Part1i: Worked Examples

1) A Rocket climbs from the ground directly upward and achieves a velocity of 105m∙s-1 at an
altitude of 62m from the ground; however, at this point its engine fails. The rocket is subject
to a constant downward acceleration due to gravity of 9.81 m∙s-2.

Determine:

A) The maximum height achieved by the rocket

B) Its velocity just before it hits the ground

Neglect air resistance.

SOLUTION:

Choose an origin, O, from which to measure S, the position coordinate:

Ground level

Choose a positive direction: +ve

Find Maximum Height:

If the Rocket is travelling at 105m∙s-1 and has an altitude of 62m when time starts we can write:

vA = 105m∙s-1; sA = 62m; t0 = 0

Acceleration is constant so:

Ac = - 9.81 m∙s-2

We know that the rocket will have reached its maximum height when:

VB = 0m∙s-1; sB = ?

We can relate all these together using:

vB2 = vA2 + 2ac(sB – sB); Substituting

0 = 1052 + 2(-9.81)(sB – 62) rearrange & solve → sB = 623.9m

Find Impact Velocity:

Now the rocket is at the position of maximum height; time is reset… use a rectilinear equation to
determine the impact velocity:

VC2 = vB2 + 2ac(sC – sB); Substituting

VC2 = 0 + 2(-9.81)(0 – 623.9) Solving → VC = 110.6m∙s-1

 2) A metallic particle is subjected to the influence of a magnetic field as it travels downward
through a fluid that fills the void between plates A and B, which are spaced by 330mm. The
particle is released from rest at point c, 1/3 of the separation A-B from plate B. The
acceleration caused by the magnetic field in the fluid is (6s)m∙s-2, the displacement, s, is
330mm and s is measured in Meters. Determine the velocity achieved by the particle when it
arrives at plate B.
A
Determine:

A) The velocity achieved by the particle when it arrives at plate B.

B) The time taken to travel from C to B. C

SOLUTION:
B
Choose a positive direction: +ve

Consider the Velocity

From the description of the problem, acceleration is dependent upon position. From Lecture 1, Slide
25, we know that change in acceleration with respect to distance is equal to total change in velocity:

v dv = a ds

Integrating this we can compare the cumulative velocity to the change in acceleration to get:
𝑣 𝑠
∫0 𝑣 𝑑𝑣 = ∫0.22 6𝑠 𝑑𝑠

1 𝑣 6 𝑠
[2 𝑣 2 ] = [2 𝑠 2 ]
0 0.22

𝑣 2 = 6𝑠 2 − 6(0.222 ); We know that when the particle gets to C, s = 0.33m, substituting:

𝑦𝑖𝑒𝑙𝑑𝑠
𝑣𝐵 2 = 0.6534 − 0.2904 = 0.363 → 𝑣𝐵 = 0.6𝑚 ∙ 𝑠 −1

Consider the Time:

We now must relate the (displacement dependent) velocity to time. We know (see Lecture 1, Slide
10) that the displacement of an object is equal to the product of velocity and time:

ds = v dt; now we can substitute our term describing velocity with respect to displacement:

𝑑𝑠 = √6(𝑠 2 − 0.222 ) 𝑑𝑡

Integrating this we can compare the cumulative displacement to all the velocities travelled between
t0 and t1 with respect to distance:
𝑠 𝑡
𝑑𝑠
∫ 1⁄ = ∫ √6 𝑑𝑡
0.22 (𝑠 2 − 0.0484) 2 0

𝑠
[𝑙𝑛√𝑠 2 − 0.0484 + 𝑠] = [2.45𝑡]𝑡0
0.22

𝑙𝑛(√0.332 − 0.0484 + 0.33) − (−1.514)

= 𝑡 = 0.39𝑠
2.45
Part 1ii: Worked Examples

1) A chipping machine arranged as shown below ejects wood chips at vO = 7.5 m∙s-1, angled at
30° from the horizontal. Assume there to be negligible air resistance and normal gravity.

O
30°

2.1m
h
6m

Determine:

How high up the pile a new chip would land, given a horizontal traverse of 6m en-route.

SOLUTION:

There are three unknowns to this problem that must be found: The height of impact (h), The Time of
Flight (tOA) and the vertical component of impact velocity, (VA)y.

We do know the horizontal impact velocity

The problem tells you to ignore air resistance, so from this it is known that:

(vA)x = (vO)x

Split the initial velocity into components

Use trigonometry:

(v0)x = (7.5 cos 30) = 6.5m∙s-1

(v0)y = (7.5 sin 30) = 3.75m∙s-1

Determine the Time of Flight

The question defines the horizontal traverse length of the wood chipping to be 6m. Using the
relation we defined initially we know that there is zero acceleration; hence we can use:

(sA)x = (sO)x + (vO)xtOA; Substitution and manipulation gives tOA = 0.9231s

Use the tOA to determine the Vertical Motion.

We know that the acceleration acting on the vertical component is constant: 9.81m∙s-2, so:

(sA)y = (sO)y + (vO)ytOA + ½ay(tOA)2; Substituting in the initial height, tOA, ag and (vO)y gives:

(sA)y = 2.1 + (3.75)0.9231 + ½(-9.81)(0.9231)2 = 1.38m

 2) A stock-car C travels around the horizontal circular track with a radius r of 90m. The car
increases its speed at a constant rate of 2.1m∙s-2 after starting from rest.

C an n

a
r = 90m
at

Determine
a) The time needed for it to reach an acceleration of 2.4 m∙s-2.
b) The cars SPEED at this instant.

SOLUTION:

We need to define a coordinate system to interrogate the problem. Let’s choose the cars position at
the instant observed and use that as an origin for the n and t axis.

Find the acceleration

Firstly, let’s define the tangential acceleration: at; the car is increasing its velocity AROUND THE
TRACK at 2.1m∙s-2.

This IS tangential acceleration: at = 2.1m∙s-2

Now we can work on determining the normal acceleration an:

an = v2/ρ, We do not know the velocity to determine an.

We must define the velocity as a function of tangential acceleration and time.

v = v0 + (at)t; substituting: v = 0 + (2.1)t.

We can now substitute this into the equation defining normal acceleration:

an = ((at)t)2/r = (2.1t)2/90 = 0.049t2m∙s-2

Now we must use Pythagoras to formulate an equation defining the magnitude of the acceleration:

a2=(at)2+(an)2; substitution yields:

a2=(2.1)2+(0.049t2)2; the question tells us that the target acceleration is 2.4 m∙s-2

((2.42 – 2.12)½/0.049)½ = t = 4.87s;

Using the time and the tangential acceleration, we can find the car’s speed, which is scalar.

v = v0 + (at)t = 0 + (2.1)4.87 = 10.2m∙s-2

 3) The rod OA rotates in the horizontal plane such that θ = (t3) radians. At the same time the
collar B is sliding outward along the rod OA so that r = 100t2 mm. t is measured in seconds.

δ
vθ v θ
0 A
r

vr

Determine
The velocity and acceleration of the collar when t = 1s

SOLUTION

As in the problem above, define a coordinate system, but this time both parameters vary with
respect to time, so it’s not necessary to relate r to θ.

Tackle Velocity:

Work to convert the equations given to describe the position of the elements, into their velocity:

vr = dr/dt vθ = dθ/dt ; Substitute in:

vr = 200t2/dt = 200t vθ = t3/dt = 3t2 ; can be written as:
ṙ = 200t 𝜃̇ = 3𝑡 2

Tackle Acceleration:

In the same way, take the second time derivative of position to describe the acceleration:

ar = dvr/dt aθ = dvθ/dt ; Substitute in:

ar = 200t/dt = 200 aθ = 3t2/dt = 6t ; can be written as:
𝑟̈ = 200 𝜃̈ = 6𝑡

The question states that it wants to know what’s happening at t = 1s; sub into eqs:

r = 100 mm, ṙ = 200 mm∙s-1, 𝑟̈ =200 mm∙s-2; θ = 1 rad, 𝜃̇ = 3 rad∙s-1, 𝜃̈ = 6 rad∙s-2

Find the total velocity:

Define it as a vector, then find the magnitude and direction separately:

𝒗 = 𝑟̇ 𝒖𝑟 + 𝑟𝜃̇ 𝒖𝜃 ; so by substitution:

𝒗 = 200𝒖𝑟 + 100(3)𝒖𝜃 mm∙s-1

𝑣 = √2002 + 3002 = 361𝑚𝑚 ∙ 𝑠 −1 ; 𝛿 = ∆𝛿 + 𝜃 = (tan−1 300⁄200) + 57.3° = 114°

Find the total acceleration:

In the same way as for velocity find the magnitude and direction separately:

𝑎 = (𝑟̈ − 𝑟𝜃̇ 2 )𝑢𝑟 + (𝑟𝜃̈ + 2𝑟̇ 𝜃̇ )𝑢𝜃

𝑎 = [200 + 100(3)2 ]𝑢𝑟 + [100(6) + 2(200)3]𝑢𝜃 mm∙s-2

𝑎 = √7002 + 18002 = 1930 mm∙s-2; 𝜙 = (tan−1 1800⁄700) = 68.7°; (180° − 𝜙) + 57.3° = 169°
Part 1iii: Worked Examples

1) Using a pulley D, an object C is being hoisted vertically by person A, that walks horizontally
away from the pulley with a constant velocity vA = 0.5 m∙s-1. The rope used is 30m in length;
the safe reaches an elevation of 10m.

Determine:

15m
a) The velocity of the object; C A
b) The acceleration of the object. sx
sy
SOLUTION:

This problem is complicated by the fact that segment BA is constantly changing both in direction and
magnitude. To solve this problem we can allocate x and y coordinates to the ends of rope segment
BA; thus, defining their positions with respect to a fixed point at any given instant.

Define the relative positions of A,B & C:

We can relate the x & y coordinates since the rope has a fixed length: l = 30m. i.e., the sum of
segments BA and BC must always equal l. First define the magnitude (length) of BA:

𝑙𝐵𝐴 = √(152 + 𝑠𝑥 2 ); now define the length of lCD:

𝑙𝐵𝐶 = 15 − 𝑠𝑦 ; these two can now be combined to equal the total rope length.

30 = √(152 + 𝑠𝑥 2 ) + (15 − 𝑠𝑦 ); this can be rearranged to: 𝑠𝑦 = √(152 + 𝑠𝑥 2 ) − 15.

Finding the Velocity:

As we have now defined the positions of the rope ends relative to a fixed point, we can take the time
derivative to find the velocity. Notice that we must differentiate TWO different variables with
respect to time simultaneously: the velocity of C is determined by the time derivative of sy; the
velocity of A is determined by the time derivative of sx. Here is where CHAIN RULE is applicable:
𝑑𝑠𝑦 𝑑𝑠𝑥
𝑣𝐶 = 𝑑𝑡
; and 𝑣𝐴 = 𝑑𝑡
. The rope cannot stretch, thus vC must equal vA, hence:

𝑑𝑠𝑦 1 𝑑𝑥
𝑣𝐶 = 𝑑𝑡
= 2 (225 + 𝑠𝑥 2 )−1⁄2 (2𝑠𝑥 ) 𝑑𝑡 ; using manipulation and substitution:

𝑠𝑥
𝑣𝐶 = 𝑣 .
√225+𝑠𝑥 2 𝐴

Using the position equation, we can find that when sy = 10m, sx = 20m. Substituting this value into
the velocity equation along with the stated constant velocity vA = 0.5 m∙s-1 we get: vC = 0.4m∙s-1

Finding the Acceleration:

We know that vA is constant so dvA/dt = 0. So from this we can take the second time derivate of the
position equation defined above. Use the PRODUCT RULE:

𝑑2𝑦 −𝑠𝑥 (𝑑𝑥 ⁄𝑑𝑡) 1 𝑑𝑠𝑥 1 𝑑𝑣𝐴 225𝑣𝐴2

𝑎𝑠 = =[ ] 𝑠𝑥 𝑣𝐴 + [ ] 𝑣𝐴 + [ ] 𝑠𝑥 =
𝑑𝑡 (225 + 𝑠𝑥 2 )3⁄2 (225 + 𝑠𝑥 2 )1⁄2 𝑑𝑡 (225 + 𝑠𝑥 2 )1⁄2 𝑑𝑡 (225 + 𝑠𝑥 2 )3⁄2

By substitution, we find that sx = 0.0036m∙s-2

 2) Cars A and B are travelling at speeds of 18 m∙s-1 and 12 m∙s-1 respectively. Also at the instant
to be studied, A has a deceleration of 2 m∙s-2, and B is accelerating at 3 m∙s-2.

Determine:

a) The velocity of B with respect to A

A
b) The acceleration of B with respect to A

SOLUTION:

Defining the Velocity: B

Choose a fixed point from which to observe the situation;
From this point, the translating x’ and y’ axes extend. 3m∙s-2
12m∙s-1
We will now use relative velocity theory to solve the problem:

𝒗𝐵 = 𝒗𝐴 + 𝒗𝐵⁄𝐴 ;

Now we can use cartesian vector analysis to identify 60°

the unknowns. Choosing the current position of car A;
substitution yields:

−12𝒋 = (−18(cos 60°)𝒊 − 18(sin 60 °)𝒋) + 𝒗𝐵⁄𝐴 ; maniplulating:

𝒗𝐵⁄𝐴 = (9𝒊 + 3.588𝒋)m∙s-1.

From here, we can find the magnitude and direction of vB/A.

(𝑉𝐵⁄𝐴 )𝑦 3.588
𝑣𝐵⁄𝐴 = √92 + 3.5882 = 9.69𝑚 ∙ 𝑠 −1; 𝜃 = tan−1 = 9
= 21.7°
(𝑉𝐵⁄𝐴 )𝑥

Defining the Acceleration:

This is complicated by the fact that Car B has both tangential and normal components to its
acceleration. We know that its tangential acceleration is acting in the vertical component, j. So we
must define the other component (Which must be acting in the horizontal component, i.); define the
magnitude of the normal acceleration of Car B:

𝑣𝐵2 (12𝑚 ∙ 𝑠 −1 )2
(𝑎𝐵 )𝑛 = = = 1.44𝑚 ∙ 𝑠 −2
𝜌 100𝑚

We can now apply the equation of relative acceleration:

𝒂𝐵 = 𝒂𝐴 + 𝒂𝐵⁄𝐴 ; sub in the component accelerations (given & found) to find the unknown:

(−1.44𝒊 − 3𝒋) = (2(cos 60°)𝒊 + 2(sin 60 °)𝒋) + 𝒂𝐵⁄𝐴 ;

𝒂𝐵⁄𝐴 = (−2.44𝒊 − 4.732𝒋)𝑚 ∙ 𝑠 −2 .

In the same way as for velocity, we can now easily find the magnitude and direction of the relative
acceleration (check the sign of the components!):

(𝑎𝐵⁄𝐴 )𝑦 4.732
𝑎𝐵⁄𝐴 = √2.442 + 4.7322 = 5.32𝑚 ∙ 𝑠 −2 ; 𝜙 = tan−1 = 2.44
= 62.7°
(𝑎𝐵⁄𝐴 )𝑥
Part2i: Worked Examples

1) A 50kg object sits (at rest) on a flat, horizontal surface that has a coefficient of friction: μk =
0.3. The crate is subjected to a 400 N force, pulling it at an angle of 30° from the horizontal.

30°

Determine:

The velocity of the crate 3 seconds after the force is permanently applied.

SOLUTION:

First, assume that the box has concentrated mass (i.e., zero volume). We can use the equation of
motion to relate the force to the crate’s acceleration, and therefore its kinematic motion.

Free Body Diagram:

Start by drawing the situation above as a free body diagram, FBD.

The Reaction Force NC is equal to W mg

The Weight W is equal to mg

F = 0.3NC 30°
Friction F is equal to μkNC

NC

Applying the Equations of Motion:

Firstly, by assuming the object is a point mass, we simplify the problem by removing the action of
moments. Secondly, we know that W is greater than the vertical component of the pulling force,
thus the object cannot lift off the surface and must therefore slide. Knowing this, define positive
directions and formulate horizontal and negative Equations of Motion:
+ve
∑ 𝑭𝒙 = 𝒎𝒂𝒙 ; substitution yields: 𝟒𝟎𝟎 𝐜𝐨𝐬 𝟑𝟎° − 𝟎. 𝟑𝑵𝑪 = 𝟓𝟎𝒂,

+ve ∑ 𝑭𝒚 = 𝒎𝒂𝒚 ; substitution yields: 𝑵𝑪 − 𝟒𝟗𝟎. 𝟓 + 𝟒𝟎𝟎 𝐬𝐢𝐧 𝟑𝟎° = 𝟎

NC can be determined by solving the vertical equation: NC = 290.5 N, substitute this into the
horizontal equation to dermine: a = 5.185 m∙s-2.

Apply Kinematic Theory:

Knowing that integrating acceleration with respect to time reveals:

𝒗𝟏 = 𝒗𝟎 + 𝒂𝒄 𝒕 = 𝟎 + 𝟓. 𝟏𝟖𝟓(𝟑) = 𝟏𝟓. 𝟔𝒎 ∙ 𝒔−𝟏

 2) A 10kg projectile is fired vertically upward from the ground, with an initial velocity of
50m∙s-1. Two forces act upon the projectile: gravity and air resistance.

Determine the maximum height achieved if: z

a) Air resistance is neglected
b) Air resistance is FD = 0.01v2N

Where v is the instantaneous velocity of the projectile, measured in m∙s-1.

v
SOLUTION

Both cases involve a resultant force of some kind. Problem a) features: FR

JUST GRAVITY

Whereas problem b) is the resultant of

GRAVITY + AIR RESISTANCE

First we must relate the force acting upon the projectile to the equation’s motion:

Modify the diagram given to form a FBD:

Apply the Equation of Motion:

The only active component is vertical; hence form the Equation of Motion for Problem a):

+ve ∑(𝑭𝑹 )𝒛 = 𝒎𝒂𝒛 ; via substitution of variables: −𝟗𝟖. 𝟏 = 𝟏𝟎𝒂

Now form a similar equation for Problem b).

+ve ∑(𝑭𝑹 )𝒛 = 𝒎𝒂𝒛 ; −𝟎. 𝟎𝟏𝒗𝟐 − 𝟗𝟖. 𝟏; therefore, with manipulation:

𝒂 = −(𝟎. 𝟎𝟎𝟏𝒗𝟐 + 𝟗. 𝟖𝟏).

Apply Kinematic Theory:

Kinematics can now be used to relate the projectile’s acceleration to its position. Lets tackle
Problem a); here, we know that the acceleration acting on the body is constant, thus we can apply a
linear kinematic equation (found by integrating the acceleration with respect to time).

−(𝟓𝟎)𝟐
+ve 𝒗𝟐 = 𝒗𝟎 𝟐 + 𝟐𝒂𝑪 (𝒛 − 𝒛𝟎 ); substituting values & manipulating: 𝟐(−𝟗.𝟖𝟏) = 𝒛 = 𝒉 = 𝟏𝟐𝟕𝒎.

Now we must attack problem b) in the same fashion, but the acceleration of b) is not constant:

+ve 𝒂 𝒅𝒛 = 𝒗 𝒅𝒗; Substitute in the resultant acceleration: −(𝟎. 𝟎𝟎𝟏𝒗𝟐 + 𝟗. 𝟖𝟏)𝒅𝒛 = 𝒗 𝒅𝒗.

When z0 = 0m, v0 = 50m∙s-1; and when z = h, v = 0 m∙s-1, so by manipulation and integration:

𝒉 𝟎 𝒗 𝒅𝒗 𝟎
∫𝟎 𝒅𝒛 = ∫𝟓𝟎 𝟎.𝟎𝟎𝟏𝒗𝟐+𝟗.𝟖𝟏 = [−𝟓𝟎𝟎𝒍𝒏(𝒗𝟐 + 𝟗𝟖𝟏𝟎)]𝟓𝟎; thus, h = 114m.
 3) A smooth 2 kg collar is attached to a spring that has a stiffness k = 3 N∙m-1 and a neutral
length of 0.75m. If the collar is released from rest at position C, where it is under tension, it
will accelerate collar C towards the spring’s neutral position. Assume the collar fits perfectly
about rod AC.
0.75m
Determine: A

a) The acceleration of the collar when the collar is

at position C (when y = 1m). θ B
b) The normal force of the rod on the collar at this
y
instant.

SOLUTION.
C
This problem does not require us to use kinematic
equations, remember that the rod forces the collar to move
in a linear fashion, vertically. The interface between collar and rod is smooth and the fit is perfect, so
assume that no moment effects can occur, e.g., can be treated as a point mass.
mg FS
Draw the FBD:

Force from the spring must counteract the action of

the rod and W. θ

Apply the Equations of Motion: NC

This problem is a 2 dimensional one, so consider the horizontal one first; we know that the collar
cannot move horizontally, so:
+ve ∑ 𝑭𝒙 = 𝒎𝒂𝒙 ; −𝑵𝑪 + 𝑭𝑺 𝐜𝐨𝐬 𝜽 = 𝟎

In the vertical component, movement is possible:

+ve ∑ 𝑭𝒚 = 𝒎𝒂𝒚 ; 𝟏𝟗. 𝟔𝟐 − 𝑭𝑺 𝐬𝐢𝐧 𝜽 = 𝟐𝒂

The vertical equation makes it clear that the acceleration is dependent upon both the magnitude
and direction of the spring at a given instant; so clearly both must be calculated.

Find the Magnitude of the Spring Force:

We know that the magnitude of the force is determined by the extension of the spring from its
neutral length (FS = kΔs). The neutral length is 0.75m which is the horizontal distance between the
rod and the spring bracket, thus we can apply Pythagoras:

𝒔𝟏 = √𝒚𝟐 + 𝟎. 𝟕𝟓𝟐 ; the extension of the spring from rest is: ∆𝒔 = 𝒔𝟏 − 𝒔𝟎 = √𝒚𝟐 + 𝟎. 𝟕𝟓𝟐 − 𝟎. 𝟕𝟓.

Use trigonometry to define the direction of the force:

𝒚
𝜽 = 𝐭𝐚𝐧−𝟏 .
𝟎.𝟕𝟓

Solve the equations:

Substituting the deflection (y = 1) into the spring equations yields: FS = 1.5N, θ = 53.1°; substituting
these in to the equations of motion and manipulating yields: NC = 0.9N and a = 9.21m∙s-1

Part2ii: Worked Examples

 1) A ball, weighing 5kg rolls down the side of a half pipe. If it starts from rest when θ = 0°,
Imagine the ball has a zero volume.
O
θ

Determine: 4m

The magnitude of the normal reaction the track

exerts on the ball when θ = 60°.

SOLUTION

Free Body Diagram

Consider the forces acting upon the ball by setting up a FBD.

Remember, this is not statics, the forces do not need mg

θ
to balance. n

an

at
Ns
t
Equations of Motion

We need to choose a reference frame, and analyse the forces against this. Use the (n, t) reference
frame, with an instantaneous origin at the centre of the ball. We know that the only force that is
constant is acting downwards, so resolve the other forces into components on our reference frame,
start with the normal component:

𝒗𝟐
∑ 𝑭𝒏 = 𝒎𝒂𝒏 ; so from the FBD: 𝑵𝑺 − [𝒎𝒈] 𝐬𝐢𝐧 𝜽 = 𝒎 ( );
𝝆

Now apply the same idea to the tangential component:

∑ 𝑭𝒕 = 𝒎𝒂𝒕 ; so from the FBD: [𝒎𝒈] 𝐜𝐨𝐬 𝜽 = 𝒎𝒂𝒕 ; so, by substitution and manipulation:

𝒂𝒕 = 𝟗. 𝟖𝟏 𝐜𝐨𝐬 𝜽

Apply Kinematic Theory

We know from the tangential Equation of Motion that we can relate at to θ: 𝒂𝒕 = 𝟗. 𝟖𝟏 𝐜𝐨𝐬 𝜽

Recall that 𝑣 𝑑𝑣 = 𝑎𝑡 𝑑𝑠 also relates displacement to acceleration. We know that θ is time

dependent, thus we can say 𝑑𝑠 = 𝑟 𝑑𝜃 = 4𝑑𝜃. We have initial conditions given: at θ = 0, v = 0.

𝒗 𝒅𝒗 = 𝒂𝒕 𝒅𝒔;
𝒗 𝜽
∫𝟎 𝒗 𝒅𝒗 = ∫𝟎 𝟗. 𝟖𝟏 𝐜𝐨𝐬 𝜽 (𝟒𝒅𝜽);
𝒗
𝒗𝟐 𝒗𝟐
[ 𝟐 ] = [𝟑𝟗. 𝟐𝟒 𝐬𝐢𝐧 𝜽]𝜽𝟎 ; so: 𝟐
− 𝟎 = 𝟑𝟗. 𝟐𝟒(𝐬𝐢𝐧 𝜽 − 𝟎); substitute in value for θ:
𝟎

v2 = 67.97m2∙s-2; substitute that result into the normal Equation of Motion: NS = 127.44N
 2) A smooth 2kg cylinder C has a pin through its centre which is located in a slot in lever OA. If
the arm is forced to rotate in the vertical plane at a constant rate of 𝜃̇ = 0.5rad∙s-1.

Determine:

The force that the arm exerts on the peg at the instant θ = 60°. O

SOLUTION

h = 0.4m
Polar coordinates are useful here, as point C will θ
always move along the radius about point O., so 𝜃̇ = 0.5 rad∙s-1
we can save ourselves some work by using the
C r
polar notation to relate the two.

Free Body Diagram: P

Draw the forces and motion acting at point C

mg
FP
θ
A

ar aθ Fp MUST act perpendicular to the slot (as the slot is

θ
smooth)
r NC θ
ar and aθ are assumed to act along positive r & θ

Equations of Motion:

Using an r, θ reference frame, develop an Equation of Motion for each component, using the FBD:

+ve ∑ 𝑭𝒓 = 𝒎𝒂𝒓 ; so: 𝒎𝒈 𝒔𝒊𝒏 𝜽 − 𝑵𝑪 𝒔𝒊𝒏 𝜽 = 𝒎𝒂𝒓

+ve ∑ 𝑭𝜽 = 𝒎𝒂𝜽 ; so: 𝒎𝒈 𝒄𝒐𝒔 𝜽 + 𝑭𝑷 − 𝑵𝑪 𝒄𝒐𝒔 𝜽 = 𝒎𝒂𝜽

Apply Kinematic Theory:

Considering the geometry of the problem given in the figure, r can be related to θ by:

𝒉
𝒓 = 𝐬𝐢𝐧 𝜽 ; using the trig identity: 1/sin = cosec (csc): 𝒓 = 𝒉 𝐜𝐬𝐜 𝜽.

Now you’ll have to know your trigonometric differentiation!

𝒅𝒓 𝒅 𝐜𝐬𝐜 𝜽 𝒅𝜽
=𝒉 = 𝒉(𝐜𝐬𝐜 𝜽 𝐜𝐨𝐭 𝜽) ; substituting in (we know the velocity is 0.5rad∙s-1):
𝒅𝒕 𝒅𝒕 𝒅𝒕

𝒅𝒓 𝒅𝒓
𝒅𝒕
= 𝟎. 𝟒(𝐜𝐬𝐜 𝜽 𝐜𝐨𝐭 𝜽)𝟎. 𝟓; simplifies to: 𝒅𝒕 = 𝟎. 𝟐(𝐜𝐬𝐜 𝜽 𝐜𝐨𝐭 𝜽)

The second time derivative gives acceleration:

𝒅𝟐 𝒓 𝒅𝜽 𝒅𝜽
𝒅𝒕𝟐
= −𝟎. 𝟐(𝐜𝐬𝐜 𝜽 𝐜𝐨𝐭 𝜽) 𝒅𝒕 𝐜𝐨𝐭 𝜽 − 𝟎. 𝟐 𝐜𝐬𝐜 𝜽 (− 𝐜𝐬𝐜 𝟐𝜽) 𝒅𝒕 ; simplifies to:

𝒅𝟐 𝒓
𝒅𝒕𝟐
= −𝟎. 𝟏 𝐜𝐬𝐜 𝜽 (𝐜𝐬𝐜 𝟐 𝜽 + 𝐜𝐨𝐭 𝟐 𝜽).

Substitute in Values
θ = 60°, so we can evaluate these formulas given the knowledge that θ̇ = 0.5rad∙s-1 (28.648°∙s-1) and
therefore 𝜃̈ = 0rad∙s-1:

r = 0.462

𝒓̇ = −𝟎. 𝟏𝟑𝟑

𝒓̈ = 𝟎. 𝟏𝟗𝟐

Apply Polar and Radial Acceleration

From Lecture 2, Slide 9; recall that: 𝑎𝜃 = (𝑟𝜃̈ + 2𝑟̇ 𝜃̇ ) and 𝑎𝑟 = (𝑟̈ − 𝑟𝜃̇ 2 ). Solve these:

𝒂𝜽 = (𝒓𝜽̈ + 𝟐𝒓̇ 𝜽̇) = 0 + 2(-0.133)(0.5) = 0.133

𝒂𝒓 = (𝒓̈ − 𝒓𝜽̇𝟐 ) = 0.192 – 0.462(0.5)2 = 0.0770

Substitute this back into the equations of motion to find:

NC = 19.5N

FP = -0.356N

Part3i: Worked Examples

1) A 10kg block rests on a smooth incline. The block is attached to the spring with a constant
k = 30 N∙m-1 that is initially stretched from its neutral length by 0.5m. The block is pushed up
the slope by s = 2m by a constant horizontal force P = 400N.

Determine:

The total work done on the block by P = 400N

all the forces.

SOLUTION
S
Firstly, consider the geometry; we know
that the block moves 2m, however, given
30°
that gravity acts in the vertical direction, it may be S0
useful to resolve the displacements into x,y components.

𝒔𝒙 = 𝟐 𝐜𝐨𝐬 𝟑𝟎 𝒎; 𝒔𝒚 = 𝟐 𝐬𝐢𝐧 𝟑𝟎 𝒎
mg
Free Body Diagram:
30°
Start by considering all of the forces acting on the
block by drawing them onto a FBD.
P = 400N
Remember the spring and consider it’s direction. 30°

Total Work: NB Fs

This is a sum of the contributions of work given by all the elements of this problem.

∑ 𝑼 = 𝑼𝑻 = 𝑼𝑷 + 𝑼 𝑺 + 𝑼𝑾 + 𝑼𝑵

So you can split the contributing elements up.

Work Done by Horizontal Force:

This is a constant, so we can calculate this simply by using the linear equation:

𝑼𝑷 = 𝑷𝒔; since this only acts horizontally, we can write: 𝑼𝑷 = 𝟒𝟎𝟎(𝟐 𝐜𝐨𝐬 𝟑𝟎) = 𝟔𝟗𝟐. 𝟖 J

Work Done by Spring Force:

The spring started initially stretched by 0.5m. The spring is then stretched further by 2m; thus at the
finishing position the extension is 2.5m. The spring is working against Force P.

𝟐.𝟓 𝟏 𝟏
𝑼𝒔 = −[𝒌𝒔𝟐 ]𝟎.𝟓 ; thus: 𝑼𝒔 = − [𝟐 𝟑𝟎(𝟐. 𝟓𝟐 ) − 𝟐 𝟑𝟎(𝟎. 𝟓𝟐 )] = −𝟗𝟎 J

Work Done by Weight:

This is working to prevent the block being raised (its working against Force P)

𝑼𝑾 = −𝑾𝒔𝒚 ; so: 𝑼𝑾 = −𝟏𝟎(𝟗. 𝟖𝟏)𝟐 𝐬𝐢𝐧 𝟑𝟎 = −𝟗𝟖. 𝟏J

Work Done by Normal Force:

Negligable, as it is always normal to the motion; SO TOTAL WORK MUST EQUAL: 505 J

2) Two Blocks, A and B, have a mass of 10kg and 100kg respectively. They are suspended on a
pulley system as shown. If B is released and the system is smooth, both block will accelerate.

Determine: T
R1 R1
The distance B has travelled when it reaches a speed of 2m∙s-1.

SOLUTION:

We will consider the blocks as separate entities; then apply the SB

principle of work and energy to each block. This is possible as we
know that the rope joining A to B is constant in length, and given SA
that the tension in the rope must act upon both blocks.
B
Free Body Diagram:

Add to the diagram given to indicate the forces acting upon the mB g A
blocks and grounding points.

Principle of Work and Energy:

mA g
Given that motion is involved, we can relate energy to work done:

∑ 𝑻𝟏 + ∑ 𝑼𝟏−𝟐 = ∑ 𝑻𝟐 ;

𝟏 𝟏 𝟏 𝟏
{𝟐 𝒎𝑨 (𝒗𝑨 )𝟐𝟏 + 𝟐 𝒎𝑩 (𝒗𝑩 )𝟐𝟏 } + {𝑾𝑨 ∆𝒔𝑨 + 𝑾𝑩 ∆𝒔𝑩 } = {𝟐 𝒎𝑨 (𝒗𝑨 )𝟐𝟐 + 𝟐 𝒎𝑩 (𝒗𝑩 )𝟐𝟐 }; thus:

𝟏 𝟏
{𝟎 + 𝟎} + {𝒎𝑨 𝒈∆𝒔𝑨 + 𝒎𝑩 𝒈∆𝒔𝑩 } = { 𝒎𝑨 (𝒗𝑨 )𝟐𝟐 + 𝒎𝑩 (𝒗𝑩 )𝟐𝟐 }; substituting in:
𝟐 𝟐

𝟏 𝟏
{𝟗𝟖. 𝟏∆𝒔𝑨 + 𝟗𝟖𝟏∆𝒔𝑩 } = { 𝟏𝟎(𝒗𝑨 )𝟐𝟐 + 𝟏𝟎𝟎(𝟐)𝟐𝟐 }.
𝟐 𝟐

Apply Kinematic Theory:

We can relate the total length of the rope to the segment lenths:
 𝒔𝑨 + 𝟒𝒔𝑩 = 𝒍.

As the rope cannot deform, we can now write:

∆𝒔𝑨 + ∆𝟒𝒔𝑩 = 𝟎;

∆𝒔𝑨 = −∆𝟒𝒔𝑩.

The equation above makes it clear that the blocks must move in opposite directions. Take the time
derivative to form an equation for velocity:
𝒅𝒔𝑨 ∆𝟒𝒔𝑩
𝒅𝒕
=− 𝒅𝒕
; which is the same as: 𝒗𝑨 = −𝟒𝒗𝑩 ; we know that B achieves 2m∙s-1:

𝒗𝑨 = −𝟒(𝟐) = −𝟖 m∙s-1.

The negative sign must be retained, as the velocity equation has the same sense as the work and
energy equation; substuting the value for vA into the work and energy equation yields:

∆𝒔𝑩 = 𝟎. 𝟖𝟖𝟑m .
Part3ii: Worked Examples

1) A man pushes on a 50kg crate with a force of F = 150N. The coefficient of kinetic friction
between the floor and the crate is µk = 0.2. Initially the crate is at rest. Consider the volume
of the crate to be negligable.
150N x

5
3
y
4

Determine the power supplied by the man when t = 4s.

SOLUTION

To calculate the power applied, the velocity must be

first be found. We can do this by application of the Equation of Motion. Friction

Free Body Diagram mg

5
Draw the forces acting upon the crate 3
4
Equation of Motion

+ve 𝟑
∑ 𝑭𝒚 = 𝒎𝒂𝒚 ; so: 𝑵 − ( ) 𝟏𝟓𝟎 = 𝒎𝒈 = 𝟓𝟎(−𝟗. 𝟖𝟏); thus:
𝟓
µkN
N
N = 580.5N

+ve 𝟒
∑ 𝑭𝒙 = 𝒎𝒂𝒙 ; so: ( ) 𝟏𝟓𝟎 − 𝝁𝒌 𝑵 = 𝒎𝒂 = 𝟏𝟐𝟎 − 𝟎. 𝟐(𝟓𝟖𝟎. 𝟓) = 𝟓𝟎𝒂; thus:
𝟓

a = 0.078m∙s-2.

Apply kinematic theory:

Use a linear kinematic relation to define the velocity when t = 4; we know the initial velocity (v0 = 0),
the acceleration (a = 0.078m∙s-2) and the time:

v = v0 + at; thus substituting in values:

v = 0 + 0.078(4) = 0.312m∙s-1

Find the Power:

Recall the power relationship (Lecture 3ii, Slide 3):

𝟒
𝑷 = 𝑭 ∙ 𝒗; thus: 𝑭𝒙 𝒗 = (𝟓) 𝟏𝟓𝟎(𝟎. 𝟑𝟏𝟐)

P = 37.4W.
 2) A smooth 2kg collar is attached to a spring that has a stiffness k = 3 N∙m-1 and a neutral
length of 0.75m. If the collar is released from rest at position A, where the spring is at its
neutral length, it will accelerate downwards under gravity until the tension of the spring
counteracts the motion of the collar. Assume the collar fits perfectly about rod AC.
0.75m
Determine for y = 1m: A

c) The speed of the collar if the collar was released

from rest at position A. θ B
d) The speed of the collar if the collar was released at
y
position A, with an upward velocity of (vA)y = -2m∙s-1

SOLUTION.
C
This problem can be solved using the principle of energy
conservation. Acting in concert are the potential energies of
gravity Vg and the Spring VS; along with the kinetic energy T at any instant.

Consider the geometry of the spring:

We are told the spring is unstretched at position A, but we do not know it’s extension (from neutral
length) at position C, use pythagoras to find this:

𝒔𝑩𝑪 = 𝒍𝑩𝑪 − 𝒍𝑩𝑨 = √(𝟎. 𝟕𝟓𝟐 + 𝟏𝟐 ) − 𝟎. 𝟕𝟓 = 𝟎. 𝟓𝒎

Consider Question 2b) using the principle of the conservation of mechanical Energy:

In this case the initial conditions are: The collar is at rest vA = 0; the spring is neutral ks = 0; the collar
has the potential to fall y = 1m to the datum (which was effectively set by the question; at this point
the spring will be extended from it’s neutral length by 0.5m; build an equation to conserve energy:

𝑻𝑨 + 𝑽𝑨 = 𝑻𝑪 + 𝑽𝑪 ; so elaborating:

𝑻𝑨 + ((𝑽𝑮 )𝑨 + (𝑽𝑺 )𝑨 ) = 𝑻𝑪 + ((𝑽𝑮 )𝑨 + (𝑽𝑺 )𝑪 ); further elaboration:

𝟏 𝟏 𝟏 𝟏
𝟎 + (𝒎𝒈𝒚 + 𝟎) = 𝒎𝒗𝑪 𝟐 + (𝟎 + 𝒌𝒔𝟐 ); substituting in: 𝟐(𝟗. 𝟖𝟏)𝟏 = 𝟐𝒗𝟐 + (𝟑)𝟎. 𝟓𝟐 ;
𝟐 𝟐 𝟐 𝟐

√𝟏𝟗. 𝟔𝟐 − 𝟎. 𝟑𝟕𝟓 = 𝒗 = 𝟒. 𝟑𝟗m∙s-1 .

Consider Question 2a) using the principle of the conservation of mechanical Energy:

We can approach this the same way, but now the boundary conditions differ. Now the collar has an
initial velocity of -2m∙s-1. Again, develop an equation to conserve the mechanical energy:

𝑻𝑨 + 𝑽𝑨 = 𝑻𝑪 + 𝑽𝑪 ; so elaborating:

𝑻𝑨 + ((𝑽𝑮 )𝑨 + (𝑽𝑺 )𝑨 ) = 𝑻𝑪 + ((𝑽𝑮 )𝑨 + (𝑽𝑺 )𝑪 ); further elaboration:

𝟏 𝟏 𝟏
𝟐
𝒎𝒗𝑨 𝟐 + (𝒎𝒈𝒚 + 𝟎) = 𝟐 𝒎𝒗𝑪 𝟐 + (𝟎 + 𝟐 𝒌𝒔𝟐 ); substituting in:

𝟏 𝟏 𝟏
𝟐
𝟐(𝟐𝟐 ) + 𝟐(𝟗. 𝟖𝟏)𝟏 = 𝟐 𝟐𝒗𝟐 + 𝟐 (𝟑)𝟎. 𝟓𝟐 ;

√𝟒 + 𝟏𝟗. 𝟔𝟐 − 𝟎. 𝟑𝟕𝟓 = 𝒗 = 𝟒. 𝟖𝟐m∙s-1 .

Notice that the kinetic energy is only dependent upon the magnitude of velocity.
Part4i: Worked Examples

1) Blocks A and B have a mass of 3kg and 5kg respectively. The system is released from rest.
Neglect the mass of the pulleys and the cord.

D
DATUM
Determine:
SA
The velocity of block B six seconds after release. D
sB
SOLUTION
A
As the mass of the blocks remains constant and gravity is constant; the tension
on the rope must also be constant.
B
Free Body Diagram:

We are told in the question that the mass of the pulleys can be neglected, so consider the blocks
separately with FBDs:

TB TB TB

vA vB

mg
TA = 2TB
Apply the Principle of Impulse and Momentum:

Consider the blocks separately (working from the Free Body Diagrams developed):

BLOCK A
𝒕
+ve 𝒎(𝒗𝑨 )𝟏 + ∑ ∫𝒕 𝟐 𝑭𝒚 𝒅𝒕 = 𝒎(𝒗𝑨 )𝟐 ; substituting in:
𝟏

𝟎 − 𝟐𝑻𝑩 (𝟔) + 𝟑(𝟗. 𝟖𝟏)(𝟔) = 𝟑(𝒗𝑨 )𝟐 . ①

BLOCK B
𝒕
+ve 𝒎(𝒗𝑩 )𝟏 + ∑ ∫𝒕 𝟐 𝑭𝒚 𝒅𝒕 = 𝒎(𝒗𝑩 )𝟐 ; substituting in:
𝟏

𝟎 + 𝟓(𝟗. 𝟖𝟏)(𝟔) − 𝑻𝑩 (𝟔) = 𝟓(𝒗𝑩 )𝟐 . ②

Apply Kinematic Theory:

The rope cannot stretch, thus the velocity of B is directly related to that of A. Using the datum
established in the question (going through C), Define a relationship between the length l of the rope
and the position coordinates sA and sB:

𝟐𝒔𝑨 + 𝒔𝑩 = 𝒍; take the time derivative to find velocity relation:

𝟐𝒗𝑨 = −𝒗𝑩 . (remember, the negative value indicates opposite direction of motion).

Substitute the velocity relation into ①, then solve ① & ② simultaneously to yield:
(vB)2 = 35.8m∙s-1 & TB = 19.2N
 2) Two smooth discs, A and B, have a mass of 1kg and 2 kg respectively. They collide as shown
in the figure given. The coefficient of restitution of the discs is e = 0.75.

Determine:
y
x and y components of each disc’s velocity just after
the collision.

A ϕ = 45°
x
θ = 30°
B
Line of Impact
SOLUTION Plane of Impact

This is an oblique impact (the line running between the centres of the objects is not parallel with the
direction of motion of the discs. The problem has already taken the step of identifying that the
x and y coordinates lie on the line and plane of impact respectively.

Resolve the Initial Velocities into Components, considering the reference frame defined:

(𝒗𝑨𝒙 )𝟏 = 𝟑 𝐜𝐨𝐬 𝟑𝟎 = 𝟐. 𝟓𝟗𝟖m∙s-1; (𝒗𝑨𝒚 ) = 𝟑 𝐬𝐢𝐧 𝟑𝟎 = 𝟏. 𝟓m∙s-1

𝟏

(𝒗𝑩𝒙 )𝟏 = −𝟏 𝐜𝐨𝐬 𝟒𝟓 = −𝟎. 𝟕𝟎𝟕m∙s-1; (𝒗𝑩𝒚 ) = −𝟏 𝐬𝐢𝐧 𝟒𝟓 = −𝟎. 𝟕𝟎𝟕m∙s-1

𝟏

Consider the direction of the velocity components following the collision:

The line of impact is also the x axis, thus the impact must occur in the x direction. The discs are
“smooth”, thus no force can be transferred via shear (across the line of impact); so, all momentum
must be transferred along the x axis. Given this, which component should be tackled first?

Conservation of “x” Momentum:

A positive direction is defined; Form an equation that conserves momentum between A & B:

𝒎𝑨 (𝒗𝑨𝒙 )𝟏 + 𝒎𝑩 (𝒗𝑩𝒙 )𝟏 = 𝒎𝑨 (𝒗𝑨𝒙 )𝟐 + 𝒎𝑩 (𝒗𝑩𝒙 )𝟐 ; substitute in known values:

𝟏(𝟐. 𝟓𝟗𝟖) + 𝟐(−𝟎. 𝟕𝟎𝟕) = 𝟏(𝒗𝑨𝒙 )𝟐 + 𝟐(𝒗𝑩𝒙 )𝟐 ; thus: (𝒗𝑨𝒙 )𝟐 + 𝟐(𝒗𝑩𝒙 )𝟐 = 𝟏. 𝟏𝟖𝟒. ①

Apply Coefficient of Restitution.

(𝒗𝑩𝒙 )𝟐 −(𝒗𝑨𝒙 )𝟐
𝒆= (𝒗𝑨𝒙 )𝟏 −(𝒗𝑩𝒙 )𝟏
; thus substitution of known values gives:

(𝒗𝑩𝒙 )𝟐 −(𝒗𝑨𝒙 )𝟐
𝟎. 𝟕𝟓 = 𝟐.𝟓𝟗𝟖+𝟎.𝟕𝟎𝟕
; thus it can be written: 𝟐. 𝟒𝟕𝟗 = (𝒗𝑩𝒙 )𝟐 − (𝒗𝑨𝒙 )𝟐 . ②

Solve component equations:

Solve ① & ② by substitution to find: (vAx)2 = -1.26m∙s-1 and (vBx)2 = 1.22m∙s-1

Conservation of momentum in remaining component:

We already know (from the line of impact) that momentum is conserved entirely in the y direction;
thus we can say that: The velocity of each disk in the y direction will be maintained throughout the
collision. i.e.: (𝒗𝑨𝒚 ) = 𝟑 𝐬𝐢𝐧 𝟑𝟎 = 𝟏. 𝟓m∙s-1 & (𝒗𝑩𝒚 ) = −𝟏 𝐬𝐢𝐧 𝟒𝟓 = −𝟎. 𝟕𝟎𝟕m∙s-1.
𝟐 𝟏
Part4ii: Worked Examples

1) A box with mass m travels down a smooth circular ramp about point O such that when it is
at an angle θ it has a speed v.

Determine for a given instant: O

r
a) The angular momentum of the box
θ
b) The rate of increase of speed of the box. v

SOLUTION

The first thing to do is to understand the question; “smooth”: no friction;

“rate of increase of speed”: at ; this question does not expect a numerical answer, but a relation.

Free Body Diagram:

Start (as usual) by developing a better understanding of the key components of the problem in this
fashion. r sinθ

r
W
θ

n
Define Angular Momentum:

Given that v is tangent to the path, we know that it can be treated

as a scalar and that (from Part 4ii, Slide 3) the angular momentum t
can be defined as: N

𝑯𝑶 = 𝒓𝒎𝒗.

Just as with moments, a positive direction must be defined: +

Relate the Moment Acting to the Momentum

As shown (again on Part 4ii, Slide 3), the time derivative of an object’s angular momentum is equal
to the sum of the moments acting upon it (remember the reference frame is not parallel to gravity!):

̇ = ∑ 𝑴𝑶 ; so, elaborating:
𝑯𝑶

𝒅
𝒅𝒕
𝒓𝒎𝒗 = 𝒎𝒈𝒓 𝐬𝐢𝐧 𝜽.

r and m are constant, so:

𝒅𝒗
𝒓𝒎 𝒅𝒕 = 𝒎𝒈𝒓 𝐬𝐢𝐧 𝜽; so, cancelling:

𝒅𝒗
𝒈 𝐬𝐢𝐧 𝜽 = .
𝒅𝒕

Note that you could have also solved this using The Principle of Linear Momentum, as the only
variable desired was the SCALAR SPEED, which in this instance was tangent to the path of the
block.
 2) A 0.4kg ball B, having negligible volume, is attached to a cord which passes through a hole A
in a smooth table. The ball has an initial instantaneous radius of motion r1 = 0.5m from the
hole, it is rotating around a circular path with a SPEED v1 = 1.2m∙s-1. A force F is applied to
the cord which is thus pulled downward through the hole at a constant SPEED vC = 2m∙s-1.

Determine:
r2
a) The SPEED of the ball when it has an instantaneous
A
radius of motion r2 = 0.2m from the hole. B
b) The amount of work done by F to shorten the radius
of curvature from r1 to r2 r1

SOLUTION
vc = 2m∙s-1
Notice that the problem only desires SPEED, this is a magnitude
only. The table is “smooth” so friction is negligible. The work F
done by F must counteract the cumulative normal force exerted
on the ball throughout its motion.

Free Body Diagram:

This is a complex FBD, as it has three phases: Start, End and whatever happened in-between!

1) Consider the forces acting on the ball at all times z

2) Consider the velocity at r1 vc
v’2
3) Consider the velocity of the ball at r2 v2 mg
4) Use the diagram to identify which axis the
momentum is acting about:
F
Z axis!

Apply Conservation of Angular Momentum: NB

From the FBD, it is clear to us that the ball’s velocity v2 has two components. We know the radial
component: vC = 2m∙s-1. We also know from our understanding that vC exerts zero angular
momentum about the z axis (just like it produces zero moment). So develop a relation:

𝑯𝟏 = 𝑯𝟐 ; so recalling the equation of angular momentum:

𝒓𝟏 𝒎𝑩 𝒗𝟏 = 𝒓𝟐 𝒎𝑩 𝒗′𝟐 ; as the mass is constant: 𝒓𝟏 𝒗𝟏 = 𝒓𝟐 𝒗′𝟐 ; so substituting values:

𝟎.𝟓(𝟏.𝟐)
= 𝒗′𝟐 = 𝟑. 𝟎m∙s-1
𝟎.𝟐

To find the magnitude of the speed we can simply apply Pythagoras:

𝒗𝟐 = √𝒗𝟐𝑪 + 𝒗′𝟐𝟐 = √𝟐𝟐 + 𝟑𝟐 = 𝟑. 𝟔𝟎𝟔 m∙s-1.

Work Done by F

As the velocity of the weight pulling on the ball is constant it can be seen that the Force F balances
the radial force acting on the ball during its motion. Let us apply the principle of Work and Energy:
𝟏 𝟏
𝑻𝟏 + ∑ 𝑼𝟏−𝟐 = 𝑻𝟐 ; can elaborate to: 𝟐
𝒎𝑩 𝒗𝟐𝟏 + 𝑼𝑭 = 𝟐 𝒎𝑩 𝒗𝟐𝟐 ; now we substitute values:

𝟏 𝟏
𝟎. 𝟒(𝟏. 𝟐𝟐 ) + 𝑼𝑭 = 𝟎. 𝟒(𝟑. 𝟔𝟎𝟔𝟐 ); thus 𝑼𝑭 = 𝟐. 𝟑𝟏𝟐 J
𝟐 𝟐
Part4iii: Worked Example

A rocket lifts off from its launch pad with a combined mass (of rocket and all its fuel) of m0. A
total mass of fuel mf is consumed at a constant rate of dm/dt = c. It is burnt and expelled at a
constant speed u relative to the rocket. On this strange planet, gravity does not vary with
altitude and there is no atmosphere. The rocket is fired vertically from rest, and is of very
high technology – since it has zero volume.

Determine:

The maximum velocity achieved by the rocket. mg

+ve
SOLUTION
m
This problem fits perfectly with the situations described in
Part4iii Slides 3-6. The object is losing mass whilst accelerating.

Free Body Diagram:

Add the forces (Internal and External) to the diagram. Also choose a positive
direction. Which is internal and which is External to the control volume?
T
Internal: T External: W = mg

Define an equation to describe the forces acting on the control volume considering that the velocity
of the gas ejected is constant WITH RESPECT TO THE ROCKET:
𝒅𝒗 𝒅𝒎
∑ 𝑭𝑪𝑽 = 𝒎 − 𝒗𝑫/𝒆 ; now define the force of W, if one were consider velocity & time:
𝒅𝒕 𝒅𝒕

𝒅𝒗
−𝑾 = −𝒎𝒈 − 𝒖𝒄 = 𝒎 ( 𝒅𝒕 ) − 𝒖𝒄.

Now consider how we could find the mass of the rocket at any given instant after lift off:

𝒅𝒎
𝒎 = 𝒎𝟎 − ( 𝒅𝒕 ) 𝒕 = 𝒎𝟎 − 𝒄𝒕; now substitute this into the FCV equation:

𝒅𝒗
𝑭𝑪𝑽 = (𝒎𝟎 − 𝒄𝒕) 𝒅𝒕 − 𝒖𝒄; recall that a force is the product of mass and acceleration:

𝒅𝒗
−(𝒎𝟎 − 𝒄𝒕)𝒈 = (𝒎𝟎 − 𝒄𝒕) − 𝒖𝒄.
𝒅𝒕

The rockets velocity at any given instant is the integral of this (i.e. it is the cumulative effect of this
over a defined time period). First we must separate the variables:

−(𝒎𝟎 − 𝒄𝒕)𝒈 𝒅𝒕 = (𝒎𝟎 − 𝒄𝒕)𝒅𝒗 − 𝒖𝒄 𝒅𝒕; thus:

𝒖𝒄
𝒅𝒗 = ((𝒎 − 𝒈) 𝒅𝒕; now we can integrate!:
𝟎 −𝒄𝒕)

𝒗 𝒕 𝒖𝒄 𝒚𝒊𝒆𝒍𝒅𝒔
∫𝟎 𝒅𝒗 = ∫𝟎 ((𝒎 − 𝒈) 𝒅𝒕 → 𝒗 = [−𝒖 𝒍𝒏(𝒎𝟎 − 𝒄𝒕) − 𝒈𝒕]𝒕𝟎 ; thus:
𝟎 −𝒄𝒕)

𝒎𝟎
𝒗 = 𝒖 𝒍𝒏 ( ) − 𝒈𝒕. ①
𝒎𝟎 −𝒄𝒕

Time to consume all fuel: mf = (dm/dt)t’ = ct’; therefore t’ = mf/c; this can be substituted into ①:

𝒎𝟎 𝒈𝒎𝒇
𝒗 = 𝒖 𝒍𝒏 ( )−
𝒎𝟎 − 𝒎𝒇 𝒄
Part5i: Worked Examples

1) A Cord is wrapped around a wheel, which is initially at rest when 𝜃 = 0. If a force is applied
to the cord and gives it an acceleration 𝑎 = (4𝑡)𝑚 ∙ 𝑠 −2, where t is in seconds..

Determine as a function of time:

A) The angular velocity of the wheel; and

B) The angular position of line OP in radians.
O
SOLUTION
There is no translation; this is a fixed axis problem. θ
We know: VO = 0; we are given a LINEAR acceleration. We
must use kinematics to derive the ANGULAR acceleration, a
P
then velocity and finally displacement.

F
Free Body Diagram:
It’s been given to us in the question!

Determine the ANGULAR acceleration:

Just like a moment:
(𝑎𝑃 )𝑡 = 𝛼𝑟

(𝑎𝑃 )𝑡
𝑟
=𝛼

4𝑡
0.2
= 𝛼 = 20𝑡 rad∙s-2

Move from Acceleration to Velocity:

So, now we must integrate with respect to time to move between acceleration and velocity (i.e. sum
all of the velocities covered whilst moving from one velocity at t = 0 to another at t = tP):
𝑑𝜔
𝛼= = (20𝑡) 𝑟𝑎𝑑 ∙ 𝑠 −2
𝑑𝑡

𝜔 𝑡
∫0 𝑑𝜔 = ∫0 20𝑡 𝑑𝑡

𝜔 = 10𝑡 2 rad∙s-1 THUS WE HAVE ANSWERED QUESTION PART A.

Move from Velocity to Displacement:

Sum all of the positions held whilst moving from position (and velocity) 0 to position P:
𝑑𝜃
𝜔= 𝑑𝑡
= (10𝑡 2 ) 𝑟𝑎𝑑 ∙ 𝑠 −1

𝜃 𝑡
∫0 𝑑𝜃 = ∫0 10𝑡 2 𝑑𝑡

10 3
𝜃= 3
𝑡 𝑟𝑎𝑑𝑖𝑎𝑛𝑠 THUS WE HAVE ANSWERED QUESTION PART B.
 2) A motor turns a pulley which, in turn, drives the larger wheel. The pulley A connected to the
motor begins to rotate from rest with a constant angular acceleration of 𝛼𝐴 = 2 𝑟𝑎𝑑 ∙ 𝑠 −2.
Consider Point P on the wheel after the pulley turns two full revolutions.

Determine: 0.15 m αA = 2 rad∙s-1

a) the magnitude of the velocity; and A

b) the magnitude of the acceleration.

SOLUTION:

Find the ANGULAR velocity & acceleration of the Pulley (A)

to determine the LINEAR velocity and acceleration of the belt. B
Once this is done, we must then consider the geometry of the
wheel (B) to find the MAGNITUDE of the acceleration.

How Much is 2 Revolutions?

P
Convert 2 revolutions into Radians:
2𝜋 𝑟𝑎𝑑
𝜃𝐴 = 2𝑟𝑒𝑣 ( ) = 12.57 𝑟𝑎𝑑𝑖𝑎𝑛𝑠
1 𝑟𝑒𝑣

Find the Angular Velocity Achieved over θA

Notice that the question states that the acceleration is CONSTANT! So we can apply SUVAT… We
know displacement (12.57 radians), angular acceleration (2 rad∙s-2) and initial angular velocity (0
rad∙s-2).

𝜔2 = 𝜔02 + 2𝛼𝐶 (𝜃 − 𝜃0 )

𝜔𝐴2 = 0 + 2(2)(12.57 − 𝜃0 )

𝜔𝐴 = 7.09 𝑟𝑎𝑑 ∙ 𝑠 −1

Find the Velocity of the Belt:

This will move at the tangential velocity of the belt contact radius about pulley A…

𝑣 = 𝜔𝐴 𝑟𝐴 = 7.09 ∙ 0.15 = 1.0635 𝑚 ∙ 𝑠 −1

Use the Velocity of the Belt to Define the Angular Velocity of the Wheel (B):
Now, the belt can’t stretch or change length with respect to time, so its velocity at one point must be
equal to its velocity at another. Knowing this, we can calculate 𝜔𝐵 .
𝑣 = 𝜔𝐵 𝑟𝐵
𝑣 1.0635
𝑟𝐵
= 𝜔𝐵 = 0.4
= 2.659

Find the Angular Acceleration of the Wheel (B):

The Principles used above can be used again for acceleration:
𝑎 = 𝛼𝐴 𝑟𝐴 = 𝛼𝐵 𝑟𝐵 = 0.3 𝑚 ∙ 𝑠 −2
𝛼𝐴 𝑟𝐴 (2)(0.15)
𝑟𝐵
= 𝛼𝐵 = 0.4
= 0.75 𝑟𝑎𝑑 ∙ 𝑠 −2

Find the MAGNITUDE of aB:

Remember that rotational acceleration has a tangential and a normal component…
(𝑎𝑃 )𝑛 = 𝜔𝐵2 𝑟𝐵 = (2.659)2 (0.4) = 2.827 𝑚 ∙ 𝑠 −2
So: 𝑎𝑃 = √0.32 + 2.8272 = 2.84 𝑚 ∙ 𝑠 −2
Part5ii: Worked Examples

1) The Rod AB of the linkage has a clockwise angular velocity of 30 rad∙s-1 when θ = 60°.
Determine the Angular velocities of member BC and the wheel at this instant.

SOLUTION:
D
Clearly, the wheel and crank AB have fixed axis rotation.

0.1 m
This means that the velocity of point B can be found,
thus allowing Point C to be determined via vector B
analysis. From here we will calculate the angular
C
velocity of the wheel and link BC. 0.2 m

Kinetic Diagram:
Draw a map of the critical geometry and motion:
Kinematic Equations:
A
For Crank AB, use the Angular Velocity Equation D
(Slide 16, Part5i):

0.1 m
rC
𝒗𝐵 = 𝜔𝐴𝐵 ×𝒓𝐵 B C
rC/B
𝒗𝐵 = (−30𝐤)×(0.2 cos 60 𝐢 + 0.2 sin 60 𝐣)
vC
𝒗𝐵 = (5.20𝐢 − 3.0𝐣)𝑚 ∙ 𝑠 −1 vB
0.2 m
rB
Link BC involves general plane motion. So apply
The relative motion equation (Slide 4, Part5ii): θ = 60°

𝒗𝐶 = 𝒗𝐵 + 𝒗𝐶/𝐵 A
𝒗𝐶 = 𝒗𝐵 + 𝜔𝐵/𝐶 ×𝒓𝐵/𝐴

vC can only move in i:

𝒗𝐶 𝐢 = (5.20𝐢 − 3.0𝐣) + 𝜔𝐵/𝐶 𝐤×0.2𝐢

𝒗𝐶 𝐢 = 5.20𝐢 + (0.2𝜔𝐵/𝐶 − 3.0)𝐣

Now split the equations into components to give:

i: 𝑣𝐶 = 5.20
j: 0 = 0.2𝜔𝐵/𝐶 − 3.0
𝜔𝐵/𝐶 = 15 𝑟𝑎𝑑 ∙ 𝑠 −1

The wheel rotates about a fixed axis, we have already calculated the velocity of Point C, so apply the
Angular Velocity Equation:

𝒗𝐶 = 𝜔𝐷 ×𝒓𝐶
5.20𝐢 = 𝜔𝐷 𝐤×(−0.1𝐣)
5.20 = 0.1𝜔𝐷
𝜔𝐷 = 52.0 𝑟𝑎𝑑 ∙ 𝑠 −1
 2) The crankshaft AB turns with a clockwise angular velocity of 10 rad∙s-1. Determine the
velocity of the piston at the instant shown.
C
SOLUTION:
This must be solved in stages. Start with the best defined problem,
use this to define the next stage, and lastly find the overall solution.

Identify the ‘Best Defined Problem’:

Here, we know one element has simple rectilinear motion, but
13.6°
we don’t know it’s speed, position or acceleration parameters.
One element has general plane motion, which is not defined.
but we DO know that the bottom link has rotation about a
fixed axis, we know its angular velocity and geometry, thus ωBC = 2.43 rad∙s-1
we can work with this. FIND THE VELOCITY OF POINT B:

𝑣𝐵 = 𝜔𝑟 = (10)(0.25) = 2.5 𝑚 ∙ 𝑠 −1 45°

B
Define the Instantaneous Centre of Zero Velocity:
ωAB = 10 rad∙s-1
We know that Point C has rectilinear motion (up and down),
we now also know the speed and direction of Point B (above). A
Using rule 1 (Slide 7, Part5ii) we can identify the location of IC.
SEE THE DIAGRAM. NOW DO THE TRIG (SINE RULE):
vC
0.75 𝑟𝐵/𝐼𝐶
= sin 76.4
sin 45

𝑟𝐵/𝐼𝐶 = 1.031 𝑚 IC
C
0.75 𝑟 45° 76.4°
= sin𝐶/𝐼𝐶
sin 45 58.6

𝑟𝐶/𝐼𝐶 = 0.9056 𝑚

Find the Angular Velocity of BC About the IC:

We know that the link BC is rotating about position IC AT THIS INSTANT.
We also know that link BC is RIGID. So, the rotation of C about IC must be
the same as the rotation of B about IC.
58.6°
𝑣𝐵 2.5 vB
𝜔𝐵𝐶 = 𝑟 = 1.031 = 2.425 𝑟𝑎𝑑 ∙ 𝑠 −1
𝐵/𝐼𝐶

Calculate the Velocity of Piston C: B

𝑣𝐶 = 𝜔𝐵𝐶 𝑟𝐶/𝐼𝐶 = (2.425)(0.9056) = 2.2 𝑚 ∙ 𝑠 −1

 3) The crankshaft AB turns with a clockwise angular acceleration of 20 rad∙s-2. ωAB = 10
rad∙s-1 and ωBC = 2.43 rad∙s-1. (This is an extension of Part 5ii Q2)
C
Determine:
The acceleration of the piston at this instant.

SOLUTION:
Solve this in stages; first, fully define the coupling at B, secondly
define the motion of Link BC and finally fully define coupling C.
13.6°

Kinematic Diagram:
Draw a diagram showing the motion and geometry
of the links and couplings. ωBC = 2.43 rad∙s-1

Define the Lengths of the links in Cartesian Vectors:

𝒓𝐵 = −0.25 sin 45 𝐢 + 0.25 cos 45 𝐣 B
𝒓𝐵 = −0.177𝐢 + 0.177𝐣 ωAB = 10 rad∙s-1
𝒓𝐶/𝐵 = 0.75 sin 13.6 𝐢 + 0.75 cos 13.6 𝐣 αAB = 20 rad∙s-2
𝒓𝐶/𝐵 = 0.177𝐢 + 0.729𝐣 A

Define the Absolute Acceleration of B:

This is rotation about a fixed axis, thus the acceleration of
B has two components (see Slide 18, Part5i).
aC = ?
𝒂𝐵 = 𝑎𝑡 + 𝑎𝑛
𝒂𝐵 = (𝜶𝐴𝐵 ×𝒓𝐵 ) − 𝜔2 𝒓
𝒂𝐵 = (−20𝐤)×(−0.177𝐢 + 0.177𝐣)
−(102 )(−0.177𝐢 + 0.177𝐣)
𝒂𝐵 = 21.21𝐢 − 14.14𝐣 𝑚 ∙ 𝑠−2 13.6°
0.75 cos 13.6 𝑚

Find the Absolute Acceleration of C:

Now we must apply relative motion theory, as the link
ωBC = 2.43 rad∙s-1
BC has General Plane Motion (see Slide 8, Part5ii). We also
αAB = ?
KNOW that C must move only in j (up and down):

𝒂𝐶 = 𝒂𝐵 + 𝜶𝐵𝐶 ×𝒓𝐶/𝐵 − 𝜔2 𝐵𝐶 𝒓𝐶/𝐵

𝑎𝐶 𝐣 = (21.21𝐢 − 14.14𝐣)
ωAB = 10 rad∙s-1
+(0.177𝛼𝐵𝐶 𝐣 − 0.729𝛼𝐵𝐶 𝐢)
0.25 cos 45 𝑚 αAB = 20 rad∙s-2
−(1.05𝐢 + 4.30𝐣)

Split the equation into components:

i: 0 = 20.17 − 0.729𝛼𝐵𝐶
j: 𝑎𝐶 = 0.177𝛼𝐵𝐶 − 18.45

Solving these (simple rearrangement of i) gives:

𝛼𝐵𝐶 = 27.7 𝑟𝑎𝑑 ∙ 𝑠 −2

𝑎𝐶 = −13.5 𝑚 ∙ 𝑠 −2
Part5iii: Worked Examples
 1) At the instant θ = 60°, the rod has an angular velocity of 3 rad∙s-1 and an angular
acceleration of 2 rad∙s-2. Simultaneously, collar C travels outward along the rod such
that when x = 0.2 m its velocity is 2 m∙s-1 and its acceleration is 3 m∙s-2, measured
RELATIVE to the rod. Y
Determine:
a) The Coriolis acceleration;
b) The absolute velocity of the collar; and
c) The absolute acceleration of the collar.
X
O
SOLUTION:
Since the collar is SLIDING, we shall employ ω = 3 rad∙s-1
-2
ROTATING AXES THEOREM to solve this problem. α = 2 rad∙s
It makes sense for the origin of both sets of axes to
C
lie at O, since we are told the collar’s displacement
along the rod from this point. Remember that the
x, y (lowercase!) reference frame moves with OC.

Classify all of the GIVEN Motion in Terms of i, j, k:

Since much of the translation occurs inline with the x, y reference frame, we will
use its Cartesian notation (lowercase i, j, k) instead of the absolute (X, Y) reference
frame and its Cartesian notation (uppercase I, J, K). We also need to
represent the motion of the moving reference frame:

Motion of C with respect to moving ref Motion of moving ref frame.

frame
𝒓𝐶/𝑂 = 0.2𝐢 𝒗𝑂 = 0
(𝒗𝐶/𝑂 ) = 2𝐢 𝒂𝑂 = 0
𝑥𝑦
(𝒂𝐶/𝑂 ) = 3𝐢 𝛀 = −3𝐤
𝑥𝑦
𝛀̇ = −2𝐤

Single Out the Coriolis Acceleration:

This is the apparent deflection from the path of an object that moves within a rotating
coordinate system; i.e., the result of the transverse velocity and the rotation of the moving
reference frame:

𝒂𝐶𝑜𝑟 = 2𝜴×(𝒗𝐶/𝑂 ) = 2(−3𝐤)×2𝐢 = −12𝐣 m ∙ 𝑠 −2

𝑥𝑦
This can now be resolved into absolute Vectors by using trig:

(𝒂𝐶𝑜𝑟 )𝑋 = −12 cos 30 = −10.4 m ∙ 𝑠 −2

(𝒂𝐶𝑜𝑟 )𝑌 = −12 sin 30 = −6 m ∙ 𝑠 −2

Continued overleaf…

1) CONTINUED…
Develop kinematic Equations:
Start with the Rotating Axis Relative Velocity Equation (see Slide 7, Part 5iii):

𝒗𝐶 = 𝒗𝑂 + (𝒗𝐶/𝑂 ) + 𝜴×𝒓𝐶/𝑂
𝑥𝑦

Substitute the GIVEN data that is tabulated on the previous page:

𝒗𝐶 = 0 + 2𝐢 + (−3𝐤)×0.2𝐢

𝒗𝐶 = 2𝐢 − 0.6𝐣 m ∙ 𝑠 −1

Now develop on this, using the Rotating Axis Relative Acceleration Equation
(see Slide 10, Part 5iii):

𝒂𝐶 = 𝒂𝑂 + (𝒂𝐶/𝑂 ) + 2𝜴×(𝒗𝐶/𝑂 ) + 𝜴̇×𝒓𝐶/𝑂 + 𝜴×(𝜴×𝒓𝐶/𝑂 )

𝑥𝑦 𝑥𝑦

Substitute the data GIVEN and the value already found (Coriolis):

𝒂𝐶 = 0 + (3𝐢) + (−12𝐣) + (−2𝐤)×(0.2𝐢) + (−3𝐤)×((−3𝐤)×(0.2𝐢))

𝒂𝐶 = 0 + (3𝐢) + (−12𝐣) + (−0.4𝐣) + (−1.80𝐢)

𝒂𝐶 = 1.2𝐢 − 12.4𝐣

Manipulate this to the Absolute Reference Frame:

(𝒂𝐶 )𝑋 = 1.2 cos 60 − 12.4 sin 60 = 0.6 − 10.7 = −10.1𝐈

(𝒂𝐶 )𝑌 = 1.2 sin 60 − 12.4 cos 60 = 1.0 − 6.2 = −5.2𝐉

 2) Planes A and B fly at the same elevation and have the motions shown. Determine the
velocity and acceleration of A as measured by the Pilot of B.

y, Y
SOLUTION:
Imagine this is a mechanical linkage;
The two planes are sliding with 700 km∙h-1 600 km∙h-1
100 km∙h-2
respect to each-other. Thus we can
rAB
apply Rotating Reference Frame x, X
techniques to the situation. A B
50 km∙h-2

Define Reference Frames: 4 km

Since it is the velocity of Plane A with respect
to Plane B that is sought, it is sensible for the origin of the rotating axis to lie at B. Also, since
the planes are alongside each-other at this instant the origin of the rotating axis can
coincide with the absolute reference frame.

Form Kinematic Equations:

Start with the Rotating Axis Relative Velocity Equation (see Slide 7, Part 5iii):
𝒗𝐴 = 𝒗𝐵 + (𝒗𝐴/𝐵 ) + 𝜴×𝒓𝐴/𝐵
𝑥𝑦

The use the Rotating Axis Relative Acceleration Equation (see Slide 10, Part 5iii):
𝒂𝐴 = 𝒂𝐵 + (𝒂𝐴/𝐵 ) + 2𝜴×(𝒗𝐴/𝐵 ) + 𝜴̇×𝒓𝐴/𝐵 + 𝜴×(𝜴×𝒓𝐴/𝐵 )
𝑥𝑦 𝑥𝑦

Calculate Kinetic Variables:

You have formed the necessary relative motion equations, now you need to calculate the terms to
use within them. Most of these are given in the diagram, but some need derivation. Remember that
these equations are in terms of the moving reference frame (although here that doesn’t matter).
Start easy: 𝒗𝐵 = 600𝐣
Now find the TOTAL acceleration of B: 𝒂𝐵 = (𝑎𝐵 )𝑡 + (𝑎𝐵 )𝑛
𝑣2
𝒂𝐵 = ((𝑎𝐵 )𝑡 𝐣) + ( 𝜌𝐵 𝐢)
6002
𝒂𝐵 = (−100𝐣) + ( 400 𝐢)
𝒂𝐵 = 900𝐢 − 100𝐣
𝑣𝐵 600
Angular velocity of the Ref Plane: 𝛀= 𝜌
= 400 = 1.5 𝑟𝑎𝑑 ∙ ℎ−1
𝛀 = −1.5𝐤
(𝑎 ) 100
Angular acceleration of Ref Plane: 𝛀̇ = 𝜌𝐵 𝑡 = 400 = 0.25 𝑟𝑎𝑑 ∙ ℎ−2

𝛀̇ = 0.25𝐤
Displacement of A with respect to B: 𝒓𝐴/𝐵 = −4𝐢
Velocity of A with respect to B: (𝒗𝐴/𝐵 )𝑥𝑦 = ?

Acceleration of A with respect to B: (𝒂𝐴/𝐵 )𝑥𝑦 = ?

Velocity of A: 𝒗𝐴 = 700𝐣
Acceleration of A: 𝒂𝐴 = 50𝐣
Continued overleaf…
2) Continued:
Substitute variables and Solve:
Start with relative velocity:

𝒗𝐴 = 𝒗𝐵 + (𝒗𝐴/𝐵 ) + 𝜴×𝒓𝐴/𝐵
𝑥𝑦

700𝐣 = 600𝐣 + (𝒗𝐴/𝐵 ) + (−1.5𝐤)×(−4𝐢)

𝑥𝑦

(𝒗𝐴/𝐵 ) = 94𝐣 km∙h-1

𝑥𝑦

Now move onto relative acceleration:

𝒂𝐴 = 𝒂𝐵 + (𝒂𝐴/𝐵 ) + 2𝜴×(𝒗𝐴/𝐵 ) + 𝜴̇×𝒓𝐴/𝐵 + 𝜴×(𝜴×𝒓𝐴/𝐵 )

𝑥𝑦 𝑥𝑦

50𝐣 = (900𝐢 − 100𝐣) + (𝒂𝐴/𝐵 ) + (−3𝐤)×(94𝐣) + (0.25𝐤)×(−4𝐢) + (−1.5𝐤)×

𝑥𝑦
((−1.5𝐤)×(−4𝐢))
(𝒂𝐴/𝐵 ) = −1911𝐢 + 151𝐣 km∙h-1
𝑥𝑦

Part 6i: Worked Examples

1) If the density of the material is 5 Mg∙m-3, determine the moment of inertia of the solid
detailed about its y-axis. y
1m
SOLUTION:

This is a relatively simple shape, but it is still

not an easy one to calculate a single moment of
inertia for. Instead, we will SIMULATE
an infintite number of thin cylinders, for which
we can easily describe the moment of inertia. We will
then sum all of these to get an answer. 1m
𝑦2 = 𝑥

Forming Simulation Cylinder:

Let us describe a disk element at any height in y betwee

x
0 and 1 m. The disk element will have an infitesimally small
thickness dy, thus allowing it to contain a specific mass, dm.
Mass is related to volume, so we can start by: y
1m
𝑚 = 𝜌𝑉; x

So we can write an equation for the mass in our

thin disk:

𝑑𝑚 = 𝜌 𝑑𝑉 = 𝜌 (𝜋𝑥 2 ) 𝑑𝑦
dy
The moment of inertia of our thin disk (which is
1m
A very short cylinder) is: (x, y)
1 y
𝐼 = 2 𝑚𝑥 2

Substituting this into our thin disk mass equation: x

1 1
𝑑𝐼𝑦 = (𝑑𝑚)𝑥 2 = [𝜌 (𝜋𝑥 2 ) 𝑑𝑦]𝑥 2
2 2
We are told that 𝑥 = 𝑦 2 , and we are given a density, so substituting these in and integrating with
respect to y between our limits of 0 and 1 m will yield the collective moment of all of the disks:

𝜌𝜋 𝑦 5𝜋 1
𝐼𝑦 = 2
∫0 𝑥 4 𝑑𝑦 = 2
∫0 𝑦 8 𝑑𝑦 = 0.873 𝑀𝑔 ∙ 𝑚2
 2) A pendulum is suspended from the Pin O and consists of two slender rods, each having a
weight of 50 N.

Determine the moment of inertia of the pendulum O

about an axis passing through:
a) point O; and ӯ
b) the Mass Centre, G of the pendulum. 1m
G
SOLUTION: A

In this example (as we look at it) we have two ‘slender rods’ forming B C
our ‘T’. there are standard equations that have been defined for 0.5 m 0.5 m
‘slender rods’ (cylinders so thin they have no apreciable radius)

Solve (a):
1
𝐼𝑂 = 3 𝑚𝑙 2 ; this is the Moment of Inertia of a ‘SLENDER ROD’ about O.

We have been given the geometric variables to use in this equation; as O is a the end of the vertical
rod we will start here:

1 50
(𝐼𝑂𝐴 )𝑂 = ( ) 12 = 1.699 𝑘𝑔 ∙ 𝑚2
3 9.81

The horizontal rod requires us to use Parallel Axis Theorem; so we must find the offset of the Centre
of mass of BC and this rod’s Inertia about its own Mass Centre.
1
𝐼𝐺 = 12 𝑚𝑙 2 ; Moment of Inertia of a ‘SLENDER ROD’ about its own Mass Centre.

Now apply Parallel Axis Theorem

(𝐼𝐵𝐶 )𝑂 = 𝐼𝐺 + 𝑚𝑑 2

1 2 2 1 50 50
(𝐼𝐵𝐶 )𝑂 = 𝑚𝑙𝐵𝐶 + 𝑚𝑙𝑂𝐴 = ( ) 12 +( ) 12 = 5.522 𝑘𝑔 ∙ 𝑚2
12 12 9.81 9.81

Both inertias are now around the same point, so we can add the two together:

𝐼𝑂 = (𝐼𝑂𝐴 )𝑂 + (𝐼𝐵𝐶 )𝑂

𝐼𝑂 = 1.699 + 5.522 = 7.22 𝑘𝑔 ∙ 𝑚2

Solve (b):

The position of the Mass Centre of the entire object is not given, merely indicated on the diagram.
We need to find its position ӯ (mean mass distribution equation):

Σ𝑦̃𝑚 0.5(50⁄9.81) + 1(50⁄9.81)

𝑦= = = 0.75 𝑚
Σ𝑚 (50⁄9.81) + (50⁄9.81)

Now employ Parallel Axis Theorem again to move between locations:

𝐼𝑂 = 𝐼𝐺 + 𝑚𝑑2

2 50
𝐼𝑂 − 𝑚𝑦 = 𝐼𝐺 = 7.22 − (9.81) 0.752 = 1.486 𝑘𝑔 ∙ 𝑚2
Part 6ii: Worked Examples

1) A uniform 50 kg crate rests on a horizontal surface for which the coefficient of kinetic
friction, μk = 0.2. Determine the acceleration of the crate if a force P = 600 N is applied to the
crate as shown: 1m

SOLUTION: P = 600 N

Unlike the particle problems encountered 2 months ago,

1m
the Force P can now have three effects, it can cause the 0.8 m
crate to: do nothing; slide; or tip, depending upon the
reactions acting. To solve this problem we will assume
the crate slides, and attack the problem from here.

Free Body Diagram:

This is a Rigid body, so the diagram given can be W = mg

elabarated upon significantly:
P = 600 N
drawing this FBD we should take into account that
the sum total of the frictional force must be 0.3 m
simulated to act at a single point, O, somewhere G
between G and A. if it were to act outside the area of 0.5 m
the crate it would indicate that the friction force was O A
F = μkNC
large enough to cause the box to tip or stick. x
Equations of Motion: NC

There are multiple unknowns to this problem: a good place to start is to

form equations through which to consider them. 0.5 m

+ ∑ 𝐹𝑥 = 𝑚(𝑎𝐺 )𝑥 ; 600 − 0.2𝑁𝐶 = 50𝑎𝐺

𝑦𝑖𝑒𝑙𝑑𝑠
+ ∑ 𝐹𝑦 = 𝑚(𝑎𝐺 )𝑦 ; 𝑁𝐶 − 𝑚𝑔 = 0 → 𝑁𝐶 = 490.5 𝑁

+ ∑ 𝑀𝐺 = 0 ; −𝑃(0.3) + 𝑁𝐶 (𝑥) − 𝜇𝑘 𝑁𝐶 (0.5) = 0

Solving the Horizontal Equation of Motion and the Rotational Equation of Motion gives:

𝑥 = 0.467 𝑚

𝑎𝐺 = 10.0 𝑚 ∙ 𝑠 −2

Notice that x < 0.5 m; this means that the crate DOES slide, if it was larger than the size of the box, it
would indicated that the box tipped instead of slid.
 2) The 100 kg beam BD shown is supported by two rods having negligable mass. Determine the
force developed in each rod if at the instant θ = 30°, ω = 6 rads∙s-1.

SOLUTION
A C
Lets condsider how each element moves:
Elements AB and CD are ROTATING
ABOUT A FIXED AXIS. This means that ω
element BD must be following a θ = 30°
curvilinear path. This means that all points B G D
on link BD must follow paths with identical
radii of 0.5 m. Knowing this we can identify
that the points will all experience normal and
tengential accelerations. We also know that the 0.4 m 0.4 m
entire rod is RIGID and experiences ONLY translation,
thus the motion of G must be identical to B.

Free Body Diagram:

Consider the elements AB and BD as separate entities, but loaded with forces at the coupling points:
e.g., Point B.

TB TD

A
α

B G D ω = 6 rad∙s-1
an

0.4 m 0.4 m B
at
981 N

Calculating The Normal Acceleration:

The FBDs illustrate that the acceleration has two components, and the normal component is
vectored towards the centre of the path of motion.

(𝑎𝐺 )𝑛 = 𝜔2 𝑟 = 62 (0.5) = 18 𝑚 ∙ 𝑠 −2

This leaves three unknowns, so we must:

Build Equations of Motion:

+ ∑ 𝐹𝑛 = 𝑚(𝑎𝐺 )𝑛 ; 𝑻𝐵 + 𝑻𝐷 − 𝑚𝑔 cos 30° = 𝑚(𝑎𝐺 )𝑛

+ ∑ 𝐹𝑡 = 𝑚(𝑎𝐺 )𝑡 ; 𝑚𝑔 sin 30° = 𝑚(𝑎𝐺 )𝑡

+ ∑ 𝑀𝐺 = 0 ; −(𝑇𝐵 cos 30)(0.4) + (𝑇𝐷 cos 30)(0.4) = 0

Solve Equations:

Via manipulation and simultaneous techniques:

𝑇𝐵 = 𝑇𝐷 = 1.32 𝑘𝑁

(𝑎𝐺 )𝑡 = 4.905 𝑚 ∙ 𝑠 −2
Part 6iii: Worked Examples

1) At the instant shown, the 20 kg slender rod has an angular velocity of ω = 5 rad∙s-1.
Determine the angular acceleration and the horizontal and vertical components of reaction
of the pin on the rod at this instant.

60 N∙m ω = 5 rad∙s-1
O

3m

SOLUTION:
This is ROTATION ABOUT A FIXED AXIS. Hence the Center of Mass, G, is moving WITH RESPECT to the
Pin at O. The reaction at the pin must be opposite and equal to the Equation of Motion of the sum of
all the mass of the rod acting at the rod’s Mass Centre.

Free Body Diagram:

Illustrate this situation using a FBD. Remember that G is following a circular path, thus there must be
normal and tangential accelerations acting. As shown on Slide 8, Part 6iii, we can write acceleration
in terms of normal and tangential components.

𝑚𝜔2 𝑟𝐺
60 N∙m 𝐼𝐺 𝜶
On O G

rG = 1.5 m 𝑚𝛼𝑟𝐺
Ot

mg N

Employ ‘Sum of Kinetic Moments’:

From the equations developed on Slide 11, Part 6iii (using point O as our point of interest), Parallel
1
Axis Theorem and the moment of inertia of a slender rod (𝐼𝐺 = 12 𝑚𝑙 2 ):

+ ∑ 𝑀𝑂 = ∑(ℳ𝑘 )𝑂
60 + 𝑚𝑔𝑟𝐺 = 𝐼𝐺 𝛼 + 𝑚𝑎𝐺/𝑂
1
60 + (20)9.81(1.5) = 12 (20)32 𝛼 + (20)[𝛼(1.5)]
𝛼 = 7.87 𝑟𝑎𝑑 ∙ 𝑠 −2

Form Equations of Motion:

+ ∑ 𝐹𝑛 = 𝑚𝜔2 𝑟𝐺 ; 𝑂𝑛 = (20)52 (1.5)

+ ∑ 𝐹𝑡 = 𝑚𝛼𝑟𝐺 ; −𝑂𝑡 + (20)9.81 = (20)𝛼(1.5)

Lastly we must employ the moment of inertia (slender rod again):

1
+ ∑ 𝑀𝐺 = 𝐼𝐺 𝛼 ; 𝑂𝑡 (1.5) + 60 = 12 (20)32 𝛼

Solving these equations simultaneously yeilds:

𝑂𝑛 = 750 𝑁 𝑂𝑡 = −40 𝑁 𝛼 = 7.87 𝑟𝑎𝑑 ∙ 𝑠 −2
 2) The uniform, slender pole shown has a mass of 100 kg. If the coefficients of static and kinetic
friction between the end of the pole and the surface are μs = 0.3 and μk = 0.25, respectively,
determine the poles’s angular acceleration at the instant the 40 N horizontal force is
applied. The pole is originally at rest.

SOLUTION:

This has two potential situations: it can stick (and

rotate about its base); or it can slip and rotate,
making the path followed by the Mass Centre of

3m
the pole a general planar motion. We will
tackle the problem by considering both cases.
400 N
Free Body Diagram:
0.5 m
A
Indicate all of the forces acting upon the pole and
the path of motion if plotted with respect to the pole.

This shows us that G will follow a line of curvature

with an instantaneous radius, ρ, lying on a vertical line
with G. However, there can be no normal component
of acceleration (the ground prevents it), thus this radius
must be infinite. To solve this problem, we shall assume
that the pole’s mass centre is pulled to the right
thus making the pole rotate with α being clockwise.
G
Form Equations of Motion:
1m

Form equations to describe the translation (forces) 981 N

1.5 m

and rotation (moments) acting on the body. 400 N

+ ∑ 𝐹𝑥 = 𝑚(𝑎𝐺 )𝑥 ; 400 − 𝐹𝐴 = (100)𝑎𝐺 ①

FA
+ ∑ 𝐹𝑦 = 𝑚(𝑎𝐺 )𝑦 ; 𝑁𝐴 − 981 = 0 ②
NA
Lastly we must employ the moment of inertia (slender rod again):

+ ∑ 𝑀𝐺 = 𝐼𝐺 𝛼 ;
1
Select the equation describing the moment of inertia about G for a slender rod: 𝐼𝐺 = 12 𝑚𝑙 2 ;

1
𝐹𝐴 (1.5) − 400(1) = 12 (100)32 𝛼 ③

Slipping or Tipping?
For zero slippage to occur, 𝐹𝐴 ≤ 𝜇𝑠 𝑁𝐴 . Equation ② shows NA is 981 N. Given the coefficient of static
fricition, μs = 0.3: 𝐹𝐴 ≤ 294.3 𝑁. We can find FA by defining the equation of motion assuming ZERO
SLIPPAGE and therefore pure rotation; G will rotate about A, thus we can define aG using:

𝑎𝐺 = 𝛼𝑟𝐴𝐺 ; 𝑎𝐺 = 𝛼(1.5). ④

Substituting④ into ①, then ① into ③ and manipulating yeilds:

𝛼 = 0.677 𝑟𝑎𝑑 ∙ 𝑠 −1 , into ④ yeilds: 𝑎𝐺 = 1 𝑚 ∙ 𝑠 −2, which, using ① gives: 𝐹𝐴 = 300 𝑁

300 N > 294.3 N, so we know our pole is slipping!

Continued Overleaf…
Slipping Condition Equation of Motion:
So we now know that the system is constrained by the coefficient of dynamic friction μk. This being
the case we can write an equation to describe the Force due to friction acting at A:

𝐹𝐴 = 𝜇𝑘 𝑁𝐴 ; 𝐹𝐴 = 0.25𝑁𝐴 ⑤

So, from ②: FA = 245.25 N. Substituting this result into ① tells us: aG = 1.55 m∙s-2.
Using ③ yeilds: α = -0.428 rad∙s-2; i.e., the pole is toppling anti-clock

Part 7 Worked Examples:

1) A bar has a mass of 10 kg and is subjected to a couple moment, M = 50 Nm and a Force,

P = 80 N, which is always applied perpendicular to the end of the bar. Also, acts spring with a
neutral length, l0 = 0.5 m acts, always remaining vertical due to the linear bearing B. The bar
rotates downwards from θ = 0° to θ = 90°. Determine the total work done by all forces
acting.
B
SOLUTION: 0.75 m
As shown in particle dynamics, work is
a product of Force and Displacement. A θ k = 30 N∙m-1
A number of forces are acting, thus
the collective effort of these, for and
against the direction of motion must
be summed. This is made simpler by
the bearing B, as it means the spring Ay
vector does not change with extension.

Importantly, Work is Path Ax

θ
Dependent; i.e., we care about the 50 Nm
distance it pulls the rod during its rotation.
FS
Free Body Diagram:
Start, as usual, by identifying all of the mg
forces acting on the rod with their directions.

Now start tackling each action separately:

Note that the reactions Ax and Ay are included on the FBD; these have no
displacement, but in a force sum they balance all the other acting forces. These are in
tension when positive, so the action of downward Forces (on the opposite side of the Force balance
equation) must also be +ve.

Work of Weight:
This pulls the rod downward…

𝑈𝑊 = 𝑚𝑔ℎ = 10(9.81)(1.5) = 147.2 J

Work of the Couple Moment:

This acts to pull the rod downward throughout the motion of the rod. Remember we apply these
using Radians: 90° = π/2 radians:

𝜋
𝑈𝑀 = 𝑀𝜃 = 50 ( ) = 78.5 J
2
Work of the Force P:
The force is permanently normal to the rod, 3 m from the pivot point. The rod moves through an arc
of π/2 radians, so given this, we can determine the displacement of P:

𝜋
𝑈𝑃 = 𝑃𝑟𝜃 = 80(3) ( 2 ) = 377.0 J

Continued Overleaf…

Work of the Spring:

We were told the spring had a neutral length s0 = 0.5 m. We also know that the spring is attached to
the rod 2 m from the pivot. From this we can calculate the starting and ending extensions of the
spring:

𝑠𝜃=0 = (𝑑 − 𝑠0 ) = 0.75 − 0.5 = 0.25 𝑚

𝑠𝜃=𝜋 = ((𝑑 + 2) − 𝑠0 ) = 2.75 − 0.5 = 2.25 𝑚

2

The total work must have been done between these two limits, and acted to fight the downward
motion of the rod:

1 2.25 1 1
∑ 𝑈𝑠 = − [ 𝑘𝑠 2 ] = − [(2 (30)(2.25)2 ) − (2 (30)(0.25)2 )] = −75.0 J
2 0.25

Work of the Pin Reactions:

These did not move and therefore CANNOT have done any work!

Total Work:
Merely sum all of the constituent work done on the rod by the moving forces:

∑ 𝑈 = 𝑈𝑊 + 𝑈𝑀 + 𝑈𝑃 + 𝑈𝑠

𝑈 = 147.2 + 78.5 + 377 − 75 = 528 J

 2) The wheel weighs 200 N and has a radius of gyration kG = 0.15 m about its centre of mass G.
If it is subjected to a clockwise couple moment of 20 N∙m and rolls from rest without
slipping; determine its angular velocity after its centre G moves 0.1 m. The spring has a
stiffness k = 200 N∙m-1 and is initially un-stretched when the couple moment is applied.
A
SOLUTION:
Here we have a problem that uses the k = 200 N∙m-1
principle of Work and Energy. We can G
relate the kinetic energy gained by the
wheel to the work done by the spring.
Firstly, consider the problem with a…

Kinetic Diagram:
This diagram will help us see how the wheel’s geometry
will impact its Mass Centre’s motion. Since it is a wheel, A
ω
it will have an Instantaneous Centre of Velocity, IC.

Kinetic Energies: G

0.4 m
(VG)2
The initial condition is that the wheel is at rest, ω1 = 0:

0.2 m
𝑇1 = 0
nd
At the 2 condition (wheel displacement of 0.1 m) it will
have a rotational velocity. Recall from Slide 5, Part 7: IC
1
𝑇= 𝐼 𝜔2
2 𝐼𝐶

The question states the wheel’s radius of gyration (kG = 0.15 m). So, in this case we must apply the
equation given on Slide 14, Part 6i (yesterday’s notes): 𝐼𝐺 = 𝑚𝑘𝐺2 ; but the wheel is not rotating
about its mass centre at this instant, it is rotating about IC; so, employ parallel axis theorem:
𝐼𝐼𝐶 = 𝐼𝐺 + 𝑚𝑑2
1
𝑇2 = 2 [𝑚𝑘𝐺2 + 𝑚𝑑2 ]𝜔2

We must calculate the mass from the object weight (which is given by the question):

1 200 200
𝑇2 = 2 [(9.81) 0.152 + (9.81) 0.22 ] 𝜔2 = 0.637𝜔2

Relate the Kinetic Energy to the Extension of the Spring: Fs

As the spring is extended it applies force; thus, it does work. We will
now use the Principle of Work and Energy to relate the wheel’s angular 200 N
velocity (desired by question) to the action of the moment and spring.
Draw a Free Body Diagram to consider the forces acting. From this, it
is clear that the moment fights the spring. Friction does nothing, as no
slippage occurs. First we must calculate θ:
FB
𝜃 = 𝑠𝐺 /𝑟𝐺/𝐼𝐶 = 0.1⁄0.2 = 0.5 𝑟𝑎𝑑
Now calculate the extension applied to the spring (which was initially un-stretched): NB

𝑠 = 𝜃𝑟𝐴/𝐼𝐶 = 0.5(0.4) = 0.2 𝑚

Now apply the Principle of Work and Energy:
1
𝑇1 + (𝑀𝜃 + 2 𝑘𝑠 2 ) = 𝑇2
1
0 + (20(0.5) + 2 (200)(0.2)2 ) = 0.637𝜔2
 𝜔 = 3.07 𝑟𝑎𝑑 ∙ 𝑠 −1
3) A 10 kg slender rod is constrained so that its ends move along the grooved slots. The rod is
initially at rest when θ = 0°. If the slider block at B is acted upon by a horizontal force, P = 50
N, determine the angular velocity of the rod at the instant θ = 45°. Neglect friction and the
mass of blocks A and B.
SOLUTION:
The Principle of Work and Energy can be used for this problem, as A
it involves a force of known magnitude and direction, acting to
modify the kinetic state of a system. This is exactly the purpose θ
of the Principle of Work and Energy. G
It is worth noting that the system drawn in the
Question Figure is similar to the second phase. P = 50N
To consider both phases, we should build… B
Kinetic Diagrams of Starting and Ending Condition:

(vA)2
Initially, the rod is vertical and is ‘at rest’, i.e., it has
Zero velocity – meaning ω1 = 0, T1 = 0. ω
IC A
At the ending condition, the rod has rotated through
45° and has angular velocity. Because both slider A and B G θ
G
have rectilinear motion in a known direction, we can find
the IC of the rod AB, using Rule 1, Slide 7, Part 5ii.
Knowing the position of the IC allows us to calculate (vA)2
the rod’s angular velocity about IC, as it is a RIGID body. B
Define the Instantaneous Centre of Zero Velocity:
The diagram (and the positioning rule) tells us where IC is, now we must relate it to the position of G:
(𝑣𝐺 )2 = 𝑟𝐺/𝐼𝐶 𝜔2 = (0.4 tan 45)𝜔2 ①
Calculate Ending Kinetic Energy:
This is General Plane Motion, hence we should employ the Equation for Kinetic Energy given on
Slide 6, Part 7:
1 1
𝑇2 = 𝑚(𝑣𝐺 )22 + 𝐼𝐺 𝜔22
2 2
Identifying that the rod was called ‘slender’ by the question and substituting given values in gives:
1 1 1
𝑇2 = 2 (10)(𝑣𝐺 )22 + 2 [12 (10)(0.8)2 ] 𝜔22

𝑇2 = 5(𝑣𝐺 )22 + 0.2667𝜔22 ②

We can now see that (vG)2 and ω2 are proportionally related in ①, substituting this relation into ②
gives:
A NA
𝑇2 = 0.8𝜔22 + 0.2667𝜔22 = 1.0667𝜔22
Define Work Done:
G
0.4 cos 45

ω2 is the scale of the displacement (with respect to time)

of all the forces acting upon the rod. Identify these with
the aide of a Free Body Diagram. mg
50 N
𝑇1 + (𝑚𝑔ℎ + 𝑃𝑠) = 𝑇2 B
G falls from its initial height to that shown in the FBD: 0.8 sin 45
NB
0 + (98.1(0.4 − 0.4 cos 45) + 50(0.8 sin 45)) = 1.0667𝜔22
 𝜔2 = 6.11 𝑟𝑎𝑑 ∙ 𝑠 −1
4) The wheel has a weight of 15 kg and a radius of gyration kG = 0.18 m. It is attached to a
spring which has a stiffness k = 30 N∙m-1 and a neutral length of 0.3 m. If the disc is released
from rest (the position shown) and rolls without slipping, determine its angular velocity at
the instant G moves 0.9 m to the left.
SOLUTION:
This is a problem involving Potential Energy: stored within the
spring for use as the disc moves. The question requires us to
determine the magnitude of retraction the spring experiences
as the centre of the disc, G, traverses 0.9 m horizontally.

1.2 m
This will allow us to calculate the total potential energy
available for conversion to kinetic energy via the employment
of the Conservation of Energy.
Does the Wheel leave the ground? G
Form an equation of motion, considering the forces acting:
+ ∑ 𝐹 = 𝑚𝑎; 𝑠𝑦 𝑘 − 𝑚𝑔 = 𝑚𝑎 0.225 m

sy is the vertical component of the total length of the spring less

0.9 m
the spring’s neutral length:
1.2
𝑠𝑦 = (√0.92 + 1.22 − 0.3) ( ) = 0.96 𝑚
√0.92 +1.22

Substituting this result into the Equation of Motion gives:

0.96(30) − (15)9.81 = (15)𝑎;
𝑎 = −7.89 𝑚 ∙ 𝑠 −2
a is negative; therefore demonstrating that the acceleration due to gravity exceeds the opposing
force generated by the extension of the spring. The floor prevents the disc from dropping, thus
clearly all of the spring’s energy must be used in rolling the disc to the left.
Calculate the Poential Energy Available:
This involves some simple geometry and understanding of the Work done by springs. Firstly,
calculate the initial, s1, and final, s2, spring extensions, considering the neutral length of the spring
s0 = 0.3 m:

𝑠1 = √0.92 + 1.22 − 0.3 = 1.2 𝑚

𝑠2 = 1.2 − 0.3 = 0.9 𝑚
Use the Spring Energy Equation to define the potential energy stored within the spring initially and
as the disc completes it’s journey:
1
𝑉 = 𝑘𝑠 2 ;
2
1
𝑉1 = 2 30(1.2)2 = 21.6 J
1
𝑉2 = 2 30(0.9)2 = 12.15 J
ω
Define the Initial and Ending Kinetic Energy:
Consider the motion of the disc at any instant during its
(VG)2
journey using a Kinetic Diagram:
G
0.225 m

The Mass Centre, G, of the disc is constantly rotating about

(new) Instantaneous Centres of Velocity, IC.

IC
Initially, the wheel is at rest; thus, T1 = 0.

For the ending condition, we must consder this as a system of Rigid Bodies. To do so we must apply
the principle of the IC:
1
𝑇2 = 2 𝐼𝐼𝐶 𝜔2

Employing parallel axis theorem:

2
𝐼𝐼𝐶 = 𝐼𝐺 + 𝑚𝑟𝐺/𝐼𝐶
To define IG, we must utilise the radius of gyration, which was specified in the question (See Slide 14,
Part 6i):
𝐼𝐺 = 𝑚𝑘𝐺2
We can now write:
1 2
𝑇2 = [𝑚𝑘𝐺2 + 𝑚𝑟𝐺/𝐼𝐶 ]𝜔22;
2
1
𝑇2 = 2 [(15)0.182 + (15)0.2252 ]𝜔22 ;

𝑇2 = 0.6227𝜔22
Employ the Conservation of Energy:
Just as before this is anagalous to accountancy, the books must balance:
𝑇1 + 𝑉1 = 𝑇2 + 𝑉2 ;
0 + 21.6 = 0.6227𝜔22 + 12.15;
𝜔2 = 3.90 𝑟𝑎𝑑 ∙ 𝑠 −1

But we could have solved this using the Principle of Work and Energy?
Yes, the spring did just ‘do some work’, but we would have had to also considered the change in
direction of the springs action, as Work is PATH SENSITIVE, Energy isn’t, so it’s easier to work with.

Part 8i Worked Example:

2 m∙s-1

At a given instant the 5 kg slender bar has the motion shown.

Determine its angular momentum about:

a) point G; and A
b) point IC.

SOLUTION: G
This bar must be experiencing General
Plane Motion: Point A must be moving 30°
B
Purely vertically, Point B must be
Moving purely horizontally.
However, the object MUST have an IC, partly because we are told there is in the problem(!) but
mostly because the object is moving in a FIXED REFERENCE FRAME. We need to identify the position
of IC, from this we can calculate the angular velocity of the bar about IC, and, therefore, the absolute
2 m∙s-1

velocity of G with our Reference Frame.

4 cos 30 𝑚
30° 30°
Locate IC:
Using Rule 1, Slide 7, Part 5ii, and by drawing a
Kinetic Diagram we can identify the location of IC. A
IC must be normal to the motion both Points A and B.

Applying Kinetic Theory:

G
We have now defined the geometry of the
problem. We can now use the fact that this
rod is a rigid body (all points must move 30°
together) and the equation defining the velocity B
about a fixed axis (Slide 16, Part 5i) to define the
motion of the rod about IC.

𝑣 = 𝜔𝑟 ;
𝑣𝐴 2
𝜔𝐴𝐵 = 𝑟 = 4 cos 30 = 0.5774 𝑟𝑎𝑑 ∙ 𝑠 −1 ;
𝐴/𝐼𝐶

𝑣𝐺 = 𝜔𝐴𝐵 𝑟𝐺/𝐼𝐶 = (2)(0.5774) = 1.155 𝑚 ∙ 𝑠 −1 ;

Apply Rigid Body Angular Momentum:

Rod AC must experience an angular momentum this will be proportional to the Rod’s distance from
the fixed axis about which the momentum is measured. Initially, we will measure the rods angular
momentum about its own Mass Centre (See Slide 9, Part 8i). to do this we must use the slender rod
1
moment of inertia equation; 𝐼𝐺 = 12 (𝑚𝑙 2 ):

1 1
𝑯𝐺 = 𝐼𝐺 𝜔𝐴𝐵 = [ (𝑚𝑙 2 )] 𝜔𝐴𝐵 =[ (5)(4)2 ] (0.5774 ) = 3.85 𝑘𝑔 ∙ 𝑚2 ∙ 𝑠 −1
12 12

To find the momentum about another point we must apply parallel axis theorem. You can either do
this as an addition to the Momentum about G:

𝑯𝐼𝐶 = 𝑯𝐺 + 𝑑(𝑚𝑣𝐺 ) = 3.85 + 2[(5)(1.155)] = 15.4 𝑘𝑔 ∙ 𝑚2 ∙ 𝑠 −1 ;

Or, we can apply parallel axis theorem within the Momentum equation itself (Slide 10, Part 8i):
1 1
𝐻𝐼𝐶 = 𝐼𝐼𝐶 𝜔𝐴𝐶 = [ (𝑚𝑙 2 ) + 𝑚𝑑 2 ] 𝜔𝐴𝐵 = [ (5)(4)2 + (5)(22 )] (0.5774 ) = 15.4 𝑘𝑔 ∙ 𝑚2 ∙ 𝑠 −1
12 12

Part 8ii Worked Examples:

1) The 100 N disc is at rest when it acted upon by a constant couple moment of 6 N∙m and a Force,
F = 50 N, applied to a cord wrapped around the disc’s periphery.
M = 6 N∙m
Determine:
a) The angular velocity of the disc two seconds after
the moment and force are applied; and
b) The force components of the reaction at the pin.

SOLUTION:
The variables: time, force and velocity are all linked by the
Principle of Impulse and Momentum. Critical to all of these
is the Disc’s moment of Inertia…
F = 50 N
Free Body Diagram:
The question asks for the reactions at the support pin. The force applied to the disk only causes the disk to
rotate about its support pin, but the force is not acting through the support pin, thus a reaction force acting in
two components is possible. This can be illustrated by use of a FBD:
M = 6 N∙m
Calculate the Disc’s Moment of Inertia:
As this is a RIGID BODY, all of the body’s rotation about a point
is proportional to its resistance to acceleration. Since the disk is 100 N
rotating about its own mass centre:
Ax 0.25 m
1 1 100
𝐼𝐴 = 𝑚𝑟 2 = ( ) (0.25)2 = 0.31855 𝑘𝑔 ∙ 𝑚−2 .

F = 50 N
2 2 9.81 Ay
Apply the Principle of Impulse and momentum:
Attack each component separately. Remember, an impulse input causes a
Change in momentum between two phases. Initially apply the linear Principle of Impulse and Momentum
horizontally (see Slide 3, Part 8ii):

𝑡
𝑚(𝑣𝐴𝑥 )1 + Σ ∫𝑡 2 𝐹𝑥 𝑑𝑡 = 𝑚(𝑣𝐴𝑥 )2 ;
1

The pin is a grounded item (static), thus there can be zero velocity before the force and moment are applied or
2 seconds after they are applied:

𝑡
+ 0 + Σ ∫𝑡 2 𝐹𝑥 𝑑𝑡 = 0;
1

There is only one Force acting horizontally during the 2 seconds specified (Ax):

0 + 𝐴𝑥 (2) = 0 .

Now apply the same principle to the vertical component. In this case the pin is still grounded, but three
(opposing) forces are acting vertically:

𝑡
+ 𝑚(𝑣𝐴𝑦 )1 + Σ ∫𝑡 2 𝐹𝑦 𝑑𝑡 = 𝑚(𝑣𝐴𝑦 )2 ;
1

0 + [𝐴𝑦 (2) − 100(2) − 50(2)] = 0 .

Finally, attack the rotation of the disc using the moment of inertia calculated above (see Slide 4, Part 8ii):

+ 𝑡
𝐼𝐺 𝜔1 + ∑ ∫𝑡 2 𝑀𝐺 𝑑𝑡 = 𝐼𝐺 𝜔2 ;
1

Initially the disc is at rest and 2 moments collude for 2 seconds to give a resultant momentum:

0 + [6(2) + (50(0.25))(2)] = (0.31855)𝜔2 ;

𝜔2 = 116.2 𝑟𝑎𝑑 ∙ 𝑠 −1 .

2) The Charpy impact test is used in materials testing to determine the energy
absorption characteristics of a material during impact. The
test is performed using a pendulum with mass, m; a Mass A
Centre at G; and, a radius of gyration kG about G. The
pendulum is hung from a Pin at A and during the impact the
equipment is arranged so that the horizontal force acting at
A is negligible. Assume that the sample being tested
absorbs all of the kinetic energy supplied by the pendulum
as the pendulum reaches the vertical position (θ = 0°) θ
Determine the distance, rP, from A to the point of impact P
given the conditions listed above.

SOLUTION: G

P
The collision event is a transfer of IMPULSE from the
pendulum to the sample. Gravity imbues the pendulum
with a momentum as it falls through θ degrees, this is then
completely transferred to the sample in a very short time.
We will assume that the sample is (very) small and all
of the impulse is transferred in 0°.

Free Body Diagram:

First we shall consider all of the forces acting upon the pendulum as
It impacts the sample. First, it will be vertical. The horizontal pin Ay
Reaction Ax is negligible; the sample provides a resistive force F
that is sufficient to completely balance the momentum stored within
A
the pendulum arm. Vertically, there are three forces acting: Weight Ax ≈ 0
of the pendulum; Centripetal Force; and Pin Reaction Force, Ay.

Apply the principle of Impulse and Momentum:

In this case we can limit our investigation to angular horizontal ω
momentum only, as there is no vertical component of vG when θ = 0°.
𝑟ҧ
Tackle Angular Momentum first:
𝑟𝑃
From Slide 4, Part 8ii:
𝑡
mg
𝐼𝐴 𝜔1 + ∑ ∫𝑡 2 𝑀𝐴 𝑑𝑡 = 𝐼𝐴 𝜔2 ;
1

𝑡 vG
In our case the Impulse resultant from the couple moment ∫𝑡 2 𝑀𝐴 𝑑𝑡
1
Is the result of the resistance Force F of the sample and the
G
Perpendicular distance rP between sample and pivot: F
𝑡 P
𝐼𝐴 𝜔1 + (∫𝑡 2 𝐹 𝑑𝑡) 𝑟𝑃 = 𝐼𝐴 𝜔2 ;
1

We know the sample completely halts the pendulum, time is not defined:
𝐼𝐴 𝜔1 + (∫ 𝐹 𝑑𝑡)𝑟𝑃 = 0 . ①
Now we must consider the horizontal (linear) exchange of impulse and momentum. So now we can use the
equations given on Slide 3, Part 8ii
𝑡
𝑚(𝑣𝐺 )1 + Σ ∫𝑡 2 𝐹 𝑑𝑡 = 𝑚(𝑣𝐺 )2 ; ②
1

When θ = 0°, we can simply define vG in terms of rotation about a fixed axis using 𝑣 = 𝜔𝑟. Again, the
pendulum period is unknown, but the ending velocity of G is zero. Using this information and rearranging ②:
∫ 𝐹 𝑑𝑡 = 𝑚(𝑟𝜔1 ) ;
Using the radius of gyration and parallel axis theorem, this result can be substituted into ①:
2
[𝑚𝑘𝐺2 + 𝑚𝑟 ]𝜔1 + [𝑚(𝑟𝜔1 )]𝑟𝑃 = 0 ;

Making 𝑟𝑃 the subject: 𝒓𝑷 = 𝒓 + 𝒌𝟐𝑮 ⁄𝒓

Part 8iii Worked Examples:

1) The 10 kg wheel has a moment of inertia

IG = 0.156 kg∙m2. Assuming that the wheel does
not slip or rebound, determine the minimum G
velocity vG it must have to just roll over the vG
0.03 m
obstruction A.

SOLUTION:
This is a question of pivoting; there is no slipping or
rebounding, thus the wheel must pivot about Point A A
during its contact. We can use momentum to define the angular momentum stored
by the wheel without needing to consider its vector; then employ Conservation of Energy to find the velocity
required to raise the wheel 0.03 m; i.e., The scalar nature of momentum means that this is easier to apply to
this type of problem than work and energy.

Kinetic Free Body Diagram: r’ = (0.2 - 0.03) m

Redraw the situation above to illustrate the interaction between
the wheel and the wedge. In this diagram we add the concept
of the kinetic diagram to that of the FBD to give a momentum
diagram. This allows us to consider the initial momentum G
of the object and the impulse input from the wheel lift.
m(vG)1

(mg)Δt
Apply Conservation of Angular Momentum:
From our momentum diagram, we can see that G has a linear
momentum before and after the wheel has mounted the wedge. A
The wedge is effectively an instantaneous centre of zero
velocity, IC. This linear momentum can be applied as angular momentum about IC.
(𝐻𝐴 )1 = (𝐻𝐴 )2 ; d θ

𝑟′𝑚(𝑣𝐺 )1 + 𝐼𝐺 𝜔1 = 𝑟𝑚(𝑣𝐺 )2 + 𝐼𝐺 𝜔2 ;
We were told IG and we have defined the geometry in our diagrams:
(0.2 − 0.03)(10)(𝑣𝐺 )1 + (0.156)𝜔1 = (0.2)(10)(𝑣𝐺 )2 + (0.156)𝜔2 . ①
Apply Kinematics:
No slipping occurs, we can use the equation defining velocity about a fixed axis: 𝜔 = 𝑣 ⁄𝑟;
𝜔 = 𝑣𝐺 ⁄0.2 = 5𝑣𝐺 ②.
Substituting ② into ①:
(𝑣𝐺 )2 = 0.8921(𝑣𝐺 )1 .
Conservation of Energy:
The kinetic energy will be transferred to gravitational potential energy as the wheel rises onto the wedge. We
can simulate this transfer in energy by using the Conservation of Energy (Slide 14, Part 7):
𝑇1 + 𝑉1 = 𝑇2 + 𝑉2 ;

1 1
[ 𝑚(𝑣𝐺 )12 + 𝐼𝐺 𝜔12 ] + 0 = 0 + 𝑚𝑔ℎ ;
2 2

Substitute the identify defined in ②:

1 1
[ 𝑚(𝑣𝐺 )12 + 𝐼𝐺 (5𝑣𝐺 )12 ] + 0 = 0 + 𝑚𝑔ℎ ;
2 2

1 1
[ (10)(𝑣𝐺 )12 + (0.156)(5𝑣𝐺 )12 ] = (10)(9.81)(0.03);
2 2

Solving this yields:

 (𝑣𝐺 )1 = 0.729 𝑚 ∙ 𝑠 −1 .

2) The slender 5 kg rod is pinned at O and is initially at rest. If a 4 g bullet is

fired into the rod at a velocity of 400 m∙s-1, as shown in the figure,
determine the angular velocity of the rod just after the pullet becomes O
embedded in it.

SOLUTION:
The bullet becomes “embedded” in the rod, hence we

0.75 m
are looking at a purely plastic interaction; i.e., all of the
momentum carried by the bullet is transferred to the
rod: no impulse is involved (there is no loss). The linear
momentum of the pullet (in component form) is going to be
transferred into angular momentum in the rod and some reaction 30°
at the pin; but since we only care about velocity (tangential)

0.25 m
we don’t really care about the pin reactions here!

Momentum Diagram:
Included here are the momentums carried before and after the impact. Note that
there are no impulses listed, the impact is plastic, so all momentum is conserved (tangentially).

Apply the Conservation of Angular Momentum:

Since there is zero tangential impulse (it is all tansferred into angular
O
momentum) we can attack the problem using Conservation of Momentum:
+ Σ(𝐻𝑂 )1 = Σ(𝐻𝑂 )2 ;

0.5 m
𝑟𝑂𝐵 𝑚𝐵 (𝑣𝐵 )1 = 𝑟𝑂𝐵 𝑚𝐵 (𝑣𝐵 )2 + 𝑟𝑂𝐺 𝑚𝑅 (𝑣𝐺 )2 + 𝐼𝐺 𝜔2 ;

0.75 m
1 IGω2
We are told the rod is ‘slender’, so; 𝐼𝐺 = 12 (𝑚𝑙 2 ); substituting
values gives: G mR(vG)2
(0.75)(0.004)(400 cos 30) = (0.75)(0.004)(𝑣𝐵 )2
30°
+(0.5)(5)(𝑣𝐺 )2
mB(vB)2
1
+ 12 ((5)(1)2 )𝜔2 ;

1.039 = 0.003(𝑣𝐵 )2 + 2.5(𝑣𝐺 )2 + 0.4167𝜔2 ①;

Apply Kinematic Theory:

Rod OB is rigid, thus (vG)2 and (vB)2 must be related proportionally by ω2; i.e., similar triangles:

(𝑣𝐺 )2 = 𝑟𝑂𝐺 𝜔2 = 0.5𝜔2 ;

(𝑣𝐵 )2 = 𝑟𝑂𝐵 𝜔2 = 0.75𝜔2 .

Substituting these into ① gives:

1.039 = 0.003(0.75𝜔2 ) + 2.5(0.5𝜔2 ) + 0.4167𝜔2 ;

solving this gives:

𝜔2 = 0.623 𝑟𝑎𝑑 ∙ 𝑠 −1 .
 3) The 5 kg slender rod is suspended from the pin at O. If a 1 kg ball B is
thrown at the rod and strikes its centre with a velocity of 9 m∙s-1.
Determine the angular velocity of the rod just after impact.
The coefficient of restitution is e = 0.4.

SOLUTION:

0.5 m
Just like the previous problem, the weights of the ball and rod
are non-impulsive: they have zero velocity in the active component.
the linear momentum of the ball is transferred to the rod in the form 9 m∙s-1
of angular momentum about O (proportional to the coefficient of
Restitution).
B
Kinetic Diagram:

0.5 m
To illustrate the sense of the motion before and after the collision annotate
a diagram for future reference:

Apply Conservation of (Angular) Momentum:

+ Σ(𝐻𝑂 )1 = Σ(𝐻𝑂 )2 ;

𝑟𝑂𝐺 𝑚𝐵 (𝑣𝐵 )1 = 𝑟𝑂𝐺 𝑚𝐵 (𝑣𝐵 )2 + 𝑟𝑂𝐺 𝑚𝑅 (𝑣𝐺 )2 + 𝐼𝐺 𝜔2 ; ω2

1
(𝑚𝑙 2 );

0.5 m
Again, we are told the rod is ‘slender’, so; 𝐼𝐺 =
12
substituting this in with the given values:
(vB)1 = 9 m∙s-1
(0.5)(1)(9) = (0.5)(1)(𝑣𝐵 )2 + (0.5)(5)(𝑣𝐺 )2 (vG)2
1 G
+ 12 ((5)(1)2 )𝜔2 ;
B
Using the kinematic identity: (𝑣𝐺 )2 = 𝑟𝑂𝐺 𝜔2 = 0.5𝜔2 ; (vB)2

5
4.5 = 0.5(𝑣𝐵 )2 + 2.5(0.5𝜔2 ) + 𝜔 ;
12 2

4.5 = 0.5(𝑣𝐵 )2 + 1.6667𝜔2 ①;

Apply the Coefficient of Restitution:

Build a second equation to describe the change in velocity of the ball with respect to the rod using
the coefficient of restitution (Slide 5, Part 8iii):

(𝑣 ) −(𝑣 )
𝑒 = (𝑣𝐺 )2 −(𝑣𝐵 )2 ;
𝐵 1 𝐺 1

Remember our kinematic identity for (vG)2; also (vG)1 is zero, substituting this in:

0.5𝜔2 −(𝑣𝐵 )2
𝑒= (𝑣𝐵 )1
;

−(𝑣𝐵 )1 𝑒 + 0.5𝜔2 = (𝑣𝐵 )2 ;

−3.6 + 0.5𝜔2 = (𝑣𝐵 )2 ②;

Solving ① and ② by substitution:

(𝑣𝐵 )2 = −1.96 = 1.96 𝑚 ∙ 𝑠 −1

𝜔2 = 3.287 𝑟𝑎𝑑 ∙ 𝑠 −1 .