FACULTY OF ENGINEERING, D.E.I., DAYALBAGH, AGRA - 5.

SYLLABUS
MEM301 Engineering Mechanics

UNIT - 1
Kinematics of Particles: [6 classes] – Cartesian, cylindrical and path coordinates for velocity and
acceleration. Relative motion. Translating reference frame.
Kinetics of Particles: [5] – Equations of rectilinear and curvilinear motions in different co-ordinate
systems. Application to system of particles.

UNIT - 2
Energy Principles: [5] – Work done by a force. Potential energy. Conservative forces. Principle
of conservation of energy. Power and efficiency.
Impulse Momentum Principle: [5] – Linear and angular momentum. Application to system of
particles. Problems involving both energy and momentum principles.

UNIT - 3
Kinematics of Rigid Bodies: [10] – Translation and rotation. Planar motion. Moving reference
frame. Differentiation in a moving reference frame. Velocity and acceleration. Angular velocity and
angular acceleration.

UNIT - 4
Kinetics of Rigid Bodies: [10] – Planar motion. Translation. Rotation. General motion. Energy &
momentum principles. Kinetics in 3-D motion, limited to Euler's equations.

UNIT - 5
Mechanical Vibrations: [6] – Degree of freedom. Equations of motion for undamped and damped
single degree systems. Vibration of rigid bodies.
Central Force Motion: [5] – Two body problem. Satellite motion.

SUGGESTED READING:
1. Shames Engineering Mechanics
2. Ginsberg & Genin Dynamics
3. Meriam & Kraige Engineering Mechanics – Dynamics
4. Sundara Rajan Dynamics
QUESTION BANK
CHAPTER - 1 KINEMATICS OF PARTICLES

Note: - All problems are not of equal standard nor do they take equal time. Quite a number of them
take less than 15 min. to solve.

1.1 A car moves in a straight line such that for a short time its velocity is defined by
v  9t 2  2t m/s where t is in seconds. Determine its position, velocity and acceleration at
t  3 s given that at t  0, it is at the origin. (ANS. 90 m, 87 m/s, 56 m/s2)
1.2 A small projectile is fired vertically downward into a fluid medium with an
initial velocity of 60 m/s. (Refer Fig.) If the projectile experiences a
deceleration given by a  0.4v 3 m/s 2 , where v is measured in m/s,
determine the velocity and position 4 seconds after the projectile is fired.
(ANS. 0.559 m/s, 4.43 m)
1.3 A metallic particle is subjected to the influence of a magnetic
field such that it travels vertically downwards from plate A to
plate B. If the particle is released from rest at the mid point C,
and the acceleration is measured as a  4s m/s 2 , determine the
velocity of the particle when it reaches plate B. and the time
needed to travel from C to B. (ANS: –0.346 m/s, 0.657s)
1.4 A particle moves along a horizontal straight line with a velocity
v  3t 2  6t m/s. If it is initially located at the origin (at t=0)
determine - (i) The displacement and (ii) the distance travelled
during the time interval 0 to 3.5 s. Find also the average velocity and the average speed of
the particle during this time interval. [ANS. (i) 6.12 m; (ii) 14.12 m; Av. Vel.=1.75 m/s; Av.
Speed = 4.03 m/s]
1.5 Derive expressions for velocity and acceleration of a particle moving along a plane curve
using (i) path coordinates (ii) polar coordinates.
1.6 A particle at A moves along a plane circular path of radius r  1 m. The
position OA is given as a function of time as   6 sin 5t rad where t is in
seconds. What are the rectangular components of velocity of the
particle at t  0.2 s? (ANS. x =15.3, y =5.35 m/s)
1.7 A car starts from rest at A in the figure and
travels along a horizontal track. During motion,
the acceleration is given by a  0.2t m/s 2 .
Determine the magnitude of the car's
acceleration (and its vector) when it arrives at B.
Find also its velocity at B. (ans. 1.14 et + 5.25
en m/s2 , 3.24 m/s
1.8 A particle moves along a path given as
y  3x 2 m. The projection of the particle along
the x axis varies as 0.2 t 2 (where t is in s)
starting at the origin at t  0. What are the
acceleration components normal and tangential
to the path at t  2 s? What is the radius of
curvature at this point? (Ref. Fig.) (ans. an = 1.779 m/s2, at = 28.8
m/s2 , R = 209 m) Ref. 11.34-425
1.9 A car is moving along a circular track of radius 40 m. The position S along the path is
given as S  3t 2  t 3 /6 m. The time t is given in sec. What are the angular velocity
and angular acceleration of the car at t  5 s? (ANS. 1.063 rad/s, 0.275 rad/s2)
1.10 A vertical member with control axis CD rotates in accordance with with t in seconds.
Attached to CD is a system of rods HI and FG pinned together at K and of length 200 mm and
GA and IA of length 100 mm pinned together as shown. At the end of A is a stylus which
scribes a curve on plate J. The angle of the system is given as with t in sec. What are the
 radial and transverse velocity and acceleration components of the stylus at time t  5 s about
axis C-C? (NOTE: Pin F is fixed but pin H moves vertically in a slot as shown).
1.11 A plane is shown in a dive bombing mission. At the instant of interest it has a speed of
485 km/hr and is increasing its speed downward at a rate of 81 km/hr/sec. The propeller is
rotating at 150 rpm and has a diameter of 4 m. What is the velocity of the tip of the propeller
shown at A and its acceleration at the instant of interest? (Ans. v = 31.4 e? + 134.7 ez m/s,a
= - 493 e? + 22.5 ez m/s2)
1.12 A wheel with a threaded hub is rotating at an angular speed of 80 rpm on a right hand screw
having a pitch of 4 cm. At the instant of interest, the rate of change of angular speed is
20 rpm/sec. A sleeve A is advancing along a spoke at this instant with a speed of 5 m/sec.
and a rate of increase of speed of 5 m/sec². The sleeve is 2 m from the center line at O at the
instant of interest. What are the velocity vector and the acceleration vector of the sleeve at
this instant? Use cylindrical coordinates.

1.13 A threaded rod rotates with angular position ? = 0.315t2 rad. On the rod is a nut which
rotates relative to the rod at the rate ? = 0.4 t rad/s When t=0, the nut is at a distance 0.6m from A.
What is the velocity and acceleration of the nut at t=10s? The thread has a pitch of 5mm. Give
results in radial & transverse directions.

1.14 Two wheels rotate about stationary axes each, at the same angular velocity, ? = 5 rad/sec
A particle A moves along the spoke of the larger wheel at the speed V1 of 5 m/s relative to the
spoke and at the instant shown is decelerating at the rate of 3m/s2 relative to the spoke. (I)What
are the velocity and acceleration of particle A as seen by an observer on the hub of the smaller
wheel? (II) What are the velocity and acceleration of particle A to an observer on the hub of the
smaller wheel P, if the axis of the larger wheel moves at the instant of interest to the left with a
speed of 10m/s while decelerating at the rate of 2m/s2? Both wheels maintain equal angular
speeds.( Ans. (I) NA = 3.54 (i + j), aA = 2.12 (i -j) (Note: Relative motion is ni l)

1.15 The rotating arm AB guides pin P through the fixed spiral, which is defined by R=4 , where
R has units of meters, and is in radians. The arm has a constant CCW angular speed of
16 rad/s. Determine the horizontal and vertical components of velocity and acceleration of the pin
when =45 . (Ans. vP = 80.8i + 9.7j m/s, aP = 880i - 2017j m/s2 (i left, j up)
1.16 A cockpit C is used to carry a worker for service work on road lighting systems. The cockpit
is moved always in a translatory manner relative to the ground. If the angular speed of arm AB is
1 Rad/min. when =30 , what are the velocity and acceleration of any point in the cockpit body
relative to the truck? At this instant, what are the velocity and acceleration, relative to the truck, of
a particle moving with a horizontal speed V of 0.5m/s and with a rate of increase of speed of 0.02
m/s2 both relative to the cockpit?

1.17 A Ferris wheel rotates at the instant of interest with an angular speed of 0.5 rad/s and is
increasing its angular speed at the rate of 0.1 rad/s2. A ball is thrown from the ground to an
occupant at A. The ball arrives at the instant of interest with a speed relative to the ground given as
vxyz = -10j - 2k m/s What are the velocity and the acceleration of the ball relative to the occupant
at seat A provided that this seat is not "swinging"? The radius of the wheel is 20m.(Ans. vxyz = -10j
- 2k m/s)

1.18 A boat is about to depart from point A on the shore of a river, which has a uniform velocity
Vo of 5 m/s. If the boat can move at the rate of 15 m/s relative to the water. If we want to move
along a straight path from A to B, how long will it take to go from A to B? At what angle should the
boat be aimed relative to the water? [ANS. t=6.76s, =80.50]
1.19 A particle moves with constant speed of 1.5m/s along a path given as x = y2 - In y (m).
Give the acceleration vector of the particle in terms of rectangular components when the particle is
at position y=3m. Do the problem by using path coordinate techniques and then by Cartesian
component techniques. How many g's of acceleration is the particle subject to? (Ans. a = 0.00430i
- 0.0245j m/s2 and 0.00255 g's)
1.20 A freighter is moving at a steady speed V1 = 15 km/h relative to the water as shown. The
freighter is 200 m long at the waterline with point A at amidships. A stalking sub-merged submarine
fires a torpedo when the ships are at the positions shown in the diagram. The torpedo maintains a
steady speed V2 relative to the water of 40 km/hr. Will the torpedo hit the freighter? (HINT: Make
your conclusion using the velocity of the torpedo relative to the freighter). (ANS. No. The torpedo
misses the freighter)

1.21 A radar station tracks an airplane by measuring the distance R to the airplane and the
angle of elevation . At a certain instant an airplane is sighted at R=3500m, =55.2. What is the
approximate value of R and the approximate angle after 0.50 s? The aircraft is traveling at
3300km/hr at a climb angle of 30 . (ANS. R=4348m, =50.040)
1.22 A wheel C attached to arm AB rotates about a pin at B with an angular velocity of 2rad/s
and an acceleration of 1rad/s2 in the CW direction. Arm AB pinned at A rotates with an of 6rad/s
and an of 2 rad/s2 in CCW direction. Determine the absolute velocity and acceleration of a point
P on the wheel 'C', if - (a) ABP is a straight line and (b) if at the instant. (ANS. (a) V=4m/s,
a=28.03m/s2)

1.23 The tow truck A pulls the automobile B out of a ravine by driving forward. Starting from the
position shown, the distance the truck moves is given by where S is measured in meters and t in
seconds. Determine how far the automobile is pulled after 10 seconds and its velocity at the end of
this time interval. (ANS. 20m, 3.5 m/s (up))
1.24 A pin is confined to slide in a circular slot of radius 6m. The pin must also slide in a straight
slot which moves to the right at a constant speed V of 3m/s while maintaining a constant angle of
30 with the horizontal. What are the velocity and acceleration of the pin A at the instant shown?
(ANS. y =1.298 m/s, y=0.1869 m/s2), HINT: use velocities rel. is the deer.)
1.25 An archer in a Jeep is chasing a deer. The Jeep moves at 50 km-ph and the deer moves at

25 km-ph along the same direction. At what inclination must the arrow be shot if the deer is 100m
ahead of the Jeep and if the initial speed of the arrow is 70m/s relative to archer? (Neglect friction).
[ANS. 6.280]
1.26 A pin in a machine follows a parabolic path defined by y = x2 /200 where x and y are
measured in millimeters. When first observed, the pin is at x=255.2 mm and 2ms later it is at
x=239.4 mm. Determine the approximate velocity of the pin.(ans. v = -7.9i - 19.5j m/s ms = mill
seconds)
1.27 Pins A and B must always remain in the vertical slot of yoke C which moves to the right at a
constant speed of 6m/s as shown in the figure. Furthermore, the pins cannot leave the elliptic slot.
a) What is the speed at which the particles approach each other when the yoke slot is at
x=5m?
b) What is the rate of change of speed toward each other when the yoke slot is at x=5m?
1.28 In Q.27 what is the acceleration of B if the yoke C is accelerating at 10 m/s2?

1.29 Particles A and B are confined to always be in a circular groove of radius 5m. At the same
time, these particles must also be in a slot which has the shape of a parabola. The slot is shown at
time t=0. If the slot moves to the right at a constant speed of 3 m/s, what are the speed and rate of
change of speed of particles toward each other at t=1s ? [ANS. 2.02 m/s, 1.522 m/s2]
1.30 A sportsman in a valley is trying to shoot a deer on a hill. He quickly estimates the distance
of the deer along his line of sight as 500 m and the height of the hill as 100 m. His gun has a
muzzle velocity of 1,000 m/s. If he has not graduated sight, how many feet above the deer should
he aim his rifle in order to hit it? [ANS. 4.22 m]
CHAPTER - 2 KINETICS OF PARTICLES

2.1 A particle of mass 1 kg is moving in a constant force field given as F= -3i + 10j - 5k N. The
particle starts from rest at position (3, 5,-4). What is the position and velocity of the particle at time
t=8s? What is the position when the particle is moving at a speed of 20 m/s?
2.2 A block is permitted to slide down an inclined surface inclined at 300. The co-efficient of
friction is 0.05. If the velocity of the block is 30 m/s on reaching the bottom of the incline, how far
up was it released and how many seconds has it travelled?

2.3 A mass D at t=0 is moving to the left at a speed of 0.6 m/s relative to the ground on a
horizontal belt that is moving at constant speed to the right at 1.6 m/s. If there is coulumbic friction
present with ?d = 0.3 how long does it take before the speed of D relative to the belt is 0.3 m/s to
the left? (Ans. 0.646 s)
2.4 Do problem 2.3 with the belt system inclined 15 with the horizontal so that end B is above
end A.(Ans. 6.26 s)

2.5 A particle in rectilinear motion passes the origin traveling at 400 m/s when it is given a
deceleration of 50 t (mm/s2) where t is in seconds. Determine - (a) the length of time required to
bring the particle to rest, (b) the distance it has travelled in 6s, (c) the distance of the particle from
the origin when it has stopped.

2.6 A system of light pulleys and inextensible wire connects bodies A, B and C as shown. If the
co-efficient of friction between C and the support is 0.4, what is the acceleration of each body?
Take MA as 100 kg, MB as 300 kg and MC as 80 kg. (Ans. aA = 0.504 m/s2,aB = 3.61 m/s2,ac =
-7.72 m/s2)
2.7 A rod B of mass 500 kg rests on a block A of mass 50 kg.(Ref. Fig) A force F of 10,000 N is
applied to block A at the position shown. If the coefficient of friction ?d = 0.4 for all contact
surfaces, what is the speed of A when it has moved 3m to the end of the rod? (Ans. 29.15m/s)

2.8 Shown is a simply supported beam. You will learn in strength of materials that a vertical
force F applied at the center causes a deflection at the center given as FL3/ 48 EI. If a mass of 100
kg, fastened to the beam at its midpoint, is suddenly released, what will its speed be when the
deflection is 2mm? Neglect the mass of the beam. The length of beam L is 6 m. Young's modulus
E is 200 GPa and the moment of inertia I of the cross section is 720 cm4.

2.9 A 50 kg crate shown rests on a horizontal plane ? = 0.3. If the crate is subjected to a 400 N
towing force as shown; determine the velocity of the crate 5 s after starting from rest. [Ans. 26m/s]

2.10 A 10kg projectile is fired vertically upward from the ground, with an initial velocity of 50m/s.
Determine the maximum height to which it will travel if - (a) air resistance is neglected and (b) if air
resistance F=0.01 v2 (N) where v is in m/s. (Ans. 127, 113 m)
2.11 The 10 kg block is pulled upward from rest by a constant force of 400N as shown.
Determine the velocity of the body when it reaches A if - (a) the friction is negligible, (b) the
coefficient of friction between the block and its guide is 0.1 Neglect friction in the pulley. (Ans. (a)
2.6 m/s up, (b) 1.799 m/s up)

2.12 A steel block weighing 400 kg is to be picked up by an electromagnet whose attractive

force is given by F= 15x104 /s2 where s in meters. Initially s =1.6m. Determine the velocity with
which the block strikes the electromagnet. Refer figure.
2.13 A 0.25 kg collar slides over a horizontal rod under the action of a linear spring whose
constant is 20 N/m. When the collar is at A, the spring is free (no force). If the collar is released
from rest at B, Determine the velocity of the collar when it passes the point A. Neglect friction.(Ans.
8.94 m/s)

2.14 The viscous friction between a 300 incline coated by a layer of lubricant and the 10 kg
block is given by f = 0.25 v where f is in N and v in m/s. The block is released from rest. Determine
the time required for block to attain a speed of 3 m/s and the corresponding distance traveled by
the block.
2.15 A 200 g ball is thrown vertically up from the ground with an initial velocity of 25 m/s. The air
resistance, f = 2 x 10-4 v2 (N) where v is in m/s. Determine (a) the maximum height attained by the
ball, (b) the speed of the ball when it returns to the ground, (c) the total elapsed time. (Ans. (a)
30.9, (b) 24.2 m/s, (c) 4.92 s)
2.16 The 0.5 kg collar is pulled down the curved rod by the spring whose stiffness is 20 N/m and
whose free (unstretched) length is 500 mm. Neglect friction. If the collar has a speed of 10 m/s in
the position shown, determine the corresponding acceleration of the collar and the force the collar
exerts on the rod.

2.17 A small steel ball moves down a smooth circular surface after being released from rest at
the top. Determine the location when the ball will cease to be in contact with the cylinder.[ANS. =
48.2]
2.18 The slotted arm shown rotates in a horizontal plane at a constant of 4 Rad/s as it guides
the pin 'P' over the fixed cam. The cam is defined by R= 16 + 8 Cos ? where R is in cm from the
fixed point O to a point on the perimeter of the cam. The compression force in the spring is 15N
when ? = 00 and 5N when ? = 1800 Calculate the value of the contact force exerted between the
300 g pin and the cam for ? = 600.

2.19 The system shown in the figure is released from rest. A, B & C weigh 5, 4 and 15 kg
respectively. What distance does the body C drop in 2s? Take ? = 0.4 for contact surfaces.
2.20 A rod CD rotates with shaft G-G at an angular speed of 300 rpm. A sleeve A of mass 500
g slides on CD. If no friction is present between A and CD, what is the distance S for no relative
motion between A & CD?
2.21 In problem 2.20 what is the range of values for S for which A will remain stationary relative
to CD if there is coulumbic friction between A and CD such that ?s = 0.4 ?
2.22 A stationary uniform block of ice is acted on by forces that maintain constant magnitude
and direction at all times. If F1= 25 g N, F2= 10 g N, F3= 15 g N,(Refer figure).What is the velocity
of the center of mass of the block after 10 s? Neglect friction. The density of ice is 800 kg/m3.
Forces are given in newtons)
2.23 A young man is standing in a canoe awaiting a young lady. The man weighing 80 kg is at
the far end of the canoe, which weighs 100 kg. When the young lady appears, he scrambles
forward to greet her, but when he has moved the 8 m to the forward end of the canoe, to his
surprise he finds (not having studied mechanics) that he cannot reach her. How far is the tip of the
canoe from the dock when our "gallant" has made the 8m dash? The canoe is in no way tied to the
pier, and there are no currents in the water. (Hint: Does the moment of mass of the man canoe
system change about any fixed point?)
2.24 Two men climb aboard a barge at A to shift a load with the aid of a fork lift. The barge has a
mass of 20,000 kg and is 10 m long. The load consists of four containers each with a mass of 1300
kg and each having a length of 1 m. The men shift the containers to the opposite end of the barge,
put the fork lift where they found it, and prepare to step off the barge at A, where they came on. If
the barge has not been constrained and if we neglect water friction, currents, wind, and so on, how
far has the barge shifted its position? The fork lift has a mass of 1000kg. (See the hint of problem
2.23) (Ans. 1.587 m)

2.25 A spring requires a force x2 N for a deflection of x mm, Because the spring force is not
proportional to x, the spring is called a nonlinear spring. If a 100 kg block is suddenly released on
the un-deformed spring, what is the speed of the block after it has descended 10 mm? (Ans. 0.435
m/s)

2.26 Weights A and B are held by light pulleys. If released from rest, what is the speed of each
weight after 1s? Weight A is 10 kg and weight B is 40 kg.
2.27 The following data are given for the fly ball governor what is the force P acting on
frictionless collar a if each ball has a mass of 1 kg and we neglect the weight of all other moving
members of the system? (Ans. 199.5N)
2.28 The smooth 2 kg cylinder C in the fig. 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 of 0.5 Rad/s, determine
the force that the arm exerts on the peg at =600. (Ans. 0.305N)
2.29 . A can C mass 0.5 kg moves along a grooved horizontal slot shown in the fig. The slot is in
the form of a spiral given by the equation r = 0.1 ? m where is in radians. If the arm OA is rotating
at a constant rate =4 rad/s in the horizontal plane, determine the force it exerts on the can C at the
instant when = rad. Neglect friction and the size of the can. (Ans. 0.797N)

CHAPTER - 3 ENERGY PRINCIPLES

3.1 A simple pendulum of mass m and length L is released from rest in the horizontal position.
The cord hits peg B and begins to wrap around it. Determine the smallest value of d (=AB) for
which the mass m will follow a complete circle about peg B. [ANS. d=0.6 L]

3.2 Two collars of mass M each can slide on a frictionless rod. The collars are connected by
means of strings of length L(m) to a mass 3 M(kg). Initially the distance between the collars is L(m)
when the mass 3 M is released from rest at the position shown. Determine the velocity with which
the masses collide. Ans.
3.3 What value of constant force P is required to bring the 100 kg body, which starts from rest,
to a velocity of 30 m/s in 20 m? Neglect friction.

3.4 A light cable is wrapped around two drums fixed between a pair of blocks. The system has
a mass of 50 kg. If a 250-N tension is exerted on the free end of the cable, what is the velocity
change of the system after 3 m of travel down the incline? The body starts from rest. Take d for all
surfaces as 0.05. [ANS. 3.98 m/s]

3.5 A 50 kg mass on a spring is moved so that it extends the spring 50 mm from its unextended
position. If the coefficient of friction between the mass and the supporting surface is 0.3
a) What is the velocity of the mass as it returns to the underformed configuration of the
spring?
b) How far will the spring be compressed when the mass stops instantaneously before starting
to the left.[ANS. 0.454 m/s, 20.6 mm]
3.6 A freight car weighing 90 kN is rolling at a speed of 1.7 m/s toward a spring stop system. If
the spring is nonlinear such that it develops a 0.0450 x2 -kN force for a deflection of x mm, what is
the maximum deceleration that the car A undergoes? [ANS. 45. m/s2]

3.7 A particle of mass 10 kg is acted on by the following force field - ,when it is at the origin,
the particle has a velocity V0 given a by- m/s. What is the kinetic energy when it reaches position
(20,5,10) while moving along a frictionless path? Does the shape of the path between the origin
and (20,5,10) affect the result? (Ans. 2250J)

3.8 A block weighing 50 kg is shown on an inclined surface. The block is released at the
position shown at a rest condition. What is the maximum compression of the spring? The spring
has a spring constant k of 10 N/mm and the coefficient of friction between the block and the incline
is 0.3.

3.9 A weight W is to be lowered by a man. He lets the rope slip through his hands while
maintaining a tension of 130N on the rope. What is the maximum weight W that he can handle if
the weight is not to exceed a speed of 5 m/s, starting from rest and dropping 3 m? Use the
coefficients of friction shown in the diagram. Neglect the mass of the rope. There are three wraps
of rope around the post. [ANS. W=121 kN]

3.10 A body A of mass 1 kg is moving at time t=0 with a speed V of 1 m/s on a smooth cylinder
as shown. What is the speed of the body when it arrives at B? Take r=2m.

3.11 A children's boat ride can be found in many amusement parks. Small boats each weighing
100 kg are rotated in a tank of water. If the system is rotating with a speed of 10 rpm, what is the
kinetic energy of the system? Assume that each boat has two 30 kg children on board and that the
kinetic energy of the supporting structure can be accounted for by "lumping" an additional 15 kg
into each boat. If a wattmeter indicates that 4 kW of power is being absorbed by the motor turning
the system, what is the drag for each boat? Take the mechanical efficiency of the motor to be 80%.
(Refer Figure)
3.12 A block A of mass 200 g slides on a frictionless surface as shown in figure. The spring
constant K1 is 25 N/m and initially, at the position shown, it is stretched 0.40 m. An elastic cord
connects the top support to point C on A. It has a spring constant K2 of 10.26 N/m. Furthermore,
the cord disconnects from C at the instant that C reaches point G. If A is released from rest at the
indicated position, what value of corresponds to the position B where A just loses contact with the
surface? The elastic cord is initially unstretched. [ANS. =4.340]

3.13 A block weighing 5 kg is released from rest where the springs acting on the body are
horizontal and have a tension of 50N each. What is the velocity of the block after it has descended
100 mm, if each spring has a spring constant K=10 N/cm.
3.14 Masses A and B (both are 75 kg) are constrained to move in frictionless slots. They are
connected by a light bar of length 0.3m, and weight B is connected by two springs of equal spring
constant K=900N/m. The springs are unstretched when the connecting bar is vertical. What is the
velocity of B when A descends a distance of 25mm? [ANS. 0.1524 m/s]

3.15 A body A is released from rest on a vertical circular path as shown. If a constant resistance
force of 1N acts along the path, what is the speed of the body when it reaches B? The mass of the
body is 0.5 kg and the radius r of the path is 1.6m. [ANS. 2.853 m/s]
3.16 A chain of total length L is released from rest on a smooth support as shown. Determine
the velocity of the chain when the last link moves off the horizontal surface. In this problem, neglect
friction. Also, do not attempt to account for centrifugal effects stemming from the chain links
rounding the corner. (Refer figure). Ans. yg/L (L2-a2)

3.17 A cylinder of radius R rotates about its own axis with an angular speed of . If the total mass
is M, show that the kinetic energy is

3.18 A pendulum has a bob with a comparatively large uniform disc of diameter 2m and mass M
of 3kg. At the instant shown, the system has an angular speed of 0.3 rad/s. If we neglect the
mass of the rod, what is the kinetic energy of the pendulum at this instant? What error is incurred if
one considers the bob to be a particle as we have done earlier for smaller bobs?

3.19 A cylinder with a mass of 25 kg is released from rest on an incline, as shown. The shaft
diameter of the cylinder is 300mm. If the cylinder rolls without slipping, compute the speed of the
center after the cylinder has moved 1.6m along the incline. Ascertain the friction force acting on the
cylinder. The radius of gyration K about 0 is (Ans. 81.75N)

3.20 Cylinders A and B each have a mass of 25 kg and a diameter of 300 mm. Block C, riding
on A and B, has a mass of 100 kg. If the system is released from rest at the configuration shown,
what is the speed of C after the cylinders have made half a revolution? (Hint:- you can find KE of a
cylinder rotating about its ours axis as MR2?2/4.) (Ans. 2.58 m/s).

3.21 A 15 kg vehicle has two bodies (each with mass 1kg) mounted on it, and these bodies
rotate at an angular speed of 50 rad/s relative to the vehicle. If a 500-N force acts on the vehicle
for a distance of 17m, what is the kinetic energy of the system assuming that the vehicle starts
from rest and the bodies in the vehicle have constant rotational speed? Neglect friction and the
inertia of the wheels.
3.22 A body of weight 1kN is on a horizontal table linked to a spring of stiffness 500 N/m as
shown. =0.08 between the body and the table. If the body is displaced through a distance of 0.5m
from the position when the spring force is zero and released at zero velocity, find out how many
times it will oscillate and where it will come to rest finally. At this position of rest what are the spring
force and friction force?
3.23 The motor M of the hoist shown operates with an efficiency of 0.85. Determine the power in
watts that must be supplied to the motor to lift the crate C having a weight 35kg. Point P on the
cable is being drawn in with an acceleration of 1.25 m/s2 and at the instant shown, its speed is
0.6m/s.
3.24 A smooth 2kg collar C shown fits loosely on the vertical shaft. If the spring is unstretched
when the collar is at A, in level with B (in the dashed position A) determine the speed at which the
collar is moving when y=1m, if (a) it is released from rest at A (b) it is released at A with an upward
velocity VA=2m/s. [Ans. (a) 4.39 m/s, (b) 4.82 m/s]

3.25 Compute the work done by the force along the two paths (1) and (2) from A to G. The force
is Refer fig.
3.26 Find out, if the following are conservative forces -
a) a constant force
b) central force field
c)
d)
e)
f)
g)
h)
i)
j)
k)
3.27 For the above force fields, find the potential energy associated with each of the
conservative fields. (for h and k above, find A, B and C for to be conservation)
3.28 Compute the work done by a force on a particle as it moves from (0,0) to (2,8) along the
path y=x3.
3.29 A 1kg particle is moving along a parabolic wire y=2x2. The force field acts on the particle.
If the particle begins from rest at (1,2), determine its velocity at (3,18).
3.30 The rope shown in (a)-part of the figure is released from rest on the smooth semi-circular
surface and acquires a velocity v, when all of it slips off as shown in (b) - part. Find v.

CHAPTER - 4 IMPULSE MOMENTUM PRINCIPLES

4.1 A particle of mass 1kg is initially stationary at the origin of reference. A force given by
where t is in seconds act on the particle After 10s, what is the velocity of the body?
4.2
a) A body of mass 16kg is required to change its velocity from m/s to a velocity of m/s in
10s. What average force F over this time interval will do the job?
b) In the above problem, find the force as a function of time for the case where force varies
linearly with time starting with a zero value. [ANS. (a) 12.8i+14.4j+48k (N); (b) (2.56i-2.88j+9.6k)t
(N)]

4.3 A vertical conveyor has sprocket A as the driver, and sprocket B turns freely. The bodies to
be lifted are pushed onto the conveyor belt by a plunger C and are taken off from the conveyor at
D as shown in the diagram. If the belt runs at 2m/s and the bodies being transported each has a
mass of 0.25kg, what average torque is required by the driving sprocket A? On the average, 40
bodies are on the conveyor at any time.[ANS. 14.76 N-m]

4.4 An 890 N rowboat containing a 668 N man is pushed off the dock by an 800 N man. The
speed that is imparted to the boat is 0.3 m/s by this push. The man then leaps into the boat from
the dock in the direction of motion of the boat. When the two men have settled down in the boat
and before rowing commences, what is the speed of the boat? Neglect water resistance. [ANS.
0.402m/s]
4.5 A hawk is a predatory bird which often attacks smaller birds in flight. A hawk having a mass
of 1.3kg is swooping down on a sparrow of mass 0.15kg. Just before seizing the sparrow with its
claws, the hawk is moving downward with a speed of 20km/h. The sparrow is moving at 15km/h.
Directly after seizure, what is the speed of the hawk and its prey? What is the kinetic energy loss in
this process? [ANS. 18 kmph; 3.24 J]

4.6 As the 1,000 kg automobile descends the hill, the total traction force exerted between the
tyres and the ground varies as shown, where a negative value represents braking. The initial
speed of the car was 72kmph. Determine the speed of the car (a) after 15s and (b) after 30s.
Neglect air resistance. [ANS. 2.86 m/s uphill, 38.2 m/s uphill]
4.7 A 16 kg carriage moves horizontally in its guide with a speed of 1.2 m/s and carries two
assemblies of balls and light rods that rotate about a shaft at O in the carriage. Each of the 4 balls
has a mass of 1.6kg. The assembly on the front face rotates CCW at 80rpm and that on the back
rotates CW at 100rpm. For the entire system, calculate (a) the K.E., (b) the linear momentum and
(c) the angular momentum about O. [ANS. 54.66J, 26.88 kg m/s, 2.41 kg m2/s]

4.8 Two cylinders move along a smooth rod. Cylinder A (mass 10kg) moves to the right at
3m/s, while B (mass 5kg) moves to the left at 2.5 m/s. What is the speed of the cylinder B after
impact for a coefficient of restitution of 0.8? What is the loss in the kinetic energy?[ANS. 4.1 m/s,
18.15J]

4.9 Assume a perfectly plastic impact as the 5kg body falls from a height of 2.6 m onto a plate
of mass 2.5kg. This plate is mounted on a spring having a spring constant of 1772 N/m. Compute
the maximum deflection of the spring after impact. [ANS. 0.338 m]
4.10 A thin disc weighing 5kg translates along a frictionless surface at a speed of 6 m/s. The
disc strikes a square stationary plate B weighing 8kg at the center of a side. What are the velocity
and direction of motion of the plate and the disc after collision? Assume that the surfaces of the
plate and disc are smooth. Take =0.7

4.11 A ball is thrown against a floor at an angle of 60 with a speed at impact of 16 m/s. What is
the angle of rebound? =0.7. Neglect friction.[ANS. 50.50]

4.12
a) A small elastic ball is dropped from a height of 5m onto a rigid cylindrical body of radius
1.5m. At what position on the x-axis does the ball land? [ANS. 9.093m]
b) Solve the above problem for =0.6. [ANS. 4.464m]

4.13 Three identical collars slide over a smooth horizontal rod. Initially the block A is moving to
the left at speed V and the other blocks are at rest. Determine how many collisions will occur and
the velocity of each block after all collisions are over. Let the coefficient of restitution between the
collars be , where 0< <1
4.14 Two disks sliding over a horizontal surface collide in the position shown. The masses of the
disks are 0.8kg for A and 0.2kg for B. The coefficient of restitution is 0.8. the initial velocity of B and
the final velocity of A are unknown. Find them.
4.15 A boat containing a man is moving near a dock. See figure. He throws out a light line and
lassos a piling on the dock at A. He starts drawing in on the line so that when he is in the position
shown, the line is taut and has a length of 8m. His speed is 1.5m/s in a direction normal to the line.
If the net horizontal force F on the boat from tension in the line and from water resistance is
maintained at 250N essentially in the direction of the line, what is the component of his velocity
towards piling A after the man has pulled in 1m of the line The boat and the man have a combined
weight of 180kg.
4.16 A particle rotates at 30rad/s along a frictionless surface at a distance of 0.6m from the
centre. A flexible cord restrains the particle. If this cord is pulled so that the particle moves inward
at a velocity of 1.5m/s, what is the magnitude of the total velocity when the particle is 0.3m from
the centre?
4.17 A system is shown rotating freely with an angular speed of 2rad/s. A mass A of 1.5kg is
held at P against a spring such that the spring is compressed 100mm. If the device P holding the
mass in position is suddenly removed, determine how far toward the vertical axis of the system the
mass will move. The spring constant K is 0.531 N/mm. Neglect friction and inertia of the bars. The
spring is not connected to the mass.[ANS. 0.205 m]
4.18 A body of mass 5kg is moving at a speed of 6m/s on a frictionless surface. An elastic cord
AO, which has a length 6m becomes taut but not stretched at the position shown in the diagram.
What is the radial speed toward O of the body when the cord is stretched 0.6m? The cord has an
equivalent spring constant 1.5 N/cm.
4.19 Two masses slide along bar AB at a constant speed of 1.5m/s. Bar AB rotates freely about
axis CD. Consider only the mass of the sliding bodies to determine the angular acceleration of AB
when the bodies are 1.5m from CD if the angular velocity at that instant is 10rad/s.[ANS. -20rad/s2]

4.20 If the coefficient of restitution is 0.8 for the two spheres shown, what are the maximum
angles from the vertical that the spheres will reach after the first impact? [ANS. 5.47 and 29.9 ]
4.21 A pellet is shot at the hard, rigid surface. The speed of the pellet is 100m/s as it strikes the
surface. The direction of the velocity of the pellet is given by -0.6i -0.8k. Find the final velocity
vector of the pellet for a collision having =0.7. [ANS. 53.7i+23.6j-8.7k m/s]( Hint: given a vector
normal to ABC).
4.22 Two thin discs A and B slide along a frictionless surface. Each disc has a radius of 25mm.
Disc A has a mass of 85g, whereas disc B has a mass of 227g. What are the speeds of the discs
after collision for =0.7? Neglect friction. Refer figure.[ANS. 2.74 and 1.014 m/s]
4.23 A set of particles, each having a mass of 0.5 N rotates about axis AA. The masses are
moving out radially at a constant speed of 1.5 m/s at the same time that they are rotating about
AA. When they are 0.3m from AA, the angular velocity is 5 rad/s and at that instant a torque is
applied in the direction of motion which varies with time t in seconds as Torque = 6t2 + 10t N-m.
What is the angular velocity when the masses have moved out radially at constant speed to 0.6m?
See fig.
4.24 A uniform rod with a mass of 7 kg/m rests flat on a frictionless surface. A force of 250N
acts on the rod as shown. What is the angular acceleration of the rod? What is the acceleration of
the mass centre? Ans.1.856 rad/s2 , 3.09i - 1.786j m/s2

4.25 A 50 g bullet traveling at 400 m/s in the direction shown, hits and is embedded in the 4 kg
sphere. The impact is completed in 0.05s. Find (a) the average increase in the tension of the cable
during the impact; (b) the speed of the sphere immediately after the impact, and (c) the height to
which the sphere rises after the impact.
4.26 Refer fig. A 20 kg shell has a muzzle velocity of 500 m/s. The shell emerges 1 ms after
being fired. The mass of the barrel and its movable support is 600 kg. Also, the spring has a
stiffness of 1000 kN/m. Compute , a)The average increase in the reaction force on the rails during
the firing., b) The recoil velocity of the barrel., c)The maximum distance that the spring is
compressed.
4.27 A particle mass 0.5kg has a velocity 10m/s in the x direction at time t=0. Forces act on
the particle, and their magnitudes change with time according to the graphs shown. Determine the
velocity of the particle at the end of 3s.
4.28 A particle is given an initial velocity VO tangent to the horizontal rim of a smooth
hemispherical bowl of radius ro from the vertical centre time, as shown at point A. As the particle
slides past point B, a distance h below A, and a distance r from the vertical centre line, its velocity
v makes an angle  with the horizontal tangent to the bowl at B. Find .
Ans.
4.29
CHAPTER - 5 KINEMATICS OF RIGID BODIES
5.1 A reference frame xyz is moving such that the origin O has at time t a velocity relative to
reference XYZ given as m/s the xyz reference has an angular velocity relative to XYZ at time t
given as rad/s. What is the time rate of change relative to XYZ of a directed line segment going
from position P (3,2,-5) to Q (-2,4,6) in xyz ? What is the time rate of change relative to XYZ of
position vectors i' and k'?
5.2 A reference xyz is moving relative to XYZ with a velocity of the origin given at time t as
Vo=6i + 4j + 6k m/s. The angular velocity of reference xyz relative to XYZ is ?=3i+14j+2k rad/s.
What is the time rate of change as seen from XYZ of a directed line segment ?1,2 in xyz going
from position 1 to position 2 where the position vectors in xyz for these points are, respectively ?1=
2i'+3j' m, ?2= 3i'-4j'+2k m. Ans. -1060i + 7.31j-35.2k m/s

5.3 Find the second derivative as seen from XYZ of the vector ?1,2 specified in Problem 5.2.
Take the angular acceleration of xyz relative to XYZ at the instant of interest as ? = ? = 15i-2k
rad/s2. Ans. -521i+108.7j+65.2k m/s2.
5.4 A tank is maneuvering its gun into position. At the instant of interest, the turret A is rotating
at an angular speed of 2 rad/s relative to the tank and is in position ?=200. Also, at this instant,
the gun is rotating at an angular speed of 1 rad/s relative to the turret and forms an angle ?=300
with the horizontal plane. What are ? ,? (ang.accn.) of the gun relative to the ground? Ans. -3.76i
-1368j
5.5 In Problem 5.4 determine ? and ? assuming that the tank is also rotating about the vertical
axis at a rate of 0.2 rad/s relative to the ground in a clockwise direction as viewed from above. Ans.
0.941i+0.342j+1.8k rad/s, 1.692j-0.616i rad/s2.
5.6 A cord is wrapped around a wheel which is initially at rest as shown. If the end A of the
cord is given acceleration a=4t m/s2 where t is in seconds, find, as a function of time - (a) the
angular velocity of the wheel, and (b) the angular position of line OP in radians. (Line OP is on the
wheels) , Ans.10t2 rad/s, 3.33 t3 rad
5.7 Disc A, shown in fig. starts from rest and rotates with a constant ang. Acceleration of 2
rad/s2. If disk A is in contact with disc B and no slipping occurs between the discs, compute the
angular velocity and angular acceleration of B just after A turns 10revs. (HINT: Tang. Comp. of
acceleration of A & B are equal), (Ans. 21.2 rad/s, 2.67 rad/s2)

5.8 The end B of rod EB shown maintains contact with the cam by means of a spring. If the
cam rotates about an axis through point O with an angular acceleration and angular velocity ,
compute the velocity and acceleration of rod BE when the cam is in the arbitrary position .(A is the
centre of the circular cam. OB= 'c', Rad. of cam= r
5.9 A cone is rolling without slipping such that its centerline rotates at the rate ?1 of 5
revolutions per second about the z axis. What is the angular velocity of the body relative to the
ground? What is the angular acceleration vector for the body? Ans. -121.6 j rad/s, 3823 I rad/s2

5.10 An amusement park ride consists of a stationary vertical tower with arms that can swing
outward from the tower and at the same time can rotate about the tower. At the ends of the arms,
cockpits containing passengers can rotate relative to the arms. Consider the case where cockpit A
rotates at angular speed ?2 relative to arm BC, which rotates at angular speed ?1 relative to the
tower. If is fixed at 90 , what are the total angular velocity and the angular acceleration of the
cockpit relative to the ground? Use ?1=0.2 rad/s, ?2= 0.6 rad/s. Ans. 0.2k+0.6i rad/s, -0.024i
rad/s2
5.11 In Prob. 5.10 find ? of the cockpit for the case where ?=?3=0.8 rad/s at the instant that ? =
900. Ans. -0.04j rad/s
5.12 In Prob. 5.4 find the angular acceleration vector for the gun barrel, if for the instant shown
in the diagram, the following data apply - , Ans-0.227i+0.1369j-0.34k rad/s2.
5.13 A wheel radius 0.3m is rolling along at 17 m/s without slipping. What is the angular speed?
What is the velocity of point B on the rim of the wheel at instant shown? Ans. 29j-12.03.k m/s
5.14 A bar moves in the plane of the page so that end A has a velocity of 7 m/s and decelerates
at a rate of 3.3 m/s2. What are the velocity and acceleration of point C when BA is at 30 to the
horizontal? Ans. 0.548i-3.73j m/s, -43.4i-63.7j m/s2
5.15 A piston, connecting rod, and crankshaft of an engine are represented schematically. The
engine is rotating at 3,000 rpm. At the position shown, what is the velocity of pin A relative to the
engine block and what is the angular velocity of the connecting rod AB? Ans. -54.7 rad/s, 28.73
m/s
5.16 If ?1=5 rad/s and ?1=3 rad/s2 for bar CD, compute the angular velocity and angular
acceleration of the gear D relative to the ground. Ans. -25 rad/s, 15 rad/s2 , (This is called
epicyclic gear train )

5.17 The rod AB shown in fig. is confined to move along the inclined planes at A and B. If point
A has an acceleration of 3 m/s2 and a velocity of 2 m/s, both directed down the plane at the instant
the rod becomes horizontal, determine the angular acceleration of the rod at this instant. Ans.
0.344 rad/s2
5.18 Locate the Instantaneous centre of zero velocity for the connecting rod AB in the figure of
prob. and the coupler link BC in fig. of this problem.
5.19 The collar C in fig. is moving downward with a velocity of 2m/s and an acceleration of 1
m/s2. Find (a) the angular velocity of the link CB, (b) the angular accelerations of CB and AB. Ans.
10rad/s, 5,-95 rad/s2
5.20 A particle moves on a circular path at a constant angular speed of 10rad/s on a platform,
while the platform rotates with a constant angular speed of 50rad/s about axis A-A. What is the
velocity of the particle P at the instant the platform is in the XY plane and the radius vector to the
particle forms an angle of 30 with the Y axis as shown? Ans. -1.732i-j-5k m/s

5.21 An anti-aircraft gun is shown in action. The values of ?1 and ?2 are 0.3 rad/s and 0.6 rad/s
respectively. At the instant shown what is the velocity of a projectile normal to the direction of the
gun barrel when it just leaves the gun barrel as seen from the ground? Ans. -0.908i-0.5253j-0.6k
m/s
5.22 Also determine the acceleration of the top tip of the gun. Ans. -0.54i-0.311j-0.246k m/s2
5.23 Rod AD rotates at a constant speed ? of 2 rad/s. Collar C on the rod DA is constrained to
move in the circular groove shown in the diagram. When the rod is at the position shown, compute
the speed of collar C relative to the ground. What is the speed of collar C relative to the rod AD?
Point A is stationary. Ans. 7.168 m/s, 3.753 m/s
5.24 A truck has a speed V of 20 m/s and acceleration at time t. A cylinder of radius equal to
2m is rolling without slipping at time t such that relative to the truck it has an angular speed ?1 and
angular acceleration of 2 rad/s and 1 rad/s2 respectively. Determine the velocity and acceleration
of the center of the cylinder relative to the ground.

5.25 A truck is moving at a constant speed V=1.7 m/s at time t. The truck loading compartment
has at this instant a constant angular speed ? of 0.1 rad/s at an angle ?=450. A cylinder of radius
of 300 mm rolls relative to the compartment at a speed ?1 of 1 rad/s accelerating at a rate of ?1 of
0.5 rad/s2 at time t. What are the velocity and acceleration of the center of the cylinder relative to
the ground at time t? The distance d at time t is 5m. Ans. -1.113i+12.2j m/s, 0.969i-0.1859j m/s2
5.26 A light plane is circling an airport at a constant elevation. The radius R1 of the path=3km
and the speed of the plane is 120km/hr. The propeller of the plane is rotating at 100 rpm relative to
the plane in a clockwise sense as seen by the pilot. What are ?, ? & ? of the propeller as seen from
the ground at the instant shown in the diagram. Ans. -1047i + 0.011k rad/s, -0.116j rad/s2, 0.0013
rad/s3

5.27 A slider A has at the instant of interest a speed VA of 3m/s with a deceleration of 2m/s2.
Compute the angular velocity and angular acceleration of bar AB at the instant of interest. What is
the position of the instantaneous axis of rotation of bar AB? Ans. 3rad/s, -44.6rad/s2, Inst. Centre
is at (0,1).
5.28 The rod AB, shown in figure rotates CW at 2 rad/s with =4rad/s2, when =45 . Determine
the angular motion of the rod DE. The collar C is pin connected to AB & slides over DE.

CHAPTER - 6 KINETICS OF RIGID BODIES

6.1 A shaft with a disc of steel having a density of 7626 kg/m3 originally at rest are subjected to
a constant torque T of 67.5 N-m, as shown. After 1 min., what is the angular velocity of the
system? How many revolutions have occurred during this interval? Neglect friction of the bearings.
Use I= ½ Mr2 for the disc (278 ard/s, 1329 rev).

6.2 A shaft A is rotating at an angular speed of 1750 rpm when the hand brake is applied. If the
shaft and its parts have a radius of gyration of 200 mm and a mass of 500 kg, how long does it
take to halve the speed of the shaft? The dynamic coefficient of friction between belt and shaft is
0.3. (ANS. 13.38 s)
6.3 A torque M of 15 N-m is applied to a rod AB as shown. At B there is a pin which slides in a
frictionless slot in a disc E whose mass is 10 kg and whose radius of gyration is 300 mm. If the
system is at rest at the instant shown, what is the angular acceleration of the rod and the disc? The
rod has a mass of 18kg. Ans. ? of rod = - ? of disc = -16.07 rad/s2
6.4 A uniform slender member is supported by a hinge at A. A force P is applied at an angle
with the horizontal. What value should P have and at what distance d should it be applied to result
in zero reactive forces at A at the configuration shown if ?=450? The weight of the member AB is
W. What is the angular acceleration of the bar for these conditions at the instant of interest? (Ans.
Centre of precision : d=2/3L, ? =-2g/L rad/s2
6.5 A stepped cylinder is released from a rest configuration where the spring is stretched 200
mm. A constant force F of 360N acts on the cylinder, as shown. The cylinder has a mass of 146kg
and has a radius of gyration of 1m. What is the friction force at the instant the stepped cylinder is
released? Take ?S=0.3 for the coefficient of friction. The spring constant k is 270 N/m.
6.6 A semi-cylinder A is shown. The diameter of A is 0.3m and the weight is 50kg. What is the
angular acceleration of A at the position shown if at this instant there is no slipping and the
semi-cylinder is stationary? Ans. 28.5 rad/s2 (Given OG=0.424r)

6.7 The car shown in fig. has a mass of 2 Mg with its centre of mass at G. Determine the car's
acceleration if the driving wheels in the back are always slipping, whereas the front wheels freely
rotate. Neglect the mass of the wheels. between the driving wheels and the road is 0.25. Ans.
a=1.59 m/s2
6.8 The 100 kg beam BD shown in fig. is supported by two rods having negligible mass.
Determine the force created in each rod if at the instant ?=300, the rods are both rotating at ?=6
rad/s.
6.9 A block B weighing 100 kg rides on two identical cylinders C & D weighing 50 kg each as
shown. On top of block B is a block A weighing 100 kg. Block A is prevented from moving to the
left by a wall. If we neglect friction between A and B; between A and wall; and we consider no
slipping at the contact surfaces of the wheels, what is the angular speed of the wheels in 2s for
P=800N?
6.10 A ring rests on a smooth surface shown as seen from above. The ring has a mean radius of
2m and a mass of 30kg. A force of 400N is applied to the ring at B. What is the acceleration of
point A on the ring? Compute the acceleration of point O, also. (ANS. Zero).
6.11 A rod AB of length 3m and weight 445N is shown immediately after it has been released
from rest. Compute the tension of wires CA and DB at this instant. Ans. TA=246N, TB=201N

6.12 Identical bars AB and BC are pinned as shown with frictionless pins. Each bar is 2.3m in
length and has a mass of 9kg. A force of 450N is exerted at C when the bars are inclined at 60 .
What is the angular acceleration of the bars? Ans. ?AB= -?Bc= -18.34 rad/s2
6.13 A shaft shown supported by bearings A and B is rotating at a speed of 3 rad/s. Identical
blocks C and D weighing 30kg each are attached to the shaft by light structural members. What
are the bearing reactions in the x and y directions if we neglect the weight of the shaft?
6.14 Rod AB, of length 1m and mass 10kg is pinned to a disc D having a mass of 20kg and a
diameter of 0.5m. A torque T=15 Nm is applied to the disc. What are the angular accelerations of
the rod AB and disc at this instant? Ans. ?AB=-3.805 rad/s2, ?D=19.307 rad/s2
6.15 Two slender rods CD and EA are pinned together at B. Rod EA is rotating at a speed
equal to 2 rad/s. Rod CD rides in a vertical slot at D. For the configuration shown in the diagram,
compute the kinetic energy of the rods. Rod CD weighs 50N and rod EA weighs 80N. AB=1m,
BE=0.3, BC=0.2, BD=0.8m (ans. 24.5 J) Refer figure.
6.16 A homogeneous solid cylinder of radius 300mm is shown with a fine wire held fixed at A
and wrapped around the cylinder. If the cylinder is released from rest, what will its velocity be when
it has dropped 3m? Ref. Fig. Ans. 6.26 m/s

6.17 Four identical rods each of length L=1.3m and weight 90N are connected at the frictionless
pins A, B, C and D. A compression spring of spring constant k=5.3N/mm connects pins B and C,
and a weight w of 450N is supported at pin D. The system is released from a configuration where
?=450. If the spring is not compressed at that configuration, show that the maximum deflection of
the weight w is 0.1966m. Refer Fig.
6.18 An unbalanced 20kg flywheel shown has a radius of gyration k=0.2m about an axis passing
through its C.G. If it has a CW angular velocity of 8 rad/s at the instant shown, determine the
horizontal and vertical components of the reaction at O.
6.19 A uniform cylinder C of radius 0.3m and thickness 8m rolls without slipping at its center
plane on the stationary platform B such that the centerline of CD makes 2 revolutions per second
relative to the platform. What is the angular momentum vector for the cylinder about the center of
mass of the cylinder? The cylinder weighs 30kg.
6.20 In Prob. 6.19 find the angular momentum of the disc about the stationary point O along the
vertical axis A-A.
6.21 A stepped cylinder is released on a 45 incline where the dynamic coefficient of friction at
the contact is 0.2 and the static coefficient of friction is 0.22. What is the angular speed of the
stepped cylinder after 4sec? The stepped cylinder has a weight of 500N and a radius of gyration
about its axis of 250mm. Be sure to check if the cylinder moves at all. Ans.69.18 rad/s
6.22 If the disc shown were to be undergoing regular precession as shown at the rate of
0.3rad/s, what would have to be the spin velocity ? The disc weighs 90N. Neglect the mass of the
rod. Ans. 1744 rad/s
6.23 A uniform homogeneous slender rod of mass M is shown. Compute Ixx & Ix'x' .
Ans.ML2/12, ML2/3
6.24 Compute Ixy for the thin homogeneous hoop of mass M. Ans. MR2
6.25 Compute Ixx, Iyy, Izz & Ixy for the homogeneous rectangular parallelepiped. Ans. Ixy=0
6.26 Compute the moment of inertia, IBB for the half-cylinder shown. The body is homogeneous
and has a mass M. Ans. MR2/2

6.27 Find the mass moment of inertia Ixx for a very thin plate forming a quarter sector of a circle.
The plate weighs 0.4N. What is the second moment of area about the x-axis? What is the product
of inertia?
6.28 Can you identify by inspection any of the principal axes of inertia at A? At B? Explain. The
density of the material is uniform.

6.29 By inspection, identify as many principal axes as you can for mass moments of inertia at
positions A & B. Explain your choices. The mass density of the material is uniform throughout.
6.30 A block having a uniform density of 5 g/cm3 has a hole of diameter 40mm cut out. What are
the principal moments of inertia at point A at the centroid of the right face of the block?
Ans. 0.01258,0.01239,0.00391kg-m2
6.31 Compute Iyy & Ixy for the right circular cylinder, which has a mass of 50kg, and the square
rod, which has a mass of 10kg, when the two are joined together so that the rod is radial to the
cylinder. Ans. 67, -14.125kg-m2

CHAPTER - 7 VIBRATIONS
7.1 Write down the differential equation of motion of a spring mass system in (a) the horizontal
direction shown and (b) the vertical direction shown. Give its solution as a function of time.
7.2 If a 5kg mass causes an elongation of 50mm when suspended from the end of a spring,
determine the natural frequency of the spring mass system. Ans. 14.01 rad/s
7.3
a) Show that the spring constant is doubled if the length of the spring is halved.
b) Show that two springs having spring constants k1 & k2 have a combined spring constant of
k1 + k2 when connected in parallel and have a combined spring constant whose reciprocal is
(1/k1)+ (1/k2) when combined in series.
7.4 Write down the differential equations of motion for the following cases (Refer Fig.)
(i) Spring mass system on an inclined plane.
(ii) Simple pendulum.
(iii) Simple pendulum with spring
(iv) Light cantilever with end mass
(v) Compound pendulum
(vi) Torsional Pendulum
(vii)

7.5 For small oscillations, what is the natural frequency of the system in terms of a, b, K and
W? (Neglect the mass of the rod). Ans.
7.6 A rod is supported on two rotating grooved wheels. The contact surfaces have a coefficient
of friction . Explain how the rod will oscillate in the horizontal direction if it is disturbed in that
direction. Compute the natural frequency of the system. Ans. rad/s
7.7 A hydrometer is a device to measure the specific gravity of liquids. The hydrometer weighs
0.36N, and the diameter of the cylindrical portion above the base is 6mm. If the hydrometer is
disturbed in the vertical direction, what is the frequency of vibration in cycles/sec. as it bobs up and
down? Recall from Archimedes's principle that the buoyant force equals the weight of the water
displaced. Water has a density of 1000 kg/m3.Ans. 0.438 cycle/s

7.8 The hydrometer of Prob. 7.5 is used to test the specific gravity of battery acid in a car
battery. What is the period of oscillation in this case? (Hint: Note if hydrometer goes down, the
water surface will have to rise a certain amount simultaneously. The battery acid has a density of
1100 kg/m3. Battery may be taken as a cylinder of dia=0.03m.
7.9 A horizontal platform is rotating with a uniform angular speed of ? rad/s. On the platform is
a rod CD on which slides a cylinder A having weight W. The cylinder is connected to C through a
linear spring having a spring constant K. What is the equation of motion for A relative to the
platform after it has been disturbed? What is the natural frequency of oscillations? Take r0 as the
unstretched length of spring. Ans.
7.10 A small pendulum is mounted in a rocket that is accelerating upward at the rate of 3g. What
is the natural frequency of oscillation of the pendulum if the bob has a mass of 50g? Neglect the
weight of the rod. Consider small oscillations. Ans. 19.81 rad/s
7.11 A slender rod weighing 140N is held by a frictionless pin at A and by a spring having a
spring constant of 8.80 N/mm at B.
a) What is the natural frequency of oscillation for small vibrations?
b) If point B of the rod is depressed 25mm at t=0 from the static equilibrium position, what will
its position be, when t=0.02sec? Ans.7.88 Hz, -0.3420

7.12 A cylinder of mass M and radius R is connected to identical springs and rotates without
friction about O. For small oscillations, what is the natural frequency? The cord supporting W1 is
wrapped around the cylinder. Ans.
7.13 A rod of weight W and length L is restrained in the vertical position by two identical springs
having spring constant K. A vertical load P acts on top of the rod. What value of P, in terms of W, L
& K, will cause the rod to have a natural frequency of oscillation about A approaching zero for
small oscillations? What does this signify physically? (Hint: for small we may take cos?=1, Ans.
P=(2KL-W/2) (Note: This is the principle for stability of columns which you will learn in Mechanics
of Solids later on).
7.14 A cylinder of radius r and weight W rolls without slipping along a circular path of radius R as
shown in figure. Compute the natural frequency of oscillation for small oscillation. Ans.
[2g/3(R-r)]1/2
7.15 A manometer used for measuring pressures is shown. If the mercury has a length L in the
tube, what is the formation for the natural frequency of movement of the mercury? Ans.
7.16 A differential manometer is used for measuring high pressures. What is the natural
frequency of oscillation of the mercury? Ans. 0.923 Hz
7.17
a) Develop an equation of motion (second order differential equation) for a spring-mass-dash
pot system where the dash pot has viscous damping and the spring is a linear one.
b) Explain the meanings of critical damping, underdamping and overdamping.
c) Solve the differential equation of (a) above for the 3 cases as given in (b) to find the x as a
function of time.
d) Explain the term logarithmic decrement.

7.18 The mass of a spring mass dashpot system is given an initial velocity (from the equilibrium
position) of A?n where ?n is the undamped natural frequency of the system.
Find the equation of motion for the system, for the cases, when
(i) =2.0 (ii) =1.0 (iii) =0.2
Plot displacement time graphs for the three cases.
7.19 Between a solid mass of 10kg and the floor are kept two slabs of isolators, natural rubber
and felt, in series, as shown in figure. The natural rubber slab has a stiffness of 3000N/m and an
equivalent viscous damping coefficient of 100 N-s/m. The felt slab has a stiffness of 12000 N/m
and an equivalent viscous damping coefficient of 330 N-s/m. Determine the undamped and the
damped natural frequencies of the system in vertical direction. Neglect the mass of the isolators.
(Ans. 2.47 Hz, 2.39 Hz)
7.20 A gun barrel of mass 600kg has a recoil spring of stiffness 294,000 N/m. If the barrel recoils
1.3m on firing, determine -
a) the initial recoil velocity of the barrel;
b) the critical damping coefficient of the dashpot which is engaged at the end of the recoil
stroke;
c) find the natural frequency & the time period of undamped vibrations.
7.21 The disc of a torsional pendulum has a moment of inertia of 600 kg-cm2 and is immersed in
a viscous fluid. The brass shaft attached to it is of 10cm diameter and 40cm long. When the
pendulum is vibrating, the observed amplitudes on the same side of the rest position for
successive cycles are 9 , 6 and 4 . Determine -
a) Logarithmic decrement
b) Damping torque at unit velocity, and
c) The periodic time of vibration
Assume for the brass shaft G=44 Gpa What would the frequency be if the disc is removed from the
viscous fluid?
7.22 For the system shown in figure.
m=1.5kg k=490 N/m a=6cm L=14cm
Taking the rod on which the mass is fixed, as light and stiff, determine the value of c for the system
to be critically damped.

CHAPTER - 8 CENTRAL FORCE MOTION

8.1 Prove that a particle moving under the influence of central force is in planar motion, and
that the path is a conic section.
8.2 A proposed amusement ride consists of a flat disc rotating in a horizontal plane at an
angular speed of 0.1 rad/s. A 70kg person P walks radially from point O to A at a constant speed of
1m/s relative to the disc. Find the moment that must be applied to the disc to maintain its angular
speed when the person is at (a) 2m and (b) 3m from O still walking toward A. (28 N-m, 42 N-m)

8.3 State Keplers Laws and prove them using principles of mechanics.
8.4 The radar record of a comet indicates that it is moving at a speed of 42000 kmph in a
direction perpendicular to the radial line r, and that r is 8000 km from the centre of the earth. Will
this comet be captured by the earth? (ANS. NO)
8.5 An earth satellite of mass 1000kg is planned to move in an elliptical orbit with semi-major
axis 3 x 107 m and semi-minor axis 2 x 107 m. Calculate the maximum and minimum velocities.
The earth is at one of the foci of the ellipse.
8.6 A device used in amusement park consists of a circular room that is made to revolve about
its axis of symmetry. People stand up against the wall, as shown in the diagram. After the whole
room has been brought up to speed, the floor is lowered. What minimum angular speed is required
to ensure that a person will not slip down the wall when the floor is lowered? Coefficient of friction
is 0.3.
8.7 A particle moves under gravitational influence about a body M, the centre of which can be
taken as the origin of an inertial reference. The mass of the particle is 800kg. At time t, the particle
is at a position 7000 km from the centre of M with direction cosines I=0.5,m=0.5 and n=0.707. The
particle is moving at a speed of 27000 kmph along the direction 0.8i+0.2j+0.566k. What is the
direction of the normal to the plane of the trajectory?
8.8 The acceleration of gravity on the planet Mars is about 0.305 times that on earth and the
radius of Mars is about 0.532 times that of Earth. What is the escape velocity from Mars at a
position 160km from the surface of the planet? Ans. 17700 kmph
8.9 A satellite is placed into its orbit at an altitude of 300km above the earth's surface at a
speed of
5 km/s and an angle of 30 as shown. Determine the equation for its trajectory and show that its
orbit is elliptical. Also determine the perigee and apogee distances. Ans. 365 and 8069 km
8.10 A satellite is launched and attains a velocity of 30,000 kmph relative to the centre of the
earth at a distance of 400 km from the earth's surface. The satellite has been guided into a path
that is parallel to the earth's surface at burnout.
a) What kind of trajectory will it have?
b) What is the farthest point from the earth's surface?
c) If it is in orbit, compute the time it takes to go from the minimum point to the maximum
point?
8.11 The Pioneer 10 space vehicle approaches the planet Jupiter with a trajectory having an
eccentricity of 3. The vehicle comes to within 1600km of the surface of Jupiter. What is the speed
of the vehicle at this instant? The acceleration of gravity of Jupiter is 30 m/s2 and the radius is
69400km.
8.12 A meteor is moving at a speed of 32000 kmph relative to the centre of earth when it is 560
km from the surface. At that time, the meteor has a radial velocity component of 6400 kmph toward
the centre of earth. How close does it come to the earth's surface?
8.13 A spy satellite to observe India is put into a circular orbit about the North and South poles.
The satellite is to make 10 cycles a day (24 hours). What must be the distance from the surface of
the earth for this satellite? (ANS. 2727 km)
8.14 Two satellites A and B in the same orbit are 1 km apart when A is at the apogee at a height
of 1000 km above the earth's surface. Find the distance between them when A is at the perigee,
200 km above the earth.
8.15 A particle moves under a central force in a circular path of dia r as shown. The circle
passes through the centre of force O. Show that its speed is V=VoCos2?, where Vo is the speed
of the particle at point P, directly across from O.
8.16 If the moon has a motion about the earth that has an eccentricity of 0.0549 and a period of
27.3 days, what is the closest distance of the moon to the earth in its trajectory? Ans. 359600km