1

CHAPTER 8
MECHANICS OF RIGID BODIES:
PLANAR MOTION
m
and centered at
3
b b
b b
, , ( 0, 0 ) , and ,
2 2
2 2
1 b m
b m
xcm = + 0 + = 0
m 2 3
2 3

8.1 (a) For each portion of the wire having a mass

y

ycm =

1 b m
b m b
+ 0 + =

m 2 3
2 3 3

b
1

(b)

ds = xdy = ( b 2 y 2 ) 2 dy

ycm =
ycm =

1
1 b
2
2 2

y
b

y
(
) dy
m 0

y =b
y =0

(b2 y 2 ) 2 d (b2 y 2 )
1 2
b
4

4b
3
4b
From symmetry, xcm =
3
ycm =

(c)

The center of mass is on the y-axis.

1

ds = 2 xdy = 2 ( by ) 2 dy
b

ycm =

ycm =
(d)

2 y ( by ) 2 dy
1
2

2 ( by ) dy

y 2 dy
1
2

y dy

3b
5

The center of mass is on the z-axis.

dv = r 2 dz = ( x 2 + y 2 ) dz = bzdz

2
b

zcm

z bzdz

bzdz

z dz
=
zdz
2

2
zcm = b
3
(e)

The center of mass is on the z-axis.

is the half-angle of the apex of the cone. rD is the radius of
the base at z = 0 and r is radius of a circle at some arbitrary z in
a plane parallel to the base.
r
r
tan = D =
, a constant
b bz
2
dv = r 2 dz = ( b z ) tan 2 dz

1
1
m = rD2b = b3 tan 2
3
3
zcm

zcm =

z ( b z ) tan 2 dz
2

1
b3 tan 2
3

xcm

3
b3

( b z 2bz
b

+ z 3 ) dz

b
4
b

8.2

xdx = cx dx
=
dx cxdx
2

2b
xcm =
3
8.3 The center of mass is on the z-axis. Consider the sphere with the cavity to be made
of a (i) solid sphere of radius a and mass M s , with its center of
mass at z = 0 , and (ii) a solid sphere the size of the cavity, with
a
mass M c and center of mass at z = . The actual sphere with
2
the cavity has a mass m = M s M c and center of mass zcm .

0=

1
Ms

M c 2 + m zcm

4 a
4
M s = a3 , M c =
3
3 2
3
3
1 a a
a
0 = 3 + a 3 zcm
a 2 2
2
2

3
zcm =

a
14

2
2
m b
b
8.4 (a) I z = mi R = + 0 +
3 2
2
i
2
i

Iz =

mb 2
6

(b)

ds = rd dr , R = r sin
I z = R 2 ds

Iz =

r =b

r =0

Iz =

b
4

r rdr
2

sin
4

sin 2 d

sin 2

2
sin d = 2 4
b4 1
Iz =

4 4 2
1
m = b 2
4
mb 2
Iz =
( 2 )
4

x2
ds = hdx = b dx
b

Where the parabola intersects the line y = b ,

(c)

x = ( by ) 2 = b
b
b

x2
x4
I y = x 2 b dx = bx 2 dx
b
b
b
b

4
I y = b4
15
b

x2
4
m = b dx = b 2
b
b
3

1
I y = mb 2
5
(d)

dv = 2 RhdR
h =bz

4
R = (x + y
2

1
2 2

) = ( bz )

1
2

1 b 2
dR = dz
2 z
b

I z = R dv = bz 2 ( bz )
2

1
2

1 b 2
( b z ) dz
2 z

b
1
I z = b 2 ( bz z 2 ) dz = b5
0
6
b

m = dv = 2 ( bz )

1
2

1 b 2
( b z ) dz
2 z

b
1
m = b ( b z ) dz = b3
0
2
1
I z = mb 2
3

(e)

is the half-angle of the apex of the cone. rD is the

radius of the base at z = 0 and r is radius of a circle at
some arbitrary z in a plane parallel to the base.
tan =

dv = 2 RhdR = 2

( b z ) RD zdR

RD
R
=
, a constant
b bz

b
b
z
R

( ) D , dR = RD dz , and the limits of integration for R = 0 R

Since R =
D
b
b
correspond to z = b 0
0

(b z )

I z = R dv =
2

I z = +2

RD4
b4

RD2

( b z 3b z
b

2 2

( b z ) RD z RD dz
b

+ 3bz 3 z 4 ) dz =

1
m = RD2b
3
3
I z = mRD2
10

1
RD4b
10

8.5
Consider the sphere with the cavity to be made of a (i) solid sphere of radius a
and and mass M s , with its center of mass at z = 0 , and (ii) a solid sphere the size of the
a
cavity, with mass M c and center of mass at z = . The actual sphere with the cavity
2
has a mass m = M s M c and center of mass zcm .
3

4
4 a
74 3
m = M s M c = a3 =
a
3
3 2
83
8
1
M s = m and M c = m
7
7
From eqn. 8.3.2,
I s = Ic + I
2

2
2
a
M s a2 = M c + I
5
5
2
28
2 1 a 2 31
I = m a 2 m = ma 2
57
5 7 4 70
8.6
The moment of inertia about one of the straight edges is
I z = R 2 dv where R 2 = x 2 + y 2 . From Appendix F

dv = r 2 sin dr d d
R 2 = x 2 + y 2 = r 2 sin 2
Let a = radius of sphere

Iz =

r =a

r =0

Iz =

=
2
2
=0 =0

r =a

2
r =0

2
=0

r 2 sin 2 r 2 sin dr d d

r 4 sin 3 drd

1
a 5 2 sin 3 d
0
10

cos3
3
=
cos
sin

Iz =

2
a 5
30
14 3
1
m=
a = a3
83
6
2
I z = ma 2
5

Iz =

8.7

For a rectangular parallelepiped:

dv = hdxdy
y

R = ( x2 + y

h is the length of the box in the z-direction

1
2 2

I z = R 2 dv =

x=a

(x
y =b

x = a

y = b

+ y 2 ) hdxdy

2b3
4
2
2
2
I z = h 2bx +
dx = hab ( a + b )
a
3
3

m = ( 2a )( 2b ) h = 4 abh
a

2b

Iz =

m 2
a + b2 )
(
3

2a

For an elliptic cylinder:

y

Again dv = hdxdy , and R = ( x 2 + y 2 ) 2

On the surface,

x2 y 2
+
=1
a 2 b2
1

2b

y2 2
x = a 1 2
b

I z = R 2 dv =

2a

y =b
y = b

y2 2
x = a 1 2
b

y2 2
x = a 1 2
b

(x

+ y 2 ) hdxdy

3
1

2 2
2 2

2
y
y
3
2

I z = h
a 1 2 + 2a 1 2 y dy
b 3

b
b

3
1
2
b

aa b 2
2 2
2
2 2
= 2 h 2 ( b y ) dy + ( b y ) y 2 dy

b
b
b 3b

From a table of integrals:

3
3
1
y 2
3 2
3
y
2
2 2
2 2
2
2 2

+ b 4 sin 1
b
y
dy
b
y
b
y
b
y
)
(
)
(
)
(
4
8
8
b
1
3
1
2
4
y 2
b y 2
b
2
2
2
2
2
1 y
( b y ) 2 y dy = 4 ( b y ) 2 + 8 ( b y ) 2 + 8 sin b
4
a a2 3
b 1
I z = 2 h 2 b 4 + = h ab ( a 2 + b 2 )
b 3b 8
8 4
b

7
m = h ( ab )

Iz =

m 2
a + b2 )
(
4

For an ellipsoid:

R2 = x2 + y 2

dv = hdxdy ,

and on the surface,

x2 y 2 z 2
+
+ =1
a 2 b2 c2
1

x2 y2 2
z = c 1 2 2
b
a

2b
x

x2 y2 2
h = 2 z = 2c 1 2 2
b
a
x2 y 2
In the xy plane 2 + 2 = 1
a
b
1

y2 2
x = a 1 2
b

2a

y2 2
x = a 1 2
b

x2 y2 2
2
2
I z = R 2 dv =
x
y

2
c
+
1 (
) 1 a 2 b2 dxdy
y = b
y2 2

x = a 1 2

y =b

1
1

2 2
2

2 c y =b 2 a 2 y 2 2 2 2
a
y

2
2
2
Iz =
a 2 x x dx + y a 2 x dx

a y = b
b
b

From a table of integrals:

1
2 2

1
2
x 2
k2x 2
k4
x
2
2
2
2 2

+
sin 1
k
x
x
dx
k
x
k
x
)
(
)
(
)
(
4
8
8
k
1
1
2
x 2
k
2
2
2
1 x
( k x ) 2 dx = 2 ( k x ) 2 + 2 sin k
2
2
2c b a4 y2
y2
2 a

1
1
Iz =
y

dy
2 b2
a b 8 b 2

2
2
4
4
b a
2y
y
y
I z = ac 1 2 + 4 + y 2 2 dy
b
b
b
b
4
4
I z = abc ( a 2 + b 2 )
15
4
m
For an ellipsoid, m = abc , so I z = ( a 2 + b 2 )
5
3

8
8.8

(See Figure 8.4.1)

Note that l + l is the distance from 0 to 0 , defined as d
2
From eqn. 8.4.13, kcm = ll
2
kcm
+ l 2 = ll + l 2 = l ( l + l )
2
kcm
+ l 2 = ld
2
From eqn. 8.4.9b, k 2 = kcm
+ l2

k 2 = ld
From eqn. 8.4.6, TD = 2

TD = 2

k2
gl

d
g

Period of a simple pendulum: T = 2

8.9

Period of real pendulum: TD = 2

a
M

I
Mgl

(eqn. 8.4.5)

Where I = moment of inertia

l = distance to CM of physical pendulum
a = distance to CM of bob
b = radius of bob
location of CM of physical pendulum:
(a b) + M m a
m
(
)
m a b
m
2
= a + = a
l=
(a + b)
m + ( M m)
M 2 2
2M

m
m b

l = a 1

2M 2M a
Moment of inertia:
2
2

I bob = ( M m ) a 2 + ( M m ) b 2 = ( M m ) a 2 + b 2
5
5

= Ma 2 1
M

I rod

2
2 b
+
1

2
5 a

m
1
1
2
= m ( a b ) = Ma 2
3
3
M

2
b
1
a

m 2 b2 1 m
I = I bob + I rod = Ma 1 1 +
+
2
M 5 a 3 M
m
b
letting =
and =
M
a
2

2
b
1
a

9
1

2
2
2
2 2 1
Ma (1 ) 1 + 5 + 3 (1 )

TD = 2

Mga 1

2 2

(a)
(b)

8.10

TD
=
T

2
1
2
(1 ) 1 + 2 + (1 )

2 2
M = 1kg
a = 1.27 m
= 0.0394

m = 10 g
= 0.01
TD
1
1 = 0.9992
12
T

1
to 1st order in
12
b = 5cm

(actually 0.9994 using complete expression)

The period of the seconds pendulum is

I
T2 = 2
= 2s
Mgl
The period of the modified pendulum is
I
n
T = 2
= 2

M gl
n 20
where I , M , l refer to parameters of pendulum with m attached and
n ( = 24 60 60 ) is the number of seconds in a day.
Ml + mlm
M
where lm is the distance of the attached mass m from the pivot point.
I = I + mlm2

l =

2 I 2 I + 2 mlm2
20
So 1 =
=
n
M gl ( Ml + mlm ) g

Mgl + 2 mlm2
( Ml + mlm ) g

( Ml + mlm ) g
20
Thus 1 =
n ( Mgl + 2 mlm2 )

lm
1 +

40
m
l
=
Or 1

2
2
n lm
M
1 +

gl

Solving for gives the approximate result

10
40 l
n lm
m
=

2
M lm
1

Letting lm = 1.3m ; l = 1.0m ; we obtain 1.15 103

8.11

(a) I cm = ma 2 (all mass in rim)

I rim = ma 2 + ma 2 = 2ma 2
T = 2

(b)

I z = I x + I y = 2 I &cm = ma 2

I &cm =

I rim
2a
= 2
mga
g

( = I cm )

ma 2
2

ma 2
3
+ ma 2 = ma 2
hence I &rim =
2
2
I
3a
T = 2 &rim = 2
mga
2g

8.12

G
T

G
mg
x
8.13

mxcm = mg T
I cm = aT

xcm = a
2
I cm = ma 2
5

I 
12
x
2
mxcm = mg cm = mg ma 2 cm = mg mxcm
5
a
a5
a
5

xcm = g
7

When two men hold the plank, each supports

mg
.
2

When one man lets go:

mg R = mxcm and R

From table 8.3.1,

I cm =

 =

ml 2
12

Rl 12 6 R

=
2 ml 2 ml

10

l
= I cm
2

11
l
3R

xcm =  =
2
m
3R
mg R = m
= 3R
m
mg
R=
4
6 R 6 mg

=
xend = l = l

ml m 4
3

xend = g
2
8.14

For a solid sphere:

4
2
M s = a 3 and I s = M s a 2
3
5
2
( kcm2 )s = 5 a 2
For subscript c representing a solid sphere the size of the cavity, from eqn. 8.3.2:
I s = I + Ic
3
2
2 4 3 2 2 4 a a
2 4 31
I = a a = a5
53
5 3 2 2
5 3 32

4
4 a
4 7
m = a3 = a3
3
3 2
3 8
I 2 31 8
31
2
kcm
= = a2 = a2
70
m 5 32 7
From eqn. 8.6.11, for a sphere rolling down a rough inclined plane:
g sin

xcm =
2
kcm

1+ 2
a

x
=

xs

(k )
1+

2
cm s
2

a
k2
1 + cm2
a
2
7
1+
5 = 5
=
31 101
1+
70 70

x 98
=
xs 101

11

12

Energy is conserved:
a

8.15

m2
m1
8.16

1
1
1 x
m1 x 2 + m2 x 2 + I + m2 gx m1 gx = E
2
2
2 2
I
 + m2 xx
 + 2 xx
 + m2 gx m1 gx = 0
m1 xx
a
( m1 m2 ) g

x=
I
m1 + m2 + 2
a

While the cylinders are in contact:

mv 2
b
f r = cm = mg cos R
r
G
2
R
mvcm
r = a + b , so
= mg cos R
vcm
a+b
From conservation of energy:
1 2 1 2
a
mg ( a + b ) = mvcm
+ I + mg ( a + b ) cos
2
2
G
1
mg
From table 8.3.1, I = ma 2
2
vcm
=
a
2

1 2 1 1 2 vcm
mvcm + ma 2 = mg ( a + b )(1 cos )
2
22
a
2
mvcm
4
= mg (1 cos )
a+b 3
When the rolling cylinder leaves, R = 0 :
4
mg cos = mg (1 cos )
3
7
4
cos =
3
3
4
= cos 1
7

8.17

mx = N 2
my = N1 mg

12

13

1 2 1 2
mvcm + I + mgy = mgyD
2
2
l
l
x = cos ,
x =  sin ,
2
2
l
l
y = sin ,
y =  cos ,
2
2

l 2
cos + sin
2
l

y =  2 sin +  cos
2
2
2
2 2
l
l
l
2
= x 2 + y 2 =  sin +  cos =
vcm
4
2
2


x=

ml 2
, and = 
12
1 l 2 2 1 ml 2  2
l
l
m
+
+ mg sin = mg sin D
2
4
2 12
2
2
l 2
= g ( sin D sin )
3

I=

3g
2
 = ( sin D sin )
l

1 3g
3g
2 3g
 = ( sin D sin ) ( cos ) = cos
2 l
2l
l
ml

3g
3g
N 2 = mx = cos ( sin D sin ) + sin cos
2
l
2l

Separation occurs when N 2 = 0 :

1
2

sin D sin sin = 0 ,

= sin 1 sin D
2
3

8.18

Rx = mx
Ry mg = my
l
l
l
x = sin , x =  cos , 
x =  2 sin +  cos
2
2
2
l
l
l

y = cos , y =  sin ,
y =  2 cos + sin
2
2
2
1 2 1 2
l
l
mvcm + I + mg cos = mg
2
2
2
2
2
ml
l
I=
vcm =  ,
2
12

13

14
m l 2 2 1 ml 2  2
l
+
= mg (1 cos )
2 4
2 12
2
2

l
= g (1 cos )
3
1

3g
2
 = (1 cos )
l

1 3g
3g
2 3g
 = (1 cos ) sin  = sin
2 l
2l
l
ml
3g
3g

Rx =
( sin ) (1 cos ) + cos sin

2
l
2l

3mg
Rx =
sin ( 3cos 2 )
4
ml
3g
3g

Ry = mg
cos (1 cos ) + sin sin

2
l
2l

Ry = mg

3mg
sin 2
2
cos cos +

2
2

mg
2
( 3cos 1)
4
The reaction force constrains the tail of the rocket from sliding backward for Rx > 0 :
3cos 2 > 0
2
< cos 1
3
The rocket is constrained from sliding forward for Rx < 0 :
2
> cos 1
3
Ry =

8.19

mx = mg sin mg cos


x = g ( sin + cos )

G
f
G
mg

5 g cos
t
2
a

1 2
xt :
Since acceleration is constant, x = xDt + 
2
gt 2
x = vDt
( sin + cos )
2
2
Meanwhile ( mg cos ) a = I = ma 2
5
5 g cos
 =
2
a

14

15
The ball begins pure rolling when v = a
5 g cos
v = vD + 
xt = vD g ( sin + cos ) t = a
t
2
a
2vD
t=
g ( 2sin + 7 cos )
At that time:
2
2vD2
g 4vD ( sin + cos )

x=
g ( 2sin + 7 cos ) 2 g 2 ( 2sin + 7 cos )2
x=
8.20

2vD2 ( sin + 6 cos )

g ( 2sin + 7 cos )2

mx = mg

x = g
x = gt , and x =

1
gt 2
2

2 2
ma  = mga
5
5 g
 =
2 a
5 g
t
= D
2 a
Slipping ceases to occur when v = a
5
gt = a D gt
2
2 a D
t=
7 g
I =

2 a D
1
x = g

2
7 g
x=

2 a 2 D2
49 g

Let the moments of inertia of A and B be I a = M a a 2 and I b = M bb 2 .

2

The angular velocity of A is  while that of B is   +  (remember that in two

dimensions, angular velocity is the rate of change of an angle between an line or direction
fixed to the body and one fixed in space). For rolling contact, lengths traveled along the
perimeters of the disks A and B must be equal to the arc length traveled along the track
C.
a = b = ( a + 2b )( )

8.21

15

16
a ( a + 2b )
2b ( a + b )
After some algebra the angular velocity of B is found to be
a
B =   +  =
2b
For A , we take moments about O and for B we take moments about its center.
Call TA and TB the components of the reaction forces tangent to A and B (the
upward-going TA acts on disk B . The downward-going TA acts on disk A)

so that =

Thus

( a + 2b )
2 (a + b)

and =

K TA a = I A

(Torque on Disk A)


TAb TB b = I B   +  = I B a
2b
1
TA TB = M B ( a + b )   = M B a
2
Eliminate TA and TB

K = 2 ( 4b 2 I A + M B a 2b 2 + a 2 I B )
4b
Integrating this equation gives :

Kt = 2 ( 4b 2 I A + M B a 2b 2 + a 2 I B )
4b
Putting A =  at t = tD gives

(Torque on Disk B)

(Force on Disk B)

4b 2 KtD
A =
( 4b2 I A + M B a 2b2 + a 2 I B )
Putting in values for I A and I B gives
4 KtD
A =
3

a 2 2M A + M B
2

Since the angular velocity of B is B =   +  =

B =

a
A =
2b

2 KtD
3

ab 2M A + M B
2

16

a
, we have
2b

17
From section 8.7 (see Figure 8.7.1), the instantaneous center of rotation is the
l
point O . If x is the distance from the center of mass to O and is the distance from
2
the center of mass to the center of percussion O , then from eqn. 8.7.10
Ml 2 1 l 2
l I
x = cm =
=
12 M 12
2 M
l
x=
6
8.22

8.23 In order that no reaction occurs between the table surface and the ball, the ball
must approach and recede from its collision with the cushion by rolling without slipping.
Using a prime to denote velocity and rotational velocity after the collision:
P
= vcm
vcm
m
P
= cm ( h a )
cm
I
= a cm
.
The conditions for no reaction are vcm = a cm and vcm

a cm

P
P
= a cm ( h a )
m
I

1 1
= a (h a)
m I
2
I = ma 2
5
2ma 2
7
h=
+a = a
5ma
5
d
a=
2
7
h= d
10
8.24

During the collision, angular momentum about the point 0 is conserved:

mv l = I
D

mvDl
I
After the collision, energy is conserved:
1 2
l
l
I mg mgl = mg cos D mgl cos D
2
2
2
2 2 2
1 m vD l
ml

= g (1 cos D )
+ ml
2
I
2

 =

17

18

I=

ml 2
+ ml 2
3
1

2
2
1
ml
ml
2

vD =
2
g
1
cos
m
l
m
l

+
+
(
)

ml
2
3

8.25

The effect of rod BC acting on rod AB is impulse + P .

The effect of AB on BC is P .
mv1 = P + P
mv2 = P
l
l
I1 = P P
I 2 = P
2
2
2
ml
I=
12
6
6
P P
1 =
2 = P
ml
ml
l
l
vB = v1 1
vB = v2 + 2
2
2
P + P l 6
vB =
P P
m
2 ml
P l 6
vB = +
P
m 2 ml
P + P 3 P P = P 3P

8 P = 2 P
P
P =
4

5P
4m
9 P
1 =
2ml

P
4m
3P
2 =
2ml

v1 =

v2 =

P
m
----------------------------------------------------------------------------------------------------------vB =

18