PROBLEM 16.

A uniform rod BC of mass 4 kg is connected to a collar A by a 250-mm

cord AB. Neglecting the mass of the collar and cord, determine (a) the
smallest constant acceleration aA for which the cord and the rod lie in a
straight line, (b) the corresponding tension in the cord.

SOLUTION

Geometry and kinematics:

Distance between collar and floor  AD  250 mm  350 mm  600 mm
When cord and rod lie in a straight line:
AC  AB  BC  250 mm  400 mm  650 mm
AD 600 mm
cos   
AC 650 mm
  22.62
Kinetics
(a) Acceleration at A.
M C  ( M C )eff : W (CG )sin   ma (CG ) cos 
ma  mg tan 

a  g tan   (9.81 m/s 2 ) tan 22.62

aA  a  4.09 m/s 2 
(b) Tension in the cord.
Fx  ( Fx )eff : T sin   ma  mg tan 

mg (4 kg)(9.81)
T  T  42.5 N 
cos  cos 22.62

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 PROBLEM 16.11

A completely filled barrel and its contents have a combined

mass of 90 kg. A cylinder C is connected to the barrel at a
height h  550 mm as shown. Knowing s  0.40 and
k  0.35, determine the maximum mass of C so the barrel
will not tip.

SOLUTION

Kinematics: Assume that the barrel is sliding, but not tipping.

 0 aG  a
Since the cord is inextensible, aC  a
Kinetics: Draw the free body diagrams of the barrel and the cylinder. Let T be the tension in the cord.
The barrel is sliding. FF  k N  0.35 N
Assume that tipping is impending, so that the line of action of the reaction on the bottom of the barrel passes
through Point B.
e  250 mm

For the barrel. Fy  0: N  WB  0 N  WB  mB g  882.90 N

M G  0: Ne  100T  (450)(0.35 N )  0
e  (450)(0.35) 250  157.5
T N (882.90)  816.68 N
100 100
Fx  mB a : T  0.35 N  mB a
816.68 882.90
a  0.35  5.6407 m/s2
90 90

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 PROBLEM 16.11 (Continued)

For the cylinder: F  mC a : WC  T  mC a

mC g  T  mC a

T 816.68
mC    195.88 kg
g  a 9.81  5.6407

mC  195.9 kg 

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 PROBLEM 16.14

Bars AB and BE, each of mass 4 kg, are welded together and are pin-
connected to two links AC and BD. Knowing that the assembly is
released from rest in the position shown and neglecting the masses of
the links, determine (a) the acceleration of the assembly, (b) the forces
in the links.

SOLUTION

Given: mAB  mBE  14 kg

Free Body Diagram:

Kinetics: M G  0  FA  0

F BG  8  9.81 0.5    8 kg  a 

g
a  4.905 m/s2 or a
2

F BG  FB   78.48 N  0.866   0

FB  67.966 N

(a) a  4.91 m/s 2 30 

(b) FA  0, FB  68.0 N compression 

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 PROBLEM 16.15

At the instant shown the tensions in the vertical ropes AB and

DE are 300 N and 200 N, respectively. Knowing that the mass
of the uniform bar BE is 5 kg, determine, at this instant, (a) the
force P, (b) the magnitude of the angular velocity of each rope,
(c) the angular acceleration of each rope.

SOLUTION
Given: TAB  300 N, TDE  200 N, m BE  5 kg
Free Body Diagram:

Kinetics:

 M G  0  200  0.6  0.866   300  0.6  0.866   P  0.6  0.5

(a) P  173.2 N 

 Fy  300  5  9.81  200  5  0.4  2

(b)  = 15.02 rad/s 

 Fx  P  5  0.4   173.2

(c)  = 86.6 rad/s 2 

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 PROBLEM 16.16

Three bars, each of mass 3 kg, are welded together and are pin-
connected to two links BE and CF. Neglecting the weight of the
links, determine the force in each link immediately after the system
is released from rest.

SOLUTION

Mass center of ABCD is at G

mi yi 3(0.225)  3(0.225)  3(0)
y   0.15 m
mi 9
W  mg
40 F  Feff : mg cos50  ma
(9.81 m/s 2 ) cos 50  a
a  6.3057 m/s2 40
M B  ( M B )eff :

( FCF sin 50)(0.450 m)  (9 kg)(9.81 m/s 2 )(0.225 m)  ma sin 40(0.225 m)  ma cos 40(0.150 m)

0.34472 FCF  19.8653  ma (0.14463  0.11491)

0.34472 FCF  19.8653  9(6.3057)(0.25953)

FCF  14.8998 N FCF  14.90 N compression 

50° F  Feff : FBE  14.9 lb  (9 kg)(9.81)sin 50  0

FBF  52.734 N FBE  52.7 N compression 

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 PROBLEM 16.32

In order to determine the mass moment of inertia of a flywheel of radius

600 mm, a 12-kg block is attached to a wire that is wrapped around the
flywheel. The block is released and is observed to fall 3 m in 4.6 s. To
eliminate bearing friction from the computation, a second block of mass 24 kg
is used and is observed to fall 3 m in 3.1 s. Assuming that the moment of the
couple due to friction remains constant, determine the mass moment of inertia
of the flywheel.

SOLUTION

Kinematics: Kinetics:

 M B   ( M B ) eff : ( m A y ) r  M f  I   ( m A a ) r
a
mA gr  M f  I  mA ar (1)
r
Case 1: y 3m
t  4.6 s
1 2
y at
2
1
3 m  a(4.6 s)2
2
a  0.2836 m/s2
mA  12 kg

Substitute into Eq. (1)

 0.2836 m/s2 
(12 kg)(9.81 m/s2 )(0.6 m)  M f  I  2
  (12 kg)(0.2836 m/s )(0.6 m)
 0.6 m 
70.632  M f  I (0.4727)  2.0419 (2)

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 PROBLEM 16.50

A force P of magnitude 3 N is applied to a tape wrapped

around the body indicated. Knowing that the body rests
on a frictionless horizontal surface, determine the
acceleration of (a) Point A, (b) Point B.

A thin hoop of mass 2.4 kg.

SOLUTION

Hoop: I  mr 2
Fx  ( Fx )eff : P  ma

P
a
m

M G  ( M G )eff : Pr  I   mr 2

P
α
mr
(a) Acceleration of Point A.
P  P  P
aA  a  r   r  2
m  mr  m
3N
aA  2  2.5 m/s 2 a A  2.50 m/s 2 
2.4 kg
(b) Acceleration of Point B.
P  P 
aB  a  r   r 0 aB  0 
m  mr 

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 PROBLEM 16.64

A beam AB of mass m and of uniform cross section is suspended

from two springs as shown. If spring 2 breaks, determine at that
instant (a) the angular acceleration of the beam, (b) the
acceleration of point A, (c) the acceleration of point B.

SOLUTION

2mg
Fy   maG
3
 mg  L 1
M G     mL2
 3  2 12
2g 2g
(a) aG  ,   
3 L

2g 2g L g
(b) aA   
3 L 2 3 ,

g
aA  
3

2g 2g L 5g
(c) aB   
3 L 2 3
5g
aB  
3

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 PROBLEM 16.67

A thin plate of the shape indicated and of mass m is suspended from two
springs as shown. If spring 2 breaks, determine the acceleration at that
instant (a) of point A, (b) of point B.

A thin hoop of diameter b.

SOLUTION
2
b 1
I  m    mb 2
2 4
1 1
Statics: T1  T2  W  mg
2 2
Kinetics:  M G    M G eff :

b
T1    I 
2
1 b 1
mg    mb2
2 2 4
g
α
b
Fy   Fy eff : W  T  ma

1 1
mg  mg  ma a g
2 2
Kinematics:

Plane motion  Translation  Rotation

b 1 b g 
(a) a A  aG  a A/G  a    g    ; aA  0 
2 2 2 b 

b 1 b g 
(b) a B  aG  a B/G  a    g  ; aB  g 
2 2 2  b 

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 PROBLEM 16.83

A turbine disk of mass 26 kg rotates at a constant rate of 9600 rpm. Knowing

that the mass center of the disk coincides with the center of rotation O,
determine the reaction at O immediately after a single blade at A, of mass
45 g, becomes loose and is thrown off.

SOLUTION

 2 
  9600 rpm  
 60 
  320 rad/s
Consider before it is thrown off.

F  Feff : R  man  mF  2
 (45  103 kg)(0.3 m)(320  )2
R  13.64 kN
Before blade was thrown off, the disk was balanced ( R  0). Removing vane at A also removes its reaction,
so disk is unbalanced and reaction is
R  13.64 kN 

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 PROBLEM 16.95

A homogeneous sphere S, a uniform cylinder C, and a thin pipe P

are in contact when they are released from rest on the incline
shown. Knowing that all three objects roll without slipping,
determine, after 4 s of motion, the clear distance between (a) the
pipe and the cylinder, (b) the cylinder and the sphere.

SOLUTION

General case: I  mk 2 a  r

M C  ( M C )eff : ( w sin  )r  I   mar

mg sin  r  mk 2  mr 2

r sin 

r2  k 2

rg sin  r2
a  r  r a g sin  (1)
r2  k 2 r2  k 2

r2 1
For pipe: k r aP  2 2
g sin   g sin 
r r 2
1 r2 2
For cylinder: k2  aC  2
g sin   g sin 
2 r 3
r2 
2
2 r2 5
For sphere: k2  aS  g sin   g sin 
5 2 7
r2  r2
5
(a) Between pipe and cylinder.
2 1 1
aC/P  aC  aP     g sin   g sin 
 3 2  6

1 11 
xC/P  aC /P t 2   g sin   t 2
2 26 
11 
SI units: xC/P   9.81 m/s 2  sin10(4 s) 2  2.27 m 
26 
11 
US units: xC/P   32.2 ft/s2  sin10(4 s)2  7.46 ft 
26 

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 PROBLEM 16.95 (Continued)

(b) Between sphere and cylinder.

5 2 1
aS/C  aS  aC     g sin   g sin 
7 3 21

1 1 1 
xS/C  aS/C t 2   g sin   t 2
2 2  21 

1 1 
SI units: xS/C   9.81 m/s2  sin10(4 s)2  0.649 m 
2  21 

1 1 
US units: xS/C   32.2 ft/s 2  sin10(4 s)2  2.13 ft 
2  21 

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 PROBLEM 16.96

A 40-kg flywheel of radius R  0.5 m is rigidly attached to a shaft of radius

r  0.05 m that can roll along parallel rails. A cord is attached as shown and
pulled with a force P of magnitude 150 N. Knowing the centroidal radius of
gyration is k  0.4 m, determine (a) the angular acceleration of the
flywheel, (b) the velocity of the center of gravity after 5 s.

SOLUTION

Mass and moment of inertia: m  40 kg

I  mk 2  (40 kg)(0.4 m)2  6.4 kg  m 2

Kinematics: (no slipping) a  r 15°

Kinetics:

Let Point C be the contact point between the flywheel and the rails.
M C  ( M C )eff : P ( R  r )  mgr sin15  I   (ma )r

P( R  r )  mgr sin15  ( I  mr 2 )
(a) Angular acceleration of the f lywheel.
P( R  r )  mgr sin15

I  mr 2
(150 N)(0.55 m)  (40 kg)(9.81 m/s2 )(0.05 m)sin15

(6.4 kg  m 2 )  (40 kg)(0.05 m)2

 11.911 rad/s 2 α  11.91 rad/s 2 

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 PROBLEM 16.99

A drum of 60-mm radius is attached to a disk of 120-mm radius. The

disk and drum have a total mass of 6 kg and a combined radius of
gyration of 90 mm. A cord is attached as shown and pulled with a force P
of magnitude 20 N. Knowing that the disk rolls without sliding,
determine (a) the angular acceleration of the disk and the acceleration of
G, (b) the minimum value of the coefficient of static friction compatible
with this motion.

SOLUTION

a  r  (0.12 m) 
I  mk 2
 (6 kg)(0.09 m) 2
I  48.6  103 kg  m 2

M C  ( M C )eff : (20 N)(0.18 m)  (ma )r  I

3.6 N  m  (6 kg)(0.12 m)2   48.6 kg  m 2

3.6  135  103 

(a)   26.667 rad/s2 α  26.7 rad/s 2 

a  r  (0.12 m)(26.667 rad/s2 )

 3.2 m/s2 a  3.20 m/s 2 

(b) Fy  ( Fy )eff : N  mg  0

N  (6 kg)(9.81 m/s 2 ) N  58.86 N

Fx  ( Fx )eff : 20 N  F  ma

20 N  F  (6 kg)(3.2 m/s 2 ) F  0.8 N

F 0.8 N
(  s ) min   ( s )min  0.0136 
N 58.86 N

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 PROBLEM 16.101

A drum of 60-mm radius is attached to a disk of 120-mm radius. The disk and
drum have a total mass of 6 kg and a combined radius of gyration of 90 mm. A
cord is attached as shown and pulled with a force P of magnitude 20 N.
Knowing that the disk rolls without sliding, determine (a) the angular
acceleration of the disk and the acceleration of G, (b) the minimum value of
the coefficient of static friction compatible with this motion.

SOLUTION

a  r  (0.12 m)
I  mk 2
 (6 kg)(0.09 m) 2
I  48.6 kg  m 2

M C  ( M C )eff : (20 N)(0.06 m)  (ma )r  I 

1.2 N  m  (6 kg)(0.12 m) 2   (48.6  103 kg  m 2 )

1.2  135  103

(a)   8.889 rad/s2 α  8.89 rad/s 2 

a  r  (0.12 m)(8.889 rad/s 2 )

 1.0667 m/s 2 a  1.067 m/s 2 

(b) Fy  ( Fy )eff : N  20 N  mg  0

N  20 N  (6 kg)(9.81 m/s 2 ) N  38.86 N

Fx  ( Fx )eff : F  ma

F  (6 kg)(1.0667 m/s 2 ) F  6.4 N

F 6.4 N
( s ) min   ( s )min  0.165 
N 38.86 N

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 PROBLEM 16.114

A small clamp of mass mB is attached at B to a hoop of mass mh . The system is

released from rest when   90 and rolls without sliding. Knowing that
mh  3mB , determine (a) the angular acceleration of the hoop, (b) the horizontal
and vertical components of the acceleration of B.

SOLUTION

Kinematics: a A  r , aB/A  r
aB  a A  a B/ A
a B  r  r
(a B ) x  r (aB ) y  r

Kinetics:

mh  3mB
I  mh r 2  3mB r 2

(a) Angular acceleration.

 M C   ( M C ) eff : WB r  I   mh a A r  m B ( a B ) x r  m B ( a B ) y r

mB gr  3mB r 2  (3mB )r 2  mB r 2  mB r 2
1g
gr  8r 2  
8r
(b) Components of acceleration of B.
1 1
(a B ) x  r  g (a B ) y  r  g 
8 8
1
  (aB ) x  g 
8
1
(a B ) y  g 
8

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 PROBLEM 16.115

A small clamp of mass mB is attached at B to a hoop of mass mh. Knowing that the
system is released from rest and rolls without sliding, derive an expression for the
angular acceleration of the hoop in terms of mB, mh, r, and  .

SOLUTION

Kinematics: a A  r aB/ A  r 

aB  aA  aB/ A 

a B  r  r 

Kinetics: I  mh r 2

M C  ( M C )eff : WB r sin   I   mh a A r  mB r (r  r cos  )  mB r sin  (r sin  )

 mB r cos  (r  r cos  )
mB gr sin   mh r 2  mh (r )r  mB r (1  cos  )( r  r cos  )
 mB r sin  (r sin  )
mB gr sin   2mh r 2  mB r 2 [(1  cos  ) 2  sin 2  ]
 2mh r 2  mB r 2 [1  2cos   cos 2   sin 2  ]
g mB sin 
 mB gr sin   r 2 [2mh  mB (2  2cos  )]   
2r mh  mB (1  cos  )

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 PROBLEM 16.118

The 10-lb-uniform rod AB has a total length 2L = 2 ft and is

attached to collars of negligible mass that slide without friction
along fixed rods. If rod AB is released from rest when   30,
determine immediately after release (a) the angular acceleration of
the rod, (b) the reaction at A.

SOLUTION

W 10 lb
m   0.3106 slugs
g 32.2 ft/s 2

L  1 ft

From P16.117

32.2 ft/s 2  sin 30 

     27.600 rad/s 2
1.0 ft  1
3
 sin 2 30 

or   27.6 rad/s 2 

 0.3106 slugs   32.2 ft/s 2 

A  5.714 lbs
1  3sin 2 30

or A  5.714 lb 

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 PROBLEM 16.124

The 4-kg uniform rod ABD is attached to the crank BC and is fitted with
a small wheel that can roll without friction along a vertical slot. Knowing
that at the instant shown crank BC rotates with an angular velocity of 6
rad/s clockwise and an angular acceleration of 15 rad/s2
counterclockwise, determine the reaction at A.

SOLUTION

Crank BC:
BC  0.1 m

(aB )t  ( BC )  (0.1 m)(15 rad/s 2 )  1.5 m/s 2 (a B )t  1.5 rad/s2

(aB )n  ( BC ) 2  (0.1 m)(6 rad/s)2  3.6 m/s 2 (a B )n  3.6 m/s 2

BC 0.1 m
Rod ABD:   sin 1  sin 1  30
AB 0.2 m
a A  a B  a A /G

[aA ]  [1.5  3.6 ]  [0.2 ]

0  3.6  (0.2 ) cos 

3.6 18
   20.78 rad/s 2 α  20.78 rad/s 2
0.2cos  cos 30

Kinetics:
1
M G  ( M G )eff : A(0.1732 m)  I   m L2
12
1
 (4 kg)(0.4 m) 2 (20.78 rad/s 2 )
12
A  6.399 N A  6.40 N 

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 PROBLEM 16.154

The forklift truck shown weighs 2250 lb and is

used to lift a crate of weight W  2500 lb. The
truck is moving to the left at a speed of 10 ft/s
when the brakes are applied on all four wheels.
Knowing that the coefficient of static friction
between the crate and the fork lift is 0.30,
determine the smallest distance in which the truck
can be brought to a stop if the crate is not to slide
and if the truck is not to tip forward.

SOLUTION

Assume crate does not slide and that tipping impends about A. ( B  0)

M A  ( M A )eff :

 a  a
(2500 lb)(3 ft)  (2250 lb)(4 ft)    2500  (4 ft)   2250  (3 ft)
 g  g
a
7500  9000  (10, 000  6750)
g
a
 0.09; a  0.09(32.2 ft/s 2 ) a  2.884 ft/s2
g
Uniformly accelerated motion
v 2  v02  2ax; 0  (10 ft/s)2  2(2.884 ft/s 2 ) x x  17.34 ft 
Check whether crate slides
N W
W
F  ma  a
g
F a 2.884 ft/s 2
req   
N g 32.2 ft/s 2

req  0.09  0.30. The crate does not slide. 

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 PROBLEM 16.163

Solve Problem 16.162, assuming that the plate is fitted with a single pin
at corner A.

Problem 16.162 The motion of a square plate of side 150 mm and mass
2.5 kg is guided by pins at corners A and B that slide in slots cut in a
vertical wall. Immediately after the plate is released from rest in the
position shown, determine (a) the angular acceleration of the plate,
(b) the reaction of corner A.

SOLUTION

Since both A and mg are vertical, ax  0 and a is

Kinematics:
L
AG  15 aG/ A  ( AG ) 15
2

a  aA  a G/ A 15

a  0.183L 15
1
Kinetics: I  mL2
6

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 PROBLEM 16.163 (Continued)

(a) Angular acceleration.

M A  ( M A )eff : mg ( AG )sin15  I   ma ( AG )sin15

 L  1 2  L 
mg   sin15  mL   m(0.183L )   sin15
 2 6  2
g 1 
0.183    0.033494  
L 6 
g
0.183  0.2002
L
g
  0.9143
L
9.81 m/s 2
 0.9143   59.8 rad/s 2 
0.15 m
(b) Reaction at corner A.
Fy  ( Fy )eff : A  mg   ma

A  mg   m(0.183L )
 g
  m(0.183L)  0.9143 
 L
A  mg   0.1673mg
A  0.8326mg
A  0.8326(2.5 kg)(9.81 m/s 2 ) A  20.4 N 

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