Chapter 7 Rotation of Rigid Body

Rigid Object
We can model the motion of an extended object
by modeling it as a system of many particles.
 The analysis is simplified if the object is a
rigid object.
A rigid object is one that is non-deformable.
 The relative locations of all particles making
up the object remain constant.
 All real objects are deformable to some
extent, but the rigid object model is very
useful in many situations where the
deformation is negligible.
Angular Position
Axis of rotation is the center of
the disc
Choose a fixed reference line.
Point P is at a fixed distance r
from the origin.
 A small element of the disc
can be modeled as a particle
at P.
Polar coordinates are convenient
represent the position of P (or any
other point).
P is located at (r, q) where r is
the distance from the origin to P
and q is the measured
counterclockwise from the
reference line.
Angular Position, cont.
As the particle moves,
the only coordinate that
changes is q
As the particle moves
through q, it moves
through an arc length s.
The arc length and r
are related:
 s = q r
Radian (unit for angular position)

This can also be expressed as:

s
q
r
q is a pure number, but commonly is given the
artificial unit, radian.
One radian is the angle subtended by an arc
length equal to the radius of the arc, cf. the above
expression for 𝜃.
Whenever using rotational equations, you must
use angles expressed in radians or in any
numerical calculations. q must expressed in terms
𝑠
of radian NOT degree. Again this is due to 𝜃 = .
𝑟
 Conversions
Comparing degrees and radians
Note that : the total arc length of a
circle is its circumference 2𝜋𝑟 and it
corresponds to 360𝑜 so 2𝜋 radian
corresponds to 360𝑜 . It gives
360
1 rad   57.3
2

Converting from degrees to radians


q  rad   q  degrees 
180
Angular Position, final
We can associate the angle q with the entire rigid
object as well as with an individual particle.
 Remember every particle on the object
rotates through the same angle.
The angular position of the rigid object is the
angle q between the reference line on the object
and the fixed reference line in space (cf. slide 3).
 The fixed reference line in space is often the
x-axis.
The angle θ plays the same role in rotational
motion as that the position x does in translational
motion.
Angular Displacement
The angular
displacement is defined
as the angle the object
rotates through during
some time interval.
q  q f  qi
This is the angle that
the reference line of
length r sweeps out.
Average Angular Speed
The average angular speed, ωavg, of
a rotating rigid object is the ratio of
the angular displacement to the time
interval.
qf  q i q
avg  
tf  t i t
 Angular Speed
The instantaneous angular speed is defined as the
limit of the average speed as the time interval
approaches zero.
q dq
 lim
t 0 
t dt
This is analogous to translational speed.
Units of angular speed are radians/sec.
 rad/s or s-1 since radians have no dimensions.

Angular speed will be positive if θ is increasing

(counterclockwise)
Angular speed will be negative if θ is decreasing
(clockwise)
Angular Acceleration
The average angular acceleration, a avg, of an
object is defined as the ratio of the change in the
angular speed to the time it takes for the object to
undergo the change.
  i 
a avg  f 
tf  t i t

The instantaneous angular acceleration is defined

as the limit of the average angular acceleration as
the time goes to 0.
 d
a  t 0
lim

t dt
Angular Acceleration, cont.
Analogous to translational velocity
Units of angular acceleration are rad/s² or
s-2 since radians have no dimensions.
Angular acceleration will be positive if an
object rotating counterclockwise is speeding
up.
Angular acceleration will also be positive if
an object rotating clockwise is slowing
down.
Angular Motion, General
Notes
When a rigid object rotates about a fixed
axis in a given time interval, every portion
on the object rotates through the same
angle in a given time interval and has the
same angular speed and the same angular
acceleration.
 So q, , a all characterize the motion of
the entire rigid object as well as the
individual particles in the object.
Rotational Kinematics
Under constant angular acceleration, we can
describe the motion of the rigid object using a set
of kinematic equations.
 These are similar to the kinematic equations
for linear motion.
 The rotational equations have the same
mathematical form as the linear equations.
The new model is a rigid object under constant
angular acceleration.
 Analogous to the particle under constant
acceleration model.
Rotational Kinematic
Equations
The kinematic expression for
the rigid object under constant
f  i  a t
angular acceleration are of the 1
same mathematical form as q f  q i  i t  a t 2
those for a particle under
2
constant acceleration. f2  i2  2a qf  q i 
Substitutions from translational
1
to rotational are qf  q i  i  f  t
 x → θ
2
 v → ω all with consant a
 a → α
Comparison Between Rotational
and Linear Equations
Relationship Between Angular and
Linear Quantities
Every point on the rotating rigid object has the
same angular motion.
Every point on the rotating rigid object does NOT
have the same linear motion therefore the angular
variables are better representation for rotation.
Displacements
 s = θ r

Tangential speeds
 vt = ω r

Tangential accelerations
 at = α r
 s q dq d d 2q
q  ,   lim
t 0 t
 , a  2
r dt dt dt
 Kinematic eqn. under constant angular acceleration
(a = const), integrate above eqs. We
get  f  i  a t
q f  qi  it  12 a t 2  qi  12 i   f  t
 2f  i2  2a q f  qi 

In general the total acceleration is

(taking account centripetal acceleration
ar  v 2 / r  r 2 )
| a || a r  at | ar2  at2  r  4  a 2
It is very important to note that in the kinetic equation for angular
displacement and angular velocity, the centripetal acceleration is
not there because ar is perpendicular to 𝜔 and hence cannot
change the angular speed. 17
 Note about the direction of angular dynamic
variables – Right Hand Rule

in general
18
q is not a real vector (see next slide).
Angular displacement does not obey commutative law
so in general it is not a real vector.

19
In a special case, for rotations about a
fixed axis, the angular vectors obey
commutative law

The period of revolution T:

20
 Rotational kinetic energy and Moment of
inertia
Consider a pure rotational motion, the kinetic energy of a
small particle on object:
Ki  12 mi vi2

The total kinetic energy is then

1 2 2
K R   12 mi vi2  1
2 i i i
m r 
2 2
 2   i i 
m r
i  i 
 12 I  2 , where I   mi ri2 is the Moment of Inertia
i

The SI unit of I is kgm2, and  must be in radian/sec.

It is very important to note that the rotation velocity
𝒗 = 𝝎 × 𝒓 = 𝝎𝒛 × 𝒓 = 𝝎𝒓 𝒆𝒕 = 𝒗𝒕 (tangential direction)
where 𝒓 = 𝒙𝟐 + 𝒚𝟐 is the distance perpendicular to the rotation axis 𝒛.
21
Note : moment of inertia depends on rotation axis !

Note that the moment of inertia of a

rotating body involves not only its mass
but also how that mass is distributed
relative the rotation axis. In the figure,
because the mass is distributed much
closer to the rotation axis in (a), the
moment of inertia is much smaller for
the case in (a) than in (b). In general, a
smaller moment of inertia means easier
rotation.
The moment of inertia in rotation plays
the same role as mass in linear motion.
22
 Calculating I

For a system with discrete particles, the moment of inertia

can be calculated using the definition
I   mi ri2
i

For a continuous rigid body, however, we use

I  lim
mi 0
i i 
i
r 2
m  r 2
dm    dV
 r 2

Cf. in slide 21, ri always refers the distance perpendicular to the rotation
axis.
where  is the mass density of the rigid body.
.

23
Example 1.
Consider a rigid body consisting of two particles of mass m
connected by a massless rod of length L. Calculate the rotation
moment of inertia of this body about an axis through the center
but perpendicular to the rod, and (b) the rotational inertia about
an axis through the left end of the rod but parallel to the first axis.

Answer:
(a)

(b)
24
Example 2.
Calculate the moment of inertia of a uniform rigid rod of length
L and mass M about an axis perpendicular to the rod and passing
through its center of mass.

Answer:

Define  = M/L, then dm= dx’, and

so L/2 L/2
I   r 2dm   dx'  
x '2
 ) dx'
( x ' 2

L / 2 L / 2
L / 2
 M  ( x ) 
' 3
     1
12 ML2

 L  3 L / 2

25
Example 3. A uniform solid cylinder of mass M and
radius R, find the moment of inertia about its
center axis.
Answer:

Define  = M/V=M/(R2)L, one has

dm   dV   L(2 r )dr , dI =r 2 dm

So R
I   dI   r 2 dm   r 2 [  L(2 r ) dr ]  2 L  r 3dr
0

 12  LR 4  12 MR 2
How would I change if you make L 0?
For arbitrary 3D shape the actual configuration
indeed is important.
26
 Moments of Inertia of Various Rigid Objects

*Why do hollow
objects have larger
I for same mass?

*For rotating
rectangular plate,
𝐼 ∝ (𝑥 2 + 𝑦 2 )𝑑𝑥𝑑𝑦
For solid sphere
and spherical shell
double integral is
necessary.
 Parallel-Axis Theorem

In the previous examples in table 10.2, the axis of

rotation coincided with the axis of symmetry of the
object, which goes through CM except one case.
For an arbitrary axis, the parallel-axis theorem often
simplifies calculations.
The theorem states I = ICM + MD 2
 I is the moment of inertia about any arbitrary
rotation axis, say 𝑧-axis, but not passing through
CM.
 ICM is the moment of inertia about the axis
parallel to 𝑧-axis and go through CM.
 D is the distance between the center of mass
axis to the arbitrary rotation axis.
 A flat object lying on x-y plane and
rotation axis is z-axis

r  x2  y 2
from the z-axis.
Then,
I   r 2dm

  x 2  y 2  dm

Changing the coordinate such that the center of mass is at origin,

  
one gets r  D  r' , or x  x' xCM , y  y' yCM
Then I  r 2dm   D  r ' 2 dm   D 2  r '2  2D  r '  dm
  
 D2  dm   r ' dm  2D  (  r ' dm) (r 'CM  0   r ' dm )
2 1
M

 MD 2  I CM  0 This result is also true for 3D

object. 29
Example 4. Calculate the moment of inertia of a uniform
rigid rod of length L and mass M about an axis perpendicular to
the rod and passing through one end of the rod.
Answer:
Let’s first calculate it the usual way:
As before, define  = M/L, then dm= dx’, then
L
 M  ( x ) 
L L ' 3
I   r 2dm   x ' 2dx'    ( x ' )2 dx'       1
3 ML2

0 0  L   3  0

We can solve this by the parallel axis theorem. From example 2,

the moment of a rod with rotation axis passing through CM is
I CM  121 ML2

By the parallel axis theorem I  I CM  MD 2  121 ML2  M  L2 2

 13 ML2 30
7.2 Torque (force acting at a
point)
Torque, t, is the tendency of a “force” to rotate an object
about some axis.
 Torque is a vector, but we will deal with its magnitude
here first:
 t = r F sin f = F d

• F is the force
• f is the angle between the force and position vector
• d is the moment arm (or lever arm) of the force
 There is no unique value of the torque on an object.

• Its value depends on the choice of a rotational axis.

For single particle it is unnecessary to consider the concept
of torque (see example 9). However, when an external force
applies to a finite size object, it causes not only linear
motion but also rotation.
 Torque, cont
The moment arm, d, is the
perpendicular distance from the axis of
rotation to a line drawn along the
direction of the force.
 d = r sin Φ

Or the horizontal component of the

force (F cos f) has no tendency to
produce a rotation.
Torque will have direction.
 If the turning tendency of the
force is counterclockwise, the
torque will be positive.
 If the turning tendency is
clockwise, the torque will be
negative.
7.2 Formal expression for Torque
 We define torque as
τ  r F where
τ  r | F | sin 
 r ( F sin  )  rFt
 ( r sin  ) F  r F

 The net torque

 
τ   τi
i

Note: The unit of torque is Nm 33

 Review: Cross product of vectors
  
C  AB
Magnitude: C  AB sin q  
Direction: Perpendicular to the plane formed by A and B
and follow the Right-Hand rule.
     
Note: A  B  B  A; A  A  0;  
       d   dA   dB
A  (B  C)  A  B  A  C; ( A  B)  B  A
dt dt dt
  
Let i , j, k be the unit vectors in Cartesian coordinates
     
i  i  j j  k k  0
    
i  j   j  i  k;
    
j  k  k  j  i ;
    
k  i  i k  j 34
Matrix method for calculating cross product

  
i j k
   Ay Az  Az Ax  Ax Ay 
C  A  B  Ax Ay Az  i j k
By Bz Bz Bx Bx By
Bx By Bz
  
 Ay Bz  Az By i   Az Bx  Ax Bz  j  Ax By  Ay Bx k

35
 Newton’s 2nd law for rotation
dFt  (dm)at
dt ext  rdFt  at r (dm)  a r 2 (dm)

 ext 
dt  a r 2
(dm )  a  dm
r 2

 Ia
Or more correctly, in vector form
 
 τ ext  I α
The net torque on a rigid body is proportional to angular
acceleration and the moment of inertia acts similar to mass in force
equation. This expression is similar to Newton’s 2nd law for a
particle except F replaced by t, M by I and a by a.
36
Torque by the gravity

τ g   τi
=  ( r  m g ) (  r m )  g
i i i i

= rCM  Mg
This looks as if all gravitational force acting
at CM.

37
 Work-Energy Theorem
 
dW  F  d s  ( F sin f )( rdq )  t dq
d dq
 Ia (dq )  I dq  I d  I d
dt dt

f

W   t dq   I d  1
2 I 2
f  1
2 Ii  K f  Ki
2

i

Note : 𝑑 𝑠 ⊥ 𝑟, 𝐹 ∙ 𝑑 𝑠 =
dW dq 𝐹𝑑𝑠 𝑐𝑜𝑠 90𝑜 − 𝜑 𝑏𝑢𝑡
P t  t
dt dt cos 90𝑜 − 𝜑 = 𝑠𝑖𝑛𝜑

38
 Summary
Rotational Quantity Translational Quantities
Angular Position q Position x
Angular velocity  = dq /dt Velocity v = dx/dt

Angular acceleration Acceleration

a = d /dt = d2q /dt2 a = dv /dt = = d2x /dt2
Moment of inertia I Mass m
Newton’s law: Torque: t = r F = Ia Newton’s law: Force: F = ma
Work: W = ∫t dq Work: W = ∫ Fdx
Kinetic Energy: K = ½ I 2 Kinetic Energy: K = ½ mv2
Power P = t  Power P = F v 39
Example 5. A uniform rod of length L and mass M is
attached at one end to a frictionless pivot and is free to rotate in
the vertical plane. The rod is released from rest from horizontal.
What is the initial angular acceleration and translational
acceleration at the right end?

Answer:
L/2

t ext  Mg L / 2, I  13 ML2

t extMg L / 2  3g The angular
so a   2
 acceleration does
I ML / 3 2 L not depend on r !
3
at  La  g You can see that the translational
2 acceleration depends on r!

40
Example 6. (A) When the rod reaches its lowest position,
what is its angular speed? (B) Determine the tangential speed of
the center of mass and the tangential speed of the lowest point on
the rod when it is in vertical position.
Answer:
From conservation of energy:
K f  U f  Ki  U i
1
2 I  2  (  12 MgL)  0  0
MgL MgL 3g
  2

I ML / 3 L
L
vCM  rCM     12 3gL
2
vend  rend   L  3gL
41
Example 7. Two blocks having masses m1 and m2 are connected by a string
passing over a pulley as shown in figure. The pulley has a radius R and
moment of inertia I about its axis of rotation. The string does not slip on the
pulley. The system is released from rest, find the translational speeds of the
blocks after block 2 descends through a distance h. Also find the angular
speed of the pulley at this time.
Answer:
Conservation of mechanical energy:
K f  U f  Ki  U i  K f  Ki  U i  U f
1
2 m1v 2f  12 m2v 2f  12 I  2f
 m2 g (0  ( h ))  m1 g (0  h )
 m2 gh  m1 gh
Since there is no slipping so v f  R f
one finds
1/ 2 1/ 2
 2(m2  m1 ) gh  1  2(m2  m1 ) gh 
vf
vf   2
f   
 1
m  m2  I / R  R R  m1  m2  I / R 2 
42
7.3 Rolling without Slipping
Rolling motion along a flat surface in general can be very complex,
e.g.the red spot shown in Fig. A. One simplifies the matter by
considering separately the curvilinear motion of its center of mass
and the rotational motion of the object about an axis through the
center of mass.
For pure rolling motion (roll without slipping), the motion of CM is
given by
s  Rq ; vCM  R; aCM  Ra

Fig. A 43
Kinetic Energy of a Rotating Rigid Body
We can decompose the
motion into two parts. One
is in CM frames where pure
rotation occurs and second
is the entire body moving
with CM frame. When we
combine these two motion,
P is at rest all time.
vP  vCM  R  0
K  12 I CM 2  12 MvCM
2
( rotation KE  translation KE )
(we will prove the above eq. in next slide)
 12 I CM 2  12 MrCM 2 2
 12 I P 2 ( pure rotational KE rwt the contact P )
Parallel axis theorem
44
 ri ri’
. CM

rCM

1 2 1 ' 2
K  
2 i
m r
i i   
 2 i
 m ( r
i CM  ri ) 

1  1 2 d 1
   mi (rCM
2
 2rCM  ri '  ri '2 )   MrCM  rCM   mi ri '   mi  2ri '2
2 i  2 dt i 2 i
1 .2 d 1
 MrCM  rCM  0  ICM 2 (ri '  ri ' ) *
2 dt 2
45
Example 8. A disk is released from rest at the top of an
inclined plane. If the disk rolls without slipping on the plane,
calculate the following. (A) The velocity of the disk when it
reaches the lowest point of the inclined plane. (B) The angular
acceleration a and the linear acceleration a along the inclined
plane. (C) The time for the disk to roll down.
R

Answer: m r
mg sin q
(A) Conservation of mechanical energy: f
mg
1 1 h
mgh  mv 2  I 2 mg cos q

2 2 q

where v = r (no slipping) and I=mr2/2 is

the moment of inertia of the disk. Then,
mgh 4 gh
v 
2 m  2r2
1 I
3

46
(B) The angular acceleration a R

m r
and the linear acceleration a mg sin q
along the inclined plane. f
mg
The forces along the inclined plane: h
mg cos q

q
mg sin q  f  ma  (1)
We choose the reference point for the torque at CM so that
(1) both R and mg cannot contribute to the torque,
(2) I=ICM and (3) only the friction provides a torque
f r  Ia    (2)
Subs. Eq. (2) to Eq. (1), we get
rmg sin q 2 g sin q
a  , and
I  mr 2
3 r
a  ra  23 g sin q
1 3h
(C) From relation v=u+at, where u = 0, one gets t 
sin q g

47
7.4 Angular Momentum and conservation
of angular momentum
  
τ  rF
 
 dp  dr  
 r  p   mv  v  0
dt dt

d   dL
 r  p   , where we define
dt dt

   
L  r  p  Iω as the angular momentum

48
The rate of change of total angular momentum is equal to
the net external torque

 dLtot
 τext 
dt

For isolated system, where  ext  0
τ


dLtot 
 0, so Ltot  constant
dt

49
Summary again:

Rotational Quantity Translational Quantities

Angular Position q Position x

Angular velocity  = dq /dt Velocity v = dx/dt

Angular acceleration a = d /dt = d2q /dt2 Acceleration a = dv /dt = = d2x /dt2

Moment of inertia I Mass m

Angular momentum: L = r p = I  Momentum: p = mv

Newton’s law: Torque: t = r F = Ia = dL /dt Newton’s law: Force: F = ma = dp /dt

Work: W = ∫t dq Work: W = ∫ Fdx

Kinetic Energy: K = ½ I 2 Kinetic Energy: K = ½ mv2

Power P = t  Power P = F v

50
Example 9. A sphere of mass m1 and a block of m2 are connected by a
light cord that passes over a pulley of radius R with mass M concentrated
at the rim. The block slides on a frictionless table. Find an expression for
the linear acceleration of the two objects.

Solution I (consider three parts as one system)

Total angular momentum of the system rwt the center of the pulley is
L  m1vR  m2vR  MR 2 (v / R)
 (m1  m2  M )vR

The net external torque is t  m1gR , so

dv
m1 gR  (m1  m2  M ) R
dt
 (m1  m2  M ) Ra
m1 g The center of the
Thus a pulley is chosen as the
m1  m2  M reference point. 51
Alternative solution for example 9

Solution II (individual object)

(1)For m1: T2
m1gT1=m1a
(2)For m2:
T1
T2=m2a
(3)For the pulley:
(T1  T2)R=Ia=MR2a
Since the pulley has mass,
We obtain
T1  T2
[m1(g  a)  m2a]R=MR a=MRa
2

m1 g
Thus a
m1  m2  M
52
Example 10. Merry-Go-Round: a horizontal circular
platform has mass M=100 kg, radius R = 2.0 m, which rotates
freely about center vertical axis. A student of mass m = 60 kg
stands at the rim initially but sets to walk towards the center. If
the angular speed of the platform is initially 2.0 rad/s, what is the
angular speed when the students reaches a point r = 0.50 m from
the center?

Answer
Recognizing there is no external torque,
Li  I ii  ( 12 MR 2  mR2 )i
 L f  I f  f  ( 12 MR 2  mr 2 ) f

So  12 MR 2  mR 2 
f   1 2  i

 2 MR  mr 
2

 4.1 rad/s 53
54
Example 11. A small block m collides with a uniform vertical
rod after sliding down a frictionless track. If the block sticks
together with the rod and the whole system rotates about point O,
find the maximum height that the block can climb. You may
neglect the dimension of the small block. O

Answer l q
m

M
The speed of block m just before h

collision is found by energy conservation

mv2  mgh,  v  2 gh
1 Frictionless track
2
R
At collision, all external forces (R, Mg, mg) pass O

through O, so there is no net torque. Angular

momentum is conserved l

Lbefore  0  l (mv)  Lafter  I  l (mV ), Mg

where V  l; I  Ml 2 / 3 mg
55
So mv m 2 gh m 2 gh
  ; and V 
l (m  M / 3) l (m  M / 3) m  M /3

By conservation energy again,

1 1 h 
mV 2  I 2  mgh1  Mg  1 
2 2 2

one gets
m2h
h1 
(m  M / 3)(m  M / 2)

56
Gyroscopes and Spin-tops,
Precessional Motion

Consider the case when

r is along the x  dir ,
d L lies on the xy - plane.
dL t ext dt
df   ,
L L
where t ext  Mg rCM

Precession frequency:
This result is always true
df MgrCM
p   even when r is not along
dt I the x  dir.
57
Gyroscope in a Spacecraft
The total angular momentum
of the spacecraft about its
center of mass is zero.
A gyroscope is set into
rotation, giving it a nonzero
angular momentum.
The spacecraft rotates in the
direction opposite to that of the
gyroscope.
So the total angular
momentum of the system
remains zero.
In this way, the spacecraft can
change direction without using
fuel (it does cost electric energy
but it comes from solar panel).
 7.5 Static Equilibrium
 Condition of static equilibrium of a rigid body

 Fext  0, and

 τext  0
 Center of Gravity (the total gravitational force acting at
this single point) 
x 
 x   m x  x , if g is uniform.
m gi i i i

m g m
CG CM
i i

Torque due to gravity is taken into account by considering


the force Mg acting at the center of object’s gravity.
59
Example 12. A seesaw consisting of a uniform board of mass
M and length l supports at rest a father and a daughter with
masses mf and md, respectively. The support is under the center
of gravity of the board. The father is at distance d from the center
and the daughter is at distance l/2 from the center. (A) Determine
the magnitude of upward force at the support of the board; (B)
Determine where the father should sit to balance the board.

Answer
The system is at static equilibrium.
(A) Force balance requires
n  m f g  md g  Mg

(B) Torque balance reads (taken the rotation axis perpendicular to

the page and through the center): (m g )d  (m g ) l   0
f d 2
from which, m l
d  d 
m 2
 f  60
Example 13. A uniform horizontal beam of length l = 8.00 m
and weight Wb = 200 N is attached to a wall by a pin connection.
It’s far end is supported by a cable that makes an angle f = 53.0
with the beam. A person of weight Wp = 600 N stands a distance
d = 2.00 m from the wall. Find the tension in the cable as well as
the force exerted by the wall on the beam.
Answer
The system is at static equilibrium.
Force balance reads:
F x  R cos q  T cos   0  (1)
F y  R sin q  T sin   W p  Wb  0  (2)

Choosing the rotation axis through the

pin connection, torque balance reads:
t z  (T sin  )(l )  W p d  Wb  2l   0  (3)

61
Solve the simultaneous eqns. for T, q, and R:

From eq. (3)

W p d  Wb (l / 2)
T  313 N
l sin 
Combining eq. (1) and (2) plus T , we get
 W p  Wb  T sin  
q  tan 
-1
  71.1
 T cos  
From eq. (1)
T cos 
R  581 N
cos q

62
Example 14 A uniform beam of mass m is inclined at an angle q to
the horizontal. Its upper end “P” produces a 90o bend in a very
rough rope tied to a wall, and its lower end rests on a rough floor.
Let 𝜇𝑠 represent the coeff. of static friction between beam and floor.
Assume 𝜇𝑠 is less than the cot q. (a)Find an expression for the
maximum mass M that can be suspended from the top before the
beam slips. Determine (b)the magnitude of the reaction force at
the floor and (c ) the magnitude of the force exerted by the beam
on the rope at P in terms of m, M and 𝜇𝑠 .

63
(a) Find an expression for the maximum mass M that can be
suspended from the top before the beam slips.

 n=Mg +mg

64
65
Determine (b) the magnitude of the reaction force at
the floor and (c) the magnitude of the force exerted
by the beam on the rope at P in terms of m, M and 𝜇𝑠 .

66