ME101: Engineering Mechanics, 2023-24

IIT Guwahati
Tutorial – 11 (Solution)

Problem1:
A 10-kg wooden plate is suspended from a pin support at A
and is initially at rest. One 5kg metal sphere is released from
rest at B and falls into a hemispherical cup C attached to the
plate at the same level as the mass center G. Assuming that
the impact is perfectly plastic, determine (a) the angular
velocity of the plate and (b) the velocity of the mass center
G of the plate immediately after the impact. You can
consider dimensions L1, L2 and L3 as 0.8m, 1.6m, and 0.5m
respectively. [10 Marks]
Solutions:
We have different dimensions as L1 = 0.8 m, L2 = 1.6 m, and
L3 = 0.5 m

Mass of the plate, 𝑚𝑝 = 10 kg; mass of the sphere, 𝑚𝑠 = Figure 1: Problem1

5 kg.
Mass moment of inertia of the square plate about the centroidal out-of-plane axis,
1 1
𝐼 ̅ = 6 𝑚𝑝 𝐿22 = 6 (10)(1.6)2 = 4.2667 kg-m2

Figure 2

Velocity of sphere at location C just before the impact (state 1),

(𝑣𝑐 )1 = √2𝑔𝑦 = √2(9.81)(1.6) = 5.6028 m/s

1
Impact analysis: as the impact is plastic, after the impact the metal sphere will not bounce,
it will stick to C.

Distance, AC = √0.52 + 0.82 = 0.9433 m

Let, after the impact (state 2) the plate will have clockwise angular velocity as 𝜔2 .
Then, (𝑣𝑐 )2 = 0.9433 ω2 (Direction will be perpendicular to AC as shown in Fig. 2).
Velocity of centroid of the plate, ̅̅̅
𝑣2 = 0.8ω2
At state 1, initial angular momentum is contributed only by the sphere as the plate is static
initially.
At state 1, total initial angular momentum with respect to point A (CW positive),
(𝐻𝐴 )1 = (𝐻𝐴 )1 Plate + (𝐻𝐴 )1 Sphere = (𝐻𝐴 )1 Sphere = 𝑚𝑠 (𝑣C )1 (0.5 m) = 14.007 kgm2 s

[3 Marks]
At state 2, final angular momentum of the plate with respect to the mass center,
̅ 2 = 4.2667𝜔2
(𝐻𝐺 )2 Plate = 𝐼 𝜔

Now, (𝐻𝐴 )2 Plate = (𝐻𝐺 )2 Plate + 0.8𝑚𝑝 ̅̅̅

𝑣2 = 4.2667𝜔2 + 6.4𝜔2 = 10.6667𝜔2
Also, for the sphere, angular momentum at state 2 (CW),
(𝐻𝐴 )2 Sphere = 0.9433 𝑚𝑠 (𝑣C )2 = 4.4491𝜔2 kgm2 s

At state 2, total angular momentum with respect to point A (CW positive),

(𝐻𝐴 )2 = (𝐻𝐴 )2 Plate + (𝐻𝐴 )2 Sphere = 10.6667𝜔2 + 4.4491𝜔2 = 15.1158𝜔2 [3 Marks]

The only external forces acting are reaction forces at A. So, Total angular impulse with
respect to A from state 1 to state 2, ∑ 𝑀𝐴1→2 = 0. [1 Marks]
Now, we can write the angular impulse momentum principle as,

(𝐻𝐴 )1 + ∑ 𝑀𝐴1→2 = (𝐻𝐴 )2

Or, 14.007 + 0 = 15.1158𝜔2

Or, 𝜔2 = 0.9266 rad/s
Therefore, angular velocity of the plate is 0.9266 rad/s (CW) [2 Marks]
velocity of the mass center
𝑣2 = 0.8ω2 = 0.7413 m/s (towards left).
̅̅̅ [1 Marks]

2
Problem 2:
Figure 3 shows the Saturn V mobile launch platform A together with the umbilical tower B,
unfueled rocket C, and crawler-transporter D which carries the system to the launch site. The
approximate dimensions of the structure and locations of the mass centers G are given. The
approximate masses are 𝑚𝐴 = 5 Gg, 𝑚𝐵 = 7 Gg, 𝑚𝐶 = 0.5 Gg, and 𝑚𝐷 = 3 Gg. The minimum
stopping distance from the top speed of 3 km/h is 0.15 m. Compute the vertical component of
the reaction under the front crawler unit F during the period of maximum deceleration.
Considering ℎ2 = 80 m, ℎ3 = 50 m, 𝐿1 = 𝐿2 = 15 m. [10 Marks]

Figure 3: Problem2

Solution:
Given, ℎ2 = 80 m, ℎ3 = 50 m, 𝐿1 = 𝐿2 = 15 m,
𝑚𝐴 = 5 Gg, 𝑚𝐵 = 7 Gg, 𝑚𝐶 = 0.5 Gg, and 𝑚𝐷 = 3 Gg.
Let resultant mass center is at O and E is the origin of coordinate
(9×5)+(15×3)+(27×7)+(0.5×0)
∴ 𝑥𝑔 = m = 18 m,
(5+3+7+0.5)

(5×9.6)+(7×80)+(0.5×63.5)+(3×4.8)
and 𝑦𝑔 = m = 42.2 m
15.5

3×1000 2
( )
Deceleration: 𝑎 = 3600
2×0.15
m/s2 = 2.315 m/s2 [ 5 Marks ]

3
 Figure 4

∑ 𝑀𝐸 = 𝑚𝑎. 𝑑 ( +)

⟹ (𝑁𝐹 × 30) − (𝑊 × 𝑥𝑔 ) = 𝑚𝑎𝑦𝑔

(𝑊×𝑥𝑔 )+(𝑚𝑎𝑦𝑔 )
⟹ 𝑁𝐹 = N
30
(15.5×9.81×18)+(15.5×2.315×42.2)
⟹ 𝑁𝐹 = MN = 141.71 MN [5 Marks]
30

∴vertical component of reaction under the front crawler unit F during the period of maximum
deceleration will be 141.71 MN.
Problem 3:
The block A and attached rod have a combined mass of 10 kg
and are confined to move along the 60° guide under the
action of the 120 N applied force. The uniform horizontal rod
has a mass of 4 Kg and length 0.6 m is welded to the block at
B. Friction in the guide is negligible. Compute the bending
moment M exerted by the weld on the rod at B. [10 Marks]

Figure 5: Problem 3

4
Solution:
Given, 𝐿 = 0.6 m, 𝐹 = 120 N.
And Combined mass of rod and block(m)=10 Kg, mass of
rod=4 kg
∴ ∑ 𝐹𝑦 = 𝑚𝑎

⟹ 120 − (10 × 9.81 × sin 60°) = 10𝑎

⟹ 𝑎 = 3.5 m/s2 [5 Marks]

Figure 6

∑ 𝑀𝐵 = 𝑚𝑎. 𝑑
Here, we take counter clockwise moment as a positive
moment.
⟹ 𝑀𝐵 − (𝑊 × 0.3) = 4 × 3.5 × 0.3 sin 60°
⟹ 𝑀𝐵 = [(4 × 9.81 × 0.3) + (4 × 3.5 × 0.3 sin 60°)] Nm
Figure 7 = 15.41 Nm [5 Marks]
∴ Bending moment at B = 15.41 Nm [Counter clockwise] (Ans)
Problem 4:

The uniform rods AB and BC of masses 10 kg and

15 kg, respectively, and the small wheel at C is of
negligible mass. Knowing that in the position
shown the velocity of wheel C is 10 m/s to the
right, determine the velocity of pin B after rod AB
has rotated through 90°. Here 𝐿𝐴𝐵 = 1.2 m and
𝐿𝐵𝐶 = 2 m. [10 Marks]
Figure 8: Problem 4

Solution:
Moments of inertia:
1 1
Rod AB: 𝐼𝐴 = 3 𝑚𝐴𝐵 𝐿𝐴𝐵 2 = 3 (10)(1.2)2 = 4.8 Kg. m2
1 1
Rod BC: 𝐼 = 12 𝑚𝐵𝐶 𝐿𝐵𝐶 2 = 12 (15)(2)2 = 5 Kg. m2

Position 1. As shown with bar AB vertical. Point G is the midpoint of BC.

𝑉1 = 𝑚𝐴𝐵 𝑔ℎ𝐴𝐵 + 𝑚𝐵𝐶 𝑔ℎ𝐵𝐶 = (10)(9.81)(0.6) + (15)(9.81)(0.6) = 147.15 J [2 Marks]

Kinematics: At the instant shown in Position 1, 𝜔𝐵𝐶 = 0

𝑣̅ = 𝑣𝐺 = 𝑣𝐵 = 𝑣𝐶 = 10 m/s,
5
 𝑣𝐵 10
𝜔𝐴𝐵 = = = 8.34 rad/s
𝐿𝐴𝐵 1.2

1 1 1
𝑇1 = 𝐼𝐴 𝐴𝐵 2 + 𝑚𝐵𝐶 𝑣̅ 2 + 𝐼 
̅ 2
2 2 2 𝐵𝐶
1 1
= (4.8)(8.34)2 + (15)(10)2 + 0
2 2
= 916.93 J [3 Marks]

Position 2. Rod AB is horizontal.

𝑉2 = 0

Figure 9

𝑣 𝑣
𝜔𝐴𝐵 = 𝐿 𝐵 = 1.2
𝐵
𝐴𝐵
𝑣𝐵 𝑣𝐵
𝜔𝐵𝐶 = = ,
𝐿𝐵𝐶 2
1
𝑣̅ = 𝑣
2 𝐵
1 1 1
𝑇2 = 𝐼𝐴 𝐴𝐵 2 + 𝑚𝐵𝐶 𝑣̅ 2 + 𝐼 
̅ 2
2 2 2 𝐵𝐶
2
1 𝑣𝐵 2 1 1 1 𝑣𝐵 2
= (4.8) ( ) + (15) ( 𝑣𝐵 ) + (5) ( )
2 1.2 2 2 2 2
= 4.167 𝑣𝐵 2 [3 Marks]
Conservation of energy. 𝑇1 + 𝑉1 = 𝑇2 + 𝑉2 : 916.934 + 147.15 = 4.167𝑣𝐵 2
 𝑣𝐵 = 15.98 m/s,  𝑣𝐵 = 15.98 m/s ↓ [2 Marks]

Problem 5:
A 1 kg tube AB can slide freely on rod DE, which in turn can
rotate freely in a horizontal plane. Initially the assembly is
rotating with an angular velocity  = 10 rad/s and the tube is
held in position by a cord. The moment of inertia of the rod and
bracket about the vertical axis of rotation is 0.50 kg.m2 and the
centroidal moment of inertia of the tube about a vertical axis is
0.003 kg.m2  If the cord suddenly breaks, determine (a) the
angular velocity of the assembly after the tube has moved to
Figure 10: Problem 5
6
end E, (b) the energy lost during the plastic impact at E, (c) sliding velocity of tube AB
just before the impact. Assume dimensions are a= 300 mm, b= 100 mm, c=200 mm. [10
Marks]
Solution:
Let Point C be the intersection of axle C and rod DE. Let Point G be the mass centre of
tube AB.
Masses and moments of inertia about vertical axes.
𝑚𝐴𝐵 = 1 kg
̅ = 0.003 kg. m2
𝐼𝐴𝐵
̅
𝐼𝐷𝐶𝐸 = 0.50 kg. m2
State 1: Initial state (before breaking of chord)
1
(𝑟𝐺/𝐴 ) = (100) = 50 mm
1 2

𝜔1 = 10 rad/s
State 2: Just after plastic impact at E

(𝑟𝐺/𝐴 ) = 300 − 50 = 250 mm

2

𝜔 = 𝜔2
Kinematics: (𝑣𝐺 )𝜃 = 𝑣̅𝜃 = 𝑟𝐺/𝐶 𝜔

+ =

Syst. Momenta1 + External Moment = Syst. Momenta2

Moment about C:
̅ 𝜔1 + 𝐼𝐷𝐶𝐸
𝐼𝐴𝐵 ̅ 𝜔1 + 𝑚𝐴𝐵 (𝑣̅𝜃 )1 (𝑟𝐺/𝐶 ) + 0 = 𝐼𝐴𝐵
̅ 𝜔2 + 𝐼𝐷𝐶𝐸
̅ 𝜔2 + 𝑚𝐴𝐵 (𝑣̅𝜃 )2 (𝑟𝐺/𝐶 )
1 2
2 2
̅ + 𝐼𝐷𝐶𝐸
[𝐼𝐴𝐵 ̅ ̅ + 𝐼𝐷𝐶𝐸
+ 𝑚𝐴𝐵 (𝑟𝐺/𝐺 ) ] 𝜔1 = [𝐼𝐴𝐵 ̅ + 𝑚𝐴𝐵 (𝑟𝐺/𝐶 ) ] 𝜔2
1 2

[0.003+0.50+(1)(0.05)2 ](10) =[0.003+0.50+(1)(0.250)2 ] 𝜔2

(0.5055) (10) =0.5655𝜔2
𝜔2 = 8.939 rad/s

7
 (a) Angular velocity after the plastic impact- 8.94 rad/s [5 Marks]
1 1 1
Kinetic Energy T= 𝐼 𝜔̅ 2
+ 𝐼 𝜔 ̅ 2
+ 𝑚𝐴𝐵 𝑣̅ 𝟐
2 𝐴𝐵 2 𝐷𝐶𝐸 2
1 1 1
𝑇1 = (0.003)(10)2 + (0.50)(10)2 + (1)(0.05)2 (10)2
2 2 2

=25.275 J
1 1 1
𝑇2 = (0.003)(8.939)2 + (0.50)(8.939)2 + (1)(0.25)2 (8.939)2
2 2 2

=22.59334 J
(b) Energy lost 𝑇1 − 𝑇2 = 2.681 J [3 Marks]
There is some sliding velocity of tube AB with respect to rod DE, let it is 𝑣sliding .

After plastic impact 𝑣sliding = 0, the tube AB remain in contact with end E.

Before the plastic impact there is no loss in kinetic energy.

1
So, Energy lost = 𝑚𝐴𝐵 𝑣sliding 𝟐
2
1
2.681 = (1)(𝑣sliding 𝟐 )
2

𝑣sliding = 2.315 m/s

(c) sliding velocity of tube AB just before the impact- 2.315 m/s [2 Marks]