Examples on Translation

1. What acceleration a of the collar along the horizontal guide will result in a steady-state 15 0 deflection of the
pendulum from the vertical? The slender rod of length l and the particle each have mass m. Friction at the pivot P is
negligible.

2. P.1 P.2
3. The uniform 100-kg log is supported by the two cables and used as a battering ram. If the log is released from rest in
the position shown, calculate the initial tension induced in each cable immediately after release and the
corresponding angular acceleration  of the cables.

P.3 P.4 P.5

4. Design tests of the landing sequence for the lunar excursion module are conducted using the pendulum model
suspended by the parallel wires A and B. if the model has a mass of 10 kg with mass center at G, and if  = 2 rad/s
when  = 600, calculate the tension in each of the wires for this instant.
5. The homogeneous 20-kg rectangular plate is supported in the vertical plane by the light parallel links shown. If a
couple M = 110 N. m is applied to the end of link AB with the system initially at rest, calculate the force supported
by the pin at C as the plate lifts off its support with  = 300.
6. The uniform 200-kg bar AB is raised in the vertical plane by the application of a constant couple M = 3 kN.m applied
to the link is small and may be neglected. If the bar starts from rest at  = 0, determine the magnitude of the force
supported by the pin at A as the position =60 is passed.
Examples on Fixed Axis Rotation
7. The half ring of mass m and radius r is welded to a small horizontal shaft mounted in a bearing as shown. Neglect the
mass of the shaft and determine the angular acceleration of the ring when a torque M is applied to the shaft.

P.7 P.9 P.10

8. A device for impact testing consists of a 34-kg pendulum with mass center at G and with radius of gyration about O
of 620mm. The distance b for the pendulum is selected so that the force on the bearing at O has the least possible
value during impact with the specimen at the bottom of the swing. Determine b and calculate the magnitude of the
total force R on the bearing O an instant after release from rest at  = 600.
9. The solid cylindrical rotor B has a mass of 43 kg and is mounted on its central axis C-C. The frame A rotates about
the fixed vertical axis O–O under the applied torque M = 30 N. m. The rotor may be unlocked from the frame by
withdrawing the locking pin P. Calculate the angular acceleration  of the frame A if the locking pin is (a) in place
and (b) withdrawn. Neglect all friction and the mass of the frame.
10. Each of the uniform slender rods of mass m is welded at its end tangent to the rim of the circular disk. The disk
rotates in a horizontal plane about a fixed vertical axis through its center O. Determine expressions for the bending
moment M, the tension T, and the shear V transmitted by the weld to the rod if the disk has (a) a constant angular
velocity  about O and (b) a start-up counterclockwise angular acceleration a about O. Does the sense (CW or CCW)
of  make any difference? Analyze the forces in the horizontal plane only.

P.11 P.12
11. The 24-kg uniform slender bar AB is mounted on end rollers of negligible mass and rotates about the fixed point O as
it follows the circular path in the vertical plane. The bar is released from a position which gives it an angular velocity
 = 2 rad/s as it passes the position  = 450. Calculate the forces FA and FB exerted by the guide on the rollers for this
instant.
12. The uniform rectangular block is released from rest with  essentially zero and pivots in the vertical plane about the
center A of its lower face on the fixed corner. (a) If the block is observed to slip when  = 300, find the coefficient of
static friction between the bloke and the corner. (b) If the bottom face of the block is notched so that it cannot slip,
find the angle  at which contact between the block and the corner ceases

Examples on General Plane Motion

13. The figure for Prob. 5/118 is repeated here. The 3.6-m steel beam has a mass of 125 kg and is hoisted from
rest where the tension in each of the cables is 613 N. If the hoisting drums are given initial angular
accelerations 1 = 4 rad/s2 and 2 = 6 rad/s2, calculations the corresponding tensions TA and TB in the
cables. The beam may be treated as a slender bar.

P.13 P.14

14. The circular disk of 200-mm radius has a mass of 25 kg with centroidal radius of gyration k = 175mm and
has a concentric circular groove of 75-mm radius cut into it. A steady force T is applied at an angle  to a
cord wrapped around the groove as shown. If T = 30N,  = 0, s = 0.10, and k = 0.08, determine the
angular acceleration  of the disk, the acceleration a of its mass center G, and the friction force F which the
surface exerts on the disk.
15. End A of the uniform 5-kg bar is pinned freely to the collar, which has an acceleration a = 4m/s2 along the
fixed horizontal shaft. If the bar has a clockwise angular velocity  = 2 rad/s as it swings past the vertical,
determine the components of the force on the bar at A for this instant.

P.15
16. The slender rod of mass m and length l is released from rest in the vertical position with the small roller at end A
resting on the incline. Determine the initial acceleration of A.
17. The figure shows the edge view of a uniform concrete slab with a mass of 12Mg. The slab is being hoisted slowly by
the winch D with cable attached to the dolly. At the position  = 600, the distance x from the fixed ground position to
the dolly is equal to the length L = 4m of the slab. If the hoisting cable should break at this position, determine the
initial acceleration a A of the small dolly, whose mass is negligible and the initial tension T in the fixed cable. End A
of the slab will not slip on the dolly.
Work Energy Method
1. The 15-kg wheel is released from rest and rolls on its hubs without slipping. Calculate the velocity u of the center O of
the wheel after it has moved a distance x = 3 m down the incline. The radius of gyration of the wheel about O is 125
mm.

P.1 P.2
2. A constant force F is applied in the vertical direction to the symmetrical linkage starting from the rest position shown.
Determine the angular velocity  which the links acquire as they reach the position  = 0. Each link has a mass m0.
The wheel is a solid circular disk of mass m and rolls on the horizontal surface without slipping.

P.3 P4 P5
3. The 5.5-kg lever OA with 250-mm radius of gyration about O is initially at rest in the vertical position ( = 90) where
the attached spring of stiffness k = 525 N/m is unstretched. Calculate the constant moment M applied to the lever
through its shaft at O which will give the lever an angular velocity  = 4 rad/s as the lever reaches the horizontal
position  = 0.
4. Specify the unstretched length l 0 of the spring of stiffness k = 1400 N/m which will result in a velocity of 0.25 m/s for
the contact at A if the toggle is given a slight nudge from its null position at  = 0. The toggle has a mass of 1.5 kg
and a radius of gyration about O of 55 mm. Motion occurs in the horizontal plane.
5. The sheave of 400-mm radius has a mass of 50kg and a radius of gyration of 300mm. The sheave and its 100-kg load
are suspended by the cable and the spring, which has a stiffness of 1.5 kN/m. If the system is released from rest with
the spring initially stretched 100mm, determine the velocity of O after it has dropped 50mm.

6. The figure shows the cross section of a 100-kg garage door, which is a uniform rectangular panel 2.4 by 2.4 m. The
door carries two spring assemblies, one on each side of the door, like the one shown. Each spring has a stiffness of
700 N/m and is unstretched when the door is in the open position shown. If the door is released from rest in this
position, calculate the velocity of the edge at A as it strikes the garage floor.
 Impulse Momentum Method
1. The constant tensions of 200 N and 160 N are applied to the hoisting cable as shown. If the velocity u of the load is 2m/s
down and the angular velocity  of the pulley is 8 rad/s counterclockwise at time t = 0, determine u and  after the
cable tensions have been applied for 5 s. Note the independence of the results.

p.1 p.2 p3
2. The center O of the 2-kg wheel, with radius of gyration of 60 mm about O, has a velocity uO = 0.3 m/s down the 15 0
incline when a force P = 10 N is applied to the cord wrapped around its inner hub. If the wheel rolls without slipping,
calculate the velocity u of the center O when P has been applied for 5 seconds.
3. *The uniform circular disk of 200-mm radius has a mass of 25 kg and is mounted on the rotating bar OA in three
different ways. In each case the bar rotates about its vertical shaft at O with a clockwise angular velocity  = 4 rad/s. In
case (a) the disk is welded to the bar. In case (b) the disk, which is pinned freely at A, moves with curvilinear translation
and therefore has no rigid-body rotation. In case (c) the relative angle between the disk and the bar is increasing at the
rate  = 8 rad/s. Calculate the angular momentum of the disk about point O for each case.
4. The large rotor has a mass of 60 kg and a radius of gyration about its vertical axis of 200 mm. The small rotor is a solid
circular disk with a mass of 8kg and is initially rotating with an angular velocity 1 = 80 rad/s with the large rotor at
rest. A spring-loaded pin P which rotates with the large rotor is released and bears against the periphery of the small
disk, bringing it to a stop relative to the large rotor. Neglect any bearing friction and calculate the final angular velocity
of the assembly.

p.4 P5 P6

5. Each of the two 300-mm uniform rods A has a mass of 1.5 kg and is hinged at its end to the rotating base B. The 4-kg
base has a radius of gyration of 40 mm and is initially rotating freely about its vertical axis with a speed of 300 rev/min
and with the rods latched in the vertical positions. If the latches are released and the rods assume the horizontal
positions, calculate the new rotational speed N of the assembly.
6. The uniform circular disk D has a mass of 4 kg and is free to turn about the bearing axis C-C. The 2.5-kg arm B is
fastened to the vertical shaft O-O. The arm may be approximated as a slender bar 300 mm long, and the moment of
inertia of the vertical shaft O-O may be neglected. The 3-kg rod A is fastened securely to the arm. If the initial angular
velocity of D is 0 = 7 rad/s in the direction shown and the arm B is at rest, determine the angular velocity B of the arm
after a torque M = 1.5 N. m has been applied to the shaft for 4 s.