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Chapter 18

理论力学동역학Soultion챕터18

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506 views259 pages

Chapter 18

理论力学동역학Soultion챕터18

Uploaded by

김상수
Copyright
© All Rights Reserved
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Chapter 18 PROBLEM 18.1 A rectangular plate of mass 8 kg is attached to a shaft as shown. Knowing that the plate has an angular velocity of constant magnitude @ = 5 rad/s, determine the angular momentum Hg of the plate about its mass center G. m=8kg, 2 = 600mm=06m 5 = 300mm = 03m Use principal axes 2, 2" as shown. a 0.15 tang =22 205 = 26.565" P= 030 7 e zo © = (Sradis)i i toi +o, @y = Scos Bras, wy =0 oy = ~Ssin Brads LZ. Forthe rectangular plate, & ad 1 1 T, = L mb? = 1 (8)(0.3)' = 0.06 kg-m? / a 2” “2 ji ‘ a = FZ, = Ama? = 1(8)(0.6) = 0.24kg-m? k 2 12 \ Hg = T,o,¥ + Tayi + 1,0, He = (0.06)(Scos A)i' + 0j + (0.24)(-Scos f)k’ = (0.3c0s )(cos fi + sin Bk) + (-1: in £)(~sin fi + cos Pk) = (0.3c0s? ‘B+ 0.24sin? Aji = (1.2 - 0.3)sin Beos fk 480i — 0.360k Hg = (0.480 kg-ms)i - (0.360 kg-m*/s)k < PROBLEM 18.2 A uniform 1.8-kg rod AB is welded at its midpoint G to a vertical shaft GD. Knowing that the shaft rotates with an angular velocity of constant magnitude @ = 1200 rpm, determine the angular momentum Hg of the rod about G. SOLUTION m=18kg, 7 @= ca 2") = 125.664 rad/s 0 Use principal axes x, »’ as shown, 600 mm = 0.6m @y = —wsin20° = ~42.980 rad/s @y, = 00520" = 118.085 rad/s For the rod, T,=0 a 12 mm? = H(8)(06)7 = 0.054 kg-m? Hg = Tayi’ + Tyoyy + Ta, k = 0+ (0.054)(118.085)j' +0 = 6.3766j = 6,3766(sin20% + cos20°j) = 2.18091 + 5.9920} Hg = (2.18 ke-m's)i + (5.99 kg-m*s), PROBLEM 18.3 ‘Two uniform rods AB and CE, cach of weight 3 Ib and length 24 in., are welded to each other at their midpoints. Knowing that this assembly has an angular velocity of constant magnitude «@ = 12 rad/s, determine the magnitude and direction of the angular momentum H of the assembly about D. L SOLUTION = 0.093168 Ib-s"/f, | = 24in. = 2 ft, @ = (12 rads) an . > Forrod ADB, Hp =T,oi=0, sinceT, = 0. For rod CDE, use principal axes x’, y’ as shown. cos8 = 8 = 41.410" @y = 200s = 9 rad/s® 7.93725 rad/s” T, 0 Ty =k? = 68)(2)° T, = pi? = 5 (0.093168)(2) = 0.0310559 Ib-s?-ft Tyoyi + = 0 + (0.0310559)(7.93725)j +0 = 0.246498)! Hp = 0.246 Ib-s-ft Hp = 0.246498(sin0i + cosdj} = 0.163045i + 0.184874j -_ 0.163045 = 48.62 0088s = 246498 ‘4 oso, = 9184874 414d = 0246498 c0s8. = 0 8, = 90° 4 PROBLEM 18.4 A thin homogeneous square plate of mass m and side a is welded to a vertical shaft B with which it forms an angle of 45°. Knowing that the shaft rotates with a constant angular velocity @, determine the angular momentum H., of the plate about point 4. 2 y Use principal axes y/, 2’ as shown. ey = 200845%, wy = wsinds? =4 ma? ma, ly = n™ 5 Ips le tly = ma? Hy = Lol’ + Lyayi + 1,0,K 1 2 5 2 : * = 0+| —ma? |(@cos45°)j +| ma? |(wsin 45°) k 12 12 Hy= (3 mat) (cosas (o045% ~sin4s?k) ot mat sins (sn45% + cos45°k) nao H,= aR (3)4+.2k) 4 PROBLEM 18.5 ‘A homogeneous disk of mass m= 6 kg rotates at the constant rate , = 16 rad/s with respect to arm ABC, which is welded to shaft DCE rotating at the constant rate @, =8rad/s. Determine the angular SOLUTION @ = aj + oi = (Brad/s)i + (16 rad/s) j For axes x, y, z’ parallel tox, y, z with origin at 4, (6)(0.160)" = 0.0384 kg-m? T+ T, .0768 kg-m? H, = Lol + Ta,j+ Tok = (0.0384)(8)i + (0.0768)(16)j + 0 = 0.30724 + 1.2288} (0.307 kg-m?/s)i + (1.229 kg-m"/s) i PROBLEM 18.6 ‘ ‘A homogenous disk of mass m= 8kg rotates at the constant rate te (@, = 12 rad/s with respect to arm OA, which itself rotates at the constant rate a, =4 rad/s about the y axis. Determine the angular momentum HL, of the disk about its center 4. SOLUTION @ = @)j+ Ok = (41ad/s)j + (I2rad/s)k For axes x’, y’, 2’ parallel to x, y, z with origin at 4, mmr? = 1(8)(0.100)° = 0.02 kg-m* [y = 0.02 kg-m?, Ty t Ty = 0.04 kg-m? T,o,i + Tayi + Tok = 0 + (0.02)(4)j + (0.04)(12)k = 0.08j + 0.48 H, = (0.0800 kg-m"/s)j + (0.480 kg-m*/s)k << PROBLEM 18.7 A solid rectangular parallelepiped of mass m has a square base of side a and a length 2a. Knowing that it rotates at the constant rate @ about its diagonal AC’ and that its rotation is observed from A as counterclockwise, determine (a) the magnitude of the angular momentum He of the parallelepiped about its mass center G, (6) the angle that Hg forms with the diagonal AC’. SOLUTION Body diagonal: @ ® d= a? + (2a +a? = Vba 0 = Gal + 2a) ok) =F Bj 3 Soa? = bw 1, = shm[a? + a?) = ma? 1, = Enlet +(29)]= Smt Hg = 1,0,4 + 1,0,)+ Lok = (Sma? —.)b4(2ma®\( 22) 0 Smat\( 2 lam) om) 2 se =a TE inate 0276 mato € maa Hoo = ian” Si + 4j— Sk)-(~i+ 2j~k) “Ta 4 Heo = pa 2 ee = mae cos = a = 0.90453 0=25.2°4 a PROBLEM 18.8 Solve Prob. 18.7, assuming that the solid rectangular parallelepiped has been replaced by a hollow one consisting of six thin metal plates welded together. SOLUTION fe + (2a) +a? = V6a o,,2, © ai -k Weel Total area = 2(a? + 2a? + 2a?) = 10a? Body diagonal For each square plate: PROBLEM 18.8 CONTINUED 2 sntat + m(2} = ta? = Lima? 12 2) 3 15 ane +(20)'] = aia =amat Total moments of inertia: B17) 9 3s =2 ma? = de (B+ ne ai 1 1 1 Greta) BOT ld Sate (is 60 12. 0 2 @ Hg = 1,0,1+ 1,0,5+ 1,0,.k = O(a 361 37k) Hg = mee (37)' + (36) + (37) 432 16a? Hg = 0.432 mato 4 mao ® He-@ = 7 (-37i + 36j ~ 37k) - (-i + 25 - k) = 0.40556ma?a? (60)(6) = Hee _ 0.40556 _ 9 9. 0080 = Frew” oasaig = 084 6 =20.2°-4 PROBLEM 18.9 SOLUTION @ = api + aj = (Brad/s)i + (16 rad/s) For axes x,y, 7 parallel to x,y, z with origin at 4, Ty = 4m? = 4(6)(0.160)" = 0.0388 kg-m? Ty = 0.0384kg-m?, » + F, = 0.0768 kg-m? Ltogh + Tyoby + Took (0.0384)(8)i + (0.0768)(16)j +0 = (0.3072 kg-m7s)i + (1.2288 kg-m*/s)j Point 4 is the mass center of the disk. Typ = (0.24 m)i + (0.18 m)j - (0.18m)k u Va v4 = OX typ = Bix (0.241 + 0.185 — 0.18k) = (1.4 mvs) § + (1.44 ms) amv = (8.64kg-mvs)j + (8.64 kg-mvs)ke ij ok Typ X mi =10.24 0.18 -0.19 0 864 8.64 = (3.1104 kg-m?2/)i - (2.0736 kg-m?/s)j + (2.0736 kg-m7/s)k. Hp = Hy + 8yp x mi¥ Hp = (3.42 kg: ms) - (oss: kg-m'/s j+ (2.07 kg-m7s)k < PROBLEM 18.10 Determine the angular momentum Ho of the disk of Prob. 18.6 about the fixed point 0. SOLUTION © = Oyj + ak = (4 rad/s) § + (12 rad/s) k For axes x, ’, z’ parallel to.x, y, z with origin at 4, 4(8)(0.100)? = 0.02 kg:m? Ty = Ty = 0.02 kg-m?, = Ty +T,, = 0.04kg-m? Hy, = Tyo,i + Tay) + Tok = 0 +(0.02)(4)§ + (0.04)(12)k = (0.08 kg-m’/s) j + (0.48 kg-m’/s)k. Point 4 is the mass center of the disk. Tyo = (032m)i - (0.2 m)j Vg = @2h% Kyo = 45x (0.324 - 0.2)) = -(1.28 nvs)k mv = (8)(~1.28k) = ~(10.24 kg-m/s)k Tyo * mi¥ = (0.324 ~ 0.25) x (-10.24K) = (2.048 kg-ms)i + (3.2768 kg-m’/s) j Ho = Hy + ty x mv 05 kg-m"/s)i + (336k. ms) § + (0.480 kg-m?/s)kc < PROBLEM 18.11 y x The 60-Ib projectile shown has a radius of gyration of 2.4 in. about its ‘9 _ axis of symmetry Gx and a radius of gyration of 10 in. about the AL, —, transverse axis Gy. Its angular velocity @ can be resolved into two components: one component, directed along Gx, measures the rate of spin a of the projectile, while the other component, directed along GD, measures a its rate of precession. Knowing that 6 =5° and that the angular momentum of the projectile about its mass center G is He = (0.640 Ib-ft-s)i (0.018 Ib-ft-s), determine (a) the rate of spin, (B) the rate of precession. SOLUTION s =186335 bs, kp =24in= 028, k= 10 in. = 0.83333 8. T, = mk? = (1.86335)(0.2)" = 0.074534 Ib-s?-ft smkZ = (1.86335)(0.83333)° = 1.29400 Ib-s?-ft Hg = (He),4+ (Ho), i+ (He), k = Lod + 1,0,) + Tok = He), _ 0.640 I, 0.074534 2, = 8.5867 rad/s 0.013910 rad/s ” @,sind = -0, 7 ws. “es 7 _ ot ey | a mois ahs sind sin (@) Rate of spin. @, = 0, + 0, 0088 @, =, ~ 0,088 = 8.5867 —0.1596cos5° 8.43 rad/s 4 (8) Rate ofprecession. @, = 0.1596 rad/s PROBLEM 18.12 x Determine the angular momentum H, of the projectile of Prob. 18.11 about the center A of its base, knowing that its mass center G has a } velocity ¥ of 1950 fi/s, Give your answer in terms of components respectively parallel to the x and y axes shown and to a third axis z pointing toward you. SOLUTION 1.86335 Ib-s*/R, Taig ‘) cosGi - Fsin 8} Hy = He + toa xmi¥ = 0.6401 ~ 0.018 + (#)) x (1950c0s5% ~ 1950sin5*)) = 0.6404 - 0.018) - (Z)oososiaseye Hy = (0.640 Ib-s-ft)I — (0.018 Ib-s-ft) j + (290 Ib-s-ft)k PROBLEM 18.13 Determine the angular momentum Hp of the disk of Sample Prob. 18.2 from the expressions obtained for its linear momentum m¥ and its angular momentum Hg, using Eqs. (18.11). Verify that the result obtained is the same as that obtained by direct computation, SOLUTION Using Equation (18.11) Hy =Fxm¥+ Hg - mr LPefi-Z. =(Li)x (main) +3 (1 Zi) sw crnrtans + Lmrtoxt Anand Ait pmrPant — mean) Hy = fonts -n(e stelrams which is the answer obtained in part b of Sample Problem 18.2. PROBLEM 18.14 (@ Show that the angular momentum Hy of a rigid body about point B can be obtained by adding to the angular momentum H,, of that body about point A the vector product of the vector Fyp drawn from B to A and the linear momentum m¥ of the body: Hy = Hy + ry), xi¥ (®) Further show that when a rigid body rotates about a fixed axis, its angular momentum is the same about any two points A and B located on the fixed axis (H., = Hy) if, and only if, the mass center G of the body is located on the fixed axis, SOLUTION (@) Angular momenta Hy and H are related to Hg and m¥ by ) Subtracting, Hy = rox mV +He and Hy = tag x mV + He Hy — Hy = reg * mV ~ reyq XV Hy = Hy + (rao ~"o4) xm =H, + (toe + tuo) mv Hy = Hy + typ x mv It follows that H, = H, if, and only if Tyg x ri¥ = 0 With points 4 and B located on the fixed axis, @=ar Where 2 is a unit vector along the fixed axis, and Then, OX tg4 = OLX Foy typ X (mai x t64) = 0 but, rye is parallel to A, hence, 4x (Ax tg) = 0 Let u = 2x req, 80 that xu = 0. Note that u must be either perpendicular to 2 or equal to zero. But, if u is perpendicular to 2, 2.x u cannot be equal to zero. Hence, w= dicrg4 =0 Toa is parallel to A and point G lies on the fixed axis. PROBLEM 18.15 ‘A 5-kg rod of uniform cross section is used to form the shaft shown. Knowing that the shaft rotates with a constant angular velocity of ‘magnitude 12 rad/s, determine (a) the angular momentum Hg of the shaft about G, (6) the angle formed by Hg and the axis AB. o=(I2rads), (He), = To (He), (He), The shaft is comprised of 8 sections, each of length @ = 0.25 m and of mass m’ =F 0.625 kg. (a)($nr") + 2)(oe?) = Hota? = 12(0.625)(0.25)* = 0.130208 kg-m? = (4a $) = Ina? = (2)(0.625)(0.25)" = 0.078125 kg-m? (Hg), = (0-130208)(12) = 1.5625 kg-m/s (Hc), = 0 (He (0.078125)(12) = -0.9375 kg-m7/s (@) He = (1.563 kg-m’%s)i — (0.938 kg-m’/s)k < Hg = (0.5025) + (0.9375) = 1.82217 kg-m7/s () Hg - @ = (1.5625: — 0.9375) - 124 = 18.75 kg-m7/s? = 0.85749 = 310° PROBLEM 18.16 Determine the angular momentum of the shaft of Prob. 18.15 about (@) point 4, (6) point B. @=(I2rads), w= @, =0 (Hc), = To (4c), = Tyo (Ha), = ~hae The shaft is comprised of 8 sections, each of length m a =0.25m and of mass m’ = = 0.625 kg. S = (@(}uet) « (2) (ma? T,=0 sue = 2(0.62s)(028)" = 0.130208 kg-m? i= (aoro8) = 2mfa? = (2)(0.625)(0.25)° = 0.078125 kg-m? (Hg), = (0.130208) (12) = 1.5625 kg-m7/s (He), = 0 (Hg), = ~(0.078125)(12) = -0.9375 kg-m7/s Hg = (1.5625 kg-m?/s)i - (0.9375 kg-m?/s)k. Since point G lies on the axis of rotation, its velocity is zero. ¥=¥o=0 @ Hy = Hg + tog xv = Hy Hy, = (1.563 kg-m?/s)i - (0.938 kg-m?/s)k 2) Hy = Hg + ¥¢g x mi = Hg Hy 563 kg-m?/s)i ~ (0.938 kg-m"s)k < PROBLEM 18.17 The triangular plate shown has a weight of 16 Ib and is welded to a vertical shaft AB. Knowing that the plate rotates at the constant rate @=12 rad/s, determine its angular momentum about (a) point C, (®) point A. (Hint. To solve part b find ¥ and use the property indicated in part a of Prob. 18.14.) SOLUTION o=(I2rds)j, 0, = 0, 1, = I2rad/s, @ (He), =-ly® (He) = 1, (He), = “Hy Use axes with origin at C as shown. Divide the plate ABD into right triangles ACD and CBD. For plate ACD, the product of inertia ofthe area is Lag b (lo )ya = "33°? c "For plate BCD, it is Cada * 240? 7 For both areas together, _-1 2) 42 (ova = “3a = 8) A Area: For both areas together, =) ma? ()pass > aca = Gm Cemass * 9 Data: m= 2% 2 0.49689 tbs'/8, a =6in. = 058 32.2 6 =45in.=0375f, — ¢ = Sin. = 0.66667 R PROBLEM 18.17 CONTINUED (0.49689)(0.29167)(0.5) (o)oas =~ a = ~0.0060386 Ib-s?-ft = 0.020704 Ib-s?-ft (0.49689)(0.5)? 6 (He), = -(-9.0060386)(12) = 0.072463 Ib-s-ft (Hc), = (0.020704) (12) = 0.24845 Ib-s-ft (Hc), = 0 He = (0.0725 tb-s-ft)i + (0.248 Ib-s-ft)j-< Locate the mass center. Toe = Fa +7 Velocity of mass center: = 0x ree aix(Ss + x) hook = -(4earose = -(2s)k Tog = Cj = (0.66667 ft)j Toya X mi¥ = (0.666675) x [(0.49689}(~2k) ] = - (0.66252 Ib-s-ft)i ) Hy = He + teyg * mv = (0.072463 ~ 0.66253); + 0.248454 H, = ~(0.590 Ib-s-ft)i + (0.248 Ib-s-At)j¢ PROBLEM 18.18 The triangular plate shown has a weight of 16 Ib and is welded to a vertical shaft AB. Knowing that the plate rotates at the constant rate @ =12 rad/s, determine its angular momentum about (a) point C, © point B (See hint of Prob. 18.17.) SOLUTION @ = (12 rad/s)i, I2rad/s, @ (He), = ly — (He), = 1% (He), = Use axes with origin at C as shown. Divide the plate ABD into right triangles ACD and CBD. For plate ACD, the product of inertia of the area is 1 b (lola yee Cc For plate BCD, it is c A Area: For both areas together, Data: m= A% = 0.49689 bs, a= Gin. = 05 5 38-04 a= 6in.= 0: 6 =45in. =0375f, c= 8 in. = 0.66667 ft PROBLEM 18.18 CONTINUED __ -(0.49689)(0.29167) (0.5 12 2 = [oasee5}(05) = 0.020704 Ib-s?-ft = -0.0060386 Ib-s*.ft (He), = ~(-0-0060386)(12) = 0.072463 Ib-s-ft (He), = (0.020704)(12) = 0.24845 Ib-s-ft (He), =9 Hg = (0.0725 Ib-s-A)t + (0.248 Ib-s-ft)j 4 Locate the mass center. foc = S148 ‘Velocity of mass center: V=axtgc vnoix(Srs a) = ~foor ~ -(4}u2)(05)x ~-(2-4) Fog =~bj = ~(0.375 Mj Teig * mv = (~0.375}) x [(0.49689)(~2k)] = (0.37267 Ib-s-ft)i @) Hy = He + reg x mi¥ = (0.072463 + 0.37267)i + 0.248455 He = (0.445 Ib-s-ft)i + (0.248 Ib-s-ft) j-4 PROBLEM 18.19 ‘Two L-shaped ams, each of mass 5 kg, are welded at the one-third points of the 600 mim shaft AB to form the assembly shown. Knowing that the assembly rotates at the constant rate of 360 rpm, determine (a) the angular momentum Hy, of the assembly about point 4, (8) the angle formed by H and AB. SOLUTION Use parallel axes x’, y, 2’ with origin at the mass center as shown. Segments 1, 2,3, and 4, each of mass m! = 2.5 kg, contribute to 7,,, Tj, and, Jy I, nia? a Lng? Jn ° sma 0 diva Anta? (é ot + spt? Sata dita? Ota 2 2 3 PROBLEM 18.19 CONTINUED (Ha), = (Ana \o = (3}eso2y (22) = 5.6549 kg-m?/s (Hs), = -(jr2}o = -(}e02y (122) = ~1.8850 kg-m?/s (He), = (Bove? =(2}e251(02)°¢2") = 12.5664 kg-m’/s Velocity of the mass center: v=0 @ Hy = Hg + tay xm = Hg H, = (5.65 kg-m7/s)i ~ (1.885 kg-m7/s) + (12.57 kg-m7/s)k 4 ® Rag =k hag Hy = WH, = (Hy), H, = (5.6549)" + (1.8850)" + (12.5664) = 13.9085 kg-m7/s cos = Had, _. 12.5664 9 =254°4 (Ha), Ha PROBLEM 18,20 For the assembly of Prob. 18.19, determine (a) the angular momentum Hy of the assembly about point B, (6) the angle formed by H, and BA. SOLUTION m=Skg, a= 200mm=02m o CACO) «rere 0,=0, 0, =0, ‘Use parallel axes x’, y’, 2’ with origin at the mass center as shown. (He), = Fao (Ho), = he Segments 1, 2, 3, and 4, each of mass m' = 2.5 kg, contribute to 7,,, I,, and J, Part Te In ® pq Fria? @ alga? o sia? 4 3 ® ad ta? o ita? @ data? dita 4 z 2 nto? dia? Penta? PROBLEM 18.20 CONTINUED ~(3}e502)' 42") = 5.6549 kg-m?/s fe = -(3}e02"' 29) = -1.8850 kg-m?/s (a), =( Bova?) 10 2 =(Z}es02)°¢29) = 12.5664 kg-m’/s Velocity of the mass center: ¥=0 @ Hy = Hg + tog x mv = Hy Ay = (5.65 kg-m"/s)i - (1.885 kg-m?s) + (12.57 kg-m%/s)k 4 @) Yea = nk, Nag Hy = -K-Hy =-(H,), H, = (5.6549)° + (1.8850)" + (12.5664) = 13.9085 kg-m?/s 8 =154.6° 4 PROBLEM 18.21 One of the sculptures displayed on a university campus consists of a hollow cube made of six aluminum sheets, each together and reinforced with intemal braces of ne; is mounted on a fixed base A and can rotate freely about its vertical diagonal AB. As she passes by this display on the way to a class in ‘mechanics, an engineering student grabs comer C of the cube and pushes it for 12 s in a direction perpendicular to the plane ABC with an average force of 50 N. Having observed that it takes 5s for the cube to complete one full revolution, she flips out her calculator and proceeds to determine the mass of the cube. What is the result of her calculation? (Hint. The perpendicular distance from the diagonal joining two vertices of a cube to any of its other six vertices can be obtained by multiplying the side of the cube by /23.) SOLUTION Let mi = jn bbe the mass of one side of the cube. Choose x, y, and z axes perpendicular to the face of the cube, Let a be the side of the cube. Fora side perpendicular to the x axis, (I,), = oat, Fora side perpendicular to the y orz axis, (t= (s . See = dot? Total moment of inertia: By symmetry, J, = I, and I, = I,. Since all three moments of inertia are equal the ellipsoid of inertia is a sphere. All centroidal axes are principal axes. ‘Moment of inertia about the vertical axis: Las Let b= pee be the moment arm of the impulse applied to the comer. Using the impulse-momentum principle and taking moments about the vertical axis, OF (At) = H, = Lo = nde a Data: 15m, 1.5) =1,22474m 1.25664 rad/s, F=S50N, Ot =12s, Solving Equation (1) for m, DE(AI) | 18(122474)(50)(12) 95 cosy mm = 93.6 kg Sata — 5 (1.5)"(1.25664) PROBLEM 18.22 ‘Af the aluminum cube of Prob. 18.21 were replaced by a cube of the same size, made of six plywood sheets of mass 8 kg each, how long would it take for the cube to complete one full revolution if the student pushed its comer C in the same way that she pushed the comer of the aluminum cube? SOLUTION Let mn jm bbe the mass of one side of the cube. Choose x, y, and 2 axes perpendicular to the face of the cube. Let a be the side of the cube. Fora side perpendicular to the x axis, (J,), Sote?. For a side perpendicular to the y or z axis, Total moment of inertia: 4, By symmetry, I, = J, and J, Since all three moments of inertia are equal the ellipsoid of inertia is a sphere. All centroidal axes are principal axes. Moment of inertia about the vertical axis: Let b= pe be the moment arm of the impulse applied to the comer. Using the impulse-momentum principle and taking moments about the vertical axis, OF (St) = H, = 1o= mateo a Data: mi =8kg, m= 6m=48kg, a =15m, b= flan i227, F=50N, At=12s Solving (1) for a, 1=25784 PROBLEM 18.23 A wire of uniform cross section weighing 0.8 Ib/ft is used to form the wire figure shown, which is suspended from cord AD. Knowing that an impulse FAr =(121b-s)j is applied to the wire figure at point E, determine (a) the velocity of the mass center G of the assembly, (b) the angular velocity of the assembly. SOLUTION 0.8 p = mass per unit length = —— = 0.024845 Ib-s*/ft? r 32. =9in.= 0.75, 1 =12in. = 1.08. ‘Moments and products of inertia: Formulas ™ i 4 I, Tn Upperring | 2arp | mbar? +t) m(r? +7) a ap 2 4 2 4 Lowerting | 2arp | m(4r? +r? +t) n(roe) | ofbeade 2 4 2 4 Rod AB Ip am 0 smi 0 1 2 Moments and products of inertia: Values m(tb-s?/ft) 1,(Ib-s?-#t) 1,(ib-s?-8) | 1,(Ib-s?-2) 1,_(Ib-s4/t) Upperring | 0.117078 0.128054 0.131713 0.062198 0.043904 Lower ring 0.117078 0.128054 0.131713 0.062198 0.043908 Rod AB 0.024845 0.002070 oO 0.002070 0 Totals. 0.259001 0.258178 0.263426 0.126466 0.087808 PROBLEM 18.23 CONTINUED Impulse-momentum principle: Before impact, =0, -Ho=0 tie mays mie (Hohe 12 o = dass001! ¥ = (4.63 8s)j4 (8) Moments about G: Tyg « FAt = Hg (0.751 - 0.54 + 0.75k) x (1.2) = (Hg), 1+ (He), i+ (He), 0.91 + 0.9k = Had + (Io, ~ 1,0,)) + (1,0, + L.0,)k ‘Substitute numerical values for moments and products of inertia and resolve into components. = 0.9 = 0.258178, §: 0 = 0.263426, + 0.087808, k: 0.9 = 0.878080, + 0.126466, Solving, ©, = 3.4860 rad/s, 3.0865 rad/s, @, = 9.2596 radls @ = ~(3.49 rad/s} ~ (3.09 rads) j + (9.26 rad/s)k € PROBLEM 18.24 of the wire figure. A wire of uniform cross section weighing 0.8 Ib/ft is used to form the wire figure shown, which is suspended from cord AD. Knowing that an impulse Fas = (1.2 Ib-s)i_ is applied at point £, determine (a) the velocity of the mass center G of the wire figure, (b) the angular velocity SOLUTION p= ‘mass per unit length = 0.024845 Ib-s*/ft? 32.2 r=9in=0.75f, 1 =12in.=10f. ‘Moments and products of inertia: Formulas mn « ‘= ca . la,pyip 24,2 la gip 4, Upperring | 2arp nf 5 arte *) (r2 +72) | mi grt! ml -or Lowerring | 2arp | m(4r2 47? 447 (P+A) | m(teste m{-ht 2 2 4 2 Rod AB 1 Amt ° Am? ° 7 2 12 Moments and products of inertia: Values m(ib-s'/8) 1,(Ib-s?-t) 1, (Ib-s?-A) 1,(Ib-s?-8) J,,(Ib-siR) Upperring | 0.117078 0.128054 0.131713 0.062198 0.043904 Lowerring | 0.117078 0.128054 0.131713 0.062198 ~0.043908 Rod 4B 0.024845 0.002070 0 0.002070 0 Totals 0.259001 0.258178. 0.263426 0.126466 0.087808 PROBLEM 18.24 CONTINUED Impulse-momentum principle: Before impact, y 2 > " ga ga Fat 12k 7 Faremy Ver” 759001 (8) Moments about G: tog x FAI = Hg (0.754 ~ 0.55 + 0.75k) x (-1. (He), 4+ (He), 5+ (Ha), 0.95 - 0.6k = 1,0,5 + (1a, ~ 1,.0,)) + (Ie, + 10,)k ‘Substitute numerical values for moments and products of inertia and resolve into components. 0 = 02581780, -0.9 = 0.2634260, + 0.0878080, 0.6 = 0.0878080, + 0.126460, Solving, @,=0, 0, =-23877 rad/s, @, = -3.0865 rad/s @ = ~(2.39 rad/s) | ~ (3.09 rad/s) k € PROBLEM 18.25 / ‘A uniform rod of mass m is bent into the shape shown and is suspended from a wire attached to its mass center G, The bent rod is hit at A in a direction perpendicular to the plane containing the rod (in the positive x 4 direction). Denoting the corresponding impulse by FA, determine ‘ immediately after the impact (a) the velocity of the mass center G, (4) the 3 angular velocity of the rod. lz a —— of : v - SOLUTION Moments and products of inertia: M i iy I, Ty 4B} Lm Jina? (im)2) 1 1 1 2 Bc] am Gnlinm"]| alk = [ee zi nat 2 ma? dina? hina? Impulse-momentum principle: Before impact, x (@ PROBLEM 18.25 CONTINUED () Moments about G: Tyg Fat = Hg (-aj-+ ak) x (Far)i = (He), 4+ (He), i+ (Ho), (aFat)§ + (aFat)k = 10,3 + (1,0, ~ 1,0,))+(-1,0, + 1a, )k ‘Substitute expressions for moments and products of inertia and resolve into components. mare, i aFAt= 2 matey dingo, 3 4 k: aFat=4mato, + mato, a 7"6 Solving, @,=0, o,=-17 (Fat) oe asr(Eal Far =| — |(-1.714j + 8.57k) 4 o=(EE uns asm) PROBLEM 18.26 Solve Prob. 18,25 assuming that the bent rod is hit at B. SOLUTION Moments and products of inertia: m Ty 4 L Ty alin Gnlaeres4)| at | GG) | GG) ac}im| (Sm) eer] | (Sm) Eeay]] 0 0 | m0 alkleker | i (See) 2m St Bat | buat | la? Impulse-Momentum Principle: Before impact, %=0, He=0 J @ PROBLEM 18.26 CONTINUED @) Moments about G: Tag x FAt = Ag ak x (Fat)i = (Ho),4 + (Ha), 4+ (Ho), (al at)y = Legh +(Iyary — Late) + (Ftry + 1.0) Substitute expressions for moments and products of inertia and resolve into components. ko mate, ib oF d= 2mate, +4ma%e, k: 0=4mato, +[Link]%a, 4 76 * oe (Jo = 5.14k)-< PROBLEM 18.27 ‘A uniform rod of mass m and length Sa is bent into the shape shown and is suspended by a wire attached at point B. Knowing that the rod is hit at point 4 in the negative y direction and denoting the corresponding impulse by -(FA)j, determine immediately after the impact (a) the velocity of the mass center G, (6) the angular velocity of the rod. Angular momentum about the mass center. (He), = Lae — boyy ~ La (Ho), = ly, + Tyo, = 1, = 0.35ma’a, + 0.3mao, - 0.2ma*o, = 0.3ma*e, + 0.66667ma*e, + 0.1ma’o, (Hg), = 1,0, ~ 1,,0, + 1,0, = 0.1ma*ea, + 0.2ma*@, + 0.75ma*ew, [ soLuTion ‘Moments and products of inertia: Part | m A i 4 Ty (4) (m) OFT ata dat ater) | a(tha? +a + 4et) (mle 4a") | m)(-42") Gn) ap} im} (Im)(te) (r)) | lat ager eget) | Ot) ac} 4m | — (3m)(e*) ° (s)(e") ° (3) co} 4m) (bm)(4e*) Cree) | nat ager eget) | Oct) (3m) (Gm) PEL Im) at eda eter) | afhat +a? ete?) (gm)(ct +40") |] (4m)(-42") Z| m 0.35ma* 0.66667ma? 0.75ma? -0.3ma* 1 =(Em](L2) +(dm)(4e") = amet 1 PROBLEM 18.27 CONTINUED Constraint of the supporting cable: Impulse-Momentum Principle: Before impact, V=0, Hg =0. Fat y le Tat A & he z (@ Linear momentum: F(At) + TAtj = mi Resolve into components, 0 = mv,, -FAt+TAj=0, 0= mv, TAt = Fat, vood (6) Angular momentum, moments about G: Kyg X Far = Hg ($5- 28) <[-(eani] = (eras) = (He) i+ (4), 5+ He). Using expressions for (H),, (Ha),» and (Hg), and resolving into components, B , . 0 = 035ma’a, + 0.3ma*w, ~ 0.2ma?o, FE 0+ 0.3ma’a, + 0.66667ma*a, + [Link]*o, Kk: aFAt = -0.2ma*w, +0.1ma*w, + 0.75ma’e, Solving, 9 FB) o= (Z2)esoi-14s +2.19k) 4 PROBLEM 18.28 Solve Prob. 18.27, assuming that the rod is hit at point C in the negative z direction. SOLUTION ‘Moments and products of inertia: Pat | M I, La 1, ly () G») om ea cqesie) [querer egay| Ame ete) | Gace) (3) ap} am] (tm)(te?) Gre) | lace egateger) | Olle) ac} 3m | ($)(t2") ° ()(e") 9 (em) eo} im] (§m)(te*) (rl) | pat agar agar) | Omit") (3) (3m) DE | $m oda +a 4a?) (smo +4e) | (Em\(-t2") = | M 0.66667 ma* 0.75ma* -0.3ma? Angular momentum about the mass center. (Ho), = Le@y ~ Layiy — Ly, = 0.35ma*e, + 0.3ma*a, ~ 0.1ma*er. (He), = ly, + 1,0, ~ 1,0, = 0.3ma"e, + 0.66667ma'a, + 0.2ma"a. (Ha), = -ee@e — Tye; + 1,0, = ~0.1ma?a, + 0.2ma*w, + 0.75ma*a, PROBLEM 18.28 CONTINUED Constraint of the supporting cable: Impulse-Momentum Princ Before impact, Tat G — tle ~~» z Eat (@) Linear momentum: F (41) +744 = m¥_ Resolve in components. O=m¥,, OFTA=0, -FAt= mv, TAT =0, Va -(Fatim)k 4 (6) Angular momentum, moments about G: Tyg * Fat = Hg ~$ix[-(Paryk] = (Sorat (He),i+ (He), 1+ (Ha). Using expressions for (Hc),, (Mg),» and (Hc). and resolving into components, i: yarar = 035ma"o, + 03ma*o, - 0.2ma"e, EF 0 = 0.3ma°a, + 0.66667ma7w, + 0.1ma*e, Kk: 0 = -0.2ma*a, +0.1ma*a, + 0.75ma’ (ra) m 1.975(Fat), o, = 125(F4) m ma Solving, @, = 3.75: o= (F2)e25 ~ 1.875) +1.250k) 4 ma PROBLEM 18.29 ‘A circular plate of radius a and mass m supported by a ball-and-socket joint at point 4 is rotating about the y axis with a constant angular velocity @ = aj when an obstruction is suddenly introduced at point B in the xy plane. Assuming the impact at point B to be perfectly plastic (e = 0), determine immediately after the impact (a) the angular velocity of the plate, (6) the velocity of its mass center G. SOLUTION The disk is constrainted to rotate about the fixed point A. Point B of the disk does not rebound after the impact. Kinematics. (5), @,+0,=0 @ ‘Moments of inertia: Moments about 4: (Hy), + ( i) x (Bat) = (Hy), 104i + (-aBMi)i - a(BAt)j = Loi + Lo,5+ fo,k PROBLEM 18.29 CONTINUED Substitute values for J, Z,, and, and resolve into components. i: 0~(aBar) = 3 ma?o, @ J nates - (aBAt) = 1 mate, ° 4 anne k: O= 3ma'o, @,=0 Solving (1), (2) and (3) simultaneously for @,, @, and BAt, 1 1 5 Oy =F, = Fy BAL = macy (a) Angular velocity: o= —foyt + Foi 4 (®) Velocity of mass center: Vg = OX toy vo [(2)- (a) cn gont 1 Yo = Zauek 4 PROBLEM 18.30 s Determine the impulse exerted on the plate of Prob. 18.29 during the impact by (a) the obstruction at point B, (6) the support at point 4. SOLUTION The disk is constrainted to rotate about the fixed point A. Point B of the disk does not rebound after the impact. (vs), =0 Kinematics. Vg = OX Igy ijk (5), + (%5),K =]. @y @ a-a 0 -a0,, (vp), = 20. 0, +a, a Moments of inertia: Moments about 4: (Hy), + (ai - aj) x (Bar) = (H,), 1,05 + (-0BAs)i - a( Bat) j = hoi + 10,5 + Fok PROBLEM 18.30 CONTINUED Substitute values for J,, 1,, and f, and resolve into components. i: 0-(aBAt) = 3 nat, fray —(aBat) = Jnata, mara, Solving (1), (2) and (3) simultaneously for @,, ©, and BAs, Bat = symaoy (@) Impulse at B: Velocity of the mass center: Vo = Ox toy 1. 1 gh + das) x(-ai) = Gavak (8) Linear momentum: my + AAt + (BAt)k = mv AAt = miv — m¥vy - (BAt)k = fmaagk ~0- F-mayork Q) eg BAt = 0.208maa,k 4 PROBLEM 18.31 A rectangular plate of mass m is falling with a velocity ¥p and no angular velocity when its comer 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 Principle of impulse-momentum: ita, 2. a ~~ ca ce OS c: Uo) Cos Linear momentum: anevei + (CAt)j = miv,i + mvj + mV, i: O= mi, zs ~mivy + CAt = mv, car = m(% +9) a k: 0 =n, Since the impact is perfectly plastic, (vc), = 0. Vo = Vg +O rug = 3,5 + (a + 0,5 + 0k) x (ai ck) (vc),4 + (ve), k = -e0,4 + (5, + 60%, + a0,)§~ 20k i: ye +em, +0, =0 C00, ~ ao, @ Moments about C: cnivh + amivgk = (Hg), i+ (Hg), i+ (He), k + (~ai + ck) x mij = Scions 2m(c + at)o,i+ 3matoxk ~ mevyi ~ mav,k. k omy = neo, ~ mov, @) a, =0 4 r PROBLEM 18.31 CONTINUED ‘After using (2) to eliminate ¥,, (3) and (4) become few, + a0, = V% from which 4 ca, +40, = % ca, 3, aa, Ye n= 7% aa = 3% PROBLEM 18.32 For the plate of Prob. 18.31, 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 Principle of impulse-momentum: md pas + a (Cat SS x 7 ee Wo OO. Linear momentum: ~iivoj + (CAt)j = mv,i + mv¥,j + mv, i: 0= mi, KE -mivy + CAt = mv, Cat = m(% +¥,) Q k: 0= mi, y=0 Since the impact is perfectly plastic, (%), =0. Vo = Vg + * rag = Vp) + (agi + 0%) + 0,k) x (at ~ ck) (%c),4 + (Ve), k = ~ca,i +(¥, +0, + a0.) — a0,k Eve + cw, +40, =0 ¥, = cw, - aw, Q) ‘Moments about C: omii + ami = (Hg), 1+ (Hg), i+ (Ha), k + (~ai + ck) x mij = Bren + 2 me? +a*)o,j+ 2 mato;k = mevyi = mav,k Vine Ec = clan, ~ mer, @) i 0s in(e +a)o, Kk: anny = jnato, = mav, @ PROBLEM 18.32 CONTINUED ‘After using (2) to eliminate ¥,, (3) and (4) become Sew, +am=y = co, +4aa, = ¥ 1520, =% 7 3 3 from which a= Fry aa, = 3% (@) Velocity of mass center: From (2), (&) Impulse at C: From (I), Cat = m(vy +¥,) = nfo . $n) Car = fri < PROBLEM 18.33 The coordinate axes shown represent the principal centroidal axes of inertia of a 1500-kg space probe whose radii of gyration are k, = 0.55 m, A, = 0.57 m, and k, =0.50m, The probe has no angular velocity when a 0.14-kg meteorite strikes one of its solar panels wae at d with a velocity vy = (720 m/s)i - (900 m/s)j + (960 m/s)k relative to the probe. Knowing that the meteorite emerges on the other side of the panel with no change in the direction of its velocity, but with a speed reduced by 20 percent, determine the final angular velocity of the probe. SOLUTION Point of impact: ty = (2.7 m)i + (0.225 m)k Initial linear momentum of the meteorite, (kg-mi/s): ivy = (0.14)(720% - 900j + 960k) = 100.81 ~ 126] + 134.4k Its moment about the origin, (kg-m?/s): ij ik ry xm¥9 =| 2.7 0 0.225] = 28.351 - 340.25 - 340.2k 100.8 -126 134.4] Final linear momentum of meteorite and its moment about the origin, (kg-nv/s) and (kg-m*/s} O.8mv = 80.641 ~ 100.8} + 107.5k ¥4 x (0.8mv9) = 22.681 — 272.16] — 272.16k Let H, be the angular momentum of the probe and m! be its mass, Conservation of angular momentum about the origin for a system of particles consisting of the probe plus the meteorite: 14 X mV) = Hy + 4, x (0.8mv9) H,, = (5.67 kg-m?/s)i ~ (68.04 kg-m*/s) j - (68.04 kg-m°/s)k Lo, =(H,),> Gy). 361 __ 0.012496 rad/s L mike (1500)(0.55) (4), ~68.04 Ta, =(H, tt = ~0.139612 rads pay = (Ha), miky— (1500)(057)° H, Ta, = (H,), = Had, =6804 0.18144 rads mike (1500)(0.50) 0.0125 rad/s)i - (0.1396 rad/s) j ~ (0.1814 rad/s)k << PROBLEM 18.34 : The coordinate axes shown represent the principal centroidal axes of inertia of a 1500-kg space probe whose radii of gyration are k,=055 m, ky =0.57 m, and k, =0.50m. The probe has no angular velocity when a 0.14-kg meteorite strikes one of its solar panels sa at A and emerges on the other side of the panel with no change in the direction of its velocity, but with a speed reduced by 25 percent. Knowing that the final angular velocity of the probe is @ = (0.05 rad/s)i - (0.12 rad/s)j+,k and that the x component of the resulting change in the velocity of the mass center of the probe is =17 mms, determine (a) the component @, of the final angular velocity of the probe, (6) the relative velocity vp with which the meteorite strikes the panel. SOLUTION Point of impact: tq = (2:7 m)i + (0.225 m)ke Initial linear momentum of the meteorite, (kg-nv/s): myo = (0.14)(v,i + vi + vk) = O.14y,s + 0.14y,j + O.14y,k. Its moment about the origin, (kg-m?/s): i ij k (Hy)y = Fa x vy =| 2.7 0 0.225 (0.14y, O.14y, 0.14, = -0.0315y,1 ~ (0.378y, ~ 0.0315¥,)§ + 0.378v,k Final linear momentum of the meteorite, (kg-ms): 0.75mvo = 0.105y,i + 0.105v, j + 0.105y,k Its moment about the origin, (kg-m"/s): 4, x (0.75mv9) = ~0.023625y,i — (0.2835v, — 0.023625v,) j + 0.2835v,k Initial linear momentum of the space probe, (kg-m/s): mv, =0 Final linear momentum of the space probe, (kg-m/s): mi (vdi + v,i + vik) = 1500(-0.0171 + v,j + v;k) Final angular momentum of space probe, (kg-m?/s): H, = (a, + Ko,) + Ko.) + (0.57) (-0.12)j + (0.50)°o, = 1s00{ (0.55) (0.0 = 22.6875i ~ 58.482) + 375e,k PROBLEM 18.34 CONTINUED Conservation of linear momentum of the probe plus the meteorite, (kg-m?/s): O.14y,4 + 0.14v,) + O.14y,k = 0.105y,i + 0.105y,j + 0.105y,K +(1500)(-0.017)i + 1500y,j + 1500v,k. 0.035v, = -25.5 728.57 mis 0.035y, = 1500¥, k: 0.035y, = 1500v, Conservation of angular momentum about the origin, (kg-m?/s): 0.031 5v,i — (0.378y, — 0.0315y,)j + 0.378y,k = -0.023625y,i - (0.2835v, ~ 0.023625v,)j + 0.2835v,k. +22.68754 ~ 58.482) + 3750,k i: ~0.007875v, = 22.6875 ¥, = ~2880.95 m/s ~0.0945y, + 0.007875y, 0.083333y, + 618.86 = 558.15 mis Kk: -0.0945y, = 3750, (@ @, = -252 x LO, 0.726 rad/s <4 ) ‘Vo = ~(729 m's)i - (2880 mvs)j + (558 m/s)k € PROBLEM 18.35 ‘A 5000-Ib probe in orbit about the moon is 8 ft high and has octagonal bases of sides 4 ft. The coordinate axes shown are the principal centroidal axes of inertia of the probe, and its radii of gyration are. k, = 2.45 ft, k, = 2.65 ft, and k, = 2.55 ft. The probe is equipped with a main 135-1 thruster E and with four 5-Ib thrusters 4, B, C, and D which can expel fuel in the positive y direction. The probe has an angular velocity o Se bad aati (0.060 tad/s)k when two of the 5-Ib thrusters are used to reduce the angular velocity to zero. Determine (a) which of the thrusters should be used, (b) the operating time of each of these thrusters, (© for how long the main thruster E should be activated if the velocity of the mass center of the probe is to remain unchanged. SOLUTION Hg = 1,0, + 10,5 + 1,0,k = mod + o}j + Go,k) = SOO (245y° (oosnyt + (2.65)*(0)s + (255)"(04 060)x } = (37.283 Ib-s-ft)i + (60.582 Ib-s-ft)k > ko Let -Aj, ~Bj, -Cj, and —Dj be the impulses provided by the t ‘Selb thrusters at A, B, C, and D respectively. Let Ej be that provided by the 125-Ib main thruster. Position vectors for intersections of the lines of action of the ‘ruster impulses with the xz plane. a=3(4)=28, b= 24 2V2 = 4.8284 a l— her * __b ry = -al+bk, ry =al+dk B ada l® 7 ‘The final linear and angular momenta are zero. Principle of impulse-momentum. Moments about G: Hg +14 x (~Aj) + tg x (~Bi) + te * (-Cj) + tp x (-Dj) = 0 Hg +0(4+B-C-D)i+a(A-B-C+D)k =0 Wo =ai- bk, rp =-ai-bk Resolve into components, (He), _ _ 37.283 : -C-D=- 37283 = 7.7216 Wo: i: A+B-C pe = Fag 2 OPTI bs a A ks AB c+ = Hehe «90582. s9291 bs @ a 2 OFA, B, C, and D, two must be 2er0 or positive, the other two zero. Set A = Oand B- D = N. Solve the simultaneous equations (1) and (2). PROBLEM 18.35 CONTINUED = 19.006 Ib-s and N = 11.285 lb-s. Set D = 0 and B = 11.285 Ib-s @ @) B _ 11285 Fy(4t,)=B, Mtg = = (45) Mapes (©) Linear momentum: Ej-Bi-Ch=0, E = 30.291 Ib-s E_ * 30291 Fe(dtg)=E Ate ial oa Use thrusters Cand B. Aig = 3.8054 Mp = 2.2684 At, = 0.24284 PROBLEM 18.36 Solve Prob. 18.35 assuming that the angular velocity of the probe is @ = (0.060 rad/s) i - (0.040 rad/s)k. SOLUTION The final linear and angular momenta are zero. Principle of impulse-momentum. Moments about G: OFA, B, C, and D, two must be zero or positive, the other two zero. Hg = 03+ 1,0,} + 1,0,k = m(o,i + Ko8} + Ko,k) = S2el (2.45) (0.060)1 + (2.65)*(0)4 + (255) (-0040)] = (55.924 Ib-s-ft)i — (40.388 Ib-s-ft)k Let -4j, -B},-C}, and ~Dj be the impulses provided by the Selb thrusters at A, B, C, and D respectively. Let £j be that provided by the 125-Ib main thruster. Position vectors for intersections of the lines of action of the truster impulses with the xz plane. a=H(4)=28, b= 2+2V2 = 4.8284 ft ry =naitbk, ry =0i+ bk rake A? io = ai-bk, z fp = ~ai- bk Hg + 4 x (-Aj) + tg x (-Bj) + 1¢ x (-Ci) + tp x (-Dj) = 0 Hig + b(4+B-C-D)i+a(A-~B-C+D)k=0 Resolve into components. (Ho), 5.924 : -¢-p =k bo dtB-c-~D=-48 saseg 7H S82 bs ay Ay ~ k: A-a-c+p =k saat = 20.194 Ibs Q and A~ C = NV, Solve the simultaneous equations (1) and (2). PROBLEM 18.36 CONTINUED D = 15.888 Ib-s and N = 4.306 Ib-s. Set C = 0 and A = 4306 Ib-s @ @®) (© Linear momentum: Use thrusters D and A. Fo (Ato) = Ds Mp pe Mp = 3.1884 F,4(4t4) = 4, Mae At, = 0.86184 Ej-Dj-4j=0 — E = 20.1941b-s F(Atg) = E Mtg = E = 20194 1616 84 Fe 125 PROBLEM 18.37 Denoting, respectively, by @, “Ho, and T the angular velocity, the angular momentum, and the kinetic energy of a rigid body with a fixed point O, (a) prove that Hy-a = 21, (b) show that the angle @ between @ and Ho will always be acute, SOLUTION @ = Ig@_) + (hy, + 1,2, -1,0,)) Iz — Ty, + 1,0,)k ©=a,i+0,j+ok Ho:@ = 1,02 - 10,0, ~ 1,,0,0, ~ Ty,0, + 1,03 — 10,0, -Ig@@, ~ 1,00, + 1,02 = a($](0r +1,03 + Lo} -21,0,0, ~21,0,0, ~21,0,0,) =2 ® = Hyocos8 2 = Hywcosd 088 = fa But T > 0, Hp >0,@>0 PROBLEM 18.38 Show that the kinetic energy of a rigid body with a fixed point O can be expressed as T= Joye", where © is the instantaneous angular velocity of the body and Io, is its moment of inertia about the line of action OL of «. Derive this expression (a) from Eqs. (9.46) and (18.19), (®) by considering 7 as the sum of the kinetic energies of particles F describing circles of radius p; about line OL. SOLUTION @ T $ (tao? +10} + 102 ~ Uy, ~ U_0/0, ~ U0.) Let @, = @c0s8, = oh, &, = w00s8, = wt, 030, = wa, 1 =5(t Al + LAL + 1,22 — Uy Ady ~ UyAyde ~ Ugh Ayo (b) Each particle of mass (Am), describes a circle of radius p,. The speed of the particle is v, = pa Ms kinetic energy is (a7), = 4am)? = Fam) pra The kinetic energy of the entire body is 7 =2(a7), = 42(4m)pfo* but To. = (4m) 07 Hence, PROBLEM 18.39 Determine the kinetic energy of the rectangular plate of Prob. 18.1. SOLUTION m=8kg, a= 600mm =0.6m 5 =300mm = 03m Use principal axes x, 2” as shown, = Op + o,f + o,k Oy = Scos f rads, oy = ~Ssin f rad’s For the rectangular plate 7 1 I, BF = 1 (a)(03) = 006k? apna? = 1 (8)(006)' =024kg-m? = 0+ (0.06)(Se05 8) +04 4(024)(ssinp) = 0.6 +06 .2 kgem*/s? = 1.2Nem = 1.27 7 =120034 PROBLEM 18.40 Determine the kinetic energy of rod AB of Prob. 18.2. m=18kg, [= 600mm=0.6m (1200)(27 60 Use principal axes ¥, »' as shown. @y = -asin 20° = ~42,980 rad/s ‘@y = @00820° = 118.085 rad/s For the rod, Tp =0 1 o2_t 2 2 =i =—(h .6) = 0.054 kg- aa? = py lt 8)(0.6) = 0.054 ke mi Vi gt 370 +4702 +5703 + ),i+ (2), K =|, @ @ a-a 0 (ve), = -a@,, (v2), ao, 0=-aa,-an, a, +@,=0 @ Moments about A: (Hy), + (ai - aj) x (Bar)k = (H,), J,aj + (-aBAt)i - a(BAt)j = 1a, + 1,a,}+ 1,0,k Substitute values for J,, Z,, and J, and resolve into components. i: O-(aBAr) Q) 3) PROBLEM 18.51 CONTINUED Solving (1), (2) and (3) simultaneously for @,, @, and BAt Angular velocity: Kinetic energy before impact: Kinetic energy after impact: Energy lost: 2a? < PROBLEM 18.52 Determine the kinetic energy lost when comer C of the plate of Prob. 18.31 hits the obstruction. SOLUTION Principle of impulse-momentum: file, Q., oe et NS e Hele CHa, Linear momentum: ~mv9j + (CAt)j = i: O=my, ji -miy + CAs = mv, Cat = m(% +9) w kr O= mv, Since impact is perfectly plastic, (vc Vo = Vg + OX fag = ¥,5+ (ai + @,§ + ok) x (ai - ck) (ec), + (vc). cai + (¥, + cw, + aa.) ~ a0, Eve + ca, +00, = 0 @ Moments about C: omigi + amigk = (Hg), i+ (Hg), i+ (He), « + (-al + ck) x mij = Enc +2nfé +4°)a,)+ Ena mes = more cam = jncto, = mevy 6) o=4n(c +0')o, @, =0 Kk: amy = nate, ~ may, a PROBLEM 18.52 CONTINUED After using (2) to eliminate ¥,, (3) and (4) become 4 cw, + a0, = ¥ 50m, +00, = vy from which 3, _ 6 From (2), 31-209 = Sn Kinetic energy before impact: he digg Kinetic energy after impact: Energy lost: 1; m-th bmg PROBLEM 18.53 Determine the kinetic energy of the space probe of Prob. 18.33 in its ‘motion about its mass center after its collision with the meteorite. SOLUTION Point of impact: ¥4 = (2.7 m)i + (0.225 m)k Initial linear momentum of the meteorite, (kg-nvs): aivo = (0-14)(720i — 900] + 960k) = 100.8% - 126] + 134.4 Its moment about the origin, (kg-m?/s):. i oj k 1 27 0 0.22: 100.8 -126 134. 4X mVy = 8.351 — 340.25 -340.2k Final linear momentum of meteorite and its moment about the origin, (kg-m/s) and (kg-m’/s). O.8mvg = 80.644 — 100.8) +107.5k 44 x (0.8mv9) = 22.681 - 272.16j — 272.16k Let Hy, be the angular momentum of the probe and m’ be its mass. Conservation of angular momentum about the origin for a system of particles consisting of the probe plus the meteorite: 4X mvp = Hy +14 x (0.8mv9) W, = (5.67 kg-m?/s)i — (68.04 kg-m"/s) j - (68.04 kg-m°/s)k, (4a), 5.67 Io, =(H,),, pA = 0.012496 rad/s (ads oes ae (1500)(0.53)" _ (Ha), | ~68.04 = 8 = -0.139612 radls mk; (1500)(0.57)° 1 = (Ha)y» 7 _ (a), 68.04 Nees (ale = TEE = Tosa)? Kinetic energy of motion of the probe about its mass center: 0.18144 rad/s T= 30k + 1,0} +107) = (Ko? + Ho} + Ho?) = EOP[ (0.55) (.012496° +(057)%(0.139612)" + (050)'(0.18144)"] = 10.96 kg-m*/s? = 10.96 N-m T = 10.9634 PROBLEM 18.54; Determine the kinetic energy of the space probe of Prob. 18.34 in its motion about its mass center after its collision with the meteorite, SOLUTION Point of impact: ry = (2.7 m)i + (0.225 m)k Initial linear momentum of the meteorite, (kg-m/s): ivy = (0-14)(vyi + ¥,5 + v,k) = O.14y,i + O:14y, + O.14y, Its moment about the origin, (kg-m*/s): i jk ry =mvy=| 2.7 0 0.228 Jo.14y, 0.14y, 0.140, = -0.0315y,i ~ (0.378, ~ 0.0315%,)j + 0.378y,k Final linear momentum of the meteorite, (kg-m/s): 0.75mv, = 0.105v,4 + 0.105%, + 0.105y,k Its moment about the origin, (kg-m’/s): 14 x (0.75myg) = ~0.023625v,i — (0.2835v, ~ 0.023625y, )j + 0.2835v,k Initial linear momentum of the space probe, (kg-nv/s): my =0 Final linear momentum of the space probe, (kg-m/s): (vii + ¥,5 + vik) = 1500(-0.0171 + v,j + yk) Final angular momentum of space probe, (kg-m’/s): Hy = ni (Rog + Ho,j + Bo.k) = 1500] (0.53) (0.05)i + (0.57)?(-0.12)5+ (0.50)' oe] = 22.68754 ~ 58.482) + 3750, Conservation of linear momentum of the probe plus the meteorite, (kg-m?/s): O.14y,i + 0.14y, j+ 0.149,k = ).105v,4 + 0.105y, j + 0.1050,k +(1500)(~0.017)i + 150004 + 150004 PROBLEM 18.54 CONTINUED i: 0.035y, =-25.5 vy, = 728.57 ms 0.035y, = 1500¥, Kk: 0.035v, = 150%, Conservation of angular momentum about the origin. ~0.0315v,i — (0.378v, ~ 0,0315v,) j + 0.378v,k = ~0.023625v,i — (0.2835y, — 0.023625y,) §, +0,2835v,k + 22.6875i ~ 58.482) + 3750,k A: -0,007875v, = 22.6875 v, = -2880.95 m/s ki: ~00945v, = 3750, -252%10%v, @, = -0.726 rad/s Kinetic energy of motion of probe relative to its mass center: 1 = i (Lot + haf + 102) = pm (ila + Ho} + He?) = £(1s00){ (0.85) (0.05 + (057)*(-0.22)' + (050) (-07285)'] Tr =102914 PROBLEM 18.55 Determine the rate of change Hg of the angular momentum Hg of the plate of Prob. 18.1. m=8ke, a = 600mm =0.6m b= 300mm = 03m Use principal axes x, 2’ as shown. 0.15 tang = 243 - 95 = 26.565" P= O30 B= 265 @ = (5 rad/s)i =O +0,f tok a, =ScosBridis, wy =0 oy = ~Ssin f rad/s B & — Forthe rectangular plate, . adm? oh P= +m? (2 ra Be = gym? = 5(8)(03)" = 0.06 kgm tina? = ? = om? K L, a 7a 8)(6) = 0.24 kg-m’ Hg = La, + Loyi + 10,K Hg = (0.06)(Scos A)i’ + 0j + (0.24)(-Scos A)’ = (0.308 8)(cos fi + sin fk) + (-1.2sin f)(~sin fi + cos fk) = (0.3c0s? 6 + 0.24sin? A)i - (1.2 - 0.3)sin frcos Bk = (0.480 kg-m?/s)i ~ (0.360 kg-m?s)k Let the frame of reference Gxyz be rotating with angular velocity 2= 02 (Srad’s)i Then, Hg = (He) ue +QxHg =0+0xHg Hig = Six (0.480% - 0.360k) = (1.8 kg-m?/s) j Hg = (1.800 N-m)j-¢ PROBLEM 18.56 Determine the rate of change Hg of the angular momentum Hg of rod AB of Prob. 18.2. m=18kg, [= 600mm =0.6m o= 1200)(28) 125.664 rad/s x Use principal axes x,y’ as shown. wy = ~@sin20° = -42.980 rad/s @y = @00820° = 118,085 rad/s For the rod, Jy = 0 4 1 Pek ye -m? am = Fall 8)(0-6) 0.054 kg-m’ Hg = [y0,i' + Loy + Loyk! = 0+ (0.054)(118.085) j +0 = 6.3766j = 6.3766 (sin20% + C08: 20°j) = (2.1809 kg-m*/s)i + (5.9920 kg-m?/s) j Let the frame of reference Gxyz be rotating with angular velocity Q = @j = (125.664 rad/s) j + (125.664)) x (2.1809i + 5.9920)) = ~(274.06 kg-m"/s*)k Hg = -(274N-m)k 4 ~ PROBLEM 18.57 Determine the rate of change Hp of the angular momentum Hp of the assembly of Prob. 18:3. - ‘SOLUTION w_i3 ; = =~ =0.0931681b-s/f, 1 = 24in = 28, m zg 32 0. Ib-s"/ft, L in. = 2 fi, = (I2rads)i Forrod ADB, Hp = 1,0i~0, since, = 0. * For rod CDE, use principal axes x, y’ as shown. 9 2° cos8 a= 41410 @y = @00s6 = 9rad/s* @y = asin d = 7.93725 rad/s 1x0 p(0-93160)(2) = 0.0310559 Ib-s*-ft = Lyell + Lay! + 10,k = 0+ (00310559) (7.93725) j +0 = 0.2464987 Hp = 0.246498(sin di + cos6}) = 0.163045i + 0.184874} Let the frame of reference Dayz be rotating with angular velocity Q = =(I2rads)i ‘Then, Hy = (i, +Qx Hp =0+0xH, Dove D Hp 2i x (0.163045i + 0.184874)) Hp = (2.22 Ib-R)k PROBLEM 18.58 Determine the rate of change H., of the angular momentum H, of the ‘square plate of Prob. 18.4. Use principal axes y, 2" as shown. wy = @cos4s*, §— @y = asin 4s? ay =0 Ip stnd', Ty = mat i Spt ly =iomat a Hy = ods lyoyt +1,0,K =0+ (Zone ocosasyz + (Sms? (osinase A Hy (3 mat (eon 45*)(cos 45°j - sin 45°) (Zn \(o sin 45°) (sin 45°j + cos 45°) ma’ H,= a Oi +2k) Let the frame of reference Axyz be rotating with angular velocity 2=0j Then, +QxH, oo nao maa? oy G4 2k) = =0+ajx i Hy= A nareri 6 PROBLEM 18.59 Determine the rate of change H, of the angular momentum Hy, of the disk of Prob. 18.5. SOLUTION © = ak + oj = (8 rad/s)i + (16 rad/s)j For axes x, y’, 2’ parallel to x, y, z with origin at A, (6)(0.160)" 0.0384 kg-m? 0.0384 kg-m?, Ty = Ty + T,, = 0.0768kg-m™ Hy = Tayi’ + Tay) + [pak (0.0384) (8)i + (0.0768) (16) 5 +0 = (0.3072 kg-m’/s)i + (1.2288 kg-m?/s)j Let the frame of reference Axyz be rotating with angular velocity Q = ai = (8 rads)i Then, H, =(H8, ge TAXA, = OF 04x, HL, = 8ix (0.30724 + 1.2288)) (9.8304 kg-m?/s?)k A, = (9.83N-m)k 4 PROBLEM 18.60 Determine the rate of change H,, of the angular momentum H, of the disk of Prob. 18.6. SOLUTION © = @j + ak = (4rad/s)j + (12 rad/s)k For axes x, y’, 2 parallel to x, y, z with origin at 4, T, = Amr? = 4(8)(0.100)? = 0.02 kg-m* .O2kgem?, Ty = Ty + Ly = 0.04kg-m? H, = 1,0,1+ To, i+ To, = 0 + (0.02)(4)j + (0.04)(12)k = (0.08 kg-m’/s) j + (0.48kg-m’/s)k Let the frame of reference Axyz be rotating with angular velocity = 0) = (4 radls)5 Then, A, = (it age XH, = 0+ on) Hy HL, = 4j x (0.08 + 0.48k) = (1.92 kg-m?/s?)i H, = (1.920N-m)i4 PROBLEM 18.61 Determine the rate of change Hp of the angular momentum Hp of the assembly of Prob. 18.3, assuming that at the instant considered the assembly has an, angular velocity = (12 rad/s)i and an angular acceleration @ = (96 rad/s?) SOLUTION m= oe de = os 0.093168 Ib-s*/t, 1 =24in.=28, @ = (12 rad/s)i Forrod ADB, Hp = I,al~0, since, = 0. yc . For rod CDE, use principal axes x,y’ as shown, x 6 = 41.410? @, = oc0s0 = 9 rad/s? @y = asin8 = 7.93725 rad/s* a, =0 @ = (96 radss*)i ay = @c0s@ = 72 rad/s ay = asin? = 63.498 rad/s Ip Ip =0 lye amr = Fplosarea)(ay = 0.0310559 kg-m? L, Hp = 10,1 + Lyay¥ + 1,0,K = 0 + (0.0310559)(7.93725)j + 0 = (0.246498 Ib-s-R) jf Let the reference frame Dx’y'2 be rotating with angular velocity 9i + (7.93725 rad/s) 7° Qeol=ai ta, PROBLEM 18.61 CONTINUED Hy = (Mp), #9* Hy = Lai + lyayf + 10,k.+ Ox Hy = 0 + (0.0310559)(63.498) j + 0 + (94° + 7.937257) x (02464987) = 1.97199f + 2.21848 = (1.97199 kg-m?/s*)(sin 01 + cosdj) + (2.21848 kg-m7/s")k Hp = (1.304 N-m)i + (1.479 N- m)j + (2.22 N-m)k PROBLEM 18.62 Determine the rate of change H[p of the angular momentum Hp of the assembly of Prob. 18.3, assuming that at the instant considered the assembly has an angular velocity @ = (12 rai/s)i and an angular acceleration a = ~(96 rad/s*)i. wl 3 y is =% = 0.0 i 1=24in=2 = 27 gag 7 0083168 bm, in=2f, @=(12rad/s)i Forrod ADB, Hp = 1,oi~0, since /, = 0. For rod CDE, use principal axes x’, as shown. cos8=—, 9 = 41.410" @y = @cosO = 9 rad/s? sin = 7.93725 rad/s Gy = 0030 = ~72 rad/s @y = asin@ = ~63.498 rad/s? (0.93168)(2)? = 0.0310559 kg-m? Ip aly Hy = 1a, + loys + 1,0,K = 0 + (0.0310559)(7.93725)j + 0 = (0.246498 Ib-s-ft) Let the reference frame Dr’y'z' be rotating with angular velocity 2 = ai = ai + @yj = 91 + (7.93725 rads) PROBLEM 18.62 CONTINUED Hy = (Ho) payee +QxHp = [pai + Lyayj + 1pa,k"+ Qx Hp + (0.0310559)(~63.498) + 0 + (9i" + 7.937254) x (0.2464987/) = -1.97199j' + 2.21848 (1.97199 kg-m*/s?) (sin 6i + cos6j) + (2.21848 kg-m’s*)k Hp = -(1.304 N-m)i - (1.479 N- m)j + (2.22 N-m)k PROBLEM 18.63 ‘A homogeneous 4-kg disk is mounted on the horizontal shaft AB. The plane of the disk forms a 20° angle with the yz plane as shown. Knowing that the shaft rotates with a constant angular velocity @ of magnitude 10 rad/s, determine the dynamic reactions at points A and B. Use principal axes x,y’, 2’ as shown. @ = (@cosd)i’ - (wsind)y a=0 Moments of inertia: ay Angular momentum: Let the frame of reference Gr’y/Z be rotating with angular velocity Q=o (Holey #9 * Ho He = Lp, + lyatyi + Ta,k + (c0086i' ~ wsindj) x (derecons mr*@? sin Ocos Ok =f, 4 Since the mass center G lies on the rotation axis, ¥ = 0, EF=ma: A+B=ma=0 B EMg = Hig: wai x A+ atx B= ~2aix( PROBLEM 18.63 CONTINUED Pap si (4)(0.25) (10) sin20° 4, = Lira? sindeoso _ _(4)(0.25)*(10)*sin20°e0520° 4x5 a (05) A,=0 ON, 8 A=-(201N)j4 B=(201N)j4 PROBLEM 18.64 : | A thin homogeneous 0.8-kg rod is used to form the shaft shown. Knowing that the shaft rotates with a constant angular velocity @ of magnitude 20 rad/s, determine the dynamic reactions at points A and B. SOLUTION Length of rod: E02 +020 = 0.82832 m Angular velocity: @ = @i = (20 rad/s)E Angular acceleration: a=ai Angular momentum: Hg = Tai - Tok Let the reference frame Gxyz be rotating with angular velocity Q=o=0i Rate of change of angular momentum: Hg = (Hg) age tx He Teg ~ Tear + oh (Zot ~ Tok) Tai + T0°j -T,ak Since the mass center G lies on the rotation axis, IF=mi: A+B=ma B EMg = Melt (-bix A) + (61x B) = Moi -2bix A = Mei - (2b) x (4,5 + 4,k) = Mol + 264,j~ 24, Set IMg (¢ and resolve into components. Calculation of 7, and T,,: Let p = mass per unit length = a For portions AC and DB, Wa Ty For portion CG use polar coordinate 9. PROBLEM 18.64 CONTINUED x=-r(l-cos@), z=-rsin@ dm = prd0 1, fedm = Er sin? prado = 5 pr Tq, = fxedm = ['r?(1- cos6)sin Gord = 2pr? Likewise, for portion GD, LaFer, Ig = 29° ; ZL aa Tato = ter Total: i 2 Teodor 4m? _ (4)(0.8)(0.1) (20)* “bE ~ (2)(0.3)(0-82832) 4,=0, B,=0 Reactions: = 258N B, =-A, =-258N A= (258N)k 4 B=-(258N)k 4 PROBLEM 18.65 When the 40-lb wheel shown is attached to a balancing machine and made to spin at a rate of 750 rpm, it is found that the forces exerted by the wheel on the machine are equivalent to a force-couple system consisting of a force F-=(36.2lb)j applied at C and a couple Mg = (10.85 Ib-ft)k, where the unit vectors form a triad which rotates with the wheel. (a) Determine the distance from the axis of rotation to the mass center of the wheel and the products of inertia I, and I,., (8) If only two corrective weights are to be used to balance the wheel statically and dynamically, what should these weights be and at which of the points 4, B, D, or E should they be placed? SOLUTION 40 2 2 (750) = = 1.24224 Ib-s'/ft, = may = lamas 0-5 4 = (78.54 rad/s)i (@) “The force-couple system acting on the wheel is =~-(3621b)j, (10.85 Ib-ft) kc jieme, 7 362 (1.24224)(78.54)" =4.7241x107 R 7 = 0.0567 in. z=, 20 mo .0567 in. < He = Lai ~ Ly} 1,0 Me = He = @x He = ix (1,01 - 1,0) ~ 1,,0k) (Mf), 5+ (Me), k= 1,04) - To Me —(-10. 2 Made. 1089) 175593 10° woth 7 (78.54) Igy = 1.759 107 Ibs? (Me lag < ye 0 =04 o Yep = -¥p = 725i. wx4 = %g = Xe =~ Xp =3 in. = 0.25 PROBLEM 18:65 CONTINUED Balance masses must be added to niove the mass center to point C and to reduce the product. - — of inertia to zero. myYat Mpyg + Meye + Mpyp + my = 0 (0.60417)(om4 + mg ~ mg — mp) + (1.24224)( 4.7241 x10) Mg + mg — mg - Mp = -9.7133 x10 a 0 MAYA > MIXBVe + MeXEVs + MDXDYD + Ty (0.25)(0.60417)(—m, + mg — mg + mp) + 1.75893 x 107 =0 ming + ty — Me + mp = ~11.6452 @Q) To solve (1) and (2), set mg = Oand let myy = my ~ mp. Then, My ~ Mg = 9.7133 x 107 and Mp — Mg = ~11.6452 x 107 Solving, map = 0.9660 x 107 Ib-s*/M, mg = 10.6792 x 107 Ib-s*/ft Set mp = 0, so that m, = 0.9660 x 10° Ib-s7/ft. Then, We = meg = (10.6792 x10)(32.2) = 0.3439 Ib, We = 5.50 02-4 W, = mg = (0.9660x 10)(32. 2) = 0.0311 1b, W, = 0.498 02-4 PROBLEM 18.66 After attaching the 40-Ib wheel shown to a balancing machine and ‘making it spin at the rate of 900 rpm, a mechanic has found that to balance the wheel both statically and dynamically, he should use two corrective weights, a 6-07 weight placed at B and a 2-02 weight placed at D. Using a right-handed frame of reference rotating with the wheel (with the z axis perpendicular to the plane of the figure), determine before the corrective weights have been attached (a) the distance from the axis of rotation to the mass center of the wheel and the products of inertia I,y and 1,,, (8) the force-couple system at C equivalent to the forces exerted by the wheel on the machine. SOLUTION. oO . 32 = 22(900) Jag 7124224Ibs'i, (94.248 rad/s)i 6 3 thes? =O = 11.646 x sift m= TET) 11.646 x 10° Ibs 2 = ay = 3882 «107 Ibs ™o = Taya) x10 Ib-s/ft Xp =3in.= 025, yy = 7.25in. = 0.60417 Xp =-0.25R, yp = -0.60417 (@) Balance masses are added to move the mass center to point C and to reduce the products of inertia to zero. ms¥s + Mpyp + my =0 (11.646 x 10)(0.60417) + (3.882 x 10°)(~-0.60417) + 1.242247 = 0 3.7761 x 107 ft J = -0.0453 in. ¢ z=0 z=04 y mexXa¥a t+ MpXDYo + by = 0 (11.646 x 10)(0.25)(0.60417) + (3.882 x 107)(-0.25)(~0.60817) + 1,, = Tg = 2.3454 x 107 Ib-s?-ft = 2.35 x 107 Ib-s?-ft 1,204 PROBLEM 18.66. CONTINUED (®) Force-couple system exerted on the wheel: ~miF a = ~(1.24224)(-3.7761 x 107§)(94.248)° = (41.7 tb) j He= [01 Tyo} ~ 1, Me = He = ox He = 1,,07j- Lok = 0~ (-2.3454 x 107)(94248)'k = (20.8 Ib-ft)k Force-couple system exerted by the wheel on the machine. F=-F F (41.7 bb) Mc =-Me Mc = (208 Ib-ft)k 4 PROBLEM 18.67 The assembly shown consists of pieces of sheet aluminum of uniform thickness and of total mass 1.5 kg welded to a light axle supported by bearings 4 and B. Knowing that the assembly rotates at the constant rate @ = 240 rpm, determine the dynamic reactions at A and B. SOLUTION Mass of sheet metal: Area of sheet metal: Let Sheet metal dimension: m=15kg. b=0.120m Andes oot Lot 3p? = 0.0032 mt = 34.722 kg/m? = mass per unit area. Trsass = Parca ay plane (rectangles) of x 4(34.722)(0.120)* = -3.6x 107 ke-m? An, : S sz plane (triangles) * Las lye 2 toed 12 B 6 e pot = 2(4.722)(0.120)' = 12x 107 kg-m? PROBLEM 18.67 CONTINUED For calculation of f,,,use pairs of elements dé, and dy? A, = dA, “fob 2)2dh, = -G(20— =)2ae a= eda + (40 »(-4) but Hence, 3 (4222)(0.120)" = 3.0 x10 kg-m? Total for I,: T, = 4.8107 +1.2%107 = 6.0107 kg-m? ‘The mass center lies on the rotation axis, therefore EF =A+B=ma=0 H, =1,0i-1,0j-1,0k 0 Let the frame of reference Axyz be rotating with angular velocity Q=0=0i IM, =H, = (Hy), +> Hy Mi + 4bi x (B,j+ B,k) = Lai ~ 1a) ~ Lak + ai x (1,01 ~ 1,0) - 1,,0k) Mi~ 4BB,j + 4bB,k = Iai yet — 1,0") - (Ine + Lyo?)k Resolve into components and solve for B, and B,. My = 1,0 ae (lg - 107) 4b (tea + 107) 4b Data: a=0, 25.133 rad/s, 6 =0.120m My =0 3.0 x 107?)(25.133)" PROBLEM 18.67 CONTINUED 10)(25.133)° (4)(0.:120) cami By =-4.74N =-395N = -(4.74N)§- (3.95 Nk B =(4.74N)j+(3.95N)k 4 PROBLEM 18.68 Solve Prob. 18.67 assuming @ = 360 rpm. SOLUTION Mass of sheet metal: m= 1.5 kg. Sheet metal dimension: b=0120m Area of sheet metal: Andee aptet 3° = 38 = 0.0432 m* 2%. Ps it Let p= Spgag 7 34722 kei? = mass per unit area, ‘Moments and products of inertia: Tass = Plies ay plane (rectangles) 1 I= xt 2 ay 1, = Zpb! = 208 722)(0.120)* = 4,8 «107 kg-m? “eR RS) Ly =-h pb! = ~4(s4.222)(0.120)' 3.6 x 107 kg-m? xz plane (triangles) = 1.2107 kgam™ PROBLEM 18.68 CONTINUED For calculation of f,,, use pairs of elements da, arid 4, dA, = dh, frZag.» foe s)(—Z) a4, = 0b x)atg = (06-2) ae But 2 = x, Hence, Jott = 2(64.722)(0.120)* = -3.0x107 kg-m? Total for I,: Ty = 4.8x 107 41.2107 = 6.0x 107 kg-m? ‘The mass center lies on the rotation axis, therefore @ = 0 EF =A+B=ma=0 Hy = Loi Loi he Let the fame of reference Axyz be rotating with angular velocity Q=o20i =M,= Hy = (¥u),,. +QxHy Mei + 4bix (B,5 + Bk) = Lat Iai ~ [ak + wix (I,@i - 1,0) - 10k) Mgi ~ 40B,) + 4DB,k = [eat ~ (Iryat~ 10") j— (Iqat + Ley?) Resolve into components and solve for B, and B,. Data: PROBLEM 18.68 CONTINUED ‘0 --(-3.0 x 107)](37.699)" B= ( ]erse9y = 888N aa (4)(0-120) 0+ (-3.6 x10) |(37.699)" By = Cyt) =10.66N A, =~B, = -10.66N A, =~B, = -8.88N A = ~(10.66 N)j - (8.88 N)k 4 B = (10.66 N)j +(8.88N)k-4 PROBLEM 18.69 Knowing that the assembly of Prob, 18.63 is initially at rest ((@ = 0) when a couple of moment My=(25N-m)i is applied to the determine (a) the resulting angular acceleration of the assembly, (8) the dynamic reactions at points A and B immediately after the couple has been applied. ‘Use principal axes x’, y’, 2’ as shown. o=0 a = (acosé)i' ~ (asind)j Moments of inertia: L 1a ; Bes gmt, ty aly = ame! j + ‘Angular momentum: o Hg = 1,0,i' + Loy + 1,0,k = om cos6i 7 prrosingy Let the frame of reference Gx'y’z’ be rotating with angular velocity Q=0=0 Hig = (Bo) eye +QxHg = lay + Lay + ak +0 : Jrracosoit ~4mrtasindy = 4 rr?xc0s0 (cos0i + sind}) --Lmr?asind(—sin6i + cosd) = mra{ cos? + 1sin?o li + 1 mrasind cos0j 2 4 4 Since the mass center G lies on the rotation axis, 0 F=0 EF=ma: A+B=ma=0 B= PROBLEM 18.69 CONTINUED Mg = Myi + (~ai) «(4,5 + Ak) + (ai) x (B,j+ B,k) = Mi - 2ai x (4, + 4,k) = Meh + 2a4,j - 2a4, Mg =Hg Resolve into components. @ i: My= mta{ Loot 0 + L:inte) 25 = (§)(02s0)*a{Leor 20+ sin? 20") a= 22rd? © i ad, = tmrtasindcosd a (212)sin20°cos20° mr*asindecosd _ (4)(0250) (212)sin20°¢0s20° 4 97 8a (8)(0.500) ki -2ad, = A=(427N)k4 B=~-(427N)k 4 PROBLEM 18.70 Knowing that the shaft of Prob. 18.64 is initially at rest (@ = 0), determine (a) the magnitude of the couple My = Myl required to impart to the shaft an angular acceleration a = (150,rad’s*)i, (6) the dynamic % reactions at points A and B immediately after the couple has been applied. SOLUTION Length of rod: 1 = 02 +029 = 0.82832m Angular velocity: o = ol = (20 radis)i Angular acceleration: « Angular momentum: Hg = [oi-~ Tok Let the reference frame Gxyz be rotating with angular velocity Q=o0=ai Rate of change of angular momentum: Fig = (eee +QxHg Hg = Tayi -T.a,k + wix (Foi - Tok) Rai + T,0%- Tak Since the mass center G lies on the rotation axis, ¥ = 0, 3 =0 IF = ma A+B= ma B=-A IMg = Moi + (-bix A) + (bixB) = Mi - 2bix A = Mgi - (2bi) x (4,) + Ak) = Moi + 2b4,j - 24,k Set Mg = H, and resolve into components. i: My =Ta 5: 2bd, = T,,0* Let (p = mass per unit length = 7 For portions AC and DB, 1,=0, 1, For portion CG use polar coordinate 8. PROBLEM 18.70 CONTINUED x=-r(1-cos0), 2 =-rsin@ dm = prdO 1, = fd = Gr? sin? Qprdo = 3 pr Ing = fxedm = ['r(1— cos6)sin@prd@ = 2pr* Likewise, for portion GD Ig = 2p Total: T= ae @ My =a s(os)(ouy'0s0) ® tmr'a _ (4)(0.8)(0.1) (150) = “pen = (2)(0.3)(0:82852) ~ °°8N 4=0 B=0 B, =~, = -0.966N = 0.455 Nem < A= (0.966N)j4 B = -(0.966N)j4 PROBLEM 18.71 A 5clb piece of sheet metal with dimensions 8 x 32 in. was bent to form the component shown. The component is at rest (@ = 0) when a couple My = (0.6 Ib-ft)k is applied to it. Determine (a) the angular acceleration of the component, (6) the dynamic reactions at A and B immediately after the couple is applied. SOLUTION m= = 015528 bs, b= Bin. 28 322 3 Area of sheet metal: A= 6? +(2b)b +B? = 46? = 1.77778 ft? Let pe 4 on = 0.087345 Ib-s*/ft? = mass per unit area Angular velocity and angular acceleration: o=ok, a=ak ‘Angular momentum about G: Hg 1,04 ~ 1,0) + Lok = -1,,0) + Lok Let the frame of reference Gxyz be rotating with angular velocity Q=a=a0k Hg = (He) + Ox Hg = ~I,aj+ Lak + Required moment and product of inertia: Tass = Plazen cr I >| Lazy pfts) 2¢5)( 2 plated | 2? | 0? +5*{ <5 Ba) 5 6 2 2 (0.087345) (1.77778)* plate AB | 25? Hose? 0 = 0.0172533 Ib-s*-ft Jy, = pb* = 0.0172533 Ib-s*-ft plateB | 5? z 4b? ot of Since the mass center lies on the rotation axis, 7 =0 L EF=A+Boma B PROBLEM 18:71 CONTINUED. EMg = Mgk + bk x A +(-bk) xB = Mok + 2bk x (44+ 4,i) = Mok +254) 2648 3Mg =Hg Resolve into components. 7 M06 2 @ k: My = La TE apa 7276s a = 34.8 rad/s? J, . Zz ® fe Mbd, yar A, = 2S = {0.0172593) 024-776) «9 4501p 2b (2)(0.66667) -UbA, = 1,07 =0 A, (0.450 Ib)i-€ B = (0.450 b)I-€ PROBLEM 18.72. ~ on For the component of Prob, 18.71, determine the dynamic reactions at A and B after one full revolution of the component. SOLUTION 5 2 7 ay = 0.15528 Ibs? /1 b= Bin, 12.2 7 Area of sheet metal: A=? + (2b)b +b? = 46? = 1.77778 mm _ 0.15528 A” L778 Angular velocity and angular acceleration: @=0k, a=ak Let p= = 0.087345 Ib-s?/ ft? = mass per unit area Angular momentum about G: Hg =-1,0i~ 1,0) + 10k = -1,,0) + 10k Let the frame of reference Gxyz be rotating with angular velocity Q=0= ok Hig = (te) 5 + QxHg = 1,0) + Lak + 1,071 Required moment and product of inertia: Tass = Ploves Part 4 i 4, > 2} Layee A 38) plate A | eee (4) ¥ tal $o 1, = pb* = (0.087345)(1.77778)* plate AB | 25? Hoe 0 = 0.0172533 Ib-s?-ft Jz = pb" = 0.017253 Ib-s?-ft plate B e 3 z= 4b of ot Since the mass center lies on the rotation axis, eI 0 ° EF=A+B=ma = B=-A From kinematics: PROBLEM 18.72 CONTINUED EMg = Mok + bk x A +(-bk) xB = Myk +2bkx (4,1 + 4,3) = Mik + 2bd,j~ 2bA,i EMg =Hg Resolve into components. My 6 1 Mp = = Mo 2 7 __ = 34.776 rad/s? Ki Mo=ha | @="h= coin533 . fat a __(0.0172533)(34.77) BWA a Ine de = 3 = "yg gece)” SO @? = 228 = (2)(° sai = 437.01 (rad/s)" (0.0172533)(437.01) b-bd =o? A, =o. L (2)(0-65667) ) 5, 65 Ib A = ~(0.430 Ib)i ~ (5.65 Ib) j-4 B = (0.450 Ib)i + (5.65 Ib)j-4 PROBLEM 18.73 The shaft of Prob. 18.64 is initially at rest (@ = 0) when a couple of moment My = Moi is applied. Knowing that the dynamic reaction at point B is (1.5 N)j immediately after the couple has been applied, determine (a) the initial angular acceleration of the shaft, (8) the applied couple My. L=02+ 0.2m = 0.82832 m = oi = 20rad/si a=ai Hg = Loi- Tok Let the reference frame Gxyz be rotating with angular velocity Q=0=01 Rate of change of angular momentum: Hy =( oo +QxHg Hg = Tai - Ta,k + ai x (Toi - Tak) = Foi+T.,07j- Tak Since the mass center G lies on the rotation axis, ¥=0, EF = ma A+B=ma B=-A EMg = Moi + (-bix A) + (bi x B) = Mgi- 2bix A = Mol - (261) x (4,j + A,k) = Mot + 264,j- 264k. Set EMg = He and resolve into components. PROBLEM 18.73 CONTINUED Calculation of 7, and T,,: Leto = mass per unit length = 7. For portions AC and DB, For portion CG use polar coordinate 8. -r(t-cos6), 2 =-rsind d= prdB 1, = fedm = [fr sin? @ prdo = Ser Inq = fradm = [57 (1 - cos6)sind prdd = 2pr? Likewise, for portion GD, Iq = 2pr 4mr* I: aime Total he 2B, (0.3) (1.5) (0. @ « 2B, ~BByh . 3) 5)(0.82832) = -232.97 rad/s? Ta Amr’ (4)(0.8)(0.a 233 radls*)id . 3 .8)(0.1)' (232.97) ® _ (#){0-8)(0.1)" (-232.97) 0.82832 My = -(0.707N-m)i 4 PROBLEM 18.74 The assembly of Prob. 18.67 is initially at rest (a = 0) when a couple Mo is applied to axle AB. Knowing that the resulting angular acceleration of the assembly is a = (150 rad/s”), determine (a) the couple Mo, (6) the dynamic reactions at A and B’ immediately after the SOLUTION Mass of sheet metal: m = [Link]. Sheet metal dimension: = 0.120m ‘Area of sheet metal: An SP ao ai 4 Lo? 236? 20432? Let = 34.722 kg/m? = mass per unit area Moments and products of inertia: pase = Pues) J & » ID pb & bY A bo b B b t xy plane (rectangles) = 3.6 x 107 kg-m? PROBLEM 18.74 CONTINUED a tA : alae B, xz plane (tiangles) pt = 2(34.722)(0.120)" = 1.210% kg-m? For calculation of J, use pars ofelements d4,and dy a4, = dh = beSdA + (45— v(-Z}an = I(0b 2) 204, = ~f (20 ~ s)p°ae Hence, = G (200 - Pde = of E pit = 5 (34.72)(0.120)" = 3.0107 kgm? Total for J, Ty = 48x 107 1.2% 107 = 6.0 x10 kg-m? ‘The mass center lies on the rotation axis, therefore, EF =A+B a= 0 Hy = Loi - [,0)- 10k Let the frame of reference Axyz be rotating with angular velocity Q = @ = wi. IM, = Hy = (Hy), +QxH, Moi + Abi x (B,5+ Bk) = L,ai- Lyaj~ 10k + ix (4.01 - 1,0) - 140k) Mj - 40B,j + 40B,k = Lai - (Iya - 1,,07))- (toa + 1,07) Resolve into components and solve for B, and... Data; @ ) by PROBLEM 18.74 CONTINUED a=150rads’, wo =0, Mg = (6.0.x 107)(150) = 0.9N-m 3.6 x 10°)(150)- 0 (236x107) (150)~0 =1.125 N (4)(0.120) 3.0 x 107}(150) +0 ayy = 0.9375 N b=0.120m My = 0.900N-m 4 A= ~-(0.938N)j+(1125N)k 4 B = (0.938N)j~(1.125N)k 4 PROBLEM 18.75 ‘The assembly shown has a mass of 6 kg and consists of 4 thin 400-mm- diameter semicircular aluminum plates welded to a light 1-m-Long shaft AB. The assembly is at rest (@ = 0) at time ¢ = 0 when a couple Mg is applied to it as shown, causing the assembly to complete one full revolution in 2s, Determine (a) the couple Mg, (6) the dynamic reactions at A and B at 1 = 0. SOLUTION Fixed axis rotation with constant angular acceleration. asa, o=al = tat 20,209) _ a 146 rads? 2 rr o=0 ‘Use centroidal axes x, y, z with origin at C. Hy = [oi - 1,0) - 10k Let the reference frame Cxyz rotate with angular velocity Q=o=o01 He = (Be )ose + QxHe = Lai Lyaj-1gak + 1,07)- 107k Required moments and products of inertia. Let p = 7 = mass per unit area Touts = Place — 7 = 200mm = 0.2m Part 4 I, ly Tg 3 ® fat jer 0 Con ® | fer | tet | 0 | -20 SN. @ Lat | ha 2 © e ; int | 0 @ ye yer 3 0 ‘Since the mass center lies on the rotation axis, i: PROBLEM 18:75 CONTINUED ee 2ar? 2n(0.2)° ? = 23.873 kg/m? I= 2ssn(4=}02)" = 0.06 kg-m? Tye @san(-2)(oay" = 0.05093 kg-m? Tage eexan(-2}002y 0.05093 kg-m? ° EF = A+B= Eq = ma=0 A=-B EMc = Mol + (-bi)x A+ bx B = Moi + 2bix(B,j + Bk) = Mg 25B,j+26B,k where 25 = 1.0m Mc =H Resolve into components. Mg = I,a = (0.06)(3.1416) My = (0.1885N-m)i¢ ~2bB, = -Iya + 1,07 —[Link] +0 | 61600N 4, = 0.1600 2B, = -I,.0- 10” 3, 04 14) —_ ose 16) +0 _ 9 1600 4 A = ~(0.1600N) j + (0.1600 N)k B = (0.1600 N)j - (0.1600 N)k 4 ~0.1600N PROBLEM 18.76 For the assembly of Prob. 18.75, determine the dynamic reactions at A and Bat t =2s. SOLUTION Fixed axis rotation with constant angular acceleration, a=ai, o=ai 2(2x) o=Qrogstat ata ag = 22-20) ara rads? 2 2 rr’ © = @ + at = at = (3.1416)(2) = 6.2832 rad/s Use centroidal axes x, y, z with origin at C. He = [,ai-1,a)~ 10k Let the reference frame Cxyz rotate with angular velocity Q=0=ai He = (Fe), +9 He = Lai - Laj - Lak + 1,,07j - 1,07 ‘Required moments and products of inertia. Let p = 4 = mass per unit area Tyas = Plus = 200mm = 0.2m Pat | 4 i ty Ty 12 a] 2. D | 4 1 a y ® 37 ar 3” 0 EY ® | per | ger | oo 34 wa @ | 4a? | tert | oo 3+ Zz 1 @ | bat | Lat | 2 |g 3 = | a2 | tat | -4 | 44 PROBLEM 18.76 CONTINUED pat, =—6 2ar? ~ 20(0.2) = 23.873 kg/m? T, = (23.873)| te}(o = 0.06kg-m* Tye (2sara(-Z}(02y" = -0.05093kg-m? is (aara(-4}02" = 0.05093 kg-m? ‘Since the mass center lies on the rotation axis, a=0 EF =A+B= Rg B ma=0 A EMc = Moi + (~bl) x A+ bix B = Moi + 2bix(B,j-+ Bk) = Myj-25B,j+26Bk — where 26 =1.0m Me =H —_ Resolve into components. i: My = Iya = (0.06)(3.1416) My = 0.1885 Nem 2 Ss0e 6) (-0.05093)(6.2832)" L8SIN, 4, =-1.851N A, = -2.17N A =-(2.17N)j-(1.851N)k 4 B=(2.17N)j+(1851N)k 4 PROBLEM 18.77 ‘The flywheel of an automobile engine, which is rigidly attached to the crankshaft, is equivalent to a 20-in.-diameter, 0,75-in.-thick steel plate. Determine the magnitude of the couple exerted by the flywheel on the - horizontal crankshaft as the automobile travels around an unbanked curve of 600-f radius at a speed of 60 mi/h, with the flywheel rotating at 2700 rpm. Assume the automobile to have (a) a rear-wheel drive with the engine mounted longitudinally, (6) a front-wheel drive with the engine mounted transversely. (Specific weight of steel = 0.284 Ib/in?. ) SOLUTION Let the x axis be a horizontal axis directed along the engine mounting, i.e., longitudinally for rear-wheel drive and transversely for front-wheel drive, Let the y axis be vertical. ‘The angular velocity of the automobile, @2, is equal to (v/p)j, where v = 60 mph = 88 fi/s and p = 600 ft. @, = Bi- (0.146667 rad/s) j Angular velocity ofthe fly wheel relative to the automobile: 0 =a where 242700) «252.74 dls 60 Angular momentum of fly wheel: Hg = Lal + 10,5 Let the reference frame Gxyz be rotating with angular velocity Q=0j lo = (HH)... + 2x He = 0+ a4) x (1,1 + 1,0,)) = -1,0,k ‘Couple exerted by the shaft on the fly wheel: M = -1,0,0,k Couple exerted by the fly wheel on the shaft: M = 100k « Data for fly wheel: wa r(Sa rie (0.284 in) (20 in.) (0.75 in) = 66.916 Ib = = = 2.0781 Ibs 2 For a circular plate, 1-4 mr = Jeon) = 0.72157 Ib-s?-ft Using Equation (1), ‘M’ = (0.72157)(282.74)(0.146667)k = (29.9 Ib-ft)k (@) Magnitude of couple for rear-wheel drive: M' = 299 Ib-fid (8) For front-wheel drive: M' =299 Ib-ft-€ PROBLEM 18.78 An airplane propeller weighs 360 Ib and has a radius of gyration of 32 in. Knowing that the propeller rotates at 1600 rpm as the airplane is traveling on a vertical circular path of 2000-ft radius at 340 mi/h, determine the ‘magnitude of the couple exerted by the propeller on its shaft due to the rotation of the airplane. SOLUTION y % & NY 2 Cro Choose axes x, y, 2 as shown. Angular velocity of airplane: a= where v = 340 mph = 498.67 fs, p = 2000 498.67 49887 _ 24993 ds, @ = = Fogg = 028933 ad's, @, = ak Angular velocity of propeller relative to the airplane: @ =a (24)(1600) «167.552 rads 60 Angular momentum of propeller: Hg = Lait 1a. Let the reference frame Gxyz be rotating with angular velocity 9 = ak. fig = (He) oe + OxHg = 0+ ak x (Lai + 1,0,k) = -1,0,.0,) Couple exerted on the propeller: M = Hig = -1,a0,5 Couple exerted by the propeller: M’ = -M = 1.0.0] a Data for the propeller: % 30s yasoi sia ge 322 32 mk? = (1sa00(22) 79.503 Ib-s?-ft Using Equation (1), M’ = (79.503)(167.552)(0.24933)k = (3320 Ib-ft)k Magnitude of couple: M =3320Ib-A4 PROBLEM 18.79 ‘The blade of a portable saw and the rotor of its motor have a total mass of 1.75 kg and a combined radius of gyration of 30 mm. Knowing that the blade rotates as shown at the rate @, = 2500rpm, determine the magnitude and direction of the couple M that a worker must exert on the handle of the saw to rotate it with a constant angular velocity @, = -(2.4 rad/s)j. SOLUTION 2#)(2500) _ o618nds w= ak 60 Angular velocity: o=ajtok Angular momentum of rotor: Hg = 1a) + 10k Let the reference frame Gxyz be rotating with angular velocity 2 = oj. Hig = (Fe) oe +x Hg = 0+ 5x (1,01) + Lak) = Loot Couple exerted on the saw: M = Aig = 1,0,0,1 = mow,b M = (1.75)(30x 10) (261.8)(-24)8 M = -(0.990 N-m)i 4 PROBLEM 18.80 The blade of an oscillating fan and the rotor of its motor have a total mass of 300.g and a combined radius of gyration of 75 mm. They are supported by bearings at A and B, 125 mm apart, and rotate at the rate @, = 1800 rpm, Determine the dynamic reactions at A and B when the motor casing has an angular velocity @, = (0.6 rad/s) j. SOLUTION 0 = a oy = 205) «85a Angular velocity: o= alta) Angular momentum: Hg = 1, + 1,0) Let the reference frame be rotating with angular velocity = @,). Hg = (He). + 2x Hg = 0+ @§x (Iai + 1,035) = -1.0,0.k ‘Assume that the acceleration of the mass center is negligible. Then the dynamic reactions at A and B reduce to a couple. A=-B M = bixB = bix(B,j+ Bk) =-bB,j+bB,k M=H, Resolve into components. i -bB,=0 B= A= k: BB, =-I,a,0, 00)(75 x 10 (188. )(0. 7 0.125 1.527N A=(1327N)i¢ B= -(1.527N)j4 PROBLEM 18.81 Each wheel of an automobile has a weight of 48 1b, a diameter of 23 in., and a radius of gyration of 9 in, The automobile travels around an unbanked curve of radius 450 ft at a speed of 65 mi/h. Knowing that the transverse distance between the wheels is 4.5 ft, determine the additional normal force exerted by the ground on each outside wheel due to ‘motion of the car. - SOLUTION y For each wheel, v = 65 mph = 95.333 fi, = 5333. 2185 ad's x 7 y 7 2 = 0.958338 2 mi? = 42 = (49)00-75)" so sssstib.s?-n z 32. y _ 98.333 = =-0: Or = 7 =~ gaggg = ~0-9947B rads Hg = 1,0, + Lo,j+ Tok Let reference frame Gxyz be rotating with angular velocity © = @, 4 Hg), $x Hg =0+0,jx (a,j + To,k) = HH = (0.83851)(~0.99478)(0.21185)i = (17.671 Ib-ft)i Let Obe the point atthe center of the axle. For the two wheels plus the axle, Ho = Hg + Hg = -(35.342 lb-ft) The distance between the wheels is 4.5 ft. Mo = 45k x Bj =~4.55,i F, =785\b{< PROBLEM 18.82 “The essential structure of a certain type of aircraft turn indicator is shown. Each spring has.a constant of 40 Ib/f, and the 7-0z uniform disk of 2-in. radius spins at the rate of 10,000 rpm. The springs are stretched and exert equal vertical forces on yoke AB when the airplane is traveling in a straight path. Determine the angle through which the yoke will rotate when the pilot executes a horizontal tum of 2250-ft radius to the right at a speed of 500 mi/h. Indicate whether point 4 will move up or down, SOLUTION P Let the x axis lie along the axle AB and the y axis be vertical. , = 24 on =10472 rad/s, v= 500 mph = 733.33 fs p= 250k, 73333 _ 932593 rad/s 2250 Angular momentum: Hg = Tw, + To, j+ To,k = Lo, + 1,0,5 Let the reference frame Gxyz be tuming about the y axis with angular velocity 2 = &, 5. Hg =(He),.,, +2* He = 01% (Ta,i + Tayl) 0,05 2 Data for the disk: m= IE = 13.587 «107 Ib s'/t 2 3.587 x (2) = 188.708 x 10°6Ib-s?- Mg = Hg = ~(188.708 x 10°*)(1047.2)(—0.32593)k = (0.06441 Ib-f)k ‘The spring forces F, and Fy exerted on the yoke provide the couple Mg. The force exerted by spring B is upward. Let Fy=Fho Then Fy =-Fh Mg = tagi Fh = Sin = 041667 Fe From Mg=Hg, 0.41667F = 0.06441 FF = 0.15458 1b. PROBLEM 18.82 CONTINUED Compression of spring B: i= os = 010038645 f = 0,04637 in. k Point B moves 0.0464 in. down. Point A moves 0.0464 in, up Turning angle for yoke: 9 = 24637 +0651 ares ° 8 =1.063° 34 Point A moves up. 4 PROBLEM 18.83 AA thin ring of radius r = 200 mm is attached by a collar at point A to a vertical shaft which rotates with a constant angular velocity o. Determine (a) the constant angle # that the plane of the ring forms with the vertical when a = 10 rad/s, (6) the largest value of « for which the ring will remain vertical (f = 0). SOLUTION 5 Choose principal axes x,y, z with origin at the fixed point 4. v 2 mar? = Der’, sr? a Hy = rar? + me? = Imr?, 7 A © = asin fi + @cos Aj H, = 1,0, +1,0,)+ 10k = I,asin fi + I,ocos fj Let the reference frame xyz be rotating with angular velocity @ = R Hy =(H,),. + 2xH, =0+oxH, J, 8 y = (@sin fi + cos Aj) x (J,osin fi + Lwsin fj) 7 =(J, - 1,)o*sin feos pk = ~2 ra? sin cos Bk EM, = ~(mgrsin B)k = Hy es frateosp =e. 22081) @ cos B vai * THfo200)(r0y 0.327 B= 09° 4 (b) Set B=0 cosB=1 2-28 P)C8) 4), 3r — (3)(0200) o=5.72radis 4 PROBLEM 18.84 A thin ring of radius r = 300 mm is attached by a collar at point 4 to a vertical shaft which rotates ‘2 constant angular velocity @ Determine (a) the value of @ for which the ring forms a constant angle f = 45° with the vertical y axis, (b) the largest value of @ for which the ring will remain vertical (@ = 0). SOLUTION rae ‘Choose principal axes x,y, 2 with origin at the fixed point 4. G 7 I, = mr? + mr? =2mr?, I, A @ = asin fi + @cos Aj H, = Lait 1,0) + 1.0.k = L,asin fi + [0005 Bi Let the reference frame Axyz be rotating with angular velocity Q = a. a, = (Bi), +QxH, =0+0xH, = (@sin fi + cos fj) x (I,asin fi + I,wsin Bj) =(1, = J,)@? sin B cos Bk = ~2 mr sin Boos EM, = —(mersin f)k =H, g = Fro? cos 2g (2)(9.81) @ Brees (3)(0:300)cos 45° = 30.83 (B) Set B=0, cosf=1 (2)(9.81) _ '3)(0.300) — @ = 4,67 rad/s 4 PROBLEM 18.85 7 A uniform square plate of side a = 9 in, is hinged at points A and B to a levis which rotates with a constant angular velocity @ about a vertical axis. Determine (a) the constant angle that the plate forms with the horizontal x axis when @ = 12 rad/s, (6) the largest value of @ for which the plate remains vertical (8 = 90°). NY SOLUTION Let point O be the midpoint of axle AB. Choose principal axes dy oy ‘9/2 with origin at point O. » ° 2 7 @ = ~asin Bi’ + woos Bi ~~ Hy = Lag! + Lay} + 10k" ye Losin Bi & Let the reference frame Ox'y'2’ be rotating about the fixed point O with Re angular velocity Q = @. Ho = (Ho) yp 2X Ho =0 + OxHy = (-@sin Bi’ + cos fj) x (-1,asin fi + Locos fj) w = -(1, - 1,0? sin Boos fk. ma’ sin cos Bk Mo = -W Sos Bk =H 3 maa?sin B= mg 2 2 g = Footing PROBLEM 18.85 CONTINUED @ sing = 28, = ) eee =044722 B= 26.6°4 rao (2) (ny @) Set B=90, sinf=1 3g _ (3)(322) _ gag @ =8.02rads-4 2 . 38 are es 12, PROBLEM 18.86 A uniform square plate of side a = 12 in. is hinged at points A and B toa clevis which rotates with a constant angular velocity @ about a vertical axis, Determine (a) the value of a for which the plate forms a constant angle 8 = 60° with the horizontal x axis, (b) the largest value of @ for which the plate remains vertical (2 = 90°). SOLUTION Let point 0 be the midpoint of axle AB. Choose principal axes y y! ¥,¥,2' with origin at point O. a) Ie ima’, ° 2 7 © = -asin fi’ + cos fi Hg = [yi + yay i + RZ = -Losin fi Let the reference frame Or'y2’ be rotating about the fixed point O with Ra angular velocity 2 = AQ é Hg = (Ho) yy + 2H = 0+ 0x Hy = (-wsin fi’ + wcos Bj) x (~1,sin fi’ + 100s BY) 7 = -(Jy — fy)? sin Boos fk = —4 ma? sin Boos Bk 3 a . Mo = - S05 Hk = Hy Ww 2rnaa sin B = mg g 2av*sin B PROBLEM 18.86 CONTINUED 3g (3)(32.2 2 @ ot =—8_= = 55.772(rad/s)’ 2asin (2y Banoo 12 o = 747 rads ¢ () Set B=90% sing =1 ot 38. O22) « ag.3(aas) 0 = 695radls 2a” (a (l2 a5 PROBLEM 18.87. ‘The slender rod AB is attached by a clevis to arm BCD which rotates with a constant angular velocity @ about the centerline of its vertical portion ‘CD. Determine the magnitude of the angular velocity @. SOLUTION Let Choose x,y,z axes as shown. Angular velocity: © = asin30% + @¢0s30°j Angular momentum of rod AB about its mass center G: H = .o,i + T,a,j + T.o,k = T,cos30°j Let the reference frame Gryz be rotating with angular velocity 2 = 0. Hg = (He) ee +OxHg = 0+ (wsin30°% + @c0s30°j) x F,acos30°j 8 = Fa? sin30°cos30°k = *=mi2w*k ya? sin30°c0830% = Sma’ Radius of circutar path of point G: r Seosse +b =022990m Acceleration of the mass center: Equations of motion: be PROBLEM 18.87 CONTINUED ~ L L 2 #5 EMy = mg-c0s30°k =| sin30° Jmrak + Hg 3 gtk (3 mLr + Buu te 4 ft, 37) 02 erat gee ~=(9.81) = [Fro22»0) + Leos 7 @ = 7.89 rad/s 4 PROBLEM 18.88 The slender rod AB is attached by a clevis to arm BCD which rotates with a constant angular velocity @ about the centerline of its vertical portion CD. Determine the magnitude of the angular velocity @. SOLUTION Let AB = L = 0.3m, and BC = 6 = 0.1m, Choose x, y,zaxes as shown. Angular velocity: @ = ~osin30° + @cos30°j Angular momentum of rod AB about its mass center G: Hg = [,0,i + 1, + T,a,k = T,ocos30°j Let the reference frame Gxyz be rotating with angular velocity Q = a. i, = (He). +QxHg = 0+ (-sin30°E + wc0s30°)) x T,acos30°j = ~T,07 sin30°cos30°k = Radius of circular path of point G: r Acceleration of the mass center: Equations of motion: PROBLEM 18.88 CONTINUED +> IM, ~mg Hcos30" = {5 sina0"}nr ari +Hg @ =15.24radis 4 PROBLEM 18.89 The 2-Ib gear 4 is constrained to roll on the fixed gear B, but is free to rotate about axle AD. Axle AD, of length 20 in. and negligible weight, is connected by a clevis to the vertical shaft DE which rotates as shown with a constant angular velocity @;. Assuming that gear A can be approximated by a thin disk of radius 4 in, determine the largest allowable value of @, if gear A is not to lose contact with gear B. SOLUTION b=30, £=20in= 2 Choose principal axes x, y, as shown. Kinematics: ‘Angular momentum: ©, = asin fit acosBj — @, = @j © = @ +O, = asin fi + (a C088 + o)} asing 0, = acs f +0, VG = © ¥ Fay = OF Foy = ~@Lsin Be = ©) Vg = @Lsing — Yo = Vg + 0X Fog 0 = -aLsin fk + (ai + @,}) x (-ri) = -aLsin fk + 0 7k Le o=sinB PROBLEM 18.89 CONTINUED Let the reference frame Dryz be rotating with angular velocity Q = @,. Hig = (Ho)... + 2x He = 0 + (asin fi + «00s fi) x (T,aJ + T,a,)) = (T,o,aysin f ~ T,0,0,c0s 8) = (Snr sin f — nro, cosa R Moments about D: Mp = Fak - mgLsin Bk, where ad=VEar (pay = He Yop x06 Ic + maf 1? sin Bos Bk Equating Mp =(Mo),,, and taking the z component, Fed ~ mgLsin B = (Jeo? zaine B- Sear? sin Boos ot + ma2L2 sin B cos p 7 ma sin p(2rdsin = Frese - Beosp) Set F = Oand solve for a}: a (a2) af = 7 i = 7 o Boos + 4? cos 8 -4rLsin fp (3) 0° ue o - A 420) F390 4 z Fe} 90830" + 2{ 5 cosa0°- 2{ |Z sin30 = 23.427 @ = 484 rad/s 4 PROBLEM 18.90 Determine the force F exerted by gear B on gear 4 of Prob, 18.89 when shaft DE rotates with the constant angular velocity @, = 4 rad/s. (Hint. ‘The force F must be perpendicular to the line drawn from Dto C.) SOLUTION Kinematics: Angular momentum: B= 30 z= 20in= 2a, r= 4in, Choose principal axes x, yz as shown, o sin Bit acosBj — @, = @h © = 0, +0; = Sin fit (oc0sf + a2) 5 @,=asinp a, = @cosB +a, Vo =) kop = 15% Mop = ~aiLsin Ble Ag = 0x vg = @fLsing — Vo = VG + OX Fog 0 = ~aLsin Bk + (ai + «,j) x (-ri) = -absin fk + ork PROBLEM 18.90 CONTINUED Let the reference frame Dxyz be rotating with angular velocity 2 = a. Hg = (Ha) gg, + 2B = 0+ (asin fi + a cos Aj) x (Fa, + T,i) = (Ta, sin B - T,,0 c0s A) = (fnra, sn B~ Jno, oop ok moe \E Si. Moments about D: Mp = Fé - mgLsin fk, where d=VP +r (Mo)eg = He + Fa mag = Hg + maj’ sin fcos Bk Equating Mp = (Mp) j,, and taking the z component, Fed — mgLsin B = (feet a -Lr?sin cos) of + mak sin Boos = mot einp(Srtsinp 7 Frcosp 7 Boop) Solving for Fe, [+ - oi Beose + drteosp - Jntsna)] Additional data: m= = 0062112 Ib-s7/f, = 4rad/s PROBLEM 18.90 CONTINUED (3)-7[) or o3fgF om -4(2(g)] = 0311Ib = B-tntt =30*— an a=p 7 0.3111b 218.79 4 PROBLEM 18.91 ~The 300-g disk shown spins at the rate @, = 750 rpm, while axle AB rotates as shown’ with an angular velocity @, of 6 rad/s. Determine the dynamic reactions at 4 and B. SOLUTION Angular velocity: @=oh-ok Angular momentum: He = Toi +7,0,) + Lox'= To, - Tok Let the reference frame Cxyz be rotating with angular velocity Q = 4. Hic),,, + 2*He = 0+ a,x (Ia, - Tak) = T.o,0i He A th _ o\ ’ Acceleration of mass center: a EF = ma Ak - Bk =0 A=B Me =He LBj=Tooj B= ae, Data: m= 03k, jee = $(0.3)(0.050)" = 375.10 kgm? a= 22(059) «50 ts @, = 6 rad/s, L = 0.200m 15 x 10°*)(6)(252 “9200 = 0.88357 N A=(0.884N)k 4 B = -(0.884N)k 4 PROBLEM 18.92 The 300-g disk shown spins at the rate @, = 750 rpm, while axle 4B rotates as shown with an angular velocity @,. Determine the maximum allowable magnitude of 2 if the dynamic reactions at A and B are not to exceed 1 Neach. SOLUTION Angular velocity: © = ai — ak Angular momentum: He = Toi + To, + Fok = T.0;i - Tok Let the reference frame. Cxyz be rotating with angular velocity Q2 = ak He = (He)... + 2x He = 0+ atx (1:1 ~ ok) = Loa) He a Ae \ Acceleration of mass center: Data: mr? = 4{03)(0.050) = 375 10° kg-m? a, = 29) «250 nds, L=0.200m A=B=1N LB (0.200)(1.0} = ZB. _(0200)(1.0) = 6.19 rad "Tay ~ (15%10")(250) 7 oa PROBLEM 18.93 ‘Two disks, each of weight 10 Ib and radius 12 in, spin as shown at the rate, = 1200 rpm about a rod AB of negligible mass which rotates about the horizontal z axis at the rate @, = 60 rpm. (a) Determine the dynamic reactions at points C and D. (6) Solve part @ assuming that the direction of spin of disk 4 is reversed. SOLUTION For disk A: 4 = Oj ~ ok H, = To) +T,0,)+ Tok = 0+ Taj = forand Sma Let the reference frame Oxyz be rotating with angular velocity Q = -w,k. _ ve i 1 Hy, = Wy) 0 + Ox H, = 0+(-0,k) x(Sretas- Lose) Mr = Smaak yr 'eae Acceleration of its mass center: For disk B: @p=0, Hy=Hy Hg=Hy 25 = bij a Let the system of particles be disks A and B together with axte AB and shaft CD. ‘Neglect the mass of the axle and the shaft. ‘OF = ma, + ma, jt Dj = ~boti + bo} D=C PROBLEM 18.93 CONTINUED 4 2M) =cO.= Hy +H, = mayo C= MMe (a) Data: m = AS = 031056 6-340, r=12in=LOR, c=2h, o, = 129) = son ads o, = 4) sans c= (0.31056)(1.0) (402)(22) 2 = 122.6 Ib. C = ~(122.6 Ib)j-4 D = (1226 ib) (@) For disk A: @,=-Oj-Ok, Hy =-Taj-Tok By = Loa, Hy,+H,=0 c=D=04 PROBLEM 18.94 Two disks, each of weight 10 Ib and radius 12 in., spin as shown at the rate, = 1200 rpm about a rod AB of negligible mass which rotates about the horizontal z axis at the rate @,. Determine the maximum allowable value of @, if the magnitudes of the dynamic reactions at points Cand D are not to exceed 80 Ib each, SOLUTION For disk 4: 0, = Oj- ok H, = Toi +T,o,j+ Tok =0+7,0j- Toi 1 pray — pmrronk 4 Let the reference frame Oxyz be rotating with angular velocity 2 = ak. HH, = (Hy), 12H = 0+ (-onk) x 1 nan = hme mand ~ rank = Jaros Acceleration of its mass center: ay = —bo}} For disk B: @s=0, Hg=Hy Hy=Hy a9 = 03) Let the system of particles be disks A and B together with axle AB and shaft CD. ‘Neglect the mass of the axle and the shaft. EE = ma, + map ~Cj + Dj = ~baz) + boi D=C PROBLEM 18.94 CONTINUED a, IM, =cCi = Hy + Hy = mooi c= me Solving for a, = Data: 10 2 Sy = 0.31056 Ib-s/h, 322 7 =12in =108, a = 209 =40zrad/s, C= D=801b (2)(60 (0.31056)(1.0)° (402) = 4.0998 rad/s @, = 39.2 pm 4 PROBLEM 18.95 ‘A homogeneous disk of mass m= 4kg rotates at the constant rate “0 a ‘@, = 12 rad/s with respect to arm OA, which itself rotates at the constant rate «@, = 4rad/s about the y axis. Determine the force-couple system $ representing the dynamic reactions at the support O. 2 200 “Q rm SOLUTION ‘Angular velocity of arm O4: a= a) Angular velocity of disk A: o=aj+ok Angular momentum about its mass center 4: H, = To, +1o,i+ To, = Toit Tak = foirtans + Zmrtonk Let the reference Oxyz be rotating with angular velocity 2 = a). +Qx Hy = Ligh + Stik + anh Hy au J igi + bmrre menanh + array) + om tank Velocity of point A: V4 = @,)X kyo = Oyj x (bi - <§) = ~ba,K Acceleration of point 4: a4 = Oh X typ + 5x V4 = boi — baxk Consider the system of particles consisting of the arm OA and disk A. Neglect the mass of the arm. je I = ma, Rit Ry PROBLEM 18.95 CONTINUED YMg = Hy = Hy + yo x ma, 7 (0), + (Mo), i+ (Mo), k= n($reo, - bed, rem(-Le +? osem(dra ~ boot) Data: m= 4kg, r=0.1m, 6=032m, c=02m a= 12rd, 6 =0, a =4rads, , =0 R, = ~(4)(032)(4)' = -2048N, R, = 0 R=-(205N)i¢ (Mo), = ([ZJor'ear] =0960Nm, (Mp), =0 (Mo), = (8)[0~ (032)(02)(4)"] = ~4.096 N-m ‘Mo = (0.960 N-m)i- (4.10 N-m)k 4 PROBLEM 18.96 A homogeneous disk of mass m=3kg rotates at the constant rate ‘@, = I6rad/s with respect to arm ABC, which is welded to shaft DCE rotating at the constant rate , = Srad/s. Determine the dynamic reactions at D and E. SOLUTION Angular velocity of shaft DE and arm CBA: Q=ah Angular velocity of disk 4: o=ai+aj ‘Angular velocity about its mass center A: H, = Toi +T,0,)+ Lok = Toi + Tai = tno, + Fro Let the reference frame Oxyz be rotating with angular velocity © = ai. ~ HW, =(H,), +OxH, = bmi + Lt + al x, sna +h mre + A nPooxk 4 2 2 Velocity of point A: V4, = Of xt yo = Od x(-Bk + ef) = boy) + cansk ‘Acceleration of point A: ay = Gah ry +O) Vy a4 = (bey — co}) j+ (cig + bar») Consider the system of particles consisting of the shaft, the arm, and the disk. Neglect the mass of the arm. EF = ma, D,j+ Dk + E+ Ek = may WE y "XH Resolve into components, = m(bo, — ew? om D, +B, = (bd, - co}) 1m(ctby + boo?) PROBLEM 18.96 CONTINUED (Mo)i + ix (Bj + Bk) = Hy + (i+ oj bk) x may (Mo)i - 218, § + 2B k = n(te +4 you + nia = ed, — t03)s on(Sroe, + lb, ~ tea) kk My= ode +B +2), k: B= 2 (Loe, + Ibty co} D,= (tro, + be, -ko}) é 8, = 2 td, +1b03-174)}, D, =i, + bad + +h *6) Data: m=3kg r=02m, b=c=025m, 103m O=16nds, 6)=0, 0, =8radls, y= 0 D,= weal (do (16)(8) +0 - (03225) =344N >= oye: foaplo* C3) 0229)(67 +0]=216N D =-(344N)j+(216N)k-< Ey= weal (0.2) (16)(8) + 0 - (0.3)(0.225)(8) |= -8.80N are He spl? #200: 225)(8)' + 0] = 21.66 = -(8.80N)j+(21.6N)k 4 PROBLEM 18.97 A 100-Ib advertising panel of length 2a = 7.2 ft and width 2b = 4.8 ft is kept rotating at a constant rate @, about its horizontal axis by a small electric motor attached at A to frame ACB. This franie itself is kept rotating at a constant rate @, about a vertical axis by a second motor attached at C to the column CD. Knowing that the panel and the frame complete a full revolution in 6 s and 12's, respectively, express, as a function of the angle 8, the dynamic reaction exerted on column CD by its support at D. SOLUTION Use principal axes x, y’, z as shown. Moments of inertia: Kinematics: b= 0, Oy = 0,5in8, Wy = 00089, = 1 = 0, C058, ~aya,sin8, y= 0 ‘Since the acceleration of the mass center is zero, the resultant force acting on the column CD is zero. R=04 Euler’s equations of motion for the pl EM, = Tay (Ty -T, Joyo, = Tao, 0086 - (I, ~ T,)o0, 0088 = (Fe +Te = Ty )ep0080 = Z mba, cos = ~inbto} sinOcosO PROBLEM 18.97 CONTINUED -mb*a? sin 8 cos Ok = 2 yen c080 (cos 04 + sing) - jotta} sin OcosOk Resolve into components: 2M, = Zmbayo,c03"8 EM, = 3r?oyo, sind 028, =M, {mbtajsindcoso 100 2, = 310568, b= 248% Data ma s/f, 0 = 2 = 10sra mals, a % = 05236rads > ids A ER = EF: Ad +4,k = mag Resolve into components. of) PROBLEM 18.99 CONTINUED ; (Ma),= toto (My), = n( pe +P +e Jo, Solving for a: a, = Ma = T 2 m(i sere) (40) (Z)teasoy +(04)' + (03) = 0.188235 rad/s” Atr=Ss, @, = Gat = (0.188235)(5) = 0.94118 rad/s After 5, let dy = 0 so that «, is constant. 4, = ~mbar} = ~(40)(0.4)(0.94118)" = -14.17N A, = ~mco} = ~(40)(0.3)(0.94118)° = -10.63N R= (14.17 N)i-(10.63N)k € O4), (14,), =4mraxo, = (5) 010250) (o5an9)(s0 = 941 Nem M, = (94.1N-m)i€ PROBLEM 18.100 ‘A 40-kg disk of radius 250 mm spins as shown at the constant rate @, = 80 rad/s with respect to the bent axle ABC. The system is at rest when a couple Mo is applied as shown for 3 s and then removed. ‘Knowing that the maximum angular velocity reached by the bent axle ABC is 2.4 rad/s, determine (a) the couple Mo, (0) the force-couple system representing the dynamic reaction at the support at point A just before the couple was removed, Assume that the bent axle ABC has a negligible mass. SOLUTION Angular velocity of the shaft and arm ABC: Q= a,j Angular velocity of disk C: @=a,j+ok, a =0 Its angular momentum about C: He = [0,1 + Tayi + Lok = Taj + Tok Let the reference frame Axyz be turning with angular velocity Q. te), + He = Tyg + and (Fn + Tak) Foiet 1 te [Ooi + T0,5 = qn oe + qr Velocity and acceleration of the mass center C of the disk: Ve = 2X tog = Oz) (bi + ck) = cozh - ba, k Ag = ba} X Ferg + Oy} Ve = (iy ~ bo})i + (bedy ~ cod) she, we (Mat BE =ERq: 4i+ 4k = mac Resolve into components. Ay = (ct, -b03) A, = -m(bd + coo?) a= He + toyg X mag = He + (bi + ck) x mag mr anc + ofr +b 4 2) nj Resolve into components. PROBLEM 18.100 CONTINUED (4), = dora, (44), = Mo on(he +8 +2)a, Since the couple My is given as constant, @, is constant. == 08 nds? @ My = (s0)[$(025) + (04) +0037 08) M, =(8.50N-m)j4 ® 4, = (40)[(03)(08)- (04)(24)']=-226N Af ~(40)f(0.4)(08) + (03)(24)'] =-819N Ry, = ~(82.6N)i~ (819 N)k 4 (44), = 4(40)(025)(2.4)(80) = 240 N-m M, = (240N-m)i€ PROBLEM 18.101 reactions at D and E at a time when @, has decreased to 50 rad/s. SOLUTION Angular velocity of shaft DCE and arm CBA: Q=o0k Angular velocity of disk 4: © =0j+ 0k Its angular momentum about 4: H, =7,0,4+T,o,j + Tok = Taj + Tok Let the reference frame Ciyz be rotating with angular velocity © H,= (Ba) soe $OxH, = Tayi + Tank + ok x (70,5 + Lark) = To, + Taj) + T.0,k = froin + foros + rik Velocity and acceleration of the mass center of the disk: V4 = OK X tye = 07k x (b= el) = c,h + bay} 84 = Ogk x tye + OK x V4 = (ct, ~ ba); + (be, + 207) Resolve into components. ‘A 5-1b homogeneous disk of radius 4 in. rotates with an angular velocity ‘@, with respect to arm ABC, which is welded to a shaft DCE rotating as shown at the constant rate @, = 12 rad/s. Friction in the bearing at A causes @, to decrease at the rate of 15 rad/s*. Determine the dynamic PROBLEM 18.101 CONTINUED 2M; = fg = Hy yg x ma, = Hy + (b4— c+ ik) x may 2k x (D,i + D,j) + Mok = HL, + m(b1d, ~ cla})i + m(cldy + bla}) + m(8? + 2) a,k 2D, + UD,j + Myke = n( 20,0 + bly — ato} +m(Zeta + lay bal }p+m(Er +P ee k: My = ote +B 2a, (ra + cla, ~ 103) E, i mf : ik Dy= (Lom + blo, +103) Data: m= = 0.15528 1b-s*/h, 7 322 : b= 6in, 12 75in @ = S0rad/s, — & = -15 rad/s’, = 12 rad/s, De ane (J ag-0-( We selene. (2dr 8. (5.69 Ib)i + (6.94 Ib) 4 wa) (-15)+0- Ger] = 5.49 Ib 3 at AG 4) cayens04(t ig Jeo" ~1.346 Ib E = ~(5.49 Ib)i - (1.346 Ib)j PROBLEM 18.102 A 5-Ib homogeneous disk of radius 4 in. rotates at the constant rate @, = 50 rad/s with respect to arm ABC, which is welded to a shaft DCE. to produce that angular acceleration, (6) the corresponding dynamic reactions at D and E. SOLUTION Angular velocity of shaft DCE and arm CBA: 2=ok Angular velocity of disk A: o=o0j+ok Its angular momentum about A: Hy = 7,04 +1,0,)+T,0,k = Taj + 7,0, Let the reference frame Cxyz be rotating with angular velocity 2. H,= (Bi) soe 4 OxH, = 16,5 + T.0,k + ok x (Ta + T,0;k) 7 Seid. 1 toi s tmrta js tmrte = Taah + To) + T.0,k =~ Zr aos + mri + Fink Velocity and acceleration of the mass center A of the disk: V4 = OK X Ey = Ok x (Db g) = carl + bo} 8g = OMX tye + Ok x v, = (Cty - boF) i + (Bey + 0022) y, a a ER = UR Dit D,j+EAtE,j= ma, Resolve into components. D, +E, = m(cé, ~ 603) D, +E, = m(bi, + co}) PROBLEM 18.102 CONTINUED IMg = Hy = Wy + ry x ma, = Hy + (bi ~ cf + Mk) x may 2k x (Di + D,j) + Mok = Wy + m(bla, ~ loz) + (cla + blo}) j+ m(b? +c?) ink UD, i + UD,§ + Mok = n(-$ro.0 + bid, — aioli +n( 6 + clidy bed i+ ote +P +e }ax Las peele Kr My = ml or? +8 +0? lay bb De= 2Gre + ely ~ 103) & -8{-4ra ~ cliy 08) i: D,= Biren + blo, +03) E, pre, + Dl + ato) Data: = 0.15528 Ib-s*/ft, b= 6in. = @ = S0rad/s, 6 =0, = @, = 12 rad/s, = a, = Brad/s* @ Mg = (0.15528)| 4ay “Cy + ay is) Mp = (0.423 Ib-A)k 43) *\2) “Ae © P= aye “Gaje- (3\}"] | o mal sF one (aslo) >» D = ~(5.43 Ib)i + (7.25 Ib)j-< otto ()0- (Gb) 0» [Glee kde] E = ~(5.43 Ib)i ~ (1.035 Ib) j-4 =-1035b 4 PROBLEM 18.103 It is assumed that at the instant shown the disk of Prob. 18.95 has an angular, velocity @, = (12 rad/s)k, which is decreasing at the rate of 4 rad/s? due to friction in the bearing at A. Recalling that arm OA rotates with a constant angular velocity @, = (4 rad/s) j, determine the force- couple system representing the dynamic reaction at the support at O. SOLUTION Angular velocity of arm 04: Q=a,j Angular velocity of disk 4: o=aj+ok Angular momentum about its mass center A: H, = Lo, +T,o,i+ To, = Ta,j+ Tok = fenrtoni + font Let the reference Oxyz be rotating with angular velocity Q = aj. Velocity of point A: V4 = On) X typ = 04 x (bi - ci) = ~bonk ‘Acceleration of point A: 84 = O4X tyq +O) V4 = —bodi — bd 4 r+ Consider the system of particles consisting of the arm Od and disk A. Neglect the mass of the arm, IF = may Rit Rk = -mboli - mba.k PROBLEM 18.103 CONTINUED Ry = bay R, = -mbo, EMg = Hy = Ay + typ X may (20), + (Mo), 5+ (Ho), =m to ~ ba, vm Le? 20 ond mn oy ~ boot) Data: m=4kg, r=0.1m, b=032m, e=02m @=l2rdls, 6 =-4rad/s, a, =4radls, od, = 0 Then, R, = ~(4)(0.32)(4) =-2048N, R= 0 R=-(205N)i4 (04), = (4[(Serraren]=ose0rm (40), «0 (Mo), = [Gores -(032)(02)(4'| = -4.176N-m Mo = (0.960 N-m)i - (4.18N-m)k PROBLEM 18.104 Tt is assumed that at the instant shown shaft DCE of Prob. 18.96 has an angular velocity @,=(8rad/s)i and an angular acceleration a, =(6 ae Recalling that the disk rotates with a constant angular velocity @, = (16 rad/s)j, determine (a) the couple that must be applied to shaft DCE to produce the given angular acceleration, (6) the corresponding dynamic reactions at D and E. SOLUTION Angular velocity of shaft DE and arm CBA: Q=ai Angular velocity of disk. o=0i+aj ‘Angular velocity about its mass center 4: H, = Toi +T,o,j+ Tok = Tos + Tai = tonto, + Grete Let the reference frame Oxyz be rotating with angular velocity Q = ai. Hy, =(H,),,, + 9xH, = Lr + Sri + kx Hy 7 tanto + Fret + Frmrtoyok Velocity of point A: V4 = Gi X Ryo = Oi x(-bk + cj) = ba, + cok Acceleration of point 4: 8g = yh X Fy + OX V4 a4 = (be, — 003) i+ (cidy + ba>,)k se Consider the system of particles consisting of the shaft, the arm, and the disk. Neglect the mass of the arm, EF = ma, D,j+ Dk + Ej + Ek ma, PROBLEM ‘18.104 CONTINUED Resolve into components, D, +E, = m(ba, ~ co}) D, +E, = m(cd, + bai) EMp = Hy =H, + rypx may (Mo)i + 2i x (E,)+ Ek) =H, + (01+ cj - bk) x ma, (Mo)i - 2E,j + 218, = n(te +84 2) n( S76 ~ Ieéy tbe} an(drao, + Id, ~eo3 is Mo =r +O ej ki: By = 2 (doe, + Ibi, ~ tea), Dy= ($200, + Iba, ~ to) te me 12. 7 1. k E,= B (tea, + bay -}ra), D, = Eto + Ibad +4ra) Data: m=3kg, r=02m, b=c=022%5m, 1=03m =l6rad/s, = =0, w,=8radls, dy = 6 rad/s? @ Mo= ef 102) + (0.225) + (022576) Mo = (2.00N-m)i4 @) Dy= HOA [-2o2" 0a) + (0.3)(0.225)(6) - (03)(0225)6)| =-324N aC) {[(03)(0.225)(6) + (0.3)(0.225)(8)* + o]=236N D = ~(324.N)j+(23.6N)k-4 gz, wy [$102)'asy) + (0.3)(0.225)(6) - (oayoaasy(] = ~6.18N * B03) [(03)(0.225)(6) +(0.3)(0.225)(8)" + o| = 23.6N E = ~(6.78N)j+(23.6N)k 4 PROBLEM 18.105 A uniform thin disk of 150-mm diameter is attached to the end of a rod AB of negligible mass which is supported by a ball-and-socket joint at point 4. Knowing that the disk is observed to precess about the vertical axis AC at the constant rate of 36 rpm in the sense indicated and that its axis of symmetry AB forms an angle # = 60° with AC, determine the rate at which the disk spins about the axis AB. SOLUTION Use principal axes x,y, z with origin at 4, mm & Tek Y Angular velocity: = Gsin fi +(y — pcos B)k 6 is : N, @,=osinB, 0, =0, 0, = 7 ~ Gcosh KO “2 SO Angular momentum about A: ~ “ > Hy = Lod +1,0,) + ok = I'sin fi + I(y ~ pcos) Let the reference frame Axy7 be rotating with angular velocity Ao Q = gsin fi - pcos fk. A | H,=Qx«H, ee . oA ; | NN = -o[fysin B +(1' - 1) psin Boos fj SS =M,= Hy, | sink -mgesin Bj = -G[IWsin B + (I - 1) sin Bos A ]j “gq ge = Igy + (I~ 1)¢*c0s 8 Low U'- NoFeosB | my mge mge Data: r=75mm=0075m, —¢ = 600mm = 0.6m, = 9.81 ms? PROBLEM 18.105 CONTINUED ZnSe? = 10.075) = 2.8125 «10° mt Lala 1242 =1 (0075) y= 2 T= Gt tot = (0075) + (0.6)? = 0.361406 mi B= 60, > =361pm = 3.7699 rad/s Substituting into (1), (2.8125 x107)(3.7699) 7 7 (0:35859)(3.7699)'cos60” _ a (9.81)(0.6) (9.81)(0.6) 7 1.80137 x 107 y + 0.43292 = 3148 rad/s ¥ = 3010 rpm-€ PROBLEM 18.106 ‘A uniform thin disk of 150-mm diameter is attached to the end of a rod ‘AB of negligible mass which is supported by a ball-and-socket joint at point 4. Knowing that the disk is spinning about its axis of symmetry AB at the rate of 2100 rpm in the sense indicated and that 4B forms an angle ‘B = 45° with the vertical axis AC, determine the two possible rates of steady precession of the disk about the axis AC. ‘Use principal axes x, y, z with origin at 4. Angular velocity: @ = psin fi + (y - Geos A) 0, =$sinB, 9, 0, =~ Goosp Angular momentum about 4: Hy = 10,4 + 1,0,)+ 1,0,k = I'gsin fi + I(y ~ Geos B)k Let the reference frame Axyz be rotating with angular velocity Q = psin fi - Geos fk. Ht, =OxH, ~o[Iyssin f + (I - 1) sin feos Bi =M, Hy ~mgesin Bj = ~p[IWsin B +(I' - 1) psin Boos Bi ge = Igy + (I' -1)¢* cos B Tow , (UJ) eos 8 mge mge gC ay Data: r=75mm=0.075m, ¢ = 600mm = 0.6m, g=98imis? PROBLEM 18,107 CONTINUED 2 4 = 0.044444 Ibs? 1.2, m5 3 ci 28 + = 0.044444 + (1.0)? = 1.044444 Ibs? m B=28%, = 50mpm = 5.2360 rad/s Substituting into (1), (0.044444) (5.2360) (1.000)(5.2360)'cos25° Gayo) (32.2)(1.0) 7.2210 x10 y +0.77165-1 = 0 yr = 31.597 rad/s w= 302—pm4 PROBLEM 18.108 ‘Acsolid aluminum sphere of radius 4 in, is welded to the end of an 8-in~ long rod AB of negligible weight which is supported by a ball-and-socket joint at 4. Knowing that the sphere spins as shown about line AB at the Tate of 800 rpm, determine the angle # for which the sphere will precess about the vertical axis at the constant rate of 50 rpm in the sense indicated. SOLUTION Use principal axes x, y, z with origin at 4. Angular velocity: @ = gsin fi + (y— pcos B)k @, = 9sinp, ®, @, =~ Gos Angular momentum about 4: d+ 1,o,)+ 10k = I'psin fit I(y - Geos )k Let the reference frame xyz be rotating with angular velocity Q = psin fi ~ Geos fk. A, , Ay . WH, =2xH, = -o[IWsin p + (I - 1) sin Boos B}i =M, =H, ~mgesin fj = -p[ sin B + (I! - 1)psin Boos A} mge = Ipy +(I'-1)@? cos B Lec sinpal Joy (-1)e e058 | 4 ® mee mge Data: ¢=8in+4in, = 12in. =10f g = 32.2 fs? PROBLEM 18.108 CONTINUED 222 2(1y os 3 -H(4) 0.044444 Ib-s*-ft Fa 2 42 < [Link] + (1.0)? = 104444 ths? W = 8001pm = 83.776 rad/s = 50 rpm = 5.2360 rad/s ‘Substituting into (1), : (0.048444)(5.2360)(83.796) | (1.000)(52360)' cos _ 1=0 (32.2)(1-0) (32.2)(1.0) ~ 0.60545 + 0.85142c0s 8 -1=0 cos f = 0.46340 B= 6244 PROBLEM 18.109 ‘The 3-oz top shown is supported at the fixed point O. The radii of gyration of the top with respect to its axis of symmetry and with respect, to a transverse axis through O are 1.05 in. and 2.25 in, respectively. Knowing that c = 1.875 in, and that the rate of spin of the top about its, axis of symmetry is 1800 rpm, determine the two possible rates of steady precession corresponding to@ = 30°, SOLUTION Use principal axes x, y, z with origin at O. Angular velocity: = psindi + (y+ $00s8)k @, =0, y+ poosO Angular momentum about O: Hy = 1,0,1+1,0,)+ Lok = IpsinOi + lak Let the reference frame Oxyz be rotating with angular velocity Q = gsindi + Poos Ok. DW Hy =QxHo = (gsinOi + Geos Ok) x (I'psind + Ja,k) = (J'Gsind cos0 - Jo, sind) 6} EMo = Ho R =o! -Wesin9j = (I'sin8 cos6 - Jw, sin8)j ee We = (a, - I'pc0s0) We = [Iv -(I'-1pcoso]}p @ Data: We 2 Ib = 0.1875 Ib 16 0.1875 7 = 5.823% 10° Ib-s?-ft PROBLEM 18.109 CONTINUED 2 T= mid = (5.823 (42) = 44,582 «10° Ib-s?- 2.25) I = mK? = (5.823 x 10°)(238) = 204.715 x 10 Ib-s?-& ¢ = 1.875 in. = 0.15625 R, yy = 1800 rpm = 188.496 rad/s, 8 = 30°, Substituting into (1), (0.1875)(0.15625) = [(44.s82 x 10°*)(188.496) (160.133 x 10°) pc0s30°] 6 138.679 x 10g? — 8.4035 x 109 + 29.297 x10? = 0 @ = 30.298 426584 p= 714 rad/s, 56.882 rad/s @ = 35.6 rpm, 543 rpm PROBLEM 18.110 ‘The top shown is supported at the fixed point O and its moments of inertia about its axis of symmetry and about a transverse axis through O are denoted, respectively, by I and I’. (a) Show that the condition for steady precession of the top is (to, - T}oose)$ = We where is the rate of precession and a, is the rectangular component of the angular velocity along the axis of symmetry of the top. (b) Show that if the rate of spin y of the top is very large compared with its rate of precession , the condition for steady precession is yp = We. (©) Determine the percentage error introduced when this last relation is used to approximate the slower of the two rates of precession obtained for the top of Prob. 18.109. SOLUTION Use principal axes x, y, 2 with origin at O. Angular velocit @ = psindi +(y + poos)k ©, = sind, 0, a, =~ + Ge0s0 Angular momentum about O: Hy = 1,0,1+ 1,5 + 1,0) Let the reference frame Oxyz be rotating with angular velocity psin Bi + eosOk, sind + Tok Hy = 2xHo = (sini + pcosOk) x (I’@sind + Ta,k) = (I'$sin 8 cos@ - La, sind) G5 Mg = Hy -Wesindj = (I'@sind cosd - Iw, sin9)j (@ We = (Iw, - I'pcosd)o 4 We = [Iv -(I' - Necose]e a (For l« 1. ll> ay ® tany = tind or tan = Leany > Stony Angle of surface of space cone is 7 ~ @. Angle of axis is 0. 1 _ 1 tand + tan(y ~ 6} tand > >tan[o + (y ~9)]= 21+ wndian(y =0) [1+ tandtan(y -6)]1on9 > Stand + Ztan(y ~0) PROBLEM 18.120 CONTINUED tend + tan?Otan(y ~ 0) > Zand + Ltan(y - 0) }uano > Htan(y ~ 6) ~ tan? 6tan(y ~ 8) rand > Ltan(y - 0) tand > tan(y - 0) 9>(r-9) ‘The axis lies outside the space cone. PROBLEM 18.121 Using the relation given in Prob, 18.119, determine the period of precession of the north pole of the earth about the axis of symmetry of the earth. The earth may be approximated by an oblate spheroid of axial moment of inertia J and of transverse moment of inertia I’ = 0.99671. (Note, Actual observations show a period of precession of the north pole of about 432.5 mean solar days; the difference between the observed and computed periods is due to the fact thatthe earth is not a perfectly rigid body. The free precession considered here should not be confused with the much slower precession of the equinoxes, which is a forced L precession. See Prob. 18.116.) SOLUTION Angular velocity of the body: @ = ~psindi + (pc0s8 + ¥)k Let the reference frame Gxyz be rotating with angular velocity ©, where 2 = ~psindi + poosdj Angular acceleration of the body: ane oon +2XO ‘The rate of change of angular velocity as observed from the body is —a Assume that ~ar may be represented as the angular velocity vector rotating with angular velocity T+ mj + nk. = (fi + mj + nk) x (0,1 + @,k) = -ma,i + (na, - a,j) - mo,k Matching components: i: O=mo, m=0 i: -$ysind = no, -lo, @ k: 0=-mo, m=0 From Equation (1), ~p/sind = -npsind — I(pc0s8 + y) from which 120 and ony. Using Equation (18.44) with IM, =0 yields Ia, - pcos = 0 la, seoso = 1s or poos: T But, =H + p00s0 = y+ ie Solving for y,

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