EGR 232 Engineering Dynamics Fall 2012

Lecture 32: Constrained Plane Motion

Today:
ome!or" #uestions
Read C$a% 1& 'ection (
ome!or": C$a%) 1&* Pro+lems ,(* (-* -,* 10-
Lecture .utcomes:
Follo!ing today/s lecture you s$ould +e a+le to
00 a%%ly 1e!ton/s 2
nd
La! to rigid +odies
00 +e a+le to set u% %ro+lems !$ere t$e rotation is a+out a noncentroidal %oint
00 +e a+le to set u% %ro+lems 2or rolling motion)
Constrained Plane Motion:
Constrained plane motion refers to the fact that many times, locations on a rigid body will be
constrained to move in a prescribed fashion. Where a pin moves along a slot or a body rotates
about a pin at one end, or wheel must roll along the curve of the road, certain points on the body
will have locations required of them.
The dynamics of these constrained bodies may be found by applying Newton's 2
nd
aws as in
previous problems, but these constraints may have some effect on how the accelerations !both
linear and angular" are related to each other.
Common types of Constrained #lane $otion%
Noncentroidal &otation% &olling $otion of Wheel%
! centroid at center of wheel"
'ctive Constraint equations% 'ctive Constraint (quations%

Gt G/ O
a r =
G G / C
a r =

Gn G / O
a r =
2

a
Gt
F
2
F
1
G

3
a
Gn
. .
a
G
C
F
a
Cn
3
C
G
)eneral procedural steps for solving these types of problems%
*" +ind the ,inematic relationships%
a" ocate the relative positions of contact points and centroids.
b" -dentify effect of any constraints !such as pulley problems"
c" .etermine the angular velocities of each rigid body.
d" .etermine the relationships between the angular acceleration and the
centroidal acceleration of the rigid bodies.
2" 'pply Newton's 2
nd
aw to each rigid body%
a" .raw the +/. and 'cceleration .iagram of each rigid body
b" Write out the equations to match the diagrams

x
x G
F m a =
y
y G
F m a =

P G G
M I r ma = +
r
r r r

0" 'pply friction equations if appropriate

a" for impending motion%

f s
F N =
b" for friction below the point of impending motion%

f s
F N <
c" for sliding%

f k
F N =
1" Compare the number of un,nowns to number of independent equations.
-f equal, solve for the un,nown quantities.
(2ample 3%
'n 45 ,g dis, is released at rest from the position shown.
.etermine the hori6ontal and vertical support reactions at '.
)iven%
m 7 45 ,g
&adius% r 7 *.8 m
$ass moment of inertia of a dis, about its centroid% I mR =
2
1
2

9elocity 'nalysis% &eleased from rest

A G
v v = = 0 and = 0
'cceleration analysis%

A
a = 0
G A G/ A G/ A
a a r r = +
r r r r r
2

G


a k ri i r j = + = +
r
0 0 0
+orce:$oment analysis% +/. '.
x Gx
F m a =

Ax Gx
F ma =

Ax
F = 0
y Gy
F m a =

Ay Gy
F W ma =


Ay Gy
F W ma mg mr m( g r ) = + = + = +


G
M I =
r
Ay
F r I =

Ay
I mr mr
F
r r
= = =
1
2
2
2
therefore%


mr
mg mr + =
2

g
r
=
2
3

then the reaction force may be found as

Ay
mr mr g
F mg
r

= = =


2 1
2 2 3 3
so%

Ax
F = 0
and
Ay
F mg ( kg )( . m/ s ) N = = =
2
1 1
80 981 262
3 3

G
a
Gy
3
a
G4
5
r 6 1)7 m
F
5y
8
F
54
G
5
r 6 1)7 mm
G
(2ample 4%
' long slender bar of mass, m, and length, , is inclined at
an angle of ; with respect to the flat hori6ontal plane. The
bar is not to slide as it is released from rest, determine
a" the support reactions N and +f.
b" the required coefficient of friction.
c" the acceleration of the centroid ).
)iven% no slipping
ength,
$ass, m
'ngle, ;
$ass moment of inertial for long slender rod% I mL =
2
1
12
)eometry
G / A
L L

r !s i sin j = +
r
2 2
9elocity analysis% /ody released from rest% v' 7 v) 75
'cceleration analysis%

A
a = 0
G A G/ A G / A
a a r r = +
r r r r r
2

G
L L

a k !s i sin j

= + + +


r
0 0
2 2

L L

!s j sin i =
2 2
+orce:$oment 'nalysis%
x Gx
F m a =

f
L
F m sin

=


2

y Gy
F m a =

L
N W m !s

=


2
N mg mL !s = +
1
2
G
M I =

f
L L
N !s F sin I

+ =


2 2

9
L
m
G
5
9
: m
G
a
Gy
3
a
G4
5
1
8
F
2
9
L
G
therefore%

L L
mg mL !s !s mL sin sin I

+ + =


1 1
2 2 2 2
<olving for =

( ) ( )
mgL !s mL sin mL !s I =
2 2 2 2
1 1 1
2 4 4

( )
mgL !s mL mL sin !s = + +
2 2 2 2
1 1 1
2 12 4
mgL !s mL

= +


2
1 1 1
2 12 4

mgL !s
!s g
L
mL

= =
2
1
3
2
1
2
3
so%
!s g
N mg mL !s
L

= +


1 3
2 2
!s !s
N mg mg mg

= =


2 2
3 3
1
4 4
f
L !s g
F m sin
L

=


3
2 2

f
!s sin
F mg

=
3
4


f
s
!s sin !s sin
mg
F
!s sin
!s N !s !s
mg

= = = =

2 2 2
3 3
3
4 4
4 3 4 3 3
1
4 4
4


G
L !s g L !s g

a !s j sin i
L L



=


r 3 3
2 2 2 2

G
!s sin !s

a g i g j

=
r
2
3 3
4 4
E4am%le -:
' force # of *4 N is applied to the cord which wraps around the central hub of the wheel shown.
>ub radius is 45 mm and wheel radius is *?5 mm. The mass of the wheel and hub is 8 ,g and it
had a radius of gyration of *25 mm. <tatic and ,inetic coefficients of friction are 5.25 and 5.*8
respectively. .etermine
a" if the wheel rolls or slides along the hori6ontal plane.
b" the angular acceleration and centroidal acceleration of the wheel.
)iven%
# 7* 4 N
rhub745 mm r wheel 7 *?5 mm
, 7 *25 mm
m 7 8 ,g
@s75.25 @,75.*8
&adius of gyration%

I k m =
2
7 32555 ,gAmm
2
Case *% 'ssume no slippage.
't point '%
A
v = 0
A n

a i a j = +
r
0
't #oint )%
G G

a a i j = +
r
0
'cceleration analysis%
G A G/ A G/ A
a a r r = +
r r r r r
2
( )
G n "#$$% "#$$%

a i j i a j k r j r j + = + +
2
0 0
G n "#$$% "#$$%

a i j a j r i r j + =
2
0
i%
G "#$$%
a r = B%
n "#$$%
a r =
2
P
G
5
;
P
;
F
2
8
G
1
a
Gy
3
a
G4
G
m* :
Force 5nalysis:
x Gx
F m a =

f G
P F ma =

y Gy
F m a =
N W = 0 N W mg = =
G
M I =

#&' f "#$$%
Pr F r I =
'ol<e to 2ind 3* 1* and F2
f "#$$%
P F m( r ) =

#&' f "#$$%
Pr F r I =

f
"#$$%
F P
r m

=
#&' f "#$$%
Pr F r
I

=

f #&' f "#$$%
"#$$%
F P Pr F r
r m I

=

f #&' "#$$% f "#$$% "#$$%
IF IP Pr r m F r r m =

( ) ( )
f "#$$% "#$$% f #&' "#$$%
I r r m F r r m I P + = +

#&' "#$$%
f
"#$$% "#$$%
r r m I
F P
I r r m
+
=
+
so:
#&' "#$$%
f
"#$$% "#$$%
r r m I
F P
I r r m
+
=
+
N W mg = =
f
( (
F ( ) . N
( (
+
= =
+
160 80 5 72000
18 1224
72000 160 160 5
N ( . . N = = 5 981 491


f
s )n$$*$* s ) avai%a'%$
F
.
. .
N .
= = = > =
1224
025 020
491
so t$e !$eel sli%s)
Case 2: 'li% at 5:
5t %oint 5: At Point G:
A Ax n

a a i a j = +
r

G G

a a i j = +
r
0
5cceleration analysis:
G A G/ A G / A
a a r r = +
r r r r r
2
( )
G Ax n "#$$% "#$$%

a i j a i a j k r j r j + = + +
2
0
G Ax n "#$$% "#$$%

a i j a i a j r i r j + = +
2
0
i:
G Ax "#$$%
a a r = =:
n "#$$%
a r =
2
Force 5nalysis:
x Gx
F m a =

y Gy
F m a =

f G
P F ma =
N W = 0
N W mg = =
G
M I = Friti!n +,

#&' f "#$$%
Pr F r I =

f k
F N =
Com+ine to 2ind a54* 3* 1* and F2
N W mg ( . . N = = = = 5 981 491
f k
F N . ( . . N = = = 015 491 7365

#&' f "#$$%
Pr F r I =

#&' f "#$$%
Pr F r
I

=

( . ( N mm kg m / s mm
mm kg N m

=

2
2
18 60 7365 120 1 1000
72000 1 1
. ra* / s =
2
2725

f Ax "#$$%
P F ma mr =

f
Ax "#$$%
P F
a r
m

= +

( ) . N
. m( . ra* / s . m / s
kg

= + =
2 2
18 7365
0120 2725 2454
5

t$ere2ore t$e dis" does sli% and t$e acceleration o2 %oint G is gi<en +y

( )
G G Ax "#$$%

a a i j a r i j = + = +
r
0 0
( )

. . ( . i j . i j m / s = + = + 2454 2725 120 0 2127 0
EGR 232 Eng) Dynamics 8 'et 32 Fall 2012
Pro+lem 1&:,(
' uniform slender rod of length 7 C55 mm and mass m 7 1 ,g is suspended from a
hinge at C. ' hori6ontal force # of magnitude 38 N is applied at end /.
Dnowing that r 7 228 mm, determine a" the angular acceleration of the rod,
b" the components of the reaction at C.

EGR 232 Eng) Dynamics 8 'et 32 Fall 2012
Pro+lem 1&: (-
Two uniform rods, '/C of mass 0 ,g and .C( of mass 1 ,g, are connected by a pin
at C and by two cords /. and /(. The T shaped assembly rotates in a vertical plane
under the combined effect of gravity and a of a couple $ which is applied to rod '/C.
Dnowing that at the instant shown the tension is 4 N in cord /., determine
a" the angular acceleration of the assembly, b" the couple $.

EGR 232 Eng) Dynamics 8 'et 32 Fall 2012
Pro+lem 1&:-,
' homogeneous sphere <, a uniform cylinder C, and a thin pipe # are in contact when they are
released from rest on the incline shown. Dnowing that all three obBects roll without slipping,
determine after 1 s of motion the clear distance between
a" the pipe and the cylinder b" the cylinder and the sphere.

EGR 232 Eng) Dynamics 8 'et 32 Fall 2012
Pro+lem 1&:10-
Two uniform dis,s ' and / each of weight 1 lb, are connected by a 0 lb rod as shown. '
countercloc,wise couple $ of moment *.8 lbAft is applied to dis, '. Dnowing that the dis,s roll
without sliding, determine a" the acceleration of the center of each dis, b" the hori6ontal
component of the force e2erted on dis, / by pin ..