Sample Problem

17.3
1m 1m A B 1.5 m h G y x P

The mass center of the 10-kg sliding door in Fig. (a) is located at G. The door is supported on the horizontal rail by sliders at A and B. The coefcient of static as well as kinetic friction is 0.4 at A and 0.3 at B. The door was at rest before the horizontal force P = 60 N was applied. (1) Find the maximum value of h for which the door will slide to the right without tipping and the corresponding acceleration of the door. (2) If h = 1.5 m, nd all forces acting on the door, and calculate its acceleration.

Solution
Part 1
The free-body and mass-acceleration diagrams for the door, shown in Fig. (b), are described in detail as follows. The FBD contains the following forces: the 10(9.8) = 98 N weight acting at G, the applied force P, the normal force N A , and the friction force FA = A N A = 0.4 N A . Because the door starts from rest, its velocity will be directed to the right (i.e., in the same direction as the acceleration), which means that FA is directed to the left. There is no normal force and, therefore, no friction force at B, because the problem statement implies that the door is sliding to the right in a state of impending tipping about A.
Free-body diagram Mass-acceleration diagram The MAD contains only the inertia vector of magnitude m a acting at G. There is no inertia couple because the door is translating ( = 0).
1m FA = 0.4NA A NA G B A B 1.5 m h

(a)

=
P = 60 N

G 10a N

98 N

FBD (b)

MAD

Inspection of Fig. (b) reveals that the unknowns are N A and h on the FBD, and a on the MAD. These three unknowns can be computed by deriving and solving any three independent equations of motion. When employing the FBDMAD technique, remember that (1) the resultant force on the FBD can be equated on the MAD, and (2) the resultant moment about any to the inertia vector m a point on the FBD can be equated to the resultant moment about the same point on the MAD.

377

Equating the x- and y-components of the forces on the FBD to the corresponding components of the inertia vector, we obtain y Fy = m a
+

N A 98 = 0 N A = 98 N

and Fx = m a x
+

60 0.4 N A = 10a 60 0.4(98) = 10a

which gives a = 2.08 m/s2 Answer The third independent equation is a moment equation about any point. If we choose point A as the moment center, the resultant moment on the FBD is equated to the resultant moment on the MAD: ( M A )FBD = ( M A )MAD With a = 2.08 m/s2 , we get
+

60h 10(9.8)(1.5) = 10a (1.5)

h = 2.97 m

Answer

Part 2
The FBD and MAD for h = 1.5 m are shown in Fig. (c). The details of these diagrams are as follows. The FBD contains the 98-N weight, the applied force P = 60 N passing through G, the normal forces N A and N B , and the friction forces FA and FB . From the solution of Part 1 we know that the door will be sliding to the right while maintaining contact at both A and B. The friction forces, determined by the kinetic coefcients of friction, are directed to the leftthat is, opposite to the motion.
Free-body diagram Mass-acceleration diagram Because the door is sliding to the right without rotating, the MAD contains only the inertia vector acting through G.
1m FA = 0.4NA A NA G NB B h = 1.5 m P = 60 N 1m FB = 0.3NB A B 1.5 m

G 10 a N

98 N

FBD (c)

MAD

378

The number of unknowns in the FBD and MAD is three: N A , N B , and a , which can be found from any three independent equations of motion. One such set of equations is given below; their validity can be determined by referring to the FBD and MAD in Fig. (c). y Fy = m a MG = 0 Fx = m a x
+
+

N A + N B 98 = 0 N B (1) + 0.3 N B (1.5) N A (1) + 0.4 N A (1.5) = 0 60 0.4 N A 0.3 N B = 10 a

(a) (b) (c)

Solving Eqs. (a), (b), and (c) gives N A = 76.85 N N B = 21.2 N a = 2.29 m/s2 Answer

The positive values of N A and N B conrm that the door will not tip.

Sample Problem

17.4
y L x O

The homogeneous bar in Fig. (a) has mass m and length L. The bar, which is free to rotate in the vertical plane about a pin at O, is released from rest in the position = 0. Find the angular acceleration when = 60 .

Solution
Figure (b) shows the FBD and the MAD of the bar when = 60 . The FBD contains the weight W of the bar, acting at its mass center G (located at the midpoint of the bar) and the components of the pin reaction at O. In the MAD, the inertia couple I was drawn assuming that is clockwise, and using I = m L 2 /12 from Table 17.1. The components of the inertia vector m a were found by noting that the path of G is a circle centered at O. Therefore, the normal and tangential com are a t = ( L /2) . The direction of a n is toward O, ponents of a n = ( L /2)2 and a regardless of the direction of . The direction of a t is consistent with the assumed direction of .
Oy Ox O 60 O 60 L 2 man = m L 2
2 I = mL 12

(a)

L 2

L 2

W = mg FBD (b)

mat = m L 2 MAD

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We note that there are a total of four unknowns in Fig. (b): Ox , O y , , and . Because there are only three independent equations of motion, we will not be able to determine all unknowns using only the FBD and the MAD. The reason for this is that depends on the history of motion: = dt + C . Therefore, the equations of motion at a specic position of the bar will not determine the angular velocity in that position. However, inspection of the FBD and MAD reveals that it is possible to determine the angular acceleration , because it is the only unknown that appears in the moment equation when O is used as the moment center. Referring to the diagrams in Fig. (b), this moment equation is ( M O )FBD = ( M O )MAD
+

mg

L m L2 L cos 60 = + m 2 12 2

L m L2 = 2 3

(a)

from which we nd that = 3g g cos 60 = 0.750 2L L Answer (b)

Because the acceleration of O is zero, the above moment equation could have also been obtained from Eq. (17.14): MO = IO , where m L2 I O = I + md 2 = +m 12 L 2
2

m L2 3

(c)

from the parallel-axis theorem. We now see that equation that is identical to Eq. (a).

M O = I O will yield an

Sample Problem
L= 80

17.5

0m

= 30
1 m1 = 30 kg m2 = 80 kg

= 1.2 rad/s

The body shown in Fig. (a) consists of the homogeneous slender bar 1 that is rigidly connected to the homogeneous sphere 2. The body is rotating in the vertical plane about the pin at O. When the body is in the position where = 30 , its angular velocity is = 1.2 rad/s clockwise. At this instant, determine the angular acceleration and the magnitude of the pin reaction at O.
2

Solution
The FBD and MAD of the body in the position = 30 are shown in Fig. (b). In these diagrams, the bar and the sphere are treated as separate entities, each with its own inertia couple and inertia vector. (An equivalent form of the MAD would be obtained by showing the inertia couple and inertia vector for the assembly; refer to Fig. 17.13.) Details of the diagrams are described in the following.
Free-body diagram

R = 200 mm (a)

The forces On and Ot are the components of the pin reaction relative to the n- and t-axes shown in the gure. The weights W1 and W2 of the bar and sphere, respectively, act at their mass centers G 1 and G 2 . The distances

380

n
O
n

r1

1r 1 2

=0

.4

r2 m

=1

=1

.0

7.2

= 30

m I1 m =1

8N

r1

=0

.4

r2 m

=1

.0

m I2

O
=1 .28

G1 30
W
1

1r 1

=3

0(9

G2
.81 )N W =8

=
0(9 .81 )N

.60 G1 0 = 1 Nm 2.0 0 N m 2r 2 2 =1 15 .2

G2
N m
2r 2

30

=8

0.0

FBD (b)

MAD

r 1 = 0.4 m and r 2 = 1.0 m, measured from O to the mass centers, are deduced from the dimensions in Fig. (a).
Mass-acceleration diagram In the MAD, we assume that the angular acceleration , measured in rad/s2 , is clockwise. Using the fact that the body rotates about the xed point O, kinematic analysis enables us to express the accelerations of G 1 and G 2 in terms of and of the body. The inertia terms that appear in the MAD have been computed in the following manner. For the slender bar:

m1 L 2 30(0.8)2 = = 1.600 N m I1 = 12 12 1 2 = 30(0.4)(1.2)2 = 17.28 N m 1r m 1r 1 = 30(0.4) = 12.00 N For the sphere: 2 2 I2 = m 2 R 2 = (80)(0.2)2 = 1.280 N m 5 5 2 2 = 80(1.0)(1.2)2 = 115.2 N m 2r m 2r 2 = 80(1.0) = 80.00 N In the MAD, the directions of the tangential components of the inertia vectors (those containing ) are consistent with the assumed clockwise direction of . The normal components of the inertia vectors (those containing 2 ) are directed toward the center of rotation O, regardless of the direction of . From Fig. (b) we see that there are two unknowns in the FBD ( On and Ot ) and one unknown ( ) in the MAD. Therefore, all that remains is to derive and solve the three independent equations of motion for the unknowns.

381

Equating moments about O on the FBD and the MAD in Fig. (b), we obtain ( M O )FBD = ( M O )MAD
+

30(9.8)(0.4) cos 30 + 80(9.8)(1.0) cos 30 = 1.600 + (12.00)(0.4) + 1.280 + (80.00)(1.0) = 87.68 = 8.905 rad/s2 Answer

from which we nd that Because the acceleration of point O is zero, this result could also have been derived using the special case M O = I O . Using = 8.914 rad/s2 and referring to Fig. (b), the force equations in the t and n directions give t Ft = m a + Ot + 30(9.8) cos 30 + 80(9.8) cos 30 = 12.00(8.905) + 80.00(8.905) Ot = 114.3 N

and n Fn = m a On 30(9.8) sin 30 80(9.8) sin 30 = 17.28 + 115.2 On = 671.5 N

Therefore, the magnitude of the pin reaction at O is O=

2 O2 t + On =

(114.3)2 + (671.5)2 = 681.2 N

Answer

y mA = 60 kg R = 500 mm k = 400 mm G A

Sample Problem

17.6

The cable connected to block B in Fig. (a) is wound tightly around disk A, which is free to rotate about the axle at its mass center G. The masses of A and B are 60 kg = 400 mm for the disk. Determine the angular and 20 kg, respectively, and k acceleration of A and the tension in the cable.

Solution
The free-body and mass-acceleration diagrams of the system are shown in Fig. (b). The FBD contains the weights W A = 60(9.8) = 588 N and W B = 20(9.8) = 196 N together with the unknown pin reactions at G . The tension in the cable, being an internal force, does appear on this FBD. The MAD displays the inertia couple of the disk and the inertia vector of the block. There is no inertia vector of the disk because its mass center G is stationary. The angular acceleration of the disk is assumed to be directed clockwise. The corresponding inertia couple of the disk is 2 = 60(0.4)2 = 9.600 N m I = m k

B (a)

mB = 20 kg

382

WA = 588 N Gx
m

I = 9.600 N m MAD

0. 5

Gy

0. 5

FBD

WB = 196 N (b)

mB aB = 10 N

which also is directed clockwise. Because the cable does not slip on the disk, the acceleration of the block is a B = R , which results in the inertia vector m B a B = m B ( R ) = 20(0.5) = 10 N

There are three unknowns on the FBD and the MAD: two components of the pin reaction at G and the angular acceleration of the disk. Since the number of independent equations available from the FBD and MAD is also three, all the unknowns can be computed. The angular acceleration can be found by equating the resultant moments about G in the FBD and the MAD. ( MG )FBD = ( MG )MAD 196(0.5) = 9.600 + 10(0.5) = 6.712 rad/s2 Answer

To nd the tension in the cable, we analyze the block separately (the disk could also be used). The FBD and MAD for the block are shown in Fig. (c), where T is the cable tension. Summing forces in the y-direction yields Fy = ma y + 196 T = 10 = 10(6.712) T = 129.0 N Answer

FBD WB = 196 N

=
(c)

MAD mB aB = 10 N

383

Sample Problem

17.7

The 40-kg unbalanced wheel in Fig. (a) is rolling without slipping under the action of a counterclockwise couple C0 = 20 N m. When the wheel is in the position shown, its angular velocity is = 2 rad/s, clockwise. For this position, calculate the angular acceleration and the forces exerted on the wheel at C by the rough horizontal plane. The radius of gyration of the wheel about its mass center G is = 200 mm. k
y 120 mm

= 2 rad/s
C0 = 20 N m O

R = 250 mm C (a)

Solution
The free-body and mass-acceleration diagrams for the wheel, shown in Fig. (b), were constructed as follows.
Free-body diagram

The FBD consists of the applied couple C0 , the weight W = 40(9.8) = 392 N, and the normal and friction forces that act at the contact point C, denoted by NC and FC , respectively. Observe that FC has been assumed to be directed to the right.

Mass-acceleration diagram

In the MAD of Fig. (b) the angular acceleration , measured in rad/s2 , has been assumed to be clockwise. The corresponding inertia couple shown on this diagram is 2 = 40(0.200)2 = 1.600 N m I = m k
0.12 m C0 = 20 N . m G O

I = 1.600 Nm O G = (10.00 19.20) N ma x = 4.80 N ma y 0.12 m MAD

=
W = 392 N R = 0.25 m

C NC FBD

FC

(b)

384

Because the wheel does not slip, the acceleration of its center O is a O = R = 0.250 m/s2 , directed to the right. Applying the relative acceleration equation between G and O, we obtain (the units of each term are m/s2 )
a = aG = aO
ax

aG/O

0.250
ay

0.120 m G

0.1202 = 0.120(2)2 = 0.480

0.120

from which we nd a x = 0.250 0.480 m/s2 and a y = 0.120 m/s2 . Multiplying these results by m = 40 kg, the components of the inertia vector become y = 4.80 N, directed ma x = (10.00 19.20) N, directed to the right, and m a downward. The FBD and MAD in Fig. (b) now contain only three unknowns: NC , FC , and , which can be found using any three independent equations of motion. Because NC and FC act at C, it is convenient to use that point as a moment center, the corresponding moment equation being ( MC )FBD = ( MC )MAD
+

20 + 392(0.120) = 1.600 + 0.250(10.00 19.20) + 0.120(4.80)

The solution to this equation is = 6.820 rad/s2 Because is positive, its direction is clockwise, as assumed. The forces at C can now be found from force equations of motion: Fx = m a x and Fy = m a y which yield FC = 49.0 N and NC = 359.3 N Answer + 392 NC = 4.80 = 4.80(6.820)
+ FC = 10.00 19.20 = 10.00(6.820) 19.20

Answer

Because each force is positive, it is directed as shown in the FBD.

385

Sample Problem
R = 0.2 m G P = 60 N
y x

17.8

Figure (a) shows a 10-kg homogeneous disk of radius 0.2 m. The disk is at rest before the horizontal force P = 60 N is applied to its mass center G. The coefcients of static and kinetic friction for the surfaces in contact are 0.20 and 0.15, respectively. Determine the angular acceleration of the disk and the acceleration of G after the force is applied.

s = 0.20 k = 0.15
(a)

Solution
Two motions of the disk are possible: rolling without slipping, and rolling with slipping. We will solve the problem by assuming that the disk rolls without slipping. This assumption will then be checked by comparing the required friction force with its maximum static value. The free-body diagram (FBD) and the mass-acceleration diagram (MAD) based on the no-slip assumption are shown in Fig. (b). The FBD contains the 10(9.8) = 98 N weight, the 60 N applied force, the normal force NA , and the friction force F , assumed acting to the left. The MAD contains the inertia couple and inertia vector, where the angular acceleration , measured in rad/s2 , has been assumed to be clockwise. The values of I and m a were computed as follows.

10(0.2)2 m R2 = = 0.2 N m I = 2 2 ma = m R = 10(0.2) = 2 N

98 N P = 60 N
0. 2 m

I = 0.2 G
2 0. m

ma = 2 N

C F NA FBD (b) MAD C

Note that a = R is a valid kinematic equation because the disk is assumed to be rolling without slipping. There are a total of three unknowns in the FBD and MAD: F , N , and , which can be computed using any three independent equations of motion. A convenient solution is to rst equate the resultant moment about C on the FBD to the resultant moment about C on the MAD and then utilize the force equations of motion.

386

( MC )FBD = ( MC )MAD Fx = m a x Fy = m a y
+

60(0.2) = 0.2 + 2(0.2) = 20 rad/s2

60 F = 2 = 2(20) F = 20 N N A 98 = 0

N A = 98 N Because , F , and NA are all positive, their directions are as shown in Fig. (b). Next we note that the maximum possible static friction force is Fmax = s N A = 0.20(98) = 19.6. The friction force required for rolling without slipping is, according to our solution, F = 20 N. Because F > Fmax , we conclude that the disk does slip, and we must reformulate the problem. The FBD and MAD for the case where the disk rolls and slips simultaneously are shown in Fig. (c). The friction force F in the FBD has been set equal to its kinetic value, k N . This force must be shown acting to the left in order to oppose slipping. The inertia couple I in the MAD is identical to that used in Fig. (b). However, the important difference here is that the magnitude of the inertia vector is now m a = 10a N, where a is measured in m/s2 . Because the disk is slipping, the kinematic constraint a = R does not apply. Once again we see that there are three unknowns on the FBD and the MAD, except that now the unknowns are N , , and a .

98 N P = 60 N
0. 2 m

I = 0.2 G
0. 5 ft

ma = 10a N

C F = 0.15 NA NA FBD (c) MAD C

The three unknowns can be calculated as follows (of course, any other three independent equations could also be used): y Fy = m a Fx = m a x MG = I N A 98 = 0 N = 98 N 60 0.15 N A = 10a
+

(a) (b) (c)

0.2(0.15 N A ) = 0.2

Substituting N = 50 lb from Eq. (a) into Eqs. (b) and (c) yields a = 4.53 m/s2 and = 14.7 rad/s2 Answer

387

Sample Problem
B m L

17.9

A homogeneous slender bar AB of mass m and length L is released from rest in the position shown in Fig. (a). Determine the acceleration of end A , the reaction at A, and the angular acceleration of the bar immediately after the release. Assume that the horizontal plane is frictionless.

A A

60

Solution
B B

(a)

maA

mg 60 y

mL2 G I = 12 60 m L 2 60

A N FBD

2
A x

MAD (b)

The free-body diagram (FBD) and mass-acceleration diagram (MAD) of the bar at the instant after the release are shown in Fig. (b). The FBD contains the weight of the bar, mg , and the vertical reaction N . The MAD contains the inertia . The latter consists of components ma A and couple, I , and the inertia vector, m a m ( L /2) , which were obtained from kinematics as follows:

= a G = aA

aG/A

L 2 = 0 2 G

(a)

aA L 2 A

60

L 2

In Eq. (a), the senses of a A and were assumed to be to the left and clockwise, respectively. The angular velocity is zero because the bar has just been released from rest in the position being considered. Multiplying the right-hand side of Eq. (a) by the mass m and placing the results at G gives the components of the inertia vector shown in the MAD of Fig. (b).

388

Inspection of Fig. (b) reveals that there are a total of three unknowns: N , a A , and . Therefore, the solution can be obtained by deriving and solving any three independent equations of motion. Equating moments about A on the FBD and MAD in Fig. (b) yields ( M A )FBD = ( M A )MAD
+

mg

L cos 60 2

L m L2 +m 12 2

L 2

ma A

L sin 60 2

which, on simplication, becomes a A = 0.7698 L 0.5774g (b)

Referring again to Fig. (b), the force equation for the horizontal direction becomes L + 0 = ma A + m sin 60 2

Fx = m a x

which reduces to a A = 0.4330 L Solving Eqs. (b) and (c) simultaneously yields g L (c)

a A = 0.742g

and

= 1.714

Answer

Using the diagrams in Fig. (b), the force equation for the vertical direction is L mg + N = m cos 60 2

y Fy = m a

(d)

Substituting the expression for found above, and solving for N , gives N = 0.572 mg Answer

It must be emphasized that the values obtained for N , , and a A are valid only at the instant after the release. Each of these variables will vary throughout the subsequent motion of the bar. However, it is interesting to note that there is never a horizontal force acting on the bar because the plane is frictionless. Therefore, the path followed by the mass center G will be a vertical straight line.

389