CH 03

Chapter 3
Kinetics of Particles
3.1 Cartesian Coordinates
123
3.1.1
GOAL: Determine via numerical integration how far a sliding bowl travels.
GIVEN: Initial velocity of the bowl, inclination of the surface, coefficient of friction.
DRAW:
*
ASSUME: The bowl remains on the slope and thus its velocity and acceleration have no b 2
components.
FORMULATE EQUATIONS:
* *
ı 
*
b1 cos θ sin θ
*
b2 − sin θ cos θ
* * *
Force Balance: ms̈ b 1 = −mg *
 + F b1 + N b2
* * *
ms̈ b 1 = −mg *
 + F b1 + N b2
SOLVE: Because the bowl is sliding, F = µN . Using this in our equation of motion yields
* * *
ms̈ b 1 = b 1 (µN − mg sin θ) + b 2 (−mg cos θ + N )
*
b 1: ms̈ = µN − mg sin θ (1)
*
b 2: 0 = −mg cos θ + N (2)
(1), (2) ⇒ ms̈ = µmg cos θ − mg sin θ
s̈ = g(µ cos θ − sin θ)

MATLAB EVALUATION:
y1 = s
y2 − ṡ
d
(y1) = y2
dt
d
(y2) = g(µ cos θ − sin θ)
dt
Evaluating with ODE45, using initial conditions (y1, y2) = (0, -4) gives us
s = −7.6776, ṡ = 0.0013 at t = 3.84 s
124
125
3.1.2
GOAL: Maximum acceleration for which both strings remain taut.
GIVEN: System configuration.
DRAW:
* *
*
ı *
 ı 
* *
c1 cos θ − sin θ b1 cos θ sin θ
* *
c2 sin θ cos θ b2 − sin θ cos θ
*
Force balance: −T1 *
c 1 + T2 b 1 − m g *
 = mẍ *
ı
ASSUME: The key to solving the problem is to realize that at a certain acceleration the tension
in one of the strings must go to zero. We’re looking for that acceleration. Physically, we can see
that it is the left string which will have its tension go to zero. So let’s reexpress the system equation
of motion in terms of the * c 1, *
c 2 directions.
*
c1 : −T1 + T2 (cos2 θ − sin2 θ) + mg sin θ = mẍ cos θ (1)
*
c2 : 2T2 sin θ cos θ − mg cos θ = mẍ sin θ (2)
SOLVE:
mẍ sin θ + mg cos θ
(2) ⇒ T2 = (3)
2 cos θ sin θ
Letting T1 equal zero and substituting (3) into (1) allows us to solve for ẍ:
g cos θ
ẍ = sin θ (4)
126
3.1.3
GOAL: Find θ , the angle at which the dice hang due to the decelerating car.
GIVEN: ẍ = 0.2g, mass = m
DRAW:
* *
ı 
*
b1 cos θ − sin θ
*
b2 sin θ cos θ
*
Force balance: F = ma*
SOLVE:
*
T b 2 − mg *
 = mẍ *
ı
T (sin θ *
ı + cos θ *
 ) − mg *
 = mẍ *
ı
*
 : T cos θ − mg = 0
mg
T = (1)
cos θ
*
ı : T sin θ = mẍ (2)
mg
(1)→(2) sin θ = mẍ
cos θ
mg tan θ = m(0.2g) ⇒ θ = arctan(0.2)
θ = 11.3◦
127
3.1.4
GOAL: Find steady-state angle θ of a pendulum in an accelerating vehicle.
GIVEN: Vehicle’s acceleration and surface’s inclination.
DRAW:
* *
ı  ı * *

* *
b1 cos φ sin φ c1 sin θ cos θ
* *
b2 − sin φ cos φ c2 − cos θ sin θ
ASSUME: The mass is in a steady-state equilibrium and therefore has the same velocity and
acceleration as the car.
*
Force Balance: ms̈ b 1 = T *
c 1 − mg *

* *
SOLVE: Expressing our equation of motion in terms of b 1 , b 2 components gives us
* * * * *
ms̈ b 1 = T (cos θ b 1 + sin θ b 2 ) − mg(sin φ b 1 + cos φ b 2 )
*
b 1: ms̈ = T cos θ − mg sin φ (1)
*
b 2: 0 = T sin θ − mg cos φ (2)
mg cos φ
(2)⇒: T = (3)
sin θ
(3) → (1) ⇒ ms̈ = mg cos φ cos θ cos φ − sin φ)
− mg sin φ = mg( tan
sin θ θ
s̈ cos φ
+ sin φ =
g tan θ
 
 cos φ 
 = tan−1 0.985 = 44.6◦
h i
θ = tan θ = tan−1 
 s̈  0.474
+ sin φ
g
128
3.1.5
GOAL: Find the acceleration that produces a steady inclination θ for the spring mounted mass.
GIVEN: System parameters.
DRAW:
* *
ı 
*
b1 cos θ sin θ
*
ASSUME: We’re finding θ for the steady state conditions. Thus ẋ0 = ẏ 0 = ẍ0 = ÿ 0 = 0
*
Force Balance: mẍ *
ı = −mg *
 + T b 1 = −mg *
 + T (*
ı cos θ + *
 sin θ)
The spring is stretched 0.05 m and thus T = (0.05 m)(30 N/m) = 1.5 N
*
ı : mẍ = T cos θ (1)
*
 : 0 = −mg + T sin θ (2)
SOLVE:
mg (0.15 kg)(9.81 m/s2 )
(2) ⇒ sin θ = = = 0.981
T 1.5 N
θ = 78.8◦ (3)
◦
ẍ = T cos θ = (1.5 N)cos(78.8 ) = 1.94 m/s2
(1), (3) ⇒ m 0.15 kg
129
3.1.6
GOAL: Find the maximum allowable deceleration so that the box will remain in a no-slip condition.
GIVEN: Coefficient of friction and box’s weight.
DRAW:
ASSUME: In the no-slip case, the acceleration of the box is equal to that of the car, i.e. ẍ.
(N − mg) *
 + S*
ı = mẍ *
ı
*
ı : S = mẍ (1)
*
 : N − mg = 0 (2)
SOLVE: The maximum friction force is given by S = µs N . Use (2) to get N = mg and substituting
into (1) gives us
ẍ= µs g = 0.9(32.2 ft/s2 ) = 29.0 ft/s2 (3)
130
3.1.7
GOAL: Find spring stretch in a steady state condition and numerically integrate system from rest.
GIVEN: System parameters and mass m1 ’s acceleration.
DRAW:
ASSUME: In steady-state conditions ẏ = ÿ = 0

Force Balance: m1 (ẍ − ÿ) *
ı = k(y − L) *
ı + (N1 − m1 g) *

*
ı : m1 (ẍ − ÿ) = k(y − L) (1)
*
 : N1 = m1 g (2)
SOLVE:
(a)
(1) ⇒ (1.2 kg)(4.8 m/s2 − 0) = 100 N/m(y − 0.6 m)
y = 0.658 m
(b)
k
ẍ − ÿ = (y − L)
m1
k k
ÿ + m y = ẍ + mL
1
Integrating in MATLAB for the given values of k, m1 , L and ẍ yields a y(t) response as shown:
131
3.1.8
GOAL: Find minimum stopping distance of a cyclist.

GIVEN: Initial speed, coefficient of friction.
DRAW:
Force Balance: mẍ *
ı −F* ı + (N − mg) *

SOLVE: µ = µs = µd and therefore the maximum braking force is µN .
mẍ *
ı = −µN *
ı + (N − mg) *

*
ı: mẍ = −µN (1)
*
: 0 = N − mg (2)
(1), (2) ⇒ mẍ = −µmg
ẍ = −µg
ẍ is a constant so we can use 21 (v22 − v12 ) = a∆x
1 88
[0 − ( ft/s)2 ] = −µg∆x = −(0.50)(32.2 ft/s2 )∆x
2 3
∆x = 26.7 ft
132
3.1.9
GOAL: Find µ such that the bicycle descends at a constant speed.
GIVEN: Slope
DRAW:
ASSUME: Motion is along the slope and ẍ = 0.

* * *
Force Balance: mẍ b 1 = −mg *
 − F b1 + N b2 (1)
SOLVE: Using ẍ = 0 in (1) and reexpressing it in terms of b1 , b2 gives us
* *
0 = b 1 (−F + mg sin θ) + b 2 (N − mg cos θ)
*
b 1:
F = mg sin θ (2)
*
b 2:
N = mg cos θ (3)
The critical condition at which we can transition from roll without slip to roll with slip occurs at
µN = F .
(2),(3) ⇒
µmg cos θ = mg sin θ
0.2
µ = tan θ = 1.0 = 0.2
133
3.1.10
GOAL: Find the time for which the tension in the two strings connecting B to the frame are equal.
GIVEN: Framework’s acceleration and position of the mass with respect to the frame.
DRAW:
mẍ *
ı = (T1 − mg) *
 + T2 *
ı
*
ı : T2 = mẍ
*
 : T1 = mg
SOLVE: For T2 = T1 we need
mẍ = mg ⇒ ẍ = g
We’re given ẍ = (6 m/s3 )t and so
g 9.81 m/s2
(6 m/s3 )t = g ⇒ t = = = 1.64 s
6 m/s3 6 m/s3
134
3.1.11
GOAL: Find m1 for which the system is in static equilibrium. Then, find the acceleration of m2
if m1 is increased by 10%
DRAW:
ASSUME: The system is subject to the “conservation of rope” constraint:
∆x1 + 2∆x2 = 0
Differentiating twice with respect to time and solving for ẍ1 , we get,
ẍ1 = −2ẍ2 (1)
SOLVE:
The massless pulley implies that a tension of 2T acts on m2 if a tension T acts on m1 . Apply a
force balance to each mass.
For m1 :
m1 g − T = m1 ẍ1 (2)
For m2 :
m2 g − 2T = m2 ẍ2 (3)
When the system is in equilibrium, ẍ1 = ẍ2 = 0. Therefore, m∗1 = 21 m2 = 50 kg .

Increasing m1 by ten percent raises it to 55 kg.
To solve for ẍ2 when m1 = 55 kg substitute for ẍ1 = −2ẍ2 in (2) and solve for T :
T = m1 g + 2m1 ẍ2 (4)
Substitute this value of T in (3) and solve for ẍ2 :

m2 − 2m1
ẍ2 = g = −0.307 m/s2 . (5)
m2 + 4m1
Shown below is a plot of the response of the two masses as a function of time from 0 to 2 seconds.
135
136
3.1.12
GOAL: Determine the acceleration blocks A and B.
GIVEN: A force of 10 N is acting on block B, mA = 10 kg and mB = 15 kg.
DRAW:
Note that only forces in the *

ı direction are included because the motion is purely horizontal and
any normal forces don’t affect the system’s motion due to the friction-free interface.
Moving A (increasing x) will require us to remove 3∆x units of rope. Moving B (increasing y) will
require us to add 4∆y units of rope. Applying conservation of rope tells us that the net change
must be zero:
−3∆x + 4∆y = 0
Dividing by time ∆t and taking the limit as ∆t goes to zero gives
3
−3ẋ + 4ẏ = 0 ⇒ ẏ = ẋ ⇒
4
3
ÿ = ẍ (1)
4
A force balance on each block yields
mA ẍ = 3T (2)
mB ÿ = −4T + 10 N (3)
SOLVE:
(1), (2), (3) ⇒ mA ẍ = 0.75(10 N − mB ÿ) = 7.5 N − (0.75)2 mB ẍ
ẍ = 7.5 N = 0.407 m/s2
10 kg + (0.75)2 (15 kg)
ÿ = 0.75ẍ = 0.305 m/s2
137
3.1.13
GOAL: Determine the acceleration of Block B, the rope’s tension and the applied force, F .
GIVEN: Masses of the blocks and the arrangement of the pulleys.
DRAW:
Force Balance for the two masses:
mA ẍA = 3T + mA g − F (1)
mB ẍB = mB g − 2T (2)
SOLVE: Moving A (increasing xA ) requires that we remove 3∆xA units of rope and moving B
(increasing xB ) requires that we add 2xB units of rope.
3
∆xB = ∆xA (3)
2
3
(3) ⇒ ẍB = ẍA (4)
2
(4) ⇒ ẍB = 23 (−7.13 m/s2 ) = −10.7 m/s2 (5)
2 2

(1), (2), (4) ⇒ mB ẍB = mB g − m ẍ − mA g + F
3 3 A B
3 3 2

F =g m + mA − ẍB mB + mA
2 B 2 3
F = 1.34×102 N
(2), (5) ⇒ T = 12 (g − ẍB )mB = 28.7 N
138
3.1.14
GOAL: Determine the value of z̈ so that the mass particle accelerates at 32.2 ft/s2 with respect
to the tube.
GIVEN: System geometry.
DRAW:
* * *
ma*m = −mg *
 + N b 2 = b 1 (−mg sin θ) + b 2 (N − mg cos θ) (1)
* * * * * * *
am = atube + am/tube = z̈  + s̈ b 1 = b 1 (s̈ + z̈ sin θ) + b 2 (z̈ cos θ) (2)
SOLVE:
* * * *
(1), (2) ⇒ m[(s̈ + z̈ sin θ) b 1 + z̈ cos θ b 2 ] = b 1 (−mg sin θ) + b 2 (N − mg cos θ)
*
b1 : m(s̈ + z̈ sin θ) = −mg sin θ (3)
*
b2 : mz̈ cos θ = N − mg cos θ (4)
*
We want s̈ = −32.2 b 1 m/s2 . Using this value in (3) gives
−32.2 m/s2 + z̈ sin(28◦ ) = −(32.2 m/s2 ) sin(28◦ )
z̈ = 36.4 ft/s2
139
3.1.15
GOAL: Find the acceleration of the two masses upon release.
GIVEN: Spring stiffness, masses, coefficients of friction and initial spring compression.
DRAW:
Body m1 :
* * *
m1 ẍ1 n1 = (S1 − F )n1 + (N1 − m1 g) 
*
n1 : m1 ẍ1 = S1 − F (1)
*
 : N1 = m1 g (2)
Body m2 :
* * *
m2 ẍ2 n1 = (F − S2 )n1 + (N2 − m2 g) 
*
n1 : m2 ẍ2 = F − S2 (3)
*
 : N2 = m2 g (4)
ASSUME: We’ll start by assuming no-slip conditions for both masses. The force acting on the
masses is given by the spring:
F = (k)(compression of spring) = (4 N/mm)(5 mm) = 20 N

SOLVE: No-slip for m1 means that ẍ1 is zero. (1) then gives us S1 = F = 20 N.
(2) yields N1 = m1 g = (10 kg)(9.81 m/s2 ) = 98.1 N. The maximum friction force is given by µN :
S1 = µN1 = 0.4(98.1 N) = 39.2 N

max
We’ve already seen that S1 < S1 and therefore m1 doesn’t slip. Thus ẍ1 = 0
max
Now let’s examine m2 . Assume ẍ2 = 0. Then (3) implies S2 = F = 20 N and
S2 = µ2 N2 = (0.1)(5 kg)(9.81 m/s2 ) = 4.905 N

max
140
Unlike the case for m1 , we now have S2 > S2 and so we have slip. Re-writing (3) with
max
S2 = µ2 N2 gives
m2 ẍ2 = F − µ2 N2
(5 kg)ẍ2 = 20 N − 4.905 N
ẍ2 = 3.02 m/s2
141
3.1.16
GOAL: (a) Determine the acceleration of m1 with respect to the block assuming that the block
is fixed in place. (b) Determine the acceleration of m1 with respect to the block if the block is
allowed to move.
(a)
GIVEN:
The coefficient of friction between the block and m1 is 0.3. The mass of m1 is 10 kg. The block is
inclined at 30 degrees.
DRAW:
* *
ı 
*
b1 cos θ sin θ
*
Force balance: * * *
−mg *
 + N b 2 + µN b 1 = ms̈ b 1
* *
* * *
−mg sin θ b 1 + cos θ b 2 + N b 2 + µN b 1 = ms̈ b 1
*
b1 : ms̈ = µN − mg sin θ (1)
*
b2 : N = mg cos θ (2)
SOLVE:
(2) ⇒ N = (10 kg)(9.81 m/s2 ) cos 30◦ = 84.96 N (3)
(1), (3) ⇒ s̈ = g(µ cos 30◦ − sin 30◦ ) = (9.81 m/s2 )(0.3 cos 30◦ − sin 30◦ ) = −2.36 m/s2
142
(b)
GIVEN:
The coefficient of friction between the block and m1 is 0.3, and between the block and the ground,
µ2 , is zero. m1 = 10 kg and m2 = 20 kg The block is inclined at 30 degrees.
DRAW:
m1 :
* *
*

−m1 g *
 + N b 2 + µ1 N b 1 = m1 s̈ b 1 + ẍ *
ı
* *
* *
h * *
i
−m1 g sin θ b 1 + cos θ b 2 + N b 2 + µ1 N b 1 = m1 (s̈ + ẍ cos θ) b 1 − ẍ sin θ b 2
*
b1 : −m1 g sin θ + µ1 N = m1 (s̈ + ẍ cos θ) (4)
*
b2 : −m1 g cos θ + N = −m1 ẍ sin θ (5)
m2 :
* *
−µ1 N b 1 − N b 2 + M *
 − m2 g *
 = m2 ẍ *
ı
−µ1 N (cos θ *
ı + sin θ *
 ) − N (− sin θ *
ı + cos θ *
 ) + (M − m2 g) *
 = m2 ẍ *
ı
*
ı : m2 ẍ = −µ1 N cos θ + N sin θ (6)
SOLVE:
N (sin θ − µ1 cos θ)
(6) ⇒ ẍ = (7)
m2
" #
m sin θ (sin θ − µ1 cos θ)
(5), (7) ⇒ N 1+ 1 = m1 g cos θ
m2
N = 80.1 N
This gives a value for N of 80.1 N. Putting this result back into (5) gives ẍ = 0.962 m/s2 . If we
substitute these two values back into (4) we can solve for s̈
143

−(10 kg)(9.81 m/s2 )(sin 30◦ ) + 0.3(80.1 N) = (10 kg) s̈ + (0.962 m/s2 ) cos 30◦
s̈ = −3.33 m/s2
144
3.1.17
GOAL: Determine the minimum coefficient of friction to keep a block from slipping.
GIVEN: Initial speed and distance traveled.
DRAW:
Force balance: m(ẍ *
ı + ÿ *
 ) = (N − mg) *
 − S*
ı
*
ı : mẍ = −S (1)
*
 : mÿ = N − mg (2)
ASSUME:
y = 0 ⇒ ÿ = 0 (3)
SOLVE:
(2), (3) ⇒ N = mg (4)
If the block doesn’t slip then its acceleration is the same as the truck’s. The truck’s acceleration
can be found from
a dx = v dv
1
a(x2 − x1 ) = (v22 − v12 )
2
1 v2
a(D) = (0 − v02 ) ⇒ a = − 0
2 2D
v2
0 and (1) becomes
Thus ẍ = − 2D
mv02
=S (5)
2D
We know that the maximum force that can be supported through static friction is given by
Smax = µs N = µs mg (6)
mv02
(5), (6) ⇒ = µs mg (7)
2D
v02
µs = 2Dg
145
3.1.18
GOAL: Find ẍ, the max acceleration such that the box does not slip.
GIVEN: µ = 0.75 , mass = 100 kg
DRAW:
*
Force Balance F = ma*
SOLVE:
N*
 + S*
ı − mg *
 = mẍ *
ı
*
 : N − mg = 0 N = mg
*
ı : S = mẍ
S = µN = µmg
µmg = mẍ
ẍ = µg = (0.75)(9.81 m/s2 )
ẍ = 7.36 m/s2
146
3.1.19
GOAL: Determine whether m1 slides relative to m2 and, if so, determine the absolute accelerations
of m1 and m2 .
GIVEN:
DRAW:
* *
ı 
*
b1 cos θ sin θ
*
ASSUME: We’ll assume (as shown in the diagram) that the two masses can remain in static
equilibrium. We’ll then verify (of not) this assumption and if it’s wrong we’ll solve the dynamic
case.
For m1 :
*
b1 : −S − m1 g sin θ + T = 0 (1)
*
b2 : N1 − m1 g cos θ = 0 (2)
For m2 :
*
b1 : S − m2 g sin θ + T = 0 (3)
*
b2 : N2 − N1 − m2 g cos θ = 0 (4)
SOLVE:
m1 + m2
(1) + (3) ⇒ T =g sin θ (5)
2
m − m1
(5) → (3) ⇒ S= 2 g sin θ (6)
2
The maximum value of S is equal to µ1 N1 . Using (2) to evaluate this gives us
1
µ1 N1 = µ1 m1 g cos θ = 0.15(10 kg)(9.81 m/s2 )( √ ) = 10.4 N
2
Our value of S is
m2 − m1 5 kg − 10 kt 1

S= = (9.81 m/s2 ) √ = −17.3 N
2 2 2
As you can see, the magnitude of S that’s needed is about 70 percent larger than the maximum
that’s available. Hence we’ll have slippage. Note that the negative sign for S tells us that the
direction originally assumed is incorrect. Thus in the FBD=IRD for slip (shown below) the direction
for the frictional interfacial force has been slipped from what it was in the static analysis. The
147
acceleration of m1 is given by ẍ and the acceleration of m2 is given by ÿ. The fact that the two
masses are connected by a pulley gives us
ÿ = −ẍ
Our new equations of motion are given by

For m1 :
*
b1 : µ1 N1 − m1 g sin θ + T = m1 ẍ (7)
*
b2 : N1 − m1 g cos θ = 0 (8)
For m2 :
*
b1 : −µ1 N1 − m2 g sin θ + T = −m2 ẍ (9)
*
b2 : N2 − N1 − m2 g cos θ = 0 (10)
(7) → (9) ⇒ (m1 + m2 )ẍ = 2µ1 N1 + (m2 − m1 )g sin θ (11)
2µ1 m1 g cos θ + (m2 − m1 )g sin θ

(11) → (8) ⇒ ẍ = m1 + m2
148
3.1.20
GOAL: Find your perceived weight during acceleration and deceleration.
GIVEN: Your mass, and the velocity profile of the elevator.
DRAW
FORMULATE EQUATIONS: Because the velocity profile shows that both acceleration and
deceleration are constant, we can determine these two values from the following two equations:
v
z̈1 = 0 (1)
Acceleration: ∆1
−v0
Deceleration: z̈2 = (2)
∆2
The FBD/IRD gives us: N1 − mg = mz̈ (3)

SOLVE: The weight that you feel is just the normal force N1 . Thus, during acceleration, we have
! !
v0 80 lb 18 ft/s

2
(1) → (3) ⇒ N = m + g = + 32.2 ft/s
1 ∆1 32.2 ft/s2 1.5s
N1 = 109.8 lb
During deceleration, your perceived weight is

! !
−v0 80 lb −18 ft/s

(2) → (3) ⇒ N1 = m +g = + 32.2 ft/s2
∆2 32.2 ft/s2 1.5s
N1 = 50.2 lb
149
3.1.21
GOAL:
Derive formulas for Ca and Cr
Calculate values for Ca and Cr
Confirm validity of given data to governing equations
SOLVE:
(a) We start from
1
mẍ = − ρCa Aẋ2 − Cr mg
2
Using the data of the first and second test gives
1
ma1 = − ρCa Av12 − Cr mg (1)
2
1
ma2 = − ρCa Av22 − Cr mg (2)
2
1
-(1)+(2)⇒ m(−a1 + a2 ) = ρCa A v12 − v22
2
(a2 − a1 )
Ca = 2m
ρA (v12 − v22 )
h 1
i h i
m a1 v22 − a2 v12= − ρCa A v12 v22 − v22 v12 − Cr mg(v22 − v12 )
(1)×v22 − (2) × v12 ⇒ 2
Cr mg(v2 − v1 ) = m(a2 v12 − a1 v22 )
2 2
a2 v12 − a1 v22
Cr =
g(v22 − v12 )
2(1450)(−0.132 + 0.214)
(b) Ca = = 0.369
(1.2)(2.2)(16.02 − 3.472 )
−0.132(16.0)2 + 0.214(3.97)2
Cr = = 0.0130
9.81(3.472 − 16.02 )
(c) Using MATLAB and ODE45 yields a speed of 15.3 m/s at the end of test #1 and 2.79 m/s at
the end of test #2. These compare very favorably with the given data of 55 km/hr = 15.3 m/s and
10 km/hr = 2.78 m/s. We should conclude that the given formulas do a good job of extracting Ca
and Cr from the experimental data.
MATLAB code:
150
151
3.1.22
GOAL: Find the spring extensions for static equilibrium in both case a and case b. Then find the
acceleration of m2 in each case if m2 is pulled down 0.01 m and released
GIVEN: k = 1000 N/m , m1 = 10 kg , m2 = 20 kg
DRAW: (case a)
ASSUME: The inextensible rope means that m1 and m2 share a common acceleration. The rope
stays taut.
*
SOLVE: (case A)
Static condition:
Force balance, m1 : N*
 − m1 g *
 − kx1 *
ı +T*
ı =0
*
ı : −kx1 + T = 0 ⇒ T = kx1
Force balance, m2 : T*
 − m2 g *
 =0 ⇒ T = m2 g
m2 g (20 kg)(9.81 m/s2 )

T = kx1 = m2 g ⇒ x1 = = = 0.196 m
k 1000 N/m
Dynamic condition:
Force balance, m1 : N*
 − m1 g *
 − kx1e *
ı +T*
ı = −m1 ẍ *
ı
*
ı: −kx1e + T = −m1 ẍ ⇒ T = kx1e − m1 ẍ
152
 − m2 g *
 = m2 ẍ *
 ⇒ T = m2 ẍ + m2 g
T = kx1e − m1 ẍ = m2 ẍ + m2 g ⇒ kx1e − m2 g = m1 ẍ + m2 ẍ
kx1e − m2 g (1000 N/m)(0.196 m + 0.01 m) − (20 kg)(9.81 m/s2 )

ẍ = = = 0.333 m/s2
m1 + m2 10 kg + 20 kg
case a: x1 = 0.196 m ,  m/s2

a*m = 0.333 *
static 2
DRAW: (case b)
SOLVE: (case b)
Static condition:
Force balance, m1 : kx2 *
 −T*
 − m1 g *
 =0 ⇒ T = kx2 − m1 g
 − m2 g *
 =0 ⇒ T = m2 g
(m1 + m2 )g (10 kg + 20 kg)(9.81 m/s2 )

T = kx2 − m1 g = m2 g ⇒ x2 = = = 0.294 m
k 1000 N/m
Dynamic condition:
Force balance, m1 : kx2e *
 −T*
 − m1 g *
 = m1 ẍ *

*
: T = −m1 ẍ + kx2e − m1 g
153
 − m2 g *
 = m2 ẍ *
 ⇒ T = m2 g + m2 ẍ
T = −m1 ẍ+kx2e −m1 g = m2 g+m2 ẍ ⇒ m1 ẍ+m2 ẍ = kx2e −m1 g−m2 g
kx2e − g(m1 + m2 ) kx2e

ẍ = = −g
m1 + m2 m1 + m2
(1000 N/m)(0.294 m + 0.01 m)

ẍ = − 9.81 m/s2 = 0.333 m/s2
10 kg + 20 kg
case b: x2 = 0.294 m ,  m/s2

a*m = 0.333 *
static 2
Note how both case a and case b produce the same accelerations. The acceleration is completely
due to extending the spring past its equilibrium state. Because it is a linear spring, extending it an
additional 0.01 m will produce the same net change in force no matter what the previous extension
was (∆F = k∆x). Both case a and case b experience the same net change in force when the spring
is extended an additional 0.01 m and since both cases deal with the same masses, the result is that
the accelerations in case a and case b are identical.
154
3.1.23
GOAL: Find the distance the cup travels due to the magic trick.
GIVEN: µ = 0.6 , mass = m , cup starts at x0 = 0.5 m , clothspeed= 15 m/s
DRAW:
ASSUME: Tablecloth has no acceleration. Cup only moves when tablecloth is under it. Cup
never reaches velocity of tablecloth. Cup starts from rest.
*
Force Balance: F = ma*
SOLVE:
N*
 + S*
ı − mg *
 = mẍ *
ı
*
 : N − mg = 0 N = mg
*
ı : S = mẍ
S = µN = µmg
µmg = mẍ
ẍ = µg = (0.6)(9.81 m/s2 ) = 5.89 m/s2

ẍ 2 5.89 m/s2 2
1D cup motion x cup = t + v0 t + x0 = t + 0.5 m
2 2
x cup = (2.94 m/s2 )t2 + 0.5 m (1)
1D cloth motion x = (15 m/s)t

tc
The cup stops moving when the table cloth is no longer under it. This occurs when x = x cup
tc
2 2
(15 m/s)t = (2.94 m/s )t + 0.5 m ⇒ t = 0.034 s
t = 0.034 s → (1) ⇒ x cup = 0.503 m
0.503 m − 0.5 m = 3.31 mm
cup has moved 3.31 mm
155
3.1.24
GOAL: Find the acceleration of blocks A and B.
GIVEN: Arrangement of the masses.
DRAW
* *
ı 
*
b1 cos θ sin θ
*
Force balance, mass A:
* *
mA a*A =
−mA g *
 + F2 b 1 + N2 b2
*
* (1)
= F2 − mA g sin θ b 1 + N2 − mA g cos θ b 2
Force balance, mass B :

* *
mB a*B = −m * * *
B g  + N1  − F1 ı −N2 b 2 − F2 b 1 (2)
= N2 sin θ − F2 cos θ − F1 *
ı + N1 − mB g − N2 cos θ − F2 sin θ *
ASSUME: Because the surfaces are frictionless between blocks A and B, and between B and
the ground, we can assume that both F1 and F2 are zero. Also, the directions of motion of both
blocks are constrained. Block B is constrained to move in the * ı direction (a*B = ẍ *
ı ) and block A is
*
constrained to move in the b 1 direction with respect to the block . The overall absolute acceleration
of the block A is found from
*
a*A = a*B + a*A/ = ẍ *
ı + s̈ b 1
B
Equations (1) and (2) simplify to
156
Mass A:
*
b 1: mA (s̈ + ẍ cos θ) = −mA g sin θ (3)
*
b 2: −mA ẍ sin θ = N2 − mA g cos θ (4)
Mass B :
*
ı: mB ẍ = N2 sin θ (5)
*
: 0 = N1 − mB g − N2 cos θ (6)
SOLVE:
(4),(5) ⇒ mB ẍ = sin θ(mA g cos θ − mA ẍ sin θ)
gmA sin θ cos θ
ẍ = (7)
mB + mA sin2 θ
gmA sin θ cos θ *

a*B = ı
mB + mA sin2 θ
gmA sin θ cos2 θ

(3),(7) ⇒ s̈ + = −g sin θ (8)
mB + mA sin2 θ
g sin θ(mA + mB )
s̈ = −
mB + mA sin2 θ
* gmA sin θ cos θ * g sin θ(mA + mB ) *

a*A = ẍ *
ı + s̈ b 1 = ı − b
mB + mA sin2 θ mB + mA sin2 θ 1
157
3.1.25
GOAL: Determine θ so a thrown ball returns to the thrower’s hand.
GIVEN: Force acting in x and y directions on the ball.
DRAW
v*0 = vx0 *
ı + vy0 *

r*ball/ = x *
ı + y*

O
Force balance: −(0.5 kg)g *

 − 2.0 *
ı N = (0.5 kg)(ẍ *
ı + ÿ *
)
*
ı : (0.5 kg)ẍ = −2 N ⇒ ẍ = −4 m/s2 (1)
*
 : (0.5 kg)ÿ = −(0.5 kg)g ⇒ ÿ = −g (2)
SOLVE:
(1) ⇒ ẋ = vx0 − (4 m/s2 )t (3)
(3) ⇒ x = vx0 t − (2 m/s2 )t2 (4)
(2) ⇒ ẏ = vy0 − gt (5)

gt2
(5) ⇒ y = vy0 t − (6)
2
Because the ball has to return to the person’s hand at some future time t (we’ll denote this particular
time as t∗ ) we have
(4) ⇒ 0 = vx0 t∗ − (2 m/s2 )t∗ 2 (7)
gt∗ 2
(6) ⇒ 0 = vy0 t∗ − (8)
2
vx0
(7) ⇒ t∗ (vx0 − (2 m/s2 )t∗ ) = 0 ⇒ t∗ = (9)
2 m/s2
gt∗ 2vy0

∗
(8) ⇒ t vy0 − = 0 ⇒ t∗ = (10)
2 g
vx0 2vy0 4 m/s2
(9), (10) ⇒ = ⇒ vx0 = vy = 0.408vy0 (11)
2 m/s2 g 9.81 m/s2 0
We know that v0 = 10 m/s and thus, since v*0 = vx0 *
ı + vy0 *
 we have
158
100 ( m/s)2 = vx20 + vy20 (12)

(11), (12) ⇒ 100 ( m/s)2 = (0.408)2 + (1)2 vy20
vy0 = 9.26 m/s
vx0 = (0.408)(9.26 m/s) = 3.78 m/s

v y0

θ = tan−1 v x0 = tan−1 9.26
3.78 = 67.8◦
159
3.1.26
GOAL: Find two values of θ that cause the block’s acceleration to be 8.8 ft/s2 .
GIVEN: Magnitude of the applied force, weight of the block, and the coefficient of friction.
DRAW
FORMULATE EQUATIONS: We’re given the magnitude of the applied force, but not the
*
ı + Fy *
direction, so let’s express this force in component form as F = Fx *  . We then need an
equation relating these quantities: q
F = Fx 2 + Fy 2 (1)
From the FBD=IRD pair, we also get:

mẍ *
ı = (Fx − S) *
ı + N − mg + Fy *
 (2)
where the friction force S is given by S = µN (3)

SOLVE: Plugging (3) into (2), and then breaking it into its respective components yields
*
ı: mẍ = Fx − µN (4)
*
: 0 = N − mg + Fy (5)
Eliminating N from (5), (4) ⇒ mẍ = Fx − µmg + µFy (6)

Solving (1) for Fx , and substituting that into (6) yields
q
m (ẍ + µg) = F 2 − Fy 2 + µFy (7)
Rearranging and squaring (7)⇒

h i
µ2 + 1 Fy 2 − 2mµ (ẍ + µg) Fy + m2 (ẍ + µg)2 − F 2 = 0

(8)
1.36Fy 2 − 41.92Fy + 320.2 = 0
The roots of which are Fy = 16.84, 13.98 lb (9)
(9) → (1) ⇒ Fx = 24.83, 26.54 lb

Thus, the two angles are

θ1 = tan−1 16.84
24.83 = 34.1◦

θ2 = tan−1 13.98
26.54 = 27.8◦
160
3.1.27
GOAL:
Find m1
For m2 = 0.9 kg, find θ at new static equilibrium
With I.C.’s y(0) = 1.2 m and ẏ(0) = 0 m/s, numerically integrate equations of motion to see actual
system response and equilibrium position.
DRAW:
Force balance, m1 : −(N − m1 g) *

ı + (T − S) *
 = m1 ẍ *

*
ı : N = m1 g (1)
*
 : m1 ẍ = T − S = T − µd N = T − µd m1 g (2)
Force balance, m2 : m2 ÿ = m2 g − 2T cos θ = m2 g − 2µd m1 g cos θ (3)
SOLVE:
Applying ẍ = 0 to (2) yields
T = µd m1 g (4)
Applying ÿ = 0 to (3) yields
m2 1 kg
m1 = 2µ cos θ = = 2.357 kg
d 2(0.3)(0.707)
(b)
m2 0.9 kg
(3)⇒ cos θ = = = 0.636
2µd m1 2(0.3)(2.357 kg)
161
θ = 50.48◦
(c) The governing equation (from (3)) is

2µd m1
ÿ = g − g cos θ
m2
From trigonometry we can find θ as a function of y:
y
cos θ = √ and so
1.44 m2 +y 2
2µd m1 y
ÿ = g − gp
m2 1.44 m2 + y 2
Using the given parameter values yields

2(0.3)(2.357 kg) y
ÿ = 9.81 m/s2 − (9.81 m/s2 ) p
0.9 kg 1.44 m2 + y 2
y
ÿ = 9.81 m/s2 − (15.41 m/s2 ) p
1.44 m2 + y 2
162
I.C.: y(0) = 1.2, ẏ(0) = 0.
The plot of y and ẏ versus t (found using MATLAB to integrate the governing equation for y)
shows that the system doesn’t go to the predicted equilibrium. The system has no damping and
therefore m2 drops to the predicted position, overshoots, returns, overshoots, etc. Without some
damping to dissipate the energy, the masses will simply continue to oscillate.
163
3.1.28
GOAL: Determine the time for a moving mass to be brought to a halt by a compression spring.
GIVEN: mass and spring constant as well as impact speed.
DRAW:
We’ll start the analysis from the first instant of contact. x measured from the location of the mass
at initial contact.
A force balance in the *ı direction gives us:
*
ı: mẍ = −kx
k
ẍ + x=0
m
88 ft/s
Our initial conditions are x0 = x(0) = 0 and v0 = ẋ(0) = 35 mph 60 mph = 51.3 ft/s.
SOLVE:
s s
k k
x(t) = a sin t + b cos t
m m
x(0) = 0 ⇒ b = 0
s r
k m
ẋ(0) = a = v0 ⇒ a = v0
m k
r s
m k
x(t) = v0 sin t
k m
s
k
ẋ(t) = v0 cos t
m
s s
k ∗ k ∗ π
ẋ(t∗ ) = 0 ⇒ cos t =0 ⇒ t =
m m 2
r s
∗ π m π 100 slug
t = = = 5.74 × 10−2 s
2 k 2 75, 000 lb/ft
164
3.1.29
GOAL: Find minimum mB to allow motion of a pulley system and then calculate the accelerations
of the two masses A and B for a given mB .
GIVEN: Slope that mA slides on and pulley geometry.
DRAW:
Perform a force balance for both masses:
( T2 − F ) b 1 + N b 2 − mA g *
* * *
Mass A:  = −mA ẍ b 1
*
T
b 1: − F − mA g sin θ = −mA ẍ (1)
2
*
b 2: N − mA g cos θ = 0 (2)
Mass B: mB g − T = mB ÿ (3)
ASSUME: −ẍ = 2ÿ (4)

SOLVE: As mB increases, the force F grows. When F = µs N we’re at the condition beyond which
the mass mA will move. Thus we’ll let ẍ = ÿ = 0 (no motion) and F = µs N
(2) ⇒ N = mA g cos θ (5)
T
(1), (5) ⇒ − µS mA g cos θ − mA g sin θ = 0 (6)
2
(3) ⇒ T = mB g (7)
mB g
(6), (7) ⇒
2 − µS mA g cos θ − mA g sin θ = 0
m∗B = 2mA (sin θ + µS cos θ)
Now let mB = 2m∗B = 4mA (sin θ + µS cos θ). We know we have slip and thus
F = µd N = µd mA g cos θ (8)
1 ∗ − m∗B ÿ) − µd mA g cos θ − mA g sin θ = −mA ẍ
(1), (3), (8) ⇒ 2 (mB g
165
1 ∗
Using −ẍ = 2ÿ ⇒ 2 mB g − µd mA g cos θ − mA g sin θ = 2ÿmA + 21 ÿm∗B
g[m∗B − 2mA (µd cos θ + sin θ)]

ÿ =
4mA + m∗B
ẍ = −2ÿ
166
3.1.30
GOAL: Find the minimum mB that allows motion for all the blocks in the illustrated system and
determine the tension in the cord when mB is fifty percent greater than the minimum value that
permits motion to occur.
GIVEN: mA > mC
DRAW:
System coordinates:
Individual FBD=IRD diagrams:
ASSUME: Because the cord is inextensible we have

∆xA + ∆xC + 2∆xB = 0
2aB = −aA − aC (1)

Block A: (T − FA ) *
ı + (N1 − mA g) *
 = −mA aA *
ı
*
ı : T − FA = −mA aA (2)
*
 : N1 − mA g = 0 ⇒ N1 = mA g (3)
Block C: (FC − T ) *
ı + (N2 − mC g) *
 = mC aC *
ı
*
ı : FC − T = mC aC (4)
167
*
 : N2 − mC g = 0 ⇒ N2 = mC g (5)
Block B: mB g − 2T = mB aB (6)
SOLVE:
Block B will move if either A or C slip. If we assume static conditions then we have
m g
(6) ⇒ T = B (7)
2
mB g
(7) → (2) ⇒ FA = (8)
2
mB g
(7) → (4) ⇒ FC = (9)
2

FA = µs N1 = µs mA g (10)

No-slip ⇒ max

FC = µs N2 = µs mC g (11)

No-slip ⇒ max
(8), (10) ⇒ mB = 2µs mA (12)
(9), (11) ⇒ mB = 2µs mC (13)

Because we’re given mA > mC the critical limit comes from taking the larger of the two:
m∗B = 2µs mA
If we now let mB = 1.5m∗B all masses will accelerate and the friction forces FA and FC will have
their sliding friction values,
FA = µd mA g and FC = µd mC g
T
(2) ⇒ aA = − + µd g (14)
mA
T
(4) ⇒ aC = − + µd g (15)
mC
!
1 1
(1), (14), (15) ⇒ −2aB = 2µd g − T +
mA mC
(mA + mC )T
aB = −µd g + (16)
2mA mC
!
(mA + mC )T
(6), (16) ⇒ mB g − 2T = mB −µd g +
2mA mC
2mA mB mC g(1 + µd )
T =
mA mB + mB mC + 4mA mC
Letting mB = 3µs mA gives us
6µs m2A mC g(1 + µd )
T =
3µs mA (mA + mC ) + 4mA mC
168
3.1.31
GOAL: (a) Find the equation governing the speed of the mass, solve it, and find the limiting speed
as time t goes to infinity. (b) Find the limiting speed from the equation of motion. (c) Numerically
integrate the equation of motion and plot position and velocity versus time.
GIVEN: Initial conditions, mass, and coefficient of drag.
DRAW
FORMULATE EQUATIONS: From the FBD=IRD pair, the equation of motion is
mẍ = mg − cẋ
c (1)
ẍ = g − m ẋ
SOLVE:
(a) If we let v = ẋ, then from (1), the differential equation governing the speed of the mass is
c
v̇ + v=g (2)
m
Assume that the solution of this ODE has the form
c
v(t) = ae−( m )t + b (3)
where a and b are constants. To find a, we can set t = 0 in (3), which will give us the initial
condition:
v(0) = v0 = a + b ⇒ a = v0 − b (4)
c
(4) → (3) ⇒ v(t) = (v0 − b)e−( m )t + b (5)
mg
(5) → (2) ⇒ b= (6)
c
mg −( c )t mg
(6) → (5) ⇒ v(t) = (v0 − )e m + (7)
c c
Taking the limit of (7) as time t goes to infinity yields:
mg
as t → ∞, v(t) → c
(b) We can also find the limiting speed from by setting ẍ = 0 in the equation of motion, (1):
c
0=g− v (8)
m limit
mg
vlimit = c
169
f
(c) Using MATLAB R , we first code (1) into a function
function y = SinkingMass(t,x,m,c,g)
y(1) = x(2);
y(2) = g - c/m*x(2);
y=y’;
We can then run ode45 from the following script
% 3.1.31 script
c = 5; %N/m
m = 10; %kg
g = 9.81; %m/s
x0 = 0;
xdot0 = 10; %m/s
ic = [x0; xdot0];
[t,X] = ode45(@SinkingMass,[0 20],ic,’’,m,c,g);
figure(1) plot(t,X(:,1));
xlabel(’time (s)’);
ylabel(’position (m)’);
figure(2); plot(t,X(:,2));
xlabel(’time (s)’);
ylabel(’speed (m/s)’);
This produces the following two figures.
Figure 1: Position versus time.
170
Figure 2: Speed versus time.
171
3.1.32
GOAL: Find the steady-state position of the mass relative to the platform.
GIVEN: Mass m = 10 kg, unstretched spring length L = 0.3 m, spring stiffness k = 1000 N/m,
ẍ = 20 m/s2 .
DRAW
ASSUME: We’ve been told to ignore transient motions and so only consider the situation for
which the mass is stationary with respect to the platform.
FORMULATE EQUATIONS: Let the final position of the mass relative to the platform be
r*m = −d *
ı (1)
From physical considerations we expect that when the platform accelerates to the left the mass will
equilibrate to the right of its original location.
The positions of the masses relative to the points where the springs are attached are
r*m/ = −d *
ı + L*
 (2)
sp1
r*m/ = −d *
ı − L*
 (3)
sp2
The expressions for the forces applied by the springs on the mass is
r*m −d *
ı + L*

p
* /sp1
F sp1 = −k k r *
m/ k−L *
= −k d2 + L2 − L √ (4)
sp1 kr m/ k d2 + L2
sp1
r*m −d *
ı − L*

p
* /sp2
F sp2 = −k k r *
m/ k−L = −k d2 + L2 − L √ (5)
sp2 k r*m/ k d2 + L2
sp2
From the FBD=IRD, we get

* *
F sp1 + F sp2 = mẍ *
ı (6)
SOLVE: Breaking (6) into components only yields a useful equation for the *
ı direction:
√
2kd d2 + L2 − L
√ = mẍ (7)
d2 + L2
p 2kdL
Rearranging (7) ⇒ d2 + L2 = (8)
2kd − mẍ
Squaring (8) ⇒ 4k 2 d4 − 4kmẍd3 + m2 ẍ2 d2 − 4kmẍL2 d + m2 ẍ2 L2 = 0 (9)
(9) ⇒ 4.0×106 d4 − (8.0×105 m)d3 + (4.0×104 m2 )d2 − (7.2×104 m3 )d + 3.6×103 m4 = 0
d = 0.3183 m, 0.0503 m, (−0.0843 ± 0.2215i) m
172
Looking at the four possible values of d, we can first eliminate those with an imaginary part because
distance must only have real parts. Of the two remaining values, we check these values against (8),
and find that only d = 0.3183 is valid. The other value was picked up when we squared (8). Thus,
r*m = −0.3183 *
ım
173
3.1.33
GOAL: Determine the steady state position of a mass with respect to accelerating platform.
GIVEN: Acceleration of the platform, parameter values, and dimensions.
DRAW:
If friction alone is sufficient to support the given acceleration, the mass will not move with respect
to the platform. Since this case is easiest, check it first.
Maximum acceleration from friction alone: *

F = µN = µmg = mkakmax (1)
SOLVE:
*
kak 2 * 2
(1) ⇒ max = µg = 0.6(9.81 m/s ) ⇒ kakmax = 5.87 m/s (2)
So, friction alone can provide enough force to sustain the required 4 m/s2 acceleration of the plat-
form. Consequently, the mass does not move from its original position on the platform, i.e.
*
r*m = (x + 0.4) m i
174
3.1.34
GOAL: Determine the number of car lengths needed for a car to come to a complete stop under
a given deceleration.
GIVEN: Initial speed and deceleration.
DRAW:
Force balance: mẍ *
ı = (N − mg) *
 − S*
ı
*
ı : mẍ = −S (1)
*
 : 0 = N − mg (2)
SOLVE:
We’re already given the fact that the car’s deceleration is equal to 1.1g. Thus we won’t have to use
the equations of motion to determine ẍ.
If we have a constant deceleration then we can integrate once to obtain
ẋ = −1.1gt + 88 ft/s (3)
and again to find
1.1gt2
x=− + (88 ft/s)t (4)
2
Letting ẋ = 0 in (3) gives us
88 ft/s
t= = 2.48 s (5)
1.1(32.2 ft/s2 )
1.1(32.2 ft/s2 )(2.48 s)2
(5) → (4) ⇒ x=− + (88 ft/s)(2.48 s) = 109 ft (6)
2
109 ft
Number of car lengths = = 7.3
15 ft
This gives you a solid idea of how much space is needed to come to rest when traveling at 60 mph.
You should realize that a real-world stopping distance will be even longer, due to braking levels
likely being below 1.1g and the reaction time needed for you to initiate braking.
175
3.1.35
GOAL: Determine the overall braking force acting on a decelerating car.
GIVEN: Initial speed, time for constant deceleration and car’s weight.
DRAW:
Force balance: mẍ *
ı = (N − mg) *
 + Fb *
ı
*
ı : mẍ = Fb (1)
*
 : 0 = N − mg (2)
SOLVE:
The car goes from 60 mph = 88 ft/s in 2 s at a constant deceleration. Thus we have
∆v 0 − (−88 ft/s)
ẍ = = = 44 ft/s2 (3)
∆t 2s
!
2900 lb
(1), (3) ⇒ Fb = (44 ft/s2 ) = 3963 lb
32.2 ft/s2
176
3.1.36
GOAL: Find deceleration that causes a mass to separate from an enclosure
GIVEN: System parameters and pre-stress.
DRAW:
ASSUME: When the mass in in contact with the enclosure, the normal force N is positive.
Separation occurs when this force goes to zero
ASSUME: mẍ = N − F0
SOLVE:
N = mẍ + F0 = 0
F 0.15 N 2
ẍ = − m0 = − 0.03 kg = −5 m/s
177
3.1.37
GOAL: (part A) Starting from rest, find time required for sled to travel 2000 m. (part B) Find
speed when x = 2000 m. (part C) Find sled’s terminal velocity. (part D) Consider massless sled
which implies constant velocity. Find time needed to reach 2000 m. (part E) How close does the
time under massless assumption match the actual time required? (part F) Is there a distance in
which the massless assumption is a poor approximation?
GIVEN: thrust=200, 000 N, drag force=1600|ẋ| kg/ s, mass = 400 kg
DRAW:
ASSUME: Frictionless surface

*
N*  + 2 × 105 *
 − mg * ı N − 1600|ẋ| *
ı kg/ s = mẍ *
ı
*
ı : 2 × 105 N − 1600|ẋ| kg/ s = 400 kg ẍ
SOLVE:
400ẍ + 1600ẋ = 2 × 105
ẍ + 4ẋ = 500
let v = ẋ v̇ + 4v = 500
This first order ODE is much easier to solve.
Consider the particular solution (v = const, v̇ = 0)
vp : 0 + 4vp = 500 ⇒ vp = 125
Consider the homogeneous solution
vh : v̇h + 4vh = 0
(λ)(λ + 4) = 0 ⇒ λ = −4 ⇒ vh = a1 e−4t
the solution to the first order ODE is the sum of the particular and homogeneous solutions
v(t) = vp + vh ⇒ v(t) = 125 + a1 e−4t
Solve for a1 using the initial condition of v(0) = 0
0 = 125 + a1 e0 ⇒ a1 = −125 ⇒ v(t) = 125(1 − e−4t )
This equation can be integrated to find x(t)

Z Z
x(t) = vdt = 125(1 − e−4t )dt = 125t + 31.25e−4t + a2
178
Let x(0) = 0 and solve for a2
x(0) = 0 = 0 + 31.25e0 + a2 ⇒ a2 = −31.25
x(t) = 125t + 31.25(e−4t − 1)

SOLVE: (part A)
2000 m = 125t + 31.25(e−4t − 1) ⇒ t = 16.25 s
(part A) t = 16.25 s
SOLVE: (part B)
v(16.25 s) = 125 1 − e−4(16.25 s) = 125 m/s

(part B) v(16.25 s) = 125 m/s

SOLVE: (part C)
consider the velocity expression and let t approach infinity.
v(∞) = 125(1 − e−∞ ) = 125 m/s
(part C) v(∞) = 125 m/s

SOLVE: (part D)
With a massless approximation, there is a constant velocity, v̇ = 0
let v = ẋ v̇ + 4v = 500 ⇒ 4v = 500 ⇒ v = 125 m/s
Z Z
x(t) = vdt = 125dt = 125t + a3 a3 = 0
2000 = 125t ⇒ t = 16.00 s

(part D) t = 16.00 s
SOLVE: (part E)
The difference between the two times is 0.25 s. The error associated with neglecting mass is 1.5%.
The massless assumption is a good approximation at 2000 m
SOLVE: (part F)
Yes, there is a distance over which the massless assumption makes bad approximations. This time
span is refereed to as an ’inertial response’ while the massless assumption represents the ’steady
state’ or in this case, the sleds terminal velocity. After a certain distance has been traveled, the
sled’s velocity approaches the terminal velocity. The forces approach summing to zero and the
acceleration approaches zero. This is why the massless assumption works after a certain distance
has been traveled.
179
3.1.38
GOAL: Find the acceleration of the mass just after the enclosure begins to accelerate.
GIVEN: Initial spring compression d = 0.1 m, spring stiffness k = 20 N/m, ẍ = 6 m/s2 , mass
m = 0.5 kg.
DRAW
FORMULATE EQUATIONS: We need to distinguish between two cases. In (a) the mass m is
always in contact with the enclosure’s right wall whereas in (b) it moves away from the wall. We
have to determine which situation holds in this case. Let’s examine (a) first.
mẍ = F0 − F
SOLVE:
F = F0 − mẍ = (20 N/m)(0.1 m) − (0.5 kg)(6 m/s2 ) = −1 N
A solution with a negative force means that the only way to keep the mass in contact with the
wall is to pull it to the right. As we have nothing to do any such pulling, the conclusion is that it
doesn’t remain in contact. Hence we need to move to case (b).
m(ẍ − ÿ) = F0 + ky
mÿ + ky = mẍ − F0
SOLVE:
Dividing by m and substituting the given parameter values gives us
ÿ + (40 s−2 )y = 2 m/s2
Using initial conditions of y(0) = 0 and ẏ(0) = 0 in an assumed solution
√ √ 1
y(t) = a1 sin 40 s−2 t + a2 cos 40 s−2 t + m
20
we’ll obtain a final solution
1 √
y(t) = 1 − cos 40 s−2 t m
20
which means ÿ is given by
√
ÿ(t) = (2 m/s2 ) cos 40 s−2 t
The acceleration of the mass is given by ẍ − ÿ:
√
ẍ − ÿ = (6 − 2 cos 40 s−2 t) m/s2
180
Evaluating at t = 0 gives us
ẍ(0) − ÿ(0) = 6 m/s2 − 2 m/s2 = 4 m/s2
181
3.1.39
GOAL: Determine if answers proposed by hypothetical student are correct.
GIVEN: Student’s calculated values
DRAW:
a) The student’s results are incorrect. The student reports s̈ > 0, which implies that m2 is
accelerating up the wedge. Since this incorrect result is obtained when the sliding assumption is
made, m2 must not slide with respect to m1 , and the entire system remains in static equilibrium.
b) Again, the student’s results are incorrect. N < 0 implies that the normal force acts in the
direction opposite from that indicated on the FBD. The interface between m2 and m1 is not
capable of supporting such a normal force.
Physically, in case (a) the entire system is either stationary (if there is enough friction to preclude
slip of the mass on the wedge) or the wedge will accelerate to the right while the mass accelerates
to the left.
In case (b), depending on the magnitude of the applied force G, we could see the entire system
accelerating to the right as a single rigid body, the mass could slip downslope while the wedge
accelerates to the right or the mass could go into freefall if the wedge accelerates at a high enough
rate to cause a loss of contact.
182
3.1.40
GOAL: (part a) Find minimum mass m∗B for block A to accelerate right and block B to accelerate
down the plane. (part b) Find maximum coefficient of static friction that would make sense. (part
c) Find acceleration expressions for the blocks.
GIVEN: Massless ropes and pulleys. Spring stretched by amount δ. Mass B is on a surface with
different static and dynamic coefficients of friction.
DRAW:
* *
ı 
*
b1 cos φ − sin φ
*
b2 sin φ cos φ
ASSUME: Mass A is on a frictionless surface.
(a):
The minimum mass m∗B can be thought to be the mass in which the system is in equilibrium, all
accelerations are zero, and the friction at B is at its maximum possible static value just barely
holding B in place.
FBD=0 for mA : N*
 − mA g *
 + T1 *
ı − kδ *
ı =0
*
ı : T1 − kδ = 0 ⇒ T1 = kδ
* * *
FBD=0 for pulley: T2 b 1 − T1 b 1 − T1 b 1 = 0 ⇒ T2 = 2T1 = 2kδ (1)
183
* * *
FBD=0 for m∗B : −T2 b 1 − m∗B g *
 + N b 2 − µs N b 1 = 0
* * * * *
−T2 b 1 − m∗B g(− sin φ b 1 + cos φ b 2 ) + N b 2 − µs N b 1 = 0
*
b2 : −m∗B g cos φ + N = 0 ⇒ N = m∗B g cos φ (2)
*
b1 : −T2 + m∗B g sin φ − µs N = 0 (3)
SOLVE:
(1), (2) → (3) ⇒ −2kδ + m∗B g sin φ − µs m∗B g cos φ = 0
m∗B g(sin φ − µs cos φ) = 2kδ
m∗B = 2kδ
g(sin φ−µs cos φ)
(b):
Part (b) asks for the maximum reasonable value of µs . From the expression for m∗B we see that µs
will be negative (which is quite unreasonable) if
µs cos φ > sin φ ⇒ µs > tan φ
maximum value of µs is tan φ

(c) mB > m∗B , which means that A accelerates to the right and B accelerates down the plane. B
has overcome static friction. x describes the position of A past the initial spring extension of δ.
Similarly y describes the position of B
* * *
FBD=IRD=0 for massless pulley T2 b 1 − T1 b 1 − T1 b 1 = 0 ⇒ T2 = 2T1 (4)
FBD=IRD for mA : N*
 − mA g *
 + T1 *
ı − k(x + δ) *
ı = mA ẍ *
ı
*
ı : T1 − k(x + δ) = mA ẍ (5)
* * * * * *
FBD=IRD for mB : −T2 b 1 − mB g(− sin φ b 1 + cos φ b 2 ) + N b 2 − µd N b 1 = mB ÿ b 1
*
b2 : −mB g cos φ + N = 0 ⇒ N = mB g cos φ (6)
*
b1 : −T2 + mB g sin φ − µd N = mB ÿ (7)
SOLVE:
(4), (6) → (7) ⇒ −2T1 + mB g sin φ − µd mB g cos φ = mB ÿ (8)
(5), (8) ⇒ 2T1 − 2k(x + δ) − 2T1 + mB g sin φ − µd mB g cos φ = mB ÿ + 2mA ẍ
ẍ
ÿ =(conservation of rope)
2
m
−2k(x + δ) + mB g sin φ − µd mB g cos φ = B ẍ + 2mA ẍ
2
184
−2k(x + δ) + mB g sin φ − µd mB g cos φ
ẍ = mB
2 + 2mA
−2k(x + δ) + mB g sin φ − µd mB g cos φ
ÿ =
mB + 4mA
−2k(x + δ) + mB g sin φ − µd mB g cos φ *

Acceleration of A is mB ı
+ 2mA
2
−2k(x + δ) + mB g sin φ − µd mB g cos φ *

Acceleration of B is mB + 4mA b1
185
3.1.41
GOAL: Determine when Block B will strike the ground.
GIVEN: Mass of blocks and pulley configuration.
DRAW:
Construct a force balance for each mass:
A: mA ẍ1 = mA g − T1 (1)
B: mB ẍ3 = mB g − 4T1 (2)

ASSUME: The motions of the masses are constrained by the pulley geometry and are given by:
1 1
ẋ1 = −2ẋ2 , ẋ2 = 2ẋ3 ⇒ ẋ3 = − ẋ1 ⇒ ẍ3 = − ẍ1 (3)
4 4
SOLVE:
(1), (2), (3) ⇒ mB (− 41 ẍ1 ) = mB g − 4(mA g − mA ẍ1 )
1
(4mA + mB )ẍ1 = g(−mB + 4mA )
4
g(−mB + 4mA ) (9.81)(80 − 160)
ẍ1 = = = −6.54 m/s2 (4)
1 1
(4mA + mB ) (4)(20) + (160)
4 4
(3), (4) ⇒ ẍ3 = 1.635 m/s2 (5)

1
∆x3 = ẍ3 t2 ⇒ 0.5 m = 0.5(1.635 m/s2 )t2 ⇒ t = 0.782 s
2
186
3.1.42
GOAL: Find a*A .
GIVEN: Pulley geometry, applied force and mA .
DRAW:
mA ẍA = mA g − 4F (1)
SOLVE:
4F
ẍA = g −
mA
4(50 N)
ẍA = 9.81 m/s2 − 10 kg = −10.2 m/s2
187
3.1.43
GOAL: Determine Block A’s speed 1.5 s after being released from rest.
GIVEN: Mass of blocks and pulley configuration.
DRAW:
Construct a force balance for each mass:
A: mA ÿ = mA g − T (1)
T
B (*
ı direction): mB ẍ = (2)
4
ASSUME: The motions of the masses are constrained by the pulley geometry and are given by:
z̈ = 2ÿ (3)
ẍ = 2z̈ (4)
SOLVE:
(3), (4) ⇒ ẍ = 4ÿ (5)
1
(1), (2), (5) ⇒ 4ÿmB = mA g − mA ÿ
4
m m g
(4mB + A )ÿ = A
4 4
mA g (10 kg)(9.81 m/s2 )
ÿ = = = 0.711 m/s2
16mB + mA [16(8 kg) + 10 kg]
After 1.5 s of constant acceleration the speed ẏ will be
ẏ = (0.711 m/s2 )(1.5 s) = 1.07 m/s
188
3.1.44
GOAL: Determine how long it takes for B to reach a height of 1 m off the floor.
GIVEN: Mass of blocks, pulley configuration and applied force as a function of time.
DRAW:
Note that in the expression for the applied force, aet , there is an implicit coefficient associated
with the exponent t of 1 s−1 in order to render the t term nondimensional. When we integrate
this expression later on we’ll carry this dimensional coefficient through in order to keep all the
dimensions consistent.
Note that in the FBD=IRD diagram there is a normal force N illustrated. This is to account for
the fact that the applied force might not be sufficient to cause an immediate upward motion.
Construct a force balance for each mass, including both an acceleration and normal force:
Force balance, B: mB ÿB = mB g − F − N (1)
Force balance at A: F = 4T (2)

SOLVE:
First we’ll look at the possibility of ÿB being zero and the normal force N being finite. Letting
ÿB = 0 gives us
N = mB g − 4T = mB g − 4aet
At t = 0 we have
N = (1.1 kg)(9.81 m/s2 ) − 4(1.1 N) = 6.39 N
N is greater than zero initially and thus the bucket simply sits still on the ground. It doesn’t start
to move until the applied force reaches (and then exceeds) mB g. We can solve for the time t1 at
which this occurs:
mB g = 4aet1
9.81

t1 = ln s = 0.897 s
4
Now we can go back to (1),(2) and let N =0 (for t > t1 the bucket lifts off the floor).
4ae(t+0.897 s)
(1), (2) ⇒ ÿB = g −
mB
Integrating gives us
189
4ae(t+0.897 s)
ẏB = gt − s + C1
mB
Using the initial condition ẏB (0) = 0 gives us C1 = 9.81 m/s.
Integrating again and we’ll get
gt2 4ae(t+0.897 s) 2
yB = − s + (9.81 m/s)t + C2
2 mB
Using yB = 0 at t = 0 gives us C2 = 9.81 m. Thus our final expression for yB is
gt2 4ae(t+0.897 s) 2
yB = − s + (9.81 m/s)t + 9.81 m
2 mB
We now need to solve this expression for the value of elapsed time t2 for which yB = −1 m.
Numerically solving yields t2 = 0.791 s. Thus the total time for the bucket to rise 1 m above the
ground is
t = t1 + t2 = 1.69 s
190
3.1.45
GOAL: Find the takeoff speed to make a motorcycle jump without air drag. Include air drag and
recalculate the minimum needed speed. Determine the percentage change in the necessary speed.
GIVEN: Dimensions of the jump and the expression for air drag.
DRAW:
FORMULATE EQUATIONS: Let the velocity and acceleration of the particle P be denoted
by v* and a.
*
*
Force balance: ma* = −mg *
 + Fd (1)
SOLVE: *
For the first part we set F d to zero and are left with a basic kinematics problem (trajectories in
free-fall). The launch angle is 45◦ and so if the launch speed is v0 the horizontal and vertical
v
components each have a magnitude of √02 . The motorcycle/rider (particle P ) travels a horizontal
distance of 30 ft and so we have √
v0 t 30 2 ft
x direction: √ = 30 ft ⇒ t = (2)
2 v 0
√
v t gt2 2v0
y direction: 0 = √0 − ⇒t= (3)
2 2 g
√ √
30 2 ft 2v0
(2), (3) ⇒ = ⇒ v0 = 31.08 ft/s
v0 g
Now let’s consider the drag force. We’re given that it opposes the velocity vector of the moving
particle. The unit vector pointing opposite to the velocity vector can be found from calculating
v*
|v|
and thus we have
* v*
F d = −(0.24 lb· s2 /ft2 )v 2 = −(0.24 lb· s2 /ft2 )|v|v*
|v|
The horizontal and vertical accelerations are thus given by
1 2 2
q
*
ı : ẍ = − (0.24 lb· s /ft ) ẋ2 + ẏ 2 ẋ (4)
m
1 q
*
 : ÿ = −g − (0.24 lb· s2 /ft2 ) ẋ2 + ẏ 2 ẏ (5)
m
Integrating these two equations, using a mass of m = 15.5 slg, and iterating until the mass reaches
30 ft with an associated height of 0 gives us a solution of
191
ẋ = ẏ = 26.903 ft/s
For these values of ẋ and ẏ the mass reaches x = 30.00 ft, y = 0.00 ft at t = 1.4828 s. The launch
speed is given by
√
v0 = 2(26.903 ft/s) = 38.05 ft/s
The percentage increase due to air drag is
38.05 − 31.08
percent increase = = 22.4%
31.08
192
3.2 Polar Coordinates
193
3.2.1
GOAL: Determine if the mass particle will leave the cylinder’s surface before it reaches the top.
GIVEN:
Contact is lost when N = 0 θ = t2
DRAW:
* *
ı 
e*r cos θ sin θ
e*θ − sin θ cos θ
Force balance:

2*
N e*r + S e*θ − mgn
* *
2 = ma = m −r θ̇ e r + r θ̈ e θ

e*r (N − mg sin θ) + e*θ (S − mg cos θ) = m −rθ̇2 e*r + rθ̈ e*θ
e*r : N − mg sin θ = −mrθ̇2 (1)
e*θ : S − mg cos θ = mrθ̈ (2)

SOLVE:
Since θ = t2 rad/s2 we have θ̇ = (2 rad/s2 )t and θ̈ = 2 rad/s2 Using these relations in (1) and (2)
gives:
N = mg sin t2 rad/s2 − (4mr s−4 )t2 (3)

S = mg cos t2 rad/s2 + 2mr s−2 (4)
As contact is lost if N = 0, we can write:

mg sin t2 rad/s2 = (4mr s−4 )t2
Which leads to:
4r −4 2

sin t2 rad/s2 = s t = (0.8155 s−2 )t2 (5)
g
Using whatever nonlinear equation solver you find convenient will lead to t2 = 1.0835 s2 . Because
θ = t2 rad/s2 , we find that θ = 1.0835 rad < π2 . Thus the normal force will go to zero before the
mass reaches the top and contact will be lost.
194
3.2.2
GOAL: The bowl accelerates to the right causing the mass to slide up the left side of the bowl
at an angle. At a certain bowl acceleration ax the mass just reaches the top edge of the bowl
(described by angle θ0 ). Solve for ax in terms of θ0
GIVEN: ẍ = ax
DRAW:
* *
ı 
e*r − sin θ − cos θ
e*θ − cos θ sin θ
ı + (rθ̈ e*θ − rθ̇2 e*r )
a*m = a*b + a*m/ = ax *
b
Force balance: ı + rθ̈ e*θ − rθ̇2 e*r ) = −T e*r − mg *

m(ax * 
m[(−rθ̇2 −ax sin θ) e*r +(rθ̈−ax cos θ) e*θ ] = (mg cos θ−T ) e*r −mg sin θ e*θ
e*r : m(rθ̇2 + ax sin θ) = T − mg cos θ (1)
e*θ : m(rθ̈ − ax cos θ) = −mg sin θ (2)

SOLVE:
g a
(2) ⇒ θ̈ = − sin θ + x cos θ
r r
We can now use θ̈ dθ = θ̇ dθ̇ where
g a
θ̇ dθ̇ = − sin θ dθ + x cos θ dθ
r r
Integrating with respect to time gives us
θ̇2 g a
= (cos θ − 1) + x sin θ (3)
2 r r
This solution allows us to solve for θ̇ at a corresponding θ and correctly shows the initial state of
θ̇ = 0 when θ̇ = 0, i.e. the mass is at the bottom of the bowl.
We want the solution for which the mass reaches the lip of the bowl with no angular velocity (θ̇ = 0
and θ = θ0 )
195
g a
(3) ⇒ 0= (cos θ0 − 1) + x sin θ0
r r
1 − cos θ0

ax = g sin θ0
196
3.2.3
GOAL: When will the mass first lose contact with the disk’s surface?
GIVEN:
• The mass of m is 0.3 kg.
• The spring exerts a force on the mass of 20 N.
• The disk is initially at rest, and begins spinning with a constant angular acceleration, θ̈, of
1.0 rad/s2 .
• The radius of the disk, r, is 0.5 m.
DRAW:
Force balance:
h i
m r̈ − rθ̇2 e*r + rθ̈ + 2rθ̇ e*θ = P e*θ + (N − 20 N) e*r

e*r : m r̈ − rθ̇2 = N − 20 N (1)

e*θ : m rθ̈ + 2rθ̇ = P (2)
SOLVE:
Until contact is lost, r is constant, so ṙ = r̈ = 0. Since θ̈ = 1.0 rad/s2 , θ̇ = t rad/s2 .
Inserting these values into (1) and (2), we get

(0.3 kg) 0 − (0.5 m)t2 s−4 = N − 20 N (3)
and
(0.3 kg) (0.5 m)(1 rad/s2 ) + 0 = P (4)
For loss of contact, N = 0. So from (3) we get
20 N − 0.15t2 kg· m/ s4 = 0
t = 11.5 s
197
3.2.4
GOAL: What is the traction force between the tires and the road at θ = 30 degrees?
GIVEN:
The car has mass m, and is travelling with constant velocity on a circular path.
DRAW:
* *
ı 
e*r sin θ cos θ
e*θ cos θ − sin θ
T represents the traction force.

m r̈ − rθ̇2 e*r + m rθ̈ + 2ṙθ̇ e*θ = N e*r + T e*θ − mg *
 = (N − mg cos θ) e*r + (T + mg sin θ) e*θ

e*r : m r̈ − rθ̇2 = N − mg cos θ (1)

e*θ : m rθ̈ + 2ṙθ̇ = T + mg sin θ (2)
SOLVE:
The velocity is constant and the path is circular. Thus θ̈ = 0, and ṙ = r̈ = 0. From this (2)
becomes:
T + mg sin θ = 0
T = −mg sin 30◦ = − mg

2
198
3.2.5
GOAL: Find the critical value of the cylinders rotational speed, ω, such that the people don’t slip
down when the floor moves away from them.
GIVEN:
The coefficent of friction, µ, is 0.8, and the radius of the cylinder, r, is 2 m.
DRAW:
FR is the force developed between a person and the wall that resists the downward force of gravity.

mz̈ e*z + m r̈ − rθ̇2 e*r + m rθ̈ + 2ṙθ̇ e*θ = −N e*r − mg e*z + FR e*z
Since z, r and ω are constant, we can write ż = z̈ = ṙ = r̈ = θ̈ = 0. This gives us:
−mrθ̇2 e*r = −N e*r + (FR − mg) e*z
e*r : N = mrθ̇2 (1)
e*z : FR = mg (2)
SOLVE:
The frictional force is related to the normal force through FR = µN . Thus we can write:
mg = µmrθ̇2
g = µrθ̇2
s
q
g 9.81 m/s2
θ̇ = ω = µr = = 2.48 rad/s = 23.6 rpm
(0.8)(2 m)
199
3.2.6
GOAL: find the time at which the mass m slips.
DRAW:
* *
Force balance: (N3 − mg)k − N2 e*r − N1 e*θ = m(ar e*r + aθ e*θ + ak k )
*
Resolve in e*r , e*θ and k directions
−N2 = mar (1)

−N1 = maθ (2)
N3 − mg = mak (3)
CONSTRAINTS: Assume mass stays in contact with turnable. This means ak = 0. Further,
until the mass starts to slip we have r̈ = ṙ = 0. Thus, the acceleration of m is
a* = −rθ̇2 e*r + rθ̈ e*θ (4)
SOLVE: We are given that θ̈ = 4 rad/s2 is constant and that θ̇(t = 0) = 0. Thus, integrating
with respect to time, we get θ̇(t) = (4 rad/s2 )t.
Using (4), (1) and (2) we get
2
N2 = m(1 m) 4 rad/s2 t2 , N1 = −m(1 m) 4 rad/s2 (5)
Slip occurs when the needed force to maintain no-slip is greater than µs N3 . The limiting case is
when it is equal to µs N3 .
q rh i2
µs mg = N12 + N22 =m (1 m)(4 rad/s2 )2 t2 + (4 m/s2 )2 (6)
m cancels on both sides of the equation and we can solve for t = 0.421 s
200
3.2.7
GOAL: Find the time for the mass to reach the end of the door, and the angle of the door at that
time.
GIVEN: Mass m, initial and final positions of the mass, and the angular speed of the door, ω0 .
DRAW
ASSUME: The angular acceleration of the door is zero: ω̇0 = 0. The initial radial velocity is zero:
ṙ0 = 0.
FORMULATE EQUATIONS: The initial and final positions of the mass are given by
r*0 = 0.4L e*r (1)
r*f = L e*r (2)

The acceleration of the mass is
a* = (r̈ − rω0 2 ) e*r + (2ṙω0 ) e*θ (3)
A force balance gives us

N e*θ = ma* = m(ar e*r + aθ e*θ ) (4)
SOLVE: Plug (3) into (4) and break into components:
e*r : r̈ = rω0 2 (5)
e*r : N = 2ṙω0 (6)
(5) ⇒ r̈ − ω02 r = 0 (7)

This can be solved both analytically and numerically. The analytical solution is relatively straight-
forward. Assume a solution of the form
r(t) = aeλt (8)
(7), (8) ⇒ aeλt (λ2 − ω02 ) = 0 ⇒ λ1,2 = ±ω0

This has the general solution
r(t) = a1 eω0 t + a2 e−ω0 t
Using the initial conditions r = 0.4L and ṙ(0) = 0 gives us the final solution
eω0 t + e−ω0 t
!
r(t) = 0.4L
2
ω t −ω t
The expression e 0 +e2
0
can be recognized as a hyperbolic cosine and thus we can more compactly
write the solution as
201
r(t) = 0.4L cosh(ω0 t)
To solve for when the mass reaches the end of the door we need to evaluate
r(tf ) = 0.4L cosh(ω0 tf ) = L
ω0 tf = cosh−1 (2.5) = 1.567 ⇒ tf = 1.567

ω
0
Because the door is opening at a constant rate, the angle is simply equal to ω0 tf

θ = ω0 1.567 = 1.567 rad
ω0
202
3.2.8
GOAL: Find and solve the equations of motion for a mass sliding on a frictionless, rotating rod
GIVEN: Constant rotation rate of rod and general solution
DRAW:
Force balance: (N − mg) e*z + Fθ e*θ = m r̈ − rθ̇2 e*r + m rθ̈ + 2ṙθ̇ e*θ
e*r : r̈ − rθ̇2 = 0 (1)

e*θ : m rθ̈ + 2ṙθ̇ = Fθ (2)
e*z : N = mg = 0 (3)
SOLVE: Letting θ̇ = 6, θ̈ = 0 in (1) and (2) yields
r̈ − 36r = 0 (4)
12ṙm = Fθ (5)
(4) has solutions
r = a1 cosh (6t) + a2 sinh (6t) (6)
at t = 0, r = r0 and ṙ = 0. Evaluating (6) at t = 0 gives r (0) = r0 = a1 . Thus
r = r0 cosh (6t) + a2 sinh (6t)
Differentiating with respect to time gives
ṙ (0) = 0 = 6a2 ⇒ a2 = 0
This means
r (t) = r0 cosh (6t) (7)
ṙ (t) = 6ro sinh (6t) (8)
(8)→ (5)⇒ Fθ = 72r0 m sinh (6t) N
203
3.2.9
GOAL: Determine how µ affects a motorcycle’s equilibrium position on a banked track
GIVEN: Track geometry.
DRAW:
* *
ı 
*
b1 cos θ sin θ
*
Force balance:
* *
* *

−mg *
 − F b 1 + N b 2 = m a1 b 1 + a2 b 2
* *
* *

b 1 (−F − mg sin θ) + b 2 (N − mg cos θ) = m a1 b 1 + a2 b 2
*
b1 : −F − mg sin θ = ma1 (1)
*
b2 : N − mg cos θ = ma2 (2)
ASSUME: We’re given that the motorcycle is moving in a uniform circle and therefore have
v2 v2 * *

a* = − * ı =− cos θ b 1 − sin θ b 2 (3)
R R
SOLVE:
v2
(3) → (1) ⇒ −F − mg sin θ = −m cos θ (4)
R
v2
(3) → (2) ⇒ N − mg cos θ = m sin θ (5)
R
!
v2
(4) ⇒ F =m cos θ − g sin θ (6)
R
!
v2
(5) ⇒ N = m g cos θ + sin θ (7)
R
The motorcycle won’t slip as long as the friction force doesn’t exceed µN . Thus our boundary for
equilibrium is
Fmax = ±µN (8)

v2 v2
(6), (7) → (8) ⇒ R cos θ − g sin θ = ±µ g cos θ + R sin θ
v2
(cos θ ∓ µ sin θ) = ±µg cos θ + g sin θ
R
204
gR (sin θ ± µ cos θ)
v2 =
cos θ ∓ µ sin θ
(a)
1
sin θ + µ cos θ

p 2
vmax = gR
cos θ − µ sin θ
1
sin θ − µ cos θ

p 2
vmin = gR
cos θ + µ sin θ
(b) If v > vmax the motorcycle will begin to drift upslope since vmax corresponds to the positive
F (from (8)) which, from our FBD, tells us that F is acting downslope, keeping the motorcycle in
equilibrium.
(c) The analysis would be identical at the level of approximation we’ve assumed.
205
3.2.10
GOAL: Find the force exerted by the spring on the collar.
DRAW:
*
Force balance: (T2 − mg)k − (Fsp + Ff ) e*r + T1 e*θ = m[(r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ ]
*
Resolve in e*r , e*θ and k directions
−(Fsp + Ff ) = m(r̈ − rθ̇2 ) (1)

T1 = m(rθ̈ + 2ṙθ̇) (2)
T2 − mg = 0 (3)
SOLVE:
20 rpm=2.09 rad/s.
Use (3) to get
T2 = mg = 19.62 N (4)
Use (2) to get
T1 = 2[(0.9 m)(0) + (2)(1.2 m/s)(2.09 rad/s)] = 10.05 N
Now, we can find the friction force
q q
Ff = µk T12 + T22 = 0.2 (19.62 N)2 + (10.05 N)2 = 4.409 N
*
Note that we know that the F f acts inwards because we are given ṙ is positive. Use (1) to get
Fsp = −Ff − m(r̈ − rθ̇2 ) = −4.409 N − (2 kg)[2 m/s2 − (0.9 m)(2.09 rad/s)2 ] = −0.513 N
*
F sp = 0.513 e*r N
206
3.2.11
GOAL: Calculate angle θ when rope breaks.
DRAW:
* *
ı 
*
er − cos θ − sin θ
e*θ sin θ − cos θ
m[(r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ ] = −T e*r − mgn

*
2
= −T e*r − mg(− sin θ e*r − cos θ e*θ )
e*r : m(r̈ − rθ̇2 ) = −T + mg sin θ (1)
e*θ : m(rθ̈ + 2ṙθ̇) = mg cos θ (2)

ASSUME:
r = L, ṙ = r̈ = 0 (3)
SOLVE:
(1),(3) ⇒ −mLθ̇2 = −T + mg sin θ (4)
(2),(3) ⇒ Lθ̈ = g cos θ (5)

Use θ̈ dθ = θ̇ dθ̇ on (5)
g
cos θdθ = θ̇ dθ̇
L
θ θ̇
g
Z Z
cos θ dθ = dθ̇
L
0 0
g θ̇2
sin θ =
L 2
L 2
sin θ = θ̇ (6)
2g
L

2
−mLθ̇ = −T + mg (θ̇2 )
2g
(6)→(4)⇒
2 mL 3mLθ̇2

T = θ̇ + mL = (7)
2 2
207
The rope breaks when T = 2mg. Subsituting this into (7):
3mLθ̇2 4g
2mg = ⇒ θ̇2 = (8)
2 3L
L 4g 2

(8)→(6)⇒ sin θ = = (9)
2g 3L 3
θ = sin−1 ( 23 ) = 41.8◦
208
3.2.12
GOAL: Find the angle θ at which contact is lost.
GIVEN: Radius of the roof and initial rate of travel.
DRAW:
Force balance:  + N e*r = m[(r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ ]
−mg *
e*r : N − mg cos θ = −mrθ̇2 (1)
e*θ : mg sin θ = mrθ̈ (2)

ASSUME: While in contact ṙ = r̈ = 0.
SOLVE:
When contact is about to be lost, N = 0. Thus, (1) becomes
rθ̇2 = g cos θ (3)
From (2) we get

g
θ̈ = sin θ
r
Using θ̇dθ̇ = θ̈dθ gives us
g
θ̇dθ̇ = sin θ dθ
Zr
g
Z
θ̇dθ̇ = sin θdθ
r
1 2 g
θ̇ − (0.5 rad/s)2 = − (cos θ − 1)
2 r
2g
θ̇2 = − (cos θ − 1) + (0.5 rad/s)2 (4)
r
2 (0.5 rad/s)2 r 2 (0.5 rad/s)2 (20 m)

(4) → (3) ⇒ cos θ = + = +
3 3g 3 3(9.81 m/s2 )
θ = cos−1 (0.837) = 33.2◦
209
3.2.13
GOAL: Find θ at which the mass loses contact with the cylinder
GIVEN: Cylinder’s dimensions and rotation rate
DRAW:
FORMULATE EQUATIONS: h i
Force balance: N e*r − S e*θ − mg *
 =m r̈ − rθ̇2 e*r + rθ̈ + 2ṙθ̇ e*θ
ASSUME: ṙ = r̈ = 0 if the mass is in contact with the cylinder. Thus our equation of motion
yields
e*r : N − mg cos θ = −mrθ̇2 (1)
e*θ : −S + mg sin θ = mrθ̈ (2)

If the mass in in relative motion with respect to the cylinder then
S = µd N
We’ll have to check to make sure this condition holds throughout our analysis.
SOLVE:
(1) ⇒ N = mg cos θ − mrθ̇2
and thus

−µd mg cos θ − mrθ̇2 + mg sin θ = mrθ̈

g sin θ − µd cos θ + rθ̇2 µd
θ̈ =
r
We now need to simulate using parameter values r = 30 m, g = 9.81 m/s2 , µd = 0.2.
At θ = 0 we have
v*m = v*cyl + v*m/cyl
rθ̇ *
ı = −rω0 *
ı + vrel *
ı
vrel 33 m/s
θ̇(0) = −ω0 + = −0.6 rad/s + = 0.5 rad/s
r 30 m
Our initial conditions are therefore θ(0) = 0, θ̇(0) = 0.5 rad/s. Numerically integrating yields a
normal force of zero at t = 0.823 s , θ = 0.422 rad , and θ̇ = 0.546 rad/s
210
3.2.14
GOAL:
Find speed at θ = 45◦ .
Find normal force at θ = 45◦ .
At what time will you lose contact with surface?
GIVEN: System geometry and parameters.
DRAW:
* *
ı 
e*r sin θ cos θ
e*θ cos θ − sin θ
Force balance: m[(r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ ] = −mg n
* * *
2 − S eθ + N er
As long as m is in contact with the surface ⇒ ṙ = r̈ = 0
e*r : −mrθ̇2 = N − mg cos θ (1)
e*θ : mrθ̈ = −S + mg sin θ (2)

ASSUME: At first, we’ll be in a no-slip situation. This may continue to θ = 45 deg or not,
depending upon µs . Slip will occur if |S| > µs |N |.
Assume no slip. Then θ̇ = β̇ = 0.31 rad/s, θ̈ = 0.
SOLVE:
N = −mrβ̇ 2 + mg cos θ
(1)⇒ µs N = µs (mg cos θ − mrβ̇ 2 )
= m(0.65)[(9.81 m/s2 ) cos θ − (10 m)(0.31 rad/s)2 ]
(2)⇒ S = mg sin θ
The angle at which slip occurs is found from solving S = µs N
0.65[(9.81 m/s2 ) cos θ − (10 m)(0.31 rad/s)2 ] = (9.81 m/s2 ) sin θ

θ = 0.524 rad = 30◦
At 0.524 rad, the mass beings to slip and we have to determine the time it takes to reach θ = 45◦ ,
or π4 rad.
ASSUME: Slipping: New initial conditions: β = θ = 0.524 rad, β̇ = θ̇ = 0.31 rad/s
SOLVE:
(1)→(2)⇒ mrθ̈ = mg sin θ − S = mg sin θ − µd N
211
g g

θ̈ = sin θ − µd cos θ − θ̇2
r r
θ̈ = (0.981 rad/s2 ) sin θ − 0.4((0.981 rad/s2 ) cos θ − θ̇2 ) (3)

Integrating (3) with I.C. θ(0) = 0.524 rad, θ̇(0) = 0.31 rad/s yields
t = 0.641, θ = 0.785 rad (45◦ ), θ̇ = 0.531 rad/s, N = 4.12 N

t = 0.964, θ = 0.982 rad (56◦ ), θ̇ = 0.738 rad/s, N = 0
The total time is just the time just found from integration plus the time elapsed in the non-slip
phase:
0.31t1 = 0.524 s ⇒ t1 = 1.69 s
Thus the time to 45◦ is 2.33 s and the time to N = 0 is 2.65 s .
212
3.2.15
GOAL: Determine on which side of the tube will the car exit.
GIVEN: System geometry and motion of car.
DRAW:
Force balance: Fr e*r + Fθ e*θ = m[(r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ ]
e*r : Fr = mr̈ − mrθ̇2 (1)
e*r : Fθ = mrθ̈ + 2mṙθ̇ (2)

SOLVE: Since θ̈ = 0, (2) gives Fθ = 2mṙθ̇. Both ṙ and θ̇ are positive and, therefore, Fθ is positive.
Fθ is pushing towards the west when positive. This is the force provided by the tube’s wall to keep
the mass in the tube. Left to itself, the mass would not travel left along with the tube. If the tube
fails, the wall will no longer be applying the needed force to keep the mass moving left and the
mass will move toward where it “wanted” to go due to momentum considerations – it will emerge
from the tube on the east side.
213
3.2.16
GOAL: Calculate the tension in a constraining string both analytically and numerically.
GIVEN: System geometry, initial conditions and functional form of the rate at which string is
being retracted.
DRAW:
Force balance: −T e*r = m[(r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ ]
e*r : −T = m(r̈ − rθ̇2 ) (1)
e*θ : 0 = m(rθ̈ + 2ṙθ̇) (2)

SOLVE: We’re given that ṙ = −(2 m/s2 )t and can differentiate to obtain r̈ = −2 m/s2 and integrate
to get r = 2.5 m − (1 m/s2 )t2 . Substitute the values of r, ṙ, r̈ into (1) to get
T = −(0.4 kg)[−2 m/s2 − (2.5 m − (1 m/s2 )t2 )θ̇2 ] (3)
Let y1 = θ and y2 = θ̇, clearly

y˙1 = y2 (4)
From (2) we get
2ṙy2 −2(−(2 m/s2 )t)y2 (4 m/s2 )ty2
y˙2 = − = = (5)
r 2.5 m − (1 m/s2 )t2 2.5 m − (1 m/s2 )t2
We can now numerically integrate (4) and (5) to solve for θ̇ which, when substituted into (3) gives
us T .
The following plot shows T versus t:
214
The final value of tension is T = 840.42 N.
To solve the problem analytically, rewrite (5).
dy2 (4 m/s2 )ty2 dy2 (4 m/s2 )tdt

= ⇒ = (6)
dt 2.5 m − (1 m/s2 )2 t y2 2.5 m − (1 m/s2 )2 t
which we can integrate to obtain
[2.5 m − (1 m/s2 )2 t2 ]−2

" # " #
y (t )
ln 2 2 =
y2 (t1 ) [2.5 m − (1 m/s2 )2 t1 ]−2
For our case t1 = 0 s and y2 (0) = 8 rad/s. Thus letting t2 = t for notational simplicity, we have
50 m2 / s
y2 (t) = θ̇(t) = (7)
(2.5 m − (1 m/s2 )2 t)2
We can now evaluate T from (3) and (7):
1000 N· m3
T (t) = 0.8 N +
(2.5 m − (1 m/s2 )t2 )3
Evaluating the tension at t = 1.2 s gives T = 840.42 N, matching the numerical results.
215
3.2.17
GOAL: Does an ω0 exist so that the bowl is fixed?
FORMULATE EQUATIONS: The governing equation is
r̈ = ω02 r − g sin(ω0 t)
SOLVE:
For the vase to remain stationary we’d need r̈ = 0 and therefore
ω02 r = g sin(ω0 t)
r
g
ω0 = sin(ω0 t)
r
The left-hand side is constant (by assumption). The right hand side is time-varying (t appears
explicitly in sin(ω0 t). Thus there’s no way for the equation to be satisfied except if ω0 = 0 and
g = 0 (a non-problem). An appropriate ω0 therefore does not exist.
216
3.2.18
GOAL:
(a) Find the string tensions before the cut.
(b) Find the velocity of the mass immediately after the string on the right is cut.
(c) Find the direction of the mass’s acceleration directly after the cut.
(d) Find the tension in the remaining string after the cut.
GIVEN: L = 2 m.
DRAW:
* *
ı 
e*r cos θ − sin θ
e*θ − sin θ − cos θ
ASSUME: The strings cannot extend and have no mass. The cut is done in a manner that does
not disturb the mass.
Polar Force Balance Fr = m(r̈ − rθ̇2 )
Fθ = m(rθ̈ + 2ṙθ̇)
SOLVE: (a)
ΣFx = 0 : −T1 cos θ + T2 cos θ = 0 ⇒ T1 = T2 = T (before cut)

bc
ΣFy = 0 : −mg + T1 sin θ + T2 sin θ = 0 ⇒ mg = 2T sin θ

bc
T = 2 mg
sin θ
bc
SOLVE: (b)
The mass is stationary just before the cut and therefore must still be stationary just after the cut.
Only after the imbalanced forces have acted on it can the velocity change.
vr = vθ = 0
SOLVE: (c)
217
Consider ṙ , r̈ , θ̇ and θ̈. Because the string cannot extend ṙ = r̈ = 0. Because we are considering
the moment that the string is cut, when the mass still has no velocity, θ̇ = 0. θ̈, however, is
non-zero. Consider the expression Fr = m(r̈ − rθ̇2 ). Since r̈ = 0 and θ̇ = 0 , Fr = 0 and there
will be no acceleration in the e*r direction. Consider the expression Fθ = m(rθ̈ + 2ṙθ̇). Although
ṙ = θ̇ = 0, θ̈ > 0 which means that Fθ > 0 and the mass will accelerate purely in the e*θ direction.
Note that once the mass picks up speed the mass will also accelerate in the − e*r direction.
The mass accelerates in the direction of e*θ
SOLVE: (d)
In part (c) it was determined that Fr = 0 at the instant the second string is cut. Use this to
determine the new tension T in the string after the cut.
FBD=IRD −T e*r −mg *

 = maθ e*θ ⇒ −T e*r −mg(− sin θ e*r −cos θ e*θ ) = maθ e*θ
e*r : T − mg sin θ = 0
T = mg sin θ
218
3.2.19
GOAL: Find θ̈ for tethered mass.
DRAW
r*m/ = −r e*θ + (L − rθ) e*r

O
v*m = −r e*˙ θ + (L − rθ) e*˙ r − rθ̇ e*r
= rθ̇ e*r + (L − rθ)θ̇ e*θ − rθ̇ e*r = (L − rθ)θ̇ e*θ
a*m = −rθ̇2 e*˙ r + (L − rθ)θ̈ e*θ − (L − rθ)θ̇2 e*r = e*r [−θ̇2 (L − rθ)] + e*θ [(L − rθ)θ̈ − rθ̇2 ]
SOLVE:
Force balance: −T e*r = m[−θ̇2 (L − rθ) e*r + (−rθ̇2 + (L − rθ)θ̈) e*θ ]
2
e*θ : −rθ̇2 + (L − rθ)θ̈ = 0 ⇒ θ̈ = L r−θ̇ rθ
e*r : T = mθ̇2 (L − rθ)
219
3.2.20
GOAL: Find the minimum and maximum speeds for which a particle can remind spinning within
a banked track at a constant height.
DRAW:
* *
ı 
*
b1 cos θ sin θ
*
2
Force balance: 1 [−mg *
a*m = m  + N b 2 + F b 1 ] = vr *
* *
ı
* * * * −v 2 * * F N
= −g sin θ b 1 − g cos θ b 2 + Ñ b 2 + F̃ b 1 = (cos θ b 1 − sin θ b 2 ), (F̃ = , Ñ = )
r m m
* 2 2
b 1: −g sin θ + F̃ = − vr cos θ ⇒ F̃ = − vr cos θ + g sin θ
* 2 2
b 2: −g cos θ + Ñ = vr sin θ ⇒ Ñ = vr sin θ + g cos θ
SOLVE:
For chosen direction of F̃ , the force is working to keep mass from slipping down. Thus we’re looking
at low speed condition at limit
32.2 ft/s2 32.2 ft/s2

!
−v 2 1 v2 1
F̃ = µÑ ⇒ √ + √ = 0.7 √ + √ ⇒ vmin = 58.4 ft/s
600 ft 2 2 600 ft 2 2
Now flip direction of F: for which case it’s keeping mass from moving upslope. This corresponds to
vmax
32.2 ft/s2 32.2 ft/s2

!
v2 1 v2
−F̃ = µÑ ⇒ √ − √ = 0.7 √ + √ ⇒ vmax = 331 ft/s
600 ft 2 2 600 ft 2 2
220
3.2.21
GOAL: Find a*B and tension in AB
GIVEN: System geometry and parameter values.
DRAW:
* *
*
ı *
 ı 
* *
er cos θ sin θ b1 cos β sin β
*
e*θ − sin θ cos θ b2 − sin β cos β
v*A = Lθ̇ e*θ = Lθ̇(− sin θ *

ı + cos θ *
)
v*B = v*A + dβ̇ e*β
v*B = v*A + dβ̇(− sin β *
ı − cos β *
 ) = vB *
ı
*
= ı (−Lθ̇ sin θ − dβ̇ sin β) + *
 (Lθ̇ cos θ − dβ̇ cos β)
*
ı: −Lθ̇ sin θ − dβ̇ sin β = vB (1)
Lθ̇ cos θ
*
: Lθ̇ cos θ − dβ̇ cos β = 0 ⇒ β̇ = (2)
d cos β
a*A = −Lθ̇2 e*r + Lθ̈ e*θ

a*B = a*A + dβ̈ e*β − dβ̇ 2 e*d = aB *
ı

= *
ı −Lθ̇2 cos θ − Lθ̈ sin θ − dβ̈ sin β − dβ̇ 2 cos β

 −Lθ̇2 sin θ + Lθ̈ cos θ − dβ̈ cos β + dβ̇ 2 sin β = aB *
+* ı
*
ı: −Lθ̇2 cos θ − Lθ̈ sin θ − dβ̈ sin β − dβ̇ 2 cos β = aB (3)
*
: −Lθ̇2 sin θ + Lθ̈ cos θ − dβ̈ cos β + dβ̇ 2 sin β = 0 (4)
T
Force balance, mass B: ı = √ (− *
mB ẍ * ı +*
 )−N*

2
221
T
*
ı: mB ẍ = − √ (5)
2
T T
*
: 0= √ −N ⇒N = √ (6)
2 2
SOLVE: √
L L
From geometry we have rB/ = 2 2= √
2
A
(2 rad/s) cos 30◦
(2)⇒ β̇ = = 3.464 rad/s
√1 cos 45◦
2
(3),(4)⇒ β̈ = 8.866 rad/s2 , ẍ = −7.07 m/s2 (7)
ı m/s2
ẍ = −7.07 *
√ √
(5),(7)⇒ T = − 2mB ẍ = − 2(2 kg)(−7.07 m/s2 ) = 20.0 N
222
3.2.22
GOAL: Find rope’s tension as mass moves through the air.
GIVEN: System geometry and speed that the rope is moving through eyelet.
DRAW:
* *
ı 
*
Force balance: m[(r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ ] = −T e*r − mg *

e*r : m(r̈ − rθ̇2 ) = −T + mg sin θ (1)
e*θ : m(rθ̈ + 2ṙθ̇) = mg cos θ (2)

SOLVE:
r = 2 − vt (3)
ṙ = −v (4)
r̈ = 0 (5)
(1), (3) ⇒ T = mg sin θ + mθ̇2 (2 − vt) (6)
(2), (3), (4) ⇒ (2 − vt)θ̈ − 2v θ̇ − g cos θ = 0 (7)

We need to integrate (7) to find θ and θ̇ and then use θ and θ̇ in (6)
(7) ⇒ θ̈ = g cos θ + 2v θ̇
(2 − vt)
Using MATLAB to integrate from θ = 0 to θ = π 2
2 , using v = 0.4 m/s and g = 9.81 m/s yields the
results plotted below.
223
224
3.2.23
GOAL: Find when and where the mass strikes the wall when the supporting rope is (a) inextensible,
and (b) elastic.
GIVEN: Mass m = 2 kg, spring stiffness k = 10 N/m, rest length of spring L = 2 m, and initial
and final positions of the mass.
DRAW
FORMULATE EQUATIONS: The acceleration is
a* = (r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ (1)
The equation of motion is

ma* = −T e*r − mg *
 (2)
The transformation between polar and Cartesian coordinates is given by
* *
ı 
e*r − cos θ − sin θ (3)
SOLVE: Using the coordinate transformation in (3), (2) becomes
ma* = (mg sin θ − T ) e*r + mg cos θ e*θ (4)
Case (a): Because the rope is inextensible, ṙ = r̈ = 0. Thus, breaking (4) into its separate
components yields:
e*r : −mrθ̇2 = mg sin θ − T (5)
e*θ : mrθ̈ = mg cos θ (6)

g
(6) ⇒ θ̈ =
cos θ (7)
r
f
To determine the angular position over time, we use the MATLAB R function ode45 to integrate
(7). Our initial conditions are θ(0) = 0, θ̇(0) = 0. To solve the system for the first 2 seconds, we type
[t,y] = ode45(’InelasticSwing’, [0 2], [0;0];
This produces the data that is plotted in Figure 1. Because the mass will f
strike the wall when
θ = π2 , we can find the time at which this occurs by typing into MATLAB R
[minVal,minIndx] = min(abs(y(:,1)-pi/2));
t_impact = t(minIndx)
225
Figure 1: Case (a): Angular position versus time.
This yields the time of impact to be timpact = 0.84 s . And because the rope is inextensible, the
radial position at impact is of course rimpact = 2 m.
Case (b): The tension in the rope is given by
T = k(r − L) (8)
Plugging (1), (8) into (4) and breaking into components yields
e*r : m(r̈ − rθ̇2 ) = mg sin θ − kr + kL (9)
e*θ : m(2ṙθ̇ + rθ̈) = mg cos θ (10)

1
Rearranging (9) ⇒ r̈ = rθ̇2 + g sin θ + (kL − kr) (11)
m
1
Rearranging (10) ⇒ θ̈ = (g cos θ − 2ṙθ̇) (12)
r
f
We integrate (11) and (12) using the MATLAB R function ode45 to find r and θ over the first 2
seconds. Our initial conditions are r(0) = 2 m, ṙ = 0, θ(0) = 0, θ̇(0) = 0. To solve, we type
[t,y] = ode45(’ElasticSwing’, [0 2], [2;0;0;0];
This produces the data that is plotted in Figure 2. Because the mass will again strike the wall
when θ = π2 , we can find f
the time at which this occurs, along with the radial position at impact,
by typing into MATLAB R
[minVal,minIndx] = min(abs(y(:,3)-pi/2));
t_impact = t(minIndx)
r_impact = y(minIndx,1)
This yields the time of impact to be timpact = 1.55 s and the radial position at impact to be
rimpact = 6.97 m.
226
Figure 2: Case (b): Radial position and angular position versus time.
227
3.2.24
GOAL: Calculate the tension in the rope up until it contacts the right cliff face as well as the
position at contact.
GIVEN: Parameter values, dimensions, initial conditions.
DRAW:
* *
ı 
*
* *
Force balance: m2 : −T i + (N − m2 g) *
 = m2 ẍ i
*
ı : −T = m2 ẍ (1)
*
h i
Force balance, m1 : −T e*r − m1 g j = m1 (r̈ − rθ̇2 ) e*r + (2ṙθ̇ + rθ̈) e*θ
e*r : −T + m1 g sin θ = m1 (r̈ − rθ̇2 ) (2)
e*r : m1 g cos θ = m1 (2ṙθ̇ + rθ̈) (3)

ASSUME: We have a simple kinematic constraint due to an inextensible connection between the
two masses: −ẍ = r̈ (4)
SOLVE:
(1), (4) → (2) ⇒ m1 g sin θ − m2 r̈ = m1 (r̈ − rθ̇2 ) (5)
m
r̈ = 1
m +m (g sin θ + rθ̇2 )
1 2
(1), (4) → (3) ⇒ m1 g cos θ = m1 (2ṙθ̇ + rθ̈) (6)
228
θ̈ = 1r (g cos θ − 2ṙθ̇)
Let x1 = r, x2 = ṙ, x3 = θ, x4 = θ̇ and rewrite the two second order differential equations as four
first order differential equations:
ẋ1 = x2
m1
ẋ2 = (g sin x3 + x1 x24 )
m1 + m2
ẋ3 = x4
1
ẋ4 = (g cos x3 − 2x2 x4 )
x1
Integrate this system numerically to yield solutions.
229
3.2.25
GOAL: Calculate the tension in the rope.
GIVEN: mass m1 = 4 kg, k = 2 N/m.
DRAW:
r* = r e*r
v* = ṙ e*r + rθ̇ e*θ

a* = r̈ − rθ̇2 e*r + 2ṙθ̇ + rθ̈ e*θ
Force balance:

m a* ⇒ −T e*r + mg (sin θ e*r + cos θ e*θ ) = m1 r̈ − rθ̇2 e*r + m1 2ṙθ̇ + rθ̈ e*θ

mg sin θ − T = m r̈ − rθ̇2 (1)

mg cos θ = m 2ṙθ̇ + rθ̈ (2)

T = kx = k r − r0
SOLVE:
(1) ⇒ mg sin θ − k r − r0 = m r̈ − rθ̇2
k
r̈ = g sin θ − r − r0 + rθ̇2
m
g cos θ − 2ṙθ̇
(2) ⇒ θ̈ =
r
Define x1 = r, x2 = ṙ, x3 = θ, x4 = θ̇.
ẋ1 = x2
2
ẋ2 = g sin x3 − x1 − 1.2 + x1 x24
4
ẋ3 = x4
9.81 cos x3 − 2x2 x4

ẋ4 =
x1
230
x1 (0) = 1.2, x2 (0) = 0, x3 (0) = 0, x4 (0) = 0.

T = m g sin θ + rθ̇2 − r̈
Integrating with MATLAB from x3 = 0 to x3 = 1.5708 shows a time of t= 3 sec for contact of
the mass m with the right cliff face. The contact point is 31.3 m below the eyelet.
A plot of the tension in the string during the fall is given below.
231
3.3 Path Coordinates
232
3.3.1
GOAL: Find the total force being exerted on the track by the mass. What is the path acceleration
(at ) of the mass m on the track?
GIVEN:
The mass is moving to the right on the track with a velocity of vm = 6 e*t ft/s. The radius of
curvature, ρc , is 6 feet. The coefficient of friction, µ, is 0.1. The weight, of the object is 0.4 lb, so
0.4
its mass is 32.2 slug.
DRAW:
v2 *
a*m = at e*t + e
ρc n
" #
* *
v2 *
Force balance: (−mg + N ) e n − f1 e t = m e + at e*t
ρc n
v2
e*n : m = −mg + N (1)
ρc
e*t : mat = −f1 (2)

SOLVE:
From (1) we can calculate N :
(6 ft/s2 )2
!
v2 0.4 lb 2
N = mg + m = 32.2 ft/s + = 0.475 lb
ρc 32.2 ft/s2 6 ft
Since we know N = 0.475 lb, we know that the force due to sliding friction, f1 is µN = (0.1)(0.475 lb) =
0.0475 lb. Substituting this into (2), we have at = −0.0475 lb 2 = −3.82 ft/s2 .
0.4 lb/32.2 ft/s
The force exerted by the mass on the track is equal and opposite to the force exerted by the track
on the mass:
Force On Track = (−0.475 e*n + 0.0475 e*t ) lb
233
3.3.2
GOAL: Determine the total force supported at the two tired at t = 4s.
GIVEN: rC = 80m, at = 1.1m/s2 , m = 300kg
DRAW:
Force balance:
Ft = mv̇ = mat
v2
Fn = m
rC
v(t) = v(0) + at t = 0 + at t = at t
SOLVE:
v(4) = (1.1 m/s2 )(4 s) = 4.4 m/s
v2 (4.4 m/s)2
an = = = 0.242 m/s2
rC 80 m
Fn = (300 kg)(0.242 m/s2 ) = 72.6 N
Ft = (300 kg)(1.1 m/s2 ) = 330 N
N = mg = (300 kg)(9.81 m/s2 ) = 2940 N
*
F tires = Ft e*t + Fn e*n + N e*z
1
Ftires = [(330 N)2 + (72.6 N)2 + (2940 N)2 ] 2 = 2.96 × 103 N
234
3.3.3
GOAL: Determine the ground force acting on the car.
GIVEN: r = 300ft, v = 100mph, at = −10ft/s2 , m = 3200lb
DRAW:
v2
Fn = m
r
Ft = mat
Fground = Fn e*n + Ft e*t + N e*z
v = v0 + at t
at t2
s = s0 + v0 t +
2
SOLVE:
v0 = 100 mph = 146.6 ft/s
1
50 ft = (146.6 ft/s)t − (10 ft/s2 )t2 ⇒ t = 0.345 s
2
v = 146.6 − (10 m/s2 )(0.345 s) = 143 ft/s
v2 3200 lb (143 ft/s)2

Fn = m =( 2) = 6.79 × 103 lb
r 32.2 ft/s 300 ft
3200 lb
Ft = mat = ( )(−10 ft/s2 ) = −994 lb
32.2 ft/s2
N = mg = 3200 lb
*
F ground = [−994 e*t + 6.79 × 103 e*n + 3200 e*z ] lb
235
3.3.4
GOAL: Determine the normal force acting on a skier.
GIVEN: Equation for the hill’s surface.
DRAW:
* *
ı 
*
et cos β − sin β
e*n sin β cos β
mv 2 *
Force balance: mv̇ e*t + e = −mg *
 + N e*n
rC n
e*t : v̇ = g sin β (1)

mv 2
*
en : = N − mg cos β (2)
rC
SOLVE:
dy
= −a + 3bx2 (3)
dx
d2 y
= 6bx (4)
dx2
We’re asked for the normal force, which from (2) is given by
mv 2
N = mg cos β + (5)
rC
Note that we need both v, β and rC to solve for N . To get v we’re going to have to numerically
integrate an equation of motion and we’ll use the explicit expression for y in order to determine
both β and rC for positions along the curve.
It’s not hard to get what we need. I’ve drawn a little triangle that shows the relationships between
dx and dy (differential displacements horizontally and vertically) and ds (differential displacement
along the curve itself). As you can see, the motion along the curve (ds) is greater than the horizontal
236
projection (dx) or the vertical projection (dy). Because the included angle is β we can easily equate
dy
the curve’s slope ( dx ) to β:
s
2
dy
q q
ds = dx2 + dy 2 = dx 1 + = dx 1 + (3bx2 − a)2
dx
The speeds ṡ and ẋ are therefore related by
ds
q
v = ṡ = = ẋ 1 + (3bx2 − a)2 (6)
dt
Differentiating with respect to time gives us the tangential acceleration:
2 21 6bxẋ2 (3bx2 − a)
2
v̇ = s̈ = ẍ 1 + 3bx − a + 1 (7)
2 2
2
1 + 3bx − a
6bxẋ2 (3bx2 − a)
g sin β − h i1
1 + (3bx2 − a)2 2
(1), (7) ⇒ ẍ = (8)

2 21
2
1 + 3bx − a
This gives us a closed form solution for ẍ that we can then integrate in MATLAB if we also know
β. We’ve already mentioned that β is related to theslope of the curve and thus have
dy
β = tan−1 = tan−1 −a + 3bx2 (9)
dx
The final piece of information we’ll need is the radius of curvature. We know from the text that
" 2 # 32
dy

1+
dx
rC = d2 y (10)

2
dx
and we have all the data we need to evaluate it:
2 23
2
1 + −a + 3bx
(3), (4) → (10) ⇒ rC = (11)
6bx

The solutions sequence is therefore to use MATLAB to integrate (8) from 0 to 50 m (using (9) to
evaluate β). Once we have our data (x, ẋ and associated values of t) we can evaluate N from (5)
where v is given in (6), rC in (11) and β in (9). To go from x = 0 to x = 50 m requires that the
integration be carried out from t = 0 to t = 4.3567 s.
Presented on the following page are three plots. The first shows the normal force as a function of
time, the second the x position as a function of time and the third the normal force as a function
of x.
237
238
3.3.5
GOAL: Plot normal force and tangential acceleration as a function of x.
GIVEN: Path followed during motion, initial conditions, friction free interface.
DRAW:
* *
ı 
*
et cos β sin β
*
en sin β − cos β
FORMULATE EQUATIONS: !
* *
v2 * *
Force balance: −mg j − N e n = m v̇ e t + e
rC n
e*t : −g sin β = v̇ (1)

mv 2
*
en : mg cos β − N = (2)
rC
dy
Angle β : tan β = = −2ax (3)
dx
3
dy 2 2

1+
Radius of curvature:
dx (1 + 4a2 x2 )3/2
rC = d2 y
= (4)
| | 2a
dx2
Z x
v 2 (x) = 2 at ds + v 2 (x0 ) (5)
Rectilinear motion: x
0
Kinematic Constraint: ds2 = dx2 + dy 2 (6)

SOLVE:
(3) → (1) ⇒ v̇ = −g sin tan−1 (−2ax) (7)
p
(3) → (6) ⇒ ds = [ 4a2 x2 + 1] dx (8)
!
N v2
(2) ⇒ = g cos β − (9)
m rC
For tangential acceleration, simply plot (7) vs. x. For normalized normal force (normal force
divided by the mass of the particle), first integrate (5) with respect to x, using at = v̇ from (7) and
(8) for ds to obtain velocity. Then solve for N m using (3) and (4) in (9).
239
240
3.3.6
GOAL: Determine vmax for no slip along a curve.
GIVEN: Radius of curvature, µs = µd = µ.
DRAW:
*
Force balance: (N − mg)k = 0 (1)
!
v2 *
Force balance: Fn e*n + Ft e*t = m v̇ e*t + e (2)
rc n
ASSUME: We want the maximum speed and so should maximize Fn . Thus we’ll let Ft = 0 and
all the cyclist/ground interaction force will be directed along e*n .
SOLVE:
mv 2
(2) ⇒ Fn = (3)
rc
Fn = µN (4)
v2 µN
(3), (4) ⇒ = = µg
rc m
√ q
v= 2µgrc = 2(0.5)(9.81 m/s2 )(15 m) = 12.1 m/s
241
3.3.7
GOAL: Find the force applied by the path to the bicycle.
GIVEN: Speed v = 15 mph, weight mg = 120 lb, radius of curvature rC = 50 ft, and the angle of
the path θ = 30◦ .
DRAW
FORMULATE EQUATIONS: Because the bicycle is moving with a constant speed, the accel-
eration is purely in the normal direction, which coincides with the *
ı direction
v2 *
a* = ı (1)
rC
The equation of motion is

* * v2 *
N b 2 − F b 1 − mg *
 =m ı (2)
rC
The total force applied by the path to the bicycle is
* * *
F applied = N b 2 − F b 1 (3)
SOLVE:
(2) → (3) ⇒
2
ft/s
(120 lb) 15 mph × 1.4667 mph
* (mg)v 2 *
F applied = ı + mg *
 = *
ı + (120 lb) *
 (4)
grC (32.2 ft/s2 )(50 ft)
*
F applied = (36.08 *
ı + 120 *
 )lb
The magnitude of the applied force is then

* p
F applied = 36.082 + 1202 lb = 125.31 lb (5)

*
F applied = 125.31 lb

242
3.3.8
GOAL: Calculate side force between car’s tires and the road at several points.
GIVEN: Radii of curvature and speed.
DRAW:
FORMULATE EQUATIONS: !
* v2 *
Force balance: F = mcar at e*t + e (1)
rC n
ASSUME: We assume a constant speed of 45 mph= 66 ft/s and thus have
v̇ = 0 ⇒ at = 0 (2)
SOLVE:
* v2 *
(2) → (1) ⇒ F = mcar e (3)
rC n
* (66 ft/s)2 2
Evaluate (3) at A ⇒ kF A k = mcar 250 ft = (17.4 ft/s )mcar
* (66 ft/s)2
Evaluate (3) at B ⇒ kF B k = mcar 1000 ft = (4.36 ft/s2 )mcar
* (66 ft/s)2 2
Evaluate (3) at C ⇒ kF C k = mcar 400 ft = (10.9 ft/s )mcar
243
3.3.9
GOAL: Find the maximum no-slip speed for θ = 0◦ , and θ = 10◦ .
GIVEN: Coefficient of friction µ = 0.9, radius of curvature rC = 100 ft.
DRAW
*
e*n k
*
b1 − cos θ sin θ
*
b2 sin θ cos θ
ASSUME: Assume that the highway applies both a normal force N and a friction force Ff on
the car. Because we’re looking for the maximum speed we know that the frictional force Ff points
downslope, keeping the car from moving up and out in the turn.
FORMULATE EQUATIONS: Because the car is moving with constant speed, the acceleration
is only in the normal direction, which coincides with the e*n direction
v2
an =
rC
* * * mv 2 *
Force balance: −Ff b 1 + N b 2 − mg k = e
rC n
* mv 2 *
(Ff cos θ + N sin θ) e*n + (N cos θ − Ff sin θ − mg)k = man e*n = e
rC n
mv 2
*
en : Ff cos θ + N sin θ = (1)
rC
*
k: mg = N cos θ − Ff sin θ (2)
At the limit of adhesion we have Ff = µN (3)

SOLVE:
mv 2
(3) → (1) ⇒ µN cos θ + N sin θ = (4)
rC
(3) → (2) ⇒: mg = N cos θ − µN sin θ (5)

mg
Solving (5) for N ⇒ N= (6)
244
sin θ + µ cos θ mv 2
(6) → (4) ⇒ mg = (7)
cos θ − µ sin θ rC
s
sin θ + µ cos θ

Solving (7) for v ⇒ v= rC g (8)
s
sin 0◦ + 0.9 cos 0◦

Case (a): θ = 0 ⇒ v= (100 ft)(32.2 ft/s2 ) = 53.83 ft/s
cos 0◦ − 0.9 sin 0◦
v = 53.83 ft/s
s
sin 10◦ + 0.9 cos 10◦

Case (b): θ = 10◦ ⇒ v= (100 ft)(32.2 ft/s2 ) = 64.18 ft/s
cos 10◦ − 0.9 sin 10◦
v = 64.18 ft/s
245
3.3.10
GOAL: Find the spring deflection for a car with 4 springs that encounters a dip in the road.
GIVEN: v = 20 mph = 29.3 ft/s rC = 50 ft mg = 3600 lb k = 800 lb/in
DRAW:
ASSUME: Each spring feels 1/4 of the total normal force and deflects the same amount. Car
experiences no tangential acceleration.
v2
Force Balance F n = m
rC
SOLVE:
weight 3600 lb
m= = = 111.8 slg
g 32.2 ft/s2
v2 *
FBD=IRD N*
 − mg *
 =m 
rC
!
v2 v2
*
 : N =m + mg = m +g
rC rC
!
(29.3 ft/s)2
N = (111.8 slg) + 32.2 ft/s2 = 5524 lb
50 ft
5524 lb is the total normal force that causes all 4 springs to deflect. Each spring feels 1/4 of that
force.
F 0.25(5524 lb)
F = kx ⇒ x = = = 1.73 in.
k 800 lb/in
x = 1.73 in.
246
3.3.11
GOAL: Minimum radius of curvature car can negotiate without slipping while traveling at constant
speed.
GIVEN: Maximum acceleration
DRAW:
mv 2 *
Force balance: ma*car = mat e*t + e (1)
rC n
ASSUME:
v̇ = 0 ⇒ at = 0 (2)
SOLVE:
v2 *
(2) → (1) ⇒ a*car = e (3)
rC n
v2
(3) ⇒ 1.1g = (ka*car k)max = (4)
rC min
[(40 mph)(88 ft/s/60 mph)]2

(4) ⇒ rC min = = 97.2 ft
1.1(32.2 ft/s2 )
247
3.3.12
GOAL: Find the force acting on a seat of a Ferris wheel
GIVEN: Ferris wheel radius, rotational speed, and seat mass
DRAW:
Force balance:  = m v̇ e*t + rθ̇2 e*n
Fn e*n + Ft e*t − mg *
1
e*n : Fn + √ mg = mrθ̇2 (1)
2
1
e*t : Ft − √ mg = mv̇ (2)
2
SOLVE:
1 −g

(1) ⇒ Fn = − √ mg + mrθ̇2 = m √ + rθ̇2
2 2
−9.81 m/s2
" #
= (120 kg) √ + (10 m) (0.1 rad/s)2
2
= −820 N
1 1
(2) ⇒ Ft = √ mg + mv̇ = √ (120 kg) 9.81 m/s2 = 832 N
2 2
Force of Ferris wheel on seat is
(−820 e*n + 832 e*t ) N
248
3.3.13
GOAL: Find force acting on Ferris wheel at t = 3s.
GIVEN: r = 28 ft, m = 110kg, vt = 10ft/s at t = 0, at = (−0.4 ft/s3 )t, θ = 0
DRAW:
Force balance: −Fn e*n + Ft e*t − mg *
 = m[at e*t + an e*n ]
e*n : −Fn + mg sin θ = man (1)
e*t : Ft − mg cos θ = mat (2)
at (t) = at (3)
Z 3 Z 3
vt (3) = vt (0) + at dt = vt (0) + at dt (4)

0 0
SOLVE:
(3) ⇒ at (3) = (−0.4 ft/s3 )(3 s) = −1.2 ft/s2 (5)
3
at2 (−0.4 ft/s3 )(3 s)2
(3), (4) ⇒ vt (3) = 10 ft/s + = 10 ft/s + = 8.2 ft/s (6)
2 2
0
3
(3) ⇒ s(t) = vt (0)t + at6
(0.4 ft/s3 )(3 s)3
s(3) = (10 ft/s)(3 s) − = 28.2 ft
6
28.2 ft
θr = s ⇒ θ = = 1.01 rad (7)
28 ft
vt2 (8.2 ft/s)2

an = ⇒ an (3) = = 2.4 ft/s2 (8)
r 28 ft
249
(1), (7), (8) ⇒ Fn = mg sin θ − man
(240 lb)(2.4 ft/s2 )
= (240 lb) sin(1.01 rad) − = 185 lb
32.2 ft/s2
(2), (5), (7) ⇒ Ft = mat + mg cos θ
240 lb
=( )(−1.2 ft/s2 ) + (240 lb) cos(1.01 rad) = 119 lb
32.2 ft/s2
Force acting on Ferris wheel is equal and opposite to the force exerted by the Ferris wheel on the
seat. Thus
*
F wheel = −[−Fn e*n + Ft e*t ] = Fn e*n − Ft e*t
*
F wheel = (185 e*n − 119 e*t ) lb
250
3.4 Linear Momentum and Linear Impulse
3.5 Angular Momentum and Angular Impulse
251
3.5.1
GOAL: Find average force (Favg ) exerted on the maul by the wedge.
GIVEN: Maul weighs 7 lb = 0.217 slg, maul velocity=30 mph = 44 ft/s, maul impulse lasts 0.21 s,
vf = 0
DRAW:
ASSUME: Gravity can be neglected. After contact maul and wedge move together into the log.
*
linear impulse: mM v*M (t2 ) = mM v*M (t1 ) + LI1−2
SOLVE:
*
0 = mM v*M (t1 ) + F avg ∆t
* −mM v*M (t1 ) −0.217 slg(−44 ft/s *

)
F avg = = = 45.5 *
 lb
∆t 0.21 s
*
F avg = 45.5 *
 lb
252
3.5.2
GOAL: Find the time to reach a speed of v = 4 m/s.
GIVEN: µ = 0.15, v0 = 15 m/s, θ = 15◦ .
DRAW
* *
ı 
*
b1 cos θ sin θ (1)
*
FORMULATE EQUATIONS: Because the forces acting on the mass are constant, the equation
for the change in linear momentum is
X* X*
mv*(t2 ) − mv*(t1 ) = (t2 − t1 ) F = ∆t F (2)
The sum of forces acting on the mass are
X* * *
F = N b 2 − Ff b 1 − mg *
 (3)
The friction force is given by
Ff = µN (4)
SOLVE: X* * *
(4), (1) → (3) ⇒ F = (−µN − mg sin θ) b 1 + (N − mg cos θ) b 2 (5)
* *
We’re given that v*(t2 ) = 4 b 1 m/s and v*(t1 ) = 16 b 1 m/s. Thus, (5) → (2) gives us
h * *
i h * *
i
m (4 b 1 m/s) − (16 b 1 m/s) = (−µN − mg sin θ) b 1 + (N − mg cos θ) b 2 ∆t (6)
Breaking (6) into separate components yields

*
b 1: −m(12 m/s) = (−µN − mg sin θ)∆t (7)
*
b 2: N = mg cos θ (8)
(8) → (7) −12 m/s = −g(µ cos θ + sin θ)∆t (9)

Solving for ∆t:
12 m/s 12 m/s
∆t = = 2 = 3.03 s
g(µ cos θ + sin θ) (9.81 m/s )(0.15 cos 15◦ + sin 15◦ )
∆t = 3.03 s
253
3.5.3
GOAL: Determine thrust needed for spacecraft to achieve touchdown with a given speed.
GIVEN: Gravitational acceleration, initial conditions, and parameter values.
DRAW:
Z t
f

R * * *
F dt = ∆L,  : (−mg + T ) dt = m −vf − (−vi ) (1)
0
SOLVE:
T
Z t
f
(1) ⇒ −g + dt = vi − vf (2)
m 0
T = tm vi − vf + gtf = 200 kg 2.5 m/s − 0.5 m/s + (10 s)(3.7 m/s2 ) = 780 kg· m/s2

f
10 s
254
3.5.4
GOAL: (part a) Find total linear impulse acting on the bullet. (part b) Find the time at which
the bullet exits the gun.
GIVEN: bullet mass=0.02 kg, stationary at x=0, velocity of bullet leaving gun is 1000 kph =
277.7 m/s , forces acting on bullet is a function of time given by: f = f0 − f1 t where f0 = 7000 N ,
f1 = 2.9 × 106 N/s
DRAW:
* * *
linear impulse L(t2 ) = L(t1 ) + LI
SOLVE: (part a)
* *
L(t2 ) = 0 + LI
* *
LI = L(t2 ) = (277.7 *
 m/s)(0.02 kg) = 5.56 *
 kg· m/s
*
LI = 5.56 *
 kg· m/s
SOLVE: (part b)
*
Z t
2 *
LI = Fdt
t
1
*
Z t Z t
2 * 2
LI = Fdt = (f0 − f1 t)dt *

0 0
* f1
LI = (f0 t2 − (t )2 ) *
 − (0) = 5.56 *
 kg· m/s
2 2
2.9 × 106 N/s

(t2 )2 −(7000 N)t2 +5.56 N· s = 0 ⇒ t2 = 1.00 × 10−3 s
2
t2 = 1.00 ms
255
3.5.5
GOAL: Find Favg of a crashing car
GIVEN: Weight and initial speed of the car and crash duration
DRAW:
mẋ(0) − Favg ∆t = mẋ(0.11 s)
35 mph = 51.3 ft/s

SOLVE:
3000 lb

(51.3 ft/s) − Favg (0.11 s) = 0
32.2 ft/s
Favg = 4.35x104 lb
256
3.5.6
GOAL: Find the average force between the ground and the tires.
GIVEN: mg = 2800 lb, v1 = 60 mph, v2 = 0 mph, ∆t = 2.7 s.
DRAW
FORMULATE EQUATIONS: The change in linear momentum is given by

Z t
2 *
mv*2 − mv*1 = Fdt
t
1
Letting −F *
ı represent the average force we can express our momentum equation in the *
ı direction
as
mv2 − mv*1 = −F ∆t (1)

SOLVE: Solving (1) for F yields

ft/s
m(v1 − v2 ) (2800 lb)(60 mph) 1.46 mph
F = = = 2796 lb
∆t (32.2 ft/s2 )(2.7 s)
*
F = −2796 *
ı lb
257
3.5.7
GOAL: Determine time required to stop a rock that’s slipping downslope.
GIVEN: Tension in rope, parameters, and initial conditions.
DRAW:
* *
ı 
*
b1 cos θ sin θ
*
We’ll use our linear impulse equation:
mv2 = mv1 + LI 1−2 (1)
* * * * *
Force balance: F = −mg j + N b 2 + T cos φ b 1 + T sin φ b 2
SOLVE:
Just considering the forces along the slope gives us an applied force of
T cos φ − mg sin θ (2)
Z t
f
(1), (2) ⇒ mv1 + (T cos φ − mg sin θ) dt = mv2 (3)
0
Z t
f

mv1 + (T1 + T2 t) cos φ − mg sin θ dt = mv2
0
1
mv1 + T2 t2 cos φ + (T1 cos φ − mg sin θ) tf = 0
2 f
cos 10◦
(73 N/s)t2 +[(100 N) cos 10◦ −(50 kg)(9.81 m/s2 ) sin 25◦ ] tf −(50 kg)(6 m/s) = 0
2 f
t2 − (3.03 s)tf − 8.35 s2 = 0

f
tf = 4.78 s
258
3.5.8
GOAL: Find linear impulse applied to the ball from the ground
GIVEN: mass = 0.2 kg, rebound height = 1.6 m
DRAW:
ASSUME: No information about the original drop height or initial momentum is provided, there-
fore the answer will be in terms of v1 , the velocity of the ball coming down just before it hits the
ground.
* * *
linear impulse L(t2 ) = L(t1 ) + LI
* * *
LI = L(t2 ) − L(t1 )
SOLVE:
First apply kinematics to find v2 . Consider velocity and position functions for time after the contact
with the floor.
−g 2 −g 2
y(t) = t + v2 t + 0 ⇒ h = t + v2 tf (1)
2 2 f
v
v(t) = −gt + v2 ⇒ 0 = −gtf + v2 ⇒ tf = 2 (2)
g

−g

v2
2
v2

v22 p
(2) → (1) ⇒ h= + v2 = ⇒ v2 = 2hg
2 g g 2g
q
2(1.6 m)(9.81 m/s2 ) = 5.60 m/s
p
v2 = 2hg =
* * *
LI = L(t2 ) − L(t1 ) = mv*2 − mv*1 = m[v2 *
 − (−v1 *
 )]
*
LI = m(v2 + v1 ) *
 = 0.2 kg(5.60 m/s + v1 ) *

*
LI = 0.2 kg(5.60 m/s + v1 ) *

It is clear from this solution that the incoming speed of the ball has a strong affect on the magnitude
of the overall linear impulse. What do you think might be happening physically if we observe
different impact speeds but identical rebound heights?
259
3.5.9
GOAL: Find the speed of the mass at t = 0.08 s.
GIVEN: m = 0.007 s, v0 = 0, the force versus time profile.
DRAW
FORMULATE EQUATIONS: Because the force varies with time, the change in linear momen-
tum is given by
Z t
f
mv = F dt (1)
0
where the force profile is
(
50 N, 0 ≤ t < 0.04 s
F = (2)
[50 N + (1250 N/s)t] , t ≥ 0.04 s
SOLVE:
(2) → (1) ⇒
1
Z 0.04 s Z 0.08 s
v= (50 N)dt + (1250 N/s)t dt
m 0 0.04 s
1 1 1

v= (50 N)(0.04 s) + (1250 N/s)(0.08 s)2 − (1250 N/s)(0.04 s)2
0.007 kg 2 2
v = 714.3 m/s
260
3.5.10
GOAL: Find µd for a sliding disk.
GIVEN: Initial speed of disk and distance traveled.
DRAW:
We know during sliding that the friction force is equal to µd N = µd mg. Our momentum equation
is
mv1 − µd mg∆t = 0
SOLVE:
19 ft/s − µd (32.2 ft/s2 )(2 s) = 0
µd = 0.295
261
3.5.11
GOAL: Determine µA and µB
GIVEN: Speeds and associated times of a sliding rock
DRAW:
FORMULATE EQUATIONS: Force balance in the *

 direction gives us
N = mg
Thus the force acting to slow the rock is either µA mg or µB mg. It travels for the same length of
time t0 in both sections and therefore our linear impulse equation is
mv1 − µA mgt0 − µB mgt0 = 0

SOLVE:

10 m/s = µA + µB 9.81 m/s2 (1.7 s)
Let µA = 2µB

10 m/s = 3µA 9.81 m/s2 (1.7 s)
µB = 0.20
µA = 2µB = 0.40
262
3.5.12
GOAL: Time required to reduce disk’s speed by half.
GIVEN: Friction force, initial condition and parameter values.
DRAW:
Only the forces along the direction of travel are shown in the figure as they’re the only ones that
will alter the disk’s speed. We’ll use our linear impulse equation:
mv2 = mv1 + LI 1−2 (1)
SOLVE: Z t
f

− f0 + f1 t2 dt = m(v2 − v1 ) (2)
0
1 3
(2) ⇒ f t + f0 tf + m(v2 − v1 ) = 0
3 1 f
1 2 3
3 (3 N/s ) tf + 1 N tf − (5 m/s)(2 kg) = 0 ⇒ tf = 2.0 s
263
3.5.13
GOAL: Find the time that a thruster must operate to alter the speed of a spacecraft from zero to
70,000 km/s.
GIVEN: Mass of the spaceship and force developed by the thruster.
DRAW:
We’ll need to apply our linear impulse equation:
mv2 = mv1 + LI 1−2
SOLVE:
70, 000 km/s = 7.0×107 m/s
In the *
ı direction we have
(200, 000 kg)(7.0×107 m/s) = (5.0×106 N)∆t
∆t = 2.8×106 s = 32.4 days
264
3.5.14
GOAL: Find change in speed of a bicycle.
GIVEN: Initial speed of bicycle and mass of the two bodies.
DRAW:
The system’s linear momentum doesn’t change. Hence
mA vA = (mA + mB )v
SOLVE:
(80 kg)(5 m/s) = (80 kg + 40 kg)v
v = 3.3 m/s
∆v = (3.3 − 5) m/s = −1.6 m/s
265
3.5.15
GOAL: Find the velocity of a cyclist after launching missile
GIVEN: Masses of cyclist and missile, velocity of missile with respect to the cyclist at launch.
DRAW:
FORMULATE EQUATIONS: The system of cyclist plus missile has the same linear momentum
before

and after launch. After launch the cyclist has velocity v*0 = v 0 *
ı and the missile has velocity
v 0 + vm/C *
ı where vm/C = 500 m/s
25 kph = 6.94 m/s

SOLVE:

(mm + mc ) v = mc v 0 + mm v 0 + vm/C
(0.5 kg + 80 kg) (6.94 m/s) = (80 kg) v 0 + (0.5 kg) v 0 + 500 m/s

(80.5 kg) v 0 = 309 kg m/s
v 0 = 3.84 m/s
266
3.5.16
GOAL: Find the speed of a spitball 0.2 s after the child starts to blow on the straw.
GIVEN: Mass of the spitball, applied pressure and straw’s cross-sectional area.
DRAW:
We’ll need to apply our linear impulse equation:
mv2 = mv1 + LI 1−2
SOLVE:
The spitball starts from rest and is acted on by a force equal to the pressure times the effective
cross-sectional area on which the pressure is acting:
√ √
F = P A = (4000 N/m2 )( 75 mm)2 = (4000 N/m)( 75×10−3 m)2 = 0.3 N
Because the force is considered constant we have

LI 1−2 = F t
(5.0×10−3 kg)v2 = (0.3 N)(0.2 s)
v2 = 12 m/s
Let’s quickly check if this seems like a reasonable scenario. The spitball accelerates at a constant
rate equal to F/m = 60 m/s2 . In 0.2 s it will travel a distance
1 1
x = at2 = (60 m/s2 )(0.2 s)2 = 1.2 m
2 2
1.2 m is a pretty long straw. So it’s a reasonable conclusion that letting the “spitball-in-straw”
time be 0.2 s is a bit excessive, although possible if the child found an extra-extra-long straw.
267
3.5.17
GOAL: Find the speed of a dropped backpack after 2 s.
GIVEN: µd = 0.20, v1 = 0, θ = 20◦ .
DRAW
* *
ı 
*
b1 cos θ sin θ (1)
*
FORMULATE EQUATIONS: Because the forces acting on the mass are constant, the equation
for the change in linear momentum is
X* X*
mv*(t2 ) − mv*(t1 ) = (t2 − t1 ) F = ∆t F (2)
The frictional force acts to resist the movement of the backpack downslope. The sum of forces
acting on the mass are
X* * *
F = N b 2 + Ff b 1 − mg *
 (3)
The friction force is given by
Ff = µd N (4)
SOLVE: X* * *
(4), (1) → (3) ⇒ F = (µd N − mg sin θ) b 1 + (N − mg cos θ) b 2 (5)
We’re given that v*(t1 ) = 0. Thus, (5) → (2) gives us
h * *
i
mv*2 = (µd N − mg sin θ) b 1 + (N − mg cos θ) b 2 ∆t (6)
Breaking (6) into separate components yields
*
b 1: mv(t2 ) = (µd N − mg sin θ)∆t (7)
*
b 2: N = mg cos θ (8)
(8) → (7) v(t2 ) = g(µd cos θ − sin θ)∆t (9)
v(2 s) = (9.81 m/s2 )(0.20 cos 20◦ − sin 20◦ )(2 s) = −3.02 m/s
v(2 s) = −3.02 m/s
268
3.5.18
GOAL: Determine the applied linear impulse and average force acting on a ball as a result of being
hit by a bat.
GIVEN:
Mass of the ball and its velocity before and after collision, as well as the duration of the collision.
DRAW:
We’ll be using the general linear impulse equation:
*
mv*1 + LI1−2 = mv*2
SOLVE:
The change in linear momentum is equal to the applied linear impulse.
v*1 = −80 *
ı mph = −117.3̄ft/s
v*2 = 125 *
ı mph = 183.3̄ *
ı ft/s
* 0.3 lb
LI1−2 = mv*2 − mv*1 = (183.3 *
ı + 117.3̄ *
ı ) ft/s
(32.2 ft/s2 )
*
LI1−2 = 2.80 *
ı lb·s
Because the applied linear impulse is simply equal to the average force multiplied by the time over
which it is applied we have
2.80 *
ı lb·s
Favg = = 16.5 lb
0.17 s
269
3.5.19
GOAL: Determine how fast two girls are travelling immediately following their collision.
GIVEN:
mA = 23 kg, mG = 23 kg. The distance from A to B is 40 m. The slope is 10 degrees. Angela’s
velocity at A is zero.
DRAW:
* *
ı 
*
*
b2 sin θ cos θ
ASSUME: No speed is given for Grace so we’ll assume her speed is zero at collision.
First we have the equation of motion for Angela as she moves downslope:
* *
Force balance: mA ẍ b 1 = −mA g *
 + N b2
*
b1 : mA ẍ = mA g sin θ ⇒ ẍ = g sin θ (1)
Letting vA and vA0 be Angela’s speed just before and just after impact and v and v 0 be Grace’s
G G
speed just before and after impact we’ll have the impulse relationships:
0
mA vA − LI = mA vA (2)
0
mG vG + LI = mG vG (3)
SOLVE:
First find Angela’s speed (vA ) after moving 40 m downslope.
The acceleration is constant and so we can use the results of (1) in the integral form of a dx = v dv:
1 2
g sin θ∆x = vA
2
1 2
(9.81 m/s2 )(sin 10◦ )(40 m) = vA ⇒ vA = 11.7 m/s
2
Next we’ll consider the momentum change due to the collision.
0 0
(2) + (3) ⇒ mA vA + mG vG = mA vA + mG vG
Both Angela and Grace are moving as a single body after the collision and therefore have a single
combined mass and a single post-collision speed v 0
(2) + (3) ⇒ (23 kg)(11.7 m/s) + (20 kg)(0) = (23 kg + 20 kg)v 0
v 0 = 6.24 m/s
270
3.5.20
GOAL: Determine the applied linear impulse (in lb·s) as a result of a tennis racket/ball collision.
GIVEN:
1
The tennis ball weighs 2 16 oz. v*1 = 110 *
ı mph v*2 = (−80 *
ı + 10 *
 ) mph
DRAW:
We’ll be using the general linear impulse equation:
*
mv*1 + LI1−2 = mv*2
SOLVE:
The change in linear momentum is equal to the applied linear impulse.
v*1 = 110 *
ı mph = 161.3̄ ft/s
v*2 = (−80 *
ı + 10 *
 ) mph = (−117.3̄ *
ı + 14.6̄ *
 ) ft/s
1
* 2 16 oz
LI = mv*2 − mv*1 = (−117.3 *
ı + 14.6̄ *
 − 161.3̄ *
ı ) ft/s
(32.2 ft/s2 )(16 oz/lb)
*
LI = (−1.12 *
ı + 0.0584 *
 ) lb·s
271
3.5.21
GOAL: (a) Calculate the velocity of the submarine and torpedo just after ejection is complete.
(b) Calculate the average force acting on the torpedo during the launch.
(c) Calculate the average force exerted by the torpedo on the submarine during the launch.
GIVEN:
The submarine has a mass of 50,000 kg and the torpedo has a mass of 100 kg. The ejection
mechanism acts on the torpedo for 0.25 seconds. The torpedo enters the water with a velocity of
10 m/s relative to the submarine.
DRAW:
msub vsub − LI = msub v 0 (1)
sub
0
mtorp vtorp + LI = mtorp vtorp (2)
Note that an unprimed speed indicates the speed before the launch and a primed speed indicates
the speed just after launch.
Also, we’re given
0
vtorp = v0 + 10 m/s (3)
sub
SOLVE:
(a):
(1) + (2) ⇒ msub vsub + mtorp vtorp = msub v 0 0
+ mtorp vtorp (4)
sub
(3) → (4) ⇒ (50, 000 kg + 100 kg)(5 m/s) = (50, 000 kg)v 0 + (100 kg)(v 0 + 10 m/s) (5)
sub sub
v0 = 4.98 m/s (6)

sub
0
(6) → (3) ⇒ vtorp = 14.98 m/s (7)
0 0
v*sub = 4.98 *
ı m/s, v*torp = 14.98 *
ı m/s
b:
0
(2) ⇒ LI = mtorp vtorp − mtorp vtorp
LI = (100 kg)(14.98 − 5) m/s = 998 N

Since LI = Favg ∆t we have
998 N = Favg (0.25 s)
272
Favg = 3992 N
c:
The magnitude of the force exerted by the torpedo on the submarine is equal to the magnitude of
the force exerted by the submarine on the torpedo. This can easily be verified.
(3) ⇒ −LI = msub v 0 − vsub vsub
sub
−LI = (50, 000 kg)(4.98 − 5) m/s = −998 N
998 N = Favg (0.25 s)
Favg = 3992 N
As expected, the force of the torpedo on the submarine is equal in magnitude and acts opposite in
direction to the force of the submarine on the torpedo.
273
3.5.22
GOAL: (a) Find the average force exerted by a tennis ball on the ground during impact. (b) Find
the average acceleration experienced by the ball over the impact interval.
GIVEN:
The tennis ball is dropped from a height of 6 feet. It rebounds to a height of 3 38 feet, and the
impact takes 0.07 seconds.
DRAW:
LI + mball v*ball |pre−impact = mball v*ball |post−impact (1)
SOLVE:
(a):
√ q
The ball’s impact velocity is equal to 2gh = 2(32.2 ft/s2 )(6 ft) = 19.66 ft/s
After striking the floor it rises to 3 38 feet so, if we let the rebound velocity equal vr *
 , we have
v*(t) = vr *
 − gt *

At the top of the rebound its speed is zero:
vr
0 = vr − 32.2t∗ =⇒ t∗ =
32.2
t∗ 2
y* = 0 + vr t∗ *
 −g
2
vr2 32.2 ft/s2 vr2
3.375 ft = 2 − =⇒ vr = 14.74 ft/s
32.2 ft/s 2 (32.2 ft/s2 )2
1
2 oz
The mass of the ball is 16 = 4.0×10−3 slg.
(16 oz/lb)(32.2 ft/s2 )
(1) ⇒ LI = (4.0×10−3 slg) (14.74 ft/s − (−19.66 ft/s)) *

 = 0.138 lb·s
LI = Favg ∆t =⇒ Favg = LI
∆t = 0.138 lb· s
0.07 s = 1.97 N
(b):
14.74 ft/s − (−19.66 ft/s)

a*ball = 0.07 s = 491 ft/s2 = 15 g
274
3.5.23
GOAL: Two methods to impart velocity to a mass are proposed. Evaluate them and determine if
one will produce a higher velocity.
GIVEN: Two different system configurations. Zorro’s initial speed is v and his launch angle is
45◦ .
DRAW:
* *
ı 
* √ √
b1 1/ 2 1/ 2
* √ √
b2 −1/ 2 1/ 2
SOLVE:
(a)
a*Z  ft/s2
= −32.2 *
*
v*Z = −(32.2 ft/s2 ) t *
 + C1
*
We can apply initial conditions to evaluate C1 :
v v
v*z (0) = √ *ı +√ *
2 2
t2 * v *
r*Z /O = −(32.2 ft/s2 )  + √ t (*
ı +*
 ) + C2
2 2
*
Now we can use positional initial conditions to evaluate C2 :
*
C2 = 0 *
ı + 4 ft *

(32.2 ft/s2 ) t2
" #
vt vt

r*Z /O = *
ı √ +*
 4 ft + √ −
2 2 2
At t∗ , r*Z /O = 20 ft *
ı , thus:
√
vt∗ ∗ 20 2 ft
√ = 20 ft ⇒ t =
2 v
and √ √ 2
20 2 ft 20 2 ft

v v (32.2 ft/s2 ) v
4 ft + √ − =0
2 2
275
12, 880 ft3 /s2
24 ft = ⇒ v = 23.17 ft/s
v2
(b) !
*
*
175 lb * *
LI = m∆v = (23.17 ft/s b 1 ) = 125.9 b 1 slug· ft/s
32.2 ft/s2
|LI| = 125.9 slug· ft/s

(c)
5 oz *
2 |∆ v b | = 125.9 slug· ft/s
(16 oz/lb)(32.2 ft/s )
|∆vb | = 12, 980 ft/s = 8850 mph
(d)
This is a pretty ridiculous speed, exceeding Mach 10. I would conclude, seeing how absurdly high
the baseball’s velocity would be, that, even though there is a difference between how someone would
throw a person and how they would throw a baseball, the difference is not likely to be enough to
make twenty foot zorro tosses a realistic possibility.
276
3.5.24
GOAL: Determine how far a shift linkage would move if acted on by a given pressure for 80 ms.
Also determine its speed.
GIVEN: Mass of linkage, hydraulic pressure and effective area pressure acts on.
DRAW:
We’ll be applying a linear impulse equation:
mv2 = mv1 + LI|1−2
SOLVE: The 1200 psi hydraulic fluid acts on an area of 0.25 in × 0.25 in. The force is therefore:
(1200 psi)(0.25 in)2 = 75 lb

!
* 2 lb
F = ma *
⇒ 75 lb = a ⇒ a = 1207.5 ft/s2
32.2 ft/s2
1 1
∆x = at2 = (1207.5 ft/s2 )(0.08 s)2 = 3.86 ft
2 2
mv(0.08 s) = mv(0) + F ∆t
2 lb
v(0.08 s) = 0 + (75 lb)(0.08 s) ⇒ v(0.08 s) = 96.6 ft/s
32.2 ft/s2
277
3.5.25
GOAL: What is the coefficient of kinetic friction between puck and ice?
GIVEN: Puck’s mass, initial and final speed and time taken to change speed.
DRAW:
Force balance:
*
ı: N − mg = 0 ⇒ N = mg (1)
*
: ma = −µk N = −µk mg (2)
v2 = v1 + a∆t (3)
SOLVE:
(1)→(2)⇒ a = −µk g (4)
v2 = v1 − µk g∆t (5)
(4)→(3)⇒
2
11.3 m/s = 13 m/s − µk (9.81 m/s )(3 s) (6)
µk = 0.0578
278
3.5.26
GOAL: Determine the thrust needed later the velocity of an airplane.
GIVEN: Flight path, mass and speeds of airplane and engine’s thrust.
DRAW:
* *
ı 
*
b1 cos 3◦ sin 3◦
*
b2 − sin 3◦ cos 3◦
X * **
F = L b 2 + (T − D) b 1 − mgn2
* *
= b 1 (T − D − mg sin 3◦ ) + b 2 (L − mg cos 3◦ )
SOLVE: Because the airplane stays on the inclined flight path, L = mg cos(3◦ ).
The momentum change in the airplane is due to the Zapplied impulse.
mv2 = mv1 + F dt
(35, 000 kg)(180 m/s) = (35, 000 kg)(150 m/s) + (T − D − mg sin 3◦ )(60 s)
T − D − mg sin 3◦ = 17, 500 N
T = (35, 000 kg)(9.81 m/s2 )(sin 3◦ ) + 17, 500 N + 10, 000 N
T = 45, 470 N
279
3.5.27
GOAL: Determine the slope of a floor that 007 is rolling along.
GIVEN: Initial and final velocities as well as the weight of 007 and the dolly.
DRAW:
* *
ı 
*
er cos θ − sin θ
e*θ sin θ cos θ
FORMULATE EQUATIONS: We’ll use linear impulse:
Z t
* * 2 *
mv 2 = mv 1 + Fdt
t
1
SOLVE:
7.0 m/s = 23.0 ft/s, 8.7 m/s = 28.6 ft/s
* * *
Force balance: F1 b 1 + F2 b 2 = −(213 lb) *
 + N b2
* *
= 213 lb sin θ b 1 + [N − 213 lb cos θ] b 2
*
b1 : F1 = (213 lb) sin θ
*
Now we’ll apply our linear impulse equation in the b 1 direction:
! !
213 lb 213 lb
(28.6 ft/s) = (23.0 ft/s) + 213 lb(10 s) sin θ
32.2 ft/s2 32.2 ft/s2
sin θ = 0.0173
θ = 1.0◦
280
3.5.28
GOAL: Find the angle θ at which contact is lost.
GIVEN: Radius of the roof, initial rate of travel and coefficient of friction.
DRAW:
Force balance:  + N e*r − Ff e*θ = m[(r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ ]
−mg *
The mass is sliding and therefore we have Ff = µN
e*r : N − mg cos θ = −mrθ̇2 (1)
e*θ : mg sin θ − µN = mrθ̈ (2)

ASSUME: While in contact ṙ = r̈ = 0.
SOLVE:
g
(1), (2) ⇒ θ̈ = (sin θ − µ cos θ) + µθ̇2 (3)
r
(3) → (1) ⇒ N = m(g cos θ − rθ̇2 ) (4)
What we can now do is use MATLAB by introducing the state variables y1≡ θ and y2≡ θ̇ and
rewriting (3) as
y2=g*(sin(y1)-mu*cos(y1))/r+mu*y2∧2
Once integrated from initial conditions of y1=0, y2=0.5 we can then substitute the results into (4)
and evaluate N , looking for the angular position at which the normal force goes to zero, hence
indicating a loss of contact with the surface. Doing so shows that at t = 1.1196 s, N/m goes to
zero, θ = 0.6041 rad = 34.6◦ and θ̇ = 0.6354 rad/s. Thus the addition of friction has delayed but
not prevented the loss of contact.
281
3.5.29
GOAL: Find the speed of the postal worker/cart after they’ve traveled together to point C
GIVEN: Mass of cart and postal worker, slope and distances.
DRAW:
* *
ı 
*
*
b2 sin θ cos θ
* * *
Force balance: b 1 (mg sin θ) + b 2 (T − mg cos θ) = mẍ b 1
*
b1 : ẍ = g sin θ (1)
ẋ = g sin θ t (2)
t2
x = g sin θ (3)
2
SOLVE: The time to initial impact is:
t2
(3)⇒ 10 m = (9.81 m/s2 )(sin 10◦ ) ⇒ t = 3.43 s (4)
2
(4)→(2)⇒ ẋ = (9.81 m/s2 )(sin 10◦ )(3.43 s) = 5.84 m/s
At B the cart is moving at 5.84 m/s and the postal worker is stationary. Apply conservation of
linear momentum gives:
(25 kg)(5.84 m/s) + (70 kg)(0) = (25 kg + 70 kg)v ⇒ v = 1.54 m/s
From B to C, we have:
ẍ = g sin θ
ẋ = g sin θ t + 1.54 m/s (5)
t2
x = g sin θ + (1.54 m/s) t (6)
2
t2
(6)⇒ 10 m = (9.81 m/s2 )(sin 10◦ ) + (1.54 m/s) t ⇒ t2 + (1.8 s) t − 11.74 s2 = 0
2
The only positive solution is:
t = 2.64 s (7)
(7)→(5)⇒ ẋ = (9.81 m/s2 )(sin 10◦ )(2.64 s) + 1.54 m/s

ẋ = 6.04 m/s
282
3.5.30
GOAL: Find the acceleration and traction force of a car on a slope.
GIVEN: Mass of the car, grade of slope and speed/time data.
DRAW:
* *
ı 
*
b1 cos θ sin θ
*
* * *
Force balance: ma b 1 = (T − mg sin θ) b 1 + (N − mg cos θ) b 2
*
b 1: ma = T − mg sin θ
T = m(a + g sin θ)
SOLVE:
Linear impulse: Z
mv2 = mv1 + (T − mg sin θ) dt
1000 m/km 1000 m/km

(1200 kg)(125 kph) = (1200 kg)(90 kph) + (T − mg sin θ)(10 s)
3600 s/h 3600 s/h
T − mg sin θ = 1166.6 N
T = (1200 kg)(9.81 m/s2 ) sin 3.43◦ + 1166.6 N = 1.87×103 N
1166.6 N = (1200 kg)a
a = 0.972 m/s2 = 0.10 g
283
3.5.31
GOAL: Determine the time it takes for an astronaut to drift back to his spaceship after throwing
a wrench away from the ship.
GIVEN: Mass of the astronaut and wrench and the absolute speed of the wrench after being
released.
DRAW:
FORMULATE EQUATIONS: Before the throw the system linear momentum (astronaut plus
wrench) was zero. Thus, after the wrench has been tossed, the total system linear momentum must
also be zero.
SOLVE:
Let mW be mass of wrench and mA be mass of astronaut. Let vW and vA be the speeds of the
wrench and astronaut, respectively - both positive in the *
ı direction.
SOLVE:
mW vW + mA vA = 0
(2 kg)(15 m/s) + (80 kg) vA = 0
vA = −0.375 m/s
vA t = −10 m
−(0.375 m/s)(t) = −10 m
t = 26.6 s
284
3.5.32
GOAL: Find the post-collision speed of two moving bodies.
GIVEN: Masses of the two bodies and their initial velocities.
DRAW:
FORMULATE EQUATIONS: Before collision

*
L = mS v*S + mJ−S v*J−S = (80 kg)(7 m/s) *
ı + (70 kg)(−7 m/s) *
ı
= 70 *
ı kg· m/s (1)
After collision
*
L = (80 kg + 70 kg)v* (2)
SOLVE: Because momentum for the system of two bodies is conserved, we have from (1) and (2):
70 *
ı kg· m/s = (150 kg)v*
v* = 0.46̄ *
ı m/s
285
3.5.33
GOAL: Determine if you can deduce the pre-collision speed of two moving bodies.
GIVEN: Masses of the two bodies and post-collision speed of the combined mass.
DRAW:
*
Before collision: (27 g)v1 *
ı + (31 g)v2 *
ı =L (1)
*
After collision: (27 g + 31 g)(−100 m/s) *
ı =L (2)
SOLVE:
(1), (2) ⇒ (27 g)v1 + (31 g)v2 = −5800 g· m/s
The individual velocities cannot be determined. We have one equation and two unknowns:
(a)
v1 and v2 .
To obtain a solution, we need only one unknown. If either v*1 or v*2 was specified, the
(b)
problem could be solved.
286
3.5.34
GOAL: Find the absolute velocity of an enclosure when a spring-restrained, internal mass, is
halfway across the enclosure’s length.
GIVEN: Masses of the two bodies and speed (with respect to the enclosure) of the internal mass
when halfway across.
DRAW:
The linear momentum of the enclosure/spring system is zero before the chunk breaks off and thus
is zero afterwards as well. Let the velocity of the enclosure (less the chunk) be v(e−c) *
ı and the
*
velocity of the chunk be vc ı .
vc *
ı = v(e−c) *
ı + vc/(e−c) *
ı = v(e−c) *
ı + ẋ *
ı
vc = v(e−c) + ẋ
SOLVE: The system momentum is given by:

0 = m(e−c) v(e−c) + mc vc = m(e−c) v(e−c) + mc v(e−c) + ẋ

0 = (2.4 kg − 0.21 kg)v(e−c) + (0.21 kg) v(e−c) + 5 m/s
(2.4 kg) v(e−c) = −1.05 kg· m/s
v(e−c) = −0.4375 m/s
v*(e−c) = −0.4375 *
ı m/s
287
3.5.35
GOAL: Find the post-collision velocities of two colliding cars.
GIVEN: Masses of the two cars and initial velocities.
DRAW:
FORMULATE EQUATIONS: The crush dynamics may be complex but all the forces are equal
and opposite between the two cars. Thus system momentum

is conserved and:
mA v*A + mB v*B = mA + mB v*
SOLVE:
(1000 kg)(10 m/s) *
ı + (1500 kg)(−15 m/s) *
ı = (1000 + 1500)v*
v* = −5 *
ı m/s
This result is the same as you will find when two mass particles collide. The point of the crumple
zone is not to alter the final velocity but rather to increase the time over which the collision lasts.
The change in velocity won’t change but by changing the time duration of the collision you decrease
the acceleration levels.
288
3.5.36
GOAL: Find the magnitude of the average force exerted by a nail on a hammer.
GIVEN: Mass of the hammer, time duration of collision and strike speed.
DRAW:
We’ll apply the equation for linear impulse:
mH vH (0) − F ∆t = mH vH (∆t) (1)
SOLVE: !
1.5 lb
mH 32.2 ft/s2
F = vH (0) − 0 = (88 ft/s) = 372.7 lb
∆t (0.011 s)
289
3.5.37
GOAL: Find angular momentum of A about O
GIVEN: particle mass=6 kg, v*A = (5.2 *
ı − 3.4 *
 ) m/s, r*A/O = (5.6 *
ı + 2.5 *
 )m
DRAW:
*
angular momentum: HO = r* × mv*
SOLVE:
*
HO = (5.6 *
ı + 2.5 *
 ) m × (6 kg)(5.2 *
ı − 3.4 *
 ) m/s
*
HO = (5.6 *
ı + 2.5 *
 ) m × (31.2 *
ı − 20.4 *
 ) kg· m/s
*
HO = [(0) + (2.5 *
 × 31.2 *
ı ) + [5.6 *  )] + (0)] kg· m2 /s
ı × (−20.4 *
* * *
HO = [−78k − 114.2k ] kg· m2 /s
* *
HO = −192.2k kg· m2 /s
290
3.5.38
GOAL: Find the angular momentum of B about A and O.
GIVEN: Position, mass and velocity of B.
DRAW:
*
HO = r*B/ × mB v*B
O
*
HA = r*B/ × mB v*B
A
SOLVE:
*
HO = (2 *
 m) × (2 kg)(−3 *
ı − 3*
 )m/s
* *
HO = 12k kg·m2 /s
*
HA = (−2 *
ı + 2*
 ) m × (2 kg)(−3 *
ı − 3*
 ) m/s
* * *
HA = (12k + 12k ) kg·m2 /s
* *
HA = 24k kg·m2 /s
291
3.5.39
GOAL: Find v*C
GIVEN: Position and mass of C, angular momentum of C about O and velocity component of C
in *
ı direction
DRAW:
*
HC/ = r*C/ + mv*C
O O
SOLVE: *
HC/ = (10 *
ı − 20 *
 ) ft x (5 slug) 3 ft/s *
ı + vj *

O
* * *
HC/ = (50 slug ft) vj k + 300 slug ft2 /sk
O
35 slug ft2 /s = (50 slug ft) vj + 300 slug ft2 /s
vj = −5.3 ft/s
v*C = (3 *
ı − 5.3 *
 ) ft/s
292
3.5.40
* *˙
GOAL: Find HA/ and HA/ .
O O
*
GIVEN: F = 4 *
 N, r*A/ = (4.0 *
ı + 1.5 *
 ) m, v*A = 10 *
 m/s, m = 10 kg.
O
DRAW
*
HA/ = r*A/ × mv*A (1)
O O
*
˙ *
HA/ = r*A/ × F (2)
O O
SOLVE:
(1) ⇒
*
HA/ = [(4.0 *
ı + 1.5 *
 ) m] × (10 kg)(10 *
 m/s)
O
*
= (4.0 m)(10 kg)(10 m/s)k
2
= 400k kg·sm
*
2
HA/ = 400k kg·sm
* *
(2) ⇒
d* = [(4.0 *
ı + 1.5 *
 ) m] × (4 *
dtHA/O *
 N)
= (4.0 m)(4 N)k
*
= 16k N·m
d* *
dtHA/O = 16k N·m
293
3.5.41 *
GOAL: Find HO of a diver.
GIVEN: Mass of diver and initial position and speed.
DRAW:
x = vt
gt2
y=−
2
*
HO = rA/ × mv*A
O
SOLVE:
gt2 *
r*A/ = x *
ı + y*
 = vt *
ı − 
O 2
v*A = r*˙ A/ = v *
ı − gt *

O
* gt2 *
HO = (vt *
ı −  ) × m(v *
ı − gt *
)
2
* mgt2 v *
= −mvgt2 k + k
2
2 *
HO = − mgt v
*
2 k
294
3.5.42
GOAL: Two methods to impart velocity to a mass are proposed. Evaluate them and determine if
one will produce a higher velocity.
GIVEN: Two different system configurations.
DRAW:
FORMULATE EQUATIONS: Case A

In the downward vertical direction we have
Z t
2
mv(t2 ) = F dt = mg∆t
t
1
SOLVE: Case A
We know from our earlier q work in kinematics that for a constant acceleration g, the time to move
2h √
a distance h is equal to g . Thus at contact we have mv = m 2gh.
√
v = − 2gh *
impact
FORMULATE EQUATIONS: Case B
v(t) = θ̇h
There are two forces acting on the mass - the tension in the rope and the gravity force. The tension
force vector goes through the pivot and therefore doesn’t contribute to the angular momentum.
The gravity force does contribute, as can be seen from the expression for angular momentum about
0:
Ḣ0 = h e*r ×(−T e*r − mg *
 ) ⇒ Ḣ0 = −hmg cos θ
Z t
2
H0 (t2 ) = −mgh cos θdt
t
1
π
The final angular momentum at t2 (the time when θ is 2) is given by
Z t
2
H0 (t2 ) = − mgh cos θdt (1)
t
1
SOLVE: Case B
To solve this case we need to use MATLAB to get an expression for cos θ as a function of time.
The governing equation of motion is given by
g
θ̈ = cos θ
h
For convenience, we can pick particular values of g and h and integrate this expression to find values
of θ and t along the system’s trajectory. We then take the values of θ and form cos θ. Finally,
we take these values of cos θ and their associated time values, and approximate the integral of (1)
295
by a simple trapezoidal approximation. It’s easy to get evenly spaced values of time to use in the
integration by setting tspan as
tspan = linspace(tinitial , tfinal , 101)
This will automatically give you 101 evenly spaced points that go from tinitial to tfinal . The trape-
zoidal integration is shown below:
∆T ≡ tfinal − tinitial
∆T

ti = tinitial + (i − 1)
100
100
" # !
cos(θ(t1 )) + cos(θ(t101 )) X ∆T
+ cos(θ(ti ))
2 i=2
100
√
Doing the integration leads to the same result as from part (a): |v*impact | = 2gh.
CONCLUSION: The impact velocities are the same and therefore both methods will crack co-
conuts equally well. From a design perspective I’d have to say case (b) would make for more
repeatable and accurate strikes, but case (a) has the advantage of no moving parts, so I’d have to
call it a tie.
296
3.5.43
GOAL: Angular speed when rm/O = r2 .
GIVEN: Initial conditions and direction of force.
DRAW:
* *
Angular impulse: HO (t2 ) = HO (t1 ) + AI O1−2 (1)
* *
Moment about origin: MO = r*m/O × F (2)
SOLVE:
* *
(2) ⇒ MO = r*m/O × F = r e*r × (−F ) e*r = 0 (3)
Z t2 *
(3) → (1) ⇒ r22 θ̇ = r12 ω0 + MO dt = r12 ω0 + 0 (4)
t1
r2 ω0
θ̇ = 1
(4) ⇒ r2
2
297
3.5.44
GOAL: Find angular momentum of a shark about a fisherwoman as a function of time.
GIVEN: Orientations and speeds of shark and fisherwoman and the fact that the line is being
reeled in at a speed v.
DRAW:
*
HF = r*S/ × mS v*S (1)
F
v*S = vr e*r + vθ e*θ (2)
vS = v0 (3)
SOLVE:
(2), (3) ⇒ v02 = vr2 + v 2 = (−v)2 + v 2
θ θ
q
vθ = v02 − v 2 (4)
*
(1), (4) ⇒ HF = (r0 − vt) e*r × mS (−v e*r + vθ e*θ )
*
= mS (r0 − vt)vθ k
* q *
HF = mS (r0 − vt) v02 − v 2 k
298
3.5.45
GOAL: Find the tension in a string from t = 0 to t = 4 seconds as an attached mass moves on a
flat surface.
GIVEN:
m = 0.4 kg, L is constant at 0.6 m, θ̇ = 2.5 rad/s, and the rocket exerts a force of −1.2 e*θ N.
DRAW:
*
H0 = mr rθ̇ e*z = mr2 θ̇ e*z
d* d 2 *
H0 = mr θ̇ e z = mr2 θ̈ e*z (1)
dt dt
X *
MO = N r e*z (2)
SOLVE: * *
d P
(1) and (2) together with dtHO = MO yield
mr2 θ̈ = N r
(0.4 kg)(0.6 m)2 θ̈ = (1.2 N)(0.6 m)
θ̈ = 5 rad/s2
Integrating gives us
θ̇ = θ̇(0) + θ̈t = 2.5 rad/s − (5 rad/s2 )t
In the e*r direction we have −T = −mrθ̇2
T = mrθ̇2 = (0.4 kg)(0.6 m)θ̇2 = (0.24 kg· m)θ̇2
h i2
T (t) = (0.24 kg· m) (2.5 rad/s − (5 rad/s2 )t
299
3.6 Orbital Mechanics
300
3.6.1
GOAL: Find the speed of a satellite orbiting 10 m above the moon’s surface.
GIVEN: Radius of the moon.
DRAW:
mS v 2 * m m G
Force balance: − e r = −F e*r = M 2 S e*r
r r
SOLVE:

mS 7.4×1022 kg 6.67×10−11 N·m2 /kg2 mS v 2
− = −
(1.7 × 106 m)2 1.7 × 106 m

7.4×1022 kg 6.67×10−11 N·m2 /kg2
v2 =
(1.7 × 106 m)
v = 1704 m/s = 6134 km/hr
301
3.6.2
GOAL: Determine the orbital period and velocity of a fictitious moon.
GIVEN: Radius of circular orbit
DRAW:
ASSUME: Air resistance may be neglected.

FORMULATE EQUATIONS: Apply a force balance to the moving mass.
SOLVE:
GmE mm * v2 *
− er = −mm e
r2 r r
mm 6.67×10−11 Nm2 /kg2 5.98×1024 kg

v 2 e*r
− e*r = −mm
(6.37×106 m + 1.5 m)2 (6.37×106 m + 1.5 m)
v = 7, 910 m/s = 17, 700 mph
2π 6.37×106 m + 1.5 m

2πr
Orbital period = = = 5, 060 s (1)
v 7910 m/s
Orbital period = 1.4 hr
302
3.6.3
GOAL: Determine the orbital period of the earth around the sun.
GIVEN: Distance from earth to sun.
DRAW:
GmS * v2 *
Force balance: −mE e = −m e
r2 r E r r
SOLVE:

3.44 × 10−8 ft3 / slg· s2 1.36×1029 slg

= v2
(9.3×107 mi)(5280 ft/mi)
v = 9.76×104 ft/s
2πr 2π(9.3×107 mi)(5280 ft/mi)
T = = = 3.16×107 s
v 9.76×104 ft/s
T = 366 days
303
3.6.4
GOAL: Determine the period of the moon around the earth.
GIVEN: Radial distance from the earth to the moon.
DRAW:
GmM mE * v2 *
Force balance: − e r = −m er
r2 M r
SOLVE:

6.67×10−11 N·m2 /kg2
5.98×1024 kg

2 GmE
v = =
r (3.84×108 m)
v = 1.02×103 m/s
2π 3.84×108 m

2πr
T = = = 2.37×106 s
v 1.02×103 m/s
T = 27.4 days
304
3.6.5
GOAL:
GIVEN:
DRAW:
1 GmE 1 GmE

A= − 2
= 1−
r h r rvθ2
SOLVE: From Figure 3.50 we know that A = 0 corresponds to a circular orbit. Denote the
associated value of vθ at that r as vθcritical . An A greater than zero implies that vθ > vθcritical (so
that Gm E
rv 2
< rv2GmE and thus 1 − Gm E
rv 2
> 0). This produces an ellipse for which r is the perigee.
θ θcritical θ
The speed vθ is too large to remain on a circular orbit and so, at θ = π, the orbit has bulged out.
A value less than zero implies a velocity vθ that is too small to maintain orbit. Thus the satellite
will describe an orbit for which r is the apogee.
305
3.6.6
GOAL: Find the furthest distance from the earth’s surface that an orbiting body reaches.
GIVEN: Distance from earth and velocity at an initial point.
DRAW:
1 GmE
A= − (1)
r0 h2
Ah
e= (2)
GmE
1 GmE
= −A (3)
r h2
h = rvθ ⇒ vθ (4)
SOLVE:
h = (3960 mi + 100 mi)(18, 000 mph) = 7.31×107 mi2 /h

= 5.66×1011 ft2 /s
1 GmE
Using A = r − h2
gives:
0

3.44 × 10−8 ft3 / slg· s2 4.09 × 1023 slg

1
A = − 2 = 2.72×10−9 ft−1
(4060 mi)(5280 ft/mi)

2
5.66×1011 ft / s

Ah 2.72×10−9 ft−1 5.66×1011 ft2 /s
e = = = 1.09×10−13
GmE −8 3 2 23
3.44 × 10 ft / slg· s (4.09 × 10 slg)
e is between 0 and 1 and therefore the orbit is elliptical (very close to circular). At θ = π:

3.44 × 10−8 ft3 / slg· s2 4.09 × 1023 slg

1 GmE
= −A= 2 − 2.72×10−9 ft−1 = 4.12×10−8 ft−1
r h2

2
5.66×1011 ft / s
r = 2.43×107 ft ⇒ height above ground = 636 miles
h 5.66×1011
h = rvθ ⇒ vθ = = = 2.33×104 ft/s = 1.59×104 mph
r 2.43×107
vθ = 2.33×104 ft/s = 1.59×104 mph
306
3.6.7
GOAL: Find time for engines to fire to put a spacecraft into a circular orbit
GIVEN: Initial velocity, position, and mass of spacecraft and engine’s thrust
DRAW:
FORMULATE EQUATIONS: For a circular orbit
mv 2 GM
= m 2E
r r
SOLVE:
2

GM 6.67 × 10−11 m 3 /kg s 5.98 × 1024 kg 2
v2 = r
E = 7 = 1.99 × 107 m2 /s
2.00 × 10 m
v = 4.47 x 103 m/s
The spacecraft is traveling at 5.00 x 103 m/s initially and must be slowed by 5.00 x 103 m/s − 4.47
x 103 m/s = 534 m/s
This implies a linear impulse of
5.00 × 104 kg (534 m/s) = 2.67 × 107 kg m/s

using F ∆t = m∆v gives us

4.5 × 105 N ∆t = 2.67 × 107 kg m/s
∆t = 59 s
307
3.6.8
GOAL: Determine if a 10% increase in speed of a spaceship originally in a circular orbit induces
a 10% drop in speed at the point for which it experiences its minimum orbital speed.
GIVEN: Initial height of the spaceship above the earth.
DRAW:
If the spaceship is 200 miles above the ground then r0 = 3960 mi + 200 mi = 4160 miles.
Our general expression for elliptical orbits is given by
1 GmE
= + A cos θ
r h2
For the initial circular orbit we have
mv 2 GmE m 2 GmE
Force balance: − = − ⇒ v =
r0 r02 r0
SOLVE: v
u 3.44 × 10−8 ft3 / slg· s2 (4.09×1023 slg)
u
v= = 2.53×104 ft/s
t
(4160 mi)(5280 ft/mi)
This gives us our initial speed v. We then increase it by 10%:
vnew = 1.1v = 2.78×104 ft/s
What was r0 now becomes the minimum radial value for our elliptical orbit, occurring at point 1.
rmin = r1 = r0

h = r1 v1 = (4160 mi)(5280 ft/mi) 2.78×104 ft/s = 6.12×1011 ft2 / s

3.44 × 10−8 ft3 / slg· s2 4.09×1023

1 GmE 1
A = − = − = 7.90×10−9 ft−1
r1 h 2 (4160 mi)(5280 ft/mi) (6.12×1011 )2

3.44 × 10−8 ft3 / slg· s2 4.09×1023

1 GmE
= −A= − 7.90×10−9 = 2.97×10−8 ft−1
r2 h2 (6.12×1011 )2
r2 = 3.36×107 ft = 6372 mi
h 6.12×1011 ft2 / s
v2 = = = 1.82×104 ft/s
r2 3.36×107 ft
1.82×104 is 28% less than the original speed. Thus we see that the decrease is much larger than
10%.
308
3.6.9
GOAL: Find the maximum distance from the earth’s center that a post-collision mass reaches.
GIVEN: Initial mass and velocities of the colliding mass and their distance from the earth’s center.
DRAW:
SOLVE: Apply conservation of linear momentum to the collision
mA vA + mB vB = (mA + mB )v

3.00×104 kg 9.00×103 m/s + 4.50×104 kg 8.00×103 m/s = 3.00×104 kg + 4.50×104 kg v
v = 8.40×103 m/s
Using

6.67×10−11 N·m2 /kg2 5.98×1024 kg

1 GmE 1
A= − = − = 2.75×10−8 m−1
r h2 7.00×106 m [(8.40×103 m/s) (7.00×106 m)]2
Now, look at r when θ = π

6.67×10−11 N·m2 /kg2 5.98×1024 kg

1 GmE
= −A + = −2.75×10−8 m−1 +
rmax h2 [(8.40×103 m/s) (7.00×106 m)]2
1
= 8.79×10−8 m−1
rmax
rmax = 1.14×107 m = 1.14×104 km
309
3.6.10
GOAL: Determine the impulse applied to the spacecraft at points A and B that allow it to
transition from a low altitude circular orbit to a higher one.
GIVEN: Mass of spacecraft, radii of initial circular orbit and desired final circular orbit
DRAW:
ASSUME: Points A and B are the perigee and apogee, respectively, of the intermediate elliptical
orbit. At these points the orbiting body will have no radial velocity component.
FORMULATE EQUATIONS: We will use F~ = m~a to determine the velocities of the circular
orbits and apply elliptical orbit equations:
1 1
+ 2A = (1)
rmax rmin
1 GmE
= + A cos θ (2)
r h2
to determine A and the elliptical orbit velocities at perigee and apogee. The impulse m∆v may be
computed once these velocities are known.
SOLVE: We will first determine the velocities at the perigee and apogee of the elliptical orbit.
From (1), we have:
1 1 1

A= − = 8.93×10−9 m−1
2 7.00×106 m 8.00×106 m
From (2), at the perigee (θ = 0),

2
6.67×10−11 Nm2 5.98×1024 kg

1 GmE 1 kg
= +A ⇒ = + 8.93×10−9 m−1
rmin h2 7.00×106 m h2
h = 5.46×1010 m2 /s
h
v1 = = 7.80×103 m/s
rmin
h
v2 = = 6.82×103 m/s
rmax
A circular orbit with a radius of 7.00×106 m has a velocity that satisfies:
v2 GmE
− = − 2
r v r
u 2

s
u 6.67×10
u −11 Nm (5.98×1024 kg)
GmE kg2
= 7.55×103 m/s
t
v= =
r 7.00×106 m
310
and an orbit of 8.00×106 m has a velocity:
v
2
u
u 6.67×10−11 Nm2 (5.98×1024 kg)
s u
GmE kg
= 7.06×103 m/s
t
v= =
r 8.00×106 m
Thus the spacecraft’s velocity goes from 7.55×103 m/s to 7.80×103 m/s to transfer from the 7000
km radius orbit to an elliptical one and from 6.82×103 m/s to 7.06×103 m/s to go from the elliptical
to a circular one with a radius of 8000 km.
The first impulse has a magnitude of:

m∆v = 1.40×104 kg 7.80×103 m/s − 7.55×103 m/s = 3.47×106 kg·m/s
And the second impulse has a magnitude of:

m∆v = 1.40×104 kg 7.06×103 m/s − 6.82×103 m/s = 3.35×106 kg·m/s
311
3.6.11
GOAL: Determine ∆v to boost a spacecraft from a circular orbit into an elliptical one
GIVEN: Dimensions of orbits
DRAW:
FORMULATE EQUATIONS: We’ll use the elliptical orbit

! formulas
1 1 1
A= − (1)
2 rmin rmax
1 GME
= +A (2)
rmin h2
and, for a circular orbit,
GME
vc2 = (3)
r
SOLVE:
1 1 1

(1) ⇒ A= − = 4.69 × 10−8 m−1 (4)
2 8.00 × 10 m 3.2 × 107 m
6
 !−1 1
2
1
 = 7.15 × 1010 m2 /s
(2), (4) ⇒ h= −A GME (5)
rmin
h 7.15 × 1010 m2 /s
(3), (5) ⇒ v= = = 8.93 × 103 m/s (6)
rmin 8.00 × 106 m
In a circular orbit of 8.00 × 106 m radius we have, from (3),
 1
2
GME
12 6.67 × 10−11 m 3 /kg s 5.98 × 1024 kg 2
vc = =  = 7.06 × 103 m/s

r 8.00 × 106 m
Thus we’d need to increase our speed by
8.93 × 103 m/s − 7.06 × 103 m/s = 1.87 × 103 m/s
312
3.6.12
GOAL: Determine the altitude above the earth that a spacecraft will attain after ejecting a payload
at the far side of its orbit.
GIVEN: Masses of the two bodies, initial speeds and relative launch speed.
DRAW:
By ejecting the satellite the captain has altered the spacecraft’s momentum. Initially the space-
craft/satellite are orbiting at the same velocity
v2 GmE m
−m =−
v r r

u 6.67×10−11 N·m2 /kg2 (5.98×1024 kg)
s u
GmE
v= = = 7.56×103 m/s
t
r (6370 m + 600 m)×103
Before satellite launch we have vsp = vsa = v. After satellite launch, the spacecraft is moving at
0 and the satellite is moving at v 0 .
vsp sa
We’ll also use the equations
h = rv
1 GmE
= +A
rmin h2
1 GmE
= −A
rmax h2
SOLVE:
Conservation of linear momentum:

0 0
1.20×105 kg v = 1.20×105 kg − 1.10×104 kg vsp + (1.10×104 kg)vsa
0 = v 0 + 100 m/s, thus

We know that vsp sa

0 0
1.20×105 kg v = (1.09×105 kg)vsp + (1.10×104 kg) vsp − 100
0
(1.20×105 kg)vsp = (1.20×105 kg)v + 1.10×106 kg· m/s
0 0
vsp = 7.57×103 m/s, vsa = 7.47×103 m/s
313

h = rv = 6970×103 m 7.57×103 m/s = 5.28×1010 m2/s
1 GmE
= +A
rmin h2

6.67×10−11 N·m2 /kg2 5.98 × 1024 kg

1
A = − = 3.47×10−10 m−1
6970×103 m (5.28×1010 m2/s)2

6.67×10−11 N·m2 /kg2 5.98 × 1024 kg

1 GmE
= −A= − 3.47×10−10 m−1
rmax h2 (5.28×1010 m2/s)2
rmax = 7.00×106 m
Altitude at θ = π is:
7.00×106 m − 6.97×106 m = 34 km
314
3.6.13
GOAL: Find the difference between the radius of a circular orbit and the minimum radial distance
along an elliptical path that’s created by firing lateral thrusters.
GIVEN: Spaceship mass, thrust, firing duration and radius of initial circular orbit.
DRAW:
We’ll use the formula
GmE
v02 =
r0
where v0 is the speed along the initial circular orbit of radius r0 .
Once on the elliptical orbit we’ll use
ṙ0
A=
r2 ω
0 0
sin θ
Ah2
e=
GmE
and
1 1+e

=A
rp e
SOLVE:
(6.67×10−11 N·m2 /kg2 )(5.98 × 1024 kg)

v02 = ⇒ v0 = 7.72×103 m/s
6.7×106 m
From polar coordinates we know that
v0 = rθ̇ = rω0
Using the calculated values gives us
v0 7.72×103 m/s
ω0 = = = 1.15×10−3 rad/s
r0 6.70×106 m
A thrust of 7.50×103 N applied for 60 s will produce a linear impulse of 4.5×105 N· s. The spaceship
has a mass of 6.00×104 kg and so has an initial radial speed change from zero to
4.5×105 N· s
ṙ0 = = 7.50 m/s
6.00×104 kg
315
7.50 m/s
A = = 1.45×10−10 m−1
(6.70×106 m)2 (1.15×10−3 rad/s)
2 2
1.45×10−10 m−1 6.70×106 m 7.72×103 m/s

e = = 9.72×10−4
6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
1 + 9.72×10−4

1 −10 −1
= (1.45×10 m ) = 6.69×106
rp 9.72×10−4
r − rp = 6.5 km
316
3.6.14
GOAL: Determine resultant orbit after thrusters have been fired.
GIVEN: Orbit is initially elliptical and ṙ = 0 after thrusters are fired.
DRAW:
r˙0
tan θ = GmE
v0 − h
SOLVE:
r˙0 GmE
From tan θ = GmE , we see that θ = π/2 implies v0 = h . Since h = r0 v0 , we have:
v0 −
h
GmE mv 2 GmE m
v02 = ⇒ − 0 =−
r0 r0 r02
This is a force balance between gravitational force and centripetal force. Thus we are satisfying
the conditions for a circular orbit.
The resultant orbit is circular, with radius r0 and velocity v0
317
3.6.15
GOAL: Determine the inward radial velocity required to produce a parabolic trajectory and rmin .
GIVEN: Initial radius of circular orbit
DRAW:

SOLVE:
v2 GmE m
−m = −
r v r
u 2

s
u 6.67×10
u −11 Nm (5.98×1024 kg)
GmE kg2
= 7.55×103 m/s
t
v= =
r 7.00×106 m
A parabolic orbit has an eccentricity of e = 1.
Using e = 1 and θ = 0 in
1 GmE
= (1 + e cos θ)
r h2
gives us
h2 [(7.55 × 103 m/s)(7.00 × 106 m)]2
rmin = =
2GmE 2(6.67 × 10−11 Nm2 /kg2 )(5.98 × 1024 kg)
rmin = 3.5×106 m
The linear impulse applied to give the orbiting body an inward velocity won’t change its angular
momentum about the earth. Thus we know h and can solve
1 GmE
= (1 + cos θ)
r h2
for cos θ. Doing so gives us
1 (6.67 × 10−11 Nm2 /kg2 )(5.98 × 1024 kg)
= (1 + cos θ)
7.00 × 106 m [(7.55 × 103 m/s)(7.00 × 106 m)]2
cos θ = 0 ⇒ cos θ = ± π2 Physically we see that the − π2 root is the correct one, occuring before the
object’s perigee at θ = 0. Using
GmE sin θ
ṙ =
rvθ
318
gives us
ṙ = −7.55×103 m/s
319
3.6.16
GOAL: What’s the difference in time at which two orbiting bodies finishing moving through half
their orbit?
GIVEN: rA = 7000 km, rB = 7000.1 km
Since the orbits are circular we have:
s
v2 GmE m GmE
−m = − ⇒ v=
r r r
SOLVE:
v
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
u
= 7.548567×103 m/s
t
vA =
7.00×106 m
v
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
u
= 7.548513×103 m/s
t
vB =
7.0001×106
2πrA 2π(7.00×106 m)
TA = = = 5826.58 s
vA 7.548567×103 m/s
2πrB 2π(7.0001×106 m)
TB = = = 5826.70 s
vB 7.54851×103 m/s
∆t = 0.125 s
This isn’t much time. However, objects in the orbit are traveling at 7.55×103 m/s. Thus, when A
is at the halfway point, B is still ∆x = (7.55×103 m/s)(0.125 s) = 945 m away from the halfway
point of its own orbit. In terms of astronauts working in space, it mean that two objects (say the
astronaut and the space capsule), beginning at the same angular position but separated by 100
m (difference between the two orbits) would still have a 100 m difference in terms of their radial
position after half an orbit had elapsed but, in addition, be displaced by almost 1000 m along the
orbit. It takes less than an hour to complete half and orbit so this is clearly an effect that astronauts
need to be aware of if they want to stay in contact with their ship during extravehicular work.
320
3.6.17
GOAL: Determine whether an orbit is elliptical.
GIVEN: Initial position and velocity of the body.
Since the radial speed is zero, the satellite is at rmin or rmax . Assume it is rmin and solve for e. At
rmin , we know:
1 GmE 1 GmE
= 2
+A ⇒ A= − (1)
rmin h rmin h2
We also know
Ah2
e= (2)
GmE
SOLVE:
h2 1 GmE h2

(1), (2) ⇒ e= − = −1
GmE rmin h2 GmE rmin
For our problem
2 2
8.40×106 m 1.20×104 m/s
e= −1 = 2.03
6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg) (8.4×106 m)
e = 1 is the limit for elliptical orbit.

The orbit is hyperbolic
321
3.6.18
GOAL:
GIVEN:
DRAW:
Rearranging the picture so it matches our conic section analyses gives us
When r → ∞, θ → ±135◦
1 GmE
= + A cos θ (1)
r h2
Ah2
e= (2)
GmE
SOLVE:
Evaluating (1) at r = ∞ gives us
√
GmE 2GmE
0= + A cos (135◦ ) ⇒ A= (3)
h2 h2
Ah2 √
(2),(3)⇒ e= = 2 (4)
GmE
√ √
From geometry, 9.00×106 m 2= 2 + 1 x,
x = 5.27×106 m (5)
√ 1
2x + x = ⇒ A = 7.86×10−8 m−1 (6)
A
At the point of closest approach
√
rmin = 2x = 7.46×106 m (7)
h = rmin v (8)
v√
u
u 2Gm
E
(3), (6), (7), (8) ⇒ v=t 2
rmin A
v√
u 2 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
u
= = 1.29×104 m/s
t
(5.80×106 m)2 (1.01×10−7 m−1 )
322
v = 1.29×104 m/s
323
3.6.19
GOAL: Determine how much a rocket’s speed must be altered by in order for it to transition from
a circular orbit around the earth to a hyperbolic orbit that will bring it to Mars.
GIVEN: Radius of the circular orbit is 7.50×106 m.
DRAW:
Ah2
e=
GmE
For a circular orbit we know s
GmE
v=
r
SOLVE: To get to Mars we have to transition to a hyperbolic orbit. In the limit of r → ∞ we can
find e by recalling that e = r/d.
2
e= =2
1
In a circular orbit of 7.50×106 m, the spacecraft’s speed is found from
v
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
s u
GmE
= 7.29×103 m/s
t
v= =
r 7.50×106 m
ex = 2x = 7.50×106 m
x = 3.75×106 m
1
= 3x ⇒ A = 8.8×10−8 m−1
A
Ah2
From e = Gm , we have
E
2
8.8×10−8 m−1 7.50×106 m vh2

2 =
6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
vh = 1.26×104 m/s
∆v = 1.26×104 m/s − 7.29×103 m/s = 5.34×103 m/s
324
3.6.20
GOAL: Determine if the illustrated orbit is possible.
GIVEN: Shape of the orbit
DRAW:
SOLVE: No. The only possible trajectories are conic sections and the illustrated path isn’t a conic
section. Hence it’s not possible. Such a path would only be attainable if velocity was added to the
meteor as it moves around earth, i.e. by acting on it with a force.
325
3.6.21
GOAL: Determine the speed of an orbiting body if it’s in a circular, elliptical with e = 0.5 and
e = 1 orbit.
GIVEN: rmin = 6.90×106 m
DRAW:
The speed of an orbiting body is given by
s
GmE (1 + e)
v=
rmin
SOLVE:
In a circular orbit (e = 0) we have
v
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
s u
GmE t
v= =
r 6.90×106 m
v = 7.60×103 m/s
If e = 0.5 we have
v
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg) (1.5)
s u
GmE (1 + e) t
v= =
rmin 6.90×106 m
v = 9.31×103 m/s
If e = 1.0:
v
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg) (2.0)
s u
GmE (1 + e) t
v= =
rmin 6.90×106 m
v = 1.08×104 m/s
326
3.6.22
GOAL: Determine the length of time a braking rocket must fire to change an orbit’s eccentricity
from 0.20 to 0.18.
GIVEN: Thrust of the braking rocket, mass of the spacecraft and angular momentum before
braking.
DRAW:
H0 = mvrmin
s
GmE (1 + e)
v=
rmin
SOLVE: At rmin we have
HO = mvrmin = 4.08×1015 kg· m2/s
4.08×1015 kg· m2/s
h = vrmin = (1)
7.20×104 kg
v
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg) (1.20)
s u
GmE (1 + e) 2.19×107 m1.5/s
v= = = (2)
t
√
rmin rmin rmin
√
(2) → (1) ⇒ 2.19×107 rmin = 5.6̄×1010
rmin = 6.709×106 m (3)

The speed associated with e = 0.18 is
v
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg) (1.18)
u
v0 = = 8.38×103 m/s
t
(4)
6.71×106 m
2.19×107 m1.5/s
(2), (3) ⇒ v= √ = 8.45×103 m/s (5)
6
6.71×10 m
(4), (5) ⇒ ∆v = 8.38×103 m/s − 8.45×103 m/s = −70.7 m/s
AI = F ∆t = m∆v
327
7.20×104 kg (−70.7 m/s)

∆t = = 58.5 s
−8.70×104 N
∆t = 58.5 s
328
3.6.23
GOAL: Show that a meteor just grazes the earth’s surface at its closest approach.
GIVEN: Initial position and velocity of the meteor.
DRAW:
* *
ı 
e*r cos θ sin θ
q
w= x2 + y 2
1 GmE
= + A cos θ
w h2
SOLVE:
y
θ = 180◦ − tan−1 = 143.1◦
x
q q
w= x2 + y 2 = (2.549×107 m)2 + (1.911×107 m)2 = 3.185×107 m (1)
3544 *
ı m/s = (3544 m/s) cos θ e*r − (3544 m/s) sin θ e*θ = vr e*r + vθ e*θ
vr = (3544 m/s) cos θ = −2834 m/s (2)

vθ = −(3544 m/s) sin θ = −2126 m/s (3)
(1),(3)⇒
h = −(2126 m/s) 3.185×107 m = −6.77×1010 m2/s (4)
1 GmE
= 2
+ A cos θ
w h
6.67×10−11 N·m2 /kg2 5.98 × 1024 kg

1
= + A cos(143.1◦ )
3.185×107 m (6.77×1010 m2/s)2
A = 6.95×10−8 m−1
ra + rp = 2w = 6.37×107 m (5)
√ 6
ra rp = rm = y = 19.11×10 m
ra rp = 3.65×1014 m2 (6)
329
(5),(6)⇒

rp 6.37×107 − rp = 3.65×1014
rp2 − 6.37×107 rp + 3.65×1014 = 0
1
q
rp = 6.37×107 m ± (6.37×107 m)2 − 4 (3.65×1014 m2 )
2
rp1 = 6.37×106 m (solution for rp )
rp2 = 5.733×107 m (solution for ra )
We see that rp1 = 6.37×106 m, the radius of the earth. Thus the meteor does just graze the earth’s
surface at its closest approach.
330
3.6.24
GOAL: Numerically integrate to verify the results of Exercise 3.6.24, namely that the meteor just
grazes the earth at its closest approach.
GIVEN: Initial position and velocity of the meteor.
DRAW:
* *
ı 
e*r cos θ sin θ
h2 GmE
r̈ = − (1)
r3 r2
1911
θ = 180 − tan−1 = 143.1◦
2548
SOLVE:
3544 *
ı m/s = (3544 m/s)(cos θ e*r − sin θ e*θ ) = vr e*r + vθ e*θ
vr = (3544 m/s) cos θ ⇒ vr = −(2834 m/s)
vθ = −(3544 m/s) sin θ ⇒ vθ = −(2126 m/s)
q
h = wvθ = (−2126 m/s) (2.548×107 m)2 + (1.911×107 m)2 = −6.77×1010 m2/s (2)

6.67×10−11 N·m2 /kg2 5.98 × 1024 kg

4.587×1021 m4/s2
(1), (2) ⇒ r̈ = −
r3 r2
4.587×1021 m4/s2 3.989×1014 m3/s2
r̈ = − (3)
r3 r2
Use ode45, y0 = 3.185×107 − 2834 , tspan= [0 6950] and r will reach 6.38×106 , showing that

the meteor does, indeed, graze the earth’s surface.
331
3.6.25
GOAL: Determine if a meteor will hit the earth.
GIVEN: Position and velocity of meteor.
DRAW:
* *
ı 
*
er cos θ sin θ
The easiest way to determine if the meteor will hit the earth is to reorient the figure so that the
meteor’s velocity is horizontal, as shown
v*ı = v cos θ e*r − v sin θ e*θ = vr e*r + vθ e*θ

vr = v cos θ
vθ = v sin θ = −1595 m/s

h = −(1595 m/s) 2.85×107 m = −4.54×1010 m2/s
1 GmE
= + A cos θ
r h2
SOLVE:

6.67×10−11 N·m2 /kg2 5.98 × 1024 kg

1
= + A cos (180◦ − 18◦ )
2.85×107 m (4.54×1010 m2/s)2
A = 1.66×10−7 m−1
At θ = 0 we have

6.67×10−11 N·m2 /kg2 5.98 × 1024 kg

1
= + 1.66×10−7 m−1 = 2.78×106 m
rp (4.54×1010 m2/s)2
Since the earth has a radius larger than 2.78×106 m, the meteor must strike the earth.
332
3.6.26
GOAL: Determine how far around the Earth a lauched projectile will travel, and its maximum
height above the Earth’s surface.
GIVEN: Initial launch angle and speed of projectile.
DRAW:

SOLVE:
vθ = (1500 m/s) cos(40◦ ) = 1149 m/s

vr = (1500 m/s) sin(40◦ ) = 964 m/s

h = rvθ = (1149 m/s) 6.37×106 m = 7.32×109 m2 /s
vr
tan θ = Gm
vθ − E
h
964 m/s
= (6.67×10−11 )(5.98×1024 )
(1149 m/s) − 7.32×109
= −1.81×10−2
This equation has two solutions: θ = −1.03◦ , 179◦ and the 179◦ is the physically meaningful one
for this problem.
vr 964 m/s
A = = = 7.29×10−6 m−1
rvθ sin θ (6.37×106 m) (1149 m/s) sin(179◦ )
2
Ah2 7.29×10−6 m−1 7.32×109 m2 /s

e = = = 0.98
GmE 6.67×10−11 Nm2 /kg2 (5.98×1024 kg)
1 1+e

= A = 1.47×10−5 m−1
rp e
rp = 6.79×104 m
1 1−e

= A = 1.56×10−7 m−1
ra e
ra = 6.42×106 m
max height = 6.42×106 m −6.37×106 m = 49 km
333
From symmetry, the projectile will strike the earth at θ = −179◦ . The angle covered during the
flight is 2(1.03◦ ) = 2.06◦ . Distance travelled is:

2.06◦
2π 6.37×106 m = 230 km

360◦
334
3.6.27
GOAL: Determine the eccentricity of a body’s orbit.
GIVEN: Position and velocity of the body.
DRAW:
vr
tan θ =
vθ − Gmh
E
vr
A=
rvθ sin θ
Ah2
e=
GmE
SOLVE:
vr = (4000 m/s) sin(45◦ ) = 2828 m/s

vθ = (4000 m/s) cos(45◦ ) = 2828 m/s

h = rvθ = 8.00×106 m (2828 m/s) = 2.26×1010 m2/s
vr 2828 m/s
tan θ = = = −0.191
vθ − Gm

h
E
6.67×10−11 N·m2 /kg2 5.98 × 1024 kg
2828 m/s −
2.26×1010 m2/s
θ = −10.8◦ , 169◦ . We use θ = 169◦ to obtain A > 0.
vr
A = = 6.66×10−7 m−1
rvθ sin θ
2
Ah2 6.66×10−7 m−1 2.26×1010 m2/s

e = = = 0.85
GmE 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
e = 0.85
335
3.6.28
GOAL: Find the angle of β associated with the impact of a spacecraft with the earth.
GIVEN: Initial position and velocity of the spacecraft as well as velocity reduction due to braking
rockets.
DRAW:
In a circular orbit we have, from a radial force balance:
v2 GmE m
−m = −
r v r
u
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
s
GmE
= 7.60×103 m/s
t
v= =
r 6.90×106 m
h = rvθ
1 GmE
= + A cos θ
r h2
SOLVE:
By reducing the speed by 1000 m/s we bring it to 6.60 × 103 m/s. Since vr = 0 we are either
at θ = 0◦ or θ = 180◦ . Because we are reducing the speed, the orbit will become elliptical and
r = 6.90×106 m becomes the apogee. Thus θ = 180◦ .

h = rvθ = 6.90×106 m 6.60×103 m/s = 4.56×1010 m2/s
1 GmE
Using r = h2
− A yields

6.67×10−11 N·m2 /kg2 5.98 × 1024 kg

1
A= − = 4.72×10−8 m−1
(4.56×1010 m2/s)2 6.90×106 m
1 GmE
Use r = h2
+ A cos θ to find the impact angle

6.67×10−11 N·m2 /kg2 5.98 × 1024 kg

1
−8 −1

= + 4.72×10 m cos θ
6.37×106 m (4.56×1010 m2/s)2
cos θ = −0.745 , θ = ±138◦

β = 180◦ − 138◦ = 42◦
336
3.6.29
GOAL: Determine system geometry to let a spacecraft reach a desired position.
GIVEN: Initial direction of travel and system dimensions.
DRAW:
ra rp
x= −
2 2
√
rm = ra rp
SOLVE: Since there is no *
ı velocity at A we know that A is at the midpoint of the initially
elliptical path.
rm = 2.00×107 m
rp= 7.00×106 m
r rp
x = a −
√2 2
rm = ra rp
2
2×107 m = ra 7×106 m
ra = 5.71×107 m
7m 7.0×106 m
x = 5.71×10
2 − 2 = 2.51×107 m
We’ll now find the speed at perigee.
337
!
1 1 1
A= − = 6.27×10−8 m−1
2 rp ra
1 GmE
= + A ⇒ h = 7.05×10−10 m2 / s
rp h2
h
vθ = = 1.01×104 m/s
rp
A circular orbit requires a speed of s
GmE
v= = 7.45×103 m/s
r
In order to transition into a circular orbit the spacecraft’s speed must be reduced by 2.53×103 m/s .
338
3.6.30
GOAL: Determine the speed of a projectile launch so that it impacts the ground exactly on the
other side of the earth.
GIVEN: Launch angle is 45◦ .
DRAW: FORMULATE EQUATIONS:
1 GmE
= + A cos θ
r h2
SOLVE: The sketched trajectory shows that rp is less than 6.37×106 m (earth’s radius).
√ √
At θ = 90◦ , vθ = v/ 2 and vr = v/ 2
1 GmE
= 2
+ A cos θ
r h
6.67×10−11 N·m2 /kg2 5.98 × 1024 kg

1
= i2 + A cos(90◦ )
6.37×106 m
h
(6.37×106 m) √v
2
v = 1.12×104 m/s
339
3.7 Impact
3.8 Oblique Impact
340
3.8.1
GOAL: Determine how far block B moves after collision.
GIVEN: Mass of A and B, initial velocities and e.
DRAW:
0 0
Cons. Lin. Mom.: mA vA + mB vB = mA vA + mB vB (1)
0
vB − vA
Impact: e= (2)
vA − vB
Force Balance: (N − mB g) *
 −F*
ı = mB aB *
ı (3)
SOLVE:
Equating our two expressions for v*B gives us
(1) ⇒ 0 0
(0.4 kg)(5 m/s) + (0.5 kg)(2 m/s) = (0.4 kg)vA + (0.5 kg)vB (4)
0 0
(2) ⇒ 0.5(3 m/s) = vB − vA (5)
0 0
(5) ⇒ vB = vA + 1.5 m/s (6)
0 + 0.75 kg · m/s
3 kg · m/s = (0.9 kg)vA
(6) → (4) ⇒
0
vA = 2.5 m/s (7)
0
(7) → (6) ⇒ vB = 4.0 m/s (8)
Using F = µN in (3) gives us
aB = −µg = −(0.4)(9.81 m/s2 ) = −3.92 m/s2
vB (t∗ ) = vB
0
− 3.92t∗ ⇒ t∗ = 1.02 s for vB (t∗ ) = 0
0 t∗ − 3.92 m/s2 ∗ 2
∆xB = vB 2 (t ) = 2.04 m
341
3.8.2
GOAL: Determine the range of e that corresponds to a regulation tennis ball.
GIVEN: Variation in rebound height for a fixed drop height of 100 in.
DRAW:
p
v= 2gh
v20 − v10
e=
v1 − v2
SOLVE:
If the ball falls 100 in. then its impact speed is given by
s
100 in.

2(32.2 ft/s2 )
p
v= 2gh = = 23.17 ft/s
12 in./ft
If the ball rebounds to 53 in. that implies an initial rebound velocity of
s
53 in.

2
p
v53 = 2gh = 2(32.2 ft/s ) = 16.87 ft/s
12 in./ft
A rebound of 58 in. implies
s
58 in.

2(32.2 ft/s2 )
p
v58 = 2gh = = 17.64 ft/s
12 in./ft
The ground has zero velocity after the collision so
v20 −v10 0 − (−16.87 ft/s)

e53 = v1 −v2 = = 0.728
23.17 ft/s − 0
0 − (−17.64 ft/s)
e58 = = 0.762
23.17 ft/s − 0
342
3.8.3
GIVEN:
• The SUV weighs 5000 lb and the sportscar weighs 2200 lb.
• The SUV was travelling at 20 mph and the sportscar was stationary.
• The coefficient of restitution is zero and the collision takes 0.3 seconds.
• (a) What are the two vehicles’ speeds immediately following the collision?
• (b) What accelerative loads do the two vehicles experience?
DRAW:
v20 − v10
e=
v1 − v2
SOLVE:
(a):
5000 lb
m = = 155.3 slg
SUV 32.2 ft/s2
2200 lb
m = = 68.32 slg
SC 32.2 ft/s2
20 mph = 29.3̄ ft/s
Conservation of system momentum holds for the two mass system:
m v +m v =m v0 + m v0
SUV SUV SC SC SUV SUV SC SC
(155.3 slg)(29.3̄ ft/s) + 0 = (155.3 slg)v 0 + (68.32 slg)v 0 (1)

SUV SC
v0 − v0
e= SC SUV
v −v
SC SUV
v 0 − v0
0= SC SUV =⇒ v 0 = v0 (2)
29.3̄ ft/s SC SUV
343
(2) → (1) ⇒ 4555 slg·ft/s = (155.3 slg)v 0 +(68.32 slg)v 0 = (223.6 slg)v 0
SUV SUV SUV
v0 = v0 = 20.37 ft/s
SUV SC
(b):
v0 −v
a = SUV SUV = 20.37 ft/s − 29.3̄ ft/s = −29.9 ft/s2 = −0.93 g
SUV ∆t 0.3 s
20.37 ft/s − 0
a = = 67.9 ft/s2 = 2.1 g
SC 0.3 s
Note that the SUV driver experienced a substantially reduced accelerative load as compared to the
sports car driver.
344
3.8.4
GOAL: Determine the coefficient of restitution between two bodies A and B and the pre-collision
velocity of body B.
GIVEN: Mass of each body and body A’s initial velocity.
DRAW:
mA v*A + mB v*B = mA v*A0 + mB v*B0
SOLVE:
(10 kg)(5 m/s) + (20 kg)v*B = (10 kg)(2 m/s) + (20 kg)(2 m/s)
(20 kg)v*B = 10 kg·m/s

1*
v*B = 2 ı m/s
0 0
vB − vA 2−
e= v −v = 2 = 0
B A 1
5−
2
345
3.8.5
GOAL: After how many bounces will a tennis ball rise up 1 foot or less?
GIVEN:
The tennis ball is dropped from 10 feet. The coefficient of restitution e = 0.9.
DRAW:
We’ll use our impact equation
v20 − v10
e= (1)
v1 − v2
ASSUME: The ground is stationary and thus v2 = v20 = 0
SOLVE:
What we’ll do is determine by how much the ball’s bounce height changes as a result of a single
collision and then extrapolate this result to find the effect of n bounces.
If dropped from 10 ft the ball strikes the ground with a speed equal to
q
2(32.2 ft/s2 )(10 ft) = 25.38 ft
p
2gh =
If dropped from 1 ft the ball strikes the ground with a speed of

q
2(32.2 ft/s2 )(1 ft) = 8.025 ft
p
2gh =
Thus we can see that as soon as the rebound speed is less than 8.025 ft/s we will have a rebound
that’s less than 1 ft.
Applying (1) with v2 = v20 = 0 gives us
−v10
0.9 = =⇒ v10 = −0.9v1
v1
We know that if the ball bounces up with speed v10 it will come back down and strike the floor with
the same speed. Thus, each successive bounce will have 0.9 times the previous bounce’s speed
We want a reduction of 8.025
25.38 = 0.316
(0.9)n = 0.316 ⇒ n ln(0.9) = ln(0.316) ⇒ n = 10.93
Thus it is on the 11 th bounce that the ball rebounds less than one foot.
Next we want to consider if the bouncing stops in a finite time. Each time the ball bounces it loses
a factor of 0.9 in speed. The total time spent in the air after the nth bounce is given by 2vn /g and
vn is given by ven . Thus, if we add up all the time spent in the air we’ll have
346
∞ ∞
X X 2ven 2v
ttotal = tn = =
n=0 n=0
g g(1 − e)
Thus we see that, for a finite e < 1, the ball will stop bouncing.
347
3.8.6
GOAL: What is the distance traveled by block mB after colliding with block mA .
GIVEN: Mass of the blocks, frictional coefficient and initial speed of block A
DRAW:
Force balance, block A:
mA ẍA = −S1 = −µk mA g
ẍA = −µk g (1)

0 0
mA vA + mB vB = mA vA + mB vB (2)
0 − v0
vB A
e= (3)
vA − vB
SOLVE:
ẍA = −(0.6)(9.81 m/s2 )

(1)⇒
ẍA = −5.886 m/s2
ẋA = −(5.886 m/s2 )t + vA (0) = −(5.886 m/s2 )t + 10 m/s (4)
t2
xA = −(5.886 m/s2 ) + (10 m/s)t + xA (0) (5)
2
2
Collision occurs when xA (0) + 2 m = −(5.886 m/s2 ) t2 + (10 m/s)t + xA (0)
t2 − (3.398 s)t + 0.6796 s2 ⇒ t = 0.2135 s, 3.185 s
The solution we want is the intial strike time, t = 0.2135 s. (t = 3.185 s corresponds to the (phys-
ically unrealistic) mathematical solution corresponding to mA shooting beyond mB , decelerating,
changing direction and then hitting mB from the right.)
At collision: vA = −(5.886 m/s2 )(0.2135 s) + 10 m/s = 8.74 m/s (6)
0 0
mA vA + mB vB = mA vA + mB vB
Collision: (6)→(2)⇒
0 0
(0.1 kg)(8.74 m/s) + 0 = (0.1 kg)vA + (0.15 kg)vB (7)
348
0 − v0
vB A
e =
vA − vB
0 − v0
vB
(6)→(3)⇒ A
0.6 =
8.74 m/s
0 0 0
vA = vB − 0.6(8.74 m/s) = vB − 5.244 m/s (8)
0 0
0.874 m/s = (0.1 kg)(vB − 5.244 m/s) + (0.15 kg)vB
(8)→(7)⇒
0
vB = 5.594 m/s (9)
Force balance, block mB :
Equation of motion is same as mass mA
mB ẍB = −S2 = µk N2 = −(0.6)(0.15 kg)(9.81 m/s2 )
ẍB = −5.886 m/s2
(9)→(4)⇒ ẋB = −(5.886 m/s2 )t + 5.594 m/s (10)

5.594 m/s
ẋB = 0 when t = = 0.95 s
5.886 m/s2
(0.95 s)2
∆xB = −(5.886 m/s2 ) 2 + (5.594 m/s)(0.95 s) = 2.66 m
349
3.8.7
GOAL: Find horizontal speed of B so that A remains motionless after the collision.
GIVEN: Initial velocity of A, both masses and e.
0 0
Cons. Lin. Mom.: mA vA + mB vB = mA vA + mB vB (1)
0 0
vB − vA
Impact: e= (2)
vA − vB
SOLVE:
0
(1) ⇒ (0.2 kg)(3 m/s) + (0.1 kg)vB = 0 + (0.1 kg)vB (3)
0
(2) ⇒ 0.4(3 m/s − vB ) = vB (4)
(3), (4) ⇒ [1.2 m/s − 0.4vB ](0.1 kg) = 0.6 kg · m/s + (0.1 kg)vB
(0.14 kg)vB = −(0.6 − 0.12)kg · m/s
vB = −3.43 m/s
v*B = −3.43 *
ı m/s
350
3.8.8
GOAL: Find final speed of particle C.
GIVEN: Initial velocities and masses of three particles and the coefficients of restitution.
DRAW:
For each interaction we have
mi vi + mj vj = mi vi0 + mj vj0 = Lij (1)
vj0 − vi0
eij = (2)
vi − vj
Where the i and j represent either A, B or C, depending on the particular collision being examined
and eij is either e12 = 0.85 or e23 = 0.6.
SOLVE:
(2) ⇒ vj0 = vi0 + eij (vi − vj ) (3)
(3) → (1) ⇒ Lij = mi vi0 + mj (vi0 + ei (vi − vj ))
(mi + mj )vi0 = Lij − eij (vi − vj )
Lij − eij (vi − vj )

vi0 = (4)
mi + mj
Applying (3) and (4) to the A, B collision yields
0 0
vA = 9.86 m/s, vB = 14.1 m/s
0 and v , gives us
Applying (3) and (4) to the B, C collision, using vB C
00 0
vB = 7.63 m/s, vC = 13.1 m/s
As a check, we’ll make sure that after A hits B again B will still be moving too slowly to hit C
again.
0 and v 00 as initial speeds, gives us
Applying (3) and (4) for A and B, using vA B
00 000
vA = 7.57 m/s, vB = 9.46 m/s
vB is moving at 9.46 m/s, too slow to catch C. Thus the final speed of C is
vC = 13.1 m/s
351
3.8.9
GOAL: Find the speed of a the car just before it strikes a second car.
GIVEN: Length of skid marks, mass of two cars, coefficient of friction between cars and road.
DRAW:
ASSUME: Coefficient of restitution between the two cars is zero.

Linear impulse: (m1 + m2 )v − F ∆t = 0 (1)
Force balance: (m1 + m2 )a = −F = −µN = −µ(m1 + m2 )g
(0.7)(3200 kg)(9.81 m/s2 )

a=− = −6.867 m/s (2)
(3200 kg)
at2
We know that the distance traveled for a constant acceleration is equal to 2 . Thus we have
s s
2∆x 2(8 m)
t= = = 1.526 s (3)
a 6.867 m/s2
Conservation of Linear Mo- 0
mA vA + mB vB = mA vA 0
+ mB vB (4)
mentum:
0 − v0
vB A
Impact: e= (5)
vA − vB
SOLVE:
0 − v0
vB A 0 0
(5)⇒ 0= ⇒ vB = vA =v (6)
vA − vB
(6)→(4)⇒ (2000 kg)vA + (1200 kg)vB = (3200 kg)v (7)
µ(m1 + m2 )gt
(1), (3) ⇒ v= = (0.7)(9.81 m/s2 )(1.526 s) = 10.48 m/s (8)
m1 + m2
(8)→(7)⇒ (2000 kg)vA + (1200 kg)vB = (3200 kg)(10.48 m/s) = 3.35×104 kg·m/s (9)
Given: vB + 12 m/s = vA (10)
(10)→(9)⇒ (2000 kg)(vB + 12 m/s) + (1200 kg)vB = 3.35×104 kg·m/s ⇒ vB = 2.98 m/s (11)
(11)→(10)⇒ vA = 15 m/s
352
3.8.10
GOAL: Explain why the two far right balls swing up to a height of h0 .
GIVEN: Configuration of the multi-mass toy. e = 1
DRAW:
SOLVE:
Since the balls are slightly separated, we can analyze the problem as a string of impacts. Initially
ball 2 will strike ball 3.
v30 − v20
=1
v
mv = mv20 + mv30 =⇒ v20 = 0, v30 = v

After this impact ball 2 is stationary and ball 3 is moving to the right at v. Next ball 1 hits ball 2
and ball 3 hits ball 4.
v20 − v10
= 1 =⇒ v = v20 − v10
v
mv = mv10 + mv20 =⇒ v10 = v − v20 =⇒ v10 = 0, v20 = v
353
Sequence:
Ultimately, after the entire collision chain takes place, the last two are the only balls in motion and
both are moving with velocity v.
354
3.8.11
GOAL: Find the velocity of a baseball player’s head after being impacted by a baseball.
GIVEN: Initial speed of the baseball, coefficient of restitution and mass of the baseball and player’s
head.
DRAW:
0 0
mA vA + mB vB = mA vA + mB vB
1 1

0 0
lb (88 ft/s) = lb vA + (25 lb)vB (1)
4 4
0 − v0
vB A
e=
vB − vA
0 − v0
vB A
0.2 = =0
88 ft/s
0 0
vA = vB − 17.6 ft/s (2)
SOLVE:
1

0 0
(1) → (2) ⇒ 22 lb· ft/s = lb (vB − 17.6 ft/s) + (25 lb) vB
4
25.25vB = 26.4 ft/s

0 = 1.046 ft/s = 0.71 mph
vB
355
3.8.12
GIVEN:
• The baseline is 39 ft from the net which is 30 high.

• The coefficient of restitution between the ball and the court is 0.75
• What must the speed of the ball be as it passes the net so that its second bounce is on the
baseline?
DRAW:
When traveling the ball is in a parabolic trajectory with a constant acceleration g. Thus the
approach will be to solve for the first impact position, determine the change in velocity due to the
impact and then determine the position of the second impact.
SOLVE:
We’ll denote the time to go from the net to x0 as t1 and the time to go from x0 to L as t2 .
gt2
q q
2h 2h
Find t1 : 2 = h =⇒ t1 =
1
g =⇒ x0 = v0 t1 = v0 g
Now we know when the ball reaches x0 . We next need to determine what the velocity of the ball
is after bouncing:
v10
e = √ n =⇒ v10 = e 2gh
p
2gh n
√
Now consider the flight from x0 to L. The vertical velocity is e 2gh and the time to go from this
to zero is found from
s
p 2h
0 = −gt + e 2gh =⇒ t = e
g
The total time needed for the ball to rise to its maximum height and then drop to zero again is
double this, thus
s
2h
t2 = 2e
g
The distance traveled horizontally is L − x0 and the horizontal velocity is v0 so
356
s
2h
L − x0 = v0 t2 = 2v0 e
g
s s s
2h 2h 2h
L = x0 + 2v0 e = v0 + 2v0 e
g g g
s
2h
L = v0 (1 + 2e) (1)
g
From (1) we see that
L 39 ft
v0 = q = s
2h (2)(3 ft)
(1 + 2e) g [1 + 2(0.75)]
32.2 ft/s2
v0 = 36.1 ft/s = 24.1 mph
357
3.8.13
GOAL:
(a) Where and when do two fused bullets land?
(b) How does this result differ from the case of oblique impact with zero force interaction in the t
direction and e = 0?
GIVEN:
The Union bullet weighs 2 oz and is travelling with a speed of vU = 720 ft/s oriented at −2◦ to the
horizontal. The Confederate bullet weighs 2.5 oz and is travelling with a speed of vC = 700 ft/s
oriented at −1◦ to the horizontal. The bullets strike and fuse at a height of 3.5 ft.
DRAW:
For an oblique collision we’ll have
0 − v0
vC
n U n
e=
vUn − vCn
0
mU vUn + mC vCn = mU vU0 + mC vC
n n
SOLVE:
(a):
In this case we’re told the two bullets fuse. We only need to look at sytem momentum in this case.
mU v*U + mC v*C = mU C v*U C
2 oz = 3.88×10−3 slg, 2.5 oz = 4.85×10−3 slg

3.88×10−3 slg (720 ft/s) (0.9994 *
ı − 0.0349 *
) + 4.85×10−3 (700 ft/s) (−0.9998 *
ı − 0.0175 *
)

= 3.88×10−3 slg + 4.85×10−3 slg v*U C

[(−0.603) *  ] slg· ft/s = 8.73×10−3 slg v*U C
ı + (−0.157) *
v*U C = (−69.0 *
ı − 18.0 *
 ) ft/s
Set the ground reference as the point directly underneath where they initially strike. The time to
strike the ground is given by
358
gt2
y = 3.5 ft − − (18 ft/s)t = 0
2
t2 + (1.118 s)t − 0.2174 s2 = 0
t = 0.169 s
x = (−69 ft/s)t =⇒ x = −(69 ft/s)(0.169 s) = −11.7 ft
(x, y) = (−11.7, 0) ft and t = 0.169 s
(b):
If we have an oblique collision there’s no reason for the masses to stay in contact.
vUt = vU0 (1)
t
0
vCt = vC (2)
t
0 − v0
vC U
n n
e= (3)
vUn − vCn
mU vUn + mC vCn = mU vU0 + mC vC

0
(4)
n n
(1) ⇒ vU0 = vUt = (720 ft/s) sin 2◦ = 25.13 ft/s (5)

t
0
(2) ⇒ vC = vCt = (700 ft/s) sin 1◦ = 12.22 ft/s (6)
t
0 − v0
vC U 0
(3) ⇒ 0= n n
=⇒ vC = vU0 (7)
vUn − vCn n n
(7) → (4) ⇒ 2(720 ft/s) cos 2◦ + 2.5(700 ft/s) (− cos(1)) = 2vU0 + 2.5vC
0
n n
−310.6 ft/s = 2vU0 + 2.5vC

0
(8)
n n
(7), (8) ⇒ −310.6 ft/s = 2vU0 + 2.5vU0 = 4.5vU0

n n n
vU0 = −69.0 ft/s (9)

n
0
(7), (9) ⇒ vC = −69.0 ft/s
n
v*U0 = (−69.0 *
ı − 25.13 *
 ) ft/s
v*C0 = (−69.0 *
ı − 12.22 *
 ) ft/s
Time to fall for Union bullet:
gt2
y = 3.5 ft − − (25.13 ft/s)t = 0
2
359
t2 + (1.561 s)t − 0.2174 s2 = 0
t = 0.129 s
Position:
x = −(69 ft/s)t = −69(0.129 s) = −8.9 ft

Time to fall for Confederate bullet:
gt2
y = 3.5 ft − − (12.22 ft/s)t = 0
2
t2 + (0.759 s)t − 0.2174 s2 = 0
t = 0.222 s
Position:
x = −(69 ft/s)t = −(69 ft/s)(0.222 s) = −15.3 ft

Thus the Union bullet strikes the ground at (x, y) = (−8.9, 0) ft
The Confederate bullet hits the ground 0.093 seconds later at (x, y) = (−15.3, 0) ft
360
3.8.14
GOAL: Determine the rebound angle of a golf ball that strikes an inclined wall.
GIVEN: Geometry of the system and the coefficient of restitution.
DRAW:
ASSUME: Treat the system like a finite particle interacting with an infinitely massive body.
1
*
b 1: V √ = vx0
2
vy0 − 0 vy0
* 0.86 = =
b 2: 0 − (− √V2 ) V
√
2
0.86V
vy0 = √
2
SOLVE: √
−1 vy0 −1 0.86V 2
η = tan ( 0 ) = tan ( √ ) = tan−1 (0.86) = 40.7◦
vx V 2
θ + η = 45◦
θ = 45◦ − 40.7◦ = 4.3◦
361
3.8.15
GOAL: Determine the orientation of an incoming mass particle’s final velocity after striking a
moving, inclined surface.
GIVEN: Incoming orientation of and speed of particle. Speed of block that it collides with.
DRAW:
ASSUME: We can treat this problem as two interacting particles in which one of the particles
has infinite mass. Before and after the collision
−5 m/s * 5 m/s
v*B = √ e t + √ e*n
2 2
Velocity components of ball:
10 m/s
e*t : vt = vt0 = √ (1)
2
0
vn0 − vB
n
*
en : e= (2)
vB − vn
n
SOLVE:
5 m/s
vn − √
0.8 = 2
5√m/s 10 m/s
− (− √ )
2 2
(2)⇒
5 m/s 5 m/s 10 m/s

vn − √ = 0.8 √ + √
2 2 2
5 m/s + (0.8)15 m/s
vn = √ (3)
2
!
vn 5 + 15(0.8)

−1
(3)→(1)⇒ β = tan = tan−1 = 59.5
vt 10
θ = 45◦ − β = 45◦ − 59.5◦ = −14.5◦

θ = −14.5◦
362
3.8.16
GOAL: Determine orientation of a cue ball’s velocity vector that ensures the ball it strikes goes
into a specified pocket and that the cue ball has a post-collision velocity in a specified direction.
GIVEN: Post-collision velocity orientations.
DRAW: To get R into the side pocket, traveling purely in the *  direction, the impulse has to act
in the *
 direction. The positions at contact and the pre- and post-contact velocities are shown.
The next item is to determine where to place W or, more to the point, what angle of incidence is
needed to send W off to the right after impact.
0
vR − vW
y 0
n: 0.93 = ⇒ 0.93vWy = vR − vW (1)
vWy − 0 y
0 0
Cons. mom: mvWy = mvW + mvR ⇒ vWy = vW + vR (2)
y y
0
t: vWx = vW (3)
x
0
vW sin (10◦ ) 0
Constraint: 0
y
= ⇒ vW = tan (10◦ ) vW
0
(4)
vW cos (10◦ ) y x
x
SOLVE:
0 0
(1)→ (2)⇒ 0.93vWy = vWy − vW − vW
y y
0 0
2vW = 0.07vWy ⇒ vW = 0.035vWy (5)
y y
(4)→ (5)⇒ 0.035vWy = tan (10◦ ) vW

0
x
tan (10◦ ) 0
vWy = v (6)
0.035 Wx
0 * tan (10◦ ) 0 *
(3)→ (6)⇒ v*W = vWx *
ı + vWy *
 = vW ı + v 
x 0.035 Wx
tan(10◦ ) *

0
v*W = vW *
ı + 
x 0.035
tan(10◦ )
h i
φ = tan−1 0.035 = 78.8◦
363
3.8.17
GOAL: The approach velocity direction and departure velocity direction are known for an impact
event. Find the inclination angle of the surface being struck in order that these conditions hold for
a given coefficient of restitution.
GIVEN: Velocity of ball before impact and coefficient of restitution.
DRAW:
0 − v10
n
*
en : e= (1)
v1 − 0
n
e*t : v1 sin θ = v10 cos θ (2)

SOLVE:
(2)⇒ v10 = v1 tan θ (3)
v10 sin θ
(1)⇒ = 0.8 (4)
v1 cos θ
v1 tanθ sin θ
(3)→(4)⇒ = 0.8
v1 cos θ
tan2 θ = 0.8
θ = 41.8◦
364
3.8.18
GOAL: A ball strikes two identical balls in a symmetric manner. Find the resultant velocities.
GIVEN: Coefficient of restitution and orientation of the balls at impact.
DRAW: Shown is the system orientation at initial impact, a decomposition of ball A’s velocity as
a “half-ball” and both A’s and B’s velocity after the collision.
ASSUME: From symmetry considerations we can see that balls B and C will each have the same
speed after the collision. The two struck balls will travel out at ±30◦ while the cue ball’s path
remains horizontal. We’ll assume that the cue ball can be treated as being made of two identical
balls, each of which can act on the respective “complete” ball that it strikes.
We approach the problem by imagining the cue ball as being made up of two identical balls, each
of mass m/2. One half-ball strikes ball B and the other strikes ball C. Considering the half-ball/B
collision we have √
√ 0

3v
!
m 3v 0 m An  0
System mom., e*n : = + mvB (1)
2 2 2 2 n
√ 0
3vA
0 n
vB −
Impact, e*n : 1= n
√ 2 (2)
3v0
2
0 v0 0
Impact, e*t : vA = vAt = − , vB =0 (3)
t 2 t
SOLVE: √
0 v 0 3v0 0 v 0
(1), (2), (3) ⇒: vA = − 0 , vB = , vA = − 0 , vB =0
n 3 n 3 t 2 t
As already discussed, we assume that ball C behaves in a symmetric manner to B.

We’ve obtained what we need as far as B and C but still have to deal with A. After the collision
each half-piece is knocked toward the other. The components of velocity in the * direction cancel
because the body is actually a single piece - it can’t “rebound”. What we’re left with is the final
*
ı component of velocity. Reexpressing the half-ball’s velocity we have (keeping in mind that the
A refers just to the top half at this moment)
365
√ ! √ !
*0
v v v0 3 v0 1 * v0 1 v0 3 *
v A = − 0 e*n − 0 e*t = − + ı+ − −  = −0.0387v0 *
ı −0.5997v0 *

3 2 3 2 2 2 3 2 2 2
Expressing the velocities of Balls A, B and C in terms of the *

ı, *
 unit vectors gives us
√ √
0 0 v 3v0 * 0 v0 * 3v0 *
vA *
= −0.0387v0 ı , vB = 20 *
ı + 6  , vC = 2 ı − 6 
366
3.8.19
GOAL: Solve for the input parameters of two impacting balls.
GIVEN: The post-collision velocity.
DRAW:
FORMULATE EQUATIONS: Since ball B is initially stationary, its post-impact velocity will
be determined completely by the linear impulse imported by ball A. For this impulse to point in
the *
 direction we need ball A to impact B from directly below.
This answers the first question: the contact point is at the the top of ball A and the bottom of ball
B. From this configuration, we see that ball A must go in the t direction (parallel to * ı ). Thus:
v*B0 = vB *

v*A0 = vA
0 *
ı
Conserved quantities:
0
Ball A in t direction: vt = vA (1)
Ball B in t direction: 0=0
System mom. in n direction: vB = vn = v sin θ (2)

vB vB
Impact relation: e= = (3)
vn v sin θ
SOLVE:
v sin θ
(2)→ (3)⇒ e= v sin θ = 1.0
Thus e must be 1.0, regardless of θ. Since 0
vA = vt there is no limitation of θ beyond vt being
positive.
vt = v cos θ > 0 ⇒ 0 < θ < π/2
367
3.8.20
GOAL: Find e such that a mass particle goes to x = 2.8316 in the limit of t → ∞
GIVEN: Launch velocity.
DRAW:
0 − v1 v1 sin θ1
n
*
en : e= = (1)
v0 − 0 v0 sin θ0
n
(1)⇒ v1 sin θ1 = ev0 sin θ0 (2)
e*t : v1 cos θ1 = v0 sin θ0 (3)

Single bounce time of flight, tr , for distance interval of ∆xr :
t 2vr sin θr
vr sin θr = g r ⇒ tr =
2 g
2vr2 sin θr cos θr
∆xr = vr (cos θr )(tr ) = (4)
g
SOLVE:
(2) taken iteratively ⇒ vr sin θr = er v0 sin θ0 (5)
(3) taken iteratively ⇒ vr cos θr = v0 sin θ0 (6)

2er v02 sin θ0 cos θ0
(5), (6) →(4)⇒ ∆xr = (7)
g
Total distance traveled
∞
X 2v02 sin θ0 cos θ0
(7)⇒ ∆xr = 1 + e + e2 + e3 + · · · (8)
r=0
g
1
Recall that: 1 + e + e2 + e3 + · · · = (9)
1−e

2(5 m/s)2 √1 √1
1

(8),(9)⇒ 2.8316 = 2 2 (10)
2 1−e
9.81 m/s
e=0.100
368
3.8.21
GOAL: Determine time elapsed and distance travelled for a bouncing particle and find long term
behavior.
GIVEN: Ball’s initial velocity and time/distance at which it ceases to bounce for e = 0.5.
DRAW:
v1 sin θ1
Impact: e= ⇒ v1 sin θ1 = ev0 sin θ0
v0 sin θ0
∞
X 2v02 sin θ0 cos θ0
∆xn =
n=0
g(1 − e)
SOLVE:
2(5 m/s)2 √1 √1
2 2
(a) ∆x = = 5.1 m
(9.81 m/s2 )(1 − 0.5)
∞ ∞
X 2vn sin θn X 2 2v0 sin θ0
(b) tf = = en v0 sin θ0 =
n=0
g n=0
g g(1 − e)

2(5 m/s) √1
2
tf = 2 = 1.44 s
(9.81 m/s )(1−0.5)
(c) At t = tf the bouncing stops and θn goes to 0◦ . Thus we are left with the particle
moving to the right at a constant speed of √52 m/s.
369
3.8.22
GOAL: Find v*C after two balls collide with ball C.
GIVEN: Velocities and masses of interacting bodies.
DRAW:
*
Ball C : ma*c = −F *
 +F*
 =0 (1)
*
SOLVE: From (1), we have a*c = 0. This is because there is no force in *
ı direction and normal to
*
this direction the forces cancel out. Thus after collision v*c = 0 .
370
3.8.23
GOAL: Find velocities of two particles after a collision.
GIVEN: Velocities and masses before collision and coefficient of restitution.
DRAW:
FORMULATE EQUATIONS: We’ll use the four equations for oblique impact:
0 0
n n n n
0 0
vB − vA
n n
e= (2)
vA − vB
n n
0
vA = vA (3)
t t
0
vB = vB (4)
t t
SOLVE:
0
(3) ⇒ vA = 2 m/s (5)
t
0
(4) ⇒ vB = 2 m/s (6)
t
0 0
(1) ⇒ (2 kg)(2 m/s) + (4 kg)(−2 m/s) = (2 kg)vA + (4 kg)vB (7)
n n
0 0
vB − vA
n n
(2) ⇒ 0.5 = (8)
[2 − (−2)]m/s
0
−4 kg · m/s = (2 kg)vA 0
+ (4 kg)(vA + 2 m/s)
(7), (8) ⇒ n n
0
(6 kg)vA = −12 kg·m/s
n
0
vA = −2 m/s (9)
n
0
(9) → (8) ⇒ vB =0 (10)
n
(5),(6),(9),(10) ⇒ v*A0 = (2 *
ı − 2*
 ) m/s
v*B0 = 2 *
ı m/s
371
3.8.24
GIVEN: Pre-impact velocities, masses and e.
DRAW:
For each interaction we have
0
vA = vA (1)
t t
0
vB = vB (2)
t t
0 0
n n n n
0 0
vA − vB
n n
e= (4)
vB − vA
n n
SOLVE:
0
(1) ⇒ vA =0 (5)
t
0
(2) ⇒ vB = 3 m/s (6)
t
0 0
(3) ⇒ (5 kg)(−10 m/s) + (5 kg)(3 m/s) = (5 kg)vA + (5 kg)vB (7)
n n
0 0
(4) ⇒ 0.8(13 m/s) = vA − vB (8)
n n
0
vA 0
= 1.7 m/s, vB = −8.7 m/s
(7), (8) ⇒ n n
0 = 1.7 *
vA 0 = (3 *
 m/s, vB ı − 8.7 *
 )m/s
372
3.8.25
DRAW:
* *
ı 
*
et cos θ sin θ
e*n − sin θ cos θ
0 0
n n n n
0 0
vA − vB
n n
e= (2)
vB − vA
n n
0
vA = vA (3)
t t
0
vB = vB (4)
t t
SOLVE:
vA = 10 cos θ m/s, vA = −10 sin θ m/s
t n
vB = −7 cos θ m/s, vB = 7 sin θ m/s

t n
0
(3) ⇒ vA = 10 cos θ m/s (5)
t
0
(4) ⇒ vB = −7 cos θ m/s (6)
t
0 0
(1) ⇒ (5 kg)(−10 sin θ m/s) + (8 kg)(7 sin θ m/s) = (5 kg)vA + (8 kg)vB (7)
n n
0 0
vA − vB
n n
(2) ⇒ 0.4 = (8)
[7 sin θ − (−10 sin θ)]m/s
0
6 sin θ kg·m/s = (5 kg)vA + (8 kg)(vA − 6.8 sin θ m/s)
(7), (8) ⇒ n n
0
(13 kg)vA = 60.4 sin θ kg·m/s
n
373
Using θ = 45◦ we can solve to find
0
vA = 3.285 m/s (9)
n
0
(8), (9) ⇒ vB = −1.523 m/s (10)
n
(5),(6),(9),(10) ⇒ v*A0 = (2.677 *

ı + 7.323 *
 )m/s
v*B0 = (−2.423 *
ı − 4.577 *
 )m/s
374
3.8.26
DRAW:
* *
ı 
*
et cos θ sin θ
e*n − sin θ cos θ
0 0
n n n n
0 0
vA − vB
n n
e= (2)
vB − vA
n n
0
vA = vA (3)
t t
0
vB = vB (4)
t t
SOLVE:
vA = −20 sin θ m/s, vA = −20 cos θ m/s
t n
vB = −13 cos θ m/s, vB = 13 sin θ m/s

t n
0
(3) ⇒ vA = −20 sin θ m/s (5)
t
0
(4) ⇒ vB = −13 cos θ m/s (6)
t
0 0
(1) ⇒ (10 kg)(−20 cos θ m/s)+(12 kg)(13 sin θ m/s) = (10 kg)vA +(12 kg)vB (7)
n n
0 0
vA − vB
n n
(2) ⇒ 0.2 = (8)
[13 sin θ − (−20 cos θ)]m/s
0 0
(7), (8) ⇒ (−200 cos θ+156 sin θ) kg·m/s = (10 kg)vA +(12 kg)(vA −0.2(13 sin θ+20 cos θ) m/s)
n n
0
(22 kg)vA = (187 sin θ − 152 cos θ) kg·m/s
n
375
Using θ = 30◦ we can solve to find
0
vA = −1.73 m/s (9)
n
0
(8), (9) ⇒ vB = −6.49 m/s (10)
n
(5),(6),(9),(10) ⇒ v*A0 = (−7.80 *

ı − 6.50 *
 )m/s
v*B0 = (−6.50 *
ı − 11.3 *
 )m/s
376
3.8.27
GOAL: Find post-collision velocities of two particles.
GIVEN: Pre-collision velocities, masses and e.
DRAW:
mA v*An + mB v*Bn = mA v*A0 + mB v*B0 (1)

n n
0 0
vB − vA
n n
e= (2)
vA − vB
n n
0
vA = vA (3)
t t
0
vB = vB (4)
t t
SOLVE:
0
(3) ⇒ vA = 5 m/s (5)
t
0
(4) ⇒ vB = 0 m/s (6)
t
0 0
(1) ⇒ (2 kg)(5 m/s) + 0 = (2 kg)vA + (1.2 kg)vB (7)
n n
0 0
vB − vA
n n
(2) ⇒ 1.0 = (8)
(5 − 0)m/s
0
10 kg·m/s = (2 kg)vA 0
+ (1.2 kg)(vA + 5 m/s)
(7), (8) ⇒ n n
0 0
(3.2 kg)vA = 4 kg·m/s ⇒ vA = 1.25 m/s (9)
n n
0
(9) → (8) ⇒ vB = 6.25 m/s (10)
n
(5),(6),(9),(10) ⇒ v*A0 = (1.25 *

ı + 5*
 )m/s
v*B0 = 6.25 *
ı m/s
377
3.8.28
GOAL: Find post-collision velocities of two particles
GIVEN: Masses, coefficient of restitution and pre-collision velocities
DRAW:
0 0
0 0
vB − vA
e= (2)
vA − vB
SOLVE:
0 0
vB − vA 0 0
(2) ⇒ 0= ⇒ vA = vB (3)
[4 − (−4)]m/s
0
mA vA + mB vB = (mA + mB )vA
(3) → (1) ⇒
0
(3 kg)(4 m/s) + (2 kg)(−4 m/s) = (5 kg)vA
0 0
vA = vB = 0.8 m/s
0 = 0.8 *
vA ı m/s
0 = 0.8 *
vB ı m/s
378
3.8.29
DRAW:
* *
ı 
e*t sin θ − cos θ
*
en cos θ sin θ
FORMULATE EQUATIONS: We’ll use the four equations for oblique impact:
0 0
n n n n
0 0
vA − vB
n n
e= (2)
vB − vA
n n
0
vA = vA (3)
t t
0
vB = vB (4)
t t
SOLVE:
vA = 0, vA = 0
t n
vB = −5 sin θ m/s, vB = −5 cos θ m/s

t n
0
(3) ⇒ vA =0 (5)
t
0
(4) ⇒ vB = −5 sin θ m/s (6)
t
0 0
(1) ⇒ (0.6 kg)(−5 cos θ m/s) = (0.8 kg)vA + (0.6 kg)vB (7)
n n
0 0
vA − vB
n n
(2) ⇒ 0.8 = (8)
−5 cos θ m/s
0
(7), (8) ⇒ −3 cos θ kg·m/s = (0.8 kg)vA + (0.6 kg)(vA + 4 cos θ m/s)
n n
379
0
(1.4 kg)vA = −5.4 cos θ kg·m/s
n
−1
Using θ = sin 0.75 = 48.6◦ we can solve to find
0
vA = −2.551 m/s (9)
n
0
(8), (9) ⇒ vB = 0.09449 m/s (10)
n
(5),(6),(9),(10) ⇒ v*A0 = (−1.69 *

ı − 1.91 *
 )m/s
v*B0 = (−2.75 *
ı + 2.55 *
 )m/s
380
3.8.30
GOAL: Location of point of collision A to direct ball into side pocket.
DRAW:
ASSUME: We’ll treat the wall as our 2nd body, which is infinitely massive. This implies
v20 = v2 = 0 (1)
From physical considerations we know the general direction of the pool ball. Hence we’ll assume
v* = vx e*t + vy e*n and v*0 = vx0 e*t − vy0 e*n where all of the coefficients are positive.
e*t : vx0 = vx (2)
v20 − vy0
*
en: e= (3)
vy − v2
vx a
tan α = =− (4)
vy 2.25 in
2 ft −
(2)(12 in/ft)
Angle relations:
vx0 3 ft − a
tan β = 0
= (5)
vy 4.5 ft − 2.25 in
(2)(12 in/ft)
SOLVE:
0 − vy0
(1)→ (3)⇒ 0.8 = ⇒ vy0 = −0.8vy (6)
vy − 0
a 3 ft − a

(2)→ (4) → (5)⇒ vy − = vy0 (7)
1.91 ft 4.41 ft
(6)→ (7)⇒ a = 0.77 ft
381

CH 03

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CH 03

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Chapter 3

3.1 Cartesian Coordinates

s̈ = g(µ cos θ − sin θ)

s = −7.6776, ṡ = 0.0013 at t = 3.84 s

ẍ= µs g = 0.9(32.2 ft/s2 ) = 29.0 ft/s2 (3)

ASSUME: In steady-state conditions ẏ = ÿ = 0

GOAL: Find minimum stopping distance of a cyclist.

ASSUME: Motion is along the slope and ẍ = 0.

ASSUME: The system is subject to the “conservation of rope” constraint:

ẍ1 = −2ẍ2 (1)

When the system is in equilibrium, ẍ1 = ẍ2 = 0. Therefore, m∗1 = 21 m2 = 50 kg .

T = m1 g + 2m1 ẍ2 (4)

Substitute this value of T in (3) and solve for ẍ2 :

Note that only forces in the *

(4) ⇒ ẍB = 23 (−7.13 m/s2 ) = −10.7 m/s2 (5)

(2), (5) ⇒ T = 12 (g − ẍB )mB = 28.7 N

−32.2 m/s2 + z̈ sin(28◦ ) = −(32.2 m/s2 ) sin(28◦ )

F = (k)(compression of spring) = (4 N/mm)(5 mm) = 20 N

S1 = µN1 = 0.4(98.1 N) = 39.2 N

S2 = µ2 N2 = (0.1)(5 kg)(9.81 m/s2 ) = 4.905 N

ẍ2 = 3.02 m/s2

Our new equations of motion are given by

(7) → (9) ⇒ (m1 + m2 )ẍ = 2µ1 N1 + (m2 − m1 )g sin θ (11)

2µ1 m1 g cos θ + (m2 − m1 )g sin θ

The FBD/IRD gives us: N1 − mg = mz̈ (3)

During deceleration, your perceived weight is

m2 g (20 kg)(9.81 m/s2 )

kx1e − m2 g (1000 N/m)(0.196 m + 0.01 m) − (20 kg)(9.81 m/s2 )

case a: x1 = 0.196 m ,  m/s2

(m1 + m2 )g (10 kg + 20 kg)(9.81 m/s2 )

T = −m1 ẍ+kx2e −m1 g = m2 g+m2 ẍ ⇒ m1 ẍ+m2 ẍ = kx2e −m1 g−m2 g

kx2e − g(m1 + m2 ) kx2e

(1000 N/m)(0.294 m + 0.01 m)

case b: x2 = 0.294 m ,  m/s2

ẍ = µg = (0.6)(9.81 m/s2 ) = 5.89 m/s2

1D cloth motion x = (15 m/s)t

t = 0.034 s → (1) ⇒ x cup = 0.503 m

0.503 m − 0.5 m = 3.31 mm

cup has moved 3.31 mm

Force balance, mass B :

Equations (1) and (2) simplify to

gmA sin θ cos θ *

gmA sin θ cos2 θ

* gmA sin θ cos θ * g sin θ(mA + mB ) *

Force balance: −(0.5 kg)g *

(3) ⇒ x = vx0 t − (2 m/s2 )t2 (4)

(2) ⇒ ẏ = vy0 − gt (5)

vy0 = 9.26 m/s

vx0 = (0.408)(9.26 m/s) = 3.78 m/s

where the friction force S is given by S = µN (3)

Eliminating N from (5), (4) ⇒ mẍ = Fx − µmg + µFy (6)

Rearranging and squaring (7)⇒

The roots of which are Fy = 16.84, 13.98 lb (9)

(9) → (1) ⇒ Fx = 24.83, 26.54 lb

Force balance, m1 : −(N − m1 g) *

Force balance, m2 : m2 ÿ = m2 g − 2T cos θ = m2 g − 2µd m1 g cos θ (3)

Applying ÿ = 0 to (3) yields

(c) The governing equation (from (3)) is

From trigonometry we can find θ as a function of y:

Using the given parameter values yields

ASSUME: −ẍ = 2ÿ (4)

g[m∗B − 2mA (µd cos θ + sin θ)]

Force balance: ı + rθ̈ eθ − rθ̇2 er ) = −T er − mg

−mrθ̇2 er = −N er + (FR − mg) e*z

a* = −rθ̇2 er + rθ̈ eθ (4)

r0 = 0.4L er (1)

rf = L er (2)

a* = (r̈ − rω0 2 ) er + (2ṙω0 ) eθ (3)

m[(r̈ − rθ̇2 ) er + (rθ̈ + 2ṙθ̇) eθ ] = −T e*r − mgn

= −T er − mg(− sin θ er − cos θ e*θ )

vm = vcyl + v*m/cyl