CHAPTER 2

2.1 Given: µk = 0.1, W = 200 lb and P = 50 lb. The free body diagram yields:
N − mg − P sin 30 = 0 (sum of forces in y-direction) (1)
P cos 30 − f = max (sum of forces in x-direction) (2)
From (1) N = mg + P sin 30 = 200 + 50( 21 ) = 225 lb
Friction force f = µk N = 0.1(225) = 22.5 lb
√
3
Therefore max = 50( 2
) − 22.5 = 20.80 lb
20.80
⇒ ax = 200/32.2
= 3.34 ft/s2
⇒ vx = 3.34t (assuming initially at rest)
⇒ x = 1.67t2 (assuming x(0) = 0)
q
100
Therefore t = 1.67
= 7.73 sec

_ y
F
o
30
x

f
N
FIGURE S2.1

2.2 Solution: µs = 0.4, m = 150 kg, µk = 0.3

T − f − mg sin θ = max
N − mg cos θ = may = 0
100
⇒ N = mg cos θ = 150(9.81) cos θ = 150(9.81) √1002 +12 = 1471 N

100 θ mg
T x

f
N

θ = tan -1 (1/100) = .573o ~

~ 0.01 rad
FIGURE S2.2

90
 fmax = µs N = 0.4(1471) = 588.4 N
Therefore Tmax = fmax + mg sin θ = 588.4 + (150)(9.81) √10012 +1 = 603 N
f = µk N = 0.3(1471) = 441 N
h i
1 1
ax = m
(T − f − mg sin θ) = 150
603 − 441 − 150(9.81) √10012 +1
ax = 0.98 m/s2
Therefore vx = 0.98t m/s assuming zero initial velocity.
5
Therefore t = 0.98
= 5.1 sec

2.3 Examining the maximum friction µs = 0.2. This can produce an acceleration of
ac = 0.2(32.2) = 6.44 ft/s2 . Therefore the box slips because the force of static
friction mac is less than that applied by the truck
ac = 0.15(32.2) = 4.83 ft/s2
ac/T = 4.83 − 10 = −5.17 ft/s2
(We could now determine where the crate falls off if we knew length of tuck
bed.)

mg

f
N
FIGURE S2.3

2.4 Solution:
a) F = ma
P

100
100 − 50 = 32.2
a
2
a = 16.1 ft/s
100
b) 100 − T = 32.2
a
50
T − 50 = 32.2
a
Therefore 50 = 150
32.2
a ⇒ a = 10.73 ft/s2
150
c) 150 − T = 32.2
a

91
 100
T − 100 = 32.2
a
⇒ 50 = 250
32.2
a ⇒ a = 6.44 ft/s2

50 50 100
100 100 150

50 T T T T

100 100 50 150 100

FIGURE S2.4

2.5 Solution:
N − mg = ma, or
N = mg + ma
for: a = +2 : N↑ = m(9.81 + 2) = 1181 N
for: a = −2.5 : N↓ = 100(9.81 − 2.5) = 731 N

mg

N
FIGURE S2.5

2.6 Solution:
−mg sin 30◦ + µmg cos 30◦ = ma along the conveyor. Or:
−0.5g + 0.2598g = a, thus:
a = −.24g.

92
 v = −0.24gt + v0
x = −0.12gt2 + 0.2t
0.12(9.81)t2 − 0.2t − 10 = 0
t = 3s
Note that this slips immediately as µs g cos(30◦ ) < 0.5g

10 . 9.8

30o

30o
N
FIGURE S2.6

2.7 From S2.7a the constraint equation is

2(xA − xB ) + (xc − xB ) = constant
Thus 2xA − 3xB = constant and differentiation yields
2aA = 3aB (1)
Now from S2.7b, Newton’s law in the horizontal direction yields
3T = (40)aB (2)
and from S2.7c, Newton’s law yields
100 − 2T = (20)aA (3)
This is 3 equations in 3 unknowns which yields
aB = 1.765 m/s2 , aA = 2.647 m/s2 and T = 23.533 N
40g 20g
XB

B A B 3T 2T A 100
xC
xA N N
(a) (b) (c)

FIGURE S2.7

93
2.8 Constraints to motion are from figure S2.8a are :
xc + xp = ℓ1 , therefore: ap = −ac .
And xA − xp + xB − xp = ℓ2 , hence:
aA + aB − 2ap = 0, and thus aA + aB + 2ac = 0

P
x

FIGURE S2.8a

From the FBD’s of figure S2.8b:

25g − T2 = 25aA
T1 = 2T2
20g − T2 = 20aB
50g − 2T2 = 50ac .
But ac = − 12 (aA + aB )
Subtract 2x the first equation from third to get
50(ac − aA ) = 0, or ac = aA .
From the constraint aB = −3aA . Subtract 2nd from 1st
5g = 85aA → aA = 0.577 m/s2
T2 = 231 N aB = −1.731 m/s2
T1 = 462 N ac = 0.577 m/s2
T2 T2 T T1
1

2T2
25g 20g 50g

FIGURE S2.8b

94
 2.9 From figure S2.9a, the constraints are
xA + 2xp = ℓ1 , and
(xB − xp ) + xB = ℓ2 .

xP
xA

xP
A 100 50 B

FIGURE S2.9a

Differentiating yields aA = −2ap and 2aB = ap so that aA = −4aB

Next the FBD’s of Figure S2.9b yields:
100 · 9.81 − T1 = 100aA from A
T2 − 2T1 = 0 (assumed massless) from P
(50)(9.81) − 2T2 = 50aB from B

A P B
T1 2T
T1 T1 2

100(9.81) T2 50(9.81)

T2 =2T1

FIGURE S2.9b

These three equations, plus the constraints aA = −4aB form a system of four
equations and four unknowns which can be solved for aA . This yields
aA = 8.324 m/s2
Integrating vdv = aA dx from rest conditions yields
v2
2
= (9.324)(0.5) or v = 2.885 m/s

2.10 From S2.10, (100)a = 100x or

ẍ = −50x
vdv = −50dx
v2
2
= −25(x2 − 0.32 )
q
v= 50(0.09 − x2 )
dx
√
dt
= 7.07 0.09 − x2

95
 Rt Rt
√ dx = 7.07dt
0.3 0.09−x2 0
 
sin−1 x
0.3
|x0.3 = 7.07t
 
sin−1 x
0.3
− sin−1 (1) = 7.07t
 
sin−1 x
0.3
= (7.07t + π2 )
x = 0.3 sin(7.07t + π2 )
x = 0.3 cos(7.07t)

Fs

FIGURE S2.10
Alternately from S2.10
−kx = mẍ where ẋ(0) = 0, x(0) = 0.3m
m = 2 kg, k = 100 N/m, x(0) = 0.3
ẍ + 50x = 0
Integrating Factor
x = Aeat , a2 + 50 = 0, a = ±7.07i
x = A sin(7.07t) + B cos(7.07t)
x(0) = 0.3 = B → B = 0.3
ẋ(0) = 0 = 7.07A → A=0
x = 0.3 cos(7.07t)

2.11 From the FBD of the system as a whole: P − 3mg sin α = 3ma, so that
1
a= 3m
[P − 3mg sin α]
From the FBD for car C:
P − TBC − mg sin α = ma = 13 [P − 3mg sin α].
Solving yields
TBC = 2/3P .
Likewise a FBD of the system consisting of B and C taken together yields
TAB = 13 P

96
 mg
P
mg
mg
C P
mg
α B
C
A
TBC
α

FIGURE S2.11

2.12 From a FBD of the entire system as given in the top of Figure S2.12:
70
70 sin 20◦ − 70 cos 20◦ (0.2) = 32.2
a
a = 4.96 ft/s2
Now from the bottom of S2.12, the FBD yields
50
50 sin 20◦ − T − 0.2(50) cos 20◦ = 32.2
(4.96)
So T = 0!
This result is expected, as the motion is independent of mass and both blocks
slides independently.
o
20
o
20

20
50

o
20

T
50

FIGURE S2.12

2.13 Sled will start to move when

a) 500(t2 + 2t) = 0.5(200)(9.81) t2 + 2t − 1.962 = 0
√ √
4+4(1.962)
t = −1 ± 2
= −1 ± 2.962
t = 0.721 s or t = −2.721

97
 F(t)

f
FIGURE S2.13

b) From t = 0.721 to 6s
F (t) − 0.4(200)(9.81) = 200a
1 R6
v= 200 0.721
[500(t2 + 2t) − 0.4(200)9.81]dt
= [0.833t + 2.5t − 3.924t]|60.721
3 2

= 248 m/s (555 mi/hr)

v(t) = 0.833t3 + 2.5t2 − 3.924t + 1.217
x(6) = [0.208t4 + 0.833t8 − 1.962t2 + 1.217t|60.721
x(6) = 386 m
c) From 6s on:
−0.4g = a
a = −3.924
v = −3.924t + 248
time where v = 0
t = 63.2s
x = − 3.924
2
t2 + 248t
= 7837 m
Total distance = 386 + 7837 = 8223 m or 8.2 km (5.1 mi)

98
2.14 Solution: fmax = 0.3(90)(9.81) = 265 N. Therefore system slips.
a) Assume whole system slips as a whole. Then summing forces yields: 1200 −
(.25)(990)(9.91) = (90)(a). Solving yields a = 10.88 m/s2 .

20

40

30
1200N

90(9.81)

2
A+B+C a=10.9 m/s

1200

220.7

2
A+B f=60a a=2.9 m/s
60

f=0.3(60)(9.81) = 176.58
A+B slips
FIGURE S2.14a
b) Assume slip between each surface

20g N1 f2 N
f1 2

40g 30g 1200

f2 f2 f3

N2 N3
N1

FIGURE S2.14b

0.25(20)(9.81) = 20aA from FBD of the 20kg block. Thus

aA = 2.45 m/s2
0.25(60)(9.81) − 0.25(20)9.81) = 40aB from the FBD of the 40kg block thus
aB = 2.45 m/s2
Therefore A and B the top two blocks move together (they have the same
acceleration)

99
 c) Next C slips out from under A and B (the FBD is S2.14c). Then
0.25(60)(9.81) = 60aAB . Thus
aAB = 2.45 m/s2 .
From the FBD on the bottom of Figure S2.14c:
1200 − 0.25(60)(9.81)
−0.25(90)(9.81) = 30ac
Thus the acceleration of the bottom block is
ac = 27.74 m/s2

N
AB
60g
f AB

30g 1200

f
AB fC

NAB
NC

FIGURE S2.14c

2.15 Will the system slip?

20

40

30 400

FIGURE S2.15a

Is 400 ≥ 0.3(90)(9.81) = 265 N?

Yes, so the system slips.

mg

f max =176.6
N a=2.9 m/s2
FIGURE S2.15b

100
 From the FBD of A and B:
400 − 0.25(90)9.81 = 90aT
aT = 1.99 m/s2
fmax = 176.6 which implies a = 2.9 m/s2
So A and B must move with C.

2.16 Solution:
50g

N1 f
2
10g
f1
N2 N
2
o
30

f2 f3

N3

FIGURE S2.16a

Assume no slip and determine the required value of µs . From FBD of A:

N1 + µN2 cos 30◦ − N2 sin 30◦ = 0 (1)
µN1 + µN2 sin 30◦ + N2 cos 30◦ − 50g = 0 (2)
From the FBD of B:
−µN2 cos 30◦ + N2 sin 30◦ − µN3 = 0 (3)
−µN2 sin 30◦ − N2 cos 30◦ + N3 − 10g = 0 (4)
This is a system of four nonlinear equations in the four unknowns µs , N1 , N2 ,
and N3 . Solved by Mathcad Eqs. 1-4 required µs = 0.242.
Since the µ required for equilibrium is larger than the 0.2 given the system
will slip. Knowing it will slip, the equations of motion are (with zero accelera-
tion into the walls)
N1 + µk N2 cos 30◦ − N2 sin 30◦ = 0
µk N1 + µk N2 sin 30◦ + N2 cos 30◦ − 50g = 50aA
−µk N2 cos 30◦ + N2 sin 30◦ − µk N3 = 10aB
−µk N2 sin 30◦ − N2 cos 30◦ + N3 − 10g = 0
µk = 0.15, this is a system of 5 unknowns N1 , N2 , N3 , aA , aB and only 4
equations. Hence we need a constraint of the motion. The acceleration of the

101
blocks in the normal direction at the contacting surface is the same (see S2.16b).
Thus −aA cos 30◦ = aB sin 30◦ which provides the 5th equation. Solving these 5
nonlinear equations in the 5 unknowns yields the desired acceleration (using a
computer code such as the MATLAB file at the end of this solution):
aA = −3.401 m/s2
aB = 5.891 m/s2
From d = a2 t2 , the time for box A to move 0.1 m is
q
(2)(0.1)
t= 3.401
= 0.242 s. During this time box B moves
5.891
xB (0.242) = 2
(0.242)2 = 0.173 m

a
A
θ
θ
a
B
o
-aA cos 30 = a sin 30 o
B
FIGURE S2.16b

This must be added to the distance the block B slides to the right due to its
separation velocity. The velocity of separation is:
vB = 5.891 · 0.242 = 1.426 m/s
The deceleration of the block is −0.15 · 9.81 = −1.472 and the time when the
block stops is:
1.426
t= 1.472
= 0.969 s
The total distance traveled is:
xB = −0.075 · 9.81(0.969)2 + 1.426 · 0.969 + 0.173 = 0.864 m

102
The MATLAB solution:
Main program to solve the first nonlinear equation(‘non1.m’)
% Main m-file to solve the nonlinear equation
% Initial guess values for the solution
% x(1)=N1; x(2)=N2; x(3)=N3; x(4)=Mu_s;
g=9.81;
x0=[ 10*g 6*g 10*g 0.4];

% solve the nonlinear equation with given initial guess

F=fsolve('neqn1',x0);

% display solutions
disp(' ')

disp(sprintf(' N1= %6.4f',F(1)))

disp(sprintf(' N2= %6.4f',F(2)))
disp(sprintf(' N3= %6.4f',F(3)))
disp(sprintf(' Mu_s= %6.4f',F(4)))
Function program to solve the first nonlinear equation(‘neqn1.m’)
function F=neqn1(x)
% Function m-file to define the nonlinear equation
deg2rad=pi./180; g=9.81; % constants required for the calculation
N1=x(1); N2=x(2); N3=x(3); Mu_s=x(4); % assign the values

F1= N1 + Mu_s * N2 * cos(30*deg2rad) - N2 * sin(30*deg2rad) ;

F2= Mu_s * N1 + Mu_s * N2 * sin(30*deg2rad) + N2 * cos(30*deg2rad) - 50*g ;
F3= -Mu_s * N2 * cos(30*deg2rad) + N2 * sin(30*deg2rad) - N3 * Mu_s ;
F4= -Mu_s * N2 * sin(30*deg2rad) - N2 * cos(30*deg2rad) + N3 - 10*g ;
F=[F1 F2 F3 F4]';
Main program to solve the second nonlinear equation(‘non2.m’)
% Main m-file to solve the nonlinear equation
% Initial guess values for the solution
% x(1)=a_A; x(2)=a_B; x(3)=N1; x(4)=N2; x(5)=N3;
g=9.81;
x0=[ -0.3 0.4 10*g 6*g 10*g ];
% solve the nonlinear equation with given initial guess
F=fsolve('neqn2',x0);
% display solutions
disp(' ')
disp(sprintf(' a_A= %6.4f',F(1)))
disp(sprintf(' a_B= %6.4f',F(2)))
disp(sprintf(' N1= %6.4f',F(3)))
disp(sprintf(' N2= %6.4f',F(4)))
disp(sprintf(' N3= %6.4f',F(5)))
Function program to solve the first nonlinear equation(‘neqn2.m’)
function F=neqn2(x)
% Function m-file to define the nonlinear equation
deg2rad=pi./180; g=9.81; Mu_k=0.15; % constants required for the calculation
a_A=x(1); a_B=x(2); N1=x(3); N2=x(4); N3=x(5); % assign the values
F1= N1 + Mu_k * N2 * cos(30*deg2rad) - N2 * sin(30*deg2rad) ;
F2= Mu_k * N1 + Mu_k * N2 * sin(30*deg2rad) + N2 * cos(30*deg2rad) - 50*g - 50 * a_A;
F3= -Mu_k * N2 * cos(30*deg2rad) + N2 * sin(30*deg2rad) - N3 * Mu_k - 10 * a_B;
F4= -Mu_k * N2 * sin(30*deg2rad) - N2 * cos(30*deg2rad) + N3 - 10*g ;
F5= a_A * cos(30*deg2rad) + a_B*sin(30*deg2rad);
F=[F1 F2 F3 F4 F5]';

103
2.17 The geometry of the sketched spring in Fig. S2.17 yields
ℓ2 = ℓ20 + x2
(ℓ0 + ∆)2 = ℓ20 + x2
ℓ20 + 2ℓ0 ∆ + ∆2 = ℓ20 + x2
where ∆ is the spring elongation.

lo

m
Fs
x
l
N

mg
FIGURE S2.17

Thus
∆2 + 2ℓ0 ∆ − x2 = 0, or
√
−2ℓ0 ± 4ℓ20 +4x2
q
∆= 2
= −ℓ 0 ± ℓ20 + x2 . Using the positive root, the magnitude
of the spring force is
q 
|Fs | = k ℓ20 + x2 − ℓ0
From the FBD:
q 
mg − k ℓ20 + x2 − ℓ0 √ 2x = ma
ℓ0 +x2

Thus
q 
d2 x k
dt2
=g− m
ℓ20 + x2 − ℓ0 √ 2x
ℓ0 +x2
 
kx
a(x) = g − m
1 − √ ℓ20 .
ℓ0 +x2

2.18 Solution:
From the figure
(ℓ + ∆)2 = x2 + ℓ2
ℓ2 + 2ℓ∆ + ∆2 = x2 + ℓ2
∆2 + 2ℓ∆ − x2 = 0
√
−2ℓ± 4ℓ2 +4x2
√
∆= 2
= ℓ2 + x2 − ℓ (could write this directly)
mg − Fs sin θ − µk N = mẍ, sin θ = √ x
ℓ2 +x2

N − Fs cos θ = 0, cos θ = √ ℓ
ℓ2 +x2

104
 l

θ Fs
x
θ
Ν

mg
f
FIGURE S2.18
h√ i
N =k ℓ2 + x2 − ℓ √ ℓ , Fs = k∆
ℓ2 +x2
h i
N = kℓ 1 − √ ℓ
ℓ2 +x2
h    i
k √ ℓ
ẍ = g − m
x 1− ℓ2 +x2
+ µk |ẋẋ| ℓ 1 − √ ℓ
ℓ2 +x2
k
ẍ = g − m
(x + µk |ẋẋ| ℓ)(1 − √ ℓ
ℓ2 +x2
)
which would require a numerical solution.

105
2.19 Solution:
l 0.3 k 300 m 2 g 9.81

i 0 . . 2000
∆t 0.001

v0 0
x0 0
k. x
a x g l2 x2 l .
m
l2 x2
vi 1
vi a x i . ∆t
xi 1 x i v i . ∆t
Position vs time
0.6

0.4
x
i
0.2

0.2
0 0.5 1 1.5 2
i . ∆t
Time s

2.20 First note that 30g ≥ 0.5(20)g, so it does in fact slip. The constraint is that
L = xA + xB + const
⇒ 0 = ẍA + ẍθ
⇒ 0 = aA + aB so that aA = −aB . (1)
From the FBD of (B):
30(9.8) − T = 30aB (2)
From the FBD of A: Fx = maA becomes:
P

T − µk N = 20aA
T − µk mg = 20aA
T − 0.4(20)(9.81) = (20)aA (3)
Adding (2) and (3), using (1) yields
(30)(9.81) − (0.4)(20)(9.81) = 50aA

106
 aB 2
So that aA = 4.316 m/s2 . Then d = 2
t or
q
1
t= 4.326
= 0.481 s.

20g
T
+

A T B

F +

N 30g
(a) (b)
FIGURE S2.20

2.21 First determine the unit normal vector to the surface of the ice, n.

t T
z

45 100 ft
30
x

FIGURE S2.21

Then compute the component of the weight vector along n, denoted N. The
force parallel to the ice will then be S = W − N, where W is the weight. Once
the unit normal along S is determined, the motion can be treated as rectilinear
along the face of the ice. The following Mathcad code completes the solution.

107
 cos 45. deg 0 0
T 0 t cos 30. deg W 0
sin 45. deg sin 30. deg 130

T t
n
T t

0.655
n= 0.378
0.655
Let us find the componentof the weight that acts normal to the face of the ice.
N W. n . n

55.714
N = 32.167
55.714

The force parallel to the ice face causing her to slip is S

S W N

55.714
S = 32.167
74.286

We can first see if she slips by comparing|S| to µk|N|

S = 98.271 1.0. N = 85.105
Therefore she slips.
The unit vector in the direction of the slip is s
S
s
S
We can now treat the motion as rectilinear along the ice face in the direction s.
32.2
a . S 0.8. N
130
a = 7.477 ft/s 2

The distances she slides in the s direction is:

d = −100(t · s) = 66.144 ft
Now her velocity after sliding 66.144 ft can be determined.
dv
√
v dx = a, v = 2ad, v = 31.45 ft/s. Yes, she will be injured.

108
2.22 Constraint: xA + xB = ℓ therefore aA = −aB

xA
Constraint
xA+x B = l

20 ... aA = -a B

60
xB
30o

FIGURE S2.22

From the FBD of A:

20g sin 30 + 0.2(20g) cos 30◦ − T = 20aA
From the FBD of B:
60g sin 30◦ − 0.2(20g) cos 30◦ − 0.1(80g) cos 30◦ − T = 60aB
Thus
132.1 − T = 20aA
192.4 − T = 60aB
Which along with the constraint equation is a system of 3 equations in 3 un-
knowns. Solving yields
aB = 0.753 m/s2
aA = −0.753 m/s2
aA/B = aA − aB = −1.506 m/s2

NA

fA

A T B T

fA fB
mA g
mAg
NA NB

(a) (b)

FIGURE S2.22a,b

109
2.23 The rope length yields: 2xA + yB = ℓ, so that 2aA + aB = 0

x
8 kg

150 2x + y = l
A B

y 2aA + aB = 0

A 3 kg

FIGURE S2.23

A FBD of A yields:
150 − 2T = 8aA (1)
A FBD of B yields:
3 · (9.81) − T = 3aB (2)
Using the constraint, the 1st equation becomes
150 − 2T = −4aB
Multiply (2) by 2 yields
58.86 − 2T = 6aB
Subtracting these last two equations yields
−10aB = 91.14, so aB = −9.114 m/s, and aA = 4.557 m/s2
Also from (2): T = 3(9.81) − 3aB = 56.8 N
Solving
vB = aB t
for t yields:
2.5
t= 4.557
= 0.549 s

2.24 The constraint here is that xA + xB = constant, so that aA = −aB . Assume

that the system moves to the left.
From FBD of mass B
for y direction: NB − mB g cos β = 0, so NB = mB g cos β and fB = µk NB =
µk mB g cos β
from x direction: −T + mB g sin β − fB = mB aB
T
Thus we have: aB = g(sin β − µk cos β) − mB
(1)

110
 a+ +
a
B A

T T

f B = µk N B f A= µ kN A
β α
mBg NB NA mA g

(a) (b)
FIGURE S2.24a,b

From the FBD of mass A

from the y-direction: NA − mA g cos α = 0 or NA = mA g cos α
from the x-direction: −T + mA g sin α − µk mA g cos α = mA aA
T
Thus aA = ẍA = g(sin α − µk cos α) − mA
. (2)
Now use the constraint aA +aB = 0 along with equations (1) and (2) to eliminate
the tension T . This yields
T T
g(sin α − µk cos α) − mA
+ g(sin β − µk cos β) − mB
=0
 
mA mB
Solving yields T = g mA +mB
(sin α + sin β − µk (cos α + cos β))
Thus the value of constant acceleration from (2) is:
 
mA mB
ẍA = g(sin α − µk cos α) − g mA +mB
[sin α + sin β − µk (cos α + cos β)]

2.25 Solution:
mg
a
y

θ
x
m

µs N

N
FIGURE S2.25

From the FBD, the sum of forces in the x direction yields:

N − mg = ma sin θ

111
 The force sin in the y direction is:
µs N = ma cos θ
Thus
µs (mg + ma sin θ) = ma cos θ
or
µs g = a(cos θ − µs sin θ)
or
µs g
a= cos θ−µs sin θ
.

2.26 Solution:
mg
a

x m

f
y

N
FIGURE S2.26

From the FBD, the force sum in the x direction is:

µs N = ma cos θ
The force sum in the y direction is:
mg − N = ma sin θ
Thus:
N = m(g − a sin θ)
and
µs m(g − a sin θ) = ma cos θ
µs g = a(cos θ + µs sin θ)
µs g
a= cos θ+µs sin θ

112
2.27 From the top drawing, the constraints are

y B

3T 2
2T1

T1 2T
2

20g

FIGURE S2.27

2yA + xp = ℓ1 and xB + 2(xB − xp ) = ℓ2 . Thus 3aB + 4aA = 0 (1)

From the FBD of the pulley, T1 = 2T2 . Thus the FBD of A yields:
20(9.81) − 4T2 = 20aA (2)
The FBD of B yields:
−3T2 = 10aB → −3T2 = −10 43 aA so T2 = 40
a
9 A
(3)
Substitution of (3) into (2) yields:
 
40
20(9.81) − 4 9
aA = 20aA
or
(180 + 160)aA = 9(20)9.81
and
aA = 5.194 m/s2 .
aA 2
xA (t) = 2
t thus
5.194 2
1.5 = 2
t, T2 = 23.1 N, t = 0.76 s, T1 = 46.2 N

2.28 From the drawing, the constraints are:

xA + xB + (xB − xp ) = ℓ2 and 2xp + xc = ℓ1 combining yields
xc
xA + 2xB + 2
= const
Thus: 2aA + 4aB + ac = 0. Let T1 be the tension in cable 1 and T2 = T1 /2 be
the tension in cable 2.

113
 x
B

A C

A B P C
T 2T 1 T
1 2T 2 2

80g T1 20g
10g

FIGURE S2.28
q q
(2)(4)
Now since a = 12 at2 , t = 2d
a
= 4.5
= 1.33 s.
From the FBD of A: 10g − T1 = 10aA
From the FBD of B: 80g − 2T1 = 80aB
T1
From the FBD of C: 20g − 2
= 20ac
Rearranging these 4 equations in 4 unknowns yields:
10aA + T1 = 10g,
80aB + 2T1 = 80g
20ac + 12 T1 = 20g
2aA + 4aB + ac = 0
In matrix form these become:
aA 10 0 0 1 −1 10 · 9.81
     
a   0 80 0 2 
  80 · 9.81 
 
 B
=

 ac   0 0 20 0.5   20 · 9.81 
   

T1 2 4 1 0 0
which can be solved using a code to yield:
aA = −11.319, aB = 4.528, aC = 4.528,
T1
T1 = 211.292 and T2 = 2
= 105.646
q q
(2)(4)
Now since a = 12 at2 , t = 2d
a
= 4.5
= 1.33 s.

2.29 Solution:
Does system slip? 100 > 30(9.81)0.2 = 58.9 so it slips.
From the FBD of the system as a whole:
100 − 0.15(30)(9.81) = 30aT
Thus

114
 20

10 100

N
FIGURE S2.29

aT = 1.862 m/s2
From the FBD of B 0.2(20)9.81 = 20aB or aB = 1.962 which is larger than aT
so there is enough friction for the system to move as one.

2.30 Solution:
20g

0.15 N B

NB

0.15N B NB

10g 100

0.15 N A NA

FIGURE S2.30

From B
(0.15)(20)g = 20aB or aB = 1.47 m/s2
From A
100 − (0.15)(20)g − (0.15)(30)g = 10aA
So
aA = 2.643 m/s2
Block B slips.

2.31 Solution:
Note that aA = a cos θî + a sin θĵ and aB = ẍB î + ÿB ĵ
so that

115
 30g

B
a

A y
NB

NB
30o x

50g

30o N
A

FIGURE S2.31

aB/A = aB − aA = (ẍB − a cos θ̇)î + (ÿB − a sin θ)ŷ

Since aB/A cannot have a component in the ĵ direction we have the constraint
that
ÿB = a sin θ (1)
From the FBD of B we have
(x direction) 0 = mB ẍB so that ẍB = 0
(y direction) NB − mB g = mB ÿB (2)
From the FBD of A we have
(x direction) −NA sin θ = mA ẍA = mA a cos θ (3)
(y direction) −NB − mA g + NA cos θ = mA a sin θ (4)
This yields a system of 4 equations in the 4 unknowns yB , a, NA and NB which
can be written in matrix form as
1 − sin θ 0 0 ÿB 0
    
 30 0 0 −1  a 
   −(30)(9.81) 
=
  
 0 50 cos θ sin θ 0   NA   0
  

0 50 sin θ − cos θ 1 NB −(50)(9.81)
This has solution
a = −6.824 m/s2 , ÿB = −3.411 m/s2 , NA = 591.0 N, NB = 191.9 N.
The relative acceleration is
aB/A = (ẍB − a cos θ)î
which has magnitude
0 + (6.824)(.866) = 5.91 m/s2 .
Thus
q q
2d 2(.1)
t= a
= 5.91
= 0.184 s

116
2.32 Solution:

x
l

α Fs

N α
mg
FIGURE S2.32

The spring force is

Fs = k∆.
From the geometry
√
∆ = ℓ2 + x2 − ℓ.
Summing forces in the x direction (see S2.32) yields
√
mg cos α − k( ℓ2 + x2 − ℓ) √ℓ2x+x2 − µk N |ẋẋ| = mẍ
Summing forces in the y direction yields:
√
N − mg sin α − k( ℓ2 + x2 − ℓ) √ℓ2ℓ+x2 = 0
Therefore
n   h  io
1 √ ℓ ẋ √ ℓ
ẍ = m
mg cos α − kx 1 − ℓ2 ∗x2
− µk |ẋ| mg sin α + kℓ 1 − ℓ2 +x2
or
n    o
1
ẍ = m
mg cos α − kx + kℓµk |ẋẋ| 1− √ ℓ
ℓ2 +x2
− µk |ẋẋ| mg sin α

117
2.33 Solution:

k := 40 µ k := 0.2 L := 0.2 m := 5 g := 9.81 α := 30⋅ deg

i := 0 .. 4000
∆t := 0.001
 v 0   0.00001
  :=
 
 x0   0 
 
a( x, v ) := ⋅ m⋅ g ⋅ cos (α ) − k⋅  x + µ k⋅ L⋅
1 v  L  − µ ⋅ m⋅ g ⋅ sin (α )⋅ v 
 ⋅ 1−
m   v   2 2  k v 
  L +x  
 v i+ 1   v i + a(xi , v i)⋅ ∆t 
  :=  
 x   x + v ⋅ ∆t 
 i+ 1   i i 
3

2
xi
1

0
0 1 2 3 4
i⋅ ∆t

118
2.34 Solution:

50x

50 ft

x
x
110

(a) (b)
FIGURE S2.34a,b

First determine her velocity when the bungee cord becomes taut
√
ẍ = +g, but vdv = +gdx, so that v0 = 2 · g · ℓ = 62.16 ft/s
Now the FBD is illustrated in S2.34b and yields −kx + mg = mẍ, with v = v0 .
dv k
Thus a = v dx =g− m
x
Integrating both sides yields:
R0 Rdh k
i
v0 vdv = 0 g− m
x dx
k 2
−gℓ = gd − 2m d
√ 2kgℓ
−g± g 2 + m
d= −k = 77.893 ft (positive root)
m

Therefore 150 − 60 − 77.9 = 12.1 ft above the ground.

Also, note from the quadratic formula above (using k = c/ℓ) that d is propor-
tional to ℓ. Thus, Fx = kd = cdℓ is independent of ℓ. For the numbers given,
Fx = 5 · 77.9 = 389.5 lb.

2.35 Solution:

cv
y

mg
FIGURE S2.35

From the FBD, the sum of the forces in the y-direction when the skydiver has
reached her terminal velocity (i.e. zero acceleration) yields:
cv − mg = 0

119
 mg
Solving for c = 4.0A = v
.
1 (60)(9.81)
Thus A = 4.0
· 9
= 16.4 m2

2.36 From the FBD of the man there are 3 forces acting on him: gravity, the drag
force, which shuts “off” after 10 meters, and the buoyancy force which shuts off
when he stops. The force summation yields
−Fb − Fc + mg = mẍ
Now Fc = cv from 10 m or Fc = cv < x − 10 >0
Likewise FB = −mg from 13m or < x − 13 >0
Thus
ẍ = − cv
m
< x − 10 >0 −g < x − 13 >0 +g

Fc Fb

+
mg
FIGURE S2.36
√
The force at impact is mẍ|
q = mg − cv, where v = 2ad and x = 10, thus
Fimpact = 70 · 9.81 − 500 (2)(10)(9.81) = −6313 N. The depth beneath the
surface that the diver travels is d = 13.195-10 =3.195 m (see Mathcad soln).
m := 70 c := 500 ∆t := 0.001 g := 9.81 i := 0 .. 5000
c⋅ v v
a( v , x) := g − ⋅ Φ ( x − 10) ⋅ − g ⋅ Φ ( x − 13)
m v

 v0   0   v i+ 1   v i + a(v i , xi)⋅ ∆t 
  :=     :=  
 x0   0   xi+ 1   x + v ⋅ ∆t 
     i i 
20
x = 13.194
3057

vi x = 13.195
10 3058

x = 13.195
5000

0
0 5 10 15
xi

120
2.37 This can be solved by “hand” or by using the singularity function and numeri-
cally integrating.
By hand: for the first 5 seconds:
a(t) = 0.7t,
0.7 2
v(t) = 2
t
0.7 3
s(t) = 6
t
At t = 5, we have v5 = 8.75 m/s, s5 = 14.58 m.
After the first 5 seconds a = −2 m/s and integrating yields (starting the clock
over at t = 0)
v(t) = −2t + v5 = −2t + 8.75
2
s(t) = − 2t2 + 8.75t
8.75
Solving v(t) = 0 for t yields t = 2
= 4.38s.
Thus in the second interval s(4.38) = 19.14 m is reached.
The total distance traveled is 14.58 + 19.14 = 33.72 m.
This is solved by simple numerical integration in the following Mathcad code.

i 0 . . 940 g 9.81 m 1200

∆t 0.01
ti i. ∆t
a t Φ 5 t . 0.7. t Φ t 5 .2
v0 0
x0 0

vi 1
vi a ti . ∆t
xi 1 xi vi . ∆t
40

v 20
i

x
i
0 5 10

20

t
i

The total distance traveled is 33.8 meters.

121
2.38 The free body diagram given in S2.38:

Fd F
k

mg

FIGURE S2.38

Here Fd = cẋ < x − 35 >0 < v > is the damping force applied by the mat
and Fk = k(x − 35)2 < x − 35 >0 is the spring force applied by the mat. The
equation of motion obtained by summing forces in the vertical direction is just
mẍ = mg − Fd − Fk . Two design criteria must be met: total force must be
less than 600 lb and the total mat displacement must be less than 6 ft. The
following Mathcad code computes the displacement by numerical integration,
and can be evaluated for various values of c and k simply by changing the
definition statements for these constants. The solution is shown for one possible
combination of c and k that satisfy the design criteria.
120
g := 32.2 m := k := 32 c := 20
g
k 2 c
a( v , x) := g − Φ ( x − 20) ⋅ ⋅ ( x − 20) − Φ ( x − 20) ⋅ ⋅ v⋅ Φ ( v)
m m
∆t := 0.001 i := 0 .. 8000 t := i⋅ ∆t
i

 v0   0   v i+ 1   v i + a(v i , xi)⋅ ∆t 
  :=   :=  
 
 x0   0   xi+ 1   x + v ⋅ ∆t 
     i i 
( i i)
F := m⋅ a v , x
i

0 20

Fi xi

500
0
0 5 0 5 10
i⋅ ∆t ti

122
2.39 The sum of forces in the vertical direction ignoring gravity is
P4
mẍ = 50000[< 3 − t >0 + n=1 < t − 6n >< 6n + 3 − t >]
The following Mathcad code integrates the equation of motion and display the
displacement and velocity:
m := 500 F := 50000
 4 
 (Φ ( t − 6⋅ n) ⋅ Φ ( 6⋅ n + 3 − t) )
∑
F
a( t) := ⋅ Φ ( 3 − t) +
m 
 n =1 
∆t := 0.01 i := 0 .. 2700 t := i⋅ ∆t
i

 v 0   100   v i+ 1   v i + a(ti)⋅ ∆t 
  :=     :=   v = 1.604 × 10
3
 x0   0   xi+ 1   x + v ⋅ ∆t  2700
     i i  4
x = 2.3 × 10
2700

2000

2 .10
4

vi xi

0
0 10 20 30 0 10 20 30
ti ti

2.40 A FBD of the ball is given in S2.40a.

y
mg

x
20o

F
FIGURE S2.40
The problem is solved by setting up the computational solution and then per-
forming a trial and error procedure to find the required force. The Mathcad
solution is shown for one possible value of F (roughly the minimum possible
value). The initial conditions are vx (0) = −120 ft/s, x(0) = 0, y(0) = 4 ft (this
is assumed to be the level of the ball when it is struck, based on an average
batter size and general location of the strike zone) and vy (0) = 0. The force
required is found to be about 128 lb.

123
 5 W
W := g := 32.2 m :=
16 g
F := 13200 ⋅ m F = 128.106
F F
ax( t) := ⋅ Φ ( 0.015 − t ) ⋅ cos ( 20⋅ deg ) ay ( t) := −g + ⋅ Φ ( 0.015 − t) ⋅ sin ( 20⋅ deg )
m m
∆t := 0.001 i := 0 .. 4550
t := i⋅ ∆t
i

 vx0   vxi+ 1   vxi + ax(ti)⋅ ∆t 

   −120   
 x0   0   xi+ 1   xi + vxi⋅ ∆t 
 :=    
   := 
vy
 0

0 

vy
 i+ 1  vy
 i
+ ay (i) 
t ⋅ ∆t x
4534
= 354.065

y   4  y  −4
 i+ 1   y i + vy i⋅ ∆t 
y = 7.137 × 10
 0  4534

100

yi 50

0
0 100 200 300 400
xi

2.41 A free body diagram of the box is given in the figure.

v
The forces are Fk = kx < x − 4 >0 , f = µk cos θ |v|
The FBD yields the following two equations
Fy : N − mg cos 45◦ = 0
P

Fx : mẍ = −f − Fk + mg sin 45◦

P

124
 y

N
F
k

mg
FIGURE S2.41

The following Mathcad code integrates to find the solution.

i 0 . . 5000 ∆t 0.001 t i i. ∆t

µ:= 0.6 θ 45. deg m 2 g 9.81 k 500

1 v
a v, x . m. g. sin θ µ. cos θ . Φ x 4 . k. x 4
m v

v0 0 vi 1
vi a vi , x i . ∆t
x0 0 xi 1 xi vi . ∆t

v
i

x 0 1 2 3 4 5
i

ti

125
 The equivalent MATLAB code is:
function yprime = ds2pt41(t,y) yprime(1,:) = y(2,:);
% friction force
if y(2) = = 0,
Ef = 0;
else
Ef = 4.162*y(2,:)/abs(y(2,:)):
end
% spring force
if y(1)<=0,
Fk = 0;
else Fk = 250*y(1,:);
end
yprime(2,:) = -EF-Fk+6.947;
return

2.42 Working with the free body diagram of the previous problem replace the forces
Fk with Fk + Fc where Fc = cv(x − 4). Thus the equation of motion can be
v
written as: ma = mg(sin θ − µk cos θ |v| )− < x − 4 >◦ (k(x − 4) + cv)
The following MATLAB code can be used to solve for the velocity and displace-
ment using ODE for plotting the response.
function yprime = ds2pt41(t,y)
yprime(1,:) = y(2,:);
%friction force
if y(2) = = 0,
Ff = 0;
else
Ef = 4.162*y(2,:)/abs(y(2,:));
end
% spring and damper force
if y(1) < =0,
Fc = 0;
Fk = 0;
else
Fc = 12*y(2,:);
Fk = 250*y(1,:);
end
yprime (2,:) = -Ef-Fc-Fk+6.947;
return

126
Next the Mathcad solution is presented, complete with the plots:

k := 500 µk := 0.6 m := 2 g := 9.81 θ := 45⋅ deg

i := 0 .. 5000 ∆t := 0.001 t := i⋅ ∆t
i

⋅ m⋅ g ⋅  sin (θ ) − µk⋅ cos (θ )⋅  − Φ ( x − 4) ⋅ [ k⋅ ( x − 4) + c⋅ v ]

1 v
a( v , x, c) :=  
m    v  

 v0   0   v i+ 1   v i + a(v i , xi , 20)⋅ ∆t 
  :=     :=  
 x0   0   xi+ 1   x + v ⋅ ∆t 
     i i 
6

4
xi
2

0
0 2 4 6
ti

 v0   0   v i+ 1   v i + a(v i , xi , 200)⋅ ∆t 
  :=     :=  
 x  0 x   x + v ⋅ ∆t 
 0  i+ 1   i i 
6

4
xi
2

0
0 2 4 6
ti

These codes are run several times for different values of c until one is found
that keeps the box from losing contact with the spring. A value of c = 20 very
nearly keeps it in contact, but a value as high as c = 200 is needed to truly keep
the box in contact with the spring.

127
2.43 Assuming positive in the direction of the expanding bag:
30 m/s

vB

FIGURE S2.43

Fd = 5 Ns/m ·vH/B m/s

vH/B = 30 + vB
5(30 + vB ) = 500
vB = 70 m/s

2.44 Solution:

mg

Fa Fs

FIGURE S2.44

From the free body diagram, Newton’s law in the vertical direction yields F =
mg − 10H(x − 5)(x − 5) − 0.5|v|v Where the Heaviside function indicates that
the spring forces does not act until x = 5.
The MATLAB code for solving this consists of the following m-file, then using
ODE and PLOT to compute and plot the solution x(t). The m-file is
function yprime = ds2pt41(t,y)
yprime(1,:) = y(2,:);
% viscous force
Fd = 0.1*y(2,:)*abs(y(2,:));
% spring force
if y(1) < =0,
Fk = 0;
else
Fk = 2*y(1,:);
end
yprime (2,:) = -Fd-Fk+9.81;
return

128
 The Mathcad equivalent is given next along with the plot of x(s) vs. t:
m 5 k 10 c 0.5 g 9.81

i 0 . . 10000
∆t 0.001
t i i. ∆t

a v, x m. g k. Φ x 5 . x 5 c. v. v

v0 0
x0 0

vi 1
vi a vi , xi . ∆t
xi 1 xi vi . ∆t

Position vs time
15

10
xi

0
0 2 4 6 8 10
i . ∆t
time s

2.45 Solution:

ρ 130

FIGURE S2.45
ρ = 100 ft v = 60 mph = 88 ft/s
mv2
Fn = man =
P
ρ
130 v2
N − 130 = 32.2 100

129
  
130 882
Therefore N − 130 = 32.2 100
N = 443 lb up

2.46 Solution:

mg

500 ft

FIGURE S2.46

To fly the hill N = 0

v2
√
mg = m 500 , v = 32.2 × 500 = 126.9 ft/s = 86.5 mph

2.47 Solution:

mg

ρ
f

β β N

FIGURE S2.47

mv2
N cos β − mg − f sin β = 0, N sin β + f cos β = p
mg
f = µs N N = cos β−µ sin β
mv2 (sin β+µ cos β)
ρ
= mg (cos β−µ sin β)
q
sin β+µ cos β
v= ρg cos β−µ sin β

h i
36.72 sin β+0.3 cos β
2.48 Solution: 25 mph = 36.7 ft/s. Therefore 100
= 32.2 cos β−0.3 sin β

0.418(cos β − 0.3 sin β) = sin β + 0.3 cos β

β = 6.02◦

130
2.49 Solution:

mg
P

FIGURE S2.49

v2
amax = 5g = p
v = 700 mph = 1027 ft/s
(1027)2
ρ= 5(32.2)
= 6551 ft

2.50 Solution:

mg
β β

FIGURE S2.50

g
mg sin β = mRβ̈ wdw = R
sin βdβ
w2
|w =
a w0
g
R
(− cos θ)β0
w 2 = 2g
R
(1 − cos β) + w02
At separation:
2 v2 2g v02
mg cos β = m vR R2
= R
(1 − cos β) + R2
v02 v02
g cos β = 2g(1 − cos β) + R
3g cos β = 2g + R
v02
h i
2
β = cos−1 3
+ 3gR

131
2.51 Solution:

N
θ
mg
FIGURE S2.51

The following equations can be written:

mg cos θ = mRθ̈ (1)
N − mg sin θ = mRθ̇2 (2)
g
Eq (1) can be rewritten as ω dω
dθ
= R
cos θ (where ω = θ̇).
Integrating this gives:
ω2 g
2
= R
(sin θ − sin θ0 )
Thus:
q
2g
ω= R
(sin θ − sin θ0 )
and
q
v= 2gR (sin θ − sin θ0 )

2.52 Solution:
mRθ̈ = mg cos θ − f |θ̇θ̇|

−mg sin θ + N = mRθ̇2

Therefore mRθ̈ = mg cos θ − µk |θ̇θ̇| [mg sin θ + mRθ̇2 ]
Canceling the mass
g µk θ̇
θ̈ = R
cos θ − R |θ̇|
[g sin θ + Rθ̇2 ]

132
2.53 Solution:

The mass cancels out of the equation of motion and values have been assumed for the
radius and the coefficient of kinetic friction. The Mathcad code is:
i 0 . . 2000
∆t 0.001 g 9.81 µ k 0.15 R 0.3

ti i. ∆t
g µ k ω
. cos θ . . g. sin θ 2
α ω,θ R. ω
R R ω
ω0 0
θ0 .
10 deg

ωi 1
ωi α ω i , θi . ∆t
θi 1
θi ω i . ∆t

Angular Position vs time

3

2
θi

0
0 0.5 1 1.5 2
t
i
Time s

The equivalent code in MATLAB is:

function yprime = ds2pt53(t,y)
g = 9.81; R = 1; gg = g/R; mu = 0.07;
yprime(1) = y(2);
if y(2)==0
yprime(2) = -mu*(y(2)ˆ2+gg*sin(y(1)))+gg*cos(y(1));
else
yprime(2) = -mu*(y(2)ˆ2+gg*sin(y(1)))*y(2)/abs(y(2))+gg*cos(y(1));
end
return

133
2.54 See the free body diagram given in Sample Problem 2.12. It is given that:
Fs = kR(2 cos θ2 − 1)
Ff = µk |N| |θ̇θ̇|
From Sample 2.12, the FBD yields upon summing forces in the normal and
tangential directions
Fn = −N + mg sin θ + Fs cos θ2 = mRθ̇2
P

N = mg sin θ + kR(2 cos θ2 − 1) cos 2θ − mRθ̇2

Ft = −Ff + Fs sin θ2 − mg cos θ = mRθ̈
P

The equation of motion is thus:

 
mRθ̈ = −µk mg sin θ + kR(2 cos 2θ − 1) cos θ2 − mRθ̇2  |θ̇|
θ̇
 

+kR(2 cos θ2 − 1) sin 2θ − mg cos θ

 
θ̈ = −µk  Rg sin θ + k
(2 cos 2θ − 1) cos θ2 − θ̇2  |θ̇|
θ̇
 
m
k g
+m (2 cos 2θ − 1) sin 2θ − R
cos θ
When the slider is in equilibrium, θ̈ = 0 and θ̇ = 0. The Mathcad solution
follows.
The solution shown here is for a coefficient of kinetic friction of 0.18, a value
that was chosen for a typical response. The spring would be unloaded when
θ = 120◦ but there would still be the gravitational acceleration acting on the
slider. It may be observed that the slider is oscillating about a slighter higher
angle (roughly 123◦ ), which is the equilibrium angle.
Note the slow start of the slider as it overcomes the friction force. The spring
force is high when θ = 30◦ but this contributes to a high normal force and
therefore a high friction force. If the coefficient of kinetic friction is too high,
could the problem be such that friction drives the motion? No, this is an
impossibility. In this formulation the friction term in the equation of motion is
multiplied by θ̇/|θ̇| to make sure the friction always opposes motion; this term is
zero when the angular velocity is zero so friction will never initiate motion. To
determine whether motion would occur in a particular case, determine whether
the spring force minus the gravitational force in the initial configuration is
greater than the coefficient of static friction times the normal force. That would
be a separate calculation as the friction force in this equation of motion is zero
until motion starts.

134
m := 1 k := 600 R := 0.2 g := 9.81 µ k := 0.18

N(ω , θ ) := m⋅ g ⋅ sin (θ ) + k⋅ R⋅  2⋅ cos 

  θ  − 1 ⋅ cos  θ  − m⋅ R⋅ ω2
   
  2   2

α (ω , θ ) :=
−g
⋅ cos (θ ) +
k ⋅  2⋅ cos 
 θ  − 1 ⋅ sin  θ  − µ k ⋅ N(ω , θ ) ⋅ ω
   
R m  2    2  m⋅ R ω

i := 0 .. 15000 ∆t := 0.0001 t := i⋅ ∆t
i

 ω0     ωi+ 1   ωi + α (ωi , θ i)⋅ ∆t 

0
  := π   :=  
 θ 0   6   θ i+ 1   θ i + ωi⋅ ∆t 

200

θi
100
deg

0
0 0.5 1 1.5
ti

f(θ ) :=
−g
⋅ cos (θ ) +
k 
⋅  2⋅ cos 
 θ  − 1 ⋅ sin  θ 
   
R m   2   2
root( f( x) , x)
x := 120⋅ deg = 123.35
deg

135
2.55 We are given α = constant and so ω = αt.

r ω2

rα

FIGURE S2.55

f = m(rαêt + rω 2 ên ) is the total force. The total acceleration is

q
µs mg = m (rα)2 + (rω 2 )2
1
q
rα
√
µs = g
(rα)2 + (r(αt)2 )2 = g
1 + α2 t4

2.56 Solution:

_
ω

B A

RA
RB

FIGURE S2.56

RA + RB = ℓ
T = mB RB ω 2 , T = mA RA ω 2
Therefore mB RB = mA RA .
RA = ℓ − RB
mA mA
RB = mB
ℓ− m B
RB
mA
RB = mA +mB
ℓ
mB
RA = mA +mB
ℓ

136
2.57 Solution:

θ mg

<
en

<
en

<
et

FIGURE S2.57

Sum forces along t̂: N cos θ −mg = 0 sum forces along n̂ : N sin θ = mRω 2 sin θ
 
g
Therefore N = mRω 2 , mRω 2 cos θ = mg, θ = cos−1 Rω 2
.

2.58 First-determine the required velocity at top.

N
<

mg
FIGURE S2.58a

From the figure S2.58a:

2
N + mg = m vR , N = 21 mg
q q
3 3 g
v= 2
gR or ωT = 2R
.

θ R

θ
N
mg
ω0

FIGURE S2.58b

137
 From S2.58b:
mRθ̈ = −mg sin θ (sum of tangential forces)
R ωT Rπ g
ω0 ωdω = 0 R sin θdθ
2 −ω 2
ωT
2
0
= + Rg cos θ|π0 = − 2g
R
ω02 = 4gR
+ 32 Rg = 11 g
2 R
q
11
v0 = 2
gR

2.59 From Problem 2.58

mg

<
n

N
FIGURE S2.59

mv02 11 11
N − mg = R
=m· 2
g or N = mg + 2
mg
13
N= 2
mg

6.5 times body weight could realistically cause spinal injuries.

138
2.60 See free body diagram shown in the solution to problem 2.61 (S2.61).
From the solution to problem 2.61:
ℓθ̇ 2 sin θ+g cos θ sin θ
ÿA = γ+sin2 θ
,
where
γ = mA /mB
For ℓ = 0.2 m, θ = 30◦ , θ̇(0) = 0, mA = 3 kg and mB = 2 kg:
ÿA = 2.427 m/s (acceleration of block A).
The acceleration of block B is:
aB = aA ĵ + ℓθ̈ cos θĵ − ℓθ̈ sin θî
From the solution to problem 2.61:
(mA + mB sin2 θ)θ̈ + mB θ̇2 cos θ sin θ + (mA + mB ) gℓ sin θ = 0
For the numbers given:
θ̈ = −35.036 rad/s2 .
And:
aB = 2.427ĵ − 6.068ĵ + 3.504î = 3.504î − 3.641ĵ m/s.

139
2.61 The FBD’s are given in the figure:
m Ag

θ(t)

x T θ
mAg m g
B

θ
T m g
N B

FIGURE S2.61
In the y-direction for block A:
(1) T sin θ = mA ÿA
and in the radial and tangential directions for block B:
(2) −T + mB g cos θ = mB (−ℓθ̇2 + ÿA sin θ)
(3) −mB g sin θ = mB ℓθ̈ + mB ÿA cos θ
Substitution of (2) into (1) yields
sin θ{mB ℓθ̇2 − mB ÿA sin θ + mB g cos θ} = mA ÿA
or
mA
ℓθ̇2 sin θ + g cos θ sin θ = ( mB
+ sin2 θ)ÿA
Thus we have
ℓθ̇ 2 sin θ+g cos θ sin θ
(4) ÿA = γ+sin2 θ
.
where
γ = mA /mB
Substitute 4 into 3:
ℓθ̇ 2 sin θ+g cos θ sin θ
ℓθ̈ + γ+sin2 θ
· cos θ = −g sin θ.
(γ + sin2 θ)θ̈ + θ̇2 cos θ sin θ + gℓ cos2 θ sin θ + γ gℓ sin θ + gℓ sin3 θ = 0
which can also be written as:
sin2 θ g
(1 + γ
)θ̈ + γ1 θ̇2 cos θ sin θ + γℓ
cos2 θ sin θ + gℓ sin θ + g
γℓ
sin3 θ = 0
When mA >> mB (γ very large) this becomes the pendulum equation:
θ̈ + gℓ sin θ = 0
Resubstituting for γ into the original equation and simplifying:
(mA + mB sin2 θ)θ̈ + mB θ̇2 cos θ sin θ + (mA + mB ) gℓ sin θ = 0

140
2.62 The free body diagrams are given in S2.62:

m g T
A

y
A: B:

x
β
N
mB g
T
FIGURE S2.62

From the solution to problem 2.63 for θ̈, with θ = 0 and θ̇ = 0:

−g sin β cos β(mA +mB )
θ̈ = ℓ[mA +mB sin2 (β]

Writing the equation of motion in the x-direction for block A in the coordinate
system shown in S2.62:
mA aA = mA g sin β + T sin β
Writing the equation of motion in the y-direction for block B in the coordinate
system shown in S2.62:
T cos β − mB g cos β = mB ℓθ̈ sin β
Solving the previous equation for T :
T = mB g + mB ℓθ̈ tan β
Substituting this gives the acceleration of block A (which is in the x-direction):
mA +mB mB
aA = mA
g sin β + mA
ℓθ̈ sin β tan β
And the acceleration of B is:
aB = aA î + ℓθ̈ cos β î + ℓθ̈ sin β ĵ

141
2.63 Solution:

m g
A T
y θ
A: B:

x
θ
β
N
T mB g

FIGURE S2.63

T sin(β + θ) + mA g sin β = mA aA
−T sin θ = mB aBx
T cos θ − mB g = MB aBy
aB = aA + aB/A
aA = aA (cos β î − sin β ĵ) + ℓθ̇2 (− sin θî + cos θĵ)
(1) T sin(β + θ) + mA g sin β = mA aA
(2) −T sin θ = mB [aA cos β + ℓθ̈ cos θ − ℓθ̇2 sin θ]
(3) T cos θ − mB gg = MB [−aA sin β + ℓθ̈ sin θ + ℓθ̇2 cos θ]
T
Therefore aA = mA
sin(β + θ) + g sin β
Substituting into (2) and (3)
h i
T
2) −T sin θ = mB mA
sin(β + θ) cos β + g sin β cos β + ℓθ̈ cos θ − ℓθ̇2 sin θ
h i
mB
T sin θ + mA
sin(β + θ) cos β = −mB gsinβ cos β − mB ℓθ̈ cos θ + mB ℓθ̇2 sin θ
−mB [g sin β cos β+ℓθ̈ cos θ−ℓθ̇ 2 sin θ]
T = m
sin θ+ mB sin(β+θ) cos β
A

3) T cos θ = mB g − mB [aA sin β − ℓθ̈ sin θ − ℓθ̇ cos θ]

mB
T [cos θ + mA
sin(β + θ) sin β] = mB [q(1 − sin2 β) + ℓθ̈ sin θ + ℓθ̇2 cos θ]
mB [g(1−sin2 β)+ℓθ̈ sin θ+ℓθ̇ 2 cos θ]
T = m
cos θ+ mB sin(β+θ) sin β
A

Equating two expressions for T

mB
−[cos θ + mA
sin(β + θ) sin β] · [g sin β cos β + ℓθ̈ cos θ − ℓθ̇2 sin θ]
mb
= [sin θ + mA
sin(β + θ) cos β] · [g cos2 β + ℓθ̈ sin θ + ℓθ̇2 cos θ]
Therefore g sin β cos β cos θ + ℓθ̈ cos2 θ − ℓθ̇2 sin θ cos θ
+g cos2 β sin θ + ℓθ̈ sin2 θ + ℓθ̇ sin θ cos θ
+mB
mA
sin(β + θ)[g sin2 β cos β + ℓθ̈ cos θ sin β − ℓθ̇2 sin θ sin β]
+mB
mA
sin(β + θ)[g cos2 β cos β + ℓθ̈ sin θ cos β + ℓθ̇2 cos θ cos β]

142
 g sin(β + θ) cos β + ℓθ̈ + mB
mA
sin(β + θ)[g cos β + ℓθ̈ sin(β + θ) + ℓθ̇2 cos(β + θ)] = 0
g sin(β + θ) cos β( mAm+m
A
B
) + ℓθ̈[1 + mB
mA
sin2 (β + θ)]
+ℓθ̇2 mB
mA
sin(β + θ) cos(β + θ) = 0
−g sin(β+θ) cos β(mA +mB )+ℓθ̇ 2 mB sin(β+θ) cos(β+θ)
θ̈ = ℓ[mA +mB sin2 (β+θ)]

2.64 Solution: (in Mathcad)

i 0 . . 2000
∆t 0.001
ti i. ∆t
mA 3
mB 2
g 9.81
β 0
L 0.5
mA m B . g. sin β θ . cos β m B . L . dθ 2. sin β θ . cos β θ
ddθ θ , dθ
L. m A m B . sin β θ 2
dθ0 0
θ0 .
20 deg
dθi 1
dθ i ddθ θ i , dθi . ∆t
θi 1
θ i dθi . ∆t
Angle- time relationship
40

20
θ
i
deg 0

20

40
0 0.5 1 1.5 2
t
i
time s

143
2.65 Solution: (in Mathcad)

i 0 . . 2000
∆t 0.001
t i i. ∆t
mA 3
mB 2
g 9.81
β 30. deg
L 0.5
2
mA m B . g. sin β θ . cos β m B . L . dθ . sin β θ . cos β θ
ddθ θ , dθ
L. m A m B . sin β θ 2
dθ0 0
θ0 .
20 deg
dθi 1
dθ i ddθ θ i , dθi . ∆t
θi 1
θ i dθi . ∆t
Angle- time relationship
50

θ 0
i
deg
50

100
0 0.5 1 1.5 2
t
i
time s

2.66 Solution:
v2
an = 3 · g = p
v = 200 mph = 293 ft/s
(293)2
p= 96.6
= 889 ft
From the solution of 2.47:
g(sin β+µ cos β)
an = cos β−µ sin β
.
3(cos β − µ sin β) − (sin β + µ cos β) = 0
−(3µ + 1) sin β + (3 − µ) cos β = 0
3−µ
Therefore tan β = 3µ+1
µ = 0.85
β = 31.2◦ .

144
2.67 The Mathcad code to solve this problem is:

N := 917 n := 0 .. N ∆t := 0.001 t := n ⋅ ∆t L := 3 g := 9.81

n

v − g ⋅ sin (θ ) + 0.3⋅ g ⋅ cos (θ ) + dθ ⋅ v 2 ⋅ ∆t

 n  n  n n ( n)  
 
 v0   v n+ 1   s + v ⋅ ∆t
n n 
   0     
 s0   0   s n+ 1    s  
3

  :=    :=    n
−70⋅ deg  −70⋅ deg ⋅ 1 −    
 θ0   θ n+ 1   L
 dθ   0 
  dθ    

 0  n+ 1 
 3⋅ 70⋅ deg ⋅
(s )
n
2

 3 
 L 
s = 3.001 v = 4.227 t = 0.917
N N N

N := 817 n := 0 .. N ∆t := 0.001 t := n ⋅ ∆t L := 3 g := 9.81

n

v − g ⋅ sin (θ ) + 0.0⋅ g ⋅ cos (θ ) + dθ ⋅ v 2 ⋅ ∆t

 n  n ( n)
n
 n
 
 
 v0   v n+ 1   s + v ⋅ ∆t
   0    
n n 

 s0   s n+ 1    s  3
 :=    
0
   := −70⋅ deg ⋅ 1 −   
n
   
 θ 0   −70⋅ deg   θ n+ 1    L 
 dθ   0   dθ 
 
 0  n+ 1 
 3⋅ 70⋅ deg ⋅
(s )
n
2

 3 
 L 
s = 2.999 v = 6.668 t = 0.817
N N N

The child’s velocity is 4.227 m/s at the bottom of the slide when the coefficient
of kinetic friction is 0.3, and 6.668 m/s when there is no friction. It takes the
child 0.917 seconds to reach the bottom of the slide when the coefficient of
kinetic friction is 0.3, and 0.817 seconds when there is no friction.

145
The MATLAB code to solve the problem is as follows:

function yprime = ds2pt67(t,y)

s = y(1); %position
s = y(2); %speed
L = 3; %length of slide
mu = 0.3; %kinetic coefficient of friction
g = 9.81; %acceleration due to gravity
theta = -1.222*(1-(s/L)ˆ3); %angle
theta = 1.222*3 *(s/L)ˆ2/L; %dtheta/ds
% differential equations
yprime(1,:) = s ;
yprime(2,:) = - mu*(s ˆ2*theta + g*cos(theta))*sign(s )-g*sin(theta);
% v x and v y
yprime(3,:) = s *cos(theta);
yprime(4,:) = s *sin(theta);
return

146
2.68 The Mathcad code to solve the problem:
The heightof the slide must first be determined numerically as shown below.
The height was originally choosento be 3 m, and was reducedto 2.854 m so that the
bottom would be 0.6 m from the ground.
x0 0
y0 2.854
s 0 , 0.1 . . 3
s 3
θ s 70. deg. 1
3
s
x s x0 cos θ ζ dζ
0
s
y s y0 sin θ ζ dζ
0
y 3 = 0.6
Slide Contour
3

2.5
vertical distance m

2
y s

1.5

0.5
0 0.5 1 1.5 2
x s
horizontal distance m
The solution for the child falling from the top is straight forward as the only force acting
on the child is gravitational acceleration.
y(t) = -g m/s 2
:

.
y(t) = - gt m/s
- gt 2
y(t) = + 2.854 m
2
The time when the child hits the ground is t = 0.763s and the velocity is 7.485 m/s.

147
2.69 Solution:

N 6263
g 9.81 v0
µ 0.5 0
α 47. deg s0 0
L 46 θ0 α
i 0.. N
∆t 0.001 dθ0 0
t i i. ∆t

a θ , dθ , v g. sin θ µ . g. cos θ v 2. dθ

vi a θ i , dθ i , vi . ∆t
vi 1 s i
v . ∆t
i
si 1 si 2
θi α. 1
1 L
dθi 1
si
2. α .
L2
t 6263 = 6.263
v6263 = 3.453
s6263 = 46.005

x0 0 xi 1
xi cos θi . si 1
si
y
0
20 yi 1 yi sin θ . s
i i 1
si

Slide Profile
20

10
yi

10
0 10 20 30 40
x
i
Horizontal Position m
The slide provides a very small velocity at the bottomand the time on the slide is 6.263 s.
A longer time on the slide may be obtained by changing the initial angle and the
coefficient of friction as well as the lengthof the slide.

148
2.70 Solution:
θ(s) = (s/25000) cos(s/500), for 0 < s < 3000
ds 100
dt
= 100 km/hr = 3.6
= 27.8 m/s
dθ 1 s s v2 dθ
ds
= 25000
[cos(s/500) − 500
· sin( 500 )], N(s) = cos(θ(s)) + g ds

∆s := 1 i := 0 .. 3000 s := i⋅ ∆s
i

⋅ cos  
s s
θ ( s ) := 
25000  500 
 x0   0 
  :=  
 xi+ 1   xi + cos θ (s i) ⋅ ∆s 
  :=  
( )
 y0   0 
 
 y i+ 1   y + sin θ (s ) ⋅ ∆s 
   i i ( )
50

0
yi
50

100
0 500 1000 1500 2000 2500 3000
xi

⋅ cos   − s ⋅ sin  s  ⋅ 1
1 s
dθ( s ) :=   
25000  500  25000  500  500
1000
v := 100⋅ v = 27.778
3600
2
N := cos θ s
i ( ( i)) +
v
9.81
( i)
⋅ dθ s

1.02

Ni
1

0 500 1000 1500 2000 2500 3000

xi

149
2.71 Solution:

s 0 , 10 . . 7000
s s
θ s . cos 1
4000 400
1 s s s 1
dθ s . cos . sin
4000 400 400 400 4000
v 66
g 32.2
a max 0.5. g
an s v . dθ s

20
18.941213

an s
0
a max

15.547668 20
0 1000 2000 3000 4000 5000 6000 7000
0 s 3
7. 10
Yes, the occupant slips near the end of the ride.

2.72 Solution:
0 < s < 20
θ = s sin−1 [0.2 − 0.5 cos( 10
s
)]
ṡ = 1− m/s
Fn = F = mṡ2 θ′
P

Fmax = µs N = µs mg > mṡ2 θ′

µs g > ṡ2 θ′ no slip condition
ṡ2 θ ′ 102 0.2571
µs > g
= 9.81
= 2.62
θ = 5 sin−1 [0.2 − 0.5 cos( 10
s
)]
1
θ′ = 5 √1−u 2u
′

s
where u = 0.2 − 0.5 cos( 10 )
s 1
u′ = 0.5 sin( 10 )· 10
max θ′ (s) = 0.2571 r/m
@ s = 17.17 m

150
 The following is a Mathcad analysis:

v := 10 s := 0 .. 20

θ ( s ) := 5⋅ asin  0.2 − 0.5⋅ cos  

s

  10  
d
dθ( s ) := θ ( s )
ds
2
an ( s ) := v ⋅ dθ( s )

40

an( s)20

0
0 10 20
s
an ( s )
µ ( s ) :=
9.81
µ ( 17) = 2.62

2.73 Differentiate the given r and θ:

r(t) = 0.300 + 0.100 cos(πt)
ṙ(t) = −0.100π sin(πt)
r̈(t) = −0.100π 2 cos(πt)
π
θ(t) = 6
sin(πt)
π2
θ̇(t) = 6
cos(πt)
3
θ̈(t) = − π6 sin(πt)
2
v(t) = −0.100π sin(πt)êr + (0.300 + 0.100 cos πt) π6 cos2 (πt)êθ
4
a(t) = [−0.100π 2 cos(πt) − (0.3 + 0.1 cos(πt)) π36 cos2 πt]êr
3 2
+[(0.3 + 0.1 cos πt)(− π6 sin πt) + 2(−0.1π sin(πt))( π6 cos πt)]êθ
F = mar êr + maθ êθ
4 4
= m{−0.100 π36 cos3 (πt) − 0.300 π36 cos2 (πt) − 0.100π 2 cos(πt)}êr
3
−0.3m π6 sin(πt){1 + cos(πt)}êθ

151
2.74 It is given that:
F(t) = (3t2 − 1)êr + cos( πt
6
)êθ , m = 1
Therefore upon comparison with eq. (2.39) in the book:
m(r̈ − r θ̇2 ) = 3t2 − 1
m(r θ̈ + 2ṙ θ̇) = cos( πt
6
).
This gives the following differential equation to solve:
1
r̈ = r θ̇2 + m
(3t2 − 1)
θ̈ = −2 rṙ θ̇ + 1
mr
cos( πt
6
)
With initial conditions
r(0) = 2 θ(0) = 0 ṙ(0) = 0 θ̇(0) = 0
The solution in MATLAB is given in the following file:
function yprime = ds2pt74(t,y)
m = 1;
Fr = 3*tˆ2-1;
Fth = cos(t*pi.6);
r = y(1); % radial position
th = y(2); % angular position
v = y(3); % radial velocity
w = y(4); % angular velocity
yprime(1) = v;
yprime(2) = w;
yprime(3) = Fr/m + r*wˆ2;
yprime(4) = (1/r)*(Fth/m-2*v*w);
return

152
 The Mathcad solution follows:
m := 1
ddr(r , dθ , t ) := r⋅ dθ +
2 1 ( 2
⋅ 3⋅ t − 1 )
m

ddθ(dr , r , dθ , t) :=
−2⋅ dr⋅ dθ 1  π⋅ t 
⋅ cos 
− 
r m⋅ r  6 
i := 0 .. 2000 ∆t := 0.001 t := i⋅ ∆t
i
 dr0 
  0   
(
 dri+ 1   dri + ddr ri , dθi , ti ⋅ ∆t ) 
 r0   2   ri+ 1   r + dr ⋅ ∆t
i i 
  :=   :=  
 dθ0   0 
 
( )
 dθi+ 1   dθi + ddθ dri , ri , dθi , ti ⋅ ∆t 
 θ  0 θ   
 0  i+ 1   θ i + dθi⋅ ∆t 
i i
( )
x := r ⋅ cos θ i y := r ⋅ sin θ i
i i
( )
0

yi
2

1.5 2 2.5 3 3.5

xi

2.75 The force acting on m along r is:

Differentiating the given value of θ yields:
Fr = −k(r − 0.2)êr .
θ = 0.1t2
θ̇ = 0.2t
θ̈ = 0.2
Using equation 2.39 yields:
m(r̈ − r θ̇2 ) = −k(r − 0.2)
m(r θ̈ + 2ṙ θ̇) = 0
The governing differential equations and initial conditions are:
θ̈ = − 42 ṙ θ̇
θ̈ = − 2r ṙ θ̇
k = 400N/m m = 4kg
θ̇(0) = 0 ṙ(0) = 0 r(0) = 0.2 θ(0) = 0

153
The MATLAB code is:
function yprime = ds2pt75(t,y)
m = 4;
k = 40;
L = 0.2;
th = 0.1*tˆ2;
thdot = 0.2*t;
yprime(1) = y(2);
yprime(2) = y(1)*thdotˆ2-(k/m)*(y(1)-L);
return
The Mathcad solution is:

i 0 . . 10000
∆t 0.001
k 40
m 4
ti i. ∆t
θi 0.1. ti 2
dθ i 0.2. t i
2 k
ddr r , dθ r. dθ . r 0.2
m
dr0 0
r0 0.2
dri 1
dri ddr ri , dθ i . ∆t
ri 1 ri dri . ∆t
Trajectory Plot
90 0.33073
120 60
0.3 Starting point
150 0.2 30
ri 0.1 0.2
180 0 0

210 330

240 300
270
θ
i

154
2.76 Solution:

v )
f = - µ k mg(k ___
Fs | v|
θ

FIGURE S2.76

v = (ṙêx + r θ̇êθ ). The unit vector along v for computing f is:

ṙêx +r θ̇êθ
v
|v|
=√ 2 2 2
ṙ +r θ̇

Equation (2.39) from the book yields:

ṙ
m(r̈ − r θ̇2 ) = −k(r − 0.2) − µr mg √
(ṙ 2 +r 2 θ̇ 2 )
or
k ṙ
r̈ = r θ̇2 − m
(r − 0.2) − µk · g · √
ṙ 2 +r 2 θ̇ 2

The MATLAB code is:

function yprimem = d s2pt75(t,y) m = 4; k = 20; l = 0.2; g = 9.81; mu = 0.2;
th = 0.1*tˆ2; thdot = 0.2*t; v = sqrt(y(2)ˆ2+(y(1)*thdot)ˆ2);
if v==0,
yprime(1) = y(2);
yprime(2) = y(1)*thdotˆ2-(k/m)*(y(1)-1);
else
yprime(1) = y(2);
yprime(2) = y(1)*thdotˆ2-(k/m)*(y(1)-1)-mu*g*y(2)/v;
end
return

155
 The Mathcad solution is:

k 20
m 4
µ 0.2
g 9.81
i 0 . . 10000
∆t 0.001
ti i. ∆t
θ t 0.1. t2
dθ t 0.2. t
k dr
ddr r , dr , dθ , t r. dθ 2 . r 0.2 µ . g.
m
2
dr 2 r. dθ
dr0 0
r0 0.2
dri 1
dri ddr ri , dri , dθ ti , ti . ∆t
ri 1 r i
dr . ∆t
i

Particle movement 0-10 s

90 0.515584
120 60
0.4
Starting point
150 30 of the particle
0.2 t=0 s
r 0.199999
i
180 0 0

210 330

240 300
270
θ t
i

2.77 We are given m = 4 kg, k = 650 N/m and θ̇ = 1.5 rad/s

Differentiate:
r(θ) = 0.200(2 − cos θ)
ṙ(θ) = 0.200(sin θ)θ̇
r̈(θ) = 0.200[(cos θ)θ̇2 + (sin θ)θ̈]

156
 The equation of motion in the radial direction is:
Nr − k(r − 0.100) = m(r̈ − r θ̇2 ), where θ̇ = 1.5. Thus:
Nr = k[0.200(2 − cos θ) − 0.100] + m[0.200 cos θ(1.5)2 − 0.200(2 − cos θ)(1.5)2 ]
= 650(0.300 − 0.200 cos θ) + 4[0.400 cos θ(1.5)2 − 0.200(2)(1.5)2]
Thus
Nr = 191.4 − 126.4 cos θ.

2.78 We are given θ̇ = 2 − cos θ, so that

θ̈ = sin θθ̇ = sin θ(2 − cos θ)
Thus
Nr = k(r − 0.100) + m(r̈ − r θ̇2 )
r̈(t) = 0.200[cos θ(2 − cos θ)2 + sin2 θ(2 − cos θ)]
r θ̇2 = 0.200(2 − cos θ)(2 − cos θ)2

The following MATLAB code computes the solution

function Nr = ds2pt78(theta)
thdot = 2-cos(theta);
thddot = sin(theta).*thdot;
r = 0.2*(2-cos(theta));
rdot = 0.2*sin(theta).*thdot;
rddot = 0.2*sin(theta).*thddot + 0.2*cos(theta).*thdot.ˆ2;
k = 650; m = 4; l = 0.1;
Nr = m*(rddot-r.*thdot. ˆ2)+k*(r-l);
return

The following computes the solution in Mathcad:

157
 π
θ := 0 , .. 4⋅ π
48
Fs (θ ) := 650⋅ 0.2⋅ (2 − cos (θ )) − 0.1

ddr(θ ) := 0.2⋅ cos (θ )⋅ (2 − cos (θ )) + (sin (θ )) ⋅ (2 − cos (θ ))

2 2

rωω(θ ) := 0.2⋅ (2 − cos (θ ))

3

Nr(θ ) := Fs (θ ) + 4⋅ (ddr(θ ) − rωω(θ ))

300

200
N r( θ )
100

0
0 200 400 600 800
θ
deg

2.79 Following the solution of sample Problem 2.17 the following codes are used to
numerically adjust the mass until the desired response results. In MATLAB,
the code is:
function yprime = ds2pt79(t,y)
m = 10.6;
k = 500;
r0 = 0.3;
g = 9.81;
r = y(1);
theta = y(2);
rdot = y(3);
thdot = y(4);
% velocities
yprime(1,:) = rdot;
yprime(2,:) = thdot;
% accelerations
yprime(3,:) = r*thdotˆ2-(k/m)*(r-r0)+g*cos(theta);
yprime(4,:) = (-2*rdot*thdot-g*sin(theta))/r;
return
In Mathcad the code is:

158
 k 1600
g 9.81
N 2400
∆t 0.0005
i 0.. N
v0
0
r0 0.3
ω0 0
.
30 deg
θ0
m:= 3.6 kg
The mass was adjustedby trial and error to producethe required path of motion.
2 k
a v, r, ω , θ r. ω g. cos θ . r 0.3
m
1
α v, r, ω, θ . g. sin θ 2. v. ω
r
vi 1 vi a vi , ri , ω i , θ i . ∆t
ri 1 ri vi . ∆t
ωi 1 ωi α vi , r i , ω i , θ . ∆t
i
θi θ i ω i ∆t .
1
xi ri . sin θ i
yi 0.3 ri . cos θ i
Pendulum Trajectory
0.05

yi
0

-0.05
-0.15 -0.1 -0.05 x 0.05 0.1 0.15
i
horizontal position (m)

2.80 Solution:

159
 k(r-L)
θ

θ
mg
FIGURE S2.80

From the free body diagram, the equations of motion can be written:
−k(r − L) + mg cos θ = mr̈ − mr θ̇2
k
r̈ = r θ̇2 + g cos θ − m
(r − L)
and:
−mg sin θ = 2mṙ θ̇ + mr θ̈
θ̈ = − gr sin θ − 2 rṙ θ̇
The MATLAB code to solve the problem numerically is:
function yprime = ds2pt80(t,y)
m = 5;
r = y(1);
th = y(2);
rdot = y(3);
thdot = y(4);
Fr = 1-sin(th);
Fth = -(2+t-tˆ2);
yprime(1) = rdot;
yprime(2) = thdot;
yprime(3) = r*thdotˆ2+Fr/m;
yprime(4) = (-2*rdot*thdot+Fth/m)/r;
return
The numerical solution in Mathcad is given on the following page. Note that the
solution (pendulum angle versus time) to Sample Problem 2.13 is also computed
and plotted (in blue). The two solutions differ when k = 60 but are in good
agreement when k = 600. The length of the pendulum is also plotted as a
function of time showing the degree to which the mass is oscillating on the
spring (note that the oscillations are very small when k = 600, i.e. in that case
the pendulum is behaving approximately as if the spring were a rigid bar or
string).

160
m := 2 L := 2 g := 9.81
k
ddr(r , dθ , θ , k) := r⋅ dθ + g ⋅ cos (θ ) −
2
⋅ ( r − L)
m
−g dr⋅ dθ
ddθ(dr , r , dθ , θ ) := ⋅ sin (θ ) − 2⋅
r r
i := 0 .. 60000 ∆t := 0.0001 t := i⋅ ∆t
i
 dr 
 0   0 
 dr
 i+ 1  
(
  dri + ddr ri , dθi , θ i , 60 ⋅ ∆t 

)
 r0   L   ri+ 1   r + dr ⋅ ∆t
i i 
  :=   :=  
 dθ0   0  (
 dθi+ 1   dθi + ddθ dri , ri , dθi , θ i ⋅ ∆t  )
 θ   30⋅ deg  θ   
 0  i+ 1   θ i + dθi⋅ ∆t 

 dβi+ 1   dβi − ⋅ sin (β i)⋅ ∆t 

g
 dβ0   0 
  :=     :=  L
 β 0   30⋅ deg   i+ 1   β i + dβi⋅ ∆t 
β

50 3

θi
deg
0 ri 2.5
βi
deg

50 2
0 2 4 6 0 2 4 6
ti ti

 dr0 
   0    
(
 dri+ 1   dri + ddr ri , dθi , θ i , 600 ⋅ ∆t 

)
 r0   L   ri+ 1   r + dr ⋅ ∆t
i i 
  :=   :=  
 dθ0   0  (
 dθi+ 1   dθi + ddθ dri , ri , dθi , θ i ⋅ ∆t  )
 θ   30⋅ deg  θ   
 0  i+ 1   θ i + dθi⋅ ∆t 

50 3

θi
deg 2.5
0 ri
βi
2
deg

50 1.5
0 2 4 6 0 2 4 6
ti ti

161
2.81 The free-body diagram is:

θ N
mg
FIGURE S2.81

Using equation (2.39) in the book the equations of motion are:

−N + mg cos θ = m(r̈ − r θ̇2 )
−mg sin θ = m(r θ̈ + 2ṙθ̇)
v0
Subject to: θ̇(0) = R
Rω Rθ
we have that: θ̈ = ωdω
dθ
= − Rr sin θ, or: v0 /R ωdω = 0 − Rg sin θdθ
1 v02 r 2g v02
2
(ω 2 − R2
) = R
(cos θ − 1), thus: ω 2 = R
(cos θ − 1) + R2
The normal force will be a minimum at θ = 180◦
N = −mg + mRω 2
r 2g v02
Therefore ω 2 ≥ R
= R
(−2) + R2
√
v0 = 5gR

2.82 The free-body diagram is:

mg

f
N
FIGURE S2.82

From the diagram and equation (2.39) in the book:

−N + mg cos θ = −mRθ̇2

162
 θ̇
−mg sin θ − µk |N| |θ̇| = mRθ̈
Solving for the normal force:
N = mg cos θ + mRθ̇2
And substituting this into the equation for angular acceleration:
 
θ̈ = − Rg sin θ − µk
g cos θ + Rθ̇ 2  θ̇
 
R |θ̇|

The computer solution in Mathcad is (independent of mass):

R := 2 µ k := 0.2 v 0 := 5 g := 9.81

−g µk ω
α (ω , θ ) := ⋅ sin (θ ) − ⋅ g ⋅ cos (θ ) + R⋅ ω ⋅
2
R R ω
i := 0 .. 5000 ∆t := 0.001 t := i⋅ ∆t
i

 ω0     ωi+ 1   ωi + α (ωi , θ i)⋅ ∆t 

v0
  :=  R    :=  
 θ0   θ i+ 1   θ i + ωi⋅ ∆t 
 0 
100

50
θi
deg
0

50
0 2 4 6
ti

2.83 From the geometry in Figure S2.83a:

R β
L
θ
R/2
FIGURE S2.83a

From the law of cosines:

2
L2 = R2 + R4 − R2 cos(θ)
√
L = R2 5 − 4 cos θ

163
And:
R2
4
= R2 + L2 − 2RL cos β
R2 R2
√
4
= R2 + 4
(5 − 4 cos θ) − R2 5 − 4 cos θ cos β
2−cos θ
cos β = √
5−4 cos θ
From the law of sines:
sin θ sin β
L
= R/2

sin β = √ sin θ
5−4 cos θ
The spring force is:
h√ i
kR 1
Fs = k(L − L0 ) = 2
5 − 4 cos θ − 4
Components of the spring force are:
h i
Fsn = −Fs cos β = − kR
2
1− √ 1
4 5−4 cos θ
(2 − cos θ)
h i
Fsθ = −Fs sin β = − kR
2
1− √ 1
4 5−4 cos θ
sin θ
>

>
eθ en

β
N

Fs

FIGURE S2.83b

From the free-body diagram in S2.83b, the equation of motion is:

2
h i
mR ddt2θ = − kR
2
1− √ 1
4 5−4 cos θ
sin θ
h i
d2 θ k √ 1
dt2
= − 2m 1− 4 5−4 cos θ
sin θ

164
2.84 Solution:

>

>
eθ en

β
N θ

Fs

mg
FIGURE S2.84

With the addition of the weight as shown in S2.84, the equation of motion
becomes:
2
h i
mR ddt2θ = − kR
2
1− √ 1
4 5−4 cos θ
sin θ − mg cos θ
h i
d2 θ k √ 1 g
dt2
= − 2m 1− 4 5−4 cos θ
sin θ − R
cos θ

2.85 Solution:
>

>

eθ en

β
N
f
Fs

FIGURE S2.85

The friction force is:

f = −µk N |θ̇θ̇|
With the addition of the friction force as shown in S2.85, the equation of motion
becomes:
2
h i
mR ddt2θ = − kR
2
1− √ 1
4 5−4 cos θ
sin θ − µk N |θ̇θ̇|
h i
d2 θ k √ 1 µk N θ̇
dt2
= − 2m 1− 4 5−4 cos θ
sin θ − mR |θ̇|

where:
h i
kR √ 1
N= 2
1− 4 5−4 cos θ
(2 − cos θ) − mRθ̇2

165
2.86 Solution:

>

>
eθ en

β θ
N
f
Fs

mg
FIGURE S2.86

With the addition of both the weight and the friction force as shown in S2.86,
the equation of motion becomes:
2
h i
mR ddt2θ = −mg cos θ − kR
2
1− √ 1
4 5−4 cos θ
sin θ − µk N |θ̇θ̇|
h i
d2 θ
dt2
= − Rg cos θ − k
2m
1− √ 1
4 5−4 cos θ
sin θ − µk N θ̇
mR |θ̇|

where:
h i
kR √ 1
N = mg sin θ + 2
1− 4 5−4 cos θ
(2 − cos θ) − mRθ̇2
A Mathcad code for integrating the equation of motion is as follows with some
choice of m, k, R, µk and v0 such the the motion damps out after two oscillations.
There are infinitely many other combinations that would satisfy this criterion.

166
 m := 2 k := 70 µ := 0.3 g := 9.81 R := 1
1
f(θ ) := 1 −
4⋅ 5 − 4⋅ cos (θ )
R
N(dθ , θ ) := k⋅ ⋅ f(θ )⋅ (2 − cos (θ )) − m⋅ R⋅ dθ + m⋅ g ⋅ sin (θ )
2
2
−k g µ dθ
ddθ(dθ , θ ) := ⋅ f(θ )⋅ sin (θ ) − ⋅ cos (θ ) − ⋅ N(dθ , θ )⋅
2⋅ m R m⋅ R dθ

i := 0 .. 40000 ∆t := 0.0001 t := i⋅ ∆t
i

 dθ0   0   dθi+ 1   dθi + ddθ(dθi , θ i)⋅ ∆t 

  :=     :=  
 θ 0   30⋅ deg   θ i+ 1   θ i + dθi⋅ ∆t 
50

0
θi
deg
50

100
0 2 4
ti

2.87 We are given:

M = 5.98 × 1024 kg
r = 6380 × 103 m
G = 66.7 × 10−12 m3 /kg · s2

FIGURE S2.87

GmM mv2
r2
= r
q q
GM 5.98×66.7
v= r
= 500+6380
× 103 = 7614 m/s

167
2.88 Solution:
GM m
Rω 2 m = R2
q
GM
ω= R3
The period τ is
3
2π √2π R 2
τ= ω
= GM

2.89 Solution:
τ = 23 hrs 56 min. = 86.16 ×103 s.
3/2
τ= √2π r
GM 0
√
3/2
r0 = τ 2π GM
= 273.87 × 109 m
r0 = 42210 km.
r = r0 − R = 42210 − 6380
r = 35830 km
q
GM
v= r0
= 3074 km/s.

2.90 Solution:
First, let us determine the velocity at final circular orbit of 700 km altitude:
R4 = 6380 + 700 = 7080 km
q
MG
v4 = RA
= 7.506 × 103 m/s
R1 = 6380 + 400 = 6780 km
q
MG
v1 = R1
= 7.670 × 103 m/s
From Eq. (2.67) for a conic section:
1
r
= A(1 + e cos θ)
For elliptic orbit r0 ⇒ θ = 0, rapogee ⇒ θ = 180
rapogee (1+e)
Therefore r0
= (1−e)
(ra /r0 )−1
Solving for e: e = (ra /r0 )+1
ra 7080
r0
= 6780
= 1.044
e = 0.022
h is the angular momentum/unit mass = r0 v0 . From eq. 2.69
h2 r0 v02
e= GM r0
−1 = GM
−1
The velocity to go into elliptical orbit is
q
GM
v2 = R1
(1 + e) = 7.754 × 103 m/s

168
 Since angular momentum is concerned in elliptical orbit
6780
v3 ra = v2 r0 , or v3 = v2 7080 = 7.411 × 103 m/s
Therefore the first boost v1 → v2 is 7.670 × 103 m/s or 7.754 × 103 m/s
The second boost v3 → v4 is
7.411 × 103 → 7.506 × 103 m/s.

2.91 From Problem 2.89

R4 = 42, 170 km
v4 = 3.075 × 103 m/s
From Problem 2.90
R1 = 6780 km,
v1 = 7.670 × 103 m/s
R4 /R1 −1
e= R4 /R1 +1
= 0.723
q
GM
v2 = R1
(1 + e) = 10.070 × 103 m/s
R1
v3 = R4
v2 = 1.619 × 103 m/s
Therefore v1 → v2 : 7.670 × 103 → 10.070 × 103 m/s
v3 → v4 : 1.619 × 103 → 3.075 × 103 m/s

2.92 For an elliptical orbit

e = 0.12 vp = 4000 m/s
1 GM
r0
= h2
[1 + e], h = r0 v0
GM
r0 = v02
(1 + e), M = 5.98 × 1024 kg, G = 66.7 × 10−r m2 /kg · s2
5.98×66.7×1012
r0 = 16×106
(1 + 0.12) = 27.92 × 106 m
Therefore k = 111.68 × 109 m2 /s
At the apogee
1 GM
ra
= h2
(1 − e)
1 5.98×66.7×10!2
ra
= 111.683 ×1018
(0.88) = 2.8 × 10−8
k
ra = 35.7 × 106 m va = ra
= 3128 m/s
Altitude = ra − re = (35.7 − 6.378) × 106 = 29, 332 km

169
2.93 Solution:
For a parabolic arc: e = 1
1 GM
r
= k2
(1 + e cos θ)
r = 200, 000, 000, θ = 140◦
cos 140◦ = −0.766
Therefore h2 = 2 × 108 × 5.98 × 1024 × 66.7 × 10−12 (1 − 0.766)
h = 136.6 × 109
h 136.6×109
d= v
= 2.222×103

FIGURE S2.93

d = 23, 395 km
Re = 6380 km
Altitude = d − Re = 17, 015 km

2.94 Solution:
ra = 6380 × 103 + 392.62 × 103 = 6772.62 × 103 m
rp = 6380 × 103 + 385.42 × 103 = 6765.42 × 103 m
1 GM h2
rp
= h2
[1 + e], e= GM r0
−1
τ = 92.34 · 60 = 5.54 × 103 seconds
√
h = πτ (ra + rp ) ra rp = 5.196 × 1010
h2
e= GM rp
− 1 = 5.108 × 10−4

2.95 Final velocity (Mir’s velocity at the perigee), using values from 2.94:
q
GM
v4 = rp
(1 + e) = 7.687 × 103 m/s
R1 = 6380 + 100 = 6480 km
q q
MG 5.98×66.7
v1 = R1
= 6.480
× 103 = 7.846 × 103 m/s

170
 The Hohmann transfer-elliptic intercept orbit
R1 = 6480 km, rp = 6765 km
rp
R1
−1
e2 = rp
+1
= 0.022
R1

The velocity to go into this orbit is

q
GM
v3 = R1
(1 + e2 ) = 7932 × 103 m/s
Conservation of momentum:
R1
v3 = 7932 × 103 × rp
= 7598 × 103 m/s
v1 → v2 7.846 → 7.932 km/s
v3 → v4 7.598 → 7.687 km/s

q
MG
2.96 Solution: v4 = R4
, R4 = 6380 + 150 = 6530 km
v4 = 7816 m/s
R1 = 6765 km v1 = 7687 m/s

ra
rp

FIGURE S2.96
4a
−1
rp ra
e= ra
+1
, ra = 6765, rp = 6530 rp
= 1.036,
rp

e = 0.018,
v2 to go into elliptic transfer orbit
q
GM
v2 = R
(1 − e) = 7618 m/s
ra
v3 = 7618 × rp
= 7892 m/s
Retrofiring
v1 → v2 7687 → 7618 m/s
v3 → v4 7892 → 7816 m/s

171
2.97 Solution:

mg

fw
f
b

Nb
Nw
FIGURE S2.97

w = −mg k̂
Nω = −Nω eR
fω = +µNω (−eêθ cos β + k̂ sin β)
Nb = Nb (êθ sin β + cos β k̂)
fb = µNb (−êθ cos β + k̂ sin β)
The equations of motion are
−Nω = −mr θ̇2
−µNω cos β + Nb sin β − µNb cos β = mr θ̈
−mg + µNω sin β + Nb cos β + µNb sin β = mz̈
Constraint: a = a(+ cos βêθ − sin β k̂) − r θ̇2 êr
−µmr θ̇2 cos β + Nb (sin β − mu cos β) = ma cos β (1)
−mg + µmk θ̇2 sin β + Nb (cos β + µ sin β) = −ma sin β (2)
Mulp (1) by sin β and (2) by cos β and add.
−mg cos β + Nb (cos2 β − µ sin β cos β + sin2 β − µ sin β cos β) = 0
mg cos β
Therefore Nb = 1−2µ sin β cos β
1 mg(sin β−µ cos β)
a= m
(−µmr θ̇2 + 1−2µ sin β cos β
)
Therefore
h i
1 mg cos β(sin β−µ cos β)
θ̈ = α = mr
−µmr θ̇2 cos β + 1−2µ sin β cos β
h i
1 mg cos β(cos β+µ sin β)
z̈ = m
−mg + µmr θ̇2 sin β + 1−2µ sin β cos β
g sin β(sin β−µ cos β)
z̈ = +µr θ̇2 sin β − 1−2µ sin β cos β
The Mathcad solution:

172
i 0 . . 5000
∆t 0.001
.
t i i ∆t
g 9.81
β 30. deg
µ 0.1
r 0.5
1. sin β µ . cos β
α ω µ . r. ω . ω . cos β g. cos β .
r 1 2. µ . sin β . cos β
sin β µ . cos β
a ω µ . r. ω . ω . sin β g. sin β .
1 2. µ . sin β . cos β

v0 vi 1
vi a ω i . ∆t
0
z0 0 zi 1 zi v i . ∆t
ω0 0 ωi 1 ωi α ω i . ∆t
0
θ0 θi 1 θ i ω i . ∆t

Velocity in z direction
5

v
i

r. ω 0
i

5
0 1 2 3 4 5
t
i
time s

40

θ 20
i

0
0 2 4 6
t
i

173
2.98 We are given:
20
vθ = r θ̇, r = 1.5, h = 50, vθ0 = 1.5

a = (r̈ − r θ̇2 )êr + (2ṙ θ̇ + r θ̈)êθ + z̈ k̂

mg

FIGURE S2.98

F = −N êx − mg k̂
ṙ = r̈ = 0
N = mr θ̇2
0 = r θ̈
−mg = mz̈
θ̈ = 0, θ̇ = θ̇0 , θ = θ̇0 t
z̈ = −g, ż = −gt, z = − 21 f t2 + z0
The following MATLAB code plots this:
clear all
format short e
format compact
t = linspace(0,2);
g = 9.81;
v0 = 20;
R = 1.5;
w0 = v0/R;
theta = w0*t;
z = -(g/2)*t.ˆ2;
r = R*ones(size(t));
x = r.*cos(theta);
y = r.*sin(theta);

174
plot3(x,y,z)

The Mathcad code is:

i 0 . . 200
i
t
100
i
20
ω
1.5

x 1.5. cos ω . ti

y 1.5. sin ω . ti

1
zi . 9.81. t 2 50
2
i
3-D trajectory

50

45

40

35

1 0
1 1
0
1

x, y, z

175
2.99 Solution:
 
0 f = −µNv/|v|
v =  r · ω  f = √−µmrθ̇2 (rωê + v k̂)
 
θ z
vz r 2 ω 2 +vg2

2 2
mr θ̈ = − √µmr θ̇
r θ̇, z̈ = −g − √µr2θ̇ 2vz
2 2
r ω +v32 r ω +vz2

These are solved numerically by the following MATLAB code:

function yprime = ds2pt99(t,y)
R = 1.5;
g = 9.81;
mu = 0.2;
th = y(1);
z = y(2);
thdot = y(3);
zdot = y(4);
v = sqrt((R*thdot)ˆ2+zdotˆ2);
vprime(1) = thdot;
yprime(2) = zdot;
yprime(3) = -mu*R*thdotˆ3/v;
yprime(4) = -mu*R*thdotˆ2*zdot/v-g;
return

176
The Mathcad code follows:

i 0 . . 390
∆t 0.01
t i. ∆t g 9.81 µ 0.2 r 1.5
3
µ . r. ω
α vz , ω
2
r. ω vz 2
2
µ . r. ω . vz
a vz , ω g
2
r. ω vz 2
vz 0 0
z0 50
20
ω0
1.5
θ 0

vz i 1
vz i a vz i , ω i . ∆t
zi 1 zi vz i . ∆t
ωi 1 ωi α vz , ω i . ∆t
θi 1 θ ωii . ∆t

n 0 . . 391
x r. cos θ n
y r. sin θ n
zn zn

3-D Trajectory

40

20

0
1 1 0 1
1 0

x, y, z

177
2.100 This follows 2.99 and the codes are the same with different initial condition.
The Mathcad version follows:

i 0 . . 390
∆t 0.01
t i. ∆t g 9.81 µ 0.2 r 1.5
3
µ . r. ω
α vz , ω
2
r. ω vz 2
2
µ . r. ω . vz
a vz , ω g
2
r. ω vz 2
vz 0 20
z0 30
20
ω0
1.5
θ0 0

vz i 1
vz i a vz i , ω i . ∆t
zi 1 zi vz i . ∆t
ωi 1 ωi α vz i , ω i . ∆t
θi 1 θ i ω . ∆t i

n 0 . . 391
xn r. cos θ n
yn r. sin θn
zn zn

178
2.101 We have vθ = v0 cos θ and vz = v0 sin β

β vo z
y

θ
x

mg

FIGURE S2.101

N = −N êR
W = mg(cos θêr − sin θêθ )
mz̈ = 0 (1)
−mr θ̇2 = −N + mg cos θ (2)
mr θ̈ = −mg sin θ (3)
Eq. (3) may be written
ω dω
dθ
= −g/r sin θ
Integrating yields:
ω2 ω
|
2 ω0
= g/r cos θ|θ0
2g
ω − ω02 =
2
r
(cos θ − 1) (4)
From Eq. 2, minimum velocity can be determined when θ = 180◦ and N = 0.
2
The angular velocity ω180 = g/r. From (4)
q
g/r − ω02 = − 7gr Therefore ω0 = 5g r
√ √
5gR
vθ0 = 4gr = v0 cos β, v0 = cos β .

2.102 From the previous problem the forces are

N = −N êr
W − mg(cos θêr − sin θêθ )
−µN
f=√ (rωêθ + vz êz )
(rω)2 +vz 2

rω0 = v0 cos β
vz0 = v0 sin β
−N + mg cos θ = −mrω 2

179
 q
mz̈ = −µNvz / (rω)2 + vz 2
q
mr θ̈ = −mg sin θ − µNrω/ (rω)2 + vz 2
q
From 2.101 ω = g/r when θ = 180◦
N = mg cos θ + mrω 2
−µ(g cos θ+rω 2 )vz
Therefore z̈ = √
(rω)2 +vz 2
2 )ω
θ̈ = − rr sin θ − µ(g
√ cos θ+rω
(rω) +(vz)2
2

The minimum initial velocity of 10.6 m/s was determined by trial and error
using the following codes. The motion damps out after 4 seconds and the
particle comes to rest at 360 degrees. The MATLAB code is:
function yprime = ds2pt102(t,y)
m = 3;
R = 0.6;
g = 9.81;
mu = 0.2;
th = y(1);
z = y(2);
thdot = y(3);
zdot = y(4);
v = sqrt((R*thdot)ˆ2+zdotˆ2);
N = m*g*cos(th)+m*R*thdotˆ2;
yprime(1) = thdot;
yprime(2) = zdot;
yprime(3) = (-m*g*sin(th)-mu*N*R*thdot/v)/m/R;
yprime(4) = (-mu*N*zdot/v)/m;
return

180
The Mathcad code is:

I:= 0 ..5000
∆t 0.001
t i i. ∆t
µ 0.2 β 50. deg g 9.81 v0 10.6 r 0.6

2
V vz , ω r. ω vz 2

vz
a vz , ω , θ µ . g. cos θ r. ω 2 .
V vz , ω

g. ω
α vz , ω , θ sin θ µ . g. cos θ r. ω 2 .
r V vz , ω

vz 0 v0. sin β
z0 0
cos β
ω0 v0.
r
θ0 0

vz i 1
vz i a vz i , ω i , θ i . ∆t
zi 1 zi vz i. ∆t
ωi 1 ωi α vz i , ω i , θi . ∆t
θi 1 θ i ω i . ∆t

g
ω min
r
ω min = 4.044

181
 20

10
ω
i

10
0 100 200 300 400 500
θi

deg
angular position degrees

Angle vs time
600

θ 400
i
deg
200

0
0 1 2 3 4 5
ti
time s

The minimum initial velocity of 10.6 m/s was determined by trial and error. The
motion damps out after 4 seconds and the particle comes to rest at 360 degrees.

182
2.103 The forces are:

x
mg

y
θ

3 N

FIGURE S2.103

N = −N êr
W = mg(cos β sin θêr + cos β cos θêθ + sin β k̂)
The equations of motion are:
−N + mg cos β sin θ = −mr θ̇2
mg cos β cos θ = mr θ̈
mg sin β = mz̈
The data is:
m = 2 kg θ(0) = 0
r=1m
β = 20◦
The z equation can be quickly integrated:
z̈ = g sin β
ż = g(sin β)t
z = g(sin β)t2 /2
The MATLAB code is:
function yprime = ds2pt103(t,y)
g = 9.81;
R = 1;
beta = 20*pi/180;
yprime(1) = y(2);
yprime(2) = (g/R)*cos(beta)*cos(y(1));
return

183
The Mathcad code is:
i 0 . . 2500
∆t 0.001
ti i. ∆t
β 20. deg
r 1
g 9.81
g
α θ . cos β . cos θ
r
ω0 0
θ0 0
ωi 1
ωi α θ i . ∆t
θi 1
θi ω . ∆t i

n 0 . . 2500
tn 2
zn g. sin β .
2
Angular position vs time
200

θ 100
i
deg
0

100
0 0.5 1 1.5 2 2.5
t
i
time s

Position down sluiceway

15

10
zi

0
0 0.5 1 1.5 2 2.5
t
i
time s

184
2.104 We are given: µk = 0.3
Friction acts in a direction opposite to the velocity
v = rωêθ + vz k̂
N = −N êr
W = mg(cos β sin θêr + cos β cos θêθ + sin β k̂)
v
f = −Nµ |v|
The equations of motion are:
−N + mg cos β sin θ = −mr ω̇ 2
rω
mg cos β cos θ − µN √ = mr θ̈
(rω)2 +vz 2
vz
mg sin β − µN √ = mz̈
(rω)2 +vz 2

Therefore N = m(g cos β sin θ + rω 2) and

 
1 µN √ rω
α(vz, ω, θ) = r
g cos β cos θ − m (rω)2 +vz 2
µN √ vz
a(vz, ω, θ) = g sin β − m
.
(rω)2 +vz 2

The MATLAB code is:

function yprime = ds2pt103(t,y)
m = 2;
g = 9.81;
R = 1;
mu = 0.3;
beta = 20*pi/180;
th = y(1);
z = y(2);
thdot = y(3);
zdot = y(4);
v = sqrt((R*thdot)ˆ2 + zdot ˆ2);
N = m*g*cos(beta)*sin(th)+m*R*thdotˆ2;
yprime(1) = thdot;
yprime(2) = zdot;
yprime(3) = (m*g*cos(beta)*cos(th)-mu*N*R*thdot/v)/m/R;
yprime(4) = (m*g*sin(beta)-mu*n*zdot/v)/m;
return

185
The Mathcad code is:

i 0 . . 6000
∆t 0.001
t i i. ∆t
β 20.deg r 1 g 9.81
2
N ω,θ g. cos β . sin θ r. ω
1. . r. ω
α vz , ω , θ g cos β . cos θ µ. N ω , θ .
r
r. ω 2 vz 2
vz
a vz , ω , θ g. sin β µ. N ω , θ .
2
r. ω vz 2

vz0 vz i 1
vz i a vz i , ω i , θ i . ∆t
0
z0 0 zi 1 zi vzi . ∆t
ω0 0 ωi 1 ωi α vz i , ω i , θi . ∆t
0
θ0 θi 1 θ i ω i . ∆t

200

θ
i
deg 100

0
0 1 2 3 4 5 6
ti
time s

Position along Sluiceway

20

zi
10

0
0 1 2 3 4 5 6
t
i
time s

186
2.105 We have m = 2 kg, R = 1.5 m, v(0) = 10êθ , φ(0) = 90

mg
φ

FIGURE S2.105

The forces are:

N = −N êR
W = mg(sin φêφ − cos φêR )
The coordinate accelerations are
aR = R̈ − Rφ̇2 − R sin2 φθ̇2
aφ = Rφ̈ + 2Ṙφ̇ − R sin φ cos φθ̇2
aθ = R sin φθ̈ + 2Ṙθ̇ sin φ2 Rφ̇θ̇ cos φ
Therefore −N − mg cos φ = −mR(φ̇2 + sin2 φθ̇2 )
mg sin φ = mR(φ̈ − sin φ cos φθ̇2 )
0 = R sin θθ̈ + 2Rφ̇θ̇ cos φ
From sample problem 2.22, the last equation
sin φ0 vθ0 10
θ̇ = R sin2 φ
= R sin2 φ
2 sin2 φ
cos φvθ0
g 0
φ̈ = R
sin φ + R2 sin3 φ
The MATLAB code is:
function yprime = ds2pt105(t,y)
g = 9.81;
R = 1.5;
ph = y(1);
th = y(2);
phdot = y(3);
yprime(1) = y(3);
yprime(2) = 10/(R*sin(ph)ˆ2);
yprime(3) = -(g/R)*sin(ph) + 100*cos(ph)/(Rˆ2*sin(ph)ˆ3);
return

187
The Mathcad code is (first define R and g in the code):

∆t 0.001
ti .i ∆t
sin φ 100. cos φ
ddφ φ g.
R R 2. sin φ 3
dφ 0 0
φ0 90. deg
dφ i 1
dφ i ddφ φ i . ∆t
φi 1
φ i dφ i . ∆t
10
dθ φ
2
R . sin φ
θ0 0
θi 1
θi dθ φ i . ∆t
xi R . sin φ i . cos θ i
yi R . sin φ i . sin θi
zi R . cos φ i
φ 0 = 1.571

0
0.1
0.2
0.3
0.4 1
1 0
1
0
1

x, y, z
3-D Trajectory

188
 10
2.106 We are given: R = 1.5, θ̇0 = 1.5
, θ0 = 0, φ0 = 90◦
v = Rφ̇êφ + R sin φθ̇êθ
N = −N êR
W = mg(sin φêφ − cos φêr )
f = −µN |v|
v

−N − mg cos φ = −mR(φ̇2 + sin2 φθ̇2 )

mg sin φ − µN R|v|φ̇ = mR(φ̈ − sin φ cos φθ̇2 )

−µN R sin
|v|
φθ̇
= mR(sin φθ̈ + 2φ̇θ̇ cos φ)
The mass drops out.
N/m = R(φ̇2 + sin2 φθ̇2 ) − g cos φ
Therefore
φ̇
φ̈ = r
R
sin φ − µR(φ̇2 + sin2 φθ̇2 ) |v| + sin φ cos φθ̇2
h i
1 sin φθ̇
θ̈ = sin φ
−µ N
m v
− 2φ̇θ̇ cos φ

The MATLAB code is:

function yprime = ds2pt105(t,y)
g = 9.81;
R = 1.5;
mu = 0.3;
ph = y(1);
th = y(2);
phdot = y(3);
thdot = y(4);
v = R*sqrt(phdotˆ2+sin(ph)ˆ2*thdotˆ2);
N = g*cos(ph)+vˆ2/R;
yprime(1) = y(3);
yprime(2) = y(4);
yprime(3) = - (g/R)*sin(ph) -mu*Nphdot/v+sin(ph)*cos(ph)*thdotˆ2;
yprime(4) = -mu*N*thdot/v-2*phdot*thdot/tan(ph);
return

189
 The Mathcad code is:
R 1.5 g 9.81 µ 0.3
i 0 . . 4000
∆t 0.001
t i i. ∆t
2 2.
N dφ , φ , dθ R . dφ sin φ dθ g. cos φ

2 2
v dφ , φ , dθ R . dφ R . sin φ . dθ
g. dφ
ddφ dφ , φ , dθ sin φ µ . N dφ , φ , dθ . sin φ . cos φ . dθ 2
R v dφ , φ , dθ
1 . . dθ
ddθ dφ , φ , dθ µ N dφ , φ , dθ . sin φ . 2. dφ . dθ . cos φ
sin φ v dφ , φ , dθ
dφ 0 0
.
90 deg
φ0
10
dθ0
1.5
θ0 0
dφ i 1
dφ i ddφ dφ i , φ i , dθ i . ∆t
φi 1
φ i dφ i . ∆t
dθi 1
dθi ddθ dφ i , φ i , dθ i . ∆t
θi 1
θ i dθ i . ∆t
xi R . sin φ i . cos θi
yi R . sin φ i . sin θi
zi R . cos φi

2.107 Solution:
z mg

ψ
x y N
ψ
_ R

_
z w
x y eϕ
ϕ

FIGURE S2.107

190
N = −N êφ
W = mg(− cos φêe + sin φêφ )
f = −µN |v|
v

aR = R̈ − Rφ̇2 − R sin2 φθ̇2

aφ = Rφ̈ + 2Ṙφ̇ − R sin φ cos φθ̇2
aθ = R sin φθ̈ + 2Ṙθ̇ sin φ + 2Rφ̇θ̇ cos φ
φ = const
v = ṘêR + R sin φθ̇êθ
−mg cos φ − µN Ṙv = m(R̈ − R sin2 φθ̇2 )
−N + mg sin φ = −mR sin φ cos φθ̇2
−µN R sin
v
φθ̇
= m(R sin φθ̈ + 2Ṙθ̇ sin φ)
N/m(dθ, R) = g sin φ + R sin φ cos φθ̇2
q
v(dR, R, dθ) = dR2 + (R sin φdθ)2
R̈ = −g cos φ + R sin2 φθ̇2 − µ m
N
Ṙ/v
θ̈ = −µ mv vθ̇ − 2Ṙθ̇
R

The MATLAB code is:

function yprime = ds2pt107(t,y)
g = 9.81;
mu = 0;
phi = pi/6;
r = y(1);
th = y(2);
rdot = y(3);
thdot = y(4);
v = sqrt(rdotˆ2+(r*sin(phi)*thdot)ˆ2);
N = g*sin(phi)+r*sin(phi)*cos(phi)*thdotˆ2;
yprime(1) = rdot;
yprime(2) = thdot;
yprime(3) = -mu*N*rdot /v - g*cos(phi)+r*sin(phi)ˆ2*thdotˆ2;
yprime(4) = -mu*N*thdot/v - 2*rdot*thdot/r;
return

191
The Mathcad code is:

i 0 . . 6000
∆t 0.001
ti i. ∆t
g 9.81 µ 0.0
φ 30. deg
2 2
N dθ , R g. sin φ R . sin φ . cos φ . dθ R0
cos φ
2 2
v dθ , dR , R dR R . sin φ . dθ
dR
ddR dθ , dR , R g. cos φ R . sin φ 2. dθ µ . N dθ , R .
v dθ , dR , R
dθ dR . dθ
ddθ dθ , dR , R µ . N dθ , R . 2.
v dθ , dR , R R
dR 0 0
R0 R0
10
dθ0
R0 . sin φ
θ0 0
dR i 1
dR i ddR dθi , dR i , R i . ∆t
Ri 1 Ri dR i . ∆t
dθi 1 dθ i ddθ dθ , dR , R i . ∆t
i i
θi i .
θ i dθi ∆ti
1
xi R i . sin φi . cos θ i
yi Ri . sin φi . sin θ i
zi R . cos θ
i i

Path of Motion

5
2
2 0
0

x, y, z

192
2.108 Use the analysis and codes of 2.107 with a new friction coefficient. The codes
are essentially the same, so only the Mathcad plot is shown.

Path of Motion

100

100
50 0
50
0
50

x, y, z

2.109 Solution:

mg

FIGURE S2.109

N = N êR
W = mg(− cos φêR + sin φêφ )
V = Rφ̇êφ + R sin φθ̇êθ
f = −µN |v|
v

N − mg cos φ = −m(Rφ̇2 + R sin2 φθ̇2 )

mg sin φ − µN Rvφ̇ = m(Rφ̈ − R sin φ cos φθ̇2 )
−µN R sin
v
φθ̇
= m(R sin φθ̈ + 2Rφ̇θ̇ cos φ)

193
 q
v(dφ, φ, dθ) = R · dφ2 + (sin(φ)dθ)2
N/m = g cos φ − R(φ̇2 + sin2 φθ̇2 )
g φ̇
φ̈ = R
sin φ − µ N
mv
+ sin φ cos φθ̇2
N θ̇
θ̈ = −µ m v
− 2φ̇θ̇ cos φ
sin φ

The MATLAB code is:

function yprime = ds2pt107(t,y)
g = 9.81;
mu = 0;
r = 6;
ph = y(1);
th = y(2);
phdot = y(3);
thdot = y(4);
v = r*sqrt(phdotˆ2+(sin(ph)*thdot)ˆ2);
N = g*cos(ph) -vˆ2/r;
yprime(1) = phdot;
yprime(2) = thdot;
yprime(3) = -mu*N*phdot/v + (g/4)*sin(ph) +sin(ph)*cos(ph)*thdotˆ2;
yprime(4) = -mu*N*thdot/v -2*phdot*thdot/tan(ph);
return

194
The Mathcad code is:

i 0 . . 900
∆t 0.001
ti i. ∆t
R 6
g 9.81
µ 0.0
2 2
v dφ , φ , dθ R . dφ sin φ . dθ
2 2
N dφ , φ , dθ g. cos φ R . dφ sin φ . dθ
g. dθ
ddφ dφ , φ , dθ sin φ µ . N dφ , φ , dθ . sin φ . cos φ . dθ 2
R v dφ , φ , dθ
dθ cos φ
ddθ dφ , φ , dθ µ . N dφ , φ , dθ . 2. dφ . dθ .
v dφ , φ , dθ sin φ
0.5
dφ 0
6
φ0 .
10 deg
dθ 0 4
6. sin 10. deg
θ0
0
dφ i 1
dφ i ddφ dφ i , φ i , dθ i . ∆t
φi 1
φ i dφ i . ∆t
dθi 1
dθ i ddθ dφ i , φ i , dθ i . ∆t
θi 1
θ i dθ i . ∆t
10

5
N dφ , φ , dθ
i i i
0

5
n 866 0 200 400 600 800 1000
3 i
N dφ n , φ n , dθ = 3.95 10
n
φ 866
= 41.541
deg
θ866
= 75.735
deg
The particle will fall off the surface when the normal force goes to zero and the position
coordinates are shown.

195
2.110 Use the same codes and analysis as in 2.109. The MATLAB code becomes:
clear all
format short 3
format compact
g = 9.81;
r = 6;
ph0 = pi/18;
th0 = 0;
phdot0 = -0.5/r;
thdot0 = 4/r/sin(ph0);
[t,Y] = ode45(’ds2pt109’,0,1,[ph0 ; th0; phdot0; thdot0]);
ph = Y(:.1);
th = Y(:.2);
phdot = Y(:.3);
thdot = Y(:.4);
v = r*sqrt(phdot.ˆ2+(sin(ph).*thdot).ˆ2);
N = g*cos(ph( - v.ˆ2/r;
figure(1),plot(t,N)

196
The Mathcad code is:

i 0 . . 2000
∆t 0.001
t .
i ∆t
R 6
g 9.81
µ 0.2
2 2
v dφ , φ , dθ R . dφ sin φ . dθ
2 2
N dφ , φ , dθ g. cos φ R . dφ sin φ . dθ
g. dθ
ddφ dφ , φ , dθ sin φ µ . N dφ , φ , dθ . sin φ . cos φ . dθ 2
R v dφ , φ , dθ
dθ cos φ
ddθ dφ , φ , dθ µ . N dφ , φ , dθ . 2. dφ . dθ .
v dφ , φ , dθ sin φ
0.5
dφ 0
6
φ0 10. deg
dθ 0 4
6. sin 10. deg
θ0
0
dφ i 1
dφ i ddφ dφ i , φ i , dθ i . ∆t
φi 1
φ i dφ i . ∆t
dθi 1
dθ i ddθ dφ i , φ i , dθ i . ∆t
θi 1
θ i dθ i . ∆t
10

N dφ , φ , dθ 0
i i i

-10
0 500 1000 1500 2000
n 1816 i
N dφ n , φ n , dθn = 0.011
φn
= 51.168
deg
θn
= 113.121
deg
The mass stays on the surface for a greater lengthof time when friction is present. If the
friction is too great, the particle will not leave the surface before it stops.

197
2.111 The data is:

y x
θ

mg z
FIGURE S2.111

φ(0) = 30◦ θ(0) = 0 m = 3 kg R(0) = 2 vθ = 0.5, therefore θ̇(0) = 0.5.

Fs = −k(R − R0 )êF
W = mg(cos φêR − sin φêφ )
The equation of motion become:
m[R̈ − Rφ̇2 − R sin2 φθ̇2 ] = mg cos φ − k(R − 2)
m[Rφ̈ + 2Ṙφ̇ − sin φ cos φθ̇2 ] = −mg sin φ
m[R sin φθ̈ + 2Ṙθ̇ sin φ + 2Rφ̇θ̇ cos φ] = 0, or:
R̈ = g cos − mk (R − 2) + Rφ̇2 + R sin2 φθ̇2
 

 φ̈ = − g sin φ − 2Ṙφ̇ + sin φ cos φθ̇ 2

 

 R R 
2Ṙθ̇ cos φ
θ̈ = − R − 2φ̇θ̇ sin φ
The last equation can be written
1 d
R sin φ dt
[R2 sin2 φθ̇] = 0
Therefore
R2 = sin2 φθ̇ = h
h = R02 sin2 φ0 θ̇0 = R0 sin φ0 vθ0
For this case h = 2 sin 30◦ (0.5) = 0.5
h
θ̇ = R2 sin2 φ
The differential equations may be written as
k R sin2 φh2
R̈ = g cos φ − m
(R − 2) + Rφ̇2 + R4 sin4 φ
k h2
R̈ = g cos φ − m
(R − 2) + Rφ̇2 + R3 sin2 φ
sin φ cos φh2
φ̈ = − Rg sin φ − 2Ṙφ̇
R
+ R4 sin4 φ

198
The MATLAB code is:
function yprime = ds2pt111(t,y)
m = 3;
k = 200;
g = 9.81;
R = 2;
v0 = 0.5;
h = v0*R*sin(pi/6);
r = y(1);
ph = y(2);
th = y(3);
rdot = y(4);
phdot = y(5);
thdot = h/r*sin(ph))ˆ2;
yprime(1) = rdot;
yprime(2) = phdot;
yprime(3) = thdot;
yprime(4) = -(k/m)*(r-R)+g*cos(ph) + r*phdot + 4*sin(ph)ˆ2*thdotˆ2;
yprime(5) = -(g/r)*sin(ph) -2*(rdot/r)*phdot + sin(ph)*cos(ph)*thdotˆ2;
return

199
The Mathcad code is:

h 0.5 g 9.81 k 200 m 3

i 0 . . 5000
∆t 0.001
ti .
i ∆t
k h2
ddR dR , R , dφ , φ g. cos φ . R 2 R . dφ 2
m 2
R 3. sin φ
g dR . dφ cos φ . h2
ddφ dR , R , dφ , φ . sin φ 2.
R R 3
R 4. sin φ
dR 0
0
R0 2
dφ 0 0
φ0 30. deg

dR i 1
dR i ddR dR i , R i , dφ i , φ i . ∆t
Ri 1 R dR . ∆t
i i
dφ i 1 dφ i ddφ dR i , R i , dφ i , φ i . ∆t
φi 1 φ dφ . ∆t
i i
i 0 . . 5000
θ0 0
h
θi . ∆t θi
1 2. 2
Ri sin φ i
xi R i . sin φ i . cos θi yi R i . sin φ i . sin θ i zi R i . cos φ i

200
 1
0
1
2 1
1
0
0.5
1
0
0.5
1

y, x, z
Path of motion

0.5

y 0
i

0.5
2 1 0 1 2
x
i
1.6

1.8
z
i
2

2.2
2 1 0 1 2
x
i

201
2.112 The MATLAB code is:
clear all
format short e
format compact
N = 100;
W = 3000;
g = 32.2;
s = linspace(0,6000,N);
v = 88;
th = s/2000 +exp(-s/1000);
be = (pi/12)*sin(pi*s/3000);
th = 1/2000 -(1/100)*exp(-s/1000);
be = (piˆ2/36000)*cos(pi*s/3000);
Gvec = [ -sin(th).*cos(be).*th -cos(th).*sin(be.*be ;...
cos(th).*cos(be).*th -sin(th).*sin(be.*be ;...
cos(be).*be ];
for i = 1:N,
mag Fn(i) = (W/g)*vˆ2*norm(Gvec(:,i));
end
Figure (1),plot(s,mag Fn)
xlabel(’distance along road (ft)’)
ylabel(’normal force (lbf)’)
grid

202
The Mathcad code is:

s 0 , 10 . . 6000
W 6000
g 32.2
s
s
θ s e1000
2000
π. π. s
β s sin
12 3000
s
1 1
dθ s e1000
2000 1000
π π. s
dβ s . cos
36000 3000
sin θ s . cos β s . dθ s cos θ s . sin β s . dβ s
Γ s cos θ s . cos β s . dθ s sin θ s . sin β s . dβ s
cos β s . dβ s

v s 88

W
F n s . v s 2. Γ s
g
1000

F n s 500

0
0 1000 2000 3000 4000 5000 6000
s
Position ft

203
2.113 Solution:
a = 2, 0 ≤ s ≤ 3000
√
v = 2as
v(3000) = 109.5 ft/s (75 mph)
a = −1 3001 ≤ s ≤ 6000
Rv Rs
109.5 vdv = 3000 ads
v2 (109.5)2
2
− 2
= −s + 3000
q
v= 109.52 − 2(s − 3000)
The Mathcad code follows:

s 0 , 10 . . 6000
W 6000
g 32.2
s
s 1000
θ s e
2000
π. π. s
β s sin
12 3000
s
1 1 1000
dθ s e
2000 1000
π π. s
dβ s . cos
36000 3000

sin θ s . cos β s . dθ s cos θ s . sin β s . dβ s

Γ s cos θ s . cos β s . dθ s sin θ s . sin β s . dβ s
cos β s . dβ s

v s Φ 3000 s . 4. s Φ s 3001 . 109.52 2. s 3000

W
F n s . v s 2. Γ s
g
1500

1000
F n s
500

0
0 1000 2000 3000 4000 5000 6000
s
Position ft

204
2.114 Using the analysis of 2.113 the MATLAB code is:
clear all
format short e
format compact
N = 100;
W = 3000;
g = 32.2;
s = linspace(0,6000,N)’;
v = sqrt( 4*s.(s>=0) -6*(s-3000).*(s>=3000));
a = 2*(s>=0) -3*(s>=3000);
t = s/2000 +exp(-s/1000);
b = (pi/12)*sin(pi*s/3000);
t = 1/2000 - (1/1000)*exp(-s/1000);
b = (piˆ2/36000)*cos(pi*s/3000);
avec = [...
a.*cos(t).*cos(b)+v.ˆ2.*(-sin(t).*cos(b).*t -cos(t).*sin(b).*b ),...
a.*sin(t).*cos(b)+v.ˆ2.*( cos(t).*cos(b).*t -sin(t).*sin(b).*b ),...
a.*sin(b)+v.ˆ2.*cos(b).*b ];
mag a = sqrt(sum((avec.*avec)’)’);
figure(1),plot(s,mag a)
xlabel(’distance along road (ft)’)
ylabel(’acceleration (ft/sˆ2)’)
grid

205
The Mathcad code is:

s 0 , 10 . . 6000
W 6000
g 32.2
s
s
θ s e 1000
2000
π. π. s
β s sin
12 3000
s
1 1
dθ s e 1000
2000 1000
π π. s
dβ s . cos
36000 3000
sin θ s . cos β s . dθ s cos θ s . sin β s . dβ s
Γ s cos θ s . cos β s . dθ s sin θ s . sin β s . dβ s
cos β s . dβ s

v s Φ 3000 s . 4. s Φ s 3001 . 109.52 2. s 3000

an s 1. v s 2. Γ s
at s Φ 3000 s . 2 Φ s 3001
2
a s an s at s 2
Acceleration Magnitude vs position
8

6
a s

2
0 1000 2000 3000 4000 5000 6000
s
Position ft

206
2.115 Solution:

mg

f
N
FIGURE S2.115

F = −mg k̂ + N n̂ − µt̂ = ma
Γ
n̂ = |Γ|
f = −µN |v|
v

t̂ = cos θ(s) cos β(s)î + sin θ(s) cos β(s)ĵ + sin β(s)k̂]
v2
N = mg k̂ · n̂ + m · p
ˆ t̂−µN
−mg k·
a(s) = m

The MATLAB code is:

function yprime = ds2pt115(t,y)
m = 30;
g = 9.81;
mu = 0.0;
s = y(1);
v = y(2);
th = pi*s/20;
be = -(pi/3)*(1-(s/10).ˆ2);
th = pi/20;
be = 2*pi*s/300;
kvec = [ 0 ; 0 ; 1 ];
tvec = [...
cos(th).*cos(be);...
sin(th).*cos(be);...
sin(be) ];
Gvec = [...
-sin(th).*cos(be).*th -cos(th).*sin(be).*be ;...
cos(th).*cos(be).*th -sin(th).*sin(be).*be ;...
cos(be).*be ];

207
nvec = Gvec/norm(Gvec);
N = m*g*(kvec’*nvec) + vˆ2*norm(Gvec);
yprime(1) = y(2);
yprime(2) = -g*(kvec’*tvec) - mu*N/m;
return

The Mathcad code is:

m 30
µ 0
g 9.81
π
dθ s
20
π. s
θ s
20
π. . s
dβ s 2
30 10
π s 2
β s . 1
3 10
sin θ s . cos β s . dθ s cos θ s . sin β s . dβ s
Γ s cos θ s . cos β s . dθ s sin θ s . sin β s . dβ s
cos β s . dβ s
cos θ s . cos β s
t s sin θ s . cos β s
sin β s
Γ s
n s
Γ s
0
k 0
1

N v, s m. g. k . n s m. v . Γ s

µ. v
a v, s g. k . t s N v, s .
m v

208
i 0 . . 1580
∆t 0.001
ti i. ∆t
v0 0
s0 0
vi 1
vi a vi , si . ∆t
si 1 si vi . ∆t
s1580 = 10.008
Position on slide vs time
15

10
s
i
5

0
0 0.5 1 1.5 2
t
i
time s
v1580 = 10.987 m/s

This is the velocity at the bottom of the slide. Note the time at the bottom
was found by trial and error and for this case was 1.58 s.

209
2.116 Use the analysis of 2.115. The MATLAB code is:
function yprime = ds2pt116(t,y)
m = 30;
g = 9.81;
mu = 0.2;
s = y(1);
v = y(2);
th = pi*s/20;
be = - (pi/3)*(1-(s/10).ˆ2);
th = pi/20;
be = 2*pi*s/300;
kvec = [ 0 ; 0 ; 1 ];
tvec = [...
cos(th).*cos(be);...
sin(t).*cos(be);...
sin(be) ];
Gvec = [...
-sin(th).*cos(be).*th -cos(th).*sin(be).*be ;...
cos(th).*cos(be).*th -sin(th).*sin(be).*be ;...
cos(be).*be [;
nvec = Gvec/norm(Gvec);
N = m*g*(kvec’*nvec) + vˆ2*norm(Gvec);
yprime(1) = y(2);
yprime(2) = -g*(kvec’*tvec) - mu*N/m;
return

210
The Mathcad code is:

m 30
µ 0.2
g 9.81
π
dθ s
20
π. s
θ s
20
π. . s
dβ s 2
30 10
π s 2
β s . 1
3 10

sin θ s . cos β s . dθ s cos θ s . sin β s . dβ s

Γ s cos θ s . cos β s . dθ s sin θ s . sin β s . dβ s
cos β s . dβ s

cos θ s . cos β s
t s sin θ s . cos β s
sin β s

Γ s
n s
Γ s

0
k 0
1

N v, s m. g. k. n s m. v . Γ s

µ. v
a v, s g. k. t s N v, s .
m v

211
i 0 . . 1712
∆t 0.001
ti i. ∆t
v0 0
s0 0
vi 1
vi a v i , si . ∆t
si 1 si vi . ∆t
s1712 = 10.001
Position on slide vs time
15

10
s
i

0
0 0.5 1 1.5 2
t
i
time s
v = 7.966
1712

212