RECTILINEARTRANSLATION R#tilinær Motion

Art.
10-4J
starting fromnst 8peed8up to 40 ft per witha digplocement with re8peCtto the time
1013. An automobile runs 8t this speed for a time, and finally of the accordingto the
oceelerationof 4 ft per sect, fundazæntal
ft sec'. If the total distance 'traveled ig of velocity v and
with a decelerationof 5 ft, definitions acceleration a —dv
total time required. eX6mpIe, let it be required to determine the at ¯ • AB an
two stations mile apart in a velocity and
1014. A trsin travels between decelerates at 8 ft per sect, minimumtime bodyafter 3 æc, if the motion iB definedby the acceleration
accelerates and starting from relation8 5 t + 4 of a
41 sec. If the train
coming to a stop at the second station, what i8 its beingin feet and t in seconds. e, 8
the first station and it travel at this top speed? um Differentiating, we obtain the equations of
speedin mph? How long does velocity and
Ana. Maxv acceleration
60mph
velocity of 60 mph in the same direction.
1015. Two cars A and B have 8 and
are applied to car B, causing it to decelerateatthe a
250ft behind B when the brakes time will A overtake B, and howfarwill dt 24 t
constantrgte of 10 ft per sec'. In what Henceat t = 3 sec,
each car have traveled? V= (3) 2 = 113 ft
1016. An automobilemoving at 8 constant
velocity of 45 ft per secpasse a = 24 X 3 = 72 ft per sec*per sec Ana.
automobile leaves the gasolinestation
gasolinestation. Two seconds later, another 11:. The acceleration is expressed
in terms of the time; i.e., a
and Bccelerates at the constant rate of 6 ft per sect-. How soon will the second to find v and 8. It),
mobile overtake the first? Ana. t 16.7 The general procedure is to start
with Eq. (9—2)written
do= a dt and integrate to find the
1017. A balloon rises from the ground with 8 constant acceleration of 4 ftper velocity in terms of the in the form
sec'. Five secondslater, a stone is thrown vertically up from the launchkig
site Wemay now apply Eq. (9—1)written time.
What must be the minimum initial velocity of the stone for it to just touchthebal. integrateto determine the displacement in the form = v dt and likewise
thetime between these two in terms of the time.2
loon? Note that the balloon and stone have the same velocit) at contact. relations will give an Eliminating
equation between velocity
104. Rectilinear Motion with Variable Acceleration As an example of case 11,
let it be required to
anddisplacement of a determine the velocity
When bodies are acted upon by variable forces, they move with variable lationa = 2 t, a being
kody after 2 sec, if the
motion
acceleration. To determine the kinematic equations of motionin ach in feet per second2and is defined by the re-
d that8 = 4 ft and v t in seconds,and if it
cases,it is necesary to apply the given data to the differential equations Applyingdv - a dt
2 ft per sec when t is known
kinematics(Art. 9—3). Since the acceleration may vary in many ways, and integrating between
the given limits, we have
no generalequations can be stated 88 was done in the case of constant
acceleration(Art. 10-2). At most we can only indicate the proceduretobe whence 2tdt
followed.
we have three principal variables, 8, v, and a, related by b or

mon t as in the following box.

dif e nowreplace the
8 erentialequation variable v, just found in terms
givenlimits. d8 v dt and again of the time, in the
This gives proceed to between the
a
Each of •theseprincipalvariables may be expressed in terms of theW'
or they may be expreed in terms of each other or even a combinBti0D f:u-f: (t: 1) dt or [8k=
the other. 12t us considerhere the to
simpler combinatiOnS• 1
N)'
•y thia
Cau r: The displacementis iven in i.e., 8
find v and a.
terms of the time;
tigé$
8Pecial
ease
This is the gimp" cue and difeßD procedureOfWas
motion with eonstant accelerationis a variation Il.
is eaaily solved by succeöe followed in Art. 10-2.
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 TBANSLATION (Chap
CVBVILINSAY
components of the
acceleration. in curvilinear chapterXll.
Dd tangential and tangent to the path
Tbe arerespectivelynonnsl Rotation
(Art 11-5) accebration by
tool
are ßlBted to the
eQresd by
componentof B&leration, 12—1.Rotation.' Definition and Characteristics
Rotation is defined as that motion of a rigid body in
which the particles
move in circular paths with their centers on a fixed straight line that
The tangential com. is
dirdicn of the velocity. CBIIedthe axis of rotation. The planes of the circles in which the particles
onlyto the changing
of the acceleration, given
by move ore perpendicular to the axis of rotation.
Figure 12—1shows a body which is free to rotate about the fixed
dv axis O.
(11-4)

of the velocity.
depends solelyon the change in magnitude
translation (Art. 11—6),obtained
The kinetic equations of curvilinear
are-
from the motion of the center of gravity, 81

(11-0

The N and T referenceaxes are chosen through the center of gravity of the
body normal and tangent to its path. Dynamic equilibrium is cbtained by
applying inertia forces of magnitudes — — and — at acting through the FIG. 12—1.
— All particles and lines have the same angular displacement.
center of grcvity oppositein direction to cn and a; respectively. These
forces are known as the centrifugal inertia force and the tangential inertia If the radiug to any point A is permitted to rotate through 0 radians, point
force. A moves through the arc distance sr = rß. Since the body is rigid, angle
Problems involving forces acting on vehicles rounding a banked curve 440Bcannot change; hence the radius to any other point B will also rotate
solvedby adding the inertia forces, thereby creating dynamic equi• through e radians and point B will move through the arc distance = rz0.
librium (Art. 11—7).If the vehicle hag From this we conclude that all particles of a rotating body have the same
no motion along the plane of bank-
ing, force summationparallelto angular displacement (i.e., the same 9) although their linear movements
this plane will determine the necessary
resisting force. In the ideal case
when no reaistance is necessary, the angle (i•e.,81and 82)vary directly with their distances from the axis of rotation.
uf banking is determinedfrom It should be observed that the angle between the line AB and its subse-
the relation
quent position A 'B' is also equal to e. Consequently we define angular
(11-8) diePZacement as the angular distance swept through by any line in a rigid
Y• The units of angular displacement may be radians, degrees, or
When friction is considerd, •revolutions,but radian measurement is preferred in order to correlate
the maximum and
fa.rnd from the equation minimum velocities
di8placement with linear displacement.
811
(11-0, Il-ID)
 (Chap.
Kinematic Differential
Art. 12—21 Equations of Rotation
811the particles
of tronB18ti011 313
thBt, in have
It wag shown linear velocity, and linear
values of linear displacement, choracterigtic; all the particles
identical rotation has B similar (12-1)
motion of
tion. The angular velocity, and angula
values of The common unit is radians per second (rad per sec) but other
have the same be def.ned the next article.) We shall
in degrees per second (deg per sec) and revolutions per units such as
acceleration. (These minute (rpm) are
depends upon the fact that the angular displacement also used.
seethat this conclusion
particles. Rewriting Eq. (b) as
is the same for 811the
note that the linear values of displacement, velocity
It is importantto (c)
body are not the same; they vary directly
and accelerationin 8 rotating
from the axis of rotation. and differentiating with respect to the time gives
with the distance of the particle
dv do
12—2.KinemaücDifferential Equadons of Rotation (d)

Consider8 pulleyfree to rotate around an axle O under the action of a dv

weight W suspendedfrom cord wound around the pulley. Assume that The expression — in Eq. (d) represents the time rate of'change of the mag-
the weight descensls & ft, as shown in Fig. nitude of the velocity. It is preferableto denote this accelerationby at
12—2.This will unwind from the pulley a because it not only represents the linear accelerationof the weight but is
length of cord equal to 8 ft 80 that point B also the•tangential acceleration of a point on the rim of the pulley. The
on the rim will rotate to occupy the position
B of point A. The angular distance 0 through expression represents thé time rate of change of angular velocity and,
which the pulley rotates is obviously sub- by analogy, will be defined as the angular accelerationa, according to the
tended by radii drawn to points A and B. followingequation:
The relation between the linear displacement
do
of the weight and the angular displacement (12-2)
(in radians) of the pulley is given by the
equation The common unit is radians per second per second (rad per sec2),but other
units are sometimes used, e.g., revolutions per minute per second (rpm per
sec), etc. Equation (d) may now be rewritten
I W I If we differentiateEq. (c) with respectto
FIG. 12—2. Relation between the time t, we have
a, = ra
liæar cneular displace•
Since v = rw, the normal accelerationof any point on the rim of the
pulley is given by
Ft = r at
NotÆthat r is the constant v2
radius of rotation. It will be remembered thBt
repreeenting the time rate of change
of displacement, was defined as v, the Although Eqs. (12—1)and (12—2) are the kinematic differentialequations
linear velocity of the
weight. In thig
case, v must also be the linesr velocity Ofrotation, 8 third convenient relation may be found by eliminatingdt.
of a point on the rim of (12-8)
the pulley. The rote
of change of anodar
term represents the time
tile
anguLr velocityanddispLeement
be
and hence, by
analogy, will be
CBIled of rotation
It will be helpful to summarize these differential equations tabulated i
by the symbol o. Thus the motion
velæity at any instant is
&åned by the and COmpare them with Bimilar expressions for rectilinear
equatiÖn on the next
page.
 [Chap. 12—31 Rotatin trith Constant
Art. Angular Acceleration
314 315
Rotation When they are arranged in this fom, the
Rectilinear Iviotion 'student should have no dif-
ficulty in remembering the equations of rotation with
eonstant angular
ds c celeration. Analogous to rectilinear motion,
8 is the
velocity; w,' the final angular velocity after time I and initial angular
dv d2s 9.
angular displace-
rncnt
o.dØ= ad0
vdv= ads ILLUSTRATIVE
they are therefore mathe- PROBLEM
in the symbols used;
These relations differ only into each other by the
matically identical. can be transformed 1201. The initial angular velocity of the compoundpulley
B in Fig. 12—3is (j
rd per séc counterclockwise and weight D is deceleratingat the constant
tions deduced above, viz.: rate of 4
s = re ft pet sec2. What distance will vejght A travel before comingto rest?

(124)

an =
a vector quantity; e.g.,
Note that the engular displacementof a body is
or counterclockwise.
the direction of rotation may be either clockwise
Since. and a have been defined in terms of 9 by multiplying by the scalar
factor —,it followsthat Wand a are also vector quantities. Their direction
depends upon the direction of 0. We shall therefore use the following rule:
The sense of positive 8 determines the sense of positive and positive a. This

agrees with the previouslyestablished convention for translation; i.e., the FIG. 12-3.

sense of positive s determines the sense of positive v and positive c.

The "right-hand rule" is used to represent graphically the vectors of 9, Solution: To correlate the given data, we start by findingthe kinematic relations
o, and a.. This rule appliedto e, for example, states that the vector is between the bodies. Using Eq. (12—4)and denoting by E any point on the
directed along the axis of rotation as indicated by the extended thumb of connectingB and C, we obtain
the right hand when the fingersare curled about the axis of rotation to
corespond with the direction of rotation. = 30B, = 20B = 39C, SD= 1.5Oc
Combining these relations into one continuousequation, we obtain
12—3. Rotation Constant Angular Acceleration
= 38B = (n)
In Art. 10—2 we integrated the equation a = -—,assuming constant BC- The velocity and acceleration relations between the bodies'are obtained by
celeration,gogivev = vo+ at. Since the changingthe symbols in Eq. (a) since they wouldbe obtained from v = rc and
form of the kinematic differential Ta which have the same mathematical form as s = re. Therefore we may also
equations of rotation are mathematically equa-
tions of rectilinearmotion,integration identical to the respective
write
of simüar equations in rotation
will yield similar results. These
results are tabulated below. (c)
an 3 aB
Rectilinear Motion
Rotation Considernow the motion of A.. From Eq. (b), 300B = 3 X 6 = 18 ft per
(related by) sec and — 2
from Eq. (c), aA 3 aD = 3(-4) — 12 ft per sec . IVe now obtain
-
00 13.5ft
V02 e lap o = (18)2
2
If desired, the displtcernettt of the other bodies can 'be fotlll(l from Eq. (0)
 ROTATION (Chap. Mt. 12—41 Rotation with Variable
Angular Acceleration
316 317
1209. Thestep pulleys shown in Fig.
PROBLEMS P-1209are connected
the angular acceleration of C is 2 rad per sec2, by a crossed
what time is required for belt. Ii
from rest at the ISOft from rest? Through what distance will D A to travel
flywheel6 ft in diameter accelerates components of constant rate of move whileA is moving 240 ft?
1202. A the acceleration
Compute the normal and tangential of Ans. t = 6.7 sec; 8b =
rpm per sec. 10 sec. 1210. Repeat Prob. 1209 if the radii of pulley
180 ft
the flywheel after
a particle on the rim of machine has a speed
B are changed to 30 in. and 18 in.
wheelon a brakeshoe testing 1211. The rod DO in Fig. P-1211 rotates
1203. The rim of a 50-in. after the rim has traveled
dropped. It comes to rest in B vertical plane about a horizontalaxis
60 mph when the brake is angular acceleration and the num.
linear distance of 600 ft. What
are the constant 8t O. At the given position, end B has a O •
makes incoming to rest? downward vertical component of Velocity 12
ber of revolutions the wheel 3.10 rad per seq2; 0 45.9rev of 6 ft per sec and also a downwardverti- 5
rest to asöeed of 900 rpm and then immediately cal component of acceleration of 9 ft per
1204. A gear is accelerated from sec2.rCompute the angular accelerationof
time is 10 sec; determine the total number
decelerated to a stop. If the total elapsed
both acceleration and deceleration rod BO and the total acceleration of point A.
of revolutionsof the gear. Assumethat Hint: Sketch an U-tcurve. Ans. a = 24 rad per sec2D; an = 32.8
the same magnitude.
constant but not necessarilyof ft per sect
1205. When the angular velocity of a 4-ft diameter pulley is 3 rad per sec,the
FIG. P-1211
total accelerationof a point on its rim is 30 ft per gec2. Determine the angular 12—4.Rotation with Variable Angular Acceleration
accelerationof the pulley at this instant. Am. a 12 rad persect Since the differential equations of rectilinear motion and of rotation are
1206. Determine the horizontal and verticalcom. mathematically identical, we need observe merely that the technique fm
B ponents of the acceleration of point B on the rimof handling the case of rotation with variable angular acceleration is identical
the flywheel shown in Fig. P-1206. At the given to that developed in Arté. 10—4and 10-5. One example will suffice.
position, o.)= 4 rad per sec and a = 12 rad per sect,
450 both clockwise. ILLUSTRATIVE
PROBLEM
1207. Repeat Prob. 1206 except that a is changed A body rotates according to the relationa = 3 + 4, displacement being
to 10 rad per sect counterclockwise. measur d in radians and time in seconds. If its initial angular velocity is 4 rad per
sec and the initial angular displacement is zero, compute the values of and 9 for
1208. A pulley has a constant angular accelera- the instant when t = 3 sec. Solve analytically and graphically.
tion of 3 rad per sec2. When the angular velocityis Solution: Rewriting Eq. (12—2)as dw = a dt and integrating between {liegiven
FIG.P-1206and P-1207. 2 rad per sec, the total acceleration of a point on the limits, we have
rim of the pulleyis 10 ft per sect. Computethedi-
ameter of the pulley. And. d = 4 ft da (3 t2 + 4) dt

= 13+ 4 t 4 (a)
Applying Eq. (12—1)in the form dB = dt, substituting for its value from Eq.
(a), and integrating
gives
(P + 4 t + 4) dt
fod9=J:

Substituting t = e sec in Eqs. (a) and (b), we have

= (3)3+4 X 3 +4 = 43 rad per gec Ang.
FIG. P-1209 O X + 4 3 50.25
and P-1210. 4
 ROTATION IChn!). General Kinetic' of'
Art. 12-5) Rotation •319
Let us now check this solution Determine the number of revolutionsthrovgh
means of the motion curves shownI whichn pulleywill rotute
rest, if it' angular acceleration ig increageduniformlyfrom
in •and then uniformly decreased zero to 12 rad per
Fig. 12—4. Using equation during, see to 4 rad per F,ec'duringthe next
to m. (10—6),
the change in 3
velocity is O = 23.2 rev
The angular acceleration of a flywheeldecretpeguniforrnlyfrom
4 4
radspersec2 in 6 æc at 8 rad
sec' to 2 which time it,8angular velocity
4 x 3+ 12 + 27 per
Compu
is 42 rad
per B.ec.
the initial angular velocity and the numberof revolutiongmadeduring
39 rad per interval, , An8. — 12 rad
43 sec the 6-sec 28.6 re-,'
Adding this value to øo 4 gives
27 g 43 rad per. seqat t 3 sec as before. General Kineticg of Rotation
12—5.
3rd degree The area under the (0-tcurve is
divided into parts shaded to correspond The discussion will be limited to the case in Whichthe rotating body is
12 to the simi}arly shaded subdivisionsof symmetrical with respect to the plane in which the center of gravity moves.
4 4 the a-t curve. From an equationsim- The rotating body iBrepresented by it* projection u•ponthis plane of motion,
ilsr to Eq. (10—7),
we then obtain and the point in which the axis Ofrotation intersects this plane is defined
the center Of rotation. Furthermore, we assume that all forces lie in the
el 505 12 plane of motion except for a few exceptional cases which we consider in
X 27 — 50.±5rad Art. 12-7.
If preferred, mgy be computed Select referencé axes through the center of rotation. The line joining
by applying an equation similar to Eq. thé center of gravity ahd the center of rotation will be called the axis,
(10-8) to the area under the a-t curve. andthe line through the center of rotation perpendicularto N will be called
Thig gives the T axis. The axis of rotation will be called the Z axis. We shall then
havethree mutually perpendicular axes, N, T, and Z, an originat the
FIG. 10 —4. — Motion curve.
= Ol(t2 ¯ tl) (Area) • (2)
center of rotation. (See Fig. 12—5.)The Z axis is stationary, but N and T
X 3) +Qx3 X X 3) = 50.25radCheck
rotate about Z as the body rotates. The rotating axes are called the normal
*hich is identical term for term with the preceding computation although based onB and tangential axes since they sre respectivelynormal and tangent to the
different cont•ept. path of the center of gravity.
Finally, a comparison of these computationg obtained from motion curves willbe
Consider now the rigid body of weight JVin Fig. 12—5 which is constrained
found to be identicalterm for term with those of the calculus solution.
to rotate about a horizontal axis. The bction of the external forces
instantaneous
P2, as well as the bearing reaction F, give the body the
a shown. The
PROBLEMS valuesof the angulsr velocity End angular
vector R) giv •s
resultant of these applied forces (indicsted by the ddshed = a).d
1213. The rotation of a pulley is defined by the relation 0 = 2 e 30 e + 6' the gravity center G an accelerstion whosecomponents
where 0 is measured in radians and t in 'seconds. Compute the values of angular of grsvity (Art(
velocityand angularaccelerationat the instant when t = 4 sec. at ia. From the principle of the motion of the center to it by the
is related
sect 9-8), we know that R acts in the direction of d and
Ane. = 272 rad per sec; a 324 rad per of this
1214. The rotation of a flywheelig governed by the equation o.' 4Vt; u)is in equationR —d. Taking normal and tangentisl components
radians per second and t is in seconds. 0 = 2 the
rad when t I sec. Compute vectorequation, we obtain
values of 0 and a at the instant when = 3
sec.
Ana. O — 13.21 rad; a 1.154 rad per
1216. A body-rotates accordingto the per
relation a = -2 a is in radiuns or
per second and t ig in second8.
4 rad per seö and 0 iBzero when t
ompute the vaiues and at the i,nctant
when t 2 see.
 12-51 tJerø;ru; Kinetica of
(Chap. Art., Rotation 321
R0TATtoN
the general equationg of
external forceg, including In gummnry, rotation of a symmetrical b«ly
iT gpply to 011 to æt OfN, T, and Z reference axed
and with regpect are
where the summations
'N
and positive in the directions of and
F O, found by equating the moment
the boring reactionof the resultsnt force is (12-5)
The moment
(12-6)
(12-7)
A convenient rule for signs iBto take 2M and ET 08 positive in the direc-
tionsof and at. The direction of will always be toward the center of
dw rotation; that of is determined from the sense of a. The sense cf
igpositive in the initial direction of rotation, that is, in the sense of a.
Unlike translation, however, the resultant force R does not pass through

the gravity center G. To-determine the positionP where it intersects the

N axis, we apply the principle that the moment of a resultant force is equal
to the moment sum of its components. Of the two components of R, only

z the tangential component (i.e., — ia) has moment effect about the axis
of rotation: Denoting its moment arm by q, we therefore obtain
ra.q = =

FIG. 12-5.
Since = in which k, is the rsdius of gyration with respect to the
forces for all
suz of the impressed forces to the moment sum of the effective axisof rotation, we may write
The moment of the effective force on any typical particle A with
respect to the axis of rotation is giver by r — ra. Thismomentisdue ra q = — ks2a
only to the tangential componentof the effective force. The normal corn-
whence
pont•gt ré passesthrough the axis of rotation and hence has no (12-8)
moment about it. Equaling the moments of impressed forces about the
axis of rotation (thereby eliminating the generally unknown bearing re- impressed forces)
8Ction)to the moment sum of all effective forces gives Therefore the resultant of effective forces (or of all the
through a point P on the N axis at a distance of —g-
from the x.xisof
dW
rotation.
intersects the normal
or Point P at which the resultant of the applied forces be
is called the center Ofpercussion. The center of percus;ion may
effective forces
thoughtof as equivalent the "center Ofgravity" of the
where I, = r2 - and has been defined as the mass moment of inertia metingon all particles of the body, just as the actual center cigravity is the
the particles of the body.
with respect to the Z axis (see Art. 8-13). Note that a is placed outside Pointthrough which passes thö resultant weight of
sign because -is independent of the' positiÖri Of the particle •
 ROTATION (Chap. Centroidal Rotation
Nil
323
322 Ofmotion, remembet that
the equations and 2M are taken
plus in the direction
Rotation
12-6. CentroidaJ of rotation is
centroidal rotation, in of
motion.
The moment of inertia ig given by
one of the of gravity. Consequently
passes through the center the, center of
the axis of rotation the center of rotation and gravity
161
ää¯ä
thc distance between equations of rotation reduce to 20 ft-lb-æca
= 0), and the
becomes zero (i.e., i
For tbe 200-1bblock, which moves down, take the axis as positive downward.
Art. 12—2,the linear acceleration of
In gccordance with the 200-1bblock is expressed
(12-9) of the angular acceleration of the pulley by the relationa,
in terms = ra or, in this
a. Applying the equation of translation, we have
case,al = '2
both 217 and are taken with respect to a cen_
The bar sign indicates that 200 —T
200 200
(a)
troidal axis of rotation. 322
for centroidal rotat,ion, the resultant
Since both 2N and ET equal zero Since the 100-1bblock moves upward, take the X axis as positive upward. Froth
couple of magnitude 2M. , The Converse
of the impressed forces always is a the relation at ra, we have a2 = 3 a. Applying thc equation Oftranslation give,
force system applied to a body reduces to
of this observation is that if the
rotation. The. resultant
a couple: the body will undergo a centroidal
if there is no fixed axis .through EX = — a - - 100 100
couple will create centroidal rotation even 32.2
C2 32.2
the center of gravity. We shall use this observation later in Art. 13-6. The equation of rotation applied to the pulley assemblyis taken positive In the
senseof rotation; hence
PROBLEMS
ILLUSTRATIVE
2 Tt-3Tz=20a (c)
1218. The pulley assembly shown in Fig. 12—68weighs 161 1b and has a cen-
iroidul radius of gyration of 2 ft. The blocks are attached to the assembly by cords Multiplying Eq. (a) by 2 and Eq. (b) by 3 and then adding Eqs. (a), (b), and (c)
wrappedaround the pulleys. Determinethe acceleration of each body and the to eliminatethe tensions, we obtain
tension in each cord.
200 X 2 —ioo X 3 = 24.84a + 27.95a +20a.
a = 1.38rad persec2 Ans.
w=1611b 161 Substituting the value of a in Eqs. (a) and (b) gives
2
'at = 2a = 2.76ftpersec
a2 = 3a = 4.14ftper sec' Ane.
= 182.9 1b
= 112.8 1b
The reaction on the support may be foundby applying
Ro— 161 — — T2=O
1001b 2001> az=3cz RO= 456.71b'
of inertia
The rotating drum in Fig. 12—78 has a centroidal mass moment
(a) 1001b 2001b is 0.25. At the instant the
(b) of ft-lb-see. The coefficient of friction 8t the brake sec. What is the
per
FIG. 12-6. is applied, block B has a downwardvelo:ity of 20 it
in a distance of 10 ft?
Solution: The momentsof the eons brake force P required to stop blockB
weightS about the center Of rotation give an urr systemis shown in Fig. 12—7b.We first
balanced moment in a clockwise down The FBD Ofeach part of
sense. The 200-1bblock will therefore move the and given data.
while the 100-1bblock rises. The F
BD of each part of the system showing linear acceleration of block P from the
direction of motion of each body writing x 10
exc. —20ft per sece
Fig. '2-6b. •In
can now be drawn as in o%
 Centrcidal Rotation
(Chap. art.
What torque applied to the cylinder bf prob. 1220will raise the we*hv
occelerotion of 12 ft per BOC'?What will be the total bearing reacucn?
with on Am. M = 578ft-lb; R = 454.61%
During the operation Ofa punch pre88,it8 flywheel decelerates uniformly
400 rpm to rpm in 1 sec. The rim of the flywheelweighB12881b,its ingide
are 56 in. and 60 in., and it is attached to its hub by 6 spokes.
outside diameters
shearing force is developed between the rim and each spoke during
WhBt avercge Av. F = 3501b
interval?
the 1 Dec
mass momcntof
12B. The compound pulley in Fig. P-1223 a centroidal
ft-lb-sec'. Find the tension in the cord supporting the 161-1bweight.
inertiB of 20
= 20 E-lb- gec (W -3221b
IF=2ft

R/eec
(b) 1001b
(a)
FIG. 12-7.

f = 020
the block and the pulley, we find the angular
From the kinemgticrelation between - 3
acceleration of the pulley. A _ Wiz 3001b 4
611b 3ä21b
—20 = 2 a a = —10 rad per sect
FIG. P-1224 and P-1225.
FIG. P-1223.
the downward directionof
For block B, the X axis being taken as positive in for the compound pulley shoqn in
Fig.
motion 1224. Determine the time required Ans. t = 37.3
starting from rest.
P-1224 to reach a speed of 600 rpm to give
100
100- T = —z X (-20) weight of A in Fig. P-1224be changed
32.z
1225. Tu what value should the
sec2?
it a downward. acceleration of 9 ft per determine the
is positive in the direction of rotation; this gives P-1226 is descendingfreely,
For the pulley, IE6. If the weight shown in Fig. = 100 1b is applied.
after 8 brake force P
10 X (—10) tension in the cord both before and Before, T = 65.21b; after, T= 1b
Neglectthicknes of brake. Ans.
Solving Eqs. (a) and (b), we have
T = 162.11b t
i = 12 ft-lb-sec 2
F = 141.41b r = 40 ft-lb-sec

From the friction relationship, 3'

1b
565.6
141.4 = 0.25 N N
tF=fNl
Finally, from the FBD of CD, we obtain i'
Ans.
= 01 565.6X 1 + 141.4X 4P = O P = 159.1 1b
1=020
PROBLEMS f 0.20 3
B_solid
1220. A weight of 96.61bis fastened to a cord which is wrapped around 4
ä001b
cylinder of 3 ft radius weighing322 lb. The cylinder rotates about its ' FIC. P-1228.
centroidalaxis. Computethe angular accelerationand the tension in the cor FIG. P-1226 and P-1227.
also the total bearing reaction.
 (Chap. Art. 12—71 Non-Cenlroidal Rotation. Dynamic
Equilibrium
clockwise 120 rpm, solve for
p-122G is rotating the brake
in Fig. rest in 5 see.
1227. If the drum bring the system to at the brake is 0.20.
3b2ra6kcforce P required tocoefficientof
kinetic friction
Fig. P-1228. W-4831b
to be Gin. thick. to block A in
in the cord B.
= 1.414'
1228. find the tensionpulley supporting weight
eight of the floating = 3001b W-386.41b P-2001b
the t,
, 80.5

f = 0.20
i'

Ws3221b
4 FIG. P-1231 and P-1232.

fw=3221b
= 1.732ft 12—7. Non-Centroidal Roution. Dynamic Equilibrium
f = 020
3 In applying the equations 2N = iØ2,ET ——ia and 2M, = to
4
FIG. P-1229. non-centroidal rotation, we must be very careful to choose the positive
senses of the N, T, and M summations to agree with the positive senses of
'I'lje
cord attached to block A in Fig. P-1229. an, at, and a respectively. These equationS are used with a free-body
1220 Compute the tension in the Ans. TA = 60.51b
is 0.20.
tit of kinetic friction under both blocks diagram which shows only the applied forces. Gee Illus. Prob. 1233below.)
that will permit the 400-1b block An alternate solution using dynamic equilibrium permits axes to be
123.. Determine the maximum qcight of A Ans. WA = 1991b
tcyide without tipping over. oriented at will and moment summations to be taken about any center
without any restrictions as to sign. When the equations of dynamic
equilibrium are used, they •refer to B frec-body_diagram which includes
b014the applied forces and the inertia forces.
A condition of dynamic equilibriummay be created, as in the case of
h=3' 6" translation, by imagining that an equilibrant is applied which is equal,
Opposite, and collinear to R, the resultant of the applied forces. Unlike
translation, this equilibrant does not act through the gravity center;
fk = 0.30 instead,it can balance R only by acting through the center of percus-
644 1b
sion P.
re = 12 in. This is shown in port (a) of Fig. 12—8where the equilibrant is represented
FIG. P-1230.
by its components — iw2and ra which are directed respectively opposit(
1231. In the system in Fig. P-1231, block A has a downward velocity of 48 ft to dn and at. This representation of dynamic equilibrium is not especially
per sec at the instant the brake is applied. What is the tension in the cord between k}
COnvenient
and B after the brake is applied? How far will block A have moved 2 sec after since we must remember that P is located a distance q
the brake is applied? Neglect thickness of brake.
8 ft
62.6 fromthe axis of rotation. The best state Ofdynamic equilibrium is shown
T = 488.811) In Part (c) which consists of the components Of the inertia force acting
1232. Assumethe maximumstrength'of the cord supporting block A in Fig•
P-1231is
throughthe gravity center C plus an inertia couple. It is derived from
1band of that joiningdrums B und C is is
1200 lb. If the brake forces of magnitude Fa at G
plied too suddenly, one of these cords will fail. Which
one will it be and at (a) by adding a pair of equal opposite
brake force P? 304 1b
Ang.
 N VI-CentroidalRotation.
(Chap. Art.
ROTATION Dynamic Equilibrium
does not 329
328 incrtia force act through the center
of gravity although it8
tudøig Always rd. One example of
Buchungymmetrical
rotation ig the
of Blender rod rotating at an angle
with the 8xi8of rotation in
12-9. In part (B) the centrifugal inertia
force actg radially outward Fig.
from

created by inertis forces acting at center of percus-

FIG.12-8.— Dynsmic fore Bt gravity center plug inertia couple in (c).
don in (a) or by inertiB
of these balanced forces permits us to
as shown in part (b). The addition
force at G plus B couple. The
replace — Fa ECtingBt P by gn equivalent (a)
(b)
FIG. 12—9.
— Centrifugal inertia forces acting on a rod
couple has the moment inclinedto the axis of rotation.
the axis of rotation through the centroid of the triangularly
distributed
forces— rd and •equals— = 02. In part (b) the rod is dis-
__ Jc2 Md2 =
since by the transfer formula, the expression placed 8 distance a from the axis of rotation so that the
is centrifugal inertia
i whichis the centroidalmoment of inertia. The inertia couplela
force consists of two parts acting as shown and determined by
representedby the directed arc and may be applied anywhere on the body
sincethé moment of 8 couple iBindependent of the moment axis.
Summarizing,we create dynamic equilibrium in rotation by the following
procedure: ILLUSTRATIVE
PROBLEMS
1233. A uniform Blenderrod, 8 ft long and weighing•96.61b,rotates in a vertiel
1. Applythe reversed normal effective force — (also called the Planeabout a horizontal axis 1 ft from its end. When it is in the horizontal posit%a
trifugal inertiaforce) actitig radially outward through the center of gravity shown in Fig. 12—10,ita angular velocity is 4 rad •persec clockwise. Mllat is then'
opposite to the direction of an. its angular acceleration the bearing reaction 8t A?
2. Apply the reversed tangential effective called the Solution I: In thig first solution, we shall not use dynamic equilibrium. Accord-
force Fa the FBD in mg. 12—10
the showsonly the externallyapplid force In applying
tangential inertiaforce) acting through the center of gravity opposite to the equations of rotation to thig non-centroidalrotation, be careful to take 2N,
direction of at. 2T; and 2M
to positive in the respectivedirectionsof an, d', and a.
3. Apply the inertia couple opposite We start by computing the moment of inertia IA about the axis of rotation at A.
anywhere on the body acting Ringthe transfer
the sense of a. formula, we obtain
The only exception to these rules concerns centrifug
the location of the + --:Æ 322
- 16+27
inertia force in bodies which are unsymmetrical
with respect to
cf motion described by the center Ofgravity.
In these cases, the
 ROTATION
3.30
Art. 12-71 Non-Centroida1R0ta1in.
4 rnd/sec Dynamic
Applying the equation of
dynamic
equihbrium,
find a from
moment gurn-
96.6 X 3 - 3(9a) ring reaction.
O
moment gummation iB really
3' øolutionbecause the gum of thea identical to La u,ed in the
w = 96.61b gum of the + 16a 43a preceding
couple and the before. Actually
moment of the
FIG. 12-10. (1 + Mit)a which, tangentialinertia force
by the is
The value of a is foundby applying Eq. (12-7). This moment summation about formula, La. Hence
the moment equation of rotation either
the axis of rotation eliminates the unknown bearing reaction. Thus we find or a
may be used to find a, depending moment gummationof dynamic
43a a = 6.74rad per sec2 on one'Bpreference. equilibrium
96.6X 3 Am. dynamic equilibrium The real advantageof
other the N and T directiona,
when want
The reaction at A has been resolved into the normal and tangential cornponents take force
or a moment summation
R, and Rt. Taking positivesummationsin the directions of üi and at, wehave than the of rotation. about some
willbe more apparent other
96.6 in the next
Rn = 1441b Here we can show one advantage
of
moment summation about the gravity dynamic equilibrium by finding Re from o
Since is directed downward,ET is also positive downward. Hence we have center G. This
96.6 (EMC -O) 166.74)
966 R Rt = 35.91b 3
- 35.9
1b
We can also use force summations
Combiningits components, the total bearing reaction ie to obtain-

R, + 9(6.74)- 96.6 = O
An8. [EH - 01 R, - 35.91b
R, 1441b
Solution11: In this solution we create dynamic equilibrium by applying tbe Thence,'as before, the total bearing
centrifugaland tangential'inertic forces at the gravity center G and add the inertia resetionis R = 148.5lb.
1234. A turntable rotating
—ra = 9a 1b bent bar weighing 16.1 1b
in a horizontal plane about a vertical a-xisO
carries
per ft attached to it St A and forced to rotate with
a smooth peg at C. At the instant it by
I ra 16æft-lb a
shownin Fig. 12—12,
w = 4 Nd per sec and
6 radper sec* both clockwise. Determine the forces
acting at A and C.
Solution: The equations of rotation are unwieldy
in this problem so we resort to
— rw 2 = 1441b dynamic equilibrium which permits 8 free choice of a.xesand moment eenters.
stead Of locating the In-
3' center of gravity of the bent bar, it is more convenient to apply
the inertia components acting as shown
W- 96.61b in Fig. 12—13 Bt•the gravity center of each
segment.
FIG. 12—11.
—Dynamic equilibrium. The values of
the inertia foreesare
couple la shown by the dashed vectors in Fig, 12—11.Eucli of these inertiB
component8act respectively opoosite to an, For AB: For BC:
at, and a. Their values are:
16.1 x 6 16.1 x 4
96.6 = 961b
- 144 1b 32.2
w 96.6 16.1
xo 16.1 x 4
= 361b
(3) a 9 a 1b 32.2 322
la is the gum of the inertia couplesacting on each
32.2
i$a ft—lb nt. Iu inertia couple
value is
 ROTATION (Chap.
Nqn-Centroidal Rotation. Dynamic
332 Art. 12—7] Equilibrium
— (4)2 (0)
weighing 161 1b i8 geatH1
12 32.2 1238. A mon
turntable 2 ft away from
la -70 ft-lb on o horizontal of rotation, ag
oxi8 8hownin
equilibrium. The value of P iB the vertical The coeffcient of
now apply the equations of dynamic Fig. P-1238. friction
161-1bman
We summstion about A. him and the turntable iB 0.40.
termined from 8 moment between
turntable Btart8 from re8t and ac-
4 rad/eec
If the o 9
celerotegDt the rate of rad per sect, how
A' = 6 rad/øec I F ra = 361b many seconds will elapge before he Btart8
the angle 9 of the di-
to glide? Determine
Erw2 961b rection in which he will glide.
2' Am. — 5.08 sec; e — 4.450
3' 3' FIG. P-1238.
1239. A uniform Blender rod ia hinged
2' I —Fa —361b to frame rotating about vertical aü 88 in Fig. P-1239. Showthat the angle
A, 37
between the rod and the axis ig definedby cog9 =
Wrw2=961b
FIG. 12-13.
1240. A uniform slender rod weighing96.6 1bis fastened to the rotating frame
FIG. 12-12.
in Fig. P-1240 by 8 smooth hinge at A and a horizontalcord at B. The frame
= 01 + 36(6)- 96(2) - 96(3) + 70 = o 48.51b AN. rotates about its vertical axis at constant speed of 4 rad per sec. Find the tension
in the cord and the horizontal and vertical componentsof the hinge reaction.
Using force summations directed along the perpendicular components of the
reaction 8t A, we obtain
= 01 + 48.5- 96 —36 O Az = 87.51b
—96 + 36 = O = 601b
from which the total reaction at A is found to be
106.21b Am.

PROBLEMS
1236. A 3220-1bflywheelis fastened to the midpoint of a shaft 6 ft long. The
Venterof gravity of the flywheeliB0.01 in. from the axis of rotation. The flywheel
rotates at a constant speed of.1800rpm. Determine the maximum and minimum
values of the bearing reactions at each end of the shaft.
1301b
Am. Max. R 30901b;Min. R
1236. A uniform slender rod 6 ft long that weighs 64>41b ig guepended verticblly 2'
Bt one end. A horizontal force of 321b is applied at the. midpoint of the rod. Deter FIG. P-1240and P-1241.
be FIG, P-1239.
vaine the horizontal reaction of the axis on the rod. Where should the force st which the cord in Prob. 1240
regctioD
applied to make the horizontal centerOf 1241. Determine the speed of rotation in rpm
will have tensile force of 200 lb.
zero? (Thig point iB called the weighing11b per ft is fastened al its
percusgion.) 12'L A uniform slender rod b ft long and P-1242. The rod is attached to the
8 rod in Fig• midpoint to horiiontbl shaft as shown in Fig'. distance L ft apart. Compute the
FIG. P-1237. 1237. The uniform slender shaft midway between two bearings A and B
supported rotating 8t rad per sec.
P-1237 weighs 96.61b and is dynamic reactions Bt and B when the shaft is
knife edges atl and B. Determine the the support •yb3w2
reaction at the instant after
af B ia suddenly removed. Ans. RA = RB• sin
24 gL
 ROTATION (Chap. Nan-Centroidal Rotation.
Art. 12—7) Dunamic Equilibrium
the bearing
componcntsof reaction at A an instunt
after it is Teleasedfrom rest at
givcn position. Am. 49.01b;AD- 133.41b
1248. Thc systcm shown in Fig. P-1248consistsof a circular
bur, The assembly rotate; in disk to
48.3 end of L uniform a vertical plane about a horizontal
given position, the angular
32.21b 1b axis Lt A, At the velocity is 4 rad pcr sec. Compute
magnitude of the bearing reaction.
the
14--..-.........—L' f-02
FIG. P-1243 and P-1244.
Fro. P-1242.
go-5 rad/sec
shown in Fig. P-1243rest
the weights and positions constant
194S. Two blocks hBVing about its vertical axis at a speed. The
upon frame whichrotates >locks and the frame is 020. The weight and friction
the
eficient of friction between the blocks start to slide?
being neglected, at wh8t kpeed in rpm will
of the pulley this instant?
is the tension in the cord at Ans. n = 31.4 rpm; T = 212.5 1b W=193.21b

B 1244. Repeat Prob. 1243if the weights of the blocks

are interchanged. w-3221b
1245. Three bars, each 2 ft long and weighing 9.661b,
are pinnedtogether to form the equilateral frame shownin FIG. 2-1249.
Fig. P-1245. They rotate in a horizontal plane abouta
vertical axis at A. ltVhat torque is required to cause an an-
C gu18racceleration of 12 rad per sec2? is the reaction 1249. At the instant shown in Fig. P-1249, the body B has a clockwiseangular
frame reaches speed of 38.2 rpm? velocity of 5 rad per sec. The horizontal cord joining A and B passes over a weight-
FIG.P-1245. at A when the Ans. M = 21.6 ft-lb; A = 20.81b lessand frictionless pulley. Determine the horizontal and vertical componentsof
the axle reaction at 74.3 Ans. Rh = 30 = 381.11b
rests on a
1246. The bent bar shown in Fig. P-1246 weighs 16.1 1b per ft. It
horizontalsurface and rotates about a vertical axis through A. Compute 1260. The rotating assembly shown in Fig. P-1250consistsof an unbalanced
the torque required to cause a counterclockwise acceleration of 6 rad per sec2. What pulleyto which is bolted a uniiorm rod carrying a sphere at its end. The pulley
3 rud per sec? rotatesabout a horizontal axis at Z and
are the X and Y componentsof the reaction at A when the speed is
Ay 19811) has a I ft radius of gyration about its W: 64.41b)
-4r,8. M = 568ft-1b•, = 15 1b;
gravity center G. Show that the mass
Smooth
momentof inertia about Z •is Is = 45.5
ft-lb-sec*and then compute the angular
3 accelerationof the pulley and the tension
fw- 64.41b in the cord.
IL =6ft
— 4.64 rad per sect; T
137.5 1b
1251. At in Fig. P- 19321b
1250,the the instant shown angular
c Wc 32.21b system has a clockwise = u.21b
Velocityof 4
Diam.= 2 rad per sec. Using the re-
Pro)), 1250, •compute the horizontal
FIG. P-1246 and P-1247. FIG. P-1248. vertical components of the bearing re-
to actionat
1247. The bent bar shown in Fig. P-124fiweighs 16.1 Il) per ft is frß' Z.
378.5 1b FIG. P-1250 and P-1%1
rotate in a vertical plane about u horizontal u.xi$at tinc X Rå 1b: R,
Compute
 (Chap.
ROTATION
Summary 337
wt - 200 1b, are
336 - 1001b and % are related by
in Fig. P-1252. Compute the valuea of These equations
AB shown and rotating in vertical
rotating horizontalshaft 1 ft from the shaft
the concentrated
balanceweights
1 at —ra (12-4)

The initial direction of rotation is taken as the positive

sense of 0; this
Wt=1001b
also determines the positive sense of and a.
From the above relations it is easy to determine the equations of rotation
with constant angular acceleration (Art. 12—3).These equations are tabu-
24" 18" w *2 2001b loted below.
Rkctilinear Motion Rotation
(related by)
w = + at
8 = vot + å at2 + at2
FIG. P-1252. v2= v02+ 2 as a = ra = 002+ 2
Problems involving variable acceleration (Art. 12—4)are solved by inte„
the dynamic effects of WI aud W2. WI:at are
through A and B that will balance grating the kinematic differential equations of rotation. The technique is
weights measured from the plane containing
the angular positionsof the balance = 26.60; WB = 231 1b, 0B = 77.5
0 similar to that developed in Arts. 10—4and 10—5.
WIandaxis AB? Ans. WA = 1681b,
Problems involving the rigid body motion of rotation are referred to a
set of reference axes rotating with the body. The N axis is chosen to pass
SUMMARY through the center of grivity and the center of rotation; the T axis passes
Rotation (Art. 12—1) is the motion of 8 rigid body in which the particles throughthe center of rotation perpendicularto the N axis; the Z axis
line calledthe
move in circular paths with their centers on a fixed straight coincideswith the axis of rotation.
axis of •rotation. The general kinetic equations of rotation (Art. 12—5)are given by
distance
Angulardisplacementis measuredin radians by the angular
swept throughby any radius of or line in the rotating body. The kinematic
(12—5)
characteristicsof rotation are as follows: All particles have identical
values of angular displacement, angular velocity, and angular acceleration'
The linear valuesof displacement, velocity, and acceleration vary directly
ET (12-6)
with the distanceof the particle from the axis of rotation. (12-7)
with
The kinematic differential equations of rotation are tabulated below
similar equations for rectilinear motion. In the case of centroidal rotation, F = 0 and the above equations reduce to

Rectilinear Motion (12—9)

Rotation
Dynamic equilibrium in rotation (Art. 12—7) is created by applying the
Inertia forces
(12-2) — Fw2and — ra acting the 'ugh the center of gravity directed
dv d2s do d 20 re SPectively
a = dt2 opposite to dn and at, plus an inertia couple la opposite in
vdv=ads senseto a applied anywhere on the bådy. Note that I is the centroidal
moment of
inertia.