Example 13.

1
The 50-kg crate rests on a horizontal
plane for which the coefficient of
kinetic friction is μk = 0.3. If the crate
is subjected to a 400-N towing force,
determine the velocity of the crate in 3
s starting from rest.
 Example 13.1
Free-Body Diagram. The weight of
the crate is W = mg = 50 (9.81) =
490.5 N. The frictional force has a
magnitude F = μkNC and acts to the
left, since it opposes the motion of the
crate. The acceleration a is assumed
to act horizontally, in the positive x
direction. There are 2 unknowns,
namely NC and a.
 Example 13.1
Equations of Motion.
+
→ ∑ Fx = max ; 400 cos 30o − 0.3 NC = 50a
+ ↑ ∑ Fy = ma y ; NC − 490.5 + 400 sin 30o = 0

Solving for the two equations

yields

NC = 290.5 N
a = 5.19m / s 2
 Example 13.1

Kinematics. Acceleration is
constant, since the applied force P is
constant. Initial velocity is zero, the
velocity of the crate in 3 s is
v = v0 + act
= 0 + 5.19(3)
= 15.6m / s →
Example 13.2
A 10-kg projectile is fired vertically
upward from the ground, with an
initial velocity of 50 m/s. Determine
the max height to which it will travel if
(a) atmospheric resistance is
neglected.
(b) atmospheric resistance is
measured as FD = (0.01v2) N, where
v is the speed at any instant,
measured in m/s
 Example 13.2
Part (a) Free-Body Diagram.
The projectile’s weight is W =
mg = 10(9.81) = 98.1 N. Assuming the
unknown acceleration a acts upward
in the positive z direction.
Equations of Motion.
+↑ ∑ z
F = ma z ; − 98 . 1 = 10 a , a = −9 . 81m / s 2

The results indicates that the

projectile is subjected to a
constant downward
acceleration of 9.81 m/s2
 Example 13.2

Kinematics. Initially, z0 = 0 and

v0 = 50 m/s. At max height, z = h and
v = 0. Since acceleration is constant,
then

(+ ↑) v 2 = v02 + 2ac ( z − z0 )
0 = (50) 2 + 2(−9.81)(h − 0)
h = 127 m
 Example 13.2

Part (b) Free-Body Diagram.

Since the force FD = (0.01v2) N
tends to retard the upward motion of
the projectile, it acts downward as
shown
Equations of Motion.

+↑ ∑ z
F = ma z ; − 0 . 01v 2
− 98.1 = 10a,
a = −0.01v 2 − 9.81m / s 2
 Example 13.2
Kinematics. Here the
acceleration is not constant since FD
depends on the velocity. Since a =
f(v), we relate a to position using

(+ ↑) a dz = v dv; (−0.001v 2 − 9.81)dz = v dv

Integrating with initially z0 = 0, v0 = 50

m/s (positive upward), and at z = h, v
=0
h 0 v dv 0
∫0 dz = − ∫50 0.001v2 + 9.81 = −500 ln(v + 9810)
2
50
h = 114m
 Example 13.3

The baggage truck A has a weight of

3600 N and tows a 2200 N cart B and
a 1300 N cart C. For a short time the
driving frictional force developed at
the wheels is FA = (160t) N where t is
in seconds. If the truck starts from
rest, determine its speed in 2
seconds. What is the horizontal force
acting on the coupling between the
truck and cart B at this instant?
 Example 13.3

Free-Body Diagram. As shown, it is

the frictional driving force that gives
both the truck and carts an
acceleration, we have to consider all
3 vehicles.
 Example 13.3
Equations of Motion. Only motion in
the horizontal direction has to be
considered.
+ 3600 + 2200 + 1300 ⎞
⎛
← ∑ Fx = max ; 160t = ⎜
⎝ 9.81
⎟a
⎠
a = 0.221t

Kinematics. Since the

acceleration is a function of time, the
velocity of the truck is obtained using
a = dv/dt with the initial condition that
v0 = 0 at t = 0,

v 2 22
∫0 dv = ∫0 (0.221t ) dt; v = 0.1105t
0
= 0.442m / s
 Example 13.3
Free-Body Diagram. Considering
the FBD of the truck, we can “expose”
the coupling force T as external to the
FBD.
 Example 13.3

Equations of Motion. When t = 2 s,

then

+
160(2) − T = ⎛⎜
3600 ⎞
← ∑ Fx = max ; ⎟[0.221(2)]
⎝ 9.81 ⎠
T = 157.8 N
 Example 13.4
A smooth 2-kg collar C is attached to
a spring having a stiffness k = 3 N/m
and an unstretched length of 0.75 m.
If the collar is released from rest at A,
determine its acceleration and normal
force of the rod on the collar at the
instant y = 1 m.
 Example 13.4
Free-Body Diagram. The FBD of
the collar when it is located at the
arbitrary position y is as shown. The
weight is W = 2(9.81) = 19.62 N. The
collar is assumed to be accelerating
so that “a” acts downward in the
positive y direction. There are four
unknown, namely, NC, Fs, a and θ.
 Example 13.4
Equations of Motion.
+
→ ∑ Fx = ma x ; − NC + Fs cosθ = 0
+ ↓ ∑ Fy = ma y ; 19.62 − Fs sin θ = 2a

The magnitude of the spring force is

a function of the stretch s of the
spring; i.e. Fs = ks. The unstretched
length is AB = 0.75m. Therefore

s = CB − AB = 3( y 2 + (0.75) 2 − 0.75)
 Example 13.4
Since k = 3 N/m,

Fs = ks = 3( y + (0.75) − 0.75)
2 2

The angle θ is related to y by

trigonometry
y
tan θ =
0.75
For y = 1 m, θ = 53.1 and Fs = 1.50
N.
Therefore, NC = 0.900 N
and a = 9.21 m/s2
Example 17.1
Determine the moment of inertia of the cylinder about
the z axis.
The density of the material, ρ, is constant.
 Solution
Shell Element
• Volume, dV = (2πr)(h) dr
• Mass, dm = ρ dV = ρ(2πhr dr)
• Since the entire element lies at the same distance r
from the z axis, for moment of inertia of the element,
dIz = r2 dm = ρ(2πhr3dr)

•Integrating over entire region of the

cylinder,
Iz = ∫r2 dm = ρ2πh∫R0r3dr = (ρπ/2)R4h
•For mass of the cylinder,
m = ∫m dm = ρ2πh∫R0r dr = ρπh R2
so that
Iz = ½ mR2
Example 17.2
A solid id formed by revolving the shaded area about
the y axis.
If the density of the material is 5Mg/m3, determine the
moment of inertia about the y axis.
 Solution
Disk Element
• Element intersects the curve at arbitarry point (x, y) and
has a mass
dm = ρ dV = ρ(πx2) dy
• All portions of the element are not located at the same
distance r from the y axis
• For moment of inertia of the
cylinder about its longitudinal axis,
I = ½ mR2
• Since the height of the cylinder is not involved in this
formulae, the cylinder itself can be thought as a disk
• For disk element,
dIy = ½ dm x2 = ½ [ρ(πx2)dy]x2
• Substitute x = y2, ρ = 5Mg/m3
Iy = (5π/2)∫10x4dy = (5π/2) ∫10y8dy = 0.873Mg.m2
Example 17.3
If the plate has a density of 8000kg/m3 and a thickness of
10mm, determine its moment of inertia about an axis
directed perpendicular to the page and passing through
point O.
Solution
• Plate consists of 2 composite parts, the 250mm
radius disk minus the 125mm disk
• Moment of inertia about O can be determined by
computing the moment of inertia of each of these
parts about O and adding the results algebraically
• Calculations are performed using parallel axis
theorem

Disk
• For moment of inertia of the disk about centroidal
axis perpendicular to the plane of the disk,
1
IG = mr 2
2
• Mass center is located 0.25m from point O
• Thus,
[ ]
m d = ρ d Vd = 8000 π (0 .25 )2 (0 .01 ) = 15 .71kg
1
( I d )O = md rd 2 + m d d 2
2
1
= (3 .93 )(0 .125 )2 + (3 .93 )(0 .25 )2 = 0 .276 kg .m 2
2
Disk
• For moment of inertia of the plate about point O

I O = (I d )O − (I h )O
= 1 . 473 − 0 . 276
= 1 . 20 kg . m 2
Example 17.4
The pendulum is suspended from point O and consists of
two thin rods, each having a weight of 50N (5kg).
Determine the pendulum's moment of inertia about an axis
passing through the pin at O, and (b) the mass center G of
the pendulum.
View Free Body
Diagram

Solution
Part (a)
• For moment of inertia of rod OA about an axis
perpendicular to the page and passing through the end
point O of the rob,

• Hence,
1
I O = ml 2
3
• Using
( I OA )O = ⎛⎜
1 50 ⎞ 2
⎟(1) = 1.699kg.m
2
3 ⎝ 9.81 ⎠

1 2
IG = ml
12
Solution
• By parallel axis theorem,
1 ⎛ 50 ⎞ 2 ⎛ 50 ⎞
⎟ (1 ) + ⎜ ⎟ (0 . 5 )
1
( I OA ) O = ml 2 + md =
2
⎜
2

12 12 ⎝ 9 . 81 ⎠ ⎝ 9 . 81 ⎠
= 1 . 699 kg .m 2
• For rod BC,
1 ⎛ 50 ⎞ 2 ⎛ 50 ⎞ 2
⎟ (1 ) + ⎜ ⎟ (1 )
1
( I BC ) O = ml 2 + md 2
= ⎜
12 12 ⎝ 9 . 81 ⎠ ⎝ 9 . 81 ⎠
= 5 . 522 kg .m 2
• For moment of inertia of the pendulum
about O,
I O = 1 . 699 + 5 . 522 = 7 . 22 kg .m 2
Solution
Part (b)
• For mass center G located relative to pin at O,

y m 0 . 5 ( 50 / 9 . 81 ) + 1( 50 / 9 . 81 )
∑~
y = = = 0 . 75 m
∑m ( 50 / 9 . 81 ) + ( 50 / 9 . 81 )

• By parallel axis theorem to transfer moments of

inertia of rods OA & BC to G
I O = I G + md 2 ;
⎛ 100 ⎞
⎟ (0 . 75 )
2
7 . 22 = I G +⎜
⎝ 9 . 81 ⎠
I G = 1 . 486 kg .m 2
USEFUL TABLES OF MASS MOMENT OF INERTIA
 Equations of Motion: Translation

Example 17.5
The car has a mass of 2Mg and a center of mass at G.
Determine the car’s acceleration if the “driving” wheels in
the back are always slipping, whereas the front wheel
freely rotate. Neglect the mass of the wheels. The
coefficient of kinetic friction between the wheels and the
road is μk = 0.25.
Solution
Section I
FBD
• The rear wheel frictional force pushes the car forward,
and since slipping occurs, FB = 0.25NB
• Frictional forces acting on the front wheels = 0m, since
these wheels have negligible mass
• Car (point G) is assumed to accelerate to the left, in the
negative x direction
Solution
Section I
Equations of Motion

+ → ∑ Fx = m(aG ) x ;
− 0.25 N B = −(2000kg )aG
+ ↑ ∑ Fy = (aG ) y ;
N A + N B − 2000(9.81) N = 0
∑ M G = 0;
− N A (1.25m) − 0.25 N B (0.3m) + N B (0.75m) = 0
Solving,
aG = 1.59m / s 2 ← N A = 6.88kN N B = 12.7 kN
Solution
Section II
FBD
• Apply moment equation at point A, unknown NA will
be eliminated from the equation
• Use the kinetic diagram o visualize the moment at A
Solution
Section II
Equations of Motion

∑ Μ A = ∑ M A;
N B (2m) − 2000(9.81) N (1.25m) = (2000kg )aG (0.3m)

Solve and proceed with Section I equations

Example 17.6
The motorcycle has a mass of 125kg and a center of mass
at G1, while the rider has a mass of 75kg and a center of
mass at G2. Determine the minimum coefficient of static
friction between the wheels and the pavement in order for
the rider to do a “wheely” ie, lift the front wheel off the
ground as shown. What acceleration is necessary to do
this? Neglect the mass of wheels and assume that the front
wheel is free to roll.
Solution
FBD and Kinetic Diagrams
• Consider both the motorcycle and the rider as the
system to be analyzed
• Determine center of mass, however, consider the
separate weight and mass of each of its components
parts
• Both parts move with same acceleration
• Assume that the front wheel is about to leave the
ground so that normal reaction NA ≈ 0
• Three unknowns NB, FB and aG

FBD and Kinetic Diagrams

 Solution
Equations of Motion
+ → ∑ Fx = m(aG ) x ;
FB = (75kg + 125kg )aG
+ ↑ ∑ Fy = ( aG ) y ;
N B − 735.75 N − 1226.25 N = 0
∑ Μ B = ∑( M k ) B ;
− (735.75 N )(0.4m) − (1226.25 N )(0.8m) = −(75kg aG )(0.9m)
− (125kg aG )(0.6m)
Solution
Equations of Motion
• Solving
aG = 8.95m / s 2 →
N B = 1962N
FB = 1790N
• For minimum coefficient of static friction
( μs ) min = FB / N B = 1790N / 1962N = 0.912
Example 17.7
A uniform 50-kg crate rest on a horizontal surface for
which the coefficient of kinetic friction is 0.2. determine
the acceleration if a force of P = 600N is applied to the
crate.
Solution
FBD
• Force P can cause the crate to either slide or to tip over
• Assume that the crate slides so that F = μkNC = 0.2NC
• Resultant force NC acts at O, a distance x where 0 < x ≤
0.5m from the crate’s center line
• Three unknowns NC, x and aG
Solution
Equations of Motion
+ → ∑ Fx = m (aG ) x ;
600 N − 0 . 2 N C = ( 50 kg ) a G
+ ↑ ∑ Fy = (aG ) y ;
N C − 490 . 5 N = 0
∑Μ G = 0;
− 600 N ( 0 . 3 m ) + N C ( x ) − N C ( 0 . 5 m ) = 0

• Solving aG = 10.0m / s 2 →
N C = 490 N
x = 10.467m
• x < 0.5m, the crates slides as assumed
• If x > 0.5m, problem would be reworked with the
assumption that the crates tips
• In that case, NC acts at corner point A and F ≤ 0.2NC
Example 17.8
The 100kg beam is supported by two rods having
negligible mass. Determine the force created in each rod if
at the instant θ = 30° and ω = 6rad/s.
View Free Body
Diagram

Solution
FBD
• Beam moves with curvilinear translation since points
B, D and the center of mass all move along circular
paths, each path having the same radius of 0.5m
• Using normal and tangential coordinates, the FBD for
the beam is shown
• Because of translation, G has the same motion as the
pin at B, which is connected to both the rod and the
beam

• By studying the angular motion of AB, the tangential

component of accelerations acts downward to the left
due to the clockwise direction of α
• Normal component of acceleration is always directed
towards the center of curvature (towards point A for
rod AB)
• Since angular velocity of AB is 6 rad/s,
(aG)n = ω2r = (6 rad/s)2(0.5m) = 18m/s2
FBD
• Three unknowns TB, TD and (aG)t
Equations of Motion

∑ Fn = m ( a G ) n ;
TB + TD − 981 cos 30 o N = 100 kg (18 m / s 2 )
∑ Ft = ( aG ) t ;
981 sin 30 o = 100 kg ( aG ) t
∑ Μ G = 0;
− (TB cos 30 o )( 0 .4 m ) + (TD sin 30 o )( 0 .3m ) = 0

• Solving

T B = T D = 1 . 32 kN
( a G ) t = 4 . 90 m / s 2
 Equations of Motion: Rotation about a
Fixed Axes

Example 17.9
The 30kg disk is pin supported at its center, if it starts
from rest, determine the number of revolutions it must
make to attain an angular velocity of 20 rad/s. also, what
are the reactions at the pin? The disk is acted upon by a
constant force F = 10N, which is applied to a cord
wrapped around its periphery, and a constant moment
couple moment M = 5N.m. Neglect the mass of cord in
the calculation.
Solution
FBD
• Mass center is not subjected to an acceleration
• Disk has a CW angular acceleration
• For moment of inertia of the pin,
IO = ½mr2 = ½(30kg)(0.2m)2 = 0.6kg.m2
• Three unknowns, Ox, Oy and α
 Solution
Equations of Motion

+ → ∑ Fx = m ( aG ) x ;
Ox = 0
+ ↑ ∑ F y = m ( aG ) y ;
O y − 294 . 3 N − 10 N = 0
O y = 304 N
∑ M O = I Oα ;
− 10 N ( 0 . 2 m ) − 5 N .m = − ( 0 . 6 kg .m 2 )α
α = − 17 . 1rad / s 2
Kinematics

ω 2
= ω O2 + 2 α C (θ − θ O )
( − 20 rad / s 2 ) = 0 + ( − 11 . 7 rad / s 2 )( θ − 0 )
⎛ 1 rev ⎞
θ = 17 . 1 rad ⎜ ⎟ = 2 . 73 rev ( CW )
⎝ 2 π rev ⎠
Example 17.10
The 20kg slender rod is rotating in the vertical plane, and
at the instant, has an angular velocity of ω = 5 rad/s.
Determine the rod’s angular acceleration and the horizontal
and vertical components of reaction at the pin at this
instant.
Solution
FBD and Kinetics Diagrams
• Point G moves in a circular path and so has two
components of acceleration
• Tangential component acts downwards since it must
be in accordance with the angular acceleration of the
rod
• Three unknowns On, Ot and α
Equations of Motion

+ ← ∑ F n = m ω 2 rG ;
O n = ( 20 kg )( 5 rad / s ) 2 (1 . 5 m )
+ ↓ ∑ F t = m α rG ;
− O t + 20 ( 9 . 81 ) N = ( 20 kg )( α )( 1 . 5 m )
∑M G = I Gα ;
O t (1 . 5 m ) + 60 N .m = [1 / 2 ( 20 kg )( 3 m ) 2 ]α

• Solving,

O n = 750 N
O t = 19 . 0 N
α = 5 . 90 rad / s 2
Example 17.11
The drum shown has a mass of 60kg and a radius of
gyration kO = 0.25m. A cord of negligible mass is
wrapped around the periphery of the drum and attached
to a block having a mass of 20kg. If the block is
released,determine the drum’s angularacceleration.
Solution
Method 1
• Consider the drum and block separately
• Assuming the block accelerates downward at a, it
creates a CCW angular acceleration α of the drum
• For moment of inertia of the drum,

I O = mkO2 = (60kg )(0.25m) 2 = 3.75kg.m 2

• Five unknowns, Ox, Oy, T, a and α

Equations of Motion
∑ M O = I Oα ;
T ( 0 . 4 m ) = ( 3 . 75 kg .m 2 )α
+ ↑ ∑ Fy = m (aG ) y ;
− 20 ( 9 . 81 ) N + T = − 20 a
Kinematics
a = αr;
a = α ( 0 .4 )
• Solving,
T = 106 N
a = 4 . 52 m / s 2
α = 11 . 3 rad / s 2
Solution
Method 2
FBD and Kinetic Diagrams
• Tension T is eliminated from the analysis by
considering the drum and block as a single system
• Moments will be summed about point O
 Equations of Motion

∑ Μ O = ∑(M k )O ;
20(9.81) N (0.4m ) = (3.75kg .m 2 )α + [ 20 kg (0.4mα )](0.4m)
α = 11.3rad / s 2
Example 17.12
The unbalanced 25kg flywheel has a radius of gyration of
kG = 0.18m about an axis passing through its mass center
G. if it has angular velocity of 8 rad/s atthe instant,
determine the horizontal and vertical components of
reaction at the pin O.
Solution
FBD and Kinetic Diagrams
• Since G moves in a circular path, it will have both
normal and tangential components of acceleration
• α, which is caused by the flyweight’s weight, acts
CW, the tangential component of acceleration will act
downward
FBD and Kinetic Diagrams
• For moment of inertia of the flywheel about its mass
center,

I G = mk G2 = ( 25kg )(0.18 m ) 2 = 0.18 kg .m 2

• Three unknowns, On, Ot and α

Equations of
Motion

+ ← ∑ F n = m ω 2 rG ;
O n = ( 25 kg )( 8 rad / s ) 2 ( 0 . 15 m )
+ ↓ ∑ F t = m α rG ;
− O n + 25 ( 9 . 81 ) N = ( 25 kg )( α )( 0 . 15 m )
∑M G = I Gα ;
12 . 0 N .m + O t ( 0 . 15 m ) = ( 0 . 81 kg .m 2 )α
• Solving,

O n = 240 N
Ot = − 193 .2 N
α = 114 .2 rad / s 2
Example 17.13
The slender rod has a mass m and length l and is release
from rest when θ 0°. Determine the horizontal and
vertical components of force which the pin at A exerts
on the rod at the instant θ = 90°.
View Free Body
Diagram

Solution
FBD
• α acts CW
• For moment of inertia of the rod about point A
1
IA = ml 3

3
Equations of Motion

∑ Fn = m ω 2 rG ;
An − mg sin θ = m ω 2 ( l / 2 )
∑ Ft = m α rG ;
At + mg sin θ = m α ( l / 2 )
∑ M A = I Aα ;
⎛1 ⎞
mg cos θ ( l / 2 ) = ⎜ ml 2 ⎟α
⎝3 ⎠
Kinematics
ω dω = αdθ
• when θ = 90 o ,ω d ω = ( 1 . 5 g / l ) cos θ d θ
• when ω = 0 ,θ = 0 o ,
ω 90 o
∫
0
ω d ω = ( 1 .5 g / l ) ∫
0o
cos θ d θ
ω 2 = 3g / l
• Solving
An = 2.5mg
At = 0
α =0
 Equations of Motion: General Plane Motion

Example 17.14
The spool has a mass of 8kg and has a radius of gyration
of kG = 0.35m. If the cords of negligible mass are
wrapped around the inner hub and outer rim as shown,
determine the spool’s angular acceleration.
Solution
Method 1
FBD
• 100N force causes aG to act upward
• α acts CW, since the spool winds around the cord at A
• 3 unknowns T, aG and α
• For moment of inertia of spool about its mass center

IG = mkG2 = (8kg )(0.35m) 2 = 0.980kg.m 2

Equations of Motion

+ ↑ ∑ Fy = m ( aG ) y ;
T + 100 N − 78 .48 N = (8 kg ) a G
∑ M G = I Gα ;
100 N ( 0 .2 m ) − T ( 0 .5 m ) = ( 0 .980 kg .m 2 )α

Kinematics
a = αr;
a = α ( 0 .5 )
• Solving,

T = 19 . 8 N
a G = 5 . 16 m / s 2
α = 10 . 3 rad / s 2
 Solution
Method 2
Equations of Motion
∑ Μ A = ∑( M k ) A ;
100 N (0.7 m) − 78.48 N (0.5m) = (0.980kg.m 2 )α + [(8kg )aG ](0.5m)
α = 10.3rad / s 2
Example 17.15
The 25kg wheel has a radius of gyration of kG = 0.2m. If a
50N.m couple moment is applied to the wheel, determine
the acceleration of its mass center G. the coefficients of
static and kinetic friction between the wheel and the plane
at A are μs = 0.3 and μk = 0.25 respectively.
FBD
• Couple moment causes the wheel to have a CW
angular acceleration of α
• Acceleration of the mass center aG is directed to the
right
• 4 unknowns NA, FA, aG and α
• For moment of inertia,

I G = mkG2 = ( 25kg )(0.2m) 2 = 1.0kg .m 2

Equations of Motion
+ → ∑ Fx = m ( a G ) x ;
FA = ( 25 kg ) a G
+ ↑ ∑ Fy = m ( aG ) y ;
N A − 25 (9 .81) = 0
∑ M G = I Gα ;
50 N .m − 0 .4 m ( FA ) = (1 .0 kg .m 2 )α
Kinematics (No slipping)
a = αr;
a = α( 0.4 )
• Solving,

N A = 245.25N
FA = 100N
aG = 4.0m / s2
α = 10.0rad / s2

• 100N > 0.3(245.25N) = 73.6N

Kinematics (Slipping)
FA = 0.25 N A
Solving,

N A = 245.25 N
FA = 61.31N
aG = 2.45m / s 2
α = 25.5rad / s 2
Example 17.16
The uniform slender pole has a mass of 100kg and a moment
of inertia IG = 75kg.m2. If the coefficient 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 pole’s angular
acceleration at the instant the 400N horizontal force is applied.
The pole is originally at rest
FBD
• Path of motion of the mass center G will be along an
unknown curved path having a radius of ρ, which is
initially parallel to the y axis
• No normal or y component since the pole is originally
at rest
• vG = 0 so that (aG)y = vG2/ρ = 0
• Assume mass center accelerates to the right and the
pole has a CW angular acceleration of α
• 4 unknowns NA, FA, aG and α
Solution
Equations of Motion
+ → ∑ Fx = m ( a G ) x ;
400 N − F A = (100 kg ) a G
+ ↑ ∑ Fy = m ( aG ) y ;
N A − 981 N = 0
∑ M G = I Gα ;
F A (1 . 5 m ) − 400 N (1m ) = ( 75 kg .m 2 )α

Kinematics (No slipping)

a = α r;
a = α (1 . 5 )
• Solving,

N A = 981 N
F A = 300 N
a G = 1m / s 2
α = 0 . 667 rad / s 2
Solution
• 300N > 0.3(981N) = 294N
(Slips at A)
Kinematics (Slipping)
F A = 0 .25 N A
Solving,

N A = 981 N
F A = 245 N
aG = 1 .55 m / s 2
α = − 0 .428 rad / s 2
Example 17.17
The 30kg wheel has a mass center at G and has a radius
of gyration kG = 0.15m. If the wheel is originally at rest
and released, determine its angular acceleration. No
slipping occurs.
View Free Body
Diagram

Solution
FBD
• Point G moves along a curved 4 unknowns NA, FA,
(aG)x, (aG)y and α
• For moment of inertia,
I G = mk G2 = ( 25 kg )( 0 .15 m ) 2
= 0 .675 kg .m 2
 Solution
Equations of Motion
∑ Μ A = ∑( M k ) A ;
30(9.81) N (0.1m)
= (0.675kg.m 2 )α + 30kg (aG ) x (0.25m) + 30kg (aG ) y (0.1m)

Kinematics
a = αr ;
a = α (0.25)
ω=0
• Applying acceleration from point O to point G,
r r r r r
aG = aO + α x rG / O − ω 2rG / O
r r r r r
− (aG ) x i − (aG ) y j = −α (0.25)i + (αk 4) x(−0.1i ) − 0
• Solving,
( aG ) x = α (0.25)
( aG ) y = α (0.1)
• Solving,
FA = 77.4N
N A = 263N
α = 10.3rad / s 2
(aG ) x = 2.58m / s 2
(aG ) y = 1.03m / s 2