MEE 241

Chapter 18
Solving session

Pascale El Ters
1
Problem 1
Problem: The 12-kg slender rod is attached to a spring, which has an
un-stretched length of 2 m. If the rod is released from rest when θ =
30°, determine its angular velocity at the instant θ= 90°.

2
Problem 1
Solution:
Kinetic energy
At position 1, the rod is released at rest than 𝑇! = 0

At position 2,
1
𝑇" = 𝐼# 𝜔"
2

The mass moment of inertia of the rod about A is

1
𝐼# = ×12×2" + 12×1"
12
𝐼# = 16𝑘𝑔. 𝑚"

1
𝑇" = ×16×𝜔" = 8𝜔"
2
3
Problem 1
Solution:

Potential Energy

At position 1:
𝑉$! = 𝑚𝑔 −𝑦!
𝑉$! = 12×9.81× −1 ×𝑠𝑖𝑛30
𝑉$! = −58.86𝐽

At position 2:
𝑉$" = 𝑚𝑔 −𝑦"
𝑉$" = 12×9.81× −1
𝑉$" = −117.72J
Problem 1
Solution:
Elastic potential energy

At position 1
1
𝑉!" = 𝑘𝑥"# 15°
2
Or 𝑥" = 2×2 cos 15 − 2 = 1.86𝑚
1
𝑉!" = ×40×1.86#
2
𝑉!" =69.2J
Position 1: 𝜃 = 30°
At position 2 Position 2: 𝜃 = 90°
1
𝑉!# = 𝑘𝑥##
2

Or 𝑥# = 2# + 2# − 2 = 0.8284𝑚

1
𝑉!# = ×40×0.8284#
2
𝑉!# =13.73J
Problem 1
Solution:

Conservation of energy

𝑇! + 𝑉! = 𝑇" + 𝑉"

0 − 58.86 + 69.2 = 8𝜔" −117.72 + 13.73

𝜔 = 3.78𝑟𝑎𝑑/𝑠
Problem 2
Problem: The 50 kg wheel is subjected to a force of 50 N. The radius of
gyration of the wheel about its mass center O is kO = 0.3 m. Determine
the angular velocity of the wheel after it has rotated 10 revolutions.
The wheel starts from rest and rolls without slipping.

7
Problem 2
Solution:

Free body diagram of the wheel:

Since the wheel rolls without slipping on a horizontal surface, only the
force P’s horizontal component does work.
Problem 2
Solution:
Work:
U1-2 = ò F • dr = ò (P cos 30) ds.
U1-2 = (50 cos 30) 10(2p )(0.4) = 1088 (N·m)
Note that 𝑠 = 𝑟𝜃 𝑎𝑛𝑑 1𝑟𝑒𝑣 = 2𝜋 (𝑟𝑎𝑑)
Kinematic relation: vO = r w = 0.4 w (m/s)
Kinetic energy:
T1 = 0
T2 = 0.5 m (vO)2 + 0.5 IO w2
= 0.5(50) (0.4 w)2 + 0.5 (50) (0.3)2 w2
T2 = 6.25 w2
Work and energy: T1 + U1-2 = T2
0 + 1088 = 6.25 w2
w = 13.2 rad/s
Problem 3
Problem: The 700-kg pipe is equally suspended from the two tines of the
fork lift shown in the photo. It is undergoing a swinging motion such that
when q = 30° it is momentarily at rest. Determine the normal and
frictional forces acting on each tine which are needed to support the
pipe at the instant q = 0°. Measurements of the pipe and the suspender
are shown in the below figure. Neglect the mass of the suspender and
the thickness of the pipe.

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Problem 3
Solution:
We must use the equations of motion to find the forces on the tines
since these forces do no work. Before doing this, however, we will
apply the principle of work and energy to determine the angular
velocity of the pipe when q = 0°.
Kinetic Energy Since the pipe is originally at rest, then T1 = 0
The final kinetic energy may be computed with reference to either the
fixed point O or the center of mass G. For the calculation we will
consider the pipe to be a thin ring so that 𝐼< = 𝑚𝑟 ". If point G is
considered, we have:
1 1
𝑇" = 𝑚𝑣< + 𝐼< 𝜔""
"
2 2
1 " 1
𝑇" = 700 0.4𝜔" + 700 0.15 " 𝜔"" ⇒ 𝑇" = 63.875𝜔""
2 2
Problem 3
Solution:
Work (Free-Body Diagram). The normal and frictional forces on the
tines do no work since they do not move as the pipe swings. The
weight does positive work since the weight moves downward through
a vertical distance ∆𝑦 = 0.4 − 0.4𝑐𝑜𝑠30 = 0.05359𝑚
Principle of Work and Energy
𝑇! + L 𝑈!=" = 𝑇"

0 + 700 9.81 0.05359 = 63.875𝜔""

𝜔" = 2.4𝑟𝑎𝑑/𝑠
Problem 3
Solution:
Equations of Motion. Referring to the free-body and kinetic diagrams
shown in the figure, and using the result for 𝜔2, we have

← L 𝐹> = 𝑚𝑎<> ⇒ 𝐹> = 700𝑎<>

↑ L 𝐹? = 𝑚𝑎<? ⇒ 𝑁@ − 700 9.81 = 700 2.4 " 0.4

L 𝑀A = 𝐼A 𝛼 ⇒ 0 = 𝐼A 𝛼 ⇒ 𝛼 = 0𝑟𝑎𝑑/𝑠 "

𝑎<> = 0.4𝛼 ⇒ 𝑎<> = 0𝑚/𝑠 "

𝐹> = 0𝑁 𝑎𝑛𝑑 𝑁> = 8.48𝑁
There are two tines used to support the load, therefore 𝐹>B = 0𝑁
𝑎𝑛𝑑 𝑁>B = 4.24𝑁
Problem 4
Problem: The wheel shown in the figure has a weight of 30 lb and a
radius of gyration of kG = 0.6 ft. It is attached to a spring which has a
stiffness k = 2 lb/ft and an un-stretched length of 1 ft. If the disk is
released from rest in the position shown and rolls without slipping,
determine its angular velocity at the instant G moves 3 ft to the left.

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Problem 4
Solution:
Potential Energy. Two diagrams of the wheel, when it is at the initial
and final positions, are shown in the figure. A gravitational datum is
not needed here since the weight is not displaced vertically. From the
problem geometry the spring is stretched 𝑠! = 3" + 4" − 1 = 4ft in
the initial position, and spring 𝑠" = 4 − 1 = 3ft in the final position.
Hence, the positive spring potential energy is:
1 " 1
𝑉! = 𝑘𝑠! = 2 4 " = 16𝑓𝑡. 𝑙𝑏
2 2
1 " 1
𝑉" = 𝑘𝑠" = 2 3 " = 9𝑓𝑡. 𝑙𝑏
2 2
Problem 4
Solution:
Kinetic Energy. The disk is released from rest and so (vG)1 = 0,
𝜔! = 0. Therefore, T1 = 0
Since the instantaneous center of zero velocity is at the ground, we have:
1
𝑇" = 𝐼CD 𝜔"" ⇒
2
1 30 30
𝑇" = 0.6 + 0.75" 𝜔"" = 0.4297𝜔""
"
2 32 32
Conservation of Energy
𝑇! + 𝑉! = 𝑇" + 𝑉"
0 + 16 = 0.4297𝜔"" + 9
𝜔" = 4.04𝑟𝑎𝑑/𝑠
Problem 5
Problem: The 10–kg rod shown in the figure is constrained so that its
ends move along the grooved slots. The rod is initially at rest when q=
0. If the slider block at B is acted upon by a horizontal force P = 50 N,
determine the angular velocity of the rod at the instant q = 45. Neglect
friction and the mass of blocks A and B.

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Problem 5
Solution:

Kinetic Energy Two kinematic diagrams of the rod, when it is in the initial
position 1 and final position 2, are shown in the figure. When the rod is in
position 1, T1 = 0 since (vG)1 = V1 = 0. In position 2 the angular velocity is V2
and the velocity of the mass center is (vG)2 . Hence, the kinetic energy is
!" !
𝑇" = 𝑚𝑣<" + 𝐼< 𝜔""
" "

1 " 1 1
𝑇" = (10)𝑣<" + [ 10 0.8 "]𝜔""
2 2 12

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Problem 5
Solution:
"
𝑇" = 5𝑣<" + 0.2667𝜔""

The two unknowns (vG)2 and v2 can be related from the instantaneous
center of zero velocity for the rod. It is seen that as A moves downward
with a velocity (vA)2 , B moves horizontally to the left with a velocity
(vB)2 , Knowing these directions, the IC is located as shown in the figure.
Hence, 𝒗<! = 𝑟</CD 𝜔" = 0.4𝜔"

Substituting into the above expression and simplifying , we get :

𝑇" = 1.0667𝜔""

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Problem 5
Solution:
Work (Free–Body Diagram). The normal forces NAand NB do no work
as the rod is displaced. The 98.1N weight is displaced a vertical
distance of 𝑦 = 0.4 − 0.4𝑐𝑜𝑠45 = 0.117𝑚; whereas the 50-N force
moves a horizontal distance of 𝑠 = 0.8𝑠𝑖𝑛45 = 0.566𝑚.
Both of these forces do positive work.
Principle of Work and Energy.
𝑇! + L 𝑈!=" = 𝑇"

0 + 98.1×0.117 + 50×0.566 = 1.0667𝜔""

𝜔" = 6.11𝑟𝑎𝑑/𝑠

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