PROBLEM 18.1 ‘Two uniform rods AB and C#, each of mass 1.5 kg and length 600 mm, are welded fo each other at their midpoints. Knowing that this assembly has an angular velocity of constant magnitude @ =12 radis, determine the magnitude and direction of the angular momentum H, of the assembly about D. Bum SOLUTION For rod ADB, oi 0, since T,~0. For rod CDE, use principal axes x’, y’ as shown. cog = 22M ge aLale 300 mm, cos 0 =9 rad/s & @, = wsin 8 = 7.93725 radis?® Lneseae Fa 5K0.5) 045 kg-m? A+ Toy f+ T0,k + (0.045)(7.93725);’ +0 3571764 M1, =0357 kg mis H,, =0.357176(sin6i-+ 086) 02362524 + 0.267880) cos 8, = 2286252 8.6 “0357176 2 cos, = 2207880 0, =414° 357176 50, a= 4 PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, Inc, All ighs reserve. No part of this Manual may he displayed reproduced or dotribued in any form or by any means, without the por written permusion ofthe publisher, or used Beyond the limited Aisribton ro teachers and educators permited by MeGraw- Hl for their india course prepara. Iyeuearea student win his Maral ow are sing 1 thot permission u31al PROBLEM 18.2 {A thin, homogencous disk of mass mand radius r spins atthe constant rate @, about an axle held by a fork-ended vertical rod, which rotates al the constant rate @,. Determine the angular momentum Hy, of the disk about its mass center G SOLUTION Angular velocity Moments of inertia: Products of inertia: by symmetry, Angular momentum: Hy =7,0i+7,0,)+7.0% meat dmerak € oo(Sar)aselmat ty a PROPRIETARY MATERIAL © 2009 The McGeaw-Hill Companies, Ine. All ighs teserved. No part of this Manual maybe displayed, reproduced or diributed in any form or by aay means, withou te prior writin perwision ofthe publisher, or used beyond the tinited ‘doin to teachers ans ecucaors permite by MeGraw-Hil fo thor individual course prsparaion, Ifyou area stadert sing his Manuel, sou are using if without permission 19324 PROBLEM 18.3 A thin homogencous square of mass mand side « is welded to a vertical shaft AB with which it forms an angle of 45°, Knowing that the shaft rotates with an angular velocity @, determine the angular ‘momentum of the plate about A. SOLUTION Use principal axes y’, 2” as shown, asin ds® woos AS? a, is a Was x 1 =04( me Joocosasy' rn eosin asx! a H, (i Jeocostsrycosti—s 45°k) ee “(5m ? eosin inde 45°k) Haya) € " Firm Coin ase ysin ase cos PROPRIETARY MATERIAL. ° 2009 The McGraw-Hill Companies, Ine. AIL rights wecved. Mo part of thir Manoal may he displayed reprntuced or dre any form or by-any means, witout the prior ween permission ofthe publisher, or ase beyond the tinited distribution ta tachers ard ductors permed by MeCrave ifr thet individual conse preparation you arse using this Maal ow are ting i widhoul pornision 1833PROBLEM 18.4 ‘A homogeneous disk of mass m and radius r is mounted on the vertical shaft 4. The normal to the disk at G forms an angle #=25° with the shaft. Knowing that the shaft has 0 constant angular velocity , determine the angle 8 formed by the shalt AB and the angular momentum He of the disk. about its mass center G. SOLUTION Use the principal centroidal axes Ga’, ¥ Angular velocities: Using Bq, (18.10): We have Hos Hat H+ Hk PROPRIETARY MATERIAL. (2 2009 The McGraw-Hill Companies, Ine. AM ighs reserved. No part of this Maat may be dkspayedt epee or dated in amy form or by cany mean, wilon the prior writin permission ofthe publisher. or ced beyond the hinted ‘isrsinion to teachers educators permite by Metre Hl for their individ course preparation I en are student wing his Mau ow ane sing i with permission rawhere fj’, kare the unit vectors along the x’ yz axes. ~ fm asin B+ L005 Prom Eq. (3.24), Hy: =[H| cos Hoo [Mole But H, =i meal sin Bi 4 2c05 8 j)-ca} or observing that issn and jf os pom sin + 20s") ye a (1 +e0s" A) Also, For f= 25°, PROPRIETARY MATERUAL, PROBLEM 18.4 (Continued) a I 2 , oy 8 7 a ‘ee 2 6) @) O=1188° 2000 The MeGiaw-Hit Companies, ne Al rights reserved. Mo prt of ths Manual may be displayed ‘eprntuced or distributed in any form or by any means, sttho the tor writen permission ofthe publisher, or nse beyund the linked ‘stibuton to teachers and educaions permit by McGraw Hl for ther ontvidual course preparaion Ifecare atten! wing ths Manas, dow are wing i withont permission 183s,PROBLEM 18.5 A thin disk of weight 1¥ =10 1b rotates at the constant rate @ =15 rad/s with respect to arm ABC, which itself rotates at the constant rate aj =S rad/s about the y axis. Determine the angular momentum of the disk about its center C, SOLUTION r=6in Angular velocity of disk: Og j+ak i = (6 rad/s)j+(15 rad/s) Centroidal moments of ine 2 “alee 0,019410 1 Ib-s' as22li2 nr? = 0.038820 fl-Ib-s* Angular momentum about Point C, yl Tay Tak -+-(0.019410)5 j +(0.038820)15 k (0.09705 f-Ib-s)j + (0.58230 f-Ib-s}k (0.0970 f-Ib-s)j + (0.582 Ne Ib-s)k PROPRIETARY MATERUAL. #209 The MeGisw-Hill Companies, Ine, AIL ighs eserved. No part of this Manval nay be displayed, reprenduced or dite in any far oF by any means, thot te por writen pormsion of the publisher, ov axed Deyond the Tinted Ldseibution to teachers and eucdors permite by Metre HI for thei individual course preparation ify areata using this Man ‘yor are sing i withou permision 1436PROBLEM 18.6 A homogeneous disk of weight I” = 6b rotates at the constant rate @ =16 rad/s with respect to arm ABC, which is welded to aa shaft DCE rotating atthe constant rate @, ~8 rad/s, Determine the angular momentum H., of the disk about its center A = a+ O41 =(B radls)i-+(16 rad/s)j For axes ., y’, parallel to.x, y, = with origin at 4, 186335 Ib-s?/A o.iseras($) 2 = 0.020704 Ib-s? ft Fy = 0.020704 Ib-s? tog + Tyt0yj4 Te00k = (0.020704)(8)i + (0.041408)(16)) 16564 + 0.66255 H., =(0.1656 lb-ft s)i+ (0.663 Ib- h-s)i PROPRIBTARY SAATERIAL. 1 2009 The MeGiaw-Hhill Companies, Inc.All ights reserved. No part of this Manna may be displayed. ‘reproduced or disributed in any form or by any mens, with the par rtten permission of the publisher, or se beyond the Tinted stsoibaion to teachers an eduons permitted by MeGraxe Bil for thor individual course preparation vw area student ig is Mana Jum are ning it witht pormision 1837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 4 as counterclockwise, determine (a) the magnitude of the angular momentum Hg of the parallelepiped about its: mass center G, (b) the angle that H,, forms with the diagonal AC’ SOLUTION Body diagonal: daa ¥Qap +a = Vea oO. @ 20 2 (ai +2aj— ak) =—214 22 on Gait 2a ak) = he Jk ina? + (2a)? |= ma* nm “2 @ Hg =/,Q1+1,0,)4 1.0K mao = MEO C51 +4) —5k) eC) ’ 2 Hg = RN a eS a = 0.276 mao 120 2 mato ) = Sit 4j~5k)-(-i+ 2j-' Heo yg Ct 2 lmao? bay 26) 4 cosd= 7 90453 @ ain PROPRIETARY MATERFAL. © 2009 The MeGiraw-Hill Companies, Ie, All ights reserved. No part ofthis Manuel may be dipayed. Feprvdaced or distriuted ty any friar by any means. thou the prior wvuen permission of the publisher or wed beyond the lined Cisiibuiion ts teachers and econ permed by MeCraw lo ther wulsaal course preparation. If yow are asin using this Samu, ow are wing i witht persion sePROBLEM 18.8 Solve Problem 18.7, assuming that the solid rectangular parallelepiped has been replaced by a hollow one consisting of six thin metal plates welded together. SOLUTION Body diagonal: d= Je? +(2a) +0 For each square plate: For each plate parallel to the yz plane = pint’ +@ayt=5 bere) may »(ey PROPRIETARY MATERIAL. 10 2009 The McGraw-Hill Companies, Ine. All igh reserved. No part of this Manual may be displayed reproduced or distributed in any form or by any means, thud the prior rite parison ofthe publisher or used beyond the lined \striiution to teachers and educators permed by McCiaIE for thei dvidual course preparition Ifa sadn using ths Mea, ou ave uti i wthon!permivion.PROBLEM 18.8 (Continued) For each plate parallel to the xy plane: ‘Total moments of inertia Bade d ne 120 60 12. @ Hy =1,Q,4+1,0,§+1,0,k =" 20-371 436)~37k) nao (> oF 7 He = 222 [a1 + BOF + GTP = 043216 ma*w cove 37" +36 +G7Y Hg = 0432 mao ra 75 4 365 i do? b Hy-o= -37i + 36}—37k)-(Hi + 25k) = 0.40556 ma’ @ le oo! tree y¢ rj-k) a Hg _ 0.40556 Hg@ 043216 0.93844 cos PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, nc. AIL ighs reserved. No part of this Monval may be doped reproduced or diaributed in any form oF by any means, wilt the lor written permission of the publisher, or wxed Beyond the lnuted tdsabaion to teachers and edcors permed by McGraw Hl for her andvidal course preparation Ifow area seen wsig his Manel, {on me sing I wehou permission 1840PROBLEM 18.9 Determine the angular momentum of the disk of Problem 18.5 about Point 4. SOLUTION 6in, wtongyl® Angular velocity of disk: @=Qi+ (5 rad/s)} + (15 rad/s) 2 Centroidal moments of inertia: SEAR > 12 a) = 0.019410 f-Ib-s* 432212 1p pm? = 00388208 bs" Angular momentum about Point C. He = Teds Tayit beak = 0+ (0.019410)5} + (0.038820)15k = (0.097085 fb -s))+(0.58230 f-Ib-s)k (0.0970 ft-1b-s)j-+(0.582 2-Ib-s)ke Koy = (8 ine (9 ing] = (1.5 NYH+ (0.75 1} Velocity of mass center. Vo =O, X¥eu4 = SPX(LSEF0.7S)) =-(75 fUs)k Angular momentum about Po Hy He tre X(mve) H,, = 0.09705) +0,58230k + (1 514-0.75))x, (962| 322 = 0.097054 + 0.098230k +3.4938§ 1.746891 Hi, =~(1.747 Ib-s-A)i-+@.59 Ibs: Aj + (0.0582 b-s- fk PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, Ine. Al rights reserved. No part of tis Manual may be dsploye >repreduced or diswibted in any form or By any means, witow the prior wrtion permission ofthe publisher, or used beyond dhe timed slisoibation to feachors anh acicaors permite hy Merc Hil for tsi individual conrse preparation Ifyou area student using ths Manu, don are using ito permission, iatPROBLEM 18.10 Determine the angular momentum H,, of the disk of Problem 18.6 about Point D. SOLUTION © 4 GJ = (8 radls)i + (16 radls)j For axes x’, »%, 2" parallel to x, y, 2 with origin at 4, WO ge 322 0.186335 Ib-s*/f 020704 Ib-s* ft 0.020704 Ib-s?-f, (0,04 1408 Ibs? ft 4, (0.020704)(8)i + (0.041408)(16)5 (0.1656 Ib- L-s)i+ (0.6625 Ib: R-s)j Point is the mass center of the disk. (1.0 114 (0.75 j— (0.75 AK Va= OAT 4n =8ix(I.01+0.75j-0.75k) 6 £05) }-+ (6 fs) (1.118 tb-s)j+(.118 Ib -s)k iiesse fesail 3 FqpXmv=|10 0.75 0.75 O 141s 1.118 1.677 Ib f-s)i— (1.118 Ib- fs) +(1118 Tb s)k Hy te yy) xn tap Hy, =(1.843 Ib ft-s}i~(0.455 Ib ft-s)j + (118 Ib- Aes) PROPRIETARY MATERIAL. * 2009 he McCcaw-Hill Companies, Ine. AIL gh ose. Ne part of sls Manual may be duplayet reprxduced or disttbed ine form or by cay means, seihou the por wutten permission ofthe publisher, or used beyond the lived ‘dsribation wo teachers and educators permed by Meira fo the individual cows preparation Ifyou asta wing th Maral Yow are wing I warhou permission. issPROBLEM 18.11 ‘The 30-kg projectile shown has a radius of gyration of 60 mm about its axis of symmetry Gx and a radius of gyration of 250 mm about the transverse axis Gy. Its angular velocity @ can be resolved into two components; one component, direeted along Gx, measures the < rate of spin of the projectile, while the other component, directed S along GD, measures its rate of precession. Knowing that = 5° and that the angular momentum of the projeetile about its mass center G is Hy = G20 g-m'/5)i ~(9 g-m°ss)j, determine (a) the rate of spin, (0) the rate of precession. 250 mm =0.25 m ‘mk? = (30)(0.06)? = 0.108 kgm? mk? = (30)(0.25)° = 1,875 kg-m? (H,,),i+(Hg), i +(e). Toh + 10,44 1,0.% (Hg), “T0108 kgm 9621 radis 0.009 kg-m?és LS 0.0048 rads 1.875 kgm 0.0048 o, == = 0.05507 rads sind sin5® @ Rate of spin. 0, = 0, +0, 0088 @,=0,-0, 0080 = 2.9627 0.05507 c0s5° 0, =2.91 dls (b) Rate of precession. , = 0.0551 radls PROPRIETARY MATERIAL. 2000 The MeGraw-Hill Companies, Ine, All ight eseved. No part of this Manual maybe dspayed reproduced or distributed in any form or by any means, without the prior wet permission ofthe publisher, or used beyond the lite ‘fistribution to teachers and edacators permed by McGraw Hil for the invidual course preparation ify are aster using this Mae ‘you are ing it withow permission, 1443PROBLEM 18.12 Determine the angular momentum Hy of the projectile of > Problem 18.11 about the center 4 of its base, knowing that its mass center G has a velocity V of 650 mvs, Give your answer in terms of components respectively parallel to the x and y axes shown and to a thitd axis z pointing toward you, SOLUTION m=30KB, Fog = (0.275 mt ¥=Veos6i-Fsindj Hi, = (0.320 kg-m?/5)t~ (0.009 kg-m°/s)j inv = (30 kx}(650 mis)(cos 5°4~sin 5") = (19425.8 kg-m/sji~ (1699.5 kgm} Fa X08 = 0.275% (19425.8i -1699.5)) {467.37 kg-m"/s)k Hg +t Xm 320 kg-m’/s}i—(0.009 kg-m"/s)j— (467 kg-mPis)ke PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine. All sights eeserved. No part ofthis Manual may be displayed, reproduced or asrtbued bx any form or by ony means, without the prior wrlden permission of te publisher, or used beyond the lnited distribution io toachers and educators permit by MeGraw-H forte nlividual cose preparation Ifyou are ste axing hs Man yew are asin without permission. insPROBLEM 18.13 (@) Show that the angular momentum Hp of a rigid body about Point B can be obtained by adding to the angular momentum HL, of that body about Point 4 the vector product of the vector ty dravn from B to A and the linear momentum m¥ of the body: Hy Hy thy, <0 (6) Further show that when a rigid body rotates about a fixed axis, its angular momentum is the same about any two Points 4 and B located on the fixed axis (H, ~ Hp) if, and only if, the mass center G of the body is located on the fixed axis, SOLUTION (2) Angular momenta Hy and Hy are related to Hy, and mv by ria XMM and Hy = Subtracting, Hy tr yy Xn (b) follows that Hy =H if, and only if yy Xr With Points A and B located on the fixed axis, =o where 2. is a unit vector along the Fixed axis, and VOX 4 = ORXE, ‘Then Hg XOMOLX Fe, 4) =O but rey is parallel to 2, henee, DXAX IG )=0 Let wW=2xtgy_,80 that 2x =0. ‘Note that u must be either perpendicular to 2 or equal to zero. But if w is perpendicular to 2, Axweannot be equal to zero, Axtg =0 Hence, Yey4 is parallel to 2 and Point G lies on the fixed axis, PROPRIETARY MATERIAL. © 2009 The MeCraw-Hill Companies, Ine. AIL Fights reserve. No part of this Manna maybe dgplayed reprodnced or dsaibded tn any form oF by any meds, witow the prior written permission ofthe publisher ar used beyond dhe hinted Asian to teachers anu educiors permit by MeGna-Hilfor their individu conrse preparation If yon area stent xn his Man, Sou are ning i person. nasPROBLEM 18.14 Determine the angular momentum Hy of the disk of Sample Problem 18.2 from the expressions obtained for its linear momentum mv and its angular momentum Ho using Eq. (18.11). Verify that the result obtained is the me as that obtained by direct computation, SOLUTION Using Equation (18.11), xn + Fi, =n a qe mrbayy mri 2egh —m( Bt wapon[ited whieh is the answer obtained in Part b of Sample Problem 18.2, PROPRIETARY MATERIAL. © 2009 The MeCrawHill Companies, Ine. AW rights reserved. No part ofthis Manval may be displayed reproduced or estribuesd in ay form or By any means thon the prior site permission ofthe publisher, or wae Bevin the i! Cistibution to teachers ad ductors ported by MeCara-H for ets inva conse preparation fy arcs asin hs Mae, Yyoware using It wihout permission 1886,PROBLEM 18.15 ‘A rod of uniform cross section is used to form the staft shown. Denoting by m the total mass of the shaft and knowing that the shaft rotates with a constant angular velocity @ determine (a) the angular momentum Hg of the shaft about its mass center G, (6) the angle formed by Hog and the axis 4B, SOLUTION Length of rod: Angular velocity Angular momentum: Calculation of 7, and 7, Let p= mass per unit length Por portions AC and DB, For portion CG, use polar coordinate & x=-r(I-cos), fetan= [67 sn? opr rsin@ dm= prd@ Likewise, for portion GD, Total: (Angular momentum Hg 1 eo(0.379271 ~0.48291K) HH, = m0 ex(0.3791- 0.4838) € mv @(0.37927* + 0.48291") = 0.61404 mr?eo ® 6176 a=s19 4 PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine. All igh reserved. No part of this Mama may be displayed, ‘reproduced or disibuted in any form or by any moans, without the prior written permission ofthe publisher, or wsced beyond te time cdsribation te teachers aed educators permite by Metra forthe indivi course preparation If area stent usb hi Mana, ‘yore are sng without pernsson, 1807‘ PROBLEM 18.16 120 nm “The triangular plate shown has 2 mass of 7.5 ky and is welded to a = vertical shaft 4B, Knowing that the plate rotates at the constant rate rh @~=12 rad/s, determine its angular momentum about (a) Point C, wn (B) Point A. (Hint: To solve Part 6 find ¥ and use the property indicated in Part a of Problem 18,13.) hy SOLUTION O=(2 nd, ©, =0, @, =12radis, a, @ (Hele = hy He)y =, He): =n Use axes with origin at € For plate ACD, the product of inertia of the area is shown, Divide the plate ABD into right triangles ACD and CBD. papeaey r 1, ate? Cy aca 3g" 8 For plate BCD, itis b es © a fay? Oyen = 35 For both areas together, ¢ Coy oea = A Area: Cynon = Tila) = Forboth ares together, Ua =FR(ErD! a a Cane FE ana Foadnass = PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, lac. All righ reserved. Mo part of this Manual may be displayed, reprediced or ditibuted inane form or by any means. wathou the prior written permission ofthe publisher, oF ased beyond the tamed Aisribution teachers nd ecicotors permed by McCian-H1 fr thei neil conrse preparation Wfyamarecastudent wong hs Monn Dou ae sing 1 wou permit issPROBLEM 18.16 (Continued) Date: m=TS5kg a=120mm=0.12m b=90 mm=0.09m ¢=160 mm=0.16m (7.5}(0.07)(0.12) 1, 00525 ky-m? Cay daa 2 gem’ Cum =o SE oo kg-m? (He), = 0.00525) 12) = 0.063 kg-m"/s (He), =(0.018)(12) = 0.216 kg- m/s, ox Hi, = (0.063 kg-m'fsi +0216 ke-m'ish Locate the mass center: tige = S14 Fh Velocity of mass center: ¥= 0X Fa wr(taey—toa Joao oat Fog == (0.16 mj (0.169) x{(7.5)(-0.48k)] = (0.576 ke-n'is)i ) 4 eug XW = (0.072463 ~ 0.66253)i + 0.24845) (0.513 ky-mn’/s}i + (0.216 ke-m’s)j PROPRIETARY MATERIAL, © 2009 The MeGraw Hill Companies, ne. AI ightseosorved. No part of tie Manna may be cpanel repraduce or disbued in ey form or by ayy means, wu the prior writen pormisson ofthe publisher, or rsed beyond th limited ls 1 —m ma" 1,20 z M = ma? Sma? - momentum pt ple: Before impact, a PROPRIETARY MATERIAL. # 2009 The McGraw-Hill Compsnies, Ie, Allright reserved, No part of this Manual may be displayed, reproduced or distued zany form or hy any means, eth the prior wv permission ofthe publisher, wsed beyond the lined ‘dsributon i teachers and educators permite by MeCray forthe india coves preparation Ifyonrie stud using he San ‘yon are sing it withon permission, 1863PROBLEM 18.25 (Continued) @ F(a = Far v= Ft ®) about G. Ugg X FAL = Hy (ait ak) «(AD Hodit (Hedi + (Hed k (@FAN| + (QP ADK = 1,0,4+(,0, ~ 1,011.0, + 1,00,)k Substitute expressions for moments and products of inertia and resolve into compan 5 i 0=2 maa, 6 oF M=2 mater, +4 mare, 3 4 sea i ate ade a 6 Solving, @,=0, 0, =-1.714 289, =8.57FA0. © (Ja 7145 18.57k) ma PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, Ine. AI rights reserved. No part of this Maal may be dispavet represtuced or dtritted bv any for or by any means, without the rior writen permission of the publisher or azed bepond the Fined Initial angular momentum about the mass center: Helo Lei + Tyagi Initial velocity of the mass center: Y= Let @ be the angular velocity and ¥ be the velocity of the mass center immediately after impact. Let (FAdK be the impulse at B. Kinematics: Vp =OXty4 = (Opi +0, 7 40K - Hil for heir oval conrsepreparion ow area salen ig hs Marta, ‘ow are asin i withot permission 1876PROBLEM 18.32 For the plate of Problem 18.31, determine (a) the velocity of its mass center G immediately after the impact, (b) the impulse exerted ‘on the plate by the obstruetion during the impact. SOLUTION pea, ras + a= Cat iC (ole Ho, Linear momentum, anvgi + (CAQ|= 08 i+ i, | + mK i O=nv, <0 iy + CAV= mv, CAt= mT +¥,) oO k O=niv, %=0 Since the impact is perfectly plastic, (vy), =0. Principle of impulse-momentum. | | Yo SNe OX =I HO 0,140.) (ai —ck) | Wott We), K=CO,LH, He, + 40, )) a0, = cw, ~ a0, 2 Moments about C. coniyi + ami Ha) d+ (He) PH (He).K + ai + ok) xm, Jk ~ mev,i~ mavk. peat eee ete i+ Simic? +a), 4+ nie sil drs | z | | i en = 2 ncte, ~mev, 6) | i k ® PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, Ine. All ights eseved. No part of this Manual may be dpayed. repredeced or dosribued mn cy form or by aay meen, wuhou the prior writin permusion ofthe publisher, or used beyond the Lonted tribution ro teachers and dears permed hy MeGranHill fr tir nv corse preparation. om areca student ung his ane ow are sing i without permission 1877PROBLEM 18.32 (Continued) Anersng 2) etninae 5, £92 G)andbeeme ee, 00, = 4 ca, + 2a, =v 3 from which (@) Velocity of mass From Eq. 2), %, ()) Impulse at C From By. (D), CAL = mv +¥, PROPRIETARY MATERIAL, © 2009 The MeGrassHil Companies, Ine. Al nghts reserved. No part of thie Marna may be diplayed, reproduced o7 darted any fora or by any means, withowt the prior written permision of the publisher on need beyond the United ‘hetibuion to teachers and edscoors prot by McCraw Hil for hte wsdl corse proparation you area student wing this Maya, yom are wang i without permasion. 1978PROBLEM 18.33 ” A 2500-ky probe in orbit about the moon is 2.4 m high and has ‘octagonal bases of sides 12 m. The coordinate axes shown are the principal centroidal axes of inertia of the probe, and its radi of gyration re k, =0.98m, k, =1.06m, and k, =1,02m, The probe is equipped with a main 500-N thruster & and with four 20-N thrusters 4, B, C, and D which can expel fuel in the positive y direction, The probe has an angular velocity @= (0.040 rad/s)i+ (0.060 rad/s}k when two of the 20-N thrusters are used to reduce the angular velocity to ze. Determine (a) which of the thrusters should be used, (4) 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 He= Halt 1a,)+ Lak =m(Re +Ka}}+E0,k) = (2500)[(0.98)" (0.040)i + (1,06)" (0)j + (1.02)? (0.060)k] = (96.04 kg: m*/s)i + (156.06 kg-m?/s)k Let ~Aj, ~ Bi, ~Cj, and ~Dj be the impulses provided by the 20 N thrusters at 4, B, C, and D, respectively. Let Bj be that provided by the 500 N main thruster Position vectors for intersections of the lines of action of the thruster impulses with the xz plane: (1.2)=0.6 m, b= 0.6+0.6y2 =1.4485 m > +k, + 0K ai bk, “The final linear and angular momenta are zero, Principle of impulse-momentum. Moments about G: R Hg $4 XCAj) +4 XCBD + re XEHCD + Fp X(-D) =O Hg + (A+ B-C~D)ita(A-B-C+D)k=0 Resolve into components, Cade 96.04 «14485 ik AtB-C-D (Hg). __ 156.06 @ 06 Kk A-B-C+D 2) OF A, B,C, and D, two must be zero or positive, the other two zero. PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ie. All righ reserve. No part of tis Manual maybe displayed, 2epraduced or disrbuted ina form or by any means, without the prior wien permission ofthe publisher, or used beyond the livited 2 rysai tb, ny sai + bk . ee ator ee a—fhr ‘ The final Tinar and angular momenta are zero. ; & ‘ Prinejple ofimpulse-momentum, Moments about G: Kadked z Me $y Aj) my x CBD) 4 te X(-Ci) Hy XDI) =0 He A+B 1 Dyi ta(A~B-C + Dk = Resolve into components a ko 48-040 2) OF A, B, C, and D, two must be zero or positive, the other two zero. PROPRIETARY MATERIAL. © 2000 Tho McGraw-Hill Companies, ae. All vighs reseed. No part of this Mama may be dinplaed, reproced or dsbted in any form or by any means, without the prior writen permission ofthe publisher, or ued beyond the fated ‘dso to leachors nd educators pormitod by McGrew Hil forthe indivi course prepaaton If you area stent ths Mana, ou ore ning ition permission 888PROBLEM 18.34 (Continued) Set B= D=136.43N-s and N=36.97 Nis, Set C=: and A—C =. Solve the simultaneous equations (1) and (2). and A=36.97 Nos (a) Use thrusters D and 4. ® ‘plty)=D, At, =6.828 F(Aty)= A, An, = 1.8488 (6) Linear momentum: Ej Dj~i=0 Fp(Mty)=E Mp =03478 € PROPRIETARY MATERIAL. © 2009 The MeCraw-Vill Companies, ne. All ighs weserved. No port of this Manual may be displayed, epradced om dunsbated 1» any form oF by ony means, wthont the prior writen permission of the publisher or wsed beyond the lite ‘sothton Yo eachers and educators porated by McGraw HM for the va conrse preparation (sen are astdnt uring thi Aan pow are using i withou permission. 1882PROBLEM 18.35 ‘The coordinate axes shown represent the principal centroidal axes of inertia of a 3000-Ib space probe whose radi of gyration are £, = 1.375 ft, k, =1.425 ft, and k, =1.250 ft. The probe has no angular velocity when a 5-07 meteorite strikes one ofits solar panels at Point 4 with a velocity: vy = (2400 ftisji~ (3000 fs) f+ (3200 fs) 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, dotermine the final angular velocity of the probe. SOLUTION Masses: Space probe; m’=220 93.17 b-s'/m, 32.2 Meteorite: 0.009705 Ib-s?/tt (692.2) Point of impact y= ML-+(0.75 NK Initial linear momentum ofthe meteorite, (Ibs): ng = (0.009705)(2400% + 3000} +3200k) = 23.2924 - 29.115] +31.056K Its moment about the origin, (Ib ft-s): i j k ryxmvy=] 9 0 0.75 |=21.836% ~ 262.04) - 262.04 [23.292 -29.115 31.056] Final finear momentum of meteorite and its moment about the origin, (Ib-s) and (ib-s-) O.8my, =i p+ ¥ ,x(OSnivg)= 17.4695 ~ 209.63} ~ 209.63 PROPRIETARY MATERIAL. £ 2009 The MeGraw Hill Companies, Ine. All ighis ress. No part ofthis Mana! may be displays ‘reproduced or diswibuted in ay form or by any means, without ihe prior rite permission of the publisher, oF wed beyond te nated disibution to teachers ad educators permed by MeGra-1l for thet Indsidual couse preparation 7 you are astuden using his Manual, “you are sing it io’ permission 89PROBLEM 18.35 (Continued) Let HL, 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: ry X(O8mvy) 4.367 —— 4367 -0,02479 radis 7)0.375) 92.41 AP a 0.2770 rads ik (93.17\1.425)° Gade. S2Al mk? (93.17\(1.250) 1,0,=(Hy), @, 0.3600 rads © = (0.0248 rad/s)i—(0.277 radis)j~ (0.360 rad/s)k PROPRIETARY MATERIAL. 2009 The McGraw-Hill Companies, ae. All igh eserves, Ne port of this Manual may be displayed ‘repradiced distributed in any form or by any means, without the prior writes permission ofthe priser, or sed beyond the lated ‘sribvaion to teachers and ecucaors permite by NeCiane-Hil fri inivadua conse preparation If youve stot usin this Manual, Yo wen i thou! poriesion 1884PROBLEM 18.36 ‘The coordinate axes shown represent the principal centroidal axes of inertia of a 3000-Ib space probe whose radii of gyration 425, and k, =1.250 f. The probe has no angular yetocity when a 5.oz. meteorite strikes ‘one of its solar panels at Point 4 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 yelocity of the probe is @=(0.05 rad/s)i~ (0.12 rad/s)j-+@, and that the x component of the resulting change in the velocity of the mass center of the probe is -0.675 inJs, determine (a) the component @, of the cs the panel, SOLUTION Masses: Space probe: 3000 93.17 Ib st/it 322 Meteorite 5 __.0,000705 Ib-s*/t 16132.) Point of impact: (11+ 0.75 Mk Initial linear momentum of the meteorite, (Ib s/t): mv = (0.009705 4 +, 1+ ¥-K) Its moment about the origin, (Ib 7/3): ijk (Hy) =e, mv =0.009705]9 00.75 (0.0097051-0.75u, 4+ (0.95y, ~9y, i+ 9% K] Final finear momentum of the meteorite, (Ib sit): 0.75myy = 0.007279(y,i+¥, 54 ¥-K) ts moment about the origin, (Ib-s"/ft): 1, (0.75mv9) = 0.007279}-0.75v, i + (0.75y, ~9v,))+9¥, kk} PROPRIETARY MATERIAL, © 2009 The MeGiew-Hil Companies, Ine. All rights reserved. Nb port of this Manual may be diplaved priced or tated in ay form or By any means, wihowt the prior writin peronssion ofthe publishes, oF sed bexond the Lined ‘Asibution to eachorvand edicotors permit by AeCirow- Hil for fer ind idan enrse preparation, Ifyou avec student ws hs Manual, estore ming wth pormizsion sasPROBLEM 18.36 (Continued) Initial linear momentum of the space probe, (Ib-fV/s):m'v, =0 ‘inal linear momentum of the space probe, (Ib- fi/s): marry je vek) ~oo.n SBiy sie) Final angular momentum of space probe, (Ib- ft2/s) Hy, =n (20,i+k0,5+Ro,k) = 93,1 7[(1.375)?(0.05)i + (1.425) (-0.12)}+ (1.250)? ak] =8.57 22.703)-+145.580,k Conservation of linear momentum of the probe plus the meteorite, (Ibs) 0,009705(»,i-+ 4+ v_k) = 0.007279(v,i-+ v J++ v_k)-+93.17(-0.05625i+ v4 vik) ke 0,002426v, = 93.17%, Conservation of angular momenturn about the origin, (kg-m7/s) (0.009705){-0.750, i+ (0.75y, ~9v, )i+9",K] = (0.007279)[-0.75y,i + (0.75v, ~9v, )}+ 9v,k] + 8.80751 ~ 22.703} + 145.580, k i: ~0,0018195v, =8.8075 4840.5 fs J ~0.021834y, +0.0018195v, =-22.703 _v, =0.08333r, + 1039.8 =859.8 fis k = 0.021834y, =145.580, (@) @, =-149.98x10%v, ® % (2160 fs)i — (4840 1Vs)}+ (860 Fs) PROPRIETARY MATERIAL. & 2008 The MeGrow-Hil Companies, Ine. All rights reserve. No part ofthis Manual may be displayed ‘reproduced or distributed ican form or by any means, without the prior write permission ofthe publisher, or ase Beyond the lonited isributon to teachers and eucaors permite by MeCrase Hil fr their indo course preparation If you areastudent using his Mant, “you are using it without permision 1886PROBLEM 18.37 Denoting, respectively, by @, Hy, and the angular velocity, the angular momentum, and the kinetic energy of a rigid body with a fixed Point O, (a) prove that H-@= 27; (b) show that the angle @ between @ and Ho will always be acute, SOLUTION @ Wy, =I yy ~ Le OA (yh, 1yOy ~ Ly De) (Lys, ~ Hy +1500, = 0,14 a,j) +ak Hy = 1,0, ~ 100, ~ 10,0, ~ 1 00,0, + 1,05 ~1,,00,0, Ny, = 10,0, + 1,0 =f (tae 41,05 + 1,02 ~21,,00,02, ~ 21 .0,0, ~21,,0,0,) =r ) Hy-@= Hywcos® QT = H,weos cos io But T>0, Hy >0, @>0 cos 0 6< 90" PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, nc: All rights reserve. No pare of dis Manual mes be dispar, ‘repredced disibuted in any form or by any means, withont the prior writin permission of the publisher. oF ned bevont the Tomted saribuion to teachers nud educates pert by eral forthe individual onrveprepvaon. fom areas usin his Mana, ow ar ung without persion. 887PROBLEM 18.38 Show that the kinetic energy of « rigid body with a fixed Point O can be expressed a8 T= /,q 4", where cox the fstantneous angular velocity of the body and /,, is its moment of inertia about the line of action OL. ‘of @ Derive this expression (a) from Eqs. (9.46) and (18.19), (6) by considering as the sum of the kinetic energies of particles F, describing circles of radius , about line OL. SOLUTION fa) 18+ Lye + 102 ~ 20,04, 21 00,0, “21 oA, Let 0, = W058, @, = @e0s0, = a, 0, = woos8, ~ wh, Tad (lab 1,1 A AA, ~Uyghy Ay ~2 gy \)er Flaw? adler Fi (6) Bach particle of mass (Am), deseribes a ele of radius 2, ‘The speed of the ile is v, = pan Us kinetiv energy is Xam yf =L(dm pre ‘The kinetic energy of the entire body is lina 2 PROPRIETARY MATERIAL. © 2009 "he McGraw-Hill Companies, Ine. AID rights reserved. No part of fis Moral mea be dxplaed epradacod om dibted in en form or By any mes, thou te prior siti perssion ofthe plier, or nd bey the ited ‘stint teachers and ductors period by Meir Hil for Uv individa eure preparation If yan area shade ising is Maus, ou ave sing it ethout permissionPROBLEM 18.39 Determine the kinetic energy of the assembly of Problem 18.1. Bunt 25 mm 780 SOLUTION m=1Skg [= 600mm=0.6 m, = (12 radis)i For 10d ADB, H,, = [,@i=0, since J, =0. For tod CDE, use principal axes.x’, yas shown. 225 mm, 300 mm a=41.410° @. = Wes =9 rads? ey = sin = 7.93725 rads? LL 2 75 1510.6) = 0.045 kg-m? 0-404 L(@045\7 93725) +0 ais retains € PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine. AU rights reserved. No part of this Marval my be displayed reproduced or diibuted in coy forms or by any mecns, wiht the prior writen permision of the publisher, tse bejand the Lnited (tetbucon to teachers and educators port by MeGraneTlfor tet ndividual course preparation If yon area student xing hs Mara, “you are using i without permission 89PROBLEM 18.40 Determine the kinetic energy of the disk of Problem 18.2, SOLUTION Angular velocity: O=a@j+ak ‘Moments of inertia: Products of inertia: Kinetic energy: 7=3(Ta +7,04-+7.0,) Yo ( Line? ad +{ Lone? Tr som Ja (Sm Jee PROPRIETARY MATERIAL. © 2009 The McGrsw4il Companies, Ine All ightseeserved. No part of his Manual may be displayed ‘reproduced or distibuted in any form oF by any means, thon the prior wise pormission ofthe publisher, or wsedbevond the Tamed sribton to teachers ek eucarspermited by Crawl othe mia eourve preparation If yanarecastndet wing this Mona, ‘you are sing iit permission. 1900)PROBLEM 18.41 Determine the kinetic energy of the plate of Problem 18.3. SOLUTION Use principal axes’, 2” as shown, : ja YL one 2( Eom? 2! a3 +5 nm” (wos 45°y' ae i 204, 5 2 ae 5 <0 tat 5 mae PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ie, All rghtsrxerved. No part of this Munnal may be displayed. reproduced or diribed in any form or by easy means, wthou the pri iron permission of the publisher, or wsed beyond the Tinted ‘distribution te teachers ad educators ported by McGrail fr thet indviua cows preparation Ifyotareestudent wing hs Man, ow are wing I withou permission i801PROBLEM 18.42 Determine the kinetic energy of the disk of Problem 18.4, SOLUTION Use the principal centroidal axes G’y's. Moments of inertia, Kinetic energy: =1 neo sin? f+ 200s? B) mara (sin® 25° 4 2eos? 25°) 1=0.228 mea? PROPRIBTARY MATERIAL © 2009 The McGraw-Hill Companies, Ine. All ight reserved. No part of this Mamnal may be displayed repreduced om distributed in any form or by ony moans, without the price written pormisson ofthe publi, or wa beyond the Tite stribmion Wo eachers nnd educators ported by Metra Hil for thei inca course preparation Ifyonarocestudnt ws this Mona Spoorane using itwithou permission 1892y PROBLEM 18.43 Determine the kinetic energy of the rod of Problem 18.15. a ~ 2 SOLUTION Length of rod: Ls 2rt nr 28.2832 Angular velocity: ©=01= 20 radis)i; @, =20md/s, @, = 0, =0 Since the mass center G lies on the rotation axis, ¥ =0, Kinetic energy: OBL 0,0, ~ 10,00, ~ 10,0, Calculation of 7, Let p= mass per unit length For portions AC and DB, For portion CG, use polar coordinate 8 =nr(l=cos6), 2=-rsind, dn= prde Jed =F in? dortd=% pr? Likewise, for portion GD, Total: if zm? aan Kinetic energy: 4 1 =0.1896 mr?a? 2\ 8.2832r PROPRIETARY MATERIAL. © 2009 Th MG Companies, A sighs reserve No pot of his Manel may be dsp reprsduced or distributed in any for or by any means, without the prior wrtien permission ofthe publisher, o” ed beyond the fined saint teachers bd dears porated by MeCrave-H for thi individua course preparation. If you area student wing xs Man, Dov ar sing it wid pormistion, 1893PROBLEM 18.44 Determine the kinetic energy of the triangular plate of Problem 18.16. SOLUTION ©=(2 rad)j, 0, =0, @, =12 rads, @, Kinetic energy: Tyg yl, ~ IoD, ~ Hy 50 mm = 0.25 m h=CD=120 mm=0.12 m For the plate: Arse j= Lonatsat0? a! Lays + nf pn =36 dace = Fgh? = 36x10 a m=7Skg m 7.5)(36x10°) Eat 2 Tyas = EU ge = SEI 8.107 kgm Cy aass =F Ua 15x10 8 T Peso 02F 2965 T=1.2961 PROPRIETARY MATBRIAL. © 2009 The MeGras-Hil Companies, Ine. Al rights reserved. No pare af this Manual may be displayed reproduced or dsirtbuted in any frm or by any means, ions the prior writen permission of the publisher or wsed beyond the tinited siibutin to teachers and educators permed by Miro 10 fore aside conse preparation. vow ave a student usin is Manna, Som are asin without permission. 994PROBLEM 18.45 Determine the kinetic energy of the body of Problem 18.19, + PROBLEM 18.19 Two L-shaped arms, each weighing 4 Ib, are welded at the third points of the 2-ft shaft AB. Knowing that shaft AB rotates at the constant rate @=240 nm, determine {a) the angular momentum of the body about 4, (b) the angle formed by the angular momentum and shaft AB. SOLUTION b m=. 322 a=8in.= 0.66667 ft W 0.12422 Ib -s?/f Calculation of ; Segments 1, 2, 3, and 4, each of mass m’ = 0.0621 1Ib-s?/R contribute to Part I o} i lo @ fave e o% ok i @® ( ! awe a Kinetic energy: (Z)e (06211)(0.66667) (8a)? r=2018-Ib € PROPRIETARY MATERIAL. © 2009 ‘The McGras-Mill Companies, he, Il rghts reserved, Yo par of this Manal may be displ. ‘epraduced or dsttbted tv any for or By ey means, eed the pre erin permuseon ofthe pubiher or awed Devon the Tinted stributon to teachers and educators permed Py Metra if thet vidual cone preparation. If yowcae aston ws ae Mari pon ae wing i without permassion 1995,PROBLEM 18.46 Determine the kinetic energy imparted to the cube of Problem 18.21 SOLUTION Let mf jm be the mass oF one side of the eube. Choose x», and 2 axes perpendicular to the face ofthe ‘cube. Let be the side of the cube. Fora side perpendicular to the.x axis, (U,)y Fora side perpendicular to the y or z axis, (J den(Sed ee @ D4 ‘Total moment of i 1, = 20 FAL) me 7 By symmetry, Z, =1, and f, = 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= /2a be the moment arm of the impulse applied to the corner. Using the impulse-momentum principle and taking moments about the vertical axis, wo Data: 25664 rads, F=12.51b, At=12s. Solving Equation (1) for m, _18 bP(AN _ 18 (4.0825)(12.5)(1.2) S ae 5 (5)°(1.25668) = 1.0173 Ib-s/it PROPRIETARY MATERIAL. © 2009 The MeGrav-tlill Companies, Ine, All ight reserved, No pat of this Manual may be dxplaed, roproduoed or dsr in any farm or By ony means, sethat the prior written permission of the publisher, ov used boyoad the lined ‘dacribetion to sachery amd ductors pormitd by Craw Hil for thc inva course preparation. you area seen! using thi Mona ‘ou are wing itwithow permission 1896For pr cipal axes, PROBLEM 18.46 (Continued) 1 1 Loe T= 510% +10, +102 gate thet +5 hee T=385R-lb PROPRIETARY MATERIAL, © 2008 "he McGraw-Hill Companies, Ie. All Fghts reserved, No part of this Manual maybe displayed ‘reproduced on disributed in en form or by any meas, that the pron virien permission ofthe publisher or sed beyond the Tinited dsvibution to teachors and educators permite Ey Mirow- Hl for dhe individual course preparation If yan ares stdent sing ths Mama pun are ning isetho pormision. 1997PROBLEM 18.47 Determine the kinetic energy of the disk of Problem 18.5, SOLUTION ia 2: (oli Angular velocity of disk: O=ajrak z = (Sradis)j+ (15 rad/s) Centroidal moments of inertia: 4 : rb (f9) = 0.019410 816-8 432.2112 inne? = 0.038820 R-Ib-s? Location of mass center. Fog = (18 indi + (9 inj = (5 NYE+ (0.75 NJ Velocity of mass center egg = SIXCL SI 0.759) (7.5 fs) Kinetic energy: .TBAS + 0-40.2426 +-4.36725 7 3.34 Rel PROPRIETARY MATERIAL. 60 2009 The MeGca-Hill Companies, ne. All ight served. No part of this Manual may be displayed, ‘reproduced or diaribued in any form or by any means, without the prior weiten permission of the publisher, or used keyond the Time tsiribaion to eachers end educators permed by McGraw Il for ter individual course preparation Ifyowarecastadet ws this Mana. Soir are sine I without pernisston.PROBLEM 18.48 Determine the kinetic energy of the disk of Problem 18.6, SOLUTION <2 = 0.1868 Ibes?/h 6 32.2 © = agi + j= (8 radis)i + (16 rad/s)j For axes x’, v’, 2" parallel to x, y, 2 with origin al A, Point 4 isthe mass center of the disk, F 4c = (9 in H~ (ink = (0.75 Mi ~(0.75 MK Va v= apbxtye 81% (0.75}-0.75k) = (6 Rs)j+ (6s) = OHO? =84853 tis Kinetic energy: (0.1863)8 4853) + F(0.020718) +4 O0K14,067 +0 =1.670-b 4 = 6.7068 + 0.6624 + 9.2992 = 12.6684 ft-Ib, PROPRIETARY MATERIAL. (© 2009 The MeGrav-Hill Companies, Ine. AIF rights wesesved. No port of this Manual may be displayed ‘rspratuced or debated bx any farm or ty any means, with the prior ten permission afte prBliher ov nse beyond the Tinted sdstributon to teacher and educators permed by McGraw Fl for the nvidua course preparain yen are ated wig this Mar, ‘youre sing I wish pernssen 1999PROBLEM 18.49 Determine the kinetic energy of the solid parallelepiped of Problem 18.7, SOLUTION Body diagonal: d= a? +Qay +a? = Vea o o =? al +204 -ak o=2¢ ij-al mtu? a? | qa? ea? sna? +a nt ma’ +(2ay* i +(2ay Axis of rotation passes through the mass center, hence Kinetic energy: celal = 0.1250 mara? PROPRIETARY MATERIAL, © 2009 ‘The MoCiew 68 Companies, Ine. AI eights reserved. No pur ofthis Manoa! may be dpa Iepruiced or distributed in any form or by any means, sion the por writen permission of the publisher, or used beyond the lntted Ubihuton to teachers and educators pormited by MG Hillfor tei nlividual course prsparaton.ifyaw area seen ws ds ual dur are sing iethon! pernassion 1900| PROBLEM 18.50 Determine the kinetic energy of the hollow parallelepiped of Problem 18. @ = 2a + 2a) ak. a aj—al Total area = 2(a" + 2a? +2a*) = 10a” Petal For cach square plate, maapm For each plate parallel to the yz plane, — mi La? Sig? = Simla’ +Qay = 2m L, nl +(Qay’} iD PROPRIETARY SHATERIAL. © 2099 The Mea ill Compass, lac. All sights reserved. No part of dir Manna! may be displayed, reproduced or desrtited in any form or by any means, wilt the privy written permission ofthe publisher or ase beyond the lated distro to teachers and educators permite by Merave-1il forthe individual ont preparation. yon tec student ng ts Mana, ya ae asing i hou! permission 1901PROBLEM 18.50 (Continued) For each plate parallel to the xy plane, ‘Total moments of inertia y 7 1-2 B42 (aot 0. Axis of rotation passes through the mass center, hence ¥ Kinetic energy: oot 1 2, rafts hiols Lol +t, rsa a) Gem VE)” 7 =0.203 mara? PROPRIETARY MATERIAL. «© 2009 The McGraw-Hill Companies, Inc.All ighs reserved No part of thir Manual may be dnplaed, reproduced or deibled in any form or By ony means wthou te prior written permission ofthe publisher, or wsed beyond the lnated Cittibution so teachers and educoors permite by Mana Mor tele nid course preparation ify are wstaden using this Mane ‘yo are ung i without permis 1902PROBLEM 18.51 Determine the kinetic energy lost when the plate of Problem 18.29 hits the obstruction at B. SOLUTION For the x” and y” axes shown, the initial angular velocity aj has components Initia velocity of the mass center: ¥y =O Let @ be the angular velocity and ¥ be the velocity of the mass center immediately after impact. Let (Ad) be the impulse at B. Vp = OXI py = (el! + yi +O.) <-al Kinematics: pe cee Cay) Vp a@.it ok’) Since the comer B does not rebound, (\p)~=0 or @y =0 Ox¥ 4 ara ~04( $i’) sam) meer 12 Gi 2k) PROPRIETARY MATERIAL. © 2009 Te McGraw-Iill Companies, Ine. AIL igh eeserve No part of thix Mamaal my be dsplaved, oproduced or diibuded in dny form oF by any means, withou the prior writen permission ofthe publisher, or sed beyond the lnted sdstibton teachers ane edcators permite by McGraw fer thet india conse preparation I youre a student ws this Mont, Sane sing ii permission 1919PROBLEM 18.63 (Continued) With respect to the fixed reference frame, Fy = (Hage + OX Hy maar 2 cisabsoir mao +20) a=. 12 (207i +30)+20K) PROPRUETARY MATERIAL. £9 2009 Te Meir Companis, fe 1 Fights reserved. No pant of shiv Manual wen Bo displayed, produced or dstibted in any form or by any mex, without the prior written persion of the publisher, or wed beyond the lint sebton to teachers end edcaors pete by Meal for tei individ conve preparation If yon ave ste sing this Mov Jeo ar ting thn porieton womPROBLEM 18.64 Determine the rate of change Hy; of the angular momentum H,, of the disk of Problem 18.4, assuming that at the instant considered the assembly has an angular velocity @= oj and an angular acceleration a= aj | SOLUTION Use the principal centroidal axes Gx’y2” Angular velocity. =-asin aacosB Angular momentum about G. Using Eqs. (18.10), mPeosin pb 1 Hy =T,0;~Lmrocosp To, =0 H+ Hyj+ Hk i where i, j,k ate the unit vectors along the x'y'2’ axes. = Lm wsin pi + naeos By ng =—tmPesinpt st Ai Angular acceleration. A=0j, Wy =-asinB, 0, acosf, Rate of change of angular momentum. Let the reference frame Gxyz be rotating with angular velocity Q= aj=~{wsin Bi’ + (@cos B)j’ PROPRIETARY MATERIAL. © 2009 The MeGrawHil Companies, Ipc. All igs reserve. No part ofthis Manaal may be cplayed ‘reproduced or distribu! in any form or by any means, without th prior written permusson ofthe publisher, oF ased beyond the lant isibution to teachers dcators permite by McGrane Hl for thi indbidua course preearaton If youarccastdent using ths Manel, waPROBLEM 18.64 (Continued) With respect to this frame, (Hoge Toh + Teeah' + Totoy “(jm 2 (asin yea Som * aco pa 40 mv acsin B+ fm 2meos py’ L a I mr? arsin B(icos 8 — js ; 1 B+ ymrcreos Asin B+ jcos 8) mr afisin feos f+ j2cos’ B +sin’ By) mr afftsin 25° cos 25° + (200s? 25° + sin” 25°] 1 4 t 4 = mr (0.04577561 + 0.45535)) With respect to the fixed reference frame, Hg = (Hg age #2XHg where QxMy = +-esin fi’ + ercos fi) nein f+ no) = Gre? cos Bsin fk — jure! sin Bcos fk mv a? sin Boos Bk mr? @ sin 25° cos 25° = -0.095756mr7ak l 4 1 a = mr? (0,0958ai + 0.45Saj—0.0958a7k) PROPRIETARY MATERIAL, 19 2009 The McGraw-Hill Companies, ne. All ightstexerved. No par of thie Manaal may be displayed. reproduced or ditibed in any form or by any mess, withont the par write permiesion ofthe publisher or nse beyond te limited siibution to echors ane ecucaors perm by MeCre- Hl for the inva course preparation Afyowarea student wing this Mandal oar are svg Iwi permission. 1922PROBLEM 18.65 A thin homogeneous triangular plate of mass 2.5 kg is welded to a light vertical axle supported by bearings at 4 and B. Knowing that the plate rotates at the constant rate «= Srad/s, determine the dynamic reactions at 4 and B. SOLUTION We shall use Eqs. (18.1) and (18.28): EF =m EM, =(H))joe tQxMy Computation of Hy: a ‘The moment of inertia ofthe triangle is i Ly 1 =50h A=sbh Cave = 75 7 | m 1 ee cor x =Z, | = 4.658107 Ib-s?-f Ss pmtSNC dys 2 1 , L.1118,0.5) 7 OH HRIO.SY 3493810" Ibs 2 plane (iangles) Lyd wm ij=doted alee : TR Tp pot = 1118.5)" ! = 1.1646x 10" thes? 8 PROPRIETARY SLATERIAL. © 2009 The MeGraw-Hil Cormpanies, Ine. All its reserved. No purd ofthis Manual may Be eliplayed, reproduced or dsrbated in cw forms or by any means, wihows the prior written permision of the publisher, wed bond the United Lsributn to teachers and edveaions permite by McGraw Til for thee suv course preparation, iyo are stent sing this Maal, som ave using i without permis inPROBLEM 18.68 (Continued) For calculation of /,.,use pairs of elements d4, and dy: dA, = dA, 1a = hepa + ab— o-3) 44 =~ §Qb~ xed, = but zen Hence, Spb? =x" de = 3 sont So.isyosy 2OLISx 10 Ih-s?-f Total for 1, 1, =4.658x 107 41.1646x107 = 5.823%107 Ibes?- ft “The mass center lies on the rotation axis, therefore 0 EF=A+B Hy HL, 0)- 10k @= oi, a= ai Let the frame of reference Axyz be rotating with angular velocity Q=0=0i 2M, =H. Hy age + 2% Hy Mgit Abix(B, + Bk) = Lai cr) 1,0 + 01x11 ~1,, 0) 1,0) Mgi~AOB, J+ 46B,k= 1,0 (Ug02~ 1,0°)}— get Ly Ok Resolve into components and solve for B, and B.. ko My=1o Uy 10°) a Ug + Ly") kc fat th) ob Data: a=0, = ED) 25.133 rls, b=05R My=0 SU Sx107 905 0.91955 Bb (40.5) PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine. AIL rights sesrved. No pure ofthis Manvel may be displayed reproduced or dstited tv any for oF by ane means, widow the prior spiten permission of the publisher. or used beyond the linked tribution to teachers and educators peritedby MeGraw-Hil for der divide conse preperation, Ifvow area student wing hs Mara, Sj are using it withon permission W930PROBLEM 18.68 (Continued) 11510 }(25.133)? (40.5) 1.10346 Ib, =1.10346 tb, 0.91955 Ib. A= {1.103 b)j~(0.9201b)k B= (1.103 bj +(0.9201b)k PROPRIETARY MATERIAL. (© 2009 The MeGraw-Hill Companies, Ine. AIK rights resseved, No part of this Manual may be diplayed, ‘reproduced or distributed in any form oF by any means, without the prior writen peroission ofthe publisher, or used beyond the tte dstibutio to teachers an educators permed by MeGraw-Hilfor ther ndvidvel core prepanatkon. Ifyou area student asin this Mana “you are using It without permission 101M PROBLEM 18.69 When the 18-kg wheel shown is attached to a balancing machine and made to spin at a rate of 12.5 revi, itis found that the forces, exerted by the wheel on the machine are equivalent 10 2 for couple system consisting of a force F= (160 N)j applied at C and ie & couple My =(14.7 N-m)k, where the unit vectors form a triad ‘which rotates with the wheel. (a) Determine the distance from the 3 axis of rotation to the mass center of the wheel and the products of eitia I,, and 1,,. (6) Honly two corrective masses are to be used to balance the wheel statically and dynamically, what should these masses be and al which of the Points A, B, D, ot E should they be placed? 0, SOLUTION m=18 ky, c= 2n(12.5)i = (78.54 rad/s)i (a) The force-couple system acting on the wheel is, F’=-(160 Nj, Mf =—(14.7 N-m)k mee? jee ma 1 agncto mF =1.441 mm (TR Ay 44mm € ma? T,ai~ [,,005=1,.0k Mi. = He = @xHe = @1X(1,04~ 1,,@)~ 1,08) (My i+ (M. Oj 1k (Me), _ 14.7) Sean? (MO. CHAD 9 3931107 kum’ a (785aF 7 Jy =2.38K10 kgm? PROPRIETARY MATERIAL © 2009 The MeCrw18l Companies, ne. AN rights reserved. No part of his Manna! may be dispaved. ‘produced or ditrtbied to any form or by cny mens, wiht the prior writen permission ofthe publisher, or used Deyond the finited ‘dartbuion to teachers and edactors permits by MeCraw-l for tee onda course preparation In areas using his Marna ‘yom are sing i etthon permission. 1932PROBLEM 18.69 (Continued) () Positions for the balance masses, YI =p =182 mm = 0,182 m (4 Xp =Xp =—Xp = 75 mm =0.075 Balance masses must be added to move the mass center to Point C and to reduce the product of inertia to zero, MMe tMyVy HM Vy Hmpy +r =O (0.182)(014 4 mg ~ my ~ mp) + (18)(LA4T 10) my bmg mp ~ my = 0.1425 ke a MAXI * MN FM XS + MYXpYy bly, =O (0.075\0.182)-m,, + mg ~ my, + mp) + 2.383110 =O my Fy My + my =-0.17459 key @ ‘To solve Eqs. (1) and (2), set my =Ound let my =m, ~My Then Mg ~My, = 0142S and Igy mp = 0.17459 Solving, mq) = 0.01605 kg, my = 0.1585 ke Set my =0, so that m, =0.1605 ke, ny =1S8S 9 m,=16.05 6 4 PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Copan, ne. AIL vightscesived. No part of fh Mana! may be dplayest ‘eproduced or disibted tn any form or by any means, won tne prior wvttn permission ofthe pubilshes or wed beyond the lined Atssturon to teachers anders permite by McCe-Hl for hindvicha onnesprsparation If jon ave student hs Mana, oware using hoe permsion 1933PROBLEM 18.70 After attaching the 18-kg wheel shown to a balancing machine and making it spin at the rate of 15 revs, a mechanic has found that to balance the wheel both statically and dynamically, he should use two corrective masses, a 170-g mass placed at B and a '56-g mass 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 masses have been X atlached (a) the distance from the axis of rotation to the mass center of the wheel and the products of inetia /,,.and 7... (B) the force-couple system at C equivalent to the forces exerted by the ‘wheel on the machine 20 19m SOLUTION {a) Balance masses are added {0 move the mass center to Point C and to reduce the products of inertia to zero. MgYg + MyYy +My =O (0.17}(0.182) + (0.056)(—0.182) +187 =0 153 mm o< = -1.15267x107 m z=0 makada t MoXpYy tly =O (0.17)(0.075)(0.182) + (0.056)(-0.075)(-0.182)+ 14) =0 Ty =~R.0R848x107 PROPRIETARY MATERIAL, © 2009 The MeCrow-Hil Compavies, In. Al rights reserve. No part ofthis Manna may be displayed, ‘reproduced or dribed in any farm or By any means thou the prior writen permission ofthe publisher, or asc beyond the lonited ‘itributon wo touchers nd educors ported by Metra fortes ndvial come preparation Ifyowcarsastent using his Mana, Dow are ring tt wihout permission 1934PROBLEM 18.70 (Continued) (8) Force-couple system exerted on the wheel: =~ (18YH1.15267 10 (94.248)? I j- 1,0 = (3.0848 x10" (94.248)? k = 17.4 Nom) Force-couple system exerted by the wheel on the machine: F=(1843N)j 4 Mo =Q74 Nimjke € PROPRIETARY MATERIAL. © 2009 The MeOrowHill Companies, Ine. Al ightseeserved. No part of this Manual may be csplayed. reproduced or disiibuted in cay form or by any means, witha the prior urien permission ofthe publisher, or used beyond the limited Aisibution to teachers and educators ported by Scrawl for tei individual course preparation Ifyou area stent wing Hs Manu Jou are sing itthou permission 1935PROBLEM 18.71 Knowing thatthe plate of Problem 18.65 is initially at rest (#0) when a coupfe of moment My = (0.75 N-m)j is applied to it, determine (a) the resulting angular acceleration of the plate, (b) the dynamic reactions A and B immediately after the couple has been applied. SOLUTION We shall use Eqs. (18.1) and (18.28): 3 BR = ni 2M, =(H)jg. + OxH, o=0} 7 h 1=-1,04+ 10 ; £ x (daca = yy tert 12 m Lap aU yea = tn Uy), race 6 The product of inertia ofthe Wiangle is Tee f, PR Uy )ace 5g m 1 Do ns =e Lage =m Cy yan = EU ass “55 Since the z-coordinate is negligible, Cua feet Thus, imi s Lda wo where the fiame of reference Axyz rotates with the plate with the angular velocity 2 wo Equations of mation. We first use Faq, (18.28) EM, = (Hy Jays OXHy Where H,, was obtained in Eq, (1) of Problem 18.56: 1 Ly? | 4 bho + mb} 2 ot Diflerentiating with respect to the rotating frame: L bho + mb ej Oso. “F5 é PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Cumpaies, Ine. All ghts reserved. No part ofthis Maal may be displayed Feprouced or dstribued iv any form or by any means. without the priar wren permision of the publisher or used beyond the finde ‘lutein to teachers and edceors permed by McCraw il for ther onal course preparation. I yoware a tadent wing this Mann 1936PROBLEM 18.71 (Continued) Substituting for Hy and (HL)... into Eg. (18.28), noting that 0, and computing EM, from diagram Myit hix(Bai+ Bk) = sober + Emba) +0 | Mgi-WB,k + hB,i = aml i+ mb ad Equating the coefficients of the unit vectors; 2, OMy | | My=Lmbter a= Site = SOBN a0 0 rads? a=(00nds)j a= (2.5 kg}(0.3 my ke -nB, =0 B, 1 1 1 1B, =—mbha, B, =~: mba =-4@.5y 0.39200) eee eee eg eae ia eee ce B, =-1.250N We shall now apply Eq. (18.1): 2B = mai Since o=0: Substituting in Eg, (12.1): 1 baa +L mberk 3 2 1 ie mba = ——(2.5 kg)(0.3 qinbank =~ (2.5 ke PROPRIETARY MATERIAL. (© 2009 The McGraw-Hill Companies, le. All rights reserved, No part of this Manual maybe dixplyed, 2 ypraduced or dstebted in any form or by any means, withon the prior writen permission ofthe publisher, oF wsed beyond te Tinta ‘distribution ts teachers and educators permed by McCrae Hil for thet indviual onrveprepanetion Ifyowareastudentwsng this Monta, ‘yo ore ing without permission, 1937PROBLEM 18.72 Knowing that the assembly of Problem 18.66 is initially at rest )) when a couple of moment My =Mpj is applied to shaft CD, determine (a) the resulting angular acceleration of the assembly, (b) the dynamic reactions at C and D immediately after the couple is applied. SOLUTION Using the principal axes Gx’y“z: =0 Angular momentum about C. vod! +Tyayi + 1a jm cos By or, since J=isinB + joosB: Hg =~mb wens Aisin fi + cos Bi) o Rate of change of ang tum. Eq, (18.22): Ne = (Hg age #2XMg = (He Nags +0 Since Q = @=0 when couple is applied, thus, Jaye = md cos Alin + cos) @ PROPRIETARY MATERIAL. © 2009 The McGraw Ill Companies, Ine. All rights reserved. No part of tic Manual may be displayed, reproduced or distributed in any form or by ny’ mens, litho the prior writen permission ofthe publisher, or sed beyond te finde (Asoributon te teachers educators permed by MeGraw-il for their dividual conrne preparation Ifyouareastdent wsng this Marva ow are wing i withont permission. 1938PROBLEM 18.72 (Continued) Equations of motion: Equivalence of applied and effective forces. EMyy = UMy ewe? 26jx(C,i+ Ck) + Mol 1 ~2bC,k + 20C,14+ My i= Equating the coefficients of mb? asin os P+ nb er poboeest pg 6 senla sinpoorp mb? ar'sin Boos fi-+ : mi?xcos? © ph nb°xsin Boos B o ; wee? p w : 3 k © (@) Angular acceleration. 3Mg From Eg. (4), — Mo < a mb cos (6) Initial dynamic reactions. From Eq. (3), {mbes nsf snopes) Ms) (32) B Recalling Ea. (9). =0 o-( Sonn « IF =YF) ey crD=0, b= PROPRIETARY MATERIAL. © 2099 The McGraw-Hill Companies lac. A sights eeserved, No part of thir Manna may be dlspayed, ‘reproduced or dstibued ix any form or by any means, without the prior vritten permission ofthe publisher orwsed beyond the lined Astribution to teachers and educors permite by tia Hil forthe individual course preparation If youre set using his Mandal You are using I withoe!permision 1939PROBLEM 18.73 ‘The sheet-metal component shown is of uniform thickness and has a mass of 600 g. It is attached to a light axle supported by beatings at A and B located 150 mm apart, The component is at rest when it is subjected to a couple Mo as shown, If the resulting angular acceleration is @=(I2 rad/s’ )k, determine (a) the couple Mo, (6) the dynamie reactions at A and & immediately after the couple ~* has been applied SOLUTION ‘The sheet metal component rotates about the fixed 2 axis, so that Equations (18,29) of the textbook apply. ‘These are relisted below as equations (1), (2), and (3). a Q) ) Calewtation of the required moment and products of inertia m= 600 g=0.6 kg Total mm: Total aree: 4 =L(0.075) + (0150K0.075) + (0073) =16475%10 m8 Let pe the mass per unit area. p- ae 35.556 ku/m? ‘The component is comprised of 3 parts: triangle ©, triangle ®, and rectangle @ as shown, Let the lengths of 75 mm be labeled b. ‘Triangle ®, The equation of the upper edge is Use elements of width dz and height y. din he PROPRIETARY MATERIAL. © 2009 The MeGraw-4ill Companies, ne. AU rights reserved. No par” of this Manual may be displayed ‘ipraduced or disoibuted ty any form oF By any means, wou the prior written pormisson ofthe publisher, or used beyond the Tinted strtbion teachers and educators pete by MeCian-1 for tet nivel canrse preparation. you arecastdent using this Mena bow are ning i withou!permision. 1940PROBLEM 18.73 (Continued) Coordinates of the element mass center sZydn b | =04 Caton) ~—ple( 22 ae bea Ia oof {? 2} eda + Farzad =04 ( retoney=Lo( 2) at Applying the data, Hos 556)(0.075)" =93.75x10°*kg-m? ty == 9408558690075) = 488750104 56.25% 10 ky -m? Jos 556}(0.075)" PROPRIETARY MATERIAL. © 2009 The McGraw-IKll Companies, ic. All rights reserved. No part of this Manual may be dpa ‘reproduced or dsnrused in any form oF By any means, wi the prior written permission ofthe publisher, or sel beyond the lint disrbuton ro teachers ad educators permite By Meio Hl for thet ind ada ene preparation Ifyonarecstadent ving his Mant, Dost are nein wthont permissionPROBLEM 18.73 (Continued) ( Triangle ©. The equation of the lower edge is (3 Use elements of width dz and height ~y. dm =~pyde, (y= hrm, (l)q =, (dig)y =0 Coordinates of the element mass center: ‘The integrals for /,,./,., and £, turn out to be the same as those of triangle ©. Ty =93.1Sx10%kg-m?, 1, =-46.875x10%kg-m?, J, = 656.25%10°%kg-m? Rectangle @. Area: A= (0,150)(0.075)=11.25x107 m? Mass: m= pA=400x10%kg 1, a = yma (400 10*}(0.150)' = 75010 %kg-m? Totals 1, = Bl, = 187.510 kg/m? Tyg = Eye = 93.7510 kgm? 1, =¥1, =2062.5x10kg-m? Since the mass center lies on the fixed axis, the acceleration @ of the mass center is zero. ZE= na =0 The reactions at 4 and 2 form a couple, BA Let A=AGt Aj Resultant couple acting on the body: M=ekx(4,t+ 4,D+ Mik cdi ted i+ Myke (@ Moment My, Using Equation (3), EM, = Mg = 1,0¢= (2062.5%10™)(12) My =24.8x10°N-m 4 PROPRIETARY MATERIAL. «© 2009 The MeGraw Hill Companies, ne. AI rights served. No put of this Manval may be displayed, roproxtuced or desribued bn any form or by any mean, without the prior writin pormieron of th publisher, or weed beyond the Tiited ‘stibtion to oachors and educators ported by Mera HI forthe individual course preparation Ufo are arsed wing this Mani, Jy are wang i with! pereisson. 19aPROBLEM 18.73 (Continued) () Sx10°N A= (7.50510 N)I+(15.00% 107 Nj B=-(750x107Ni-(15.00%10° Nj PROPRIETARY MATERIAL. © 2009 ‘the McGraw-Hill Companies, Ie. All rights reserved. No prt of thls Manual maybe diyplayec ‘reproduced disiibated in envy form or by ey means, without the prior writen permission ofthe publisher, or used beyond the lined 10 a (@) Ma pa oO = (0.0621 12)(0.75)'(20) M, =(2.331b- fDi i; ie 20.0621 129015720) B-+0466191 < (0.75) A= (0.466 10)1 PROPRIETARY MATBRIAL. © 2009 ‘ye McGraw-Hill Companies, Ine. AIL ighs reserve. No part of this Manna maybe displaec reproduced or disntbuted tn any form or by amy mens, who the prior written permission ofthe publisher, or used Devon the lited ‘thnsiation teachers and educators porn by Meta for tel adil cow prepavion you area student using dis Manual, ow are sing i withou permission, 1948PROBLEM 18.76 The assembly of Problem 18.68 is initially at rest (@ =) when a couple Mg is applied to axle AB. Knowing that the resulting angular acceleration of the assembly is a= (150 rad/s")i, determine (a) the couple Mg, (6) the dynamie reactions at A and B immediately after the couple is applied. SOLUTION ‘Mass of sheet metal: Sheet metal dimension: Area of sheet metal: Let Moments and products of inertia: xy plane (rectangles) xz plane (triangles) 0.08385 Ib-s?/ft 6in.=05 Liew Le = a0? 0.5 02 2 2 2, 0.08385 — 9.1118 th-s2/M = mass per unit area A 0.75 Dass = Planes) 2h (0.1118)00.5)" aaits 4.658107 Ibs? ice (354 et , bt = 2(O.A118K03) 3.493810 thos? 1.164610" Ts? fh PROPRIETARY MATERIAL © 2009 The MeCa-H Companies, In AU rights reserved, No art of thi Mana may be displayed typhus or dtiied in any form or by any sens, without the prior written permission ofthe publihsr, or used beyond the linted ‘Uscbrion to techere ans ecucatore permed by McGraw-Hill forthe indivi onovepreparotion. Ifyou area stent unig hit Monn, Jew are sing i without permission 199PROBLEM 18.76 (Continued) For calculation of /,,, use pairs of elements d4,and d4,: dA, = dA, L f x5 dA, 4 [4b~x rf at =~ f(ab—x)2dd, = h(2b~ xpd 2, But 2 Hence, oF = OA L18Y0)* =-291 15x10" bs? Total for /, 1, = 4.658107 41.1646%107 = 5.823% 107 kg-m? ‘The mass center lies on the rotation axis, therefore, +B=mi=0 111,00) 1.00% Let the frame of reference Axys be rotating with angular velocity Q= IM, =H, =(H,) yet QXH, Mit 4b1x(B, 5+ BLK: ak + AX (ca 1,00} 1,088) a 1a Mi 4bB, i+ 4bB,) Yi (1,004 10? Yk ai (a Resolve into compon sand solve for B, and B,. k i k Data: @=150 rad/s", w= 0, b= 05K (a Mg = (5.823 x10*1 50) = 0.87345 Ib- ft My = (0.873 lb-ft © 1p, = £3493810°V150) =O 9 969 (4)0.5) 3 a 911510 }150) +0 _ 95g (40.5) 4, 4, 125 N A= (0.218 Ib)}-+(0.262 Ib)k B= (0.218 thy} (0.262 Ityk PROPRIETARY MATERIAL. © 2009 The McGraw Hill Companies, Ine AI rights reserved. No pare of thi Manna may be displayed, ‘reproduced or diiribured in any form or by any means, withow the prior tien permission ofthe publisher, oF used bevond the Tied sribuson wo teachers and edvewtors permed By MeGrevr-1 for thes indie course preparation. If von are staden ws is Manual, en are using i wou permission 1950PROBLEM 18.77 The assembly shown weighs 12 Ib and consists of four thin l6-in-diameter semicircular aluminum plates welded to a light 40-in-long shaft AB. The assembly is at rest («=0) at time ¢= 0 ‘when a couple My is applied to itas shown, causing the assembly to complete one full revolution in 2 s, Determine (a) the couple Mo, (8) the dynamie reactions at A and B at 1=0. SOLUTION rotation with constant angular acceleration, 0-8 vent har 1416 rads? a=0 Use centdal axes xy, with origin at C He = [04 Ly} 1,0 Lot the reference fame Cxyz rotate with angular velocity Q=0=0i Fie = (eye #OXH = Letd=Fyaj~ a+ 007) 10k Required moments and products of inertia. Let p= a7 mass per unit area, 12 0.37267 Ib-s*/it 8 in, = 0.66667 fm Vanes Plage 7 222 Part 4 4 Jey Ta @ | dart | bar 2 8 ces © [a [ie PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, Inc.All hts resected. No part of this Manuel may be dlplayed. ‘reproduced oF dibuted in any form or by any means, thou the prior eriton permission ofthe pubiher, oF wad beyond the ited @ Fat = et = (3.14162) = 6.2832 sais Use centroidal axes x, y, 2 with origin at C. H Oh Ty 08} — Tg. Let the reference frame Cxyz rotate with angular velocity Q=o=0i Hie = (He Joys #2xHe = [,01-1,,07)~ 1.0K +1,0°5- 1,0 m nertia. Let p= et pat Required moments and products of mass per unit area, 12 yg 7 087267 Ibsen yas = Plage 7 =8 in. = 0.66667 ft Pat | 4 1 Ly bee PROPRIETARY MATERIAL. © 2009 ‘The McGraw-Hill Companies Ie. All rights reserved. No part of this Monn may he displayed ‘reproduced or csnibted in any form or by any means, without the prior widen permission ofthe publi or used beyond the linited ‘isribaion wo toachors and educators perma by Metrow Tl for thelr individual evne preparation if youuarestucden asin is Manel Yon are using i ithon permission 1953PROBLEM 18.78 (Continued) m 0.37267 so, = 0.13345 Ib 87/0 2(0.66667) 2ar 1 asses -0onwr 2 0, 13345}(~4}0son* = 0.035147 Ib-s? -ft ca counas(-4)o0 66667)" = -0.035147 Ib-s? ft Since the mass center lies on the rotation axis, a=0 BPS At B=2Ry = mii =0 A= EM = My + Obi) A+ BIXB = Mg 261x(B, 14 BLK) = Mgi~2bB.j+ 20B,k where 2b=40in.=3.3333 EMe = Hy Resolve into components, i Mg = 1,0¢ = (0.041407)G.1416) 1301 Ib-ft ~2b 8, =-Iyeet ye? -0.035147)(3.1416) + (~0.035 147(6.2832)" = 0.383 1b, 4, 3.3333 fi Kk 2bB, =-Ia—1,0" (0.035147). 1416) + (-0.035147Y6.2832)" _ 9 449 1, Teg aasis 3.3333 A= (0.449 Ib)}— (0383 yk B= (0.449 1b)j-+ (0.383 Ib)k PROPRIETARY MATERIAL © 2009 The MeGrow-t6l Companies, Inc.All gs reserved. No part af this Manual may he displayed, ‘reproduced or distributed any form or by any means, wihont the prior writen permission af the publisher, or wsed beyond the Limited ‘stration ta teachers end ecatos period by MeCrrntil fr fer india eve preparation If you area student sy this Manual, omar wing i ithon permieion 9sPROBLEM 18.79 The flywheel of an automobile engine, which is rigidly attached to the crankshalt, is equivalent to a 400-mm- meter, 1S-mm-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 200-m radius at a speed of 90 kan/h, with the flywheel rotating at 2700 rpm. Assume the automobile to have (a) a rear-wheel drive wit the engine mounted longitudinally, (b) a front-wheel drive with the engine mounted transversely. (Density of steel = 7860 kg/m’. SOLUTION Let the.« axis be a horizontal axis directed along the engine mounting, ie., longitudinally for rear-whee! drive and transversely for front-wheel drive. Let the » axis be vertical. ‘The angular velocity of the automobile, ©. equal to (v¥p)j, where v=90knvh=25 m/s and p=600 25 ©, => j= (0.125 radls)j 300! a | Angular velocity ofthe fly wheel relative to the automobile: 0 =i 2 where oy = 222100) _ 299.74 rads 60 Angular momentum of fly wheel He =1.ai+ 10,4 Let the reference frame Gayz be rotating with angular velocity = = He = Ne oige +Q2*HG = 04 anix(Iai+ Ici) =-1,040sk Couple exerted by the shaft onthe ly wheet M=-1,0k Couple exerted by the fly wheel on the shaft: M?=-M-=/,q\ank o zp ae Data for fly wheel: mo o( Eat r= crs) Z00, 4)? (0.015) = 14.816 ky Fora circular pat, 1, = hr? =1 143816102) =0.29632 kgm? Using Equation (D), IM’ = (0:29682)(282.74Y(0.125)k-=(10.47 N-mpk (2) Magnitude of couple for rear-wheel drive M’=1047N-m 4 () For froncwheet drive M’=1047N-m 4 PROPRIETARY MATERIAL. © 2009 The MeGraw-til Companies, ne. All ighs reserved. No part of thix Manaal may be displayed, reprodtced or dsrbated bs any form or by any moans, shout the rior writen permisron of the publisher or nse beyond the lied PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Inc. AN ighs reserved. No pat of this Manval may be displayed reproduced or dbutibued in any form oF by any meas, witout the prior writen pecmision of the publisher, oF used Beyond the Lite ‘Usiribution to oucher and edad permed by eGraw 1 or their ndvidual course preparation ifyowareustuent ws this Mana yo ae ning i withon permission,PROBLEM 18.82 (Continued) w=8or=2=051b 16 os : ppc ISS28107 sit o2sn 0.41667 8 $.528x10* (0.25) (188.5)(0.6) 0.41667 = 0.2634 Ib =42lox A, =-42l0z 4210) € B=-G.210) 4 PROPRIETARY MATERIAL. © 2009 The MeGraw-¥ill Companies, hye Al rights reserved. No part ofthe Manual may be displayed ‘reproduced or distributed in any form o by any moans, without the prior writen peroasion of the publisher, ar wad bey the Hinged mater sin Boos, ims Scos)= maa sin eos mq 228 8 (6432.2) ; = 88 2) 193 990d 5 asinB SOS)sinaye (08748) PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Inc. All ighs reserved. No pat of this Mena! maybe dyplayed ‘reproduced or ditibuted in any form or by exyy meas, witont the prior wrlten permission ofthe pulser, or used beyond the ted dtsibution to teachors ancl educators ported By Metra Hil for ti individual cones preponaton Ifyou ara shade asi hs Mn ‘yon are sing i sithnt permission 1969PROBLEM 18.89 The 950-g gear A is constrained to roll on the fixed gear B, but is free to rotate about axle AD. Axle AD, of length 400 mm and negligible mass, 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 80 mm, determine the largest allowable value of a, if gear 4 is not to lose contact with gear B. to SOLUTION ipal axes x, yz a8 shown, ©, = asin fi @ cos fh Choose pri Kinematics: o=0,+0, asin Bi + (@ cos 8+ a)) o,= asin cos B+ 0, =O) Xen = ODM ~ayLsin Bk Ag = 0, X Ve =F Lsin B — Yo = Vet OXF aL sin Bk +(@i+0, DX) ~aLsin Bk +0,7k L q=sinB r Angular momentum Loita) PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine. All ight wesceved. No part of this Manual may be displayed, repraduced or dasrabaed tn any farm or by ny means, thou the prior writen pormsion ofthe publisher, or used beyond the Tinted (dsibuton to teachers ad educators permited by bleGrav- or thee ndviual couse preparation Ifyoncare student using this Manual [pox are wins i without permission 1970PROBLEM 18.89 (Continued) Let the reference frame Diy be rotating with angular velocity = 0, Hg = My Jig XH = 0+(@ sin i+ 0 cos Bi)x(7,@,i+7,0,1) 9,09 sin fb ~T,c0,09 008 Kk 1 mre, c08 B lank AN ‘Moments about D: My = Fak ~mgLsin Bk where a-Vevr (Mer = He + tain mag = Hy, + map? sin Beos Bk Equating M,, = (M,)eq and taking the z component, vB Fed ~mgLsin B =| (Sm 4 sin ss fab + moF sin cos ne sing rLsin if cos B-E op) Oand solve for af: af = fe B cos f-++? cos —Lrhsin B 4 2 (0.80.4) (0.4)" c0830° + 1(0.08)' cos30°. 4(0.08X(0.4)sin30° =29.739 a =5A5radis PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Compnic, le. Allright reserved. No part of this Manual may be displayed. reproduced or dried in any form or by any means, thou the prior written permission ofthe publisher, or ased beyond the limited dhsribuion to teachers an educators permed by Mera Hil forthe individual course preparation Uy arecastdent wing hs Marval pow are using widout permission.PROBLEM 18.90 Determine the force F exerted by gear B on gear 4 of Problem 18.89 when shaft DE rotates with the constant angular velocity a =4 radi. (Hint: The force F must be perpendicular to the Tine drawn from D 10 C.) 80 mn SOLUTION f=30" 1L=400 mm =0.4m r=80 mm =0.08 m Choose principal axes x,y, 2 a8 shown, Kinematics: ©, =a4sin fi+ @ c0s Bj @,= a,j o=0,+0, aysin Bi+ (a cos B+ 0) 2, =0\sin Bb 0, = Geos +0, Yo=O*toun =O1Xan asin Bk xg =aP sin Bb — Ve ENG FOX Tas ‘Angular momentum: PROPRIETARY MATERIAL. © 2009 The MeGraw-Hill Companies, ne. ADL igs reserved. No part of this Manval may be displayed, ‘eprochiced on ctributed in any form or By any moans, without the prior writen permission of the publisher, ar used beyond the Hine dstribaron ta tachers end educeos permite by MeGraw ill Jr thelr invidual course preparation. fora asin! sing this Manual ow ae wing without permission.PROBLEM 18.90 (Continued) Let the reference frame Dayz be rotating with angular vetocity © = 0, Fy =H dog 2g =0+(a4 sin i+ a cos B)x(7,.0,4+7,0,)) = C,0ye4 in B 7,ay.4 005 Bk (5 mea, sin f Lm, cos, a > " Moments about D: M, = Fk ~mghsin fk where daVP4F (Myer =H ten Xotg, = H+ may? sin Boos Bk Equating My =(M/p).q and taking the z component, Fed ~mgLsin B “(3 nv? Ein? qn sin os Ja + ma E? sin Boos 8 1 = inp rts Gr eos Ecos) soni eh, pea BSAOl ef oped ont!) a Adaitional dae m=950¢=0.9S kx, 0) =4 rads d= (0.4) + (0.08)? = 0.40792 m (0.95)sin30° [ re ieee ! N 9 — (47? | (0.4) e0s30°+ 10,08)? cos30° —4 (0.4)(0.08)sin 30° a jose (ay [os 30° + (0.08)? cos30° ~ = (0.4(0.08)sin30 } =211N = 187° 2UIN LIB? PROPRIETARY MATERIAL. © 2009 The MeGraw-Iill Companies, ne. Allright reserved. No part of dix Manual may be delayed, ‘reproduced or distobted in any form or by any meds, sithou the prior rien permission ofthe publisher, or wsed beyond the fitted dlisiibation to teachors and edcatorspormited by McCien-Hl forth Inds course preparation. you area stent nein his ann, yon are ning ith permision 1973PROBLEM 18.91 ‘The slender rod AB is attached by a clevis to arm BCD, whieh rotates with a constant angular velocity @ about the centerline of its vertical portion CD. Determine the magnitude of the angular velocity 0 SOLUTION Let Choose .x,..2 axes as shown, Angular velo, = asin 30% + weos309j Angular momentum of rod AB about its mass center Gi Oi +7,0,5+ Tok Let the reference frame Gxyz be rotating with angular velocity 2 =e Hg = (Hg age +2 He = 0+ (wsin 30° + ecos30°}) x7, C0830} a = Ta sin30° cos30% = mi? ok 7 48 083045 =| 95793 ft Radius of circular path of Point G: Acceleration of the mass center Equations of motion: PROPRIETARY MATERIAL, © 2489 The McGraw ill Companies ne. Allright reserved, No part of this Manvol may be diaplayed, ‘reproduced ov ctributd in any form or by any means, ssthow the prior rien permission ofthe publisher, or sed Beyond the ied stributon to tachers and educators permite by Metra Hl fr thei ividua conve preparation Ifyou arecastudont using this Mara, pw are ung i wilhont persion. 1974PROBLEM 18.91 (Continued) EM, = 100530" = Esin30°) nro? Hy ‘ a = 48,994 027.00 radis PROPRIETARY MATERIAL. © 2009 The MeGaw-Hill Companies, Ine. Allright rtervd, Vo part of thie Manual muy be diplayed, ‘reproduced or distributed in any form oF by any means, ethad the prior itn permission ofthe publisher, on used beyond the lint ‘dstibution to teachers and eden permite by Aira HE other iliviual ewe preparation Ifyou are ascent wig hs Mana Dour are wing it without permission 1975PROBLEM 18.92 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 «a SOLUTION Let AB=L=15 in,=1250, and BC=b=S in. =041667 1 ne Choose xy,2 axes as shown nt : 2 Angular velocity = ~esin30°F+ 2608307] Angular momentum of rod AB about its mass center G: Hy =i +7,0,)+T.0.k=T,e0c0s30} Let the reference frame Gxyz be rotating with angular velocity Q= 0. i Hoye + QXMg = 0+ (-wsin 30° + ercos30°))x7, C0530} vf Snark 48 Tye? sin30*cos30°% = Radi 0.1246 0 of circular path of Point G Eeos30° = 2 Acceleration of the mass center: W= ra? ~ Equations of motion: PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Ine. All Fights reserved. No part of hic Mamnal may be displayed, roprntuced or dso in any form or by any means, sett the pier ttn permission of the publisher, or wsod beyond the lined ‘dstribtion to eachers oul educators pert by McCray fr dei indvudual cotase preparation youre sadn wing this Manta ow are using I wien permission. 1976PROBLEM 18.92 (Continued) em Sing Sigoy-[? 32.3) =| (0. 4 (32.3) 3 O-1246) + a =182.85 3.52 rads PROPRIETARY MATERIAL. © 2009 ‘The MeGeay-Hill Companies, ie. All rghts reserve. No part of thie Manual may bo diplayed ‘repraduced on dissed in ey form or by ay means, witha the prior writen permission ofthe publisher, or sed Besa the inte sribution to taochers an educators permite By Meroe Hil for Bir dividual corse preparation Ifyon ae a student axing this Manual ye are ning iota porision v7PROBLEM 18.93 Psnman_ 9 ‘Two disks, each of mass 5 kg and radius 100 mm, spin as shown at the rate a) =1500 rpm about a rod AB of negligible mass, which rotates about a vertical axis at the rate @,=45 spm. (a) Determine the dynamic reactions at C and D, (b) Solve Part a, assuming that the direction of spin of disk B is reversed. SOLUTION Angular momentum ofeach disk abou its mas enter ek Hy =7,0,1+7,0,)= frais 1 way! cab '(2al +a) a Eq, (18.22) = Jags HOM = 0+ ogb FDA OSD Ay + tm ayosk @) ations of motion. Since mii, and miaiy cancel out, effective forces reduce to couple 2H, = mr?aayk. {t follows that the reactions form an equivalent couple with -c-n-( "a dam 8) PROPRIETARY MATERIAL. © 2009 The MeGraw-4ill Companies, ae, AN hts reserved. No part of this Manual may be dsplaed, ‘raprediced or distribu in any form or by any means, withou the prir writen permission ofthe publisher, oF sed Beyond the lipied Linear components: A= mae A=-(11.65 1b)i Moments about A. My = heyy mag +H, M, =(1.51+0.75) x(-11.6461) +2.91151 M, 1, = (2.91 Ib + (8.73 Ib-fk PROPRIETARY MATERIAL. ‘© 2000 The McGraw-Hill Companies, le. All rights wserved. No part of dic Monvol may be displayed, epreduced or diribued In any form ar by cy moans, thou the prior ivitton permission ofthe publisher, or used beyond the lite cdsribution to teachers ad educators permit by MeCraw- Hil forthe invidval connaeproparctionIfyonarcastudent using hs Manta, Yow are ung it without permission 198sPROBLEM 18.98 A homogeneous disk of weight 1” =6 Ib rotates at the constant rate a =16 rad/s with respect to arm ABC, which is welded to a shaft DCE rotating at the constant rate @, =8 rad/s, Determine the dynamic reactions at D and B. SOLUTION Angular velocity of shaft DE and arm CBA: = ayi Angular velocity of disk 4 o-ai+aj Angular velocity about its mass center 4; Hy =7,0,147,0,5+ 1.0K TairT,aj 1 ants omen operas mr ai Let the reference frame Oxy be rotating with angular velocity Q = @,i. Hy =CH gy, +H, fine hoa) + ax H, = 2 mbar, cos? 0 Smee, =M, J ni e40, sin cos =M, Jaf sin Bos Data: m=43kg, — b=08m ae ae 0472 radls, oy == =0,5236 radis 6 12 =M, Fas £8)? (1.0472)(0.5236) cos? 0 =11.23¢0s"@ N-m 2 (48y089(.0472)05230)sin 0050 =11.23sinBeos@ N-m EM, = 48500 8)°(0.5236Y sin caso =-28Isindcosd Nem M, =(11.23 N-incos? At + (11.23 N-m)sin @cos6j~(2.81 N-m)sinOcosok PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine. AIL Highs reseve. No par? of this Monta mae be displayed ‘produced or distributed in cy form oF by ans means, wilt the prior written permission ofthe publiher, av nsed bevond the limited siributen to teachers and educators permuted By McCrae for thelr avid conse preparation Ifyou ae a doa asing Hs noah Sow are using I withon! permission 1990PROBLEM 18.100" For the system of Problem 18.99, show that (a) the dynamic reaction at D is independent of the length 2a of the panel, (6) the ratio MyM, of the magnitudes of the couples exerted by the motors at A and C, respectively, is independent of the dimensions and mass of the panel and is equal to @/2a at any given instant, SOLUTION Use principal axes x,y’, 2as shown, Moments of inertia: Kinematics: = 0,509, p= GO, C080, try Euler's equations of motion for the plate: EMy = Tete Ty Taya, = Taya cos -(T, -T,)ay@, cos =p +7 --T, ge, cod 2 bt =imb! aa, cos ind ane, cost Tyla = (Ty Te 0, -T,a0, sind -(F, Taya, sin = (Ey ~Ty~T)ayaysind=0 =F e-T,yovey =0~(T-T, a sin @cos8 =~}nd%a sin Boos PROPRIETARY MATERIAL. ® 2009 The McGraw-Hill Companies, Ine All ighs reserved. No part of thie Mannal may Be displayed repreduced or dried x any for or by any mens, sett the pri writen permission of the publisher, ov used Beyond the lined ‘dstibution to teachers and ductors permed by Mera for tc inoldul course partion. Ifyosare atau wing ths Maret ow are wing 1 thon permission. 1990PROBLEM 18.100" (Continued) =M= 2 nbajen coséi mii sin @cos 6k. = 2 miex, cos feos sing) ~ Ln? sin cos Ok Resolve into components: EM, 2 ayy cos? @ =M, J mi ayan sin Geos EM, moa} sin 8088 (@) My =M, which is independent of the dimension 2«. Zion sindcoso] ®) M,=[EM,| M=BM) |Lnstofsinacese M OL M, 2a ratio PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine. All ights eserved. No part of is Manual may be disptaved, reproduced or dstybuted in any form or by any means, without the prior wren permision of the publisher, or used beyond the lined isribuson wo teachers and educators permit by McGrath vidual couse preparation If vow rast asin hs ral ‘yon are using i with permission 1991PROBLEM 18.101 A 3-kg homogeneous disk of radius 60 mi spins as shown at the constant rate @, = 600 radls. ‘The disk is supported by the fork- ended rod 4B, which is welded to the vertical shaft CBD. The system is at rest when @ couple My =(0.40.N-m)j is applied to the shaft for 2 s and then removed. Determine the dynamic reactions at Cand D after the couple has been removed. A, v0 000 SOLUTION Angular velocity of shaft CBD and arm AB: Q= aj Angular velocity of disk 4: o=aj+ok Its angular momentum about H,-7,0,+1,0,)+7,0k-T,0,5+T.ak Let the reference frame Bxyz be rotating with angular velocity 2. [5+ TAK + 0,jx(7,0,5+ Tak) (Hane FOXH g 1,0,5+ Lak ai 2 ani! mPéj + amr? a Velocity and acceleration of the mass center 4 of the disk @jxci=-ca,k, f,jxcia,jx¥ ER = Dp =m C\i+ Ck + Dit Dk = Resolve into components. PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Inc All ights reserved. No past of this Manual may bo doped, reproduced or ditibued ix any form or by any mexns, without the rior wren permission ofthe publisher, or used beyond the tiated ‘dsetbation to eochor and cdcavorspermted by MeGras- Hor thar mdisidal course preparation Jfyou areca sunt wsing this Manoa, you are using i thou permission wonPROBLEM 18.101 (Continued) YM, =Hy =H, try, xo Myit PAC A+ 2BC i+ Myj-20C k= nf drain, bei} + mf 2 vei Hi, + (c4+ bp x(~eagk ~cait) Kk) = HL, = mbedni + me? dj+mboakk sn 52 too) i Meom( tr +o, milo 2 =-2(1 26 +5002) D, = ala Ae “) : (leans m1» i C= 2{ Paya, bee, | D, : a que ‘) =3ke, 100. mm Data: = 60 mm= 06 m, 6 =75 mm=0.075 m, =O rads, While the couple is applied, 12.2324 rads? ) of ioe? son") Atta 2s, 0, = ()y + yt = 0 (12.2324)(2) For 1>2s, My=0, @,=0 3 0+ (0.0750, 124.465)" (240.075) 3 0+ (0.075 0.124.465) (20.075) 3 t 2 exe Pera { tenon onzess-0]os -saiza| 00" conan oso p, =| == 0075) [-omyanan-0] = (89.8 NV+ (S28 N)k D=~(89.8 NI-(52.8 Nk PROPRIETARY MATERIAL. © 2009 the MeGrws-¥il Companies, Ine. AI ighstesaved. Mo part of this Manual away be displayed reproduced or disibued ta any form or by anny means, seth the priv wriden permasson ofthe publisher, o” used bevond the lite ststibnton we toachors and educators permed by Metin Hl for their individual cove preparation If vowcarea shale axing es Shana Yow ave sing i eth pormsion 1993PROBLEM 18.102 A 3-kg homogeneous disk of radius 60 mm spins as shown at the constant rate = 60 radis. The disk is supported by the fork-ended rod AB, which is welded to the vertical shaft CBD. ‘The system is at rest when a couple My is applied as shown to the shaft for 3 s and then removed. Knowing that the maximum angular velocity reached by the shaft is 18 rad/s, determine (a) the couple Mg, (4) the dynamic reactions at C and D after “5 the couple has been removed vm SOLUTION Angular velocity of shaft CBD and arm AB: Q=0,) Angular velocity of disk A: Us angular momentum about H, =Tai+Taj+Tak=Tayj+ Zak Let the reference frame Bxyz be rotating with angular velocity 2. Hy =O )gg: $QxH, 7,0: + L.Ok + 05x (1,0,5+ Lak) aos 1,@,)+ Lk ie eee = mr ayayi + Lia > mea i aah + mr) + Se a Velocity and acceleration of the mass center A of the disk V=a,jxci=-coyk, =0,)x A+ O)X¥ =e, ~ cei i I Gay a Ce j (Hy, bye, 7 Wie ~ Resolve into components, PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Ine. AU igh reserved, No port of this Manual ma be display ‘reproduced or distributed in any form or by any mens, witout prior writes permission ofthe publisher, o” sed Devon the Lane Usibution to enchers and educators period by MeCirow-Hll fr these india conse preparation Ifyouarea student using Hs Mane, Denne using wrth permission 1994PROBLEM 18.102 (Continued) IM, = Hy =H, tgp xm =H, +(ci+ bi) x(-ca,k ~cati) Mah 259 (CL+CK) = HL, — mbotyi + mee) + mba 26C 1+ Myj-20Ck = of Se Zan hein oor +e ") m{ 1 Sif «eat ) nfl ZL Paya, + bei aG qe “) Data: m=3kg, r=60mm=0.06 m, b=75mm=0.075 m, ¢=100mm=0.1m, @=60rads, a = (@ While the couple is applied eB Gradis? My=m{ bree o=m[ a, =a 40007 +0 yy Jo My =(0.1962.N-myj (0) Por s>3s, My=0, t=0 C {0+ (0.075)(0.1)(18)°]= -48.6N (2)(0.075) 3 Bah .075H0.06 Soe see fe G wont 06)? (6018) o|- 38.9N x3 _|_t @osyoayay- 2. = gens [30007 6009-0} —48.6N 38.9 N C=-8.6Ni+G8R9NK € D=-8.6 NVI-GSINK PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, Inc. All ighs reserved. No part of this Manual may be displayed, ‘reproduced or dstibuted in any for or by any means, without the prior written permission ofthe publisher, oF usd beyond the tinted distribution to teachers and educators permed by MeCiraw-Hill for their individual curve preparation Ifyou arcestdont sig hs Mara, pow are using I withow permit, 1905PROBLEM 18.103 For the disk of Problem 18.97, determine (a) the couple Myj which should be applied to arm ABC to give it an angular acceleration a =—(7.5 radis")} when 4 =5 rad/s, knowing that the disk rotates at the constant rate «@, =15 radis, (B) the force-couple system representing the dynamic reaction at A at that instant, Assume that ABC has a negligible mass. SOLUTION Angatar velocity ofthe disk, = €a4+ayk=(S rads) (15 rads Mass of disk BN stoseib-sin @ 222 Moments of inertia about principal axes passing through the mass center. 310698) -onrnoe-n 038820 bs? fh “Angular momention abot mass center C. -and-t Tse -+T.eo.k =0-+(0.0194105)} + (0.038820)15)k (0.09705 thst) + (0.582316: Rate of change of Hy. Let the frame Axyz be turning with angular velocity @ = aj He) jye HARK, TOT, 0,5+ TOK OH, + (0.019410X-7.5)4 +045} (0.09705}+0.5823k) (0.14568 Ib ft)j+ (2.9115 Ib-fDi 18,9 Position vector of Poin Bint jsas 5 fi Position vector of Poi C Bit yl O 5 Mt+ O75 i Velocity of Point C. the mass center of the disk, = IX Foy =SKO.SE 40.759) =(7.5 1S) ‘Acceleration of Point C. TSH) X(1.Si-+ 0.159) +5)(-7.5k) IY FAP EV 11.25 YS? )k ~ 37.5 Us? jt PROPRIETARY MATERIAL. © 2009 The McOsa-Hill Companies, Ine. AIL wight reserved No port ef this Manuat oy: be dixplaed, reproduced or distributed in any foros or by any means, witout the prior wyten permission of th publisher, o° used beyond the lnited Utstribution to feochers and vdvctors porated by Me Gre Hl for thee lida course preparation. Ifyou area stuen ning his Manat Som are wn wih permission. 1996PROBLEM 18.103 (Continued) Effective force at C ‘mag. = (0.31056)(-37.5+11,25k) = (11.646 Ib)i + 3.4938 [b}k Equivalence of external and effective forces Ma > Linear components: A= mac (11.65 Ib)i+ (3.49 Ib) ‘Moments about A. M,= xing + Hy S14 0.75))x(-I.6461 +3.4938k) ~ 0.145684 + 2.91151 5.2407}-+8.7345k + 2.62035% —0.14568) +2.911 S31~5.39}+8,73k (Required couple M,j=-6.391D-0)) ©) Dynamic reacti (11.65 b)i+ 8.49 1b)k 53 Ib-M+B.73 1b-fK PROPRIETARY MATERIAL. © 2009 Toe MeGraw Hill Compaoies, te, All rights resrved. No putt ofthis Manual may be diplaye ryprodced or disibuted in any form or by any means, without the por written permission of the publisher or me! beyond the Tinted Aisrsuation to teachers ane edccars permite by Mera Hilfor thor tndvidua course preparation Itvon area student wig is Mal ou are asin twin porns, 97PROBLEM 18.104 It is assumed that at the instant shown, shaft DCE of Problem 18.98 hhas an angular velocity @, = (Brads) and an angular acceleration (rad/s? )i. Recalling that the disk rotates with a constant angular velocity @ =(16 rad/s)j, determine (a) the couple which must be applied to shaft DCE to produce the given angular acceleration, (b) the corresponding dynemic reactions at D and E. SOLUTION Angular velocity of shaft DE and arm CBA: Q= ai Angular velocity of disk 4 Oi Angular velocity about its mass center 4: [ois Tye, +T,0k Togs Tai 1 eee =k maxis Lm? Fe ec Let the reference fiame Oxye be rotating with angular velocity = ai TE, =A Joye + QXH, asi nay ose, Pees eee = Pmt Sm i+ maak Velocity of Point A: V4 = OAXE go = @1X (bk + cf) = ba, j+ cK Acceleration of Point 14 = Gxt yy +04) a, = (06, ~ e003 )j+ (et, +b0,)k y PROPRIETARY MATERIAL, © 2009 The McGraw-Hill Companies, be. All rights reseed. No port of this Momval may be doped, ‘epooduced or distributed in any for oF by any means, won the prior vrilen permission ofthe publisher, or used beyond the limited sia ta teachers end eaeutons peri by Metra Hil forthe inva course preparation Ifyou areca stent win his Manu dom ae wing et permision 1998PROBLEM 18.104 (Continued) Consider the system of particles consisting of the shaf, the arm, and the disk. Neglect the mass of the arm, 2F=ma, Resolve into components. D, +B, =m( bi, ~ca) D, +E, = m{ ct, + ba) EM) =Hy =Hy +ryp%mna, (fg i+ 20x (Ey 1+ Bk) = HL, + U-+ ej i) xa, r[dr ee oie 4 nf Loy, +0, —te0 (Mg ji -218,§+ 20 k 5 m tei SC ted + toa + br ail ieee «) Data: W=6lb, m=—2- =0.18634 s/t 32.2 in,=0.65667 1, b=c=9in.=0.75A, L=12in.=10R @=l6radls, =0, @=8radls, dy =6 radls? (a) My =(o.nors| Lass «(07 (0.75) |(6) Mo = (1382 Ib f)i PROPRIETARY MATERIAL. © 2009 The McGraw-Hill Companies, Inc All ight reserved. No part of this Manual may be cinplayed ‘produced or dsribited in any form or by any means, wit the prior written permission of te publisher. used bejond the Tinted isrtbution to teachers and edveains permite by McCraw Hil for thelr ndvidoal course preparation. fyow-arastuden'esing his Maal, on are nsng i thou permissions 1999PROBLEM 18.104 (Continued) 5 (0.66667)*(16)(8) + (1.0)(0.75)(6)~ (1.00.75 8 | = ~6.70 Ib 2 i eases 1 (2)(1.0) ot a} {(.0)0.75)6) + (1.0)(0.75)8)? +0]=4.89 1b D=(-6.701b)j + (4.89 Ib)k =~1.403 1b ay 67)" Ee 2 a 0 098219-907983 8634 K.0) {(1.0)(0.75}(6) + (L.0K0.75)(8)" +0] = 89 Ib (1.403 1b)j-+ (4.89 1b)k PROPRIETARY MATBRIAL, © 2009 The MeCiaw-Hl Companies, Inc. Al rights reserved. No part ofthis Manual may be displayed Teprotuced or disiuted iv eny form or by any meen, wou te prior writen permission ofthe publisher, or wed bsyand the tied ldsributon to teachers amd edvcatars permite by MeCraw Hilor ter adda course preparation Ifyou area student using this Monva. Sv are sing i eth permission. 20004 k PROBLEM 18.105 150 i A.25 kg homogencous disk of radius 80 mm 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 rads. Friction in the bearing at 4 causes @, 0 decrease at the rate of [Srad/s’, Determine the dynamic reactions at D and Eatatime when @, has decreased to 50 rads a 150 min SOLUTION Angular velocity of shaft DCE and arm CBA: Q=ayk Angular velocity of disk 4; om ajtak Its angular momentum about H, =T,0,i+T,0,)+7a.k=T,c4j+7, Let the reference fame Cxyz be rotating with angular velocity Q. Hy) jye OX, Lai Tok+okx (Tair Tani Taxi 1k rayats dma st mr ayeat-+ ry) Velocity and acceleration of the mass center 4 of the disk: Vy = Oak xi ye = OK (bi ef) = C041 + BO, (ei ~ bed) (by + c03)j kx ye + OKXY, PROPRIETARY MATERIAL (0 2009 The McGraw-Hill Companies Ine. Allright reserved, No part of dls Manna maybe ciple ‘reproduced or dbinibted tv any form or by any means, witho tho prior written permission ofthe publisher, or sed Deyont the Fined eproduced or diswibuted bs any form or By any means, without the prior written pormisson ofthe publisher, or sed beyond the Lame isrbution to 1eachers end educators permed by MeGraw-1hl for thei individual onrse preparation you areca student wing this Manual, Sot are ring witha pormsson. 2008PROBLEM 18.108 (Continued) (0.25)? =0.025 Ib-s? ft 0.025-+ (0.75)? = 0.5875 Ib-s? 7 =700 spm 304 rad/s = 60 rpm = 6.2832 rads Substituting into Eq. (1), (0.02: 304) , (0.5625K6.283. (62.2\0.75) 62.30.75) 0.47679 +-0.91953c0s B ~ cos =0.56900 pass PROPRIETARY MATERIAL. © 2009 The MeCir Companies, Ine. All rights escved. No port of thie Monnal may be displayed, produced or disibuted i eny for ar by any means, wit the prior vite permitson ofthe publisher, or noed beyond the lined “stributon to teachers and eduenirs permite by Me Grad Hifi bniidoal course reparation. fo ar a sient sing this Mar bon are msg ito permssionPROBLEM 18.109 A solid cone of height 9 in. with a circular base of radius 3 in. is supported by a ball-and-socket joint at 4. Knowing that the cone is observed to precess about the vertical axis AC at the constant rate of 40 rpm in the sense indicated and that its axis of symmetry AB forms an angle B= 40° with AC, determine the rate at which the cone spins about the axis AB. SOLUTION Use principal axes xy= with origin at 4 as shown, asi A=9in=0758 o=2tmoseasn Sf? te) seca For the solid cone, 3in= Angular velocity. spin: y/ about negative 2 axis precession: ¢ about positive 2 axis K- vk (cos Bk + sin fi) — yk nf, aw, =peosB— yr ym about fi Hy =@i+1'0,)+ 10k =Msin B+ Geos B -Y)k Let frame Axyz be rotating with angular velocity @. 2= GK = Geos Aj+dsin Bk Rate of change of Hy. EEE k H,=QxH,=|0 dsing goos B lo ésinB pcos B—y)| -[U'- De cos Asin B+ Joyrsin BL PROPRIETARY MATERIAL. 1 2009 The MeCiaw-Hill Companies, Inc. AM ights reserved. No part of thix Manual moy Be dplaed. ‘reproduced or dbsribted ix any form or by any means, wou the por wren permision ofthe publisher, or used beyond the lined disyibaion to teachers and educars permuted by MeGraw- olor tir Individual course preparaion. Ifyou are student using his Manual, Yom are sing i sithow permission 2010PROBLEM 18.109 (Continued) Momentum about 4. M,=-mgesin fi M, =H1, leads to Mtg od entity cos 9H aa ati ties cae AG ye cos Brow 20ge = (12h? 3°? cos 8 +6997 Da B=40" 4 = 40 spm=4.1888 ras pp LYC22O.5625) ~02H0. 75)’ ~ (3)(0.25) (6)(0,25)° (4.1888) 14.1988? cos 40° =174.46 rads 1666 pm PROPRIETARY MATERIAL. 2009 The McGraw-Hill Companies, le. AU rights reserved. No port of thie Manual may be dsplyed repraduced or disibuted in any form or by any mec, without the prin written permission of the publisher, or ned beyond he inte ‘isribution to teachers end educators peritod by MeGranelill for thr indiviual course preparatian Ifyou ans stent ws hs Menno bo are sing i without permission 2011PROBLEM 18.110 A solid cone of height 9 in. with a cireular base of radius 3 in. is supported by a balland-socket joint at 4. Knowing that the cone is spinning about its axis of symmetry AB at the rate of 3000 rpm and that AB forms an angle 7=60° with the vertical axis AC, determine the two possible rates of steady precession of the cone about the axis AC, SOLUTION Uso principal axes xyz with origin at 4 as shown, For the solid cone, r 0.258 3h 5025.0 4 h=9in.=O.ISR Angular velocity. spin: yf about negative 2 axis precession: ¢ about positive 2 axis Kk = $lcos Pk +sinp)— Hk ‘ 0,20, 0, =$sinB, @, =§cos pw © An n about fixed Point d. ‘ois lo,)+ lok psin j+ Geos B- Wk Let frame Axys be rotating with angular velocity 2. = GK = Gos i+ dsin fk aul Rate of change of Hy. i i k QxH,=|0 gsing vos B Jo rdsinB N¢cos BW {U'- Dg? cos Bsin B+ Idyrsin Bi PROPRIETARY MATERIAL, © 2009 ‘The MeGros-1ill Companies, tne All ights reserved. No part of sis Manual may be displayed reproduced or drbuted fv an form oF Dy an means, wibout the rir wvlen permesion of the publisher ted bond the lined “Asiribnion wo tages and elceorsperiied by MeCrawe1 fl for er ans eonrse preparation If var asian wing tis Men, on ae wag i who permission m2PROBLEM 18.110 (Continued) Momentum about 4 M,, =-mgesin Bi M, =H, leads to 1 ge * cos B+ by 2128 cos pa 3 20 ge= (12h? ~372)6? cos B+ 6r pyr (12h? ~ 37°)? cos B+ 6r7y o— 20ge = 0 Data: W=3000 rpm = 314.16 rad/s [1.2(0.75)° ~(3X0.25)° Koos 60°) + (6)(0.25)" B14.16)9 ~ (20132.2)(0.5625) = 0 3.28125 6° +117.819-362.25=0 Solving the quadratic equation, 4 = 2.8488 rad/s, ~38.753 rads = 27.21pm, —3704pm PROPRIETARY MATERIAL. © 2009 The MeGeas-H Companies, Jc. All sights reverved. Nu part of this Mand may be displayed ‘produced or dsribued in any form or by any means, witht the per ren permission ofthe publicher, oF used bejond the United Aisin to teachers and edaccors permit by MoGran- 0 for set nloidua course peparalon fon area stakent wg ds Blan, You are asin ith permission. aisPROBLEM 18.114 ‘The 85-g top shown is supported at the fixed Point O. ‘The radii of aytation of the top with respect to its axis of symmetry and with respeet to at transverse axis through O are 21 mm and 45 mm, respectively. Knowing that ¢=37.5 mm 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, 2 with origin at O. Angular velocity: @ = sin BL-+ (y+ Peos@)k +0080 0,= 0508, 0, =0, 0 Angular momentum about O: Hy =/,0,i+ 10,54 Lok =1'psin Oh Tonk Let the reference frame Oxyz be rotating with angular velocity Q = @sin 6i-+ pcos Ok. Sa Hy =OxHy = sin Bi + (Pe08K)x(I'psin d + 1,k) = (I'GsinO cos ~ I, Sin VG} 2M, =i, = OF ss -Wesin 9) = (I' sin 8 cos — Fa, sin) eg foe We=(lo, - l Gc0s0}? We=[l—(U'— Npeoselp a Data: m=85 g= 0.085 kg W = mg = (0,085)(9.81) = 0.83385 N Tame mk (0.085}(0.021)" =37.485x10° kg-m? 2 = (0.085)(0.045)? =172.125x10 kg-m? 37.5 mm 0.0375 m, y/=1800 rpm =188.496 rads 0=30" PROPRIETARY MATERIAL. © 2000 The McGraw-Hill Companies, Ine. All righs reserved. No part of this Manual may be dlaplyed, ‘reproduced or disibted ine form or by any means, svthou the pier rtien permission ofthe publisher, or uted beyond the Tinited dsribution to teachers and educators permite by MeGrow-Hilfor thei individual course preparation Ion ave student an his Maru, yowcare wing i wih pormision 2014