Homework 3 Solutions the sotutins may not be nthe same ode a hey appa nthe ‘he motanal net relevant to your Hi i marked as NA NA: Substitute: 100ft/s, v, =1000 ft/s, m=30 slug, pA=0194 slug/ fi, to obtain [= 1392 5] 2 From Newton's second law and the chain rule: from above, me pAv?, Separate variables and integrate: & = (es, from which In(v) = (2 o\rec Ats u(?2) = (es from which|s (2)o(%)- (1546) (22) Problem 1: ‘Suppose that you grasp the end of a chain that weighs 3 /6./ff and lift it straight up off the floor at a constant speed of 2 ft/s. (a) Determine the upward force that you must exert as a function of s. (b) How much work do you do in lifting the top of the chain to s= 4 ft? Strategy: Treat the part of the chain you have lifted as an object that is gaining mass, Solution The force is the sum of the "mass flow" reaction and the weight of suspended part of the chain, F = mg + (2) (a) Substitute: ‘o> from which 3561 ft 4 (2) 7 (sak slug / s. The velocity is 2 fi’s, The weight of the suspended portion of the chain is 3s /b, The force required to lift the chain is a liftthe chainis__ +) Seay ©) The work done is|f) Fas = (2) I, 5.49 ft-lb . assuming that you lift the end of the chain straight up off the floor with a constant acceleration of 2 ft/s? Solution Assume that the velocity is zero at s = 0. The mass of the chain currently suspended is m= (2) Use the solution to Problem 5.100. From Newton's second law, of 2) =F- (2)-me 5, The velocity is expressed in terms of s as follows: The acceleration is constant: & =2 fi/s?. Use the 1s, where it is assumed that the velocity is zero at s=0, from which F = 2) na) ‘ts Substitute: m=), 2% = 2 V5, from which a dt gs) dt zg + i =( 18 43 |5= 3.565] (b) The work done is If, Fas = 18,5)\"| -9847 f-1 & 2 g 2 Io —_ a = a chain rule v= = 2. Integrate: v’ i lee integrs 3s +0475 242_ Problem 2: Bar AB rotates at 12 rad/s in the clockwise direction. Determine the angular velocities of bars BC and CD. Solution The strategy is analogous to that used in Problem 6.28 The radius vector AB is 7g/4 = 200j (mm). The angular velocity of AB is @ =-12K (rad/s). The velocity of point B is ae Fg =84+G xFy4=0+/0 0 -12|=2400F (mm/s). The | 0 200 0 Fi I~ RO radius vector BC is cjg = 3007 +(350-200)j = 3007 +1507 (mm). The velocity of point C is eee Fo =p +O gc XFeyp=Fyt| 0 0 w gc |=(2400-1500 ge)i +o gc 300j (mm/s) 300 150 0 ‘The radius vector DC is #)p = -3507 +350] (mm). The velocity of point C is i 7 k Fe =Fp + Sep x Fe =04] 0 0 ep |=-3500 ¢p(i + j). Equate the two expressions for -350 350 0 c,, and separate components: (2400-1500 gc +3500 cp)i , and (3000 ge +3500 ep) j = 0 Solve: @ pe = 533 rad/s ,|6 yo = 533k (rad /s)} @ cp = -457 rad / s,|6,=—457K (rad /s)| Bc Be. 7 NA: Bar CD rotates at 2 rad/s in the clockwise direction. Determine the angular velocities of bars AB and BC. Solution The strategy is analogous to that used in Problem 6.28, nie —4 except that the computation is started with bar CD, Denote the Z 10sin45 length of CD by Lep = V2(10) = 14.14 in.. The sin30° radius vector DC is Fcip = Lep(~i cos30 + jsin30°) 12.257 +7.07]) (in). The angular velocity of CD is 6 cp = -2k (rad /s). The velocity of point C is ij & Fo =GepxFep=| 0 0-2) =(14147 +24.499) (in/s). The radius vector BC is -1225 707 0 cjg =12i (im). The velocity of point C is ijk Fo = Fg +0 gc XFcyp=Fgt]0 0 ORC |= Fy +120 gol (in/s) . 20 0 Problem 6.30 continued on next page 267ee NA: ‘The disks roll on a plane surface. The angular velocity of the left disk is 2 rad/s in the clockwise direction. What is the angular velocity of the right disk? Solution The velocity at the point of contact P of the left disk is zero. The vector from this point of contact to the center of the left disk is fp = 17 (jt). The velocity of the center of the left disk is i ijk Fg =6 op =|0 0 -2]=2F (fr/s). The vector o1 0 from the center of the left disk to the point of attachment of the rod is #9 = 1 (ft). The velocity of the point of attachment of the rod to the left disk is TUR F+]0 0 2 10 0 Ip =F9 +6 xFy9 / s), . The vector from the point of attachment of the left disk to the point of attachment of the right disk is Fy, = 7 cos® + j sin) (ft), where 9 i"(4) = 19.47°. The velocity of the point on attachment on the right disk is ik Fp =F, +B yoq X Fa =, +] 0 0 Oyog |= (2-0 yaa) +(-2+ 2830 pq )F (ft/s). The velocity 2831 0 of point R is also expressed in terms of the contact point Q, ije 5p = 5 go * Feo =© po(2}0 0 1|=-20 god (s/s). Equate the two expressions for the velocity ia ig and separate components: (2-0 jpg +20 go)i = 0, (~2+2:830 jog) = 0, from which 1G ro = -0.65k (rad /s)| and © yg = 0.707 rad/s Problem 3: The disk rolls on the curved surface. The bar rotates at 10 rad/s in the counterclockwise direction. Determine the velocity of point A. Solution The radius vector from the left point of attachment of the bar to the center of the disk is yar = 1207 (mm). The velocity of the center of the disk is, ijk Fo =5 par * Far = 10(12010 0 1|=1200f (mm/s) 100 Problem 3: continued on next page... 273,continuation of Problem 3. The radius vector from the point of contact with the disk and the curved surface to the center of the disk 4 is Foyp = 407 (mm). The velocity of the point of contact of the disk with the curved surface is zero, from which ijk ¥0=Go9 xfop =| 0 0 a9|=~d009j 40 0 0 Equate the two expressions for the velocity of the center of the disk and solve: @ g = -30 rad/s. The radius vector from the center of the disk to point A is Fyg = 40) (mm). The velocity of. point A is 4 ~ ow eo-™ i ¥9 +Go x Fy = 1200j ~(30)(40)| 0 0 NA: Ifo 4p =2 rad/s and © pe 5, what is the velocity of point C, where the excavator's bucket is attached? Solution The radius vector AB is Faia = 3i +(S5~16)j = 37 +39] (m). The velocity of point B is AB * Faia = radius vector BC is fp = 2.34 + (5~$5)j = 231-05] (m). The velocity at point C is ijk Vo =¥p +6 pc Xicip=-18i +6) +| 0 0 -4|[=-987 -327 (m/s) 23 -05 0 —— = aes = -NA: In Problem 6.41, if @ 4g =2 rad/s, what clockwise angular velocity @ g¢ will cause the vertical component of the velocity of point C to be zero? What is the resulting velocity of point C? Solution Use the solution to Problem 6.41. The velocity of point B is 3, = -787. +6] (m/s). The ij & velocity of point C is ¥¢ = Hg + ge x Foy = -781 + 0 0 -ope], 23-05 0 J (m/s). For the vertical component to be zero, The velocity of point C is 9.11 (m/s)|= =<: see: = == continuation of Problem 6.62... Equate the expressions for the velocity at C, 7000 = 4000 cpg from which: © cog =~175 rad/s clockwise. The vector from D to E is Fg)p = 700i (mm). The velocity of point ie Eis ¥g = Seve Fem =| 0 0 -175|[>~12250j (mm/s) 700 0 0 = ae = Problem 4: The disks roll on the plane surface, The left disk rotates at 2 rad/s in the clockwise direction. Use the instantaneous centers to determine the angular velocities of the bar and the right disk. Solution Choose a coordinate system with the origin at the Point of contact of the left disk with the surface, and the x axis parallel to the plane surface, Denote the point of attachment of the bar to the left disk by A, and the point of attachment to the right disk by B. The instantaneous center of the left disk is the point of contact with the surface, The vector distance from the point of contact to the point A is yp =i + (jt). The velocity of point A is ijk ¥4=G pp XFyp =|0 0 2|=27-27 (f/ss). The point 110 on a line perpendicular to the velocity at A is Eg= Lali the origin, The point B is at the top of the right disk, and the velocity is constrained to be parallel to the x axis. A point on a line perpendicular to the velocity at B is Ey =(1+3cos0)i +37 (ff), where , where Ls is the distance of the point from 8 =sin-'(3)= 195°. At the intersection of these two lines Ly = 1+3cos® = 383 ff, and the coordinates of the instantaneous center of the bar are (383, 383) (ft). The angular velocity of the bar is determined from the known velocity of point A. The vector from the instantaneous center to point A is yc = Fy ~ Fe = 1 + j 383i - 383] = -2837 - 283] (ft). The velocity of point A is i i k 54 =O 4p rFyc=| 0 0 @ 4g |= 0 4g(2837 2837) (s/s) Equate the two expressions 283 -283 0 and solve:|o 4p = saga 0701 (rad / 5)| counterclockwise. Problem 4: continued on next page 287continuation oy problem 4: ‘The vector from the instantaneous center to point B is 5g =6 4p x7 5/4 = rp Faip =|0 0 © pp |=~-20 pp’ (ft/s). Equate the two expressions for ¥g and solve: o2 0 fe ep = 0647 rad/s} clockwise. = 2 a NA: The bar AB rotates at 12 rad/s in the clockwise direction, Use the instantaneous centers to determine the angular velocities of bars BC and CD. Solution Choose a coordinate system with the origin at A and the x axis parallel to AD. The instantaneous center of bar AB is point A, by definition. The velocity of point B is normal to the bar AB. Using the instantaneous center A and the known angular velocity of bar AB the velocity of B is ig=6 ij ok By =GxFgjq=|0 0 -12|=2400F (mm/s) 0 200 0 The unit vector perpendicular to the velocity of B is 24g =], and a point on a line perpendicular to the velocity at B is, E 4g =L4gj (mm). The instantaneous center of bar CD is point A D, by definition. The velocity of point C is constrained to be normal to bar CD. The interior angle at D is 45°, by inspection. The unit vector parallel to DC (and perpendicular to the velocity at C) is pc =—i cos4s® + j sin 4s? = a +J). The point on a tine (mm). At the intersection of these lines L4g = Epc parallel to DC is Eye = (0-424 e Loc from which (650-220 and L, from which L; (10-4) -0 at t=“ tom aid fc ‘The coordinates of the instantaneous center of bar BC are (0, 650) (mm) . Denote this center by 19.2 mm, and L 4g = 650 mm. C’ The vector from C’ to point B is Fier = Fy — Aor = 200j - 650] = 450] Problem 6.64 continued on next page 288— — = a —— Problem 5: ‘The angular velocity and angular acceleration of bar AB are @ AB =2 rad/s and © 4p = 10 rad /s?, The dimensions of the rectangular plate are 12 in. by 24 in. What are the angular velocity and angular acceleration of the rectangular plate? Solution The instantaneous center for bar AB is point B, by definition. The instantaneous center for bar CD is point D, by definition, The velocities at points A and C are normal to the bars AB and CD, respectively. However, by inspection these bars are parallel at the instant shown, so that lines perpendicular to the velocities at A and C will never intersect--- the instantaneous center of the plate AC is at infinity, hence she Plate only translates atthe instant shown, and fo 4¢ =O] Ifthe plate isnot rotating, the velocity at every point on the plate must be the same, and in particular, the vector velocity at A and C must be identical. The vector A/B is yp = i cos45° — j sin4s° -(4¥ +J) (f). The velocity at point A coli ~J) (fs). Equate the velocities ig 4, Separate components and solve: @ ep = 1.2 rad / s. Use Eq (6.10) to determine the accelerations, The acceleration of point A is 4) =997 ~4247 (#75?) The a ee ae 1 Oe 1d acceleration of point C relative to point A is é Ge = G4 +4 4c XFei4=84+\0 0 age = 995 +(2a0 4¢ - 4.24) (fi/s*). The acceleration of 20 0 int C relative to point D is &e = dp + Gey x Feyp ~@ pFcyp. Noting ai ic = dp + Gen *Fe1p ~ 0 EnFciy iD Ge =-U17%¢p]0 0 1]+1179029(F +3) i770) two expressions for the acceleration at point C and separate components: (-9.9+11790 ep + 1697 » (20 4c ~4.24 + 11790 ep ~ 1697)j = 0. Solve: lo 4c = -113 (rad / 5?) (clockwise), acp = 6.96 (raa 7s?) (counterclockwise), = ae 294 (11793 9 +1097) (A179 +1697) (1/s)> Equate theProblem 6: bar BC? Solution Choose a coordinate system with origin at A and _y vertical. The vector location of a point on a line perpendicular to the velocity at B is == — = se Point C is moving to the right at 20 in/s. What is the velocity of the midpoint Gof 4 ia =La{ Jp} F +3), wher Lg is the magnitude of the distance from point A to the point on the line. The vector location of a point on a perpendicular to the velocity at C is Ze =(14i + yf) where y is the y- . : L, coordinate of the point referenced to an origin at A. When the two lines intersect, e 4, from which L4g =198 in., and the coordinates of the instantaneous center C’ are (14, 14) (in). [Check The line AC" is the hypotenuse of a right triangle with base 14 in. and interior angles of 45°. check ] The angular velocity of bar BC is determined from the known velocity at C. ij ok Be =20F =6 ge xFeier =|0 0 @ ge |=17@ gcd, from which @ yo = 1176 rad / s. The interior 0-17 0 angle at C formed by BC is 8 = ww(Z) = 35°. The length of the bar BC is Lgc =V7? +10? = 122 in., The vector location of point G is e (19-“teeo (2-4 sine = 97 +05] (in). The vector +357 (in). The velocity at Gis 48 po *Foye = 205 +0 poli x (Si +359) 15887 588) (in/s) NA: In Problem 6.147, point C is moving to the right with a constant velocity of 20 in/s. ‘What is the acceleration of the midpoint G of bar BC? Solution The strategy is the determine the angular acceleration of the bar BC from the known conditions, from which the acceleration of point G is determined. Use the solution to Problem 6.47: The angular velocity of bar BC is © ge = 1176 rad / s. The velocity of the point B is determined from the known velocity of point C and the known angular velocity of BC: ijk Fy =F +6 Be x Fp = 207+} 0 0 @ pc |= 207-70 pei ~ 100 ach -10 7 0 Fy = 11771 - 11.779 (in/s). Problem 6.148 continued on next page 350