Dinamica PDF

Problem 18.1 A horizontal force F = 133.
4 N is applied
to the 1023 N refrigerator as shown. Friction is negligible.
(a) What is the magnitude of the refrigerators accel-

F
eration?
(b) What normal forces are exerted on the refrigerator
by the floor at A and B?
1524 mm
711.2 mm
A
`
355.6 mm 355.6 mm
Solution: Assume that the refrigerator rolls without tipping. We

have the following equations of motion. F = 133.4 N

1023 N
Fx : (133.4 N ) = a 1023 N
9.81 m/s 2
1524 mm
Fy : A + B 1 0 2 3 N = 0

MG : (1 33 . 4 N )(0.813 m.) A(0.356 m) + B(0 . 3 5 6 m ) = 0
Solving we find
711.2 mm
(a) 2
a = 1.28 m/s
A B
(b) A = 359 N , B = 664.1 N
Since A > 0 and B > 0 then our assumption is correct.
Problem 18.2 Solve Problem 18.1 if the coefficient of

kinetic friction at A and B is k = 0.1.
Solution: Assume sliding without tipping

F = 133.4 N
1023 N
Fx : (133.4 N ) (0.1)(A + B) = 2
a
9.81 m/s
1023 N
Fy : A + B 1 0 2 3 N = 0
1524 mm

MG : (1 3 3 . 4 N )(0.813 m ) A(0.356 m ) + B(0.356 m )
(0.1)(A + B)(0.711 m ) = 0 711.2 mm
Solving, we find A B
N
(a) a = 0.3 m/s 2 A B
(b) A = 256.6 N , B = 765.1 N
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469
Problem 18.3 As the 2800-N airplane begins its take-
off run at t = 0, its propeller exerts a horizontal force
T = 1000 N. Neglect horizontal forces exerted on the T
wheels by the runway.
4m 3m
(a) What distance has the airplane moved at t = 2 s? W
(b) what normal forces are exerted on the tires at A A 5m B
and B? 2m
Solution: The unknowns are NA , NB , a.

The equations of motion are:
W
Fx : T = a,
g
Fy : NA + NB W = 0
MG : NB (2 m ) NA (5 m )
+ T (1 m ) = 0
Putting in the numbers for T , W , and g and solving we find
NA = 943 N, NB = 1860 N, a = 3.5 m/s 2.
1 2 1
(a) The distance is given by d = at = (3 .5 m/s 2)(2 s)2 = 7 m
2 2
d =7 m
(b) The forces were found to be
NA = 943 N, NB = 1860 N
Problem 18.4 The Boeing 747 begins its takeoff run

at time t = 0. The normal forces exerted on its tires
at A and B are NA = 175 kN and NB = 2800 kN. If
you assume that these forces are constant and neglect
horizontal forces other than the thrust T , how fast is the T
3m 5m
airplanes moving at t = 4 s? (See Active Example 18.1.) A B
2m
26 m
Solution: The unknowns are T , W, a. The equations of motion

are:
W
Fx : T = a,
g
Fy : NA + NB W = 0,
MG : NB (2 m) NA (24 m)
T (2 m) = 0.
Putting in the numbers for NA and NB and solving, we find
a = 2.31 m/s2 , T = 700 kN, W = 2980 kN.
The velocity is then given by
v = at = (2.31 m/s2 )(4 s) = 9.23 m/s. v = 9.23 m/s.

470
Problem 18.5 The crane moves to the right with con-
stant acceleration, and the 800-kg load moves without
swinging.
(a) What is the acceleration of the crane and load?

(b) What are the tensions in the cables attached at A
and B?
5 5
A B
1m
1.5 m 1.5 m
Solution: From Newtons second law: Fx = 800a N.

The sum of the forces on the load: 5 5
FA FB
Fx = FA sin 5 + FB sin 5 800a = 0.
1.0 m
Fy = FA cos 5 + FB cos 5 800g = 0.
mg
The sum of the moments about the center of mass:
1.5 m 1.5 m

MCM = 1.5FA cos 5 + 1.5FB cos 5
FA sin 5 FB sin 5 = 0.
Solve these three simultaneous equations:
a = 0.858 m/s2 ,
FA = 3709 N ,
FB = 4169 N

471
Problem 18.6 The total weight of the go-cart and
driver is 1068 N. The location of their combined center
of mass is shown . The rear drive wheels together exert
a 106 . 7 N horizontal force on the track. Neglect the
horizontal forces exerted on the front wheels.
(a) What is the magnitude of the go-carts accelera-
tion?
(b) What normal forces are exerted on the tires at A 381 mm
and B? 152.4 mm 101.6 mm
A B
406.4 mm
1524 mm
Solution:

1068 N
Fx : ( 1 0 6 . 7 N ) = 2
a
9.81 m/s

Fy : NA + NB (1068 N ) = 0
1068 N
MG : NA (0.406 m)+ NB (1.118 m )+(106.7 N) (0.381 m)= 0
Solving we find
106.7 N
(a) 2
a = 0.981 m/s
NB
(b) NA = 809.5 N , NB = 2 58 N NA

472
Problem 18.7 The total weight of the bicycle and rider is
711.7 N. The location of their combined center of mass
is shown. The dimensions shown are b = 5 3 3 . 4 m m ,
c = 406.4 mm, and h = 965 mm What is the largest
acceleration the bicycle can have without the front wheel
leaving the ground? Neglect the horizontal force exerted
on the front wheel by the road.
Strategy: You want to determine the value of the accel-

eration that causes the normal force exerted on the front
wheel by the road to equal zero.
h
A B
b c
Solution: Given: b = 0.533 m. , c = 0.406 m., h = 0.965 m.

711.7 N
Find: a so that NA = 0

711.7 N
Fx : FB = a
9.81 m/s2

Fy : NA + NB (711.7 N ) = 0

MG : NA b + NB c FB h = 0
NA = 0 h
Solving we find NB = 711.7 N , FB = 300 N, a = 4.15 m/s 2

b c FB
NB
NA

473
Problem 18.8 The moment of inertia of the disk about 50 N-m
O is I = 20 kg-m2 . At t = 0, the stationary disk is sub-
jected to a constant 50 N-m torque.
(a) What is the magnitude of the resulting angular O

acceleration of the disk?
(b) How fast is the disk rotating (in rpm) at t = 4 s?
Solution:
M 50 N-m
(a) M = I = = = 2.5 rad/s2 .
I 20 kg-m2
= 2.5 rad/s2 .
(b) The angular velocity is given by

1 rev 60 s
= t = (2.5 rad/s2 )(4 s) = 10 rad/s = 95.5 rpm.
2 rad 1 min
= 95.5 rpm.
Problem 18.9 The 10-N bar is on a smooth horizontal y

table. The figure shows the bar viewed from above. Its
moment of inertia about the center of mass is I =
1 kg m2. The bar is stationary when the force F = 5 N
.
is applied in the direction parallel to the y axis. At that
instant, determine A 2m 2m B
(a) the acceleration of the center of mass, and

(b) the acceleration of point A. F
x
Solution:
F 5N
(a) F = ma a = = = 4.905 m/s 2
m 10 N
9.81 m/s2
2
aG =(4.905 m/s )j.
l Fl (5 N)(4 m)
(b) MG : F = I = = = 10 rad/s 2 .
2 2I 2(1 kg -m 2 )
aA = aG + rA/G
= (4.905 m/s 2 )j + (10 rad/s2 )k (2 m)i
aA = (24.9 m/s2 )j.

474
Problem 18.10 The 10-N bar is on a smooth horizontal y
table. The figure shows the bar viewed from above. Its
moment of inertia about the center of mass is I =
1kg-m2 . The bar is stationary when the force F = 5 N
is applied in the direction parallel to the y axis. At that
instant, determine the acceleration of point B. A 2m 2m B
Solution:
F
F 5N
F = ma a = = = 4.905 m/s 2 x
m 10 N
9.81 m/s2
l Fl (5 N)(4 N )
MG : F = I = = = 10 rad/s 2.
2 2I 2( 1 kg- m2 )
aB = aG + rB/G
= (4.905 m/s 2 )j + (10 rad/s 2)k (2 m)i
aB = (15.1 m/s 2 )j.
Problem 18.11 The moment of inertia of the astronaut

and maneuvering unit about the axis through their center
of mass perpendicular to the page is I = 40 kg-m2 . A
thruster can exert a force T = 10 N. For safety, the con-
trol system of his maneuvering unit will not allow his
angular velocity to exceed 15 per second. If he is ini-
tially not rotating, and at t = 0, he activates the thruster
until he is rotating at 15 per second, through how many T
degrees has he rotated at t = 10 s?
300 mm
Solution: First find the angular acceleration.
MG : T d = I
Td (10 N)(0.3 m)
= = = 0.075 rad/s2 .
I (40 kg-m2 )
To reach maximum angular velocity it takes

rad
(15/s)
180
= t t = = = 3.49 s
(0.075 rad/s2 )
During this time, the astronaut has rotated through
1 2 1
1 = t = (0.075 rad/s2 )(3.49 s)2 = 0.457 rad.
2 2
After this time, the astronauts turns at the fixed rate. He rotated an
additional angle given by

rad
2 = t = (15 /s) (10 s 3.49 s) = 1.704 rad.
180
The total rotation is then

180
= 1 + 2 = (0.457 + 1.704) rad = 124 .
rad
= 124 .

475
Problem 18.12 The moment of inertia of the heli-
copters rotor is 420 N-m 2. The rotor starts from rest.
At t = 0, the pilot begins advancing the throttle so that
the torque exerted on the rotor by the engine (in N-m)
is given as a function of time in seconds by T = 200t.
(a) How long does it take the rotor to turn ten revolu-
tions?
(b) What is the rotors angular velocity (in rpm) when
it has turned ten revolutions?
Solution: Find the angular acceleration

T 200t
T = I = = = 0.476t
I 420
Now answer the kinematics questions
= 0.476t, = 0.238t 2 , = 0.0794t 3 .
(a) When it has turned 10 revolutions,

2 rad
(10 rev) = 0.0794t 3 t = 9.25 s.
rev
(b) The angular velocity is

1 rev 60 s
= 0.238(9.25)2 = 20.4 rad/s = 195 rpm
2 rad 1 min
= 195 rpm.
Problem 18.13 The moments of inertia of the pulleys Solution: The tension in each belt changes as it goes around each
are IA = 0.0025 kg-m2 , IB = 0.045 kg-m2 , and IC = pulley.
0.036 kg-m2 . A 5 N-m counterclockwise couple is ap- The unknowns are TAB , TBC , A , B , C .
plied to pulley A. Determine the resulting counterclock-
wise angular accelerations of the three pulleys. We will write three dynamic equations and two constraint equations
MA : (5 N-m) TAB (0.1 m) = (0.0025 kg-m2 )A
100 mm
MB : TAB (0.2 m) TBC (0.1 m) = (0.045 kg-m2 )B
100 mm
MC : TBC (0.2 m) = (0.036 kg-m2 )C

A
B 200 mm
200 mm C (0.1 m)A = (0.2 m)B
(0.1 m)B = (0.2 m)C .

Solving, we find
TAB = 42.2 N, TBC = 14.1 N,
A = 313 rad/s2 , B = 156 rad/s2 , C = 78.1 rad/s2 .

476
Problem 18.14 The moment of inertia of the wind-
tunnel fan is 225 kg-m2 . The fan starts from rest. The
torque exerted on it by the engine is given as a func-
tion of the angular velocity of the fan by T = 140
0.022 N-m.
(a) When the fan has turned 620 revolutions, what is its
angular velocity in rpm (revolutions per minute)?
(b) What maximum angular velocity in rpm does the
fan attain?
Strategy: By writing the equation of angular motion,
determine the angular acceleration of the fan in terms of
its angular velocity. Then use the chain rule:
d d d d
= = = .
dt d dt d
Solution:

M : (140 N-m) (0.02 N-m/s2 )2 = (225 kg-m2 )

140 0.02
= rad/s2 rad/s4 2
225 225
= (0.622 rad/s2 ) (0.0000889 rad/s4 )2
d
(a) = = (0.622 rad/s2 ) (0.0000889 rad/s4 )2
d
620(2 ) rad
d
2 4
= d
0 (0.622 rad/s ) (0.0000889 rad/s )2 0
Solving we find

1 rev 60 s
= 59.1 rad/s = 565 rpm
2 rad 1 min
(b) The maximum angular velocity occurs when the angular

acceleration is zero
= (0.622 rad/s2 ) (0.0000889 rad/s4 )2 = 0

1 rev 60 s
= 83.7 rad/s = 799 rpm
2 rad 1 min

477
Problem 18.15 The moment of inertia of the pulley
about its axis is I = 0.005 kg-m2 . If the 1-kg mass A is 100 mm
released from rest, how far does it fall in 0.5 s?
Strategy: Draw individual free-body diagrams of the

pulley and the mass.
Solution: The two free-body diagrams are shown.

The five unknowns are T , Ox , Oy , , a.
We can write four dynamic equations and one constraint equation,

however, we only need to write two dynamic equations and the one
constraint equation.
MO : T (0.1 m) = (0.005 kg-m2 ),
Fy : T (1 kg)(9.81 m/s2 ) = (1 kg)a,
a = (0.1 m).
Solving we find
T = 3.27 N, a = 6.54 m/s2 , = 65.4 rad/s2 .

Now from kinematics we know
1 2 1
d= at = (6.54 m/s2 )(0.5 s)2
2 2
d = 0.818 m.

478
Problem 18.16 The radius of the pulley is 125 mm
and the moment of inertia about its axis is I = 0.05
kg-m2 . If the system is released from rest, how far does
the 20-kg mass fall in 0.5 s? What is the tension in the
rope between the 20-kg mass and the pulley?
4 kg
20 kg
Solution: The free-body diagrams are shown.

We have six unknowns
T1 , T2 , Ox , Oy , a, .
We have five dynamic equations and one constraint equation available.
We will use three dynamic equations and the one constraint equation
MO : (T1 T2 )(0.125 m) = (0.05 kg-m2 ),
Fy1 : T1 (4 kg)(9.81 m/s2 ) = (4 kg)a,
Fy2 : T2 (20 kg)(9.81 m/s2 ) = (20 kg)a,
a = (0.125 m).
Solving we find
T1 = 62.3 N, T2 = 80.8 N, a = 5.77 m/s2 , = 46.2 rad/s2 .
From kinematics we find

1 2 1
d= at = (5.77 m/s2 )(0.5 s)2 = 0.721 m.
2 2
d = 0.721 m, T2 = 80.8 N.

479
Problem 18.17 The moment of inertia of the pulley is
0.54 kg-m2 . The coefficient of kinetic friction between 22.2 N 22.2 N
the 22.2 N weight and the horizontal surface is k = 0.2.
Determine themagnitudeof the acceleration of the 22.2 N 152.4 mm 152.4 mm
weight in each case .
8. 9 N 8. 9 N
(a) (b)
Solution: The free-body diagrams are shown.

(a) T2 = 8.9N.
(T1 T2 ) ( 0.152 m ) = ( 0.54 kg-m 2),

22.2 N
T1 (0.2)(22.2 N ) = 2
a,
9.18 m/s
a = ( 0.152 m ) .
Solving we find
T1 = 4.83 N , = 1.14 rad/s2,
a = 0.174 m/s 2
(b) T2 = 8 . 9 N .
(T1 T2 ) ( 0.152 m ) = (0.54 kg-m 2), a = ( 0.152 m ) ,

22.2 N 8.9 N
T1 (0.2)(22.2 N ) = 2
a, T2 (8.9 N ) = 2
a.
9.81 m/s 9.81 m/s
Solving we find
T1 = 4.8 N , T 2 = 8.75 N , = 1.10 rad/s2 ,
a = 0.167 m /s 2
Note that (b) has more inertia than (a) and therefore has to accelerate
more slowly.

480
Problem 18.18 The 5-kg slender bar is released from
1.2 m
rest in the horizontal position shown. Determine the
bars counterclockwise angular acceleration (a) at the
instant it is released, and (b) at the instant when it has
rotated 45 .
Solution:
(a) The free-body diagram is shown.
L 1
MO : mg = mL2
2 3
3g 3(9.81 m/s2 )
= = = 12.3 rad/s2 .
2L 2(1.2 m)
= 12.3 rad/s2 .
(b) The free-body diagram is shown.

L 1
MO : mg cos 45 = mL2
2 3
3g 3(9.81 m/s2 )
= cos 45 = cos 45
2L 2(1.2 m)
= 8.67 rad/s2 .

rest in the horizontal position shown. At the instant when 1.2 m
it has rotated 45 , its angular velocity is 4.16 rad/s. At
that instant, determine the magnitude of the force exerted
on the bar by the pin support. (See Example 18.4.)

L 1
MO : mg cos 45 = mL2
2 3
3g 3(9.81 m/s2 )
= cos 45 = cos 45 = 8.67 rad/s2
2L 2(1.2 m)
Using kinematics we find the acceleration of the center of mass.
aG = aO + rG/O 2 rG/O

aG = 0 + (8.67)k (0.6)( cos 45 i sin 45 j)

(4.16)2 (0.6)( cos 45 i sin 45 j)
= (11.0i + 3.66j) m/s2 .
From Newtons second law we have

Fx : Ox = max = (5 kg)(11.0 m/s2 ) = 55.1 N
Fy : Oy mg = may
Oy = m(g + ay ) = (5 kg)(9.18 m/s2 + 3.66 m/s2 ) = 67.4 N

The magnitude of the force in the pin is now

O = Ox2 + Oy2 = (55.1 N)2 + (67.4 N)2 = 87.0 N.
O = 87.0 N.

481
rest in the horizontal position shown. Determine the 1.2 m
magnitude of its angular velocity when it has fallen to
the vertical position.
Strategy: : Draw the free-body diagram of the bar

when it has fallen through an arbitrary angle and apply
the equation of angular motion to determine the bars
angular acceleration as a function of . Then use the
chain rule to write the angular acceleration as
d d d d
= = = .
dt d dt d

L 1 3g
MO : mg cos = mL2 = cos
2 3 2L
Using the hint we have
90
d 3g 3g
= = cos d = cos d
d 2L 0 0 2L
90
1 2 3g 3g
= sin =
2 2L 0 2L

3g 3(9.81 m/s2 )
= = = 4.95 rad/s.
L (1.2 m)
= 4.95 rad/s.
Problem 18.21 The object consists of the 2-kg slender A y

bar ABC welded to the 3-kg slender bar BDE. The y axis
is vertical. 0.2 m
B D E
(a) What is the objects moment of inertia about point x
D? 0.4 m 0.2 m
0.2 m
(b) Determine the objects counterclockwise angular
acceleration at the instant shown. C
Solution: The free-body diagram is shown

(a)
1
ID = (2 kg)(0.4 m)2 + (2 kg)(0.4 m)2
12
1
+ (3 kg)(0.6 m)2 + (3 kg)(0.1 m)2
12
ID = 0.467 kg-m2 .
(b)
MD : [(2 kg)(0.4 m) + (3 kg)(0.1 m)](9.81 m/s2 ) = (0.467 kg-m2 )
= 23.1 rad/s2 .

482
Problem 18.22 The object consists of the 2-kg slender A y
bar ABC welded to the 3-kg slender bar BDE. The y
axis is vertical. At the instant shown, the object has a 0.2 m
counterclockwise angular velocity of 5 rad/s. Determine B D E
x
the components of the force exerted on it by the pin
0.4 m 0.2 m
support. 0.2 m
Solution: The free-body diagram is shown.

The moment of inertia about the fixed point D is
1
ID = (2 kg)(0.4 m)2 + (2 kg)(0.4 m)2
12
1
+ (3 kg)(0.6 m)2 + (3 kg)(0.1 m)2
12
= 0.467 kg-m2 .
The angular acceleration is given by
MD : [(2 kg)(0.4 m) + (3 kg)(0.1 m)](9.81 m/s2 ) = (0.467 kg-m2 )
10.8 N-m
= = 23.1 rad/s2 .
0.467 kg-m2
From Newtons Second Law we have
Fx : Dx = (2 kg)(0.4 m)(5 rad/s)2 + (3 kg)(0.1 m)(5 rad/s)2
Fy : Dy (5 kg)(9.81 m/s2 ) = (2 kg)(0.4 m)(23.1 rad/s2 )
(3 kg)(0.1 m)(23.1 rad/s2 )
Solving, we find Dx = 27.5 N, Dy = 23.6 N.
Problem 18.23 The length of the slender bar is l =

4 m and its mass is m = 30 kg. It is released from rest m
in the position shown.
x
(a) If x = 1 m, what is the bars angular acceleration l
at the instant it is released?
(b) What value of x results in the largest angular accel-
(b) To find the critical value for x we differentiate and set equal to
eration when the bar is released? What is the angu-
zero to get
lar acceleration?
d d 12gx 12g 288gx 2
Solution: The moment of inertia about the fixed point is = = 2 2
dx d x l 2 + 12x 2 l + 12x 2 (l + 12x 2 )2
1
I= ml 2 + mx 2 . 12g(l 2 12x 2 )
12 = =0
The angular acceleration can be found (l 2 + 12x 2 )2
m 2 12gx (4 m)
Mfixed point : mgx = I = (l + 12x 2 ) = 2 l
x= = = 1.15 m. x = 1.15 m.
12 l + 12x 2 12 12
(a) Using the given numbers we have The corresponding angular acceleration is
2
12(9.81 m/s )(1 m) 12(9.81 m/s2 )(1.15 m)
= = 4.20 rad/s2 . = 4.20 rad/s2 . = = 4.25 rad/s2 = 4.25 rad/s2 .
(4 m)2 + 12(1 m)2 (4 m)2 + 12(1.15 m)2

483
Problem 18.24 Model the arm ABC as a single rigid y
body. Its mass is 320 kg, and the moment of inertia
about its center of mass is I = 360 kg-m2 . Point A is 1.80 m
stationary. If the hydraulic piston exerts a 14-kN force 1.40 m C
on the arm at B what is the arms angular acceleration? B 0.30 m
0.80 m
A x
0.70 m
Solution: The moment of inertia about the fixed point A is

IA = IG + md 2 = (360 kg-m2 ) + (320 kg)([1.10 m]2 + [1.80 m]2 )
= 1780 kg-m2 .
The angle between the force at B and the horizontal is

1.5 m
= tan1 = 47.0 .
1.4 m
The rotational equation of motion is now
MA : (14 kN) sin (1.4 m) (14 kN) cos (0.8 m)
(320 kg)(9.81 m/s2 )(1.80 m) = (1780 kg-m2 ) .
Solving, we find = 0.581 rad/s2 . = 0.581 rad/s2 counterclockwise.
Problem 18.25 The trucks bed weighs 8000 N and y

its moment of inertia about O is 400000 kg-m 2. At the
instant shown, the coordinates of the center of mass of
the bed are (3, 4) m and the coordinates of point B
are (5, 3.5) m. If the bed has a counterclockwise angular
acceleration of 0.2 rad/s2 , what is the magnitude of the
force exerted on the bed at B by the hydraulic cylin- B
der AB ?
30
A
x
O
Solution: The rotational equation of motion is

MO : F sin 30 (5 m) + F cos 30 (3.5 m ) (8000 N )(3 m )
= (400000 kg-m 2 )(0.2 rad/s 2)
Solving for F we find F = 18,807 N .

484
Problem 18.26 Arm BC has a mass of 12 kg and the y
moment of inertia about its center of mass is 3 kg-m2 .
Point B is stationary and arm BC has a constant coun-
terclockwise angular velocity of 2 rad/s. At the instant C
shown, what are the couple and the components of force 00
exerted on arm BC at B? 3 m
m
40
x
A B
700 mm
Solution: Since the angular acceleration of arm BC is zero, the

sum of the moments about the fixed point B must be zero. Let MB be
the couple exerted by the support at B. Then

i j k
MB + rCM/B mg = MB + 0.3 cos 40 0.3 sin 40 0 = 0.
0 117.7 0
MB = 27.05k (N-m) is the couple exerted at B. From Newtons

second law: Bx = max , By mg = may where ax , ay are the accel-
erations of the center of mass. From kinematics:
a = rCM/O 2 rCM/O
= (22 )(i0.3 cos 40 + j0.3 sin 40 )
= 0.919i 0.771j (m/s2 ),
where the angular acceleration is zero from the problem statement.

Substitute into Newtons second law to obtain the reactions at B:
Bx = 11.0 N , By = 108.5 N .

485
Problem 18.27 Arm BC has a mass of 12 kg and the y
moment of inertia about its center of mass is 3 kg-m2 .
At the instant shown, arm AB has a constant clockwise
angular velocity of 2 rad/s and arm BC has counter- C
clockwise angular velocity of 2 rad/s and a clockwise 0
30 m
angular acceleration of 4 rad/s2 . What are the couple m
and the components of force exerted on arm BC at B? 40
x
A B
700 mm
Solution: Because the point B is accelerating, the equations of

angular motion must be written about the center of mass of arm BC.
The vector distances from A to B and B to G, respectively, are
By
rB/A = rB rA = 0.7i, MB

rG/B = 0.3 cos(40 )i + 0.3 sin(40 )j mg
Bx
= 0.2298i + 0.1928j (m).
The acceleration of point B is
2 r 2 2
aB = rB/A AB B/A = AB (0.7i) (m/s ).
The acceleration of the center of mass is
2 r
aG = aB + BC rG/B BC G/B

i j k
aG = 2.8i + 0 0 4 0.9193i 0.7713j
0.2298 0.1928 0
= 2.948i 1.691j (m/s2 ).
From Newtons second law,
Bx = maGx = (12)(2.948) = 35.37 N ,
By mg = maGy ,
By = (12)(1.691) + (12)(9.81) = 97.43 N
From the equation of angular motion, MG = IBC . The moment about

the center of mass is

i j k
MG = MB + rB/G B = 0.2298 0.1928 0
35.37 97.43 0
= MB k 29.21k (N-m).
Note I = 3 kg-m2 and BC = 4k (rad/s2 ), from which
MB = 29.21 + 3(4) = 17.21 N-m .

486
Problem 18.28 The space shuttles attitude control y
engines exert two forces Ff = 8 kN and Fr = 2 kN. The
force vectors and the center of mass G lie in the x y 2m
plane of the inertial reference frame. The mass of the
2m
shuttle is 54,000 kg, and its moment of inertia about the
axis through the center of mass that is parallel to the z Ff Fr
axis is 4.5 106 kg-m2 . Determine the acceleration of 5

G
6
the center of mass and the angular acceleration. (You
can ignore the force on the shuttle due to its weight). 18 m 12m
Solution: Newtons second law is

F = (Ff cos 5 Fr cos 6 )i (Ff sin 5 + Fr sin 6 )j = ma.
Setting Ff = 8000 N, Fr = 2000 N and m = 54,000 kg and solving

for a, we obtain a = 0.1108i 0.0168j (m/s2 ). The equation of angu-
lar motion is

M = (18)(Ff sin 5 ) (2)(Ff cos 5 )
(12)(Fr sin 6 ) + (2)(Fr cos 6 ) = I
where I = 4.5 106 kg-m2 . Solving for the counterclockwise angu-

lar acceleration is = 0.000427 rad/s2 .
Problem 18.29 In Problem 18.28, suppose that Ff =

4 kN and you want the shuttles angular acceleration
to be zero. Determine the necessary force Fr and the
resulting acceleration of the center of mass.
Solution: The total moment about the center of mass must equal
zero:

M = (18)(Ff sin 5 ) (2)(Ff cos 5 )
(12)(Fr sin 6 ) + (2)(Fr cos 6 ) = 0
Setting Ff = 4000 N and solving Fr = 2306 N. From Newtons sec-

ond law

F = (Ff cos 5 Fr cos 6 )i
(Ff sin 5 + Fr sin 6 )j = 54,000a,
we obtain a = 0.0313i 0.0109j (m/s2 ).

487
Problem 18.30 Points B and C lie in the x y plane. y
The y axis is vertical. The center of mass of the 18-
kg arm BC is at the midpoint of the line from B to
C, and the moment of inertia of the arm about the
axis through the center of mass that is parallel to the
z axis is 1.5 kg-m2 . At the instant shown, the angular 760
mm
C
velocity and angular acceleration vectors of arm AB
are AB = 0.6k (rad/s) and AB = 0.3k (rad/s2 ). The
angular velocity and angular acceleration vectors of
arm BC are BC = 0.4k (rad/s) and BC = 2k (rad/s)2 .
Determine the force and couple exerted on arm BC at B. A 15
m
m
50 x
0
90
z B
Solution: The acceleration of point B is aB = aA + AB

2 r
rA/B AB A/B or
mg

i j k

aB = 0 0 0.3 By
0.76 cos 15 0.76 sin 15 0
50
(0.6)2 (0.76 cos 15 i 0.76 sin 15 j)
Bx
2 MB
= 0.323i 0.149j (m/s )
The acceleration of the center of mass G of arm BC is
2 r
aG = aB + BC rG/B BC aB = 0.323i 0.149j
G/B

i j k

+ 0 0 2
0.45 cos 50 0.45 sin 50 0
(0.4)2 (0.45 cos 50 i + 0.45 sin 50 j),
or aG = 1.059i + 0.374j (m/s2 ). The free body diagram of arm BC

is:
Newtons second law is

F = Bx i + (By mg)j = maG :

Bx i + By (18)(9.81) j = 18(1.059i + 0.374j).
Solving, we obtain Bx = 19.1 N, By = 183.3 N.
The equation of angular motion is

MG = IBC BC :
or (0.45 sin 50 )Bx (0.45 cos 50 )By + MB = (1.5)(2)
Solving for MB , we obtain MB = 62.6 N-m.

488
Problem 18.31 Points B and C lie in the x y plane. Solution: From the solution of Problem 18.30, the acceleration of
The y axis is vertical. The center of mass of the 18- point B is aB = 0.323i 0.149j (m/s2 ). If BC = 0, the acceleration
kg arm BC is at the midpoint of the line from B of the center of mass G of arm BC is
to C, and the moment of inertia of the arm about
2 r
aG = aB BC
the axis through the center of mass that is parallel G/B = 0.323i 0.149j
to the z axis is 1.5 kg-m2 . At the instant shown, the

angular velocity and angular acceleration vectors of arm (0.4)2 (0.45 cos 50 i + 0.45 sin 50 j)
AB are AB = 0.6k (rad/s) and AB = 0.3k (rad/s2 ).
= 0.370i 0.205j (m/s2 ).
The angular velocity vector of arm BC is BC =
0.4k (rad/s). If you want to program the robot so that the From the free body diagram of arm BC in the solution of
angular acceleration of arm BC is zero at this instant, Problem 18.30. Newtons second law is
what couple must be exerted on arm BC at B?

F = Bx i + (By mg)j = maG :
Bx i + [By (18)(9.81)]j = 18(0.370i 0.205j).
Solving, we obtain Bx = 6.65 N, By = 172.90 N. The equation of

angular motion is

MG = IBC BC = 0:
(0.45 sin 50 )Bx (0.45 cos 50 )By + MB = 0.
Solving for MB , we obtain MB = 52.3 N-m.
Problem 18.32 The radius of the 2-kg disk is R =

80 mm. Its moment of inertia is I = 0.0064 kg-m2 . It
rolls on the inclined surface. If the disk is released from R
rest, what is the magnitude of the velocity of its center
two seconds later? (See Active Example 18.2).
30
Solution: There are four unknowns (N, f, a, ), three dynamic

equations, and one constraint equation. We have
MG : f r = I ,

F : mg sin 30 f = ma
a = r
Solving, we find
mgr 2 sin 30
a=
I + mr 2
(2 kg)(9.81 m/s2 )(0.08 m)2 sin 30

=
0.0064 kg-m2 + (2 kg)(0.08 m)2
= 3.27 m/s2 .
From the kinematics we have
v = at = (3.27 m/s2 )(2 s) = 6.54 m/s. v = 6.54 m/s.

489
Problem 18.33 The radius of the 2-kg disk is R =
80 mm. Its moment of inertia is I = 0.0064 kg-m2 . What
minimum coefficient of static friction is necessary for the R
disk to roll, instead of slip, on the inclined surface? (See
Active Example 18.2.)
30
Solution: There are five unknowns (N, f, a, , s ), three dynamic

equations, one constraint equation, and one friction equation. We have
MG : f R = I ,

F : mg sin 30 f = ma,

F : N mg cos 30 = 0,
a = R,
f = s N.
Putting in the numbers and solving, we find
N = 17.0 N, f = 3.27 N, a = 3.27 m/s2 , = 40.9 rad/s2 , s = 0.192.
Problem 18.34 A thin ring and a homogeneous circu-

lar disk, each of mass m and radius R, are released from R R
rest on an inclined surface. Determine the ratio vring /vdisk
of the velocities of the their centers when they ave rolled
a distance D.
D D
Solution: There are four unknowns (N, f, a, ), three dynamic

equations, and one constraint equation. We have
MG : f R = I ,
F : mg sin f = ma,
a = R,
mgr 2 sin
Solving, we find a =
I + mr 2
g
For the ring Iring = mr 2 aring = sin
2
1 2 2g
For the disk Idisk = mr adisk = sin
2 3
The velocities are then

4
vring = 2aring D = gD sin , vdisk = 2adisk D = gD sin
3
The ratio is

vring gD sin vring
= = 3/4 = 3/4
vdisk 4 vdisk
gD sin
3

490
Problem 18.35 The stepped disk weighs 178 N and its
moment of inertia is I = 0.27 kg-m 2. If the disk is
released from rest, how long does it take its center to
fall 0.91 m? (Assume that the string remains vertical.)
101.6 mm
203.2 mm
Solution: The moment about the center of mass is M = RT .

From the equation of angular motion: RT = I , from which T = T
I
. From the free body diagram and Newtons second law: Fy =
R
T W = may , where ay is the acceleration of the center of mass.
From kinematics: ay = R. Substitute and solve:
W
ay = .
I
2
+m W
R
The time required to fall a distance D is

2D 2D(I + R 2 m)
t= = .
ay R2 W
W
For D = 0.91 m , R = 0.102 m, W = 178 N, m = = 18.1 kg,
g
I = 0.27 kg-m 2, t = 0.676 s

491
Problem 18.36 The radius of the pulley is R = R
100 mm and its moment of inertia is I = 0.1 kg-
m2 . The mass m = 5 kg. The spring constant is k =
135 N/m. The system is released from rest with the
spring unstretched. At the instant when the mass has
fallen 0.2 m, determine (a) the angular acceleration of
the pulley, and (b) the tension in the rope between the
mass and the pulley.
k m
Solution: The force in the spring is kx. There are five unknowns
(Ox , Oy , T , a, ), four dynamic equations, and one constraint equation.
MO : (kx)R T R = I ,
Fy : T mg = ma,
a = R
Solving we find
(a)
R(mg kx)
=
I + mR 2
(0.1 m)([5 kg][9.81 m/s2 ] [135 N/m][0.2 m])

=
0.1 kg-m2 + (5 kg)(0.1 m)2
= 14.7 rad/s2 .
(b)
T = m(g R) = (5 kg)(9.81 m/s2 [0.1 m][14.7 rad/s2 ])
T = 41.7 N.

492
Problem 18.37 The radius of the pulley is R = 100 mm R
and its moment of inertia is I = 0.1 kg-m2 . The mass
m = 5 kg. The spring constant is k = 135 N/m. The sys-
tem is released from rest with the spring unstretched.
What maximum distance does the mass fall before re-
bounding?
Strategy: Assume that the mass has fallen an arbitrary

distance x. Write the equations of motion of the mass and
k
the pulley and use them to determine the acceleration a m
of the mass as a function of x. Then apply the chain rule: x
dv dv dx dv
= = v.
dt dx dt dx
Solution: The force in the spring is kx. There are five unknowns
(Ox , Oy , T , a, ), four dynamic equations, and one constraint equation.
MO : (kx)R T R = I ,
Fy : T mg = ma,
a = R
Solving we find
R 2 (mg kx) dv
a= =v
I + mR 2 dx
0
x R 2 (mg kx) R2 x
vdv = 2
dx = (mg kx) d x = 0
0 0 I + mR I + mR 2 0
Thus
1 2 2 mg
mgx kx = 0 x = 0 or x =
2 k
The maximum distance is
2 mg 2(5 kg)(9.81 m/s2 )
x= = = 0.727 m x = 0.727 m.
k 135 N/m

493
Problem 18.38 The mass of the disk is 45 kg and its
radius is R = 0.3 m. The spring constant is k = 60 N/m.
The disk is rolled to the left until the spring is com-
k R
pressed 0.5 m and released from rest.
(a) If you assume that the disk rolls, what is its angular
acceleration at the instant it is released?
(b) What is the minimum coefficient of static friction
for which the disk will not slip when it is released?
Solution: +
x0 = 0.5 mg
k = 600 N/m
Fs
O
m = 45 kg
R = 0.3 m
f x
I0 = 12 mR 2 = 2.025 N-m2 , Fs = kx
N

Fx : Fs f = ma0x

Fy : N mg = 0

M0 : f R = I0
Rolling implies a0x = R
We have, at x = 0.5 m
kx f = ma0x
N mg = 0
Rf = I0
a0x = R
Four eqns, four unknowns (a0x , , N, f )
(a) Solving f = 100 N, N = 441.5 N
= 14.81 rad/s2 (clockwise)
a0x = 4.44 m/s2
(b) for impending slip,
f = s N
s = f/N = 100/441.5
s = 0.227

494
Problem 18.39 The disk weighs 12 N and its radius
is 6 cm . It is stationary on the surface when the force
F = 10 N is applied.
(a) If the disk rolls on the surface, what is the accel- F

eration of its center?
(b) What minimum coefficient of static friction is nec-
essary for the disk to roll instead of slipping when
the force is applied?
Solution: There are five unknowns (N, f, a, , s ), three dynamic

equations, one constraint equation, and one friction equation.
Fx : F f = ma,
Fy : N mg = 0,

1 2
MG : f r = mr ,
2
a = r,
f = s N.
Solving, we find
2F 2(10 N)
(a) a= = = 5.45 m/s 2. a = 5.45 m/s 2.
3m 12 N
3
9.81 m/s 2
F (10 N)
(b) s = = = 0.278 s = 0.278.
3mg 3(12 N)

495
Problem 18.40 A186.8 N sphere with radiusR=101.6 mm 0
is placed on a horizontal surface with initial angular
velocity 0 = 40 rad/s. The coefficient of kinetic fric-
tion between the sphere and the surface is k = 0.06.
What maximum velocity will the center of the sphere
attain, and how long does it take to reach that velocity?
Strategy: The friction force exerted on the spinning

sphere by the surface will cause the sphere to acceler-
ate to the right. The friction force will also cause the
spheres angular velocity to decrease. The center of the
sphere will accelerate until the sphere is rolling on the
surface instead of slipping relative to it. Use the relation
between the velocity of the center and the angular veloc-
ity of the sphere when it is rolling to determine when
the sphere begins rolling.
Solution: Given
W = 186.8 N , g = 9.81 m/s2, m = W/g, R = 0.102 m , k = 0.06
We have
W
Fx : k N = ma

Fy : N mg = 0
RW
W
2
MG : k NR = mR 2 a
5
Solving we find
5k g
= = 14.49 rad/s2 , a = k g = 0.59 m /s2
2R
From kinematics we learn that
W
= 14.49 rad/s2 , = (14.49 rad/s2 )t (40 rad/s)
k N
a = 0.59 m/s 2, v = ( 0.59 m/s)t
when we reach a steady motion we have N
2 2
v = R (0.59 m/s )t = (0.102 m)[(14.49 rad/s )t (40 rad/s)]
Solving for the time we find
t = 1.97 s v = 1.16 m/s

496
Problem 18.41 A soccer player kicks the ball to a
teammate 8 m away. The ball leaves the players foot
moving parallel to the ground at 6 m/s with no angu-
lar velocity. The coefficient of kinetic friction between
the ball and the grass is k = 0.32. How long does it
take the ball to reach his teammate? The radius of the
ball is 112 mm and its mass is 0.4 kg. Estimate the balls
moment of inertia by using the equation for a thin spher-
ical shell: I = 23 mR 2 .
Solution: Given = 0.32, r = 0.112 m, g = 9.81 m/s2 , v0 =

6 m/s
The motion occurs in two phases.
(a) Slipping.
mg

Fx : N = ma

Fy : N mg = 0
N
2
MG : N R = mR 2
3
Solving we find
1
a = g v = v0 gt, s = v0 t gt 2
2
3g 3g
= = t
2R 2R
When it stops slipping we have
3 2v0
v = R v0 gt = gt t = = 0.765 s
2 5g
v = 3.6 m/s, s = 3.67 m
(b) Rolling Steady motion
a = 0, v = 3.6 m/s, s = (3.6 m/s)(t 0.765 s) + 3.67 m
When it reaches the teammate we have
8 m = (3.6 m/s)(t 0.765 s) + 3.67 m t = 1.97 s

497
Problem 18.42 The 100-kg cylindrical disk is at rest F
when the force F is applied to a cord wrapped around
it. The static and kinetic coefficients of friction between 300 mm
the disk and the surface equal 0.2. Determine the angular
acceleration of the disk if (a) F = 500 N and (b) F =
1000 N.
Strategy: First solve the problem by assuming that the
disk does not slip, but rolls on the surface. Determine the
friction force, and find out whether it exceeds the product
of the coefficient of friction and the normal force. If it
does, you must rework the problem assuming that the
disk slips.
Solution: Choose a coordinate system with the origin at the center

of the disk in the at rest position, with the x axis parallel to the plane F
surface. The moment about the center of mass is M = RF Rf ,
from which RF Rf = I . From which W
RF I I
f = = F . f
R R N
From Newtons second law: F f = max , where ax is the accelera-

tion of the center of mass. Assume that the disk rolls. At the point of (b) For F = 1000 N the acceleration is
contact aP = 0; from which 0 = aG + rP /G 2 rP /G .
4F 4000
ax = = = 13.33 m/s2 .
3m 300
aG = ax i = Rj 2 Rj
The friction force is
i j k
= 0 0 2 Rj = Ri 2 Rj, f = F max = 1000 1333.3 = 333.3 N.
0 R 0
The drum slips. The moment equation for slip is RF +
from which ay = 0 and ax = R. Substitute for f and solve: Rk gm = I , from which
2F RF + Rk gm 2F 2k g
ax = . = = + = 53.6 rad/s2 .
I I mR R
m+ 2
R
For a disk, the moment of inertia about the polar axis is I = 12 mR 2 ,

from which
4F 2000
ax = = = 6.67 m/s2 .
3m 300
(a) For F = 500 N, the friction force is
F 500
f = F max = = = 167 N.
3 3
Note: k W = 0.2 mg = 196.2 N, the disk does not slip.

The angular velocity is
ax 6.67
= = = 22.22 rad/s2 .
R 0.3

498
Problem 18.43 The ring gear is fixed. The mass and
moment of inertia of the sun gear are mS = 320 kg and 0.18 m.
Ring gear
IS = 40 kg-m2 . The mass and moment of inertia of each
planet gear are mP = 38 kg and IP = 0.60 kg-m2 . If a
couple M = 200 N-m is applied to the sun gear, what 0.86 m M
is the latters angular acceleration?
0.50 m
Planet gears (3)
Sun gear
Solution: F
MS = 200 N-m
er

Sun Gear: M0 : MS 3RF = IS S F R
r
C IP
G O Is
Planet Gears: Mc : Gr F r = IP P
Ms
et
F
Ft : F + G = mP act 3 small disks F
From kinematics act = rP
2P rP = RS
We have 5 eqns in 5 unknowns. Solving, S = 3.95 rad/s2 (counter-

clockwise)
Problem 18.44 In Problem 18.43, what is the mag-

nitude of the tangential force exerted on the sun gear
by each planet gear at their point of contact when the
200 N-m couple is applied to the sun gear?
Solution: See the solution to Problem 18.43. Solving the 5 eqns

in 5 unknowns yields
S = 3.95 rad/s2 ,
G = 9.63 N,
aGt = 0.988 m/s2 ,
P = 5.49 rad/s2 ,
F = 27.9 N.
F is the required value.

499
Problem 18.45 The 18-kg ladder is released from rest
in the position shown. Model it as a slender bar and
neglect friction. At the instant of release, determine
(a) the angular acceleration of the ladder and (b) the
normal force exerted on the ladder by the floor. (See
Active Example 18.3.) 30
4m
Solution: The vector location of the center of mass is rG =

(L/2) sin 30 i + (L/2) cos 30 j = 1i + 1.732j (m). Denote the normal B
P
forces at the top and bottom of the ladder by P and N. The vector
locations of A and B are rA = L sin 30 i = 2i (m), rB = L cos 30 j =
3.46j (m). The vectors rA/G = rA rG = 1i 1.732j (m), rB/G =
rB rG = 1i + 1.732j (m). The moment about the center of mass is
M = rB/G P + rA/G N, mg
A

i j k i j k N
M = 1 1.732 0 + 1 1.732 0
P 0 0 0 N 0
= (1.732P + N)k (N-m).
From the equation of angular motion: (1) 1.732 P + N = I . From

Newtons second law: (2) P = max , (3) N mg = may , where ax ,
ay are the accelerations of the center of mass.
From kinematics: aG = aA + rG/A 2 rG/A . The angular veloc-

ity is zero since the system was released from rest,

i j k
aG = aA i + 0 0 = aA i 1.732i j
1 1.732 0
= (aA 1.732)i j (m/s2 ),
from which ay = .
Similarly,

i j k
aG = aB + rG/B , aG = aB + 0 0
1 1.732 0
= aB j + 1.732i + j,
from which ax = 1.732. Substitute into (1), (2) and (3) to obtain three
equations in three unknowns: 1.732P + N = I , P = m(1.732),
N mg = m. Solve: (a) = 1.84 rad/s2 , P = 57.3 N, (b) N =
143.47 N

500
Problem 18.46 The 18-kg ladder is released from rest
in the position shown. Model it as a slender bar and
neglect friction. Determine its angular acceleration at the
instant of release.
30
4m
20
Solution: Given m = 18 kg, L = 4 m, g = 9.81 m/s2 , = 0

NA
First find the kinematic constraints. We have
aA = aG + rA/G
30
L L
= ax i + ay j + k sin 30 i + cos 30 j
2 2

L L
= ax cos 30 i + ay sin 30 j
2 2
mg
aB = aG + rB/G

L L
= ax i + ay j + k sin 30 i + cos 30 j
2 2

L L NB 20
= ax + cos 30 i + ay + sin 30 j
2 2
The constraints are
L
aA i = ax cos 30 = 0
2

aB (sin 20 i + cos 20 j)

L L
= ax + cos 30 sin 20 + ay + sin 30 cos 20
2 2
The dynamic equations:

Fx : NA + NB sin 20 = max

Fy : NB cos 20 mg = may

L L
MG : NA cos 30 + NB cos 20 sin 30
2 2

L 1
+ NB sin 20 cos 30 = mL2
2 12
Solving five equations in five unknowns we have
= 2.35 rad/s2 CCW
Also
ax = 4.07 ft/s2 , ay = 5.31 ft/s2 , NA = 43.7 N, NB = 86.2 N

501
rest in the position shown. Determine its angular
acceleration at that instant if (a) the surface is rough
and the bar does not slip, and (b) the surface is smooth.
1m
60
Solution:
(a) The surface is rough. The lower end of the bar is fixed, and the
bar rotates around that point.
L 1
MB : mg cos = mL2
2 3
3g 3(9.81 m/s2 )
= cos = cos 60
2L 2(1 m)
= 7.36 rad/s2 .
(b) The surface is smooth. There are four unknowns (N, ax , ay , ),

three dynamic equations, and one constraint equation (the y
component of the acceleration of the point in contact with the
ground is zero).
Fx : 0 = max ,
Fy : N mg = may ,
L 1
MG : N cos = mL2
2 12
L
ay + cos = 0
2
Solving, we find
6g cos 6(9.81 m/s2 ) cos 60
= = = 16.8 rad/s2 .
2
L(1 + 3 cos ) (1 m)(1 + 3 cos2 60 )
= 16.8 rad/s2 .

502
Problem 18.48 The masses of the bar and disk are
14 kg and 9 kg, respectively. The system is released
from rest with the bar horizontal. Determine the bars A
angular acceleration at that instant if O
1.2 m
(a) the bar and disk are welded together at A,
0.3 m
(b) the bar and disk are connected by a smooth pin
at A.
Strategy: In part (b), draw individual free-body
diagrams of the bar and disk.
Solution:
(a) L = 1.2 m R = 0.3 m Ox O C G A
mog
mB = 14 kg mD = 9 kg Oy mBg
O is a fixed point
For the bar
1 1
IG = mB L 2 = (14)(1.2)2 = 1.68 N-m2
12 12
2
L
IOB = IG + mB
2
IOB = 6.72 N-m2
For the disk:
IA = 12 mD R 2 = 12 (9)(0.3)2 = 0.405 N-m2
IOD = IA + m0 L2 = 13.37 N-m2
The total moment of inertia of the welded disk and bar about
O is
IT = IOB + IOD = 20.09 N-m2

Fx : Ox = O = maGx

Fy : Oy mB g mD g = (mB + mD )aGy

L
M0 : mB g LmD g = IT
2
We can solve the last equation for without finding the location
and acceleration of the center of mass, G. Solving,
= 9.38 rad/s2 (clockwise)
(b) In this case, only the moment of inertia changes. Since the disk
is on a smooth pin, it does not rotate. It acts only as a point mass
at a distance L from point O.

In this case, IOD = mD L2 and IT = IOB + IOD = 19.68 N-m2
We now have

L
M0 : mB g LmD g = IT
2
Solving = 9.57 rad/s2 (clockwise)

503
Problem 18.49 The 22.2 N horizontal bar is connected
to the 44.5 N disk by a smooth pin at A. The system is
released from rest in the position shown. What are the A
angular accelerations of the bar and disk at that instant? O
0.91 m 0.31 m
Solution: Given Ay
2
g = 9.81 m/s , Wbar = 22.2 N , Wdisk = 44.5 N , Ax
Ox
Wbar Wdisk
mbar = , mdisk =
g g Oy
Wbar Ay
L = 0.91 m , R = 0.31 m Wdisk
The FBDs
The dynamic equations

L 1
MO : mbar g Ay L = mbar L2 bar
2 3
1
MGdisk : Ay R = mdisk R 2 disk
2

Fy : Ay mdisk g = mdisk aydisk
Kinematic constraint
bar L = aydisk disk R
Solving we find
disk = 3.58 rad/s2 , bar = 12.5 rad/s2 , aydisk = 34.0 m/s2 ,
Ay = 0.556 N
Thus disk = 3.58 rad/s2 CCW, bar = 12.5 rad/s2 CW

504
Problem 18.50 The 0.1-kg slender bar and 0.2-kg
cylindrical disk are released from rest with the bar
horizontal. The disk rolls on the curved surface. What is 40 mm
the bars angular acceleration at the instant it is released?
120 mm
Solution: The moment about the center of mass of the disk is By f

M = f R, from the equation of angular motion, Rf = Id d . From By
Ay
Newtons second law: f By Wd = md ady . Since the disk rolls, Ax Bx N
the kinematic condition is ady = Rd . Combine the expressions
Bx
and rearrange: f = I d /R, I d /R By Wd = md ady , from which Wb
By + Wd = (Rmd + Id /R)d . The moment about the center of mass Wd
of the bar is

L L
Mb = Ay + By ,
2 2
from which

L L
Ay + By = Ib b .
2 2
From Newtons second law Ay Wb + By = mb aby , where aby is the

acceleration of the center of mass of the bar. The kinematic condition
for the bar is

L L
aCM = b i = b j,
2 2
from which

L
aby = b .
2
Similarly, aD = aCM + b ((L/2)i), from which ady = Lb .
From which: d = Lb /R. Substitute to obtain three equations in

three unknowns:

Id L
By + Wd = Rmd + b ,
R R

L L
Ay + By = Ib b ,
2 2

L
Ay Wb + By = mb b .
2
Substitute known numerical values: L = 0.12 m, R = 0.04 m, mb =

0.1 kg, Wb = mb g = 0.981 N, md = 0.2 kg, Wd = md g = 1.962 N,
Ib = (1/12)mb (L2 ) = 1.2 104 kg-m2 , Id = (1/2)md R 2 = 1.6
104 kg-m2 . Solve:
b = 61.3 rad/s2 , Ay = 0.368 N, By = 0.245 N.

505
Problem 18.51 The mass of the suspended object A is
8 kg. The mass of the pulley is 5 kg, and its moment of
T
inertia is 0.036 kg-m2 . If the force T = 70 N, what is
the magnitude of the acceleration of A?
120 mm
Solution: Given T2
mA = 8 kg, mB = 5 kg, IB = 0.036 kg-m2 T
R = 0.12 m, g = 9.81 m/s2 , T = 70 N mBg

The FBDs

By

FyB : T2 + T mB g By = mB aBy
By
FyA : By mA g = mA aAy

MB : T2 R + T R = IB B
Kinematic constraints
aBy = aAy , aBy = RB
Solving we find aAy = 0.805 m/s2 mAg
We also have
aBy = 0.805 m/s2 , B = 6.70 rad/s, T2 = 68.0 N, By = 84.9 N

506
Problem 18.52 The suspended object A weighs 89 N.
The pulleys are identical, each weighing 44.5 N and hav-
T
ing moment of inertia 0.03 kg-m2 . If the force T =
66 .7 N, what is the magnitude of the acceleration of A?
0.102 m
0.102 m
Solution: Given Wdisk

T2
g = 9.81 m/s2 , WA = 89 N , Wdisk = 44.5 N, I = 0.03 kg-m2 T
WA Wdisk
mA = , mdisk = , R = 0.102 m, T = 66.7 N
g g
The FBDs
T4
The dynamic equations Wdisk

Fy1 : T2 + T T1 mdisk g = mdisk a1 T1

Fy2 : T4 + T1 T3 mdisk g = mdisk a2

Fy3 : T3 mA g = mA aA

M1 : T R T2 R = I 1
T3

M2 : T1 R T4 R = I 2
The kinematic constraints
WA
a1 = R1 , a2 = R2 , a1 = 2R2 , aA = a2
Solving we find aA = 0.96 m/s2
We also have
a1 = 1.93 m/s 2, a2 = 0.96 m/s 2, 1 = 19.0 rad/s2 , 2 = 9.48 rad/s2
T1 = 74.7 N , T2 = 60.9 N , T3 = 97.9 N , T4 = 72.1 N

507
Problem 18.53 The 2-kg slender bar and 5-kg block
are released from rest in the position shown. If fric-
tion is negligible, what is the blocks acceleration at that
instant? (See Example 18.5.)
1m
Solution: L = 1 m, m = 2 kg M = 5 kg 55
1
Assume directions for Bx , By , IG = mB L 2
12

Fx : Bx = maGx (1)

Fy : By mg = mB aGy (2) y
L cos
L L 2
MG : cos By + sin Bx = IG (3)
2 2
m

Fx : Bx = Ma0x (4)
G
Fy : N By Mg = 0 (5)
mg (L / 2) sin
From kinematics, = 0 (initially)
O
x
a0 = aG + k r0/G Bx
L L By
where r0/G = cos i sin j
2 2
From the diagram a0 = a0x i

a0x = aGx + (L/2) sin (6)
0 = aGy + (L/2) cos (7)
Mg

We know = 55 , IG = 0.167 kg-m2 , L = 1 m, m = 2 kg, M =
5 kg. We have 7 eqns in 7 unknowns
M By
(aGx , aGy , a0x , , Bx , By , N), Bx
O
Solving, we get
Bx = 5.77 N, (opposite the assumed direction)
By = 13.97 N, N
aGx = 2.88 m/s2 , aGy = 2.83 m/s2
= 9.86 rad/s2 , N = 63.0 N
a0x = 1.15 m/s2 . (to the right)

508
Problem 18.54 The 2-kg slender bar and 5-kg block
are released from rest in the position shown. What
minimum coefficient of static friction between the block
and the horizontal surface would be necessary for the
block not to move when the system is released? (See
Example 18.5.)
Solution: This solution is very similar to that of Problem 18.53.

We add a friction force f = s N and set a0x = 0.
L=1m m = 2 kg
L
M = 5 kg G
mg
1
IG = mL2 = 0.167 kg-m2
12

Fx : Bx = maGx (1) Bx
By
Fy : By mg = maGy (2)

L L
MG : cos By + sin Bx = IG (3)
2 2 Mg
(These are the same as in Problem 18.53)

Note: In Prob 18.53, Bx = 5.77 N (it was in the opposite direction
to that assumed). This resulted in a0x to the right. Thus, friction must
be to the left
By
M

Fx : Bx s N = ma0x = 0 (4)
Bx

Fy : N By Mg = 0 (5)
s N
From kinematics,
a0 = aG + r0/G = 0
N
O = aGx + (L/2) sin (6)
O = aGy + (L/2) cos (7)
Solving 7 eqns in 7 unknowns, we get
Bx = 6.91 N, By = 14.78 N,
aGx = 3.46 m/s2 , aGy = 2.42 m/s2
N = 63.8 N, = 8.44 rad/s2
s = 0.108

509
Problem 18.55 As a result of the constant couple M
applied to the 1-kg disk, the angular acceleration of the 40
0.4-kg slender bar is zero. Determine M and the coun-
terclockwise angular acceleration of the rolling disk.
1m 0.25 m
Solution: There are seven unknowns (M, N, f, Ox , Oy , a, ), six

dynamic equations, and one constraint equation. We use the following
subset of those equations.

MG rod : Ox (0.5 m) cos 40

Oy (0.5 m) sin 40 = 0,
Fx rod : Ox = (0.4 kg)a,
Fy rod : Oy (0.4 kg)(9.81 m/s2 ) = 0,
MG disk : M f (0.25 m)
1
= (1 kg)(0.25 m)2 ,
2
Fxdisk : Ox f = (1 kg)a,
a = (0.25 m).
Solving, we find
Ox = 3.29 N, Oy = 3.92 N,
f = 11.5 N, a = 8.23 m/s2 ,
= 32.9 rad/s2 , M = 3.91 N-m.
M = 3.91 N-m, = 32.9 rad/s2 .

510
Problem 18.56 The slender bar weighs 40 N and the
crate weighs 80 N . At the instant shown, the velocity of
the crate is zero and it has an acceleration of 14 m/s2
toward the left. The horizontal surface is smooth. Deter-
mine the couple M and the tension in the rope. 6m
3m 6m
Solution: There are six unknowns (M, T , N, Ox , Oy , ), five

dynamic equations, and one constraint equation. We use the following
subset of the dynamic equations.
MO : M (40 N )(1.5 m )

T cos 45 (6 m)
N N

T sin 45 (3 m)

1 40 N
= (45 m 2 ),
3 9.81 m/s2

80 N
Fx : T cos 45 = (14 m/s2 )
9.81 m/s 2
The constraint equation is derived from the triangle shown. We have

L = 45 m, d = 6 2 m, = 63.4 .

x = L cos + d 2 L2 sin2

L2 cos sin
x = L sin
d 2 L2 sin2
Since the velocity x = 0, then we know that the angular velocity
= = 0. Taking one more derivative and setting = 0, we find

L2 cos sin
x = L sin (14 m/s 2)
d 2 L2 sin2

L2 cos sin
= L sin
d 2 L2 sin2
Solving these equations, we find that
= 1.56 rad/s2 , M = 1149 N-m, T = 161.5 N .

511
Problem 18.57 The slender bar weighs 40 N and the
crate weighs 80 N. At the instant shown, the veloc-
ity of the crate is zero and it has an acceleration of
14 m/s2 toward the left. The coefficient of kinetic friction
between the horizontal surface and the crate is k = 0.2.
6m
Determine the couple M and the tension in the rope.
3m 6m
Solution: There are seven unknowns (M, T , N, Ox , Oy , , f ),

five dynamic equations, one constraint equation, and one friction equa-
tion. We use the following subset of the dynamic equations.
MO : M (40 N )(1.5 m )

T cos 45 (6 m)
N
N

T sin 45 (3 m )

1 40 N
= (45 m2 ),
3 9.81 m/s2

80 N
Fx : T cos 45 + (0.2)N = (14 m/s2 )
9.81 m/s2

Fy : T sin 45 + N (80 N ) = 0.
The constraint equation is derived from the triangle shown. We have

L = 45 m, d = 6 2 m , = 63.4 .

x = L cos + d 2 L2 sin2

L2 cos sin
x = L sin
d 2 L2 sin2
Since the velocity x = 0, then we know that the angular velocity =
= 0. Taking one more derivative and setting = 0, we find

L2 cos sin
x = L sin (14 m/s2 )
d 2 L2 sin2

L2 cos sin
= L sin
d 2 L2 sin2
Solving these equations, we find that
= 1.56 rad/s2 , N = 28 . 5 N, M = 1094 N-m , T = 152.8 N.

512
Problem 18.58 Bar AB is rotating with a constant y
clockwise angular velocity of 10 rad/s. The 8-kg slender
B
bar BC slides on the horizontal surface. At the instant
shown, determine the total force (including its weight)
acting on bar BC and the total moment about its center 0.4 m
of mass.
10 rad/s C
Solution: We first perform a kinematic analysis to find the angular A x
acceleration of bar BC and the acceleration of the center of mass of
bar BC. First the velocity analysis: 0.4 m 0.8 m
vB = vA + AB rB/A = 0 + (10k) (0.4i + 0.4j) = (4i + 4j)
vC = vB + BC rC/B = (4i + 4j) + BC k (0.8i 0.4j)
= (4 + 0.4 BC )i + (4 + 0.8 BC )j
Since C stays in contact with the floor, we set the j component to zero
BC = 5 rad/s. Now the acceleration analysis.
aB = aA + AB rB/A AB 2 rB/A
= 0 + 0 (10)2 (0.4i + 0.4j) = (40i 40j)
aC = aB + BC rC/B BC 2 rC/B
= (40i 40j) + BC k (0.8i 0.4j) (5)2 (0.8i 0.4j)
= (60 + 0.4BC )i + (30 + 0.8BC )j
Since C stays in contact with the floor, we set the j component to zero
BC = 37.5 rad/s2 . Now we find the acceleration of the center of
mass G of bar BC.
aG = aB + BC rG/B BC 2 rG/B
= (40i 40j) + (37.5)k (0.4i 0.2j) (5)2 (0.4i 0.2j)
= (42.5i 20j) m/s2 .
The total force and moment cause the accelerations that we just cal-
culated. Therefore
F = maG = (8 kg)(42.5i 20j) m/s2 = (340i 160j) N,
1
M = I = (8 kg)([0.8 m]2 + [0.4 m]2 )(37.5 rad/s2 ) = 20 N-m.
12
F = (340i 160j) N, M = 20 N-m counterclockwise.

513
Problem 18.59 The masses of the slender bars AB A B
and BC are 10 kg and 12 kg, respectively. The angular
velocities of the bars are zero at the instant shown
and the horizontal force F = 150 N. The horizontal
surface is smooth. Determine the angular accelerations
of the bars. 0.4 m
C F
0.4 m 0.2 m
Solution: Given Bx
mAB = 10 kg, mBC = 12 kg, g = 9.81 m/s2 Ax
Ay
LAB = 0.4 m, LBC = 0.42 + 0.22 m, F = 150 N mAB g By By
The FBDs

LAB 1 mBC g F
MA : mAB g + By LAB = mAB LAB 2 AB
2 3

FBCx : Bx F = mBC aBCx N

FBCy : By mBC g + N = mBC aBCy
1
MBCG : (Bx F )(0.2 m) + (By + N)(0.1 m) = mBC LBC 2 BC
12
The kinematic constraints
aBCy = AB LAB + BC (0.1 m)
aBCx = BC (0.2 m)
AB LAB + BC (0.2 m) = 0
Solving we find AB = 20.6 rad/s2 , BC = 41.2 rad/s2
AB = 20.6 rad/s2 CCW, BC = 41.2 rad/s2 CW
We also find
aBCx = 8.23 m/s2 , aBCy = 4.12 m/s2
N = 244 N, Bx = 51.2 N, By = 76.5 N,

514
Problem 18.60 Let the total moment of inertia of the
cars two rear wheels and axle be IR , and let the total
moment of inertia of the two front wheels be IF . The
radius of the tires is R, and the total mass of the car,
including the wheels, is m. If the cars engine exerts a
torque (couple) T on the rear wheels and the wheels do
not slip, show that the cars acceleration is
RT
a= .
R2 m + IR + I F
Strategy: Isolate the wheels and draw three free-body

diagrams.
Solution: The free body diagrams are as shown: We shall write

mBg
three equations of motion for each wheel and two equations of motion
for the body of the car: We shall sum moments about the axles on
each wheel.
Rear Wheel : Fx Gx

Fx = Fx + fR = mR a, Fy Gy

Fy = NR mR g Fy = 0,
Fy Gy
a
MRaxle = RfR T = IR = IR
R mRg mFg
Front Wheel : Fx Gx
T
Fx = Gx + fF = mF a,
fR NR fF NF

Fy = NF mF g Gy = 0,
a
MFaxle = RfF = IF = IF
R
Car Body:

Fx = Fx Gx = mB a,

Fy = Fy + Gy mB g = 0.
Summing the y equations for all three bodies, we get NR + NF =

(mB + mR + mF )g = mg. Summing the equations for all three bodies
in the x direction, we get fR + fF = (mB + mR + mF )a = ma. (1)
From the moment equations for the wheels, we get fF = IF a/R 2
and fR = IR a/R 2 + T /R. Substituting these into Eq. (1), we get
a = RT /(mR 2 + IR + IF ) as required.

515
Problem 18.61 The combined mass of the motorcy-
cle and rider is 160 kg. Each 9-kg wheel has a 330-
mm radius and a moment of inertia I = 0.8 kg-m2 . The
engine drives the rear wheel by exerting a couple on it.
If the rear wheel exerts a 400-N horizontal force on the
road and you do not neglect the horizontal force exerted
on the road by the front wheel, determine (a) the motor-
cycles acceleration and (b) the normal forces exerted on
the road by the rear and front wheels. (The location of
the center of mass of the motorcycle not including its
wheels, is shown.)
723 mm
A 649 mm B
1500 mm
Solution: In the free-body diagrams shown, mw = 9 kg and m =

160 18 = 142 kg. Let a be the motorcycles acceleration to the right
and let be the wheels clockwise angular acceleration. Note that
a = 0.33. (1)
Front Wheel :

Fx = Bx + fF = m a, (2)

Fy = By + NF m g = 0, (3) Ax
Bx

M = fF (0.33) = I . (4)
M By
Ay mg
Rear Wheel :
Ay
Fx = Ax + fR = m a, (5) By
Ax Bx
M m
Fy = Ay + NR m g = 0, (6) m wg wg
fR fF

M = M fR (0.33) = I . (7)
NR NF
Motorcycle:

Fx = Ax Bx = ma, (8)

Fy = Ay By mg = 0, (9)

M = M + (Ax + Bx )(0.723 0.33)
+ By (1.5 0.649) Ay (0.649) = 0. (10)
Solving Eqs (1)(10) with fR = 400 N, we obtain
(a) a = 2.39 rad/s2
and (b) NR = 455 N, NF = 1115 N.

516
Problem 18.62 In Problem 18.61, if the front wheel
lifts slightly off the road when the rider accelerates,
determine (a) the motorcycles acceleration and (b) the
torque exerted by the engine on the rear wheel.
Solution: See the solution of Problem 18.61. We set NF = 0 and

replace Eq. (4) by fF = 0. Then solving Eqs. (1)(10), we obtain
(a) a = 9.34 m/s2 ,
(b) M = 516 N-m.
Problem 18.63 The moment of inertia of the vertical

handle about O is 0.16 kg-m2 . The object B weighs
66.7 N and rests on a smooth surface. The weight of the
bar AB is negligible (which means that you can treat the
bar as a two-force member). If the person exerts a 0.89 N
horizontal force on the handle 15 cm above O, what is
the resulting angular acceleration of the handle?
A
6 cm
B
O
12 cm
Solution: Let be the clockwise angular acceleration of the han-

dle. The acceleration of B is: F
aB = aA + AB rB/A :
15 cm

i j k
C
aB i = (6/12)i + 0 0 AB 6 cm
1 0.5 0
O
we see that AB = 0 and
aB = (6/12) (1).
66.7 N
The free body diagrams of the handle and object B are as shown. Note
that = arctan(6/12) = 26.6 . Newtons second law for the object C
B is
C cos = (0.15 /9.81 )aB , (2)

N
The equation of angular motion for the handle is
(15/12)F (6/12)C cos = (0.16 ) (3).
A aA = (6/12) i
Solving Equations (1)(3) with F = 0.89 N, we obtain = 6.8 rad/s2
B aB

517
Problem 18.64 The bars are each 1 m in length and 4 rad/s
have a mass of 2 kg. They rotate in the horizontal plane. A B
Bar AB rotates with a constant angular velocity of
4 rad/s in the counterclockwise direction. At the instant 6 rad/s
shown, bar BC is rotating in the counterclockwise
aBC
direction at 6 rad/s. What is the angular acceleration of
bar BC?
Solution: Given m = 2 kg, L = 1 m, = 45 By

The FBD
The kinematics
Bx
2
aB = aA + AB rB/A AB rB/A
G
= 0 + 0 (4 rad/s)2 (1 m)i = (16 m/s2 )i
aG = aB + BC rG/B BC 2 rG/B
= (16 m/s2 )i + BC k (0.5 m)(cos i sin j)
(6 rad/s)2 (0.5 m)(cos i sin j)
= (16 m/s2 + [0.5 m sin ]BC [18 m/s2 ] cos )i
+ ([0.5 m cos ]BC + [18 m/s2 ] sin )j
Our kinematic constraints are

ax = 16 m/s2 + [0.5 m sin ]BC [18 m/s2 ] cos
ay = [0.5 m cos ]BC + [18 m/s2 ] sin


Fx : Bx = max

Fy : By = may
1
MG : Bx (0.5 m) sin By (0.5 m) cos = m(1.0 m)2 BC
12
Solving we find BC = 17.0 rad/s2 CCW

518
Problem 18.65 Bars OQ and PQ each weigh 6 N. Q
The weight of the collar P and friction between the
collar and the horizontal bar are negligible. If the system
is released from rest with = 45 , what are the angular
2m 2m
accelerations of the two bars?

O
P
Solution: Let OQ and P Q be the clockwise angular acceleration y

Q
of bar OQ and the counterclockwise angular acceleration of bar PQ. OQ
PQ
The acceleration of Q is G

i j k
45 P
O x
aQ = a0 + 0Q rQ/0 = 0 0 OQ
2 cos 45 2 sin 45 0
Qy Qy
= 2OQ sin 45 i 2OQ cos 45 j.
Qx Qx
The acceleration of P is
6N 6N
O
aP = aQ + P Q rP /Q N

i j k From the diagrams:

aP i = 2OQ sin 45 i 2OQ cos 45 j + 0 0 P Q .
2 cos 45
2 sin 45 0 The equation of angular motion of bar OQ is M0 = I0 OQ :
Equating i and j components, Qx (2 sin 45 ) Qy (2 cos 45 ) + 6 cos 45 = 13 (6/9.81)(2)2 OQ (5).
aP = 2OQ sin 45 2P Q sin 45 (1) The equations of motion of bar PQ are

0 = 2OQ cos 45 + 2P Q cos 45 (2). Fx = Qx = (6/9.81 )aGx (6)
The acceleration of the center of mass of bar PQ is

Fy = N Qy 6 = (6/9.81 )aGy (7)
aG = aQ + P Q rG/Q = 2OQ sin 45 i
1
M = (N + Qy + Qx )(cos 45 ) = (6/9.81)(2)2 P Q (8).
i j k 12

2OQ cos 45 j + 0 0 P Q .
cos 45 sin 45 0 Solving Equations (1)(8), we obtain OQ = P Q = 6.83 rad/s2
Hence,
aGx = 2OQ sin 45 + P Q sin 45 (3);
aGy = 2OQ cos 45 + P Q cos 45 (4).

519
Problem 18.66 In Problem 18.65, what are the angular
accelerations of the two bars if the collar P weighs 2 N?
1
Solution: In the solution of Problem 18.65, the free body diagram M = (N P + Qy + Qx )(cos 45 ) = (6/9.81)(2)2 P Q
12
of bar PQ has a horizontal component P to the left where P is the
force exerted on the bar by the collar. Equations (6) and (8) become and the equation of motion for the collar is P = (2/9.81)aP solving
equations (19), we obtain OQ = P Q = 4.88 rad/s2 .
Fx = Qx P = (6/9.81 )aGx
Problem 18.67 The 4-kg slender bar is pinned to 2-

kg sliders at A and B. If friction is negligible and the
system is released from rest in the position shown, what A
is the angular acceleration of the bar at that instant?
Solution: Express the acceleration of B in terms of the accelera-

tion of A, aB = aA + AB rB/A :
1.2 m

i j k

aB cos 45 i aB sin 45 j = aA j + 0 0 AB ,
0.5 1.2 0
or aB cos 45 = 1.2AB , (1); 45
B
and aB sin 45 = aA + 0.5AB , (2).
We express the acceleration of G in terms of the acceleration of A,

aG = aA + AB rG/A : 0.5 m

i j k

aG = aGx i + aGy j = aA j + 0 0 AB , A
0.25 0.6 0
aA
or aGx = 0.6AB , (3); G
y AB
and aGy = aA + 0.25AB , (4);
B
x
The free body diagrams are as shown. The equations of motion are aB
Slider A:
Ay
N Ax = 0 (5),
Ax
and (2)(9.81) + Ay = 2aA , (6); B

By
Slider B : P [Bx + By + (2)(9.81)] cos 45 = 0, (7); (4)(9.81)
Bx
and [(2)(9.81) Bx + By ] cos 45 = 2aB , (8);
Ay
Bar: Ax + Bk = 4aGx (9); Ax N
and Ay + By (4)(9.81) = 4aGy (10); (2)(9.81)
1 By
(L/2)[(Bx Ax ) cos + (By Ay ) sin ] = (4)L2 AB (11), P
12
Bx

where L= (0.5)2 + (1.2)2 m
(2)(9.81)
and arctan(0.5/1.2) = 22.6 .
Solving Equations (1)(11), we obtain AB = 5.18 rad/s2 .

520
Problem 18.68 The mass of the slender bar is m and
the mass of the homogeneous disk is 4m. The system
is released form rest in the position shown. If the disk R
rolls and the friction between the bar and the horizon-
tal surface is negligible, show that the disks angular
acceleration is = 6g/95R counterclockwise.
2R

Solution: For the bar: The length of the bar is L = 5R. Apply By
Newtons second law to the free body diagram of the bar: Bx = maGx , Bx
By + NA mg = maGy , where aGx , aGy are the accelerations of the 4 mg
Bx By
center of mass of the bar. The moment about the bar center of mass is NA
f
R mg ND
RBy RNA Bx = IB AB .
2
For the disk: Apply Newtons second law and the equation of angular
motion to the free body diagram of the disk. f Bx = 4maDx , ND R IB
4mg By = 0, RBy + Rf = ID D (3) RBy RNA Bx = D ,
2 2
From kinematics: Since the system is released from rest, AB = (4) f Bx = 4RmD ,
D = 0. The acceleration of the center of the disk is aD = RD i.
The acceleration of point B in terms of the acceleration of the center (5) ND 4mg By = 0,
of the disk is
(6) RBy + Rf = ID D .
i j k
aB = aD + D rB/D = aD + 0 0 D = RD i RD j.
From (1), (2), and (3)
R 0 0

mg 9mR IB
The acceleration of the center of mass of the bar in terms of the By = + D .
acceleration of B is 2 16 4R
From (1), (4) and (6),

i j k
0 0 AB
2 r
aG = aB + AB rG/B AB G/B = aB +

ID 21Rm
R
R
0 By = + D .
2 R 4
RAB Equate the expressions for By and reduce to obtain

= aB + i RAB j,
2 mg 1
D = .
AB 2 93Rm ID IB
aG = R D i R(D + AB )j. + +
2 16 R 4R
The acceleration of the center of mass of the bar in terms of the

For a homogenous cylinder of mass 4m, ID = 2R 2 m. For a slender
acceleration of A is
bar of mass m about the center of mass,

i j k 1 5
0 0 AB IB = mL2 = mR 2 .
aG = aA + aAB rG/A = aA +

12 12
R
R 0
2 Substitute and reduce:
RAB
= aA i + RAB j. 6g
2 aD = .
95R
From the constraint on the motion, aA = aA i. Equate the expressions
D
for aG , separate components and solve: AB = . Substitute to
2
5R R
obtain aGx = D , aGy = D . Collect the results:
4 2
5Rm
(1) Bx = D ,
4
Rm
(2) By + NA mg = D ,
2

521
Problem 18.69 Bar AB rotates in the horizontal plane y
with a constant angular velocity of 10 rad/s in the coun-
terclockwise direction. The masses of the slender bars C
BC and CD are 3 kg and 4.5 kg, respectively. Deter- B
mine the x and y components of the forces exerted on
bar BC by the pins at B and C at the instant shown.
10 rad/s 0.2 m
D
A x
0.2 m 0.2 m
Solution: First lets do the kinematics 0.2 m

Velocity
vB = vA + AB rB/A B G C
= 0 + (10 rad/s)k (0.2 m)j 0.2 m
= (2 m/s)i
10 rad/s
vC = vB + BC rC/B A
D
0.4 m
= (2 m/s)i + BC k (0.2 m)i = (2 m/s)i + (0.2 m)BC j
vD = vC + CD rD/C Cx
Bx
= (2 m/s)i + (0.2 m)BC j + CD k (0.2 m)(i j)
= ([2 m/s] + [0.2 m]CD )i + (0.2 m)(BC + CD )j Cy Cy

By
Since D is pinned we find CD = 10 rad/s, BC = 10 rad/s
Acceleration Dx
aB = aA + AB rB/A AB 2 rB/A Dy
= 0 + 0 (10 rad/s)2 (0.2 m)j = (20 m/s2 )j

The FBDs
aC = aB + BC rC/B BC 2 rC/B The dynamics

FBCx : Bx + Cx = (3 kg)(10 m/s2 )
= (20 m/s2 )j + BC k (0.2 m)i (10 rad/s)2 (0.2 m)i

= (20 m/s2 )i + ([0.2 m]BC 20 m/s2 )j FBCy : By + Cy = (3 kg)(40 m/s2 )
aD = aC + CD rD/C CD 2 rD/C 1
MG1 : (Cy By )(0.1 m) = (3 kg)(0.2 m)2 (200 rad/s2 )
12
= (20 m/s2 )i + ([0.2 m]BC 20 m/s2 )j + CD k
1
MD : Cx (0.2 m) + Cy (0.2 m) = (4.5 kg)( 2[0.2 m])2 (200 rad/s2 )
2
(0.2 m)(i j) (10 rad/s) (0.2 m)(i j) 3
Solving we find
= (40 m/s2 + [0.2 m]CD )i + ([0.2 m][BC + BC ])j
Bx = 220 N, By = 50 N
Since D is pinned we find BC = 200 rad/s2 , CD = 200 rad/s2 Cx = 190 N, Cy = 70 N
Now find the accelerations of the center of mass G.

aG = aB + BC rG1/B BC 2 rG1/B
= (20 m/s2 )j + (200 rad/s2 )k (0.1 m)i (10 rad/s)2 (0.1 m)i
= (10i 40j) m/s2

522
Problem 18.70 The 2-kg bar rotates in the horizontal
plane about the smooth pin. The 6-kg collar A slides on
the smooth bar. At the instant shown, r = 1.2 m, =
0.4 rad/s, and the collar is sliding outward at 0.5 m/s
relative to the bar. If you neglect the moment of inertia
of the collar (that is, treat the collar as a particle), what A
is the bars angular acceleration?
Strategy: Draw individual free-body diagrams of the

bar and collar and write Newtons second law for the r 2m
collar in terms of polar coordinates.
Solution: Diagrams of the bar and collar showing the force they e
exert on each other in the horizontal plane are: the bars equation of er
N
angular motion is
r
M0 = I0 : Nr = 13 (2)(2)2 (1) N
In polar coordinates, Newtons second law for the collar is O

d2r 2 dr
F = ma: N e = m r e r + r + 2 e .
dt 2 dt
Equating e components,

dr
N = m r + 2 = (6)[r + 2(0.5)(0.4)] (2).
dt
Solving Equations (1) and (2) with r = 1.2 m gives = 0.255 rad/s2
Problem 18.71 In Problem 18.70, the moment of iner-

tia of the collar about its center of mass is 0.2 kg-m2 .
Determine the angular acceleration of the bar, and com-
pare your answer with the answer to Problem 18.70.
Solution: Let C be the couple the collar and bar exert on each
other: The bars equation of angular motion is

M0 = I0 : Nr C = 13 (2)(2)2 (1).
The collars equation of angular motion is

M = I : C = 0.2 (2).
From the solution of Problem 18.70, the e component of Newtons

second law for the collar is
N = (6)[r + 2(0.5)(0.4)] (3)
Solving Equations (1)(3) with r = 1.2 m gives = 0.250 rad/s2 .

523
Problem 18.72 The axis L0 is perpendicular to both
segments of the L-shaped slender bar. The mass of the
bar is 6 kg and the material is homogeneous. Use inte-
gration to determine the moment of inertia of the bar 1m
about L0 .
LO
2m
Solution: Let A be the bars cross-sectional area. The bars mass dm

is m = 6 kg = A(3 m), so A = 2 kg/m. dy
For the horizontal part (Fig. a), dx r y

x
2 8 16 LO LO
Ih = x 2 dm = x 2 A dx = A = kg-m2 . dm
m 0 3 3
For the vertical part (Fig. b),

(a) (b)
1
Iv = r 2 dm = (22 + y 2 )A dy
m 0
13 26
= A = kg-m2 .
3 3
Therefore I0 = Ih + Iv = 14 kg-m2 .
Problem 18.73 Two homogenous slender bars, each of

mass m and length l, are welded together to form the T-
shaped object. Use integration to determine the moment
of inertia of the object about the axis through point O
that is perpendicular to the bars. l
O
l
Solution: Divide the object into two pieces, each corresponding

to a slender bar of mass m; the first parallel to the y-axis, the second
to the x-axis. By definition
l
I= r 2 dm + r 2 dm.
0 m
For the first bar, the differential mass is dm = A dr. Assume that
the second bar is very slender, so that the mass is concentrated at a
distance l from O. Thus dm = A dx, where x lies between the limits
2l x 2l . The distance to a differential dx is r = l 2 + x 2 . Thus
the definition becomes
l 1
2
I = A r 2 dr + A l
(l 2 + x 2 ) dx
0 2
l 1
r3 x3 2
I = A + A l 2 x +
3 0 3 1
2

1 1 17
= ml 2 +1+ = ml 2
3 12 12

524
Problem 18.74 The slender bar lies in the xy plane. y
Its mass is 6 kg and the material is homogeneous. Use
integration to determine its moment of inertia about the
z axis.
2m
50
x
1m
6 kg
Solution: The density is = = 2 kg/m
3m y
1 m
Iz = x 2 d x
0
2 m

+ [(1 m + s cos 50 )2 + (s sin 50 )2 ] d s 2m
0
Iz = 15.1 kg-m2 50
x
1m
Problem 18.75 The slender bar lies in the xy plane.

Its mass is 6 kg and the material is homogeneous. Use
integration to determine its moment of inertia about the
y axis.
6 kg
3m y
1 m
Iy = x 2 d x
0
2 m

+ [(1 m + s cos 50 )2 ] d s 2m
0
Iy = 12.0 kg-m2 50
x
1m

525
Problem 18.76 The homogeneous thin plate has mass y
m = 12 kg and dimensions b = 1 m and h = 2 m.
Determine the mass moments of inertia of the plate about
the x, y, and z axes.
h
Strategy: The mass moments of inertia of a thin plate x
of arbitrary shape are given by Eqs. (18.37)(18.39) in
terms of the moments of inertia of the cross-sectional
area of the plate. You can obtain the moments of inertia b
of the triangular area from Appendix B.
Solution:
y
m = 12 kg
Area = 12 bh
h
x
= mass/Area
dm = dA
b
From Appendix B,
12 1
1 3 1 3 Iy = IyA = h b3 = (2)(1)3
IxA = bh IyA = hb 36 3
36 36
Iy = 0.667 kg-m2
1
Area = (1)(2) = 1 m2
2
Iz = Ix + Iy
= 12 kg/m2
Iz = 2.667 + 0.667 kg-m2

Ix = y 2 dA = y 2 dA
Iz = 3.333 kg-m2
Ix = IxA , Iy = IyA

1
Ix = 12 (1)(2)3 = 2.667 kg-m2
36

526
Problem 18.77 The brass washer is of uniform thick- y
ness and mass m.
Ro
(a) Determine its moments of inertia about the x and
Ri
z axes.
(b) Let Ri = 0, and compare your results with the val- x
ues given in Appendix C for a thin circular plate.
Solution:
Ro
Ri
(a) The area moments of inertia for a circular area are
R4
Ix = Iy = .
4
For the plate with a circular cutout,
4
Ix = (R Ri4 )
4 o
m
The area mass density is , thus for the plate with a circular
A
cut,
m m
= ,
A (Ro2 Ri2 )
from which the moments of inertia
m(Ro4 Ri4 ) m 2
I(x -axis) = = (R + Ri2 )
4(Ro2 Ri2 ) 4 o
m 2
I(z-axis) = 2I(x -axis) = (R + Ri2 ).
2 o
(b) Let Ri = 0, to obtain
m 2
Ix -axis = R ,
4 o
m 2
I(z-axis) = R ,
2 o
which agrees with table entries.

527
Problem 18.78 The homogenous thin plate is of uni- y
form thickness and weighs 20 N. Determine its moment 1
y = 4 4 x 2 m
of inertia about the y axis.
Solution: The definition of the moment of inertia is

I= r 2 dm.
m
The distance from the y-axis is x, where x varies over the range
m W
4 x 4. Let = = be the area mass density. The mass
A gA
W
of an element y dx is dm = y dx. Substitute into the definition:
gA
4
W x2
Iy -axis = x2 4 dx
gA 4 4
+4
W 4x 3 x5 W
= = [68.2667].
gA 3 20 4 gA
The area is
4 4
x2 x3
A= 4 dx = 4x = 21.333 m2
4 4 12 4
The moment of inertia about the y-axis is
W 20
I(y -axis) = (3.2) = (3.2) = 6.52 kg-m2 .
g 9.81
Problem 18.79 Determine the moment of inertia of the

plate in Problem 18.78 about the x axis.
W
Solution: The differential mass is dm = dy dx. The distance
gA
of a mass element from the x-axis is y, thus
x2
W +4 4 4
I= dx y 2 dy
gA 4 0
+4 3
W x2
= 4 dx
3gA 4 4
4
W 3 5 x7
= 64x 4x 3 + x
3gA 20 448 4
W
= [234.057].
3gA
From the solution to Problem 18.78, A = 21.333 ft2 . Thus the moment
of inertia about the x-axis is
W (234.057) W
Ix -axis = = (3.657) = 7.46 kg-m 2.
3g (21.333) g

528
Problem 18.80 The mass of the object is 10 kg. Its
moment of inertia about L1 is 10 kg-m2 . What is its
moment of inertia about L2 ? (The three axes are in the
same plane.)
0.6 m 0.6 m
L L1 L2
Solution: The strategy is to use the data to find the moment of

inertia about L, from which the moment of inertia about L2 can be
determined.
IL = (0.6)2 (10) + 10 = 6.4 kg-m2 ,
from which
IL2 = (1.2)2 (10) + 6.4 = 20.8 kg-m2
Problem 18.81 An engineer gathering data for the

design of a maneuvering unit determines that the y y
astronauts center of mass is at x = 1.01 m, y = 0.16 m

and that her moment of inertia about the z axis is x
105.6 kg-m2 . The astronauts mass is 81.6 kg. What is
her moment of inertia about the z axis through her center x
of mass?
Solution: The distance from the z axis to the z axis is d =

x 2 + y 2 = 1.02257 m. The moment of inertia about the z axis is
Iz -axis = d 2 m + Iz-axis

= (1.0457)(81.6) + 105.6 = 20.27 kg-m2
Problem 18.82 Two homogenous slender bars, each of

mass m and length l, are welded together to form the
T-shaped object. Use the parallel-axis theorem to deter-
mine the moment of inertia of the object about the axis
through point O that is perpendicular to the bars. O
l
l
Solution: Divide the object into two l pieces, each corresponding is the moment of inertia about the center of the bar. From the parallel
to a bar of mass m. By definition I = 0 r 2 dm. For the first bar, the axis theorem, the moment of inertia about O is
differential mass is dm = Adr, from which the moment of inertia
about one end is
ml 2 ml 2 17 2
I0 = + l2m + = ml
l 3 12 12
l r3 ml 2
I1 = A r 2 dr = A = .
0 3 0 3
For the second bar
l 2l
2 2 r3 ml 2
I2 = A r dr = A =
l
2 3 l
2 12

529
Problem 18.83 Use the parallel-axis theorem to deter-
mine the moment of inertia of the T-shaped object in
Problem 18.98 about the axis through the center of mass
of the object that is perpendicular to the two bars.
Solution: The location of the center of mass of the object is

l
m + lm
2 3
x= = l.
2m 4
Use the results of Problem 18.98 for the moment of inertia of a bar
about its center. For the first bar,
2
l ml 2 7
I1 = m+ = ml 2 .
4 12 48
For the second bar,
2
l ml 2 7
I2 = m+ = ml 2 .
4 12 48
The composite:
7
Ic = I1 + I2 = ml 2
24
Check: Use the results of Problem 18.98:

2
3l 17 2
Ic = (2m) + ml
4 12

9 17 7
= + ml 2 = ml 2 . check .
8 12 24
Problem 18.84 The mass of the homogeneous slender y

bar is 30 kg. Determine its moment of inertia about the y
z axis.
x
0.8 m
x
0.6 m 2m
30 kg
3m
1 1
Iz = (10 kg)(1.0 m)2 + (20 kg)(2 m)2
3 12
+ (20 kg)[(1.6 m)2 + (0.8 m)2 ]
Iz = 74 kg-m2

530
Problem 18.85 The mass of the homogeneous slender
bar is 30 kg. Determine the moment of inertia of the bar
about the z axis through its center of mass.
Solution: First locate the center of mass

(10 kg)(0.3 m) + (20 kg)(1.6 m)
x= = 1.167 m
30 kg
(10 kg)(0.4 m) + (20 kg)(0.8 m)

y= = 0.667 m
30 kg
Using the answer to 18.100
Iz = (74 kg-m2 ) (30 kg)(1.1672 + 0.6672 )m2
Iz = 19.8 kg-m2
Problem 18.86 The homogeneous slender bar weighs y y

1.5 N. Determine its moment of inertia about the z axis.
4 cm
x
mass is m = 0 .155 kg. Its length is L =
Solution: The Bars 8 cm
L1 + L 2 + L 3 = 8 + 82 + 82 + (4) = 31.9 cm. The masses of the
parts are therefore,

L1 8
M1 = m= (0.155) = 0.0390 kg,
L 31.9

L2 2(64)
M2 = m= (0.155) = 0.0551 kg,
L 31.9

L3 4
M3 = m= (0.155) = 0.0612 kg.
L 31.9
The center of mass of part 3 is located to the right of its center C a

distance 2R/ = 2(4)/ = 2.55 cm. The moment of inertia of part 3
about C is

r 2 dm = m3 r 2 = (0.0612)(4)2 = 0.979 kg-cm2 .
m3
The moment of inertia of part 3 about the center of mass of part 3 is

therefore I3 = 0.979 m3 (2.55)2 = 0.582 kg-cm 2. The moment of
inertia of the bar about the z axis is
1 1
I(z axis) = m1 L21 + m2 L22 + I3 + m3 [(8 + 2.55)2 + (4)2 ]
3 3
= 11.6 kg-cm2 = 0.00116 kg-m2 .

531
bar in Problem 18.86 about the z axis through its center
of mass.
y1 L1 + y2 L2 + y3 L3
Solution: In the solution of Problem 18.86, it is shown that the y=
L1 + L2 + L3
moment of inertia of the bar about the z axis is I(z axis) = 11.6 kg-cm 2.
The x and y coordinates of the center of mass coincide with the cen-
troid of the bar: 0 + (4) 82 + 82 + (4)(4)
= = 3.00 cm.
8 + 82 + 82 + (4)
x1 L1 + x2 L2 + x3 L3
x=
L1 + L2 + L3 The moment of inertia about the z axis is

2(4)
(4)(8) + (4) 82 + 82 + 8 + (4) I(z axis) = I(z axis) (x2 + y2 ) (0.155) = 3.44 kg-cm2 .

= = 6.58 cm ,
8 + 82 + 82 + (4)
Problem 18.88 The rocket is used for atmospheric y

research. Its weight and its moment of inertia about
the z axis through its center of mass (including its
fuel) are 44480 N and 13826 kg- m 2, respectively. The
rockets fuel weighs 26688 N, its center of mass is loca-
ted at x = 0.91 m, y = 0, and z = 0, and the moment x
of inertia of the fuel about the axis through the fuels
center of mass parallel to z axis is 2983 k g-m 2 . When
the fuel is exhausted, what is the rockets moment of
inertia about the axis through its new center of mass
parallel to z axis?

2720
Solution: Denote the moment of inertia of the empty rocket as IE From which xE = (0.91 ) = 1.37 m
1812.5
about a center of mass xE , and the moment of inertia of the fuel as IF
about a mass center xF . Using the parallel axis theorem, the moment
is the new location of the center of mass.
of inertia of the filled rocket is
Substitute:
IR = IE + xE2 mE + IF + xF2 mF ,
IE = IR xE2 mE IF xF2 mF
about a mass center at the origin (xR = 0). = 13826 3410 2983 2273
= 5151 kg-m 2
Solve: IE = IR xE 2 mE IF xF 2 mF .
The objective is to determine values for the terms on the right from
the data given. Since the filled rocket has a mass center at the origin,
the mass center of the empty rocket is found from
0 = mE xE + mF xF ,
from which

mF
xE = xF .
mE
Using a value of g = 9.81 m/s 2,
WF 26688
mF = = = 2720 kg,
g 9.81
(WR WF ) 44480 26688

mE = = = 1812.5 N.
g 9.81

532
Problem 18.89 The mass of the homogeneous thin plate y
is 36 kg. Determine the moment of inertia of the plate
about the x axis. 0.4 m 0.4 m
0.3 m
0.3 m
Solution: Divide the plate into two areas: the rectangle 0.4 m by
0.6 m on the left, and the rectangle 0.4 m by 0.3 m on the right. The
m
mass density is = .
A
The area is
A = (0.4)(0.6) + (0.4)(0.3) = 0.36 m2 ,
from which
36
= = 100 kg/m2 .
0.36
The moment of inertia about the x-axis is

1 1
Ix -axis = (0.4)(0.63 ) + (0.4)(0.3)3 = 3.24 kg-m2
3 3

36-kg plate in Problem 18.89 about the z axis.
Solution: The basic relation to use is Iz-axis = Ix -axis + Iy -axis . The

value of Ix -axis is given in the solution of Problem 18.89. The moment
of inertia about the y-axis using the same divisions as in Problem 8.89
and the parallel axis theorem is

1 1
Iy -axis = (0.6)(0.4)3 + (0.3)(0.4)3
3 12
+ (0.6)2 (0.3)(0.4) = 5.76 kg-m2 ,
from which
Iz-axis = Ix -axis + Iy -axis = 3.24 + 5.76 = 9 kg-m2

533
Problem 18.91 The mass of the homogeneous thin plate y
is 20 kg. Determine its moment of inertia about the
x axis. 1000 mm
400 mm
400 mm
x
200 200
mm mm
Solution: Break the plate into the three regions shown. y

1000
A = (0.2 m)(0.8 m) + (0.2 m)(0.4 m)
1
+ (0.4 m)(0.6 m) = 0.36 m2
2
20 kg
= = 55.6 kg/m2 800
0.36 m2
200
Using the integral tables we have
1 1
Ix = (0.2 m)(0.8 m)3 + (0.2 m)(0.4 m)3 + (0.2 m)(0.4 m)(0.6 m)2 400
3 12
1 1 200 x
+ (0.6 m)(0.4 m)3 + (0.6 m)(0.4 m)(0.667 m)2
36 2
= 0.1184 m4
Ix axis = (55.6 kg/m2 )(0.1184 m4 ) = 6.58 kg-m2

534
Problem 18.92 The mass of the homogeneous thin plate
is 20 kg. Determine its moment of inertia about the
y axis.
Solution: See the solution to 18.91

1 1
Iy = (0.8 m)(0.2 m)3 + (0.4 m)(0.2 m)3 + (0.2 m)(0.4 m)(0.3 m)2
3 12
1 1
+ (0.4 m)(0.6 m)3 + (0.6 m)(0.4 m)(0.6 m)2
36 2
= 0.0552 m4
Iyaxis = (55.6 kg/m2 )(0.0552 m4 ) = 3.07 kg-m2
Problem 18.93 The thermal radiator (used to eliminate y

excess heat from a satellite) can be modeled as a homo-
geneous thin rectangular plate. The mass of the radiator
3m 6m
is 5 kg. Determine its moments of inertia about the
x,y, and z axes.
3m
2m
x
Solution: The area is A = 9(3) = 27 m 2.

The mass density is
m 5
= = = 0.1852 kg/m2 .
A 27
The moment of inertia about the centroid of the rectangle is

1
Ixc = 9(33 ) = 3.75 kg-m 2 ,
12

1
Iyc = 3(93 ) = 33.75 kg-m 2 .
12
Use the parallel axis theorem:
Ix -axis = A(2 + 1.5)2 + Ixc = 65 kg-m 2 ,
Iy -axis = A(4.5 3)2 + Iyc = 45 kg-m 2.
Iz-axis = Ix -axis + Iy -axis = 110 kg-m 2

535
Problem 18.94 The mass of the homogeneous thin plate
is 2 kg. Determine the moment of inertia of the plate
about the axis through point O that is perpendicular to
the plate.
80 mm
10 mm
30 mm
O
30
mm
130 mm
Solution: By determining the moments of inertia of the area about

the x and y axes, we will determine the moments of inertia of the plate
about the x and y axes, then sum them to obtain the moment of inertia y
about the z axis, which is I0 .
The areas are

2
1
A1 = 2 (130)(80) mm2 , 1
30 mm
A2 = (10)2 mm2 . x
O
Using Appendix B, 100 mm

1 1
Ix = (130)(80)3 (10)4 + (30)2 A2
12 4
= 5.26 106 mm4 ,

1 1
Iy = (80)(130)3 (10)4 + (100)2 A2
4 4
= 40.79 106 mm4 .
Therefore
m
I(x axis) = Ix = 2150 kg-mm2 ,
A1 A 2
m
I(y axis) = Iy = 16700 kg-mm2 .
A1 A 2
Then
I(z axis) = I(x axis) + I(y axis) = 18850 kg-mm2 .
I(z axis) = 0.0188 kg-m2 .

536
Problem 18.95 The homogeneous cone is of mass m. y
Determine its moment of inertia about the z axis, and
compare your result with the value given in Appendix C.
(See Example 18.10.) x
Strategy: Use the same approach we used in

Example 18.10 to obtain the moments of inertia of a
R
homogeneous cylinder.
z
h
Solution: The differential mass

m 3m 2
dm = r 2 dz = r dz.
V R2 h
1
The moment of inertia of this disk about the z-axis is mr 2 . The
2
R
radius varies with z, r = z, from which
h
h
3mR 2 h 3mR 2 z5 3mR 2
Iz-axis = z4 dz = =
2h5 0 2h5 5 0 10
Problem 18.96 Determine the moments of inertia of

the homogeneous cone in Problem 18.95 about the x
and y axes, and compare your results with the values
given in Appendix C. (See Example 18.10.)
m 3m
Solution: The mass density is = = . The differential
V R2 h
element of mass is dm = r 2 dz.. The moment of inertia of this
elemental disk about an axis
through its center of mass, parallel to the
1 2
x- and y-axes, is dIx = r dm. Use the parallel axis theorem,
4

1 2
Ix = r dm + z2 dm.
m 4 m
R
Noting that r = z, then
h

R4
r 2 dm = z4 dz,
h4

R2
and z2 dm = z4 dz. Substitute:
h2

R4 h
R2 h
Ix = z4 dz + z4 dz,
4h4 0 h2 0
h
3mR 2 3m z5 3 2 3 2
Ix = + 3 =m R + h = Iy .
4h5 h 5 0 20 5

537
Problem 18.97 The homogeneous object has the shape y
of a truncated cone and consists of bronze with mass
density = 8200 kg/m3 . Determine the moment of
inertia of the object about the z axis.
x
60 mm
180 mm z
180 mm
Solution: Consider an element of the cone consisting of a disk y

of thickness dz: We can express the radius as a linear function of
zr = az + b. Using the conditions that r = 0 at z = 0 and r = 0.06 m x
at z = 0.36 m to evaluate a and b we find that r = 0.167 z. From
Appendix C, the moment of inertia of the element about the z axis is r
z
1 2 1 1 z
(Iz )element = mr = [(r 2 )dz]r 2 = (0.167z)4 dz.
2 2 2 dz
We integrate this result to obtain the mass moment of inertia about the
z axis for the cone:
0.36 5 0.36
1 z
I(z axis) = (0.167)4
0.18 2 5 0.18
5 0.36
1 z
= (8200)(0.167)4
2 5 0.18
= 0.0116 kg-m2 .

object in Problem 18.97 about the x axis.
Solution: Consider the disk element described in the solution

to Problem 18.97. The radius of the laminate is r = 0.167z. Using
Appendix C and the parallel axis theorem, the moment of inertia of
the element about the x axis is
1 2 1
(Ix )element = mr + mz2 = [(r 2 )dz]r 2 + [(r 2 )dz]z2
4 4
1
= (0.167z)4 dz + (0.167z)2 z2 dz.
4
Integrating the result,
0.36 0.36
1
I(x axis) = (0.167)4 z4 dz + (0.167)2 z4 dz
4 0.18 0.18
= 0.844 kg-m2 .

538
Problem 18.99 The homogeneous rectangular paral- y
lelepiped is of mass m. Determine its moments of inertia
about the x, y, and z axes and compare your results with
the values given in Appendix C.
a
z
Solution: Consider a rectangular slice normal to the x-axis of b
dimensions b by c and mass dm. The area density of this slice is =
dm
. The moment of inertia about the y axis of the centroid of a thin
bc c x
plate is the product ofthe area
density and the area moment
of inertia
1 3 1
of the plate: dIy = bc , from which dIy = c2 dm. By By symmetry, the argument can be repeated for each coordinate, to
12 12
symmetry, the moment of inertia about the z axis is obtain

1 Iy =
m 2
(a + c2 ) Iz =
m 2
(b + a 2 )
dIz = b2 dm. 12 12
12
Since the labeling of the x- y- and z-axes is arbitrary,
dIx = dIz + dIy ,
where the x-axis is normal to the area of the plate. Thus

1 2
dIx = b + c2 dm,
12
from which

1 m 2
Ix = (b2 + c2 ) m dm = (b + c2 ) .
12 12
Problem 18.100 The sphere-capped cone consists of y

material with density 7800 kg/m3 . The radius R =
80 mm. Determine its moment of inertia about the
x axis.
z
R
4R
Solution: Given = 7800 kg/m3 , R = 0.08 m

Using the tables we have

3 1 2 2
Ix = R 2 [4R] R 2 + R3 R2
10 3 5 3
Ix = 0.0535 kg-m2

539
Problem 18.101 Determine the moment of inertia of
the sphere-capped cone described in Problem 18.100
about the y axis.
Solution: The center of mass of a half-sphere is located a distance

3R
from the geometric center of the circle.
8

1 3 3 2 2 2
Iy = R 2 [4R] [4R]2 + R + R3 R2
3 5 20 5 3

2 3R 2 2 3R 2
R3 + R3 4R +
3 8 3 8
Iy = 2.08 kg-m2
Problem 18.102 The circular cylinder is made of y

aluminum (Al) with density 2700 kg/m3 and iron (Fe)
with density 7860 kg/m3 . Determine its moment of
y
inertia about the x axis.
Al
z Fe
600 mm
200 mm
Solution:
1 z 600 mm
Ix = [(2700 kg/m2 )(0.1 m)2 (0.6 m)](0.1 m)2
2 x, x
1
+ [(7860 kg/m2 )(0.1 m)2 (0.6 m)](0.1 m)2
2
Ix = 0.995 kg-m2

the composite cylinder in Problem 18.102 about the y
axis.
Solution: First locate the center of mass
[(2700 kg/m3 )(0.1 m)2 (0.6 m)](0.3 m)
+ [(7860 kg/m3 )(0.1 m)2 (0.6 m)](0.9 m)
x=
(2700 kg/m )(0.1 m)2 (0.6 m) + (7860 kg/m3 )(0.1 m)2 (0.6 m)
3
x = 0.747 m

1 1
Iy = [(2700 kg/m3 )(0.1 m)2 (0.6 m)] (0.6 m)2 + (0.1 m)2
12 4
+ [(2700 kg/m3 )(0.1 m)2 (0.6 m)](x 0.3 m)2

1 1
+ [(7680 kg/m3 )(0.1 m)2 (0.6 m)] (0.6 m)2 + (0.1 m)2
12 4
+ [(7680 kg/m3 )(0.1 m)2 (0.6 m)](0.9 m x)2
Iy = 20.1 kg-m2

540
Problem 18.104 The homogeneous machine part is y y
made of aluminum alloy with mass density =
2800 kg/m3 . Determine the moment of inertia of the part 20 mm
about the z axis. x z
40 mm
120 mm
40
mm
Solution: We divide the machine part into the 3 parts shown: (The
y
dimension into the page is 0.04 m) The masses of the parts are 0.12
m
1
m1 = (2800)(0.12)(0.08)(0.04) = 1.075 kg, 0.08
m x
y y
m2 = (2800) 12 (0.04)2 (0.04) = 0.281 kg, +
0.12
m
C 2 x 3 x
m3 = (2800)(0.02)2 (0.04) = 0.141 kg. 0.12 0.04 m 0.02 m
m
Using Appendix C and the parallel axis theorem the moment of inertia
of part 1 about the z axis is
1
I(z axis)1 = m1 [(0.08)2 + (0.12)2 ] + m1 (0.06)2
12
= 0.00573 kg-m2 .
The moment of inertia of part 2 about the axis through the center C
that is parallel to the z axis is
1
2 m2 R
2 = 12 m2 (0.04)2
The distance along the x axis from C to the center of mass of part 2 is
4(0.04)/(3 ) = 0.0170 m. Therefore, the moment of inertia of part 2
about the z axis through its center of mass that is parallel to the axis
is
1
2 m2 (0.04)
2 m2 (0.0170)2 = 0.000144 kg-m2 .
Using this result, the moment of inertia of part 2 about the z axis is
I(z axis)2 = 0.000144 + m2 (0.12 + 0.017)2 = 0.00544 kg-m2 .
The moment of inertia of the material that would occupy the hole 3
about the z axis is
I(z axis)3 = 12 m3 (0.02)2 + m3 (0.12)2 = 0.00205 kg-m2 .
Therefore,
I(z axis) = I(z axis)1 + I(z axis)2 I(z axis)3 = 0.00911 kg-m2 .

541
the machine part in Problem 18.104 about the x axis.
Solution: We divide the machine part into the 3 parts shown in the
solution to Problem 18.104. Using Appendix C and the parallel axis
theorem, the moments of inertia of the parts about the x axis are:
1
I(x axis)1 = m1 [(0.08)2 + (0.04)2 ]
12
= 0.0007168 kg-m2

1 1
I(x axis)2 = m2 (0.04)2 + (0.04)2
12 4
= 0.0001501 kg-m2

1 1
I(x axis)3 = m3 (0.04)2 + (0.02)2
12 4
= 0.0000328 kg-m2 .
Therefore,
I(xaxis) = I(x axis)1 + I(x axis)2 I(x axis)3
= 0.000834 kg-m2 .
Problem 18.106 The object shown consists of steel of 20 mm

density = 7800 kg/m3 of width w = 40 mm. Deter-
mine the moment of inertia about the axis L0 . O
100 mm
Solution: Divide the object into four parts:
Part (1): The semi-cylinder of radius R = 0.02 m, height h1 = 10 mm 30 mm
0.01 m.
L0
Part (2): The rectangular solid L = 0.1 m by h2 = 0.01 m by w =
0.04 m.
Part (3): The semi-cylinder of radius R = 0.02 m, h1 = 0.01 m
Part (4): The cylinder of radius R = 0.02 m, height h = 0.03 m. Part (4) m4 = R 2 h = 0.294 kg,
R 2 h1 1
Part (1) m1 = = 0.049 kg, I4 = 2 m4 (R 2 ) + m4 L2 = 0.003 kg-m2 .
2
The composite:
m1 R 2
I1 = = 4.9 106 kg-m2 ,
4
IL0 = I1 + I2 I3 + I4 = 0.00367 kg-m2
Part (2) m2 = wLh2 = 0.312 kg,
I2 = (1/12)m2 (L2 + w 2 ) + m2 (L/2)2
= 0.00108 kg-m2 .
Part (3) m3 = m1 = 0.049 kg,
2
4R 4R 2
I3 = m2 + I1 + m3 L
3 3
= 0.00041179 kg-m2 .

542
the object in Problem 18.106 about the axis through the
center of mass of the object parallel to L0 .
Solution: The center of mass is located relative to L0 is given by

4R 4R
m1 + m2 (0.05) m3 0.1 + m4 (0.1)
3 3
x=
m1 + m2 m3 + m4
= 0.066 m,
Ic = x2 m + ILo = 0.00265 + 0.00367 = 0.00102 kg-m2
Problem 18.108 The thick plate consists of steel of y y

density = 7729 kg/m 3 . Determine the moment of
iner tia of the plate about the z axis.
4 cm 2 cm 2 cm
x z
Solution: Divide the object into three parts: Part (1) the rectangle 4 cm
8 cm by 16 cm, Parts (2) & (3) the cylindrical cut outs.
Part (1): m1 = 8(16)(4) = 3.96 kg. 4 cm 8 cm 4 cm 4 cm
I1 = (1/12)m1 (162 + 82 ) = 105 .6 kg-cm2 .
Part (2): m2 = (22 )(4) = 0.388 k g,
m2 (22 )
I2 = + m2 (42 ) = 7 kg-cm2 .
2
Part (3): m3 = m2 = 0.388 kg,
I3 = I2 = 7 kg-cm 2.
The composite:
Iz-axis = I1 2I2 = 91.6 kg-cm 2
Iz-axis = 0.00916 kg-m2

the object in Problem 18.108 about the x axis.
Solution: Use the same divisions of the object as in Problem 18.108.

1
Part (1) : I1x -axis = m1 (82 + 42 ) = 26.4 kg-cm2 ,
12
Part (2) : I2x -axis = (1/12)m2 (3(22 ) + 42 ) = 0.91 kg-cm2 .
The composite:
Ix -axis = I1x -axis 2I2x -axis = 24.6 kg-cm2
= 0.00246 kg-m 2

543
Problem 18.110 The airplane is at the beginning of its
takeoff run. Its weight is 4448 N and the initial thrust T
exerted by its engine is 1334 N. Assume that the thrust
is horizontal, and neglect the tangential forces exerted T
on its wheels.
(a) If the acceleration of the airplane remains constant,
how long will it take to reach its takeoff speed of 152.4 mm
128.7 km/h
(b) Determine the normal force exerted on the forward
landing gear at the beginning of the takeoff run. 0.31 m 2.13 m
Solution: The acceleration under constant thrust is

T 1334(9.81) W
a= = = 2.94 m /s2.
m 4448
T
The time required to reach 128.7 km/h = 35.8 m/s is
v 35.8
t= = = 12.1 s
a 2.94

The sum of the vertical forces: Fy = R + F W = 0. The sum of
R F
the moments: M = 2.13 F 0.152 T 0.31R = 0. Solve: R =
3809 N, F = 639 N
Problem 18.111 The pulleys can turn freely on their 100 mm

pin supports. Their moments of inertia are IA =
0.002 kg-m2 , IB = 0.036 kg-m2 , and IC = 0.032 kg-m2 . 100 mm
They are initially stationary, and at t = 0 a constant

M = 2 N-m is applied at pulley A. What is the angular A
velocity of pulley C and how many revolutions has it 200 mm
200 mm
turned at t = 2 s? B C
Solution: Denote the upper and lower belts by the subscripts U RB1
and L. Denote the difference in the tangential component of the ten- TUB
sion in the belts by
TUA
A RA B C RC
TA = TLA TU A ,
TLA TLB
TB = TLB TU B . RB2
From the equation of angular motion: M + RA TA = IA A ,

RB1 TA + RB2 TB = IB B , RC TB = IC C . From kinematics,
RA A = RB1 B , RB2 B = RC C , from which
RB1 RC (0.2)(0.2)
A = C = C = 4C ,
RA RB2 (0.1)(0.1)
RC 0.2
B = C = C = 2C .
RB2 0.1
Substitute and solve: C = 38.5 rad/s2 , from which
C = C t = 76.9 rad/s

1 C 2
N = = (2 ) = 12.2 revolutions
2 4

544
Problem 18.112 A 2 kg box is subjected to a 40-N 40 N
horizontal force. Neglect friction.
(a) If the box remains on the floor, what is its accel- c

eration?
(b) Determine the range of values of c for which the
box will remain on the floor when the force is
applied.
A B
100 mm 100 mm
Solution:
(a) From Newtons second law, 40 = (2)a, from which 40 N
C
40
a= = 20 m/s2 .
2 mg

(b) The sum of forces: Fy = A + B mg = 0. The sum of A B
the moments about the center of mass: M = 0.1B 0.1A
40c = 0. Substitute the value of B from the first equation into 100 100
mm mm
the second equation and solve for c:
(0.1)mg (0.2)A
c=
40
The box leg at A will leave the floor as A 0, from which
(0.1)(2)(9.81)
c 0.0491 m
40
for values of A 0.

545
Problem 18.113 The slender, 2-kg bar AB is 3 m B
long. It is pinned to the cart at A and leans against it
at B. a
(a) If the acceleration of the cart is a = 20 m/s2 , what

normal force is exerted on the bar by the cart at B?
(b) What is the largest acceleration a for which the bar 60
A
will remain in contact with the surface at B?
Solution: Newtons second law applied to the center of mass of

the bar yields B
B + Ax = maGx , Ay W = maGy ,

L cos L sin W
Ay + (B + Ax ) = IG , Ax
2 2
where aGx , aGy are the accelerations of the center of mass. From Ay
kinematics,
2 r 2
aG = aA + rG/A AB G/A = 20i m/s
where = 0, AB = 0 so long as the bar is resting on the cart at B

and is pinned at A. Substitute the kinematic relations to obtain three
equations in three unknowns:
B + Ax = ma, Ay W = 0,

L cos L sin
Ay + (B + Ax ) = 0.
2 2
W cot ma
Solve: B = . For W = mg = 19.62 N, = 60 , m =
2 2
2 kg, and a = 20 m/s 2, B = 14.34 N, from which the bar has moved
away from the cart at point B. (b) The acceleration that produces a zero
normal force is
a = g cot = 5.66 m /s 2 .

546
Problem 18.114 To determine a 4.5-kg tires moment
330 mm
of inertia, an engineer lets the tire roll down an inclined
surface. If it takes the tire 3.5 s to start from rest and
roll 3 m down the surface, what is the tires moment of
inertia about its center of mass?
15
Solution: From Newtons second law and the angular equation of

motion,
R

mg sin 15 f = ma,
mg a
Rf = I .
f
From these equations and the relation a = R, we obtain
N
mg sin 15
a= . (1)
m + I /R 2
We can determine the acceleration from
1 2
s= at :
2
1
3= a(3.5)2 ,
2
obtaining a = 0.490 m/s2 . Then from Eq. (1) we obtain
I = 2.05 kg-m2 .

547
Problem 18.115 Pulley A weighs 17.8 N, IA = 0.081
kg-m 2, and IB = 0.019 kg-m2. If the system is released
from rest, what distance does the 71.2 N weight fall 203.2 mm
in 0.5 s? B
305 mm A
71.2 N
35.6 N
Solution: The strategy is to apply Newtons second law and the

equation of angular motion to the free body diagrams. Denote the
rightmost weight by WR = 71.2 N, the mass by mR = 7.26 kg, and T3 T2
the leftmost weight by WL = 17.8 + 35.6 = 53.4 N, and the mass
by mL = 1.66 kg. RB = 0. 203 m. is the radius of pulley B, IB = T2 T1
0.019 kg-m2, and RA = 0.305 m. is the radius of pulley A, and IA =
0.081 kg-m 2 . Choose a coordinate system with the y axis positive T1
upward.
The 71.2 N . weight: (1) T1 WR = mR aRy . WL WR
Pulley B: The center of the pulley is constrained against motion, and

the acceleration of the rope is equal (except for direction) on each The total system: Equate (4) and (9) (the two expressions for T2 ) and
side of the pulley. (2) RB T1 + RB T2 = IB B . From kinematics, (3) solve:
aRy = RB B . Combine (1), (2) and (3) and reduce:

WL
WR
IB 2
(4) T2 = WR + + mR aRy aRy = .
RB2 IB IA mL
+ + mR + +
RB2 4RA2 4
Pulley A: (5) T2 + T3 WL = mL aAy , where aAy is the acceleration
of the center of the pulley. (6) RA T3 + RA T2 = IA A . From the Substitute numerical values: aRy = 4.78 m/s2. The distance that the
kinematics of pulley A, the acceleration of the left side of the pulley 71.2 N weight will fall in one-half second is
is zero, so that the acceleration of the right side relative to the left
side is aRy 2 4.78
s= t = = 0.6 m
2 8
aright = aRy j = aleft + A (2RA i)

i j k
= 0 0 A = 0 + 2RA A j,
2RA 0 0
from which (7) aRy = 2RA A , where the change in direction of the
acceleration of the 71.2 N. weight across pulley B is taken into
account. Similarly, the acceleration of the right side relative to the
acceleration of the center of the pulley is
aAright = aRy j = aA + A (RA i) = aA + RA A j,
aRy
from which (8) aAy = . Combine (5), (6), (7) and (8) and reduce
2
WA IA mA
to obtain (9) T2 = 2
+ ay .
2 4RA 4

548
Problem 18.116 Model the excavators arm ABC as a y
single rigid body. Its mass is 1200 kg, and the moment C
of inertia about its center of mass is I = 3600 kg-m2 . If
point A is stationary, the angular velocity of the arm is
zero, and the angular acceleration is 1.0 rad/s2 counter-
clockwise, what force does the vertical hydraulic cylin- B
der exert on the arm at B?
3.0 m
2.4 m
A x
1.7 m 1.7 m
Solution: The distance from A to the center of mass is

d= (3.4)2 + (3)2 = 4.53 m.
Ax B mg
The moment of inertia about A is
Ay
IA = I + d 2 m = 28,270 kg-m2 .
From the equation of angular motion: 1.7B 3.4mg = IA .
Substitute = 1.0 rad/s2 , to obtain B = 40,170 N.
Problem 18.117 Model the excavators arm ABC as a

single rigid body. Its mass is 1200 kg, and the moment of
inertia about its center of mass is I = 3600 kg-m2 . The
angular velocity of the arm is 2 rad/s counterclockwise
and its angular acceleration is 1 rad/s2 counterclockwise.
What are the components of the force exerted on the arm
at A?
Solution: The acceleration of the center of mass is

i j k
aG = rG/A 2 r G/B = 0 0 2 (3.4i + 3j)
3.4 3 0
= 16.6i 8.6j m/s2 .
From Newtons second law:
Ax = maGx = 19,900 N, Ay + B mg = maGy .
From the solution to Problem 18.132, B = 40,170 N, from which

Ay = 38,720 N

549
Problem 18.118 To decrease the angle of elevation of y
the stationary 200-kg ladder, the gears that raised it are
disengaged, and a fraction of a second later a second
set of gears that lower it are engaged. At the instant
the gears that raised the ladder are disengaged, what is
the ladders angular acceleration and what are the com-
ponents of force exerted on the ladder by its support
at O? The moment of inertia of the ladder about O is
I0 = 14,000 kg-m2 , and the coordinates of its center of
mass at the instant the gears are disengaged are x = 3 m,
y = 4 m. O
x
Solution: The moment about O, mgx = Io , from which

y
(200)(9.81)(3) (x , y)
= = 0.420 rad/s2 .
14,000
mg
The acceleration of the center of mass is Fy
x
Fx
i j k
aG = rG/O 2 rG/O = 0 0 = 4i + 3j
3 4 0
aG = 1.68i 1.26j (m/s2 ).
From Newtons second law: Fx = maGx = 336 N, Fy mg = maGy ,

from which Fy = 1710 N

550
Problem 18.119 The slender bars each weigh 17.8 N
and are 254 mm. long. The homogenous plate weighs
44.5 N. If the system is released from rest in the posi- 45
tion shown, what is the angular acceleration of the bars
at that instant? 203.2 mm
1016 mm
Solution: From geometry, the system is a parallelogram, so that
the plate translates without rotating, so that the acceleration of every
point on the plate is the same. Ay Ax By Bx
Newtons second law and the equation of angular motion applied to
the plate: FAx FBx = mp aP Gx , FAy + FBy Wp = mp aP Gy . The 17.8 N 17.8 N
FAx FBx
motion about the center of mass:
FAy FBy
FAy FBy
FAy (0.508) + FAx (0.102) + FBx (0.102) FBx
FAx
+ FBy (0.508) = Ip = 0.
Newtons second law for the bars: FAy + Ay WB = mB aBGy , Substitute to obtain the nine equations in nine unknowns:
FAx + Ax = mB aBGx . FBy + By WB = mB aBGy . FBx + Bx =
mB aBGx . The angular acceleration about the center of mass: (1) FAx FBx = 0.254 mp sin ,
FAx (0.127) cos + FAy (0.127) sin Ax (0.127)

(2) FAy + FBy Wp = 0.254 mp cos ,
cos + Ay (0.127) sin = IB ,
(3) 0.508FAy + 0 . 1 0 2 FAx + 0.508 FBy + 0 . 1 0 2 FBx = 0,
FBx (0.127) cos + FBy (0.127) sin B x (0.127)
cos + By (0.127) sin = IB . (4) FAy + Ay WB = ( 0 . 1 2 7 ) mB cos ,
From kinematics: the acceleration of the center of mass of the bars in (5) FAx + Ax = ( 0 . 1 2 7 ) mB sin ,
terms of the acceleration at point A is

i j k (6) FAx sin + FAy cos Ax sin + Ay cos = ( 7 . 8 7 ) IB ,
0 0
aBG = rG/A 2 rG/A =

0.127 cos 0.127sin 0
(7) FBx + Bx = ( 0 . 1 2 7 ) mB sin ,
= 0.127 sin i 0.127 cos j (m/s2 ).

(8) FBy + By WB = ( 0 . 1 2 7 ) mB cos ,
From which
(9) FBx cos + FBy sin Bx cos + By sin = ( 7 . 8 7 ) IB . The

aBGx = (0 .127) sin , aBGy = (0.127)cos ,
number of equations and number of unknowns can be reduced by
combining equations, but here the choice is to solve the system
since = 0 upon release. by iteration using TK Solver Plus. The results: FAx = 9.83 N,
The acceleration of the plate: FAy = 7.47 N, FBx = 14.77 N, Ax = 14.77 N, Ay = 20.37 N,
Bx = 19.7 N, By = 25.3 N. = 30.17 rad/s2.
i j k
0 0
aP = rP /A 2 rP /A =

0. 2 5 4 cos 0.254 sin 0
= 0.2 5 4 sin i 0.2 5 4 cos j (m/s2).
From which aP x = (0.254) sin , aP y = (0.254) cos .

551
Problem 18.120 A slender bar of mass m is released
from rest in the position shown. The static and kinetic
friction coefficients of friction at the floor and the wall
have the same value . If the bar slips, what is its angu-
lar acceleration at the instant of release?
Solution: Choose a coordinate system with the origin at the inter-

section of wall and floor, with the x axis parallel to the floor. Denote
the points of contact at wall and floor by P and N respectively, and
the center of mass of the bar by G. The vector locations are l
L
rN = iL sin , rP = jL cos , rG = (i sin + j cos ).
2

From Newtons second law:
P N = maGx , N + P mg = maGy ,
where aGx , aGy are the accelerations of the center of mass. The
moment about the center of mass is
Substitute to obtain the three equations in three unknowns,
MG = rP /G (P i + P j) + rN/G (Nj Ni) :
mL cos
i j k i j k (1) P N = ,
PL NL 2
MG = sin cos
0 + sin cos 0. mL sin
2 2 (2) P + N = + mg.
1 0 1 0 2
PL NL
(3) (cos + sin ) + (sin cos ) = IB .
PL NL 2 2
MG = (cos + sin )k + (sin cos )k
2 2 Solve the first two equations for P and N:
From the equation of angular motion, mL mg

P = (cos sin ) + .
2(1 + 2 ) (1 + 2 )
PL NL
(cos + sin ) + (sin cos ) = IB
2 2 mL mg
N = (sin + cos ) + .
2(1 + 2 ) (1 + 2 )
From kinematics: Assume that at the instant of slip the angular veloc-
ity = 0. The acceleration of the center of mass in terms of the
Substitute the first two equations into the third, and reduce to obtain
acceleration at point N is

mL2 1 2 mgL 1 2
aG = aN + rG/N 2 rG/N IB + =
4 1 + 2 2 1 + 2

i j k
0 0 sin mgL

cos .
= aN i +

1 + 2
L sin L cos
0
2 2
1
Substitute IB = 12 mL2 , reduce, and solve:

L cos L sin
aG = aN i+ j,
2 2 (3(1 2 ) sin 6 cos )g
=
(2 2 )L
L sin
from which aGy = .
2
The acceleration of the center of mass in terms of the acceleration at P

point P is aG = aP + rG/P . P
aG = aP + rG/P 2 rG/P

i j k
0 mg
= aP j + 0 , N
L sin L cos
0
2 2 N

L cos L sin
aG = i + aP + j,
2 2
L cos
from which aGx = .
2

552
Problem 18.121 Each of the go-carts front wheels
weighs 22.2 N and has a moment of inertia of 0.014
kg-m 2. The two rear wheels and rear axle form a single
rigid body weighing 177.9 N and having a moment of
inertia of 0.136 kg-m 2. The total weight of the go-cart
and driver is 1067 N. (The location of the center of
mass of the go - cart and driver, not including the front
wheels or the rear wheels and rear axle, is shown.) If
the engine exerts a torque of 16.3 N -m on the rear axle, 381 mm
what is the go-carts acceleration? 152.4 mm 101.6 mm
A B
406.4 mm
1524 mm
Solution: Let a be the carts acceleration and A and B the

wheels angular accelerations. Note that
16.3 N-m
Ax Bx
a = ( 0.152 )A , (1)
Ay 1067 222.4 N By
a = ( 0.102 ) B . (2) 16.3 N-m
Ay
Front wheel: By
Ax
177.9 N B
44.5 N x
Fx = Bx + fB = (44.5 /9.81 )a, (3) fA fB
NA NB
Fy = By + NB 10 = 0, (4)

M = fB (0.102 ) = (0.028 ) B . (5)
Rear Wheel:

Fx = Ax + fA = (177.9 /9.81) a, (6)

Fy = Ay + NA 1 7 7 . 9 = 0, (7)

M = 16.3 fA (0.152) = (0.136 ) A . (8)
Cart:

Fx = Ax Bx = (844.6/9.81 )a, (9)

Fy = Ay By 844.6 = 0, (10)

M = Bx [(0.381 0.102) ] + By [(1.524 0.406 )]
+ Ax [(0.381 0.152 )] Ay (0.406 ) 16.3 = 0. (11)
Solving Eqs. (1)(11), we obtain
a = 0.91 m/s 2.

553
Problem 18.122 Bar AB rotates with a constant angu- y
lar velocity of 10 rad/s in the counterclockwise direc-
tion. The masses of the slender bars BC and CDE are B
2 kg and 3.6 kg, respectively. The y axis points upward.
Determine the components of the forces exerted on bar
BC by the pins at B and C at the instant shown. 400 mm
C D E
10 rad/s x
A
700 mm 400 700 mm

mm
Solution: The velocity of point B is

By
Bx
i j k
vB = AB rB = 0 0 10
0 0.4 0 Cy
Cx
= 0.4(10)i = 4i (m/s). WBC
Cx
The velocity of point C is
Cy
WCE
i j k
vC = vB + BC rC/B = 4i + 0 0 BC
0.7 0.4 0 The acceleration of the center of mass of BC is

= 4i + 0.4BC i + 0.7BC j (m/s). i j k
aG = 40j + 0 0 BC BC
2 (0.35i 0.2j),
From the constraint on the motion at point C, vC = vC j. Equate 0.35 0.2 0

components: 0 = 4 + 0.4BC , vC = 0.7BC , from which BC =
10 rad/s, vC = 7 m/s. The velocity at C in terms of the angular velocity from which aG = 61.25i + 148.44j (m/s2 )
CDE ,
The equations of motion: Bx + Cx = mBC aGx , By + Cy mBC g =
vC = vD + CDE rC/D mBC aGy , where the accelerations aGx , aGy are known. The moment
equation, 0.35Cy + 0.2Cx 0.2Bx 0.35By = IBC BC , where BC ,
is known, and
i j k
=0+ 0 0 CDE = 0.4CDE j,
1
0.4 0 0 IBC = mBC L2BC = 0.1083 kg-m2 , 0.4Cy 0.15mCE g = ID CE ,
12
7
from which CDE = = 17.5 rad/s. 1
0.4 where ID = mCE L2CE + (0.15)2 mCE = 0.444 kg-m2 ,
12
is the moment of inertia about the pivot point D, and 0.15 m is the
2 r = (102 )(0.4)j = 40j (m/s2 ).
aB = AB distance between the point D and the center of mass of bar CDE.
B
Solve these four equations in four unknowns by iteration:
2 r
The acceleration at point C is aC = aB + BC rC/B BC C/B .
Bx = 1959 N,

i j k
aC = 40j + 0 0 BC BC
2 (0.7i 0.4j) (m/s2 ). By = 1238 N,
0.7 0.4 0
Cx = 2081 N,
2 )i + 2 )j 2
aC = +(0.4BC 0.7BC (40 + 0.7BC + 0.4BC (m/s ).
Cy = 922 N.
The acceleration in terms of the acceleration at D is

i j k
aC = 0 0 CDE CDE
2 (0.4i)
0.4 0 0
2
= 0.4CDE j + 0.4CDE i.
Equate components and solve:
BC = 481.25 rad/s2 , CDE = 842.19 rad/s2 .

554
Problem 18.123 At the instant shown, the arms of the y
robotic manipulator have the constant counterclockwise
angular velocities AB = 0.5 rad/s, BC = 2 rad/s, 250
mm
and CD = 4 rad/s. The mass of arm CD is 10 kg, and mm
the center of mass is at its midpoint. At this instant, what 0
30
force and couple are exerted on arm CD at C? B
20
30 D
C x
A
250 mm
Solution: The relative vector locations of B, C, and D are Cy
rB/A = 0.3(i cos 30 + j sin 30 ) Cx

C D
= 0.2598i + 0.150j (m), 125 mg
mm
rC/B = 0.25(i cos 20 j sin 20 )
= 0.2349i 0.08551j (m),
rD/C = 0.25i (m).
2 r 2
aB = AB B/A = (0.5 )(0.3 cos 30 i + 0.3 sin 30 j),
aB = 0.065i 0.0375j (m/s2 ).
The acceleration at point C is
2 r
aC = aB BC 2
C/B = aB BC (0.2349i 0.08551j).
aC = 1.005i + 0.3045j (m/s2 ).
The acceleration of the center of mass of CD is
2 (0.125i) (m/s2 ),
aG = aC CD
from which
aG = 3.005i + 0.3045j (m/s2 ).
For the arm CD the three equations of motion in three unknowns are
Cy mCD g = mCD aGy , Cx = mCD aGx , M 0.125Cy = 0,
which have the direct solution:
Cy = 101.15 N,
Cx = 30.05 N.
M = 12.64 N-m,
where the negative sign means a direction opposite to that shown in

the free body diagram.

555
Problem 18.124 Each bar is 1 m in length and has A
a mass of 4 kg. The inclined surface is smooth. If the
system is released from rest in the position shown, what
are the angular accelerations of the bars at that instant?
45 B
O
30
Solution: For convenience, denote = 45 , = 30 , and L = Ay

1 m. The acceleration of point A is Ax Ax

i j k Ay
aA = OA rA/O = 0 0 OA . mg mg
L cos L sin 0
B
aA = OA (iL sin + jL cos ) (m/s2 ). 30
The acceleration of A is also given by

The equations of motion for the bars: for the pin supported left bar:
aA = aB + AB rA/B .
L
(5) Ay L cos Ax L sin mg cos = IOA OA ,
2
i j k
aA = aB + 0 0 AB .
mL2 4
L cos L sin 0 where IOA = = kg-m2 .
3 3
aA = aB iAB L sin jAB L cos (m/s2 ). The equations of motion for the right bar:
From the constraint on the motion at B, Equate the expressions for

(6) Ax B sin = maGABx ,
the acceleration of A to obtain the two equations:
(7) Ay mg + B cos = maGABy ,

(1) OA L sin = aB cos AB L sin ,

L L L
and (2) OA L cos = aB sin AB L cos . (8) Ay cos + Ax sin + B sin cos
2 2 2
The acceleration of the center of mass of AB is
L
B cos sin = ICAB AB ,
aGAB = aA + AB rGAB/A 2

1 1
i j k where IGAB = mL2 = kg-m2 .
12 3
= aA + 0 0 AB
,
L cos L sin
0 These eight equations in eight unknowns are solved by iteration: Ax =
2 2 19.27 N, Ay = 1.15 N, OA = 0.425 rad/s2 , AB = 1.59 rad/s2 ,
B = 45.43 N, aGABx = 0.8610 m/s2 , aGABy = 0.2601 m/s2
LAB AB L
aGAB = aA + sin i + cos j (m/s2 ),
2 2
from which
LAB
(3) aGABx = OA L sin + sin (m/s2 ),
2
LAB
(4) aGABy = OA L cos + cos .
2

556
Problem 18.125 Each bar is 1 m in length and has
a mass of 4 kg. The inclined surface is smooth. If the
system is released from rest in the position shown, what
is the magnitude of the force exerted on bar OA by the
support at O at that instant?
Solution: The acceleration of the center of mass of the bar OA is Ay

Ax
i j k
0 0 OA
aGOA = OA rG/A = aA +
L cos
,

L sin Fy
0
2 2 mg
L sin L cos Fx
aGOA = OA i + OA j (m/s2 ).
2 2
The equations of motion: Use the solution to Problem 18.140: = 45 , GA = 0.425 rad/s2 ,
Ax = 19.27 N, m = 4 kg, from which Fx = 18.67 N, Fy =

Fx + Ax = maGOAx , Fy + Ay mg = maGOAy . 38.69 N, from which |F| = Fx2 + Fy2 = 42.96 N
Problem 18.126 The fixed ring gear lies in the Planet gear
horizontal plane. The hub and planet gears are bonded
together. The mass and moment of inertia of the Hub gear
combined hub and planet gears are mHP = 130 kg and Connecting
140
mm
IHP = 130 kg-m2 . The moment of inertia of the sun gear rod
340
mm
is Is = 60 kg-m2 . The mass of the connecting rod is
5 kg, and it can be modeled as a slender bar. If a 1 kN- 240 mm
m counterclockwise couple is applied to the sun gear,
what is the resulting angular acceleration of the bonded 720 mm
hub and planet gears? Sun gear
Ring gear
Solution: The moment equation for the sun gear is
(1) M 0.24F = Is s .
Hub & Planet Gears
For the hub and planet gears: R
Q
R
(2) (0.48)HP = 0.24s , F
F
(3) F Q R = mHP (0.14)(HP ),
M
(4) (0.14)Q + 0.34F IHP (HP ). Sun Gear Connecting Rod
For the connecting rod:
(5) (0.58)R = ICR CR ,

1
where ICR = mGR (0.582 ) = 0.561 kg-m2 .
3
(6) (0.58)CR = (0.14)HP .
These six equations in six unknowns are solved by iteration:
F = 1482.7 N, s = 10.74 rad/s2 ,
HP = 5.37 rad/s2 , Q = 1383.7 N,
R = 1.25 N, CR = 1.296 rad/s2 .

557
Problem 18.127 The system is stationary at the instant
shown. The net force exerted on the piston by the 125 m
m
exploding fuel-air mixture and friction is 5 kN to the m
m
left. A clockwise couple M = 200 N-m acts on the crank 50
AB. The moment of inertia of the crank about A is B
0.0003 kg-m2 . The mass of the connecting rod BC is 40
0.36 kg, and its center of mass is 40 mm from B on A
the line from B to C. The connecting rods moment C
of inertia about its center of mass is 0.0004 kg-m2 .
The mass of the piston is 4.6 kg. What is the pistons M
acceleration? (Neglect the gravitational forces on the
crank and connecting rod.)
Solution: From the law of sines: from which
sin sin 40 (3) aGCRx = aC 0.085BC sin (m/s2 ),

= ,
0.05 0.125
from which = 14.9 . The vectors (4) aGCRy = 0.085BC cos (m/s2 ).
The equations of motion for the crank:

rB/A = 0.05(i cos 40 + j sin 40 )rB/A
(5) By (0.05 cos 40 ) Bx (0.05 sin 40 ) M = IA AB

= 0.0383i + 0.0321j (m).
For the connecting rod:
rB/C = 0.125(i cos + j sin ) (m).
(6) Bx + Cx = mCR aGCRx
rB/C = 0.121i + 0.0321, (m).
(7) By + Cy = mCR aGCRy
2 r (8) Cy (0.085 cos ) + Cx (0.085 sin ) + Bx (0.04 sin )

aB = AB rB/A AB B/A ,
+ By (0.04 cos ) = IGCR BC

i j k
aB = 0 0 AB For the piston:
0.0383 0.0321 0
(9) Cx 5000 = mP aC .
2 (0.0383i + 0.0321j) (m/s2 ).
AB
These nine equations in nine unknowns are solved by iteration:
The acceleration of point B in terms of the acceleration of point C is
AB = 1255.7 rad/s2 , BC = 398.2 rad/s2 ,
i j k
aB = aC + BC rB/C = aC i + 0 0 BC aGCRx = 44.45 m/s2 , aGCRy = 32.71 m/s2 ,
0.121 0.0321 0
By = 1254.6 N, Bx = 4739.5 N,
2 (0.121i + 0.0321j) (m/s2 ).
BC
Cx = 4755.5 N, Cy = 1266.3 N,
Equate the two expressions for the acceleration of point B, note AB =
BC = 0, and separate components:
aC = 53.15 m/s2 .
(1) 0.05AB sin 40 = aC 0.125BC sin ,
(2) 0.05AB cos 40 = 0.125BC cos . B Bx

G Cy
0.05 0.125
The acceleration of the center of mass of the connecting rod is
40 By Cx
2 r
A C
aGCR = aC + BC rGCR/C BC GCR/C ,
By
i j k Cx 5000 N Bx
aGCR = aC i + 0 0 BC
0.085 cos 0.085 sin 0 Ay
Ax
2 (0.085 cos i + 0.085 sin j) (m/s2 ), Cy M

BC N

558
Problem 18.128 If the crank AB in Problem 18.127
has a counterclockwise angular velocity of 2000 rpm at
the instant shown, what is the pistons acceleration?
Solution: The angular velocity of AB is

2
AB = 2000 = 209.44 rad/s.
60
The angular velocity of the connecting rod BC is obtained from the

expressions for the velocity at point B and the known value of AB :

i j k
vB = AB rB/A = 0 0 AB .
0.05 cos 40 0.05 sin 40 0
vB = 0.05 sin 40 AB i + 0.05 cos 40 AB j (m/s).

i j k
vB = vC i + 0 0 BC ,
0.125 cos 0.125 sin 0
vB = vC i 0.125 sin BC i 0.125 cos BC j (m/s).
From the j component, 0.05 cos 40 AB = 0.125 cos BC , from

which BC = 66.4 rad/s. The nine equations in nine unknowns
obtained in the solution to Problem 18.127 are
(1) 0.05AB sin 40 0.05AB

2 cos 40
2 cos ,
= aC 0.125BC sin + 0.125BC
(2) 0.05AB cos 40 0.05AB

2 sin 40
2 sin ,
= 0.125BC cos 0.125BC
2 cos (m/s2 ),
(3) aGCRx = aC 0.085BC sin + 0.085BC
2 sin (m/s2 ),
(4) aGCRy = 0.085BC cos 0.085BC
(5) By (0.05 cos 40 ) Bx (0.05 sin 40 ) M = IA AB ,
(6) Bx + Cx = mCR aGCRx ,
(7) By + Cy = mCR aGCRy ,
(8) Cy (0.085 cos ) + Cx (0.085 sin )
+ Bx (0.04 sin ) + By (0.04 cos ) = IGCR BC .
(9) Cx 5000 = mP aC .
These nine equations in nine unknowns are solved by iteration:
AB = 39, 386.4 rad/s2 BC = 22,985.9 rad/s2 ,
aGCRx = 348.34 m/s2 , aGCRy = 1984.5 m/s2 ,
By = 1626.7 N, Bx = 3916.7 N,
Cx = 4042.1 N, Cy = 912.25 N,
ac = 208.25 (m/s2 )

559

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Problem 18.1 A horizontal force F = 133.

(a) What is the magnitude of the refrigerators accel-

Solution: Assume that the refrigerator rolls without tipping. We

Since A > 0 and B > 0 then our assumption is correct.

Problem 18.2 Solve Problem 18.1 if the coefficient of

Solution: Assume sliding without tipping

(0.1)(A + B)(0.711 m ) = 0 711.2 mm

(b) A = 256.6 N , B = 765.1 N

Solution: The unknowns are NA , NB , a.

Putting in the numbers for T , W , and g and solving we find

NA = 943 N, NB = 1860 N, a = 3.5 m/s 2.

Problem 18.4 The Boeing 747 begins its takeoff run

Solution: The unknowns are T , W, a. The equations of motion

a = 2.31 m/s2 , T = 700 kN, W = 2980 kN.

The velocity is then given by

v = at = (2.31 m/s2 )(4 s) = 9.23 m/s. v = 9.23 m/s.

(a) What is the acceleration of the crane and load?

Solution: From Newtons second law: Fx = 800a N.

Solve these three simultaneous equations:

Strategy: You want to determine the value of the accel-

Solution: Given: b = 0.533 m. , c = 0.406 m., h = 0.965 m.

Solving we find NB = 711.7 N , FB = 300 N, a = 4.15 m/s 2

(a) What is the magnitude of the resulting angular O

(b) The angular velocity is given by

Problem 18.9 The 10-N bar is on a smooth horizontal y

(a) the acceleration of the center of mass, and

= (4.905 m/s 2 )j + (10 rad/s2 )k (2 m)i

aA = (24.9 m/s2 )j.

= (4.905 m/s 2 )j + (10 rad/s 2)k (2 m)i

aB = (15.1 m/s 2 )j.

Problem 18.11 The moment of inertia of the astronaut

Solution: Find the angular acceleration

= 0.476t, = 0.238t 2 , = 0.0794t 3 .

(a) When it has turned 10 revolutions,

MC : TBC (0.2 m) = (0.036 kg-m2 )C

(0.1 m)B = (0.2 m)C .

TAB = 42.2 N, TBC = 14.1 N,

A = 313 rad/s2 , B = 156 rad/s2 , C = 78.1 rad/s2 .

= (0.622 rad/s2 ) (0.0000889 rad/s4 )2

(b) The maximum angular velocity occurs when the angular

= (0.622 rad/s2 ) (0.0000889 rad/s4 )2 = 0

Strategy: Draw individual free-body diagrams of the

Solution: The two free-body diagrams are shown.

We can write four dynamic equations and one constraint equation,

MO : T (0.1 m) = (0.005 kg-m2 ),

Fy : T (1 kg)(9.81 m/s2 ) = (1 kg)a,

T = 3.27 N, a = 6.54 m/s2 , = 65.4 rad/s2 .

Solution: The free-body diagrams are shown.

MO : (T1 T2 )(0.125 m) = (0.05 kg-m2 ),

Fy1 : T1 (4 kg)(9.81 m/s2 ) = (4 kg)a,

Fy2 : T2 (20 kg)(9.81 m/s2 ) = (20 kg)a,

T1 = 62.3 N, T2 = 80.8 N, a = 5.77 m/s2 , = 46.2 rad/s2 .

From kinematics we find

Solution: The free-body diagrams are shown.

(T1 T2 ) ( 0.152 m ) = ( 0.54 kg-m 2),

(T1 T2 ) ( 0.152 m ) = (0.54 kg-m 2), a = ( 0.152 m ) ,

T1 = 4.8 N , T 2 = 8.75 N , = 1.10 rad/s2 ,

(b) The free-body diagram is shown.

Problem 18.19 The 5-kg slender bar is released from

Solution: First find the angular acceleration.

= (11.0i + 3.66j) m/s2 .

From Newtons second law we have

Oy = m(g + ay ) = (5 kg)(9.18 m/s2 + 3.66 m/s2 ) = 67.4 N

MC : TBC (0.2 m) = (0.036 kg-m2 )C

TAB = 42.2 N, TBC = 14.1 N,

F : mg sin f = ma,