1

Engineering Dynamics
Jerry H. Ginsberg
Answers to Selected Homework Problems
Corrected October 1, 2008
1.1
1.4
1.6
1.8

1.10

2.1
2.3
2.6
2.9

2.11
2.14

2.16
2.19
2.21
2.24

2.26
2.28

Mshaft = 11624 N-m.

A = 7749 12034k,
F = 3009 3492j + 1937k N, M
c1 = 143.39, c2 = 0.534501, c3 = 440.334 rad/s.
F 1 = 336.8, F 2 = 386.2 N.
vP = [ cos (t) cos Rt sin ] + [ cos (t) sin + Rt cos ] j,
1
= t2 , vk = cos (t) , v = Rt.
2h
i

v = x + L1 1 cos 1 + L2 1 + 2 cos (1 + 2 )
h
i

L1 1 sin 1 + L2 1 + 2 sin (1 + 2 ) j,
where x = 1000 cos (50t) mm/s, 1 = 10 sin (50t) rad/s,
2 = 10 cos (50t /3) rad/s.
1/2

v = [2gR sin (s/R)]

et ,

a
= g cos (s/R) et + 2g sin (s/R) en .

(a) s = s0 /4, (b) s = s0 /2, (c) R = 2s0 /, (d) sin (s/s0 ) = (2/3)1/2 .

= 0.0304i 0.16973j 2 /k .
v = 0.1451i 0.4785j , a

+ sinh j
v = v0 (1 k sinh )
,
cosh
"
#

2
j

+
sinh

sinh

+
j
v
a
= v02 k (1 k sinh )
.
+ 0 (1 k sinh )2
cosh

(cosh )3
en = 0.5160 + 0.6769j 0.5241k,

et = 0.4804 + 0.27740j + 0.8321k,

= 6.392 m, = 40.33 m.
eb = 0.7086 0.6818j 0.1818k,
6
0
(s0 )
00
eb =
r

=
,
3
2 (
r0 r00 ) r000
(s0 )
3
(s0 )
where = h
i1/2 .
r 0 r 00 )2
(
r 00 r 00 ) (s0 )2 (

j 2 sin (2t) k ,
v = L
sin
(t)

+
cos
(t)

a
= L 2 cos (t) sin (t) j 4 cos (2t) k .
(a) x = 32.72 m, (b) = 37.85 . x = 35.61 m.

1/2
m 1/2
mg
H 3
(a) v0 = 0.2887
, (b) tf = 1.3095
, yf = 0.8574
.
m
aH
H
x
x
2 Hu2
Hu
j, a
j,
sin
cos
=
(a) v = u +
L"
L
L2
L
#

2 !/2
H
at x = nL, n is an integer,
(b) max (v) = u 1 +
L
2 1/2
2 Hu2
2n 1
gL
(c) max (|
a|) =
at x =
.
L, (d) u <
2
L
2
2 H
y 0
x 0
y 0
x 0
x=
[1 cos (t)] +
sin (t) , y =
sin (t)
[1 cos (t)] ,
u
u
u
u
z = z0 t, helical path.
2
8
1/2
1/2
eR
e +
(c)

ez ,
v = (c)
3

3
2

a
= (c)1/2 2 2 eR + 1 (c)1/2 2 e + 22 ez .
3
3

u2

2.31

v = u cot
eR L sin
e u
ez , a
=

2.33

N = 554.3 N, Ft = 999.2 N.

e ,
v = ah
ea +

i
ah 2
+ 2 2 (sinh ) (cosh ) 2 (sin ) (cos ) e
a
=
h
ha h

+ 2 2 (sin ) (cos ) + 2 (sinh ) (cosh ) e .

+ h2
h
2
v = 12.329
m/s, v = 8.922

m/s , = 3.719 m.
v =
R cos R sin + R sin + R cos j,

cos 2R sin R sin R 2 cos

a=
R

sin + 2R cos + R cos R 2 sin j.

+ R
h
i1/2
sin cos
2 2 A
2
v = A 1 + 3 (sin )
, v = 3 2 A h
en = h
i1/2 , a
i1/2 .
2
2
1 + 3 (sin )
1 + 3 (sin )
r = 350.0 m/s, = 0.06239 rad/s, = 0.0324 rad/s,
= 0.02345 rad/s, = 0.00516 rad/s.
r = 40.40 m/s,
i3/2
h
2
(R0 ) + R2
v = (R0 eR + R
e ) , a
= 2 [(R00 R) eR + 2R0 e ] , =
.
R00 R R2 2 (R0 )2
v = 30.05 m/s, v = 520.8 m/s2 , F = 40.01.N.

2.36

2.39
2.41

2.44
2.46

2.49
2.51
2.54
3.1

3.4

3.6
3.9
3.11
3.14
3.16

3.19
3.21
3.24
3.26
3.29
3.32

3.34
3.37

L (sin )

+ L sin eR 2u cot
e .

v = 20.62 m/s, v = 250.0 m/s2

0.8321 0.5547
0
0.5571 0.7428 , rC/A = 0.4828j 0.5356k m.
[R] = 0.3714
0.412 0.618 0.6695

0.9285 0.3714
0
[R] = 0.1564 0.3910 0.9070 , rO/A = 46.42 + 7.82j 16.84k m.
0.3369
0.8422 0.4211
(a) [xE yE zE ] = [75.09 48.32 42.73] mm,
(b) [XE YE ZE ] = [1.62 98.80 6.06] mm.
= cos1 (0.7198 cos + 0.6428 sin ) .

[XC YC ZC ] = [0.1465 0.3357 0.0766] m.

0 = 0.9265I 0.3258J 0.1881K.

= 77.14 about K

0.2588 0.8365 0.4830

[R] = 0.8365 0.4441 0.3209 , 51.74 between original and new y axes
0.4830 0.3209 0.8147
mm.

rC = 406.9I 378.6J 505.1K

mm.

rA = 113.19I + 124.14J 13.76 mm,

rB = 95.83I 25.66J + 13.76K

mm, vC (t = 0) t = 56.12I 23.13J + 12.21K

mm.

rC = 49.65I 33.59J + 5.30K

2

= 1000 + 0.16667k rad/s,

= 166.7j rad/s ,
where = et and j = en for the airplanes path.
= 5236j 20k rad/s,
= 104 720 + 100k rad/s2 .
= 90 :
2

= 5246j 17.32k rad/s,

= 90 690 50j + 86.60k rad/s .
= 60 :

= 0.4330 + 2 + 0.5 + 2 j + 0.250 3 2 k,

= 0.250 + 3 2 0.8660 j + 0.4330 2 k.

h
i
h
i
a
C = L sin 2 L 2 (9 + cos 2) + L (3 + cos 2) + L 2 sin 2 j, = eC/B .

sin 2 + 2 W (cos ) j 2 W sin k.

a
B/A = 2 H + 2W

3
3.39
3.42
3.45

3.47
3.50

3.52

3.55
3.57
3.60
3.62

4.1

vE = (3.77L + 127.3R) j 10 (L + R) k,

a
E = (106.3L + 16315R) i + 25.13 (L + R) j (495.3L + 182.1R) k.
2

vD = 6.566 2.347j + 11.638k m/s, a

D = 314.9
237.4j 317.4k m/s ,

where j = eC/B and k = eB/A eC/B / eB/A eC/B .

v
v
d

=
+v
et + eb ,
ds

v 2 d
v
v 2 d
d
v 2 d
d2
v
2
+ v
+ v 2 2 et +
en +
2
eb .

ds
ds
ds
ds
ds
2
2
2
u = (50 sin ) g +
s + s (cos ) ,

sin , Nvertical = m g cos + 2 s sin 2 + 2u

Nhorizontal = 2m u cos s
2
k,

vB = h + sin j +
i
h
i
2
cos j
a
B = 2 2 (sin ) + 2 sin + 2
h
i

+ 2 sin cos + 2 k.

=
0.9397 cos 0.9397 sin j + 0.3420 + k,
k,

=
0.9397 sin h0.9397 cos j +
i

vG = 1.47L sin + L (0.171 + 1.47 cos ) + 0.5 j + 0.4698L sin k,

h
i

2
a
G = L 0.5 0.5027 cos + 0.8415 (cos ) 2 0.5 2 + 0.342
h
i
+ (0.5027 sin 0.2208 sin 2) 2 j
+L 0.5
h
i
+L (1.281 + 0.1607 cos ) 2 + 0.9397 cos k

aB )x2 y2 z2 = 19668I 35112J m/s2 .

(
vB )x2 y2 z2 = 46.57I + 41.16J m/s, (

(
acan )xyz = (0.25s 2.503) i 0.918j (s + 5.553) k.

e sin
s=
d2 to the right.
u

1/2

2H
2H
(a) x = 0, y = e cos
,
g
3

1/2
2H
H
+ Re .
(b) x = 0, y = e cos
g
3

R 1 cos R 2 L + L 1 sin j R 1 sin k,

vD =

+ R 2 + 2 + 2 1 L + R 2 cos j
a
D =
L 21 sin cos L
1
2
h
i

2 L (sin )2 + L 2 + 2R 2 k.
1

4.3
4.6

4.8
4.11

= 97.93 rad/s, = 20 rad/s, = 48.44 rad/s,

= 10.12 19.19j + 50.22k rad/s.

[R] =
[Rx ()] [Ry
()] [Rz ()] ,

=
sin + cos + sin cos j + sin + cos cos k,
h
i
h

sin cos +
cos sin + cos sin sin + cos cos

i
h
i
cos cos sin sin cos cos sin cos k.

sin j +
v = 5.313 m/s, v = 724.1 m/s2 .

A = b cos 2 sin J,
vA = b cos J,

vB = b sin I,
B = b sin + 2 cos I,

2
vG =
b cos +
I +J ,
4
2 h

2
b cos +
2 sin +
I +J .
a
G =
2
4
4

4.13
4.16
4.18
4.21
4.23
4.26
4.28

4.31
4.33

4.36

4.39

4.41

4.44
4.46

5.1

5.6
5.9
5.11

k is outward.
= 60 :
BC = 0.1111 k,
BC = 0.4467 2 k,

= 120 :
BC = 0.2727 k,
BC = 0.1232 2 k.

BC = 0.8660 AB k,
CD = 0.50 AB k,
BC = 0.250 2AB k,
2

CD = 1.616 AB k, k is outward.
vG = 0.433vA + 0.433Lj 0.25vA k,

vB = 0.866vA + 0.866Lj + 0.5vA k,

where k is upward and is radial.

u2
1
a

C = 2u R2 sin j
k.
vC = R sin + uj u tan k,
R (cos )3
CD = 17.490 + 141.22j 90.88k rad/s,
vD = 18.138 m/s,
2
2
aD = 13802 m/s , CD = 950.7 + 4718j 4940k rad/s .
rad/s, where I = eA/C .
(a) No unique solution, (b) AB = CD = 1.20vA J + 1.60vA K
h

sin j ,
vP = (R r) 1 + cos
r
r

R
2

a
P = (R r) 1 + cos
1 sin
r

r r

R
2

+ (R r) sin + 1 + 2 cos j.
r
r
r
2
v
v
A = 0.1172 2 clockwise.

A = 0.7273 clockwise,
R
R
v (cos )2
2v 2 h (cos )3 sin

=
clockwise,

=
i3 clockwise.
h
2
R (cos ) + h
R (cos )2 + h

v
v
v2

= + cos j,
= 2 (1 + cos ) sin k,
R
R
R
parallel to the cone generator and j upward.

sin
i 1 sin ( + ) j,

= 1 cos ( + ) + (1 2 )
sin

sin
sin

=
1 cos ( + ) + 1 2
i (1 2 ) 1
sin ( + ) j
sin
sin

1 sin ( + ) k.

R
(1 2 )
Precession : = 1 +

1
cos

1
,
2
r
(sin )

(1 2 ) R
Spin: =
1 cos ,
2
r
(sin )

= cos + + sin k,
= sin j,

parallel to the cone generator, k upward.

= 33.69 , = 15.428 rad/s, = 0.6934rad/s, = 13.699
rad/s.

u
1
=

= 2 (1 + cos ) + j cos k,
R sin 2 cos
2

u
1
2

= 2 sin
cos

(2
+
2
cos

sin
)
+

R2 (sin 2 cos ) 3
= eC/B , k upward.
2 (1 + cos sin ) k,

O = 2mh sin sin I + cos J ,

Initial H

O = mh sin 2 1.523 10
,
H
J + 0.01745K
where XY Z is stationary, with X aligned with the shaft and
Z perpendicular to the initial plane of the bars.
7
11
128L2 + 93R2
93R2
m=
R2 L, zG =
L, Ixx = Iyy = m
, Izz = m
.
12
28
560
280
m = 6.369 kg, xG = 1.1078 m, yG = 0.5847 m,
Ixx = 3.544, Iyy = 9.931, Izz = 13.475 kg-m2 , Ixy = 5.776 kg-m2 .
m = 414.1 kg, rG/O = 2.26j + 200k mm, centroidal x
yz are principal axes with
Ixx = 9.495, Iyy = 9.498, Izz = 9.800 kg-m2 .

5
5.13

5.16
5.19
5.21

5.26
5.28
5.31
5.33

5.36

5.39

6.1
6.3

6.6

6.9

6.11

6.14
6.16

0.542 0.042
0
0 .
[I] = mR2 0.042 2.542
0
0
2.583
2
2
Ixx = 0.006667 0.004 (cos ) , Iyy = 0.002667 + 0.004 (cos ) ,
2
Ixy = 0.002 sin 2 kg-m .

I1 = 26.61 106 , I2 = 456.7 106 , I3 = 483.3 106 kg-m2 .

191.5 229.6 64.8

[I] = 229.6 1687.5 11.1 kg-m2 .
64.8 11.1 1613.0
1

C /dt = 1 mL2 2 sin cos k.

C = mL2 sin j, dH
H
9
9
Ix0 x0 = 0.125, Iy0 y0 = 0.260, Iz0 z0 = 0.225 kg-m2 ,
C = 0.1520 + 0.054j = 0.11180 + 0.1163j 0 kg-m2 /s, T = 0.076 2 J
H
1
A = 17 mab 2, k = eB/A .
FA = mb 2 j, M
3
36 i
h
i
h
i
h
2
2

sin + 2 cos k,

FO = mL (sin ) + 2 mL 2 sin cos j mL

h
i
h
i
cos (I1 I2 + I3 ) sin + I2
sin (I1 I2 I3 ) cos
O = I1
M
h
i
= eG/O .
I3 + (I1 I2 ) 2 sin cos k,

G = mR2 1 0.125 + (0.433 0.5) k , dHG = mR2 21 0.25 0.108252 j

H
dt
= 2.309 for no dynamic reactions,
is the axis of the disk, j is perpendicular to the diagram.

i
M
B = 1 mR2 2 (cos )2 + 2 2 sin cos j
FB = 3mR2 I + mg K,
4
is the axis of the disk, j is perpendicular to the diagram.

1/2
3g
=
.
2L cos

1 1
1
FA = mL2
+ cos mg (sin ) ,

3 9
6

1
1
1
2

FB = mL
cos + mg (sin ) i + 2mg k,
3 9
6
i is radial to left, k is upward.

3
mv 2
mv 2

v = 0, Fleft =
cos I +
mg +
sin K,
6R
2
6R

mv 2
3
mv 2
K
upward.
cos I +
mg
sin K,
Fright =
6R
2
6R
i
h
h
i
sin k N,
FA = 10g cos 2.5 2 (sin )2 + 10g sin 2.5 2 sin cos j 2.5

cos + 0.225
sin j + 2.5g sin 24 sin 0.175 2 sin cos k N-m,
A = 0.4
M
along the axis of symmetry, k horizontal.
mR2
FA = FB =
1 2 cos parallel to the upward diameter of the disk,
2L
1
1 = mR2 22 sin 2
M
eA/B .
8

1 1
g
1
+ 2
+ cos sin =
cos .
3
2
3
2L

L
L
L
2
+ 2
(sin ) sin cos cos + sin cos = g cos ,
4
6
3

1
1 2 1
L
L (sin )2 sin cos +
(L 4) sin cos sin
27
27
24
1
1
sin cos = g sin sin .
3
6

6.19
6.21

6.24

6.26
6.29
6.31
6.34

6.36
6.39
6.41
6.44
6.46
6.49
6.51
6.54
6.56
6.59

6.61
6.64
6.66
6.69
6.71
6.74
7.1
7.3
7.6
7.8
7.11

21 >

g/R
.
0.4 + 1.25 sin 2

L2
sin
N [L (1 + cos ) R sin ] = mgL (1 + cos ) mR
R2

1
+

cos sin , = .
4 2R
6
2
2

NB = mg cot + m (R r) 2 mr cos ,
5
2
NA = mg 2 mr ,

fB = mr ,
5
sin
5
R r r cos
(1 2 ) and = 2 cos .
where =
r (sin )2
Lb
b
Front wheel drive: v = g
, rear wheel drive: v = g
,
L + h
L h
all wheel drive: v = g.
= 14.392 g .
L
= 25.02 rad/s.

mg 2 + r12
mg
,
,
(a) Fcrit = min
sin 2 (cos + sin ) + r12 sin + r1 r2
F r12 cos r1 r2
.
v =
m
2 + r12
1
v = g, min = 0.2.
3
F = v.
gL
.
A B =
R2
N = 63.4 N, increase

at front wheels, decrease at rear wheels.

5.193
FR
2
v =
.
1 + 2 /R2
m
max = 37.49 , = 6.106 rad/s when = 32.49 .

1/2

2F R3
2
2
v =
.
+ sin 5 + 8 2 cos (cos )
m (R2 + 2 )

max = 37.49 .
g 1/2
, (b) max () = 133.8 above horizontal.
(a) = 4.3503
L
g 1/2
.
,
(a) = 46.56 , 1 = 0.9494
L
1/2
1/2
(b) P t = 0.1148m (gL) , vG = 1.1123 (gL) .
mvh
2 =
where point A is the corner where impact occurs.
2IA
2 = 4.065 rad/s, v2 = 24.70 rad/s at 59.17 above left horizontal.
(
vG )2 = 0.2467v sin j, 2 = 0.2220v sin ,
vball = ( cos 0.01328 sin j) v.
(
vB )2 = 0.8613v1 at 50.74 below the left direction.
2

vG = 15.459 m/s downward, 2 = 17.441 rad/s counterclockwise.

2 = 33.7 + 484.3j + 50k rad/s.
v2 = 16.57 + 1.33j + 6k m/s,
2
2 (X ut) X Y 2 (X ut) u = 0, Y = (X ut) .
R + s X C cos + Y C sin = 0, s + X C sin + Y C cos = 0,
both constraints are holonomic.
sin = 0.
x cos x
1 sin 1 + 2 sin 2 + 3 sin 3 = 0, 1 cos 1 2 cos 2 3 cos 3 = 0.
x A sin ( + ) L cos = 0.

7
7.14
7.16

7.19

7.21
7.24

7.26
7.29

7.31
7.34
7.36
7.39
7.41
7.44

7.46
7.48

7.51

7.54

7.56

(sin 2 cos ) R u = 0, [2 (1 + cos ) sin ] + = 0.

F 3y 2 + 4L2 + 2M L
nc
q1 = y : Qcons
=
k
(y

1.5L)

8L,
Q
=

,
1
1
2L (4L2 y 2 )1/2
2
2
q1 = : Qcons
= 2kL
1
i cos 8L cos ,
h (2 sin 1.5)
2
M.
Qnc
1 = F L 2 + 6 (sin )

W = NB sin ( + ) xA + NB L cos ,
cos
if kinematically admissible.
xA = L
sin ( + )
1/2

.
V = x2 y 2
#
"
2
H
H 2 sin 2 1
1
+ 2m
m L2 +
4
5 + 2 mgL cos
3
(cos )
(cos
)

tan tan
mgH
9 = ,
+ kH 2
+
(cos )2
(cos )2
= 16.092 for static equilibrium.
+ m
cos + ks mg sin = 0.
3mhX
s cos + 2kX = 0, im
s + mX
2
2 (2R1 + R2 ) + k (R1 L) 2mg cos = 0,
1 + R
m 2R
h
i
1 + R
2 (R1 + R2 ) 2 + k (R2 L) mg cos = 0.
m R

3
8
mL2 + kL2 4 sin L cos = 2 (F + mg) L cos .
3
2
1
1
mL2 + mL (
u + g) sin = 0.
3
2
1
+ 1 mL2 sin + k = 0.
mL2
3
2

4mR2 + 2 sin cos + 2mgR sin (2 + t) = 2F R sin .

(2mg 4F )
1 + 8 (cos )2 92 + 8 2 sin cos =
sin .
mL

m2 (R r) cos 2 sin + kx = F,
(m1 + m2 ) x
3
(R r) x
cos + g sin = 0.

2
1 2 1 2
h
2 2
2 2
b + h + R + R + g R cos sin = 0.
12
3
2
(m1 + m2 ) s + m1 (R + cos ) m1 2 sin = (m1 + m2 ) g sin ,

m1 R2 + 2 + 2 + 2R cos + m1 (R + cos ) s
m1 R 2 sin = m1 g [R sin + sin ( + )] .
h

1 dI 2 3
cos ( )
+ mgL cos = F L
2 d
2 (
sin

1
5
1
2
2
2
where I = mL2
+
cos
(

)
(cos
)
+
+
12 (sin )2
4 R2

1
+ cos cos ( ) cos
2
h
i
2
2 (sin )2 s + ks + m1 g sin cos = 0,

m
+

m1
1

I1 + m1 s2 + 2m1 ss m1 s2 2 sin cos + m1 gs cos cos = 0,

h
i
i
h
2
s (sin )2 + s sin cos m1 gs sin sin = .
I2 + m1 s2 (sin )
+ 2m1 s
h

i
1
1 + 2
2 cos = C.
mR2 1 + (cos )2
4
I +

7.58
7.61

7.63

7.66

8.2

8.4

8.6

8.9

8.11

2
1
1
= M.
mL2 + mgL sin = 0,
mL2
3
3
2

2 (sin )2 L 2 g cos = 0,
2

1 2
1
L
L L + 2 + (2 L) 2 2 + L2 sin cos + g
sin = 0.
3
12
2

1
(m1 + m2 ) z + m2 L sin + 2 cos + (m1 + m2 ) g + kz = F,
2
1
1
1 1
L + z sin L 2 sin cos + g sin = 0,
3
2
3
2
i
h
1
(sin )2 + 2 sin cos = M.
m2 L2
3

Ip + m L2 + R2
1 + (cos )2 + 2mL2 cos
4

1
1
2m sin L2 + L2 + R2 cos + mR2 sin = ,
4
2

1
1
1
2
2
2
2
2
m L + R + m sin L + L + R cos 2 mR2 sin mgL cos = 0.
4
4
2
h
i
i
h
sin + 2 cos
m R2 + 2 + 2R2 (1 + sin )2 + 3.75mR2 (1 + sin )
+2mR2 2 (1 + sin ) cos = F R (1 + sin ) + 1 cos ,
o
h
i
nh
i
25
2
+ 3 2 sin cos + 3.75mR2 sin (1 + sin ) + 2 cos
mR2 1 + 3 (sin )
12
+1.25mgR cos = 2.5F R sin 2.51 cos ,
cos 2.5 cos = 0
h
iT
h
i
2
2
{z} = , I1 = m L2 + 21 (sin ) + 22 (cos )
m 2 2 sin 2 + m2 cos +

1
2
1 1
I1
0
c1

2
2
1
2
2
2
0

m2
1
=
m 1 2 sin 2 + m1 1 cos

c1
1
0
1
c2

R 2 cos + m2 R + 2R sin + 2k1 x = 1 sin ,

(m1 + m2 ) x
m2 R

x
m2 R
cos R 2 + k2 (R R0 ) = 0

m2 R + x
sin + 2R m2 g cos = 1 , x sin + R = 0.
h
i
1
2
(8 + 7.5 cos ) (sin )
m1 R2 4.5 + 8 cos + 3.75 (cos )
+ (sin )
2

1
+ cos = M + 1 R (sin 2 2 cos ) ,
2
h
io
n
1
4.25m1 R2 + m2 R2 1 2 sin 2 + 3 (cos )2 m2 R2 (4 cos 2 + 3 sin 2) 2
2
+m1 R2 (4 + 3.75 cos ) (sin ) 2 2 (m1 + m2 ) gR cos + m2 gR sin
= F R (sin 2 cos ) ,

1
+
sin + cos = 1 R, R (sin 2 2 cos ) + R = 0.
m1 R2
2

1
(mA + mAB + mB ) x
A (mAB + 3mB ) L sin + 2 cos = F + 1 sin ( + ) ,
2

1
3
1
1
2
2
xA sin
mAB L + mB L + mB R2 (mAB + 3mB ) L
3
2
4
2
cos = 0.
= 1 L cos , x A sin ( + ) + L

9
8.13

8.15

8.17

q1 = XC , q2 = YC , q3 = , X C sin Y C cos = 0

3
C + mL sin + 2 cos = F1 + F2 I + 1 sin
m + mw X
2

3
m + mw YC mL cos 2 sin = F1 + F2 J 1 cos
2

1
2
2
C sin YC cos = rA/C F1 + rB/C F2
I + m1 L + mw R + mL X
4

4m
s + 2mL sin + 2mL 2 cos = F + 2 sin t,

1 3
3 sin 2 sin 2 + 3 2 sin cos (sin )2 + 3 2 sin 2
+ (sin )2 (sin )2
6 2
8
2
4
1
3
2
+ (sin ) sin 2 =
(1 cos sin 2 cos t sin sin ) ,
2
mL

3
1
3
2
2
2
mL2
s sin
+ (sin ) + (cos ) (cos ) + 2mL
6 2
2

h
i
3
1
1
+ mL2 2 sin 2 1 + (cos )2 mL2 2
+ 3 (sin )2 sin 2
2
2
3
= 1 L sin cos + 2 L [sin t sin + cos t cos cos ] ,
L cos sin + L sin cos = 0,
s sin t Lh cos t sin sin + L [sin t sin + cos ticos cos ]
+ s cos t L sin t cos sin L (cos t)

= 0.

XG = 111.2 m, YG = 70.0 m, = 56.2 at t = 60 s.

8.19

passes 89 when t = 9.28 s.

8.22

max() = 80.73 when t = 1.995 s.

1
4 g
g
4
+
sin +

sin + 2 cos sgn = 0.

2
3 R
R 3

1
1
+ mlYB sin 1 mgL sin = |NA | (cos ) sgn NA sin ,
mL2
3
2
2
1
H
1
2
2

mYB (sin ) + mL sin + mL 2 cos =

NA , Y B (sin ) + H = 0.
2
2
sin
h
iT
iT
h
d
T
T
T
T
T
{q} = [ XB YB ] , {x} = {q} {q}

,
{
q}
,
{x} = {q}

dt

q}
{
{F }
[M ] [B]
NA
=
,
[a]
{a} {q}

[a]
[0]

N
B

L2 /3
(L/2) cos (L/2) sin
,
1
0
[M ] = (L/2) cos
0
1
(L/2) sin

H/
sin

(L/2) g sin

sin sgn + cos

1 , {F } =
2 sin
(L/2)

,
[B] =

(L/2)

cos

cos sgn sin

0

0 1
0
0 0
0
[a] =
,
[
a]

=
,
2
0 0 sin 2
H 0 (sin )
NB = 0 at t = 0.237 s, = 45.54 .
w
+ (EIw00 )00 + g f = 0; either w is specified or (EIw00 )0 = 0 at x = 0 and x = L;
either w0 is specified or EIw00 = 0 at x = 0 and x = L.
("
)

2 # 2
3 wy
1 wz
wy wz 2 wz
wy
w
y + F
1

g + fy = 0,
2 x
2 x
x2
x x x2
#
)
("

2 2

2 2
3 wz
1 wy
wy wz 2 wy
wz
wz
w
z + F
+ fz = 0.
1

2 x
x2
2 x
x2
x x x2

8.25
8.28

8.31

9.2

9.5

10

9.7

9.10

9.12
9.15

9.17
9.20

9.22

9.25

9.27

9.30

9.32

2
1
2 F
4F 3
3q1 + 24q1 q22 + gL = 0,
L
q1 +
q1
3
2
2L
16L4

42 F
3 F 2
1
3
q q2 + 2q2 = 0.
L
q2 +
q2
2
L
2L3 1

2
4
F
F 3 3
3
3
1
1
L
p1 +
p1 3
p1 + p1 q12 + p1 p22 + p1 q22 + q1 p2 q2
2
2L
L
16
16
2
2
2
2
+ gL = f0 L sin (t) ,

2F
4 F 3 3
3 2
1
3 2
1
2
L
q1 +
q1 3
q1 + p1 q1 + q1 p2 + q1 q2 + p1 p2 q1 = 0,
2
2L
L
16
2
2
16

2
4
2 F
F 3 2
1 2
1
3
2
L
p2 +
p2 3
p p2 + q1 p2 + p1 q1 q2 + 2p2 + 2p2 q2 = 0,
2
L
L 2 1
2

2
4
2 F
F 1 2
3 2
1
3
2
L
q2 +
q2 3
p q2 + q1 q2 + p1 q1 p2 + 2q2 + 2p2 q1 = 0.
2
L
L
2 1
2
p1 p2 cos
p1 cos + 5p2
mx 2 =
p2 = m2 g sin kx2 .
mx 1 =
2 ,
2 , p 1 = 0,
5 (cos )
)
5 (cos
p1
H
p2
= , = , p1 = mg
w sin cos ,

I2
2

2
p1
H
p2 = 2 (I1 I2 ) sin 2 mg
w cos sin ,
2
2
2
2
= I1 (cos ) + I2 (sin ) .
m (2R L) R
2 = 0,
H = 2mR R
2

= .
E H = 2m (2R L) R

1
Define I1 = m1 21 , I2 = m1 22 + m1 + m2 L2 .
3

1
1

Case (a) H = I1 + I2 + (I1 I2 ) (sin 2) 2 + m1 + m2 gL sin = 0,

2
2

1
1
2

E = I1 + I2 (I1 I2 ) (sin 2) + m1 + m2 gL sin = .

2
2

1
1
2

Case (b) H = I2 + (I1 I2 ) (sin 2) + m1 + m2 gL sin = 0,

2
2

1
1
2

E = I2 (I1 I2 ) (sin 2) + m1 + m2 gL sin = + .

2
2
i
h
1
2p22 cos
mgL sin = 2F L cos ,
mL2 1 + 8 (cos )2 4mL2 2 sin cos
2
9mL2 (sin )3
9
p2 = mL2 (sin )2 .
2
#
"
1
p22 cos
1
2
mR
= 0,
3 + 2 mgR sin 3
mR2 (sin )
(5 + 4 cos )1/2
1/2
3
2
.
p2 = mR2 (sin ) = m gR3
h
i4

2
p2 = I + I (cos ) I cos , p3 = I cos

i
1
1
1 h
R=
I (p2 + p3 cos )2 + I p23 + mgL sin
mL2 + I 2
2
2
2I I
1
I = mL2 (1 + cos )2 + I (sin )2 + IP
2

1 = ,
2 =

1
2
mL sin 1 sin + 2 1 2 cos = 0
2

1
9 2
(mg 2F )
2
+ 4 (cos ) 2 mL2
1 + 4 22 sin cos =
sin
2
2
ML
X G = cos , Y G = sin , m
1 = F cos , I 2 = F D sin .
1 = v, 2 = ,
1
1

11
9.34

9.37

9.39
9.42
9.45
9.48

1 2
1
5
4
3
L (cos ) DL (cos ) + D2 cos 1 + 2D2 DL (cos ) (sin ) 21
3
2

L
3
3

= g D (cos ) (cos ) , 1 = .
2
= ,
c1 c2 c3 = 0,
1 h= ,
2
1
2
i

m L2 + 21 (sin )2 + 22 (cos )2 1 + 2m 21 22 1 2 sin cos

m21 1 1 cos = 1,

2
22 21 sin
cos = M c1 1 .
m2 1 + m21 1 1 cos m 21
7
2
2
2
2

2 = ,
r + R 2 + 2r 1 2 = 0.
1 = r,
r 2 = 0,
5 1
5

i
h
1
9
(mg 2F )
2

1 = ,
1 + 8 (cos ) 1 4 21 + 2 sin cos =
sin .
2
2
mL

2
m2 + m2 1 cos + m 2 2 sin cos = M.
1 = ,
2 1
1
2
1

1 L cos + 2 sin ( +
) = 0,

1
1
= F sin + NB cos ,
2 sin + I2
m1 L2 + m2 L2 + I2 1 +
m1 + m2 L
2#
"3

I1 cos
1
m1 + m2 + m3 + 2
2 +
m1 + m3 L 1 sin + 21 cos
R
cos
2
2

I1
I1
(cos ) sin
sin cos
1 2
+ 2 2
2
2
R
R
(cos )
(cos )3
= .
= F cos ( + ) NB sin ( + ) + k ( 0 ) , 1 = ,
2
X A = 1 cos ( + ) , Y A = 1 sin ( + ) , vA sin L = 0

21
m1 1 + 2 + mC v A mC h sin + mC h 2 cos =
+ (NB + NC ) ,
R
R1

i
1
1
mC h v A sin + vA + cos = (NB + NC ) L,
m21 + mC h2 + IC + m21
2
2
1
2 + 3 ) = .
m21 (
2
G = 3.130I 0, |
|
1 | = 3.135 rad/s, = 86.96 , H
2 | = 0.1667 rad/s.

x = 50 rad/s, z = 450 rad/s, = 83.66 , = 86.82 .

= 7.2902 105 rad/s about an axis through the center of the earth at 0.1558 from
the Polar axis in the meridional plane at 90 from the meridian of impact.
Precession about the z azis;
= 7.594 + 6.275k rad/s @ max () = 45.91 ;

= 5.534 + 8.766k rad/s @ min () = 13.57 .

9.50

10.1
10.3
10.6
10.8
10.11
10.14

10.16
10.19

Looping precession, min () = 53.130 , max () = 53.300 , = 0 at = 53.199 .

mgL
I
= A1 cos
, = 0
,
t + 1 + A2 cos (t + 2 ) , 2 =

I0
I + mL2

t + 1 A2 sin (t + 2 ) .
= + A1 sin
2

I 0
I 0 1 I 0
,
1, t
= O(1) .
c0
I
i
hc
2
2
(I + C) (cos ) + (I 0 + A) (sin ) + A + I cos = p ,

I cos + = p , (I 0 + B) + (I + C I 0 A) 2 sin cos + I sin = 0.