ME101: Engineering Mechanics, 2023-24

IIT Guwahati
Tutorial – 12 (Solution) on 22.04.2024

Q1: The uniform slender bar of mass 𝜌 per unit length is freely pivoted about the y axis at the
clevis (Fig.1), which rotates about the fixed vertical z-axis with a constant angular velocity ω.
Determine the steady-state angle 𝜃 assumed by the bar. Length b is greater than length c.
[15 Marks]

Figure 1

Solution:

Oxyz is fixed reference frame and Gx′y′z′ is the rotating reference frame attached to the rod
where G is the mass center of the rod (Fig. 2).

Figure 2

1
 𝑏−𝑐
Let, OG = 𝑑 = and length of the rod is 𝑙 = 𝑏 + 𝑐.
2

0 0 0
1
Mass moment of inertia tensor in Gx′y′z′, 𝑰Gx′ y′ z′ = [0 𝑚𝑙 2 0 ]
12
1 2
0 0 𝑚𝑙
12

Let, 𝑰̂, 𝑱̂, 𝑲 ̂ are unit vectors along

̂ are unit vectors along co-ordinate axes in Oxyz and 𝒊̂, 𝒋̂, 𝒌
co-ordinate axes in Gx′y′z′.

Now, 𝒓𝐺/𝑂 = 𝑑(cos𝜃𝑰̂ − sin𝜃𝑲

̂)

̂ × 𝜔𝑲
𝒂G = 𝜔𝑲 ̂ × 𝒓𝐺/𝑂 = −𝜔2 𝑑cos𝜃𝑰̂ [2 Marks]

̂ − sin𝜃𝒊̂)
̂ = 𝜔(cos𝜃𝒌
𝝎 = 𝜔𝑲

0 0 0 −𝜔sin𝜃
1
(𝑯G )Gx′ y′ z′ = 𝑰Gx′ y′ z ′ 𝝎 = [
0 𝑚𝑙 2 0 ]
1
̂
= 12 𝑚𝑙 2 𝜔cos𝜃𝒌
12 0
1
0 0 𝑚𝑙 2
12
{ 𝜔cos𝜃 }
[3 Marks]

As 𝝎 is constant, 𝝎̇ = 0. Then, (𝑯Ġ )Gx′ y′z′ = 0 [1 Marks]

Now, the frame Gx ′ y ′ z ′ is rotating with angular velocity 𝝎.

So, (𝑯̇G )Oxyz = (𝑯Ġ )Gx′ y′z′ + 𝝎 × (𝑯G )Gx′ y′ z′

̂ − sin𝜃𝒊̂) × 1 𝑚𝑙 2 𝜔cos𝜃𝒌
= 𝜔(cos𝜃𝒌 ̂
12

1
= 12 𝑚𝑙 2 𝜔2 cos𝜃sin𝜃𝒋̂ [3 Marks]

Now, (𝑯Ȯ )Oxyz = (𝑯Ġ )Oxyz + 𝒓𝐺/𝑂 × 𝑚𝒂G

1
= 12 𝑚𝑙 2 𝜔2 cos𝜃sin𝜃𝒋̂ + 𝑑(cos𝜃𝑰̂ − sin𝜃𝑲
̂ ) × 𝑚(−𝜔2 𝑑cos𝜃)𝑰̂

1
= (12 𝑚𝑙 2 𝜔2 cos𝜃sin𝜃 + 𝑚𝜔2 𝑑 2 cos𝜃sin𝜃) 𝒋̂ [3 Marks]

̂ ) = 𝑑(cos𝜃𝑰̂ − sin𝜃𝑲
Now,∑ 𝑴𝐎 = 𝒓𝐺/𝑂 × (−𝑚𝑔𝑲 ̂ ) × (−𝑚𝑔𝑲
̂)

= 𝑚𝑔𝑑cos𝜃𝑱̂ [1 Marks]

We know, ∑ 𝑴𝐎 = (𝑯Ȯ )Oxyz

𝑙2
Or, 𝑚𝑔𝑑cos𝜃 = 𝑚 (12 + 𝑑2 ) 𝜔2 cos𝜃sin𝜃

𝑏−𝑐
Now, putting 𝑙 = 𝑏 + 𝑐 and 𝑑 = 2
in above expression we get,

2
 3𝑔 𝑏 2 − 𝑐 2
sin𝜃 =
2𝜔 2 𝑏 3 + 𝑐 3
3𝑔 𝑏 2 −𝑐 2
∴ The steady state angle, 𝜃 = sin−1 (2𝜔2 𝑏3 +𝑐 3 ) [2 Marks]

Q2. The position of the stylus tip A is controlled by the robot shown in Fig. 3. In the position shown the
stylus moves at a rate of speed 𝑢 = 0.2 m/s which reduces at a rate of 0.3 m/s2 relative to the solenoid
BC. At the same time, arm CD rotates at the constant rate 𝜔2 = 3 rad/s with respect to component DEG.
Knowing that the entire robot rotates about the 𝑋-axis at rate 𝜔1 = 5 rad/s increases at the rate of 𝛼1 =
2 rad/s2 determine (a) the velocity of A, (b) the acceleration of A. Take 𝐿1 = 750 mm, 𝐿2 =
1000 mm, 𝐿3 = 500 mm, 𝐿4 = 300 mm. [15 Marks]

Figure 3

Solution:

Given, 𝐿1 = 750 mm, 𝐿2 = 1000 mm, 𝐿3 = 500 mm, 𝐿4 = 300 mm, 𝑢 = 0.2 m/s, 𝜔1 = 5 rad/s, 𝛼1 =
2 rad/s2 , 𝜔2 = 3 rad/s.
Let, we have frame 𝑥-𝑦-𝑧 which is parallel to the X-Y-Z, its origin is at D, it is attached to link CD.
Now, we know,
⃗⃗⃗⃗⃗ 𝑽𝑫 + ⃗𝛀
𝑽𝑨 = ⃗⃗⃗⃗⃗ ⃗ × ⃗⃗⃗⃗⃗⃗⃗⃗
𝒓𝑨/𝑫 + ⃗⃗⃗⃗⃗⃗⃗
𝑽𝒓𝒆𝒍 … (1)

Here, ⃗⃗⃗⃗⃗ ̂ = 2.5𝒌

𝑽𝑫 = Absolute velocity of 𝐷 = 𝜔1 𝑰̂ × 0.5𝒋̂ = 0.5𝜔1 𝒌 ̂ … (A) [1 Marks]
⃗𝛀
⃗ = 𝜔1 𝑰̂ + 𝜔2 𝒋̂ = 5𝑰̂ + 3𝒋̂

⃗⃗⃗⃗⃗⃗⃗⃗
𝒓𝑨/𝑫 = 𝒌 ̂ − 0.3𝒊̂

⃗𝛀
⃗ × ⃗⃗⃗⃗⃗⃗⃗⃗ ̂ − 0.3𝒊̂)
𝒓𝑨/𝑫 = (5𝑰̂ + 3𝒋̂) × (𝒌
̂
= −5𝒋̂ + 3𝒊̂ + 0.9𝒌 … (B) [2 Marks]

3
⃗⃗⃗⃗⃗⃗⃗
𝑽𝒓𝒆𝒍 = Relative velocity of 𝐴 with respect to 𝑥-𝑦-𝑧 frame = −0.2𝒊̂ … (C)
Using (A), (B) & (C) we can write (1) as,
⃗⃗⃗⃗⃗⃗ ̂ − 5𝒋̂ + 3𝒊̂ + 0.9𝒌
𝑽𝑨 = 2.5𝒌 ̂ − 0.2𝒊̂ = 2.8𝒊̂ − 5𝒋̂ + 3.4𝒌
̂ m/s [3 Marks]
This is absolute velocity of point A.
Now, for acceleration we have,

⃗⃗⃗⃗
𝒂𝑨 = ⃗⃗⃗⃗⃗
𝒂𝑫 + 𝛀⃗⃗ ̇ × ⃗⃗⃗⃗⃗⃗⃗⃗
𝒓𝑨/𝑫 + 𝛀 ⃗⃗ × (𝛀
⃗⃗ × ⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗ × ⃗⃗⃗⃗⃗⃗⃗
𝒓𝑨/𝑫 ) + 𝟐𝛀 𝑽𝒓𝒆𝒍 + ⃗⃗⃗⃗⃗⃗⃗
𝒂𝒓𝒆𝒍 … (2)

⃗⃗⃗⃗⃗
𝒂𝑫 = Absolute aceleration of point 𝐷
̂
= 𝜔1 𝑰̂ × 𝜔1 𝑰̂ × 0.5𝒋̂ + 0.5𝛼1 𝒌
̂
= −0.5𝜔1 2 𝒋̂ + 0.5𝛼1 𝒌
̂
= −12.5𝒋̂ + 𝒌 … (D) [1 Marks]
⃗𝛀
⃗ = 𝜔1 𝑰̂ + 𝜔2 𝒋̂

⃗⃗𝛀̇ = 𝜔1̇ 𝑰̂ + 𝜔̇2 𝒋̂ + 𝜔2 𝒋̂̇

𝒋̂̇ = 𝜔1 𝑰̂ × 𝒋̂ = 𝜔1 𝒌
̂

𝜔1̇ = 𝛼1 = 2 rad/s, 𝜔̇2 = 0,

⃗ ̇ = 2𝑰̂ + 𝜔1 𝜔2 𝒌
∴ ⃗𝛀 ̂

⃗⃗𝛀̇ × ⃗⃗⃗⃗⃗⃗⃗⃗ ̂ ) × (𝒌
𝒓𝑨/𝑫 = (2𝑰̂ + 𝜔1 𝜔2 𝒌 ̂ − 0.3𝒊̂)

= −2𝒋̂ − 0.3𝜔1 𝜔2 𝒋̂
= −2𝒋̂ − 4.5𝒋̂
= −6.5𝒋̂ … (E) [2 Marks]
⃗𝛀
⃗ × (𝛀
⃗⃗ × ⃗⃗⃗⃗⃗⃗⃗⃗ ̂ ) [From B]
𝒓𝑨/𝑫 ) = (5𝑰̂ + 3𝒋̂) × (−5𝒋̂ + 3𝒊̂ + 0.9𝒌
̂ − 4.5𝒋̂ − 9𝒌
= −25𝒌 ̂ + 2.7𝒊̂

̂
= 2.7𝒊̂ − 4.5𝒋̂ − 34𝒌 … (F) [2 Marks]
⃗⃗ × ⃗⃗⃗⃗⃗⃗⃗
𝟐𝛀 ̂
𝑽𝒓𝒆𝒍 = 2(5𝑰̂ + 3𝒋̂) × (−0.2𝒊̂) = 1.2𝒌 … (G) [2 Marks]

⃗⃗⃗⃗⃗⃗⃗
𝒂𝒓𝒆𝒍 = Relative acceleration of point 𝐴 w. r. t frame 𝑥-𝑦-𝑧 = 0.3𝒊̂ … (H) [1 Marks]
Using (D), (E), (F), (G), (H), we get from (2),

⃗⃗⃗⃗ ̂ − 6.5𝒋̂ + 2.7𝒊̂ − 4.5𝒋̂ − 34𝒌

𝒂𝑨 = −12.5𝒋̂ + 𝒌 ̂ + 1.2𝒌
̂ + 0.3𝒊̂

⟹ ⃗⃗⃗⃗ ̂ m/s 2
𝒂𝑨 = 3𝒊̂ − 23.5𝒋̂ − 31.8𝒌 [1 Marks]
This is absolute acceleration of point A.

4
 Q3. The centre O of the spacecraft is moving through space with a constant velocity of 8𝒌 ̂ m/s
as shown in Fig. 4. During the period of motion prior to stabilization, the spacecraft has a
constant rotational rate Ω = 5 rad/sec about its z-axis. The x-y-z axes are attached to the body
of the craft, and the solar panels rotate about the y-axis at the constant rate 𝜃̇ = 2 rad/sec with
respect to the spacecraft. If 𝜔 is the absolute angular velocity of the solar panels, determine 𝜔̇ .
Also find the velocity and acceleration of point 𝐴 when 𝜃 = 30°. Take 𝐿 = 1 m, 𝑡 = 0.2 m.
[10 Marks]

Figure 4

Solution:

Given, 𝐿 = 1 m, 𝑡 = 0.2 m, 𝜃 = 30°, Ω = 5 rad/s, 𝜃̇ = 2 rad/s.

Here, axis 𝑥-𝑦-𝑧 is rotational.
̂ − 𝜃̇𝒋̂ = 5𝒌
⃗⃗⃗ = Ω𝒌
Absolute angular velocity of solar panel, 𝝎 ̂ − 2𝒋̂ rad/s

⃗⃗⃗̇ = Ω̇𝒌
Now, 𝝎 ̂̇ − 𝜃̈𝒋̂ − 𝜃̇𝒋̂ ̇
̂ + Ω𝒌

Here, Ω and 𝜃̇ are constant ∴ Ω̇ = 𝜃̈ = 0

̂̇ = Ω𝒌
𝒌 ̂×𝒌
̂=0 ; 𝒋̂ ̇ = Ω𝒌
̂ × 𝒋̂ = −Ω𝒊̂

⃗⃗⃗̇ = 𝜃̇Ω𝒊̂ = 10𝒊̂

∴𝝎 (Ans)

Now, ⃗⃗⃗⃗⃗ 𝑽𝑶 + ⃗𝛀
𝑽𝑨 = ⃗⃗⃗⃗⃗ ⃗ ×𝒓
⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗
𝑨/𝑶 + 𝑽𝒓𝒆𝒍

Here, ⃗⃗⃗⃗⃗ ̂ m/s

𝑽𝑶 = 8𝒌

⃗⃗⃗⃗⃗⃗⃗⃗
And 𝒓 ̂ ̂
𝑨/𝑶 = −0.2 sin 30° 𝒊̂ + 0.2 cos 30° 𝒌 + 𝒋̂ = −0.1𝒊̂ + 𝒋̂ + 0.1732𝒌

Also, ⃗⃗⃗⃗⃗⃗⃗
𝑽𝒓𝒆𝒍 = Relative velocity of A w. r. t. 𝑥-𝑦-𝑧 frame
⃗⃗⃗⃗⃗⃗⃗ ̂ ) = −0.2𝒌
𝑽𝒓𝒆𝒍 = −2𝒋̂ × (−0.2 sin 30° 𝒊̂ + 0.2 cos 30° 𝒌 ̂ − 0.3464𝒊̂

∴ ⃗⃗⃗⃗⃗ ̂ + 5𝒌
𝑽𝑨 = 8𝒌 ̂ × (−0.1𝒊̂ + 𝒋̂ + 0.1732𝒌
̂ ) − 0.2𝒌
̂ − 0.3464𝒊̂

5
 ̂ − 0.5𝒋̂ − 5𝒊̂ − 0.2𝒌
= 8𝒌 ̂ − 0.3464𝒊̂ = −5.35𝒊̂ − 0.5𝒋̂ + 7.8𝒌
̂ m/s (Ans)
[4 Marks]

Now, ⃗⃗⃗⃗
𝒂𝑨 = ⃗⃗⃗⃗⃗
𝒂𝑶 + 𝛀⃗⃗ ̇ × 𝒓
⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗ ⃗⃗ ⃗⃗⃗⃗⃗⃗⃗⃗
𝑨/𝑶 + 𝛀 × (𝛀 × 𝒓
⃗⃗ ⃗⃗⃗⃗⃗⃗⃗ 𝒂𝒓𝒆𝒍
𝑨/𝑶 ) + 2𝛀 × 𝑽𝒓𝒆𝒍 + ⃗⃗⃗⃗⃗⃗⃗

⃗ ̇ = 0 as, Ω is constant, 𝒌
𝑽𝑶 is constant and ⃗𝛀
𝒂𝑶 = 0 as, ⃗⃗⃗⃗⃗
Here, ⃗⃗⃗⃗⃗ ̂̇ = 0

⃗𝛀
⃗ × ⃗𝛀
⃗ ×𝒓 ̂ ̂ ̂ ̂
𝑨/𝑶 = 5𝒌 × 5𝒌 × (−0.1𝒊̂ + 𝒋̂ + 0.1732𝒌) = 5𝒌 × (−0.5𝒋̂ − 5𝒊̂) = 2.5𝒊̂ − 25𝒋̂
⃗⃗⃗⃗⃗⃗⃗⃗
̂ ) = 0.4𝒊̂ − 0.6928𝒌
𝒂𝒓𝒆𝒍 = −𝜃̇ 2 (−0.2 sin 30° 𝒊̂ + 0.2 cos 30° 𝒌
⃗⃗⃗⃗⃗⃗⃗ ̂

⃗⃗ × ⃗⃗⃗⃗⃗⃗⃗
2𝛀 ̂ × (−0.2𝒌
𝑽𝒓𝒆𝒍 = 2 × 5𝒌 ̂ − 0.3464𝒊̂) = −3.46𝒋̂

∴ ⃗⃗⃗⃗ ̂
𝒂𝑨 = 2.5𝒊̂ − 25𝒋̂ − 3.46𝒋̂ + 0.4𝒊̂ − 0.6928𝒌
̂ m/s2
= 2.9𝒊̂ − 28.46𝒋̂ − 0.69𝒌 (Ans) [6 Marks]

Q4. A solid cone of height h (300 mm) with a circular base of

radius r (100 mm ) is supported by a ball-and-socket joint at A as
shown in Fig. 5. Knowing that the cone is observed to precess
about the vertical axis AC at the constant rate of 40 rpm in the
sense indicated and that its axis of symmetry AB forms an angle β
= 40° with AC, determine the rate at which the cone spins about
the axis AB. [10 Marks]

Solution:
Using principal axis xyz with origin at A
For a solid cone,
3ℎ Figure 5
𝑐=
4
3
𝐼 = 𝐼𝑧𝑧 = . 𝑚𝑟 2
10
3 𝑟2
𝐼 ′ = 𝐼𝑥𝑥 2
= 𝐼𝑦𝑦 = . 𝑚 (ℎ + )
5 4

3 𝑟2
𝐼′ − 𝐼 = . 𝑚 (ℎ2 − )
5 4

Angular velocity

Spin: 𝜓̇ about negative z axis

Precession: 𝜙̇ about positive z axis

̂ − 𝜓̇𝑘̂
𝜔 = 𝜙̇𝐾

6
 𝜔 = 𝜙̇(cos 𝛽𝑘̂ + sin 𝛽𝑗̂) − 𝜓̇𝑘̂

𝜔𝑥 = 0, 𝜔𝑦 = 𝜙̇sin 𝛽 , 𝜔𝑧 = 𝜙̇cos 𝛽 − 𝜓̇

Angular momentum about fixed point A

𝐻𝐴 = 𝐼 ′ 𝜔𝑥 𝑖̂ + 𝐼 ′ 𝜔𝑦 𝑗̂ + 𝐼𝜔𝑧 𝑘̂

𝐻𝐴 = 𝐼 ′ 𝜙̇sin 𝛽𝑗̂ + 𝐼(𝜙̇cos 𝛽 − 𝜓̇)𝑘̂

Frame Axyz be rotating with angular velocity Ω

̂ = 𝜙̇cos 𝛽𝑗̂ + 𝜙̇sin 𝛽𝑘̂
Ω = 𝜙̇𝐾 [2 Marks]
Rate of change of angular momentum 𝐻𝐴

𝑖̂ 𝑗̂ 𝑘̂
̇ ̇
𝐻𝐴 = Ω × 𝐻𝐴 = |0 𝜙sin 𝛽 𝜙̇cos 𝛽 |
0 𝐼 ′ 𝜙̇sin 𝛽 ̇
𝐼(𝜙cos 𝛽 − 𝜓)̇

̇ 𝛽 ] 𝑖̂
= − [(𝐼 ′ − 𝐼)𝜙̇ 2 cos 𝛽 sin 𝛽 + 𝐼𝜙̇𝜓̇ sin [4 Marks]

Momentum about A
𝑀𝐴 = −𝑚𝑔𝑐 sin 𝛽 𝑖̂ [1 Marks]

𝑀𝐴 = 𝐻̇𝐴 leads to
(𝐼 ′ − 𝐼) 2 𝐼
𝑔𝑐 = ̇ 𝛽
𝜙̇ cos 𝛽 + 𝜙̇𝜓 sin
𝑚 𝑚
3 2 𝑟2 3
= (ℎ − ) 𝜙̇ 2 cos 𝛽 + 𝑟 2 𝜙̇𝜓̇
5 4 10

20𝑔𝑐 = (12ℎ2 − 3𝑟 2 )𝜙̇ 2 cos 𝛽 + 6𝑟 2 𝜙̇𝜓̇

20𝑔𝑐 − (12ℎ2 − 3𝑟 2 )𝜙̇ 2 cos 𝛽

𝜓̇ =
6𝑟 2 𝜙̇
Putting data,
(20)(9.81)(0.225)−[(12)(0.3) 2 −(3)(0.1)2 ](4.188)2 cos 40°
𝜓̇ = 2
= 119.493 rad/s [3 Marks]
6(0.1) (4.1888)

7
 Q5. The plate, shown in Figure 5, has a mass of 3 kg and is welded to the fixed vertical shaft, which
rotates at the constant speed of 20π rad/s. Compute the moment M applied to the shaft by the plate
due to dynamic imbalance.

Solution 5: We can see, its a case of parallel plane motion, for which moment equations become,
X
Mx = −Ixz ω˙z + Iyz ωz2
X
My = −Iyz ω˙z − Ixz ωz2
X
Mz = Izz ω˙z

Figure 1: Side view of the plate

3
Note, ωx = ωy = 0, ωz ̸= 0, ω˙z = 0 and Ixz = 0. Mass per unit length of the plate, m0 = 0.4
= 7.5
kg/m. Referring the side view of the plate,
Z 0.2
Iyz = s cos θ s sin θ m0 ds [3 marks]
−0.2
Z 0.2
1
= m0 sin 2θ s2 ds
2 −0.2
2 [2 marks]
= 0.02 kg-m

X
Mx = Iyz ωz2 = 78.96 N-m, (it is applied on the plate) [3 marks]
X X [1 mark]
My = Mz = 0

Thus, the moment applied to the shaft is -78.96î N-m. [1 mark]