Sample Problem 3/4

The design model for a new ship has a mass of 10 kg and is tested in an exper-
imental towing tank to determine its resistance to motion through the water at
various speeds. The test results are plotted on the accompanying graph, and the
resistance R may be closely approximated by the dashed parabolic curve shown. If
the model is released when it has a speed of 2 m/s, determine the time t required
for it to reduce its speed to 1 m/s and the corresponding travel distance x.
Solution. We approximate the resistance-velocity relation by R kv
2
and
find k by substituting R 8 N and v 2 m/s into the equation, which gives
k 8/2
2
2 Thus, R 2v
2
.
The only horizontal force on the model is R, so that
We separate the variables and integrate to obtain
Thus, when v v
0
/2 1 m/s, the time is t 2.5 s. Ans.
The distance traveled during the 2.5 seconds is obtained by integrating v
dx/dt. Thus, v 10/(5 2t) so that
Ans.
Sample Problem 3/5
The collar of mass m slides up the vertical shaft under the action of a force
F of constant magnitude but variable direction. If kt where k is a constant
and if the collar starts from rest with 0, determine the magnitude F of the
force which will result in the collar coming to rest as reaches /2. The coef-
cient of kinetic friction between the collar and shaft is
k
.
Solution. After drawing the free-body diagram, we apply the equation of mo-
tion in the y-direction to get
where equilibrium in the horizontal direction requires N F sin . Substituting
kt and integrating rst between general limits give
which becomes
For /2 the time becomes t /2k, and v 0 so that
Ans.
F
k
[1
k
(0 1)]
mg
2k
0 and F
mg
2(1
k
)
F
k
[sin kt
k
(cos kt 1)] mgt mv

t
0
(F cos kt
k
F sin kt mg) dt m
v
0
dv
F cos
k
N mg m
dv
dt
[F
y
ma
y
]

x
0
dx
2.5
0

10
5 2t
dt x
10
2
ln (5 2t)
2.5
0
3.47 m
5(
1
1

1
2
)

t
0
dt 5
v
2

dv
v
2
t 5

1
v

1
2

s
R ma
x
or 2v
2
10
dv
dt
[F
x
ma
x
]
N s
2
/m
2
.
130 Chapt er 3 Ki net i cs of Par t i cl es
1 2
0
2
4
6
8
0
v, m/s
R
,

N
R
v
0
= 2 m/s
v
x
B = W
W
m

k
F
N

F
mg

k
N

Helpful Hints
Be careful to observe the minus sign
for R.
Suggestion: Express the distance x
after release in terms of the velocity
v and see if you agree with the re-
sulting relation x 5 ln (v
0
/v).
Helpful Hints
If were expressed as a function of
the vertical displacement y instead
of the time t, the acceleration would
become a function of the displace-
ment and we would use v dv a dy.
We see that the results do not de-
pend on k, the rate at which the
force changes direction.
c03.qxd 6/15/06 12:31 PM Page 130
EXAMPLE 13.4
13.4 EQUATIONS OF MOTION: RECTANGULAR COORDINATES 115
A smooth 2-kg collar C, shown in Fig. 139a, is attached to a spring
having a stiffness and an unstretched length of 0.75 m. If
the collar is released from rest at A, determine its acceleration and the
normal force of the rod on the collar at the instant
SOLUTION
Free-Body Diagram. The free-body diagram of the collar when it is
located at the arbitrary position y is shown in Fig. 139b. Note that the
weight is Furthermore, the collar is assumed
to be accelerating so that a acts downward in the positive y direction.
There are four unknowns, namely, a, and
Equations of Motion.
(1)
(2)
From Eq. 2 it is seen that the acceleration depends on the magnitude
and direction of the spring force. Solution for and a is possible
once and are known.
The magnitude of the spring force is a function of the stretch s of the
spring; i.e., Here the unstretched length is
Fig. 139a; therefore,
Since then
(3)
From Fig. 139a, the angle is related to y by trigonometry.
(4)
Substituting into Eqs. 3 and 4 yields and
Substituting these results into Eqs. 1 and 2, we obtain
Ans.
Ans.
NOTE: This is not a case of constant acceleration, since the spring force
changes both its magnitude and direction as the collar moves downward.
a = 9.21 m>s
2
T
N
C
= 0.900 N
u = 53.1.
F
s
= 1.50 N y = 1 m
tan u =
y
0.75
u
F
s
= ks = 3A
4
y
2
+ 10.752
2
- 0.75B
k = 3 N>m,
s = CB - AB =
4
y
2
+ 10.752
2
- 0.75.
AB = 0.75 m, F
s
= ks.
u F
s
N
C
19.62 - F
s
sin u = 2a + T F
y
= ma
y
;
-N
C
+ F
s
cos u = 0 :
+
F
x
= ma
x
;
u. F
s
, N
C
,
W = 219.812 = 19.62 N.
y = 1 m.
k = 3 N>m
y
0.75 m
A
C
k 3 N/m
(a)
B
u
x
y
a
(b)
N
C
19.62 N
F
s
u
Fig. 139
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13.5 EQUATIONS OF MOTION: NORMAL AND TANGENTIAL COORDINATES 129
Determine the banking angle for the race track so that the wheels of
the racing cars shown in Fig. 1312a will not have to depend upon
friction to prevent any car from sliding up or down the track. Assume
the cars have negligible size, a mass m, and travel around the curve of
radius with a speed v. r
u
(b)
b
n
a
n
N
C
W mg
u
Fig. 1312
u
(a)
EXAMPLE 13.6
SOLUTION
Before looking at the following solution, give some thought as to why
it should be solved using t, n, b coordinates.
Free-Body Diagram. As shown in Fig. 1312b, and as stated in the
problem, no frictional force acts on the car. Here represents the
resultant of the ground on all four wheels. Since can be calculated,
the unknowns are and
Equations of Motion. Using the n, b axes shown,
(1)
(2)
Eliminating and m from these equations by dividing Eq. 1 by
Eq. 2, we obtain
Ans.
NOTE: The result is independent of the mass of the car. Also, a force
summation in the tangential direction is of no consequence to the
solution. If it were considered, then since the car
moves with constant speed. A further analysis of this problem is
discussed in Prob. 2148.
a
t
= dv>dt = 0,
u = tan
-1
a
v
2
gr
b
tan u =
v
2
gr
N
C
N
C
cos u - mg = 0 +
c
F
b
= 0;
N
C
sin u = m
v
2
r
:
+
F
n
= ma
n
;
u. N
C
a
n
N
C
Unpublished Work 2007 by R. C. Hibbeler. To be published by Pearson Prentice Hall, Pearson Education, Inc., Upper Saddle River,
New Jersey. All rights reserved. This publication is protected by Copyright and written permission should be obtained from the
publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic,
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13.5 EQUATIONS OF MOTION: NORMAL AND TANGENTIAL COORDINATES 131
y
A
x
200 ft
(a)
y x
2
200
1
200
EXAMPLE 13.8
Design of the ski jump shown in the photo requires knowing the type of
forces that will be exerted on the skier and his approximate trajectory. If
in this case the jump can be approximated by the parabola shown in
Fig. 1314a, determine the normal force on the 150-lb skier the instant he
arrives at the end of the jump, point A, where his velocity is Also,
what is his acceleration at this point?
SOLUTION
Why consider using n, t coordinates to solve this problem?
Free-Body Diagram. The free-body diagram for the skier when he
is at A is shown in Fig. 1314b. Since the path is curved, there are two
components of acceleration, and Since can be calculated, the
unknowns are and
Equations of Motion.
(1)
(2)
The radius of curvature for the path must be determined at point
A(0, ). Here
so that at
Substituting into Eq. 1 and solving for we have
Ans.
Kinematics. From Eq. 2,
Thus,
Ans.
NOTE: Apply the equation of motion in the y direction and show that
when the skier is in mid air the acceleration is 32.2 ft>s
2
.
a
A
= a
n
= 42.2 ft>s
2
c
a
n
=
v
2
r
=
1652
2
100
= 42.2 ft>s
2
a
t
= 0
N
A
= 347 lb
N
A
,
r =
[1 + 1dy>dx2
2
]
3>2
d
2
y>dx
2

`
x=0
=
[1 + 102
2
]
3>2

1
100

= 100 ft
x = 0,
d
2
y>dx
2
=
1
100
, dy>dx =
1
100
x, y =
1
200
x
2
- 200, -200 ft
r
0 =
150
32.2
a
t
;
+
F
t
= ma
t
;
N
A
- 150 =
150
32.2
a
1652
2
r
b +
c
F
n
= ma
n
;
N
A
. a
t
a
n
a
t
. a
n
65 ft>s.
t
n
a
n
a
t
150 lb
N
A
(b)
Fig. 1314
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New Jersey. All rights reserved. This publication is protected by Copyright and written permission should be obtained from the
publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic,
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132 CHAPTER 13 KI NETI CS OF A PARTI CLE: FORCE AND ACCELERATI ON
ds 0.5 du
v
0
1 m/s
r 0.5 m
du
(a)
u
EXAMPLE 13.9
Packages, each having a mass of 2 kg, are delivered from a conveyor to
a smooth circular ramp with a velocity of as shown in
Fig. 1315a. If the effective radius of the ramp is 0.5 m, determine the
angle at which each package begins to leave the surface.
SOLUTION
Free-Body Diagram. The free-body diagram for a package, when it
is located at the general position is shown in Fig. 1315b. The package
must have a tangential acceleration since its speed is always
increasing as it slides downward. The weight is
Specify the three unknowns.
Equations of Motion.
(1)
(2)
At the instant the package leaves the surface of the ramp so
that Therefore, there are three unknowns, and
Kinematics. The third equation for the solution is obtained by noting
that the magnitude of tangential acceleration may be related to the
speed of the package and the angle Since and
Fig. 1315a, we have
(3)
To solve, substitute Eq. 3 into Eq. 2 and separate the variables. This gives
Integrate both sides, realizing that when
Substituting into Eq. 1 with and solving for yields
Ans.
NOTE: The speed of the package is increasing because its tangential
acceleration is increasing with , Eq. 2. u
u
max
= 42.7
cos u
max
=
43.24
58.86
19.62 cos u
max
=
2
0.5
[9.8111 - cos u
max
2 + 1]
cos u
max
N
B
= 0
v
2
= 9.8111 - cos u2 + 1
v
2
2
`
1
v
= -4.905 cos u `
0
u
;
L
v
1
v dv = 4.905
L
u
0
sin u du
v
0
= 1 m>s. u = 0,
v dv = 4.905 sin u du
a
t
=
v dv
0.5 du
ds = r du = 0.5 du,
a
t
ds = v dv u. v
a
t
u. a
t
, v, N
B
= 0.
u = u
max
,
19.62 sin u = 2a
t
+RF
t
= ma
t
;
-N
B
+ 19.62 cos u = 2
v
2
0.5
+bF
n
= ma
n
;
W = 219.812 = 19.62 N.
a
t
,
u,
u = u
max
v
0
= 1 m>s
(b)
19.62 N
N
B
a
n
a
t
n t
u
Fig. 1315
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New Jersey. All rights reserved. This publication is protected by Copyright and written permission should be obtained from the
publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic,
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13.6 EQUATIONS OF MOTION: CYLINDRICAL COORDINATES 141
c = 14.04
14.04
(b)
F
N
r
Tangent
a
r
a
u
u
u
Fig. 1319
EXAMPLE 13.10
The 2-lb block in Fig. 1319a moves on a smooth horizontal track,
such that its path is specified in polar coordinates by the parametric
equations ft and rad, where t is in seconds.
Determine the magnitude of the tangential force F causing the
motion at the instant
SOLUTION
Free-Body Diagram. As shown on the blocks free-body diagram,
Fig. 1319b, thenormal forceof thetrackontheblock, N, andthetangential
force F are located at an angle fromthe r and axes. This angle can be
obtained from Eq. 1310. To do so, we must first express the path as
by eliminating the parameter t between r and This yields
Also, when Thus,
Because is a positive quantity, it is measured counterclockwise from
the r axis to the tangent (the same direction as ) as shown in
Fig. 1319b. There are presently four unknowns: F, N, and
Equations of Motion.
(1)
(2)
Kinematics. Since the motion is specified, the coordinates and the
required time derivatives can be calculated and evaluated at
Substituting into Eqs. 1 and 2 and solving, we get
Ans.
NOTE: The tangential axis is in the direction of F, and the normal axis
is in the direction of N.
N = 0.942 lb
F = 1.36 lb
a
u
= ru
$
+ 2r
#
u
#
= 10102 + 2120210.52 = 20 ft>s
2
a
r
= r
$
- ru
#
2
= 20 - 1010.52
2
= 17.5 ft>s
2
r
$
= 20 ft>s
2
u
$
= 0
r
#
= 20t `
t =1 s
= 20 ft>s u
#
= 0.5 rad>s
r = 10t
2
`
t =1 s
= 10 ft u = 0.5t `
t =1 s
= 0.5 rad
t = 1 s.
F sin 14.04 + N cos 14.04 =
2
32.2
a
u
c
+F
u
= ma
u
;
F cos 14.04 - N sin 14.04 =
2
32.2
a
r
+ T F
r
= ma
r
;
a
u
. a
r
u
c
c = 14.04
tan c =
r
dr>du
=
40u
2
4012u2
`
u=0.5 rad
= 0.25
u = 0.511 s2 = 0.5 rad. t = 1 s, r = 40u
2
.
u. r = f1u2
u c
t = 1 s.
u = 10.5t2 r = 110t
2
2
F
(a)
r
u
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New Jersey. All rights reserved. This publication is protected by Copyright and written permission should be obtained from the
publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic,
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142 CHAPTER 13 KI NETI CS OF A PARTI CLE: FORCE AND ACCELERATI ON
EXAMPLE 13.11
The smooth 2-kg cylinder C in Fig. 1320a has a peg P through its
center which passes through the slot in arm OA. If the arm rotates in
the vertical plane at a constant rate determine the force
that the arm exerts on the peg at the instant
SOLUTION
Why is it a good idea to use polar coordinates to solve this problem?
Free-Body Diagram. The free-body diagram for the cylinder is
shown in Fig. 1320b. The force on the peg, acts perpendicular to
the slot in the arm. As usual, and are assumed to act in the
directions of positive r and respectively. Identify the four unknowns.
Equations of Motion. Using the data in Fig. 1320b, we have
(1)
(2)
Kinematics. From Fig. 1320a, r can be related to by the equation
Since and then
r and the necessary time derivatives become
Evaluating these formulas at we get
Substituting these results into Eqs. 1 and 2 with and
solving yields
Ans.
The negative sign indicates that acts opposite to the direction
shown in Fig. 1320b.
F
P
F
P
= -0.356 N N
C
= 19.4 N
u = 60
a
u
= ru
$
+ 2r
#
u
#
= 0 + 21-0.133210.52 = -0.133
a
r
= r
$
- ru
#
2
= 0.192 - 0.46210.52
2
= 0.0770
r
$
= 0.192
u
$
= 0 r
#
= -0.133
u
#
= 0.5 r = 0.462
u = 60,
= 0.1 csc u1cot
2
u + csc
2
u2
r
$
= -0.21-csc u cot u21u
#
2 cot u - 0.2 csc u1-csc
2
u2u
#
= -0.2 csc u cot u
u
$
= 0 r
#
= -0.41csc u cot u2u
#
u
#
= 0.5 r = 0.4 csc u
d1cot u2 = -1csc
2
u2 du, d1csc u2 = -1csc u cot u2 du
r =
0.4
sin u
= 0.4 csc u
u
19.62 cos u + F
P
- N
C
cos u = 2a
u
+bF
u
= ma
u
;
19.62 sin u - N
C
sin u = 2a
r
+RF
r
= ma
r
;
u,
a
u
a
r
F
P
,
u = 60.
u
#
= 0.5 rad>s,
0.4 m
P
O
C
A
(a)
r
0.5 rad/s

u
u
19.62 N
F
P
N
C
r
a
u
a
r
(b)
u
u
u
Fig. 1320
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New Jersey. All rights reserved. This publication is protected by Copyright and written permission should be obtained from the
publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic,
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13.6 EQUATIONS OF MOTION: CYLINDRICAL COORDINATES 143
r
(c)
Tangent
u p
r 0.1 u
c
f
u
Fig. 1321
(b)
N
C
F
C
r
a
r
a
u
Tangent
u
f
f
EXAMPLE 13.12
A can C, having a mass of 0.5 kg, moves along a grooved horizontal slot
shown in Fig. 1321a.The slot is in the form of a spiral, which is defined by
the equation where is in radians. If the arm OA is
rotating at a constant rate in the horizontal plane, determine
the force it exerts on the can at the instant Neglect friction
and the size of the can.
SOLUTION
Free-Body Diagram. The driving force acts perpendicular to the
arm OA, whereas the normal force of the wall of the slot on the can,
acts perpendicular to the tangent to the curve at Fig. 1321b.
As usual, and are assumed to act in the positive directions of r and
respectively. Since the path is specified, the angle which the
extended radial line r makes with the tangent, Fig. 1321c, can be
determined from Eq. 1310. We have so that
and therefore
When so that as
shown in Fig. 1321c. Identify the four unknowns in Fig. 1321b.
Equations of Motion. Using and the data shown in
Fig. 1321b, we have
(1)
(2)
Kinematics. The time derivatives of r and are
At the instant
Substituting these results into Eqs. 1 and 2 and solving yields
Ans.
What does the negative sign for indicate? N
C
F
C
= 0.800 N
N
C
= -2.64 N
a
u
= ru
$
+ 2r
#
u
#
= 0 + 210.42142 = 3.20 m>s
2
a
r
= r
$
- ru
#
2
= 0 - 0.11p2142
2
= -5.03 m>s
2
u = p rad,
r
$
= 0.1u
$
= 0
u
$
= 0 r
#
= 0.1u
#
= 0.1142 = 0.4 m>s
u
#
= 4 rad>s r = 0.1u
u
F
C
- N
C
sin 17.7 = 0.5a
u
+ T F
u
= ma
u
;
N
C
cos 17.7 = 0.5a
r
;
+
F
r
= ma
r
;
f = 17.7
f = 90 - c = 17.7, c = tan
-1
p = 72.3, u = p,
tan c =
r
dr>du
=
0.1u
0.1
= u
dr>du = 0.1, r = 0.1u,
c u,
a
u
a
r
u = p rad,
N
C
,
F
C
u = p rad.
u
#
= 4 rad>s
u r = 10.1u2 m,
u
O
r 0.1 u
C
A
(a)
4 rad/s

r
u
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New Jersey. All rights reserved. This publication is protected by Copyright and written permission should be obtained from the
publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic,
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Problem 13-12
The particle of weight W is subjected to the action of its weight and forces F
1
= (ai+bj+ctk),
F
2
= (dt
2
i+etj+fk) and F
3
= hti. Determine the distance the ball is from the origin a time t
after being released from rest.
Given:
a 2lb := e 4
lb
s
:=
b 6lb := f 1 lb :=
c 2
lb
s
:= h 2
lb
s
:=
d 1
lb
s
2
:= t 2s :=
W 6lb := g 32.2
ft
s
2
:=
Solution:
x - direction
a d t
2
+ h t +
W
g
a
x
= a
x
g
W
a h t + d t
2
+
( )
=
v
x
g
W
a t
h
2
t
2
+
d
3
t
3
+

= s
x
g
W
a
2
t
2

h
6
t
3
+
d
12
t
4
+

:= s
x
14.31ft =
y - direction
b e t +
W
g
a
y
= a
y
g
W
b e t + ( ) =
v
y
g
W
b t
e
2
t
2
+

= s
y
g
W
b
2
t
2

e
6
t
3
+

:= s
y
35.78ft =
z - direction
c t f + W
W
g
a
z
= a
z
g
W
f W c t + ( ) =
v
z
g
W
f t W t
c
2
t
2
+

= s
z
g
W
f
2
t
2

W
2
t
2

c
6
t
3
+

:= s
z
89.44 ft =
Total distance s s
x
2
s
y
2
+ s
z
2
+ := s 97.39ft =
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Sample Problem 3/9
Compute the magnitude v of the velocity required for the spacecraft S to
maintain a circular orbit of altitude 200 mi above the surface of the earth.
Solution. The only external force acting on the spacecraft is the force of gravi-
tational attraction to the earth (i.e., its weight), as shown in the free-body dia-
gram. Summing forces in the normal direction yields
where the substitution gR
2
Gm
e
has been made. Substitution of numbers gives
Ans.
Ar t i cl e 3/5 Cur vi l i near Mot i on 143
S
h
F = G
R
S
t
n
mm
e

(R + h)
2
Sample Problem 3/10
Tube A rotates about the vertical O-axis with a constant angular rate
and contains a small cylindrical plug B of mass m whose radial position is con-
trolled by the cord which passes freely through the tube and shaft and is wound
around the drum of radius b. Determine the tension T in the cord and the hori-
zontal component F

of force exerted by the tube on the plug if the constant an-

gular rate of rotation of the drum is
0
rst in the direction for case (a) and
second in the direction for case (b). Neglect friction.
Solution. With r a variable, we use the polar-coordinate form of the equations
of motion, Eqs. 3/8. The free-body diagram of B is shown in the horizontal plane
and discloses only T and F

. The equations of motion are

Case (a). With and , the forces become
Ans.
Case (b). With and , the forces become
Ans. T mr
2
F

2mb
0

0 r b
0
, r 0,
T mr
2
F

2mb
0

0 r b
0
, r 0,
F

m(r

2r

) [F

ma

]
T m(r r

2
) [F
r
ma
r
]

B
A
r
O
=

case (a)
0

case (b)
r
b
r
O
T
B
=

+r
+
F

Helpful Hint
Note that, for observations made within an inertial frame of reference, there is no such quantity as centrifugal force act-
ing in the minus n-direction. Note also that neither the spacecraft nor its occupants are weightless, because the weight
in each case is given by Newtons law of gravitation. For this altitude, the weights are only about 10 percent less than the
earth-surface values. Finally, the term zero-g is also misleading. It is only when we make our observations with respect
to a coordinate system which has an acceleration equal to the gravitational acceleration (such as in an orbiting spacecraft)
that we appear to be in a zero-g environment. The quantity which does go to zero aboard orbiting spacecraft is the fa-
miliar normal force associated with, for example, an object in contact with a horizontal surface within the spacecraft.
Helpful Hint
The minus sign shows that F

is in
the direction opposite to that shown
on the free-body diagram.
[F
n
ma
n
] G
mm
e
(R h)
2
m
v
2
(R h)
,
v

Gm
e
(R h)
R

g
(R h)
v (3959)(5280)

32.234
(3959 200)(5280)
25,326 ft/sec
c03.qxd 6/15/06 12:32 PM Page 143