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11/7/2014

HW-8: Ch. 19 - Kinetics of an ERO-2D (Impulse-Momentum)

HW-8: Ch. 19 - Kinetics of an ERO-2D (Impulse-Momentum)


Due: 11:59pm on Sunday, July 20, 2014
To understand how points are awarded, read the Grading Policy for this assignment.

Principle of Impulse and Momentum


Learning Goal:
To be able to solve problems involving force, moment, velocity, and time by applying the principle of impulse and
momentum to rigid bodies.
The principle of impulse and momentum states that the sum of all impulses created by the external forces and moments
that act on a rigid body during a time interval is equal to the change in the linear and angular momenta of the body
during that time interval. In other words, impulse is the change in momentum.
The greater the impulse exerted on a body, the greater the bodys change in momentum. For example, baseball batters
swing hard to maximize the impact force and follow through to maximize the impact time.
This principle holds true for both linear and angular impulse and momentum.
For a rigid-bodys planar motion, the equations for the linear impulse and momentum in the xy plane are given by
m(v Gx )

m(v Gy )

t2
t1
t2
t1

F x dt = m(v Gx )

F y dt = m(v Gy )

Similarly, the equation for the principle of angular impulse and momentum about the z axis, which passes through the
rigid-bodys mass center G , is given by
IG 1 +

t2

t1

M G dt = I G 2

Part A - Angular velocity of the pulley


The pulley shown has a moment of inertia
2
IA = 0.900kg m , a radius
r

= 0.300m , and a mass of 20.0 kg. A cylinder is

attached to a cord that is wrapped around the pulley.


Neglecting bearing friction and the cords mass, express
the pulleys final angular velocity in terms of the
magnitude of the cords tension, T (measured in N),
2.00s after the system is released from rest. Use the
principle of angular impulse and momentum.
Express your answer numerically in radians per
second to three significant figures.

Hint 1. How to approach the problem


1. Draw a free-body diagram of the pulley showing all the forces and couple moments that
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HW-8: Ch. 19 - Kinetics of an ERO-2D (Impulse-Momentum)

produce impulses on the pulley.


2. Express the final angular velocity,

, in terms of T by applying the principle of angular

impulse and momentum, which states that the final angular momentum,
adding the initial angular momentum,

IA 1

IA 2

, is obtained by

, and the angular impulses of moment

\itM A

during the time interval.

Hint 2. Complete the free-body diagram of the pulley


Complete the free-body diagram of the pulley by adding the forces that act on it.
Draw the reactions at A ending at point A and pointing in the positive x and y directions. Draw the
other vectors starting at the dots on the pulleys circumference. The starting or ending point and
orientation of your vectors will be graded. The length of your vectors will not be graded.
ANSWER:

This content requires Adobe Flash Player 10.0.0.0 or newer.

Hint 3. Identify what is needed to apply the principle of angular impulse and momentum
Which of the following statements are relevant when applying the principle of angular impulse and
momentum to the pulley?
Check all that apply.
ANSWER:
The initial angular momentum of the pulley is zero.
The pulleys angular momentum is the product of the pulleys moment of inertia and the angular
velocity.
The pulleys angular momentum is the product of the pulleys mass and the angular velocity.
The angular impulse is determined by time integration of the moments about point A during the
2.00s interval.
The final angular momentum of the pulley is zero.

Hint 4. Angular impulse generated by the tension


What is the angular impulse generated by the tension in terms of the tensions magnitude,

ANSWER:
2.00T
0.300T
0.600T

ANSWER:
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2

= 0.667

T radians/s

All attempts used; correct answer displayed


A change in the angular momentum of a rigid body is caused by an angular impulse acting on the body. The
angular impulse is determined by time integration of the moments of all external forces and the applied couple
moments.

Part B - Principle of linear impulse and momentum


For the same system, determine the final velocity of the cylinder of mass

= 12.0kg that is attached to the

pulley.
Express your answer to three significant figures and include the appropriate units.

Hint 1. How to approach the problem


1. Draw the free-body diagram of the cylinder showing all the forces that produce impulses on the
cylinder.
2. Express the magnitude of the tension in the cord in terms of the final velocity,(vB )2 , by
applying the principle of linear impulse and momentum, which states that the final linear
momentum, m(vB )2 , is obtained by adding the initial linear momentum, m(vB )1 , and the
impulses exerted by the tension and the weight during the time interval.
3. Relate the cylinders final velocity with the pulleys final angular velocity using rigid-body
kinematics.
4. Solve the simultaneous equations to calculate the final velocity of the cylinder.

Hint 2. Complete the free-body diagram of the cylinder


Complete the free-body diagram of the cylinder by adding the forces that act on it.
Draw the vectors starting at the black dots. The starting point and orientation of the vectors will be
graded. The length of the vectors will not be graded.
ANSWER:

This content requires Adobe Flash Player 10.0.0.0 or newer.

Hint 3. Express the tension in the cord in terms of the final velocity of the cylinder
Which of the following is the correct expression for the tensions magnitude?
ANSWER:

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T = m (v B )2 (

m
t

T = 9.81m + (vB )2 (

T = m + (v B )2 (

m
t

m
t

T = 9.81m (vB ) (
2

m
t

Hint 4. Relate the angular velocity of the pulley and the velocity of the cylinder
Which of the following is the relationship between the angular velocity of the pulley and the velocity of the
cylinder?
ANSWER:
(v B )2 =

r
2

(v B )2 = r 2
(v B )2 =
(v B )

2
r

= 2

Hint 5. Identify the final velocity of the cylinder


Which is the correct expression for the final velocity of the cylinder?
ANSWER:

(v B )

(v B )

(v B )

9.81mtr
I +mr
mtr

I +mr

9.81mr
I +mr

ANSWER:
(v B )

= 10.7

m
s

All attempts used; correct answer displayed


A change in the linear momentum of a rigid body is caused by a linear impulse acting on the body. The linear
impulse is determined by integrating the external forces with respect to time.

Part C - Principle of angular impulse and momentum applied to the entire system
kg
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m/s
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HW-8: Ch. 19 - Kinetics of an ERO-2D (Impulse-Momentum)

Determine the mass of block B necessary to cause the 30.0kg block A to change its velocity from 8.00 to 16.0m/s
in 8.00s . The pulley of mass 20.0 kg has a moment of inertia of 0.900kg m2 and a radius of 0.300m . Assume
that the pulley rotates about a frictionless bearing. The coefficient of friction,

, between block A and the surface is

0.250. Apply the principle of angular impulse and momentum to the entire block-pulley system shown.
Express your answer to three significant figures and
include the appropriate units.

Hint 1. How to approach the problem


1. Draw the impulse and momentum diagrams of the system showing all the forces and couple
moments that produce impulses on the pulley and blocks.
2. Apply the principle of angular impulse and momentum to the pulley-block system and
determine the blocks mass.

Hint 2. Label the impulse and momentum diagram


Label the impulse and momentum diagram.
Drag the appropriate labels to their respective targets.
ANSWER:

This content requires Adobe Flash Player 10.0.0.0 or newer.

Hint 3. Identify the equation of angular impulse and momentum


Which of the following is the correct equation for angular impulse and momentum?
ANSWER:

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(I 2 I 1 )+ m A r(vA2 vA1 )(9.81 m A tr)


r(vB1 vB2 +9.81t)

(I 2 I 1 )+ m A (vA2 vA1 )+(9.81 m A t)


(vB1 vB2 +9.81t)

(I 2 I 1 )+ m A r(vA2 vA1 )+(tr)


r(vB1 vB2 +9.81t)

(I 2 I 1 )+ m A r(vA2 vA1 )+(9.81 m A tr)


r(vB1 vB2 +9.81t)

ANSWER:
mB

= 12.9 kg

All attempts used; correct answer displayed


Applying the principle of impulse and momentum to an entire system of connected bodies, rather than to
individual bodies, eliminates the need to include the reactive impulses that occur at the connections because
they are internal to the system.
The equation for the principle of angular impulse and momentum may be written in symbolic form as

syst. angular
momentum

+ (

syst. angular

= (

impulse
O1

O(12)

syst. angular
momentum

)
O2

Problem 19.16

Part A
If the boxer hits the 75 kg punching bag with an impulse of I

= 20 N s

, determine the angular velocity of the bag

immediately after it has been hit.


Express your answer with the appropriate units. Assume the counterclockwise rotation as positive.

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ANSWER:

= 0.328

rad
s

Correct

Part B
Also, find the location d of point

, about which the bag appears to rotate. Treat the bag as a uniform cylinder.

Express your answer with the appropriate units.


ANSWER:
d

= 6.25102 m

Correct

Problem 19.26
The body and bucket of a skid steer loader has a weight of 1970lb , and its center of gravity is located at
the four wheels has a weight of 105lb and a radius of gyration about its center of gravity of 1 f t .

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. Each of

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Part A
If the engine supplies a torque of M = 105lb f t to each of the rear drive wheels, determine the speed of the loader
in t = 13s , starting from rest. The wheels roll without slipping.
Express your answer with the appropriate units.
ANSWER:
v

= 26.4

ft
s

All attempts used; correct answer displayed

Problem 19.29
The car strikes the side of a light pole, which is designed to break away from its base with negligible resistance. From a
video taken of the collision it is observed that the pole was given an angular velocity of 62rad/s when AC was vertical.
The pole has a mass of 175kg , a center of mass at G , and a radius of gyration about an axis perpendicular to the
plane of the pole assembly and passing through G of kG = 2.30m .

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Part A
Determine the horizontal impulse which the car exerts on the pole at the instant

AC

is essentially vertical.

Express your answer with the appropriate units.


ANSWER:
I

= 16.4 kNs

Correct

Problem 19.15
The 1.22lb tennis racket has a center of gravity at

and a radius of gyration about

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of kG = 0.655f t .

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Part A
Determine the position P where the ball must be hit so that 'no sting' is felt by the hand holding the racket, i.e., the
horizontal force exerted by the racket on the hand is zero.
Express your answer with the appropriate units.
ANSWER:
rP

= 1.43 f t

Correct

Conservation of Momentum
Learning Goal:
To be able to describe the motion of rigid bodies by applying the conservation of linear and angular momenta.
If the sum of all the linear impulses acting on a system of connected rigid bodies is zero, the linear momentum of the
system is conserved. Mathematically, this relationship is expressed as
(

syst. linear
momentum

= (
1

syst. linear
momentum

)
2

and is called the conservation of linear momentum. If the sum of all the angular impulses (created by the external forces
that act on the system) is negligible or zero, then the angular momentum of a system of connected rigid bodies is
conserved about the system's center of mass or about a fixed point. Mathematically, this relationship is expressed as
(

syst. angular
momentum

= (
1

syst. angular
momentum

)
2

and is called the conservation of angular momentum.

Part A
Which of the following scenarios demonstrate the conservation of either linear or angular momentum?
Check all that apply.
ANSWER:
From opposite sides of a room, two identical balls of putty move toward each other, without friction, at the
same velocity and, eventually, they collide; the result is one ball of putty with zero velocity.
A penny is dropped from the top of a building and its velocity increases as it falls due to the acceleration
from gravity.
An ice skater tucks in her arms during a spin and her angular velocity increases.
A parent pushes a merry-go-round and, consequently, it spins faster.

Correct

Part B
Wr
lb
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Ws

lb

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HW-8: Ch. 19 - Kinetics of an ERO-2D (Impulse-Momentum)

A pendulum consists of a slender rod, AB, of weight


The length of the rod is
sphere is

d1

Wr

= 9.40lb and a wooden sphere of weight

Ws

= 27.4lb .

= 8.00f t and the radius of the

= 0.250f t . A projectile of weight

Wp

0.500lb strikes the center of the sphere at a velocity of


v 1 = 730f t/s and becomes embedded in the center of
the sphere. What is , the angular velocity of the
pendulum, immediately after the projectile strikes the
sphere?
Express your answer numerically in radians per
second to three significant figures.

Hint 1. How to approach the problem


Consider the projectile and the pendulum to be part of the same system. Because the projectile exerts an
impulse on the pendulum that is equal to but opposite in direction of the impulse that the pendulum exerts
on the projectile, these impulses can be omitted from the analysis. Without any external forces acting on
the system, the angular momentum around point A is conserved. Find the angular momentum of the
projectile about point A immediately before impact, and then derive an expression for the angular momentum
of the system after impact in terms of the system's angular velocity.

Hint 2. Find the initial angular momentum


What is

HA1

, the initial angular momentum of the system about point A?

Express your answer numerically in slug-squared feet per second to four significant figures.

Hint 1. Find an expression for the initial angular momentum


What is

HA1

, the initial angular momentum of the system about point A in terms of the following

variables: the weight of the projectile,

Wp

; the length of the rod,

d1

; the radius of the sphere,

acceleration due to gravity, g; and the initial velocity of the projectile,


Express your answer in terms of Wp ,

d1

, , and

R g

v1

v1

; the

ANSWER:

HA1

Wp
g

v1 (d 1 + R)

ANSWER:
HA1

= 93.52

slug f t /s

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Hint 3. Find the total moment of inertia of the system after impact
What is

Itot

, the total moment of inertia of the system after impact?

Express your answer in slug-squared feet to four significant figures.

Hint 1. Find the rod's moment of inertia


What is

Ir

, the rod's moment of inertia about point A?

Express your answer numerically in slug-squared feet to four significant figures.

Hint 1. Find an expression for the rod's moment of inertia


What is

Ir

, the rod's moment of inertia about point A, in terms of the following variables: the

rod's length,

d1

; the rod's weight,

Wr

; and the acceleration due to gravity, g? Consult your

textbook for the formula of a slender rod's moment of inertia about its end.
Express your answer in terms of d1 ,

Wr

, and g.

ANSWER:
Ir

Wr

d1

ANSWER:
Ir

= 6.228

slug f t

Hint 2. Find the sphere's moment of inertia


What is

Is

, the sphere's moment of inertia about point A?

Express your answer numerically in slug-squared feet to four significant figures.

Hint 1. Find an expression for the sphere's moment of inertia


What is

Is

, the sphere's moment of inertia about point A, in terms of the following variables:

the rod's length,

d1

; the sphere's radius,

; the sphere's weight,

Ws

; and the acceleration

due to gravity, g? Consult your textbook for the moment of inertia of a sphere that rotates
about its center. Use the parallel-axis theorem to transfer the moment of inertia of the sphere
to the axis about A; this is done by adding the product of the sphere's mass and the square of
the distance between the sphere's center and point A to the moment of inertia about an axis
through the center of mass.
Express your answer in terms of d1 ,

R Ws

, and g.

ANSWER:

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HW-8: Ch. 19 - Kinetics of an ERO-2D (Impulse-Momentum)

Is

Ws

Ws
g

(R + d 1 )

ANSWER:
Is

= 57.94

slug f t

Hint 3. Find the projectile's moment of inertia


What is

Ip

, the projectile's moment of inertia about point A after impact?

Express your answer numerically in slug-squared feet to four significant figures.

Hint 1. Find an expression for the projectile's moment of inertia


What is

Ip

, the projectile's moment of inertia about point A, in terms of the following variables:

the rod's length,

d1

; the sphere's radius,

; the projectile's weight,

Wp

; and the acceleration

due to gravity, g?
Express your answer in terms of d1 ,

R Wp

, and g.

ANSWER:
Ip

Wp
g

(R + d 1 )

ANSWER:
Ip

= 1.057

slug f t

ANSWER:
Itot

= 65.22

slug f t

Hint 4. Find an expression for the angular velocity


What is an expression for , the angular velocity of the system after impact, in terms of the system's total
moment of inertia, Itot , and the initial angular momentum, HA1 , of the system.
Express your answer in terms of HA1 and

Itot

ANSWER:

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HA 1
Itot

ANSWER:

= 1.43

rad/s

All attempts used; correct answer displayed

Part C
What is , the maximum angle measured from the vertical that the pendulum will swing, after the projectile impacts
the pendulum?
Express your answer numerically in degrees to three significant figures.

Hint 1. How to approach the problem


After impact, the energy of the pendulum and lodged projectile is conserved. To solve for the maximum angle
the pendulum will swing, use conservation of energy:
T1 + V1 = T 2 + V2

where T1 is the initial kinetic energy,

V1

is the initial potential energy,

T2

is the final kinetic energy, and V2

is the final potential energy of the system. In this situation, the initial conditions are immediately after
impact, and the final conditions are at the maximum angle. Set the initial potential energy of the system to
zero and express the final potential energy term as a function of the maximum angle , and solve for .

Hint 2. Find
What is

T1

T1

, the kinetic energy of the system immediately after impact

, the kinetic energy of the system immediately after the projectile's impact?

Express your answer numerically in foot-pounds to four significant figures.

Hint 1. Finding the kinetic energy of the system after impact


Immediately after impact, the kinetic energy of the system is due to the rotational motion about point
A:
T1 =

1
2

IA

where IA is the moment of inertia of the system, found in Part B to be 65.22slug f t2 , and is the
angular velocity of the system, found in Part B to be 1.43rad/s .

ANSWER:
T1

= 67.04

f t lb

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Hint 3. Find an expression for the projectile's final potential energy


Find an expression for V2 , the projectile's final potential energy, in terms of Wp , the projectile's weight;
the length of the rod;
impact.

d1

, the radius of the sphere; and , the maximum angle the pendulum sweeps after

Express your answer in terms of Wp ,

d1

, and .

Hint 1. Finding the change in height of the projectile


The projectile originates at a distance d1
the projectile is

(d1 + R) cos()

+R

below point A. At the peak of the pendulum motion,

below point A. The change in height of the projectile is the

difference in these quantities.


ANSWER:
Vp

Wp ( d1 + R)(1 cos())

Hint 4. Find an expression for the sphere's final potential energy


Find an expression for Vs , the sphere's final potential energy, in terms of Ws , the sphere's weight;
length of the rod;

d1

, the

, the radius of the sphere; and , the maximum angle the pendulum sweeps after impact.

Express your answer in terms of Ws ,

d1

, and .

Hint 1. Finding the change in height of the sphere


The sphere's center originates at a distance d1
motion, the sphere's center is

+R

(d1 + R) cos()

below point A. At the peak of the pendulum's

below point A. The change in height of the sphere is

the difference in these quantities.


ANSWER:
Vs

Ws ( d1 + R)(1 cos())

Hint 5. Find an expression for the rod's final potential energy


Find an expression for Vr , the rod's final potential energy, in terms of the following variables:
weight;

d1

Wr

, the rod's

, the length of the rod; and , the maximum angle that the pendulum sweeps after impact.

Express your answer in terms of Wr ,

d1

, and .

Hint 1. Finding the change in height of the rod


The rod's center of mass originates at a distance d1 /2 below point A. At the peak of the pendulum
motion, the rod's center is

(d1 /2) cos()

below point A. The change in height of the rod is the

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difference in these quantities.


ANSWER:

Vr

Wr

d1
2

(1 cos())

ANSWER:

= 41.4

degrees

Correct

Problem 19.41
Two children A and B, each having a mass of 30 kg, sit at the edge of the merry-go-round which rotates at
= 2 rad/s. Excluding the children, the merry-go-round has a mass of 180 kg and a radius of gyration kz

= 0.6 m

Part A
Determine the angular velocity of the merry-go-round if A jumps off horizontally in the n direction with a speed of
2 m/s, measured relative to the merry-go-round. Neglect friction and the size of each child.
Express your answer with the appropriate units.
ANSWER:
z

= 2.43

rad
s

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Correct

Part B
What is the merry-go-round's angular velocity if B then jumps off horizontally in the t direction with a speed of 2
m/s, measured relative to the merry-go-round?
Express your answer with the appropriate units.
ANSWER:
z

= 2.96

rad
s

Correct

Problem 19.50
The rigid 30-lb plank is struck by the 15-lb hammer head H .

Part A
Just before the impact the hammer is gripped loosely and has a vertical velocity of 75 f t/s . If the coefficient of
restitution between the hammer head and the plank is e = 0.5, determine the maximum height attained by the 50lb block D. The block can slide freely along the two vertical guide rods. The plank is initially in a horizontal
position.
Express your answer with the appropriate units.
ANSWER:
h

= 4.99 f t

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Correct

Problem 19.54
The 4-lb rod AB hangs in the vertical position. A 2-lb block, sliding on a smooth horizontal surface with a velocity of 12
f t/s , strikes the rod at its end B.

Part A
Determine the direction of the velocity of the block immediately after the collision. The coefficient of restitution
between the block and the rod at B is e = 0.8.
ANSWER:
to the left
to the right

Correct

Part B
Determine the magnitude of the velocity of the block immediately after the collision.
Express your answer with the appropriate units.
ANSWER:
vb

= 3.36

ft
s

Correct
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Problem 19.47
The target is a thin 5kg circular disk that can rotate freely about the z axis. A 23g bullet, traveling at 615m/s , strikes
the target at A and becomes embedded in it.

Part A
Determine the angular velocity of the target after the impact. Initially, it is at rest.
Express your answer with the appropriate units. Assume the counterclockwise rotation as positive.
ANSWER:

= 24.9

rad
s

Correct

Problem 19.55
The pendulum consists of a 10-lb sphere and 4-lb rod.

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Part A
If it is released from rest when = 90 , determine the angle of rebound after the sphere strikes the floor. Take e
= 0.76.
Express your answer with the appropriate units.
ANSWER:

= 35.3

Correct
Score Summary:
Your score on this assignment is 96.7%.
You received 8 out of a possible total of 9 points, plus 0.71 points of extra credit.

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