CHAPTER 1

1.1 Using the denition of acceleration:

=
v
t

60 mph 0
9.2 0
=
88 ft/sec 0
9.2 sec
= 9.57 ft/sec
2
1.2 Dierentiate x(t) to obtain the velocity:
v(t) = x(t) = 10t + 88 ft/sec.
Dierentiating again yields the acceleration:
a(t) = x(t) = 10 ft/sec
2
.
So v(t) = 0 = 10t + 88.
Solving this for t yields that:
v(t) = 0 at t = 8.8 sec.
1.3 Evaluating x at zero yields x(0) = 5 m.
Dierentiating yields x(t) = v(t) = 3t
2
2
so that v(0) = 2 m/s.
Likewise
a(t) = x(t) = 6t
so that a(0) = 0.
Now at t = 3 sec,
x(3) = 27 2(3) + 5 = 26 m,
v(3) = 27 2 = 25 m/s
and a(3) = 18 m/s
2
.
Since the velocity changes sign during this interval, the particle has doubled
back and to compute the total distance traveled during the interval you must
compute how far it travels before it changes direction and then add this to the
distance traveled after the particle has changed direction. The particle changes
direction when the velocity is zero, or at the value of t for which
v(t) = 3t
2
2 = 0,
or at time
t = 0.8165.
The particle rst moves from
x(0) = 5 m to x(0.8165) = 3.9 m or a distance of 1.1 m.
1
It then changes direction and moves from 3.9 m to
x(3) = 26 m. Thus it travels a total distance of
(26 3.9) + 1.1 = 1.1 + 1.1 + 21 = 23.2 m.
1.4 This again is straightforward dierentiation:
v(t) = x(t) = 2t 2.
This is zero when t satises:
2t 2 = 0 or t = 1 sec.
Next:
a(t) = x(t) = v(t) = 2 ft/sec
2
which is constant acceleration.
Alternately, the distance traveled can be computed directly from integrating
the absolute value of the velocity:
d =
_
3
0
|3t
2
2|dt = 23.178 m
1.5 Solution: v(t) = x(t) = 6 cos 2t m/s. a(t) = x(t) = v(t) = 12 sin(2t) m/sec
2
.
Setting 12 sin(2t) = 0, yields 2t = , or t = 0, /2 s, , 3/2...n/2, for the
times for the acceleration to hit zero.
1.6 From the denition, straightforward dierentiation yields: x
A
= (3t
2
+ 6t) ft
so the v
A
= (6t + 6) ft/sec
and a
A
= 6 ft/sec
2
. Likewise, x
B
= 3t
3
+ 2t
so that v
B
= (9t
2
+ 2) ft/sec
and a
B
= 18t ft/sec
2
a)Thus at t = 1 sec:
x
A
(1) = 9 ft, v
A
(1) = 12 ft/sec, and a
A
(1) = 6 ft/sec
2
x
B
(1) = 5 ft, v
B
(1) = 11 ft/sec, and a
B
(1) = 18 ft/sec
2
So that A is ahead of B and has the largest velocity, but B is accelerating faster
the A.
b) Now at t = 2 sec:
x
A
(2) = 24 ft, v
A
(2) = 18 ft/sec, and a
A
(2) = 6 ft/sec
2
x
B
(2) = 28 ft, v
B
(2) = 38 ft/sec, and a
B
(2) = 36 ft/sec
2
Now B is ahead of A, and has larger velocity and acceleration
2
c) To nd where A and B have moved the same distance, let x
A
(t) = x
B
(t) and
solve for t. This yields
3t
2
+ 6t = 3t
3
+ 2t, or t
2
t 4/3 = 0 and t = 0
Solving yields t = +1.758s and t = 1.758s.
Here we are interested in the positive value of time so that
x
A
(1.758) = x
B
(1.758) = 3(1.758)
2
+6(1.758) = 3(1.759)
3
+2(1.758) = 19.81 ft.
1.7 Note that this is an inverse problem. Straightforward diereniation yields:
v(t) = 3(e
t
sin 10t + e
t
10 cos 10t) = 3e
t
(10 cos 10t sin 10t)
a(t) = 3e
t
(10
2
sin 10t 10 cos 10t) 3e
t
(10 cos 10t sin 10t)
= 3e
t
(99 sin 10t 20 cos 10t)
1.8 From the denition
x(t) = t
3
6t
2
15t + 40 ft
so that:
x = v = 3t
2
12t 15 ft/sec,
and x = a = 6t 12 ft/sec.
a) v(t) = 0 requires 3t
2
12t 15 = 0
or t
2
4t 5 = 0.
Solving for t yields:
t = 1 and 5.
Taking the positive value of t, the velocity is zero at t = 5 sec.
b) At t = 5 sec,
x(t) = x(5) = (5)
3
6(5)
2
(15)(5) + 40 = 60 ft.
At rest t = 0,
x(0) = 40.
Then the particle has moved from 40 to -60 or 40 + 60 = 100 ft.
c) a(5) = (6)(5) 12 = 18 ft/sec
2
.
1.9 Note: The purpose of this problem is to hit home the idea that the distance
traveled and the displacement are dierent. This problem is easiest to solve
using computational software as it involves plots. Students could also use a
symbolic processor to compute the derivatives, although it would be a little over
3
kill and they must be reminded that simple derivations should be something they
can do in their head, on tests, while complicated derivatives are more accurately
done with software. The plots are also easy to sketch by hand, but if they are
inexperienced at plotting using software, it is best to start them o with some
simple plots.
a) v(t) = x = 0.6 cos 2t
a(t) = x = 1.2 sin 2t.
b) 3 sin 2t travels a distance of 0.3m in the time 0 to

4
sec and back another
0.3m returning back to the origin from

4
to

2
s. So the total distance traveled
is 0.3 + 0.3 = 0.6m (maybe look at the plot rst).
c) The position of the mass at t =

2
s however is x
_

2
_
= 0.3 sin
_
2
2
_
= 0.
Note the position at any point is not always the distance traveled, which in b)
is shown to be 0.6m.
t .. , 0 .01

2
x t
.
0.3 sin
.
2 t
v t
.
0.6 cos
.
2 t
a t
.
1.2 sin
.
2 t
0 0.5 1 1.5 2
2
1
1
x t
v t
a t
t
FIGURE S1.9
4
1.10 Dierentiation yields v(t) = 88.92 sin0.26t ft, and
a(t) = 23.12 cos 0.26t ft/sec
2
.
The plot of each follows.
t .. , 0 0.1 12.2
x t
.
342 1 cos
.
0.26 t v t
.
88.92 sin
.
0.26 t
a t
.
23.12 cos
.
0.26 t
0 2 4 6 8 10 12 14
500
500
1000
x t
v t
a t
t
FIGURE S1.10
1.11 The following code in Matlab computes the velocity from the displacement data
and plots it:
x=[8 9 11 13 14 15 17 18 22 27 32 37 41 44 46 48 49 49 48 47 46];
t=0;,01:02;
n=length (x);
v=0*x;
dt=.01;
for i=1:n-1
v(i+1)=(x(i+1)-x(i)/dt;
end
v
plot(t,v),xlabel(t*dt or elapsed time), title (velocity versus time)
5
This produces the following output:
v=
Columns 1 through 12
0 100 200 200 100 100 200 100 400 500 500 500
Columns 13 through 21
400 300 200 200 100 0 -100 -100 -100
And the following plot:
0 0.05 0.1 0.15 0.2 0.25
-100
0
100
200
300
400
500
t*dt or elapsed time
velocity versus time
FIGURE S1.11a
The following produces the corresponding acceleration:
EDU>>a=0*v;
EDU>>for i=1:n-1
a(i+1)=(v(i+1)-v(i))/dt;
end
EDU>a
a=
Columns 1 through 6
0 10000 10000 0 -10000 0
Columns 7 through 12
10000 -10000 30000 10000 0 0
Columns 13 through 18
-10000 -10000 -10000 0 -10000 -10000
6
Columns 19 through 21
-10000 0 0
EDU>>plot(t,a),xlabel(elapsed time), title (acceleration ersus time)
0 0.05 0.1 0.15 0.2 0.25
-1
-0.5
0
0.5
1
1.5
2
2.5
3
x 10
4
elapsed time
acceleration versus time
FIGURE S1.11b
1.12 Consider the following Matlab code which uses the central dierence to compute
the velocity:
x=[8 9 11 13 14 15 17 18 22 27 32 37 41 44 46 48 49 49 48 47 46];
t=0:,.01:0.2;
n=length (x);
v=0*x;
dt=.01;
for i=1:n-1
v(i)=(x(i+1)-x(i-1))/(2*dt);
end
v
plot(t,v),xlabel(t*dt or elapsed time),title(velocity versus time)
7
This results in the following values:
v =
Columns 1 through 12
0 150 200 150 0 100 150 150 250 0 450 500 500 450
Columns 13 through 21
350 250 200 150 50 -50 -100 -100 0
And the following plot:
0 0.05 0.1 0.15 0.2 0.25
-100
0
100
200
300
400
500
t*dt or elapsed time
velocity versus time
The following is the Mathcad code for solving this problem:
velocity in mm/s versus time in s
. . 1 19
i 1
x
i 1
x
i 1
.
2 t
0 0.05 0.1 0.15 0.2
200
0
200
400
600
v
i
t
i
v
t=0.01
8
1.13 Solution:
y(t) = 4.905t
2
+ 20t (m)
v = y(t) = 9.81t + 20 (m/s)
a = v = 9.81 (m/s)
The position, velocity and acceleration at t = 5 are
y(5) = 22.625 m, v(5) = 29.05 m/s, a(5) = 9.81 m/s
2
Note that the ball returns to its initial state of y(5) = 0 when t satises
4.905t
2
+ 20t = 0 or, t = 20/4905 = 2.07 sec.
Then to obtain the total distance traveled by the ball, we need to calculate
when the ball changes direction, i.e., when v(t) = 0.
v(t) = 0 = 9.81t + 20 or t = 2.0395.
From t = 0 to 2.039 sec. the ball travels a distance of y = 20.39 ft.
It then travels back past zero (the top of the building) another 20.39 ft. to
y(0) = 0.
It then travels on a distance of y(5) = 22.625, beyond zero.
Thus the total distance traveled by the ball is 20.39 +20.39 +22.625 = 63.4 m.
1.14 Solution: x, v and a are given respectively by:
x(t) = e
ct
sin t
v(t) = ce
ct
sin t + e
ct
cos t
a(t) = c
2
e
ct
sin(t) 2ce
ct
cos t
2
e
ct
sin t
x(0) = 0, v(0) = , a(0) = 2c
1.15 Solution:
x(t) = 3t
3
2t
2
+ 5, x(0) = 5m
v(t) = x(t) = 9t
2
4t, v(0) = 0 m/s
a(t) = v(t) = 18t 4, a(0) = 4 m/s
2
1.16 The velocity and acceleration are respectively:
v(t) = 4 t cos( t) 2 t
2
sin( t)
a(t) = 4 cos( t) 8 t sin( t) 2 t
2
cos( t)
2
so that x(0) = v(0) = 0 and a(0) = 4
9
1.17 Solution:
y(t) = 3t
2
20, so y(0) = 20 m
v(t) = y(t) = 6t, so v(0) = 0 m/s
a(t) = y(t) = 6, so a(0) = 6 m/s
2
1.18 Solution:
x(t) = exp(0.1 t) (3 cos t cos(2 t) + sin(2 t)), x(0) = 3
v(t) = 1.7 exp(.1 t) cos(2 t) 6.1 exp(.1 t) sin(2 t), v(0) = 1.7
a(t) = 12.36exp(0.1t) cos(2t) 2.79 exp(0.1t) sin(2t), a(0) = 12.37
1.19 Solution:
x(t) = 5 t exp(t) 3 t, x(0) = 0;
v(t) = 5 + 3 exp(t) t 3 exp(t), v(0) = 2;
a(t) = 3 exp(t) t + 6 exp(t), a(0) = 6.
1.20 Solution: There is no derivative at t = 5, however the problem may be split
using heaviside functions and dierentiated over the two intervals.
t .. , 0 .01 10
y t
. .
5 t 5 t
.
25
.
20 sin
.
t t 5
y1 t
.
5 5 t
. .
20 cos
.
t t 5 is the velocity
y11 t
. . .
20
2
sin
.
t t 5 is the acceleration
0 5 10
200
200
y11 t
y1 t
t
FIGURE S1.20
10
During the 1
st
interval the slope dy/dt is constant. From the plot y(t) =
200
40
t = 5t for t = 0 to 5 sec. In the interval t > 5, y(t) = 25 + Asin(t + )
where is the frequency and is the plane and A is the amplitude of the sine
wave.
From the plot A = 20, the period T = 2 sec, so that =
2
T
= . To nd the
phase evaluate y(5) = 25 = 25 +20(sin(t +) so that t + = n, where n is
any integer or = (n 5), so = will work. Thus:
y(t) =
_
5t 0 < t < 5
20 sin(t ) t > 5
y

(t) =
_
5 0 < t < 5
20 cos(t ) t > 5
y

(t) =
_
0 0 < t < 5
20
2
sin(t ) t > 5
1.21 Solution: a
ave
=
600 mph
5 sec
=
60
5
mph
sec
= 12
5280 ft
mile
mile
hour
1
sec
1 hour
3600 sec
=
(12)(5280)
300
ft/sec
2
= 17.6 ft/sec
2
17.6 ft/sec
2
= 17.6
m
3.25
ft
sec
2
= 5.4 m/sec
2
5.4 m(sec)
9.81 m/sec
2
= 0.55 gs or about 55% of a g.
1.22 One answer: a 4 min mile is near a record speed for trained runners so:
v =
1 mile
4 min
=
1
4
mile
min
1 min
60 sec

5280 ft
mile
= 22 ft/sec
or about 6.71 meter/s, or about 15 mph. On the other hand a sprinter can
cover 100 m dash in 10 seconds, or 10 m/s.
1.23 The Matlab solution follows (see problem 1.11 and 1.12 also):
%rst assign the data to the vector v
v = [0 0.2 0.27 0.3 0.3 0.3 0.3 0.3 0.35 0.4 0.5]; n=length(v);
%assign the time step
t=0:,0.1:11;
dt=0.1; a=0.*v; x=0.*v; % zeros in a and x
%using a loop (see statics supplement or student ed. of Matlab)
11
for i=1:n-1
x(i)=(v(i+1)+v(i))*(0.1)/2
end
for i=2:n
a(i)=(v(i-1)-v(i))/0.1
end
%to see the result plotted use the following
plot(t,x), xlabel (t*dt or elapsed time), title ([position vs time)
plot(t,a), xlabel (t*dt or elapsed time), title (acceleration vs time)
Note these plots are not given but appear in the text.
1.24 Solution:
Here is the Mathcad solution. From the plot estimate the following data:
x
0
0 x
1
0 x
2
0 x
3
.02 x
4
.04
x
9
0.5 x
10
0.7 x
5
.1 x
6
0.18 x
7
0.25 x
8
0.38
These are measured every 0.1 sec. Thus the velocity becomes:
n .. , 0 1 10
x
11
0
v
n
x
n 1
x
n
0.1
Which is plotted below
0 0.2 0.4 0.6 0.8 1
10
5
0
5
v
n
.
n 0.1
Next estimate the acceleration from the velocity:
which is plotted below
a
n
v
n 1
v
n
0.1
0 0.2 0.4 0.6 0.8 1
100
0
100
a
n
.
0.1 n
12
Next the equivalent Matlab code is given (without the plots as they look the
same). This is the same type of code used in problems 1.11, 1.12 and 1.23.
x=[0 0 0 0.02 0.04 0.1 0.18 0.25 0.38 0.7];
t=0:0.1:10; dt=0.1;
n=length(x);
v=0*x; a=0*v;
for i=1:n-1
v(i)=(x(i+1)-x(i))/0.1
a(i)=(v(i+1)-v(i))/0.1
end
plot (t,v), title (velocity versus time)
plot (t,a), title (acceleration versus time)
1.25 This is of second order and is linear x(t). The term sin(t) is nonlinear but in
t, not x.
1.26 This is rst order and linear in v(t).
1.27 This is rst order and linear in v(t)
1.28 This is second order in and nonlinear because of the term sin (t).
1.29 This is second order in (t) and nonlinear because of the terms (d/dt)|d/dt|
and sin (t).
1.30 This is rst order in v and nonlinear because of the term v
2
.
1.31 This is second order and linear in x(t).
1.32 This is still linear of second order in x(t).
13
1.33 Solution:
a(t) = 3t
2
4t, x(0) = 0, v(0) = 0
v(t) =
_
t
0
(3t
2
4t)t = t
3
2t
2
ft/sec
x(t) =
_
t
0
(t
3
2t
2
dt =
1
4
t
4

2
3
t
3
ft
The plot from Mathcad is:
t . . , 0 0.01 2
0 1 2
2
1
0
x t
t
x(t): = 0.25 t
2
-
2
_
3
t
3
FIGURE S1.33
1.34 Solution:
a(t) = 40t cos t
_
v
3
dv =
_
t
0
40xcos xdx
v(t) = 3 +
40

2
[cos t + t sin t 1]
_
x
5
dx = 3t +
40

2
_
t
0
(cos x + x sin x 1)dx
x(t) = 5 + 3t +
40

3
sin t
40

t +
40

3
[sin x x cos x]
t
0
x(t) = 5 + (3t
40

t) +
40

3
[2 sin t t cos x]
14
The following is typed in Mathcad to produce the desired plot
t .. , 0 .01 10
x t 5
.
3
40

2
t
.
40

3
.
2 sin
.
t
. .
t cos t
0 5 10
50
0
50
x t
t
The equivalent Matlab code is:
sys t
x=5+(3-40/pin2)*t+(40/pin3)*(2*sin(pi*t)-pi*t*cos(pi*t))
ezplot(x,[0,10])
(the plot is suppressed here)
1.35 For the car t
0
= 0, x
0
= 0, v
f
= 60 mph = 88 ft/sec, t
f
= 6. For constant
acceleration equation (1.28) yields at = v
f
or a
car
=
88
6
= 14.67 ft/sec
2
. In
terms of gs, a =
14.67
32.2
= 46%g. For the sprinter t
0
= 0, x
0
= 0, v
f
= 10 m/s
and x
f
= 15 m. From equation (1.30)
a =
v
2
f
v
2
0
2(x
f
x
0
)
=
10
2
0
2(15 6)
= 3.33 m/s
2
In terms of g, a =
3.33
9.81
= 34%g.
1.36 a) This is constant acceleration with a
0
= 9.81 m/s
2
(taking positive x as up),
v
0
= 10 m/s and x
0
= 0. Equation (1.30) relates the displacement, acceleration
and velocity. At the top of the motion v = 0, so eq. (1.30) becomes
0 = 2(9.81)(x
top
) + v
2
0
or x
top
= 5.1 m
15
b) Equation (1.29) relates constant acceleration to velocity, time and position.
When the ball returns to its initial position x = 0 and equation (1.29) becomes
0 =
a
0
t
2
2
+ v
0
t + 0. One solution is t = 0 which is the initial state. If t = 0, the
relationship becomes
t =
v
0
2a
0
= 2.038 2 sec
1.37 For constant acceleration v = at + v
0
and v
2
v
2
0
= 2ax so
a =
v
2
v
2
0
2x
=
(510
6
)
2
(10
4
)
2
(2)(2)
= 6.3 10
12
m/s
2
,
t =
vv
0
a
=
510
6
110
4
6.310
12
= 8.0 10
7
s.
1.38 Here a is a function of x, so consider the development of part 2, eq. (1.17) and
(1.18)
adx = vdv or kxdx = vdv or

kx
2
2
|
x
x
0
=
v
2
2
|
x
0
kx
2
0
= kx
2
or
v
2
= kx
2
0
kx
2
or
v(x) =
_
k(x
2
0
x
2
).
The position time relationship can be found from (1.20):
t =
_
t
0
dt =
_
x
x
0
dx
v(x)
=
_
x
x
0
dx

k(x
2
0
x
2
)
=
1

k
sin
1
_
x
x
0
_
|
x
x
0
.
Rearranging and solving for x(t) yields
t =
_
1
k
sin
1
_
x
x
0
_
|
x
x
0
or

kt = sin
1
_
x
x
0
_
sin
1
(1) or

kt +

2
= sin
1
_
x
x
0
_
or
x(t) = x
0
sin(

kt + /2) = x
0
cos(

kt).
1.39 As the elevator starts from rest with constant acceleration to its operating speed
v
2
= 2ax and v = at or
t = v/a = (3 m/s)/25 m/s
2
= 1.2 sec
and travels a distance of
x = v
2
/2a = (3 m/s)
2
/2(2.5 m/s
2
) = 1.8 m.
Which is also the time and distance required to stop the elevator. Hence 2
1.2 s = 2.4 s and 2 1.8 m or 3.6 m are used up in starting up and slowing
down, the remaining distance 200 m - 3.6 m or 196.4 m is traveled at a constant
velocity of 3 m/s so
t = x/v = 196.4/3 m/s = 65.5 sec.
16
The total time is then
1.2 + 05.5 + 1.2 = 67.9 sec or a little over one minute.
1.40 Since a = c
2
x case 2 applies and
v
2
v
2
0
2
=
_
x
x
0
c
2
xdx = c
2
_
x
2
x
2
0
2
_
or v
2
= v
2
0
+ c
2
x
2
0
c
2
x
2
. Substitution of x
0
= 0, x = 10, v
0
= 30, v = 0, yields
0 = 30
2
+ 0 c
2
10
2
or c = 3.
1.41 Given a(x) = cx
2
x
0
= 0, t
0
= 0, v(0) = v
0
we want to determine v(x). From
eq. (1.17)
c
_
x
0
x
2
dx =
_
v
v
0
vdv =
1
2
(v
2
v
2
0
)
or
1
2
(v
2
v
2
0
) =
c
3
x
3
or v(x) =
_
v
2
0

2c
3
x
3
1.42 Since a is given as a function of velocity, case 3 applies: dx = vdv/f(v)
upon integrating
x x
0
=
_
v
v
0
vdv/(v) = v + v
0
.
Since x
0
= 0 and v = 0 when it comes to rest, x = 750 mm.
1.43 From the problem statement y
0
= 40 km, v
0
= 6000 km/s calculate an expres-
sion for y. Here acceleration is a function of position, so equations (1.17)-(1.20)
apply. Given
a(y) = g
0
R
2
(R+y)
2
, g
0
= 9.81 m/s
2
, R = 6370 10
3
.
At t = 0, y
0
= y(0) = 40 10
3
m, v
0
= v(0) = 6000 m/s
Note y
max
will occur when v = 0. So compute v.
a =
dv
dt
=
dv
dy
dy
dt
= g
0
R
2
(R+y)
2
. Integrating yields
_
0
v
0
vdv = gR
2
_
ym
y
0
dy
(R+y)
2
= g
0
R
2
_
1
(R+ym)

1
(R+y
0
)
_
, or
0
2
2

v
2
0
2
= g
0
R
2
_
1
R+ym

1
R+y
0
_
.
Thus
6000
2
2
= g
0
R
2
_
1
(R+y
0
)

1
(R+ym)
_
or
4.552 10
8
=
_
1
R+y
0

1
R+ym
_
.
Solving for y
m
yields y
m
= 2575.
17
1.44 Solution:
_
0
vesc
vdv = g
0
R
2
_

y
0
dy
(R+y)
2
v
2
esc
2
= 2g
0
R
2
_

y
0
dy
(R+y)
2
v
2
esp
= 2g
0
R
2
_

y
0
dy
(R+y)
2
= g
0
R
2
lim
y
m

_
1
R+ym

1
R+y
0
_
= 2g
0
R
1
(R+y
0
)
.
That is v
2
esp
= 2g
0
R
2 1
(R+y
0
)
Then: v
esp
= R
_
2g
0
/(R + y
0
) = 11.14 km/s = 11.14 10
3
m/s
1.45 Given: a(v) = cv = 0.4v, v
0
= 100 km/hr.
Since a = dv/dt we have
_
v
v
0
dv
v
= ct or n
v
v
0
= = ct.
Thus v = v
0
e
ct
.
But v = dx/dt so that
x = x
0
+ v
0
_
t
0
e
ct
dt = x
0
+
_

v
0
c
_
e
ct
|
t
0
Thus x(t) = x
0
+
v
0
c
(1 e
ct
).
With x
0
= 0, v
0
= 100 and c = 0.4 this becomes x(t) = 250(1 c
0.4t
).
1.46 Solution:
a(t) = 5 sin(20t) m/s
2
x(0) = 1 m and v(0) = 3 m/s.
Integrating:
_
v
0
dv = v v
0
=
_
t
0
5 sin 20d =
5
20
(cos 20t 1)
where is used as the dummy variable of integration. Then
v(t) = 3 0.25 cos 20t + 0.25 = 3.25 0.25 cos 20t m/s.
Integrating again yields
x(t) = x
0
+ 3.25t 1.25 10
2
sin 20t
x(t) = 1 + 3.25t 0.0125 sin20t m
18
1.47 Solution:
v
0
= 0.6 ft/s, a = v
3
ft/s
2
Thus this is case 3 on page 19. However a straightforward integration of
a = dv/dt yields a(v) = v
3
=
dv
dt
.
Then dt =
dv
v
3
and integrating yields
t =
1
2v
2
+ 1.389.
Rearrange to get v(t) =
_
1
2t+2.778
_
1/2
ft/s.
At t = 4 sec, v(4) = 0.305 ft/s.
1.48 Follow example 1, because the acceleration is a function of velocity so case 3 is
used.
Note that a =
dv
dt
= g cv
2
or
dv
gcv
2
= dt. Integrating both sides using the
stated initial conditions yields
t =
_
v
0
dv
g cv
2
=
1
c
_
v
v
0
dv
g
c
v
2
=
_
1
c
_
_
_
1
2
_
g/c
_
_
ln
_
g/c + v
_
g/c v
for
g
c
> v
2
and 4(
1
c
)
1
2

g/c
ln
_
v

g/c
v+

g/c
_
for v
2
> g/c, from using a table of
integrals. Thus there are two possibilities. For g/c > v
2
; t =
1
2

g/c
lm
_
g/c+v

g/cv
_
.
Solving for v yields v(t) =
_
g
c
_
e
2

gct
1
e
2

gct
+1
_
; g/c > v
2
. For g/c < v
2
,
t =
1
2

gc
ln
v

g/c
v+

g/c
and solving for v(t) yields
v(t) =
_
g
c
_
1+e
2

gct
1e
2

gct
_
; v
2
> g/c.
Note from this second expression the v
2
= g/c results in the expression e
2

2ct
=
e
2

2ct
which has no solution. Thus v cannot reach the value g/c, i.e., v = g/c is
the drivers terminal velocity. Next consider integrating again to calculate x(t),
i.e., dx = vdt or
_
x
0
dx =
_
g
c
_
t
0
_
e
2

gct
1
e
2

gct
+ 1
_
dt
=
_
g
c
_
_
t
0
e
2

gct
e
2

gct
+ 1
dt
_
t
0
dt
e
2

gct
+ 1
_
x(t) =
1
c
_
n
_
e
2

gct
+ 1
_

gct 0.693
_
19
1.49 This is a free fall problem or uniformly accelerated motion, where the accel-
eration is given as g = 32.2 ft/s, and the time traveled can be determined by
equation (1.29) with t
f
as the given. Equation (1.29) becomes
x(t
f
) = 30 ft =
gt
2
f
2
+ v
0
t
f
+ x
0
Here v
0
= 0, since the ball is dropped, x
0
= 0 taking the window as the starting
position and hence
gt
2
f
2
= 30 or t
f
=
_
30/32.2 = 1.365 sec,
which is the time required to hit the ground. The expression for velocity under
uniform or constant acceleration is equation (1.28) or (1.30). From (1.28)
v(t
f
) = a
0
(t
f
) + v
0
or
v(1.365) = (32.2)(1.365) = 43.95 ft/sec.
1.50 This is a case of uniform acceleration a
0
= g = 32.2 ft/s
2
, with v
0
up, and
t
f
= 1.71 s. Using eq. (1.29) again with v
0
as the unknown yields
v(t
f
) = 30
(g)t
2
f
2
+ (v
0
)t
f
+ 0
Here v
0
is used because v
0
is up and we have taken down as positive in writing
a plus sign for a
0
(= g). This is consistent with the solution to 1.49. Solving for
v
0
yields
v
0
=
_
(
g
2
)t
2
f
30
_
/t
f
= 9.987 ft/sec.
1.51 Given a
0
= 0.7g (constant acceleration), v
f
= 0 (because the car comes to a
stop). Convert mph to ft/s (60 mph = 88 ft/s, 45 mph = 66 ft/s, 30 mph = 44
ft/s) and use eq. (1.30)
v
2
f
= 2a
0
(x
f
x
0
) + v
2
0
where v
f
= 0, a
0
= 0.7 g (minus because it decelerates), x
0
= 0 (we start our
distance measurement t = 0) then
x
f
=
v
2
0
2a
0
=
v
2
0
0.4g
=
v
2
0
(ft/sec)
2
(1.4)(32.2) ft/sec
2
so that a) x
f
= 171.78 ft, b) x
f
= 96.63 ft, c) x
f
= 42.95 ft.
1.52 Following the solution to 1.52m with a
0
= 0.4g yields
x
p
=
v
2
0
(2)(0.4)(32.2)
so that a) x
f
= 300.6 ft, b) x
f
= 169.1 ft, c) x
f
= 75.2 ft.
20
1.53 This is a uniform acceleration problem with a
0
= 0.6g. Since the car starts from
rest v
0
= 0 and asume x
0
= 0. Let v
f
= 200 mph = 293.33 ft/sec. Then the
time to reach v
f
can be found from eq. (1.28)
v
f
= a
0
t
f
+ v
0
or t
f
= 293.33/(0.6)(32.2) = 15.183 s.
The distance traveled is found from eq. (1.29) to be (v
0
= x
0
= 0)
x
f
= a
0
t
2
f
/2 = (0.6)(32.2)(15.183)
2
/2 = 2226.9 ft = 0.422 mile
1.54 Both cars undergo uniform acceleration a
A
= 0.9g and a
B
= 0.85g. Let them
start at t = 0 in the ame place from rest, i.e., x
a
(0) = x
B
(0) = v
A
(0) = v
B
(0) =
0. Car A travels 1,000 m or takes the time determine by equation (1.29)
x
A
(t
f
) = 1000 =
(0.9g)(t
2
f
)
2
Then t
f
= 15.1 sec. During this time car B travels a distance determined by
x
B
(15.1) =
a
B
(t
f
)
2
2
=
(0.85)(9.81)(15.1)
2
2
= 950.6 m
So car A is 1000 - 950.6 = 49.4 m ahead of car B when it crosses the nish line.
Note that if t
f
= 15.05 s is used and not rounded o, then the distance becomes
55.47 mm insteady of 49.4 m.
1.55 This can be solved several ways including graphically by computing the area
under the acceleration curve to generate the velocity, and the area under the
velocity versus time curve to compute the position:
First write the acceleration during each interval. For 0 < t < 50s,
a(t) = 2 m/s.
For 50 < t < 70s : a(t) = 0,
for 70 < t < 100, a(t) = 15(t 70). Last for 100 > t > a(t) = 0.
Now calculate the area under the curve in each of these intervals being careful
to use the appropriate initial conditions at the beginning of each interval:
0 < t < 50 v(t) = 20t m/s
50 < t < 70 v(t) = 1000 m/s
70 < t < 100 v(t) = 7.5(t 70)
2
+ 1000 m/s
100 > t v(t) = 7750 m/s so that v(120) = 7750 m/s
Integrating each of these in the interval yields
0 < t < 50 x(t) = 10t
2
50 < t < 70 x(t) = 25000 + 1000(t 50)
70 < t < 100 x(t) = 2.5(t 70)
3
+ 1000(t 70) + 45, 000
t > 100 x(t) = 7750(t 100) + 142, 500
21
This last expression yields
x(120s) = 297, 500 m = 297.5 km.
1.56 The equation to be solved is of the form
dv
dt
+ v = e
t
, v(0) = 0, x(0) = 1m
Comparing with equation (1.32) identies p(t) = 1 and f(t) = e
t
so that the
integrating factor becomes (t) = e
_
dt
= e
t
.
According to equation (1.34) the solution is then
v(t) = e
t
(
_
e
t
e
t
dt + C) = e
t
(
1
2
e
2t
+ C)
at t = 0, v(0) = 0 ft/s so that C = 0.5 and v(t) =
1
2
(e
t
e
t
) m/sec
= sin h(t) m/sec
Integrating again yields the displacement
x(t) = x
0
+
_
t
0
e

(0.5e
2
0.5)d when x
0
= 1 m. Thus x(t) =
1
2
(e
t
+ e
t
)m
= cos h(t) m
1.57 The equation to be solved is of the form
dv
dt
+ v = t, v(0) = 0, x(0) = 1, v(0) = 0
Comparing to equation (1.32): p(t) = 1 and f(t) = t. Thus the integrating
factor becomes (t) = e
_
dt
= e
t
According to equation (1.34) the solution becomes
v(t) = e
t
(
_
e
t
tdt + C) = e
t
[e
t
(t 1) + C] = t 1 + Ce
t
At t = 0, v(0) = 0 so that 0 = 1 + C or C = 1. Thus: v(t) = t 1 + e
t
m/s
Integrating again yields (x
0
= 1m)
x(t) = x
0
+
_
t
0
(t1+e
t
)dt = 1+
t
2
2
te
t
+1, so that x(t) = 2 t +
t
2
2
e
t
m
1.58 a) The equation to be solved is of the form
dv
dt
+ tv = e
t
t/2
Comparing this form to equation (1.3.2), identies p(t) = t and f(t) = e
t
2
/2
.
Thus the integrating factor becomes
(t) = e
_
tdt
= e
t
2
/2
Next, equation (1.34) yields that the solution is
v(t) = e
t
2
/2
(
_
e
t
2
/2
e
t
2
/2
dt + c) = e
t
2
/2
t + ce
t
2
/2
At 0, v(0) = 10 ft/s so that c = 10 and v(t) = 10e
t
2
/2
+ e
t
2
/2
t
22
Integrating again (x(0) = 0) yields x(t) =
_
t
0
(10 + )e

2
/2
d which yields the
error function when integrated, i.e., x(t) = 12.5 erf(0.71t) e
t
2
/2
+ 1.
b) This does not have an integrating factor, or other closed formed solution, so
the solution must be found numerically by writing the equation in rst order for
and applying an Euler or Runge-Kutta solution. A Mathcad solution is shown.
i .. 0 4000 t 0.001 t
i
.
i t
x
0
1 v
0
5
a , v t
.
t
2
v 1
.
3 t
x
i 1
v
i 1
x
i
.
v
i
t
v
i
.
a , v
i
t
i
t
0 1 2 3 4
5
10
15
x
i
v
i
t
i
FIGURE S1.58
To solve this problem with Matlab, create and run the following code:
x(1)=1; v(1)=5; t(1)=0;
dt=0.001;
for n=1:4000;
x(n+1)=x(n)+v(n)*dt;
v(n+1)=(-t(n).2*v(n)+1+3*t(n))*dt+v(n);
t(n+1)=t(n)+dt;
end
plot(t,x),plot(t,v)
23
1.59 First solve the homogeneous equation x + 5 x + 4x = 0 by following eq. (1.41),
assume a solution of the form x(t) = Ae
t
where must satisfy

2
+ 5 + 4 = ( + 4)( + 1) = 0
so that
1,2
= 4, 1. Thus the homogeneous solution is of the form x
h
(t) =
A
1
e
4t
+A
2
e
t
. The particular solution is guessed to be x
p
= a+bt, of the form
of the forcing function where a and b are to be determined. Substitution of the
assumed form for x
p
(t) into the equation of motion yields
5b + 4(a + bt) = 3t + 0t
o
Comparing coecients of t and t
o
yields
5b + 4a = 0 and 4b = 3
so that b = 3/4 and a =
5
4
(
3
4
) =
15
16
. Thus x
p
=
15
16
+
3
4
t. This is called the
method of undetermined coecients. The total solution is the sum (x = x
h
+x
p
)
so that
x(t) = A
1
e
4t
+ A
2
e
t
+
3
4
t
15
16
To determine the coecients A
1
and A
2
apply the initial conditions
x(0) = 0.5 = A
1
+ A
2

15
16
v(0) = 0 = 4A
1
A
2
+
3
4
which represents two equations in the two unkowns A
1
and A
2
. Solving yields
A
1
= 0.229 and A
2
= 1.667 and hence: x(t) = 0.229e
4t
+ 1.667e
t
+
3
4
t
15
16
1.60 Dene
2
=
k
m
=
4
1
= 4 and =
c
2m
= 2.795 > 0 so the system is over damped.
Then the problem in standard form is
x + 2 x +
2
x = x + 5 x + 4x = 0
Assume solutions of the form x = Ae
t
. The characteristic equation becomes

2
+ 5 + 4 = 0 which has roots
1
= 1,
2
= 4. Thus the general solution
is of the form
x(t) = A
1
e
t
+ A
2
e
4t
Applying the initial condition yields
x(0) = 5 = A
1
+ A
2
v(0) = 0 = A
1
4A
2
which is a system of two linear equations in the two unknowns A
1
and A
2
.
Solving yields A
1
=
20
3
and A
2
=
5
3
. Thus the solution is x(t) =
20
3
e
t

5
3
e
4t
and v(t) =
20
3
(e
t
+ e
4t
)
24
1.61 The equation of motion has the form (after dividing by 1000)
a =
dv
dt
= cv 400x, v(0) = 0, and x(0) = 0.01m
Following along with equation (1.51), the Euler method of integration yields
_
v
i+1
x
i+1
_
=
_
v
i
cv
i
t 400x
i
t
x
i
+ v
i
t
_
,
_
v
0
x
0
_
=
_
0
0.01
_
Using a high level language (Matlab, Mathcad or Mathematica) yields (some
students may know the analytical solution for this equation. Others will know
how to use the more sophisticated higher-order Runge-Kutta integration the
following plot. Values of c are varied until the plot produces only two oscilla-
tions.)
c 15 t .01
i .. 0
1.5
t
v
0
x
0
0
.01
v
i 1
x
i 1
v
i
. .
c v
i
t
. .
400 x
i
t
x
i
.
v
i
t
0 0.5 1 1.5
0.005
0
0.005
0.01
x
i
.
i t
FIGURE S1.61
Note here that the oscillation dies out at about t = 1 second, for a value of c =
15, or a damping value of 15, 000 kg/s.
The Matlab code for doing this is given below using an Euler method. This
can also be done using ODE which involves a Runge-Kutta routine. Create the
25
following Matlab code then run it with dierent values of c until the desired
response results:
c=15
x(1)=0.01;v(1)=0.0;t(1)=0;
dt=0.01;
for n=1:150;
x(n+1)=x(n)+v(n)*dt;
v(n+1)=v(n)-c*v(n)*dt-400*x(n)*dt
end
plot(t,x)
Run this Matlab code with various values of c until the response decays within
two cycles as desired.
1.62 Following the development of the numerical integration section equation (1.51)
becomes
_
v
i+1
x
i+1
_
=
_
v
i
900v
i
t 4000(x
i
)
2
t
x
i
+ v
i

_
with initial condition v
0
= 0 and x
0
= 20 mm. The Mathcad code is:
i .. 0 1000
t .001
v
0
x
0
0
20
v
i 1
x
i 1
v
i
. .
900 v
i
t
. . .
4000 x
i
x
i
t
x
i
.
v
i
t
0 0.2 0.4 0.6 0.8 1
10
20
x
i
.
i t
FIGURE S1.62
26
The equivalent Matlab code can be either Euler (see previous problem) or
Runge-Kutta Method. To use RK, rst save the following Matlab code un-
der Onept62.m:
function xdot=onept62(t,x)
xdot=[x(2);-900*x(2)-4000*x(2)-4000*x(2)*x(2)];
% the equation of motion
Then the following commands will compute and plot the solution
EDU>tspan=[0 1] % denes the time interval of interest
EDU>x0=[20;0]; %enters the initial conditions, displacement rst
EDU>ode45(*onept62,tspan,x0); % calls the RK routine and applies
% it to 1.62.
1.63 Following the development of the numerical integration section (1.51) becomes
_
v
i+1
x
i+1
_
=
_
v
i
90v
i
t 100x
3
i
t
x
i
+ v
i
t
_
with initial condition v
0
= 0 and x
0
= 10 mm.
The Mathcad code is:
t 0.001 N 500 i .. 0 N t
i
.
i t c 90 k 100
v
0
0 x
0
10 a , v x
.
c v
.
k x
3
x
i 1
v
i 1
x
i
.
v
i
t
v
i
.
a , v
i
x
i
t
0 0.1 0.2 0.3 0.4 0.5
5
0
5
10
x
i
t
i
FIGURE S1.63
The catch gets near zero within 1/20 second.
27
The Matlab code is to prepare the following le named onept63.m:
Function xdot=onept63(t,x)
c=20;k=100;
xdot=[x(2);-c*x(2)-k*x(1)3];
Then type the following in the command window:
EDU>tspan-[0 0.5];
EDU>x0=[10;0];
EDU>ode45(onept63,tspan,x0);
1.64 Following the solution to 1.63 equation (1.51) becomes:
_
v
i+1
x
i+1
_
=
_
v
i
cv
i
t 100(x
i
)
3
t
x
i
+ v
i
t
_
Repeat the numerical solution to problem 1.63 with successively smaller values
of damping (c) each time until the solution oscillates twice before coming to
rest. A value of about c = 20 1/s comes close as illustrated.
The Mathcade code is:
t 0.001 N 500 i .. 0 N t
i
.
i t c 20 k 100
v
0
0 x
0
10 a , v x
.
c v
.
k x
3
x
i 1
v
i 1
x
i
.
v
i
t
v
i
.
a , v
i
x
i
t
0 0.1 0.2 0.3 0.4 0.5
10
0
10
x
i
t
i
FIGURE S1.64
28
The Matlab code requires the following le saved as onept64.m:
function xdot=onept64(t,x)
c=20;k=100; xdot=[x(2);-c*x(2)-k*x(1)3];
The type the following in the command window
EDU>tspan=[0 0.5];
EDU>x0=[10;0];
EDU>ode45(onept64,tspan,x0);
1.65 Solution: First set up the Euler form of the equation for numerical integration:
_
v
i+1
x
i+1
_
=
_
v
i
cv
i
|v
i
|t 4kx
i
|x
i
|t
x
i
+ v
i
t
_
Then resolve for various values of c, k and x
0
until a response that dies out in
one oscillation results. There are many answers, the plot shows this is achieved
for x
0
= 0.01 m, k = 400 1/ms
2
, and c = 1000 m
1
. Another solution is x
0
= 2,
c = 6 and k = 40.
The Mathcad solution is:
c 1000 t 0.01 x
0
.01
v
0
0
i .. 0 3000
v
i 1
x
i 1
v
i
. . .
c v
i
v
i
t
. . .
400 x
i
x
i
t
x
i
.
v
i
t
0 5 10 15 20 25 30
0.005
0.005
0.01
x
i
.
i t
FIGURE S1.65
29
Save the following Matlab code as a le named onept65.m:
function xdot=onept65(t,x)
c=1000;k=400;
xdot=[x(2);-c*x(2)*abs(x(2))-k*x(1)*abs(x(1))]
In the command window:
EDU>tspan=[0 30];
EDU>x0=[0.01; 0];
EDU>ode45(onept65,tspan,x0);
1.66 Assuming r = x

i + y

j + z

k so that mr = m x

i + m y

j + m z

k. Then mr = g

j
yields x = 0, y = g/m and z = 0. These are linear, decoupled equations.
1.67 Yields the 3 scalar equations x + c x = 0, y + c y + g = 0 and z + c z = 0 which
are decoupled, linear equations.
1.68 Assuming r = x

i + u

j + z

k and v = v
x

i + v
y

j + v
z

k yields
x = c
_
(v
2
x
+ v
2
y
+ v
2
z
) v
x
, y = c
_
v
2
x
+ v
2
y
+ v
2
z
(v
y
) and z = c
_
v
2
x
+ v
2
y
+ v
2
z
(v
z
). These are coupled, nonlinear equations.
1.69 Assuming r = x

i + y

j + z

k and v = v
x

i + v
y

j + v
z

k
j
x = 3t
2
, y = sin(t) and z = xz
The x and y equations are linear and decouple.
The z equation is nonlinear and coupled to x.
1.70 Consider the plane trajectory equations given by eq. (1.74). In this case we
know x
f
= 450 ft, z
f
= 12 ft, g = 32.2 ft/s
2
, x
0
= 0, z
0
= 0 and v
0
= 130 ft/s.
Thus equation 1.73 becomes
450 = (130 cos )t + 0
12 = 16.2t
2
+ (130 sin )t
which is two nonlinear algebraic equations in two unknowns t and . Solving
yields t = 6.86 sec, = 1.042 rad (59.7

) and t = 4.088, = 0.561 rad (32.143

).
30
These solutions are found using Mathcad. Note that there are two solutions
found by taking dierent initial guesses to the iterative solution of these non-
linear algebraic equations. One solution has a low angle which would drive into
the bunker and one (correct) that has a larger angle which will loft onto the
green.
1.71 Choose (0,0) in the x z plane to be on the ground so that v
z
(0) = 2 m/s,
z
f
= 0, x
0
= 0, z
0
= 3m, x
f
= d, x
f
= 0. Then equation (1.73) becomes
d = 2t, 0 =
9.81
2
t
2
+ v
0
(0) + 3. Combining 4.905 t
2
= 3 and t =
d
2
yields
d
2
=
12
4.905
or d = 1.56 m.
1.72 Looing at the top half spray, Eq. 1.73 becomes
d
2
cos 10

= 20 cos 70

t + 0 (1)
d
2
sin 10

= 16.1t
2
+ 20 sin70

t + 0 (2)
which is a system of two equations in the two unknowns: d
2
and t.
From (1) t =
d
2
cos 10

20 cos 70

= 0.1459d
2
d
2
=
20 sin 20

(0.1439)sin 10

(16.1)(0.1439)
2
or d
2
= 7.588 ft.
Next consider the spray to the left:
d
1
cos 10

= 20 cos 50

t + 0 (1)
0 = 16.1t
2
+ 20 sin 50

t + d
1
sin 10

(2)
From (1) t = .0766d
1
or t
2
= .005268d
2
1
and eq. (2) becomes
d
1
=
(20)
2
cos
2
50

(16.1)(cos
2
10

)
(cos 10

tan50

+ sin 10

) = 14.26 ft.
1.73 Working with equation 1.73 for projectile motion, let the hose be at x
0
= z
0
=
0 and assume it hits at x(t
f
) = x and z(t
f
) = 0, then eq. (1.73) becomes
x = v
0
cos t
f
and 0 = g
t
2
f
2
+ v
0
sin t
f
. Solving this last expression for t
f
yields
t
f
=
2v
0
sin
g
, the time to hit the ground. Then from the expression for x
x(t
f
) =
2v
2
0
g
sin cos
The max value of x occurs at dx/d = 0 or
2v
2
0
g
(sin
2
+ cos
2
) = 0. This
requires sin = cos or = 45

, the value at which x

f
will be maximum.
31
1.74 From the problem statement, taking the batters foot as the origin, the value
of x
0
= 0, z
0
= 4 ft, v
0
= 140 ft/s, = 20

and (since it hits the ground) z

f
= 0.
Equation (1.73) then becomes
x(t
f
) = 14 cos 20

t
f
and 0 = 16.1t
2
f
+ 140 sin 20

t
f
+ 4
Solving the last expression for t
f
yields t
f
= 3.055 sec. and -0.081 sec. Obviously
the physical value is t
f
= 3.055, which from the rst equation yields x
f
=
140(cos 20

)(3.055) = 402 ft.

1.75 From the projectile equation for z: z = 16.1t
2
+140 sin20t+4. The maximum
value of the parabolic trajectory would occur at t
f
/2 except the value of t
f
calculated in 1.74 assumes the trajectory is 4 ft o the ground. The equation
for time of ight is 16.1t
2
f
+140 sin 20

t
f
= 0 or t
f
= 2.97 sec, and t
f
/2 = 1.487
sec. Then z
max
= 16.1
_
2.92
2
_
2
+ 140 sin20
_
2.92
2
_
+ 4 = 39.6 ft.
1.76 Consider the projectile equation 1.73 and rst solve for v
0
so the ball just clears
the bottom window. Picking a coordinate system 1m o the ground yields
x
0
= z
0
= 0, x
f
= v
0
cos 30

t
f
, z
f
= 2m =
9.81
2
t
2
f
+ v
0
sin t
f
where x
f
= 6.5m. This yields two equations in two unknowns:
6.5 = v
0
(.886)t
f
or t
f
=
7.5
v
0
Thus v
0
= 12.56 m/s. With y
f
= 3m, this becomes v
0
= 19.18 m/s so that he
must kick through with a speed: 12.56 < v
0
< 19.18 m/s.
1.77 The initial velocity is given as v
0
= 10 m/s, x
0
= z
0
= 0, z
f
= 2m (for smallest
and 3m for largest). x
f
= 6.5m so the rst equation of (1.73) becomes (let t
denote the time at which the ball reaches the window).
6.5 = 1 cos t or t = 0.65/ cos
The second projectile equation yields
2 =
_
9.81
2
_ _
0.65
cos
_
2
+ 10 sin
_
0.65
cos
_
which can be solved numerically for = 40.865

. Changing the value of z

f
= 3m
and repeating yields = 55.58

. Thus he needs to kick through at an angle be-

tween 40.9

< < 55.6

to make it through the window with an initial velocity

of 10 m/s. Each of these two equations have 2 solutions so it will also make it
in for 59.44

< < 66.28

on the high lofty solution.

32
1.78 The given values are z
0
= d/

2, v
0
= 25 m/s, = 0. Equation 1.73 becomes
x
f
= 25t =
d

2
or t =
d
25

2
, 0 =
9.81
2
t
2
+
d

2
, or d =

2
2
9.81
_
d
2
(625)(2)
_
, so
d = 180.2 m.
1.79 Sample 1.14 gives the equation for a particle in projectile motion with wind
resistances. The equations are nonlinear and coupled and must be solved nu-
merically. The initial conditions of x(0) = 0, v
x
(0) = 25, y(0) = 0, v
y
(0) = 0
will allow the solution computed numerically following sample 1.14. The tra-
jectory can then be plotted along with a line at 45

representing the hill. The

intersection will yield the value of d. Since we do not know d, it is best to put
the coordinate system at the end of the ski run and let z (or y) evolve in the
negative direction. Such a line passing through the origin has slope -1 and can
be written as d = x, or d
i
= x
i
in incremental form. The Mathcad code is
i .. 0 1100 t 0.005 c 0.04 g 9.81
vx
0
25 x
0
0 vy
0
0 y
0
0
vx
i 1
x
i 1
vy
i 1
y
i 1
vx
i
. .
c vx
i
t
x
i
.
vx
i
t
vy
i
.
g
.
c vy
i
t
y
i
.
vy
i
t
d
i
x
i
0 20 40 60 80 100 120 140
150
100
50
d
i
y
i
x
i
FIGURE S1.79
Form the plot, then cross about 111 m out or d = 111/ cos 45

= 157 m down
the incline.
33
The Matlab code for solving and plotting is given next with the plots suppressed
as they are the same as the above:
function xdot=onept78 (t,x):
c=0.04; g=9.81;
xdot=[x(2);-(c*x(2);x(4);-g-c*x(3)];
In the command window:
EDU>tspan=[0 140]
EDU>x0-[0;25;0;0];
EDU>[t,x]=ode45(onept78,tspan,x0);
EDU>d=-x(:1);
EDU>plot(x(:,1),x(:,3),t,x(:,1),d,*)
1.80 This is just a repeat of the previous problem with a more accurate nonlinear
damping term. The Mathcad code is:
i .. 0 1000 t 0.005 c 0.002 g 9.81
vx
0
25 x
0
0 vy
0
0 y
0
0
vx
i 1
x
i 1
vy
i 1
y
i 1
vx
i
. .
c
.
vx
i
vx
i
2
vy
i
2
t
x
i
.
vx
i
t
vy
i
.
g
.
c
.
vy
i
vx
i
2
vy
i
2
t
y
i
.
vy
i
t
d
i
x
i
0 20 40 60 80 100 120
150
100
50
d
i
y
i
x
i
FIGURE S1.80
34
In this case the skier makes it about 108 meters out or so which is 108 =
d cos(45

) so that d = 152.7 m.
The Matlab code is the same as the previous problem except the x dot be-
comes:
xdot=[x(2);-c*x(2)*sqrt(x(2)2+x(4)2);x(4);-g-c*x(2)*sqrt(x(2)2 + x(4)2)];
1.81 Solution: 300 yards = 900 ft so that x
f
= x(t
f
) = 900. Given that the ball is
at zero to start with x
0
= y
0
= 0, and hits the ground at y
f
= 0. With = 90

given, the trajectory equations are

900 = v
0
cos 9

t + 0 (1)
0 = 16.1t
2
+ v
0
sin 9

t + 0 (2)
Solve (1) for t and (2) for v
0
to get v
0
= 306 ft/s (about 209 mph).
1.82 Solution: 200 mph = 293.3 ft/s. Here x
0
= y
0
= 0, = 9

. Then eq. (1.71)

becomes
x = (293.3) cos 9

t = 289.7t (1)
0 = 16.1t
2
+ 45.8t (2)
From (2) t = 2.849 sec so from (1) x = 825.6 ft
35
1.83 This follows directly from the solution of sample 1.14 with the following values
and equations: x
0
= y
0
= 0, c = 0.05, v
x0
= 293.3 cos 9

ft/sec and v
y0
=
293.3 sin9

ft/s.
i .. 0 600 t 0.005 c 0.05 g 32.2
vx
0
.
293.3 cos
.
9 deg
x
0
0 vy
0
.
293.3 sin
.
9 deg y
0
0
vx
i 1
x
i 1
vy
i 1
y
i 1
vx
i
. .
c vx
i
t
x
i
.
vx
i
t
vy
i
.
g
.
c vy
i
t
y
i
.
vy
i
t
0 200 400 600 800 1000
20
20
40
y
i
x
i
FIGURE S1.83
From the gure x = 758 ft (found by using the trace funciton in Mathcad).
The Matlab code is given in the Matlab supplement.
1.84 Again use the projectile equations of eq. (1.73). Here: x
0
= 0, y
0
= 0 (so
y
f
= 3 ft), x
f
= 20 ft, = 45

and hence
20 = v
0
1

2
t or t =
20

2
v
0
3 = 16.1t
2
+ v
0

2
t
Solving yields v
0
=
_
(16.1)800
17
= v
0
= 27.53 ft/s.
36
1.85 Using the projectile motion equations with x
0
= y
0
, x
f
= 20 ft, y
f
= 3 ft and
v
0
= 30 ft/sec, equations (1.73) becomes
20 = (30) cos t (1)
3 = 16.1t
2
+ (30) sint (2)
Substitution of t =
2
3 cos t
from (1) into (2) yields the transindental equation
(3) = 16.1
4
9 cos
2

+ 20 tan
Solving for yields = 33.7

and 64.8

. Either angle will work, however the

lower angle gives a trajectory up through the bottom of basket whereas the
64.8

solution gives the lofty shot and then goes through the top of the hoop.
The following Mathcad code solves the problem:
Specify the known parameters.
v
0
30 x
0
0 y
0
7 x
f
20 y
f
10
g 32.2
Initial guess for time and angle

.
30 deg
t
f
3
Given
x
f
. .
v
0
t
f
cos x
0
y
f
.
g
t
f
2
2
. .
v
0
t
f
sin y
0
= Find , t
f
1.132
1.568
=
1.132
deg
64.859
Angle in degrees
A second solution can be found with a lower angle.
v
0
30 x
0
0 y
0
7 x
f
20 y
f
10
g 32.2
Initial guess for time and angle These values are assumed less.

.
10 deg
t
f
1
Given
x
f
. .
v
0
t
f
cos x
0
y
f
.
g
t
f
2
2
. .
v
0
t
f
sin y
0
= Find , t
f
0.588
0.801
=
0.588
deg
33.69
Angle in degrees
The second solution is not valid as the ball would hit the net from below.
37
1.86 Using the projectile motion equations with x
0
= 0, y
0
= 10, = 0, v
0
= 120
mph = 176 ft/s and y
f
= 0 (i.e., hits the ground) yields
x
f
= 176t (1)
0 = 16.1t
2
+ 10 (2)
From (2) t = 0.7885 sec and from (1) x
f
= 138.7 ft
1.87 This again uses the projectile motion equation. a)Let x
0
= 0, x
f
= 6ft, y
0
= 0,
so y
f
= 154 = 11 ft, = 80

and the unknown is v

0
. Equation (1.73) becomes
x
f
= 6 = (v
0
cos 80

)t + 0 (1)
y
f
= 11 = (v
0
sin 80

)t 16.1t
2
+ 0 (2)
Substitute t =
6
v
0
cos 80
from (1) into to (2) to get
11 = 6 tan80

16.1
6
2
v
2
0
cos
2
80

(3)
Solving yields v
0
= 28.9 f/s. b) Repeating (a) with x
f
= 16 eq. (3) becomes
11 = 16 tan80

16.1
16
2
v
2
0
cos
2
80

or v
0
= 41.4 ft/s.
1.88 This is circular motion with R = 150 ft, a
t
= 12 ft/s
2
. Compute the time t
at which a
n
= 24 ft/s
2
. From Eq. (1.84), a
t
= r so that =
at
r
=
12 ft/s
2
140 ft
=
0.08 rad/s
2
a constant.
dw
dt
= 0.08 so that w w
0
= 0.08t or w = 0.08t + w
0
.
From (1.84) a
n
= rw
2
= 25 = 150(w
0
+ 0.08t
s
)
2
(1), where t
s
= time to slip.
Also at t
s
, a =
_
a
2
t
+ a
2
r
=

25
2
+ 12
2
= 27.73 ft/s
2
at slip. Solving (1), with

0
= 0 for t
s
yields t
s
=
1
0.08
_
25
150
_
1/2
= 5.104 s.
1.89 This is a circular motion with r = 2 m and a
t
(t) = 6 sin t(m/s
2
). The particle
starts at rest so that (0) = (0) = 0. For circular motion v(t) =
_
t
0
a
t
dt =
_
t
0
6 sin t =
6

(1 cos t). Also a

r
=
v
2
r
=
1
2
(
36

2
)(1 cost)
2
=
18

2
(1 cos 6)
2
.
From equation (1.81) taking the magnitude of a(t) yields
a(t) =
_
a
2
t
+ a
2
n
=
_
6
2
sin
2
t + [
18

2
(1 cos t)
2
]
2
.
38
The plots follow:
t .. , 0 0.001 2
v t
.
6

1 cos
.
t at t
.
6 sin
.
t an t
.
18

2
1 cos
.
t
2
a t at t
2
an t
2
0 0.5 1 1.5 2
5
10
time s
v
e
l


m
/
s


a
c
c
e
l

m
/
s
^
2
a t
v t
t
FIGURE S1.89
The Matlab code for producing the plots is given in the following le:
syms t % declares t symbolic
v=(6/pi)*(1-cos(pi*t)); an=0.5v2;
at=6*sin(pi*t); a=sqrt(at2+an2)
ezplot(a,[0,2]), ezplot(v,[0,2])
1.90 From the solution to 1.89 a(t) = (36 sin
3
t +
18
3

4
(cos t 1)
4
)
1/2
. Find t
s
when
a(t) = 5. The answer can be seen from the plot given in gure S1.89 or from
solving
5
2
= 36 sin
2
t
s
+
18
2

4
(cos t
s
1)
4
for t
s
which has 2 solutions in the interval of interest. From Mathcad they are:
t
s
= 0.312 s, and 1.688s.
1.91 Given r = 200 m, v = 30 km/hrs =
30
1

10
3
m
1
hr
3600 sechr
= 8.33 m/s. For circular
motion, equation (1.81) yields
a
n
=
v
2
4
=
8.33
200
0.3469 m/s
2
or a
n
= 0.35 m/s
2
.
39
1.92 This is circular motion starting from rest so that (0) = (0) = 0, with r = 4
m.
a) (t) = 2t
2
r/s
2
so that
d
dt
= 2t
2
and
0
=
2
3t
3
or w(t) =
2
3
t
3
. Thus from
eq. 1.84 a
n
= r()
2
= 4
4
9
t
6
and a
t
= 4(2t
2
) = 8t
2
. At t = 2s, a
n
(2) = 113.8,
a
t
(2) = 32 so that a(t) =

1138
2
+ 32
2
= 118.2 m/s
2
.
b) From eq. (1.82)
d
2
s
dt
2
= ra = 8t
2
so that dv = 8t
2
dt or v 0 =
8
3
t
3
. Thus
ds =
8
3
t
3
dt and s(2) =
8
3
_
2
0
t
3
dt and the total distance traveled is s = 10.67 m.
1.93 Solution: (t) = 3t
2
2t rad/s
2
with
0
=
0
= 0. Integrating yields
d
dt
=
3t
2
2t or
_
2
0
d =
_
6
0
3t
2
2t or (t) = t
3
t
2
rad/s. Likewise d = (t
3
t
2
)dt
so that (t) =
_
t
0
(t
3
t
2
)dt =
t
4
4

t
3
3
or (t) =
1
4
t
4

1
3
t
3
rad.
1.94 Solution: (t) = t cos(t) rad/s
2
,
0
= 2 rad/s,
0
= 30

=

6
rad. Thus d(t) =
t cos tdt or upon integrating 2 =
_
t
0
xcos xdx =
1

2
[cos t + t sin t 1]
so that (t) = (2
1

2
) +
1

2
(cos t + t sin t) rad/s. Integrating again yields


6
=
1

3
[2 sin t t t cos t + 2
3
t]
and
(t) =

6
+ 2t +
1

3
(2 sin t t t cos t) rad
1.95 Solution:
0
= 3 rad/s and () = 2
2
rad/s
2
. From eq. (1.87) =
d
dt
=
2
2
. Solving yields
_

3
d

= 2
_

0
d, or n

3
= 2. = 3e
2
so that
d
dt
= 3e
2
or
_

0
e
2
d =
_
t
0
3dt = 3t. Evaluating the other integral yields
1
2
e
2
|

0
= 3t or e
2
1 = 6t
and 2 = n(6t + 1) or (t) =
1
2
n(6t + 1) and (10) =
1
2
n(61) = 2.055 rad.
1.96 Solution:
0
= 2 rad/s and (, t) = 0.01+4t rad/s
2
. Then
d
dt
= 0.01+4t
which is a rst order dierential equation of the form: + 0.01 = 4t,
0
= 2.
Using the integrating factor x(t) = e
0.01t
, equation (1.34) yields the solution
(t) = e
0.01t
[C + 40, 000e
0.01t
(0.0t 1)]
Since (0) = 2, C = 3998 and
(t) = 3998e
0.01t
+ 4000(0.01t 1)
(t) = 4000 3998e
0.01t
+ 40t rad/s = [0.01t 1 + e
0.01t
](4 10
4
) rad/s
Since =
d
dt
, integrating this (t) yields (t).
(t) = 400 + [0.005t
2
t 0.01e
0.01t
](4 10
4
) rad
where 3998 has to be rounded to 4000.
40
1.97 The equation of motion can be written as
d
dt
= 2 sin 0.4. Since =
d
dt
,
this can be written as a second order nonlinear equation in :

+ 0.4

2 sin = 0 (0) =

6
and

(0) = 0
which can be solved by numerical integration as suggested in equation (1.93).
That is
_

n+1

n+1
_
=
_

n
+ (2 sin
n
0.4
n
)t

n
+
n
t
_
,
_

0
_
=
_
0

6
_
which is plotted in the following Mathcad le:
i .. 0 500
0
0
0

6
t 0.01

i 1

i 1

i
. .
2 sin
i
.
0.4
i
t

i
.

i
t
0 1 2 3 4 5
2
4
6

i
.
i t
FIGURE S1.97
The Matlab code is:
function xdot=onept97(t,x);
xdot=[x(2);2*sin(x(1))-0.4*x(2)];
command window:
EDU>tspan=[0 5];
EDU>x0-[pi/6;0];
EDU>ode45(onept97, tspan, x0);
41
1.98 This is a second order, nonlinear dierential equation in which can be solved
numerically by using the rst order form suggested in equation (1.93). From
the given form of

+ 0.02

| 3 cos = 0 (0) =

6
and

(0) = 0. Equation
(1.93) becomes
_

n+1

n+1
_
=
_

n
+ (3 cos
n
0.02
n
|
n
|]t

n
+
n
t
_
which is plotted below in Mathcad:
i .. 0 500
0
0
0

6
t 0.01

i 1

i 1

i
. .
3 cos
i
. .
0.02
i

i
t

i
.

i
t
0 1 2 3 4 5
1
2
3

i
.
i t
FIGURE S1.98
In Matlab the code is:
function xdot=onept98(t,x);
xdot=[x(2);3*cos(x(1))-0.02*x(2)*abs(x/2))];
command window
EDU>tspan=[0 5];
EDU>x0=[pi/6;0];
EDU>ode(onept98,tspan,x0);
42
1.99 Follow sample 1.18. Given r(t) = 3 cos t

i + 3 sin t

j + 4t

k m, dierentiation
yields v(t) = 3 sin t

i + 3 cos t

j + 4

k and a(t) = 3 cos t

i 3 sint

j so that
v(3) =

i +

j +4k and a(3) =

j. The unit tangent vector e

t
is calculated from
eq. (1.97) to be
e
t
(3) =
v(3)
|v(3)|
= 0.085

i 0.594

j + 0.8

k
a
t
(3) = (a e
t
) e
t
= 0, a
n
= a a
t
= a so that
e
n
=
an
|an|
=
a
|a|
= 0.99

i 0.141

j
e
b
= e
t
e
n
= 0.133

i + 0.792

j + 0.6

k
1.100 From problem 1.99
v(t) = 3 sin t

i + 3 cos t

j + 4

k and a(t) = 3 cos t

i 3 sin t

j m/s
2
Note magnitude of both v(t) and a(t) is constant.
1.101 From equation 1.100, (t) =
v
2
(t)
|an(t)|
where v
2
(t) is v(t) v(t) = 9 sin
2
t +9 cos
2
t +
16 = 9 + 16 = 25. Compute |a
n
(t)|. From eq. (1.97) e
t
=
v
|v|
=
1
5
(3 sin t

i +
3 cos t

j + 4

k. Then from eq. (1.98)

a
t
(t) = (a e
t
) e
t
=
1
5
[(3 cos t)(3 sin t) + (3 sin t)(3 cos t) + (0)(4)] e
t
= 0.
Now a
n
= a a
t
= a 0 = a. Thus |a
n
(t)| = |a(t)| =

3
2
cos
2
t + 3
2
sin t = 3.
Thus
(t) =
v
2
(t)
|an(t)|
=
1
3
[25] = 8.33 m, a constant so that the motion is circular, moving
at a constant angular velocity.
1.102 Given r(t) = t
2

i +3t

j +10 sint

k m, successive dierentiation yields the velocity

and acceleration:
v(t) = r(t) = 2t

i + 3

j + 10 cos t

k m/s
a(t) = r(t) = 2

i 10 sin t

k m/s
2
From eq. (1.100) the radius of curvature is (t) =
v
2
(t)
|an|
Now v
2
= vv = 4t
2
+9+100 cos
2
t. Following eq. (1.97) e
t
(t) =
v
|v|
, a
t
= (a e
t
) e
t
,
a
n
= aa
t
and (t) =
v
2
|an|
. Programming these formulations and evaluating at
each value of t yields
a) t = 1s, (1) = 7.23 m
b) t = 3s, (3) = 126.645 m
c) t = 5s, (5) = 13.346 m
43
The solution in Mathcad is given in the following:
t 5
v
.
2 t
3
.
10 cos t
a
2
0
.
10 sin t
et
v
v
at
. .
a et et
an a at

.
v v
an
= 13.346
The Matlab code is
t=5;v=[2*t;3;10*cos(t)];a=[2;0;-10*sin(t)];
et=v/norm(v);at=dot(a,et)*et;an=a-at;
pro=dot(v,v)/norm(an)
1.103 Solution: r(t) =
1
2
(1 + t
2
) and = t
2
so that r(t) = t and r(t) = 1,

= 2t
and

= 2. From equation (1.103)
v = r e
r
+ r

e

= t e
r
+ t(1 + t
2
) e

a = ( r r

2
) e
r
+ (r

+ 2 r

) e

= (1 2
2
t
2
(1 + t
2
)) e
r
+ ((1 + t
2
) + 4t
2
) e

To plot the motion dene t : 0, 0.1...2, dene r =

1+t
2
2
and = t
2
. Then let
x = r cos and y = r sin which is plotted below.
44
The Mathcad code is:
t .. , 0 0.01 2
r t
1 t
2
2
t
.
t
2
x t r t 8 cos t y t
.
r t sin t
20 10 0 10 20
4
2
2
y t
x t
FIGURE S1.103
The Matlab code is:
EDU>t=linspace(0,2);
EDU>r=(1+t2)/2;th=pi*t.2;
EDU>x=r.*8.*cos(th); y=r.*sin(th);
EDU>plot(x,y)
1.104 The value of v(t) is always positive. Note that |v(t)| =
_
t
2
+
2
t
2
(1 + t
2
)
2
=
t
_
1 +
2
(1 + t
2
)
2
= ds/dt so that
s s
0
=
_
2
0
_
t
2
+
2
t
2
(1 + t
2
)
2
dt = 18.977 m.
1.105 Solution: r(t) = 2 so that r = r = 0 and there is circular motion. (t) = sin t
so that

= cos t and

=
2
sin t. From equations (1.103):
v(t) = r

e

= 2 cos t e

and
a(t) = 2
2
cos
2
t e
r
2
2
sin
2
t e

Let x = r cos and y = r sin to plot the motion as illustrated below.

45
The Mathcad solution is:
t . . , 0 0.01 2
r t 2
t sin
.
t
0
30
60
90
120
150
180
210
240
270
300
330
2
1.5
1
0.5
0
r t
t
FIGURE S1.105
The Matlab code is:
EDU>linspace(0,2);
EDU>r=2;th=sin(pi*t);
EDU>x=r*cos(th);y=5*sin(th);
EDU>plot(x,y)
1.106 Solution:
ds
dt
= |v(t)| =

4
2
cos
2
t = |2 cos t|
s s
0
=
_
2
0
|2 cos t|dt = 8 m
1.107 Since the particle starts from rest, r(0) = 0,

(0) = 0 r(0) = 1, and (0) = 0.
To determine v(t) and a(t) from eqs.(1.103) we need r(t), (t), r(t) and

(t)
which we can calculate by integrating r and

r(t) r(0) =
_
t
0
r(x)dx =
_
t
0
2e
x
dx = 2(1 e
t
)
r(t) 1 = 2
_
t
0
(1 e
x
)dx so that r(t) = 1 + 2(t + e
t
1) = 1 + 2t + 2e
t
Likewise

(t) 0 =
_
t
0
dx = t and (t) 0 =
_
t
0
xdx =
t
2
2
46
Now from eqs. (1.103)
v(t) = 2(1 e
t
) e
r
+ [(2e
t
+ 2t 1)t] e

a(t) = [2e
t
(2e
t
+ 2t 1)
2
t
2
] e
r
+ [(2e
t
+ 2t 1) + 2(2 2e
t
)t]
1.108 Let r(t) = 1 + 2(t + e
t
1) and (t) =
t
2
2
. Then dene x(t) = r(t) cos (t),
y(t) = r(t) sin (t) and plot (Mathcad solution)
t .. , 0 0.01 2
r t 1
.
2 t e
t
1
t
.
t
2
2
x t
.
r t cos t
y t
.
r t sin t
3 2 1 0 1 2 3 4
4
2
2
y t
x t
FIGURE S1.108
The distance traveled is
_
2
0
|v(t)|dt = 14.438 m
The Matlab code is:
EDU>linspace(0,2);
EDU>r=1+2*(t-exp(-t)-1);th=(pi*t.2)/2;
EDU>x=r.*cos(th);y=r.*sin(th);
EDU>plot(x,y)
1.109 Given = 2 rad/s and r(t) = r
0
+ r
a
sin 2t, to determine the acceleration
requires expressions for r, , r and

. Since = 2, d = 2dt and =
0
+2t,

= 2, and

= 0.
Likewise r = 2r
a
cos 2t and r = 4
2
r
a
sin 2t. From eq. 1.103, a
r
=
r r

2
= 4
2
r
a
sin 2t (r
0
+ r
a
sin 2t)4
2
= 4
2
(2r
a
sin 2t + r
0
) m/s
2
a

= r

2 r

= (2)(2r
a
cos 2t)(2) = 8
2
r
a
cos 2t m/sec
2
47
1.110 Solution: a) Let r
0
= 2, r
a
= 1.5 < r
0
and
0
= 0, r(t) = 2 + 1.5 sin 2t,
(0) = 0 so (t) = 2t. For one revolution let t = 0, 0.01...1 sec, then let
x(t) = r(t) cos (t) and y(t) = r(t) sin(t) which is plotted below using Mathcad
t .. , 0 0.01 2
r t 2
.
1.5 sin
. .
2 t
t
. .
2 t
0
30
60
90
120
150
180
210
240
270
300
330
3 2 1 0
r t
t
FIGURE S1.110
The Matlab code for this plot is
EDU>linspace(0,2);
EDU>r=2+1.5*sin(2*pi*t);th=2*pi*t;
EDU>x=r.*cos(th);y=r.*sin(th),
EDU>plot(x,y)
b) The velocity is v(t) = r e
r
+ r

e

so that:
|v(t)| = |
_
r
2
+ r
2

2
| =
_
1.5 cos
2
2t + (2 + 1.5 sin2t)
2
so s =
_
1
0
|v(t)|dt = 14.407 m
48
1.111 Solution: a
r
= 2t, a

= cos(z), r(0) = .5 m, (0) = 0. Since it starts from

rest

(0) = r(0) = 0. From eq. (1.103) r r

2
= 2t, r

+ 2 r

= cos(t)
which is a system of 2 coupled 2nd order equations which are nonlinear and
inhomogeneous. The initial conditions (4) are given above. To solve numerically
follow sample 1.22 (use x = r, y =

)
r = r

2
+ 2t x = r y
2
+ 2t
r = x

= 2
r

r
+
cos t
r
: y = 2xy/r +
cos t
r

= y
The Euler formula becomes (t
n+1
= t
n
+ t)
x
n+1
= (r
n
y
2
n
+ 2t
n
)t + x
n
r
n+1
= r
n
+ x
n
t
y
n+1
= (2x
n
y
n
/r
n
+
cos tr
rn
)t + y
n

n+1
= y
n
t +
n
_

_
x
0
r
0
y
0

0
_

_
=
_

_
0
.5
0
0
_

_
Once these are solved the polar coordinate r(t) and (t) are given by the digital
record for r
n
and
n
.
49
1.112 The trajectory is obtained by plotting r
n
cos
n
vs. r
n
sin
n
from above. The
Mathcad solution is:
Trajectory in meters
i . . 0 2000 t 0.001
a , , , , v r t
.
2 t
.
r
2
, , , , v r t
.
1
r
cos
.
t
. .
2 v
t
.
i t
v
0
r
0

0
0.5
0
0
v
i 1
r
i 1

i 1

i 1
.
a , , , , v
i
r
i

i

i
t
i
t v
i
r
i
.
v
i
t

i
.
, , , , v
i
r
i

i

i
t
i
t

i
t
x
.
r cos y
i
.
r
i
sin
0.5 1 1.5 2 2.5 3 3.5
0
0.2
0.4
0.6
0.8
y
i
x
i
0
i
i i i i
FIGURE S1.112
50
The equivalent Matlab code is:
function xdot=onept112(t,x);
xdot=[x(2);x(2)*x(3)2+2*t;x(4);-2*x(1)*x(3)/x(1)+(cos(pi*t))/x(2)];
In the command window:
EDU>tspan=[0 2];
EDU>x0=[0;5;0;0]
EDU>[t,x]=ode45(onept112,tspan,x0);
EDU>xc=x(:,2).*cos(x(:,4));ys=x(:,2).*sin(x(:,4));
EDU>plot(xc,ys)
1.113 The acceleration components in polar coordinates are given in eq. (1.04) to be
a
r
= r r

2
and a

= r

+ 2 r

.
We are given r and

which we need to integrate to get r, r, and

. First
consider

= 0 so that

= constant = 1.5 rad/s. Integrating again yields
(t) = 1.5t. Then the above becomes simply
a
r
= r (1.5)
2
r, a

= 2(1.5) r = 3 r
Integrating r = 3 0.01 r requires the solution of
r + 0.01 r = 3
Which is a second order dierential equation with particular solution r
P
=
3t
0.01
.
The homogeneous equation is r + 0.01 r = 0 which has solution r
1
= A and
r
2
= Be
t
. Substitution yields

2
+ 0.01 = 0 or = 0.01 so the homogeneous solution is
r
H
(t) = A + Be
0.01t
and the general solution is
r = r
H
+ r
P
= A + Be
0.01t
300t
To get A and B apply the initial condition r(0) = 0.4 and r(0) = 0
r(0) = A + B = 0.4, r(0) = 0.01B + 300 = 0 or B = 30, 000
A = 30, 000.4
Thus
r(t) = 30, 000.4 30, 000e
0.01t
+ 300t m
Thus r = 300(1 e
0.01t
), r = 3e
0.01t
so that
a
r
= 3e
0.01t
2.25(30000.4 30000e
0.01t
+ 300t)
a

= (3)(30000.4) 90, 000e

0.01t
+ 900t
51
1.114 The trajectory is a part of x(t) = r cos versus y = r sin . The form of r(t)
and (t) are given in the previous problem. Let t = 0, 0.1...4 and plot y vs. x(t)
as given below from Mathcad
t .. , 0 0.1 4
r t 30000.4
.
30000 e
.
0.01 t
.
300 t
t
.
1.5 t
0
30
60
90
120
150
180
210
240
270
300
330
2000 1000 0
r t
t
FIGURE S1.114
The Matlab code is:
EDU>t=linspace(0,4);
EDU>th=1.5*t;r=3000.4-3000*exp(-0.01*t)+300*t;
EDU>x=r.*cos(th);y=r.*sin(th);
EDU>plot(x,y)
1.115 In order to determine the velocity and acceleration from eq. (1.103), r(t), r(t), r,
,

and

are needed. Since

= /4 so that

= 0 and (t) = (/4)t (assuming
(0) = 0). Then r(t) = r((t)) = 100 + 60 cos
t
4
so that r(t) = 15 sin
t
4
and
r =
15
2
4
cos
t
4
.
52
Thus from eq. (103)
v(t) = (15 sin
t
4
) e
r
+ (

4
)(100 + 60 cos
t
4
) e

and
a(t) =
_

15
4

2
cos
t
4

_

4
_
2
_
100 + 60 cos
t
4
_
_
e
r
+
_

15
2

2
sin
t
4
_
e

a(t) = (100 + 120 cos

t
4
)

2
16
e
r
[
15
2
2
sin
t
4
] e

1.116 Here we need to nd r(t) from the drawing and knowledge of (t). (t) =

4
sin t, so that

=

2
4
cos t and

=

4
3
sin t =
2
(t). From the drawing
300 = r(t) cos (t) so that
r(t) = 300 sec (t) = 300 sec (

4
sin t)
r(t) = 75
2
tan(

4
sin t) sec (

4
sin t) cos t
r(t) = 300
_

2
16
sin
2
t tan(

4
sin t) +

4
16
cos
2
t(tan
2
(

4
sin t) 1)
_
sec(

4
sin t)
Then
v = [75
2
tan(

4
sin t)sec(

4
sin t) cos t] e
r
+ [75
2
sec(

4
sin t) cos t] e

The aceleration becomes (in terms of ,

and

)
a = 300 sec [(2 tan
2
)

2
+ tan

] e
r
+ 300 sec [

+ 2 tan

2
] e

53
1.117 Let be the angle between r(t) and the 60 mm line. Let (t) be the angle
between the 100 mm radius and the end of r(t). From this triangle
r(t) = 60 cos + 100 cos
and from the law of sines: (1) 60 sin = 100 sin. Dierentiation of the law
of sines yields (2) 60 cos

= 100 cos

. These last two expressions can be
used to remove the dependence. Dierentiating r(t) and using (1) and (2) to
remove the

term yields
r = 60 sin

100 sin

= 60 cos tan

where we note that eq. (1) can be used to remove the dependence in favor of
. Now

= constant = is given, so r becomes
r = 60 sin 60 cos tan, where = sin
1
(0.6 sin ). From (1)
r = 60
2
cos + 60
2
sin tan
60
2

2
cos
2

100 cos
3

which can be veried symbolically using one of the codes. With r, r and r
given,

= , so that = t and

= 0, then a can be determined from equation
(104):
a
r
= r r

2
and a

= 2 r

= 2 r.
The Mathcad code for plotting this follows:
a
r
t ddr t
.
r t
2
a

t
. .
2 dr t
0 0.5 1 1.5 2
3000
2000
1000
0
1000
2000
Accelerations vs time
time s
a
r
t
a

t
t
A
c
c
e
l
e
r
a
t
i
o
n

i
n

m
/
s
2
FIGURE S1.117
54
1.118 From the problem statement (t) = 0.5 cos t. Integrating yields (t) = 0.5 sint+

0
= 0.5 sin t since it starts from rest. Integrating again (
0
= 0) yields
(t) = 0.5 cos t + C = 0.5 cos t + 0.5. Now recall the formulation of the
previous problem (t) = a sin(0.6 sin((t)). Then using the formulas developed
in problem 1.117, a
r
and a

can be determined. These are illustrated in the

gure where the derivatives are conrmed by symbolic computations.
t .. , 0 0.01 7 t
.
0.5 cos t 0.5 t
.
0.5 sin t t
.
0.5 cos t
t asin
.
0.6 sin t r t
.
60 cos t 100 cos t
First symbolicaly calculate the time derivative of r(t) and define it by rd(t)
d
d t
.
60 cos t 100 cos t
. .
60 sin t
d
d t
t
. .
100 sin t
d
d t
t
rd t
. .
60 sin t
d
d t
t
. .
100 sin t
d
d t
t
Next symbolically calculate the second deriviative and denote it by rdd(t)
d
d t
. .
60 sin t
d
d t
t
. .
100 sin t
d
d t
t
. .
60 cos t
d
d t
t
2
. .
60 sin t
d
d
2
2
t
t
. .
100 cos t
d
d t
t
2
. .
100 sin t
d
d
2
2
t
t
rdd t
. .
60 cos t
d
d t
t
2
. .
60 sin t
d
d
2
2
t
t
. .
100 cos t
d
d t
t
2
.
100 sin t
Now define the acceleration components in terms of r and its derivatives, theta and omega:
ar t rdd t
.
r t t
2
a t
. .
2 rd t t
.
r t t
0 2 4 6 8
100
50
50
100
ar t
a t
t
.
d
d
2
2
t
t
FIGURE S1.118
55
1.119 The acceleration and velocity in cylindrical coordinates are given in eq. (1.109)
and (1.111) and require r, r, r, z, z,

and

. Here r = 1.5,

= and z =
0.5 cos 2t so that r = r = 0,

= 0,

= 0, z = sin 2t and z = 2
2
cos 2t.
Thus
v = 1.5 e

sin(2t) e
z
m/s
a = 1.5
2
e
r
2
2
cos(2t) e
z
m/s
2
The Mathcad code for generating this plot is:
i . . 0 40 t
.
0.1 i
x
.
1.5 cos
.
t
i
y
i
1.5 sin
.
t
i
z
i
.
0.5 cos
. .
2 t
i
1
0
1
1
0
1
0
0.2
0.2
0.4
, , x y z
i
FIGURE S1.119
The Matlab code for forming this plot is given in the following le:
i=(0:1:40);
x=1.5*cos(pi*i*0.1);y=1.5sin(pi*i*0.1);z=0.5*cos(pi*i*0.1);
plot3(x,y,z)
56
1.120 The distance traveled is calculated from
ds
dt
= |v| or s = s
0
+
_
t
0
|v|dt. Assuming
the particle starts out s
0
= 0, s =
_
2
0
_
(1.5)
2
+ ( sin 2t)dt = 10.398 m.
The total distance traveled can also be calculated using software. For example,
the Mathcad code for computing this distance follows:
v t
0
.
1.5
.
sin
. .
2 t
= d
0
2
t v t 10.398
t . . , 0 0.01 2
FIGURE S1.120
1.121 Solution: r(t) = R
z
h
R, = R
h0.1ht
h
R = R R + 0.1Rt = 0.1Rt so that
r =
R
10
and r = 0. (t) = 2t so that

= 2 and

= 0.
z(t) = h(1 0.1t) so that z = 0.1h and z = 0.
Thus
v = 0.1R e
r
+ (0.1Rt)(2) e

0.1h e
z
= 0.1R e
r
+ 0.2Rt e

0.1h e
z
, and
a = (0.1Rt)4
2
e
r
+ (
R
5
2) e

= 0.4R
2
t e
r
+ 0.4R e

.
The particle reaches the bottom of the cone when z(t) = 0 or h(1 0.1t) = 0
or at t = 10 sec. Since = 2t, as 10 sec have pased, then has gone around
10 times before it reaches the bottom (210 = 20 or 10 complete cycles).
1.122 Solution: for R = 3m and h = 5 m, v(t) = 0.3 e
r
+ 0.6t e

0.5 e
z
so that
|v| =
_
(0.3)
2
+ (0.6t)
2
+ (0.5)
2
as it takes 10 sec to travel to the bottom
s =
_
10
0
|v|dt =
_
10
0
_
(0.3)
2
+ (0.6t)
2
+ (1.5)
2
dt = 94.67 m
1.123 From eq. (1.111) the given form of the dierential equations are e
r
: 3 =
r r

2
(1), e

: 2 r

= 0.1 (2) and from e

z
: z = 2. Since the particle starts
from rest at zero, all the initial conditions are zero and since the z coordinate is
decoupled it can be directly integrated to yield z = 2t and z = t
2
. Equations
(1) and (2) for r and on the other hand are two coupled nonlinear equations
which must be solved numerically. They are
r = r

2
+ 3

= 2
r

r
+
0.1
r
57
Putting these in 1st order form or Euler integration yields
_

_
r
r

_
=
_

_
0
1
0
0
_

_
,
_

_
r
r

_
=
_

_
r

y
2
+ 3
dr
0.1/r 2drd/r
d
_

_
The Euler equations then becomes (follow sample 1.22) as illustrated in
_

_
r
n+1
dr
n+1

n+1
d
n+1
_

_
=
_

_
r
n
+ dr
n
t
(r
n
d
2
n
+ 3) t + dr
n

n
+ d
n
t
d
n
+
_
0.1
rn
2
drndn
rn
_
t
_

_
,
_

_
r
0
dr
0

0
d
0
_

_
=
_

_
0
0
0
0
_

_
Figure S1.123 shows the integration along with a plot of the rst 3 s using
Mathcad.
i .. 0 3000
t 0.001
t
i
.
t i
ar , , , r dr d 3
.
r d
2
a , , , r dr d
.
1
r
0.1
. .
2 dr d
r
0
1 dr
0
0
0
0 d
0
0
dr
i 1
r
i 1
d
i 1

i 1
dr
i
.
ar , , , r
i
dr
i

i
d
i
t
r
i
.
dr
i
t
d
i
.
a , , , r
i
dr
i

i
d
i
t

i
.
d
i
t
0
30
60
90
120
150
180
210
240
270
300
330
10 5 0
r
i

i
FIGURE S1.123
58
The required Matlab code is as follows:
function xdot=onept123(t,x);
xdot=[x(2);3+x(1)*x(4)2;x(4);(0.1-2*x(2)*x(4))/x(1)],
In the command window:
EDU>tspan[0 3];
EDU>0=[1;0;0;0];
EDU>[t,x]=ode(onept123,tspan,x0);
xc=x(:,1).*cos(x(:,3));yc=x(:,1).*sin(x(:,3));
plot(xc,yc)
1.124 Since R(t) = 0.3 + 0.1t
2
,

R(t) = 0.2t and

R(t) = 0.2. Since (t) = sin(t),

(t) =
2
cos t and

(t) =
3
sin t. Since (t) =

2
te
t
,

(t) =

2
(e
t
te
t
)
and

(t) =

2
(e
t
+ (e
t
+ te
t
)) =

2
e
t
(t 2). Now from equation (1.116)
v(t) = 0.2t e
R
+

2
(0.3 + 0.1t
2
)e
t
(1 t) e

+[0.3 + 0.1t
2
][sin(
t
2
e
t
)](
2
cos t) e

From Eq. (1.118)

a(t) = [0.2 (0.3 + 0.1t
2
)(

2
(1 t)e
t
)
2
(0.3 + 0.1t
2
)[sin(
t
2
e
t
)]
2
(
4
cos
2
t)] e
R
+[(0.3 + 0.1t
2
)(

2
(t 2)e
t
) + 2(0.2t)(

2
e
t
(1 t))
(0.3 + 0.1t
2
)(
2
cos t)
2
sin(
t
2
e
t
) cos(
t
2
e
t
)] e

+[(0.3 + 0.1t
2
)(
3
sin t) sin(
t
2
e
t
) + 0.4t(
2
cos t) sin(
t
2
e
t
)
+2(0.3 + 0.1t
2
)(

2
e
t
(1 t))(
2
cos t) cos(
t
2
e
t
] e

1.125 From Sample Problem 1.24 we have a = g sin e

, and we are given that R = 200

mm, (R

)
0
= 600 mm/s and that
0
= /2,
0
= 0, g = 9810 mm/s
2
. Since
h is constant (R = 200

0
= 3), h =

0
sin
2

0
= 3 rad/s. Now from
the geometry of spherical coordinates the relation to rectangular coordinates is
(from g. 1.21)
x(t) = Rsin cos , y = Rsin sin , z = Rcos
Now to solve the problem we need to integrate (via Eulerian) the two coupled
equations

=
h
sin
2

and

=
h
2
cos
sin
2

+
g
R
sin
subject to the initial condition
0
=

2
,
0
= 0,

0
= 0.
59
The Euler formulation and a plot of the motion is given in the following Mathcad
code:
i .. 0 800 t 0.001 t
i
.
t i h 3 R 200 g 9810
a
.
h
2
cos
sin
2
.
g
R
sin
d
3
sin
2
d
0
0
0

2

0
0
d
i 1

i 1

i 1
d
i
.
a
i
t

i
.
d
i
t

i
.
d
i
t
x
i
. .
R sin
i
cos
i
y
i
. .
R sin
i
sin
i
z
i
.
R cos
i
0
100
100
0
100
200
100
0
, , x y z
FIGURE S1.125
60
The Matlab code is (using an Euler method):
x(1)=0;p(1)=pi/2,th(3)=0;h=3;R=200;g=9810
dt=0.001; for n=1:800;
x(n+1)=x(n)+(h2*cos(p(n))/(sin(p(n))2 + (g/R)*sin(p(n))*dt;
p(n+1)=p(n)+x(n)*dt;
th(n+1)=th(n)+(3/sin(p(n))2)*dt;
end
xc=R*sin(p).*cos(p);yc=R*sin(p).*sin(p);zc=R*cos(p);
plot3(xc,yc,zc)
1.126 This is a repeat of problem 1.125 for the case that

0
= 0. Since

0
and the
constant of motion

sin
2
= h must hold for all , h must be zero and the
kinematic equations become

=
g
R
sin and

= 0 which are numerically
integrated in the following gure (Mathcad):
i .. 0 800 t 0.001 t
i
.
t i h 3 R 200 g 9810
a
.
g
R
sin d 0
d
0
0
0

0
0
d
i 1

i 1

i 1
d
i
.
a
i
t

i
.
d
i
t

i
.
d
i
t
x
i
. .
R sin
i
cos
i
y
i
. .
R sin
i
sin
i
z
i
.
R cos
i
00.2 0.4 0.6 0.8 1
100
0
100
200
100
0
, , x y z
FIGURE S1.126
61
The Matlab code is contained in the following le which when run will produce
an identical plot:
x(1)=0;p(1)=pi/2;th(1)=0;h=3;R=200;g=9810;
dt=0.001
for n=1:800;
x(n+1)=x(n)+(g/R)*sin(p(n))*dt;
p(n+1)=p(n)+x(n)*dt;
th(n+1)=th(n);
end
xc=R*sin(p).*cos(p);yc=R*sin(p).*sin(p);ac=R*cos(p);
plot3(xc,yc,zc)
1.127 From the solution to problem 1.126,

=
g
R
sin for the case that the initial
velocity in the circumferential direction is zero (h = 0). We are given that
= +, small so that using the trig identity for sin( +) we have sin =
sin( + ) = sin cos + cos sin = sin . But since is assumed small,
we can use the small angle approximation: sin = , and our dierential
equation becomes (

=
d
2
dt
2
( + ) =

)

+
g
R
= 0
which was solved analytically in Sample Problem 1.9. The solution is
(t) =
0
cos(
_
g
R
t) +
_
g
R

0
sin(
_
g
R
t)
where
0
and

0
are the initial angle and angular velocity given to the particle.
1.128 From the value of a in spherical coordinates, the following 3 equations result
12 =

R R

2
R

2
sin
2

4 = R

+ 2

R

R

2
sin cos
5 = R

sin + 2

R

sin + 2R

cos
which can be numerically integrated subject to the initial conditions
R(0) = 2
(0) = 0
(0) = /2

R(0) = 2

(0) = 2

(0) = 1/2
(since v

= 4 = R(0) sin(0)

(0))
(since v

= R(0)

(0) + 2

(0) + 1)
by direct comparison with v(0) = 2 e
r
+ e

4 e

.
62
Once one numerically integrated, the expressions x = Rsin cos , y = Rsin sin
and z = Rcos can be used to construct a 3-D plot of the motion as described
in the gure that follows using Mathcad.
i .. 0 1000 t 0.001 t
i
.
t i
aR , , , R v v 12
.
R v
2
. .
R v
2
sin
2
a , , , , R vR v v
.
1
R
4
. .
2 vR v
. . .
R v
2
sin cos
a , , , , R vR v v
.
1
.
R sin
5
. . .
2 vR v sin
. . . .
2 R v v cos
vR
0
2 R
0
2 v
0
0.5
0

2
v
0
2
0
0
vR
i 1
R
i 1
v
i 1

i 1
v
i 1

i 1
vR
i
.
aR , , , R
i
v
i
v
i

i
t
R
i
.
vR
i
t
v
i
.
a , , , , R
i
vR
i
v
i
v
i

i
t

i
.
v
i
t
v
i
.
a , , , , R
i
vR
i
v
i
v
i

i
t

i
.
v
i
t
x
i
. .
R
i
sin
i
cos
i
y
i
. .
R
i
sin
i
sin
i
z
i
.
R
i
cos
i
15
10
5
0
5
0
3
2
1
0
, , x y z
FIGURE S1.128
63
The required Matlab code is:
R(1)=2;vR(1)=2;p(1)=pi/2);vp(1)=0.5;th(1)=0;vth(1)=-2;
dt=0.001
for n=1:1000;
R(n+1)=R(n)+vR(n)*dt
vp(nt)=vp(n)+((1/R(n))*4-2*vR(n)*vp(n)+R*vth(n)2*sin(p(n)*cps)xdt;
p(n+1)=p(n)+vp(n)*dt;
vth(n+1)=vth(n+1)+(1/(R(n)*sin(p(n)))*(5-2*vR(n)*vp(n)*sin(p(n))
-2*R(n)*vp(n)*vth(n)*cos(p(n))*dt;
th(n+1)=th(n)+vth(n)*dt;
vR(n+1)=vR(n)+(12+R(n)*vp(n)2+R(n)*vth(n)
2
* sin *p(n))+ dt;
end
x=R.*cos(p).*sin(th);y=R.*sin(p).*sin(th);z=R.*cos (th);
plot3(x,t,z)
1.129 We are given x
A
= 2t + 6 and x
B/A
= 3t
2
+ 2t + 3. From equation (1.120)
x
B
= x
B/A
+ x
A
= 3t
2
+ 4t + 9 so that x
B
= v
B
= (6t + 4) m/s, and a
B
= 6 m/s
2
.
Likewise v
B/A
= 6t +2 and a
B/A
= 6 m/s
2
from straight forward dierentiation.
1.130 Since the particles start from rest v
A
(0) = v
B
(0) = 0 and since v
B/A
(0) =
v
B
v
A
, v
B/A
(0) = 0. Since x
A
= 3t + 2 and x
B
= 6t
2
+ 2, v
A
= 3 and a
A
= 0,
v
B
= 12t and a
B
= 12. Since a
B
and a
A
are both constant and dierent in value:
the two particles never have the same acceleration. The two particles reach the
same position when x
B/A
= 0. x
B/A
= 6t
2
+ 2 (3t + 2) = 6t
2
3t = 0 when
t = 0 and when t = 1/2s. Since x
B/A
= 6t
2
3t, v
B/A
= 12t 3 so that they
have the same velocity when t = 3/12 or t = 1/4s.
1.131 Here you must pick t
0
carefully as the cars do not start moving at the same time.
Car B moves with a constant velocity of v
B
= 15 m/s so that x
B
= 15t +x
B
(0)
for all time. Car A on the other hand, starts moving when car B crosses a
position 100 meters out. Starting the clock at 0 when car B crosses the 100
m mark and taking the position x = 0 m as the reference point we can write
x
B
= 15t+100, since v
B
= 15 m/s implies that x
B
(t) = 15t+x
B
(0) = 15t+100.
Now consider car A. We have that x
A
(t) = t
2
until it reaches the speed of 20
m/s. This happens when 2t = 20 or at t = 10 sec. Note that x
A
(10) = 100 m,
64
so that the cars cannot meet until after t > 10 s (i.e., car B started 100 m out).
For t > 10 s, we are given that v
A
= 20 m/s. Integrating yields
_
x
A
x
A
(10)
dx =
_
t
10
20dt or x
A
(t) = 20t 200 + x
A
(10)
But x
A
(10) = 100. Then for t > 10, x
A
(t) = 20t 100. Now for t > 10, x
B/A
=
15t + 100 (20t 100) = 5t + 200. Then x
B/A
= 0 yields t
m
= 40s, the time
at which the cars meet. They have traveled at distance of x
A
(40) = (20)(40)
100 = 700 m which can be checked by calculating x
B
(40) = (15)(40)+100 = 700
m.
1.132 Particle B reverses direction when the velocity is zero. Since x
B
= 12 + 18t
4.9t
2
, v
B
= 18 9.8t = 0 at t
r
=
18
9.8
= 1.83s, at this time particle B changes
directions. The two particles will meet when x
A
= x
B
or 5+2t = 12+18t4.9t
2
,
which has solution t
c
= 0.391, and 3.656s. So they collide at t
c
= 3.656s. With
relative velocity v
B/A
(t
c
) = 16 9.8t = 19.83 m/s. since t
c
> t
r
, the particles
collide after B reverses direction as illustrated in the gure.
t .. , 0 0.1 4
xB t 12
.
18 t
.
4.9 t
2
xA t 5
.
2 t
0 1 2 3 4
10
20
30
xA t
xB t
t
FIGURE S1.132
1.133 Let car A be moving to the right with v
A
(0) = 60 mph = 88 ft/s, x
A
(0) = 0, and
a
A
= 16 ft/s
2
. Let car B be moving to the left with x
B
(0) = 300, v
B
(0) = 88
ft/s and a
B
= 15 ft/s
2
. Integrating each yields
v
A
= v
A
(0)
_
t
0
16dt = 88 16t and
x
A
= x
A
(0) + 88t 8t
2
= 88t 8t
2
v
B
= v
B
(0) + 16
_
t
0
dt = 88 + 16t
x
B
= x
B
(0) 88t + 8t
2
= 300 88t + 8t
2
65
If they collide x
B
= x
A
or 300 88t + 8t
2
= 8t
2
+ 88t or t = 2.109 and 8.891.
Now check to see if the cars are still moving at that time. The cars come to
rest at v
A
= v
B
= 0 or 88 16t = 0 or t =
88
16
= 5.5 sec. Thus the cars hit at
t = 2 sec. At that time
v
B/A
(t) = v
B
(2.109) v
A
(2.109) = (54.256) (54.256) = 108.5 ft/s.
1.134 Solution: v
A
(0) = 45 mph = 66 ft/s, v
B
(0) =58 mph = 85 ft/s, x
B/A
(0) = 500
ft, taking x
A
(0) = 0 then x
B
(0) = 500 ft, a
A
= 4 ft/s and a
B
= 2 ft/s.
Integrating each yields
v
A
(t) = v
A
(0) + 2t = 66 + 2t, x
A
(t) = x
A
(0) + 66t + t
2
= 66t + t
2
,
v
B
(t) = v
B
(0) 2t = 85 2t, x
B
(t) = x
B
(0) + 85t t
2
= 500 + 85t t
2
. The
cars meet when x
B/A
= 0 or when 500 +85t 2t
2
= 0. This yields two roots for
t, one is negative and the other is t = 33.795s. Using the above formulas, the
cars meet at
x
A
(33.795) = 3, 373 ft 0.64 miles and their velocities are
v
A
(33.795) = 133.59 ft/s and
v
B
(35.795) = 17.41 ft/s
1.135 Given: a
B/A
= 3 m/s
2
, v
B/A
(0) = 0, x
B/A
(0) = 10 m, and x
A
= 3t
2
+ 1
compute a
B
. Dierentiation of x
A
yields v
A
= 6t and a
A
= 6. So that a
B/A
=
3 = a
B
a
A
= a
B
6, and solving yields a
B
= 9 m/s
2
. Integrating a
B/A
= 3
yields v
B/A
(t) = v
B/A
(0) + 3t = 3t. Integrating again yields x
B/A
= v
B/A
(0) +
3t
2
2
= 10 + 3t
2
. Since x
B/A
= x
B
x
A
we have 10 +
3t
2
2
= x
B
3t
2
1 or
x
B
(t) = 4.5t
2
+ 11 m.
1.136 Since the time is so large in seconds, leave this in mph, miles and hours. For
the 747, v
B
= 575 mph and x
B
= 575t miles. At t = 3 hr., x
B
(3) = 575(3).
At t = 3 the Concorde takes o and v
A
= 1336 mph so that x
A
= 1336t miles.
For t 3, x
B
can be rewritten as x
B
= (575)(3) + 575t, t 3. The Concorde
catches the 747 at x
A
= x
B
or (575)(3) +575t = 1336t or t =
(575)(3)
(76)
= 2.27 hrs.
1.137 The pendulum falls as
B
(t) =
0
cos
_
g

t, with

B
(0) = 0. Consider the vertical
( = 0) position as the reference point at which we would like to know the time
t
c
, i.e., solving
0
cos
_
g

t = 0 for t yields
_
g

t
c
=

2
or t
c
=

2
_

g
= 1.121 s,
the time it takes the pendulum to cover the angular distance from 20

to zero
(note this does not depend on the value of
0
). Next consider particle A. It
66
starts at rest (x
A
(0) = 0) 10 meters to the left, so that x
A
(0) = 10 m. The
particles acceleration can be written as a
n
= a m/s
2
where a is an unknown
constant. Integrating yields v
A
= v
A
(0) + at = at. Integrating again yields:
x
A
(t) = x
a
(0) +
a
2
t
2
=
a
2
t
2
10. The value at collision for t will be t
c
=

2
_

g
so that
a
2
t
2
10 = 0 or a =
20
t
2
c
=
80g

= 15.9 m/s
2
.
1.138 From eq. (1.77) v
B
=

B
= 5

B
since the pendulum is in uniform circular
motion or radius = 5 m. Dierentiation of the expression for
B
(t) yields

B
=
0
_
g

sin
__
g

t
_
so that v
B
=

g sin
__
g

t
_
. Let t
c
be the
time of impact calculated in problem 1.37. Then from 1.37, v
A
= at
c
so that
v
B/A
=
0

g sin
__
g

t
_

20
t
2
c
t
c
. Substitute t
c
=

2
_

g
and
0
=

9
radians (20

)
yields v
B/A
=

9

g +
40

_
g

= 20.279 m/s.
1.139 The acceleration of each particle is given by
a
A
= 9.81 0.1v
A
(1) a
B
= 9.81 0.1v
B
(2)
with initial conditions v
A
(0) = 30 m/s, x
A
(0) = 100 m v
B
(0) = x
B
(0) = 0.
Equation (1) becomes x
A
+0.1 x
A
= 9.81 and (2) becomes x
B
+0.1 x
B
= 9.81
These are second order, uncoupled linear dierential equations with analytical
solutions. The homogeneous solutions are x
A
= A, a constant and x
A
= Be
0.1t
or x
A
(t) = A+Be
0.1t
. The particular solution is Ct. Substitution of (x
A
)
p
= Ct
into (1) yields C = 98.1. Thus (x
A
)
p
= 98.1t and the total solution is
x
A
= A + Be
0.1t
98.1t. Applying the initial condition yields
100 = A + B from the initial position
30 = 0.1B 98.1 from the initial velocity
Solving yields B = 681 and A = 781. Thus
x
A
(t) = 781 681e
0.1t
98.1t and v
A
(t) = 68.1e
0.1t
98.1.
Next consider particle B which has the same form but dierent initial conditions,
i.e., x
B
= A

+ B

e
0.1t
98.1t. The initial conditions yield
0 = A

+ B

0 = 0.1B

98.1
Solving yields A

= 981 and B

= 981 so that
x
B
(t) = 981(1 e
0.1t
) 98.1t and v
B
(t) = 98.1e
0.1t
98.1
Computing x
B/A
(t) and setting this equal to zero yields
0 = 981 781 + (981 + 681)e
0.1tc
Solving yields t
c
=
n(2/3)
0.1
= 4.0555, the time of collision. The relative velocity
at t
c
= 4.055 is v
B
(4.055) v
A
(4.055) = 20 m/s
67
The two dierential equations for the acceleration of the particles are separable
and can be solved by hand. However, to gain a better conceptual understanding
of the particle motion, the equations are solved by numerical integration using
the following Mathcad code:
a v 9.81
.
0.1 v
i . . 0 4060
t 0.001
t
.
i t
vA
0
yA
0
vB
0
yB
0
100
30
0
vA
i 1
yA
i 1
vB
i 1
yB
i 1
vA
i
.
a vA
i
t
yA
i
.
vA
i
t
vB
i
.
a vB
i
t
yB
i
.
vB t
0 1 2 3 4 5
0
50
100
Position- time of A and B
time s
yA
yB
t
i
= yA 29.241 = yB 29.252 The impact occurs 29.2 m above the
original position of B (taken as the origin).
= vB vA
4055
19.999 The relative velocity at impact is 20 m/s
0
i
68
The Matlab code for this is:
function xdot=onept139(t,x);
xdot=[x(2);-9.81-0.1*x(2);x(4);-9.81-0.1*x(4)];
In the command window:
EDU>tspan=[0 4];
EDU>x0=[100;0;0;30];
EDU>[t,x]=ode45(onept139,tspan,x0);
EDU>plot(t,x(:,1),t,x(:,3))
1.140 Let v
s
denote the velocity of the swimmer starting from rest and v
c
= 0.1+0.1x
s
denote the velocity of the river (opposite of v
s
). Then v
s/c
= 1.5 m/s = v
s
v
c
so that v
s
= v
c
+ 1.5 = 0.1 0.01x
s
+ 1.5 or
dxs
dt
+ 0.01x
s
= 1.4 which can
be solved by use of an integrating factor for x
s
. Here p(t) = 0.01, f(t) = 1.4,
(t) = e
_
.01dt
= e
0.01t
so that x
s
(t) = e
0.01t
[
_
e
0.01t
(1.4) + C
0
] = 140 + C
0
e
0.01t
.
Since x
s
(0) = 0, C
0
= 140 and x
s
(t) = 140(1 e
0.01t
), x
s
(60) = 140(1
e
0.6t
) = 63.2 m.
. . 0 14000
, x t 1.4
.
0.01 x
t 0.01
x 0

x
i
.
v , x
i
t t
0 50 100 150
0
50
100
150
x
i
t
i
i
v
0
x
i+1
FIGURE S1.140
69
The Matlab code is:
x(1)=0;dt=0.001,t(1)=0
for n=1:14000
x(n+1)=x(n)+(1.4-0.01*x(n))*dt
t(n+1)=t(n)+dt
end
plot(t,x)
1.141 Since x
s
(t) = 140(1 e
0.6t
) from problem 1.40, the swimmer will reach 100 m
at time t that satises 100 = 140(1 e
0.6t
) or t =
n(1/7)
0.1
= 125 s.
1.142 Given v
A
(t) =

j m/s (constant), v
B
(0) = 0, a
B
(t) = 2[cos 30

i + sin 30

j] n/s
a constant. Also r
A
(0) = 0, r
B
(0) = 4

i +

j m. From v
a
(t) = 3

j. r
A
(t) =
r
A
(0) + 3t

j = 3t

j. Integration of a
B
(t) yields: v
B
(t) = v
B
(0) + 1.73t

i + t

j m/s
= 1.73t

i + t

j. Integrating again yields

r
B
(t) =
1.73
2
t
2

i +
1
2
t
2

j +r
B
(0) = (0.866t
2
4)

i + (0.5t
2
+ 1)

j
Thus r
B/A
(t) = (3t + 4 0.866t
2
)

i (0.5t
2
+ 1)

j. For this to be zero, each

component must be zero, which cannot be because the

j component is always
positive, hence t has no real roots. The distance between the particles is |r
B/A
| =
_
(3t + 4 0.866t
2
)
2
+ (0.5t
2
+ 1)
2
. The minimum can be found from
d
dt
[(3 + 4 0.866t
2
)
2
+ (0.5t
2
+ 1)
2
] = 0
2(3t + 4 0.866t
2
)(3 1.73t) + 2(0.5t
2
+ 1)(t) = 0
which is cubic in t and has positive solutions. Then t = 0 or r
B/A
= 4i =

j is
when the two particles are closest. As time evolves they move apart (roots
found using Mathcad).
1.143 Using y up along north and x to the right along east, the airplane has relative
speed of v
A/W
= 200(cos

i + sin

j) mph where is the unknown direction.

The wind velocity is v
w
= 50(cos 45

i + sin 45

i) =
50

i +
50

j = constant. We
would like v
A
= 200

i. From the denition then

v
A
= v
W
+v
A/W
= (50)[(0.707)

i + (0.707

j)] + 200(cos

i + sin )

j
which results in the two scalar equations
v
A
= 35.4 + 200 cos
0 = 35.4 + 200 sin
Solving yields: = 10.2

and v
A
= 232.2 mph.
70
1.144 Note that the anker travels 40 ft (20 ft/s 2 s = 40 ft) before the quarter
back throws the ball at t = 0. Let x
f
(0) = 40

i denote the initial position of the

quarter back. For the ball
a
b
= g

k
so that
v
b
= v cos cos

i + (gt + v sin )

j + v cos sin

k
and
x
b
= [v cos cos t + x
b
(0)

i + [
gt
2
2
+ v sin t + y
b
(0)]

j + [v cos sin t]

k
where x
b
(0) = 30 ft (i.e. 30 yards behind the line of scrimmage) and y
b
(0) = 6
ft. For the anker x
f
= 20

i, and integrating yields

x
f
(t) = (20t + x
f
(0))

i + 8

j + 60

k
Setting x
b
= x
f
yields the three equations
from

i: 20t + 40 = v cos cos t 30
from

j: 8 =
gt
2
2
+ v sin t + 6
from

k: 60 = v cos sin .
Solving these three nonlinear equations in the three unknowns t, , v for = 30

using a numerical procedure yields

v = 69.719 ft/s, = 28.152

and t = 2.106.
From the expression for x
f
the yards gained on the play are
(20)(2.106)+40
3
= 27.375 yd
1.145 Following sample 1.28, let v
s
be the absolute velocity of the swimmer. With

i
perpendicular to the shore and

j up stream, v
s
= v

i, where v is the unknown

absolute speed of the swimmer. Let be the angle that v
s/w
(swimmer relative
to the water) so that
v
s/w
= 6 cos

i + 6 sin

j (ft/s)
v
w
= 5

j ft/s, so that
v
s
= v
w
+v
s/w
becomes
v

i = 5

j + 6 cos

i + 6 sin

j
from

i: v = 6 cos
from

j: 0 = 6 sin 5
which is 2 equations in two unknowns: and v. Solving yields = 56.4

,
v = 3.3 ft/s. The time to travel 200 ft is t =
d
v
=
200
3.3
= 60.3 sec.
71
1.146 Solution:
We can form a block model of the United States as shown.
Seattle
21.8
0
45
0
45
0
1200 mi
1200 mi 600 mi 1200 mi Miami
The direct flight from Seattle to Miami would be along a path South 21.8
0
of East. The
wind direction for the 1200 miles was estimated to be South 45
0
East, during the next 600
miles the wind direction is to the East and during the last 1200 miles, the wind is North
45
0
East. The wind speed is estimated to be 50 mph.
The general relative motion equation for any segment of the flight is:
v v v
P w p w
= +
/
For the first leg of the flight, these vectors are:
v i j
v i j
v i j
p
w
p w
=
[ ]
=
[ ]
= +
[ ]
v
p
cos( . )

sin( . )

cos( )

sin( )

cos( )

sin( )

/
21 8 21 8
50 45 45
300
The scalar equations of relative motion are solved using the Given-Find function in
Mathcad:
Make an initial guess for the velocity of the plane and the bearing of the plane
v
p
300

.
10 deg
Given
.
v
p
cos
.
21.8 deg
.
50 cos
.
45 deg
.
300 cos
.
v
p
sin
.
21.8 deg
.
50 sin
.
45 deg
.
300 sin
72
1.147 Solution:
Seattle
21.8
0
1200 mi
750 mi 250 mi 500 mi 1000 mi 500 mi Miami
Wind Vel E S 85
0
E E N 30
0
E S 30
0
E
The solution will be made using the Given - Find function of Mathcad:
Leg 1.
Make an initial guess for the velocity of the plane and the bearing of the plane
v
p
300

.
10 deg
Given
.
v
p
cos
.
21.8 deg
.
100 cos
.
0 deg
.
300 cos
.
v
p
sin
.
21.8 deg
.
100 sin
.
0 deg
.
300 sin
= Find , v
p

390.541
0.505
=
0.505
deg
28.934
v
p
= 391 mph = -30
0
Leg 2.
Make an initial guess for the velocity of the plane and the bearing of the plane
v
p
300

.
10 deg
Given
.
v
p
cos
.
21.8 deg
.
100 cos
.
85 deg
.
300 cos
.
v
p
sin
.
21.8 deg
.
100 sin
.
85 deg
.
300 sin
= Find , v
p

331.502
0.078
=
0.078
deg
4.469
73
1.148 Solution:
Seattle
San Francisco 45
0
45
0
New York
1200 mi
1200 mi 600 mi 1200 mi Miami
The flight is now to the West against the jet stream. The flight will be divided into three
legs.
Leg 1.
Make an initial guess for the velocity of the plane and the bearing of the plane
v
p
200

.
10 deg
Given
.
v
p
cos
.
10 deg
.
50 cos
.
45 deg
.
200 cos
.
v
p
sin
.
10 deg
.
50 sin
.
45 deg
.
200 sin
= Find , v
p

167.082
0.032
=
0.032
deg
1.833
The velocity of the plane and the course bearing are: v
p
= 167 mph = S 2
0
W
Leg 2.
Make an initial guess for the velocity of the plane and the bearing of the plane
v
p
200

.
10 deg
Given
.
v
p
cos
.
10 deg
.
50 cos
.
0 deg
.
200 cos
.
v
p
sin
.
10 deg
.
50 sin
.
0 deg
.
200 sin
= Find , v
p

150.571
0.131
=
0.131
deg
7.506
S 10
0
W
74
1.149 Solution:
21.8
0
Chicago
1200 mi
Memphis
750 mi 250 mi 500 mi 1000 mi 500 mi
Wind Vel E S 85
0
E E N 30
0
E S 30
0
E
The desired flight path from Chicago to Memphis is assumed to be S 80
0
E under a 100-
mph wind N 30
0
E.
Make an initial guess for the velocity of the plane and the bearing of the plane
v
p
300

.
80 deg
Given
.
v
p
cos
.
80 deg
.
100 cos
.
30 deg
.
300 cos
.
v
p
sin
.
80 deg
.
100 sin
.
30 deg
.
300 sin
= Find , v
p

250.701
1.715
=
1.715
deg
98.262
The velocity of the plane and the course bearing are: v
p
= 251 mph = S 82
0
W
1.150 From sample 1.29 the time to reach the opposite shore is t
f
=
2d
v
B/w
cos
=
40
cos
sec. The expression for y(t) at y(t
f
) = 500 becomes
500 = 5
_
_
10cos
200
_
2
40
3
3cos
3

2
10 cos
200

40
2
2 cos
2

_
+ 10 sin
40
cos
which is transendental in and has solution (see numerical root nder) = 56.43

.
75
1.151 From sample 1.29 the angle is determined
= sin
1
_
2vw
3v
B/w
_
= sin
_
(2)(2)
(3)(10)
_
= 7.6

where v
w
= 2 ft/s is the velocity of the river.
1.152 From sample 1.30, the 3 equations determining v
s
, and with v
RT
= 0.7
become
+ = 90

v
s
cos = 0.3 cos
v
s
sin = 0.7 0.3 sin
Solving using Mathcad yields: = 24.8

, = 64.3

and v
s
= 0.632 m/s.
1.153 We are given: x
B
= 2 sin t

i + 5t

j,
x
G
= 4t cos 30

i + 4t sin 30

j so that dierentiation yields

v
B
= 2 cos t

i + 5

j, v
G
= 4 cos 30

i + 4 sin 30

j and
a
B
= 2
2
sin t

i, a
G
= 0
From eq. 1.126, v
G/B
= v
G
v
B
= (4 cos 30

2 cos t)

i + (4 sin30

5)

j
and a
G/B
= a
G
a
B
= 2
2
sin t

i
76
1.154 From the previous problem:
x
G/A
= (4t cos 30

2 sin t)

i + (4t sin 30

5t)

j
so that the distance between the two as a function of time is
d(t) = |x(t)| = ((4t cos 30

2 sin t)
2
+ (4t sin30

5t)
2
)
1/2
which is plotted below using Mathcad:

.
30 deg t .. , 0 0.1 3
xB t
.
2 sin
.
t
.
5 t
0
xG t
. .
4 t cos
. .
4 t sin
0
d t xB t xG t
0 1 2 3
5
10
15
Time s
D
i
s
t
a
n
c
e

m
d t
t
FIGURE S1.154
1.155 Given x
B
= 2 sin t

i + 5t

j and
x
G
= 4t cos 30

i + 4t sin 30 sin
_
t
2
_

j,
x
B/G
= (2 sin t 4t cos 30

i + (5t 4t sin 30

sin
t
2
)

j
v
B/G
= (2 cos t 4 cos 30

i + (5 2t sin 30

cos
t
2
4 sin30

sin
t
2
)

j
a
B/G
= 2
2
sin t

i + (4 sin 30

cos
t
2
+
2
t sin30

sin
t
2
)

j
77
1.156 From x
B/0
of the previous problem:
d(t) = |x
B/G
(t)| = [4
4
sin
2
t + (1 4 sin 30

cos
t
2
+ t sin 30

sin
t
2
)
2
]
1/2
which is plotted in the gure using Mathcad.

.
30 deg t .. , 0 0.1 3
xB t
.
2 sin
.
t
.
5 t
0
xG t
. .
4 t cos
. . .
4 t sin sin
.
t
2
0 d t xB t xG t
0 1 2 3
10
20
30
Time s
D
i
s
t
a
n
c
e

m
d t
t
FIGURE S1.156
The Matlab code is:
syms t
th=pi/6;
xb=[2*sin(pi*t);5*t;0];xG=[4*t*cos(th);4*t*sin(th)*sin(pi*t/2);0];
d=sqrt(dot(xb,xG));
ezplot(d,[0,3])
78
1.157 From the given function
a
A
=
d
dt
(v
A
) =

i + 1.224

j 1.224

k 0.2v
A
which is a vector dierential equation of the form
v
A
+ 0.2v
A
=

i + 1.224

j 1.224

k = b
The solution of the homogeneous equation v
A
H
= Ae
0.2t
plus a particular
solution: v
p
=
1
0.2
(

i + 1.224

j 1.224

k) or
v
A
= Ae
0.2t
+
1
0.2
(

i + 1.224

j 1.224k)
where A is evaluated from the listed condition v
A
(0) = 0 which yields
0 = A +
1
0.2
(

i + 1.224

j 1.224

k) or A =
1
0.2
(1.224

j 1.224

k)
Then
v
A
= 5(1 e
0.2t
)(

i + 1.224

j 1.224k) m/s
Integration again yields
x
A
x
A
(0) = 5(t + 5e
0.2t
5)(

i + 1.224

j 1.224

k)
or
x
A
= 5(t + 5(e
0.2t
1))(

i + 1.224

j 1.224

k)
Next consider a
B
= 3t

i 2 cos t

k m/s. Integrating yields

v
B
v
B
(0) =
3t
2
2

i
2 sin t

k where v
B
(0) = 0
Integrating again yields
x
B
x
B
(0) =
t
3
2

i
2

2
(1 cos t)

k where x
B
(0) = 0
Now form
v
B/A
=
_
3t
2
2
5(1 e
0.2t
)
_

i 6.12(1 e
0.2t
)

j
+
_
6.12(1 e
0.2t
)
2

sin t
_

k
and
x
B/A
=
_
t
3
2
5(t + 5(e
0.2t
1))
_

i [6.12(t + 5(e
0.2t
1))]

j
+
_
1

2
(cos t 1) + 6.12(t + 5(e
0.2t
1))
_

k
79
The gure represents a numerical solution and plots of the magnitude of x
B/A
in Mathcad:
i .. 0 3000 t 0.001 t
i
.
i t
vx
0
0 x
0
0 vy
0
0 y
0
0 vz
0
0 z
0
0
ax , vx t 1
.
0.2 vx
.
3 t
ay , vy t
.
2 0.0612
.
0.2 vy
az , vz t
.
0.621 2
.
0.2 vz
.
2 cos
.
t
vx
i 1
x
i 1
vy
i 1
y
i 1
vz
i 1
z
i 1
vx
i
.
ax , vx
i
t
i
t
x
i
.
vx
i
t
vy
i
.
ay , vy
i
t
i
t
y
i
.
vy
i
t
vz
i
.
az , vz
i
t
i
t
z
i
.
vz
i
t
v
i
vx
i
2
vy
i
2
vz
i
2
x
i
x
i
2
y
i
2
z
i
2
0 1 2 3
5
10
x
i
t
i
0 1 2 3
5
10
v
i
t
i
FIGURE S1.157
The Matlab code ode45 can be used to solve this numerically. The plots of x(t)
and r(t) can be obtained symbollically from:
sys t
x=[t3/2-5*(t-5*(exp(-0.2*b)-1));6.12*(t+5*(exp((-0.2*t)-1));(1/pi2)*(cos(pi*t)-
1)];
Nx=SVD(x);
ezplot(Nx(3),[0,3])
80
1.158 Dene d(t) = |x
B/A
| where x
B/A
is dened as derived in Problem 1.157. Using
Mathcad to plot yields gure S1.157.
1.159 Since x
A
starts to move 1.5s after x
B
, shift the time of x
B
ahead by 1.5s by
replacing t with t +1.5 in the expression for x
B
derived in Problem 1.157. This
yields
x
B
=
(t+1.5)
3
3

i
1

2
(1 cos((t + 1.5))

k
Then for t 4.5s,
x
B/H
=
_
(t+1.5)
3
2
5(t + 5(e
0.2t
1)
_

i 6.12 [t + 5(e
0.2t
1)]

j
+
_
6.12 [t + 5(e
0.2t
1)]
2

2
(1 cos(t + 1.5))
_

k
and for 0 < t < 1.5
x
B/A
=
(t+1.5)
3
2

i
2

2
(1 cos((t + 1.5))

k.
The Mathcad solution:
i .. 0 3000 t 0.001 t
i
.
i t
vx
0
0 x
0
0 vy
0
0 y
0
0 vz
0
0 z
0
0
ax , vx t
.
1
.
0.2 vx t 1.5 3 t
ay , vy t
. .
2 0.0612
.
0.2 vy t 1.5
az , vz t
. .
0.621 2
.
0.2 vz t 1.5
.
2 cos
.
t
vx
i 1
x
i 1
vy
i 1
y
i 1
vz
i 1
z
i 1
vx
i
.
ax , vx
i
t
i
t
x
i
.
vx
i
t
vy
i
.
ay , vy
i
t
i
t
y
i
.
vy
i
t
vz
i
.
az , vz
i
t
i
t
z
i
.
vz
i
t
v
i
vx
i
2
vy
i
2
vz
i
2
x
i
x
i
2
y
i
2
z
i
2
0 1 2 3
10
20
x
i
t
i
0 1 2 3
20
40
v
i
t
i
FIGURE S1.159
81
1.160 This is similar to sample problem 1.32. Using the coordinate system suggested
in Sample 1.32, y
B
denotes the distance to the bracket and x
A
to the man. Then
x
A
+ 2y
B
=
2v
B
= v
A
or v
A
= 2v
B
Since v
B
= 1 ft/s, v
A
= 2 ft/s (down)
1.161 Use the pulley as a reference point, and let x
A
be the distance from the pulley
to A and x
B
the distance from the pulley to B. Then
x
A
+ x
B
= constant and dierentiating yields
x
A
= v
B
, and a
A
= a
B
.
1.162 Let v
c
be the cable velocity: v
c
= 0.5 m/s. Let x
T
denote the distance from the
tree to the end of the truck. The length to the cable is x
c
+ 2x
T
= so that
v
c
= 2v
T
or v
T
=
1
2
v
c
= 0.25 m/s (right)
1.163 Let x
A
be the distance for the pulley to the man at A, x
p
be the distance
between the top pulley and the bottom pulley. Let x
B
be the distance from the
top pulley to B and let the bracket for the bottom pulley be a height of c. Then
x
A
+ 2x
p
+ x
B
c, but x
p
= (x
B
c)
so that x
A
+ 3x
B
=constant and v
A
= 3v
B
with x
B
, x
A
pointed down, B traveling upwards yields
v
B
= 10 ft/s and v
A
= 3 (10) = 30 ft/s (down)
1.164 Let x
A
denote the distance from the top of the pulley to block A, y
B
denote the
distance from the top of the pulley down to the pulley holding B and y denote
the distance from the top of the pulley down to mass c (down position, to the
right position). Then the length of the rope is
y
c
+ 2y
B
+ x
A
= constant
dierentiation yields
v
A
+ 2v
B
+ v
C
= 0
or
v
c
= 2v
B
3 m/s and a
c
= 2a
A
1 m/s
82
1.165 Let h be the hypothesis of the triangle. Then from the right triangle
h
2
= 15
2
+ x
2
(1)
for any value of x. Also from length of rope
= h + (15 y) = 30 (2)
Solve this for
h = y + 15 (3)
Now substitute (3) into (1) to get:
(15 + a)
2
= 15
2
+ x
2
(4)
for any x and y. Taking a time derivative yields
2(15 + y) y = 2x x
Solving for y yields
y =
x x
15 + y
At y = 10
(15)
2
= 15
2
+ x
2
or, x = 20 m
Then y =
_
20
25
_ _
0.5 m/s
2
_
= 0.4 m/s, at y = 10 m.
1.166 Let x
A
extend from the xed pulley above B to the left of pulley B to mass A
and let y
B
extend (positive) from the same pulley down to the mass at B. Let
d be the distance between the two xed pulleys. Then the length of the rope is
= 2y
B
+ x
A
+ (x
A
d) + (x
A
d)
or
const. = 2y
B
+ 3x
A
.
Dierentiate to get:
y
B
=
3
2
x
A
and y
B
=
3
2
x
A
.
1.167 Use the top xed pulleys as a reference and let x
A
denote the distance to mass
A, x
B
the distance to mass B, x
c
the distance to mass C and denote x
p
the
distance to tohe pulley that is free to move. All distances are vertical with
positive downward. There are two separate ropes. Let
1
denote the from A to
the movable pulley so that

1
= x
A
+ x
B
+ (x
B
x
p
) (1)
83
Let
2
denote the length of the rope from mass C up to ground so that

2
= x
c
+ 2x
p
(2)
Dierentiation of (2) yields v
p
= v
c
/2 which is substituted into the derivative
of (1) to yield
4v
B
+ v
c
= 2v
A
m/s
1.168 Let the top pulley be the xed frame of reference, and x denote the distance
from the reference down (t) to the mass, and let x
m
be the distance from the
reference down (t) to a point on the rope connecting to the motor. Them
= x
m
+ 2x
and dierentiation yields that
v =
1
2
v
m
From section 1.7 v
m
= rw = (0.2)(9.55 rad/s = 1.91 m/s and v =
1
2
v
m
=
0.955 m/s
1.169 Let y
B
denote the distance from the pulley to the mass at A (+ down), let x
B
denote the distance from the pulley to the collar along the shaft. The length of
the rope is = d
a
+y
B
. From the right triangle made by d, the bar the collar
rides on, and the rope:
2
1
. Thus = d + y
B
= y
B
+
_
d
2
+ x
2
B
. Dierentiating
yields 0 = y
B
+
1
2
2x
B
x
B

d
2
+x
2
B
.
1.170 Pick a xed point to left of block A as the reference and dene x
A
and x
c
(both positive to the right) as the distance from the reference to block A and C
respectively. Then dene y
c
to be the distance down from the rst pulley to B.
The length of the rope is then = x
A
+ x
c
+ 2y
B
anad dierentiation yields
v
A
= v
c
2v
B
.
1.171 Solution:
ds
dt
= 20 m/s = constant so s = 20t and
ds
2
dt
2
= 0
(s) = 4 sin(
s
2000
) so that (t) = 4 sin(0.5t)
From equation 1.147 with x
0
= y
0
= 0
x(s) =
_
s
0
cos(())d y(s) =
_
s
0
sin ()d
84
The Mathcad solution:
s .. , 0 10 6000
s
.
4 sin
s
2000
x s d
0
s
u cos u
y s d
0
s
u sin u
an s
.
20
2 d
d s
s
4000 3000 2000 1000 0 1000
1000
1000
2000
Road as viewed from above
km
k
m
y s
x s
0 2000 4000 6000
0.5
1
distance along road in km
n
o
r
m
a
l

a
c
c
e
l
e
r
a
t
i
o
n

m
/
s
^
2
an s
s
FIGURE S1.171
From (1.146): a
n
=
_
ds
dt
_
2
d(s)
ds
= (20)
2 4
200
cos
_
s
200
_
= 800 cos
_
s
200
_
y(s) and |a
n
(s)| are plotted in the gure.
1.172 We are given that a(s) = 5 so that integrating vdv = 5ds yields v(s) =

10s
for zero initial condition. Also since = 1 +
s
2
2000
2
,
d
ds
=
2s
1000
2
. But a
n
(s) =
v(s)
2 d
ds
= (10s)(
2s
2000
2
). Thus |a| =
_
a
2
n
+ a
2
t
=
_
(10s)
2
(
2s
2000
2
)
2
+ 25. When
|a| = 8 the car spins out so that s must satisfy
8
2
= (10s)
2
(
2s
2000
2
)
2
+ 25.
Solving for s yields: s
2
=

39(2000)
2
20
or s = 1, 118 m.
85
1.173 The given constant speed means that
ds
dt
= 60
m
hour

hour
3600s
5280 ft
m
= 88 ft/s. To
determine the normal acceleration from equation (1.146) we need to calculate
(ds/dt)
2
= 88
2
and d/ds. From the given value of :
d
ds
_
s
2000
+ e
5/1000
_
=
1
2000

1
1000
e
s/1000
Thus a
n
=
88
2
1000
_
0.5 e
s/1000
_
= 7.744
_
1
2
e
s/1000
_
ft/s
2
.
The Mathcad solution:
v 88 s .. , 0 10 5000
s
s
2000
e
s
1000
an s
.
v
2 d
d s
s
0 1000 2000 3000 4000 5000
2
4
Magnitude of Normal Acceleration
distance traveled in f
f
t
/
s
^
2
an s
s
FIGURE S1.173
1.174 This requires the use of the 3-D formulation of equation 1.150. The component
of a normal to the above can be found by taking the dot product of the accel-
eration with the unit normal vector. To dene the unit normal vector can be
found from a
n
= a = a
t
= a a t. First we need
d
ds
and
d
ds
. From the given
form:
d
ds
=
1
1000
(0.5 e
s/1000
),
d
ds
=

2
5000
cos
_
s
5000
_
. The Mathcad solution:
v 88 s .. , 0 10 5000
s
.
sin
.
s
5000
s
s
2000
e
s
1000
an s
.
v
2
.
d
d s
s
2
cos s
2 d
d s
s
2
0 1000 2000 3000 4000 5000
10
20
distance traveled in f
n
o
r
m
a
l

a
c
c
e
l
e
r
a
t
i
o
n

i
n

f
t
/
s
^
2
an s
s
FIGURE S1.174
86
1.175 Solution:
v 88 s .. , 0 10 5000 s
.
sin
.
s
5000
s
s
2000
e
s
1000
v s
. .
2 1.5 s
an s
.
v s
2
.
d
d s
s
2
cos s
2 d
d s
s
2
0 1000 2000 3000 4000 5000
20
40
distance traveled in ft
n
o
r
m
a
l

a
c
c
e
l
e
r
a
t
i
o
n

i
n

f
t
/
s
^
2
an s
s
FIGURE S1.175
1.176 Solution:
v 88 s .. , 0 10 5000 s
.
sin
.
s
5000
s
s
2000
e
s
1000
s
1
.
d
d s
s
2
cos s
2 d
d s
s
2
0 1000 2000 3000 4000 5000
1000
2000
3000
distance traveled in ft
r
a
d
i
u
s

o
f

c
u
r
v
a
t
u
r
e

i
n

f
t
s
s
FIGURE S1.176
87
1.177 Solution:
s .. , 0 1 50
s
s
100
s
.

2
sin
.
s
25
v 10
an s
.
v
2
.
d
d s
s
2
cos s
2 d
d s
s
2
0 10 20 30 40 50
10
20
distance traveled in m
n
o
r
m
a
l

a
c
c
e
l
e
r
a
t
i
o
n

i
n

m
/
s
^
2
an s
s
FIGURE S1.177
1.178 Solution:
s .. , 0 1 100
s
s
100
s
.

2
sin
.
s
25
v s 10
.
5 cos
.
s
25
an s
.
v s
2
.
d
d s
s
2
cos s
2 d
d s
s
2
at s
.
d
d s
v s v s
a s at s
2
an s
2
0 20 40 60 80 100
20
40
60
distance traveled in m
t
o
t
a
l

a
c
c
e
l
e
r
a
t
i
o
n

i
n

m
/
s
^
2
a s
s
FIGURE S1.178
88
CHAPTER 2
2.1 Given:
k
= 0.1, W = 200 lb and P = 50 lb. The free body diagram yields:
N mg P sin 30 = 0 (sum of forces in y-direction) (1)
P cos 30 f = ma
x
(sum of forces in x-direction) (2)
From (1) N = mg + P sin 30 = 200 + 50(
1
2
) = 225 lb
Friction force f =
k
N = 0.1(225) = 22.5 lb
Therefore ma
x
= 50(

3
2
) 22.5 = 20.80 lb
a
x
=
20.80
200/32.2
= 3.34 ft/s
2
v
x
= 3.34t (assuming initially at rest)
x = 1.67t
2
(assuming x(0) = 0)
Therefore t =
_
100
1.67
= 7.73 sec
F
_
30
o
f
N
x
y
FIGURE S2.1
2.2 Solution:
s
= 0.4, m = 150 kg,
k
= 0.3
T f mg sin = ma
x
N mg cos = ma
y
= 0
N = mg cos = 150(9.81) cos = 150(9.81)
100

100
2
+1
2
= 1471 N
T
mg
100
f
N
x
o
(1/100) = .573 0.01 rad
~
~
= tan
-1

1
FIGURE S2.2
90
f
max
=
s
N = 0.4(1471) = 588.4 N
Therefore T
max
= f
max
+ mg sin = 588.4 + (150)(9.81)
1

100
2
+1
= 603 N
f =
k
N = 0.3(1471) = 441 N
a
x
=
1
m
(T f mg sin ) =
1
150
_
603 441 150(9.81)
1

100
2
+1
_
a
x
= 0.98 m/s
2
Therefore v
x
= 0.98t m/s assuming zero initial velocity.
Therefore t =
5
0.98
= 5.1 sec
2.3 Examining the maximum friction
s
= 0.2. This can produce an acceleration of
a
c
= 0.2(32.2) = 6.44 ft/s
2
. Therefore the box slips because the force of static
friction ma
c
is less than that applied by the truck
a
c
= 0.15(32.2) = 4.83 ft/s
2
a
c/T
= 4.83 10 = 5.17 ft/s
2
(We could now determine where the crate falls o if we knew length of tuck
bed.)
mg
f
N
FIGURE S2.3
2.4 Solution:
a)

F = ma
100 50 =
100
32.2
a
a = 16.1 ft/s
2
b) 100 T =
100
32.2
a
T 50 =
50
32.2
a
Therefore 50 =
150
32.2
a a = 10.73 ft/s
2
c) 150 T =
150
32.2
a
91
T 100 =
100
32.2
a
50 =
250
32.2
a a = 6.44 ft/s
2
100 100
50
50
150
100
100
50
T
100
T
50
T
150
T
100
FIGURE S2.4
2.5 Solution:
N mg = ma, or
N = mg + ma
for: a = +2 : N

= m(9.81 + 2) = 1181 N
for: a = 2.5 : N

= 100(9.81 2.5) = 731 N

N
+
mg
FIGURE S2.5
2.6 Solution:
mg sin 30

+ mg cos 30

= ma along the conveyor. Or:

0.5g + 0.2598g = a, thus:
a = .24g.
92
v = 0.24gt + v
0
x = 0.12gt
2
+ 0.2t
0.12(9.81)t
2
0.2t 10 = 0
t = 3s
Note that this slips immediately as
s
g cos(30

) < 0.5g
30
o
10 9.8
30
o
.
N
f
FIGURE S2.6
2.7 From S2.7a the constraint equation is
2(x
A
x
B
) + (x
c
x
B
) = constant
Thus 2x
A
3x
B
= constant and dierentiation yields
2a
A
= 3a
B
(1)
Now from S2.7b, Newtons law in the horizontal direction yields
3T = (40)a
B
(2)
and from S2.7c, Newtons law yields
100 2T = (20)a
A
(3)
This is 3 equations in 3 unknowns which yields
a
B
= 1.765 m/s
2
, a
A
= 2.647 m/s
2
and T = 23.533 N
C
X
B
B
A
x
B A 3T
40g
N
100
20g
2T
N
(a) (b)
(c)
x
A
FIGURE S2.7
93
2.8 Constraints to motion are from gure S2.8a are :
x
c
+ x
p
=
1
, therefore: a
p
= a
c
.
And x
A
x
p
+ x
B
x
p
=
2
, hence:
a
A
+ a
B
2a
p
= 0, and thus a
A
+ a
B
+ 2a
c
= 0
C
P
B
A
x
FIGURE S2.8a
From the FBDs of gure S2.8b:
25g T
2
= 25a
A
T
1
= 2T
2
20g T
2
= 20a
B
50g 2T
2
= 50a
c
.
But a
c
=
1
2
(a
A
+ a
B
)
Subtract 2x the rst equation from third to get
50(a
c
a
A
) = 0, or a
c
= a
A
.
From the constraint a
B
= 3a
A
. Subtract 2nd from 1st
5g = 85a
A
a
A
= 0.577 m/s
2
T
2
= 231 N a
B
= 1.731 m/s
2
T
1
= 462 N a
c
= 0.577 m/s
2
T
2
T
2
T
1
T
1
25g 20g
2T
2
50g
FIGURE S2.8b
94
2.9 From gure S2.9a, the constraints are
x
A
+ 2x
p
=
1
, and
(x
B
x
p
) + x
B
=
2
.
A 100 50
P
B
x
A
x
P
x
P
FIGURE S2.9a
Dierentiating yields a
A
= 2a
p
and 2a
B
= a
p
so that a
A
= 4a
B
Next the FBDs of Figure S2.9b yields:
100 9.81 T
1
= 100a
A
from A
T
2
2T
1
= 0 (assumed massless) from P
(50)(9.81) 2T
2
= 50a
B
from B
T
1
T
1
T
1
2T
2
100(9.81)
T
2 50(9.81)
T
2
=2T
1
A P B
FIGURE S2.9b
These three equations, plus the constraints a
A
= 4a
B
form a system of four
equations and four unknowns which can be solved for a
A
. This yields
a
A
= 8.324 m/s
2
Integrating vdv = a
A
dx from rest conditions yields
v
2
2
= (9.324)(0.5) or v = 2.885 m/s
2.10 From S2.10, (100)a = 100x or
x = 50x
vdv = 50dx
v
2
2
= 25(x
2
0.3
2
)
v =
_
50(0.09 x
2
)
dx
dt
= 7.07

0.09 x
2
95
_
t
0.3
dx

0.09x
2
=
_
t
0
7.07dt
sin
1
_
x
0.3
_
|
x
0.3
= 7.07t
sin
1
_
x
0.3
_
sin
1
(1) = 7.07t
sin
1
_
x
0.3
_
= (7.07t +

2
)
x = 0.3 sin(7.07t +

2
)
x = 0.3 cos(7.07t)
F
s
x
FIGURE S2.10
Alternately from S2.10
kx = m x where x(0) = 0, x(0) = 0.3m
m = 2 kg, k = 100 N/m, x(0) = 0.3
x + 50x = 0
Integrating Factor
x = Ae
at
, a
2
+ 50 = 0, a = 7.07i
x = Asin(7.07t) + Bcos(7.07t)
x(0) = 0.3 = B B = 0.3
x(0) = 0 = 7.07A A = 0
x = 0.3 cos(7.07t)
2.11 From the FBD of the system as a whole: P 3mg sin = 3ma, so that
a =
1
3m
[P 3mg sin ]
From the FBD for car C:
P T
BC
mg sin = ma =
1
3
[P 3mg sin ].
Solving yields
T
BC
= 2/3P.
Likewise a FBD of the system consisting of B and C taken together yields
T
AB
=
1
3
P
96
A
B
C
mg

mg
mg
TBC
P
C
mg
P
FIGURE S2.11
2.12 From a FBD of the entire system as given in the top of Figure S2.12:
70 sin20

70 cos 20

(0.2) =
70
32.2
a
a = 4.96 ft/s
2
Now from the bottom of S2.12, the FBD yields
50 sin20

T 0.2(50) cos 20

=
50
32.2
(4.96)
So T = 0!
This result is expected, as the motion is independent of mass and both blocks
slides independently.
20
20
o
20
50
o
20
o
f
T
50
FIGURE S2.12
2.13 Sled will start to move when
a) 500(t
2
+ 2t) = 0.5(200)(9.81) t
2
+ 2t 1.962 = 0
t = 1

4+4(1.962)
2
= 1

2.962
t = 0.721 s or t = 2.721
97
F(t)
f
FIGURE S2.13
b) From t = 0.721 to 6s
F(t) 0.4(200)(9.81) = 200a
v =
1
200
_
6
0.721
[500(t
2
+ 2t) 0.4(200)9.81]dt
= [0.833t
3
+ 2.5t
2
3.924t]|
6
0.721
= 248 m/s (555 mi/hr)
v(t) = 0.833t
3
+ 2.5t
2
3.924t + 1.217
x(6) = [0.208t
4
+ 0.833t
8
1.962t
2
+ 1.217t|
6
0.721
x(6) = 386 m
c) From 6s on:
0.4g = a
a = 3.924
v = 3.924t + 248
time where v = 0
t = 63.2s
x =
3.924
2
t
2
+ 248t
= 7837 m
Total distance = 386 + 7837 = 8223 m or 8.2 km (5.1 mi)
98
2.14 Solution: f
max
= 0.3(90)(9.81) = 265 N. Therefore system slips.
a) Assume whole system slips as a whole. Then summing forces yields: 1200
(.25)(990)(9.91) = (90)(a). Solving yields a = 10.88 m/s
2
.
20
40
30
90(9.81)
f
1200N
A + B + C
220.7
1200
a=10.9 m/s
2
60
f=60a a=2.9 m/s
2
A+B
f=0.3(60)(9.81) = 176.58
A+B slips
FIGURE S2.14a
b) Assume slip between each surface
20g
f
2
N
1
N
1
f
2
N
2
f
1
30g
f
2
N
2
1200
f
3
40g
N
3
FIGURE S2.14b
0.25(20)(9.81) = 20a
A
from FBD of the 20kg block. Thus
a
A
= 2.45 m/s
2
0.25(60)(9.81) 0.25(20)9.81) = 40a
B
from the FBD of the 40kg block thus
a
B
= 2.45 m/s
2
Therefore A and B the top two blocks move together (they have the same
acceleration)
99
c) Next C slips out from under A and B (the FBD is S2.14c). Then
0.25(60)(9.81) = 60a
AB
. Thus
a
AB
= 2.45 m/s
2
.
From the FBD on the bottom of Figure S2.14c:
1200 0.25(60)(9.81)
0.25(90)(9.81) = 30a
c
Thus the acceleration of the bottom block is
a
c
= 27.74 m/s
2
60g
f
AB
N
AB
N
AB
f
AB
1200
f
N
30g
C
C
FIGURE S2.14c
2.15 Will the system slip?
20
40
30
400
FIGURE S2.15a
Is 400 0.3(90)(9.81) = 265 N?
Yes, so the system slips.
A
B
f
max
=176.6
a=2.9 m/s
2
N
mg
FIGURE S2.15b
100
From the FBD of A and B:
400 0.25(90)9.81 = 90a
T
a
T
= 1.99 m/s
2
f
max
= 176.6 which implies a = 2.9 m/s
2
So A and B must move with C.
2.16 Solution:
N
1
f
1
30
o
N
2
f
2
50g
N
2
f
2 f
3
N
3
10g
FIGURE S2.16a
Assume no slip and determine the required value of
s
. From FBD of A:
N
1
+ N
2
cos 30

N
2
sin 30

= 0 (1)
N
1
+ N
2
sin 30

+ N
2
cos 30

50g = 0 (2)
From the FBD of B:
N
2
cos 30

+ N
2
sin 30

N
3
= 0 (3)
N
2
sin 30

N
2
cos 30

+ N
3
10g = 0 (4)
This is a system of four nonlinear equations in the four unknowns
s
, N
1
, N
2
,
and N
3
. Solved by Mathcad Eqs. 1-4 required
s
= 0.242.
Since the required for equilibrium is larger than the 0.2 given the system
will slip. Knowing it will slip, the equations of motion are (with zero accelera-
tion into the walls)
N
1
+
k
N
2
cos 30

N
2
sin 30

= 0

k
N
1
+
k
N
2
sin 30

+ N
2
cos 30

50g = 50a
A

k
N
2
cos 30

+ N
2
sin 30

k
N
3
= 10a
B

k
N
2
sin 30

N
2
cos 30

+ N
3
10g = 0

k
= 0.15, this is a system of 5 unknowns N
1
, N
2
, N
3
, a
A
, a
B
and only 4
equations. Hence we need a constraint of the motion. The acceleration of the
101
blocks in the normal direction at the contacting surface is the same (see S2.16b).
Thus a
A
cos 30

= a
B
sin 30

which provides the 5

th
equation. Solving these 5
nonlinear equations in the 5 unknowns yields the desired acceleration (using a
computer code such as the MATLAB le at the end of this solution):
a
A
= 3.401 m/s
2
a
B
= 5.891 m/s
2
From d =
a
2
t
2
, the time for box A to move 0.1 m is
t =
_
(2)(0.1)
3.401
= 0.242 s. During this time box B moves
x
B
(0.242) =
5.891
2
(0.242)
2
= 0.173 m

a
A
a
B
-a
A
cos30
o
= a
B
sin 30
o
FIGURE S2.16b
This must be added to the distance the block B slides to the right due to its
separation velocity. The velocity of separation is:
v
B
= 5.891 0.242 = 1.426 m/s
The deceleration of the block is 0.15 9.81 = 1.472 and the time when the
block stops is:
t =
1.426
1.472
= 0.969 s
The total distance traveled is:
x
B
= 0.075 9.81(0.969)
2
+ 1.426 0.969 + 0.173 = 0.864 m
102
The MATLAB solution:
Main program to solve the first nonlinear equation(non1.m)
% Main m-file to solve the nonlinear equation
% Initial guess values for the solution
% x(1)=N1; x(2)=N2; x(3)=N3; x(4)=Mu_s;
g=9.81;
x0=[ 10*g 6*g 10*g 0.4];
% solve the nonlinear equation with given initial guess
F=fsolve('neqn1',x0);
% display solutions
disp(' ')
disp(sprintf(' N1= %6.4f',F(1)))
disp(sprintf(' N2= %6.4f',F(2)))
disp(sprintf(' N3= %6.4f',F(3)))
disp(sprintf(' Mu_s= %6.4f',F(4)))
Function program to solve the first nonlinear equation(neqn1.m)
function F=neqn1(x)
% Function m-file to define the nonlinear equation
deg2rad=pi./180; g=9.81; % constants required for the calculation
N1=x(1); N2=x(2); N3=x(3); Mu_s=x(4); % assign the values
F1= N1 + Mu_s * N2 * cos(30*deg2rad) - N2 * sin(30*deg2rad) ;
F2= Mu_s * N1 + Mu_s * N2 * sin(30*deg2rad) + N2 * cos(30*deg2rad) - 50*g ;
F3= -Mu_s * N2 * cos(30*deg2rad) + N2 * sin(30*deg2rad) - N3 * Mu_s ;
F4= -Mu_s * N2 * sin(30*deg2rad) - N2 * cos(30*deg2rad) + N3 - 10*g ;
F=[F1 F2 F3 F4]';
Main program to solve the second nonlinear equation(non2.m)
% Main m-file to solve the nonlinear equation
% Initial guess values for the solution
% x(1)=a_A; x(2)=a_B; x(3)=N1; x(4)=N2; x(5)=N3;
g=9.81;
x0=[ -0.3 0.4 10*g 6*g 10*g ];
% solve the nonlinear equation with given initial guess
F=fsolve('neqn2',x0);
% display solutions
disp(' ')
disp(sprintf(' a_A= %6.4f',F(1)))
disp(sprintf(' a_B= %6.4f',F(2)))
disp(sprintf(' N1= %6.4f',F(3)))
disp(sprintf(' N2= %6.4f',F(4)))
disp(sprintf(' N3= %6.4f',F(5)))
Function program to solve the first nonlinear equation(neqn2.m)
function F=neqn2(x)
% Function m-file to define the nonlinear equation
deg2rad=pi./180; g=9.81; Mu_k=0.15; % constants required for the calculation
a_A=x(1); a_B=x(2); N1=x(3); N2=x(4); N3=x(5); % assign the values
F1= N1 + Mu_k * N2 * cos(30*deg2rad) - N2 * sin(30*deg2rad) ;
F2= Mu_k * N1 + Mu_k * N2 * sin(30*deg2rad) + N2 * cos(30*deg2rad) - 50*g - 50 * a_A;
F3= -Mu_k * N2 * cos(30*deg2rad) + N2 * sin(30*deg2rad) - N3 * Mu_k - 10 * a_B;
F4= -Mu_k * N2 * sin(30*deg2rad) - N2 * cos(30*deg2rad) + N3 - 10*g ;
F5= a_A * cos(30*deg2rad) + a_B*sin(30*deg2rad);
F=[F1 F2 F3 F4 F5]';
103
2.17 The geometry of the sketched spring in Fig. S2.17 yields

2
=
2
0
+ x
2
(
0
+ )
2
=
2
0
+ x
2

2
0
+ 2
0
+
2
=
2
0
+ x
2
where is the spring elongation.
m
x
l
l
o
F
s
N
mg
FIGURE S2.17
Thus

2
+ 2
0
x
2
= 0, or
=
2
0

4
2
0
+4x
2
2
=
0

2
0
+ x
2
. Using the positive root, the magnitude
of the spring force is
|F
s
| = k
_
_

2
0
+ x
2

0
_
From the FBD:
mg k
_
_

2
0
+ x
2

0
_
x

2
0
+x
2
= ma
Thus
d
2
x
dt
2
= g
k
m
_
_

2
0
+ x
2

0
_
x

2
0
+x
2
a(x) = g
kx
m
_
1

0

2
0
+x
2
_
.
2.18 Solution:
From the gure
( + )
2
= x
2
+
2

2
+ 2 +
2
= x
2
+
2

2
+ 2x
2
= 0
=
2

4
2
+4x
2
2
=

2
+ x
2
(could write this directly)
mg F
s
sin
k
N = m x, sin =
x

2
+x
2
N F
s
cos = 0, cos =

2
+x
2
104

F
s
f
mg
x
l
FIGURE S2.18
N = k
_

2
+ x
2

2
+x
2
, F
s
= k
N = k
_
1

2
+x
2
_
x = g
k
m
_
x
_
1

2
+x
2
_
+
k
x
| x|

_
1

2
+x
2
__
x = g
k
m
(x +
k
x
| x|
)(1

2
+x
2
)
which would require a numerical solution.
105
2.19 Solution:
l 0.3 k 300 m 2 g 9.81
i . . 0 2000
t 0.001
v
0
x
0
0
0
a x g
. .
k
m
l
2
x
2
l
x
l
2
x
2
v
i 1
x
i 1
v
i
.
a x
i
t
x
i
.
v
i
t
0 0.5 1 1.5 2
0.2
0
0.2
0.4
0.6
Position vs time
Time s
x
i
.
i t
2.20 First note that 30g 0.5(20)g, so it does in fact slip. The constraint is that
L = x
A
+ x
B
+ const
0 = x
A
+ x

0 = a
A
+ a
B
so that a
A
= a
B
. (1)
From the FBD of (B):
30(9.8) T = 30a
B
(2)
From the FBD of A:

F
x
= ma
A
becomes:
T
k
N = 20a
A
T
k
mg = 20a
A
T 0.4(20)(9.81) = (20)a
A
(3)
Adding (2) and (3), using (1) yields
(30)(9.81) (0.4)(20)(9.81) = 50a
A
106
So that a
A
= 4.316 m/s
2
. Then d =
a
B
2
t
2
or
t =
_
1
4.326
= 0.481 s.
20g
+
T
N
F
A
T
B
30g
+
(a) (b)
FIGURE S2.20
2.21 First determine the unit normal vector to the surface of the ice, n.
100 ft
z
x
y
45
30
t
T
n
FIGURE S2.21
Then compute the component of the weight vector along n, denoted N. The
force parallel to the ice will then be S = W N, where W is the weight. Once
the unit normal along S is determined, the motion can be treated as rectilinear
along the face of the ice. The following Mathcad code completes the solution.
107
T
cos
.
45 deg
0
sin
.
45 deg
t
0
cos
.
30 deg
sin
.
30 deg
W
0
0
130
n
T t
T t
= n
0.655
0.378
0.655
Let us find the component of the weight that acts normal to the face of the ice.
N
. .
W n n
= N
55.714
32.167
55.714
The force parallel to the ice face causing her to slip is S
S W N
= S
55.714
32.167
74.286
We can first see if she slips by comparing |S| to
k
|N|
= S 98.271 =
.
1.0 N 85.105
Therefore she slips.
The unit vector in the direction of the slip is s
s
S
S
We can now treat the motion as rectilinear along the ice face in the direction s.
a
.
32.2
130
S
.
0.8 N
= a 7.477 ft/s
2
The distances she slides in the s direction is:
d = 100(t s) = 66.144 ft
Now her velocity after sliding 66.144 ft can be determined.
v
dv
dx
= a, v =

2ad, v = 31.45 ft/s. Yes, she will be injured.

108
2.22 Constraint: x
A
+ x
B
= therefore a
A
= a
B
x
B
x
A
20
60
30
o
Constraint
x
A
+x
B
l =
.
.
. a
A
= -a
B
FIGURE S2.22
From the FBD of A:
20g sin 30 + 0.2(20g) cos 30

T = 20a
A
From the FBD of B:
60g sin 30

0.2(20g) cos 30

0.1(80g) cos 30

T = 60a
B
Thus
132.1 T = 20a
A
192.4 T = 60a
B
Which along with the constraint equation is a system of 3 equations in 3 un-
knowns. Solving yields
a
B
= 0.753 m/s
2
a
A
= 0.753 m/s
2
a
A/B
= a
A
a
B
= 1.506 m/s
2
A T
f
A
N
A
m
A
g
(a)
B
m
A
g
N
B
f
B
T
f
A
N
A
(b)
FIGURE S2.22a,b
109
2.23 The rope length yields: 2x
A
+ y
B
= , so that 2a
A
+ a
B
= 0
150
8 kg
x
y
A
3 kg
2x
A
+ y
B
= l
2a
A
+ a
B
= 0
FIGURE S2.23
A FBD of A yields:
150 2T = 8a
A
(1)
A FBD of B yields:
3 (9.81) T = 3a
B
(2)
Using the constraint, the 1
st
equation becomes
150 2T = 4a
B
Multiply (2) by 2 yields
58.86 2T = 6a
B
Subtracting these last two equations yields
10a
B
= 91.14, so a
B
= 9.114 m/s, and a
A
= 4.557 m/s
2
Also from (2): T = 3(9.81) 3a
B
= 56.8 N
Solving
v
B
= a
B
t
for t yields:
t =
2.5
4.557
= 0.549 s
2.24 The constraint here is that x
A
+ x
B
= constant, so that a
A
= a
B
. Assume
that the system moves to the left.
From FBD of mass B
for y direction: N
B
m
B
g cos = 0, so N
B
= m
B
g cos and f
B
=
k
N
B
=

k
m
B
g cos
from x direction: T + m
B
g sin f
B
= m
B
a
B
Thus we have: a
B
= g(sin
k
cos )
T
m
B
(1)
110
a
B
+
T
f
B
= N
B
N
B
m
B
g
(a)
m
A
g
a
A
+
T
f
A
=
N
A
N
A
(b)

k

FIGURE S2.24a,b
From the FBD of mass A
from the y-direction: N
A
m
A
g cos = 0 or N
A
= m
A
g cos
from the x-direction: T + m
A
g sin
k
m
A
g cos = m
A
a
A
Thus a
A
= x
A
= g(sin
k
cos )
T
m
A
. (2)
Now use the constraint a
A
+a
B
= 0 along with equations (1) and (2) to eliminate
the tension T. This yields
g(sin
k
cos )
T
m
A
+ g(sin
k
cos )
T
m
B
= 0
Solving yields T = g
_
m
A
m
B
m
A
+m
B
_
(sin + sin
k
(cos + cos ))
Thus the value of constant acceleration from (2) is:
x
A
= g(sin
k
cos ) g
_
m
A
m
B
m
A
+m
B
_
[sin + sin
k
(cos + cos )]
2.25 Solution:
m
mg
a
y
x
N

s
N

FIGURE S2.25
From the FBD, the sum of forces in the x direction yields:
N mg = ma sin
111
The force sin in the y direction is:

s
N = ma cos
Thus

s
(mg + ma sin ) = ma cos
or

s
g = a(cos
s
sin )
or
a =
sg
cos s sin
.
2.26 Solution:
m
mg
a
N

f
x
y
FIGURE S2.26
From the FBD, the force sum in the x direction is:

s
N = ma cos
The force sum in the y direction is:
mg N = ma sin
Thus:
N = m(g a sin )
and

s
m(g a sin ) = ma cos

s
g = a(cos +
s
sin )
a =
sg
cos +s sin
112
2.27 From the top drawing, the constraints are
B
A
x
y
2T
1
20g
T
1 2T
2
3T
2
FIGURE S2.27
2y
A
+ x
p
=
1
and x
B
+ 2(x
B
x
p
) =
2
. Thus 3a
B
+ 4a
A
= 0 (1)
From the FBD of the pulley, T
1
= 2T
2
. Thus the FBD of A yields:
20(9.81) 4T
2
= 20a
A
(2)
The FBD of B yields:
3T
2
= 10a
B
3T
2
= 10
4
3
a
A
so T
2
=
40
9
a
A
(3)
Substitution of (3) into (2) yields:
20(9.81) 4
_
40
9
_
a
A
= 20a
A
or
(180 + 160)a
A
= 9(20)9.81
and
a
A
= 5.194 m/s
2
.
x
A
(t) =
a
A
2
t
2
thus
1.5 =
5.194
2
t
2
, T
2
= 23.1 N, t = 0.76 s, T
1
= 46.2 N
2.28 From the drawing, the constraints are:
x
A
+ x
B
+ (x
B
x
p
) =
2
and 2x
p
+ x
c
=
1
combining yields
x
A
+ 2x
B
+
xc
2
= const
Thus: 2a
A
+ 4a
B
+ a
c
= 0. Let T
1
be the tension in cable 1 and T
2
= T
1
/2 be
the tension in cable 2.
113
A
B
C
x
T
1
10g
2T
1
80g
2T
2
T
2
20g T
1
A
B C P
FIGURE S2.28
Now since a =
1
2
at
2
, t =
_
2d
a
=
_
(2)(4)
4.5
= 1.33 s.
From the FBD of A: 10g T
1
= 10a
A
From the FBD of B: 80g 2T
1
= 80a
B
From the FBD of C: 20g
T
1
2
= 20a
c
Rearranging these 4 equations in 4 unknowns yields:
10a
A
+ T
1
= 10g,
80a
B
+ 2T
1
= 80g
20a
c
+
1
2
T
1
= 20g
2a
A
+ 4a
B
+ a
c
= 0
In matrix form these become:
_

_
a
A
a
B
a
c
T
1
_

_
=
_

_
10 0 0 1
0 80 0 2
0 0 20 0.5
2 4 1 0
_

_
1
_

_
10 9.81
80 9.81
20 9.81
0
_

_
which can be solved using a code to yield:
a
A
= 11.319, a
B
= 4.528, a
C
= 4.528,
T
1
= 211.292 and T
2
=
T
1
2
= 105.646
Now since a =
1
2
at
2
, t =
_
2d
a
=
_
(2)(4)
4.5
= 1.33 s.
2.29 Solution:
Does system slip? 100 > 30(9.81)0.2 = 58.9 so it slips.
From the FBD of the system as a whole:
100 0.15(30)(9.81) = 30a
T
Thus
114
N
f
20
10
100
FIGURE S2.29
a
T
= 1.862 m/s
2
From the FBD of B 0.2(20)9.81 = 20a
B
or a
B
= 1.962 which is larger than a
T
so there is enough friction for the system to move as one.
2.30 Solution:
20g
0.15 N
B
N
B
0.15N
B N
B
10g 100
0.15 N
A
N
A
FIGURE S2.30
From B
(0.15)(20)g = 20a
B
or a
B
= 1.47 m/s
2
From A
100 (0.15)(20)g (0.15)(30)g = 10a
A
So
a
A
= 2.643 m/s
2
Block B slips.
2.31 Solution:
Note that a
A
= a cos

i + a sin

j and a
B
= x
B

i + y
B

j
so that
115
B
A
a
30
o
N
B
30g
y
x
N
A
30
o
50g
N
B
FIGURE S2.31
a
B/A
= a
B
a
A
= ( x
B
a cos

)

i + ( y
B
a sin ) y
Since a
B/A
cannot have a component in the

j direction we have the constraint
that
y
B
= a sin (1)
From the FBD of B we have
(x direction) 0 = m
B
x
B
so that x
B
= 0
(y direction) N
B
m
B
g = m
B
y
B
(2)
From the FBD of A we have
(x direction) N
A
sin = m
A
x
A
= m
A
a cos (3)
(y direction) N
B
m
A
g + N
A
cos = m
A
a sin (4)
This yields a system of 4 equations in the 4 unknowns y
B
, a, N
A
and N
B
which
can be written in matrix form as
_

_
1 sin 0 0
30 0 0 1
0 50 cos sin 0
0 50 sin cos 1
_

_
_

_
y
B
a
N
A
N
B
_

_
=
_

_
0
(30)(9.81)
0
(50)(9.81)
_

_
This has solution
a = 6.824 m/s
2
, y
B
= 3.411 m/s
2
, N
A
= 591.0 N, N
B
= 191.9 N.
The relative acceleration is
a
B/A
= ( x
B
a cos )

i
which has magnitude
0 + (6.824)(.866) = 5.91 m/s
2
.
Thus
t =
_
2d
a
=
_
2(.1)
5.91
= 0.184 s
116
2.32 Solution:
y
x
mg
N
F
s

FIGURE S2.32
The spring force is
F
s
= k.
From the geometry
=

2
+ x
2
.
Summing forces in the x direction (see S2.32) yields
mg cos k(

2
+ x
2
)
x

2
+x
2

k
N
x
| x|
= m x
Summing forces in the y direction yields:
N mg sin k(

2
+ x
2
)

2
+x
2
= 0
Therefore
x =
1
m
_
mg cos kx
_
1

2
x
2
_

k
x
| x|
_
mg sin + k
_
1

2
+x
2
___
or
x =
1
m
_
mg cos
_
kx + k
k
x
| x|
_ _
1

2
+x
2
_

k
x
| x|
mg sin
_
117
2.33 Solution:
k 40 :=
k
0.2 := L 0.2 := m 5 := g 9.81 := 30 deg :=
i 0 4000 .. :=
t 0.001 :=
v
0
x
0
|

\
|
|
|
.
0.00001
0
|

\
|
|
.
:=
a x v , ( )
1
m
mg cos ( ) k x
k
L
v
v
+
|

\
|
|
.
1
L
L
2
x
2
+

\
|
|
.

k
m g sin ( )
v
v

(
(

:=
v
i 1 +
x
i 1 +
|

\
|
|
|
.
v
i
a x
i
v
i
,
( )
t +
x
i
v
i
t +
|

\
|
|
|
.
:=
0 1 2 3 4
0
1
2
3
x
i
i t
118
2.34 Solution:
x
50 ft
(a)
50x
x
110
(b)
FIGURE S2.34a,b
First determine her velocity when the bungee cord becomes taut
x = +g, but vdv = +gdx, so that v
0
=

2 g = 62.16 ft/s
Now the FBD is illustrated in S2.34b and yields kx +mg = m x, with v = v
0
.
Thus a = v
dv
dx
= g
k
m
x
Integrating both sides yields:
_
0
v
0
vdv =
_
d
0
_
g
k
m
x
_
dx
g = gd
k
2m
d
2
d =
g

g
2
+
2kg
m
k
m
= 77.893 ft (positive root)
Therefore 150 60 77.9 = 12.1 ft above the ground.
Also, note from the quadratic formula above (using k = c/) that d is propor-
tional to . Thus, F
x
= kd =
cd

is independent of . For the numbers given,

F
x
= 5 77.9 = 389.5 lb.
2.35 Solution:
cv
mg
y
x
FIGURE S2.35
From the FBD, the sum of the forces in the y-direction when the skydiver has
reached her terminal velocity (i.e. zero acceleration) yields:
cv mg = 0
119
Solving for c = 4.0A =
mg
v
.
Thus A =
1
4.0

(60)(9.81)
9
= 16.4 m
2
2.36 From the FBD of the man there are 3 forces acting on him: gravity, the drag
force, which shuts o after 10 meters, and the buoyancy force which shuts o
when he stops. The force summation yields
F
b
F
c
+ mg = m x
Now F
c
= cv from 10 m or F
c
= cv < x 10 >
0
Likewise F
B
= mg from 13m or < x 13 >
0
Thus
x =
cv
m
< x 10 >
0
g < x 13 >
0
+g
F
c
F
b
mg
+
FIGURE S2.36
The force at impact is m x| = mg cv, where v =

2ad and x = 10, thus

F
impact
= 70 9.81 500
_
(2)(10)(9.81) = 6313 N. The depth beneath the
surface that the diver travels is d = 13.195-10 =3.195 m (see Mathcad soln).
m 70 := c 500 := t 0.001 := g 9.81 := i 0 5000 .. :=
a v x , ( ) g
c v
m
x 10 ( )
v
v
g x 13 ( ) :=
v
0
x
0
|

\
|
|
|
.
0
0
|

\
|
|
.
:=
v
i 1 +
x
i 1 +
|

\
|
|
|
.
v
i
a v
i
x
i
,
( )
t +
x
i
v
i
t +
|

\
|
|
|
.
:=
0 5 10 15
0
10
20
v
i
x
i
x
3057
13.194 =
x
3058
13.195 =
x
5000
13.195 =
120
2.37 This can be solved by hand or by using the singularity function and numeri-
cally integrating.
By hand: for the rst 5 seconds:
a(t) = 0.7t,
v(t) =
0.7
2
t
2
s(t) =
0.7
6
t
3
At t = 5, we have v
5
= 8.75 m/s, s
5
= 14.58 m.
After the rst 5 seconds a = 2 m/s and integrating yields (starting the clock
over at t = 0)
v(t) = 2t + v
5
= 2t + 8.75
s(t) =
2t
2
2
+ 8.75t
Solving v(t) = 0 for t yields t =
8.75
2
= 4.38s.
Thus in the second interval s(4.38) = 19.14 m is reached.
The total distance traveled is 14.58 + 19.14 = 33.72 m.
This is solved by simple numerical integration in the following Mathcad code.
The total distance traveled is 33.8 meters.
i . . 0 940
t 0.01
g 9.81 m 1200
t
.
i t
a t
. .
5 t 0.7 t
.
t 5 2
v
0
x
0
0
v
i 1
x
i 1
v
i
.
a t
i
t
x
i
.
v t
0 5 10
20
20
40
v
i
x
i
t
i
0
i
i
121
2.38 The free body diagram given in S2.38:
+
F
k
F
d
mg
FIGURE S2.38
Here F
d
= c x < x 35 >
0
< v > is the damping force applied by the mat
and F
k
= k(x 35)
2
< x 35 >
0
is the spring force applied by the mat. The
equation of motion obtained by summing forces in the vertical direction is just
m x = mg F
d
F
k
. Two design criteria must be met: total force must be
less than 600 lb and the total mat displacement must be less than 6 ft. The
following Mathcad code computes the displacement by numerical integration,
and can be evaluated for various values of c and k simply by changing the
denition statements for these constants. The solution is shown for one possible
combination of c and k that satisfy the design criteria.
g 32.2 := m
120
g
:= k 32 := c 20 :=
a v x , ( ) g x 20 ( )
k
m
x 20 ( )
2
x 20 ( )
c
m
v v ( ) :=
t 0.001 := i 0 8000 .. := t
i
i t :=
v
0
x
0
|

\
|
|
|
.
0
0
|

\
|
|
.
:=
v
i 1 +
x
i 1 +
|

\
|
|
|
.
v
i
a v
i
x
i
,
( )
t +
x
i
v
i
t +
|

\
|
|
|
.
:=
F
i
ma v
i
x
i
,
( )
:=
0 5
500
0
F
i
i t
0 5 10
0
20
x
i
t
i
122
2.39 The sum of forces in the vertical direction ignoring gravity is
m x = 50000[< 3 t >
0
+

4
n=1
< t 6n >< 6n + 3 t >]
The following Mathcad code integrates the equation of motion and display the
displacement and velocity:
m 500 := F 50000 :=
a t ( )
F
m
3 t ( )
1
4
n
t 6 n ( ) 6 n 3 + t ( ) ( )

=
+

(
(
(

:=
t 0.01 := i 0 2700 .. := t
i
i t :=
v
0
x
0
|

\
|
|
|
.
100
0
|

\
|
|
.
:=
v
i 1 +
x
i 1 +
|

\
|
|
|
.
v
i
a t
i
( )
t +
x
i
v
i
t +
|

\
|
|
|
.
:= v
2700
1.604 10
3
=
x
2700
2.3 10
4
=
0 10 20 30
0
2000
v
i
t
i
0 10 20 30
0
2
.
10
4
x
i
t
i
2.40 A FBD of the ball is given in S2.40a.
20
o
y
x
mg
F
FIGURE S2.40
The problem is solved by setting up the computational solution and then per-
forming a trial and error procedure to nd the required force. The Mathcad
solution is shown for one possible value of F (roughly the minimum possible
value). The initial conditions are v
x
(0) = 120 ft/s, x(0) = 0, y(0) = 4 ft (this
is assumed to be the level of the ball when it is struck, based on an average
batter size and general location of the strike zone) and v
y
(0) = 0. The force
required is found to be about 128 lb.
123
W
5
16
:= g 32.2 := m
W
g
:=
F 13200 m := F 128.106 =
ax t ( )
F
m
0.015 t ( ) cos 20 deg ( ) := ay t ( ) g
F
m
0.015 t ( ) sin 20 deg ( ) + :=
t 0.001 := i 0 4550 .. :=
t
i
i t :=
vx
0
x
0
vy
0
y
0
|

\
|
|
|
|
|
|
.
120
0
0
4
|

\
|
|
|
|
|
.
:=
vx
i 1 +
x
i 1 +
vy
i 1 +
y
i 1 +
|

\
|
|
|
|
|
|
.
vx
i
ax t
i
( )
t +
x
i
vx
i
t +
vy
i
ay t
i
( )
t +
y
i
vy
i
t +
|

\
|
|
|
|
|
|
|
.
:=
x
4534
354.065 =
y
4534
7.137 10
4
=
0 100 200 300 400
0
50
100
y
i
x
i
2.41 A free body diagram of the box is given in the gure.
The forces are F
k
= kx < x 4 >
0
, f =
k
cos
v
|v|
The FBD yields the following two equations

F
y
: N mg cos 45

= 0

F
x
: m x = f F
k
+ mg sin 45

124
f
N
mg
y
F
k
FIGURE S2.41
The following Mathcad code integrates to nd the solution.
:= 0.6
i . . 0 5000 t 0.001
m 2 g 9.81 k 500

.
45 deg
t
.
i t
a , v x
.
1
m
. .
m g sin
. .
cos
v
v
.
x 4
.
k x 4
0 1 2 3 4 5
5
5
v
i
x
i
t
v
0
x
0
0
0
v
i 1
x
i 1
v
i
.
a , v
i
x
i
t
x
.
v t
i i
i
i
125
The equivalent MATLAB code is:
function yprime = ds2pt41(t,y) yprime(1,:) = y(2,:);
% friction force
if y(2) = = 0,
Ef = 0;
else
Ef = 4.162*y(2,:)/abs(y(2,:)):
end
% spring force
if y(1)<=0,
Fk = 0;
else Fk = 250*y(1,:);
end
yprime(2,:) = -EF-Fk+6.947;
return
2.42 Working with the free body diagram of the previous problem replace the forces
F
k
with F
k
+ F
c
where F
c
= cv(x 4). Thus the equation of motion can be
written as: ma = mg(sin
k
cos
v
|v|
) < x 4 >

(k(x 4) + cv)
The following MATLAB code can be used to solve for the velocity and displace-
ment using ODE for plotting the response.
function yprime = ds2pt41(t,y)
yprime(1,:) = y(2,:);
%friction force
if y(2) = = 0,
Ff = 0;
else
Ef = 4.162*y(2,:)/abs(y(2,:));
end
% spring and damper force
if y(1) < =0,
Fc = 0;
Fk = 0;
else
Fc = 12*y(2,:);
Fk = 250*y(1,:);
end
yprime (2,:) = -Ef-Fc-Fk+6.947;
return
126
Next the Mathcad solution is presented, complete with the plots:
k 500 := k 0.6 := m 2 := g 9.81 := 45 deg :=
i 0 5000 .. := t 0.001 := t
i
i t :=
a v x , c , ( )
1
m
m g sin ( ) k cos ( )
v
v

|

\
|
|
.

(
(

x 4 ( ) k x 4 ( ) c v + [ ]

(
(

:=
v
0
x
0
|

\
|
|
|
.
0
0
|

\
|
|
.
:=
v
i 1 +
x
i 1 +
|

\
|
|
|
.
v
i
a v
i
x
i
, 20 ,
( )
t +
x
i
v
i
t +
|

\
|
|
|
.
:=
0 2 4 6
0
2
4
6
x
i
t
i
v
0
x
0
|

\
|
|
|
.
0
0
|

\
|
|
.
:=
v
i 1 +
x
i 1 +
|

\
|
|
|
.
v
i
a v
i
x
i
, 200 ,
( )
t +
x
i
v
i
t +
|

\
|
|
|
.
:=
0 2 4 6
0
2
4
6
x
i
t
i
These codes are run several times for dierent values of c until one is found
that keeps the box from losing contact with the spring. A value of c = 20 very
nearly keeps it in contact, but a value as high as c = 200 is needed to truly keep
the box in contact with the spring.
127
2.43 Assuming positive in the direction of the expanding bag:
30 m/s
v
B
FIGURE S2.43
F
d
= 5 Ns/m v
H/B
m/s
v
H/B
= 30 + v
B
5(30 + v
B
) = 500
v
B
= 70 m/s
2.44 Solution:
F
a
F
s
mg
FIGURE S2.44
From the free body diagram, Newtons law in the vertical direction yields F =
mg 10H(x 5)(x 5) 0.5|v|v Where the Heaviside function indicates that
the spring forces does not act until x = 5.
The MATLAB code for solving this consists of the following m-le, then using
ODE and PLOT to compute and plot the solution x(t). The m-le is
function yprime = ds2pt41(t,y)
yprime(1,:) = y(2,:);
% viscous force
Fd = 0.1*y(2,:)*abs(y(2,:));
% spring force
if y(1) < =0,
Fk = 0;
else
Fk = 2*y(1,:);
end
yprime (2,:) = -Fd-Fk+9.81;
return
128
The Mathcad equivalent is given next along with the plot of x(s) vs. t:
m 5 k 10 c 0.5 g 9.81
i . . 0 10000
t 0.001
t
.
i t
a , v x
.
m g
. .
k x 5 x 5
. .
c v v
v
0
x
0
0
v
i 1
x
i 1
v
i
.
a , v
i
x
i
t
x
.
v t
0 2 4 6 8 10
0
5
10
15
Position vs time
time s
x
i
.
i t
i i
i
0
2.45 Solution:

130
N
FIGURE S2.45
= 100 ft v = 60 mph = 88 ft/s

F
n
= ma
n
=
mv
2

N 130 =
130
32.2
v
2
100
129
Therefore N 130 =
_
130
32.2
_
88
2
100
N = 443 lb up
2.46 Solution:
mg
500 ft
FIGURE S2.46
To y the hill N = 0
mg = m
v
2
500
, v =

32.2 500 = 126.9 ft/s = 86.5 mph

2.47 Solution:
mg

f
N

FIGURE S2.47
N cos mg f sin = 0, N sin + f cos =
mv
2
p
f =
s
N N =
mg
cos sin
mv
2

= mg
(sin+cos )
(cos sin )
v =
_
g
sin+cos
cos sin
2.48 Solution: 25 mph = 36.7 ft/s. Therefore
36.7
2
100
= 32.2
_
sin+0.3 cos
cos 0.3 sin
_
0.418(cos 0.3 sin) = sin + 0.3 cos
= 6.02

130
2.49 Solution:
v
P
mg
L
FIGURE S2.49
a
max
= 5g =
v
2
p
v = 700 mph = 1027 ft/s
=
(1027)
2
5(32.2)
= 6551 ft
2.50 Solution:

mg
FIGURE S2.50
mg sin = mR

wdw =
g
R
sin d
w
2
a
|
w
w
0
=
g
R
(cos )

0
w
2
=
2g
R
(1 cos ) + w
2
0
At separation:
mg cos = m
v
2
R
v
2
R
2
=
2g
R
(1 cos ) +
v
2
0
R
2
g cos = 2g(1 cos ) +
v
2
0
R
3g cos = 2g +
v
2
0
R
= cos
1
_
2
3
+
v
2
0
3gR
_
131
2.51 Solution:
N
mg

FIGURE S2.51
The following equations can be written:
mg cos = mR

(1)
N mg sin = mR

2
(2)
Eq (1) can be rewritten as
d
d
=
g
R
cos (where =

).
Integrating this gives:

2
2
=
g
R
(sin sin
0
)
Thus:
=
_
2g
R
(sin sin
0
)
and
v =
_
2gR(sin sin
0
)
2.52 Solution:
mR

= mg cos f

|
mg sin + N = mR

2
Therefore mR

= mg cos
k

|
[mg sin + mR

2
]
Canceling the mass

=
g
R
cos

k
R

|
[g sin + R

2
]
132
2.53 Solution:
The mass cancels out of the equation of motion and values have been assumed for the
radius and the coefficient of kinetic friction. The Mathcad code is:
i . . 0 2000
t 0.001 g 9.81

k
0.15
R 0.3
t
.
i t
,
.
g
R
cos
. .

k
R

.
g sin
.
R
2

0
.
10 deg

i 1

i 1

i
.
,
i
t

i
t
0 0.5 1 1.5 2
0
1
2
3
Angular Position vs time
Time s

i
t
i
i
0
i
i
The equivalent code in MATLAB is:
function yprime = ds2pt53(t,y)
g = 9.81; R = 1; gg = g/R; mu = 0.07;
yprime(1) = y(2);
if y(2)==0
yprime(2) = -mu*(y(2)2+gg*sin(y(1)))+gg*cos(y(1));
else
yprime(2) = -mu*(y(2)2+gg*sin(y(1)))*y(2)/abs(y(2))+gg*cos(y(1));
end
return
133
2.54 See the free body diagram given in Sample Problem 2.12. It is given that:
F
s
= kR(2 cos

2
1)
F
f
=
k
|N|

|
From Sample 2.12, the FBD yields upon summing forces in the normal and
tangential directions

F
n
= N + mg sin + F
s
cos

2
= mR

2
N = mg sin + kR(2 cos

2
1) cos

2
mR

F
t
= F
f
+ F
s
sin

2
mg cos = mR

The equation of motion is thus:

mR

=
k

mg sin + kR(2 cos

2
1) cos

2
mR

|
+kR(2 cos

2
1) sin

2
mg cos

=
k

g
R
sin +
k
m
(2 cos

2
1) cos

2

|
+
k
m
(2 cos

2
1) sin

2

g
R
cos
When the slider is in equilibrium,

= 0 and

= 0. The Mathcad solution
follows.
The solution shown here is for a coecient of kinetic friction of 0.18, a value
that was chosen for a typical response. The spring would be unloaded when
= 120

but there would still be the gravitational acceleration acting on the

slider. It may be observed that the slider is oscillating about a slighter higher
angle (roughly 123

), which is the equilibrium angle.

Note the slow start of the slider as it overcomes the friction force. The spring
force is high when = 30

but this contributes to a high normal force and

therefore a high friction force. If the coecient of kinetic friction is too high,
could the problem be such that friction drives the motion? No, this is an
impossibility. In this formulation the friction term in the equation of motion is
multiplied by

/|

| to make sure the friction always opposes motion; this term is

zero when the angular velocity is zero so friction will never initiate motion. To
determine whether motion would occur in a particular case, determine whether
the spring force minus the gravitational force in the initial conguration is
greater than the coecient of static friction times the normal force. That would
be a separate calculation as the friction force in this equation of motion is zero
until motion starts.
134
m 1 := k 600 := R 0.2 := g 9.81 :=
k
0.18 :=
N , ( ) mg sin ( ) k R 2 cos

2
|

\
|
|
.
1
|

\
|
|
.
cos

2
|

\
|
|
.
+ mR
2
:=
, ( )
g
R
cos ( )
k
m
2 cos

2
|

\
|
|
.
1
|

\
|
|
.
sin

2
|

\
|
|
.
+

k
mR
N , ( )

:=
i 0 15000 .. := t 0.0001 := t
i
i t :=

0
|

\
|
|
.
0

6
|

\
|
|
|
.
:=

i 1 +

i 1 +
|

\
|
|
.

i

i

i
, ( )t +

i

i
t +
|

\
|
|
.
:=
0 0.5 1 1.5
0
100
200

i
deg
t
i
f ( )
g
R
cos ( )
k
m
2 cos

2
|

\
|
|
.
1
|

\
|
|
.
sin

2
|

\
|
|
.
+ :=
x 120 deg :=
root f x ( ) x , ( )
deg
123.35 =
135
2.55 We are given = constant and so = t.
r
2

r
FIGURE S2.55
f = m(r e
t
+ r
2
e
n
) is the total force. The total acceleration is

s
mg = m
_
(r)
2
+ (r
2
)
2

s
=
1
g
_
(r)
2
+ (r(t)
2
)
2
=
r
g

1 +
2
t
4
2.56 Solution:
A

_
B
R
A
R
B
FIGURE S2.56
R
A
+ R
B
=
T = m
B
R
B

2
, T = m
A
R
A

2
Therefore m
B
R
B
= m
A
R
A
.
R
A
= R
B
R
B
=
m
A
m
B

m
A
m
B
R
B
R
B
=
m
A
m
A
+m
B

R
A
=
m
B
m
A
+m
B

136
2.57 Solution:
R
e

<
t
e
<
n
e
<
n
mg
N
FIGURE S2.57
Sum forces along

t: N cos mg = 0 sum forces along n : N sin = mR
2
sin
Therefore N = mR
2
, mR
2
cos = mg, = cos
1
_
g
R
2
_
.
2.58 First-determine the required velocity at top.
mg
N
n
<
FIGURE S2.58a
From the gure S2.58a:
N + mg = m
v
2
R
, N =
1
2
mg
v =
_
3
2
gR or
T
=
_
3
2
g
R
.

0
mg
N
FIGURE S2.58b
137
From S2.58b:
mR

= mg sin (sum of tangential forces)

_

0
d =
_

0
g
R
sin d

2
T

2
0
2
= +
g
R
cos |

0
=
2g
R

2
0
=
4g
R
+
3
2
g
R
=
11
2
g
R
v
0
=
_
11
2
gR
2.59 From Problem 2.58
n
<
N
mg
FIGURE S2.59
N mg =
mv
2
0
R
= m
11
2
g or N = mg +
11
2
mg
N =
13
2
mg
6.5 times body weight could realistically cause spinal injuries.
138
2.60 See free body diagram shown in the solution to problem 2.61 (S2.61).
From the solution to problem 2.61:
y
A
=

2
sin+g cos sin
+sin
2

,
where
= m
A
/m
B
For = 0.2 m, = 30

,

(0) = 0, m
A
= 3 kg and m
B
= 2 kg:
y
A
= 2.427 m/s (acceleration of block A).
The acceleration of block B is:
a
B
= a
A

j +

cos

sin

i
From the solution to problem 2.61:
(m
A
+ m
B
sin
2
)

+ m
B

2
cos sin + (m
A
+ m
B
)
g

sin = 0
For the numbers given:

= 35.036 rad/s
2
.
And:
a
B
= 2.427

j 6.068

j + 3.504

i = 3.504

i 3.641

j m/s.
139
2.61 The FBDs are given in the gure:
m
A
g
y
m
B
g
(t)

T
N
m
A
g
T
m
B
g

x
FIGURE S2.61
In the y-direction for block A:
(1) T sin = m
A
y
A
and in the radial and tangential directions for block B:
(2) T + m
B
g cos = m
B
(

2
+ y
A
sin )
(3) m
B
g sin = m
B

+ m
B
y
A
cos
Substitution of (2) into (1) yields
sin {m
B

2
m
B
y
A
sin + m
B
g cos } = m
A
y
A
or

2
sin + g cos sin = (
m
A
m
B
+ sin
2
) y
A
Thus we have
(4) y
A
=

2
sin +g cos sin
+sin
2

.
where
= m
A
/m
B
Substitute 4 into 3:

2
sin +g cos sin
+sin
2

cos = g sin .
( + sin
2
)

2
cos sin +
g

cos
2
sin +
g

sin +
g

sin
3
= 0
which can also be written as:
(1 +
sin
2

+
1

2
cos sin +
g

cos
2
sin +
g

sin +
g

sin
3
= 0
When m
A
>> m
B
( very large) this becomes the pendulum equation:

+
g

sin = 0
Resubstituting for into the original equation and simplifying:
(m
A
+ m
B
sin
2
)

+ m
B

2
cos sin + (m
A
+ m
B
)
g

sin = 0
140
2.62 The free body diagrams are given in S2.62:
m
A
g
N
T

T
m
B
g
y
x
A: B:
FIGURE S2.62
From the solution to problem 2.63 for

, with = 0 and

= 0:

=
g sin cos (m
A
+m
B
)
[m
A
+m
B
sin
2
(]
Writing the equation of motion in the x-direction for block A in the coordinate
system shown in S2.62:
m
A
a
A
= m
A
g sin + T sin
Writing the equation of motion in the y-direction for block B in the coordinate
system shown in S2.62:
T cos m
B
g cos = m
B

sin
Solving the previous equation for T:
T = m
B
g + m
B

tan
Substituting this gives the acceleration of block A (which is in the x-direction):
a
A
=
m
A
+m
B
m
A
g sin +
m
B
m
A

sin tan
And the acceleration of B is:
a
B
= a
A

i +

cos

i +

sin

j
141
2.63 Solution:
m
A
g
N
T

T
m
B
g
y
x
A: B:
FIGURE S2.63
T sin( + ) + m
A
g sin = m
A
a
A
T sin = m
B
a
Bx
T cos m
B
g = M
B
a
By
a
B
= a
A
+a
B/A
a
A
= a
A
(cos

i sin

j) +

2
(sin

i + cos

j)
(1) T sin( + ) + m
A
g sin = m
A
a
A
(2) T sin = m
B
[a
A
cos +

cos

2
sin ]
(3) T cos m
B
gg = M
B
[a
A
sin +

sin +

2
cos ]
Therefore a
A
=
T
m
A
sin( + ) + g sin
Substituting into (2) and (3)
2) T sin = m
B
_
T
m
A
sin( + ) cos + g sin cos +

cos

2
sin
_
T
_
sin +
m
B
m
A
sin( + ) cos
_
= m
B
gsin cos m
B

cos + m
B

2
sin
T =
m
B
[g sin cos +

cos

2
sin]
sin +
m
B
m
A
sin(+) cos
3) T cos = m
B
g m
B
[a
A
sin

sin

cos ]
T[cos +
m
B
m
A
sin( + ) sin ] = m
B
[q(1 sin
2
) +

sin +

2
cos ]
T =
m
B
[g(1sin
2
)+

sin+

2
cos ]
cos +
m
B
m
A
sin(+) sin
Equating two expressions for T
[cos +
m
B
m
A
sin( + ) sin ] [g sin cos +

cos

2
sin ]
= [sin +
m
b
m
A
sin( + ) cos ] [g cos
2
+

sin +

2
cos ]
Therefore g sin cos cos +

cos
2

2
sin cos
+g cos
2
sin +

sin
2
+

sin cos
+
m
B
m
A
sin( + )[g sin
2
cos +

cos sin

2
sin sin ]
+
m
B
m
A
sin( + )[g cos
2
cos +

sin cos +

2
cos cos ]
142
g sin( +) cos +

+
m
B
m
A
sin( +)[g cos +

sin( +) +

2
cos( +)] = 0
g sin( + ) cos (
m
A
+m
B
m
A
) +

[1 +
m
B
m
A
sin
2
( + )]
+

2 m
B
m
A
sin( + ) cos( + ) = 0

=
g sin(+) cos (m
A
+m
B
)+

2
m
B
sin(+) cos(+)
[m
A
+m
B
sin
2
(+)]
2.64 Solution: (in Mathcad)
i . . 0 2000
t 0.001
t
.
i t
m
A
3
m
B
2
g 9.81
0
L 0.5
dd , d
. . .
m
A
m
B
g sin cos
. . . .
m
B
L d sin cos
.
L m
A
.
m
B
sin
2
d
0

0
.
20 deg
d
i 1

i 1
d
i
.
dd ,
i
d t

.
d t
0 0.5 1 1.5 2
40
20
0
20
40
Angle- time relationship
time s

i
deg
t
i
i
i
i
i
0
2
143
2.65 Solution: (in Mathcad)
i . . 0 2000
t 0.001
t
.
i t
m
A
3
m
B
2
g 9.81

.
30 deg
L 0.5
dd , d
. . .
m
A
m
B
g sin cos
. . . .
m
B
L d sin cos
.
L m
A
.
m
B
sin
2
d
0

0
.
20 deg
d
i 1

i 1
d
i
.
dd ,
i
d
i
t

.
d t
0 0.5 1 1.5 2
100
50
0
50
Angle- time relationship
time s

i
deg
t
i
i
0
i i
2
2.66 Solution:
a
n
= 3 g =
v
2
p
v = 200 mph = 293 ft/s
p =
(293)
2
96.6
= 889 ft
From the solution of 2.47:
a
n
=
g(sin +cos )
cos sin
.
3(cos sin ) (sin + cos ) = 0
(3 + 1) sin + (3 ) cos = 0
Therefore tan =
3
3+1
= 0.85
= 31.2

.
144
2.67 The Mathcad code to solve this problem is:
N 917 := n 0 N .. := t 0.001 := t
n
n t := L 3 := g 9.81 :=
v
0
s
0

0
d
0
|

\
|
|
|
|
|
|
.
0
0
70 deg
0
|

\
|
|
|
|
|
.
:=
v
n 1 +
s
n 1 +

n 1 +
d
n 1 +
|

\
|
|
|
|
|
|
.
v
n
g sin
n
( ) 0.3 g cos
n
( ) d
n
v
n
( )
2
+

t
s
n
v
n
t +
70 deg 1
s
n
L
|

\
|
|
.
3

(
(
(

3 70 deg
s
n
( )
2
L
3

(
(
(
(
(
(
(
(
(
(
(

:=
s
N
3.001 = v
N
4.227 = t
N
0.917 =
N 817 := n 0 N .. := t 0.001 := t
n
n t := L 3 := g 9.81 :=
v
0
s
0

0
d
0
|

\
|
|
|
|
|
|
.
0
0
70 deg
0
|

\
|
|
|
|
|
.
:=
v
n 1 +
s
n 1 +

n 1 +
d
n 1 +
|

\
|
|
|
|
|
|
.
v
n
g sin
n
( ) 0.0 g cos
n
( ) d
n
v
n
( )
2
+

t
s
n
v
n
t +
70 deg 1
s
n
L
|

\
|
|
.
3

(
(
(

3 70 deg
s
n
( )
2
L
3

(
(
(
(
(
(
(
(
(
(
(

:=
s
N
2.999 = v
N
6.668 = t
N
0.817 =
The childs velocity is 4.227 m/s at the bottom of the slide when the coecient
of kinetic friction is 0.3, and 6.668 m/s when there is no friction. It takes the
child 0.917 seconds to reach the bottom of the slide when the coecient of
kinetic friction is 0.3, and 0.817 seconds when there is no friction.
145
The MATLAB code to solve the problem is as follows:
function yprime = ds2pt67(t,y)
s = y(1); %position
s = y(2); %speed
L = 3; %length of slide
mu = 0.3; %kinetic coecient of friction
g = 9.81; %acceleration due to gravity
theta = -1.222*(1-(s/L)3); %angle
theta = 1.222*3 *(s/L)2/L; %dtheta/ds
% dierential equations
yprime(1,:) = s ;
yprime(2,:) = - mu*(s 2*theta + g*cos(theta))*sign(s )-g*sin(theta);
% v x and v y
yprime(3,:) = s *cos(theta);
yprime(4,:) = s *sin(theta);
return
146
2.68 The Mathcad code to solve the problem:
The height of the slide must first be determined numerically as shown below.
x
0
0
The height was originally choosen to be 3 m, and was reduced to 2.854 m so that the
bottom would be 0.6 m from the ground.
y
0
2.854
s . . , 0 0.1 3
s
. .
70 deg 1
s
3
3
x s x
0
d
0
s
cos
y s y
0
d
0
s
sin
= y 3 0.6
0 0.5 1 1.5 2
0.5
1
1.5
2
2.5
3
Slide Contour
horizontal distance m
y s
x s
The solution for the child falling from the top is straight forward as the only force acting
on the child is gravitational acceleration.
y(t) = -g m/s
: 2
y(t) = - gt m/s
.
y(t) = + 2.854 m
The time when the child hits the ground is t = 0.763s and the velocity is 7.485 m/s.
v
e
r
t
i
c
a
l

d
i
s
t
a
n
c
e

m
- gt
2
2
147
2.69 Solution:
N 6263
g 9.81
0.5

.
47 deg
L 46
i . . 0 N
t 0.001
t
.
i t
a , , d v
.
g sin

.

.
g cos
.
v d
x
0
y
0
20
= s
6263
46.005
0 10 20 30 40
10
0
10
20
Slide Profile
Horizontal Position m
y
i
x
i
The slide provides a very small velocity at the bottom and the time on the slide is 6.263 s.
A longer time on the slide may be obtained by changing the initial angle and the
coefficient of friction as well as the length of the slide.
v
0
s
0

0
d
0
0

0
0
v
i 1
s
i 1

i 1
d
i 1
v
i
.
a , , d
i
v t
s
i
.
v t
.
1
s
i
L
2
. .
2
s
i
L
2
i i i

= v 3.453
6263
= t 6.263
6263
0
x
i 1
y
i 1
x
i
.
cos
i
s
i 1
s
i
y
.
sin
i
s
i 1
s
i
i
i
2
148
2.70 Solution:
(s) = (s/25000) cos(s/500), for 0 < s < 3000
ds
dt
= 100 km/hr =
100
3.6
= 27.8 m/s
d
ds
=
1
25000
[cos(s/500)
s
500
sin(
s
500
)], N(s) = cos((s)) +
v
2
g
d
ds
s 1 := i 0 3000 .. := s
i
i s :=
s ( )
s
25000
cos
s
500
|

\
|
|
.
:=
x
0
y
0
|

\
|
|
|
.
0
0
|

\
|
|
.
:=
x
i 1 +
y
i 1 +
|

\
|
|
|
.
x
i
cos s
i
( ) ( )
s +
y
i
sin s
i
( ) ( )
s +
|

\
|
|
|
.
:=
0 500 1000 1500 2000 2500 3000
100
50
0
50
y
i
x
i
d s ( )
1
25000
cos
s
500
|

\
|
|
.

s
25000
sin
s
500
|

\
|
|
.

1
500
:=
v 100
1000
3600
:= v 27.778 =
N
i
cos s
i
( ) ( )
v
2
9.81
d s
i
( )
+ :=
0 500 1000 1500 2000 2500 3000
1
1.02
N
i
x
i
149
2.71 Solution:
s . . , 0 10 7000
s
.
s
4000
cos
s
400
1
d s
.
1
4000
cos
s
400
.
s
400
sin
s
400
v 66
g 32.2
a
max
.
0.5 g
a
n
s
.
v d s
0 1000 2000 3000 4000 5000 6000 7000
20
0
20
18.941213
15.547668
a
n
s
a
max
.
7 10
3 0 s
Yes, the occupant slips near the end of the ride.
1
4000
2.72 Solution:
0 < s < 20
= s sin
1
[0.2 0.5 cos(
s
10
)]
s = 1 m/s

F
n
= F = m s
2

F
max
=
s
N =
s
mg > m s
2

s
g > s
2

no slip condition

s
>
s
2

g
=
10
2
0.2571
9.81
= 2.62
= 5 sin
1
[0.2 0.5 cos(
s
10
)]

= 5
1

1u
2
u

where u = 0.2 0.5 cos(

s
10
)
u

= 0.5 sin(
s
10
)
1
10
max

(s) = 0.2571 r/m

@ s = 17.17 m
150
The following is a Mathcad analysis:
v 10 := s 0 20 .. :=
s ( ) 5 asin 0.2 0.5 cos
s
10
|

\
|
|
.

|

\
|
|
.
:=
d s ( )
s
s ( )
d
d
:=
a
n
s ( ) v
2
d s ( ) :=
0 10 20
0
20
40
a
n
s ( )
s
s ( )
a
n
s ( )
9.81
:=
17 ( ) 2.62 =
2.73 Dierentiate the given r and :
r(t) = 0.300 + 0.100 cos(t)
r(t) = 0.100 sin(t)
r(t) = 0.100
2
cos(t)
(t) =

6
sin(t)

(t) =

2
6
cos(t)

(t) =

3
6
sin(t)
v(t) = 0.100 sin(t) e
r
+ (0.300 + 0.100 cos t)

2
6
cos
2
(t) e

a(t) = [0.100
2
cos(t) (0.3 + 0.1 cos(t))

4
36
cos
2
t] e
r
+[(0.3 + 0.1 cos t)(

3
6
sin t) + 2(0.1 sin(t))(

2
6
cos t)] e

F = ma
r
e
r
+ ma

= m{0.100

4
36
cos
3
(t) 0.300

4
36
cos
2
(t) 0.100
2
cos(t)} e
r
0.3m

3
6
sin(t){1 + cos(t)} e

151
2.74 It is given that:
F(t) = (3t
2
1) e
r
+ cos(
t
6
) e

, m = 1
Therefore upon comparison with eq. (2.39) in the book:
m( r r

2
) = 3t
2
1
m(r

+ 2 r

) = cos(
t
6
).
This gives the following dierential equation to solve:
r = r

2
+
1
m
(3t
2
1)

= 2
r
r

+
1
mr
cos(
t
6
)
With initial conditions
r(0) = 2 (0) = 0 r(0) = 0

(0) = 0
The solution in MATLAB is given in the following le:
function yprime = ds2pt74(t,y)
m = 1;
Fr = 3*t2-1;
Fth = cos(t*pi.6);
r = y(1); % radial position
th = y(2); % angular position
v = y(3); % radial velocity
w = y(4); % angular velocity
yprime(1) = v;
yprime(2) = w;
yprime(3) = Fr/m + r*w2;
yprime(4) = (1/r)*(Fth/m-2*v*w);
return
152
The Mathcad solution follows:
m 1 :=
ddr r d , t , ( ) r d
2

1
m
3 t
2
1
( )
+ :=
dd dr r , d , t , ( )
2 dr d
r
1
mr
cos
t
6
|

\
|
|
.
:=
i 0 2000 .. := t 0.001 := t
i
i t :=
dr
0
r
0
d
0

0
|

\
|
|
|
|
|
|
.
0
2
0
0
|

\
|
|
|
|
|
.
:=
dr
i 1 +
r
i 1 +
d
i 1 +

i 1 +
|

\
|
|
|
|
|
|
.
dr
i
ddr r
i
d
i
, t
i
,
( )
t +
r
i
dr
i
t +
d
i
dd dr
i
r
i
, d
i
, t
i
,
( )
t +

i
d
i
t +
|

\
|
|
|
|
|
|
.
:=
x
i
r
i
cos
i
( ) := y
i
r
i
sin
i
( ) :=
1.5 2 2.5 3 3.5
2
0
y
i
x
i
2.75 The force acting on m along r is:
Dierentiating the given value of yields:
F
r
= k(r 0.2) e
r
.
= 0.1t
2

= 0.2t

= 0.2
Using equation 2.39 yields:
m( r r

2
) = k(r 0.2)
m(r

+ 2 r

) = 0
The governing dierential equations and initial conditions are:

=
2
4
r

=
2
r
r

k = 400N/m m = 4kg

(0) = 0 r(0) = 0 r(0) = 0.2 (0) = 0

153
The MATLAB code is:
function yprime = ds2pt75(t,y)
m = 4;
k = 40;
L = 0.2;
th = 0.1*t2;
thdot = 0.2*t;
yprime(1) = y(2);
yprime(2) = y(1)*thdot2-(k/m)*(y(1)-L);
return
The Mathcad solution is:
i . . 0 10000
t 0.001
k 40
m 4
t
.
i t

.
0.1 t
2
d
.
0.2 t
ddr , r d
.
r d
2
.
k
m
r 0.2
dr
0
r
0
0
0.2
dr
i 1
r
i 1
dr
i
.
ddr , r
i
d
i
t
r
i
.
dr
i
t
0
30
60
90
120
150
180
210
240
270
300
330
0.3
0.2
0.1
0
Trajectory Plot
0.33073
0.2
r
i

i
Starting point
i
i
i i
i
154
2.76 Solution:

F
s
f = -
k
mg(k
v
___
v
| |
)
FIGURE S2.76
v = ( r e
x
+ r

). The unit vector along v for computing f is:

v
|v|
=
r ex+r

e

r
2
+r
2

2
Equation (2.39) from the book yields:
m( r r

2
) = k(r 0.2)
r
mg
r

( r
2
+r
2

2
)
or
r = r

k
m
(r 0.2)
k
g
r

r
2
+r
2

2
The MATLAB code is:
function yprimem = d s2pt75(t,y) m = 4; k = 20; l = 0.2; g = 9.81; mu = 0.2;
th = 0.1*t2; thdot = 0.2*t; v = sqrt(y(2)2+(y(1)*thdot)2);
if v==0,
yprime(1) = y(2);
yprime(2) = y(1)*thdot2-(k/m)*(y(1)-1);
else
yprime(1) = y(2);
yprime(2) = y(1)*thdot2-(k/m)*(y(1)-1)-mu*g*y(2)/v;
end
return
155
The Mathcad solution is:
k 20
m 4
0.2
g 9.81
i . . 0 10000
t 0.001
t
.
i t
t
.
0.1 t
2
d t
.
0.2 t
ddr , , , r dr d t
.
r d
.
k
m
r 0.2
. .
g
dr
dr
2
.
r d
2
dr
0
r
0
0
0.2
dr
i 1
r
i 1
dr
i
.
ddr , , , r
i
dr
i
d t
i
t
i
t
r
i
.
dr
i
t
0
30
60
90
120
150
180
210
240
270
300
330
0.4
0.2
0
Particle movement 0-10 s
0.515584
0.199999
r
i
t
i
Starting point
of the particle
t=0 s
i
2
2.77 We are given m = 4 kg, k = 650 N/m and

= 1.5 rad/s
Dierentiate:
r() = 0.200(2 cos )
r() = 0.200(sin)

r() = 0.200[(cos )

2
+ (sin )

]
156
The equation of motion in the radial direction is:
N
r
k(r 0.100) = m( r r

2
), where

= 1.5. Thus:
N
r
= k[0.200(2 cos ) 0.100] + m[0.200 cos (1.5)
2
0.200(2 cos )(1.5)
2
]
= 650(0.300 0.200 cos ) + 4[0.400 cos (1.5)
2
0.200(2)(1.5)
2
]
Thus
N
r
= 191.4 126.4 cos .
2.78 We are given

= 2 cos , so that

= sin

= sin (2 cos )
Thus
N
r
= k(r 0.100) + m( r r

2
)
r(t) = 0.200[cos (2 cos )
2
+ sin
2
(2 cos )]
r

2
= 0.200(2 cos )(2 cos )
2
The following MATLAB code computes the solution
function Nr = ds2pt78(theta)
thdot = 2-cos(theta);
thddot = sin(theta).*thdot;
r = 0.2*(2-cos(theta));
rdot = 0.2*sin(theta).*thdot;
rddot = 0.2*sin(theta).*thddot + 0.2*cos(theta).*thdot.2;
k = 650; m = 4; l = 0.1;
Nr = m*(rddot-r.*thdot. 2)+k*(r-l);
return
The following computes the solution in Mathcad:
157
0

48
, 4 .. :=
F
s
( ) 650 0.2 2 cos ( ) ( ) 0.1
(
:=
ddr ( ) 0.2 cos ( ) 2 cos ( ) ( )
2
sin ( ) ( )
2
2 cos ( ) ( ) +

:=
r ( ) 0.2 2 cos ( ) ( )
3
:=
N
r
( ) F
s
( ) 4 ddr ( ) r ( ) ( ) + :=
0 200 400 600 800
0
100
200
300
N
r
( )

deg
2.79 Following the solution of sample Problem 2.17 the following codes are used to
numerically adjust the mass until the desired response results. In MATLAB,
the code is:
function yprime = ds2pt79(t,y)
m = 10.6;
k = 500;
r0 = 0.3;
g = 9.81;
r = y(1);
theta = y(2);
rdot = y(3);
thdot = y(4);
% velocities
yprime(1,:) = rdot;
yprime(2,:) = thdot;
% accelerations
yprime(3,:) = r*thdot2-(k/m)*(r-r0)+g*cos(theta);
yprime(4,:) = (-2*rdot*thdot-g*sin(theta))/r;
return
In Mathcad the code is:
158
k 1600
g 9.81
N 2400
t 0.0005
i . . 0 N
v
0
r
0

0
0.3
0
.
30 deg
m:= 3.6 kg
The mass was adjusted by trial and error to produce the required path of motion.
a , , , v r
.
r
2
.
g cos
.
k
m
r 0.3
, , , v r
.
1
r
.
g sin
. .
2 v
v
i 1
r
i 1

i 1

i 1
v
i
.
a , , , v
i
r
i

i

i
t
r
i
.
v
i
t

i
.
, , , v
i
r
i

i

i
t

i
t
x
i
.
r
i
sin
y
i
0.3
.
r
i
cos
-0.05 0.1 0.15
0
0.05
Pendulum Trajectory
horizontal position (m)
y
i
x
i
0
i
i
i
0.05 -0.1 -0.15
-0.05
2.80 Solution:
159
mg

k(r-L)

FIGURE S2.80
From the free body diagram, the equations of motion can be written:
k(r L) + mg cos = m r mr

2
r = r

2
+ g cos
k
m
(r L)
and:
mg sin = 2m r

+ mr

=
g
r
sin 2
r
r

The MATLAB code to solve the problem numerically is:

function yprime = ds2pt80(t,y)
m = 5;
r = y(1);
th = y(2);
rdot = y(3);
thdot = y(4);
Fr = 1-sin(th);
Fth = -(2+t-t2);
yprime(1) = rdot;
yprime(2) = thdot;
yprime(3) = r*thdot2+Fr/m;
yprime(4) = (-2*rdot*thdot+Fth/m)/r;
return
The numerical solution in Mathcad is given on the following page. Note that the
solution (pendulum angle versus time) to Sample Problem 2.13 is also computed
and plotted (in blue). The two solutions dier when k = 60 but are in good
agreement when k = 600. The length of the pendulum is also plotted as a
function of time showing the degree to which the mass is oscillating on the
spring (note that the oscillations are very small when k = 600, i.e. in that case
the pendulum is behaving approximately as if the spring were a rigid bar or
string).
160
m 2 := L 2 := g 9.81 :=
ddr r d , , k , ( ) r d
2
g cos ( ) +
k
m
r L ( ) :=
dd dr r , d , , ( )
g
r
sin ( ) 2
dr d
r
:=
i 0 60000 .. := t 0.0001 := t
i
i t :=
dr
0
r
0
d
0

0
|

\
|
|
|
|
|
|
.
0
L
0
30 deg
|

\
|
|
|
|
|
.
:=
dr
i 1 +
r
i 1 +
d
i 1 +

i 1 +
|

\
|
|
|
|
|
|
.
dr
i
ddr r
i
d
i
,
i
, 60 ,
( )
t +
r
i
dr
i
t +
d
i
dd dr
i
r
i
, d
i
,
i
,
( )
t +

i
d
i
t +
|

\
|
|
|
|
|
|
.
:=
d
0

0
|

\
|
|
.
0
30 deg
|

\
|
|
.
:=
d
i 1 +

i 1 +
|

\
|
|
.
d
i
g
L
sin
i
( ) t

i
d
i
t +
|

\
|
|
|
.
:=
0 2 4 6
50
0
50

i
deg

i
deg
t
i
0 2 4 6
2
2.5
3
r
i
t
i
dr
0
r
0
d
0

0
|

\
|
|
|
|
|
|
.
0
L
0
30 deg
|

\
|
|
|
|
|
.
:=
dr
i 1 +
r
i 1 +
d
i 1 +

i 1 +
|

\
|
|
|
|
|
|
.
dr
i
ddr r
i
d
i
,
i
, 600 ,
( )
t +
r
i
dr
i
t +
d
i
dd dr
i
r
i
, d
i
,
i
,
( )
t +

i
d
i
t +
|

\
|
|
|
|
|
|
.
:=
0 2 4 6
50
0
50

i
deg

i
deg
t
i
0 2 4 6
1.5
2
2.5
3
r
i
t
i
161
2.81 The free-body diagram is:
R
mg
N

FIGURE S2.81
Using equation (2.39) in the book the equations of motion are:
N + mg cos = m( r r

2
)
mg sin = m(r

+ 2 r

)
Subject to:

(0) =
v
0
R
we have that:

=
d
d
=
r
R
sin , or:
_

v
0
/R
d =
_

0

g
R
sin d
1
2
(
2

v
2
0
R
2
) =
r
R
(cos 1), thus:
2
=
2g
R
(cos 1) +
v
2
0
R
2
The normal force will be a minimum at = 180

N = mg + mR
2
Therefore
2

r
R
=
2g
R
(2) +
v
2
0
R
2
v
0
=

5gR
2.82 The free-body diagram is:
mg
N

f
FIGURE S2.82
From the diagram and equation (2.39) in the book:
N + mg cos = mR

2
162
mg sin
k
|N|

|
= mR

Solving for the normal force:

N = mg cos + mR

2
And substituting this into the equation for angular acceleration:

=
g
R
sin

k
R

g cos + R

|
The computer solution in Mathcad is (independent of mass):
R 2 :=
k
0.2 := v
0
5 := g 9.81 :=
, ( )
g
R
sin ( )

k
R
g cos ( ) R
2
+

:=
i 0 5000 .. := t 0.001 := t
i
i t :=

0
|

\
|
|
.
v
0
R
0
|

\
|
|
|
.
:=

i 1 +

i 1 +
|

\
|
|
.

i

i

i
, ( )t +

i

i
t +
|

\
|
|
.
:=
0 2 4 6
50
0
50
100

i
deg
t
i
2.83 From the geometry in Figure S2.83a:
R/2
L
R

FIGURE S2.83a
From the law of cosines:
L
2
= R
2
+
R
2
4
R
2
cos()
L =
R
2

5 4 cos
163
And:
R
2
4
= R
2
+ L
2
2RLcos
R
2
4
= R
2
+
R
2
4
(5 4 cos ) R
2

5 4 cos cos
cos =
2cos

54 cos
From the law of sines:
sin
L
=
sin
R/2
sin =
sin

54 cos
The spring force is:
F
s
= k(L L
0
) =
kR
2
_

5 4 cos
1
4
_
Components of the spring force are:
F
sn
= F
s
cos =
kR
2
_
1
1
4

54 cos
_
(2 cos )
F
s
= F
s
sin =
kR
2
_
1
1
4

54 cos
_
sin
N
F
s

e
>
>
e
n

FIGURE S2.83b
From the free-body diagram in S2.83b, the equation of motion is:
mR
d
2

dt
2
=
kR
2
_
1
1
4

54 cos
_
sin
d
2

dt
2
=
k
2m
_
1
1
4

54 cos
_
sin
164
2.84 Solution:
N
F
s

e
>
>
e
n

mg

FIGURE S2.84
With the addition of the weight as shown in S2.84, the equation of motion
becomes:
mR
d
2

dt
2
=
kR
2
_
1
1
4

54 cos
_
sin mg cos
d
2

dt
2
=
k
2m
_
1
1
4

54 cos
_
sin
g
R
cos
2.85 Solution:
N
F
s

e
>
>
e
n

f
FIGURE S2.85
The friction force is:
f =
k
N

|
With the addition of the friction force as shown in S2.85, the equation of motion
becomes:
mR
d
2

dt
2
=
kR
2
_
1
1
4

54 cos
_
sin
k
N

|
d
2

dt
2
=
k
2m
_
1
1
4

54 cos
_
sin

k
N
mR

|
where:
N =
kR
2
_
1
1
4

54 cos
_
(2 cos ) mR

2
165
2.86 Solution:
N
F
s

e
>
>
e
n

mg

f
FIGURE S2.86
With the addition of both the weight and the friction force as shown in S2.86,
the equation of motion becomes:
mR
d
2

dt
2
= mg cos
kR
2
_
1
1
4

54 cos
_
sin
k
N

|
d
2

dt
2
=
g
R
cos
k
2m
_
1
1
4

54 cos
_
sin

k
N
mR

|
where:
N = mg sin +
kR
2
_
1
1
4

54 cos
_
(2 cos ) mR

2
A Mathcad code for integrating the equation of motion is as follows with some
choice of m, k, R,
k
and v
0
such the the motion damps out after two oscillations.
There are innitely many other combinations that would satisfy this criterion.
166
m 2 := k 70 := 0.3 := g 9.81 := R 1 :=
f ( ) 1
1
4 5 4 cos ( )
:=
N d , ( ) k
R
2
f ( ) 2 cos ( ) ( ) mR d
2
mg sin ( ) + :=
dd d , ( )
k
2 m
f ( ) sin ( )
g
R
cos ( )

mR
N d , ( )
d
d
:=
i 0 40000 .. := t 0.0001 := t
i
i t :=
d
0

0
|

\
|
|
.
0
30 deg
|

\
|
|
.
:=
d
i 1 +

i 1 +
|

\
|
|
.
d
i
dd d
i

i
, ( )t +

i
d
i
t +
|

\
|
|
.
:=
0 2 4
100
50
0
50

i
deg
t
i
2.87 We are given:
M = 5.98 10
24
kg
r = 6380 10
3
m
G = 66.7 10
12
m
3
/kg s
2
F
m
FIGURE S2.87
GmM
r
2
=
mv
2
r
v =
_
GM
r
=
_
5.9866.7
500+6380
10
3
= 7614 m/s
167
2.88 Solution:
R
2
m =
GMm
R
2
=
_
GM
R
3
The period is
=
2

=
2

GM
R
3
2
2.89 Solution:
= 23 hrs 56 min. = 86.16 10
3
s.
=
2

GM
r
3/2
0
r
3/2
0
=

GM
2
= 273.87 10
9
m
r
0
= 42210 km.
r = r
0
R = 42210 6380
r = 35830 km
v =
_
GM
r
0
= 3074 km/s.
2.90 Solution:
First, let us determine the velocity at nal circular orbit of 700 km altitude:
R
4
= 6380 + 700 = 7080 km
v
4
=
_
MG
R
A
= 7.506 10
3
m/s
R
1
= 6380 + 400 = 6780 km
v
1
=
_
MG
R
1
= 7.670 10
3
m/s
From Eq. (2.67) for a conic section:
1
r
= A(1 + e cos )
For elliptic orbit r
0
= 0, r
apogee
= 180
Therefore
rapogee
r
0
=
(1+e)
(1e)
Solving for e: e =
(ra/r
0
)1
(ra/r
0
)+1
ra
r
0
=
7080
6780
= 1.044
e = 0.022
h is the angular momentum/unit mass = r
0
v
0
. From eq. 2.69
e =
h
2
GMr
0
1 =
r
0
v
2
0
GM
1
The velocity to go into elliptical orbit is
v
2
=
_
GM
R
1
(1 + e) = 7.754 10
3
m/s
168
Since angular momentum is concerned in elliptical orbit
v
3
r
a
= v
2
r
0
, or v
3
= v
2
6780
7080
= 7.411 10
3
m/s
Therefore the rst boost v
1
v
2
is 7.670 10
3
m/s or 7.754 10
3
m/s
The second boost v
3
v
4
is
7.411 10
3
7.506 10
3
m/s.
2.91 From Problem 2.89
R
4
= 42, 170 km
v
4
= 3.075 10
3
m/s
From Problem 2.90
R
1
= 6780 km,
v
1
= 7.670 10
3
m/s
e =
R
4
/R
1
1
R
4
/R
1
+1
= 0.723
v
2
=
_
GM
R
1
(1 + e) = 10.070 10
3
m/s
v
3
=
R
1
R
4
v
2
= 1.619 10
3
m/s
Therefore v
1
v
2
: 7.670 10
3
10.070 10
3
m/s
v
3
v
4
: 1.619 10
3
3.075 10
3
m/s
2.92 For an elliptical orbit
e = 0.12 v
p
= 4000 m/s
1
r
0
=
GM
h
2
[1 + e], h = r
0
v
0
r
0
=
GM
v
2
0
(1 + e), M = 5.98 10
24
kg, G = 66.7 10
r
m
2
/kg s
2
r
0
=
5.9866.710
12
1610
6
(1 + 0.12) = 27.92 10
6
m
Therefore k = 111.68 10
9
m
2
/s
At the apogee
1
ra
=
GM
h
2
(1 e)
1
ra
=
5.9866.710
!2
111.68
3
10
18
(0.88) = 2.8 10
8
r
a
= 35.7 10
6
m v
a
=
k
ra
= 3128 m/s
Altitude = r
a
r
e
= (35.7 6.378) 10
6
= 29, 332 km
169
2.93 Solution:
For a parabolic arc: e = 1
1
r
=
GM
k
2
(1 + e cos )
r = 200, 000, 000, = 140

cos 140

= 0.766
Therefore h
2
= 2 10
8
5.98 10
24
66.7 10
12
(1 0.766)
h = 136.6 10
9
d =
h
v
=
136.610
9
2.22210
3
v
d
FIGURE S2.93
d = 23, 395 km
R
e
= 6380 km
Altitude = d R
e
= 17, 015 km
2.94 Solution:
r
a
= 6380 10
3
+ 392.62 10
3
= 6772.62 10
3
m
r
p
= 6380 10
3
+ 385.42 10
3
= 6765.42 10
3
m
1
rp
=
GM
h
2
[1 + e], e =
h
2
GMr
0
1
= 92.34 60 = 5.54 10
3
seconds
h =

(r
a
+ r
p
)

r
a
r
p
= 5.196 10
10
e =
h
2
GMrp
1 = 5.108 10
4
2.95 Final velocity (Mirs velocity at the perigee), using values from 2.94:
v
4
=
_
GM
rp
(1 + e) = 7.687 10
3
m/s
R
1
= 6380 + 100 = 6480 km
v
1
=
_
MG
R
1
=
_
5.9866.7
6.480
10
3
= 7.846 10
3
m/s
170
The Hohmann transfer-elliptic intercept orbit
R
1
= 6480 km, r
p
= 6765 km
e
2
=
rp
R
1
1
rp
R
1
+1
= 0.022
The velocity to go into this orbit is
v
3
=
_
GM
R
1
(1 + e
2
) = 7932 10
3
m/s
Conservation of momentum:
v
3
= 7932 10
3

R
1
rp
= 7598 10
3
m/s
v
1
v
2
7.846 7.932 km/s
v
3
v
4
7.598 7.687 km/s
2.96 Solution: v
4
=
_
MG
R
4
, R
4
= 6380 + 150 = 6530 km
v
4
= 7816 m/s
R
1
= 6765 km v
1
= 7687 m/s
r
p
r
a
FIGURE S2.96
e =
4a
rp
1
ra
rp
+1
, r
a
= 6765, r
p
= 6530
ra
rp
= 1.036,
e = 0.018,
v
2
to go into elliptic transfer orbit
v
2
=
_
GM
R
(1 e) = 7618 m/s
v
3
= 7618
ra
rp
= 7892 m/s
Retroring
v
1
v
2
7687 7618 m/s
v
3
v
4
7892 7816 m/s
171
2.97 Solution:
mg
fw
Nw
N
b
f
b

FIGURE S2.97
w = mg

k
N

= N

e
R
f

= +N

(e e

cos +

ksin )
N
b
= N
b
( e

sin + cos

k)
f
b
= N
b
( e

cos +

ksin )
The equations of motion are
N

= mr

2
N

cos + N
b
sin N
b
cos = mr

mg + N

sin + N
b
cos + N
b
sin = m z
Constraint: a = a(+cos e

sin

k) r

2
e
r
mr

2
cos + N
b
(sin mu cos ) = ma cos (1)
mg + mk

2
sin + N
b
(cos + sin ) = ma sin (2)
Mulp (1) by sin and (2) by cos and add.
mg cos + N
b
(cos
2
sin cos + sin
2
sin cos ) = 0
Therefore N
b
=
mg cos
12sin cos
a =
1
m
(mr

2
+
mg(sin cos )
12sin cos
)
Therefore

= =
1
mr
_
mr

2
cos +
mg cos (sin cos )
12sin cos
_
z =
1
m
_
mg + mr

2
sin +
mg cos (cos +sin )
12sin cos
_
z = +r

2
sin
g sin(sin cos )
12sin cos
The Mathcad solution:
172
i . . 0 5000
t 0.001
t
.
i t
g 9.81

.
30 deg
0.1
r 0.5

.
1
r
. . . .
r cos
. .
g cos
sin
.
cos
1
. . .
2 sin cos
a
. . . .
r sin
. .
g sin
sin
.
cos
1
. . .
2 sin cos
0 1 2 3 4 5
5
0
5
Velocity in z direction
time s
v
i
.
r
i
t
i
0 2 4 6
0
20
40

i
t
i
v
i 1
z
i 1

i 1

i 1
v
i
.
a
i
t
z
i
.
v
i
t

i
.

i
t

i
t
i
v
0
z
0

0
0
0
0
0
i
173
2.98 We are given:
v

= r

, r = 1.5, h = 50, v

0
=
20
1.5
a = ( r r

2
) e
r
+ (2 r

+ r

) e

+ z

k
mg
N
FIGURE S2.98
F = N e
x
mg

k
r = r = 0
N = mr

2
0 = r

mg = m z

= 0,

=

0
, =

0
t
z = g, z = gt, z =
1
2
ft
2
+ z
0
The following MATLAB code plots this:
clear all
format short e
format compact
t = linspace(0,2);
g = 9.81;
v0 = 20;
R = 1.5;
w0 = v0/R;
theta = w0*t;
z = -(g/2)*t.2;
r = R*ones(size(t));
x = r.*cos(theta);
y = r.*sin(theta);
174
plot3(x,y,z)
The Mathcad code is:
i . . 0 200
t
i
i
100

20
1.5
x
.
1.5 cos
.
t
i
y
.
1.5 sin
.
t
i
z
i
. .
1
2
9.81 t
i
2
50
3-D trajectory
1
0
1 1
0
1
35
40
45
50
, , x y z
175
2.99 Solution:
v =
_

_
0
r
vz
_

_
f = Nv/|v|
f =
mr

r
2

2
+v
2
g
(r e

+ v
z

k)
mr

=
mr

r
2

2
+v
2
3
r

, z = g
r

2
vz

r
2

2
+v
2
z
These are solved numerically by the following MATLAB code:
function yprime = ds2pt99(t,y)
R = 1.5;
g = 9.81;
mu = 0.2;
th = y(1);
z = y(2);
thdot = y(3);
zdot = y(4);
v = sqrt((R*thdot)2+zdot2);
vprime(1) = thdot;
yprime(2) = zdot;
yprime(3) = -mu*R*thdot3/v;
yprime(4) = -mu*R*thdot2*zdot/v-g;
return
176
The Mathcad code follows:
i . . 0 390
t 0.01
t
.
i t
g 9.81 0.2 r 1.5
, vz
. .
r
3
.
r
2
vz
2
a , vz g
. . .
r
2
vz
.
r
2
vz
2
vz
0
z
0

0
50
20
1.5
0
vz
i 1
z
i 1

i 1

i 1
vz
i
.
a , vz
i

i
t
z
i
.
vz
i
t

i
.
, vz
i

i
t

i
t
n . . 0 391
x
.
r cos
n
y
.
r sin
n
z
n
z
n
3-D Trajectory
1 0
1
1
0
1
0
20
40
, , x y z
177
2.100 This follows 2.99 and the codes are the same with dierent initial condition.
The Mathcad version follows:
i . . 0 390
t 0.01
t
.
i t
g 9.81 0.2 r 1.5
, vz
. .
r
3
.
r
2
vz
2
a , vz g
. . .
r
2
vz
.
r
2
vz
2
vz
0
z
0

20
30
20
1.5
0
vz
i 1
z
i 1

i 1

i 1
vz
i
.
a , vz
i

i
t
z
i
.
vz
i
t

i
.
, vz
i

i
t

i
t
n . . 0 391
x
.
r cos
n
y
.
r sin
n
z
n
z
n
0
i
n
n
178
2.101 We have v

= v
0
cos and v
z
= v
0
sin
mg
N
y
z
x
v
o

FIGURE S2.101
N = N e
R
W = mg(cos e
r
sin e

)
m z = 0 (1)
mr

2
= N + mg cos (2)
mr

= mg sin (3)
Eq. (3) may be written

d
d
= g/r sin
Integrating yields:

2
2
|

0
= g/r cos |

2
0
=
2g
r
(cos 1) (4)
From Eq. 2, minimum velocity can be determined when = 180

and N = 0.
The angular velocity
2
180
= g/r. From (4)
g/r
2
0
=
7g
r
Therefore
0
=
_
5g
r
v

0
=

4gr = v
0
cos , v
0
=

5gR
cos
.
2.102 From the previous problem the forces are
N = N e
r
Wmg(cos e
r
sin e

)
f =
N

(r)
2
+vz
2
(r e

+ v
z
e
z
)
r
0
= v
0
cos
vz
0
= v
0
sin
N + mg cos = mr
2
179
m z = Nv
z
/
_
(r)
2
+ vz
2
mr

= mg sin Nr/
_
(r)
2
+ vz
2
From 2.101 =
_
g/r when = 180

N = mg cos + mr
2
Therefore z =
(g cos +r
2
)vz

(r)
2
+vz
2

=
r
r
sin
(g cos +r
2
)

(r)
2
+(vz)
2
The minimum initial velocity of 10.6 m/s was determined by trial and error
using the following codes. The motion damps out after 4 seconds and the
particle comes to rest at 360 degrees. The MATLAB code is:
function yprime = ds2pt102(t,y)
m = 3;
R = 0.6;
g = 9.81;
mu = 0.2;
th = y(1);
z = y(2);
thdot = y(3);
zdot = y(4);
v = sqrt((R*thdot)2+zdot2);
N = m*g*cos(th)+m*R*thdot2;
yprime(1) = thdot;
yprime(2) = zdot;
yprime(3) = (-m*g*sin(th)-mu*N*R*thdot/v)/m/R;
yprime(4) = (-mu*N*zdot/v)/m;
return
180
The Mathcad code is:
I:= 0 ..5000
t 0.001
t
.
i t
0.2
.
50 deg g 9.81 v0 10.6 r 0.6
V , vz
.
r
2
vz
2
a , , vz
. .

.
g cos
.
r
2
vz
V , vz
, , vz
.
g
r
sin
. .

.
g cos
.
r
2

V , vz
vz
0
z
0

.
v0 sin
0
.
v0
cos
r
0
vz
i 1
z
i 1

i 1

i 1
vz
i
.
a , , vz
i

i

i
t
z
i
.
vz
i
t

i
.
, , vz
i
t

i
.

i
t

min
g
r
=
min
4.044
0
i
i
i
181
0 100 200 300 400 500
10
0
10
20
angular position degrees

i
deg
0 1 2 3 4 5
0
200
400
600
Angle vs time
time s

i
deg
t
i
The minimum initial velocity of 10.6 m/s was determined by trial and error. The
motion damps out after 4 seconds and the particle comes to rest at 360 degrees.
182
2.103 The forces are:
3

x
y
N
mg

FIGURE S2.103
N = N e
r
W = mg(cos sin e
r
+ cos cos e

+ sin

k)
The equations of motion are:
N + mg cos sin = mr

2
mg cos cos = mr

mg sin = m z
The data is:
m = 2 kg (0) = 0
r = 1 m
= 20

The z equation can be quickly integrated:

z = g sin
z = g(sin )t
z = g(sin )t
2
/2
The MATLAB code is:
function yprime = ds2pt103(t,y)
g = 9.81;
R = 1;
beta = 20*pi/180;
yprime(1) = y(2);
yprime(2) = (g/R)*cos(beta)*cos(y(1));
return
183
The Mathcad code is:
i . . 0 2500
t 0.001
t
.
i t

.
20 deg
r 1
g 9.81

. .
g
r
cos cos

0
0

i 1

i 1

i
.

i
t

i
t
n . . 0 2500
z
n
. .
g sin
t
n
2
2
0 0.5 1 1.5 2 2.5
100
0
100
200
Angular position vs time
time s

i
deg
t
i
0 0.5 1 1.5 2 2.5
0
5
10
15
Position down sluiceway
time s
z
i
t
i
0
i
i
184
2.104 We are given:
k
= 0.3
Friction acts in a direction opposite to the velocity
v = r e

+ vz

k
N = N e
r
W = mg(cos sin e
r
+ cos cos e

+ sin

k)
f = N
v
|v|
The equations of motion are:
N + mg cos sin = mr
2
mg cos cos N
r

(r)
2
+vz
2
= mr

mg sin N
vz

(r)
2
+vz
2
= m z
Therefore N = m(g cos sin + r
2
) and
(vz, , ) =
1
r
_
g cos cos
N
m
r

(r)
2
+vz
2
_
a(vz, , ) = g sin
N
m
vz

(r)
2
+vz
2
.
The MATLAB code is:
function yprime = ds2pt103(t,y)
m = 2;
g = 9.81;
R = 1;
mu = 0.3;
beta = 20*pi/180;
th = y(1);
z = y(2);
thdot = y(3);
zdot = y(4);
v = sqrt((R*thdot)2 + zdot 2);
N = m*g*cos(beta)*sin(th)+m*R*thdot2;
yprime(1) = thdot;
yprime(2) = zdot;
yprime(3) = (m*g*cos(beta)*cos(th)-mu*N*R*thdot/v)/m/R;
yprime(4) = (m*g*sin(beta)-mu*n*zdot/v)/m;
return
185
The Mathcad code is:
i . . 0 6000
t 0.001
t
.
i t

.
20 deg r 1 g 9.81
N ,
. .
g cos sin
.
r
2
, , vz
.
1
r
. .
g cos cos
. .
N ,
.
r
.
r
2
vz
2
a , , vz
.
g sin
. .
N ,
vz
.
r
2
vz
2
vz
0
z
0

0
0
0
0
vz
i 1
z
i 1

i 1

i 1
vz
i
.
a , , vz
i

i

i
t
z
i
.
vz t

i
.
, , vz
i

i
t

i
.

i
t
0
i
i
i
0 1 2 3 4 5 6
0
100
200
time s

i
deg
t
i
0 1 2 3 4 5 6
0
10
20
Position along Sluiceway
time s
z
i
t
i
186
2.105 We have m = 2 kg, R = 1.5 m, v(0) = 10 e

, (0) = 90

N
mg
FIGURE S2.105
The forces are:
N = N e
R
W = mg(sin e

cos e
R
)
The coordinate accelerations are
a
R
=

R R

2
Rsin
2

2
a

= R

+ 2

R

Rsin cos

2
a

= Rsin

+ 2

R

sin
2
R

cos
Therefore N mg cos = mR(

2
+ sin
2

2
)
mg sin = mR(

sin cos

2
)
0 = Rsin

+ 2R

cos
From sample problem 2.22, the last equation

=
sin
0
v
0
Rsin
2

=
10
Rsin
2

=
g
R
sin +
cos v
2
0
sin
2

0
R
2
sin
3

The MATLAB code is:

function yprime = ds2pt105(t,y)
g = 9.81;
R = 1.5;
ph = y(1);
th = y(2);
phdot = y(3);
yprime(1) = y(3);
yprime(2) = 10/(R*sin(ph)2);
yprime(3) = -(g/R)*sin(ph) + 100*cos(ph)/(R2*sin(ph)3);
return
187
The Mathcad code is (rst dene R and g in the code):
t 0.001
t
.
i t
dd
.
g
sin
R
.
100 cos
.
R
2
sin
3
d
0

0
0
.
90 deg
d
i 1

i 1
d
i
.
dd
i
t

i
.
d
i
t
d
10
.
R sin
2
0

i 1

.
d
i
t
x
. .
R sin
i
cos
y
. .
R sin
i
sin
z
i
.
R cos
i
=
0
1.571
3-D Trajectory
1
0
1
1
0
1
0.4
0.3
0.2
0.1
0
, , x y z
i
i
i
i
0
i
i
188
2.106 We are given: R = 1.5,

0
=
10
1.5
,
0
= 0,
0
= 90

v = R

e

+ Rsin

N = N e
R
W = mg(sin e

cos e
r
)
f = N
v
|v|
N mg cos = mR(

2
+ sin
2

2
)
mg sin N
R

|v|
= mR(

sin cos

2
)
N
Rsin

|v|
= mR(sin

+ 2

cos )
The mass drops out.
N/m = R(

2
+ sin
2

2
) g cos
Therefore

=
r
R
sin R(

2
+ sin
2

2
)

|v|
+ sin cos

=
1
sin
_

N
m
sin

v
2

cos
_
The MATLAB code is:
function yprime = ds2pt105(t,y)
g = 9.81;
R = 1.5;
mu = 0.3;
ph = y(1);
th = y(2);
phdot = y(3);
thdot = y(4);
v = R*sqrt(phdot2+sin(ph)2*thdot2);
N = g*cos(ph)+v2/R;
yprime(1) = y(3);
yprime(2) = y(4);
yprime(3) = - (g/R)*sin(ph) -mu*Nphdot/v+sin(ph)*cos(ph)*thdot2;
yprime(4) = -mu*N*thdot/v-2*phdot*thdot/tan(ph);
return
189
The Mathcad code is:
R 1.5 g 9.81 0.3
i . . 0 4000
t 0.001
t
.
i t
N , , d d
.
R d
2
.
sin
2
d
.
g cos
v , , d d
.
R d
2
. .
R sin d
2
dd , , d d
.
g
R
sin
. .
N , , d d
d
v , , d d
. .
sin cos d
2
dd , , d d
.
1
sin
. . .
N , , d d sin
d
v , , d d
. . .
2 d d cos
d
0

0
d
0

0
.
90 deg
10
1.5
0
d
i 1

i 1
d
i 1

i 1
d
i
.
dd , , d
i

i
d
i
t

i
.
d
i
t
d
.
dd , , d
i

i
d
i
t

.
d
i
t
x
. .
R sin
i
cos
y
. .
R sin
i
sin
z
i
.
R cos
i
i
i
i
0
i
i
i
i
2.107 Solution:
z
y
x
x
z
y
_
R
N
mg

e
w
_

FIGURE S2.107
190
N = N e

W = mg(cos e
e
+ sin e

)
f = N
v
|v|
a
R
=

R R

2
Rsin
2

2
a

= R

+ 2

R

Rsin cos

2
a

= Rsin

+ 2

R

sin + 2R

cos
= const
v =

R e
R
+ Rsin

mg cos N

R
v
= m(

R Rsin
2

2
)
N + mg sin = mRsin cos

2
N
Rsin

v
= m(Rsin

+ 2

R

sin )
N/m(d, R) = g sin + Rsin cos

2
v(dR, R, d) =
_
dR
2
+ (Rsin d)
2

R = g cos + Rsin
2

N
m

R/v

=
v
m

v

2

R

R
The MATLAB code is:
function yprime = ds2pt107(t,y)
g = 9.81;
mu = 0;
phi = pi/6;
r = y(1);
th = y(2);
rdot = y(3);
thdot = y(4);
v = sqrt(rdot2+(r*sin(phi)*thdot)2);
N = g*sin(phi)+r*sin(phi)*cos(phi)*thdot2;
yprime(1) = rdot;
yprime(2) = thdot;
yprime(3) = -mu*N*rdot /v - g*cos(phi)+r*sin(phi)2*thdot2;
yprime(4) = -mu*N*thdot/v - 2*rdot*thdot/r;
return
191
The Mathcad code is:
i . . 0 6000
t 0.001
t
.
i t

.
30 deg
g 9.81 0.0

R0
2
cos
N , d R
.
g sin
. . .
R sin cos d
2
v , , d dR R dR
2
. .
R sin d
2
ddR , , d dR R
.
g cos
. .
R sin
2
d
. .
N , d R
dR
v , , d dR R
dd , , d dR R
. .
N , d R
d
v , , d dR R
.
2
.
dR d
R
dR
0
R
0
d
0

0
R0
10
.
R0 sin
0
dR
i 1
R
i 1
d
i 1

i 1
dR
.
ddR , , d
i
dR R
i
t
R
i
.
dR
i
t
d
i
.
dd , , d
i
dR
i
R
i
t

.
d
i
t
x
. .
R sin cos
y
. .
R sin sin
z
i
.
R
i
cos
i
0
i
i
i i
i
i
i
i
i
i i
i i i
Path of Motion
2
0 2
0
5
0
, , x y z
192
2.108 Use the analysis and codes of 2.107 with a new friction coecient. The codes
are essentially the same, so only the Mathcad plot is shown.
Path of Motion
0
50
50
0
50
100
0
100
, , x y z
2.109 Solution:
mg
N
FIGURE S2.109
N = N e
R
W = mg(cos e
R
+ sin e

)
V = R

e

+ Rsin

f = N
v
|v|
N mg cos = m(R

2
+ Rsin
2

2
)
mg sin N
R

v
= m(R

Rsin cos

2
)
N
Rsin

v
= m(Rsin

+ 2R

cos )
193
v(d, , d) = R
_
d
2
+ (sin()d)
2
N/m = g cos R(

2
+ sin
2

2
)

=
g
R
sin
N
m

v
+ sin cos

=
N
m

v
2

cos
sin
The MATLAB code is:
function yprime = ds2pt107(t,y)
g = 9.81;
mu = 0;
r = 6;
ph = y(1);
th = y(2);
phdot = y(3);
thdot = y(4);
v = r*sqrt(phdot2+(sin(ph)*thdot)2);
N = g*cos(ph) -v2/r;
yprime(1) = phdot;
yprime(2) = thdot;
yprime(3) = -mu*N*phdot/v + (g/4)*sin(ph) +sin(ph)*cos(ph)*thdot2;
yprime(4) = -mu*N*thdot/v -2*phdot*thdot/tan(ph);
return
194
The Mathcad code is:
i . . 0 900
t 0.001
t
.
i t
R 6
g 9.81
0.0
v , , d d
.
R d
2
.
sin d
2
N , , d d
.
g cos
.
R d
2
.
sin d
2
dd , , d d
.
g
R
sin
. .
N , , d d
d
v , , d d
. .
sin cos d
2
dd , , d d
. .
N , , d d
d
v , , d d
. . .
2 d d
cos
sin
d
0

0
d
0

0
0.5
6
.
10 deg
4
.
6 sin
.
10 deg
0
d
i 1

i 1
d
i 1

i 1
d
i
.
dd , , d
i

i
d
i
t

i
.
d
i
t
d
i
.
dd , , d
i

i
d
i
t

.
d
i
t
i
i
0 200 400 600 800 1000
5
0
5
10
N , , d
i

i
d
i
i
n 866
= N , , d
n

n
d 3.95 10
3
=

866
deg
41.541
=

deg
75.735
The particle will fall off the surface when the normal force goes to zero and the position
coordinates are shown.
n
866
195
2.110 Use the same codes and analysis as in 2.109. The MATLAB code becomes:
clear all
format short 3
format compact
g = 9.81;
r = 6;
ph0 = pi/18;
th0 = 0;
phdot0 = -0.5/r;
thdot0 = 4/r/sin(ph0);
[t,Y] = ode45(ds2pt109,0,1,[ph0 ; th0; phdot0; thdot0]);
ph = Y(:.1);
th = Y(:.2);
phdot = Y(:.3);
thdot = Y(:.4);
v = r*sqrt(phdot.2+(sin(ph).*thdot).2);
N = g*cos(ph( - v.2/r;
gure(1),plot(t,N)
196
The Mathcad code is:
i . . 0 2000
t 0.001
t
.
i t
R 6
g 9.81
0.2
v , , d d
.
R d
2
.
sin d
2
N , , d d
.
g cos
.
R d
2
.
sin d
2
dd , , d d
.
g
R
sin
. .
N , , d d
d
v , , d d
. .
sin cos d
2
dd , , d d
. .
N , , d d
d
v , , d d
. . .
2 d d
cos
sin
d
0

0
d
0

0
0.5
6
.
10 deg
4
.
6 sin
.
10 deg
0
d
i 1

i 1
d
i 1

i 1
d
i
.
dd , , d
i

i
d
i
t

i
.
d
i
t
d
i
.
dd , , d
i

i
d
i
t

.
d
i
t
i
0 500 1000 1500 2000
10
0
10
N , , d
i

i
d
i
i
n 1816
= N , , d
n

n
d 0.011
=

n
deg
51.168
=

n
deg
113.121
The mass stays on the surface for a greater length of time when friction is present. If the
friction is too great, the particle will not leave the surface before it stops.
n
-
197
2.111 The data is:
y
x
z
mg

FIGURE S2.111
(0) = 30

(0) = 0 m = 3 kg R(0) = 2 v

= 0.5, therefore

(0) = 0.5.
F
s
= k(R R
0
) e
F
W = mg(cos e
R
sin e

)
The equation of motion become:
m[

R R

2
Rsin
2

2
] = mg cos k(R 2)
m[R

+ 2

R

sin cos

2
] = mg sin
m[Rsin

+ 2

R

sin + 2R

cos ] = 0, or:
_

R = g cos
k
m
(R 2) + R

2
+ Rsin
2

=
g
R
sin
2

R

R
+ sin cos

=
2

R

R
2

cos
sin
_

_
The last equation can be written
1
Rsin
d
dt
[R
2
sin
2

] = 0
Therefore
R
2
= sin
2

= h
h = R
2
0
sin
2

0
= R
0
sin
0
v
0
For this case h = 2 sin30

(0.5) = 0.5

=
h
R
2
sin
2

The dierential equations may be written as

R = g cos
k
m
(R 2) + R

2
+
Rsin
2
h
2
R
4
sin
4

R = g cos
k
m
(R 2) + R

2
+
h
2
R
3
sin
2

=
g
R
sin
2

R

R
+
sin cos h
2
R
4
sin
4

198
The MATLAB code is:
function yprime = ds2pt111(t,y)
m = 3;
k = 200;
g = 9.81;
R = 2;
v0 = 0.5;
h = v0*R*sin(pi/6);
r = y(1);
ph = y(2);
th = y(3);
rdot = y(4);
phdot = y(5);
thdot = h/r*sin(ph))2;
yprime(1) = rdot;
yprime(2) = phdot;
yprime(3) = thdot;
yprime(4) = -(k/m)*(r-R)+g*cos(ph) + r*phdot + 4*sin(ph)2*thdot2;
yprime(5) = -(g/r)*sin(ph) -2*(rdot/r)*phdot + sin(ph)*cos(ph)*thdot2;
return
199
The Mathcad code is:
h 0.5 g 9.81 k 200 m 3
i . . 0 5000
t 0.001
t
.
i t
ddR , , , dR R d
.
g cos
.
k
m
R 2
.
R d
2
h
2
.
R
3
sin
2
dd , , , dR R d
.
g
R
sin
.
2
.
dR d
R
.
cos h
2
.
R
4
sin
3
dR
0
R
0
d
0

0
0
2
0
.
30 deg
dR
i 1
R
i 1
d
i 1

i 1
dR
i
.
ddR , , , dR
i
R
i
d
i

i
t
R
i
.
dR
i
t
d
i
.
dd , , , dR
i
R
i
d
i

i
t

i
.
d
i
t
0

i 1
.
h
.
R
i
2
sin
i
2
t
i
x
. .
R sin
i
cos y
i
. .
R sin
i
sin z
i
.
R
i
cos
i i i i i i
0
i . . 0 5000
i
200
Path of motion
1
0
1
1
0.5
0
0.5
1
2
1
0
1
, , y x z
2 1 0 1 2
0.5
0
0.5
y
i
x
i
2 1 0 1 2
2.2
2
1.8
1.6
z
i
x
i
201
2.112 The MATLAB code is:
clear all
format short e
format compact
N = 100;
W = 3000;
g = 32.2;
s = linspace(0,6000,N);
v = 88;
th = s/2000 +exp(-s/1000);
be = (pi/12)*sin(pi*s/3000);
th = 1/2000 -(1/100)*exp(-s/1000);
be = (pi2/36000)*cos(pi*s/3000);
Gvec = [ -sin(th).*cos(be).*th -cos(th).*sin(be.*be ;...
cos(th).*cos(be).*th -sin(th).*sin(be.*be ;...
cos(be).*be ];
for i = 1:N,
mag Fn(i) = (W/g)*v2*norm(Gvec(:,i));
end
Figure (1),plot(s,mag Fn)
xlabel(distance along road (ft))
ylabel(normal force (lbf))
grid
202
The Mathcad code is:
s . . , 0 10 6000
W 6000
g 32.2
s
s
2000
e
s
1000
s
.

12
sin
.
s
3000
d s
1
2000
1
1000
e
s
1000
d s
.

36000
cos
.
s
3000
s
. .
sin s cos s d s
. .
cos s sin s d s
. .
cos s cos s d s
. .
sin s sin s d s
.
cos s d s
v s 88
F
n
s
. .
W
g
v s
2
s
0 1000 2000 3000 4000 5000 6000
0
500
1000
Position ft
F
n
s
s
203
2.113 Solution:
a = 2, 0 s 3000
v =

2as
v(3000) = 109.5 ft/s (75 mph)
a = 1 3001 s 6000
_
v
109.5
vdv =
_
s
3000
ads
v
2
2

(109.5)
2
2
= s + 3000
v =
_
109.5
2
2(s 3000)
The Mathcad code follows:
s . . , 0 10 6000
W 6000
g 32.2
s
s
2000
e
s
1000
s
.

12
sin
.
s
3000
d s
1
2000
1
1000
e
s
1000
d s
.

36000
cos
.
s
3000
s
. .
sin s cos s d s
. .
cos s sin s d s
. .
cos s cos s d s
. .
sin s sin s d s
.
cos s d s
v s
.
3000 s
.
4 s
.
s 3001 109.5
2
.
2 s 3000
F
n
s
. .
W
g
v s
2
s
0 1000 2000 3000 4000 5000 6000
0
500
1000
1500
Position ft
F
n
s
s
204
2.114 Using the analysis of 2.113 the MATLAB code is:
clear all
format short e
format compact
N = 100;
W = 3000;
g = 32.2;
s = linspace(0,6000,N);
v = sqrt( 4*s.(s>=0) -6*(s-3000).*(s>=3000));
a = 2*(s>=0) -3*(s>=3000);
t = s/2000 +exp(-s/1000);
b = (pi/12)*sin(pi*s/3000);
t = 1/2000 - (1/1000)*exp(-s/1000);
b = (pi2/36000)*cos(pi*s/3000);
avec = [...
a.*cos(t).*cos(b)+v.2.*(-sin(t).*cos(b).*t -cos(t).*sin(b).*b ),...
a.*sin(t).*cos(b)+v.2.*( cos(t).*cos(b).*t -sin(t).*sin(b).*b ),...
a.*sin(b)+v.2.*cos(b).*b ];
mag a = sqrt(sum((avec.*avec)));
gure(1),plot(s,mag a)
xlabel(distance along road (ft))
ylabel(acceleration (ft/s2))
grid
205
The Mathcad code is:
s . . , 0 10 6000
W 6000
g 32.2
s
s
2000
e
s
1000
s
.

12
sin
.
s
3000
d s
1
2000
1
1000
e
s
1000
d s
.

36000
cos
.
s
3000
s
. .
sin s cos s d s
. .
cos s sin s d s
. .
cos s cos s d s
. .
sin s sin s d s
.
cos s d s
v s
.
3000 s
.
4 s
.
s 3001 109.5
2
.
2 s 3000
a
n
s
. .
1 v s
2
s
a
t
s
.
3000 s 2 s 3001
a s a
n
s
2
a
t
s
2
0 1000 2000 3000 4000 5000 6000
2
4
6
8
Acceleration Magnitude vs position
Position ft
a s
s
206
2.115 Solution:
f
N
m
g
FIGURE S2.115
F = mg

k + N n

t = ma
n =

||
f = N
v
|v|

t = cos (s) cos (s)

i + sin (s) cos (s)

j + sin (s)

k]
N = mg

k n + m
v
2
p
a(s) =
mg

tN
m
The MATLAB code is:
function yprime = ds2pt115(t,y)
m = 30;
g = 9.81;
mu = 0.0;
s = y(1);
v = y(2);
th = pi*s/20;
be = -(pi/3)*(1-(s/10).2);
th = pi/20;
be = 2*pi*s/300;
kvec = [ 0 ; 0 ; 1 ];
tvec = [...
cos(th).*cos(be);...
sin(th).*cos(be);...
sin(be) ];
Gvec = [...
-sin(th).*cos(be).*th -cos(th).*sin(be).*be ;...
cos(th).*cos(be).*th -sin(th).*sin(be).*be ;...
cos(be).*be ];
207
nvec = Gvec/norm(Gvec);
N = m*g*(kvec*nvec) + v2*norm(Gvec);
yprime(1) = y(2);
yprime(2) = -g*(kvec*tvec) - mu*N/m;
return
The Mathcad code is:
m 30
0
g 9.81
d s

20
s
.
s
20
d s
. .

30
2
s
10
s
.

3
1
s
10
2
s
. .
sin s cos s d s
. .
cos s sin s d s
. .
cos s cos s d s
. .
sin s sin s d s
.
cos s d s
t s
.
cos s cos s
.
sin s cos s
sin s
n s
s
s
k
0
0
1
N , v s
. . .
m g k n s
. .
m v s
a , v s
. .
g k t s
. .

m
N , v s
v
v
208
i . . 0 1580
t 0.001
t
.
i t
v
0
s
0
0
0
v
i 1
s
i 1
v
.
a , v
i
s
i
t
s
i
.
v t
= s
1580
10.008
0 0.5 1 1.5 2
0
5
10
15
Position on slide vs time
time s
s
i
t
i
= v 10.987
m/s
This is the velocity at the bottom of the slide. Note the time at the bottom
was found by trial and error and for this case was 1.58 s.
i
i i
1580
209
2.116 Use the analysis of 2.115. The MATLAB code is:
function yprime = ds2pt116(t,y)
m = 30;
g = 9.81;
mu = 0.2;
s = y(1);
v = y(2);
th = pi*s/20;
be = - (pi/3)*(1-(s/10).2);
th = pi/20;
be = 2*pi*s/300;
kvec = [ 0 ; 0 ; 1 ];
tvec = [...
cos(th).*cos(be);...
sin(t).*cos(be);...
sin(be) ];
Gvec = [...
-sin(th).*cos(be).*th -cos(th).*sin(be).*be ;...
cos(th).*cos(be).*th -sin(th).*sin(be).*be ;...
cos(be).*be [;
nvec = Gvec/norm(Gvec);
N = m*g*(kvec*nvec) + v2*norm(Gvec);
yprime(1) = y(2);
yprime(2) = -g*(kvec*tvec) - mu*N/m;
return
210
The Mathcad code is:
m 30
0.2
g 9.81
d s

20
s
.
s
20
d s
. .

30
2
s
10
s
.

3
1
s
10
2
s
. .
sin s cos s d s
. .
cos s sin s d s
. .
cos s cos s d s
. .
sin s sin s d s
.
cos s d s
t s
.
cos s cos s
.
sin s cos s
sin s
n s
s
s
k
0
0
1
N , v s
. . .
m g k n s
. .
m v s
a , v s
. .
g k t s
. .

m
N , v s
v
v
211
i . . 0 1712
t 0.001
t
.
i t
v
0
s
0
0
0
v
i 1
s
i 1
v
i
.
a , v
i
s
i
t
s
i
.
v t
= s
1712
10.001
0 0.5 1 1.5 2
0
5
10
15
Position on slide vs time
time s
s
i
t
i
= v 7.966
1712
i
i
212