PROBLEM 17.

137

A 6 × 8 − in. rectangular plate is suspended by pins at A and B. The

pin at B is removed and the plate swings freely about pin A.
Determine (a) the angular velocity of the plate after it has rotated
through 90°, (b) the maximum angular velocity attained by the plate
as it swings freely.

SOLUTION
Let m be the mass of the plate.
Dimensions: a = 8 in. = 0.66667 ft b = 6 in. = 0.5 ft
1
Moment of inertia about A I A = m(a 2 + b2 )
3
Position 1. Initial position. ω1 = 0
Position 2. Plate has rotated about A through 90°.
Position 3. Mass center is directly below pivot A.

Potential energy. Use level A as datum.

mab mga
V1 = − V2 = − V3 = −mgd
2 2
1 2
Where d= a + b 2 = 0.41667 ft
2
1 1
Kinetic energy. T1 = 0 T2 = I Aω22 T3 = I Aω32
2 2
(a) 90° rotation. Conservation of energy.
mgb 1 1 mga
T1 + V1 = T2 + V2 : 0 − = ⋅ m(a 2 + b 2 )ω22 +
2 2 3 2
3 g ( a − b ) (3)(32.2)(0.66667 − 0.5)
ω22 = 2 = = 23.184(rad/s)2
a + b2 (0.66667) 2 + (0.5) 2
ω 2 = 4.81 rad/s 

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1938
 PROBLEM 17.137 (Continued)

(b) ω is maximum. Conservation of energy.

mgb 1 1
T1 + V1 = T3 + V3 : 0 − = ⋅ m(a 2 + b 2 )ω32 − mgd
2 2 3
g (6d − 3b) (32.2)(2.5 − 1.5)
ω3 = 2 2 =
2
= 46.386 (rad/s)2
a +b (0.66667) + (0.5)
2 2

ω3 = 6.81 rad/s 

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1939
 PROBLEM 17.138

The gear shown has a radius R = 150 mm and a radius of

gyration k = 125 mm. The gear is rolling without sliding with
a velocity v1 of magnitude 3 m/s when it strikes a step of
height h = 75 mm. Because the edge of the step engages the
gear teeth, no slipping occurs between the gear and the step.
Assuming perfectly plastic impact, determine (a) the angular
velocity of the gear immediately after the impact, (b) the
angular velocity of the gear after it has rotated to the top of
the step.

SOLUTION
Part (a) Conditions just after impact.
Kinematics. Just before impact, the contact Point C with the floor the instantaneous center of rotation of the gear.
v1 = Rω1
Just after impact, Point S is the instantaneous center of rotation.
v 2 = Rω2 θ (perpendicular to GS )
Principle of impulse and momentum.

Moments about S: mv2 ( R − h) + I ω1 = mv2 R + I ω2

m( Rω1 )( R − h) + mk 2ω1 = m( Rω2 ) R + mk 2ω2

[ R( R − h) + k 2 ]ω1 = ( R 2 + k 2 )ω2
R 2 + k 2 − Rh  Rh 
ω2 = ω1 ω2 = 1 − 2 ω
2 1
(1)
R2 + k 2  R +k 

Data: R = 150 mm, k = 125 mm, v1 = 3 m/s, h = 75 mm

v1 3 m/s
ω1 = = = 20 rad/s
R 0.150 m
Angular velocity.
 (150)(75) 
From (1), ω2 = 1 −  (20 rad/s) = 0.7049(20) ω2 = 14.10 rad/s 
 (1502 + 1252 ) 

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1940
 PROBLEM 17.138 (Continued)

Part (b) Conditions at the top of the step.

The gear pivots about the edge of the step. Use the principle of conservation of energy.
Position (2): The gear has just broken contact with the floor.
Position (3): The center of the gear is above the edge of the step.

Kinematics: (Rotation about S) v = ω R

1 1
Kinetic energy: T= I ω 2 + mv 2
2 2
1 1
= mk 2ω 2 + mR 2ω 2
2 2
1
= m(k + R )ω 2
2 2
2
1
Position (2): T2 = m(k 2 + R 2 )ω22
2
V2 = mgR

1
Position (3): T3 = m( k 2 + R 2 )ω32
2
V3 = mg ( R + h)

Principle of conservation of energy: T2 + V2 = T3 + V3

1 1
m( k 2 + R 2 )ω22 + mgR = m( k 2 + R 2 )ω32 + mg ( R + h)
2 2
Angular velocity:
2 gh
ω32 = ω32 −
k + R2
2

(2)(9.81 m/s 2 )(0.075 m)

= (14.10 rad/s)2 −
(0.125 m) 2 + (0.150 m) 2
= 160.21 rad 2 /s 2

ω3 = 12.66 rad/s 

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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1941
 PROBLEM 17.139

A uniform slender rod is placed at corner B and is given a slight

clockwise motion. Assuming that the corner is sharp and becomes
slightly embedded in the end of the rod, so that the coefficient of static
friction at B is very large, determine (a) the angle β through which the
rod will have rotated when it loses contact with the corner, (b) the
corresponding velocity of end A.

SOLUTION

Position 1 T1 = 0
mgL
V1 = mgh1 =
2
mgL cos β
Position 2 V2 = mgh2 =
2
1 2 11 2 2
T2 = Iω2 =  mL  ω2
2 23 
Principle of conservation of energy.
T1 + V1 = T2 + V2
mgL 1  1 2  2 mgL cos β
0+ =  mL  ω2 +
2 23  2
3g
ω22 = (1 − cos β ) (1)
L
Normal acceleration of mass center.
L 2 3
an = ω2 = g (1 − cos β )
2 2
ΣF = +ΣFeff = man
3
mg cos β = mg (1 − cos β )
2
5 3
(a) Angle β . cos β = cos β = 0.6 β = 53.1° 
2 2
3g g g
From (1) ω22 = (1 − 0.6) = 1.2 ω2 = 1.09545
L L L
(b) Velocity of end A v A = Lω2 vA = 1.095 gL 53.1° 

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1942
 PROBLEM 17.140

The motion of the slender 250-mm rod AB is guided by pins at A and B that
slide freely in slots cut in a vertical plate as shown. Knowing that the rod has
a mass of 2 kg and is released from rest when θ = 0, determine the reactions
at A and B when θ = 90°.

SOLUTION
Let Point G be the mass center of rod AB.
m = 2 kg
L = 0.25 m
1
I G = mL2 = 0.0104667 kg ⋅ m 2
12
Kinematics. θ = 90°
AD = R = 0.125 m
AB = L = 0.25 m
R 1
sin β = = β = 30°
L 2
L
AG = = 0.125 m
2
BG = 0.125 m
Point E is the instantaneous center of rotation of bar AB.
L
vG = ω = 0.125 ω
2
v A = ( L cos 30°)ω = 0.21651ω
vB = ( L sin 30°)ω = 0.125ω
Use principle of conservation of energy to obtain the velocities when θ = 90°:
Use level A as the datum for potential energy.
Position 1 θ =0
T1 = 0
L
V1 = − mg = −(2)(9.81)(0.125) = −2.4525 J
2

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1943
 PROBLEM 17.140 (Continued)

Position 2 θ = 90°
1 1
T2 = I G ω 2 + mvG2
2 2
1 1
= (0.0104667)ω 2 + (2)(0.125ω )2
2 2
= 0.0208583ω 2

 L 
V2 = − mg  R + cos β 
 2 
= −(2)(9.81)(0.125 + 0.125cos30°)
= −4.5764 J

T1 + V1 = T2 + V2 : 0 − 2.4525 = 0.0208583ω 2 − 4.5764

ω 2 = 101.826 rad 2 /s 2
ω = 10.091 rad/s
v A = (0.21651)(10.091)
= 2.1848 m/s
vG = (0.125)(10.091)
= 1.2614 m/s
More kinematics: For Point A moving in the curved slot,

v A2
a A = ( aC ) x i + j
R
(2.1847) 2
= ( aC ) x i + j
0.125
= ( aC ) x i + 38.1833j

For the rod AB, α = α k , v B = vB j

rA/B = − L sin 30°i + L cos 30° j
= −0.125i + 0.21651j
1
rG/B = rA/B
2
= −0.0625i + 0.108253j
a A = a B + α + rA/B − ω 2 rA/B
= aB j + α k × (−0.125i + 0.21651j)
− (10.091) 2 ( −0.125i + 0.21651j)
= aB j − 0.125α j − 0.21651α i + 12.7285i − 22.0468 j

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
reproduced or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited
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1944