Chapter 5

Curvilinear Motion
CHAPTER HIGHLIGHTS

☞☞ Kinematics of Curvilinear Translation ☞☞ Laws for Rotary Motion

☞☞ Projectile Motion ☞☞ Angular Momentum or Moment of Momentum
☞☞ Equations of the Path of Projectile ☞☞ Conservation of Angular Momentum
☞☞ Motion of a Projectile on an Inclined Plane ☞☞ Simple Harmonic Motion and Free Vibrations
☞☞ Kinematics of Rotation ☞☞ Oscillation, Amplitude, Frequency and Period
☞☞ Angular Displacement and Angular Velocity ☞☞ Velocity and Acceleration
☞☞ Angular Acceleration ☞☞ Frequency of Vibration of a Spring Mass System
☞☞ Equations of Motion Along a Circular Path ☞☞ Oscillations of a Simple Pendulum
☞☞ Curvilinear and Rotary Motion Kinetics of
Curvilinear and Rotary Motion

Kinematics of Curvilinear Its projections on the x and y co-ordinates are

ds d x d x
Translation (Vav) x = =
dt ds dt
Motion of a particle describing a curved path is called as
ds d y d y
curvilinear motion, ( vav ) y = =
dt ds dt
Velocity and Acceleration Now
dx
and
d y are the average velocities of the
The curvilinear motion of a body P may be imagined as the dt dt
resultant of two rectilinear motions of its projections Px and ­projections Px and Py respectively in the direction of their
Py on Ox and Oy axis respectively. respective co-ordinates.
If dt approaches zero, vav becomes the instantaneous
Velocity d d
velocity. Instantaneous velocity at P , v = lim s = s and
Let us consider a body moving through a distance ds from dt → 0 dt dt
position P to P1 along a curved path in time dt. its direction will be tangential to the path at P.
y dx dy
Similarly v x = , vy =
V V + dv dt dt

O ds dy dv
Total velocity v = v x 2 + v y 2
x (dv)y
dl
V (dv)x
s
y V + dv Acceleration
dv
O The average acceleration during the interval t is aav =
dt
Px x The direction will be same as that of the change of veloc-
ity dv.
Consider PP1 as a chord instead of an arc, we have The projections of aav on x and y co-ordinates will be
ds dv x dv y
Vav = and respectively.
dt dt dt
3.76 | Part III • Unit 1 • Engineering Mechanics

When dt approaches zero, the instantaneous acceleration, qq′ = pq sin dq = (v + dv) dq

dv dv (dq being small dq = dq in radians) = vdv + dvdq = vdq
a = lim
=
dt dt dt → 0 (dq and dv being very small, their product will be negligible)
d ds d 2 s From above figure OPP1
a= =
dt dt dt 2 PP1 ds
dq = =
Similarly the components of the instantaneous accelera- r r
tion a are, v ds
d2x qq ′ =
ax = 2 , r
dt
Substituting qq′ in equation we have
d2 y
ay = v ds
dt 2 an = lim
dt → 0 r dt
We get,
v ds
an = × ,�
a = ax2 + a 2y r dt
ds
But =v
Tangential and Normal Acceleration dt
v2
A particle moves on a curved path and from position P, ∴ an =
moves a distance ds to position P1, in the time interval dt, r
Normal acceleration is also known as ‘centripetal
such that at P the instantaneous velocity is v and that at P1
acceleration’.
it is (v + dv)
NOTE
v p
P dq q During the motion of a particle along a curved path there
ds
P1 dy is a change in the direction of its velocity from instant to
r v + dv instant with or without any change in magnitude. When
dq q′ both magnitude and direction of velocity change, the par-
ticle has the tangential and normal acceleration. When
there is only change in the direction of velocity, the parti-
O
cle has only normal acceleration.
Resolving the acceleration into two components:
Solved Examples
1. Tangential to the path at the position P.
2. Normal to the path at position P. Example 1: The equation of motion of a particle moving on
a circular path, radius 400 m, is given by S = 18t + 3t2 + 2t3.
Let r be the radius of the curved path PP1 and dq, the Where S is the total distance covered from the starting
angle subtended at the centre O. point, in metres, till the position reached at the end of t
Let q be the angle included between the normals at P1 seconds.
and P. (i) The acceleration at the start is
From the figure we see that Pp = instantaneous velocity
(A) 6 m/s 2 (B) 5m/s 2
v at P.
Resolving dV into two components (pq) in the direction (C) 10 m/s 2 (D) 7 m/s 2
tangential at P and qq′ in the direction normal at P as shown.
Tangential acceleration (ii) 
The time when the particle reaches its maximum
velocity is
tangential change in velocity pq
a = lim = lim (A) 0.5 s (B) 0.6 s
dt → 0 dt d t → 0 dt (C) 0.8 s (D) 0.95 s
From the triangle Pqq′; (iii) The maximum velocity of the particle is
pq = Pq - Pp = (v + dv) cos dq - v = v + dv - v = dv (A) 19.58 m/s (B) 20.53 m/s
(dq being very small, cos dq = 1) (C) 18.65 m/s (D) 13.5 m/s
dv dv Solution:
Then at = lim =
dt → 0 dt dt (i) Given, s = 18t + 3t2 - 2t3
qq ′ ds
Now normal acceleration an = lim
dt → 0 dt v= = 18 + 6t - 6t 2
dt
 Chapter 5 • Curvilinear Motion | 3.77

d2s Projectile Motion

From equation, a = = 6 - 12t
dt 2 Definitions
At the starting point when t = 0, 1. Projectiles: A particle projected at a certain angle is
Acceleration called projectile.
a = 6 – 0 = 6 m/s2. 2. Angle of Projection: Angle between the direction of
(ii) For determining the condition for maximum velocity, projection and the horizontal plane through the point
we have of projection is called as the angle of projection. It is
denoted by a.
d2s
= 6 - 12t = 0 = 0.5 secs 3. Trajectory: The path traced out by the projectile is
dt 2 called the trajectory of the projectile.
(iii) When t = 0.5 s, 4. Velocity of projection (u): The initial velocity of
projectile is the velocity of projection.
vmax = 18 + 3 - 1.5 = 19.5m/s 5. Time of flight (T): The total time taken by the
projectile is termed as the time of flight.
Example 2: A particle moving along curved path has the
6. Horizontal range (R): It is the distance between the
law of motion vx = 2t - 4, vy = 3t2 - 8t + 8 where vx and vy are
point of projection and the point where the trajectory
the rectangular components of the total velocity in the x and
meets the horizontal plane.
y co-ordinates. The co-ordinates of a point on the path at an
instant when t = 0, are (4, -8). The equation of the path is
Equations of the Path of Projectile
(A) x2 + 3x - 2 (B) x3 + 4x + 2 Y
1 3 1
(C) x2 + 3x + 2 (D) x2 + 4x 2 +2 C (vertex)
u
Solution:
P
vx = 2t - 4
vy = 3t2 - 8t + 8 y

Integrating both sides, we have ∫ v x dt = ∫ ( 2t - 4) dt a

O B A X
t2 x
x = 2 × - 4t + C1 = t 2 - 4t + C1
2 P is the position occupied by the projectile after t sec and
x and y are the two co-ordinates of P along the x-axis and
∫ v y dt = ∫ (3t 2 - 8t + 8) dt y-axis respectively.
Along the x-axis, ux = u cos a.
t3 t2 Along the y-axis uy = u sin a
y = 3× - 8 × + 8t + C2 = t 3 - 4t 2 + 8t + C2
3 2 The component ux remains constant all throughout uy
Where C1 and C2 are constants retards due to the action of gravitational force.
Given x = 4, y = -8 when t = 0 We know S = vt, for horizontal motion
Substituting for x, y and t in equation 4 = 0 - 0 + C1 x = u cos a xt
∴ C1 = 4 x
t=
-8 = 0 - 0 + 0 + C2 u cos a
∴ C2 = -8 1
Now the equations of displacement are x = t2 - 4t + 4 and y s = ut + at 2, for vertical motion
2
= t3 - 4t2 + 8t - 8
x = (t - 2)2 1
Therefore y = u sin at - gt 2
1
2
Substituting value of t we can write
x2 = t - 2
1 x 1 x2
y = u sin a - g 2
t= x2 + 2 (1) u cos a 2 u cos 2 a
y= t3 - 4t2 + 8t - 8 (2) gx 2
y = x tan a -
Substituting the value of t from (1) in (2), we get cos 2 a
2u 2
3 1 This is the equation of the path of a projectile which repre-
y = x 2 + 4x 2 + 2x sents a parabola.
3.78 | Part III • Unit 1 • Engineering Mechanics

Horizontal range, Example 3: Find the least initial velocity which a projectile
2u2
u sin 2 a
2 may have so that it may clear a wall of 3.6 m high and 6 m
R= sin a cos a = distant and strike the horizontal plane through the foot of
g g
the wall at a distance of 3.6 m beyond the wall. The point
of projection being at the same level as the foot of the wall.
⎡ 2u sin a ⎤
Time of Flight, T = ⎢ ⎥ Take g = 9.81 m/sec 2
⎣ g ⎦
(A) 10.2 m/s (B) 11 m/s
Maximum height when the vertical component of the veloc-
(C) 12 m/s (D) 13.5 m/s
ity is zero.
uy2 Solution:
v y = 0 . ymax =
2g Let u be the least initial velocity of the projectile and a be
the angle of projection with the horizontal plane.
Horizontal range of projectile, R = 6 + 3.6 = 9.6 m
u 2 sin 2 a
ymax = , (since u y = u sin a) 2u 2 sin a cos a
2g R=
g
2u 2 sin a cos a
u 2 sin 2 a u 2 sin 2 a ∴ 9.6 =
Co-ordinates of vertex C , g
2g 2g
Now,
9.6 g
u2 =
Motion of a Projectile 2 sin a cos a
on an Inclined Plane Putting value,
Consider the motion of projectile with an initial velocity u 4.8 g × sec 2 a (1)
and making an angle a with the horizontal on an inclined u2 =
tan a
plane of inclination q, taking the coordinate axes x, y the
Equation for the path of projectile
expressions for the distance r and height h can be derived.
gx 2
u
ymax = x tan a -
2u 2 cos 2 a
r 62 g
3.6 = 6 tan a -
a h = r sin q 2u 2cos 2 a
q
Substituting for u2, we have,
r cos q
6 2 tan a
3.6 = 6 tan a -
x = u(cos a) t = r cos q 9.6
1 2 ⎡ 62 ⎤
y = u(sin a)t - gt = h = r sin q 3.6 = tan a ⎢6 -
2 ⎥
⎣ 9.6 ⎦
By eliminating t, we get
3.6 = 2.25 tan a
gr 2 cos 2 q
r sin q = r cos q tan a -
2u 2 cos 2 a 3.6
tan a = = 1.6
2u 2 cos 2 a 2.25
⇒ r= (tan a - tan q). (1) a = 57.9°
g cos q
From equation (1)
∴ The distance r is given by equation (1) and thus the height
h and the distance on the horizontal plane can be found. 4.8 g × sec 2 57.9 4.8 g × 3.54
u2 = = = 104.57
i.e., h = r sin q and x = r cos q. tan 57.9 1.594
The maximum range possible on the inclined place is
u = 10.2 m/s
found out by differentiation equation 1 with respect to a and
equating it to zero. Example 4: An aeroplane is moving horizontally at
∴ tan 2a = – cot q. 108 km/h at an altitude of 1000 m towards a target on the
∴ for maximum range the angle made by the velocity vec- ground which is intended to be bombed.
tor a should be equal to (45° + q/2) with the horizontal.
 Chapter 5 • Curvilinear Motion | 3.79

108 mph under its own weight. After leaving the chute 1 at point D,
the ball hits the wall as depicted in the figure.

Wall
1000 m
1m A
Ball
V sin 60
1.5 m
B 60°
B D V cos 60
(a) The distance from the target where the bomb must be
2.5 m
released in order to hit the target is 1.5 m
(A) 428.35 m (B) 450.54 m C
(C) 580.2 m (D) 800 m
(b) The velocity, with which the bomb hits the target is
(a) The time interval of the ball’s travel from the point D to
(A) 143 m/s (B) 148 m/s the point of hit is
(A) 0.88 s (B) 0.92 s
(C) 150 m/s (D) 161.2 m/s
(C) 0.733 s (D) 0.898 s
Solution: (b) The distance on the wall above the point D to the point
(a) Let B be the point of target and A be the position of the of hit is
aeroplane and the bomb is released from A to hit at B. (A) 0.21 m (B) 0.158 m
The horizontal component of the bomb velocity, which (C) 0.32 m (D) 0.168 m
is uniform, is
Solution:
108 × 1000 (a) The ball starts from point A. The vertical distance from
v = 108 km/h = = 30 m/sec. A to C is equal to 3 m. Considering the motion of ball
60 × 60
from A to C,
Considering the vertical component of bomb velocity,
V 2 = 2as
At A, u = 0, g = 9.81m/sec 2 Since initial velocity is zero, a = g
1 2 = 9.81 m/sec 2
S= gt
2
or vC 2 = 2 × 9.81 × 3
Let t be the time required to hit B, then

1 vC = 7.67 m/s,
1000 = × 9.81 × t 2
2 This is the velocity of the ball at C.
The motion of the ball from C to D
2000
t2 = = 203.87 vD 2 = vC 2 - 2as 7.672 = 2 × 9.81 × 1.5
9.81
t = 14.278 sec = 58.82 - 29.43 = 29.39
vD = 5.42 m/s
Horizontal distance covered by the bomb S = Vt = 30
× 14.278 = 428.35 m i.e., the bomb is released from plane On reaching the point D, the horizontal component of the
when the horizontal distance is 428.35 from B velocity of the ball
(b) Vertical component velocity at B = u + gt = 0 + 9.81 ×
1
14.278 = 140.06 m/sec = v cos 60° = 5.42 × = 2.71 m/s
2
Resultant velocity at B = 30 2 + 140.06 2 Let t be the time taken by the ball to hit the wall from
point D. Then,
= 20518.8 = 143 m/sec

Example 5: A ball weighing 10 N starts from the position 2.5

t= = 0.922 sec.
A as shown in figure and slides down a frictionless chute 2.71
3.80 | Part III • Unit 1 • Engineering Mechanics

(b) 
Finally considering the vertical motion of the ball Let D be the point reached by the bullet, 12 seconds after
beyond the point D it is fired. Time taken by the bullet to reach point B from A
1 (point at which it is fired from) = 10.6 sec.
s = ut - gt 2
2 ∴ Time taken by the bullet to travel from point B to point
m D = 12 – 10.6 = 1.4 sec.
Here u = vD = 5.42
s Horizontal velocity at B, vH = 120 cos 60°
1 = 120 × 0.5 = 60 m/s
= 5.42 × 0.922 - × 9.81(0.922) 2
2
The vertical velocity after 1.4 sec of travel from point B,
= 4.327 - 4.169 = 0.158 m.
Hence the ball will hit the wall 0.158 m above the point 1
D after 0.922 sec vv = 0 + × 9.81 × 1.4 2 = 9.62 m/s
2
Example 6: From the top of a tower 60 m high, a bullet is Velocity at point D
fired at an angle of 60° with the horizontal, with an initial
velocity of 120 m/s as shown in figure. Neglect air resistance. v = vH 2 + vv 2 = 60 2 + 9.622 = 60.8 m/s
(a) The maximum height from the ground that would be
attained by the bullet, is
(A) 528 m
(C) 680 m
(B) 611 m
(D) 720 m
Kinematics of Rotation
When a moving body follows a circular path it is known as
(b) The velocity of bullet, 12 seconds after it is fired, is circular motion. In circular motion the centre of rotation is
(A) 55 m/s (B) 58 m/s stationary.
(C) 61 m/s (D) 80 m/s
Angular Displacement and Angular
D
Velocity
120 m/sec
B q Angular displacement is defined as the change in angular
h
A 60 v position (usually referred to as the angle θ), with respect
to time.
Angular velocity is defined as the rate of change of angu-
lar displacement with respect to time. Let a body, moving
60 m along a circular path, be initially at P and after time t sec-
Tower
onds be at Q.
Let ∠POQ = θ
C Then angular displacement = ∠POQ = θ

Q
Solution:
(a) Height
q
u 2 sin 2 a P
O r
h=

2g

3 3 Time taken = t
120 × 120 × ×
120 × 120 × (sin 60) 2 2 2
= = Angular displacement q
2 × 9.81 2 × 9.81 Angular velocity = =
Time t
10800
= = 551 m
2 × 9.81 dq
Mathematically, it is expressed as .
dt
Maximum height above ground = 551 + 60 = 611 m.
It is denoted by the symbol w
(b) Time of travel upto highest point B is given by,
dq
u sin a 120 × sin 60 w=
t= = = 10.6 sec. dt
g 9.81
It is measured in radian/sec or rad/sec
 Chapter 5 • Curvilinear Motion | 3.81

Relation between Linear Velocity t = time (in seconds) during which angular velocity
and Angular Velocity changes from w0 to w,
v = linear speed in m/s,
Let v = linear velocity = Linear displacement The rotational speed is N revolutions per minute or N
Time
r.p.m.
But linear displacement = Arc PQ = OP × q = rq
r×q Example 7: A wheel rotates for 5 seconds with a constant
v= = r × Angular velocity acceleration and describes during the time 100 radians. It
t
then rotates with a constant angular velocity and during the
⎛ q ⎞ next 5 seconds, it describes 70 radians. The initial angular
⎜⎝∵ = angular velocity⎟⎠ velocity and angular acceleration respectively are,
t
(A) 15 rad/s, 2.5 rad/s2 (B) 13 rad/s, 2 rad/s2
v = r×w (C) 15 rad/s, -2 rad/s2 (D) 26 rad/s, -2.4 rad/s2
Where w = angular velocity
Solution:
Angular velocity
Angular Acceleration
It is defined as the rate of change of angular velocity. It is q 70
w= = = 14 rad/s
measured in radians per sec2 and written as rad/sec2 and is t 5
denoted by the symbol a . a is constant angular acceleration and w0 be initial angular
a = Rate of change of angular velocity velocity.
d w d ⎛ dq⎞ ⎛ dq⎞ d 2q 1
a= = ⎜ ⎟ ⎜∵ w = ⎟= . q = w0 t + at 2
dt dt ⎝ dt ⎠ ⎝ dt ⎠ dt 2 2
1
dw dw dq dw dw 100 = ( w0 5) + a × 52
Also = × = ×w= w 2
dt d q dt d q dq 5w0 + 12.5a = 100 (1)
It has two components: w = w0 + a t
V2 14 = w0 + 5a(2)
Normal component = = w2 r and tangential compo-
r Solving equations (1) and (2) w0 = 26 rad/sec
dV dw a = -2.4 rad/sec2   (Retardation)
nent = =r = ra
dt dt Example 8: A wheel rotating about a fixed axis at 20 r.p.m.
If a is the linear acceleration, then is uniformly accelerated for 80 seconds during which time it
makes 60 revolutions.
a = ra
(a) The angular velocity at the end of the time interval is
(A) 7.294 rad/s (B) 8.384 rad/s
Equations of Motion Along a Circular Path (C) 6.812 rad/s (D) 7.829 rad/s
w - w0 (b) The time required for the speed to reach 100 r.p.m.
a= (A) 3.65 min (B) 2.14 min
t
(C) 1.85 min (D) 2.58 min
1 Solution:
q = w0 t + at 2
2 (a)
w - w0 = 2 aq
2 2
1
q = w0 t + at 2
2
If N is the r.p.m.
w0 = initial angular velocity
2p N
w= radians/sec 2 p × 20
60 w0 = = 2.094
60
2p N p DN
v = rw = ×r = m/s 1
60 60 2 p × 60 = ( 2.094 × 80) +
a(80) 2
2
Where, 2p × 60 = 167.52 + 3200a
w0 = initial angular velocity in cycles/sec, 2 p 60 - 167.52
w = final angular velocity in cycles/sec, a= = 0.065 rad/sec 2
3200
3.82 | Part III • Unit 1 • Engineering Mechanics

Let w be the angular velocity at the end of 80 seconds Final angular momentum = Iw
in rad/sec. Then w = w0 + a t w = 2.094 + (0.065 × 80) Change of angular momentum = I (w – w0)
= 7.294 rad/sec. Rate of change of angular momentum
(b) change of angular momentum
=
2p × N Time
7.294 =
60 ( w - w0 ) w - w0
⎡ ⎤
N = 69.65 r.p.m =I = I a ⎢∵ a = = angular acceleration ⎥
t ⎣ t ⎦
w1 = w0 + a t1
From second law of motion of rotation,
Where 2 p × 100
w1 = rad/sec Torque a rate of change of angular momentum
60
T = Ia
= 10.466 rad/sec
T = KIa,
10.466 = 2.094 + 0.065 × t1
8.372 where K is a constant of proportionality. SI unit of torque
t1 = = 128.8 sec = 2.14 min . is Nm.
0.065
Angular momentum or moment of momentum: Moment
of momentum of the body about O = Iw,
Curvilinear and Rotary Motion Where the rigid body undergoes rotation about O.
Kinetics of Curvilinear and Rotary Motion Angular momentum is the moment of linear momentum
For a particle or a body moving in a curved path with particu- Rotational kinetic energy: Rotational kinetic energy
lar emphasis to the circular path comes under this section. 1
= I w2
In order to maintain the circular motion, an inward radial 2
force called ‘centripetal force’ is acted upon the body, which Angular impulse or impulsive torque: Angular impulse or
is equal and opposite to the centrifugal force that is directed impulsive torque = I dw
away from the centre of curvature. If r is the radius of the Work done in rotation: Work done in rotation = T × q
circular path, v is the linear velocity, w is the angular veloc- Kinetic energy in combined motion: Kinetic energy due
ity and t is the time, then 1
dw to translatory motion = mv 2
Angular acceleration = 2
dt
1 2
dw Kinetic energy due to rotation = Iw
Tangential acceleration = r , 2
dt
1 2 1 2
v2 Kinetic energy due to combined motion = mv + I w .
Normal acceleration = = w2 r , 2 2
r
W v2 W 2
Centripetal or centrifugal force = × = w r.
g r g Conservation of Angular Momentum
The law of conservation of angular momentum states that
the angular momentum of a body or a system will remain
Laws for Rotary Motion
unaltered if the external torque acting on it is zero.
First Law
It states that a body continues in its state of rest or of rotation
about an axis with constant or uniform angular velocity unless D’alemberts’ Principle for Rotary Motion
it is compelled by an external torque to change that state. D’Alemberts’ principle for rotary motion states that the sum
of the external torques (also termed as active torques) acting
Second Law on a system, due to external forces and the reversed active
It states that the rate of change of angular momentum of a torques including the inertia torques (taken in the opposite
rotating body is proportional to the external torque applied direction of the angular momentum) is zero.
on the body and takes place in the direction of the torque. Suppose a disc of moment of inertia I rotates at an angu-
lar acceleration a under the influence of a torque T, acting
I = Mk2
in the clockwise direction. Inertia torque = Ia (acting in the
where M = mass of the body and k = radius of gyration anti-clockwise direction)
= moment of inertia × initial angular velocity From D’Alemberts’ principle, T - Ia = 0, the dynamic
Initial angular momentum = Iw0 equation of equilibrium for a rotating system.
 Chapter 5 • Curvilinear Motion | 3.83

Rotation caused by a weight W attached to one end of a Torque due to inertia force on
string passing over a pulley of weight W0 50
From D’Alemberts’ principle, it can be shown that, 50 N = × a × 14 2 = 9.99 aNcm
981
gW Let T be the torque applied to the shaft for dynamic
a= , when the pulley is considered as a disc. equilibrium ΣT = 0
⎛ W0 ⎞
⎜⎝ W + ⎟
2 ⎠ T + 700 = 8400 + 32.62a + 359.63a + 9.99a
T = 8400 + 312.33 = 9136 Ncm,
Rotation caused due to two weights W1 and W2 attached 150
to the two ends of a string which passes over a rough pulley Since a = = 3.57 rad/s 2.
42
of weight W0
(b) Let F1 and F2 be the tensions in the strings. Applying
D’Almberts’ principle for linear motion, we get
g (W1 - W2 )
a= 200
⎛ W0 ⎞ F1 - 200 - × 1.5 = 0
⎜⎝W1 + W2 + ⎟ 9.8
2 ⎠ 50
F2 + 50 - F2 = × 1.5
9.8
Example 9: In a pulley system shown in figure the pulley 200
weighs 20 N and its radius of gyration is 40 cm. A 200 F1 = 200 + × 1.5 = 200 + 22.96
9.8
N weight is attached to the end of a string and a 50 N
is attached to the end of the other string as shown in the = 180.6 N
figure. 50 × 9.8 - 50 × 1.5
F2 = = 42.34 N
9.8

42 cm Simple Harmonic Motion

14 cm
and Free Vibrations
Simple harmonic motion: It is defined as the type of
50 N motion in which the acceleration of the body in its path of
200 N motion, varies directly as its displacement from the equi-
(a) The torque to be applied to the shaft to raise the 200 N librium position and is directed towards the equilibrium
weight at an acceleration of 1.5 m/s2 is point.
(A) 6812 Ncm (B) 9136 Ncm
(C) 700 Ncm (D) 7832 Ncm. Oscillation, Amplitude,
(b) The tensions in the strings are respectively
Frequency and Period
(A) 170.4 N, 35.6 N (B) 180 N, 40 N Y
P
(C) 190.2 N 35 N (D) 180.6 N, 42.34 N
w
y
Solution:
W 2 M
(a) Moment of inertia of the pulley I = k X1 O X
g x

20
I= × ( 40) 2 Ncm 2 = 32.62 Ncm 2 Y′
981
T1 = Torque produced by 200 N In the above figure, when a particle P is describing a circu-
= 200 × 42 = 8400 Ncm lar path, M being the projection of P, it describes a simple
T2 = Torque developed by 50 N = 50 × 14 = 700 Ncm harmonic motion.
Inertia torque due to angular rotation of the pulley with The motion of M from X to X′ and back to X is called an
angular acceleration a = Ia = 32.62a Ncm. oscillation or simple harmonic motion.
Torque due to inertia force on OX = OX′ is the amplitude.
200 200 This amplitude is the distance between the centre of sim-
200 N = ( ma)r = r ar = × a × ( 42) 2 ple harmonic motion and the point where the velocity is zero.
981 981 The period of one complete oscillation is the period of
= 359.63a Ncm simple harmonic motion.
3.84 | Part III • Unit 1 • Engineering Mechanics

Thus the period of simple harmonic motion is the time in Oscillations of a Simple Pendulum
which M describes 2p radians at w radians/sec.
1 l
2p Period of oscillation T = = 2p (for 2 beats)
T= , where T is the time period in seconds. f g
w
l = length of pendulum. Half of an oscillation is called a
Velocity and Acceleration beat or swing. A pendulum executing one half oscillation
per second is called seconds pendulum. Time of one beat or
The simple harmonic displacement
X = r sin w t l T l
swing = p = . For n number of beats, time = np .
g 2 g
v = w r2 - x2
KG 2 + h2
d2x For a compound pendulum T = 2 p
Acceleration = = - w2 r sin wt gh
dt 2 Where h is the distance between the point of suspension
a = -w2x and centre of gravity. Where kG = radius of gyration about
1 a O, the centre of suspension. A compound pendulum is a
Frequency = rigid body free to oscillate about a smooth horizontal axis
2p x
passing through it.
A simple pendulum whose period of oscillation is the
Frequency of Vibration of a Spring same as that of a compound pendulum is called as a simple
Mass System kG 2
equivalent pendulum 1 = +h.
Consider a helical spring subjected to a load W. The static h
equilibrium position is 0-0. Let S be the stiffness of the
Example 10: A body performing simple harmonic motion
spring which is defined as force required to cause one unit
has a velocity 12 m/s when the displacement is 50 mm and
extension. If the weight is displaced and stretched to posi-
3 m/s when the displacement is 200 mm, the displacement
tion 1-1′ by an amount ‘y’, as shown in the below figure,
being measured from the mean position.
then the acceleration with which the load springs back,
(a) Calculate the frequency of the motion.
w (A) 35 cycles/sec (B) 40.5 cycles/sec
a = - sy (C) 31.8 cycles/sec (D) 35.5 cycles/sec
g
(b) What is the acceleration when the displacement is 75 mm.
s× g
∴ a= ⋅y (A) 15 m/s2 (B) 16.5 m/s2
-W (C) 13.8 m/s 2 (D) 15.6 m/s2
This is of the form a = - wn 2 y Solution:
(a) In simple harmonic motion
sg g
Where wn 2 = = , V2 = w2(r2 - x2)
w d V = velocity, r = amplitude
w x = distance from mid positions
d being x1 = 50 mm, x2 200 mm
s
V1 = 12 m/s V2 = 3 m/s
wn 1 g ⎡ ⎛ 50 ⎞ ⎤
2
Frequency f = = . 122 = w2 ⎢ r 2 - ⎜ ⎥
2p 2p d ⎟
⎝ 1000 ⎠ ⎥
⎢⎣ ⎦
⎡ ⎛ 200 ⎞ ⎤
2
32 = w2 ⎢r - ⎜
2
⎥ (1)
⎢⎣ ⎝ 1000 ⎟⎠ ⎥
⎦
2 2 1
w r2 -
144 400
Dividing we get =
9 4
r -
2
0 0 100
w
1
y r2 -
16 = 400
4
1
w
1 r -
2
100
 Chapter 5 • Curvilinear Motion | 3.85

16 × 4 1 ⎛ 9 75 ⎞
16 r 2 - = r2 - a = w2 x = ⎜ × = 15 m/s 2 .
100 400 ⎝ 0.045 1000 ⎟⎠
16 × 2 1
15r 2 = - Example 11: The amount of seconds a clock would loose
50 400
per day, if the length were increased in the ratio 800 : 801 is
2 × 64 × 4 1 511 (A) 48 s (B) 54 s
15r 2 = - =
400 400 400 (C) 50 s (D) 60 s
511 Solution:
r2 = = 0.085 Given I = 800 units
400 × 15
I + dI = 801 units
r = 0.29, m = 290 mm. dI = 1 unit
Putting the value of r2 in equation (1), we get dl I
We get, =
9 = w2 [0.085 - 0.04] I 800

9 dn - dI I
Or, w2 = = =
0.045 n 2I 1600
We get, w = 200 rad/s
n 86400
w 200 dn = - =- = -54
So, f = = = 31.83 cycles/sec. 1600 1600
2p 2p
(b) If a be the acceleration when displacement x = 75 mm Where n = 86400, as a seconds pendulum will beat 86400
times/day. The clock will loose 54 seconds a day.)

Exercises
Practice Problems 1 surface is subjected to a sudden application of a force of 300
Direction for questions 1 to 10: Select the correct alterna- N at a point of its periphery.
tive from the given choices.
5. The angular acceleration is
Direction for questions 1 to 3: A force of 2t Newton, where (A) 0.75 rad/s2 (B) 1.5 rad/s2
t in seconds, acts on a mass of 100 kg initially at rest, for a (C) 2 rad/s2 (D) 2.5 rad/s2
period of 20 seconds.
6. The acceleration of mass centre is
1. The impulse on the mass is
(A) 1 m/s2 (B) 1.5 m/s2
(A) 400 Ns (B) 300 Ns 2
(C) 350 Ns (D) 500 Ns (C) 2 m/s (D) 3 m/s2
7. A particle traveling in a curved path of radius of curva-
2. The velocity of the mass is
ture 500 m with a speed of 108 km/h and a tangential
(A) 1 m/s (B) 2 m/s acceleration of 4 m/s2. The total acceleration of the par-
(C) 3 m/s (D) 2.5 m/s ticle is
3. The average force, which would have resulted in the (A) 4.38 m/s2 (B) 5 m/s2
(C) 3.5 m/s 2 (D) 8 m/s2
same velocity, is
(A) 15 N (B) 30 N
(C) 20 N (D) 10 N Direction for questions 8 and 9: A solid cylinder 80 cm in
diameter is released from the top of an inclined plane 2.0 m
4. A car of mass 1500 kg descends a hill of 1 in 5 high surface and rolls down the inclined surface without any
incline. The average braking force required to bring loss of energy due to friction.
the car to rest from a speed of 80 km per hour in a
distance of 50 m is (take the frictional resistance as 8. The energy equation for the system is
300 N) 1 2 1 2
(A) 10 N (B) 15 N (A) mgh = mv (B) mgh = mv
(C) 8 N (D) 12 N 2 3

Direction for questions 5 and 6: A thin circular ring 3 2

(C) mgh = mv 2 (D) mgh = mv 2
of mass 200 kg and radius 2 m resting flat on a smooth 4 3
3.86 | Part III • Unit 1 • Engineering Mechanics

9. The linear and angular speeds, at the bottom respec- pulley and supports a 4 kg mass. The angular accelera-
tively are
tion of the pulley ( g = 10 m/s 2 ) is
(A) 6.1 m/s and 12.75 rad/s
(B) 5.5 m/s and 34 rad/s
(C) 5.1 m/s and 12.75 rad/s 1 1
(A) rad/ s 2 (B) rad/ s 2
(D) 6.1 m/s and 34 rad/se 4 2

1
10. A disc shaped frictionless pulley I = MR 2 has a mass 3
2 (C) 1 rad/ s 2 (D) rad/ s 2
4
of 80 kg and radius of 2 m. A rope is wound round the

Practice Problems 2 (C) Ratio of the velocity vectors before and after collision
Direction for questions 1 to 10: Select the correct alterna- (D) Negative of the ratio of the energies of the bodies
tive from the given choices. before and after the impact
1. A bullet is projected so as to graze the top of two walls 5. A cylinder of radius of r and mass m rest on a rough
each of height 20 m located at distances of 30 m and horizontal rug. If the rug is pulled from under it with an
180 m in the same line from the point of projection as acceleration, a perpendicular to the axis of the cylinder,
shown in figure. The angle and speed of projection of the angular acceleration of the centre of mass of the
the bullet, respectively, are cylinder, assuming that it does not slip, is
2A 1A
(A) (B)
3r 3r
P1 P2
V0 3A 2
(C) (D) A
4 r 3
20 m 20 m Direction for questions 6 to 8: A soldier positioned on a hill
a
O fires a bullet at an angle of 30° upwards from the horizontal
108 m as shown in the figure. The target lies 60 m below him and
30 m
the bullet is fired with a velocity of 200 m/s.

200 m/s
(A) 34.1° and 44 m/s
30°
(B) 38.2° and 48 m/s
(C) 35.29° and 49.5 m/s
60 m
(D) 37.87° and 46.1 m/s
2. For a given value of initial velocity for a projectile, the
maximum range, on an inclined plane inclined to the
6. The maximum height, to which the bullet will rise
horizontal at an angle of b (in degrees), can be obtained
above the position of the soldier, is
if the angle of projection is
(A) 615 m (B) 490 m
(A) 45° (B) 90° – 0.5b
(C) 45° + 0.5b (D) 45° – 0.5b (C) 509.7 m (D) 710.6 m
3. A shell bursts on contact with the ground and the pieces 7. The velocity with which the bullet will hit the target is
of it fly off in all directions with speeds up to 40 m/s. A (A) 202.9 m/s (B) 245.3 m/s
person, standing 40 m away from the point of burst, can (C) 312.7 m/s (D) 343.6 m/s
be hit by a piece in a time duration of 8. The time required to hit the target is
(A) 1.5 sec (B) 1 sec (A) 21.7 sec (B) 20.97 sec
(C) 2 sec (D) 3 sec (C) 15.6 sec (D) 23 sec
4. The coefficient of restitution is defined as the 9. A carpet of mass m made of an inextensible material is
(A) Negative of the ratio of the velocity of separation rolled along its length in the form of a cylinder of radius
to the velocity of approach R and is kept on a rough horizontal floor. When a small
(B) Ratio of the velocity components in the line of impact push, of negligible force, is given to the carpet, it starts
 Chapter 5 • Curvilinear Motion | 3.87

unrolling without sliding on the floor. The horizontal ground level and the top of the track is 8.3 m above
velocity of the axis of the cylindrical part of the carpet the ground. The distance on the ground, with respect
63 to the point B (which is vertically below the end of the
is gR when the radius of the carpet reduces to track), where the sphere would land is
3
A
3R R
(A) (B)
4 4
R R
(C) (D) 8.3 m C
2 5
2m
10. A small sphere rolls down without slipping from the
top most point of a track, with an elevated section and a D B
horizontal part, as shown in the following figure, in (A) 6 m (B) 10 m
a vertical plane. The horizontal part is 2 m above the (C) 3 m (D) 2 m

Previous Years’ Questions

1. A circular disk of radius R rolls without slipping at a
velocity v. The magnitude of the velocity at point P
(see figure) is  [2008] M
R

P H

R 30° V

(A) gH (B) 2gR

(C) 2gH (D) 0
v
(A) 3v (B) 3
2 5. A mass of 2000 kg is currently being lowered at a
v 2v velocity of 2 m/s from the drum as shown in the fig-
(C) (D) ure. The mass moment of inertia of the drum is 150
2 3
kg-m2. On applying the brake, the mass is brought to
2. An annular disc has a mass m, inner radius R and rest in a distance of 0.5 m. The energy absorbed by the
outer radius 2R. The disc rolls on a flat surface with- brake (in kJ) is _______. [2016]
out slipping. If the velocity of the centre of mass is v,
the kinetic energy of the disc is [2014]
9 11 2 2m
(A) mv 2 (B) mv
16 16
13 2 15 2
(C) mv (D) mv
16 16
3. Consider a steel (Young’s modulus E = 200 GPa) 2 m/s
column hinged on both sides. Its height is 1.0 m and
cross-section is 10 mm × 20 mm. The lowest Euler
2000 kg
critical buckling load (in N) is ______. [2015]
4. A point mass M is released from rest and slides down 6. A circular disc of radius 100 mm and mass 1 kg,
a spherical bowl (of radius R) from a height H as initially at rest at position A, rolls without slipping
shown in the figure below. The surface of the bowl is down a curved path as shown in figure. The speed v
smooth (no friction). The velocity of the mass at the of the disc when it reaches position B is _______ m/s.
bottom of the bowl is: [2016]  [2016]
Acceleration due to gravity g = 10 m/s2.
3.88 | Part III • Unit 1 • Engineering Mechanics

V2
A
B

V1
30 meters

∧
y, j
θ = 45º

B A
v
∧
x, i

The magnitude of the velocity V2 (in m/s) at the end B is

7. A rigid rod (AB) of length L = 2 m is undergoing
______. [2016]
translational as well as rotational motion in the x-y
plane (see the figure). The point A has the velocity
V1 = iˆ + 2 ˆj m/s. The end B is constrained to move
only along the x direction.

Answer Keys
Exercises
Practice Problems 1
1. A 2. B 3. C 4. A 5. A 6. B 7. A 8. C 9. C 10. A

Practice Problems 2
1. D 2. C 3. B 4. A 5. A 6. C 7. A 8. B 9. B 10. A

Previous Years’ Questions

1. A 2. C 3. 3285 to 3295 4. C 5. 14.1 to 14.3 6. 20 7. 3
 Test

Engineering Mechanics Time: 60 Minutes

Direction for questions 1 to 30: Select the correct alterna- 9. Moment of Inertia of a square of side ‘a’ about an axis
tive from the given choices. passing through its C. G is equal to
1. Two equal and opposite co-planar couples a3 a4
(A) Balance each other. (A) (B)
12 12
(B) Produce a couple and unbalanced force.
(C) Cannot balance each other. a3 a4
(C) (D)
(D) Give rise to a couple of double the magnitude. 36 36
2. In a perfect frame, the number of members are 10. According to the law of the machine, the relation
(A) 2j – 3 (B) 2j + 3 between effort ‘P’ and load W is given by
(C) 2j – 2 (D) 2j – 1 (A) W = mP + C (B) W = mP - C
Where j = number of joints. (C) P = mW + C (D) P = mW - C

3. The state of equilibrium of a body implies that the body 11. Weight of 150 kN is being supported by a tripod whose
must (with respect to some inertial frame) be: leg is of the length of 13 m. If the vertical height of the
(A) At rest or with uniform acceleration. point of attachment of the load is 12, the force on the
(B) Uniform velocity or uniform acceleration. tripod leg would be
(C) At rest or with uniform velocity. (A) 48.24 N (B) 54.16 N
(D) At rest or with uniform velocity or uniform accel- (C) 50.8 N (D) 45.3 N
eration. 12. The resultant of two forces 4P and 3P is R. If the first
4. The distance of the centroid of a semicircle of radius ‘r’ force is doubled the resultant is also doubled. The angle
from its base is between the two forces is
(A) 48.25° (B) 95.73°
4r 3p (C) 32.5° (D) 45.53°
(A) (B)
3p 4r
13. In the truss shown the force in the member BC is
4p 2p
(C) (D)
3r 3r P P
B C
5. A machine requires an effort of 10 Kg to lift a load of
200 Kg an effort of 12 Kg for a load of 300 Kg. The
effort required to lift a load of 500 Kg will be 60° 60°
A D
(A) 16 Kg (B) 15 Kg
(C) 14 Kg (D) 17 Kg
(A) 0 (B) 0.577 P(T)
6. The moment of a force (C) 0.577 P (comp) (D) 0.866 P (comp)
(A) Ocures about a point
(B) Measures the capacity to do useful work. Direction for questions 14 and 15: A body is weighing
(C) Occurs only when bodies are in motion 500 N is just moved along a horizontal plane by a pull of
(D) Measures the abilities to turning or twisting about 100 2 N making 45° with horizontal.
axes.
14. Find the value of normal reaction R
7. The required condition of equilibrium of a body is that (A) 300 N (B) 400 N
(A) The algebraic sum of horizontal components of all (C) 200 N (D) 500 N
the forces must be zero.
(B) The algebraic sum of the vertical components of 15. Find the coefficient of friction
all the forces must be zero. (A) 0.32 (B) 0.33
(C) The algebraic sum of moments about a point must (C) 0.25 (D) 0.28
be zero.
Direction for question 16, 17, 18: For the mass-pulley
(D) All the above.
system shown, the mass m2 = 5 Kg is placed on a smooth
8. The unit of the moment of Inertia of an area is inclined plane of inclination θ where as mass m1 = 5 Kg is
(A) Kg-m (B) Kg-m2 a hanging force. If acceleration of the system is 1.5 m/s2.
(C) Kg-m 4 (D) m4
3.90 | Part III • Unit 1 • Engineering Mechanics

T a = 1.5 m/s2 23. The reaction at the hinge when a rigid rod of mass ‘m’
M2-5 Kg and length ‘L’ is subjected to a force ‘P’ as shown

O
M1 5 Kg
q
2L
16. The inclination of the plane will be 3
L
(A) 41.52° (B) 35.50°
(C) 52.15° (D) 43.96° P

17. The tension in the string will be

(A) 41.55 N (B) 35.15 N
(C) 21.5 N (D) 25.28 N (A) –P (B) 0
18. How the acceleration of the system would be affected P 2P
(C) (D)
of each mass is doubted 3 3
(A) 3 m/s2 (B) 2 m/s2
(C) 1.5 m2 (D) 2.5 m/s2 24. In the figure shown tension in the member QR is
19. A block is sliding down an incline of 30° with an accel- F
g P
eration . Then the kinetic coefficient of friction is
4
105°
3 1 Q
45° 30°
R
(A) (B)
2 3
1 1
(C) (D)
2 2 3 (A) 0.732 F (B) 0.63 F
(C) 0.433 F (D) 0.75 F
Direction for question for 20 and 21: A 600 N weight is
25. Force in member QR
suspended by flexible cables as shown in figure
(A) 0.633 F (B) 0.75 F
A 30° 60° B (C) 0.732 F (D) 0.433 F
90°
26. A force of 600 N is applied to the brake drum of 0.6 m
C diameter in a band brake. System as shown in below
W = 600 N figure, where the wrapping angle is 180°c. If the coef-
ficient of friction between the drum and band is 0.25,
20. The tension in the wire BC will be the breaking lorque applied, in Nm is
(A) 519.6 (B) 613.4
(C) 318 (D) 435.5 600 N
21. The tension in the wire AC will be
(A) 256 (B) 300
(C) 311 (D) 288
22. The smallest angle θ for equilibrium of the homoge-
nous ladder of length l is, when coefficient of friction
for all surfaces is assumed as m: (A) 97.8 N (B) 16 N
⎛ 1 - m2 ⎞ (C) 22.1 N (D) 15.7 N
(A) tan -1 ⎜
⎝ 2 m ⎟⎠ 27. A circular roller of weight 200 N and radius of 0.8 m
m2 hangs by a tie rod of length 2 m and rests on a smooth
(B) tan -1
2 vertical wall as shown in figure. The tension ‘T’ in the
⎛ 2m ⎞ tie rod will be
(C) tan -1 ⎜
⎝ 1 - m ⎟⎠
(A) 219.78
(B) 239.2
⎛ m 2 - 1⎞ (C) 310.30
(D) tan -1 ⎜
⎝ 2 ⎟⎠ (D) 250.5
 Test | 3.91

28. A mass of 50 kg is suspended from a weight less bar (C) Rx = 1080 N; Ry = 0

‘AB’ which is supported by a cable BC and pinned at (D) Rx = 755. N, Ry = 0
‘A’ as shown in figure. The Pin reactions at ‘A’ on the
bar AB are Direction for questions 28 and 29: All the forces acting on a
particle are situated at the origin of the two dimensional refer-
C
ence frame. One force has a magnitude of 10 N acting in the
positive ‘X’ direction, whereas the other has a magnitude of
T
125 mm 5 N acting at an angle of 120° directed away from the origin
29. The value of the resultant force will be.
(A) 5.88 N (B) 7.2 N
A B (C) 7.98 N (D) 8.66 N
75 mm 30. The value of a made by resultant with the horizontal
50 kg
force will be
(A) Rx = 343.4 N, Ry = 755.4 N (A) 43° (B) 30°
(B) Rx = 343.4 N, Ry = 0 (C) 78° (D) 80°

Answer Keys
1. D 2. A 3. C 4. A 5. A 6. A 7. D 8. D 9. B 10. C
11. B 12. B 13. C 14. B 15. C 16. D 17. A 18. C 19. D 20. A
21. B 22. A 23. C 24. A 25. A 26. A 27. A 28. C 29. D 30. B