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Chapter 4 (Kinetics of Rigid Bodies)

Question 1
Determine the mass moment of inertia of the thin plate about an axis perpendicular to the page and
passing through point O. The material has a mass per unit area of 20 kg/m
2
.

Solution :-
Composite Parts: The plate can be subdivided into the segments shown in Fig. a. Here, the four similar
holes of which the perpendicular distances measured from their centers of mass to point C are the same
and can be grouped as segment (2). This segment should be considered as a negative part.
Mass Moment of Inertia: The mass of segments (1) and (2) are

()()() and

)() , respectively. The mass moment of inertia of the plate about an axis
perpendicular to the page and passing through point C is

()(

) [

()(

) (

)]


The mass moment of inertia of the wheel about an axis perpendicular to the page and passing through
point O can be determined using the parallel-axis theorem

, where

() and

. Thus,

()



Question 2
The sports car has a mass of 1.5 Mg and a centre of mass at G. Determine the shortest time it takes for it
to reach a speed of 80 km/h, starting from rest, if the engine only drives the rear wheels, whereas the
front wheels are free rolling. The coefficient of static friction between the wheels and the road is
s
=0.2.
Neglect the mass of the wheels for the calculation. If driving power could be supplied to all four wheels,
what would be the shortest time for the car to reach a speed of 80 km/h?

Solution:-

()

() ()

()

() (

)() ()
For Rear-Wheel Drive:
Set the friction force 0.2N
A
=0 in Eqs. (1) and (3).
Solving yields:

()


Since v = 80 km/h = 22.22 m/s, then
( )



()
For 4-Wheel Drive:

()


Since v = 80 km/h = 22.22 m/s, then



()



Question 3
The hose is wrapped in a spiral on the reel and is pulled off the reel by a horizontal force of P = 200 N.
Determine the angular acceleration of the reel after it has turned 2 revolutions. Initially, the radius is r =
500 mm. The hose is 15 m long and has a mass per unit length of 10 kg/m. Treat the wound-up hose as a
disk.

Solution:-
Equations of Motion: The mass of the hose on the reel when it rotates through an angle is
() () ( ). The, the mass moment of inertia of the reel about point O at any
instant is

( )

. Also, the acceleration of the unwound hose is .


Writing the moment equation of motion about point O,

() [

( )

] ()


However,

()

. Thus, when (


) .
Then

()(

)()

()


Question 4
If the truck accelerates at a constant rate of 6m/s
2
, starting from rest, determine the initial angular
acceleration of the 20 kg ladder. The ladder can be considered as a uniform slender rod. The support at
B is smooth.

Solution:-
Equations of Motion: We must first show that the ladder will rotate when the acceleration of the truck
is 6 m/s
2
. This can be done by determining the minimum acceleration of the truck that will cause the
ladder to lose contact at B, N
B
= 0. Writing the moment equation of motion about point A using Fig.a,

()

()


Since

, the ladder will in the fact rotate. The mass moment of inertia about its mass
centre is

()(

. Referring to Fig.b,

()

() (

)
(

) ()
Kinematics: The acceleration of A is equal to that of the truck. Thus,

. Applying the
relative acceleration equation and referring of Fig.c,

() (

)
(

)
Equating the I and j components,
(

()
(

()
Substituting Eqs. (2) and (3) into Eq. (1)

()



Question 5
A man having a weight of 150 lb crouches down on the end of a diving board as shown. In this position
the radius of gyration about his centre of gravity is

. While holding the position at

, he
rotates about his toes at A until he loses contact with the board when

. If he remains rigid,
determine approximately how many revolutions he makes before striking the water after falling 30 ft.

Solution:-


()

) ()

[(

) ()

()()
During the fall no force act on the man to cause an angular acceleration, so .
()

()


Choosing the positive root,

( )


()
()

Question 6
The 30 kg pendulum has its mass centre at G and a radius of gyration about point G of k
G
= 300 mm. If it
is released from rest when

, determine its angular velocity at the instant

. Spring AB has
a stiffness of k = 300 N/m and is unscratched when

.

Solution:-
Potential Energy: With reference to the datum in Fig. a, the gravitational potential energy of the
pendulum at positions (1) and (2) is
(

()()
(

()()
Since the spring is unscratched initially, (

. When

, the spring stretches

. Thus,
(

()(

)
And


Kinetic Energy: Since the pendulum rotates about a fixed axis,

(). The mass moment


of inertia of the pendulum about its mass centre is

. Thus, the
kinetic energy of the pendulum is

()[()]

()


Conservation of Energy:

()





















Question 7
Determine the mass moment of inertia of the pendulum about an axis perpendicular to the page
and passing through point O. The slender rod has a mass of 10 kg and the sphere has a mass of 15 kg.

Solution
Composite Parts: The pendulum can be subdivided into two segments as shown in Fig. a. The
perpendicular distances measured from the center of mass of each segment to the point O are also
indicated.
Moment of Inertia: The moment of inertia of the slender rod segment (1) and the sphere segment (2)
about the axis passing through their center of mass can be computed from (

and
(

. The mass moment of inertia of each segment about an axis passing through point O can
be determined using the parallel-axis theorem.

()(

) (

)] [

()(

) (

)]

Ans.

Question 8
Determine the mass moment of inertia of the thin plate about an axis perpendicular to the page and
passing through point O. The material has a mass per unit area of 20 kg/m
2
.


Solution
Composite Parts: The plate can be subdivided into two segments as shown in Fig. a. Since segment (2)
is a hole, it should be considered as a negative part. The perpendicular distances measured from
the center of mass of each segment to the point O are also indicated.
Mass Moment of Inertia: The moment of inertia of segments (1) and (2) are computed as

)() and

()() . The moment of inertia of the plate about an


axis perpendicular to the page and passing through point O for each segment can be determined using
the parallel-axis theorem.

()(

) (

)] [

()(

) (

)]

Ans.

Question 9
A force of is applied to the cable, which causes the 175-kg reel to turn without slipping on the
two rollers A and B of the dispenser. Determine the angular velocity of the reel after it has rotated two
revolutions starting from rest. Neglect the mass of the cable. Each roller can be considered as an 18-kg
cylinder, having a radius of 0.1 m. The radius of gyration of the reel about its center axis is k
G
= 0.42 m.

Solution
System:


[ ] ()()()

[(

)]

()()

() ()


Solving:
Ans.

Question 10
When the slender 10-kg bar AB is horizontal it is at rest and the spring is unstretched. Determine the
stiffness k of the spring so that the motion of the bar is momentarily stopped when it has rotated
clockwise 90.

Solution

()( )

)
Ans.