300
it
Disk
rpm
is
of mass 5 kg and has an initial angular velocity
Disk B is of mass 1.8 kg and

placed in contact with disk A. Knowing that ji
is
P16.43
clockwise.
the disks and neglecting bearing friction, determine
at rest
is
when
0.30 between
(a)
the angular
acceleration of each disk, (b) the reaction at the support C.
6.45
each
of
mm
P16.44
Fig.
50
In Prob. 16.44, (a) determine the final angular velocity of
disk, (b)
show
that the final angular velocities are independent
ft.
16.46 The two friction disks A and B are brought together byapplying the 8-lb force shown. Disk A weighs 6 lb and had an initial
angular velocity of 1200 rpm clockwise; disk Ji weighs 15 lb and was
initially at rest.
Knowing
that n
0.30 between the disks
and
in.
ne-
glecting bearing friction, determine
each disk,
16.47
rest
(b) the final
(a) the angular acceleration of

angular velocity of each disk.
Solve Prob. 16.46, assuming that, initially, disk A was at

75 had an angular velocity of 12(K) rpm clockwise.
and disk
Fig.
P16.46
751
752
DYNAMICS
1
A coder
6.48
a shaft
S, is
which
C, used to record in digital form the rotation of

connected to the shaft by means of the gear train shown,
consists of four gears of the
Two
material.
of the gears
same thickness and of the same

r and the other two a radius
have a radius
of the couple
Let 1 K denote the ratio M/a of the moment
applied to the shaft S and of the resulting angular acceleration a of
S. (I
is sometimes called the "reflected moment of inertia" of the
nr.
K
coder and gear
moment
of the coder.
Fig.
train.)
of inertia I
Determine lg
of the
terms of the gear ratio
and
the
moment
n,
the
of inertia Ic
shafts.
P16.48
6.49
rotate freely,
is
6-kg bar
after
is
held between four disks as shown. Each

a diameter of 200 mm. The disks may
and
and the normal reaction exerted by each disk on the

prevent slipping. If the bar is released from rest,
sufficient to
determine
it
(a) its
acceleration immediately after release, (h)
has dropped 0.75
0.75
Fig.
in
gear,
Neglect the moments of inertia of the
disk has a mass of 3 kg
bar
first
its
velocity
in
S va
P16.49
16.50
Show
that the system of the effective forces for a rigid
slab in plane motion reduces to a single vector,
tance from the mass center
and express the
dis-
of the slab to the lineof action of this
vector in terms of the centroidal radius of gyration k of the slab, the

magnitude oof the acceleration of C, and the angular acceleration a.
16.51
the
For a
effective
(Am,)(a
rigid slab in plane motion,
forces
consists
rp attached to the various particles
the acceleration of the mass center

of the slab,
its
their
sum and the sum
effective forces reduce to a vector
6.52
The uniform
(a)
in a horizontal direction
/',
where a
of the slab,
Am
,-,>:,
Fig.
P16.51
and
is
relative to G.
of their
moments about C,
at
weighs 8
lb
ml attached
AB
denotes the
r[
Further show, by
and
and
force P of magnitude 2
that the
couple Ta.
is
at rest
lb
is
perpendicular to the rod.
on
applied
Determine
the angular acceleration of the rod, (b) the acceleration of the
center of the rod,
Fig.
(Amîo^r,',
G of the slab, a the angular velocity
slender rod
a frictionless horizontal surface.

at
that the system of
angular acceleration, and where
position vector of the particle
computing
show
of vectors (Am,)a,
(c)
the point of the rod which has no acceleration.
P16.52
6.53
In Prob. 16.52, determine the point of the rod
AB
at
which
P should be applied if the acceleration of point B is to be

Knowing that the magnitude of P is 2 lb, determine the corre-
the force
zero.
sponding angular acceleration of the rod and the acceleration of the

center of the rod.
mm
1 6.54
A 50-kg space satellite has a radius of gyration of 450
with respect to the y axis, and is symmetrical with respect to the
zx plane. The orientation of the satellite is changed by firing four
small rockets A, B, C, and
perimeter of the
satellite.
D which are equally spaced around the

While being fired, each rocket produces
a thrust T of magnitude ION directed as shown. Determine the

angular acceleration of the satellite and the acceleration of its mass
center C (u) when all four rockets arc fired, (h) when all rockets except
rocket
16.55
are fired.
Solve Prob. 16.54 assuming that only rocket
Fig.
is fired.
P16.54
754
DYNAMICS
1
6.56 A
15-ft
beam weighing 500
lb
is
lowered from a considerable
height by means of two cables unwinding from overhead cranes. As the
beam approaches
the ground, the crane operators apply brakes to slow
The deceleration of cable A is 20 ft/s 2 while that
the unwinding motion.
of cable
IS
Fig.
ft
is
Determine the tension in each cable.
ft/s*.
16.57 A
P16.56 and P16.57
15-ft
beam weighing 500
lb
is
lowered from a considerable
height by means of two cables unwinding from overhead cranes. As the
beam approaches
the ground, the crane operators apply brakes to slow
the unwinding motion. Determine the acceleration of each cable at thai

instant,
knowing
6.58 The
TA = 360
that
lb
and
]80-kg crate shown
is
TB =
320
lb.
being lowered by means of two
overhead cranes. Knowing that at the instant shown the deceleration

2 determine the
of cable A is 7 m/s 2 while that of cable B is 1 m/s
,
n
5
1
1
(.
i*
0.75
.5 ni
1.8
rn
3.(
Fig.
tension in each cable.
16.59 The 180-kg crate is being lowered by means of two overhead cranes. As the crate approaches the ground, the crane operators
apply brakes to slow the motion. Determine the acceleration of each
cable at that instant, knowing that TA = 1450 N and T = 1200 N.
P16.58 and P16.59

1
6.60
Solve Sample Prob. 16.4, assuming that the disk rests
and that the cord

zontally with a force of magnitude 180 N.
on a
frictionless horizontal surface
16.61
turbine
disk
and
shaft
is
flat
pulled hori-
have a combined mass of
100 kg and a centroidal radius of gyration of 50 mm. The unit is lifted

by two ropes looped around the shaft as shown. Knowing that for
each rope TA = 270 N and TB = 320 X, determine (a) the angular
acceleration of the unit, (b) the acceleration of its mass center.
1
Fig.
P16.61
6.62
manages
to
By pulling on the cord of a yo-yo just fast enough, a man

make the yo-yo spin counterclockwise, while remaining at
Denoting the weight of the yo-yo by

is wound by r, and
determine
(a)
the tension in the
gyration
yo-yo
by
k,
of the
the radius of
a constant height above the

VV,
the radius of the inner
cord,
(/>)
floor.
drum on which the cord
the angular acceleration of the yo-yo.
Fig.
P16.62
16.63
it
to
The 80-lb crate shown resls on four casters which allow

move without friction in any horizontal direction. A 2Mb hori-
zontal force
the force
is
is
applied at the midpoint
perpendicular to side
of edge CE.
HCDE, determine
Knowing
'
that
"
the angular accel-
6.64 and
6.65
If
spring
AB of mass in is susBC breaks, determine at
Fig.
V^
P16.63
that instant (a) the angular acceleration of the bar, (b) the acceleration
of point A,
(c)
the acceleration of point B.
TT
^ %K M
1
d
i*V,
yffl" \!HP
P16.64
Fig.
Fig.
6.66 A sphere
of mass
and radius
r is
30/
"9
P16.65
projected along a rough
horizontal surface with a linear velocity v and with u
0.
The
sphere will decelerate and then reach a uniform motion.
by
,u
the coefficient of friction, determine
acceleration of the sphere before
it
(a)
the linear
Denoting
and angular
16.67
Solve Prob. 16.66, assuming that the sphere
by a uniform disk of radius
16.68 A heavy
reaches a uniform motion, (b) the
time required for the motion to become uniform, (c) the distance
traveled before the motion becomes uniform, (d) the final linear and
angular velocities of the sphere.
is
Fig.
P16.66
replaced
and mass m.
square plate of weight W, suspended from four
vertical wires, supports a small block
E of much smaller weight w.

between and the plate is denoted by fi.
If the coordinates of E are x = \L and s = \L, derive an expression
for the magnitude of the force P required to cause E to slip with respect
The
to the plate.
(Hint.
Neglect
in all equations containing
W.)
* 1 6.69 A square plate of weight

= 20 lb and side /. = 3 ft is
suspended from four wires and supports a block E of much smaller
weight to. The coefficient of friction between E and the plate is 0.50.
If a force P of magnitude 10 lb is applied as shown, determine the area
of the plate
where E should be placed
the plate. (Hint.
Neglect
if it is
not to slip with respect to
in all equations containing W.)
AA
( )E
2d
t
uniform slender bar
as shown.
Oft
eration of the crate and the acceleration of point A.
pended from two springs
yr
-.
Fig.
755
P16.68 and P16.69
1)
Soil,
756
DYNAMICS
16.8. Constrained Plane Motion. Most engineering

applications deal with rigid bodies which are moving under
given constraints. Cranks, for example, are constrained to rotate
about a fixed axis, wheels roll without sliding, connecting rods
must describe certain prescribed motions. In all such cases,
definite relations exist
between the components of the accelera-
mass center G of the body considered and its angular

acceleration a; the corresponding motion is said to be a contion a of the
strained motion.
problem involving a constrained plane moUnemaiic analysis of the problem. Consider,

for example, a slender rod AB of length I and mass m whose
extremities are connected to blocks of negligible mass which
slide along horizontal and vertical frictionless tracks. The rod
is pulled by a force P applied at A (Fig. 16.11). We know from
The
solution of a
tion calls
first
for a
mass center C of the

any given instant from the position
of the rod, its angular velocity, and its angular acceleration at
that instant. Suppose, for instance, that the values of 6, w, and
a are known at a given instant and diat we wish to determine
Sec. 15.8 that the acceleration a of the
rod
Fig. 16.11
may be determined
at
the corresponding value of the force P, as well as the reactions

at A and B. Wc should first determine the components a x and
method of
of the acceleration of tlxe mass center G by the
We next apply D'Alembert's principle (Fig. 16.12),
Sec. 15.8.
using the expressions obtained for at and a y The unknown forces

solving
P, \ /( , and N may then be determined by writing and
.
the appropriate equations.
and the
and
that we wish to find the angular acceleration a of the rod and
the components a x and a y of the acceleration of its mass center
at that instant, as well as the reactions at A and B. The prclimiSuppose now that the applied force
angular velocity
Fig. 16.12
of the rod are
P, the angle 6,
known
at a given instant

nary kinematic study of the problem will have for
express the components
and a v of
a~
x
its
the acceleration
object to
of
in
terms of the angular acceleration a of the rod. This will be done

by first expressing the acceleration of a suitable reference point
A in terms of the angular acceleration a. The components

a z and a v of the acceleration of C may then be determined in
terms of a, and the expressions obtained carried into Fig.
16.12. Three equations may then be derived in terms of a, N ,
A
and Ng, and solved for the three unknowns (see Sample Prob.
16.10). Note that the method of dynamic equilibrium may also
be used to carry out the solution of the two types of problems we
have considered (Fig. 16.13).
such as
Fig.
16.13
When
a mechanism consists of several moving parts, the

approach just described may be used with each part of the
mechanism. The procedure required to determine the various

unknowns is then similar to the procedure followed in the
case of the equilibrium of a system of connected rigid bodies
(Sec. 6.11).
We have analyzed earlier two particular cases of constrained

plane motion, the translation of a rigid body, in which the
angular acceleration of the body is constrained to be zero, and
the centroidal rotation,
center of the body
is
in
which the acceleration a of the mass
constrained to be zero.
Two
other particu-
lar cases of
constrained plane motion are of special interest, the

noncentroidal rotation of a rigid body and the rolling motion of
a disk or wheel.
These two cases should be analyzed by one

However, in view of
the range of their applications, they deserve a few special com-
of the general methods described above.
ments.
Noncentroidal Rotation. This is the motion of a rigid body

constrained to rotate about a fixed axis which does not pass
through
its
rotation.
mass center. Such
The mass center
of radius r centered at
motion
is
called a noncentroidal
body moves along a circle

the point O, where the axis of rotation
of the
intersects the plane of reference (Fig. 16.14).

tively,
by
= ru
Denoting, respec-
and a the angular velocity and the angular acceler-
OG, we obtain the following expressions for

the tangential and normal components of the acceleration of G:
ation of the line
a,
Since line
its
OG
ra
belongs to the body,
no 2
its
(16.7)
angular velocity
u and
also represent the angular velocity
G.
an
body
in
its
and
motion relative to
Equations (16.7) define, therefore, the kinematic relation
Fig.
16.14
757
758 DYNAMICS
between the motion of the mass center G and the motion
body about G. They should be used to eliminate a, and
a n from the equations obtained by applying D'Alcmbert's principle (Fig. 16.15) or the method of dynamic equilibrium (Fig.
existing
of the
16.16).
(a)
Fig. 16.15
An
may be
interesting relation
ments about the
fixed point
respectively in parts a
and h of
+ 5 SM =
obtained by equating the mo-
of the forces and vectors
where
moment
denotes the
about the fixed
axis.
We
shown
write
+ (mra)F= (f+ mr-)a
la
But, according to the parallel-axis theorem,

1Q,
We
Fig. 16.15.
we have
/ 4-
mr 2 =
body
of inertia of the rigid
write, therefore.
M =
(16.8)
While formula (16.8) expresses an important relation between

the sum of the moments of the external forces about the fixed
point O and the product i o, it should be clearly understood
that this formula does not
forces
is
the effective forces,
that the system of the external
the rotation
is
moment
l a.
The system
and thus the system of the external
reduces to a couple only
when
mean
equivalent to a couple of
when
coincides with G, that
centroidal (Sec. 16.4). In the
of
forces,
is,
only
more general
case of noncentroidal rotation, the system of the external forces
does not reduce to a couple.

A particular case of noncentroidal rotation
est:
is
is
of special inter-
the case of uniform rotation, in which the angular velocity

constant. Since a is zero, the inertia couple in Fig. 16.16
vanishes and the inertia vector reduces to
its
normal component.
This component (also called centrifugal force) represents the

tendency of the rigid body to break away from the axis of rotation.

Rolling Motion.
Another important case of plane motion is

the motion of a disk or wheel rolling on a plane surface. If the
disk is constrained to roll without sliding, the acceleration a of
G and its angular acceleration a are not indeAssuming the disk to be balanced, so that its mass
center and its geometric center coincide, we first write that the
distance x traveled by G during a rotation of the disk is x = r(i,
where is the radius of the disk. Differentiating this relation
its
mass center
pendent.
twice,
we
write
ra
(16.9)
Recalling that the system of the effective forces in plane

motion reduces to a vector ma and a couple la, we find that,
in
the particular case of the rolling motion of a balanced disk,
the effective forces reduce
attached at
and
to
to a couple of
vector of_ magnitude
mm
We may
thus
magnitude
7a.
express that the external forces are equivalent to the vector and
couple shown
in Fig. 16.17.
Fig. 16.17
When a disk rolls without sliding, there is no relative motion

between the point of the disk which is in contact with the ground
and the ground itself. As far as the computation of the friction
F
may thus be compared with

on a surface. The magnitude F of the friction
force may have any value, as long as it does not exceed the
force
is
concerned, a rolling disk
a block at rest
maximum
value
Fm =
where /i s is the coefficient of static

magnitude of the normal force. In the case
of a rolling disk, the magnitude F of the friction force should
therefore be determined independently of .Vby solving the equation obtained from Fig. 16.17.
friction
and
When sliding is
mum
value
fis \',
A' the
m =
impending, the friction force reaches

/t
.V
and may be obtained from N.
its
maxi-
759
760 DYNAMICS
When
the disk rotates
and
time, a relative
same
slides at the
between the point of the disk which is in contact

with the ground and the ground itself, and the force of friction
has the magnitude Fk = nk N, where ixk is the coefficient of
kinetic friction. In this case, however, the motion of the mass
center G of the disk and the rotation of the disk about G are
motion
exists
independent, and a
not equal to ra.
is
These three different cases may be summarized

no
Rolling,
F<
F=
F=
sliding:
Rolling, sliding impending:
Rotating and sliding:
When
first
is
it
known whether
not
be assumed
as follows:
ixs
,us iV
=
=
and a independent
ix k
ra
ra
a disk slides or not,
without
that the disk rolls
sliding.
If
should
it
F is found
proved correct.
incorrect and
If F is
assuming
rotating and
the problem should be started again,
smaller than, or equal
to,
,11,4V,
the assumption
is
found larger than n s N, the assumption
is
sliding.
When
a disk
is
unbalanced,
not coincide with
its
i.e.,
when
its
mass center
does
geometric center O, the relation (16.9)
does not hold between a and a.
similar relation will hold,
however, between the magnitude a of the acceleration of the

geometric center and the angular acceleration a,
To determine a
in
angular velocity
(16.10)
ra
terms of the angular acceleration a and the

of the disk,
we may
a,,
a0/0
(a,,/,,),
use the relative-accelera-
tion formula,
aG
(a 0/0 )
(16.11)
where the three component accelerations obtained have the

directions indicated in Fig. 16.18 and the magnitudes a
(ao/o)t
(OC)a, and
(a G/0 ) n
(OG)u 2
Fig. 16.18
ra,
SAMPLE PROBLEM
The
AOB
portion
welded
of a
16.6
mechanism
gear E of radius
to a
consists of a
120mm
mm
steel rod
OB
horizontal shaft O.
400
400-mm
which may rotate about a
It is actuated by a gear
and, at the instant
clockwise angular velocity of 8 rad/s and a counterclockwise angular acceleration of 40 rad/s 2 Knowing that rod OB has
shown, has
a mass of 3 kg and gear

of 85
mm, determine
gear E,
(b)
Solution,
we
first
(a)
a mass of 4 kg and a radius of gyration
by gear
the tangential force exerted
on
the components of the reaction at shaft O.
In determining the effective forces of the rigid
gear
shall consider separately
E and
body
AOB
we
shall
rod OB, Therefore,
determine the components of the acceleration of the mass center
C, ou of
the rod:
(ob)/
("oBln
= =(0.20Om)(40 rad/s 2 = S m/s 2

= ** = (0.200 m)(8 rad/s) 2 = 12.8 m/s 2
)
Equations of Motion, Two sketches of the rigid body AOB have

been drawn. The first shows the external forces consisting of the
weight \Vt of gear E, the weight
os of rod OS, the force F exerted
by gear D, and the components R, and R of the reaction at O. The
magnitudes of the weights are, respectively,
O.I20m
tJ
WB = m Eg =
VV0B
m/s2) = 39.2 X
(3kg)(9.81 m/s2 = 29.4 N
(4 kg)(9.81
= m 0Bg =
The second sketch shows the effective forces, which consist of a couple
l F a (since gear E is in centroidal rotation) and of a couple and two
vector components at the mass center of OB. Since the accelerations
are known, we compute the magnitudes of these components and
couples:
Tga
mgkgtt
(4 kg)(0.085
'o(ob) =
"Wo) =
(
W*
(tV'oh'- )"
m) 2 (40 rad/s 2 )
(3 kg)(8
m/s 2 ) =
X-m
1.156
24.0
= 38.4 X
= tM3 kg)(0.400 m) 2 (40 rad/s2 ) =
(3 kg)(12.8
m/s 2 )
1,600
N m
Expressing that the system of the external forces is equivalent to the

system of the effective forces, we write the following equations:
+3
= 2<M
F(0.120m)
F(0.120 m)
), H
= /> + m OB ( OB),(0.200 m) + T0B

= 1,156 N m 4- (24.0 N)(0.200 m) +
cx
F=
'2F,
2^
eff
R.
RT =
63.0
1.600
F =
N m
63.0
m.
",
'OR\"OBh
24.0
R.
24.0
+ T^FS = 2(Fllhlf
fl
F - WB - W0B = m (Oon)
fl - 63.0 X - 39.2 \ - 29.4 N = 38.4 N
Cl
H=
170.0
170.0
SAMPLE PROBLEM
A
6 in.
16.7
rectangular plate, 6 by 8
two pins A and
B.
weighs 60
in.,
pin
If
is
Hi
and
suspended from
is
suddenly removed, determine
(a)
the
angular acceleration of the plate, (b) the components of the reactions

at pin
A, immediately after pin H has been removed.
Sin
a.
S7
s
t\" =
We
C
Angular Acceleration.
about point A,
AQr-
its
mass center
observe that as the plate rotates

describes a circle of radius 7 with
center at A.
Since the plate
is
(co = 0), the normal component

G is zero. The magnitude of the acceleration
C is thus a = 7a. We draw the diagram shown
released from rest
of the acceleration of
a of the mass center

to express that
the external forces are equivalent to the effective
forces:
Wx =
Since a
(ma)r
la
we have
7a,
Wx =
m(ra)r
Wx
la
(1)
The
centroidal
moment
of inertia of the plate
t = f|<a> + v) =
- J
4in.--
-^
ft
we
into Kq. (1),
^ ^m
ft)
k/
0.10781b
<
2
i
W = 601b,
7=
&
ft,
and
obtain
4-46.4 rad/s2
*.4 rad
Reaction at A. Using the computed value of

the magnitude of the vector ml attached at G,
Ik
ma = mra =
ft)
2
-ft -s
7 together with
Substituting this value of

.r
is
60
lb
r
ft)(46.4 rad/s-')
$*
-+
we determine
a,
36.0 lb
32.2 ft/s^
Showing
this result
* ZF, = v ,g c|(
on the diagram,
A,=
-8(36
we
write the equations of motion
lb)
A, = -21.61b
21.81b
-601b= -1(36 lb)

A= 4-31.211)
A
The couple
it
762
la
is
not involved in the last
should be indicated on the diagram.
S. =:
two equations;
11.2 lb 1
nevertheless,
SAMPLE PROBLEM
A sphere
of radius
and weight VV
on the incline and
16.8
is released with no initial velocity

without slipping. Determine (a) the minimum
rolls
value of the coefficient of friction compatible with the rolling motion,

(h) the velocity of the
rolled 10
down
ft,
G of the sphere after the

G if the sphere were to
center
sphere has
move 10
the velocity of
(c)
fl
a frictionless 30 incline.
Minimum / for Rolling Motion. The external forces W, N, and

form a system equivalent to the system of effective forces repre-
(/.
ma and the
a = ra.
sented by the vector
+ ) SM =
2(.W C ) C :
m =
\
ra )r
/
(ma)r
[mrn)r
2
+
,
*
2
IF,
+ Ta
+ la
5gsin0
= + -2
o g
It
5(32.2 ft/^sin 30-
+\
rolls
write
M^l m
= =
(
I
0)r
= imr 2 we
VV/g and /
,\u sin 0)r

os
(VV
=
=
sin 0)r
(Wsin
Noting that
couple Ta. Since the sphere
we have
without sliding,
'
- F = ma
Wsin
^.(1'Xtv
W sin
,,.
,.
W ogsin
2_ 8
,.
F = + i\V sin
+/
Zl],
2(F) e :
X=
.V
IV cos
30
- Wcostf =
N =
0.866VV
F_
Mmln
b.
F = 0.143W S^
30
f VV sin
0.866 VV <JL 60
0.143VV
We
Velocity of Moiling Sphere.
Mmta
0.866VV
0165
have uniformly accelerated
motion,
v
D2
Sg
2(.v
1.50 ft/s 2
v
C,
F=
15.17 ft/s
Velocity of Sliding Sphere.
= 10 ft
x =
+ 2(11.50 ft/s2 )(10 ft)
v = 15.17 ft/s "^ 30
Assuming now no
friction,
-*
we have
and obtain
+ lZMa =Z(M(,U
+\
r =
*)
2F,
S(Ft)ttt
o
Substituting a
+16.1
ft/s 2
16.1 ft/s
we
ug
17.94 ft/s
/a
,v
Wsin 30 = ma
ated motion,
tJ
0.50VV
16.1 ft/s-
^ 30
into the equations for uniformly acceler-
obtain
2fl(.v
.v )
c2
2(16.1 ft/s2 )( 10
v=
17.94
ft
ft)
s^si30
763
ftOmm
SAMPLE PROBLEM
A
cord
is
16.9
wrapped around the inner drum
wheel and pulled
of a
The wheel has a mass of 50 kg

70 mm. Knowing that (X, s 0.20 and
horizontally with a force of 200 N.
and a radius of gyration of

u & = 0.J5, determine the acceleration of
and the angular acceler-
ation of the wheel.
Assume Rolling without
0,
we
The moment
of
1
/.
+)
ra
(0.100
m)a
determine whether
inertia of the wheel is
shall
in* 2
(.50
kg)(0.070
we have
In this case,
friction force obtained with the
By comparing the
friction force,
Sliding.
m) 2
maximum
assumption
this
0.245 kg
available
is justified.
m-
quotums of Motion
2MC =
8.00
(200 \)(0.040 m) = ma(0.100 m) + Ta

e eH
N = (50 kg)(0. 100 m)o(0.100 m) + (0.245 kg m 2 )a
a = + 10.74 rad/s 2
H=ra = (0.100m)(10.74rad/s 2 = 1.074 m/s2
2(.Vf
= 2(|fJ eff
2F,
F + 200 N = ma
F + 200 X = (.50 kg)( 1.074 m/s2)
F=
F = - 146.3 N
146.3
N *-
(l.(MO ni
+T
= 2(Fy e :
2F
W=
V -
Maximum
N =
h.
the
ing
(50 kg)(9.81
m/s 2 )
= 490.5 N
N = 490.5 XT
Available Friction Force
Fmtx =
Since
\V
>
i,.V
0.20 (490.5 X)
98.1
F
Fnaz the assumed motion is impossible.
Kotating and Sliding. Since the wheel must rotate and slide at
same
lime,
we draw
new diagram, where
a are
a and
inde-
pendent and where
F = Fh =
From
*. 2F,
We
S(F,) aff
+ l^M = l(M
0.15 (490.5 N)
it
appears that
73.6
should be directed
write the following equations of motion:
200
X - 73.6 X = (50 kg)a

= + 2.53 m/s 2
a =
2.53
),,:
(73.6 N)(0.100 m)
764
the computation of part a,
to the left.
F = 73.6
m*.V
(200 N)(0.060 m)
= - 18.94
rad/s 2
(0.245 kg
a =
s-
-+
m>
18.94 rad/s 2 5
-*
'

The
extremities of u 4-ft rod, weighing 50 lb, may move freely and

with no friction along two straight tracks as shown. If the rod is
released with no velocity from the position shown, determine (a) the
angular acceleration of the rod,
the reactions at
(b)
A and
B.
Since the motion is constrained, the accelmust be related to the angular acceleration o. To obtain
this relation, we shall first determine the magnitude of the acceleration
aA of point A in terms of a; assuming a directed counterclockwise
eration of
and noting that a B/A
we
4a,
aB
Noting that
<j>
acceleration of
Resolving a into
.t
a,
= -2a
we
aG
[5.46a ->]
a^,
aC/1
[2a
obtain
4.90a
now obtained by
is
writing
60"]
and y components, we obtain

2a cos 60 = 4.46a
= -1.732a
5.46a
sin 60
We
Kinetics of Motion.
tive forces represented
aB
5.46a
draw
4.46a ->
1.732a
J,
to express
of components ma, and ina u

compute the following magni-
We
7a.
I,
equivalent to the system of effec-
is
by the vector
and the couple
I,
two sketches shown
the
that the system of external forces
attached al
aB/A
75 and using the law of sines,

aA
The
write
tudes:
f=
-.t
501b
j(4
12 32.2 ft/s 2
12
50
ma, =
32.2
(4.46a)
ft)
2.07 lb
= ~
6.93a
ft
50
(1.732a)
2.07a
-2.69a
32.2
Equations of Motion
+52Mg = 2(Mi etf

)
(50)( 1.732)
** ZF,
2(/g, fr
= +2.30
2F,
WyW
RA = -6.19 -
,i
15.94 4- 50
(6.93)(2.30)
22.5 lb
+ n cos
(2.69a)(1.732)
rad/s 2
RB sin 45 =
BB =
+f
(6.93o)(4.46)
45=
RB =
-
27.91b
50
2.07a
2.30 rad
'
15.94
22.5 lb
-(2.69X2.30)
Rj
27.9 lb f
765
766 DYNAMICS
PROBLEMS
16.70
Show
that the couple Ta of Fig. 16.15
by attaching the vectors ma, and mi,

of percussion, located on line
mass center of the body.
Fig.
P16.70
16.71
m =
75
may be
P
CP =
at a distance
eliminated
called the center
k 2 /r from the
mm
and mass
slender rod, of length /, = 900
supported as shown. A horizontal force P of magnitude
A uniform
4 kg,
is
OG
at a point
is
applied at end R. For
7=
\L
225
mm, determine
(a)
the
the components of the reaction
(/>)
at C.
ffl
B
Fig. 16.71
1!
1
i
6.72
In Prob. 16.71, determine (a) the distance r for
component of the reaction
horizontal
sponding angular acceleration of the
16.73
A uniform slender
freely from a hinge at A.
determine
(a)
reaction at
Fig.
P16.73 and P16.74
If
is
zero,
'/')
which the
the corre-
rod.
rod, of length
I.
a horizontal force
and weight
is
hangs
VV,
applied as shown,
component
of the
zero, (b) the corresponding angular acceleration of the
rod.
16.74
uniform slender rod, of length
left (h
/.),
determine
(a)
a force P
16.75
is
L and weight W, hangs
applied at B horizontally to the
components of the reaction
at
(b) the
A.
turbine disk of mass 75 kg rotates at a constant speed
9600 rpm; the mass center of the disk coincides with the center
of rotation O. Determine the reaction at O after a single vane at
A, of mass 45 g, becomes loose and is thrown off.
of
P16.75
the distance h for which the horizontal

is
freely from a hinge at A. If
Fig.
at

1
6.76 A uniform
AA'
a vertical axis
slender rod of length
at a constant
and mass
angular velocity
cc.
m rotates about
Determine the
tension in the rod at a distance x from the axis of rotation.
Fig.
P16.76
16.77
P16.77
Fig.
An
diameter 24
8-in.-diameter hole
The
in.
metric center
is
cut as
shown
at a constant angular velocity of
that the disk weighs 100 lb after the hole has
component
the horizontal
in a thin disk of
disk rotates in a horizontal plane about
of the force exerted
its
geo-
480 rpm. Knowing
been cut, determine

by the shaft on the
disk at A.
16.78
large flywheel
is
mounted on a horizontal
shaft
and
Experimental data show that

the total force exerted by the flywheel on the shaft varies from 55 kX
upward to 85 kN downward. Determine (a) the mass of the flywheel,
rotates at a constant rate of 1200 rpm.
(b) the distance
from the center of the shaft to the mass center of the
flywheel.
16.79 and 16.80 A

is
supported as shown.
If
uniform
beam
of length
L and weight
the cable suddenly breaks, determine
(a)
W
the
reaction at the pin support, (b) the acceleration of point B.
V
-MS
Fig.
N1
l
!>fi
P16.79
_>
Fig.
P16.80
768 DYNAMICS
16.81
10
lb, is held in
uniform slender rod AB, of length

the position
the tension in wires
6.82
shown by three
L =
wires. 1(0
ft
and weight
60, determine
AC and BC immediately after wire AD has been cut.
Two uniform
rods,
each of mass m, are attached as shown to
small gears of negligible mass. If the rods are released from rest in the
position shown, determine the angular acceleration of rod
ately after release, assuming (a)
0, (b)
AB immedi-
30.
Fig. P16.81
P16.83
Fig.
1 6.83
A uniform rod AB is bent in the shape of an arc of circle.
Determine the angular acceleration of the rod immediately after it is
released from rest and show that it is independent of 6.
16.84 A 2-kg slender rod is riveted

The assembly swings freely in a
shown.
to a 4-kg uniform disk as

vertical plane and, in the
position shown, has an angular velocity of 4 rad/s clockwise.
mine
(a)
Deter-
the angular acceleration of the assembly, (b) the components
of the reaction at A.
1
Fig.
P16.84 and P16.85
6.85
2-kg slender rod
shown. The assembly rotates

effect of gravity and a couple
that at the instant
is
riveted to a 4-kg uniform disk as
in a vertical plane
M which
is
under the combined
applied to rod AB. Knowing
shown the assembly has an angular velocity
of
6 rad/s and an angular acceleration of 10 rad/s 2 both counterclockwise, determine (a) the magnitude of the couple
M, (b)
the components
of the reaction at A.
6.86
After being released, the plate of Sample Prob. 16.7
allowed to swing through 90.

angular velocity of the plate
is
Knowing
that at that
4.82 rad/s, determine
acceleration of the plate, (b) the reaction at A.
(a)
instant
is
the
the angular

1
6.87
Two
uniform rods,
AB
of weight 12 lb
and
CD
of weight
are welded together to form the T-shaped assembly shown.
lb,
assembly rotates
The
plane about a horizontal shaft at .

Knowing that at the instant shown the assembly has an angular velocin a vertical
]2rad/s and an angular acceleration of 36 rad/s 2 both clock(a) the magnitude of the horizontal force P, (b) the
components of the reaction at .
ity of
In.
wise, determine
12
6.88 The uniform
rod
AB
of mass
12
in.
-lSilLis
released from rest
when
Fig.
Assuming that the friction between end A and the surface is

enough to prevent sliding, determine (a) the angular acceleration
of the rod just after release, (b) the normal reaction and the friction
force at A, (c) the minimum value of fi compatible with the described
ft
-18
P16.87
60.
large
motion.
Fig.
P16.88 and P16.89
* 1 6.89 Knowing that the coefficient of friction between the rod and
the floor is 0,30, determine the range of values of ft
slip
immediately after being released from
6.90
16.17,
Derive the equation
where
2M
for
which the rod
will
rest.
2M =
represents the
sum
Ic a for the rolling disk of Fig.

of the moments of the external
C and
forces about the instantaneous center
c the
moment
of inertia of
the disk about C.
6.91
Show
that, in the case of
derived in Prob. 16.90
is
an unbalanced
valid only
disk, the
equation
when the mass center
geometric center O, and the instantaneous center
C happen
to
C, the
lie in
straight line.
6.92
in contact
A homogeneous
when they
cylinder and the pipe
cylinder
C and
are released from rest.

roll
a section of pipe
Knowing
/'
without slipping, determine the clear
tance between them after 2.5
s.
are
that both the
- 10'
disFig.
P16.92
in.
769
770 DYNAMICS
1
6.93
which may
flywheel
roll
is
rigidly attached to a shaft of
along parallel
rails as
the system rolls a distance of 3
When
shown.
30
in
s.
40-mm
radius
released from rest,
Determine the centroidal
radius of gyration of the system.
Fig.
P16.93 and P16.94
16.94
is
Knowing
parallel rails.
the distance
it
that the system
will roll in
20
16.95 through 16.98

a disk of
= Ml mm
mm which may roll along
flywheel of centroidal radius of gyration k
rigidly attached to a shaft of radius r
160-mm
radius.
=
is
30
s.
A drum
The
disk
of
80-mm
radius
and drum have a
is
attached to
total
mass of
5 kg and a radius of gyration of 120 mm. A cord is attached as shown

and pulled with a force P of magnitude 20 X. Knowing that the disk
rolls without sliding, determine (a) the angular acceleration of the disk
and the acceleration of G,
of friction compatible with
Fig. P1 6.95
and P1 6.99
Fig.
P16.96 and P16.100
Fig.
(b)
the
this
P16.97 and P16.101
minimum
value of the coefficient
motion.
Fig. P1 6.98
and P1 6.1 02
16.99 through 16.102 A drum of 4-in. radius is attached to

The disk and drum have a total weight of 10 lb
and a radius of gyration of 6 in. A cord is attached as shown and
a disk of 8-in. radius.
P of magnitude 5 lb. Knowing that fi = 0.20,

whether or not the disk slides, ib) the angular acceleration of the disk and the acceleration of G.
pulled with a force
determine
(a)
16.103 and 16.104

by two uniform
the disks
without
roll
when
riage
12-lb carriage
weight 8
sliding,
a force of 4 lb
is supported as shown
and radius 3 in. Knowing that
determine the acceleration of the car-
The
disks each of
is
lb
applied to
it.
ii
121b
w
i
vJ
Fig.
P16.103
Fig.
P16.104
lb
12 Hi
(U)
*(U)
16.105
half section of pipe of mass
a rough horizontal surface.
Assuming that the section

(a) for its
with
ible
this
16.106
rest
hi
it
= mr 2 -
starts to roll
Knowing
and radius
is
r rests
on
applied as shown.
minimum
OG =
value of ,u compat-
2f/w and that, by the
m(OC)-.}
small block of mass

r.
without sliding, derive an expression
(b) for the
motion. [Hint. Note that
and radius
vertical force
rolls
angular acceleration,
parallel-axis theorem, I
mass
that
is
when
Fig.
attached at
the system
without sliding, determine
\a)
B
is
to a
hoop of
released from
the angular acceler-
ation of the hoop, (b) the acceleration of H.
Fig.
P16.106
6.107
B and
is
Solve Prob. 16.105, assuming that the force
directed horizontally to the right.
is
applied at
P16.10S
771
772 DYNAMICS
1
S. 1 08
The mass center
centroidal radius of gyration
G of a
is
10-lb
from
in.
R = 12 in. is
geometric center C. The
As the wheel rolls without
wheel of radius
its
in.
angular velocity varies and it is observed that w

8 rad/s in
the position shown. Determine the corresponding angular acceleration
sliding, its
of the wheel.
Fig.
P16.108
End A of the 100-lb beam AT? moves along the frictionless

end B is supported by a 4-ft cable. Knowing that at the
instant shown end A is moving to the left with a constant velocity
of 8 ft/s, determine (a) the magnitude of the force P, (b) the corresponding tension in the cable.
'
door, while
Fig.
P16.109
16.110 Ends A and B

mass which
of negligible
of a 4-kg slender rod are attached to collars
without friction along the rods shown. A

applied to collar B, causing the rod to start from
rest with a counterclockwise angular acceleration of 12 rad/s 2 Determine (a) the required magnitude of P, (b) the reactions at A and B.
horizontal force
slide
is
16.111
Fig.
P16.110 and P16.112
Solve Prob. 16.110, assuming that at the instant consid-
ered the angular velocity of the rod
'
is
4 rad/s counterclockwise.
Ends A and B of a 4-kg slender rod are attached to collars

which slide without friction along the rods shown. Tf
of negligible mass
the rod
is
released from rest in the position shown, determine (a) the
16.113 The
position shown.
tionless floor,
Fig.
P16.113
(6)
the reactions at
50-kg uniform rod
Knowing
determine
the tension in wire BC,
that
(a)
(<;)
AB
is
end A may
and
B.
released from rest in the

slide freely
on the
fric-
the reaction at A.
(b)
16.114
Rod AB weighs 31b and
is released from rest in the

Assuming that the ends of the rod slide without
position shown.
frietion,
determine
A and
reactions at
Fig.
(a)
the angular acceleration of the rod, (b) the
B.
P16.114
16.115 The 12-lb uniform rod AB is held by the three wires

shown. Determine the tension in wires AD and HE immediately after
wire AC has been cut.
Fig.
P16.115
Fig.
P16.117
Fig.
P16.119 and P16.120
1 6.1 1 6
Show that, for a rigid slab in plane motion, the equation
"ZMA = IA a, where 2A/, represents the sum of the moments of the
external forces about point A and IA the moment of inertia of the
slab about the same point A, is verified if and only if one of the
following conditions
(b)
is satisfied:
has zero acceleration,
a line joining point
16.117 The
A and
(c)
(a)
the mass center of the slab,
is
the acceleration of
the mass center
is
directed along
by
which weighs 4 lb. Knowing that the disk has a
constant angular velocity of 360 rpm, determine the forces exerted on
the connecting rod at A and B when /I 0.
the uniform rod
6. 1 1
16.1 19
of 4 kg.
to
point
6-lb sliding block is connected to the rotating disk
AB
Solve Prob. 16.117
180.
Each of the bars shown
is
600
mm
horizontal and variable force
move
mine the force P
16.120
when B
is
long and has a mass
applied at C, causing
to the left with a constant speed of 10 m/s.

for the position
The two
position shown.
bars
Each bar
AB
is
and
600
BC
mm
are released from rest in the
long and has a mass of 4 kg.
Determine (a) the angular acceleration of each bar,

A and C.
ut
Deter-
shown.
(6) the reactions
773
774 DYNAMICS
16.121 and 16.122
length, are connected as
Two
shown
rods
AB
to a disk
and BC. of mass m per unit

which is made to rotate in
a vertical plane at a constant angular velocity
<o
For the position
shown, determine the components of the forces exerted at A and B
on rod AB.
P16.121
Fig.
6.1
<l
Fig.
23 A
P16.122
section of pipe rests on a plate.
The
a constant acceleration a directed to the right.
P16.123
is
then given
that the
on the plate, determine (a) the acceleration of the pipe,

(b) the distance through which the plate will move before the pipe
reaches end A.
pipe
Fig.
plate
Assuming
rolls
6.1
24
Solve Prob. 16.123, assuming that the pipe
by a solid cylinder,
(2)
16.125 and 16.126

radius of gyration of 3
is
stationary.
shown, determine
If
in.
Gear
weighs 6
The uniform bar
the system
()
is
lb
AB
P16.125
replaced
(1)
and has a centroidal

lb and gear
weighs 5
released from rest in the position
the angular acceleration of gear
eration of point B.
Fig.
is
by a sphere.
Fig.
P16.126
(,',
(/;)
the accel-

* 16. 127
The
disk
shown
rotates with a constant counterclock-
mm
mm
long
The uniform rod BD is 450
mass of 3 kg. Knowing that the system moves in a horizontal
wise angular velocity of 12 rad/s.
and has
125
plane, determine the reaction at E.
6.1
*>*
Solve Prob. 16.127, assuming that the disk rotates with a
constant clockwise angular velocity of 12 rad/s.

250
* 16.1 29
uniform slender rod of length L and mass m is

Derive an expression for
re-
leased from rest in the position shown.
ffe)
(a)
the acceleration of end A,
the reaction at A, immediately after release.
(c)
Neglect the mass and
friction of the roller at A.

Fig.
Fig. P1 6.129
and P16.130
* 1 6.1 30
is
A uniform rod AB,
of mass 3 kg and length
Knowing
released from rest in the position shown.
I.
that
fi
1.2
m,
=
3()
determine the values immediately after release of
(a)
the angular
acceleration of the rod, (b) the acceleration of end A,
(c)
the reaction
at A.
Neglect the mass and friction of the roller at A.
* 1 6. 1 3 1
weight 3
lb.
Each
of the bars
couple
AB
and
BC
of length
is
of magnitude 6 lb
ft is
7,
18
in.
and
applied to bar BC.
Determine the angular acceleration of each bar.
Aft
bS
I.
.1
Fig.
P16.131
* 1 6. 1 32
weight 3 lb.
Fig.
P16.132
Each of the bars
AB and BC is of length
horizontal force
magnitude 4
of
Determine the angular acceleration
of each bar.
lb
/,
is
in.
and
applied at C.
P16.127
mm
776 DYNAMICS
* 16. 133 Two uniform slender rods, each of mass m, are connected by a pin at C. Determine the acceleration of points C and D
immediately after the horizontal force P has been applied at D.
Fig.
&
V)
P16.133
Fig. P1 6.134
* 16. 134
The slender bar AB
is
of length
7,
and mass m.
held
in
equilibrium by two counterweights, each of mass }n.
wire
at
A,
is
cut,
determine
It is
the
If
at that instant the acceleration of (a) point
(b) point B.
#16.135
(a)
Determine the magnitude and the location
maximum bending moment

answer
to pari a
4=16.136
is
in
In Prob. 16.132 the pin at
is
severely rusted and the
Determine the bending moment
at B.
* 1 6.1 37 Draw
beam
the shear
and bending-moment diagrams
of Prob. 16.79 immediately after the cable at
* 16.1 38
of the
that the
independent of the weight VV of the rod.
bars rotate as a single rigid body.
which occurs
Show
the rod of Prob. 16.74. {b)
Draw
the shear and
for the
breaks.
bending-moment diagrams for the

B has been cut.
bar of Prob. 16.134 immediately after the wire at
REVIEW PROBLEMS
16.139 and 16.140
in
A uniform plate of mass

is suspended
each of the ways shown. For each case determine the acceleration
of the center of the plate immediately after the connection at
has
been released.
T
1-
Wires
[-
-A
Fin supports
Springs
P16.139
.-Cmmterwciglits
=^W
.;,'
U>)
Fig.
Fig.
P16.140
<
16.141
The flanged wheel shown rolls to the right with a constant

The rod AB is 1.2 in long and has a mass of 5 kg.
velocity of 1.5 m/s.
Knowing
that point
slides
determine the reaction
16.142
acceleration of
If
:KX>
without friction on the horizontal surface,

(a)
when
15-lb uniform disk
negligible weight.
if
at
/i
is
a 10-lb force
is
0, (b)
when R =
180.
suspended from a link AB of

applied at B, determine the
(a)
if
the connection at
the connection at
is
is
Fig.
P16.141
Fig.
P16.144
Fig.
P16.145 and P16.146
a frictionless pin, (b)
"frozen" and the system rotates about
as a rigid body.
Fig.
P16.142
Fig.
6.143 Two
uniform bars
AB and
P16.143
BC, each of length L
each bar weighs 3 lb, determine the tension

after the body has been released from rest.
6.1
shallow
44 A
drum
slender rod of mass

of radius
which the maximum bending moment

(b)
for the
angular velocity
Determine the
in the
in.,
that
placed inside a
is
at a constant
(a)
10
each wire immediately
per unit length
which rotates
about a vertical shaft through O.
to
in
Knowing
arc welded together to form an L-shaped rigid body.
rod
is
ratio
L/r
for
as large as possible.
corresponding value of the
maximum
bending moment.
16.145
slender rod
AB
collar
of
of length
weight \VC
L and
is
rigidly attached to a uniform
weight W. If the rod
reaction at
is
released from
is
shown, determine the ratio d/L

independent of
c
rest in the position
for
which the
i.
6.146 A
slender rod
AB
collar
of weight 2 lb
is
rigidly attached to a uniform
of weight 12 lb and length
L =
20
in.
If
the rod
released from rest in the position shown, determine the distance
which
the angular acceleration of the rod
is
maximum.
is
for
mm
778 DYNAMICS
o o
16.147 Identical cylinders of mass m and radius r are pushed

by a series of moving arms. Assuming the coefficient of friction between all surfaces to be y. < 1, and denoting by a the magnitude of
\l
the acceleration of the arms, derive an expression for (a) the maximum
allowable value of a if each cylinder is to roll without sliding, (b)
the minimum allowable value of a if each cylinder is to move to the
Fig. P1 6.147
right without rotating.
m and radius r is dropped with no initial

which moves with a constant velocity v
At first
the sphere will both rotate and slide on the belt. Denoting by \i the
coefficient of friction between the sphere and the belt, determine the
16.148 A
velocity
on
sphere of mass
a belt
distance the sphere will

Fig.
move
before
it
starts rolling
without sliding.
P16.148
16.149 A
on two corners
the pipe
is
section of pipe, of mass

as
sufficient to
prevent sliding, determine
acceleration of the pipe just after corner
sponding magnitude of the reaction
Fig.
kg and radius 250 mm, rests

ft between the corners and
,50
shown. Assuming that
at
is
(a)
removed,
the angular
(b)
the corre-
A.
P16.149
16.150 A block B of mass m is attached to a cord wrapped around

a cylinder of the same mass m and of radius r. The cylinder rolls
without sliding on a horizontal surface. Determine the components
of the accelerations of the center
of the cylinder
and
of the block
immediately after the system has been released from rest if (a) the
block hangs freely, (h) the motion of the block is guided by a rigid
member DAE, frictionless and of negligible mass, which is hinged to
75
the cylinder at A.
W
Fig.
P16.150
Plane Motion
of Rigid Bodies:
Energy and
Momentum
Methods
Work and Energy
17.1 Principle of
Body.
In the
for a Rigid
work
and energy will be used to analyze the plane motion of rigid
bodies and of systems of rigid bodies. As was pointed out in
Chap. 13, the method of work and energy is particularly well
adapted to the solution of problems involving velocities and
displacements. Its main advantage resides in the fact that the
work of forces and the kinetic energy of particles are scalar
first
part of this chapter, the principle of
quantities.
In order to apply the principle of

analysis of the
the rigid body
motion of a
is
made
rigid body,
of a large
where Tv T2
initial
and
(/,.. 2
final
shall
number n
Am,. Recalling Eq. (14.30) of Sec.

t,
work and energy
we
14.7,
we
to the
again assume that
of particles of mass
write
= r2
(i7.i)
values of total kinetic energy of
the particles forming the rigid body
Ul _, =
work
of the
of
all
forces acting
on the various
particles
body
779
CHAPTER
17
780 DYNAMICS
The
total kinetic
energy
1
-^(Am
)cf
T=
(17.2)
f=i
is
obtained by adding positive scalar quantities and
positive scalar quantity.
mined
We
in (17.1) represents the
.,
is
itself
how T may be
deter-
motion of a rigid body.
lor various types of
The expression U
shall see later
work
of
all
the
forces acting on the various particles of the body, whether these

forces are internal or external. However, as we shall see pres-
work of the internal forces holding together the

particles of a rigid body is zero. Consider two particles A and B
of a rigid body and the two equal and opposite forces F and F
ently, the total
they exert on each other (Fig. 17.1). While, in general, small

displacements dr and dr' of the two particles are different, the
Fig. 17.1
components of these displacements along AB must be equal;

otherwise, the particles would not remain at the same distance
from each other, and the body would not be rigid. Therefore, the
work of F is equal in magnitude and opposite in sign to the work
of F, and their sum is zero. Thus, the total work of the internal
forces acting on the particles of a rigid body is zero, and the
expression U^^ in Eq. (17.1) reduces to the work of the external
forces acting on the body during the displacement considered.
17.2 Work of Forces Acting on a Rigid Body.

saw
of
in Sec. 13.2 that the
its
work
of a force
point of application from A, to
l\_ 2
=|
F during a
A2
We
displacement
is
F-</r
(17.3)
or
C\_.2
where F
is
(h'
cos a)ds
the magnitude of the force, a the angle
the direction of motion of
its
(17.3')
it
forms with
point of application A,
and
s the
variable of integration which measures the distance traveled by
along
its
path.
computing the work of the external forces acting on a rigid

body, it is often convenient to determine the work of a couple
without considering separately the work of each of the two
forces forming the couple. Consider the two forces F and
In
PLANE MOTION OF RIGID BODIES: ENERGY AND MOMENTUM METHODS
Any
(Fig. 17.2).
and
one
in
and acting on
a rigid
body
small displacement of the rigid body bringing
B, respectively, into A'
parts,
moment
forming a couple of
and B" may be divided into two

and B undergo equal displacements
which points A
which A' remains
the other in
fixed while B' moves into B"

through a displacement dr 2 of magnitude ds r dO. In the first
2
part of the motion, the work of F is equal in magnitude and
t/r,,
opposite in sign to the work of

F and their sum is zero. In the
second part of the motion, only force F works, and its work is
dU = Fds2 =
tude
of
FrdO. But the product Fr
M of the moment of the couple.
moment
acting on a rigid body
dU =
is
equal to the magni-
Thus, the work of a couple

is
M dO
(17.4)
where dB is the small angle expressed in radians through which

the body rotates. We again note that work should be expressed in
units obtained by multiplying units of force by units of length.
The work
of the couple during a finite rotation of the rigid body

obtained by integrating both members of (17.4) from the initial
value 0, of die angle 6 to its final value $.,. We write
is
-fiM dd
When
the
moment
of the couple
(17.5)
constant, formula (17.5)
is
reduces to
L/ 2
It
M(0 2
8,
(17.6)
was pointed out in Sec. 13.2 that a number of forces enin problems of kinetics do no work. They arc forces
countered
applied to fixed points or acting in a direction perpendicular to

the displacement of their point of application. Among the forces
which do no work the following have been listed: the reaction at

a frictionless pin when the body supported rotates about the
pin, the reaction at a frictionless surface
when the body in conmoves along the surface, the weight of a body when its
center of gravity moves horizontally. We should also indicate
now that, when a rigid body rolls without sliding on a fixed
tact
surface, the friction force
The
at the point of contact
does no
work
velocity v c of the point of contact C is zero, and the

of the friction force F during a small displacement of the
rigid
body
work.
is
dU = F ds c =
F(v c dt)
0.
Fig. 17.2
781
782 DYNAMICS
1
7.3 Kinetic Energy of a Rigid Body in Plane Mo-
Consider a rigid body of mass m in plane motion. Wc

from Sec. 14.6 that, if the absolute velocity v, of each
particle F, of the body is expressed as the sum of the velocity v of
the mass center G of the body and of the velocity v{ of the
tion.
recall
particle relative to a frame Gx'y' attached to
)',
and of
fixed
u'
Oi
Fig. 17.3
orientation (Fig. 17.3), the kinetic energy of the system of particles
forming the rigid body
may be
T = Jmc*
But the magnitude
rj
written in the form
?5>
(17.7)
of the relative velocity of
product r\u of the distance
r-
of
P from
Pt
is
equal to the
the axis through
of
perpendicular to the plane of motion and of the magnitude
body at the
we have
the angular velocity of the

stituting into (17.7),
T = lmv- +
or, since the
about the
sum
axis
2
f
represents the
instant considered. Sub-
(***)<
moment
(17.8)
of inertia
body
of the
through C,
T = hmv 2 +
We note that, in the

(u = 0), the expression
ilcc
(17.9)
particular case of a
body
obtained reduces to
case of a centroidal rotation (5
= 0),
it
mv
in translation
,
while, in the
reduces to |/w 2
We
conclude that the kinetic energy of a rigid body in plane motion

may be separated into two parts: (1) the kinetic energy mc 2
associated with the motion of the mass center G of the body, and
2
(2) the kinetic energy Jfo) associated with the rotation of die
bodv about G.
Noncentroidsl Rotation.
The relation (17.9)
is
valid for
any
type of plane motion and may, therefore, be used to express the

kinetic energy of a rigid body rotating with an angular velocity w
about a fixed axis through
In that case, however,
(Fig. 17.4).
the kinetic energy of the
body may be expressed more
noting that the speed
of the particle
t,
is
directly
by
equal to the product
f, of the distance r of
Pj from the fixed axis and of the magnitude u of the angular velocity of the body at the instant considered. Substituting into (17.2), we write
(
or, since the last
body about the
sum
represents the
fixed axis
moment
of inertia l
of the
through O,
T=
*0
u,
(17.10)
We
note that the results obtained are not limited to the motion
of plane slabs or to the motion of bodies which are symmetrical
with respect to the reference plane. They may be applied to the

study of the plane motion of any rigid body, regardless of its
shape.
17.4 Systems of Rigid Bodies. When a problem involves several rigid bodies, each rigid body may be considered
separately, and the principle of work and energy may be applied
to
each body. Adding the kinetic energies of
all
the particles
work of all the forces involved, we may

equation of work and energy for the entire system.
considering the
write the
and
also
We
have
*i
where T represents
L>i-2
the arithmetic
= T2
sum
the rigid bodies forming the system
k i-2
7
tnc
work
of
(17.11)
of the kinetic energies of
(all
terms are positive) and
the forces acting on the various bodies,

whether these forces are internal or external from the point of
all
view of the system as a whole.

The method of work and energy is particularly useful in solving problems involving pin-connected members, or blocks and
pulleys connected by inextensible cords, or meshed gears. In all
these cases, the internal forces occur by pairs of equal
site forces,
and the points of application of the forces
move through equal
and oppo-
in
each pair
distances during a small displacement of the
system. As a result, die work of the internal forces is zero, and

C/,_ 2 reduces to the work of the forces external to the system.
Fig. 17.4
783
784 DYNAMICS
7.5 Conservation of Energy. We saw in Sec.
work of conservative forces, such as the weight
body or the force exerted by a spring, may be expressed
13.6
that the
change
potential energy.
in
When
of a
as a
a rigid body, or a system
of rigid bodies, moves under the action of conservative forces,
work and energy stated in Sec. 17.1 may be

modified form. Substituting for Uj-^ from (13.19')
the principle of
expressed
in a
we
into (17.1),
write
r,
Formula
v,
(17.12) indicates that,
of rigid bodies,
r,
when
v.
(17.12)
a rigid body, or a system
moves under the action of conservative forces,

kinetic energy and of the potential energy of the
the sum of the

system remains constant.
It should be noted that, in the case

body, the kinetic energy of the
plane
motion
of
a
rigid
of the
body should include both the translational term |m 2 and the
rotational term JJua.
As an example of application of
we
of energy,
shall
the principle of conservation
consider a slender rod AB, of length
and
mass m, whose extremities are connected to blocks of negligible

mass sliding along horizontal and vertical tracks. We assume
that the rod
is
released with no initial velocity from a horizontal
position (Fig. 17.5a),

ity after
Datum
and we wish
to
determine
its
angular veloc-
has rotated through an angle 9 (Fig. 17.5b).
it
Datum
- /
Fig. 17.5
Since the
initial
velocity
is
zero,
we
have
T,
0.
Measuring
the potential energy from the level of the horizontal track,
we
Vl = 0. After the rod has rotated through 0, the center

below the reference
of gravity G of the rod is at a distance \l sin
write
level
and
we have
V2 = -^Wl sinO = -%mglsm6

Observing
rod
is
that, in this position,
located at C, and that
the instantaneous center of the
CO =
%l,
we
write v 2
\lu and
PLANE MOTION OF RIGID BODIES: ENERGY AND MOMENTUM METHODS 785

obta
ml 2
Applying the principle of conservation of energy,

i\
vvc write
= r2 + vt
v,
ctf
J-mg/ sin
>
-AM"
We
recall
that
energy, as well as
In this
the advantages of the
method
of
work and
shortcomings, were indicated in Sec. 13.4.

connection, we wish to mention that the method of work
its
and energy must be supplemented by the application

bert's principle
when
of
D'Alem-
reactions at fixed axles, at rollers, or at
be determined. For example, in order to

A and B of the rod of
Fig. 17.5b, a diagram should be drawn to express that the system
sliding blocks are to
compute the
reactions at the extremities
of die external forces applied to the rod
vector
ma and
equivalent to the
is
The angular velocity w of the rod,

however, is determined by the method of work and energy
before the equations of motion are solved for the reactions. The
the couple la.
complete analysis of the motion of the rod and of the forces

exerted on the rod requires, therefore, the combined use of the
method of work and energy and of the principle of equivalence
of the external and effective forces.
1 7.6. Power. Power was defined in Sec. 13.5 as the time
rate at which work is done. In the case of a body acted upon
by a force F, and moving with a velocity v, the power was
expressed as follows:
Power
= 52 = F
13 j 3 )
In the case of a rigid body rotating with an angular veloci ty w and

acted upon by a couple of moment
parallel to the axis of rota-
tion,
we
have, by (17.4),
Power
= ig. =
dl
The
MM = Ma
(17 13)
.
dt
various units used to measure power, such as the watt and

were defined in Sec. 13.5.
the horsepower,
SAMPLE PROBLEM
1.25
17.1
ft
240-lb block
suspended from an inextensible cable which
is
is
wrapped around a drum of 1.25-ft radius rigidly attached to a flywheel. The drum and flywheel have a combined ccnlroidal moment
T=
of inertia
block
is
is
10.5 lb
ft
At the instant shown, the velocity of the

Knowing that the bearing at A
2
.
downward.
ft/s directed
poorly lubricated and that the bearing friction
couple
after
it
is
equivalent to a
magnitude 60 lb -ft, determine the velocity of the

has moved 4 ft downward.
of
We
Solution.
block-
consider the system formed by the flywheel and the

is inextensible, the work done by the internal
block. Since the cable
by the cable cancels. The initial and final positions

system and the external forces acting on the system are as shown.
Kinetic Energy. Position I. We have
forces exerted
of the
\l
= mil,
II
, = 6ft/s
1.25
2401b
2 32.2 ft/s 2
v,
255
0ft/s
fl
7'
2
(6 ft/s)
4.80 rad/s
ft
(10.5 lb
ft
2
s )(4.80
rad/s) 2
lb
u2 =
Noting that
Position 2.
6ft/S
ii
= JmC 2 +
,
c.,/1.25,
wc
write
Io:'i
80 ll> -ft
Work.
W
W
During the motion, only the weight
the friction couple
and that the
friction
s,
couple
s,
ft
=
1.25
r
(',..,
Principle of
= W(s 2 -
*,)
(240 lb)(4
768
ft
- M(0 2 - (60 lb
ft)
3.20 rad
ft
0,)
ft)!3.20 rad)
lb
Work and Energy

r,
255
ft
-lb
i/
+ 768 ft
v2
786
of the block
and
does positive work

Noting that
does negative work, we write
do work.
M == r
-lb
12.01 ft/s
7.09c
v.,
12.(11
ft
si
250
mm
SAMPLE PROBLEM
=
100
mm
Gear
gear
B has
system
17.2
a mass of 3 kg and a radius of gyration of 80
when
al rest
is
gear B. Neglecting
executed by gear
before
7}
determine
its
we
'j^-'j
tc
number
the
(a)
is
applied to
of revolutions
angular velocity reaches 600 rpm,
which gear B
Motion of Entire System.

gears are equal,
M of magnitude BN-m
a couple
friction,
the tangential force
For
mm, while
mm. The
has a mass of 10 kg and a radius of gyration of 200
(b)
exerts on gear A,
Noting that the peripheral speeds of the
write
100
n^ B
mm
2o()mm
600 rpm, we have
- 62._8 rad/s
wA = 0.40u = 25.1 rad/s
=
=
mM
(10
kgXO.200
m)a = 0,400 kg m2
U
=
k
=
h i"n l (3 kg)(0.080 in) 2 = 0.0192 kg mu
fl
Since the system
Kinetic Energy,
T2 =
4(0. 4<X)
163.9]
kg
Motion
ol
t'
i-2
Gear A.
When
T2
4(0.0192 kg
mW rad)
= (6N
-2 :
8B
Work.
m 2 )(62.8 rad/s) 2
The
(60)
B,
we have
Work and Energy
''\
force
Denoting by 8 B the angular displacement of gear
Principle of
0.
m-)(25.1 rad/s) 2
C/1-2
ic
&5 + fo4
Work
T,
'1\ = 0.
Adding
600 rpm, wc obtain
is initially al rest,
two gears when
the kinetic energies of the
u>
(6 6B) J
163.9
27.32 rad
Kinetic Energy.
//,.=
Initially,
1.35 rev
gear
is
600 rpm, the kinetic energy of gear A
K3 =
4(0.400 kg
m 2 )(25.1
on gear
forces acting
rad/s) 2
are as shown.
does work equal to the product of
its
-^
at rest,
is
126.0 J
The
tangential
magnitude and of the
length 8 A rA of the arc described by the point of contact. Since 8 r

AA
B rB
wc have
l/
M=
Principle nf
F,
E(0 B rB )
Work
unci
:
,
,,
F(27.3 rad)(0.100 m)
F(2.73 m)
126.0
Energy
= T2
F(2.73 m)
F = +46.1 N
F =
46.1
N /
-*
787
SAMPLE PROBLEM
A
and a hoop, each having the same mass and

from rest on an incline. Determine the
sphere, a cylinder,
same
the
17.3
radius, are released
body
velocity of each
sponding to
Solution,
after
change
We
has rolled through a distance corre-
it
in elevation h.
problem
shall first solve the
then find particular results for each body.
m, the ccntroidal moment of inertia by

radius by
terms and
denote the mass by

the weight by W. and the
r.
Since each body

at
/,
in general
We
the instantaneous center of rotation
rolls,
located
is
and we write
inciic
h.
Energy
=0
T,
T2 = mu 2 +
=
Work.
fc>
J + V(jf
Since the friction force
i('n
+ )**
in rolling
motion does no work,
M = Wh
D"
Principle of Work and Energy

r,
+ u * =
'>*
Jm + -L\v
+ Wh =
Noting that
W=
nig,
we
Velocities ol Sphere, Cylinder,
the particular expressions for
Hoop:
U=
We may
and Hoop.
we
T,
Introducing successively
obtain
the
v
V
compare the
frictionless block sliding
to
I/t 2
I/mr 2
Cylinder:
identical
= Jror2
J=\mr 2
1= mr 2
Sphere:
is
m +
2g/>
=
1
Han ark.
<
rearrange the result and obtain
v'
by a
2VV7i
=
=
0.845 y2gh
/
O.HI()'v 2g7T
0.707 \'2/i
results with the velocity attained
through the same distance.
above solution except
that
co
The
solution
we
0;
find
V2g/i.
Comparing the
results,
independent of both
its
we
note that the velocity of the
mass and
depend upon the quotient I/mr 2
body
is
However, the velocity does

k 2 /r 2 which measures the ratio
radius.
of the rotational kinetic energy to the_translational kinetic energy.
Thus the hoop, which has the
largest
for a given radius
r,
attains
the smallest velocity, while the sliding block, which does not rotate,
attains the largest velocity.
5ft
AC
SAMPLE PROBLEM
17.4
is
30- lb slender rod .48
which
1 ft
is
of constant k
rod
determine
HI
we have
Pirtitton 1
its
compressed
is
the rod
If
pressed against a spring
is
The
in.
released from this
is
angular velocity and the reaction at the pivot
as the rod passes through a vertical position.
Position
Position
pivoted about a point
is
1800 lb/in. until the spring
then in a horizontal position.
is
position,
oft long and
from end B. The other end
Potential Energy.
/.
x,
V,
= Ikxj =
Choosing the datum
Kinetic Energy.
r,
|(1800 lb/in.)(l
in.)*
900
in
Since the velocity
VQ =
shown, we have
as
= Ve +
V,
Datum
Since the spring
compressed
is
lb
900
in
lb
0; therefore,
75 ft
lb
in position I
is
zero,
we have
o.
Position
Potential Energy.
2.
The elongation
of the spring
is
and we have V,. = 0. Since the center of gravity of the rod

1.5 ft above the datum,
V
(301b)(
+ 1.5ft) =
V2 = Ve + V9 =
Denoting by
Kinetic Energy.
position 2,
in
c.,
1 in.,
in.
7u 2
/
we note
1.5co
fonl*
that
45
to,
ft
45
zero,
is
now
-lb
ft
lb
the angular velocity of the rod
the rod
about
rotates
and write
301b
=J
(5
12 32.2 ft/s
T2 = }mcg +
jTco2
ft)
1.941 lb-
-s 2
ft
= 1^.(1.5^)2 + KLM1MI =
2.019<o|
7,
V,
+ V2
7"
75
ft
lb
2.019o;|
m.
Reaction
an
a,
= ra
We
no 2
Since u 2
in Position 2.
the acceleration of
45
ft
lb
3.86rad/s
3.86rad/s, the components of
as the rod passes through position 2 are
2
(1.5 ft)(3.86 rad/s)
22.3 ft/ss
5n
a,
express that the system of external forces
22.3 ft/s 2 j
ftt
equivalent to the
is
system of effective forces represented by the vector of components
ma, and mi, attached at
G
L
+1
2M
= 2(M
)e
and the couple
la.
= la +
<T,
m(ra)r
=0
R x = m(ra)
R-301b = -ma n
v-
301b
=-î_(22.3 ft/s
R u = +9.22 lb
9.22 lb
SAMPLE PROBLEM
17.5
Each of the two slender rods shown is 0.75 m long and has a mass
If the system is released from rest when B = 60", determine
of 6 kg.
(a)
AB when
point
same
at the
/i
20. (b) the velocity of
instant.
When [i = 20. Since v a is perpendicular

AB and v u is horizontal, the instantaneous center of rotation
BD is located at C. Considering the geometry of the figure,
Kinematics of Molion
to the rod
of rod
we
obtain
BC
CD =
0.75
m)
2(0.75
sin 20
0.513
Applying the law of cosines to triangle CDE, where K is located

the mass center of rod BD, we find F.C = 0.522 m. Denoting by
the angular velocity of rod AB, we have
=
=
v AB
tB
BD
Since rod
vB
Position
J.
0.325
Position
2.
m)w
(0.75
0.75u
\
\
we may
m)u BD
vBD
write
u BD
0.522a
=u
\
Choosing the datum as shown, and

58.9 N, we have
2(58.9 N)(0.325
Since the system
is
m)
at rest, T,
38.3
0.
Potential Energy
V2 = 2Wy 2 =
2(58.9 N)(0. 128
m)
15.1 J
Kinetic Energy
= Tbd= i2''" = A(6kg)(0.75m) 2 = 0.281 kg-m*

T2 = Jmoâ + I'abâb + $"BD + iW-io
Tab
=
=
(6X0.37510)-
J(0.281)
V,
of
= T2 + V2
nf Point
uD
790
](6){0.522u)a
(0.281)u a
Knergy
w
it?
1.520m'-
icrvation
l\
38.3
3.91 rad/s
1.520m8
u iB
15.1 J
3.91 tud
(C/3)u
<o
0.375w
m/s2) =
(6 kg)(9.81
2YVJ7,
(0.522 m)oi
Potential Energy.
Kinetic Energy.
D.iln
(0.75
{EC)uBD
V,
seems to rotate about point C,
observing thai VV
Tj,
v^ =
m)w
(0.75 m)io
[BC)u BD
c B0
5S.9 \
(0.375
at
(0.513 m)(3.91 rad/s)
2.01 ni/s
2.01 in
PROBLEMS
17.1 The rotor of a generator has an angular velocity of 3600 rpm
when the generator is taken off line. The 150-kg rotor, which has
a centroidal radius of gyration of 250 mm, then coasts to rest. Knowing
that the kinetic friction of the rotor produces a couple of magnitude
determine the number of revolutions that the rotor executes
in,
before coining to
17.2
of 0.75 m.
rest.
large flywheel of muss 1800 kg has a radius of gyration
is observed that 2500 revolutions are required for the

flywheel to coast from an angular velocity of 450 rpm to rest. Determine the average magnitude of the couple due to kinetic friction in
It
the bearings.
Two
7.3
same material are attached to a shaft as

and has a thickness 3b, while disk B is of
radius nr and thickness h. A couple
of constant magnitude is
applied when the system is at rest and is removed after the system has
executed two revolutions. Determine the value of n which results in
1
shown. Disk
disks of the
is
of radius
the largest final speed for a point on the rim of disk B.
Two
7.4
same material are attached to a shaft as

and has a radius r = 5 in. Disk B is
one-third as thick as disk A. A couple
of magnitude 10 lb -ft is
applied to disk A when the system is at rest. Determine the radius nr
of disk B if the angular velocity of the system is to be 450 rpm after
1
shown.
Disk
disks of the
weighs 30
lb
5 revolutions.
1 7.5
The flywheel of a small punch rotates at 240 rpm. It
known that 1500 ft lb of work must be done each time a hole
punched.
It is
is
is
desired that the speed of the flywheel after one punch-
ing be not less than 90 percent of the original speed of 240 rpm.
(a)
Determine the required moment
constant 20-lb-ft couple
mine the number

punching, knowing
of inertia of the flywheel, (h)
If
applied to the shaft of the flywheel, deterof revolutions which must occur between each
is
that the initial velocity
is
to
be 240 rpm
at the start
of each punching.
17.6 The
radius
15(H)
of
ft
24
(a)
Knowing
just
(b) IS
punching operation
requires
that the speed of the flywheel
a constant 15-lb
the flywheel, determine the

is
in.
is
before a punching, determine the speed immediately after
the punching,
speed
Each
of
work,
-lb of
300 rpm
flywheel of a punching machine weighs 600 lb and has a
gyration
again 300 rpm.
ft
number of
couple
is
applied to the shaft of
revolutions executed before the
Fig.
P17.3 and P17.4
791
792 DYNAMICS
400 111111
Two
17.7
cylinders are attached
by cords
pulley which has a radius of gyration of 300

is
at
and
rest
cylinder.
in
equilibrium, u 3-kg collar
7.8
18-kg double
is
added
the system
to the
12-kg
Neglecting friction, determine the velocity of each cylinder
after the pulley has
to an
mm. When
completed one revolution.
Solve Prob. 17.7, assuming that the 3-kg collar
is
added
to
the 6-kg cylinder.
12kg
Fig.
Using the principle of work and energy, solve Prob.
7.9
16.36'fo.
P17.7
17.10 Using
7.1
the principle of
work and energy,
solve Prob. 16.34c.
and initially at rest is placed

which moves with a constant velocity v.
Denoting by /i the coefficient of friction between the disk and the
belt, derive an expression for the number of revolutions executed by
1
in contact
disk of constant thickness
with the
the disk before
Fig.
is
it
belt,
reaches a constant angular velocity.
P17.11 andP17.12
17.12 Disk A. of weight 5 lb and radius r = 3 in., is at rest when it

placed in contact with the belt, which moves with a constant speed
v = 30 ft/s. Knowing that ji = 0.20 between the disk and the belt,
determine the number of revolutions executed by the disk before it
reaches a constant angular velocity.
17.13
350
(i,
H,
Fig.
P17.13
=
=
mm
The 200-mm-radius brake drum is attached to a larger

is not shown. The total mass moment of inertia of the
flywheel and drum is 8 kg-m-. Knowing that the initial angular velocity is 120 rpm clockwise, determine the force P which must be applied
if the system is to come to rest in 8 revolutions.
flywheel which
0.50
0.40
7.14
of the flywheel
is
120 rpm counterclockwise.
initial
angular velocity
17.15
A and H has a mass of 2 kg and a radius

mm, while gear C has a mass of 10 kg and a radius
175 mm. A couple M of constant magnitude 12 N m is
Each of the gears
of gyration of 70
of gyration of
applied to gear C.
Determine
(a)
for the angular velocity of gear
the
number
17.16
h0 mm
mm
of revolutions required
to increase from 1(H) to 4.50 rpm,

200
corresponding tangential force acting on gear A.
(b) the
SO
12-N-m couple
Fig
is
"
mill
P171S
applied to gear B.
17.17
A cord
in as shown.
If
is
wrapped around
the cylinder
is
a cylinder of radius r
velocity of the center of the cylinder after
distance
has moved through a
it
h.
17.18
Two
10-kg disks, each of radius
by a cord. At the
20 rad/s clockwise.
0.3
m, are connected
instant shown, the angular velocity of disk
Determine how
angular velocity of disk B
is
reduced
far disk
to
7.1 9
rolls
is
4 rad/s.
flywheel
is
rigidly attached to
without sliding along parallel
rails.
Fig.
P17.17
Fig.
P17.19
Fig.
P17.20
a lj-in.-radius shaft which
The system
IS'
is
released from
and attains a speed of 6 in./s after moving 75 in. along the

Determine the centroidal radius of gyration of the system.
rest
will rise before the
P17.18
Fig.
and mass
released from rest, determine the
7.20
rails.
of mass m and radius r is released froin rest

shown. Assuming that the hemisphere rolls without
determine (a) its angular velocity after it has rolled
A hemisphere
in the position
sliding,
through 90,
[Hint.
I
(b) the
Note that
jror*
normal reaction
CO -
m(GOf.]
at the surface at the
same
instant.
3r/8 and that, by the parallel-axis theorem,
794 DYNAMICS
17.21
sphere of mass
and radius
rolls
without slipping
curved surface of radius H. Knowing that the sphere is released from rest in the position shown, derive an expression (a) for
the linear velocity of the sphere as it passes through B, (b) for the
inside a
magnitude of the
7.22
vertical reaction at that instant.
Solve Prob. 17.21, assuming that the sphere
uniform cylinder of mass

Fig.
m and
radius
is
replaced by a
r.
P17.21
17.23
and mass
is
pivoted at one
and
Determine the angular velocity of the rod as it passes
through a vertical position and the corresponding reaction at the
pivot, (b) Solve part a for m = 1.5 kg and / = 0.9 m.
end as shown.
swings
It
released from rest in a horizontal position
is
freely, (a)
t'1
A
AC
J"
JB
C
C
/
Fig.
P17.23
Fig.
P17.24
7.24 A uniform rod of length is pivoted about a point C located

b from its center G. The rod is released from rest in
/
at a distance
a horizontal position. Determine

velocity of the rod as
(h) the
value of the
it
(a)
the distance b so that the angular
passes through a vertical position
maximum
is
maximum,
angular velocity.
1 7.25
A 6- by 8-in. rectangular plate is suspended by two pins at A
and B. The pin at B is removed and the plate swings about point A.
Determine (a) the angular velocity of the plate after it has rotated
through 90, (fo) the maximum angular velocity attained by the plate as
it
swings freely.
-n-
~r
\i
Bin
m
Fig.
Sin.
P17.25
7.26 and
of gyration of 3
stationary.
If
7.27 Gear C weighs 6 lb and has a

The uniform bar
in.
the system
is
AH
weighs 5
centroidal radius
lb,
and gear
is
released from rest in the position shown,
determine the velocity of point R
bar
afler
AB
has rotated through
90.
P17.26
Fig.
Fig.
17.28 The mass

is
center
G of a
1.5-kg wheel of radius
mm
50
from
its
centroidal radius of gyration of the wheel

rolls
without sliding,
that in position
its
angular velocity
angular velocity of the wheel
Fig.
is
is
the angular' velocity
P17.27
(a) in
R =
150
mm
geometric center C. The

k 75 mm. As the wheel
observed lo vary. Knowing

is
10 rad/s, determine the
position 2, (b) in position 3.
P17.28 and P17.29
7.29
The mass center
of a wheel of radius
is
located at
geometric center C. The centroidal radius of

gyration of the wheel is denoted by k. As the wheel rolls freely and
a distance
from
its
without sliding on a horizontal plane,

to vary. Denoting by w,,
of the
wheel when
below
C.
show
that
is
u.,,
and
to
its
directly above
io,, o;
2,
<4
and
co.,
angular velocity
is
observed
respectively, the angular velocity

(.',
level with C,
satisfy the relation
and directly
795
^
796 DYNAMICS
17.30 and 17.31

two uniform
the system
after
it
disks,
is
12-lb carriage
supported as shown by
is
in.
Knowing
that
determine the velocity of the carriage

Assume that the disks roll without sliding.
initially a( rest,
moved 3
has
The
each of weight H lb and radius 3
ft.
lib
ill.
1211)
1211)
SI
Fig.
P17.30
Fig.
7.32 The motion
and H which
240-mm rod AB
of the
slide freely in the slots
rest in position I,
(a) in
P17.31
shown.
determine the velocity of
If
is
guided by pins at A
is released from
the rod
A and B when
the rod
is
position 2. (b) in position 3.
A
I
300 mm
180
NSB
mm
J_.J_S
jld
II
7^*
4*c
1
1
//'
//
it
Fig.
P17.32
17.33 The motion of

A and B which slide freely
is
released from rest
when
a 0.6-m slender rod

in the slots
shown.
is
guided by pins at
that the rod
Knowing
and that end
is
given a
slight
push to the right, determine (a) the angle 8 for which the speed of
end A is maximum, (h) the corresponding maximum speed of A.
Fig.
P17.33
()
17.34 In Prob. 17.33, determine

when = 30, (6) when =90.
the velocity of ends
A and B
7.35 The ends of a 25-lb rod AB are constrained to move along

A spring of constant 3 lb/in. is attached to end A.
Knowing that the rod is released from rest when = (I and that the
initial tension in the spring is zero, determine the maximum distance
through which end A will move.
1
the slots shown.
7.36 The ends of a 25-lb rod AB are constrained to move along

A spring of constant 10 lb/in. is attached to end A
in such a way that its tension is zero when
= 0. If the rod is
released from rest when 8 = 60% determine the angular velocity of
he rod when
- 30.
1
the slots shown.
Fig.
P17.35 and P17.36
Fig.
P17.40
7.37 Determine
the velocity of pin
li
as the rods of
Sample Prob.
17.5 strike the horizontal surface.
17.38 The
respectively.
If
uniform rods
the system
is
AB
and
BC
are of mass 4.5 and 1.5 kg
released from rest in the position shown,
determine the angular velocity of rod
BC as
it
passes through a vertical
position.
-600 mm
200 mm
^
Fig.
3C
P17.38
17.39
after
>
it
BC
In Prob. 17.38, determine the angular velocity of rod
has rotated 45.
* 1 7.40 A
small matchbox
of the rod
given a slight horizontal push, causing
is
the horizontal floor.
is
Assuming no
placed on top of the rod AB.
to slide
friction
of the matchbox, determine the angle
have rotated when the matchbox
End
on
and neglecting the weight
through which the rod will
it
loses
contact with the rod.
797
798 DYNAMICS
17.41
The experimental setup shown
power output
of a small turbine.
When
used
is
the turbine
to
is
measure the
operating at
200 rpm, the readings of the two spring scales are 10 and 22 lb, respectively. Determine the power being developed by the turbine.
Fig.
7.42
B
to gear
attains
In
Sample Prob.
17.2 determine the
power being delivered
when (a) the gear starts

an angular velocity u B = 300 rpm.
at the instant
rotating, (b) the gear
17.43 Knowing that the maximum allowable couple which can

be applied to a shaft is ]2k.\'tn, determine the maximum power
which can be transmitted by the shaft (a) at 100 rpm, (b) at 1000 rpm.
P17.41
7.44
Determine the moment of the couple which must be

hp at a speed of (a) 3600 rpm,
erted by a motor to develop }
ex(b)
720 rpm.
17.7. Principle of Impulse and Momentum for the

Plane Motion of a Rigid Body. We shall now apply the
principle of impulse and momentum to the analysis of the plane
motion of
and of systems of rigid bodies. As was

Chap. 13, the method of impulse and momentum
is particularly well adapted to the solution of problems involving
time and velocities. Moreover, the principle of impulse and
rigid bodies
pointed out
in
momentum provides the only practicable method for the solution

of problems involving impulsive motion or impact (Sees. 17.10
and
17,11).
as made of a large number of
we recall from Sec. 14.8 that the system formed by
momenta of the particles at time t L and the system of the
Considering again a rigid body

particles
the
P.,
impulses of the external forces applied from r, to t 2 are together

equipollent to the system formed by the momenta of the particles
at time t 2 Since the vectors associated with a rigid body may be
.
considered as sliding vectors,
tems of vectors shown
it
follows (Sec. 3.18) that the sys-
in Fig. 17.6 are not
only equipollent but
(V
v.
Am
Ami,
;
O
()
Fig. 17.6
(C)

truly equivalent in the sense that the vectors
of the equals sign
may be transformed into
hand side through the use

Sec. 3.12.
We
of the fundamental operations listed in
therefore write
Momenta,
Syst
on the left-hand side
die vectors on the right-
But the momenta
v,
&m
Imp,_2
Syst Ext
Syst Momenta.;
of the particles
vector attached at G, equal to their
(17.14)
may be reduced
to a
sum
L=
and
to a couple of
moment
2V
Am
<
equal to the
sum
of their
moments
about
HG =
r
i'
Am
1=1
We recall from
linear
Sec. 14.2 that
momentum and
and
the angular
Hc
define, respectively, the
momentum
system of particles forming the rigid body.
L =
Eq. (14.14) that
mv.
On
We
about
of the
also note
from
the other hand, restricting the
present analysis to the plane motion of a rigid slab or of a rigid

body symmetrical with respect to the reference plane, wc recall
from Eq. (16.4) that H G = /w. We thus conclude that the system
momenta Vj Am is equivalent to the linear momentum

mv attached at G and to the angular momentum couple lu
(Fig. 17.7). Observing that the system of momenta reduces to the
vector mv in the particular case of a translation (a = 0) and to
of the
vector
the couple
we
lai
in
the particular case of a centroidal rotation
once more that the plane motion of a rigid

body symmetrical with respect to the reference plane may be
resolved into a translation with the mass center G and a rotation
(v
0),
about G.
Fig. 17.7
verify
800 DYNAMICS
Replacing the system of momenta in parts a amd c of Fig. 17.fi
by the equivalent linear momentum vector and angular momentum couple, we obtain the three diagrams shown in Fig. 17.8.
mv,
(*)
<!
Fig. 17.8
This figure expresses graphically the fundamental relation (17.14)

in the case of the plane motion of a rigid slab or of a rigid body
symmetrical with respect to the reference plane.
Three equations
Two
motion
of
equations are obtained by
may be
derived from Fig. 17.8.
summing and equating
the x and
y components of the momenta and impulses, and the third by
summing and equating the moments of these vectors about any
given point. The coordinate axes

they
may be allowed
to
may be chosen fixed in

move with the mass center of
while maintaining a fixed direction.
space, or
the
body
In either case, the point
about which moments are taken should keep the same position
relative to the coordinate axes during the interval of time considered.
In deriving the three equations of motion for a rigid body, care
should be taken not to add indiscriminately linear and angular

momenta. Confusion will be avoided if it is kept in mind that
mo, and mv v represent

linear
momentum
the components of a vector, namely, the
vector mv, while
/to
represents the magnitude
of a couple, namely, the angular momentum couple lu. Thus the

quantity Tu should be added only to the moment of the linear
momentum mv, never to this vector itself nor to its components.
All quantities involved will then
namely N*nvs or
lb-ft'S.
be expressed
in the
same
units,
Noncentroidal Rotation.
In this particular case of plane
motion, the magnitude of the velocity of the mass center of the
where F represents the distance from the mass

center to the fixed axis of rotation and w the angular velocity
of the body at the instant considered; the magnitude of the
body
is
momentum
r&,
vector attached at
moments about
the
couple
of the
is
and using the
(Fig. 17.9)
thus
momentum
mo = mm. Summing
vector and
parallel-axis
momentum
theorem
ments of inertia, we find that the angular momentum

body about O has the magnitudef
Ioi
(mnc)r
(7
Equating the moments about
we
in (17.14),
+ mr 2 )u =
of the
for
mo-
of the
(17.15)
momenta and impulses
write
r' 2
(17.16)
In the general case of plane motion of a rigid
body symmetmay be used
rical with respect to the reference plane, Eq. (17.16)
with respect to the instantaneous axis of rotation under certain

conditions. It is recommended, however, that all problems of
plane motion be solved by the general method described earlier
in this section.
1
7.8.
Systems of Rigid Bodies. The
motion of several
rigid bodies may be analyzed by applying the principle of impulse and momentum to each body separately (Sample Prob.
17.6).
However, in solving problems involving no more than three

unknowns (including the impulses of unknown reactions), it is
often found convenient to apply the principle of impulse and
momentum to the system as a whole. The momentum and impulse diagrams are
drawn
for the entire
system of bodies. The
diagrams of momenta should include a momentum vector, a

momentum couple, or both, for each moving part of the system.
Note that the sum
momenta
II, of the
of the particles of
Prob. 17.59.)
moments about an
a rigid slab
is,
in
arbitrary point
general, not equal to
A
l
of the
A u. (See
801
802 DYNAMICS
may be omitted from
Impulses of forces internal to the system
the impulse diagram since they occur in pairs of equal and
Summing and equating
opposite vectors.
successively the x
com-
ponents, y components, and moments of all vectors involved,

one obtains three relations which express that the momenta at
time
(
l
and the impulses of the external forces form
equipollent to the system of the
momenta
at
time
a system
f .f
Again,
care should be taken not to add indiscriminately linear and

angular momenta; each equation should be checked to make sure
that consistent units
have been used. This approach has been
used in Sample Prob. 17.8 and, further on, in Sample Frobs. 17.9
and 17.10.
17.9. Conservation of Angular Momentum. When
no external force acts on a rigid body or a system of rigid bodies,
the impulses of the external forces are zero and the system of
the momenta at time t, is equipollent to the system of the
momenta at time r 2 Summing and equating successively the x
components, y components, and moments of the momenta at
times /, and r2 we conclude that the total linear momentum
.
of the system
angular
is
conserved
in any direction and that its total

conserved about anv point.
engineering applications, however, in which
momentum
There are many
is
momentum
momentum H of the
the linear
is
not conserved yet
(H),=(H
Such cases occur when the
pass through
in
which the angular
system about a given point
more
)2
is
conserved:
(17.17)
lines of action of all external forces
when the sum of the angular

impulses of the external forces about U is zero.
Problems involving conservation of angular momentum about
a point O may be solved by the general method of impulse and
momentum,
or,
generally,
by drawing momentum and impulse diagrams

and 17.8. Equation (17.17) is then
obtained by summing and equating moments about O (Sample
Prob. 17.8). As we shall sec later in Sample Prob. 17.9, two
additional equations may be written by summing and equating
x and 1/ components; these equations may be used to determine
two unknown linear impulses, such as the impulses of the reaction components at a fixed point.
i.e.,
as described in Sees. 17.7
Note
lhat, as in Sec. 16.7,
we cannot speak
are not dealing with a single rigid body.
of tqtiivalent systems since
wc
-r.
250
mm
KXIiimi
SAMPLE PROBLEM
Gear
gear
B has
17.6
mm, while
mass of 3 kg and a radius of gyration of 80 mm. The
system is at rest when a couple
of magnitude 6N-m is applied to
gear B. Neglecting friction, determine [a) the time required for the
angular velocity of gear B to reach 600 rpni, ib) the tangential force
has a mass of 10 kg and a radius of gyration of 2(K)
a
which gear B
Wc
Solution.
These gears have been previously
exerts on gear A.
considered in Sample Prob.
17.2.
momentum
to
each gear separately. Since all forces and the couple are constant,
their impulses are obtained by multiplying them by the unknown time
I.
We
inertia
from Sample Prob. 17.2 that the centroidal moments of
recall
and the
final
=
=
lA
(uA ) t
angular velocities are
0.4(H)
kg
m2
(uB).,
25.1 rad./s
0.0192 kg
-m 2
62.8 rad/s
and Momentum for Gear A. The systems of

momenta, impulses, and final momenta are shown in three-
initial
separate sketches.
Momenta, +
Syst
+ ) moments
Ff (0.250
m)
(0.400
Ft
40.2
Imp[_ 2
= l A (uA
kg
FtrA
Momenta.,
Syst
)->
)(25.1 rad/s)
and Momentum
/ 10
Syst Ext
about A:
for
Gear B.
(I
Momenta,
+) moments about B-.
4-
Syst
+(6 X m)j -
(10.2
\"
Syst Ext
Imp^j
+ Mt
sKO.100 m)
FtrB
=
=
Syst Momenta.,
1^^-,
(0.0192 kg
m 2 )(62.8 rad/s)
f
Recalling that
40.2
f(0.87\
s)
we
40.2
s,
Thus, the force exerted by gear
'n'W
0.871
write
B on
gear
+46.2
is
N
=
803
SAMPLE PROBLEM
17.7
A hoop of radius r and mass m is placed on a horizontal surface with

no linear velocity but with a clockwise angular velocity to,. Denoting
by ,u the coefficient of friction between the hoop and the surface,
determine (a) the time t, at which the hoop will start rolling without
sliding, (h) the linear
and angular
Since the entire mass
Solution.
the center of the hoop,
we have
relative to the surface,
it
friction force F,
and
impulse and
We
when
Syst
Momenta; +
when
l
x
starts rolling
it
+ ) moments
Xl
placed
it is
without sliding.
-7co,
W=
we obtain A =
C and we have F = flN =
7
(1)
u.mgt
Substituting
= mv 2
ixmgtr
c2
= mr 2
into
tg,
is
= mr^Wg
zero.
(5),
we
At that time,
!'
into
(2),
we
write
,ugr
(4)
when
/
the velocity v c of
I.,,
point C becomes
we have
LT
rco
Substi-
2.
write
r a
pgta
Substituting this expression for
Ot
sliding occurs at point
*l

tuting from (4) and
,3.
(3),
will start rolling without sliding
the point of contact
(-)
/co.,
<
Momenta,
(1)
Substituting for
M>g-
u.mg and /
mr 2 <a +
Fir
For
nig.
Syst
= mc 2
= -
Fl
about G:
F =
., =
- Wt =
Syst Ext Imp,
+ f y components:
^* .v components:
804
W = wg.
apply the principle of
i>,=ii
c;
The hoop
is
hoop from the time
to the
on the surface until the time
From
t,.
acted upon by the normal force N, the
is
and Momentum.
momentum
time
at
m is located at a distance r from

= mr 2 While the hoop sliding
weight VV of magnitude
its
hoop
velocities of the
=ixsh= Mg-^-
r^co,
us
t
rj
\
l
into
v2
"-^
(4),
= r,
v-
Jrw,
i,
l,
2^1
SAMPLE PROBLEM
Two
at
17.8
weighing 2 lb each, are mounted

and B on the horizontal rod A'B\ which rotates freely about
solid spheres of radius 3 in.,
the vertical with a counterclockwise angular velocity of 6rad/s. The

spheres are held in position by a cord which is suddenly cut. Knowing
that the centroidal moment of inertia of the rod and pivot is
TR
0.25 lb
ft
s ,
due to the
final
momenta
the angular velocity of the rod after
(a)
and B', (h) the energy lost

impact of the spheres and the stops at A' and B'.
plastic
to positions A'
Principle of Impulse and
a.
the
determine
moved
the spheres have
Momentum.
angular velocity of the rod,
we
In order to determine
shall express that the initial
of the various parts of the system and the impulses of the
momenta
external forces arc together equipollent to the final
of the
svstem.
Observing that the external forces consist of the weights and the
reaction at the pivot, which have no moment about the y axis, and
noting that vA
4- )
vB
7u,
we
write
moments about y axis:

2(m sF,w )F + 2fs w, + f
1
ft
(2m s r\
which expresses
y axis
is
/-
** s
s )to,
that the angular
conserved.
27s
We now
momentum of
Ka* = 1( 32.2 iw )^
2
aoi 8
sir ( A) TR =
0.278(6 rad/s)
Energy Lost.
The
TKio 2
(1)
the system about the
compute
Substituting these values and
b.
= 2(msF2 te 2 )F2 + 2/sw 2 +

= (2msr% + 2/s + 7BK'.,
w,
ft)2
^=
0.25,
Mom
lb
MW
u i = 6rad/s
0.792m2
6J
ft
into
"
s2
- 2696
(1):
2.08 rad/s
-*
kinetic energy of the system at any instant
is
T = 2(JmP s +
Iffiw
2
)
+ &w - i(2v ! + 2JS + Z>*
Recalling the numerical values found above,

r,
.](0.275)(fi)
4.95
AT = T2 -
ft
T,
lb
1.71
T2 =
we have
2
J(0.792)(2.08)
4.95
1T=
1.713
-3.24
1"!
ft
-lb
lb
806 DYNAMICS
PROBLEMS
17.45
electric
is
turned
off,
rotor have a
gyration of 2
Fig.
P17.45
small grinding wheel
motor which has
a rated
is
attached to the shaft of an
speed of 3600 rpm.
the unit coasts to rest in 70
When
power
the
The grinding wheel and
s.
combined weight of 6 lb and a combined radius of

Determine the average magnitude of the couple due
in.
to kinetic friction in the bearings of the motor.
17.46
turbine-generator unit
tating at 3600 rpm;
Knowing
7.10 min.
of 234
it
is
is
shut off
when
rotor
its
observed that the rotor coasts to
is
ro-
rest
in
that the 1850-kg rotor has a radius of gyration
mm, determine
the average magnitude of the couple due to
bearing friction.
17.47
mm
bolt located 50
from the center of an automobile

s.
Assuming
that the wheel is free to rotate and is initially at rest, determine the
resulting angular velocity of the wheel. The 20-kg wheel has a radius
of gyration of 250 mm.
wheel
tightened by applying the couple shown for 0.I
is
Illl
Fig.
7.48
a time
/,,
P17.47
Solve Prob. 17.3. assuming that the couple

and then removed.
7.49
is
disk of constant thickness, initially at rest,
contact with a belt which moves with a constant velocity
by u the
between the
disk
and the
applied for
is
v.
belt,
placed in
Denoting
derive an
expression for the time required for the disk to reach a constant
angular velocity.
1
is
7.50 Disk A,
placed
in
of weight 5 lb and radius
c = 50 ft/s.
determine the time required
Fig.
P17.49 and P17.50
velocity.
in., is
at rest
when
it
contact with the belt, which moves with a constant speed

Knowing that u = 0.20 between the disk and the belt,
for the disk to reach
a constant angular
17.51
Solve Prob. 12.17/?, assuming that each pulley
radius and has a centroidal
7.52 Using
moment
is
of inertia of 0.25 llvft-s 2
the principle of impulse and
momentum,
of 8-in.
,
solve Prob.
16.34&.
7.53
Disks
A and B
are of mass 5 and 1.8 kg, respectively. The

and the coefficient of friction between them
is 0.20.
A couple
of magnitude 4 N
m is applied to disk A for
1.50 s and then removed. Determine (a) whether slipping occurs between the disks, (b) the final angular velocity of each disk.
1
150 nun
disks are initially at rest
7.54
no slipping occurs,
(b)
(a)
the largest couple
the corresponding
final
M for which
angular velocitv of each
disk.
Fig.
7.55 Two
A and B are connected by a belt as shown. Each

and has a radius of 1 .5 ft. The shaft of disk B rests in
a slotted bearing and is held by a spring which exerts a constant force
of 15 lb. If a 20-lb-ft couple is applied to disk A. determine (a) the
time required for the disks to attain a speed of 600 rpm, (b) the tension
in both portions of the belt, (c) the minimum coefficient of friction if no
1
disks
disk weighs 30 lb
slipping
is
to occur.
Fig.
17.56
disk
P17.55
Solve Prob. 17.55, assuming that disk
A weighs
10 lb and
B weighs 50 lb.
7.57
Show
that the system of
momenta
for a rigid slab in plane
motion reduces to a single vector, and express the distance from the
mass center G to the line of_action of this vector in terms of the
centroidal radius of gyration k of the slab, the magnitude c of the
velocity of C,
and the angular velocity
oi.
P17.53
808 DYNAMICS
1
Show
7.58
that,
when
particles
is
about a
a rigid slab rotates
through
fixed axis
momenta
system of
slab, the
of
its
equivalent to a single vector of magnitude mru, perpeiir
OG, and applied
dicular to the line
the center of percussion, at a distance
P on this line, called

k 2 / 7 from the mass center
to a point
GP =
of the slab.
Show that the sum H of

momenta of the particles of a
17.59
of the
a point
plane motion
is
moments about
the
(1
rigid slab hi
equal to lA u>, where to is the angular velocity of the slab at the instant
considered and IA the moment of inertia of the slab about A, if and
only if one of the following conditions is satisfied: (a) A is the mass
center of the slab, (b)

the velocity of
the instantaneous center of rotation,
is
directed along a line joining point
is
(c)
and the mass
center G.
17.60
Consider a rigid slab
impulsive force
contained
in
initially at rest
and subjected
the plane of the slab.
We
to
an
define the
P as the point of intersection of the line of action

with the perpendicular drawn from G. (o) Show thai the instan-
center of percussion
of
taneous center of rotation
CC =
distance
Fig.
P17.60
/GP on
of the slab
is
located on line
the opposite side of G.
Show
(b)
CP
al
that,
if
the center of percussion were located at C, the instantaneous center

of rotation
would be located
at
P.
1 7.61
A cord is wrapped around a solid cylinder of radius r and
mass m as shown. If the cylinder is released from rest at time t = 0,
determine the velocity of the center of the cylinder at a time t.
Fig.
7.62
slipping,
P17.62
determine
as shown.
(a)
acted
initially at rest
and
is
Assuming that the body
rolls
without
100-kg cylindrical roller
upon by a 300- N force

Fig.
P17.61
is
the velocity of the center
friction force required to prevent slipping.
after 6s, (b) the

1
7.63 A
rest at
time
determine
section of thin-walled pipe of radius

r
Assuming
0.
the velocity of the center at time
(a)
released from
r is
that the pipe rolls without slipping,

t,
(/>)
the coefficient
of friction required to prevent slipping.

1 7.64 Two disks, each of weight 12 lb and radius 6 in., which roll
without slipping, are connected by a drum of radius r and of negligible
weight. A rope is wrapped around the drum and is pulled horizontally
Fig.
P17.63
with a force P of magnitude 8 lb. Knowing that r

3 in. and that the
disks arc initially at rest, determine (a) the velocity of the center
after 3
s,
(b) the friction force
required to prevent slipping.
Fig.
P17.64
17.65 In Prob. 17.64, determine the required value of r and the

corresponding velocity after 3 s if the friction force is to be zero.
1
7.66 and
two uniform
the carriage
3
7.67 The
12-lb carriage is supported as shown by

each of weight 8 lb and radius 3 in. Knowing that
initially at rest, determine the velocity of the carriage
1
disks,
is
after the 4-lb force
is
applied.
Assume that the
disks roll without
sliding.
4 lb
12 lb
12ll>
[B
Fig.
A Ho.
P17.66
Fig.
P17.67
A sphere of mass and radius r is projected along a rough

1 7.68
horizontal surface with a linear velocity v but with no angular velocity (
0).
Determine
{a)
the final velocity of the sphere, (b) the
time at which the velocity of the sphere becomes constant in terms

of u
and
u.
7.69 A sphere
of mass
m and radius
r is
projected along a rough
horizontal surface with the initial velocities indicated.

velocity of the sphere
is
to
be
If
the
zero, express [a) the required
final
in
terms of D and r, {b) the time required for the sphere to come to
rest in terms of i and a.
Fig.
P17.68 and P17.69
809
810 DYNAMICS
1 7.70
Solve Sample Prob.
by a uniform sphere of radius
17.71
/-
is
replaced
Solve Sample Prob. 17.8, assuming that, after the cord
B moves
cut, sphere
sphere
assuming that the hoop

and mass m.
17.7,
is
to position H' but that an obstruction prevents
from moving.
1 7.72
An 8-lb tube CD may slide freely on rod AB, which in turn
may rotate freely in a horizontal plane. At the instant shown, the
assembly is rotating with an angular velocity of magnitude w = 8 rad/s
and the tube

axis
is
Knowing
rod.
moving toward
with a speed of 5
that the centroidal
moment
ft/s relative to the
of inertia about a vertical
0.022 lb-ft-s 2 for the tube and 0.400 lb -ft $* for the rod and
is
bracket, determine (a) the angular velocity of the assembly after the
tube has moved to end A,

Fig.
P17.72
(/;)
the energy lost
due
to the plastic
impact
at A.
17.73 Four rectangular panels, each of length b and height \b, are
attached with hinges to a circular plate of diameter \/2b and held by a
wire loop
in
and the panels are made of

The entire assembly is
when the wire breaks. Determine
The
the position shown.
the same material and have
plate
same
the
rotating with an angular velocity
ton
thickness.
the angular velocity of the assembly after the panels have
come
to rest
in a horizontal position.
Fig.
UNI mill
Disks A and B are made of the same material and are of

same thickness; they may rotate freely about the vertical shaft.
Disk B is at rest when it is dropped onto disk A which is rotating
1
150 mm
7.74
the
with an angular velocity of 400 rpm.
A
100
Fig.
rpm
P17.73
is
4 kg, determine
change
to
(a)
the
Knowing
that the mass of disk
angular velocity of the disks,
final
(b)
the
kinetic energy of the system.
P17.74
1
7.75
In Prob. 17.74,
show
that
if
both disks arc
initially rotating,
the change in kinetic energy A 7' of the system depends only upon the
initial relative velocity
AT
in
terms of ,,.
to
B//1
of the disks,
and derive an expression
for

1
7.76
through
may slide in a slender tube of length

kg which rotates freely about a vertical axis passing
small 250-g ball
and of mass
1 in
center C.
its
the angular velocity of the tube
If
is
10 rad/s
as the ball passes
tube
has
(a)
left
through C, determine the angular velocity of the

just before the ball leaves the tube, (b) just after the ball
the tube.
7.77
The rod
CD
which
is
was
to,
when
AB
the rod
was
m and slides freely inside the tube

m. The angular velocity of the assembly
of mass
is
also of mass
entirely inside the lube (x
Neglecting
0).
the effect of friction, determine the angular velocity of the assembly

when x iL.
oC_LL>
fc:::-c^!:
C
L
Fig.
-/.
P17.77
1 7.78
In the helicopter shown, a vertical tail propeller is used to
prevent rotation of the cab as the speed of the main blades is changed.
Assuming
that the tail propeller is not operating, determine the final

angular velocity of the cab after the speed of the main blades has been
changed from 180 to 240 rpm. The speed of the main blades is meas-
ured relative to the cab, which has a centroidal moment of inertia of

650 lb ft -s 2 Each of the four main blades is assumed to be a 14-ft
slender tod weighing 55
Fig.
lb.
P17.78
1 7.79 Assuming that the

and that the angular velocity
tail
propeller in Frob. 17.78
is
operating
of the cab remains zero, determine the
the cab when the speed of the main blades

changed from 180 to 240 rpm. The cab weighs 1250 1b and is
initially at rest. Also determine the force exerted by the tail propeller
if this change in speed takes places uniformly in 12 s.
final horizontal velocity of
is
Fig.
P17.76
811
812 DYNAMICS
17.80
The 5-kg
disk
is
attached to the arm
AB
which
is
free to
CD. The arm and motor unit has a

moment of inertia of 0.03 kg*ms with respect to the axle CD, and the
normal operating speed of the motor is 360 rpm. Knowing that the
system is initially at rest, determine the angular velocities of ihe arm
and of the disk when the motor reaches a speed of 360 rpm.
rotate about the vertical axle
cpl
P17.80
Fig.
7.81
to the
as
7.82
it
In Prob. 17.77, determine the velocity of the rod relative
tube when x
,L.
Knowing that
of the velocity of the ball as
speed of the
in Prob. 17.76 the
it
is 1.2 m/s
components
ball
passes through C, determine the radial and transverse

leaves the tube at B.
It
7.83 Collar B weighs 3 lb and may slide freely on rod UA which

may rotate freely in the horizontal plane. The assembly is
rotating with an angular velocity w = L5 rad/s when a spring located
between A and B is released, projecting the collar along the rod
with an initial relative speed v, = 5 ft/s. Knowing that the moment
1
in turn
J-b>
o
=MT
(a)
ensuing motion,
Fig.
and spring
the minimum distance between the
of inertia about
(b)
of the rod
is
0.151b
collar
ft
2
,
and point
determine
in
the
the corresponding angular velocity of the assembly.
P17.83
7.84
In Prob. 17.83, determine the required magnitude of the
initial relative
velocity v r
distance between collar
7.85
the collar
if
during the ensuing motion the
B and
point
is
to be
minimum
1 ft.
Solve Prob. 17.83, assuming that the initial relative speed of

is
t;
10
ft/s.
17.10. Impulsive Motion. We saw in Chap. 13 that the

method of impulse and momentum is the only practicable
method for the solution of problems involving impulsive motion.
Now we shall also find that, compared with the various problems
considered in the preceding sections, problems involving impulsive motion are particularly well adapted to a solution by the
method
of impulse
and momentum. The computation of
impulses and angular impulses
is
interval considered being very short, the bodies involved
assumed
occupy the same position during
to
linear
quite simple, since, the time
may
be
that time interval.
17.11. Eccentric Impact. In Sees. 13.13 and 13.14, we

learned to solve problems of central impact, i.e., problems in
which the mass centers of the two colliding bodies are located
on the line of impact. We shall now analyze the eccentric impact
of two rigid bodies. Consider two bodies which collide, and
denote by v 4 and vg the velocities before impact of the two
points of contact A and B (Fig. 17.10a). Under the impact, the
two bodies will deform and, at the end of the period of deformation, the velocities u and u
4
B of A and B will have equal components along the line of impact mi (Fig. 17.106). A period of
restitution will then take place, at the end of which A and B will
have
velocities v^
we
frictionless,
and
v'B (Fig.
17.10c).
directed along the line of impact.
fP dt and fR
Assuming the bodies

on each other are
find that the forces they exert
Denoting, respectively, by
dt the magnitude of the impulse of one of these
forces during the period of deformation and during the period of
we recall that the coefficient of restitution e is defined
restitution,
as the ratio
fRdt
(17.18)
JPdt
We
propose to show that the relation established
between the
in Sec. 13.13
two particles before and after

impact also holds between the components along the line of
impact of the relative velocities of the two points of contact
A and B. We propose to show, therefore, that
()n
We
shall
(b)
relative velocities of
first
- Kin =
#x)>,
(s)]
(17.19)
assume that the motion of each of the two
colliding bodies of Fig. 17.10
is unconstrained.
Thus the only
impulsive forces exerted on the bodies during the impact are
applied at A and B respectively. Consider the body to which
point A belongs and draw the three momentum and impulse
Fig.
17.10
814 DYNAMICS
(a)
+
W
ir)
Fig. 17.11
diagrams corresponding to the period of deformation (Fig. 17.] 1).

We denote by v and u, respectively, the velocity of the mass
center at the beginning and at the end of the period of deforma-
and by and a* the angular velocity of the body at the

same instants. Summing and equating the components of the
momenta and impulses along the line of impact nn, we write
tion,
mvn -
J'Pdt ss
mu a
(17.20)
Summing and equating the moments about

and impulses, we also write
of the
momenta
To-TSPdt = Ta*
where
represents the perpendicular distance from
now
of impact. Considering
in a similar
to the line
we
obtain
way
Ju*
v'
the period of restitution,
mu
where
(17.21)
and
J'R dt
rffl dt
mo
= /'
'
(17.22)
(17.23)
w' represent, respectively, the velocity of the
mass
center and the angular velocity of the body after impact. Solving
and (17.22) for the two impulses and substituting into

(17.18), and then solving (17.21) and (17.23) for the same two
impulses and substituting again into (17.18), we obtain the following two alternate expressions for the coefficient of restitution:
(17.20)
e=
Multiplying by
Jr
_'
(17.24)
the numerator and denominator of the second
expression obtained for
e,
and adding respectively to the numerfirst expression, we have
ator and denominator of the
vn
+ ru-
ru
tv'
rco
(17.25)
ru represents the component (v A ) n along

of the velocity of the point of contact A and that, similarly.
Observing that v
tin
''
"">*
and
("A
and
(m) b
"n
'
"' represent, respectively, the
components
vvc write
(17.26)
- (A
The
analysis of the motion of the second body leads to a similar

expression for e in terms of the components along nn of the
successive velocities of point B. Recalling that (uj = (u
n
B ), and
eliminating these two velocity components by a manipulation
similar to the
one used in Sec. 13.13, we obtain relation (17.19).

one or both of the colliding bodies is constrained to rotate
If
about a fixed point O, as in the case of a compound pendulum

(Fig. 17.12fl), an impulsive reaction will be exerted at
O (Fig.
17.12&).
We
shall verify that,
while their derivation must be
l/Q.A
modified, Eqs. (17.26) and (17.19) remain valid.
mula
(17.16) to the period of deformation
restitution,
we
point
u - rfPdt
w*
rfR dt
=
=
for-
u*
(17.27)
u'
(17.28)
r represents the perpendicular distance
Applying
to the period of
write
where
and
to the line of impact.
from the
fixed
Solving (17.27) and (17.28) for
the two impulses and substituting into (17.18), and then observing
that no, iw* and r' represent the components along nn of the
successive velocities of point A, we write
w u'
u w*
ru
no
ru
ru*
u Aln
(u)
cA In
- (A
and check that Eq. (17.26) still holds. Thus Eq. (17.19) remains
valid when one or both of the colliding bodies is constrained to
rotate about a fixed point O.
In order to determine the velocities of the two colliding bodies

be used in conjunction with
one or several other equations obtained by applying the principle
after impact, relation (17.19) should
of impulse and
momentum (Sample
Prob. 17.10).
SAMPLE PROBLEM
17.9
A is fired with an initial velocity of 1500 ft/s into

from a hinge at O.
a 50-lb wooden beam B which is suspended
determine
[a) the angular
rest,
initially
at
beam
is
that
the
Knowing
embedded
velocity of the beam immediately after the bullet becomes
0.125-lb bullet
beam, (b) the impulsive reaction at the hinge, assuming

the bullet becomes embedded in 0.0002 s.
that
in the
bullet
and the
momenta
and Momentum. We consider the

and express that the initial
and beam and the impulses of the external
Solution.
beam
as a single system
of the bullet
forces are together equipollent to the final
Since the time interval A<
0.0002
momenta
of the system.
we
very short,
is
neglect
nonimpulsive forces and consider only the external impulses
Rx
all
t and
RM.
-j:
A'
II.
ft
2 ft
!
+ ) moments
-**
about O:
m^(i; r ) 1 (2
x components:
+t
U( c r)i
The components of the velocity

ment of inertia of the beam are
J(1500
/
ft/s)
= fcmP =
(2)
(2
At
K ^<
(4ft)
r v
(1)
Rv
= Io> 2 + m H v
= mB v 2
2.07io 2
ft)
(2)
(3)
and the ccntroidal mo-
j|(1500 ft/s)
900
that v 2
(2 ft)w 2
(50/32.2)(2<o 2 )(2)
Wj,
2.25 ft/s into
1.125 rud
(2),
we
-*
]
solve Eqs.
= (50/32.2>;2.25)
K, = 58201b'
= -58201b
-(0.125/32.2)(900) + K(0.0002) =
+
fi r (0.(X)02)
H,
816
ft/s
respectively.
(0.125/32.2)(1200)
(1)
= 2.071b-ffs 2
1.125 rad/s
2 (2
and noting
25 rad/s)
ft)( 1.1
and
(),
12 32.2 ft/s2
u2 =
(3) for fl,
fl
of the bullet
501b
(0.125/32.2)(1200)(2)
and
1200 ft/s
Substituting these values into
Substituting c 2
ft)
"liWi +
y components:
(ig,
'
= + 17,470 lb
7.-170 lb

A
2-kg sphere moving horizontally to the right with an
initial
velocity
lower end of an 8-kg rigid rod AB. The rod is

suspended from a hinge at A and is initially at rest. Knowing that
the coefficient of restitution between the rod and sphere is 0.80,
determine the angular velocity of the rod and the velocity of the
of 5
m/s
strikes the
sphere immediately after the impact.
We
and Momentum.
sphere as a single system and express that the
consider the rod and
momenta
initial
of the
rod and sphere and the impulses of the external forces arc together
equipollent to the
momenta
final
We
of the system.
only impulsive force external to the system
note that the
the impulsive reaction
is
at A.
1
0.6
1.2 in
" L
about A:
+ m R v'R (0.6 m) + Tu' (1)

rod rotates about A, we have o'R = rw' = (0.6 m)to'. Also,
7"= j!jmL2 = (8kg)(1.2 m) 2 = 0.96 kg m s
m
Since the
CJ
+ 5 moments
v,{1.2
m)
tn,v'(1.2
m)
Substituting these values and the given data into Eq.
(1),
wc have
(2kg)(5m/s)(1.2m)
(2kg)t-;(1.2m)
12
Relative Velocities.
+ (8 kg)(0.6 m)w'(0.6 m) +
= 2.4c; + 3.84m'
Choosing positive to the
~ v = fo = 5 m/s, v B = 0, and e 0.80, wc

o'
= 0.80(5 m/s)
B <='b
Substituting
v,
right,
(0.96
kg
-mV
(2)
we
write
<-//
's
obtain
i;;
Again noting that the rod rotates about A,

c'B
Solving Eqs.
(2) to (4)
w'
v',
=
=
(1.2
write
m)'
simultaneously,
+3.21 rad/s
-0.143 m/s
we
(3)
we
(4)
obtain
to'
vl
3.21 rad 's J

0.143 m/s <-
-
-*
817
SAMPLE PROBLEM
17.11
of side a and mass m moves clown a conveyor belt

with a constant velocity v\. At the end of the conveyor belt, the
corner of the package strikes a rigid support at B. Assuming that the
A square package
impact at B is perfectly plastic, derive an expression for the smallest

magnitude of the velocity v\ for which the package will rotate about
B and reach convevor bell
Principle
ol
the package
Since the impact between
Momentum.
Impulse and
and the support
is
perfectly plastic, the package rotates
about B during the impact. We apply the principle of impulse and

momentum to the package and note that the only impulsive forceexternal to the package
is
Momenta, -
Syst
+ ) moments
the impulsive reaction at B.
Syst Ext
(mSJQa)
about B:
Since the package rotates about B,
We
Imp,^,
(meiKio)
(me^)(j \/2a)
we have
substitute this expression, together with
--
Momenta.;
Syst
Tu 3
c.,
(CB)u 2
Jmir, into Eq.
= m$y/2m>aMy/2a) + bnuPa2
u,
(1)
\yfla*.2
(1);
gou2
(2)
We apply the principle of

Principle of Conservation of Energy.
conservation of energy between position 2 and position 3.
?.
V = W/i... Recalling that v., = i \fhiu 2 we write
,
T.,
Position
2 mv'i
3.
\L\
+ HfrnxPM = Jw2|
Jn(J\/2aw 2 ) 2
Since the package must reach conveyor belt B, it must

where G is directly above B. Also, since we
pass through position 3
CH = \-\f2"
/i;
C.R
sin
~=0.0I2
0.707a
(
15
+ 15'
wish to determine the smallest velocity

reach this position, we choose c 3 = w3
for
0.
which the package

Therefore
Tn =
will
and
V3 = w.
r2
mafoi
v,
= r3 + V3
+ Wh 2 =
+ Wh 3
(3)
Substituting the
/,.,
= <; -U.TOTu
w|
computed values
= %0.707 Cj
$O02
0.612a)
of
h.,
and h 3 into Eq.
3g
J-(0.095o)
\n V0.2S5g/fl
(3),
we
obtain
2 = V0285g/
c,
=0.712\/gfl
PROBLEMS
7.86 A 45-g bullet
9-kg
200
mm
into
square
and
is fired
panel
with a horizontal velocity of 400 m/s
of
that the panel
side
is
mm.
200
initially at rest,
Knowing
determine
velocity of the center of the panel immediately after the bullet
embedded, (b) the impulsive reaction

becomes embedded in 1 ms.
at
that
(a) the
becomes
A, assuming that the bullet
"
b
Fig.
17.87
In Prob. 17.86, determine (a) the required distance h
the impulsive reaction at
is
7.88 A
bullet weighing 0.08 lb
of 1800 ft/s into the 15-lb

rod,
which
is
initially
L = 30 in. Knowing
at
that h
is
if
rest,
is
in.,
becomes embedded.
fired
AH
with a horizontal velocity
L = 30 in. The
suspended by a cord of length
determine the velocity of each end
wooden rod
P17.86
to be zero, (b) the corresponding velocity
of the center of the panel after the bullet
of the rod immediately after the bullet
of length
becomes embedded.
c.
7.89
In Prob. 17.88, determine the distance h for which,
diately after the bullet

of rotation of the rod
7.90
becomes embedded,
is
imme-
the instantaneous center
point C.
Fig.
P17.88
A bullet of mass m fired with a horizontal velocity vu and

= iR into a wooden disk of much larger mass M and
is
at a height h
The disk rests on a horizontal plane and the coefficient of

between the disk and the plane is finite, (a) Determine the
velocity v, and the angular velocity W] of the disk immediately
radius R.
friction
linear
after the bullet has penetrated the disk.
motion of the disk and determine

has become uniform.
its
(b)
Describe the ensuing
it
Fig.
P17.90
Fig.
P17.92
linear velocity after the motion
1 7.91
Determine the height h at which the bullet of Prob. 17.90
should be fired (a) if the disk is to roll without sliding immediately after
impact, (b) if the disk is to slide without rolling immediately after
impact.
1 7.92 A uniform slender rod AB is equipped at both ends with the

hooks shown and is supported by a frictionless horizontal table. Initially the rod
is
hooked
at
to a fixed pin
C about
which
it
rotates with
Suddenly end R of the rod hits and

gets hooked to the pin D, causing end A to be released. Determine the
magnitude of the angular velocity <o 2 of the rod in its subsequent
the constant angular velocity ,.
rotation about D.
;.
819
820 DYNAMICS
A
7.93
uniform disk of radius
frictionlcss horizontal tabic.

its
mass center
and mass
Initially the disk
is
is
supported by a
spinning freely about
G with a constant angular velocity u v
Suddenly a latch
A welded to the
is moved to the right and is
edge of the disk. Assuming that the impact of A and B is perfectly
plastic, determine the angular velocity of the disk and the velocity of
its mass center immediately after impact.
struck by a small stop
P17.93
Fig.
Solve Prob. 17.93, assuming that the impact of
7.94
A and B
is
perfectly elastic.
t
Fig.
P17.95
33
'
7.95
A uniform
A and B.
is
dropped onto
rigid
Immediately before striking A the velocity of

the rod is v,. Since support B is slightly lower than support A, the
rod strikes A before it strikes B. Assuming perfectly clastic impact
at both A and B, determine the angular velocity of the rod and the
supports at
velocity of
its
ib) strikes
A,
7.96
mass center immediately after the rod (a) strikes support

(c) again strikes support A.
support B,
A square block
of mass
moves along a
frictionless hori-
zontal surface and strikes a small obstruction at B. Assuming that the
impact between comer A and the obstruction B is perfectly plastic,

determine the angular velocity of the block and the velocity of its mass
center
Fig.
ner
immediately after the impact.
P17.96
7.97
A and
Solve Prob,
.17,96,
the obstruction
assuming that the impact between coris
perfectly elastic.

1
7.98 A uniformly loaded square
corner
its
directly
strikes the floor,
above A;
and then
it
crate
is
released from rest with
rotates about
rotates about B.
The
until its corner

floor
is
sufficiently
rough to prevent slipping and the impact at B is perfectly plastic.

Denoting by fty, the angular velocity of the crate immediately before B
strikes the floor,
diately after
the crate
determine
(a)
the angular velocity of the crate
lost
the floor, (b) the fraction of the kinetic energy of

during the impact, (c) the angle 9 through which the
crate will rotate after
strikes the door.
/)
(!)
Fig.
imme-
B strikes
(2)
,;;
P17.98
7.99
uniform sphere of radius
the incline shown.
It
r rolls
without slipping down
hits the horizontal surface and, after slipping
for a while, starts rolling again.
Assuming that the sphere does not

bounce as it hits the horizontal surface, determine its angular velocity
and the velocity of its mass center after it has resumed rolling.
Fig.
P17.99
1 7.100
A sphere A of mass tn and radius r rolls without slipping
with a velocity v on a horizontal plane. It hits squarely an identical
sphere B which is at rest. Denoting by ,u the coefficient of friction
between the spheres and the plane, neglecting the friction between
the spheres, and assuming perfectly elastic impact (e = 1), determine
the linear and angular velocity of each sphere immediately after
(/;) the velocity of each sphere after it has started rolling
(a)
impact,
uniformly,
Fig.
(c)
Discuss the special case
when
jx
0.
P17.100
17.101 A slender rod of length I strikes a frictionlcss door at A

with a vertical velocity v, and no angular velocity. Assuming that the
impact at A is perfectly elastic, derive an expression for the angular
velocity of the rod immediately after impact.
17.102
Solve Prob. 17.101, assuming that the impact at
perfectly plastic.
is
Fig.
P17.101
822 DYNAMICS
17.103
bullet of mass
is
fired
with a horizontal velocity v
Into the lower corner of a square panel of
panel
is
much
larger mass
M. The
held by two vertical wires as shown. Determine the velocity
of the center
of the panel immediately after the bullet
becomes
embedded.
17.104 Two
Fig.
P17.103
uniform
ABC
which
surface when hook D
rigid
body
is
rods,
each of mass m, form the L-shaped
initially at rest
on the
frictionless horizontal
engages a small pin at C.

Knowing that the carriage is pulled to the right with a constant
determine immediately after the impact (a) the angular
velocity v
of the carriage
velocity of the body,
{!>)
velocity of the carriage
is
Assume that the

unchanged and that the impact is perfectly
the velocity of corner B.
plastic.
Fig.
P17.104
7J~
17.105 The uniform plate ABCD is falling with a
when wire BE becomes taut. Assuming that the impact
G*
plastic,
its
velocity v,
is
perfectly-
determine the angular velocity of the plate and the velocity of
mass center immediately after the impact.
D
b
Fig.
P17.105
1 7. 1
06
In Prob. 17.96, determine the line of action of the impul-
sive force exerted on the block
17.1 07
by the obstruction
uniformly loaded rectangular crate
is
at B.
released from rest
Assuming that the floor is sufficiently rough

to prevent slipping and that the impact at B is perfectly plastic,
determine the largest value of the ratio b/a for which comer A will
in
Fig.
P17.107
the position shown.
remain
in
contact with the
floor,

7. 1 08
A slender rod of mass m and
shown. Roller B
length
is
held
in
the position
given a slight push to the right and moves along

the horizontal plane, while roller A is constrained to move vertically.
is
Determine the magnitudes of the impulses exerted on the rollers A

and B as roller A strikes the ground. Assume perfectly plastic impact.
7.109
In a
game
with a velocity v as
by
of billiards, ball
it hits
obliquely ball
the radius of each ball, by
balls
and the
is
rolling without slipping
B which
is
1),
between the
determine
(a)
Denoting
between the
at rest,
the coefficient of friction
\i
table, neglecting friction
perfectly elastic impact (e
Fig.
and assuming
the linear and angular
P17.108
balls,
velocity of each ball immediately after impact, (b) the velocity of

after it has started rolling uniformly.
P17.109
Fig.
17.110
In Prob.
17.109, determine the equation of the path
described by the center of ball
A"
ill
7.1
1 1
For the
velocity of ball
while the ball
is
billiard balls of Prob. 17.109,
after
it
slipping.
determine
(a)
the
has started rolling again without slipping,
angle $ formed by the velocities of balls A and B after they have

(Compare the result obtained here with the one
obtained for the pucks of Prob. 13.139 when e 1.)
(b) the
finished slipping.
17.112 A
small rubber ball of radius r is thrown against a rough

with a velocity vA of magnitude v and a "backspin" ic of
A
magnitude co
It is observed that the ball bounces from A to B, then
floor
from B to A, then from A to B, etc. Assuming perfectly elastic impact,

determine (a) the required magnitude u of the "backspin" in terms
of c and r, (b) the minimum required value of the coefficient of
friction.
tA
Fig.
P17.112
'
7 v>
823
824 DYNAMICS
7.1 1 3 Two identical rods AB and CD, each of length L, may move
on a frictionlcss horizontal surface. Rod AB is rotating about its
mass center with an angular velocity oj when end B strikes end C of
1
freelv
rod
CD, which
Knowing
at rest.
is
that at the instant of impact the
rods are parallel and assuming perfectly elastic impact [e
and the velocity
of each rod
mine the angular velocity
of
deter-
1),
its
mass
center immediately after impact.
:<%
Fig.
-,,
P17.113
7.1
plastic (e
Solve Prob. 17.113, assuming that the impact
is
perfectly
0).
REVIEW PROBLEMS
17.115
of 1200
The normal
disk
small disk
rpm and
is
force
between
its
17.116 A
P17.116
driven at a constant angular velocity
disks
is
10
lb,
and
(i
is
initially at rest.
0.20.
Knowing
that
the number of revolutions executed
speed reaches 120 rpm.
1 in.
P17.115
small collar of mass
is
attached at B to the rim of
and radius r. The hoop rolls without sliding on

a horizontal plane. Kind the angular velocity u l of the hoop when
B is directly above the center A in terms of g and r, knowing that
the angular velocity of the hoop is '3u 1 when B is directly below A.
a hoop of mass
Fig.
is
B weighs 50 lb, determine
by disk B before
Fig.
pressed against disk B, which

17.1 17
The gear
thickness and of the
train shown consists of four gears of the same

same material; two gears are of radius r, and
the other two are of radius nr.
The system
is
at rest
when
the couple
Denoting by / the moment of inertia of

a gear of radius r, determine the angular velocity of shaft A if the
couple M is applied (a) for one revolution of shaft C, (h) for / seconds.
n
Fig.
at
is
applied to shaft C.
P17.117
17.1 18 The motion of a 16-kg sliding panel is guided by rollers

B and C. The counterweight A has a mass of 12 kg and is attached
to a cable as
shown. If the system is released from rest, determine

each case shown the velocity of the counterweight as it strikes
the ground. Neglect, the effect of friction.
for
.
Fig.
(M
P17.118
17.1 19 A uniform rod of length L and weight

is attached to
two wires, each of length b. The rod is released from rest when =
and swings to the position B = 90, at which time wire BD suddenly
breaks. Determine the tension in wire AC (a) immediately before wire
BD
breaks, (b) immediately after wire
BD
breaks.
Fig.
P17.119
825
826 DYNAMICS
17.120
Two
pivots shown.
may swing
identical slender rods
Rod A
is
swings to a vertical position, at which time the small knob

r
h
from the
freely
released from rest in a horizontal position and
strikes rod
B which was at rest. If h U and e = I, determine (a) the angle

through which rod B will swing, (b) the angle through which rod A will
rebound.
7.1 21
'
Solve Prob. 17.120, assuming e
\.
The motor shown runs a machine attached to the shaft at

The motor develops 4 hp and nins at a constant speed of 300 rpm.
A.
Determine the magnitude of the couple exerted

Fig.
(a)
by the
shaft
on
pulley A, (b) by the motor on pulley B.
P17.120
^9 in.
P17.122
Fig.
23 The plank CDE of mass m p rests on top of a small pivot

A
gymnast A of mass i stands on the plank at end C; a second
at D.
gymnast B of the same mass m jumps from a height h and strikes
7.1
the plank at E.
Assuming perfectly
height to which gymnast
completely
,r
=,
will rise.
plastic impact,
determine the
(Assume that gymnast
stands
rigid.)
P17.123
Fig.
-J3r
17.124
connected
_L
Two
to
uniform
P17.124
each of mass
freely in the horizontal slot, while

fixed pin support.
If
released, determine
Fig.
rods,
form the linkage shown.
(b)
when
rod
AB
is
end
vertical.
is
and length
of rod
of rod
moved slightly
velocity (a) when D
end
its
End
AB
is
are
slide
attached to a
to the left
is
/.,
BD may
directly
and then
below A,
IK
m s moves across a series of

equivalent to a uniform disk of mass
R and is
initially at rest. Since the length of the slab is slightly less than three
times the distance b between two adjacent rollers, the slab leaves a
A
rollers,
rectangular slab of mass
each of which
roller just before
is
()
in
the position shown, determine the velocity of the slab after
moved
()
17.126
mK =
it
has
a distance b, (b) a distance nb.
Solve Prob. 17.125, assuming v u
2 kg, and n
5.
5 m/s,
ms =
17 kg,
h-
^W^
reaches another one. Each time a new roller enters

into contact with the slab, slipping occurs between the roller and the
it
slab for a short period of time (less than the time needed for the slab to
move through the distance b). Denoting by v the velocity of the slab
=1
Fig.
P17.125
<ri>
CHAPTER
Kinetics of Rigid
18 Bodies
Three
Dimensions
in
* 1 8.1 . Introduction. In Chaps. 16 and 17 we were concerned with the plane motion of rigid bodies and of systems of
rigid bodies. In Chap. 16 and in the second half of Chap. 17
(momentum method), our
study was further restricted to that of
plane slabs and of bodies symmetrical with respect to the reference plane. However, many of the fundamental results obtained
two chapters remain valid in the case of the motion of a

body in three dimensions.
For example, the two fundamental equations
in these
rigid
VF = ma
VM C
(18.1)
HG
(18.2)
on which the analysis of the plane motion of a rigid body was

based, remain valid in the most general case of motion of a rigid
body. As it was indicated in Sec. 16.2, these equations express
that the system of the external forces
consisting of the vector
moment
H G (Fig.
18.1).
ma
is
equipollent to the system
attached at
However, the
enabled us to determine the angular
and the couple of

= /w, which
relation
momentum
of a rigid slab
and which played an important part in the solution of problems

involving the plane motion of slabs and bodies symmetrical with
Fig. 18.1
respect to the reference plane, ceases to be valid in the case of

nonsymmetrical bodies or three-dimensional motion. It will thus
be necessary
828
for us to develop in Sec.
18.2 a
more general
method for the computation of the angular momentum H of a

rigid body in three dimensions.
Similarly, the main feature of the impulse-momentum method
discussed in Sec. 17.7, namely the reduction of the momenta of
the particles of a rigid body to a linear momentum vector rav
attached at the mass center G of the body and an angular momentum couple H G remains valid. Here again, however, the
relation H = lie will have to be discarded and replaced by the
G
more general relation to be developed in Sec. 18.2.
,
Finally,
we note
that the
work-energy principle
(Sec. 17.1)
the principle of conservation of energy (Sec. 17.5)
still
and
apply in
the case of the motion of a rigid body in three dimensions.

However, the expression obtained in Sec. 17.3 for the kinetic
energy of a rigid body in plane motion will be replaced by a new
expression to be developed in Sec. 18.4 for a rigid body in
three-dimensional motion.
*18.2. Angular Momentum of a Rigid Body in

Three Dimensions. We shall see in this section how the
angular momentum II of the body about its mass center G may
G
be determined from the angular velocity
ic
of the
body
in the
case of three-dimensional motion.
According to Eq. (14.24), the angular

about G may be expressed as
hc =
where
r[
and
(Fig. 18.2).
velocity of the
(18.3),
of the
w^*)
body
we have
of mass
But v f
'
Sm^
to
2= W X
(co
and the
relative to the centroidal

r/,
where u
at the instant considered.
HR =
body
(18.3)
v/ denote, respectively, the position vector
frame Grip
:>>- x
momentum
r,0
is
the angular
Substituting into
AmJ
Fig. 18.2
Recalling the rule for determining the rectangular components of

a vector product (Sec. 3.4), we obtain the following expression
for the x
component
of the angular
momentum:
#*
2 [&(" X & - z
i("
<)]
Am.
i=l
n
[!/iK!/,
2 ($ +
<V)
ft
- *i(<o,z, -
Am i
",*,)]
S *m Am
*mt
- v
***<
Am
IN
THREE DIMENSIONS 829
830 DYNAMICS
Replacing the sums by integrals in this expression and in the two
similar expressions which are obtained for HL and HM, we have
Hx = uj(y 2 + z2 dm Lcjxy dm icjzx dm

H = -tojxy dm + uj(z + x dm - ajyz dm
2
2
dm
11t = -ujzx dm o>Jyz dm + wj"(x + y
)
(18.4)
We
note that the integrals containing squares represent the

centwidul mass moments of inertia of the body about the x, y,
and
f =
we have
z axes, respectively (Sec. 9.10);

2
f(y
z2 )
dm
Ty
f(z
+_x 2
Iz
dm
=5(x 2 + if)dm
(18.5)
Similarly, the integrals containing products of coordinates repre-
(Sec. 9.15);
Pxv
mass products of
centroidal
the
sent
inertia
of
body
the
we have
ry ,=Syzdm
=f*ydm
V!X =fzxdm
(18.6)
and (18.6) into (18.4), we obtain the

components of the angular momentum H c of the body about its
mass center G:
Substituting from (18.5)
" =
-V,
ly"y
The
relations (18.7)
the vector
array of
to
show
into the vector
~ *>,
+ /,<o,
that the operation
Hc (Fig. 18.3)
moments and products
is
(18.7)
which transforms
characterized by the
of inertia
7.
Fig. 18.3
(18.8)
yn\
-p,.
l-JL
array (18.8) defines the inertia tensor of the body at its mass
center G.t A new array of moments and products of inertia
The
t Setting /,
may
/.
F,
Z,2 , /,
= k
and -P,
/ I2
-P =
/ 13
etc..
we
write the inertia tensor in the standard form
Denoting by
Uu-Up W3
//,, //,,
H3
'll
'l2
*is\
*21
*22
*23
(18.7) in the
momentum II and by
we may write the relations
the components of the angular
the components of the angular velocity ,
(;
form
The quantities /,j are said to be the

i and / take the values 1, 2, 3.
components of the inertia tensor. Since Itj = Ij,, the inertia tensor is a symmetric
tensor of the second order.
where
would be obtained
a different system of axes were used.
if
transformation characterized by
be the same.
still
new
this
momentum
Clearly, the angular
sponding to a given angular velocity
The
would
array, however,
corre-
(;
independent of the
is
choice of the coordinate axes. As it was shown in Sec. 9.16, it is

always possible to select a system of axes Cx'y'zf, called principal
axes of inertia, with respect to which
a given body are zero.
The array
all
the products of inertia of
(18.8) takes then die diagonal-
ized form
0\
i%
(18.9)
[o
where
ll
We
7,.co
note_that,
if
and the
relations (18.7) reduce to
Hu = lv,u
,
angular
Wj,'.
be
Zy uv
components
Hx
-,
(18.10)
moments of
H^,
of the
momentum
about G are proportional to the components

Wy of the angular velocity, and the vectors II and <o are
C
collinear. In general,
will
Hz =
the three principal centroidal
inertia I ., 1^, I are equal, the

z
y
wi-
moments of
Iz., 1^, I represent the principal centroidal

y
inertia of the body,
different,
directions, except
however, the principal moments of inertia
and the vectors II and a will have different

when two of the three components of o> hap-
to be zero, i.e., when w is directed along one of the coordinate axes. Thus, the angular momentum
G of a rigid body and
its angular velocity w have the same direction
if, and only if <o is
pen
directed along a principal axis of inertia.] Since this condition is

satisfied in the case of the plane motion of a rigid body symmetrical
with respect to the reference plane,
Sees. 16.3
and 7.7
1
to represent the
body by the vector lu>.

result cannot be extended
a
We
angular
must
we were
able in
of such
momentum
however, that this

to the case of the plane motion of a
realize,
nonsymmetrical body, or to the case of the three-dimensional

motion of a rigid body. Except when w happens to be directed
along a principal axis of inertia, the angular momentum and
angular velocity of a rigid body have different directions, and the
relation (18.7) or (18.10) must be used to determine
c from a.
tin the particular case
when
/,,
1^
r.,
any
line
considered as a principal axis of inertia, and (he vectors

collinear.
through
H6 and
to
may be
arc always
IN
THREE DIMENSIONS
831
832 DYNAMICS
Momentum
Angular
Body About a Fixed
of a Rigid
In the particular case of a rigid
Point.
dimensional space about a fixed point
body rotating
(Fig. 18.4),
in three-
it is
some-
momentum H of the body

Eq. (14.7), we write
times useful to determine the angular
about the fixed point O. Recalling
H =
X^ x v
(18.11)
*")
>=i
Fig. 18.4
where
r
(
and v denote, respectively, the position vector and the

Pi with respect to the fixed frame Oxtjz.
;
Substituting v,
=wX
ones used above,
momentum
we
tt, and after manipulations similar to the

find that the components of the angular
(Fig. 18.5) are
given by the relations
(18.12)
yz"
where the moments of inertia Zr Iy Iz and the products of inertia

P Plt are computed with respect to the frame OxtfZ cenP
,
Fig. 18.5
tered at the fixed point O.
* 1 8.3. Application of the Principle of Impulse and

Momentum to the Three-dimensional Motion of a
Rigid Body. Before we can apply the fundamental equation
problems involving the three-dimensional
body, we shall have to learn to compute the
(18.2) to the solution of
motion of
a rigid
derivative of the vector
HG
This will be done in Sec. 18.5.
We
may, however, immediately use the results obtained in the preceding section
to solve
problems by the impulse-momentum
method.
Recalling from Sec. 17.7 that the system formed by the mo-
menta of the particles of a rigid body reduces to a linear momentum vector mv attached at the mass center C of the body and an
angular
momentum
couple
HR
we
represent graphically the
fundamental relation
Syst
Momenta!
Syst Ext
Imp a
Syst Momenta.,
by means of the three sketches shown

given problem,
we may
in Fig. 18.6.
(17.14)
To
solve a
use these sketches to write appropriate
component and moment equations, keeping in mind that die

components of the angular momentum H c are related to the
components of the angular velocity to by Eqs. (18.7) of the
preceding section.
H (;:
(a)
(b)
Fig. 18.6
In solving problems dealing with the motion of a body rotating

about a fixed point O, it will be convenient to eliminate the
impulse of the reaction at O by writing an equation involving the
moments
of the
momenta and
connection that the angular
fixed point
impulses about O.
momentum H
may be obtained
of the
We
note in
this
body about
the
from Eqs. (18.12).

*18.4. Kinetic Energy of a Rigid Body in Three
Dimensions. Consider a rigid body of mass m in threedimensional motion. We recall from Sec. 14.6 that, if the absodirectly
each particle P of the body is expressed as the

of the velocity v of the mass center G of the body and of the
velocity v,' of the particle relative to a frame Gxijz attached to G
lute velocity v, of
sum
and
of fixed orientation (Fig. 18.7), the kinetic energy of the
system of particles forming the rigid body
may be written
in the
form
= frw*+ -J) (Am>f

1
(18.13)
i=l
where
the last term represents the kinetic energy T' of the
relative to the centroidal frame Gxyz.
Since v(
uX
body
r/,
we
write
T =
'
2
2
J (îK = j ( X r<) Am,
(18.14)
Expressing the square of the vector product in terms of its rectangular components, and replacing the sums by integrals, we
have
/[(*/
2
<oif(!/
- <y> 2 + (<v - a*y + (* - w r*) 2 *"

2
2
+ z 2 dm + u 2J(z2 + x 2 dm + u J(x
+ tf) dm
ZuiUyfxy dm 2u v ioJ'yz dm 2u z u Tfzx dm
]
IN
834 DYNAMICS
or, recalling the relations (18.5)
and
(18.6),
M>^ - *A)
Substituting into (18.13) the expression (18.15)
(18-15)
we have
just
obtained for the kinetic energy of the body relative to ccntroidal
we
axes,
r=
write
rC 2
(Z>2
+ 14 -2Py!
2PxyUx v
^ - 2f>,J
z
(18.16)
the axes of coordinates are chosen so that they coincide at
If
the instant considered with the principal axes
x',
if,
z' ol
the
body, the relation obtained reduces to
V = imv* + i(l<4 +
v =
a =
where
m=
l
.,
1^, Iy
The
V4 +
(18.17)
s.<4)
velocity of mass center
angular velocity
mass of rigid body

principal centroidal
results
we have
moments
of inertia
obtained enable us to extend to the
three-dimensional motion of a rigid body the application ol the

principle of
work and energy
(Sec. 17.1)
and of the principle of
conservation of energy (Sec. 17.5).
Body With a Fixed Point. In the

body rotating in three-dimensional
space about a fixed point O, the kinetic energy of the body may
be expressed in terms of its moments and products of inertia with
Kinetic Energy of a Rigid
particular case of a rigid
respect to axes attached at
O (Fig.
18.8). Recalling the definition
of the kinetic energy of a system of particles,

Fig. 18.8
v,
to
r 4 , vve
T=
and substituting
write
i
j 2 (A%W = 2 ( X
Manipulations similar
to those
ttf
Am,
(18.18)
used to derive (18.15) from (18.14)
yield
t=
JM + iA + iA --2*>".
20>tt, - ZP^ju
or, if the principal axes x', y',
(18.19)
z of the body at the origin
are
chosen as coordinate axes.
= j(V4 +
lj*\
I..<4)
(18.20)
SAMPLE PROBLEM
A
18.1
rectangular plate of mass
hit at
/>
in
m suspended
from two wires
at
A and B is
F A
a direction perpendicular to the plate. Denoting by
the impulse applied at D, determine immediately after impact (a) the

velocity of the mass center G, (fo) the angular velocity of the plate.
We shall
Solution,
the components v
remain taut and, thus, that

We have
that the wires
assume
of v and w. of
to
are zero after impact.
tl
therefore
= vj +
v
and, since the
C,k
co
co r i
+ wj
z axes are principal axes of inertia,
x, y,
H = Ttuj +
Hc =
I/tJ
+ -fanePuj
fontfuj
(1)
Principle oi Impulse and Momentum. Since the initial momenta

are zero, the system of the impulses must be equivalent to the system
of the final
momenta:
V
Al
H,.i
6*
.
WM
i'-v,
a.
Mass Center. Equating the components

momenta in the x and z directions:
Velocity of
pulses and
= mvz
Fit = mo_.
% comp.:
zcomp.:
a
2
"
*w
^'<
,''*
h.
Angular
momenta about
About x axis:
About i/ axis:
the x
Comparing Eqs.
77,i
(1)
and
to
note that
to is
and
wf =
Remark-.
55,1
vr k
-i/
m ik -^
;/
axes:
JbFAf = H x
JaFA< = Hv
He =
We
=
= -Fil/m
t
u,
Equating the moments of the impulses and
Velocity.
1*
of the im-
H =
ff,j
(2),
we conclude
6FAt/mfc
to i
|foF
Uy
Af
- 1</F Ar
(2)
that
- -6F\t/ma
+ wj
directed along the diagonal AC.
Equating the
;/
components of the impulses and momenta,
and their moments about the z axis, wc obtain two additional equations
which yield TA = TB JW. We thus verify that the wires remain taut
and that our assumption was correct.
835
SAMPLE PROBLEM
18.2
A homogeneous disk of radius r and mass m is mounted on an axle OG

of length L and negligible mass. The axle is pivoted at the fixed point
^C=
O, and the disk
constrained to
is
on a horizontal
roll
Knowing
OG,
angular momenfloor.
thai the disk rotates counterclockwise at the rate w, about the axle
determine
(a)
tum about
O,
the angular velocity of the disk, (b)

(c)
equivalent lo the
its
momenta
Angular Velocity.
tt.
and couple at
of the particles of the disk.
As the disk rotates about the axle
rotates with the axle about the y axis at a rate
angular velocity of the disk
is
ai
clockwise.
OG
it
The
also
total
therefore
= o)[i -
<0
To determine w 2
its
kinetic energy, (d) the vector
Ujj
(1)
sve write that the velocity of
is
zero:
= u X rc =
- cojj) x (Li - rj) =
vc
(uji
(I*a
Substituting into
(1) for
u2
6>2
rw-i/L
cc
= ua -
rwt/L)j
-4
Momentum About O. Assuming the axle to be part of

we may consider the disk to have a fixed point at O. Since the
-\ngular
fr.
the disk,
x, y,
fwjk =
and z axes are principal axes of
Or
inertia for the disk,
2
)",
H, - J>, =
W = V> = (mL 2
H, = , = (mL 2
H,j
c.
Kinetic Energy.
inertia
+ ^mr^-ruJL)
+ |mr^ =
=|mr2w m(LB 1
;'-'
Using the values obtained
and the components of
to,
for the
i'io,/L)j
moments
-^
of
we have
"''(e+g-)^
d.
Momentum Vector and Couple at G. The

m\ and the angular momentum couple H
vector
linear
momentum
are
mv = miw jk -^
and
yW
/
836
H = l^J +
IûJ
+ f^k =
Jmr'ttji
+ $mr 2(-r<o,//.,)j
KINETICS
OF
RIGID BODIES IN THREE DIMENSIONS
PROBLEMS
A
8.1
homogeneous rod
thin
a constant angular velocity
of
mass
m and length L rotates with
about a vertical axis through
center C.
Determine the magnitude and direction
momentum
HG
8.2 A
thin
constant rate
which
tum
of the rod about
ot
rotates at
its
its
mass
of the angular
mass center.
homogeneous disk of mass m and radius r spins at the

about an axle held by a fork-ended horizontal rod
the constant rate u v Determine the angular momen-
of the disk about
its
mass center,
Fig. P18.1
Fig.
8.3 A
thin
homogeneous
disk of mass
P18.2
and radius
r is
mounted
on the vertical axle AB. The plane of the disk forms an angle /} = 30
with the horizontal. Knowing that the axle rotates with an angular
formed by the axle and the angular
velocity to, determine the angle
momentum
of the disk about G.
Fig.
8.4 A
shown.
If
P18.3
thin rectangular plate of mass 9 kg
shown, determine
its
angular
to
momentum
is
attached to a shaft as
4 rad/s at the instant

about its mass center C.
of the plate
is
1 8.5 In Prob. 18.3, determine the value of fi

formed by the axle and the angular momentum
for
HG
which the angle 8

is
maximum.
Fig.
P18.4
837
838 DYNAMICS
1
8.6
homogeneous
thin
ug =
disk of mass 800 g and radius 100 mm

20 rad/s with respect to the arm ABC,
which itself rotates at a constant rate to, = 10 rad/s about the x

Determine the angular momentum of the disk about point C.
40
10(1
Fig.
axis.
mm
HUM
P18.6
18.7
Determine the angular
momentum
of the disk of Prob. 18.6
about point D.
18.8
welded
Knowing
mine
1
thin
homogeneous triangular plate weighing 12 lb

which can rotate freely in bearings at A and
to a light axle
its
that the plate rotates at a constant rate
angular
momentum
8.9 Determine
about
its
18.10
the angular
P18.8
per unit length.
5 rad/s, deter-
of the plate of Prob. 18.8
Knowing
to,
is
homogeneous
that the crankshaft rotates
determine
(a)
the angular
momen-
of the crankshaft about G, (b) the angle formed by the angular
momentum and
Fig.
momentum
Each element of the crankshaft shown
with a constant angular velocity

Fig.
about A.
mass center.
rod of muss
tum
is
B.
the axis
AS.
P18.10
18.11
Determine the angular momentum of the crankshaft of
Prob. 18.10 about point A.
KINETICS
8.1
angular
OF
2 Show that, when a rigid body rotates about a fixed axis, its
momentum is the same about any two points A and B on the
fixed axis (11^
H)
located on the fixed
if,
and only
the
if,
mass center
body
of the
is
axis.
welded at the
AB. Knowing that shaft AB rotates at a
constant rate a = 300 rpm, determine (a) the angular momentum of
the body about A, (b) the angle formed by the angular momentum and
Two
8.1 3
I.-shaped arms, each weighing 6 lb, are
third points of the 3-ft shaft
the shaft AB.
8.1
4 At
a given instant during
its (light,
a launch vehicle has an
a = (0.3 rad/s)j + (2 rad/s)k and its mass center G

= (6 m/s)i + (9 m/s)j + (1800 m/s)k, where i, j, and k
angular velocity
has a velocity v
are the unit vectors corresponding to the principal centroidal axes of

inertia of the vehicle.
and that
fcj
its
1.5 in,
momentum
Knowing
that the vehicle has a mass of 40
centroidal radii of gyration are
determine
(a)
the linear
fe
fc
momentum mv and
Mg
and
the angular
the angle between the vectors representing
II C,, (b)
mv and
H-
v.,
Fig.
P18.14
For the launch vehicle of Frob. 18.14, determine the sum

the momenta of the particles of the
P of the moments about P of
vehicle, knowing that the distance from G to P is 10 m.
18.15
1 8.1 6 A homogeneous wire, of weight 2 lb/ft, is used to form the

wire figure shown, which is suspended from point A. If an impulse
Tit = (lOlb-s)k
y
is
applied at point
2ft,* as 3ft, determine
wire
figure,
(fo)
of coordinates
.t
3ft,
the velocity of the mass center of the
the angular velocity of the figure.
18.17 Solve
Dis Fit =
point
(<;)
Prob. 18.16, assuming that the impulse applied at

(101b-s)j.
Fig.
P18.13
839
840 DYNAMICS
18.18 A uniform
and
is
rod of total mass m is bent into the shape shown

suspended by a wire attached at B. The bent rod is hit at D in
a direction perpendicular to the plane containing the rod (in the

negative z direction). Denoting the corresponding impulse by FA/,
determine
<7
Fig.
the velocity of the mass center of the rod, [b) the angular
18.19
Solve Prob. 18.18, assuming that the bent rod
18.20
Three slender homogeneous
2n
DE
(a)
velocity of the rod.
C-
rods,
is
hit at C.
each of mass
and
length d, are welded together to form the assembly shown, which
P18.18
The assembly is hit at A in a vertical downward direction. Denoting the corresponding impulse by F A/, determine immediately after impact (a) the velocity of the mass center G,
hangs from a wire at G.
(b) the
angular velocity of the assembly.
'18.20
1
-r
//
<"
L_
8.21
Solve Prob. 18.20, assuming that the assembly
a direction opposite to that of the
;?
is
hit at
7?
in
axis.
A
i
8.22
of length la
socket joint
cross of total mass m, made of two rods AB and CD, each

and welded together at G, is suspended from a ball-andat A. The cross is hit at C in a direction perpendicular to
<
its
B
Fig.
P18.22
plane
(in the
impulse by
F M,
negative % direction). Denoting the corresponding

determine immediately after impact (a) the angular
velocity of the cross, (b)
its
instantaneous axis of rotation.

1 8.23
A build of mass m is fired with an initial velocity v into a
heavy circular plate of mass m which is suspended from a ball-andsocket joint at O. Knowing that the bullet strikes point A and becomes
embedded in the plate, determine immediately after impact (a) the
angular velocity of the plate,
8.24
instantaneous axis of rotation.
(b) its
and mass m supported by a

O was rotating about the y axis with a constant
circular plate of radius a
ball-and-socket joint at
angular velocity
to
tjfj
when an obstruction was suddenly introduced
A is perfectly plastic, determine

Assuming
immediately after impact (a) the angular velocity of the plate, (b) the
velocity of the mass center G.
that the impact at
at A.
Fig.
P18.24
18.25
Solve Prob. 18.24, assuming that, before the obstruction

the plate was rotating about the i axis with a constant
was introduced,
angular velocity
18.26
ic
and
<o
Wgl.
The angular
(0.02 rad/s)i
B,
of
1000-kg space capsule
when two
small
jets
in a direction parallel to the z axis.
each
radii of gyration of the
and that each
velocity
(0.10 rad/s)j
capsule are k r
kz
1.00
Knowing
operating time of each
reduced to zero,
jel if
that the
m and k =
1.25
(a)
the required
the angular velocity of the capsule
(b) the resulting
m,
produces a thrust of 50 N, determine
jet
is
are activated at
is
to
be
change in the velocity of the mass
center G.
18.27
If jet
in Prob. 18.26
required operating time of jet
angular velocity
velocity
&>, (c)
a of the
is
inoperative, determine (a) the
to reduce the x
component
capsule to zero, (b) the resulting
final
of the
angular
the resulting change in the velocity of the mass center G.
Fig.
P18.26
IN
THREE DIMENSIONS
841
842 DYNAMICS
P18.28
Fig.
is
struck at
satellite
A by
-(2400ft/s)i
weighing 320
no angular velocity when
lb has
it
a 0.04-lb meteorite traveling with a velocity
(1800ft/s)j
(4000 ft/s)k relative to the satel-
Jvnosving that the radii of gyration of the satellite are kx 12 in.

and ku = kt = 16 in., determine the angular velocity of the satellite in
lite.
rpm immediately
1
8.29
become imbedded.
after the meteorite has
Solve Prob. 18.28, assuming that,
spinning about
its axis
initially,
the satellite was
of symmetry with an angular velocity of 12
clockwise as viewed from the positive
.r
18.30 Show that the kinetic energy

O may be expressed as
rpm
axis.
of a rigid body with a fixed
point
T=
where
moment
of inertia about the line of action
expression
sum
Fig.
P18.30
fa*
the instantaneous angular velocity of the body and
<o is
(a)
from Eqs.
(9.46)
and
(18.19), (b)
of the kinetic energies of particles
OL
of
to.
by considering T
Pf describing circles
I 0L
Derive
its
this
as the
of radius p
about line OL.
Denoting respectively by <o,

and 7' the angular velocity,
momentum, and the kinetic energy of a rigid body with a
point O. (a) prove that
,
the angular
fixed
H
(b)
show
that the angle
= 2T
-u
between
a>
and
will
always be acute.
1 8.32
The body shown is made of slender, homogeneous rods and
may rotate freely in bearings at A and B. If the body is at rest when it
given a slight push, determine

through 180.
is
18.33
Fig.
P18.32
after
it
its
angular velocity after it has rotated
Determine the angular velocity of the body of Prob. 18.32
has rotated through 90".
18.34 Determine
the kinetic energy of the plate of Prob. 18.4.
18.35
Determine the kinetic energy of the
18.36
Determine the change in kinetic energy of the plate of

its impact with the obstruction.
disk of Prob. 18.3.
Prob. 18.24 due to
18.37
Determine the change in kinetic energy

its impact with the obstruction.
of the plate of
Prob. 18.25 due to
8.38 Determine
of Prob. 18.28 in
the change in the kinetic energy of the satellite
motion about
mass center due to the impact of

was spinning about its axis of symmetry with an angular velocity of 12 rpm
clockwise as viewed from the positive % axis.
its
its
the meteorite, knowing that before the impact the satellite
8.39 Gear A rolls on the fixed gear B and rotates about the axle
of length L = 500 mm which is rigidly attached at D to the
vertical shaft DE. The shaft DE is made to rotate with a constant
1
AD
angular velocity to, of magnitude 4 rad/s. Assuming that gear A can be

approximated by a thin disk of mass 2 kg and radius a 100 mm, and
that II = 30, determine (a) the angular momentum of gear A about
point D, (b) the kinetic energy of gear A.
*18.5. Motion of a Rigid Body

sions.
As was indicated
in
in Sec. 18.2, the
Three Dimen-
fundamental equa-
tions
2F = ma
(18.1)
VM G = HG
(18.2)
remain valid
in the most general case of the motion of a rigid

body. Before Eq. (18.2) could be applied to the three-dimensional motion of a rigid body, however, it was necessary to derive
which relate the components of the angular momenand of the angular velocity to. It still remains for us to
an effective and convenient way for computing the compo-
Eqs. (18.7),
tum
find
HG
Since
motion
HG
G of the angular momentum.

represents the angular momentum of the body in
nents of the derivative
relative to centroidal axes
GX'Y'Z' of
its
fixed orientation
and since H G represents the rate of change of H G with

same axes, it would seem natural to use components of to and H G along the axes X', Y', Z' in writing the
(Fig. 18.9),
respect to the
But, since the body rotates, its moments and

products of inertia would change continuously, and it would be
necessary to determine their values as functions of the time. It
relations (18.7).
therefore more convenient to use axes x, y, z attached to die

body, thus making sure that its moments and products of inertia
will maintain the same values during the motion. This is permisis
Fig.
P18.39
IN
844 DYNAMICS
sible since, as indicated earlier, the transformation of to into
HG
is
independent of the system of coordinate axes which has been
The angular
selected.
velocity
to,
however, should still be defined
The
with respect to the frame GX'Y'Z' of fixed orientation.

vector
may
to
then be resolved into components along the rotat-
x, ;/, and z axes. Applying the relations (18.7), we obtain the

components of the vector H c along the rotating axes. The vector
H, however, represents the angular momentum about G of the
body in its motion relative to the frame GX'Y'Z'.
Differentiating with respect to t the components of the angular
momentum in (18.7), we define the rate of change of the vector
II ( with respect to the rotating frame Gxyz:
ing
Fig. 18.9
= Hx + HJ + 4*
(H c ) Cw
(repeated)
where
i, j,
k are the unit vectors along the rotating
ing from Sec. 15.10 that the rate of change
^ e vect()r product
fi
X H6
(Hg)gxik
lar velocity of the rotating frame,
Hc =
Hc =
(H G
aiy!
axes.
Recall-
of the vector
H6
with respect to the frame GX'Y'Z'
where
(18-21)
where
we
to
denotes the angu-
$2
write
+ Q X Ha
(18.22)
momentum
of the body with respect to

GX'Y'Z' of fixed orientation
rate f change of H G with respect to the rotating
frame Gxyz, to be computed from the relations
(18.7) and (18.21)
angular velocity of the rotating frame Gxyz
angular
the frame
(ll G )ax :
V
SI
Substituting for
HG
from
we
(18.22) into (18.2),
have
2M = (H C CIP + 8 X H C
(18.23)
If,
is
as
it
has been assumed
attached to the body,
to the
tions,
angular velocity
however, where
ence which
is
its
to
in this discussion,
angular velocity
the rotating frame
of the body. There are
it is
advantageous
equal
$2 is identically
to use a
many
applica-
frame of
refer-
not actually attached to the body, but rotates in an
independent manner.
For example,
if
the
body considered
axisymmetrical, as in Sample Prob. 18.5 or Sec. 18.9,
it is
is
possible
frame of reference with respect to which the moments

and products of inertia of the body remain constant, but which
rotates less than the body itself, t As a result, simpler expressions
to select a
More
specifically, the
frame of reference will have no spin (see Sec.
18.9).
KINETICS
w and the angular

body than would have been possible if the
frame of reference had actually been attached to the body. It is
may be obtained
momentum H of
for the angular velocity
the
clear that in such cases the angular velocity
frame and the angular velocity
of the rotating
body are different.

*18.6. Euler's Equations of Motion. Extension
of D'Alembert's Principle to the Motion of a Rigid
Body in Three Dimensions. If the x, y, and z axes are
u>
of the
chosen to coincide with the principal axes of inertia of the body,

the simplified relations (18.10) may be used to determine the
components of the angular momentum H G Omitting the primes
from the subscripts, we write
.
H G = Ipj + foj +
where
and setting
J^Jc
(18.24)
lx , I and lz denote the principal centroidal moments of

y
inertia of the body. Substituting for II,. from (18.24) into (18.23)
we
obtain the three scalar equations
(f,
2M, = y* v -
{lM
= 'A -
ft
y.Mt
2M,
y>,
- ]>,w,
- />lWl
- *>,,
(18.25)
These equations, called Euler's equations of motion after the

Swiss mathematician Leonhard Euler (1707-1783), may be used
to analyze the motion of a rigid body about its mass center. In
the following sections, however, we shall use Eq. (18.23) in
preference to Eqs. (18.25), since the former
compact
remember.
the
vectorial
Writing Eq. (18.1)
form
which
in
in scalar form,
it is
we
is
more
and
general,
expressed
is
easier to
obtain the three addi-
tional equations
2FX = maz
2F
= ma v
2/,;
= m^
(18.26)
which, together with Eider's equations, form a system of
six
Given appropriate initial conditions, these

differential equations have a unique solution. Thus, the motion
of a rigid body in three dimensions is completely defined by the
residtant and the moment resultant of the external forces acting
on it. This result will be recognized as a generalization of a
differential equations.
similar result obtained in Sec.
motion of
16.4 in the case of the plane
a rigid slab. It follows that, in three as well as in
two
dimensions, two systems of forces which are equipollent are also

equivalent; i.e., they have the same effect on a given rigid body.
OF
RIGID BODIES
IN
THREE DIMENSIONS
845
846 DYNAMICS
Considering in particular the system of the external forces
acting on a rigid body (Fig. 18.10a) and the system of the effective forces associated
(Fig. 18.10/?),
shown
with the particles forming the rigid body
we may
in Sec. 14.1 to
state that the
be equipollent
which were
two systems
are also equivalent.
This
is
the extension of D'Alembert's principle to the three-dimensional
(*)
motion of a
rigid
body.
Replacing the effective forces in
by an equivalent force-couple system, we verify

that the system of the external forces acting on a rigid body in
three-dimensional motion is equivalent to the system consisting
of the vector ma attached at the mass center G of the body and
the couple of moment H (Fig. 18.11), where H G is obtained
Fig. (18.10b)
(h)
Fig. 18.11
from the
relations (18.7)
and
Problems involving the

may be solved by
Fig. 18. 11 and writing appro-
(18.22).
three-dimensional motion of a rigid body
drawing the two sketches shown in

priate equations relating the components or moments of the
external and effective forces (see Sample Prob. 18.3).
*18.7. Motion of a Rigid Body about a Fixed

When a rigid body is constrained to rotate about a fixed
Point.
point O,
desirable to write an equation involving the
it is
ments about
unknown
may be obtained from
equation will not contain the
such an equation
more convenient
the angular
Fig.
mo-
of the external and effective forces, since this
to write
momentum
it
While
reaction at O.
Fig. 18.11,
it
may be
by considering the rate of change of

of the body about the fixed point O
18.12
we
(Fig. 18.12).
write
2M = H
where
denotes the rate of change of the vector II
respect to the fixed frame
used
(18.27)
OXYZ. A
in Sec. 18.5 enables as to relate
Woiib
with
derivation similar to that

to the rate of
change
Ho
Wltn respect to the rotating frame Oxyz. Substitution into (18.27) leads to die equation
0I
2M =
where
2M =
H =
(H
) 0l(
fi
sum
of the moments about

applied to the rigid body
angular
momentum
of the
OXYZ
of H with
(18.28)
of the forces
body with respect
to
the fixed frame
(H
) 0l!/J
rate of change
ing frame Oxyz, to be
respect to the rotat-
computed from
the rela-
tions (18.12)
fi
Head
lasi
angular velocity of the rotating frame Oxyzi
paragraph of Sec.
18.5, replacing
Hc
by
IN
THREE DIMENSIONS
847
848 DYNAMICS
8.8 Rotation of a Rigid Body about a Fixed
We shall use Eq. (18.28), which was derived in the

preceding section, to analyze the motion of a rigid body conAxis.
strained to rotate about a fixed axis
AB
(Fig. 18.13).
First,
we
note that the angular velocity of the body with respect to the
fixed frame OXYZ is represented by the vector u directed along
the axis of rotation. Attaching the moving frame of reference
to the body, with the
Oxyz
Substituting w,
0, <o
= 0,
axis
to,
along AB,
to
we have
we obtain the components along the rotating axes

momentum H of the body about 0:
H = -?
Since the frame Oxyz
and Eq.
is
to
wk.
*JW
H,
attached to the body,
of the angular
= Lw
we have
SI
to
(18.28) yields
(H 0m + to X H
= {-PJ - P,J + f,k) + tok x (-PJ - PVJ +
= (-FJ - iy + Z,k)a + (-PJ + P,i)<o 2
SM =
The
into the relations (18.12),
result
obtained
may be
yc)
expressed by the three scalar equa-
tions
= -ta +
2M. = /.
2A#,
zmv =
When
-v
the forces applied to the
acceleration a
cc
(18.29)
body are known, the angular
may be obtained from
angular velocity
PV!
px
the last of Eqs. (18.29).
The
then determined by integration and die
is
and a may be substitued into the first two

These equations, plus the three equations
which define the motion of the mass center of the body,
values obtained for a
equations (18.29).
(18.26),
may
and
then be used to determine the reactions at the bearings
B.
It
should be noted that axes other than the ones
Fig. 18.12
may be
about a fixed
axis.
shown in
body
selected to analyze the rotation of a rigid
In
many
cases, the principal axes of inertia of
be found more advantageous. It is wise, therefore,

to revert to Eq. (18.28) and to select the system of axes which
best fits the problem under consideration.
If the rotating body is symmetrical with respect to the xy
plane, the products of inertia PT . and Pyz are equal to zero and
the
body
will
Eqs. (18.29) reduce to
SM. =
2^=0
2M- = La
(18.30)
which
accord with the
in
is
results obtained in
Chap.
Vxs and IL
the other hand, the products of inertia
16.
IN
THREE DIMENSIONS
on
If,
are different
from zero, the sum of the moments of the external forces about
the x and y axes will also be different from zero, even when the
body rotates at a constant rate u. Indeed, in the latter case,
Eqs. (18.29) yield
2M, =
ZM, = P
This
last
ing shafts.
which
observe that,
is
symmetrical about
when
the crankshaft
on its supports,
located directly above A. The
lateral thrust
The
anced.
SM, =
(18.31)
observation leads us to discuss the balancing of rotatConsider, for instance, the crankshaft shown in
Fig. 18.14a,
first
-l'T
since
its
shaft
is
its
is
We
mass center G.
at
rest,
exerts
it
center of gravity
said to
be
no
(,'i
is
statically bal-
reaction at A, often referred to as a static reaction,
is
and its magnitude is equal to the weight

of the shaft.
Let us now assume that the shaft rotates with a constant angular
velocity w. Attaching our frame of reference to the shaft, with its
vertical
origin at G, the z axis along
AB, and the y
axis in the
'
plane of
symmetry of the shaft (Fig. 18.14b), we note that P is zero and

that PIJZ is positive. According to Eqs. (18.31), the external forces
must include a couple of moment P(/J w 2 i. Since this couple is
formed by the reaction at B and the horizontal component of the
reaction at A,
()
~j
we have
u
,-*
B =
C.
(18.32)
Since the bearing reactions are proportional to
u2
the shaft will
have a tendency to tear away from its bearings when rotating at

high speeds. Moreover, since the bearing reactions A and B,
called dynamic reactions, axe contained in the yz plane, they
rotate with the shaft and cause the structure supporting it to
vibrate. These undesirable effects will be avoided if, by rearranging the distribution of mass around the
shaft, or
by adding
we let Vyz become equal to zero. The dynamic

A and B will vanish and the reactions at the bearings
corrective masses,
reactions
will
reduce to the
fixed.
The
balanced.
static reaction A., the direction of
shaft will then
be dynamically as well as
which
is
statically
n;
(6)
Fig.
18.14
849
SAMPLE PROBLEM
AB
slender rod
to a vertical axle
of 15 rad/s.
L = 8 ft and weight YV = 40 lb is pinned at

DE which rotates with a constant angular velocity
of length
The rod
BG
zontal wire
18.3
is
maintained
by means
in position
attached to the axle and to the end
Determine the tension in the wire and the reaction
at A.
and the couple Hq. Since G describes a horizontal

7 = \h cos ft at the constant rate co, we have
of a hori-
of the rod.
effective forces reduce to the vector na attached at
The
Soluiii'i
-mH =
ml =
-(JLoosj8) 8 I
-^-(-4501)
s
-(559
circle of radius
-(450ft/s2 )I
lb)I
Determination of H e
We first compute the angular momentum
Using the principal centroidal axes of inertia x, y, z, we write
.
H.
I = &nl?
o.
= w
Ta
B
cos
=
= 0} sin R
+ fytj +
I,
ut
= fatf
=
/ ",k
H G = I>,i
H G = femL2 u cos R
r
The
rate of change
H c of H c with
respect to axes of fixed orientation
obtained from Eq. (18.22). Observing that the rate of change

of
Hc
with respect to the rotating frame Cxijz
angular velocity
the rod,
SI
of that frame
is
is
zero,
equal to the angular velocity
tc
of
we have
is
(Hc ) Cj K
and that the
H = (H
+ a X Ho
H c = + -u cos B + a sin R X fenJfu cos B
H c = -^mL i u t sin B cos B k = (645 lb -ft)k
forces
is
j)
i)
of Motion.
Expressing that the system of the external
equivalent to the system of the effective forces, we write
ZMA = 2(MA
8.93J
ff
(-'I'D
21
(6.93T
IF = SFetr
(-40J) = 3.46J X (-5591)

80)K = (1934 + B45)K
Ax\ + A Y] + AZK -
3841
\
645K
40J = -5591
(1751b)I + (401b)J
-*
The value of T could have been obtained from H,, and

However, the method used here also yields the reaction at
A. Moreover, it draws attention to the effect of the asymmetry of the
rod on the solution of the problem by clearly showing that both
the vector ma and the couple H c must be used to represent the effec-
Remark
Eq.
18.28).
tive forces.
850
SAMPLE PROBLEM
1
18.4
50 mm
1
50
mm
mm
Two
100-
CD
which
and B, each of mass 300 g, are welded to the shaft

C and D. If a couple
of
magnitude equal lo 6 N -m is applied to the shaft, determine the components of the dynamic reactions at C and D at the instant when the shaft
has reached an angular velocity of 1200 rpm. Neglect the moment of
rods
supported by hearings at
is
inertia of the shaft itself.
We
O.
it
attach to the body the frame of
reference Oxyz and note that the axes chosen are not principal axes of
body rotates about the x
inertia for the body. Since the
u t = a and u v a
ff,
<o.
= 2>
-i>
H =
;
axis,
we have
Substituting into Eqs. (18.12),
0.
(',!
H = -P w
z
- Pt J -
Pk)<o
Since the frame of
bout O.
the External
reference rotates with the angular velocity
2M = (H 0xVz + X H
= (Ir - PJ - i k)
Eq. (18.28) yields
to,
IjA
(Pâ
+MX
-
Pto 2 )j
(/,i
(fa
Pj
Pk)co
PTyo> 2 )k
(1)
The external forces consist of the weights

of the shaft and rods, the couple M, the static reactions at C and D, and
the dynamic reactions at C and D. Since the weights and static
reactions are balanced, the external forces reduce to the couple M and
the dynamic reactions C and D as shown in the figure. Taking moments about O, we have
2M = Li x
(DJ
D.k)
Mi
Mi
Equating the coefficients of the unit vector
M = I,a
U a 2(Jmc
Equating the coefficients of k and
O, =
-(*> + i>
in (1)
and
in (1)
DLk
and
(2)
(2):
2
(2):
Dt = (i> -
)//-
DJ.j
= 3M/2mc
)tt
Pu*)/L
(3)
Using the parallel-axis theorem, and noting that the product of

each rod is zero with respect to centroidal axes, we have
inertia of
P, y
?
Substituting into
O* =
~ t% (M/c) -
Substituting
and
(3)
m =
to
= Vmxy =
= y.m& =
m(jL)(Jc)
= $mLc
m(\L)($c)
= %mLc
the values found for
D,
imcu*
Ply PX! and
|(M/e)
1200 rpm = 125.7 rad/s,

we have
a:
- Imcw*
=
0.100 m,
M = 6N-m,
0.300 kg,
-129.8 N
Dynamic Reaction
we
at
D.
-36.8
Using a frame of reference attached at D,
obtain equations similar to Eqs.
(3),
which yield
= -152.2 N
C.
-155.2 N
851
SAMPLE PROBLEM
18.5
A homogeneous disk of radius r and mass m is mounted on an axle OG

L and negligible mass. The axle is pivoted at the fixed point
of length
and the disk
constrained to
is
on
roll
axle,
determine
(a)
Knowing
a horizontal floor.
that the disk rotates counterclockwise at the constant rate
the force (assumed vertical) exerted
about the
coj
by the
floor
on
the disk, (b) the reaction at the pivot O.
The
Solution.
C and
effective forces reduce to the vector
the couple
HG
w2 =
rotates about the y axis at the rate
ma = mLtcî
Determination of
angular
momentum
ma
attached at
Recalling from Sample Prob. 18.2 that the axle
H n We
.
m/^rio,//,) 2
ru^/L,
we
= (mr
write
2
w\/L)i
(1)
from Sample Prob. 18.2 that the
recall
of the disk about
is
M -*)
1
where
',
Q ,)
Hc
with
x'
resolved into components along the rotating axes
is
OG
along
and
y' vertical.
The
with respect to axes of fixed orientation
rate of
zero,
is
and
SI
(;
y',
x',
of
obtained from Eq. (18.22).
is
HG
Noting that the rate of change (Hg)^^- of

rotating frame
change
with respect to the
that the angular velocity J2 of that frame
= tooi
is
i/^)j
we have
HB
o-^ jx ^,(i-^j)
mr 2(r/L)w?k
Equation* of Motion.
forces
(2)
Expressing that the system of the external
is
2M =
+ ^ X H
(H,
l G)G*tft-
2(M
) eff
Li
(N
N=
(.Vj
R+
Substituting for .V from
= Hc
Wj)
(3),
.Vj
for
S =
\\V
hnr(r/i;?^\j
(3)
- Wj = ma
ma
from
R = -(mr 2u 2 /L)i -
(1),
and solving
R:
for
lmr(r/L) 2 o>l j
R =
852
write
- W)Lk = inr 2(r/L)wf k
W + $mr(r/Lful
2F = SF
we
r-v+m
miVr/.
IN
PROBLEMS
1
HR
1
Hc
of the disk of Prob. 18.2.
8.41
Determine the rate of change
H G of the angular momentum
of the disk of Prob. 18.3, assuming that the angular velocity
AB
axle
Determine the rate of change H,; of the angular momentum
8.40
tc
of
remains constant.
8.42 Determine
the rate of change
H6
of the angular
of the plate of Prob. 18.4, assuming that
its
momentum
angular velocity
remains constant.
1
HA
1
HG
8.43
8.44 Determine the
8 rad/s 2
rate of
of the plate of Prob. 18.4
velocity
Hn
Determine the rate of change
H^, of the angular
momentum
of the disk of Prob. 18.6.
of the plate
is
if,
change
H c of the angular momentum
at the instant considered, the
4 rad/s and
is
angular
increasing at the rate of
8.45 Determine the rate of change H G

of the disk of Prob. 18.3
18.46
Two 600-mm
attached to the shaft
if
rods
axle
AB
momentum
BE and
CF, each of mass 4 kg, are
AD which rotates at a constant speed of 20 rad/s.
Knowing that the two rods and the shaft lie

mine the dynamic reactions at A and D.
18.47
of the angular
has an angular acceleration a.
in the
same plane, deter-
Two
triangular plates weighing 10 lb each are welded to a

AB. Knowing that the system rotates at the constant rate
6 rad/s, determine the dynamic reactions at A and B.
vertical shaft
co
Fig.
P18.47
300
Fig.
P18.46
mm
300
mm
300
mm
854
DYNAMICS
18.48 Each element

rod of weight
of the crankshaft
per unit length.
'
with a constant angular velocity
A and
Knowing
to,
shown
homogeneous
is
that the crankshaft rotates
determine the dynamic reactions
at
B.
fe^
Fig.
P18.48
8.49
welded to
thin
homogeneous square
a vertical shaft
AB
m and side a
plate of mass
with which
it
is
forms an angle of 45.
Knowing that the shaft rotates with a constant angular velocity w,

determine the force-couple system representing the dynamic reaction
at A.
18.50
Fig.
The
accelerated
P18.49
and
o=3
shaft of Prob. 18.48
at the rate
in.,
determine
(a)
18.51
The system
of Prob. 18.47
18.5!
couple of
A and
is
(/.)
0)
and
is
4 lb/ft
required to cause the
Determine
(n)
at
A and
0)
B.
and has
the couple VI
the corresponding dynamic
The square plate of Prob. 18.49 is at rest ( = 0) when a

moment .\/uj is applied to the shaft. Determine (a) the
Two
uniform rods
to the shaft
is
(a
that
B.
senting the dynamic reaction at
ION Mil
Knowing
initially at rest (to
(30 rad/s'^j.
angular acceleration of the plate,
welded
dynamic reactions
required to cause the acceleration,

reactions at
the couple
acceleration, (b) the corresponding
an angular acceleration
initially at rest
is
= = 100 rad/s
AB, which
applied to the shaft,
(b)
the force-couple system repre-
at that instant.
CD
and DE, each of mass 2 kg, are

If a couple
of magnitude
determine the dynamic reactions at A
is at rest.
and B.
CD and DE, each of mass 2 kg, are

AB. At the instant shown the angular velocity of
2
the shaft is 15 rad/s and the angular acceleration is 100 rad/s both
counterclockwise when viewed from the positive .r axis. Determine
which must be applied to the shaft, (h) the corre(a) the couple
sponding dynamic reactions at A and B.
18.54
welded
Two
uniform rods
to the shaft
0.1 in
0.1 in
Fig.
P18.53 and P18.54
18.55 Two L-shaped
arms, each weighing 6
third points of the 3-ft shaft

to the shaft,
which
is
AB.
initially at
acceleration of the shaft,
(b)
couple
rest.
lb,
are welded at the
M = (15 lb
Determine
the dynamic reactions at
ft)k
is
applied
the angular
{a)
and B
as the
shaft reaches an angular velocity of 10 rad/s.
1 8.56 The blade of a portable saw and the rotor of its motor have
combined mass of 1.2 kg and a radius of gyration of 35 mm. Determine the couple that a man must exert on the handle to rotate the saw
about the y axis with a constant angular velocity of 3 rad/s clockwise, as viewed from above, when the blade rotates at the rate
u: = 1800 rpm as shown.
Fig.
Fig.
P18.55
P18.56
18.57 A
three-bladed airplane propeller has a mass of 120 kg and
a radius of gyration of 900
mm. Knowing
that the propeller rotates at
1500 rpm, determine the moment of the couple applied by the propeller to its shaft when the airplane travels in a circular path of 360radius at 600 km/h.
8.58 The flywheel of an automobile
the crankshaft,
is
engine,
which
is
mounted on
equivalent to a 16-in. -diameter steel plate of
{jj-in.
At a time when the flywheel is rotating at 4000 rpm the

automobile is traveling around a curve of 600-ft radius at a speed of
60 mi/h. Determine, at that time, the magnitude of the couple exerted
by the flywheel on the horizontal crankshaft. (Specific weight of
thickness.
steel
490 lb/ft 3 .)
18.59
The
essential structure of a certain type of aircraft turn
AC and BD are initially stretched and exert

and B when the airplane is traveling in a
straight path. Knowing that the disk weighs Jib and spins at the rate
of 10,000 rpm, determine the angle through which the yoke will rotate
when the airplane executes a horizontal turn of radius 2500 ft at a
indicator
is
shown. Springs
equal vertical forces at
speed of 500 mi/h. The constant of each spring
is
2 lb/in.
Fig. 18.59
IN
THREE DIMENSIONS
855
856
DYNAMICS
1
8.60
thin
homogeneous wire, of mass
the shape of a circle of radius
r, is
made
m per unit length
with a constant angular velocity <o. Determine the bending

the wire (a) at point C, (b) at point E,
(c)
and
in
to rotate about a vertical shaft
moment
in
at point B. (Neglect the effect
of gravity.)
8.61
thin
homogeneous
disk of mass
m and radius r spins at
the
about a horizontal axle held by a fork-ended vertical

rod which rotates at the constant rate w,. Determine the couple M
exerted by the rod on the disk.
constant rate
Fig.
to2
P18.60
Fig.
P18.61
8.62
vertical shaft
thin ring of radius a is attached by a collar at A to a

which rotates with a constant angular velocity a. Derive
an expression (a) for the constant angle ft that the plane of the ring
forms with the vertical, (b) for the maximum value of a for which the
ring will remain vertical (B 0).
Fig. 18.62
8.63 A uniform
ble weight, which
is
disk of radius r
is
welded to a rod
of
to
/i
for
which the rod
will
disk of mass
remain vertical (B
and radius
with respect to the arm OA, which
about the y
constant
maximum
value
0).
w2
a constant rate
co t
itself rotates at
Determine the force-couple system representing the
axis.
dynamic reaction
Fig.
of negligi-
(a) for the
that the rod forms with the vertical, (b) for the
8.64 A
attached to the pin of a clevis which rotates with a
constant angular velocity u. Derive an expression
angle
AB
IN
O.
at
Fig.
P18.63
Fig.
P18.65
P18.64
8.65
Two
disks,
each of mass 5 kg and radius 300
mm,
spin as
shown at 1200 rpm about the rod AB, which is attached to shaft CD.
The entire system is made to rotate about the z axis with an angular
velocity fi of 60 rpm. (a) Determine the dynamic reactions at C and D
as the system passes through the position shown,
assuming that the direction of spin of disk
(b)
Solve part a
reversed.
is
18.66 A stationary horizontal plate is attached to the ceiling by

means of a fixed vertical tube. A wheel of radius a and mass m is
mounted on a light axle AC which is attached by means of a clevis at A
a rod AB fitted inside the vertical tube. The rod AB is made to
rotate with a constant angular velocity $2 causing the wheel to roll on
the lower face of the stationary plate. Determine the minimum anguto
lar velocity il for
which contact
is
(a)
when
the mass of the wheel
(b)
when
the wheel
that the
wheel
of Prob. 18.66 weighs 8 lb, has a
concentrated in the rim,
rod
maintained between the wheel and
the plate. Consider the particular cases

is
Rotating
is
equivalent to a thin
disk of radius a.
8.67 Assuming
radius a
in.
determine the
ii = 25 rad/s.
and
a radius of gyration of 3
force
exerted by
the
and that R = 20 in.,

on the wheel when
in.,
plate
fl- Fig.
P18.66
858 DYNAMICS
18.68 A
thin
mm
homogeneous
io,
disk of mass 800 g and radius 100

20 rad/s with respect to the arm ARC,
itself rotates at a constant rate w, = 10 rad/s about the x axis.

For the position shown, determine the dynamic reactions at the bear-
which
ings
Fig.
and E.
P18.68
Fig.
P18.69
1 8.69 A slender homogeneous rod Ah of mass m and length L is

made to rotate at the constant rate to, about the horizontal x axis, while
the vertical plane in which it rotates is made to rotate at the constant
ut about the vertical y axis. Express as a function of the angle

the couple M,i required to maintain the rotation of the rod in the
rate
(a)
vertical plane, (b) the couple A/ 2
required to maintain the rotation of
that plane.
*18.9. Motion of a Gyroscope. Eulerian Angles.

may spin freely
A
gyroscope consists essentially of a rotor which
about
its
geometric
axis.
When mounted
gyroscope
in a
Cardan's suspen-
may assume any orientation,
but its
mass center must remain fixed in space. In order to define the
position of a gyroscope at a given instant, we shall select a fixed
sion (Fig. 18.15), a
frame of reference OXYZ, with the origin O located at the mass

center of the gyroscope and the Z axis directed along the line
defined by the bearings A and A' of the outer gimbal, and we
shall consider a reference position of the gyroscope in which the
two gimbals and a given diameter DD' of the rotor are located in
the fixed Y7, plane (Fig. 18.15a). The gyroscope may be brought
from this reference position into any arbitrary position
(Fig. 18.15b) by means of the following steps: (1) a rotation of the
outer gimbal through an angle about the axis AA ', (2) a rotation
about BB', (3) a rotation of the
of the inner gimbal through
rotor through \y about CC. The angles <j>, 0, and y are called the
<J>
Eulerian angles; they completely characterize the position of the
gyroscope at any given
(b)
Fig.
18.15
instant.
Their derivatives
<<>,
0,
and
ii
define, respectively, the rate of precession, the rate of nutation,
and the
rate of spin of the
gyroscope at the instant considered.
In order to compute the components of the angular velocity
and of the angular momentum of the gyroscope, we shall use a

rotating system of axes Oxyz attached to the inner gimbal, with
the y axis along RB' and the z axis along CC (Fig. 18.16). These
axes are principal axes of inertia for the gyroscope but, while
it in its precession and nutation, they do not spin.
For diat reason, they are more convenient to use than axes
they follow
We
actually attached to the gyroscope.
angular velocity
frame
of reference
velocities
nutation,
OXYZ
unit vectors along the rotating axes,
express the
the precession,
to
spin of the gyroscope. Denoting
and the
and by
<SK
0j
i,
j,
the
k the
the unit vector
(18.33)
>^k
Since the vector components obtained for
we
orthogonal (Fig. 18.16),
K =
to
in (18.33) are not
shall resolve the unit
components along the x and z
and, substituting for
by
we have
axis,
a =
03
now
of three partial angidar
sum
as the
corresponding respectively
along the fixed
shall
of the gyroscope with respect to the fixed
axes;
-sin
we
write
cos
vector
into
(18.34)
into (18.33),
= -6 sin
+ 0j +
(^
<j>
cos 0)k
(18.35)
Since the coordinate axes are principal axes of inertia, the com-
H may be obtained by
by the moments of inertia of
the rotor about the x, y, and z axes, respectively. Denoting by J
the moment of inertia of the rotor about its spin axis, by /' its
moment of inertia about a transverse axis through O, and neglecting the mass of the gimbals, we write
momentum
ponents of the angular
multiplying the components of
H =
-I'<j> sin
to
l'6\
+ ]$ + < cos 0)k
(18.36)
Recalling that the rotating axes are attached to the inner
gimbal, and thus do not spin,
we express
their angular velocity as
the sum
fi
Q,
from
<j>K
+ B\
(18.37)
(18.34),
-<f,sin0i
+ 0j
+(i>cos0k
(18.38)
IN
THREE DIMENSIONS
859
860 DYNAMICS
Substituting for
and
from (18.36) and (18.38) into the
fl
equation
2M =
we
(H
+ a X Ho
0xys
(18.28)
obtain the three differential equations
2M, =
-I'(ij> sin
2My =
I'(0
2M, =
J-j-W-
- o 2 sin
The equations
cos B)
20\;>
cos 0)
J<j>
I0(i
sin 6(j,
cj>
cos 0)
<j>
cos 0)
(18.39)
9<:os0)
motion of a gyroscope subthe mass of its gimbals is

neglected. They may also be used to define the motion of an
(âsymmetrical body (or body of revolution) attached at a point
on its axis of symmetry, or the motion of an axisymmctrical body
about its mass center. While the gimbals of the gyroscope helped
(18.39) define the
jected to a given system of forces
us visualize the Eulerian angles,
when
it is
clear that these angles
may
be used to define the position of any rigid body with respect to

axes centered at a point of the body, regardless of the
which the body
is
way
in
actually supported.
be possiand \p as
analytical functions of the time t, and numerical methods of
solution may have to be used. However, as we shall see in the
Since the equations (18.39) are nonlinear,
ble, in general, to express the
it
will not
Eulerian angles
<>,
0,
following sections, there are several particular cases of interest
which may be analyzed
easily.
We
* 18.10. Steady Precession of a Gyroscope.
gyroscopic
shall consider in this section the particular case of
which the angle 0, the rate of precession <>, and

-^ remain constant.
We propose to determine
the forces which must be applied to the gyroscope to maintain
motion
in
the rate of spin
this
motion,
known
as the steady precession of a gyroscope.
Instead of applying the general equations (18.39),
we
shall
determine the sum of the moments of the required forces by

computing the rate of change of the angular momentum of the
gyroscope in the particular case considered. We first note that
to
of the gyroscope,
and the angular velocity
fl
its
angular
momentum
of the rotating frame of reference
(Fig. 18.17) reduce, respectively, to
= sin
+ ag k
=
-/'<j>sin0i + Zw.k
H
sin
SI =
+ 4> cos
63
-<?
where u s
Fig. 18.17
ii-
cos
<j>
d>
(18.40)
(18.41)
component along the spin
total angular velocity of the
gyroscope
(18.42)
axis of the
Since 8, 6, and
\p
are constant, the vector
is
IN
THREE DIMENSIONS
constant in
magnitude and direction with respect to the rotating frame of

reference, and its rate of change (H ) 0lIW with respect to that
frame is zero. Thus Eq. (18.28) reduces to
2M =
which
XH
from
yields, after substitutions
y.M
(I e
i'<j>
(18.43)
(18.41)
cos 0)6 sin
Since the mass center of the gyroscope

have, by (18.1),
2F =
0; thus, the forces
gyroscope to maintain
to the
couple
of
Eq. (18.44).
moment
We
equal
its
to
and
is
(18.42),
(18.44)
fixed in space,
we
which must be applied
steady precession reduce to a

the
right-hand
member
of
note that this couple should he applied about an
axis perpendicular to the precession axis
and
to the spin axis
of
the gyroscope (Fig. 18.18).
18.18
Fig.
In the particular case
when
axis are at a right angle to
the precession axis and the spin
each other,
we have
Precession axis
90 and
Couple axis
Eq. (18.44) reduces to
2M = iU)
Thus,
if
we
(18.45)
apply to the gyroscope a couple

about an axis
its axis of spin, the gyroscope will precess about
Spin axis
perpendicular to
an
axis
perpendicular to both the spin axis and the couple
axis, in
a sense such that the vectors representing respectively the spin,

the
couple,
and the precession form a right-handed
triad
(Fig. 18.19).
Because of the relatively large couples required to change the

orientation of their axles, gyroscopes are used as stabilizers in
torpedoes and ships. Spinning bullets and shells remain tangent

to their trajectory because of gyroscopic action.
easier to
keep balanced
And
a bicycle
is
at high speeds because of the stabilizing
However, gyroscopic action is not

always welcome and must be taken into account in the design of
effect of its spinning wheels.
Fig. 18.19
861
862 DYNAMICS
bearings supporting rotating shafts subjected to forced precession.
The
changes
tion
reactions exerted by
propellers
its
on an airplane which
direction of flight must also be taken into considera-
its
and compensated
for
whenever
possible.
* 18.1 1. Motion of an Axisymmetrical Body under

No Force. \\c shall consider in this section the motion about
its
its
mass center of an axisymmetrical body under no force, except

own weight. Examples of such a motion are furnished by
projectiles,
if
air resistance
is
neglected, and
and space vehicles after burnout of

Fixed
by artificial
satellites
their launching rockets.
Since the sum of the moments of the external forces about the
direction
mass center
G of the
body
follows that the angular
is
zero, Eq. (18.2) yields
momentum
constant. Thus, the direction of
used to define the
HG
is
HG =
0.
It
body about C is
space and may be
of the
fixed in
or axis of precession (Fig. 18.20).
axis,
Gxyz with the z axis along the

symmetry of the body and the x axis in the plane defined
by the Z and z axes, we have
Selecting a rotating system of axes
axis of
11
where
-H6 waB
1I
11;
represents the angle formed
by the
= HG
(18.46)
Z and % axes,
denotes the constant magnitude of the angular

Fig. 18.20
cos
and
momentum
HG
of the
body about G. Since the x, y, and z axes are principal axes of

inertia for the body considered, we may write
H.
where
denotes the
of symmetry, and
through G.
w.
It
velocity
H.
Uy
inertia of the
la.
(18.47)
body about
its
axis
of inertia about a transverse axis
sin
!^ll
(18.48)
of the relations obtained shows that the angular
has no
to
moment of
moment
its
l'
follows from Eqs. (18.46) and (18.47) that
H
= c
The second
Hv =
I'o
component along the
;/
axis, i.e.,
along an axis
perpendicular to the Zz plane. Thus, the angle 6 formed by the
Z and z axes remains constant and the body is in steady precession

about the 7, axis.
Dividing the first and third of the relations (18.48) member by
member, and observing from Fig. 18.21 that u3 /io = tan y,
x
we obtain
between the angles y and that

and H G respectively form with the axis of symme-
the following relation
the vectors
try of the body:
tan y
Fig. 18.21
v-
tan
(18.49)
KINETICS OF RIGID BODIES IN THREE DIMENSIONS
Z=
Fixed direction
^ Fixed direction
863
(b)
Fig. 18.22
There are two particular cases of motion of an axisymmetrical

body under no force which involve no precession: 1 If the body
and, by
is set to spin about its axis of symmetry, we have a
n
=
have
the same orientation
(18.47), Hx
0; the vectors u and II
and the body keeps .spinning about its axis of symmetry
(Fig. 18.22a). (2) If the body is set to spin about a transverse axis,
we have a = and, by (18.47), Hz = 0; again a and II C have
(
Space cone
tone
same orientation and the body keeps spinning about the
the
given transverse axis (Fig.
Considering
we recall from
now
18.22fo).
the general case represented in Fig. 18.21,
motion of a body about a fixed

mass center may be represented by the
motion of a body cone rolling on a space cone. In the case of
steady precession, the two cones are circular, since the angles y
y that the angular velocity w forms, respectively, with
and
the axis of symmetry of the body and with the precession axis are
constant. Two cases should be distinguished:
point
1.
<
Sec. 15.12 that the
or about
This
/'.
its
is
the case of an elongated body, such as the
<
we have y
6; the
ZCz; the space cone and the
body cone are tangent externally; the spin and the precession
are both observed as counterclockwise from the positive z
space vehicle of Fig. 18.23. By (18.49)

vector
axis.
2.
>
to lies
The
lite of
precession
This
/'.
inside the angle
is
is
said to be direct.
the case of a flattened body, such as the satel-
>
By (18.49) we have y
0; since the vector
outside the angle ZGz, the vector ik has a sense
Fig. 18.24.
u must
lie
opposite to that of the z
axis;
the space cone
is
inside the body-
cone; the precession and the spin have opposite senses; the
precession
is
said to
be retrograde.
Fig.
18.23
SAMPLE PROBLEM
18.6
space satellite of mass
two
known to be dynamically equivalent to

The disks are of radius a 800 mm and
is
thin disks of equal mass.
are rigidly connected by a light rod of length 2a. Initially the satellite
is
spinning freely about
meteorite, of mass tHq
2000 m/s
its
symmetry
axis of
= m/1000 and
Determine
at C.
immediately after impact,
We
Moments of Inertia.
= ^ma*
lt
l'
It
note that the axes shown are
l
v
and write
We
no
the meteorite as a single system. Since
momenta before and

moments about G we write
system, the
xm
-a\
(m) 2
=f mo*
consider the satellite and
external force acts on this
impact are equipollent. Taking
after
v k
2[\(lm)a 2
and Momentum.
mo-
and spin of the ensuing motion.
principal axes of inertia for the satellite
of
and becomes
the precession axis of the ensuing
tion, (c) the rates of precession
Solution.
60 rpm.
the angular velocity of the satellite
(a)
(b)
co
relative to the satellite, strikes the satellite
embedded
at the rate
traveling with a velocity v
=H
Iu^k
H = -m o ai +
Jco
(1)
Angular Velocity after Impact. Substituting the values obtained

Hg and for the moments cf inertia into
for
the components of
H,
we
to
to
H,
to
write
m n vaa
I'oi
the
m /m =
satellite
1/1000, a
to
co
^rna 2 u I
ma
5
For
",
we have
and
rn,
= 2 rad/s
= v^r + w f =
Precession Axis.
direction.
is
,=0
6-59 rad/s
CO,
/CO
(2)
fa>
= 60 rpm = 6.28 rad/s,

co
2000 m/s; we find
oj
tan y
6.28 rad/s
63.0
+0.3185
rpm
Since, in free motion, the direction of the angular
h,
m n vn a
h,
motion of the
the precession axis and the z axis

2mriDn
maic
7co
Rates of Precession and Spin.

for the free
/tOg
fixed in space, the satellite will precess about this
The angle 6 formed by
tan 6
t>
to
momentum H c
"
considered
0.800
I'u
0.796
//
_r .38.
Using the law of
sines,
body cones
we compute
the rates of precession and spin.
sin y
i'i
-^0
We sketch the space and
satellite.
is
sin (0
30.7
rpm
y)
36.0
rpm
OF
KINETICS
PROBLEMS
8.70 The
vertical
is
rate of steady precession
observed to be 30 rpm.
h = 300 mm, determine

symmetry if B = 120.
Fig.
8.71 Solve
ft
the rate of spin
i^
shown about the

= 75 mm and
that r
of the cone about
its axis
of
8.72 A
Prob. 18.70, assuming the
If
same
rate of steady preces-
60.
5-lb disk of 9-in. diameter
of negligible weight
at A.
is
of the cone
P18.70
sion and
AB
<f>
Knowing
which
is
is
attached to the end of a rod
supported by a ball-and-socket
the rate of steady precession
<j>
observed lo be 24 rpm, determine the rate of spin
about
AB when B =
joint
of the disk about the vertical

i^
of the disk
60.
<9CU>
Fig.
P18.72
18.73
cession and
Solve Prob. 18.72, assuming the same rate of steady prefi = 30.
865
866 DYNAMICS
1
by
8.74 The
axis
top shown is supported at the fixed point O. Denoting

and /', respectively, the moments of inertia of the top about its
of symmetry and about a transverse axis through O, show that the
condition for steady precession
(Iw,
A
Fig.
P18.74, P18.75, and 18.76
where
</>
is
Show
cession
J'(j)
cos (9)0
the rate of precession and
velocity along the axis of
compared
is
to
is Ai<j>
its
that,
uz
= We
the
symmetry of the
the rate of spin
if
component of the angular

top.
of a top
is
very large
rate of precession , the condition for steady pre-
;r Wc.
The top shown weighs 0.2 lb and is supported at the fixed

The radii of gyration of the top with respect to its axis of
point O.
symmetry and with respect to a transverse axis through O are 0.75 in.
and 1.75 in., respectively. It is known that
= 1.50 in. and that the
rate of spin of the top with respect to
its axis of symmetry is 1600 rpm.

Using the relation of Prob. 18.74, determine the two possible rates
of steady precession corresponding to
= 30. (b) Determine the
(a)
relative error introduced
part a
is
when
'8-77
If
would
is
and the gravitational system acting on the

R and a couple M. Knowing that the
couple
GA at
is
to cause the axis of the earth to precess about
the rate of one revolution in 25,800 years, determine the
average magnitude of the couple

the average density of the earth
earth
is
known
be equivalent to a single
However, the earth is
equivalent to a force
effect of the
the axis
at all times
acting at the mass center of the earth.
actually an oblate spheroid
earth
18.75.
the earth were a sphere, the gravitational attraction of
the sun, moon, and planets

force
the slower of the two rates obtained in
approximated by the relation of Prob.
3960 mi, and that
M applied to the earth.

is
T= imR 2
(Note. This forced precession
as the precession of the equinoxes
and
is
P18.77
is
not to be confused
with the free precession discussed in Prob. 18.85.)
Fig.
Assume that
5.51, that the average radius of the
A high-speed photographic record shows that a certain

was fired with a horizontal velocity v of 2000 ft/s and with
its axis of symmetry forming an angle /J = 3 with the horizontal. The
of the projectile was 6000 rpm, and the atmospheric
rate of spin
drag was equivalent to a force D of 25 lb acting at the center of
(a) Knowing that
pressure Cp located at a distance c = 3 in. from
the projectile weighs 40 lb and has a radius of gyration of 2 in. with
18.78
projectile
if>
respect to
its
symmetry, determine
axis of
steady precession,
(b) If it is
further
known
Fig.
P18.78
Fig.
P18.79
approximate rate of
its
that the radius of gyration
of the projectile with respect to a transverse axis through
is
in.,
determine the exact values of the two possible rates of precession.
8.79 The
gyrocompass are shown. The

mounted in a single gimbal,
which may rotate freely about the vertical axis AB. The angle formed
by the axis of the rotor and the plane of the meridian is denoted by
and the latitude of the position on the earth is denoted by \. We note
that the line OC is parallel to the axis of the earth and we denote by ue
1
essential features of the
rotor spins at the rate
about an
-y
axis
the angular velocity of the earth about

(a)
Show
if)
Iu,
where ml
is
its axis.
that the equations of motion of the
\0,u, cos X sin
I'u'j
cos X sin
gyrocompass are
cos
=0
"
component of the total angular velocity along the axis

and /' are the moments of inertia of the rotor with
axis of symmetry and a transverse axis through O, respec-
the
of the rotor, and I

respect to
its
tively.
(h)
8,
Neglecting the term containing
2
to
show
that, for small values of
we have
and that the
axis of the
gyrocompass
oscillates
about the north-south
direction.
18.80 Show
an axisymmetrical body under no force, the

and spin may be expressed, respectively, as
that, for
rates of precession
*-*
and
v=
;
where
Hg
is
Ha cos
ft
II'
I.
IT
the constant value of the angular
momentum
of the body.
IN
THREE DIMENSIONS
867
868
DYNAMICS
18.81
(a)
Show
an axisymmetrical body under no
that, for
may be
the rate of precession
:>
force,
expressed as
lu.
v cos e
where
body,
Use
precession
is
of u along the axis of symmetry of the

check that the condition (18.44) for steady
component
the
is
a.-,
(b)
this result to
satisfied
8.82 Show
by an axisymmetrical body under no
that the angular velocity vector
to
body under no force is observed from the body

the axis of symmetry at the constant rate
cal
where
ut
is
the
component
of
to
force.
of an axisymmetri-
itself to rotate
about
along the axis of symmetry of the body.
8.83 For an axisymmetrical body under no
force,
prove
(a) that
the rate of retrograde precession can never be less than twice the rate
body about its axis of symmetry, (fo) that in Fig. 18.24 the
symmetry of the body can never lie within the space cone.
of spin of the
axis of
1 8.84
Determine the precession axis and the rates of precession
and spin of a rod which is given an initial angular velocity to of 12 rad/s
in the direction
Fig.
P18.84
18.85
shown.
Using the relation given
in
Prob. 18.82, determine the
period of precession of the north pole of the earth about the axis of
symmetry
inertia
/'
The earth may be approximated by an oblate

moment of inertia / and of transverse moment of
of the earth.
spheroid of axial
0.9967/.
(Note.
Actual observations show a period of
precession of the north pole of about 432.5

difference between the observed and
fact that the earth
is
not a perfectly
mean
considered here should not be confused with the

sion of the equinoxes,
which
is
solar days; the
computed periods is due to the

rigid body. The free precession
much
a forced precession.
slower preces-
See Prob.
18.77.)
1 8.86
Determine the precession axis and the rates of precession
and spin of the satellite of Prob. 18.28 after the impact.
18.87
and spin
Determine the precession
of the satellite of Prob. 18.28
angular velocity of the satellite was
axis and the rates of precession

knowing that, before impact, the
to
= (12
rpm)i.
8.88 The space capsule has no angular velocity when the jet at A
1.25
a direction parallel to the X axis. Knowing that

the capsule has a mass of 1000 kg, that its radii of gyration are
k = k 1.00 m and fc, = 1.25 m, and that the jet at A produces a
is
activated for
IN
THREE DIMENSIONS
1 s in
the axis of precession
thrust of 50 N, determine
precession and spin after the
The
18.89
(0.02rad/s)j
jet
capsule
space
has
when
(0.10 rad/s)k
and the
rates of
has stopped.
the
in a direction parallel to the x axis.
an
angular
jet at
Knowing
is
velocity
a=
activated for Is
mass of 1000 kg, that its radii of gyration are kr = fc_ = 1.00m and
kz = 1.25 m, and that the jet at B produces a thrust of 50 N, determine
the axis of precession and the rates of precession and spin after the jet
has stopped.
8.90 The space station shown is known
direction
to precess
OC at the rate of one revolution per hour.
about the fixed
Assuming that the
is dynamically equivalent to a homogeneous cylinder of length

and radius 10 ft, determine the rate of spin of the station about
axis of symmetry.
station
100
its
ft
10
Fig.
18.91
Prob. 18.90
50
ft
and radius 10
station
is
ft
P18.90
The link connecting portions A and B of the space station of

may be severed to allow each portion to move freely. Each
portion of the station
is
dynamically equivalent to a cylinder of length
Knowing
ft.
when
that,
the link
is
oriented as shown, determine for portion
severed, the
the axis of
precession, the rate of precession, and the rate of spin about the axis of
symmetry.
18.92
Solve Sample Prob.
strikes the satellite at
8.93
(.'
18.6,
assuming that the meteorite
with a velocity v
(2000
m/s)i.
After the motion determined in Sample Prob. 18.6 has been
established, the rod connecting disks
and disk A moves freely

the z axis coincide
when
A and B
as a separate body.
of the satellite breaks,
Knowing
that the rod
the rod breaks, determine the precession
and
axis,
the rate of precession, and the rate of spin for the ensuing motion of
disk A.
25
that the capsule has a
Fig.
P18.88 and P18.89
869
870 DYNAMICS
1 8.94
The angular velocity vector of a football which has just
been kicked is horizontal, and its axis of symmetry OC is oriented as
shown. Knowing that the magnitude of the angular velocity is 180 rpm
and that the ratio of the axial and transverse moments of inertia is
///' = 1/3, determine (a) the orientation of the axis of precession OA,
(h) the rates of precession and spin.
8.95
slender
homogeneous rod
supported by a ball-and-socket joint

its
own
weight.
given an
initial
determine
If
the rod
is
at
held in a horizontal position
angular velocity
<i
{0
90) and
y/Hg/I. about the vertical
the smallest value of
(a)
OA of mass m and length L is

O and may swing freely under
in the
ensuing motion,
OB,
(b) the
of the rod about OB.

Apply the principle of conservation of energy and the principle
of impulse and momentum, observing that, since 2Af0B ss 0, the component of II along OB must be constant.)
corresponding value of the angular velocity
<;>
(Hint.
18.96
slender
homogeneous rod
supported by a ball-and-socket joint at

its
own
what
weight.
initial
vertical
OB
If
the rod
is
held in a horizontal position
(9
90),
should be given to the rod about the

the smallest value of
in the ensuing motion is to be
angular velocity
if
OA of mass m and length L is

O and may swing freely under
<
60? (See hint of Prob. 18.95.)
18.97
The gimbal ABA'B' is of negligible mass and may rotate

The uniform disk of radius a and mass m
freely about the vertical AA'.
may
rotate freely about
its
diameter BB', which
is
also the horizontal
diameter of the gimbal. (a) Applying the principle of conservation of

energy, and observing thai, since 2M = 0, the component of the
angular
momentum
of the disk along the fixed axis
AA' must be
0,
moand
Show
that
constant, write two first-order differential equations defining the

tion of the disk,
Q
Fig.
P18.97
0,
(b)
Given the
express the rate of nutation
the angle
conditions On
initial
0,
(,'>
as a function of 0. (c)
will never be larger than
during the ensuing motion.
IN
THREE DIMENSIONS
871
* 18.98 The top shown is supported at the fixed point O. We

denote by 9, 0, and $ the Eulerian angles defining the position of the
top with respect to a fixed frame of reference. We shall consider the
general motion of the top
Observing that
(a)
moments
respectively, the
try
which all Eulerian angles vary.

and SM. = 0, and denoting by
in
2MZ =
and about a transverse axis through O, derive the two

motion
and /',
symme-
of inertia of the top about its axis of
first-order
differential equations of
/'6 sin 2
Ity,
+ 9 cos 0) cos 6 =
= ft
J(y
cos 0)
(1)
(2)
Fig.
P18.98
Fig.
P18.100
where a and ft are constants depending upon the initial conditions.

These equations express that the angular momentum of the top is
conserved about both the Z and z axes, i.e., that the rectangular
component of H along each of these axes is constant.
(b) Use Eqs. (1) and (2) to show that the component ug of the angular
velocity of the top is constant and that the rate of precession 9 depends
upon the value of the angle of nutation 0.
8.99
Applying the principle of conservation of energy,
(a)
derive a third differential equation for the general motion of the top of
Prob. 18.98. (b) Eliminating the derivatives 9 and tp from the equation
obtained and from the two equations of Prob. 18.98, express the rate of
nutation
as a function of the angle 6.
* 1 8. 00
mounted on
socket support at O.
rate of spin
\f/
Q,
OA
The
disk
when
ft
which
is
is
held by a ball-and-
released in the position
is
that the largest value of
30, determine in terms of

disk
and mass
disk of radius a
of length a
ft
with a
clockwise as viewed from O, and with no precession or
Knowing
nutation.
homogeneous
thin
a light axle
30.
<*.
(Hint.
conserved about both the
ft
in the
ensuing motion
is
the rates of precession and spin of the
The angular momentum
Z and
of the disk
z axes; see Prob. 18.98, part
is
a.)
* 18.1 01
For the disk of Prob. 18.100, determine the initial value

9 of the spin, knowing that the largest value of ft in the ensuing
motion is 30, (Hint. Use the principle of conservation of energy and
the answers obtained for Prob. 18.100.)
* 18. 102
height h
of
|a,
is
solid
homogeneous cone
symmetry of the cone
about
it
is
at the constant rate
However,
vertical (0
0)
If
Initially
and
the axis
with the cone spinning
y n counterclockwise as viewed from above.

,
after being slightly disturbed, the
precessing.
determine
of mass m, radius a,
held by a ball-and-socket support O.
the largest value of
in the
cone
starts falling
ensuing motion
is
and
90,
of the cone in its initial vertical

and spin as the cone passes through
its lowest position (6* = 90). (Hint. Use the principle of conservation
of energy and the fact that the angular momentum of the cone is
conserved about both the Z and z axes; see Prob. 18.98, part a.)
(a)
the rate of spin
position, (b) the rates of precession
Fig.
P18.102
872 DYNAMICS
* 18. 103
tached at
Consider a rigid body of arbitrary shape which is

O and subjected to no force other than
weight and the reaction of the support at O.
2T/II,,
at-
mass center
its
its
Prove that the angular
(a)
momentum II of the body about the fixed point

is constant in
magnitude and direction, that the kinetic energy T of the body is
constant, and that the projection along H of the angular velocity to of
the body is constant, (b) Show that the tip of the vector u describes a
curve on a fixed plane
perpendicular to
in
and
space (called the invariable plane), which

at a distance
2T/ll from O.
Show
(c)
is
that,
with respect to a frame of reference attached to the bodv and coinciding with
its
principal axes of inertia, the tip of the vector
appears to
describe a curve on an ellipsoid of equation
+ h ul + h^t = 2T =
I,2
constant
This ellipsoid (called the Poinsot ellipsoid)
body and
Fig.
P18.103
is
same shape
of the
is
as the ellipsoid of inertia, but of a
different size.
* 18.104
Referring to Prob. 18.103,
(a)
ellipsoid is tangent to the invariable plane, (b)
prove that the Poinsot

that the motion of
show
the rigid body must be such that the Poinsot ellipsoid appears to
the invariable plane.
In part a,
(Hint.
Poinsot ellipsoid at the tip of
is
show
parallel to
It is
Fig.
P1 8.104
same
the
is
as that of
grad
on
recalled that the
direction of the normal to a surface of equation h\x,y^s)
point
roll
that the normal to the
constant at a
at point P.)
* 18.105 Using the results obtained in Probs. 18.103 and 18.104,

show that, for an axisymmetrical body attached at its mass center
and under no force other than its weight and the reaction at O, the
Poinsot ellipsoid is an ellipsoid of revolution and the space and body
cones are both circular and arc tangent to each other. Further show
that (a) the two cones are tangent externally, and the precession is
/', where / and V denote, respectively, the axial and
direct, when I
<
transverse
moment
the body cone,
of inertia of the body, (b) the space cone
and the precession
is
retrograde,
when
>
is
inside
/'.
* 1 8.1 06 Referring to Probs. 18.103 and 18.104, (a) show that the
curve (called polhode) described by the tip of the vector to with respect
to a frame of reference coinciding with the principal axes of inertia of
the rigid
and thai
body
this
is
+ 1/4 = 2T =
lz<4
lyu*
/feef
iy + I*a* = Hi = constant
constant
curve may, therefore, be obtained by intersecting the
show, assuming JT
> /^ > I
P18.106
(b)
(2).
Further
that the polhodes obtained for various
have the shapes indicated
result obtained in part b,

Fig.
(2)
Poinsot ellipsoid with the ellipsoid defined by Eq.

values of
(1)
show
in the figure,
that a rigid
rotate about a fixed cenlroidal axis
if,
(c)
Using the
body under no force can
and only
if,
that axis coincides
KINETICS
OF
RIGID BODIES IN
THREE DIMENSIONS
with one of the principal axes of inertia of the body, and that the
motion
minor
if it
will
be stable
if
the axis of rotation coincides with the major or
axis of the Poinsot ellipsoid (z or x axis in the figure)
coincides with the intermediate axis (y
and unstable
axis).
REVIEW PROBLEMS
1
8.1
07 A
shown.
as
thin rectangular plate of mass 9 kg
If at
the instant
is
attached to a shaft
shown the angular velocity U of the plate
Fig.
P18.107 and P18.108
Fig.
P18.109
Fig.
P18.110
Fig.
P18.112
is
4 rad/s and is increasing at the rate of 8 rad/s determine (a) the

couple
which must be applied to the shaft, (b) the corresponding
,
dynamic reactions
18.1
08 A
as shown.
is
at
A and
thin rectangular plate of mass 9
A couple
initially at rest.
of
moment (3N
Determine
the dynamic: reactions at
(b)
C.
(a)
m)i
is
kg
is
attached to a shaft
applied to the plate which
the angular acceleration of the plate,
A and C
as the plate reaches an angular
velocity of 10 rad/s.
8.1
09 The
50-lb disk of 12-in. radius.

at 10,000
rpm
as
rotor of a given turbine
Knowing
:i:
that the turbine rotates clockwise
viewed from the positive x
axis, determine the components due to gyroscopic action of the forces exerted by the bearings
on axle AB if the instantaneous angular velocity of the turbine housing
is
2 rad/s clockwise as viewed from
(a)
the positive y axis, (b) the
positive x axis.
18.1 10 The rectangular plate shown is falling with a velocity v

and no angular velocity when its corner A strikes an obstruction.
Assuming the impact at A is perfectly plastic, determine immediately
after impact () the angular velocity of the plate, (b) the velocity of the
mass center
* 18.1 11
of the plate.
Solve Prob. 18.110, assuming that the impact at
is
perfectly elastic.
18.112
rigid square
uniform bars, each 1.2
frame
ABCD
consisting of four slender
suspended by a wire attached at A.

Bars AB and CD have each a mass of 25 kg, while bars AD and BC have
each a mass of 5 kg. The frame is hit at 7J in a direction perpendicular
to, and into the plane of, the frame. Knowing that the corresponding
impulse applied to the frame is 75 N-s, determine immediately after
the impact (a) the velocity of the mass center of the frame, (h) the
long,
is
angular velocity of the frame.
18.113
corner C.
Solve Prob. 18.112, assuming that the frame
is
hit at
873
874 DYNAMICS
18.114
The
800-lb space capsule is spinning with an angular

(100rpm)k when a 1-lb projectile is fired from A in a
direction parallel to the x axis and with a velocity v of 4000 ft/s.
Knowing that the radii of gyration of the capsule are k = 1L a 1.50 ft
and k: = 2.00 ft, determine immediately after the projectile has been
velocity w
the angular velocity of the capsule,
fired (a)
(b)
the kinetic energy of
the capsule.
1 8.1 1 5 Determine the precession axis and the rales of precession
and spin of the capsule of Prob. 18.114 after the projectile has been
fired.
1 6
A coin is tossed into the air. During the free motion the
between the plane of the coin and the horizontal is observed to
be constant, (a) Derive an expression for the angle formed by the
angular velocity of the coin and the vertical, (b) Denoting by $ the
rate of spin of the coin about its axis of symmetry, derive an expression
for the rate of precession, (c) Solve parts a and b for the case fi = 10.
8.1
angle
Fig.
fi
P18.116
Fig.
P18.117
8.1
7 A
which
with the vertical,
remain vertical
AB
uniform rod
the pin of a clevis
maximum
to a light rod of length 4a.
attached to
fi
that the rod forms
value of a for which the rod will
of radius a and mass
The rod forms an angle
about
AC
the
constant
is
rale
rotates
that the sphere does not spin about the rod

in the
be given
is
to the
sphere
if
at
cord
ii
BC and
attached
of 30 with the
(a)
sphere, (b) Determine the spin
P18.118
is
vertical
determine the tension
Fig.
= 0).
18.118 A homogeneous sphere

and
Assuming
and mass
the constant angle
(a) for
(b) for the
(fi
of length
rotates with a constant angular velocity u.
il
Vg/a.
(i//
0),
the kinetic energy of the
(magnitude and sense) which should

BC is to be zero. What
the tension in the cord
the corresponding kinetic energy of the sphere?
Mechanical
Vibrations
Introduction. A mechanical vibration is the motion

body which oscillates about a position of
equilibrium. Most vibrations in machines and structures are
1
9.1
of a particle or a
undesirable because of the increased stresses and energy losses

which accompany them. They should therefore be eliminated
or reduced as much as possible by appropriate design. The
become increasingly important in recent years owing to the current trend toward higher-speed machines and lighter structures. There is every reason to expect
analysis of vibrations has
that this trend will continue
and
that an even greater
need
for
vibration analysis will develop in the future.
The
analysis of vibrations
is
a very extensive subject to which
We shall therefore limit our

present study to the simpler types of vibrations, namely, the
vibrations of a body or a system of bodies with one degree of
entire texts
have been devoted.
freedom.
A mechanical vibration generally results when a system is

displaced from a position of stable equilibrium. The system tends
to return to this position under the action of restoring forces
(either elastic forces, as in the case of a mass attached to a spring,
or gravitational forces, as in the case of a pendulum). But the
system generally reaches its original position with a certain

acquired velocity which carries it beyond that position. Since
875
CHAPTER
19
876
DYNAMICS
the process can be repeated indefinitely, the system keeps moving back and forth across its position of equilibrium. The time
complete
interval required for the system to
motion
called the period of the vibration.
is
cycles per unit time defines the frequency,
displacement of the system from
a full cycle of
The number
of
and the maximum
position of equilibrium
its
is
called the amplitude of the vibration.
When
the motion
the vibration
When
is
is
maintained by the restoring forces only,
be a free vibration
said to
a periodic force
motion
is
described as
effects of friction
is
(Sees. 19.2 to 19.6).
applied to the system, the resulting
forced vibration (Sec. 19.7).
a.
may be
When
the
neglected, die vibrations are said to
be undamped. However, all vibrations are actually damped to

some degree. If a free vibration is only slightly damped, its
amplitude slowly decreases until, after a certain time, the motion
comes to a stop. But damping may be large enough to prevent
any true vibration; the system then slowly regains
position (Sec. 19.8).
Uiistretchetl
A damped
forced vibration
is
its
original
maintained
which produces the vibration
as long as the periodic force
applied. The amplitude of the vibration, however,

by the magnitude of the damping forces (Sec. 19.9).
is
Ls
affected
VIBRATIONS WITHOUT DAMPING

19.2. Free Vibrations of Particles.
monic Motion. Consider a body of mass
we
are concerned only with the motion of its mass center, we shall
refer to this body as a particle. When the particle is in static
and the
equilibrium, the forces acting on it are its weight
<5
where
kS
of
magnitude
T
force T exerted by the spring,
S
sv
r>n
denotes the elongation of die spring.
W = kd
T = *(+x)
attached to a
Since, at the present time,
spring of constant k (Fig. 19.1a).
tj
Simple Har-
We
have, therefore,
(19.1)
st
Suppose now dial the particle is displaced through a distance

xm from its equilibrium position and released with no initial
velocity. If xm has been chosen smaller than 5 st the particle
will move back and forth through its equilibrium position; a
vibration of amplitude .vm has been generated. Note that the
,
Equilibrium
-E3-,-
ED =
w
+*.
may
vibration
or,
more
position X
-T
To analyze
(b)
Fig. 19.1
also
be produced by imparting a certain
velocity to die particle
position
at
()
when
it
is
in
its
initial
equilibrium position
generally, by starting the particle from any given
with a given
the vibration,
some
X the displacement
a
Denoting by
shall consider the particle in
arbitrary time
OP
velocity v
initial
we
(Fig. 19.16).
measured from the equilibrium position
MECHANICAL VIBRATIONS 877
downward), we note that the forces acting on the

its weight
and the force T exerted by the spring
which, in this position, has a magnitude T = k(S + x).
si
Recalling (19.1), we find that the magnitude of the resultant F
of the two forces (positive downward) is
(positive
particle are
P
Thus the
VV
ft(
x)
= -kx
(19.2)
on the particle is propormeasured from the equilibrium
resultant of die forces exerted
OP
displacement
tional to the
position. Recalling the sign convention,
we
note that
is
always
directed toward the equilibrium position O. Substituting for

into the fundamental equation F ma and recalling that a
the second derivative x of x with respect to
mx +
Note that the same
fc:
Equation
(19.3)
(19.3)
is
x,
be used for the accelnamely, positive downward.
a linear differential equation of the second
Setting
we
write
sign convention should
eration x and for the displacement
order.
we
f,
F
is
2
p x
(19.4)'
write (19.3) in the form
The motion
motion.
It is
(19.5)
defined by Eq. (19.5) is called simple harmonic

characterized by the fact that the acceleration is
proportional to the displacement
note that each of the functions r,
and of
opposite direction.
sin pt
and
x^
cos pi
We
satis-
fies (19.5). These functions, therefore, constitute two particular

solutions of die differential equation (19.5). As we shall see
presently, the general solution of (19.5) may be obtained by
multiplying the two particular solutions by arbitrary constants

and B and adding. We write
x
Differentiating,
ation at time
= Ax x +
we
Bx2
= A sin pt + B cos pt
(19.6)
obtain successively the velocity and acceler-
t,
v
a
= Ap cos pt - Bp sin pt
= x -Ap 2 sin pt Bp 2 cos pt
x
(19.7)
(19.8)
Substituting from (19.6) and (19.8) into (19.5), we verify that the
expression (19.6) provides a solution of the differential equation
(19.5).
Since this expression contains two arbitrary constants
878 DYNAMICS
and
B, the solution obtained
ential equation.
The
is
the general solution of the differ-
values of the constants
upon the
initial conditions of the
A =
the particle
if
displaced from
is
and B depend
we have
motion. For example,
equilibrium position
its
and released at t = with no initial velocity, and we have B =

with a certain initial velocity.
if P is started from O at t
and the initial values x and v
In general, substituting t =
of the displacement and velocity into (19.6) and (19.7), we find
A =
v /p and B = xn
expressions obtained for the displacement, velocity, and
.
The
may be written in a more compact

observe that (19.6) expresses that the displacement
the sum of the x components of two vectors A and
form
x
if
= OP
we
is
B, respectively of magnitude A and B, directed as shown in Fig.

19.2a. As f varies, both vectors rotate clockwise: we also note
that the
magnitude of
their resultant
OQ
is
equal to the maxi-
Flg. 19.2
mum
displacement
the X axis
may
The simple harmonic motion of P along

by projecting on this axis the
thus be obtained
motion of a point Q describing an auxiliary circle of radius xm

the angle
with a constant angular velvcity p. Denoting by
<j>
formed by the vectors
OQ
and A,
we
write
OP = OQ sin (pt +
which leads to new expressions
and acceleration of P,
(19.9)
6)
for the displacement, velocity,
= x m sin (pt +
-v
= xm p2
x m p cos (pt
(19.10)
<t>)
sin (pt
(19.11)
<t>)
<>)
(19.12)
The displacement-time curve
is represented by a sine curve (Fig.

and the maximum value x of the displacement is called
m
the amplitude of the vibration. The angular velocity
p of the
point Q which describes the auxiliary circle is known as the
19.26),
circular frequency of the vibration and is measured

while the angle 6 which defines the initial position of
circle
full
by
2t7
in rad/s,
Q on
the
We
called the phase angle.
note from Fig. 19.2 that

cycle has been described after the angle pt has increased
rad. The corresponding value of t, denoted by t, is called
is
the period of the vibration and
Period
is
measured
in
seconds.
= %L
=f= =
T
have
(19.13)
The number of cycles described per unit of time

and is known as the frequency of the vibration.
Frequency
We
is
by/
denoted
We
write
(19.14)
277
The
unit of frequency is a frequency of 1 cycle per second,

corresponding to a period of 1 s. In terms of base units the unit
of frequency is thus 1/s or s _l It is called a hertz (Hz) in
the
.
SI system of units.
quency of
It also
_1
follows from Eq. (19.14) that a fre-
or 1 Hz corresponds to a circular frequency of

In problems involving angular velocities expressed in
revolutions per minute (rpm), we have 1 rpm s=
c-l
Hz,
1 s
27T rad/s.
or
rpm =
=&
(277/60) rad/s.
Recalling that
p was defined
of the spring and the mass
in (19.4) in terms of the constant k
m of the particle, we observe that the
period and the frequency are independent of the
condi-
initial
and of the amplitude of the vibration. Note that t and

/
depend on the mass rather than on the weight of the particle and
tions
thus are independent of the value of g.

The velocity-time and acceleration-time curves
may be
repre-
sented by sine curves of the same period as the displacementtime curve, but with different phase angles. From (19.11) and
(19.12),
we
note that the
vm
Since the point
at the constant
maximum
values of the magnitudes
and acceleration are
of the velocity
= xmP
a B ,=*m p a
(19.15)
describes the auxiliary circle, of radius x ,

m
angular velocity p,
its velocity and acceleration

are equal, respectively, to the expressions (19.15). Recalling Eqs.
(19.11)
and
(19.12),
we
find,
therefore, that the velocity
and
880 DYNAMICS
obtained at any instant by projecting
2
magnitudes
v m = xm p and am = x m p
on
representing respectively the velocity and acceleration of Q at
acceleration of
P may be
the x axis vectors of
the
same
Fig. 19.3
The
results obtained are not limited to the solution of the
problem of a mass attached to a spring. They may be used to

analyze the rectilinear motion of a particle whenever the result-
of the forces acting on the particle is proportional to the

displacement x and directed toward O. The fundamental equation of motion F = ma may then be written in the form (19.5),
which characterizes simple harmonic motion. Observing that
ant
the coefficient of x in (19.5) represents the square of the circular

frequency p of the vibration, we easily obtain p and, after substitution into (19.13)
and
(19.14), the period r
and the frequency
of the vibration.
19.3. Simple Pendulum (Approximate Solution).

Most of the vibrations encountered in engineering applications
may be represented by a simple harmonic motion. Many others,
although of a different type, may be approximated by a simple
harmonic motion, provided that their amplitude remains small.
Consider for example a simple pendulum, consisting of a bob
of mass m attached to a cord of length /, which may oscillate
forms
in a vertical plane (Fig. 19.4a). At a given time f, the cord
are
on
the
bob
acting
forces
vertical.
The
6
with
the
an angle
19.4b).
cord
(Fig.
by
the
exerted
and
the
force
T
weight
its
Resolving the vector ma into tangential and normal components,
(b)
with ma, directed to the
right,
to increasing values of 0,
i.e.,
in the direction corresponding
and observing
that a,
la
10,
we
write
- Wsin
2F, =ma,-.
Noting that
ml0
W mg and dividing through by ml, we obtain

0+j-sinO
For
oscillations of small amplitude,

expressed in radians, and write
(19.16)
we may
replace sin
0+2.8 =
by
0,
(19.17)
Comparison with (19.5) shows that die equation obtained is that

of a simple harmonic motion and that the circular frequency
p of the oscillations is equal to (g//) ,/2 Substitution into (19.13)
.
yields the period of the small oscillations of a
length
pendulum
_
'
2ff
IT
(19.18)
V g
*19.4. Simple Pendulum (Exact Solution).

mula
of
/,
For-
only approximate. To obtain an exact expression

for the period of the oscillations of a simple pendulum, wc
must
return to (19.16). Multiplying both terms by 20 and integrating
(19.18)
from an
is
initial
tion, that
is,
position corresponding to the
m and
'
0,
we
write
P =-2-(cos0
cos 9
or
cos
cos
m)
maximum
deflec-
881
882 DYNAMICS
1-2 sin2 (0/2)
by
Replacing cos
expression, solving for dl,
from
0,
to
and cos B m by a similar

and integrating over a quarter period
t/4, 9 = 0 wc have
<W
gJ
-<f
The
integral in the right-hand
integral;
it
Vsin 2 (6J2)
sin 2 (0/2)
is known as an elliptic
terms of the usual algebraic
member
cannot be expressed
in
or trigonometric functions. However, setting
= sin (6 m /2) sin
Sin (6/2)
we may
<>
write
ff/Z
where the
/-
rfd>
Vg J
Vl - sm
integral obtained,
(19.19)
2
(0 m /2) sin
<>
commonly denoted by
K,
may be
found in tables of elliptic integrals for various values of 0,/2.t

In order to compare the result just obtained with that of the
preceding section,
we
write (19.19) in the form
-ZipS
Formula
(19.20)
(19.20)
shows that the actual value of the period of
pendulum may be obtained by multiplying the approximate value (19.18) by the correction factor 2K/V. Values of the
a simple
correction factor are given in Table 19.1 for various values of
Table 19.1
Correction Factor for the Period of a
Simple Pendulum
m
10
20
30
60
90
120
150
180
1.571
1.574
1.583
1.598
1.686
1.854
2.157
2.768
00
2K/v
1,000
1.002
1.008
1.017
1.073
1.180
1.373
1.762
cc
the amplitude
We
note that for ordinary engineering commay be omitted as long as the
putations the correction factor
amplitude does not exceed 10.
fSee, for example, Dwight, "Table of Integrals and Other Mathematical

Data,'"
The Macmillan Company,
and Company.
or Peirce,
"A
Short Table of Integrals," Oiiin
SAMPLE PROBLEM
A
is
19.1
50-kg block moves between vertical guides as shown.
mm
pulled 40
down from
The block
equilibrium position and released. For
its
each spring arrangement, determine the period of the vibration, the

maximum velocity of the block, and the maximum acceleration of the
block.
T
j_i
a. Springs Attached in Parallel.

We first determine the constant
k of a single spring equivalent to the two springs by finding the
magnitude of the force P required to cause a given deflection 8. Since
for a deflection 8 the magnitudes of the forces exerted by the springs
are, respectively, kjS and k 8, we have
2
= kl 8 +
P
The
fc
fejfi
(ft,
k2 )8
constant k of the single equivalent spring
J = *i +
k2
Period of Vibration:
Since
_ JL _
ffl
Velocity:
10
50 kg, Eq.
50 kg
6 kN/m
-Vm
10'
m
'
Maximum
4 fcN/m
is
kX/m =
14.14 rad/s
u,
Maiimutn Acceleration
xm p
m/s
a,
xm p
um
8.00
We
attached in Series.
0.566
=+ L =
+
12
61
82
A"
f-
= -4^- a
exmtitration:
.
,
P
rerioit
of
>
>
P"
2.4
k
=
=
first
by finding the
Velocity:
vm
=
c,
^faxilnunl Acceleration:
a,
am
/;
xm p2
1.920
used.
om
6.93 rad/s
0.907
(0.040 m)(6.93 rad/s)
0.277 m/s
is
total
facilitate
kN/m = 2400 N/m
xm p
To
kX
+ 12 k\ =
kN/m
6 kN/m
2:r
Maximum
-^
determine the constant k
springs
2400 X/m
'
oO kg
-*
= 8.00m/s2 J
.i
12
k2
fc,
m/s
(0.040 m)( 14. 14 rad/s) 2
m/s 2
two
v,
elongation 8 of the springs under a given static load P.

the compulation, a static load of magnitude I' = 12 kN
-*
0.4 lis
(0.040 m)( 14.14 rad/s)
0.566
of a single spring equivalent to the
N/m
(19.4) vields
2*/p
v,
104
m/s2
0.277
s I
(0.040 m)(6.93 rad/s) 2
1.920
m
883
884
DYNAMICS
PROBLEMS
19.1
tude of 4
particle
in.
maximum
and
moves
s.
harmonic motion with an amplimaximum velocity and the
Find the
analysis of the
motion of a particle shows a maximum
30m/s2 and
a frequency of 120 cycles per minute.
acceleration of
Assuming that the motion
maximum
tude, (b) the
19.3
A=].2k\,m
in simple
period of 0.60
acceleration.
The
19.2
Collar
is
is
simple harmonic, determine
attached to the spring shown and
without friction on the horizontal rod.
from
2 kg
Fig.
(o)
the ampli-
velocity.
If
the collar
is
may
slide
moved 75 mm
equilibrium position and released, determine the period, the

velocity, and the maximum acceleration of the resulting
its
maximum
P19.3
motion.
1 9.4
A variable-speed motor is rigidly attached to the beam BC.
The rotor is slightly unbalanced and causes the beam to vibrate with
,-A
~T
Fig.
~ZL-
P19.4
a circular frequency equal to the motor speed. When the speed of

the motor is less than 600 rpm or more than 1200 rpm, a small object
placed at A is observed to remain in contact with the beam. For
speeds between 600 and 1200 rpm the object is observed to "dance"
and actually to lose contact with the beam. Determine the amplitude
motion of A when the speed of the motor is {a} 600 rpm,
1200 rpm. Give answers in both SI and U.S. customary units.
of the
19.5
shown.
motion
(b)
The 6-lb collar rests on, but is not attached to, the spring
The collar is depressed 2 in. and released, If the ensuing
is
to
be simple harmonic, determine (a) the largest permissible

k, (b) the corresponding frequency of the
value of the spring constant

motion.
19.6
The 5-kg collar is attached to a spring of constant
k = 800 N/m as shown. If the collar is given a displacement of -50 mm
from its equilibrium position and released, determine for the ensuing
motion
() the period, (b) the
maximum
Fig. P19.5, P19.6,
and P19.8
19.7
maximum
velocity of the collar,
(c)
the
acceleration of the collar.
In Prob. 19.6, determine the position, velocity,
ation of the collar 0.20
after
it
and acceler-
has been released.
attached to a spring of constant k = 5 lb/in.

given a displacement of 2 in. downward
equilibrium
position
and released, determine (a) the time
from its
required for the collar to move 3 in. upward, (b) the corresponding
1
9.8
An
as shown.
velocity
If
8-lb collar
is
the collar
is
and acceleration of the
collar.

19.9 and 19.10
rangement shown.
its
If the
35-kg block
block
is
is
supported by the spring
moved
vertically
equilibrium position and released, determine
frequency of the resulting motion,

acceleration of the block
if
(b)
the
(a)
ar-
downward from
the period and
maximum
velocity
the amplitude of the motion
is
20
and
mm.
6 IcN/m
8kN/m
,
I2k\./m
35 kg
4 k.V/m
kN/m
35 kg
Fig.
P19.9
Fig.
P19.10
19.1 1 Denoting by 8tt the static deflection of a beam under a

given load, show that the frequency of vibration of the load is
Neglect the mass of the beam, and assume that the load remains in
contact with the beam.
Fig.
P19.11
19.12 The period of vibration of the system shown is observed to

be 0.8 s. If block A is removed, the period is observed to be 0.7 s.
Determine (a) the weight of block C, (b) the period of vibration when
both blocks A and B have been removed.
21b
21b
^!
9.1 3
mass m
1
A
is
simple pendulum of length / is suspended in an elevator.

attached to a spring of constant k and is carried in the
same elevator. Determine the period of vibration of both the pendulum and the mass if the elevator has an upward acceleration a.
if
19.14 Determine (a) the required length / of a simple pendulum

the period of small oscillations is to be 2 s, (b) the required ampli-
tude of
this
200 mm/s.
pendulum
if
the
maximum
velocity of the
bob
is
to be
Fig.
P19.12
A
B
=H
886 DYNAMICS
9. 1
5 A
bob
small
attached to a cord of length 4 ft and is

5.
determine
=
is
Knowing thai d
2 ft,
A
the time required for the bob to return lo point A, (b) the amplitude
leased from rest
9 o
re(a)
o*
K
Fig.
when
P19.15 and P19.16
19.16 A small bob is attached to a cord of length 4 ft and released

rest at A when A = 4. Determine the distance d for which the
from
bob
will return to point
in 2
s.
The rod AB is attached to a hinge at A and to two springs

1 9.1 7
= 50 lb,
each of constant k. When h = 24 in., d = 10 in., and
determine the value of k for which the period of small oscillations is
(a) 1 s, (b) infinite. Neglect the weight of the rod and assume that each
spring can act in either tension or compression.
19.18
If
16
in.,
24
in.,
and each spring has a constant
4 lb/in., determine the load VV for which the period of small

oscillations is (a) 0.50 s, (h) infinite. Neglect the weight of the rod and
k
Fig.
P19.17 and P19.18
assume that each spring can act
19.19
surface and
is
in
small block of mass
either tension or compression,
on a frictionless horizontal
Denoting by T the tension in
rests
attached to a taut string.
the string, determine the period and frequency of small oscillations of

the block in a direction perpendicular to the string. Show that the
longest period occurs
Fig.
when a
\l.
P19.19 and P19.20

1
9.20 A
3-lb block rests
attached lo a taut string.

8
lb,
on a
and
is
that the tension in the string
is
frictionless horizontal surface
Knowing
determine the frequency of small oscillations of the block when

12 in. and b = 18 in.
9.21 A particle is placed with no initial velocity on a frictionplane tangent to the surface of the earth, (a) Show (hat the
particle will theoretically execute simple harmonic motion with a
period of oscillation equal to that of a simple pendulum of length equal
*
less
Compute the theoretical period of

equal
to the periodic time of an earth
oscillation
[Hint, See Eq.
satellite describing a low-altitude circular orbit.
to the radius of the earth,
and show
(12.44).]
that
(b)
it is
* 19.22 Expanding
powers of
the integrand in (19.19) into a series of even
and integrating, show that the period of

pendulum of length I may be approximated by the formula
sin<$>
where
* 19.23 Using
pendulum
oscillations of
\/|H
si "
simple
T)
the amplitude of the oscillations.
is
a simple
the data of Table 19.1, determine the period of

of length 800
amplitude 6 m
mm (a)
30,
(c)
for small oscillations,
for oscillations of
for
(ft)
amplitude
90'.
* 19.24
amplitude
Using the formula given
in Prob. 19.22,
determine the
which the period of a simple pendulum

longer than the period of the same pendulum for small
m
for
* 1 9.25 Using
of a simple
oscillations
a table of elliptic integrals, determine the period

of length I = 800
if the amplitude of the
40.
mm
pendulum
is
6m
percent
is
j
oscillations.
19.5. Free Vibrations of Rigid Bodies. The analysis

body or of a system of rigid bodies
of the vibrations of a rigid
possessing a single degree of freedom
is
similar to the analysis
An
of the vibrations of a particle.
appropriate variable, such

chosen to define the position
X or an angle 0, is
body or system of bodies, and an equation
variable and its second derivative with respect to
as a distance
of the
If the
equation obtained
is
relating this
t is
written.
of the same form as (19.5),
i.e.,
if
we have
X
2
p x
-0
or
2
p 6
(19.21)
the vibration considered
is a simple harmonic motion.

The
period and frequency of the vibration may then be obtained by
identifying p and substituting into (19.13) and (19.14).

In general, a simple way to obtain one of Eqs. (19.21) is to
express that the system of the external forces is equivalent to
the system of the effective forces by drawing a diagram of the

body for an arbitrary value of the variable and writing the
appropriate equation of motion. We recall that our goal should
be
tlie determination of the coefficient of the variable

X or 6,
not the determination of the variable itself or of the derivatives
x or 0. Setting this coefficient equal to p-, we obtain the circular
frequency
p,
from which t and
The method we
/ may
have: outlined
be determined.
may be
used to analyze vibra-
which are truly represented by a simple harmonic motion,

or vibrations of small amplitude which can be approximated by
a simple harmonic motion. As an example, we shall determine
tions
the period of the small oscillations of a square plate of side
2ft
888 DYNAMICS
which
We
is
of one side (Fig. 19.5a).
suspended from the midpoint
consider the plate in an arbitrary position defined by the
forms with the vertical and draw a

of the plate and the comdiagram to express that the weight
ponents R r and R of the reaction at_0 are equivalent to the
vectors ma, and ma and to the couple la (Fig. 19.5fo). Since the
OG
that the line
angle
angular velocity and angular acceleration of the plate are

and 0, the magnitudes of the two vectors
equal, respectively, to
are, respectively,
mbB and mbO 2
while the
moment
of the couple
In previous applications of this method (Chap. 16), we

tried whenever possible to assume the correct sense for the
acceleration. Here, however, we must assume the same positive
is
TO.
and 6
sense for
in
order to obtain an equation of the form
will be asConsequently, the angular acceleration

assumption
this
sumed positive counterclockwise, even though
we write
is obviously unrealistic. Equating moments about O,
(19.21).
-W(bsin6) = (mbO)b +
+)
Noting that
fan[(2bf
(2b)
2
}
10
mfo 2 and
mg. we
obtain
+~sinO =
(19.22)
5 b
For
we may
oscillations of small amplitude,
expressed
in radians,
by
replace sin
0,
and write
o
3 e
+ -j-o =
(19.23)
5 b
Comparison with (19,21) shows that the equation obtained is that

of a simple harmonic motion and that the circular frequency
p of the
oscillations
we
(19.13),
is
find that the
equal to (3g/56) ,/2
Substituting into
period of the oscillations
2w
is
5b
27T
(19.24)
V3g
is valid only for oscillations of small amaccurate description of the motion of the plate
is obtained by comparing Eqs. (19.16) and (19.22). We note that
the two equations are identical if we choose / equal to ob/3.
The
result obtained
plitude.
A more
This means that the plate will oscillate as a simple pendulum

of length I
56/3, and the results of Sec. 19.4 may be used
to correct the
(b)
Fig. 19.5
value of the period given
of the plate located
is
on
line
OG
in (19.24).
at a distance
The
defined as the center of oscillation corresponding to
19.5a).
point
ob/3 from
(Fig.
SAMPLE PROBLEM
A
W and radius
cylinder of weight
as shown.
One end
19.2
of the cord
while the other end
is
r is
suspended from a looped cord
attached directly to a rigid support,
is
attached to a spring of constant
Determine
k.
the period and frequency- of vibration of the cylinder.
We
express the linear displacement and the
acceleration of the cylinder in terms of the angular displacement
6.
Choosing the positive sense clockwise and measuring the displacements from the equilibrium position, we write
a=
a = 0}
ret
r8
(1)
j,
Equations of Motion. The system of external forces acting on the

cylinder consists of the weight VV and of the forces T, and T, exerted
We
by the cord.
express that this system
is
equivalent to the system
of effective forces represented by the vector ia attached at
G and
the couple 7o.
Wr - T2 (2r) = trim + Ta
+ ) 2MA = Z(MA eU
When the cylinder is in its position of equilibrium, the tension
cord is T = JW We note that, for an angular displacement
)
magnitude of T,
(I)
and
kS
!,W
(3) into (2),
kS
= \W +
k(2r0)
Wr - (JW +
2fcrfl)(2r)
is
in the
ff,
the
(3)
T=
and recalling that
Jmr* we
write
The motion
(2)
is
Ts =
Substituting from
m(rd)r
seen to be simple harmonic, and
~ 3m
\mrtf
we have
/8 k
V3m
2
f= JL
'
2tt
2rr
HI
S k
s
/,
SAMPLE PROBLEM
19.3
The
of radius 8
20 lb and
circular disk, weighing
a wire as shown.
disk
is
released; the period of the torsional vibration
gear
is
observed to be 1.13 s.
is
then suspended from the same wire, and the period of
torsional vibration for the gear
moment
the
suspended from
and then
in., is
rotated (thus twisting the wire)
observed to be 1.93
is
of the couple exerted
angle of twist, determine
(a)
by the wire
is
s.
Assuming that
proportional to the
the torsional spring constant of the wire,
moment of inertia of the gear, (c) the maximum

reached by the gear if it is rotated through 90 and
(b) the centroidal
angular velocity
released.
a.
wire
Denoting by B the angular displacement of

by the
Vibration of Disk.
the disk,
we
M=
is
express that the magnitude of the couple exerted
KB, where
is
the torsional spring constant of the wire.
Since this couple must be equivalent to the couple la representing the

effective forces of the disk,
+ 5SM = 2(M
we
KB - -IB
write
4# =
+
The motion
M=
seen to be simple harmonic, and
is
KH
.,
For the
T
disk,
wc have
r-Jr/i
(1)
we have
1.13s
Substituting into
1/
\mr 2
we
(1),
>pp>
\ (A"
2\32.2ft/s 2 /
ft)2
;
0.138 lb
ft
obtain
U3 = &r/24p
K
I^TIb-ft/rad
-^
b.
is
1.93
and
K =
4.271b
1.93
r.
Since the period of vibration of the gear
Vibration of Gear.
ft/rad, Eq. (1) yields
/.
2rr
0.403 lb- ft -s3
4.27
Maximum Angular Velocity

we have
of the Gear.
Since the motion
is
simple harmonic,
=
Recalling that
m
m
sin
pt
90
= mP =
= 0p cos pt
1.571 rad
BJIt/t)
and
co,
1.93
we
s,
write
(1.571 rad)(27r/1.93s)
:
890
Bm p
5.11 rad
-^
PROBLEMS
19.26 and 19.27 The uniform rod shown weighs 8 lb and is
attached to a spring of constant k
2.5 lb/in. If end A of the rod
is depressed 2 in. and released, determine (a) the period of vibration,
(b) the
maximum
velocity of
end A.
4fl
1ft
-3ft-
J5=
Fig.
3 ft
D.l
P19.26
.\C
Fig.
P19.27
9.28 A belt is placed over the rim of a 15-kg disk as shown

and then attached to a 5-kg cylinder and to a spring of constant
k = 600 X/m. If the cylinder is moved 50 mm clown from its equilibrium position and released, determine (a) the period of vibration, (b)
the
maximum
velocity of the cylinder.
to prevent the belt from slipping
Assume
friction
is
sufficient
on the rim.
19.29 In Prob. 19.28, determine (a) the frequency of vibration,

maximum tension which occurs in the belt at B and at C.
(h) the
Fig.
P19.28
Fig.
P19.30
600-lb flywheel has a diameter of 4
ft and a radius of
placed around the rim and attached to two
springs, each of constant k = 75 lb/in. The initial tension in the belt is
gyration of 20
sufficient to
in.
belt
is
prevent slipping. If the end
of the belt
down and released, determine (a) the period

maximum angular velocity of the flywheel.
is
pulled 1
in.
of vibration, (b) the
9.31 A uniform square plate of mass

is supported in a horizonplane by a vertical pin at B and is attached at A to a spring of
constant k. If corner A is given a small displacement and released,
tal
determine the period of the resulting motion.
891
892 DYNAMICS
4-
&-
19.32
A uniform rod of mass in is supported by a pin at its

C and is attached to a spring of constant k. If end A is given a
midpoint
small displacement and released, determine the frequency of the

resulting motion.
Fig.
19.33 A
P19.32
resulting vibration
and released,
released,
(<?)
(b)
if
the plate
k.
is (<;)
given a small vertical displacement
rotated through a small angle about diameter
AC and
rotated through a small angle about any other diameter
and
released.
Fig.
P19.33
19.34
m and radius T is held by

Determine the frequency of the
uniform circular plate of mass
four springs, each of constant
A compound pendulum
is
defined as a rigid slab which
about a fixed point O, called the center of suspension. Show

that the period of oscillation of a compound pendulum is equal to
the period of a simple pendulum of length OA, where the distance
oscillates
from A to the mass center C is CA - k-/7. Point A is defined as the

center of oscillation and coincides with the center of percussion defined in l'rob. 17.58.
Fig.
P19.34 and P19.36
19.35
Show
that,
if
the
compound pendulum
of Prob. 19.34
is
suspended from A instead of 0, the period of oscillation is the same

as before and the new center of oscillation is located at O,
19.36
rigid slab oscillates
about a fixed point O. Show that
the smallest period of oscillation occurs
to the
mass center
is
equal to
k.
when
the distance Ffrom point
19.37 A uniform
A
bar of length
located a distance c from
its
may
oscillate
mass center C.
about
(a)
hinge at
Determine the
frequency of small oscillations if c

U- (b) Determine a second value
of c for which the frequency of small oscillations is the same as
that
found
in part a.
19.38
for
For the rod of Prob.
which the frequency
19.37.
of oscillation
determine
(a)
maximum,
is
the distance C
(b)
the corre-
sponding minimum period.

Fig.
P19.37
19.39 A thin hoop of radius r and mass m is suspended from a

rough rod as shown. Determine the frequency of small oscillations of
the hoop (a) in the plane of the hoop, (fc) in a direction perpendicular
to the plane of the hoop. Assume that j is sufficiently large to prevent
slipping at A.
100
Fig.
P19.39
Fig.
mm
P19.40
1 9.40 A 75-mm-radius hole is cut in a 200-mm-radius

uniform disk
which is attached to a frictionless pin at its geometric center O.
Determine (a) the period of small oscillations of the disk, (b) the length
of a simple
pendulum which has the same
period.
19.41 A uniform rectangular plate is suspended from a pin located at the midpoint of one edge as shown. Considering the dimension b constant, determine () the ratio c/b for which the period
of
oscillation of the plate
is
minimum,
period of oscillation of the plate
pendulum
of length
is
(b) the ratio
the
same
'
c/b fur which the
~T
as the period of a simple
<î
c.
c
1 9.42
A uniform rectangular plate is suspended from a pin located at the midpoint of one edge as shown, (a) Determine the period
if c = b.
(b) Considering the dimension b condetermine a second value of c for which the period of oscillations
the same as that found in part a.
of small oscillations
stant,
is
h
Fig.
P19.41 and P19.42
894 DYNAMICS
19.43
rod
is
The period
observed to be
1.
of small oscillations about
12
s.
Knowing
of a connecting
that the distance
r is
a
7.50
in.,
determine the ccntroidal radius of gyration of the connecting rod.
Fig.
P19.43 and 19.44
19.44
A connecting rod
is
supported by
A; the period of small oscillations
is
a knife-edge at point
observed to be 0.945
s.
The rod
then inverted and supported by a knife-edge at point B and the

period of small oscillations is observed to be 0.850 s. Knowing that
is
ra
(b)
11.50
in.,
determine
(a)
the location of the mass center G,
the centroidal radius of gyration k.
19.45
/ is
suspended from two vertical
each located a distance \b from the mass center

Determine
the
period of oscillation when (a) the rod is rotated
G.
through a small angle about a vertical axis passing through G and
wires of length h,
released, (b) the rod
and released.
is
given a small horizontal translation along
AB

1
9.46 A
which
If
is
uniform disk of weight 5 lb
is suspended from a steel wire

have a torsional spring constant K = 0.30 lb-in./rad.
rotated through 360 about the vertical and then released,
known
the disk
is
determine
(a)
lo
the period of oscillation,
(fej
the
maximum
'=C
velocity of a
point on the rim of the disk.
Fig.
1
9.47
mm
uniform disk of radius 200
attached to a vertical shaft which

that the disk rotates through 3
when
and of mass 8 kg
rigidly held at
is
a 4
N m
static
=
li.
couple
If
determine
the period of the resulting vibration, (h) the
(a)
the disk
is
rotated through 6
is
is
known
It is
to the disk.
P19.46
applied
and then released,
maximum
velocity of a point on the rim of the disk.
Fig.
P19.47
is
9.48
Knowing
steel casting
is
rigidly bolted to the disk of Prob. 19.47.
that the period of torsional vibration of the disk and casting
0.650 s, determine the
to the shaft
moment
of inertia of the casting with respect
AB.
19.49 A torsion pendulum may be used to determine experimenmoment of inertia of a given object. The horizontal platform /'
tally the
is
held by several rigid bars which are connected to a vertical wire.

period of oscillation of the platform is found equal to t when the
The
platform
is
empty and
to t
a
when an object of known moment
of inertia
placed on the platform so that its mass center is directly above the
center of the plate, (a) Show that the moment of inertia / of the
platform and its supports may be expressed as I = I r%/(i% - i$, (6) If
A
a period of oscillation t b is observed when an object li of unknown
lA
is
moment
of
inertia
lH
is
placed
on
the
platform,
show
that
Fig P19.49
ill.
896 DYNAMICS
9.6. Application of the Principle of Conservation
of Energy. We saw in Sec. 19.2 that, when a particle of mass
m is in simple harmonic motion, the resultant F of the forces
exerted on the particle has a magnitude proportional to the
displacement x measured from the position of equilibrium O and
is directed toward O; we write F = fee Referring to Sec. 13.6,
we note that F is a conservative farce and that the corresponding
potential energy is V = Jfce* where V is assumed equal to zero
1
in
the equilibrium position X
particle
is
equal to
x, its
Since the velocity
0.
kinetic energy
is
T=
|m.v 2 and
express that the total energy of the particle
is
ol
the
wc may
conserved by
writing
r+ V=
constant
Setting p 2
k/m as in (19.4),
of the vibration, we have
x2
+ &x2 =
imx 2
where p
+ fx2 =
is
constant
the circular frequency
(19.25)
coastant
Equation (19.25) is characteristic of simple harmonic motion; it

may be obtained directly from (19.5) by multiplying both terms
by 2x and integrating.
The principle of conservation of energy provides a convenient
way for determining the period of vibration of a rigid body or
of a system of rigid bodies possessing a single degree of freedom,
once
it
has been established that the motion of the system
a simple harmonic motion, or that
it
is
a simple harmonic motion. Choosing an appropriate variable,

such as a distance X or an angle 6, we consider two particular
positions of the system:
1.
The displacement of the system is maximum; we have T, = 0,

and Vj may be expressed in terms of the amplitude xm or
in the equilibrium
m (choosing V =
The system passes through its equilibrium position; we have
V2 = 0, and T2 may be expressed in terms of the maximum
position).
2.
velocity xm or
We
harmonic motion the maximum velocity is equal

the product of the amplitude and of the circular frequency
we find that the equation obtained may be solved for p.
that for simple
p,
then express that the total energy of the system is con7", +

= T2 + V2 Recalling from (19.15)
x
served and write
to

*
=0
Datum
(b)
Fig. 19.6
As an example, we
shall consider again the
Sec. 19.5. In the position of
square plate of
maximum displacement
(Fig. 19.6a),
we have
Tx =
= W(b -
V,
or, since 1
cos 6 m
sin*
h cos 6J
($J2)
= Wb(l -
cos 6 m)
s 2(0J2)* = 02/2 for os-
cillations of small amplitude,
V = \WhB\
7\
As the plate passes through

19.6b),
its
T2
velocity
or, recalling
Jm*
is
-t
(19.26)
position of equilibrium (Fig.
its
maximum and we have

Jl*
= \mhWi + hWi
from Sec. 19.5
T2 =
= %mb 2
that I
V2
V2 =
JQmiX
(19.27)
+V
+ V
Substituting from (19.26) and (19.27) into 7\

ss 7'
t
2
2
and noting that the maximum velocity 6 m is equal to the product
,
m p, we write
(19.28)
which yields p 2
3g/56 and
_
"
as previously obtained.
2^7
"p" :=
/Bfo
3g~
(19.29)
SAMPLE PROBLEM
19.4
Determine the period of small oscillations of a cylinder of radius

which rolls without slipping inside a curved surface of radius R.
We
Solution.
the angle which line
denote by
OG
6 m and position 2,
.
Position
zero,
Kinetic Energy.
/.
wc have T =
W the weight
Since the velocity of the cylinder
is
Choosing a datum as shown and denoting by

we have
of the cylinder,
V,
Noting that
L where
between position
0.
0.
Potential Energy.
Datum
where
forms with
we may apply
the vertical. Since the cylinder rolls without slipping,

the principle of conservation of energy
= Wh = W(R
for small oscillations (1
r)(l
cos 6)
cos 0)
sin
(0/2)
~6
/2,
we
have
V,
Position
<&/
Denoting by
2.
- iff
YV'fl
m the angular velocity of line OG as the

2, and observing that point C is the
cylinder passes through position
instantaneous center of rotation of the cylinder,
we
write
Kinetic Energy:
T2 = hnUi +
ffl
= $m(R -
rfei
MR
rfiil
>(.
mr 2)(fi_=-L^2
=
Potential Energy:
V,
T,
Since
(),
-p6
ing(/{
m and
W = mg,
r)_Jl
V,
= T2
we
= * m{R _
-r
write
r)2(
2tt
898
V2
*-L
3 R '3
R -
PROBLEMS
19.50
simple pendulum of length
19.6,
determine the period of a
I.
19.51
The springs of an automobile are observed to expand 8 in.

an undeformed position as the body is lifted by several jacks.
Assuming that each spring carries an equal portion of the weight of (he
to
automobile, determine the frequency of the free vertical vibrations of

the body.
9.52
19.6, solve Prob. 19.6.
19.53
19.6, solve Prob. 19.9.
19.54
19.6, solve Prob. 19.10.
19.55
Neglecting fluid
friction, determine the frequency of oscilU-tube manometer shown. Show that this
lation of the liquid in the
frequency
is
independent of the density of the liquid and of the
amplitude of the
Fig.
oscillation.
P19.55
9.56 Two
collars,
a hoop of radius
value of
is
ji
obtained
Fig.
P19.56
the period
if
each of weight W, are attached as shown to
and of
is
negligible weight,
2tt
the weight of the
\j2r/g.
hoop
(b)
is
(a)
Show
Show
that the
not neglected.
that for
same
any
result
Fig.
P19.50
900 DYNAMICS
9.57 A
of side
when
thin homogeneous wire is bent into the shape of a square

and suspended as shown. Determine the period of oscillation
the wire figure
is
given a small displacement to the right and
released.
19.58
Solve Prob. 19.57, assuming that the wire square
from a pin located
19.59
19.61
the
i<3
Fig.
ment
/,
method
is
suspended
side.
19.6, solve Prob. 19.45.
of Sec. 19.6, solve Prob. 19.40.
section of uniform pipe
cables attached at
terms of
midpoint of one
Using the method of See.
19.60 Using
at the
and
/,
to the right
and
when
is suspended from two vertical

Determine the period of oscillation in
B.
point
is
given a small horizontal displace-
and released.
P19.61
1 9.62
The motion of the uniform rod AB is guided by the cord
BC and by the small roller at A. Determine the frequency of oscilla-
tion
when
the end
of the rod
is
and released.
;.-
'<
111
"-
Fig.
P19.62
given a small horizontal displacement
19.63 The 20-lb rod AB is attached to 8 -lb

Knowing that the disks roll without sliding, determine
disks
as
shown.
the frequency of
small oscillations of the system.
IX
9.64
shown
is
AB
Blade
about the y
axis
is
experimental wind-turbine generator

removed. Motion of the turbine generator
of the
to be temporarily
prevented, but the remaining three blades
oscillate as a unit about the X axis.
Assuming
may
thai each blade
is
equivalent to a 40-ft slender rod, determine the period of small oscillations of the blades.
Fig.
P19.64
19.65 The
8-kg rod
AB
is
bolted to the 12-kg disk.
Knowing
that the disk rolls without sliding, determine the period of small
oscillations of the system.
Fig.
P19.65
Fig.
P19.63
in
901
902 DYNAMICS
19.66
19.6, solve Prob. 19.32.
19.67
Using the method of See.
19.6, solve Prob. 19.31.
19.68
The
and
is in
Knowing
equilibrium
Vibration
Fig.
if
9.69
the collar
19.70
each of mass
and
is
is
attached to two collars
the position shown, determine the period of
in
is
is
given a small displacement and released.
slender rod
if
AB
is
of mass
and
of mass m.
AB
Knowing
in equilibrium in
vibration
of mass
that the system lies in a horizontal plane
Solve Prob. 19.68, assuming that rod
that each collar
P19.68 and P19.70
AB
slender rod
of negligible mass.
the collar at
of negligible mass connects
two
collars,
a horizontal plane
the position shown, determine the period of
that the system lies in
is
given a small displacement and released.
19.71 Two uniform rods AB and CD, each of length I and weight
W, are attached to two gears as shown. Neglecting the mass of the
gears, determine for each of the positions shown the period of small
oscillations of the system.
D
U)
Fig.
1
r
(b)
P19.71
9.72
3
in.
Solve Prob. 19.7], assuming that
18
in.,
W=4
lb,
and
19.73
thin circular plate of radius
plate.
Determine the period of
r is
suspended from three
around the perimeter of the
vertical wires of length h equally spaced

oscillation
when
(a)
the plate
is
rotated
through a small angle about a vertical axis passing through its mass
center and released, (b) the plate is given a small horizontal translation
and
released.
Fig.
P19.73
19.74
mm.
500
mm
and
/i
300
9.75
As a submerged body moves through a fluid, the particles

body and thus acquire kinetic energy.
In the case of a sphere moving in an ideal fluid, the total kinetic energy
1
of the fluid flow around the
acquired by the
V the
volume
fluid is JpVt; 2 ,
of the sphere,
where p
and
is
the mass density of the
D the velocity of the sphere.
a 1-lb hollow spherical shell of radius 3
in.
which
is
held submerged
water by a spring of constant 3 lb/in. (a) Neglecting

determine the period of vibration of the shell when
in a tank of
friction,
displaced vertically and then released, (b) Solve part

the tank
Fig.
is
accelerated
upward
* 1 9.76 A
a,
fluid
it
is
assuming that
2
at the constant rate of 10 ft/s .
P19.75
Fig.
thin plate of length
fluid.
Consider
rests
^
^7
P19.76
on a half cylinder
of radius
r.
for the period of small oscillations of the plate.
904 DYNAMICS
19.7. Forced Vibrations.
The most important vibrafrom ihc point of view of engineering applications are the
forced vibrations of a system. These vibratioas occur when a
system is subjected to a periodic force or when it is elastically
connected to a support which has an alternating motion.
Consider first the case of a body of mass m suspended from
tions
and subjected
a spring
<?
= Pm
T = Jt(ff+x]
wt (Fig.
sin
to a periodic force
force applied to the body, or
magnitude
of
it
produced by the rotation of some unbalanced part of the body.

(See Sample Prob. 19.5.) Denoting by x the displacement of the
body measured from its equilibrium position, we write the equa-
Equilibrium
may be an actual external

may be a centrifugal force
This force
19.7).
tion of motion.
ti
P
/'
+ | ZF =
ma'.
W - k{8
at
sin
l'
si
x)
= mx
sin ul
ma = mv
Fig. 19.7
Recalling that
W = ko
si
have
vvc
kx
P_ sin at
(19.30)
Next we consider the case of a body of mass

suspended from
a spring attached to a moving support whose displacement 6
equal to S m sin ut (Fig. 19.8). Measuring the displacement x
body from the position of static equilibrium corresponding
is
of the
to at
Ms<5 u
oil
0,
we
find that the total elongation of the spring at

<5
sin ut.
The equation
of motion
is
lime
thus
=
+J,
IF =
ma:
Recalling that
W = k8
st,
We
-S
h-4>
'
Equilibrium
<T
on
set
Pm =
k8 m
= kSm sin wt
(19.31)
geneous.
equation will satisfy the second
if
we
equation like (19.30) or (19.31), possessing a
member
Its
first
differential
right-hand
h=
kx
note that Eqs. (19.30) and (19.31) are of the same form and
that a solution of the
ut)
- 8M sin wt) = mx
we have
mx +
T = k(8.. + x
k{8 st
different
general solution
from zero,
is
is
said to
be nonhomo-
obtained by adding a particular
solution of the given equation to the general solution of the
corresponding homogeneous equation (with right-hand

equal to zero).
member
may
particular solution of (19.30) or (19.31)
be obtained by trying a solution of the form

Fig. 19.8
'mi
w.V
,
sin tor
(19.32)
Substituting
.v
part
for x into (19.30),
mw'-x m
sin
which may be solved
ut
we
find
kxm sin ut
Pm
for the amplitude.
v..,
k
Recalling from (19.4) that
nw 2
k/m =
where p
'-,
frequency of the free vibration of the body,
x,
=
1
we
obtain in a similar
way
(.19.33')
(w/p) z
to (19.30) or (19.31)
Its
general
complementary function, was found
in Sec.
(19.3), defining the free vibration of
solution, called the
the circular
(19.33)
The homogeneous equation corresponding

Eq.
is
write
(u/pf
Substituting from (19.32) into (19.31),
.*.,.
we
V*
=
1
is
ut
sin
the body.
19.2,
= A sin P* + B cos
*comp
Adding the particular solution

function (19.34),
and
we
(19.32)
}t
(19.34)
and the complementary
obtain the general solution of Eqs. (19.30)
(19.31),
We
=A
sin pt
+ B cos pt +
x m sin ut
(19.35)
note that the vibration obtained consists of two superposed
vibrations.
The
first
tion of the system.
two terms
in (19.35) represent a free vibra-
The frequency
of this vibration, called the
natural frequency of the system, depends only upon the constant

k of the spring and the mass
wi of the
and B may be determined from the
free vibration
practice,
The
it
is
body, and the constants

initial conditions.
This
also called a transient vibration since, in actual
will soon be
damped
out by friction forces (Sec.
19.9).
term in (19.35) represents the steady-state vibration

produced and maintained by the impressed force or impressed
last
support movement.
Its
frequency
is
the forced frequency im-
905
906 DYNAMICS
posed by this force or movement, and its amplitude x m defined
by (19.33) or (19.33'), depends upon the frequency ratio u/p.
The ratio of the amplitude x m of the steady-state vibration to
the static deflection Pm /k caused by a force Pm or to the amplitude S m of the support movement, is called the magnification
factor. From (19.33) and (19.33'), we obtain
,
Magnification factor
The magnification
V =
-r
=
1
- (/p)
(19.36)
factor has been plotted in Fig. 19.9 against
We note that, when w = p, the amplitude of the forced vibration becomes infinite. The impressed
force or impressed support movement is said to be in resonance
with the given system. Actually, the amplitude of the vibration
the frequency ratio u/p.
remains
finite
because of damping forces (Sec.
19.9);
never-
such a situation should be avoided, and the forced frequency should not be chosen too close to the natural frequency
theless,
of the system.
sin
ut
We
also note that for
is
positive, while for
o:
in (19.35)
negative.
In the
first
<p
>p
it is
this coefficient
case the forced vibration
the impressed force or impressed support
the second case
the coefficient of
180 out of phase.
is
in
is
phase with
movement, while
in
SAMPLE PROBLEM
A
19.5
motor weighing 350 lb
a weight of
the motor
in
rpm
is
supported by four springs, each having
is
The unbalance
a constant of 750 lb/in.
oz located 6
in.
from the
move
constrained to
of the rotor
equivalent to
Knowing
that
determine (a) the speed

the amplitude of the vibra-
vertically,
which resonance will occur, {b)

motor at a speed of 1200 rpm.
at
is
axis of rotation.
tion of the
Resonance Speed. The resonance speed is equal to the circular

(in rpm) of the free vibration of the motor. The mass of
the motor and the equivalent constant of the supporting springs are
u.
frequency
350 lb
32.2 ft/s 2
4(750 lb/in.)
V= Jm
10.87 lb
3000
36.000
2
s /ft
lb/in.
36,000 lb/ft
orad/s
= 549 P m
10 87
'
= 549 rpm
Kesonancc Speed
9
rpm.
The angular
velocity of
the motor and the mass of the equivalent 1-oz weight are
U =
m =
The magnitude
rotor
(1
125.7 rad/s
lib
oz)
16 oz 32.2 ft/s 2
0.00194 lb -s 2 /ft
due
of the centrifugal force
to the unbalance of the
is
Pm = ma =
The
1200 rpm
mm1
(0.00194 lb
Pm _
and p into Eq.
(19.33),
**
"
15-3 lb
3000
Substituting the value of
2 /ft)(J|ft)(125.7
rad/s) 2
15.31b
would be caused by a constant load Pm
static deflection that
0.00510
in.
lb/in.
Pm/k together with the known
we
values of
iti:
to
> p,
obtain
PJk
- (u/p) 2 ~
0.00510
1
in.
(125.7/57.5) 2
0.00135 in.
Since
is
the vibration
is
~*
180 out of phase with the
due to the unbalance of the rotor. For example, when

the unbalanced mass is directly below the axis of rotation, the position
of the motor is .t = 0.00135 in. above the position of equilibrium.
centrifugal force
907
908
DYNAMICS
PROBLEMS
19.77
m is suspended from a spring of constant

upon by a vertical periodic force of magnitude
Determine the range of values of a; for which the
block of mass
k and
is
P = Pm
sin /.
acted
amplitude of the vibration exceeds twice the

by a constant force of magnitude Pm
caused
static deflection
|
Fig.
Xf.
I'
.sin
by a constant force
19.79
ut
which
xc
f>,
A
is
sin
of
is
magnitude Pm
forced to
tet,
9.80
/ is
suspended from
Fig.
P19.79
Determine the range of values of w for which the

(Assume S m is small
10
in.
is
less
which
light horizontal
beam.
than S m
is
supported by a
Ls
equivalent to a weight of
from the axis of rotation.
beam due
bob
Knowing
to the weight of the
for
In Prob. 19.79, determine the range of values of
19.81 A 500-lb motor

The unbalance of the rotor
of the
a collar
horizontally according to the relation
the amplitude of the motion of the
-6
which
simple pendulum of length
move
for
than the static deflection caused
less
amplitude of the motion of the bob exceeds 28m

compared to the length / of the pendulum.)
In Prob. 19.77, determine the range of values of
In
P19.77
fi.
9.78
the amplitude of the vibration
OZ located
that the static deflection
motor
is
0.220
in.,
determine
(a) the speed (in rpm) at which resonance will occur, (fo) the amplitude
of the steady-state vibration of the motor at a speed of 800 rpm.
J&
Fig.
P19.81
19.82 Solve Prob. 19.81, assuming that the 500-lb motor is supported by a nest of springs having a total constant of 400 lb/in.
19.83
A motor
of mass
4.5
kg
is
supported by four springs, each
lOOkN/m. The motor is constrained

and the amplitude of its movement is observed
speed of 1200 rpm. Knowing that the mass of
of constant
to
move
to
be 0.5
vertically,
the rotor
mm
is
at a
14 kg,
determine the distance between the mass center of the rotor and the
axis of the shaft.
19.84
movement
Fig.
P19.83
900 rpm.
In Prob. 19.83, determine the amplitude of the vertical

of the
motor
at a
speed of
(a)
200 rpm,
(b)
1600 rpm,
(c)

1
Rod
9.85
AB
is
at a constant speed.
When
a collar of mass
frame of a motor running
is placed on the spring,

observed to vibrate with an amplitude of 0.5 in. When two collars,
each of mass m, are placed on the spring, the amplitude is observed
it is
What amplitude
to be 0.6 in.
of vibration should
be expected when
three collars, each of mass m, are placed on the spring? (Obtain two
answers.)
%
(h)
P19.85
Fig.
19.86
Solve Prob. 19.83, assuming that the speed of the motor

changed and thai one collar has an amplitude of 0.60 in. and two
collars have an amplitude of 0.20 in.
is
9.87
shaft
m is attached to the midpoint of a vertical

an angular velocity u. Denoting by k the
disk of mass
which revolves
at
spring constant of the system for a horizontal
and by e the eccentricity
movement
of the disk
of the disk with respect to the shaft,
that the deflection of the center of the shaft
may be
show
written in the
form
e(<-'/p)2
_
1
where p
1
disk of mass 30 kg
9.89
is
attached to the midpoint of a shaft.
that a static force of 200
determine the speed of the shaft
Knowing
in
rpm
will deflect the shaft 0.6

at
which resonance
that the disk of Prob. 19.88
with an eccentricity e = 0.2

the shaft at a speed of 900 rpm.
shaft
(w//>) 2
\/k/m.
9.88 A
Knowing
mm, determine
is
mm,
will occur.
attached to the
the deflection
of
Fig.
P19.87 and P19.88
910 DYNAMICS
19.90 A variable-speed motor is rigidly attached to the beam
BC. When the speed of the motor is less than 1000 rpm or more than
2000 rpm, a small object placed at A is observed to remain in contact
with the beam. For speeds between 1000 and 2000 rpm the object is
observed to "dance" and actually to lose contact with the beam.
Determine the speed
at
which resonance
will occur.
jL
JE
Fig.
~w
P19.90
19.91
As the speed of a spring-supported motor
is
slowly
in-
creased from 150 to 200 rpm, the amplitude of the vibration due to the
unbalance of the rotor is observed to decrease continuously from
0.150 to 0.080
19.92
in.
Determine the speed
In Prob. 19.91,
tude of the vibration
is
at
which resonance
determine the speed
0.200
for
will occur.
which the ampli-
in.
9.93 The amplitude of the motion of the pendulum bob shown

in. when the amplitude of the motion of collar
is
observed to be 3
is
^ '"
Knowing
that the length of the
pendulum
is
36
in.,
determine the two possible values of the frequency of the horizontal
movement
Fig.
of the collar C.
xc
certain vibrometer used to measure vibration ampli-
B m sin at
P19.93
19.94
tudes consists essentially of a box containing a slender rod to which

a mass m is attached; the natural frequency of the mass-rod system
to be 5 Hz. When the box is rigidly attached to the casing
motor rotating at 600 rpm, the mass is observed to vibrate with
an amplitude of 1.6 mm relative to the box. Determine the amplitude
of the vertical motion of the motor.
is
known
of a
Fig.
P19.94
19.95 A
small trailer of mass 200 kg will)
its load is supported

20 k.\/m. The trailer is pulled over
a road, the surface of which may be approximated by a sine curve
of amplitude 30
and of period 5 m (i.e., the distance between two
by two
springs, eacli of constant
mm
successive crests
is 5 m, and the vertical distance from a crest to a

60 mm). Determine (a) the speed at which resonance will
occur, (fe) the amplitude of the vibration of the trailer at a speed of
60 km/h.
trough
Fig.
is
P19.95
9.96 Knowing
of Prob. 19.95
which the
is
that the amplitude of the vibration of the trailer
mm, determine the smallest speed at

can be pulled over the road.
not to exceed 15
trailer
DAMPED VIBRATIONS
*19.8.
Damped Free
Vibrations.
The
vibrating sys-
tems considered in die first part of this chapter were assumed

free of damping. Actually all vibrations are damped to some
degree by friction forces. These forces may be caused by dry
Coulomb friction, between rigid bodies, by fluid

a rigid body moves in a fluid, or by internal friction
friction,
or
friction
when
between the molecules of a seemingly elastic body.

A type of damping of special interest is the viscous damping
caused by fluid friction at low and moderate speeds. Viscous
damping is characterized by the fact that the friction force is
directly proportional to the speed of the moving body. As an
example, we shall consider again a body of mass m suspended
from a spring of constant k, and we shall assume that the body
Kquilibrium
attached to the plunger of a dashpot (Fig. 19.10). The magnitude of the friction force exerted on the plunger by the surrounding fluid is equal to ex, where the constant c, expressed
is
N s/m or lb s/ft and known as the coefficient of viscous

damping, depends upon the physical properties of the fluid and
in
the construction of the dashpot.
+ 1 2F =
ma:
\V
k(8 st
The equation
x)
c.i
= mx
of motion
is
Fig. 19.10
91
912 DYNAMICS
Recalling that
W = kS
we
sV
mx +
Substituting x
we
= eM
write
ex
kx
into (19.37)
(19.37)
and dividing through by
M
,
write the characteristic equation
mX 2 +
+k =
c\
(19.38)
()
and obtain the roots
JCff-
-f
m
2m
V \2m/
(19-39)
Defining the critical damping coefficient cc as the value of c

in (19.39) equal to zero, we write
which makes the radical
2m/
(a
where p
is
ce
= 2mp
m
fk~
= 2m
V
the circular frequency of the system in the absence
of damping.
We may
distinguish three different cases of
ing, depending upon the value of the coefficient
(19.40)
>
damp-
c.
and A, f th e characcc The roots

equation (19.38) are real and distinct, and the general
solution of the differential equation (19.37) is
Heavy damping: c
teristic
Aeî'
Be**
(19.41)
This solution corresponds to a nonvibratory motion.
A t and \ 2 are both negative, x approaches zero as

indefinitely. However, the system actually regains
2.
Since
increases
its
equilib-
rium position after a finite time.

Critical damping: c c,.. The characteristic equation has a
double root A = cjlm = p, and the general solution of
(19.37)
is
The motion obtained

damped systems are of
(A
Bt)e-" 1
again
is
(19.42)
nonvibratory.
Critically
special interest in engineering appli-
cations since they regain their equilibrium position in the

shortest possible time without oscillation.
3.
Light damping: c
<c
The
~ lc/2m)t
complex and
of the form
roots of (19.38) are
conjugate, and the general solution of (19.37)
(A sin qt
+ B cos qt)
is
(19.43)
where q
is
<f
Substituting
k/m= p2
\2W
and recalling
'I
=PV
where the constant c/cc
is
substitution similar to the
(19.40),
we
known
(19.44)
as the clamping factor.
one used
in Sec.
The motion
amplitude
xm e-<c/2m" sin (qt
defined by (19.45)
(Fig.
19.11).
19.2 enables us
to write the general solution of (19.37) in the
write
form
(19.45)
<>)
vibratory with diminishing
is
Although
this
tually repeat itself, the time interval t
motion does not
ac-
2^/q, corresponding
to two successive points where the curve (19.45) touches one
of the limiting curves
shown
referred to as the period of the

(19.44),
in
we observe that t is larger
of the corresponding
Fig. 19.11
Fig.
damped
undamped
19.11,
is
vibration.
commonly
Recalling
than the period of vibration
system.
914 DYNAMICS
Damped Forced
*19.9.
Vibrations.
considered in the preceding section
force P of magnitude P
becomes
mx +
Pm
ex
system
the equation of motion
sin at,
kx
If the
subjected to a periodic
is
- Pm sin
(]9.46)
cot
is obtained by adding a particular

complementary function or general
solution of the homogeneous equation (19.37). The complementary function is given by (19.41), (19.42), or (19.43), depending upon the type of damping considered. It represents a transient motion which is eventually damped out.
Our interest in this section is centered on the steady-state
vibration represented by a particular solution of (19.46) of the
form
The general
solution of (19.46)
solution of (19.46) to the
x par ,
Substituting xp(lrt for x into (19.46),
mco
xm sin
(cor
q>)
-f-
<p
we
caxm cos (at
+
Making at
9 47 )
x m sin(cot-<r,)
obtain
fcc
<p)
sin (cor
and
successively equal to
= Pm sin at
<p)
to w/2,
we
write
Pm sin<r
(19.48)
(k- m a*)xm = Pm cas<f.
(19.49)
ccoxm
Squaring both members of (19.48) and (19.49) and adding,
we
have
\(k
- m*?f +
(caf]xl
= Pi
(19.50)
Solving (19.50) for x m and dividing (19.48) and (19.49)
by member, we
P>
x"'
'
V(*
member
obtain, respectively,
- ma 2
tan<p=
2
[caf
(19.51)
- ma 2
2
Recalling from (19.4) that k/m = p where p is the circular
frecmency of the undamped free vibration, and from (19.40) that
,
2?np
system,
cc
we
where cc
is
the critical
damping
coefficient of the
write
(19.52)
PJk
V[l
tan
<f
- KP) 2 2 +
!
2(c/cc)co/p)
1
(u/p
-,
[2(c/cc )(co/p)]
nq-o,
(19.o.i)
Formula
(19.52) expresses the magnification factor in terms of
u/p and damping factor c/cc It may be

used to determine the amplitude of the steady-state vibration
produced by an impressed force of magnitude P = P sin ut or
m
by an impressed support movement 5 = Sm sin tor. Formula
(19.53) defines in terms of the same parameters the phase difference (p between the impressed force or impressed support movethe frequency ratio
ment and the resulting steady-state vibration of the damped

system. The magnification factor has been plotted against the
frequency ratio
factor.
in Fig. 19.12 for various values of the
We observe that
damping
the amplitude of a forced vibration
mav
be kept small by choosing a large coefficient of viscous damping

c or by keeping the natural and forced frequencies far apart.
or
= 0.25
0,125
*m
2
7"
0.50
-V.
^^
1.00
Fig. 19.12
*19.10. Electrical Analogues.

circuits are characterized
type as those obtained
in
by
Oscillating electrical
differential equations of the
same
the preceding sections. Their analysis
therefore similar to that of a mechanical system, and the results

obtained for a given vibrating system may be readily extended
to the equivalent circuit. Conversely, any result obtained for
is
an
electrical circuit will also
apply to the corresponding me-
chanical system.
Consider an electrical circuit consisting of an inductor of

a resistor of resistance R, and a capacitor of
/.,
inductance
915
916 DYNAMICS
capacitance C, connected in series with a source of alternating
voltage
= Em sinut
(Fig. 19.13).
It
is
if
recalled from elemen-
denotes the current in
the circuit and q the electric charge on the capacitor, the drop
in potential is IXdi/dt) across the inductor, Ri across the resistor,
'I
&
E = Em
Fig.
tary electromagnetic theory! that,
sin
and q/C across the capacitor. Expressing

of the applied voltage
circuit loop
is
and
we
zero,
that the algebraic
sum
of the drops in potential around the
write
u/
19.13
.. sin wr
di
- Ri - q =
L
dt
C
(19.54)
4:
Rearranging the terms and recalling that, at any instant, the

current i is equal to the rate of change q of the charge q, we
have
+ Rq + q =
J.q
We
verify thai Eq. (19.55),
which
, sin ut
(19.5c
defines the oscillations of the
same type as Eq. (19.46),

which characterizes the damped forced vibrations of the mechanical system of Fig. 19.10. By comparing the two equations,
we may construct a table of the analogous mechanical and elecelectrical circuit of Fig. 19.13,
is
of the
trical expressions.
Table 19.2
may be
used
to
extend to their electrical analogues
the results obtained in the preceding sections for various
chanical systems. For instance, the amplitude
19.13 may be
maximum value
in the circuit of Fig.
corresponds to the
me-
m of the current
obtained by noting that

i;,
it
of the velocity in the
analogous mechanical system. Recalling that v m = wxm substituting for *, from Eq. (19.51), and replacing the constants of
,
Table 19.2
Electrical
Characteristics of a Mechanical System and of
Its
Analogue
Mechanical System
Electrical Circuit
mass
Inductance
Coefficient of viscous
Resistance
damping
k
Spring constant
1/C
Reciprocal of capacitance
Displacement
Charge
t;
Velocity
Applied force
Current
Applied voltage
f See Hamntond, "Electrical Engineering," McGraw-Hill Book

Sons.
Smith, "Circuits, Devices, and Systems," John Wiley
&
Company,
or

the mechanical system
by the corresponding
electrical expres-
we have
sions,
wE,
%-***)+&?
E
L=
(19.56)
J*+(*-kJ
The
radical in the expression obtained
is
known
as the
impedance
of the electrical circuit.
The analogy between mechanical systems and
electrical cir-
cuits holds for transient as well as steady-state oscillations.
shown
oscillations of the circuit
analogous to the
As
19.10.
damped
The
in Fig. 19.14, for instance, are
free vibrations of the system of Fig.
concerned, we mav
note that closing the switch S when the charge on die capacitor
is
1 - <ln >s equivalent to releasing the mass of the mechanical
system with no initial velocity from the position x = x
We
n
should also observe that, if a battery of constant voltage E is
introduced in the electrical circuit of Fig. 19.14, closing the
So
switch S will be equivalent to suddenly applying a force of

constant magnitude P to the mass of the mechanical system of
far as the initial conditions are
Fig. 19.10.
Fig.
The above
result
were
would be of questionable value if its only

possible for mechanics students to analyze
discussion
to
make
it
electrical circuits without learning the elements of electromag-
netism.
It is hoped, rather, that this discussion will encourage

the students to apply to the solution of problems in mechanical
vibrations the mathematical techniques they may learn in later
courses in electrical circuits theory.
The
chief value of the
concept of electrical analogue, however, resides in its application

to experimental methods for the determination of the characteristics of
circuit
a given mechanical system.
Indeed, an electrical
much more easily constructed than a mechanical model,

fact that its characteristics may be modified by varying
is
and the
the inductance, resistance, or capacitance of its various components makes the use of the electrical analogue particularly convenient.
To determine
system,
we
shall
the electrical analogue of a given mechanical

focus our attention on each moving mass in
the system and observe
which
springs, dashpots, or external
An equivalent electrical loop

then be constructed to match each of the mechanical units
forces are applied directly to
may
it.
19.14
918 DYNAMICS
thus defined; the various loops obtained in that
way
will
form
together the desired circuit. Consider, for instance, the mechanical system of Fig. 19.15. We observe diat the mass nij is acted
*,
upon by two springs of constants fc 1 and k, and by two dashpots

characterized by the coefficients of viscous damping c, and c2
The electrical circuit should therefore include a loop consisting
of an inductor of inductance L, proportional to m v of two
.
It,
capacitors of capacitance C, and
C2
inversely proportional to
k 1 and k 2 respectively, and of two resistors of resistance Kj and

R , proportional to c x and c2 , respectively. Since the mass 2
,
acted upon by the spring k 2 and the dashpot c 2 as well as

by the force P = Pm sin at, the circuit should also include a loop
die new inductor
containing the capacitor C , the resistor R
is
/\
2,
L2 and
19.15
Fig.
the voltage source
To chock
that the
= Em sin cor
(Fig. 19. 16).
mechanical system of Fig. 19.15 and the
electrical circuit of Fig. 19.16 actually satisfy the
shall
same
differen-
derive the equations of motion for
first
Denoting respectively by x l and x2 the displacements

from dieir equilibrium positions, we observe that
1
the elongation of the spring k t (measured from the equilibrium
position) is equal to x v while the elongation of the spring k^
mj and
hWWn
of
iJ-J
HHvwvv
î
we
equations,
tial
is
m.,
equal to the relative displacement x2
to Rk.
*&
2.
and
The equations
of motion for
-x.2)
Cjij
c 2 (i,
+ k lXl +
of
x,
with respect
and m,2 are therefore
k2 {x 1
-x =
(19-57)
<>
m 2 x2 +
/-
Fig. 19.16
c2 (.t2
now
Consider
respectively by
xx)
k2 (x2
in
xx)
Fm
and
(19.58)
sin cat
the electrical circuit of Fig. 19.16;
we denote
and second loops,

dt. Noting that
and
fi
Jh
2
charge on C2
the
is
while
qv
the current in the

2
and by q t and q 2 the integrals

the charge on the capacitor Ct
is
first
q 2 we express that the sum of the potential differences

each loop is zero:
q,
Mi
Mi
* - ^ + 1- +
L 2 q 2 + R 2 (q 2 -
We
easily
<fc)
^^
^2k = Em
sin at
check that Eqs. (19.59) and (19.60) reduce
and (19.58), respectively,

Table 19.2 are performed.
when
(1959)
(19.60)
to (19.57)
the substitutions indicated in
PROBLEMS
1
9.97
Show
that, in the case of
heavy damping
(c
>c
),
body
never passes through its position of equilibrium O (a) if it is released

with no initial %'elocity from an arbitrary position or (b) if it is started
from
with an arbitrary
initial velocity.
>
1 9.98
Show that, in the case of heavy damping (c
cc ), a body
released from an arbitrary position with an arbitrary initial velocity
cannot pass more than once through
19.99
its
equilibrium position.
damping, the displacements .v,, x .r

2
be assumed equal to the maximum
displacements. Show that the ratio of any two successive maximum
displacements .t and .tn+1 is a constant and that the natural logarithm
etc.,
In the case of light
shown
19.11
in Fig.
may
of this ratio, called the logarithmic decrement,
is
2*(c/cc )
In-
VI -
(c/cc f
1 9. 00 In practice, it is often difficult to determine the logarithmic

decrement defined in Prob. 19.99 by measuring two successive maximum displacements. Show that the logarithmic decrement may also
be expressed as (1/n) In (.r,/xn+I ), where n is the number of cycles
between readings of the maximum displacement.
19.101 Successive maximum displacements of a spring-massdashpot system similar to that shown in Fig. 19.10 are 75, 60, 48, and
38.4 mm. Knowing that m = 20 kg and k = 800 N/m, determine (a) the
damping factor c/cc
{Hint.
ft
19.102
vibration
(b)
the value of the coefficient of viscous damping
See Probs. 19.99 and 19.100.)
is
<
damping (c
cc ), the period of
defined as the time interval - = 2v/q corre-
In a system with light
commonly
sponding to two successive points where the displacement-time curve

touches one of the limiting curves shown in Fig. 19.11. Show that
the interval of time (a) between a maximum positive displacement
and the following maximum negative displacement is Jr, (h) between
two successive zero displacements is Jt, (c) between a maximum
positive displacement
than
and the following zero displacement
is
greater
It.
9. 1
03 The barrel of a field gun weighs 1200 lb and is returned into
by a recuperator of constant k = 8000 lb/ft.

Determine the value of the coefficient of damping of the recoil mechanism which causes the barrel to return into firing position in the shortest
firing position after recoil
possible time without oscillation.
920 DYNAMICS
19.104
damped system is released from rest at an

when = 0. () Determine the position of the
critically
arbitrary position x
result obtained in part a to the

gun of Prob. 19.103, and determine the time at which
halfway back to its firing position.
system at any time

barrel of the
the barrel
is
19.105
(/>)
I,
Assuming
Apply the
that the barrel of the
gun of Prob. 19.103
is
modified, with a resulting increase in weight of 300 lb, determine the
constant k of the recuperator which should be used
anism
remain
to
is
19.106
if
factor c/cc
the recoil mech-
damped.
In the case of the forced vibration of
damping
given
critically
a system with a
determine the frequency ratio w/p
which the amplitude of the vibration
is
19.107 Show that for a small value of the damping factor

(a) the maximum amplitude of a forced vibration occurs when u
corresponding value of the magnification factor
(b) the
for
maximum.
c/cc
zz p,
approxi-
is
mately \(cc /c).
1 9.108
A motor of mass 25 kg is supported by four springs, each
having a constant of 200 k.N/m. The unbalance of the rotor is equivalent to a mass of 30 g located 125 mm from the axis of rotation.
Knowing that the motor is constrained to move vertically, determine
the amplitude of the steady-state vibration of the motor at a speed
assuming
of 18(X)rpm,
Fig.
P19.108
damping
factor c/cr
19.109
Assume
supported by
beam due
is
no damping
(a) that
that the 25-kg
a light horizontal
of
to the weight of the
damping
19.1
present, [b) that the
motor of Prob. 19.108
beam. The
motor
is
the
(a)
damping
is
directly
static deflection of the
observed to be 5.75
the amplitude of the vibration of the motor
400 rprn. Determine
is
equal to 0.125.
is
0.5
mm
at a
mm, and
speed of
factor c/cc , (b) the coefficient
c.
element weighing 800 lb is supported by two

200 lb/in. A periodic force of
is applied to the element with a frequency of
10 A machine
springs, each having a constant of
maximum
value 30 lb
2.5 cycles per second.
8 lb
s/in.,
Knowing
that the coefficient of
damping
is
determine the amplitude of the steady-slate vibration of
the element,
19.111
coefficient of
Fig.
P19.110
of the
In Prob. 19.110, determine the required value of the
damping
element
is
to
if
the amplitude of the steady-state vibration
be 0.15
in.
19.112 A
platform of mass
1(X) kg,
supported by a
equivalent to a single spring of constant k

to a periodic force of
set of springs
80 kX/in, is subjected
magnitude 500 X. Knowing that the
maximum
damping is 2 kN s/m, determine (a) the natural frerpm of the platform If there were no damping, (b) the
frequency in rpm of the periodic force corresponding to the maximum
coefficient of
quency
in
value of the magnification factor, assuming damping, (c) the amplitude

of the actual motion of the platform for each of the frequencies found
in parts a
and
^L
b.
Fig.
* 1 9.1 1 3 The
by
suspension of an automobile
may be approximated
the simplified spring-and-dashpot system shown,
(a) Write the

motion of the mass m when
differential equation defining the absolute
the system
shown,
as
P19.112
moves
(b)
at a speed C over a road of sinusoidal cross section

Derive an expression for the amplitude of the absolute
motion of m.
R
Fig.
P19.113
F=
Fig.
* 1 9. 1 1 4 Two
shown by means
as
is
loads
A and
B,
I'
mhuI
each of mass m, are suspended
of five springs of the
subjected to a force of magnitude
P19.114
I'
same constant
sin Mfc
k.
Load B
Write the differen-
equations defining the displacements x and % of the two loads

A
B
from their equilibrium positions.
tial
19.115
which
S
is
C is
(a)
Determine the range of values of the resistance R for

shown when the switch
WWW
oscillations will take place in the circuit
closed.
9.1
6 Consider
equal to zero.
the
final
the circuit of Prob. 19.115
If the
switch S
value of the current
in
the current will have reached (1

desired value of
is
known
is
the circuit,
when
closed at time
(6)
the capacitance
0,
the time
determine
/ at which
\/e) times its final value.
as the time constant of the circuit.)
(The
Fig.
P19.115
921
922
DYNAMICS
Draw the electrical analogue of the

1 9.1 1 7 through 19.1 20
mechanical system shown. (Hint. In Probs. 19.117 and 19.118, draw
(he loops corresponding to the free bodies m and A.)
19.121 and 19.122
Write the differential equations defining
the displacements of mass
(a)
and point A,
(b) the
currents in the
corresponding loops of the electrical analogue.
19.123 and 19.124
Write the differential equations defining
(a)
the displacements of the masses
and
m2
(/;)
the currents in the
corresponding loops of the electrical analogue.
k
H
k,'
V
Fig.
= P.
sin
ul
P19.117 and P19.121
Fig.
P19.118 and P19.122
Fig.
P19.119 and P19.123
Fig.
P19.120 and P19.124
REVIEW PROBLEMS
19.125 A homogeneous wire of length 21 is bent as shown and
allowed to oscillate about a frictionlcss pin at B. Denoting by t the
period of small oscillations when ft = 0, determine the angle fl for
which the period of small
Fig.
oscillations
is
2t
P19.125 and P19.126
19.126
Knowing
that
period of oscillation of the bent
m and ft = 30, determine the

homogeneous wire shown.
0.6
19.127 A
period of 4.10
s is
observed for the angular oscillations
of a 1-lb gyroscope rotor suspended from a wire as shown.

that a period of 6.20
s is
obtained
when
Knowing
a 2-in.-diamcter steel sphere
suspended in the same fashion, determine the centroidal radius of

gyration of the rotor. (Specific weight of steel
490 lb/ft3 .)
is
19.128
An automobile
Fig.
P19.127
Fig.
P19.129
wheel-and-tire assembly of total weight
47 lb is attached to a mounting plate of negligible weight which is

suspended from a steel wire. The torsional spring constant of the wire
known to be K = 0.40 lb in./rad. The wheel is rotated through

90 about the vertical and then released. Knowing that the period
is
of oscillation
moment
is
observed to be 30 s, determine the centroidal mass
of inertia
and the centroidal radius of gyration of the wheel-
and-tire assembly.
Fig.
P19.128
A homogeneous wire is bent to form a square of side I

supported by a ball-and-socket joint at A. Determine the
period of small oscillations of the square (a) in the plane of the square,
which
is
(b) in a direction
19.130
perpendicular to the square.
150-kg electromagnet
and is holding 100 kg

and the steel is dropped.
Knowing that the cable and the supporting crane have a total stiffness
equivalent to a spring of constant 200 kN/m, determine (a) the frequency, the amplitude, and the maximum velocity of the resulting
motion, (b) the minimum tension which will occur in the cable during
the motion, (c) the velocity of the magnet 0.03 s after the current is
of scrap steel
turned
off.
when
the current
is
is
at rest
turned
off
j?^m^
Fig.
P19.130
924 DYNAMICS
1
9.1 31
During the normal operation of a single-phase generator,

is prevented by four springs
the transmission of undesirable vibrations
mounted
as
shown (two springs
at
A and two
that the stator of the generator weighs-
radius of gyration of 24
spring
if
400
Knowing
and has a eentroidal
springs at B).
lb
determine the required constant of each
in.,
the frequency of the free angular vibration of the stator
is
to
he 15 cycles per second.

3ft
Fig.
1 9.1 32 The rotor of the generator of Prob. 19.131 weighs 300 lb

and has a eentroidal radius of gyration of J 8 in. Knowing that the
springs have been chosen so that the angular frequency of the stator
alone is 15 cycles per second, determine the frequency of the angular
P19.131
vibration of the generator
the bearings are frozen SO that the rotor
if
and stator move as a single
rigid body.
/ is attached by a smooth pin at A

Determine the period of small oscillations
of the bar, assuming that the coefficient of friction between the collar
and the horizontal rod (o) is sufficient to prevent any movement of the
19.133 A
slender bar of length
to a collar of negligible mass.
collar, {b) is zero.
J
Fig.
P19.133
19.134
A 2-kg instrument is spring-mounted on the casing of a

1S(K) rpm. The motor is unbalanced and the amKnowing that
plitude of the motion of its casing is 0.5 mm.
k = 9000 N/m, determine the amplitude of the motion of the instrumotor rotating at
ment.
1
35 A
9.1
rod and
is
collar of
mass
m slides without friction on a horizontal
attached to a spring AB of constant
length of the spring
is just
equal to
I,
show
k.
{a} If
the unslretched
that the collar docs not
execute simple harmonic motion even when the amplitude of the

oscillations is small, (b) If the unstretched length of the spring is less
than /, show that the motion may be approximated by a simple har-
monic motion
Fig.
for small oscillations.
P19.135
300 inn
Fig.
P19.136
19.136 The
mass 3
kg,
assembly shown consists of two

and four slender rods, each of mass 0.4
period of oscillation of the assembly.
thin disks,
kg.
each of
Determine the
Some
Useful
and
Definitions
APPENDIX
**
Properties of
Vector Algebra
The
following definitions and properties of vector algebra
were discussed
fully in
Engineers: Statics.
Chaps. 2 and 3 of Vector Mechanics for
They
are summarized here for the convenience of the reader, with references Lo the appropriate sections of
the Statics volume. Equation and illustration
numbers arc those
used in the original presentation.
A.1
Addition of Vectors
(Sees. 2.2
and
2.3).
Vectors are
defined as mathematical expressions possessing magnitude
and
which add according to the parallelogram laic. Thus

the sum of two vectors P and Q is obtained by attaching the two
vectors to the same point A and constructing a parallelogram,
using P and Q as two sides of the parallelogram (Fig. 2.6). The
direction,
diagonal that passes through
P and Q, and
sum
represents the
denoted by P
associative and commutative.
this
is
sum
of the vectors
Q. Vector addition
is
The negative vector of a given vector P is defined as a vector

having the same magnitude V and a direction opposite lo that of
P
(Fig. 2.5); the negative of the vector
Clearly,
is
denoted by P.
we have
-p
P+(-P) =
Fig- 2.5
925
+Q
DYNAMICS
A.2. Product of a Scalar and a Vector

product kP of a scalar k and a vector P
having the same direction as P

opposite to that of
(if
is
(if
negative),
P and
the product of the magnitude
is
is
The
(Sec-. 2.3).
defined as a vector
positive), or a direction
and
magnitude equal
to
of the absolute value of k
(Fig. 2.13).
Fig. 2.13
A. 3. Unit Vectors. Resolution of a Vector into

Rectangular Components (Sees. 2.6 and 2.11). The vectors
i, j,
and
tude
1,
k, called unit vectors,
are defined as vectors of magni-
directed respectivelv along the positive
x, y,
and
z axes
(Fig. 2.32).
Denoting by FT
we have
Fy
and F the scalar components of a vector
F,
(Fig. 2.33)
F=
+ FJ + Fr k
F,i
(2.20)
z
Fig. 2.32
In the particular case of
forming angles
and
a unit vector
8.
A = cos0 x i +
cos
A directed along a
with the coordinate axes,

cos0j
costf.k
e.ji
Fig. 2.33
line
we have
(2.22)
SOME USEFUL DEFINITIONS AND PROPERTIES OF VECTOR ALGEBRA 927

A.4. Vector Product of
3.4).
The
defined as the vector
is
V=
which
1.
The
ing
2.
Two Vectors
(Sees. 3.3
vector product, or cross product, of two vectors
satisfies
PxQ
the following conditions:
line of action of
P and
and
P and
is
V=PxQ
perpendicular to the plane contain-
(Fig. 3.6).
of V is the product of the magnitudes of P and

and of the sine of the angle
formed by P and Q (the
measure of which will always be 180 or less); we thus have
The magnitude
V = PQ sin 6
3.
The
sense of
is
such that a
man
(3.1)
located at the tip of
observe as counterclockwise the rotation through
will
which
P in line with the vector Q; note that if P

do not have a common- point of application, they
should first be redrawn from the same point. The three vectors P, Q, and V
taken in that order form a right-handed
brings the vector
and
triad.
Vector products are distributive, but they are not commutative.
We
have
Q XP=
-(P X 0)
Products of Unit Vectors.

nition of the vector product of
iXi =0
Xj =k
x k = -j
j
j
It
(3.4)
follows from the defi-
two vectors
X = -k
Xj =
Xk =
that
X =
Xj =
kxk =
k
k
-i
(3.7)
Rectangular Components of Vector Product. Resolving

P and Q into rectangular components, we obtain
the vectors
the following expressions for the
components of
their vector
product V:
v, = p& - KQ
y
Vv = P: (JX - PT Q:
% = Pt Q v - PV QX
In determinant form,
(3.9)
we have
i
V=P
XQ = K
Q*
Pv
Qy
ft
(3.10)
Fig. 3.6
928 DYNAMICS
Moment
of a Force about a Point (Sees. 3.5 and

of a force F (or, more generally, of a vector
F) about a point O is defined as the vector product
A.5.
The moment
3.7).
M
where
of
X F
(3.11)
denotes the position vector of the point of application
(Fig. 3.12).
Rectangular Components of the Moment of a Force.

x, y, and z the coordinates of the point of application A of F, we obtain die following expressions for the compoDenoting by
Fig. 3.12
nents of the
moment
of F:
U,
=
=
K
determinant form,
In
zFu
zFz -
xF,
yF,
*Fy
we have
j
F.
F,
M =
To compute
force
the
XF=
moment M B about an arbitrary point B of a

we must use the vector Ar = rA rB
r.
We
MB = dr X
write
F =
(tA
rB )
XF
(3.20)
using the determinant form,

|i
Ms
where
Ax, Ay,
= Ax Ay Ac
(3.21)
IF,
and
(3.19)
applied at A,
instead of the vector
or,
(3.18)
yf,
F;
Az are the components of the vector Ar joining
B:
A*
%.
xB
A.6. Scalar Product of
\Ia
~\Jb
Two
^z
Vectors
= *a -
ZB
(Sec. 3.8).
The
two vectors P and Q is defined

as the product of the magnitudes of P and Q and of the cosine of
the angle formed by P and Q (Fig. 3.19). The scalar product of
P and Q is denoted by P Q. We write
scalar product, or dot product, of
P
Fig. 3.1
Q = PQ cos
Scalar products are commutative and distributive.
(3.24)
SOME USEFUL
DEFINITIONS
Scalar Products of Unit Vectors. It follows from the

two vectors that
AND PROPERTIES OF VECTOR ALGEBRA 929
defi-
nition of the scalar product of
j =
'
Scalar Product Expressed
Components.
components,
wc
k k
k i
(3.29)
Terms of Rectangular
in
Q into
P and
Resolving the vectors
rectangular
obtain
Q = P.& +
PV Qy
Angle Formed by Two Vectors.
It
P&
(3.30)
follows from (3.24) and
(3.29) that
cost) =s
j& + PQ
Q=
PQ
P*Q*
(3.32)
PQ
Projection of a Vector on a Given Axis. The projection of

a vector P on the axis OL defined by the unit vector A (Fig. 3.23)
is
R,
= OA = P A
(3.36)
Fig. 3.23
A.7. Mixed Triple Product of Three Vectors (Sec.

The mixed triple product of the three vectors S, P, and Q is
3.9).
defined as die scalar expression
(P
(3.38)
Q.)
obtained by forming the scalar product of S with the vector

product of P and Q. Mixed triple products are invariant under
change sign under any other permuta-
circular permutations, but

tion:
(P
X Q) = P (Q X
S) = Q (S X P)
= -P (S X Q) = -Q
= -S
(Q
P)
(P
S)
(3.39)
Mixed Triple Product Expressed in Terms of Rectangular

Components. The mixed triple product of ,S, P, and Q may be
expressed in the form of a determinant:
(P
The mixed triple product
0)
(P
s*
s,
P,
Py
P.
Qs
Qy
ft
Q) measures the volume
parallelepiped having the vectors S, P, and
(3.41)
of the
Q for sides (Fig. 3.25).
Fig. 3.25
930 DYNAMICS
Moment
A.8.
of a Force about a Given Axis
(Sec.
The moment
0L of a force F (or, more generally, of a

vector F) about an axis OL is defined as the projection
on the
3.10).
OC
axis
OL of the moment M
F about O (Fig. 3.27).

we have
of
the unit vector along OL,
Denoting by
M OL =X-M =\-(rXF)
or, in
(3.42)
determinant form,
MM
Fig. 3.27
where X x X v X x
,
x, y,
Fx Fy
,
F,
The moments
Fm
(3.43)
direction cosines of axis
OL
coordinates of point of application of
of the force
components of force
about the three coordinate axes
are given by the expressions (3.18) obtained earlier for the rec-
yFx
My = zFx
More
generally, the
moment
tangular components of the
moment
zFy
xF,
of
about 0;
(3.18)
of a force
applied at
A about an
which does not pass through the origin is obtained by choosing an arbitrary point B on the axis (Fig. 3.29) and determining
the projection on the axis BL of the moment
B of F about B.
axis
We
write
MBL
where Ar
Expressing
rB
MBL in
=A
MB = A
where \ x A
,
A.v
A^
xA
F)
xB,
Ax
Ay
As
F.
E.
F.
(3.46)
should be noted that the result obtained
choice of the point
have been obtained
B on
if
BL
yA - yB , As = zA - zB
components of force F
\y
B and A.
we have
K K K
direction cosines of axis
(3.45)
represents the vector joining
Fx Fy Fz =
It
(Ar
the form of a determinant,
Mm =
Fig. 3.29
is
point
independent of the
same result would

had been chosen instead of B.
the given axis; the
Moments
APPENDIX
of
Inertia of
Masses
R
B
932 DYNAMICS
MOMENTS OF
INERTIA OF MASSES"
Moment of Inertia of a Mass. Consider a small

Am mounted on a rod of negligible mass which may rotate
9.10.
mass
freely about an axis
AA' (Fig. 9.20a). If a couple is applied to

the system, the rod and mass, assumed initially at rest, will start
rotating about AA'. The details of this motion will be studied
dynamics. At present, we wish only to indicate that the
time required for the system to reach a given speed of rotation
is proportional to the mass Am and to the square of the distance
The product r 2 Aw provides, therefore, a measure of the
r.
later in
inertia of the system,
we
is
(")
try to set
called the
it
of the resistance the system offers
i.e.,
in motion.
moment of
For
the product
this reason,
inertia of the
mass
Am
when
r
Am
with respect to
the axis AA'.
now
Consider
an axis AA'
mass Am,,
body
is
Am 2
which is to be rotated about

Dividing the body into elements of
etc.,
we
find that the resistance offered
measured by the sum
defines, therefore, the
moment
moment
of inertia
r%
Am2 +
number
by the
sum
This
body with respect
of elements,
wc
find that
fr
dm
(9.28)
radius of gyration k of the body with respect to the axis

The
equal, at the limit, to the integral
is
The
AA' is
Am,
of inertia of the
to the axis AA'. Increasing the
the
a body of mass
(Fig. 9.20b).
k2 m
or
k= I
V m
(9.29)
radius of gyration k represents, therefore, the distance at
which the entire mass of the body should be concentrated if its

moment of inertia with respect to AA' is to remain unchanged
(Fig. 9.20c). Whether it is kept in its original shape (Fig, 9.20b)
or whether it is concentrated as shown in Fig. 9.20c, the mass
will react in the
same way
to
a rotation, or gyration, about
AA'.
If
SI units are used, the radius of gyration k
meters and the mass
of a mass, therefore, will

(c)
is
expressed in
The moment of inertia

be expressed in kg m 2 If U.S. customin kilograms.
ary units are used, the radius of gyration
is
expressed
Fig. 9.20
"This repeats Sees. 9.10 through 9.16 of the volume on
statics.
in
feet
MOMENTS OF
and the mass
in slugs,
in lb
i.e.,
The moment
s*/ft.
of a mass, then, will be expressed in lb
The moment
may
axis
easily
be expressed
to a coordinate
terms of the coordinates X, y, z

Noting, for example,
in
dm
(Fig. 9.21).
that the square of the distance r from die element
x2 ,
we
is
I
v
1/
axis as
Jr*
dm =
may be
Similar expressions
moment
express the
z
y
with respect to the
axis
with respect to the
iz
I
v
Z.
S(z
dm
to the
body
of inertia of the
x2 )
dm
obtained for the moments of inertia
and z
.v
of inertia
2 .t
body with respect
of inertia of a
of the element of mass
ft
We
axes.
= S(y 2 +
= f(z? +
= S(x* +
z*)
write
Fig. 9.21
dm
dm
dm
x2 )
if)
(9.30)
9.11. Parallel-Axis Theorem. Consider a body of mass

m. Let Oxyz be a system of rectangular coordinates with origin
at an arbitrary point O. and G.v'i/V a system of parallel centroidal axes,
a system with origin at the center of gravity
i.e.,
and with axes x',

9.22). Denoting by x,
of the body}
x, y,
z (Fig.
respect to Oxyz,
we
coordinates
z of the element
its
x, y,
coordinates xJ
y,
respectively parallel to
J the
coordinates of
with
write the following relations between the
if,
y', z',
z'
dm
with respect to Oxyz and
with respect
the centroidal axes
to
Cx'y'z':
= i* + x
!/
</'
</
z'
(9.31)
Fig. 9.22
tit should
be kept
in
mind, when
mass from U.S. customary units to SI

the derived unit lh
ft
is
be converted into newtons.

1
or,
since
\ =
lb
ft
kg m/s !
We
have
(4.45 N)(0.3048 m)(l
of the
s)
1.336
N m
s2
l.Note that the term centroidal
moment
base unit pound used in
a unit of force {not of mass) and, therefore, should
llb-ft-s
center of gravity
converting the
units, that the
of inertia of a
11
is
1.336
kg -m 2
used to define an axis passing through the
of the body, whether or not
volume of the body.
coincides with the centroid
INERTIA OF
MASSES 933
934
DYNAMICS
we may
body with respect
of the
h = SW +
= S(y' +
2
The
first
ment of
z2 )
express the
moment
of inertia
to the x axis as follows:
dm = f[(y> + Tjf + y + 2)2j dm

dm + 2yfy' dm + 2zftf dm + (y 2 +
**)
z 2 )f
integral in the expression obtained represents the

inertia
Tx
body with respect
of the
dm
mo-
to the centroidal
(he second and third integrals represent the first moment

body with respect to the z'x' and x'lf planes, respectively,
and, since both planes contain G, the two integrals are zero;
axis
x';
of the
the
last
integral
is
equal to the total mass
of the body.
We
write, therefore,
/,
/,.
m (y 2 +z 2
(9.32)
and, similarly,
m(z 2
4 =
X 2)
I,
m(x 2
2
)
(9.32')
We
easily verify
from
sents the square of the distance
OB
z 2 and x 2 + y 2 represent the squares of the

distances between the x and .v' axes, and the 2 and z' axes, respectively. Denoting by d the distance between an arbitrary axis
AA' and a parallel centroidal axis BB' (Fig. 9.23), we may, there.Similarly,
sum
5" 2
x 2 reprebetween the y and y' axis.
Fig. 9.22 that the
fore, write the following general relation
of inertia
l_
of the
body with respect
to
between the moment

AA' and its moment
of inertia / with respect to BB':

Fig. 9.23
+ md 2
(9.33)
Expressing the moments of inertia in terms of the corresponding

radii of gyration,
we may
k2
also write
where k and k represent the

BB', respectively.
k2
+ d2
radii of gyration
(9.34)
about
A A' and
MOMENTS OF
of Inertia of Thin Plates. Consider
plate of uniform thickness t, made of a homogeneous
a thin
material of density p (density = mass per unit volume).

mass moment of inertia of the plate with respect to an axis
contained
in the
plane of the plate (Fig. 9.24a)
MASSES 935
A'
Moments
9.12.
INERTIA OF
The
AA'
is
2
W.m*w = S dm
'
Since
dm =
pt dA,
we
write
'
V.mass
Ptfr
dA
()
represents the distance of the element of area
But
axis
AA'; the integral
is
therefore equal to the
moment
We
of the area of the plate with respect to AA'.
MA'.mass
we have
Similarly,
AA'
to
(9.35)
BB' perpendicular
(Fig. 9.24fo)
Considering
now
(b)
'SB", mass
the axis
CC
ptlBB'.m-va
through the point of intersection
we
axis
to the
of inertia
have
P'*.4/l'.area
with respect to an
dA
(9.36)
perpendicular to the plate
of
AA' and BB'
(Fig. 9.24c),
write
where Jc
is
the polar
CC, mass
moment
(9.37)
pti,C, area
of inertia of the area of the plate
with respect to point C.

Recalling the relation Jc = 7^. + IBB existing between polar
and rectangular moments of inertia of an area, we write the
following relation between the mass moments of inertia of a thin
.
(c)
Fig. 9.24
plate:
Ictr
luf
+ IBR
(9.38)
Rectangular Plate. In the case of a rectangular plate of

and b (Fig. 9.25), we obtain the following mass moments
sides a
of inertia with respect to axes through the center of gravity of
the plate:
^.mnss
Bfi'.mass
P'W.area =
= P Bfl'.area =
Pt(^' h
Pt(frl)
Fig. 9.25
936 DYNAMICS
Observing that the product publ is equal to the mass m of the
plate, we write the mass moments of inertia of a thin rectangular
plate as follows:
I
AA
=
=
h.c
Circular Plate.
radius
(Fig. 9.26),
fona*
Iax
Igg,
'mr
iV;
(9.39)
fe
(9-40)
In the case of a circular plate, or disk, of

write
we
M^'.raass
P"AA\ area
P'd57 '" )
Observing that the product pwrH is equal to the mass m of the

plate and that 7A4 = IBg., we write the mass moments of inertia
-
of a circular plate as follows:

(9.41)
lcc
Iaa-
'
rk
= \ mr 2
(9.42)
9.13. Determination of the Moment of Inertia of a

Three-dimensional Body by Integration. The moment
of inertia of a three-dimensional
body is obtained by computing

body is made of a homogeneous
material of density p, we have dm = p dV and write 7 =
pjr- dV. This integral depends only upon the shape of the body.
In order to compute it, it will generally be necessary to perform
the integral I
fr dm.
If
the
a triple, or at least a double, integration.
However,
is
dm =
p;rr~
(//,= jr
dlj =
dm
moment
to the
(\r
of mass should
+x )dm
the
Determination
body
of the
moment
it
of inertia through
dm
the
planes of symmetry.
In the case of bodies of revolution, for example, the
dL = dl, + x dm =
inertia of a
its
mass of a thin slab perpendicular
H. + i i dm = ^r 2 + x 1 dm
9.27
the body possesses two planes ol symmetry,
a single integration by choosing as an element of mass
rfa
Fig.
if
usually possible to determine
of
be a thin
disk (Fig. 9.27).
element
Using formula (9.42),
moment of inertia of the disk with respect to the axis of

may be readily expressed as indicated in Fig. 9.27.
moment of inertia with respect to each of the other two axes
revolution
of revolution.
Its
of coordinates will be obtained

parallel-axis theorem.
will yield the desired
by using formula
(9.41)
and the
Integration of the expressions obtained
moments
of inertia of the body of revolu-
tion.
9.14. Moments of Inertia of Composite Bodies.

The moments of inertia of a few common shapes are shown in
Fig. 9.28. The moment of inertia with respect to a given axis
of a body made ol several of these simple shapes may be obtained
by computing the moments of inertia of its component parts
about the desired axis and adding them together. We should
note, as
we
already have noted
in
radius of gyration of a composite
adding the
radii of gyration of its
the case of areas, that the
body cannot be obtained by

component parts.
MOMENTS OF
Slender rod
I,
/..
-rVmfo2
'1/
tV"(c'-'
Ij.
mr-
Jy
=L=
INERTIA
= ^mlJ
Thin rectangular plate
<
Rectangular prism
Thin disk
mon
Mass moments
geometric shapes
ol inertia of
com-
\mfi
hna-
I,
I,
= u = i>n(W +
lt
=l =
Circular cone-
Fig. 9.28
2)
lr
Circular cvlinder
Sphere
,V
l,
m (3o 2 +
= ima*
I.2
h2 )
OF MASSES 937
SAMPLE PROBLEM
_S
9.9
Determine the mass moment of inertia of a slender rod of length /.

and mass m with respect to an axis perpendicular to the rod and
passing through one end of the rod.
Choosing the
lion,
element of mass shown, we
differential
write
m j
am ax
i
"
f-dz
II
,/:
w.-jVf*-Ufl
SAMPLE PROBLEM
b
J~*
Determine the mass moment of inertia of the homogeneous rectangular

prism shown with respect to the z axis.
We
-~ ,h
9.10
shown
for
choose as a differential element of mass the thin slab
which
^n
dm =
Referring to Sec. 9.12,
element with respect
we
pbc dx
moment
find that the
to the ;' axis
dlz
of inertia of the
is
= $p dm
Applying the parallel-axis theorem, we obtain the mass moment of

inertia of the slab with respect to the z axis.
dl,
dL.
x2
Integrating from x
'*
=f dI
dm =
to
dm +
-&b 2
ft*"
a,
We
note that
if
938
m(h* +
the prism
the expression for

in
is
is
m =
f" hc
,Mbc,
fa
/.
is
we may
small
ma 2 /3, which
a.
x2)
pbc dx
obtain
slender, b
reduces to
Sample Prob. 9.9 when L
we
dm = (&b 2 +
*> P hc dx
Since the total mass of the prism

7,
x2
is
J"
write
&m(4fl*
+ b2
compared
to
-m
a and
the result obtained
SAMPLE PROBLEM
9.11
Determine the mass moment of

respect to
inertia of a right circular
longitudinal axis,
(a) its
an
(/;)
axis
cone with
through the apex of the
cone and perpendicular to its longitudinal axis, (c) an axis through

the centroid of the cone and perpendicular to its longitudinal axis.
We
Solution.
Moment
a.
r,
for
choose the differential element of mass shown.
dm =
aj-
af Inertia
pm j^-x2 dx
Using the expression derived in Sec. 9.12
we compute
the mass moment of inertia of the

element with respect to the x axis.
thin disk,
differential
tU,
p dm =
Integrating from
.r
(afj (ptfij.** dx) = faj^x* dx
to x
h,
Since the total mass of the cone
I*
used.
pnr 2 dx
= $a
ift>*a*h
we
is
obtain
m = ^pna 2 h,
(Jp?ra
/l)
we may
write
fono*
The same differential element will be

Applying the parallel-axis theorem and using the expression
derived
in Sec.
dlv
9.12 for a thin disk,
<//.
x2
we
dm = $r 2 dm +
Substituting the expressions for
write
dm =
x-
(\r
h = l9o +
h*fama*h
We
dm
as follows:
and dm, we obtain
Introducing the total mass of the cone m, sve rewrite

2
x2 )
',,
-*
apply the parallel-axis theorem and
write
/
Solving for
r..
and recalling that x
l u
I,
+ mx 2
=
ij/i,
mx* = m(}2
we have
ft
2
)
- m$hf
939
SAMPLE PROBLEM
:!
9.12
in.
~z
A
i
III.
steel forging consists of a rectangular prism 6 by 2 by 2 in. and of

two cylinders of diameter 2 in. and length 3 in., as shown. Determine
the mass moments of inertia with respect to the coordinate axes.
(Specific weight of steel = 490 lb/ft8.)
!>i
-'f
X
/2
/
"S 2
in.
in.
Computation
of Masses
Prim
(Min^y
=ft81lb
I728in 3 /ft 3
m = _MiilL.2 =
0.2U
-sVfl
lb
32.2 ft/s
EacA Cylinder
V=
w(l
in.)
(3 in.)
9.42 in 3
(9.42 in 3 )(490 lb/ft 3 )
W=
1728in 3 /fl 3
2.67 lb
32.2 fl/s 2
0.0829 lb
2.67 lb
sVft
Mass Moments of Inertia. The mass moments of inertia of each

component are computed from Fig. 9.28, using the parallel-axis
theorem when necessary. Note that all lengths should be expressed
in feet.
Prim
l,
/
=
=
l,
4(0.21] lb
4(0.211
lb
s*/ft)[(&
s2 /ft)[( ft) 2
ft)
ft)
(h
2
2
(, 2 ft) ]
2
]
4.88
0.977
10-1
10-3 lb
lb
ft
ft
EacA cylinder
f,
= Jms + my 3 = (0.0829 lb s7ft)(4 ft) 2

s+ (0.0829 lb sVflXji ft) 2 = 2.59 X 10 a lb
= Am(3o 2 + J, 2 + mz* = 4(0.0829 lb -s 2 /ft)[3(^ ft) 2 + {,32 ft)*]
+ (0.0829 lb >*/%)(# f)z = 4.17 X 10-3 lb ft s 2
2
J,m(3o
=
+ J?) + m(x 2 + y 2 = 2 (0.0829)[3{ 1L) 2 + f,3,) 2
+ (0.0829)[(-^) 2 + (f5) 2 = 6.48 X 10~ 3 lb ft s 2
11
1,
/,'n/ire
Body.
I,
f,
0.977
4.88
4.88
Adding the values obtained:
10~3
2(2.59
10
-3
)
/.
10-3
2(4.17
10"
2(6.48
10.06
10
9.32
I0
[7,84
!<)-' lb -fl -s-
:!
lb
ft
-s-
10~ 3 )
-3
lb 'ft -S
t0-s)
I.
SAMPLE PROBLEM
9.13
Solve Sample Prob. 9.12 using SI units.
Solution.
63.5 inn)
76,2
(1 in.
the dimensions arc converted
First,
determined in SI units. Recalling that 1 ft = 0.3048

mass of a block weighing 1 lb is 0.454 kg, we have
mm*
is
G^
millimeters
into
25.4 mill). Next, the density of sleel p (mass per unit volume)
and that the
7"
-i-'30,Siimi
50.S
mm
i_v
152.4
mm
Computation
V=
Prism.
(50.8
mm' =
1
or, since 1
'
Masses
of
SOrSmm
mm) 2
(10
-3
152.4
m) 3
mm) =
10"'-'
0.393
106
mm 3
m3
V = 0.393 X
= 0.393 X 10 3 m3
X
m = P V = (7.85 X 103 kg/m 3 )(0.393 x 10 3 m3) =
SO.Snuu
106
10-" afi
3.09 kg
Each Cylinder
V=
-r-'/i
ir(25.4
mm) 2 (76.2 mm) =
0.1544
10
m = pV =
(7.85
mm 3
m
0.1544 X 10"3 3
103 kg/m 3 )(0.1544 X 10"3 m 3 ) s 1.212 kg
Mass Moments of Inertia. The mass moments of inertia of each

component are computed from Fig. 9.28, using the parallel-axis
theorem when necessary. Note that
lengths should be expressed
all
in millimeters.
Prism
r= l,=
A(3.09 kg)[(152.4
mm) 2 + (50.8 mm) 2 = 6640 kg

(50.8 mm) 2 = 1329 kg mm 2
= (&( kg)((50.8 mm) 2 +
mm 2
Each Cylinder
I,
Inufi
+ my* =
(1.212 kg)(25.4
mm) 2 +
=
/
mm) 2
(1.212 kg)(50.8
kg
.3520
mm 2
+ mx 2 =
1.212 kg)f.3(25.4 mm) 2 + (76.2 mm)2
+ (1.212 kg)(63.5 mm) 2 = 5670 kg mm 2
= m(3a 2 + I 2 + m(x 2 + y 2
= ti(1.2I2kg)[3(25.4 mm) 2 + (76.2 mm) 2
+ 1.212 kg)[(63.5 mm) 2 + (50.8 mm)2] = 8800 kg -mm 2
J,m(3a 2
L-)
,!,(
I,
Entire Body.
1
mm 2 =
/,
I
y
=
=
Adding the values obtained, and observing

m) 2 = 10 6 m 2, we have
I0" 3
6640 kg
mm 2 +
1329 kg
2(3520 kg
2(5670 kg
mm 2 =
)
4 =
mm 2 =
)
X 103 kg mm 2
X 10- J kg-m- -4
12.67 X 103 kg mm 2
13.68
6640 kg
mm 2 +
2(8800 kg
= 12.67 v
mm 2 = 24.2 X
)
L
Recalling that
we may check
Prob. 9.12.
lb
ft
s2
1.356
kg
=
m*
13.68
I,
that
21.2
Hr-kc-ui103 kg
mm
in-- kcr
(see footnote,
,,,-
-^
page 383)
these answers against the values obtained in
Sample
942 DYNAMICS
PROBLEMS
9.72
plate of mass
{!>)
CC
the axis
9.73
m with
respect to
(<i)
the axes
inertia of a thin elliptical
AA' and BB'
inertia of a ring of
cut from a thin uniform plate, with respect to

the ring, (h) the axis
CC
9.74
thin plate of
mass
b and height
h.
of the plate with respect to (a)
plane of the plate,
(h)
(a)
mass
the diameter
AA'
in,
of
perpendicular to the plane of the ring.
Fig.
triangle of base
of the ellipse,
perpendicular to the plate.
P9.73
is
cut in the shape of an isosceles
Determine the mass moment of inertia

the centroidal axes AA' and BB' in the
the centroidal axis
CC
plate.
9.75
Determine the mass moments of inertia of the plate of Prob.

DD' and F.F/ parallel to the centroidal
axes AA' and BB' respectively.
9.74 with respect to the axes
Fig.
P9.74
9.76
Determine by direct integration the mass moment of
inertia
with respect to the y axis of the right circular cylinder shown, assuming a uniform density and a mass m.
Fig.
ykx"
9.77 The area shown is revolved about the x axis to form a

homogeneous solid of revolution of mass m. Express the mass moment
of inertia of the solid with respect to the x axis in terms of m, a, and fl.
The
expression obtained
P9.77
J),
(c)
may be
used to verify
(a)
the value given in
a cone (with n = 1), (b) the answer to Prob. 9.78 (with

the answer to Prob. 9.80 (with n = 2).
Fig. 9.28 for

Fig.
P9.76
MOMENTS OF
INERTIA OF
9.78 Determine by direct integration the mass moment of inertia

and the radius of gyration with respect to the z axis of the paraboloid
shown, assuming a uniform density and a mass m.
Fig.
P9.78 and P9.79

and the radius of gyration with respect to the y axis of the paraboloid
shown, assuming a uniform density and a mass m.
9.80 The homogeneous

area of Prob. 9.77, with n
mine the mass moment
9.81
and the
Determine
in
shown was obtained by rotating the

through 360 about the x axis. Deter-
solid
2,
of inertia
terms of
radius of gyration of the
in terms of
and
a.
m and a the mass moment

homogeneous solid of Prob.
Fig.
P9.80
Fig.
P9.82 and P9.83
of inertia
9. SO
with
respect to the y axis.

with respect to the X axis of the pyramid shown, assuming a uniform
density and a mass m.
with respect to the y axis of the pyramid shown, assuming a uniform
density and a mass in.
9.84 Knowing that
the thin hemispherical shell shown is of mass

determine the mass moment of inertia of the shell with
respect to the X axis. (Hint. Consider the shell as formed by removing
a hemisphere of radius r from a hemisphere of radius r + (; then
and thickness
t,
neglect the terms containing

ing
fi
and
/.)
Fig.
P9.84
x
,
anil
keep those terms contain-
MASSES 943
944 DYNAMICS
9.85
h~i
Determine the mass moment of inertia of the frustum of a

cone of mass m with respect to its axis of symmetry.
right circular
9.86
Determine the mass moment of inertia and the radius of

shown with respect to the axis of rota-
gyration of the steel flywheel
The web
tion.
of the flywheel consists of a solid plate 25
(Density of steel
Fig.
mm
P9.85
30
~2o
mm
mm
19
400
50
thick.
7850 kg/in 3 .)
mm
100
in.
mm
mm
1.5 hi.
in.
22
V>
in.
mm
o
100 mm
Fig.
in.
P9.87
Fig.
^50 miii^^
P9.86
section).
shown. The rim and

which are shown in the cross
Each spoke has a cross-sectional area of 0.400 in 2 Determine
the mass
moment
9.87
hub
The
cross section of a small flywheel is
are connected
by eight spokes (two
of
of inertia
and radius
of gyration of the flywheel with
respect to the axis of rotation. (Specific weight of steel
9.88
490 lb/ft 3 .)
Three slender homogeneous rods are welded together as

Denoting the mass of each rod by m, determine the mass
moment of inertia and the radius of gyration of the assembly with
shown.
respect to
(a)
the % axis,
(/;)
the y axis,
(c)
the 3 axis.
r~ii
i_.
Fig.
P9.88
MOMENTS OF
9.89
In using the parallel-axis
neglecting the centroidal
homogeneous sphere
moment
INERTIA OF
theorem, the error introduced by
of inertia
is
sometimes small. For
and mass m, (a) determine the mass

moment of inertia with respect to an axis AA' at a distance R from the
center of the sphere, (h) express as a function of a/R the relative error
of radius a
introduced by neglecting the centroidal
mine the distance R
in
moment
of inertia,
(c)
terms of a for which the relative error
deteris
0.4
Fig.
percent.
9-90 A section of sheet steel, 2 mm thick, is cut and bent into the
machine component shown. Knowing that the density of steel is
7850 kg/m determine the mass moment of inertia of the component
;t
with respect to
100
Fig.
mm/
100
(a) the
.t
axis,
the y axis,
(ft)
(e)
the z
axis.
mm
P9.90
9.91
Twelve uniform slender
rods, each of length
together to form the cubical figure shown.
/,
Denoting by
arc
welded
the total
mass of the twelve rods, determine the mass moment of inertia of the
figure about the x axis.
9.92 and 9.93
Determine the mass moment of inertia and the

machine element shown with respect to
weight of steel = 490 lb/ft 3 density of steel =
radius of gyration of the steel
the x axis. (Specific

7850 kg/m 3 .)
Fig. P9.91
15
mm
lo
mm
60-mm
30 nun
Fig.
Fig.
P9.92
P9.93
60-m m
dinm.
diiim.
P9.89
MASSES 945
946 DYNAMICS
9.94 A homogeneous
figure
wilh respect to
Fig.
wire, of weight 2 lb/ft,
shown. Determine the mass moment of

(a)
the x
axis,
(/?)
the y axis,
is
used lo form the
inertia of the wire figure

(c)
the z axis.
P9.94
9.95 Two
steel block
holes, each of diameter 50 mm, are drilled through the

shown. Determine the mass moment of inertia of the body
with respect to the axis of either of the holes.
7S50 kg/m
.)
50
-100
Fig.
(Density of steel
inni
mm
P9.95
*9.15. Moment of Inertia of a Body with Respect

to an Arbitrary Axis through O. Mass Products of
Inertia. We shall see in this section how the moment of inertia
of a body may be determined with respect to an arbitrary axis OL
through the origin (Fig. 9.29) if we have computed beforehand its
moments
of inertia with respect to the three coordinate axes, as
well as certain other quantities to be defined below.
body with respect to OL is

fp- dm, where p denotes the
0L
perpendicular distance from the element of mass rim to die axis
OL. But, denoting by A the unit vector along OL and by r the
position vector of die element dm, we observe that the perpendicular distance p is equal to the magnitude rain 6 of the vector
product A X r. We write therefore
The moment
of inertia of the
represented by the integral
Fig. 9.29
0L
i
=Sp2 dm=i\Xy.r) dm
(9.43)
MOMENTS OF
Expressing the square of the vector product in terms of
tangular components,
hL = SKKv -
its
rec-
we have
V)
where the components \ x
(V \s
A^,
2
Kv) +
(V - M"! dm
of the unit vector
represent
the direction cosines of the axis OL, and the
components x, y, z
of r represent the coordinates of the element of mass dm. Expanding the squares in the expression obtained and rearranging
the terms,
Iol
we
KHy
write
=2 )
dm + yj(z* + x*) dm + \|/(*8 + f) dm

&Xf Jz dm ~ 2ÂJ* =* dm (9-44)
~ 2\^/ xlJ dm ~
we note that
(9.44) represent, respectively, the
the
moments
first
three integrals in
I
and Ig
body with respect to the coordinate axes. The last three
integrals in (9.44), which involve products of coordinates, are
of inertia Ix
of the
called the products of inertia of the
and y
We
axes, the y
and z
axes,
body with respect to the .v

and the z and X axes, respectively.
write
Px V = S *y *
=fyz d>n
=fzxdm
Substituting for the various integrals from (9.30)

(9.44),
l0L
and
(9.45)
(9.45) into
we have
W+W+W-
2PrAK -
2VA - 2P,AK
(9.46)
We note that the definition of the products of inertia of a mass

given in Eqs. (9.45) is an extension of the definition of the product
of inertia of an area (Sec. 9.7). Mass products of inertia reduce to
zero under the same conditions of symmetry as products of
and the parallel-axis theorem for mass products

expressed by relations similar to the formula derived
inertia of areas,
of inertia
is
for the product of inertia of an area. Substituting for x,
Eqs. (9.31) into Eqs. (9.45),
we
P*y = 5y +
Pv* = Pj* +
P:*
where
x, y,
body, and
P^,,
from
'*</
m y*
(9-47)
= *M + mZX
2 are the coordinates of the center of gravity
Pr y,
;/,
verify that
PjV denote
respect to the centroidal axes x\
C of the
the products of inertia with

y', z'
(Fig. 9.22).
INERTIA OF
MASSES 947
948 DYNAMICS
*9.16. Ellipsoid of Inertia. Principal Axes of InLet us assume that the moment of inertia of the body
ertia.
considered in the preceding section has been determined with
number of axes OL through the fixed point O,

Q has been plotted on each axis OL at a distance
respect to a large
and that a point
00 =
thus obtained
^- The locus of the points
1/ v'ot fr
forms a surface (Fig. 9.30). The equation of that surface may be
obtained by substituting l/(00) 2 for I0L in (9.46) and multiplying both sides of the equation by (OQ) 2 Observing that
.
(OQ)\T
Fig. 9.30
where
x, y,
the surface,
I,*2
(00)A
[OQ)\ = z
denote the rectangular coordinates of a point
we
ly'f
of
write
The equation obtained
~ 2PW * - 2Py:Vz - 2P =
is
that of a quadric. Since the
(9.48)
moment
of
from zero for every axis OL, no point O

0L
may be at an infinite distance from 0. Thus, the quadric obtained is an ellipsoid. This ellipsoid, which defines the moment of
inertia of the body with respect to any axis through O, is known
inertia 1
is
different
as the ellipsoid of inertia of the
We
observe that,
body
at O.
the axes in Fig. 9.30 are rotated, the
if
coefficients of the equation defining the ellipsoid change, since
these are equal to the
body with respect

ellipsoid itself
upon the
of inertia of the
However, die
to the rotated coordinate axes.
shape depends only

the body considered. Suppose
remains unaffected, since
distribution of mass in
its
we
choose as coordinate axes the principal axes x , if, z'

of the ellipsoid of inertia (Fig. 9.31). The equation of the
ellipsoid with respect to these coordinate axes will be of the form
now
that
L* +
V.y'
h' z
"2
9 49 )
-
which does not contain any product of coordinates. Thus, the

products of inertia of the body with respect to the .t', if, z' axes
arc zero.
The
x', if, z'
axes are
as the principal axes of
body at O, and the coefficients l x /., /.. as the

principal moments of inertia of the body at O. Note that, given a
body of arbitrary shape and a point O, it is always possible to find
axes which are the principal axes of inertia of the body at O, i.e.,
axes with respect to which the products of inertia of the body are
zero. Indeed, no matter how odd or irregular the shape of the
body may be, the moments of inertia of the body with respect to
axes through O will define an ellipsoid, and this ellipsoid will
inertia of the
Fig. 9.31
known
have principal axes which, by

the body at O.
.,
definition, are die principal axes of
MOMENTS OF
Fig. 9.32
the principal axes of inertia \J ,
y', z' are used as coordinate

obtained in Eq. (9.46) for the moment of
inertia of a body with respect to an arbitrary axis through O
If
axes, the expression
reduces to
l0L
= iA? +
W W
+
(9.50)
While the determination of the principal axes of inertia of a

body of arbitrary shape is somewhat involved and requires solving a cubic equation, f there are
many cases when these
axes
may
be spotted immediately. Consider, for instance, die homogeneous cone of elliptical base shown in Fig. 9.32; this cone possesses
two mutually perpendicular planes of symmetry OAA' and
OBB'. We check from the definition (9.45) that, if the .vy and
1
y'z planes are

try, all the
chosen
to
coincide with the two planes of
products of inertia are zero. The
.v',
if,
symme-
and
z'
axes
thus selected are therefore the principal axes of inertia of the
cone
at O.
In the case of the
OABC
shown
center
homogeneous regular tetrahedron
in Fig. 9.33, the line joining the
of the opposite face
is
corner
to the
a principal axis of inertia at
perpendicular to OD is also a principal

This property may be recognized if we
observe that a rotation through 120 about
leaves the shape
and the mass distribution of the tetrahedron unchanged. It fol-
and any
line
through
axis of inertia at
O.
OD
lows that the ellipsoid of inertia at O also remains unchanged

under this rotation. The ellipsoid, therefore, is of revolution
about OD, and the line OD, as well as any perpendicular line
through O, must be a principal
Cf. Syiige
pany, sec.
and
.3.
Griffith. Principles
axis of the ellipsoid.
of Meclianics, McGraw-Hill Book Com-
Fig. 9.33
INERTIA
OF MASSES
949
Dy
SAMPLE PROBLEM
1
i
11
'
Consider a rectangular prism of mass

j,
9.14
//
the coordinate axes shown,
and
sides a, h,
Determine
c.
(a)
of inertia of the prism with respect to
the mass
(ft) its
moment
of inertia with respect to the
diagonal OB.
Moments and Products of Inertia with Respeel to the Coordinate

if, z\
Moments of Inertia. Introducing the centroidal axes
with respect to which the moments of inertia are given in Fig, 9.28, we
a.
y- y
.v',
apply the parallel-axis theorem:

h
\
"
y Ss
'y
Axes.
'
Tx
= -&m(b 2 +
z 2)
+ m(y 2 +
c2 )
m/Jfc
=
=
/_
^ = iw.r +
Similarly:
<r.
/_
|fl*)
~+
8
C )
-",
Jmffl
- ba
-*
Products of Inertia. Because of symmetry, the products of inertia

with respect lo the centroidal axes .t', if, z' are zero and these axes are
principal axes of inertia. Using the parallel-axis theorem, we have
Similarly:
b.
Moment
on
of Inertia with Respeel to
>M +
W+W-
where the direction cosines
A,
\y
cose,
b/(a-
b-
of
2r**KK
OB
K=
a/id*
Substituting the values obtained for the

inertia
'on
recall Eq. (946):
wK\
+
c /(
b2
b2
di
cV
Hm(h2 +
im(c2
a2 )h 2
&6
Ion
yy
y
.,
passes through the centroid O'.
W W
+
y/ ^'
bi
we
of
Jm(
&V
/'-"'-'
r-<r
-(
b-
.J
.,
Since the
at',
if,
z"
axes are
use Eq. (9.50) and write
+ &>!
I'm
C2 [ J 2
(ft
*V + ||(c* + a )b
2
'""
950
1/a
The moment of inertia \ QM may be obtained

moments of inertia lx ly /.., since the line
principal axes of inertia,
c2 )
- bna2 h 2 - JmftV - hmc 2a 2
Alternate Solution.
directly from the principal
y\
W*
b2
_ m_a 2 b'- a2 +
OB
^KK
for the direction cosines:
and
a2
"*
i"""
are
(OH)/(OB)
e*)"
We
OB.
l\,
t<"''
_
- m
6
a b!/
jL {a +
-
b 2)c2
]
b'-ci=
+ c
+ C
MOMENTS OF
PROBLEMS
9.96 and 9.97 Determine the mass products of inertia P,, P,
and P!X of the steel machine element shown. (Specific weight of
3
steel = 490 lb/ft
density of steel = 7850 kg/m 3 .)
;
15
mm
30
Fig.
uiii)
\ flO-iiim ilium.
P9.96
9.98
A homogeneous wire, of weight 2 lb/ft, is used to form the

shown. Determine the mass products of inertia T
P , and P2!
of the wire figure.
figure
9.99 A section of sheet steel, 2 mm thick, is cut and bent into the
machine component shown. Knowing that the density of steel is
7850 kg/m 3 , determine the mass products of inertia Ply P, and P of
IX
the component.
,
100
Fig.
mm/
100
Fig.
P9.98
Fig.
P9.100
mm
P9.99
9.100
shown,
Prl
(b)
For the homogeneous tetrahedron of mass m which is

determine by direct integration the mass product of inertia
deduce P and Pxy from the result obtained in part a.
(a)
INERTIA
OF MASSES
951
952 DYNAMICS
9.101
Complete the derivation
parallel-axis
theorem
which express the
of Eqs. (9.47),
mass products of
for
inertia.
9.1 02 Determine the mass moment of inertia of the right circular

cone of Sample Prob. 9.11 with respect to a generator of the cone.
9.103
inertia of the rectangular
OF of its
prism of Sample Prob. 9.14 with respect to the diagonal
9.104 Determine
the mass
moment
of inertia of the bent wire of
which forms
Probs, 9.94 and 9.98 with respect to the axis through
equal angles with the
x, y, arid
base.
z axes.
9.105 Determine the mass moment of inertia of the forging of

Sample Prob. 9.12 with respect to an axis through U characterized by
A
the unit vector
9. 1 06
Fig.
P9.106
V
fi
Jj
Three uniform
jjk.
rods,
ment of
are welded together as
in,
with respect to a line joining the origin
inertia
9.107 The
m. Determine
the origin
thin bent plate
its
9.109
is
O and
point D.
of uniform density and mass
inertia with respect to a line joining
and point A.
9.108 The
P9.107 and P9.108
shown
mass moment of
thin bent plate
m. Determine its mass moment

points H and C.
Fig.
each of mass
shown. Determine [a) the mass moments of inertia and the mass products of inertia with respect to the coordinate axes, (ft) the mass mo-
shown
is
of uniform density
and mass
of inertia with respect to a line joining
Consider a homogeneous circular cylinder of radius a and
length L. Determine the value of the ratio a/L for which the ellipsoid
of inertia of the cylinder
of the cylinder,
9.1
(ft)
is
a sphere
when computed
at the center of
one of
its
(a) at
the ccntroid
bases.
Determine the value of the ratio a/h for which the ellipsoid
cone of Sample Prob. 9.11 is a sphere
of inertia of the right circular
when computed
() at
the apex of the cone,
(ft)
at the centroid of the
cone.
9.1 1 1 Given an arbitrary solid and three rectangular axes .v, i/, and
prove that the mass moment of inertia of the solid with respect to
any one of the three axes cannot be larger than the sum of the moments
of inertia of the solid with respect to the other two axes; i.e., prove that
;,
the inequality lx
ties.
and
<
1
}J
Further prove that,

if
is
if
is
well as two similar inequalihomogeneous and of revolution,
satisfied, as
the solid
the axis of revolution
is
and y a transverse
axis,
then
>
ilx
MOMENTS OF
9.112
Given a homogeneous
shape, and three rectangular axes X,
sum
+ L
4- /j
y,
and
and of arbitrary
O, prove that the
mass
moments of inertia of the solid cannot be

sum computed for a sphere of the same mass
of the mass
smaller than the similar
and same material centered

Prob. 9.111, that,
revolution, then
- of origin
solid of
if
its
at
the solid
moment
0. Further prove, using the result of

is
and
of revolution
if
is
the axis of
of inertia I about a transverse axis

v
i/
must
satisfy the inequality
<*
where a
is
9.1 13
>
|>
the radius of the sphere of the same mass and same material.
Consider a cube of mass
m and
ellipsoid of inertia at the center of the
property to determine the mass

respect to one of
its
moment of
Show that
diagonals, (b)
one of the corners of the cube
mine the principal moments
is
side a.
cube
is
(a)
Show
that the
a sphere, and use this
inertia of the
cube with
the ellipsoid of inertia at
an ellipsoid of revolution, and deter-
of inertia of the
cube
at that point.
INERTIA
OF MASSES 953
Index
Index
Absolute acceleration, 685-687
Beams:
Angle:
Absolute motion of a particle, 172
of repose,
Absolute system of units,
of static friction, 307
6,
197
Absolute velocity. 66S, 679
308
types
of,
Angular acceleration, 659. 706
collar,
Angular coordinate, 658
end, 332
Angular impulse, 628
journal,
angular, 659, 706
Angular momentum:
thrust,
166
4-38,
components
of:
normal, 480-482
conservation
484
radial, 483,
470
rectangular,
rate of
480-482
tangential.
bodv about a
in
motion of
in
plane motion, 685-687
rigid
A real
520
Cables:
with concentrated
sums of
motion. 718-719
frame.
696-699, 716-718
particles. 450,
reactions at. 124, 150
Axioms of mechanics, 2-5. 735
span
use
861
Cathode-ray tube, 515, 516
of a wrench. 108
Center:
Axisyiuinetrieal body, motion
Accuracy, numerical, 15
Action and reaction. 1, 214
Axle friction. 330-331
of,
48
nonconcur! ent, 102

of vectors, 18
of oscillation, 888
a plane.
21.
30
of rotation, instantaneous, 677
Ball-and-socket supports, 150
of
Ball supports, 150
(See also Mass center)
Centimeter. 8
Baud
Central force, 519. 520, 568
brakes,
340
Analogue, electrical, 915
Beams. 270-282
of kinetic friction,
307
symmetry, 170
Ballistic missiles. 531
Banking of curves,
Angle:
368
Balancing of rotating shafts, 849
Amplitude. 876. 879
phase. 879
of gravity, 166, 199
of pressure, 193, 353,
of couples, 91
322
860-863
of percussion, 766, 808
Addition:
of forces: concurrent: in
46
Catenary, 297, 299
Acceleration-time curve, 439, 457
lead,
of, 23, 24, 30, 32, 38,
Cardan's suspension. S5S
of symmetry, 170
706
299
accuracy, 15
instantaneous, 677, 706

of spin.
471-172
of. 291,
Calculators:
of rotation. 656
a rotating
288
parabolic. 290, 291
of precession, 861
in
472
loads,
with distributed loads, 289-299
Auxiliary circle, 878
Axis:
with respect to a frame
in space,
vectors,
20
685-687
with respect to a frame in general
in rotation. 659,
velocity.
Associative property for
motion, 70S
with respect to
Binomial, 482
Body centrodc, 679

Bodv cone, 706, S63
Aristotle, 2
relative: of a particle: in general
translation.
Bending moment. 267, 272-282

Bcnding-moment diagram, 274
Archimedes. 2
fixed
706
in plane motion,
Bending, 267
Apogee. 531
447, 521
1.
Belt drive, 31
Bernoulli, Jean, 405
Angular velocity, 659, 706, 707
motion, 708
330-331
332
Belt friction. ,339-341
518, 615, 619, 732,
617-620
in general rigid-body
two
of,
of a system of particles. 614, 615,
716-718
of
change
829-832
696-699
three-dimensional motion,
point,
of a rigid bod),
731. 799, 800, SOI,
'
Coriolis: in plane motion.
of gravity,
519-520. 620. 802
5 6-5
843, Sll
transverse, 483, 484
in
of,
of a particle,
330-333
332
absolute, 685-687
Acceleration,
271
Bearings, 150.
5<X5
Central impact. 594-598

Centrifugal force. 502. 758
combined. 271
Centrodc, 679
loading
Ccntroidal axes, principal, 373
span
of,
of,
supports
270
271
of.
Centroidal frame of reference. 617. 619,
270-271
731, 829, 833
957
958 INDEX
Centroidal rotation:
Conservation:
734
effective forces in,
kinetic energy in, 782
momentum
for rigid bodies, 784,
of areas and lines, 168-18-1
common
172
of lines,
of
shapes: of areas, 171
volumes, 202
of
and
lines,
171
of composite volumes, 201
determination
in vibrations, 896,
of,
by
integration. 181,
829
momentum,
momentum. 620
497, 586, 620
Conservative force, 424,
Derivative:
568
functions, 468
Constrained plane motion, 756
of scalar product,
Constraining forces, 123
of vector function,
improper, 129. 152
for
angular
Circular orbit, 531
partial, 128, 152
for
mixed
for
moment
Coordinate:
damping, 912
angular, 658
damping, 911
of
momentum. 517
triple product, 81
of a force: about an axis,
82
436
position,
468
Determinant form:
Circular frequency, 879
of critical
468
467-469
of vector product,
complete. 128
Coefficient:
and vector
of product of scalar
.565, .566,
Constraints, 410
2(X3
of volumes, 199-203
Density, 168, 197, 935
Dependent motions, 450
897
of linear
of composite areas
Deformation, period of, 594, 595, 813

Degrees of freedom. 424, 451
system of particles, 627-628
for a
Decimeter, 8
Decrement, logarithmic, 919
of energy: for particles, 567
Centroids, 168-184, 199-203
of
620.
802
800
799,
in,
Deceleration, 438
momentum, 519-520,
of angular
about a point, 70
of kinetic friction, 305,
306
Coplanar
of restitution, 595, 596,
813
Coplanar vectors, 20
Determinate reactions, 128
Coriolis acceleration:
Determinate structures, 241
of rolling resistance,
334
of static friction, 305, 306
in plane motion. 696-699
of viscous damping, 911
in
Collar bearings, 332
Coulomb
Counters, 236
for scalar products,
78
Couple
sums of vectors, 19
Complementary acceleration, 697
Complementary function, 905
Complete constraints, 128
Components:
for
of acceleration {see Acceleration)

of angular
momentum:
of a particle.
304
friction.
displacement-time, 439, 457
Couples, 88-93
free-body, 36, 37. 123
91
of,
shear,
equivalent, 89-91
velocity-lime, 439, 457
736
Differential elements:
momentum,
799, 800, 828, 829
damping, coefficient
Critical
830-832
of derivative of a vector function.
46S
of force, 21, 27, 43,
moment,
47
Curvature, radius
of,
Curvilinear motion of a particle:
461-484
kinematics
of.
kinetics of.
500-533
Customary
of velocity (see Velocity)
Cylindrical coordinates, 484
units, U.S., 8-13,
of,
moments
of inertia
360
of,
386
forces)
Direction of a force, 16
49S-499
Disk clutches, 332

Disk friction, 332
40S
Damped
Distributed loads, 191. 270. 271
vibrations (see Vibrations;
Damping:
for scalar products.
912
Compression, 62, 215, 267
viscous, 91
light',
for vector products,
coefficient,
factor,
78
64
Dot product, 77
912
Damping
Damping
Distributed forces, 166. 350
Distributive property:
coefficient of. 91
heavy, 912
529
Direct central impact, 594-597
Distance, 439
Compound pendulum, 892

Compound trasses, 230
forces, 21
of inertia: of areas, 353
D'Alembert, Jean, 2. 733

D'Alembcrt's principle, 733, 846
critical,
section,
moments
of masses, 936
virtual,
of,
Composition of forces (see Addition, of
Conic
for
Displacement, 405, 541
Composite bodies:
centroids of, 203
Concurrent
181
of volumes, 203
Direction cosines, 44
174
of inertia
for centroids: of areas,
Direct precession, 863
areas:
centroids
moments
912
481, 482
of vector product, 65, 66
Composite
of,
Curvilinear translation, 655
70, 71
274
velocity-displacement, 458
gyroscopic, 861
inertia,
230
bending-moment, 274
93
vector,
addition
trusses,
Diagram:
acceleration-time. 439. 457
Cross product {see Vector product)
517
of a rigid body,
of
Determinate
three-dimensional motion, 716-718
Commutative property:
66
for vector product,
forces, 21
913
911
Dry friction, 304

Dynamic balancing, 849
Dynamic equilibrium:
of a particle, 501-502
INDEX
of a rigid body: in noncentroidal
Dynamics, definition
of,
1,
Frame
52
in space.
plane motion. 736
in
a rigid body: in a plane, 122-144

in space. 150-152
of
435
stability of, 426,
EquipoUence
528, 569
satellites,
of,
866
828
Equipollent systems of vectors, 104
Effective forces,
Equivalence of external forces and

effective forces for n rigid body, 733,
body:
for a rigid
in
plane motion, 733.
845, 846
734
Equivalent systems of forces, 103
Efficiency, 411, 412, 551
Elastic impact,
597
Electrical analogue,
915
Ellipsoid:
of inertia, 948
872
Poinsot,
Elliptic orbit,
530
End
332
bearings,
567. 627, 628, 784,
of,
546-547
782
783
in rotation,
dimensions, 833, 834
of a system of particles. 626-627

563, 784
Equations:
for a rigid bod)', 122
Frequency, 876, 879

circular,
Eider's theorem, 705
forced, 905
natural,
860
519
system of particles, 612, 613,
of area. I&9
circle of, 331
of volume. 200
coefficient of.
305-306
Fixed supports, 124-125. 150
Coulomb, 304
Flexible cords (see Cables)
dry,
Fluid How, 635-637
fluid,
Fluid friction, 911
kinetic,
305
laws
305-307
section.
529
304
911
of.
static 305
wheel, 333, 334
central, 519,
Frictionless surfaces, 124, 150
568
758
conservative, 424, 565, 566. 568

1
Cears:
analvsis of, 670, 687
612
gravitational, 520, 545, 564,
569
planetary, 674
General motion of a rigid body, 707-708
impulsive, 587
Geneva mechanism, 700, 701
502
Geometric
internal. 59, 611
instability,
130
a fixed point. 847
in a
general motion, 828, 845
noneonservative, 568
Gram,
nonimpulsive, 587
Graphical methods for solution of
its
mass center, 844, 845
in rotation
about a
fixed axis,
848-849
a two-dimensional body:
in
plane motion, 732
Equilibrium:
dynamic
equations
(sec
(set-
Dynamic equilibrium)
Equations)
neutral, 426-427
on
Gradient. 566
member, 217
a particle: in a plane,
in
noncentroidal rotation, 757, 758

in
belt, 339-.341
inertia.
a three-dimensional body: about
about
for
moment:
external, 59,
615, 618
in
905
angles of, 307
Fan, 638
effective \see Effective forces
gyroscope, 860
for a particle, 500. 501, 518.
for
of,
879
Euler's equations of motion. 845
centrifugal, 502,
of motion: for an axisymmetrieal body,
for a
424. 451
Enlerian angles, 858
Force, 2
of equilibrium: for a particle, 35, 52
for a
damped, 911-913
undamped, 876-897
Freely falling body, 449
Focus of conic
Foot. 8. 498
mechanical, 567
total
of a rigid body. 123
Free precession, 862, 863, 868
Freedom, degrees
First
of a rigid bods: in plane motion,
42-3.
of a particle, 36, 37
Frequency ratio, 906

Friction. 304-349
kinetic: of a particle.
potential
472
Free-body diagram:
Euler, l.eonhard. 845
External forces, 60, 612
829, 896, 897
in three
716-718
Escape velocity, 447, 531
Energy:
conservation
general motion, 718-719
Free vibrations:
Equivalent forces. 6 J -62
dimensions. 846
In three
in
Frames, 238-241
and
of external forces
Eccentricity, 529,
909
612
495
in translation, 469, 471,
effective forces, 613, 730-731,
Eccentric impact, 813-815
of reference,
centroidal, 617, 619. 731, 829, 833
rotating, 695-699,
427
Equinoxes, precession
Earth
undamped, 904, 906
of a particle: in a plane. 35-37
"58
rotation,
Forced vibrations:
Equilibrium:
Dynamic equilibrium!
959
16-31
space. 43-48
reversed effective (see Inertia vector!
on a rigid body, 59-121

Force-couple system, 93
6,
498
rectilinear-motion problems, 456-458

Gravitation:
constant
of. 4.
Newton's law
520
of,
4-5,
520
Gravitational forces, 520, 545, 564. 569
Force systems, 102-121

Forced frequency, 905
Gravitational potential energy, 563-561
Forced vibrations:
Gravity:
damped. 914. 915
Gravitational system of units, 9, 499
acceleration
of. 4,
447, 521
/
960
INDEX
Gravity:
Inertia vector:
center
of. 166, 167,
199
Culdiiius, (heorems of, 182-184
Gun,
589
recoil,
Gyration, radius
Lagrange,
for a rigid
body
354, 932
plane motion, 736
in
of friction, 305-307
Kepler's, 533
440
Initial conditions,
L.,
J.
Iâws:
495
Inertial system,
of,
502
for a particle,
Newton's
{see
Newton's law)
Gyrocompass, 867
Gyroscope, 858-862
Input power, 551
Lead of a screw, 322

Lead angle, 322
Gyroscopic couple, 861
Input work, 411, 412
Line of action,
Instantaneous axis of rotation. 677, 706
Linear impulse, 584
Instantaneous center of rotation, 677
Linear
Hamilton,
William
Sir
Input forces. 253
R.,
Internal forces, 59, 61
Harmonic motion, simple, 876

Helicopter, 647, 811
Hertz
(unit),
879
Hinges, 124,
15(1
in
of,
497, 586, 620
of a particle, 496
rale of
International system of units, 5-9, 497-
498
Ilodograph, 466
momentum:
conservation
members, 266
structures, 213
in
16. 61
change
496, 615,
of,
616
of a rigid body, 799, 800, 832

of a system of particles. 614-615
Invariable plane. 872
Links, 124
Horsepower, 551
8
Loading of beams, 270
Logarithmic decrement, 919
Liter,
Hydrostatic forces, 192, 352
Hyperbolic trajectory, 530
Jacks, 322
Jerk,
462
Jet engine, 638
Ideal machines, 411
Joints,
Impact, 594
Joule
594-597
central: direct,
method
(unit),
216-219
of,
Machines, 253
406, .542
real,
oblique, 597, 598
411
Magnification factor. 906, 915
813-815
eccentric,
HI
ideal.
Journal bearings, 330-331
Magnitude
of a force, 16
clastic,
597
Kepler. Johann, 533
Mass,
line of.
591
Kepler's laws, 533
Mass center:
plastic,
596
Kilogram, 6, 497
of a rigid body, 734
constraints, 130, 152
Kilometer, 6, 498
of a system of particles, 616
Improper
Kiloncwton,
Impulse:
angular, 628
linear.
584
and momentum, principle
of (see
498
Mass moments of inertia, 932-949

Mass products of inertia, 947
Kilowatt, 551
Maxwell's diagram. 219
Kinematics, 435
Mechanical
6,
464-^84
Impulsive force, 587
in rectilinear
Inch, 10
in relative
moments
in
motion about a
in
in plane motion.
Inertia:
ellipsoid of,
948
moments
(we Moments
of inertia)
918-949
of: of areas,
of masses.
theorem
Inertia couple, 736

Inertia force.
Inertia tensor.
369
947
parallel-axis
502
830
705-
370. 947
6, 498
Metric uuits, 5-9, 497-498
Mile. 10
Millimeter,
Mixed
in translation,
657
Kinetic friction, 306
Moment:
circle,
80
for.
81
374-375
bending, 267, 272-282
of particles, 494-599
729-863
of systems of particles, 611-640

Kip, 10
498
determinant form
Mohr's
of rigid bodies,
6,
triple product,
Kinetic energy [see Energy)
435
2-5, 735
Metric ton,
661
Kinetics,
for,
666-687
of,
Megagram, 6, 498
Meter, 6, 497
rotation about a fixed axis, 658-
in
principal axes of: for an area, 373

for a mass.
(ixed point,
707
Indeterminate trusses, 231
Newtonian, 2
principles
general motion.
707-708
Indeterminate reactions, 128, 152
of
definition of.
motion, 450, 471-472,
of rigid bodies:
Indeterminate structures. 241
products
motion, 136-458
696-699. 716-719
of inertia, 371.
948
372, 946,
efficiency, 411. 412, .551
Mechanical energy. 567

Mechanics:
Impulsive motion, 587

Inclined axes,
495
Kiloponncl, 10
of particles: in curvilinear motion,
Principle)
2,
of a couple. 88-89
first.
168,
200
of a force: about an axis, 81-83
about a point, 67-69
INDEX
Moment:
of
Newton,
momentum
Newton
Angular
(.see
second, 350-354
Moment-area method, 458
350-375
common
for,
geometric shapes, 361. 937
by
integration,
352-
947
inclined axes. 371, 372, 946,
polar,
theorem
for,
933
948
principal, 373,
935-936
of thin plates,
angular (sw Angular

of.
Percussion, center
momentum)
758
in,
758
Period:
in.
757. 738
of deformation, 594, 595. 813
Nonconservalivc force.
damped. 913
undamped. S79
.568
587
force,
231
truss.
Periodic time, .532

of acceleration. 480-
Phase difference. 915

Pin-and-brackcl supports, 150
Pins.
496
couple. 799, 800, 828. 829

vector. 799, 800, 828. 829
Motion:
of a wrench, 108
Plane of symmetry. 201
Orbit. .531
888
Oscillation, center of.
Plane motion, 656
Oscillations:
constrained, 756
dynamic equilibrium
847
fixed point. 705-707.
clfective forces
Oscillating plane, 482
equations of (see Equations!

general, 707-708
216
of a thread, 323
Oblique central impact, 597. 598
of a simple pendulum, S80-8S2
under a central force, 519

curvilinear, 464-484. 500-533
124,
Pitch:
of a rigid body, 887, 896
absolute, 472
606
Pile driver.
Nutation. 858
momentum)
of a rigid body, 799, 800, 828, 829
about a
Phase angle. 879
Numerical accuracy, 15
620
linear (see Linear
813
of restitution, 594. 595,
of vibration, 876
801
in,
766. 808
of,
Perigee, 531
783
in,
Normal component
482
Momentum:
Momentum
Momentum
kinetic energy
Nonrigid
rectangular, .352. 9-33
of a particle.
simple. 880-882
effective forces in.
Nonimpulsive
353
conservation
compound. 892
213
momentum
932-949
parallel-axis
Pendulum:
36
3,
equations of motion
353, 936
of masses,
first,
Pascal (unit), 193
dynamic equilibrium
of composite bodies, 936

of,
520
I,
Noncentroidal rotation:
of composite areas, 360
determination
third, 4,
472, 696-
systems of [see Systems)
second, 3, 494
359
of, 450, 471.
699, 716-719
vibrations of [see Vibrations)
of gravitation,
of motion:
theorem
parallel-axis
of
932-949
motion
relative
Newton's law:
of inertia. 350-399,
of areas,
Particles:
497
Newtonian frame of reference. 495

Newtonian mechanics, 2
momentum)
Moments
Sir Isaac, 2,
limit). 6,
961
equations of motion
Output forces. 253

Output power, 551
Output work, 411,412
kinematics
kinetic energy
Overrigid trusses. 230
in,
in,
782
Planetary gears, 674
impulsive, 587
Planetary motion. 533
596
Plastic impact,
182-184
732
in,
799. 800
harmonic, simple, 876

about mass center. 618, 735, S 45
736
666-687
of.
momentum
in,
733, 734
in,
of mass center. 616-617, 734. 845
Pappus, theorems
Newton's laws of
Parabolic cable, 290. 291
Point of application of a force. 16. 60
Parabolic trajectory, 471. 530
Polar coordinates, 483
[see
Newton's law)
of a particle, 436-599
plane
[.see
rectilinear,
relative
436-458
for
1
of a rigid body. 655-863

rolling, 759,
Poinsot ellipsoid. 872
Polar
Parallel-axis theorem:
Plane motion}
(mc Relative motion'
of,
760
of a system of particles, 61 1-640

Motion curves, 439, 156-458
Multiforce members. 23S, 267
moments
of masses.
Pole, 353
933
Polhode. 872
for products of inertia: of areas,
370
relative,
in
Negative vector, J8
Neutral equilibrium, 426 127
kinematics
of,
20
450
472
Potential energy. 423-425, 563, 784

Potential function. 565
free-body diagram
kinetics of.
a plane, 35-37
52
Natural frequency. 905
353
Position vector, 67, 464
152
Particles, 3. 16
in space,
ride.
relative,
Parallelogram law, 3, 17
Partial constraints, 128,
of:
Polygon
of inertia,
Position coordinate, 436
of masses, 947
equilibrium
moment
of inertia: of areas, 359
of. 36.
436-484
494-599
37
Poimd force,
Pound mass,
8,
498
12. .500
Power. 550, 785
962 INDEX
Precession, 858, 860-863
Rectangular components:
of Ihc equinoxes, 866
of angular
862, 863, 868
free,
Revolution!
momentum:
of a particle. 517
of a rigid body, 830-832
steady, 860-863
body
of derivative of a vector function, 468
Right-hand
Pressure, center of, 193, 368, 369
of force, 27. 44, 47
Rigid body. 3, 59
Principal axes of inertia:
of
of areas, 373
of masses, 948-949
moments
Principal
of areas,
70, 71
Principal normal, 482
free-body diagram
uniform, 448
kinetics of,
729-863
uniformly accelerated, 448, 449
vibrations of, 887, 896
analytical, 440, 441
particle,
for a rigid
for a
graphical.
Rectilinear translation, 655
body, 798-802. 832
Reduction of a system of
Rolling motion, 759. 760
forces,
102-108
Redundant members, 230

Reference frame, 495
Relative acceleration (see Acceleration)
for a particle,
Relative motion:
829
in general
system of particles. 627-628
for a
Problem
solution,
method
of.
motion. 718-719
II
Rotation, 656
ccnlroidal {see Centroidal rotation)
dynamic equilibrium
in
translation, 471, 472
with respect to a rotating frame.
Product:
716-718
Rotating shafts. 849
with respect to u frame
Principles of mechanics, 2-5, 735
of mass,
947
mixed
triple,
scalar,
77-80
80-81
of
equations uf motion
757, 758, 848-
472
instantaneous axis
kinematics
of a particle: in general motion, 707,
momentum
in plane motion,
668-670
of velocity, 483, 484
surfaces, 124, 150
696-697. 717
of
Radius:
two
particles, 450, 471,
Relativity, theory of,
of curvature, 481, 482
Repose, angle
of gyration, 354, 932
Resolution of a force:
Rale of change:
of,
472
Sag, 291, 299
308
Satellites, 528,
518, 615, 619.
732, 843, 844
in spaec,
into a force
496, 615, 616
of a vector, 469
with respect to a rotating frame,
695-696
Rated speed, 505
Reactions at supports and connections,
124, 151
569
Scalar components, 27
into components: in a plane, 21, 22,
momentum,
momentum,
Rough
with respect to a rotating frame,
of acceleration, 483, 484
of linear
27
43-44, 47
Scalar product, 77-80

derivative
and a couple,
93, 94
of,
Resonance. 906
Screws, 322-323
Restitution:
Second,
coefficient of, 595, 596. si;?
period
of,
594, 595, 813
Resultant of forces.
17.
48, 102
(See also Addition, of forces; Addition,
of vectors!
468
Scalars, 17
6,
497
Second moment, 350-354

Sections,
method
of,
Seinimajor
axis,
532
Somiminor
axis,
532
Retrograde precession, 863
Sense of a force, 16
Rectangular components:
Reversed effective force
Shafts, rotating,
vector)
(see Inertia
228-230
Self-locking screws, 322
Real machines, 411
of acceleration, 470
783
799, 800. SOI
uniformly accelerated, 661
in
translation, 472
of angular
in,
uniform, 661
with respect to a frame
Radial component:
in,
rotation)
motion. 718-719
639
677
nonccnlroidal (see Noncentroidal
with respect to a frame in general
Projectile, 470. 50.1
of.
658-661
of.
kinetic energy
708
677. 706
of,
Relative velocity:
63-66
in.
849
instantaneous center
vector triple, 659
Propeller,
particles. 450, 171,
758
758
Relative position, 450. 472
of a scalar and a vector, 20 21

vector,
two
in.
effective forces in, 734.
696-699. 716-718
of inertia: of area, .369-370
334
334
Rotating frame of reference. 694-699.
of a particle: with respect to a frame
for a rigid body, 779,
Rolling resistance, 333,

coefficient of,
of virtual work. 408-411
work and energy:

546-550
150
Rollers, 124,
of transmissibility, 3, 61
of
Rigid truss. 216
Rocket, 640
456-458
584-586
system of particles, 628-629
for a
123
of,
655-694. 705-708
of,
Rectilinear- motion problems, solution of:
momentum:
plane. 122-144
kinematics
Principle:
of impulse and
of: in a
150-163
in space,
Rectilinear motion of a particle, 436-458
948
67
rule,
equilibrium
66
470
of velocity,
of inertia:
373
of masses,
moment,
of vector product, 65.
936
183, 860,
of,
surface of, 183
849
Shear. 267, 272-282
963
INDEX
SI units, 5-9,
Transverse component:
Surface:
Shear diagram, 274
497-498
Motionless. 124,
of acceleration. 483, 484
1.50
of velocity, 483. 484
Significant figures, 15
of revolution, 183
Simple harmonic motion, 876
rough, 124, 150
Triangle rule, 19
Simple pendulum, 880-882
submerged, forces on, 192, 352
Trusses, 214-231
Simple busses, 216. 222
Suspension bridges, 290
compound. 230
Slipstream, 638
Symmetry:
determinate. 230
indeterminate. 231
axis of, 170, 172
499
Slug, 10,
Space. 2
center
Space ccntrode. 679
plane
rigid,
201
space, 222-223
of forces, 102-108
momentum
of particles: angular
614,
Two-dimensional structures, 68
for. 612, 613.
impulse-momentum
rated, 505
principle
for,
628-629
kinetic energy of.
Spring:
mass center
force exerted by. 422, 5-14
potential energy, 423-124, .564. 565
variable,
Unbalanced disk. 760

Uniform rectilinear motion, 448
Uniform rotation. 661
626-627
616
of.
635-640
work-energy principle
Spring constant, 422, 544
for,
627
148. 449
Uniformly accelerated rotation, 661
Stable equilibrium, 426. 427
Unit vectors, 27. 44. 45
Static friction, 305

of,
Tangential component of acceleration,
307
Statically determinate reactions, 128
Tension, 62. 215, 266
Statically determinate structures, 241
Termor, inertia, S30
Statically determinate trusses,
230
Statically indeterminate reactions, 128,
U.S. customary units, 8-13,
498-499
500
Units, 5-13. 497
480-482
306
coefficient of, .305,
(See also specific systems of units)
Universal joints, 150
Three-force body, 144
Unstable equilibrium, 427, 428
Thrust. 638. 640
Unstable rigid bodies, 129
Thrust bearings, 332
152
Statically indeterminate structures.
Statically indeterminate trusses,
241
230
Steady precession:
of gyroscope, 860
of top, S66
409, 411
vise, analysis of,
particles,
635-639
Structural shapes, properties
362-363
U.S., 10
Varignon's theorem, 69
Vector addition. 18-20
general motion
Vector components, 27
871
of,
of.
Vector function. 465, 467
866
derivative of. 467-469
Torsional vibrations, 890
Vector product, 63-65
Trajectory;
Structures:
analysis of.
213-253
determinate. 241
indeterminate, 241
internal forces in,
213
two-dimensional, 68
surfaces, forces on, 192,
352
derivative
of space vehicle, 530
determinant form
Transfer formula (see Parallel-axis
of,
for,
66
rectangular components
Transient vibrations, 905. 914
Vector triple product, 659
Translation, 655, 657
Vectors, 17
curvilinear,
of. 65,
Vector subtraction, 19
theorem!
655
bound,
effective forces in. 731
Supports:
kinematics
of,
momentum
in,
of beams, 270-272
rectilinear.
655
in,
17
fixed,
coplanar, 20
657
kinetic energy
ball-and-socket, 150
reactions at, 124-125, 150 152
468
of projectile, 471, 531
Subtraction of vector. 19
150
341
Variable systems of particles. 635 640
steady precession
of,
belts,
metric, 6, 498
Top:
Steady-state vibrations. 905, 906, 914
Submerged
Time, 2
Toggle
Ton:
Sialics, definition of, 1
ball,
Uniformly accelerated rectilinear motion,
of units, 5-13, 497 500
Square-threaded screws, 322
Stream of
Two-force body, 143-144
615, 618
Spin, 858
angle
215
typical,
of,
617-620
equations of motion
200
Speed, 437. 465
230
216. 230
simple, 216, 222
Systems:
Space cone, 706, 863

Space mechanics, 528-533. 568, 569
Space truss, 222-223
Space vehicles. 528, 529, 569
Specific weight, 168. 197,
of.
overrigid,
172
of. 170.
free, 18
782
799
Transmissibilily, principle
inertia, .502,
736
momentum,
799, 800, 828,
rate of
of. 3,
61, 735
change
sliding, IS.
61
of,
829
469, 694-696
66
964
INDEX
Velocity, 437, 465
absolute, 668,
Vibrations:
679
Wedges, 321-322
forced, 904-906, 914, 915
angular, 659, 706, 707
free,
520
components
frequency
of, 876,
period
876, 879. 913
areal,
of: radial, 483,
484
rectangular, 470
transverse, 483,
484
steady-state, 905,
torsional,
in general rigid-body motion, 707.
motion of rigid body about
708
a fixed
plane motion, 668, 677
relative (see Relative velocity)

in rotation,
658
Velocity-displacement curve, 458

Velocity-time curve, 439, 456, 457
914
S90
transient, 905, 9J4
undamped:
point, 705
in
of,
879
of rigid bodies, 887, 896
escape, 447, 531
in
876-897, 911-913
free,
forced,
Weight,
Wheel
4, 6, 498,
520-521
friction, .333,
Wheels,
50, 333,
334
759
Work:
of
a couple, 407. 421, 781
and energy, principle of {see

of work and energy)
of a force. 405, 420, 542
904-906
876-897
of force exerted
of forces
by spring, 422. 544
on a rigid body. 407. 780
Vibronieter, 910
of gravitational force, 545
Virtual displacement, 408
input and output, 411, 412
Virtual work, 408
principle
of,
408-411
virtual,
408
of a weight, 121, 543
Viscous damping, 911
Wrench. 108
Watt
Zero-force
Vibrations, 875
damped: forced, 914, 915

free, 911-913
(unit), -551
Principle,
member, 220
Answers to
Even-numbered
Problems
CHAPTER
11.2
11
3s,
SI:
a
x
11.4
11.6
11.8
-4
(a)
11.28
0,
0.305 m,
/
11.30
11.32
s,
0.457
m/s 2
2 s, 4 s. (b) 8 m, 7.33 m.
m/s; 12 m; 20 m.
3 s. (b) 116 in., -56 in./s.
.26
(c)
()
SI: [a)
11.14
11.16
11.18
()
(c)
65
in.
1 1
.34
11.36
.
6.29
(b)
13.86 in./s.
H)-1
m 3 /s 2
(a)
Ar.
15,540
ft.
4740
.38
(b)
(o)
511km.
.22
(a)
6.90 m/s. (b) Infinite.
11.24
(a)
5 m/s.
11 m/s.
(c)
s;
450
sj:
ft.
1 1
Infinite.
.44
.46
11.48
36
ft/s |.
(b)
18
ft/s ;.
(d)
36
ft/s |.
SI: (a)
10.97
s;
60 m.
s;
m/s J,, (c)

m/s |.
16.46
(c)
54
ft/s ;.
m/s J,.
m/s J,.
10.97
200 mm/s -. (b) 200 mm/s -;

400 mm/s <-. (c) 100 mm/s <-.
(rf) 200 mm/s -.
(a) 3 s. (b) 3.38 in. t SI: (a) 3 s.
(a)
mm
f.
=
=
120 mm/s j,; Oj

80 mm/s |
40 mm/s
|;
vA
mm/s
mm/s |.
40
mm/s
J.;
200
120
vc
vA
(a)
32
(a)
19
(a)
i;
J,;
ft/s.
192
(b)
SI: (a)
ft.
9.75 m/s.
m.
48 m.
(b) 6
13.75
s,
s,
16.25
s.
s.
2.67 ft/s2
11.50
lis;
.52
8.54
1 1
15
171.0 m. (b) 81.5 km/h.
17.10
(a)
si: (a)
(c) Infinite.
(a)
(b) 58.5
1 1
318 mi.
.40
11.42
fcT/vr.
(b)
in.
(b)
1 1
1 1
-cos^j;
(r/)
137.2 m.
uc
= -^(f-s.nf).( &)2WA.
2
15
(b) 85.7
0.352 m/s.
43.5 m/s.
Si:
=^(l
SI: (a)
1 1
(b)
Infinite.
(b)
ft/s.
(c) 2fcT
11.20
/s 2
55.5 m.
142.7
(a)
:,
(d)
384in
(b) 5.49
3 s. (b) 2.95 m, 1.422 m/s.

1.651m.
25 s- 2
(b) 98.2 ft/s.
9.34 m/s. (b) 29.9 m/s.
SI: (a)
11.10
11.12
(a) 30.7 ft/s.

SI: (a)
= 12 in., a = -18 in./s 2

x = -15 in., a = 18 in./s2
-0.457 m/s2
-0.381 in, a
(a)
0,
t =
1 1
(b) 23.2
0.813 m/s 2
mi/h.
(b) 37.3
km/h.
70m.
s;
58.3 mi/h.
51:
8.54
s;
93.8 km/h.
965
966 ANSWERS TO EVEN-NUMBERED PROBLEMS

11.54
.56
1 1
(a) 8.57
68.6 m; 51.4 m.
(a)
150
in./s.
100
(c)
in.
1 1
in./s.
11.126
10.0 m/s; 27.4 m.
(a)
-756 in./s 2
(a)
11.128
11.130
13.9 m/s;
(fc)
-19.20 m/s 2
SI: (a)
11.64
(a) 2.7
s.
14.81 m.
11.66
(a)
12 m.
.68
(a)
1 1
11.70
s.
48.6
(fc)
(fo)
2.7
SIi (a)
ft.
-22.4 m/s 2
(fa)
.76
4.20
11.78
4^r/i
tan
m/s2 <- 26.6.
2.24
-;
<
44.0 ft/s; 38.1
tan
VI + T2*2
/3
si
tan"' (Kp/c).
(o)
(.
.v;/- i/aV
i,x)
if
+(y-
,,);-i.(/^
f + F) ,/s
+ iHM*2 +
i/j/
;:.Y
i"!
2
'
f2
:213/2
j2]
+ ( -
WW*
4.28 m/s; 0.188 m.
40
1 .1 42
960 m. (b) 240 s; 5280 m.

0.816 s, later; 276 ft below ground.
SI: 0.816 s, later; 84.0 m below ground.
6.64 m/s.
ft/s.
esc 2 2^7.
1.132
1.134
1.136
1.138
1 .1
fl
\/4w 2 f 2
/J
48 m.
2 m/s
<
+ B 2 n2 cos 2 2ctii;
2
\f7? + B-V sin 2wn*.
v/A*
[ff
2.22 ft/s
m/s
[iii
= Vc 2 + /? V;
.74
1 1
4*r 2
s.
ft/s 2
1 1
2tt
^34.2;
a = 2.22
J" 34.2.
SI: v = 0.678 m/s ^34.2;
a = 0.678 m/s 2 ?" 34.2.
v
(C
(fc)
(fc)
-880 in./s2
(b)
i!
m.
51.5 m.
11.60
24
2.54 m/s.
(c)
.58
800
(fa)
m/s 2
1.400
3.81 m/s. (b) 20.3
SI: (a)
1 1
m/s 2
1.867
(b)
s.
(c)
(a)
10 m. (b) 0.0693
-1000 m/s 2
(c)
s.
'
398 m.
1609ft.
(a)
60
490m.
Si:
s;
13.40 m/s;
11.61 m/s.
11.80
11.82
11.84
11.86
11.88
1
.90
11.92
1 1
.94
.96
.98
12.43
1 1 .1
00
11.102
11.104
11.106
11.108
11.110
11.112
11.114
11.116
14.83
23.2
mi?7 17.8.
37.3km 7"
(b)
16.63 m/s.
m/s 3"
2.4
1 2.6
1
81. 2".
m/s
2.08 m/s 2
(a)
29.6
103
2
8.51 ft/s
1.2
m/s2
ft/s
si.
2.59
si.-
m/s 2
63.6 km/h.
(b)
63.4 east of north.
10.8; 9.81
.
9.02
m/s
j.
103 m/s2
H +
c 2 /Rp 2
2.8
12.10
1 2.1 2
6.96km; 17.71
-I:
Ian.
12.14
12.16
12.18
17,060 mi/h. SI: 27 400 km/h.
12.20
84.4 min.
(a)
(a)
-4*7/>i r
= -&7 2
(b) v = 0;
u
foi
fcsec2
47;bi
L69r*H (
(a)
lb;
W=73.4N;
(a)
a.
2.73
2.73
(fe)
s.
s.
10.28 m.
(fc)
ng
180 N.
0.956 m.
302 K.
(c)
1.346
(a)
24.9lb->.
1.064 m.
(fa)
(fa)
m/s
J,.
7.96
(fa)
lb.
35.4 N.
(fa)
8.92 ft/s 2 <-;
5.94 ft/s2 *-.
m/s f-
6.79
N->.
110.6
m/s2 /
(a)
a,,
0.739
(b) 26.4 kg.
(a)
N /
5.16
(a)
(a)
2.42 ft/s 2
1.160 lb /.
ad
.81
2.72
m/s2
(a) 9.56 ft/s 2

SI: (a) 2.91
2.26
12.28
(b)
20.1 m/s.
(fa)
aB
SI:
ft/s.
m/s 2
0.981
lb.
3.37 m/s.
SI: (a)
12.24
100.00
SI
/ft.
23.9 N.
aB
0.
2.22
87r 2 foi,.
= fcfci; a = -\bk%.
(h) v = 2Wfci + 2bki
a = 2bk2
+ 4bk 2 i.
(a)
65.9
SI: (a)
= -(180 mm/s)L;
-(240 mva/s% - (4320 mm/s2 )i,.
Va
(a)
SI: (a) a^
3810 m.
p
(h)
22,800ft; 58,100ft.
m =
lb;
3.22 ft/s 2 20
SI: (a)
km/h from
36.0
10.18
16.49
m = 45.36 kg.
17.8.
22.4 mi/h from 63.4 east of north.
11.120
11.122
SI:
56.3 from rear of truck.
9.98
W=
m = 3.11lb-s2
4.52m.
si:
ft.
(a)
11.118
12.2
15 or 75.
SI:
1 1
CHAPTER 12
3.79 m.
SI:
ft.
26.6 or 63.4.
-.
(fa)
m/s2
3.08
(fa)
m/s 2
lb.
-;
(b)
13.69 N.
19.68 ft/s2
(fa)
6.00
m/s2
1.905 m/s.
(a) 10.73 ft/s
SI: (a)
2 <-.
(6)
3.27 m/s 2 *-.
18.671b.
(fa)
83.0 N.
9.07 kg.
ANSWERS TO EVEN-NUMBERED PROBLEMS 967

1
2.30
(a)
(c)
2.32
12.34
1 2.36
1
m/s 2 -.
2.60 m/s 2 -*.
4.56
"m
m/s 2
1.962
(ft)
12.84
1 2.86
<-.
"m \
= (P/m)ev = (P/k)[l__- e
a = -(kx/m)[l - l/y/x* + P],
a^ = 13.26 ft/s 2 |; aB = 1.894 ft/s2 |;
a t = 9.47 ft/s2 ;. Block C strikes ground
k
12.88
12.90
12.92
12.94
= 0.577 m/s 2 J; ac = 2.89 m/s 2 L

= 0.577 m/s 2 a B = 2.89 m/s2 J;
= 4.04 m/s 2 f.
= 4.91 m/s 2 T: aB = 2.45 m/s2
= 0.
aB
12.38
a4
aA
-
(a)
5.51 m/s.
(a)
10.56 ft/s.
SI: (a)
12.46
12.48
12.50
60.6.
(ft)
(a)
gsin0.
W(3
2 cos
2
A: 12.86 ft/s
C:
19.32 ft/s 2
B:
7.86
m/s 2
B: 25.8 ft/s
SI:
2.78
(a)
(a)
Fr =
2.82
0)
3
2
tan 8 2
18.6 m/s.
(ft)
17 min.
ft/s.
1 2.1 08
(a)
(ft)
4 =
2.1
20
).
0.
(ft)
60 m/s.
SI:
(b) 75.9
= R V2g/r cos g.
}(* - 6).
3.32 m.
(a) 9.91 ft/s 2
3.39
32.2 ft/s 2
(ft)
J,,
m/s2
3.02
j.
9.81
(ft)
m/s2 L
m/s 2 ^260.
0.1438i;f/g.
35 200 km/h.
(a)
(a) a,,
aA
(fa)
0; aB
aB
5150 km/h.
(ft)
m/s 2 /
0.643 m/s 2 /
1.591
CHAPTER 13
F,
-21.3 N,
-73.6
-24.5
lb, /",
= 0.
= -49.0 lb.
F = 0.
Fr =
lb, F
(a) Fr = -327 N,
Fr = -109.1 N, Fs = -218
(ft)
2.981b.
12.96 X.
0:
uniform circular motion;
1:
uniform rectilinear motion.
24in./s.
(ft)
(a)
pA
0.610 m/s.
pn = 457 mm.
409 X 1021 lb
5.97
=
(ft)
s 2 /ft
in.,
pA
pB
or 13.17
16.93
10 21 kg.
35 770 km or 22,230 mi.

3070 m/s or 10,080 ft/s.
(a) 7.50in./s.
(ft)
Straight Unc.
0.1905 m/s.
2640 mi/h.
Sli
4250 km/h.
18
13.16
13.22
13.24
13.26
13.28
lb.
3.30
13.32
13.34
13.36
1 3.38
13.40
13.42
m/s \
3.37
(a)
8.72
(fa)
10.28 m.
2.66 m/s.
SI:
ft/s.
14.40 N.
12.67 ft/s.
SI:
3.86 m/s.
1.981 m/s.
(
u ) 9.27
10.99
34
(a)
SI:
in.
3.35 m/s.
SI:
(ft)
98.1 N.
0.500 m.
2.08 lb ^30.
Loop
Loop
ft.
2.84 m.
(fa)
0.86 m.
0.801 m/s.
19.67
9.33
(fa)
SI:
ft/s.
in.
(a)
ft/s.
2.82 m/s.
(ft)
N ^30.
(fa)
1: (a)
\/5g7<-.
(fa)
2: (a)
V4gr
-.
SI: 148.5
25,950
SI:
549
ft/s.
\V;
J.
7905 m/s.
10 3 km/h.
628 W.
kW.
(a)
25.0
(a)
8.18 hp.
(fa)
SI: (a) 6.10
kW.
(ft)
6.13
kW.
10.09 hp.
(ft)
7.52
Nf.
3W->.
2W-.
(fa)
1315 lb -in.
14.13
2.83 lb f.
12.60
9.27
SI: (a)
in.
mm,
lO 24
2.37 GJ.
SI: (o)
53.0 N.
SI: (a)
(a)
13.2
1 3.4
13.6
13.8
13.10
13.12
13.14
N.
13.26 N.
1.536.
79.7.
$%
21.3.\.
Fr =
si: (a)
4 N, F,
(a) 11.93 lb.
(ft)
12.80
m/s 2
C: 5.89
5h
197
12.114
12.116
12.118
SI:
sin
fij
A: 3.92 m/s2
,.
SI: (a)
2.76
1695 m/s.
SI: (a)
VeV/me 2
(ft)
(ft)
12.74
5940 km/h.
(ft)
tan 0,
45 h 30 min.
(a)
12.110
12.112
= hx 2/b 2
= eVlL/mvf d.
SI:
12.70
1 2.72
j.
10.36 ft/s. SI: 3.16 m/s.
240 mm.
(a) 7910 ft/s. (ft) 4800 ft/s.
SI: (o) 2410 m/s. (ft) 1462 m/s.
-30.4 m/s.
(a) 1537 km. (ft) 4070 m/s. (c)
(a) 5560 ft/s. (fa) 61 ft/s.
22.5.
sin
12.102
12.106
m = Vgr tan(0 +
(ft)
12.68
cos
2.71 m/s.
F$ =
12.66
(d) 60.
O ).
1252 ^n = Vy tan(g 12.54

12.56
12.58
1 2.60
12.62
1 2.64
32.6 N.
(ft)
\/2g/(cos
(ft)
7.321b.
(ft)
3.22 m/s.
(c)
SI: (a)
2.96
12.98
12.100
1
J,;
at
12.42
12.44
J,;
ac
12.40
=4.04 m/s2 1;
SI: a,,
6350 km/h.
(a)
(ft)
first.
(a)
kW.
968
ANSWERS TO EVEN-NUMBERED PROBLEMS
13.44
13.46
55.2 kW.
(a)
13.48
13.50
13.54
13.56
13.58
13.60
13.62
13.64
13.66
13.68
13.110
13.114
13.116
V= -
(ft)
34.2
s;
ft.
580 m.
if-
13.136
-mg/sinfl.
; 2 )-" 2
(ft)
13.138
2.45 m/s.
7.05
13.140
13.144
4.03 m/s.
(ft)
2.15 m/s.
SI:
ft/s.
23.7 m/s.
13.146
22.7 ft/s.
7.75
(ft)
6.92 m/s.
1.600
24
in.;
48
13.150
13.152
1
lb.
mm;
40.6
SI;
(a)
0.943
10"
ft
lb/lb.
0.447
10 6
ft
lb/lb.
2.82MJ/kg.
(a)
1.155 m.
(a)
15.54 ft/s.
0.643 m.
<
SI;
610 km.
(ft)
(a)
2.80
s.
(ft)
5.60
()
38.9
s.
(ft)
10.71
(a)
10.06 ft/s; 1.5
6 min 4
13.124
13.126
13.128
9.38 ft/s.
m/s.
(ft)
(ft)
J.
vB
2.20
m/s
-.
J.
(a)
0.571 Vq.
(a)
0.943.
28.4
0.943.
0.883.
1-333 v
(ft)
(ft)
11.30
(ft)
15.08
in.;
in.
0.722 m; 0.383
(ft)
rn.
0.883.
SI: (a)
in.
0.287 m.
0.721 u
'
16.
.=dl
V/f
0.693
l>
-.
69.9.
(
fl)
8.29 ft/s -.
0.326
2.57
in.
()
8890
(a)
9.32
(c)
1.068
ft.
65.3mm.
mm.
34.7
lb.
30.5 N.
(ft)
in.
SI:
(a)
6.85
(ft)
m/s-*.
2.53
lb.
(ft)
12.63
(a) Five,
J.
24 km/h.
ft
8.18
(ft)
(ft)
J.
8.10
2m/s->.
(ft)
lb.
ft
10.98
(ft)
J.
J.
Same
(c)
as
SI: 113.6mm.
Impact at A: v, = 1.333 m/s -*,
v = 0.333 m/s ; impact at B:
f
V/ = 1 m/s .
4.47in.
5.29
m/s -.
4.89
ft.
si:
v,
0,
1.491m.
317 N/m.
(a)
5.20
(a)
1670 ft/s^.
14.6
(a)
SI: (a)
s.
0.
(a)
0.6mi/h.
(ft)
'/;,
<-,
(ft)
(3 m)i
(ft)
(5
108.5
N-s.
(c)
368
J;
vy
lb
s)i.
kg
5.94 m/s, B,
17 kg
16.00
ft/s.
4.88 m/s.
-m 2 /s)i.
(1.5 m)j
m/s)i
(1.5 m)k.
(19 kg
in/s)j
m/s)k.
(2
kg
(25.5 kg
ft,
(ft)
ft
353rn/s-.
(ft)
ft/s,
-.
ft/s -.
1158
m 2 /s)i + (24.5 kg m'7s)j

m 2 /s)k.
14.10 x = 780
= 17.55 ft, Z = -21.0 ft.
SI: x = 238 m,
= 5.35 m, z = 6.40 m.
14.12 x = 100 in. y = -40.7 m. z = 16 in.
+
-h.
135.6 N-s.
(a)
(c)
19.45 kN.
19.50
km/h
3.90
(ft)
(ft)
509 m/s ^.
-(1.516 kg
(ft)
=3J. TB =9).
km
-(1.118
SI: (a)
215
SI:
43701b.
0.966 km/h.
;,,
(ft)
J,.
A -.
1 4.2
14.4
s.
(ft)
2.86 m/s.
(ft)
J.
(ft)
s,
T.
14.8
SI:
2m/s^.
294
kN
|.
0.742 m/s
6.91
(ft)
*-:
=3.50 m/s ^60;

= 4.03 m/s ^21.7.
v^
vA
-^>.
m/s
2.30
lb.
(194.5 m/s)k.
111.1 kN.
(a)
(a)
s.
s.
48.4 lb -, 188.0 lb
SI: (a)
2.81
<-;
CHAPTER 14
3.07 m/s; 1.5
(a) 9.03
(ft)
m/s
4.23
5.10H
(ft)
m/s
0.343
s.
s.
-(125.5 m/s)j
13.118
13.120
13.122
13.168
13.170
13.172
VSt^.
11.42
(ft)
13.164
1 3.166
114.3.
and
original.
1572 m/s; 79.9.
SI:
(a)
vA
SI: (a)
2.31 m/s.
<b
V6 *,..*
ft.
ft/s.
(ft)
(a)
836
0.125
3285 m/s.
SI:
8420 m/s; 74.4.

5160 ft/s; 79.9.
and
(c)
13.162
ft/s.
(a)
ft/s.
13.154
13.156
13.158
13.160
1.579 m/s.
(ft)
7.58
(ft)
10,780
(b) J
1.336 Ml/kg.
(ft)
5.18
(ft)
SI: (a)
<
(c)
mm.
in.
380 mi.
(a)
^;
1.125 ft/s
v,
SI: (a)
5.20 m/s.
(ft)
4.74 m/s.
25.3
65.7
7.32 N.
3.
SI 11.18 km/s.
ft/s.
(ft)
(a)
13.875 ft/s -^.
(a)
(ft)
ft.
2.36 m.
(ft)
6mg.
36,700
SI: (a)
104.9 N.
(a)
v,
vg
4.71 m/s.
(a)
(a)
SI: ()
6.43 km/h.
(ft)
(xs
1904
s;
46.6 ft/s. SI: 14.21 in/s.
SI: (a)
13.130
13.132
(ft)
2*12(1 -cos0) 2
(c) 38.1
13.90
13.92
13.94
13.96
13.102
13.104
13.106
13.108
in.
278 kW.
SI: (o)
13.84
34,2
(a)
SI: (a)
13.80
13.82
(ft)
(a)
SI: (a)
13.70
13.72
13.74
13.76
ft.
214
SI: (a) 20.5 s;
13.134
260 kW.
(ft)
701
(a) 20.5 s;
ij
i/

14.14
14.16
vB
SI:
tj
cc
14.22
14.24
14.26
ft/s; u as 5.78 ft/s.

c
1.393 m/s; D
1.761 m/s.
= 919 m/s;
= 619 m/s.
uB
717 m/s;
9.55%.
0.201%.
mi:
(a)
ifm/c
i;
=|oi
'e
14.28
14.30
14.76
14.78
14.80
14.84
14.86
4.57
k.
v4 =
(ft)
,i
= -Ac
(c) v.,
|t' ( j.
^ + lojjj
14.90
|o*.
= 181.7 mm, = 0,
vA = 1.500 m/s; t B =
r = 2.25 m/s.
(/
mm.
139.4
14.34
14.36
= 34.3 ft/s -5229.7;
SI:
vA
vB
.17.59 ft/s
14.92
14.94
40.1'
(c)
(fa)
3.30
8.33
3.96
SI: (a)
ft.
(a)
m/s "^33.7.
3 m/s ^36.9.
(fr)
H = (4.80 kg m
(c)
m/s -.
fc
/s)k;
V = 48.0
J.
D=
865
321 lb
)..
10,2501b. (b) 16,400 hp.
(c)
28,700 hp.
5.8
ju;
(ft)
B.
(BC) 25%,
Jo4 -.
|Ap(l-COS0)of.
(ft)
%V/vA )[l - (V/vA )](\ - cosO).

C = 89.3 N 1; D = 138.4 N f(a)
ft below B.
below B.
(a) 47.0 kN; 0.586 m below
36.9 kN; 1.490 m below B.
10,560
8300
1.922
lb;
4.89
lb;
ft
(c)
21.4
26.4 kN. (b) 830
(a)
1500 N.
15.12
MW.
km/h.
15.14
15.16
13.17 m/s.
(/>)
N-m),
0.400
15.18
216 rpm.
= 0*/gL
mv(v + gt).
15.20
15.22
qv.
c s= TnoCo/fnin
= -mv
q/(m u
qt);
qt) 2
15.24
15.26
40.3 lb/s. (b) 10.06 lb/s.
SI: (a)
240
SI: (a)
ft/s
73.2
2
.
960
(6)
m/s 2
(B)
ft/s
15.28
293 m/s 2
(ft)
-(32in./s)i
-(368
(396 in./s 2 }k.
B.
(10.06
= -
m/s
ac
m/s
;
(1040 in./s 2)]
)j
in/s )j
.8
m/s 2 )i
m/s 2 !k.
(7.8
1.174
s;
m/s2 )j
(0.48 m/s)j
-(0.644 m/s 2 )i
(7.30 m/s'-')k.
-J.2 m/s)k;
(12.6
m/s2 )j
66,700 mi/h; 0.01947 ft/s2

107.3
(1.422 in/sjk;
(26.4
2 )k.
(0.96 m/s)k; a B
(2.21
(56 in./s)kj
-(0.813 m/s)i
(0.14 m/s)i
vr
18 000 rev.
52 s.
ta./s*)i
-{9.35 m/s2)!
km/h: 5.93 min/s2
7.05 rad/s.
(a)
2 rad/s
(ft)
20
J;
in./s 2
rad/s 2
).
5^36.9.
SI: (a) 2
rad/s};
508 mm/s'2 !b.36.9.

2
(a) 10 rad/s. (ft) a
B = 18 m/s J.;
2
a e == 6 m/s j.
3.49
s;
5.
6.98
(ft)
s;
13.96
(a)
aA =
oB
s= 6.98 rad/s2 J.
(a)
Si:
18.26 kg/s. (6) 4.56 kg/s.
(ft)
3 rad/s 2
24 rad/s).
aw
SI;
23.8 N.
sin
(fl)
4- (7.2
(b) 25(H) X.
SI:
-2.51 rad/s 2
-2.42 rad/s 2
(a)
T-
45.6 kN.
SI: (a)
(a)
43.2 ft/s.
15.10
T:
(a)
(a)
(fl)
D =479 lb*.
SL C = 1428 N T; D = 2130 N
C =
(a)
(6C) 33.3%.
-.
(6) 12.2:3 V1VV.
14.74
15.2
15.4
15.6
(a) ;
from B.
m from
ft
0.1955
(fc)
CHAPTER 15
0.600 m. (d) 20 rad/s.
14.72
1.687 m/s.
2.54 m.
Pr
987 km/h.
(B)
(6) 0.641
ft/s.
SI: (a)
SI;
J,,
14.52
14.54
14.56
14.58
14.60
14.62
14.64
14.66
14.68
14.70
137.9 km.
.
m/s "^40.1.
14.50
5.54
(b)
= 800 N; P = 800 N.
B = mc-; C = m\/2gft"^30 a
Pi =&?(! -sine);()2 = |()(l + sin0).
Cr = 83.3 lb -, C = 30.3 lb J,
M c = 496 lb in. SI: C t = 370 N -,
C = 134.8 N
M c = 56.1 N m
14.46 C x = 475N<-, C = 675Nt:
14.48
(a)
m/s2
13.00 ft/s-*. (b) 10.82 ft/s "=533.7.
(a)
(c)
14.38
14.40
14.42
14.44
0.855
10 3 km/h.
SL 29.7
SI:
ft.
(a)
(ft)
10.46 in/s<d?29.7;
5.36
452,000
341s.
(fe)
(c)
1.299 m/s;
v4
kg.
18,480 mi/h.
(AB) 8.33%.
ii
t:
14.32
14.88
6820
(a)
s.
4.19 rad/s 2
);
(ft)
4..50
s.
b&ltmr*.
1.25 rad/s J. (ft) 25 in./s i-. 60.
1.25 rad/s}.
(fl)
mm/s 5^ 60.
(ft)
635
(o)
2 rad/s2
(b)
vA
}.
(SO
mm/s)i
(440 mm/s)j.
970
15.30
5.32
aA
(a)
(b) v
vF
15.34
1 5.36
= -
vB
(a)
(b) x
1
(a)
vp
uBD =
ugl)
v,
(a)
m/s
rad/s
(c)
15.84
31.8 in./s *-,
3 rad/s
J.
= 2.25 rad/s ).
= 10 in./s -; <o 4C = 0.
=
u>
}.;
DE
0.566 rad/s).
vA
(b) v,,
0.254 m/s -;
<o 4(;
(o)
0,z
9.34
}.
SI:
ft.
2.85 m.
12 in./s
(b)
<-.
(c)
15.56
5.58
15.60
1
5.62
(a)
(c)
0.229 m/s, wound.
(a)
0.6 rad/s}.
(a)
4 rad/s).
SI:
(o)
(a)
6.67 rad/s
(c)
1.250
m/s J7
15.106
15.108
86.5 in./s ^16.1*.
m/s ^
(a)
2rad/s).
(a)
15.110
36.9.
(a)
3 rad/s
18.33 in./s "^19.1.
(b)
2 rad/s). (b) 0.466

(b)
).
On
m/s
19.1.
15.112
15.114
or inside a 2-in.-
1.928 in.
On
(a)
SI:
(a)
a point 49.0
at
0.9 rad/s }.
(b)
144
mm below
mm/s
15.1 16
G.
-.
Space centrode: Circle of 12-in. radius

with center at intersection of tracks.
5.1
Body centrode: Circle of
5.1
20
from
(a)
A and
6-in. radius
SI: (a) 0.5
5.78
15.80
1
(a)
ac
U.
0.5 rad/s 2
rad/s2
(b) 5.5 ft/s2 f.

}.
(b)
1.676
2
m/s2 J.
m/s -. (b) 0.2 m/s ^.

316m/s 2 t; a = 316 m/s* "560*.
0.4
}.
J,.
}.
}.
"^30.
rad/s2
0.396 m/s 2 "^30.
(a)
3.46 rad/s 2
(b)
19.30 in./s2 "^45.6.
}.
}.
3.46 rad/s 2
}.
0.490 m/s 2 ^45.6.

1.814 m/s2 5* 60.3.
u
(a)
vD
(v sin /i)/(/ cos 8)
t:
ru cosU.
w1 sin
= cos 8
= 2/u sin 8;
aB
ret
v>
AB
ru(a?
v b)
+P-
2al cos 8) U2 /al sin 8.
/b)cos 2 6'.
/1
=(u
(a) to
(vA L/b) sin 8 cos*
0^,
1] |.
2.58 rad/s}.
SI:
(a)
(b)
0.502 m/s T'SO".
(a)
3
'UKVfo) cos *
2.58 rad/s}. (b) 19.75 in./s?7 50.
(a)
W/U
8.
= 2la sin 8 2lic 2 cos8.

= flu sec 2 0;
= R sec 2 B(a + 2w s tan 0).
1.958 rad/s);
= u
to,__,
):
<o
BD
Vp/A u
3.80 rad/s).
0;
iwT- {b) WB n =")i

= 0.299/^^15;
= 1.115 /w ^75.
= rto 2 + 2utoj; = 2utoi
a 3 = ( tu 9 ur/r + 2uco)i;
2
a^ = (rw 2wlo)j.
{aj v = 735 mm/s "^ 71.8.
aj
15.122
aj,
(b) a B
with center on rod at point equidistant
15.76
5.
y p/BD
3 rad/s).
or inside a 50.8-mm-radius circle
centered
15.64
15.66
below G.
rad/s2
(b)
"P/BB
vp/-4//
radius circle centered at a point
(b)
592 m/s 2
(b)
(a) 3.46
/>//
SI:
= 2W
bc
T;
si
(b) (v,,),
16.1".
2m/s^.
(b)
J.
3.46 rad/s
(a)
T.
(b) 2.67
0.
(a)
aB
-.
24mm/s-.
4 rad/s). (b) 2.20
cos 3 8
(b)
(ft)
(fc)
m/s
0.305
SI:
J.
71.1
aD
in./s,
15.104
2 rad/s
m/s 2
m/s 2 \
157.0
(a)
(b)
0,
wound.
15.52
15.54
15.96
15.98
15.100
15.102
2 rad/s).
aAB = uo
(b)
0.
m/*-*!
1.182
0.566 rad/s
^60.6*.
0.
SI: (a)
Vertical line intersecting zx plane at
=
=
15.94
45.4 in./s -*;
SI: (a)
15.86
15.88
15.90
15.92
2
(b) 15.59 in./s
a DE =
);
".ah
BC
-.
3.75 rad/s
fij^g
15.50
(b)
(b) 18.36 in./s
T-
^22.3.
2
(a) 0.254 m/s T2 ^60.6.
0.466 m/s
1.071 m/s 2 ^22.3.
SI:
2.94 rad/s 7;
0.807
=
=
iaBD
Wi4C
5.48
v/2r).
m/s /
2.83
2.94 rad/s ); v
(b) v<1
ac =
= 0;
2t ->; v B
10 in./s2
(a)
(c) 42.2 in./s
aBD =
vD
5.40
1 5.42
15.44
};
mm.
= 0; unD = 39.3 rad/s

= 6.28 m/s |; wBi) = 0.
= 0; BD = 39.3 rad/s },
vP
(a)
SI:
=aB = v/r
v^c'=5 45".
180 rpm}. (b)
(c)
5.38
80
mm,
15.82
(200 mm/s)j.
(160 mm/s)i
220
(h) v p
62.4
mm/s 5^7.4
(a)
a8
(b)
afl
= (10.9 m/s 2 )j.

= -(0.1 m/s 2 +
(c)
aB
(a)
0.00582 ft/s 2 wast.
(b)
and
SI:
(a)
(2>)
and
)i
(10.7
(c)
3
.
(10.8
2
)j.
0.00446 ft/s 2 west.
mm/s 2 west.
1.358 mm/s 2 west.
1.773
(c)
m/s
2
rto j;
m/s 2 )j.
15.124
15.126
15.128
ll.Oorad/s 2
(a)
476ft/s 2
SI:
(a)
15.158
307
(b)
m/s 2
145.1
(o) <oBO
aSD
*.
.
ft/s
(b) 93.7
m/s8
2.4 rad/sj;
34.6 rad/s 2
J.
15.132
(b)
vB
(a)
to,
(a)
(b)
(3 rad/s)k.
(5 rad/s
+ wj.
15.170
-(125
(2.5 rad/s 2 )k.
in./s
2)i
(b) a,
in./s 2 )i
(b)
(50 in./s 2 )j
(67.5 in./s 2 )k;
-(50
5.1
72
(170 in./s 2 )j
(>)
15.174
(1.270
= -(6.4 rad/s 2
vp = -(0.4 m/s)i + (0.693
a
(1.732 m/s)k.
a^
(3.2
(a)
-(8.04 m/s 2 )i
(a)
(l>)
(0.64
m/s 2 )j
yD
aA
aB
=
=
15.1
= rw?,i + Snuggle,
= -r(<o 2 + a;|)j.
= -(150 rad/s 2)k.
= -(225 in./s 2)! - (2400
(a)
(b)
SI:
(a)
a=
-I:
-(150 rad/s 2)k.

)!
(fe)
SI: (b)
78
in./s 2 )j.
= -(5.72 m/s 2 - (61.0 m/s 2 )k.

2
(a) a = -(8 rad/s )k.
a c = (3.2 m/s 2 - (0.8 m/s 2
vB = (54 mm/s)i.
vc = (32 in./s)j. SI: vc = (0.813 m/s)j.
(a) ic = (1.6 rad/s)i + (15.2 rad/s)j
- (3.2 rad/s)k.
(6) v c = (32 in./s)j.
a
)!
vc
(0.813 m/s)j.
)j.
(3.12 m/s)k.
m/s 2)k.
4- (1.021
i.
(124.7 ft/s)k;
vB
(395 ft/s 2 )j.
(38.0 m/s)k;
m/s 2)i
(120.3
m/s 2 )j.
(200 rad/s 2 )k.
= -d
m/s)j
-(40 m/s 2 )i
4-
(2.4
(44
m/s)k ;
m/s 2)j
-(10 m/s 2 )k.
ap
-(0.314 rad/s 2 )k.
(7.63
vB
ap
(0.72 m/s)j
2
(3 m/s )i
m/s 2 )k.
(7.4
(25.0 ft/s 2 )i
a =
v^
(fo)
m/s 2)j
(b)
m/s 2)j
aD
[b)
= W|j 4- tojc; a= u,u 2

vB = raj -'(R + tyajt*
= -[(R + M + Willi.
vB
SI:
(3.39
-(4.29 m/s 2)!
(0.201
a=
an
m/s 2 )k.
-(1.701 m/s)i
m/s)j
(h)
aB
m/s)j
(0.8 m/s)i
ap
(1.188 m/s)k.
2 )k.
(0.3 m/s)k.
(2.4 m/s 2 )j
yp
(360 in./s^k.
-(16.56 m/s 2 )i
m/s
a = -to,w 2 j.
(c)
(a)
aB
15.176
)i.
(0.880 m/s)j
au
-(0.508 m/s)i
(a) to
-(3.18 m/s2)!
(a)
4- (5.95
(3 rad/s2)!
aA
(a)
)j.
a
(Rwf/rjk.
cos 30.
a =
(46.8
(133.3 in./s 2)j
4- (9,14
15.168
(3
4-
(b)
(0.6 m/s)j
m/s 2 )i - (3.6 m/s 2 )k.

-(20 in./s)i - (34.6 in./s)j
in./s)k. (b) a = -(652 in./s 2)i
=
=
a
vD
-(flu,/r)i
(0.1098 m/s)j.
(0.25 m/s)k.
(a)
(152.4 mm/s)j 4- (254 mm/s)k.
a-
(a)
(6 in./s)j
m/s 2 )j + (1.715 m/s 2 )k;

aB = -(1.270 m/s 2 )i 4- (4.32 m/s-')j
- (4.57 m/s 2 )k.
(a) a - -(4 rad/s)j + (1.6 rad/s)k.
(b)
15.152
15.154
1 5.1 56
15.166
-(76.2 mm/s)i
(180 in./s 2 )k.
(c)
15.150
)j.
(b)
(100 mm/s)j
(10 in./s)k.
(b) v B
(4.32 in./s)j.
-(0.366 m/s)i
-(49.2 mm/s 2 )i.
aB
(4 rad/s)j
in./s)i
(b)
15.148
-(3
15.146
as
SI:
15.144
(2 rad/s)i
a = (237 rad/s 2)k.

a = -(565 rad/s 2 )i (fc)
15.140
15.142
-(40 mm/s)i
mm/s)k.
SI:
15.134
1 5.1 36
15.138
(80
(a)
in./s)i
v = 1.342 m/s ^63.4;

=9.11 in/s 2 ^18.4.
(a) -120 mm/s.
vB
-(14.41
=
a c = (1162 in./s 2
a = (29.5 m/s%
1 5.1 64
(a) v = (0.6 m/s)i 15.160
15.162
(b)
(fc)
15.130
\B
SL vB
971
15.180
-(18 in./s)j 4- (160 in./s)k;

-(90 in./s)j 4- (64 in./s)k;
-(1600 in./s 2 )j - (360 in./s 2)k;
-(880 in./s 2)j - (1000 in./s^k.
yA
-(0.457 m/s)j
4-
(4.06 m/s)k;
vB
-(2.29 m/s)j
4-
a^
aB
-(40.6 m/s 2 )j
-(22.4 m/s 2)j
v4
=
=
- (9.14 m/s 2)k;

- (25.4 m/s 2)k.
- (18 in./s)j;
vB
= -(40
a^
(360 in./s 2)!
aB
-(400
SI:
vB
a^
aB
-(160
vA
=
=
=
in./s)i
(1.626 m/s)k;
in./s)i 4- (24 in./s)k;
in./s^j
(1600 in./s 2)j;
(100 in./s^k.
-(4.06 m/s)i - (0.457 m/s)j;

-(1.016 m/s)i 4- (0,610 m/s)k;
m/s 2 )i - (40.6 m/s 2))}

-(10.16 m/s 2 )j - (2.54 m/s 2 )k.
(9.14
972
15.182
(0.45 m/s 2 - (1-979 m/s 2 )k.

=
a
-(2.34 m/s 2 + (0.346 m/s 2 )k.
=
(c) a
-(0.45
m/s 2 + (2.67 m/s*)k.
B
aB = -(3.03 m/s 2 - (0.454 in/s z)k.
aB = 40 rpm Uc = 20 rpm ).
(a) a
Aa = am = 0;
a Dti = 1.333 rad/s 2 ).
= 0.8 m/s 2 1; a B = 0.4 m/s 2 J.
(h) &
A
=
(a) a,
-(302 ft/s 2 - (66.6
a 2 = -(59.2 ft/s 2 + (190.6 fl/s 2
SI: (a) a, = -(91.9 m/s2)! - (20.3 m/s'-)j.
(o) aB
)]
(fa)
)!
)j
15.184
1
5.1
86
15.188
15.190
)i
ft/.s'-)j.
(fa)
)i
az
-(18.05 m/s2)!
m/s 2 )j.
(58.1
w = 1.996 rad/s);
a = 1.068 rad/s 2
}..
v = 5.63 m/s-d!40
= 8.25 m/s 2 ^40".
2
1 5.1 94
to = 2.25 rad/s V a = 23.3 rad/s ).
15.196 v B = 7.85 ft/s <-; aB = 92.7 ft/s 2 ~>.
= 2.39 m/s a B = 28.3 m/s 2 .
SI: v
16.38
16.40
16.42
1 6.44
16.46
5.66 ft/s* J,,

(a)
16.48
16.52
4.56 rad/s 2
73.1 lb.
C =
16.4
(a)
B =
SI:
16.10
16.12
4
16.16
6.1
41.6
16.54
l.l94lb-;
16.68 N.
5.31
0.297g.
(a)
2.55
(/;)
A=5.31X-:
m/s 2 -. (fa) ft < 1.047 m.

3710 N|. (fa) 1411 N"f.
(a)
25.8 ft/s 2
13.32 ft/s
7.85
m/s
(c)
4.06 m/s 2
(a)
43.2 kN.
i-
Sli
3.74
(fa)
m/s
2
.
6.58
16.60
(a)
2
.
8.38
(fa)
m/s 2 \
AB =
2.43 m/s*.
;/>;
= 45.3 N.
1 6.1 8
FCB = 8.72 N C; FDr =
16.20 A = 10.77 lb 5*30*;
101.81b.
\n
8.48 rad/s 2 J;
39.2 rad/s 2 )
(fa)
453X,
C =
66.7
N T.
X'-m).
2.12
L + -Jl
16.10 rad/s
12
in.
T4
343 rpm
).
+ n%.
).
8.05 ft/s 2 -.
(fa)
B.
from
5.
(fa)
2.45
m/s 2 -
fa.
-(2.37 rad/s 2)j;
0.
-(1.778 rad/s 2 )j; -(0.200 m/s*)L

= 359 lb; 7 B = 312 lb.
TA =
TA =
(a)
from
16.10 rad/s 2
0.305
(a)
TB =
1595 X;
12 m/s 2
(a)
(a)
3g//.).
(o)
(fa)
200/7.^.
(rf)
(fa)
ng
5i;
1138 N.
48 rad/s 2
(fa)
f-
1388 N.
1348 N; T8
36 m/s* j. _
W. (fa) rg/fc 2
(c)
(fa)
10.181b.
(a)
6.56
16.62
16.64
16.66
(a)
7.99 ft/s
12.27 ft/s 2
(fa)
SI:
(a)
(a)
=
=
IK
SI:
(b) 5.
325 N.
SI:
aA = 12.36 rad/s 2 );
a B = 51.5 rad/s 2 ).
(fa) u
A = 206 rpm ) <uB
(fa)
<-.
J,.
(a)
(c)
A =
(b)
m/s
aA =
(a)
SI: (a)
Nf;
t-
lb.
(a)
(c)
B =
(b)
1.194 lb *-.
(a)
B =
16.6
16.8
36.9
3.75
<-.
J,.
2.51
(fa)
9.44 X.
(c)
5 m/s*
8.24 ft/s
(ft)
1.725 m/s* 4-
(a)
10.90 rad/s 2 );
(4)
SI:
Mj.
fl
16.2
)'.
(a)
aB
aB
CHAPTER 16
6.54 rad/s 2 ); 13.08 rad/s);
21.8 rad/s); 10.44 rad/s).
16.36
(b)
19.62 rad/s 2 Jj 39.2 rad/s );

19.81 rad/s). (2) 14.01 rad/s 2 };
(1)
11.44 rad/s
)j.
(a)
in.
45.1 rad/s 2 ).
(3)
))
X-
89.6
28.0 rad/s); 16.74 rad/s).
(fa)
15.192
16.30
16.32
1 6.34
).
),
(e)
gT-
2gi.
(c)
I2cg/4%ig.
/7;
5ftg/2r).
<o
5c /7r}.
= 4mW/\/58.
16.68
16.72
1 6.74
16.76
16.78
16.80
16.82
1 6.84
^m/iy'il-
(a)
(a)
mm.
3Pg/WL
150
125.0 rad/s 2 ).
(fa)
)
(fa)
A,
= JP -,
i<
15.80
C.
B =0.774 lb "=530.
SI: A = 47.9X^30;
B=3.44N"=S30\
16.22
16.24
1381 N.
(a)
0.5(K)g"^30.
(fa)
16.86
Platform:
1.250f; ^30; block: 0.625g

VB = -6.13 \; \/B = -3.07 N
m.
mm.
(fa)
2.90
(a)
4W/T[.
(fa)
3g/7|-
(a)
0.750g/Z).
(fa)
(a)
20.6 rad/s 2
).
(a)
34.8 rad/s 2
(fa)
**).
1529 kg,
J,.
16.26
(a)
SI:
39.3
0.275g//).
(fa)
A,
T).
A = 66.6 lb ^60.9.
(fa) A = 296 N -60.9.
48.3
N <-.

16.88
3g/4/.).
(a)
N=
(fa)
F = 3\/3W/16-*.
16.92
1 6.94
16.96
16.98
16.100
2.91ft.
1.266
in.
24 rad/s 2
(a)
8 rad/s 2
(a)
Does not
3.84
m/s 2
->.
(fa)
0.016.
1.280
m/s 2
-.
(fa)
0.220.
};
);
slide,
Slides,
3.58 ft/s 2
g/4i\
SI:
6.1
6.1 1 2
(a)
16.114
(a)
B =
.50.0
17.2
17.4
17.6
17.8
12.88 rad/s 2 );
(fa)
SI:
m/s 2
1.091
g\/2/4'^:45.
(fa)
A=
9.25
<-;
N T-
8.18 rad/s 2
).
A =
(fa)
12.74
*-;
17.12
17.14
17.16
17.18
17.20
17.22
B =31.9Nf.
13.23 rad/s 2 ).
B =
(fa)
1.460 lb !z^30
A=
1.375 lb f;
N T; B = 6.50 N 5^30,
16.118 A = 105.9 lb *-; B = 200 lb ->.
SI: A = 471 N -; B = 890 N -^.
2
1 6. 20
(a) aAB = 3.77 rad/s )
2
oBC = 3.77 rad/s ).
(fa) Aj. = 15.6S N ->, A
= 43.8 N f;
y
A =
(fa)
SI:
6.12
C = 30.2 N T1 6.1 22
Ar = *mr 2co 2 ^-,
B =
16.124
16.126
16.128
16.130
16.132
16.134
16.136
16.138
a/3-.
(2fa)
7d/5.
74.4 rad/s 2
SI:
(fa)
13.82
7.56
2mgr
f,
B,
0,
).
(fa)
(2a)
2o/7-*.
24.8 ft/s 2
J,.
(fa)
11.21
(c)
14.56
rad/s 2
7.46
17.48
17.50
1 7.54
).
.-60 .
(&)
/.
.56
fel-
(a)
>g at ^
.W B
17.62
1 7.64
4mg/V81
at
to right of A.
ar
(fa)
(a)
21.5 ft/s 2 -.
SI:
(a)
16.144
(a)
1.634.
6.55
(fa)
15.95 ft/s 2 -*.
m/s 2 -. (fa) 4.86 m/s 2 -*.

0.1925m 2r
(fa)
N
in.
i.
v,
in.
mm.
210
SI:
294 rpm.
(a)
15.92 rev.
(fa)
m/s
1.293
fj
vB
m/s J,.
2.59
61.8 rev.
338
f.
2.40 rev.
(a)
N /.
21.4
(fa)
1.541 m.
(a) 1. 074
Vg/r!
1.433m gf.
(fa)
Vfe(H-rXl-cos/8).
(a)
(fa)
mg(7
(a)
//VT2.
4 cos
6.55 ft/s
-.
20.4 rad/s.
(fa)
m/s
1.997
SI:
VgTI
m/s
1.752
SI;
13.45 rad/s.
(a)
/?)/3.
1.861
(fa)
5.75 fl/s <-.
-.
= 1. 922 m/s |
= 3.20 m/s ^36.9
= vB = 2.87 m/s -.
(a) v,
fl
m/s
(a)
\A
vu
0.769 m/s
vB
4.20
1.332
m/s
-;
(fa)
J,,
v,
Oj
j.
14.63 rad/s).
7.67 rad/s).
36.4.
(a) Zero,
(a)
0.365
89.7
0.495
W.
188.5
(fa)
lb
ft.
(fa)
1.824 lb
m.
(fa)
ft.
2.47
m.
m.
1.000.
3.88
(a)
s.
3.33
(a)
6.59
(c)
0.61.
m.
(fa)
uA =
13.06
(fa)
SI:
23.5 rad/s
12m/s->.
32.2 ft/s ->.
9.81
(a)
(a) ,
tJ
/7 -*.
100
(fa)
lb.
(fa)
6.54
(fa)
2rw,/7fig.
N -.
Zero.
(fa)
m/s -*.
21.5 ft/s -.
1.944
lb;
58.1 N; 8.65 N.
(fa)
(a)
<o 2
17.72
s.
(a)
SI: (a)
7.66
17.68
17.70
1
= 0.3g^, a=0.6gj.
= 0.630g i-
16.142
2g/7
=39.2 rad/s).
};
2
(On AB) 2.25 lb -ft).

SI: (On AB) 3.05 \-m).
V* =
17.36
17.38
17.40
1 7.42
1 7.44
122.7 rad/s ).
kT-
71.6
8.27
(b) v.
17.34
24.5 rad/s 2
SI: (a)
m/s 2 ^30.
17.24
17.26
17.28
17.30
17.32
m/s 2 J..
^26.6.
(a) 12.14
aAli =
a BC =
3<//2.
(lfa)
(a)
16.140
">g'" I-
(la)
()
A,
tune) /cosd (in - tanfl) 2

2g/5 -; aB = 2g/5 j.
2g/7
(*), = 2g/7
*a
a4
mm.
160.8
SI:
CHAPTER 17
23.2 rad/s 2 };
4-.
23.6 rad/s 2 J.
(o) 28.0 N. (fa)
^.
m/s 2
0.981
(a)
23.2 rad/s 2 };
(fa)
(fa)
12.88 rad/s 2 };
(fa)
3.22 fl/s 2
16.104
16.106
16.108
SI:
in.
(**)
m/s 2 -.
4.71
6.33
(/2g)(M
(fa)
(a)
(a)
0.400.
0.887 m.
SI:
15.46 ft/s 2 -.
16.102
16.146
16.148
16.150
13W/16T;
(c)
Zero.
m/s
2JJ
(fa)
v2
*-.
= &W/T-
2uj/7i.
(a)
4.51 rad/s.
SI:
(a)
(fa)
4.51 rad/s.
9.09
(fa)
ft
lb.
12.32
J.
974 ANSWERS TO EVEN-NUMBERED PROBLEMS

17.74
17.76
17.78
17.80
17.82
17.84
17.86
17.88
17.90
17.92
17.94
17.96
17.98
17.100
334 rpm. (ft) -6.51

and (b) 5.71 rad/s.
(a)
(a)
vr
3.82
(a)
v,
(ft)
moo/3M-*.
<o
= mc /M
v2
= JiJi/fc I;
=i
=Srw it=
|\/2 5i ^s?45\
(*>)$
i-
= 0, w, = u
(a)
21.12 ft/s-.
= 6.44 m/s= mv n /XIR J.
w,
*|i7j
(a)
0.585 m/s <; vB
v,
18.20
18.22
3.6kN-.
(ft)
SI:
(')
1-5
1 vB = va
vA = 2t> /7 -*,
/7 I; vB = 5u /7-,
/7 ) (c) The motion of part a
0.
(ft)
2io
wB =
5io
18.46
18.48
18.50
6.sin/?
"a
(a)
0.9VU-
3 sin 2
I-
P +
-(3.86
(ft)
-(0.643 rad/s)i
(a)
-(FAr/m)k.
(12i-"Af/7ma)(-i
(a)
0.
+ j).
(-i
(a) Jo!
{a)
AtA
(ft)
Av
1.213
(0.0886 m/s)k.
(5.97 rpmli
(2.69 rpm)j
/Jg)x.
18.52
(ft)_l/V3.
UAB = Sô h
"co = M o T.
= ibo L t:
= tW-4-
\ui
v CD
0.864
J.
-5.10
gmr
to,u;
N-m)j.
(0.864
m)i
(0.6-18
(1.296 N-in)j
m)k.
D=
(46.2 N)j;
m/s 5^45
3.76
(a)
50.2.
(a)
210
(a)
(a)
(ft)
-f l.
lb
(ft)
3.18
m/s
J,.
16.3.
(ft)
70.0 lb
18.58
ft.
N m. (ft) 94.9 N m.
()
0.926 VgL-. (ft) 1.225 vi^*
4.75 m/s^. (ft) 3.87 m/s->.
285
18.60
18.62
18.64
(4M
m 2/s)i - (0.324 kg m 2 /s)k.

(112.8 g m 2 /s)i + (80 g m 2 /s)j.
-(0.699
lb
lb s)i + (0.699
si:
-(0.947 kg m 2 /s)i + (0.947 kg m 2 /s)j.
3
31.0.
(a) m<z co(5i - 3k).
ft
ft
s)j.
(ft)
Mg m/s)i + (360 Mg m/s)j

+ (72 x 10 3 Mg m/s)k;
H = (432 Mg m 2/s)j + (180 Mg m 2/s)k.
mv =
(240
B = -(0.388
(1.727 N)j;
/ma%
B = -(1.727
RA = -(M
(ft)
67.1.
lb)j.
m)i.
N)j.
V2/a)i;
= fMok.
m)i.
22.7 lb
(8.66 N)k;
ft.
30.7
N m.
3*.
(a)
2flw
(a)
cos/?
0.
(ft)
(c)
2g/3au 2
Jror'wf.
(ft)
\/2g/3a.
F = -mRwfij
(a)
VgTa".
D=
JmjîOjWji
tnftk'ljk.
V2g7^-
(ft)
-(0.622 N)j
(4.00 N)k.
(3.82N)j -(4.00N)k.
4450 rpm.
3690 rpm.
(a)
36.1 rad/s; 7.40 rad/s.
(a)
2.75 rpm.
(ft)
Precession axis:
(ft)
-0.169.
2.77 rpin; 397 rpm.
^30";
precession,
6.00 rad/s; spin, 10.39 rad/s.
18.70
18.72
18.76
18.78
18.84
N)j.
ft)i.
lb)j;
M = (4.00 N
E=
+ 2^).
(0.432 kg
(ft)
A=
(a)
(a)
(0.388
M = (0.877 N
(ft)
SI:
18.66
18.68
Jmr^wji
(a)
-(46.2
A = $(w/g)a 2 a% B = -A.
A = -(19.49 N)j +
B = -A.
18.56 (0.831 N m)i.
V737
J.
2 j.
(1.296
A =
-6.92
SI:
-lb.
ft
(ft)
(a)
(0.806 rpm)k.
5ma 2u%/48.
M.4
18.54
\/6g/5o.
(a)
\x>Jr.
}k).
Ar
SI:
= (2t|sin 2 <?/
h\A= 0.558 s.
(ft)
s;
Ail =
/2
5j).
(6FAf/7ma)(i - 7j). (ft) Axis

through A, in xy plane, forming
^581.9 with .vaxis.
A=
(a)
{a)
M = (0.647 lb
(0.497 rad/s)j.
(3FA/rod)(i
(ft)
(a)
mVg'A B At = m \/g//12.
(ft)
(ft)
0.1o -.
(6)
-(1.177 m/s)k.
ft/s)k; SI:
31.0 5*..
18.10
18.14
18.28
18.32
18.34
18.36
18.38
18.40
18.42
18.44
(a)
CHAPTER 18
18.2
18.4
18.6
18.8
18.24
18.26
the final motion.
SI:
17.124
17.126
m/s-*.
1.920 ft/s -; va
72.6 rpm.
2.86 m/s.
1.164 m/s.
SI:
ft/s.
vA
3.97 m/s; v
2.4
(a)
is
17.116
17.118
17.120
17.122
Arm:
Disk: 287.4 rpm;
icA
17.104
17.106
17.108
17.110
17.112
17.114
18.18
24.4 rpm.
uu =
17.102
18.16
J.
18.86
Precession axis: 9I
S
2.61
39.9, 0
127.9,
79.4; precession, 4.38 rpm; spin,
rpm.

1
8.88
Precession axis: 8 T
90, 6
19.26
58.0,
d z =32.0; precession, 1.126 rpm

14.01 rev/h.
(a) oi
22.7 rpm, y
(ft)
75.6.
(a) /?
57.3.
(c) Precession,
23.8.
3VS72T.
= 4^/15; &
(a)
t?
18.108
5V3J72^.
(a)
nfo/15.
$ = V3g72a^
(ft)
27.8rad/s2
A = (3.35N)j +
C = -A.
18.112
18.114
18.116
(a)
-lu
(12.08 \)k;
+ lk).
(li
(a)
-(1.250 m/s)k.
(ft)
(1.657 rad/s)(i
(a)
(42.4 rpm)j
(i)
2800
(a)
ft
lb.
-|u
(6)
j.
3j).
(64.2 rpm)k.
SI:
3790
(ft)
Tangent of angle
J.
r^^Tg
0.658 kg
=
=
t
t
(ft)
J/oJ
'<ft)
-ty sec fi.
&
=
=
|-
-2.03^.
(c) 9.4;
7"
0.789mg;
13.66 Vg/aj
19.84
19.86
0.700mga.
7'
42.8mga.
(l/2w)
9.90
s.
t
t
CHAPTER 19
19.2
1 9.4
(a)
0.1900 m.
(a)
2.49
0.0245
19.6
1 9.8
mm;
0.497
(a)
0.1348
s.
s.
(ft)
(a)
0.679
19.12
(a)
4.53
SL
(a)
(a)
0.994 m.
19.20
19.24
1.400
in.
(ft)
0.632 m/s.
(ft)
(ft)
0.683 m/s
SI
19.10
19.14
19.16
19.18
2.39 m/s.
0.621
mm;
in.
(a)
1.714
(ft)
0.0979
s;
m/s2
8.00
(c)
m/s 2
2.24 ft/s |; 20,1 ft/s 2

t;
6.13
1.473 Hz.
m/s 2
(ft)
j.
2;r\/m/3fccos2
(ft)
0.583
s.
(ft)
(ft)
0.583
s.
(a)
1.107 s.
(ft)
1.429
s.
(a)
0.777
(ft)
1.099
s.
&J
(a)
7.90
(ft)
38.7 kg.
lb.
(ft)
85.3
lb.
s.
W/\/3f
<o>
\j2k/m.
>V2&7I
168.0 rpm.
(a)
0.0857
320 fim.
(ft)
or 0.120
in.
in.
in.
pm.
(c)
co.
2.18mm
SI:
1007 rpm.
1085 rpm.
109.5 rpm.
1.200
mm.
70.1 km/h.
= x e "'(1 +
VI - 2(c/c 2
x
(a)
c)
(a
1.509
0.1791
(a)
in.
mm.
0.1147
3.58 kg.
(&)
s.
(ft)
mm.
mm.
234 rpm.
(c) 8.84
mm.
mxA +
mSB (a)
(ft)
0.583
(ft)
4.55
Si;
270 rpm.
pt).
5A-.r,
2kxA
E/R.
(ft)
2kxB
2kxB
= 0;
- Pm
sin ut.
L/R.
mxm + k 2 xm + c(xm ~ *,) + k,xA =
iA )
0;
c(*a
SI: (a)
or
mm
E&4"$t + B(4W-4i)"Ql
1.904 Hz.
16.3.
0.00131
(ft)
168.0 rpm. (6) 33.3
11.38 fim.
(a)
(a)
3.67,
SL 0.427 m.
ft.
19.116
/? .
= 2a\ZmJkcosTp.
9.45
19.114
2.06 kg (mass),
Vg/2l
J.
0.1852 m/s;
lb.
19.106
19.108
19.110
19.112
2-n\/fp6g.
/=
3.05
19.88
19.90
1 9.92
19.94
19.96
19.104
m2
2v\/l/g.
SI: (a)
18.118
0.440s.
SI: (a)
1.087 m/s.
(ft)
19.48
19.50
19.58
19.62
19.64
19.68
19.70
19.72
19.74
19.76
19.78
19.80
19.82
5V3g/2n.
(ft)
18.110
2.38 ft/s.
(ft)
Precession, 74.3 rpm;
(ft)
rpm.
spin, 1 15.9
18.96
18.100
18.102
0.725 m/s.
19.72 rpm; spin, 7.36 rpm.
18.94
0.440s.
(ft)
19.28 (a) 0.907 s. (ft) 0.346 m/s.

9.30 (a) 0.533 s. (ft) 0.491 rad/s.
19.32 f=(l/2ir)y/3k/m.
19.38 (a) Z/VI2. (ft) 4.77\/Z7g.
19.40 (a) 2.28 s. ft) 1.294 m.
1 9.42
(a) t = 2w\/5fc/6g. (ft) c = $ft.
1 9.44
(a) r = 7.09 in. (ft) 3.42 in.
SI: (a) ra = 180.0 mm. (ft) 86.9 mm.
19.46 (a) 5.54 s. (ft) 3.57 ft/s. SI: (a) 5.54 s.
(retrograde); spin, 0.343 rpm.
18.90
18.92
(a)
Ci
mm;
976
19.124
(a)
m,X,
+ CJ& x2 +
Oj,*,
+
+
m.,x.,
i,)
-(-
k2 <x,
fe,*,
x2 )
Oj
c 3 x2
Xj) + k3x 2 = Pm sin ul.

+ K,Ji + R2{& - &)
+
(b)
c.,(x2
/.,//,
k 2 (x2
9.78
9.80
9.82
9.84
9.86
9.88
9.90
+ R 2 (q 2 - qj + R 3 q 2
L,fc
2
Jim ;a/\/3.
5ma 2/18
m(2b 2
7^
)/l().
2mr 2/3.
1.514 kg
m2
mm.
155.7
2
2
(a) md /6. (b) 2mrf /3.
(a) 5.14 X 10
kg m 2
2
8
(6) 7.54 X lO" kg m
2
10kg-m
(cj 3.47 X
_:i
2md*/3.
(c)
:,
9.92
19.126
1.363
1 9.1 28
0.760 lb
s.
ft
8.66
in.
1.030 kg
SI:
m2
9.94
0.220 m.
19.130
19.132
19.134
19.136
(a)
5.81 IIz; 4.91
\b)
491 N.
mm; 179.2 mm/s.

mm/s t
159.2
(c)
12.5811/..
9.100
s.
9.102
9.104
9.106
APPENDIX B
9.72
9.74
(a)
Jmo2
(a) IAA
(b) Jcc
9.76
9.96
9.98
m(3
=
=
\rnti1
(b)
{m(a?
m/> /24; IRB
m(3fo2
+ LV12-
+ 4A2)/72.
ft ).
m/i2
/18.
9.108
9.110
ft
0.0682 kg
(a)
20.2 lb
(c)
41.3 lb-
s2;
SI:
3.73
m2
ft
2
s .
-s2
ft
m2
in.
94.8
si:
mm.
(b) 42.1 lb
ft
27.4 kg -in 2
(a)
m2
2
Plp = -0.001 199 kg m Pw = P =
P = 7.02 lb ft s 2 P. = P = 0.
SI:Pw = 9.52kg.m*,Pw = ? = 0,
(a) P a mm/20, (b) ?
n = mafc/20;
Pw = mbc/20.
3ma 2 (a 2 + 6/i 2 )/20(fl 2 + 2
(b) 57.1
72.5 ,um.
1.346
0.0503 lb
kg
56.0 kg
(c)
/;
29.9 lb
ft
= 2m
SI:
40.5 kg
(a)
7,
/3, 7,
J.
Px ,
= maV4. P =
0,
(b)
2ma 2 /3.
0.426 ma 2
(a) 2.
(b) 0.5.
).
m2
= llm2 /12,
= -ma 2 /4.
<
Centroids of
Common Shapes
of
Areas and Lines
Shape
Area
bh
2
Triangular area
Quarter-circular
area
4r
3w
3a
8
area
Parabolic area
Parabolic spandrel
Circular sector
Quarter-circular
_4r
Semicircular area
Semiparabolic
3w
3ot
3h
5
2aft
3/i
4a/t
3a
4
3fc
10
2r sin a
ar*
3a
2r
2r
nr
arc
Semicircular arc
2r
n
Arc of
circle
Zar
Moments
of Inertia of
Mass Moments
Common
Geometric Shapes
Common
Slender rod
Rectangle
= )m>
=
=
of Inertia of
Geometric Shapes
>/-/,
&bh{b 2 + h 2
'.-
famL-
"rhin rectangular plate
Triangle
l*.
/,
Afefcs
= tW> 3
^jTOC2
'
Rectangular prism
Circle
Tz
Jy
r,
fymfit
fernfc*
I,
tV'"(o'
&)
+ a2 )
>>
2
)
= ^w*
Thin disk
L =
Semicircle
!,
= !, = iwr*
7o
/.-
i-
isrr*
Circular cylinder
L =
/.-
AmfSrf
/.*;
Quarter circle
h=
7o =
-rWr4
Circular cone
Att
-,-J
h=
ly
fynuP
= h = im(W +
Ellipse
IT
/
- frab*
= iwa 3 b
= }irab(a* +
Sphere
b2)
7,
= L=
7.
ii'i-
/<
2
)

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Third Edition

Vector Mechanics for Engineers

000 000 000

0.000 000 (XX)

(XX) (XX) 001

syllable of every prefix is accented so thai the prefix will retain

on the first syllable, not the second.

Meter per second squared

Radian per second squared

Kilogram per cubic meter

U.S. Customary Units

LIBRARY & LEARNING RESOURCES SERVICE

This book must be returned on or before the date last stamped

Vector mechanics for

000 578 770

U.S. Customary Units

Professor and Chairman

McGraw-Hill Book Company

Vector Mechanics for Engineers

1977, 1972, 1962 by McGraw-Hill, Inc. All rights reserved.

means, electronic, mechanical, photocopying, recording, or otherwise,

Laurel by York Graphic Services, Inc.

W. Maisel; the designer

Haber; the production

The drawings were done by

Library of Congress Cataloging

Beer, Ferdinand Pierre, date

Mechanics, Applied. 2. Vector analysis.

531 '.01 '51 563

RECTILINEAR MOTION OF PARTICLES

Motion of Several Particles

CURVILINEAR MOTION OF PARTICLES

Newton's Second Law

Motion under a Central Force. Conservation

Trajectory of a Particle under a Central Force

Work and Energy

Applications of the Principle of

and Angular Momentum of a System of Particles

Energy of a System of Particles

Rotation about a Fixed Axis

Equations Defining the Rotation of a Rigid Body about a

Plane Motion of a Particle Relative to a Rotating Frame.

of a Rigid Body in Plane Motion

A Remark on the Axioms of the Mechanics of Rigid Bodies

Constrained Plane Motion

Work and Energy for a Rigid Body

Application of the Principle of Impulse and

Kinetic Energy of a Rigid

Motion of a Rigid Body about a Fixed Point

Steady Precession of a Gyroscope

Motion of a Rigid Body in Three Dimensions

VIBRATIONS WITHOUT DAMPING

Free Vibrations of Particles.

Simple Harmonic Motion

Simple Pendulum (Approximate Solution)

Free Vibrations of Rigid Bodies

Application of the Principle of Conservation of Energy

Useful Definitions and

Properties of Vector Algebra

course in mechanics should be to

engineering student the ability to analyze any

this text, as well as

solution a few, well-understood, basic principles.