Tzong-Ying Hao
Homework # 1 <SOLUTIONS>
1. v-t Graph. Since the equation for the v-t relation is given, the graph is plotted below:
From the graph, it can be seem that v = 0 when t = t1 v (m/s)
and t2. t1 and t2 can be obtained by letting and solving 200
v = 20 t 2 − 100t + 50 = 0. We have 150
100
100 ± 100 2 − 4(20)(50)
t1, 2 = 50
2(20)
0 t (s)
= 0.546 s and 4.436 s
-50 0 1 2 3 4 5 6
a-t Graph. Since a = dv dt , the a-t relation can be -100
determined by differentiating the equation of v-t
relation. This yields a (m/s2 )
200
a = dv dt = 40t − 100 m/s2 150
The result is plotted. 100
50
When t = t3 , a = 0. We let and solve
0 t (s)
a = 40t3 − 100 = 0. This yields -50 0 1 2 3 4 5 6
t3 = 2.5 s -100
-150
Hence, the corresponding velocity when a = 0 is
v |t =t3 = 20 (2.5) 2 − 100(2.5) + 50 = −75 m/s Ans.
2. Velocity. Since the position s is a function of time t, i.e., s = f (t ) , the particle’s velocity as a
function of time may be found by differentiating v = ds dt . Therefore
d
v = ds dt = (2t 2 − 8t + 6) = (4t − 8) m/s
dt
The time when the velocity is zero can be determined by setting v = 0. Thus
v = (4t − 8) = 0 , t = 2 s Ans.
Coordinate System. The straight path of the particle can be presented as shown in the figure,
extended from the fixed origin O, positive to the right.
t=0
t=2s
s (m)
-2 O 2 4 6
t=3s
Distance Traveled. Since the particle’s velocity is negative when t = 0, the direction of the particle’s
motion is to the left. At the instant when t = 2 s the velocity is zero, therefore, the direction of the
particle’s motion is reversed. Consequently, it is necessary to determine the particle’s position when t =
0, t = 2 s, and t = 3 s. This yields
s t =0 = 6 m s t =2 s = −2 m s t =3 s = 0
3. Position. Since v = f (t ) , the car’s position can be determined from v = ds dt , since this equation
relates v, s, and t. Noting that s0 = 3 m when t = 0, we have
v = ds dt ⇒ ∫ ds = ∫ vdt
s 3
∫ ds = ∫ (2 − 4t + 5t 3 2 ) dt ⇒ s 3 = (2t − 2t 2 + 2t 5 2 )
s t
3 0 0
s − 3 = 2t − 2t 2 + 2t 5 2 or s = 3 + 2t − 2t 2 + 2t 5 2
When t = 3 s,
s = 3 + 2(3) − 2(3) 2 + 2(3) 5 2 , s = 22.2 m/s Ans.
Acceleration. Since v = f (t ) , the acceleration is determined from a = dv dt , since this equation
relates a, v, and t.
dv 1
a= = (2 − 4t + 5t 3 2 )
dt dt
= −4 + 152 t 1 2
When t = 3 s,
a = −4 + 152 (3)1 2 = 8.99 m/s2 Ans.
4. Coordinate System. The origin of coordinates is established at the initial position of the rocket,
positive upward.
Time and Velocity. Since the rocket is traveling upward from rest, s0 = 0 and v0 = 0 when t = 0.
For the entire motion, the acceleration is ac = 1.5g. The time t required to reach the altitude s = 30 km
can be found from
+↑ s = s0 + v0 t + 12 ac t 2
1
30000 m = 0 + 0 + [1.5(9.81 m/s 2 )] t 2 , t = 63.9 s Ans.
2
To obtain the velocity at that position, we apply
+↑ v = v0 + ac t
v = 0 + [1.5(9.81 m/s 2 )](63.9 s) = 939.6 m/s Ans.
5. Coordinate System. The origin of coordinates is established at the initial position of the balls,
positive upward.
Time and Velocity. Since the balls are traveling upward, the acceleration is constant ac = −32.2 ft/s2
for the entire motion. The time t1 required for ball 1 to collide with ball 2 at an altitude of 300 ft can be
obtain from
6. Here the positive motion is to the right, measured from the initial position 0, see figure below.
0 1 2
200 ft 400 ft
s0 s1 s2
v0 v1 v2
a1 a2
t1 t2
The car’s position and associated velocity when t = 0, t = t1, and t = t1 + t2 are
s0 = 0, v0 = 0
5280
s1 = 200 ft, v1 = 60 mi/hr = 60 (
) = 88 ft/sec
3600
5280
s2 = (200 + 400) = 600 ft, v2 = 30 mi/hr = 30 ( ) = 44 ft/sec
3600
From initial position 0 to position 1, the constant acceleration a1 can be obtained by
+↑ v12 = v02 + 2 a1 ( s1 − s 0 )
(88) 2 = 0 + 2a1 (200 − 0) , a1 = 19.36 ft/sec²
The time t1 for the car to travel in this range is
+↑ v1 = v0 + a1 t1
88 2 = 0 + (19.36) t1 , t1 = 4.55 sec
From position 1 to position 2, the constant deceleration a2 can be obtained by
+↑ v 22 = v12 + 2 a 2 ( s 2 − s1 )
(44) 2 = (88) 2 + 2a 2 (600 − 400) , a2 = –7.26 ft/sec²
The time t2 for the car to travel in this range is
+↑ v 2 = v1 + a 2 t 2
44 = 88 + (−7.26) t 2 , t2 = 6.06 sec
The total time t for the car to travel 600 ft is
t = t1 + t2 = 4.55 + 6.06 = 10.61 sec Ans.
v
v = 10iˆ + 9 ˆj in./sec Ans.
The magnitude of velocity is therefore
v = (10) 2 + (9) 2 = 13.454 in./sec Ans.
Acceleration. The acceleration component in the y-direction is
a y = v& y = d
dt vy = d
dt (12 t 3 − 3) = 24 t in./sec2
When t = 1 sec, we have
a x t =1 = 12 (1) = 12 in./sec2, a y = 24(1) = 24 in./sec2
t =1
v
a = 12iˆ + 24 ˆj in./sec2 Ans.
The magnitude of acceleration is therefore
a = (12) 2 + (24) 2 = 26.834 in./sec2 Ans.
y
3. Coordinate System. The origin of 4°
A
coordinates is established at the initial position
O. At A, the x and y components of the initial B
v0
velocity are v A x = 120 cos 4° ft/s ←and v A y = h
C 3 ft
120 sin 4° ft/s ↓. x
O
From point A to B, 40 ft
+← x B = x A + v A x t AB
(40 ft ) = 0 + (120 cos 4° ft/s) t AB
Solving, we get the time t AB = 0.334 s to travel from A to B. Therefore,
+↑ y B = y A + v A y t AB − 12 g t AB
2
y
4. Coordinate System. The origin of coordinates is
established at the quarterback’s position Q. as shown.
The initial velocity of the football has components vQx =
v0cosθ and vQy = v0sinθ. R’ x
The receiver runs with a constant velocity 10 yd/sec d
and catches the ball 2.5 sec after the launch instant, and
therefore we can obtain the receiver and ball’s final position R’ by
+→ x R′ = x R + v R x t
(30 + d ) yd = 30 yd + (10 yd/sec) (2.5 sec) , d = 25 yd
− R sin 25° ft = 0 + (v0 sin 18° ft/s)(3 s) − 12 (32.2 ft/s 2 )(3 s) 2 (2)
Solving Eqs. (1) and (2) simultaneously, we get
v0 = 64.2 ft/s
R = 202.1 ft Ans.
Using these results, we have
+→ v Bx = v A x
v Bx = (64.2 ft/s) cos 18° = 61.1 ft/s Ans.
+↑ v By = v Ay − gt
v By = (64.2 ft/s) sin 18° − (32.2 ft/s 2 )(3 s) = −76.8 ft/s Ans.
Therefore, v Bx
⎛ v By ⎞
θ = tan −1 ⎜⎜ ⎟⎟ = 51.1º Ans.
⎝ v Bx ⎠ vBy vB
Homework # 3 Due: Feb. 13, 2014 (TuTh) / Feb. 17, 2014 (MW)
Normal-Tangent Coordinates (n-t )
3. The car is traveling at a speed of 60 mi/hr as it
1. The car passes through a dip in the road at A approaches point A. Beginning at A, the car
with a constant speed which gives its mass decelerates at a constant 7 ft/sec2 until it gets to
center G an acceleration equal to 0.5g. If the point B, after which its constant rate of decrease
radius of curvature of the road at A is 100 m, of speed is 3 ft/sec2 as it rounds the interchange
and if the distance from the road to the mass ramp. Determine the magnitude of the total car
center G of the car is 0.6 m, determine the acceleration (a) just before it gets to B, (b) just
speed v of the car. after it passes B, and (c) at point C.
Ans. 22.08 m/s Ans. 7 ft/sec2, 17.97 ft/sec2, 8.82 ft/sec2
HW #3 Page 1 of 2
AM316 Engineering Dynamics Dr. Tzong-Ying Hao
Homework # 3 <SOLUTIONS>
1. The magnitude of acceleration can be related to its components using a = a n2 + at2 . Since the car
travels with a constant speed, then at = 0 , i.e., a = an . At A is a = 0.5 g , so that the speed of the car can
be determined as follows:
v2
a = 0 .5 g = a n = , v = (0.5 g )( ρ *)
ρ*
Note here ρ* is the effective radius of curvature, which is the distance from the center of curvature of
the road to the mass center G of the driver. Hence,
v = [0.5(9.81)](100 − 0.6) = 22.08 m/s Ans.
2. The position of the car at any instant is defined from the fixed point A using the position or path
coordinate s. The acceleration is to be determined at B, so the origin of the n, t axes is at this point.
Since the car travels from A to B with a speed
that decreasing at the constant rate, i.e., s = 120 m
at = constant = a At = a B t = –0.6 m/s², so that the A
B
speed of the car at B can be obtained from at
v B2 = v A2 + 2at s
t
a
v B2 = (16) 2 + 2(−0.6)(120) , v B = 10.583 m/s
an
At B, ρ B = 60 m, so that n
v B2 (10.583 m/s) 2
aBn = = = 1.867 m/s²
ρB 60 m
The magnitude of the acceleration at point B is
a B = a B2 n + a B2 t = (1.867) 2 + (−0.6) 2 = 1.961 m/s² Ans.
5. Coordinate System. Since the angular motion of the slotted arm is reported, polar coordinates are
chosen for the solution. To find the necessary time derivatives it is first necessary to establish the time-
parameter equation of r. Thus
r = 1. 6 − 0 . 2 t m
Velocity and Acceleration. Determining the time derivatives and evaluating them when t = 4 s, we
have
Review Problems
8. For the instant shown the particle has a velocity
6. A rocket is tracked by radar from its launching
v = 6 ft/sec in the direction shown and has
point A. When it is 10 seconds into its flight, the
following radar measurements are recorded: r = acceleration components a x = 15 ft/sec2 and
2200 m, r& = 500 m/s, &r& = 4.66 m/s2, θ = 22º, aθ = −15 ft/sec2. If the particle is 3 ft from the
θ& = 0.0788 rad/s, and θ&& = −0.0341 rad/s2. For tracking station O, determine ar , a y , at , an ,
this instant determine the angle β between the and radius of curvature ρ of the path for this
horizontal and the direction of the trajectory of
position. (Midterm #1, Spring 2013.) (Hint:
the rocket and find the magnitudes of its velocity
v v Draw the related acceleration components of the
v and acceleration a . total acceleration of the particle and take
Ans. 48.9º, 529.2 m/s, 9.762 m/s2 advantage of the simplified geometry for your
calculations.)
Ans. ρ = 2.078 ft
θ
y v = 6 ft/sec
r
30 o
P
t
3f
O θ = 30 o
x
HW #3 Page 2 of 2
(b) Since an = v 2 ρ , the car’s velocity at this instant must be determined by considering path AB.
+→ v B2 = v A2 + 2(at ) AB ( s B − s A )
mi 5280 ft 1 hr
v B2 = (60 ) 2 + 2(−7 ft/sec 2 )(300 ft ) , vB = 59.532 ft/sec
hr 1 mi 3600 sec
Thus
a n = v 2 ρ = (59.532 ft/sec) 2 200 ft = 17.720 ft/sec2
The magnitude of acceleration is
a = a n2 + at2 = (17.720 ft/sec 2 ) 2 + (−3 ft/sec 2 ) 2 = 17.972 ft/sec2 Ans.
(c) In the similar manner, the car velocity at point C must be determined by considering path BC.
+→ vC2 = v B2 + 2(at ) BC ( sC − s B )
vC2 = (59.532 ft/sec) 2 + 2(−3 ft/sec 2 )[ 14 π (2)(200 ft )] , vC = 40.732 ft/sec
Thus
an = v 2 ρ = (40.732 ft/sec) 2 200 ft = 8.296 ft/sec2
The magnitude of acceleration is
a = an2 + at2 = (8.296 ft/sec 2 ) 2 + (−3 ft/sec 2 ) 2 = 8.821 ft/sec2 Ans.
5. Coordinate System. Since the angular motion of the slotted arm is reported, polar coordinates are
chosen for the solution. To find the necessary time derivatives it is first necessary to establish the time-
parameter equation of r. Thus
r = 1. 6 − 0 . 2 t m
Velocity and Acceleration. Determining the time derivatives and evaluating them when t = 4 s, we
have
⎛ 0.2 ⎞ v
δ = tan −1 ⎜ ⎟ = 32° , α v = δ + θ + 90° = 259.5° Ans.
⎝ 0.32 ⎠
θ = 137.5 o
As shown in Fig. (b), O
v Fig. (a)
a = (&r& − rθ& 2 ) eˆ + (rθ&& + 2r&θ&) eˆ
r θ r aθ
= [0 − 0.8(0.4) 2 ] eˆr + [0.8(−0.1) + 2(−0.2)(0.4)] eˆθ φ
a αa
P x
= −0.128 eˆr − 0.24 eˆθ m/s 2
θ ar
2
a = (−0.128) + (−0.24) = 0.272 m/s
2 2
Ans.
⎛ 0.128 ⎞
φ = tan −1 ⎜ ⎟ = 28° , α a = θ − φ − 90° = 19.4° Ans. θ = 137.5 o
⎝ 0.24 ⎠ O
Fig. (b)
= 500 eˆr + 2200 (0.0788) eˆθ = 500 eˆr + 173.36 eˆθ m/s r
v
The magnitude of v is v vr
The acceleration is
v
a = (&r& − rθ& 2 ) eˆ + (rθ&& + 2r&θ&) eˆ
r θ
= [ 4.66 − 2200 (0.0788) ] eˆr + [2200 (−0.0341) + 2(500)(0.0788)] eˆθ = −9.00 eˆr + 3.78 eˆθ m/s 2
2
v
The magnitude of a is
a = (−9) 2 + (3.78) 2 = 9.762 m/s2 Ans.
at = 0 Ans. a
ay
2
an = a = 17.32 ft/s Ans.
n
Since a n = v 2 ρ , the radius of curvature of the path at this instant can
be determined by
ρ = v 2 an = (6) 2 17.32 = 2.078 ft Ans.
(h − sC ) + ( s B − sC ) + constant = L2 (2) E
Time Derivative. Taking the time derivative of Eqs. (1) and (2) gives
2v A + v C = 0 and v B − 2vC = 0
2 a A + aC = 0 and a B − 2 aC = 0
d = 3 ft d = 3 ft
2. Position-Coordinate Equation. As shown, s A and s B
datum
define the positions of A and B since they must be
measured from a fixed datum and directed along the l
sA
paths of motion of the particles, respectively. l l
sB
The length l of slanted segment can be obtained using
the Pythagorean theorem. We have
l = s A2 + d 2 A
⎡ 1
2 − 2 ⎤ 2 s A2 + d 2
2 s&B + 3 2 ( s A + d ) (2s A s& A ) = 0 or s& A = −
1 2
s&B (2)
⎢⎣ ⎥⎦ 3s A
Since the velocity of cylinder B is vB upward, substituting this condition and d = 3ft into Eq. (2) yields
Therefore,
g sin θ − a
a = − µ k g cosθ + g sin θ or µ k =
g cosθ
Kinematics. Here the acceleration is constant, since all forces acting on the block are constant. We
can relate a to position and velocity using
+P v 2 = v02 + 2ac ( s − s0 ) ; (10 ft/s)2 = (20 ft/s)2 + 2 ac (30 ft − 0), ac = −5 ft/s2
Hence,
(32.2 ft/s 2 ) sin15° − (−5 ft/s 2 )
µk = = 0.429 Ans.
(32.2 ft/s 2 ) cos15°
Equations of Motion.
+N ΣFn = man ; N c − 0.6(9.81) cosθ = 0.6 kg (v 2 ρ )
N c = 0.6 kg (v 2 ρ ) + 0.6(9.81) cosθ
At point A (θ = 0º), we have
N c = 0.6 kg [(5 m/s) 2 3 m] + 0.6(9.81) = 10.886 N Ans.
At point B (θ = 30º), we have
N c = 0.6 kg [(4 m/s) 2 3 m] + 0.6(9.81) cos 30° = 8.297 N Ans.
5. Coordinate System. The polar coordinates are suitable for the analysis of this problem since the
motion of the block regards the angular motion of the radial line r.
Nc
50o 50o
ma r
r
r
mg
Equations of Motion. Since the swings are to assume an angle β = 35º with the vertical, the radial
distance r remains constant. Therefore, r& = &r& = 0 .
r = 3.2 m + 5sin35º m = 6.068 m
+↑ ΣFy = ma y ; T cosβ − mg = 0 or T = mg cosθ (1)
β
N
T
2. First, no external force applied on the system, U = 0. Second, no spring is attached to the system, i.e.,
∆Ve = 0.
At position A (initial position): For convenience, the datum has been chosen at point O.
TA = 1
2 mv A2 = 12 m(3 m/s) 2 = 4.5m N·m O
2
VgA = mghA = m(9.81 m/s )(−1.2cos60º m) = −5.886m N·m
At position C,
TC = 1
2 mvC2
VgC = mghC = m(9.81 m/s2)(−0.8 m) = −7.848m N·m
Substitution into the work-energy equation gives,
U = ∆T + ∆Ve +∆Vg, 0 = ( 12 mvC2 − 4.5m) + 0 + [−7.848m − (−5.886m)]
Thus
vC = 3.595 m/s Ans.
3. For convenience, the datum has been chosen at collar’s initial position. There is no load applied on
the system. The normal force of the rod on the collar is normal to the motion and does no work. The
friction between the collar and the rod is the only force external to this system which does work on the
system. Hence,
Datum
0.5 m 0.5 m
δmax
5. First, no spring is attached to the system, i.e., ∆Ve = 0. The work done by the constant 110-lb force
applied at the end of the cable is the force times the horizontal the displacement d. This displacement d
is the amount which the end of the cable displaced. Since the length of the cable in the system remains
constant, we can write
2 s A + s P + constant = Lcable = 2( s A − 10 ft ) + ( s P + d ) + constant
d = 20 ft
Position A: Position B:
sP
sA - 10 ft sP + d 110 lb
110 lb
sA vB
c
9 ft/se lb
v A= 300
lb
300
t t
10 f B 10 f B
5 A 5 A
12 12
VgA = mghA = 0
At position B,
2
TB = 1
2 mvB2 = 12 ( 32300 lb
2
.2 ft/s
) v 2 = 4.658v
VeA = kδ = 0
1
2
2
A
Position 1 Position 2
B
0.25 m
30 o B
1.44 m/s
0.433 m P = 40 N
0.25 m
60 o
0.25 m 0.25 m P = 40 N
vB
0.25 m
datum
A
A
2.5 m/s
0.125 m 0.125 m 0.2165 m 0.2165 m
3.660 N·m = ( 1.833 vB2 – 9.360) + (0.861 – 1.250) + (7.358 – 12.743) N·m
vA = 1.848 m/s → vB = 3.202 m/s ↓ Ans.
r r r 4 v r r r
[(5t + 32 t 2 ) i + (2t − 13 t 3 ) j + 3t k ] = 0.5[v2 − (i + j + 2k )]
1
r r r r
v 2 = 76 i − 29 j + 20k m/s Ans.
2. Free-Body Diagram & Kinetic Diagram. Since the magnitude of the tension force in the cable T =
(300 + 120 t ) varies with time, the impulse it creates must be determined by integrating over the 2-s
time interval.
Principle of Impulse and Momentum. Applying the principle of impulse y v1 = 2 m/s
and momentum in the x-direction, we have v2 = ? x
T
t2 t2
+N ∫ t1
ΣFx dt = m(v2 − v1 ) ; ∫ t1
(T − mg sin 30° − µ k N C )dt = m(v2 − v1 ) 30
o
2s
∫ 0
[(300 + 120 t N) − 50(9.81) sin 30° N − 0.4 N C )dt = 50 kg(v2 − 2 m/s) µk NC 30
o
NC
435.774 − 0.8 N C = 50v2 mg
Since the block is restricted to move along the incline, the equation of equilibrium can be applied in
the y-direction. Thus
+M ΣFy = 0 ; N C − mg cos 30° = 0
N C = mg cos 30° = 50 kg(9.81 m/s 2 ) cos 30° = 424.79 N
Therefore,
v2 = 1.92 m/s Ans.
NOTE: We can also solve this problem using the equation of motion. Using the result N C = 424.79 N
+N ΣFx = ma x ; T − mg sin 30° − µ k N C = ma x
3. Free-Body Diagram. The normal force N C the rough ground exerts on the ball and the associated
friction force Ff are shown on the free-body diagram during the collision. Note that N C and Ff may
not be constant.
4. Here we have considered both cars as a single system. By inspection, momentum is conserved in
both x- and y-directions since the weights of the cars are not on the x-y plane, and the colliding force is
internal to the system and will therefore cancel out.
+→ m A (v Ax )1 + mB (vBx )1 = (m A + mB )(v x ) 2 30 o
5. Conservation of Linear Momentum. First we consider the truck and log as a single system, since the
impulsive forces between the truck and log are internal to the system and will therefore cancel from the
analysis. Hence it can be concluded that momentum for the system is conserved in the horizontal
direction.
+→ m A (v A )1 + mB (v B )1 = (m A + mB ) (v AB ) 2 ;
80,000 lb W 80,000 lb WB
(70 mph ) + B (−12 mph ) = ( + ) (70 − 2 mph )
g g g g
WB = 2000 lb
Then we consider the car and log as a single system. It can be concluded that momentum for the
system is conserved in the horizontal direction as well.
+→ mC (vC )1 + mB (vB )1 = (mC + mB ) (vCB ) 2 ;
3000 lb 2000 lb 3000 lb 2000 lb
(70 mph ) + (−12 mph ) = ( + ) (vCB ) 2
g g g g
1. By inspection, the particles are subjected to direct central impact. In order to solve this problem, we
start the kinetic analysis with cylinders 1 and 2. After impact we will assume cylinders 1 and 2 travel
to the right with velocities v1′ and v′2 , respectively. Applying the conservation of momentum to the
system, we have
+→ ∑ m i v i1 = ∑ m i v i 2 ; mv1 + 0 = mv1′ + mv′2 or v1 = v1′ + v ′2 (1)
v B 2 − v A2 v′2 − v1′
+→ e = ; e= or ev1 = v2′ − v1′ (2)
v A1 − v B1 v1 − 0
Solving Eqs. (1) and (2) yields v2′ = 21 (1 + e) . This is the velocity of cylinder 2 as it approaches
v
cylinder 3. Then, we continue the kinetic analysis with cylinders 2 and 3. We assume cylinders 2 and
3 travel to the right with velocities v2′′ and v3 , respectively, immediately after impact. Hence
2. The interaction of the ball (B) with the wall (A) will be considered using the principles of impact. By
inspection, the balls are subjected to oblique impact. Since an unknown mass of the wall is involved in
the impact, the conservation of momentum for the ball-wall system will not be written. The velocity of
wall is zero since it is assumed to remain at rest both before and after impact.
Coefficient of Restitution (x-dir.). y
(v ) − ( v A 2 ) x v ′ sin 30° − 0
+← e = B 2 x ; e= (1)
(v A1 ) x − (v B1 ) x 0 − (−v sin 60°)
Conservation of y-dir. Momentum. The momentum of the ball is conserved in the x
y direction (plane of contact), since the contact between the ball and wall is smooth
and therefore no external impulse acts in this direction. Hence,
+↑ mB (vB1 ) y = mB (v B 2 ) y ; v cos 60° = v ′ cos 30° or v ′ = 0.577 v (2)
30º
Substituting Eq. (2) into Eq. (1) yields
e = 0.333 Ans.
3. First we must obtain the velocity of the ball just before it hits the incline using kinematic analysis,
then consider the impulse and momentum between the ball and incline, and finally use projectile motion
to determine the range R.
Kinematics (A to B).
+↓ v 2 = v02 + 2ac ( s − s0 ) ; v B21 = 0 + 2(9.81 m/s 2 )(0.75 m − 0)
vB1 = 3.836 m/s
© 2014 by Tzong-Ying Hao Page 1 of 6
Coefficient of Restitution (x’-dir.). During the impact at B, x'
( v ) − ( v A 2 ) x′ v B 2 sin θ − 0
pact
of im e
+N e = B 2 x′ ; 0.85 =
lin
vB1
(v A1 ) x′ − (v B1 ) x′ 0 − (−3.836 sin 70° m/s) 70 o vB2
θ
v B 2 sin θ = 3.064 m/s (1)
20 o y'
Conservation of y’-dir. Momentum. The momentum of the ball is conserved
in the y’ direction (plane of contact). Therefore,
+P mB (v B1 ) y′ = mB (v B 2 ) y′ ; v B 2 cosθ = 3.836 cos 70° = 1.323 m/s (2)
Eq. (1)
Equating yields
Eq. (2)
3.064 m/s
θ = tan −1 = 66.65º and vB2 = 3.337 m/s
1.323 m/s
Kinematics – Projectile Motion (B to C). The origin of coordinates is established at the position B.
The initial velocity of the ball has components vBx = vB2 cos(66.65º − 20º) = 2.291 m/s and vBy = vB2
sin(66.65º − 20º) = 2.426 m/s.
+→ xC = x B + v B x t
R cos 20°
R cos 20° m = 0 + 2.291 m/s(t ) , t = = 0.410 R s
2.291
+↑ yC = y B + v B y t − 12 g t 2
4. This problem involves oblique impact. In order to solve it, we have to identify the line of impact and
the plane of contact, then establish the x and y axes.
Resolving each of the initial velocities into xy-components, we have
(vAx)1 = 6 m/s (vAy)1 = 0
(vBx)1 = –10 cos30º = –8.660 m/s (vBy)1 = 10 sin30º = 5 m/s
Just before impact Just after impact
y y
(v Ay )2 (v By )2
6 m/s A
(v Ax )2 A B
(v Bx )2 line
B line x x
o
30 of impact of impact
10 m/s
Four unknown velocity components after collision are assumed to act in the positive directions,
shown in figure. Since the impact occurs in the x-direction (line of impact), the conservation of
momentum for both pucks can be applied in this direction. With mA = mB = m
+→ m A (v Ax ) 1 + m B (v Bx ) 1 = m A (v Ax ) 2 + m B (v Bx ) 2 ;
m(6) + m(−8.660) = m(v Ax ) 2 + m(v Bx ) 2 , − 2.660 = (v Ax ) 2 + (v Bx ) 2 (1)
The magnitudes and angles (with respect to the x-axis) of the velocities of balls just after impact are
y
y'
v A 2 = (v Ax ' ) 22 + (v Ay ' ) 22 = 2.46 m/s Ans.
2.46 m/s
(v Ay ' ) 2
o
θ A2 = tan −1 − α = 77.2º – 36.87º = 40.3º Ans.
A 40.3 (v Ax ' ) 2
x
(v Ax )2 (vBy )2
A A
B 26 ft/s B (vBx )2
line
o f im β line
o f im
pact pact x
x
The velocities and their angles with respect to the horizontal are then
v
or a A = 0.825(cos 67.17° iˆ + sin 67.17° ˆj ) = 0.320 iˆ + 0.760 ˆj m/s2 Ans.
2. The pulley is subjected to rotation about a fixed axis passing through its center point O. Since the
belts are wrapped around the pulley and move tangent to it, respectively, the angular velocity of the
pulley can be determined.
v A = r ω , 1.5 m/s = (0.075 m) ω , ω = 20 rad/s 3
aB
The belt has the same tangential component of acceleration D
B
as it passes over the pulley. Thus,
400
(a D ) t = rDO α = a B = 45 m/s2, α = 112.5 rad/s2 4 mm
800 O
The acceleration of point C has both tangential and mm 0 vA
36 m
normal components. The normal component is C m aC A
150
(aC ) t = rCO α = 0.36 m (112.5 rad/s2) = 40.5 m/s2 mm
3. The cable is wrapped around the drum, therefore, point P has the same tangential component of
acceleration as mass M. Thus
4. The disk A has a counterclockwise angular acceleration αA = 47 rad/s2. Therefore, the tangential
component of acceleration of point P on the rim of disk A is
αA
rA
rC
rD
Q rB P
v B = 12 ft/s v A = 10 ft/s vB / A
= =
sin 60° sin φ sin(180° − 60° − φ )
φ = 46.2º, vB A = 13.306 ft/s
v B A = rB Aω , ω = 6.653 rad/s Ans.
2. Velocity Equation. Applying velocity equations to points A and O, B and O, and A and B,
respectively, we have
r r r
v A = vO + v A / O (1)
3. The crank AB rotates clockwise about a fixed axis, which passes through A, and so the velocity of B
is
r r
vB = ω AB rB / A = 6 rad/s (0.4 m) = 2.4 m/s N ( vB ⊥ rB / A )
As B moves to the right, it causes C to move toward the right. Since the gear rack C vC
is fixed, at the given instant the instantaneous velocity of P, which contacts the gear
r r r 0.1 m
rack, is zero. Therefore, C and O move horizontally to the right ( vC = vC / P ⊥ rC / P O
vO
r r r r r
and vO = vO / P ⊥ rO / P ). Furthermore, the velocities vC and vO are parallel, so that 0.1 m
r r
by the proportionality of the right triangles vO = 12 vC . P
m
80 m
As B moves downward, it causes A to move toward the lower right. Crank
OA is pinned at O, therefore, the velocity of point A is perpendicular to OA .
Consequently, crank OA must rotate in the clockwise direction. 20 mm β
A C
r B/P O
B P θ
38 mm
m vB
80 m
r A/P
β - 20 o
A A
70 o 70 o
O
ω OA 20 o
vA
vA
The intersection of the two perpendiculars to the velocities from A and B locates the instantaneous
center P for bar AB. From the diagram shown, the law of sines gives
80 mm rA / P rB / P
= = ; rA / P = 227.06 mm, rB / P = 194.16 mm
sin20° sin 103.891° sin 56.109°
Since vB = vB / P = rB / Pω AB , the angular velocity of bar AB is
ω AB = vB rB / P = (15 m/s) / 0.194 m = 77.254 rad/s
Hence, the velocity of A of bar AB is
v A = v A / P = rA / Pω AB = 0.227 m (77.254 rad/s) = 17.537 m/s
Therefore, the angular velocity of crank OA is
ωOA = v A rOA = (17.537 m/s) / 0.02 m = 876.8 rad/s 3 Ans.
7. The crank AB rotates counterclockwise about a fixed axis passing through A, and so the velocity of B
is
v B = v B / A = ω AB rB / A = 7.5 rad/s (0.2 m) = 1.5 m/s ↑
As B moves upward, it causes D to move toward the upper right, and E to move toward the upper left.
30° 60°
rB / C 1 = 0.5 m cos 30° = 0.577 m B
r B/C 1
C1
ω BE 60° 30°
1. At time t = 0 a small ball is kicked from point A with a velocity of 200 ft/s at the 60º angle.
Neglect atmospheric resistance and determine the two times t1 and t2 when the velocity of the ball
makes an angle of 45º with the horizontal. (30 points)
Score: (2)
2. The speed of a truck increases uniformly with time from 50 km/h at A to 100 km/h at B during
10 seconds. The radius of curvature of the road at A is 40 m. If the magnitude of the total
acceleration of the truck is the same at B as at A, determine the total acceleration of the truck at
points A and B. Also, calculate the radius of curvature of the road at B. Note that the truck is
considered a particle and the center of mass of the truck is 2 m above the road. (35 points)
<Solution> Coordinate System. The particle travels along a curved path involving the radius of
curvature of the path. Therefore, the normal-tangent coordinates are a suitable choice. The origin of the
n and t axes is coincident with the particle (truck) and moves with the particle. The t axis is in the
direction of motion, and the positive n axis is directed toward the center of curvature.
Acceleration. The magnitude of acceleration can be related to its components using a = a 2n + a 2t .
Since the car has a speed of 50 km/h at A and is increasing uniformly to 100 km/h at B, we have
km 1000 m 1 h km 1000 m 1 h
v = v0 + a c t ; 100 ( ) = 50 ( ) + a c (10 s)
h 1 km 3600 s h 1 km 3600 s
ac = a At = a B t = 1.389 m/s2
At A, the normal component acceleration is obtained as follows:
v A2 (13.889 m/s) 2
a An = = = 4.593 m/s2
ρA (40 + 2 m)
Therefore, the magnitude of the total acceleration is
a A = a 2A n + a A2 t = 4.798 m/s2 Ans.
At B, since the magnitude of the total acceleration is the same at B as at A, we have
a B = a A = 4.798 m/s2, a Bn = a An = 4.593 m/s2
Therefore, the radius of curvature of the road at B is solved as:
v B2 (27.778 m/s) 2
aB n = = = 4.593 m/s2
( ρ B − 2 m) ( ρ B − 2 m)
ρ B − 2 m = 168 m, ρ B = 170 m Ans.
Score: (3)
3. As shown in the figure, the end of the hydraulic piston is connected to a pin A while the pin A is
constrained to slide along the rotating slotted arm. At the instant when θ = 60º, the hydraulic
piston gives pin A a velocity v = 3 ft/s (in the direction shown) and is slowing down at the rate of
1.5 ft/s2. For this same instant, determine the values for r& , &r& , θ& and θ&& . (35 points)
r
<Solution> Coordinate System. Even though the pin A
slides along the rotating slotted arm, it is constrained to θ
travel along a horizontal straight-line path with the head
v
of the hydraulic piston. In order to obtain the values of
A
r& , &r& , θ& and θ&& , the polar coordinates are a suitable
choice. As indicated in the figure on the right, the origin 6"
r θ
is established at the fixed point O, and the position vector
r
r is directed toward the pin A. The rotational coordinate O
θ is measured from a fixed horizontal reference line to
the position vector.