ENGN1217: Solutions to Problems in Assignment 7

Problem 7.1
The car is a rigid structure that can be represented as a truss as shown in the figure
below. An external force, W , is applied at the top and it is resting on pin joints. The
reaction forces on the wheels are Na and Nb respectively. The dimensions are as given in
the problem.
FBD:

EME:
X
Fx = 0 (1)
X
Fy = Na + Nb − W = 0 (2)
X
MW = −Na · a + Nb · b = 0 (3)

From equations of mechanical equilibrium one can derive the reaction forces:

b
Na = W, a = ao cos α − h sin α (4)
a+b
a
Nb = W, b = bo cos α + h sin α, (5)
a+b

In eqns (4) and (5) ao and bo are the values of a and b when α = 0, and h is the height
of the centre of mass when α = 0. There is an angle α at which Na = Nb , and when
α = tan−1 (ao /h) the centre of mass is directly above the rear wheel; Na = W and Nb = 0.
Resistance to free rolling is assumed to be zero. Resolving the force W into components
parallel and perpendicular to the incline gives the force, Fr = W sin α which is trying to
roll the car down the incline (to reduce its potential energy).
The engine applies a torque to the wheels to propel the car up the incline at a constant
speed. The torque is applied either to the (i) rear, (ii) front, or (iii) rear and front wheels
together. The result of the torque is a frictional force, Fa or Fb , or both.
Case 1: rear wheel drive, Fa ≥ Fr . Fb = 0

(Na cos α) · µ ≥ W sin α (6)

Substitution of relations (4) and (5) gives:

(bo cos α + h sin α) · µ ≥ (ao + bo ) sin α (7)

1
For which the final solution is:
 
−1 µbo
α ≤ tan = 10.2◦ (8)
ao + bo − µh

Case 2: front wheel drive, Fb ≥ Fr . Fa = 0

(Nb cos α) · µ ≥ W sin α (9)

Substitution of relations (4) and (5) gives:

 
−1 µao
α ≤ tan = 17.2◦ (10)
ao + bo + µh

Case 3: 4 wheel drive, Fa + Fb ≥ Fr .

(Na + Nb ) cos α · µ ≥ W sin α (11)

Substitution of relations (4) and (5) gives:

α ≤ tan−1 [µ] = 26.6◦ (12)

Notice that solutions (8), (10) and (12), give:

• α = 0◦ for µ = 0 for all three cases.

• α = 45◦ for µ = 1 in case 3.

• from (8) and (10) it can be shown that at α = tan−1 [(ao − bo )/2h] = 44.2◦ front
and rear wheels will have equal contribution to drive.

Also, notice that in most multi-storey car parks the ramps are close to 20◦ and all cars
can drive up without any problems. This means that the coefficient of friction between
the tyres and concrete floor is closer to 1.0 than 0.5.

An alternative solution is to assume a frame of reference with x-axis parallel and y-axis
perpendicular to the incline. Then for the rear wheel drive we have:
EME:
X
Fx = Fa − W sin α = 0 (13)
X
Fy = Na + Nb − W cos α = 0 (14)
X
MW = −Na · ao + Nb · bo = 0 (15)

In these equations Na and Nb act perpendicular to the incline (parallel to the y-axis).
Naturally, the final solutions will be the same.

2
Problem 7.2
The FBD (not shown) includes applied forces, WL and WP , weight of ladder and person,
respectively, and reaction forces, Na from the floor, and Nb from the wall. The coefficient
of friction with the floor is µa , and the coefficient of friction with the wall is µb .
Let ↑ be the y-axis, and → be the x-axis. The angle α is between the wall the ladder. The
length of the ladder is L. WL is at mid-point and WP is at the top of the ladder.
EME:
X
Fx = Fa − Nb = 0, where Fa = Na · µa (16)
X
Fy = Na − WL − WP + Fb = 0, Fb = Nb · µb (17)
X
Mb = Fa · L cos α − Na · L sin α + WL · L/2 sin α = 0 (18)

From equation (18) we have:

 
Fa
tan α = (19)
Na − WL /2

Substitutions of relations (16) and (17) into (18) gives:

" #
µ a
α = tan−1 1+µa µb (20)
1 − 12 1+W P /WL

Substitution of the values into (20) gives:

α = tan−1 [0.545] = 28.6◦ (21)

Note
The above solutions demonstrate the advantage of deriving the equations symbolically,
rather than numerically. Consider equation (21) from which one can infer that:

1. the angle of the ladder depends primarily on the coefficient of friction with the floor.

2. the coefficient of friction with the wall is of secondary importance. Even if it is zero,
it makes only a small difference to the angle (26.6◦ ).

3. The weight of the person plays a significant role. For example, if WP = 0, the angle
can be increased to approx. 48◦ .

None of these observations can be made if solutions are derived by numerical substitutions
made too early.

Zbigniew H. Stachurski
College of Engineering & Computer Science
Australian National University, Canberra, ACT 0200