MEL1010 Engineering Mechanics
Tutorial 10 Dynamics using Work-Energy, Impulse-Momentum Approach and
Rigid body Dynamics in 3 Dimensions
30 Marks
Answer all of the following questions. Mention valid assumptions wherever applicable
1 The upper edge of the thin homogeneous plate of
mass m is parabolic with a vertical slope at the origin
O. Determine its mass moments of inertia about the x-
, y-, and z-axes.
1 3 ℎ2 3𝑏 2
Ans. 𝐼𝑥𝑥 = 5 𝑚ℎ2 , 𝐼𝑦𝑦 = 7 𝑚𝑏 2 , 𝐼𝑧𝑧 = 𝑚( 5 + )
7
2 The uniform rectangular plate has a mass of 300 kg
and is supported in the vertical plane by the two
parallel links of negligible mass and by the cable 𝐴𝐶.
If the cable suddenly breaks, determine the angular
velocity 𝜔 of the links an instant before the plate
strikes the horizontal surface 𝐸. Also find the force in
member 𝐷𝐶 at the same instant.
(Use Work Energy Method)
rad
Ans. 𝜔 = 3 , 𝐹𝐷𝐶 = 1472N
s
3 For the assembly shown, arm 𝑂𝐴 has a mass of 0.8 𝑘𝑔
and a radius of gyration about 𝑂 of 140 𝑚𝑚. Gear 𝐵
has a mass of 0.9 𝑘𝑔 and may be treated as a solid
circular disk. Gear 𝐶 is fixed in the vertical plane and
cannot rotate. If a constant moment 𝑀 = 4 𝑁. 𝑚 is
applied to arm 𝑂𝐴, initially at rest in the horizontal
position shown, calculate the velocity 𝑣 of point 𝐴 as
it reaches the top at 𝐴′.
(Use Work Energy Method)
Ans. 𝑣 = 1.976 m/s
4 Two small variable-thrust jets are actuated to keep
the spacecraft angular velocity about the 𝑧-axis
constant at 𝜔0 = 1.25 𝑟𝑎𝑑/𝑠 as the two tele- scoping
booms are extended from 𝑟1 = 1.2 𝑚 to 𝑟2 = 4.5 𝑚 at
a constant rate over a 2-min period. Determine the
necessary thrust 𝑇 for each jet as a function of time
where 𝑡 = 0 is the time when the telescoping action
is begun. The small 10 𝑘𝑔 experiment modules at the
ends of the booms may be treated as particles, and the
mass of the rigid booms is negligible.
(Use Impulse Momentum Method)
Ans. 𝑇 = 0.750 + 0.01719𝑡
5 Determine the minimum velocity 𝑣 which the wheel
must have to just roll over the obstruction. The
centroidal radius of gyration of the wheel is 𝑘, and it
is assumed that the wheel does not slip.
(Use Impulse Momentum Method)
𝑟
Ans. 𝑣 = 𝑘 2 +𝑟 2−𝑟ℎ √(2𝑔ℎ(𝑘 2 + 𝑟 2 ))
6 The three bars are free to rotate about the fixed
horizontal 𝑥-axis at 𝑂. Each of the bars 𝐴 has a mass
of 20 𝑘𝑔, a radius of gyration about the 𝑥-axis of
300 𝑚𝑚, and a mass center at 𝐺1 =. The 8 𝑘𝑔 bar 𝐵,
with a radius of gyration about the same axis of
220 𝑚𝑚 and a mass center at 𝐺2 , is released from rest
in the horizontal (𝑦-axis) position and becomes
attached to bars 𝐴 by a latch at 𝐶 at the bottom of its
swing. Calculate the angle 𝜃 through which the three
bars rotate as a unit and find the loss |∆𝐸| of energy
due to the impact.
(Use Impulse Momentum Method)
Ans. 𝜃 = 8.97°, |∆𝐸| = 12.75 J
7 The circular disk of 120 𝑚𝑚 radius rotates about the
𝑧-axis at the constant rate 𝜔𝑧 = 20 𝑟𝑎𝑑/𝑠, and the
entire assembly rotates about the fixed 𝑥-axis at the
constant rate 𝜔𝑥 = 10 𝑟𝑎𝑑/𝑠. Calculate the
magnitudes of the velocity v and acceleration a of
point 𝐵 for the instant when 𝜃 = 30°.
Ans. 𝑣 = 3.95 m/s, 𝑎 = 72.2 m/s2
8 An unmanned radar-radio controlled aircraft with
tilt-rotor propulsion is being designed for
reconnaissance purposes. Vertical rise begins with
𝜃 = 0 and is followed by horizontal flight as 𝜃
approaches 90°. If the rotors turn at a constant speed
𝑁 of 360 𝑟𝑒𝑣/𝑚𝑖𝑛, determine the angular
acceleration 𝛼 of rotor 𝐴 for 𝜃 = 30° if 𝜃̇ is constant
at 0.2 𝑟𝑎𝑑/𝑠.
Ans: 𝜶𝑥 = −1.2𝜋(√3 𝒊 + 𝒌) rad/s 2
9 The gyro rotor is spinning at the constant rate 𝑝 =
100 𝑟𝑒𝑣/𝑚𝑖𝑛 relative to the 𝑥-𝑦-𝑧 axes in the
direction indicated. If the angle 𝛾 between the gimbal
ring and horizontal 𝑋-𝑌 plane is made to increase at
the rate of 4 𝑟𝑎𝑑/𝑠𝑒𝑐 and if the unit is forced to
precess about the vertical at the constant rate 𝑁 =
20 𝑟𝑒𝑣/𝑚𝑖𝑛, calculate the angular momentum 𝑯𝒐 of
the rotor when 𝛾 = 30°. The axial and transverse
moments of inertia are 𝐼𝑧𝑧 = 5 (10−3 ) 𝑙𝑏-𝑓𝑡-𝑠𝑒𝑐2 and
𝐼𝑥𝑥 = 𝐼𝑦𝑦 = 2.5 (10−3 ) 𝑙𝑏-𝑓𝑡-𝑠𝑒𝑐2
Ans: 𝑯𝑂 = −0.01 𝒊 + 0.0045𝒋 + 0.0576𝒌 lb-ft-sec
1 The solid circular disk of mass 𝑚 = 2 𝑘𝑔 and radius
0 𝑟 = 100 𝑚𝑚 rolls in a circle of radius 𝑏 = 200 𝑚𝑚 on
the horizontal plane without slipping. If the center-
line 𝑂𝐶 of the axle of the wheel rotates about the 𝑧-
axis with an angular velocity 𝜔 = 4𝜋 𝑟𝑎𝑑/𝑠,
determine the expression for the angular momentum
of the disk with respect to the fixed-point 𝑂. Also
compute the kinetic energy of the wheel.
Ans: 𝒗𝐴 = 0.251(− 𝒋 + 4.25𝒌)N. m. s
𝑇 = 9.87 J