理论力学第七版 (哈工大著) (哈尔滨工业大学理论力学教研室著) 高等教育出版社课后答案.khda PDF

http://www.daanwang.
com
1
1-1 AABC ABAC
FN 1
A
P
FN 2
(a)
(a1)
FT
A
P
om
FN
(b1)
da
an
wa
ng
.c
(b)
FN1
FN 3
FN 2
(c1)
FT
ww
w.
(c)
FAy
P1
A
P2
FAx
(d)
(d1)
FA
(e)
(e1)
FB
http://www.daanwang.com
FB
FAy
FAx
(f)
(f1)
F
B
C FC
A
FA
(g)
(g1)
F Ay
om
FC
C
FAx
(h)
da
an
wa
ng
.c
B
P2
P1
(h1)
B
FC
w.
FAy
(i1)
ww
(i)
FAx
(j)
(j1)
FB
F
C
P
FAy
A
(k)
FAx
(k1)
FCA
FAB
C
FAC
FAB
B
A
(l)
FAC
FBA
(l1)
P
(l3)
(l2)
1-1
1-2
FN 2
FN
om
(a)
FN 1
(a1)
da
an
wa
ng
.c
P2
FN1
FN 2
FN
P2
P1
P1
FAy
FAx
FAy
F Ax
(a3)
w.
(a2)
FN1
ww
A
P1
FN 3
B
P2
FN 2
(b)
(b1)
FN
FN 1
FN 3
P2
P1
FN
FN 2
(b2)
(b3)
FAy
FAx
A
C
D
FN 2
P2
P1
FN1
(c)
(c1)
FAy
FT
FAx
A
D
FT
FN 2
B
P1
FN1
om
P2
(c3)
da
an
wa
ng
.c
(c2)
F Ay
FB
F Ax
FC
(d)
(d1)
FDy
F Ay
F Ax
FDx
FDx D
ww
(d2)
FAy
(d3)
FBx
FAy
FAx
A
FCy
(e)
FBy
FBx
FCx
P
FCy
FBy
FCx
(e1)
(e2)
F1
(e3)
C
F2
FAy
A
(f)
FAx
FBx
(f1)
FAx
P
C
FDy
w.
FC
FB
FBy
FCx
F1
FCy
FCy
FAy
FCx
F2
FBy
FAx
FBx
(f2)
(f3)
FB
F Ay
C
B
FAx
(g)
(g1)
FCy
F Ay
FT
FCx
FB
da
an
wa
ng
.c
FAx
om
FT
FCx
(g2)
(g3)
F1
FCy
FB
FB
F2
FCx
(h)
ww
w.
FAy
FAx
(h1)
A
(h2)
FAx
FAy
FCy
FCx
FCy
FE
FOy
FOx
(i)
C
O
(i1)
FCx
B
(i2)
FAx
FE
FAy
E
C
FBy
FBy
FOy
FOx
FBx
FBx
(i3)
(i4)
FAy
D
A
FAx
FCx
FBy
(j1)
FT1
FEy
(j3)
C FCx
E
D FDx
FAx
FEx
FDy
FT 3
(j5)
w.
FCx
(k1)
FB
C
FCy
90
FDE
D
A
FDE
FCy
(k)
FB
ww
FEx
FCy
(j4)
FEy
da
an
wa
ng
.c
FT 2
FBx
(j2)
FAy FDy
D FT 2
FDx
FCy
om
(j)
FBy
FBx
FT
FAy
FAy
FAx
(k2)
FAx
(k3)
FCx
FB
FB
F1
FD
B
B
FC
FA
(l)
(l1)
(l2)
F2
FD
F1
F2
D
B
FE
FA
FC
(l3)
FDy
FDy
F1
FEx
FEy
FC
FA
FC
(l3)
FEx
E
FEy
(l4)
FAD
ww
w.
(l2)
F2
F2
FDx
D FDx
da
an
wa
ng
.c
FB
FE
(l4)
F1
om
FCy
FCx
C
F1
B
(m)
(m1)
FAD
FAD
F2
A
FE
FH
(m2)
(m3)
FAD
FN A
Fk
FN B
FOy
FOx
(n)
(n1)
FN1
FB
FN 2
FN 3
om
(n2)
FA
FC
da
an
wa
ng
.c
A
FB
A FA
FB
F
C C
(o3)
1-2
ww
w.
(o2)
(o1)
FD
FD
FE
(o)
B
F
F
FE
FF
E
(o4)
FG
2
2-1 AB C 3 2-1a F1 = 100 N
F3 = 50 N A F2 = 50 N A
F3
F2
F1
b
F1
F2
F3
FR
60
a
(a)
(b)
2-1
(c)
FR = ( F1 + F2 4 / 5) 2 + ( F3 + F2 3 / 5) 2
om
1
abcd ad FR 2-1b
= (100 N + 50 N 4 / 5) 2 + (50 N + 50 N 3 / 5) 2 =161 N
da
an
wa
ng
.c
F1 + F2 4 / 5
)
FR
100 N + 50 N 4 / 5
= arccos(
) = 29.74 o = 29 o 44
161 N
( FR , F1 ) = arccos(
2 2-1c Axy
Fx = F1 + F2 3 / 5 == 50 N + 50 N 3 / 5 = 80 N
Fy = F1 + F2 4 / 5 = 100 N + 50 N 4 / 5 = 140 N
FR = (80i + 140 j ) N
w.
FR = (80 N) 2 + (140 N) 2 = 161 N
ww
2-2 2-2a 3 F1
F3 F2 403 F1=2 000 NF2=2 500 N
F3=1 500 N 3
F1
40
F2
O
40
F2
a F1
b
FR
F3
y
(a)
(b)
F3
c
(c)
2-2
1
2-2b Oxy
Fx = F1 + F2 cos 40 = 2 000 N + 2 500 N cos 40 =3 915 N

9
Fy = F3 + F2 sin 40 = 1 500 N + 2 500 N sin 40 =3 107 N
FR = ( Fx ) 2 + ( Fy ) 2 =
( FR , Fx ) = arccos(
( 3 915
+ 3 107 2
N = 4 998 N
Fx
3 915 N
) = arccos(
) = 3826
4 998 N
FR
2
Oabc Oc FR 2-2c
FR = ( F1 + F2 cos 40) 2 + ( F3 + F2 sin 40) 2
= (2 000 + 2 500 cos 40) 2 + (1 500 + 2 500 sin 40) 2 =4 998 N

Fx
3 915 N
= arccos
= 3826
( FR , F1 ) = arccos
FR
4 998 N
2-3 P=20 kN B 1 D
2-3a AB CB
ABC AB CB
y
30
om
FAB
30
da
an
wa
ng
.c
FCB
FT
(a)
(b)
2-3
2-3b
Fx = 0,
Fy = 0,
FAB FCB cos 30 FT sin 30 = 0

FCB sin 30 FT cos 30 P = 0
w.
FT=P=20 kN
FAB = 54.6 kN FCB = 74.6 kN
ww
2-4 = 25 2-4a
F1=100 kN = 5 P=200 kN F2

y
F2
F1
(a)
P
(b)
2-4
2-4b
Fx = 0, F1 cos( + ) F2 sin = 0
F2 sin = F1 cos( + )
10
(1)
F1 sin( + ) P + F2 cos = 0
Fy = 0,
(2)
F2 cos = P F1 sin( + )
(1)(2)
tan =
F1 cos( + )
P F1 sin( + )
= 30
= 90 + = 90 + 30 25 = 95
(1)
F2 = 173 kN
2-5
2-5a B 1 F AD
y
F B
FD
(b)
da
an
wa
ng
.c
(a)
om
FA
2-5
A FA C
2-5b Cxy
Fx = 0,
F FA
Fy = 0,
FD FA
(1)(2)
5
1
=0
=0
5
F = 1.12 F FD = 0.5 F
2
w.
FA =
ww
2-6 2-6a ACB 1 CD=f=1

m AB=40 m ACB P=400 N AB
FT A
10 m
10 m
P/2
O
(a)
D
FT C x
C
(b)
2-6
AC
2-6b
W1 =
P
= 200 N
2
Fx = 0, FT C FT A cos = 0
(1)
11
F y = 0, FTA sin W1 = 0
(2)
1
2
FT A =
W1
=
sin
200 N
1
= 2 010 N
10 2 + 12
FT C = FT A cos = 2 010 N
10
10 2 + 12
= 2 000 N
FT B = FT A = 2 010 N
2-7 2-7a D BCE F
2-7a H
y
FBC
FN B
FCE
FN H
da
an
wa
ng
.c
(a)
(b)
FN E
FBC
FCE
FCD
om
(c)
(d)
2-7
1 B 2-7 b
sin
2 C 2-7c 2-7c F ' BC FCD
F
Fx = 0, FBC FCE cos(90 2 ) = 0 FCE = BC
sin 2
Fy = 0 ,
FBC =
w.
3 E 2-7d
FNH = F 'CE cos =
ww
Fy = 0 ,
F
2 sin 2
FNH =
F
2 sin 2
2-8 2-8a 1 A 1 1 C
B 1 BE 1 E D
BD AB DE CB = 0.1 rad
tan F=800 N AB
y
FBC
FDB
FDE
D
F
(a)
(b)
2-8
12
FDB
B
F AB
(c)
1 D 2-8b
Fy = 0,
Fx = 0, FDB FDE cos = 0

FDE sin F = 0
FDB = F cot
FDE
FDB = F cot
2 B 2-8c
Fx = 0,
Fy = 0,
FCB sin FDB ' = 0

FCB sin FAB = 0
FAB = FDB cot = F cot 2 =
800 N
= 80 kN
0.12
FAB
B
30
F2 30 F
BD
y
da
an
wa
ng
.c
FAB
om
2-9 4 CABD CD AB F1F2 2-9a

F1 F2
45
60 F1
FAC
(a)
(b)
2-9
(c)
(1) A 2-9b
Fx = 0,
FAB cos15 + F1 cos 30 = 0 FAB =
3F1
2 cos 15
2 B 2-9c
FAB cos 30 F2 cos 60 = 0
3F1
= 1.553F1
2 cos 15
ww
F2 = 3FAB =
w.
Fx = 0,
F1 F2 = 0.644
2-10 2-10 F F
A B
M A ( F ) = Fb cos
M B ( F ) = Fb cos + Fa sin
= F (a sin b cos )
2-10
2-11 1
2-11a 4.6 kN
6.4 kN l = 2.5 m
M
13
F N1
FN 2
P
l
(a)
(b)
2-11
2-11b 1
M = 0 M + (6.4 kN 4.6 kN)l = 0 M = 1.8 kN l = 4.5 kN m
2-12 AB 1 M l 2-12a2-12b
2-12c A B
l/2
M
B
A
FA
FB
l
(a1)
l /3
da
an
wa
ng
.c
om
(a)
FA
(b)
FB
(b1)
l/2
FA
A
(c)
w.
FB
(c1)
2-12
a AB 2-12a1 F A , F B
ww
FA = FB
M A = 0 FB l M = 0
FB =
M
M
FA =
l
l
b AB 2-12b1
M A = 0 FB l M = 0 FB = FA =
M
l
c AB 2-12c1
M A = 0 FB l cos M = 0 FB = FA =
M
l cos
2-13 2-13a AB 1 M
A C
1BC FC = FB 2-13c
'
2 AB 2-13b FA , FB
M = 0 FNA 2 2a M = 0 FA =
14
M
2 2a
2M
4a
2M
4a
FC = FB = FA =
B
FB
FB
B
45
45
FA
(a)
(b)
FC
(c)
2-13
2-14 2-14a r1r2 I

M1 II
M2 O1O2
M2
M1
FO1
FO 2
O1
da
an
wa
ng
.c
(a)
O2
om
r1
r2
(b)
2-14
(c)
1 O1 2-14b
M = 0,
M 1 FO1 r1 cos = 0 FO1 =
M1
()
r1 cos
2 O2 2-14c
M = 0,
M 2 FO 2 r2 cos = 0 FO 2 =
w.
FO 2 = F ' = F = FO1 M 2 =
M2
()
r2 cos
r2
M
r1
ww
2-15 ABCD DE EC 2-15a DE
M = 40 kN m ,, AB EC
D
M
FD
45
(a)
D
45
FEC
E
(b)
2-15
1EC DE 2-15b
15
A
FA
60
4m
FB
(c)
M = 0,
40
FEC =
2
+M =0
2
FEC 4
2 2
= 10 2 kN = 14.1 kN
2 c M
FA = FB
M FA 4 cos 30 = 0
M = 0,
20
FA =
kN 11.5 kN FB 11.5 kN
3
2-16 2-16a BC 1 M
A
y
C
M
FC
FB
FA
da
an
wa
ng
.c
om
45
FD
FC
(b)
2-16
(c)
(1) BC 2-16b
FB = FC
FB l + M = 0 FB =
M = 0 ,
FC = FB =
M
l
M
l
(2) ADC 2-16c
w.
Fx = 0 , FC' + FA cos 45 = 0
ww
FA = 2 FC' =
2M
2-17 2-17a OA 1 M D
F F M
M
FAB
(a)
FAB
O
FO
FBC
B
(b)
(c)
FBD
FN D
x
F
D
FBD
(d)
2-17
1 AO 2-17b
M = 0 FAB cos a = M FAB =
M
a cos
2 B 2-17c
'
Fx = 0 FAB
cos 2 FBD sin 2 = 0
16
FBD =
'
FAB
cos 2
M cos 2
=
sin 2
a cos sin 2
(2)
3 D 2-17d
Fx = 0 F FBD cos = 0
2
M
cot 2
a
ww
w.
da
an
wa
ng
.c
om
F=
17
3
3-1
3-1a F1 = 150 N F2 = 200 N F3 = 300 N F = F ' = 200 N
O O d
y
MO
FR
FR
(a)
(b)
3-1
(1) FR
= 150 N
F2
2
1
Fy = F1
2
1
= 150 N
1
10
200 N
F2
10
200 N
FR' = ( Fx ) 2 + ( Fy ) 2 =
M O = F1
0.10
2
m + F3
0.10
2
1
10
2
5
2
300 N
F3
= 437.62 N
10
+ 300 N
( (437.62)
0.20
5
= 161.62 N
+ (161.62) 2 N = 466.5 N
m F 0.08 m
m + 300 N
w.
= 150 N
F3
om
Fx = F1
da
an
wa
ng
.c
0.20
5
m 200 N 0.08 m = 21.44 N m
FR O 3-1b FR = FR = 466.5 N
(2) d
3-2
MO
'
R
ww
d=
'
21.44 N m
= 0.045 9 m = 4.59 cm 3-1b
466.5 N
3-2a F1 = 40 2 N F2 = 80 N F3 = 40 N
F4 = 110 N M = 2 000 N mm 3-2b mm

1 O 2
y
MO
FR
O
FR
(a)
-6
(b)
3-2
18
1 O
2
2
F2 F4 = 150 N FR' y = F1
F3 = 0
2
2
FR' = 150i N
M O = F2 30 mm + F3 50 mm F4 30 mm M
= 80 N 30 mm + 40 N 50 mm 110 N 30 mm 2 000 N mm
= 900 N mm
FR' x = F1
(2)
FR = 150 N
y =
MO
FR
900 N mm
= 6 mm
150 N
M O
y = 6 mm
om
3-3 3-3
P = 30 kN F = 4 kN a = 0.2 m b = 0.1 m
c = 0.05 m l = 5 m F x F y1 F y 2
da
an
wa
ng
.c

Fx = 0 Fx F = 0 Fx = F = 4 kN
M A = 0 Fy 2 (a + l ) Pa F (b + c) = 0
Pa + F (b + c)
= 1.27 kN
a+l
F y = 0 F y1 + F y 2 P = 0
Fy 2 =
Fy1 = P Fy 2 = 28.7 kN
3-3
3-4 3-4a q = 3 kN/m F = 6 2 kN M = 10 kN m

A
ww
w.
F
B 45
3m
q
(a)
A FAx
MA
(b)
3-4
3-4b
Fy = 0, FAy = Fsin 45 = 6 kN
1
q 4 m F cos 45 = 0 FAx = 0
2
1
4
M A = 0, M A q 4 m m M F sin 45 3 m + F cos 45 4 m = 0
2
3
M A = 12 kN m
Fx = 0, FAx +
19
3-5 3-5a 1 OA
q1 = 60 kN/m, q 2 = 40 kN/m P1 = 45 kN P2 = 20 kN
M = 18 kN m O
F2
F1
q1
q2
MO O
3.6 m
4.2 m P1 P M
2
9m
FO
(a)
(b)
3-5
3-5b
( q1 q 2 ) q 2 q1 q 2
F1 =
1
(q1 q 2 ) 9 m = 90 000 N
2
om
q2
F2 = q 2 9 m = 360 000 N
da
an
wa
ng
.c
F2 O 4.5 m
Fy = 0, FO + F1 + F2 P1 P2 = 0
FO = P1 + P2 + F1 F2 = 385 000 N = 385 kN

M O = 0 M O + F1 3 m + F2 4 5 m P1 3.6 m P2 4.2 m M = 0
M O = 1 626 kN m ()
3-6 3-6a 3-6b F M
q A B
ww
w.
(a)
B
FB
2a
FA
(a1)
q
D
(b)
M
A
FA
a
B
2a
FB
a
(b1)
3-6
(1) AB 3-6a1
1
M
(3F + )
2
a
1
M
Fy = 0, FA + FB F = 0 F A = F FB = ( F + )
2
a
M A = 0, FB 2a M F 3a = 0 FB =
(2) AB 3-6b1
1
M A = 0 qa 2 + FB 2a F 3a M = 0
2
20
1
M 1
(3F +
qa )
2
a 2
Fy = 0, FA + FB F qa = 0
FB =
1
M 5
FA = ( F +
qa )
2
a 2
3-7 3-7a
P1 = 60 kN P2 = 20 kN a = 1.4 m b = 0.4 m l1 = 1.85 m
l 2 = 1.4 m 1 l = 3 m P = 50 kN AB
2 l = 5 m
a
P2
P
P1
A
l1
FA
(a)
l2 B FB
l
(b)
3-7
P1 (l1 a ) P2 (l1 + b) P (l + l1 ) FB (l1 + l 2 ) = 0

1
FB =
[ P1 (l1 a) + P2 (l1 + b) + P(l + l1 )] = 96.8 kN
l1 + l 2
Fy = 0, FA + FB P1 P2 P = 0
da
an
wa
ng
.c
M A = 0,
om
3-7b
(1) l = 3 m P = 50 kN FA FB
ww
w.
FA = P1 + P2 + P FB = 33.2 kN
2 l = 5 m P
FA = 0
M B = 0 P1 (a + l 2 ) + P2 (l 2 b) P (l l 2 ) = 0
1
P=
[ P1 (a + l 2 ) + P2 (l 2 b)] = 52.2 kN
l l2
Pmax = 52.2 kN
3-8 3-8a P = 500 kN
1.5 m P1 = 250 kN 10 m
P2
x
P2
10 m
x
1 .5 m
P
FA
(a)
FB
(b)
3-8
3m
3-8b
21
P1
(1)
FA = 0
M B = 0, P2 ( x + 3 m) P 1.5 m P1 10 m = 0
(2) FB = 0
M A = 0, P2 x P (3 m + 1.5 m) = 0
1
2
1
2
P2 = P2 min = 333 kN
P
x = x max = 4.5 = 6.75 m
P2
3-9 3-9a ABC OA AB
FN = 30 kN
AB
da
an
wa
ng
.c
om
(b)
3-9
3-9b BC FB BC
M A = 0 FN sin 15 1.2 m + FB
0.6
0.4 2 + 0.6 2
0.5 m = 0
w.
FB = 22.4 kN
ww
Fx = 0 FAx FN sin 15 + FB
0.6
0.4 2 + 0.6 2
=0
FAx = 4.67 kN
Fy = 0 FAy + FN cos15 + FB
0.6
0.4 2 + 0.6 2
=0
FAy = 47.7 kN
3-10 AB A BC 3-10a D
r = 0.1 m 1 1 1
P = 1 800 N AD = 0.2 m BD = 0.4 m = 45
A BC
3-10b
FT = P = 1 800 N
M A = 0, FT r P( AD + r ) + FBC sin ( AD + DB) = 0
P AD
= 600 2 N = 848.5 N
FBC =
( AD + BD) sin
22
FT
FBC
FAx A
D
FAy
P
(a)
(b)
3-10
Fx = 0, FAx FT FBC cos = 0

FAx = FT + FBC cos = 2 400 N
Fy = 0, FAy + FBC sin P = 0
FAy = P FBC sin = 1 200 N
om
3-11 3-11a AC CD
P1 = 50 kN EC P2 = 10 kN
ABD
da
an
wa
ng
.c
4m
F
FF
P1
1 m1 m
(a)
P2
G
FG
(b)
4m
w.
B
A
FA
P2
F P1 G
C
FB
FD
ww
1 m1 m
3m
3m
FG
FC
1 mG
6m
FD
6m
(c)
(d)
3-11
1 3-11b
M F = 0, FG 2 m P1 1 m P2 5 m = 0
FG = ( P1 + 5 P2 ) / 2 = 50 kN
2 CD 3-11d
M C = 0, FG' 1 m + FD 6 m = 0
FD = FG' / 6 = 8.33 kN
3 3-11c
M A = 0, FB 3 m + FD 12 m P1 6 m P2 10 m = 0
FB = (6 P1 + 10 P2 12 FD ) / 3 = 100 kN
F y = 0, F A + FB FD P2 P1 = 0
FA = P2 + P1 FB FD = 48.3 kN
23
3-12 3-12a 3-12b qMa
ABC
MA
FAx
FAy
FB
(a)
FB
M
C
(a1)
MA
FAx
(b)
FBx B
FBy
FAy
FC
(a2)
B FBx
FBy
(b1)
3-12
FC
(b2)
a1 BC 3-12a2 FB = FC
M = 0 FC a cos = M FC = FB =
M
a cos
2 AB 3-12a1
M
tan
a
M
Fy = 0 FAy = FB' cos =
a
M B = 0 M A FAy a = 0 M A = M ()
da
an
wa
ng
.c
om
Fx = 0 FAx = FB' sin =
b1 BC 3-12b2
M B = 0 qa 2 / 2 + FC cos a = 0 FC =
Fx = 0 FBx = FC sin =
Fy = 0 FBy = qa / 2
qa
2 cos
qa
tan
2
2 AB 3-12b1
qa
tan
2
= qa / 2
w.
Fx = 0 FAx = FBx' =
ww
Fy = 0 FAy = FBy'
M A = 0 M A = qa 2 / 2
3-13 AC CD C 3-13a
q = 10 kN/m M = 40 kN m ABD C
A
FA
(a)
FB 2 m
2m
C C
FC FC
(b)
3-13
1 CD 3-13c
1
M C = 0 q (2 m) 2 M + FD 4 m = 0
2
FD = ( M + 2q ) / 4 = 15 kN
24
2m
2m
(c)
D
FD
Fy = 0 FC + FD q 2 m = 0 FC = 5 kN
2 AC 3-13b
M A = 0 FB 2 m FC' 4 m 2 m q 3 m = 0
FB = (4 FC' + 6q) / 2 = 40 kN
Fy = 0 FA + FB FC' q 2 m = 0 FA = 15 kN
3-14 3-14a F OA = r
OA M

FN A
D
FC
(a)
B F
FOx O
FN A
FOy
FD
(b)
3-14
(c)
1 3-14b
F
sin
da
an
wa
ng
.c
2 OA A 3-14c
M O = 0 M + FN' A r cos( ) = 0
12
M = Fr
om
Fx = 0 FNA sin F = 0 FNA =
cos( )
sin
w.
3-15 3-15a AB 600 mm

F = 1 000 N BC = CD = 600 mm OE = 100 mm
M
ww
FBC
FCE
30
60
(a)
30
C
FOx
FOy
A FAx
F
B
FCD
(b)
3-15
FAy
M
O
E
30
FCE
(c)
FBC
(d)
1 AB 3-15d
M A = 0 F 0.4 m FBC 0.6 m = 0
2 C 3-15b
Fy = 0 FCE sin(60 ) FBC sin 60 = 0
(3) OE 3-15c
M O = 0 M FCE cos OE = 0
1
2
(3)
M = 70.36 N m
25
3-16 3-16a III r1 , r2 r A

P A I M
F1
FO2 y
r r2
O2 FO2x
F1
r1 FO1y
O1 F
F2
O1x
F2
(a)
(b)
3-16
(c)
1 O1 3-16b
M O1 = 0 ( F2 F1 )r1 M = 0 F2 F1 = M / r1
2 O2 3-16c
M O 2 = 0 ( F2' F1' )r2 Pr = 0 F2' F1' = Pr / r2
1
2
(1)(2)
om
M = Prr1 / r2
3-17a 1
r1 , r2 , r3 , r4 r P
da
an
wa
ng
.c
3-17
M O3
F1
FO3x
r4 r
O3
FO3 y
F1
F2
r1 F
O1
O1
r2
O2 FO x
2
F2'
(b)
3-17
w.
(a)
r3 FO y
(c)
(d)
1 O3 3-17b
ww
M O 3 = 0 Pr + F1 cos r4 = 0 F1 =
Pr
r4 cos
Fy = 0 FO 3 y P + F1 cos = 0 FO 3 y = P(1
FO 3 x =
Pr
tan
r4
M O1 = 0 F2 cos r1 + M = 0 F2 =
M
r1 cos
Fx = 0 FO 3 x F1 sin = 0
r
)
r4
(2) O1 3-17c
3
3 O2 3-17d
M O 2 = 0 F '1 cos r3 = F2' cos r2 F '1 r3 = F2' r2
1
2
34
Prr1 r3
Pr
M
r3 =
r2 M =
r4 cos
r1 cos
r2 r4
3-18 3-18a 3 ABC
26
P = 300 kN l = 32 m, h = 10 m AB
FCy
l/ 8
l/ 8
P
FAx
l/2
P
B
FBy
l/2
FAy
(a)
FCx
l /8
P
FBx FAx
A
FAy
l/2
(b)
3-18
(c)
(1) 3-18b
l
l
M A = 0 FBy l P P(l ) = 0 , FBy = P = 300 kN
8
8
Fy = 0 FAy + FBy P P = 0 , FAy = 300 kN
Fx = 0, FBx + FBC = 0
(2) AC 3-18c
om
l l
l
lP
M C = 0 P ( ) + FAx h FAy = 0 FAx =
= 120 kN
2 8
2
8h
FAx 1
da
an
wa
ng
.c
FBx = FAx = 120 kN
3-19 ABAC DF 3-19a DEF 1

M AB AD B
FAy
FAx
FDy
w.
FBx
FBy
FC FDx
FDy
(b)
ww
(a)
2a
FEy
FEx
a
(c)
FBx
FDx
B
FBy
(d)
3-19
1 3-19b
Fx = 0 , FBx = 0
M
()
M C = 0 , FBy =
2a
(2)
DE 3-19c
M E = 0 , FDy =
M
()
a
3 ADB 3-19d
M A = 0 , FDx = 0
Fx = 0 , FAx = 0
M
Fy = 0 FAy =
()
2a
3-20 ABAC DF 3-20a DF E AC
DF F AB
27
AD B
FE
FDy
45
FDx
D
(a)
(b)
FAy
FAx
FDx
D
FDy
FBx
B
FBy
B F
Bx
C F
Cx
FCy
FBy
da
an
wa
ng
.c
om
(c)
(d)
3-20
(1) DEF 3-20b
M D = 0 FE sin 45 a F 2a = 0, FE = 2 2 F
Fx = 0, FDx + FE cos 45 = 0
FDx = 2 F
Fy = 0 FDy + FE sin 45 F = 0 FDy = F

2 3-20c
M C = 0 FBy = 0
w.
(3) ADB 3-20d
M B = 0 FDx' a FAx 2a = 0 FAx = F
ww
Fy = 0 FAy FDy' = 0
FAy = F
Fx = 0 FAx + FBx FDx' = 0 FBx' = F
3-21 3-21a P=1 200 N E

A B BC FBC
C
C
FAy
2m
2m
A F
Ax
B
FB F
T
D
FT
FBC
FDy
D
FDx
E
P
P
(a)
(b)
3-21
28
(c)
1 3-21b
FT = P = 1 200 N
Fx = 0, FAx FT = 0 FAx = FT = 1 200 N

M A = 0 FB 4 m P (2 m + r ) FT (1.5 m r ) = 0
FB = (2 P + Pr + 1.5 FT FT r ) / 4 = 7 P / 8 = 1 050 N
Fy = 0 FAx + FB P = 0, FAy = 150 N
(2) CE E P 3-21 c
M D = 0, FBC sin 1.5 P r FT (1.5 r ) = 0

1 200 N
P
=
= 1 500 N ()
F BC =
sin
2 / 2 2 + 1 .5 2
3-22 3-22a 2 AB BC B DE 1
k AC a C 1 F
AB = l BD = b AC
FBy
B
FBx
B
k
A
F Ay
(a)
da
an
wa
ng
.c
FAx
om
Fk
FC
(b)
3-22
E
C
(c)
l0 =
AC = x
ab
l
b
l
= ( x a) Fk = k =
bk
( x a)
l
w.
1 3-22b
M A = 0 FC = FCy = 0
ww
(2) BC 3-22c
M B = 0, Fk b cos = Fl cos
bk
Fl 2
( x a) b = Fl AC = x = 2 + a
l
kb
3-23 3-23a F = 40 kN A
BC
1 DEF 3-23b
M F = 0 FCD 4 m FBE 2 m
2
=0
2
(2) ABC 3-23c
M A = 0 F ' DC 6 m F 4 m F ' BE 2 m
2
=0
2
1
2
FBE = 160 2 kN FCD = 80 kN
29
(2)
Fy = 0, FAy = F ' BE cos 45 = 160 kN
Fx = 0 FAx + F ' BE cos 45 F 'CD + F = 0 FAx = 120 kN
()
C F
CD
FCD
F
45 FBE
FBE 45
A
FFx
FAy
FFy
(a)
FAx
(b)
3-23
(c)
da
an
wa
ng
.c
om
3-24 3-24a ACDE BD B

AC F=200 N M = 100 N m
ABC
FN B
(a)
FDy
M F
60 FDx
D
B
(b)
FCy
F
D M
ww
60
A
FAy
w.
B 60
FAx
60
E
FCx
FN B
FAx A 60
FEx
FAy
FEy
(c)
(d)
3-24
1 BD 3-24b
M D = 0 FNB cos 60 0.8 m M F 0.6 m = 0 FNB = 550 N

2 3-24c
M E = 0 FAy 1.6 m M F (0.6 0.8 cos 60)m = 0 FAy = 87.5 N

3 AC 3-24d
3
FN' B 0.8 m = 0 FAx = 267 N
2
= 0 FCx = 209 N
M C = 0 FAy 0.8 m + FAx 1.6 m

Fx = 0 FAx FN' B cos 30 FCx
Fy = 0 FAy + FCy + FN' B cos 60 = 0 FCy = 187.5 N

3-25 3-25a 3 B
m D
30
FAy
FB
FAx
C
D
E
F
50 kN
(a)
(b)
FAy
FAx
FB
FDx
FCx
FEx
om
FDy
FDy
FCy
FEy
FDx
(d)
da
an
wa
ng
.c
(c)
3-25
1 3-25b
M A = 0 50 kN 8 m - FB 8 m = 0 FB = 50 kN
(1)
Fx = 0, FAx + 50 kN = 0 FAx = 50 kN
Fy = 0, FAy FB = 0
FAy = 50 kN
(2)
(3)
(2) DB 3-25c
M C = 0 FDx 2 m FDy 3 m FB 3 m = 0
(3) AE 3-25d
w.
M E = 0 FAy 3 m FAx 6 m + FDx' 2 m + FDy' 1 m = 0
(5)
ww
1
2
34
5
FDy = 75 kN FDx = 37.5 kN
3-26 3-26a DAB BCCD A B
DC q BC M = qa
D
2
FAx A
B
FB
FAy
(a)
(b)
31
FDy
FDx
FDx
FB y
C F FAx = 0
Cx
D
FDy
FB
FAy
FCy
FB x
(c)
(d)
3-26
1 3-26b
Fx = 0 FAx = 0
M B = 0 FAy a M + qa 2 / 2 = 0 FAy = qa / 2
2 CD 3-26c
M C = 0 FDy = qa / 2
M B = 0 FAy a + FDy' a FDx' a = 0
da
an
wa
ng
.c
FDx' = qa FD = FDx2 + FDy2 = 5qa / 2
om
3 DAB 3-26d
3-27 3-27a 30 N/m P = 1 000 N A

BCD A BC
C
FCx
A M
A
w.
ww
(b)
FCy
FAx
FBy
PBD
PAC
(a)
FCx
PCD
FAy
FCy
FBD
FAx
(c)
FBx
MA
FAy
(d)
3-27
(1) 3-27b
Fx = 0 FAx = 0
Fy = 0 FAy P PCD PBD PAC = 0 FAy = 15.1 kN
M A = 0 M A P 6 m PCD 3 m PBD 2 m = 0 M A = 68.4 kN
2 CD 3-27c
M D = 0, FCy 4 m + PCD 1 m P 2 m = 0 FCy = 4.55 kN

3 ABC 3-27d
M C = 0 , FBx 3 m + M A = 0 FBx = 22.8 kN
Fx = 0 , FBx + FCx = 0 FCx = 22.8 kN

Fy = 0 , FCy + FBy + FAy PAC = 0 FBy = 17.85 kN
*3-28 3-28a ABCD T BCE
F1 F2 a M = F1 a F2 B
1
A 2 B AB T
32
FCx
D FDx
FCy
FDy
(a)
(b)
FB y
FB x
1
F1
B
F2
E
FCx
FB x
FB x
FCy
(c)
FB y
FB y FB y
1
FB x
2
FAx
MA
FAy
(d)
3-28
(e)
1 CD 3-28b
M D = 0 Fy 2a M = 0 FCy =
F1 a F1
=
2a
2
om
2T BCE 3-28c
M B = 0 F1 2a FCy' a + FCx' a = 0 FCx' = 3F1 / 2
da
an
wa
ng
.c
Fx = 0 FB1x = 3F1 / 2
Fy = 0 FCy' F1 + FB1 y = 0 FB1 y = F1 / 2

3 B 3-28d
Fx = 0 FB 2 x = FB' 2 x = 3F1 / 2
Fx = 0 FB 2 y FB' 2 y F2 = 0 FB 2 y = F1 / 2 + F2
4 AB 3-28e
Fx = 0 FAx = FB' 2 x = 3F1 / 2
Fy = 0 FAy = FB' 2 y = F1 / 2 + F2
w.
M A = 0 M A + FB' 2 y a = 0 M A = ( F1 / 2 + F2 )a
ww
*3-29 3-29a BCCD AB

B AB BC B 1 F q
a M M = qa 2 A B CB AB
FCy
FB y
1
B FB1x
FB2 x
FCx
FDy
FDx
FB2 y
D
q
(c)
FCx
q
FB x
FAx
MA
FCy
FB y FB y
FAy
(a)
P
B F
B x
(b)
(d)
3-29
33
(e)
1 CD 3-29e
M D = 0 FCx = qa / 2
2 BC 3-29c
M C = 0 FB 2 y = M / a = qa
Fx = 0 FB 2 x = FCx' = qa / 2
3 B 3-29d
Fx = 0 FB' 1x = FB' 2 x = qa / 2
Fy = 0 FB' 1 y = F + FB' 2 y = F + qa
4 AB 3-29b
1
Fx = 0 q 3a FB1x FAx = 0 FAx = qa
2
Fy = 0 FAy = FB1 y = F + qa
3qa
a FB1 y a + FB1x 3a + M A = 0
2
M A = ( F + qa )a
M A = 0
om
3-30 ABCDE CD 3-30a AB

q D 1 F P
da
an
wa
ng
.c
r = a P = 2 F CO = OD E A
FT
45
FCx
C
FCy
FT
FCx
w.
(a)
45
C
FCy
FE
(b)
3-30
A FAx
FAy
MA
(c)
ww
1DE CD++ P+DE 3-30b
FT = P =2F
M C = 0 FE 3a 2 F 3a P(3a / 2 + r ) + FT r = 0 FE = 2 F
Fx = 0 FCx FE cos 45 FT cos 45 = 0 FCx = ( 2 + 1) F
Fy = 0 FCy FT
2
2
P F + FE
= 0 FCy = (2 + 2 ) F
2
2
2 ABC 3-30c
Fx = 0 q 6a FAy FCx' + FT' cos 45 = 0 FAx = 6qa F

2
= 0 FAx = 2 F
2
M A = 0 M A 6qa 3a + FC' x 3a FC' y 3a FT' r = 0
Fy = 0 FAy FC' y + FT
M A = 5 Fa + 18qa 2
3-31 3-31a m F = 60 kN
AE BDBC
34
3
FAx
(a)
FEx E
FAy
FBC
FBD
FBD F
BC
FEy
(b)
3-31
(c)
BDBC
1 AB 3-31b
cos = 4 / 5 sin = 3 / 5
M B = 0 FAy = F / 2
Fx = 0 FAx + FBD sin = 0
Fy = 0 FAy F + FBC + FBD cos = 0
2 EDC 3-31c
M E = 0 FBC 8 m + FBD cos 5 m = 0
4
5
om
Fx = 0 FEx FBD sin = 0

Fy = 0 FEy FBD cos FBC = 0
da
an
wa
ng
.c
1
2
34
5
6
FBC = 5F / 6 FBD = 5F / 3 FAx = F FAy = FBy = F / 2 FEx = F
FBC = 50 kN FBD = 100 kN FAx = 60 kN FAy = 30 kN
FEx = 60 kN FEy = 30 kN
3-32
3-32a m F1 = 120 kN
F2 = 75 kN AC AD
F1
w.
F2
ww
FAx
FD
FAy
(a)
FAD
(b)
F1
FDC
FBx
FBy
FD
(c)
FAC
FDC
(d)
3-32
1 3-32b
2
M A = 0 FD 9 m F1 7.5 m F2 2 m = 0 FD = 116 kN
3
2 D 3-32c cos = 4 / 5
875
kN = 145.83 kN
Fy = 0 FDC sin + FD = 0 FDC =
6
35
Fx = 0 FDC cos FAD = 0 , FAD = 87.5 kN
1
3 BC 3-32d tan =
3
M B = 0 F1 4.5 m + FAC sin 9 m + FCD sin 9 m = 0
FAC = 179.2 kN
3-33 3-33a P = 12.25 kN G
EF AD
(a)
DE
C 60
FAD
H
I
10
FEF
30
da
an
wa
ng
.c
FCy
FCx
FHy
H
FHx
I
om
0.5
0.5
J
G
(b)
(c)
3-33
w.
1 3-33b
M C = 0 FAD cos 40 0.25 m P (0.5 + 2 cos10) m = 0 FAD = 158 kN
ww
2 FHIJK 3-33c
M H = 0 P 0.5 m FEF 1.5 m sin 30 = 0 FEF = 8.17 kN
3-34 3-34a 12 3
D
A
C
D F4
F2
F2
F3
C F
C F1
1 E
E
F5
B m E
F
F F
F F F F
F
2m 2m 2m
2m 2m 2m 2m
F
(a)
(b)
3-34
(c)
(d)
(1) mm 3-34b 3-34c

M C = 0 F2 6 m F 6 m + F 4 m + F 2 m = 0 F2 = 2 F
M D = 0 F1
9
m F 2 m F 4 F 6 m = 0 F1 = 5.33F
4
(2) E 3-34d
36
Fy = 0 F2 F + F3 sin = 0
F3 =
F
3/ 2
1
( F F2 ) =
sin
5
= F
3
3
22 + ( )2
2
3-35 3-35a ABC AD=DB
CD F
C
m
F
m
(a)
FCD F
FCE
E
60
FAD
60
60
FCF
FED = 0
FB FAE
(b)
(c)
(d)
3-35
1 E 3-35d F AE FCE 1
om
FED = 0
da
an
wa
ng
.c
3-35c
(2) mm 3-35b
M B = 0 FCD DB F DF sin 60 = 0
DF
3
sin 60 =
F = 0.866 F
DB
2
3-36 3-36a m F1 = 240 kN
F2 = 720 kN BD BE
FCD = F
F1
ww
w.
(a)
FBD
B
FBE
FBE
F2
FBD
D
E
FCx
FAx
FAy
FCy
(b)
3-36
(c)
BDBE 3-36b 3-36c 3-36c
cos = 2 13 sin = 3 13
M C = 0 FBD 3 m + F2 1 m = 0 FBD = 240 kN
3-36b
'
'
'
M A = 0 F1 1 m + FBD
2 m + FBE
cos 2 m + FBE
sin 2 m = 0
'
FBE
= 86.53 kN
3-37 a F1 = 10 kN F2 = F3 = 20 kN 45
710
1 3-37b
Fx = 0 FAx F3 sin 30 = 0 FAx = F3 sin 30 = 10 kN
M A = 0 F1 a F2 2a F3 cos 30 + FB 4a = 0
37
FB =
1
3 3
( F1 + 2 F2 +
F3 ) = 25.5 kN
4
2
30
F3
A 2
10
6
12 B
D
13 FB
13
57 9
11
F Ay
8
4
a
a
a
a
F1
FAx
(a)
F2
(b)
F1
F6
FAx A 2
FAy
13
F2
45
F6
F5
a
F10
F7
F4
(c)
(d)
3-37
Fy = 0 FAy + FB F1 F2 F3 cos 30 = 0
FAy = F1 + F2 + F3 cos 30 FB = 21.8 kN
da
an
wa
ng
.c
om
2 456 3-37c
M C = 0 F4 a FAy a = 0 F4 = FAy = 21.8 kN
FAy = 0 FAy F1 F5 sin 45 = 0 F5 = 16.7 kN

Fx = 0 FAx + F6 + F5 cos 45 + F4 = 0 F6 = 43.6 kN
3 D 3-37d
Fx = 0 F10 F6 = 0 F10 = 43.6 kN
Fy = 0 F2 F7 = 0 F7 = 20 kN
3-38a 12 3
ww
w.
3-38
FAD
F2
F3
(a)
F1
FCF F
2
(b)
(c)
3-38
AD 32 3-38b
Fx = 0 F3 = 0
M D = 0 F2 = 2 F / 3
2 C 3-38c FCF
F1 cos F2 sin = 0 F1 = F2 tan =
38
2
a/3
4
F
= F
3
a/2
9
4
4-1 F1=100 NF2=300 NF3=200 N
4-1 O

2
13
3
FRy = 300
13
3
13
1
5
3
13
= 345 N
= 10.6 N
0.1 200
M y = 100 0.20 + 200

M z = 300
= 250 N
FRz = 100 200

M x = 300
200
2
13
0.2 + 200
4-1
1
5
0.3 = 51.8 N m
0.1 = 36.6 N m
2
5
0.3 = 103.6 N m
om
FRx = 300
FR = FR2z + FR2y + FR2x = 426 N FR = (345i + 250 j + 10.6k ) N
M O = M x2 + M y2 + M z2 = 122 N m M O = (51.8i 36.6 j + 104k ) N m
da
an
wa
ng
.c
4-2 1 5 4-2
10 mm
FR
ww
w.
FR = Fz = 1 N + 10 N + 20 N 10 N 15 N = 20 N
FR = 20k N
xC y C 0
1
xC =
(15 40 + 10 30 + 20 20 10 10) = 60 mm
20
1
(15 10 + 10 30 + 20 50 10 20 15 40)
yC =
4-2
20
= 32.5 mm
4-3 3 F1 = 350 N F2 = 400 N F3 = 600 N
4-3 O

FR ' x = 350
FR ' y = 350
60
18 100
80
18 100
600
1
= 144 N
2
+ 400 0.707 + 600 0.866
= 1 010 N
FR ' z = 350
90
18 100
400 0.707 = 517 N
FR' = FR'2x + FR'2y + FR'2z = 1 144 N

40
4-3
FR' = (144i + 1 011 j 517 k ) N
90
M x = 350
60 400 0.707 120 = 48 000 N mm = 48 N m
18 100
90
M y = 350
90 = 21 070 N mm = 21.07 N m
18 100
80
60
1
M z = 350
90 350
60 600 0.866 90 + 600 60
2
18 100
18 100
= 19 400 N mm = 19.4 N m
M O = M x2 + M y2 + M z2 = 55 900 N mm = 55.9 N m
M O = (48i + 21.1 j 19.4k ) N m

4-4 4-4 F=1 000 N z Mz
F xy
Fy = 1 000
35
1
= 507 N
om
= 169 N
35
M z = xFy yFx = 150 507 150 169
da
an
wa
ng
.c
Fx = 1 000
= 101 400 N mm = 101.4 N m
4-5 AB CD
a zAB 4-5a
D F AB
4-4
w.
ww
(a)
F2
F
F
E1
(b)
4-5
F F1F2F1 AB CE F2 AB 4-5b
2
F1 = F sin F2 = F cos
M AB ( F ) = M AB ( F1 ) + M AB ( F2 ) = F1 a sin + 0 = Fa sin sin
4-6 r C F F C
60 4-6a F xyz
1 1 4-6b
Fxy = F cos 60 Fz = F cos 30
F = F cos 60 cos 30i F cos 60 sin 30 j F sin 60k =
41
3
1
3
i Fj
Fk
4
4
2
O r30
30
F
60
C
30
x
(a)
(b)
4-6
1
3
F
Fh
F r cos 30 = (h 3r )
4
2
4
3
3
3
M y (F ) =
Fh +
F r sin 30 =
F (h + r )
4
2
4
1
M z ( F ) = F cos 60r = Fr
2
da
an
wa
ng
.c
2 2
om
M x (F ) =
3
1
3
Fi Fj
Fk
4
4
2
1
3
rC = ri +
rj + hk
2
2
F=
3
r
2
1
- F
4
r
2
ww
3
F
4
3
r
2
Mx =
1
- F
4
Mz =
r
2
3
F
4
3
F
2
= M xi + M yi + M zk
w.
M A (F ) =
3
F
2
F
(h 3r ) M y =
4
h
-
3
F
2
r
3
2
=
F (h + r )
4
3
F
4
3
r
1
2
= Fr
2
1
- F
4
4-7 3 D 4-7a AB
C D P=10 kN AB C
D 4-7b
Fx = 0 FB cos 45 FA cos 45 = 0
1
F y = 0 FA sin 45 cos 30 FB
42
sin 45 cos 30 FC cos15 = 0
Fz = 0 FA sin 45 sin 30 FB
sin 45 sin 30 FC sin 15 P = 0 3
P=10 kN
FA = FB = 26.4 kN FC = 33.5 kN
z
FA
45
FC
15
D
30
45
FB
x
(a)
(b)
4-7
4-8 4-8a AB=BC=AD=AE ABD E

ABC AF AF y
B
om
C
45
da
an
wa
ng
.c
B
90 A
(a)
(b)
w.
ww
FBE B
F
E 45 FBD BA
45
A
y1
FBC
z
FBC
45
FCA
x
D
(c)
P
(d)
4-8
1 C 4-8d x BCy
Fx = 0 FCB FCA cos 45 = 0

1
Fy = 0 P FCA sin 45 = 0
FCA = 2 P FCB = P
(2) B 4-8b 4-8c
43
Fx = 0 ( FBD FBE ) cos 45 sin 45 + FBC sin = 0
Fy = 0 ( FBD + FBE ) cos 2 45 + FBC cos = 0
Fz = 0 FBA ( FBD + FBE ) sin 45 = 0
FBE = P(cos + sin ) FBD = F (cos sin ) FAB = 2P cos

4-9 4-9a 12345 6 A 1 F
ABDC 45 EAK = FBM EAKFBM
NDB AB D EC=CK=FD=DM F=10 kN
z
F 45
F2A
E
C
F3 F3
F5
F1 F
K
(a)
B
F6
F4 45
D
M
(b)
(1) A 4-9b
Fx = 0 ( F1 F2 ) cos 45 = 0
da
an
wa
ng
.c
Fy = 0 F3 + F sin 45 = 0
om
4-9
Fz = 0 ( F1 + F2 ) sin 45 F cos 45 = 0
F
F1 = F2 =
= 5 kN F3 = 7.07 kN
2
2
3
2 B 4-9b
Fx = 0 ( F4 F5 ) cos 45 = 0
Fy = 0 F6 sin 45 F3 = 0
Fz = 0 ( F4 + F5 + F6 ) sin 45 = 0
F4 = F5 = 5 kN F6 = 10 kN
ww
w.
4-10 4-10a 3 r = 500 mm P=600 N 3

AB C 1 CD a M F=1500 N
a
FC
P C
FA
F
A
(a)
O
D
M
FB
(b)
4-10
DAB E DE=rsin30=250 mm
4-10b M F FNC=0 AB
M AB = 0 F ME W DE = 0
ME =
600 N
W
DE =
250 mm = 100 mm
F
1500 N
44
a = DE + EM = 350 mm
4-11 4-11a 3 AB C 150 mm100 mm 50 mm3
OAOB OC 1 AOB 3
10 N20 N F 3
F
20 N
B
20 N
10 N
MC
MA
90
F
C
MA
90
10 N
MB
MB
F
(a)
(b)
4-11
MC
(c)
3 4-11b 4-11c
om
M C = M A2 + M B2 = 3 000 2 + 4 000 2 = 5 000 N mm

4-11a 4-11b
4-11b 4-11c
MC
= 50 N
100 mm
da
an
wa
ng
.c
M C = F 100 mm F =
MA 3
= = 36.87 = 3652'
MB 4
= 180 = 14308'
tan =
4-12 4-12a B A 1 B
F x F y F z F AB Fz = 50 N
F = 150 N 1 M2 F Ax F Ay F Az
w.
3 F x F y
ww
FAz
MA
y
FAx
F
A
C
FAy
B
Fx
(a)
Fy
Fz
z
(b)
4-12
4-12b
M z = 0 M F 150 mm = 0
M y = 0 Fx 400 mm F 200 mm = 0
M x = 0 Fy 400 mm = 0
Fx = 0 Fx + F Ax F = 0
Fy = 0 F y + F Ay = 0
5
45
Fz = 0 Fz + F Az = 0
6
M = 2.25 N m Fx = 75 N Fy = 0 FAx = 75 N FAy = 0 N FAz = 50 N
4-13
4-13a Fz = 500 N Fx = 150 N
Fy = 75 N Oxy x=75 mmy=200 mm

O
z
Fz
Mz
Mx
Fx
Fz
My
Fy
Fx
(a)
Fy
(b)
4-13
4-13b
Fx = 0 Fx + FOx = 0
om
Fy = 0 F y + FOy = 0
da
an
wa
ng
.c
Fz = 0 Fz + FOz = 0
M x = 0 Fz 0.2 m + M x = 0
2
4
M y = 0 Fy 0.075 m + M y = 0
M z = 0 Fx 0.2 m Fy 0.075 m + M z = 0
FOx = 150 N FOy = 75 N FOz = 500 N
M x = 100 N m M y = 37.5 N m
M z = 24.4 N m
w.
4-14 4-14a M P
30 O1x1 Axr=100 mmR=200 mmP=10 kN
2 A B
ww
z1
FBz
B
z
O
30
x1 F2
F1
30
FBx
FAz
r
A
FAx
P
(a)
(b)
4-14
P 4-14b
M y = 0 Pr ( F1 F2 ) R = 0
46
M z = 0 FBx 1 m ( F1 + F2 ) cos 30 0.6 m = 0
M x = 0 FBz 1 m + ( F1 F2 ) sin 30 0.6 m P 0.3 m = 0

Fx = 0 FAx + FBx + ( F1 + F2 ) cos 30 = 0
Fz = 0 FAz + FBz + ( F1 F2 ) sin 30 P = 0
F1 = 2F2
3
4
5
6
FBx
F1 = 10 kN F2 = 5 kN F Ax = 5.2 kN F Az = 6 kN
= 7.8 kN FBz = 1.5 kN
4-15 3 4-15a I I M1=697

N m D1=160 mmD2=632 mmD3=204 mm 20
ABCD
FBz
FDy
y
D
B
FBx
Ft
FDx
FCz
Ft
om
Fr
Ft
M1
Fr
FCx
FAx
x
(b)
4-15
da
an
wa
ng
.c
(a)
Fr
(c)
1 AB 4-15b
D1
2 M 1 2 697 N m
= M 1 Ft
=
= 8 712.5 N
2
D1
0.16 m
Ft = F cos Fr = F sin = Ft tan = 3 171 N
10
M x = 0 Ft 200 mm FBz 580 mm = 0 FBz =
Ft = 3 004 N
29
Fz = 0 FAz FBz + Ft = 0 FAz = 5 708 N
M y = 0 Ft
w.
M z = 0 Fr 200 mm + FBx 580 mm = 0 FBx = 1 093 N
Fx = 0 FAx + Fr FBx = 0 FAx = 2 078 N
ww
2 CD 4-15c
D
D2
F ' t3 3 = 0
2
2
D
632 mm
Ft3 = 2 F ' t =
8 712.5 N = 26 992 N
D3
204 mm
Fr3 = Ft3 tan 20 = 9 824 N
M y = 0 F 't
M x = 0 F ' t 200 mm Ft3 435 mm FDz 580 mm = 0

8 712.5 N 200 mm 26 992 N 435 mm + FDz 580 mm = 0
FDz = 23 248 N
Fz = 0 FCz F ' t Ft3 FDz = 0 FCz = 12 456 N
M z = 0 F ' r 200 mm Fr3 435 mm + FDx 580 mm = 0
3 171 N 200 mm 9 824 N 435 mm + FDx 580 mm = 0
FDx = 6 275 N
47
Fx = 0 FCx F ' r + Fr3 FDx = 0 FCx = 378 N
4-16 M z = 1 200 N m B 3
Ft Fa Fr Ft : Fa : Fr = 1 : 0.32 : 0.17
P = 12 kN Cz
OB = 0.6 m 4-16a C A
Fa
Fr
Ft
FAy
A
FAx
x
(a)
z
O
Mz
C
FCy
FCx F
Cz
(b)
4-16b B Ft Fa Fr F
da
an
wa
ng
.c
om
4-16
Ft
1
=
= 0.940 2
2
F
1 + 0.17 2 + 0.32 2
M z = 0 M z 0.940 2 F 0.60 m F = 2 127 N`
Ft = 0.940 2 F = 2 000 N Fr = 0.17 Ft = 340 N Fa = 0.32 Ft = 640 N

M x = 0 Fr 4 m FAy 3 m + Fa 0.6 m = 0
ww
w.
1
FAy = (640 0.6 340 4) = 325 N
3
4
M y = 0 Ft 4 m + FAx 3 m = 0 FAx = 2 000 N = 2.67 kN
3
Fx = 0 Ft + FAx + FCx = 0 FCx = Ft FAx = 667 N
Fy = 0 Fr + FAy + FCy = 0 FCy = Fr FAy = 14.7 N
Fz = 0 FCy Fa P = 0 FCz = Fa + P = 12 640 N = 12.6 kN
4-17 4-17a P=200 N A B
CE
4-17b
M z = 0 FBx AB = 0 FBx = 0
M AC = 0 FBz AB sin 30 = 0 FBz = 0

BC
= 0 F = P = 200 N
M y = 0 F sin 30 BC + P
2
AB
M BC = 0 P
FAz AB = 0 FAz = P / 2 = 100 N
2
Fx = 0 FAx F cos 30 sin 30 = 0 F Ax = 86.6 N
48
Fy = 0 FAx F cos 30 sin 30 = 0 F Ay = 150 N
z
E
FAz
A
FAx
D
FF
30
30
FBz
B
Ay
FBx
(a)
(b)
4-17
4-18 4-18a 6 1 F
z
F
D
(a)
B
F3
F6
F4
F5
da
an
wa
ng
.c
F1
F2
om
500
(b)
4-18
6 4-18b
M z = 0 F2 cos AD = 0
M BF = 0 F4 cos BC = 0
AD
Fx = 0 F6
=0
FD
1
2
3
F2 = 0 F4 = 0 F6 = 0
ww
w.
M EG = 0 ( F3 F ) EF sin = 0
M AD = 0 ( F3 + F5 ) AB = 0
M BD = 0 ( F1 F5 ) AB sin = 0
4
5
6
F3 = F F5 = F F1 = F
4-19 ABCD 2 ABC BCD D
A 4-19a ABBC CD 3
ABBC CD M 2 M 3
M 1
49
FAz
A FAy
z
M1
90 M 2 C
b
M3
FDx
D FDy
x
(a)
FDz
(b)
4-19
4-19b
Fx = 0 FDx = 0
Fx = 0 F Ay + FDy = 0
Fz = 0 F Az + FDz = 0
M x = 0 M 1 F Ay c F Az b = 0
M y = 0 F Az a M 2 = 0
om
5
6
F Az =
da
an
wa
ng
.c
M z = 0 M 3 F Ay a = 0
M
M2
F Ay = 3
a
a
FDy =
M3
M
FDz = 2
a
a
c
b
M3 + M2
a
a
aM 1 bM 2 cM 3 = 0
M1 =
w.
M = ( M 1 i M 2 j + M 3 k ) DA = ( ai bj + ck )
ww
7
8
M DA = 0
7
8
M DA
M M DA DA
1 A
4-20 2 AB BC P1 P2 A C
1 B AC 4-20a AB
45 BAC = 90 A C B
AB BC 4-20b
M AC = 0 ( P1 + P2 )
OA
1
FN OB = 0 FN = ( P1 + P2 )
2
2
M Az ' = 0 FCy AC = 0 FCy = 0
1
2
50
z
FN B
z
P2
FCz
FAz
P1
C
90 FCx
45
y
A FAy
FAx
O
x
(a)
FCy
(b)
z
FBz
FN B
FBy
FBx
FAz
P1
FAy
FAx
om
(c)
4-20
da
an
wa
ng
.c
1
M Az ' = 0 ( FN + FAy ) AC = 0 FAy = FN = ( P1 + P2 )
2
1
AC
M Ay = 0 FCz AC P2
= 0 FCz = P2
2
2
M Cy ' = 0 ( F Az + P1 ) AC + P2
Fx = 0 F Ax + FCx = 0
AC
1
= 0 F Az = P1 + P2
2
2
2 AB 4-20c
M Oz = 0 F Ax OA = 0 F Ax = 0
6
FCx = 0
3
4
5
6
7
ww
w.
8
4-21 4-21a D
LD FD C CH F BL H
z
FD
A
F1
D
F2 F3 F
3
B
F6
F4 C
F5
y
L
K
x G
(a)
H
(b)
4-21
(1) D 4-21b
1
F1
2
1
Fz = 0 FD F6
2
Fy = 0 FD
1
2
1
2
= 0 F1 = FD
= 0 F6 = FD
51
Fx = 0 F3 + ( F1 + F6 ) 1 / 2 = 0 F3 = 2 FD
(2) C 4-21b
Fx = 0 F3 F4 (1 / 3 ) = 0
F4 = 6 FD
Fy = 0 F2 F4 1 / 3 = 0
F2 = 2 FD
Fz = 0 F F5 F4 1 / 3 = 0
F5 = F 2 FD
4-22 4-22a 50 kN = 0 15 kN = 20
10 kN
y
F
x
C
yC
FB
(a)
(b)
4-22
= 0
da
an
wa
ng
.c
om
4-22b
C xC yC
M B = 0 50 kN cos xC 50 kN sin y C F cos 2.4 m = 0 1
F = 15 kN
xC = 0.72 m
= 20 F = 10 kN xC = 0.72 m
1
y C = 0.659 m
4-23
4-23a
w.
ww
200
C
O
20
xC
(a)
20
(b)
4-23
x 4-23b C x
yC = 0
Ai xi 200 20 (10) + 200 20 100 + 150 20 210
=
= 90 mm
xC =
Ai
200 20 + 200 20 + 150 20
4-24
4-24
xC =
Pi xi g (40 40 10 60 + 20 40 30 10 + 80 40 60 20)
=
Pi
g (40 40 10 + 20 40 30 + 80 40 60)
= 21.72 mm
52
Pi y i g (40 40 10 20 + 20 40 30 60 + 80 40 60 40)
=
Pi
g (40 40 10 + 20 40 30 + 80 40 60)
= 40.69 mm
Pi z i g (40 40 10 ( 5) + 20 40 30 15 + 80 40 60 ( 30))
zC =
=
Pi
g (40 40 10 + 20 40 30 + 80 40 60)
= 23.62 mm
yC =
4-24
Pi xi 200 ( 100) + 100 (50) + 100 0 + 200 100 + 100 200

=
Pi
200 + 100 + 100 + 200 + 100
= 21.43 mm
Pi y i 200 (100) + 100 0 + 100 50 + 200 100 + 100 100
yC =
=
Pi
700
= 21.43 mm
Pi z i 200 0 + 100 0 + 100 0 + 200 0 + 100 ( 50)
zC =
=
Pi
700
= 7.143 mm
xC =
da
an
wa
ng
.c
4-25
4-25
om
4-25
w.
4-26 4-26a r r
C
z
ww
x
(a)
(b)
4-26
4-26b
zC =
r 2 h h / 2 + 2r 3 / 3 (3r / 3)
=0
r 3 h + 2r 3 / 3
h=
= 0.707r
53
5-1 5-1a V 1 M = 15 N m
P = 400 N D = 0.25 m
V fs
45
45
M
O
Fs1
P
Fs 2
FN 1
(a)
FN 2
(b)
5-1
5-1b Fs1Fs2
Fx = 0 FN1 + Fs 2 P cos 45 = 0
1
Fy = 0 FN 2 Fs1 P sin 45 = 0
om
D
D
+ Fs 2 M = 0
2
2
da
an
wa
ng
.c
M O = 0 Fs1
Fs1 = f s FN1
Fs 2 = f s FN 2
5
f s2
4
5
PDf s
cos 45 + 1 = 0
M
f s2 4.714 f s + 1 = 0
2
w.
f s1 = 4.442 f s2 = 0.223
V
ww
f s = 0.223
AB P = 200 N 5-2a l
= 60 0.25 1 650 N
C A s
FsB
5-2
FN B
B
C
P
W
A
Fs A
FN A
(a)
(b)
5-2
54
5-2b AB
W = 650 N
Fx = 0 , FNB FsA = 0
1
Fy = 0 , FNA + FsB P W = 0
l
M A = 0 P cos 60 + Ws cos 60 FNB l sin 60 FsB l cos 60 = 0 3
2
FsA = f s FNA
FsB = f s FNB
4
5
P +W
= 800 N FsA = 200 N
1 + f s2
fs
FNB =
( P + W ) = 200 N FsB = 50 N
1 + f s2
l
P
s = [( 3 + f s ) FNB ] = 0.456l
W
2
FNA =
da
an
wa
ng
.c
om
5-3 2 AB BC B AC
5-3a ABC
B B
FBx
FN
(a)
FBx
FN
C
(b)
5-3
ww
w.
1 AB
5-3b A AB=BC=l
1
Fy = 0 FN P = 0
2
F = f s FN
l
M B = 0 F l cos 30 FN l sin 30 + P sin 30 = 0
2
fs =
1
2 3
= 0.287
5-4a d = 300 mm AB
b = 100 mm f s = 0.5
5-4
l
5-4b l min
AB
Fx = 0 FNA FNB = 0
1
Fy = 0
FsA + FsB P = 0
2
55
FN A A
Fs A
FN B
d Fs B
(a)
(b)
5-4
d
M A = 0 P(l min + ) + FNB b + FsB d = 0
2
FsA = f s FNA
FsB = f s FNB
4
5
1
2
45
FsA = FsB =
P
P
FNA = FNB =
2
2 fs
om
5-5
da
an
wa
ng
.c
d
d
P
P(l min + ) + P +
b = 0
2
2 2 fs
l min = b = 100 mm
f s h
2
h
3
ww
w.
F b
FN A
FsA
A
F
E
b
Fs E
FN E
(a)
(b)
5-5
1 5-5b
Fy = 0 FNE = FNA
Fx = 0 F = FsE + FsA FsE = f s FNE FsA = f s FNA

FsE = FsA F = 2 FsA
2h
ME = 0F
FsA h FNA bmin = 0
3
b
4h
h min = 0
3
fs
56
fh
h bmin
=
bmin = s
3
fs
3
2 W 5-5b
Fy = 0 FNE = W + FNA
Fx = 0 F = FsE + FsA
FsE = f s FNE FsA = f s FNA

2
1
M E = 0 , F h + W b + FNA b + FsA h = 0
3
2
b=
1
1
W 2
W
fsh +
f s h = f s h(1 + 3 f s h )
3
3
F
F
bmin =
fsh
3
om
5-6 5-6a OA = l OA 1 M
OA AB f s
da
an
wa
ng
.c
tan > f s F
FOy
FOx
FAB
(a)
FS
(b)
5-6
FAB
FN
(c)
MO = 0
w.
1 AO 5-6b
FAB cos l = M FAB =
M
l cos
ww
2 B 5-6c F B
'
Fx = 0 FAB
sin F cos Fs = 0
Fy = 0 FN F cos F sin = 0
'
AB
'
FN = FAB
cos + F sin
Fs = f s FN
'
Fs = f s ( FAB
cos + F sin )
13
Fs = f s (
M
+ F sin )
l
1
42
M
M
sin F cos f s ( + F sin ) = 0
l cos
l
M
(tan f s ) = F (cos + f s sin )
l
57
f s = tan
M
(tan tan ) = F (cos + tan sin )
l
sin sin
M(
)
M
sin( )
cos cos
F=
=
sin
l cos cos( )
l (cos +
sin )
cos
F B c Fs c 1
4
2
'
FAB
sin F cos + Fs = 0
1
4
da
an
wa
ng
.c
om
M
M
sin F cos + f s
+ f s F sin ) = 0
l
l cos
M
(tan + f s ) = F (cos f s sin )
l
M (tan + f s )
F=
l (cos f s sin )
f s = tan
M sin( + )
F=
l cos cos( + )
2 F F F
M sin( )
M sin( + )
F
l cos cos( )
l cos cos( + )
5-7 d = 500 mm a = 5 mm
5-7a f s = 0.1
ww
w.
b
AB
Fs A FN A
Fs B FN B
(a)
(b)
5-7
FNA FNB FsA FsB 5-7b
FNA = FNB = FN FsA = FsB = F
2 F cos 2 FN sin 0
F / FN tan
58
F / FN f s
2
tan = f s
tan =
d
d + a b 2
( )2 (
)
2
2
=
d +a b
2
d 2 ( d + a b) 2
d +ab
d 2 ( d + a b) 2 ( d + a b) f s b ( a + d )
(1 + f s )
2
1
2
1 + f s2
f s
ba+
d 2
f s = 7.5 mm
2
om
5-8 200 N F
5-8a f s = 0.5
da
an
wa
ng
.c
2 R = O1O2 = KD = CD = O1 A = KL = O2 L = 0.5 m O1 B = 0.75 m AC = O1 D = 1 m

ED = 0.25 m
FEK
Fs2
w.
FOx
Fs 2
FN 1
Fs1 FO1 y
O2
O1
FN 2O
FO x
FO2 y
FDx
FN 1
FO1x
FO1y FAC
ww
O1
(b)
5-8
(1) O1 B 5-8b
M O1 = 0 FAC O1 A F O1 B = 0 FAC =
O1 B
F = 300 N
O1 A
cos =
KD
=
KE
0.50
0.50 2 + 0.25 2
2
5
2 CDE 5-8b
'
M D = 0 FKE cos DE FAC
DC = 0 FKE = 5 FAC
Fx = 0 FDx FKE cos = 0 FDx = FKE cos = 2 FAC = 600 N

3 O1D 5-8b
M O1 = 0 FDx' O1 D FN1
O1 D
= 0 FN1 = 2 FDx' = 1 200 N
2
59
F AC
(a)
FDy
Fs1
FOy
FN 2
FO2 x
FDx
E FDy
FEK
4 O2 K 5-8b
O2 K
'
FKE
cos O2 K = 0
2
'
= 2 FKE
cos = 4 FAC = 1 200 N
M O 2 = 0 FN 2
FN 2
Fs1 = 0.5FN1 = 600 N Fs 2 = 0.5FN 2 = 600 N

(5) 5-8b
M = ( Fs1' + Fs2' ) R = 300 N m

5-9 0.25 m AGB GCED G 5-9a
P=120 N F f s = 0.5
b
Fs 2
Fs1
FN 1
FGx
FN 2
A
FN
da
an
wa
ng
.c
(a)
B
FGy
om
250
95
30
Fs1
(b)
5-9
(c)
1 5-9a 5-9a
F = P = 120 N
2 5-9b
Fx = 0 FN1 FN2 = 0
Fy = 0 Fs1 Fs 2 P = 0
w.
Fs1 f s FN1 Fs 2 f s FN 2
F
P
= 60 N FN1 = FN 2 s1 = 120 N
fs
2
ww
Fs1 = F2 =
3 AGB 5-9c
M G = 0 F 95 mm + Fs1 30 mm FN' 1 b = 0
PFs1FN1
b 110 mm
5-10 5-10a ABC DEF BE

B E P
f s BE
(1) 5-10a
F=P
2 O 5-10d
Fx = 0 FD sin 60 FA sin 60 = 0
Fy = 0 F FD cos 60 FA cos 60 = 0
60
1
2
FA = FD = F = P
FA
A 90
Fs1
Fs2
FBE
FN 1
(a)
FN 1
G FN 2
P
F
O
C
Fs1
(b)
200
FA
(c)
120 FD
(d)
5-10
(3) 5-10b
'
Fx = 0 FN' 1 FN2
=0
Fy = 0 Fs'2 + Fs'1 P = 0
M G = 0 Fs'1 0.20 m Fs'2 0.20 m = 0
om
'
Fs1' f s FN1
F fs F
'
N2
6
7
da
an
wa
ng
.c
'
s2
Fs1' = Fs2'
P
2
'
FN' 1 = FN2
P
2 fs
4 ABC 5-10c
M B = 0 FA' 600 mm + FN1 150 mm + Fs1 200 mm = 0
w.
f s 0.15
ww
5-11 5-11a 2 B AD 1
M A = 40 N m AD f s = 0.3
M C
FN B
30
D
B
FAy
MA
Fs
FN B
A
MC
FCy 30
FAx
C
A
(a)
(b)
5-11
1 AD 5-11b
61
FCx
(c)
Fs
B
M A = 0 FNB AB M A = 0 AB =
MA
FNB =
l
/ cos 30
2
3M A
l
l
/ cos 30
2
3 fs M A
Fs = f s FNB =
l
2 CB 5-11c
M C = 0 M C + Fs' l sin 30 + FN' B l cos 30 = 0
1
23
3 fs M A
3M A
l sin 30 +
l cos 30 = 0
l
l
MC +
M
3
3
40
f s M A + M A = A ( 3 f s + 3) = ( 3 0.3 + 3) N m = 70.4 N m
2
2
2
2
M C Fs 1
23
MC =
om
3 fs M A
3M A
l sin 30 +
l cos 30 = 0
l
l
M
40
M C == A (3 3 f s ) = (3 3 0.3) N m = 49.6 N m
2
2
49.6 N m M C 70.4 N m
5-12 A b = 1 m h = 2 m P = 200 kN = 20
f s = 0.2 C 1
1 D 1 E BC = a = 1.8 m
da
an
wa
ng
.c
MC
ww
w.
F
30
(a)
C
b
P
A
FS
F
30
B
A
FN
(b)
5-12
Fs
B
20
FN
(c)
1 E 5-12b

Fx = 0 F cos 30 + Fs P sin 20 = 0
Fy = 0 FN = P cos 20 F sin 30
Fs = f s FN
2331 FN Fs
F =
P (sin 20 f s cos 20)

= 40.2 kN
cos 30 f s sin 30

62
M A ( P ) = P sin 20
h
b
P cos 20 < 0
2
2
F 0 M A (F ) < 0
5-12b
2 E F 5-12c

Fx = 0 F cos 30 Fs P sin 20 = 0
5
Fy = 0 F sin 30 P cos 20 + FN = 0
Fs = f s FN
6775
F cos 30 f s ( P cos 20 F sin 30) P sin 20 = 0
F=
P(sin 20 + f s cos 20) 200 kN (sin 20 + 0.2 cos 20)

=
= 109.7 kN 8
cos 30 + f s sin 30
3
1
+ 0.2
2
2
b
h
+ P sin 20 = 0
2
2
da
an
wa
ng
.c
M B = 0 F cos 30 a + P cos 20
om
P
(b cos 20 + h sin 20)
100 kN (cos 20 + 2 sin 20)
F= 2
=
= 104 kN
a cos 30
1.8 cos 30
4
8
9
40.2 kN F 104 kN
F E
5-13 5-13a
D f s
w.
ww
e
C
Fs
FN
(a)
(b)
5-13
5-13b
f D
e
tan = f s e s
D
2
2
*5-14 P r A
D 1 F 1 5-14a F = P
f s = 0.3 = 45
AB = BD M
63
FN E Fs E
E
FN B
FAx
B FsB
45
M
r
O
P
B
FAy
(a)
Fs B
FN B
(b)
5-14
(c)
1 ABD 5-14b
M A = 0 AB = BD FN' B = 2 F = 2 P
(2) O 5-14c
E
FsE = f s FNE
Fy = 0 2 P P FNE cos 45 f s FNE cos 45 = 0
2 P 10 2
3 2
=
P FsE = f s FNE =
P
1 + fs
13
13
Fx = 0 FNE cos 45 f s FNE cos 45 FsB = 0
FsB max
da
an
wa
ng
.c
FsB =
om
FNE =
7
2 10 2
2
FNE (1 f s ) =
P 0.7 = P
13
2
13
2
= f s FNB = 0.3 2 P = 0.6 P > FsB
B
M O = 0 ( FsB FsE )r = M
M =
73 2
Pr = 0.212 Pr
13
w.
FsB = f s FNB = 0.6 P

Fy = 0 FNE cos 45 + FsE cos 45 + P = 2 P
ww
FNE + FsE = 2 P
Fx = 0 FNE cos 45 FsE cos 45 FsB = 0

FNE FsE = 2 FsB = 0.6 2 P
45
FsE = 0.2 2 P = 0.282 8 P

4+5
FNE = 0.8 2 P
FsE max = f s FNE = 0.3 0.8 2 P = 0.339 4 P > FsE
MO = 0
( FsB FsE )r = M
M = (0.6 0.282 8) Pr = 0.3172 Pr
M min = 0.212 Pr
*5-15 P1 = 450 N AB A 1
64
W2 = 343 N C AB
f s1 = 0.4 f s2 = 0.2 R = 0.3 m
r = 0.1 m 1
F
FN
Fs1
P1
FAx A
FAy
(a)
1m
2m
FN1
Fs 1
Fs 2
R r
P2
O
FN
(b)
5-15
(c)
1 AB 5-15b
M A = 0 FN1 =
2
P1 = 300 N
3
2 5-15c
Fs1' = f s1 FN' 1 = (0.4 300) N = 120 N
da
an
wa
ng
.c
om
M O 0 Fs1' ( R + r ) F ( R r )
R+r '
F
Fs1 = 240 N
Rr
Fmin = 240 N
C D O O
F
5-16 1 2 3 f s = 0.1

w.
FN 2
Fs 2
ww
(a)
FN1
Fs1
(b)
5-16
5-16b
Fx = 0 FN 2 cos + Fs 2 sin FN1 = 0
Fy = 0 FN 2 sin Fs 2 cos Fs1 = 0
Fs1 f s FN1
Fs 2 f s FN 2
3
4
3
412
FN 2 (cos + f s sin ) FN1

FN 2 (sin f s cos ) f s FN1
2
fs
sin f s cos
tan f s
=
cos + f s sin 1 + f s tan
65
2 fs
= 0.202
1 - f s2
11.42 = 1125'
tan
2 2
2 f = 2 arctan f s = 2 arctan 0.1 = 11.42 = 1125'
AD P 4 m 1 BC 5-17a
AC = BC = AB = 3 m BC ABC
5-17
FC
A
B
60
B
(a)
FB
FA
60 FC
60
A
(b)
(c)
om
5-17
da
an
wa
ng
.c
1 BCBC
5-17b B C
B = 30 f B = tan 30 = 0.577 C = 30 f C = 0.577

2 AD O AC 5-17c
OC
AO
=
OC = 1 m
sin sin 120
AO = 12 + 3 2 2 1 3 cos120 = 13 m
1
3
OC
sin 120 =
= 0.240 = 13.9
AO
13 2
A = 30 = 16.1
sin =
ww
w.
ABC
5-18 5-18a B P A B
f s A B F
P
FN 1
FN B
Fs1
Fs1
FN1
(a)
(b)
FN A
(c)
5-18
1 F
B B 5-18b
Fy = 0 FN1 cos + Fs1 sin P = 0
A 5-18c
66
Fx = 0 Fs1 cos + FN1 sin F = 0
Fs1 f s FN1
Fmin =
sin f s cos
P
cos + f s sin
2 F
'
B B 5-18b Fs1
Fy = 0 FN 2 cos Fs 2 sin P = 0
A 5-18c Fs1
Fx = 0 Fs 2 cos + FN 2 sin F = 0
Fs 2 = f s FN 2
sin + f s cos
cos f s sin
om
Fmax =
da
an
wa
ng
.c
5-19 1 R P1 5-19a r
A 1 P2 AB
C
Fs
P1
Mf
FT
(a)
w.
FN
(b)
5-19
(1)
ww
FT = P2
2 5-19b Mf
Fx = 0 FT sin Fs = 0
1
Fy = 0 FN + FT cos P1 = 0
M O = 0 M f + FT r Fs R = 0
1
2
3
Fs = P2 sin FN = P1 P2 cos M f = P2 ( R sin r )
*5-20 P = 15 kN 600 mm
80 mm
67
M
rB
W F
B
FN B
(a)
C
P
FN 2
rB
1 200 1 200 F
(b)
5-20
Fs B
NB
(c)
1 B 5-20b W = 0
M
r
M B = 0 FB =
2 5-20c FsB = FB A
5-20b
M A = 0 P 1 200 + FNB 2 400 FB 300 = 0

2
M y = 0 FNA cos + FNB = P

M z = 0 FNA sin = FB FNA =
da
an
wa
ng
.c
43
FB
sin
om
FB
+ FNB = P FNB = P FB cot
sin
41
( P FB cot ) 2 400 FB 300 = 1 200 P

( P FB cot ) 8 FB = 4 P
w.
4 15
4P
kN = 6.23 kN
FB =
=
220
1 + 8 cot
1+ 8
204
ww
220
FNB = 15 6.23
kN = 8.28 kN
204
FB f s FNB
FB
6.23
=
= 0.752
FNB 8.28
M = FB r = (6.23 0.3) N m = 1.87 N m
fs
5-21 5-21a
50 mm = 0.5 mm

68
OR
P
Fs
FN
(a)
(b)
5-21
5-21b

Fx = 0 Fs P sin = 0
1
Fy = 0 FN P cos = 0
M O = 0 Fs R FN = 0
1
2
Fs
= tan
FN
3
da
an
wa
ng
.c
om
Fs
=
FN R
tan =
= tan 1 ( ) = tan 1 (0.02) = 19'

R
5-22 50 N AB BC 5-22a
F BC
0.6 F
ww
w.
D
Fs
A
FN
F
P
x
2
Fs
P sin
B
(a)
(b)
(c)
5-22
M 5-22b
Fz = 0 FN = P cos Fs max = f s FN = 0.6 P cos
Fx = 0 Fs max cos = P sin

P sin
tan
1
= 33.56
cos =
=
=
0.6 P cos
0.6
1.2
Fy = 0 Fs max sin = F
F = 0.6 P cos sin = 0.6 50 N
5-23
2
5
sin 33.56 = 14.8 N
AB l PA 1 B
69
1 A a AOB yOz AB
f s AB
z
Fs
F
B N l
O P
a
FAz
A FAy
FAx
x
(a)
(b)
5-23
AB 5-23b AO
B O
r = l 2 a2
om
B
M Az = 0 FN r sin F cos a = 0
da
an
wa
ng
.c
Fs = f s FN
2
3
1
2
3
Fs a
fsa
=
FN r
l 2 a2
tan =
5-24 5-24a C E
= 225 = 1.25 f s = 0.5
a = 100 mm D 1 F = 100 N
M f
w.
F2 = F1e
fs
ww
f s
FCy
E FCx
C
F1
(a)
D
F2
(b)
5-24
ECD 5-24b
M C = 0 F '1 = 2 F F1 = 2 F = 200 N
F2 = F1e f s = 200e 0.51.25 = 200e1.963 5 = 1 425 N

M f = ( F2 F1 )a = [(1 425 200) 0.1] N m = 122.5 N m
70

6-1
6-1 OA = AB = 200 mm
CD = DE = AC = AE = 50 mm OA =
rad/s O
5
OA D
AOB = t D
x D = OA cos t y D = OA sin t 2 AC sin t
D
x = 200 cos
t
t
mm y = 100 sin
mm
5
5
t D
x2
y2
+
= 1 mm
40000 10000
6-1
D 00 0.2 m 0.1 m
6-2 6-2 AB l B = t
x A = a + b sin t + l sin t
y A = l cos t
( x A a) = (b + l ) sin t
y A = l cos t
xA a
b + l = sin t
y A = cos t
l
da
an
wa
ng
.c
om
B s = a + b sin t a b A
ww
w.
6-2
( x A a ) 2 y A2
+
=
1
(b + l ) 2
l2
6-3 6-3 v0 = 0.01 m/s
AB A
R = 80 mm A
b
6-3
71
1A
xOy 6-3b A
x = 0 y = R 2 v02 t 2 = 0.01 64 t 2 m 0 t 8
A v x = x& = 0 v y = y& =
0.01t
m/s
64 t 2
A y t v y t 6-3b
2A
x O' y ' A
x' = vO t = 0.01t m y ' = 0.01 64 t 2 m 0 t 8

0.01t
'
'
A v x = x& ' = 0.01 m/s v y = y& ' =
m/s
64 t 2
'
'
y 't x't v y t v x t 6-3b
6-4
6-4 l O
da
an
wa
ng
.c
6-4 t
x = l y = l tan = l tan kt
t
x& = 0 &x& = 0

6 3
om
= kt k =
y& = lk sec 2 kt &y& = 2lk 2 sec 2 kt tan kt
8 3 2
4
lk
v = lk a =
6
9
3
2
= kt = v = 4lk a = 8 3lk
3
w.
= kt =
6-4
ww
6-5 A B l
6-5 v0 A x
AB s 0 s
BA = s = s 0 v0 t
ds
= v 0
dt
Ox O
s = l 2 + x2
xx&
ds
=
2
dt
l + x2
1 2 A
x& =
v0 l 2 + x 2
x
a = &x& =
v02 l 2
x3
6-5
72
6-6 6-6a R O = t
OC=e AB
b
6-6
6-6b xOy = 0 A
da
an
wa
ng
.c
y = OA = OD + DA = OD + AC 2 CD 2
om
y = e sin t + R e cos t
AB t
2
v = y& = e cos t +
e sin 2t
1 2e 2 sin t cos t
= e[cos t +
]
2
2
2
2
2
2 R e 2 cos 2 t
R e cos t
ww
w.
6-7 M BC OA
BC R OA O BC O
M
(a)
(b)
6-7
1
6-7b xO1 y AOx = t MO1 x = 2t
x = R cos 2t y = R sin 2t
&x = 2 R sin 2t y& = 2 R cos 2t
&x& = 4 R 2 cos 2t &y& = 4 R 2 sin 2t
73
v = x& 2 + y& 2 = 2 R a = &x&2 + &y& 2 = 4 R 2
2
t = 0 M M0 M0 M0 M 6-7a
)
M 0 M = s = R MO1 M 0 = 2 Rt
M s = 2 Rt
M v = s& = 2 R
v2
M a t = &s& = 0 a n =
= 4 2 R a = 4 2 R
R
(a)
da
an
wa
ng
.c
om
6-8 6-8a OA O1B O O1 D

OO1 = a = kt k
D OA
(b)
6-8
6-8b xOy
ODO1 =
OD = a cos = a cos kt
2
a
(1 + cos 2kt )
2
a
y = a cos kt sin kt = sin 2kt )
2
x& = ak sin 2kt y& = ak cos 2kt
ww
v = x& 2 + y& 2 = ak
w.
x = a cos kt cos kt =
D OA v r =
d(OD)
= ak sin kt
dt
6-9 OA r O 6-9
AB N OA
A = t AB l = 2r B
l = 2r
t
t
x = r + (l 2r sin 2 ) sin 2
y = (l 2r sin t ) cos t
2
2
6-9
74
t
t
t
2 t
x = r + l sin 2 2r sin 2 = l sin 2 + r cos t = r (cos t + 2 sin 2 )
y = l cos t + r sin t = r (sin t 2 cos t )
2
2
t
t
x& = l 2 cos 2 r sin t = r (cos 2 sin t )
y& = r cos t + l sin t = r (cos t + sin t )
2
2
2
v = x& 2 + y& 2 = r 2 2 sin
t
2
6-10
v = v x2 + v y2 =
da
an
wa
ng
.c
v = 4i + 3 j a v = 30
a = 10 m/s 2
a t
om
t
t
r 2
(sin + 2 cos t )
&x& = r ( sin cos t ) =
2
2
2
2
2
&y& = r ( sin t + cos t ) = r (cos t 2 sin t )
2
2
2
2
r 2
t
a = &x&2 + &y& 2 =
5 4 sin
2
2
(4
+ 3 2 m/s = 5 m/s
a n = a sin = 10 sin 30 = 5 m/s 2

v 2 52
= m = 5m
a n 5
a t = a cos = 8.66 m/s 2
6-10
M T ABC 6-11 ABC
ww
6-11
w.
v= y = 2 px M x
6-11 M
2
x = vt
y = 2 px = 2 pvt
x& = v y& =
v M = x& 2 + y& 2 = v 1 +
pv
2 px
pv
y
p
2x
&x& = 0 &y& =
a M = &y& =
pv&v
v2 2 p
=
4x x
y2
v2 2 p
4x x
75
6-11
6-12 6-12 0
O v 0
O
O M
r = v0 t = 0 t
t r =
v0
6-12
r& = kr
dr
= kdt
r
r dr
t
r0 r = 0 kdt
r = r0 e kt
**6-14
r = r0 ek
da
an
wa
ng
.c
= t
om
**6-13 M OM k
r = 0 r = r0
6-13 QQ' OA B
B BO = kt k BO=AO=a
AM=b M
M
r = b + 2acokt = kt
t r = b + 2a cos
M
ww
w.
dr
= 2ak sin kt
dt
d
v = r
= 2ak cos kt + kb
dt
vr =
6-13
v = v r2 + v2 = k 4a 2 + b 2 + 4ab cos kt
d2r
d
r ( ) 2 = 4ak 2 cos kt k 2 b
2
dt
dt
1 d 2 d
a =
) = 4ak 2 sin kt
(r
r dt
dt
a r =
a = a r2 + a2 = k 2 16a 2 + b 2 + 8ab cos kt

6-14 z
z = z 0 sin 2 ft z = t
**6-15
r A
& = a r = r 2
76
6-14
&z& = z 0 (2 f ) 2 sin 2 ft &z&max = z 0 4 2 f
2
a max = a r2 + &z&max
= r 2 4 + 16 4 f 4 z 02
**6-16 M b h
6-15
M &
a
(a)
da
an
wa
ng
.c
om
6-15
v = &
v
vz
= tan
& (t )
& tan = & 2 + z& 2
= tan & = z& tan tan =
& < 0
w.
z& (t )
v 2 + v z2
ww
& tan = 1 + cot 2 &

1 d
& tan =
sin dt
d
= & tan sin dt
ln = & tan sin t + c

t = 0 = b
c = ln b
ln = & tan sin t
b
= be & tan sin t
& = b& tan sin e & tan sin t
&& = b& 2 tan 2 sin 2 e & tan sin t
= &t
a = && & 2 = b& 2 tan 2 sin 2 e tan sin & 2
77
(b)
= b& 2 e tan sin (tan 2 sin 2 1)
b
tan =
h
**6-17 6-16 M R
OM OM z
& = M z
(1 cos 2 ) = M
2
4
v r v v
z=
6-16
h
(1 cos 2 )
2
z
h
cos = =
(1 cos 2 )
R 2R
h
d
d d
h sin 2
t sin
=
sin 2 2
=
dt 2 R
dt
dt
R sin
4R 2 h 2
h
h
h
= z = cos =
sin =
= 1 ( )2
4
2
2R
2R
2R
d
h
=
dt
h
R 1 ( )2
2R
dr
vr =
=0
dt
h
d
v = R
=
dt
h
1 ( )2
2R
h
d
= R 1 ( ) 2
dt
2R
w.
v = R sin
da
an
wa
ng
.c
om
z =
ww
78
7
7-1 7-1a 1 R = 100 mm O1
BC OA=100 mm = 4 rad/s O BC
30 BC
O
B
(a)
C
O1
(b)
7-1
Ox 7-1b O1 O1
x = 2 R cos = 0.20 cos 4t m
x& = 0.80 sin 4t m/s

&x& = 3.20 cos 4t m/s 2
da
an
wa
ng
.c
= 4t = 30
om
v BC = x& = 0.40 m/s
a BC = &x& = 2.77 m/s 2
7-2 7-2 OA=1.5 m AB=0.8 m

A B 0.05 m/s AB
= 0 B
1 (t )
AB
w.
v B = v A = l&
ww
l = OA = 1.5 m
v A = vB
d
= 0.05
dt
1
1
7-2
d =
dt = t + c
30
30
1
t = 0 = 0 c = 0 = t
30
x B = l cos
m
x A = l sin 0.8
B l = 1.5 m
x B2 + ( y B + 0.8) 2 = 1.5 2 m
7-3 O1 n = 950 r/min ABC AB O2
O3 7-3 AB = O2 O3 O3 A = O2 B = 0.25 m z1 = 20 z 2 = 50
1.5
79
z 3 = 50 C
O2 O3 AB ABC
C A A 1
O3 A = r = 0.25 m
v = O3 A 3 = O3 A
= 0.25
7-4
z1
1
z3
20 950 2
= 9.95 m/s
50
60
7-3
7-4 AB v = 0 =
OC
4
= 0 A D
tan =
vt
l
v
l
v
l
om
&& =
=
2v
cos sin &
l
OC
4
2v
= & =
l
OC
7-4
v2
2v 2 2 v
= 2
l 2 2 2l
2l
w.
= && =
7-5
da
an
wa
ng
.c
& sec 2 = & = cos 2
7-5 CB 0 C = 0 t B
ww
OA O OC = h CB = r
1 OBC
r
h
=
sin sin[180 ( + )]
tan =
r sin
h r cos
= 0 t
= tan 1 [
2
sin 0 t
h
cos 0 t
r
B BD CO D
tan =
r sin 0 t
BD
=
DO h r cos 0 t
80
7-5
sin
t
0
= tan 1
h cos 0 t
7-6 7-6 I n = 600 r/min I

A d d = 100 5t d mm
t s r = 50 mm R = 150 mm 1 d II 2 d = r
B 1
1
2 d = 1r
50
600
100
r
1 =
rad/s
=
100 5t
30
10 0.5t
d
d
5 000
d 1 000
2 = 2 =
=
dt
dt 100 5t (100 5 )2
2 =
5 000
rad/s 2
2
d
om
2 B d = r 1
r
1 = 1 = 20 rad/s
d
5 10 3 5 10 3
2 =
=
= 2 rad/s 2
2
2
d
r
da
an
wa
ng
.c
2 =
7-6
a = R 22 + 24 = 150 (2 ) 2 + (20) 4 = 300 1 + 40 000 2

= 592 000 mm/s 2 = 592 m/s 2
7-7
7-7 z1 = 40 z 2 = 84 z 3 = 28
w.
z 4 = 80 h4 = 12 mm
h1
ww
1 z 2
z
= 2 = 3 3 = 4
2 z1
4 z3
1 z 2 z 4 84 80
=6
=
=
4 z1 z 3 40 28
h1 =
h4
= 2 mm
6
7-7
7-8 7-8 a v
r
2 rad a d dr
d =
81
2
dr
a
d 2 dr dr a
=
dt
a dt dt 2
(a)
(b)
7-8
r = v t
d dr
+ =0
dt dt
dr
r d
=
dt
dt
d a 2
av 2
=
=
2 r 2 r 2
dt
da
an
wa
ng
.c
om
12
7-9 1 AC AB = O1O2 1 r2 2
7-9
2 O2 O2 B O1 A = O2 B = l = b sin t t =
s
2
t
vA aA A
a An
w.
O1
(a)
ww
C 1B
vD
a
D
r
2 2
O2
2
t
D
(b)
7-9
AB B 2 D
v D = v A a D = a A = a An + a At
1 2 2 D 1 D
v A lb cos t t = 2
&
v A = l = lb cos t 2 =
=
=0
r2
r2
a = l&& = lb 2 sin t = lb 2 2 =
t
A
7-10
a At
lb 2
=
r2
r2
2 2 O1 A
1 2 D
a Dt = r2 2
82
ACB A
a At = a Dt
a At = l&&
l&& = r2 2 && =
r2
2
l
r2
r
2 t + C1 = 2 2 t 2 + C1t + C 2
l
2l
t = 0 & = 0 C1 = 0 = 0 C 2 = 0
r
= 2 2 t2
2l
& =
7-11
AB v B R OC O
tOC C
4
7-10a =
om
da
an
wa
ng
.c
(a)
B
v
x
(b)
7-10
(2 R) 2 x B
vt vt
1
2 2 2 ( )2
R
R
2R
2
v
v
vC = 2 R =
=
2R sin
sin
sin =
ww
7-10b
x B = 2R cos
2
x B (0) = 2 R x& B = 2 R + vt
CBO =
w.
7-12 7-11a 1 O , 1
60, 0 0
at
an
(a)
a
(b)
7-11
83
1 M a a t = r a n = r
2
7-11b
at
= 2
an
tan =
d
= 60
dt
d
tan 60 = dt2
3dt
dt
0
12
1 3 0 t
d =
da
an
wa
ng
.c
0
1 3 0 t
om
dt
1
)
ln(
3 1 3 0 t
ln
7-13
ww
w.
= 0e
R = 100 mm 7-12a A
v a = 200 j mm/s B a Bt = 150i mm/s 2

C
a Bt
vA
j
O
i
45 A
n
aC
aCt
(a)
(b)
7-12
7-12b
84
v A = 0.2 j m/s v A = Ri 0.1i = 0.200 j = 2k
a B = Rj 0.150i = 0.1 j = 1.5k
a C = a Cn + a Ct = R 2 ( cos 45i + sin 45 j ) + R ( sin 45i cos 45 j )

2
2
(i + j ) 0.1 1.5
(i + j ) = 0.389i + 0.177 j
2
2
7-14 = 40 rad/s y z
3
= arc tan A 7-13 r = 150i + 160 j 120k mm A
4
2
v = R a n = R
4
3
1 cos = sin =
5
5
v A = r = ( sin j + cosk ) (150i + 160 j 120k )
i
j
k
sin
cos
= 0
150
160
- 120
= (8 000i + 4 800 j 3 600k ) mm/s
= 8i + 4.8 j 3.6k m/s
2 a A = v
= 0
i
j
k
sin
cos
= 0
-8
4.8
- 3.6
7-13
da
an
wa
ng
.c
om
a C = 0.1 2 2
3
4
4
3
4.8 40 )i + (8 40 ) j + (8 40 )k
5
5
5
5
= 240i 256 j + 192k m/s2
R = 0.15 2 + 0.16 2 + 0.12 2 = 0.25

= 40
ww
w.
= (3.6 40
v = 8 2 + 4.8 2 + 3.6 2 = 10
v = R
a n = a = 240 2 + 256 2 + 192 2 = 400

a n = R 2
85
8
8-1
8-1 M y
x = 0 y = a cos(kt + )
M v e M
O ' x' y ' M
x' = ve t y ' = a cos(kt + )

t M
y ' = a cos(
k
x'+ )
ve
8-2 8-2 M Ox' y '
x' = 40(1 cos t ) y ' = 40 sin t
8-1
t s x' y ' mm Ox' y ' O
= t rad x' x M
M
om
da
an
wa
ng
.c
x'
1 = cos t
40
y'
= sin t
40
2 M
( x'40) 2 + y ' 2 = 1600
8-2
x = x' cos y ' sin

y = x' sin + y ' cos
w.
= t t M
( x + 40) 2 + y 2 = 1600
va = 15 m/s = 60
ww
8-3
8-3a R = 2 m n = 30 r/min
ve
60
va
vr
x
(a)
(b)
8-3
1 M/
8-3b v r x' M
86
ve = R = 2
n
= 6.283 m/s
30
y ' 8-3b,
ve
va
vr
=
=
sin(60 + ) sin(90 ) sin30
1
ve cos = va sin(60 + )
v v a sin 60
tan = e
va cos 60
ve = 6.283 m/s va = 15 m/s ,
= 4148'
1
vr =
sin 30
va = 10.1 m/s
cos
8-4 8-4a
1 = 10 rad/s 1 = 1.2 rad/s
da
an
wa
ng
.c
om
l = 500 mm e = 50 mm
= 30
vr
va
w.
(a)
ve
(b)
8-4
ww

v e v r 8-4b
ve = (e + l sin ) = 3 m/s v r = l 1 = 0.6 m/s
va = v e2 + v r2 = 3.06 m/s
v a v e v r
tan (v a , v e ) =
vr
= 0.2
ve
8-5 OA l O 8-5a
v a A O x
87
vA
ve
va
vr
x
(a)
(b)
8-5
AO B AO
OA B 8-5b, OA
,
va = v ve = OB = v a sin OB = v sin
sin =
a
=
OB
a
x + a2
2
va
x + a2
2
om
lav
x + a2
va = l =
da
an
wa
ng
.c
8-6 n = 30 r/min d = 40 mm 8-6a

v = 10 mm/s
vr
va
w.
(a)
ve
(b)
8-6
ww

M v e v a = v v r v a
v e v a 8-6b
va = v = 10 mm/s
ve =
d n
= 62.83 mm/s
2 30
v r = v a2 + ve2 = 10 2 + 62.83 2 = 63.6 mm/s
= tan 1 (
8-7
ve
) = tan 1 (6.283) = 8057'
va
8-7a 8-7b 2 O1O2 = a = 200 mm
1 = 3 rad/s O2 A
88
va
ve
ve
va
vr
A
30
vr
30
A
30
O1
O1
30
30
O2
O2
(a)
(b)
(a1)
(b1)
8-7
a A O2 A O1
O2 A O2 8-7a1 ,
va = ve + vr
O1O2 A
O1 A = O1O2 = a O2 A = 2a cos 30 va = a 1 ve = O2 A = 2a cos 30
va
= 2 a
cos 30
a 1 = 2 a
1
2
da
an
wa
ng
.c
va =
om
8-7a1
= 1.5 rad/s
b A O1 A O2
O1 8-7b1
ww
w.
va = O2 A 1 = 2a cos 30 ve = O1 A1 = a 1
ve
a 1
b1 v a =
=
cos30 cos30
a 1
2a cos 30 =
cos 30
2
= 1 = 2 rad/s
3
8-8 8-8a OA = r O
DE 60 = 0
30 60 BC
va
vr
vr
va v
r
ve
(a)
60
A
(b)
(a)
89
60
60
ve
30
(c)
(b)
8-8
va
60
O
(d)
A BC O
DB 8-8b
(v a , y ) = , va = r
b
ve
va
=
sin(30 ) sin 60
sin(30 )
r
sin 60
3
= 0 v BC =
r
3
= 30 v BC = 0
v BC = ve =
= 60 v BC =
8-9a AB v OC
OC = a OD = l =
C
4
om
8-9
3
r
3
va
da
an
wa
ng
.c
ve
(a)
A
D
vr
x
(b)
8-9
ww
w.
A OC OC
O 8-9b OC
va = v
1
ve = OA
va =
ve
cos
OA = l 2 + v 2 t 2
l
cos =
OA
4
5
1
2
453
v=
OA = OA 2 (v 2 t 2 + l 2 )
=
=
l
l
cos
vla
v t + l2
2 2
90
vC = a =
vla
v t + l2
2 2
v t = l
vC =
va
2l
8-10 8-10a AB
O O R
OC = e O OC = 0
A
B
ve
va
R
vr
e C
O
om
(a)
(b)
da
an
wa
ng
.c
8-10
1
C AB
O
2 8-10b
va = ve + vr
v AB
OC
e
?
?
= ve = va cos = e
w.
8-11 O OA 1 1 M
8-11a b = 0.1 m 1 = 9 rad/s
ww
2 = 3 rad/s M
v e1
30
ve 2
va
O
vr 2
30
v r1
1
(a)
(b)
8-11
1
M O O
v a = v e1 + v r1
1
M OA O
OA
91
v a = v e2 + v r2
8-11b 1
2
v e1
+ v r1 = v e2
+ v r2
OM
OM 1
OM
OM 2
3 v e2
da
an
wa
ng
.c
om
ve1 v r1 cos 30 = ve2

b
b

ve1 ve2 cos30 1 cos30 2 4b

=
=
( 1 2 )
v r1 =
cos30
cos30
3
3 v r2
1
2b
( 1 2 ) = 0.4 m/s
v r2 = v r1 =
2
3
0.1
ve2 =
3 = 0.346 m/s
3
2
v = v 2 + v 2 = 0.529 m/s
e2
r2
a
ve2 0.346
=
, = 40.9
tan =
0.4
v r2
w.
8-12 8-12a B
AB CD CD
O AB OB OB OB =
ww
vr
va
(a)
ve
(b)
8-12
1
AB B
CD O
2 8-12b AB CD v r
B
ve = OB =
8-12b
ve
vr
=
sin sin[90-(- )]
v sin
sin
vr = e
=
cos( ) cos( )
92
8-13
AB v1 AB CD v 2
CD 8-13a
M
v1
vM
v2
A
C
vr 2
v r1
(a)
(b)
8-13
AB M v1 v r1 AB
CD M v 2 v r 2 CD 8-13b
v M = v1 + v r1
(1)
v M = v 2 + v r2
(2)
1
2
v r1 =
v1 cos v 2
sin
v M = v12 + v r21 =
8-14
da
an
wa
ng
.c
om
v1 + v r1 = v 2 + v r2
x y
0 + v r1 = v 2 sin + v r2 cos
v1 + 0 = v 2 cos + v r2 sin
1
sin
v12 + v 22 2v1v 2 cos
8-14a 1 = 1 rad/s 2 = 2 rad/s
ww
w.
R = 50 mm l = 250 mm 1
2 A 1
z1
z2
1O1
O2
y1
x1
(a)
x2
ve
R
ae aa
va y
2
aC
vr
(b)
8-14
1
2 A 1 O2 x 2 y 2 O2
O1
e = 1 i a = 2 k re = (l + R) j ra = Rj
v e = e re = (l + R) 1 k v a = a ra = R 2 i
93
2 8-14b
va = ve + vr
v r = v a v e = R 2 i (l + R) 1 k = 100i 300k mm/s
v r = 100 2 + 300 2 = 316 mm/s
a e = e re = (l + R) 12 j a a = a v a = R 22 j
a C = 2 e rr = 2 1 i ( R 2 i (l + R)1 k ) = 2(l + R)12 j

3 8-14b
aa = ae + a r + aC
a r = a a a e a C = R 22 j + (l + R)12 j 2(l + R)12 j
= ( R 22 + (l + R ) 12 ) j = (200 + 300) j = 500 j mm/s 2
8-15 8-15a 72 km/h B
A
y
va
ve
vr
aC
va
ar
da
an
wa
ng
.c
vB
(a)
vr
30
om
vB B
(b)
8-15
e
x
(c)
vA
vA
OA
3
vB
2
ww
w.
1
A B
2 8-15b
va = ve + vr
1
v A = v B = 20 m/s
v
20 m/s
e = B =
= 0.2 rad/s
R 100 m
ve = e 150 m = 30 m/s
v r = v a v e = 47.32i '+10 j ' m/s tan =

3 8-15c
aa = ae
+
ar +
aC
AO
vr
2
0
AO e
2 e v r
20 2
a e = 150 (
) = 6 m/s 2
100
10
, = 11.93
47.32
94
1
a C = 2 e v r = 2 48.365 = 19.346 m/s 2
5
2 y '
a ry ' = ae aC cos = 6 19.346 cos11.93 = 12.9
2 x'
a rx ' = a C sin = 4
a r = 4i '12.9 j ' m/s 2

8-16 8-16a M OA OA O Oxy
x = 10 3t mm y = 10 3t 2 mm
t = 1 s M OA OA
va y va
ve
(1) t = 1 s
vr
va x
x O
(b)
8-16
aa
aC
ar
aen
M
a et
(c)
da
an
wa
ng
.c
(a)
om
x = 10 3 mm x& = 10 3 mm/s &x& = 0
y = 10 3 mm y& = 20 3 mm/s &y& = 20 3 mm/s

va = x& 2 + y& 2 = 10 15 mm/s
tan( + 45) =
2 v a = v e + v r
v ay
v ax
= 2 , = 18.43
w.
8-16b
ww
v r = v a sin 18.43 = 36.74 mm/s M OA

ve = v a sin 18.43 = 12.24 mm/s
v
12.24
OA = e =
= 0.5 rad/s
OM 10 6
a a = a en + a et + a r + a C
3
a a = &y& = 20 3 mm/s 2
2
a en = OM OA
= 10 6 0.5 2 = 6.1237 mm/s 2
a C = 2 OA v r = 2 0.5 36.74 = 36.74 mm/s 2

3 a r
a a cos 45 = a en + a r
95
2
(3)
ar =
2
a a + a en = 10 6 + 6.123 7 = 30.6 mm/s 2
2
3 a e
a a cos 45 = a et + aC
2
a a aC = 10 6 36.74 = 12.245 mm/s 2
2
at
12.245
OA = e =
= 0.5 rad/s 2
4
OM
10 6
8-17 8-17a O1 A = O2 B = 100 mm O1O2 = AB
O1 A = 2 rad/s O1 AB 1 C CD
1 = 60 CD
a et =
vA
vr
O1
O2
va
ve
aA
ae
ar
da
an
wa
ng
.c
(a)
O2
aa
om
O1
(b)
8-17
(c)
CD C AB BA
8-17b 8-17c
v A = v B = ve vCD = va a A = a B = a e aCD = a a
vCD = v a = ve cos = O1 A cos = 0.10 m/s
aCD = a a = a e sin = O1 A 2 sin = 0.346 m/s 2
w.
8-18 8-18a AB
ww
s = 0.2 sin t m C E D F
6
OC = 0.6 m t = 1 s = 60 E
OC
ve
vr
O
(a)
va
B
O
(b)
8-18
s = 0.2 sin t
6
1
96
ae
va
ar
aa
(c)
OC C AB O
2 8-16b
va = ve + vr
1
OC
s&
3
ve = s& = 0.2 cos t =
m/s t = 1 s
6
6
60
3
3
v r = ve tan 30 =
= 0.052 m/s t = 1 s
60
3
va = 2v r = 0.105 m/s t = 1 s
OC =
va
0.105
=
= 0.175 rad/s
OC
0 .6
3 8-16c
a at
ae
ar
da
an
wa
ng
.c
2
a e = &s& = 0.2( ) 2 sin t =
m/s 2
6
6
360
v2
a an = a = 0.0184 m/s 2
OC
2 a e
om
a an
a an cos 60 + a at sin 60 = a e
0.021
= 0.035 rad/s 2
a at = 0.021 m/s 2 OC =
0.6
n
2 a a
w.
a an = a e cos 60 a r cos 30
ww
a r = 0.00542 m/s 2
8-19 8-19a OA 0.4 m = 0.5 rad/s O
A B C
= 30 C
va
ar
aa
O
(a)
ve
vr
ae
(b)
8-19
OA A BC
O A BC
8-19b
97
vC = ve = OA cos = 0.173 m/s
aC = a e = OA 2 cos = 0.05 m/s
8-20 8-20a O1 A R C
C O O1 OC OO1 C
= 60 O1 A 1 1
A
H
va
1
1
O1
ve
1
1
C
vr
O
(a)
a et
a
n
e
ar aa
/2
O1
(b)
R
aC
O
(c)
8-20
om
1
C O1 A O O1 A
da
an
wa
ng
.c
O1
2 8-20b
va = ve +
vr
CO
O1C // O1 A
R
(1) v r
va cos 30 = ve cos 30
ve = va = R
v r = va = R
R
=
2R 2
w.
1 = e = ve / O1C =
ww
3 8-20c
a a = a en
CO CO1
R 2
2 R( ) 2
2
a et
ve
ar
vr
aC
HC
2
(2)
vr
(2) a C ,
a a cos 60 = a en cos 60 a et cos 30 + a C

1
1
a en + a C
2
2
1
1
1
1
( a a a en + 2a C ) =
( R 2 R 2 + 2 R 2 ) =
a et =
R 2
2
3
3
2 3
t
a
1
3 2
1 = e =
2 =
2R 4 3
12
8-21 R D v 0 AB
a et cos 30 = a a
98
8-21a = 30 AB
vr
va
A
a rt
ve
vO
aa
a rn
(a)
(b)
8-21
AB A
AB A ,
8-21b
1
v e = v 0
vr =
ve
= 1.155v
cos
om
ae = 0
v r2 4v02
=
R
3R
a a = a e + a r
a rn =
a a = a r = a rn + a rt
ar = aa =
a rn
8 3 v02
=
cos
9 R
8-22a AB 45 0.1 m/s Ox
w.
8-22
da
an
wa
ng
.c
v 0 =
ww
M 0.1 2 m/s
x = 0 y = h
ae
45
O
(a)
aa
ar
B
(b)
8-22
(1) M 8-22b
99
a e = 0.10 m/s 2 a r = 0.10 2 m/s 2

a a = a e2 + a r2 2a e a r cos 135 = 0.10 5 m/s 2
(2)
a x = a e + a r cos 45 = 0.20 m/s 2 , a y = a r sin 45 = 0.10 m/s 2

t
v x = a x dt = 0.20t m/s , v y = a y dt = 0.10t m/s

0
v = v + v = 0.10 5t m/s
2
x
2
y
(3)
o
y
h
dx = v x dt x = 0.10t 2
o
t
dy = v y dt y h = 0.05t 2
o
x = 0.10t 2
y = h 0.05t 2
t
8-23
om
x + 2 y = 2h
a = 0.493 m/s 1
2
O = t t s rad
t = 1 s A
da
an
wa
ng
.c
8-23a r = 0.2 m A
&
&&
n
r
(a)
w.
60 A
a rt
ae
a
x
(b)
8-23
ww
A O
8-23b a x a y A
x y 2 t = 1 s
& = 2 rad/s && = 2 rad/s 2 a e = a = 0.493 m/s 2

a rn = r& 2 = 0.80 m/s 2 a rt = r&& = 0.40 m/s 2
a a = a rn + a rt + a e
x y
a x = a e a rn cos 30 + a rt sin 30
a y = a rn sin 30 + a rt cos 30
a x = 1.8 10 4 m/s 2 a y = 0.746 m/s 2

a a = a x2 + a y2 = 0.746 m/s 2
8-24
8-24a r v
100
O 1 2
vr
a C1
O1
aC 2 ar 2
a r1
v r1
(a)
ae 2
a e1
(b)
8-24
(c)
12 1
O1 O 8-24b 8-24c
aa = ae + a r + aC
om
v2
a1 = a r1 + a C1 a e1 =
+ 2v r 2
r
sin =
2
5
da
an
wa
ng
.c
2
a 2 x = ae 2 cos a r 2 a C 2 a 2 y = ae 2 sin
cos =
a e2 = 5r 2
v2 2
) + 4 r 2 4
r
8-25 8-25a AB = 2t rad/s M
2
OM = 40t mm OM AB 60
t = 1 s M
ww
w.
a 2 = a 22x + a 22 y = (r 2 + 2v +
vr
M 60
a et
aen
60
aC
O
x
(a)
ar
(b)
8-25
M Oxyz
x 8-25b
a e a C t = 1 s
t
= 2t = 2 rad/s =
vr =
d
= 2 rad/s 2 OM = 40t 2 = 40 mm
dt
d
OM = 80t = 80 mm/s
dt
101
a en = OM sin 60 2 = 80 3 mm/s 2 a et = OM sin 60 = 40 3 mm/s 2

dv r
= 80 mm/s 2
dt
a C = 2 v r sin 60 = 160 3 mm/s 2
ar =
a M = a x2 + a y2 + a z2 = (a r cos 60) 2 + (a r sin 60 aen ) 2 + (a et + aC ) 2
a M = 0.356 m/s 2
8-26 8-26a OBC O M
OA OB = 0.1 m OB BC = 0.5 rad/s
= 60 M
ve
B
(a)
vr
va
ae
ar
aa
aC
(b)
8-26
(c)
vM = ve + vr
ve = OM =
da
an
wa
ng
.c
om
M OBC AO
BC O 8-26b
OB
= 0.1 m/s
cos
v M = ve tan = 0.10 3 = 0.1732 m/s
vr =
ve
= 2v e = 0.20 m/s
cos
8-26c
w.
a M = ae + ar + aC
ww
a e = OM 2 = 0.05 m/s 2 a C = 2v r == 0.20 m/s 2

a C
a M cos = ae cos + aC
aM =
a e cos + a C
= 0.35 m/s 2
cos
8-27 8-27a O1 A = 200 mm 1 = 2 rad/s

CD
1 O1 A A O2 B O1
O2 B O2 8-27b 8-27c
O2 B
O1 A = 0.4 m v A = 1 O1 A = 0.4 m/s
102
vB
v B e 30
a Bt
vB r
B
1 v A e
90
30
30 v A r
(a)
O1
a AC
90
30
(b)
8-27
a Bn
a Ar
t
Ae
aA A
a An e
O2
O2
aB r
aB e
vA
O1
O
(c)
8-27b
v Ar = v A cos 30 = 0.20 3 m/s v Ae = v A sin 30 = 0.20 m/s

v Ae = O2 A
8-27c
om
v Ae
= 0.5 rad/s
O2 A
da
an
wa
ng
.c
a A = a An e + a At e + a Ar + a AC
x , y
a A = a An e cos 60 a At e cos 30 + a Ar cos 60 a AC cos 30
0 = a An e sin 60 + a At e sin 30 + a Ar sin 60 + a AC sin 30
a A = 12 O1 A = 0.8 m/s 2 a An e = 2 O2 A = 0.10 m/s 2

a At e = O2 A = 0.40 m/s 2 a AC = 2v Ar = 0.20 3 m/s 2
2 a Ar
w.
3
rad/s 2
2
2 O2 B B CD O2
ww
8-27b
8-27c
v B = O2 B =
0.65
0.65
0.5 =
3 m/s
cos 30
3
vCD = v Be = v B cos 30 = 0.325 m/s
a Bt + a Bn = a Be + a Br
a Bt cos30 a Bn cos60 = a Be
a Bt = O2 B = 0.65 m/s 2 , aBn = O2 B 2 = 0.187 6 m/s2

3
aCD = a Be = 0.657 m/s 2

103
8-28
8-28a M v r
OA MOA = t = 0 M 0
OM 0 = b t M
O M 0
ae
aC
vr
(a)
(b)
8-28
M OB
8-28b
a M = ae + ar + aC
ae aC
w.
a M = a e2 + a C2 = (b + v r t ) 2 4 + 4 2 v r2 sin
ww
a e = OM sin 2 = (b + v r t ) 2 sin , a C = 2v r sin
om
ar = 0 ,
da
an
wa
ng
.c
104
9
9-1
AB OC 0 O 9-1
OC=BC=AC=r C AB
OC = BC = AC = r
COB = CBO
= 0t
AB
xC = r cos 0 t y C = r sin 0 t = 0 t
9-2
9-1
9-2 A B
v =
2
3gh g h
3
x A = 0, y A = h
dh
2
=v=
3gh
dt
3
dh
h
2 3
g dt
3
dh
2 3g
3
9-2
ww
dt
w.
da
an
wa
ng
.c
om
r
A A A
A
1
y A = h = gt 2
3
A =
h 1 2
=
gt
r 3r
x A = 0
1 2
y A = gt
3
1 2
A = 3r gt
9-3 r OA R 9-3a
OA O 0 = 0 0 = 0
A
105
A A 9-3
A
N
r
R C
M
O
M0
(a)
x
x
(b)
9-3
x A = ( R + r ) cos
y A = ( R + r ) sin
t = 0 0 = 0 = 0
1
2
t2
om
da
an
wa
ng
.c
M AM 1 AM A A
A = NAM A = +
0 = CM
CM

R = r =
A =
R+r
1 2
t 123
2
w.
t2
ww
x A = ( R + r ) cos
y A = ( R + r ) sin
A =
t2
1 (R + r) 2
at
2 r
9-4 AB A v 1 C
R 9-4a
B
C vA
R v v
CA
C
vA
A
(a)
(b)
9-4
A AB C C 9-4b
106
v A = v vCA = v A sin = v sin
R
vCA = AC =
tan
1
2
1\2
v sin 2
R cos
9-5 9-5a
OA nOA = 40 r / min OA = 0.3 m BC O
BAO = 90 BC
vA
vB
60 O
B
60
(a)
(b)
9-5
om
BC 9-5b v B CBO 30 AB
60
9-6
da
an
wa
ng
.c
40
0.30 = 0.40 m/s
30
(v A ) AB = (v B ) AB 9-5b
v A = v B cos 60
vA
= 0.8= 2.51 m/s
v BC = v B =
cos 60
v A = OA =
AB 1 ABD 9-6a O1 A
O1 A = 2 rad/s O1 A = 0.1 m O1O2 = 0.05 m
w.
AD = 0.05 m O1 A AB O1O2 AD AO1 1 = 30
ww
ABD D
vD
vA
vB
O A
O1
O2
AB
P
(a)
(b)
9-6
ABD 9-6 P
AB
v A = O1 A O1 A = PA AB
PA = O1 A + PO1 = O1 A + O1O2 cot 30 = 0.10 + 0.05 3 m

107
PA
AB =
O1 A
0.10 2
= 1.07 rad/s
O1 A =
PA
0.10 + 0.05 3
v D = PD AB = ( AD + PA) AB = (0.05 + 0.10 + 0.05 3 ) 1.07 = 0.253 m/s

9-7 9-7a B E BE OA
OD O OA 0 = 12 rad/s
OA=0.1mOD=0.12 mAB=0.26 mBE=0.12 m DE = 0.12 3 m OA
OD DE
D vA A
vD
OD
O
vE E
vB B
DE
(b)
da
an
wa
ng
.c
9-7
om
A
(a)
OA EB v A // v B AB
vA = vB
BE
vE = vB
v A = v B = v E = OA 0 = 1.20 m/s
v D OD DE v D v E P
DE / 2
3
= 30
=
OE
2
ww
cos =
w.
OE = OB EB = AB 2 OA2 EB = 0.12 m
OE = OD = 0.12 m DEO = ODE =
v D cos = v E cos
= 90 cos = sin
vD =
OD
vE
= 1.20 3 m/s
tan
v
= D = 10 3 = 17.32 rad/s
OD
PE = OE tan EOP = OE tan 2 = 0.12 3 m

v
10
DE = E =
3 = 5.77 rad/s
PE 3
9-8 9-8a OA = BD = DE = 0.1 m EP = 0.1 3 m
108
OA = 4 rad/s 9-8a OA OB BD F 1
DE EF EF F
A
vA
vC
B
OA
vB
vE
E
vF
EF
F
(a)
(b)
9-8
ABBC EF OA CDE
BF AB v A v B 9-8b AB
da
an
wa
ng
.c
om
v B = v A = OA OA = 0.40 m/s
v C DC v B DB BC D
DC
vC =
vB
DB
v
DE
v E = DE C =
v B = 0.40 m/s EF 9-8b
DC DB
v F cos = v E
DEF
cos =
w.
vE
= 0.462 m/s
cos
ww
vF =
3
1
sin =
2
2
EF P
vF
vF
v sin
=
= F
= 1.33 rad/s
PF EF / sin
EF
9-9 9-9a OA = 20 rad/s OA=0.4 m
AC=BC= 0.2 37 m OA
EF =
DE
vA
vA
A
90 v C
B
vB
vC
A
C
vD
(a)
(b)
(c)
9-9
9-9 ABCD
109
1 = 90 270 OA 9-9b = 90 v A v B
AB v A = v B v C CD D
DE v DE CD D
v DE = 0
2 = 0 180 AB B v B = 0 v A v C
CD v C v DE CD v DE = vC 9-9c
= 0
vC =
1
v A = 4.00 m/s
2
= 0 v DE = 4.00 m/s
v DE = 4.00 m/s
= 180 v DE = 4.00 m/s
9-10 O1 A O1 AB OB
OB O 9-10a O I II
AB r1 = r2 = 0.3 3 m O1 A = 0.75 m AB = 1.5 m
da
an
wa
ng
.c
om
O1 = 6 rad/s = 60 = 90 OB I
A
O
O1
1
vA
r2 B
I I OB
(a)
r1
AB
P
vC
(b)
9-10
AB
9-10b v A O1 A v B OB
ww
w.
vB
AB AO1 BO P I II C ABP
= 60
PA =
AB
= 3.00 m PB = AB tan 60 = 1.50 3 m
cos
PC = PB r2 = 1.2 3 m
v A O1 A O1
=
= 1.5 rad/s
PA
PA
v B = PB AB = 2.25 3 m/s vC = PC AB = 1.8 3 m/s
AB =
OB
OB =
vB
vB
=
= 3.75 rad/s
OB r1 + r2
110
I =
9-11
vC
= 6 rad/s
r1
9-11a O1O2 O1 n 4 O2
1 r2 II O1O2 II r3
r1 I O1 I I
r3
= 11
r1
n 4 = 900 r/min
IV
r2
P III
O2
r1 1
C r3 vO
O1
II
I
vC
(b)
om
(a)
9-11
II P 9-11b
da
an
wa
ng
.c
vO2 = O1O2 4 = (r1 + r2 ) 4
vO2 = O2 P 2 = r2 2 2 =
r1 + r2
4
r2
II I C
vC = 2vO2 = 2(r1 + r2 ) 4
vC 2(r1 + r2 )
r
(r + r )
=
4 = 1 3 4 = (1 + 3 ) 4 = 12 4
r1
r1
r1
r1
n1 = 12n4 = 10 800 r/min ()
*9-12 9-12 OA = O1 B = r = 0.1 m
EB = BD = AD = l = 0.4 m 9-12b OAAD O1 BED O1 D
OD EF OA n = 120 r/min F
ww
w.
1 =
P
B
vE
vD
O1
vA
F
(a)
A
n
(b)
9-12
EF B O1 9-12b v E v B
ED P
1 EP=PD D E
vE = vD
111
2 ADO = BDO1 = PED = PDE =
sin =
OA
OA + AD
2
r +l
2
cos =
r + l2
2
v A = v D cos
v A = OA
vD =
2 n
= 0.40 m/s
60
vA
v r 2 + l 2 0.40 0.10 2 + 0.40 2
= A
=
cos
0.40
l
m/s = 1.295 m/s
v F = v E = v D = 1.295 m/s
9-13 9-13a vO1 A1 = a1 O2 A2 = a 2
CB1 = b1 CB2 = b2 r1 r2 a1b2 r2 a 2 b1 r1 EC B1 B2

A1A2 O1O2 1 O1
v B1C
vB2 v
B 2 C B2
(a)
A1 O1
v A1
v B1
da
an
wa
ng
.c
B1 v C
om
O1
vC
vC
v A2
O2
O 2
A2
(b)
9-13
B1B2 B1B2 C B1B2 9-13b
v C = v B1B2
v B 2 = b2 B1B2 v
w.
v B1 // v A1 v B 2 // v A2 , A1B1A2B2
ww
v B1 = b1 B1B2 + v
O1O2 O1 O2
v B1 = v A1 = a1 O1 v B2 = v A2 = a 2 O 2
1
a1 O1 = b1 B1B2 + v
a 2 O2 = b2 B1B2 v
3
4
a1b2 O1 a 2 b1 O2 = (b1 + b2 )v
O =
2
r1
O
r2 1
65
O =
1
(b1 + b2 )r2 v
a1b2 r2 a 2 b1 r1
112
9-14 9-14a I II r R=2r OO1

O O I I C
vO
v O a O C
1
O r Oa CO
1
O aO
1
v CO
(a)
(b)
9-14
I 9-14b II
C 9-14b
vO1
vC = 0
= OO1 O = r O vO1 = O1C 1 = r1
1 = O
O1 C 9-14b
2
aCO1 = O1C 1 = r O
2
om
aO1 = r O
da
an
wa
ng
.c
a C = a O1 + a CO1
a C = aO1 + aCO1 = r O2 + r O2 = 2r O2 CO
9-15 R 9-15a
r B v a O
ww
w.
v AO
v CO
(a)
vO
vO
A
C
vO
(b)
t
a AO
a tCO
aO
O
n
a AO
aO
n
A a CO
aO
C
(c)
9-15
C 0 C
0 O A C
O v O a O
v A = v O + v AO v C = v O + v CO
t
t
v AO = r vCO = R vC = 0 v A = v a AO
= r aCO
= R
9-15b
v = v O r
0 = vO R
1
2
vO =
R
v
Rr
9-15c
113
1
2
t
n
t
n
a A = a O + a AO
+ a AO
a C = a O + a CO + a CO
a Ax = aO r
aCx = aO R
3
4
a Ax = a aCx = 0 3
Ra
Rr
9-16 OA = 2 rad/s O AB r
aO =
R OA=AB=R=2r=1m 9-16a
B C
O1
vC
vA
vB
C
R
A
aA
a Bt
t
BA
O1
aC
a Bn
aB
C
n
B a CB
R
aA
(a)
om
O
(b)
(c)
da
an
wa
ng
.c
9-16
v A = R
AB
vB
= 2
r
vC = B 2r = 2 2r = 2 R = 2.828 m/s
AB = 0 v B = v A = R = 2 m/s B =
2
a A = R 2
= aA
v
Rr
t
a BA
R 2
2
B
ww
n
a BA
=0
a Bn + a Bt
w.
OA A
AB
a Bt = 0 a B = 0
v B2
( R ) 2
aB = a =
=
= 2 R 2 = 8 m/s 2
Rr
r
n
B
B
t
n
n
2
2
2
aCB
= 0 a C = a B + a CB
aCB = r B = r ( 2 ) = 4r
a = (4r 2 ) 2 + (4r 2 ) 2 = 2 2 R 2 = 11.31 m/s 2

C
=
4
9-17
A O1A C A
114
r 9-17a AB=O1O2O1A=O2B=0.4 mO1A
O1 = 0.2 rad/s M C 1 CM=0.1 m 9-17a CM
M
P
O1
A r D r 60
C vC
v A vD
v MC
vC vM
60
O2
(a)
A
aC
aA
O1
aM
C n
a MC
aC
(b)
9-17
(c)
1 AB
v A = vC
AC
A = C = = 0.2 rad/s
C
om
v M = vC + v MC vC = 0.4 = 0.08 m/s

v MC = 0.1 C = (0.1 0.2 ) m/s = 0.02 m/s
da
an
wa
ng
.c
2
+ 2vC v MC cos 30
v M = vC2 + v MC
3
= 0.08 2 + 0.02 2 + 2 0.08 0.02
m/s 0.097 8 m/s
2 C C = 0
n
t
a M = a C + a MC
a MC = 0
aC = a A = O1 A 2 = 0.4 0.2 2 = 0.016
n
a MC = a MC
= CM C2 = 0.1 0.2 2 = 0.004
w.
2
a M = aC2 + a MC
2aC a MC cos 30
9-18
ww
3
= 0.016 2 + 0.004 2 2 0.016 0.004
m/s 2 = 0.012 7 m/s 2
9-18a OA O O
O 60 AB OA B
O1B AB 30 OA=r AB = 2 3r O1 B = 2r
B
v BA
an
A
a Bt
vB
B
O
O 60
O
A
vA
vA
30
O1
a An 60
O
O A
t
n
BA
aA
(a)
(b)
9-18
115
(c)
t
a BA
B
a At
n
30 a B
O1
n
OA A
v A = r O a An = r O2 a At = r O
A AB B 9-18b 9-18 B
vA
= 2 r O
sin 30
= v B cos 30 = 3r O
vB =
v BA
a B = a B + a B = a A + a A + a BA + a BA
n t
t
n
t
a Bn = a At cos 30 + a BA
cos 30 a BA
sin 30 a An sin 30
n
t
a Bt = a At sin 30 + a BA
sin 30 + a BA
cos 30 + a An cos 30
a Bn =
1
2
a2
v B2
3
2
2
n
= 2r O a BA
= AB =
r O
O1 B
AB
2
a Bt = r (2 O 3 O2 )
B
a Bn = 2r O a Bt = r (2 O 3 O )
2
om
9-19a OA r O O AB = 6r
da
an
wa
ng
.c
9-19
BC = 3 3r 9-19 C
C
vB
t
a CB
v CB
n
a CB
vC
t
a BA
vA
B
60
ww
(a)
aB
n
B a BA
60
60
v BA
w.
vB
vA
aA
(b)
9-19
A 60
aA
O
(c)
1 A AB B 9-19b 9-19c
v A = r O a A = r O
9-19b
v B = v A tan 60 = 3r O v BA =
vA
= 2 r O
cos 60
9-19c
t
n
a B = a A + a BA
+ a BA
B
n
0 = a BA
sin 60 a
BA sin 30
n
a B = a BA cos 60 + a BA cos 30 a A
1
2
t
BA
= 3a
n
BA
( 2 r O ) 2 2
2
= 3
=
3r O
6r
3
116
1
2
aB =
( 2 r O ) 2 1 2
3
1
2
2
2
+
r O = r O
3r O
6r
2 3
2
3
2 B BC C 9-19b 9-19c
9-19b
3
r O
2
1
= v B sin 30 =
3r O
2
vC = v B cos 30 =
vCB
c
3
r O ) 2
1
3
3
2
2
n
aC = a B cos 30 aCB = r O
2
=
r O ()
3
2
12
3 3r
2
9-20 1 r = 0.1 m R = 0.2 m O = t 3t rad
2 2 r2 = 0.15 m
t = 1 s 2 CDE
(
da
an
wa
ng
.c
om
vD
vC
n
D a DC
Pv
E
aE
C n1 E
a C a EC
t
aD
a DC
(a)
(c)
t = 1 s
= t 2 3t = 2 rad & = 2t 3 = 1 rad/s && = 2 rad/s 2
v D = R & = 0.2 m/s v E = r & = 0.1 m/s
ww
w.
(b)
9-20
2 P
DP = 2 PE CP =
1
PE
2
1
v E = 0.05 m/s
2
v
0.1
2 = E =
= 1 rad/s
2
2
r2
0.15
3
3
vC =
2 =
0.1 2
r&&
= 2 rad/s 2
=
2 2 2
0.15
r
3
3
C a C
aC = PC 2 = (0.05 2) m/s 2 = 0.1 m/s 2

117
t
a EC
aC
C
n
t
a E = a C + a EC
+ a EC
n
a EC
= r2 22 = 0.15 12 m/s 2 = 0.15 m/s 2
t
EC
= r2 2 = (0.15 2) m/s 2 = 0.3 m/s 2
t
n
a E = (a EC
aC ) 2 + (a EC
)2 =
( (0.3 0.1)
+ 0.15 2 m/s 2 = 0.25 m/s 2
tan 1 = 4 / 3
n
t
a D = a C + a DC
+ a DC
n
t
a DC
= 0.15 a DC
= 0.3
t
n
a D = (a DC
+ aC ) 2 + (a DC
)2 =
tan 2 =
( (0.3 + 0.1)
+ 0.15 2 m/s 2 = 0.427 m/s 2
0.4 8
=
0.15 3
2
9-21a 0.9 m/s
9-21
t
a AO
om
1 0.6 m/s
1 s A
da
an
wa
ng
.c
aA
t
a AO
aA
aO
n
a AO
t =0
(a)
n
a AO
+ aO
(b)
9-21
aO
(c)
1 9-21b
= 0
ww
w.
0.6 + 0.9
t
= 2.5 rad/s 2 a AO
= 0.9 = (0.9 2.5) m/s 2 = 2.25 m/s 2
0.6
aO = 0.9 m/s 2
t
a A = (a AO
) 2 + aO2 = 2.25 2 + 0.9 2 m/s 2 = 2.423 m/s 2
2 t = 1 s 9-21c
= t = 2.5 rad/s aO = 0.9 m/s 2
n
a AO
= 0.9 2 = 0.9 2.5 2 m/s 2 = 5.625 m/s 2
t
AO
= 0.9 = (0.9 2.5) m/s 2 = 2.25 m/s 2
n
t
a A = (a AO
aO ) 2 + (a AO
)2 =
( (5.625 0.9 ) + 2.25 ) m/s

2
= 5.233 m/s 2
9-22 9-22a AC=CB=0.5 m 9-22b

a A = 1 m/s a B = 3 m/s
118
A aA
t
a B a BA
n
a BA
aA
C
(a)
(b)
9-22
A
n
t
a B = a A + a BA
+ a BA
aA
B
n
BA
n
a B cos 45 = a A cos 45 + a BA
AB = 2 rad/s
t
1 a BA
2
0.5 2 AB
= (3 + 1)
2
2
om
n
a BA
= (a B + a A ) cos 45
da
an
wa
ng
.c
t
a B cos 45 = a A cos 45 + a BA
t
a BA
= (a B a A ) cos 45 0.5 2 AB = (3 1)
AB = 2 rad/s 2
2
2
w.
*9-23 9-23a O1C O1 AB

B D O1C OA=50
mm O = 10 rad/s 90
OAB = 60 60 O1 D = 70 mm
ww
A
aA
O1
t
a BA
vB
aA
v r 60
vD
ve
(a)
t
a DA
aB
O1
a en
a et
(b)
aC
D
aA
ar
(c)
9-23
1 OA O1C ABD B
v A v B ABD
v D = v B = v A = OA = 0.50 m/s
D D 9-23b
v D = ve + vr
ve = O1 D 1 ve = v D sin 60 v r = v D cos 60 = 0.25 m/s
119
vD
sin 60 = 6.186 rad/s
O1 D
2 9-23c D O1C
1 =
a D = a en + a et + a r + a C
A
t
a B = a A + a BA
9-23b AB = 0
t
a D = a A + a DA
3 a A
t
0 = a A a BA
cos 30 a A = OA 2 = 5 m/s 2
3
4
t
ABD = a BA
/ AB = a A /( AB cos 30) = 5 /(0.1 / cos 30) = 100 / 3 rad/s 2
t
aDA
= AD ABD = 100 + 70 3 10 3 100 / 3 m/s 2 = 12.77 m/s 2
[(
2
4
t
a A + a DA
= a en + a et + a r + a C
a e
t
a A cos 60 + a DA
cos 30 = a et + a C
om
a C = 21 v r = (2 6.186 0.25) m/s 2 = 3.093 m/s 2
9-24
da
an
wa
ng
.c
a et
1 =
= 78.08 rad/s 2
O1 D
9-24a O vO = 0.2 m/s
B O1A O1
R=0.5 m 9-24b AO1 60
vr
w.
va
ww
vO
ve
vr
ar
aB
O A
vO
60
C
(a)
(b)
9-24
Oa
a et
n
B ae
O A
1
60
O1
O1
(c)
1
O B O1A O1A
O1
2 9-24b
va = ve + vr
(1)

CB = 3CO
va = 3vO ve =
1
3
va =
vO
2
2
120
O1 A
3
vO
v
2
O1 A =
= O = 0.2 rad/s
2R
3R
v
3
3
vr =
va = vO = O
R
2
2
3 9-24c
O O aO = 0 = 0
a B = aO +
n
a BO
+
BO
R 2
t
a BO
2
n
a B = R =
a B = a BO
vO2
R
O B O1A
a en
a et +
ar +
3 a B
a B = a et + a C
da
an
wa
ng
.c
aC
BO BO1
BO1 O1B v r
2
2
R
O1 B e
2 e v r
om
aB =
vO2
vO 3
vO2
vO2
a = a C a a = 2 O1 A v r
= 2
vO
=
R
2R 2
R 2R
t
e
O1 A
vO2
a
3 2
3
1
=
= 2R =
v =
0.2 2
= 0.046 2 rad/s 2
2 O
2
6
0.5
O1 B
3R 6 R
t
e
O A
1
OA 2l O O 9-25a
w.
9-25
ww
AB=BO OAD = 90 D BC
vA
A AD
A
vBe
vB
O
O
(a)
AD
vB
Br
60
vD D C
(b)
9-25
aA
n
a DA
aB B aB r
aBe
aC
O 60
aD
aA
t
a DA
DC
(c)
1
BC B OA OA
O
2
v B = v Be + v Br v Be = l O
vB =
v Be
2 3
=
l O
cos30
3
121
v Br = v Be tan 30 =
3
l O v A = 2l O
3
AD
v D cos 30 = v A v D =
2l O
3
2
4 3
l O
3
D BC
vr = v D v B =
2 3
l O = 1.15l O
3
AD P
AP=3l
AD =
v A 2l O 2
=
= O
3l
3l
3
a B = a Be + a B r + a C
a C = 2 e v Br = 2 O
3
2 3 2
l O =
l O
3
3
om
3 a C
da
an
wa
ng
.c
a B cos 30 = a C
aC
4
aB =
= l O2
cos30
3
2
a A = 2l O
n
t
a D = a A + a DA
+ a DA
n
2
a DA
= 3l AD
=
n
4 3 2
l O
9
n
a DA
8
= l O2
cos30 9
w.
5 a DA
n
a D cos 30 = a DA
aD =
ww
D BC
8
4
20 2
a r = a D a B = l O2 + l O2 =
l O = 2.22l O2
9
3
9
*9-26 9-26a R
AB v
a AB
1
AB O A O
2
va =
ve +
vr
AB
CA
CA
OA
v
ve = 2 R sin = 2v sin
R
2
2
122
ve
=
sin(90 )
vr = ve
sin
va
sin(90 + )
2
vr
sin
2 = v tan tan
cos
2
v AB
sin(90 + )
2 v = v tan
= va =
e
sin(90 )
/2
va
aa = ae + a r + aC
v
a An O
a
C a rt
vr
ve
a At O
aC
aa
(c)
da
an
wa
ng
.c
(b)
9-26
vr A
90
(a)
a O
om
n
t
a e = a O + a AO
+ a AO
aO = a
n
t
a AO
+ a AO
+ a rn + a rt + a C
AO AO AO AO AO
v r2
R
R 2
2v r
R
a AO
w.
aa = aO +
ww
n
a a cos = a sin + a AO
+ a rn + a C = a sin + R 2 +
v r2
+ 2v r
R
v2 v2
v2
+ tan 2 tan 2 + 2 tan tan
R R
2
R
2
2
1
v
[a sin + (1 + tan 2 tan 2 + 2 tan tan )]
aa =
cos
R
2
2
2
v
= [(a tan +
(1 + tan tan ) 2 )]
R cos
2
2
v
)
a a = (a tan +
R cos 3
*9-27 9-27a A v A = 0.2 m/s AB = 0.4 m
AC = CB = 30 CD
= a sin +
123
B
vC r
C
30 60
30
vC
30
vC e
vB
AB
B
vA
t
a BA
aB
n
BA
t
aCA
aC aC
D
(a)
x
ar
(b)
9-27
n
a CA
30
(c)
1
AB CD C AB
AB
2
9-27b AB P
v A 0.2
=
= 1 rad/s vCe = PC AB = 0.2 m/s
PA 0.2
v C = v C e + v Cr
AB =
vCr
om
v
cos 60
vCe = Ce = 0.115 5 m/s
cos 30
3
da
an
wa
ng
.c
vC cos 30 = vCe cos 60 vC =
vCr = vC2 + vC2e 2vC vCe cos 30 = 0.115 5 m/s

3 9-27c
aC = ae + a r + aC
ae = a
n
CA
+a
t
CA
A a A = 0
aB = a + a
n
a BA
= AB
n
BA
t
BA
2
AB
= 0.4 1
) m/s
= 0.4 m/s
2
3
w.
3 x
n
t
0 = a BA
cos 30 a BA
cos 60
t
BA
a
= 3 = 1.732 rad/s 2
AB
= AC AB = (0.2 1.732) m/s 2 = 0.346 m/s 2
a AB =
aCt ' A
ww
t
n
a BA
= 3a BA
= 0.4 3 m/s 2 = 0.692 8 m/s 2
a C = 2 AB vCr = (2 1 0.115 5) m/s 2 = 0.231 m/s 2

1 a C
aC cos 30 = a At e + aC
0.346 4 + 0.231
aC =
= 0.667 m/s 2
cos 30
9-28 OA AB O1B O1 EC
C C O1B EC 9-28a
OA = r AB =
3r O1 B =
2
1
l (r = 0.2 m, l = 1 m) OA = rad/s
3
2
124
9-28 BC =
4
l
3
1 C O1B
2 C O1B
vC e
aC r
aC
vC
vB
vA
O B
1
O1
C
v BA
vC r
O B
O B
A
O
60
a Cn e
n
a BA
A
B
OA
t
n
aB
aB
t
a BA O a A
O1 60
aA
1
vA
(a)
t
Ce
OA
(b)
9-28
aCt C
(c)
1
A AB B 9-28b
vA
3
3
m/s v B =
=
m/s
30
cos 30 15
v
1
= BA = rad/s
AB 6
vB
3
=
rad/s AB
O1 B 10
da
an
wa
ng
.c
O B =
om
v A = OA OA = 0.1 m/s v BA = v A tan 30 =
C O1BC 9-28b
vOe = O1C O1B = (O1 B + BC ) O1B =

vC =
3
m/s
5
v Ce
= 0.4 m/s vCr = vC sin 30 = 0.2 m/s
cos30
2
A AB B
O1B O1B 9-28c
w.
n
t
a B = a Bn + a Bt = a A + a BA
+ a BA
ww
n
a Bt cos 30 a Bn sin 30 = BA
n
2
a BA
= AB AB
=
a Bt =
2
3
3
m/s 2 a Bn = O1 B O21B = 0.02 m/s 2
180
n
(a BA
+ a Bn sin 30) = 0.02266 m/s 2
t
B
a
= 0.034 rad/s 2
O1 B
EC C O1B 9-28c
a C = a Cne + a Ct e + a Cr + a CC
2 a Ce
aC cos 30 = aCt e + aCC

aCt e = O1C = 0.068 m/s 2 aCC = 2 O1B vCr = 0.0693 m/s 2
125
aC =
2
3
(aCt e + aCC ) = 0.1585 m/s 2
2 O1B
aC sin 30 = aCr aCne

aCr = a C sin 30 + aCne = aC sin 30 + O1C O21B
= 0.1585 sin 30 + 2
3
= 0.139 m/s 2
100
9-29 9-29a AB v B
AB O OC AB OE
b = 60 = 30 OD=BD OC
E
1 9-29b
B OC B 9-29b
v Be = v B cos 30 = v cos 30 =
v Be 3v
=
OB 4b
om
OC =
3
1
v v Br = v B sin 30 = v
2
2
P
v BD
B
OC D v D

O
(a)
OC
a Bt e OC
aB r
B
n
A
a Dt D a B e
aB C
aE
a Dn
n
a DE
t
a DE
aE
O
E
da
an
wa
ng
.c
DE
vB
vBe
vE
(b)
9-29
(c)
v D v E P DE DE
b
b
DE = OD cot 30 = b, PD = DE cot 30 = 3b
=
2 cos 30
3
DE
2
PE =
= 2b OB = 2OD =
b
sin 30
3
b 3v
OD OC
vD
v
3 4b
DE =
=
=
=
rad/s
4b
PD
PD
3b
1
v
= v
v E = PE DE = 2b
4b 2
ww
w.
OD =
2 9-29c
B OC B 9-29c
a B = a Bne + a Bt e + a Br + a BC a B = 0
1 a BC
0 = a BC a Bt e
a BC = 2 OC v Br =
2b
3v 2
t
a Be = OB OC =
OC
4b
3
126
(1)
OC =
a BC 3 3 2
=
v
OB 8b 2
E D 9-29c
t
n
a Dt + a Dn = a E + a DE
+ a DE
n
2 a DE
n
a Dt = a E cos 30 + a DE
(2)
3v 2
v2
2
n
a DE = DE DE =
8b
16b
2
2
7v
n
aE =
( a Dt a DE
)=
3
8 3b 2
a Dt = OD OC =
9-30 9-30a ABC ABAC BC

s& = 1.6 m/s x = 50 mm B
y
AC
vA
AB
t
a AB
n
a AC
AC
vC C
vB
da
an
wa
ng
.c
vB s
v r = s&
(a)
PAB
om
PAC
aA
aC = a B
(b)
9-30
aB
aC
t
n a AC
a AB
AB
B aB
(c)
1 ABBC
v B cos = v A sin vC cos = v A sin v B cot = vC cot
vC = v B
tan
tan
ww
v C
w.
B C
vC = v B + v r
vC = s& v B
s& v B = v B
tan
tan
1.6
s&
=
m/s = 1.029 m/s
vB =
tan 12 / 9
1+
1+
tan 12 / 5
v
1.029
AB = B =
= 8.575 rad/s
0.12
BPAB
vC = (1.6 1.029 ) m/s = 0.571 m/s
AC =
vC
= 4.758 rad/s
CPAC
BC s& = 1.6 m/s

127
a r = 0 aC = a B
C
n
t
a A = a C + a AC
+ a AC
n
t
a A = a B + a AB
+ a AB
B
3
4
n
t
n
t
a C + a AC
+ a AC
= a B + a AB
+ a AB
2
n
t
n
t
a AC
+ a AC
= a AB
+ a AB
AC
AC
AC
AB
AC
2
AC
AB
2
AB
6 a
n
AC
n
AC
n
t
= a AB
cos[( ( + ))] + a AB
sin[ ( + )]
n
n
t
a AC
= a AB
cos( + ) + a AB
sin( + )
n
n
a AC
+ a AB
cos( + )
sin( + )
12
tan = = 67.38
5
12
tan = = 53.13
9
+ = 120.51
t
a AB
=
om
da
an
wa
ng
.c
n
n
a AC
+ a AB
cos 59.49
a =
sin 59.49
0.15 4.7583 2 0.13 8.575 2 cos 59.49
=
= 1.69 m/s 2
sin 59.49
4 a B
n
t
0 = a B + a AB
cos a AB
sin
t
n
a B = a AB
sin a AB
cos = 1.69 sin 67.38 0.13 8.575 2 cos 67.38
= 5.33 m/s 2
ww
w.
t
AB
2 9-30a
130 2 x 2 = y A2 = 150 2 ( s x) 2
s 2 2 sx 5 600 = 0
s = x + x 2 + 5 600
s 2 5 600
mm
2s
s& 2 800
x& = ( + 2 s&) mm/s
2
s
&s& 2 800
5 600
&x& = + 2 &s& 3 s& 2
2
s
s
&s& = 0
x=
3
4
128
&x& =
5 600
(1 600) 2 mm/s 2
3
s
x = 50 mm 2
s = 140 mm s& = 1 600 mm/s
3
1 600 2 800
x& =
+
1 600 mm/s = 1 029 mm/s = 1.03 m/s
2
140
2
5 600
&x& =
(1 600) 2 mm/s 2 = 5 225 mm/s 2 = 5.225 m/s
3
140
*9-31 9-31a OA O O
A BD BE BD B BE
` C 2r r AB = 5r 9-31b
OA BD BE = 45
BE C
vB
BE
da
an
wa
ng
.c
(a)
aA
aC e y a C e x
aC
n
a CB
aA
n
a BA
ar
vC r
aC e y a t
CB
aC e x
C
aA
(c)
n
a BA
BE
ww
w.
aA
vC e
(b)
t
a BA
=0
n
BA
PBC
45 +
om
vA
(d)
9-31
A P 9-31b
vA
= 3 O v B = PB A = 3 6r O
r
C BE v Ca = 0
v A = 3r O A =
v Cr 9-31b
v C a = v C e + v C r = 0 v Ce = v C r
BE C 9-31b
vCe = v B cos
= 90 45 tan =
1
5
= 24.095
vCe = v B cos(45 ) = 6.865r O

129
v Ce
BE =
v Cr
3 2r tan(45 + )
= 6.865r O
6.865r O
3 2r tan 69.095
= 0.618 O
3 9-31c9-31d
a A = 3r O2
n
t
t
n
2
2
a B = a A + a BA
+ a BA
a BA = 0 a BA = 5r A = 9 5r O
C a Ca = 0 BE
aCex + aCey + a r + a C = aCa = 0

9-31c
aCex = a C = 2 BE vCr = 2 0.618 O 6.865r O = 8.486r O2

B
n
t
a Cex + a Cey = a B + a CB
+ a CB
n
n
t
a Cex + a Cey = a A + a BA
+ a CB
+ a CB
n
a CB
2
2
3r O2 +
9 5r O2 + 3 2r (0.618 O ) 2 = 13.73r O2
2
2
da
an
wa
ng
.c
om
n
n
aCey = a A cos 45 + a BA
cos 45 + aCB
aCe = aC2ey + aC2ex = 16.14r O2
w.
B C
A
BE B
*9-32 9-32a OA = 0.12 m O

= 5 rad/s O1 AB B
OO1 = 0.6 m AB = 0.6 m = 0 4590
ww
v A = vAe
B
A
(a)
vA
v Ar
v Ae
O1
A
30
O1
v B = vB e
(b)
vB r
vB
v Ar
O1 B
vA
v B e O1
(c)
v Ae
vB r
vB
B O1
vB e
(d)
9-32
O1 AB 9-32b9-32c9-32d
130
1 = 0 9-32b
OA AB 1 AB O1
v Ar = v Br = 0 v A = v Ae v B = v Be
v A = OA = 0.60 m/s v Ae = O1 A O1
v Ae = v A = 0.60 m/s O1 A = (0.60 0.12 ) m = 0.48 m

v
0.60
O1 = Ae =
= 1.25 rad/s
O1 A 0.48
v B = v Be = O1 B O1 = 0.15 m/s
(2). = 45 9-32c
D A OO1
tan =
0.06 2
AD
OA sin 45
=
=
= 0.164 7 = 9.35
O1 D OO1 OA cos 45 0.60 0.06 2
da
an
wa
ng
.c
om
O1 A = (O1 D) 2 + ( AD) 2 = (0.60 0.06 2 ) 2 + (0.06 2 ) 2 m = 0.522 m
v Ae = v A sin(45 ) = 0.60 sin 35.65 = 0.349 7 m/s

v
O1 = Ae = 0.670 rad/s
O1 A
v Be = O1 B O1 = ( AB O1 A) O1 = 0.052 25 m/s
v Br = v Ar = v A cos(45 9.35) = 0.60 cos 35.65 = 0.487 5 m/s
2
v B = v Be + v Br =
(3)
( 0.052 25
= 90 9-32d
O1 A = (OO1 ) 2 + (OA) 2 =
+ 0.487 5 2 m/s = 0.490 m/s
( 0.60
+ 0.12 2 cm = 0.12 26 cm = 0.611 9 m
3.00
=
m/s = 0.588 m/s
0.12 26 26
0.60
0.12
v Ae = v A sin = 0.60
=
m/s = 0.117 7 m/s
0.12 26 26
v
5
O1 = Ae =
= 0.192 rad/s
O1 A 26
0.60
ww
w.
v Br = v Ar = v A cos = 0.60
v Be = (O1 A AB) O1 = (0.6119 0.60) m/s = 2.28 10 3 m/s

26
v B = v Be + v Br =
( 0.002 28
+ 0.588 2 m/s = 0.588 m/s
*9-33 9-33a I II v1 v 2
x y II III a III IV
131
C
x
vC r
vCA
vC e v A
vB r
v1
vC v B
v BA
v
vB e A
A
v2
a
(a)
(b)
9-33
1 B IV
v B = v Be + v Br v B = v1
v Be A IV B
v Be = v A + v B ' A v A = v 2
om
21
da
an
wa
ng
.c
v1 = v 2 + v B ' A + v Br
3 v B ' A
v1 cos = v 2 sin + v B ' A
3
4
v B ' A = AB 4 AB = x 2 + y 2
y
x
cos =
sin =
x2 + y2
x2 + y2
4
4 =
v1 y v 2 x
x2 + y 2
w.
2 C IV
v C = v Ce + v C r v C = v 3
ww
v Ce A IV C
v Ce = v A + v C ' A v A = v 2
65
v 3 = v 2 + v C ' A + v Cr
7 v C ' A
v3 sin = v 2 sin + vC ' A
vC ' A = CA 4 CA =
7
8
a
sin
98
v3 = v 2 +
a 4
ay
ax
= v1 2 v 2
2
x
sin
x
*9-34 R=0.2 m 2
v A = 0.1 m/s v B = 0.4 m/s MAB = 30 2
M M
132
art 2
a rt1
ve1 M v e2
vr2 v A v r1
A
B
vA
P1
(a)
vB
aC 2
arn1
aC1
arn2
n
a MB
n
v A a MA
vB
P2
(b)
9-34
(c)
1 = 30
M A B
2 9-34b
va =
v e1 +
v r1 =
v e2 +
v r2
1
MA
MP1
MP2
MB
1 MA
da
an
wa
ng
.c
om
ve1 cos 60 = ve 2 + v r2 cos 30

1
1
ve1 + ve2
3v A + 3v B
2
2
v r2 =
=
= v A + 2v B = 0.9 m/s
cos30
3/2
ve1 = 3v A v e 2 = 3v B
1 MB
ve1 + v r1 cos 30 = ve2 cos 60

1
1
ve2 + ve1
3v B + 3v A
v r1 = 2
= 2
= v B + 2v A = 0.6 m/s
cos30
3/2
va = ve12 + v r12 2ve1v r1 cos 30 = 3v A2 + v r12 2 3v A v r1
w.
= 3 0.01 + 0.6 3 0.1 0.6 m/s = 0.458 m/s

3 9-34c
ww
a M = a e1 + a rn1 + a r1 + a C1 = a e 2 + a r2n + a rt 2 + a C2
a e1 =
n
a MA
a e2
3
2
4
5
n
a MB
n
n
a MA
+ a rn1 + a rt1 + a C1 = a MB
+ a r2n + a rt 2 + a C2
A =
vA
= 0.5 rad/s
R
vB
B =
= 2 rad/s
R
n
a MA
= R A2 = (0.2 0.5 2 ) m/s 2 = 0.05 m/s 2
a C1 = 2 A v r1 = (2 0.5 0.6) m/s 2 = 0.6 m/s 2
n
a MB
= R B2 = (0.2 2 2 ) m/s 2 = 0.8 m/s 2
a C2 = 2 B v r2 = 2 2 0.9 m/s 2 = 3.6 m/s 2
133
v r12 0.6 2
m/s 2 = 1.8 m/s 2
=
R 0.2
v 2 0.9 2
m/s 2 = 4.05 m/s 2
a r2n = r2 =
R 0.2
a r1n =
6 a MA
n
n
a MA
+ a r1n a C1 = a MB
cos 60 a r2n cos 60 a r2t cos 30 + a C2 cos 60
2
1
1 n
1
n
a r2t =
(a C1 + a C2 a MA
a r1n a MB
a r2n )
2
2
2
3
3
n
n
n
n
(2a C1 + a C2 2a MA
2a r1
a MB
a r2
)
3
(2 0.6 + 3.6 2 0.05 2 1.8 0.8 4.05) m/s 2 = 2.165 m/s 2

3
=
t
6 a r1
n
a r1t = a MB
cos 30 a r2n cos 30 + a r2t cos 60 + aC2 cos 30
( 2.165
= ( 2.165
da
an
wa
ng
.c
3
3
1
3
m/s 2 = 2.165 m/s 2
4.05
2.165 + 3.6
2
2
2
2
om
= 0.8
a r1 = (a r1t ) 2 + (a r1n ) 2 =
+ 1.8 2 m/s 2 = 2.816 m/s 2
a r2 = (a r2t )2 + (a r2n ) 2
+ 4.05 2 m/s 2 = 4.592 m/s 2
n
a M = (a MA
+ a r1n a C1 ) 2 + (a r1t ) 2 =
w.
n
a M = (a MB
+ a r2n a C2 ) 2 + (a r2t ) 2 =
( (0.05 + 1.8 0.6)
+ 2.165 2 m/s 2 = 2.5 m/s 2
( (0.8 + 4.05 3.6)
+ 2.165 2 m/s 2 = 2.5 m/s 2
*9-35 9-35a9-35b9-35c9-35d 4 O 1 A = r
ww
b = 4r 9-35a9-35b9-35c9-35d CD
a O2B '
1 A O2B 9-35a1
v A = r v Ae = 'O2 A
134
vC
vC C
v A vB
B
v Ae v A r
v
v AAe
O1
A
30
O1
v Ar
A
30
B
vB
O1
vAe
A
30
O2
O2
vC C
v A v Ar
(b1)
vA
v Ae
vO2
vB
(a1)
vC C
O2
(c1)
v Ar
A
(d1)
9-35
v Ae = v A sin 30 ' =
v Ae
v sin 30 1
= A
=
4
O2 A
O2 A
v B = O2 B ' = b cos 30
3
3
b =
r
8
2
2 BC
vC cos 30 = v B vCD = vC =
BC BC BC
v B = vC
om
vB
= r
cos 30
da
an
wa
ng
.c
A BC 9-35b1
v A = r v Ae = v A tan 30 =
3
r
3
3
r
3
c BC ' BC P 9-35c1
OA
BP = b sin 30 = 2r AB =
= 2r
sin 30
AP = 2r A BC BC
vCD = vC = v Ae =
w.
ww
vC
v
PC
4r cos 30
= Ae vC =
v Ae =
v Ae = 3v Ae
PA
PC PA
2r
A BC 9-35c1 9-35c1 v A v Ar
30
v Ae v Ar 150 v Ae v A 120
v Ae = v A = r
v Ae 1
vCD = vC = 3r
d
O2C P 9-35c d1 '
b
O2 C
16
8
PC =
= cos 30 = r O2 P = PC sin 30 = r AO2 = 2r
cos 30 cos 30 3
3
10
PA = ( AO2 ) 2 + ( PO2 ) 2 = r
3
135
vC
v
8
PC
= Ae vC =
v Ae = v Ae
PC PA
5
PA
A O2C 9-35c d1
v Ae
vA
AO2
2r
3
=
sin =
=
=
sin sin 30
PA 10r 5
3
5
sin 30
v Ae =
, vA = vA
6
sin
1
vCD = vC =
8 5
4
v A = r
5 6
3
*9-36 CD
n
B
a
O1
vr
t
e
t
B
ar
B
n
B
30
aA
t
AC
aC
a Bt
a Bn
aC
t
BC
e
30
n
a BC
n
AC
aC
a At C
a An C
a AC
aA
aB
O2
(a1)
(b1)
aC
aO2 C
aC
t
BC
aC
a AC a r a
ar
aA
aC
aA A
a
aen C
30
O2
n
aCB
aC
da
an
wa
ng
.c
aC
aC
om
t
aCB
a Bt
a Ar at
AC
aOn C
2
O2
t
aO2 r aO2C
(c1)
(d1
9-36
9-35a
1
4
3
r
2
e = v r = v A cos 30 =
a A = r 2 a C = 2 e v r =
3 2
1
r a en = 2 e2 = r 2
4
8
1
w.
a A = a en + a et + a r + a C
t
a e
ww
at
3 2
3 2
r = e =
4
2r
8
3
3
3 1 2
a Bn = O1 B e2 = 4r
r 2 a Bt = 2 3r = r 2
( ) =
8
4
2 4
a A cos 30 = a et + aC a et = a A cos 30 a C =
BC B
n
t
a C = a Bn + a Bt + a CB
+ a CB
9-35a v B v C
BC = e =
aCB = 2r CB =
n
1 2
r
8
t
B
2 a
aC cos 30 = a a aCD
t
B
n
CB
n
a Bt aCB
5 3
=
r 2
= aC =
cos 30
12
9-35b
136
BC = 0
v2 1
3
r a Bn = B r 2
3
r 3
v B = vC =
C a B + a B = a C + a BC
n
a B
t
a BC
1
2 2
=
= r 2
a =a
r
4r
6
3
t
a A = a e + a r a C = 0 a e = a C + a A'C
n
B
t
BC
cos 60 a BC = 2a B =
t
t
a A = a C + a A'C
+ ar
1
a At 'C = 2r = r 2 a A = r 2
3
t
1 a A'C
a A cos 30 = aC cos 30 + a At 'C

a At 'C
2 3
aC = a A +
=(
+ 1)r 2
9
cos 30
c 9-35c
om
v Ae v A
=
=
2r 2 r 2
da
an
wa
ng
.c
e =
n
t
a B = a C + a BC
+ a BC
a C
n
t
0 = aC a BC
cos 60 a BC
cos 30
aC =
1 n
3 t
a BC +
a BC
2
2
A CB
a A = a e + a r + a C a A = a C + a An 'C + a At 'C + a r + a C
t
A 'C
w.
a = 2a
2 a C
t
BC
2
3
ww
a A cos 30 = aC cos 30 a At 'C + aC

a At 'C = aC cos 30 + a C a A cos 30
3
41
1 n
3
a BC +
2(aC cos 30 + a C a A cos 30)
2
2
3
1 n
3
aC = a BC
+ aC + 3a C a A
2
2
2
n
aC = 3a A a BC 2 3a C
aC =
n
a A = r 2 a BC
= 4r e2 = r 2 a C = 2 e v r = 2
aC = 3r 2 r 2 2 3 3r 2 = 4r 2
d
9-35d
137
3r = 3r 2
1
4
e = v Ar =
4+3 3
2
r vO2 r = r vO2 = 0
6
3
9-36d1
1O1A A BC
a A = a A e + a Ar + a AC
a Ae = a C + a An 'C + a At 'C C
a A = a C + a An 'C + a At 'C + a Ar + a AC
a AC
a A cos 30 a At 'C + a AC
2 O2 BC
a O2 = 0 a O2 = a O2e + a O2 r + a O2C a O2e = a C + a On 2 'C + a Ot 2 'C

0 = a C + a On 2 'C + a Ot 2 'C + a On 2 'C + a O2 r + a O2C
a O2C
0 = aC cos 30 aOt 2 'C + aO2C
12
4r
4r
AC =
2r
cos 30
cos 30
3
3
AC
t
= 1
a A'C = (1
)aO2 'C
4
4
O2 C
da
an
wa
ng
.c
O2 C =
a A cos 30 = a AC +
2
4
3 t
aO ' C aO2C a A = r 2
4 2
4
1
[aO2C +
a A (cos 30 + aO2C a AC )]
cos 30
3
4+3 3
4+3 3 2
a AC = 2 e v Ar = 2
r =
r
4
6
6
2
1
aO2C = 2 e vO2 r = 2 r = r 2
4 3
3
ww
w.
aC =
aC =
4 3
r 2
9
om
a A cos 30 = a AC a At 'C + aOt 2 'C aO2C
138
10
10-1 1 m r 10-1a
f
FN
r
Fs
x
mg
(a)
(b)
10-1
m 10-1b
om
F = fFN
da
an
wa
ng
.c
F = ma x y
2
F = ma a = r max
1
2
FN mg = 0
1
2
3
max =
fg
r
30
30 fg
max =
r/ min
r
10-2 10-2a AB m1 m2 2 1
1 r 2 h m1 > m2
w.
nmax =
ww
F1
F2
a2
a1
m2 g
m1 g
(a)
(b)
10-2
m1 m2 b
m1a1 = m1 g F1
1
m2 a 2 = F 2 m2 g
139
a1 = a 2 = a
F1 = F2
1
2
a=
m1 m2
g
m1 + m2
a 2
v0 = 0
1
s1 = s2 = s = at 2
2
h
2 s1 = s 2 =
2
h(m1 + m2 )
2s
t=
=
a
g (m1 m2 )
10-3 R O
10-3a 1 m A OC = e OC
om
12
da
an
wa
ng
.c
FN
R
C
(b)
10-3
w.
(a)
ay
mg
(c)
ww
10-3b Oxy y
y = R + e sin t
a y = e 2 sin t
A mg FN 10-3c FN
10-3c A y
FN mg = ma y
FN = m( g e 2 sin t )
1
FN max = m( g + e 2 )
2
FN min = m( g e 2 ) 0
g e 2
140
g
e
max =
10-4 10-4a A B
D = 400 mm n
a
(a)
mg
(b)
10-4
a = 2r = (
da
an
wa
ng
.c
n 2 D
)
30
2
om
n
mg
mg = ma
1
a
n=
30 2 g
= 67 r/min
10-5 10-5
h
= 300 m v = 12 m/s b = 1.6 m
m mg FN
10-5
F = ma
w.
x y
FN sin = ma
FN cos mg = 0
a=
ww
FN
n
ma n
mg
tan =
b2 h2
h=
v 2b
( g ) 2 + v 4
= 78.4 mm
10-5
10-6 10-6a A m 1
l B v0
x
141
FT
&x&
FN
A
mg
x
(a)
(b)
10-6
A A mg FT FN
10-6b A t
AB = l 2 + x 2
t
d AB
x
dx
=
,
2
2
dt
l + x dt
d AB
= v o ,
dt
v
dx
= 0 l 2 + x2
dt
x
v0 x 2
da
an
wa
ng
.c
d x
=
dt 2
dx
dx
v0 l 2 + x 2
dt v0 2 l 2
l + x dt
=
x2
x3
2
om
mg FT cos = m&x& cos =
l 2 + x2
v0 l 2
l
FT = m( g + 3 ) 1 + ( ) 2
x
x
ww
w.
10-7 M 0.2 kg r = 200 mm

v = 400 mm/s 10-7a
M
a Mn
ve
va
a Mn
30
ar
Mv r
a
(a)
t
M
(b)
10-7
10-7b
ve = v va =
ve
0.4 2
v
=
=
cos 30
3
3
2
10-7c
n
M
0.4 2 4
va2
v2
m/s 2 = 1.07 m/s 2
=
=
=
3 0.2 3
r
r
4
a Mn + a Mt = a r
142
FN
M
ar
a Mt
mg
(c)
a Mn sin 30 a Mt cos 30 = 0, a Mt =
a Mx
a Mn
= 0.616 m/s 2
3
= a cos 30 + a sin 30 = (0.9238 + 0.3079 ) m/s 2 = 1.23 m/s 2
n
M
t
M
M FN M F
F cos 30 = ma Mx
F=
2
ma Mx =
0.2 1.232 N = 0.284 N
3
*10-8 m AB
10-8a = 60 AB
A
aA
t
a BA
FN A
aA
FAB
om
aA
(b)
10-8
aB
B
FN B
(c)
da
an
wa
ng
.c
(a)
mg
aB
FAB
mg
AB 10-8b
t
n
a B = a A + a BA
a BA = 0
10-8c
13
a B = a A tan = 3a A
ma A = mg FAB sin
ma B = FAB cos
2
3
3ma A = FAB cos
10-9
ww
w.
2
4 ( = 60)
FAB =
3
mg
2
1 10-9 r = 10 000 m = 60
& = 0.02 rad/s && = 0.003 rad/s 2 5 000 kg F

y = r sin
y& = r& sin + r cos &
&y& = &r&sin + 2r&& cos + r cos&& r sin & 2
x = r cos = 5 000 m
x& = r& cos r sin & = 0 r& = r tan &

2
2
&x& = &r& cos 2r&& sin r cos& r sin && = 0
&r& = 2 tan r&& + r& 2 + r tan &&
3
143
10-9
r = 10 000 m = 60 & = 0.02 rad/s && = 0.003 rad/s 2
2
r& = 10 000 3 0.02 m/s = 346.4 m/s
43
&r& = 79.96 m/s 2
4
51
&y& = 87.7 m/s 2
F mg = m&y&
F = m( g + &y&) = [5 000(9.8 + 87.7)] kN = 488 kN

10-10 1 m =10 kg F = 100(1 t ) N
v0 = 0.2 m/s
om
F x 10-10
F = m&x&
(1)
F = 100(1 t ) N, m =10 kg
1
dx& = 10(1 t )dt
da
an
wa
ng
.c
&x& = 10(1 t )
t2
x& x&0 = 10 t m/s
2
t = 0
F
x
O
10-10
v0 = x& 0 = 0.2 m/s
ww
w.
t 2
x& = 0.2 + 10 t m/s
2
x = 0.2t + 5t 2 t 3 + x0 m
3
t = 0 x = 0 x0 = 0
2 x& = 0
x = 0.2t + 5t 2 t 3 m
3
t = 2.02 s
x = 7.06 m
10-11 10-11 m O F=kr
O x = x 0 , y = 0 v x = 0, v y = v0
m 10-11 Oxy F=-kr

144
F = ma
x y
kx = m&x&
ky = m&y&
x t = 0 = xO ,
x& t =0 = 0
y t =0 = 0,
y& t =0 = v0
k
t
x = x0 cos
m
y = v m sin k t
0
k
m
10-11
x2 k y2
+
=1
2
m v0 2
x0
m
om
1 00 x0 v0
da
an
wa
ng
.c
10-12 h vo 10-12a
1 F = kmv m v k
v0
ww
w.
mg
(a)
(b)
10-12
10-12b Oxy
m&x& = Fx = kmvx
m&y& = Fy mg = kmv y mg
&x& = kx&
&y& = ky& g
2 t=0
x0 = 0, y0 = h, x& 0 = v0 , y& 0 = 0
v0
(1 e kt )
=
x
y = h g t + g (1 e kt )
k
k2
145
y = h
v0
g
gx
ln
+
2
k
v0 kx kv0
10-13 1 e m vO H
F = e(v H )
10-13 10-13 mnt

mnt v F t n
dv
=0
dt
v2
m
= evH
n
F
m v
v = = v0
10-13
mv0
eH
mv0
eH
ww
w.
da
an
wa
ng
.c
om
146
11
11-1 36 km/h
f 6 s
W FN
F Ox x
mv x mvOx = I x
v x = 0, vOx = 36 km/h = 10 m/s
I x = Ft = fFN t = fWt
t = 6 s
FN
W
10 m/s = fW 6 s f=0.17
g
11-1
11-2 60 kg 100 m
5 s
4.3 m/s
mg
F
100 m v1
v
v = 2 gh = 2 9.8 100 m/s = 44.3 m/s
om
da
an
wa
ng
.c
mg F 11-2 y
mg
mv 2 mv1 = I y = (mg F )t
t=5 s
v2=4.3 m/s
y
11-2
60 (4.3 44.3) = (60 9.8 F ) 5
w.
F = 1 068 N = 1.068 kN
11-3 11-3a m1=2 000 kg m2=20
000 kg OA=8 m 60
OA 30
ww
y
30
m1 g
y
x
A
60
m1 g
m2 g
m2 g
(a)
(b)
11-3
(c)

Oxy Oy
x a
1 OA 60
11-3c
xC 1 =
m1 (O A sin 60 + a )
m1
=
(a + 8 sin 60)
m1 + m2
m1 + m2
2 OA 30 11-3b
147
xC 2 =
m1 ( x + a + O A sin 30) + m2 x
m1
= x+
(a + 8 sin 30)
m1 + m2
m1 + m2
xC 1 = x C 2
3 1
8 2(
)
8m1
2
2 m = 0.266 m
(sin 60 sin 30) =
x=
2 + 20
m1 + m2
0.266 m
11-4 11-4a 1 A 1 B
A mA B mB 3
11-4a B A
A
b
B
A
mA g a
mB g
(b)
11-4
da
an
wa
ng
.c
(a)
l
c
mB g
om
(c)
AB 1 Ox O
A
AB 11-4b x
a
x1 = c = ,
3
2
x2 = d = b
3
ww
w.
B 11-4c
x1 = l c = l
3
b
x2 = l (a b + d ) = l (a )
3
a
2
m A ( ) + m B ( b)
3 = m A a + 2m B b
3
xC =
m A + mB
3(m A + m B )
B
a
b
m A (l ) + m B l (a )
3
3 3(m A + m B )l a (m A + 3m B ) + m B b
xC =
=
m A + mB
3(m A + m B )
x C = xC
m A = 3m B
148
a b
4
l=
11-5
m1 = 500 kg 1
m2 = 70 kg v 0 vr = 2 m/s

11-5
11-5
x
v
(m1 + m2 )v0 = m1v + m2 (v vr )
v = v0 + 0.246
v = v v0 = 0.246 m/s
11-6 11-6a AB l
A 11-6b
om
da
an
wa
ng
.c
C
W
FN
(a)
(b)
11-6
AB 11-6b Oxy O AB
B W FN
w.
AB x
xC = 0
ww
AB x A
l
x = cos ,
2
y = l sin
A A
4 x 2 + y 2 = l 2
11-7 11-7a AB 2m1 OC m1 A
B m2OC=AC=CB=l O

2 1 AB AB C
2 OC OC C1
p = (2m1 + 2m2 )v C + m1v C 1
(1)
vC vC1 OC p OC
vC = 2vC1 = l
(1)
149
p=
l
(5m1 + 4m2 ) 11-7b
2
p
vC
vC1
C1
(a)
(b)
11-7
11-8
m1 AB f
m2 D s =
1 2
bt b
2
m2 g
vr
om
m1 g
(a)
da
an
wa
ng
.c
FN
(b)
11-8
11-8b
v r = &s& = bt
a r = &s& = b
a Da = a e + a r = a AB + a r
a Da = ar a AB
m2 (a r a AB ) m1a AB = F
F = f (m1 + m2 ) g
2
3
w.
1
43
ww
m2 (b a AB ) m1a AB = f (m1 + m2 ) g
m2 b (m1 + m2 )a AB = fg (m1 + m2 )
a AB =
11-9
fg (m1 + m2 ) + m2b
m2
=
b fg
m1 + m2
m1 + m2
11-4 A
B
ae
mB g
aA
ar
3m B g
(b)
11-9
1 A aA 11-9b
a B = ae + ar
150
FN B
FN
(a)
ae
mB g
(c)
ar
a e = a A , m A = 3m B
3m B a A + m B (a e a r cos ) = 0
4mB aA = mB ar cos 4aA = ar cos
2 B c ar
mB g sin = mB (ar ae cos )
4a A
aA cos
cos
g sin cos = 4aA aA cos 2
g sin cos g sin cos
aA =
=
4 cos 2
3 + sin 2
g sin =
2
3
(3) 11-9b FN
3mB g + mB g FN = mB ar sin
31
4a A
4 g sin
=
cos 4 cos 2
om
ar =
12mB g
4 g sin 2
3
= 4 mB g
=
2
2
4 cos
3 + sin 3 + sin 2
da
an
wa
ng
.c
FN = 4mB g mB
11-10 11-10a m A
k 1 1 AB lA
A B m1 A M
A
O
kx
w.
FN
mg
B
m1 g
(a)
ww
(b)
11-10
A B x
A x ( = t )
xC =
mx + m1 ( x + l sin t )
m + m1
&x&C = &x& +
m1
l 2 sin t
m + m1
(m + m1 ) &x&C = kx
m1
k
l 2 sin t =
x
m + m1
m + m1
m1
k
&x& +
x=
l 2 sin t
m + m1
m + m1
&x&
151
t = 0, x = 0, x& = 0 A
m1l 2
xp =
sin t
k (m + m1 ) 2
M = M
11-11 11-11a O
OA m1 A m2 m3
OA OA = l C BC =
l
1
2
2 O
y
m2 g
FO x O
m1 g
(a)
m3 g
FN
om
FO y
(b)
da
an
wa
ng
.c
11-11
1 Oxy
l
l
m1 cos t + m2 l cos t + m3 (l cos t + )
2
2
xC =
m1 + m2 + m3
=
m3l
m + 2m2 + 2m3
l cos t
+ 1
2( m1 + m2 + m3 ) 2( m1 + m2 + m3 )
w.
l
m1 sin t + m2 l sin t
m1 + 2m2
2
yC =
l sin t
=
m1 + m2 + m3
2(m1 + m2 + m3 )
ww
2 11-11b x O
FOx x
FOx = (m1 + m2 + m3 )aC

m + 2m2 + 2m3 2
aC = &x&C = 1
l cos t
2(m1 + m2 + m3 )
m + 2m2 + 2m3 2
FOx = 1
l cos t
2
FOx max =
m1 + 2m2 + 2m3 2
l
2
11-12 11-12a O m1
I
m2 r e
m3g C Oxy
x O 11-12c
152
C1 r
t
C2
m1 g
C3
C3
a
M
(a)
m2 g
m3 g
Fx
Fy
(b)
11-12
(c)
xC =
m2 e cos t + m1 (e cos t + r + a) + m3b

m1 + m2 + m3
yC =
m2 e sin t m3 h
m1 + m2 + m3
t 2
(m1 + m2 + m3 ) &x&C = (m1 + m2 )e 2 cos t
(m1 + m2 + m3 ) &y&C = m2 e 2 sin t
FRx FRy 11-12c
om
(m1 + m2 + m3 ) &x&C = FR x
da
an
wa
ng
.c
(m1 + m2 + m3 ) &y&C = FR y (m1 + m2 + m3 ) g

12
FRx = (m1 + m2 )e 2 cos t
FRy = (m1 + m2 + m3 ) g m2 e 2 sin t
FRx = (m1 + m2 )e 2 cos t

FRy = m2 e 2 sin t
w.
11-13 v0=2 m/s 90 11-13a

0.02 m2 v1=4 m/s 30
ww
v0
90
Fx
30
O
(a)
v1
mg F
y
x
(b)
11-13
F = qV (v1 v 0 )
= 1 000 kg/m
qV = v0 A0 = v1 A1
1 11-13b xy
153
Fx = v0 A0 v1 cos 30
Fy = v0 A0 [ v1 sin 30 (v0 )]
v0 = 2 m/s, A0 = 0.02 m 2 , v1 = 4 m/s
Fx = 139 N Fy = 0
Fx = 139 N Fy = 0
Fx Fx
11-14
qV m /s kg/m v1 m/s
3
v 2 m/s 11-14a
v2
da
an
wa
ng
.c
v1
om
v2
(a)
(b)
11-14
F = qV (v1 v 2 )
Fx = qV (v1 + v2 cos )
w.
11-15 11-15a 20 kg/s 1.5 m/s
ww
(a)
Fx
(b)
11-15
Fx dt qVdt
11-15b
qV dt v = Fx dt
Fx = qV v = (20 1.5) N = 30 N
11-16 11-16a 109 m3
1 400 kg/m3 1.6 m/s v1
v2
154
v2
v1
Fs
FN 2
FN1
(a)
(b)
11-16
qV = 109 m 3 /3 600 s = 0.030 38 m 3 /s
qV = (0.030 38 1 400) kg/s = 42.39 kg/s

v2 = 1.6 m/s
ww
w.
da
an
wa
ng
.c
om
F = (42.39 1.6 ) N = 67.8 N
155
12
12-1
m Oxy
x = a cos t
y = b sin 2t
ab O
1
dx
= a sin t
dt
dy
vy =
= 2b cos 2t
dt
vx =
LO = M O (mv x ) + M 0 (mv y ) = mv x y + mv y x
= m ( a sin t ) b sin 2t + m 2b cos 2t a cos t
= 2mab cos 3 t
LO = r mv = ( xi + yj ) (mx&i + my& j ) = ( xmy& ymx& )k
OA 0 O m = 25 kg R = 200 mm
da
an
wa
ng
.c
12-2
om
x& , y& 1
3 OA A 12-12a 12-12a OA
12-12b OA A OA r
12-12c OA r O = r = 4 rad/s
w.
3 O
2R
ww
2R
vA
vA R
(b1)
(c1)
12-2
1 12-2a A O
1
9
J O = mR 2 + m(2 R) 2 = mR 2
2
2
9
LO = J O O = O mR 2 = 18 kgm 2 /s
2
2 12-2b1 A
LO = m v A 2 R + J A a
1
= m 2 R O 2 R + mR 2 ( O + r ) = 5 O mR 2 = 20 kgm 2 /s
2
156
3 12-2c1 A O
LO = m 2 R O 2 R + J A a
a = O r = 0
LO = 4 R 2 O m = 4 0.2 2 4 25 kgm/s = 16 kgm/s

12-3 12-3 m A
CAC = e R A JACAB 1
1 vA B 2
vA B
1 B
vA
R
v C = B C =
vA
( R + e)
R
R+e
mv A
R
om
p = mvC =
LB = J B
12-3
da
an
wa
ng
.c
J B = J C + m ( R + e) 2 = J A me 2 + m ( R + e) 2
v
LB = J A me 2 + m ( R + e) 2 A
R
2 C
vC = v A + vCA = v A + e
p = mvC = m(v A + e)
B
w.
LB = mvC BC + J C = m (v A + e) ( R + e) + ( J A me 2 )
ww
= mv A ( R + e) + ( J A + mR e)
12-4 1 R m1 O
12-4a 1 m2 B s =

1 2
at r
2
R r
O
(a)
B
v
(b)
12-4
O O
O O
O
L1 = J =
157
m1 R 2
s& = at
v0 = r s& = r at
r O
L2 = m2 (r at ) r
m1 R 2
+ m2 (r at ) r
2
2m art
= 2 2
R m1 + 2m2 r 2
2m2 ar
= & = 2
R m1 + 2m2 r 2
0=
da
an
wa
ng
.c
om
12-5 12-5a z 1 M
v0 M m r z l
M 12-5a J M
z M0

ve
v0
o1
(a)
w.
(b)
12-5
ww
M z
z M v0 ve
ve = OM
M M0 z
Lz1 = mv0 (l + r )
(1 )
Lz 2 = J + M z (mv M ) = J + M z (mv 0 ) + M z (mv e )

12-5b
Lz 2 = J + mv0 [l cos + r ] + m(l 2 + r 2 + 2lr cos )
(2)
L z1 = L z 2
1
2
3
mlv0 (1 cos )
J + m (l 2 + r 2 + 2lr cos )
158
(3)
12-6
12-6a A 2 1 0
2 1 2 J1 J21
2 t
Mf
(a)
(b)
12-6
1 1 2
J 1 0 = ( J 1 + J 2 )
J
= 1 0
J1 + J 2
2 2 12-6b
dLz
= Mf
dt
om
Lz
da
an
wa
ng
.c
t
d
L
=
z
0
0M f dt
Mf
Lz = M f t
JJ
Lz = J 2 = 1 2 0
J1 + J 2
1
2
Mf =
1
2
J 1 J 2 0
( J 1 + J 2 )t
ww
w.
12-7 12-7a R1 R2 m1 m2
1 M 2
M
1
(a)
FT 2
FO1 y o
M
1
FO1x
m1 g
FT2
R2
FO2 x
FT1
FT1
(b)
12-7
FO2 y
o2 M
m2 g
(c)
12-7b12-7c
FT1 = FT1
FT 2 = FT2
J 1 1 = M ( FT1 FT 2 ) R1
J 2 2 = ( FT1 FT 2 ) R2 M
1 : 2 = R2 : R1
159
2
3
1
2
3
R1
M
R2
1 =
2
R
J1 + J 2 1 2
R2
M
J1 =
m
m1 2
2
R1 J 2 = 2 R2
2
2
2( R2 M R1 M )
2
(m1 + m2 ) R2 R1
12-8 12-8a R = 0.5 m A
1 =
1 m1 = 8 kg h = 2 m
t1=16 s m2 = 4 kg 2
1 t2 = 25 s 1
Mf
FAx
da
an
wa
ng
.c
om
FAy
(a)
m1 g
(b)
12-8
A Mf JA 12-8b
A
ww
w.
dLA
= M f + m1 gR L A = J A + m1R 2
dt
( J A + m1 R 2 )d = ( M f + m1 gR)dt
0 (J
t
+ m1 R 2 )d = 1 ( M f + m1 gR)dt
0
M f + m1 gR
=
t1
J A + m1 R 2
d
t1 = 0 = 0
dt
m1 gR M f t12
J A + m1 R 2 2
h
R
h m1 gR M f t12
=
R J A + m1 R 2 2
1 m1t1 2 m2t2
160
h m2 gR M f t 22
=
R J A + m2 R 2 2
1
2
J A = 1060 kg m 2
M f = 6.02 N m
12-9 12-9a 0
M = k k J
FOy
O
(a)
FOx M
(b)
12-9
da
an
wa
ng
.c
d
( J ) = M M = k
dt
2 J
= kdt
t
= kdt
0
J
1n 2
k
1
d
t
0 J = 0 kdt
t=
ww
w.
= 0e J
t
k
t
d
= 0e J
dt
k
k
t
t
t
J 0
J
(1 e J )
= 0 e dt =
0
k
t =
om
J
1n 2
k
J 0
(1 e 1n 2 )
k
1
e 1n 2 =
2
161
J 0
2k
N=
J 0
=
2 4k
12-10 12-10 n = 8 600 r/min qV = 370

m3/min 1 D1 = 0.355 m D2 = 0.6 m
v1 = 109 m/s 1 = 90 v2 = 183 m/s
2 = 2130 = 1.16 kg/m 3 1

v1
v2 O
dLO
=M
dt
12-2
M =
qV D2
D
v2 cos 2 1 v1 cos 1
60 2
2
om
12-10
D2 qV
1.16 0.6 370
v2 cos 2 =
183 cos 2130 N m = 365 N m
120
120
12-11 A m1 r1 OA A
da
an
wa
ng
.c
M=
ww
w.
m2 1 B r2 12-11a B
A B OA
f A B
FAy
Fs
(a)
FAx
m1 g
FN
(b)
12-11
FN
FB y
FBx
m2 g
Fs
(c)
AB 12-11b12-11c
AB
d A
= Fr1
dt
d B
J2
= F r2
dt
J1
d A = Fr1 dt
0
J 2 2 d B = F r2 dt
0
J1
162
J 11 J 1 = Fr1t
J 2 2 = F r2 t
1 : 2 = r2 : r1
J 1 Fr1t J 1r2
=
F r2 t
J 2 r1
J1 =
m1r12
m r2
, J 2 = 2 2 , F = F = FN = fm1 g
2
2
r1
t=
2 fg (1 +
m1
)
m2
da
an
wa
ng
.c
om
12-12 G AB ADBE
DE 12-12a AB DE
DE T m AB DE
h AD BE AB
DE
(a)
AB
mg
(b)
12-12
mgh
k2 =
J DE
J DE&& = mgh sin
ww
w.
sin
&& + k 2 = 0
T = 2
J DE =
J DE
mgh
mghT 2
42
J DE = J AB + mh 2
J DE
163
T2
h
J AB = mg 2
4 g
12-13 12-13a 1 50 mm = 20
5 s = 3 m
Fs
FN
mg
(a)
(b)
12-13
12-13b
maC = mg sin F
1
JC = Fr
aC = r
31
2
F
mr sin
g
J C + mr 2
2 t = 0 = 0, & = 0
da
an
wa
ng
.c
= && =
om
mgrt 2 sin
mgrt 2 sin
grt 2 sin
=
=
=
2( J C + mr 2 ) 2(m 2 + mr 2 ) 2( 2 + r 2 )
r = 0.025 m t = 5 s s = r = 3 m
=r
9.8 5 2 sin 20
gt 2 sin
1 = 0.025
1 m = 0.09 m = 90 mm
2s
2
3
ww
w.
12-14 A m1 D
B 12-14a C
r C R m2 O
A
FT
FT
aA
a0
m2 g
FS
FN
m1 g
(a)
(b)
(c)
12-14
A B 12-14b12-14c
A
m1aA = m1 g - FT
1
B
2
m2aO = FT F
m2 2 = FT r + FR
164
R = aO
aA = a B = ( R + r )
1
2
34
5
aA =
4
5
m1 g (r + R) 2
m1 ( R + r ) 2 + m2 ( 2 + R 2 )
12-15 12-15a 2 A B mA = 2 kgmB =1 kg AB = l = 0.6

m B A v A = 0.6 m/s
12-15a 12
2 t = 2 s 2 Oxy 3t = 2 s
A
C
mA g
B
mB g
(a)
(b)
12-15
da
an
wa
ng
.c
om
AB Oxy O
C 12-15b
mA /mB = 2 /1
AC /BC = 1/2
AC = 0.2 m
BC = 0.4 m
1 C
xC = AC=0.2 m
C C
m A v A AC = [m A ( AC ) 2 + m B ( BC ) 2 ]
w.
=
= t
ww
MaC = F y
MaCy = Fy
aC y = &y&C m = mA + mB Fy = ( m A + m B ) g
1
2
1
yC = gt 2 + c1t + c2
2
t = 0
y& C =
BC
v A = 0.4 m/s,
AB
yC = 0
c1 = 0.4 , c 2 = 0
yC = 0.4 t gt 2 m
2
AB
165
xC = 0.2 m
1 2
y C = 0.4 t gt
2
=
t
2t = 2 s = t = 2 rad
yC = - 17.1 m
17.1 m
3t = 2 s
= & = rad/s
FT = m A 2 AC = m B 2 BC = (2 2 0.2) N = 3.95 N
12-16 A m 1 B
12-16a
h
FT
om
da
an
wa
ng
.c
aA
mg
vA
(a)
(b)
12-16
A 12-16b
maA = mg - FT
JA = FT R
A R
w.
(1)
2
aA=R
ww
1
2
1
FT = mg ()
3
2g
()
=
3R
2
a A = R = g ()
3
aA
v A = 2a A h =
2
3gh ()
3
12-17 12-17a AB l 1 A
1 B 0
12
166
FN A
&y&C
y
&x&C
C
x
mg
B
FN B
(a)
(b)
12-17
1 Oxy 12-17b AB
C
(1)
m&y&C = FN B mg
(2)
(3)
om
l
l
J C = FN B cos FN A sin
2
2
l
xC = cos
2
l
y C = sin
2
da
an
wa
ng
.c
m&x&C = FN A
t 2
& =
&& =
l
( sin 2 cos )
2
l
&y&C =
( cos + 2 sin )
2
&x&C =
(4)
(5)
ww
ml
( sin 2 cos )
2
ml
=
( cos + 2 sin ) + mg
2
FN A =
FN B
w.
4512
FNAFNB 3
J C =
ml 2
mgl
ml 2
( cos + 2 sin ) cos +
cos
( sin 2 cos ) sin
4
2
4
J C =
ml 2
mgl
+
cos
4
2
ml 2
JC =
12
3g
cos
2l
167
d
dt
0 d =
3g
cos d
2l
3g
(sin 0 sin )
l
2 FNA = 0 = 1
ml
( sin 1 2 cos 1 ) = 0
FN A =
2
2
2
sin 1 = sin 0 1 = arcsin( sin 0 )
3
3
a0
FN1
da
an
wa
ng
.c
m2 g
FN 1
(a)
om
12-18 12-18a m1 F
f 1 m2
(b)
12-18
Fs1
m1 g
Fs1
Fs 2
FN 2
(c)
w.
12-18b
m2 aO = F1
0 = FN1 m2 g
J = F1 r
1
2
ww
3
A a
O
a O = a r
m2 (a r ) = F1
34
J=
m2 r 2
2
F1 =
m2 a
3
12-18c
m1a = F - F1 - F2
0 = FN2 - m1g - FN1
F2 = fFN 2
168
5
6
7
8
5867
a=
F f (m1 + m2 )
g
m1 + m2 / 3
12-19 A B m r AB
12-19a
AB
B
aB
FT
FT
aA
Fs 2
mg
(a)
Fs1
FN 2
FN1
mg
(b)
12-19
(c)
A B 12-19b12-19c A B
AB
A = B =
om
a A = aB = a
A
F1 r = J A
B
da
an
wa
ng
.c
ma = mg sin FT F 1
(1)
(2)
ma = FT' + mg sin F2
(3)
F2 r = J B
m
J A = r 2 , J B = mr 2
2
(4)
5
w.
a= r
123456
1
mg sin
7
4
a = g sin
7
ww
FT = FT =
12-20 r m 12-20a
C v0 0
0 r < v0 f
c
Fs
v0
mg
FN
(a)
(b)
12-20
12-20b
169
dv
= F
dt
d
JC
= Fr
dt
m
JC = r 2
2
1
2
3
123 F
r
dv = d
2
v
r
=
v
d
v0 0 2 d
r
r
v = v0 + 0
2
2
v =r
2v 0 + r 0
3
om
v=
da
an
wa
ng
.c
FN = mg
F = f F N = f mg
1
dv = - g f dt
v0 v
gf
t=
w.
(5)
t=
v 0 r 0
3 fg
ww
12-21 12-21a m r 60
1 1 A A
f =
1
aC
3
2r
FT
D
aC
(a)
Fs
60
B
mg
(b)
12-21
FN
aC
mg
60
(c)
12-21b
170
J = ( FT F ) r
(1)
0 = FN mg cos 60
(2)
maC = mg sin 60 FT F
(3)
F = fF N
AD
aC= r
f =
4
5
1
3
15
a C = 0.355g
12-22 AB m mr R = 2r
12-22a C B AB
FC
mg
a
A
C1
(b)
12-22
C2
B
aC 2
FN B
da
an
wa
ng
.c
a1
(a)
FC
Fs
om
FA
(c)
1 12-22b A C1
J A A = mg 2r FC 3r
2 12-22c B C 2
J B B = FC r + mg sin 30 r
J A = mr + m(2r ) = 5mr
J B = mr 2 + mr 2 = 2mr 2
a = 3r A = r B B = 3 A
w.
4
5
ww
1
2
34
7 g
21 g
B =
46 r
46 r
21
a B = r B =
g
46
A =
12-23 A B m r1 O A
1 B 12-23a 1 B
2 A 1 M
B
171
FT
FOy
A
O
mg
mg
FOx
aB
FT
(a)
(b)
12-23
(c)
1 A B 12-23b12-23c A
B
A
J A A = FT r
1
B
mg FT = ma B
(2)
J B B = FTr
C B
a B = aC + a BC = A r + B r
da
an
wa
ng
.c
m 2
r
2
om
JB = J A =
1234
aB =
4
g
5
2
A 1 M A A
J A A = M FT r
5
w.
JB = J A =
m 2
r
2
ww
C B
t
a B = aCt + a BC
= A r + B r = 0
5623
M = 2mgr
M > 2mgr B
12-24 12-24a m = 3 kg ED = EA = 200 mm D
AB
1 a = 2 gg
A B D
2 AB a D
172
FDy
E
C
FD x
mg
A
(a)
FN AB
(b)
12-24
1 12-24b
FDx FN AB = ma
FDy = mg
=0
3
1
3
Mc = 0, FDy 0.2 FDx 0.2 FNAB 0.2 = 0
4
4
4
3FDy FDx 3FNAB = 0
da
an
wa
ng
.c
FDy = 29.4 N
FDx = 66.2 N
F = 7.35 N
NAB
om
123 a = 2 g
2 FNAB = 0
a=3g
FDy= 29.4 N
ww
w.
FDx = ma
FDy = mg
3FDy FDx = 0
FDx = 3mg = 88.2 N
173
1
2
13
13-1 13-1a r = 0.5 m O
AB mA = 3 kgmB = 2 kg
1 M = 4 M N m rad = 0 = 2
M AB
O r
M
mA g
(a)
mB g
(b)
13-1
13-1b
MmAgmBg
om
2
4 d + (m A m B ) g 2 r = 8 2 + (m A m B ) g 2 r
0
da
an
wa
ng
.c
W =
= 8 2 + 1 9.8 2 0.5 J = 110 J
13-2 13-2a 2 kg A 30
F = 20 N A B F
6m
ww
w.
D
A 45
60
mg
(a)
(b)
13-2
13-b Fmg
1
l AB = 6 cot 45 6 cot 60 = 6(1
) m = 2.54 m, C D = C B
3
6
6
1
1
1
1
= 6(
) = 12(
) m = 1.56 m
sin 45 sin 60
2
3
2
3
2
2
1
W = F l AD mg cos 60 l AB = 20 1.557 2 9.8 2.536 J = 6.29 J

2
l AD =
13-3 13-3a m m1
R R v
4 13-3b
174
1
2
T = mi vi = TI + TII + TIII + TIV
2
D
2v
IV
II
A
Iv=0
(a)
III
(b)
13-3
v1 = 0, vIV = 2v R
mI = mII = mIII = mIV =
m
4
1
2
mI vI = 0
2
1
1 m
m
2
TIV = mIV v IV = (2v) 2 = v 2
2
2 4
2
m
m 2
IIIII 1 J = R v
2
2
v
=
R
1 m
1
mv 2 1 m 2 v 2 m 2
TII + TIII = v 2 + J 2 =
+ R 2 = v
2 2
2
4
2 2
2
R
m
m
T = 0 + v 2 + v 2 = mv 2
2
2
da
an
wa
ng
.c
om
TI =
m
1 m
v2 3
T = 2T1 = 2 1 v 2 + 1 R 2 2 = m1v 2
2 2
R 2
2
w.
3
T = T + T = mv 2 + m1v 2
2
ww
13-4 l m OA O
13-4a
O
r
dm
ds
mg
z
(a)
(b)
13-4
T=
1
J z 2
2
13-4b
175
J z = r 2 dm =
l ms 2 sin 2
ml 2
ds =
sin 2
0
l
3
T=
m 2 2 2
l sin
6
13-5 13-5a 200 mm

10 mm 2 N 100 mm 30 g
Fk
30
(a)
mg
FN
(b)
13-5
W1 =
2N
F
=
= 200 N/m
l 0.01 m
da
an
wa
ng
.c
k=
om
1
1
2
2
k ( 0 1 ) = 200(0.12 0) J = 1 J
2
2
W2 = mg sin 30[0.2 0.1] = 0.0147 J
T1 = 0
T2 =
w.
1 2 1
mv = 0.03v 2
2
2
ww
W1 + W2 = T2 T1
1 J 0.014 7 J =
13-6
1
0.03 kg v 2 0
2
v = 8.1 m/s
13-6 F = 52 kN s = 10
mm J = 40 kg m n = 415 r/min

T2 - T1 = W12
1
2
1
2
J 1
2
1
2
T2 = J 2
2
W12 = Fs
T1 =
1
13-6
176
2
1
1
2
40 2 40 ( 415) 2 = 52 1 000 10 10 3
60
2
2
2 = 43.1 rad/s
30 2 30 43.1
n=
=
r/min = 412 r/min
13-7 2 ABBO 2 m l
AB 1 M 13-7a
A O A
P
AB
AB
A
(a)
OB
O
vA
vB
OB
vC
A O
(b)
13-7
vA
(c)
OB AB 13-7b AB P B
da
an
wa
ng
.c
AB = OB = 13-7b
v B = l v A = 2l cos
om
vB
1
2
A O = 0, v AB // v B 13-7c2
v A = 2v B = 2l vC =
3
l 13-7c
2
T1 = 0
w.
l
W12 = M 2 mg (1 cos )
2
1 2 1
1
mvC + J C 2 + J O 2
2
2
2
1 3
1 1
1 1
4
1
= m( l ) 2 + ml 2 2 + ml 2 2 = ml 2 2 = mv A2
2 2
2 12
2 3
3
3
ww
T2 = T AB + TOB =
T2 T1 = W12
1 2
mv A = M mgl (1 cos )
3
3
vA =
[ M mgl (1 cos )]
m
A O AB AB
13-8 l = 1 m = 2 kg/m R = 0.1 m

m = 1 kg 13-8a
II x
177
T1 = 0
V1 = glxC
yC
Rd R sin
0
2R
x1 =
=
R
x2 =
xC =
=
l R
4
13-8
l R
2R
+ (l R)
4
1
[8 R 2 + (l R) 2 ]
4l
1
1 1
v
lv 2 + ( mR 2 )( ) 2
2
2 2
R
1
V2 = gl 2
2
da
an
wa
ng
.c
T2 =
om
T 1 +V 1 =T 2 +V 2
1
1
1
1
[8 R 2 + (l R ) 2 ] = lv 2 + mv 2 gl 2
4l
2
4
2
g
1
[8R 2 + (l R) 2 ]
4 gl 2
2
2
2
4
2
= 2l [8 R + (l R) ] g
v=
2 l + m
2 l + m
0 gl
g[(l + R ) 2 + 2 R 2 (4 2 )]
2 l + m
ww
w.
v = 2.51 m/s
13-9 13-9a 2 M1 m1M2 m2
O1 r1 m3 O2 r2 m42
m2 > 2m1 m4 m2 h
O1
O2
m3 g
m4 g
m1 g
m2 g
(a)
(b)
13-9
m2 > 2m1 m4 M2
178
M2 M2 h v O2
2 =
v
r2
1 =
2v
r1
O1
W12=T2-T1
m2 + m4 2 m4 2 2 m3 2 2 m1
v +
r2 2 +
r1 1 +
( 2v ) 2
2
4
4
2
4 gh(m2 2m1 + m4 )
v=
2m2 + 8m1 + 4m3 + 3m4
m2 gh + m4 gh 2m1 gh =
1 x1
1
(2m1 g + m2 g ) x1 (m1 g + m2 g ) x1 = (3m1 + 2m2 )v 2
2
1
1
m1 gx1 = (3m1 + 2m2 )v 2
2
da
an
wa
ng
.c
om
13-10 2 m2 O 13-10
1 2 m1
x1 1
2m1 x2
x2 x1
2 x2
m2 gx2 (m1 g + m2 g ) x2 = 0
m1 gx2 =
1
(m1 + 2m2 )v 2
2
13-10
x2
m + 2 m2
= 1
x1 3m1 + 2m2
ww
w.
12
1
(m1 + 2m2 )v 2
2
13-11 AB 4 kg l = 600 mm 6 kg r = 100 mm

k = 2 N/mm A 13-11a
A 1 AB
2
m AB g
AB
(a)
(b)
13-11
1 AB
v B = 0 , B = 0 B AB
179
B
mB g
l
W12 = m AB g sin 30
2
1 1
2
T2 = m AB l 2 AB
2 3
T1 = 0
T2 T1 = W12
1 m AB 2 2
l
l AB = m AB g sin 30
2 3
2
3g
AB =
= 4.95 rad/s
2l
B = 0,
AB = 0
k
W1 = 2
2
da
an
wa
ng
.c
om
l
W2 = + m AB g
2 4
k
l
W = W1 + W2 = + m AB g 2 = 0
2
2 4
m g
l
2 AB m AB g = 0
k
2k
2
ww
w.
m AB
l
m
g AB g + 4 m AB g
2k
k
k
=
2
2
1 4
0.6 4
=
9.8
9.8 +
4 98
2 2 000
2 2 000
2 000
= 0.087 m = 87 mm
13-12 13-12a B M
A m1 B C r m2

A s
v
m2
A
M
m1 g
B
m2
(a)
(b)
13-12
A s v
s
W12 = M mg sin s
r
180
T1 = 0 T2 =
1
1 1
v
1
m1v 2 + 2 ( m2 r 2 ) ( ) 2 = (m1 + m2 )v 2
2
2 2
r
2
1
M
(m1 + m2 )v 2 = m1 g sin s
2
r
M
2 m1 g sin s
r
v2 =
m1 + m2
2( M m1 gr sin ) s
r (m1 + m2 )
v=
1 t
1
M
(m1 + m2 )2v a = m1 g sin v

2
r
M
m1 g sin
M m1 gr sin
r
a=
=
m1 + m2
r (m1 + m2 )
da
an
wa
ng
.c
om
13-13 13-13a r
m1 OA m2 R
1 M
vA
r
A
(a)
(b)
13-13
M OA 1
w.
ww
2 A 13-13b
v A = 1 OA = ( R + r )1
vA = 2r
12
2 =
R+r
1
r
OA C
vC = 1
OA 1
= ( R + r )1
2
2
M =
m1
11
1 m
R+r
1 ) 2 + m2 ( R + r ) 2 12
( R + r ) 2 12 + 1 r 2 (
23
2 2
r
2
1 =
2
R+r
3M
M
9m1 + 2m2
181
t & = 1
1 = & 1 =
6M
( R + r ) (9m1 + 2m2 )
2
(1)
13-14 13-14a13-14b 2 a
m OA
2
C
C
45
P
vO
45
A
da
an
wa
ng
.c
C
vC
om
(a1)
(b1)
13-14
1 13-14a1
T=W
m 2 2
2 1
a a =
mga
3
2
2.468
a =
rad/s a m
a
ww
w.
2
1 1
W = mg
a a = mga( 2 1)
2 2
2
2
2 2 m 2 2
1 1 2
1
2
a a = a a
T = J 0 a = ma + m
2 6
2
3
2
2 0 13-14b1
OA P
1
( 2 1)mga
2
a
vC = b
2
2
1
1
11
1
a
T = J P b2 = J C + m b2 = ma 2 + ma 2 b2
2
2
26
4
2
W =
T=W
5
ma 2 b2 =
24
182
2 1
mga
2
b =
3.121
a
rad/s
13-15 m l C A B
1 13-15a B b
b
C
B
C
mg
(a)
(b)
13-15
13-15b
mgb =
1
J A 2
2
1 1
( ml 2 + mb 2 ) 2
2 12
l2
2 gb = ( + b 2 ) 2
12
2 g = 2 2 b
g
2 =
b
g
1 1
mgb = ( ml 2 + mb 2 )
b
2 12
2
l
b2 =
12
3
b=
l
6
mgb =
om
w.
da
an
wa
ng
.c
ww
13-16 l m1 B A
m2 R 13-16a
= 45 A
l
2
0
vA
R
A
m2 g
l
2
FN
vB
AB
m1 g
Fs
FN 2
D
(a)
(b)
13-16
13-16b AB O
AB D D
v A = l AB sin = R D
183
l
1
1
2
2
m1 g (sin 45 sin ) = J 0 AB + J D D
2
2
2
2
v
11
l
l v 1 3
m1 g (sin 45 sin ) = m1l 2 + m1 ( ) 2 A + ( m2 R 2 )( A ) 2
2 12
2 l sin 2 2
2
R
6m1l g (sin 45 sin ) sin 2

v =
2m1 + 9m2 sin 2
2
A
& = AB = v A /(l sin )
6m1l
(2m1 g + 9m2 g sin 2 ) 2 sin cos& sin 45
2
2
(2m1 + 9m2 sin )
3 sin 2 cos& (sin 45 sin ) sin 2 18m g sin cos&
2v A a A =
6m1l& sin cos

2m1 g (2 sin 45 3 sin ) + 9m2 g sin 2
2
2
(2m1 + 9m2 sin )
da
an
wa
ng
.c
om
[(2 sin 45 3 sin ) 2(sin 45 sin )]}

v
6m1l sin cos ( A )
l sin 2m g (2 sin 45 3 sin ) 9m g sin 3
2v A a A =
1
2
(2m1 + 9m2 sin 2 ) 2
aA =
3m1 g cos
2m1 (2 sin 45 3 sin ) 9m2 sin 3
(2m1 + 9m2 sin 2 ) 2
= 45
aA =
3m1 g
4m1 + 9m2
ww
w.
13-17 13-17 D = 48 mm F = 7.84 kN

n = 240 r/min 1 420 r/min = 0.75
D
48 10 3
N m
= 7.84 10 3
2
2
= 188 N m
M = F
240 2
P = M = 188
W = 4 725 W
60
= 4.725 kW
13-17
P =
= 6.30 kW
M =
60
N m = 42.4 N m
= 6.3 10 3
1 420 2
184
13-18 13-18a ACDB BF

AC BD E O
O 1 3 kg
BF l = 500 mm n = 240 r/min
FT1
FT2
FOy
O
FOx
FEx
D
B
FT1
A
FT2
FEy
(a)
(b)
13-18
mg
(c)
2n 2 240
=
rad/s = 8 rad/s
60 60
=
=0
da
an
wa
ng
.c
om
E 13-18b
ME = 0
M - FT1 FT2 R = 0
M = FT1 FT2 R
13-18c
MO = 0
ww
12
w.
mgl ( FT1' FT2' ) R = 0

mgl = ( FT1' FT2' ) R
M = mgl
P = M = mgl = 3 kg 9.8 m/s 2 0.50 m 8 rad/s = 369 W
185
14
14-1 14-1a 1
1 fs = 0.21 a
2 h / d
FI
FI
FS
FN mg
(a)
FS
mg
FN
(b)
14-1
(c)
FI
1 14-1b
Fs f s FN
om
Fx = 0 Fs FI sin 30 = 0
Fy = 0 FN + FI cos 30 mg = 0
da
an
wa
ng
.c
2
3
FI = ma
1
2
34
a 2.92 m/s 2
5
2 FN A 14-1c
4(6)
d
h
(mg + FI cos 30) + FI sin 30 0
2
2
h 2 g 3a
d
a
w.
MA 0
ww
2
35
h
5
d
14-2 14-2b m a G
h c b
FI
G
mg
Fs A
FN A
(a)
Fs B
FN B
(b)
14-2
14-2b
FI = ma
204
M A = 0 FNB (b + c) mgb + FI h = 0
M B = 0 FNA (b + c) + mgc + FI h = 0
FNA = m
bg ha
cg + ha
FNB = m
(c + b )
(b + c)
FNA = FNB
bg ha
cg + ha
=m
(c + b )
(b + c)
a=
(b c) g
2h
14-3 14-3a m1 = 100 kg m2 = 50 kg

m3
m1 m3
0. 5 m
da
an
wa
ng
.c
om
FT
FI
m1 g
m2 g
FN 1
(a)
w.
FN 2
(b)
0 .5 m
ww
FT
FT
FI 3
FI 1
m3
m1 g
A
a
Fs
m3 g
FN A
(c)
(d)
14-3
14-3b
FI = (m1 + m2 ) a = 150 a
Fx = 0, FT FI = 0 , FT = 150a
m1 m3
205
FN A 14-3c
FI1 = m1a
M A = 0, FT 1
0.5
1
m1 g m1 a = 0
2
2
FT = 150 a
a=
g
= 2.45 m/s 2
4
14-3d
FI3 = m3a
FT + m3a - m3g = 0
g
150
FT
4 = 50 kg
m3 =
=
g
g a g
da
an
wa
ng
.c
om
14-4 m1 a
AB l 14-4a
m2

y
m2 g
2
FAy
w.
ww
FI
m1 g
(a)
FAx
(b)
14-4
FN = m2 g/2
14-4b
FI = m1 (a + l sin ) 2
M A = 0, (m1 g +
FI
2 =
m2 g
)l sin FI l cos = 0
2
2m1 + m2
g tan
2m1 (a + l sin )
14-5 14-5a r J
1 MABD m
206
D
FN C
FI
mg
FN B
(a)
FN C
FO x
FN A
aCt
n
C
ar
FO y
MI
(b)
14-5
(c)
t
C ABD C a a a a
ae
ae = aat sin + aan cos = r&& sin + r& 2 cos

ABD 14-5b
FI = mr&& sin + mr& 2 cos
om
Fx = 0, FI FNC = 0
da
an
wa
ng
.c
FNC = m(r&& sin + r& 2 cos )
M I = J&&
M M I FN C r sin = 0
M O = 0,
( J + mr sin )&& + mr 2& 2 cos sin = M

2
FAx
FI
C M IC
ww
w.
14-6 14-6a 27 kg A B
B B A
a C mg
(a)
(b)
14-6
B = 0 0
a = 0.2 m b = 0.15 m C
JC =
m 2
(a + b 2 )
12
J A = J C + m AC 2 =
m 2
(a + b 2 )
3
A 14-6b
a2 + b2
ma
2
m
M I = J A = (a 2 + b 2 )
3
FI = maCt =
207
a
=0
2
15
Fx = 0, FAx + FI = 0
25
20
Fy = 0, FAy + FI mg = 0
25
M A = 0, M I mg
1
2
3
= 47 rad/s2
1
2
FAx = -95 N
3
FAy = 138 N
C
FI = ma =
t
C
a2 + b2
ma
2
M IC = J C =
m 2
(a + b 2 )
12
a2 + b2
a
mg = 0
2
2
om
M A = 0, M IC + FI
da
an
wa
ng
.c
= 47 rad/s2
2
14-7 14-7a r O A
AD O
B AB
y
FN B
FS
ww
w.
(a)
MB
FI
(b)
14-7
(c)
1 14-7b y 0
FIy = 0
2
FIx =
r 2 r cos d = r 2 2 2 sin
= 2 r 2 2 cos

2
2
2
2 14-7c
208

) = 2 r 3 2 cos 2 = 2 r 3 (1 + cos )
M B = 0 , M B = FIx r sin(
2
2

Ft = 0 , FT B = FIx cos(
) = FIx sin = r 2 2 sin
2
2
Fn = 0 , FN B = FIx cos
= 2 r 2 (1 + cos )
14-8 14-8a ABCD CO = OB = b

AB CD ABCD
b
C
d FI
om
da
an
wa
ng
.c
d mg
(a)
(b)
14-8
AB 1 dm
dFR = dm x 2 dmg b
dFI dmg
dFI dm x 2 x 2
=
=
tan =
dmg
dmg
g
dx x 2
=
dy
g
y
g x dx
0 dy = 2 b x
ww
w.
tan =
dx
,
dy
x
x
y = 2 1n , = e
b
b
2y
g
AB CD
2y
x = be
14-9 14-9 CD m C D
CD AB AB CD = 0
= 0 M M = k ( 0 ) k

2 CD 14-9b
M x = 0, M 2 FI l cos = 0
FI = m l sin 2
209
k ( 0 ) 2 m l sin 2 l cos = 0
k ( 0 )
ml 2 sin 2
z
FI
x
FI
(a)
(b)
14-9
14-10 O O JO
m1 m2 O
om
da
an
wa
ng
.c
FOy
r F
M IO
Ox
mg
FI B
aA
w.
m1 g
(a)
(b)
14-10
FIA = m1aA = m1R

FIB = m2aB =m2r
MIO = J
MO = 0
m1 gR + FIA R + M IO + FIB r m2 gr = 0
m2 g
m 14-10b FOx FOy O
ww
FI A
aB
m1 gR + m1 gR 2 + J + m2 r 2 m2 gr = 0
( J + m1 R 2 + m2 r 2 ) = (m2 r m1 R) g
(m2 r m1 R)
=
g
( J + m1 R 2 + m2 r 2 )
O
Fx = 0 FOx = 0
210
Fy = 0 FOy + FIB FIA = 0
(m2 r m1 R) 2
FOy = m1 R m2 r = (m1 R m2 r ) =
g
J + m1 R 2 + m2 r 2
14-11 14-11a m1 A m 2 B
BC = a B R C
FBy
J B
FBx B
m2 g
m1a
FCx C
B
MC
(a)
FBy
FCy
m1 g
(b)
14-11
(c)
1 14-11b
da
an
wa
ng
.c
om
1
a
M B = 0 J B + m1 a R m1 gR = 0 m2 R 2 + m1 Ra m1 Rg = 0
2
R
2m1
a=
g
m2 + 2m1
Fx = 0 FBx = 0
Fy = 0 FBy m2 g + m1 a m1 g = 0 FBy
3m1 m2 + m22
g
=
2m1 + m2
2 14-11c
Fx = 0 FCx = 0
w.
Fy = 0 FCy
3m1 m2 + m22
g
=
2m1 + m2
(3m1 + m2 )m2
ag
2m1 + m2
ww
MC = 0MC =
14-12 14-12a 1 m 1
M
J 1 J 2 z 2 : z1 = i R
2
F
t
J1
ia
R
R2
O2 R
J2
M
O1
R1
ma mg
Ft
(a)
(b)
14-12
211
(c)
a
R
(1) 14-12b O1
M O1 = 0 Ft R1 + J 1
ia
M =0
R
a
m( a + g ) = 0
R
(2) 14-12c
M O2 = 0 Ft R2 J 2
R2 = iR1
a=
1
2
3
(iM mgR) R
mR 2 + i 2 J 1 + J 2
14-13 14-13a B DBC

C
1500 kg G1
800 kg G 2 A B
FI = ma
om
G2
m2 g
da
an
wa
ng
.c
FCx
m2 a
G1
FE
1.2 m 1.2 m
(a)
m1 g
m2 g
(b)
14-13
C FCx
B FB
0.6 m
(c)
1 14-13b
M E = 0 m 2 (a + g ) = m1 g 800(a + g ) = 1 500 g a =
7
g
8
2
2
7
m2 (a + g ) = 800 ( + 1) 9.8 = 9.8 10 3 N = 9.8 kN
3
3
8
ww
FB =
w.
2 14-13c
M C = 0 0.9 FB = m2 (a + g ) 0.6
14-14 1 14-14a
a
C C O
m O O OC = r
FIC
W = FIC r = mar
1
1
T2 = J 0 2 = m 2 2 T1 = 0
2
2
T2 = W
1
m 2 2 = mar
2
212
2ar
90
O mgC
2
90
(a)
(b)
14-14
14-15 14-15a OA m1 r O
OA m2 BC
30 M O
om
FN 1
da
an
wa
ng
.c
FI 1
m2 g
FN
FN 2
14-15
OA A BC
1
ae = aa sin 30 = r 2
2
ww
(b)
w.
(a)
1 BC 14-15b
Fy = 0, FN + FI1 m2 g = 0
FI1 = m2 ae = m2 r 2 / 2
m
FN = m2 g 2 r 2
2
2 OA
M O = 0 M FN r
3
r 3
m1 g
=0
2
2 2
3
r (m1 g + 2m2 g ) m2 r 2 2
4
3
r 2
Fx = 0 FOx + FI
= 0 FI = m1
2
2
M =
213
3
m1r 2
4
1
Fy = 0 FOy FN + FI m1 g = 0
2
m + 2 m2
FOy = m1 g + m2 g 1
r 2
4
FOx =
14-16 OA r m M
0 A BD OB BD 8m
3r A
14-16a OA = 30
M O
D
r
O
aa
mg
vr D
A
aen
C
aC
8mg
FO y
FO x
FB y
C FI
mg
FN
(c)
14-16
1 14-16b OA A BD
w.
v a = r 0
1
1
v e = v a = r 0
2
2
3
3
vr =
va =
r 0
2
2
v
e = e = 0
2r
4
ww
a C = 2 e v r = 2
0
4
3
3 2
r 0 =
r 0
2
4
2
0
a a = a en + a et + a r + a C
a a cos = a et + a C
3
3 2
3 2
r 0 =
r 0
2
4
4
at
3 2
= e =
0
2
8
a et = r 02
2 14-16d BD
3r 1
+ FN 2r = 0
2 2
214
FIn
da
an
wa
ng
.c
(b)
M B = 0 M IB 8mg
aCn
8mg
a a = r
aCt
(a)
FN
om
at
0 M e ve
va
B
M IB
FBx
FIt
(d)
1
3 2
M IB = J B = 8m (3r ) 2
0 = 3 3r 2 02 m
3
8
3
FN = 3mg +
3mr 02
2
3 14-16c
r
FN sin r = 0
2
1
3
3 3 2 2
M = mgr + r sin (3mg +
mr 0
3mr 02 ) = 2mgr +
2
2
4
FOx + FI + FN cos = 0
M O = 0, M mg
Fx = 0,
r
3 3
3
3 3
11
mr 02 )
+ m 02 =
mg + mr 02
2
2
2
2
4
FOy mg FN sin = 0
FOx = FN cos + FI = (3mg +

Fy = 0,
FOy = mg + FN sin = mg + (3mg +
14-17a m 2
om
14-17
3 3
1 5
3 3
mr 02 ) = mg +
mr 02
2
2 2
4
da
an
wa
ng
.c
m
r 1 F
2
FsA
FI A
FN A
MIA
1
mg
2
aA
Fs1
FN 1
(a)
(b)
FN B
FsB
w.
MIB
FI
aB
1
mg
2
ww
FI B
Fs A
Fs 2
(b)
Fs B
mg
FN A
FN 2
FN B
(d)
14-17
1 A 14-17b
FIA =
m a m
= a
2 2 4
a
m
1 m
M IA = ( r 2 ) ( ) = ra
2 2
2r
8
M D = 0,
FIA r + M IA FA 2r = 0
12
FA =
3m
a
16
2 B 14-17c
215
FB =
3m
a
16
(3) 14-17d
FI = ma
F FI FA FB = 0
3
4
5
a=
8F
11m
14-18 OA = rAB = 2r m 2m
m OA 0 14-18a
F OA M0
30
t
a CA
aA
t
a BA
AB
30
aB
om
aA
30
aA
(a)
(b)
da
an
wa
ng
.c
FAy
F Ax
FAy
FAx
AB = 0
A
FI x
FI O
FI y
2mg
MO
O
OA
C1
mg
M IC
30
FI B
mg
FOx
FN B
FO y
(c)
(d)
w.
14-18
ww
OA + AB + B
1AB 14-18b
a A = r 02 AB = 0
aB
aA
2
0
t
a BA
+
AB
n
a BA
BA
0
02
aA
a
2
2
a =
=
r 0 , AB =
=
cos 30
2r
3
3
1 t
1
1 t
1
a B = a BA
=
r02 , aCt A = a BA
=
r 02
2
2
3
3
t
a Cx + a Cy = a A + a CA
t
BA
t
BA
aCx =
r02
1 t
a CA =
2
2 3
(), a Cy = aCt A cos 30 a A =
2AB 14-18c
216
r02
()
2
FIx = 2maCx
r 02
=m
3
()
r 02
= mr 02 ()
2
2 2mr 2 2
1
M IC = J C AB = 2m(2r ) 2 0 =
0
12
3 3 3
m
FIB = ma B =
r 02
3
MA = 0
FIy = 2m
r
3
3
M IC FIx 2mg
r + FIy
r F r FIB r mg 2r cos 30
2
2
2
+ FNB 2r cos 30 = 0
2mr 2 02
3 3
mr 2 2
m 2 2
3 2 2
0 3mgr +
mr 0 Fr
r 0 3mgr + 3rFNB = 0
2
3
2 3
4 3
mr 2 02 2 3mgr Fr + 3rFNB = 0
18
3
2
FNB = 2mg +
F + mr 02
3
9
Fx = 0 , FAx FIx FIB F = 0
da
an
wa
ng
.c
FAx =
om
m
m
2
r 02 +
r 02 + F =
mr 02 + F
3
3
3
3 OA 14-18d
OA = 0
M O = 0,
r M0 = 0 M0 = (
FAx
2
mr 02 + F )r
3
ww
w.
14-19 14-19a I m1 = 1 kg e1 = 0.5 mm

m2 = 0.5 kg e2 = 1 mm m3 = 8 kg
n = 3 000 r/min AB
FN B F
I2
I
FI1
5
m1 g
(a)
FN A
10
m2 g
20
(b)
14-19
14-19b
n = = 0 MI = 0
3 000 2
FI1 = m1e1 2 = 1 0.5 10 3 (

) N = 5 2 N
30
3 000 2
FI 2 = m2 e2 2 = 0.5 1 10 3 (
) N = 5 2 N
30
217
m2 g
FI1 FI2 1 FNAFNB 1 14-19b
M = 0
FNA = FNB =
0.3
FI1 = 15 5 2 = 74 N
0.2
14-20 3 A\B C 12 kg x 14-20a

A G 5 mm B C 1 kg
B C
z
FI 2
e2
e1
FI
D2
80
D1
120
da
an
wa
ng
.c
80
om
120
(a)
FI 1
(b)
14-20
D1D2 e1 e2
mm y
5
6 2
2 =
N
1000
100
e
e 2
N
FI1 = 1 1 2 = 1
1000
1000
e
e 2
N
FI 2 = 1 2 2 = 2
1000
1000
w.
FI = 12
Fy = 0,
ww
FI z FI1 y FI2 y
FI1 cos + FI 2 cos = 0
Fz = 0, FI + FI1 sin + FI 2 sin = 0

M y = 0, 320 FI + FI1 sin 200 + FI 2 sin 80 = 0
M z = 0,
FI1 cos 200 + FI 2 cos 80 = 0
FIFI1FI2
= , = , e1 = 120 mm, e2 = 60 mm
D1D2
e1 = 120 mme2 = 60 mm
D1D2 G D1 G D2 G
218
1
2
3
4
15
15-1 15-1a B F ABC
ABC AB = BC ABC = 2
FN
C
rC
rB
2 90
(a)
(b)
da
an
wa
ng
.c
15-1
om
B rB AB C rC 15-1b rB
rC BC rB rB rB rC rC
rC cos(90 ) = rB cos(2 90)

rB
1
=
rC 2 cos
ww
12
w.
FrB sin FNrC = 0

FN
rB
=
rC F sin
FN =
F
tan
2
15-2 1 M h
1 A B a
15-2a D C
2
1 A rA C
rC
FN rC + M = 0
rC M
=
1
FN
2rC rA x A rA AB
xA
h
=
, x A =
2
h
2
219
x A =
x A
h
=
cos 2cos
2
D
A d
x
rB
rA
rC
C
P
FN
(a)
(b)
15-2
3rC rA O AC
2cos
da
an
wa
ng
.c
rC = 2 sin rA = 2 sin
om
rA OA
a
1
=
=
=
rC OC 2a sin 2 sin
rC h
= tan

31
FN =
M
cot
h
15-3 15-3a DEF ABDEF

AD AB BFC F EA = FB = a 1 = 2 = 30
w.
AEDF F M
DF
ww
1
E
rA
M
C
F 2
rB
(a)
(b)
15-3
F cos 1 rA M = 0
r
= B
a
1
2
AB AB
rA cos 2 = rB sin 2
rA = rB tan 2
220
2
31
rB
=0
a
1
1 = 2 = 30, M = Fa sin 2 , M = Fa
2
Fcos 1 tan 2 rB M
15-4 15-4a EF
F
r A rB c d
A
FN
FN
A
e BO D
C r
C
E
rE
C
B
D
rA
(a)
(b)
15-4
CEC rE A rA A
da
an
wa
ng
.c
om
rA rA = rA O BC 15-4b
rA
rB c
b
, rC = rE ,
=
=
rB c + d
rC e
rA rA rB
b c
=
rE rB rC c + d e
ww
1
2
w.
FN rA FN rA + F rE = 0
rA
F
=
rE 2 FN
FN =
F e( c + d )
2 bc
15-5 15-5a OC O A
AB K OC = aOK = l C 1 F1
B BA 1 F2 F2 F1
x
F
300
(a)
C
(b)
15-5
221
y A = l tan
y A = l sec 2
( F1a ) + F2y A = 0
12
F1a + F2 l sec 2 = 0
F2 l
a cos 2
F1a + F2 l sec 2 = 0 F1 =
15-6 15-6a OA 1 M D
F 15-6a F M
a
A
M
r A
rD
da
an
wa
ng
.c
(a)
D
F
om
(b)
15-6
D rD B rB A rA OA
15-6b
M + FrD = 0
rD M
=
E BD
ww
w.
rD ED 2l sin
= 2 sin
=
=
rB EB
l
rA rB AB
rA cos = rB cos 2
rB
cos
=
rA cos 2
rD rD rD rB 2 sin cos
=
=
=
= tan 2
cos 2
a rA rB rA
rD
= a tan 2
1
2
F=
M
cot 2
a
15-7 15-7a D AB CD
= 0 5 kN/m
M
222
x
F
D
F
300
(a)
(b)
15-7
F F = 0 0.3 m

DB = AB AD = (0.6
0.3
)
cos
0.3
0.3)
cos
0.3
F = F = k(
0.3)
cos
x AB D xD D
0.3 sin
0.3
xD =
x D =
cos 2
cos
da
an
wa
ng
.c
om
= 0.3 DB = (
xB = x B = 0
( F )x D + M = 0
F x D
0.3
0.3 sin
0.3)
+ M = 0
cos
cos 2
1
0.3 sin
M = k 0.3(
1)
cos
cos 2
ww
w.
k(
k = 5 000 N/m
M = 450
sin (1 cos )
Nm
cos 3
15-8 15-8a AB BC B DE
1 k AC a C 1
F AC
B
b
l
y D
A
Fk
Fk
F
x
(a)
(b)
15-8
223
L0 AC = a
l0 b
b
= , L0 = a
a l
l
l=
b
x
l
b
( x a)
l
b
F1 = F1 = k ( x a)
l
Axy BAC = 15-8b
xC = 2l cos , x D = (l b) cos , x E = (l + b) cos
xC = 2l sin , x D = (l b) sin , x E = (l + b) sin
F1x D + ( F1)x E + FxC = 0
om
1
2
da
an
wa
ng
.c
[ F1 (l b) + F1(l + b) 2 Fl )]sin = 0
sin 0, 0
F1 (l b) + F1(l + b) 2 Fl = 0
x=a+
F l 2
( )
k b
15-9 15-9a AB BC
W1 C W2 AD
y1
ww
w.
(a)
P1
P1
(b)
Axy AB = BC = l
l
y1 = sin( + )
2
l
l
y 2 = AC sin + sin( ) = 2l cos sin + ( )
2
2
yC = AC sin = 2l cos sin
224
y3
C
15-9
y2
P2
l
y1 = cos( + )
2
l
y 2 = 2l sin sin + cos( )

2
yC = -2l sin sin
P1y1 + P1y 2 + P2 y C = 0
l
P1 cos( + ) 2l sin sin + cos( ) 2 P2 l sin sin = 0

2
0
l
l
P1 cos( + ) 2l sin sin + cos( ) 2 P2 l sin sin = 0

2
2
P2 cos cos 2 sin sin 1

=
= cot cot 1
P1
2 sin sin
2
P1
tan =
cot
2( P1 + P2 )
om
da
an
wa
ng
.c
15-10 15-10a F1 F2
OD = BD = l1 , AD = l 2 F1/F2
A
F1
y
F2
(a)
(b)
15-10
15-10b
w.
ww
x B = 2l1 cos , x B = 2l1 sin

x A = (l1 l 2 ) cos , x A = (l1 l 2 )sin
y A = (l1 + l 2 )sin , y A = (l1 + l 2 ) cos
( F2 )x A + ( F1 sin )x A + ( F1 cos )y A = 0
2l1 F2 sin + F1 (l1 l 2 )sin 2 F1 (l1 + l 2 ) cos 2
=0
F1
2l1 sin
=
F2 l1 + l 2 cos 2
15-11 15-11a AB 2l1 1

DE DE
Dxy AB P
Py C = 0 P 0 yC = 0
yC =
yC0 = l yC = l
225
C
P
A
x
D
(a)
(b)
15-11
yC = yA + lcos
l = y A + l cos
y A = l (1 cos )
x A = 2l sin
DE
2
om
xA
(l y A ) 2
+
=1
4l 2
l2
da
an
wa
ng
.c
DE 0l 2l l 1 Dxy
l DE
15-12 l AB 15-12a C
1 P
G F
C
G
B
rG
P
P
a
(a)
(b)
15-12
G
rG P B
F
rB
O
(c)
15-12b
4 2
2 PrG sin FrB sin = 0
a
rB =
rG
l/4

4a
2 PrG sin F rG sin( ) = 0
l
4 2
lP sin
2lP sin 1 + sin
F=
=

2a cos
2a sin( )
4 2
2lP
tan 1 + sin
F=
2a
ww
w.
15-13 R AB A
B M F 15-13a
226
F P
AB M Fs
D
O
R
rA
B
rB
Fs
FN
FN B
(a)
(b)
15-13
15-13b
rA = 2R cos
rA = rB cos
1
2
rB = 2R cos
MF
34
da
an
wa
ng
.c
M = 2RF
(4)
om
M FrB = 0
Fx = 0 Fs = F
15-14 AB = BC = lCD = DE ABCE CB

CE k1 P AB 1 k2
BC q BC

D
w.
ww
A k2
(a)
k1
A k2
k1
Fk rE
B
P
(b)
15-14
(c)
2
1 AB BC = 0 15-14b k2 P
l
k 2 + P = 0
2
Pl
2k 2
2 AB = 0 BC 15-14c
rE = l
227
l
q
0(q l x) xdx k1 l = 0
l
q
q
( x 2 x 3 ) k1 l = 0
0
2
3l
q 2 q 3
l l k 1l = 0
2
3l
=
15-15
ql
6k1
15-15a 3
P
rC
C
5
2
1
6m
rD
4
rB
F 3 F
6m
(b)
om
(a)
15-15
da
an
wa
ng
.c
BD F F
C rC B rB D rD 15-15b
FrB + F rD cos 90 PrD = 0

rD F
=
rB P
15-15b ACD A CB E
rD AD rC EC
=
=
rC AC rB EB
w.
1
2
ww
rD rD rC
=
=
rB rC rB
6 2 + 32
6 2 + 32
=1
6
F = F = P
15-16 C AC CE 15-16a l =
8 mP= 4 900 N q = 2 450 N/m M = 4 900 N m
rA
A
FN A
r3
F2
C
l /8 l /8
(a)
F1
r1
l /4
l/4
(b)
228
r2
M
D
l/4
r3
r1
rB
r2
r3
FN B F1
P
l /8 l /8
l/4
F2
l/4
r1
rB
r2
FN B F1
P
l /8 l /8
l/4
l/4
(c)
F2
l/4
l/4
(d)
15-16
F1 = F2 =
ql
4
A FNA A rA
15-16b
r1 = r3 =
l
2
1
3
rA r2 = rA = rA = rA
2
4
2
l
FN A rA Pr3 + F1r1 + F2 r2 M = 0
P F1 3
2M
+
+ F2
)rA = 0
l
2 2 4
P ql 1 ql 3 2M
+ +
=0
2 4 2 4 4
l
FNA
om
( FNA
da
an
wa
ng
.c
FNA = --2 450 N

2 B FNB 15-16c
3
r1 = rB ,
2
1
3
r2 = rB , r3 = rB ,
2
2
4
= rB
l
w.
FNB rB Pr3 F1r1 F2 r2 + M = 0

P ql 3 ql 3
4
FNB
+M =0
2 4 2 4 2
l
FNB = 14 700 N
3 E FNE d
ww
FN E rE F2 r2 M = 0
2
1
r2 = rE , = rE
4
l
FNE
ql 1 2M

=0
4 4
l
FNE = 2 450 N
229

理论力学 第七版 (哈工大 著) (哈尔滨工业大学理论力学教研室 著) 高等教育出版社 课后答案.khda PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

理论力学 第七版 (哈工大 著) (哈尔滨工业大学理论力学教研室 著) 高等教育出版社 课后答案.khda PDF

Uploaded by

Copyright:

Available Formats

http://www.daanwang.

= (100 N + 50 N 4 / 5) 2 + (50 N + 50 N 3 / 5) 2 =161 N

FR = (80 N) 2 + (140 N) 2 = 161 N

Fx = F1 + F2 cos 40 = 2 000 N + 2 500 N cos 40 =3 915 N

FR = ( F1 + F2 cos 40) 2 + ( F3 + F2 sin 40) 2

= (2 000 + 2 500 cos 40) 2 + (1 500 + 2 500 sin 40) 2 =4 998 N

FAB FCB cos 30 FT sin 30 = 0

2-6 2-6a ACB 1 CD=f=1

FNH = F 'CE cos =

Fx = 0, FDB FDE cos = 0

FCB sin FDB ' = 0

FAB = FDB cot = F cot 2 =

2-9 4 CABD CD AB F1F2 2-9a

FAB cos15 + F1 cos 30 = 0 FAB =

FAB cos 30 F2 cos 60 = 0

2-14 2-14a r1r2 I

M 1 FO1 r1 cos = 0 FO1 =

2-15 ABCD DE EC 2-15a DE

(2) ADC 2-16c

M = 0 FAB cos a = M FAB =

3-1a F1 = 150 N F2 = 200 N F3 = 300 N F = F ' = 200 N

m 200 N 0.08 m = 21.44 N m

F4 = 110 N M = 2 000 N mm 3-2b mm

3-4 3-4a q = 3 kN/m F = 6 2 kN M = 10 kN m

FO = P1 + P2 + F1 F2 = 385 000 N = 385 kN

P1 (l1 a ) P2 (l1 + b) P (l + l1 ) FB (l1 + l 2 ) = 0

Fx = 0, FAx FT FBC cos = 0

Fx = 0 FAx = FB' sin =

Fx = 0 FNA sin F = 0 FNA =

3-15 3-15a AB 600 mm

3-16 3-16a III r1 , r2 r A

M O 2 = 0 F '1 cos r3 = F2' cos r2 F '1 r3 = F2' r2

FBx = FAx = 120 kN

3-19 ABAC DF 3-19a DEF 1

(1) DEF 3-20b

Fy = 0 FDy + FE sin 45 F = 0 FDy = F

(3) ADB 3-20d

M B = 0 FDx' a FAx 2a = 0 FAx = F

Fx = 0 FAx + FBx FDx' = 0 FBx' = F

3-21 3-21a P=1 200 N E

Fx = 0, FAx FT = 0 FAx = FT = 1 200 N

M D = 0, FBC sin 1.5 P r FT (1.5 r ) = 0

(2) ABC 3-23c

FBE = 160 2 kN FCD = 80 kN

3-24 3-24a ACDE BD B

M D = 0 FNB cos 60 0.8 m M F 0.6 m = 0 FNB = 550 N

M E = 0 FAy 1.6 m M F (0.6 0.8 cos 60)m = 0 FAy = 87.5 N

M C = 0 FAy 0.8 m + FAx 1.6 m

Fy = 0 FAy + FCy + FN' B cos 60 = 0 FCy = 187.5 N

M E = 0 FAy 3 m FAx 6 m + FDx' 2 m + FDy' 1 m = 0

M B = 0 FAy a + FDy' a FDx' a = 0

FDx' = qa FD = FDx2 + FDy2 = 5qa / 2

3-27 3-27a 30 N/m P = 1 000 N A

M D = 0, FCy 4 m + PCD 1 m P 2 m = 0 FCy = 4.55 kN

Fx = 0 , FBx + FCx = 0 FCx = 22.8 kN

M B = 0 F1 2a FCy' a + FCx' a = 0 FCx' = 3F1 / 2

Fy = 0 FCy' F1 + FB1 y = 0 FB1 y = F1 / 2

Fx = 0 FAx = FB' 2 x = 3F1 / 2

*3-29 3-29a BCCD AB

3-30 ABCDE CD 3-30a AB

1DE CD++ P+DE 3-30b

Fx = 0 q 6a FAy FCx' + FT' cos 45 = 0 FAx = 6qa F

Fx = 0 FAx + FBD sin = 0

理论力学第七版 (哈工大著) (哈尔滨工业大学理论力学教研室著) 高等教育出版社课后答案.khda PDF

理论力学第七版 (哈工大著) (哈尔滨工业大学理论力学教研室著) 高等教育出版社课后答案.khda PDF