ESO209A: HW4 solutions

Q1.

Figure 1: Q1

Consider a CV1 containing the flat portion of the chain ending just before the corner (m1 = ρ(L − x), m2 = ρx
in Fig. 1). The rate of mass outflux for CV1 is ρẋ(−i∼) · (−i∼) = ρẋ. The rate of linear momentum outflux is
ρẋ2 (−i∼). The rate of change of linear momentum of the CV1 is dtd (ρ(L − x)ẋ(−i∼)). There is no frictional force.
Hence by LMB for CV1 along ∼i,
−T = ρẋ2 − ρ(L − x)ẍ − ρẋ2 . (1)
Thus, T = ρ(L − x)ẍ. Similarly, consider a CV2 containing the vertical portion of the chain ending just before
the corner. The rate of mass influx for CV2 is ρẋj∼ · j∼ = ρẋ. The rate of linear momentum influx is ρẋ2 (−j∼). The
rate of change of linear momentum of the CV2 is dtd (ρxẋ(−j∼)). The gravitational force is ρxg. Hence by LMB for
CV2 along j∼,
T − ρxg = −ρẋ2 − ρxẍ + ρẋ2 . (2)
xg
Thus, T = ρxg − ρxẍ. Addition of both equations (1) and (2) eliminates T , and we get (with a = ẍ) a =
L
x
Also by any one of the expressions in (1) and (2), get T = ρ (L−x)xg
L
, i.e. T = ρgx(1 − )
L
Since v = ẋ is not identically zero, v v̇ = Lg xẋ which gives by integrating
1 2τ g1 2τ
v |0 = x| ,
2 L2 0
where τ is the time needed for the chain to fall completely. Since √ v(0) = x(0) = 0, and x(τ ) = L, we get
v(τ )2 = Lg L2 = gL. Since ẍ > 0 always v(τ ) > 0, so that v(τ ) = gL. Thus, the velocity of the last link of the
√ p
chain as it reaches the corner is v
∼A
= − gLi∼
, or v = gL
Q2.

ωBC
[FIG]
i j∼
ω = +c i'
∼ OAJ K
∼

i j∼ '
sin α J K=ω ∼ BC
[FIG]
i
∼
Given that the link OA rotates such that
ω
∼ OA
= ωOA k
∼
= 3k
∼
,
and
r∼ A/O = r∼ B/O + r∼ A/B ,
where
r∼ B/O = 2bi∼, r∼ A/B = −c cos θi∼ + c sin θj∼,
with θ = 20 deg and c can be obtained by solving b cos α + c cos θ = 2b and b sin α = c sin θ. Get c = 1.15b.
Using the fixed frame at O and rotating frame at B (which is not moving relative to O), we get
v | =ω
∼ A/O fix ∼ OA
∧ r∼ A/O = v | +ω
∼ A/O rel ∼ BC
∧ r∼ A/B .

But
v | =v
∼ A/O rel
| = vA j∼0 ,
∼ A/B rel

where j∼0 = e
∼ BC
, which gives
ω
∼ OA
∧ r∼ A/O · ∼i0 = ω
∼ BC
∧ r∼ A/B · ∼i0 ,
where ∼i0 = j∼0 ∧ k
∼
. Therefore,

ωOA k
∼
∧ r∼ A/O · e
∼ BC
∧k
∼
= ωBC k
∼
∧ r∼ A/B · e
∼ BC
∧k
∼
,

i.e.
ωOA k
∼
∧ r∼ A/O · e
∼ BC
∧k
∼
ωBC = .
k
∼
∧ r∼ A/B · e
∼ BC
∧k
∼

Finally ωBC = −1.903, i.e.

ωBC = 1.903rad/s(CW ).

Q3.

Given
0 ω
ω
∼
= ωk
∼
= (3j + 4k
∼
), ω = 40 rad/s,
5 ∼
ω̇
∼
=0∼
,
and
r∼ P/O = 15i∼ + 16j∼ − 12k
∼

Since O is fixed,
0
v
∼ P/O
=ω
∼
∧ r∼ P/O = rωk
∼
∧e
∼ P/O
,
and
0 0
a
∼ P/O
= ω̇
∼
∧ r∼ P/O + ω
∼
∧ (ω
∼
∧ r∼ P/O ) = ω
∼
∧ (ω
∼
∧ r∼ P/O ) = rω 2 k
∼
∧ (k
∼
∧e
∼ P/O
) = −rω 2 e
∼ P/O
.
So
v
∼ P/O
= 40(−20i∼ + 12j∼ − 9k
∼
) in/s

and
a
∼ P/O
= 1600(−15i∼ − 16j∼ + 12k
∼
) in/s2 .

Using the scalar relations

v = |v
∼ P/O
| = 1000 in/s = rω, an = a
∼ P/O
· (−e
∼ OP
) = 40000 in/s2 = rω 2 .

Q4.

Given
vA = 2f t/s, aA = 12f t/s2 , r = 6in = 0.5f t.
Also, let
ω
∼
= ωk
∼
= −θ̇k
∼
,
α
∼
= ω̇
∼
= αk
∼
,
and
r∼ A/O = r cos θi∼ − r sin θj∼.
Since O is fixed,
v
∼ A/O
=ω
∼
∧ r∼ A/O = rωk
∼
∧e
∼ A/O
= rωe
∼θ
,
and
a
∼ A/O
= ω̇
∼
∧ r∼ A/O + ω
∼
∧ (ω
∼
∧ r∼ A/O ) = αk
∼
∧e
∼ A/O
+ rω 2 k
∼
∧ (k
∼
∧e
∼ A/O
) = rαe
∼θ
− rω 2 e
∼r
.
Using the relations √
vA = |v
∼ A/O
| = rω, aA = |a
∼ A/O
| = r α2 + ω 4 ,
get
ω = 4rad/s, α = ±17.89rad/s2
Q5.

Given
v
∼ A/O
= vA j∼, vA = 2 in/s,
and
θ = 50deg.
Let vC be the speed of pin C, i.e.
v
∼ C/O
= −vC ∼i.
Consider a fixed frame at O and rotating frame at B. Let
ω
∼ AC
= ωAC k , ω = ωOB k
∼ ∼ OB ∼
.
Then
v | =v
∼ A/O fix
| +v
∼ A/B fix
| = (v
∼ B/O fix
| +ω
∼ A/B rel ∼ AC
∧ r∼ A/B ) + ω
∼ OB
∧ r∼ B/O ,
and
v | =v
∼ C/O fix
| +v
∼ C/B fix
| = (v
∼ B/O fix
| +ω
∼ C/B rel ∼ AC
∧ r∼ C/B ) + ω
∼ OB
∧ r∼ B/O ,
where v | =v
∼ A/B rel
| =0
∼ C/B rel ∼
. Hence,

v | =v
∼ C/O fix
| +ω
∼ A/O fix ∼ AC
∧ r∼ C/B − ω
∼ AC
∧ r∼ A/B = v | +ω
∼ A/O fix ∼ AC
∧ (r∼ C/B − r∼ A/B ),

i.e.
−vC ∼i = vA j∼ + ωAC k
∼
∧ r∼ C/A .
Given r∼ C/A = 12(cos θi∼ − sin θj∼) in, solving above gives vC and ωAC (= −0.26 rad/s).

vC = 2.38 in/s.