Vector Mechanics for Engineers: Dynamics

Edition
Tenth

CHAPTER 17

Plane Motion of Rigid

Bodies:
Forces and Accelerations
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 Vector Mechanics for Engineers: Dynamics
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Objective
• Moment of Inertia of a body

• Parallel Axis Theorem

• Radius of Gyration

• Moment of Inertia of Composite Bodies

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 Vector Mechanics for Engineers: Dynamics
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Tenth

Moment and Angular Acceleration

• When  0, rigid body experiences
angular acceleration
• Relation between M and is analogous to
relation between F and a
F  ma, M  I

Mass = Resistance

Moment of Inertia
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 Vector Mechanics for Engineers: Dynamics
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Tenth

Moment of Inertia
• This mass analog is called the
moment of inertia, I, of the object
I   r dm 2

m
– r = moment arm
– SI units are kg m2
Using dm   dV , where  is the volume density :
I    r 2 dV

I    r dx dy dz 2

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 Vector Mechanics for Engineers: Dynamics
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Tenth

Shell Element

dV  (2 y ) z dy

Disk Element

dV  ( y 2 ) dz

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 Vector Mechanics for Engineers: Dynamics
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Tenth

Example 17-1

dm   dV   (2 r dr h)

 4
R
1 2
I   r dm   2  h  r dr 
2
R h  R (  R 2 h)
3

m 0
2 2
m    R 2h
1
I z  m R2
2
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 Vector Mechanics for Engineers: Dynamics
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Tenth

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 Vector Mechanics for Engineers: Dynamics
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Moments of inertia for some common geometric solids

R2
L L

R R2
1 1
I ML2 I  ML2 1
12 3 1 I
2 2
M ( R1  R2 )
I  MR 2 2
Thin Rod Thin Rod (axis at end) 2
Hollow Cylinder
Solid Disk

a a

R
b
b

1
I  Ma 2
1 3 I  MR 2
I M (a 2  b 2 )
12 Thin Rectangular Plate (about edge) Thin Walle d Hollow Cylinder
Rectangula r Plate (through center) R R

2 2
I MR 2 I MR 2
5 3
Solid Sphere Thin Walle d Hollow Sphere
 Vector Mechanics for Engineers: Dynamics
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Tenth

Concept Question

The thin pipe P and the uniform cylinder C have the same outside
radius and the same mass. If they are both released from rest,
which of the following statements is true?

a) The pipe P will have a greater acceleration

b) The cylinder C will have a greater acceleration
c) The cylinder and pipe will have the same acceleration

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 Vector Mechanics for Engineers: Dynamics
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Parallel Axis Theorem

• The moment of inertia about any axis parallel to
and at distance d away from the axis that
passes through the centre of mass is:

I O  I G  md 2

• Where
– IG= moment of inertia for mass centre G
– m = mass of the body
– d = perpendicular distance between the parallel axes.

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 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Radius of Gyration
Frequently tabulated data related to moments of inertia will be presented in
terms of radius of gyration.

I
I  mk 2
or k 
m

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 Vector Mechanics for Engineers: Dynamics
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Tenth

Mass Center

~
y  ym
m 10 Ib

Example

~y m
y

1(10 / 32.2)  2(10 / 32.2)
 1.5 ft
 m (10 / 32.2)  (10 / 32.2)

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 Vector Mechanics for Engineers: Dynamics
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Tenth

Moment of Inertia of Composite bodies

1. Divide the composite area into simple body.
2. Compute the moment of inertia of each simple body about its
centroidal axis from table.
3. Transfer each centroidal moment of inertia to a parallel reference
axis
4. The sum of the moments of inertia for each simple body about the
parallel reference axis is the moment of inertia of the composite
body.
5. Any cutout area has must be assigned a negative moment; all others
are considered positive.
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Moment of inertia of a hollow cylinder

• Moment of Inertia of a
I = 1/2 mR2
solid cylinder
• A hollow cylinder

= -
M m2
m1
R1
R2

I = 1/2 m1R12 - 1/2 m2R22 = 1/2 M (R12 - R22 )

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 Vector Mechanics for Engineers: Dynamics
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Tenth

Example 17-4

The pendulum in Fig. is suspended from the pin at O and

Consists of two thin rods. Rod OA weighs 10 lb, and BC
weighs 8 lb.
Determine the
( I moment
) 1 1 ml 21
md102 Ib
2of inertia
 of

1 pendulum
the (
102
)( 2 ) 2 about
 (
10 an2 axis
)( 2 ) 2
( I OA )O  12
BC O ml  ( 12 ft ).2  0.414 32
)(232 slug.ft
.pendulum
2
passing through point
3 O, and the mass
3 32.2ft/s center G of the
 1.346 slug.ft 2

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 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Example 17-4

The pendulum in Fig. is suspended from the pin at O and

Consists of two thin rods. Rod OA weighs 10 lb, and BC
weighs 8 lb.
Determine the
( I moment
) 1 1 ml 21
md102 Ib
2of inertia
 of

1 pendulum
the (
102
)( 2 ) 2 about
 (
10 an2 axis
)( 2 ) 2
( I OA )O  12
BC O ml  ( 12 ft ).2  0.414 32
)(232 slug.ft
.pendulum
2
passing through point
3 O, and the mass
3 32.2ft/s center G of the
 1.346 slug.ft 2

Using the table on the inside back cover, the moment

of inertia of rod OA about an axis perpendicular to the
page and passing through point O of the rod is
Hence,

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 Vector Mechanics for Engineers: Dynamics
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Tenth

Example 17-4

The pendulum in Fig. is suspended from the pin at O and

Consists of two thin rods. Rod OA weighs 10 lb, and BC
weighs 8 lb.
Determine the
( I moment
) 1 1 ml 21
md102 Ib
2of inertia
 of

1 pendulum
the (
102
)( 2 ) 2 about
 (
10 an2 axis
)( 2 ) 2
( I OA )O  12
BC O ml  ( 12 ft ).2  0.414 32
)(232 slug.ft
.pendulum
2
passing through point
3 O, and the mass
3 32.2ft/s center G of the
 1.346 slug.ft 2

Using the table on the inside back cover, the moment

of inertia of rod OA about an axis perpendicular to the
page and passing through point O of the rod is
Hence,

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 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Example 17-4

The pendulum in Fig. is suspended from the pin at O and

Consists of two thin rods. Rod OA weighs 10 lb, and BC
weighs 8 lb.
Determine the
( I moment
) 1 1 ml 21
md102 Ib
2of inertia
 of

1 pendulum
the (
102
)( 2 ) 2 about
 (
10 an2 axis
)( 2 ) 2
( I OA )O  12
BC O ml  ( 12 ft ).2  0.414 32
)(232 slug.ft
.pendulum
2
passing through point
3 O, and the mass
3 32.2ft/s center G of the
 1.346 slug.ft 2

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 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Example 17-4

The pendulum in Fig. is suspended from the pin at O and

Consists of two thin rods. Rod OA weighs 10 lb, and BC
weighs 8 lb.
Determine the
( I moment
) 1 1 ml 21
md102 Ib
2of inertia
 of

1 pendulum
the (
102
)( 2 ) 2 about
 (
10 an2 axis
)( 2 ) 2
( I OA )O  12
BC O ml  ( 12 ft ).2  0.414 32
)(232 slug.ft
.pendulum
2
passing through point
3 O, and the mass
3 32.2ft/s center G of the
 1.346 slug.ft 2

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 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Example 17-4

The pendulum in Fig. is suspended from the pin at O and

Consists of two thin rods. Rod OA weighs 10 lb, and BC
weighs 8 lb.
Determine the
( I moment
) 1 1 ml 21
md102 Ib
2of inertia
 of

1 pendulum
the (
102
)( 2 ) 2 about
 (
10 an2 axis
)( 2 ) 2
( I OA )O  12
BC O ml  ( 12 ft ).2  0.414 32
)(232 slug.ft
.pendulum
2
passing through point
3 O, and the mass
3 32.2ft/s center G of the
 1.346 slug.ft 2

I O  0.414  1.346  1.76 slug.ft 2

~y m I O  I G  md 2
y

m 1.76  I G  (
20
)(1.5) 2
~y m 32.2
y
 
1(10 / 32.2)  2(10 / 32.2)
 1.5 ft
m (10 / 32.2)  (10 / 32.2) I G  0.362 slug.ft 2
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 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Example 17-4

The pendulum in Fig. is suspended from the pin at O and

Consists of two thin rods. Rod OA weighs 10 lb, and BC
weighs 8 lb.
Determine the
( I moment
) 1 1 ml 21
md102 Ib
2of inertia
 of

1 pendulum
the (
102
)( 2 ) 2 about
 (
10 an2 axis
)( 2 ) 2
( I OA )O  12
BC O ml  ( 12 ft ).2  0.414 32
)(232 slug.ft
.pendulum
2
passing through point
3 O, and the mass
3 32.2ft/s center G of the
 1.346 slug.ft 2

I O  0.414  1.346  1.76 slug.ft 2

~y m I O  I G  md 2
y

m 1.76  I G  (
20
)(1.5) 2
~y m 32.2
y
 
1(10 / 32.2)  2(10 / 32.2)
 1.5 ft
m (10 / 32.2)  (10 / 32.2) I G  0.362 slug.ft 2
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 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

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 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Planar Kinetic Equations of Motion

Planar kinetics to rigid bodies studies is considered to be
symmetrical with respect to fixed reference plane
•Motion of the body is viewed within the reference plane
and all the forces and moments on the body can be
projected onto the plane

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 Vector Mechanics for Engineers: Dynamics
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Tenth

Equations of Motion for a Rigid Body

• Consider a rigid body acted upon
by several external forces.
• Assume that the body is made of
a large number of particles.
• For the motion of the mass center
G of the body with respect to the
Newtonian frame Oxyz,
 
 F  ma
• For the motion of the body with
respect to the centroidal frame
Gx’y’z’,  
 M G  HG
• System of external forces is
equipollent to the
 system

consisting of ma and H G .
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 Vector Mechanics for Engineers: Dynamics
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Tenth

Plane Motion of a Rigid Body: D’Alembert’s Principle

• Motion of a rigid body in plane motion is
completely defined by the resultant and moment
resultant about G of the external forces.
 Fx  ma x  Fy  ma y  M G  I
• The external forces and the collective effective
forces of the slab particles are equipollent (reduce
to the same resultant and moment resultant) and
equivalent (have the same effect on the body).
• d’Alembert’s Principle: The external forces
acting on a rigid body are equivalent to the
effective forces of the various particles forming
the body.
• The most general motion of a rigid body that is
symmetrical with respect to the reference plane
can be replaced by the sum of a translation and a
centroidal rotation.
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Axioms of the Mechanics of Rigid Bodies

 
• The forces F and F  act at different points on
a rigid body but but have the same
magnitude, direction, and line of action.

• The forces produce the same moment about

any point and are therefore, equipollent
external forces.

• This proves the principle of transmissibility

whereas it was previously stated as an axiom.

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 Vector Mechanics for Engineers: Dynamics
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Problems Involving the Motion of a Rigid Body

• The fundamental relation between the forces
acting on a rigid body in plane motion and
the acceleration of its mass center and the
angular acceleration of the body is illustrated
in a free-body-diagram equation.
• The techniques for solving problems of
static equilibrium may be applied to solve
problems of plane motion by utilizing
- d’Alembert’s principle, or
- principle of dynamic equilibrium
• These techniques may also be applied to
problems involving plane motion of
connected rigid bodies by drawing a free-
body-diagram equation for each body and
solving the corresponding equations of
motion simultaneously.
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 Vector Mechanics for Engineers: Dynamics
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Tenth

Free Body Diagrams and Kinetic Diagrams

The free body diagram is the same as you have done in statics and
in Ch 13; we will add the kinetic diagram in our dynamic analysis.
1. Isolate the body of interest (free body)
2. Draw your axis system (Cartesian, polar, path)
3. Add in applied forces (e.g., weight)
4. Replace supports with forces (e.g., tension force)
5. Draw appropriate dimensions (angles and distances)
y

x
Include your
positive z-axis
direction too
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 Vector Mechanics for Engineers: Dynamics
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Free Body Diagrams and Kinetic Diagrams

Put the inertial terms for the body of interest on the kinetic diagram.
1. Isolate the body of interest (free body)
2. Draw in the mass times acceleration of the particle; if unknown,
do this in the positive direction according to your chosen axes. For
rigid bodies, also include the rotational term, IG.

F  ma
M G  I
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 Vector Mechanics for Engineers: Dynamics
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Tenth

Free Body Diagrams and Kinetic Diagrams

Draw the FBD and KD for

the bar AB of mass m. A
known force P is applied at
the bottom of the bar.

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 Vector Mechanics for Engineers: Dynamics
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Tenth

Free Body Diagrams and Kinetic Diagrams

1. Isolate body
y 2. Axes
Cy 3. Applied forces
A x 4. Replace supports with forces
5. Dimensions
C Cx 6. Kinetic diagram
L/2
ma y
r
I
G G max

L/2 mg

B P
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 Vector Mechanics for Engineers: Dynamics
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Tenth

Another Example
Given: W=50 N, L=0.35 m,
x=0.03 m
Find the tension in the muscle W

x
L

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 Vector Mechanics for Engineers: Dynamics
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Tenth

Free Body Diagrams and Kinetic Diagrams

A drum of 4 inch radius is attached

to a disk of 8 inch radius. The
combined drum and disk had a
combined mass of 10 lbs. A cord is
attached as shown, and a force of
magnitude P=5 lbs is applied. The
coefficients of static and kinetic
friction between the wheel and
ground are s= 0.25 and k= 0.20,
respectively. Draw the FBD and
KD for the wheel.

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 Vector Mechanics for Engineers: Dynamics
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Tenth

Free Body Diagrams and Kinetic Diagrams

1. Isolate body
2. Axes
3. Applied forces
4. Replace supports with forces
5. Dimensions
6. Kinetic diagram
P ma y
4 in

I
= max
8 in
W
F y

N x
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 Vector Mechanics for Engineers: Dynamics
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Tenth

Free Body Diagrams and Kinetic Diagrams

The ladder AB slides down

the wall as shown. The wall
and floor are both rough.
Draw the FBD and KD for
the ladder.

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 Vector Mechanics for Engineers: Dynamics
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Tenth

Free Body Diagrams and Kinetic Diagrams

1. Isolate body 3. Applied forces 5. Dimensions
2. Axes 4. Replace supports with forces 6. Kinetic diagram

NB ma y
m


25
0.2

FB
I
max
=
m
25

W
0.2

FA x
NA
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 Vector Mechanics for Engineers: Dynamics
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Tenth

Sample Problem 16.1

SOLUTION:
• Calculate the acceleration during the
skidding stop by assuming uniform
acceleration.
• Draw the free-body-diagram equation
expressing the equivalence of the
external and effective forces.
At a forward speed of 30 ft/s, the truck • Apply the three corresponding scalar
brakes were applied, causing the wheels equations to solve for the unknown
to stop rotating. It was observed that the normal wheel forces at the front and
truck to skidded to a stop in 20 ft. rear and the coefficient of friction
Determine the magnitude of the normal between the wheels and road surface.
reaction and the friction force at each
wheel as the truck skidded to a stop.

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 Vector Mechanics for Engineers: Dynamics
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Tenth

Sample Problem 16.1

SOLUTION:
• Calculate the acceleration during the skidding stop
by assuming uniform acceleration.
v 2  v02  2a  x  x0 
2
ft  ft  ft
v0  30 x  20 ft 0   30   2a  20 ft  a  22.5
s  s s
• Draw a free-body-diagram equation expressing the
equivalence of the external and inertial terms.
• Apply the corresponding scalar equations.
 Fy    Fy  eff N A  NB  W  0

 Fx    Fx  eff  FA  FB   ma
 k  N A  N B  
  kW    W g  a
a 22.5
k    0.699
g 32.2
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 Vector Mechanics for Engineers: Dynamics
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Tenth

Sample Problem 16.1

• Apply the corresponding scalar equations.
 M A    M A  eff
  5 ft W  12 ft  N B   4 ft  ma
1 W  W a
NB   5W  4 a    5  4 
12  g  12  g
N B  0.650W
N A  W  N B  0.350W

N rear  12 N A  12  0.350W  N rear  0.175W

Frear   k N rear   0.690 0.175W 
Frear  0.122W

N front  12 NV  12  0.650W  N front  0.325W

F front   k N front   0.690  0.325W 
F front  0.0.227W

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 Vector Mechanics for Engineers: Dynamics
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Tenth

Sample Problem 16.4

SOLUTION:
• Draw the free-body-diagram equation
expressing the equivalence of the
external and effective forces on the disk.
• Solve the three corresponding scalar
equilibrium equations for the horizontal,
vertical, and angular accelerations of the
disk.
A cord is wrapped around a
homogeneous disk of mass 15 kg. • Determine the acceleration of the cord by
The cord is pulled upwards with a evaluating the tangential acceleration of
force T = 180 N. the point A on the disk.

Determine: (a) the acceleration of the

center of the disk, (b) the angular
acceleration of the disk, and (c) the
acceleration of the cord.
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 Vector Mechanics for Engineers: Dynamics
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Tenth

Sample Problem 16.4

SOLUTION:
• Draw the free-body-diagram equation expressing the
equivalence of the external and effective forces on
the disk.
• Solve the three scalar equilibrium equations.
 Fx    Fx  eff
0  ma x ax  0
 Fy    Fy  eff
T  W  ma y

ay 

T  W 180 N - 15 kg  9.81m s 2


m 15 kg
a y  2.19 m s 2
 M   M 
G G eff

 Tr  I    12 mr 2 
2T 2180 N 
     48.0 rad s 2
mr 15 kg  0.5 m 
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 Vector Mechanics for Engineers: Dynamics
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Tenth

Sample Problem 16.4

• Determine the acceleration of the cord by evaluating the
tangential acceleration of the point A on the disk.

acord   a A  t  a   a A G t



 2.19 m s 2   0.5 m  48 rad s 2 
acord  26.2 m s 2

ax  0 a y  2.19 m s 2

  48.0 rad s 2

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 Vector Mechanics for Engineers: Dynamics
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Tenth

Group Problem Solving

SOLUTION:
Knowing that the coefficient of
• Draw the free-body-diagram and
static friction between the tires kinetic diagram showing the
and the road is 0.80 for the equivalence of the external forces
automobile shown, determine the and inertial terms.
maximum possible acceleration • Write the equations of motion for
on a level road, assuming rear- the sum of forces and for the sum
wheel drive of moments.

• Apply any necessary kinematic

relations, then solve the resulting
equations.

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 Vector Mechanics for Engineers: Dynamics
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Tenth

Group Problem Solving

SOLUTION: • Draw your FBD and KD
• Given: rear wheel drive, • Set up your equations of motion,
dimensions as shown, = 0.80 realizing that at maximum acceleration,
may and  will be zero
• Find: Maximum acceleration
y ma y
I
x

= max
FR mg
NR NF

F x  max F y  ma y M G  I G
FR  max N R  N F  mg  0  N R ( 12
60
)  N F ( 12
40
)  FR ( 12
20
)0
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 Vector Mechanics for Engineers: Dynamics
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• Solve the resulting equations: 4 unknowns are FR, max, NF and NR

FR  max (1) N R  N F  mg  0 (2) FR   N R (3)

 N R ( 12
60
)  N F ( 12
40
)  FR ( 12
20
)  0 (4) max
(1)→(3) N R  (5)

(5)→(2) max
N F  mg  N R  mg  (6)

(1) and (5) and (6) →(4)
max  60   max   40   20 
     mg      max    0
  12      12   12 

Solving this equation, the masses cancel out and you get:
ax  12.3 ft/s

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 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Group Problem Solving

• Alternatively, you could have chosen to sum moments about the front wheel

y ma y
I
x

= max
FR mg
NR NF

M F  I G  mad 

 N R ( 100
12 )  mg ( 12 )  0  max ( 12 )
40 20

• You can now use this equation with those on the previous slide to solve for
the acceleration
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 48
 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Concept Question

The thin pipe P and the uniform cylinder C have the same outside
radius and the same mass. If they are both released from rest,
which of the following statements is true?

a) The pipe P will have a greater acceleration

b) The cylinder C will have a greater acceleration
c) The cylinder and pipe will have the same acceleration

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 49

 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Kinetics: Constrained Plane Motion

The forces at the bottom of the The forces one the wind turbine
pendulum depend on the blades are also dependent on
pendulum mass and mass moment mass, mass moment of inertia, and
of inertia, as well as the pendulum kinematics.
kinematics.

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 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Constrained Plane Motion

• Most engineering applications involve rigid
bodies which are moving under given
constraints, e.g., cranks, connecting rods, and
non-slipping wheels.
• Constrained plane motion: motions with
definite relations between the components of
acceleration of the mass center and the angular
acceleration of the body.
• Solution of a problem involving constrained
plane motion begins with a kinematic analysis.
• e.g., given and , find P, NA, and NB.
- kinematic analysis yields ax and a y .
- application of d’Alembert’s principle yields
P, NA, and NB.

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 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Constrained Motion: Noncentroidal Rotation

• Noncentroidal rotation: motion of a body is
constrained to rotate about a fixed axis that does
not pass through its mass center.

• Kinematic relation between the motion of the mass

center G and the motion of the body about G,
at  r  an  r  2

• The kinematic relations are used to eliminate

at and an from equations derived from
d’Alembert’s principle or from the method of
dynamic equilibrium.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 52

 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Sample Problem 16.10

SOLUTION:
• Based on the kinematics of the constrained
motion, express the accelerations of A, B,
and G in terms of the angular acceleration.
• Draw the free-body-equation for the rod,
expressing the equivalence of the
external and effective forces.
The extremities of a 4-ft rod
weighing 50 lb can move freely • Solve the three corresponding scalar
and with no friction along two equations for the angular acceleration and
straight tracks. The rod is released the reactions at A and B.
with no velocity from the position
shown.
Determine: a) the angular
acceleration of the rod, and b) the
reactions at A and B.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 53
 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Sample Problem 16.10

SOLUTION:
• Based on the kinematics of the constrained motion,
express the accelerations of A, B, and G in terms of
the angular acceleration.
Express the acceleration of B as
  
aB  a A  aB A

With aB A  4 , the corresponding vector triangle and

the law of signs yields
a A  5.46 aB  4.90

The acceleration of G is now obtained from

   
a a G  a A  aG A where aG A  2

Resolving into x and y components,

a x  5.46  2 cos 60  4.46
a y  2 sin 60  1.732

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 54

 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Sample Problem 16.10

• Draw the free-body-equation for the rod, expressing
the equivalence of the external and effective forces.
• Solve the three corresponding scalar equations for the
angular acceleration and the reactions at A and B.
 M E    M E  eff
 501.732   6.93  4.46   2.69 1.732  2.07
  2.30 rad s 2
  2.30 rad s 2
1 50 lb
1 ml 2 
I  12  4 ft  2
 Fx    Fx  eff
12 32.2 ft s 2
RB sin 45   6.93 2.30
 2.07 lb  ft  s 2
RB  22.5 lb 
I   2.07 RB  22.5 lb 45o

ma x 
50
 4.46   6.93  Fy    Fy eff
32.2
50 RA   22.5 cos 45  50   2.69 2.30
ma y   1.732   2.69
32.2 R A  27.9 lb
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 55
 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 56

 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Sample Problem 16.8

SOLUTION:
• Draw the free-body-equation for the
sphere, expressing the equivalence of the
external and effective forces.
• With the linear and angular accelerations
related, solve the three scalar equations
derived from the free-body-equation for
the angular acceleration and the normal
A sphere of weight W is released with
and tangential reactions at C.
no initial velocity and rolls without
slipping on the incline. • Calculate the friction coefficient required
for the indicated tangential reaction at C.
Determine: a) the minimum value of
• Calculate the velocity after 10 ft of
the coefficient of friction, b) the
uniformly accelerated motion.
velocity of G after the sphere has
rolled 10 ft and c) the velocity of G if • Assuming no friction, calculate the linear
the sphere were to move 10 ft down a acceleration down the incline and the
frictionless incline. corresponding velocity after 10 ft.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 57
 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Sample Problem 16.8

SOLUTION:
• Draw the free-body-equation for the sphere, expressing
the equivalence of the external and effective forces.
• With the linear and angular accelerations related, solve
the three scalar equations derived from the free-body-
equation for the angular acceleration and the normal
and tangential reactions at C.
 M C    M C  eff
W sin   r   ma  r  I
a  r   mr  r   52 mr 2 
W   2W 2  5 g sin 
  r  r   r  
g  5 g  7r
5 g sin 30
a  r 
7


 
5 32.2 ft s 2 sin 30
a  11 .50 ft s 2
7
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 58
 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Sample Problem 16.8

• Solve the three scalar equations derived from the free-
body-equation for the angular acceleration and the
normal and tangential reactions at C.
 Fx    Fx  eff W sin   F  ma
W 5 g sin 

g 7
2
F  W sin 30  0.143W
7
 Fy    Fy  eff N  W cos  0
N  W cos 30  0.866W
5 g sin 

7r • Calculate the friction coefficient required for the
indicated tangential reaction at C.
a  r  11 .50 ft s 2
F  s N
F 0.143W
s    s  0.165
N 0.866W

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 59

 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Sample Problem 16.8

• Calculate the velocity after 10 ft of uniformly
accelerated motion.
v 2  v02  2a  x  x0 
 
 0  2 11.50 ft s 2 10 ft 

v  15.17 ft s

• Assuming no friction, calculate the linear acceleration

and the corresponding velocity after 10 ft.
 M G    M G  eff 0  I  0

5 g sin  W 
  Fx    Fx  eff W sin   ma   a
7r g
a  r  11 .50 ft s 2  
a  32.2 ft s 2 sin 30  16.1ft s 2

v 2  v02  2a  x  x0 
 
 0  2 16.1ft s 2 10 ft  
v  17.94 ft s

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 60

 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Sample Problem 16.9

SOLUTION:
• Draw the free-body-equation for the
wheel, expressing the equivalence of the
external and effective forces.
• Assuming rolling without slipping and
therefore, related linear and angular
accelerations, solve the scalar equations
for the acceleration and the normal and
A cord is wrapped around the inner tangential reactions at the ground.
hub of a wheel and pulled • Compare the required tangential reaction
horizontally with a force of 200 N.
to the maximum possible friction force.
The wheel has a mass of 50 kg and a
radius of gyration of 70 mm. • If slipping occurs, calculate the kinetic
Knowing s = 0.20 and k = 0.15, friction force and then solve the scalar
determine the acceleration of G and equations for the linear and angular
the angular acceleration of the wheel. accelerations.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 61

 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Sample Problem 16.9

SOLUTION:
• Draw the free-body-equation for the wheel,.
• Assuming rolling without slipping, solve the scalar
equations for the acceleration and ground reactions.
 M C    M C  eff
 200 N  0.040 m   ma  0.100 m   I
8.0 N  m   50 kg  0.100 m  2  0.245 kg  m 2 

I  mk 2   50 kg  0.70 m  2   10.74 rad s 2

 0.245 kg  m 2  
a   0.100 m  10.74 rad s 2  1.074 m s 2

 Fx    Fx  eff
Assume rolling without slipping,
a  r

F  200 N  ma   50 kg  1.074 m s 2 
F  146.3 N
  0.100 m 
 Fx    Fx  eff
N W  0
 
N  mg   50kg  1.074 m s 2  490.5 N
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 62
 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Sample Problem 16.9

• Compare the required tangential reaction to the
maximum possible friction force.
Fmax   s N  0.20 490.5 N   98.1 N
F > Fmax , rolling without slipping is impossible.

• Calculate the friction force with slipping and solve the

Without slipping, scalar equations for linear and angular accelerations.
F  146.3 N N  490.5 N F  Fk   k N  0.15 490.5 N   73.6 N

 Fx    Fx  eff
200 N  73.6 N   50 kg  a a  2.53 m s 2

 M G    M G  eff
 73.6 N  0.100 m    200 N  0.0.060 m 

 0.245 kg  m 2 
  18.94 rad s 2   18.94 rad s 2
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 63
 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Sample Problem 16.10

SOLUTION:
• Based on the kinematics of the constrained
motion, express the accelerations of A, B,
and G in terms of the angular acceleration.
• Draw the free-body-equation for the rod,
expressing the equivalence of the
external and effective forces.
The extremities of a 4-ft rod
weighing 50 lb can move freely • Solve the three corresponding scalar
and with no friction along two equations for the angular acceleration and
straight tracks. The rod is released the reactions at A and B.
with no velocity from the position
shown.
Determine: a) the angular
acceleration of the rod, and b) the
reactions at A and B.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 64
 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Sample Problem 16.10

SOLUTION:
• Based on the kinematics of the constrained motion,
express the accelerations of A, B, and G in terms of
the angular acceleration.
Express the acceleration of B as
  
aB  a A  aB A

With aB A  4 , the corresponding vector triangle and

the law of signs yields
a A  5.46 aB  4.90

The acceleration of G is now obtained from

   
a a G  a A  aG A where aG A  2

Resolving into x and y components,

a x  5.46  2 cos 60  4.46
a y  2 sin 60  1.732

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 65

 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Sample Problem 16.10

• Draw the free-body-equation for the rod, expressing
the equivalence of the external and effective forces.
• Solve the three corresponding scalar equations for the
angular acceleration and the reactions at A and B.
 M E    M E  eff
 501.732   6.93  4.46   2.69 1.732  2.07
  2.30 rad s 2
  2.30 rad s 2
1 50 lb
1 ml 2 
I  12  4 ft  2
 Fx    Fx  eff
12 32.2 ft s 2
RB sin 45   6.93 2.30
 2.07 lb  ft  s 2
RB  22.5 lb 
I   2.07 RB  22.5 lb 45o

ma x 
50
 4.46   6.93  Fy    Fy eff
32.2
50 RA   22.5 cos 45  50   2.69 2.30
ma y   1.732   2.69
32.2 R A  27.9 lb
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 66