Tutorial Sheet 5

1. (Question 2.19 from Dumir et. al.)

The members of the frame are uniform and their weights are not negligible. Draw FBDs of AB,BC,DE and part of the frame
to the left of Section XX. Assume all hinge joints to be smooth and consider pin at B to be part of member AB.

2. (Question 2.20, parts d a nd g from Dumir et. al,) Draw FBD of body 1
3. Dumir et.al (Page 130, P2.12a)
A vertical column of a machine are subjected to the
forces as shown in Figure. For α = 600, β = 450, γ =
1200, BC=CD = 40 cm, EF= 20cm. Find the
moment of each force about AB and its resultant at
point A.
 4. PC Dumir et.al (Page 159, P2.27)
A rigid body is in translation with acceleration a|I and a moving point D has aD|I =0. C is the
centre of mass of the body and A,B,E,F,G are its material points. Points H,N, J are fixed in
inertia frame I. at the given instant, specify for each of the points A,B,C,D,E,F,G,H,J,K,L,M,
whether the moment equation takes the simple form ̅̅̅̅ 𝐻̇𝑂 = ̅̅̅̅
𝑀𝑂 . About which of these points is
̅̅̅̅
𝑀𝑂 = 0?
5. PROBLEM 14.10 (BEER ET. AL)

A system consists of three particles A, B, and C. If mA  3 kg,

mB  2 kg, and mC  4 kg and that the velocities of the particles
expressed in m/s are, respectively, v A  4i  2j  2k,
v B  4i  3j, and vC  2i  4j  2k. Determine (a) the
position vector r of the mass center G of the system, (b) the linear
momentum mv of the system, (c) the angular momentum HG of
the system about G (d) Determine the angular momentum HO of
the system about O.

SOLUTION

Position vectors, (meters): rA  3j, rB  1.2i  2.4j  3k, rC  3.6i

(a) Mass center: (mA  mB  mC )r  mArA  mBrB  mCrC

9r  (3)(3j)  (2)(1.2i  2.4j  3k )  (4)(3.6i)

r  1.86667i  1.53333j  0.66667k

r  (1.867 m)i  (1.533 m) j  (0.667 m)k

Linear momentum of each particle, (kg  m2/s).

mA v A  12i  6 j  6k
mB v B  8i  6 j
mC vC  8i  16 j  8k

(b) Linear momentum of the system, (kg  m/s.)

mv  mAv A  mB v B  mC vC  12i  28j  14k

mv  (12.00 kg  m/s)i  (28.0 kg  m/s) j  (14.00 kg  m/s)k

Position vectors relative to the mass center, (meters).
rA  rA  r  1.86667i  1.46667 j  0.66667k
rB  rB  r  0.66667i  0.86667 j  2.33333k
rC  rC  r  1.73333i  1.53333j  0.66667k

(c) Angular momentum about G, (kg  m2/s).

 HG  rA  mA v A  rB  mB v B  rC  mC vC
i j k i j k
 1.86667 1.46667 0.66667  0.66667 0.86667 2.33333
12 6 6 8 6 0
i j k
 1.73333 1.53333 0.66667
8 16 8
 (12.8i  3.2 j  28.8k )  (14i  18.6667 j  10.9333k )
 (1.6i  8.5333j  15.4667k )
 2.8i  13.3333j  24.2667k

HG  (2.80 kg  m2/s)i  (13.33 kg  m2/s) j  (24.3 kg  m2/s)k

i j k
r  mv  1.86667 1.53333 0.66667
12 28 14
 (2.8 kg  m 2 /s)i  (18.1333 kg  m 2/s) j  (33.8667 kg  m 2/s)k

HG  r  mv  (4.8 kg  m2/s) j  (9.6 kg  m2/s)k

(d) Angular momentum about O.
HO  rA  (mA v A )  rB  (mB v B )  rC  (mC vC )
i j k i j k i j k
 0 3 0  1.2 2.4 3  3.6 0 0
12 6 6 8 6 0 8 16 8
 (18i  36k )  (18i  24 j  12k )  (28.8j  57.6k )
 (4.8 kg  m 2 /s) j  (9.6 kg  m 2 /s)k
Note that
HO  HG  r  mv