PROBLEM 18.

25

Three slender rods, each of mass m and length 2a, are welded
together to form the assembly shown. The assembly is hit at A in a
vertical downward direction. Denoting the corresponding impulse
by F Δt , determine immediately after the impact (a) the velocity of
the mass center G, (b) the angular velocity of the rod.

SOLUTION
Computation of moments and products of inertia.

1  a2  8 2
I x = ( I x )1 + ( I x )2 + ( I x )3 = ma 2 + ma 2 + m  a 2 +  = ma
3  3  3

 a2  1 2 8 2
I y = ( I y )1 + ( I y )2 + ( I y )3 = m  a 2 +  + ma + ma = ma
2
(1)
 3  3 3

1 1 2
I z = ( I z )1 + ( I z ) 2 + ( I z )3 = ma 2 + 0 + ma 2 = ma 2
3 3 3
I xy = 0, I yz = 0, I zx = 0

Impulse-momentum principle.

The impulses consist of −( F Δt ) j applied at A and (T Δt ) j applied at G. Because of constraints, v y = 0.

(a) Velocity of mass center.

Equate sums of vectors: (T Δt ) j − ( F Δt ) j = mvx i + mvz k

Thus, T Δt = F Δt , vx = 0, vz = 0. Since v y = 0 from above, v=0 

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1994
 PROBLEM 18.25 (Continued)
(b) Angular velocity.
Equate moments about G:
(ai + ak ) × (− F Δt ) j = H x i + H y j + H z k

−(aF Δt )k + (aF Δt )i = H x i + H y j + H z k

Thus, H x = aF Δt , H y = 0, H z = − aF Δt (2)

Since the three products of inertia are zero, the x, y, and z axes are principal centroidal axes and we can
use Eqs. (18.10). Substituting from Eqs. (1) and (2) into these equations, we have
8
H x = I xω x : aF Δt = ma 2ω x ω x = 3F Δt/8ma (3)
3
8
H y = I yω y : 0 = ma 2ω y ωy = 0 (4)
3
2 2
H z = I zωz : −aF Δt = ma ω z = −3F Δt/2ma (5)
3
Therefore,
ω = (3F Δt/8ma )(i − 4k ) 

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1995
 PROBLEM 18.26

Solve Problem 18.25, assuming that the assembly is hit at B in a

direction opposite to that of the x axis.

PROBLEM 18.25 Three slender rods, each of mass m and length 2a,
are welded together to form the assembly shown. The assembly is hit
at A in a vertical downward direction. Denoting the corresponding
impulse by F Δt , determine immediately after the impact (a) the
velocity of the mass center G, (b) the angular velocity of the rod.

SOLUTION
Computation of moments and products of inertia.

1  a2  8 2
I x = ( I x )1 + ( I x )2 + ( I x )3 = ma 2 + ma 2 + m  a 2 +  = ma
3  3  3

 a2  1 2 8 2
I y = ( I y )1 + ( I y )2 + ( I y )3 = m  a 2 +  + ma + ma = ma
2
(1)
 3  3 3

1 1 2
I z = ( I z )1 + ( I z ) 2 + ( I z )3 = ma 2 + 0 + ma 2 = ma 2
3 3 3
I xy = I yz = I zx = 0

Impulse-momentum principle.

The only impulse is F Δt = −( F Δt )i.

(a) Velocity of mass center.
Equate sums of vectors: −( F Δt )i = mvx i + mv y j + mvz k

Thus, vx = − F Δt/m, v y = 0, vz = 0

v = −( F Δt/m)i 

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1996
 PROBLEM 18.26 (Continued)

(b) Angular velocity.

Equate moments about G:
(aj − ak ) × (− F Δt )i = H x i + H y j + H z k

(aF Δt )k + ( aF Δt ) j = H x i + H y j + H z k

Thus, H x = 0, H y = aF Δt , H z = aF Δt (2)

Since the three products of inertia are zero, the x, y, and z axes are principal centroidal axes and we can
use Eqs. (18.10). Substituting from Eqs. (1) and (2) into these equations, we have
8
H x = I xω x : 0 = ma 2ω x ωx = 0 (3)
3
8
H y = I yω y : aF Δt = ma 2ω y ω y = 3F Δt/8 ma (4)
3
2 2
H z = I zωz : aF Δt = ma ω z ω z = 3F Δt/2 ma (5)
3
Therefore,
ω = (3F Δt/8ma)( j + 4k ) 

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1997
 PROBLEM 18.27

Two circular plates, each of mass 4 kg, are rigidly connected by

a rod AB of negligible mass and are suspended from Point A as
shown. Knowing that an impulse F Δt = −(2.4 N ⋅ s)k is applied
at Point D, determine (a) the velocity of the mass center G of the
assembly, (b) the angular velocity of the assembly.

SOLUTION
Moments and products of inertia:
1  1 
I x = 2  mr 2 + mb 2  = 2  (4)(0.18) 2 + (4)(0.15) 2  = 0.2448 kg ⋅ m 2
4  4 

1 
I y = 2  mr 2 + mr 2  = 3mr 2 = (3)(4)(0.18)2 = 0.3888 kg ⋅ m 2
2 

1 
I z = 2  mr 2 + m(b 2 + r 2 ) 
 4 
1 
= 2  (4)(0.18) 2 + (4)(0.152 + 0.182 )  = 0.504 kg ⋅ m 2
4 

I xy = mb( −r ) + m( −b)( r ) = −2mbr = −(2)(4)(0.15)(0.18) = −0.216 kg ⋅ m 2

I xz = 0, I yz = 0, total mass = 2m

Constraint of cable: (vG ) y = 0 v = v G

Principle of impulse-momentum: 2mv = 0, H G = 0 initially.

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1998
 PROBLEM 18.27 (Continued)

(a) Direct components:

FΔt = 2mv
0 = 2mvx vx = 0

T Δt = 2mv y = 0

− F Δt = 2mvz
F Δt 2.4
vz = − =− = −0.3 m/s v = −(0.300 m/s)k 
2m (2)(4)

(b) Moments about G. (bj − ri ) × ( − F Δtk ) = H G

−bF (Δt )i − rF Δtj = ( I xω x − I xyω y )i + (− I xyω x + I y ω y ) j + I z ω z k

Resolve into components and apply the numerical data.

i : − (0.15)(2.4) = 0.2448ω x − (−0.216)ω y (1)

j: − (0.18)(2.4) = −(−0.216)ω x + 0.3888ω y (2)

k: 0 = 0.504ω z ωz = 0

Solving Eqs. (1) and (2), ω x = −0.962 rad/s, ω y = −0.577 rad/s

ω = −(0.962 rad/s)i − (0.577 rad/s) j 

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1999
 PROBLEM 18.28

Two circular plates, each of mass 4 kg, are rigidly connected by

a rod AB of negligible mass and are suspended from Point A as
shown. Knowing that an impulse FΔt = (2.4 N ⋅ s) j is applied
at Point D, determine (a) the velocity of the mass center G of
the assembly, (b) the angular velocity of the assembly.

SOLUTION
Moments and products of inertia:
1  1 
I x = 2  mr 2 + mb 2  = 2  (4)(0.18) 2 + (4)(0.15) 2  = 0.2448 kg ⋅ m 2
4  4 

1 
I y = 2  mr 2 + mr 2  = 3mr 2 = (3)(4)(0.18)2 = 0.3888 kg ⋅ m 2
2 

1 
I z = 2  mr 2 + m(b 2 + r 2 ) 
 4 
1 
= 2  (4)(0.18)2 + (4)(0.152 + 0.182 )  = 0.504 kg ⋅ m 2
4 

I xy = mb( −r ) + m( −b)( r ) = −2mbr = −(2)(4)(0.15)(0.18) = −0.216 kg ⋅ m 2

I xz = 0, I yz = 0, total mass = 2m

Constraint of cable: (vG ) y = 0 v = v G

Principle of impulse-momentum: 2mv = 0, H G = 0 initially.

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2000
 PROBLEM 18.28 (Continued)

(a) Direct components:

FΔt = 2mv
0 = 2mvx vx = 0

F (Δt ) + T (Δt )
F (Δt ) + T Δt = 2mv y = 0 vy =
2m
0 = 2mvz vz = 0

Point A moves upward. The cord becomes slack. T (Δt ) = 0

2.4
vy = = 0.300 m/s v = (0.300 m/s) j 
(2)(4)

(b) Moments about G. (bj − ri ) × (− F Δtj) = H G

− rF (Δt )i − rF ( Δt )k = ( I xω x − I xyω y )i + (− I xyω x + I y ω y ) j + I z ω z k

Resolve into components and apply the numerical data.

i : − (0.18)(2.4) = 0.2448ω x − (−0.216)ω y (1)

j: 0 = −( −0.216)ω x + 0.3888ω y (2)

k: −(0.18)(2.4) = 0.504ω z ω z = −0.857 rad/s

Solving Eqs. (1) and (2), ω x = −3.46 rad/s, ω y = −1.923 rad/s

ω = −(3.46 rad/s)i + (1.923 rad/s) j − (0.857 rad/s)k 

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2001
 PROBLEM 18.29

A circular plate of mass m is falling with a velocity v 0 and no angular

velocity when its edge C strikes an obstruction. Assuming the impact to
be perfectly plastic (e = 0), determine the angular velocity of the plate
immediately after the impact.

SOLUTION
1 1
Principal moments of inertia. Iy = mR 2 , I x = I z = mR 2
2 4
Principle of impulse and momentum.

Syst. Momenta1 + Syst. Ext. Imp.1→2 = Syst. Momenta2

Linear momentum: − mv0 j + C Δt j = mvx i + mv y j + mvz k

i: 0 = mvx vx = 0
j: − mv 0 + C Δt = mv y C Δt = m(v0 + v y ) (1)

k: 0 = mvz vz = 0
1
Geometry: rC /G = R (i − k )
2
Condition of impact: (e = 0) (vC ) y = 0

Kinematics: vC = v + ω × rC /G

R
(vC ) x i + (vC ) z k = v y j + (ω x i + ω y j + ω z k ) × (i − k )
2
R R R
= vy j + ωx j − ω y (k + i ) + ωz j
2 2 2
R R
j : 0 = vy + (ω x + ω z ) vy = − (ω x + ω z )
2 2

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2002
 PROBLEM 18.29 (Continued)

Moments about G:
0 + rC/G × C Δt j = ( H G ) x i + ( H G ) y j + ( H G ) z k
R
(i − k ) × (C Δt j) = I xω x i + I yω y j + I z ω z k
2
R 1 1 1
(C Δt )(k + i) = mR 2ω x i + mR 2ω y j + mR 2ω z k (2)
2 4 2 4

R 1
i: C Δt = mR 2ω x (3)
2 4

1
j: 0= mR 2ω y ωy = 0
2
R 1
k: C Δt = mR 2ω z (4)
2 4

 R 
From Eqs. (1) and (2), C Δt = m v0 − (ω x + ω z ) 
 2 
v0 v0
ωx = 2 2 − 2(ω x + ω z ) 3ω x + 2ω z = 2 2 (5)
R R
v0 v0
ωz = 2 2 − 2(ω x + ω z ) 2ω x + 3ω z = 2 2 (6)
R R
Solving Eqs. (5) and (6) simultaneously,
2 2 v0
ωx = ωz =
5 R

2 2 v0
Angular velocity. ω = ωx i + ω y j + ωz k ω= (i + k ) 
5 R

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2003
 PROBLEM 18.30

For the plate of Problem 18.29, determine (a) the velocity of its mass center
G immediately after the impact, (b) the impulse exerted on the plate by the
obstruction during the impact.

SOLUTION

1 1
Principal moments of inertia. Iy = mR 2 , I x = I z = mR 2
2 4
Principle of impulse and momentum.

Syst. Momenta1 + Syst. Ext. Imp.1→2 = Syst. Momenta2

Linear momentum: − mv0 j + C Δt j = mvx i + mv y j + mvz k

i: 0 = mvx vx = 0
j: − mv0 + C Δt = mv y C Δt = m(v0 + v y ) (1)
k: 0 = mvz vz = 0
1
Geometry: rC /G = R (i − k )
2
Condition of impact: (e = 0) (vC ) y = 0

Kinematics: vC = v + ω × rC /G
R
(vC ) x i + (vC ) z k = v y j + (ω x i + ω y j + ω z k ) × (i − k )
2
R R R
= vy j + ωx j − ω y (k + i ) + ωz j
2 2 2
R R
j : 0 = vy + (ω x + ω z ) vy = − (ω x + ω z )
2 2

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2004
 PROBLEM 18.30 (Continued)

Moments about G:
0 + rC /G × C Δt j = ( H G ) x i + ( H G ) y j + ( H G ) z k
R
(i − k ) × (C Δt j) = I xω x i + I yω y j + I z ω z k
2
R 1 1 1
(C Δt )(k + i ) = mR 2ω x i + mR 2ω y j + mR 2ω z k (2)
2 4 2 4

R 1
i: C Δt = mR 2ω x (3)
2 4

1
j: 0= mR 2ω y ωy = 0
2
R 1
k: C Δt = mR 2ω z (4)
2 4

 R 
From Eqs. (1) and (2), C Δt = m v0 − (ω x + ω z ) 
 2 
v0 v0
ωx = 2 2 − 2(ω x + ω z ) 3ω x + 2ω z = 2 2 (5)
R R
v0 v0
ωz = 2 2 − 2(ω x + ω z ) 2ω x + 3ω z = 2 2 (6)
R R
Solving Eqs. (5) and (6) simultaneously,
2 2 v0
ωx = ωz =
5 R
(a) Velocity of the mass center.
R 4
From Eq. (2), vy = − (ω x + ω z ) = − v0
2 5

4
v = vx i + v y j + vz k v = − v0 j 
5
(b) Impulse at C.
 4  1
From Eq. (1), C Δt = m  v0 − v0  = mv0
 5  5

1
CΔt = mv0 j 
5

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2005
 PROBLEM 18.31

A square plate of side a and mass m supported by a ball-and-socket

joint at A is rotating about the y axis with a constant angular
velocity ω = ω 0 j when an obstruction is suddenly introduced at B
in the xy plane. Assuming the impact at B to be perfectly plastic
(e = 0), determine immediately after impact (a) the angular velocity
of the plate, (b) the velocity of its mass center G.

SOLUTION

For the x′ and y ′ axes shown, the initial angular velocity ω0 j has components

2 2
ω x′ = ω 0, ω y′ = ω 0,
2 2

Initial angular momentum about the mass center:

1 2
(H G )0 = I x′ω x′ i ′ + I y′ω y ′ j′ = ma 2 ω0 (i′ + j′)
12 2

Initial velocity of the mass center: v0 = 0

Let ω be the angular velocity and v be the velocity of the mass center immediately after impact.
Let ( F Δt )k be the impulse at B.
Kinematics: v B = ω × rB/ A = (ω x′ i ′ + ω y′ j′ + ω z′k ′) × (−aj′)

v B = a(ω z ′ i ′ + ω x′ k ′)

Since the corner B does not rebound, (vB ) z′ = 0 or ω x′ = 0

1 
v = ω × rG/ A = (ω y′ j′ + ω z′k ′) ×  a  ( −i ′ − j′)
2 
1
= a(ω z ′i ′ − ω z′ j + ω y k ′)
2

1 2
Also, rG/ A × mv = ma (−ω y′ i ′ + ω y′ j′ + 2ω z′k ′)
4

1 1
and H G = I x′ω x′i ′ + I y′ω y′ j′ + I z′ω z′k ′ = ma 2ω y′ j′ + ma 2ω z ′k ′
12 6

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2006
 PROBLEM 18.31 (Continued)

Principle of impulse-momentum.

Moments about A: (H A )0 + (−aj) × ( F Δt )k = H A

(H G )0 + rG/ A × mv 0 − (aF Δt )i = H G + rG/ A × mv

Resolve into components.

1 1
i′: 2ma 2ω0 − aF ( Δt ) = − ma 2ω y′
24 4

1 1 1 2
j′: 2ma 2ω0 = ma 2ω y′ + ma 2ω y′ ω y′ = ω0
24 12 4 8
1 2 1
k ′: 0 = ma ω z ′ + ma 2ω z ′ ω z′ = 0
6 2

2 1 2 1
(a) ω= ω0 j′ = 2ω0 ( j − i) ω = ω0 (−i + j) 
8 8 2 8

1 2
(b) v= aω y k ′ = aω0 k v = 0.0884aω0 k 
2 16

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2007
 PROBLEM 18.32

Determine the impulse exerted on the plate of Problem 18.31 during

the impact by (a) the obstruction at B, (b) the support at A.

PROBLEM 18.31 A square plate of side a and mass m supported

by a ball-and-socket joint at A is rotating about the y axis with a
constant angular velocity ω = ω 0 j when an obstruction is suddenly
introduced at B in the xy plane. Assuming the impact at B to be
perfectly plastic (e = 0), determine immediately after impact (a) the
angular velocity of the plate, (b) the velocity of its mass center G.

SOLUTION

For the simpler x′ and y′ axes, the initial angular velocity ω0 j has components

2 2
ω x′ = ω0 , ω y′ = ω0 ,
2 2

Initial angular momentum about the mass center:

1 2
(H G )0 = I x′ω x′ i ′ + I y′ω y ′ j′ = ma 2 ω0 (i′ + j′)
12 2

Initial velocity of the mass center: v0 = 0

Let ω be the angular velocity and v be the velocity of the mass center immediately after impact.
Let ( F Δt )k be the impulse at B.

Kinematics: vB = ω × rB/ A = (ω x′ i ′ + ω y′ j′ + ω z′k ′) × (−aj′)

vB = a(ω z′ i′ + ω x′k ′)
Since the corner B does not rebound, (vB ) z′ = 0 or ω x′ = 0
1 
v = ω × rG/ A = (ω y′ j′ + ω z′k ′) ×  a  ( −i ′ − j′)
2 
1
= a(ω z ′ i ′ − ω z′ j + ω y k ′)
2
1 2
Also, rG/ A × mv = ma (−ω y′ i ′ + ω y′ j′ + 2ω z′k ′)
4
and H G = I x′ω x′i ′ + I y′ω y′ j′ + I z′ω z′k ′
1 1
= ma 2ω y′ j′ + ma 2ω z′k ′
12 6

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2008