ME3115/TME2115 -

Mechanics of Machines

Tutorial 1 (solutions)
D r. S H E N L e i ( Pa r t I )
Email: shenlei@[Link]
Te l : 6 6 0 1 3 8 1 3 ; O f f i c e : EA - 0 5 - 0 9

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 Formula slide
Motion of a Particle Special Cases :
dx = v dt (1) If v is constant (uniform rectilinear motion, a = 0)
x = x + v(t − t ) ( 4)
dv = a dt ( 2) o o

If a is constant (uniformly accelerated)

v dv = a dx (3)
(i ) v = v + a(t − t )
o
(5)
o

1
(ii ) x = x + v (t − t ) + a (t − t ) ( 6)
2

2
o o o o

(iii ) v − v = 2a( x − x )
2 2
o o
(7 )
r = x(t )i + y (t ) j
dr Relative motion of two particles
Rectangular v= = x (t )i + y (t ) j
dt Relative velocity/acceleration of B
d r 2

with respect to A
a= = x(t )i + y(t ) j
dt 2

v = v et v B/ A
=v −v B A
(8)
Tangential & normal dv v2 a =a −a (9)
a = et + e n B/ A B A

dt ρ
2
 Reactions at supports and connections

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 Q1 (Free-body diagram)
(a) A fixed crane has a mass of 1000 kg and is used to lift a 2400-
kg crate. It is held in place by a pin at A and a rocker at B. The
center of gravity of the crane is located at G. Draw the F.B.D of
the crane.

(b)
A 6-m telephone pole weighing 1600-N is used to support the
ends of two wires. The wires form the angles shown with the
horizontal and the tensions in the wires are, respectively, T1=600N
and T2=375N. Draw F.B.D of the pole.

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 Q1 (solution)
Identify:
In Fig. a, there are two supports, In Fig. b, it is a two-dimensional
pin at A and rocker at B. The structure because there is no any
weight of crate and self-weight force pointing in/out the slide!
are non-constrained forces.

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 Q2 (Dependent motion)

Slider block B moves to the right with a constant velocity of 300 mm/s.
Determine:
1) the velocity of slider block A,
2) the velocity of portion C of the cable,
3) the velocity of portion D of the cable,
4) the relative velocity of portion C of the cable with respect to slider block A.

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 Q2 (solution)
Set datum here

The cable is divided into 3 portions by

C and D as shown, which are keeping
constant during the motion.
𝐿𝐿𝐿𝐿𝐿𝐿𝐿𝐿𝐿𝐿𝐿 𝑜𝑜𝑜𝑜 𝑤𝑤𝑤𝑤𝑤𝑤𝑤𝑤𝑤 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑖𝑖𝑖𝑖 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐: xS=const.
𝐿𝐿 = 𝑥𝑥𝐵𝐵 + 𝑥𝑥𝐵𝐵 − 𝑥𝑥𝐴𝐴 + 2(𝑥𝑥𝑆𝑆 − 𝑥𝑥𝐴𝐴 )

Orange portion
𝑥𝑥𝑆𝑆 − 𝑥𝑥𝐷𝐷 + 𝑥𝑥𝑆𝑆 − 𝑥𝑥𝐴𝐴 = 𝐶𝐶

Blue portion

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Q2 (solution Cont’d)

green portion

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Q3 (Projectile motion)
A baseball pitching machine “throws” baseballs with a constant
horizontal velocity 𝑣𝑣0 . Knowing that height h varies between 788 mm
and 1068 mm, determine (a) the range of values of 𝑣𝑣0 , (b) the values
of 𝛼𝛼 corresponding to h = 788 mm and h = 1068 mm.

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 Q3 (solution)
Identify:
This is a planar projectile motion of a particle. The trajectory can be resolved into
two rectilinear motions along the x (horizontal) and y (vertical) direction shown
below.
The horizontal and vertical motions are dependent, which experience the same time.
y
A 𝑣𝑣0

B
1.5 m

𝛼𝛼
h
𝑣𝑣𝐵𝐵
x
O 12.2 m

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 Q3 (solution)
Set-up:
The horizontal motion is uniform with a constant speed;
The vertical motion is uniformly accelerated with a constant acceleration.

Special Cases :
If v is constant (uniform rectilinear motion, a = 0)
x = x + v(t − t )
o o
( 4)
If a is constant (uniformly accelerated)
(i ) v = v + a(t − t )
o o
(5)
1
(ii ) x = x + v (t − t ) + a (t − t ) ( 6)
2

2
o o o o

(iii ) v − v = 2a( x − x )
2 2
o o
(7 )

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 Q3 (solution)
Execute:
(a) Vertical rectilinear motion

Given initial conditions:

𝑦𝑦0 = 1.5 𝑚𝑚, (𝑣𝑣𝑦𝑦 )0 = 0
𝑎𝑎 = −𝑔𝑔 𝑚𝑚/𝑠𝑠 2

From Eq.6, where x=y, a=-g,

1 2 2(𝑦𝑦0 − 𝑦𝑦)
𝑦𝑦 = 𝑦𝑦0 + (𝑣𝑣𝑦𝑦 )0 𝑡𝑡 − 𝑔𝑔 𝑡𝑡 𝑜𝑜𝑜𝑜 𝑡𝑡 =
2 𝑔𝑔

At point B, When h = 0.788 m, 𝑡𝑡𝐵𝐵 = 0.381 𝑠𝑠

2(𝑦𝑦0 − ℎ)
𝑦𝑦 = ℎ 𝑜𝑜𝑜𝑜 𝑡𝑡𝐵𝐵 =
𝑔𝑔
When h = 1.068 m, 𝑡𝑡𝐵𝐵 = 0.297 𝑠𝑠
Note that the horizontal motion experiences the same time 𝑡𝑡𝐵𝐵 .
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 Q3 (solution)

Horizontal rectilinear motion

Given initial conditions:

𝑥𝑥0 = 0 𝑚𝑚, (𝑣𝑣𝑥𝑥 )0 = 𝑣𝑣0

From Eq.4, 𝑥𝑥 𝑥𝑥𝐵𝐵

𝑥𝑥 = 𝑣𝑣0 𝑡𝑡 𝑜𝑜𝑜𝑜 𝑣𝑣0 = =
𝑡𝑡 𝑡𝑡𝐵𝐵
With 𝑥𝑥𝐵𝐵 = 12.2 𝑚𝑚,
12.2
𝑡𝑡𝐵𝐵 = 0.381 𝑠𝑠, we get 𝑣𝑣0 =
0.381
= 32.0 𝑚𝑚/𝑠𝑠,

12.2
𝑡𝑡𝐵𝐵 = 0.297 𝑠𝑠, 𝑣𝑣0 = = 41.1 𝑚𝑚/𝑠𝑠
0.297

𝑇𝑇𝑇𝑇𝑇𝑇𝑇, 32.0 𝑚𝑚/𝑠𝑠 ≤ 𝑣𝑣0 ≤ 41.1 𝑚𝑚/𝑠𝑠

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 Q3 (solution)

(b) Vertical motion

From Eq.5,
𝑣𝑣𝑦𝑦 = (𝑣𝑣𝑦𝑦 )0 − 𝑔𝑔𝑔𝑔 = −𝑔𝑔𝑔𝑔

Horizontal motion
𝑣𝑣𝑥𝑥 = 𝑣𝑣0

At point B:
(𝑣𝑣𝐵𝐵 )𝑦𝑦 = −𝑔𝑔𝑡𝑡𝐵𝐵 , (𝑣𝑣𝐵𝐵 )𝑥𝑥 = 𝑣𝑣0
(𝑣𝑣𝐵𝐵 )𝑦𝑦 −𝑔𝑔𝑡𝑡𝐵𝐵
tan 𝛼𝛼 = = 𝑡𝑡𝐵𝐵 = 0.381 𝑠𝑠, we get tan 𝛼𝛼 = 0.11673, 𝛼𝛼 = 6.66° ,
(𝑣𝑣𝐵𝐵 )𝑥𝑥 𝑣𝑣0
𝑡𝑡𝐵𝐵 = 0.297 𝑠𝑠, tan 𝛼𝛼 = 0.07082, 𝛼𝛼 = 4.05° .

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 Q3 (solution)
Evaluate:
If the origin is set on A and y is vertically downwards as shown below, the initial
conditions change to
𝑦𝑦0 = 0 𝑚𝑚, (𝑣𝑣𝑦𝑦 )0 = 0, 𝑎𝑎 = +𝑔𝑔 𝑚𝑚/𝑠𝑠 2

O 12.2 m
x
A 𝑣𝑣0
B
1.5 m

𝛼𝛼
h
𝑣𝑣𝐵𝐵

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 Q4 (Circular motion)
A race car C travels around the horizontal track that has a radius of 100
m as shown in the figure below. If the car increases its speed at a
constant rate of 2 m/s2, starting from rest, determine the time needed for
it to reach acceleration of 2.3 m/s2. What is the speed at this instant?

Identify:
This is a circular motion of a particle with a constant radius. The velocity is always in
tangent, while the acceleration has two components in tangent and normal.
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 Q4 (Solution)
C
Set-up & execute: v
at an
en
et a
The magnitude of acceleration a = a + a
2 2

t n

a = 2 m/s (given)
t
2

v 2

a = , ρ = r = 100 m The time needed for the acceleration to reach 2.3 m / s 2

n
ρ
is therefore
v = v + (a ) t
0 t C

a= a +a
2 2

= 0 + 2t t n

 (2t ) 
2
(2t ) v 2 2 2

Thus a = = 2.3 = 2 +  2

ρ 100  100 
n

Solving [(2.3) 2
− 2 ]100 = 4t
2 2

t = 5.33 s The speed at t = 5.33 s

Evaluate: v = 2t = 10.66 m / s
When the speed reaches 55 m/s, the magnitude of the acceleration is
more than 3G which may cause some drivers to possibly pass out.
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The end

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