Newton's Second Law in Polar Coordinates

Problem 14.95 A 100-lb person walks on a large

disk that rotates with constant angular velocity 0 =
0.3 rad/s. He walks at a constant speed v0 = 5 ft/s along
a straight radial line painted on the disk. Determine the
polar components of the horizontal force exerted on him
when he is 6 ft from the center of the disk. (How are
these forces exerted on him?)

Solution:
r = 6 ft, r = 5 ft/s, r = 0, = 0.3 rad/s, = 0
"
#
100 lb
Fr = m(r r 2 ) =
(0 [6 ft][0.3 rad/s]2 )
32.2 ft/s2
= 1.68 lb
#
"
100 lb
(0 + 2[5 ft/s][0.3 rad/s])
F = m(r + 2r ) =
32.2 ft/s2
= 9.32 lb
The forces are exerted as friction between the disk and the
mans feet.

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"
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Problem 14.96 The robot is programmed so that the

0.4-kg part A describes the path
r

r = 1 0.5 cos(2 t) m,

= 0.5 0.2 sin(2 t) rad.

Determine the radial and transverse components of the
force exerted on A by the robots jaws at t = 2 s.

Solution: The radial component of the acceleration is

ar =

d2r
r
dt 2

"

d
dt

#2

Fr

The derivatives:

dr
d
=
(1 0.5 cos 2 t) = sin 2 t,
dt
dt
d2r
d
=
( sin 2 t) = 2 2 cos 2 t;
dt 2
dt
d
d
=
(0.5 0.2 sin 2 t) = 0.4 cos 2 t.
dt
dt
d2
d
=
(0.4 cos 2 t) = 0.8 2 sin 2 t.
dt 2
dt

Fr = 0.4ar + 0.4g sin = 9.46 N.

The transverse component of the acceleration is
a = r

[ar ]t=2 = 2 2 cos 4 (1 0.5 cos 4 )(0.4 cos 4 )2 ,

=

From Newtons second law, Fr mg sin = mar , and F

mg cos = ma , from which

"

From which

2 2

mg

0.08 2

(t = 2) = 0.5 rad.

= 18.95 m/s ;

d2
dt 2

"
+2

dr
dt

#"

#
d
,
dt

from which [a ]t=2 = (1 0.5 cos 4 )(0.8 2 sin 4 ) + 2( sin 4 )

(0.4 sin 4 ) = 0, and
F = 3.44 N

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"
currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

Problem 14.99 The smooth bar rotates in the horizontal plane with constant angular velocity 0 = 60 rpm.
The spring constant is k = 20 N/m, and the unstretched
length of the spring is 3 m. If the 1-kg collar A is
released at r = 1 m with no radial velocity, what is its
radial velocity when r = 2 m?

v0
k
A

3m

Solution:
m = 1 kg, k = 20 N/m, req = 3 m

&
%
k
k
r req
Fr = k(req r) = m(r r0 2 ) r = 0 2 +
m
m

r = vr
$

v
0

%
&
dvr
k
k
= 0 2 +
r req
dr
m
m

vr dvr =

v2
=
2

2 m "%

1m

0 2 +

#
&
k
k
r req dr
m
m

Carrying out the integration we find:

v = 7.64 m/s

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#
currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

Problem 14.104* A 2-kg mass rests on a flat horizontal bar. The bar begins rotating in the vertical plane about
O with a constant angular acceleration of 1 rad/s2 . The
mass is observed to slip relative to the bar when the bar
is 30 above the horizontal. What is the static coefficient
of friction between the mass and the bar? Does the mass
slip toward or away from O?
Solution: From Newtons second law for the radial component
mg sin s N = mR2 , and for the normal component: N
d
d
mg cos = mR. Solve, and note that =
=
= 1 = const,
dt
d
2
= 2, since (0) = 0, to obtain g sin s (g cos + R) =
2R. For = 1, R = 1, this reduces to s (1 + g cos ) = 2 +
g sin . Define the quantity FR = 2 g sin . If FR > 0, the block
will tend to slide away from O, the friction force will oppose the
motion, and the negative sign is to be chosen. If FR < 0, the block
will tend to slide toward O, the friction force will oppose the motion,
and the positive sign is to be chosen. The equilibrium condition
is derived from the equations of motion: sgn(FR )s (1 + g cos ) =
2 g sin
= 0.406 .
(2 g sin ), from which s = sgn(FR )
1 + g cos
Since Fr = 3.86 < 0, the block will slide toward O.

2 kg

1 rad/s2
O
1m

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"
currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

Problem 14.105* The 1/4-lb slider A is pushed along

the circular bar by the slotted bar. The circular bar lies in
the horizontal plane. The angular position of the slotted
bar is = 10t 2 rad. Determine the polar components of
the total external force exerted on the slider at t = 0.2 s.

2 ft
2 ft

Solution: The interior angle is between the radius from O to the

slider A and the horizontal, as shown in the figure. The interior angle
formed by the radius from C to the slider A and the line from O to
the slider is . The angle is found by applying the law of sines:
2
2
=
from which sin = sin( ) which is satisfied
sin
sin( )
by = 2. The radial distance of the slider from the hinge point is
r
2
2 sin 2
also found from the sine law:
=
, r=
,
sin(180 )
sin
sin
from which r = 4 cos . The radial component of the acceleration
" #2
d
d2r
d
d
=
(10t 2 ) = 20t.
. The derivatives:
is ar = 2 r
dt
dt
dt
dt
"
#
d
d2r
d2
dr
= 4 sin
= (80 sin )t. 2 = 80 sin
= 20.
dt 2
dt
dt
dt
(1600 cos )t 2 . Substitute:

[ar ]t=0.2 = [ar =

80 sin(10t 2 )

(1600 cos(10t 2 ))t 2

(4 cos(10t 2 ))(20t)2 ]t=0.2

O
2 ft

2 ft

"
The transverse acceleration is a = r
Substitute:

d2
dt 2

"
+2

dr
dt

#"

#
d
.
dt

[a ]t=0.2 = [a = (4 cos(10t 2 ))(20)

= 149.0 ft/s .
From Newtons second law, the radial component of the external
force is
"
Fr =

W
g

+ 2(80 sin(10t 2 ))(t)(20)(t)]t=0.2 = 23.84 ft/s2 .

The transverse component of the external force is

#
ar = 1.158 lb.

"
F =

W
g

#
a = 0.185 lb

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"
currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

Problem 14.106* The 1/4-lb slider A is pushed along

the circular bar by the slotted bar. The circular bar lies
in the vertical plane. The angular position of the slotted
bar is = 10t 2 rad. Determine the polar components of
the total force exerted on the slider by the circular and
slotted bars at t = 0.25 s.
Solution: Assume that the orientation in the vertical plane is such
that the = 0 line is horizontal. Use the solution to Problem 14.105.
For positive values of the radial component of acceleration due to
gravity acts toward the origin, which by definition is the same direction
as the radial acceleration. The transverse component of the acceleration
due to gravity acts in the same direction as the transverse acceleration.
From which the components of the acceleration due to gravity in
the radial and transverse directions are gr = g sin and g = g cos .
These are to be added to the radial and transverse components of
acceleration due to the motion. From Problem 14.105, = 10t 2 rad
[ar ]t=0.25 = [80 sin (1600 cos )t 2

From#Newtons second law for the radial component Fr mg sin =

"
W
ar , from which Fr = 1.478 lb The transverse component of
g
the acceleration is (from Problem 14.105)
[a ]t=0.25 = [(4 cos )(20)
+ 2(80 sin )(t)(20)(t)]t=0.25 = 52.14 ft/s2 .
From
" #Newtons second law for transverse component F mg cos =
W
a , from which F = 0.2025 lb
g

(4 cos )(20t)2 ]t=0.25 = 209 ft/s2 .

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"
currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

Problem 14.111 Suppose that the robotic manipulator

in Problem 14.110 is used in a space station to
investigate zero-g manufacturing techniques. During
an interval of time, the manipulator is programmed
so that the cylindrical coordinates of the 4-kg part
A are = 0.15t 2 rad, r = 0.5(1 + sin ) m, and z =
0.8(1 + ) m Determine the force vector exerted on A
by the manipulator at t = 2 s in terms of cylindrical
coordinates.
Solution:
= 0.15t 2 rad,
d
= 0.3t rad/s,
dt
d2
= 0.3 rad/s2 .
dt 2
r = 0.5(1 + sin ) m,
dr
d
= 0.5
cos m/s,
dt
dt
$ %2
d
d2
d2r
= 0.5 2 cos 0.5
sin m/s2 .
2
dt
dt
dt
z = 0.8(1 + ) m,
dz
d
= 0.8
m/s,
dt
dt
d2z
d2
= 0.8 2 m/s2 .
dt 2
dt
Evaluating these expressions at t = 2 s, the acceleration is
"
a=

d2r
r
dt 2

d
dt

%2 #

$ 2
%
dr d
d2z
d
er + r 2 + 2
e + 2 ez
dt
dt dt
dt

= 0.259er + 0.532e + 0.24ez (m/s2 ).

Therefore
&

F = ma
= 1.04er + 2.13e + 0.96ez (N).

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"
currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

Problem 14.112* In Problem 14.111, draw a graph of

the magnitude of the force exerted on part A by the
manipulator as a function of time from t = 0 to t = 5 s
and use it to estimate the maximum force during that
interval of time.
Solution: Use a numerical solver to work problem 14.111 for a
series of values of time during the required interval and plot the magnitude of the resulting force as a function of time. From the graph, the
maximum force magnitude is approximately 8.4 N and it occurs at a
time of about 4.4 seconds.

Fmag (newtons) vs t (s)

9
F 8
m
a 7
g
6

5
n
e 4
w
t 3
o
n 2
s
1

.5

1.5

2.5
Time (s)

3.5

4.5

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currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

Problem 14.150 As the smooth bar rotates in the horizontal plane, the string winds up on the fixed cylinder
and draws the 1-kg collar A inward. The bar starts from
rest at t = 0 in the position shown and rotates with constant acceleration. What is the tension in the string at
t = 1 s?
m

6 rad/s2

10

40

Solution: The angular velocity of the spool relative to the bar is

= 6 rad/s2 . The acceleration of the collar relative to the bar is
d2r
= R = 0.05(6) = 0.3 m/s2 . The take up velocity of the
dt 2
spool is

"
vs =

NH

R dt = 0.05(6)t = 0.3t m/s.

The velocity
dr
= 0.3t
dt
The velocity
The position

of the collar relative to the bar is

m/s.

of the collar relative to the bar is dr/dt = 0.3t m/s.

of the collar relative to the bar is r = 0.15t 2 + 0.4 m.
d2
= 6 rad/s2 . The anguThe angular acceleration of the collar is
dt 2
d
lar velocity of the collar is
= 6t rad/s. The radial acceleration is
dt
# $2
d
d2r
= 0.3 (0.15t 2 + 0.4)(6t)2 . At t = 1 s the
ar = 2 r
dt
dt
radial acceleration is ar = 9.3 m/s2 , and the tension in the string is
|T | = |mar | = 9.3 N

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currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

Problem 14.151 In Problem 14.150, suppose that the

coefficient of kinetic friction between the collar and the
bar is k = 0.2. What is the tension in the string at
t = 1 s?
Solution: Use the results of the solution to Problem 14.150 At
t = 1 s, the horizontal normal force is

%" 2
" # " ##%
%
% d
dr
d
% = 2.1 N,
NH = |ma | = m %% r 2 + 2
%
dt
dt
dt
$
from which the total normal force is N = NH2 + (mg)2 From New"
#
$
tons second law: T + k NH2 + (mg 2 ) er + NH e = mar er +
$
ma e , from which T + k NH2 + (mg)2 = mar . From the solution
to Problem 14.152, ar = 9.3 m/s2 . Solve: The tension is
T = 11.306 N

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currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

Problem 14.154 The 1-kg slider A is pushed along

the curved bar by the slotted bar. The curved bar lies
in the horizontal
 plane, and its profile is described by

r=2
+ 1 m, where is in radians. The angular
2
position of the slotted bar is = 2t rad. Determine the
radial and transverse components of the total external
force exerted on the slider when = 1200 .

Solution: The radial position is r = 2

ity:

d
= 2. The
dt
0
angular acceleration is zero. At = 120 = 2.09 rad. From Newtons
second law, the radial force is Fr = mar , from which
The radial acceleration is zero. The angular velocity:

d
dt

2
er = 10.67er N

The transverse force is F = ma , from which


F = 2

dr
dt



d
dt


t
+ 1 . The radial veloc

dr
2
= .
dt

Fr = r


e = 2.55e N

Problem 14.155 In Problem 14.154, suppose that the

curved bar lies in the vertical plane. Determine the radial
and transverse components of the total force exerted on
A by the curved and slotted bars at t = 0.5 s.
Solution: Assume that the curved bar is vertical such that
the line = 0 is horizontal. The weight has the components:
W = (W sin )er + (W cos )e . From Newtons second law: Fr
W sin = mar , and F W cos = ma ., from which Fr
g sin 2ter = r(d/ dt)2 er , from which

 

t
Fr = 2
+ 1 (22 ) + g sin 2t ,

at t = 0.5 s, Fr = 1.02 N . The transverse component F =



 
8
2
(2) + g cos 2t =
+ g cos 2t . At t = 0.51 s,
2

F = 7.85 N

186