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# 19–1.

The rigid body (slab) has a mass m and rotates with an mvG
angular velocity V about an axis passing through the fixed V
point O. Show that the momenta of all the particles
composing the body can be represented by a single vector P
vG rP/G
having a magnitude mvG and acting through point P, called
the center of percussion, which lies at a distance
rP>G = k2G>rG>O from the mass center G. Here kG is the G
rG/O
perpendicular to the plane of motion and passing through G.
O

SOLUTION
HO = (rG>O + rP>G) myG = rG>O (myG) + IG v, where IG = mk2G

## rG>O (myG) + rP>G (myG) = rG>O (myG) + (mk2G) v

k2G
rP>G =
yG>v

yG
However, yG = vrG>O or rG>O =
v

k2G
rP>G = Q.E.D.
rG>O
19–2.

## At a given instant, the body has a linear momentum

L = mvG and an angular momentum H G = IG V computed mvG
about its mass center. Show that the angular momentum of
the body computed about the instantaneous center of zero G
IGV
velocity IC can be expressed as H IC = IIC V , where IIC
represents the body’s moment of inertia computed about
the instantaneous axis of zero velocity. As shown, the IC is
located at a distance rG>IC away from the mass center G.
rG/IC

SOLUTION IC

## HIC = rG>IC (myG) + IG v, where yG = vrG>IC

= rG>IC (mvrG>IC) + IG v

= (IG + mr2G>IC) v

= IIC v Q.E.D.
19–3.

## Show that if a slab is rotating about a fixed axis perpendicular V

to the slab and passing through its mass center G, the angular P
momentum is the same when computed about any other
point P.
G

SOLUTION
Since yG = 0, the linear momentum L = myG = 0. Hence the angular momentum

HP = IG v

## Since v is a free vector, so is H P . Q.E.D.

19– 4.
The slender rod of mass M rests on a smooth floor. If it is kicked so as to receive a
horizontal impulse I at point A as shown, determine its angular velocity and the speed of its
mass center.

Given:

M 4 kg

l1 2m

l2 1.75 m

I 8Ns

T 60 deg

Solution:
Guesses v 1 Z 1
s s

§ l1 · 1
I sin T ¨ l2 
2
Given ¸ M l1 Z I Mv

¨ ¸ Find Z  v Z 3.90 v 2.00 Ans.
19–5.

## The impact wrench consists of a slender 1-kg rod AB which

is 580 mm long, and cylindrical end weights at A and B that
each have a diameter of 20 mm and a mass of 1 kg. This
assembly is free to rotate about the handle and socket,
C
which are attached to the lug nut on the wheel of a car. If
B
the rod AB is given an angular velocity of 4 rad>s and it
strikes the bracket C on the handle without rebounding,
determine the angular impulse imparted to the lug nut.
300 mm
A
SOLUTION 300 mm

1 1
Iaxle =
12 2

L
19–6.

## The space capsule has a mass of 1200 kg and a moment of T = 400 N

inertia IG = 900 kg # m2 about an axis passing through G 15°
and directed perpendicular to the page. If it is traveling
forward with a speed vG = 800 m>s and executes a turn by vG = 800 m/s
1.5 m
means of two jets, which provide a constant thrust of 400 N G
for 0.3 s, determine the capsule’s angular velocity just after
1.5 m
the jets are turned off.
15°
SOLUTION T = 400 N

19–7.

## The airplane is traveling in a straight line with a speed of

300 km> h, when the engines A and B produce a thrust of
TA = 40 kN and TB = 20 kN, respectively. Determine the
angular velocity of the airplane in t = 5 s. The plane has a TA ⫽ 40 kN 8 m
mass of 200 Mg, its center of mass is located at G, and its A
G

B
SOLUTION TB ⫽ 20 kN
8m
Principle of Angular Impulse and Momentum: The mass moment of inertia of the
airplane about its mass center is IG = mkG2 = 200 A 103 B A 152 B = 45 A 106 B kg # m2.
Applying the angular impulse and momentum equation about point G,
t2
Izv1 + © MGdt = IGv2
Lt1

## v = 0.0178 rad>s Ans.

19–8.

The spool has mass mS and radius of gyration kO. Block A has mass mA, and block B has mass
mB. If they are released from rest, determine the time required for block A to attain speed vA.
Neglect the mass of the ropes.

Given:

mS 30 kg mB 10 kg ro 0.3 m

m m
kO 0.25 m vA 2 g 9.81
s 2
s
mA 25 kg ri 0.18 m

Solution:

Guesses t 1s vB 1 Z 1
s s

## Given vA Zro vB Zri

2
0  mA g t ro  mB g t ri mA vA ro  mB vB ri  mS kO Z

§¨ t ·¸
Find t  vB  Z
¨ vB ¸ vB 1.20 Z 6.67 t 0.530 s Ans.
s s
¨Z ¸
19–9.

## The wheel having a mass of 100 kg and a radius of gyration z

about the z axis of kz = 300 mm, rests on the smooth
horizontal plane. If the belt is subjected to a force of 400 mm
P = 200 N, determine the angular velocity of the wheel and
O
the speed of its center of mass O, three seconds after the
force is applied.

SOLUTION
x y
Principle of Angular Impulse and Momentum: The mass moment of inertia of the
wheel about the z axis is Iz = mkz2 = 100(0.32) = 9 kg # m2. Applying the linear and
angular impulse and momentum equations using the free-body diagram of the wheel P ⫽ 200 N
shown in Fig. a,
t2
+
; m(vx)1 + © Fx dt = m(vx)2
Lt1
0 + 200(3) = 100(vO)2

## (vO)2 = 6 m>s Ans.

and
t2
Izv1 + © Mzdt = Izv2
Lt1
0 - [200(0.4)(3)] = - 9v2

19–10.

## The 30-kg gear A has a radius of gyration about its center of

mass O of kO = 125 mm. If the 20-kg gear rack B is
subjected to a force of P = 200 N, determine the time 0.15 m
required for the gear to obtain an angular velocity of O
20 rad>s, starting from rest. The contact surface between the
gear rack and the horizontal plane is smooth.
A P ⫽ 200 N
B

SOLUTION
Kinematics: Since the gear rotates about the fixed axis, the final velocity of the gear
rack is required to be

## (vB)2 = v2rB = 20(0.15) = 3 m>s :

Principle of Impulse and Momentum: Applying the linear impulse and momentum
equation along the x axis using the free-body diagram of the gear rack shown in Fig. a,
t2
+ B
A: m(vB)1 + © Fxdt = m(vB)2
Lt1
0 + 200(t) - F(t) = 20(3)

## F(t) = 200t - 60 (1)

The mass moment of inertia of the gear about its mass center is IO =
mkO2 = 30(0.1252) = 0.46875 kg # m2. Writing the angular impulse and momentum
equation about point O using the free-body diagram of the gear shown in Fig. b,
t2
IOv1 + © MOdt = IOv2
Lt1
0 + F(t)(0.15) = 0.46875(20)

## Substituting Eq. (2) into Eq. (1) yields

t = 0.6125 s Ans.
19–11.

## The 30-kg reel is mounted on the 20-kg cart. If the cable P ⫽ 50 N

wrapped around the inner hub of the reel is subjected to a 150 mm
force of P = 50 N, determine the velocity of the cart and
O
the angular velocity of the reel when t = 4 s. The radius of
gyration of the reel about its center of mass O is
kO = 250 mm. Neglect the size of the small wheels.

SOLUTION
Principle of Impulse and Momentum: The mass moment of inertia of the reel about
its mass center is IO = mkO 2 = 30(0.2502) = 1.875 kg # m2. Referring to Fig. a,
t2
m C (vO)1 D x + © Fxdt = m C (vO)2 D x
Lt1
+ B
A: 0 + 50(4) - Ox(4) = 30v

Ox = 50 - 7.5v (1)

and
t2
IOv1 + © MOdt = IOv2
Lt1
0 + 50(4)(0.15) = 1.875v

Referring to Fig. b,
t2
+
: m(v1)x + © Fxdt = m(v2)x
Lt1
0 + Ox(4) = 20v

Ox = 5v (2)

## Solving Eqs. (1) and (2) yields

v = 4 m>s Ans.

Ox = 20 N
19–12.

A wire of negligible mass is wrapped around the outer surface of the disk of mass M. If the
disk is released from rest, determine its angular velocity at time t.

Given:
M 2 kg t 3s r 80 mm

Solution:

3 2
0  M grt Mr Z
2

Z ¨ ¸t Z 245 Ans.
19–13.

## The slender rod has a mass m and is suspended at its end A

by a cord. If the rod receives a horizontal blow giving it an
impulse I at its bottom B, determine the location y of the
point P about which the rod appears to rotate during the A
impact.

SOLUTION l

## Principle of Impulse and Momentum: y

t2
(a +) IG v1 + © MG dt = IG v2
Lt1
I B
0 + I a b = c ml2 d v
l 1 1
I = mlv
2 12 6
t2
a:
+ b m(yAx)1 + © Fx dt = m(yAx)2
Lt1
1 l
0 + mlv = mvG yG = v
6 6
Kinematics: Point P is the IC.

yB = v y

l
v
vy 6 2
= y = l Ans.
y l 3
y -
2
19–14.

## If the ball has a weight W and radius r and is thrown onto ω0

a rough surface with a velocity v0 parallel to the surface,
determine the amount of backspin, V 0, it must be given so
that it stops spinning at the same instant that its forward v0
velocity is zero. It is not necessary to know the coefficient
r
of friction at A for the calculation.

A
SOLUTION
+ B
A; m(nGx)1 + © Fx dt = m(vGx)2
L

W
n - Ft = 0 (1)
g 0

a ( +) (HG)1 + © MG dt = (HG)2
L

2 W
- a r2 b v0 + Ft(r) = 0 (2)
5 g

2 W 2 W n0
r v0 = t(r)
5 g g t

v0
v0 = 2.5 Ans.
r
19–15.

## The assembly shown consists of a 10-kg rod AB and a z

20-kg circular disk C. If it is subjected to a torque of
M = (20t3>2) N # m , where t is it in seconds, determine its
angular velocity when t = 3 s . When t = 0 the assembly M ⫽ (20t 3/2) N⭈m
0.45 m
is rotating at v1 = { -6k} rad>s .
A

B 0.15 m
SOLUTION x

## Principle of Angular Impulse and Momentum: The mass moment of inertia of C y

1 1
the assembly about the z axis is Iz = (10) A 0.452 B + c (20) A 0.152 B + 20 A 0.62 B d =
3 2
8.10 kg # m2. Using the free-body diagram of the assembly shown in Fig. a,
t2
Izv1 + © Mzdt = Izv2
Lt1
3s
3>2
8.10( - 6) + 20t dt = 8.10v2
L0
3s
- 48.6 + 8t5>2 2 = 8.10v2
0
19–16.

Angular motion is transmitted from a driver wheel A to the driven wheel B by friction between the
wheels at C. If A always rotates at constant rate ZA and the coefficient of kinetic friction between
the wheels is Pk determine the time required for B to reach a constant angular velocity once the
wheels make contact with a normal force F N. What is the final angular velocity of wheel B?
Wheel B has mass mB and radius of gyration about its axis of rotation kG.

Given:

ZA 16 mB 90 kg b 50 mm
s

Pk 0.2 kG 120 mm c 4 mm

FN 50 N a 40 mm

Solution: Guesses t 1s ZB 1
s

2
Given P k F N( a  b)t mB kG ZB

ZA§¨ ¸·
a
ZB( a  b)
§ t ·
Find t  ZB
¨ ¸ ZB 3.56 t 5.12 s Ans.
19–17.

## A motor transmits a torque of M = 0.05 N # m to the center

of gear A. Determine the angular velocity of each of the
three (equal) smaller gears in 2 s starting from rest. The
smaller gears (B) are pinned at their centers, and the masses
and centroidal radii of gyration of the gears are given in the mA 0.8 kg
figure. M 0.05 N m kA 31 mm

SOLUTION
Gear A: 40 mm

A
(c + ) (HA)1 + © MA dt = (HA)2
L
B
0 - 3(F)(2)(0.04) + 0.05(2) = [0.8(0.031)2] vA mB 0.3 kg
20 mm kB 15 mm
Gear B:

(a + ) (HB)1 + © MB dt = (HB)2
L

0 + (F)(2)(0.02) = [0.3(0.015)2] vB

F = 0.214 N

19–18.

## If the hoop has a weight W and radius r and is

thrown onto a rough surface with a velocity vG
parallel to the surface, determine the amount of
backspin, Z0, it must be given so that it stops
spinning at the same instant that its forward
velocity is zero. It is not necessary to know the
coefficient of kinetic friction at A for the
calculation.

Solution:

§ W · v r  § W · r2Z
¨ ¸ G ¨ ¸ 0 0

vG
Z0 Ans.
r
19–19.

## The double pulley consists of two wheels which are

attached to one another and turn at the same rate. The 200 mm
O
pulley has a mass of 15 kg and a radius of gyration 75 mm
kO = 110 mm. If the block at A has a mass of 40 kg,
determine the speed of the block in 3 s after a constant
force F = 2 kN is applied to the rope wrapped around the
inner hub of the pulley. The block is originally at rest.
Neglect the mass of the rope. F

A
SOLUTION
(c +) (HO)1 + © MO dt = (HO)2
L

## vA = 0.2(120.4) = 24.1 m>s Ans.

19–20.

The double pulley consists of two wheels which are attached to one another and turn at the same
rate. The pulley has mass mp and radius of gyration kO. If the block at A has mass mA, determine
the speed of the block at time t after a constant force F is applied to the rope wrapped around the
inner hub of the pulley. The block is originally at rest. Neglect the mass of the rope.

3
Units Used: kN 10 N

Given:

mp 25 kg F 5 kN

kO 150 mm ri 75 mm

mA 100 kg ro 200 mm

t 4s

Solution: Guess vA 1 Z 1
s s

2
Given F ri t  mA g ro t mp kO Z  mA vA ro

vA Zro

§ vA ·
Find vA  Z
¨ ¸ Z 156 .81 vA 31.4 Ans.
19–21.

The drum has mass M, radius r, and radius of gyration kO. If the coefficients of static and
kinetic friction at A are Ps and Pk respectively, determine the drum's angular velocity at time t
after it is released from rest.

Given:

M 70 kg Ps 0.4 T 30 deg

m
r 300mm Pk 0.3 g 9.81
2
s
kO 125 mm t 2s

## Solution: Assume no slip

Guesses Ff 1N FN 1N Z 1 v 1 F max 1N
s s

2
Given 0  Ff r t M kO Z v Zr F max P s FN

M g sin T t  F f t Mv F N t  M g cos T t 0

§ Ff ·
¨ ¸
¨ Fmax ¸ § Ff · § 51 ·
¨ F ¸ ¨ ¸ ¨ 238 ¸ N
Find Ff  Fmax  F N  Z  v
m
¨ N ¸ ¨ Fmax ¸ ¨ ¸
v 8.36
s
¨ Z ¸ ¨ F ¸ © 595 ¹
¨ ¸ Z 27.9
Ans.

Since F f 51 N < F max 238 N then our no-slip assumption is good. Ans.
19 –22.

## Determine the height h of the bumper of

the pool table, so that when the pool ball
of mass m strikes it, no frictional force
will be developed between the ball and
the table at A. Assume the bumper exerts
only a horizontal force on the ball.

Solution:

7 2
F't M' v F't h M r 'Z 'v r'Z
5

Thus
7 2 7
M r'Zh M r 'Z h r Ans.
5 5
19–23.

The 100-kg reel has a radius of gyration about its center of 0.3 m A
mass G of kG = 200 mm. If the cable B is subjected to a
G 0.1 m
force of P = 300 N, determine the time required for the
reel to obtain an angular velocity of 20 rad>s. The P ⫽ 300 N
coefficient of kinetic friction between the reel and the plane 0.2 m
is mk = 0.15. B

SOLUTION
Kinematics: Referring to Fig. a, the final velocity of the center O of the spool is

## (vG)2 = v2rG>IC = 20(0.2) = 4 m>s ;

Principle of Impulse and Momentum: The mass moment of inertia of the spool
about its mass center is IG = mkG2 = 100(0.2 2) = 4 kg # m2. Applying the linear
impulse and momentum equation along the y axis,

## A+cB m(vy)1 + © Fy dt = m(vy)2

L
0 + N(t) - 100(9.81)(t) = 0 N = 981 N

Using this result to write the angular impulse and momentum equation about the IC,
t2
a+ (HIC)1 + © MIC dt = (HIC)2
Lt1
0 + 0.15(981)(t)(0.5) - 300t(0.3) = - 100(4)(0.2) - 4(20)

t = 9.74 s Ans.
19–24.

## The 30-kg gear is subjected to a force of P = (20t) N, where

t is in seconds. Determine the angular velocity of the gear at
150 mm
t = 4 s, starting from rest. Gear rack B is fixed to the P ⫽ (20t) N
mass center O is kO = 125 mm.
B A

SOLUTION
Kinematics: Referring to Fig. a,

vO = vrO>IC = v(0.15)

## Principle of Angular Impulse and Momentum: The mass moment of inertia of

the gear about its mass center is IO = mkO2 = 30(0.1252) = 0.46875 kg # m2.
Writing the angular impulse and momentum equation about point A shown in
Fig. b,
t2
(HA)1 + © MA dt = (HA)2
Lt1
4s
0 + 20t(0.15)dt = 0.46875v + 30 [v(0.15)] (0.15)
L0
4s
1.5t2 2 = 1.14375v
0

19–25.

## The double pulley consists of two wheels which are attached

to one another and turn at the same rate. The pulley has a
mass of 30 kg and a radius of gyration kO = 250 mm. If two 350 mm
275 mm
O
men A and B grab the suspended ropes and step off the
ledges at the same time, determine their speeds in 4 s
starting from rest. The men A and B have a mass of 60 kg
and 70 kg, respectively. Assume they do not move relative
to the rope during the motion. Neglect the mass of the rope.

SOLUTION
a+ (HO)1 + © 1 MOdt = (HO)2

19–26.

## If the shaft is subjected to a torque of M = (15t2) N # m,

where t is in seconds, determine the angular velocity of the 1m 1m M (15t2) N m
assembly when t = 3 s, starting from rest. Rods AB and BC
each have a mass of 9 kg. C A

SOLUTION
Principle of Impulse and Momentum: The mass moment of inertia of the rods
(9) A 12 B = 0.75 kg # m2. Since the
1 1
about their mass center is IG = ml2 =
12 12
assembly rotates about the fixed axis, (vG)AB = v(rG)AB = v(0.5) and
(vG)BC = v(rG)BC = va 212 + (0.5)2 b = v(1.118). Referring to Fig. a,

t2
c+ (Hz)1 + © Mz dt = (Hz)2
Lt1
3s
0 + 15t2dt = 9 C v(0.5) D (0.5) + 0.75v + 9 C v(1.118) D (1.118) + 0.75v
L0
3s
5t3 2 = 15v
0

19–27.
The square plate has a mass m and is suspended at its
corner A by a cord. If it receives a horizontal impulse I at
corner B, determine the location y of the point P about
which the plate appears to rotate during the impact.
A
P y
a a

SOLUTION
a a
(a + ) (HG)1 + © MG dt = (HG)2
L I
B
a m 2
0 + Ia b= (a + a2) v
22 12

+ )
(: m(vGx)1 + © Fxdt = m(vGx)2
L

0 + I = mvG

6I
v =
22am
I
vG =
m

I
vG m 22a
y¿ = = =
v 6I 6
12 am

3 22 22 22
y = a - a = a Ans.
6 6 3
19–28.

## The crate has a mass mc. Determine the constant speed v0 it

acquires as it moves down the conveyor. The rollers each
have a radius of r, mass m, and are spaced d apart. Note that
friction causes each roller to rotate when the crate comes in
contact with it.

SOLUTION A 30°

## The number of rollers per unit length is 1/d.

v0
Thus in one second, rollers are contacted.
d
v0
If a roller is brought to full angular speed of v = in t0 seconds, then the moment
r
of inertia that is effected is

v0 1 v0
I¿ = I a b(t0) = a m r2ba bt0
d 2 d

## Since the frictional impluse is

F = mc sin u then

a + (HG)1 + © MG dt = (HG)2
L

1 v0 v0
0 + (mc sin u) r t0 = c a m r2 b a b t0 d a b
2 d r

mc
v0 = (2 g sin u d) a b Ans.
A m
19–29.

## A man has a moment of inertia Iz about the z axis. He is z

originally at rest and standing on a small platform which can
turn freely. If he is handed a wheel which is rotating at V and
u
has a moment of inertia I about its spinning axis, determine
his angular velocity if (a) he holds the wheel upright as V
shown, (b) turns the wheel out, u = 90°, and (c) turns the
wheel downward, u = 180°. Neglect the effect of holding the
wheel a distance d away from the z axis.

SOLUTION
a)

## a (Hz)1 = a (H)2; 0 + Iv = IzvM + Iv vM = 0 Ans.

b)

I
a (Hz)1 = a (H)2; 0 + Iv = IzvM + 0 vM =
Iz
v Ans.

c)

2I
a (Hz)1 = a (H)2; 0 + Iv = IzvM - Iv vM =
Iy
v Ans.
19–30.

## Two wheels A and B have masses mA and mB, and radii of

gyration about their central vertical axes of kA and kB,
respectively. If they are freely rotating in the same direction
at V A and V B about the same vertical axis, determine their
common angular velocity after they are brought into
contact and slipping between them stops.

SOLUTION

## (mA k2A) vA + (mB k2B) vB = (mA k2A) v¿A + (mB k2B)vB¿

Set vA
¿ = vB
¿ = v. then

mA k2A vA + mB k2B vB
v = Ans.
mA k2A + mB k2B
19–31.

Each of the two slender rods and the disk have the same mass m. Also, the length of each rod
is equal to the diameter d of the disk. If the assembly is rotating with an angular velocity Z1
when the rods are directed outward, determine the angular velocity of the assembly if by
internal means the rods are brought to an upright vertical position.

Solution:

H1 H2

ª1 § d · 2 º ª1 § d · 2 d º
2
« m ¨ ¸  2m §¨ ¸· » Z2
1
« m ¨ ¸  2 m d2  2m d2» Z1

11
Z2 Z1 Ans.
3
19–32.

## The space satellite has a mass of 125 kg and a moment of z

inertia Iz = 0.940 kg # m2, excluding the four solar panels A,
B, C, and D. Each solar panel has a mass of 20 kg and can be
approximated as a thin plate. If the satellite is originally
y
spinning about the z axis at a constant rate vz = 0.5 rad>s B z
C
when u = 90°, determine the rate of spin if all the panels
are raised and reach the upward position, u = 0°, at the θ = 90°
same instant
A 0.2 m D
0.75 m x
SOLUTION 0.2 m

c+ H1 = H2

1 1
2c (4)(0.15)2 d (5) = 2 c (4)(0.15)2 d v
2 2

1
+ 2[4(0.75v)(0.75)] + c (2)(1.50)2 d v
12

19–33.

## The 80-kg man is holding two dumbbells while standing on a 0.20 m

0.65 m
turntable of negligible mass, which turns freely about a
vertical axis. When his arms are fully extended, the turn-
table is rotating with an angular velocity of 0.5 rev>s.
Determine the angular velocity of the man when he retracts
his arms to the position shown. When his arms are fully
extended, approximate each arm as a uniform 6-kg rod 0.3 m 0.3 m
having a length of 650 mm, and his body as a 68-kg solid
cylinder of 400-mm diameter. With his arms in the retracted
position, assume the man as an 80-kg solid cylinder of 450-mm
diameter. Each dumbbell consists of two 5-kg spheres of
negligible size.

SOLUTION
Conservation of Angular Momentum: Since no external angular impulse acts on the
system during the motion, angular momentum about the axis of rotation (z axis) is
conserved. The mass moment of inertia of the system when the arms are in the fully
extended position is

1 1
(Iz)1 = 2 c 10(0.852) d + 2 c (6)(0.652) + 6(0.5252) d + (68)(0.2 2)
12 2

= 19.54 kg # m2

And the mass moment of inertia of the system when the arms are in the restracted
position is

1
(Iz)2 = 2c 10(0.32) d + (80)(0.2252)
2

= 3.825 kg # m2

Thus,

(Hz)1 = (Hz)2

(Iz)1v1 = (Iz)2v2

19.54(0.5) = 3.825v2

19–34.

## The 75-kg gymnast lets go of the horizontal bar in a fully G

B
stretched position A, rotating with an angular velocity of
vA = 3 rad>s. Estimate his angular velocity when he 750 mm vA ⫽ 5 rad/s
assumes a tucked position B. Assume the gymnast at
positions A and B as a uniform slender rod and a uniform
circular disk, respectively. G A
1.75 m
SOLUTION
Conservation of Angular Momentum: Other than the weight, there is no external
impulse during the motion. Thus, the angular momentum of the gymnast is
conserved about his mass cener G. The mass moments of inertia of the gymnast at
1 1
the fully stretched and tucked positions are (IA)G = ml2 = (75)(1.752) =
12 12
19.14 kg # m2 and (IB)G = mr2 = (75)(0.3752) = 5.273 kg # m2. Thus,
1 1
12 2

(HA)G = (HB)G

19.14(3) = 5.273vB
19–35.

The 2-kg rod ACB supports the two 4-kg disks at its ends. If 0.75m 0.75m
both disks are given a clockwise angular velocity C
1vA21 = 1vB21 = 5 rad>s while the rod is held stationary B A
and then released, determine the angular velocity of the rod
(VB)1 (VA)1
after both disks have stopped spinning relative to the rod 0.15 m 0.15 m
due to frictional resistance at the pins A and B. Motion is in
the horizontal plane. Neglect friction at pin C.

SOLUTION
c+ H1 = H2

1 1 1
2c (4) (0.15)2d(5) = 2c (4)(0.15)2d v + 2[4(0.75 v)(0.75)] + c (2)(1.50)2d v
2 2 12

## v = 0.0906 rad>s Ans.

19–36.

panels as shown. The body of the telescope has a mass M1
and radii of gyration kx and ky, whereas the solar panels
can be considered as thin plates, each having a mass M2.
Due to an internal drive, the panels are given an angular
velocity of Z0 j, measured relative to the telescope.
Determine the angular velocity of the telescope due to the
rotation of the panels. Prior to rotating the panels, the
telescope was originally traveling at vG = (vxi + vyj + vzk).
Neglect its orbital rotation.
3
Units Used: Mg 10 kg

Given:
M1 11 Mg Z0 0.6 vx 400
s s
m
M2 54 kg a 1.5 m vy 250
s
m
kx 1.64 m b 6m vz 175
s

ky 3.85 m

## Solution: Angular momentum is conserved.

Guess ZT 1
s

Given 0
§ 1 M b2· Z  Z  M k 2 Z

2 ¸ 0
¹
T 1 y
T ZT Find ZT

ZT 1.19 u 10 Ans.
s
19–37.

The pendulum consists of a slender rod AB of mass M1 and a disk of mass M2. It is
released from rest without rotating. When it falls a distance d, the end A strikes the hook
S, which provides a permanent connection. Determine the angular velocity of the
pendulum after it has rotated 90°. Treat the pendulum’s weight during impact as a
nonimpulsive force.
Given:

M1 2kg r 0.2m

M2 5kg l 0.5m

d 0.3m

Solution:

v1 2g d

2 2
l r 2
IA M1  M2  M2 ( l  r)
3 2

Guesses

Z2 1 Z3 1
s s

Given

l
M1 v1  M2 v1( l  r) IAZ2
2

1 2 1 2 l
IAZ2 IAZ3  M1 g  M2 g( l  r)
2 2 2

§ Z2 ·
Find Z2  Z3
¨ ¸ Z2 3.57 Z3 6.45 Ans.
19–38.

## The 20-kg cylinder A is free to slide along rod BC. When z

the cylinder is at x = 0, the 50-kg circular disk D is rotating
with an angular velocity of 5 rad> s. If the cylinder is given a x
C
slight push, determine the angular velocity of the disk 0.15 m
when the cylinder strikes B at x = 600 mm. Neglect the A
mass of the brackets and the smooth rod. G
B
D
0.9 m
SOLUTION 0.3 m

## Conservation of Angular Momentum: Since no external angular impulse acts on

the system during the motion, angular momentum is conserved about the z axis. v
The mass moments of inertia of the cylinder and the disk about their centers of
(20)[3(0.152) + 0.32] = 0.2625 kg # m2 and
1 1
mass are (IA)G = m(3r2 + h2) =
12 12
(ID)G = mr2 = (50)(0.92) = 20.25 kg # m2. Since the disk rotates about a fixed z
1 1
2 2
axis, (vG)A = v(rG)A = v(0.6). Referring to Fig. a,

(Hz)1 = (Hz)2

19–39.

## The slender bar of mass m pivots at support A when it is

released from rest in the vertical position. When it falls
and rotates 90°, pin C will strike support B, and pin at A 2L
3
will leave its support. Determine the angular velocity of
the bar immediately after the impact. Assume the pin at B
will not rebound. C
L
3 B
A
SOLUTION
L
Conservation of Energy: With reference to the datum in Fig. a, V1 = (Vg)1 = 3

L
W(yG)1 = mga b and V2 = (Vg)2 = W(yG)2 = 0. Since the rod rotates about point A,
2
1 1 1 1
T2 = I v2 = c mL2 d v22 = mL2v22. Since the rod is initially at rest, T1 = 0.
2 A 2 2 3 6
Then,

T1 + V1 = T2 + V2

L 1
0 + mga b = mL2v2 2 + 0
2 6

3g
v2 =
BL

Conservation of Angular Momentum: Since the rod rotates about point A just
3g L 3gL
before the impact, (vG)2 = v2rAG = a b = . Also, the rod rotates about
BL 2 B 4
L
B immediately after the impact, (vG)3 = v3rBG = v3 a b . Angular momentum is
6

(HB)2 = (HB)3

3gL L 1 3g 1 L L
m a b + a mL2 b = a mL2 bv3 + mcv3 a b d a b
B 4 6 12 BL 12 6 6

3 3g
v3 = Ans.
2B L
19–40.
The uniform rod assembly rotates with an angular velocity P
of v0 on the smooth horizontal plane just before the hook
strikes the peg P without rebound. Determine the angular v0
velocity of the assembly immediately after the impact. Each L
2
rod has a mass of m. L L
2

SOLUTION
Center of Mass: Referring to Fig. a,

L
a b (m) + L(m)
x = = = L
Thus, the mass moment of the assembly about its mass center G is

1 L 2 1 L 2 7
IG = c mL2 + m a b d + c mL2 + ma b d = mL2
12 4 12 4 24

## Conservation of Angular Momentum: Referring to Fig. b, angular momentum is

3
Here, immediately after the impact, (vG)2 = v2rPG = v2 a L b . Thus,
4

(HP)1 = (HP)2

7 7 3 3
a mL2 b v0 = a mL2 b v2 + 2m c v2 a Lb d a L b
24 24 4 4

7
v2 = v Ans.
34 0
19–41.

## A thin disk of mass m has an angular velocity V 1 while P

rotating on a smooth surface. Determine its new angular
velocity just after the hook at its edge strikes the peg P and r
the disk starts to rotate about P without rebounding.
V1

SOLUTION
H1 = H2

1 1
a mr 2bv1 = c mr 2 + mr 2dv2
2 2

1
v2 = v1 Ans.
3
19–42.

## The vertical shaft is rotating with an angular velocity of z

3 rad>s when u = 0°. If a force F is applied to the collar so
that u = 90°, determine the angular velocity of the shaft. 0.3 m 0.3 m B
D
Also, find the work done by force F. Neglect the mass of
rods GH and EF and the collars I and J. The rods AB and
CD each have a mass of 10 kg. E 0.3 m 0.3 m G

u I u
C A
SOLUTION
0.1 m 0.1 m
Conservation of Angular Momentum: Referring to the free-body diagram of the v
assembly shown in Fig. a, the sum of the angular impulses about the z axis is zero.
Thus, the angular momentum of the system is conserved about the axis. The mass
J
moments of inertia of the rods about the z axis when u = 0° and 90° are F H

1 F
(Iz)1 = 2 c
12

## (Iz)2 = 2 c 10(0.12) d = 0.2 kg # m2

Thus,

(Hz)1 = (Hz)2

3.8(3) = 0.2v2

Principle of Work and Energy: As shown on the free-body diagram of the assembly,
Fig. b, W does negative work, while F does positive work. The work of W is
UW = - Wh = - 10(9.81)(0.3) = - 29.43 J. The initial and final kinetic energy of the
1 1 1
assembly is T1 = (Iz)1v1 2 = (3.8)(32) = 17.1 J and T2 = (Iz)2v2 2 =
2 2 2
1
(0.2)(572) = 324.9 J. Thus,
2
T1 + ©U1 - 2 = T2

UF = 367 J Ans.
19–43.

## The rod has a length L and mass m. A smooth

collar having a negligible size and one-fourth
the mass of the rod is placed on the rod at its
midpoint. If the rod is freely rotating with
angular velocity Z about its end and the collar
is released, determine the rod’s angular
velocity just before the collar flies off the rod.
Also, what is the speed of the collar as it
leaves the rod?

Solution:
H1 H2

1 2 § m ·§ L · § L ·
m L Z  ¨ ¸ ¨ ¸ Z¨ ¸
1 2 § m·
m L Z'  ¨ ¸ LZ' L Z' =
19
Z Ans.

T1  V 1 T2  V 2

2
1§1 2· 2 1 § m · § L · 1 § m· 2 1 § m· 2 1§1 2· 2
¨ m L ¸ Z  ¨ ¸ ¨ Z¸ ¨ ¸ v'  ¨ ¸ LZ'  ¨ m L ¸ Z'

2 57 2 2
v' L Z
112

2
57 2 2 ª § 19 ·º 95 v'' 0.985 ZL Ans.
v'' L Z  «L¨ Z¸» v'' ZL
112 ¬ © 28 ¹¼ 98
19–44.

## A 7-g bullet having a velocity of 800 m>s is fired into the

edge of the 5-kg disk as shown. Determine the angular O
velocity of the disk just after the bullet becomes embedded
in it. Also, calculate how far u the disk will swing until it u
v 800 m/s
stops. The disk is originally at rest.
30

0.2 m
SOLUTION
c+ (HO)1 + © MO dt = (HO)2
L

1
0.007(800) cos 30°(0.2) + 0 = (5.007)(0.2)2v + 5.007(0.2v)(0.2)
2

## v = 3.23 rad>s Ans.

T1 + V1 = T2 + V2

1 1 1
(5.007)[3.23(0.2)]2 + [ (5.007)(0.2)2](3.23)2 + 0 = 0 + 0.2(1 - cosu)(5.007)(9.81)
2 2 2

u = 32.8° Ans.
19–45.

Two children A and B, each having a mass M1, sit at the edge of the merry-go-round
which is rotating with angular velocity Z. Excluding the children, the merry-go-round has a
mass M2 and a radius of gyration kz. Determine the angular velocity of the merry-go-round
if A jumps off horizontally in the n direction with a speed v, measured with respect to the
merry-go-round.What is the merry-go-round’s angular velocity if B then jumps off
horizontally in the +t direction with a speed v, measured with respect to the
merry-go-round? Neglect friction and the size of each child.

Given:
M1 30 kg kz 0.6 m

M2 180 kg a 0.75 m

Z 2 v 2
s s

Solution:

( a) Guess Z2 1
s

## Given M2 kz2  2M1 a2 Z M2 kz2  M1 a2 Z2

Find Z2
Z2 Z2 2.41 Ans.
s
( b) Guess Z3 1
s

Given M2 kz2  M1 a2 Z2 M2 kz Z3  M1 v  Z3 a a
2

Find Z3
Z3 Z3 1.86 Ans.
s
19–46 . The target is a thin 5-kg circular disk that can z
rotate freely about the z axis. A 25-g bullet, traveling at
600 ms, strikes the target at A and becomes embedded in
it. Determine the angular velocity of the target after the 200 mm
impact. Initially, it is at rest. 300 mm 600 m/ s

A 100 mm

## Conservation of Angular Momentum: Referring to Fig. a, the sum of the angular

impulse of the system about the z axis is zero. Thus, the angular impulse of the
system is conserved about the z axis. The mass moment of inertia of the target about
1 1
the z axis is *[  NS2  (5)  0.32   0.1125 kg  m2. Since the target rotates
4 4
about the z axis when the bullet is embedded in the target, the bullet’s velocity is
(vC)2  v(0.2). Then,

()[)1  ()[)2

## 0.025(600)(0.2)  0.1125v 0.025  v(0.2)  (0.2)

19–4 7. The disk has a mass of 15 kg. If it is released from 150 mm
rest when u  30°, determine the maximum angle u of
rebound after it collides with the wall. The coefficient of
C
restitution between the disk and the wall is F  0.6. When
u  0°, the disk hangs such that it just touches the wall. 150 mm u
Neglect friction at the pin C.

## Datum at lower position of G.

51 71  52 72

1 3
0 (15)(9.81)(0.15)(1  cos 30°)  5 (15)(0.15)2 6 v2 0
2 2

4 0  ( 0.15v)
3 
 F  0.6
3.418(0.15)  0

52 72  53 73

1 3
5 (15)(0.15)2 6 (2.0508)2 0  0 15(9.81)(0.15)(1  cos u)
2 2

u  17.9° Ans.
19–48. A 2-kg mass of putty D strikes the uniform 10-kg
plank ABC with a velocity of 10 ms. If the putty remains D
300 mm
attached to the plank, determine the maximum angle u of u B C
A
swing before the plank momentarily stops. Neglect the size
of the putty.

800 mm 400 mm

## Conservation of Angular Momentum: Referring to Fig. a, the sum of the angular

impulses about point B is zero. Thus, angular impulse of the system is conserved
and (v%)2  v2S(%  v2(0.3). The mass moment of inertia of rod AC about its mass
1 1
center is *("\$  NM2  (10)  1.22   1.2 kg  m2. Then,
12 12

()#)1  ()#)2

## 2(10)(0.3)  1.2v2 10  v2(0.2)  (0.2) 2  v2(0.3)  (0.3)

Conservation of Energy: With reference to the datum in Fig. a,

and

## 10(9.81)(0.2 sin u)  2(9.81)(0.3 sin u)  13.734 sin u

The initial kinetic energy of the system is
1 1 1
52  * v 2 N"\$ (v("\$)2 2 N%(v(%)2 2
2 ("\$ 2 2 2
1 1 1
(1.2)  3.3712  (10)  3.371(0.2)  2 (2)  3.371(0.3)  2  10.11 J
2 2 2
Since the system is required to be at rest in the final position, 53  0. Then,

52 72  53 73
10.11 0  0 13.734 sin u
u  47.4° Ans.
19–49.

## The hammer consists of a 10-kg solid cylinder C and 6-kg

uniform slender rod AB. If the hammer is released from rest
A
when u = 90° and strikes the 30-kg block D when u = 0°, 500 mm
determine the velocity of block D and the angular velocity of
u
the hammer immediately after the impact. The coefficient of
100 mm
restitution between the hammer and the block is e = 0.6.
B
SOLUTION
150 mm
C 50 mm
Conservation of Energy: With reference to the datum in Fig. a, V1 = (Vg)1 =
WAB(yGAB)1 + WC(yGC)1 = 0 and V2 = (Vg)2 = - WAB(yGAB)2 - WC(yGC)2 = D

## - 6(9.81)(0.25) - 10(9.81)(0.55) = - 68.67 J. Initially, T1 = 0. Since the hammer

rotates about the fixed axis, (vGAB)2 = v2rGAB = v2(0.25) and
(vGC)2 = v2rGC = v2(0.55). The mass moment of inertia of rod AB and cylinder C
(6)(0.52) = 0.125 kg # m2 and
1 1
about their mass centers is IGAB = ml2 =
12 12
(10) C 3(0.052) + 0.152 D = 0.025 kg # m2. Thus,
1 1
IC = m(3r2 + h2) =
12 12
1 1 1 1
T2 = I v 2 + mAB(vGAB)2 2 + IGC v22 + mC(vGC)2 2
2 GAB 2 2 2 2
1 1 1 1
= (0.125)v22 + (6) C v2(0.25) D 2 + (0.025)v22 + (10) C v2(0.55) D 2
2 2 2 2

= 1.775 v22

Then,

T1 + V1 = T2 + V2

0 + 0 = 1.775v22 + ( - 68.67)

## Conservation of Angular Momentum: The angular momentum of the system is

conserved point A. Then,

(HA)1 = (HA)2

19–49. continued

## Coefficient of Restitution: Referring to Fig. c, the components of the velocity of the

impact point P just before and just after impact along the line of impact are
C (vP)x D 2 = (vGC)2 = v2rGC = 6.220(0.55) = 3.421 m>s : and C (vP)x D 3 = (vGC)3 =
v3rGC = v3 (0.55) ; . Thus,

(vD)3 - C (vP)x D 3
+
: e =
C (vP)x D 2 - (vD)2
(vD)3 - C - v3(0.55) D
0.6 =
3.421 - 0
(vD)3 + 0.55v3 = 2.053 (2)

19– 50.

## The square plate has a weight W and is

rotating on the smooth surface with a
constant angular velocity Z0 . Determine
the new angular velocity of the plate just
after its corner strikes the peg P and the
plate starts to rotate about P without
rebounding.

Solution:

§ W · §¨ a ·¸ Z § W · §¨ 2a ·¸ Z
2 2
1
¨ ¸ 0 ¨ ¸ Z Z0 Ans.
19–51.

## The solid ball of mass m is dropped with a velocity v1 onto

the edge of the rough step. If it rebounds horizontally off
the step with a velocity v2, determine the angle u at which
contact occurs. Assume no slipping when the ball strikes the
step. The coefficient of restitution is e.

u v1
r
v2
SOLUTION
Conservation of Angular Momentum: Since the weight of the solid ball is a
nonimpulsive force, then angular momentum is conserved about point A. The mass
2
moment of inertia of the solid ball about its mass center is IG = mr2. Here,
y2 cos u 5
v2 = . Applying Eq. 19–17, we have
r

(HA)1 = (HA)2

## C mb (yb)1 D (r¿) = IG v2 + C mb (yb)2 D (r–)

2 y2 cos u
(my1)(r sin u) = a mr2 b a b + (my2)(r cos u)
5 r
y2 5
= tan u (1)
y1 7

0 - (yb)2
e =
(yb)1 - 0
- (y2 sin u)
e =
-y1 cos u
y2 e cos u
= (2)
y1 sin u

## Equating Eqs. (1) and (2) yields

5 e cos u
tan u =
7 sin u
7
tan2 u = e
5
7
u = tan - 1 ¢ e≤ Ans.
A5
19–52.

## The wheel has a mass of 50 kg and a radius of gyration of 150 mm v1

125 mm about its center of mass G. Determine the
minimum value of the angular velocity v1 of the wheel, so G
that it strikes the step at A without rebounding and then
rolls over it without slipping.

A 25 mm

SOLUTION
Conservation of Angular Momentum: Referring to Fig. a, the sum of the angular
impulses about point A is zero. Thus, angular momentum of the wheel is conserved
(vG)2 = v2r = v2(0.15). The mass moment of inertia of the wheel about its mass
center is IG = mkG2 = 50(0.1252) = 0.78125 kg # m2. Thus,

(HA)1 = (HA)2

v1 = 1.109v2 (1)

## Conservation of Energy: With reference to the datum in Fig. a, V2 = (Vg)2 =

W(yG)2 = 0 and V3 = (Vg)3 = W(yG)3 = 50(9.81)(0.025) = 12.2625 J. Since the
wheel is required to be at rest in the final position, T3 = 0. The initial kinetic energy
1 1 1 1
of the wheel is T2 = m(vG)22 + IGv2 2 = (50)[v2(0.15)]2 + (0.78125)(v2 2) =
2 2 2 2
0.953125v22. Then

T2 + V2 = T3 + V3

0.953125v2 2 + 0 = 0 + 12.2625

19–53.

## The wheel has a mass of 50 kg and a radius of gyration of 150 mm v1

125 mm about its center of mass G. If it rolls without
slipping with an angular velocity of v1 = 5 rad>s before it
G
strikes the step at A, determine its angular velocity after it
rolls over the step. The wheel does not loose contact with
the step when it strikes it.
A 25 mm

SOLUTION
Conservation of Angular Momentum: Referring to Fig. a, the sum of the angular
impulses about point A is zero. Thus, angular momentum of the wheel is conserved
0.75 m>s and v2 = v2r = v2(0.15). The mass moment of inertia of the wheel about its
mass center is IG = mkG2 = 50(0.1252) = 0.78125 kg # m2. Thus,

(HA)1 = (HA)2

## Conservation of Energy: With reference to the datum in Fig. a, V2 = (Vg)2 =

W(yG)2 = 0 and V3 = (Vg)3 = W(yG)3 = 50(9.81)(0.025) = 12.2625 J. The initial
1 1 1
kinetic energy of the wheel is T = mvG2 + IGv2 = (50)[v(0.15)]2 +
2 2 2
1
(0.78125)v2 = 0.953125v2. Thus, T2 = 0.953125v22 = 0.953125(4.5082) = 19.37 J
2
and T3 = 0.953125v32.

T2 + V2 = T3 + V3

19–54.

## The disk has a mass m and radius r. If it strikes the step ω1

without rebounding, determine the largest angular velocity
the disk can have and not lose contact with the step.

1r
SOLUTION 8

1
(HA)1 = m r2 (v1) + m(v1 r)(r - h)
2

1
(HA)2 = m r2 (v2) + m(v2 r)(r)
2

(HA)1 = (HA)2

1 3
c m r2 + m r (r - h) d v1 = m r2 v2
2 2

3 3
a r - h b v1 = r v2
2 2

## b+ ©Fn = m an ; W cos u - F = m(v22 r)

r - h
F = mg a b - m(v22 r)
r

3
r - h 2
r - h 2 2 2
F = mg a b - m ra b P Q v21
r 3 r

1
Set h = r; also note that for maximum v1 F will approach zero. Thus
8

1 3 r
r - r 2 r - 2
8 2 2 8
mg - mr v21
r 3 r

g
v1 = 1.02 Ans.
r
19–55.

## A solid ball with a mass m is thrown on the ground such that

at the instant of contact it has an angular velocity V 1 and V1 (vG)y1
velocity components 1vG2x1 and 1vG2y1 as shown. If the
(vG)x1
ground is rough so no slipping occurs, determine the
components of the velocity of its mass center just after G
r
impact. The coefficient of restitution is e.

SOLUTION
Coefficient of Restitution (y direction):
0 - (yG)y 2
A+TB e = (yG)y2 = - e(yG)y1 = e(yG)y1 c Ans.
(yG)y1 - 0

## Conservation of angular momentum about point on the ground:

(c + ) (HA)1 = (HA)2

2 2
- mr 2v1 + m(vG)x 1r = mr 2v2 + m(vG)x 2 r
5 5

## Since no slipping, (vG)x2 = v2 r then,

2
5a (vG)x 1 - v rb
5 1
v2 =
7r

Therefore

5 2
(yG)x 2 = a (yG)x 1 - v1 rb Ans.
7 5
19–56.

## A thin disk of mass 2m has an angular velocity Z 

while rotating on a smooth surface. Determine its
new angular velocity just after the hook at its edge
strikes the peg P and the disk starts to rotate about P
without rebounding.
Solution:
H1 H2

⎛1 2⎞ ⎛1 2 2⎞
⎜ 2 2mr ⎟ ω1 = ⎜ 2 2mr + 2mr ⎟ ω2
⎝ ⎠ ⎝ ⎠

1
Z2 Z1 Ans.
3