Reading Assignment 1 (Th 5)

Introduction to Chapter 5 - Fixed Axis Rotation

Question 1:

Consider a rigid body rotating at an angular velocity 𝜔

⃑ about a fixed axis through point O, as shown. 𝑟 is the position
vector of point A on the body, relative to point O. Which one of the following statements is true?
⃑
𝒅𝒓
• 𝒅𝒕
⃑
is a vector in a direction normal to 𝒓
𝑑𝑟
• is the rate at which point A moves away from O
𝑑𝑡
𝑑𝑟
• 𝑑𝑡
⃑ because the distance O and A remains constant
=0
𝑑𝑟
• is a vector in the same direction as 𝑟
𝑑𝑡
𝑑𝑟
• 𝑑𝑡
⃑ because the position vector 𝑟 does not change with time
=0

⃑ , rotating with an angular velocity 𝝎

*This is a case of a fixed length vector 𝒓 ⃑⃑⃑ . For such a vector it
⃑
𝒅𝒓 ⃑
𝒅𝒓
was proven in the supplementary notes that ⃑⃑⃑ × 𝒓
=𝝎 ⃑ . Thus ⃑ and 𝝎
is normal to both 𝒓 ⃑⃑⃑ .
𝒅𝒕 𝒅𝒕

Question 2:

• Relationships (2) may be used on condition that the angular

acceleration is constant.
• Relationships (2) are obtained by integrating relationships
(1) under certain conditions.
• Relationships (2) may be used when the angular velocity
varies linearly with time.
• Relationships (2) may always be used to determine angular
accelerations, angular velocities or rotation angles if
enough information is available.
* Relationships (2) are in fact obtained by integrating relationships (1) under the assumption of constant angular acceleration (alpha).
Hence, they may be applied only if it is known that the angular acceleration is constant

Question 3:

Kinematics is the study of

• the study of the application of Newton's second law of motion on particles, systems of particles and bodies
• the motion of bodies without reference to the forces that either cause the motion or are generated as a
result thereof
• the conservation of energy and momentum
• the relations between the unbalanced forces and the changes in motion that they produce
• the geometry of interconnected bodies
*Kinematics is the study of the motion of bodies without reference to the forces that either cause the motion or are generated as a result
thereof; see M&K section 2/1

Question 4:

Consider a cross-shaped rigid body that is undergoing general planar motion, with the four legs of the cross in the
plane of motion. The angular velocity vector of all four legs are the same.

• True
• False
* This is proven in M&K, in the beginning of section 5/2.
Question 5:

Consider a cross-shaped rigid body that is undergoing general planar motion, with the four legs of the cross in the
plane of motion. The angular acceleration vector of all four legs are the same.

• True
• False
* This is proven in M&K, in the beginning of section 5/2.

Question 6:

Consider the so-called slider-crank mechanism used in a piston engine. Assume the engine as a whole is not moving,
but that the crank shaft B is rotating as indicated in the sketch below. The piston C is undergoing curvilinear
translation, while the connecting rod A and the crank shaft B are undergoing fixed-axis rotation.

• True
• False
* The crankshaft B does indeed rotate about a fixed axis, but the
connecting rod A is undergoing general planar motion. Also, the
piston C is undergoing rectilinear translation.
 Reading Assignment 2 (Th 5)
Examples of Fixed Axis Rotation
Question 1:

Which one of the statements regarding this sample problem is false?

• Consider the two points on the two gears where the two gears
make contact. The acceleration of the contact point on gear A is
the same as the acceleration of the contact point on gear B
• Initially the magnitude of the acceleration of point C is the same
as that of the weight L
• The angular acceleration ratio of the two gears are the same as
their angular velocity ratio
* The reason why the statement "The acceleration of the contact point on gear A is the
same as the acceleration of the contact point on gear B" is false is that, even though the
tangential components of the accelerations of these two contact points are identically
the same, their normal acceleration components are not, since gear A and gear B have
different radii, and the normal acceleration components in magnitude are equal to the
square of the tangential velocities of the two points (which are in fact identically the
same) divided by the respective radii.

Question 2:

The tangential component of the acceleration of point A is parallel to the shorter leg of the L-shaped body

• True
• False
* The tangential component of the acceleration of point A is tangential to the circular trajectory of point A, which is not parallel to the
shorter leg.

Question 3:

Consider solution presented on clickUP for the problem associated with the figure
below. Given the problem as stated, a second, equally valid, solution can be
presented, wherein the tangential component of the acceleration of point B is taken
vertically upwards.

• True
• False
* Since only the magnitude of the acceleration of point B was stated, one can validly flip the
acceleration vector diagram about a horizontal line through point B, so that the tangential
component of the acceleration of B is upwards instead of downwards, while the normal component
of the acceleration of point B is still to the left, to the centre of rotation of the large disk. This would
imply that the tape is decelerating, rather than accelerating, as in the solution presented on ClickUP.
In this alternative solution the tangential component of the acceleration of point A will then also be
vertically upwards, and the angular accelerations of the two disks will also be in the opposite
directions.
Question 4:

One can claim that the acceleration of point A is larger than that of point B because the
tape runs around a tighter corner (or smaller radius) at A compared to B.

• True
• False
* The tangential components of the accelerations of points A and B are exactly the same. Therefore, the
acceleration of A, which was indeed calculated to be larger than that of point B, is larger because the
normal acceleration of A is larger than that of B. The normal acceleration of both points can be calculated
as the square of the tape speed, divided by the radius of the drum. Therefore, since the two points
experience the same tape speed but the drum radius at A is smaller than at B, point A has the larger
normal acceleration component.
 Reading Assignment 3 (Th 5)
Relative Velocity
Question 1:

Which two of the following statements are false?

• The velocity of A relative to B is not necessarily in a direction normal to the line connecting points A and B if
the points are not part of the same rigid body
• ⃑ 𝑨/𝑩 = 𝑽
𝑽 ⃑ 𝑩/𝑨
• The velocity of A relative to B is in a direction normal to the line connecting points A and B for the case of
both points lying on the same rigid body undergoing planar motion
• ⃑𝑽𝑨 = ⃑𝑽𝑩 + 𝝎
⃑⃑⃑ × 𝒓
⃑ 𝑨/𝑩 is true for any two points A and B

Question 2:

Consider a wheel rolling without slipping on a stationary road. The velocity of the point on the wheel where the
wheel is in contact with the road is the same as the velocity of the centre of the wheel.

• True
• False
* The velocity of the point on the wheel where the wheel is in contact with the road is exactly zero, because the velocity of the road is zero,
and the two points in contact must have the same velocities if there is no slip.

Question 3:

Consider a wheel of radius r, rolling without slipping on a stationary road. The relationship between the speed of the
centre of the wheel 𝑽𝑶 and the magnitude of the angular velocity 𝝎 is given by 𝑽𝑶 = 𝒓𝝎

• True
• False

Question 4:

The angle 𝜃 used in the solution given in M&K under the sub-title “Solution 2 (scalar-
geometric)” is simply the angle between the line connecting points A and B, and the
horizontal line, in the geometric layout figure given. This is so because for this
configuration 𝑽⃑ 𝑨/𝑩 must have a direction normal to the line connecting A and B

• True
• False

Question 5:

•True
•False
Question 6:

⃑ 𝑨/𝑩 is in a direction normal to the line connecting points A

The relative velocity 𝑽
and B

• True
• False
*this statement is false because points A and B are not located on the same rigid body. In fact,
this statement is totally nonsense, because at the moment in time considered in the solution,
points A and B are coincident, and hence a line connecting them does not not even exist. This
problem is the first example of a series of problems where the relative motion analysis is done not with respect to a single rigid body, but
rather with respect to the motion of two different rigid bodies relative to one another. In all these cases once can generally not apply
⃑ 𝑨/𝑩 = 𝝎
𝑽 ⃑⃑⃑ × 𝒓
⃑ 𝑨/𝑩 since usually points A and B are located on different bodies

Question 7:

• True
• False
 Reading Assignment 4 (Th 5)
Relative Velocity Examples
Question 1:

The telephone-cable reel rolls without slipping on the horizontal surface. If point A on the cable has a velocity of
⃑ 𝐴 = 0.8𝑖 𝑚/𝑠, it is found that the reel:
𝑉

• Moves in the 𝒊 direction faster than point A on the cable

• Moves in the -𝒊 direction slower than point A on the cable
• Moves in the -𝒊 direction faster than point A on the cable
• Moves in the 𝒊 direction slower than point A on the cable
*The solution shows that the reel rolls in the 𝒊 direction at 1.2m/s whereas point
A moves at 0.8m/s in the same direction, so the reel indeed moves faster than
point A

Question 2:

Which one of the following statements is false?

• ⃑ 𝑪 is in the direction normal to the line AC

𝑽
• ⃑ 𝐵 is in the direction vertically downwards
𝑉
• ⃑ 𝐴 is in the direction horizontally to the right
𝑉
• ⃑ 𝐵/𝐴 is in the direction normal to the line BA
𝑉
• ⃑ 𝐵/𝐴 is in the same direction as 𝑉
𝑉 ⃑ 𝐶/𝐵

⃑ 𝑪/𝑩 is in the direction normal to the line AC (or the line BC), but for no reason would
*It is true that 𝑽
⃑ 𝑪 be in directional to the line AC. Also, since 𝑽
𝑽 ⃑ 𝑩/𝑨 is in exactly the opposite direction of 𝑽
⃑ 𝑨/𝑩 , the
vector diagram in the solution confirms that ⃑𝑽𝑩/𝑨 is in the same direction as ⃑𝑽𝑪/𝑩 .

Question 3:

⃑𝑨=
Given the information in the problem statement, the equation 𝑽
⃑ 𝑩+𝑽
𝑽 ⃑ 𝑨/𝑩 is not sufficient to solve this problem

• True
• False

*this statement is false because there are only two unknowns as the problem is
⃑⃑⃑ 𝑩𝑪 and 𝝎
stated, namely the magnitudes of the two angular velocities 𝝎 ⃑⃑⃑ 𝑨𝑩 . (Their
directions are known to be normal to the plane of motion). This means that there
are only two scalar unknowns 𝝎𝑩𝑪 and 𝝎𝑨𝑩 . And the vector equation 𝑽 ⃑𝑨=𝑽 ⃑ 𝑩+
⃑𝑽𝑨/𝑩 in two dimensions renders two scalar equations in these two scalar
equations, so that the two unknowns can be solved.

Question 4:

The reason why, for two points A and B that are both part of a single rigid body, 𝑽 ⃑ 𝑩/𝑨 = 𝝎⃑⃑⃑ × 𝒓
⃑ 𝑩/𝑨, is that, regardless
of the motion of the body, the only way that point B can move relative to point A is through a rotation at an angular
⃑⃑⃑ , and that the velocity of this relative motion must be the time derivative of the fixed length vector 𝒓
velocity 𝝎 ⃑ 𝑩/𝑨

• True
• False
 Reading Assignment 5 (Th 5)
Relative Acceleration
Question 1:

⃑𝐵 =𝒓
Even though it has been shown that 𝒓 ⃑𝐴 +𝒓
⃑ 𝑩/𝑨 and 𝑣𝐵 = 𝒗
⃑𝐴+𝒗
⃑ 𝑩/𝑨, when it comes to acceleration, one
⃑𝐵=𝒂
cannot say that 𝒂 ⃑𝐴+𝒂 ⃑ 𝑩/𝑨

• True
• False
⃑𝑩=𝒂
*For any two points A and B it is true that 𝒂 ⃑ 𝑨+𝒂
⃑ 𝑩/𝑨 , because this equation is merely the 1st derivative of the equation 𝒗
⃑𝑩=𝒗
⃑𝑨+
⃑ 𝑩/𝑨 and the second derivative of 𝒓
𝒗 ⃑𝑩 =𝒓 ⃑𝑨+𝒓⃑ 𝑩/𝑨

Question 2:

For the case of two points A and B that form part of a single rigid body, the relative acceleration equation is 𝒂⃑𝐵=
⃑𝐴+𝛼×𝒓
𝒂 ⃑ 𝑩/𝑨 + 𝜔
⃑ × (𝜔⃑ ×𝒓 ⃑ 𝑩/𝑨 ). This equation is valid if 𝛼 and 𝜔 are respectively the angular acceleration and the
angular velocity vectors of the rigid body

• True
• False

Question 3:

Consider the mechanism as shown. Link OA hinges about a fixed axis at O and is also hinged to link AC at A. Link AC is
also hinged to the piston rod of hydraulic cylinder, at B. The piston rod moves with an increasing velocity, positive to
the left, as shown. Indicate which one of the following
statements is correct:

• ⃑𝑂=𝒂
𝒂 ⃑ 𝐵+𝒂 ⃑ 𝑶/𝑩
• 𝑎𝐴 is parallel in direction 𝑣𝐴
• 𝑣𝐵 = 𝑣𝑂 + 𝜔 ⃑ 𝑂𝐵 × 𝑟𝐵/𝑂
• 𝑣𝐴/𝐵 = 𝑣𝐶/𝐵
• 𝑣𝐴 is exactly in a vertical direction

Question 4:

A uniform wheel rolls without slipping over a flat horizontal surface with the velocity and acceleration of its centre O
given by 𝑣𝑂 and 𝑎𝑂 , respectively. Consider the wheel at the moment when A on the wheel comes into contact with
the surface, and then indicate which one of the following statements is correct:

• ⃑
𝑎𝑂 ≠ 0
• ⃑
𝑣𝐴 ≠ 0
• 𝑎𝑂 = 𝛼𝑂𝐴 × 𝑟𝐴/𝑂
• 𝑣𝐴/𝑂 = 𝑟𝑂𝐴 × 𝜔
⃑ 𝐴/𝑂
• 𝑎𝐴/𝑂 = 𝜔
⃑ 𝑂𝐴 × (𝜔
⃑ 𝐴/𝑂 × 𝑟𝑂𝐴 )
Question 5:

Which one of the following statements is false?

• The tangential component of the acceleration of A relative to B is in

the same direction as the velocity of A relative to B
• The normal component of the acceleration of A relative to B at 18.02°
with the horizontal, is in the direction from A towards B
• The acceleration vector diagram would have been a 5-sided polygon if
the angular velocity of the crank OB were not constant
• When a start is made in drawing the acceleration vector diagram two
vectors are unknown in magnitude: the acceleration of A and the
tangential acceleration of A relative to B
• Since the piston moves in a straight horizontal line its acceleration can
only be in the horizontal direction
*The tangential component of the acceleration of A relative to B is in the opposite direction as
the velocity of A relative to B, because the angular acceleration of the connecting rod is in the
opposite direction of its angular velocity
 Reading Assignment 6 (Th 5)
Relative Acceleration Examples
Question 1:

Which one of the following statements is false?

• None of the above

• The key to solving the problem is to recognise it as a wheel
rolling without slipping problem, where the wheel is the
shaft of diameter 100mm
• The magnitude of the normal components of the
acceleration of points A,B,C and D, all relative to the shaft
centre O are the same
• |𝑎𝐵 | < |𝑎𝐴 |

Question 2:

An acceleration vector diagram is shown, which was used to solve the relative acceleration analysis associated with
this problem. In the acceleration vector diagram, the vector components
that are known after the relative velocity analysis has been completed, are
shown in black, while the two acceleration vector components that are
initially unknown in magnitude are shown in red. This vector diagram is
based on the equation 𝒂 ⃑𝐵=𝒂 ⃑𝐴+𝒂 ⃑ 𝑩/𝑨

• True
• False

Question 3:

An acceleration vector diagram is shown, which was used to solve the

relative acceleration analysis associated with this problem. In the
acceleration vector diagram, the vector components that are known after
the relative velocity analysis has been completed, are shown in black, while
the two acceleration vector components that are initially unknown in
magnitude are shown in red. Which one of the following
conclusions can be drawn from this acceleration vector diagram?

• 𝛼𝐴𝐵 and 𝛼𝐵𝐶 are both in the counter clockwise direction

• 𝛼𝐴𝐵 and 𝛼𝐵𝐶 are both in the clockwise direction
• ⃑⃑ 𝑨𝑩 are both in the counter clockwise direction and 𝜶
𝜶 ⃑⃑ 𝑩𝑪 in the clockwise direction
• 𝛼𝐴𝐵 are both in the clockwise direction and 𝛼𝐵𝐶 in the counter clockwise direction

Question 4:

Which one of the following statements is false?

• The direction of (𝑎𝐵𝐴) 𝑡 is upward to the left, normal to the line

connecting A and B
• The direction of (𝑎𝐵𝐴) 𝑛 is from A towards B
• 𝑎𝐴 = 𝑎𝑂 + 𝑎𝐴/𝑂
• ⃑𝑨=𝒂
𝒂 ⃑ 𝑶 + 𝜶𝑨𝑶 × 𝒓⃑ 𝑨/𝑶 + ⃑⃑⃑⃑⃑⃑⃑⃑
𝝎𝑨𝑶 × (𝝎⃑⃑⃑⃑⃑⃑⃑⃑ ⃑ 𝑨/𝑶 )
𝑨𝑶 × 𝒓
• (𝑎𝐵 + (𝑎𝐴/𝐵 ) + (𝑎𝐴/𝐵 ) ) ∙ 𝑗 = 0
𝑛 𝑡
 Reading Assignment 7 (Th 4)
Theorem 4/1
Question 1:

Which one of the following statements regarding the derivation of the generalized form of Newton’s 2nd law for a
system of particles, ∑ 𝐹 = 𝑚𝑎𝐺 , is false:

• Newton’s 3rd law of motion does not play a role

• The resultant force exerted on the i-th particle is the vector sum of all internal and all external forces acting
on particle I
• The definition of the position vector of the centre of mass of the system 𝑟𝐺 is used directly
• All the internal force that the particle of the system exerts on one another sum to a zero vector
• Newtons 2nd law is stated for each particle in the system
*Newton's 3rd law is in fact used to argue that the internal forces two particles exert on one another are equal in magnitude but opposite
in direction.

Question 2:

Which one of the following is always true?

• ∑𝒊 𝒎𝒊 𝒑
⃑𝒊=𝟎 ⃑
• 𝑚𝑖 𝑝𝑖 = 0
• ∑𝑖 𝑚𝑖 𝑝𝑖 = 0
• 𝑚𝑖 𝑝𝑖 = ⃑0
 Reading Assignment 8 (Th 4)
Theorem 4/4 and Others
Question 1:

Consider M&K problem 4/13 ed 8, specifically the 10 kg mass at the bottom left of the figure in the
book. Only this mass is shown, with the associated pulley and a piece of cable, cut at two sections,
below. True or false: the magnitude of the two upward forces on the two sections through the cable
are equal and are equal to 10 x 9.81 / 2 = 49.05 N?

• True
• False
* This statement would have been true only if the mass was not accelerating. In this case the mass is indeed accelerating
and thus the statement is false.

Question 2:

Consider M&K problem 4/13 ed 8, specifically the pulley at the top right of the figure in the book. Only
this pulley is shown below, with a piece of cable, cut at two sections. True or false: the magnitude of
the downwards force on each one of the two sections through the cable are equal and are equal to
250/2 = 125 N?

• True
• False
* Even though this statement is true, the forces so calculated constitute internal forces in the system (i.e., the system of
particles as implicitly defined in the solution to the problem). Thus this information is of no use in the solution of the
problem, since internal forces play no role in the calculation of the acceleration of the system centre of mass

Question 3:

∑ 𝑚𝑖 𝑣𝐺 ∙ 𝑝𝑖 = 𝑝𝑖 ∙ ∑ 𝑚𝑖 𝑣𝐺

• True
• False
*The time derivative of the position vector relative to the centre of mass of the generic particle cannot be taken outside the summation
(through the implied application of the distributive law), as in general it is not the same for all the particles in the summation.

Question 4:

∑ 𝑚𝑖 𝑣𝐺 ∙ 𝑝𝑖 = 𝑣𝐺 ∙ ∑ 𝑚𝑖 𝑝𝑖

• True
• False
* Since the velocity of the centre of mass is the same for all the terms in the summation (in other words, a common factor), it can in fact be
factored out of the summation (by applying the distributive law), as done here
Question 5:

In the solution to Sample Problem 4/5 ed 8 or 7, 4/4 ed 6, part (a) presented

by the authors M&K, the system is considered to consist of four particles,
1
⃑⃑⃑𝑖 |2 (𝑝 𝑖𝑠 𝑑𝑒𝑟𝑖𝑣𝑒𝑑) the summation is taken over
since in calculating ∑ 2 𝑚𝑖 |𝑝
four particles

• True
• False
* The system actually consists of five particles. The fifth particle, the carriage, does however
not contribute to the summation indicated as the velocity of the carriage relative to the
centre of mass of the system, coincident with the shaft, is a zero vector. Note that the fifth
particle does in fact contribute to the kinetic energy associated with the translation of the system as a whole (i.e., the first term in equation
(4/4)).

Question 6:
1
𝑚𝑣𝐺2 can be considered as that part of the kinetic energy associated with
2
1
⃑⃑⃑𝑖 |2 (p is derived)
the translation of the system along its guides, while ∑ 2 𝑚𝑖 |𝑝
can be considered as that part of the kinetic energy of the system associated
with the spinning of the balls around the system centre of mass.

• True
• False
 Reading Assignment 9 (Th 4)
Work-Energy and Theorem 4/5
Question 1:

Considering the solution to M&K edition 5 problem 4/4, presented on ClickUP: in this problem the kinetic energy
associated with the translation of the system is zero, as the centre of mass of the system does not move.

• True
• False

Question 2:

In M&K Edition 5 Problem 4/4, the point of application of the

force F is initially a distance bsinθ above the horizontal surface,
and finally a distance b

• True
• False

Question 3:

If the definite time integral of the resultant external force vector acting on a system of particles is calculated over a
certain time interval, the result is found to be the same as the first time derivative of the linear momentum vector.

• True
• False
* If the definite time integral of the resultant external force vector acting on a system of particles is calculated over a certain time interval,
the result is found to be the same as the change in linear momentum of the system, over the same time interval. This is what equation
(4/6)b in the Supplementary Notes is saying, the impulse-momentum equation.

Question 4:

The linear momentum of a system of particles by definition is the vector sum of the linear momenta of all the
individual particles in the system.

• True
• False

Question 5:

To prove that the linear momentum of a system of particles is the product of the total mass of the system with the
velocity vector of its centre of mass, M&K equation (4/5), it is argued that the vector sum of the velocity vectors of
all the particles in the system, relative to the centre of mass of the system, is a zero vector.

• True
• False
* To argue that the vector sum of the velocity vectors of all the particles in the system, relative to the centre of mass of the system, is a zero
𝒑̇𝒊 = 𝟎
vector is to argue that ∑ ⃑⃑⃑ ⃑ . This in neither argued in the theorem 4/5 proof, nor is it in general true. What is in fact argued is that the
sum of, for all particles in the system, the product of the particle mass with its velocity relative to the system centre of mass, ∑ 𝒎 ⃑⃑⃑
𝒊 𝒑̇ =
𝒊
𝒅
∑ 𝒎𝒊 ⃑⃑⃑
𝒑𝒊 and the latter is zero vector because ∑ 𝒎𝒊 ⃑⃑⃑
𝒑𝒊 is a constant value, namely always a zero vector, and the time derivative of a
𝒅𝒕
constant vector is a zero vector.
 Reading Assignment 10 (Th 4)
Theorem 4/7 and 4/9
Question 1:

In the proof of Theorem (4/7), the contribution of all the internal forces in the system of particles can be ignored
because the internal forces appear in pairs of forces equal in magnitude and opposite in sign, and therefore in
summation these forces sum to a zero vector.

• True
• False
*That the internal forces appear in pairs equal in magnitude and opposite direction, is both true and relevant to the proof of Theorem
(4/7). That in summation these forces thus sum to a zero vector is true and relevant in the proof of Theorem (4/1), but this is irrelevant in
the proof of Theorem (4/7); in fact, such a summation does not appear anywhere in the proof of Theorem (4/7). Thus, the statement is
false.
It is however true that in the proof of Theorem (4/7) there appears a summation of the moments of all the internal forces about the fixed-
point O. Due to the fact that the internal forces appear in pairs equal in magnitude and opposite direction it can be shown that this
summation of the moments of all internal forces is zero; see the Supplementary Notes.

Question 2:

⃑ 𝐺/𝐺 = 𝐻
In proving that 𝐻 ⃑ 𝐺/𝑂 , it has been shown that

This is true because:

• ⃑
The cross product of two parallel vectors is 0
• The velocity of the centre of mass is a common fact in the summation of the cross product over all the
particles
• 𝑚𝑣 ⃑⃑⃑⃑𝐺 = ∑ 𝑚𝑖 ⃑𝑟𝑖̇
• ∑𝑖 𝑚𝑖 𝑝𝑖 = ⃑0
• ⃑𝑟𝑖 = ⃑⃑⃑𝑟𝐺 + ⃑⃑⃑
𝑝𝑖
Question 3:

The angular momentum vector of a system of particles about a fixed point is simply the vector sum of all the angular
momentum vectors of all the individual particles about the centre of mass of the system

• True
• False
* The statement is false, because it mixes in an erroneous manner two different statements that each on its own is true:
1. The angular momentum vector of a system of particles about a fixed point is simply the vector sum of all the angular momentum vectors
of all the individual particles about this fixed point.
2. The angular momentum vector of a system of particles about the centre of mass of the system is simply the vector sum of all the angular
momentum vectors of all the individual particles about the centre of mass of the system.
 Reading Assignment 11 (Th 4)
Theorem 4/10 and 4/11
Question 1:

Is the following statement true or false?

• True
• False
*This is true because in applying equation (4/10), the arbitrary point P may be any point, including the point O. By selecting point P to be
point O, the given equation results.

Question 2:

The proof of Theorem (4/11) starts off as follows:

Which one of the following statements is true?

• The sum of the moments of all internal forces about the arbitrary point P is not a zero vector
• The internal forces are brought into the argument in order to be able to apply Newton’s second law to the
particles, individually
• Bringing the internal forces in the argument is not really necessary, as the sum of the moments of all internal
forces is zero
• The last line can be interpreted as the moment of the acceleration of the system about the centre of mass
*In the proof of Theorem (4/11) it is necessary to apply Newton's second law to each particle individually. In order to do this, all forces
acting on the particle must be taken into account, including the internal forces. Thus it is not merely an option to take the internal forces
into account; it is essential in the proof.
*The sum of the moments of all internal forces about the arbitrary point P is indeed a zero vector; that is why this sum may be added on
the right hand side of the second line of the proof, as shown above.
*The last line cannot be interpreted as the moment of the acceleration of the system about the centre of mass, for various reasons, most
important of which is that the position vector employed in the moment cross product would indicate a moment about the arbitrary point,
not the centre of mass.

Question 3:
𝑑
𝑝𝑖 × 𝑚𝑖 ⃑𝑟𝑖̈ is replaced with
In the proof of Theorem 4/11, the expression ∑ ⃑⃑⃑ [∑ ⃑⃑⃑
𝑝𝑖 × 𝑚𝑖 ⃑𝑟𝑖̇ ] − ∑ ⃑⃑⃑
𝑝𝑖̇ × 𝑚𝑖 ⃑𝑟𝑖̇ . This
𝑑𝑡
substitution is valid because:
𝑑 𝑑
𝑑𝑡
[∑ ⃑⃑⃑
𝑝𝑖 × 𝑚𝑖 ⃑𝑟𝑖̇ ] = ∑ 𝑑𝑡 [ ⃑⃑⃑
𝑝𝑖 × 𝑚𝑖 ⃑𝑟𝑖̇ ]

𝑝𝑖̇ × 𝑚𝑖 ⃑𝑟𝑖̇ + ∑ ⃑⃑⃑

= ∑ ⃑⃑⃑ 𝑝𝑖 × 𝑚𝑖 ⃑𝑟𝑖̈

• True
• False
*This is true because it is merely an application of firstly the summation rule for differentiation, and secondly the product rule
for differentiation, as applied to cross products.
Question 4:

𝑝̇𝑖 × 𝑚𝑖 ⃑⃑⃑𝑟𝑖̇ is seen to be identically a zero vector. Which one of the

In the proof of Theorem 4/11, the expression ∑ ⃑⃑⃑
𝑝̇ × 𝑚 ⃑⃑⃑𝑟̇ ≡ ⃑0?
following statements are not used to prove that ∑ ⃑⃑⃑ 𝑖 𝑖 𝑖

• In a summation over terms, if all terms contain the velocity of the centre of mass of the system as a factor,
this velocity can be factored out of the summation
• ⃑ ′𝒊 = 𝒓
𝒓 ⃑𝒑+𝒑 ⃑ ′𝒊
• The cross product of two parallel vectors is a zero vector
• 𝑟𝑖̇ = 𝑣𝐺 + 𝑝̇𝑖
• ∑ 𝑚𝑖 𝑝𝑖 ≡ ⃑0

*The proof referred to in this question actually forms an important part of the proof of theorem 4/9. The student is therefore referred to
the supplementary notes or the slides on clickUP covering the proof of Theorem 4/9 to clarify why all the statements are in fact used,
except the one that expresses the absolute position vector of i-th particle in terms of the position vector of the arbitrary point P and the
position vector of i-th particle relative to the arbitrary point P.
 Reading Assignment 12 (Th 4)
Conservation Laws
Question 1:

Consider a solid but elastic system that is not subjected to any resultant external forces, and of which it is known
that the constituting material has considerable internal friction. In general the law of conservation of dynamical
energy can be applied to this system when it deforms during motion.

• True
• False
*In general, the motion of the system will involve motion of the particles relative to each other, due to the fact that the system is elastic.
When this happens, the internal friction will dissipate energy. Hence dynamic energy will not be conserved.

Question 2:

A conservative system is subjected to an external force only in the vertical direction, and the system indeed moves in
this direction. The law of conservation of dynamic energy cannot be applied in the vertical direction, but it may be
applied to the system in the two horizontal directions.

• True
• False
*Energy is scalar (i.e., not a vector quantity) and hence it does not have direction. Energy priciples can therefore never be applied in certain
directions in isolation.

Question 3:

Consider the following and select the correct option: The principle of the conservation of angular momentum of a
system of particles about its centre of mass G is derived directly from:

• ⃑ 𝐺 = ∑ ⃑⃑⃑
𝐻 𝑝𝑖 × 𝑚𝑖 ⃑⃑⃑𝑝𝑖̇
• 𝑝𝑖̇
⃑ 𝑂 = ∑ ⃑𝑟𝑖 × 𝑚𝑖 ⃑⃑⃑
𝐻
• 𝐺̇ = ∑ 𝐹
• 𝐻⃑ ̇𝑂 = ∑ 𝑀⃑⃑ 𝑜
• ⃑𝑯 ̇
⃑⃑ 𝑮 = ∑ ⃑𝑴⃑⃑
𝑮

*This equation is merely the definition of the angular momentum about G. It does not say anything about conservation of angular
momentum.
*The correct equation, M&K equation (4/9), states that the rate of change in angular momentum of the system about G equals the
resultant moment of all external forces on the system about G. If the resultant moment of all external forces on the system about G is a
zero vector (the right hand side), the rate of change in angular momentum of the system about G must also be a zero vector (the left hand
side), which implies that the angular momentum of the system about G must remain constant or, in other words, is preserved.

Question 4:

If I have conservation of angular momentum about O, I also have conservation of angular momentum about G.

• True
• False
*This statement is false in general, since there may be external forces on the system and the sum of the moments of all these forces
about O may be zero (which would imply conservation of angular momentum about O), without it being true that the sum of the moments
of all these forces about G is zero.
 Reading Assignment 13 (Th 4)
Conservation Laws Examples
Question 1:

Because for this system the principle of conservation linear momentum applies,
the centre of mass of the system cannot change relative to the boat, as the
people move around in the boat.

• True
• False
*It is true that the principle of conservation linear momentum applies to this system. This statement as a whole is false because the boat
itself is merely a particle in the system, just like each of the individuals. So when the individual particles move around, the position of the
centre of mass must retain its initial velocity and it will in fact therefore move relative to each of the constituting particles, including the
boat.

Question 2:

This problem is solved by applying two conservation principles: the law of

conservation of dynamical energy and the conservation of angular momentum about
the centre of mass of the system.

• True
• False
*Two principles: true, the law of conservation of dynamical energy: true, but not the principle of conservation of angular momentum about
the centre of mass (as the moment of the weight of the balls about the centre of mass is by no means zero), but rather the principle of
conservation of linear momentum in the x-direction. The correct answer is false.

Question 3:

As increases from zero to 180 degrees, the system centre of mass moves downward
along a straight vertical line.

• True
• False
*Since there is no external force component working onto the system in the x direction, the linear momentum is conserved in the x
direction, and of course this component of linear momentum is initially (and thus always) exactly zero. Thus, in the x direction the centre of
mass cannot go anywhere, while, of course, it does go downwards under gravity as the balls swing downward. Hence the centre of mass
moves downward exactly along a straight vertical line. The correct answer is true.

Question 4:

As the 7500 kg vehicle moves down the ramp, the system centre of mass moves
downward along a straight vertical line.

• True
• False
*Since there is no external force component working onto the system in the horizontal direction parallel to the rail (let's call this the x
direction), the linear momentum is conserved in the x direction, and of course this component of linear momentum is initially (and thus
always) exactly zero. Thus, in the x direction the centre of mass cannot go anywhere, while, of course, it does go downwards under gravity
as the 7500 vehicle moves downward. Hence the centre of mass moves downward exactly along a straight vertical line. - The correct answer
is true
Question 5:

In an absolute sense (i.e., as observed by a person standing on earth), the 7500 kg

vehicle moves downward along a line with a 5 degrees inclination with the horizontal
axis.

• True
• False
*For an observer standing on the 25 tons flat car it will indeed seem as if the 7500 kg vehicle moves downward at a 5 degrees inclined line.
But because the flat car is actually also moving, to the right, as in the figure, the trajectory of the 7500 kg car will be steeper than 5 degrees.
The correct answer is false.

Question 6:

This problem is solved by applying two conservation principles: the law of

conservation of dynamical energy and the conservation of linear momentum in the
horizontal direction.

• True
• False
 Reading Assignment 14 (Th 4)
Theorems 4/18 and 4/19
Question 1:

Consider a steady mass flow system, as in the proof of theorem 4/18. The sum of all external forces acting on the
system equals the product of the mass flow rate and the vector difference between the exit and inlet flow velocities,
out of and into the system, respectively.

• True
• False

Question 2:

⃑⃑ . Which one of the following statements that relate

In theorem 4/19 it is proven that 𝑚′ (𝑑2 × 𝑣2 − 𝑑1 × 𝑣1 ) = ∑ 𝑀 𝑂
to this is false?

• The derivation of the above equation is based on the force-impulse-linear momentum equation
• 𝑚’ is the rate at which mass flows through the reference volume
• ∑𝑀⃑⃑ represents the sum of the moments of all external forces about the fixed point O
𝑂
• 𝑑2 × 𝑣2 is the moment of the exit velocity about the fixed point O
*The option that says the derivation of the above equation is based on the force-impulse-linear momentum equation is false (and hence
the correct answer) as the derivation is based on the angular impulse - angular momentum equation, not the force-impulse-linear
momentum equation. Of course, all the other options are true or correct and hence disqualified as options.

Question 3:

Consider a steady mass flow system, as in the proof of theorem 4/19. The sum of the moments of all external forces
acting on the system about a fixed point equals the product of the mass flow rate and the vector difference between
the moment of the exit velocity and the moment of the inlet velocity, both about the same fixed point.

• True
• False

Question 4:

Consider a fluid flowing at a steady mass flow rate through a container. The equation 𝑚′ (𝑑2 × 𝑣2 − 𝑑1 × 𝑣1 ) =
∑𝑀 ⃑⃑ is used to determine the change in the angular momentum of the container and the fluid inside it, about a
𝑂
fixed point O.

• True
• False
*It is a property of a steady mass flow problem that the angular momentum of the container and the fluid therein does not change. This
fact is used to proof equation (4/19). Hence the statement in the true/false question is totally false. The correct answer is false
Question 5:

In part (a) of this problem, one can think of the force R as the force that, according
to Newton's second law, causes the momentum change associated with the fact that
the incoming stream has no velocity component in the y direction, while the exit
stream has a y direction component of v sin

• True
• False

Question 6:

In part (a) of this problem, one can think of the force F as the force that, according to
Newton's second law, causes the momentum change associated with the fact that
the incoming stream has a velocity component in the x direction of v, while the exit
stream has a reduced x direction component of v cos

• True
• False
 Reading Assignment 15 (Th 4)
Steady Mass Flow Examples
Question 1:

There is an additional external force at the nozzle exit, B, that has not been indicated
in the free body diagram in the solution in M&K.

• True
• False
*There is in fact no external force acting on the system at B. Many people try to arrive at a solution to a problem like this in terms of static equilibrium
principles, and then think of a fictitious force acting at B that would then balance the forces and moments indicated in the free body diagram at or about O.
But such a force does not actually exist and even though such an approach can render the correct answer if applied correctly, students are strongly
discouraged to think in terms of equilibrium principles, static or dynamic (as some call this use of a fictitious dynamic force: dynamic equilibrium). I.e., do not
use dynamic equilibrium.

Question 2:

The fact that the exit velocity at B has a non-zero moment about O can be
seen as the cause of the bending moment at the pipe-nozzle interface at O.

• True
• False

Question 3:

If the weight of the nozzle and the fluid inside is taken into account and the x-y plane is assumed to be a vertical
plane, one may find, depending on the weight, that the bending moment at the pipe nozzle interface is zero.

• True
• False
*The bending moment will be zero if the moment of the weight about O happens to be exactly the same as the moment
calculated right at the bottom of the solution in M&K, which was calculated without taking the weight into account.

Question 4:

The solution on ClickUP is exactly the negative of the solution given at the problem in the 6th edition or at the back
of the book in the 7th edition of the text book by M&K. A valid explanation is

• None of these
• The question statement did not specify the direction of R, hence either
direction (or sign) on R is acceptable
• M&K is wrong
• ClickUp is wrong

Question 5:

There is no vertical (as seen in the figure) direction force acting on the vane because there is no part of the water
stream that experience a vertical direction change in momentum.

• True
• False
*There is in fact a vertical direction change in momentum as the two exit streams both have a component in the vertical direction. The vertical direction
force required to cause the vertical direction change in momentum for the upper stream is exactly the same as and opposite in direction to the
corresponding force for the bottom stream. These two forces are internal forces in the vane and they exactly cancell out. One can also say the the change in
momentum of the upper stream is exactly the same as but in the opposite direction to that of the bottom stream, and hence there are no NET change of
momentum in the vertical direction.
 Reading Assignment 16 (Th 4)
Steady Mass Flow Examples
Question 1:

Consider the steady mass flow of air, fuel and exhaust gas through the aircraft as a
system. The drag D, weight mg, lift L and thrust force T are in equilibrium.

• True
• False
*If one considers the steady mass flow problem, there does not actually exist a thrust force T, and there also is no equilibrium, as this is a
dynamic problem involving change in momentum, where the x direction component of the weight and the drag act as the force associated
with the x direction momentum change.

Question 2:

The mass flow rate of the exhaust gas equals the combined mass flow rate of the inlet
air and the fuel flow.

• True
• False

Question 3:

Consider equation (4/18) in M&K. When this equation is applied to in this sample
problem, it is impossible, on the left hand side, to distinguish between the force
associated with the momentum change of the air and that associated with the fuel. As
a result, on the right hand side of equation (4/18) the momentum change term for the
fuel flow problem needs to be added to that of the air flow problem.

• True
• False

Question 4:

The system in this analysis is the vane with its arm and 6 kg weight and the air stream
as it enters into the system at the exit of the nozzle and exits the system at the bottom
end of the vane. In drawing the free body diagram of this system, as the system is
shown in the figure in M&K, there is a horizontal external force acting on the vane in
line with the nozzle, to the left.

• True
• False
*There is no such force acting on the system. The only extrernal forces acting on the system as it is defined, are the weight of the 6 kg mass
and the vertical and horizontal components of the hinge reactions at point O. In this case the momentum change is associated only with the
change in direction of the air stream (since the speed of the air essentially stays the same). This momentum change and the
forces/moments associated with it, causes the vane to be inclined at the calculated angle and make it seem if there is a horizontal force
acting on the vane.
Question 5:

In this problem the horizontal distances: from the two connecting pipe flange
locations to the centre of the pump shaft, do not play any role. They would have
played a role, though, if there were significant shear forces in the flange connections.

• True
• False

Question 6:

The power transmitted through a shaft can always be equated to the product of the
torque in the shaft and the angular velocity of the shaft, in rad/s. This is the
rotational equivalent of stating that the power expended by a force F moving with
speed v in the same direction as the force is given by the product Fv.

• True
• False
 Reading Assignment 17 (Th 6)
Introduction to chapter 6 & mass moments and products of inertia

Question 1:

A circular disk with radius of 500 mm has a mass 10 kg. The radius of gyration of the disk about an axis normal to the
disk through its centre is 400 mm. The mass moment of inertia of the disk about an axis normal to the disk through
its centre is:

• 1 250 000 kg.m2

• 1 600 000 kg.m2
• 0.0982 m4
• 1.25 kg.m2
• 1.6 kg.m2

Question 2:

Consider a rigid body with its centre of mass located at the origin of the axis system.
True or false: if one calculates the mass moment of inertia about any axis parallel to
the x-axis, this will be smaller than Ixz

• True
• False
*Ixx is the moment of inertia about the x axis. Because it is given that the x axis goes through the centre of mass, Ixx has the minimum
possible value of all moments of inertia about axes parallel to the x axis. According to the parallel-axis theorem (M&K equation B/3) the
moment of inertia about any axis parallel to the axis going through the centre of mass is equal to the value of the moment of inertia about
the axis going through the centre of mass, plus a positive value, which is product of the body mass and the square of the normal distance
between the two axes.

Question 3:

Consider a rigid body with its centre of mass located at the origin of the axis
system. The maximum dimensions in the z direction is more than an order of
magnitude (i.e., more than 10 times) smaller than the maximum dimensions in
both the x and y directions. True or false: the mass moment of inertia about the z
axis is about the same as the sum of the mass moments of inertia about the x and
y axis.

• True
• False
*This is not true for all rigid bodies in a general sense, but it is true in this case (for the stated conditions), as determined by M&K equation
(B/7), sometimes called the thin plate theorem or lamina theorem.
Question 4:

Consider a rigid body with maximum dimension 80mm, the motion of which is described within an inertial Cartesian
axis system as indicated to the right. The body has appreciable dimensions in all three axis directions. It is initially at
rest with its centre of mass located at the origin of the axis system. Its motion is not constrained in any way. The
body is symmetrical with respect to the xy-plane. In addition to its weight, which acts in the negative y direction, a
force of 50jN is applied to the body at a point with initial coordinates (x,y,z) = (30,15,0)mm, which one of the
following statements is true:

• The body undergoes planar motion in the x-y plane.

• The body undergoes planar motion in the x-z plane.
• The body undergoes planar motion in the z-y plane.
• The body does not undergo planar motion, but full 3D motion, because it is not thin slender body.
*Because the body is symmetrical with respect to the x-y plane, the axis fixed to the body initially coincident with the z axis, is a principal
axis. There are two external loads on the body: its weight and the force. Both these loads are purely in the x-y plane. Also, the body centre
of mass also lies in the x-y plane. Hence all conditions for planar motion in the x-y plane are being met and one can therefore state that the
body is undergoing planar motion in the x-y plane. As the body moves, its centre of mass moves off the origin of the axis system and its
principal axis mentioned above also moves off the z axis. This principal axis does however remain parallel to the z axis, and thus normal to
the plane of motion, throughout the motion.

*Note that the conditions for planar motion in the x-z or z-y planes are not being met.
 Reading Assignment 18 (Th 6)
General equations of motion for plane motion of rigid bodies

Question 1:

Which one of the following is false? It is alleged that, for the case of plane motion of a rigid body, the angular
momentum vector about the centre of mass:

• is equal to the resultant moment vector about the centre of mass of all external forces acting on the body.
• is in the same direction as the angular velocity vector of the body.
• is in the same or exactly opposite direction as the angular acceleration vector of the body.
• is in the same or exactly opposite direction as the resultant moment about the centre of mass of all external
forces acting on the body.
• Is equal to ∑ 𝑝𝑖 × 𝑚𝑖 (𝜔
⃑ × 𝑝𝑖 )

*The time rate of change of the angular momentum vector, rather than the vector itself, about the centre of mass, is equal to the resultant
moment about the centre of mass of all external forces acting on the body. All the other options are true.

Question 2:

A rigid body undergoing plane motion in the xy-plane is show in figure 1.4. With starting
point 𝐻 𝑝𝑖̇ . It may be shown that 𝐻
⃑ 𝐺 = ∑ 𝑝𝑖 × 𝑚𝑖 ⃑⃑⃑ ⃑ 𝐺 = 𝐼𝐺 𝜔 ⃑ . To prove this the following is
used: for a rigid body rotating at angular velocity 𝜔 𝑝𝑖̇ = 𝜔
⃑ , it is true that ⃑⃑⃑ ⃑ × 𝑝𝑖 because:

• The vector 𝒑⃑ 𝒊 does not chain in length with time but only in direction
• The vector 𝜔⃑ and the vector 𝛼 have the same orientation
• 𝐼𝐺 = ∑ 𝑚𝑖 𝑝𝑖2
• 𝑝𝑖̇ is equal to the first-time derivative of 𝑝𝑖
The vector ⃑⃑⃑
• 𝑝𝑖 is perpendicular to 𝜔 ⃑

Question 3:

Consider two rigid bodies interconnected by a hinge at A,

undergoing planar motion. The bodies are indicated in the figure
above. ⃑⃑⃑⃑⃑⃑
𝑅12 is the hinge reaction force exerted on body 1 by body
2 while ⃑⃑⃑⃑⃑⃑
𝑅21 is the hinge reaction force exerted on body 2 by body
1. Indicate whether the following statement is true or false: in
applying the moment equation (6/5) to this system, ∑ 𝑀𝑝 =
∑𝑖 ±𝑑𝑖 𝑚𝑖 𝑎𝐺𝑖 + ∑𝑖 𝐼𝐺𝑖 𝛼𝑖 , the moments about the arbitrary point P
of . ⃑⃑⃑⃑⃑⃑
𝑅12 and ⃑⃑⃑⃑⃑⃑
𝑅21 are neglected in calculating ∑ 𝑀𝑝 .

• True
• False
 Reading Assignment 19 (Th 6)
General plane motion; SP 6/5
Question 1:

The hoop that is rolling down the 20-degree inclined surface is said
to undergo plane motion. With reference to the figure below,
indicate which of the following planes is the actual plane of motion
for this problem.

• The plane through the centre of mass of the hoop parallel

to the 20-degree inclined surface, on which the hoop is
found to be rolling and slipping.
• The plane through the centre of mass of the hoop parallel to the y-z plane.
• The horizontal plane through the centre of mass of the hoop.
• The plane through the centre of mass of the hoop parallel to the x-y plane.
• The plane through the centre of mass of the hoop parallel to the x-z plane.
*If the hoop is considered to be constituted of a large number of laminas, all parallel to the x-y plane and each really being a thin ring of
inner radius r, one will find that each one of these lamina rings will remain in its original plane throughout the motion, hence the motion is
planar motion in the x-y plane.

Question 2:

If both the coefficients of static and kinetic friction of sample

problem 6/5 is reduced by 10 %, one may find that the motion of
the hoop down the incline can be described as "rolling without
slipping".

• True
• False
*As the problem is stated, the solution indicates that the friction is too little to ensure rolling without slipping. Further reducing the
friction, by reducing the friction coefficients, will only make matters worse, with regards to the hope of having rolling without slipping.

Question 3:

If one were to increase the angle of slope of the inclined

surface in sample problem 6/5 by 10 %, one may find that the
motion of the hoop down the incline can be described as "rolling
without slipping".

• True
• False
*As the problem is stated, the solution indicates that the friction is too little to ensure rolling without slipping. Increasing the slope angle
will reduce the magnitude of the normal reaction force N, which will reduce the friction. Further reducing the friction will therefore only
make matters worse, with regards to the hope of having rolling without slipping.
 Reading Assignment 20 (Th 6)
General plane motion, further problems
Question 1:

Transparency Problem Art. 6/5 No. 2: Part of the kinetic diagram is redrawn below,
showing only the three linear "acceleration times mass" vectors, in red, as used in
the solution of the problem.

Now consider the disk after it has rotated as it has rolled down the incline, without
slipping, through 45 degrees. Which one of the following diagrams will be the
correct representation of the linear acceleration part of the kinetic diagram?

because the component 𝒎𝒂𝟎 should still be parallel to the fifteen degrees inclined surface, while the 𝒎𝒓𝑮 𝝎𝟐 component should point from
the new centre of mass position towards the centre of the wheel, while the 𝒎𝒓𝑮 𝜶 component should be normal to
the 𝒎𝒓𝑮 𝝎𝟐 component, as indicated here.

Question 2:

Sample problem 6/6: Select the option that fits best: In Transparency
problem art. 6/5 no. 2, the example we did just before Sample
problem 6/6, the acceleration of the centre of mass 𝑎𝐺 of the wheel
(the disk in that case) was decomposed in three components: the
acceleration of the wheel centre and the normal and tangential
components of the acceleration of the centre of mass of the wheel
relative to the wheel centre. In Sample problem 6/6 no such
decomposition of the centre of mass 𝑎𝐺 of the spool is done. This is
because:

• the centre of mass of the spool falls right on top of the wheel centre and hence 𝒂⃑ 𝑮 is known in direction
and initially unknown only in magnitude, regardless of whether the wheel (the spool, in this case) is rolling
without slipping or rolling and slipping simultaneously.
• under the assumption that the spool is rolling without slipping, 𝑎𝐺 is known if 𝛼𝐵 is known and hence we do
not need to know 𝑎𝐺 to solve the problem.
• 𝑎𝐺 = 𝑎𝐷
• 𝑎𝐺 = −𝑎𝐷
*In this problem and in Sample problem 6/5, unlike Transparency problem art. 6/5 no. 2, the acceleration of the centre of mass is very well
behaved, because of the fact that the centre of mass here falls right on top of the centre of the wheel. This means that the centre of mass
moves in a straight line parallel to the road surface and hence its direction is always know, while only its magnitude (including its sign) may
be unknown.

*In Transparency problem art. 6/5 no. 2, on the other hand, the centre of mass is located off the wheel centre by some distance, which
means that it is following a very strange and unknown trajectory and certainly does not move in a straight line. In such a case it is highly
beneficial to write the acceleration vector of the centre of mass in terms of other acceleration vectors, which may also be unknown, but for
which the behaviour is, at least, much more predictable.
Question 3:

If the static friction coefficient between spool B and the horizontal

surface is reduced to a value of 0.1, rather than 0.25 as in the original
problem statement, spool B will no longer roll without slipping on the
horizontal surface, and as a result the angular acceleration of spool B
will be zero.

• True
• False
*It is indeed true that spool B will no longer be rolling without slipping if the static friction coefficient between the spool and the horizontal
surface is reduced to 0.1, but it will certainly still be rolling (it will be rolling and slipping) and, due to the resultant moment of forces about
the centre of mass of spool B not being zero even in the case where it is rolling and slipping, its angular acceleration will not be zero. Thus
the statement is false.

Question 4:

Let us compare the three rolling wheel type problems that we have done so far in chapter 6. In Sample problems
6/5 and 6/6 the force equation in the direction normal to the road surface is simply an equation of static
equilibrium, but not so in Transparency Problem Art. 6/5 No. 2. Indicate whether the following explanation for this
is true or false:
The difference with Transparency Problem Art. 6/5 No. 2, compared to the other two problems, is that, due to
the fact that the centre of mass of the disk is not located at the centre of the wheel, the centre of mass in
general also has a non-zero acceleration component in a direction normal to the road surface, which is not so in
the other two problems. This acceleration component normal to the road surface means that there is no static
equilibrium in this direction in Transparency Problem Art. 6/5 No. 2.

• True
• False
 Reading Assignment 21 (Th 6)
General plane motion, yet more examples
Question 1:

Sample problem 6/8: Which one of the following statements is false?

• The following figure is the only valid kinetic diagram for this problem:

• The following figure is a valid kinetic diagram for this problem, with ⃑⃑⃑⃑
𝑎𝐺 of some unknown magnitude and
direction:

• The following figure is a valid kinetic diagram for this problem, with 𝑎𝐺𝑥 and 𝑎𝐺𝑦 the x and y direction
components, respectively, of ⃑⃑⃑⃑
𝑎𝐺 :

• The figures shown in the other options are all valid kinetic diagrams, but the following one is the only one
that leads to a relatively simple solution of the problem:

*All the figures shown in this question are valid kinetic diagrams, but the one below, which is also the one shown in the solution in the
M&K handbook, is the only one that leads to a relatively simple solution of the problem. Therefore, the false statement is the one that
claims that the figure below is the only valid kinetic diagram.
Question 2:

Sample problem 6/8: consider the following figures:

It is claimed that this can be treated as a general planar motion problem. The plane of motion is:

• The plane normal to the plane of the screen or the paper, going through both the door hinge O and the
centre of mass G
• The plane through the door centre of mass parallel to the x-y plane.
• The plane through the door centre of mass parallel to the x-z plane.
• The plane through the door centre of mass parallel to the y-z plane.
*If the door is sliced up in a number of laminas all parallel to the x-y plane, all these laminas will remain in their respective planes
throughout the motion. Therefore, the x-y plane through the centre of mass of the door is the plane of motion.

Question 3:

In sample problem 6/8, as the normal component of the acceleration of G relative

to O increases, it causes a dramatic increase in the moment of accelerations about O.

• True
• False
It is true that, as the door swings open, it angular velocity increases and hence the normal component of the acceleration of G relative to
O, 𝒓𝑮 𝝎𝟐 , increases quite dramatically. This acceleration component, however, does not have any moment arm about point O, as it is
always exactly aligned with point O. Therefore, its moment about point O remains zero, always.

Question 4:

The free body and kinetic diagrams used in the solution of sample problem 6/8 are shown below. In drawing the
free body diagram, if one were to choose the direction of the component of the hinge reaction force Oy in the
opposite direction than indicated in the drawing below, it would not matter; the
force component will be calculated correctly, except for its sign that will be inverted.

• True
• False

Question 5:

The free body and kinetic diagrams used in the solution of sample problem 6/8 are shown below. In drawing the
kinetic diagram, if one were to choose the direction of the mass times
acceleration of G relative to O, 𝑚𝑟𝐺 𝛼 (the same as 𝑚𝑟𝛼 ), in the opposite
direction than indicated in the drawing below, it would not matter;
the acceleration component will be calculated correctly, except for its sign that
will be inverted.
• True
• False

Choosing the direction of the mass times acceleration of G relative to O, 𝒎𝒓𝑮 𝜶 , in the opposite direction than indicated in the drawing in
the M&K text book will lead to an incorrect solution, as this direction is kinematically inconsistent with the direction used for the angular
acceleration 𝜶.
 Reading Assignment 22 (Th 6)
Translation
Question 1:

In sample problem 6/1, let the effective coefficient of friction between the tyres
and the road be 0.8. The normal reaction force between the road and the rear
wheel is calculated to be 8100 N. This means that the friction force between the
road and the rear wheel is 0.8*8100 = 6480 N.

• True
• False
Because the friction coefficient is so high, there is enough friction available to sustain the required acceleration of 1.608 m/s2 to reach the
speed of 50 km/h from standstill in 60 m, with a frictional force between the road and the rear tyre of merely 3880 N, as calculated. The
friction force is not necessarily the product of the friction coefficient and the normal reaction force; it can also be lower than this value. The
product of the friction coefficient and the normal reaction force is just the maximum or limit value that the friction can attain.

Question 2:

Consider the truck accelerating uphill as in sample problem 6/1. Indicate which
one of the following statements is false.

• The friction force between the road and the rear wheels causes the
vehicle to accelerate.
• The direction of the friction force exerted by the road on the rear wheels is downwards to the left, as
friction opposes motion.
• The friction force between the road and the front wheels is by approximation zero because the inertia of the
front wheels is negligibly small.
• The friction force between the road and the rear wheels drives the vehicle up the hill.
*Friction does not always oppose motion in a global sense. It is however true to say that if two surfaces slip relative to one another and
friction is present, it is in the direction as to oppose the slip. If there is no slippage, the friction is in the direction as to oppose the
inclination to slip. Whether in this problem the rear tyres slip or not, the direction of slip or of inclined slip of the contact surface on the
tyre will be downward to the left (i.e., in the opposite direction as the direction of motion of the vehicle as a whole), which means that the
friction force will be upwards to the right.

Question 3:

In sample problem 6/2, it is found that 𝛼 = 14.81 − 6.54cos (𝜃)

in radians per second squared. This means that, when the angle reaches a value of 𝜃 =
20 , the angular acceleration of bar AB will be about 13.87 rad/s2.

• True
• False
Bar AB is undergoing curvilinear translation; hence both its angular velocity and angular acceleration are zero
all the time, throughout the motion. The angular acceleration that was calculated as 𝜶 = 𝟏𝟒. 𝟖𝟏 −
𝟔. 𝟓𝟒𝐜𝐨𝐬 (𝜽) is that of the links AC and BD. Links AC and BD will therefore have an angular acceleration of
13.87 rad/s2 when 𝜽 = 𝟐𝟎 .
 Reading Assignment 23 (Th 6)
Fixed-axis Rotation
Question 1:

Which one of the following statements is true, regarding fixed axis rotation problems
in plane dynamics of rigid bodies?

• The equation ∑ 𝑴𝒐 = 𝑰𝒐 𝜶 is derived by using the moment of forces about

⃑⃑⃑⃑⃑⃑⃑ = 𝒓
an arbitrary point P equation, ∑ 𝑴 𝒑 ⃑ ⃑ +𝑯
× 𝒎𝒂𝑮/𝑷
⃑⃑⃑⃑⃑̇ , and taking point
𝑮 𝑮
P to be on the axis of rotation
• One can solve these problems using ∑ 𝑀𝑜 = 𝐼𝑜 𝛼 without having to consider
the equation ∑ 𝐹 = 𝑚𝑎 ⃑⃑⃑⃑𝐺
• Because the problem is fixed axis rotation, the equation ∑ 𝑀𝑜 = 𝐼𝑜 𝛼 cannot
be applied to solve the problem
• The moment of the mass-times-tangential-acceleration-vector about the axis
of rotation is zero
• The reaction forces at the axis of rotation (the so-called hinge reaction
forces) do not play a role in the dynamics, since they appear in a pair of two
equal and opposite forces, according to Newton’s third law, and thus cancel out

Question 2:

In Sample problem 6/3 the two equations ∑ 𝐹𝑥 =

0 and ∑ 𝐹𝑦 = 0 are used because the centre of mass
does not accelerate in fixed axis rotation problems.

• True
• False
*The centre of mass of the rigid body undergoing fixed axis
rotation in general does not have a zero acceleration. In Sample Problem 6/3, however, the centre of mass of the body undergoing fixed
axis rotation falls on the axis of rotation and therefore in this special case the acceleration of the centre of mass is indeed zero.

Question 3:

Transparency problem article 6/4 #1

Under the assumption that the applied moment M is positive, one can say that if the torsion
spring stiffness is increased, M will also increase. Under this assumption, indicate whether it is
true of false that an increase in spring stiffness will cause an increase in the tangential direction
component of the bearing reaction force at the moment that the slender bar swings past the
vertical position.

• True
• False
 Reading Assignment 24 (Th 6)
Further Fixed-axis Rotation examples
Question 1:

Consider a cricket player who is swinging her bat at a ball being bowled at her wickets. Let us assume that in her
swinging action, the combination of bat and her arms performs fixed axis rotation about an axis halfway between
her two shoulder joints. The player has previously determined the centre of percussion of the combination of her
bat and her arms. As she swings the bat, she manages to impose an angular acceleration 𝛼 on her arms and bat,
with a corresponding tangential acceleration of the centre of mass of the combination of the bat and her arms. She
manages to hit the ball exactly at the centre of percussion she determined before, and hits it for a six. True or false:
she does not actually feel her hitting the ball, as a force in or a moment about her shoulder joints.

• True
• False
*As she hits the ball, a very large contact force is generated between the ball and the bat. She does, however, not actually feel this
force, neither as an additional joint force in her shoulder joints, nor as an additional moment around her shoulder joints, because the
location of the ball contact force is exactly on the centre of percussion. Since this contact force does not have any moment about the
centre of percussion, and all other external forces on the bat-arm combination also have a zero resultant moment about the centre of
percussion, the other external forces are not disturbed at all and the lady does not experience any effect of the high contact force in her
shoulder joints.
Question 2:

Consider a cricket player who is swinging her bat at a ball being bowled at her wickets. Let us assume that in her
swinging action, the bat and her arms perform fixed axis rotation about an axis halfway between her two shoulder
joints. The player has previously determined the centre of percussion of the combination of her bat and her two
arms. As she swings at the ball, she manages to impose an a consideredn alpha on her arms and bat, with a
corresponding tangential acceleration of the centre of mass of the combination of the bat and her arms. She
manages to hit the ball exactly at the centre of percussion she determined before and hits it for a six. True or
false: The angular acceleration of the combination of the bat and her arms is not changed as she hits the ball.
• True
• False
Even though the lady does not feel the high contact force in her shoulder joints, because the high contact force between the ball and the
bat does not have a moment about the centre of percussion, this force does in fact have a high moment about the centre of mass of the
bat-arms combination and an even higher moment about the centre of rotation in the lady's shoulder joints. This high moment is in a
direction to reduce the angular acceleration of the bat-arms combination. Therefore, this high contact force does have a very significant
effect in reducing the angular acceleration of the bat-arms combination; in fact, the high contact force most probably reverses the
angular acceleration right after the moment of contact. The tangential component of the acceleration of the centre of mass is changed
correspondingly. Of course, the bat exerts the same high contact force on the ball, which causes the ball to accelerate, during the contact
time, towards the border for the six.

Question 3:

From the first three, select the option that best (most correctly) completes the following
sentence:
During the time period for which the dynamics of this problem is analysed, the magnitude of
the angular acceleration of the pendulum 𝛼

• Decrease with time

• Increase with time
• Remains constant with time
 Reading Assignment 25 (Th 6)
Work-Energy
Question 1:
1 1
The relationship 𝑇 = 2 𝑚𝑣𝐺2 + 2 𝐼𝐺 𝜔2 holds for:
• All rigid bodies undergoing motion in a plane
• All systems of particles for which the principle of conservation of mechanical energy applies
• All systems that are translating as well as rotating
• Any system of particles
• All system of particles for which the motion complies with the generalised form of Newton’s second law
*All the options that in a general manner refer to systems or systems of particles are wrong because this equation applies only in the case
of rigid bodies and only to those rigid bodies that undergo plane motion

Question 2:
1 1
The kinetic energy of a rigid body in general plane motion is given by: 𝑇 = 2 𝑚𝑣𝐺2 + 2 𝐼𝐺 𝜔2. For rotation about a fixed
1
point, A, a distance 𝑟𝐺 from the centre of mass, this can be simplified to: 𝑇 = 2 𝐼𝐴 𝜔2, because:
• 𝒗𝑮 = 𝒓𝑮 𝝎
• 𝐼𝐺 = 𝐼𝐴 + 𝑚𝑟𝐺2
• 𝐼𝐺 = 𝐼𝐴
• The velocity of the centre of mass is zero
• The velocity of point A is zero
*The velocity of point A is indeed zero, but this is not the reason for this statement. The other options are simple not true.

Question 3:

The velocity of the string where the 100 N force is applied is double that of
the wheel centre O.
• True
• False
*The solution shows that, in fact, the velocity of the string where the 100 N force is applied is
three times that of the wheel centre O. This is actually used in the solution to the problem.
 Reading Assignment 26 (Th 6)
Work-Energy examples
Question 1:

In Sample problem 6/10, use is made of a kinematic constraint between the speed of the
centre of mass and the angular velocity of bar AB. This constraint states that generally 𝑣𝐵 =
𝑣𝐺 = 0.3𝜔
• True
• False
*𝒗𝑩 = 𝒗𝑮 = 𝟎. 𝟑𝝎 is indeed the kinematic constraint, but only for the very specific situation when 𝜽 = 𝟑𝟎. It is
certainly not the constraint for all possible angles 𝜽 and in particular not for the case solved in part (b).

Question 2:

In Sample problem 6/10, the only forces that do any work are the weight of the bar and the
spring force.

• True
• False
*The statement is true. The work done by these forces is however accounted for in the solutions in the book
and the slides on the web by the change in potential energy during the motion.

Question 3:

In Sample problem 6/11, if the mass of the two wheels are doubled (increased by
a factor of 2), the two results calculated, vB and x, will also increase, but not by a
factor of 2.
• True
• False
*The mass and mass moment of inertia of the two wheels do not play a role in the solution, because at all three states, initially (𝜽 = 𝟒𝟓),
when 𝜽 = 𝟎 and when the spring is deflected at its maximum, the wheels are actually stationary and hence do not contribute to the kinetic
energy of the system.

Question 4:

In Sample problem 6/11, if there is indeed friction between the wheels and the road
surface, but not sufficient to ensure that the wheels are rolling without slipping, the
system would not be considered as a conservative system.

• True
• False
*If the friction forces between the road and the wheels are insufficient to ensure rolling without slipping, slippage will occur, and with
slippage these forces will do work. The energy associated with this work will be dissipated as heat and hence the system will not be
conservative.

Question 5:
1
Consider transparency problem 6/6. The expression 𝑇 = 2 𝑚𝑣𝐺2 only applies to recti-linear
translation. It does not apply to curve-linear translation of rigid bodies undergoing plane
motion.
• True
• False
𝟏
*the expression 𝑻 = 𝒎𝒗𝟐𝑮 applies to both the rect-linear and curve-linear motion
𝟐
 Reading Assignment 27 (Th 8)
Free Vibration Theory
Question 1:

During free vibration of a spring-mass system in one direction, the mass m undergoes a displacement that varies
sinusoidally with time. Let the spring constant be k. If the time is measured from one peak value of this motion to
the next, this is found to be:

𝒎
• 𝟐𝝅√ 𝒌
𝑘
• 2𝜋√𝑚
𝑚
• √𝑘
𝑚
• 2𝜋√
𝑘(1−𝜁 2 )

𝑘
• √
𝑚

𝟏 𝝎𝒏
*The question really ask for the period of oscillation, 𝑻 = , where 𝒇 is the frequency of the oscillation, in Hz. Now 𝒇 = , where 𝝎𝒏 =
𝒇 𝟐𝝅
𝒌 𝟐𝝅 𝒎
√ is the undamped natural circular frequency of the spring-mass system in rad/s. So 𝑻 = = 𝟐𝝅√ .
𝒎 𝒌 𝒌
√
𝒎

Question 2:

During free vibration of a spring-mass-damper system in one direction, the mass m undergoes a displacement that
varies in a decaying sinusoidal with time. Let the spring constant be k and let the damping ratio be 𝜁. If the time is
measured from one peak value of this motion to the next, this is found to be:

𝒎
• 𝟐𝝅√
𝒌(𝟏−𝜻𝟐 )

𝑘(1−𝜁 2 )
• 2𝜋√
𝑚
𝑚
• 2𝜋√ 𝑘

𝑘
• 2𝜋√
𝑚
𝑘
• √
𝑚

*The question really ask for the period of oscillation, 𝑻, but since this is now a damped (and thus decaying) oscillation, we normally add the
𝟏 𝝎
subscript d and write 𝑻𝒅 = , where 𝒇 is the frequency of the damped oscillation, in Hz. Now 𝒇 = 𝒅, where 𝝎𝒅 = 𝝎𝒏 √𝟏 − 𝜻𝟐 =
𝒇 𝟐𝝅
𝒌 𝒌(𝟏−𝜻𝟐 ) 𝟐𝝅 𝒎
√ √𝟏 − 𝜻𝟐 =√ is the damped natural circular frequency of the spring-mass system, in rad/s. So 𝑻𝒅 = = 𝟐𝝅√ .
𝒎 𝒎 𝝎𝒅 𝒌(𝟏−𝜻𝟐 )
Question 3:

One form of the general solution to the equation of motion of a spring-mass-damper system in single degree-of-
freedom vibration with which we have worked in this reading assignment is:

𝑋 = 𝑒 −𝜁𝜔𝑛 𝑡 {(𝐴1 + 𝐴2 )𝑐𝑜𝑠𝜔𝑑 𝑡 + 𝑖(𝐴1 − 𝐴2 )𝑠𝑖𝑛𝜔𝑑 𝑡

In this equation, the coefficient of 𝑠𝑖𝑛𝜔𝑑 𝑡, namely 𝑖(𝐴1 − 𝐴2 ), calculates to give an imaginary number.

• True
• False
∗ 𝑨𝟏 and 𝑨𝟐 are both complex numbers, and 𝑨𝟏 is the complex conjugate of 𝑨𝟐 . The difference between two complex conjugate
numbers is always imaginary, hence 𝒊 times the difference between two complex conjugate numbers is always purely real, where 𝒊 =
√−𝟏. Hence 𝒊(𝑨𝟏 − 𝑨𝟐 ) is a real number.

Question 4:

It is always possible to write the sum of a cosinusoidal and a sinusoidal vibration at the same frequency but with
different amplitudes as a single cosinusoidal vibration with a certain amplitude and a certain phase angle,
𝐴3 𝑐𝑜𝑠𝜔𝑑 𝑡 + 𝐴4 𝑠𝑖𝑛𝜔𝑑 𝑡 = 𝐶𝑐𝑜𝑠(𝜔𝑑 𝑡 + 𝜓)
*This statement is true and can easily be proven by expanding 𝐜𝐨𝐬 (𝝎𝒅 𝒕 + 𝝍) using the cosine sum of angles identity, quite similarly to
what was done in deriving M&K equation (8/12), only, if one chooses to write 𝑨𝟑 𝒄𝒐𝒔𝝎𝒅 𝒕 + 𝑨𝟒 𝒔𝒊𝒏𝝎𝒅 𝒕 in this cosinusoidal form, rather than
in the sinusoidal form of equation (8/12), one would get different values for the phase angle 𝝍.

Question 5:

The response of an overdamped spring-mass-damper system to an initial displacement and initial velocity will
contain no oscillation.

• True
• False
* This statement is true, because there are no oscillatory terms in the general solution M&K (8/10) if the roots of the characteristic
equation 𝝀𝟏 and 𝝀𝟐 are real numbers.
 Reading Assignment 28 (Th 8)
Free Vibration Examples
Question 1:

Let us assume, unlike in the actual solution of Sample problem 8/2, that it was found
that 𝜁 = 1.03. For such a case, the displacement of the mass at 2 seconds can be
calculated with the equation 𝑋 = 𝐶𝑒 −𝜁𝜔𝑛 𝑡 sin (𝜔𝑑 𝑡 + 𝜓) using the initial conditions to
calculate the constant 𝐶 and the phase angle 𝜁.

• True
• False
*The equation above is valid only for underdamped systems, i.e., where 𝜻 < 𝟏. When 𝜻 > 𝟏, M&K equation (8/10) should be used, using
the initial conditions to calculate the constants A1 and A2. Since there is no oscillation when 𝜻 > 𝟏 , there is no phase angle to be
calculated.

Question 2:

We see that in Sample problem 8/2, the damped natural circular frequency 𝜔𝑑 is
considerably smaller than the undamped natural circular frequency 𝜔𝑛 . Let us assume,
unlike in the actual solution of Sample problem 8/2, that it was found that 𝜁 =
1.03. For such a case, the damped natural circular frequency 𝜔𝑑 is larger than the undamped natural circular
frequency 𝜔𝑛 .

• True
• False
*For the overdamped case, i.e., when 𝜻 > 𝟏, the concept of a damped natural circular frequency is not defined (it does not exist). Arguing
about this from a physical point of view: since there is no oscillation in the response of an overdamped system, there can also not be a
frequency of oscillation. (In the underdamped case the damped natural circular frequency divided by 𝟐𝝅 is the frequency of oscillation of
the decaying natural vibration.) Note that, even though the concept of the damped natural circular frequency does not have any meaning
in the overdamped case, the undamped natural circular frequency 𝝎𝒏 does play a role in this case, as it appears as a mathematical
parameter in equation (8/10). In this, however, 𝝎𝒏 has nothing to do with oscillation.

Question 3:

In Sample problem 8/3 the two wheels definitely roll relative to the bar with
slippage. This means that the equation of motion of the bar must have a
frictional damping term.

• True
• False
* Sample problem 8/3 is an example of a vibratory mechanical system without a spring. A pendulum is a second example. In the case of
the pendulum, the moment of weight of the pendul um about its axis of rotation creates a spring-like term in the equation of motion.

Question 4:

In Sample problem 8/3 the two wheels definitely roll relative to the bar with
slippage. This means that the equation of motion of the bar must have a
frictional damping term.

• True
• False
*Energy is certainly dissipated due to the slippage of the two wheels relative to the bar. This energy is however constantly supplied by the
motors driving the two wheels. The dissipation of this energy does not in any way come into play in the equation of motion of the bar. The
result is that the bar will undergo a sustained oscillation (i.e., theoretically for ever, at the same amplitude) at the frequency calculate
 Reading Assignment 29 (Th 8)
Forced Vibrations
Question 1:

As an engineer you are confronted with the following situations, about which you are asked to make a judgement: a
structure is subjected to a steady excitation force changing in time in a sinusoidal fashion at a circular frequency
𝜔. The structure has a natural circular frequency 𝜔𝑛 in the general vicinity of the circular frequency 𝜔 but not too
close. Because the structure has a certain amount of damping with damping ration 𝜁 of about 0,1, it also has a
damped natural circular frequency 𝜔𝑑 = 𝜔𝑛 √1 − 𝜁 2. Assuming a long time has lapsed since commencing with
application of the excitation, it will be found that:
• The structure vibrates at 𝝎
• The structure vibrates at 𝜔𝑛
• The structure vibrates at 𝜔𝑑
• The structure does not vibrate any longer
• The vibration of the structure continues to from as a result of resonances

Question 2:

Consider a spring-mass-damper system with undamped natural circular frequency 20 rad/s and damping ratio 𝜁 =
0.2. the system is subjected to a excitation force of 𝐹0 𝑠𝑖𝑛𝜔𝑡 and reacts with a steady state vibration given by the
displacement function 𝑥(𝑡) = 𝑋𝑠𝑖𝑛(𝜔𝑡 − 𝜙). The magnification factor M, defined as the ratio of the displacement
𝐹
amplitude to the static deflection 𝑘0 , for the case where 𝜔 = 20𝑟𝑎𝑑/𝑠 is:

• 0
• 25
• ∞
• 2.5
• 5

Question 3:

Consider a spring-mass-damper system with undamped natural circular frequency 20 rad/s and damping ratio 𝜁 =
0.2. the system is subjected to a excitation force of 𝐹0 𝑠𝑖𝑛𝜔𝑡 and reacts with a steady state vibration given by the
displacement function 𝑥(𝑡) = 𝑋𝑠𝑖𝑛(𝜔𝑡 − 𝜙). The phase angle between the excitation force and the steady state
displacement, for the case where 𝜔 = 20𝑟𝑎𝑑/𝑠, is:

• 90
• 45
• ∞
• 180
• 0
 Reading Assignment 30 (Th 8)
Vibration of Rigid Bodies
Question 1:

Consider the bar supported on a pivot, a spring and a damper, shown in M&K
figure 8/16. The undamped natural circular frequency of rotational vibration of
this bar about its pivot O is √4𝑘/𝑚.

• True
• False
That this is true follows from equation (8/25), as the coefficient of the angular acceleration 𝜽̈ is one, while the coefficient of 𝜽 is 𝟒𝒌/𝒎.

Question 2:

Consider the solution to Class example Problem 8/90 ed. 7. It is given that the T-structure is excited with an
3 2𝑘 𝑔
harmonic base excitation with angular circular frequency 𝜔. If 𝜔 = √ ( + ), the phase angle between the
10 𝑚 𝑙
𝜋
excitation and the angular response will be radians.
4
• True
• False
𝟑 𝟐𝒌 𝒈
* If the circular frequency of the excitation is given by 𝝎 = √ ( + ), the T-structure will be driven exactly at half its circular natural
𝟏𝟎 𝒎 𝒍
𝝎
frequency. Since the damping ratio is zero for this system and < 𝟏, accoring to M&K figure (8/12), the phase between the excitation
𝝎𝒏
and the angular response will be zero radians, which means that the response will be exactly in phase with the excitation.