Partial Solutions Manual

Ruina and Pratap

Introduction to Statics and Dynamics

This draft: January 30, 2011

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should be ignored.
2
Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
9.1.15 Consider a force F .t/ acting on F(t)
a cart over a 3 second span. In case (a),
the force acts in two impulses of one sec- F0
ond duration each as shown in fig. 9.1.15. (a)
In case (b), the force acts continuously for
two seconds and then goes to zero. Given 0 1 2 3 t (sec)
that the mass of the cart is 10 kg, v.0 s/ D
0, and F0 D 10 N, for each force profile, F(t)
a) Find the speed of the cart at the end F0
of 3 seconds, and
(b)
b) Find the distance travelled by the
cart in 3 seconds. 0 1 2 3 t (sec)
Comment on your answers for the two Filename:pfigure9-1-fcompare

Problem 9.15
cases.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009. 3
4 Chapter 9.1. Force and motion in 1D Problem 9.1.16

9.1.16 A car of mass m is accelerated by

F(t)
applying a triangular force profile shown
in fig. 9.1.16(a). Find the speed of the car FT
at t D T seconds. If the same speed is
to be achieved at t D T seconds with a
(a)
sinusoidal force profile, F .t/ D Fs sin t
T , 0 T/2 T t
find the required force magnitude Fs . Is
the peak higher or lower? Why? F(t)
Fs
(b)
0 T/2 T t
Filename:pfigure9-1-fcompare2

Problem 9.16

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 9.1. Force and motion in 1D Problem 9.1.22 5

9.1.22 A grain of sugar falling through

honey has a negative acceleration propor-
tional to the difference between its veloc-
ity and its ‘terminal’ velocity, which is a
known constant v t . Write this sentence as
a differential equation, defining any con-
stants you need. Solve the equation assum-
ing some given initial velocity v0 .

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
6 Chapter 9.1. Force and motion in 1D Problem 9.1.26

9.1.26 A bullet penetrating flesh slows diameter d D 5:7 mm.

approximately as it would if penetrating a) Plot the bullet position vs time.
water. The drag on the bullet is about
FD D cw v 2 A=2 where w is the den- b) Assume the bullet has effectively
sity of water, v is the instantaneous speed stopped when its speed has dropped
of the bullet, A is the cross sectional area to 5 m=s, what is its total penetra-
of the bullet, and c is a drag coefficient tion distance?
which is about c  1. Assume that the c) According to the equations implied
bullet has mass m D l AL where l is above, what is the penetration dis-
the density of lead, A is the cross sec- tance in the limit t ! 1?
tional area of the bullet and L is the length
of the bullet (approximated as cylindrical). d) How would you change the model
Assume m D 2 grams, entering velocity to make it more reasonable in its
v0 D 400 m=s, l =w D 11:3, and bullet predictions for long time?

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 9.1. Force and motion in 1D Problem 9.1.26 (continued) 7

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
8 Chapter 9.1. Force and motion in 1D Problem 9.1.26 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 9.1. Force and motion in 1D Problem 9.1.26 (continued) 9

Plot of position vs time

1.8

1.6

1.4

1.2
position (m)

0.8

0.6

0.4

0.2

0
0 5 10
time (s)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
10 Chapter 9.2. Energy methods in 1D Problem 9.2.3

9.2.3 A force F D F0 sin.ct/ acts on a b) EK ,

particle with mass m D 3 kg which has c) P ,
position x D 3 m, velocity v D 5 m=s at
t D 2 s. F0 D 4 N and c D 2= s. At d) EPK ,
t D 2 s evaluate (give numbers and units): e) the rate at which the force is doing
work.
a) a,

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 9.2. Energy methods in 1D Problem 9.2.3 (continued) 11

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
12 Chapter 9.2. Energy methods in 1D Problem 9.2.10

9.2.10 A kid (m D 90 lbm) stands on a falls?

h D 10 ft wall and jumps down, acceler- b) What is the potential energy lost?
ating with g D 32 ft=s2 . Upon hitting the
ground with straight legs, she bends them c) How much work must be absorbed
so her body slows to a stop over a distance by her legs?
d D 1 ft. Neglect the mass of her legs. As- d) What is the force of her legs on her
sume constant deceleration as she brakes body? Answer in symbols, numbers
the fall. and numbers of body weight (i.e.,
find F=mg ).
a) What is the total distance her body

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 9.2. Energy methods in 1D Problem 9.2.11 13

9.2.11 In traditional archery, when pulling arrow has mass of about 300 grain (1 grain
an arrow back the force increases approxi-  64:8milli gm, so an arrow has mass of
mately linearly up to the peak ‘draw force’ about 19:44  20 gm  3=4 ounce). Give
Fdraw that varies from about Fdraw D all answers in symbols and numbers.
25 lbf for a bow made for a small person to a) What is the range of speeds you can
about Fdraw D 75 lbf for a bow made for expect an arrow to fly?
a big strong person. The distance the ar-
row is pulled back, the draw length `draw , b) What is the range of heights an ar-
varies from about `draw D 2 ft for a small row might go if shot straight up (it’s
adult to about 30 inch for a big adult. An a bad approximation, but for this
problem neglect air friction)?

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
14 Chapter 9.2. Energy methods in 1D Problem 9.2.11 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 9.2. Energy methods in 1D Problem 9.2.16 15

9.2.16 The power available to a very b) Using analytic or numerical meth-

strong accelerating cyclist over short peri- ods make an accurate plot of speed
ods of time (up to, say, about 1 minute) is vs. time.
about 1 horsepower. Assume a rider starts c) What is the acceleration as t !1
from rest and uses this constant power. As- in this solution?
sume a mass (bike + rider) of 150 lbm, a
realistic drag force of :006 lbf=. ft= s/2 v 2 . d) What is the acceleration as t ! 0
Neglect other drag forces. in your solution?
e) How would you improve the model
a) What is the peak (steady state) to fix the problem with the answer
speed of the cyclist? above?

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
16 Chapter 9.2. Energy methods in 1D Problem 9.2.16 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 9.2. Energy methods in 1D Problem 9.2.16 (continued) 17

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
18 Chapter 9.3. Elementary vibration analysis Problem 9.3.6

9.3.6 A spring k with rest length `0 is at- c) What is the position of the mass at
tached to a mass m which slides friction- an arbitrary time t ?
lessly on a horizontal ground as shown. d) What is the speed of the mass when
At time t D 0 the mass is released from it passes through x D `0 (the posi-
rest with the spring stretched a distance d . tion where the spring is relaxed)?
Measure the mass position x relative to the
wall.
0 d
a) What is the acceleration of the mass
m
just after release?
b) Find a differential equation which Filename:s97f1

describes the horizontal motion x of Problem 9.6

the mass.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 9.3. Elementary vibration analysis Problem 9.3.6 (continued) 19

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
20 Chapter 9.3. Elementary vibration analysis Problem 9.3.6 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 9.3. Elementary vibration analysis Problem 9.3.6 (continued) 21

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
22 Chapter 9.3. Elementary vibration analysis Problem 9.3.10

9.3.10 Mass m hangs from a spring g) Assume that the mass is released
with constant k and which has the length from an an initial position of x D
l0 when it is relaxed (i.e., when no mass is D . What is the motion of the mass?
attached). It only moves vertically. h) What is the period of oscillation of
a) Draw a Free Body Diagram of the this oscillating mass?
mass. i) Why might this solution not make
b) Write the equation of linear mo- physical sense for a long, soft
mentum balance. spring if the initial stretch is large.
In other words, what is wrong with
c) Reduce this equation to a standard this solution if D > `0 C 2mg=k ?
differential equation in x , the posi-
tion x of the mass.
d) Verify that one solution is that x.t/
is constant at x D l0 C mg=k . l0
e) What is the meaning of that solu- k
tion? (That is, describe in words
what is going on.)
x
f) Define a new variable xO D x .l0 C
mg=k/. Substitute x D xO C .l0 C
mg=k/ into your differential equa- m
tion and note that the equation is
simpler in terms of the variable xO . Filename:pg141-1

Problem 9.10

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 9.3. Elementary vibration analysis Problem 9.3.12 23

9.3.12 A person jumps on a trampoline. riod of this motion (note, the con-
The trampoline is modeled as having an tact time is not exactly half of a vi-
effective vertical undamped linear spring bration period)? [Hint, a neat graph
with stiffness k D 200 lbf= ft. The person of height vs time will help.]
is modeled as a rigid mass m D 150 lbm.
g D 32:2 ft=s2 .
a) What is the period of motion if the
person’s motion is so small that her
feet never leave the trampoline?
b) What is the maximum amplitude of
motion (amplitude of the sine wave)
for which her feet never leave the
trampoline?
c) (harder) If she repeatedly jumps so Filename:pfigure3-trampoline

that her feet clear the trampoline by Problem 9.12: A person jumps on a tram-
a height h D 5 ft, what is the pe- poline.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
24 Chapter 9.3. Elementary vibration analysis Problem 9.3.12 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 9.3. Elementary vibration analysis Problem 9.3.12 (continued) 25

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
26 Chapter 9.4. Coupled motion in 1D Problem 9.4.14

The primary emphasis of this section

is setting up correct differential equations
(without sign errors) and solving these
equations on the computer.
9.4.14 x1 .t/ and x2 .t/ are measured po- X1(t)
sitions on two points of a vibrating struc-
ture. x1 .t/ is shown. Some candidates a) X2
for x2 .t/ are shown. Which of the x2 .t/ ?
could possibly be associated with a normal b) X2
mode vibration of the structure? Answer ?

“could” or “could not” next to each choice c) X2

and briefly explain your answer (If a curve ?

looks like it is meant to be a sine/cosine d) X2

curve, it is.) ?

e) X2
?
Filename:pfigure-blue-144-1

Problem 9.14

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 9.4. Coupled motion in 1D Problem 9.4.17 27

9.4.17 Two masses are connected to fixed b) Write computer commands to find
supports and each other with the three and plot v1 .t/ for 10 units of time.
springs and dashpot shown. The force F Make up appropriate initial condi-
acts on mass 2. The displacements x1 and tions.
x2 are defined so that x1 D x2 D 0 when c) For constants and initial conditions
the springs are unstretched. The ground is of your choosing, plot x1 vs t for
frictionless. The governing equations for enough time so that decaying erratic
the system shown can be written in first oscillations can be observed.
order form if we define v1  xP 1 and
v2  xP 2 . x2
F c
a) Write the governing equations in a x1
neat first order form. Your equa- k1 k2 m2 k3
tions should be in terms of any or all m1
of the constants m1 , m2 , k1 , k2 ,k3 ,
C , the constant force F , and t . Get-
Filename:p-f96-f-3

Problem 9.17
ting the signs right is important.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
28 Chapter 9.4. Coupled motion in 1D Problem 9.4.17 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 9.4. Coupled motion in 1D Problem 9.4.17 (continued) 29

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
30 Chapter 9.4. Coupled motion in 1D Problem 9.4.23

9.4.23 For the three-mass system shown, b) Make a neat plot of x2 versus x1
assume x1 D x2 D x3 D 0 when all for one cycle of vibration with this
the springs are fully relaxed. One of the mode.
normal modes is described with the initial L L L L
condition .x10 ; x2 ; x3 / D .1; 0; 1/. x1 x2 x3
a) What is the angular frequency ! k k k k
for this mode? Answer in terms of m m m
L; m; k , and g . (Hint: Note that Filename:pfigure-blue-160-2

in this mode of vibration the middle Problem 9.23

mass does not move.)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 9.4. Coupled motion in 1D Problem 9.4.23 (continued) 31

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
32 Chapter 9.4. Coupled motion in 1D Problem 9.4.23 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 9.5. 1D Collisions Problem 9.5.6 33

9.5.6 Before a collision two particles,

mA D 7 kg and mB D 9 kg, have veloc-
ities of vA D 6 m=s and vB D 2 m=s. The
coefficient of restitution is e D :5. Find
the impulse of mass A on mass B and the
velocities of the two masses after the colli-
sion.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
34 Chapter 9.5. 1D Collisions Problem 9.5.6 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 9.5. 1D Collisions Problem 9.5.6 (continued) 35

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
36 Chapter 9.5. 1D Collisions Problem 9.5.6 (continued)

Problem 9.84
If you assumed vA
+
= 6 m/s, than the following answers will change
d) 6 kg m/s
f) 14 kg m/s
g) −4 kg m/s. You get this by solving vB
+
= 7 m/s
h) 4 kg m/s
j) 67 J
k) 0.2

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 9.5. 1D Collisions Problem 9.5.10 37

9.5.10 A basketball with mass mb is h, g , eb and er how high does the

dropped from height h onto the hard solid rubber ball bounce (measure height
ground on which it has coefficient of resti- relative to the collision point)?
tution eb . Just on top of the basketball, b) Assuming the coefficients of resti-
falling with it and then bouncing against tution are less than or equal to
it after the basketball hits the ground, is a one, for given h, what mass and
small rubber ball with mass mr that has a restitution parameters maximize the
coefficient of restitution er with the bas- height of the bounce of the rubber
ketball. ball and what is that height?
a) In terms of some or all of mb , mr ,

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
38 Chapter 9.5. 1D Collisions Problem 9.5.10 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
10.1.22 An object C of mass 2 kg is pulled using a computer with the matrix
by three strings as shown. The acceleration equation, or by using a cross prod-
of
 the object at the position
 shown is a D uct on the vector equation.
O
0:6{O 0:2|O C 2:0k m=s2 . z
a) Draw a free body diagram of the T2 4m
mass. T3
b) Write the equation of linear mo- T1
mentum balance for the mass. Use 2m
’s as unit vectors along the strings. 1m
m y
c) Find the three tensions T1 , T2 , and C
2m
T3 at the instant shown. You may x
1.5m
find these tensions by using hand Filename:pfigure-s94h2p9

algebra with the scalar equations, Problem 10.22

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009. 39
40 Chapter 10.1. Dynamics of a particle in space Problem 10.1.22 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 10.1. Dynamics of a particle in space Problem 10.1.26 41

10.1.26 Bungy Jumping. In a relatively b) Given that bungy jumper’s initial

safe bungy jumping system, people jump position and velocity are *r0 D
up from the ground while being pulled up 1 m{O 5 m|O and v0 D 0 write com-
by a rope that runs over a pulley at O and p to find her position
puter commands
is connected to a stretched spring anchored at t D = 2 s.
at B. The ideal pulley has negligible size,
c) Find the answer to part (b) with
mass, and friction. For the situation shown
pencil and paper (that is, find an
the spring AB has rest length `0 D 2 m and
analytic solution to the differential
a stiffness of k D 200 N= m. The inexten-
equations, a final numerical answer
sible massless rope from A to P has length
is desired).
`r D 8 m, the person has a mass of 100 kg.
Take O to be the origin of an xy coordinate 10 m
system aligned with the unit vectors {O and jˆ
|O O
A k B
ı̂
a) Assume you are given the position
of the person * r D x {O C y |O and the g = 10 m/s2
velocity of the person v D xP {O C m
yP |O . Find her acceleration in terms
of some or all of her position, her P ground, no contact
velocity, and the other parameters after jump off
given. Then use the numbers given, Filename:s97p1-3

where supplied, in your final an- Problem 10.26: Conceptual setup for a
swer. bungy jumping system.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
42 Chapter 10.1. Dynamics of a particle in space Problem 10.1.26 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 10.1. Dynamics of a particle in space Problem 10.1.26 (continued) 43

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
44 Chapter 10.1. Dynamics of a particle in space Problem 10.1.30

10.1.30 The equations of motion from c) Use Euler’s, Runge-Kutta, or other

problem ?? are nonlinear and cannot be suitable method to numerically in-
solved in closed form for the position of tegrate the system of equations.
the baseball. Instead, solve the equations d) Use your simulation to find the ini-
numerically. Make a computer simulation tial angle that maximizes the dis-
of the flight of the baseball, as follows. tance of travel for ball, with and
a) Convert the equation of motion into without air resistance.
a system of first order differential e) If the air resistance is very high,
equations. what is a qualitative description for
b) Pick values for the gravitational the curve described by the path of
constant g , the coefficient of resis- the ball? Show this with an accurate
tance b , and initial speed v0 , solve plot of the trajectory. (Make sure to
for the x and y coordinates of the integrate long enough for the ball to
ball and make a plots its trajectory get back to the ground.)
for various initial angles 0 .

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 10.1. Dynamics of a particle in space Problem 10.1.30 (continued) 45

10.30 (continued)
b). See attached codes and results
%problem 10.30(a)

function solution1030a
%solution to 10.30
%September 23,2008
b=1; m=1; g=10; % give values for b,m and g here
%Initial conditions and time span
tspan=[0:0.001:5]; %integrate for 50 seconds
x0=0;
y0=0; %initial position
v0=50; %magnitude of initial velocity (m/s)
theta0=20; %angle of initial velocity (in degrees)

z0=[x0,y0,v0*cos(theta0*pi/180),v0*sin(theta0*pi/180)]';

%solves the ODEs

[t,z] = ode45(@rhs,tspan,z0,[],b,m,g);

%Unpack the variables

x= z(:,1);
y =z(:,2);
v_x = z(:,3);
v_y=z(:,4);

%plot the results

plot(x,y);
xlabel('x(m)');
ylabel('y(m)');
%set grid,xmin,xmax,ymin,ymax
axis([0,5,0,5]);
title(['Plot of Trajectory for theta= ',num2str(theta0),' degrees']);

end

%-----------------------------------------------------------------------%
function zdot = rhs(t,z,b,m,g) %function to define ODE
x=z(1); y=z(2); v_x=z(3); v_y=z(4);

%the linear momentum balance eqns

xdot=v_x;
v_xdot=-(b/m)*v_x*(v_x^2+v_y^2)^0.5;
ydot=v_y;

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
46 Chapter 10.1. Dynamics of a particle in space Problem 10.1.30 (continued)

v_ydot=-g-(b/m)*v_y*(v_x^2+v_y^2)^0.5;

zdot=[xdot; ydot; v_xdot; v_ydot]; %this is what the function returns (column vector)

end
%-----------------------------------------------------------------------%

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 10.1. Dynamics of a particle in space Problem 10.1.30 (continued) 47

c). Disregard this question. This question intends to ask you develop your own ode solver similar
to ode45, using Euler’s method or more sophisticated method (Ruger-Kutta method).

d). To find out x distance, we use ‘stopevent’ to terminate the integration at y=0. Then loop over
for theta from 0.1 to 89.1 degree with an increment of 1 degree.

%problem 10.30(d)

function solution1030d
%solution to 10.30
%September 23,2008

b=1; m=1; g=10; % give values for b,m and g here

%Initial conditions and time span

tspan=[0 50]; %integrate for 50 seconds
x0=0;
y0=0; %initial position
v0=50; %magnitude of initial velocity (m/s)

theta0=[0.1:1:89.1]'; %angle of initial velocity (in degrees)

distance=zeros(size(theta0)); %arrays to record x distance at y=0 for each angle

for i=1:length(theta0)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
48 Chapter 10.1. Dynamics of a particle in space Problem 10.1.30 (continued)

z0=[x0,y0,v0*cos(theta0(i)*pi/180),v0*sin(theta0(i)*pi/180)]';

options=odeset('events', @stopevent);
%solves the ODEs
[t,z] = ode45(@rhs,tspan,z0,options,b,m,g);

%Unpack the variables

x= z(:,1);
distance(i)=x(end);% the last component of x is the distance we want
end
plot(theta0,distance,'*')
xlabel('theta(degrees)');
ylabel('distance(m)');
%set grid,xmin,xmax,ymin,ymax
title(['plot of x distance for various theta']);

[maxd,j]=max(distance);
fprintf(1,'\nThe maximum distance is %6.4f m when theta=%2.0f degrees\n', maxd,theta0(j));
%print the results
end

%-----------------------------------------------------------------------%
function zdot = rhs(t,z,b,m,g) %function to define ODE
x=z(1); y=z(2); v_x=z(3); v_y=z(4);

%the linear momentum balance eqns

xdot=v_x;
v_xdot=-(b/m)*v_x*(v_x^2+v_y^2)^0.5;
ydot=v_y;
v_ydot=-g-(b/m)*v_y*(v_x^2+v_y^2)^0.5;

zdot=[xdot; ydot; v_xdot; v_ydot]; %this is what the function returns (column vector)

end
%-----------------------------------------------------------------------%
function [value, isterminal, dir]= stopevent(t,z,b,m,g,v0,theta)
% terminate the integration at y=0
x=z(1);
y=z(2);
value= y;
isterminal=1;
dir=-1;
end

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 10.1. Dynamics of a particle in space Problem 10.1.30 (continued) 49

Matlab out put: The maximum distance is 3.3806 m when theta=23 degrees

10.30 (Continued)
The x distance at y=0 for various theta is plotted below

e). Use the code for (a) and change b to a very large number, 100000. The trajectory looks like

,
which is approximately a triangle.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
50 Chapter 10.1. Dynamics of a particle in space Problem 10.1.30 (continued)

10.30 Another solution (more detailed)

The m file attached does the following.

a) uses events and x(end) to calculate range.

b) has that embedded in a loop so that there is an angle(i) and
a range(i)
c) Makes a nice plot of range vs angle
d) uses MAX to find the maximum range and corresponding angle
e) has good numerics to show that the trajectory shape converges to
a triangle as the speed -> infinity.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 10.1. Dynamics of a particle in space Problem 10.1.30 (continued) 51

function baseball_trajectory
% Calculates the trajectory of a baseball.
% Calculates maximum range for given speed,
% with and without air friction.
% Shows shape of path at high speed.
disp(['Start time: ' datestr(now)])
cla

% (a) ODEs are in the function rhs far below.

% The 'event' fn that stops the integration
% when the ball hits the ground is in 'eventfn'
% even further below.
% (b) Coefficients for a real baseball taken
% from a google search, which finds a paper
% Sawicki et al, Am. J. Phys. 71(11), Nov 2003.
% Greg Sawicki, by the way, learned some dynamics
% in TAM 203 from Ruina at Cornell.

% All parameters in MKS.

m = 0.145; % mass of baseball, 5.1 oz
rho = 1.23; % density of air in kg/m^3
r = 0.0366; % baseball radius (1.44 in)
A = pi*r^2; % cross sectional area of ball
C_d = 0.35; % varies, this is typical
g = 9.81; % typical g on earth
b = C_d*rho*A/2; % net coeff of v^2 in drag force

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% (b-d) Use typical homerun hit speed and look
% at various angles of hit.

tspan=linspace(0,100,1001); % give plenty of time

n = 45; % number of simulations
angle = linspace(1,89,n); % launch from 1 to 89 degrees
r0=[0 0]'; % Launch x and y position.

% First case: No air friction.

b = 0;
subplot(3,2,1)
hold off

% Try lots of launch angles, one simulation for

% each launch angle.
for i = 1:n
inspeed = 44; % typical homerun hit (m/s), 98 mph.

theta0 = angle(i)*pi/180; % initial angle this simulation

v0=inspeed*[cos(theta0) sin(theta0)]'; %launch velocity
z0=[r0; v0]; % initial position and velocity

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
52 Chapter 10.1. Dynamics of a particle in space Problem 10.1.30 (continued)

options=odeset('events',@eventfn);
[t zarray]=ode45(@rhs,tspan,z0,options,g,b,m); %Solve ODE

x=zarray(:,1); y=zarray(:,2); %Unpack positions

range(i)= x(end); % x value at end, when ball hits ground

plot(x,y); title('Jane Cho: Baseball trajectories, no air friction')

xlabel('x, meters'); ylabel('y, meters'); axis('equal')
axis([0 200 0 200])
hold on % save plot for over-writing
end % end of for loop for no-friction trajectories

%Plot range vs angle, no friction case

subplot(3,2,2); hold off;
plot(angle,range);
title('Range vs hit angle, no air friction')
xlabel('Launch angle, in degrees')
ylabel('Hit distance, in meters')

% Pick out best angle and distance

[bestx besti] = max(range);
disp(['No friction case:'])
best_theta_deg = angle(besti)
bestx

% Second case: WITH air friction

% Identical to code above but now b is NOT zero.
b = C_d*rho*A/2; % net coeff of v^2 in drag force

subplot(3,2,3)
hold off % clear plot overwrites

% Try lots of launch angles

for i = 1:n %
inspeed = 44; % typical homerun hit (m/s), 98 mph.

theta0 = angle(i)*pi/180; % initial angle this simulation

v0=inspeed*[cos(theta0) sin(theta0)]'; %launch velocity
z0=[r0; v0]; % initial position and velocity

options=odeset('events',@eventfn);
[t zarray]=ode45(@rhs,tspan,z0,options,g,b,m); %Solve ODE

x=zarray(:,1); y=zarray(:,2); %Unpack positions

range(i)= x(end); % x value at end, when ball hits ground

plot(x,y); title('Baseball trajectories, with air friction')

xlabel('x, meters'); ylabel('y, meters'); axis('equal')
axis([0 120 0 120])

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 10.1. Dynamics of a particle in space Problem 10.1.30 (continued) 53

hold on % save plot for over-writing

end % end of for loop for with-friction trajectories

%Plot range vs angle, no friction case

subplot(3,2,4);
plot(angle,range);
title('Range vs hit angle, with air friction')
xlabel('Launch angle, in degrees')
ylabel('Hit distance, in meters')

%Find Max range and corresponding launch angle

[bestx besti] = max(range);
disp(['With Friction:'])
best_theta_deg = angle(besti)
bestx

%%%%%%%%%%%%%%%%%%%%%%%%%%
% Now look at trajectories at a variety of speeds
% Try lots of launch angles
subplot(3,2,6)
hold off
speeds = 10.^linspace(1,8,30); % speeds from 1 to 100 million m/s
for i = 1:30 %
inspeed = speeds(i); % typical homerun hit (m/s), 98 mph.

theta0 = pi/4; % initial angle is 45 degrees at all speeds

v0=inspeed*[cos(theta0) sin(theta0)]'; %launch velocity
z0=[r0; v0]; % initial position and velocity

options=odeset('events',@eventfn);
[t zarray]=ode45(@rhs,tspan,z0,options,g,b,m); %Solve ODE

x=zarray(:,1); y=zarray(:,2); %Unpack positions

range(i)= x(end); % x value at end, when ball hits ground

plot(x,y); title('Trajectories, with air friction, various speeds ')

xlabel('x, meters'); ylabel('y, meters'); axis('equal')
axis([0 2000 0 2000])
hold on % save plot for over-writing
end % end of for loop for range at various speeds

disp(['End time: ' datestr(now)])

end % end of Baseball_trajectory.m

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Governing Ord Diff Eqs.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
54 Chapter 10.1. Dynamics of a particle in space Problem 10.1.30 (continued)

function zdot=rhs(t,z,g,b,m)
% Unpack the variables
x=z(1); y=z(2);
vx=z(3); vy=z(4);

%The ODEs
xdot=vx; ydot=vy; v = sqrt(vx^2+vy^2);
vxdot=-b*vx*v/m;
vydot=-b*vy*v/m - g;

zdot= [xdot;ydot;vxdot;vydot]; % Packed up again.

end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 'Event' that ball hits the ground
function [value isterminal dir] = eventfn(t,z,g,b,m)
y=z(2);
value = y; % When this is zero, integration stops
isterminal = 1; % 1 means stop.
dir= -1; % -1 means ball is falling when it hits
end

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 10.1. Dynamics of a particle in space Problem 10.1.30 (continued) 55

Jane Cho: Baseball trajectories, no air friction Range vs hit angle, no air friction
200 200

Hit distance, in meters

150 150
y, meters

100 100

50 50

0 0
0 100 200 0 50 100
x, meters Launch angle, in degrees
Baseball trajectories, with air friction Range vs hit angle, with air friction
120 150
Hit distance, in meters

100
80 100
y, meters

60
40 50
20
0 0
0 50 100 0 50 100
x, meters Launch angle, in degrees
Trajectories, with air friction, various speeds
2000

1500
y, meters

1000

500

0
0 1000 2000
x, meters

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
56 Chapter 10.1. Dynamics of a particle in space Problem 10.1.30 (continued)

Baseball. For the first 4 plots realistic ball properties are used and the launch speed
is always 44 m/s (typical home run hit). Spin is ignored.
Jane Cho: Baseball trajectories, no air friction Range vs hit angle, no air friction
200 200
A whole bunch of
trajectories. The one
150 150

Hit distance, in meters

launched at 45 degrees
goes the farthest.
y, meters

100 100 As expected from

simple calculations,
the best angle, when
50 50 there is no friction, is
45 degrees.

0 0
0 50 100 150 200 0 20 40 60 80 100
x, meters Launch angle, in degrees

Baseball trajectories, with air friction Range vs hit angle, with air friction
120 120

100
Note that with friction the 100
ball doesn’t go as far. Nor
Hit distance, in meters

80 as high when popped up. 80

y, meters

60 60 With friction, the best

launch velocity is less.
40 40 At this speed, 44 m/s,
the best angle is about
20 20
41 degrees.
0 0
0 20 40 60 80 100 120 0 20 40 60 80 100
x, meters Launch angle, in degrees

At right are a bunch of trajectories. The Trajectories, with air friction, various speeds
2000
slowest launch is 10 m/s, the fastest
is 100,000,000 m/s. Such a ball would
burn up, tear apart etc... but ignore that. 1500

Note that as the speed gets large the

y, meters

trajectory gets closer and closer to, 1000

its a strange and beautiful shape, to a
triangle. The same would happen if the
speed were fixed and the drag progressively 500
increased.

0
With no friction the range increases with the 0 500 1000 1500 2000
square of the speed. With quadratic drag, at high x, meters
speeds the range goes up with the log of the launch speed. Like the penetration distance of a bullet.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 10.2. Momentum and energy for particle motion Problem 10.2.22 57

10.2.22 At a time of interest, a particle b) rate of change of linear momentum

with mass m1 D 5 kg has position, ve- P
*
L
r1 D 3 m{O, *
locity, and acceleration * v1 D
4 m=s|O , and a1 D 6 m=s2 |O , respec-
* c) angular momentum about the origin
tively. Another particle with mass m2 D H*=O ,
5 kg has position, velocity, and accelera- d) rate of change of angular momen-
tion *r2 D 6 m{O, * v2 D 5 m=s|O, and P
*
a2 D 4 m=s2 |O, respectively. For this
* tum about the origin H=O ,
system of two particles, and at this time, e) kinetic energy EK , and
find its
*
f) rate of change of kinetic energy EPK .
a) linear momentum L,

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
58 Chapter 10.2. Momentum and energy for particle motion Problem 10.2.22 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 10.3. Central force motion Problem 10.3.5 59

Experts note that these problems do

not use polar coordinates or any other
fancy coordinate systems. Such descrip-
tions come later in the text. At this point
we want to lay out the basic equations and
the qualitative features that can be found
by numerical integration of the equations
using Cartesian (xyz ) coordinates.

10.3.5 An intercontinental misile, mod- Rewrite these equations as a system

elled as a particle, is launched on a ballis- of-4 first order ODE’s suitable for
tic trajectory from the surface of the earth. computer solution. Write appropri-
The force on the missile from the earth’s ate initial conditions for the ODE’s.
gravity is F D mgR2 =r 2 and is directed b) Using the computer (or any other
towards the center of the earth. When it is means) plot the trajectory of the
launched from the equator it has speed v0 rocket after it is launched for a time
and in the direction shown, 45 from hor- of 6670 seconds. [Hint: use a much
izontal (both measured relative to a New- shorter time when debugging your
tonian reference frame). For the purposes program.] On the same plot draw a
of this calculation ignore the earth’s rota- (round) circle for the earth.
tion. You can think of this problem as two-
dimensional in the plane shown. If you y
need numbers, use the following values:
m D 1000 kg = missile mass
g D 10 m=s2 at the earth’s surface,
R D 6; 400; 000 m = earth’s radius, 45o
and
v0 D 9000 m=s. x
The distance of the missile from the center
of the earth is r.t/.
a) Draw a free body diagram of the
missile. Write the linear momen- Filename:pfigure-s94q12p1

tum balance equation. Break this Problem 10.5: In intercontinental ballistic

equation into x and y components. missile launch.
<

00
X
o

V*
C
o
O

^r
in
rr

N
o
E

O
y
*

3O
4-
,
"

e
II
"

a
t

O
3D
i/
8

3D -^°
I/
H

'
(y

r
O

O
rr

§
II

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
V)

J3

CO
a
"2

.I, •

*>
Q_

Q_
O
60 Chapter 10.3. Central force motion Problem 10.3.5 (continued)

a/-,
10.61 b - Matlab code

function Probl061()
% Problem 10.61 Solution
% March 27, 2008

% VARIABLES (Assume consistent units)

% r = displacement vector [x,y]
% v = velocity vector = dr/dt [vx,vy]

m= 1000; % Mass of satellite (kg)

R- 6400000; % Radius of Earth (m)
g= 9.81; % Gravity acceleration (m/sA2)
vO= 9000; % Initial velocity (m/s)
theta= 45; % Launch angle (degrees)

% INITIAL CONDITIONS
xO= R;
yO= 0;
vxO= vO*cosd(theta);
vyO= vO*sind(theta);
zO= [xO yO vxO vyO] 1 ; % pack variables

tspan= [0 6670]; % seconds

[t zarray]= ode45(@rhs,tspan,zO/[],m,R,g);

% Unpack Variables
x= zarray(:,1);
y= zarray(:,2);

plot(x,y,fr—');
title(fPlot of Earth and Satellite Orbit1)
xlabel(?x [m] ? )
ylabel(fy [m]f)
axis(1000000*[-8 15 -8 15])
hold on;

% Draw the Earth

t= 0:pi/100:2*pi;
ex= R^cos (t);
ey= R*sin(t);
plot(ex,ey,fbf);

end

% THE DIFFERENTIAL EQUATION f The Right Hand Side1

function zdot = rhs(t,z,m,R,g)

% Unpack variables
x= z(1);
y= z(2);
vx= z(3);
vy= z(4 ) ;

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 10.3. Central force motion Problem 10.3.5 (continued) 61

% The equations
xdot= vx;
vxdot= -g*RA2/ (xA2+yA2)A (3/2) *x;
ydot= vy;
vydot= -g*RA2/ (xA2+yA2)A (3/2) *y;

% Pack the rate of change of x,y,vx and vy

zdot= [xdot ydot vxdot vydot]';

end

10.61b - Satellite Orbit Plot

6
x10 Plot of Earth and Satellite Orbit
15

10

-5

-5 0 10 15
x[m] x10
6

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
11.1.10 Montgomery’s eight. Three For each of the problems below show ac-
equal masses, say m D 1, are attracted by curate computer plots and explain any cu-
an inverse-square gravity law with G D 1. riosities.
That is, each mass is attracted to the other a) Use computer integration to find
by F D Gm1 m2 =r 2 where r is the dis- and plot the motions of the par-
tance between them. Use these unusual ticles. Plot each with a different
and special initial positions: color. Run the program for 2.1 time
units.
.x1; y1/ D . 0:97000436; 0:24308753/
b) Same as above, but run for 10 time
.x2; y2/ D . x1; y1/
units.
.x3; y3/ D .0; 0/
c) Same as above, but change the ini-
and initial velocities tial conditions slightly.
d) Same as above, but change the ini-
.vx3; vy3/ D .0:93240737; 0:86473146/ tial conditions more and run for a
.vx1; vy1/ D .vx3; vy3/=2 much longer time.
.vx2; vy2/ D .vx3; vy3/=2:

Pa •4/1

11.lO

cocia orxi p*o*s -for

v
- CcO, m.cos<v?:i<v\
o o

ma, =

8., = (5m + -gj £

-?,\\3 ;

-)
s
V, Qt-

Pa,-To

- 6

cl\15pUcerr^xt'r ploV v'-s

62
Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 11.1. Coupled motions of particles in space Problem 11.1.10 (continued) 63

function ProblllO ()
% Problem 11.10 Solution
% April 1, 2008

% VARIABLES
G= 1;
m= 1;

% Initial Conditions
r01= [-0.97000436 0.24308753]'; r02 = -rOl; r03= [0 0]';
v03= [0.93240737 0 . 86473146] f ; v01= -l/2*v03; v02= -l/2*v03;

zO= [rOl; r02; r03; vOl; v02; v03] ; % pack variables

tspan- [0 10] ;

[t zarray]= ode45 (@rhs, tspan, zO, [ ] , G,m) /

% Unpack variables
rl= zarray ( : r 1 : 2 ) ;
r2= zarray ( : , 3 : 4 ) ;
r3= zarray ( : , 5 : 6);

, 'r');
hold on;
plot(r2(:,l), r2(:,2), 'b~ f
plot(r3(:,l)f r3(:,2), 'g-. f

end

% THE DIFFERENTIAL EQUATIONS (RIGHT HAND SIDE)

function zdot = rhs(t,z,G,m)

% Unpack variables
rl= z(l:2) ;
r2= z (3:4);
r3= z (5:6);
vl= z(7:8);
v2 = z(9:10);
v3= z (11:12);

% The equations
rldot= vl; r2dot= v2; r3dot= v3;
vldot- G*m*((r3-rl)/(sqrt(sum((r3-rl).A2)))A3+...
(r2-rl)/(sqrt(sum((r2-rl).A2)))A3);
v2dot= G^m*((rl-r2)/(sqrt(sum((rl-r2).A2)))A3+...
(r3-r2)/(sqrt(sum((r3-r2).A2)))A3);
v3dot= G^m^((rl-r3)/(sqrt(sum((rl-r3).A2)))A3+...
(r2-r3)/(sqrt(sum((r2-r3).A2)))A3);

Pack the rate of change variables

zdot= [rldot; r2dot; r3dot; vldot; v2dot; v3dot];

end

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
64 Chapter 11.1. Coupled motions of particles in space Problem 11.1.10 (continued)

fr'O

E'O
/
\

I'D

\
\
E'O- \
t'Q-
0 9'0 9'I

E'O

Z'Q

I'D

I'D-

E'O-

S'Q- 0 S'D S'l

(q)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 11.1. Coupled motions of particles in space Problem 11.1.10 (continued) 65

r
CD
un
CD
CO
CD
oI
CD
CN
CD
CO
CD
CD
un1
I

CD
UO

un
CD
un
CD
un
un

cb
un

o
un•
'

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
66 Chapter 11.2. Collisions and explosions Problem 11.2.7

11.2.7 Two frictionless equal-mass pucks (VA)f

sliding on a plane collide as shown be-
low. Puck A is initially at rest. Given
that .VB /i D 1:0 m=s, .VA /i D 0, and (VB)f (VA)i=0
.VA /f D 0:5 m=s, find the approach an- A
γ
gle  and rebound angle . The coefficient
of restitution is e D 0:9. φ
B
(VB)i

Filename:Danef94s2q8

Problem 11.7

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 11.2. Collisions and explosions Problem 11.2.7 (continued) 67

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
68 Chapter 11.2. Collisions and explosions Problem 11.2.7 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 11.2. Collisions and explosions Problem 11.2.10 69

11.2.10 Solve the general two-particle on mass 2, and the velocities of the two
frictionless collision problem. For exam- masses after the collision. Your pro-
ple, write computer code that has lines like gram should assume consistent units for all
this near the start : quantities.
a) You should demonstrate that your
m1=3; m2=19 Set values of masses program works by solving at least
v1zero=[10 20] Initial velocity of 4 different problems for which you
mass 1 can check your answer by sim-
v2zero=[-5 3] Initial velocity of
mass 2 ple pencil-and-paper calculations.
e=.5 Set coefficient of These problems should have as
restitution much variety as possible. Sketch
theta=pi/4 Angle that the these problems clearly, show their
normal to contact analytic solution, and show that the
plane makes, computer agrees.
measured CCW from
+x axis, in radians b) Solve the problem given in the sam-
Your program (function, code, script) ple text given in the initial problem
should calculate the impulse of mass 1 statement.

Two-Particle Collisions
Problem 11.20 Solution
April 1, 2008

theta = 45; angle (degrees) between n and plus x axis

nx = cosd(theta);
ny = sind(theta);
n = [nx ny]f ; impulse direction
vlbef = [10 20 vel of ml before collision
v2bef = [-5 3 vel of m2 before collision
ml = 3; m2 = 19; values of two masses
e = . 5; coefficient of restitution

Write governing equations in form of Az=b

where z is a list of unknowns representing
the particle velocities after the collision
and the magnitude of the impulse.

A = [ ml 0 m2 0 0 x comp of lin mom bal

0 ml 0 m2 0 y comp of lin mom bal
-nx -ny nx ny 0 restitution equation
0 0 m2 0 -nx impulse-momentum for m2, x comp
0 0 0 m2 -ny] ; impulse-momentum for m2, y comp

b = [ml*vlbef + m2*v2bef; x & y comps of lin mom bal for syst

-e*sum( (v2bef-vlbef n) restitution equation
m2*v2bef ] ; impulse-momentum for m2, x & y comps

z= A\b;

Type out the solution (crudely).

disp(f vlxaft vlyaft v2xaft v2yaft P1);
disp (z f ) ;

ANSWER:
vlxaft vlyaft v2xaft v2yaft
-10.7273 -0.7273 -1.7273 6.2727 87.9384

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
70 Chapter 11.2. Collisions and explosions Problem 11.2.10 (continued)

A ball m is thrown horizontally at

height h and speed v0 . It then has a
sequence of bounces on the horizontal
ground. Treating each collision as friction-
less with restitution coefficient e how far
has the ball travelled horizontally when it
just finishes bouncing? Answer in terms
of some or all of m; g; h; v0 and e . A
ball m is thrown horizontally at height h
and speed v0 . It then has a sequence of
bounces on the horizontal ground. Treat-
ing each collision as frictionless with resti-
tution coefficient e how far has the ball
travelled horizontally when it just finishes
bouncing? Answer in terms of some or all
of m; g; h; v0 and e .

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
 For all problems, unless stated other-
wise, treat all strings as inextensible, flex-
ible and massless. Treat all pulleys and
wheels as round, frictionless and mass-
less. Assume all massive objects are pre-
vented from rotating (e.g., wheels stay on
the ground, etc.). When numbers are called
for use g D 10 m=s2 or g D 32 ft=s2 .

12.1.6 For the various situations pictured, (a)

F
find the acceleration of mass A and point m A B
B. Clearly define any variables, coordi-
nates or sign conventions that you use.

(b) B F
A
m

(c) F
A
m B

F B
(d) A
m

Filename:pulley1

Problem 12.6: Four different ways to pull

a mass.

{ 7b,
^) *-_-4 8 7 f=/4a
I n l_.-..._--4
^t b d AA ^ n B

T=Zlt
LF = fi4 &^
&q'ry
T :0 r - . x c ) + ( x r ) - y . )+ n (
['l 4 Y
Ag
l
./
LXc
-
\,1
=
-r
la^
r-

AB = Zoo

f = tvlta
r'+
aa=ffi
) t t = ( x , - x . )+ t x D - x , ) + t r P
r ' ) t ,

L J=
\ \

X n =l X . = Z X S

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009. 71
72 Chapter 12.1. 1D constrained motion and pulleys Problem 12.1.6 (continued)

-\.r

tz.6 fs^fi nuud

i--

r) v*
*-7^:**r
{-
/ {

l-

r = n 4 6 A'.ha

E
^,+o6
n l =
v \
'- F z *
n4

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 12.1. 1D constrained motion and pulleys Problem 12.1.14 73

12.1.14 For the situations pictured, find (a) F

the accelerations of mass A and of point B. A B

Clearly define any variables, coordinates m
or sign conventions that you use.

a) A single mass and four pulleys. (b)

m1 A g
b) Two masses and two pulleys.
B
m2
c) A single mass and four pulleys. 30o
60o

(c)
A B

F
m

Filename:pulley4
massless
Problem 12.14: Various pulley arrange-
ments.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
74 Chapter 12.1. 1D constrained motion and pulleys Problem 12.1.14 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 12.1. 1D constrained motion and pulleys Problem 12.1.14 (continued) 75

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
76 Chapter 12.1. 1D constrained motion and pulleys Problem 12.1.26

12.1.26 Block A, with mass mA , is pulled the mass passes through the posi-
to the right a distance d from the position tion where the spring is relaxed? .
it would have if the spring were relaxed. It
is then released from rest. Assume ideal B C
string, pulleys and wheels. The spring has A
constant k .
D E G
a) What is the acceleration of block A
just after it is released (in terms of
k , mA , and d )? x ı̂
Filename:pfigure-f93q5

b) What is the speed of the mass when Problem 12.26

-at- -."
----r^*- t

'OJ

jo
p QC?
(

(q os

o-
=p =

v ax. -^*5
e,

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 12.2. 1D motion with 2D and 3D forces Problem 12.2.11 77

12.2.11 Guyed plate on a cart A uniform 3
4

rectangular plate ABCD of mass m is sup- A D jˆ
ported by a rod DE and a hinge joint at
point B . The dimensions are as shown. 2
ı̂
There is gravity. What must the acceler- B C E
ation of the cart be in order for massless F
cart
rod DE to be in tension? Filename:tfigure3-2D-a-guyed

Problem 12.11: Uniform plate supported

by a hinge and a cable on an accelerating
cart.
'I-t -
J o h a^ ^ e 9 4 * ?
H wr t z . A od, u tl e fv -
-fAn
2 o3o
Prl go,rj,b J a e d r uZ ' l z 7 5
1&.,17,"fr
L*ff.
.u{o au<{cr*.*

D€ v *a*Ef*?

*fw
Fgu os nlo4,. (DF ,"s. ,,^ *a*s,,',rr,)

--.>
<' J / \ .\
X lo" * ic,. X (-*u t) = V,-r-x ( naa t
"

-a,t:r*- .' = ;i
3r-l?.i-*_&r*:- i' H : ,at
3t*2i) xT,,(k t-i
-hr,rll-:jj-yr)
-kG" f " ( - r^. ) [ i . d
'AT','4r^o
= -vr.,rd{v

Lror4x- {" *r)

, ? -
= 4.9 6.cd >D (bo. u le-

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
78 Chapter 12.2. 1D motion with 2D and 3D forces Problem 12.2.11 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 12.2. 1D motion with 2D and 3D forces Problem 12.2.14 79

12.2.14 A uniform rectangular plate of

mass m is supported by an inextensible ca- A D
ble AB and a hinge joint at point E on the
cart as shown. The hinge joint is attached C
to a rigid column welded to the floor of the B
cart. The cart has acceleration ax {O. There
G
E
is gravity. Find the tension in cable AB .
(What’s ‘wrong’ with this problem? What
if instead point B were at the bottom left a ax
hand corner of the plate?)
Filename:ch3-11a

Problem 12.14

ia.M2>
D

at. \ PSD'
\

34

- H

"Hne problem coi-fh problem -kosloo ac-Vs

^^^

Hie"

X-P A

3/C -

0\
o k H- i.5m 3 /£r -
\
is)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
80 Chapter 12.2. 1D motion with 2D and 3D forces Problem 12.2.25

12.2.25 Car braking: front brakes ver-  the point on the ground
sus rear brakes versus all four brakes. straight under the front wheel
What is the peak deceleration of a car when that is as far below ground as
you apply: the front brakes till they skid, the wheel base is long.
the rear brakes till they skid, and all four
brakes till they skid? Assume that the d) Solve the momentum balance equa-
coefficient of friction between rubber and tions for the wheel contact forces
road is  D 1 (about right, the coeffi- and the deceleration of the car. If
cient of friction between rubber and road you have used any or all of the
varies between about :7 and 1:3) and that recommendations from part (c) you
g D 10 m=s2 (2% error). Pick the dimen- will have the pleasure of only solv-
sions and mass of the car, but assume the ing one equation in one unknown at
center of mass height h is greater than zero a time.
but is less than half the wheel base w , the e) Repeat steps (a) to (d) for front-
distance between the front and rear wheel. wheel skidding. Note that the ad-
Also assume that the CM is halfway be- vantageous points to use for angular
tween the front and back wheels (i.e., lf D momentum balance are now differ-
lr D w=2). The car has a stiff sus- ent. Does a car stop faster or slower
pension so the car does not move up or
down or tip appreciably during braking. or the same by skidding the front
Neglect the mass of the rotating wheels instead of the rear wheels? Would
in the linear and angular momentum bal- your solution to (e) be different if
ance equations. Treat this problem as two- the center of mass of the car were at
dimensional problem; i.e., the car is sym- ground level(h=0)?
metric left to right, does not turn left or f) Repeat steps (a) to (d) for all-wheel
right, and that the left and right wheels skidding. There are some shortcuts
carry the same loads. To organize your here. You determine the car de-
work, here are some steps to follow. celeration without ever knowing the
a) Draw a FBD of the car assuming wheel reactions (or using angular
rear wheel is skidding. The FBD momentum balance) if you look at
should show the dimensions, the the linear momentum balance equa-
gravity force, what you know a pri- tions carefully.
ori about the forces on the wheels g) Does the deceleration in (f) equal
from the ground (i.e., that the fric- the sum of the decelerations in (d)
tion force Fr D Nr , and that there and (e)? Why or why not?
is no friction at the front wheels),
and the coordinate directions. Label h) What peculiarity occurs in the solu-
points of interest that you will use in tion for front-wheel skidding if the
your momentum balance equations. wheel base is twice the height of the
(Hint: also draw a free body dia- CM above ground and  D 1?
gram of the rear wheel.) i) What impossibility does the solu-
b) Write the equation of linear mo- tion predict if the wheel base is
mentum balance. shorter than twice the CM height?
What wrong assumption gives rise
c) Write the equation of angular mo-
to this impossibility? What would
mentum balance relative to a point
really happen if one tried to skid a
of your choosing. Some particu-
car this way?
larly useful points to use are:
 the point above the front y
wheel and at the height of the
center of mass; x
 the point at the height of the
h
center of mass, behind the C D
rear wheel that makes a 45
degree angle line down to lr lf
Filename:pfigure-s94h3p6

the rear wheel ground contact Problem 12.25

point; and

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 12.2. 1D motion with 2D and 3D forces Problem 12.2.25 (continued) 81

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
82 Chapter 12.2. 1D motion with 2D and 3D forces Problem 12.2.43

12.2.43 The uniform 2 kg plate DBFH z

is held by six massless rods (AF, CB, CF,
GH, ED, and EH) which are hinged at their H
G
ends. The support points A, C, G, and E are
all accelerating in the x -direction with ac-
celeration a D 3 m=s2 {. There is no grav- E F 1m
ity. D C
y
P*
a) What is f F g
{O for the forces act- 1m
ing on the plate?
A 1m B
b) What is the tension in bar CB? x
Filename:pfigure-s94q3p1

Problem 12.43

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 12.2. 1D motion with 2D and 3D forces Problem 12.2.47 83

12.2.47 A rear-wheel drive car on level

ground. The two left wheels are on per-
fectly slippery ice. The right wheels are on ice
dry pavement. The negligible-mass front m
right wheel at B is steered straight ahead
and rolls without slip. The right rear wheel h B
b
at C also rolls without slip and drives the C
car forward with velocity * v D v|O and ac-

w w/2
celeration *a D a|O. Dimensions are as k̂
shown and the car has mass m . What is jˆ
the sideways force from the ground on the
right front wheel at B ? Answer in terms of ı̂
any or all of m, g , a, b , `, w , and {O. cartoon to show B
dimensions h
C b
w w/2


Filename:pfigure3-f95p1p3

Problem 12.47: The left wheels of this car

are on ice.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
84 Chapter 12.2. 1D motion with 2D and 3D forces Problem 12.2.47 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
13.1.1 A particle goes on a circular path g) What are the R and  components
with radius R making the angle  D ct of {O and |O at t D t  ?
measured counter clockwise from the pos- h) Draw an arrow representing both
itive x axis. Assume R D 5 cm and c D the velocity and the acceleration at
2 s 1 . t D t .
a) Plot the path. i) Find the eOR and eO components of
b) What is the angular rate in revolu- position *r , velocity *
v and accelera-
tions per second? a at t D t  .
tion *
c) Put a dot on the path for the location j) Find the x and y components of po-
of the particle at t D t  D 1=6 s. r , velocity *
sition * v and acceleration
a at t D t  . Find the velocity and
*
d) What are the x and y coordinates acceleration two ways:
of the particle position at t D t  ?
1. Differentiate the position
Mark them on your plot.
r D x {O C y |O.
given as *
e) Draw the vectors eO and eOR at t D 2. Differentiate the position give
t . r D r eOr and then convert
as *
f) What are the x and y components the results to Cartesian coor-
of eOR and eO at t D t  ? dinates.

4
f
Af
| 9,.
^)

r) 0= 7n5
I Zr lrev/5
rAV

,) ftt {= hE
X3 T c"(+) y= gEinG)

'
d) \ee yr"YA
e) \ /

=
+) b r <c=n o t r r ; n l | 4 t r E ' i
- i i n g t r c n s=g |- $ t + + i
tu,
3) i , = c o s0 6 n ' { n 0 ; "
j = > i n g 3 u *c o s 7t u
h) eca JrayA
i) 7 = R U =
R9 0 *
i = K 7 A u =l 0 , r ' 6 n
fi= -|'Kb*+KfiA,= -'zof6r

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009. 85
86 Chapter 13.1. Kinematics of a particle in circular motion Problem 13.1.1 (continued)

S.?r+,

l t .I Cg n6n',Le"d
4
2 4

j ) 1, Y =
I
X l + YJ / l

"t t . 1 I

, t -
v x L +Yr S
= - K q , r ,0 p tR c s s g0 f
*
Xzr) L | 5 ( , r r % ) G d ;
2, n
+ n
4 X I t Y J
- p s i n oi i ) t + ( - B s l n F ' t l z c ogEd ) ;
P
Gr c o sbgz
- ) i * (r (r,^7')(r")' r o);
-'5/ , , , 7 ) ( r o ) ' o

& ; - tt f
z 4
t U , l T rtl
a
Z r = Y€r
*n
v = Y O,, = Y ( z o )6 ,
i =-91-s,rt+, r j
? = y( d 6n-f;r) = f ( o - (or)'6r)
+
^ :
*l oir'i --l fllT u"i

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 13.1. Kinematics of a particle in circular motion Problem 13.1.15 87

13.1.15 A particle moves in circles so that How long does it take the particle to reach
a always makes a fixed an-
its acceleration * a) the speed of sound ( 300 m=s)?
gle  with the position vector * r , with
0    =2. For example,  D 0 would b) the speed of light ( 3
108 m=s)?
be constant rate circular motion. Assume c) 1?
 D =4, R D 1 m and P0 D 1 rad= s.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
88 Chapter 13.2. Dynamics of a particle in circular motion Problem 13.2.30

13.2.30 Bead on a hoop with friction. A y

bead slides on a rigid, stationary, circular
wire. The coefficient of friction between v
the bead and the wire is . The bead is
loose on the wire (not a tight fit but not m
so loose that you have to worry about rat-
tling). Assume gravity is negligible. θ
O
x
a) Given v , m, R, & ; what is vP ? R

b) If v. D 0/ D v0 , how does v de-

pend on  , , v0 and m? Filename:pfigure-s94h10p1

Problem 13.30
Fed yvil-htruffusrln*
x r \/Vor srM & r./*ltt fS
RongLongf oFfiCnhotlrS

KirnDunpl'ty
HW+l-3 d*e,owq
Tnf{ 2f'3C.
&chtrr 36tl2s
TH,rear5vo1yi
&oLurlnN
r) t3+5- Beadstging on rigid, wtre; qDswrle
' sroTl0nArUtcirc;u-lw FtsD.-Sf/ N€'
\- ,rffilffr*
-ruNA

0t^ 0NeI1 v, lT), K , &t r , f r n dv

.aF=- md^ d"=Kee" - R#&
-J

tNe' pNoa ? mKe€"- rnK6"e3

L J , a ,= N = -lr1lR6' e=t
C4 ^/

-
N = nntVli -- -r3r),:

Zffio= e,ffi, vo =
r-pi'ra
- *'Ke,) +(N
e/g,e,,)ffid'* rnV)
--
R Krnii 83.
{rt^NR
[T. I =7 '/p NK--Rrn'j
y:
",tttN
m
l= #f#)
l-i = - uirl
I T I

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 13.2. Dynamics of a particle in circular motion Problem 13.2.30 (continued) 89

1l

vtd) ilb

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
90 Chapter 13.2. Dynamics of a particle in circular motion Problem 13.2.34

13.2.34 A block with mass m is moving

to the right at speed v0 when it reaches a
circular frictionless portion of the ramp.
g
a) What is the speed of the block when R
it reaches point B? Solve in terms of
R, v0 , m and g . B
b) What is the force on the block from
the ramp just after it gets onto the
ramp at point A? Solve in terms of v0
R, v0 , m and g . Remember, force A
is a vector. Filename:s93q4Sachse

Problem 13.34

4 l?ffi-r blocK wfth fnfl$$m) ryeedVo, fn'chonlestnmp

a, speedoF blocK 0t B in terms aF K,Vo, rn, &9

FBD
B
+,t n^ JN' N*+
4't, 4 ,, J_^st
Enw!.#3
t.u=
!rnv"' a+n
Jzmvr^ Ep= rngh d+ B
r Eh=
,
i *J
-) S daes
F=) NJ v _-7N " V - o
-.-A

^mfrKz nou,wrgY
$

Etrn+6Ks t Ef * consfianf

:we

b. tctockfiqDrnrdmp a* fr
IqbLn a' = Rei,-R€6, A=* at fr
-zF=rnd
-mgt J-ffC' c ^ -nnne"erT
- , * r^N=-rnKee
- 1 3 ' &nL+
t\

nnq= -rnKo'
v- -mKW

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 13.2. Dynamics of a particle in circular motion Problem 13.2.34 (continued) 91

l t ,n C 0 wti^,,ted.

h)f l+
d : K A ee - F 0-a',
- 4 -
Z f = ^q
- N €4r t ^ J e4 r = n ( / B ?" a€ e_Ko.A")
,1
,.1 l r o
\./ f

- M * rnq : - * K a z
J
='N'
K

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
92 Chapter 13.3. 2D rigid-object rotation kinematics Problem 13.3.8

13.3.8 Write a computer program to with constant angular speed ! D

animate the rotation of an object. Your 2 rad=s. Find and plot the position
input should be a set of x and y co- of the object at t D 1 s; 2 s; and3 s.
ordinates defining the object (such that y
plot y vs x draws the object on the
screen) and the rotation angle  . The out-  = 30 cm
put should be the rotated coordinates of the φ = 30o
object. 
a) From the geometric information
given in the figure, generate coordi-
nates of enough points to define the φ 
 
given object.
O φ
b) Using your program, plot the object
at  D 20 ; 60 ; 100 ; 160 ; and x
270 . Filename:pfigure13-3-objectrotation

Problem 13.8
c) Assume that the object rotates

l ) , tg
,./

d ( o , -rd
z\
(
/ * Soem
Q* 7P"
(f *in0, I,rnre)
( X,"osg,I t;^i,

(t 1rrrfl,o)
x

b) ( e r
,lutc

,) flt t---- J,s (

= =
In,t
bbjn
0,o) r ot^t,
l e5
& r^l/ s)"( t r ) V * ) l l ? . 6 "
A,tt t 2 L I '
-z
I\ gt
)>ist
oD?) ht,EL
rot
I
? r") z z1 .I f
il+ t ' - 1I'
obiorl {t'(ul tet ( r " l t 3 w , 7 7 0

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 13.3. 2D rigid-object rotation kinematics Problem 13.3.8 (continued) 93

r0/20/08 I: \animation b.m

? Johannes Feng
? Soluti-on to 13.58b, due L0/2t/08

function animation b

? CLEAN UP
close all;

? USER INPUT (angle of rotation)

Eheta = input ('Angle ,of rotation (in degrees) :\n') ;

? CONSTANTS

phi = 30; ? geometry of shape, in degrees

? DEFINE COORDINATESFOR NON-ROUNDPART

x = ;6 1*glnd(phi) O 1*cosd(phi) 2*1*cosd(phi)1
y = [2*1*cosd (phi) lr,cosd (phi) O I*sind (phi) 0]
^^.i nf -- l'*. rr'l .
I/varru L^t I J I

? DEFINE COORDINATES FOR QUARTER-CIRCLE

pts = linspace(0, pi/2, 1000);
xcirc = 2*f*cosa (phi) *cos (pts) ;
ycirc = 2*f*cosd(phi)*sin(pts) ;
circle = [xcirc; ycirc;];

? DEFINE ROTATION MATRIX

R = [cosd(theta) -sind(theta) ; sind(theta) cosd(theta) ] ;

? DEF]NE COORDINATES FOR ROTATED SHAPE

naint- -
- P * n ynv if n i '
yvl r5g .! l rg ,

xrot = point(1,:);
yrot = point (2, :) ;
circle = R*circle;
xcircrot = circle(l-, :) ;
ycircrot = circle (2,:) ;

? DISPLAY THE RESULTS

figure;
title ('Rotating object, by Johannes Feng') ;
hold on;
plot (x, y, ' :b') ; ? original shape
plot (xcirc, ycirc, ' :b') ;
plot (xrot, yrot , 'r') i ? rotated shape
n] nl- /va i r dvr &^ vf rrci rcrol- lrl ) :
e t , ,

axis ([- .8 .8 -.6 .6]) ;

grid on;
holC off;

end

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
94 Chapter 13.3. 2D rigid-object rotation kinematics Problem 13.3.8 (continued)

L0/20/oB animation

? Johannes Feng
? Solution to 13.58c, due Lo/2L/08

function animation c

? CI,EAN UP
cfose all;

given angular speed)

? USER INPUT (time of rotation,
t = input ( 'Time of rotation (s) : \n'r ;

? CONSTANTS

phi = 30; ? geometry of shape, in degrees

w = 2; ? angular sPeed, in radians

? DEFINE COORDINATES FOR NON-ROUND PART

x = 1g 1*s1nfl(phi) 0 1*cosd(phi) 2*L*cosd(phi)J
y = [2*1*cosd(phi) 1*sesfl(phi) O 1*sind(phi) 0]
point = [x; yl ;

? DEF]NE COORDINATESFOR QUARTER-CIRCLE

pts = linspace(0, Pi/2' 1000);
xcirc = !*f*gesA (phi) *cos (Pts) ;
ycirc - 2*1*cosa (Phi) *sin (Pts) ;
circle = [xcirc; ycirc;7;

? DEFINE ROTATION MATRIX

R = lcos (t*w) -sin (t*w) ; sin (t*w) cos (t*w) ] ;

? DEFINE COORDINATESFOR ROTATED SHAPE

.
*^.i nts -- D*n
1\
i nl-
yv+..v,
I/vrrru
.
vvar
^!Vu -- nni
yv+r.v
nt- /'l
\-t t ) ;

. . , ^ f -- n a i n F / a ' ) ;
y v r . . e \ s , .
J l v u

circle - R*circle;
xcircrot = circle (1, : )
ycircrot = circle (2, : )

? DISPLAY THE RESULTS

.Fi
! + Y a$rrr vr a . t

title ( ' RoEating obj ect, by Johannes Fengr ) ;

hol-d on;
plot (x, Y, r :b') ; ? original shaPe
p l - o L( x c i r c , Y c i r c , ' :b' ) ;
ptot{xrot, 'r'); ? rotated shaPe
Yrot,
^p l f^Lr ) L /va.i raral' rrnircrnl- rrl)
\iut!u!v9, Jvr!vrvet ! t t:

axis(t-.8 .8 -.6 .6))i

grid on;
hol-d of f ;

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 13.3. 2D rigid-object rotation kinematics Problem 13.3.8 (continued) 95

ofrotation0=20"

ofrotation 0 = 60o

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
96 Chapter 13.3. 2D rigid-object rotation kinematics Problem 13.3.8 (continued)

ofrotation e = 100"

eofrotation0=1

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 13.3. 2D rigid-object rotation kinematics Problem 13.3.8 (continued) 97

ofrotation 0 =270"

Time=1s

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
98 Chapter 13.3. 2D rigid-object rotation kinematics Problem 13.3.8 (continued)

Time:2 s

Time=3s

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 13.4. 2D rigid-object angular velocity Problem 13.4.14 99

13.4.14 A 0:4 m long rod AB has many B

holes along its length such that it can be
pegged at any of the various locations. It
rotates counter-clockwise at a constant an-
jˆ
gular speed about a peg whose location is
not known. At some instant t , the velocity
of end B is * vB D 3 m=s|O. After 20  s, ı̂
the velocity of end B is *vB D 3 m=s{O. If
the rod has not completed one revolution
during this period,
a) find the angular velocity of the rod,
and A
b) find the location of the peg along the
Filename:pfigure4-3-rp9

Problem 13.14
length of the rod.

t3, 19
Att ,IJ frt tr til
L_>i
-,q.
+^ls) /l
,)
^U rofofes
Astu&s rol }t^r nof onI Y"av- ) i {
"n^y!r{d
2rf wlara 1 : per;o)
counler*rloek,,,fse.

2 rt -L q )
'+
zo
- T T T T
'
9(zo) |E

aynlavueluiQg = 90 r^)/s
?= ry=
b) {rn) lor"tion o)uy {le leyfA of rod

ulrl 0
a

I * 3n1s
l r l = lv
g
T - #
90hl,/s

l , r l= 0,1,,rr

L o r o t on
i (An il, I h4 fro*
t7
/)
fry

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
100 Chapter 13.4. 2D rigid-object angular velocity Problem 13.4.22

13.4.22 2-D constant rate gear train. no slip

The angular velocity of the input shaft ωA
(driven by a motor not shown) is a con- ωC
stant, !input D !A . What is the angular RC
velocity !output D !C of the output shaft
RA RB
and the speed of a point on the outer edge
of disc C , in terms of RA , RB , RC , and A B
!A ? C
Filename:ch4-3

Problem 13.22: Gear B is welded to C and

engages with A.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 13.6. Dynamics of rigid-object planar circular motion Problem 13.6.10 101

13.6.10 Motor turns a bent bar. Two y

uniform bars of length ` and uniform mass
m are welded at right angles. One end is
attached to a hinge at O where a motor jˆ
keeps the structure rotating at a constant m 
rate ! (counterclockwise). What is the net ı̂
force and moment that the motor and hinge
ω
cause on the structure at the instant shown. m
O
x
a) neglecting gravity motor

Filename:pg85-3

b) including gravity. Problem 13.10: A bent bar is rotated by a

motor.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
102 Chapter 13.6. Dynamics of rigid-object planar circular motion Problem 13.6.10 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 13.6. Dynamics of rigid-object planar circular motion Problem 13.6.20 103

13.6.20 At the input to a gear box a 100 lbf e) If instead of applying a 100 lbf to
force is applied to gear A. At the output, the left gear it is driven by a mo-
the machinery (not shown) applies a force tor (not shown) at constant angular
of FB to the output gear. Gear A rotates at speed ! , what is the angular speed
constant angular rate ! D 2 rad=s, clock- of the right gear?
wise.
no slip
a) What is the angular speed of the FB = ?
right gear? RA
RB
b) What is the velocity of point P ? RC C
c) What is FB ?
A B P
d) If the gear bearings had friction,
would FB have to be larger or FA = 100 lb
smaller in order to achieve the same
Filename:pg131-3

Problem 13.20: Two gears with end loads.

constant velocity?

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
104 Chapter 13.6. Dynamics of rigid-object planar circular motion Problem 13.6.20 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 13.6. Dynamics of rigid-object planar circular motion Problem 13.6.20 (continued) 105

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
106 Chapter 13.6. Dynamics of rigid-object planar circular motion Problem 13.6.20 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 13.6. Dynamics of rigid-object planar circular motion Problem 13.6.34 107

13.6.34 A pegged compound pendu- pendulum. It is not only the fastest

lum. A uniform bar of mass m and length pendulum but also the “most accu-
` hangs from a peg at point C and swings rate pendulum”. The claim is that
in the vertical plane about an axis passing even if d changes slightly over time
through the peg. The distance d from the due to wear at the support point,
center of mass of the rod to the peg can be the period of the pendulum does not
changed by putting the peg at some other change much. Verify this claim by
point along the length of the rod. calculating the percent error in the
a) Find the angular momentum of the time period of a pendulum of length
rod about point C. ` D 1 m under the following three
conditions: (i) initial d D 0:15 m
b) Find the rate of change of angular and after some wear d D 0:16 m,
momentum of the rod about C. (ii) initial d D 0:29 m and after
c) How does the period of the pendu- some wear d D 0:30 m, and (iii)
lum vary with d ? Show the varia- initial d D 0:45 m and after some
tion by plotting the period against wear d D 0:46 m. Which pendu-
d . [Hint, you must first find the lum shows the least error in its time
` period? What is the connection be-
equations of motion, linearize for
tween this result and the plot ob-
small  , and then solve.]
tained in (c)?
d) Find the total energy of the rod (us-
ing point C as a datum for potential
energy). A
e) Find R when  D =6. C
d
f) Find the reaction force on the rod at
C, as a function of m, d , `,  , and


P . θ G
g) For the given rod, what should be
the value of d (in terms of `) in or- m
der to have the fastest pendulum?
h) Test of Schuler’s pendulum. The
pendulum with the value of d ob- Filename:pfigure-s94h8p6
B
tained in (g) is called the Schuler’s Problem 13.34

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
108 Chapter 13.6. Dynamics of rigid-object planar circular motion Problem 13.6.34 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 13.6. Dynamics of rigid-object planar circular motion Problem 13.6.34 (continued) 109

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
14.1.1 A disk of radius R is hinged at to C using R./ and the angular ve-
point O at the edge of the disk, approxi- !/.
locity matrix S .*
mately as shown. It rotates counterclock- e) Using R D 30 cm, r D 25 cm,  D
wise with angular velocity P D * !. A bolt 60 , and  D 45 , find Œ* rC=0 xy ,
is fixed on the disk at point P at a distance r and Œ*rP=0 xy at the instant shown.
from the center of the disk. A frame x 0 y 0 is
fixed to the disk with its origin at the center f) Assuming that the angular speed is
C of the disk. The bolt position P makes an ! D 10 rad=s at the instant shown,
angle  with the x 0 -axis. At the instant of vC=0 xy and Œ*
find Œ* vP=0 xy taking
interest, the disk has rotated by an angle  . other quantities as specified above.
a) Write the position vector of point P P
relative to C in the x 0 y 0 coordinates

in terms of given quantities. y

φ x

r
b) Write the position vector of point P
relative to O in the xy coordinates ω
in terms of given quantities. y C
R
c) Write the expressions for the rota-
tion matrix R./ and the angular O θ
!/.
velocity matrix S .* x
Filename:pfigure14-1-doormat1

d) Find the velocity of point P relative Problem 14.1

110
Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 14.1. Rigid object kinematics Problem 14.1.1 (continued) 111

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
112 Chapter 14.1. Rigid object kinematics Problem 14.1.1 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 14.1. Rigid object kinematics Problem 14.1.12 113

14.1.12 The center of mass of a javelin the angular velocity of the javelin.
travels on a more or less parabolic path Assume the angular velocity iscon-
while the javelin rotates during its flight. In stant during the flight and that the
a particular throw, the velocity of the cen- javelin makes less than a full revo-
ter of mass of a javelin is measured to be lution.
vC D 10 m=s{O when the center of mass
*
is at its highest point h D 6 m. As the  v
C
javelin lands on the ground, its nose hits C
the ground at G such that the javelin is al- θ
most tangent to the path of the center of jˆ
h
mass at G. Neglect the air drag and lift on
the javelin. φ
ı̂
G
a) Given that the javelin is at an angle
 D 45 at the highest point, find
Filename:pfigure14-1-javeline

Problem 14.12

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
114 Chapter 14.2. Dynamics of a rigid object Problem 14.2.7

14.2.7 A uniform 1kg plate that is one the computer for as many of the in-
meter on a side is initially at rest in the po- termediate commands as you like.
*
sition shown. A constant force F D 1 N{O Hand work and sketches should be
is applied at t D 0 and maintained hence- provided as needed to justify or ex-
forth. If you need to calculate any quantity plain the computer work.
that you don’t know, but can’t do the cal- d) Run your code and show clear out-
culation to find it, assume that the value is put with labeled plots. Mark output
given. by hand to clarify any points.
a) Find the position of G as a func- y
tion of time (the answer should have
numbers and units).
b) Find a differential equation, and ini-
tial conditions, that when solved
would give  as a function of time.
 is the counterclockwise rotation
of the plate from the configuration G
shown. x
c) Write computer commands that
would generate a drawing of the Fγ E
outline of the plate at t D 1 s. Filename:S02p2p2flyingplate

You can use hand calculations or Problem 14.7

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 14.2. Dynamics of a rigid object Problem 14.2.7 (continued) 115

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
116 Chapter 14.2. Dynamics of a rigid object Problem 14.2.7 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 14.2. Dynamics of a rigid object Problem 14.2.7 (continued) 117

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
118 Chapter 14.2. Dynamics of a rigid object Problem 14.2.9

14.2.9 A uniform slender bar AB of mass

m is suspended from two springs (each of
spring constant K ) as shown. Immediately 1 2
after spring 2 breaks, determine
a) the angular acceleration of the bar, A B
b) the acceleration of point A, and Filename:pfigure-blue-50-2
L
c) the acceleration of point B . Problem 14.9

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 14.2. Dynamics of a rigid object Problem 14.2.9 (continued) 119

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
120 Chapter 14.3. Kinematics of rolling and sliding Problem 14.3.3

The next
several problems concern Work, power and
energy
14.3.3 Rolling at constant rate. A round the direction accurately and draw
disk rolls on the ground at constant rate. It the lengths of the vectors in propor-
rolls 1 14 revolutions over the time of inter- tion to their magnitude. You can
est. find the velocity by differentiating
the position vector or by using rela-
a) Particle paths. Accurately plot the
tive motion formulas appropriately.
paths of three points: the center of
Draw the disk at its position after
the disk C, a point on the outer edge
one quarter revolution. Note that
that is initially on the ground, and
the velocity of the points is perpen-
a point that is initially half way be-
dicular to the line connecting the
tween the former two points. [Hint:
points to the ground contact.
Write a parametric equation for the
position of the points. First find a c) Acceleration of points. Do the
relation between ! and vC . Then same as above but for acceleration.
note that the position of a point is Note that the acceleration of the
the position of the center plus the points is parallel to the line connect-
position of the point relative to the ing the points to the center of the
center.] Draw the paths on the com- disk.
puter, make sure x and y scales are P
the same.
b) Velocity of points. Find the veloc- C
ity of the points at a few instants in
the motion: after 14 , 21 , 43 , and 1
revolution. Draw the velocity vec- Filename:pfigure-s94h11p2

tor (by hand) on your plot. Draw Problem 14.3

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 14.3. Kinematics of rolling and sliding Problem 14.3.3 (continued) 121

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
122 Chapter 14.3. Kinematics of rolling and sliding Problem 14.3.3 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 14.3. Kinematics of rolling and sliding Problem 14.3.3 (continued) 123

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
124 Chapter 14.3. Kinematics of rolling and sliding Problem 14.3.3 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 14.3. Kinematics of rolling and sliding Problem 14.3.3 (continued) 125

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
126 Chapter 14.4. Mechanics of contact Problem 14.4.6

14.4.6 Spool Rolling without Slip and b) What is the horizontal force of the
Pulled by a Cord. The light-weight spool ground on the spool?
is nearly empty but a lead ball with mass
jˆ
m has been placed at its center. A force F
is applied in the horizontal direction to the Ro
cord wound around the wheel. Dimensions roll without ı̂
C Ri
are as marked. Coordinate directions are as slip F
marked.
a) What is the acceleration of the cen- Filename:pfigure-s94h11p5

Problem 14.6
ter of the spool?

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 14.4. Mechanics of contact Problem 14.4.9 127

14.4.9 A napkin ring lies on a thick velvet c) Clearly describe the subsequent
tablecloth. The thin ring (of mass m, radius motion of the ring. Which way does
r ) rolls without slip as a mischievous child it end up rolling at what speed?
pulls the tablecloth (mass M ) out with ac- d) Would your answer to the previ-
celeration A. The ring starts at the right ous question be different if the ring
end (x D d ). You can make a reason- slipped on the cloth as the cloth was
able physical model of this situation with being pulled out?
an empty soda can and a piece of paper on
a flat table. m
napkin ring
a) What is the ring’s acceleration as
the tablecloth is being withdrawn? x r tablecloth
b) How far has the tablecloth moved A
to the right from its starting point d
x D 0 when the ring rolls off its
Filename:pfigure-blue-51-1

Problem 14.9
left-hand end?

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
128 Chapter 14.4. Mechanics of contact Problem 14.4.9 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 14.4. Mechanics of contact Problem 14.4.9 (continued) 129

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
130 Chapter 14.4. Mechanics of contact Problem 14.4.23

14.4.23 A disk rolls in a cylinder. For all velocities and accelerations needed
of the problems below, the disk rolls with- in the momentum balance equation
out slip and rocks back and forth due to in terms of this variable and it’s
gravity. derivative. [Hint: you’ll need to
a) Sketch. Draw a neat sketch of think about the rolling contact in or-
the disk in the cylinder. The sketch der to do this part.]
should show all variables, coordi- e) Equation of motion. Write the an-
nates and dimension used in the gular momentum balance equation
problem. as a single second order differential
b) FBD. Draw a free body diagram of equation.
the disk. f) Simple pendulum? Does this
c) Momentum balance. Write the equation reduce to the equation for
equations of linear and angular mo- a pendulum with a point mass and
mentum balance for the disk. Use length equal to the radius of the
the point on the cylinder which cylinder, when the disk radius gets
touches the disk for the angular mo- arbitrarily small? Why, or why not?
mentum balance equation. Leave
as unknown in these equations vari-
ables which you do not know.
d) Kinematics. The disk rolling RC
in the cylinder is a one-degree-of-
freedom system. That is, the val-
ues of only one coordinate and its RD
derivatives are enough to determine
the positions, velocities and accel-
erations of all points. The angle
that the line from the center of the
cylinder to the center of the disk
Filename:h12-3

Problem 14.23: A disk rolls without slip

makes from the vertical can be used inside a bigger cylinder.
as such a variable. Find all of the

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 14.4. Mechanics of contact Problem 14.4.23 (continued) 131

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
132 Chapter 14.4. Mechanics of contact Problem 14.4.23 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 14.4. Mechanics of contact Problem 14.4.23 (continued) 133

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
134 Chapter 14.4. Mechanics of contact Problem 14.4.23 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 14.5. Collisions Problem 14.5.8 135

14.5.8 An acrobat modeled as a rigid

body with uniform rigid mass m of length
DURING
l . She falls without rotation in the position L

shown from height h where she was sta-

h
tionary. She then grabs a bar with a firm
but slippery grip. What is h so that after
the subsequent motion the acrobat ends up bar
in a stationary handstand? [ Hint: What BEFORE AFTER
quantities are preserved in what parts of the
motion?]
Filename:pfigure-s94h10p4

Problem 14.8

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
15.1.5 Picking apart the polar coordi- y
nate formula for velocity. This prob- Top view
lem concerns a small mass m that sits in ω
a slot in a turntable. Alternatively you can
think of a small bead that slides on a rod.
The mass always stays in the slot (or on the
rod). Assume the mass is a little bug that
can walk as it pleases on the rod (or in the x
slot) and you control how the turntable/rod
rotates. Name two situations in which one
of the terms is zero but the other is not in
the two term polar coordinate formula for
velocity, RP eOR C RP eO . You should thus
gain some insight into the meaning of each Top view y
of the two terms in that formula.
ω

Filename:pfigure-s94h9p4b

Problem 15.5

136
Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 15.1. Polar coordinates and path coordinates Problem 15.1.6 137

15.1.6 Picking apart the polar coordi- polar coordinate formula for acceleration,
nate formula for acceleration. Recon- a D .RR RP 2 /eOR C .2RP P C R/
* R eO , are
sider the configurations in problem 15.1.5. zero. Each situation should pick out a dif-
This time, name four situations in which ferent term. You should thus gain some in-
all of the terms, but one, in the four term sight into the meaning of each of the four
terms in that formula.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
138 Chapter 15.1. Polar coordinates and path coordinates Problem 15.1.6 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 15.1. Polar coordinates and path coordinates Problem 15.1.6 (continued) 139

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
140 Chapter 15.1. Polar coordinates and path coordinates Problem 15.1.10

15.1.10 A particle travels at non-constant ious positions of the particle on the path,
speed on an elliptical path given by y 2 D sketch the position vector * r .t/; the polar
2
b 2 .1 xa2 /. Carefully sketch the ellipse coordinate basis vectors eOr and eO ; and the
path coordinate basis vectors eOn and eO t . At
for particular values of a and b . For var-
what points on the path are eOr and eOn par-
allel(or eO and eO t parallel)?

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 15.2. Rotating reference frames Problem 15.2.5 141

15.2.5 Given that * r .t/ D ct 2 {O0 and that jˆ

.t/ D d sin.t/ , find *v.t/ j'ˆ
ı̂'
a) in terms of {O and |O ,
θ ı̂
b) in terms of {O0 and |O 0 . r(t)
Filename:pfig3-1-DH1

Problem 15.5

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
142 Chapter 15.3. General expressions for velocity and acceleration Problem 15.3.2

15.3.2 Actual path of bug trying to walk of times. Your plot should include
a straight line. A straight line is inscribed the instant at which the bug walks
on a horizontal turntable. The line goes through the origin. Make sure your
through the center. Let  be angle of ro- x and y - axes are drawn to the same
tation of the turntable which spins at con- scale. A computer plot would be
stant rate P 0 . A bug starts on the out- nice.
side edge of the turntable of radius R and b) Calculate the radius of curvature of
walks towards the center, passes through the bug’s path as it goes through the
it, and continues to the opposite edge of origin.
the turntable. The bug walks at a constant
speed vA , as measured by how far her feet c) Accurately draw (say, on the com-
move per step, on the line inscribed on the puter) the osculating circle when
table. Ignore gravity. the bug is at the origin on the pic-
ture you drew for (a) above.
a) Picture. Make an accurate draw- d) Force. What is the force on the
ing of the bug’s path as seen in the bugs feet from the turntable when
room (which is not rotating with the she starts her trip? Draw this force
turntable). In order to make this as an arrow on your picture of the
plot, you will need to assume val- bug’s path.
ues of vA and P 0 and initial values
e) Force. What is the force on the
of R and  . You will need to write
bugs feet when she is in the mid-
a parametric equation for the path
dle of the turntable? Draw this force
in terms of variables that you can
as an arrow on your picture of the
plot (probably x and y coordinates).
bug’s path.
You will also need to pick a range

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 15.3. General expressions for velocity and acceleration Problem 15.3.2 (continued) 143

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
144 Chapter 15.3. General expressions for velocity and acceleration Problem 15.3.2 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 15.3. General expressions for velocity and acceleration Problem 15.3.2 (continued) 145

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
146 Chapter 15.3. General expressions for velocity and acceleration Problem 15.3.2 (continued)

function path1518()
%%% draw path
R=1; % radius of the turntable
va=0.2; % velocity of the bug on the turntable
phidot=1; % angular velocity of the turntable
t=[0:0.1:10];
x=(R-va*t).*cos(phidot*t);
y=(R-va*t).*sin(phidot*t);
plot(x,y);
axis equal;

grid on;

%%%% draw osculating circle when bug goes through the center
rau=va/(2*phidot); % radius of curvature of the path at the origin
xc= va*sin(phidot*R/va)/(2*phidot);
yc= -va*cos(phidot*R/va)/(2*phidot); % position of the center
%draw the circle;
theta=[0:0.01:2*pi];
circle1=xc+rau*cos(theta);
circle2=yc+rau*sin(theta);
hold on;
plot(circle1,circle2,'r');

%%%% draw force vector

m=1; %mass of the bug
scale=0.3; % scale for graphics

f1x=-m*R*phidot;
f1y=-m*2*va*phidot;
quiver(1,0,f1x,f1y,scale,'k'); % draw force at the beginning;

f2x=2*m*va*phidot*sin(phidot*R/va);
f2y=-2*m*va*phidot*cos(phidot*R/va);
quiver(0,0,f2x,f2y,scale,'k'); %draw force at the origin

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 15.3. General expressions for velocity and acceleration Problem 15.3.2 (continued) 147

0.6

0.4

0.2

-0.2

-0.4

-0.6
-0.5 0 0.5 1

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
148 Chapter 15.3. General expressions for velocity and acceleration Problem 15.3.2 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 15.3. General expressions for velocity and acceleration Problem 15.3.2 (continued) 149

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
150 Chapter 15.3. General expressions for velocity and acceleration Problem 15.3.2 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 15.3. General expressions for velocity and acceleration Problem 15.3.2 (continued) 151

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
152 Chapter 15.3. General expressions for velocity and acceleration Problem 15.3.2 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 15.3. General expressions for velocity and acceleration Problem 15.3.2 (continued) 153

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
154 Chapter 15.3. General expressions for velocity and acceleration Problem 15.3.11

15.3.11 A honeybee, sensing that it can

get a cheap thrill, alights on a phonograph 30o
turntable that is being carried by a carni- carousel
val goer who is riding on a carousel. The bee
situation is sketched below. The carousel
has angular velocity of 5 rpm, which is in-
creasing (accelerating) at 10 rev=min2 ; the
phonograph rotates at a constant 33 1/3
rpm. The honeybee is at the outer edge
of the phonograph record in the position 12'
shown in the figure; the radius of the record turntable
is 7 inches. Calculate the magnitude of the Filename:pfigure-blue-67-2

acceleration of the honeybee. Problem 15.11

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 15.3. General expressions for velocity and acceleration Problem 15.3.11 (continued) 155

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
156 Chapter 15.4. Kinematics of 2-D mechanisms Problem 15.4.1

15.4.1 Slider crank kinematics (No FBD f) For what values of  is the angular
required!). 2-D . Assume R; `; ; ; P R are velocity of the connecting rod AB
given. The crank mechanism parts move equal to zero (assume P ¤ 0)? (you
on the xy plane with the x direction be- need not answer part (e) correctly to
ing along the piston. Vectors should be ex- answer this question correctly.)
O components.
pressed in terms of {O; |O ; and k
crank A rod
a) What is the angular velocity of the
crank OA? R

b) What is the angular acceleration of O
the crank OA? θ M
B
c) What is the velocity of point A?
jˆ piston
d) What is the acceleration of point A? motor
e) What is the angular velocity of ı̂
the connectingprod AB? [Geometry Filename:pfigure-s95q12

rAB D `2 R2 sin2  {O
fact: * Problem 15.1
R sin  |O ]

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 15.4. Kinematics of 2-D mechanisms Problem 15.4.1 (continued) 157

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
158 Chapter 15.4. Kinematics of 2-D mechanisms Problem 15.4.4

15.4.4 The two rods AB and DE, con- B

nected together through a collar C, rotate D C
in the vertical plane. The collar C is pinned
to the rod AB but is free to slide on the
frictionless rod DE. At the instant shown,
rod AB is rotating clockwise with angular
speed ! D 3 rad=s and angular accelera-
tion  D 2 rad=s2 . Find the angular veloc- 0.5 m
ity of rod DE.

45 o
A ω, α E
Filename:summer95f-4

Problem 15.4
I s . 3 2 " ,1 5,e8,
lfu",rI lCI,t&,
Jfu,gl

ll

KrmDnxrryituq
HW#l-5 dVelzlz-lot
T4M 2D3O
fficflaruL #+ ['t_5
TA,Rong t-nrlg
r) 1 5 , 3 L ?5 0 L U T ' 0 N
t*{ radsffiB* aF tourwtrd ot cott{rrc (pfnndf0 RB
, can
i
j slide o?,,pEfr-icnsntaxtq);
flB r*atrnqCiW,CFg radts,
t9/u1 find CIrqr/1lilf,"
velaufi0s Dr
i \; ?
ii-K .,#u)o.o(v-I='.-srn
-K* €=t5'
I l?al
lj -Ku
;^@ .N
if
i f f i
| ---!

l--gt1T, .- -, xo .,o +
iNa rr,bx fo^ - ffi =fi'* ZEo
* xE, *\Er*a
I -(-a;*&)* (.0*): c^rpli
* (--li ,.!1)* V"wicosel-,sr noi.)
-"CIo
-0tt*4)+ vct4 (doso I - o rnefi a
9pl'1".- -(r)D(0"S0*o,s;)
i - (3)(a'5)i= * VcJ4 1
i (qgc1F:fsin4s"e)
vr!'irrv
- * o,s-i)-
iL l,Dj,= Lr.)p(o,Di .$"Jfl€La €+)j"
i
i -^ ^ ,.,L\)D=BtEV"*log
L 5 ' 4 = 7 O =- o-\Z
, s r 4 )- *E V " r a A
a i(,r.)o= VctorQ
\y?ff;;TH"*-,p)
&)p: 3- fdu
Z{aJP= 3

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 15.4. Kinematics of 2-D mechanisms Problem 15.4.10 159

15.4.10 The slotted link CB is driven in E B

an oscillatory motion by the link ED which P
rotates about D with constant angular ve-
locity P D !D . The pin P is attached to d
ED at fixed radius d and engages the slot θ
on CB as shown. Find the angular veloc- φ
ity and acceleration P and R of CB when C D
 D =2. 
Filename:pfigure-blue-65-3

Problem 15.10

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
160 Chapter 15.4. Kinematics of 2-D mechanisms Problem 15.4.10 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
16.1.20 Due to forces not shown, the cart C
moves to the right with constant accelera-
tion ax . The ball B has mass mB . At time A
t D 0, the string AB is cut. Find 2/3L B
L
a) the tension in string BC before cut-
ting, 1/3L
2L
b) the absolute acceleration of the
mass at the instant of cutting,
c) the tension in string BC at the in-
Filename:Danef94s1q6

Problem 16.20
stant of cutting.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009. 161
162 Chapter 16.1. Mechanics of a constrained particle Problem 16.1.20 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 16.1. Mechanics of a constrained particle Problem 16.1.20 (continued) 163

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
164 Chapter 16.1. Mechanics of a constrained particle Problem 16.1.21

16.1.21 The forked arm mechanism stant in time.

pushes the bead of mass 1 kg along a fric- bead
tionless hyperbolic spiral track given by
r D 0:5. m= rad/. The arm rotates about hyperbolic
its pivot point at O with constant angular spiral track
acceleration R D 1 rad=s2 driven by a mo-
tor (not shown). The arm starts from rest r

at  D 0 .
m
a) Determine the radial and transverse r =0.5θ rad
components of the acceleration of θ
the bead after 2 s have elapsed from
the start of its motion. O
b) Determine the magnitude of the net
Filename:pfigure-blue-53-1

Problem 16.21
force on the mass at the same in-

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 16.2. One-degree-of-freedom 2-D mechanisms Problem 16.2.6 165

16.2.6 A thin uniform rod of mass m rests e) Find the acceleration of point B .
against a frictionless wall and on a friction-
f) When  D 20 , find *

less floor. There is gravity. !AB and the
acceleration of point A.
a) Draw a free body diagram of the
rod.
b) The rod is released from rest at  D A
0 ¤ 0. Write the equation of mo-
tion of the rod. L
c) Using the equation of motion, G
find the initial angular acceleration,
!P AB , and the *acceleration of the θ
center of mass, aG , of the rod. B
d) Find the reactions on the rod at Filename:ch7-1

points A and B . Problem 16.6

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
166 Chapter 16.2. One-degree-of-freedom 2-D mechanisms Problem 16.2.6 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 16.2. One-degree-of-freedom 2-D mechanisms Problem 16.2.15 167

16.2.15 Assume Greg Lemond’s riding in your laboratory and balance it

“tuck” was so good that you can neglect with strings that cause no fore or aft
air resistance when you think about him forces. You tie a string to the verti-
and his bike. Further, you can regard his cally down right pedal and pull back
and the bike’s combined mass (all 70 kg/) with a force of 70 N. What acceler-
as concentrated at a point in his stomach ation do you measure?
somewhere. Greg’s left foot has just fallen b) What is Greg’s actual acceleration?
off the pedal so he is only pedaling with his [Hint: Greg’s massless leg is push-
right foot, which at the moment in ques- ing forward on his body with a force
tion is at its lowest point in the motion. of 70 N] You can neglect the mass
You note that, relative to the ground the of the wheels and other transmis-
right foot is only going 3/4 as fast as the sion parts (chain, crank, etc).
bike (since it is going backwards relative
to the bike), though you can’t make out all Lemond's stomach
the radii of his frictionless gears and rigid
round wheels. Greg, ever in touch with his
body, tells you he is pushing back on the
pedal with a force of 70 N. You would like
to know Greg’s acceleration.
a) In your first misconceived experi- Filename:pfigure-blue-34-2

ment you set up a 70 kg bicycle Problem 16.15

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
168 Chapter 16.2. One-degree-of-freedom 2-D mechanisms Problem 16.2.15 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 16.2. One-degree-of-freedom 2-D mechanisms Problem 16.2.16 169

16.2.16 Which way does the bike ac- your answer as clearly as you can, clearly
celerate? A bicycle with all frictionless enough to convince a person similar to
bearings is standing still on level ground. yourself but who has not seen the experi-
A horizontal force F is applied on one of ment performed.
the pedals as shown. There is no slip be-
tween the wheels and the ground. The bi-
cycle is gently balanced from falling over
sideways. It is heavy enough so that both
wheels stay on the ground. Does the bi-
cycle accelerate forward, backward, or not F
at all? Make any reasonable assumptions No slip
about the dimensions and mass. Justify Filename:pfigure-s94h14p2

Problem 16.16

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
170 Chapter 16.2. One-degree-of-freedom 2-D mechanisms Problem 16.2.16 (continued)

B IKE P EDAL -F ORCE S OLUTION : W HICH WAY DOES THE BIKE GO ?

A Ruina, April 20, 2009

Question. You stand next to a normal bike on flat ground. You delicately balance the bike with the steering straight.
Your friend stands next to the bike and pushes backwards (to the left on the figure) on the bottom pedal. Which
way does the bike accelerate?

Assumptions. You apply negligible force. Your friend applies Fp {O to the pedal only. The rear wheel rolls. The
only negligible mass is of the bike as a whole, m. All the bearings have negligible friction. The gearing of the bike
is normal. The tension in the bottom part of the chain is negligible (not needed, but simplifies calculation). The
key dimensions are

` = the crank length. The crank is the piece from the middle of the bottom bracket to the pedal.

rc = the radius of the chain wheel. The chain wheel is the gear that is in the front of the bike. It chain wheel
is rigidly attached to the crank and rotates with the crank.

rf = radius of the free-wheel sprocket. This is also called the cluster. It is the gear at the back of the bike.
When there is tension on the upper chain, and the rear ratchet is thus engaged, the rear sprocket rotates
with the rear wheel.

rw = radius of the rear wheel.

Correct Answers.

(1) The bike accelerates to the left. Try it. It always goes backwards. The next answer is different and is also
correct.

(2) The answer depends on the bike. Despite (1) above, the answer actually depends on what bike you try it
on. For any bike you have ever seen or can buy, in any gear, answer (1) is correct. However, if the gearing
is sufficiently low (how low? read solution below) then the bike will go forwards.

Reasoning.

A. The bike starts with no kinetic energy. It ends with some kinetic energy. Therefor some force had to do
some positive work. The only force that has non-zero dot product with the velocity of the point it is
touching is Fp {O. Therefore the pedal has to go backwards. Does this mean the bike goes forwards or
backwards? When a bike goes forwards the bottom pedal goes backwards relative to the bike. But relative
to the ground it goes forwards. Otherwise people wouldn’t ride bikes. The whole idea of a bike is that you
go faster with a given leg motion than you do when you walk or run. So the bottom pedal goes the same
direction as the bike. Since the pedal goes backwards, so does the bike.

B. Same as above, but lets calculate the pedal velocity and see if it really is in the same direction as the bike.
Lets define !w and !c as the counterclockwise angular velocities of the rear wheel and crank,

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 16.2. One-degree-of-freedom 2-D mechanisms Problem 16.2.16 (continued) 171

respectively. Assume bike and pedal have absolute velocity vb {O and vb {O , then
(1) vp D vb C vp=b
(2) D vb C !c `
rf
(3) D vb C !w `
rc
rf
(4) D vb C . vb =rw / `
r
 c
rf `

(5) D vb 1 :
rc rw
r `
So the pedal goes forward when the bike goes forward so long as r fr < 1. Thus the bike goes back when
c w
the pedal goes back with the same inequality. Such bikes all go back when you push back on the pedal. On
the other hand, The bike would go forwards when you push back on the pedal if the bike has a ‘very low
gear’. You could get such low gears from having some combination of a big rear sprocket radius rf , a big
crank length `, a small front chain ring radius rc and a small rear wheel radius rw .
C. Here’s a different approach. Given Fp moment balance about C for the crank and chain wheel tells us the
chain tension
`
T D Fp :
rc
Moment balance about the rear axle, for the rear wheel and freewheel gear tell us that the drive force Fd is
rf rf
 
`
Fd D T D Fp :
rw rw rc
„ ƒ‚ …
T
Now look at linear momentum for the whole bike:
(6) Fp C Fd D mab
rf `
(7) Fp C F D mab
rw rc p
„ ƒ‚ …
Fd
Fp rf `
 
(8) ) ab D 1 :
m rw rc
rf `
So, now by different reasoning, if rc rw < 1 then a push back of Fp causes a negative acceleration ab of
rf `
the bike. That is, if < 1 (which it is for all real bikes) then the bike accelerates backwards when you
rc rw
push backwards on the pedal.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
172 Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.1

16.3.1 Particle on a springy leash. A f) P Dconstant

particle with mass m slides on a rigid hor-
izontal frictionless plane. It is held by a g) P D constant.
r 2
string which is in turn connected to a lin- h) m.xP 2 C yP 2 / C kr 2 D constant
ear elastic spring with constant k . The
i) The trajectory is a straight line seg-
string length is such that the spring is re-
ment.
laxed when the mass is on top of the hole
in the plane. The position of the particle is j) The trajectory is a circle.
r D x {O C y |O. For each of the statements
*
k) The trajectory is not a closed curve.
below, state the circumstances in which
the statement is true (assuming the parti-
cle stays on the plane). Justify your answer
with convincing explanation and/or calcu- y v0
lation. k̂ jˆ
O θ m
a) The force of the plane on the parti- ı̂ x
O.
cle is mg k
b) xR C m
kx D0
k
c) yR C k
my D0
d) rR C k
mr D 0;
where r D j*r j Filename:pg69-1

Problem 16.1: Particle on a springy leash.

e) r D constant

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.3 173

16.3.3 A particle with mass m is held h) Show that (a) implies (f) and (b)
by two long springs each with stiffness k implies (g) even if you didn’t note
so that the springs are relaxed when the them a-priori.
mass is at the origin. Assume the motion is i) Find the general motion by solving
planar. Assume that the particle displace- the equations in (a). Describe all
ment is much smaller than the lengths of possible paths of the mass.
the springs.
j) Can the mass move back and forth
a) Write the equations of motion in on a line which is not the x or y
cartesian components. axis?
b) Write the equations of motion in po- y
lar coordinates.
c) Express the conservation of angu- x
lar momentum in cartesian coordi-
nates.
d) Express the conservation of angular
momentum in polar coordinates.
e) Show that (a) implies (c) and (b)
implies (d) even if you didn’t note
them a-priori.
f) Express the conservation of energy
in cartesian coordinates.
Filename:pfigure-blue-73-1

g) Express the conservation of energy Problem 16.3

in polar coordinates.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
174 Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.3 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.3 (continued) 175

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
176 Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.3 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.3 (continued) 177

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
178 Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.8

16.3.8 A model for a yo-yo consists of a

thin disk of mass M and radius R and a
light drum of radius r, rigidly attached to
g
the disk, around which a light inextensible
cable is wound. Assuming that the cable
unravels without slipping on the drum, de-
termine the acceleration aG of the center r
of mass. G

R M

Filename:pfigure-blue-41-2

Problem 16.8

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.8 (continued) 179

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
180 Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.8 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.10 181

16.3.10 Assume the rod in the figure for turntable? The net angle of twist of
problem 15.1.5 has polar moment of iner- the turntable?
tia Iozz . Assume it is free to rotate. The y
bead is free to slide on the rod. Assume Top view
that at t D 0 the angular velocity of the ω
rod is 1 rad=s, that the radius of the bead
is one meter and that the radial velocity of
the bead, dR=dt , is zero.
a) Draw separate free body diagrams
of the bead and rod. x

b) Write equations of motion for the

system.
c) Use the equations of motion to
show that angular momentum is
conserved. Top view y
d) Find one equation of motion for the ω
system using: (1) the equations of
motion for the bead and rod and
(2) conservation of angular momen-
tum.
e) Write an expression for conserva- x
tion of energy. Let the initial total
energy of the system be, say, E0 .
f) As t goes to infinity does the Filename:pfigure-s94h9p4b-a

bead’s distance go to infinity? Its Problem 16.10: Coupled motion of bead

speed? The angular velocity of the and rod and turntable.

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
182 Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.10 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.10 (continued) 183

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
184 Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.16

16.3.16 As shown in the figure, a block time of interest:

of mass m rolls without friction on a rigid
surface and is at position x (measured from ` D 1m
a fixed point). Attached to the block is a m D 2 kg
uniform rod of length ` which pivots about  D =2
one end which is at the center of mass of
the block. The rod and block have equal d=dt D 1 rad=s
mass. The rod makes an angle  with the d 2 =dt 2 D 2 rad=s2
vertical. Use the numbers below for the
values of the constants and variables at the
x D 1m
dx=dt D 2 m=s
d 2 x=dt 2 D 3 m=s2
a) What is the kinetic energy of the
system?
b) What is the linear momentum of the
system (momentum is a vector)?

g

y θ uniform rod,
mass m
pin connection
x A m

frictionless, massless rollers

Filename:pfigure-blue-14-1

Problem 16.16

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.16 (continued) 185

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
186 Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.16 (continued)

'':-' :rs:-:'
- r ?
i,Jol^arneS i-ag
!l"b'Jp-t)'e"a I e.55
D ue l z l ul /Pf
TAr"i ?.$3b
S e* t '* L' l . LS
TA-.R*? t.ry'
--+ Vt
Fp=o

w"O

T -no
.J

5 unkno*ng, V- V, r":

Stv,Dl

{*,,c".',ro+{* oe [tv.<r^r ,nqo,",.(..a]nm,(\r,io* Vi- + \,0i"t' )-C --

O

-;:
ZV = c'u0 _:*-? . V= c-os0
c",0)f *( H* ,,nb
I
{* = iw" (dF +j
c"n'o) ^rua+ 4F r,,5
, l
\- w

to *sna* fu c,r,"0 * * s,,,"0r d

J r^l

fo*s".uot{t* F,9:

L+ 9 .
I
,

Lt8

c i ocL u,i'sx-

s.76
+
v a\f .-> orrve$ f9

- -;-
u.rLee
Co! U

t "T -+ A,D
*!S
corsJo = c o r 0 J D == ;
TL Las, Z
-'a- corO /F = c u s ?d O " *: : 4

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.28 187

16.3.28 Double pendulum. The dou-

ble pendulum shown is made up of two O
uniform bars, each of length ` and mass
m. The pendulum is released from rest at
1 D 0 and 2 D =2. Just after release 
what are the values of R 1 and R 2 ? Answer φ1
in terms of other quantities.

φ2 

Filename:pfigure-s94h12p2
B
Problem 16.28

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
188 Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.28 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.30 189

16.3.30 Consider a rigid spoked wheel c) Assume ‘rolling’ on level ground.

with no rim. Assume that when it rolls a What is the relation between !nC
spoke hits the ground and doesn’t bounce. and !nC1 ?
The body just swings around the contact d) Assume rolling down hill at slope  .
point until the next spoke hits the ground. What is the relation between !nC
The uniform spokes have length R. As- and !nC1 ?
sume that the mass of the wheel is m, and
that the polar moment of inertia about its e) Can it be true that !nC = !.nC1/C ?
center is I (use I D mR2 =2 if you want About how fast is the wheel going
to get a better sense of the solution). As- in this situation?
sume that just before collision number n, f) As the number of spokes m goes
the angular velocity of the wheel is !n , to infinity, in what senses does
the kinetic energy is Tn , the potential en- this wheel become like an ordinary
ergy (you must clearly define your datum) wheel?
is Un . Just after collision n the angular
k evenly spaced spokes
velocity of the wheel is !nC . The Kinetic
Energy is TN C , the potential energy (you
must clearly define your datum) is UnC .
The wheel has k spokes (pick k D 4 if you
have trouble with abstraction). This prob-
lem is not easy. It can be answered at a
variety of levels. The deeper you get into
it the more you will learn.
a) What is the relation between !n
and Tn ?
2R
b) What is the relation between !n Filename:pfigure-blue-109-1

and !nC ? Problem 16.30

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
190 Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.30 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.30 (continued) 191

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
192 Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.30 (continued)

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.
Chapter 16.3. Multi-degree-of-freedom 2-D mechanisms Problem 16.3.30 (continued) 193

Introduction to Statics and Dynamics, c Andy Ruina and Rudra Pratap 1992-2009.