ME 274 – Fall 2008 SOLUTION

Final Examination
PROBLEM NO. 1

Given: A solid drum having a mass of 2m and centroidal radius of gyration kO is

pinned to ground at its center of mass O. A cable that is wrapped around the
outer radius (2R) of the drum supports block A that has a mass of 3m. A
second cable that is wrapped around the inner radius (R) of the drum supports
block B that has a mass of m. Assume that the cables do not slip on the drum
as the system moves. The system is released from rest.

Find: Determine the initial angular acceleration of the drum on release. Write your
answer as a vector. As always, clearly show the four steps in your solution.

Oy
2m
Ox O
2R H E
O
g
R 2mg

TA TB
A B
m A B
3m
mg
3mg

1. FBD’s: shown to the right

2. Newton-Euler:
Drum : ! M O = TA ( 2R ) " TB ( R ) = IO# = ( 2m ) kO2 #
A: ! Fy = TA " 3mg = 3maA # TA = 3m ( g + aA )
B : ! Fy = TB " mg = maB # TB = m ( g + aB )
Therefore,
(1) : 6mR ( g + aA ) ! mR ( g + aB ) = 2mkO2 "
3. Kinematics:
a H = aO + ! " r H /O # $ 2 r H /O = 0 + (! k ) " ( #2Ri ) # 0 = #2R! j
a E = aO + ! " r E /O # $ 2 r E /O = 0 + (! k ) " ( Ri ) # 0 = R! j
( 2 ) : aA = aH = !2R"
( 3) : aB = aE = R"
4. Solve:
Combining (1)-(3) gives
5gR
6R ( g ! 2R" ) ! R ( g + R" ) = 2kO2 " # " =
2kO2 + 13R 2
Therefore,
" 5gR %
! =$ 2 2'
k
# 2kO + 13R &
ME 274 – Fall 2008 SOLUTION
Final Examination
PROBLEM NO. 2

Given: A homogeneous disk having a mass of m and radius R rolls without slipping
on a rough, horizontal surface. A spring of stiffness k connects the center of
the disk O to ground. A second spring, of stiffness 4k, is attached between O
and a moving base B. Base B is given a prescribed motion of xB(t) = b sin!t.
The coordinate x describes the location of the center of the disk O. The two
springs are unstretched when x = xB = 0.

Find: For this problem,

a) DERIVE the differential equation of motion (EOM) of the system. As
always, clearly show your four steps in the analysis.
b) Write down the natural frequency for the system.
c) DERIVE the particular solution xP(t) for the system. Use the following
parameter values in your final answer: m = 5 kg, k = 600 N/m, R = 0.3
meters, b = 0.1 meters and ! = 40 rad/sec.
d) Does the disk move in phase or out of phase with the base?

xB(t) x

m
4k O k

R
no slip
B

1. FBD: shown to the right

2. Newton-Euler:
3 mg
! M C = 4k ( x " xB ) R + ( kx ) R = IC#!! ; I C = IO + mR 2 =
2
mR 2

O
3. Kinematics kx
4k(x – xB)

C
f

N
 aO = aC + ! " r O/C # $! 2 r O/C
!! ( ) ( ) ( )
x i = aC j + ($!! k ) " R j # $! 2 R j = ( #R$!!) i + aC # R$! 2 j %
x = #R$!!
i : !! % $!! = #!!
x/R

4. EOM:
Combining above gives
3 " !!
x% 3
4k ( x ! x B ) + kx = mR $ ! ' = ! m!!
x (
2 # R& 2
3
x + 5kx = 4kx B ( t ) = 4kb sin) t
m!!
2
5k 10k
Natural frequency: ! n = =
3m / 2 3m
Particular solution:
xP ( t ) = A sin! t + B cos! t
Substitute into the EOM and group together like terms:
# 3 & # 3 &
%$ ! m" + 5k (' A sin" t + %$ ! m" + 5k (' B cos" t = 4kb sin" t
2 2
)
2 2
# 3 &
cos" t : % ! m" 2 + 5k ( B = 0 ) B=0
$ 2 '
# 3 &
sin" t : % ! m" 2 + 5k ( A = 4kb )
$ 2 '
4kb 4b / 5 4 ( 0.1) / 5
A= = = = ! 0.0267 meters
3 3m 2 ( 3) ( 5 )
! m" 2 + 5k 1! " 1! ( 40 ) 2
2 10k (10 ) ( 600 )
Therefore,
xP ( t ) = ! 0.0267 sin40t
Since A < 0, response is out of phase with the base motion.
 ME 274 – Fall 2008 SOLUTION
Final Examination
PROBLEM NO. 3

Given: Particles A and B (having masses of mA = mB = 5 kg) are interconnected by

the cable-pulley system shown in the figure. Both particles are constrained to
vertical motion with particle A able to slide on a smooth vertical rod. The
system is released at sA = 0 with A traveling DOWNWARD with a speed of 15
m/sec. Assume the pulleys to be small, massless and frictionless, and that the
cable does not slip on the pulleys.

Find: You are asked here to find the speed of particle A when A has reached the
position of sA = 1.5 meters. As always, clearly indicate the four steps of your
solution.

2m

Oy
T
O O

sA
sB Ox

N
A A
g B B
smooth mAg
rod
mBg

FBD: shown on previous page. All forces doing work are conservative and will be included in the
potential energy. Note that T does no work since it acts at a stationary point
Work-energy:
1 2 1 2
T1 = mvA1 + mvB1
2 2
V1 = 0 ; datum lines at initial positions of A and B
1 2 1 2
T1 = mvA2 + mvB2
2 2
V2 = !mgs A + mghB
( nc )
U1"2 = 0
Therefore,
( nc )
T1 + V1 + U1!2 = T2 + V2 " 2
vA1 2
+ vB1 2
= vA2 2
+ vB2 + 2g ( #s A + hB )
Kinematics
2s B + s A + s A2 + 2 2 = const. !
" sA % 1" sA %
2 s!B + $1 + ' s!A = 0 ! vB = $1 + ' vA
$ s 2
+ 4 ' 2$ s 2
+ 4 '
# A & # A &
1
Also, !s B = # s A2 + 2 2 + s A2 2
" 2 & = hB
2$% ('
1! 0 $
At position 1: vB1 = 1 + vA1 = 7.5m / sec
2 #" 0 + 4 &%
At position 2:
1! 1.5 $ 1
vB2 = #1 + & vA2 = 0.8vA2 and hB = !#1.5 + 2 + 1.5 ' 2 $& = 1 m
2 2
2 #" 1.5 + 4 &%
2 2 " %
Solve:
2
vA1 2
+ vB1 + 2g ( s A ! hB ) (15 )2 + ( 7.5 )2 + ( 2 ) ( 9.806 ) (1.5 ! 1) = 13.3 m / sec
vA2 = =
1 + 0.8 2 1 + 0.64
ME 274 – Fall 2008 SOLUTION
Final Examination
PROBLEM NO. 4
Part (a) – 4 points

The mechanism shown below is made up of 5 moveable links: links AB, BD, DF, EG and
HG. At the position shown, link AB is rotating clockwise (CW). Circle the answers
below that most accurately describe the rotation of the other four links:

Link BD: !BD = CW !BD = 0 !BD = CCW

Link DF: !DF = CW !DF = 0 !DF = CCW

Link EG: !EG = CW !EG = 0 !EG = CCW

Link HG: !HG = CW !HG = 0 !HG = CCW

HINT: Determine the locations of the instant centers for links BD and EG.

H G IEG

! EG
! HG
E
B D

! AB
! DF
A F

! BD

IBD
ME 274 – Fall 2008 SOLUTION
Final Examination
PROBLEM NO. 4
Part (b) – 4 points

For the position shown (R = 3 ft and " = 2 radians), the velocity and acceleration of
point P are known to be:
v P = ( 3e R ! 4 e" ) ft / sec eR

a P = ( !20 e R ) ft / sec 2
P
respectively. Determine the rate of change of speed for P.
"
e" R
!v $ ! 3e ' 4 e( $
v! = a P i et = a P i # P & = ( '20 e R ) i # R & = '12 ft / sec 2
" vP % " 5 %
O
ME 274 – Fall 2008 SOLUTION
Final Examination
PROBLEM NO. 4
Part (c) – 4 points

Particle P slides within a smooth tube that is rotating about a vertical axis with a constant
CCW rate of !. If R! < 0 (that is, P is sliding toward O), on which surface does P contact
the tube: on surface A or surface B? Provide a justification for your answer.
HINT: Draw an FBD of P and use Newton’s second law.

! e"
surface A

O R P eR
surface B

HORIZONTAL PLANE

" F! = N = m ( R#! + 2 R!# ) = 2mR!#

Since ! > 0 (CCW) and R! < 0 (given), then N < 0. Therefore, P is in contact
e"
with surface A.

eR

N
ME 274 – Fall 2008 SOLUTION
Final Examination
PROBLEM NO. 4
Part (d) – 4 points

Prior to impact, block B is moving to the left with a speed of vB1 and cart A is stationary
(vA1 = 0). After impact block B is stationary (vB2 = 0) and block A moves to the left with
a speed of vA2. What is the numerical value for the coefficient of restitution e for this
impact? Consider all surfaces to be smooth.

vA1 = 0 vB1 y

A
B m x
3m

Position 1
(before impact)

! Fx = 0 " 3mvA1 + mvB1 = 3mvA2 + mvB2 "

vA2 1
mvB1 = 3mvA2 " =
vB1 3

vA2 ! vB2 vA2 1

e= = =
vB1 ! vA1 vB1 3
 ME 274 – Fall 2008 SOLUTION
Final Examination
PROBLEM NO. 4
Part (e) – 4 points

A homogeneous, thin bar of mass m and length L is released from rest with end A in
contact with a smooth horizontal surface. Make an accurate sketch indicating the
DIRECTION of the acceleration of the center of mass G immediately after release.

HINT: Consider the FBD of the bar on release.

mg
y
g G G
x

60° smooth

A A
N

! Fx = 0 " aGx = 0
Therefore, the acceleration of G is straight down (negative y-direction)
ME 274 – Fall 2008 SOLUTION
Final Examination
PROBLEM NO. 5
Part (a) – 4 points
In lecture, the work-energy equation for a particle ( T2 = T1 + U1!2 ) was derived from
Newton’s second law for a particle ( R = ma ). According to your instructor, what are the
TWO critical steps in this derivation?

• Projection of Newton’s second law onto et R

dv dv ds dv et
• Using chain rule to produce: v! = = =v en
dt ds dt ds

path of P
 ME 274 – Fall 2008 SOLUTION
Final Examination
PROBLEM NO. 5
Part (b) – 4 points

The positions of particles A and B are to be described by the coordinates xA and xB,
respectively, defined below. All springs being unstretched when xA = xB = 0. In the
FBD’s of A and B below, show the magnitude and direction of all spring forces in terms
of k, xA and xB.

k
kxB
k k k
A B kxA A B
k(xB- xA) kxB

xA xB FBD’s of particles A and B

ME 274 – Fall 2008 SOLUTION
Final Examination
PROBLEM NO. 5
Part (c) – 4 points

1 3 1
The path of a particle P moving in the x-y plane is given by: y ( x ) = x ! sin (" x )
3 2"
(with x and y given in feet). When x = 1 ft, it is known that x! = !6 ft / sec = constant . At
this position, what is !!
y?

dy dy
= x! ; chain rule
dt dx
# 1 &
= % x 2 ! cos (" x ) ( x!
$ 2 '

d2y d # 2 1 & # 1 &

2
= % x ! cos (" x ) ( x! + % x 2 ! cos (" x ) ( !!
x ; product rule
dt dt $ 2 ' $ 2 '
d # 2 1 &
= % x ! cos (" x ) ( x! 2 ; chain rule
dx $ 2 '
# " & # " &
= % 2x + sin (" x ) ( x! 2 = % 2 (1) + sin (" ) ( ( !6 ) = 72 ft / sec 2
2
$ 2 ' $ 2 '
ME 274 – Fall 2008 SOLUTION
Final Examination
PROBLEM NO. 5
Part (d) – 4 points

A wheel having an outer radius of R rolls without slipping with the center of the wheel O
having a constant speed of vO to the right. Determine the acceleration vector for the
contact point C. [You are asked to DERIVE this vector – no credit will be given for
writing down the answer from memory.]

vO
O x
R

C no slip

aC = aO + ! " r C /O # $ 2 r C /O
(
= 0 + 0 # $ 2 #R j )
= R$ 2 j
2
%v ( v2
= R' O * j = O j
& R) R

Note that this is NOT a centripetal component of acceleration term since it points in the et
direction for the path of C.
 ME 274 – Fall 2008 SOLUTION
Final Examination
PROBLEM NO. 5
Part (e) – 4 points

Consider the homogeneous solid wheel (of mass m, outer radius R and center A) and thin
ring (of mass m, outer radius R and center B) shown below. The wheel and ring are both
released from rest from the same height on identical rough inclines and roll down the
inclines without slipping.

After each has rolled down through a vertical height of h, how would you describe the
relative sizes of the speeds of points A and B:
a) vA > vB
b) vA = vB
c) vA < vB

Justify your answer.

m m

A B

R R

no slip C h no slip C

A B
DATUM

2
( nc ) 1 1 $ v' 2mgh
T1 + V1 + U1!2 = T2 + V2 " mgh = I C# 2 = I C & ) " v=
2 2 % R( IC / R2
1 3 4mgh
For solid wheel: I C = mR 2 + mR 2 = mR 2 ! vA =
2 2 3
For ring: I C = mR 2 + mR 2 = 2mR 2 ! vB = mgh ! vB < vA