PROBLEM 17.

39 (Continued)

Conservation of energy: T1 + V1 = T2 + V2
0 + 2.787 ft ⋅ lb = 0.2022ω22
ω22 = 13.7849
ω2 = 3.713 rad/s ω 2 = 3.71 rad/s 

 25 in. 
Velocity of B: vB = Lω2 =   (3.713 rad/s)
 12 
= 7.735 ft/s vB = 7.74 ft/s 

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1762
 PROBLEM 17.40

The ends of a 9-lb rod AB are constrained to move along slots cut in a
vertical plane as shown. A spring of constant k = 3 lb/in. is attached to
end A in such a way that its tension is zero when θ = 0 . If the rod is
released from rest when θ = 0, determine the angular velocity of the
rod and the velocity of end B when θ = 30°.

SOLUTION

1
Moment of inertia. Rod. I = mL2
12
Position 1. θ1 = 0 v1 = 0 ω1 = 0
h1 = elevation above slot. h1 = 0
e1 = elongation of spring. e1 = 0

1 1
T1 = mv12 + I ω12 = 0
2 2
1 2
V1 = ke1 + Wh1 = 0
2
Position 2. θ = 30°
e2 + L cos 30° = L
e2 = L(1 − cos 30°)
L 1
h2 = − sin 30° = − L
2 4
1 2 1 2 1
V2 = ke2 + Wh2 = k L (1 − cos 30°) 2 − WL
2 2 4
Kinematics. Velocities at A and B are directed as shown. Point C is the instantaneous center of rotation. From
geometry, b = L2 .

L
v = bω = ω
2
vB = ( L cos 30°)ω
1 1
T2 = mv 2 + I ω 2
2 2
2
1 L  1 1 
= m  ω  +  mL2 
2 2  2  12 
1W 2 2
= Lω
6 g

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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1763
 PROBLEM 17.40 (Continued)

Conservation of energy.
1W 2 2 1 2 1
T1 + V1 = T2 + V2 : 0 + 0 = L ω + kL (1 − cos 30°) 2 − WL
6 g 2 4
3g 3 kg
ω2 = − (1 − cos 30°)2
2L W
Data: W = 9 lb
g = 32.2 ft/s 2
L = 25 in. = 2.0833 ft
k = 3 lb/in. = 36 lb/ft
(3)(32.2) (3)(36)(32.2)(1 − cos 30°) 2
ω2 = −
(2)(2.0833) 9
= 16.2484 ω = 4.03 rad/s 
vB = (2.0833)(cos30°)(4.03) vB = 7.27 ft/s 

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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you are using it without permission.

1764
 PROBLEM 17.41

The motion of a slender rod of length R is guided by pins at A and B which

slide freely in slots cut in a vertical plate as shown. If end B is moved
slightly to the left and then released, determine the angular velocity of the
rod and the velocity of its mass center (a) at the instant when the velocity
of end B is zero, (b) as end B passes through Point D.

SOLUTION
The rod AB moves from Position 1, where it is nearly vertical, to Position 2, where vB = 0.
In Position 2, vA is perpendicular to both CA and AB, so CAB is a straight line of length 2L and slope
angle 30°.
In Position 3 the end B passes through Point D.

R
Position 1: T1 = 0 V1 = Wh = mg
2
Position 2: Since instantaneous center is at B,
1
v2 = Rω2
2
1 1
T2 = mv22 + I ω22
2 2
2
1 1  1 1 
= m Rω2  +  mR 2  ω22
2  2  2  12 
1
= mR 2ω22
6
R
V2 = Wh2 = mg
4
Position 3: V3 = 0
Since both vA and vB are horizontal, ω3 = 0 (1)
1
T3 = mv22
2

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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you are using it without permission.

1765
 PROBLEM 17.41 (Continued)

(a) From 1 to 2: Conservation of energy

1 1 1
T1 + V1 = T2 + V2 : 0 + mgR = mR 2ω22 + mgR
2 6 4
3g
ω22 =
2R
3g g
ω2 = ω2 = 1.225 
2R R

1 1 3 3
v2 = Rω2 = gR = gR vR = 0.612 gR 60° 
2 2 2 8
(b) From 1 to 3: Conservation of energy
From Eq. (1) we have ω3 = 0 

1 1
T1 + V1 = T3 + V3 : 0 + mgR = mv32
2 2
v3 = gR
2
v3 = gR 

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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you are using it without permission.

1766
 PROBLEM 17.42

Each of the two rods shown is of length L = 1 m and has a mass of 5 kg.
Point D is connected to a spring of constant k = 20 N/m and is constrained
to move along a vertical slot. Knowing that the system is released from
rest when rod BD is horizontal and the spring connected to Point D is
initially unstretched, determine the velocity of Point D when it is directly
to the right of Point A.

SOLUTION

1 1
Moments of inertia. I = mL2 , I A = mL2
12 3
Use the principle of conservation of energy applied to the system consisting of both rods. Use the level at A as
the datum for the potential energy of each rod.
Position 1. (no motion)
T1 = 0
1  1
V1 = mg  L  + mgL + kx12
 2  2
3 1
= mgL + kx12
2 2

Position 2.
L L
V2 = mg sin 60° + mg sin 60°
2 2
3 1
= mgL + kx22
2 2

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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you are using it without permission.

1767
 PROBLEM 17.42 (Continued)

Kinematics. ω AB = ω AB
vB = Lω AB v B = Lω AB 30°
v D = vD

Locate the instantaneous center C of rod BD by drawing BC perpendicular to vB and DC perpendicular to vD.
Point C coincides with Point A in position 2.
Let ω BD = ωBD
vB
ωBD = = ω AB
L
L
vE = ω AB
2
3
vG = ( L sin 60°)ωBD = Lω AB
2
vD = LωBD = Lω AB (1)
1 1 1
T2 = I Aω AB
2
+ I ω BD
2
+ mvG2
2 2 2
2
11  2 1 1  2 1  3 
=  mL2  ω AB +  mL2  ω AB + m ω 
2  2
AB
23  2  12  
1 1 3 2 2 7
= + +  mL ω AB = mL2ω AB
2

 6 24 8  12
Principle of conservation of energy.
3 1 7 3 1
T1 + V1 = T2 + V2 : 0 + mgL + kx12 = mL2ω AB2
+ mgL + kx22
2 2 12 2 2
7  3 3  1
mL2ω AB
2
= − mgL − k ( x22 − x12 )
 2 2 
(2)
12   2

Data: m = 5 kg, L = 1 m, g = 9.81 m/s 2

k = 20 N ⋅ m, x1 = 0, x2 = L = 1 m

3 3
 −  mgL = (0.63397)(5 kg)(9.81 m/s )(1 m) = 31.096 J
2

 2 2 
1 1
− k ( x22 − x12 ) = (20 N/m)(1 m) 2 = −10 J
2 2

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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you are using it without permission.

1768
 PROBLEM 17.42 (Continued)

7  35  2
By Eq. (2), mL2ω AB
2
=  kg ⋅ m 2  ω AB = 21.096 J
12  12 

ω AB
2
= 7.2329 rad 2 /s 2 ω AB = 2.6894 rad/s

By Eq. (1), vD = (1 m)(2.6894 rad/s) v D = 2.69 m/s 

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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you are using it without permission.

1769
 PROBLEM 17.43

The 4-kg rod AB is attached to a collar of negligible mass at A and to a flywheel

at B. The flywheel has a mass of 16 kg and a radius of gyration of 180 mm.
Knowing that in the position shown the angular velocity of the flywheel is 60 rpm
clockwise, determine the velocity of the flywheel when Point B is directly below C.

SOLUTION
Moments of inertia.
1
Rod AB: I AB = m AB L2AB
12
1
= (4 kg)(0.72 m)2
12
= 0.1728 kg ⋅ m 2
Flywheel: I C = mk 2
= (16 kg)(0.18 m) 2
= 0.5184 kg ⋅ m 2
Position 1. As shown. ω = ω1
0.24
sin β = β = 19.471°
0.72
1
h1 = (0.72) cos β = 0.33941 m
2
V1 = WAB h1
= (4)(9.81)(0.33941)
= 13.3185 J
Kinematics. vB = rω1 = 0.24ω1
Bar AB is in translation. ω AB = 0, v = vB
1 1 1
T1 = m AB v 2 + IABω AB
2
+ I C ω12
2 2 2
1 1
= (4)(0.24ω1 ) 2 + 0 + (0.5184)ω12
2 2
= 0.3744ω1 2

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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you are using it without permission.

1770
 PROBLEM 17.43 (Continued)

Position 2. Point B is directly below C.

1
h2 = LAB − r
2
1
= (0.72) − 0.24
2
= 0.12 m
V2 = WAB h2
= (4)(9.81)(0.12)
= 4.7088 J
Kinematics. vB = rω2 = 0.24ω2

vB
ω AB = = 0.33333ω2
0.72
1
v = vB = 0.12ω2
2
1 1 1
T2 = mAB v 2 + IABω AB2
+ I C ω22
2 2 2
1 1 1
= (4)(0.12ω2 )2 + (0.1728)(0.33333ω2 ) 2 + (0.5184)ω22
2 2 2
= 0.2976ω22

Conservation of energy. T1 + V1 = T2 + V2 : 0.3744ω12 + 13.3185 = 0.2976ω22 + 4.7088 (1)

Angular speed data: ω1 = 60 rpm = 2π rad/s

Solving Equation (1) for ω2 , ω2 = 8.8655 rad/s ω2 = 84.7 rpm 

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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1771
 PROBLEM 17.44

If in Problem 17.43 the angular velocity of the flywheel is to be the same in the
position shown and when Point B is directly above C, determine the required
value of its angular velocity in the position shown.

PROBLEM 17.43 The 4-kg rod AB is attached to a collar of negligible mass at A

and to a flywheel at B. The flywheel has a mass of 16 kg and a radius of gyration
of 180 mm. Knowing that in the position shown the angular velocity of the
flywheel is 60 rpm clockwise, determine the velocity of the flywheel when Point
B is directly below C.

SOLUTION
Moments of inertia.
1
Rod AB: I AB = m AB L2AB
12
1
= (4 kg)(0.72 m)2
12
= 0.1728 kg ⋅ m 2
Flywheel: I C = mk 2
= (16 kg)(0.18 m) 2
= 0.5184 kg ⋅ m 2
Position 1. As shown. ω = ω1
0.24
sin β = β = 19.471°
0.72
1
h1 = (0.72) cos β = 0.33941 m
2
V1 = WAB h1
= (4)(9.81)(0.33941)
= 13.3185 J
Kinematics. vB = rω1 = 0.24ω1
Bar AB is in translation. ω AB = 0, v = vB
1 1 1
T1 = m AB v 2 + IABω AB
2
+ I C ω12
2 2 2
1 1
= (4)(0.24ω1 ) 2 + 0 + (0.5184)ω12
2 2
= 0.3744ω1 2

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
distribution to teachers and educators permitted by McGraw-Hill for their individual course preparation. If you are a student using this Manual,
you are using it without permission.

1772