Chapter 16 PDF

P R O B LE M 16.
1
Two identical 0.4-kg slender rods AB and BC are welded together to form
an L-shaped assembly. The assembly is guided by two small wheels that
roll freely in inclined parallel slots cut in a vertical plate. Knowing that
G = 30, determine (a) the acceleration of the assembly, (b) the reactions
at A and C.
SOLUTION
'f
ma
0-8?-
T
OC.
A-._______
R* / h . us- n ^
/ iiSi m
ZFt = ma
(a) LFX = (0.8 kg)(9.81 m/s2)(cos60) = (0.8 kg)a
a = *
2
a = 4.91 m/s2 ^ 30 A
(b) + ) ZMC = (-0.8 kg)(g)(45 mm) + /?/)(0.866)(l80 mm) - /?^(0.5)(l80 mm)
= (-0.8 kg)(a)(-0.866)(l35 mm) - (0.8 kg)(a)(0.5)(45 mm)
/?,, (65.88 mm) = -(39.528 k g m m )a
M
-(39.528 kg-mm)[ m/s2 j
R.4 = ------------ 7 = -2- 943 kg m/s"
(65.88 mm)
or R . = 2.94 N 7 60 A
IF,. = Ra + Rc - (0.8g)cos30 = 0
or RA + Rc = 6.7964
Re = 6.7965 + 2.943 = 9.7395 N
or R f = 9.74 N 60 A
PROBLEM 16.2
Two identical 0.4-kg slender rods AB and BC are welded together to form
an L-shaped assembly. The assembly is guided by two small wheels that
roll freely in inclined parallel slots cut in a vertical plate. Determine
(a) the angle of inclination 0 for which the reaction at A is zero, (b) the
corresponding acceleration of the assembly.
SOLUTION
See free body diagram for P I6.1
F r = 0.8# s in # = 0.8r/
a = g s in #
+) IA /(; = 0 = R( cos#(45 mm) - Rc sin#(135 mm)
(a) tan# = - or # = 18.43 A
(b) a = 9.81 m/s" (sin 18.43) = 3.10 m/s2
or a = 3.10 m/s2 ^ 18.43 <

PROBLEM 16.3
A 60-lb uniform thin panel is placed in a truck with end A resting on a
rough horizontal surface and end B supported by a smooth vertical
surface. Knowing that the deceleration of the truck is 12 ft/s2, determine
(a) the reactions at ends A and B, (b) the minimum required coefficient of
static friction at end A.
SOLUTION
S NS
fe d
m a ss (u )
3
t N fy - (lm
+ ) I M a = Nb (5 ft)(0.866) - (60 lb)(2.5 ft)(0.5)
-(.60 lb) (12 ft/s2)(0.866)

32.2 ft/'s2 ' '
N b = 28.501 lb
J i - ZFX = NB - F = 60 lb, (l2 ft/s2)

B 32 ft/s2 V
F = 6.1404 lb
0) R a = N/ n 2a+ F 2 = 60.3133 lb
or R a = 60.31 lb 84.2 <
a = tan~' 603133 = 34. 18

6.1404
and N = 28.5 lb A
6AAM 10234
(b)
Na 60
or n = 0.1023 <
PROBLEM 16.4
A 60-lb uniform thin panel is placed in a truck with end A resting on a
rough horizontal surface and end B supported by a smooth vertical
surface. Knowing that the panel remains in the position shown, determine
(a) the maximum allowable acceleration of the truck, (b) the
corresponding minimum required coefficient of static friction at end A.
SOLUTION
yr) 0. ^
>

3 2-2. '
l< \)
0 Z M a = (60 lb)(2.5 ft)(0.5) = ^ ^ (2.5 ft)(sin60)
a = 18.5907 fUs
or a = 18.59 ft/s2 <
(a) A a i . i - . J 2 a 7 (l8.5912 ft/s2) = 34.6419 lb

32.2 ft/s
F _ 34.64191b
(b) = 0.5773
~ Na ~ 60 lb
or n = 0.577 <
PROBLEM 16.5
Knowing that the coefficient of static friction between the tires and the
road is 0.80 for the automobile shown, determine the maximum possible
acceleration on a level road, assuming (a) four-wheel drive, (b) rear-
wheel drive, (c) front-wheel drive.
I- 1 .5 hi
-k I in
-I
SOLUTION
(a) Four-wheel drive:

i vv
Vv = w 3
-1 sTyiOL

F
- # 1\ / / a -f nb
+ 1 IF,, = 0: N a + N B - W = 0 N a + N b = W = mg
Thus: Fa + Fb = /.ikN A + n kN B = n k {N A + N B) = n kW = 0.80mg
I F r = l ( F j c : FA + FB = ma
0.80 mg = ma
a = 0.80g = 0.80(9.81 m/s2) = 7.848 m/s2
d = 7.85 m/s2 <

(b) Rear-wheel drive:
L g y L (? y >
if A
+) I M b = l( A /fl)e(r: (1 m )W - (1.5 m)/V4 = -(0 .5 m )md
N a = 0.41V + 0.2 md
Thus: Fa = n kN B = 0.80(0.40'' + 0.2 ma) = 0.32 mg + 0.16 ma
- . I F t = l ( F r )en.: Fa = ma
0.32 mg + 0.16 ma = ma
0 3 2 g = 0.84a
_ 0.32
a = (9.81 m/s2) = 3.7371 m/s2
0 .84' '
or a = 3.74 m/s2 A
P R O B LE M 16.5 CO N TIN U ED
(c) Front-wheel drive:
f e . *
I g p < L 0 _ f @ 3 _ ^
r
I S *i '1 *
+) I M a = Z ( MA)e(r: (2.5 m) NB - (1.5 m ) ^ = -(0 .5 m)ma
N = 0.61V - 0.2md
Thus: Fh = itkN B = 0.80(0.6^ - 0.2md) = 0.48m# - 0.16md
I F t = (F v)cfr: FB = md
0.48m# - 0.16md = md
0.48g = 1.16a
a =
1.16' '
(9.81 m/s2) = 4.0593 m/s2
or a = 4.06 m/s2 * A
PROBLEM 16.6
For the truck of Sample Prob. 16.1, determine the distance through which
the truck will skid if (a) the rear-wheel brakes fail to operate, (b) the
front-wheel brakes fail to operate.
SOLUTION
(a) I f rear-wheel brakes fail to operate:
/mg.
4 ft
{f a
h ); (2 ] >
<*S
(\ Ft
I M
7f t t/a
S f
+) Z.M , = N (\2 ft) - W(5 ft) = m d(4 ft)
N = L W + - a
* 12 3 X
- tf _
= ^(^)cr FH = ma' tkN H = a
( 5 | W ^ W
0.699 \ W + - a = a
1 12 3g ) g
'6" ( ^ ) ( 32'2
a = a = 12.227 ft/s- -
1 - 0.233
Uniformly accelerated motion
v2 = v02 + la x 0 = (30 ft/s2) - 2(12.227 ft/s2).t
x = 36.8 ft <
(b) I f front-wheel brakes fail to operate:
H -ft
u(/ct
t~A 1 ft
I
& s-rt
+) I M h = S (M fi)eff: W (1 ft) - N A(12 ft) = m d (4 ft)
Na = W - - d
12 3 g
PROBLEM 16.6 CONTINUED
w .
*F X = s ( F * ) eff: f a = m a , fikN A = a
g
1W ~ W.
0.699 7 07
i.f /-----------a ---i
12 3 g g
0.699 0 2 . 2 s!)
a - 0 = 10.648 ft/s2
1 + 0.233
Uniformly accelerated motion
v2 = v l+ la x 0 = (30 ft/s2 ) - 2 ( l0.648 ft/s2)x
x = 42.3 ft <
P R O B LE M 16.7
L
A 50-lb cabinet is mounted on casters that allow it to move freely
(// = 0) on the floor. If a 25-lb force is applied as shown, determine
G (a) the acceleration of the cabinet, (b) the range of values of h for which
* : the cabinet will not tip.
Il> | e
.36 in.
1, m
| i*
LJ
i
SOLUTION
(a) Acceleration
- i . I F , = I ( f T)c :
25 lb = ma
501b _
25 lb = r-o
32 ft/s
a = 16.10 ft/s" <
(b) For tipping to impend J); A=0
< ZM B = l { M B)cn:
(25 lb)/; - (50 lb)( 12 in.) = ma(36 in.)
25/j = 600 (25)(36) h = 60 in.
For tipping to impend *); 5 = 0
+ C I A /, = I ( M , ) c(T:
(25 lb)/; + (50 lb)(l2 in.) = ma(36) or h = 12 in.
cabinet will not tip for 12 in. < h < 60 in. -4

PROBLEM 16.8
Solve Prob. 16.7 assuming that the casters are locked and slide on the
rough floor {/js = 0.25).
SOLUTION
(a) Acceleration +1 = 0 N ., + N - W = 0
N a + N h = 50 lb
w /. S o |b
G
TT, ^ But F = / iN , Thus
z s lk \ G
h Fa + F* = A (50 lb), Fs - 0.25

4_ 6 e * a
1
F-
2/rv = S (F v)cn.:

a
j k 25 lb - (F , + Fh ) = ma
l a i n . 12 i n
50 lb U
25 lb - [(0.25)(50 lb)] = a
32.2 ft/s-
a = 8.05 ft/s-
(b) Tipping For tipping to impend J : N , = 0
+ C = I(M b)m :
Soli
c
u G ma
r
(25 lb)/; - (50 Ib)(l2 in.) = , (8 05 ft/s: )(36 in.)
A & a a /; = 42 in.
t" r
hl | In
h **t 4
For tipping to impend ]): N H = 0
+ ( SA/, = S (A /,)c1T:
li in ^ 12 in.
(25 lb) + (50 lb)(l2 in.) = - J i ^ j g . O S ft/s: )(36 in.)
/; = -6 in. impossible
cabinet will not tip if /; < 42 in. A
PROBLEM 16.9
The support bracket shown is used to transport a cylindrical can from one
elevation to another. Knowing that p y = 0.30 between the can and the
bracket, determine () the magnitude of the upward acceleration a for
which the can will slide on the bracket, (b) the smallest ratio hid for
which the can will tip before it slides.
SOLUTION
(a) Sliding impends
O-
Iff-
G &
!
r
IH
_ IF,. = l ( F r )cfr: F = ww cos 30
+ | IF,. = l ( F , ) : N - mg = ///usin30
N = m {g + sin30)
F h//cos 30
P. = ; 0.25 = . , g + a sin 30 = 3.3333cos30
N m [g + a sin 30)
g = 2.3867u a = 0.419g 30 <
(b) Tipping impends
'm a-
' hy 'd \ _
^ I A / c = l(A #c )eff: F - N
a , a )~
F__d_
N~ h
p =; 0.3 = - = 3.33 <

N h d
PROBLEM 16.10
Solve Prob. 16.9 assuming that the acceleration a of the bracket is
downward.
SOLUTION
(a) Sliding impends.

--j
(T
- i - E Fx =Z{Fx)eS: F = ma cos30
+ } EFy = E (/^ )eff: N - m g = -masin30
TV = m (g - a sin 30)
F m maeos30
a, = ; 0.3 = 7---------------- -
N m [ g - a s m 30)
g - asin30 = 3.3333acos30
= ---------------------- = 0.29527 a = 0.295 P7 <

g 3.3333cos30 + sin30
(b) Tipping impends
W O-
' hN fd ' F _ d
=W
,2 , ,2 , N ~ h
p =; 0.30 = - ; - = 3.33 <

N h d
PROBLEM 16.11
An 8-lb uniform slender rod AB is held in position by two ropes and the
link CA which has a negligible weight. After rope BD is cut the assembly
rotates in a vertical plane under the combined effect of gravity and a
4 lb ft couple M applied to link CA as shown. Determine, immediately
after rope BD has been cut, (a) the acceleration of rod AB, (b) the tension
in rope EB.
PROBLEM 16.12
(T(yf An 8-lb uniform slender rod AB is held in position by two ropes and the
O' link CA which has a negligible weight. After rope BD is cut the assembly
rotates in a vertical plane under the combined effect of gravity and a
1 .5 ft
60^ A SO/ , g couple M applied to link CA as shown. Knowing that the magnitude of
1 the acceleration of rod AB is 12 ft/s immediately after rope BD has been
- 2 ft-
cut, determine (a) the magnitude of the couple M, (b) the tension in rope
EB.
P R O B LEM 16.13
A uniform circular plate of mass 6 kg is attached to two links AC and BD
of the same length. Knowing that the plate is released from rest in the
position shown, in which lines joining G to A and B are, respectively,
horizontal and vertical, determine (a) the acceleration of the plate, (b) the
tension in each link.
SOLUTION
+/ ZF = ZFC|1: /wg cos 75 = mi7
a = gcos75 = 2.5390 m/s*
a = 2.54 m/s2 7 ^ 15 A
(b) Tension in each link
+*) ZAf/, = Z (F ,c o s7 5 )r + (F , sin 75)r = (/mm sin 75)r
Fi(cos75 + sin 75) = (6 kg)(2.539 m/s2)sin 75
Fa = 12.0146 F, = 12.01 N Tension A
75 ZF = ZFm : F, + Ftt - M/g sin 75 = 0
6.009 lb + F -(6 k g )(9 .8 1 m/s2)sin75 = t
Fl{ = 44.839 N Fm - ^4.8 N Tension <

PROBLEM 16.14
Bars AB and BE, each of mass 4 kg, are welded together and are pin-
connected to two links AC and BD. Knowing that the assembly is
released from rest in the position shown and neglecting the masses of the
links, determine (a) the acceleration of the assembly, (b) the forces in the
links.
SOLUTION
A- IA /(; = 0 => Fa = 0
/ /
Fa/ \ + I F iflO = (78.48N )(0.5) = (8 k g )(fl)
V / ?
1
/ NN r n a - 3 ^ a = 4.905 m/s2 or a -
I ' 2
A
+/ = f b ~ (78-48 N)(0.866) = 0
F = 67.966 N
() a = 4.9 1m/s2 30 <
(b) Fa = 0 , FB = 68.0 N compression A

P R O B LE M 16.15
"JJflP
7 [7 Cranks BE and CF, each of length 15 in., are made to rotate at a constant
_g'V speed of 90 rpm counterclockwise. For the position shown, and knowing
IinM-4 *iw j- )>1 that P = 0, determine the vertical components of the forces exerted on
the 15-lb uniform rod ABCD by pins B and C.
SOLUTION
a> = 90 rpm | = 3x rad/s

60
Bar AD in translation
a = aB = a c = rco2 = (15 in.) (3* rad/s)2 = 111.03 ft/s2 60

\ 12 J
J yyfl CX.
A
LtJ G
C.
8 & A &
*------------- r
o . 3^ 0 ,2 ^
+) ZMa = Z(A/c )e|T: C,(1.5 in.) - B,(1.5 in.): By = C ,
+ | ZFv = ( /\.) Bv + Cy - mg = ma sin 60
2Bv - (l 15 lb x 32.2 ft/s2) = (l 11.03 ft/s2) sin 60
B v = +29.897 lb
or By = Cy = 29.9 lb A
PROBLEM 16.16
nSHp '
7 At the instant shown the angular velocity of links BE and CF is 6 rad/s
i counterclockwise and is decreasing at the rate of 12 rad/s2. Knowing that
1!.I the length of each link is 15 in. and neglecting the weight of the links,
determine (a) the force P, (b) the corresponding force in each link. The
weight of rod AD is 15 lb.
SOLUTION
Links:
eg- 6 an = rco2 = (1.25 ft)(6rad/s) = 45 rad/s2
at = ra = (1.25 ft)(l2 rad/s2j = 15 rad/s2
Bar AD is in translation a - aB - ac
f& f c .
6
\ 1<~r
3 - I Sin 15 I*
+ Q EMG = E (M G)eff: FCFsin60(l5 in.) - TBsin60(l5 in.)
Fce = Fbe
Fcf sin60(30 in.) - (15 lb)(l5 in.) = mat sin30(15 in.) + man sin60(l5 in.)
( 15 lb ^
Fcf (25.981 in.) - 225 lb in. = j (15 in.)(l5 rad/s2 sin30 + 45 rad/s2 sin 60)
32.2 ft/s
Fcf = 21.15861b
or Fcf = Fbe = 21.2 lb T <

+( IF. = l ( F x)ef| : {Fbe + Fcf ) cos 60 + P = -ma, cos 30 + man cos 60
151b
21.15861b + P ^ 4 cos 30 + 45 rad/s2 cos 60
32.2 ft/s2
21.15861b + P = 4.42991b
P = -16.72871b or P = 16.731b- A
PROBLEM 16.17
Draw the shear and bending-moment diagrams for each of the bars AB
and BE of Prob. 16.14.
SOLUTION
V
n
ma = 'A = ijig u
y 0.5 y
= 0; - V = man
- V = 33.983 u, at u = 0.5 m V = - 1 6 .9 9 N ([+ SM - M = man
M = 3 3 .9 8 3 = 16.991m2
2
at u = 0.5 m, M = 4.25 N m
SbeA Y rn eht
/*
ma - 2yf3gu
0.5 A 2 .
A IF - -V = (2j 3g)u
V = 2>/3gu
+ ( EM - M + ( 8 g x ) f = 2A ? 2/2 m = -V3gw2
sh ear /Y fo m n tr
V A' (V'B
-*<25 Of-n;
PROBLEM 16.18
Draw the shear and bending-moment diagrams for the horizontal rod
ABCD of Prob. 16.15.
SOLUTION
a = 111.03 ft/s' Bx = Cx = 29.9 lb
/ J S it r ) llII--3 S / i 30/5-0
2? 9 *>
2<M J* jc---- 3j>----- 1 = 0 S f S S Z U/iH
.r '" i v 3
15 1 ^ /s C ivi - O h U/iv)
29-9 , 29- 9
1
/0 t-H 2,0 i.M
---------- i ZD 0 ' i 9 S 3 2 /b/'-" 7
r
4___ 1___ it____it___ 1 .1 Y V S.M r 1/ / f
PROBLEM 16.19
For a rigid slab in translation, show that the system of the effective forces
consists of vectors ( Am, ) a attached to the various particles of the slab,
where a is the acceleration of the mass center G of the slab. Further
show, by computing their sum and the sum of their moments about G,
that the effective forces reduce to a single vector ma attached at G.
SOLUTION
Since slab is in translation, each particle has same acceleration as G, namely a. The effective forces consist of
(Am/) a.
The sum of these vectors is: I (Am,) a = ( I Am,) a
or since I Aw, = w,
l(A m ,)a = ma
The sum of the moments about G is: I rj x (Am, )a = ( I Am,/;') x a (I)
But, IAm,/jf = nir = 0, because G is the mass center. It follows that the right-hand member of Eq. (1) is zero.
Thus, the moment about G of ma must also be zero, which means that its line of action passes through G and
that it may be attached at G.
PROBLEM 16.20
( A m M a x r ',)
For a rigid slab in centroidal rotation, show that the system of the
effective forces consists of vectors -(A m ,)m V , and (Am,)
( a x r ',) attached to the various particles P, of the slab, where co and a
are the angular velocity and angular acceleration of the slab, and where
r', denotes the position of the particle Pt relative to the mass center G of
the slab. Further show, by computing their sum and the sum o f their
moments about G, that the effective forces reduce to a couple l a .
SOLUTION
For centroidal rotation: a, = (a,-) + (ay) = a x r/ - co2v\
Effective forces are:(Am,)a, = (Am ,)(a x r,) - (Am,)<wV/(Am,)(a x r,)
1<*
(Am,)a,- = (A m ,)(a x r/) - l(A m ,)m 2^'
= a x l(A m , )r/ - <w2L(Am, )^'
Since G is the mass center, E(Am,)r/ = 0
effective forces reduce to a couple, Summiml moments about G
l(r ,' x Am,a,) = E r/ x (Am, ) | a x r / j - Er/ x (Ami)o)2r'i
But, r/ x (Am,.)m2r/ = co2(Am,)(r; x r') = 0
and, r' x (Am ,)(a x rfj = (Am,-)r,,2a
Thus, E(r,' x Am,a,) = E (Am,) r2a = [Ê(Am,.)r'2J a
Since E(Am)rJ2= / ,
the moment of the couple is / a

P R O B L E M 16.21
It takes 10 min for a 2.4-Mg flywheel to coast to rest from an angular

velocity o f 300 rpm. Knowing that the radius of gyration o f the flywheel
is 1 m, determine the average magnitude o f the couple due to kinetic
friction in the bearing.
SOLUTION
/ = m k 2 = 2400 kg(l m)2 = 2400 kg m 2
(2 n \
<3)n = 300 rpm = 10/r rad/s
v 60 J
co - g)0 + at;
0 = 10^ rad/s + a (600 s)
a = -0.05236 rad/s2
M = 7a = (2400 kg m2) (-0.05236 rad/s2) = 125.66 N m
or M = 125.7 N-m A
PROBLEM 16.22
The rotor of an electric motor has an angular velocity of 3600 rpm when
the load and power are cut off. The 120-lb rotor, which has a centroidal
radius of gyration of 9 in., then coasts to rest. Knowing that kinetic
friction results in a couple of magnitude 2.5 lb ft exerted on the rotor,
determine the number of revolutions that the rotor executes before
coming to rest.
SOLUTION
V32.2 ft/s2/v . ,
M = la ; 2.5 lb ft = (2.0963 lb ft-s2) a
a = 1.1926 rad/s" (deceleration )
(2n\
a>0 = 3600 rpm = 120;r rad/s
Oj 2 o>
q + 2a 0;
6 = 59,585.07 radf 1 r6V 1 = 9,483.26 rev
or 9 = 9480 rev A
PROBLEM 16.23
A 20-lb uniform disk is placed in contact with an inclined surface and
constant 7.5 lb ft couple M is applied as shown. The weight of the lin]
AB is negligible. Knowing that the coefficient of kinetic friction at D i
0.4, determine (a) the angular acceleration of the disk, (b) the force in th
link AB.
SOLUTION
W = 2<0 ft
7 - S U f t
0,<iN
201b 9_
la - ft j a = (0.17469 lb ft-s2) a
,32.2 ft/s2 12
N 1 201b
f 9 f t x2
+) = 7.5 lb ft - (0.4 N lb) A f t a
12 2 32.2 ft/s2 12
- j T,Fy = 0.4 N cos30 + Acos60 - 20 lb = 0; N = 23.629 lb
7.5 lb-ft - (0.4)(23.629 lb)| ^ ft

a =
0.4112 lb-ft
2.3539 rad/s2
0.17469 lb-ft-s2
(a) a = 2.35 rad/s2 J) A
1FX = C - (0.866)A + 0.4A(0.5) - 0
C = 0.6660N = (0.6660)(23.629 lb)
= 15.7369 lb
(b) or C - 15.74 lb (compression) ^

P R O B LE M 16.24
A , n
9 hi.* A 20-lb uniform disk is placed in contact with an inclined surface and a
y constant couple M is applied as shown. The weight of the uniform link

r O f/ AB is 10 lb and the coefficient of kinetic friction at D is 0.25. Knowing
that the angular acceleration of the disk is 16 rad/s* clockwise, determine
:)y (a) the magnitude of the couple M, (b) the force exerted on the disk at D.
SOLUTION
IC/L
B C
Ik
/a -If 20 lb
2132.2 ft/s-
+ ) ZA/ = M - (0.25AT lb) ^ ft j = 2.7950 lb-ft
+ | ZFV = (0.25N)(0.866) + 7V(0.5) - 20 lb - 5 lb = 0
IV = 34.8915 lb
(a) Now M = 2.7950 lb-ft + (34.8915 l b ) ^ ft j
= 9.3372 lb ft
or M = 9.34 lb-ft A
0.25
P = tan -i = 14.04
\ 1.0
F = J n 2 + (0.25 N )2 = 35.965 lb
or F = 36.0 lb ^ 44 <
P R O B LE M 16.25
The 160-mm-radius brake drum is attached to a larger flywheel that is not

shown. The total mass moment of inertia of the drum and the flywheel is
18 kg n r and the coefficient of kinetic friction between the drum and
the brake shoe is 0.35. Knowing that the angular velocity of the flywheel
is 360 rpm counterclockwise when a force P of magnitude 300 N is
applied to the pedal C, determine the number of revolutions executed by
the flywheel before it comes to rest.
SOLUTION
Lever ABO. Static Equilibrium (Friction Force | )
F = n kN = 0.35JV
+ ) I M a = 0: N (0.20 m) - F(0.04 m) - 300 N(0.18 m) = 0
0.20N - 0.04(0.35 N) = 54 N
N N = 290.32 N
F = n kN = 0.35(290.32 N) = 101.61 N
O.o
u r
Drum:
r = 0.160 m
// (2 n
co0 = 360 rpm
v 60
F - / oI. U N (o0 = 12/r rad/s
C o =
Fr = Ta-. (101.61 N )(0 .16 m) = (l8 k g m2) a
a = 0.9032 rad/s2 (deceleration)
o r = col + 2ad\
0 = (l2;r)2 + 2(-0.9032)<9
6 = 786.77094 rad
6 = 786.77094 = 125.22 rev
9 = 125.2 rev <

P R O B LE M 16.26
1211nun Solve Prob. 16.25 assuming that the initial angular velocity of the
flywheel is 360 rpm clockwise.
SOLUTION
Lever ABC: Static Equilibrium (Friction Force j )
F = n kN = 0.35W
+) I M a = 0: JV(0.20 m) + F(0.04 m) - 300 N(0.18 m) = 0
/ 0.10 m
A JV[0.20 m + 0.35(0.04 m )] = 54 N m
& I
300 N N = 252.3364 N
%
0 . 0 I * F = fikN = 0.35(252.34 N) = 88.319 N
Drum:
r = 0.16 m
fa
= 360 rpm
Uo
o)Q = 12/r rad/s
+ ) ZA/d = l( A /D)e(T = 0 Fr = l a :
88.318 N(0.16 m) = ( l8 k m2) a
a = 0.78505 rad/s2 (deceleration)
o r = o>l + 2aO:
0 = (12* )2 + 2(-0.78505)<9
6 = 905.1799 rad
/ 1x
9 = 905.18 = 144.0638 rev
2*
or 9 = 144.1 rev A
PROBLEM 16.27
The flywheel shown has a radius of 600 mm, a mass of 144 kg, and a
radius of gyration of 450 mm. An 18-kg block A is attached to a wire that
is wrapped around the flywheel, and the system is released from rest.
Neglecting the effect of friction, determine (a) the acceleration of
blocks, (b) the speed of block A after it has moved l.8 m.
PROBLEM 16.28
In order to determine the mass moment o f inertia of a flywheel o f radius
1.5 ft, a 20-lb block is attached to a wire that is wrapped around the
flywheel. The block is released and is observed to fall 12 ft in 4.5 s. To
eliminate bearing friction form the computations, a second block of
weight 40 lb is used and is observed to fall 12 ft in 2.8 s. Assuming that
the moment of the couple due to friction remains constant, determine the
mass moment of inertia of the flywheel.
SOLUTION
Kinematics Kinetics
* ) Z M ,= ! ( * , ) * :
im Ag)r ~ = T a + ( m Aa ) r
m 4gr - M , = / + m ,ar ( 1)
r
Case 1: y - 12 ft, / = 4.5 s; y - at2 => 12 ft = -^0(4.5 s)
a = 1.1852 ft/s-
^ 1.1852 ft/s2N 20 lb
From (1) (20 lb)(l.5 ft) - M , = I T )(l.l852 ft7s2)(l.5 ft)
1.5 ft 32.2 ft/s-
30 - M , = 0.79013/ + 1.1042 (2 )
Case 2: y = 12 ft, t - 2.8 s; y = a t2 => 12 ft = a ( 2.8 s)
a = 3.0612 ft/s
From (1) (40 lb)(l.5 ft) - M t = I

f 3.0612 ft/s2 "l / 40 lb
Tj(3.0612 ft/s2j(l.5 ft)
1.5 ft 32.2 ft/s
60 - M , = 2.0408/ + 5.7041 (3)
Subtract (2) from (3) 30 = 1.25067/ +4.5999
/ = 20.309 lb-ft s2 or / = 20.3 lb-ft-s2 <

PROBLEM 16.29
f < I (H Each of the double pulleys shown has a mass moment of inertia of
20 kg-m 2 and is initially at rest. The outside radius is 400 mm, and the
inner radius is 200 mm. Determine (a) the angular acceleration of each
pulley, (b) the angular velocity of each pulley after point A on the cord
has moved 3 m.
SOLUTION
(a) - 0 SAf0 = E(A/0)e(r:
Case 1:
(785 N)(0.2 m) = (20 k g m 2) a
a = 7.85 rad/s2 ') A
(b) G= = 15 rad
0.2 m
<J SI yvf o r = 2a9 = 2(7.85 rad/s2)(l5 rad)
ISSN
to = 15.35 rad/s2 ) A
Case 2:
() +) T.Mq = l( A /0)e(T:
(80 kg)(9.81 m/s2)(0.2 m) = 20a + m a(0.2 m)
157.0 = 20a + (80)(0.2a)(0.2)
0 2>*) a = 6.767 rad/s2
a = 6.77 rad/s2 A
3 0 kcj /yno~- on( 0-2
(b) 0 = = 15 rad
0.2 m
o r = l a d = 2(6.767 rad/s2)(l5 rad)
to = 14.25 rad/s2 ") ^

Case 3 :
(a) + ) ZA/0 = l( A /0)efr:
(230 kg)(9.81 m/s2)(0.2 m) - (150 kg)(9.81 m/s2)(0.2 m)
= 20a + 230a(0.2 m) + 150a(0.2 m)
157.0 = 20a + 230(0.2)2 a + 150(0.2)2a
23o a = 4.460 rad/s2 or a = 4.46 rad/s2 ") A

2$0q IÔQ
0.2**J o.2 >i
(b) 0 = = 15 rad
0.2 m
a? = la d = 2(4.46 rad/s2)(l5 rad)
a = 11.57 rad/s ^ 4
Case 4\ (a) + ) Z M 0 = l ( M 0 )e ff:
(40 kg)(9.81 m/s2j(0.4 m) = 20a + 40a(0.4 m)
157.0 = 20a + 40(0.4)2a , a = 5.947 rad/s2
a = 5.95 rad/s2 ") A

... _ 3m _,
(2>) 0 = ------- = 7.5 rad
0.4 m
co2 = 2a9 = 2(5.947 rad/s2)(7.5 rad)
<0 = 9.44 rad/s *) M

PROBLEM 16.30
The weight and radius of friction of disk A are WA = 12 lb and
rA = 6 in.; the weight and radius of friction of disk B are WB = 6 lb and
rB = 4 in. The disks are at rest when a couple M of moment 7.5 lb in.
is applied to disk A. Assuming that no slipping occurs between the disks,
determine (a) the angular acceleration of each disk, (b) the friction force
that disk A exerts on disk B.
Substitute for F from Eq. (3) into Eq. (2):
M - rA = JAa A
Substitute for F from Eq. (3), and for a B from Eq. (1).
r \
1 2
^ - ~ m BrarA ~<*A = ~ mArAA
\ fB )
M = j ( m A + mB) r 2AcxA
2M 2Mg
(mA + m B)rJ (WA + WB) r \
Data: WA = 12 lb, WB = 6 lb
rA = 6 in. = 0.5 ft; rB = 4 in. = 0.33333 ft
M = 7.5 lb in. = 0.625 lb-ft
2(0.625 lb-ft)(32.2 ft/s2)

(a ) a. = ^ = 8.9444 rad/s2
(12 lb + 6 lb)(0.5 ft2)
a , = 8.94 rad/s2) <
a B = a , = ^ -^ (8 .9 4 4 4 rad/s2) = 13.417 rad/s2

r 4 in .v '
13.42 rad/s2') 4
r, 1 If 6 lb
(b) F - mRrRa R = ---------- ^ (0.33333 ft)(l3.417 rad/s2)
2 2 1 32.2 ft/s2
F = 0.416671b
or F = 0.417 l b j ^
P R O B LE M 16.31
Solve Prob. 16.30 assuming that the couple M is applied to disk B.
SOLUTION
Kinematics'. Since the tangential acceleration of the outside of the disks are equal.
a., = a R (1)
Kinetics:
Disk A:
T * 2
l A = ~Zm A r A
F r A = J Aa A
1 2 r, 1 (2)
F r A = ~Zm Ar A a A F = ~ m Ar A<XA
Disk B:
M - FrB = I Ha H (3)
Substitute for F from Eq. (2) into Eq. (3)
M
1 ,
Substitute for a A from Eq. (1), and I B = mBrB
1 2
M - - mArArB\ <*B
2 VrA )
M = mA + fnB)r ja B
2M 2Mg
aR
(mA + m By B (WA + WB)r l
Data: WA = 12 lb, WB = 6 lb,
rA - 6 in. (= 0.5 ft), rB = 4 in. (= 0.33333 ft)
m = 7.5 lb-in. = 0.625 lb-ft
2(0.625 lb-ft)(32.2 ft/s2)

(a) aR= 20.125 rad/s
(12 lb)(0.33333 ft)2
a , = 20.1 rad/s2 J) M
rR 4 in.
a A= aR - 6 ^ j ( 2 0 .1 rad/s2) = 13.417 rad/s2
a. 13.42 rad/s2 ^ ^
121b
(b) Fr = mArA
1
y /I /Ia /I
A=1
^ (0.5 ft)(l3.417 rad/s2)
32.2 ft/s2
= 1.25001b
Friction force on disk B: F = 1.250 lb | <
PROBLEM 16.32
Two identical 8-kg uniform cylinders are at rest when a constant couple
M of magnitude 5 N m is applied to cylinder A. Knowing that the
M coefficient of kinetic friction between cylinder B and the horizontal
surface is 0.2 and that no slipping occurs between the cylinders,
determine (a) the angular acceleration of each cylinder, (b) the minimum
allowable value of the coefficient of static friction between the cylinders.
' 100mm
V
SOLUTION
/ = 0.04 a A: +) I.V/<; = 5 - 10. If] = 0.04a

7S.(8 ^
/ __
+ | I F , = NX- 78.48 = 0
if
)) 5 N-w B : + ) IA /c; = 0.1^ - O .l^ /V ;,) = 0.04a
\
+ 1 I F , = N 2 - 78.48 - 78.48
c
n
f(4(
Now 5 - 0.1/*] = 0. IF, -0.02W ,
N, = IS iS or Fx = 40.696 N
(a) a A = 23.3 rad/s: x 4

( J 18 A
\ a = 23.3 rad/s: 4
I( 1
A F, 4_0.696 N
(b)
AT, V j /m,n 78.48 N
0-0 4** 1
N/z . I!T6 .1C = 0.51855
or /js =0.519 4
PROBLEM 16.33
Two identical 8-kg uniform cylinders are at rest when a constant couple
M of magnitude 5 N m is applied to cylinder A. Knowing that the
coefficient of kinetic friction between the cylinders is 0.45 and the
coefficient of kinetic friction between cylinder B and the horizontal
surface is 0.15, determine the angular acceleration of each cylinder.
SOLUTION
A: +) = 5N m -(0 .1 m )(3 5 .3 1 6 N )
= 0.04 a A
a A = 36.71 rad/s2
or a A = 36.7 rad/s2 J) A
= is.3lt
B: +) 1 M h = (0.1 m )(35.316N )
-(0.1 m )(23.544N ) = 0.04aB
a 8 = 29.43 rad/s-
or a B = 29.4 rad/s2 \ A
PROBLEM 16.34
Disk A has a mass of 8 kg and an initial angular velocity of 480 rpm
clockwise; disk B has a mass o f 4 kg and is initially at rest. The disks are
brought together by applying a horizontal force of magnitude 30 N to the
axle of disk A. Knowing that fjk = 0.15 between the disks and
neglecting bearing friction, determine (a) the angular acceleration of each
disk, (b) the final angular velocity of each disk.
SOLUTION
While slipping occurs, a friction force F j is applied to disk A, and F \ to disk B.
Disk A :
i ^ 2
1 A = r m Ar A
= 1 (8 kg)(0.11 m)
= 0.0484 k g -n r
ZF: N = P = 30 N
F = fiN = 0.15(30) = 4.5 N
+ ) ZM a = Z (A ^ )efr: FrA = l Aa A
(4.5 N )(0.11 m) = (0.0484 kg-m2) ^
a A = 10.227 a A = 10.23 rad/s2 ") A
Disk B:
T
h = ~1 mBrB2
v - S W
I G (B
= 1 ( 4 kg)(0.08 m)
= 0.0128 kg m-
+) = Z { M H)cn: FrB = I Ba B
(4.5 N)(0.08 m) = (0.0128 kg-m2) ^
a B = 28.125 rad/s' a B = 28.1 rad/s2 ^ ^

(<a )b = 480 rprnj ~ = 16;r rad/s J

Sliding stops when Vc = \ c or a>ArA = coBrB
rA[{<oA\ - a At \ = rBa Bt
(0.11 m i 16/r rad/s - (10.227 rad/s* jfj = (0.08 m)(28.125 rad/s2\t
t = 1.6383 s
'C 03 ~Mo ~
+ a a At ~16^ rad/s - (l0.227 rad/s* ((1.6383 s) = 33.511 rad/s
6, = (33.511 r a d / s ) ^ = 320.00 rpm
or at. = 320 rpm ) A
+ Q coB = a Bt = 28.125 rad/s2(1.6383 s) = 46.077 rad/s
' 60 '
coB = (46.077 rad/s) = 440.226 rpm
OX (S)B = 440 rpm ) 4

PROBLEM 16.35
Solve Prob. 16.34 assuming that initially disk A is at rest and disk B has
an angular velocity of 480 rpm clockwise.
SOLUTION
(a) From P 16.34:
a A = 10.227 rad/s or a A - 10.23 rad/s2 x: 4
and
a B = 28.125 rad/s2 or a B - 28.1 rad/s'1^ A
f2
cb) ( coa )b = 0, {&B\ = (480 rpm) 1bn rad/s
60
Sliding starts when Vc - Vc . That is when
<ArA = 0JBrB
= [ ( b ) o - a B{] rB
(10.227 rad/s2)/ ](0.11 m) = 16;r rad/s - (28.125 rad/s2 ){/) (0.08 m)
3.37497/ = 4.02124 => t = 1.1915 s
mA a a At = ( l0.227 rad/s2)(l.l915 s) = 12.18535 rad/s
( 60 A
+( 0)A = (12.18535 rad/s) = 116.3615 rp m ')
\2n)
or (oA = 116.4 rpm *) A
+ (k coB = (b)0 - ocBt = 16^r rad/s - (28.125 rad/s2j ( l . 1915 s)
= 16.755 rad/s')
60
a>B - 116.755 rad/s) | = 159.9985 rpm
2/r
or (aB = 160 rpm J) A

PROBLEM 16.36
//Of* Disk B has an angular velocity eo0 when it is brought into contact with
disk A, which is at rest. Show that (a) the final angular velocities of the
-------------------------- disks are independent of the coefficient of friction n k between the disks
as long as n k * 0, (b) the final angular velocity of disk B depends only
upon g>{) and the ratio of the masses m A and m B of the two disks.
r s f r
'- 4 R >
Substitute from Eqs (1) + (2): 2PMkr l p Mkr t = <onr

rA + rB 0- B
mArA mBrB
' 1 1 ' conr,

WB
2PMt 1---- t - co0rB, t
\ mA mB j 2pMk _L + J_
m, is
_
t = >0rB m Am B
2PUk mA + mB
_ 2Pfik 0 rB m Am B
Eq (3): aoA = a A
m ArA 2P p k mA + mB
00 a _= 'B Wfl
-COa
rA mA + mB
(a>A is independent of fik, QED)
2P Mk gV l rAmB
Eq (4): (0B = o)o - a Bt = 0)n -
mar.
B'B 2 Pjuk mA + mB
/n.
g>b = ay (1 -
mA + m B
m A + mB - mA _
_ <*>0
/n* + + mB
fi>n
(On =
+1
(ys depends only upon <s>0 and (QED)

PROBLEM 16.37
The 12-lb disk A has a radius rA = 6 in. and an initial angular velocity
<a0 = 750 rpm clockwise. The 30-lb disk B has a radius rB = 10 in. and
is at rest. A force P of magnitude 5 lb is then applied to bring the disks
into contact. Knowing that /Jk = 0.25 between the disks and neglecting
bearing friction, determine (a) the angular acceleration of each disk,
(b) the final angular velocity of each disk.
f 2n '
M o = 750 fP1| ^ J = 78.5398 rad/s ) ; (a>)0 = 0
When disks stop sliding

vP = vP coArA = (0BrB
[ M o a A r* =
[78.5398 rad/s - (l3.417 rad/s2)(t)](6 in.) = [(3.22 rad/s2)(t) (10 in.) => t = 4.1813 s
ooA = 78.5398 rad/s - (l3.417 rad/s2)(4.1813 s) = 22.439 rad/s
coA = 22.439 rad/s 214.2767 rpm

2n
or toA = 214 rpm ) 4
oB = = 0.6(214.2767) = 128.5660 rpm
or a \B = 128.6 rpm ^ 4
PROBLEM 16.38
Solve Prob. 16.37 assuming that disk A is initially at rest and that disk B
has an angular velocity of 750 rpm clockwise.
SOLUTION
Based on the solution for P I6.37
M o = ; M o = 750115111 = 1SrT 115111)
Eq. (1): a>ArA = coBrB\ a AtrA = [( )Q- a Bt ] rB
(13.417r)(6 in.) = [25* - 3.22/](l0 in.)
t = 6.9688 s
( f*C\\
(Oa = a At = ( l 3.417)(6.9688) = 93.5 rad/sf = 892.86 rpm
\ 2 tt
or atA = 893 rpm ') A
coB = coB = 0.6(892.86) = 535.716 rpm
or (oB = 536 rpm J A

PROBLEM 16.39
A cylinder of radius r and mass m rests on two small casters A and B as
shown. Initially, the cylinder is at rest and is set in motion by rotating
caster B clockwise at high speed so that slipping occurs between the
cylinder and caster B. Denoting by /.ik the coefficient of kinetic friction
and neglecting the moment of inertia of the ffee caster A, derive an
expression for the angular acceleration of the cylinder.
PROBLEM 16.40
In Prob. 16.39 assume that no slipping can occur between caster B and
the cylinder (such a case would exist if the cylinder and caster had gear
teeth along their rims). Derive an expression for the maximum allowable
counterclockwise acceleration a o f the cylinder if it is not to lose contact
with the caster at A.
PROBLEM 16.41
Show that the system of the effective forces for a rigid slab in plane
motion reduces to a single vector, and express the distance from the mass
center G of the slab to the lineôf action of this vector in terms of the
centroidal radius of gyration k o f the slab, the magnitude a of the
acceleration of G, and the angular acceleration a.
SOLUTION
We know that the system of effective forces can be reduced to the vector ma at G and the couple la. We
further know from Chapter 3 of statics that a force-couple system in a plane can be further reduced to a single
force.
The perpendicular distance d from G to the line of action o f the single vector ma is expressed by writing
+) G = I ( M G)eff : l a = (m a)d
_ l a _ m k 2a
ma ma
a
PROBLEM 16.42
For a rigid slab in plane motion, show that the system of the effective
Am, ;i forces consists o f vectors (Am,)a, -(A m ,) 2i^, and (Aw, )(a x r/)
attached to the various particles Pt o f the slab, where a is the
acceleration of the mass center G of the slab, co is the angular velocity of
the slab, a is its angular acceleration, and r d e n o te s the position vector
of the particle P, relative to G. Further show, by computing their sum and
the sum of their moments about G, that the effective forces reduce to a
vector ma attached at G and a couple I a.
SOLUTION
Kinematics The acceleration of PL is
a, = a + a^ /c
a, = a + a x i ; ' + to x ( to x i;') = a + a x i ^ - <y2r/
Note that a x r/ is to r'
Thus, the effective forces are as shown in Fig P I6.47 (also shown
above). We write
(Am,)a, = (Am,)a + (Am,)(a x <) - (Am,)2/)'
The sum of the effective forces is
E(Am,)a, = E(Am/ )a + E(Am,)(a x r,') - E(Am,)<y2r'
Z(Am,)a, = aZ(Am,) + a x Z(Am,)r/ - cu2Z(Aw/ )r;'
We note that L(Am, ) = m. And since G is the mass center,
l(Am,)iV = mri '= 0
Thus, l(A m ,)a, = m a (1)
The sum of the moments about G of the effective forces is:
E(i;' x Am,a,) = Zr- x Am,a + Zr;' x (Am; )(a x r/) - Er/ x (Am,)2i;'
Z(i;' x Am,a,) = (Zr;Am,)a + z [i;' x (a x i;')Am,-J - 2Z (r/ x r/)Am,

Since G is the mass center, I,r'Aml = 0
Also, for each particle, r/ x r/ = 0
Thus,
l ( i f x Aw,a,) = S [ i
;x (a,, x
Since a 1 r/, we have i - x ( a x r ;) = r fa and
E(r/ x A/w,a;) = 5>/2(Aiwf) a = ( & / 2Afft,)a
Since Er/ 2Ami = I
E (r' x A = la
From Eqs. (1) and (2) we conclude that system of effective forces reduce to ma attached at G and a
couple la.
PROBLEM 16.43
A uniform slender rod AB rests on a ffictionless horizontal surface, and a
force P of magnitude 2 N is applied at A in a direction perpendicular to
the rod. Knowing that the rod has a mass of 3 kg, determine the
acceleration o f (a) point A, (b) point B.
SOLUTION
ft -P
T m m (3 k6)(l m): - 0 25 kg m;
12 12
+ . Z Fx = Z ( F x )eff: P = ma
cPa
I N = (3 kg)o
LJ%
a = 0.66667 m/s'
3
< '( f ) -
( 2 N ) f t m j = (0.25 k g -n r )a
_ U N)(0.5 m ) _ 4 raj / s;
(o.25 kg-m: )
() = a + i a = 0.66667 m/s2 + ^ m j(4 rad/s2)
= 2.66667 m/s-
or a 4 = 2.67 m/s2-
(b) aH - a + -â = 0.66667 m/s2 - m j (4rad/s2) = -1.33333 m/s2

or a B = 1.333 m /s'
PROBLEM 16.44
(a) In Prob. 16.43, determine the point of the rod AB at which the force P
should be applied if the acceleration of point B is to be zero. (b) Knowing
that P = 2 N, determine the corresponding acceleration o f point A.
SOLUTION
A - i. w . - I ( F ,L
V p
L P = ma, a =
2 m
+ ( XA/C = X(A/c )cn
L Ph
DU
= I7 a = m Lr
a
Z 12
12Ph
73 a =
mLt )
_ L
a = a a:
(a) " 2
0 P Z. 12^/7 = 11
m 2 \ ml? , ml L
h = = 0.16667 m
6
Thus, P is located 0.333 m from A A
. _ _ L
(b) a,, = a + a:
2 m 2 mL j - -mI ' i)
a , = -^ -^ -(l + l) = m/s2 = 1.3333 m/s2

' 3kgV 3
or a . = 1.333 m/s2
y P R O B LE M 16.45
w
A force P of magnitude 0.75 lb is applied to a tape wrapped around the
body indicated. Knowing that the body rests on a frictionless horizontal
7
i n
surface, determine the acceleration of (a) point A, (b) point B.
j
A thin hoop of weight 6 lb.
I
p
P R O B LE M 16.46
A force P of magnitude 0.75 lb is applied to a tape wrapped around the

-
body indicated. Knowing that the body rests on a ffictionless horizontal
surface, determine the acceleration of (a) point A, (b) point B.
A uniform disk of weight 6 lb.
p
PROBLEM 16.47
A force P is applied to a tape wrapped around a uniform disk that rests on
a frictionless horizontal surface. Show that for each 360 rotation of the
disk the center of the disk will move a distance nr.
SOLUTION
Let r, = time required for 360 rotation
1 2 ^ l f 2P "1
0 = -a ir, 2n = - g tr
2 2 \w r )
2 nwr
=
Pg
jc, = distance G moves during 360 rotation
1-2 U p 2nwr\
= T 'i = d g = nr
2 21 w ~~Pg~)
x, = nr Q.E.D. A
PROBLEM 16.48
'J A uniform semicircular plate of mass 6 kg is suspended from three
vertical wires at points A, B, and C, and a force P of magnitude 5 N is
applied to point B. Immediately after P is applied, determine the
acceleration of (a) the mass center of the plate, (b) point C.
SOLUTION
m
= C 't y r
f 4
Ar '2 2( 1 16
1 2
la = mr | - m a - mr ^ |a
2 3n
1.7777 ^
= (6 kg)(0.3 m )2 0.5 - > a = ^0.17273 k g m 2 j a
(a) XFx = 5 N = 6 kg ac , aG = 0.8333 m/s
or aG = 0.8331 m/s A
ZM g = 5N m j = ^0.17273 k g m 2) a
\ n
a = 3.6856 rad/s2
d-2333
ar = a(; + aC76- = * +
a,- = 0.8333 + 0.63641
= 0.1969 m/s2
or ar = 0.1969im/s2 A
PROBLEM 16.49
Immediately after the force P is applied to the plate of Prob. 16.48,
determine the acceleration o f (a) point A, (b) point B.
'H
PROBLEM 16.50
A drum of 10-in. radius is attached to a disk of radius rA = 7.5 in. The
disk and drum have a combined weight of 12 lb and a combined radius of
gyration of 6 in. and are suspended by two cords. Knowing that
TA = 9 lb and TB = 6 lb, determine the accelerations of points A and B
on the cords.
SOLUTION
s.
(0 -3 ) *
.. ^ il
f is" \ 1 4 \ 3Z-2
I '
= I t
I
(SO
12 a
1 >11 lb
12 lb
tip ,. T a = 15 lb - 12 lb; a = 8.05 ft/s2 |
32.2 ft/s
7.5 in .) . (10 in.'I 3 lb ft2

+)ZAf,T= 9 lb , - 6 lb ------ = ------------ a
y ( 12 ; ( 12 j 32.2 ft/s
a = 6.70833 rad/s2 )
aA = | 8.05 ft/s2 + | 6.70833 rad/s2( ^ ft ] = 12.24269 ft/s2
or aA = 12.24 ft/s2 | A
aB = | 8.05 ft/s2 + j 6.70833 rad/s2^ ftJ = 24597 ^ s 2 |
or a B = 2.46 ft/s2 | A
P R O B LE M 16.51
A drum of 10-in. radius is attached to a disk of radius rA = 6.92 in. The
\ \ disk and drum have a combined weight of 12 lb and are suspended by
two cords. Knowing that the acceleration of point B on the cord is zero.
f X Ta = 10 lb, and TB - 5 lb, determine the combined radius of gyration of
the disk and drum.
y:
{
<-rA-UMn.*
SOLUTION
\ 0 ih
-t IF.. = 12 lb (a) = 15 lb - 12 lb
1 v 32.2 ft/s
a = 8.05 ft/s2 | a = 9.66 rad/s2 J)
6.92 12 1b , 7
+ ) ZMa = 10 lb ft 1 - 5 lbl ft I = A:2 (9.66 rad/s2)
12 12 ) 32.2 ft/s
k- = 0.44444 ft' k = 0.66666 ft
or k - 8 in. A
PROBLEM 16.52
A 5-m beam of mass 200 kg is lowered by means o f two cables
unwinding from overhead cranes. As the beam approaches the ground,
the crane operators apply brakes to slow the unwinding motion. Knowing
that the deceleration of cable A is 5 m/s2 and the deceleration of cable B
is 0.5 m/s2, determine the tension in each cable.
SOLUTION
Kinematics:
^r=
0 . 5-
S
3
Kinetics:
t
7b nwo-
a
iS FS
2 Soo K
w*fzoa
-Jz c o {:jj
aB = aA + 5a
| 0.5 m/s2 = | 5 m/s2 + (5 m ) a => a = 0.9 rad/s2 J)
a - aA | + 2.5 | = 5 m/s2 - (2.5 m)(o.9 rad/s2) = 2.75 m/s2 *)
I - = ^g)(5 m)2 - 416.67 kg m2
( ZM B = E(M B)eff:
Ta (5 m) - (200 kg)(#)(2.5 m) = (200 kg)(a)(2.5 m ) + (416.67 kg-m 2) a
Substituting g = 9.81 m/s2, a = 2.75 m/s2, a = 0.9 rad/s2
Ta (5 m) = (4905 + 1375 + 375)kg-m2/s2, TA = 1331N
or Ta = 1331N <
ZFy = E(Fy)eff: Ta +Tb - (200 k g )(g ) = (200 kg)a
1331 N + Tb - (200 kg)(9.81 m/s2) = (200 kg)(2.75 m/s2)
Tb = 1181 N
or Tb = 1181 N <
P R O B LE M 16.53
A 5-m beam of mass 200 kg is lowered by means of two cables
unwinding from overhead cranes. As the beam approaches the ground,
the crane operators apply brakes to slow the unwinding motion. Knowing
that the deceleration o f cable A is 5 m/s2 and the deceleration of cable B
is 0.5 m/s2, determine the tension in each cable.
SOLUTION
Kinetics:
t
| 2
* r r*
J
_ 6
Kinematics:
y ^
A
g Of
f8
aa = a B + 4a
5 m/s2 | = 0.5 m/s2 j + (4 m )a a = 1.125 rad/s2 J
a = afl + 1.5a = 0.5 m/s2 + (1.5 m )(l.l25 rad/s2j
a = 2.1875 m/s2
/ = ^ m L 2 = ^ ( 2 0 0 kg)(5 m )2 = 416.67 kg m2
+( = S(A /)cfr: 7^(4 m) - (200 k g )(g ) = m a (1.5 m) + 7 a
Ta (4 m) - (200 kg)(9.81 m/s2)(l.5 m) = (200 kg)(2.1875 m/s2)(l.5 m) + (416.67 kg m 2)(l.l2 5 rad/s2)
Ta = 1017 N or Ta = 1017 N A
) I F , = z ( F ,) =ir: Tj +T j, - (200 k g )(g ) =
1017 N + Tb = (200 kg)(9.81 m/s2) + (200 kg)(2.1875 m/s2)

PROBLEM 16.54
The 400-lb crate shown is lowered by means of two overhead cranes.
Knowing that at the instant shown the deceleration of cable A is 3 ft/s2
and that of cable B is 1 ft/s2, determine the tension in each cable.
SOLUTION
Kinetics:
*
e\ W = mg
f 0tlS~
I = --m(b2 + c2)
1 4 0 0 'b (6.6 ft)2 + (3.6 ft)2]

12 32.2 ft/s-
58.5093 lb ft s2
+ | / V = E (f;.)ejr: TA +TB - 400 = ( 1)
f ~\
Ta +T b = 400 1 + 2 .
+ ( ZM C = l ( M c )efr: (Ta - r fl)(l.8) = l a
(Ta - Tb )( 1.8 ft) = (58.5093 lb-ft-s2) a (2)
Kinematics'.
a = a + ra
(aA) v - a + 1.8a; 3 - a + 1.8a (3)
(a s )v = a - 1 .8a ; 1 = a - 1 .8a (4)
( S ft
Solving (3); (4); a = 2 ft/s2 | , a = 0.55556 rad/s2

P R O B L E M 16.54 CO N TIN U ED
From (1): T, + Tr = 400 f 1 + 2 1 = 424.84 lb

A B \ 32.2 J
From (2): ta ~ tb = (32.505 lb-s2)(0.55556 rad/s2)
Ta = 221.4492 lb Ta = 221 lb A
Tb = 203.3907 lb Tb - 203 lb A
PROBLEM 16.55
The 400-lb crate shown is lowered by means of two overhead cranes.
Knowing that at the instant shown the deceleration of cable A is 3 ft/s2
and that of cable B is 1 ft/s2, determine the tension in each cable.
b -
r 3 .6 ft
! i .hrt
:. t
3 . 3 It
6 . 6 ft
SOLUTION
Kinetics:
J fi " *j /Tf) &-

f? p s
&
* * \
L lA lt
1 = m (a 2 + b 2) = 400 lb T(6.6 ft)2 + (3.6 ft)2] = 58.509 Ib-ft-

12 v > 12 32.2 ft/s2 LV V ' -I
TA + TB - m =^ a
Ta + Tb = 400 \ + ( 1)
g
( ZM a = Z(M c )eff: (Ta - TB){3.3 ft) = l a = (58.509 lb-ft-s2) a
{Ta ~ T b) = ( 17.73 l b s 2) a (2 )
Kinematics:
(fe jtj (aA)y = a + 3.3a

(9, f t )*}
-* (a s ) y 3 = o + 3.3a (3)
R fS- 6
M y - a - 3-3ar
l = o - 3.3a (4)
Solving (3); (4) a = 2 ft/s2, a = 0.30303 rad/s2

2 ft/s2 %
From (1); (2) TA + TB = (400 lb) r.1 + -2 o 424.84 lb
^ 32.2 ft/sz /
Ta - T b = ( l 7.73 lb-s2)(0.30303 rad/s2) = 5.3727 lb
Solve Ta = 215.10636 lb or TA = 215 lb <
Tb = 209.73366 lb or TtB = 210 lb <

PROBLEM 16.56
The uniform disk shown, of mass m and radius r, rotates
counterclockwise. Its center C is constrained to move in a slot cut in the
vertical member AB and a horizontal force P is applied at B to maintain
contact at D between the disk and the vertical wall. The disk moves
downward under the influence of gravity and the friction at D. Denoting
by /Jk the coefficient of kinetic friction between the disk and the wall and
neglecting friction in the vertical slot, determine (a) the angular
acceleration of the disk, (b) the acceleration of the center C of the disk.
SOLUTION
P *
s - L w r 2- ^
\
ZP I P _ i i
m o
. 4fikP
() a = - L-:: A
mr
(b) +J IF , = mg +(2 =ma
m
PROBLEM 16.57
The 6-kg uniform disk shown, o f radius r = 80 mm, rotates
counterclockwise. Its center C is constrained to move in a slot cut in the
vertical member AB and a 50-N horizontal force P is applied at B to
maintain contact at D between the disk and the vertical wall. The disk
n moves downward under the influence o f gravity and the friction at D.
Knowing that the coefficient of kinetic friction between the disk and the
/ wall is 0.12 and neglecting friction in the vertical slot, determine (a) the
angular acceleration of the disk, (b) the acceleration of the center C of the
disk.
SOLUTION
From P I6.56:
4ftkP _ 4(0.12)(50 N)
(a) a =
mr (6 kg)(0.08 m)
or a = 50 rad/s2 ) A
m 6 kg
or a = 11.81 m/s2 j A
P R O B LE M 16.58
A beam AB of mass m and of uniform cross section is suspended from
two springs as shown. If spring 2 breaks, determine at that instant (a) the
angular acceleration o f the beam, (b) the acceleration of point A, (c) the
acceleration of point B.
SOLUTION
Statics: 7] = r 2 = i ^ = i m g
(a)
A Z ?
A
" ]/V - o n g
Lf a
\
*) = r ( M 0 )c : = la
- m g f 1 = ml} a
2 {2J 12
3g
a =
ma
mg - mg = ma
_ 1 _ 1 |
a =-g a =-g J
(b) Acceleration o f A :
a A ~ a C + * A /G
4.1 1 L
a t _ J - z L - J l + l *a = 2 g ~ 2 a
P\- % - _ /
t a .--3 1 L V
= 2g "2 U ,
a = = g \<
(c) Acceleration o f B:
PROBLEM 16.59
two springs as shown. If spring 2 breaks, determine at that instant (a) the
angular acceleration of the beam, (b) the acceleration of point A, (c) the
acceleration of point B.
u -I
PROBLEM 16.60
TT ------------
1 3; 2 H two springs as shown. If spring 2 breaks, determine at that instant (a) the
Hi angular acceleration of the beam, (b) the acceleration of point A, (c) the
t . i H acceleration of point B.
4
P R O B LE M 16.61
A thin plate of the shape indicated and of mass m is suspended from two
springs as shown. If spring 2 breaks, determine the acceleration at that
instant (a) o f point A, (b) of point B.
A circular plate of radius b.
SOLUTION
1 m
= m\ = mb2
2 {2, 8
Statics: ^ = Tl = \ W = \ m g
Kinetics: + ) ZM g = l(A fc ) eft

b t
71 = l a
1 1 .2
| = mb a
E> 2 mg 8
a = 2 )
b v
+ lZ 7 v = z ( F v)eff: W - T , = ma
_ 1
mg mg = ma a
Kinematics:
Translation + Rotation
b * 1 i b(
(a) 2^ IT;
(b) = ac + a fi/G = a \ + \ a \ = i +
P R O B LE M 16.62
springs as shown. If spring 2 breaks, determine the acceleration at that

1 ---- h i f instant (a) of point A, (b) of point B.
A thin hoop of radius b.
v
( >
P R O B LE M 16.63
31$ '!<
g " ;=5
M m springs as shown. If spring 2 breaks, determine the acceleration at that
instant (a) of point A, (b) of point B.
\
A square plate of side b.
*- _
r
SOLUTION
I = ntib2 + ft2)
12 '
I = - mb2
6
Statics: T \ = h = \ w = img
Kinetics: +) ZM a = S(A/6 )ic(T
A -
T= /a
J - 1 2
\ 6 m g f 1 = m b 2a
W='W 3 2 6
_ 3S
+| IF, = Z (F ,)e(r: IT - 7 ; = ma
1 _ 1 ,
m g - - m g = ma a = -g J
Kinematics:
a n
\a
Rotation
PROBLEM 16.64
* A bowler projects a 200-mm-diameter ball of mass 5 kg along an alley

with a forward velocity v0 of 5 m/s and a backspin <a0 of 9 rad/s.
Knowing that the coefficient of kinetic friction between the ball and the
P
alley is 0.10, determine (o) the time / j at which the ball will start rolling
without sliding, (b) the speed of the ball at time (c) the distance the
ball will have traveled at time
(b) Vj = v0 - n kgt = 5 m/s - 0.l(9.81 m/s2)(l.7184 s) = 3.3142 s
or vj = 3.31 m/s - 4
(c) = FkS ~ 0.l(9.81 m/s2) = 0.981 m/s2 -*
-* 5i = V , - = 5 m/s(l.7184 s) - j(o .9 8 1 m/s2)(l.7184 s)2 = 7.1436 m
or 5] = 7.14 m 4
PROBLEM 16.65
() Solve Prob. 16.64 assuming that the bowler projects the ball with the
same forward velocity but with a backspin of 18 rad/s.
---------------------------------------
SOLUTION
Use equations derived in P I6.64
Have v0 = 5 m/s, o)0 - 18 rad/s, r = 0.10 m
5 m/s + 0.1(18 rad/s)

la) ti = = 1.98049
0.l(9.81 m/s2)
or t, = 1.980 s A
(b) v, = v0 - /Jkgt = 5 m/s - 0.l(9.81 m/s2)(1.9805 s)
= 3.0571 m/s
or v, - 3.06 m/s - ^
(c) a = n kg = 0.1(9.81 m/s) = 0.981 m/s -
= Vo/, - - a t } = (5 m/s)(1.9805 s) - (o.981 m/s2)(l.9805 s)2 = 7.9785 m
or s, = 7.98 m A
PROBLEM 16.66
A sphere of radius r and mass m is projected along a rough horizontal
surface with the initial velocities indicated. If the final velocity of the
sphere is to be zero, express, in terms of v0, r, and n k, (a) the required
magnitude of <a0, (b) the time /, for the sphere to come to rest, (c) the
distance the sphere will move before coming to rest.
SOLUTION
Kinetics: I = mk1
W -^ 5
J ^ Z Fx = Z{Fx)tfT: F = ma
Fkmg = ma a = /Jkg
+ ;Z A /C = Z(A/C)efr: Fr = J a
( fjkmg)r = mk 2a
Kinematics: -*. v = v0 - at
v = v0 - n kg t
For v = 0 when t = f,
0 = vo " ; 'i = ( 1)
FkS
+) co = co0 - at
CO = O)0 - t
k2
For co - 0 when t = /,
O = co0 - /, = co0 (2)

/Jkgr
Set Eq. (1) = Eq. (2)
vo _ (3 )
<y0; o - ^2 vo
MkS / W
1_2
Distance traveled: *1 = V , - - a t x
/ \
vo (4)
s\ = vo
MkS v A i/
j~2 2 2
Problem 16.71 Sphere k = r
5
5 vn 5 vo A ^
(a) Eq. (3): = vo = - >o = T ) <
r 2 2 r 2 r
5
(b) E q .(l) h = - a - <

Mkg
(c) Eq. (4) !Sl

2MkZ
SOLUTION
Use equations derived for P I6.66
Hoop k=r
(a) Eq. (3): o>0 = ^ r ro = ^

r~ r r
(b) And (c) same as above: r, = 4

Hkg
PROBLEM 16.68
, ^ \ A uniform sphere of radius r and mass m is placed with no initial velocity
on a belt that moves to the right with a constant velocity v,. Denoting by
' //* the coefficient of kinetic friction between the sphere and the belt,
))) * determine (a) the time /| at which the sphere will start rolling without
sliding, (b) the linear and angular velocities of the sphere at time
PROBLEM 16.69
v / '\ A sphere of radius r and mass m has a linear velocity v0 directed to the
< ! ) left and no angular velocity as it is placed on a belt moving to the right
! -r" with a constant placed velocity v,. If after first sliding on the belt the
*'1 sphere is to have no linear velocity relative to the ground as it starts
rolling on the belt without sliding, determine in terms of v, and the
coefficient of kinetic friction fjk between the sphere and the belt (a) the
required value of v0, (b) time r, at which the sphere will start rolling on
the belt, (c) the distance the sphere will have moved relative to the
ground at time
When t = tx, v = 0,
0 = v0 - Mk8 2vi
V. = -V, <
5Vkg.
Distance when t =
* - S = v0t, - j a t , 2
\2
2vi 2v,
S = | -v ,
15 ' 5Mkg 5Mkg
Mkg 25 25 25 Mkg
PROBLEM 16.70
Show that the couple l a of Fig. 16.15 can be eliminated by attaching
the vectors ma, and /na at a point P called the center o f percussion,
jp
located on line OG at a distance GP = from the mass center of the
body. r
SOLUTION
/~~I6 b
'S T
srn CL
OG = 7 a, = Far
We first observe that the sum of the vectors is the same in both figures. To have the same sum o f moments
about G, we must have
+) = LMg : Ta = (ma,)(GP)
m k 1a = m7a(GP)
k2
GP = (Q.E.D.) <
r
Note: The center of rotation and the center of percussion are interchangeable. Indeed, since OG = F, we may
write
GP = or GO =
GO GP
Thus, if point P is selected as center of rotation, then point O is the center of percussion.
PROBLEM 16.71
A uniform slender rod of length L = 900 mm and mass m = 1 kg hangs
freely from a hinge at A. If a force P of magnitude 3.5 N is applied at B
horizontally to the left (h = L), determine (a) the angular acceleration of
the rod, (b) the components of the reaction at A.
PROBLEM 16.72
A uniform slender rod of length L = 36 in. and weight W = 10 lb hangs
u .t7 freely from a hinge at C. A horizontal force P o f magnitude 15 lb is
applied at end B. Knowing that 7 = 9 in., determine (a) the angular
acceleration of the rod, (b) the components of the reaction at C.
_ | j
J L
PROBLEM 16.73
In Prob. 16.71, determine (a) the distance h for which the horizontal
component of the reaction at A is zero, (ft) the corresponding angular
acceleration of the rod.
PROBLEM 16.74
In Prob. 16.72, determine (a) the distance F for which the horizontal
component of the reaction at C is zero, (b) the corresponding angular
acceleration of the rod.
P R O B LE M 16.75
A uniform slender rod AB of length L and mass m is pivoted at end A and
v released from a horizontal position. The angular velocity of the rod as it
passes through the vertical position is known to be co - ^J3g iL.
(a) Express the tension in the rod at a distance z from end B in terms o f z,
m, g, and L for the vertical position. (b) Knowing that the weight of the
1
rod is 10 N, determine the maximum tension in the rod for the vertical
1 position.
y ... *"
B
SOLUTION
A *
(mass) rco =
r mz
I L Jl M f3gl2) v L j
4 r r- rn m& 3mSZ
'I y = T~ ~
2/
= S .f l + 3 _ i i or
L I 2L
(a) r =^ f 4 _ 2
Z, I 2Z
(* ) 7 max a t Z = L,
Tmax = ^ = 2-5^
fc H ~ r )
- (2.5)(10N ) = 25 N
or T4 = 25 N <
PROBLEM 16.76
A large flywheel is mounted on a horizontal shaft and rotates at a
constant rate of 1200 rpm. Experimental data indicate that the total force
exerted by the flywheel on the shaft varies from 12 kip upward to 18 kip
downward. Determine (a) the weight of the flywheel, (b) the distance
from the center of the shaft to the mass center of the flywheel.
SOLUTION
o) = 1200 rpm = 40;t rad/s

v 60 j
+ | I F = I Fef(
18k - W = man
W >
18k - W = To) ( 1)
g
+ ( I F = IF eff
W 7
W + 12k = ra? (2 )
g
6 - 2W = 0 => IT = 3 kip
or W - 3000 lb <
W 7
Eq (1) + Eq (2): 30 = 2 - F a2
g
3k
30 = 2 (40^ rad/s)
32.2 ft/s
r = 0.0101954 ft = 1.01954 x 102 ft
= 0.122345 in.
or r = 0.1223 in. A
PROBLEM 16.77
A uniform slender rod of weight 0.24 lb/ft is used to form the assembly
shown. The assembly rotates clockwise at a constant rate o f 120 rpm
under the combined effect of gravity and the couple M which varies in
magnitude and sense. Determine the magnitude and sense of the couple
M and the reaction at point A for (a) 9 = 90, (b) 6 = 180.
PROBLEM 16.78
The shutter shown was formed by removing one quarter of a disk of
15-mm radius and is used to interrupt a beam of light emitting from a lens
at C. Knowing that the shutter has a mass of 50 g and rotates at the
constant rate of 24 cycles per second, determine the magnitude of the
force exerted by the shutter on the shaft at A.
SOLUTION
See inside front cover for centroid of a circular sector
_ 2r s in a
r =
3a
f 3 ^
2(0.015 m)sin 71
U J
r =
f -3n 1
U J
r = 0.0030 m
io - 24 rev/s
= 24 (2;r) rad/s
co - 150.8 rad/s
an = 0.0030 m (l50.8 rad/s)2 = 68.22192 m/s2
/ EF = ( F ) efJ.: R = man = (0.050 kg)(68.22192 m/s2)
= 3.4111 N /
Force on shaft is R = 3.4111 N /
Magnitude R = 3.41 A
PROBLEM 16.79
A uniform rod of length L and mass m is supported as shown. If the cable
attached at B suddenly breaks, determine (a) the acceleration of end B,
(b) the reaction at the pin support.
PROBLEM 16.80
A uniform rod of length L and mass m is supported as shown with
b = 0.2 L when the cable attached to end B suddenly breaks. Determine at
I jc: this instant (a) the acceleration of end B, (b) the reaction at the pin
support.
**
SOLUTION
T r t(0 .lL )
I B
R DC
G
J L
1 "I
0 2 *-
+) ZMC= mg(0.3L) = + m(0.3L)2a
a = '3g = 1.73077 =
0.1733L L 26 L
36g
() aB = 0.8 La =
26
or aB
b - jA
,3 *
'45
(b) Rx = 0 + f EF,. = Ry - mg = -0.3mL
1 26 L
PROBLEM 16.81
A uniform rod of length L and mass m is supported as shown. If the cable
attached at B suddenly breaks, determine (a) the distance b for which the
acceleration of end A is maximum, (b) the corresponding acceleration of
end A and the reaction at C.
Set numerator equal to zero
Z? - 4SL2 + 12S2L - 4 \ S 3 - 24S2L + 4 ^ 5 3 = 0
Z3 - 4SZ2 - 12S2L = 0
l ( z 2 - 4SL - 1252) = 0
Z(Z - 6S)(L + 2S) = 0
S = and S =
2 6
(a) For S = b = L and support was at B, impossible
For S - , b = this results in max a .

6 3
b =k <
3
(b) Eq. 1 with S =
Z
a = 6g
- = 6 .1 a =A l
2 l i 2Z
+[- 9
12 I 6
Max: = jg }M
C - mg = -m a
/e f f
C - mg = - m S a
C -m g = - ( k ) '3 g '
UJ [2 L )
C - m g = ~ \rn g
4
P R O B LE M 16.82
y A half cylinder of mass m is released from rest in the position shown and
H swings freely about the horizontal diameter AB. Determine, at this
instant, (a) the acceleration of point D, (b) the acceleration of the mass
center of the half cylinder.
X
PROBLEM 16.83
Two identical 2-kg slender rods AB and BC are connected by a pin at B
and by the cord AC. The assembly rotates in a vertical plane under the
combined effect of gravity and an 8 N-m couple M applied to rod AB.
Knowing that in the position shown the angular velocity o f the assembly
is zero, determine (a) the angular acceleration of the assembly, (b) the
tension in cord AC.
SOLUTION
k v
2 [O ls )(o .M t)K
S N'T*
g = 9.81 m/s2
) Y.Ma = 2g(0.15 m) + 2 g (0.375 m) - 8 N m
= 2 ^ | (2 kg)(0.3 m )2 a + (2 kg)(0.15 m )2 a + (2 kg)(0.375 m )2 a
-(2 kg)[0.15 m (0.866)] a
(10.3005 - 8) kg-m 2/s2 = 10.38999 k g -n r la
(a) a = 5.89875 rad/s2 or a = 5.9 rad/s* j -4
+) Z M b = 2g(0.075 m) - ^ (0 .3 m)
\ -2 L (0 > ; t<
> iz K x = ^ ( 0 . 3 mf a
12 v
+ 2 kg(0.375 m)(0.075 m)ce
+2 kg(0.15 m)(0.866)(0.1299 m )a
0 . 0 ~ t s yp
= 10.10499 kg-m 2 fa
2 kg(9.81 m/s2)(0.075 m) - f(0 .1 5 m) = 0.61944 kg-m 2/s2
T = 5.6804 N or T = 5.68 N <

PROBLEM 16.84
Two identical 2-kg slender rods AB and BC are connected by a pin at B
and by the cord AC. The assembly rotates in a vertical plane under the
combined effect of gravity and a couple M applied to rod AB. Knowing
that in the position shown the angular velocity of the assembly is zero
and the tension in cord AC is 2 N, determine (a) the angular acceleration
of the assembly, (b) the magnitude of the couple M.
SOLUTION
From P I6.84
ABC, +) 1 M a = 10.3005 - M = 0.38999a
BC, +) T.M = 0.15g - 0.15F = 0.105a
0.15g -0 .1 5 (2 ) = 0.105a
(a) a = 11.15714 rad/s2
or a = 11.16 rad/s2 ) A
(b) M = 10.3005 - 0.38999a = 5.9493 N m
or M = 5.95 N m ^
P R O B LE M 16.85
A 4 in
A 3-lb slender rod is welded to a 10-lb uniform disk as shown. The
assembly swings freely about C in a vertical plane. Knowing that in the
C position shown the assembly has and angular velocity of 10 rad/s
clockwise, determine (a) the angular acceleration of the assembly, (b) the
A in. -
components of the reaction at C.
SOLUTION
Kinematics: an = (C G )o ,2 = f ^ ft 1(10 rad/s)2
a.. = 58.333 ft/s2
( 7
a, = (C G )a = ft a
12
= (0.58333 ft)a
10 lb
ft | = 0.01725 lb -ftV
1 32.2 ft/s2 \12
t (s \ 2
7 _ 1 I A R \2 - 1 I Îb = 0.00194 lb-ft s
AB j 2 AB( ) 12132.2 ft/s2 Iv -12f t ])
\N - '>*1 ,, g - as
(a)
= A ) is k + ft j + l ABa
3 1b
(3 lb) ft I = (0.01725 lb-ft-s2 j a + ^ ft |(0.58333 ft)a
12 32.2 ft/s2
-(0.00194 lb-ft-s2) a
a = 34.38605 rad/s2
or a = 34.4 rad/s2 A
(b) -~ I Fx = Z(FX\ eff
31b
m ABa m ~ (58.333 ft/s2) = 5.4347 lb
32.2 ft/s2
or C v = 5.43 lb - A
C , - WDjsk - fVRod = - m ABat, a, = (0.58333 ft)
3 lb
C - 1 0 lb 3 lb = -(0.58333 ft)(34.38605 rad/s2)
32.2 ft/s'
Cy = 11.13121b
or ( 'y = 11.131b | <

Assume a BC is J
ft a BC ~ ft a BC |
12
a = \ ft a BC ~ f t a BC t
,12
C SM c = S ( M c )/eef f
^ - 7 Diska Disk _ w D isk a A | | m BCa

ft ~ 1BRCa
C BC
12
0 - 0.00971 lb-ft-s2 (77.23995 rad/s2)
10 1b a >2 61b
(0.5 ft) a Rr - (0.25 ft f a BC - f 0.00388 lb-ft-s2 ) a BC
32.2 ft/s2 BC I 32.2 ft/s2
a BC = 8.05017 rad/s2
or a BC = 8.05 rad/s2
aA = 0.5 ft(8.05017 rad/s2) = 4.0251 ft/s2
or <iA = 4.03 ft/s2 <
Note: Answers can also be written
D >sk = ( 7 7 . 3 rad/s2) j
aA = - ( 4.03 ft/s2) I
PROBLEM 16.87
Derive the equation EMC = I c a for the rolling disk of Fig. 16.17,
where 2M C represents the sum of the moments of the external forces
about the instantaneous center C, and Ic is the moment of inertia of the
disk about C.
PROBLEM 16.88
Show that in the case of an unbalanced disk, the equation derived in
Prob. 16.87 is valid only when the mass center G, the geometric center O,
and the instantaneous center C happen to lie in a straight line.
SOLUTION
Kinematics:
___ a - ac + g/c
a.
/ \
= a c + a x rG/c + x 1 x rG/c)
1 , F \ /
I f - /
V A ! /% J or, since a> _L rG/c
\ y o
a = aG + a x rG/c - co2rGIC ( 1)
c
Kinetics:
w ____
f\ f
/ \ / f j \
\ ' f a ) ~ / f ~
y y y y y
ZM C = E ( Mc )eff : IM C = i a + r G /C X
Recall Eq. (1): I M C = l a + rG/c x m (ac + a x rG/c - mVG/c)
ZMC = l a + rG/c x mac + mrG/c x (a x rG/c) - mco2rG/c x rG/G
But: rG/c x rG/G - 0 and a _L rG/c
rG,c x m (a x rG/G) = mr/ca
Thus: I M C - (7 + mrG/c) a + rG/G x mac
Since I c = I + m r Q !C
I M C = 7ca + rG/c x mac (2)
Eq. (2) reduces to 2MC = I ca when rG/G x mac = 0; that is, when rG/c and ac are collinear.
Referring to the first diagram, we note that this will occur only when points G, O, and C l'e in a straight line.
(Q.E.D.) <
PROBLEM 16.89
A wheel of radius r and centroidal radius of gyration k is released from
rest on the incline and rolls without sliding. Derive an expression for the
acceleration of the center of the wheel in terms of r, k , /?, and g.
SOLUTION
/ a =mk~a
ma = mra
+J) XA/r = Z(A/C)cff: ( Wsin P)r = ( ma)r + I a
(mgs'm/3)r =(mra)r +mk2a
rgsin p = (r2 + k 2) a r
rgsinp
a=
r 2 + k:
_ rgsin/7
a = ra
r 2 + xi 2
a = j^ g s in p <
r+ k
PROBLEM 16.90
A flywheel is rigidly attached to a shaft of 30-mm radius that can roll
along parallel rails as shown. When released from rest, the system rolls
5 m in 40 s. Determine the centroidal radius of gyration of the system.
SOLUTION
1 - 2
Kinematics: S = v,J + a t'
V 2
16 ft = 0 + i a ( 4 0 s)2
a = 0.00625 m/s2
Since r = 30 mm = 0.03 m
a = ra\ 0.00625 m/s2 = (0.03 m )a
a = 0.20833 rad/s2
Kinetics:
+ ) L Mc = 'L(Mc \ n :
(/ngsinl5)r = / a + (m a )r
(>gsinl50) r = 'm]<2a + (>tror)r
g rsin l5 = ( P + r 2) a
(9.81 m/s2)(0.03 m )sinl5 = [ p + (0.03 m)2](o.20833 rad/s2)
k2 = 0.36472 m 2 => k = 0.60392 m

or k = 0.604 m A
P R O B LE M 16.91
A flywheel of centroidal radius of gyration k is rigidly attached to a
shaft that can roll along parallel rails. Denoting by fik the coefficient of
static friction between the shaft and the rails, derive an expression for the
largest angle of inclination p for which no slipping will occur.
SOLUTION
I = m k-
/hi5- m = ra
+*) I.MC = Z(A/r )efl.: (m g sinP )r = / a + (m a)r
mg sin p r = m k 2a + m r2a
a = ^ sin P ( 1)
r~ + k~
+/ ' ZF = EFefT: F - mg sin P = -m a
F - mg sin p = -m ra
F = mg sin p - mra
+ \ Z F = IF cff: N - mg cos P = 0
N = mg cos p
F
If slipping impends F = or
. sinP - a
F _ mg sin p - mra _
N mg cos P cos P
Substitute for a from Eq (1)

r gr
sin P -> -> sin P
g r~ + k~
Ms =
cos P
Hs = tan p 1 - = tan P
P
2
r + kr 2
/ | ;
r+ k
2~
n r2 + k 2
tan p = tan p = //, 1 + f r '
k
PROBLEM 16.92
A homogeneous sphere S, a uniform cylinder C, and a thin pipe P are in
contact when they are released from rest on the incline shown. Knowing
that all three objects roll without slipping, determine, after 6 s of motion,
the clear distance between (a) the pipe and the cylinder, (b) the cylinder
and the sphere. Give the answers in both US and SI units.
{b) Between sphere and cylinder
5 2
a S /C - aS ~ aC - | ~ - J g s m fi = g s m p
_1 2_ 1f 1 A
xs/c - 2 as/c{ ~ 2 ir r g s in p
US units: X S /C - T (32.2ft/s2)sinl2 (6 s)2 = 5.7384 ft

2P
or xs/c 2 5.74 ft A
SI units: X S /C ~ T (9.81 m/s2W l 2 (6 s)2 = 1.7482 m

21' 1
or xs/c = 1 -748 m A
_ P R O B LE M 16.93
A drum of 80-mm radius is attached to a disk of 160-mm radius. The disk
p and drum have a combined mass of 5 kg and combined radius of gyration
of 120 mm. A cord is attached as shown and pulled with a force P of
magnitude 20 N. Knowing that the coefficients of static and kinetic
friction are /is = 0.25 and fJk = 0.20, respectively, determine (a)
---- whether or not the disk slides, (b) the angular acceleration of the disk and
the acceleration of G.
SOLUTION
Assume disk rolls: a = ra - (0.16 m)or
7 = m k 2 = (5 kg)(0.12 m )
= 0.072 k g m 2
+) SMc = I(A /C)eff: ( 2 0 N )(0.16m ) = (m d)r + l a
3.2 N m = (5 kg)(0.16 m ) 'a + (0.072 k g m 2) a
or = 16 rad/s2
or a = 16 rad/s2 ) A
a - ra - (0.16 m )(l6 rad/s2) = 2.56 m/s2
or a = 2.56 m /s' - A
+ -E F x = l ( F x) _ : - F + 20N = ma
- F + 20 N = (5 kg)(2.56 m/s2)
F = 7.2 N
+ { ZFy = z (F >,)eff: N - m g = 0 N = (5 kg)(9.81 m/s2)
= 49.05 N
Fm = HsN = 0.25(49.05 N) = 12.2625 N
Since F < F , disk rolls with no sliding A

PROBLEM 16.94
and drum have a combined mass of 5 kg and combined radius of gyration
of 120 mm. A cord is attached as shown and pulled with a force P
of magnitude 20 N. Knowing that the coefficients of static and kinetic
friction are fis = 0.25 and /Jk = 0.20, respectively, determine
(a) whether or not the disk slides, (b) the angular acceleration of the disk
and the acceleration of G.
SOLUTION
Assume disk rolls:
a = r a = (0.16 m )a
I = m k 2 = (5 kg)(0.12 m) = 0.072 kg n r
+ C I M C = E(A/c )elT: (20N )(0.24m ) = (m d )r + l a
4.8 N m = (5 kg)(0.16 m ) ' a + (0.072 k g m 2) a
a = 24.0 rad/s2 or a - 24.0 rad/s2 j) A
a = (0.16 m)(24 rad/s2j = 3.84 m/s2
a = 3.84 m/s2 - A
-~ZFx = Z (F x )eff: - F + 2 0 N = ma
- F + 20 N = 5kg(3.84m /s2), F = 0.8 N
+ |Z F V = 0: N - mg = 0 N = 5 kg(9.81 m/s2j = 49.05 N
Fm = n sN = 0.25(49.05) = 12.2625 N
Since F < Fm, disk rolls with no sliding A

PROBLEM 16.95
friction are fis = 0.25 and /uk = 0.20, respectively, determine (a)
whether or not the disk slides, (b) the angular acceleration of the disk and
SOLUTION
Assume disk rolls:

a = ra = (0.16 m )a
I - m k 2 = (5 kg)(0.12 m)~
74 = 0.072 k g -n r
+(k 1M c = l( A /(-)c(r: (20 N)(0.08 m) = ( / + m r2)a
1.6 N-m = |^0.072 k g m 2 + (5 kg)(0.16 m)" J a
a = 8 rad/s2 J
a = r a = (0.16 m )^8 rad/s2^ = 1.28 m/s2 -
^ Z F v = Z (F t )efT: 2 0 N - F = ma
20 N - F = (5 kg)(l.28 m/s2); F = 13.6N
+ j ZF(, = 0: N - m g = 0\ N = (5 kg)(9.81 m/s2) = 49.05 N
Fm = n sN = 0.25(49.05 N) = 12.263 N
F > Fm, Disk slides A
Since disk slides, /j5 = 0.20 Fm = 0.20(49.05 N) = 9.81 N
+ ( ZA/C = Z(A/c )e(T: F(0.16 m) - (20 N)(0.08 m) = Ta
(9.81 N)(0.16 m) - (20 N)(0.08 m) = (0.072 kg m2)cr
a = -0.42222 rad/s2
or a - 0.422 rad/s2") A
/. ZFX = l ( F x)eff: 20 N - 9.81 N = ma
10.19 N = (5 kg) 5 a = 2.038 m/s'
or 1 = 2.04 m/s2 4
PROBLEM 16.96
friction are //, = 0.25 and /Jk = 0.20, respectively, determine (a)
whether or not the disk slides, (b) the angular acceleration of the disk and
SOLUTION
Assume disk rolls a = ra = (0.16 m)ar
0.02 m n 2oH / = mp = (5 kg)(0.12 m )2

Yi-rnc^.
= 0.072 kg m 2
+ C ZM C = E(M c )efr: (20 N)(0.08 m) = (m d )r + l a
1.6 N m = (5 kg)(0.16 m) a + ^0.072 kg m2) a
a = 8 rad/s2 ^ or a = 8 rad/s2 ^ A
a = ra = (0.16 m )^8 rad/s2j = 1.28 m/s2
or a = 1.28m/s2 - A
ZFX = ( F t )c(r: F = ma = (5 kg)(l.28 m/s2) = 6.40 N
+ |S F , = 0 A + 2 0 N - m g = 0, N + 20 N - (5 kg)(9.81 m/s2) = 0
N = 29.05 N
Fm = v ,N = 0.25(29.05 N) = 7.2625 N
Since F < Fm, disk rolls without slidingA

PROBLEM 16.97
A drum of 4-in. radius is attached to a disk of 8-in. radius. The disk and
drum have a total weight of 10 lb and combined radius of gyration of
^ 6 in. A cord is attached as shown and pulled with a force P of magnitude
5 lb. Knowing that the disk rolls without sliding, determine (a) the
angular acceleration of the disk and the acceleration o f G, (b) the
minimum value of the coefficient of static friction compatible with this
motion.
SOLUTION
a = ra
= ( n ft U = (-66667 ft) a
10 1b
I = mk = ft
32.2 ft/s2 1,12
= 0.07764 Ib-ft-s2
( 8
4-)ZM c = Z(M (.)eff: (51b) - h \ = (m a)r + / a
3.3333 lb-ft = 10 lt? ftl g + (0-07764 lb ft-s2)g

^32.2 ft/s Jv12
^32.2 f k / s ~ 12 ) V
'
a = 15.4558 rad/s2 or a - 15.46 rad/s2 ) ^
() a = ra = ft j(l5.4558 rad/s2) = 10.3039 ft/s2
or a = 10.30 ft/s2 <
(b) + f ZFV = 0 N - 10 lb = 0 N = 101b
- ZF. = Z V
(F t /)c,T: 5 1 b - F = ma = [
32 ^2-^ -1 (1IV0 .3 0 3 9 ft/s2)I
ft/s2
F = 1.800 lb
_ F_ _ L800Jb _ 0 j g0
Now ' /min N 10)b
or (// ) in. = 0.18 ^

\r s 'm
PROBLEM 16.98
6 in. A cord is attached as shown and pulled with a force P of magnitude
angular acceleration of the disk and the acceleration o f G, (b) the
motion.
SOLUTION
a = ra = [ ft \a = (0.66667 ft)ar
10 1b If 6
/ = m k2 = ft
22.2 ft/s2 Jv 12
= 0.07764 lb-ft-s2
+ C SA/c = (A /r )cn.: (51b) ft I = mar + I a

12
' 10 1b J 8
5 lb-ft = j ](0.66667 ft)(a ) ft ] + (0.07764 lb ft-s2)
32.2 ft/s-
5 lb -ft = (0.21567 ft s2) a , a = 23.1839 rad/s2
or a = 23.2 rad/s2) 4
( 8
(a) a = ra = ^ ft 1(23.1839 rad/s2) = 15.4559 ft/s2
or a = 15.46 ft/s2 - 4
(b) | LFy = 0: A - 10 lb = 0 N = 101b
/
10 1b
J t . Z F r = l ( F v)cfr: 5 lb - F = ma = (15.4559 ft/s2)
32.2 ft/s2
F = 0.20 lb
(//5) . = =
v 5 'm in j q
= 0.020
U , ) . = 0.0204
\ r s /min
PROBLEM 16.99
P angular acceleration of the disk and the acceleration o f G, (b) the
"^m inim um value of the coefficient of static friction compatible with this
motion.
SOLUTION
a = ra = ft |a = 0.66667a
U2
f 10 1b N
/ = mk = ( ftf
32.2 ft/s- \12 )
= 0.07764 lb -f ts 2
( l M c = l ( M c )et{: ( 5 1 b ) ^ f t ) = /iar + / a
1.6667 lb-ft = (0.21567 ft s2) a
a = 7.7280 rad/s2
or a = 7.73 rad/s2 J) A
f 8
(a) a = ra = ft 1(7.7280 rad/s2) = 5.1520 ft/s2
or a = 5.15 ft/s2 A
(b) | I.Fy = 0: AT - 10 lb = 0, N = 101b
10 1b
-~ZF x = Z{Fx )c(f: 5 lb - F = ma = (5.1520 ft/s2)
32.2 ft/s2
F = 3.3999 lb
. . = = 3 J 9 9 9 J b = 0.39999 lb
N 101b
(\r~S . = 0.340 A
/ A/min
PROBLEM 16.100
angular acceleration of the disk and the acceleration of G, (b) the
motion.
SOLUTION
( o \
a = ra = - f t a = (0.66667 ft)a
1 12
I = m k2 =
' ft/s- M
' 32.2
= 0.07764 lb-ft-s2
-C zM c = ( < ), : ( 5 lb) ( l7 ft) = mar + / a
1.6667 lb-ft = (0.21567 ft-s2) a
a = 7.7280 rad/s2
or a = 7.73 rad/s2 4
(a) a - ra = ^ ft j(7.7280 rad/s2) = 5.15201 ft/s2
or a = 5.15 ft/s2 - -4
(b) + \F V = 0: /V + 5 - 1 0 1 b = 0 A = 51b
F = ma = ( 5 i^ - T')(5.1520IIVS! )
F = 1.600 lb
(*). = =
N 51b
or (\ /r ,) . = 0.32 4
^ S /min
PROBLEM 16.101
c s Two uniform disks A and B, each of mass 2 kg, are connected by a 2.5-kg
4 0 m ill
% rod CD as shown. A counterclockwise couple M of moment 2.25 N m
T V' Bs
T V 120 m m 120 n u n
is applied to disk A. Knowing that the disks roll without sliding,
O r> V
----- determine (a) the acceleration of the center of each disk, (b) the
horizontal component of the force exerted on disk B by pin D.
SOLUTION
a 4 = aH = a = a H = a = ra
Disk A : W=mg
1
1T = mr -
+) ZA/ = Z (M )eff: M - C(0.16 m) = [m a)r + l a
2.25 N m - (0.16 m )C = ( m ra )r + ^ m r2a = ^ m r 2a
2.25 N m -(0 .1 6 m )C = | ( 2 kg)(0.12 m )2 a
2.25 N m - (0.16 m )C = (o.0432 kg m2) a ( 1)
Disk B:
^ mr -
7I =
2
+) ZA/,, = Z >(0.16 m) = (mo)r + I a - m r2a + m r2a = ^ mr2a
(0.16 m)> = | ( 2 kg)(0.12 m)2a
D = (0.270 kg m)or (2 )
Rod CD:
C aK - - a .| + *c//4
r
3* aR = (0.12 m )a + (0.04 m )a = (0.16 m )a
J ^ Z F x = l ( F x)e{{: C - D = mRdR
C - D = (2.5 kg)(0.16 m )a = (0.40 kg m )a
Use (1): (2)
^-^0.0432 kg m2j a + 2.25 N-m --------(0.270 kg m )a = (0.40 kg m )

0.16 m
2.25 N = (0.1504 kg m )a , a = 14.9601 rad/s2
a = 14.960 rad/s2 "*)
(a) aA = i R =rcc = (0.12 m )(l4.960 rad/s2) = 1.7952 m/s2
a /i = as = 1-795 m/s2
(b) D = (0.270 kgm)(l4.960 rad/s2j = 4.0392 kg-m/s2
or D = 4.04 N
PROBLEM 16.102
. v ^ Two uniform disks A and B, each of mass 2 kg, are connected by a 2.5-kg
x 120mm M 20mm ._____________ ________ , . . . . . . . ~ v,
\b f rod CD as shown. A counterclockwise couple M of moment 2.25 N-m
'o 1 ^t-u" is applied to disk A. Knowing that the disks roll without sliding,
- ------------------- ---------- determine (a) the acceleration of the center of each disk, (b) the
horizontal component of the force exerted on disk B by pin D.
+ ) I M h - 2,(M H)eff: D(0.08 m) = ( ma)r + l a = mr2a + ~ m r 2a
(0.08 m )D - | ( 2 kg )(0.1 2 m)2a
(0.08 m )D = (0.0432 kg-m 2 jar (2)
Rod CD :
C j) -*. as - ac - a^ + aCM
-# * c * z
= (0.12 m)ar - (0.04 m ) = (0.08 m )
^ ^ = S ( F x)eff:
C - D - mR aR = (2.5 kg)(0.08 m)or = (0.20 kg-m)ar
Use (1): (2)
^ 0.0432 kg-m 2 ^
[(-0.0432 kg-m 2jar + (2.25 N - m ) | - a = 0.20 kg mar
. 0.08 m 0.08 m
28.125 N = [(0.20 + 0.54 + 0.54)kg-m ]a
a: = 21.9726 rad/s2 )
() dA = aB = ra - (0.12 m)(21.9726 rad/s2 j = 2.6367 m/s
a/f = aB = 2-64 m/s
(*) 0.0432 kg-m V 1.9726 rad/s2) = 11.8652 N

0.08 m v >
or D = 11.87 N 4
PROBLEM 16.103
A 5-kg uniform square plate is supported by two identical 1.5-kg uniform
slender rods AD and BE. It is held in the position shown by rope CF.
# ^ H Determine, immediately after rope CF has been cut, (a) the acceleration
of the plate, (b) the force exerted on the plate at point B.
24 0 n u n
lI \ 2 4 0 hum --!
SOLUTION
\ / V *
f ir c a
''V A-
yna - s
I M g = 0: R2 = -R )
I M n =(1.5 kg)(g)(0.1 m)(0.707) - (0.2 m )/?2 = 1(1.5 kg)(0.2 m )2 a
(0.15 kg m )(g)(0.707) - (0.2 m )/?2 = ^0.02 kg m2 jar (1)
+ / I F = 2R2 + (5 kg)(g)(0.707) = (5 kg)(0.2 m )a
2R2 + (3.535 kg)g = (1 kg m)ar (2)
Solve Eq. (1) and (2) for a and R2
(0.2 m )/?2 - (0.02 kg m )a = (0.10605 kg m)(g)
2R2 - (l kg m ) a = -(3.535 k g)(g)
a = (3.8296/m)(9.81 m/s2)
a = (0.2 m )a = (0.2 m)(3.8296/m)(9.81 m/s2)
= 7.5137 m/s2 or a = 7.51 m/s2 ^ 4 5 <
R2 = -(-3 .5 3 5 kg)(9.81 m/s2) + (3.8296 kg)(9.81 m/s2) = 1.4450 N
Now F = R2 cos45 + ( -R 2) c o s 4 5 = 2(l.4450)(0.707)
= 2.04323 N Fb = 2.04 N \ <

PROBLEM 16.104
Solve Prob. 16.103 assuming that rod AD is replaced by a cable of
negligible mass.
SOLUTION
From P16.103: for BE, equation (1)
Tension = (0.15)g(0.707) - 0.2R2 = 0.02a ( 1)
ZA/C = 0 => R} = 0
/v + / ZF = R2 + 5g(0.707) = 5(0.2a) (2)
Solve equations (1) and (2)
(0.2 m )R 2 + (o.02 k g m 2)ar = (0.10605 k g m ) ( g )

t - S ( o . t D t )
R2 - (1 kg m ) a = (-3.535 kg)(g)
a = 3.69568g
a = (0.2 m)(3.69568/m)(9.81 m/s2) = 7.25093 m/s2
or a = 7.25 m /s' 45 4
and R2 = -3.535g + 3.69568g = 1.577 N
or Rn = 1.577 N 7 ^ 45 4
PROBLEM 16.105
A half section of a uniform thin pipe of mass m is at rest when a force P
is applied as shown. Assuming that the section rolls without sliding,
determine (a) its initial angular acceleration, (b) the minimum value of
the coefficient of static friction consistent with the motion.
PROBLEM 16.106
Solve Prob. 16.105 assuming that the force P applied at point A is
directed horizontally to the right.
PROBLEM 16.107
A small clamp of mass mB is attached at B to a hoop of mass mh. The
system is released from rest when 6 = 90 and rolls without sliding.
Knowing that mh = 5mB, determine (a) the angular acceleration oh the
hoop, (b) the horizontal and vertical components of the acceleration of B.
PROBLEM 16.108
A small clamp of mass mB is attached at B to a hoop of mass mh.
Knowing that the system is released from rest and rolls without sliding,
derive an expression for the angular acceleration of the hoop in terms of
mB, mh, r, and 9.
SOLUTION
Kinematics: a i = ra b /a = ra ^ 9
a = a A + a B /A ^ Q
a # = ra + ra ^ 9
Kinetics: I = mhr-
C fS m 6 rot
rcos>
f r*
+ ) IA /C = I(A /C)efr: WBr sin# = / a + mhaAr + mBr a [ r + rco s# )
+mBmsin#(rsin#) + mBr a c o s9 (r + r c o s9 )
mBg r i\n 9 - mhr 2a + mh[ r a )r + mBr a ( + 1 cos#)(r + rco s9 ) + mBr a sin9 ( r sin9)
mBgr sin# = 2mhr 2a + mBr:a^(l + cos#)" + sin2#J
= 2mhr 2a + mflr 2ar[j + 2 cos9 + cos2 9 + sin2#J
mBgr sin 9 = r 2a [2 m A + mB(2 + 2 cos#)]
g mB sin 9
a =
2r mh + mB(\ + cos#)
r * 0 . 9 in.
P R O B LE M 16.109
The center of gravity G of a 3.5-lb unbalanced tracking wheel is located
at a distance r = 0.9 in. from its geometric center B. The radius of the
wheel is R = 3 in. and its centroidal radius of gyration is 2.2 in. At the
instant shown the center B of the wheel has a velocity o f 1.05 ft/s and an
acceleration of 3.6 f t/s 2, both directed to the left. Knowing that the
wheel rolls without sliding and neglecting the mass of the driving yoke
AB, determine the horizontal force P applied to the yoke.
SOLUTION
Kinematics: Choose positive v fl and a 8 to left
t^ = c . g l - n . 'Z-L a . - r 4 * 7 as
+ Rotation Abt. B = Rolling motion
a = [ aB + ra)2J Or I
R H
Kinetics:
~*r> + ri2)
+ ) IA /C = S(A/r )efr:
PR - Wr = + (max)R + 1a
PR - mgr - m ~ a H \r + m [a B + ra)2) R + m k 2
( r2 B P )
= ma. + R + + mr
R R f ) R
r1 + P \ r 1
P = mg + maB 1 + + m r-V
2 B ( 1)
u R2
3.51b
Substitute: mg = 3.5 lb, m -
32.2 ft/s2
09
r = ft = 0.075 ft
12
R = _L ft = 0.25 ft
12
k = ft = 0.18333 ft
12
f 0.075 ft > r 3.51b ^

P = 3.5 lb
I 0.25 ft J (32.2 ft/s2 J
aB)
i | (0.075 ft) +(0.18333 ft) 3.5 lb 0.75 ft 2

(0.25 ft)2 + 32.2 ft/s2 (0.25 ft)2 Vg
P =1.05 lb + (1.7693 lb/ft -s2j a B +(0.13043 lb/ft2 -s2)v |
Substitute: vB = 1.05 ft/s - ; vB = +1.05 ft/s
aB = 3.6 ft/s2 * ;aB = +3.6 ft/s2
P = 1.05 lb + (0.17693 lb/ft-s2)(3.6 ft/s2) + (0.13043 lb/ft2s2)(l.05 ft/s)2
= 1.05 lb + 0.63695 lb + 0.14380 lb = 1.83075 lb

P = 1.831 lb <
PROBLEM 16.110
For the wheel of Prob. 16.109, determine the horizontal force P applied
to the yoke, knowing that at the instant shown the center B has a velocity
of 1.05 ft/s and an acceleration of 3.6 ft/s2, both directed to the right.
SOLUTION
vB = 1.05 ft/s - ; vB = -1.05 ft/s
aB = 3.6 ft/s2 ; aB = -3.6 ft/s2
Use Eq. (2)P16.109
P = 1.05 lb + (0.17693 lb/ft-s2)(-3.6 ft/s2) + (0.13043 lb/ft2-s2)(-1.05 ft/s)2
= (1.05 - 0.63695 + 0.14380)lb - 0.55685 lb
or P = 0.557 lb <
P R O B LE M 16.111
The 4-lb uniform rod AB is in the shape o f a quarter of a circle and its
ends are attached to collars of negligible weight that slide without friction
along fixed rods. Knowing that rod AB is released from rest in the
position shown, determine immediately after release (a) the angular
acceleration of the rod, (b) the reaction at end B.
10 in.
SOLUTION
b = PG = r 1 - 1\/2
n.
mr-2 - m a
- mr a
+2V i '1
H
\ n] K
= r fr ^ a ' 3 - i '
nj
i-A
(a) a - n a = 3.10 rad/s2 J) 4
3 - 1 I.
7Z
mg
n
(b) - ZFx = N Br = mb = mr
72
N R = 1.165 lb + - 4
PROBLEM 16.112
The 4-lb uniform rod AB is in the shape of a quarter of a circle and its
ends are attached to collars o f negligible weight that slide along fixed
rods. Rod AB is released from rest in the position shown. Assuming no
friction at A and a friction force of magnitude 0.2 lb at B, determine the
angular acceleration of the rod immediately after release.
SOLUTION
'r n q
From 16.112:
+ ) mB = mgr 1 - I - Fr = mr2a 3 - 1
\ n v n
a = 26.7 rad/s2 J) A
PROBLEM 16.113
The uniform rod AB o f mass m and length 2L is attached to collars of
negligible mass that slide without friction along fixed rods. If the rod is
released from rest in the position shown, derive an expression for (a) the
angular acceleration of the rod, (b) the reaction at A.
+ j SFy = ^{F y) ' A - mg - -m a = -m L a sin#
sin (9
A = mg - mL g sin 6*
+ sin2 9
A = mg
PROBLEM 16.114
The uniform rod AB of mass m = 6 kg and total length 2L = 600 mm is
attached to collars of negligible mass that slide without friction along
fixed rods. If rod AB is released from rest when 6 = 30, determine
immediately after release (a) the angular acceleration o f the rod, (b) the
reaction at A.
SOLUTION
W = mg = (6 kg)^9.81 m/s2j = 58.86 N
L = 300 mm = 0.30 m
From P16.113
9.81 m/s2 ( sin 30 ^

a = - 28.030 rad/s2
0.30 m V 43 + sin2 30( J
or a - 28.0 rad/s2 ) -4
(6kg)(9.81m /s2)
A = = 33.6343 N
1 + 3 sin2 30
or A = 33.6 N \ <
P R O B LE M 16.115
The motion of the uniform rod AB of mass 8 kg and length L - 900 mm
is guided by small wheels of negligible mass that roll on the surface
shown. If the rod is released from rest when 9 = 20, determine (a) the
angular acceleration of the rod, (b) the components of the reaction at A.
SOLUTION
Kinematics
a fl ~ *A + a B /A
< 2-0
[ , ] = [aA 7 60] + [La \ 20]
Law o f Sines
_ a B _ L a
sin 70 sin 50 sin 60
a ., = 1.08511a 7 60
a /( = 0.88455La
oca = f N 20
aG = a = a A + aG/A = [l.08511a 60] + - a Nj 20

2
ax = (1.085liar)co s60 + (0.5Z,ar)sin20
= 0.542541a + 0.171011a; a v = 0.713551a
+ \ a y = (1.08511a)sin 60 - (0.5Ia)cos20
= 0.939721a - 0.469851a; a = 0.46985La |

We have: a t = 0.71355Z.a -*
y = 0.46985L a |
Kinetics:
Triangle ABE: ZABE = 70
ZABE = 70, ZBAE = 50
Law o f Sines AB - L
RF I
= ; BE = 0.88455Z,
sin 50 sin 60
+') I M e = I (M E\ n
mg(0.46985Z.) = l a + max (0.H 355L) + mav(0.46985Z.)
0.46985/ngZ, = mLra + m(0.71355Ia)(0.71355Z.) + m(0.46985La)(0.46985L)
0.46985ttigL = mZ2(0.8l325)a
a = 0.57775 = 0.57775 9,81 = 6.2975 rad/s2

L 0.90 m
a = 6.30 rad/s
ZL T,FX = S (F x)eff: .4sin60o = max = w(0.71355La)
/i sin 60 = (8 kg)(0.71355)(0.90 m)(6.2975 rad/s2) = 32.354
A = 37.3589 N or A = 37.4 N 30
PROBLEM 16.116
The 8-kg uniform slender rod AB is supported by a small wheel at C and
end A can slide on the horizontal surface. Knowing that the rod is
released from rest in the position shown and neglecting friction at A and
C, determine immediately after release (a) the angular acceleration of the
400 inni
rod, (b) the reaction at point A.
SOLUTION
+) SA/p = (8 kg)(g)(0.4 m )^y- = -^-(8 kg)(0.8 m )2 a + (8 kg)(0.4 m )' (>/3 )(>/3 ) a
J3
(8 kg)(9.81 m/s2)(0.4 m ) = (0.42667 kg m2 + 3.84 kg m2) a
() a = 6.37178 rad/s2 )
a = 6.37 rad/s2 A
J3 1 i
() + ) ZA/0. = N a -(0.4 m ) = (8 kg)(0.8 m )2 (6.3717 rad/s2)
N a = 7.84796 N
or N a = 7.85 N f <
PROBLEM 16.117
\\ The 10-lb uniform rod ABD is attached to the crank BC and is fitted with
a small wheel that can roll without friction along a vertical slot. Knowing
5 In. H that at the instant shown crank BC rotates with an angular velocity of
r 6 rad/s clockwise and an angular acceleration of 15 rad/s2

counterclockwise, determine the reaction at A.
SOLUTION
Crank BC:
C O - >
S
&
(9 e )? 7 ^ / r .
ex' = I S
(a s )( = ( B C )a = rad/s2) = 6.25 ft/s2
(aB)n = {BC)co2 = f ^ f t j (6 rad/s2) = 15 ft/s2
-\B C . 0.1 m
P = sin ------= sin = 30
AB 0.2 m
a A ~ a G + A1G
[aA t ] = [6.25 j + 15 ]+
1 0
a ^ PR
12
10
-L. 0 = 15 a cos 30
12
(l5 ft/s2)
a = - r = 20.7846 rad/s2 J
no ^ y
ft cos 30'
\12
Kinetics:
+) SM g = S (M c )eff: A ^ ft J(cos30) = l a = ^<nZ,2a
10 1b
.4(0.72168 ft) = y ^ f t j (20.7846 rad/s2)
. 32.2 ft/s2,
,4 - 2.07041 lb
A = 2.07 lb
P R O B LE M 16.118
The 8.05-lb uniform slender bar BD is attached to bar AB and a wheel of
negligible mass which rolls on a circular surface. Knowing that at the
instant shown bar AB has an angular velocity of 6 rad/s and no angular
acceleration, determine the reaction at point D.
SOLUTION
Kinematics: <b d = ^ ra d /s
a = ( y ^ f t )(6 rad/s)2 = 90 ft/s2
is r fy
Kinetics: m = 8 05 lb, = 0.25 lb s2/ft

32.2 ft/s2
V ? . = ^(0'25)(2.5): (36)fl + 4 - )
+) ZM b = -(8.05 lb )(l.25 ft) + O y ( 2 . 5 ft)
- (l 1.25)(l.25) lb-ft
4687511 + ^ j
(2.16506 ft)D = (10.0625 + 7.3938 - 5.9435)lb-ft
D = 5.32 lb
or D = 5.32 lb ^ 60 <
PROBLEM 16.119
The 300-mm uniform rod BD of mass 3 kg is connected as shown to
crank AB and to collar D of negligible mass, which can slide freely along
a horizontal rod. Knowing that crank AB rotates counterclockwise at the
constant rate of 300 rpm, determine the reaction at D when 0 = 0.
SOLUTION
Crank AB: CO.
g o>ab = 300 rP01 | = 10/r rad/s
60
AB = 60 mm
a3
vB = ( AB)(oab = (0.06 m )(l0;r rad/s) = 1.8850 m/s t
aH = ( A B ) coab = (0.06 m )(l0/r rad/s)" = 59.2176 m/s2 -
Rod BD:
Velocity: Instant CTR at C
vb = {BC) co'B D
1.8850 m/s = (0.24 m )coBn
coBD = 7.854 rad/s _)
S/?
< ? - O - 3 0 r* }
(a fl), = (B D )a BD = (0.30 m ){a BD) 5^4
[aDIB) = (B D ) co2d
b = (0.30 m)(7.854 rad/s)2 = 18.507 m/s2
' 'n
d = h + > : [aD ] = [59.2176 m/s2 ] + [(0.30 ft)or % ] + [l8.507 m/s2 ]
+ | 0 = 0 + j ( 0 .3 0 f t ) a flD - |( l 8 . 5 0 7 m/s2)
a BD = 46.266 rad/s2
(%/fi), ~ { ^ D )a BD - (0.15 m)(46.266 rad/s2] = 6.9399 m/s2 ^ 4
(aG/B)n = ( BG)( 0 2bd = (0.15 m )(7.854 rad/s2)2 = 9.2533 m/s2 ^
a = a B + aG/s = a B + (aGIB)^ + (g/s)m
a = [59.218 m/s2 ] + [6.9399 m/s2 ^ 4 ] + [9.2533 m/s2 ]
... a = 59.217 + -6.9399 + -9.2533 |m/s2 = 70.785 m/s2
+t =
-6.9 3 9 9 + -9.2533 m/s2 = 0
5 5
Kinetics
= J_ (3 k g )(0 3 m )2 = 2
12 12
+) =I
>(0.24 m) - mg(0.12 m) = l a + mo,. (0.09 m)
(0.24 m)> = (3 kg)(9.81 m/s2)(0.12 m) + (0.0225 kg m2)(46.266 rad/s2) + (3 kg)(70.785 m/s2)(0.09 m)
(3.5316 + 1.04099 + 19.11195)Nm

D =^ 7 -------- 98.6856 N
(0.24 m)
or D = 98.7 N j <
PROBLEM 16.120
Solve Prob. 16.119 when 0 - 180.
SOLUTION
Crank AB: ft
r~ . co = 300 rpm = 10^ rad/s
AB = 60 mm = 0.06 m n \ 60

\ B = (A B ) coab = (0.06 m )(l0;r rad/s) = 1.8850 m/s
aB = ( A B ) co2ba = (0.06 m)(l0^)2 = 59.218 m/s2
Rod BD:
Velocity: Instant CTR at C.
0.24coBD = vB = 1.8850 m/s
<b d = 7.8542 rad/s
^ 0.1 2 A
p = sin -l = 23.58
0.3
J>
B f
flx*d
(a D/s), = (BD )a BD = (0.3 m ) a \ j p
(aD/fl) = (0.3 m)(7.8542 rad/s)2 = 18.507 m/s2 p
a o ~ a s + a D/B = * b + ( 8 d /b ) ( + ( a D /s)
\ aD ] = [59.218 m/s2 * J + [0.3 m a BD \ j p ] + [l8.507 m/s2 7 " /?]
+ | 0 = 0 + (0.3 m ) a BDcosP - (l8.507 m/s2 js in P
a BD = 46.266 rad/s2
a bp = 46.266 rad/s2 'j

a = a8 + *G/B = [59.218 m/s2 ] + [0.15 m (46.266 rad/s2) \J f i \ + [o.l5 m(7.8542 rad/s)2 /?]
a = {[59.218 ] + [6.9399 \ j /?] + [9.2533 7 >9]} m/s2
f 3^ f4Y
-- a = 59.218 - 6.9399 - - 9.2533 m/s"
,5 , U J.
a . = 47.65142 m/s2
t a y =
6.9399 m/s2 = 0
C l ) - 9-2533( l'
Kinetics
IA/8 = l ( A / fl)e(r:
Z)(0.24 m) + m g(0.12 m) = - l a BD + mtjr (0.09 m)
(0.24 m )D = - ( 3 kg)(9.81 m/s2)(0.12 m) - (0.0225 kg m2)(46.266 rad/s2)
+ (3 kg)(47.65!42 m/s2)(0.09 m)
(0.24 m )D = (-3.5316 - 1.04099 + 12.8658)N m
D = 34.5554 N
or D = 34.6 N { 4
PROBLEM 16.121
Solve Prob. 16.119 when 0 = 90.
SOLUTION
a. vB = (0.06 m )(l0;r rad/s) = 1.8850 m/s
aB = (0.06 m )(l0;r rad/s)2 = 59.218 m/s2
- I o 11
Rod BD:
Instant center at OD
Mbd = 0
P = sin"1 = 23.58
0.3
Acceleration'.
(aD/)( _ {B D )aBD - (0.30 m )a BD \ j P
ao = a5 + ao/B = a/; + { aDm)t + ( aD/B)n
[aD ] = [59.2181 ] + [(0.3 m ) a BD \ B] + 0
+ | 0 = -59.218 m/s2 + (0.3 m )(a BD)cos ft
a BD = 215.3768 rad/s2 ^
a = + (0.15 m )a BD\J P = [59.218 m /s2 | J + j^(0.15 m)(215.3768 rad/s2)
a - [59.218 m/s2 j ] + [32.307 m/s2 \J /?]
J a. = (32.307 m/s2)sin23.58 = 12.924 m/s2
ay = 59.218 m/s2 - (32.307 m/s2)cos23.58 = 29.609 m/s2 J

Kinetics
f. C.O bm
T T fti 3 ? 8 ***
, ^ = W W = 0 .m k ! w
12 12
+ (Î,M b = Z[M B)eS: Z)(0.27496m) - mg(0.13748 m) = I a + max (0.06 m) - way(0.13748 m )
(0.27496 m )D = (3 kg)(9.81 m/s2) (0.13748 m) + (0.0225 kg-m 2)(215.38 rad/s2)
+(3 kg)(l2.924 m/s2)(0.06 m ) - (3 kg)(29.609 m/s2)(0 .13748 m)
D = -3.6135 N
or D = 3.61 N J <
P R O B LE M 16.122
The collar B of negligible weight can slide freely on the 8-lb uniform rod
CD. Knowing that in the position shown crank AB rotates with an angular
velocity of 5 rad/s and an angular acceleration of 60 rad/s", both
clockwise, determine the force exerted on rod CD by collar B.
SOLUTION
Kinematics
Velocity (l.5ft)<uco = (3.75 fVs)(0.5),
&
coCD = 1.25 rad/s
*e-
o .n s c s )
r = (3.75 ft/s)(0.866)
-0
Acceleration
(07s;(>)= (1.5 ft)a CD + 2ro)CD = 45(0.5) + 18.75 fl/s2 (0.866)

95
0.1 S { S ) 1 a CD = 20.4127 rad/s2)
- I 8 TS f i / f
Kinetics
0 SAfc. - I c a CD
+ ) 1M C = (8 lb)(0.866)(l.5 ft) + N ( 1.5 ft)
1 81b / x2
" 3 32.2 ft/s2 ^ ^ aCD
(1.5 ft) A = (-10.392 + 15.2144) lb-ft
N = 3.214g lb-ft
or N = 3.21 lb ^ 60 4
PROBLEM 16.123
The collar B of negligible weight can slide freely on the 8-lb uniform rod
CD. Knowing that in the position shown crank AB rotates with an angular
velocity of 5 rad/s and an angular acceleration of 60 rad/s2, both
counterclockwise, determine the force exerted on rod CD by collar B.
SOLUTION
Kinematics: toCD = 1.25 rad/s2 j
r = (3.75 ft/s)(0.866)
Accel:
(1.5 ft) a CD + 2rcoCD = 45(0.5) - (l8.75 ft/s2)(0.866)
(1.5 ft)a CD - (7.5 ft/s)(0.866)(l.25 rad/s) = 6.2625 ft/s2
a CD = 9.5873 rad/s2 ")
+) "LMC - Ical CD
c
+ ) SMC = (-8 lb)(0.866)(l.5 ft) + N ( 1.5 ft) = ~ 8 lb (3 ft)2 a,CD

3 32.2 ft/s2
Substituting a CD = 9.5873 rad/s2
N = 11.69 lb ^ 60 <
P R O B LE M 16.124
A driver starts his car with the door on the passengers side wide open
( 0 = 0). The 36-kg door has a centroidal radius of gyration
k = 250 mm, and its mass center is located at a distance r - 440 mm
from its vertical axis of rotation. Knowing that the driver maintains a
constant acceleration of 2 m / s 2, determine the angular velocity of the
door as it slams shut ( 9 - 90 ).
SOLUTION
Kinematics: a = a.
r -a M 'itn
where (a07/() = r a h * 9
Kinetics:
6
+J) ZA/^ = l( A / /))e(r: 0 = / a + (m ra )r - maA(r cos0)
mA: a + m r2a = wa.,r cos0
a = _.a/<r cos0
k + r2
dco
Setting a = ar*d using r = 0.44 m, k = 0.25 m
coda) (0.44 m ) ^ _ cos# _ 1.7181^0050

d9 (0.44 m) + (0.25 m)
codco = 1 .7 1 8 1 0 ^ cos 0</0
a>f
-Xco2 = 1.7181a,, sin 0|^ => a)2 = 3.4362a (1)
2 0
Given aA = 2 m/s2
co) = 3.4362(2) = 6.8724 => cof = 2.6215 rad/s
or (Of = 2.62 rad/s J) ^

PROBLEM 16.125
For the car of Prob. 16.124, determine the smallest constant acceleration
that the driver can maintain if the door is to close and latch, knowing that
as the door hits the frame its angular velocity must be at least 2 rad/s for
the latching mechanism to operate.
SOLUTION
Given data: co, = 2 rad/s
(2)2 = 3.4362^ => aA = 1.1641 m/s2
or aA = 1.164 m/s2 ^
PROBLEM 16.126
Two 3-kg uniform bars are connected to form the linkage shown.
Neglecting the effect of friction, determine the reaction at D immediately
after the linkage is released from rest in the position shown.
SOLUTION
Kinematics: Bar AC Rotation about C
a 8 M
a = (B C )a = (0.3m)or |
=T
h*~ 0 ." i irj"*-1
Bar BC\ aD,B = L a must be zero since aD |
.. ocqd 0 and ^ bd ^
Kinetics: Bar BD
T
iO bn}Cos ^
0*1 C L 7
a -W 5 ss / / .
V 0 I ^ ^
+ | ZFy = l ( ^ ) : By - m g = -m (0.3 m )
^ - (3 kg)(9.81 - 0.3a) m/s2 ( 1)
+ Q I M b = S (M g )eff: )(0.51962m) - mg(0.15 m) = -m (0 3 m )(a)(0.15 m)
D = 0.86603 kg(9.81 - 0.3a)m /s2 (2)

Bar AC:
jr< *
Q> c
f t
8
w syr\ d i ~ s m C
/ = m Z ? = ( 3 kg)(0.6m )2 = o o 9 k g
12 12
+ C 2 M c = s ( M c ) eff: (mS + 5 ^ )(0-3) = I a + w (0.3a)(0.3)
Substituting by from Eq. (1)
. . . , \ 0.09a + 3(0.3a)~l
3(9.81) + 3(9.81 - 0.3a) = ^
a = 28.029 rad/s2
Eq. (2): D = 0.86603 kg 9.81 m/s2 - (0.3 m )(28.029 rad/s2)
D = 1.21356 N
or D = 1.214 N
P R O B LE M 16.127
The linkage ABD is formed by connecting two 8.05-lb bars and a collar
of negligible weight. The motion of the linkage is controlled by the force
P applied to the collar. Knowing that at the instant shown the angular
velocity and angular acceleration of bar AB are zero and lOrad/s2
counterclockwise, respectively, determine the force P.
SOLUTION
Kinematics: 30 ft/s2
aK = <-
P
Ik aD J 4 + 3aBO(0.866) - 15
\
\
1f=
a HD = A! 2
0 rad/s
\
\
\ 30
ar. = <r i i -53 r * r T 5/ r ,
X *. \
N
o .l S ( s e ) \ y 8.05 lb .,
m = r- = 0.25 lb s'/ft
32.2 ft/s-
2 ,T
I Ia = ^ ( 0 .2 5 lb s2/ft)(3 ft)2 ^ rad/s2
1.875
lb-ft
73
Kinetics:
I 6 V Y.Ma = Bv(3 ft) = i(0 .2 5 lb-s2/ft)(3 ft)2(10 rad/s2)
3It
r n
Px
Bx = 2.5 lb
+) A/P = F (6 ft) + 8.05 lb(l.5 ft) - (2.5)(373)lb-ft
i a
^ + 0.25(30)(373) + (-2| 15) ( l , ) lb-ft
F = 7.37 lb x7 30 M
PROBLEM 16.128
Solve Prob. 16.127 assuming that at the instant shown the angular
velocity and angular acceleration of bar AB are 5 rad/s clockwise and
zero, respectively.
P R O B LE M 16.129
The 2-kg rod AB and the 3-kg rod BC are connected as shown to a disk
that is made to rotate in a vertical plane at a constant angular velocity of
6 rad/s clockwise. For the position shown, determine the forces exerted at
A and B on rod AB.
SOLUTION
Kinematics: Velocity
coAB = 0
vB - vA = (0.06 m )(6 rad/s)
= (0.18 m)<y8r
0.18 yy\
o)BC = 2 rad/s J)
Acceleration
o.oc, m I 3 0 .0 9 m
aA = (0.06 m )(6 rad/s) = 2.16 m/s2 {
a 8 = (0.18 m )(2 rad/s) = 0.72 m/s21
a 8(. = (0.09 m )(2 rad/s) = 0.36 m/s21

0.09 m
O. I 2r o
0 .12*1 a AB = ^ ( a A + aB) = ^ (2 .1 6 + 0.72)m/s2 = 1.44 m/s2 J
* * aA = aB + 0.12 aA B
-8
2.16 m/s2 = 0.72 m/s2 + (0.12 m )a .(B
a AB = 1.2 rad/s2
1 , (2 kg)(0.1 2 m) ,
Kinetics: Ii > - 0.0024 kg-m2

AB 12 12
Rod BC:
Since a 5C = 0, a = 0
13 8
EMC = 0 yields Bx = 0
W,0 C 'h e
R odA B:
=0
w, 1 <S a
a,
Q.9g w? | 0 . 0 1>rn IB
I /? L 4>JW
^S ^V sg
- .S F x = S (F x)eff: Ax = 0
+ ) Af* = S (M ^ )eff: 5^ (0.12 m) - mg(0.06 m) = IABa AB - mABdAS(0.06 m)
(0.12 m )#,, -(2 k g )(9 .8 1 m /s 2)(0.06m )
= (0.0024kg-m2)(l2 rad/s2) - (2 k g )fl.4 4 m /s2)(0.06 m)
By = 8.61 N
or B y = 8.61 N \ <
+ ( ZFy = S ( ^ .) eff: Ay + By - m g = -m ABdAB
Ay = -8.61 N + ( 2 kg)(9.81 m/s2) - ( 2 kg)(l.44m /s2)
Ay = 8.13 N
or Ay 8.13N \ <
^ h 120m m H P R O B LE M 16.130
The 2-kg rod AB and the 3-kg rod BC are connected as shown to a disk
that is made to rotate in a vertical plane. Knowing that at the instant
shown the disk has an angular acceleration of 18 rad / s" clockwise and
I SO m m
no angular velocity, determine the components of the forces exerted at A
and B on rod AB.
SOLUTION
K in em a tics: Velocity o f all elem ents = C

A ccelera tio n :
aH - aA - (0.06 m )(l8 rad/s2j = 108 m/s2
a BC - a BC = 6 rad/s2)
0.18m
*2- f\\2> aHC = (0.09 m )(6 rad/s2 j = 0.54 m/s2
rz aAB = aA = aH = 1.08 m/s2
Kinetics: V = mBC(B C )2 = ^ ( 3 kg )(0 18 m )2 = 0.0081 k g m 2
Rod BC:
_<3y S I
B
<3.1 3
= ( r
r
fT T
+ j)z Ma = S ( M ,) efT: 5 ,( 0 .18m ) = JH

CaBC+ mBCdBC(0.09 m)
(0.18 m )5 , = (0.0081 k g m 2)(6 rad/s2) + (3 kg)(0.54m /s2)(0.09m )
Bx = 1.08 N
on AB, B = 1.08 N
RodAB:
H tb
* TeT* 3a
|x >,0 & fn < 0 ^6 m
- ~ Z F x = 2 (F x)eff: Ax - B x = mARdAB
Ax - 1.08 N = (2 k g )(l.08 m/s2), Ax = 3.24 N -
+ Q l M A = 0: By (0.12 m) - m g (0.06 m) = 0
By (2 kg)(9.81 ) = 981 N t
+ 1 EFy = 0: Ay + By - m g = 0
Ay = (2 kg)(9.81 m/s2) - 9.81 N = 9.81 N )
3 - 2 V // 8 N
1 3
Tl
t
H \.8 |N
P R O B LE M 16.131
In the engine system shown / = 10 in. and b - 4 in. The connecting rod
BD is assumed to be a 3-lb uniform slender rod and is attached to the
4.5-lb piston P. During a test of the system, crank AB is made to rotate
with a constant angular velocity of 600 rpm clockwise with no force
applied to the face of the piston. Determine the forces exerted on the
connecting rod at B and D when 6 = 180. (Neglect the effect of the
weight of the rod.)
SOLUTION
Kinematics: Crank AB:
(oAB = 600 r p m ^ ^ - j = 62.832 rad/s j

J
1
\B
aB = ( AB)a)2AB = ft j(62.832 rad/s)2 = 1315.9 ft/s2
Also: v = (A B ) coah = ft (62.832 rad/s) = 20.944 ft/s
Connecting rod BD:

Velocity Instant, center at D.
Q ap 3 Vu 20.944 ft/s2
C0BD ~ = 25.133 rad/s2
\ J IO
BD
(M
Acceleration:
<2-8 Q-rz OrD/Z a (-(>*/}

(- g
p B V B
v <8qd 3
a o = a + a /> = "* ] + [ ( ^ ) <wio * ]
, = [1315.9 ft/s2 ] + f ft j(25.133 rad/s)2 j = 789.53 ft/s2
hd = + d ) = ^ [ 13 15 -9 + 789 53 ] = 1052.7 ft/s2
Kinetics o f piston
P 4.5 lb
p D 3n -(789.53 ft/s2) = 110.34 lb
32.2 ft/s

D = 110.3 lb
Force exerted on connecting rod at D is: D = 110.3 lb
Kinetics o f connecting rod: (neglect weight)
p= LG -
~ 8>
> G- 8
J - Z F x ^ { F x)m :
B - 110.34 lb = 31b , (1052.7 ft/s2)

32.2 fi/s2 V >
B = 208.42 lb
or B = 208 lb - -4
D = 110.31b <
PROBLEM 16.132
Solve Prob. 16.131 when 0 = 0.
SOLUTION
Kinematics: Crank AB:
(oAB = 600 rpm J = 62.832 rad/s

G
B 4 LY\ %4
aB = ( AB ) coab = f ft (62.832 rad/s) = 1315.9 rad/s2
V,12 y
Also: vB = ( AB)(oab = ^ ft j(62.832 rad/s) = 20.944 ft/s

Connecting rod BD:
Velocity Instant center at D:
Vo 20.944 ft/s ..
toHD = 2- = ,-------r = 25.133 rad/s
d a BD
tO tn. 12
Acceleration
9g /{ W )
Q~d (. - o / s
+) ^ + - f ------ *
A ^
V S P B V * e
dao
a o = a H + atyR ~ - ] + [{BD ) o>b2d
- ]
i D = [ l 315.9 ft/s2 ] + ft j(25.133 rad/s)2 J= 1842.3 ft/s2

*BD = ~ ( a B + aD) = -(1315.9 + 1842.3 ) = 1579.1 ft/s2
Kinetics o f piston
? V p s7T>,
-
4.5 lb
( l 842.3 ft/s2) = 257.46 lb
32.2 ft/s

D = 257.46 lb -
Force exerted on connecting rod at D is: D = 257.46 lb
Kinetics o f connecting rod (neglect weight)
>= 2 5 7 . 9 6 Ik S ^ Szo
Q* ""' * * * s ; C~ " * * 7
3
D B p &
- -IF x = S {Fx\ eff'
B D - tnBDaBD
B - 257.46 lb = kg ,-(l579.1 ft/s2)

32.2 ft/s2 V >
B = 404.581 lb
or I = 4051b
D = 257 lb
PROBLEM 16.133
i inin125 mm ii> linn l2o nun unjforrn slender rod AB, the 4-kg uniform slender rod BF, and
2 _kg
r the 2-kg uniform thin sleeve CE are connected as shown and move
without friction in a vertical plane. The motion of the linkage is
controlled by the couple M applied to rod AB. Knowing that at the instant
shown the angular velocity of rod AB is 15 rad/s and the magnitude of the
couple M is 7 N m, determine (a) the angular acceleration of rod AB,
(b) the reaction at point D.
SOLUTION
Kinematics: (oHK = 0, a BE = arAB = 225 rad/s: *)
Bar BE:
I oT5u* - p .? ?
L i s (is )x
AB: +) E M 4 = 7 N-m + fit (0.25 m)
= ~ (2 kg)(0.25 m )2 a AB
BE: + . I Fx = - B x = (4 kg)(0.25 m ) a AB
7
a AB ~
= 24 rad/s"
0.25 + 0.041667
a AB = 24 rad/s2 J A
Sleeve: M n = (2 kg)(0.25 m)2(225 rad/s2)
D = N + 2g
V i 1* BE: +*) EM = N ( 0.25 m) - (4 kg)g(0.25 m)
t& - M D = i ( 4 kg)(0.5)2(225 rad/s2)
N = 123.615 N
(ft) D = 123.615 + (2 kg)(9.81 m/s2)
= 143.235 N f
D = 143.2 N | A
P R O B LE M 16.134
125 mm 125 mm 125 mm 125 111111 The 2-kg uniform slender rod AB, the 4-kg uniform slender rod BF, and
the 2-kg uniform thin sleeve CE are connected as shown and move
- l,' without friction in a vertical plane. The motion of the linkage is
controlled by the couple M applied to rod AB. Knowing that at the instant
shown the angular velocity of rod AB is 30 rad/s and the angular
acceleration of rod AB is 96 rad/s2 clockwise, determine (a) the
magnitude of the couple M, (b) the reaction at point D.
SOLUTION
From P I6.133: coBE = 0, a HE = coAB = 900 rad/s2 ")
f c = (0.25 m )(a /lfl) = (0.25 m)(96 rad/s2)

6 - B x
= 24 m/s-
1 AB: + ) SA/., = M + 5 t (0.25 m)
1 (2 kg)(0.25 m )"(96 rad/s2)

_=
t
, fyj BE: -~ZF x = -B x = ( 4 k g )(2 4 m /s2)
^^=====(============1 Bx = -96 N
6x
(a) M = 4 + 24 = 28 N m
M = 28 N m <
I
^6 \ Sleeve: M D = ^-(2 kg)(0.25 m)~(900 rad/s2)
u M d = 9.375 N m, D = N + 2g
BE: +) = /V (0 .2 5 m )-(4 k g )g (0 .2 5 m )
-A /c = ~ ( 4 kg)(0.5m )'(900 rad/s2)
N = 376.74 N
(b) D = 376.74 N + 2(9.81 m/s2) = 396.36 N
or D = 396 N t A
P R O B LE M 16.135
The uniform slender 4.1-lb bar BD is attached to the uniform 12.3-lb

uniform disk by a pin at B and released from rest in the position shown.
Assuming that the disk rolls without slipping, determine (a) the initial
reaction at the contact point A, (b) the corresponding smallest allowable
value of the coefficient of static friction.
SOLUTION
Kinematics: IQ
V 'i -t- 60
Kinetics
) ( ) ' < / 6l 60
4.1
12.3 lb ( 10 n
Disk: B, - F + (12.3 lb)(0.707) = ft a
g U2 ,
N + B2 -(1 2 .3 lb)(0.707) = 0
no
ft = -
U2 J 2
Bar: -B , 4.1(0.707) = ( M i i ] ( |2 # ) . + ( 0 .7 0 7 ) ii ( l| ftj a BD
B2 + 4.1(0.707) = 0 .7 0 7 [ 1 1 ] ( 1 | ft
_ 1 f 4.1 lb]
(B, -B ,)(0 .7 0 7 ) ( - * ] a BD
1 12 J " 2 I S J f1 -12f t )
Equation 6 unknowns
F = 3.9(0.707), N = 14.3(0.707)
5".'if*
(a ) N+F - f - ( 0 .4 8 U / \ (3 ' i -4
t.i ft
F 3.9
(h) = 0.273 <
N 14.3
PROBLEM 16.136
Two disks, each of mass m and radius r are connected as shown by a
continuous chain belt of negligible mass. If a pin at point C of the chain
belt is suddenly removed, determine (a) the angular acceleration of each
disk, (b) the tension in the left-hand portion of the belt, (c) the
acceleration of the center of disk B.
From (1) and (2) we note that a A = a B
+) I M e = l ( M )eff: r r = J a B + (ms ) r
Wr = ^ m r 2a B + m r(a A + a B)r
= a B: Wr = mr2a A a A = '*)
2 A 5 r '
aB = ~
5 r
)<
Substitute for a A into (1):
I* .. T ~ l ms<
5 r mr 5
% = = r (2 a A) = 2H
PROBLEM 16.137
A uniform slender bar AB of mass m is suspended as shown from a
uniform disk of the same mass m. Determine the accelerations of points A
\ and B immediately after a horizontal force P has been applied at B.
RodAB: + ) LM A = S ( M ,) eff:
a PL = maAB^ + I a AB
l4 2 * - L m r2
AB PL = maAB- + L a AB (2)
- - ! g a
>
ZFx = S(Px)eff: P + 4 = moAB
D 3 L
Substitute from (1): = ma AB
2 { ^ aAB ~ AB
p = - ~ m L a AIS (3)
1 5L _
Multiply by : PL = maAB - mL2a AB (4)
9 18 12
(4)+ (2): i + i LaAB = ^ m L a AB

9 I2 18
10 P
a AB ~ (5)
7 m
_ 5 flO P ) 3
(5) (3) P = / n |------ | ----- mLa AB
1 m
25 3
P = P - - m L a AB
7 4
18 Pp = mLa
3 r 24 P X
1 4
24 P 10 P
a/i - ~ AB ~ ^2 7 mL 7 m
'1 2 10 a P
a, =
m
24 P 10 P
^ 5 - ~Za AB + Pz/i -
7 mP 7 m
12 10 I P 22 P
aB = as = ^
7 + 7 Jro 7 m
PROBLEM 16.138
The 3-kg cylinder B and the 2-kg wedge A are held at rest in the position
shown by cord C. Assuming that the cylinder rolls without sliding on the
wedge and neglecting friction between the wedge and the ground,
determine, immediately after cord C has been cut, (a) the acceleration of
the wedge, (b) the angular acceleration of the cylinder.
+) E =
/ws gsin20(0.06 m) = l a + mBaB/A{0.06 m) - mBaA cos20(0.06m)
(3 kg)^9.81 m/s2)(0.0205 m) = ^0.0054 k g m 2) a + (3 kg)(0.06m )(0.06 m)
- (3kg)(0.03383a)cos20(0.06 m)
0.6033 = (0.0054 + 0.108 - 0.0572)a => a = 57.639 rad/s2
or a = 57.6 rad/s2 ^ A
aA = (0.03383)^57.639 rad/s2) = 1.94995 rad/s2
or a A = 1.950 m/s2 *~A

PROBLEM 16.139
The 3-kg cylinder B and the 2-kg wedge A are held at rest in the position
shown by cord C. Assuming that the cylinder rolls without sliding on the
wedge and neglecting friction between the wedge and the ground,
determine, immediately after cord C has been cut, (a) the acceleration of
the wedge, (b) the angular acceleration of the cylinder.
SOLUTION
Kinematics: We resolve a /( into a , and a horizontal component aB/A
a = a .i + a M
where aB/A = ra, since the cylinder B rolls on wedge A.
aB/A = (0.06 m )a
Kinetics: Cylinder and wedge:

Jot
(WA+!Tfl)sin20 = (mA+mB)aA- mHaBIAcos20

(2 kg + 3 kg)(9.81 m/s;!)sin20o = (2 kg + 3 k g ) ^ - (3 kg)(0.06 m )acos20
16.776 kg m/s2 = (5 kg)a., - (0.16914 kg m )a
aA= (3.3552 + 0.03389a,)m/s2 (1)
Cylinder: +C = Z(A/ )eff:
0 = Ta + (mBaB/A}(0.06 m) - (mBaAcos20)(0.06 m)
0 = -^-(3 kg)(0.06 m )"a + (3 kg)(0.06 m )(a)(0.06 m)
- (3 kg )(a/I)cos20(0.06 m)
0 = 0.0054a + 0.0108a - 0.16914a,,
a = 10.441a,, (2)
Solving (1) and (2)
aA = 5.1926 m/s2
a = 54.216 rad/s2
or a = 5.19 m/s2 ^ 20 4
a = 54.2 rad/s2 ") M

P R O B LE M 16.140
Each of the 6-lb bars AB and BC is of length L = 25 in. A horizontal

j- force P of magnitude 5 lb is applied to bar BC as shown. Knowing that
b = L (P is applied at C), determine the angular acceleration each bar.
SOLUTION
Kinematics: Assume a AB 'j a BC j and (oAB = coBC = 0
Uz
a .I B - <*AB
L/z
8 a = La AB
'-/"I 2(e c
b c ~ a + ~ za Bc - L aAB + LaBC
A /z
Kinetics: Bar BC P ) l M B = I . ( MB)c(f:
^ - 8 i- - B PL = J a BC + (maBC) ~
m ,2
= L a Rr + m L<xAB + 2 a B c j 2
12 Bt
\N
-8 c
( 1)
c
I F V= 1 ( F ) : P - Bx = ma BC
P- B= m L a AB + 2 â BC (2 )
Bar AB\ +)EM a = ( M /()eff:
, _
- 'J 6 = I&AB+ {maAB) ~
T w
m l2
= L a AB + m a
S< L 12 5
J v
6u I s Bx = ~m LaAB (3)
n 4 T l r
Add (2) and (3): P = ~ m L aAB + mLaBC (4)
Subtract (1) from (4)
0 = ~ m L a AB + ^ m L a BC
a BC = - 5 a A B (5)
1 1 7
Substitute for a BC in (1): P = mLaAB + - m L ( - 5 a AB) = ~ - m L a AB
6 P
a AB = (6)
7 mL
30 P
Eq. (5) a BC = -5 ^ 6 a BC ~ (7)
1 mL 7 /wZ,
Data: L = 25 in. = 2.0833 ft

61b
/w = - 0.18634 lb s2/ft
32.2 ft/s2
P = 51b
6 P 5 1b
a AB ~
1 mL 7 (0.18634 lb-s2/ft)(2.0833 ft)
= -11.040 rad/s2
= 11.04 rad/s2 J) ^
_ 30 P 30 51b
a sc r"
1 mL 1 (0.18634 l b s 2/ft)(2.0833 ft)
55.201 rad/s2
a BC = 55.2 rad/s2 A
P R O B LE M 16.141
Each of the 6-lb bars AB and BC is of length L = 25 in. A horizontal

force P of magnitude 5 lb is applied to bar BC. For the position shown,
determine (a) the distance b for which the bars move as if they formed a
single rigid body, (b) the corresponding angular acceleration o f the bars.
u _ 1
SOLUTION
Kinematics: We choose a = a AB = a BC ^
SV'
L/2
a 4 =
l Jz
->*- a fl = La
aBC ~ ~Z^CC
Lk
Kinetics: Bars AB and BC (Acting as rigid body)

mABC = 2m
^3 f A
r
'WA&C Z fi
-9 -
/ = ml}
3
L
P
J
+) TLMa = I { MA)tff : P( L + b) = l ABCa + mABCaBL
P (L + b) = - j mLra + (2 m) [ La) L
P( L + b) = mC'a ( 1)
Bar BC: +) 1 M , = I ( M . )
'&ij B
T 8* M ?
6 k Or) CL _ = L' a + ffi - L a -
12 U J2
J _ vy" J SC
P P 6 = mL'a
6
6 Pft
a = (2 )
5 mZf
Substitute for a into (1):
6 Pb
P (L + b) = *mL2
5 ml}
PZ.+ /> = Pb; L =\'-f-l)b = 'jb

5
b =L
11
6 P f 5 - 6 p
Eq. (2) a = r- L
5 ml} 1 11 11 mL
Data: L = 25 in. = 2.0833 ft,
m= 61b , = 0.18634 l b s 2/ft

32.2 ft/s2
P = 51b
(a) ft = L = (2.0833 ft) = 0.94695 ft

11 llv
6 = 0.947 ft <
6 P (5 1b)
(*) a =
llmZ. 11 (0.18634 lb s2/ft)(2.0833 ft)
= 7.0254 rad/s
ot - 7.03 rad/s 2 N
PROBLEM 16.142
(a) Determine the magnitude and the location o f the maximum bending
moment in the rod of Prob. 16.71. (b) Show that the answer to part a is
independent of the mass of the rod.
SOLUTION
_ L
Rod AB: a = a
2
Sy. Af y +) ZM a = 1 ( M a\ elT
^2 PL = (\ ma)12
+Ia
rV)0-
L
= m a + m l) a
2 12
T *
3P
a =
& mL ( 1)
I/ r v = Z { F x ) en : A X ~ p = ~ m a
L ( 3P P
Ar = P - m a - P - m AxX = -2 P
2 2 1, mL 2
Portion AJ o f rod:
External forces: Ax, WAJ, axial force FJt shear VJf and bending moment Mj
Effective forces: Since acceleration at any point is proportional to distance from A, effective forces are linearly
distributed. Since mass per unit length is m/L, at point J we find
a t
X *
m _ m f 3P'
Using (1):
L J ~ L\mL
JO m 3Px
as; a, =
L2
Mj - A,, =
Mj = - P X - - ^ X i (2)
2 2 1}
d Mj
For 0
dx 2 2L
X =
(3)
A
Substituting into (2)
/ v = l A - l i L f Ai ]V =
' J 'm3X~ 2 ^ 3 2 L 2 {v V
ÂJ ~ 2A
PL
("A (4)
3n/3
Note: Eqs. (3) and (4) are independent of JF
Data: I = 0.9m , P = 3.5 N
0.9 m
Eq. (3): x = -= = ' -v- = 0.51962 m
A A
x = 0.520 m
, \ (3.5 N)(0.9 m)
Eq. (4): [MA = *------- 4 . ------ Z = 0.60622 N m
V 1 'm a x 3^3
M = 0.606 N-m, 520 mm below A A

PROBLEM 16.143
Draw the shear and bending-moment diagrams for the rod of Prob. 16.79
immediately after the cable at B breaks.
SOLUTION
From answers to Prob. 16.84:
aB = -3 g A^ = -1m g tJ
J
We now find
2L
L
3g x 1
a, = x a =
J 2L *
Portion AJ o f rod:
External forces: Reaction A, distributed load per unit length mg/L, shear Vj, bending moment M ,.
Effective forces: Since a : x, the effective forces are linearly distributed. The effective force per unit length
at J is:
m m 3g 3mg
a , = x = f-x
i L 2L 21}
% J * ! i- J
"I t l l l l l H J . p =
3m 3
o n e s I X / I
t- % - 1 XL*
+ 1 EF = (F ) : Z S r - S E + F . - l D s t A
* * V y , 'ff L 4 J2 \ 2 L - )
l _ as. x + l a s . j
J 4 L 4 L2
" * .,1 + 3/wg

* x ~
2 4 y 2 I 2P2
y 4 2 1 4 Z.
dVj _
Find V
r nun* + o;
dx L 2 L
_ mg mg f 2 ] 3 mg mg
Vm in =
min 4 I 3 4 i2 12
Find Mmax where = 0: V j = ^ - ^ x +^ x 2 =0

J J 4 L 4 L
3x2 - 4Lx + L2 = 0
(3x - Z.)(jc - L) = 0 x = and x = L
mg 1 mg
4 2 L 27
^min = - L - - L2 + - ^ I 3 = 0
4 2 4 L
- at k. from a 4
27 3
PROBLEM 16.144
The uniform slender rod AB is welded to the hub D, and the system
rotates about the vertical axis DE with a constant angular velocity co. (a)
Denoting by w the weight per unit length of the rod, express the tension
H 1 in the rod at a distance z from end A in terms of vv, /, z, and co.
s' (b) Determine the tension in the rod for w = 0.25 lb/ft, / = 1.2 ft,
> 1 f z = 0.9 ft, and co = 150 rpm.
PROBLEM 16.145
Two uniform disks, each of mass m and radius r, are connected by an
inextensible cable and roll without sliding on the surfaces shown.
Knowing that the system is released from rest when (3 = 15, determine
the acceleration of the center (a) of disk A, (b) of disk B.
SOLUTION
Kinematics:
a , T7' 30 = afl - + a** K 15
JS
'a
ft/a
A
Isosceles Triangle
Denote by a = aA = aB
Kinetics: Disk A :
a = ra
I = -m r2
2
EA/r = l(A /(-)e(J.: (/ngsin30)r - (F /lflsin75)r = ( ma) r + l a
i \ 1 i
= ( mr a j r + mr a
mgr sin 30 - FABr sin 75 = mr2 (1)
D /si 5:
* mr 2
/7 =
2
+ ) I M d = 'L(MD)ef{: [Fa b sin75)r = (ma) r + l a
= (m ra )r + ~ mr
FABr s m l5 = mr2a
Eq. (1) + Eq. (2): mgr sin30 = 3mr2a
a = sin 30 =
3r 6r
1
a = ra = r
v6 r j = 6*
Recall a A = aR = a
PROBLEM 16.146
Solve Prob. 16.145 assuming that fi - 5.
SOLUTION
Kinematics:
aA p 30 = ag + am \ 5
Law o f Sines
*B _ A
sin 65 sin 85
aB = 0.90852^
Since aB = ra B and aA - ra A
a B = 0.90852#4 ( 1)
Kinetics: Disk A
a a = ra .
I = -m r2
2
+ ) SMC = 2 (M c )eff: (w gsin30)r - (Fabsin65)r = ( ma)r + I a A
= ( mraA) r + mr2a A
mg sin 30 - Fab sin 65 = m raA (2)

Disk B:
I = - mr2
2
aB = ra B
+) I M d = S(M c )eff: (Fab sin85)r = (maB)r + I a B
= (mraB)r + ^ m r 2a B
3 mr
pA B = ~ -a R (3)
2 sin 85
Substitute for aB from Eq. (1) and Fab from Eq. (3) into Eq. (2)
mg sin 30 - mr - " . (0 .9 0 8 5 2 ^ ) = m raA

2 sin 85 2
0 .5 y = |(0 .8 2 6 5 4 + 1) a A
a A = 0.1824: aA = ra A = 0.1824g
aA = 0 .1 8 2 4 g 7 3 0 A
Eq. (1) aB = 0.90852aA = (0.90852)(0.1826g) = 0.1659g
I B = 0.1659g A
P R O B LE M 16.147
A rectangular plate of mass 5 kg is suspended from four vertical wires,
and a force P of magnitude 6 N is applied to comer C as shown.
Immediately after P is applied, determine the acceleration of (a) the
midpoint of edge BC, (b) comer B.
SOLUTION
(e i/oo 7n Tn
8
7>
2 < *
^ O O 'tn'rn
I
f w a. -
------------------- ------------------------- c
1 = Y2m^ 2 + = kg^ t '4 + ^'3 m ^ ] = 0 10 4 17 kg m2
+ \ l F = IF c: P = ma
6N = (5 kg)a a = + (l.2 m /s2)k
+ ) l M G = Z ( M G)cft: P ( 0.2 m) = Ta
(6 N)(0.2 m) = (0.10417 kg m2) a
a = - ( l 1.52 rad/s: )j A
h _______________J ____ *
-r S /6 ~ (Q ,2 '*y') 8 + ( O . l ^ 'f n ) ^
aE =a + a x rF/G = +[l.2 m/s2 jk - [l 1.52 rad/s2 jj x (0.2 m)i
= +[l.2 m/s2 jk + [2.304 m/s2)k
a /; = (3.50 m/s2 )k -4
aH = a +a x rB/G = +[l.2 m/s2 jk - (11.52 rad/s) j x [(0.2 m)i + (0.15 m )k j
= + [l.2 m/s2 jk + [2.304 m/s2 jk + ^1.728 m/s2 ji
a w = ^1.728 m/s2 ji + [3.5 m/s2 jk 4

P R O B LE M 16.148
Cylinders A and B, weighing 4 lb and 9 lb, respectively, are initially at
rest. Knowing that the coefficient of kinetic friction is 0.20 between the
cylinders and between cylinder B and the belt, determine the angular
acceleration of each cylinder immediately after cylinder B is placed in
contact with the belt.
+ f F = Feff: N b = 4 + 9 = 13 lb
Fb = jUkN B = 0.20(13 lb) = 2.6 lb
if) i M b = (M g )eff: (F b - FA)rB = I Ba B
1 91b
(2.6 lb - 0.8 lb) ft ft al B
12 2 32.2 12
a B = 38.64 rad/s a B = 38.6 rad/s2 j A
Kinematics'.
We calculate the tangential components o f points o f contact
(ac), = rA<*A= | ^ft 1(51.52 rad/s2)
= 12.88 ft/s2
(a c )t = rBa B = ^ - f t 1(38.64 rad/s2)
Oljg* 3 S , 6j/- raJjs7

= 12.88 ft/s2
We find that slipping does not occur between disks. But since (ac ); = (ac )( slipping impends,
FA = p kN A = 0.8 lb, and above results are valid.
PROBLEM 16.149
The ends of the 10-kg uniform rod AB are attached to collars of negligible
weight that slide without friction along fixed rods. If the rod is released
from rest when 0 = 25, determine immediately after release (a) the
angular acceleration o f the rod, (b) the reaction at A, (c) the reaction at B.
SOLUTION
Kinematics: Assume a J (o = 0
a * / / /Apt,
- B/A- U-<'
a I = * a + a BM = [aa ] + [l- 2 A 25 ]
aR = (l.2a)cos25 = l .0876a
aA = (l.2a)sin25 = 0.507 la
a =a + aG/A = [aA ] + [0.6a / \ 25]
aG = [0.507 la ] + [0.6a / \ 25]
ax = (aG)x = [0.507 la ] + [0.2536a ]
a v - 0.2535a -
a v = [0.6acos25- ] = 0.5438a |
We have found for a v
a v = 0.2535a ; a, = 0.5438a J
Kinetics'. I = ml} - mi l . 2 m )2
12 12 v
------
Q,ZS2S-,
4
+) = l ( M )eff: mg(0.5438 m) = l a + max( 0.2535 m) + ma^ (0.5438 m)
m g (0 .5 4 3 8 )^ m (l.2 )2 + m(0.2535)2 m(0.5438)2
g(0.5438) = 0.48a a = 1.133g = 1 1 . 1 1 rad/s2 ) A
(a) + \ ^ Fy = Z (Fy)eff: A - m g = -m ay = m(0.5438)
A - 10(9.81) = (10)(0.5438)(11.115)
A = 98.1 - 60.44 = 37.66 N A = 37.7 N | A
0b) -* !F x = 2 (F x)eff: B = max = m(0.2535a)
B = 10(0.2535)(11.115)
B = 28.18 N B = 28.2 N A
PROBLEM 16.150
The ends of the 10-kg uniform rod AB are attached to collars of negligible
weight that slide without friction along fixed rods. A vertical force P is
applied to collar B when 9 = 25, causing the collar to start from rest
with an upward acceleration of 12 m/s2. Determine (a) the force P, (b)
the reaction at A.
SOLUTION
Kinematics: co = 0
a.3 - JZ +>]- - e/A
a s /* * ''* *
a = aa + a /^ [l2 m/s2 | ] = [aA ] + [l.2ar \ / 25]
a B = a BIAC O s25
it?
iZfif/s'1 12 m/s2 = (l.2a)cos25
a = 11.034 rad/s2 ")
a 4 = 12 tan 25 = 5.596 m/s
a o = a + *cia- a o = [5 -5 96 ] + [-6 V 25]
aG- = [5.596 ] + [0.6(11.034) ( / 25]
X = K )t = 2.798 m/s2
a, = (ac) = 6 00 m/s2 I
Kinetics: I - n m(' 1 .2)"

n ml} =
< 3.S 3 8 w
J
(a) +) I M = S (M )eff: P(l.0876) - W (0.5438) = / a + m a,(0.2535) + mdy (0.5438)
W = mg = 10(9.81) = 98.1 N
la = = ^ ( I 0 ) ( l . 2 )2 (11.034) = 13.24 N-m
mdx = (10)(2.798) = 27.98 N
mdy = (l0)(6) = 60 N
P(1.0876) - (98.1)(0.5438) = 13.24 + (27.98)(0.2535) + (60)(0.5438)
P(l.0876) - 53.347 = 13.24 + 7.096 + 32.628
P(1.0876) = 106.311; P = 97.8 N P = 97.8 N | <
(b) + | LFy = Z(Fy )eff: A - W + P = may
A - 98.1 + 97.8 = 60 N; A = 60.3 N { A

PROBLEM 16.151
The axis of a 5-in.-radius disk is fitted into a slot that forms an angle of
30 with the vertical. The disk is at rest when it is placed in contact with
a conveyor belt moving at constant speed. Knowing that the coefficient of
kinetic friction between the disk and the belt is 0.20 and neglecting
bearing friction, determine the angular acceleration of the disk while
slipping occurs.
SOLUTION
r - r * -~ *F r = S ( ^ ) efT
= '72> / /jkN - R cos6 = 0
RcosO = /jkN ( 1)
d
+t - z ( r ,) M
Rs'mO + N - mg = 0
ftsin# = mg - N (2)
mg - N mg - N
Divide (2) by (l): tan$ = 0.5774 =
VkN 0.2 N
mg
0 .11 55jV = mg - N\ N = = 0.8965wig
1.1155
+')Z A /0 = Z(A/0)cfr: /JkNr = Ta
(0.2)(0.8965mg) r = j mr2a
a = 0.35858 = 0.35858 32/ 2 = 27.71 rad/s2
12
u = 27.7 rad/s" A
P R O B LE M 16.152
Solve Prob. 16.151 assuming that the direction of motion of the conveyor
belt is reversed.
SOLUTION
- - I F , = I ( f , ) c(r:
R cos# - f.ikN = 0
3d R cos# = /ukN ( 1)
1 w t o L 1
R sin # + mg - N = 0
R sin # = N - mg (2)
N - mg N - mg
Divide (2) by (1): ta n # = 0.5774 =
/ikN 0.2N
mg
0.1155/V = N - m g : N = = 1.1306/wg
0.8845
+ ) l M 0 = Z(A/0)e(T: MiNr = 7 a
(0.2)(l.l306w g)r = ^ m r 2a
v 32 2 ft/s2
a = 0.4522 = 0.4522 -7
ft
12
a = 34.948 rad/s2
a = 34.9 rad/s2 x A
P R O B LE M 16.153
The 5-kg uniform bar BDE is attached to the two rods AB and CD.
Knowing that at the instant shown rod AB has an angular velocity of
6 rad/s clockwise and no angular acceleration, determine the horizontal
component of the reaction (a) at B, (h) at D.
SOLUTION
Rod AB: 5 N B vB = rw = (0.2 m )(6 rad/s)

0 $
0:6 \ H = 1.2 m/s |
U -
a /y = (0.2 m )(6 rad/s)'; aH = 7.2 m/s:
Rod CD: vD = vB = 1.2 m/s |
' O. J-h-
vo =( CD)(dcd
1.2 m/s = (0.15 m)<uCD
(Oco = 8 rad/s
a,) = (0.15 m )(8 rad/s) ; a D = 9.6 m/s:
Rod BDE:
an - aB + aD/B
0 .7 [aD ] = [a B ] + \ {B D )a * ]
~ jr [7.2 _ ] = [9.6 _ _ ] + [ ( 0.24)a ]

We'*-
0-D~ 7,6 <*'/s A,
J i- 7.2 = 9.6 - 0.24a
u = 10 rad/s: J)
Kinetics:
3 ma = m a ,
1
r n
I = ^ m ( S E )2
O .Z V -w
vz
n n a-.
= ^ ( 5 kg)(0.48 m;
ATfif
<WO,
I = 96 x 10 3 kg-m
+ ) z MD = S (M D)eff: 5 x(0.24m ) = / a
5 x(0.24m ) = ^96 x 10-3 kg-m2) ( l0 rad/s2)
Bx = 44 N 4 N A
FX = 2 (F x)eff: Dx - Bx = m a x
Dx - 4 N = (5 kg)^9.6 m/s2j
Dx = +52 N 52 N A
PROBLEM 16.154
I The motion of the 3-lb rod AB is guided by two small wheels that roll
freely in a horizontal slot cut in a vertical plate. If a force P of magnitude
5 lb is applied at fi, determine (a) the acceleration of the rod, (b) the
reactions at A and B.
P R O B LE M 16.155
The linkage ABCD is formed by connecting the 3-kg bar BC to the 1.5-kg
bars AB and CD. The motion of the linkage is controlled by the couple M
applied to bar AB. Knowing that at the instant shown bar AB has an
angular velocity of 24 rad/s clockwise and no angular acceleration,
determine (a) the couple M, (b) the components of the force exerted at B
on rod BC.
SOLUTION
Kinematics:
V 'b = PtB
O . MS'**
Bar AB: Bar CD
T ~
j B
Bar BC:
P = tan-1
/tr[/W, 12
/? = 22.62
1* 3007H O *-
0 325 w
(aG/e)( = {B G )aBC = - m a BC = 0.1625asc \ /3 ^jy^
(ac/B)r = {BC )a BC = (0.325 m )a BC = 0.325a5C\
a C = aB + (aC/s)t 5 iac)x+ {ac)y = aB+{CIC/b)1

[0.125aco * + ] \l2m/s2 1 J = j^72 m/s2 | J + j^0.325a5C \3Sb* j
I ^
+ ) 72 = -72 + (0.325a5C) ; a BC = 480 rad/s2 )
- 0.125aCD = (0.325)(480) ; a CD = 480 rad/s2 )

v 13 y
a - a s + aG/B - aB + ( aG/s),
= [72 m /s2 | ] + [0.1625aflC J

= [72 m/s2 | ] + ^0.1625(480) j
a = \l2m /s2 | J + |^78 m/s2 j
+ . ao . - 78 = 30 m/s
13
12
+ | a,, = 7 2 - 7 8 = 72 - 72 = 0
13 '
Total acceleration of G is 30 m/s2

Bar CD:
Kinematics:
C }c o )l
<cp- ^B o r ^ / z '1
(ar/)v = (0.0625 m)(480 rad's2) = 30 m/s2
Kinetics'-
C,
fy . C
-ZC^CA
= t
p u = - ( 1 . 5 kg)(0.125m )-
p ip
ICD = 1.953 x I0-3 kg m*
+ ) I A / = Z(A*D)efT: C ,(0.125 m ) = /arco + m{aCD)x(0.0625 m )
0.125Cr = (1.953 x 10' 3 kg m: )(480 rad/s2) + (1.5 kg)(30 m/s2)(0.0625 m)
0.125C, = 3.75
Cx = 30 N
Bar BC:
U Z F x = l ( F x )cn: Bx - Cx = mBca
5 , - 30 N = 90 N
Bx = +120N B, = 120N
+J) I Mc = I(A /c )c(T: 5,.(0.3 m) - 5,(0.125 m) - ^ (0 .1 5 m) = THCa HC - (mca ) ( 0.0625 m)
0.35, - (120)(0.125) - (3)(9.81)(0.15) = (26.406 x 10 3 k g m 2)(480 rad/s2)
- (90 N)(0.0625)
0.35,. - 15 - 4.4145 = 12.675 - 5.625
0.35, = 26.465; 5,. = +88.22 N; B, = 88.2 N f
Bar AB:
i t
*a- a - o
Kinetics:
0 .1 7 S * c>
+) M,, = 2 ( M A)clr
M + 5, (0.125 m) = 0
M + (120 N)(0.125 m) = 0
M - -15 N m M = 15 N-m 4

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P R O B LE M 16.

(a) LFX = (0.8 kg)(9.81 m/s2)(cos60) = (0.8 kg)a

(b) + ) ZMC = (-0.8 kg)(g)(45 mm) + /?/)(0.866)(l80 mm) - /?^(0.5)(l80 mm)

= (-0.8 kg)(a)(-0.866)(l35 mm) - (0.8 kg)(a)(0.5)(45 mm)

/?,, (65.88 mm) = -(39.528 k g m m )a

Re = 6.7965 + 2.943 = 9.7395 N

See free body diagram for P I6.1

+) IA /(; = 0 = R( cos#(45 mm) - Rc sin#(135 mm)

(a) tan# = - or # = 18.43 A

(b) a = 9.81 m/s" (sin 18.43) = 3.10 m/s2

or a = 3.10 m/s2 ^ 18.43 <

+ ) I M a = Nb (5 ft)(0.866) - (60 lb)(2.5 ft)(0.5)

-(.60 lb) (12 ft/s2)(0.866)

J i - ZFX = NB - F = 60 lb, (l2 ft/s2)

or R a = 60.31 lb 84.2 <

a = tan~' 603133 = 34. 18

0 Z M a = (60 lb)(2.5 ft)(0.5) = ^ ^ (2.5 ft)(sin60)

or a = 18.59 ft/s2 <

(a) A a i . i - . J 2 a 7 (l8.5912 ft/s2) = 34.6419 lb

(a) Four-wheel drive:

Thus: Fa + Fb = /.ikN A + n kN B = n k {N A + N B) = n kW = 0.80mg

a = 0.80g = 0.80(9.81 m/s2) = 7.848 m/s2

d = 7.85 m/s2 <

+) I M b = l( A /fl)e(r: (1 m )W - (1.5 m)/V4 = -(0 .5 m )md

Thus: Fa = n kN B = 0.80(0.40'' + 0.2 ma) = 0.32 mg + 0.16 ma

(c) Front-wheel drive:

Thus: Fh = itkN B = 0.80(0.6^ - 0.2md) = 0.48m# - 0.16md

(a) I f rear-wheel brakes fail to operate:

v2 = v02 + la x 0 = (30 ft/s2) - 2(12.227 ft/s2).t

+) I M h = S (M fi)eff: W (1 ft) - N A(12 ft) = m d (4 ft)

v2 = v l+ la x 0 = (30 ft/s2 ) - 2 ( l0.648 ft/s2)x

a = 16.10 ft/s" <

(b) For tipping to impend J); A=0

(25 lb)/; - (50 lb)( 12 in.) = ma(36 in.)

25/j = 600 (25)(36) h = 60 in.

For tipping to impend *); 5 = 0

(25 lb)/; + (50 lb)(l2 in.) = ma(36) or h = 12 in.

cabinet will not tip for 12 in. < h < 60 in. -4

h Fa + F* = A (50 lb), Fs - 0.25

(25 lb) + (50 lb)(l2 in.) = - J i ^ j g . O S ft/s: )(36 in.)

_ IF,. = l ( F r )cfr: F = ww cos 30

g = 2.3867u a = 0.419g 30 <

(b) Tipping impends

p =; 0.3 = - = 3.33 <

(a) Sliding impends.

+ } EFy = E (/^ )eff: N - m g = -masin30

= ---------------------- = 0.29527 a = 0.295 P7 <

(b) Tipping impends

p =; 0.30 = - ; - = 3.33 <

+/ ZF = ZFC|1: /wg cos 75 = mi7

a = gcos75 = 2.5390 m/s*

(b) Tension in each link

+*) ZAf/, = Z (F ,c o s7 5 )r + (F , sin 75)r = (/mm sin 75)r

Fi(cos75 + sin 75) = (6 kg)(2.539 m/s2)sin 75

Fa = 12.0146 F, = 12.01 N Tension A

75 ZF = ZFm : F, + Ftt - M/g sin 75 = 0

6.009 lb + F -(6 k g )(9 .8 1 m/s2)sin75 = t

Fl{ = 44.839 N Fm - ^4.8 N Tension <

() a = 4.9 1m/s2 30 <

(b) Fa = 0 , FB = 68.0 N compression A

a> = 90 rpm | = 3x rad/s

a = aB = a c = rco2 = (15 in.) (3* rad/s)2 = 111.03 ft/s2 60

+) ZMa = Z(A/c )e|T: C,(1.5 in.) - B,(1.5 in.): By = C ,