Solution:
vA/G = rA/G
i
= 0.62
3.6
j
0.45
0.8
k
0.23 (m/s)
1.2
10 m
(Not to scale)
0.36 m
B
A
0.36 m
Top view
(5 m/s)
v
k=
k = (0.5 rad/s)k
R
(10 m)
v
(5 m/s)
j = (0.5 rad/s)k
j
r
(0.36 m)
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639
2m
rG/A = (i + j + k) m.
The velocity of point A is
vA = vG + rG/A
i
= (26i + 14j + 32k) m/s + 6.4
1
j
8.2
1
Primary reference
frame
k
12 m/s
1
2m
z
x
Primary reference
frame
j
8.2
1
k
12 m/s2
1
640
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2m
z
x
What is the velocity of point A of the cube relative to the primary reference frame at the instant
shown?
If the components of the vectors rel and are
constant, what is the cubes angular acceleration
relative to the primary reference frame?
Primary reference
frame
Solution:
(a)
vA = vG + (rel + ) rA/G
= (26i + 14j + 32k) + (8.4i j + 5.2k) (i + j + k)
vA = (19.8i + 10.8j + 41.4k) m/s.
(b)
C
B
D
Solution: Given
= (30 rad/s)
0.2 m
A
30 rad/s
0.4 m
0.4 m
Solution: Given
= (30 rad/s)
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641
vd
A
45
v0
vd
(a)
45
x
Solution:
(a)
v0
= 0 d k = (4)(6)k = 24k
= 24k rad/s2 .
(b)
642
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0.91 m
P
vd
z
v0
(b)
rad
180
v0
(a)
rad/s.
12
k
12
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643
(a)
v0
rad
180
rad/s.
12
12
(b)
a = r + ( r)
k
= (0.2 sin 30 i + 0.2 cos 30 j)
12
vd
z
v0
The angular velocity of the disk relative to the secondary reference frame is
rel = d i = 6i (rad/s).
(b)
vc = v0 + rC/O
i
= 0 + 0
0.3
j k
2 4
0 0
= 0 j + b k = 2j + 4k (rad/s),
so the disks angular velocity is
Solution:
(a)
vb
vP = vC + rP /C
i
= 1.2j 0.6k + 6
0
j k
2 4
0.2 0
= + rel = 6i + 2j + 4k (rad/s).
Let O be the origin and C the center of the disk. The velocity
of C is
644
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0.1 m
z
x
0.2 m
0.1 m
0.4 m
(a)
v0
(b)
Solution:
vc = ( + rel ) r = (10i + 6k) (0.1i + 0.1j)
vc = (0.4 m/s)k
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645
What is the angular acceleration of the object relative to an earth-fixed reference frame?
(b) At the instant shown, what is the acceleration relative to an earth-fixed reference frame of the end
C of the vertical bar?
y
0.1 m
z
x
0.2 m
0.1 m
0.4 m
(a)
v0
(b)
Solution:
(a)
= (60 rad/s2 )k
(b)
ac = r + ( + rel ) [( + rel ) r]
= (60k) (0.1i + 0.1j) + (10i + 6j) [(10i + 6j) (0.1i + 0.1j)]
= (8.4i 10j) m/s2 .
ac = (8.4i 10j) m/s2 .
646
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y
2 rad/s
60 mm
B
20
A
10
rad/s
x
80 mm
vA = v0 + rA/O
i
= 0 + 0
0
j
2
0
k
10 = 80i (mm/s).
40
j
2
30 sin 20
k
10
0
j
2
2
k
0 = 20i (rad/s2 ).
10
j k i
0 0 + 0
0 40 80
j k
2 10
0 0
j
0
30 sin 20
j
2
281.9
k
0
0
k
10
56.4
= 160k (mm/s2 ).
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647
Solution:
v = ( + rel ) r = (2j + 55.6k) (0.02j + 0.03k)
= (1.05 m/s)i
v = (1.05 m/s)i
(a)
Solution:
(a)
= (100 rad/s2 )i
648
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Problem 20.20* The cone rolls on the horizontal surface, which is fixed with respect to an earth-fixed reference frame. The x axis of the secondary reference frame
remains coincident with the cones axis, and the z axis
remains horizontal. As the cone rolls, the z axis rotates in
the horizontal plane with an angular velocity of 2 rad/s.
(a)
(b)
0.2 m
2 rad/s
z
0.4 m
= + rel
= (0.894 + rel )i + 1.789j (rad/s).
To determine rel , we use the fact that the point P in contact
with the surface has zero velocity:
vP = v0 + rP /O
i
= 0 + 0.894 + rel
0.4
j
1.789
0.2
k
0 = 0.
0
Problem 20.21* The cone rolls on the horizontal surface, which is fixed with respect to an earth-fixed reference frame. The x axis of the secondary reference
frame remains coincident with the cones axis, and the
z axis remains horizontal. As the cone rolls, the z axis
rotates in the horizontal plane with an angular velocity of 2 rad/s. Determine the velocity relative to the
earth-fixed reference frame of the point of the base of
the cone with coordinates x = 0.4 m, y = 0, z = 0.2 m.
(See Example 20.3.)
vA = v0 + rA/O
i
= 0 + 3.578
0.4
j
k
1.789 0
0
0.2
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649
Problem 20.22* The cone rolls on the horizontal surface, which is fixed with respect to an earth-fixed reference frame. The x axis of the secondary reference frame
remains coincident with the cones axis, and the z axis
remains horizontal. As the cone rolls, the z axis rotates
in the horizontal plane with a constant angular velocity of 2 rad/s. Determine the acceleration relative to the
earth-fixed reference frame of the point of the base of
the cone with coordinates x = 0.4 m, y = 0, z = 0.2 m.
(See Example 20.3.)
j
k
1.789 0 = 8.000k (rad/s2 ).
1.789 0
i
k
8 + 3.578
0.2 0.358
j
1.789
0.716
k
0
0.716
x
z
y
v0
b
(a)
0.1 m
= 0 sin 45 i + 0 cos 45 k
45
0.2 m
vP = v0 + rP /O
i
= 0 + 1.414
0.1
j
0
0
45
P
k
1.414 + rel = 0.
0.2
650
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vA = v0 + rA/O
i
= 0 + 1.414
0.1
j
0
0
k
2.828 = 0.
0.2
Retracted
position
y
z
y
Horizontal
axis
Strut
Deployed
position
x
0t
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651
y
l
v0
b
z
v0
F = mgj mb0 k
Now use Eulers equations to find the moment C exerted by the disk
on the base of the rod. Note that the angular velocity is zero, and the
only nonzero inertias are Ixx = Izz = ml 2 /12.
Ixx 0 0 0
1
C+ j F=
0 0 0 0 = 0
2
0
0 0 Izz
C=
1
j(mgj mb0 k)
2
1
C = mbl0 i
2
Problem 20.27 In Example 20.5, suppose that the horizontal plate is initially stationary, and at t = 0 the robotic
manipulator exerts a couple C on the plate at the fixed
point O such that the plates angular acceleration at this
instant is = 150i + 320j + 25k (rad/s2 ). Determine C.
y
150 mm
150 mm
300 mm
O
1
(4 kg)(0.6 m)2 = 0.48 kg-m2 ,
3
Iyy =
1
(4 kg)(0.3 m)2 = 0.12 kg-m2
3
300 mm
0.48
Cx 11.8
= 5.89 + 0.18
C
y
0
0
Cz
Solving we find Cx = 26.2,
Thus
652
0.18
0
150
0.12
0 320
0
0.60
25
Cy = 5.51,
Cz = 15.
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Problem 20.28 A robotic manipulator moves a casting. The inertia matrix of the casting in terms of a
body-fixed coordinate system with its origin at the center of mass is shown. At the present instant, the angular velocity and angular acceleration of the casting are
w = 1.2i + 0.8j 0.4k (rad/s) and = 0.26i 0.07j +
0.13k (rad/s2 ). What moment is exerted about the center
of mass of the casting by the manipulator?
Solution:
0.05
Mx
= 0.03
M
y
0
Mz
0.03
0
0.26
0.08
0 0.07 N-m
0.13
0
0.04
0
0.4
+ 0.4 0
0.8 1.2
0.8
0.05
1.2 0.03
0
0
0.03
0
0.08
0
0
0.04
1.2
N-m
0.8
0.4
Ixx
Iyx
Izx
Ixy
Iyy
Izy
Ixz
0.05 0.03 0
kg-m2.
Iyz 0.03 0.08 0
0
0
0.04
Izz
Problem 20.29 A robotic manipulator holds a casting. The inertia matrix of the casting in terms of a
body-fixed coordinate system with its origin at the center of mass is shown. At the present instant, the casting is stationary. If the manipulator exerts a moment
M = 0.042i + 0.036j + 0.066k (N-m) about the center of mass, what is the angular acceleration of the casting at that instant?
Solution:
0.05
0.042
0.036 N-m = 0.03
0.066
0
0.03
0
x
2
0.08
0 kg-m
y
z
0
0.04
Solving we find
= (x i + y j + z k) = (1.43i + 0.987j + 1.65k) rad/s2
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653
O
z
x
Ixx
Iyx
Izx
Ixy
Iyy
Izy
Ixz
4
Iyz 2
0
Izz
2
3
1
0
2
1 kg-m .
5
Solution:
0
Mx
= 4
M
y
6
Mz
4
0
6
6
4
6 2
0
0
2
3
1
0 6
N-m
6
1
4
5
0
+ 4
6
2
3
1
4
0
6
0
x
2
1 kg-m
y
5
z
6
4
6 2
0
0
2
3
1
0 6
N-m
1
6
5
4
654
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[I ] =
0
1
mb2
12
1
m(b2 + h2 )
12
0.267 0
0
=
0
0.6
0 kg-m2 .
0
0 0.867
The moment of the force about the center of mass is
M=
h
O
z
h
b
i j (F k) = 2i + 3j (N-m).
2
2
0.267 0
0
dx /dt
2
3 = 0
0.6
0
dy /dt
0
0 0.367
0
dz /dt
Solving, we obtain = 7.5i + 5j (m/s2 ). From Newtons second law,
F = F k = ma0 , the acceleration of the center of mass is a0 =
F
k = 0.5k (m/s2 ). The acceleration of pt A is
m
aA = a0 + rA/O + ( rA/O )
i
j k
= 0.5k + 7.5
5 0 + 0
0.3 0.2 0
= 2.5k (m/s2 ).
We see that |aA | = 2.5 m/s2 .
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655
Ixy
Iyy
Izy
Ixx
Iyx
Izx
=
0.500
0.667
0
Ixz
Iyz
Izz
1m
0.667
0
2.667
0
0
3.167
kg-m2 .
x
2m
y'
x
2
1
(0) (6) + (1) (6)
x1 m1 + x2 m2
3
3
=
=
1
2
m1 + m2
(6) + (6)
3
3
1
1m
O
2
A
x'
2m
= 0.667 m,
y =
2
1
(0.5) (6) + (0) (6)
y1 m1 + y2 m2
3
3
=
2
1
m1 + m2
(6) + (6)
3
3
= 0.167 m.
The moment of F about the center of mass is
M = (1.333i 0.167j) 12k
= 2i 16j (N-m).
From Eq. (20.19) with = = 0,
2
0.5
16 = 0.667
0
0
0.667
0
dx /dt
2.667
0 dy /dt .
dz /dt
0
3.167
From Newtons second law,
F = 12k = (6)a0 , the acceleration of the center of mass is a0 = 2k (m/s2 ). The acceleration of
pt A is
aA = a0 + rA/O + ( rA/O )
i
= 2k + 6.01
1.333
j
k
7.50 0 + 0
0.167 0
= 11.0k (m/s2 ).
656
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Ixy
Iyy
Izy
Ixx
Iyx
Izx
Ixz
Iyz
Izz
=
2
3
0
3 0
8
0
0 10
1m
kg-m2 .
1m
1m
z
1m
Solution:
(a)
2
40
40 = 3
0
20
3
8
0
0
dx /dt
dy /dt .
0
dz /dt
10
Solving, we obtain
= 28.57i + 5.71j 2k (rad/s2 ).
From Newtons second law,
j
5.71
1
k
2 + 0
0
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657
220 mm
150 mm
x
50 mm
Mx
0.00876
0.00396
=
M
y
0
Mz
0.00396
0
60
0.00655
0
40
0
0.01531
120
0
14.0
+ 14.0
0
8.2
6.4
0.00876
0.00396
0
8.2
6.4
0
0.00396
0
6.4
0.00655
0
8.2
0
0.01531
14.0
1.335
=
0.367 (N-m).
2.057
From Newtons second law, F = ma: 10k = 2.4a, and the
acceleration of the center of mass is a = 4.17k (m/s2 ).
From the solution of Problem 20.87, the center of mass is at
x = 0.1102 (m), y = 0.0979 (m). Therefore, the moment of the
force about the center of mass is
Equation (20.19) is
0.979
0.00876
1.098 = 0.00396
0
0
0.00396
0
dx /dt
dy /dt .
0.00655
0
dz /dt
0
0.01531
658
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200 mm
x
600 mm
0.02
[I ]G = 0
0
y
O
y'
x, x'
0
0 kg-m2 .
0.43
0
0.41
0
MOy = 6
4
MOz
MOx
6
0
100
4
0.02
0
100 0
0.41
0
0
0
MOx
0
0.12
=
M
Oy
0.08
MOz
2.46
0
41
0
100
0
4 ,
0.43
6
1.72
100
43 4
0
6
0.48
= 246 N-m,
156
M0 = 0.48i 246j 156k N-m.
0.02
[I ]G = 0
0
0
0.41
0
0
0 kg-m2 .
0.43
10
0.02
0
10 = 0
0.41
0
0
0
0.02x
0
x
y = 0.41y .
0
z
0.43z
0.43
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659
y
0.8 m
Solution: The reactions at the support arise from (a) the Euler
moments about the point A, and (b) the weight unbalance due to the
offset center of mass. The Euler Equations: Express the reactions in
the x, y, z system. The angular velocity in the x, y, z system
1 rad/s
d
d
d2
= (i cos j sin )
+ 2k
dt
dt
dt
y
0.8
m
140
0
MOy =
0
MOz
MOx
0
220
0
0
+ 0.3491
0.866
MOx
140
0
0
0
220
0
0
0.302
0 0.1745
220
0.6981
0.3491
0
0.5
0.866
0.5
0
1 rad/s
0
0.5
0 0.866 .
220
0.3491
0
76.79
42.32
48.87
0
MOy = 38.39 +
121.2
110
153.6
MOz
190.52
110
0
CBase
0.5
0.866
0.3491
A
mg
0
42.32
42.32
MW = rG/O
i
W = 0.8
1373.4
j
k
0
0
2378.8 0
Mx
0
Cx
Cy =
0
My
1903.0
Cz
M
42.32
0
42.32
= 52.36 (N-m),
= 52.36 +
0
1784.1
+1903.0
118.9
= 1903.0k.
660
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to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
0.6 m
0.9 m
m 1 3
m 1 2 2
bh
b
h
0
A 12
A 8
m 1 2 2
m 1 3
0
b h
hb
[I ] =
A 4
A 8
m 1 3 1 3
bh + hb
0
0
A 12
4
0.300
= 0.675
0
0.675
0
2.025
0 kg-m2 .
0
2.325
m0 =
1
2
bi + hj (mgk)
3
3
h
z
F
y
b
mg
9.81
0.300
29.43 = 0.675
0
0
0.675
0
dx /dt
2.025
0 dy /dt .
dz /dt
0
2.325
F = maG :
aG = aO + rG/O + ( rG/O )
= 0 +
i
0
2
b
3
F (5)(9.81)k = (5)(8.72k),
j
k
14.5 0 + 0
1
h 0
3
= 8.72 k (m/s2 )
9.81
0.300
29.43 = 0.675
0
0
0
+ 0
0
0
0
4
0.675
0
dx /dt
dy /dt
2.025
0
dz /dt
0
2.325
0
0.300
4 0.675
0
0
0.675
0
4
2.025
0 0.
0
2.325
0
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to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
661
y
20 m
B
20 m
x
10(5000) + 0(5000)
= 5 m,
xG =
10000
yG =
20 m
10(5000) + 0(5000)
= 5 m,
10000
y
B
20 m
zG = 0,
from which (dx , dy , dz ) = (5, 5, 0) m.
mL2
,
=
3
A = IA + IA =
Izz
xx
yy
G
A
x
z
B
F
2mL2
3
A = I A = I A = 0,
Ixy
xz
yz
[I A ]
0.6667
0
= 0
0.6667
0
0
0
0 Mg-m2 .
1.333
From the parallel axis theorem, Eq. (20.42), the moments and products
of inertia about the center of mass are:
A (d 2 + d 2 )(2 m) = 0.4167 Mg-m2 ,
Ixx = Ixx
z
y
A (d 2 + d 2 )(2 m) = 0.4167 Mg-m2 ,
Iyy = Iyy
x
z
A (d 2 + d 2 )(2 m) = 0.8333 Mg-m2 .
Izz = Izz
x
y
A d d (2 m) = 0.2500 Mg-m2 ,
Ixy = Ixy
x y
0.4167
[I ] = 0.2500
0
0.2500
0
0.4167
0 Mg-m2 .
0
0.8333
662
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i
MG = rB/G F = 15
0
j
k
5 0
0 400
2000
6000 = [I ]
0
4.167 105
= 2.5 105
0
2.5 105
4.167 105
0
x
0
y .
0
z
8.333 105
1
F = 0.04k (m/s2 ).
2m
aA = aG + rA/G
= 0.08k (m/s2 ),
i
= 0.04k + 0.006
5
j
k
0.018 0
5
0
aA = 0.08k (m/s2 )
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663
i
d
d
=
(d i + O j) + O d = 0 + 0
dt
dt
d
j
O
0
k
0
0
i
( rA/O ) = d
b
= O d k.
i
d
RO cos
j
O
R sin
j
O
Rd cos
0
R cos
0
Rd sin bO
2 )k.
= (Rd sin bO )(o i d j) + (R cos )(d2 + O
Collecting terms:
2 )i (R 2 sin )j
aA/O = (2RO d sin bO
d
2 cos )k.
+ (Rd2 cos + RO
Term by term:
i
O d (k rA/O ) = O d 0
b
j
0
R sin
1
R cos
= O d R sin i O d bj,
[I ] =
1
2
4 mR
0
1
2
4 mR
0
0
0
0.04
0 = 0
1
2
0
2 mR
0
0
0.04
0 kg-m2 .
0
0.08
= = 0 sin j + 0 cos k
Mx
0
M
y = 21.65
12.5
Mz
21.65
0
0
12.5
0.04
0 0
0
0
0
0
0.04
0
0
0.08
10.8
0
12.5 = 0 N-m.
0
21.65
664
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x
y
l
2
0
[I ] =
0
1
ml 2
12
0
0 = 0
1
0
ml 2
12
0
0
0.96
0 kg-m2 .
0
0.96
x
y
0
0
0
0
12.5
0
21.65
21.65
0
0
0
21.65
0.96
0
12.5
0
0.96
0
0
= 0 N-m
260
We see that |C| = 260 N-m.
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665
x
l
2
y 2 dm =
Ixx =
l/2
= A sin2
l/2
y
ds
F
dm
(s sin )2 A ds
2l
53
3
l
2
1
A l 3 sin2
12
1
ml 2 sin2 .
12
x 2 dm =
Iyy =
m
l/2
l/2
(s cos )2 A ds
1
ml 2 cos2 ,
12
Ixy =
xy dm =
m
l/2
l/2
(s 2 sin cos )A ds
1
ml 2 sin cos .
12
sin2
1
2
ml sin cos
[I ] =
12
0
0.240
= 0.416
0
sin cos
cos2
0
0
0
1
0.416
0
0.720
0 kg-m2 .
0
0.960
0
0
25
0
0.240
25 0.416
0
0
0.416
0
25
0.720
0 0
0
0.960
0
0
0 N-m.
260
666
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0
O
= 0 (i cos + j sin ).
The vector from O to the center of mass of the bar is rG/O = (L/2)i.
The weight is
W = mg(i cos j sin ).
The moment about the point O is
MG = rG/O
W=
i
L
2
mg cos
0
mg sin
0
L
mgL
sin k
2
Iyy = Izz =
mL2 /3,
= = 0 (i cos + j sin ).
Eq. (20.13) reduces to
0
MOx
MOy =
0
MOz
0 sin
0
0
0 cos
0
mL2
3
0 sin
0 cos
0
MOz =
0 cos
0 sin .
2
0
mL
3
0
MOx
MOy =
0
MOz
0 mL2 cos
3
0 mL2 sin
3
0 mL2 cos
3
MO = MG .
0 cos
0 sin
0 =
3g
2l cos
0
.
02 mL2 cos sin
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667
0.61 m
35
0.31 m
The vector from the pin joint to the center of mass of the plate is
rG/O = 0.31i + (0.152 )j ( m).
The weight of the plate is
W = 44.5 (i cos j sin )
MG = rG/O
i
j
W = 0.31 0 . 152
36.4 25.5
k
0
0
35
= 13.33 N-m.
44.5 N
mh2
= 0.14 kg-m 2,
=
3
0
MOx
2
MOy =
0
0
0.27
MOz
Iyy =
mb2
= 0.56 kg-m 2,
3
Izz =
m 2
(h + b2 ) = 0.7 kg-m 2,
3
Ixy =
mbh
= 0.21 kg-m2 ,
4
13 .33 = 02 (0.27 ),
Ixz = Iyz = 0.
At a constant rate of rotation, the angle = 35 = const, = 0. The
body-fixed coordinate system rotates with angular velocity
= = 0 (i cos + j sin )
= 3.64 0 i + 2 .55 0 j (rad/s),
and Eq. (20.13) reduces to:
MOx
0
MOy = 2
0
0
MOz
2.55
0.14
0.21
0
668
0
0
3.64
0.21
0.56
0
2. 55
3.64
0
0
3.64
0 2 .55 .
0.7
0
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vd
z
x
R
v0
100 N
9.81 m/s
2
(1 m )(4 rad/s)2 k
F = (100 j 163k) N .
In preparation to use Eulers Equations we have
= 0 j + d k = (4j + 10k) rad/s
= 0 j d k = (40 rad/s2 )i
[I ] =
1
2
4 mR
0
0
0
1
2
mR
4
0
0
0.637
0
0
0
0.637
0 kg-m2
0 =
1
2
0
0
1.
274
2 mR
0
+ 10
4
10 4
0.637
0
0
0
0
0 0
0.637
0 4
0
0
0
0
1.274
10
M = 25 .5 i N -m .
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669
0.1 m
z
0.1 m
0.1 m
0.2 m
0.1 m
(a)
v0
(b)
1
= 2 (1 kg)(0.1 m)2 = 0.00667 kg-m2 ,
3
Iyy =
1
(4 kg)(0.4 m)2 + 2(1 kg)(0.1 m)2 = 0.0733 kg-m2 ,
12
Bz Az (0.2)
By Ay
0.00667 0.01
0
0
= 0.01 0.0733
0
0
0
0
0.08
60
0
+ 6
0
6
0
0.00667
0
10 0.01
10 0
0
0.01
0
10
0.0733
0 6
0
0.08
0
Az = 0,
By = 25.8 N,
Bz = 0.
670
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mD =
457
By
.2 m
m
mm
mm
45
7.2
7.2
Ay
45
Az
of the disk is
305 mm
Ax
44.5
= 4.54 kg.
9.81
Bx
The reaction of the shaft to the disk : The moments and products of
inertia of the disk are:
Izz =
mD R 2
= 0.105 kg-m 2,
4
Ixx = Iyy =
R2
mD
2
Md
x
= 0.211 kg-m 2
Fdisk
z
md g j
d
= 0.
dt
0 0
Mdx
Mdy = d 0 0
1 0
Mdz
1
Ixx
0 0
0
0
0
Iyy
0
0
0
0 0
d
Izz
Izz
= 0 d
0 .
0
md aD = Fdisk + W = Fdisk Wd j,
from which the external force on the disk is:
Fdisk = md g j 0.91md 02 k = 44.5 j 66 .4 k (N).
The external force on the shaft is
Fshaft = Fdisk = 44.5 j + 66. 4 k (N)
md R 2
i = 16.85 i (N-m).
2
i
aD = 0
0
j
0
0
k
i
j
0 = 0
0
0.910 0
3
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671
y
u
x
Solar
panel
O
z
Solution: We have
= x i + 0 (sin j + cos k)
=
d
d
d
= 0i + 0 cos
j 0 sin
k
dt
dt
dt
= 0 x cos j 0 x sin k
Thus
Ixx
Mx
= 0
M
y
Mz
0
0
Iyy
0
0
0
0 0 x cos
Izz
0 x sin
0
+ 0 cos
0 sin
Ixx
0
0
0
Iyy
0
0 cos
0
x
0 sin
x
0
0 x
0 0 sin
Izz
0 cos
Solving we find
Mx = (Izz Iyy )0 2 sin cos
672
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d 2
= 02 sin cos .
dt 2
Solution: Assume that the only external moment applied to the
object is the moment required to maintain a constant rotation 0 about
the axis of rotation. Denote this moment by M0 . In the x, y, z system
M0 = M0 (i sin + k cos ), from which
b
h
Mx = M0 sin ,
My = 0,
x
Mz = M0 cos .
From Appendix C, in the x, y, z system the moments and products of
inertia of the plate are
Ixx =
mh2
,
12
Ixx x
M0 sin
= Iyy y
0
Izz z
M0 cos
Iyy
mb2
,
=
12
Izz
m 2
(h + b2 ),
=
12
+ 0 Ixx cos
d
Ixx
dt
d
dt
+ k0 cos (rad/s),
d
is the angular velocity about the y-axis. For 0 = const.
dt
for all time, the derivative
where
+j
d2
dt 2
k0 sin
d
dt
M0 sin
Ixx
= 0
0
0
M0 cos
0
Iyy
0
+ 0 cos
dt
Ixx
0
0
0
Iyy
0
0
x
0 y
z
Izz
0 cos
0
0 sin
0 Iyy sin
0 sin
d
,
dt
0 cos
dt
0
Iyy y + 2 Iyy cos sin
0
=
d
20 Iyy sin
dt
d
dt
0 Izz sin
0
Izz
d
I
cos
0 xx
dt
M0 sin
I
0
yy
dt
M0 cos
d
0 Izz sin
dt
0 Iyy cos
d0
= 0,
dt
= i0 cos
0 sin
d2
= 02 cos sin .
dt 2
0 sin
0
dt
Izz
0 cos
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673
z
R
applies. The vector distance from the center of mass to the base of
the cone is
rB/G =
h
k
4
(see Appendix C). The angular velocity of rotation of the body fixed
coordinate system is = 0 i. The velocity of the center of the base is
vB = rB/G
= 0
0
k
0
= 0 h j.
h
4
4
j
0
0
0 h
from which =
.
4R
0 h
k (rad/s).
4R
mg
MG = rB/G N =
0
3h
4
h
Since the rotation rate is constant, and the z axis remains horizontal,
the angular acceleration is zero,
d0
= 0.
dt
The body-fixed coordinate system rotates with angular velocity =
0 i, and
= 0 i
h0
k.
4R
0
MGx
2
MGy = 0
0
MGz
0
The center of mass of the cone is at a zero distance from the axis of
rotation, from which the acceleration of the center of mass is zero.
The angular velocity about the z-axis,
= 0 i
k
h
= + mgh j.
4
4
0
0
0
1
0
Ixx
1 0
0
0
0
Iyy
0
0 1
0
0
h
Izz
4R
hIzz
= 02
4R .
0
For equilibrium, MOy = MGy , from which
3mhR 2
mgh
=
0 .
4
40
Solve 0 =
10 g
3R
The moments and products of inertia of a cone about its center of mass
in the x, y, z system are, from Appendix C,
Ixx = Iyy = m
Izz =
674
3 2
3 2
h +
R ,
80
20
3mR 2
, Ixy = Ixz = Iyz = 0.
10
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Problem 20.56 The titled homogeneous cone undergoes a steady motion in which its flat end rolls on the
floor while the center of mass remains stationary. The
angle between the axis and the horizontal remains constant, and the axis rotates about the vertical axis with
constant angular velocity 0 . The cone has mass m,
radius R, and height h. Show that the angular velocity
0 necessary for this motion satisfies (see Example 20.6)
0 2 =
+ 14 h2 ) sin cos
3
hR cos2
40
v0
h
R
3
3
2
2
0
0
20 mR + 80 mh
3
3
2
2
[I ] =
0
0
20 mR + 80 mh
3
2
mR
0
0
10
The point P of the cone that is in contact with the ground does not
move, therefore
3 2
mg(R sin 14 h cos ) = [( 80
h +
vP = vC + rP /C
= 0 cos i +
3 2
20 R ) cos
2
3
40 hR cos
sin
]m0 2
3
2
20 (R
+ 14 h2 ) sin cos
3
2
40 hR cos
h
0 cos k.
4R
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675
Problem 20.57 The two thin disks are rigidly connected by a slender bar. The radius of the large disk
is 200 mm and its mass is 4 kg. The radius of the small
disk is 100 mm and its mass is 1 kg. The bar is 400 mm
in length and its mass is negligible. The composite object
undergoes a steady motion in which it spins about the
vertical y axis through its center of mass with angular
velocity 0 . The bar is horizontal during this motion and
the large disk rolls on the floor. What is 0 ?
y
v0
Solution: The z axis remains aligned with the bar and the y axis
remains vertical.
The center of mass (measured from the large disk) is located a distance
d=
(1 kg)(0.4 m)
= 0.08 m
(5 kg)
1
1
(4 kg)(0.2 m)2 + (1 kg)(0.1 m)2 = 0.085 kg-m2
2
2
Ixx = Iyy =
+
1
(4 kg)(0.2 m)2 + (4 kg)(0.08 m2 )
4
1
(1 kg)(0.1 m)2 + (1 kg)(0.32 m)2 = 0.1705 kg-m2
4
0
3.924 N
= 0
0
0
0
0 0
Ixx 0
0 0
0 0 0 Iyy 0
0
0 0
0.40
0
0 Izz
676
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45 deg/s
300
mm
(a)
mR 2 /4
45 deg/s
(b)
= 1 kg-m .
v
R
i+=
30
i 0.7853j = 100i 0.7853j.
0.3
0
0
0
y
Ixx
0 0
0
0
0
Iyy
0
0
x
0 y
0
Izz
0
,
0
y x Ixx
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677
dH
+ H.
M=
dt
For
dH
= 0,
dt
X
0
M = H.
If the rider turns to his left, the angular velocity is = +k rad/s.
The angular momentum is H = Hx i + Hz k, where Hx > 0. The cross
product
i
H= 0
Hx
j
0
0
k
+ = +Hx j.
Hz
For a left turn the moment about y is positive, causing the cycle to
lean to the left.
678
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MO =
M0 =
dHOy
dHOz
dHOx
i+
j+
k
dt
dt
dt
i
+ x
HOx
j
y
HOy
k
z .
HOz
MOx =
dHOx
+ y HOz z HOy ,
dt
MOy =
dHOy
x HOz + z HOx ,
dt
MOz =
dHOz
+ x HOy y HOx .
dt
Substituting Eqs. (20.9) and assuming that the moments and products
of inertia are constants, we obtain Eqs. (20.12):
MOx = Ixx
dy
dx
dz
Ixy
Ixz
dt
dt
dt
MOy = Iyx
dy
dx
dz
+ Iyy
Iyz
dt
dt
dt
MOz = Izx
dy
dx
dz
Izy
+ Izz
dt
dt
dt
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679
x
= 20/ min
1
= 0.005818 (rad/s),
180
60
= 10,000 rpm
(top view
of turbine)
= 90 .
Mx = 6092 N-m
5.5 m
Strategy: Treat the wheels motion as steady precession with nutation angle = 90 .
A
24.1 1000
+ +
v
=
=
R
5.5
3600
= 1.222 rad/s
6.7
v
= 22 rad/s,
=
=
0.31
Rw
and the nutation angle is = 90 . Using Ixx = 12 Izz = 0.542 kg-m 2,
from which Mx = 29.2 N-m
680
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vd
R
v0
Iyy =
mR 2
,
2
mR 2
,
4
mR 2
0 d = 1.2 N-m.
2
x
y
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681
Solution:
(a)
(b)
(maN )2 + (mg)2 = m 04 (h + b cos )2 + g 2 .
By orienting a coordinate system as shown, with the z axis normal to the disk and the x axis horizontal, the disk is in steady
precession with precession rate = 0 , spin rate = d , and
nutation angle
=
.
2
1
mR 2 .
2
1
mR 2 02 sin
cos
4
2
2
1
+ mR 2 d 0 sin
2
2
= R 2 0 m
1
1
0 cos sin + d cos
4
2
682
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Izz =
mR 2
,
4
mR 2
,
2
1
mR 2
1
cos +
= 0.
2
4
2
Reduce, to obtain
2
.
=
cos
(Ixx
Izz
= 1.31 rev/s.
Izz ) cos
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683
Izz
Ixx
tan = 9.53
satisfies the condition < . The body cone with an axis along the
z axis, rolls on a space cone with axis on the Z axis. The result is
shown.
Space cone
Body
cone
Z
z
Mx = 0.0254 mg sin .
The motion of a spinning top is described by Eq. (20.32),
25.4 mm
mg
25.4 sin mm
Substitute numerical values (using = 2 rad/s for dimensional consistency) to obtain = 182.8 rad/s, from which = 29.1 rev/s.
684
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0 h
,
4
from which the spin axis is the z axis and the spin rate is
10
9
8
7
6
,
5
rev/s
4
3
2
1
0
10
v
0 h
=
=
.
R
4R
The solution, 1,2 = b
15 20 25 30
Nutation , deg
35
40
45
b2 c.
The two solutions, which are real over the interval, are graphed as a
function of over the range 0 45 . The graph is shown.
Solution:
(a)
(b)
Izz
= 2050 rpm.
(Izz Ixx ) cos
Izz
Ixx
Space
cone
Y
Body
cone
tan ,
from which = 58.6 . Since > , the space cone lies inside
the body cone as the figure.
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685
Problem 20.73 A satellite can be modeled as an 800kg cylinder 4 m in length and 2 m in diameter. If the
nutation angle is = 20 and the spin rate is one
revolution per second, what is the satellites precession
rate in revolutions per second?
Z
z
Ixx = Iyy
L2
R2
=m
+
12
4
= 1267 kg-m2 ,
Izz
= 0.49 rps.
(Izz Ixx ) cos
10
1
(0.008 kg)(0.03 m)2 = 3.6 106 kg-m2
2
Ixx = Iyy =
1
(0.008 kg)(0.03 m)2
2
z
10
30
mm
h = 80 mm
= 309 rad/s
686
(49.1 rev/s)
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45 deg/s
v
R
=
30
0.3
300
mm
(a)
(b)
y
Y
X
45 deg /s
z
= 100 rad/s
Problem 20.76* The two thin disks are rigidly connected by a slender bar. The radius of the large disk is
200 mm and its mass is 4 kg. The radius of the small
disk is 100 mm and its mass is 1 kg. The bar is 400 mm
in length and its mass is negligible. The composite object
undergoes a steady motion in which it spins about the
vertical y axis through its center of mass with angular
velocity 0 . The bar is horizontal during this motion and
the large disk rolls on the floor. Determine 0 by treating
the motion as steady precession.
y
v0
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687
z Z
y
x
Y
X
Substitute values:
Mx = 2123 N-m,
My = 155.4 N-m,
Mz = 534 N-m.
688
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My = 200 N-m,
Mz = 0.
Mz = Izz ( cos + ).
These three simultaneous equations have the solutions,
My
Mx
=
cos
sin = 0.2174 rad/s2 ,
Ixx
Iyy
=
Mxx
Ixx
sin
+
sin
My
Iyy
cos
= 1.167 rad/s2 ,
sin
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689
1m
x
2m
Solution: One strategy (not the simplest, see Check note following
the solution) is to determine the moment of inertia matrix for each
element of the bar, and then to use the parallel axis theorem to transfer
each to the coordinate system shown.
(a) The vertical element Oy of the bar. The mass density per unit vol6
kg/m3 , where A is the (unknown) cross section of the
ume is =
3A
bar, from which A = 2 kg/m. The element of mass is dm = AdL,
where dL is an element of length. The mass of the vertical element is
mv = ALv = 2 kg, where Lv = 1 m. From Appendix C the moment
of inertia about an x axis passing through the center of mass is
Ix(1)
x =
1m
x'
y'
x
O
2m
mv L2v
= 0.1667 kg-m2 .
12
mv L2v
= 0.1667 kg-m2 .
12
(1)
Ix y =
Iy(1)
z =
x y dm = 0, Ix z =
(1)
x z dm = 0,
y z dm = 0,
from which the inertia matrix for the element Oy about the x axis is
[I (1) ]
0.1667 0
0
0
0
0 kg-m2 .
0
0 0.1667
(b) The horizontal element Ox of the bar. The mass of the horizontal
element is mh = ALh = 4 kg, where Lh = 2 m. From Appendix C
the moments and products of inertia about the y axis passing through
the center of mass of the horizontal element are:
(2)
Ix x = 0,
Iy y =
mh L2h
= 1.333 kg-m2 ,
12
Iz(2)
z =
mh L2h
= 1.333 kg-m2 .
12
(2)
Since the bar is slender, the cross products of inertia about the y axis
through the center of mass of the horizontal element of the bar vanish:
(2)
(2)
Ix(2)
y = 0, Ix z = 0, Iy z = 0.
690
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and Izz = Ixx + Iyy , where the subscripts v and h denote the vertical
and horizontal bars respectively. Noting that the masses are
0
[I (2) ] = 0
0
0
1.333
0
0
0 kg-m2 .
1.333
Use the parallel axis theorem to transfer the moment of inertia matrix to
the origin O: For the vertical element the coordinates of the center of
mass O are (dx , dy , dz ) = (0, 0.5, 0) m. Use the parallel axis theorem
(see Eq. (20.42)).
(1)
2
2
= Ix(1)
Ixx
x + (dy + dz )mv =
mv L2v
+ mv (0.52 ) = 0.6667 kg-m2 .
12
mv =
mLv
mLh
, mh =
,
Lv + Lh
Lv + Lh
6(1)3
3(3)
[I ] =
0
(1)
2
2
Iyy
= Iy(1)
y + (dx + dz )mv = 0.
(1)
2
2
2
Izz
= Iz(1)
z + (dx + dy )mv = 0.6667 kg-m .
0.6667
= 0
0
0
0
0
6(2)3
3(3)
6.0
0
0
5.333 0 kg-m2 . check.
0
6
(1)
Ixy = Ix y + dx dy A(1) = 0,
(1)
Ixz
= Ix(1)
z + dx dz A(1) = 0,
(1)
= Iy(1)
Iyz
z + dy dz A(1) = 0.
[I (1) ] = 0
0
0
0
0 .
A
3
For the horizontal element, the coordinates of the center of mass relative to O are (dx , dy , dz ) = (1, 0, 0) m. From the parallel axis theorem,
(2)
2
2
Ixx
= Ix(2)
x + (dy + dz )mh = 0.
(2)
2
2
2
Iyy
= Iy(2)
y + (dx + dz )mh = 5.333 kg-m .
(2)
[I (2) ]
0
= 0
0
0
5.333
0
0
0 .
5.333
[I ]O =
[I (1) ]
+ [I (2) ]
0.6667
0
0
0
0
5.333 0 kg-m2 .
0
6
mh L2h
mv L3v
, Iyy =
,
3
3
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691
Problem 20.81 The object consists of two 1-kg vertical slender bars welded to a 4-kg horizontal slender bar.
Determine its moments and products of inertia in terms
of the coordinate system shown.
Solution:
1
Ixx = 2 (1 kg)(0.1 m)2 = 0.00667 kg-m2 ,
3
Iyy =
1
(4 kg)(0.4 m)2 + 2(1 kg)(0.1 m)2 = 0.0733 kg-m2 ,
12
0.1 m
x
Iyz = 0.
0.1 m
0.1 m
Ixz = 0,
0.2 m
0.1 m
1
(0.3)(0.6)3 = 0.00540 m4 ,
12
Iy =
1
(0.6)(0.3)3 = 0.00135 m4 ,
12
A = 0.
Ixy
300 mm
Ixx =
600 mm
x
m
4
Ix =
(0.00540)
A
(0.3)(0.6)
= 0.12 kg-m2 ,
Iyy =
m
4
Iy =
(0.00135)
A
(0.3)(0.6)
= 0.03 kg-m2 ,
Izz = Ix + Iy = 0.15 kg-m2 ,
Ixy = Iyz = Izx = 0.
Problem 20.83 If the 4-kg plate is rotating with angular velocity = 6i + 4j 2k (rad/s), what is its angular
momentum about its center of mass?
0.12
0
[H ] = 0
0.03
0
0
0
6
0 4
0.15
2
0.72
= 0.12 kg-m2 /s,
0.3
from which H = 0.72i + 0.12j 0.3k (kg-m2 /s)
692
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z
1.22 m
x
1.83 m
and m = 133.4 / 9.81 = 13.6 kg. The plates moments and products of
inertia are
Ix =
1
(1.83)(1.22) 3 = 0.276 m 4,
12
Ixx =
m
Ix = 3.36 kg-m2 ,
A
Iy =
1
(1.22 )(1.83)3 = 1.86 m 4 ,
4
Iyy =
m
Iy = 22.73 kg-m 2 ,
A
1
(1.83)2 (1.22 )2 = 0 .62 m 4 .
8
Ixy =
m A
I = 7.58 kg-m2 ,
A xy
A =
Ixy
1
(1.83)(1.22) = 1.11 m 2
2
Iyz = Izx = O,
Izz = Ixx + Iyy = 26.1 kg-m 2 .
2
(1.83) = 1.22 m ,
3
dy =
1
(1.22 ) = 0.41 m ,
3
y'
x'
x
dz = 0.
From the parallel-axis theorems (Eq. 20.42), we obtain
Ix x = 3 .26 (0 .41)2 (13.6) = 1.12 kg-m2,
Iy y = 22 .73 (1 .22 )2 (13.6) = 2.53 kg-m2 ,
Iz z = 26 .1 [(0 .41)2 + (1.22 ) 2 ](13.6) = 3.65 kg-m 2 ,
Ix y = 7 .58 (0 .41 )(1.22 )(13.6 ) = 0.842 kg-m 2 ,
(b)
1.12 0.842
0
20
[I ] = 0.842
2.53
0 12
0
0
3.65
16
32.5
= 47.2
58.4
H = 32.5 i 47 .2 j + 58.4 k (kg-m 2 ).
Iy z = Iz x = 0
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693
220 mm
150 mm
x
1
1
(0.22)4 (0.05)(0.15)3 = 0.000404 m4
16
3
50 mm
1
1
(0.22)4 (0.15)(0.05)3 = 0.000454 m4
Iy =
16
3
A =
Ixy
1
1
(0.22)4 (0.05)2 (0.15)2 = 0.000279 m4 .
8
4
The area is
A = 14 (0.22)2 (0.05)(0.15) = 0.0305 m2 .
The moments of inertia of the plate are
Ixx =
m
Ix = 0.0318 kg-m2 ,
A
Iyy =
m
Iy = 0.0357 kg-m2 ,
A
m A
I = 0.0219 kg-m2 , and Iyz = Izx = 0.
A xy
1
(0.22)2 = 0.0380 m2 ,
4
A2 = (0.05)(0.15) = 0.0075 m2
4(0.22)
A1 (0.025)A2
x = 3
= 0.1102 m,
A1 A 2
4(0.22)
A1 (0.075)A2
y = 3
= 0.0979 m.
A1 A 2
Using the results of the solution of Problem 20.86 and the parallel
axis theorems,
694
Ix y
Iy y
0
0
20
0 10
Iz z
10
0.215
=
0.145 (kg-m2 /s).
0.153
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O
z
l
x
Solution:
(a)
Iyy = Izz
0
=
mL2
,
=
12
Ixy
Iyy
Izy
Ixx
[H ]G = Iyx
Izx
0
=
0
mL2
12
0
0
mL2
3
0
0
mL2
0
y
0 =
y
3
mL2
mL2 z
z
3
3
0
Ixz
0
Iyz y
Izz
z
0
0
Ixz
Iyz y
Izz
z
Ixy
Iyy
Izy
Ixx
[H ]O = Iyx
Izx
HO =
mL2
(y j + z k)
3
mL2 z
12
0
HG =
(b)
mL2
(y j + z k) .
12
mL2
,
3
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695
l
h
O
z
x
Ix x = 0,
Iy y = Iz z =
mL2
,
12
y'
Ix y = Ix z = Iy z = 0.
L
, h, 0 .
2
z'
x'
z
mL2
mL2
mL2
+
=
12
4
3
L2
Izz = Iz z + (dx2 + dy2 )m = m h2 +
,
3
Ixy = Ix y + dx dy m = 0 +
mLh
,
2
Ixz = Ix z + dx dz m = 0
Iyz = Iy z + dy dz m = 0
The angular momentum about O is
Ixx
[H ]O = Iyx
Izx
mh2
mLh
mLhy
2
mL2 y
3
0
Ixz
0
Iyz y
Izz
0
Ixy
Iyy
Izy
mLh
2
mL2
3
0
0
0
y
0
2
L
2
m h +
3
Alternatively,
HO =
696
mLh
mL2
y i +
y j
2
3
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x
6m
B
18 m
50
A
Solution: From Example 20.8, the inertia matrix for the two
booms in the x, y, z system is
Ixy
Iyy
Izy
Ixx
[I ]O = Iyx
Izx
19,200
= 86,400
0
Ixz
Iyz
Izz
86,400
0
kg-m2 .
1,036,800
0
0
1,056,000
6m
B
C
L
y
The mass of the boom AB is mAB = 4800 kg. The mass of the boom
BC is mBC = 1600 kg. The coordinates of the center of mass of the
two booms are
18 m
50
A
L
mAB + mBC L
2
x =
= 11.25 m.
mAB + mBC
y =
18 m
6m
C
A
(0)
2
2
2
Ix(G)
x = Ixx (dy + dx )m = 15600 kg-m .
(o)
2
2
2
Iy(G)
y = Iyy (dx + dz )m = 226800 kg-m .
(o)
2
2
2
Iz(G)
z = Izz (dx + dy )m = 242400 kg-m
(0)
2
Ix(G)
y = Ixy dx dy m = 32400 kg-m ,
Ix(G)
z = 0 ,
Iy(G)
z = 0 .
15,600
[I ]G = 32,400
0
32,400
0
kg-m2 .
226,800
0
0
242,400
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697
15,600
[H ]G = 32,400
0
32,400
0
0.07660
0.06428
226,800
0
0
242,400
0
3277.7
698
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200 mm
x
600 mm
0
[I ]B =
0
mB L 2
3
0 = 0
0
mB L2
3
0
0.36
0
0
0 kg-m2 .
0.36
[I ]D =
mD R 2
4
mD R 2
4
0
+ 0
0
mD R 2
2
0
mD (L + R)2
0
0.02 0
= 0
1.3
0
0
y'
x, x'
From Eq. (20.42) the inertia matrix of the disk about the left end of
the bar is
0.02
[H ]G = 0
0
0
0.41
0
2
0
100
0
4 = 1.64 ,
2.58
0.43
6
0
mD (L + R)2
0
0 kg-m2 .
1.32
[I ]left
end
0.02 0
= [I ]B + [I ]D = 0
1.66
0
0
0
0 .
1.68
mB (L/2) + mD (R + L)
= 0.5 m.
mB + mD
y = 0,
z = 0,
0.02
[I ]G = 0
0
0
1.66
0
0
0
1.68
dx2 (mB
0
+ mD )
0
0
0
0
0.02
= 0
0
0
0.41
0
0
dx2 (mB + mD )
0
0 kg-m2 .
0.43
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699
Problem 20.93* The mass of the homogeneous slender bar is m. If the bar rotates with angular velocity
= 0 (24i + 12j 6k), what is its angular momentum
about its center of mass?
y
b
x
b
z
b
0.1667
[H ]G = 0 mb2 0.25
0
Ixx = 0,
Iyy = Izz =
mC (2b)2
mb2
=
,
12
6
0.25
0
24
0.6667
0 12
0
0.8333
6
= 0
mb2
mE b 2
=
,
12
48
mb2
1
2.
5
H = 0 mb2 (i + 2j 5k)
Iyy = 0,
Izz =
mb2
mE b 2
=
,
12
48
mb2
mE b 2
mb2
+
=
.
48
4
12
mb2
.
4
(L)
2
2
Iz(G)
z = Izz + (dx + dy )mE =
mb2
b2
mb2
+ mE b 2 +
=
48
4
3
(L)
(G)
(G)
2
Ix(G)
y = Ixy + dx dy mE = mb /8, Ix z = 0, Iy z = 0.
700
mb2
0.1667
0.25
0
0.25
0
0.6667
0 .
0
0.8333
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1m
x
A
Solution: Divide the bar into three elements: the central element,
and the two end element. The strategy is to find the moments and
products of inertia in the x, y, z system shown, and then to use
Eq. (20.43) to find the moment of inertia about the axis AB. Denote
the total mass of the bar by m = 8 kg, the mass of each end elem
= 2 kg, and the mass of the central element by
ment by mE =
4
m
mC =
= 4 kg.
2
2m
1m
z
The left end element: The moments and products of inertia about point
A are:
(LA)
=
Ixx
m
mE (12 )
=
= 0.6667 kg-m2 ,
3
12
(LA)
Iyy
=
m
mE (12 )
=
= 0.6667 kg-m2 ,
3
12
(LA)
= 0,
Izz
(LA)
(LA)
(LA)
= Ixz
= Iyz
= 0.
Ixy
The right end element: The moments and products of inertia about its
center of mass are
(RG)
=
Ixx
m
mE (12 )
=
= 0.1667 kg-m2 ,
12
48
(RG)
= 0,
Iyy
(RG)
Izz
=
mE (12 )
m
=
= 0.1667 kg-m2 ,
12
48
(RG)
(RG)
(RG)
= Ixz
= Iyz
= 0.
Ixx
The coordinates of the center of mass of the right end element are
(dx , dy , dz ) = (2, 0.5, 1). From Eq. (20.42), the moments and products
of inertia in the x, y, z system are
(RA)
Ixx
(RG)
= Ixx
+ (dy2 + dz2 )
m
= 2.667 kg-m2 ,
4
(RA)
(RG)
= Iyy
+ (dx2 + dz2 )
Iyy
m
= 10.0 kg-m2
4
(RA)
(RG)
Izz
= Izz
+ (dx2 + dy2 )
m
= 8.667 kg-m2 ,
4
(RA)
(RG)
Ixy
= Ixy
+ dx dy
(RA)
Ixz
(RG)
= Ixz
+ dx dz
(RA)
(RG)
= Iyz
+ dy dz
Iyz
m
= 2.0 kg-m2
4
m
= 4.0 kg-m2 ,
4
m
= 1.0 kg-m2
4
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701
4
1 kg-m2 ,
8.667
2
10.67
1
3.333
= 2
4
(CG)
=
Izz
(CG)
Ixy
m
mC (22 )
=
= 1.333 kg-m2 ,
12
6
mC (22 )
m
=
= 1.333 kg-m2 .
12
6
(CG)
= Ixz
(CG)
= Iyz
= 0.
(CA)
Iyy
(CG)
= Iyy
+ (dx2 + dz2 )
(CA)
(CG)
Izz
= Izz
+ (dx2 + dy2 )
m
= 4 kg-m2 ,
2
m
= 9.333 kg-m2
2
m
= 5.333 kg-m2 ,
2
(CA)
(CG)
Ixy
= Ixy
+ dx dy
m
= 0,
2
(CA)
(CG)
Ixz
= Ixz
+ dx dz
m
= 4 kg-m2 ,
2
(CA)
Iyz
(CG)
= Iyz
+ dy dz
m
=0
2
[I ]A = [I ]RLA + [I ]CA
(a)
7.333
= 2
8
2
20.00
1
8
1 kg-m2 .
14.00
rAB
= 0.8165i + 0.4082j + 4082k.
|rAB |
(b)
702
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m
m
1 m
xG =
0+
(1) +
(2) = 1 m.
m
4
2
4
yG =
zG =
m
m
1 m
(0) +
(0) +
(0.5) = 0.125 m.
m
4
2
4
m
m
1 m
(0.5) +
(1) +
(1) = 0.875 m.
m
4
2
4
y
x
A
G
rAG
mgj
z
The line from A to the center of mass is parallel to the vector rAG =
i + 0.125j + 0.875k (m). From the solution to Problem 20.94 the unit
vector parallel to the line AB is eAB = 0.8165i + 0.4082j + 0.4082k.
The magnitude of the moment about line AB due to the weight is
e[rAB
0.8165 0.4082
(mgj)] = 1.000
0.125
0
78.48
0.4082
0.875 = 24.03 N-m.
0
From the solution to Problem 20.94, IAB = 3.556 kg-m2 . From the
equation of angular motion about axis AB, MAB = IAB , from which
=
24.03
= 6.75 rad/s2 .
3.556
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703
20 10 10
10 60
0
10
0
80
kg-m2 .
Determine the principal moments of inertia and unit vectors parallel to the corresponding principal axes.
Solution: Principal Moments of Inertia: The moments and products:
Roots of Cubic
40000
Ix x = 20 kg-m2 ,
30000
Iy y = 60 kg-m2 ,
20000
10000
Iz z = 80 kg-m2 ,
f(I )
2
Ix y = 10 kg-m ,
10000
Ix z = 10 kg-m2 ,
20000
30000
Iy z = 0.
40000
From Eq. (20.45), the principal values are the roots of the cubic
equation. AI 3 + BI 2 + CI + D = 0, where
20
40
60
80
100
A = +1,
B = (Ix x + Iy y + Iz z ) = 160,
C = (Ix x Iy y + Iy y Iz z + Iz z Ix x Ix2 y Ix2 z Iy2 z )
= 7400,
D = (Ix x Iy y Iz z Ix x Iy2 z Iy y Ix2 z
Iz z Ix2 y 2Ix y Iy z Ix z )
= 82000.
The function f (I ) = AI 3 + BI 2 + CI + D is graphed to find the zero
crossings, and these values are refined by iteration. The graph is shown.
The principal moments of inertia are:
I1 = 16.15 kg-m2 ,
I2 = 62.10 kg-m2 ,
704
I3 = 81.75 kg-m2 .
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Problem 20.97 For the object in Problem 20.81, determine the principal moments of inertia and unit vectors parallel to the corresponding principal axes. Draw a
sketch of the object showing the principal axes.
0.1 m
x
0.1 m
0.1 m
0.2 m
0.1 m
0.00667
[I ] = 0.01
0
0.01
0
0.0733
0 kg-m2
0
0.08
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705
sin2
1
[I ] = 12
sin cos
0
1
12
1
12
sin cos
1
2
12 cos
0
y'
0
0 .
1
12
x'
Use Eqs. (20.45) and (20.46) to determine the principal moments of inertia and unit vectors parallel to the
corresponding principal axes.
an axis coinciding with the slender rod is zero; it follows that one
principal value will be zero, and the associated principal axis will
coincide with the slender bar. Since the moments of inertia about the
axes normal to the slender bar will be equal, there will be two equal
principal values, and Eq. (20.46) will fail to yield unique solutions
for the associated characteristic vectors. However the problem can be
solved by inspection: the unit vector parallel to the axis of the slender
rod will be e1 = i cos + j sin . A unit vector orthogonal to e1 is
e2 = i sin + j cos . A third unit vector orthogonal to these two
is e3 = k. The solution based on Eq. (20.46) must agree with these
preliminary results.]
1
the solution of the quadratic I 2 + 2bI + c = 0 where b = 12
,c=
1
1
1
2c =
,
from
which
I
=
b
b
,
from
which
,
I
=
1,2
2
144
12
12
Vy
Ix y = +
I1 = 0, V(1) =
1
= ,
6
sin2 cos2
cos2
sin2
sin2 cos2
1
C=
+
+
=
.
144
144
144
144
144
D = (Ix x Iy y Iz z Ix x Iy2 z Iy y Ix2 z Iz z Ix2 y
2Ix y Iy z Ix z ),
D=
cos2
sin
123
cos2
sin
123
cos sin
cos
cos2
i+
j=
(cos i + sin j).
144
144
144
The magnitude:
|V(1) | =
= Ix y (Iz z Ij ) + Ix z Iy z
A = +1,
cos2
1
sin2
+
+
12
12
12
(j )
(j )
From Eq. (20.45), the principal values are the roots of the cubic, AI 3 +
BI 2 + CI + D = 0. The coefficients are:
Vz = Ix z (Iy y Ij ) + Ix y Iy z .
sin cos
, Ix z = 0, Iy z = 0.
12
B = (Ix x + Iy y + Iz z ) =
1
12
(j )
sin2
cos2
1
, Iy y =
, Iz z =
,
12
12
12
Ix x =
I3 =
| cos |
| cos |
cos2 + sin2 =
,
144
144
= 0.
706
1
1
1
1
I2 +
I = I2
I+
I = 0.
6
144
6
144
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y'
3m
2m
x'
4m
z'
(dx(B) , dy(B) , dz(B) ) =
b
c
, 0,
2
2
Iy(A)
y =
mA c 2
+ (dx2 + dz2 )mA = 3 kg-m 2 ,
12
mA
+ a2 )
12
z'
= (1.5, 0, 2) m .
mA a 2
+ (dy2 + dz2 )mA = 1.333 kg-m 2,
12
a
x'
Ix(A)
x =
(A)
A
O
Iz z =
c a
, , 0 = (1.5, 1, 0) m .
2 2
(c2
y'
400
350
300
250
200
f (I ) 150
100
50
0
50
100
Zero Crossings
10
15
20
25
I
+ (dx2 + dy2 )mA = 4.333 kg-m 2,
2
Ix(A)
y = dx dy mA = 1.5 kg-m ,
(A)
Ix(A)
z = 0, Iy z = 0.
mB b 2
+ (dy2 + dz2 )mB = 10.67 kg-m 2,
12
Iy y =
mB (c2 + b2 )
+ (dx2 + dz2 )mB = 16.67 kg-m 2,
12
Iz(B)
z =
mB c 2
+ (dx2 + dy2 )mB = 6 kg-m 2, I x(B)
y = 0,
12
(B)
Ix z = dx dz mB = 6 kg-m 2, I y z = 0.
(B)
(B)
[I ]
Ix x
= Iy x
Iz x
Ix y
Iy y
Iz y
12
Ix z
Iy z = 1.5
6
Iz z
15
6
19.67
0 .
0
10.33
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707
From Eq. (20.45), the principal values are the roots of the cubic
equation AI 3 + BI 2 + CI + D = 0, where
A = +1,
B = (Ix x + Iy y + Iz z ) = 42,
C = (Ix x Iy y + Iy y Iz z + Iz z Ix x Ix2 y Ix2 z Iy2 z )
= 524.97,
D = (Ix x Iy y Iz z Ix x Iy2 z Iy y Ix2 z Iz z Ix2 y
2Ix y Iy z Ix z ) = 1707.4.
The function f (I ) = AI 3 + BI 2 + CI + D is graphed to determine
the zero crossings, and the values refined by iteration. The graph is
shown. The principal values are
I1 = 5.042 kg-m 2 ,
I2 = 16.79 kg-m 2 ,
I3 = 20.17 kg-m 2 .
Principal axes: The characteristic vectors parallel to the principal axes
are obtained from Eq. (9.20),
Vx = (Iy y Ij )(Iz z Ij ) Iy2 z
(j )
(j )
Vy
= Ix y (Iz z Ij ) + Ix z Iy z
(j )
Vz = Ix z (Iy y Ij ) + Ix y Iy z .
For I1 = 5.042, V(1) = 77.38i + 7.937j + 87.75k,
and e1 = 0.6599i + 0.06768j + 0.7483k .
For I2 = 16.79, V(2) = 18.57i 9.687j 17.25k,
and e2 = 0.6843i 0.3570j + 0.6358k .
For I3 = 20.17, V(3) = 4.911i 14.75j 2.997k,
and e3 = +0.3102i 0.9316j 0.1893k.
708
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Determine the disks angular velocity vector relative to the earth-fixed reference frame.
What is the velocity of point A of the disk relative
to the earth-fixed reference frame?
y
b
A
4.167 105
[I ] =
2.5 105
0
2.5 105
4.167 105
0
0
kg-m2 .
0
8.333 105
MOy = 0
0
MOz
MOx
0
0
0
0.01047
0.01047
0
4.167 105
2.5 105
0
2.5 105
4.167 105
0
0
8.333 105
0.01047
0
0
0
0
2618.0
0
0
0.01047
0
8726.7
0
4363.3
0
0
0
0 N-m,
27.42
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709
Problem 20.101 The disk is pinned to the horizontal shaft and rotates relative to it with constant angular
velocity 0 . Relative to an earth-fixed reference frame,
the vertical shaft rotates with constant angular velocity 0 . What is the acceleration of point A of the disk
relative to the earth-fixed reference frame?
Solution: (See Figure in solution to Problem 20.100.) The angular
acceleration of the disk is given by
i
d
d
=
(d i + O j) + O d = 0 + 0
dt
dt
d
j
O
0
k
0
0
= O d k.
The velocity of point A relative to O is
aA/O = rA/O + ( rA/O )
= (O d )(k rA/O ) + ( rA/O ).
Term by term:
i
O d (k rA/O ) = O d 0
b
j
0
R sin
1
R cos
= O d R sin i O d bj,
i
( rA/O ) = d
b
i
=
d
RO cos
j
O
R sin
j
O
Rd cos
0
R cos
0
Rd sin bO
2 )k.
= (Rd sin bO )(O i d j) + (R cos )(d2 + O
Collecting terms:
2 )i (R 2 sin )j
aA/O = (2RO d sin bO
d
2 cos )k.
+ (Rd2 cos + RO
710
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Problem 20.102 The cone is connected by a ball-andsocket joint at its vertex to a 100-mm post. The radius
of its base is 100 mm, and the base rolls on the floor.
The velocity of the center of the base is vC = 2k (m/s).
(a)
(b)
400 mm
z
A
100 mm
60
C
x
y
0.4 m
z
A
60
O
0.1
m
x
P
Expanding:
vC = rC/O
i
= x
L
vC = rC/P
i
= x
0
j
y
0
k
z = z Lj y Lk.
0
j
y
R
k
z = Rz i + Rx k.
0
Solve by inspection:
x =
vC
vC
= 20 rad/s, y =
= 5 m/s,
R
L
z = 0.
(b)
= 20i 5j (rad/s)
i
vA = 20
L
j
5
R sin
k
,
0
R cos
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711
2b
z
i
vP = R
0
2b
y
P
Q'
Q
O
P'
j
0
b
k
0 = bR k.
0
vP = vO + S rP /O
i
= Sx
0
j
Sy
b
k
Sz
0
= ibSz + kbSx ,
from which Sz = 0, Sx = R . The line Q Q is parallel to the vector
rQ/O = ib sin kb cos . The velocity of the point Q is
vQ = vO + S rQ/O = 0 + Sx
b sin
j
Sy
0
k
,
0
b cos
i
vQ = L cos
b sin
j
0
0
k
L sin = jbL (cos2 + sin2 )
b cos
= jbL ,
from which Sy = 0, from which
S = R ,
S = R i ,
712
L = Sx cos = R cos .
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4 1 1
1 2
0
1 0
6
kg-m2 .
1
2
0
1
10
25
0 5 = 0 kg-m2 /s
6
10
50
4
[I ] = 1
1
1
2
0
Ixx
1
0 = Ixy
Ixz
6
Ixy
Iyy
Iyz
Ixz
Iyz ,
Izz
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713
0.5 m
0.125 m
x
0.25 m
=
mR 2
mR 2
, Izz =
, Ixy = Ixz = Iyz = 0.
4
2
mC RC2
= 1.563 104 kg-m 2,
4
C =
Iyy
mC RC2
+
4
C =
Izz
mC RC2
+ dx2 mC = 2.813 103 kg-m 2,
2
3
12
2
C = 0, I C = 0, I C = 0.
Ixy
xz
yz
0.04 0
[I ]0 = 0
0.04
0
0
0
0
0.08
1.563 104
0
0
0.0398 0
[I ]0 = 0
0.0373
0
0
714
0
2.656 103
0
0
,
0
2.813 103
0
kg-m 2
0
0.0772
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j
k
0.5
0
0
10
i
MG = rF /G F = 0.01667
0
= 5i + 0.1667j (N -m ).
Eq. (20.19) reduces to
0.03984 0
5
0.1667 = 0
0.03718
0
0
0
0
x
y
0
z
0.07702
0
.
+ 0
0.267
Carry out the matrix multiplication to obtain the three equations:
0.03984x = 5, 0.03718y = 0.1667, 0.07702z 0.267 = 0.
= 125.5i + 4.484j + 3.467k rad/s2
Solve:
4 1 1
1 2
0
1 0
6
kg-m2 .
Mx
Ixx
Iyx
=
M
y
Izx
Mz
0
+ z
y
z
0
x
Ixy
Iyy
Izy
x
Ixz
Iyz y
Izz
z
Ixx
y
x Iyx
0
Izx
Ixy
Iyy
Izy
x
Ixz
Iyz y
Izz
z
d
= 0. The coordinate system is rotating with angular
dt
velocity , from which = . Eq. (20.19) reduces to
with =
Mx
0 10
0
My = 10
5
10
Mz
5
= 50
30
20
10
25
5
4
10 1
0
1
1
2
0
1
10
0 5
6
10
30
10
70 5 N-m,
5
10
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715
Ixy
Iyy
Izy
Ixz
x
Iyz y
Izz
z
y
Ixx
x Iyx
0
Izx
0
+ z
y
z
0
x
1
0
x
0 y + 10
6
5
z
4
= 1
1
1
2
0
4
1
1
4
0
0 = 1
1
0
1
2
0
1
2
0
Ixy
Iyy
Izy
10
0
10
Ixz
x
Iyz y
Izz
z
5
10
0
1
10
0 5 ,
6
10
1
x
250
0
y + 250 .
6
125
z
Carry out the matrix multiplication to obtain the three simultaneous equations in the unknowns: 4x + y z = 250, x + 2y +
0 = 250, x + 0 + 6z = 125.
Solve: = 31.25i + 109.4j 15.63k (rad/s2 )
716
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l
b
A
b
The
vector distance to the center of mass of the slender bar is rG/O =
i L2 . The angular velocity is a constant and the coordinate system
is rotating with an angular velocity = 0 (i cos + j sin ). The
acceleration of the center of mass relative to O is
i
cos
0
=
L
b sin +
2
i
cos
0
aG =
j
0 sin
b cos
j
0 sin
0
x
W
The Euler Equations: The moments of inertia of the bar about the
mL2
, Ixy = Ixz = Iyz = 0.
center of mass are Ixx = 0, Iyy = Izz =
12
Eq. (20.19) becomes:
aG = ( (r0 + rG/O ))
k
0
,
0 L sin
0 b
2
MG = +
2
mL
12
0
cos
sin .
0
0
Mx
0
.
My =
2 mL2
Mz
0
cos sin
12
maGx
0
mL2
12
L
02 b cos + sin cos j.
2
0
0
cos
0
+ sin
0
cos
0
0
L
aG = 02 +b sin + sin2 i
2
i
L
2
mg cos
Mx
0
My = o2 0
Mz
sin
= aGx i + aGy j
j
0
maGy + mg sin
Substitute:
m02 bL
m02 L2
mgL
cos
sin +
sin cos
2
2
4
= 02
0
.
m02 L2
mgL
mo2 bL
cos
sin +
sin cos k
2
2
4
Solve :
mL2
sin cos .
12
!
g sin
0 = !
!
" 2
L sin cos + b cos
3
= Mz k
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717
0
R
Solution: Measuring from the left end of the slender bar, the distance to the center of mass is
y, Z
L
m + mL
3L
2
=
.
dG =
2m
4
Choose an X, Y , Z coordinate system with the origin at the center
of mass, the Z axis parallel to the vertical axis of rotation and the
X axis parallel to the slender bar. Choose an x, y, z coordinate system
with the origin at the center of mass, the z axis parallel to the slender
bar, and the y axis parallel to the Z axis. By definition, the nutation
angle is the angle between Z and z, = 90 . The precession rate
is the rotation about the Z axis, = 0 rad/s. The velocity of the
center of mass
ofthe disk is vG = (L/4), from which the spin rate is
v
L
From Eq. (20.29), the moment about the x-axis is
=
=
.
R
4R
Mx = (Izz Ixx ) 2 sin cos + Izz sin = Izz =
The moment of inertia is Izz =
Mx =
L
4
3L
4
X,
R
W
02 L
Izz .
4R
mR 2
, from which
2
mRL
02 .
8
L
= mg
4
L
.
2
RL
L
=m
02 , from which
2
8
g
.
0 = 2
R
718
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2h
(b)
Solution:
Choose a body-fixed coordinate system with its origin at the fixed
point O and the axes aligned with the plates edges. Using the
moments of intertia for a rectangular area,
Ixx =
Ixy
mh2
3
, Iyy =
4mh2
3
5mh2
3
mh2
3
mh2
(b)
0
0
0 sin
0
Expand,
Mz = hmg
sin
cos
2
= mh2 a2
Solve:
0 cos
0 sin
0
0 cos
0 cos .
0
2
5m
3
mh2
2
4mh2
3
y
mg
0
0
0 =
0
0 cos
Mz
mh2
=
, Ixz = Iyz = 0.
2
= 0
d = rO/G
||
0
j
h
2
cos
h
sin
k
sin
= h cos
.
2
If this distance is zero, = tan1 (2) = 63.43 , the accelerations
of the center of mass and the external moments are zero (see
sin
equations above, where for convenience the term cos
2
has been kept as a factor) and the plate is balanced.
The angular velocity of rotation is zero (the plate is stationary) if
= tan1 (2) = 63.435 , since the numerator of the right hand
term in the boxed expression vanishes (the balance at this point
would be very unstable, since an infinitesimally small change in
would induce a destabilizing moment.).
sin cos
cos2
sin2
+
3
2
2
4 sin cos
3
02 h
2 cos sin
=
g
sin2 2 sin cos cos2
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to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
719
2 cos sin
sin2 2 cos sin cos2
0.
f ( )
f ( ) vs
720
5
4
3
2
1
0
1
2
3
4
5
10
20
30
40 50
, deg
60
70
80
90
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to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
x
2 rad/s
C
y
0m
1 rad/s
30
40
A
700 mm
y
Ixx = 0.03 kg-m2 ,
Iyy = Izz = 4
(0.3)2 (12)
= 2.92 kg-m ,
y
G
FB
mg
B
MB
0.3 m
d
d
d
= cos i sin j.
dt
dt
dt
aG = aB + rG/B + ( rG/B )
(2)
Equation (20.19) is
0.03 0
MBx
MBy + 0.3FBz = 0
2.92
0
0
MBz 0.3FBy
0
+ z
y
z
0
x
0
x
0 y
2.92
z
y
0.03 0
x 0
2.92
0
0
0
0
x
0 y .
z
2.92
M = MB + (0.3i) FB
= MB + 0.3FBz j 0.3FBy k.
MBx = 0.046,
MBy + 0.3FBz = 7.469,
MBz 0.3FBy = 1.423,
From which
MB = 0.046i 10.25j + 30.63k (N-m).
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to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
721
z
25
Z
Izz
.
(Izz Ixx ) cos
Substitute =
= 2.21 rev/s
||
Space
cone
Body
cone
722
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to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
y'
160
mm
160
mm
160
mm
O
x'
400 mm
z'
Ixx =
(p)
T bh3 (p)
T hb3
, Iyy =
,
3
3
(p)
(p)
(p)
Ixy =
T bh(h2 + b2 )
,
3
T h2 b2 (p)
(p)
, Ixz = Iyz = 0.
4
The moments and products of inertia for the cutout: The moments and
products of inertia about the center of mass of the cutout are:
(c)
=
Ixx
(c)
T dc3 (c)
T cd 3 (c)
T cd(c2 + d 2 )
, Iyy =
, Izz =
,
12
12
12
(c)
0.24 m
0.16 m
0.32 m
0.4 m
f (I ) vs I
.00002
.000015
.00001
.000005
f (I ) 0
.000005
.00001
.000015
.02
.04
.06
.08
I, kg-m2
(c)
The moments and products of inertia of the object: The moments and
products of inertia about O are
(0)
= 0.02316 kg-m2 ,
Ixx = Ixx Ixx
(p)
(0)
Iyy = Iyy Iyy
= 0.04053 kg-m2 ,
(p)
(0)
Izz = Izz Izz
= 0.06370 kg-m2 ,
(p)
(0)
Ixy = Ixy Ixy
= 0.01691 kg-m2 ,
(p)
Ixz = Iyz = 0.
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to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
723
= 4.158 105 .
The function f (I ) = AI 3 + BI 2 + CI + D is graphed to get an
estimate of the roots, and these estimates are refined by iteration.
The graph is shown. The refined values of the roots are I1 =
0.01283 kg-m2 , I2 = 0.05086 kg-m2 , I3 = 0.06370 kg-m2 .
The principal axes. The principal axes are obtained from a solution of
the equations
2
Vx = (Iyy I )(Izz I ) Iyz
724
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to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
(b)
Z, z
Y, y
X, x
Solution:
(a)
(b)
= 45
z
x
Y
= 45
X
( sin cos sin )( cos + ),
= 45
My = 3451.2 N-m ,
Mz = 1084.6 N-m
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to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.
725
= cos sin + .
dt
Substitute Ixx = 10844, Iyy = 65062, and Izz = 67773, in kg-m 2,
and = 0, = 0.2 rad/s, and = 0.2 rad/s, and = = = 0, to
obtain
x = 0.0283 rad/s2 ,
y = 0.0283 rad/s ,
z = 0
= cos sin + .
dt
Substitute, to obtain:
x = 0.05354 rad/s2 ,
y = 0.03737 rad/s2 ,
z = 0.016 rad/s2
726
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to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording or likewise.