Rigid Dynamics Assignment

1) The surface density of a circular disk of radius a depends on the distance from the centre as
 (r )  A  Br , where A and B are constants and r is radius. Find its moment of inertia about a line
perpendicular to the plane of the disk through its centre.

2) Can the mass of a body be considered as concentrated at its centre of mass for purposes of
computing its rotational inertia?

3) Determine moment of inertia of (a) Solid cone of mass , height and radius (b) Hollow cone of
mass , height and radius (without base)

4) Determine the moment of inertia of a solid cylinder of mass length and radius about the axis
passing through its center and perpendicular to its axis.

5) A hoop of mass 150 kg and radius 3.0 m rolls along a horizontal floor so that its centre of mass has a
speed of 0.15 m/s. How much work has to be done to stop it?

6) A solid sphere of mass M and radius R rolls without slipping on a smooth

horizontal surface. It collides with a light spring of force constant k. The
kinetic energy of the sphere at the time of collision is E. If all the surfaces are
smooth, find the maximum compression of the spring.

0
7) A solid sphere rolls up an inclined plane of inclination angle 30 . At the bottom of the incline the CM of
the sphere has a translational speed of 5 m/s.

a) How far does the sphere travel up the plane? (b) How long does it take to return to the bottom?

8) A body of radius R and mass m is rolling horizontally without slipping with speed v. It then rolls up a
hill to a maximum height h. If ,
a) What is the body's moment of inertia? (b) What might the body be?

9) A small solid ball radius r and mass m rolls without slipping along the loop-
the-loop track as shown. It is released from rest somewhere on the straight m
section of the track.

a) From what minimum height above the bottom of the track must the ball R
be released in order that it just stays on the track at the top of the Q
loop? Assume that R>>r.
b) If the ball is released from height 6R above the bottom of the track,
what is the horizontal component of the force acting on it at point Q?
10) Determine the kinetic energy of a tractor crawler belt of mass m if the v0
tractor moves with velocity v.

11) In the system shown, the masses of the blocks are and . The
coefficient of friction between and the table is . The pulley has mass
and is assumed to be a disc. The thread does not slip over the pulley.
At , begins to descend. Find the work performed by the force of
friction in the first seconds after the beginning of the motion.

12) A uniform sphere of mass and radius rolls without slipping

over a horizontal plane, rotating about a horizontal axel . In
the process the center of the sphere moves with velocity
along a circle of radius . Determine the kinetic energy of the
sphere.

13) A particle P with mass 2.0 kg has position and velocity as shown. It is acted on by the force . All
three vectors lie in a common plane. Assume that m, m/s and
. Compute 300

a) the angular momentum of the particle

300
b) the torque acting on the particle.
450
c) What are the directions of these two vectors?

14) If several forces act on a particle, the total torque on the particle may be obtained by first finding the
resultant force and then taking torque of this resultant. Prove this. Is this result valid for forces acting
on different particles of a body in such a way that their lines of action intersect at a common point?

15) The torque of a force about a point is defined as . Suppose , and are all nonzero. Is
always true? Is it ever true?

16)
a) Show that the angular momentum about any point of a single particle moving with constant
velocity remains constant throughout the motion.
b) Two particles each of mass m and speed v, travel in opposite directions along parallel lines
separated by a distance d. Show that the vector angular momentum of this system of particles is
the same no matter what point is taken as the origin.
17) Three particles, each of mass m, are fastened to each other and to a rotation axis by three light
strings each with length l as shown below. The combination rotates around the rotational axis with
angular velocity ω in such a way that the particles remain in a straight line.
m
a) Calculate the rotational inertia of the combination about O. ω l
m
b) What is the angular momentum of the middle particle? l
m
c) What is the total angular momentum of the three particles? O l
d) If now the strings are all replaced with uniform rods of mass M, what is the angular momentum of
the system about O?

18) Define net torque on a body, with respect to origin , as where is position vector of the
point of application of for (with respect to ). What is the property possessed by the forces such
that this torque is independent of the choice of the origin?

19) A uniform cylinder of radius R is spun about its axis with angular velocity ω0 and then ω
placed into a corner as shown. If the coefficient of friction between the walls and the
cylinder is k, how many turns will the cylinder accomplish before it stops?

20) In the figure (a), a meter stick, half of which is wood (lighter shade) -the other half steel-is pivoted at
the wooden end at O and a force is applied to the steel
a a’
end and a. In figure (b) the stick is pivoted at the steel end O O’
at O’ and the same force is applied at the wooden end at
a’. Does one get the same angular acceleration in each
case?

21) A light rod of length 1 m is pivoted at its centre and two masses of 5 kg
and 2 kg are hung from the ends as shown below. Find the initial 5 kg 2 kg
angular acceleration of the rod assuming that it was horizontal in the
beginning. Now if the rod has mass 1 kg uniformly distributed over it, what would be its angular
acceleration?

22) A disc of mass m and radius R is moving on a smooth horizontal surface with linear velocity v and
angular velocity ω as shown. Given that . ω
a) What is the magnitude and direction of the angular momentum of the
disc about any point on the ground?
v
b) What is the magnitude and direction of the angular momentum of the
disc about any point on the line of motion of the center of the disc?

23) A solid cylinder of mass 23 kg and radius 7.6 cm has a light thin tape wound around
it. The tape passes over a light smooth fixed pulley to a 4.5 kg body, hanging
0
vertically. If the plane on which the cylinder moves is inclined at 30 to the
horizontal, find

a) the linear acceleration of the cylinder down the incline. Assume that the cylinder rolls.
b) the tension in the tape, assuming no slipping.
24) A solid sphere is set into motion on a rough horizontal surface with a linear
speed v in the forward direction and an angular speed in the anti-clockwise v/R
direction, as shown. Find the linear speed of the sphere v

a) when it stops rotating (b) when slipping finally ceases and pure rolling starts.

25) A spool with thread wound around it, of mass m, rests on a rough horizontal
surface as shown below. Its moment of inertia relative to its own axis is equal to F
2
I=γmR , γ is a numerical factor, and R is the outside radius of the spool. The R θ
radius of the wound thread layer is equal to r. The spool is pulled without
r
slipping by the thread with a constant force F directed at an angle θ to the Y
horizontal. Find X

a) The projection of the acceleration vector of the spool on the X-axis

b) the work performed by the force F during the first t seconds after the beginning of the motion
c) What is the minimum coefficient of static friction required to prevent slipping?

26) Two thin circular disks of mass 2 kg and radius 10 cm each are joined by a +Z
rigid mass-less rod of length 20 cm. The axis of the rod is along the +X
perpendicular to the planes of the disks through their centers. This object is -Y
placed on a truck in such a way that the axis of the object is horizontal and
perpendicular to the direction of the motion of the truck. The friction with the
floor of the truck is large enough so that the object can roll on the truck
without slipping. Take X-axis in the direction of motion of the truck and Z-axis as the vertically upward
2
direction. If the truck has an acceleration of 9 m/s , calculate

a) the force of friction on each disk

b) the magnitude and direction of the frictional torque acting on each disc about the
centre of mass of the object. Express the torque in the vector form.
B
27) In the arrangement shown, the body A has mass m and pulley B has mass M (that is,
both the cylindrical parts, combined, have mass M). The radii of the two parts are R
and 2R and the total moment of inertia of the pulley is I around the axis of symmetry.
The mass of the thread is negligible. Find the acceleration of the body A after the
system is set free.

A
F
28) Consider a cylinder of mass M and radius R lying on a rough horizontal surface. m θ
It has a plank lying on its top, as shown. A force F is applied to the plank such
that the plank moves and causes the cylinder to roll. The plank always remains
horizontal. There is no slipping at any of the points of contact. Calculate the M
acceleration of the cylinder and the frictional forces at the two contact points.
29) The arrangement shown on the right consists of two identical uniform solid cylinders,
each of mass m, on which two light threads are wound symmetrically. Find the tension of
each thread in the process of motion. The friction in the axle can be neglected.

30) What should be the minimum coefficient of friction between a cylinder and an incline of angle θ if the
cylinder is to roll down the incline without slipping?

0
31) A slender rod of length L and mass M is released from rest when θ=0 .
Determine as a function of θ the normal and frictional forces which are θ
exerted by the corner of the table on the rod, as it falls downward. At what
angle θ does it begin to slip if the coefficient of friction between the table and
the rod is μ?

32) If the sum all the forces acting on a body is zero, is it necessarily in equilibrium? If the sum of all the
forces on a particle is zero, is it necessarily in equilibrium?

33) If the resultant torque of all the forces acting on a body is zero about a point, is it necessary that it will
be zero about any other point?

34) A body is in translational equilibrium under the action of coplanar forces. If the torque of these forces
is zero about a point, is it necessary that it will also be zero about any other point?

35) A ladder is resting with one end on a vertical wall and the other end on a horizontal floor. Is it more
likely to slip when a man stands near the bottom or near the top?

36) A uniform meter stick of mass 200 gm is suspended from the ceiling through two vertical strings of
equal lengths fixed at the ends. A small object of mass 20 gm is placed on the stick at a distance of
70 cm from the left end. Find the tensions in the two strings.
37) S Semi-circular ring of mass m and radius r is hinged freely to a support at its one end, A
A.

a) Find the angle made by its diameter (line AB) with the vertical when in equilibrium
b) Find the magnitude of the horizontal force that must be applied at end B to keep
the diameter in vertical position B

38) A tall chimney cracks near its base and falls over. Express

a) the radial and

b) the tangential linear acceleration of the top of the chimney as a function of the angle θ made by
the chimney with the vertical.
c) Can the resultant linear acceleration exceed g?

39) A solid sphere of mass m and radius r is placed on top of a fixed hemisphere of radius R. It is gently
pushed to one side and rolls down the hemisphere. Find the distance travelled by the sphere, along
the surface of the hemisphere, before it jumps off.

40) A cockroach, mass m, runs counterclockwise around the rim of a Lazy Susan (a circular dish
mounted on a vertical axle) of radius R and moment of inertia I with frictionless bearings. The
cockroach's speed, relative to the ground is v, whereas the Lazy Susan turns clockwise with angular
speed ω. The cockroach finds a bread crumb on the rim and of course, stops.

a) What is the angular speed of the lazy Susan after the cockroach stops?
b) Is the energy conserved? B V0

41) Two small balls A and B, each of mass m, are joined rigidly to the ends of a light rod of
length L. See figure. The system translates on a frictionless horizontal surface with velocity l
v0 perpendicular to the rod. A particle P of mass m kept at rest on the surface sticks to the
ball A as the ball collides with it. Find
V0
a) the linear speeds of the balls A and B after the collision A P
b) the velocity of the centre of mass of the system A+B+P
c) the angular speed of the system about its CM.

42) A stick has mass of 5.0 kg and a length of 1.0 m. It is initially at rest on a frictionless horizontal
surface and is struck perpendicularly by a horizontal impulsive force of impulse 15 N.s at a distance
of 0.3 m from the centre. Determine the subsequent motion.

43) A billiard ball is struck by a cue. The line of action of the applied impulse is horizontal and passes
through the centre of the ball. The initial velocity v0, its radius R, its mass M and the coefficient of
friction μ between the ball and the table are all known. How far will the ball move before it ceases to
slip on the table?

44) A billiard ball, initially at rest, is given a sharp impulse by a cue. The cue is held horizontally a
distance h above the center of the ball. The ball leaves the cue with a speed vo and eventually
acquires a speed of 9v0 /7 as it begins to roll. Find h.
45) A uniform rod AB of mass 2 kg and length l=100 cm is placed on a sharp A O B
support O such that OA=a=40 cm and OB=b=60 cm. A spring of force
constant k=600 N/m is attached to the end B as shown. To keep the rod
horizontal, its end A is tied with a thread such that the spring is elongated
by y=1.0 cm. Calculate the reaction of support on the rod when the thread
is burnt.

Challenging

46) Consider a fixed hemispherical bowl of radius R. A particle of mass m is held

against its inner surface (assumed smooth) such that its position vector with
respect to the center of the mouth of the bowl makes angle θ with the
vertical. What maximum horizontal velocity (into the plane of the page) can
be imparted to the particle so that it does not leave the bowl? θ

47) Show that it is possible to stack a pile of identical bricks so that the top
brick is as far as you like to the right of the bottom most brick, without
toppling. (Assume sufficiently long horizontal ground!)

48) A rod of length 2L is inclined at an angle θ to the horizontal. It falls without rotating
from a certain height H. It hits a horizontal table surface initially on the left hand 2L
end and then on the right hand end. The impact of the rod is elastic and friction can
θ
be ignored. When the rod hits at right hand end, it is again found to make angle θ
with the table surface. Calculate the relationship between H and θ. H

49) A rod of length L and mass M is placed almost

upright in a corner and released from rest. It slides
in vertical plane along the smooth wall and the
floor. Calculate angle θ, between the rod and the
wall, at which the upper end of the rod leaves the
wall.
50) A rod of length l and mass m is suspended in horizontal position
using two identical light ropes at angles 600 with the horizontal
as shown. Calculate tension in one rope immediately after the
other is cut.

51) A light ring of radius wearing two identical beads and each of mass is
hinged freely at its top point in such way that it can rotate freely in its
plane about a horizontal axis passing through the hinge . Bead is fixed to
the ring and is held so that they occupy the same positions at the ends of
the horizontal diameter of the ring and the system is motionless. Bead can
slide freely on the ring without friction. Determine the accelerations of both
the beads immediately after bead is released.

52) A uniform annular disc (a wide ring) of outer radius and inner radius is
coaxially mounted on a fixed cylinder. Radius of the fixed cylinder is slightly
smaller than the inner radius of the disc to allow the disc to rotate as a pulley
and the fixed cylinder as the axel. Coefficient of friction between the disc and
the cylinder is . A light inextensible rope supporting two blocks of masses
and passes along the upper half periphery of the disc. Determine the
acceleration of when the system is released from rest.

Answer Key

(1) (2) No (3) (a) (b) (4) (5) J (6)

(7) (a) 3.5 m (b) 2.8 sec (8) (a) (b) circular cylinder (9) (a) (b) (10)

(11) (12) (13) (9) (a) 12 kgm2/s out of the page (b) 3 N-m
out of the page (14) No (15) True only if they form a orthogonal triad (16) ….

(17) (a) (b) (c) (d) (18)

(19) (20) No, more in the second case (21) rad/s , rad/s (22) (a) into

the page , (b) out of the page (23) (a) 0.5 m/s2 (b) 50 N (24) (a) (b)

 R
2
F (cos   r ) F 2t 2 cos   r F   R cos   r 
(25) (a) R (b) (c) (26) (a) 6 N (b)
m(1   ) 2m(1   ) R(1   )  mg  F sin  
0.6 ˆj  0.6kˆ, 0.6 ˆj  0.6kˆ

3g ( M  3m) 4 F cos  3MF cos  MF cos  mg tan 

(27) (28) , , (29) (30)
M  9m  I 2 3M  8 m 3 M  8 m 3 M  8 m 10 3
R

5Mg sin  Mg cos  

(31) f  ,N  ,   tan 1   (32) No, Yes (33) No (34) Yes (35) Near the
2 4  10 
2 mg
top (36) 1.01 N on left, 1.14 N on right (37) (a) tan 1   (b) (38) (a) 3g(1-cosθ) (b)
  
 10 
3gsinθ/2 (c) Yes (39) R cos 1   (40) (a) (b) No (41) (a) (b)
 17 
(c) (42) m/s rad/s (43) (44) (45) N

(46) (47) … (48) 49) (50)

(50) (52)