Chair of Mechanics and Robotics University of Duisburg-Essen

Tutorial Problem 9: Bullet

(a)

(b)

mẍ = =H = =m c0 ẋ2 (1)

mÿ = =mg (2)

(c)

Consider the motion in y-direction:

Compute the acceleration ÿ from (2):

ÿ = −g (3)

Compute the velocity ẏ and the distance y as a function of time for the initial conditions

ẏ(t0 ) = 0 and y(t0 ) = h:

ẏ = =gt =⇒ y = = gt2 + h
1
(4)
2
Compute the time tB :

s
2h
y(tB ) = 0 =⇒ tB = (5)
g

(d)

Consider the motion in x-direction:

Compute the acceleration ẍ from (1):

ẍ = =c0 ẋ2 (6)

Compute the velocity ẋ as a function of time for the initial condition

ẋ(t0 ) = v0 :

Zẋ ¯ Zt
dẋ 1 1 1
¯ 2
= −c0 dt̄ =⇒ − + = −c0 t =⇒ ẋ = 1 (7)
ẋ ẋ v0 v0 + c0 t
v0 0

Compute the distance x as a function of time for the initial condition

x(t0 ) = 0:

ISE Mechanics 1 Tutorial Problem Set 5 - Solution 1

Chair of Mechanics and Robotics University of Duisburg-Essen

Zx Zt  
dt̄ 1 1 1
dx̄ = 1 =⇒ x = ln c0 t + − ln (8)
v0 + c0 t̄ c0 v0 v0
0 0

1
=⇒ x = ln(1 + c0 v0 t) (9)
c0

Compute the distance xB :

s !
1 2h
xB = x(tB ) = ln 1 + c0 v0 (10)
c0 g

Tutorial Problem 10: Skew Plane

(a)

For m1 :

m1 ẍ1 = R − m1 g sin β (11)

For m2 :

m2 ẍ2 = − R + m2 g (12)

Kinematic relation:

ẍ1 = ẍ2 (13)

⇒ m1 ẍ1 = − m2 ẍ2 + m2 g − m1 g sin β (14)

⇒ m1 ẍ1 = −m2 ẍ1 + m2 g − m1 g sin β (15)

⇒ (m1 + m2 ) ẍ1 = m2 g − m1 g sin β (16)

m2 g − m1 g sin β
⇒ ẍ1 = = ẍ2 (17)
(m1 + m2 )

(b)

Using eqn. (12):

m2 ẍ2 = − R + m2 g (18)

⇔ R = − m2 ẍ2 + m2 g
= m2 (g − ẍ2 )
 
m2 g − m1 g sin β
= m2 g −
(m1 + m2 )
 
m2 − m1 sin β
= m2 g 1 −
(m1 + m2 )
m1 m2 g (1 + sin β)
= (19)
m1 + m2

ISE Mechanics 1 Tutorial Problem Set 5 - Solution 2