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CHAPTER 3. KINETICS OF PARTICLES 3.1.

CARTESIAN COORDINATES

3.1 Cartesian Coordinates

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.1
GOAL: Find the maximum allowable deceleration so that the box will remain in a no-slip condition.
GIVEN: Coefficient of friction and box’s weight.
DRAW:

ASSUME: In the no-slip case, the acceleration of the box is equal to that of the car, i.e. ẍ.
FORMULATE EQUATIONS:

(N − mg) *
 + S*
ı = mẍ *
ı
*
ı : S = mẍ (1)
*
 : N − mg = 0 (2)
SOLVE: The maximum friction force is given by S = µs N . Use (2) to get N = mg and substituting
into (1) gives us

ẍ= µs g = 0.9(32.2 ft/s2 ) = 29.0 ft/s2 (3)

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.2
GOAL: Determine the acceleration ÿB of block B.
GIVEN: The rope is pulled down at A with a force of F = 15 lb. The weight of block B is
WB = 40 lb.
DRAW:

FORMULATE EQUATIONS:
Balancing forces in the vertical direction gives

Fy = mÿ (1)
SOLVE:
A vertical force balance on B directly gives us the acceleration of the block:

FBD = IRD, *
 : (1) ⇒ −4F + mB g = mB ÿB
 
m g − 4F g WB − 4F
ÿB = B =
mB WB

(32.2 ft/s2 ) [40 lb − 4(15 lb)]


ÿB =
40 lb

ÿB = −16.1 ft/s2

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.3

GOAL: Find minimum stopping distance of a cyclist.


GIVEN: Initial speed, coefficient of friction.
DRAW:

FORMULATE EQUATIONS:
Force Balance: mẍ *
ı −F* ı + (N − mg) *

SOLVE: µ = µs = µd and therefore the maximum braking force is µN .

mẍ *
ı = −µN *
ı + (N − mg) *

*
ı: mẍ = −µN (1)
*
: 0 = N − mg (2)
(1), (2) ⇒ mẍ = −µmg

ẍ = −µg
ẍ is a constant so we can use 21 (v22 − v12 ) = a∆x
1 88
[0 − ( ft/s)2 ] = −µg∆x = −(0.50)(32.2 ft/s2 )∆x
2 3

∆x = 26.7 ft

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.4
GOAL: Find µ such that the bicycle descends at a constant speed.
GIVEN: Slope
DRAW:

ASSUME: Motion is along the slope and ẍ = 0.


FORMULATE EQUATIONS:
* * *
Force Balance: mẍ b 1 = −mg *
 − F b1 + N b2 (1)
SOLVE: Using ẍ = 0 in (1) and reexpressing it in terms of b1 , b2 gives us
* *
0 = b 1 (−F + mg sin θ) + b 2 (N − mg cos θ)
*
b 1:
F = mg sin θ (2)
*
b 2:
N = mg cos θ (3)
The critical condition at which we can transition from roll without slip to roll with slip occurs at
µN = F .
(2),(3) ⇒
µmg cos θ = mg sin θ
0.2
µ = tan θ = 1.0 = 0.2

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.5
GOAL: Find the time for which the tension in the two strings connecting B to the frame are equal.
GIVEN: Framework’s acceleration and position of the mass with respect to the frame.
DRAW:

FORMULATE EQUATIONS:

mẍ *
ı = (T1 − mg) *
 + T2 *
ı

*
ı : T2 = mẍ

*
 : T1 = mg
SOLVE: For T2 = T1 we need

mẍ = mg ⇒ ẍ = g
We’re given ẍ = (6 m/s3 )t and so

g 9.81 m/s2
(6 m/s3 )t = g ⇒ t = = = 1.64 s
6 m/s3 6 m/s3

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.6
GOAL: Calculate µs to fix m in surface.
GIVEN:
DRAW:

FORMULATE EQUATIONS:
* *
m[(r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ ] = N b 2 + S b 1
ASSUME: r = L, ṙ = r̈ = 0, θ̈ = 0
SOLVE:
* *
m(−Lθ̇2 e*r ) = N b 2 + S b 1
* * * *
m(Lω 2 sin(10) b 1 + Lω 2 cos(10) b 2 ) = N b 2 + S b 1

Equating coefficients:
*
b1 : S = mLω 2 sin(10) (1)
*
b2 : N = mLω 2 cos(10) (2)
When S is a maximum, S = µN . Using (1) and (2) gives us

Lω 2 sin(10) = µLω 2 cos(10)


µmin = tan(10) = 0.1763

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.7
GOAL: Determine the steady state position of a mass with respect to accelerating platform.
GIVEN: Acceleration of the platform, parameter values, and dimensions.
DRAW:

If friction alone is sufficient to support the given acceleration, the mass will not move with respect
to the platform. Since this case is easiest, check it first.
FORMULATE EQUATIONS:

Maximum acceleration from friction alone: *


F = µN = µmg = mkakmax (1)

SOLVE:
*
kak 2 * 2
(1) ⇒ max = µg = 0.6(9.81 m/s ) ⇒ kakmax = 5.87 m/s (2)
So, friction alone can provide enough force to sustain the required 4 m/s2 acceleration of the plat-
form. Consequently, the mass does not move from its original position on the platform, i.e.
*
r*m = (x + 0.4) m i

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.8
GOAL: Determine the overall braking force acting on a decelerating car.
GIVEN: Initial speed, time for constant deceleration and car’s weight.
DRAW:

FORMULATE EQUATIONS:
Force balance: mẍ *
ı = (N − mg) *
 + Fb *
ı

*
ı : mẍ = Fb (1)

*
 : 0 = N − mg (2)
SOLVE:
The car goes from 60 mph = 88 ft/s in 2 s at a constant deceleration. Thus we have
∆v 0 − (−88 ft/s)
ẍ = = = 44 ft/s2 (3)
∆t 2s
!
2900 lb
(1), (3) ⇒ Fb = (44 ft/s2 ) = 3963 lb
32.2 ft/s2

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.9
GOAL: Find deceleration that causes a mass to separate from an enclosure
GIVEN: System parameters and pre-stress.
DRAW:

ASSUME: When the mass in in contact with the enclosure, the normal force N is positive.
Separation occurs when this force goes to zero
FORMULATE EQUATIONS:
ASSUME: mẍ = N − F0
SOLVE:

N = mẍ + F0 = 0

F 0.15 N 2
ẍ = − m0 = − 0.03 kg = −5 m/s

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.10
GOAL: Find a*A .
GIVEN: Pulley geometry, applied force and mA .
DRAW:

FORMULATE EQUATIONS:

mA ẍA = mA g − 4F (1)
SOLVE:
4F
ẍA = g −
mA

4(50 N)
ẍA = 9.81 m/s2 − 10 kg = −10.2 m/s2

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.11
GOAL: Find the braking force needed to bring a jet from 170 mph to 0 mph in 240 ft and compare
it to a nominal “car force” unit.
GIVEN: The jet weighs 21,000 lb and goes from 170 mph to zero in 240 ft. The car weighs 3500
lb and goes from 60 mph to zero in 140 ft.
DRAW:

ASSUME: We’ll assume that all of the braking force is supplied by the cable.
FORMULATE EQUATIONS: Because the acceleration is constant we can calculate the accel-
eration using
v22 − v12 = 2a0 (x2 − x1 ) (1)
where a0 is the constant acceleration and the subscripts 1,2 indicate initial and final conditions,
respectively. We then need to apply
Fcable = ma0 (2)
SOLVE: First we’ll convert 170 mph to ft/s:

(170 mi) (5280 ft) (1 hr)


= 249.3 ft/s
(1 hr) (1 mi) (3600 s)

Using this, along with the known distance traveled, in (1) gives us
0 − (249.3 ft/s)2 = 2a0 (240 ft) ⇒ a0 = −129.5 ft/s2
The 21,000 lb jet has a mass of 652 slg and, using (2) we have
Fcable = (652 slg)(−129.5 ft/s2 ) = −8.45×104 lb

Fcable = −8.45×104 lb

To put this in “car force” units we need to calculate the braking force of a car. 60 mph is equal to
88 ft/s and a 3500 lb car has a mass of 109 slg
0 − (88 ft/s)2 = 2acar (140 ft) ⇒ acar = −27.7 ft/s2

Fcar = (109 slg)(−27.7 ft/s2 ) = −3.00×103 lb


Dividing this into the force in the cable gives us a ratio of 28. Thus the force needed to brake the
jet is almost thirty times more than the force needed to bring the car to a stop.

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.12
GOAL: Determine how long will it take for a mass to reach the end of a conveyor belt.
GIVEN: The conveyor belt is inclined at an angle θ = 15◦ . The 2 kg mass A is placed on the
conveyor with zero velocity with respect to ground and the belt is moving at 4.0 m/s. L1 = 0.85 m,
L2 = 1.05 m, µ = 0.5.
DRAW:

* *
ı 
*
b1 cos θ sin θ
*
b2 − sin θ cos θ
ASSUME: We’ll assume slip between the mass and the belt exists for the entire time and then
verify this assumption.
FORMULATE EQUATIONS:
* * *
Force Balance: ms̈ b 1 = Ff b 1 + N b 2 − mg *

SOLVE:
*
b1 : ms̈ = Ff − mg sin θ (1)
*
b2 : N = mg cos θ (2)
We’re assuming slip and thus we have

Ff = µN = µmg cos θ
Using this in (2) gives us
ms̈ = mg(µ cos θ − sin θ)
Using the given parameter values yields
(2 kg)s̈ = (2 kg)(9.81 m/s2 )(0.5 cos 15◦ − sin 15◦ ) ⇒ s̈ = 2.20 m/s2
To reach the upper end we solve
at2 t2
x= ⇒ 1.05 m = (2.20 m/s2 ) ⇒ t = 0.977 s
2 2
Now we’ll verify this result. We assumed slip conditions held for the entire time. Using v = at to
determine the speed of the mass at the end of the time interval we have
v = s̈t = (2.20 m/s2 )(0.977 s) = 2.15 m/s
The belt is moving at 4 m/s and the mass has reached a speed of 2.15 m/s. Hence the mass hasn’t
“caught up” with the belt and slip conditions hold, as assumed.
t = 0.977 s

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.13
GOAL: Determine the difference in displacement and final speed for two different applications of
force to a given mass.
GIVEN: m = 100 kg. The applied force is 100 N for 10 s for Case 1 and 200 N for 5 s for Case 2.
DRAW:

ASSUME: We’ll assume that there are no forces acting on our mass except for our applied force.
FORMULATE EQUATIONS:
F
Force Balance: mẍ = F ⇒ ẍ =
m
Integrating once gives us
F
 
ẋ = t (1)
m
and once more gives us
1 F 2
 
x= t (2)
2 m
SOLVE:
Case 1:
Using F = 100 N and t = 10 s gives us
ẋ = 10 m/s, x = 50 m
Case 2:
Using F = 200 N and t = 5 s gives us
ẋ = 10 m/s, x = 25 m
Note that we have precisely the same final speed: 10 m/s. However the displacement is only half
as much for the case of a doubled force acting over an equal increment of time. In other words,
the final momentum for each case is the same, something that we’ll see in more detail later in the
chapter.
The displacement result has a strong implication for cars. It shows that a bigger engine (larger F )
will enable the car to get up to speed more quickly and in a shorter distance than a car with a
smaller engine (smaller F ), a fact that is well known to the general public.

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.14
GOAL: Determine how far the curling stone travels down the playing surface with the given initial
speed, and find what initial speed is needed for the stone to stop at the center of the target.
GIVEN: The curling stone has a mass of m = 18 kg and is launched with a speed of v0 = 5 m/s.
The coefficient of friction between the stone and playing surface is µ = 0.05, and the target center
is sc = 28 m away from the launch point. The curling stone moves in a straight-line path.
DRAW:

FORMULATE EQUATIONS:
Balancing forces in terms of Cartesian coordinates gives

Fx = mẍ (1)
Fy = mÿ (2)

The friction force is given by

Ff = µN (3)

The curling stone’s initial speed, acceleration, and distance traveled are related by

v02 = −2ẍs (4)


SOLVE:

FBD = IRD, *
 : (2) ⇒ N − mg = 0

N = mg

FBD = IRD, *
ı : (3) → (1) ⇒ mẍ = −µN

ẍ = −µg

(4) ⇒ v02 = 2µgs (5)

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

v02
s =
2µg
(5 m/s)2
s =
2(0.05)(9.81 m/s2 )

s = 25.5 m

For the curling stone to stop at the target’s center, the initial speed should be

v0∗ =
p
(5) ⇒ 2µgsc
q
v0∗ = 2(0.05)(9.81 m/s2 )(28 m)

v0∗ = 5.24 m/s

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.15
GOAL: Determine whether Karl’s vehicle impacts the car ahead of him, and if so, find the impact
speed. Also find the maximum speed Karl can drive at to avoid collision.
GIVEN: Karl’s car weighs 1500 lb and supplies a total braking force of Fbrake = 1700 lb. He is
initially traveling at v0 = 45 mph and is d = 50 ft behind the car ahead of him.
DRAW:

FORMULATE EQUATIONS:
Balancing forces in the x direction gives

Fx = mẍ (1)
The car’s final speed v is given by

v 2 = v02 + 2ẍd (2)


SOLVE:

FBD = IRD, *
ı : (1) ⇒ mẍ = −Fbrake

−Fbrake
ẍ =
m
−(1700 lb)(32.2 ft/s2 )
ẍ =
1500 lb
ẍ = −36.49 ft/s2

q
(2) ⇒ v= v02 + 2ẍd
s
2
hr 5280 ft
  
v= (45 mph) + 2(−36.49 ft/s2 )(50 ft)
3600 s mi

v = 26.6 ft/s = 18.1 mph

Thus, since v > 0, Karl’s vehicle collides with the car in front of him. To stop just before hitting
the other car,

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

q
(2) ⇒ v0 = −2ẍd
q
v0 = −2(−36.49 ft/s2 )(50 ft)

v0 = 60.4 ft/s = 41.2 mph

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.16
GOAL: Determine the acceleration of block A.
GIVEN: The block weighs 50 lb, and the rope at B is pulled down with a force of F = 10 lb.
DRAW:

FORMULATE EQUATIONS:
Balancing forces in the y direction gives

Fy = mÿ (1)
SOLVE:

FBD = IRD, *
 : (1) ⇒ mA ÿA = 6F − mA g

6F − mA g
ÿA =
mA
6(10 lb) − 50 lb
ÿA =
(50 lb)/(32.2 ft/s2 )

ÿA = 6.44 ft/s2

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.17
GOAL: Determine the block’s speed at t = 2 s.
GIVEN: The block has a mass of m = 5 kg and is pushed at an angle of θ = 30◦ from rest. The
force is given by F (t) = 9t + 10e−0.5t N.
DRAW:

FORMULATE EQUATIONS:
Balancing forces in the x direction gives

Fx = mẍ (1)
The acceleration ẍ is defined as
dẋ
ẍ = (2)
dt
SOLVE:

FBD = IRD, *
ı : (1) ⇒ mẍ = F (t) cos θ

cos θ
ẍ = F (t) (3)
m

Z ẋf Z tf
cos θ
(3) → (2), integrate ⇒ dẋ = (9t + 10e−0.5t )dt
0 m 0

ẋfcos θ h i tf
ẋ = 4.5t2 − 20e−0.5t

0 m 0
cos θ h i
ẋ = 4.5t2 − 20e−0.5tf + 20
f m f

cos(30 )◦ h i
ẋ = 4.5(2)2 − 20e−0.5(2) + 20 m/s
f 5

ẋ = 5.31 m/s
f

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.18
GOAL: Determine via numerical integration how far a sliding bowl travels.
GIVEN: Initial velocity of the bowl, inclination of the surface, coefficient of friction.
DRAW:

*
ASSUME: The bowl remains on the slope and thus its velocity and acceleration have no b 2
components.
FORMULATE EQUATIONS:
* *
ı 
*
b1 cos θ sin θ
*
b2 − sin θ cos θ
* * *
Force Balance: ms̈ b 1 = −mg *
 + F b1 + N b2
* * *
ms̈ b 1 = −mg *
 + F b1 + N b2
SOLVE: Because the bowl is sliding, F = µN . Using this in our equation of motion yields
* * *
ms̈ b 1 = b 1 (µN − mg sin θ) + b 2 (−mg cos θ + N )
*
b 1: ms̈ = µN − mg sin θ (1)
*
b 2: 0 = −mg cos θ + N (2)
(1), (2) ⇒ ms̈ = µmg cos θ − mg sin θ

s̈ = g(µ cos θ − sin θ)


MATLAB EVALUATION:

y1 = s
y2 − ṡ
d
(y1) = y2
dt
d
(y2) = g(µ cos θ − sin θ)
dt
Evaluating with ODE45, using initial conditions (y1, y2) = (0, -4) gives us

s = −7.6776, ṡ = 0.0013 at t = 3.84 s

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.19
GOAL: Determine the two-block system’s acceleration and the tension in the cable.
GIVEN: Block A has a mass of mA = 3 kg and is pulled along a smooth horizontal surface by a
force F = 50 N applied at θ = 30◦ with respect to the ground. Block B is pulled along by A via
an inextensible cable. It has a mass of mB = 5 kg and slides on top of a rubber mat with µ = 0.6
that is nailed onto the horizontal surface.
DRAW:

FORMULATE EQUATIONS:
Balancing forces in terms of Cartesian coordinates gives

Fx = mẍ (1)
Fy = mÿ (2)

The friction force acting on block B is

Ff = µNB (3)
SOLVE:
Since blocks A and B are directly connected by an inextensible cable, their accelerations are the
same, and hence ẍA = ẍB = ẍ. Starting with A, a force balance in the horizontal direction yields

mA FBD = IRD, *
ı : (1) ⇒ F cos θ − T = mA ẍ (4)

Balancing forces on B gives

mB FBD = IRD, *
ı : (3) → (1) ⇒ T − µNB = mB ẍ (5)

69
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

mB FBD = IRD, *
 : (2) ⇒ NB − mB g = 0

NB = mB g (6)

Therefore, the system accelerates at a rate of

(5), (6) → (4) ⇒ F cos θ − µmB g − mB ẍ = mA ẍ

F cos θ − µmB g
ẍ =
mA + mB

(50 N) cos(30◦ ) − 0.6(5 kg)(9.81 m/s2 )


ẍ =
3 kg + 5 kg

ẍ = 1.73 m/s2

The corresponding cable tension is

(4) ⇒ T = F cos θ − mA ẍ

T = (50 N) cos(30◦ ) − (3 kg)(1.73 m/s2 )

T = 38.1 N

70
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.20
GOAL: Maximum acceleration for which both strings remain taut.
GIVEN: System configuration.
DRAW:

* *
*
ı *
 ı 
* *
c1 cos θ − sin θ b1 cos θ sin θ
* *
c2 sin θ cos θ b2 − sin θ cos θ
FORMULATE EQUATIONS:
*
Force balance: −T1 *
c 1 + T2 b 1 − m g *
 = mẍ *
ı
ASSUME: The key to solving the problem is to realize that at a certain acceleration the tension
in one of the strings must go to zero. We’re looking for that acceleration. Physically, we can see
that it is the left string which will have its tension go to zero. So let’s reexpress the system equation
of motion in terms of the * c 1, *
c 2 directions.
*
c1 : −T1 + T2 (cos2 θ − sin2 θ) + mg sin θ = mẍ cos θ (1)
*
c2 : 2T2 sin θ cos θ − mg cos θ = mẍ sin θ (2)
SOLVE:
mẍ sin θ + mg cos θ
(2) ⇒ T2 = (3)
2 cos θ sin θ
Letting T1 equal zero and substituting (3) into (1) allows us to solve for ẍ:

g cos θ
ẍ = sin θ (4)

71
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.21
GOAL: Find θ , the angle at which the dice hang due to the decelerating car.
GIVEN: ẍ = 0.2g, mass = m
DRAW:

* *
ı 
*
b1 cos θ − sin θ
*
b2 sin θ cos θ
FORMULATE EQUATIONS:
*
Force balance: F = ma*
SOLVE:
*
T b 2 − mg *
 = mẍ *
ı

T (sin θ *
ı + cos θ *
 ) − mg *
 = mẍ *
ı
*
 : T cos θ − mg = 0
mg
T = (1)
cos θ
*
ı : T sin θ = mẍ (2)
mg
(1)→(2) sin θ = mẍ
cos θ
mg tan θ = m(0.2g) ⇒ θ = arctan(0.2)

θ = 11.3◦

72
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.22
GOAL: Find steady-state angle θ of a pendulum in an accelerating vehicle.
GIVEN: Vehicle’s acceleration and surface’s inclination.
DRAW:

* *
ı  ı* *

* *
b1 cos φ sin φ c1 sin θ cos θ
* *
b2 − sin φ cos φ c2 − cos θ sin θ
ASSUME: The mass is in a steady-state equilibrium and therefore has the same velocity and
acceleration as the car.
FORMULATE EQUATIONS:
*
Force Balance: ms̈ b 1 = T *
c 1 − mg *

SOLVE: Expressing our equation of motion in terms of *
ı, *  components gives us

ms̈(cos φ *
ı + sin φ *
 ) = T (sin θ *
ı + cos θ *
 ) − mg *

*
ı: ms̈ cos φ = T sin θ (1)
*
: ms̈ sin φ = T cos θ − mg (2)
ms̈ cos φ
(1)⇒: T = (3)
sin θ
(3) → (2) ⇒ ms̈ sin φ = s̈tan
cos φ − mg
θ
s̈ cos φ
tan θ =
s̈ sin φ + g

θ = tan−1 [ 0.30.3 cos(10 )
sin(10◦ )+1.0 ] = 15.7

73
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.23
GOAL: Determine the two-block system’s acceleration and the tension in the cable.
GIVEN: Block A has a mass of mA = 10 kg and is pulled along a smooth horizontal surface by a
force F = 125 N parallel to the surface. Block B has a mass of mB = 15 kg and is pulled along a
rough incline by an inextensible cable that attaches it to A. The incline is angled at θ = 20◦ with
respect to ground and has a coefficient of friction of µ = 0.4.
DRAW:

FORMULATE EQUATIONS:
Balancing forces in terms of Cartesian coordinates gives

Fx = mẍ (1)
Fy = mÿ (2)

The friction force acting on block B is

Ff = µNB (3)

SOLVE:
Blocks A and B must have the same acceleration since they are directly connected via an inexten-
sible cable, and so we can say that ẍA = ẍB = ẍ. Let’s start by analyzing A. A force balance in
the horizontal direction gives

mA FBD = IRD, *
ı : (1) ⇒ F − T = mA ẍ (4)

Balancing forces on B yields

74
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

*
mB FBD = IRD, b 1 : (3) → (1) ⇒ T − µNB − mB g sin θ = mB ẍ (5)

*
mB FBD = IRD, b 2 : (2) ⇒ NB − mB g cos θ = 0

NB = mB g cos θ (6)

Thus, we get that the two-block system’s acceleration is

(5), (6) → (4) ⇒ F − µmB g cos θ − mB g sin θ − mB ẍ = mA ẍ

F − mB g(µ cos θ + sin θ)


ẍ =
mA + mB

125 N − (15 kg)(9.81 m/s2 ) [0.4 cos(20◦ ) + sin(20◦ )]


ẍ =
10 kg + 15 kg

ẍ = 0.774 m/s2

The associated tension in the cable is then

(4) ⇒ T = F − mA ẍ

T = 125 N − (10 kg)(0.774 m/s2 )

T = 117 N

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.24
GOAL: Find the acceleration that produces a steady inclination θ for the spring mounted mass.
GIVEN: System parameters.
DRAW:

* *
ı 
*
b1 cos θ sin θ
*
b2 − sin θ cos θ
ASSUME: We’re finding θ for the steady state conditions. Thus ẋ0 = ẏ 0 = ẍ0 = ÿ 0 = 0
FORMULATE EQUATIONS:
*
Force Balance: mẍ *
ı = −mg *
 + T b 1 = −mg *
 + T (*
ı cos θ + *
 sin θ)
The spring is stretched 0.05 m and thus T = (0.05 m)(30 N/m) = 1.5 N
*
ı : mẍ = T cos θ (1)
*
 : 0 = −mg + T sin θ (2)
SOLVE:
mg (0.15 kg)(9.81 m/s2 )
(2) ⇒ sin θ = = = 0.981
T 1.5 N
θ = 78.8◦ (3)

ẍ = T cos θ = (1.5 N)cos(78.8 ) = 1.94 m/s2
(1), (3) ⇒ m 0.15 kg

76
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.25
GOAL: Find spring stretch in a steady state condition and numerically integrate system from rest.
GIVEN: System parameters and mass m1 ’s acceleration.
DRAW:

ASSUME: In steady-state conditions ẏ = ÿ = 0


FORMULATE EQUATIONS:
Force Balance: m1 (ẍ − ÿ) *
ı = k(y − L) *
ı + (N1 − m1 g) *

*
ı : m1 (ẍ − ÿ) = k(y − L) (1)

*
 : N1 = m1 g (2)
SOLVE:
(a)
(1) ⇒ (1.2 kg)(4.8 m/s2 − 0) = 100 N/m(y − 0.6 m)
y = 0.658 m
(b)
k
ẍ − ÿ = (y − L)
m1
k k
ÿ + m y = ẍ + mL
1

Integrating in MATLAB for the given values of k, m1 , L and ẍ yields a y(t) response as shown:

77
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.26
GOAL: Find m1 for which the system is in static equilibrium. Then, find the acceleration of m2
if m1 is increased by 10%
DRAW:

ASSUME: The system is subject to the “conservation of rope” constraint:

∆x1 + 2∆x2 = 0

Differentiating twice with respect to time and solving for ẍ1 , we get,

ẍ1 = −2ẍ2 (1)

SOLVE:
The massless pulley implies that a tension of 2T acts on m2 if a tension T acts on m1 . Apply a
force balance to each mass.
For m1 :
m1 g − T = m1 ẍ1 (2)
For m2 :
m2 g − 2T = m2 ẍ2 (3)

When the system is in equilibrium, ẍ1 = ẍ2 = 0. Therefore, m∗1 = 21 m2 = 50 kg .


Increasing m1 by ten percent raises it to 55 kg.
To solve for ẍ2 when m1 = 55 kg substitute for ẍ1 = −2ẍ2 in (2) and solve for T :

T = m1 g + 2m1 ẍ2 (4)

Substitute this value of T in (3) and solve for ẍ2 :


m2 − 2m1
ẍ2 = g = −0.307 m/s2 . (5)
m2 + 4m1
Shown below is a plot of the response of the two masses as a function of time from 0 to 2 seconds.

79
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.27
GOAL: Determine the acceleration blocks A and B.
GIVEN: A force of 10 N is acting on block B, mA = 10 kg and mB = 15 kg.
DRAW:

Note that only forces in the *


ı direction are included because the motion is purely horizontal and
any normal forces don’t affect the system’s motion due to the friction-free interface.
FORMULATE EQUATIONS:
Moving A (increasing x) will require us to remove 3∆x units of rope. Moving B (increasing y) will
require us to add 4∆y units of rope. Applying conservation of rope tells us that the net change
must be zero:
−3∆x + 4∆y = 0
Dividing by time ∆t and taking the limit as ∆t goes to zero gives
3
−3ẋ + 4ẏ = 0 ⇒ ẏ = ẋ ⇒
4

3
ÿ = ẍ (1)
4
A force balance on each block yields
mA ẍ = 3T (2)
mB ÿ = −4T + 10 N (3)
SOLVE:
(1), (2), (3) ⇒ mA ẍ = 0.75(10 N − mB ÿ) = 7.5 N − (0.75)2 mB ẍ
ẍ = 7.5 N = 0.407 m/s2
10 kg + (0.75)2 (15 kg)
ÿ = 0.75ẍ = 0.305 m/s2

81
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.28
GOAL: Determine the acceleration ÿB of block B.
GIVEN: Blocks A and B weigh WA = 20 lb and WB = 50 lb, respectively.
DRAW:

FORMULATE EQUATIONS:
By conservation of rope, we have that

Rope 1 ⇒ ∆yA + 2∆x = 0 (1)

Rope 2 ⇒ −∆x + 2∆yB = 0 (2)

Balancing forces in the vertical direction gives

Fy = mÿ (3)
SOLVE:
We’ll need to relate the accelerations of the two blocks, so let’s start by analyzing the kinematics
of the pulley system:

Differentiate (1) twice ⇒ ÿA + 2ẍ = 0 (4)

Differentiate (2) twice ⇒ −ẍ + 2ÿB = 0 (5)

(5) → (4) ⇒ ÿA + 4ÿB = 0

82
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

ÿA = −4ÿB (6)

Next, we’ll balance the vertical forces on both blocks:

mA FBD = IRD, *
 : (3) ⇒ mA g − T = mA ÿA (7)

mB FBD = IRD, *
 : (3) ⇒ mB g − 4T = mB ÿB (8)

Lastly, applying our kinematic constraint, we find that block B accelerates at a rate of

(6), (7) → (8) ⇒ mB g − 4mA g − 16mA ÿB = mB ÿB


 
(mB − 4mA )g g WB − 4WA
ÿB = =
16mA + mB 16WA + WB

(32.2 ft/s2 ) [50 lb − 4(20 lb)]


ÿB =
16(20 lb) + 50 lb

ÿB = −2.61 ft/s2

83
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.29
GOAL: Determine the acceleration of Block B, the rope’s tension and the applied force, F .
GIVEN: Masses of the blocks and the arrangement of the pulleys.
DRAW:

FORMULATE EQUATIONS:
Force Balance for the two masses:

mA ẍA = 3T + mA g − F (1)

mB ẍB = mB g − 2T (2)
SOLVE: Moving A (increasing xA ) requires that we remove 3∆xA units of rope and moving B
(increasing xB ) requires that we add 2xB units of rope.
3
∆xB = ∆xA (3)
2
3
(3) ⇒ ẍB = ẍA (4)
2

(4) ⇒ ẍB = 23 (−7.13 m/s2 ) = −10.7 m/s2 (5)

2 2
 
(1), (2), (4) ⇒ mB ẍB = mB g − m ẍ − mA g + F
3 3 A B
3 3 2
   
F =g m + mA − ẍB mB + mA
2 B 2 3
F = 1.34×102 N

(2), (5) ⇒ T = 12 (g − ẍB )mB = 28.7 N

84
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.30
GOAL: Determine the value of z̈ so that the mass particle accelerates at 32.2 ft/s2 with respect
to the tube.
GIVEN: System geometry.
DRAW:

FORMULATE EQUATIONS:

* * *
ma*m = −mg *
 + N b 2 = b 1 (−mg sin θ) + b 2 (N − mg cos θ) (1)
* * * * * * *
am = atube + am/tube = z̈  + s̈ b 1 = b 1 (s̈ + z̈ sin θ) + b 2 (z̈ cos θ) (2)

SOLVE:
* * * *
(1), (2) ⇒ m[(s̈ + z̈ sin θ) b 1 + z̈ cos θ b 2 ] = b 1 (−mg sin θ) + b 2 (N − mg cos θ)
*
b1 : m(s̈ + z̈ sin θ) = −mg sin θ (3)
*
b2 : mz̈ cos θ = N − mg cos θ (4)
*
We want s̈ = −32.2 b 1 m/s2 . Using this value in (3) gives

−32.2 m/s2 + z̈ sin(28◦ ) = −(32.2 m/s2 ) sin(28◦ )

z̈ = 36.4 ft/s2

85
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.31
GOAL: Find the acceleration of the two masses upon release.
GIVEN: Spring stiffness, masses, coefficients of friction and initial spring compression.
DRAW:

FORMULATE EQUATIONS:
Body m1 :
* * *
m1 ẍ1 n1 = (S1 − F )n1 + (N1 − m1 g) 

*
n1 : m1 ẍ1 = S1 − F (1)

*
 : N1 = m1 g (2)
Body m2 :
* * *
m2 ẍ2 n1 = (F − S2 )n1 + (N2 − m2 g) 

*
n1 : m2 ẍ2 = F − S2 (3)

*
 : N2 = m2 g (4)
ASSUME: We’ll start by assuming no-slip conditions for both masses. The force acting on the
masses is given by the spring:

F = (k)(compression of spring) = (4 N/mm)(5 mm) = 20 N


SOLVE: No-slip for m1 means that ẍ1 is zero. (1) then gives us S1 = F = 20 N.
(2) yields N1 = m1 g = (10 kg)(9.81 m/s2 ) = 98.1 N. The maximum friction force is given by µN :

S1 = µN1 = 0.4(98.1 N) = 39.2 N


max

We’ve already seen that S1 < S1 and therefore m1 doesn’t slip. Thus ẍ1 = 0
max
Now let’s examine m2 . Assume ẍ2 = 0. Then (3) implies S2 = F = 20 N and

S2 = µ2 N2 = (0.1)(5 kg)(9.81 m/s2 ) = 4.905 N


max

86
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

Unlike the case for m1 , we now have S2 > S2 and so we have slip. Re-writing (3) with
max
S2 = µ2 N2 gives
m2 ẍ2 = F − µ2 N2
(5 kg)ẍ2 = 20 N − 4.905 N

ẍ2 = 3.02 m/s2

87
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.32
GOAL: Determine the minimum coefficient of friction to keep a block from slipping.
GIVEN: Initial speed and distance traveled.
DRAW:

FORMULATE EQUATIONS:
Force balance: m(ẍ *
ı + ÿ *
 ) = (N − mg) *
 − S*
ı
*
ı : mẍ = −S (1)
*
 : mÿ = N − mg (2)
ASSUME:

y = 0 ⇒ ÿ = 0 (3)
SOLVE:
(2), (3) ⇒ N = mg (4)
If the block doesn’t slip then its acceleration is the same as the truck’s. The truck’s acceleration
can be found from
a dx = v dv
1
a(x2 − x1 ) = (v22 − v12 )
2
1 v2
a(D) = (0 − v02 ) ⇒ a = − 0
2 2D
v2
0 and (1) becomes
Thus ẍ = − 2D
mv02
=S (5)
2D
We know that the maximum force that can be supported through static friction is given by

Smax = µs N = µs mg (6)

mv02
(5), (6) ⇒ = µs mg (7)
2D
v02
µs = 2Dg

88
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.33
GOAL: Find your perceived weight during acceleration and deceleration.
GIVEN: Your mass, and the velocity profile of the elevator.
DRAW

FORMULATE EQUATIONS: Because the velocity profile shows that both acceleration and
deceleration are constant, we can determine these two values from the following two equations:
v
z̈1 = 0 (1)
Acceleration: ∆1
−v0
Deceleration: z̈2 = (2)
∆2

The FBD/IRD gives us: N1 − mg = mz̈ (3)


SOLVE: The weight that you feel is just the normal force N1 . Thus, during acceleration, we have
! !
v0 80 lb 18 ft/s

2
(1) → (3) ⇒ N = m + g = + 32.2 ft/s
1 ∆1 32.2 ft/s2 1.5s

N1 = 109.8 lb

During deceleration, your perceived weight is


! !
−v0 80 lb −18 ft/s

(2) → (3) ⇒ N1 = m +g = + 32.2 ft/s2
∆2 32.2 ft/s2 1.5s

N1 = 50.2 lb

89
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.34
GOAL: Find the distance the cup travels due to the magic trick.
GIVEN: µ = 0.6 , mass = m , cup starts at x0 = 0.5 m , clothspeed= 15 m/s
DRAW:

ASSUME: Tablecloth has no acceleration. Cup only moves when tablecloth is under it. Cup
never reaches velocity of tablecloth. Cup starts from rest.
FORMULATE EQUATIONS:
*
Force Balance: F = ma*
SOLVE:
N*
 + S*
ı − mg *
 = mẍ *
ı
*
 : N − mg = 0 N = mg
*
ı : S = mẍ
S = µN = µmg

µmg = mẍ

ẍ = µg = (0.6)(9.81 m/s2 ) = 5.89 m/s2


ẍ 2 5.89 m/s2 2
1D cup motion x cup = t + v0 t + x0 = t + 0.5 m
2 2
x cup = (2.94 m/s2 )t2 + 0.5 m (1)

1D cloth motion x
= (15 m/s)t
tc
The cup stops moving when the table cloth is no longer under it. This occurs when x = x cup
tc
2 2
(15 m/s)t = (2.94 m/s )t + 0.5 m ⇒ t = 0.034 s

t = 0.034 s → (1) ⇒ x cup = 0.503 m

0.503 m − 0.5 m = 3.31 mm

cup has moved 3.31 mm

90
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.35
GOAL: Determine θ so a thrown ball returns to the thrower’s hand.
GIVEN: Force acting in x and y directions on the ball.
DRAW

FORMULATE EQUATIONS:
v*0 = vx0 *
ı + v y0 *

r*ball/ = x *
ı + y*

O

Force balance: −(0.5 kg)g *


 − 2.0 *
ı N = (0.5 kg)(ẍ *
ı + ÿ *
)
*
ı : (0.5 kg)ẍ = −2 N ⇒ ẍ = −4 m/s2 (1)
*
 : (0.5 kg)ÿ = −(0.5 kg)g ⇒ ÿ = −g (2)
SOLVE:
(1) ⇒ ẋ = vx0 − (4 m/s2 )t (3)

(3) ⇒ x = vx0 t − (2 m/s2 )t2 (4)

(2) ⇒ ẏ = vy0 − gt (5)


gt2
(5) ⇒ y = v y0 t − (6)
2
Because the ball has to return to the person’s hand at some future time t (we’ll denote this particular
time as t∗ ) we have
(4) ⇒ 0 = vx0 t∗ − (2 m/s2 )t∗ 2 (7)

gt∗ 2
(6) ⇒ 0 = vy0 t∗ − (8)
2
v x0
(7) ⇒ t∗ (vx0 − (2 m/s2 )t∗ ) = 0 ⇒ t∗ = (9)
2 m/s2
gt∗ 2vy0
 

(8) ⇒ t vy0 − = 0 ⇒ t∗ = (10)
2 g

91
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

vx0 2vy0 4 m/s2


(9), (10) ⇒ = ⇒ v x0 = vy = 0.408vy0 (11)
2 m/s2 g 9.81 m/s2 0
We know that v0 = 10 m/s and thus, since v*0 = vx0 *
ı + v y0 *
 we have
100 ( m/s)2 = vx20 + vy20 (12)
 
(11), (12) ⇒ 100 ( m/s)2 = (0.408)2 + (1)2 vy20

vy0 = 9.26 m/s

vx0 = (0.408)(9.26 m/s) = 3.78 m/s


 
vy0
 
θ= tan−1 vx0 = tan−1 9.26
3.78 = 67.8◦

92
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.36
GOAL: Find two values of θ that cause the block’s acceleration to be 8.8 ft/s2 .
GIVEN: Magnitude of the applied force, weight of the block, and the coefficient of friction.
DRAW

FORMULATE EQUATIONS: We’re given the magnitude of the applied force, but not the
*
direction, so let’s express this force in component form as F = Fx *
ı + Fy *
 . We then need an
equation relating these quantities: q
F = Fx 2 + Fy 2 (1)
From the FBD=IRD pair, we also get:
 
mẍ *
ı = (Fx − S) *
ı + N − mg + Fy *
 (2)

where the friction force S is given by S = µN (3)


SOLVE: Plugging (3) into (2), and then breaking it into its respective components yields
*
ı: mẍ = Fx − µN (4)
*
: 0 = N − mg + Fy (5)

Eliminating N from (5), (4) ⇒ mẍ = Fx − µmg + µFy (6)


Solving (1) for Fx , and substituting that into (6) yields
q
m (ẍ + µg) = F 2 − Fy 2 + µFy (7)
Rearranging and squaring (7)⇒
h i
µ2 + 1 Fy 2 − 2mµ (ẍ + µg) Fy + m2 (ẍ + µg)2 − F 2 = 0

(8)
1.36Fy 2 − 41.92Fy + 320.2 = 0

The roots of which are Fy = 16.84, 13.98 lb (9)

(9) → (1) ⇒ Fx = 24.83, 26.54 lb


Thus, the two angles are
 
θ1 = tan−1 16.84
24.83 = 34.1◦
 
θ2 = tan−1 13.98
26.54 = 27.8◦

93
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.37
GOAL: Determine the time for a moving mass to be brought to a halt by a compression spring.
GIVEN: mass and spring constant as well as impact speed.
DRAW:

We’ll start the analysis from the first instant of contact. x measured from the location of the mass
at initial contact.
FORMULATE EQUATIONS:
A force balance in the *ı direction gives us:
*
ı: mẍ = −kx
k
ẍ + x=0
m
88 ft/s
Our initial conditions are x0 = x(0) = 0 and v0 = ẋ(0) = 35 mph 60 mph = 51.3 ft/s.
SOLVE:
s s
k k
x(t) = a sin t + b cos t
m m

x(0) = 0 ⇒ b = 0
s r
k m
ẋ(0) = a = v0 ⇒ a = v0
m k
r s
m k
x(t) = v0 sin t
k m
s
k
ẋ(t) = v0 cos t
m
s s
k ∗ k ∗ π
ẋ(t∗ ) = 0 ⇒ cos t =0 ⇒ t =
m m 2
r s
∗ π m π 100 slug
t = = = 5.74 × 10−2 s
2 k 2 75, 000 lb/ft

94
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.38
GOAL: Determine the number of car lengths needed for a car to come to a complete stop under
a given deceleration.
GIVEN: Initial speed and deceleration.
DRAW:

FORMULATE EQUATIONS:
Force balance: mẍ *
ı = (N − mg) *
 − S*
ı
*
ı : mẍ = −S (1)
*
 : 0 = N − mg (2)
SOLVE:
We’re already given the fact that the car’s deceleration is equal to 1.1g. Thus we won’t have to use
the equations of motion to determine ẍ.
If we have a constant deceleration then we can integrate once to obtain
ẋ = −1.1gt + 88 ft/s (3)
and again to find
1.1gt2
x=− + (88 ft/s)t (4)
2
Letting ẋ = 0 in (3) gives us
88 ft/s
t= = 2.48 s (5)
1.1(32.2 ft/s2 )
1.1(32.2 ft/s2 )(2.48 s)2
(5) → (4) ⇒ x=− + (88 ft/s)(2.48 s) = 109 ft (6)
2
109 ft
Number of car lengths = = 7.3
15 ft
This gives you a solid idea of how much space is needed to come to rest when traveling at 60 mph.
You should realize that a real-world stopping distance will be even longer, due to braking levels
likely being below 1.1g and the reaction time needed for you to initiate braking.

95
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.39
GOAL: Find the acceleration of the mass just after the enclosure begins to accelerate.
GIVEN: Initial spring compression d = 0.1 m, spring stiffness k = 20 N/m, ẍ = 6 m/s2 , mass
m = 0.5 kg.
DRAW

FORMULATE EQUATIONS: We need to distinguish between two cases. In (a) the mass m is
always in contact with the enclosure’s right wall whereas in (b) it moves away from the wall. We
have to determine which situation holds in this case. Let’s examine (a) first.
mẍ = F0 − F
SOLVE:
F = F0 − mẍ = (20 N/m)(0.1 m) − (0.5 kg)(6 m/s2 ) = −1 N
A solution with a negative force means that the only way to keep the mass in contact with the
wall is to pull it to the right. As we have nothing to do any such pulling, the conclusion is that it
doesn’t remain in contact. Hence we need to move to case (b).
FORMULATE EQUATIONS:
m(ẍ − ÿ) = F0 + ky

mÿ + ky = mẍ − F0
SOLVE:
Dividing by m and substituting the given parameter values gives us
ÿ + (40 s−2 )y = 2 m/s2
Using initial conditions of y(0) = 0 and ẏ(0) = 0 in an assumed solution
√ √ 1
y(t) = a1 sin 40 s−2 t + a2 cos 40 s−2 t + m
20
we’ll obtain a final solution
1  √ 
y(t) = 1 − cos 40 s−2 t m
20
which means ÿ is given by

ÿ(t) = (2 m/s2 ) cos 40 s−2 t

96
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

The acceleration of the mass is given by ẍ − ÿ:



ẍ − ÿ = (6 − 2 cos 40 s−2 t) m/s2
Evaluating at t = 0 gives us
ẍ(0) − ÿ(0) = 6 m/s2 − 2 m/s2 = 4 m/s2

97
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.40
GOAL: Determine if answers proposed by hypothetical student are correct.
GIVEN: Student’s calculated values
DRAW:

a) The student’s results are incorrect. The student reports s̈ > 0, which implies that m2 is
accelerating up the wedge. Since this incorrect result is obtained when the sliding assumption is
made, m2 must not slide with respect to m1 , and the entire system remains in static equilibrium.
b) Again, the student’s results are incorrect. N < 0 implies that the normal force acts in the
direction opposite from that indicated on the FBD. The interface between m2 and m1 is not
capable of supporting such a normal force.
Physically, in case (a) the entire system is either stationary (if there is enough friction to preclude
slip of the mass on the wedge) or the wedge will accelerate to the right while the mass accelerates
to the left.
In case (b), depending on the magnitude of the applied force G, we could see the entire system
accelerating to the right as a single rigid body, the mass could slip downslope while the wedge
accelerates to the right or the mass could go into freefall if the wedge accelerates at a high enough
rate to cause a loss of contact.

98
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.41
GOAL: Determine when Block B will strike the ground.
GIVEN: Mass of blocks and pulley configuration.
DRAW:

FORMULATE EQUATIONS:
Construct a force balance for each mass:
A: mA ẍ1 = mA g − T1 (1)

B: mB ẍ3 = mB g − 4T1 (2)


ASSUME: The motions of the masses are constrained by the pulley geometry and are given by:
1 1
ẋ1 = −2ẋ2 , ẋ2 = 2ẋ3 ⇒ ẋ3 = − ẋ1 ⇒ ẍ3 = − ẍ1 (3)
4 4
SOLVE:
(1), (2), (3) ⇒ mB (− 41 ẍ1 ) = mB g − 4(mA g − mA ẍ1 )
1
(4mA + mB )ẍ1 = g(−mB + 4mA )
4
g(−mB + 4mA ) (9.81)(80 − 160)
ẍ1 = = = −6.54 m/s2 (4)
1 1
(4mA + mB ) (4)(20) + (160)
4 4

(3), (4) ⇒ ẍ3 = 1.635 m/s2 (5)


1
∆x3 = ẍ3 t2 ⇒ 0.5 m = 0.5(1.635 m/s2 )t2 ⇒ t = 0.782 s
2

99
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.42
GOAL: Determine Block A’s speed 1.5 s after being released from rest.
GIVEN: Mass of blocks and pulley configuration.
DRAW:

FORMULATE EQUATIONS:
Construct a force balance for each mass:
A: mA ÿ = mA g − T (1)
T
B (*
ı direction): mB ẍ = (2)
4
ASSUME: The motions of the masses are constrained by the pulley geometry and are given by:
z̈ = 2ÿ (3)

ẍ = 2z̈ (4)
SOLVE:
(3), (4) ⇒ ẍ = 4ÿ (5)
1 
(1), (2), (5) ⇒ 4ÿmB = mA g − mA ÿ
4
m m g
(4mB + A )ÿ = A
4 4
mA g (10 kg)(9.81 m/s2 )
ÿ = = = 0.711 m/s2
16mB + mA [16(8 kg) + 10 kg]
After 1.5 s of constant acceleration the speed ẏ will be
ẏ = (0.711 m/s2 )(1.5 s) = 1.07 m/s

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.43
GOAL: Find the takeoff speed to make a motorcycle jump without air drag. Include air drag and
recalculate the minimum needed speed. Determine the percentage change in the necessary speed.
GIVEN: Dimensions of the jump and the expression for air drag.
DRAW:

FORMULATE EQUATIONS: Let the velocity and acceleration of the particle P be denoted
by v* and a.
*

*
Force balance: ma* = −mg *
 + Fd (1)
SOLVE: *
For the first part we set F d to zero and are left with a basic kinematics problem (trajectories in
free-fall). The launch angle is 45◦ and so if the launch speed is v0 the horizontal and vertical
v
components each have a magnitude of √02 . The motorcycle/rider (particle P ) travels a horizontal
distance of 30 ft and so we have √
v0 t 30 2 ft
x direction: √ = 30 ft ⇒ t = (2)
2 v 0

v t gt2 2v0
y direction: 0 = √0 − ⇒t= (3)
2 2 g
√ √
30 2 ft 2v0
(2), (3) ⇒ = ⇒ v0 = 31.08 ft/s
v0 g
Now let’s consider the drag force. We’re given that it opposes the velocity vector of the moving
particle. The unit vector pointing opposite to the velocity vector can be found from calculating
v*
|v|
and thus we have
* v*
F d = −(0.24 lb· s2 /ft2 )v 2 = −(0.24 lb· s2 /ft2 )|v|v*
|v|
The horizontal and vertical accelerations are thus given by
1 2 2
q
*
ı : ẍ = − (0.24 lb· s /ft ) ẋ2 + ẏ 2 ẋ (4)
m
1 2 2
q
*
 : ÿ = −g − (0.24 lb· s /ft ) ẋ2 + ẏ 2 ẏ (5)
m

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

Integrating these two equations, using a mass of m = 15.5 slg, and iterating until the mass reaches
30 ft with an associated height of 0 gives us a solution of
ẋ = ẏ = 26.903 ft/s
For these values of ẋ and ẏ the mass reaches x = 30.00 ft, y = 0.00 ft at t = 1.4828 s. The launch
speed is given by

v0 = 2(26.903 ft/s) = 38.05 ft/s
The percentage increase due to air drag is
38.05 − 31.08
percent increase = = 22.4%
31.08

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.44
GOAL: Contrast the stopping distance and time for a car braking on a dry road versus a car half
on a dry road and half on ice.
GIVEN: The coefficient of friction of the car half on ice and half on a dry road can be approximated
as the average of the two associated coefficients of dynamic friction.
DRAW:

FORMULATE EQUATIONS:

Force Balance: mẍ *


ı = −F *
ı + (N − mg) *

SOLVE:
Case 1:
The braking force is given by the product of the total normal force between the car and road (N )
and the coefficient of friction (µ): F = µN .
mẍ *
ı = −µN *
ı + (N − mg) *

* mẍ = −µN (1)
ı:
* 0 = N − mg (2)
:
mẍ = −µmg
(1), (2) ⇒
ẍ = −µg

ẍ is a constant so we can use 21 (v22 − v12 ) = a(x2 − x1 ) where the subscripts 1 and 2 refer to the
car’s initial and final states. Letting ∆x = x2 − x1 and 100 km/ hr = 27.8 m/s we have:
1
[0 − (27.8 m/s)2 ] = −µg∆x = −(0.90)(9.81 m/s2 )∆x
2

∆x = 43.7 m
The deceleration is found by dividing the force acting to brake the vehicle by the vehicle’s mass:
µmg
a= = (0.9)(9.81 m/s2 ) = 8.83 m/s2
m
The time needed to brake from 27.8 m/s to 0 is found from
v1 − at∗ = 0 ⇒ 27.8 m/s − (8.83)t∗ = 0 ⇒ t∗ = 3.15 s
Case 2:
For the case of dry road/ice we need to average the coefficients of friction:
µavg = 0.5(0.9 + 0.1) = 0.5
Parallel to Case 1 we have

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

mẍ *
ı = −µavg N *
ı + (N − mg) *

*
ı: mẍ = −µavg N (3)
*
: 0 = N − mg (4)

(3), (4) ⇒ mẍ = −µavg mg

ẍ = −µavg g
1
[0 − (27.8 m/s)2 ] = −µavg g∆x = −(0.50)(9.81 m/s2 )∆x
2

∆x = 78.7 m
The deceleration is found by dividing the force acting to brake the vehicle by the vehicle’s mass:
µavg mg
a= = (0.5)(9.81 m/s2 ) = 4.91 m/s2
m
The time needed to brake from 27.8 m/s to 0 is found from
v1 − at∗ = 0 ⇒ 27.8 m/s − (4.91)t∗ = 0 ⇒ t∗ = 5.66 s

Case 1 : ∆x = 43.7 m, t∗ = 3.15 s


Case 2 : ∆x = 78.7 m, t∗ = 5.66 s

Thus we see that the addition of ice to the road causes a very significant increase in both the time
to stop the car and the distance needed to do so.

104
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.45
GOAL: Determine the acceleration of a mass when it reaches the end of a conveyor belt.
GIVEN: The conveyor belt angle θ = 15◦ . A 2 kg mass A is placed on the conveyor in the position
shown with zero velocity with respect to ground. The belt is moving at 3.0 m/s. L1 = 0.85 m,
L2 = 1.05 m, µ = 0.8.
DRAW:

* *
ı 
*
b1 cos θ sin θ
*
b2 − sin θ cos θ
ASSUME: We’ll assume slip between the mass and the belt exists for the entire time and then
verify this assumption.
FORMULATE EQUATIONS:
* * *
Force Balance: ms̈ b 1 = F b 1 + N b 2 − mg *

SOLVE:
*
b1 : ms̈ = F − mg sin θ (1)
*
b2 : N = mg cos θ (2)
We’re assuming slip and thus we have
F = µN = µmg cos θ (3)

(1), (3) ⇒ s̈ = g(µ cos θ − sin θ)


Using the given parameter values yields
s̈ = (9.81 m/s2 )(0.8 cos 15◦ − sin 15◦ ) ⇒ s̈ = 5.04 m/s
s̈ is constant and so we can solve for the time at which ṡ = 3 m/s, the speed of the belt.
(5.04 m/s2 )t∗ = 3 m/s ⇒ t∗ = 0.595 s
Now we can determine how far the mass has moved during this time.
(5.04 m/s2 )(0.594 s)2
∆s = = 0.89 m
2
What this tells us is that before reaching the end of the conveyor belt (a distance of 1.05 m) the
mass has reached the belt’s speed. Hence it will stop slipping and simply move along with the belt
at a constant speed of 3 m/s.
s̈ = 0

105
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.46
GOAL: Determine the difference in displacement and final speed for two different applications of
force to a given mass.
GIVEN: The initial mass for both cases is m = 100 kg and the final mass is 90 kg. The applied
force is 100 N for 10 s for Case 1 and 200 N for 5 s for Case 2. The mass reduction rate is 1 kg/s
for Case 1 and 2 kg/s for Case 2.
DRAW:

ASSUME: We’ll assume that there are no forces acting on our mass except for our applied force.
FORMULATE EQUATIONS: We’ll need three differential equations in order to solve this
problem with MATLAB. Our first two come from our force balance:
F
Force Balance: mẍ = F ⇒ ẍ =
m(t)
which need to be written as two first-order equations for implementation in MATLAB.
The third equation governs the change in mass:
ṁ = −massflow
where massflow is 1 kg/s for Case 1 and 2 kg/s for Case 2.
SOLVE:
These equations can be used in MATLAB if put into first-order form:
ẏ1 = y2
F
ẏ2 =
y3

ẏ3 = −massflow
Case 1:
Using F = 100 N, massflow=1 kg/s and t = 10 s gives us
ẋ = 10.5 m/s, x = 51.8 m
Case 2:
Using F = 200 N, massflow=2 kg/s and t = 5 s gives us
ẋ = 10.5 m/s, x = 25.9 m
Note that we have precisely the same final speed: 10.5 m/s. The displacement is only half as much
for the case of a doubled force acting over an equal increment of time.
Interestingly, these results exactly parallel those for the case of constant mass: same final speed
and a halving of displacement for the higher force.
Could we have predicted this result? The answer is yes. The force is proportional to the mass flow
rate. Let
F = α(massflow)
where α = 100 N· s/ kg.

106
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

This lets us write


α(massflow)
ẍ =
m
Integrating gives us

Z
ẋ = −α = −α[ ln(m) + ln(m0 )]
m
where m0 is our initial mass.
Evaluating at the end of the integration time (m = 90 kg) gives us
ẋ = 10.5 m/s
Thus regardless of the value of massflow, we’ll attain the same final speed.

107
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.47
GOAL: Determine how much force is needed to get the box sliding and its initial acceleration.
Also find how far the box slides before coming to a stop if it is released at the given speed.
GIVEN: The box weighs 40 lb, and it is pushed on at an angle of θ = 45◦ . µs = 0.7 and µd = 0.3
between the box and ground. The box is let go of at a speed v0 = 4 ft/s.
DRAW:

FORMULATE EQUATIONS:
Balancing forces in terms of Cartesian coordinates gives

Fx = mẍ (1)
Fy = mÿ (2)
The friction force is

Ff = µN (3)
The box’s initial speed, acceleration, and distance traveled are related by

v02 = −2ẍd (4)


SOLVE:

FBD = IRD, *
 : (2) ⇒ N − mg − F sin θ = 0

N = mg + F sin θ

The friction force reaches a maximum of Ff = µN when the box begins to slip, so

FBD = IRD, *
ı : (3) → (1) ⇒ mẍ = F cos θ − µN

mẍ = F cos θ − µ(mg + F sin θ)


1
ẍ = [F cos θ − µ(mg + F sin θ)] (5)
m

Just before slip, ẍ = 0 and µ = µs , so

(5) = 0 ⇒ 0 = F cos θ − µs (mg + F sin θ)

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

µs mg = F (cos θ − µs sin θ)
µs mg
F =
cos θ − µs sin θ
0.7(40 lb)
F =
cos(45 ) − (0.7) sin(45◦ )

F = 132.0 lb

Just after slip, µ = µd , and so


1 h i
(5) ⇒ ẍ = F cos θ − µd (mg + F sin θ)
m

32.2 ft/s2
ẍ = [(132.0 lb) cos(45◦ ) − 0.3 {40 lb + (132.0 lb) sin(45◦ )}]
40 lb

ẍ = 42.9 ft/s2

When the box is let go of, F = 0, and thus

(5) ⇒ ẍ∗ = −µd g (6)


v02
(6) → (4) ⇒ d=
2µd g

(4 ft/s)2
d=
2(0.3)(32.2 ft/s2 )

d = 0.828 ft

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.48
GOAL: Determine the tension in the rope needed to accelerate the sled up the hill at the given
acceleration. Also find how long it takes the sled to slide to the hill’s base if the sled is let go of at
the given initial position and speed.
GIVEN: The sled weighs 10 lb and is accelerated up the hill at ẍ = 2 ft/s2 . The hill has a coefficient
of friction of µ = 0.3 and an incline of θ = 30◦ . The rope makes an angle φ = 20◦ with respect to
the hill. When the rope is let go of, the sled is 20 ft up the hill and has a speed of v0 = 4 ft/s.
DRAW:

FORMULATE EQUATIONS:
The force balances in terms of Cartesian coordinates are

Fx = mẍ (1)
Fy = mÿ (2)

The friction force acting on the sled is

Ff = µN (3)

The time it takes for the sled to come to a stop up the hill when it is released is governed by

v0 = −ẍup tup (4)

The corresponding uphill distance traveled is found from

v02 = −2ẍup sup (5)

If s is the sled’s starting position up the hill, then the time it takes the sled to slide to the base of
the hill is given by
1
−(s + sup ) = ẍ t2 (6)
2 down down
SOLVE:
*
FBD = IRD, b 2 : (2) ⇒ N + T sin φ − mg cos θ = 0

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

N = mg cos θ − T sin φ (7)

*
FBD = IRD, b 1 : (3) → (1) ⇒ mẍ = T cos φ − mg sin θ − µN

mẍ = T cos φ − mg sin θ − µ(mg cos θ − T sin φ)


mẍ = T (cos φ + µ sin φ) − mg(sin θ + µ cos θ) (8)
 
m ẍ + g(sin θ + µ cos θ)
T =
cos φ + µ sin φ
h i
(10 lb) 2 ft/s2 + (32.2 ft/s2 ) {sin(30◦ ) + 0.3 cos(30◦ )}
T =
(32.2 ft/s2 ) {cos(20◦ ) + 0.3 sin(20◦ )}

T = 7.89 lb

When the rope is let go of, T = 0. The sled continues up the hill a bit because of its initial speed,
and so the time it takes to come to a stop and the corresponding distance traveled are

(8) ⇒ ẍup = −g(sin θ + µ cos θ)

ẍup = −(32.2 ft/s2 ) [sin(30◦ ) + 0.3 cos(30◦ )]

ẍup = −24.47 ft/s2

−v0
(4) ⇒ tup =
ẍup

−(4 ft/s)
tup =
−24.47 ft/s2
tup = 0.163 s (9)

v02
(5) ⇒ sup =
−2ẍup

(4 ft/s)2
sup =
−2(−24.47 ft/s2 )
sup = 0.327 ft

When the sled starts to slide downhill,

(7) ⇒ N = mg cos θ

The direction of the friction force reverses, so

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

*
FBD = IRD, b 1 : (3) → (1) ⇒ mẍ = µN − mg sin θ
down

mẍ = µmg cos θ − mg sin θ


down
ẍ = g(µ cos θ − sin θ)
down

ẍ = (32.2 ft/s2 ) [0.3 cos(30◦ ) − sin(30◦ )]


down

ẍ = −7.734 ft/s2
down

v
u −2(s + sup )
u
(6) ⇒ tdown = t

down

s
−2(0.327 ft + 20 ft)
tdown =
−7.734 ft/s2
tdown = 2.293 s (10)

(9) + (10) ⇒ ttotal = 2.46 s

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.49
GOAL: Determine the ramp angle θ that will just make the box slip and how long it takes the
box to slide to the base of the ramp from the top for this angle.
GIVEN: The ramp length is L = 4 m. µs = 0.8 and µd = 0.4 between the ramp and box. The
box starts from rest at the top.
DRAW:

FORMULATE EQUATIONS:
The force balances in terms of Cartesian coordinates are

Fx = mẍ (1)
Fy = mÿ (2)

The friction force acting on the box is

Ff = µN (3)

The time it takes the box to slide to the ramp’s base is given by
1
−L = ẍt2 (4)
2
SOLVE:
*
FBD = IRD, b 2 : (2) ⇒ N − mg cos θ = 0

N = mg cos θ

The friction force reaches a maximum of Ff = µN when the box starts to slip, so

*
FBD = IRD, b 1 : (3) → (1) ⇒ mẍ = µN − mg sin θ

mẍ = µmg cos θ − mg sin θ


ẍ = g(µ cos θ − sin θ) (5)

Just before slip, ẍ = 0 and µ = µs , so

(5) = 0 ⇒ 0 = µs cos θ − sin θ

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

tan θ = µs
θ = tan−1 (µs )
θ = tan−1 (0.8)

θ = 38.7◦

Just after slip, µ = µd , and so

(5) ⇒ ẍ = g(µd cos θ − sin θ)

ẍ = (9.81 m/s2 ) [0.4 cos(38.7◦ ) − sin(38.7◦ )]


ẍ = −3.064 m/s2

s
(4) ⇒ −2L
t=

s
−2(4 m)
t=
−3.064 m/s2

t = 1.62 s

114
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.50
GOAL: (a) Determine the acceleration of m1 with respect to the block assuming that the block
is fixed in place. (b) Determine the acceleration of m1 with respect to the block if the block is
allowed to move.
(a)
GIVEN:
The coefficient of friction between the block and m1 is 0.3. The mass of m1 is 10 kg. The block is
inclined at 30 degrees.
DRAW:

* *
ı 
*
b1 cos θ sin θ
*
b2 − sin θ cos θ
FORMULATE EQUATIONS:
Force balance: * * *
−mg *
 + N b 2 + µN b 1 = ms̈ b 1
 * *
 * * *
−mg sin θ b 1 + cos θ b 2 + N b 2 + µN b 1 = ms̈ b 1

*
b1 : ms̈ = µN − mg sin θ (1)
*
b2 : N = mg cos θ (2)
SOLVE:
(2) ⇒ N = (10 kg)(9.81 m/s2 ) cos 30◦ = 84.96 N (3)

(1), (3) ⇒ s̈ = g(µ cos 30◦ − sin 30◦ ) = (9.81 m/s2 )(0.3 cos 30◦ − sin 30◦ ) = −2.36 m/s2

115
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

(b)
GIVEN:
The coefficient of friction between the block and m1 is 0.3, and between the block and the ground,
µ2 , is zero. m1 = 10 kg and m2 = 20 kg The block is inclined at 30 degrees.
DRAW:

FORMULATE EQUATIONS:
m1 :
* *
 *

−m1 g *
 + N b 2 + µ1 N b 1 = m1 s̈ b 1 + ẍ *
ı
 * *
 * *
h * *
i
−m1 g sin θ b 1 + cos θ b 2 + N b 2 + µ1 N b 1 = m1 (s̈ + ẍ cos θ) b 1 − ẍ sin θ b 2
*
b1 : −m1 g sin θ + µ1 N = m1 (s̈ + ẍ cos θ) (4)
*
b2 : −m1 g cos θ + N = −m1 ẍ sin θ (5)
m2 :
* *
−µ1 N b 1 − N b 2 + M *
 − m2 g *
 = m2 ẍ *
ı

−µ1 N (cos θ *
ı + sin θ *
 ) − N (− sin θ *
ı + cos θ *
 ) + (M − m2 g) *
 = m2 ẍ *
ı
*
ı : m2 ẍ = −µ1 N cos θ + N sin θ (6)
SOLVE:
N (sin θ − µ1 cos θ)
(6) ⇒ ẍ = (7)
m2
" #
m sin θ (sin θ − µ1 cos θ)
(5), (7) ⇒ N 1+ 1 = m1 g cos θ
m2

N = 80.1 N

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

This gives a value for N of 80.1 N. Putting this result back into (5) gives ẍ = 0.962 m/s2 . If we
substitute these two values back into (4) we can solve for s̈
 
−(10 kg)(9.81 m/s2 )(sin 30◦ ) + 0.3(80.1 N) = (10 kg) s̈ + (0.962 m/s2 ) cos 30◦

s̈ = −3.33 m/s2

117
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.51
GOAL: Determine whether m1 slides relative to m2 and, if so, determine the absolute accelerations
of m1 and m2 .
GIVEN:
DRAW:

* *
ı 
*
b1 cos θ sin θ
*
b2 − sin θ cos θ
ASSUME: We’ll assume (as shown in the diagram) that the two masses can remain in static
equilibrium. We’ll then verify (of not) this assumption and if it’s wrong we’ll solve the dynamic
case.
FORMULATE EQUATIONS:
For m1 :
*
b1 : −S − m1 g sin θ + T = 0 (1)
*
b2 : N1 − m1 g cos θ = 0 (2)
For m2 :
*
b1 : S − m2 g sin θ + T = 0 (3)
*
b2 : N2 − N1 − m2 g cos θ = 0 (4)
SOLVE:
m1 + m2
(1) + (3) ⇒ T =
g sin θ (5)
2
m − m1
(5) → (3) ⇒ S= 2 g sin θ (6)
2
The maximum value of S is equal to µ1 N1 . Using (2) to evaluate this gives us
1
µ1 N1 = µ1 m1 g cos θ = 0.15(10 kg)(9.81 m/s2 )( √ ) = 10.4 N
2
Our value of S is
m2 − m1 5 kg − 10 kt 1
     
S= = (9.81 m/s2 ) √ = −17.3 N
2 2 2
As you can see, the magnitude of S that’s needed is about 70 percent larger than the maximum
that’s available. Hence we’ll have slippage. Note that the negative sign for S tells us that the

118
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

direction originally assumed is incorrect. Thus in the FBD=IRD for slip (shown below) the direction
for the frictional interfacial force has been slipped from what it was in the static analysis. The

acceleration of m1 is given by ẍ and the acceleration of m2 is given by ÿ. The fact that the two
masses are connected by a pulley gives us

ÿ = −ẍ

Our new equations of motion are given by


For m1 :
*
b1 : µ1 N1 − m1 g sin θ + T = m1 ẍ (7)
*
b2 : N1 − m1 g cos θ = 0 (8)
For m2 :
*
b1 : −µ1 N1 − m2 g sin θ + T = −m2 ẍ (9)
*
b2 : N2 − N1 − m2 g cos θ = 0 (10)

(7) → (9) ⇒ (m1 + m2 )ẍ = 2µ1 N1 + (m2 − m1 )g sin θ (11)

2µ1 m1 g cos θ + (m2 − m1 )g sin θ


(11) → (8) ⇒ ẍ = m1 + m2

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.52
GOAL:
Derive formulas for Ca and Cr
Calculate values for Ca and Cr
Confirm validity of given data to governing equations
SOLVE:
(a) We start from

1
mẍ = − ρCa Aẋ2 − Cr mg
2
Using the data of the first and second test gives

1
ma1 = − ρCa Av12 − Cr mg (1)
2
1
ma2 = − ρCa Av22 − Cr mg (2)
2

1  
-(1)+(2)⇒ m(−a1 + a2 ) = ρCa A v12 − v22
2

(a2 − a1 )
Ca = 2m
ρA (v12 − v22 )

h 1
i h i
m a1 v22 − a2 v12= − ρCa A v12 v22 − v22 v12 − Cr mg(v22 − v12 )
(1)×v22 − (2) × v12 ⇒ 2
Cr mg(v2 − v1 ) = m(a2 v12 − a1 v22 )
2 2

a2 v12 − a1 v22
Cr =
g(v22 − v12 )

2(1450)(−0.132 + 0.214)
(b) Ca = = 0.369
(1.2)(2.2)(16.02 − 3.472 )
−0.132(16.0)2 + 0.214(3.97)2
Cr = = 0.0130
9.81(3.472 − 16.02 )

(c) Using MATLAB and ODE45 yields a speed of 15.3 m/s at the end of test #1 and 2.79 m/s at
the end of test #2. These compare very favorably with the given data of 55 km/hr = 15.3 m/s and
10 km/hr = 2.78 m/s. We should conclude that the given formulas do a good job of extracting Ca
and Cr from the experimental data.
MATLAB code:

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.53
GOAL: Find the spring extensions for static equilibrium in both case a and case b. Then find the
acceleration of m2 in each case if m2 is pulled down 0.01 m and released
GIVEN: k = 1000 N/m, m1 = 10 kg, m2 = 20 kg
DRAW: (case a)

ASSUME: The inextensible rope means that m1 and m2 share a common acceleration. The rope
stays taut.
FORMULATE EQUATIONS:
*
Force Balance F = ma*
SOLVE: (case A)
Static condition:
Force balance, m1 : N*
 − m1 g *
 − kx1 *
ı +T*
ı =0

*
ı : −kx1 + T = 0 ⇒ T = kx1

Force balance, m2 : T*
 − m2 g *
 =0 ⇒ T = m2 g

m2 g (20 kg)(9.81 m/s2 )


T = kx1 = m2 g ⇒ x1 = = = 0.196 m
k 1000 N/m

Dynamic condition:
Force balance, m1 : N*
 − m1 g *
 − kx1e *
ı +T*
ı = −m1 ẍ *
ı

*
ı: −kx1e + T = −m1 ẍ ⇒ T = kx1e − m1 ẍ

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

Force balance, m2 : T*
 − m2 g *
 = m2 ẍ *
 ⇒ T = m2 ẍ + m2 g

T = kx1e − m1 ẍ = m2 ẍ + m2 g ⇒ kx1e − m2 g = m1 ẍ + m2 ẍ

kx1e − m2 g (1000 N/m)(0.196 m + 0.01 m) − (20 kg)(9.81 m/s2 )


ẍ = = = 0.333 m/s2
m1 + m2 10 kg + 20 kg

case a: x1 = 0.196 m ,  m/s2


a*m = 0.333 *
static 2

DRAW: (case b)

SOLVE: (case b)
Static condition:
Force balance, m1 : kx2 *
 −T*
 − m1 g *
 =0 ⇒ T = kx2 − m1 g

Force balance, m2 : T*
 − m2 g *
 =0 ⇒ T = m2 g

(m1 + m2 )g (10 kg + 20 kg)(9.81 m/s2 )


T = kx2 − m1 g = m2 g ⇒ x2 = = = 0.294 m
k 1000 N/m

Dynamic condition:
Force balance, m1 : kx2e *
 −T*
 − m1 g *
 = m1 ẍ *

*
: T = −m1 ẍ + kx2e − m1 g

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

Force balance, m2 : T*
 − m2 g *
 = m2 ẍ *
 ⇒ T = m2 g + m2 ẍ

T = −m1 ẍ+kx2e −m1 g = m2 g+m2 ẍ ⇒ m1 ẍ+m2 ẍ = kx2e −m1 g−m2 g

kx2e − g(m1 + m2 ) kx2e


ẍ = = −g
m1 + m2 m1 + m2

(1000 N/m)(0.294 m + 0.01 m)


ẍ = − 9.81 m/s2 = 0.333 m/s2
10 kg + 20 kg

case b: x2 = 0.294 m ,  m/s2


a*m = 0.333 *
static 2

Note how both case a and case b produce the same accelerations. The acceleration is completely
due to extending the spring past its equilibrium state. Because it is a linear spring, extending it an
additional 0.01 m will produce the same net change in force no matter what the previous extension
was (∆F = k∆x). Both case a and case b experience the same net change in force when the spring
is extended an additional 0.01 m and since both cases deal with the same masses, the result is that
the accelerations in case a and case b are identical.

124
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.54
GOAL: Find the acceleration of blocks A and B.
GIVEN: Arrangement of the masses.
DRAW

* *
ı 
*
b1 cos θ sin θ
*
b2 − sin θ cos θ
FORMULATE EQUATIONS:
Force balance, mass A:
* *
mA a*A = 
−mA g *
 + F2 b 1 + N2 b2
*
* (1)
= F2 − mA g sin θ b 1 + N2 − mA g cos θ b 2

Force balance, mass B :


* *
mB a*B = −m * * *
 B g  + N1  − F1 ı −N2 b 2 − F2 b 1  (2)
= N2 sin θ − F2 cos θ − F1 *
ı + N1 − mB g − N2 cos θ − F2 sin θ *

ASSUME: Because the surfaces are frictionless between blocks A and B, and between B and
the ground, we can assume that both F1 and F2 are zero. Also, the directions of motion of both
blocks are constrained. Block B is constrained to move in the * ı direction (a*B = ẍ *
ı ) and block A is
*
constrained to move in the b 1 direction with respect to the block . The overall absolute acceleration
of the block A is found from

125
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

*
a*A = a*B + a*A/ = ẍ *
ı + s̈ b 1
B

Equations (1) and (2) simplify to


Mass A:
*
b 1: mA (s̈ + ẍ cos θ) = −mA g sin θ (3)
*
b 2: −mA ẍ sin θ = N2 − mA g cos θ (4)
Mass B :
*
ı: mB ẍ = N2 sin θ (5)

*
: 0 = N1 − mB g − N2 cos θ (6)
SOLVE:
(4),(5) ⇒ mB ẍ = sin θ(mA g cos θ − mA ẍ sin θ)
gmA sin θ cos θ
ẍ = (7)
mB + mA sin2 θ

gmA sin θ cos θ *


a*B = ı
mB + mA sin2 θ

gmA sin θ cos2 θ


(3),(7) ⇒ s̈ + = −g sin θ (8)
mB + mA sin2 θ
g sin θ(mA + mB )
s̈ = −
mB + mA sin2 θ

* gmA sin θ cos θ * g sin θ(mA + mB ) *


a*A = ẍ *
ı + s̈ b 1 = ı − b
mB + mA sin2 θ mB + mA sin2 θ 1

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.55
GOAL:
Find m1
For m2 = 0.9 kg, find θ at new static equilibrium
With I.C.’s y(0) = 1.2 m and ẏ(0) = 0 m/s, numerically integrate equations of motion to see actual
system response and equilibrium position.
DRAW:

FORMULATE EQUATIONS:

Force balance, m1 : −(N − m1 g) *


ı + (T − S) *
 = m1 ẍ *

*
ı : N = m1 g (1)

*
 : m1 ẍ = T − S = T − µd N = T − µd m1 g (2)

Force balance, m2 : m2 ÿ = m2 g − 2T cos θ = m2 g − 2µd m1 g cos θ (3)

SOLVE:
Applying ẍ = 0 to (2) yields
T = µd m1 g (4)

Applying ÿ = 0 to (3) yields

m2 1 kg
m1 = 2µ cos θ = = 2.357 kg
d 2(0.3)(0.707)

(b)

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

m2 0.9 kg
(3)⇒ cos θ = = = 0.636
2µd m1 2(0.3)(2.357 kg)

θ = 50.48◦

(c) The governing equation (from (3)) is


2µd m1
ÿ = g − g cos θ
m2

From trigonometry we can find θ as a function of y:

y
cos θ = √ and so
1.44 m2 +y 2

2µd m1 y
ÿ = g − gp
m2 1.44 m2 + y 2

Using the given parameter values yields


2(0.3)(2.357 kg) y
ÿ = 9.81 m/s2 − (9.81 m/s2 ) p
0.9 kg 1.44 m2 + y 2
y
ÿ = 9.81 m/s2 − (15.41 m/s2 ) p
1.44 m2 + y 2

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

I.C.: y(0) = 1.2, ẏ(0) = 0.


The plot of y and ẏ versus t (found using MATLAB to integrate the governing equation for y)
shows that the system doesn’t go to the predicted equilibrium. The system has no damping and
therefore m2 drops to the predicted position, overshoots, returns, overshoots, etc. Without some
damping to dissipate the energy, the masses will simply continue to oscillate.

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.56
GOAL: Find minimum mB to allow motion of a pulley system and then calculate the accelerations
of the two masses A and B for a given mB .
GIVEN: Slope that mA slides on and pulley geometry.
DRAW:

FORMULATE EQUATIONS:
Perform a force balance for both masses:
( T2 − F ) b 1 + N b 2 − mA g *
* * *
Mass A:  = −mA ẍ b 1
*
T
b 1: − F − mA g sin θ = −mA ẍ (1)
2
*
b 2: N − mA g cos θ = 0 (2)

Mass B: mB g − T = mB ÿ (3)

ASSUME: −ẍ = 2ÿ (4)


SOLVE: As mB increases, the force F grows. When F = µs N we’re at the condition beyond which
the mass mA will move. Thus we’ll let ẍ = ÿ = 0 (no motion) and F = µs N
(2) ⇒ N = mA g cos θ (5)
T
(1), (5) ⇒ − µS mA g cos θ − mA g sin θ = 0 (6)
2

(3) ⇒ T = mB g (7)
mB g
(6), (7) ⇒
2 − µS mA g cos θ − mA g sin θ = 0
m∗B = 2mA (sin θ + µS cos θ)

Now let mB = 2m∗B = 4mA (sin θ + µS cos θ). We know we have slip and thus

130
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

F = µd N = µd mA g cos θ (8)
1 ∗ ∗
(1), (3), (8) ⇒ 2 (mB g − mB ÿ) − µd mA g cos θ − mA g sin θ = −mA ẍ
1 ∗ 1 ∗
Using −ẍ = 2ÿ ⇒ 2 mB g − µd mA g cos θ − mA g sin θ = 2ÿmA + 2 ÿmB

g[m∗B − 2mA (µd cos θ + sin θ)]


ÿ =
4mA + m∗B

ẍ = −2ÿ

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.57
GOAL: Find the minimum mB that allows motion for all the blocks in the illustrated system and
determine the tension in the cord when mB is fifty percent greater than the minimum value that
permits motion to occur.
GIVEN: mA > mC
DRAW:
System coordinates:

Individual FBD=IRD diagrams:

ASSUME: Because the cord is inextensible we have


∆xA + ∆xC + 2∆xB = 0

2aB = −aA − aC (1)


FORMULATE EQUATIONS:
Block A: (T − FA ) *
ı + (N1 − mA g) *
 = −mA aA *
ı

*
ı : T − FA = −mA aA (2)

*
 : N1 − mA g = 0 ⇒ N1 = mA g (3)

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

Block C: (FC − T ) *
ı + (N2 − mC g) *
 = mC aC *
ı

*
ı : FC − T = mC aC (4)

*
 : N2 − mC g = 0 ⇒ N2 = mC g (5)

Block B: mB g − 2T = mB aB (6)
SOLVE:
Block B will move if either A or C slip. If we assume static conditions then we have
m g
(6) ⇒ T = B (7)
2
mB g
(7) → (2) ⇒ FA = (8)
2
mB g
(7) → (4) ⇒ FC = (9)
2

FA = µs N1 = µs mA g (10)

No-slip ⇒ max

FC = µs N2 = µs mC g (11)

No-slip ⇒ max

(8), (10) ⇒ mB = 2µs mA (12)

(9), (11) ⇒ mB = 2µs mC (13)


Because we’re given mA > mC the critical limit comes from taking the larger of the two:
m∗B = 2µs mA

If we now let mB = 1.5m∗B all masses will accelerate and the friction forces FA and FC will have
their sliding friction values,
FA = µd mA g and FC = µd mC g
T
(2) ⇒ aA = − + µd g (14)
mA
T
(4) ⇒ aC = − + µd g (15)
mC
!
1 1
(1), (14), (15) ⇒ −2aB = 2µd g − T +
mA mC
(mA + mC )T
aB = −µd g + (16)
2mA mC
!
(mA + mC )T
(6), (16) ⇒ mB g − 2T = mB −µd g +
2mA mC

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

2mA mB mC g(1 + µd )
T =
mA mB + mB mC + 4mA mC
Letting mB = 3µs mA gives us
6µs m2A mC g(1 + µd )
T =
3µs mA (mA + mC ) + 4mA mC

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.58
GOAL: (a) Find the equation governing the speed of the mass, solve it, and find the limiting speed
as time t goes to infinity. (b) Find the limiting speed from the equation of motion. (c) Numerically
integrate the equation of motion and plot position and velocity versus time.
GIVEN: Initial conditions, mass, and coefficient of drag.
DRAW

FORMULATE EQUATIONS: From the FBD=IRD pair, the equation of motion is

mẍ = mg − cẋ
c (1)
ẍ = g − m ẋ

SOLVE:
(a) If we let v = ẋ, then from (1), the differential equation governing the speed of the mass is
c
v̇ + v=g (2)
m
Assume that the solution of this ODE has the form
c
v(t) = ae−( m )t + b (3)

where a and b are constants. To find a, we can set t = 0 in (3), which will give us the initial
condition:
v(0) = v0 = a + b ⇒ a = v0 − b (4)
c
(4) → (3) ⇒ v(t) = (v0 − b)e−( m )t + b (5)
mg
(5) → (2) ⇒ b= (6)
c
mg −( c )t mg
(6) → (5) ⇒ v(t) = (v0 − )e m + (7)
c c
Taking the limit of (7) as time t goes to infinity yields:
mg
as t → ∞, v(t) → c

(b) We can also find the limiting speed from by setting ẍ = 0 in the equation of motion, (1):
c
0=g− v (8)
m limit

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

mg
vlimit = c
f
(c) Using MATLAB R , we first code (1) into a function

function y = SinkingMass(t,x,m,c,g)

y(1) = x(2);
y(2) = g - c/m*x(2);
y=y’;

We can then run ode45 from the following script

% 3.1.31 script

c = 5; %N/m
m = 10; %kg
g = 9.81; %m/s

x0 = 0;
xdot0 = 10; %m/s
ic = [x0; xdot0];

[t,X] = ode45(@SinkingMass,[0 20],ic,’’,m,c,g);

figure(1) plot(t,X(:,1));
xlabel(’time (s)’);
ylabel(’position (m)’);

figure(2); plot(t,X(:,2));
xlabel(’time (s)’);
ylabel(’speed (m/s)’);

This produces the following two figures.

136
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

Figure 1: Position versus time.

Figure 2: Speed versus time.

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.59
GOAL: Find the steady-state position of the mass relative to the platform.
GIVEN: Mass m = 10 kg, unstretched spring length L = 0.3 m, spring stiffness k = 1000 N/m,
ẍ = 20 m/s2 .
DRAW

ASSUME: We’ve been told to ignore transient motions and so only consider the situation for
which the mass is stationary with respect to the platform.
FORMULATE EQUATIONS: Let the final position of the mass relative to the platform be

r*m = −d *
ı (1)

From physical considerations we expect that when the platform accelerates to the left the mass will
equilibrate to the right of its original location.
The positions of the masses relative to the points where the springs are attached are

r*m/ = −d *
ı + L*
 (2)
sp1

r*m/ = −d *
ı − L*
 (3)
sp2

The expressions for the forces applied by the springs on the mass is
 r*m  −d *
ı + L*

 p
* /sp1
F sp1 = −k k r*m/ k−L *
= −k d2 + L2 − L √ (4)
sp1 kr m/ k d2 + L2
sp1

 r*m  −d *
ı − L*

 p
* /sp2
F sp2 = −k k r *
m/ k−L *
= −k d2 + L2 − L √ (5)
sp2 kr m/ k d2 + L2
sp2

From the FBD=IRD, we get


* *
F sp1 + F sp2 = mẍ *
ı (6)
SOLVE: Breaking (6) into components only yields a useful equation for the *
ı direction:
√ 
2kd d2 + L2 − L
√ = mẍ (7)
d2 + L2

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

p 2kdL
Rearranging (7) ⇒ d2 + L2 = (8)
2kd − mẍ

Squaring (8) ⇒ 4k 2 d4 − 4kmẍd3 + m2 ẍ2 d2 − 4kmẍL2 d + m2 ẍ2 L2 = 0 (9)

(9) ⇒ 4.0×106 d4 − (8.0×105 m)d3 + (4.0×104 m2 )d2 − (7.2×104 m3 )d + 3.6×103 m4 = 0

d = 0.3183 m, 0.0503 m, (−0.0843 ± 0.2215i) m


Looking at the four possible values of d, we can first eliminate those with an imaginary part because
distance must only have real parts. Of the two remaining values, we check these values against (8),
and find that only d = 0.3183 is valid. The other value was picked up when we squared (8). Thus,

r*m = −0.3183 *
ım

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.60
GOAL: (part A) Starting from rest, find time required for sled to travel 2000 m. (part B) Find
speed when x = 2000 m. (part C) Find sled’s terminal velocity. (part D) Consider massless sled
which implies constant velocity. Find time needed to reach 2000 m. (part E) How close does the
time under massless assumption match the actual time required? (part F) Is there a distance in
which the massless assumption is a poor approximation?
GIVEN: thrust=200, 000 N, drag force=1600|ẋ| kg/ s, mass = 400 kg
DRAW:

ASSUME: Frictionless surface


FORMULATE EQUATIONS:
*
Force Balance F = ma*

N*  + 2 × 105 *
 − mg * ı N − 1600|ẋ| *
ı kg/ s = mẍ *
ı
*
ı : 2 × 105 N − 1600|ẋ| kg/ s = 400 kg ẍ
SOLVE:
400ẍ + 1600ẋ = 2 × 105

ẍ + 4ẋ = 500

let v = ẋ v̇ + 4v = 500
This first order ODE is much easier to solve.
Consider the particular solution (v = const, v̇ = 0)
vp : 0 + 4vp = 500 ⇒ vp = 125
Consider the homogeneous solution
vh : v̇h + 4vh = 0

(λ)(λ + 4) = 0 ⇒ λ = −4 ⇒ vh = a1 e−4t
the solution to the first order ODE is the sum of the particular and homogeneous solutions
v(t) = vp + vh ⇒ v(t) = 125 + a1 e−4t
Solve for a1 using the initial condition of v(0) = 0

0 = 125 + a1 e0 ⇒ a1 = −125 ⇒ v(t) = 125(1 − e−4t )

This equation can be integrated to find x(t)

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

Z Z
x(t) = vdt = 125(1 − e−4t )dt = 125t + 31.25e−4t + a2

Let x(0) = 0 and solve for a2


x(0) = 0 = 0 + 31.25e0 + a2 ⇒ a2 = −31.25

x(t) = 125t + 31.25(e−4t − 1)


SOLVE: (part A)
2000 m = 125t + 31.25(e−4t − 1) ⇒ t = 16.25 s

(part A) t = 16.25 s
SOLVE: (part B)
v(16.25 s) = 125 1 − e−4(16.25 s) = 125 m/s
 

(part B) v(16.25 s) = 125 m/s


SOLVE: (part C)
consider the velocity expression and let t approach infinity.
v(∞) = 125(1 − e−∞ ) = 125 m/s

(part C) v(∞) = 125 m/s


SOLVE: (part D)
With a massless approximation, there is a constant velocity, v̇ = 0
let v = ẋ v̇ + 4v = 500 ⇒ 4v = 500 ⇒ v = 125 m/s
Z Z
x(t) = vdt = 125dt = 125t + a3 a3 = 0

2000 = 125t ⇒ t = 16.00 s


(part D) t = 16.00 s
SOLVE: (part E)
The difference between the two times is 0.25 s. The error associated with neglecting mass is 1.5%.
The massless assumption is a good approximation at 2000 m
SOLVE: (part F)
Yes, there is a distance over which the massless assumption makes bad approximations. This time
span is refereed to as an ’inertial response’ while the massless assumption represents the ’steady
state’ or in this case, the sleds terminal velocity. After a certain distance has been traveled, the
sled’s velocity approaches the terminal velocity. The forces approach summing to zero and the
acceleration approaches zero. This is why the massless assumption works after a certain distance
has been traveled.

141
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.1.61
GOAL: (part a) Find minimum mass m∗B for block A to accelerate right and block B to accelerate
down the plane. (part b) Find maximum coefficient of static friction that would make sense. (part
c) Find acceleration expressions for the blocks.
GIVEN: Massless ropes and pulleys. Spring stretched by amount δ. Mass B is on a surface with
different static and dynamic coefficients of friction.
DRAW:

* *
ı 
*
b1 cos φ − sin φ
*
b2 sin φ cos φ

ASSUME: Mass A is on a frictionless surface.


(a):
FORMULATE EQUATIONS:
The minimum mass m∗B can be thought to be the mass in which the system is in equilibrium, all
accelerations are zero, and the friction at B is at its maximum possible static value just barely
holding B in place.
FBD=0 for mA : N*
 − mA g *
 + T1 *
ı − kδ *
ı =0

142
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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

*
ı : T1 − kδ = 0 ⇒ T1 = kδ
* * *
FBD=0 for pulley: T2 b 1 − T1 b 1 − T1 b 1 = 0 ⇒ T2 = 2T1 = 2kδ (1)
* * *
FBD=0 for m∗B : −T2 b 1 − m∗B g *
 + N b 2 − µs N b 1 = 0
* * * * *
−T2 b 1 − m∗B g(− sin φ b 1 + cos φ b 2 ) + N b 2 − µs N b 1 = 0

*
b2 : −m∗B g cos φ + N = 0 ⇒ N = m∗B g cos φ (2)

*
b1 : −T2 + m∗B g sin φ − µs N = 0 (3)
SOLVE:
(1), (2) → (3) ⇒ −2kδ + m∗B g sin φ − µs m∗B g cos φ = 0

m∗B g(sin φ − µs cos φ) = 2kδ

m∗B = 2kδ
g(sin φ−µs cos φ)

(b):
Part (b) asks for the maximum reasonable value of µs . From the expression for m∗B we see that µs
will be negative (which is quite unreasonable) if
µs cos φ > sin φ ⇒ µs > tan φ

maximum value of µs is tan φ


(c) mB > m∗B , which means that A accelerates to the right and B accelerates down the plane. B
has overcome static friction. x describes the position of A past the initial spring extension of δ.
Similarly y describes the position of B
FORMULATE EQUATIONS:
* * *
FBD=IRD=0 for massless pulley T2 b 1 − T1 b 1 − T1 b 1 = 0 ⇒ T2 = 2T1 (4)

FBD=IRD for mA : N*
 − mA g *
 + T1 *
ı − k(x + δ) *
ı = mA ẍ *
ı

*
ı : T1 − k(x + δ) = mA ẍ (5)

* * * * * *
FBD=IRD for mB : −T2 b 1 − mB g(− sin φ b 1 + cos φ b 2 ) + N b 2 − µd N b 1 = mB ÿ b 1

*
b2 : −mB g cos φ + N = 0 ⇒ N = mB g cos φ (6)
*
b1 : −T2 + mB g sin φ − µd N = mB ÿ (7)
SOLVE:
(4), (6) → (7) ⇒ −2T1 + mB g sin φ − µd mB g cos φ = mB ÿ (8)

143
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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

(5), (8) ⇒ 2T1 − 2k(x + δ) − 2T1 + mB g sin φ − µd mB g cos φ = mB ÿ + 2mA ẍ


ÿ =
(conservation of rope)
2
m
−2k(x + δ) + mB g sin φ − µd mB g cos φ = B ẍ + 2mA ẍ
2
−2k(x + δ) + mB g sin φ − µd mB g cos φ
ẍ = mB
2 + 2mA
−2k(x + δ) + mB g sin φ − µd mB g cos φ
ÿ =
mB + 4mA

−2k(x + δ) + mB g sin φ − µd mB g cos φ *


Acceleration of A is mB ı
+ 2mA
2

−2k(x + δ) + mB g sin φ − µd mB g cos φ *


Acceleration of B is mB + 4mA b1

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.62
GOAL: Determine how long it takes for B to reach a height of 1 m off the floor.
GIVEN: Mass of blocks, pulley configuration and applied force as a function of time.
DRAW:

FORMULATE EQUATIONS:
Note that in the expression for the applied force, aet , there is an implicit coefficient associated
with the exponent t of 1 s−1 in order to render the t term nondimensional. When we integrate
this expression later on we’ll carry this dimensional coefficient through in order to keep all the
dimensions consistent.
Note that in the FBD=IRD diagram there is a normal force N illustrated. This is to account for
the fact that the applied force might not be sufficient to cause an immediate upward motion.
Construct a force balance for each mass, including both an acceleration and normal force:
Force balance, B: mB ÿB = mB g − F − N (1)

Force balance at A: F = 4T (2)


SOLVE:
First we’ll look at the possibility of ÿB being zero and the normal force N being finite. Letting
ÿB = 0 gives us
N = mB g − 4T = mB g − 4aet
At t = 0 we have
N = (1.1 kg)(9.81 m/s2 ) − 4(1.1 N) = 6.39 N
N is greater than zero initially and thus the bucket simply sits still on the ground. It doesn’t start
to move until the applied force reaches (and then exceeds) mB g. We can solve for the time t1 at
which this occurs:
mB g = 4aet1
9.81
 
t1 = ln s = 0.897 s
4
Now we can go back to (1),(2) and let N =0 (for t > t1 the bucket lifts off the floor).
4ae(t+0.897 s)
(1), (2) ⇒ ÿB
= g −
mB

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

Integrating gives us
4ae(t+0.897 s)
ẏB = gt − s + C1
mB
Using the initial condition ẏB (0) = 0 gives us C1 = 9.81 m/s.
Integrating again and we’ll get
gt2 4ae(t+0.897 s) 2
yB = − s + (9.81 m/s)t + C2
2 mB
Using yB = 0 at t = 0 gives us C2 = 9.81 m. Thus our final expression for yB is
gt2 4ae(t+0.897 s) 2
yB = − s + (9.81 m/s)t + 9.81 m
2 mB
We now need to solve this expression for the value of elapsed time t2 for which yB = −1 m.
Numerically solving yields t2 = 0.791 s. Thus the total time for the bucket to rise 1 m above the
ground is
t = t1 + t2 = 1.69 s

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

3.1.63
GOAL: Determine the minimum mass of m2 that causes m1 to slip, the compression ∆x of the
spring just before the rope goes slack, and the blocks’ speed v at the instant the rope tension
vanishes.
GIVEN: Masses m1 and m2 are connected by an inextensible rope, where m1 = 20 kg and slides
on a surface with µs = 0.6 and µd = 0.3, and m2 is suspended under a pulley that the rope goes
over. The masses start from rest, and m2 is h = 3 m above a spring with k = 1000 N/m.
DRAW:

FORMULATE EQUATIONS:
The force balances in terms of Cartesian coordinates are

Fx = mẍ (1)
Fy = mÿ (2)

The friction force acting on m1 is

Ff = µN (3)

The final speed, acceleration, and distance traveled for m2 are related by

v02 = 2ẍh (4)

The force exerted by the spring is given by

Fs = kx (5)

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3.1. CARTESIAN COORDINATES CHAPTER 3. KINETICS OF PARTICLES

SOLVE:

m1 FBD = IRD, *
 : (2) ⇒ N − m1 g = 0

N = m1 g

The friction force reaches a maximum of Ff = µN when m1 begins to slip, so

m1 FBD = IRD, *
ı : (3) → (1) ⇒ m1 ẍ = T − µN

m1 ẍ = T − µm1 g
T = m1 ẍ + µm1 g

*
m2 FBD = IRD, b 1 : (1) ⇒ m2 ẍ = m2 g − T

m2 ẍ = m2 g − m1 ẍ − µm1 g
(m2 − µm1 )g
ẍ = (6)
m1 + m2

Just before slip, ẍ = 0 and µ = µs , so

(6) = 0 ⇒ 0 = m2 − µs m1
m2 = µs m1
m2 = (0.6)(20 kg)

m2 = 12 kg

With this mass, the system is set in motion, and so µ = µd . When m2 makes contact with the
spring below it,
*
m2 FBD = IRD, b 1 : (5) → (1) ⇒ m2 ẍ = m2 g − T − kx

m2 ẍ = m2 g − m1 ẍ − µm1 g − kx
1 h i
ẍ = (m2 − µd m1 )g − kx (7)
m1 + m2

f
We can integrate (7) with MATLABR to find when the rope goes slack and the corresponding spring
compression ∆x. We’ll first need to obtain initial conditions. Let’s take x0 = 0 for convenience.
We can find the initial speed v0 by using the acceleration just after slip:
(m2 − µd m1 )g
(6) ⇒ ẍ =
m1 + m2

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CHAPTER 3. KINETICS OF PARTICLES 3.1. CARTESIAN COORDINATES

[12 kg − (0.3)(20 kg)] (9.81 m/s2 )


ẍ =
20 kg + 12 kg
ẍ = 1.839 m/s2

Just before hitting the spring,


q
(4) ⇒ v0 = 2ẍh
q
v0 = 2(1.839 m/s2 )(3 m)
v0 = 3.322 m/s

When we integrate (7), we find that the spring compression ∆x and the blocks’ speed v at the
moment the rope goes slack is

∆x = 0.153 m
v = 3.30 m/s

149
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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.2 Polar Coordinates

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.1
GOAL: What is the traction force between the tires and the road at θ = 30 degrees?
GIVEN:
The car has mass m, and is travelling with constant velocity on a circular path.
DRAW:

* *
ı 
e*r sin θ cos θ
e*θ cos θ − sin θ
FORMULATE EQUATIONS:
T represents the traction force.

   
m r̈ − rθ̇2 e*r + m rθ̈ + 2ṙθ̇ e*θ = N e*r + T e*θ − mg *
 = (N − mg cos θ) e*r + (T + mg sin θ) e*θ
 
e*r : m r̈ − rθ̇2 = N − mg cos θ (1)
 
e*θ : m rθ̈ + 2ṙθ̇ = T + mg sin θ (2)
SOLVE:
The velocity is constant and the path is circular. Thus θ̈ = 0, and ṙ = r̈ = 0. From this (2)
becomes:

T + mg sin θ = 0

T = −mg sin 30◦ = − mg


2

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.2.2
GOAL: Find the critical value of the cylinders rotational speed, ω, such that the people don’t slip
down when the floor moves away from them.
GIVEN:
The coefficent of friction, µ, is 0.8, and the radius of the cylinder, r, is 2 m.
DRAW:

FORMULATE EQUATIONS:
FR is the force developed between a person and the wall that resists the downward force of gravity.
   
mz̈ e*z + m r̈ − rθ̇2 e*r + m rθ̈ + 2ṙθ̇ e*θ = −N e*r − mg e*z + FR e*z

Since z, r and ω are constant, we can write ż = z̈ = ṙ = r̈ = θ̈ = 0. This gives us:

−mrθ̇2 e*r = −N e*r + (FR − mg) e*z

e*r : N = mrθ̇2 (1)

e*z : FR = mg (2)
SOLVE:
The frictional force is related to the normal force through FR = µN . Thus we can write:

mg = µmrθ̇2

g = µrθ̇2

s
q
g 9.81 m/s2
θ̇ = ω = µr = = 2.48 rad/s = 23.6 rpm
(0.8)(2 m)

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.3
GOAL: Does an ω0 exist so that the bowl is fixed?
GIVEN: System geometry.
FORMULATE EQUATIONS: The governing equation is

r̈ = ω02 r − g sin(ω0 t)
SOLVE:
For the vase to remain stationary we’d need r̈ = 0 and therefore

ω02 r = g sin(ω0 t)
r
g
ω0 = sin(ω0 t)
r
The left-hand side is constant (by assumption). The right hand side is time-varying (t appears
explicitly in sin(ω0 t). Thus there’s no way for the equation to be satisfied except if ω0 = 0 and
g = 0 (a non-problem). An appropriate ω0 therefore does not exist.

153
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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.2.4
GOAL: Find the maximum constant speed with which a car can negotiate a constant radius turn.
GIVEN: The turn has a radius of 160 ft. The car and driver have a mass of 3800 lb and the
coefficient of friction between the car and road is initially µ1 = 0.85.
DRAW:

ASSUME: The details of the car’s four tires interacting with the road can be neglected and the
entire dynamics can be viewed as a point mass moving along the road’s surface. The force that
must act along the direction of travel to counter road/air drag can be neglected and only the lateral
force components need by considered.
FORMULATE EQUATIONS: Velocity and acceleration in a polar frame are given by
v*C = ṙ e*r + rθ̇ e*θ

a*C = (r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ


Traveling at a constant speed and at a constant radius from the center of the turn implies that only
the centripetal force will concern us and a force balance need only be made in the e*r direction. ṙ,
r̈ and θ̈ are all zero, giving us
Force balance, e*r : mrθ̇2 = Fr
SOLVE:
The maximum lateral force Fr is equal to µ1 mg. Hence our force balance becomes
mrθ̇2 = µ1 mg
s
µ1 g 0.85(32.2 ft/s2 )
r
θ̇ = = = 0.414 rad/s
r 160 ft
Using this value of θ̇ in our expression for velocity (using ṙ = 0) gives us
v*C = rθ̇ e*θ = (160 ft)(0.414 rad/s) e*θ

vC = 66.2 ft/s

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.5
GOAL: Determine the applied force F and the cord tension T at the given instant.
GIVEN: A ball attached to an elastic cord is allowed to rotate in the horizontal plane about a
fixed point. The ball has a mass of m = 2 kg, travels on a rough surface with µ = 0.7, and is
acted on by a force F that varies with time. At the given instant, r = 0.9 m, θ = 50◦ , ṙ = 1.2 m/s,
θ̇ = 6 rad/s, r̈ = 0, θ̈ = 1 rad/s2 , and F is in the *
 direction, where r is the elastic cord’s length
and θ is the angle it makes with the horizontal.
DRAW:

FORMULATE EQUATIONS:
A vector force balance in terms of polar coordinates is given by
*
F = ma* = m(r̈ − rθ̇ 2 ) e*r + m(2ṙ θ̇ + rθ̈) e*θ (1)

The total friction force acting on the ball is Ff = µN = µmg. To find the polar components of the
friction force, we can use the ball’s velocity vector and speed:

* v* (ṙ e* + rθ̇ e*θ )


F f = µmg *
= µmg q r (2)
kv k ṙ 2 + (rθ̇)2

The coordinate transformation between the cord-fixed and ground-fixed reference frames is
* *
ı 
*
er cos θ sin θ
e*θ − sin θ cos θ

SOLVE:
Since r̈ = 0 at this instant, a force balance on the ball reduces to

FBD = IRD: (2) → (1) ⇒ (ṙ e* + rθ̇ e*θ )


 − µmg q r
−T e*r + F * = −mrθ̇ 2 e*r + m(2ṙ θ̇ + rθ̈) e*θ
2
ṙ + (rθ̇) 2

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

(ṙ e* + rθ̇ e*θ )


−T e*r + F (sin θ e*r + cos θ e*θ ) − µmg q r = −mrθ̇ 2 e*r + m(2ṙ θ̇ + rθ̈) e*θ
2
ṙ + (rθ̇) 2

We can first find the applied force F by examining the angular component of our force balance:

µmgrθ̇
e*θ : F cos θ − q = m(2ṙ θ̇ + rθ̈)
ṙ 2 + (rθ̇)2
 
m  µgrθ̇
F = q + 2ṙ θ̇ + rθ̈ 
cos θ ṙ 2 + (rθ̇)2
 
(2 kg)  0.7(9.81 m/s2 )(0.9 m)(6 rad/s)
F = + 2(1.2 m/s)(6 rad/s) + (0.9 m)(1 rad/s2 )
cos(50◦ )
q
2
(1.2 m/s)2 + [(0.9 m)(6 rad/s)]

F = 68.5 N

The cord tension T can then be solved for from the force balance’s radial component:

µmg ṙ
e*r : −T + F sin θ − q = −mrθ̇ 2
ṙ 2 + (rθ̇)2

µmg ṙ
T = F sin θ + mrθ̇ 2 − q
ṙ 2 + (rθ̇)2

0.7(2 kg)(9.81 m/s2 )(1.2 m/s)


T = (68.5 N) sin(50◦ ) + (2 kg)(0.9 m)(6 rad/s)2 − q
(1.2 m/s)2 + [(0.9 m)(6 rad/s)]2

T = 114 N

156
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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.6
GOAL: Determine if the mass particle will leave the cylinder’s surface before it reaches the top.
GIVEN:
Contact is lost when N = 0 θ = t2
DRAW:

* *
ı 
e*r cos θ sin θ
e*θ − sin θ cos θ
FORMULATE EQUATIONS:
Force balance:
 
2*
N e*r + S e*θ − mgn
* *
2 = ma = m −r θ̇ e r + r θ̈ e θ

 
e*r (N − mg sin θ) + e*θ (S − mg cos θ) = m −rθ̇2 e*r + rθ̈ e*θ

e*r : N − mg sin θ = −mrθ̇2 (1)

e*θ : S − mg cos θ = mrθ̈ (2)


SOLVE:
Since θ = t2 rad/s2 we have θ̇ = (2 rad/s2 )t and θ̈ = 2 rad/s2 Using these relations in (1) and (2)
gives:  
N = mg sin t2 rad/s2 − (4mr s−4 )t2 (3)
 
S = mg cos t2 rad/s2 + 2mr s−2 (4)
As contact is lost if N = 0, we can write:
 
mg sin t2 rad/s2 = (4mr s−4 )t2
Which leads to:
4r −4 2
   
sin t2 rad/s2 = s t = (0.8155 s−2 )t2 (5)
g
Using whatever nonlinear equation solver you find convenient will lead to t2 = 1.0835 s2 . Because
θ = t2 rad/s2 , we find that θ = 1.0835 rad < π2 . Thus the normal force will go to zero before the
mass reaches the top and contact will be lost.

157
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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.2.7
GOAL: Determine the applied force F and the cord tension T at the given instant.
GIVEN: A ball of mass m = 1 kg is attached to an elastic cord and allowed to rotate in the vertical
plane about a fixed point. The ball is acted on by a time-varying force F and by air drag, which
is described by Fd = bkv*k2 , where b = 0.001 Ns2 /m2 . At the given instant, r = 0.7 m, θ = 40◦ ,
ṙ = 0.9 m/s, θ̇ = 15 rad/s, r̈ = 0.2 m/s2 , θ̈ = 2 rad/s2 , and F acts on the ball at β = 70◦ from the
horizontal, where r is the elastic cord’s length and θ is the angle it makes with the horizontal.
DRAW:

FORMULATE EQUATIONS:
A vector force balance in terms of polar coordinates is given by
*
F = ma* = m(r̈ − rθ̇ 2 ) e*r + m(2ṙ θ̇ + rθ̈) e*θ (1)

We’ll need to break up the total drag force Fd into its polar components, which we can do using
the ball’s velocity vector and speed:
v*
q
*
F d = bkv*k2 = bkv*kv* = b(ṙ e*r + rθ̇ e*θ ) ṙ 2 + (rθ̇)2 (2)
kv*k

The coordinate transformation between the cord-fixed and ground-fixed reference frames is
* *
ı 
*
er cos θ sin θ
e*θ − sin θ cos θ

SOLVE:
Balancing forces on the ball gives us

FBD = IRD: (2) → (1) ⇒ − T e*r − mg *


 + F cos(β − θ) e*r + F sin(β − θ) e*θ
q
− b(ṙ e r + rθ̇ e θ ) ṙ 2 + (rθ̇)2 = m(r̈ − rθ̇ 2 ) e*r + m(2ṙ θ̇ + rθ̈) e*θ
* *

q
−T e*r − mg(sin θ e*r + cos θ e*θ ) + F cos(β − θ) e*r + F sin(β − θ) e*θ − b(ṙ e*r + rθ̇ e*θ ) ṙ 2 + (rθ̇)2
= m(r̈ − rθ̇ 2 ) e*r + m(2ṙ θ̇ + rθ̈) e*θ

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

Analyzing the angular component of our force balance, we find that the instantaneous value of the
applied force F is
q
e*θ : −mg cos θ + F sin(β − θ) − brθ̇ ṙ 2 + (rθ̇)2 = m(2ṙ θ̇ + rθ̈)

1
 q 
F = m(2ṙ θ̇ + rθ̈) + mg cos θ + brθ̇ ṙ 2 + (rθ̇)2
sin(β − θ)
"
1 h
2
i
F = (1 kg) 2(0.9 m/s)(15 rad/s) + (0.7 m)(2 rad/s ) + (1 kg)(9.81 m/s2 ) cos(40◦ )
sin(70◦ − 40◦ )
q
+ (0.001 Ns2 /m2 )(0.7 m)(15 rad/s) (0.9 m/s)2 + [(0.7 m)(15 rad/s)]2

F = 72.1 N

We can then solve for the cord tension T by examining the force balance’s radial component:
q
e*r : −T − mg sin θ + F cos(β − θ) − bṙ ṙ 2 + (rθ̇)2 = m(r̈ − rθ̇ 2 )
q
T = F cos(β − θ) − bṙ ṙ 2 + (rθ̇)2 − mg sin θ − m(r̈ − rθ̇ 2 )
q
T = (72.1 N) cos(70◦ − 40◦ ) − (0.001 Ns2 /m2 )(0.9 m/s) (0.9 m/s)2 + [(0.7 m)(15 rad/s)]2
h i
− (1 kg)(9.81 m/s2 ) sin(40◦ ) − (1 kg) 0.2 m/s2 − (0.7 m)(15 rad/s)2

T = 213 N

159
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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.2.8
GOAL: The bowl accelerates to the right causing the mass to slide up the left side of the bowl
at an angle. At a certain bowl acceleration ax the mass just reaches the top edge of the bowl
(described by angle θ0 ). Solve for ax in terms of θ0
GIVEN: ẍ = ax
DRAW:

* *
ı 
*
er − sin θ − cos θ
e*θ − cos θ sin θ
FORMULATE EQUATIONS:
ı + (rθ̈ e*θ − rθ̇2 e*r )
a*m = a*b + a*m/ = ax *
b

Force balance: ı + rθ̈ e*θ − rθ̇2 e*r ) = −T e*r − mg *


m(ax * 

m[(−rθ̇2 −ax sin θ) e*r +(rθ̈−ax cos θ) e*θ ] = (mg cos θ−T ) e*r −mg sin θ e*θ

e*r : m(rθ̇2 + ax sin θ) = T − mg cos θ (1)

e*θ : m(rθ̈ − ax cos θ) = −mg sin θ (2)


SOLVE:
g a
(2) ⇒ θ̈ = − sin θ + x cos θ
r r
We can now use θ̈ dθ = θ̇ dθ̇ where
g a
θ̇ dθ̇ = − sin θ dθ + x cos θ dθ
r r
Integrating with respect to time gives us
θ̇2 g a
= (cos θ − 1) + x sin θ (3)
2 r r
This solution allows us to solve for θ̇ at a corresponding θ and correctly shows the initial state of
θ̇ = 0 when θ̇ = 0, i.e. the mass is at the bottom of the bowl.

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

We want the solution for which the mass reaches the lip of the bowl with no angular velocity (θ̇ = 0
and θ = θ0 )
g a
(3) ⇒ 0 = (cos θ0 − 1) + x sin θ0
r r
1 − cos θ0
 
ax = g sin θ0

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.2.9
GOAL: When will the mass first lose contact with the disk’s surface?
GIVEN:
• The mass of m is 0.3 kg.
• The spring exerts a force on the mass of 20 N.

• The disk is initially at rest, and begins spinning with a constant angular acceleration, θ̈, of
1.0 rad/s2 .
• The radius of the disk, r, is 0.5 m.
DRAW:

FORMULATE EQUATIONS:
Force balance:
h    i
m r̈ − rθ̇2 e*r + rθ̈ + 2rθ̇ e*θ = P e*θ + (N − 20 N) e*r
 
e*r : m r̈ − rθ̇2 = N − 20 N (1)
 
e*θ : m rθ̈ + 2rθ̇ = P (2)
SOLVE:
Until contact is lost, r is constant, so ṙ = r̈ = 0. Since θ̈ = 1.0 rad/s2 , θ̇ = t rad/s.
Inserting these values into (1) and (2), we get
 
(0.3 kg) 0 − (0.5 m)t2 s−4 = N − 20 N (3)
and  
(0.3 kg) (0.5 m)(1 rad/s2 ) + 0 = P (4)

For loss of contact, N = 0. So from (3) we get

20 N − 0.15t2 kg· m/ s4 = 0

t = 11.5 s

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.10
GOAL: find the time at which the mass m slips.
DRAW:

FORMULATE EQUATIONS:
* *
Force balance: (N3 − mg)k − N2 e*r − N1 e*θ = m(ar e*r + aθ e*θ + ak k )
*
Resolve in e*r , e*θ and k directions

−N2 = mar (1)


−N1 = maθ (2)
N3 − mg = mak (3)

CONSTRAINTS: Assume mass stays in contact with turnable. This means ak = 0. Further,
until the mass starts to slip we have r̈ = ṙ = 0. Thus, the acceleration of m is

a* = −rθ̇2 e*r + rθ̈ e*θ (4)

SOLVE: We are given that θ̈ = 4 rad/s2 is constant and that θ̇(t = 0) = 0. Thus, integrating
with respect to time, we get θ̇(t) = (4 rad/s2 )t.
Using (4), (1) and (2) we get
 2  
N2 = m(1 m) 4 rad/s2 t2 , N1 = −m(1 m) 4 rad/s2 (5)

Slip occurs when the needed force to maintain no-slip is greater than µs N3 . The limiting case is
when it is equal to µs N3 .
q rh i2
µs mg = N12 + N22 =m (1 m)(4 rad/s2 )2 t2 + (4 m/s2 )2 (6)

m cancels on both sides of the equation and we can solve for t = 0.421 s

163
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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.2.11
GOAL: Determine the unknown material’s coefficient of static friction µs .
GIVEN: A test mass is placed L = 0.75 m from the center of rotation, and the material is spun
from rest with an angular acceleration of θ̈(t) = 40t rad/s2 counterclockwise. The test mass slips
at t = 0.2 s.
DRAW:

FORMULATE EQUATIONS:
The force balances in terms of polar coordinates are

Fr = mar = m(r̈ − rθ̇2 ) (1)


Fθ = maθ = m(2ṙ θ̇ + rθ̈) (2)

The friction force is given by

Ff = µs N = µs mg (3)

The resultant friction force can also be expressed in terms of its polar components as

F2 = F2 + F2 (4)
f f,r f,θ

SOLVE:
1
Integrate θ̈(t) = αt with θ̇0 = 0 ⇒ θ̇(t) = αt2
2
1 2 2
 
FBD = IRD, e*r : (1) ⇒ −Ff,r = −mL αt
2
1
Ff,r = mLα2 t4
4

164
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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

FBD = IRD, e*θ : (2) ⇒ −Ff,θ = mLαt


2
1

(3) → (4) ⇒ (µs mg) =2
mLα2 t4 + (−mLαt)2
4
r 2
1 2 4
4 Lα t + (Lαt)2
µs =
g
rh i2
1 2
4 (0.75)(40) (0.2)
4 + [(0.75)(40)(0.2)]2 m/s2
µs =
9.81 m/s2
µs = 0.614

165
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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.2.12
GOAL: Find and solve the equations of motion for a mass sliding on a frictionless, rotating rod
GIVEN: Constant rotation rate of rod and general solution
DRAW:

FORMULATE EQUATIONS:    
Force balance: (N − mg) e*z + Fθ e*θ = m r̈ − rθ̇2 e*r + m rθ̈ + 2ṙθ̇ e*θ

e*r : r̈ − rθ̇2 = 0 (1)


 
e*θ : m rθ̈ + 2ṙθ̇ = Fθ (2)

e*z : N = mg = 0 (3)
SOLVE: Letting θ̇ = 6, θ̈ = 0 in (1) and (2) yields
r̈ − 36r = 0 (4)

12ṙm = Fθ (5)
(4) has solutions
r = a1 cosh (6t) + a2 sinh (6t) (6)
at t = 0, r = r0 and ṙ = 0. Evaluating (6) at t = 0 gives r (0) = r0 = a1 . Thus
r = r0 cosh (6t) + a2 sinh (6t)
Differentiating with respect to time gives
ṙ (0) = 0 = 6a2 ⇒ a2 = 0
This means
r (t) = r0 cosh (6t) (7)

ṙ (t) = 6ro sinh (6t) (8)

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

(8)→ (5)⇒ Fθ = 72r0 m sinh (6t) N

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.2.13
GOAL: Determine how µ affects a motorcycle’s equilibrium position on a banked track
GIVEN: Track geometry.
DRAW:

* *
ı 
*
b1 cos θ sin θ
*
b2 − sin θ cos θ
FORMULATE EQUATIONS:
Force balance:
* *
 * *

−mg *
 − F b 1 + N b 2 = m a1 b 1 + a2 b 2

* *
 * *

b 1 (−F − mg sin θ) + b 2 (N − mg cos θ) = m a1 b 1 + a2 b 2

*
b1 : −F − mg sin θ = ma1 (1)
*
b2 : N − mg cos θ = ma2 (2)
ASSUME: We’re given that the motorcycle is moving in a uniform circle and therefore have
v2 v2  * *

a* = − * ı =− cos θ b 1 − sin θ b 2 (3)
R R
SOLVE:
v2
(3) → (1) ⇒ −F − mg sin θ = −m cos θ (4)
R
v2
(3) → (2) ⇒ N − mg cos θ = m sin θ (5)
R
!
v2
(4) ⇒ F =m cos θ − g sin θ (6)
R
!
v2
(5) ⇒ N = m g cos θ + sin θ (7)
R
The motorcycle won’t slip as long as the friction force doesn’t exceed µN . Thus our boundary for
equilibrium is
Fmax = ±µN (8)

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

 
v2 v2
(6), (7) → (8) ⇒ R cos θ − g sin θ = ±µ g cos θ + R sin θ

v2
(cos θ ∓ µ sin θ) = ±µg cos θ + g sin θ
R
gR (sin θ ± µ cos θ)
v2 =
cos θ ∓ µ sin θ
(a)
1
sin θ + µ cos θ

p 2
vmax = gR
cos θ − µ sin θ
1
sin θ − µ cos θ

p 2
vmin = gR
cos θ + µ sin θ
(b) If v > vmax the motorcycle will begin to drift upslope since vmax corresponds to the positive
F (from (8)) which, from our FBD, tells us that F is acting downslope, keeping the motorcycle in
equilibrium.
(c) The analysis would be identical at the level of approximation we’ve assumed.

169
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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.2.14
GOAL: Find the force exerted by the spring on the collar.
DRAW:

FORMULATE EQUATIONS:
*
Force balance: (T2 − mg)k − (Fsp + Ff ) e*r + T1 e*θ = m[(r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ ]
*
Resolve in e*r , e*θ and k directions

−(Fsp + Ff ) = m(r̈ − rθ̇2 ) (1)


T1 = m(rθ̈ + 2ṙθ̇) (2)
T2 − mg = 0 (3)

SOLVE:
20 rpm=2.09 rad/s.
Use (3) to get
T2 = mg = 19.62 N (4)
Use (2) to get
T1 = 2[(0.9 m)(0) + (2)(1.2 m/s)(2.09 rad/s)] = 10.05 N
Now, we can find the friction force
q q
Ff = µk T12 + T22 = 0.2 (19.62 N)2 + (10.05 N)2 = 4.409 N
*
Note that we know that the F f acts inwards because we are given ṙ is positive. Use (1) to get

Fsp = −Ff − m(r̈ − rθ̇2 ) = −4.409 N − (2 kg)[2 m/s2 − (0.9 m)(2.09 rad/s)2 ] = −0.513 N

*
F sp = −0.513 e*r N

170
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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.15
GOAL: Calculate angle θ when rope breaks.
DRAW:

* *
ı 
*
er − cos θ − sin θ
e*θ sin θ − cos θ

FORMULATE EQUATIONS:

m[(r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ ] = −T e*r − mgn


*
2

= −T e*r − mg(− sin θ e*r − cos θ e*θ )

e*r : m(r̈ − rθ̇2 ) = −T + mg sin θ (1)

e*θ : m(rθ̈ + 2ṙθ̇) = mg cos θ (2)


ASSUME:
r = L, ṙ = r̈ = 0 (3)
SOLVE:
(1),(3) ⇒ −mLθ̇2 = −T + mg sin θ (4)

(2),(3) ⇒ Lθ̈ = g cos θ (5)


Use θ̈ dθ = θ̇ dθ̇ on (5)
g
cos θdθ = θ̇ dθ̇
L
θ θ̇
g
Z Z
cos θ dθ = dθ̇
L
0 0

g θ̇2
sin θ =
L 2
L 2
sin θ = θ̇ (6)
2g

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

L
 
−mLθ̇2 = −T + mg (θ̇2 )
2g
(6)→(4)⇒
2 mL 3mLθ̇2
 
T = θ̇ + mL = (7)
2 2

The rope breaks when T = 2mg. Subsituting this into (7):

3mLθ̇2 4g
2mg = ⇒ θ̇2 = (8)
2 3L

L 4g 2
 
(8)→(6)⇒ sin θ = = (9)
2g 3L 3

θ = sin−1 ( 23 ) = 41.8◦

172
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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.16
GOAL: Find the angle θ at which contact is lost.
GIVEN: Radius of the roof and initial rate of travel.
DRAW:

FORMULATE EQUATIONS:
Force balance:  + N e*r = m[(r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ ]
−mg *

e*r : N − mg cos θ = −mrθ̇2 (1)

e*θ : mg sin θ = mrθ̈ (2)


ASSUME: While in contact ṙ = r̈ = 0.
SOLVE:
When contact is about to be lost, N = 0. Thus, (1) becomes

rθ̇2 = g cos θ (3)

From (2) we get


g
θ̈ = sin θ
r
Using θ̇dθ̇ = θ̈dθ gives us

g
θ̇dθ̇ =sin θ dθ
Zr
g
Z
θ̇dθ̇ = sin θdθ
r
1 2  g
θ̇ − (0.5 rad/s)2 = − (cos θ − 1)
2 r
2g
θ̇2 = − (cos θ − 1) + (0.5 rad/s)2 (4)
r

2 (0.5 rad/s)2 r 2 (0.5 rad/s)2 (20 m)


(4) → (3) ⇒ cos θ = + = +
3 3g 3 3(9.81 m/s2 )

θ = cos−1 (0.837) = 33.2◦

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.2.17
GOAL: Determine on which side of the tube will the car exit.
GIVEN: System geometry and motion of car.
DRAW:

FORMULATE EQUATIONS:
Force balance: Fr e*r + Fθ e*θ = m[(r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ ]

e*r : Fr = mr̈ − mrθ̇2 (1)

e*r : Fθ = mrθ̈ + 2mṙθ̇ (2)


SOLVE: Since θ̈ = 0, (2) gives Fθ = 2mṙθ̇. Both ṙ and θ̇ are positive and, therefore, Fθ is positive.
Fθ is pushing towards the west when positive. This is the force provided by the tube’s wall to keep
the mass in the tube. Left to itself, the mass would not travel left along with the tube. If the tube
fails, the wall will no longer be applying the needed force to keep the mass moving left and the
mass will move toward where it “wanted” to go due to momentum considerations – it will emerge
from the tube on the east side.

174
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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.18
GOAL: Find θ̈ for tethered mass.
GIVEN: System geometry.
DRAW

FORMULATE EQUATIONS:

r*m/ = −r e*θ + (L − rθ) e*r


O

v*m = −r e*˙ θ + (L − rθ) e*˙ r − rθ̇ e*r

= rθ̇ e*r + (L − rθ)θ̇ e*θ − rθ̇ e*r = (L − rθ)θ̇ e*θ

a*m = −rθ̇2 e*˙ r + (L − rθ)θ̈ e*θ − (L − rθ)θ̇2 e*r = e*r [−θ̇2 (L − rθ)] + e*θ [(L − rθ)θ̈ − rθ̇2 ]
SOLVE:
Force balance: −T e*r = m[−θ̇2 (L − rθ) e*r + (−rθ̇2 + (L − rθ)θ̈) e*θ ]
2
e*θ : −rθ̇2 + (L − rθ)θ̈ = 0 ⇒ θ̈ = L r−θ̇ rθ

e*r : T = mθ̇2 (L − rθ)

175
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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.2.19
GOAL: Find the minimum and maximum speeds for which a particle can remind spinning within
a banked track at a constant height.
DRAW:

* *
ı 
*
b1 cos θ sin θ
*
b2 − sin θ cos θ
FORMULATE EQUATIONS:
2
Force balance: 1 [−mg *
a*m = m  + N b 2 + F b 1 ] = vr *
* *
ı
* * * * −v 2 * * F N
= −g sin θ b 1 − g cos θ b 2 + Ñ b 2 + F̃ b 1 = (cos θ b 1 − sin θ b 2 ), (F̃ = , Ñ = )
r m m
* 2 2
b 1: −g sin θ + F̃ = − vr cos θ ⇒ F̃ = − vr cos θ + g sin θ
* 2 2
b 2: −g cos θ + Ñ = vr sin θ ⇒ Ñ = vr sin θ + g cos θ
SOLVE:
For chosen direction of F̃ , the force is working to keep mass from slipping down. Thus we’re looking
at low speed condition at limit

32.2 ft/s2 32.2 ft/s2


!
−v 2 1 v2 1
F̃ = µÑ ⇒ √ + √ = 0.7 √ + √ ⇒ vmin = 58.4 ft/s
600 ft 2 2 600 ft 2 2

Now flip direction of F: for which case it’s keeping mass from moving upslope. This corresponds to
vmax

32.2 ft/s2 32.2 ft/s2


!
v2 1 v2
−F̃ = µÑ ⇒ √ − √ = 0.7 √ + √ ⇒ vmax = 331 ft/s
600 ft 2 2 600 ft 2 2

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.20
GOAL: Find a*B and tension in AB
GIVEN: System geometry and parameter values.
DRAW:

* *
*
ı *
 ı 
*
e*r cos θ sin θ b1 cos β sin β
*
e*θ − sin θ cos θ b2 − sin β cos β

FORMULATE EQUATIONS:

v*A = Lθ̇ e*θ = Lθ̇(− sin θ *


ı + cos θ *
)
v*B = v*A + dβ̇ e*β
v*B = v*A + dβ̇(− sin β *
ı − cos β *
 ) = vB *
ı
*
= ı (−Lθ̇ sin θ − dβ̇ sin β) + *
 (Lθ̇ cos θ − dβ̇ cos β)

*
ı: −Lθ̇ sin θ − dβ̇ sin β = vB (1)

Lθ̇ cos θ
*
: Lθ̇ cos θ − dβ̇ cos β = 0 ⇒ β̇ = (2)
d cos β

a*A = −Lθ̇2 e*r + Lθ̈ e*θ


a*B = a*A + dβ̈ e*β − dβ̇ 2 e*d = aB *
ı
 
= *
ı −Lθ̇2 cos θ − Lθ̈ sin θ − dβ̈ sin β − dβ̇ 2 cos β
 
 −Lθ̇2 sin θ + Lθ̈ cos θ − dβ̈ cos β + dβ̇ 2 sin β = aB *
+* ı

*
ı: −Lθ̇2 cos θ − Lθ̈ sin θ − dβ̈ sin β − dβ̇ 2 cos β = aB (3)

*
: −Lθ̇2 sin θ + Lθ̈ cos θ − dβ̈ cos β + dβ̇ 2 sin β = 0 (4)

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

T
Force balance, mass B: ı = √ (− *
mB ẍ * ı +*
 )−N*

2
T
*
ı: mB ẍ = − √ (5)
2
T T
*
: 0= √ −N ⇒N = √ (6)
2 2
SOLVE: √
L L
From geometry we have rB/ = 2 2= √
2
A
(2 rad/s) cos 30◦
(2)⇒ β̇ = = 3.464 rad/s
√1 cos 45◦
2

(3),(4)⇒ β̈ = 8.866 rad/s2 , ẍ = −7.07 m/s2 (7)

ı m/s2
ẍ = −7.07 *
√ √
(5),(7)⇒ T = − 2mB ẍ = − 2(2 kg)(−7.07 m/s2 ) = 20.0 N

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.21
GOAL: Find rope’s tension as mass moves through the air.
GIVEN: System geometry and speed that the rope is moving through eyelet.
DRAW:

* *
ı 
*
er − cos θ − sin θ
e*θ sin θ − cos θ
FORMULATE EQUATIONS:
Force balance: m[(r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ ] = −T e*r − mg *

e*r : m(r̈ − rθ̇2 ) = −T + mg sin θ (1)

e*θ : m(rθ̈ + 2ṙθ̇) = mg cos θ (2)


SOLVE:
r = 2 − vt (3)

ṙ = −v (4)

r̈ = 0 (5)

(1), (3) ⇒ T = mg sin θ + mθ̇2 (2 − vt) (6)

(2), (3), (4) ⇒ (2 − vt)θ̈ − 2v θ̇ − g cos θ = 0 (7)


We need to integrate (7) to find θ and θ̇ and then use θ and θ̇ in (6)
(7) ⇒ θ̈ = g cos θ + 2v θ̇
(2 − vt)
Using MATLAB to integrate from θ = 0 to θ = π 2
2 , using v = 0.4 m/s and g = 9.81 m/s yields the
results plotted below.

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.22
GOAL: Calculate the tension in the rope up until it contacts the right cliff face as well as the
position at contact.
GIVEN: Parameter values, dimensions, initial conditions.
DRAW:

* *
ı 
*
er − cos θ − sin θ
e*θ sin θ − cos θ
FORMULATE EQUATIONS:
* *
Force balance: m2 : −T i + (N − m2 g) *
 = m2 ẍ i

*
ı : −T = m2 ẍ (1)
*
h i
Force balance, m1 : −T e*r − m1 g j = m1 (r̈ − rθ̇2 ) e*r + (2ṙθ̇ + rθ̈) e*θ

e*r : −T + m1 g sin θ = m1 (r̈ − rθ̇2 ) (2)

e*r : m1 g cos θ = m1 (2ṙθ̇ + rθ̈) (3)


ASSUME: We have a simple kinematic constraint due to an inextensible connection between the
two masses: −ẍ = r̈ (4)
SOLVE:
(1), (4) → (2) ⇒ m1 g sin θ − m2 r̈ = m1 (r̈ − rθ̇2 ) (5)
m
r̈ = 1
m +m (g sin θ + rθ̇2 )
1 2

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

(1), (4) → (3) ⇒ m1 g cos θ = m1 (2ṙθ̇ + rθ̈) (6)

θ̈ = 1r (g cos θ − 2ṙθ̇)
Let x1 = r, x2 = ṙ, x3 = θ, x4 = θ̇ and rewrite the two second order differential equations as four
first order differential equations:

ẋ1 = x2
m1
ẋ2 = (g sin x3 + x1 x24 )
m1 + m2
ẋ3 = x4
1
ẋ4 = (g cos x3 − 2x2 x4 )
x1

Integrate this system numerically to yield solutions.

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.23
GOAL: Determine the length of a rope needed to swing across a road and calculate the time
needed to complete the swing.
GIVEN: Dimensions of the street (40 ft wide) and clearance needed for the swing (1 ft at mid-
swing).
DRAW:

* *
ı 
e*r sin θ − cos θ
e*θ cos θ sin θ
ASSUME: We assume that the person swinging across the road can be approximated by a point
mass with mass m and that the rope itself is massless. We further assume that the rope is inex-
tensible and thus its length is constant.
FORMULATE EQUATIONS: Because the rope has a constant length R the acceleration terms
associated with Ṙ and R̈ will be zero.
Force Balance: m(−Rθ̇2 e*r + Rθ̈ e*θ ) = −T e*r − mg *

e*r : −mRθ̇2 = −T + mg cos θ (1)

e*θ : Rθ̈ = −g sin θ (2)


SOLVE: In order to apply (2) we need to determine our initial conditions for the problem. We
know that the pedestrian starts her swing from rest but we need to calculate the initial angle.

From geometry we have

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

R(1 − cos θ0 ) = 3 ft (3)

R sin θ0 = 20 ft (4)

(3), (4) ⇒ 1 − cos θ0 − 0.15 sin θ0 = 0 (5)


Solving for the root of (5) gives us θ0 = 0.298 rad which, when substituted in either (3) or (4) gives
us R = 68.2 ft.
Thus the answer to part (a) of the problem is
R = 68.2 ft
To find the time needed we need to numerically integrate our equation of motion. Dividing by R
in (2) gives us the angular acceleration as a function of position:
g sin θ
θ̈ = −
R
We can integrate in MATLAB and examine the output time and position, reading off the time at
which θ = −θ0 . Doing so gives us
t = 4.58 s

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.24
GOAL: Determine the time of collision and speed at collision for two particles acted on by a
horizontal force.
GIVEN: The system starts off symmetrically with both particles at θ = 45◦ . They move without
friction on a flat surface.
DRAW:

*
*
ı 
*
e r − sin θ cos θ
e*θ − cos θ − sin θ
ASSUME: We’ll assume that the rope segments remain taut at all times.
FORMULATE EQUATIONS: Because the rope has a constant length L the acceleration terms
associated with L̇ and L̈ will be zero. We’ll analyze the top mass only. The bottom mass will
behave identically, due to symmetry. Particle A’s acceleration is given by the acceleration of O and
A’s acceleration with respect to O.
ı + (L̈ − Lθ̇2 ) e*r + (Lθ̈ + 2L̇θ̇) e*θ
a*A = ẍ *

Force Balance, A: ı + (L̈ − Lθ̇2 ) e*r + (Lθ̈ + 2L̇θ̇) e*θ ] = −T e*r


m[ẍ * (1)
*
We see that at O the two force components along the ropes in the  directions will cancel each
other out. Each *ı component handles one half of the total applied force:
F
Force Balance, O, *ı : T sin θ = (2)
2
SOLVE:
Using L̇ = L̈ = 0 and converting to *
ı, *
 components we have, from (1),(2)
F
*
ı : ẍ + Lθ̇2 sin θ − Lθ̈ cos θ = (3)
2m
F
*
 : −Lθ̇2 cos θ − Lθ̈ sin θ = − (4)
2m tan θ
Solving for ẍ and θ̈ gives us
F Lθ̇2
ẍ = −
2m sin2 θ sin θ
F cos θ θ̇2

θ̈ =
2mL sin2 θ tan θ
Numerically integrating in MATLAB from θ = 45◦ to θ = 90◦ yields a time of t = 0.621 s and
θ̇ = 1.71 rad/s, ẋ = 1.55 m/s.

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

collision time = 0.621 s

From geometry, when θ = 90◦ we’ll have


v*A = ẋ *
ı − Lθ̇ *

q
||v*A || = (ẋ)2 + (Lθ̇)2

||v*A || = 1.77 m/s

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.25
GOAL: Determine the unknown material’s coefficient of static friction µs .
GIVEN: A test mass is placed L = 0.75 m from the center of rotation, and the material is spun
from rest with a constant angular acceleration of θ̈ = 0.7 rad/s2 counterclockwise. The test mass
slips after the disk has rotated R = 1 rev.
DRAW:

FORMULATE EQUATIONS:
A vector force balance in terms of polar coordinates is given by
*
F = ma* = m(r̈ − rθ̇ 2 ) e*r + m(2ṙ θ̇ + rθ̈) e*θ (1)

When the test mass just begins to slip, the total friction force acting on it is

Ff = µs N = µs mg (2)

The total friction force can also be expressed in terms of its polar components as

F2 = F2 + F2 (3)
f f,r f,θ

Since the material is spun at a constant angular acceleration, we can say that

θ̇ − θ̇0 = θ̈t (4)


1
∆θ = θ̇0 t + θ̈t2 (5)
2

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

SOLVE:
Let’s first solve for how the disk’s angular speed varies over time:

(4) ⇒ θ̇ = θ̈t

Next, we’ll balance forces on the test mass just as it begins to slip and solve for the polar components
of the total friction force:

FBD = IRD: (1) ⇒ −Ff,r e*r − Ff,θ e*θ = −mLθ̇ 2 e*r + mLθ̈ e*θ

FBD = IRD, e*r : −Ff,r = −mLθ̇ 2 = −mL(θ̈t)2

Ff,r = mL(θ̈t)2

FBD = IRD, e*θ : −Ff,θ = mLθ̈

Ff,θ = −mLθ̈

We can then relate the time t at which slip occurs to the material’s frictional coefficient µs :
h i2
FBD = IRD: (2) → (3) ⇒ (µs mg)2 = mL(θ̈t)2 + (−mLθ̈)2
h i
(µs g)2 = (Lθ̈)2 θ̈ 2 t4 + 1
µs g 2
 
Lθ̈
−1
t4 =
θ̈ 2

Thus, the rotation of the disk and its frictional coefficient are related according to
∆θ θ̈ 2
(5) ⇒ R= = t
2π 4π
s 2
µs g
4πR = −1
Lθ̈
2
µs g

= (4πR)2 + 1
Lθ̈
Lθ̈ q
µs = (4πR)2 + 1
g
(0.75 m)(0.7 rad/s2 )
q
µs = [4π(1 rev)]2 + 1
(9.81 m/s2 )
µs = 0.675

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.26
GOAL: Determine when and where the marble loses contact with the inner surface of the cylinder.
GIVEN: The marble has a mass of m = 70 g, and the inner surface of the cylinder has a coefficient
of friction of µ = 0.4. The cylinder’s radius is L = 0.25 m. The marble starts at the bottom of the
cylinder (θ = 0◦ ) with a velocity of v*0 = 5 *
ı m/s.
DRAW:

FORMULATE EQUATIONS:
The force balances in terms of polar coordinates are

Fr = mar = m(r̈ − rθ̇2 ) (1)

Fθ = maθ = m(2ṙ θ̇ + rθ̈) (2)

The friction force is

Ff = µN (3)

The velocity of the marble is given by

v* = Lθ̇ e*θ (4)


SOLVE:

FBD = IRD, e*r : (1) ⇒ −N + mg cos θ = −mLθ̇2

N = m(g cos θ + Lθ̇2 ) (5)

FBD = IRD, e*θ : (3) → (2) ⇒ −µN − mg sin θ = mLθ̈

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

−µm(g cos θ + Lθ̇2 ) − mg sin θ = mLθ̈


g
θ̈ = − (µ cos θ + sin θ) − µθ̇2 (6)
L
f
We can use MATLABR to integrate (6) and solve for when and where (5) = 0. The initial conditions
for (6) are θ0 = 0 and

(4) ⇒ v0 = Lθ̇0
v0
θ̇0 =
L
5 m/s
θ̇0 =
0.25 m
θ̇0 = 20 rad/s

f
From MATLAB R we get that when the marble loses contact (N = 0),

t = 0.207 s
θ = 127◦

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.27
GOAL: Determine the in-plane forces acting on the collar at t = 1 s.  
GIVEN: The radial position of the collar along the rod is given by r(t) = 0.1 + 13 et m, and the
angular position of the rod is θ(t) = θ̇t rad, for which θ̇ = 1.2 rad/s. There is friction between the
rod and collar, and the rod rotates in the horizontal plane. The collar has a mass of m = 2 kg.
DRAW:

FORMULATE EQUATIONS:
The force balances in terms of polar coordinates are

Fr = mar = m(r̈ − rθ̇2 ) (1)

Fθ = maθ = m(2ṙ θ̇ + rθ̈) (2)


SOLVE:
1
 
r(1 s) = 0.1 + e1 m
3
r(1 s) = 1.006 m

1
Differentiate r(t) ⇒ ṙ(t) = et m/s
3
1 1
ṙ(1 s) = e m/s
3
ṙ(1 s) = 0.906 m/s

1
Differentiate ṙ(t) ⇒ r̈(t) = et m/s2
3

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

1 1
r̈(1 s) = e m/s2
3
r̈(1 s) = 0.906 m/s2

θ(1 s) = (1.2 rad/s)(1 s)


θ(1 s) = 1.2 rad

Differentiate θ(t) ⇒ θ̇ = 1.2 rad/s

Differentiate θ̇(t) ⇒ θ̈ = 0

FBD = IRD, e*r : (1) ⇒ −F = m(r̈ − rθ̇2 )

F = m(rθ̇2 − r̈)
h i
F = (2 kg) (1.006 m)(1.2 rad/s)2 − 0.906 m/s

F = 1.09 N

FBD = IRD, e*θ : (2) ⇒ N = 2mṙ θ̇

N = 2(2 kg)(0.906 m/s)(1.2 rad/s)

N = 4.35 N

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.28
GOAL: Find θ at which the mass loses contact with the cylinder
GIVEN: Cylinder’s dimensions and rotation rate
DRAW:

FORMULATE EQUATIONS: h    i
Force balance: N e*r − S e*θ − mg *
 =m r̈ − rθ̇2 e*r + rθ̈ + 2ṙθ̇ e*θ
ASSUME: ṙ = r̈ = 0 if the mass is in contact with the cylinder. Thus our equation of motion
yields
e*r : N − mg cos θ = −mrθ̇2 (1)

e*θ : −S + mg sin θ = mrθ̈ (2)


If the mass in in relative motion with respect to the cylinder then

S = µd N

We’ll have to check to make sure this condition holds throughout our analysis.
SOLVE:
(1) ⇒ N = mg cos θ − mrθ̇2
and thus
 
−µd mg cos θ − mrθ̇2 + mg sin θ = mrθ̈

 
g sin θ − µd cos θ + rθ̇2 µd
θ̈ =
r
We now need to simulate using parameter values r = 30 m, g = 9.81 m/s2 , µd = 0.2.
At θ = 0 we have

v*m = v*cyl + v*m/cyl

rθ̇ *
ı = −rω0 *
ı + vrel *
ı

vrel 33 m/s
θ̇(0) = −ω0 + = −0.6 rad/s + = 0.5 rad/s
r 30 m

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

Our initial conditions are therefore θ(0) = 0, θ̇(0) = 0.5 rad/s. Numerically integrating yields a
normal force of zero at t = 0.823 s , θ = 0.422 rad , and θ̇ = 0.546 rad/s

194
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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.29
GOAL: Determine the time to leave the road upon encountering a greatly reduced coefficient of
friction.
GIVEN: The turn has a radius of 160 ft. The coefficient of friction between the car and road is
initially µ1 = 0.85. The oily section of road has a coefficient of friction µ2 = 0.10.
DRAW:

ASSUME: The details of the car’s four tires interacting with the road can be neglected and the
entire dynamics can be viewed as a point mass moving along the road’s surface. The force that
must act along the direction of travel to counter road/air drag can be neglected and only the lateral
force components need by considered.
FORMULATE EQUATIONS: Velocity and acceleration in a polar frame are given by
v*C = ṙ e*r + rθ̇ e*θ

a*C = (r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ


Traveling at a constant speed and at a constant radius from the center of the turn implies that only
the centripetal force will concern us and a force balance need only be made in the e*r direction. ṙ,
r̈ and θ̈ are all zero, giving us
Force balance, e*r : mrθ̇2 = Fr
SOLVE:
The maximum lateral force Fr is equal to µ1 mg. Hence our force balance becomes
mrθ̇2 = µ1 mg
s
µ1 g 0.85(32.2 ft/s2 )
r
θ̇ = = = 0.414 rad/s
r 160 ft
Using this value of θ̇ in our expression for velocity (using ṙ = 0) gives us
v*C = rθ̇ e*θ = (160 ft)(0.414 rad/s) e*θ

vC = 66.2 ft/s
The maximum speed of the car (66.2 ft/s) requires the coefficient of friction µ1 = 0.85. Upon
encountering the vastly reduced coefficient of friction µ2 = 0.10 the car will immediately begin to
slide and to calculate its trajectory we need to numerically integrate its equations of motion. The
only force acting along the road surface during the slide is that due to friction. The magnitude of
the force will be equal to µ2 mg and it will be directed directly opposite that of the car’s velocity:

195
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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

h i ṙ e* + rθ̇ e*θ
m (r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ = −µ2 mg q r
ṙ2 + r2 θ̇2
µ2 g ṙ
* r̈ = rθ̇2 − q (1)
er
ṙ2 + r2 θ̇2

2ṙθ̇ µ g θ̇
e*θ θ̈ = − −q 2 (2)
r
ṙ2 + r2 θ̇2
The initial conditions for the numerical integration of (1) and (2) are r = 160 ft, ṙ = 0, θ = 0,
θ̇ = 0.414 rad/s. Integrating with MATLAB until r reaches 170 ft shows that this occurs at
t = 0.8871 s

196
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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.30
GOAL: Determine the angular position at which the collar comes to a stop.
GIVEN: The collar has a mass of m = 1 kg and is acted on by a constant force F = 20 N applied
at β = 45◦ to the horizontal. The collar moves along a frictionless rod of semicircular shape with
a radius of r = 0.5 m in the vertical plane. The collar starts from rest at the top A.
DRAW:

FORMULATE EQUATIONS:
A vector force balance in terms of polar coordinates is given by
*
F = ma* = m(r̈ − rθ̇ 2 ) e*r + m(2ṙ θ̇ + rθ̈) e*θ (1)

By inspection, we see that the collar’s rotational acceleration θ̈ will depend on its angular position
θ, so it may be possible to solve for its rotational velocity θ̇ in closed form by using

θ̇dθ̇ = θ̈dθ (2)

The coordinate transformation between the rotating and fixed reference frames is
* *
ı 
*
er cos θ sin θ
e*θ − sin θ cos θ

SOLVE:
Balancing forces on the collar gives

FBD = IRD: (1) ⇒ F (cos β *


ı + sin β *  + N e*r = −mrθ̇ 2 e*r + mrθ̈ e*θ
 ) − mg *

F cos β(cos θ e*r − sin θ e*θ ) + (F sin β − mg)(sin θ e*r + cos θ e*θ ) + N e*r = −mrθ̇ 2 e*r + mrθ̈ e*θ

197
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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

The collar’s equation of motion is given by the angular component of our force balance:

e*θ : −F cos β sin θ + (F sin β − mg) cos θ = mrθ̈

F cos β F sin β − mg
   
θ̈ = − sin θ + cos θ (3)
mr mr

Thus, it’s clear that (3) can be solved analytically using (2), from which we obtain
Z θ̇ Z θ Z θ
F cos β F sin β − mg
 
(2) ⇒ θ̇dθ̇ = − sin θdθ + cos θdθ
0 π
2
mr π
2
mr

1 θ̇ θ θ
mrθ̇ 2 = (F cos β) cos θ π + (F sin β − mg) sin θ π

2 0 2 2

1
mrθ̇ 2 = (F cos β) cos θ + (F sin β − mg)(sin θ − 1) (4)
2

We want to know when the collar comes to a stop, which means that kv*k = rθ̇ = 0 and (4) reduces
to

0 = (F cos β) cos θ + (F sin β − mg)(sin θ − 1)


F cos β
1 = sin θ + cos θ
(F sin β − mg)

(20 N) cos(45◦ )
1 = sin θ + h i cos θ
(20 N) sin(45◦ ) − (1 kg)(9.81 m/s2 )

1 = sin θ + 3.26 cos θ (5)

f
Using MATLAB R to solve (5), we find that the collar will come to a stop at

θ = −0.976 rad = −55.9◦

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.31
GOAL: Find the time for the mass to reach the end of the door, and the angle of the door at that
time.
GIVEN: Mass m, initial and final positions of the mass, and the angular speed of the door, ω0 .
DRAW

ASSUME: The angular acceleration of the door is zero: ω̇0 = 0. The initial radial velocity is zero:
ṙ0 = 0.
FORMULATE EQUATIONS: The initial and final positions of the mass are given by

r*0 = 0.4L e*r (1)

r*f = L e*r (2)


The acceleration of the mass is

a* = (r̈ − rω0 2 ) e*r + (2ṙω0 ) e*θ (3)

A force balance gives us


N e*θ = ma* = m(ar e*r + aθ e*θ ) (4)
SOLVE: Plug (3) into (4) and break into components:
e*r : r̈ = rω0 2 (5)

e*r : N = 2ṙω0 (6)

(5) ⇒ r̈ − ω02 r = 0 (7)


This can be solved both analytically and numerically. The analytical solution is relatively straight-
forward. Assume a solution of the form
r(t) = aeλt (8)

(7), (8) ⇒ aeλt (λ2 − ω02 ) = 0 ⇒ λ1,2 = ±ω0


This has the general solution
r(t) = a1 eω0 t + a2 e−ω0 t
Using the initial conditions r = 0.4L and ṙ(0) = 0 gives us the final solution
eω0 t + e−ω0 t
!
r(t) = 0.4L
2

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

ω t −ω t
The expression e 0 +e2
0
can be recognized as a hyperbolic cosine and thus we can more compactly
write the solution as
r(t) = 0.4L cosh(ω0 t)
To solve for when the mass reaches the end of the door we need to evaluate
r(tf ) = 0.4L cosh(ω0 tf ) = L

ω0 tf = cosh−1 (2.5) = 1.567 ⇒ tf = 1.567


ω
0

Because the door is opening at a constant rate, the angle is simply equal to ω0 tf
 
θ = ω0 1.567 = 1.567 rad
ω0

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.32
GOAL:
Find speed at θ = 45◦ .
Find normal force at θ = 45◦ .
At what time will you lose contact with surface?
GIVEN: System geometry and parameters.
DRAW:

* *
ı 
*
er sin θ cos θ
e*θ cos θ − sin θ
FORMULATE EQUATIONS:
Force balance: m[(r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ ] = −mg n
* * *
2 − S eθ + N er
As long as m is in contact with the surface ⇒ ṙ = r̈ = 0
e*r : −mrθ̇2 = N − mg cos θ (1)

e*θ : mrθ̈ = −S + mg sin θ (2)


ASSUME: At first, we’ll be in a no-slip situation. This may continue to θ = 45 deg or not,
depending upon µs . Slip will occur if |S| > µs |N |.
Assume no slip. Then θ̇ = β̇ = 0.31 rad/s, θ̈ = 0.
SOLVE:

N = −mrβ̇ 2 + mg cos θ
(1)⇒ µs N = µs (mg cos θ − mrβ̇ 2 )
= m(0.65)[(9.81 m/s2 ) cos θ − (10 m)(0.31 rad/s)2 ]

(2)⇒ S = mg sin θ
The angle at which slip occurs is found from solving S = µs N

0.65[(9.81 m/s2 ) cos θ − (10 m)(0.31 rad/s)2 ] = (9.81 m/s2 ) sin θ


θ = 0.524 rad = 30◦
At 0.524 rad, the mass beings to slip and we have to determine the time it takes to reach θ = 45◦ ,
or π4 rad.
ASSUME: Slipping: New initial conditions: β = θ = 0.524 rad, β̇ = θ̇ = 0.31 rad/s

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

SOLVE:
(1)→(2)⇒ mrθ̈ = mg sin θ − S = mg sin θ − µd N
g g
 
θ̈ = sin θ − µd cos θ − θ̇2
r r

θ̈ = (0.981 rad/s2 ) sin θ − 0.4((0.981 rad/s2 ) cos θ − θ̇2 ) (3)


Integrating (3) with I.C. θ(0) = 0.524 rad, θ̇(0) = 0.31 rad/s yields

t = 0.641, θ = 0.785 rad (45◦ ), θ̇ = 0.531 rad/s, N = 4.12 N


t = 0.964, θ = 0.982 rad (56◦ ), θ̇ = 0.738 rad/s, N = 0

The total time is just the time just found from integration plus the time elapsed in the non-slip
phase:
0.31t1 = 0.524 s ⇒ t1 = 1.69 s

Thus the time to 45◦ is 2.33 s and the time to N = 0 is 2.65 s .

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.33
GOAL: Calculate the tension in a constraining string both analytically and numerically.
GIVEN: System geometry, initial conditions and functional form of the rate at which string is
being retracted.
DRAW:

FORMULATE EQUATIONS:
Force balance: −T e*r = m[(r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ ]

e*r : −T = m(r̈ − rθ̇2 ) (1)

e*θ : 0 = m(rθ̈ + 2ṙθ̇) (2)


SOLVE: We’re given that ṙ = −(2 m/s2 )t and can differentiate to obtain r̈ = −2 m/s2 and integrate
to get r = 2.5 m − (1 m/s2 )t2 . Substitute the values of r, ṙ, r̈ into (1) to get

T = −(0.4 kg)[−2 m/s2 − (2.5 m − (1 m/s2 )t2 )θ̇2 ] (3)

Let y1 = θ and y2 = θ̇, clearly


y˙1 = y2 (4)
From (2) we get
2ṙy2 −2(−(2 m/s2 )t)y2 (4 m/s2 )ty2
y˙2 = − = = (5)
r 2.5 m − (1 m/s2 )t2 2.5 m − (1 m/s2 )t2
We can now numerically integrate (4) and (5) to solve for θ̇ which, when substituted into (3) gives
us T .
The following plot shows T versus t:

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

The final value of tension is T = 840.42 N.


To solve the problem analytically, rewrite (5).

dy2 (4 m/s2 )ty2 dy2 (4 m/s2 )tdt


= ⇒ = (6)
dt 2.5 m − (1 m/s2 )2 t y2 2.5 m − (1 m/s2 )2 t

which we can integrate to obtain

[2.5 m − (1 m/s2 )2 t2 ]−2


" # " #
y (t )
ln 2 2 =
y2 (t1 ) [2.5 m − (1 m/s2 )2 t1 ]−2
For our case t1 = 0 s and y2 (0) = 8 rad/s. Thus letting t2 = t for notational simplicity, we have

50 m2 / s
y2 (t) = θ̇(t) = (7)
(2.5 m − (1 m/s2 )2 t)2
We can now evaluate T from (3) and (7):

1000 N· m3
T (t) = 0.8 N +
(2.5 m − (1 m/s2 )t2 )3

Evaluating the tension at t = 1.2 s gives T = 840.42 N, matching the numerical results.

204
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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.34
GOAL:
(a) Find the string tensions before the cut.
(b) Find the velocity of the mass immediately after the string on the right is cut.
(c) Find the direction of the mass’s acceleration directly after the cut.
(d) Find the tension in the remaining string after the cut.
GIVEN: L = 2 m.
DRAW:

* *
ı 
e*r cos θ − sin θ
e*θ − sin θ − cos θ

ASSUME: The strings cannot extend and have no mass. The cut is done in a manner that does
not disturb the mass.
FORMULATE EQUATIONS:
Polar Force Balance Fr = m(r̈ − rθ̇2 )

Fθ = m(rθ̈ + 2ṙθ̇)
SOLVE: (a)

ΣFx = 0 : −T1 cos θ + T2 cos θ = 0 ⇒ T1 = T2 = T (before cut)


bc

ΣFy = 0 : −mg + T1 sin θ + T2 sin θ = 0 ⇒ mg = 2T sin θ


bc
T = 2 mg
sin θ
bc
SOLVE: (b)
The mass is stationary just before the cut and therefore must still be stationary just after the cut.
Only after the imbalanced forces have acted on it can the velocity change.

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

vr = vθ = 0

SOLVE: (c)
Consider ṙ , r̈ , θ̇ and θ̈. Because the string cannot extend ṙ = r̈ = 0. Because we are considering
the moment that the string is cut, when the mass still has no velocity, θ̇ = 0. θ̈, however, is
non-zero. Consider the expression Fr = m(r̈ − rθ̇2 ). Since r̈ = 0 and θ̇ = 0 , Fr = 0 and there
will be no acceleration in the e*r direction. Consider the expression Fθ = m(rθ̈ + 2ṙθ̇). Although
ṙ = θ̇ = 0, θ̈ > 0 which means that Fθ > 0 and the mass will accelerate purely in the e*θ direction.
Note that once the mass picks up speed the mass will also accelerate in the − e*r direction.
The mass accelerates in the direction of e*θ

SOLVE: (d)
In part (c) it was determined that Fr = 0 at the instant the second string is cut. Use this to
determine the new tension T in the string after the cut.

FBD=IRD −T e*r −mg *


 = maθ e*θ ⇒ −T e*r −mg(− sin θ e*r −cos θ e*θ ) = maθ e*θ

e*r : T − mg sin θ = 0

T = mg sin θ

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.35
GOAL: Find when and where the mass strikes the wall when the supporting rope is (a) inextensible,
and (b) elastic.
GIVEN: Mass m = 2 kg, spring stiffness k = 10 N/m, rest length of spring L = 2 m, and initial
and final positions of the mass.
DRAW

FORMULATE EQUATIONS: The acceleration is

a* = (r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ (1)

The equation of motion is


ma* = −T e*r − mg *
 (2)
The transformation between polar and Cartesian coordinates is given by
* *
ı 
e*r − cos θ − sin θ (3)
e*θ sin θ − cos θ

SOLVE: Using the coordinate transformation in (3), (2) becomes

ma* = (mg sin θ − T ) e*r + mg cos θ e*θ (4)

Case (a): Because the rope is inextensible, ṙ = r̈ = 0. Thus, breaking (4) into its separate
components yields:
e*r : −mrθ̇2 = mg sin θ − T (5)

e*θ : mrθ̈ = mg cos θ (6)


g
(6) ⇒ θ̈ =
cos θ (7)
r
f
To determine the angular position over time, we use the MATLAB R function ode45 to integrate
(7). Our initial conditions are θ(0) = 0, θ̇(0) = 0. To solve the system for the first 2 seconds, we type

[t,y] = ode45(’InelasticSwing’, [0 2], [0;0];

This produces the data that is plotted in Figure 1. Because the mass will f
strike the wall when
θ = π2 , we can find the time at which this occurs by typing into MATLAB R

[minVal,minIndx] = min(abs(y(:,1)-pi/2));

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

t_impact = t(minIndx)

This yields the time of impact to be timpact = 0.84 s . And because the rope is inextensible, the
radial position at impact is of course rimpact = 2 m.

Figure 1: Case (a): Angular position versus time.

Case (b): The tension in the rope is given by

T = k(r − L) (8)

Plugging (1), (8) into (4) and breaking into components yields
e*r : m(r̈ − rθ̇2 ) = mg sin θ − kr + kL (9)

e*θ : m(2ṙθ̇ + rθ̈) = mg cos θ (10)


1
Rearranging (9) ⇒ r̈ = rθ̇2 + g sin θ + (kL − kr) (11)
m
1
Rearranging (10) ⇒ θ̈ = (g cos θ − 2ṙθ̇) (12)
r
f
We integrate (11) and (12) using the MATLAB R function ode45 to find r and θ over the first 2
seconds. Our initial conditions are r(0) = 2 m, ṙ = 0, θ(0) = 0, θ̇(0) = 0. To solve, we type

[t,y] = ode45(’ElasticSwing’, [0 2], [2;0;0;0];

This produces the data that is plotted in Figure 2. Because the mass will again strike the wall
when θ = π2 , we can find f
the time at which this occurs, along with the radial position at impact,
by typing into MATLAB R

[minVal,minIndx] = min(abs(y(:,3)-pi/2));
t_impact = t(minIndx)
r_impact = y(minIndx,1)

This yields the time of impact to be timpact = 1.55 s and the radial position at impact to be
rimpact = 6.97 m.

208
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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

Figure 2: Case (b): Radial position and angular position versus time.

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.2.36
GOAL: Determine where the curling stone stops.
GIVEN: The curling stone has a mass of m = 18 kg, and the coefficient of friction between it and
the playing surface (curling sheet) is µ = 0.2. When θ = 60◦ , the stone is moving at v0 = 8 m/s at
an angle φ = 5◦ from the centerline. The centerline is L = 2 m from the edge of the curling sheet.
DRAW:

FORMULATE EQUATIONS:
The force balances in terms of polar coordinates are

Fr = mar = m(r̈ − rθ̇2 ) (1)


Fθ = maθ = m(2ṙ θ̇ + rθ̈) (2)
The friction force is given by

Ff = µN = µmg (3)
The components of the friction force can be expressed in terms of the resultant friction force and
the curling stone’s velocity as
Ff ṙ
Ff,r = q (4)
ṙ2 + (rθ̇)2

Ff (rθ̇)
Ff,θ = q (5)
ṙ2 + (rθ̇)2
The curling stone’s velocity is

v* = ṙ e*r + rθ̇ e*θ (6)


SOLVE:

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

−(µmg)ṙ
FBD = IRD, e*r : (3), (4) → (1) ⇒ q = m(r̈ − rθ̇2 )
ṙ2 + (rθ̇)2

µg ṙ
r̈ = rθ̇2 − q (7)
ṙ2 + (rθ̇)2

−(µmg)(rθ̇)
FBD = IRD, e*θ : (3), (5) → (2) ⇒ q = m(2ṙ θ̇ + rθ̈)
ṙ2 + (rθ̇)2
 
1 µgrθ̇
θ̈ = − 2ṙ θ̇ + q  (8)
r 2
ṙ + (rθ̇)2

f
We can use MATLAB R to integrate (7) and (8), but we’ll first need initial conditions. We already
know that the initial angle is θ0 = 60◦ . The initial radial position r0 is given by

r0 sin θ0 = L
L
r0 =
sin θ0
2m
r0 =
sin(60◦ )
r0 = 2.309 m

To find the initial radial and angular speeds,

e*r : (6) ⇒ ṙ0 = v0 cos(θ0 − φ)


ṙ0 = (8 m/s) cos(60◦ − 5◦ )
ṙ0 = 4.589 m/s

e*θ : (6) ⇒ rθ̇0 = −v0 sin(θ0 − φ)


−v0 sin(θ0 − φ)
θ̇0 =
r
−(8 m/s) sin(60◦ − 5◦ )
θ̇0 =
2.309 m
θ̇0 = −2.838 rad/s

When we integrate, we find that as t → ∞, r ≈ 17.7 m and θ ≈ 11.16◦ . The distance traveled along
the curling sheet is given by

s = r cos θ − r0 cos θ0
s = (17.7 m) cos(11.16◦ ) − (2.309 m) cos(60◦ )

s = 16.21 m

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

The curling stone’s deviation from the centerline is

d = r sin θ − L
d = (17.7 m) sin(11.16◦ ) − 2 m

d = 1.426 m

Thus, the curling stone ends up 16.21 m down the curling sheet from its initial position and 1.426 m
from the centerline, away from the judge.

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CHAPTER 3. KINETICS OF PARTICLES 3.2. POLAR COORDINATES

3.2.37
GOAL: Calculate the tension in the rope.
GIVEN: mass m1 = 4 kg, k = 2 N/m.
DRAW:

FORMULATE EQUATIONS:

r* = r e*r

v* = ṙ e*r + rθ̇ e*θ


   
a* = r̈ − rθ̇2 e*r + 2ṙθ̇ + rθ̈ e*θ
Force balance:
   
m a* ⇒ −T e*r + mg (sin θ e*r + cos θ e*θ ) = m1 r̈ − rθ̇2 e*r + m1 2ṙθ̇ + rθ̈ e*θ
 
mg sin θ − T = m r̈ − rθ̇2 (1)
 
mg cos θ = m 2ṙθ̇ + rθ̈ (2)
 
T = kx = k r − r0
SOLVE:    
(1) ⇒ mg sin θ − k r − r0 = m r̈ − rθ̇2

k  
r̈ = g sin θ − r − r0 + rθ̇2
m
g cos θ − 2ṙθ̇
(2) ⇒ θ̈ =
r
Define x1 = r, x2 = ṙ, x3 = θ, x4 = θ̇.
ẋ1 = x2

2 
ẋ2 = g sin x3 − x1 − 1.2 + x1 x24
4

ẋ3 = x4

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3.2. POLAR COORDINATES CHAPTER 3. KINETICS OF PARTICLES

9.81 cos x3 − 2x2 x4


ẋ4 =
x1
x1 (0) = 1.2, x2 (0) = 0, x3 (0) = 0, x4 (0) = 0.
 
T = m g sin θ + rθ̇2 − r̈

Integrating with MATLAB from x3 = 0 to x3 = 1.5708 shows a time of t= 3 sec for contact of
the mass m with the right cliff face. The contact point is 31.3 m below the eyelet.
A plot of the tension in the string during the fall is given below.

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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

3.3 Path Coordinates

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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.3.1
GOAL: Determine the minimum constant angular speed ω at which the marble can move along
the inside of the cone without sliding down.
GIVEN: The marble has a mass of m and travels in a circular path of radius r at a fixed height
on the inner surface of an inverted cone. The inner surface has a coefficient of friction of µ, and
θ is defined as the angle between the cone’s surface and the horizontal. Neglect frictional effects
along the marble’s path.
DRAW:

FORMULATE EQUATIONS:
We’re told that the marble travels at a constant angular speed, and so a vector force balance in
terms of path coordinates is given by

* vt2 *
F=m e (1)
r n

When the marble starts to slip downward, we can say that the friction force acting on it along the
cone’s inner surface is

Ff = µN (2)
SOLVE:
Balancing forces on the marble gives us
* * * vt2 *
FBD = IRD: (2) → (1) ⇒ −mg k + N cos θ k + N sin θ e*n + µN sin θ k − µN cos θ e*n = m e
r n

*
k: −mg + N cos θ + µN sin θ = 0
mg
N=
cos θ + µ sin θ

vt2
e*n : N sin θ − µN cos θ = m
r

216
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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

mg
 
(sin θ − µ cos θ) = mrω 2
cos θ + µ sin θ
s
g (sin θ − µ cos θ)
ω=
r (cos θ + µ sin θ)

217
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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.3.2
GOAL: Determine vmax for no slip along a curve.
GIVEN: Radius of curvature, µs = µd = µ.
DRAW:

FORMULATE EQUATIONS:
*
Force balance: (N − mg)k = 0 (1)
!
v2 *
Force balance: Fn e*n + Ft e*t = m v̇ e*t + e (2)
rc n
ASSUME: We want the maximum speed and so should maximize Fn . Thus we’ll let Ft = 0 and
all the cyclist/ground interaction force will be directed along e*n .
SOLVE:
mv 2
(2) ⇒ Fn = (3)
rc

Fn = µN (4)
v2 µN
(3), (4) ⇒ = = µg
rc m

q
v= µgrc = (0.5)(9.81 m/s2 )(15 m) = 8.58 m/s

218
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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

3.3.3
GOAL: Determine the minimum coefficient of friction µ for which the marble will not slide down
the cone.
GIVEN: The marble has a mass of m and travels in a circular path of radius r at a fixed height on
the outer surface of a cone with a constant angular speed ω. The outer surface is rough, and θ is
taken as the angle between the cone’s surface and the vertical. Frictional effects along the marble’s
path are negligible.
DRAW:

FORMULATE EQUATIONS:
Since the marble travels at a constant angular speed, a vector force balance in terms of path
coordinates is expressed as

* vt2 *
F=m e (1)
r n

The friction force acting on the marble when it just starts to slide down the cone’s surface is given
by

Ff = µN (2)
SOLVE:
A force balance on the marble yields
* * * vt2 *
FBD = IRD: (2) → (1) ⇒ −mg k + N sin θ k − N cos θ e*n + µN cos θ k + µN sin θ e*n = m e
r n

*
k: −mg + N sin θ + µN cos θ = 0
mg
N=
µ cos θ + sin θ

vt2
e*n : µN sin θ − N cos θ = m
r

219
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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

mg
 
(µ sin θ − cos θ) = mrω 2
µ cos θ + sin θ
rω 2
µ sin θ − cos θ = (µ cos θ + sin θ)
g
!
rω 2 rω 2
µ sin θ − cos θ = sin θ + cos θ
g g

rω 2 sin θ + g cos θ
µ=
g sin θ − rω 2 cos θ

220
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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

3.3.4
GOAL: Calculate side force between car’s tires and the road at several points.
GIVEN: Radii of curvature and speed.
DRAW:

FORMULATE EQUATIONS: !
* v2 *
Force balance: F = mcar at e*t + e (1)
rC n
ASSUME: We assume a constant speed of 45 mph= 66 ft/s and thus have
v̇ = 0 ⇒ at = 0 (2)
SOLVE:
* v2 *
(2) → (1) ⇒ F = mcar e (3)
rC n

* (66 ft/s)2 2
Evaluate (3) at A ⇒ kF A k = mcar 250 ft = (17.4 ft/s )mcar

* (66 ft/s)2
Evaluate (3) at B ⇒ kF B k = mcar 1000 ft = (4.36 ft/s2 )mcar

* (66 ft/s)2 2
Evaluate (3) at C ⇒ kF C k = mcar 400 ft = (10.9 ft/s )mcar

221
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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.3.5
GOAL: Minimum radius of curvature car can negotiate without slipping while traveling at constant
speed.
GIVEN: Maximum acceleration
DRAW:

FORMULATE EQUATIONS:
mv 2 *
Force balance: ma*car = mat e*t + e (1)
rC n
ASSUME:
v̇ = 0 ⇒ at = 0 (2)
SOLVE:
v2 *
(2) → (1) ⇒ a*car = e (3)
rC n

v2
(3) ⇒ 1.1g = (ka*car k)max = (4)
rC min

[(40 mph)(88 ft/s/60 mph)]2


(4) ⇒ rC min = = 97.2 ft
1.1(32.2 ft/s2 )

222
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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

3.3.6
GOAL: Find the force acting on a seat of a Ferris wheel
GIVEN: Ferris wheel radius, rotational speed, and seat mass
DRAW:

FORMULATE EQUATIONS:  
Force balance:  = m v̇ e*t + rθ̇2 e*n
Fn e*n + Ft e*t − mg *
1
e*n : Fn + √ mg = mrθ̇2 (1)
2
1
e*t : Ft − √ mg = mv̇ (2)
2
SOLVE:
1 −g
 
(1) ⇒ Fn = − √ mg + mrθ̇2 = m √ + rθ̇2
2 2
−9.81 m/s2
" #
= (120 kg) √ + (10 m) (0.1 rad/s)2
2

= −820 N
1 1  
(2) ⇒ Ft = √ mg + mv̇ = √ (120 kg) 9.81 m/s2 = 832 N
2 2
Force of Ferris wheel on seat is

(−820 e*n + 832 e*t ) N

223
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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.3.7
GOAL: Find the overall acceleration felt by the pebble just before and just after the collision.
GIVEN: The arm’s length is 2.1 ft and just before the collision v*P = 40 e*t ft/s, a*P = 50 e*t ft/s2 .
DRAW

FORMULATE EQUATIONS: We’ll use our expressions for angular velocity and acceleration:
v*P = v e*t
v2 *
a*P = v̇ e*t + e
rC n
ASSUME: The pebble immediately loses contact with the cup upon collision.
SOLVE: Just before collision the pebble’s velocity is directed downward and O is to the left
of the pebble. Hence e*t points downward and e*n points to the left. Just before the collision
the acceleration of the pebble in the e*t direction exceeds that due to gravity, indicating that it’s
being pressed from behind by the cup and thereby remaining in contact. Using our formula for
acceleration we have
(40 ft/s)2 *
a*P = 50 e*t ft/s2 + en
2.1 ft
a*P = (50 e*t + 762 e*n ) ft/s2

Just before collision aP = 764 ft/s2

Just after collision the ball loses contact with the cup and, as shown in the figure, the only force
acting on it is that due to gravity. Hence we have
a*P = 32.2 e*t ft/s2

Just after collision aP = 32.2 ft/s2

Notice what a large change in acceleration has occurred - a roughly 24 times reduction.

224
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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

3.3.8
GOAL: Determine how far the cyclist C will travel before his tires slip.
GIVEN: The cyclist is riding at a constant speed of 20 mph and the cyclist plus bicycle weigh
a total of 160 lb. The radius of curvature varies as rC = a − bs2 , where s indicates motion along
the curve (expressed in feet). a = 60 ft and b = 0.003 ft−1 . The tires can support a maximum side
force (accounting for both tangential and normal forces) of 120 lb.
DRAW:

FORMULATE EQUATIONS: The cyclist’s speed is constant and thus the only acceleration
will be in the normal direction. A force balance therefore gives us
v2
Fn e*n = m e*n (1)
rC
When this equality holds the frictional normal force needed to stay on the path is equal to the
maximal force supplied by the tires. Any faster and the tires will slip.
SOLVE:
20 mph = 29.3 ft/s

v2 160 (29.3 ft/s)2


 
(1)⇒ 120 lb = m = slg
rC 32.2 60 ft − 0.003 ft−1 s2

Solving for s gives us


s = 90.1 ft

225
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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.3.9
GOAL: Determine how much the roller coaster seems to weigh at the bottom of the loop.
GIVEN: The roller coaster weighs 350 lb and is moving at v = 70 mph at the bottom of the loop.
The loop has a radius of r = 40 ft.
DRAW:

FORMULATE EQUATIONS:
Balancing forces in the normal direction gives

v2
Fn = man = m (1)
r
SOLVE:
v2
FBD = IRD, e*n : (1) ⇒ N − mg = m
r

v2
N = mg + m
r
!h   i2
hr 5280 ft
350 lb 70 mph 3600 s mi
N = 350 lb +
32.2 ft/s2 40 ft

N = 3214 lb

226
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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

3.3.10
GOAL: Determine how fast the SUV needs to be going for it to bottom out.
GIVEN: The SUV weighs 8000 lb and is in the bottom of a dip with a radius of curvature rc = 60 ft.
Each of the four springs in the suspension has a stiffness of k = 700 lb/in. The SUV bottoms out
when the spring compression is ∆x = 1 ft.
DRAW:

FORMULATE EQUATIONS:
Balancing forces in the normal direction gives

v2
Fn = man = m (1)
rc
When the suspension bottoms out, each spring generates a force of

Fs = k∆x (2)
SOLVE:
v2
FBD = IRD, e*n : (2) → (1) ⇒ 4k∆x − mg = m
rc
r
rc
v= [4k∆x − mg]
m
s
(60 ft)(32.2 ft/s2 )
v= [4(700 lb/in)(12 in.) − 8000 lb]
8000 lb

v = 78.63 ft/s = 53.61 mph

227
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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.3.11
GOAL: Determine the car’s instantaneous acceleration v̇ at B and the distance s traveled from A
to B, taking its acceleration to be a constant v̇.
GIVEN: The car starts from rest at A, and its speed at B is vB = 60 km/hr. The radius of
curvature at B is rB = 80 m, and the total traction force acting on the car at B is F = 4800 N.
The car’s mass is m = 1300 kg.
DRAW:

FORMULATE EQUATIONS:
A vector force balance in terms of path coordinates is given by

* v2 *
F = ma* = mv̇ e*t + m e (1)
r n

The total traction force acting on the car can be expressed in terms of its path-coordinate compo-
nents as

F 2 = Ft2 + Fn2 (2)

We’re told that the car accelerates from A to B at a constant rate, so we can say that

v 2 − v02 = 2v̇s (3)


SOLVE:
Balancing forces on the car at B gives
2
vB
FBD = IRD: (1) ⇒ Ft e*t + Fn e*n = mv̇ e*t + m e*n
rB

e*t : Ft = mv̇

2
vB
e*n : Fn = m
rB

228
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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

We can then relate the total traction force F to its components to solve for the car’s instantaneous
acceleration v̇:
2 !2
vB
(2) ⇒ F 2 = (mv̇)2 + m
rB

2 2 !2

F 2
vB
= v̇ +
m rB
v
2
!2
u F 2
u 
vB
v̇ = t −
m rB
v
u h   i2 2
hr 1000 m
 (60 km/hr) 3600 s
u
u 4800 N 2
km
v̇ = u −

1300 kg 80 m
t 

v̇ = 1.26 m/s2

Taking the acceleration from A to B to be a constant v̇, the distance the car traveled is
2
vB
(3) ⇒ s=
2v̇
h   i2
hr 1000 m
(60 km/hr) 3600 s km
s=
2(1.26 m/s2 )

s = 111 m

229
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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.3.12
GOAL: Find the total force being exerted on the track by the mass. What is the path acceleration
(at ) of the mass m on the track?
GIVEN:
The mass is moving to the right on the track with a velocity of vm = 6 e*t ft/s. The radius of
curvature, ρc , is 6 feet. The coefficient of friction, µ, is 0.1. The weight, of the object is 0.4 lb, so
0.4
its mass is 32.2 slug.
DRAW:

FORMULATE EQUATIONS:

v2 *
a*m = at e*t + e
ρc n
" #
* *
v2 *
Force balance: (−mg + N ) e n − f1 e t = m e + at e*t
ρc n

v2
e*n : m = −mg + N (1)
ρc

e*t : mat = −f1 (2)


SOLVE:
From (1) we can calculate N :

(6 ft/s2 )2
!
v2 0.4 lb 2
N = mg + m = 32.2 ft/s + = 0.475 lb
ρc 32.2 ft/s2 6 ft
Since we know N = 0.475 lb, we know that the force due to sliding friction, f1 is µN = (0.1)(0.475 lb) =
0.0475 lb. Substituting this into (2), we have at = −0.0475 lb 2 = −3.82 ft/s2 .
0.4 lb/32.2 ft/s
The force exerted by the mass on the track is equal and opposite to the force exerted by the track
on the mass:

Force On Track = (−0.475 e*n + 0.0475 e*t ) lb

230
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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

3.3.13
GOAL: Determine the total force supported at the two tired at t = 4s.
GIVEN: rC = 80m, at = 1.1m/s2 , m = 300kg
DRAW:

FORMULATE EQUATIONS:
Force balance:

Ft = mv̇ = mat

v2
Fn = m
rC

v(t) = v(0) + at t = 0 + at t = at t
SOLVE:

v(4) = (1.1 m/s2 )(4 s) = 4.4 m/s

v2 (4.4 m/s)2
an = = = 0.242 m/s2
rC 80 m

Fn = (300 kg)(0.242 m/s2 ) = 72.6 N

Ft = (300 kg)(1.1 m/s2 ) = 330 N

N = mg = (300 kg)(9.81 m/s2 ) = 2940 N

*
F tires = Ft e*t + Fn e*n + N e*z

1
Ftires = [(330 N)2 + (72.6 N)2 + (2940 N)2 ] 2 = 2.96 × 103 N

231
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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.3.14
GOAL: Determine the value of the wavelength L for which NB = 2NA .
GIVEN: A cannonball rolls from rest down a smooth √ slope whose surface is described by a sinusoid,
and its speed at the base B of the slope is vB = 2 ga.
DRAW:

FORMULATE EQUATIONS:
A vector force balance in terms of path coordinates is expressed as

* v2 *
F = ma* = mv̇ e*t + m e (1)
rC n

The slope’s surface is given by


2πx
 
y(x) = a cos +a (2)
L

The radius of curvature is defined as


 3
dy 2 2
 
1+ dx
rC (x) = 2
d y (3)
dx2

SOLVE:
Let’s start by balancing forces on the cannonball when it is initially at rest at A:

FBD = IRD, *
 : (1) ⇒ NA − mg = 0

NA = mg

A force balance on the cannonball at B gives


2
vB
FBD = IRD, e*n : (1) ⇒ NB − mg = m
rB

232
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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

2
vB
NB = mg + m
rB

The dip B corresponds to the sinusoidal profile’s trough, and so it follows that
   2  32    2  32
1+ − 2πa
L sin 2πx
L 1+ 2πa
L sin 2πx
L
(2) → (3) ⇒ rC (x) =  2   =  
2π 2  
−a 2π cos 2πx 2πx

a cos
L L L L

  2  23
2πa
1+ L sin π 2
1 L

rC (L/2) = rB =  
2π 2
=
a
a 2π
L cos π

Thus, applying our constraint on the cannonball’s normal force at B, we find that the wavelength
L needs to be
2
vB
NB = 2NA ⇒ mg + m = 2mg
rB
2
vB
=g
rB
4ga
 2 = g
1 L
a 2π
2
4πa

=1
L

L = 4πa

233
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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.3.15
GOAL: Determine the ground force acting on the car.
GIVEN: r = 300ft, v = 100mph, at = −10ft/s2 , m = 3200lb
DRAW:

FORMULATE EQUATIONS:

v2
Fn = m
r
Ft = mat

Fground = Fn e*n + Ft e*t + N e*z

v = v0 + at t

at t2
s = s0 + v0 t +
2
SOLVE:

v0 = 100 mph = 146.6 ft/s

1
50 ft = (146.6 ft/s)t − (10 ft/s2 )t2 ⇒ t = 0.345 s
2
v = 146.6 − (10 m/s2 )(0.345 s) = 143 ft/s

v2 3200 lb (143 ft/s)2


Fn = m =( ) = 6.79 × 103 lb
r 32.2 ft/s2 300 ft
3200 lb
Ft = mat = ( )(−10 ft/s2 ) = −994 lb
32.2 ft/s2
N = mg = 3200 lb

*
F ground = [−994 e*t + 6.79 × 103 e*n + 3200 e*z ] lb

234
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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

3.3.16
GOAL: Plot normal force and tangential acceleration as a function of x.
GIVEN: Path followed during motion, initial conditions, friction free interface.
DRAW:

* *
ı 
*
et cos β sin β
*
en sin β − cos β
FORMULATE EQUATIONS: !
* *
v2 * *
Force balance: −mg j − N e n = m v̇ e t + e
rC n

e*t : −g sin β = v̇ (1)


mv 2
*
en : mg cos β − N = (2)
rC
dy
Angle β : tan β = = −2ax (3)
dx
 3
dy 2 2
 
1+
Radius of curvature:
dx (1 + 4a2 x2 )3/2
rC = d2 y
= (4)
| | 2a
dx2
Z x
v 2 (x) = 2 at ds + v 2 (x0 ) (5)
Rectilinear motion: x
0

Kinematic Constraint: ds2 = dx2 + dy 2 (6)


SOLVE:  
(3) → (1) ⇒ v̇ = −g sin tan−1 (−2ax) (7)
p
(3) → (6) ⇒ ds = [ 4a2 x2 + 1] dx (8)
!
N v2
(2) ⇒ = g cos β − (9)
m rC
For tangential acceleration, simply plot (7) vs. x. For normalized normal force (normal force
divided by the mass of the particle), first integrate (5) with respect to x, using at = v̇ from (7) and
(8) for ds to obtain velocity. Then solve for N m using (3) and (4) in (9).

235
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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

236
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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

3.3.17
GOAL: Find the force applied by the path to the bicycle.
GIVEN: Speed v = 15 mph, weight mg = 120 lb, radius of curvature rC = 50 ft, and the angle of
the path θ = 30◦ .
DRAW

FORMULATE EQUATIONS: Because the bicycle is moving with a constant speed, the accel-
eration is purely in the normal direction, which coincides with the *
ı direction

v2 *
a* = ı (1)
rC

The equation of motion is


* * v2 *
N b 2 − F b 1 − mg *
 =m ı (2)
rC
The total force applied by the path to the bicycle is
* * *
F applied = N b 2 − F b 1 (3)

SOLVE:
(2) → (3) ⇒
 2
ft/s
(120 lb) 15 mph × 1.4667 mph
* (mg)v 2 *
F applied = ı + mg *
 = *
ı + (120 lb) *
 (4)
grC (32.2 ft/s2 )(50 ft)

*
F applied = (36.08 *
ı + 120 *
 )lb

The magnitude of the applied force is then


* p
F applied = 36.082 + 1202 lb = 125.31 lb (5)

*
F applied = 125.31 lb

237
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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.3.18
GOAL: Find the maximum no-slip speed for θ = 0◦ , and θ = 10◦ .
GIVEN: Coefficient of friction µ = 0.9, radius of curvature rC = 100 ft.
DRAW

*
e*n k
*
b1 − cos θ sin θ
*
b2 sin θ cos θ
ASSUME: Assume that the highway applies both a normal force N and a friction force Ff on
the car. Because we’re looking for the maximum speed we know that the frictional force Ff points
downslope, keeping the car from moving up and out in the turn.
FORMULATE EQUATIONS: Because the car is moving with constant speed, the acceleration
is only in the normal direction, which coincides with the e*n direction

v2
an =
rC

* * * mv 2 *
Force balance: −Ff b 1 + N b 2 − mg k = e
rC n

* mv 2 *
(Ff cos θ + N sin θ) e*n + (N cos θ − Ff sin θ − mg)k = man e*n = e
rC n

mv 2
e*n : Ff cos θ + N sin θ = (1)
rC

*
k: mg = N cos θ − Ff sin θ (2)

At the limit of adhesion we have Ff = µN (3)


SOLVE:
mv 2
(3) → (1) ⇒ µN cos θ + N sin θ = (4)
rC

(3) → (2) ⇒: mg = N cos θ − µN sin θ (5)

238
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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

mg
Solving (5) for N ⇒ N= (6)
cos θ − µ sin θ
sin θ + µ cos θ mv 2
(6) → (4) ⇒ mg = (7)
cos θ − µ sin θ rC
s
sin θ + µ cos θ
 
Solving (7) for v ⇒ v= rC g (8)
cos θ − µ sin θ
s
sin 0◦ + 0.9 cos 0◦
 
2
Case (a): θ = 0 ⇒ v= (100 ft)(32.2 ft/s ) = 53.83 ft/s
cos 0◦ − 0.9 sin 0◦

v = 53.83 ft/s

s
sin 10◦ + 0.9 cos 10◦
 
Case (b): θ = 10◦ ⇒ v= (100 ft)(32.2 ft/s )2
= 64.18 ft/s
cos 10◦ − 0.9 sin 10◦

v = 64.18 ft/s

239
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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.3.19
GOAL: Find the spring deflection for a car with 4 springs that encounters a dip in the road.
GIVEN: v = 20 mph = 29.3 ft/s rC = 50 ft mg = 3600 lb k = 800 lb/in
DRAW:

ASSUME: Each spring feels 1/4 of the total normal force and deflects the same amount. Car
experiences no tangential acceleration.
FORMULATE EQUATIONS:
v2
Force Balance F n = m
rC
SOLVE:
weight 3600 lb
m= = = 111.8 slg
g 32.2 ft/s2
v2 *
FBD=IRD N*
 − mg *
 =m 
rC
!
v2 v2
*
 : N =m + mg = m +g
rC rC
!
(29.3 ft/s)2
N = (111.8 slg) + 32.2 ft/s2 = 5524 lb
50 ft
5524 lb is the total normal force that causes all 4 springs to deflect. Each spring feels 1/4 of that
force.
F 0.25(5524 lb)
F = kx ⇒ x = = = 1.73 in.
k 800 lb/in

x = 1.73 in.

240
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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

3.3.20
GOAL: Find force acting on Ferris wheel at t = 3s.
GIVEN: r = 28 ft, m = 110kg, vt = 10ft/s at t = 0, at = (−0.4 ft/s3 )t, θ = 0
DRAW:

FORMULATE EQUATIONS:
Force balance: −Fn e*n + Ft e*t − mg *
 = m[at e*t + an e*n ]

e*n : −Fn + mg sin θ = man (1)

e*t : Ft − mg cos θ = mat (2)

at (t) = at (3)

Z 3 Z 3

vt (3) = vt (0) + at dt = vt (0) + at dt (4)


0 0

SOLVE:
(3) ⇒ at (3) = (−0.4 ft/s3 )(3 s) = −1.2 ft/s2 (5)

3
at2 (−0.4 ft/s3 )(3 s)2
(3), (4) ⇒ vt (3) = 10 ft/s + = 10 ft/s + = 8.2 ft/s (6)
2 2
0

3
(3) ⇒ s(t) = vt (0)t + at6

(0.4 ft/s3 )(3 s)3


s(3) = (10 ft/s)(3 s) − = 28.2 ft
6
28.2 ft
θr = s ⇒ θ = = 1.01 rad (7)
28 ft

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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

vt2 (8.2 ft/s)2


an = ⇒ an (3) = = 2.4 ft/s2 (8)
r 28 ft
(1), (7), (8) ⇒ Fn = mg sin θ − man
(240 lb)(2.4 ft/s2 )
= (240 lb) sin(1.01 rad) − = 185 lb
32.2 ft/s2
(2), (5), (7) ⇒ Ft = mat + mg cos θ
240 lb
=( )(−1.2 ft/s2 ) + (240 lb) cos(1.01 rad) = 119 lb
32.2 ft/s2
Force acting on Ferris wheel is equal and opposite to the force exerted by the Ferris wheel on the
seat. Thus
*
F wheel = −[−Fn e*n + Ft e*t ] = Fn e*n − Ft e*t

*
F wheel = (185 e*n − 119 e*t ) lb

242
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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

3.3.21
GOAL: Find the car’s acceleration once it has left the ramp.
GIVEN: Ramp’s effective radius of curvature is 75 ft and when on the ramp the car is traveling
at a constant speed of 44 ft/s. The ramp has a 10% grade.
DRAW

FORMULATE EQUATIONS: We’ll use our expressions for angular velocity and acceleration:
v*C = v e*t
v2 *
a*C = v̇ e*t + e
rC n
ASSUME: Although the car’s path traces a path through three dimensional space, we can view it
as a two dimensional problem due to its speed along the path being constant. The car C traces out
a spiral that lies on a the surface of a cylinder. Because the path is continually rising due to the
slope, the effective radius of curvature is larger than the radius of the cylinder. Luckily, we’re given
the effective radius and thus don’t need to calculate it. Note that the second figure has quotes
around the word top. This is because the view isn’t really from directly above the car but rather
from slightly off from directly above, again, due to the slope of the path. The view is actually along
the direction defined by e*b = e*n × e*t .
SOLVE:
e*n : man = Fn (1)

e*t : Ft − mg sin θ = 0 (2)

e*b : N − mg cos θ = 0 (3)


2
vC
(1) ⇒ Fn = m (4)
reff
The maximal force developed along the road’s surface is equal to µN . Hence (2),(3),(4) give us
v
4
vC
u
u
2 2
µmg cos θ = m g sin θ + 2
t
r
eff

243
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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

v
v4
u
u
tg 2 sin2 θ + C
r2
eff
µ= (5)
g cos θ
Once on the straightaway the normal force will simply be mg and the maximal traction force will
thus be µmg. Therefore the acceleration will equal
v µg:
v4
u
u
tg 2 sin2 θ + C
r2
eff
aC = µg =
cos θ
Using the given numerical values gives
v us
4
u
t(32.2 ft/s2 )2 sin2 (5.71◦ ) + (44 ft/s)
u
(75 ft)2
aC = µg =
cos(5.71◦ )

aC = 26.1 ft/s2

244
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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

3.3.22
GOAL: Determine if Bob can complete a turn at 100 kph without having the tires of his car slip.
GIVEN: The coefficient of friction is 0.80, the mass of the car and driver is 1300 kg and at the
tightest part of the turn the radius of curvature is 90 m. While driving through the curve the car
experiences a drag force of 400 N.
DRAW

FORMULATE EQUATIONS: We’ll use our expression for angular acceleration:


v2
a*B = v̇ e*t + e*n
rc
ASSUME: The maximal lateral force the tires can support is µN . The car can be modeled as a
point mass, with a single road/tire interface, and all of the traction forces act at this point.
SOLVE:
* v2
F = m(v̇ e*t + e*n ) (1)
rc
The road surface is flat and therefore the normal force is equal to mg. We’re given that the car
needs to produce 400 N in order to overcome drag. Thus we’ll have two components of force along
the road at the road/tire interface, 400 N in the e*t direction and the lateral force Fn in the e*n
direction. !
v 2
(−400 N + Ft ) e*t + Fn e*n = m v̇ e*t + e*n
rc

e*t : −400 N + Ft = mv̇ = 0 (2)


!
v2
*
en : Fn = m (3)
rC

v " #2
(1300 kg)(27.8 m/s)2
u
q u
(2), (3) ⇒ 2 2 t 2
Ft + Fn = (400 N) + = 1.12 × 104 N (4)
90 m

The maximal force the tires can sustain is


Fmax = µmg = 0.8(1300 kg)(9.81 m/s2 ) = 1.02 × 104 N
The force needed to overcome drag and stay on the road is greater than the total force the tires
can supply. Hence Bob is going to wish he hadn’t taken the corner quite so quickly.
The tires will slip.

245
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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.3.23
GOAL: Determine the tension in the rope and the magnitude of the bucket’s acceleration when
θ = 60◦ .
GIVEN: The bucket (along with the water inside) has a mass of m = 4 kg, and the rope is L = 1 m
long. The bucket is swinging at a constant θ̇ = 10 rad/s.
DRAW:

FORMULATE EQUATIONS:
Balancing forces in the tangential and normal directions yields, respectively,

Ft = mat (1)

Fn = man = mLθ̇2 (2)


SOLVE:

FBD = IRD, e*n : (2) ⇒ T + mg sin θ = mLθ̇2

T = mLθ̇2 − mg sin θ

T = (4 kg)(1 m)(10 rad/s)2 − (4 kg)(9.81 m/s2 ) sin(60◦ )

T = 366 N

FBD = IRD, e*t : (1) ⇒ −mg cos θ = mat


at = −g cos θ
at = −(9.81 m/s2 ) cos(60◦ )
at = −4.905 m/s2

(2) ⇒ an = Lθ̇2

246
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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

an = (1 m)(10 rad/s)2
an = 100 m/s2

q
a = a2n + a2t
q
a = (100 m/s2 )2 + (−4.905 m/s2 )2

a = 100.1 m/s2

247
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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

3.3.24
GOAL: Determine the normal force acting on a skier.
GIVEN: Equation for the hill’s surface.
DRAW:

* *
ı 
*
et cos β − sin β
*
en sin β cos β
FORMULATE EQUATIONS:
mv 2 *
Force balance: mv̇ e*t + e = −mg *
 + N e*n
rC n

e*t : v̇ = g sin β (1)


mv 2
*
en : = N − mg cos β (2)
rC
SOLVE:
dy
= −a + 3bx2 (3)
dx
d2 y
= 6bx (4)
dx2
We’re asked for the normal force, which from (2) is given by
mv 2
N = mg cos β + (5)
rC
Note that we need both v, β and rC to solve for N . To get v we’re going to have to numerically
integrate an equation of motion and we’ll use the explicit expression for y in order to determine
both β and rC for positions along the curve.

It’s not hard to get what we need. I’ve drawn a little triangle that shows the relationships between
dx and dy (differential displacements horizontally and vertically) and ds (differential displacement

248
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CHAPTER 3. KINETICS OF PARTICLES 3.3. PATH COORDINATES

along the curve itself). As you can see, the motion along the curve (ds) is greater than the horizontal
projection (dx) or the vertical projection (dy). Because the included angle is β we can easily equate
dy
the curve’s slope ( dx ) to β:
s
2
dy
q  q
ds = dx2 + dy 2 = dx 1 + = dx 1 + (3bx2 − a)2
dx
The speeds ṡ and ẋ are therefore related by
ds
q
= ẋ 1 + (3bx2 − a)2
v = ṡ = (6)
dt
Differentiating with respect to time gives us the tangential acceleration:
  2  21 6bxẋ2 (3bx2 − a)
2
v̇ = s̈ = ẍ 1 + 3bx − a + 1 (7)
 2 2
2
1 + 3bx − a

6bxẋ2 (3bx2 − a)
g sin β − h i1
1 + (3bx2 − a)2 2
(1), (7) ⇒ ẍ = (8)
  2  21
2
1 + 3bx − a

This gives us a closed form solution for ẍ that we can then integrate in MATLAB if we also know
β. We’ve already mentioned that β is related to theslope  of the curve and thus have
dy  
β = tan−1 = tan−1 −a + 3bx2 (9)
dx
The final piece of information we’ll need is the radius of curvature. We know from the text that
" 2 # 32
dy

1+
dx
rC = d2 y (10)

2
dx
and we have all the data we need to evaluate it:
  2  23
2
1 + −a + 3bx
(3), (4) → (10) ⇒ rC = (11)
6bx

The solutions sequence is therefore to use MATLAB to integrate (8) from 0 to 50 m (using (9) to
evaluate β). Once we have our data (x, ẋ and associated values of t) we can evaluate N from (5)
where v is given in (6), rC in (11) and β in (9). To go from x = 0 to x = 50 m requires that the
integration be carried out from t = 0 to t = 4.3567 s.
Presented on the following page are three plots. The first shows the normal force as a function of
time, the second the x position as a function of time and the third the normal force as a function
of x.

249
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3.3. PATH COORDINATES CHAPTER 3. KINETICS OF PARTICLES

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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4 Linear Momentum and Linear Impulse

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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.1
GOAL: Determine the speed after collision and the magnitude of the linear impulse applied to
each block.
GIVEN: Block A has a mass and speed of mA = 2 kg and vA = 4 m/s, respectively. The mass
of block B is mB = 3 kg, and its speed is vB = 2 m/s. Both blocks are moving to the right on a
frictionless surface, and they stick when they collide.
DRAW:

FORMULATE EQUATIONS:
The linear impulse-momentum relation is given by
Z t
* * f *
mv f − mv 0 = F dt (1)
t
0
SOLVE:
To figure out how fast the blocks are moving together after impact, we’ll want to take our system as
including both blocks, and hence there are no external forces acting on the system in the direction
of travel:

Blocks A and B, *
ı : (1) ⇒ (mA + mB )v − (mA vA + mB vB ) = 0

mA vA + mB vB
v=
mA + mB
(2 kg)(4 m/s) + (3 kg)(2 m/s)
v=
2 kg + 3 kg

v = 2.8 m/s

We can then find the applied linear impulse LI by examining either block alone. Analyzing block
A, we have that

Block A, *
ı : (1) ⇒ mA v − mA vA = LI

|LI| = mA v − vA

|LI| = (2 kg) |2.8 m/s − 4 m/s|

|LI| = 2.4 kg · m/s

252
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.2
GOAL: Find average force (Favg ) exerted on the maul by the wedge.
GIVEN: Maul weighs 7 lb = 0.217 slg, maul velocity=30 mph = 44 ft/s, maul impulse lasts 0.21 s,
vf = 0
DRAW:

ASSUME: Gravity can be neglected. After contact maul and wedge move together into the log.
FORMULATE EQUATIONS:
*
linear impulse: mM v*M (t2 ) = mM v*M (t1 ) + LI1−2
SOLVE:
*
0 = mM v*M (t1 ) + F avg ∆t

* −mM v*M (t1 ) −0.217 slg(−44 ft/s *


)
F avg = = = 45.5 *
 lb
∆t 0.21 s
*
F avg = 45.5 *
 lb

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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.3
GOAL: Determine thrust needed for spacecraft to achieve touchdown with a given speed.
GIVEN: Gravitational acceleration, initial conditions, and parameter values.
DRAW:

FORMULATE EQUATIONS:
Z t
f
 
R * * *
F dt = ∆L,  : (−mg + T ) dt = m −vf − (−vi ) (1)
0
SOLVE: Z t
T

f
(1) ⇒ −g + dt = vi − vf (2)
m 0

T = tm vi − vf + gtf = 200 kg 2.5 m/s − 0.5 m/s + (10 s)(3.7 m/s2 ) = 780 kg· m/s2
 

f
10 s

254
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.4
GOAL: Determine the speed just after the thruster cuts out.
GIVEN: A box is projected with a speed v0 = 5 m/s up a rough incline angled at θ = 15◦ to
ground. The box’s mass is m = 6 kg, and µ = 0.25. A small booster on the box provides a variable
√ 1
thrust T (t) = T0 t for ∆t = 5 s, where T0 = 25 N/s 2 .
DRAW:

FORMULATE EQUATIONS:
The linear impulse-momentum relation is given by
Z t
* * f *
mv f − mv 0 = F dt (1)
t
0

The friction force acting on the box is

Ff = µN (2)
SOLVE:
The box is always in contact with the incline, so
*
FBD, b 2 : N − mg cos θ = 0 ⇒ N = mg cos θ

From a linear impulse-momentum analysis, we find that the box’s speed immediately after the
thruster cuts out is
Z ∆t  √ 
*
FBD, b 1 : (2) → (1) ⇒ mv − mv0 = T0 t − mg sin θ − µN dt
0

2 3 ∆t
∆t
mv = T0 t 2 − mg(sin θ + µ cos θ)t + mv0

3 0 0
2 3
mv = T0 (∆t) 2 − mg(sin θ + µ cos θ)∆t + mv0
3
2T 3
v = 0 (∆t) 2 − g(sin θ + µ cos θ)∆t + v0
3m
1
2(25 N/s 2 ) 3
v= (5 s) 2 − (9.81 m/s2 ) [sin(15◦ ) + 0.25 cos(15◦ )] (5 s) + 5 m/s
3(6 kg)

v = 11.5 m/s

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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.5
GOAL: Find Favg of a crashing car
GIVEN: Weight and initial speed of the car and crash duration
DRAW:

FORMULATE EQUATIONS:

mẋ(0) − Favg ∆t = mẋ(0.11 s)

35 mph = 51.3 ft/s


SOLVE:
3000 lb
 
(51.3 ft/s) − Favg (0.11 s) = 0
32.2 ft/s

Favg = 4.35x104 lb

256
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.6
GOAL: Find the average force between the ground and the tires.
GIVEN: mg = 2800 lb, v1 = 60 mph, v2 = 0 mph, ∆t = 2.7 s.
DRAW

FORMULATE EQUATIONS: The change in linear momentum is given by


Z t
2 *
mv*2 − mv*1 = Fdt
t
1
Letting −F *
ı represent the average force we can express our momentum equation in the *
ı direction
as

mv2 − mv*1 = −F ∆t (1)


SOLVE: Solving (1) for F yields
 
ft/s
m(v1 − v2 ) (2800 lb)(60 mph) 1.46 mph
F = = = 2834 lb
∆t (32.2 ft/s2 )(2.7 s)
*
F = −2834 *
ı lb

257
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.7
GOAL: Find µd for a sliding disk.
GIVEN: Initial speed of disk and distance traveled.
DRAW:

FORMULATE EQUATIONS:
We know during sliding that the friction force is equal to µd N = µd mg. Our momentum equation
is

mv1 − µd mg∆t = 0
SOLVE:

19 ft/s − µd (32.2 ft/s2 )(2 s) = 0

µd = 0.295

258
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.8
GOAL: Determine the coefficient of friction between the crate and floor.
GIVEN: A crate of weight W = 40 lb is pushed from rest along a rough floor by a time-varying
horizontal force F (t). The crate’s speed ∆t = 4 s later is v = 6 ft/s.
DRAW:

FORMULATE EQUATIONS:
The linear impulse-momentum relation is given by
Z t
f *
mv*f − mv*0 = F dt (1)
t
0

The friction force acting on the crate is

Ff = µN (2)

SOLVE:
The crate maintains contact with the floor for all time, and so

FBD, *
: N − mg = 0 ⇒ N = mg

We can find the linear impulse LI due to the applied force F (t) over the interval ∆t by finding the
area under the given force-time curve:
Z 4s
1
LI = F (t)dt = (2 s)(20 lb) + (2 s)(20 lb)

F (t) 0 2

LI = 60 lb · s

F (t)

Therefore, a linear impulse-momentum analysis gives us that the coefficient of friction between the
floor and crate is
Z ∆t
FBD, *
ı : (2) → (1) ⇒ mv = LI

− µN dt
F (t) 0

259
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

∆t
mv = LI − µmgt

F (t) 0

mv = LI − µmg∆t

F (t)

LI − mv gLI − Wv

F (t) F (t)
µ= =
mg∆t W g∆t

(32.2 ft/s2 )(60 lb · s) − (40 lb)(6 ft/s)


µ=
(40 lb)(32.2 ft/s2 )(4 s)

µ = 0.328

260
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.9
GOAL: Determine µA and µB
GIVEN: Speeds and associated times of a sliding rock
DRAW:

FORMULATE EQUATIONS: Force balance in the *


 direction gives us

N = mg
Thus the force acting to slow the rock is either µA mg or µB mg. It travels for the same length of
time t0 in both sections and therefore our linear impulse equation is

mv1 − µA mgt0 − µB mgt0 = 0


SOLVE:
  
10 m/s = µA + µB 9.81 m/s2 (1.7 s)
Let µA = 2µB
 
10 m/s = 3µA 9.81 m/s2 (1.7 s)

µB = 0.20

µA = 2µB = 0.40

261
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.10
GOAL: Time required to reduce disk’s speed by half.
GIVEN: Friction force, initial condition and parameter values.
DRAW:

FORMULATE EQUATIONS:
Only the forces along the direction of travel are shown in the figure as they’re the only ones that
will alter the disk’s speed. We’ll use our linear impulse equation:
mv2 = mv1 + LI 1−2 (1)
SOLVE: Z t 
f

− f0 + f1 t2 dt = m(v2 − v1 ) (2)
0
1 3
(2) ⇒ f t + f0 tf + m(v2 − v1 ) = 0
3 1 f
1 2 3
3 (3 N/s ) tf + 1 N tf − (5 m/s)(2 kg) = 0 ⇒ tf = 2.0 s

262
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.11
GOAL: Determine the force applied to the block.
GIVEN: The block’s mass is m = 10 kg, and it is accelerated from rest by a constant force F
applied at θ = 30◦ to ground. The block reaches a speed of v = 5 m/s in ∆t = 2 s. The block slides
on a rough floor with µ = 0.2.
DRAW:

FORMULATE EQUATIONS:
The linear impulse-momentum relation is given by
Z t
* * f *
mv f − mv 0 = F dt (1)
t
0

The friction force acting on the block is

Ff = µN (2)
SOLVE:
The block is always in contact with the floor, so
FBD, *
: N − mg − F sin θ = 0
N = mg + F sin θ

Using a linear impulse-momentum analysis, we find that the applied force is


Z ∆t
*
FBD, ı : (2) → (1) ⇒ mv = (F cos θ − µN )dt
0
∆t
mv = [F (cos θ − µ sin θ) − µmg] t

0
mv = [F (cos θ − µ sin θ) − µmg] ∆t
m(v + µg∆t)
F =
∆t(cos θ − µ sin θ)
h i
(10 kg) 5 m/s + 0.2(9.81 m/s2 )(2 s)
F =
(2 s) [cos(30◦ ) − 0.2 sin(30◦ )]

F = 58.2 N

263
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.12
GOAL: Find the time that a thruster must operate to alter the speed of a spacecraft from zero to
70,000 km/s.
GIVEN: Mass of the spaceship and force developed by the thruster.
DRAW:

FORMULATE EQUATIONS:
We’ll need to apply our linear impulse equation:
mv2 = mv1 + LI 1−2
SOLVE:
70, 000 km/s = 7.0×107 m/s
In the *
ı direction we have
(200, 000 kg)(7.0×107 m/s) = (5.0×106 N)∆t

∆t = 2.8×106 s = 32.4 days

264
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.13
GOAL: Find change in speed of a bicycle.
GIVEN: Initial speed of bicycle and mass of the two bodies.
DRAW:

FORMULATE EQUATIONS:
The system’s linear momentum doesn’t change. Hence

mA vA = (mA + mB )v
SOLVE:

(80 kg)(5 m/s) = (80 kg + 40 kg)v

v = 3.3 m/s

∆v = (3.3 − 5) m/s = −1.6 m/s

265
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.14
GOAL: Find the velocity of a cyclist after launching missile
GIVEN: Masses of cyclist and missile, velocity of missile with respect to the cyclist at launch.
DRAW:

FORMULATE EQUATIONS: The system of cyclist plus missile has the same linear momentum
before

and after launch. After launch the cyclist has velocity v*0 = v 0 *
ı and the missile has velocity
v 0 + vm/C *
ı where vm/C = 500 m/s

25 kph = 6.94 m/s


SOLVE:
 
(mm + mc ) v = mc v 0 + mm v 0 + vm/C

(0.5 kg + 80 kg) (6.94 m/s) = (80 kg) v 0 + (0.5 kg) v 0 + 500 m/s


(80.5 kg) v 0 = 309 kg m/s

v 0 = 3.84 m/s

266
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.15
GOAL: Find the speed of a spitball 0.2 s after the child starts to blow on the straw.
GIVEN: Mass of the spitball, applied pressure and straw’s cross-sectional area.
DRAW:

FORMULATE EQUATIONS:
We’ll need to apply our linear impulse equation:
mv2 = mv1 + LI 1−2
SOLVE:
The spitball starts from rest and is acted on by a force equal to the pressure times the effective
cross-sectional area on which the pressure is acting:
√ √
F = P A = (4000 N/m2 )( 75 mm)2 = (4000 N/m)( 75×10−3 m)2 = 0.3 N

Because the force is considered constant we have


LI 1−2 = F t

(5.0×10−3 kg)v2 = (0.3 N)(0.2 s)

v2 = 12 m/s

Let’s quickly check if this seems like a reasonable scenario. The spitball accelerates at a constant
rate equal to F/m = 60 m/s2 . In 0.2 s it will travel a distance
1 1
x = at2 = (60 m/s2 )(0.2 s)2 = 1.2 m
2 2
1.2 m is a pretty long straw. So it’s a reasonable conclusion that letting the “spitball-in-straw”
time be 0.2 s is a bit excessive, although possible if the child found an extra-extra-long straw.

267
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.16
GOAL: Determine the applied linear impulse and average force acting on a ball as a result of being
hit by a bat.
GIVEN:
Mass of the ball and its velocity before and after collision, as well as the duration of the collision.
DRAW:

FORMULATE EQUATIONS:
We’ll be using the general linear impulse equation:
*
mv*1 + LI1−2 = mv*2
SOLVE:
The change in linear momentum is equal to the applied linear impulse.

v*1 = −80 *
ı mph = −117.3̄ft/s

v*2 = 125 *
ı mph = 183.3̄ *
ı ft/s

* 0.3 lb
LI1−2 = mv*2 − mv*1 = * *
2 (183.3 ı + 117.3̄ ı ) ft/s
(32.2 ft/s )
*
LI1−2 = 2.80 *
ı lb·s

Because the applied linear impulse is simply equal to the average force multiplied by the time over
which it is applied we have
2.80 *
ı lb·s
Favg = = 16.5 lb
0.17 s

268
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.17
GOAL: Determine the speed of two cars just before they collide.
GIVEN: At the time of collision v*A = vA * ı m/s and v*B = vB *
 m/s. mA = 1500 kg, mB = 2700 kg.

After the collision they slide at θ = 31 for 9.4 m. µ = 0.85.
DRAW:

FORMULATE EQUATIONS:
The linear momenta of the two cars are related, before and after collision, by
mA v*A + mB v*B = (mA + mB )v*
SOLVE: To determine the collision speeds we need to have the speed of the 2-car mass. To get
this we can use the length of skid and angle of skid. We’re told that the cars slide 9.4 m before
coming to rest. Since we’re dealing with sliding we know that the constant deceleration of the two
cars is given by µg. !
v2
0− = −µg∆x
2
!
v2
0− = −0.85(9.81 m/s2 )(9.4 m)
2
giving us v = 12.5 m/s.
Linear momentum is a vector quantity and thus we can take the *
ı and *
 components of the linear
* *
momentum after the collision and equate them to the ı and  components before collision:
(mA + mB )v cos θ = mA vA

(mA + mB )v sin θ = mB vB

(4200 kg)(12.5 m/s) cos 31◦ = (1500 kg)vA

(4200 kg)(12.5 m/s) sin 31◦ = (2700 kg)vB

vA = 30 m/s, vB = 10 m/s

269
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.18
GOAL: Determine the average electromagnetic force needed to accelerate the maglev train.
GIVEN: The maglev train starts from rest and accelerates to vf = 100 mph in ∆t = 10 s. The
train weighs 30, 000 lb.
DRAW:

FORMULATE EQUATIONS:
The linear impulse-momentum relation for the maglev train is
Z t
* * f *
mv f − mv 0 = Fdt (1)
t
0
SOLVE:
Z ∆t
*
FBD, ı : (1) ⇒ mvf = Fe dt
0
∆t
mvf = Fe t

0
mvf = Fe ∆t
mvf
Fe =
∆t
  
hr 5280 ft
(30, 000 lb) (100 mph) 3600 s mi
Fe =
(32.2 ft/s2 )(10 s)

Fe = 1.37 × 104 lb

270
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.19
GOAL: Determine the coefficient of friction between the curling stone and playing surface.
GIVEN: The curling stone is launched at v0 = 5.4 m/s and travels in a straight line before coming
to a stop sc = 28 m away in the center of the target. The stone has a mass of m = 18 kg and takes
∆t = 10.4 s to reach the target’s center.
DRAW:

FORMULATE EQUATIONS:
Balancing forces in the vertical direction gives

Fy = mÿ (1)

The resistance due to friction is

Ff = µN (2)

The linear impulse-momentum relation for the curling stone is


Z t
f *
mv*f − mv*0 = Fdt (3)
t
0

SOLVE:

FBD = IRD, *
 : (1) ⇒ N − mg = 0

N = mg

Z ∆t
FBD, *
ı : (2) → (3) ⇒ −mv0 = (−µN )dt
0

271
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

∆t
−mv0 = −µmgt

0
v0 = µg∆t
v0
µ =
g∆t
5.4 m/s
µ =
(9.81 m/s2 )(10.4 s)

µ = 0.053

272
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.20
GOAL: Find the speed of the mass at t = 0.08 s.
GIVEN: m = 0.007 s, v0 = 0, the force versus time profile.
DRAW

FORMULATE EQUATIONS: Because the force varies with time, the change in linear momen-
tum is given by
Z t
f
mv = F dt (1)
0
where the force profile is
(
50 N, 0 ≤ t < 0.04 s
F = (2)
[50 N + (1250 N/s)t] , t ≥ 0.04 s
SOLVE:
(2) → (1) ⇒
Z 0.04 s Z 0.08 s
1

v= (50 N)dt + (1250 N/s)t dt
m 0 0.04 s

1 1 1
 
v= (50 N)(0.04 s) + (1250 N/s)(0.08 s)2 − (1250 N/s)(0.04 s)2
0.007 kg 2 2

v = 714.3 m/s

273
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.21
GOAL: Determine when the mass comes to a stop up the ramp.
GIVEN: The ramp is angled at θ = 30◦ and has a coefficient of friction of µ = 0.3. The mass is
projected up the ramp with an initial speed v0 = 10 m/s.
DRAW:

FORMULATE EQUATIONS:
Balancing forces in the vertical direction gives

Fy = mÿ (1)

The friction force is given by

Ff = µN (2)

The linear impulse-momentum relation for the mass is


Z t
* * f *
mv f − mv 0 = Fdt (3)
t
0
SOLVE:
*
FBD = IRD, b 2 : (1) ⇒ N − mg cos θ = 0

N = mg cos θ

Z t
* f
FBD, b 1 : (2) → (3) ⇒ −mv0 = (−µN − mg sin θ)dt
0
t
−mv0 = −(µmg cos θ + mg sin θ)t f

0
v0 = g(µ cos θ + sin θ)tf
v0
tf =
g(µ cos θ + sin θ)

274
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

10 m/s
tf = 2
9.81 m/s [0.3 cos(30◦ ) + sin(30◦ )]
tf = 1.34 s

275
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.22
GOAL: Determine the velocity of the shuttle-ISS system after the shuttle docks.
GIVEN: The space shuttle has a mass of mss = 6 × 104 kg and is moving at v*ss = 8100 * ı m/s as
it docks. The ISS has a mass of mISS = 1.8 × 105 kg and a velocity of v*ISS = 8000 *
ı m/s.
DRAW:

FORMULATE EQUATIONS:
The linear impulse-momentum relation for the system is
Z t
* * f *
mf v f − m0 v 0 = Fdt (1)
t
0
SOLVE:
Since the orbit remains constant and the gravitational force acting on the space shuttle and ISS
is normal to the orbital path, there are no applied forces acting on the system in its direction of
travel, so

FBD, *
ı : (1) ⇒ (mss + mISS )vf − (mss vss + mISS vISS ) = 0

mss vss + mISS vISS


vf =
mss + mISS
(6 × 104 kg)(8100 m/s) + (1.8 × 105 kg)(8000 m/s)
vf = = 8025 m/s
(6 × 104 kg) + (1.8 × 105 kg)

v*f = 8025 *
ı m/s

276
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.23
GOAL: Determine the applied linear impulse (in lb·s) as a result of a tennis racket/ball collision.
GIVEN:
1
The tennis ball weighs 2 16 oz. v*1 = 110 *
ı mph v*2 = (−80 *
ı + 10 *
 ) mph
DRAW:

FORMULATE EQUATIONS:
We’ll be using the general linear impulse equation:
*
mv*1 + LI1−2 = mv*2
SOLVE:
The change in linear momentum is equal to the applied linear impulse.

v*1 = 110 *
ı mph = 161.3̄ ft/s

v*2 = (−80 *
ı + 10 *
 ) mph = (−117.3̄ *
ı + 14.6̄ *
 ) ft/s

1
* 2 16 oz
LI = mv*2 − mv*1 = 2 (−117.3 *
ı + 14.6̄ *
 − 161.3̄ *
ı ) ft/s
(32.2 ft/s )(16 oz/lb)
*
LI = (−1.12 *
ı + 0.0584 *
 ) lb·s

277
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.24
GOAL: What is the coefficient of kinetic friction between puck and ice?
GIVEN: Puck’s mass, initial and final speed and time taken to change speed.
DRAW:

FORMULATE EQUATIONS:
Force balance:
*
ı: N − mg = 0 ⇒ N = mg (1)
*
: ma = −µk N = −µk mg (2)

v2 = v1 + a∆t (3)
SOLVE:
(1)→(2)⇒ a = −µk g (4)

v2 = v1 − µk g∆t (5)
(4)→(3)⇒
2
11.3 m/s = 13 m/s − µk (9.81 m/s )(3 s) (6)

µk = 0.0578

278
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.25
GOAL: Determine the time it takes for an astronaut to drift back to his spaceship after throwing
a wrench away from the ship.
GIVEN: Mass of the astronaut and wrench and the absolute speed of the wrench after being
released.
DRAW:

FORMULATE EQUATIONS: Before the throw the system linear momentum (astronaut plus
wrench) was zero. Thus, after the wrench has been tossed, the total system linear momentum must
also be zero.
SOLVE:
Let mW be mass of wrench and mA be mass of astronaut. Let vW and vA be the speeds of the
wrench and astronaut, respectively - both positive in the *
ı direction.
SOLVE:

mW vW + mA vA = 0
(2 kg)(15 m/s) + (80 kg) vA = 0
vA = −0.375 m/s

vA t = −10 m
−(0.375 m/s)(t) = −10 m

t = 26.6 s

279
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.26
GOAL: Find the post-collision speed of two moving bodies.
GIVEN: Masses of the two bodies and their initial velocities.
DRAW:

FORMULATE EQUATIONS: Before collision


*
L = mS v*S + mJ−S v*J−S = (80 kg)(7 m/s) *
ı + (70 kg)(−7 m/s) *
ı
= 70 *
ı kg· m/s (1)

After collision
*
L = (80 kg + 70 kg)v* (2)
SOLVE: Because momentum for the system of two bodies is conserved, we have from (1) and (2):
70 *
ı kg· m/s = (150 kg)v*

v* = 0.46̄ *
ı m/s

280
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.27
GOAL: Determine if you can deduce the pre-collision speed of two moving bodies.
GIVEN: Masses of the two bodies and post-collision speed of the combined mass.
DRAW:

FORMULATE EQUATIONS:
*
Before collision: (27 g)v1 *
ı + (31 g)v2 *
ı =L (1)
*
After collision: (27 g + 31 g)(−100 m/s) *
ı =L (2)
SOLVE:
(1), (2) ⇒ (27 g)v1 + (31 g)v2 = −5800 g· m/s
The individual velocities cannot be determined. We have one equation and two unknowns:
(a)
v1 and v2 .
To obtain a solution, we need only one unknown. If either v*1 or v*2 was specified, the
(b)
problem could be solved.

281
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.28
GOAL: Find the post-collision velocities of two colliding cars.
GIVEN: Masses of the two cars and initial velocities.
DRAW:

FORMULATE EQUATIONS: The crush dynamics may be complex but all the forces are equal
and opposite between the two cars. Thus system momentum

is conserved and:
mA v*A + mB v*B = mA + mB v*
SOLVE:
(1000 kg)(10 m/s) *
ı + (1500 kg)(−15 m/s) *
ı = (1000 + 1500)v*

v* = −5 *
ı m/s
This result is the same as you will find when two mass particles collide. The point of the crumple
zone is not to alter the final velocity but rather to increase the time over which the collision lasts.
The change in velocity won’t change but by changing the time duration of the collision you decrease
the acceleration levels.

282
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.29
GOAL: Find the magnitude of the average force exerted by a nail on a hammer.
GIVEN: Mass of the hammer, time duration of collision and strike speed.
DRAW:

FORMULATE EQUATIONS:
We’ll apply the equation for linear impulse:
mH vH (0) − F ∆t = mH vH (∆t) (1)
SOLVE: !
1.5 lb
mH   32.2 ft/s2
F = vH (0) − 0 = (88 ft/s) = 372.7 lb
∆t (0.011 s)

283
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.30
GOAL: Find the time to reach a speed of v = 4 m/s.
GIVEN: µ = 0.15, v0 = 15 m/s, θ = 15◦ .
DRAW

* *
ı 
*
b1 cos θ sin θ (1)
*
b2 − sin θ cos θ
FORMULATE EQUATIONS: Because the forces acting on the mass are constant, the equation
for the change in linear momentum is
X* X*
mv*(t2 ) − mv*(t1 ) = (t2 − t1 ) F = ∆t F (2)
The sum of forces acting on the mass are
X* * *
F = N b 2 − Ff b 1 − mg *
 (3)
The friction force is given by

Ff = µN (4)
SOLVE: X* * *
(4), (1) → (3) ⇒ F = (−µN − mg sin θ) b 1 + (N − mg cos θ) b 2 (5)
* *
We’re given that v*(t2 ) = 4 b 1 m/s and v*(t1 ) = 16 b 1 m/s. Thus, (5) → (2) gives us
h * *
i h * *
i
m (4 b 1 m/s) − (16 b 1 m/s) = (−µN − mg sin θ) b 1 + (N − mg cos θ) b 2 ∆t (6)

Breaking (6) into separate components yields


*
b 1: −m(12 m/s) = (−µN − mg sin θ)∆t (7)
*
b 2: N = mg cos θ (8)

(8) → (7) −12 m/s = −g(µ cos θ + sin θ)∆t (9)


Solving for ∆t:

12 m/s 12 m/s
∆t = = 2 = 3.03 s
g(µ cos θ + sin θ) (9.81 m/s )(0.15 cos 15◦ + sin 15◦ )

284
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

∆t = 3.03 s

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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.31
GOAL: (part a) Find total linear impulse acting on the bullet. (part b) Find the time at which
the bullet exits the gun.
GIVEN: bullet mass=0.02 kg, stationary at x=0, velocity of bullet leaving gun is 1000 kph =
277.7 m/s , forces acting on bullet is a function of time given by: f = f0 − f1 t where f0 = 7000 N ,
f1 = 2.9 × 106 N/s
DRAW:

FORMULATE EQUATIONS:
* * *
linear impulse L(t2 ) = L(t1 ) + LI
SOLVE: (part a)
* *
L(t2 ) = 0 + LI
* *
LI = L(t2 ) = (277.7 *
 m/s)(0.02 kg) = 5.56 *
 kg· m/s
*
LI = 5.56 *
 kg· m/s

SOLVE: (part b)
Z t
* 2 *
LI = Fdt
t
1
Z t Z t
* 2 * 2
LI = Fdt = (f0 − f1 t)dt *

0 0

* f1
LI = (f0 t2 − (t )2 ) *
 − (0) = 5.56 *
 kg· m/s
2 2

2.9 × 106 N/s


(t2 )2 −(7000 N)t2 +5.56 N· s = 0 ⇒ t2 = 1.00 × 10−3 s
2

t2 = 1.00 ms

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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.32
GOAL: Determine time required to stop a rock that’s slipping downslope.
GIVEN: Tension in rope, parameters, and initial conditions.
DRAW:

* *
ı 
*
b1 cos θ sin θ
*
b2 − sin θ cos θ
FORMULATE EQUATIONS:
We’ll use our linear impulse equation:
mv2 = mv1 + LI 1−2 (1)
* * * * *
Force balance: F = −mg j + N b 2 + T cos φ b 1 + T sin φ b 2
SOLVE:
Just considering the forces along the slope gives us an applied force of
T cos φ − mg sin θ (2)
Z t
f
(1), (2) ⇒ mv1 + (T cos φ − mg sin θ) dt = mv2 (3)
0
Z t 
f

mv1 + (T1 + T2 t) cos φ − mg sin θ dt = mv2
0
1
mv1 + T2 t2 cos φ + (T1 cos φ − mg sin θ) tf = 0
2 f

cos 10◦
(73 N/s)t2 +[(100 N) cos 10◦ −(50 kg)(9.81 m/s2 ) sin 25◦ ] tf −(50 kg)(6 m/s) = 0
2 f

t2 − (3.03 s)tf − 8.35 s2 = 0


f

tf = 4.78 s

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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.33
GOAL: Find linear impulse applied to the ball from the ground
GIVEN: mass = 0.2 kg, rebound height = 1.6 m
DRAW:

ASSUME: No information about the original drop height or initial momentum is provided, there-
fore the answer will be in terms of v1 , the velocity of the ball coming down just before it hits the
ground.
FORMULATE EQUATIONS:
* * *
linear impulse L(t2 ) = L(t1 ) + LI
* * *
LI = L(t2 ) − L(t1 )
SOLVE:
First apply kinematics to find v2 . Consider velocity and position functions for time after the contact
with the floor.
−g 2 −g 2
y(t) = t + v2 t + 0 ⇒ h = t + v2 t f (1)
2 2 f
v
v(t) = −gt + v2 ⇒ 0 = −gtf + v2 ⇒ tf = 2 (2)
g

−g

v2
2 
v2

v22 p
(2) → (1) ⇒ h= + v2 = ⇒ v2 = 2hg
2 g g 2g
q
2(1.6 m)(9.81 m/s2 ) = 5.60 m/s
p
v2 = 2hg =
* * *
LI = L(t2 ) − L(t1 ) = mv*2 − mv*1 = m[v2 *
 − (−v1 *
 )]
*
LI = m(v2 + v1 ) *
 = 0.2 kg(5.60 m/s + v1 ) *

*
LI = 0.2 kg(5.60 m/s + v1 ) *

It is clear from this solution that the incoming speed of the ball has a strong affect on the magnitude
of the overall linear impulse. What do you think might be happening physically if we observe
different impact speeds but identical rebound heights?

288
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.34
GOAL: Find the speed of a dropped backpack after 2 s.
GIVEN: µd = 0.20, v1 = 0, θ = 20◦ .
DRAW

* *
ı 
*
b1 cos θ sin θ (1)
*
b2 − sin θ cos θ
FORMULATE EQUATIONS: Because the forces acting on the mass are constant, the equation
for the change in linear momentum is
X* X*
mv*(t2 ) − mv*(t1 ) = (t2 − t1 ) F = ∆t F (2)
The frictional force acts to resist the movement of the backpack downslope. The sum of forces
acting on the mass are
X* * *
F = N b 2 + Ff b 1 − mg *
 (3)
The friction force is given by

Ff = µd N (4)
SOLVE: X* * *
(4), (1) → (3) ⇒ F = (µd N − mg sin θ) b 1 + (N − mg cos θ) b 2 (5)
We’re given that v*(t1 ) = 0. Thus, (5) → (2) gives us
h * *
i
mv*2 = (µd N − mg sin θ) b 1 + (N − mg cos θ) b 2 ∆t (6)

Breaking (6) into separate components yields


*
b 1: mv(t2 ) = (µd N − mg sin θ)∆t (7)
*
b 2: N = mg cos θ (8)

(8) → (7) v(t2 ) = g(µd cos θ − sin θ)∆t (9)

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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

v(2 s) = (9.81 m/s2 )(0.20 cos 20◦ − sin 20◦ )(2 s) = −3.02 m/s

v(2 s) = −3.02 m/s

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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.35
GOAL: Determine if a moving block stops moving before reaching the left end of a moving belt.
GIVEN: The coefficient of friction between the block and belt (µ = 0.4) as well as the block’s
initial speed (v0 = 2 m/s) and the belt’s speed (vB = 3 m/s). L = 1.2 m.
DRAW:

FORMULATE EQUATIONS:
The initial and final linear momenta in the *
ı direction are related through
mv = m(−v0 ) + F t (1)
where t is the elapsed time and v is the block’s speed with respect to ground. Noting that that
N = mg and utilizing a slip assumption gives us
F = µN = µmg (2)
SOLVE: The block will continue moving to the left until its speed has been reduced to zero.
Assuming v = 0 we have:
v 2 m/s
(1), (2) ⇒ t= 0 = = 0.510 s
µg (0.4)(9.81 m/s2 )
The lateral force applied to the block is equal to µmg and thus its acceleration is simply µg. Using
our relationship for distance traveled under a constant acceleration gives us
at2 (0.4)(9.81 m/s2 )(0.510)2
∆x = v0 t + = (−2 m/s)(0.510 s) + = −0.510 m
2 2
Thus the block has moved 0.510 m to the left when its absolute speed reaches zero, a distance
that’s less than L. Hence the block does stay in contact with the belt.

291
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.36
GOAL: Determine which of two scenarios yields the furthest travel in a given time.
GIVEN: The coefficient of friction between the block and belt (µ = 0.4 for case (a) and µ = 0.2
for case (b)) as well as the block’s initial speed (v0 = 2 m/s) and the belt’s speed (vB = 3 m/s for
case (a) and 5 m/s for case (b)).
DRAW:

FORMULATE EQUATIONS:
The initial and final linear momenta in the *
ı direction are related through
mv = m(−v0 ) + F t (1)
where t is the elapsed time and v is the block’s speed with respect to ground. Noting that N = mg
and utilizing a slip assumption give us
F = µN = µmg (2)
where the appropriate value of µ must be used for the particular case being examined.
SOLVE:
(a): Rearranging (1) and using (2) we have
v + vB 5 m/s
t= 0 = = 1.27 s
µ1 g (0.4)(9.81 m/s2 )
as the time at which the block reaches the speed of the belt.
We know that the force applied to the block is equal to µ1 mg and thus its acceleration is simply
µ1 g. Using our relationship for distance traveled under a constant acceleration gives us
a t2 (0.4)(9.81 m/s2 )(1.27 s)2
x = v0 t + 1 = (−2 m/s)(1.27 s) + = 0.637 m
2 2
Thus when the block reaches the belt’s speed it has moved 0.637 m to the right of its starting point.
From this point onward its speed is constant and its position at t = 4 s is therefore equal to
x = 0.637 m + (4 s − 1.27 s)(3 m/s) = 8.81 m
(b): We can now repeat the calculations just done but with altered values for the coefficient of
friction and the belt’s speed.
The block reaches the belt’s speed off 5 m/s in
v + vB 7 m/s
t= 0 = = 3.57 s
µ2 g (0.2)(9.81 m/s2 )
Thus for both cases the block will have had time to reach the belt’s speed.
The force applied to the block is equal to µ2 mg and thus its acceleration is µ2 g. Using our
relationship for distance traveled under a constant acceleration gives us
a t2 (0.2)(9.81 m/s2 )(3.57 s)2
x = v0 t + 2 = (−2 m/s)(3.57 s) + = 5.35 m
2 2

292
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

From this point onward its speed is constant and its position at t = 4 s is equal to
x = 5.35 m + (4 s − 3.57 s)(5 m/s) = 7.51 m
Thus we see that the block travels further for case (a). Given just a bit more time, though, it’s
clear that case (b) would have “won” as the block is moving at a substantially higher speed.

Block moves furthest for case (a).

293
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.37
GOAL: Determine how long it takes the firework to reach vf = 100 m/s.
GIVEN: The firework has a mass of m = 1 kg and starts from rest. The lit firework generates a
thrust governed by T (t) = 200e−0.5t N, which causes it to shoot straight up. The effects of gravity
can be neglected.
DRAW:

FORMULATE EQUATIONS:
The linear impulse-momentum relation for the firework is
Z t
f *
mv*f − mv*0 = Fdt (1)
t
0
SOLVE:
Since the weight of the firework can be neglected,
Z t
* f
FBD,  : (1) ⇒ mvf = T (t)dt
Z t0
f
mvf = T0 e−0.5t dt
0
t
mvf = −2T0 e−0.5t f

0
mvf = −2T0 [e−0.5tf − 1]
mvf
e−0.5tf = 1 −
2T0
mvf
!
−0.5tf = ln 1 −
2T0
mvf
!
tf = −2 ln 1 −
2T0
(1 kg)(100 m/s)
 
tf = −2 ln 1 − s
2(200 N)

tf = 0.575 s

294
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.38
GOAL: Determine how fast two girls are travelling immediately following their collision.
GIVEN:
mA = 23 kg, mG = 23 kg. The distance from A to B is 40 m. The slope is 10 degrees. Angela’s
velocity at A is zero.
DRAW:

* *
ı 
*
b1 cos θ − sin θ
*
b2 sin θ cos θ
ASSUME: No speed is given for Grace so we’ll assume her speed is zero at collision.
FORMULATE EQUATIONS:
First we have the equation of motion for Angela as she moves downslope:
* *
Force balance: mA ẍ b 1 = −mA g *
 + N b2
*
b1 : mA ẍ = mA g sin θ ⇒ ẍ = g sin θ (1)
Letting vA and vA0 be Angela’s speed just before and just after impact and v and v 0 be Grace’s
G G
speed just before and after impact we’ll have the impulse relationships:
0
mA vA − LI = mA vA (2)

0
mG vG + LI = mG vG (3)
SOLVE:
First find Angela’s speed (vA ) after moving 40 m downslope.
The acceleration is constant and so we can use the results of (1) in the integral form of a dx = v dv:
1 2
g sin θ∆x = vA
2
1 2
(9.81 m/s2 )(sin 10◦ )(40 m) = vA ⇒ vA = 11.7 m/s
2
Next we’ll consider the momentum change due to the collision.
0 0
(2) + (3) ⇒ mA vA + mG vG = mA vA + mG vG
Both Angela and Grace are moving as a single body after the collision and therefore have a single
combined mass and a single post-collision speed v 0
(2) + (3) ⇒ (23 kg)(11.7 m/s) + (20 kg)(0) = (23 kg + 20 kg)v 0

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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

v 0 = 6.24 m/s

296
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.39
GOAL: (a) Calculate the velocity of the submarine and torpedo just after ejection is complete.
(b) Calculate the average force acting on the torpedo during the launch.
(c) Calculate the average force exerted by the torpedo on the submarine during the launch.
GIVEN:
The submarine has a mass of 50,000 kg and the torpedo has a mass of 100 kg. The ejection
mechanism acts on the torpedo for 0.25 seconds. The torpedo enters the water with a velocity of
10 m/s relative to the submarine.
DRAW:

FORMULATE EQUATIONS:
msub vsub − LI = msub v 0 (1)
sub

0
mtorp vtorp + LI = mtorp vtorp (2)
Note that an unprimed speed indicates the speed before the launch and a primed speed indicates
the speed just after launch.
Also, we’re given
0
vtorp = v0 + 10 m/s (3)
sub
SOLVE:
(a):
(1) + (2) ⇒ msub vsub + mtorp vtorp = msub v 0 0
+ mtorp vtorp (4)
sub

(3) → (4) ⇒ (50, 000 kg + 100 kg)(5 m/s) = (50, 000 kg)v 0 + (100 kg)(v 0 + 10 m/s) (5)
sub sub

v0 = 4.98 m/s (6)


sub

0
(6) → (3) ⇒ vtorp = 14.98 m/s (7)

0 0
v*sub = 4.98 *
ı m/s, v*torp = 14.98 *
ı m/s

b:
0
(2) ⇒ LI = mtorp vtorp − mtorp vtorp

LI = (100 kg)(14.98 − 5) m/s = 998 N

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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

Since LI = Favg ∆t we have


998 N = Favg (0.25 s)

Favg = 3992 N
c:
The magnitude of the force exerted by the torpedo on the submarine is equal to the magnitude of
the force exerted by the submarine on the torpedo. This can easily be verified.
(3) ⇒ −LI = msub v 0 − vsub vsub
sub

−LI = (50, 000 kg)(4.98 − 5) m/s = −998 N

998 N = Favg (0.25 s)

Favg = 3992 N

As expected, the force of the torpedo on the submarine is equal in magnitude and acts opposite in
direction to the force of the submarine on the torpedo.

298
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.40
GOAL: (a) Find the average force exerted by a tennis ball on the ground during impact. (b) Find
the average acceleration experienced by the ball over the impact interval.
GIVEN:
The tennis ball is dropped from a height of 6 feet. It rebounds to a height of 3 38 feet, and the
impact takes 0.07 seconds.
DRAW:

FORMULATE EQUATIONS:
LI + mball v*ball |pre−impact = mball v*ball |post−impact (1)
SOLVE:
(a):
√ q
The ball’s impact velocity is equal to 2gh = 2(32.2 ft/s2 )(6 ft) = 19.66 ft/s
After striking the floor it rises to 3 38 feet so, if we let the rebound velocity equal vr *
 , we have

v*(t) = vr *
 − gt *

At the top of the rebound its speed is zero:
vr
0 = vr − 32.2t∗ =⇒ t∗ =
32.2

t∗ 2
y* = 0 + vr t∗ *
 −g
2

vr2 32.2 ft/s2 vr2


3.375 ft = − =⇒ vr = 14.74 ft/s
32.2 ft/s2 2 (32.2 ft/s2 )2
1
2
oz
The mass of the ball is 16 = 4.0×10−3 slg.
(16 oz/lb)(32.2 ft/s2 )

(1) ⇒ LI = (4.0×10−3 slg) (14.74 ft/s − (−19.66 ft/s)) *


 = 0.138 lb·s

LI = Favg ∆t =⇒ Favg = LI
∆t = 0.138 lb· s
0.07 s = 1.97 N

299
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

(b):

14.74 ft/s − (−19.66 ft/s)


a*ball = 0.07 s = 491 ft/s2 = 15 g

300
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.41
GOAL: Two methods to impart velocity to a mass are proposed. Evaluate them and determine if
one will produce a higher velocity.
GIVEN: Two different system configurations. Zorro’s initial speed is v and his launch angle is
45◦ .
DRAW:

* *
ı 
* √ √
b1 1/ 2 1/ 2
* √ √
b2 −1/ 2 1/ 2
SOLVE:
(a)

a*Z  ft/s2
= −32.2 *
*
v*Z = −(32.2 ft/s2 ) t *
 + C1
*
We can apply initial conditions to evaluate C1 :
v v
v*z (0) = √ *ı +√ *
2 2
t2 * v *
r*Z /O = −(32.2 ft/s2 )  + √ t (*
ı +*
 ) + C2
2 2
*
Now we can use positional initial conditions to evaluate C2 :

*
C2 = 0 *
ı + 4 ft *

(32.2 ft/s2 ) t2
" #
vt vt
 
r*Z /O = *
ı √ +*
 4 ft + √ −
2 2 2

At t∗ , r*Z /O = 20 ft *
ı , thus:

vt∗ ∗ 20 2 ft
√ = 20 ft ⇒ t =
2 v

301
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

and  √  √ 2
20 2 ft 20 2 ft

v v (32.2 ft/s2 ) v
4 ft + √ − =0
2 2

12, 880 ft3 /s2


24 ft = ⇒ v = 23.17 ft/s
v2
(b) !
* *
175 lb * *
LI = m∆v = (23.17 ft/s b 1 ) = 125.9 b 1 slug· ft/s
32.2 ft/s2

|LI| = 125.9 slug· ft/s


(c)
5 oz
|∆v*b | = 125.9 slug· ft/s
(16 oz/lb)(32.2 ft/s2 )

|∆vb | = 12, 980 ft/s = 8850 mph

(d)
This is a pretty ridiculous speed, exceeding Mach 10. I would conclude, seeing how absurdly high
the baseball’s velocity would be, that, even though there is a difference between how someone would
throw a person and how they would throw a baseball, the difference is not likely to be enough to
make twenty foot zorro tosses a realistic possibility.

302
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.42
GOAL: Determine how far a shift linkage would move if acted on by a given pressure for 80 ms.
Also determine its speed.
GIVEN: Mass of linkage, hydraulic pressure and effective area pressure acts on.
DRAW:

FORMULATE EQUATIONS:
We’ll be applying a linear impulse equation:

mv2 = mv1 + LI|1−2

SOLVE: The 1200 psi hydraulic fluid acts on an area of 0.25 in × 0.25 in. The force is therefore:

(1200 psi)(0.25 in)2 = 75 lb


!
* 2 lb
F = ma *
⇒ 75 lb = a ⇒ a = 1207.5 ft/s2
32.2 ft/s2

1 1
∆x = at2 = (1207.5 ft/s2 )(0.08 s)2 = 3.86 ft
2 2

mv(0.08 s) = mv(0) + F ∆t

2 lb
v(0.08 s) = 0 + (75 lb)(0.08 s) ⇒ v(0.08 s) = 96.6 ft/s
32.2 ft/s2

303
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.43
GOAL: Determine the thrust needed later the velocity of an airplane.
GIVEN: Flight path, mass and speeds of airplane and engine’s thrust.
DRAW:

* *
ı 
*
b1 cos 3◦ sin 3◦
*
b2 − sin 3◦ cos 3◦
FORMULATE EQUATIONS:
X * *
*
F = L b 2 + (T − D) b 1 − mgn2
* *
= b 1 (T − D − mg sin 3◦ ) + b 2 (L − mg cos 3◦ )

SOLVE: Because the airplane stays on the inclined flight path, L = mg cos(3◦ ).
The momentum change in the airplane is due to the Zapplied impulse.
mv2 = mv1 + F dt

(35, 000 kg)(180 m/s) = (35, 000 kg)(150 m/s) + (T − D − mg sin 3◦ )(60 s)

T − D − mg sin 3◦ = 17, 500 N

T = (35, 000 kg)(9.81 m/s2 )(sin 3◦ ) + 17, 500 N + 10, 000 N

T = 45, 470 N

304
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.44
GOAL: Determine the slope of a floor that 007 is rolling along.
GIVEN: Initial and final velocities as well as the weight of 007 and the dolly.
DRAW:

* *
ı 
*
er cos θ − sin θ
e*θ sin θ cos θ
FORMULATE EQUATIONS: We’ll use linear impulse:
Z t
* * 2 *
mv 2 = mv 1 + Fdt
t
1

SOLVE:
7.0 m/s = 23.0 ft/s, 8.7 m/s = 28.6 ft/s
* * *
Force balance: F1 b 1 + F2 b 2 = −(213 lb) *
 + N b2

* *
= 213 lb sin θ b 1 + [N − 213 lb cos θ] b 2

*
b1 : F1 = (213 lb) sin θ
*
Now we’ll apply our linear impulse equation in the b 1 direction:
! !
213 lb 213 lb
(28.6 ft/s) = (23.0 ft/s) + 213 lb(10 s) sin θ
32.2 ft/s2 32.2 ft/s2

sin θ = 0.0173

θ = 1.0◦

305
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.45
GOAL: Find the angle θ at which contact is lost.
GIVEN: Radius of the roof, initial rate of travel and coefficient of friction.
DRAW:

FORMULATE EQUATIONS:
Force balance:  + N e*r − Ff e*θ = m[(r̈ − rθ̇2 ) e*r + (rθ̈ + 2ṙθ̇) e*θ ]
−mg *
The mass is sliding and therefore we have Ff = µN
e*r : N − mg cos θ = −mrθ̇2 (1)

e*θ : mg sin θ − µN = mrθ̈ (2)


ASSUME: While in contact ṙ = r̈ = 0.
SOLVE:
g
(1), (2) ⇒ θ̈ = (sin θ − µ cos θ) + µθ̇2 (3)
r
(3) → (1) ⇒ N = m(g cos θ − rθ̇2 ) (4)
What we can now do is use MATLAB by introducing the state variables y1≡ θ and y2≡ θ̇ and
rewriting (3) as
y2=g*(sin(y1)-mu*cos(y1))/r+mu*y2∧2
Once integrated from initial conditions of y1=0, y2=0.5 we can then substitute the results into (4)
and evaluate N , looking for the angular position at which the normal force goes to zero, hence
indicating a loss of contact with the surface. Doing so shows that at t = 1.1196 s, N/m goes to
zero, θ = 0.6041 rad = 34.6◦ and θ̇ = 0.6354 rad/s. Thus the addition of friction has delayed but
not prevented the loss of contact.

306
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.46
GOAL: Find the speed of the postal worker/cart after they’ve traveled together to point C
GIVEN: Mass of cart and postal worker, slope and distances.
DRAW:

* *
ı 
*
b1 cos θ − sin θ
*
b2 sin θ cos θ
FORMULATE EQUATIONS:
* * *
Force balance: b 1 (mg sin θ) + b 2 (T − mg cos θ) = mẍ b 1
*
b1 : ẍ = g sin θ (1)

ẋ = g sin θ t (2)
t2
x = g sin θ (3)
2
SOLVE: The time to initial impact is:
t2
(3)⇒ 10 m = (9.81 m/s2 )(sin 10◦ ) ⇒ t = 3.43 s (4)
2
(4)→(2)⇒ ẋ = (9.81 m/s2 )(sin 10◦ )(3.43 s) = 5.84 m/s
At B the cart is moving at 5.84 m/s and the postal worker is stationary. Apply conservation of
linear momentum gives:
(25 kg)(5.84 m/s) + (70 kg)(0) = (25 kg + 70 kg)v ⇒ v = 1.54 m/s
From B to C, we have:

ẍ = g sin θ
ẋ = g sin θ t + 1.54 m/s (5)
t2
x = g sin θ + (1.54 m/s) t (6)
2

t2
(6)⇒ 10 m = (9.81 m/s2 )(sin 10◦ ) + (1.54 m/s) t ⇒ t2 + (1.8 s) t − 11.74 s2 = 0
2
The only positive solution is:
t = 2.64 s (7)

307
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

(7)→(5)⇒ ẋ = (9.81 m/s2 )(sin 10◦ )(2.64 s) + 1.54 m/s


ẋ = 6.04 m/s

308
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CHAPTER 3. KINETICS OF PARTICLES
3.4. LINEAR MOMENTUM AND LINEAR IMPULSE

3.4.47
GOAL: Find the acceleration and traction force of a car on a slope.
GIVEN: Mass of the car, grade of slope and speed/time data.
DRAW:

* *
ı 
*
b1 cos θ sin θ
*
b2 − sin θ cos θ
FORMULATE EQUATIONS:
* * *
Force balance: ma b 1 = (T − mg sin θ) b 1 + (N − mg cos θ) b 2
*
b 1: ma = T − mg sin θ

T = m(a + g sin θ)
SOLVE:
Linear impulse: Z
mv2 = mv1 + (T − mg sin θ) dt

1000 m/km 1000 m/km


   
(1200 kg)(125 kph) = (1200 kg)(90 kph) + (T − mg sin θ)(10 s)
3600 s/h 3600 s/h

T − mg sin θ = 1166.6 N

T = (1200 kg)(9.81 m/s2 ) sin 3.43◦ + 1166.6 N = 1.87×103 N

1166.6 N = (1200 kg)a

a = 0.972 m/s2 = 0.10 g

309
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3.4. LINEAR MOMENTUM AND LINEAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.4.48
GOAL: Find the absolute velocity of an enclosure when a spring-restrained, internal mass, is
halfway across the enclosure’s length.
GIVEN: Masses of the two bodies and speed (with respect to the enclosure) of the internal mass
when halfway across.
DRAW:

FORMULATE EQUATIONS:
The linear momentum of the enclosure/spring system is zero before the chunk breaks off and thus
is zero afterwards as well. Let the velocity of the enclosure (less the chunk) be v(e−c) *
ı and the
*
velocity of the chunk be vc ı .
vc *
ı = v(e−c) *
ı + vc/(e−c) *
ı = v(e−c) *
ı + ẋ *
ı

vc = v(e−c) + ẋ

SOLVE: The system momentum is given by:  


0 = m(e−c) v(e−c) + mc vc = m(e−c) v(e−c) + mc v(e−c) + ẋ
 
0 = (2.4 kg − 0.21 kg)v(e−c) + (0.21 kg) v(e−c) + 5 m/s

(2.4 kg) v(e−c) = −1.05 kg· m/s

v(e−c) = −0.4375 m/s

v*(e−c) = −0.4375 *
ı m/s

310
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CHAPTER 3. KINETICS OF PARTICLES
3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE

3.5 Angular Momentum and Angular Impulse

311
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3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.5.1
GOAL: Determine the rod’s rotational speed just after impact.
GIVEN: A ball with mass m is attached to both ends of a rigid massless rod of length L = 1 m.
The rod’s center O is pivoted, and the rod is spun counterclockwise about O in the horizontal plane
with a constant rotational speed of ω = 20 rad/s. At a certain instant, another ball of mass m
strikes the left end of the rod at v* = 8 *
 m/s when the rod is oriented in the *
ı direction. The ball
sticks upon impact.
DRAW:

FORMULATE EQUATIONS:
The angular impulse-momentum relation for a system rotating about a fixed point O is given by
Z t
* * f *
HO,f − HO,i = MO dt (1)
t
i

The angular momentum of a particle about O can be expressed as


*
HO = r* × mv* (2)
SOLVE:
Let’s take our system as including all three balls so that the impact force is internal to the system.
This leaves us with a conservation of angular momentum about O:
* *
(1) ⇒ HO,f − HO,i = 0
* *
HO,f = HO,i (3)

The system’s angular momentum about O just before impact is


L* L L L L
       
*
(2) ⇒ HO,i = ı ×m ω * + − *ı × m −ω * + − *ı × m(v *
)
2 2 2 2 2

312
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CHAPTER 3. KINETICS OF PARTICLES
3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE

* 1 * 1 *
HO,i = mL2 ω k − mLv k (4)
2 2

*
We’ll assume that the rod’s angular speed ω 0 just after impact is counterclockwise (in the +k
direction), and so the system’s angular momentum right after collision is given by

L L L L
     
*
(2) ⇒ HO,f = *ı × m ω0 * + − *ı × 2m −ω 0 *
2 2 2 2

* 3 *
HO,f = mL2 ω 0 k (5)
4

Thus, the rod’s rotational speed immediately after impact is

* 3 1 1
k : (4), (5) → (3) ⇒ mL2 ω 0 = mL2 ω − mLv
4 2 2

3Lω 0 = 2Lω − 2v
2(Lω − v)
ω0 =
3L
2 [(1 m)(20 rad/s) − 8 m/s]
ω0 =
3(1 m)

ω 0 = 8 rad/s

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3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.5.2
GOAL: Find angular momentum of A about O
GIVEN: particle mass=6 kg, v*A = (5.2 *
ı − 3.4 *
 ) m/s, r*A/O = (5.6 *
ı + 2.5 *
 )m
DRAW:

FORMULATE EQUATIONS:
*
angular momentum: HO = r* × mv*
SOLVE:
*
HO = (5.6 *
ı + 2.5 *
 ) m × (6 kg)(5.2 *
ı − 3.4 *
 ) m/s
*
HO = (5.6 *
ı + 2.5 *
 ) m × (31.2 *
ı − 20.4 *
 ) kg· m/s

*
HO = [(0) + (2.5 *
 × 31.2 *
ı ) + [5.6 *  )] + (0)] kg· m2 /s
ı × (−20.4 *
* * *
HO = [−78k − 114.2k ] kg· m2 /s
* *
HO = −192.2k kg· m2 /s

314
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CHAPTER 3. KINETICS OF PARTICLES
3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE

3.5.3
GOAL: Find the angular momentum of B about A and O.
GIVEN: Position, mass and velocity of B.
DRAW:

FORMULATE EQUATIONS:
*
HO = r*B/ × mB v*B
O

*
HA = r*B/ × mB v*B
A

SOLVE:
*
HO = (2 *
 m) × (2 kg)(−3 *
ı − 3*
 )m/s

* *
HO = 12k kg·m2 /s

*
HA = (−2 *
ı + 2*
 ) m × (2 kg)(−3 *
ı − 3*
 ) m/s

* * *
HA = (12k + 12k ) kg·m2 /s

* *
HA = 24k kg·m2 /s

315
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3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.5.4
GOAL: Determine how long it takes the ball to come to a stop.
GIVEN: A ball of mass m is attached to the end of a rigid massless rod of length L that can freely
pivot about its other end O in the horizontal plane. The ball’s initial rotational speed is ω0 in the
counterclockwise direction, and it moves on a rough surface with a coefficient of friction of µ.
DRAW:

FORMULATE EQUATIONS:
The angular impulse-momentum relation for the ball rotating about the rod’s pivot O is given by
Z t
* * f *
HO,f − HO,i = MO dt (1)
t
i

The angular momentum of the ball about O can be expressed as


*
HO = r* × mv* (2)

The friction force acting on the ball tangent to its circular path is

Ff = µN = µmg (3)

SOLVE:
The ball’s initial angular momentum about O is given by

(2) ⇒ *
HO,i = L e*r × m(Lω0 ) e*θ

* *
HO,i = mL2 ω0 k

Since the line-of-action for the force R exerted by the rod on the ball goes through O, the only
moment that contributes to the applied angular impulse about O is the friction force:
*
FBD: (3) ⇒ MO = L e*r × (−µmg) e*θ

316
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CHAPTER 3. KINETICS OF PARTICLES
3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE

* *
MO = −µmgLk

Therefore, the ball will come to a stop in


Z ∆t
*
k : (1) ⇒ 2
−mL ω0 = (−µmgL)dt
0

∆t
Lω0 = µgt

0
Lω0 = µg∆t

Lω0
∆t =
µg

317
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3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.5.5
GOAL: Find v*C
GIVEN: Position and mass of C, angular momentum of C about O and velocity component of C
in *
ı direction
DRAW:

FORMULATE EQUATIONS:
*
HC/ = r*C/ ×mv*C
O O

SOLVE: *
 
HC/ = (10 *
ı − 20 *
 ) ft x (5 slug) 3 ft/s *
ı + vj *

O
* * *
HC/ = (50 slug ft) vj k + 300 slug ft2 /sk
O

35 slug ft2 /s = (50 slug ft) vj + 300 slug ft2 /s

vj = −5.3 ft/s

v*C = (3 *
ı − 5.3 *
 ) ft/s

318
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CHAPTER 3. KINETICS OF PARTICLES
3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE

3.5.6 * *˙
GOAL: Find HA/ and HA/ .
O O
*
GIVEN: F = 4 *
 N, r*A/ = (4.0 *
ı + 1.5 *
 ) m, v*A = 10 *
 m/s, m = 10 kg.
O
DRAW

FORMULATE EQUATIONS:
*
HA/ = r*A/ × mv*A (1)
O O

*
˙ *
HA/ = r*A/ × F (2)
O O

SOLVE:
(1) ⇒
*
HA/ = [(4.0 *
ı + 1.5 *
 ) m] × (10 kg)(10 *
 m/s)
O
*
= (4.0 m)(10 kg)(10 m/s)k
2
= 400k kg·sm
*

2
HA/ = 400k kg·sm
* *

(2) ⇒
d* = [(4.0 *
ı + 1.5 *
 ) m] × (4 *
dtHA/O *
 N)
= (4.0 m)(4 N)k
*
= 16k N·m

d* *

dtHA/O = 16k N·m

319
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3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.5.7
GOAL: Angular speed when rm/O = r2 .
GIVEN: Initial conditions and direction of force.
DRAW:

FORMULATE EQUATIONS:
* *
Angular impulse: HO (t2 ) = HO (t1 ) + AI O1−2 (1)
* *
Moment about origin: MO = r*m/O × F (2)
SOLVE:
* *
(2) ⇒ MO = r*m/O × F = r e*r × (−F ) e*r = 0 (3)
Z t2
*
(3) → (1) ⇒ r22 θ̇ = r12 ω0 + MO dt = r12 ω0 + 0 (4)
t1

r 2 ω0
θ̇ = 1
(4) ⇒ r2
2

320
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CHAPTER 3. KINETICS OF PARTICLES
3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE

3.5.8
GOAL: Find angular momentum of a shark about a fisherwoman as a function of time.
GIVEN: Orientations and speeds of shark and fisherwoman and the fact that the line is being
reeled in at a speed v.
DRAW:

FORMULATE EQUATIONS:
*
HF = r*S/ × mS v*S (1)
F

v*S = vr e*r + vθ e*θ (2)

vS = v0 (3)
SOLVE:
(2), (3) ⇒ v02 = vr2 + v 2 = (−v)2 + v 2
θ θ
q
vθ = v02 − v 2 (4)
*
(1), (4) ⇒ HF = (r0 − vt) e*r × mS (−v e*r + vθ e*θ )
*
= mS (r0 − vt)vθ k

* *
q
HF = mS (r0 − vt) v02 − v 2 k

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3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.5.9 * *
˙
GOAL: Determine HP/O and HP /O .
GIVEN: The particle P has a mass of m = 6 kg. Its velocity and the net force acting on it are
*
v*P = −8 * ı N, respectively. L = 3 m and θ = 25◦ .
ı m/s and F = −5 *
DRAW:

FORMULATE EQUATIONS:
The angular momentum of P about O is
*
HP/O = r*P/O × mv*P (1)
*
The rate of change of HP/O is given by
*
˙ *
HP /O = r*P/O × ma*P = r*P/O × F (2)
SOLVE:

r*P/O = L cos θ *
ı + L sin θ *

*
(1) ⇒ HP/O = (L cos θ *
ı + L sin θ *
 ) × m(−vP *
ı)
* *
HP/O = mLvP sin θ k
*
HP/O = (6 kg)(3 m)(8 m/s) sin(25◦ )

* *
HP/O = 60.86k kg·m2/s

*
˙
(2) ⇒ HP /O = (L cos θ *
ı + L sin θ *
 ) × (−F *
ı)
*
˙ *
HP /O = F L sin θ k
*
˙
HP /O = (5 N)(3 m) sin(25◦ )

*
˙ *
HP /O = 6.34k N·m

322
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CHAPTER 3. KINETICS OF PARTICLES
3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE

3.5.10 *
GOAL: Determine v*P and F.
*
GIVEN: The particle P has a mass of m = 2 slug, v*P,y = *  ft/s, F x = *
ı lb,
2 * * *
HP/O = 15 slug·ft /s, ḢP/O = 5 ft·lb, and r P/O = (7 ı − 3  ) ft.
DRAW:

FORMULATE EQUATIONS:
The angular momentum of P about O is
*
HP/O = r*P/O × mv*P (1)
*
The rate of change of HP/O is given by
*
˙ *
HP /O = r*P/O × ma*P = r*P/O × F (2)
SOLVE:
*
(1) ⇒ HP/O = (rP,x *
ı − rP,y *
 ) × m(vP,x *
ı + vP,y *
)
* *
HP/O = [mrP,x vP,y + mrP,y vP,x ]k
HP/O = mrP,x vP,y + mrP,y vP,x
HP/O − mrP,x vP,y
vP,x =
mrP,y
15 slug·ft2/s − (2 slug)(7 ft)(1 ft/s)
vP,x =
(2 slug)(3 ft)
1
vP,x = ft/s
6

1* *
 
v*P = ı + ft/s
6

323
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3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

*
˙
(2) ⇒ ı − rP,y *
HP /O = (rP,x *  ) × (Fx *
ı + Fy *
)
*
˙ *
HP /O = [rP,x Fy + rP,y Fx ]k
ḢP/O = rP,x Fy + rP,y Fx
ḢP/O − rP,y Fx
Fy =
rP,x
5 ft·lb − (3 ft)(1 lb)
Fy =
7 ft
2
Fy = lb
7

2*
 
* *
F= ı +  lb
7

324
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CHAPTER 3. KINETICS OF PARTICLES
3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE

3.5.11
GOAL: Determine the final rotational speed θ̇f after ∆t = 2 s.
GIVEN: The marble’s mass is m = 100 g, and the circular path it follows has a radius of R =
0.75 m. Electromagnets move the marble by supplying a force given by Fe (t) = 2e0.1t N tangent to
the path. The marble starts from rest.
DRAW:

FORMULATE EQUATIONS:
The angular impulse-momentum relation for the marble about the center of rotation O is given by
Z t
* * f *
HO,f − HO,i = MO dt (1)
t
i
SOLVE:
Z ∆t
*
FBD, k : (1) ⇒ mRvf = RFe (t)dt
0
Z ∆t
2
mR θ̇f = R F e e0.1t dt
0
∆t
mRθ̇f = 10F e e0.1t

0
0.1∆t
mRθ̇f = 10F e [e − 1]
10F e 0.1∆t
θ̇f = [e − 1]
mR
10(2)
θ̇f = [e0.1(2) − 1] rad/s
(0.1)(0.75)

θ̇f = 59.04 rad/s = 564 rpm

325
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3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.5.12 *
GOAL: Find HO of a diver.
GIVEN: Mass of diver and initial position and speed.
DRAW:

FORMULATE EQUATIONS:

x = vt

gt2
y=−
2
*
HO = rA/ × mv*A
O

SOLVE:

gt2 *
r*A/ = x *
ı + y*
 = vt *
ı − 
O 2

v*A = r*˙ A/ = v *
ı − gt *

O

* gt2 *
HO = (vt *
ı −  ) × m(v *
ı − gt *
)
2

* mgt2 v *
= −mvgt2 k + k
2
2 *
HO = − mgt v
*
2 k

326
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CHAPTER 3. KINETICS OF PARTICLES
3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE

3.5.13
GOAL: Two methods to impart velocity to a mass are proposed. Evaluate them and determine if
one will produce a higher velocity.
GIVEN: Two different system configurations.
DRAW:

FORMULATE EQUATIONS: Case A


In the downward vertical direction we have
Z t
2
mv(t2 ) = F dt = mg∆t
t
1

SOLVE: Case A
We know from our earlier q work in kinematics that for a constant acceleration g, the time to move
2h √
a distance h is equal to g . Thus at contact we have mv = m 2gh.

v = − 2gh *
impact
FORMULATE EQUATIONS: Case B

v(t) = θ̇h
There are two forces acting on the mass - the tension in the rope and the gravity force. The tension
force vector goes through the pivot and therefore doesn’t contribute to the angular momentum.
The gravity force does contribute, as can be seen from the expression for angular momentum about
0:
Ḣ0 = h e*r ×(−T e*r − mg *
 ) ⇒ Ḣ0 = −hmg cos θ
Z t
2
H0 (t2 ) = −mgh cos θdt
t
1
π
The final angular momentum at t2 (the time when θ is 2) is given by
Z t
2
H0 (t2 ) = − mgh cos θdt (1)
t
1

SOLVE: Case B
To solve this case we need to use MATLAB to get an expression for cos θ as a function of time.
The governing equation of motion is given by
g
θ̈ = cos θ
h
For convenience, we can pick particular values of g and h and integrate this expression to find values
of θ and t along the system’s trajectory. We then take the values of θ and form cos θ. Finally,

327
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3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

we take these values of cos θ and their associated time values, and approximate the integral of (1)
by a simple trapezoidal approximation. It’s easy to get evenly spaced values of time to use in the
integration by setting tspan as

tspan = linspace(tinitial , tfinal , 101)

This will automatically give you 101 evenly spaced points that go from tinitial to tfinal . The trape-
zoidal integration is shown below:
∆T ≡ tfinal − tinitial
∆T
 
ti = tinitial + (i − 1)
100
100
" # !
cos(θ(t1 )) + cos(θ(t101 )) X ∆T
+ cos(θ(ti ))
2 i=2
100

Doing the integration leads to the same result as from part (a): |v*impact | = 2gh.
CONCLUSION: The impact velocities are the same and therefore both methods will crack co-
conuts equally well. From a design perspective I’d have to say case (b) would make for more
repeatable and accurate strikes, but case (a) has the advantage of no moving parts, so I’d have to
call it a tie.

328
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CHAPTER 3. KINETICS OF PARTICLES
3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE

3.5.14
GOAL: Find the tension in a string from t = 0 to t = 4 seconds as an attached mass moves on a
flat surface.
GIVEN:
m = 0.4 kg, L is constant at 0.6 m, θ̇ = 2.5 rad/s, and the rocket exerts a force of 1.2 e*θ N.
DRAW:

FORMULATE EQUATIONS:  
*
H0 = mr rθ̇ e*z = mr2 θ̇ e*z

d* d  2 *
H0 = mr θ̇ e z = mr2 θ̈ e*z (1)
dt dt
X *
MO = N r e*z (2)
SOLVE:
d * P *
(1) and (2) together with dtHO = MO yield

mr2 θ̈ = N r

(0.4 kg)(0.6 m)2 θ̈ = (1.2 N)(0.6 m)

θ̈ = 5 rad/s2
Integrating gives us
θ̇ = θ̇(0) + θ̈t = 2.5 rad/s + (5 rad/s2 )t
In the e*r direction we have −T = −mrθ̇2

T = mrθ̇2 = (0.4 kg)(0.6 m)θ̇2 = (0.24 kg· m)θ̇2

h i2
T (t) = (0.24 kg· m) (2.5 rad/s + (5 rad/s2 )t

329
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3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE
CHAPTER 3. KINETICS OF PARTICLES

3.5.15
GOAL: Determine the angular speed of two particles after they’ve reached the end of their string.
GIVEN: In Case A particle P is moving in the negative *  direction with speed v and its position
is given by r*P = −vt *  . In Case B a particle P 0 is moving in the negative √
*
 direction and its
* * *
position is given by r P 0 = a ı − vt  . The string is massless and has length 10a.
DRAW:

* *
ı 
*
er cos θ − sin θ
e*θ − sin θ − cos θ
FORMULATE EQUATIONS:
*
HO = r*P/ × mP v*P (1)
O

SOLVE:
For Case A we have
*
HO = 0×m(−v *
)=0
For Case B we have
* *
HO = (a *
ı − vt *
 )×m(−v *
 ) = −mav k
Clearly these two cases have different angular momenta about O. Once the string goes taut, particle
P comes to a halt - its linear momentum being counteracted by a reaction linear impulse in the
string.
The situation for Case B is different. At the point that the string goes taut the string is oriented
at an angle θ = tan−1 (3) = 71.6◦ . This means that the velocity vector (−v *  ) isn’t aligned with
the string. Decomposing the velocity into e*r , e*θ we have
−v *
 = v sin θ e*r + v cos θ e*θ
The e*r component of the particle’s momentum is zeroed out by the string’s reaction impulse but
that leaves the e*θ component. Hence, after the string goes taut the particle P 0 has a speed v cos θ
at right angles to the string (clockwise about O). Its angular momentum about O is therefore
* √
HO = −m 10av cos θ
For θ = 71.6◦ we have cos θ = √1
10
and therefore
* *
HO = −mav k
which matches our earlier calculation.
Viewing the particle in a polar sense as rotating at a fixed radius about O we see that the magnitude
of the particle’s angular speed about O is simply the magnitude of its tangential speed divided by

330
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CHAPTER 3. KINETICS OF PARTICLES
3.5. ANGULAR MOMENTUM AND ANGULAR IMPULSE

the radius:
v cos θ v
√ =
10a 10a
Thus we see that having an angular momentum about a point implies a potential rotation. If
nothing connects the moving particle to a fixed point then it will continue to move in a straight
line. If, however, it is constrained as in this example, this linear motion can be converted into
rotational motion.
Case A : angular speed magnitude = 0

v
Case B : angular speed magnitude = 10a

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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6 Orbital Mechanics

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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.1
GOAL: Find the speed of a satellite orbiting 10 m above the moon’s surface.
GIVEN: Radius of the moon.
DRAW:

FORMULATE EQUATIONS:
mS v 2 * m m G
Force balance: − e r = −F e*r = M 2 S e*r
r r
SOLVE:

 
mS 7.4×1022 kg 6.67×10−11 N·m2 /kg2 mS v 2
− = −
(1.7 × 106 m)2 1.7 × 106 m
 
7.4×1022 kg 6.67×10−11 N·m2 /kg2
v2 =
(1.7 × 106 m)

v = 1704 m/s = 6134 km/hr

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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.2
GOAL: Determine the orbital period and velocity of a fictitious moon.
GIVEN: Radius of circular orbit
DRAW:

ASSUME: Air resistance may be neglected.


FORMULATE EQUATIONS: Apply a force balance to the moving mass.
SOLVE:
GmE mm * v2 *
er − = −mm e
  r2 r r
mm 6.67×10−11 Nm2 /kg2 5.98×1024 kg

v 2 e*r
− e*r = −mm
(6.37×106 m + 1.5 m)2 (6.37×106 m + 1.5 m)

v = 7, 910 m/s = 17, 700 mph

2π 6.37×106 m + 1.5 m

2πr
Orbital period = = = 5, 060 s (1)
v 7910 m/s
Orbital period = 1.4 hr

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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.3
GOAL: Determine the orbital period of the earth around the sun.
GIVEN: Distance from earth to sun.
DRAW:

FORMULATE EQUATIONS:
GmS * v2 *
Force balance: −mE e = −m e
r2 r E r r

SOLVE:
 
3.44 × 10−8 ft3 / slg· s2 1.36×1029 slg

= v2
(9.3×107 mi)(5280 ft/mi)

v = 9.76×104 ft/s
2πr 2π(9.3×107 mi)(5280 ft/mi)
T = = = 3.16×107 s
v 9.76×104 ft/s

T = 366 days

335
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.4
GOAL: Determine the period of the moon around the earth.
GIVEN: Radial distance from the earth to the moon.
DRAW:

FORMULATE EQUATIONS:
GmM mE * v2 *
Force balance: − e r = −m er
r2 M r

SOLVE:

 
6.67×10−11 N·m2 /kg2
5.98×1024 kg

2 GmE
v = =
r (3.84×108 m)
v = 1.02×103 m/s
2π 3.84×108 m

2πr
T = = = 2.37×106 s
v 1.02×103 m/s

T = 27.4 days

336
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.5
GOAL: Determine the implications of a negative value for A.
GIVEN: The satellite has zero radial velocity, is 100 miles about the Earth’s surface and is traveling
at 12,000 mph.
DRAW:

FORMULATE EQUATIONS:
1 GmE 1 GmE
 
A= − 2
= 1−
r h r rvθ2
SOLVE: From Figure 3.50 we know that A = 0 corresponds to a circular orbit. Denote the
associated value of vθ at that r as vθcritical . An A greater than zero implies that vθ > vθcritical (so
that Gm E
rv 2
< rv2GmE and thus 1 − Gm E
rv 2
> 0). This produces an ellipse for which r is the perigee.
θ θcritical θ
The speed vθ is too large to remain on a circular orbit and so, at θ = π, the orbit has bulged out.
A value less than zero implies a velocity vθ that is too small to maintain orbit. Thus the satellite
will describe an orbit for which r is the apogee.

337
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.6
GOAL: Determine resultant orbit after thrusters have been fired.
GIVEN: Orbit is initially elliptical and ṙ = 0 after thrusters are fired.
DRAW:

FORMULATE EQUATIONS:
ṙ0
tan θ = Gm
v0 − E
h
SOLVE:
ṙ0 Gm
E
From tan θ = GmE , we see that θ = π/2 implies v0 = h . Since h = r0 v0 , we have:
v0 −
h
GmE mv 2 GmE m
v02 = ⇒ − 0 =−
r0 r0 r02
This is a force balance between gravitational force and centripetal force. Thus we are satisfying
the conditions for a circular orbit.

The resultant orbit is circular, with radius r0 and velocity v0

338
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.7
GOAL: What’s the difference in time at which two orbiting bodies finishing moving through half
their orbit?
GIVEN: rA = 7000 km, rB = 7000.1 km
FORMULATE EQUATIONS:
Since the orbits are circular we have:
s
v2 GmE m GmE
−m = − ⇒ v=
r r r

SOLVE:
v 
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
u
= 7.548567×103 m/s
t
vA =
7.00×106 m

v 
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
u
= 7.548513×103 m/s
t
vB =
7.0001×106

2πrA 2π(7.00×106 m)
TA = = = 5826.58 s
vA 7.548567×103 m/s
2πrB 2π(7.0001×106 m)
TB = = = 5826.70 s
vB 7.54851×103 m/s

∆t = 0.125 s
This isn’t much time. However, objects in the orbit are traveling at 7.55×103 m/s. Thus, when A
is at the halfway point, B is still ∆x = (7.55×103 m/s)(0.125 s) = 945 m away from the halfway
point of its own orbit. In terms of astronauts working in space, it mean that two objects (say the
astronaut and the space capsule), beginning at the same angular position but separated by 100
m (difference between the two orbits) would still have a 100 m difference in terms of their radial
position after half an orbit had elapsed but, in addition, be displaced by almost 1000 m along the
orbit. It takes less than an hour to complete half and orbit so this is clearly an effect that astronauts
need to be aware of if they want to stay in contact with their ship during extravehicular work.

339
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.8
GOAL: Determine if the illustrated orbit is possible.
GIVEN: Shape of the orbit
DRAW:

SOLVE: No. The only possible trajectories are conic sections and the illustrated path isn’t a conic
section. Hence it’s not possible. Such a path would only be attainable if velocity was added to the
meteor as it moves around earth, i.e. by acting on it with a force.

340
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.9
GOAL: Determine the speed of a projectile launch so that it impacts the ground exactly on the
other side of the earth.
GIVEN: Launch angle is 45◦ .
DRAW: FORMULATE EQUATIONS:

1 GmE
= + A cos θ
r h2
SOLVE: The sketched trajectory shows that rp is less than 6.37×106 m (earth’s radius).
√ √
At θ = 90◦ , vθ = v/ 2 and vr = v/ 2

1 GmE
= 2
+ A cos θ
r h 
6.67×10−11 N·m2 /kg2 5.98 × 1024 kg

1
= i2 + A cos(90◦ )
6.37×106 m
h 
(6.37×106 m) √v
2

v = 1.12×104 m/s

341
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.10
GOAL: Determine if a person can accidentally hit himself by firing a bullet around the earth from
an initial 45◦ angle.
GIVEN: Bullet is fired at a 45◦ angle and air resistance can be neglected.
DRAW:

SOLVE: The solution to this problem doesn’t require any calculations. We’ve already seen in
the chapter that the only solutions for a body orbiting the earth (as the bullet would be) are
conic sections. The dashed path shown doesn’t correspond to any conic section and hence isn’t an
allowable trajectory. The conclusion is that Steve can’t accidentally hit himself in this manner,
even with a very powerful rifle.

342
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.11
GOAL: Determine the linear impulse needed to place a spaceship into a circular orbit.
GIVEN: A 1.7×105 kg spaceship is approaching the earth and at the illustrated instant is h =
250 km above the earth’s surface and is moving with velocity v*S = −(6, 500 *
ı + 5, 200 *
 ) m/s.
DRAW:

ASSUME: Assume that the velocity changes occur instantaneously.


FORMULATE EQUATIONS: We’re given the velocity data of the spaceship at a particular
position. We can determine the speed and orientation for a circular orbit, calculate the velocity
difference between the two states and use impulse/momentum to determine the needed impulse.
SOLVE:
The speed in a circular orbit at a height of (6.37 + 0.25) × 106 m = 6.62 × 106 m above the earth’s
center is found from v
u  
u 6.67×10−11 N·m2 /kg2 5.98 × 1024 kg
s
GmE
= 7.76 × 103 m/s
t
v= =
r 6.62 × 106 m
Using linear impulse we have
mv*2 = mv*1 + LI 1−2 ⇒ LI 1−2 = m(v*2 − v*1 )

LI 1−2 = (1.7 × 105 kg)[−7.76 × 103 *


ı m/s − (−6.50 × 103 *
ı − 5.20 × 103 *
 ) m/s)]

LI 1−2 = (−2.15 *  ) × 108 kg · m/s


ı + 8.84 *

343
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.12
GOAL: Determine the change in speed needed to enter a circular orbit around Earth.
GIVEN: A satellite is initially in a circular orbit of radius r = 1.84 × 103 km around the moon,
and it eventually leaves lunar orbit with a speed v (no radial component) to return to Earth. Close
to Earth, it gets pulled into an elliptical orbit at apogee (ra = 3.0 × 104 km) with the same speed,
and it transitions to a circular orbit at perigee.
DRAW:

FORMULATE EQUATIONS:
The satellite’s motion at perigee/periapsis and apogee are described by
1 Gm
= 2 (1 + e) (1)
rp h
1 Gm
= 2 (1 − e) (2)
ra h
h = rv = constant (3)
SOLVE:
The satellite’s speed v needed to escape lunar orbit (e = 1) is

1 2GmM
(3) → (1) ⇒ =
r (rv)2
s
2GmM
v=
r
v  
u 2 6.67×10−11 N·m2 /kg2 (7.35 × 1022 kg)
u
t
v=
1.84 × 106 m

344
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

v = 2308 m/s

The eccentricity of the elliptical orbit around Earth is

1 GmE
(2), (3) ⇒ = (1 − e)
ra (ra v)2

ra v 2 (3.0 × 107 m)(2308 m/s)2


e=1− =1−   = 0.5992
GmE 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)

Hence, the satellite’s speed vp and position rp at perigee is

r (1 + e) 1 + 0.5992
 
(1), (2), (3) ⇒ vp = a v = v= (2308 m/s)
rp (1 − e) 1 − 0.5992

vp = 9211 m/s

(1 − e) 1 − 0.5992
 
(1), (2) ⇒ rp = r = (3.0 × 107 m)
(1 + e) a 1 + 0.5992

rp = 7.52 × 106 m

But to transition to a circular orbit (e = 0) at perigee, its speed needs to be

1 GmE
(3) → (1) ⇒ =
rp (rp v p )2
s
GmE
vp =
rp
v 
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
u
t
vp =
7.52 × 106 m

v p = 7284 m/s

Therefore, to transition to a circular orbit at perigee, the satellite needs to decrease its speed by

∆vp = vp − v p = 9211 m/s − 7284 m/s

∆vp = 1927 m/s

345
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.13
GOAL: Find the furthest distance from the earth’s surface that an orbiting body reaches.
GIVEN: Distance from earth and velocity at an initial point.
DRAW:

FORMULATE EQUATIONS:
1 GmE
A= − (1)
r0 h2
Ah
e= (2)
GmE
1 GmE
= −A (3)
r h2
h = rvθ ⇒ vθ (4)
SOLVE:
h = (3960 mi + 100 mi)(18, 000 mph) = 7.31×107 mi2 /h
= 5.66×1011 ft2 /s
1 GmE
Using A = r − h2
gives:
0
 
3.44 × 10−8 ft3 / slg· s2 4.09 × 1023 slg

1
A = − 2 = 2.72×10−9 ft−1
(4060 mi)(5280 ft/mi)

2
5.66×1011 ft / s
  
Ah 2.72×10−9 ft−1 5.66×1011 ft2 /s
e = =  = 1.09×10−13
GmE −8 3 2 23
3.44 × 10 ft / slg· s (4.09 × 10 slg)
e is between 0 and 1 and therefore the orbit is elliptical (very close to circular). At θ = π:
 
3.44 × 10−8 ft3 / slg· s2 4.09 × 1023 slg

1 GmE
= −A= 2 − 2.72×10−9 ft−1 = 4.12×10−8 ft−1
r h2

5.66×1011 ft2 / s
r = 2.43×107 ft ⇒ height above ground = 636 miles
h 5.66×1011
h = rvθ ⇒ vθ = = = 2.33×104 ft/s = 1.59×104 mph
r 2.43×107
vθ = 2.33×104 ft/s = 1.59×104 mph

346
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.14
GOAL: Find time for engines to fire to put a spacecraft into a circular orbit
GIVEN: Initial velocity, position, and mass of spacecraft and engine’s thrust
DRAW:

FORMULATE EQUATIONS: For a circular orbit

mv 2 GM
= m 2E
r r
SOLVE:
2
  
GM 6.67 × 10−11 m 3 /kg s 5.98 × 1024 kg 2
v2 = r
E = 7 = 1.99 × 107 m2 /s
2.00 × 10 m
v = 4.47 x 103 m/s
The spacecraft is traveling at 5.00 x 103 m/s initially and must be slowed by 5.00 x 103 m/s − 4.47
x 103 m/s = 534 m/s
This implies a linear impulse of
5.00 × 104 kg (534 m/s) = 2.67 × 107 kg m/s


using F ∆t = m∆v gives us


 
4.5 × 105 N ∆t = 2.67 × 107 kg m/s

∆t = 59 s

347
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.15
GOAL: Determine if a 10% increase in speed of a spaceship originally in a circular orbit induces
a 10% drop in speed at the point for which it experiences its minimum orbital speed.
GIVEN: Initial height of the spaceship above the earth.
DRAW:

FORMULATE EQUATIONS:
If the spaceship is 200 miles above the ground then r0 = 3960 mi + 200 mi = 4160 miles.
Our general expression for elliptical orbits is given by
1 GmE
= + A cos θ
r h2
For the initial circular orbit we have
mv 2 GmE m GmE
Force balance: − =− 2
⇒ v2 =
r0 r0 r0
SOLVE: v 
u 3.44 × 10−8 ft3 / slg· s2 (4.09×1023 slg)
u
v= = 2.53×104 ft/s
t
(4160 mi)(5280 ft/mi)
This gives us our initial speed v. We then increase it by 10%:
vnew = 1.1v = 2.78×104 ft/s
What was r0 now becomes the minimum radial value for our elliptical orbit, occurring at point 1.

rmin = r1 = r0

 
h = r1 v1 = (4160 mi)(5280 ft/mi) 2.78×104 ft/s = 6.12×1011 ft2 / s
 
3.44 × 10−8 ft3 / slg· s2 4.09×1023

1 GmE 1
A = − = − = 7.90×10−9 ft−1
r1 h2 (4160 mi)(5280 ft/mi) (6.12×1011 )2
 
3.44 × 10−8 ft3 / slg· s2 4.09×1023

1 GmE
= − A = 2 − 7.90×10−9 = 2.97×10−8 ft−1
r2 h2 (6.12×10 ) 11

r2 = 3.36×107 ft = 6372 mi
h 6.12×1011 ft2 / s
v2 = = = 1.82×104 ft/s
r2 3.36×107 ft

348
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

1.82×104 is 28% less than the original speed. Thus we see that the decrease is much larger than
10%.

349
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.16
GOAL: Find the maximum distance from the earth’s center that a post-collision mass reaches.
GIVEN: Initial mass and velocities of the colliding mass and their distance from the earth’s center.
DRAW:

FORMULATE EQUATIONS:
SOLVE: Apply conservation of linear momentum to the collision

m v + mB vB = (mA + mB )v
     A A   
3.00×104 kg 9.00×103 m/s + 4.50×104 kg 8.00×103 m/s = 3.00×104 kg + 4.50×104 kg v
v = 8.40×103 m/s

Using
 
6.67×10−11 N·m2 /kg2 5.98×1024 kg

1 GmE 1
A= − = − 2 = 2.75×10−8 m−1
r h2 7.00×106 m 3 6
[(8.40×10 m/s) (7.00×10 m)]

Now, look at r when θ = π


 
6.67×10−11 N·m2 /kg2 5.98×1024 kg

1 GmE −8 −1
= −A + = −2.75×10 m +
rmax h2 [(8.40×103 m/s) (7.00×106 m)]2
1
= 8.79×10−8 m−1
rmax

rmax = 1.14×107 m = 1.14×104 km

350
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.17
GOAL: Determine the impulse applied to the spacecraft at points A and B that allow it to
transition from a low altitude circular orbit to a higher one.
GIVEN: Mass of spacecraft, radii of initial circular orbit and desired final circular orbit
DRAW:

ASSUME: Points A and B are the perigee and apogee, respectively, of the intermediate elliptical
orbit. At these points the orbiting body will have no radial velocity component.
FORMULATE EQUATIONS: We will use F~ = m~a to determine the velocities of the circular
orbits and apply elliptical orbit equations:
1 1
+ 2A = (1)
rmax rmin
1 GmE
= + A cos θ (2)
r h2
to determine A and the elliptical orbit velocities at perigee and apogee. The impulse m∆v may be
computed once these velocities are known.
SOLVE: We will first determine the velocities at the perigee and apogee of the elliptical orbit.
From (1), we have:
1 1 1
 
A= − = 8.93×10−9 m−1
2 7.00×10 m 8.00×106 m
6

From (2), at the perigee (θ = 0),


 
2
6.67×10−11 Nm 5.98×1024 kg

1 GmE 1 kg 2
= +A ⇒ = + 8.93×10−9 m−1
rmin h2 7.00×106 m h2
h = 5.46×1010 m2 /s
h
v1 = = 7.80×103 m/s
rmin
h
v2 = = 6.82×103 m/s
rmax
A circular orbit with a radius of 7.00×106 m has a velocity that satisfies:
v2 GmE
− = − 2
r v r
u 2

s
u 6.67×10
u −11 Nm (5.98×1024 kg)
GmE kg2
= 7.55×103 m/s
t
v= =
r 7.00×106 m

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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

and an orbit of 8.00×106 m has a velocity:


v 
2
u
u 6.67×10−11 Nm2 (5.98×1024 kg)
s u
GmE kg
= 7.06×103 m/s
t
v= =
r 8.00×106 m

Thus the spacecraft’s velocity goes from 7.55×103 m/s to 7.80×103 m/s to transfer from the 7000
km radius orbit to an elliptical one and from 6.82×103 m/s to 7.06×103 m/s to go from the elliptical
to a circular one with a radius of 8000 km.
The first impulse has a magnitude of:
  
m∆v = 1.40×104 kg 7.80×103 m/s − 7.55×103 m/s = 3.47×106 kg·m/s

And the second impulse has a magnitude of:


  
m∆v = 1.40×104 kg 7.06×103 m/s − 6.82×103 m/s = 3.35×106 kg·m/s

352
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.18
GOAL: Determine ∆v to boost a spacecraft from a circular orbit into an elliptical one
GIVEN: Dimensions of orbits
DRAW:

FORMULATE EQUATIONS: We’ll use the elliptical orbit


! formulas
1 1 1
A= − (1)
2 rmin rmax
1 GME
= +A (2)
rmin h2
and, for a circular orbit,
GME
vc2 = (3)
r
SOLVE:
1 1 1
 
(1) ⇒ A= − = 4.69 × 10−8 m−1 (4)
2 8.00 × 10 m 3.2 × 107 m
6

 !−1 1
2
1  
(2), (4) ⇒ h= −A GME  = 7.15 × 1010 m2 /s (5)
rmin

h 7.15 × 1010 m2 /s
(3), (5) ⇒ v= = = 8.93 × 103 m/s (6)
rmin 8.00 × 106 m
In a circular orbit of 8.00 × 106 m radius we have, from (3),
  1
2
GME
  12 6.67 × 10−11 m 3 /kg s 5.98 × 1024 kg 2

vc = =  = 7.06 × 103 m/s


r 8.00 × 106 m
Thus we’d need to increase our speed by
8.93 × 103 m/s − 7.06 × 103 m/s = 1.87 × 103 m/s

353
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.19
GOAL: Determine the altitude above the earth that a spacecraft will attain after ejecting a payload
at the far side of its orbit.
GIVEN: Masses of the two bodies, initial speeds and relative launch speed.
DRAW:

FORMULATE EQUATIONS:
By ejecting the satellite the captain has altered the spacecraft’s momentum. Initially the space-
craft/satellite are orbiting at the same velocity

v2 GmE m
−m =−
v r r

u 6.67×10−11 N·m2 /kg2 (5.98×1024 kg)
s u
GmE
v= = = 7.56×103 m/s
t
r (6370 m + 600 m)×103

Before satellite launch we have vsp = vsa = v. After satellite launch, the spacecraft is moving at
0 and the satellite is moving at v 0 .
vsp sa
We’ll also use the equations
h = rv
1 GmE
= +A
rmin h2
1 GmE
= −A
rmax h2
SOLVE:
Conservation of linear momentum:
   
0 0
1.20×105 kg v = 1.20×105 kg − 1.10×104 kg vsp + (1.10×104 kg)vsa

0 = v 0 + 100 m/s, thus


We know that vsp sa

   
0 0
1.20×105 kg v = (1.09×105 kg)vsp + (1.10×104 kg) vsp − 100
0
(1.20×105 kg)vsp = (1.20×105 kg)v + 1.10×106 kg· m/s
0 0
vsp = 7.57×103 m/s, vsa = 7.47×103 m/s

354
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

  
h = rv = 6970×103 m 7.57×103 m/s = 5.28×1010 m2/s
1 GmE
= +A
rmin h2
 
6.67×10−11 N·m2 /kg2 5.98 × 1024 kg

1
A = − = 3.47×10−10 m−1
6970×103 m (5.28×1010 m2/s)2
 
6.67×10−11 N·m2 /kg2 5.98 × 1024 kg

1 GmE
= −A= − 3.47×10−10 m−1
rmax h2 (5.28×1010 m2/s)2
rmax = 7.00×106 m

Altitude at θ = π is:
7.00×106 m − 6.37×106 m = 634 km

355
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.20
GOAL: Find the difference between the radius of a circular orbit and the minimum radial distance
along an elliptical path that’s created by firing lateral thrusters.
GIVEN: Spaceship mass, thrust, firing duration and radius of initial circular orbit.
DRAW:

FORMULATE EQUATIONS:
We’ll use the formula
GmE
v02 =
r0
where v0 is the speed along the initial circular orbit of radius r0 .
Once on the elliptical orbit we’ll use
ṙ0
A=
r2 ω
0 0
sin θ
Ah2
e=
GmE
and
1 1+e
 
=A
rp e
SOLVE:

(6.67×10−11 N·m2 /kg2 )(5.98 × 1024 kg)


v02 = ⇒ v0 = 7.72×103 m/s
6.7×106 m
From polar coordinates we know that
v0 = rθ̇ = rω0
Using the calculated values gives us
v0 7.72×103 m/s
ω0 = = = 1.15×10−3 rad/s
r0 6.70×106 m
A thrust of 7.50×103 N applied for 60 s will produce a linear impulse of 4.5×105 N· s. The spaceship
has a mass of 6.00×104 kg and so has an initial radial speed change from zero to

4.5×105 N· s
ṙ0 = = 7.50 m/s
6.00×104 kg

356
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

7.50 m/s
A = = 1.45×10−10 m−1
(6.70×106 m)2 (1.15×10−3 rad/s)
2 2
1.45×10−10 m−1 6.70×106 m 7.72×103 m/s

e =   = 9.72×10−4
6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
1 + 9.72×10−4

1 −10 −1
= (1.45×10 m ) = 6.69×106
rp 9.72×10−4

r − rp = 6.5 km

357
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.21
GOAL: Determine the changes in speed needed to transition to the given elliptical orbit and then
to a circular orbit at apogee.
GIVEN: A satellite is initially orbiting Earth with a radius R = 9.0 × 103 km and then transitions
to an elliptical trajectory with e = 0.4. When it reaches apogee, it transitions to a circular orbit.
DRAW:

FORMULATE EQUATIONS:
The satellite’s motion at perigee is described by
1 Gm
= 2 (1 + e) (1)
rp h
h = rv = constant (2)

The distances to perigee and apogee (rp and ra , respectively) are related to the eccentricity e by
rp 1−e
= (3)
ra 1+e
SOLVE:
The satellite’s initial orbital speed is
1 GmE
(2) → (1) ⇒ =
R (Rvp )2
s
GmE
vp =
R
v 
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
u
t
vp =
9.0 × 106 m
vp = 6.66 × 103 m/s

358
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

To transition to an elliptical orbit with e = 0.4 at perigee, its speed needs to be

1 1.4GmE
(2) → (1) ⇒ =
R (Rv p )2
s
1.4GmE
vp =
R

v p = vp 1.4

Therefore, the satellite needs to speed up by

∆vp = v p − vp

∆vp = vp ( 1.4 − 1)

∆vp = (6.66 × 103 m/s)( 1.4 − 1)

∆vp = 1220 m/s

At apogee, satellite’s distance away and speed are

1+e
 
(3) ⇒ ra = R
1−e

1 + 0.4
 
ra = (9.0 × 106 m)
1 − 0.4
ra = 2.10 × 107 m


Rv p Rvp 1.4
(2) ⇒ va = =
ra ra

(9.0 × 106 m)(6.66 × 103 m/s) 1.4
va =
2.10 × 107 m

va = 3.38 × 103 m/s

But to transition to a circular orbit at apogee, the satellite’s speed must be

1 GmE
(1) ⇒ =
ra (ra v a )2

359
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

s
GmE
va =
ra
v 
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
u
t
va =
2.10 × 107 m

v a = 4.36 × 103 m/s

Thus, the satellite has to increase its speed by

∆va = v a − va
∆va = 4.36 × 103 m/s − 3.38 × 103 m/s

∆va = 982 m/s

360
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.22
GOAL: Determine the inward radial velocity required to produce a parabolic trajectory and rmin .
GIVEN: Initial radius of circular orbit
DRAW:

FORMULATE EQUATIONS: Apply a force balance to the moving mass.


SOLVE:

v2 GmE m
−m = −
r v r
u 2

u 6.67×10−11 Nm2 (5.98×1024 kg)
s u
GmE kg
= 7.55×103 m/s
t
v= =
r 7.00×106 m

A parabolic orbit has an eccentricity of e = 1.


Using e = 1 and θ = 0 in
1 GmE
= (1 + e cos θ)
r h2
gives us
h2 [(7.55 × 103 m/s)(7.00 × 106 m)]2
rmin = =
2GmE 2(6.67 × 10−11 Nm2 /kg2 )(5.98 × 1024 kg)

rmin = 3.5×106 m
The linear impulse applied to give the orbiting body an inward velocity won’t change its angular
momentum about the earth. Thus we know h and can solve
1 GmE
= (1 + cos θ)
r h2
for cos θ. Doing so gives us

1 (6.67 × 10−11 Nm2 /kg2 )(5.98 × 1024 kg)


= (1 + cos θ)
7.00 × 106 m [(7.55 × 103 m/s)(7.00 × 106 m)]2

361
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

cos θ = 0 ⇒ cos θ = ± π2 Physically we see that the − π2 root is the correct one, occuring before the
object’s perigee at θ = 0. Using
GmE sin θ
ṙ =
rvθ
gives us
ṙ = −7.55×103 m/s

362
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.23
GOAL: Determine whether an orbit is elliptical.
GIVEN: Initial position and velocity of the body.
FORMULATE EQUATIONS:
Since the radial speed is zero, the satellite is at rmin or rmax . Assume it is rmin and solve for e. At
rmin , we know:
1 GmE 1 GmE
= 2
+A ⇒ A= − (1)
rmin h rmin h2
We also know
Ah2
e= (2)
GmE
SOLVE:
h2 1 GmE h2
 
(1), (2) ⇒ e= − = −1
GmE rmin h2 GmE rmin
For our problem
2 2
8.40×106 m 1.20×104 m/s
e=   −1 = 2.03
6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg) (8.4×106 m)

e = 1 is the limit for elliptical orbit.


The orbit is hyperbolic

363
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.24
GOAL: Find the meteor’s velocity at the point of closest approach to the earth.
GIVEN: Hyperbolic trajectory and geometry.
DRAW:
Rearranging the picture so it matches our conic section analyses gives us

FORMULATE EQUATIONS:
When r → ∞, θ → ±135◦
1 GmE
= + A cos θ (1)
r h2
Ah2
e= (2)
GmE
SOLVE:
Evaluating (1) at r = ∞ gives us

GmE 2GmE
0= + A cos (135◦ ) ⇒ A= (3)
h2 h2

Ah2 √
(2),(3)⇒ e= = 2 (4)
GmE
√ √ 
From geometry, 9.00×106 m 2= 2 + 1 x,

x = 5.27×106 m (5)

√ 1
2x + x = ⇒ A = 7.86×10−8 m−1 (6)
A
At the point of closest approach

rmin = 2x = 7.46×106 m (7)

h = rmin v (8)

364
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

v√
u
u 2Gm
E
(3), (6), (7), (8) ⇒ v=t 2
rmin A

v√  
u 2 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
u
= = 1.14×104 m/s
t
(7.46×106 m)2 (7.86×10−8 m−1 )

v = 1.14×104 m/s

365
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.25
GOAL: Determine how much a rocket’s speed must be altered by in order for it to transition from
a circular orbit around the earth to a hyperbolic orbit that will bring it to Mars.
GIVEN: Radius of the circular orbit is 7.50×106 m.
DRAW:

FORMULATE EQUATIONS:

Ah2
e=
GmE
For a circular orbit we know s
GmE
v=
r
SOLVE: To get to Mars we have to transition to a hyperbolic orbit. In the limit of r → ∞ we can
find e by recalling that e = r/d.
2
e= =2
1
6
In a circular orbit of 7.50×10 m, the spacecraft’s speed is found from
v 
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
s u
GmE
= 7.29×103 m/s
t
v= =
r 7.50×106 m

ex = 2x = 7.50×106 m
x = 3.75×106 m
1
= 3x ⇒ A = 8.8×10−8 m−1
A
Ah2
From e = Gm , we have
E
2 2
8.8×10−8 m−1 7.50×106 m

vh
2 =  
6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
vh = 1.26×104 m/s

366
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

∆v = 1.26×104 m/s − 7.29×103 m/s = 5.34×103 m/s

367
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.26
GOAL: Determine the speed of an orbiting body if it’s in a circular, elliptical with e = 0.5 and
e = 1 orbit.
GIVEN: rmin = 6.90×106 m
DRAW:

FORMULATE EQUATIONS:
The speed of an orbiting body is given by
s
GmE (1 + e)
v=
rmin

SOLVE:
In a circular orbit (e = 0) we have
v 
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
s u
GmE t
v= =
r 6.90×106 m

v = 7.60×103 m/s
If e = 0.5 we have
v 
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg) (1.5)
s u
GmE (1 + e) t
v= =
rmin 6.90×106 m

v = 9.31×103 m/s
If e = 1.0:
v 
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg) (2.0)
s u
GmE (1 + e) t
v= =
rmin 6.90×106 m

v = 1.08×104 m/s

368
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.27
GOAL: Determine the length of time a braking rocket must fire to change an orbit’s eccentricity
from 0.20 to 0.18.
GIVEN: Thrust of the braking rocket, mass of the spacecraft and angular momentum before
braking.
DRAW:

FORMULATE EQUATIONS:

H0 = mvrmin
s
GmE (1 + e)
v=
rmin
SOLVE: At rmin we have
HO = mvrmin = 4.08×1015 kg· m2/s
4.08×1015 kg· m2/s
h = vrmin = (1)
7.20×104 kg

v 
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg) (1.20)
s u
GmE (1 + e) 2.19×107 m1.5/s
v= = = (2)
t

rmin rmin rmin


(2) → (1) ⇒ 2.19×107 rmin = 5.6̄×1010

rmin = 6.709×106 m (3)


The speed associated with e = 0.18 is
v 
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg) (1.18)
u
v0 = = 8.38×103 m/s
t
(4)
6.71×106 m

2.19×107 m1.5/s
(2), (3) ⇒ v= √ = 8.45×103 m/s (5)
6.71×106 m

369
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

(4), (5) ⇒ ∆v = 8.38×103 m/s − 8.45×103 m/s = −70.7 m/s

AI = F ∆t = m∆v
7.20×104 kg (−70.7 m/s)

∆t = = 58.5 s
−8.70×104 N
∆t = 58.5 s

370
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.28
GOAL: Show that a meteor just grazes the earth’s surface at its closest approach.
GIVEN: Initial position and velocity of the meteor.
DRAW:

* *
ı 
e*r cos θ sin θ
e*θ − sin θ cos θ

FORMULATE EQUATIONS:
q
w= x2 + y 2

1 GmE
= + A cos θ
w h2

SOLVE:

y
θ = 180◦ − tan−1 = 143.1◦
x
q q
w= x2 + y 2 = (2.549×107 m)2 + (1.911×107 m)2 = 3.185×107 m (1)

3544 *
ı m/s = (3544 m/s) cos θ e*r − (3544 m/s) sin θ e*θ = vr e*r + vθ e*θ

vr = (3544 m/s) cos θ = −2834 m/s (2)


vθ = −(3544 m/s) sin θ = −2126 m/s (3)

(1),(3)⇒
 
h = −(2126 m/s) 3.185×107 m = −6.77×1010 m2/s (4)

371
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

1 GmE
= 2
+ A cos θ
w h 
6.67×10−11 N·m2 /kg2 5.98 × 1024 kg

1
= + A cos(143.1◦ )
3.185×107 m (6.77×1010 m2/s)2
A = 6.95×10−8 m−1
ra + rp = 2w = 6.37×107 m (5)
√ 6
ra rp = rm = y = 19.11×10 m
ra rp = 3.65×1014 m2 (6)

(5),(6)⇒
 
rp 6.37×107 − rp = 3.65×1014
rp2 − 6.37×107 rp + 3.65×1014 = 0

1
 q 
rp = 6.37×107 m ± (6.37×107 m)2 − 4 (3.65×1014 m2 )
2
rp1 = 6.37×106 m (solution for rp )
rp2 = 5.733×107 m (solution for ra )

We see that rp1 = 6.37×106 m, the radius of the earth. Thus the meteor does just graze the earth’s
surface at its closest approach.

372
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.29
GOAL: Numerically integrate to verify the results of Exercise 3.6.24, namely that the meteor just
grazes the earth at its closest approach.
GIVEN: Initial position and velocity of the meteor.
DRAW:

* *
ı 
e*r cos θ sin θ
e*θ − sin θ cos θ
FORMULATE EQUATIONS:
h2 GmE
r̈ = − (1)
r3 r2
1911
θ = 180 − tan−1 = 143.1◦
2548
SOLVE:

3544 *
ı m/s = (3544 m/s)(cos θ e*r − sin θ e*θ ) = vr e*r + vθ e*θ
vr = (3544 m/s) cos θ ⇒ vr = −(2834 m/s)
vθ = −(3544 m/s) sin θ ⇒ vθ = −(2126 m/s)

q
h = wvθ = (−2126 m/s) (2.548×107 m)2 + (1.911×107 m)2 = −6.77×1010 m2/s (2)
 
6.67×10−11 N·m2 /kg2 5.98 × 1024 kg

4.587×1021 m4/s2
(1), (2) ⇒ r̈ = −
r3 r2
4.587×1021 m4/s2 3.989×1014 m3/s2
r̈ = − (3)
r3 r2
Use ode45, y0 = 3.185×107 − 2834 , tspan= [0 6950] and r will reach 6.38×106 , showing that
 

the meteor does, indeed, graze the earth’s surface.

373
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.30
GOAL: Determine if a meteor will hit the earth.
GIVEN: Position and velocity of meteor.
DRAW:

FORMULATE EQUATIONS:
The easiest way to determine if the meteor will hit the earth is to reorient the figure so that the
meteor’s velocity is horizontal, as shown.

ı = −v cos(18◦ ) e*r − v sin(18◦ ) e*θ = vr e*r + vθ e*θ


v*
vr = −(5160 m/s) cos(18◦ ) = −4907 m/s
vθ = −(5160 m/s) sin(18◦ ) = −1595 m/s
 
h = (−1595 m/s) 2.85 × 107 m = −4.54 × 1010 m2/s
vr
tan θ = Gm
vθ − h E
1 GmE
= + A cos θ
r h2
SOLVE:
−4907 m/s
tan θ =   ⇒ θ = 145.7◦
6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
−1595 m/s −
−4.54 × 1010 m2 / s

 
1 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
= +A cos(145.7◦ ) ⇒ A = 1.91×10−7 m−1
2.85 × 107 m (−4.54 × 1010 m2 / s)2

At θ = 0 we have

 
1 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
= + 1.91 × 10−7 m−1 ⇒ rp = 2.60 × 106 m
rp (−4.54 × 1010 m2 / s)2

Since the earth has a radius larger than 2.60 × 106 m, the meteor must strike the earth.

374
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.31
GOAL: Determine how far around the Earth a lauched projectile will travel, and its maximum
height above the Earth’s surface.
GIVEN: Initial launch angle and speed of projectile.
DRAW:

FORMULATE EQUATIONS: Apply a force balance to the moving mass.


SOLVE:

vθ = (1500 m/s) cos(40◦ ) = 1149 m/s


vr = (1500 m/s) sin(40◦ ) = 964 m/s
 
h = rvθ = (1149 m/s) 6.37×106 m = 7.32×109 m2 /s

vr
tan θ = Gm
vθ − E
h
964 m/s
= (6.67×10−11 )(5.98×1024 )
(1149 m/s) − 7.32×109
= −1.81×10−2
This equation has two solutions: θ = −1.03◦ , 179◦ and the 179◦ is the physically meaningful one
for this problem.
vr 964 m/s
A = = = 7.29×10−6 m−1
rvθ sin θ (6.37×10 m) (1149 m/s) sin(179◦ )
6
2
Ah2 7.29×10−6 m−1 7.32×109 m2 /s

e = =  = 0.98
GmE 6.67×10−11 Nm2 /kg2 (5.98×1024 kg)
1 1+e
 
= A = 1.47×10−5 m−1
rp e
rp = 6.79×104 m
1 1−e
 
= A = 1.56×10−7 m−1
ra e
ra = 6.42×106 m

375
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

max height = 6.42×106 m −6.37×106 m = 49 km


From symmetry, the projectile will strike the earth at θ = −179◦ . The angle covered during the
flight is 2(1.03◦ ) = 2.06◦ . Distance travelled is:
 
2.06◦
2π 6.37×106 m = 230 km

360◦

376
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.32
GOAL: Determine the eccentricity of a body’s orbit.
GIVEN: Position and velocity of the body.
DRAW:

FORMULATE EQUATIONS:
vr
tan θ =
vθ − Gmh
E

vr
A=
rvθ sin θ
Ah2
e=
GmE
SOLVE:

vr = (4000 m/s) sin(45◦ ) = 2828 m/s


vθ = (4000 m/s) cos(45◦ ) = 2828 m/s
 
h = rvθ = 8.00×106 m (2828 m/s) = 2.26×1010 m2/s

vr 2828 m/s
tan θ = =  = −0.191
vθ − Gm
 
h
E
6.67×10−11 N·m2 /kg2 5.98 × 1024 kg
2828 m/s −
2.26×1010 m2/s
θ = −10.8◦ , 169◦ . We use θ = 169◦ to obtain A > 0.
vr
A = = 6.66×10−7 m−1
rvθ sin θ
2
Ah2 6.66×10−7 m−1 2.26×1010 m2/s

e = =  = 0.85
GmE 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)

e = 0.85

377
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.33
GOAL: Find the angle of β associated with the impact of a spacecraft with the earth.
GIVEN: Initial position and velocity of the spacecraft as well as velocity reduction due to braking
rockets.
DRAW:

FORMULATE EQUATIONS:
In a circular orbit we have, from a radial force balance:
v2 GmE m
−m = −
r v r
u 
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
s
GmE
= 7.60×103 m/s
t
v= =
r 6.90×106 m

h = rvθ

1 GmE
= + A cos θ
r h2
SOLVE:
By reducing the speed by 1000 m/s we bring it to 6.60 × 103 m/s. Since vr = 0 we are either
at θ = 0◦ or θ = 180◦ . Because we are reducing the speed, the orbit will become elliptical and
r = 6.90×106 m becomes the apogee. Thus θ = 180◦ .
  
h = rvθ = 6.90×106 m 6.60×103 m/s = 4.56×1010 m2/s
1 GmE
Using r = h2
− A yields
 
6.67×10−11 N·m2 /kg2 5.98 × 1024 kg

1
A= − = 4.72×10−8 m−1
(4.56×1010 m2/s)2 6.90×106 m
1 GmE
Use r = h2
+ A cos θ to find the impact angle
 
6.67×10−11 N·m2 /kg2 5.98 × 1024 kg

1 
−8 −1

= + 4.72×10 m cos θ
6.37×106 m (4.56×1010 m2/s)2
cos θ = −0.745 , θ = ±138◦
β = 180◦ − 138◦ = 42◦

378
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.34
GOAL: Determine system geometry to let a spacecraft reach a desired position.
GIVEN: Initial direction of travel and system dimensions.
DRAW:

FORMULATE EQUATIONS:
ra rp
x= −
2 2

rm = ra rp
SOLVE: Since there is no *
ı velocity at A we know that A is at the midpoint of the initially
elliptical path.

rm = 2.00×107 m
rp= 7.00×106 m
r rp
x = a −
√2 2
rm = ra rp
 2  
2×107 m = ra 7×106 m
ra = 5.71×107 m

379
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

7m 6m
x = 5.71×10
2 − 7.0×10
2 = 2.51×107 m
We’ll now find the speed at perigee. !
1 1 1
A= − = 6.27×10−8 m−1
2 rp ra
1 GmE −10 2
rp
= 2 + A ⇒ h = 7.05×10 m /s
h
h
vθ = = 1.01×104 m/s
rp
A circular orbit requires a speed of s
GmE
v= = 7.45×103 m/s
r

In order to transition into a circular orbit the spacecraft’s speed must be reduced by 2.53×103 m/s .

380
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.35
GOAL: Calculate how long it takes for a projectile to be launched and then strike the earth for
the case of true orbital motion and a flat-earth approximation. Determine the landing location as
well.
GIVEN: Projectile is fired straight up at 1000 mph and air resistance can be neglected. The
acceleration due to gravity for the flat-earth approximation is 32.18 ft/s2 .
DRAW:

ASSUME: The projectile is being fired straight up (and thus directly away from the earth’s
center). For the flat-earth case we need only consider a single equation: ÿ = −g.
FORMULATE EQUATIONS: For true orbital motion we have
GmE
r̈ = rθ̇2 − (1)
r2
2θ̇ṙ
θ̈ = − (2)
r
where mE is the earth’s mass.
SOLVE:
The initial conditions for the problem are: (r = 2.09 × 107 ft (radius of the earth), ṙ = 1000 mph =
1.47×103 ft/s). The earth rotates through 2π rad in one day, giving us an angular speed of θ̇ =
7.27 × 10−5 rad/s. We can define θ as zero at the time of launch.
Integrating (1) and (2) with MATLAB using these initial conditions and checking for when the
projectile returns to r = 2.09 × 107 ft gives us a flight time of t = 91.2 s. At t = 91.2 s θ is equal
to 0.00665 rad. rθ is 1.39 × 105 ft, indicating that the projectile has moved 1.39 × 105 ft away from
the launch point’s initial position during the flight interval. The launch point, however, hasn’t
been stationary but rather rotates along with the earth, moving by a distance (2.09 × 107 ft)(7.27 ×
10−5 rad/s)(91.2 s) = 1.39 × 105 ft. Hence the projectile doesn’t quite come down on top of the
launch point but misses by 298 ft.
t = 91.2 s, projectile misses launch point by 298 ft
Finally, we can determine the time needed under a constant acceleration assumption by doubling
the time needed for a particle, initially at rest, to reach! 1.47×103 ft/s.
1.47×103 ft/s
t=2 = 91.1 s
32.18 ft/ s2
The projectile is launched directly upward and gravity points down, hence the projectile will strike
the launch point.
t = 91.1 s, projectile hits launch point

381
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

This time isn’t much different from the 91.2 s found by a numerical integration. The reason for
this is that the projectile didn’t rise very far from the earth’s surface and the local gravitation
acceleration was quite close to 31.18 ft/ s2 during the entire trajectory. This helps explain why
flat-earth calculations are quite accurate for most earth-based motions.

382
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.36
GOAL: Find the location of the rear piece of a spaceship 2 hours after an on-board explosion.
GIVEN: The front part of a 12,000 kg spaceship, containing 5/6 of the total mass), is 1.715 × 107
m above the earth’s center and has velocity components vr = 0, vθ = 3.609 × 103 m/s when at
θ = π rad. When the explosion occurred the spaceship was at A, a distance 6.37 × 106 m + 300 ×
103 m = 6.67 × 106 m away from the earth’s center.
DRAW:

ASSUME: Assume that the changes in velocity for both the front and back pieces occur purely
along the path of travel (no radial changes with respect to the earth).
FORMULATE EQUATIONS: We’re given the orbital data of the front piece at apogee. We’ll
find h = rvr at this point and then use the constancy of h to let us solve for the front piece’s speed
at the point A. Applying
1 GmE
= (1 + e) (1)
rp h2
with e = 0 will let us solve for the entire spaceship’s speed just before the explosion. We can then
examine the momentum of the spaceship (whole and in pieces) to determine what the speed of the
rear piece is equal to after the explosion. With this information we can then determine its path.
SOLVE: At apogee of the front piece we have ra = 1.715×107 m.
h = rvθ = (1.715×107 m)(3.609×103 m/s) = 6.19×1010 m2 / s (2)
Thus when the front piece was at A it had speed
(2) ⇒ vF (6.67 × 106 m) = 6.189×1010 m2 / s ⇒ vF = 9.28 × 103 m/s (3)
Using (1) with e = 0 and rp = 6.67 × 106 m to determine the spaceship’s speed before the explosion
gives us v
u  
s
GmE u 6.67×10−11 N·m2 /kg2 5.98 × 1024 kg
= 7.73 × 103 m/s
t
v= = (4)
rp 6.67 × 106 m
The explosion forces are purely internal to the spaceship. Because there is no external force, the
linear momentum of the spaceship before the collision is equal to the linear momentum of the two
pieces immediately after the collision. Hence we have
mF vF + mB vB = mv (5)
where mF ,mB are the masses of the front and back, respectively and vF ,vB are the speeds of the

383
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

front and back, respectively. Using the calculated values gives us


5   1
(12, 000 kg) 9.28 × 103 m/s + (12, 000 kg) vB = (12, 000 kg)(7.73 × 103 m/s)
6 6
vB = 0.712 m/s
Thus we see that the speed of the back piece is essentially zero after the explosion. Given this fact,
all the piece can do is fall directly down towards the earth. Two hours is more than enough
time for it to hit the earth and so the back piece will be found on the surface of the earth
directly below the point A .

384
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.37
GOAL: Determine if the two halves of a spaceship collide at θ = π and the difference in arrival
times if they don’t.
GIVEN: At θ = 0 an orbiting spaceship breaks into two pieces. Each piece gains an additional
velocity component of 70 m/s, one directed inward and the other outward. When the explosion
occurred the spaceship was at A, a distance 6.37 × 106 m + 300 × 103 m = 6.67 × 106 m away from
the earth’s center.
DRAW:

ASSUME: The velocity changes occur instantaneously.


FORMULATE EQUATIONS: We’re given the orbital data of the front piece at the time of the
explosion. We can calculate the initial radial and angular speed and then integrate to determine
the time needed to return the original position.
SOLVE:
The speed before the explosion
v can be found from
u  
s
GmE u 6.67×10−11 N·m2 /kg2 5.98 × 1024 kg
= 7.73 × 103 m/s
t
v= =
rp 6.67 × 106 m
The initial radial position is 6.67 × 106 m and the initial angular position is 0. Due to the explosion
each piece has a radial speed of 70 m/s (one inward and one outward). The initial angular speed is

7.73 × 103 m/s


θ̇ = 6 = 1.159 × 10−3 rad/s
6.67 × 10 m
We can now find the expressions for r̈ and θ̈:
2 GmE
e*r : r̈ = rθ̇ −
r2
2ṙθ̇
e*θ : θ̈ = −
r
Putting these equations into first order form and integrating in MATLAB using the given initial
conditions, we find that the inner piece reaches θ = π at t = 2.678 × 103 s, while the outer piece
arrives at t = 2.741 × 103 s. Thus, the spaceship halves don’t collide , and the difference in arrival
times is

∆t = 62.5 s

385
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.38
GOAL: Determine the satellite’s speed in circular orbit around Earth and the speed needed to
escape orbit. Also find the distance to apoapsis while in Jovian orbit, the satellite’s speed at
periapsis, and the change in speed needed to leave orbit at periapsis.
GIVEN: The satellite’s circular orbit around Earth has a radius of R = 7000 km. The satellite
gets pulled into an elliptical orbit around Jupiter at apoapsis with va = 9500 m/s and e = 0.5.
Jupiter has a mass of mJ = 1.8986 × 1027 kg.
DRAW:

FORMULATE EQUATIONS:
The satellite’s motion at perigee/periapsis and apogee/apoapsis is respectively described by
1 Gm
= 2 (1 + e) (1)
rp h
1 Gm
= 2 (1 − e) (2)
ra h
h = rv = constant (3)

The eccentricity e is related to ra and rp by


rp 1−e
= (4)
ra 1+e
SOLVE:
The satellite is first in circular orbit around Earth, so e = 0 and

386
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

1 GmE GmE
(3) → (1) ⇒ = 2
=
R h (Rv)2
s
GmE
v=
R
v 
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
u
t
v=
7000 × 103 m

v = 7549 m/s

The satellite will leave Earth orbit when the trajectory transitions from circular to parabolic, so
set e = 1:
1 2GmE 2GmE
(3) → (1) ⇒ = 2
=
R h (Rv)2
s
2GmE
v=
R

v=v 2

v = 10, 675 m/s

It then enters an elliptical orbit around Jupiter with e = 0.5 at apoapsis, so


1 0.5GmJ 0.5GmJ
(3) → (2) ⇒ = 2
=
ra h (ra va )2

0.5GmJ
ra =
va2
 
0.5 6.67×10−11 N·m2 /kg2 1.8986 × 1027 kg

ra =
(9500 m/s)2

ra = 7.016 × 108 m

The speed at and location of periapsis are


!
ra 1+e
 
(4) → (3) ⇒ vp = va = v
rp 1−e a

1 + 0.5
 
vp = (9500 m/s)
1 − 0.5

vp = 28, 500 m/s

387
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

1−e
 
(4) ⇒ rp = r
1+e a

1 − 0.5 
  
rp = 7.016 × 108 m
1 + 0.5
rp = 2.339 × 108 m

Set e = 1 at periapsis for the satellite to leave Jovian orbit:


1 2GmJ 2GmJ
(3) → (1) ⇒ = 2
=
rp h (rp v p )2
s
2GmJ
vp =
rp
v  
u 2 6.67×10−11 N·m2 /kg2 (1.8986 × 1027 kg)
u
t
vp =
2.339 × 108 m
v p = 32, 909 m/s

Since v p > vp , the satellite will escape orbit if it speeds up by

∆vp = v p − vp
∆vp = 32, 909 m/s − 28, 500 m/s

∆vp = 4409 m/s

388
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.39
GOAL: Determine the changes in speed needed to transition to a circular orbit at periapsis and
then escape lunar orbit some time later.
GIVEN: A satellite gets pulled into an elliptical orbit around the moon at apoapsis with a speed
v = 900 m/s (no radial component). Apoapsis is located at ra = 5.22 × 103 km. The satellite
transitions to a circular orbit when it reaches periapsis, and some time later it escapes lunar orbit.
DRAW:

FORMULATE EQUATIONS:
The satellite’s motion at periapsis and apoapsis are described by
1 Gm
= 2 (1 + e) (1)
rp h
1 Gm
= 2 (1 − e) (2)
ra h
h = rv = constant (3)
SOLVE:
The eccentricity of the elliptical orbit around Earth is
1 GmM
(2), (3) ⇒ = (1 − e)
ra (ra v)2

ra v 2 (5.22 × 106 m)(900 m/s)2


e=1− =1−   = 0.1375
GmM 6.67×10−11 N·m2 /kg2 (7.35 × 1022 kg)

Hence, the satellite’s speed vp and position rp at perigee is

r (1 + e) 1 + 0.1375
 
(1), (2), (3) ⇒ vp = a v = v= (900 m/s)
rp (1 − e) 1 − 0.1375

389
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

vp = 1187 m/s

(1 − e) 1 − 0.1375
 
(1), (2) ⇒ rp = r = (5.22 × 106 m)
(1 + e) a 1 + 0.1375

rp = 3.96 × 106 m

Transition to a circular orbit (e = 0) at periapsis requires a speed of


1 GmM
(3) → (1) ⇒ =
rp (rp v p )2
s
GmM
vp =
rp
v 
u 6.67×10−11 N·m2 /kg2 (7.35 × 1022 kg)
u
t
vp =
3.96 × 106 m

v p = 1113 m/s

Thus, the satellite will need to slow down by

∆vp = vp − v p
∆vp = 1187 m/s − 1113 m/s

∆vp = 74 m/s

To escape lunar orbit (e = 1), its speed needs to be


1 2GmM
(3) → (1) ⇒ =
rp (rp v)2
s
2GmM
v=
rp

v = vp 2

Therefore, the satellite’s speed needs to increase by

∆v = v − v p

∆v = v p ( 2 − 1)

∆v = (1113 m/s)( 2 − 1)

∆v = 461 m/s

390
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

3.6.40
GOAL: Determine how long the boosters need to fire to leave Earth orbit and Jovian orbit.
GIVEN: The satellite’s circular orbit around Earth has a radius of R = 7000 km, and it needs a
speed of v = 11, 000 m/s to escape orbit. The satellite gets pulled into an elliptical orbit around
Jupiter at apoapsis with va = 9500 m/s and e = 0.5. The escape speed at periapsis is v p =
33, 000 m/s. Jupiter has a mass of mJ = 1.8986 × 1027 kg. The satellite’s mass is ms = 700 kg, and
its boosters produce an average thrust of T = 5 × 104 N.
DRAW:

FORMULATE EQUATIONS:
The satellite’s motion at perigee/periapsis is described by
1 Gm
= 2 (1 + e) (1)
rp h
h = rv = constant (2)

The eccentricity e is related to rp and the distance to apogee/apoapsis (ra ) by


rp 1−e
= (3)
ra 1+e

The linear impulse-momentum relation for the satellite is


Z t
* * f *
mf v f − m0 v 0 = F dt (4)
t
0

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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

SOLVE:
The satellite is first in circular orbit around Earth, so e = 0 and
1 GmE GmE
(2) → (1) ⇒ = 2
=
R h (Rv)2
s
GmE
v=
R
v 
u 6.67×10−11 N·m2 /kg2 (5.98 × 1024 kg)
u
t
v=
7000 × 103 m
v = 7549 m/s

The satellite will leave Earth orbit if the boosters fire for
Z ∆tE
e*θ : (4) ⇒ ms (v − v) = T dt
0

∆tE
ms (v − v) = T t

0

ms (v − v) = T ∆tE

ms (v − v)
∆tE =
T
(700 kg)(11, 000 m/s − 7549 m/s)
∆tE =
5 × 104 N

∆tE = 48.3 s

It then enters an elliptical orbit around Jupiter with e = 0.5 at apoapsis, so the satellite’s speed at
periapsis is
!
ra 1+e
 
(3) → (2) ⇒ vp = va = v
rp 1−e a

1 + 0.5
 
vp = (9500 m/s)
1 − 0.5
vp = 28, 500 m/s

To escape Jovian orbit, the boosters need to fire for


  Z ∆tJ
e*θ : (4) ⇒ m s v p − vp = T dt
0

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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

  ∆tJ
ms v p − vp = T t

0
 
ms v p − vp = T ∆tJ
 
ms v p − vp
∆tJ =
T
(700 kg)(33, 000 m/s − 28, 500 m/s)
∆tJ =
5 × 104 N

∆tJ = 63.0 s

393
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3.6. ORBITAL MECHANICS CHAPTER 3. KINETICS OF PARTICLES

3.6.41
GOAL: Determine the change in speed needed to enter an elliptical orbit around Saturn at periapsis
and to transition into a circular orbit at apoapsis.
GIVEN: At periapsis, rp = 1.205 × 108 m and the satellite’s speed is vp = 23, 000 m/s before
transition. The elliptical orbit has an eccentricity of e = 0.5, and Saturn’s mass is mS = 5.6846 ×
1026 kg.
DRAW:

FORMULATE EQUATIONS:
The satellite’s motion at periapsis and apoapsis is respectively described by
1 Gm
= 2 (1 + e) (1)
rp h
1 Gm
= 2 (1 − e) (2)
ra h
h = rv = constant (3)

The eccentricity e is related to rp and ra by


rp 1−e
= (4)
ra 1+e
SOLVE:
The satellite is supposed to enter an elliptical orbit around Saturn at periapsis with e = 0.5, so the
speed needed is
1 1.5GmS 1.5GmS
(3) → (1) ⇒ = 2
=
rp h (rp v p )2
s
1.5GmS
vp =
rp

394
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CHAPTER 3. KINETICS OF PARTICLES 3.6. ORBITAL MECHANICS

v  
u 1.5 6.67×10−11 N·m2 /kg2 (5.6846 × 1026 kg)
u
t
vp =
1.205 × 108 m
v p = 21, 725 m/s

Since v p < vp , entering elliptical orbit requires that the satellite slow down by

∆vp = vp − v p
∆vp = 23, 000 m/s − 21, 725 m/s

∆vp = 1275 m/s

The location of and speed at apoapsis are


1+e
 
(4) ⇒ ra = r
1−e p
1 + 0.5
 
ra = (1.205 × 108 m)
1 − 0.5
ra = 3.615 × 108 m

rp 1−e
   
(4) → (3) ⇒ va = vp = v
ra 1+e p
1 − 0.5
 
va = (21, 725 m/s)
1 + 0.5
va = 7242 m/s

The speed needed to transition to circular orbit (e = 0) at apoapsis is


1 GmS GmS
(3) → (2) ⇒ = 2
=
ra h (ra v a )2
s
GmS
va =
ra
v 
u 6.67×10−11 N·m2 /kg2 (5.6846 × 1026 kg)
u
t
va =
3.615 × 108 m
v a = 10, 241 m/s

We find that v a > va , so the satellite needs to speed up to enter circular orbit:

∆va = v a − va
∆va = 10, 241 m/s − 7242 m/s

∆va = 3000 m/s

395
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3.7. IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.7 Impact

396
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CHAPTER 3. KINETICS OF PARTICLES 3.7. IMPACT

3.7.1
GOAL: Determine how high the ball bounces off the floor.
GIVEN: A ball is released from rest at H = 2 m above the floor. It first bounces off a platform
(e1 = 0.6) located at a height h = 1 m before making contact with the floor (e2 = 0.8).
DRAW:

FORMULATE EQUATIONS:
Since the ball’s acceleration is only due to gravity, we have that

v 2 − v02 = −2g∆h (1)

For a direct collision with a stationary surface, the ball’s pre- and post-impact speeds are related
according to

−v 0
e= (2)
v
SOLVE:
The ball’s speed just before hitting the platform is
q
(1) ⇒ v1 = − 2g(H − h)

The ball bounces off the platform with an initial speed of


q
(2) ⇒ v10 = e1 2g(H − h)

The peak height h0 that the ball achieves after bouncing off the platform is

(1) ⇒ (v10 )2 = 2g(h0 − h)

397
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3.7. IMPACT CHAPTER 3. KINETICS OF PARTICLES

(v10 )2
h0 = h + = h + e21 (H − h)
2g
h0 = h(1 − e21 ) + e21 H

h0 = (1 m)(1 − 0.62 ) + (0.62 )(2 m)


h0 = 1.36 m

Immediately before making contact with the floor, the ball’s speed is
q
(1) ⇒ v2 = − 2gh0

Its speed just after impact is


q
(2) ⇒ v20 = e2 2gh0

Thus, the ball will bounce to a peak height h of

(1) ⇒ (v20 )2 = 2gh

(v20 )2
h= = e22 h0
2g
h = (0.8)2 (1.36 m)

h = 0.87 m

398
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CHAPTER 3. KINETICS OF PARTICLES 3.7. IMPACT

3.7.2
GOAL: Determine the coefficient of restitution between two bodies A and B and the pre-collision
velocity of body B.
GIVEN: Mass of each body and body A’s initial velocity.
DRAW:

FORMULATE EQUATIONS:
mA v*A + mB v*B = mA v*A0 + mB v*B0
SOLVE:
(10 kg)(5 m/s) + (20 kg)v*B = (10 kg)(2 m/s) + (20 kg)(2 m/s)

(20 kg)v*B = 10 kg·m/s


1*
v*B = 2 ı m/s
0 0
vB − vA 2−
e= v −v = 2 = 0
B A 1
5−
2

399
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3.7. IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.7.3
GOAL: Find horizontal speed of B so that A remains motionless after the collision.
GIVEN: Initial velocity of A, both masses and e.
FORMULATE EQUATIONS:
0 0
Cons. Lin. Mom.: mA vA + mB vB = mA vA + mB vB (1)
0 0
vB − vA
Impact: e= (2)
vA − vB
SOLVE:
0
(1) ⇒ (0.2 kg)(3 m/s) + (0.1 kg)vB = 0 + (0.1 kg)vB (3)

0
(2) ⇒ 0.4(3 m/s − vB ) = vB (4)

(3), (4) ⇒ [1.2 m/s − 0.4vB ](0.1 kg) = 0.6 kg · m/s + (0.1 kg)vB

(0.14 kg)vB = −(0.6 − 0.12)kg · m/s

vB = −3.43 m/s

v*B = −3.43 *
ı m/s

400
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CHAPTER 3. KINETICS OF PARTICLES 3.7. IMPACT

3.7.4
GOAL: Find the velocity of a baseball player’s head after being impacted by a baseball.
GIVEN: Initial speed of the baseball, coefficient of restitution and mass of the baseball and player’s
head.
DRAW:

FORMULATE EQUATIONS:
0 0
mA vA + mB vB = mA vA + mB vB
1 1
   
0 0
lb (88 ft/s) = lb vA + (25 lb)vB (1)
4 4
0 − v0
vB A
e=
vB − vA
0 − v0
vB A
0.2 = =0
88 ft/s
0 0
vA = vB − 17.6 ft/s (2)
SOLVE:
1
 
0 0
(1) → (2) ⇒ 22 lb· ft/s = lb (vB − 17.6 ft/s) + (25 lb) vB
4

25.25vB = 26.4 ft/s


0 = 1.046 ft/s = 0.71 mph
vB

401
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3.7. IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.7.5
GOAL: Find post-collision velocities of two particles
GIVEN: Masses, coefficient of restitution and pre-collision velocities
DRAW:

FORMULATE EQUATIONS:
0 0
mA vA + mB vB = mA vA + mB vB (1)

0 0
vB − vA
e= (2)
vA − vB
SOLVE:
0 0
vB − vA 0 0
(2) ⇒ 0= ⇒ vA = vB (3)
[4 − (−4)]m/s
0
mA vA + mB vB = (mA + mB )vA
(3) → (1) ⇒
0
(3 kg)(4 m/s) + (2 kg)(−4 m/s) = (5 kg)vA

0 0
vA = vB = 0.8 m/s

0 = 0.8 *
vA ı m/s

0 = 0.8 *
vB ı m/s

402
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CHAPTER 3. KINETICS OF PARTICLES 3.7. IMPACT

3.7.6
GOAL: Find pre-collision velocities of two particles.
GIVEN: The coefficient of restitution between the two particles is 0.1. mA = 3 slg and mB = 2 slg.
After the collision v*A0 = 0.8 *
ı ft/s and v*B0 = 1.0 *
ı ft/s.
DRAW:

FORMULATE EQUATIONS:
0 0
mA vA + mB vB = mA vA + mB vB (1)

0 0
vB − vA
e= (2)
vA − vB
SOLVE:
[1.0 − (0.8)] ft/s
(2) ⇒ 0.1 = ⇒ vA = vB + 2 ft/s (3)
vA − vB

(3) → (1) ⇒ (3 slg)(vB + 2.0 ft/s) + (2 slg)(vB ) = (3 slg)(0.8 ft/s) + (2 slg)(1.0 ft/s)

(5 slg)vB = −1.6 slg· ft/s

v*B = −0.32 *
ı ft/s (4)

(4) → (3) ⇒ v*A = 1.68 *


ı ft/s

403
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3.7. IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.7.7
GOAL: Find pre- and post-collision velocities for particle B.
GIVEN: The coefficient of restitution between the two particles is 0.1. mA = 4 kg and mB = 3 kg.
 m/s and after v*A0 = 1.0 *
Before the collision v*A = 2.0 *  m/s.
DRAW:

FORMULATE EQUATIONS:
0 0
mA vA + mB vB = mA vA + mB vB (1)

0 0
vB − vA
e= (2)
vA − vB
SOLVE:
0 − 1.0 m/s]
[vB 0
(2) ⇒ 0.1 = ⇒ vB + 0.1vB = 1.2 m/s (3)
2.0 m/s − vB
0
(1) ⇒ (4 kg)(2.0 m/s) + (3 kg)(vB ) = (4 kg)(1.0 m/s) + (3 kg)vB

0 4
vB − vB = m/s (4)
3
0
(3),(4) ⇒ vB = −0.121 m/s, vB = 1.21 m/s

 m/s, v*B0 = 1.21 *


v*B = −0.121 *  m/s

404
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CHAPTER 3. KINETICS OF PARTICLES 3.7. IMPACT

3.7.8 [Moderate]
GOAL: Determine the velocities of the bowling ball and pin just after impact.
GIVEN: The bowling ball’s speed before impact is vb = 10 ft/s, and the pin is initially stationary.
The bowling ball and pin weigh 15 lb and 0.5 lb, respectively, and the coefficient of restitution is
e = 0.9.
DRAW:

FORMULATE EQUATIONS:
The velocities of the bowling ball and pin before and after impact are related by

mb v*b + mp v*p = mb v*b0 + mp v*p0 (1)

Since the collision is head-on, the coefficient of restitution e relates the speeds along the bowling
lane before and after impact:
v 0 − vp0
b
e= (2)
vp − vb
SOLVE:
Since the pin is initially stationary,

(2) ⇒ v 0 − vp0 = −evb


b

v 0 = vp0 − evb (3)


b

 
mb vb = mb vp0 − evb + mp vp0
*
ı : (3) → (1) ⇒
 
vp0 mb + mp = mb vb (1 + e)
mb vb (1 + e) W v (1 + e)
vp0 = = b b
mb + mp Wb + Wp
(15 lb)(10 ft/s)(1 + 0.9)
vp0 = = 18.4 ft/s
15 lb + 0.5 lb

v*p0 = 18.4 *
ı ft/s

405
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3.7. IMPACT CHAPTER 3. KINETICS OF PARTICLES

(3) ⇒ v 0 = 18.4 ft/s − 0.9(10 ft/s) = 9.39 ft/s


b

v*b0 = 9.39 *
ı ft/s

406
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CHAPTER 3. KINETICS OF PARTICLES 3.7. IMPACT

3.7.9
GOAL: Determine the peak height that the small ball reaches after impact.
GIVEN: A large ball (M = 2 kg) is dropped from h = 1 m above the floor. A small ball (m =
0.25 kg) is simultaneously released just above the large ball. The large ball hits the floor (e1 = 0.9),
bounces off, and then collides with the small ball (e2 = 0.7).
DRAW:

FORMULATE EQUATIONS:
The balls accelerate due to gravity alone, and so

v 2 − v02 = −2g∆h (1)

In general, for a direct collision between two particles A and B, their pre- and post-impact speeds
are related according to
0 − v0
vA B
e= (2)
vB − vA

The linear impulse-momentum relation is given by


Z t
* * f *
mv f − mv 0 = F dt (3)
t
0
SOLVE:
First, the large ball makes contact with the ground at a speed of
p
(1) ⇒ v M = − 2gh

Just after impact, the large ball’s speed is

v 0M = vM = e1
p
(2) ⇒ 2gh

Next, the small and large balls collide, where the small ball’s speed right before impact is

407
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3.7. IMPACT CHAPTER 3. KINETICS OF PARTICLES

p
(1) ⇒ vm = − 2gh

The two balls’ speeds immediately after collision are related by


0 − v0
vm
(2) ⇒ M
e2 =
vM − vm
0 0
vM = vm − e2 (vM − vm )

If we take our system as including both the small and large balls, then the impact force between the
two is not considered, but there is still gravity acting on the balls. Let’s assume that the impact is
short enough to ignore the effects of gravity, and so we wind up with a conservation of momentum
in the vertical direction:
* 0 0
 : (3) ⇒ mvm + M vM = mvm + M vM
h i
0 0
mvm + M vm − e2 (vM − vm ) = mvm + M vM

0 mvm + M vM + e2 M (vM − vm ) vm (m − e2 M ) + M vM (1 + e2 )
vm = =
m+M m+M
i√
√ √ h
(e M − m) 2gh + M e1 (1 + e2 ) 2gh M (e 1
+ e 2
+ e e
1 2
) − m 2gh
0
vm = 2 =
m+M m+M
q
0
[(2 kg)(0.9 + 0.7 + (0.9)(0.7)) − 0.25 kg] 2(9.81 m/s2 )(1 m)
vm =
0.25 kg + 2 kg
0
vm = 8.29 m/s

Therefore, the small ball will bounce to a height h0 of


0 2
(1) ⇒ (vm ) = 2gh0
0 )2
(vm
h0 =
2g
(8.29 m/s)2
h0 =
2(9.81 m/s2 )

h0 = 3.50 m

408
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CHAPTER 3. KINETICS OF PARTICLES 3.7. IMPACT

3.7.10
GOAL: Determine the range of e that corresponds to a regulation tennis ball.
GIVEN: Variation in rebound height for a fixed drop height of 100 in.
DRAW:

FORMULATE EQUATIONS:
p
v= 2gh
v20 − v10
e=
v1 − v2
SOLVE:
If the ball falls 100 in. then its impact speed is given by
s
100 in.
 
2(32.2 ft/s2 )
p
v= 2gh = = 23.17 ft/s
12 in./ft
If the ball rebounds to 53 in. that implies an initial rebound velocity of
s
53 in.
 
2
p
v53 = 2gh = 2(32.2 ft/s ) = 16.87 ft/s
12 in./ft
A rebound of 58 in. implies
s
58 in.
 
2(32.2 ft/s2 )
p
v58 = 2gh = = 17.64 ft/s
12 in./ft
The ground has zero velocity after the collision so

v20 −v10 0 − (−16.87 ft/s)


e53 = v1 −v2 = = 0.728
23.17 ft/s − 0

0 − (−17.64 ft/s)
e58 = = 0.762
23.17 ft/s − 0

409
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3.7. IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.7.11
GIVEN:

• The SUV weighs 5000 lb and the sportscar weighs 2200 lb.
• The SUV was travelling at 20 mph and the sportscar was stationary.
• The coefficient of restitution is zero and the collision takes 0.3 seconds.
• (a) What are the two vehicles’ speeds immediately following the collision?
• (b) What accelerative loads do the two vehicles experience?

DRAW:

FORMULATE EQUATIONS:
v20 − v10
e=
v1 − v2
SOLVE:
(a):
5000 lb
m = = 155.3 slg
SUV 32.2 ft/s2
2200 lb
m = = 68.32 slg
SC 32.2 ft/s2
20 mph = 29.3̄ ft/s
Conservation of system momentum holds for the two mass system:

m v +m v =m v0 + m v0
SUV SUV SC SC SUV SUV SC SC

(155.3 slg)(29.3̄ ft/s) + 0 = (155.3 slg)v 0 + (68.32 slg)v 0 (1)


SUV SC
v0 − v0
e = SC SUV
v −v
SC SUV

410
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CHAPTER 3. KINETICS OF PARTICLES 3.7. IMPACT

v0 − v0
0 = SC SUV =⇒ v 0 = v0 (2)
29.3̄ ft/s SC SUV

(2) → (1) ⇒ 4555 slg·ft/s = (155.3 slg)v 0 +(68.32 slg)v 0 = (223.6 slg)v 0
SUV SUV SUV

v0 = v0 = 20.37 ft/s
SUV SC
(b):
v0 −v
a = SUV SUV = 20.37 ft/s − 29.3̄ ft/s = −29.9 ft/s2 = −0.93 g
SUV ∆t 0.3 s
20.37 ft/s − 0
=a = 67.9 ft/s2 = 2.1 g
SC 0.3 s
Note that the SUV driver experienced a substantially reduced accelerative load as compared to the
sports car driver.

411
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3.7. IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.7.12
GOAL: Find the speed of a the car just before it strikes a second car.
GIVEN: Length of skid marks, mass of two cars, coefficient of friction between cars and road.
DRAW:

ASSUME: Coefficient of restitution between the two cars is zero.


FORMULATE EQUATIONS:
Linear impulse: (m1 + m2 )v − F ∆t = 0 (1)
Force balance: (m1 + m2 )a = −F = −µN = −µ(m1 + m2 )g

(0.7)(3200 kg)(9.81 m/s2 )


a=− = −6.867 m/s (2)
(3200 kg)
at2
We know that the distance traveled for a constant acceleration is equal to 2 . Thus we have
s s
2∆x 2(8 m)
t= = = 1.526 s (3)
a 6.867 m/s2
Conservation of Linear Mo- 0
mA vA + mB vB = mA vA 0
+ mB vB (4)
mentum:
0 − v0
vB A
Impact: e= (5)
vA − vB
SOLVE:
0 − v0
vB A 0 0
(5)⇒ 0= ⇒ vB = vA =v (6)
vA − vB

(6)→(4)⇒ (2000 kg)vA + (1200 kg)vB = (3200 kg)v (7)

µ(m1 + m2 )gt
(1), (3) ⇒ v= = (0.7)(9.81 m/s2 )(1.526 s) = 10.48 m/s (8)
m1 + m2

(8)→(7)⇒ (2000 kg)vA + (1200 kg)vB = (3200 kg)(10.48 m/s) = 3.35×104 kg·m/s (9)

Given: vB + 12 m/s = vA (10)

(10)→(9)⇒ (2000 kg)(vB + 12 m/s) + (1200 kg)vB = 3.35×104 kg·m/s ⇒ vB = 2.98 m/s (11)

412
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CHAPTER 3. KINETICS OF PARTICLES 3.7. IMPACT

(11)→(10)⇒ vA = 15 m/s

413
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3.7. IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.7.13
GOAL: Explain why the two far right balls swing up to a height of h0 .
GIVEN: Configuration of the multi-mass toy. e = 1
DRAW:

SOLVE:
Since the balls are slightly separated, we can analyze the problem as a string of impacts. Initially
ball 2 will strike ball 3.

v30 − v20
=1
v
mv = mv20 + mv30 =⇒ v20 = 0, v30 = v
After this impact ball 2 is stationary and ball 3 is moving to the right at v. Next ball 1 hits ball 2
and ball 3 hits ball 4.

v20 − v10
= 1 =⇒ v = v20 − v10
v

414
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CHAPTER 3. KINETICS OF PARTICLES 3.7. IMPACT

mv = mv10 + mv20 =⇒ v10 = v − v20 =⇒ v10 = 0, v20 = v


Sequence:

Ultimately, after the entire collision chain takes place, the last two are the only balls in motion and
both are moving with velocity v.

415
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3.7. IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.7.14
GOAL: Determine how far block B moves after collision.
GIVEN: Mass of A and B, initial velocities and e.
DRAW:

FORMULATE EQUATIONS:
0 0
Cons. Lin. Mom.: mA vA + mB vB = mA vA + mB vB (1)
0
vB − vA
Impact: e= (2)
vA − vB

Force Balance: (N − mB g) *
 −F*
ı = mB aB *
ı (3)
SOLVE:
Equating our two expressions for v*B gives us

(1) ⇒ 0 0
(0.4 kg)(5 m/s) + (0.5 kg)(2 m/s) = (0.4 kg)vA + (0.5 kg)vB (4)

0 0
(2) ⇒ 0.5(3 m/s) = vB − vA (5)

0 0
(5) ⇒ vB = vA + 1.5 m/s (6)
0 + 0.75 kg · m/s
3 kg · m/s = (0.9 kg)vA
(6) → (4) ⇒
0
vA = 2.5 m/s (7)

0
(7) → (6) ⇒ vB = 4.0 m/s (8)
Using F = µN in (3) gives us

aB = −µg = −(0.4)(9.81 m/s2 ) = −3.92 m/s2

vB (t∗ ) = vB
0
− 3.92t∗ ⇒ t∗ = 1.02 s for vB (t∗ ) = 0

0 t∗ − 3.92 m/s2 ∗ 2
∆xB = vB 2 (t ) = 2.04 m

416
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CHAPTER 3. KINETICS OF PARTICLES 3.7. IMPACT

3.7.15
GOAL: Determine the velocities of the boxes just after impact.
GIVEN: Box B has a mass of mB = 4 kg and slides 1 m down the ramp from rest to C. Box
A has a mass of mA = 2 kg and is projected up the ramp from the base with an initial speed of
vA,0 = 5 m/s so that it collides with box B at C. The ramp is L = 2 m long and angled at θ = 40◦ .
The coefficient of restitution is e = 0.8, and µs = 0.8 and µd = 0.4 between the ramp and boxes.
DRAW:

FORMULATE EQUATIONS:
The force balances in terms of Cartesian coordinates are

Fx = mẍ (1)
Fy = mÿ (2)

The friction force acting on the boxes is

Ff = µN (3)

The boxes’ initial and final speeds, acceleration, and distance traveled along the ramp are related
by

v 2 − v02 = 2ẍs (4)

The velocities of the boxes just before and after impact are related by

mA v*A + mB v*B = mA v*A0 + mB v*B0 (5)

417
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3.7. IMPACT CHAPTER 3. KINETICS OF PARTICLES

Since the collision is head-on, the coefficient of restitution e relates the speeds along the ramp
before and after impact:
0 − v0
vA B
e= (6)
vB − vA
SOLVE:
We should first check that box B actually moves. Let’s first assume that box B doesn’t move, so
ẍB = 0:
*
mB FBD = IRD, b 2 : (2) ⇒ 0 = NB − mB g cos θ

NB = mB g cos θ

*
mB FBD = IRD, b 1 : (1) ⇒ 0 = Ff,B − mB g sin θ

Ff,B = mB g sin θ

If box B indeed doesn’t move, then Ff,B < µs NB :


?
mB g sin θ < µs mB g cos θ
?
tan θ < µs
?
tan(40◦ ) < 0.8
0.839 <
/ 0.8

Thus, by contradiction, we’ve shown that box B does move, so its acceleration is
*
mB FBD = IRD, b 1 : (3) → (1) ⇒ mB ẍB = µd NB − mB g sin θ

mB ẍB = µd mB g cos θ − mB g sin θ


ẍB = g(µd cos θ − sin θ)

ẍB = (9.81 m/s2 ) [0.4 cos(40◦ ) − sin(40◦ )]

ẍB = −3.30 m/s2

Box B’s speed after sliding down 1 m is


q
(4) ⇒ vB = 2ẍB sB
q
vB = 2(−3.30 m/s2 )(−1 m)
vB = −2.569 m/s

For box A,

418
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CHAPTER 3. KINETICS OF PARTICLES 3.7. IMPACT

*
mA FBD = IRD, b 2 : (2) ⇒ 0 = NA − mA g cos θ
NA = mA g cos θ

*
mA FBD = IRD, b 1 : (3) → (1) ⇒ mA ẍA = −µd NA − mA g sin θ

mA ẍA = −µd mA g cos θ − mA g sin θ


ẍA = −g(µd cos θ + sin θ)
ẍA = −(9.81 m/s2 ) [0.4 cos(40◦ ) + sin(40◦ )]
ẍA = −9.31 m/s2

Just before colliding with box B, box A’s speed is


q
(4) ⇒ vA = 2 + 2ẍ s
vA,0 A A
q
vA = (5 m/s)2 + 2(−9.31 m/s2 )(1 m)
vA = 2.525 m/s

The boxes’ velocities just after impact are


 
(6) ⇒ 0
vA 0
= vB + e vB − vA (7)

h  i
* 0 0
b 1 : (7) → (5) ⇒ mA vA + mB vB = mA vB + e vB − vA + mB vB
   
0
mA + mB vB = mA vA + mB vB + mA e vA − vB
 
mA vA + mB vB + mA e vA − vB
0
vB =
mA + mB
0 (2 kg)(2.525 m/s) + (4 kg)(−2.569 m/s) + (2 kg)(0.8) [2.525 m/s − (−2.569 m/s)]
vB =
2 kg + 4 kg
0
vB = 0.488 m/s

*
v*B0 = 0.488 b 1 m/s

0
(7) ⇒ vA = 0.488 m/s + 0.8 (−2.569 m/s − 2.525 m/s)
0 *
vA = −3.588 b 1 m/s

*
v*A0 = −3.588 b 1 m/s

419
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3.7. IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.7.16
GOAL: What is the distance traveled by block mB after colliding with block mA .
GIVEN: Mass of the blocks, frictional coefficient and initial speed of block A
DRAW:

FORMULATE EQUATIONS:
Force balance, block A:
mA ẍA = −S1 = −µk mA g

ẍA = −µk g (1)


0 0
mA vA + mB vB = mA vA + mB vB (2)
0 − v0
vB A
e= (3)
vA − vB
SOLVE:

ẍA = −(0.6)(9.81 m/s2 )


(1)⇒
ẍA = −5.886 m/s2

ẋA = −(5.886 m/s2 )t + vA (0) = −(5.886 m/s2 )t + 10 m/s (4)

t2
xA = −(5.886 m/s2 ) + (10 m/s)t + xA (0) (5)
2
2
Collision occurs when xA (0) + 2 m = −(5.886 m/s2 ) t2 + (10 m/s)t + xA (0)

t2 − (3.398 s)t + 0.6796 s2 ⇒ t = 0.2135 s, 3.185 s

The solution we want is the intial strike time, t = 0.2135 s. (t = 3.185 s corresponds to the (phys-
ically unrealistic) mathematical solution corresponding to mA shooting beyond mB , decelerating,
changing direction and then hitting mB from the right.)
At collision: vA = −(5.886 m/s2 )(0.2135 s) + 10 m/s = 8.74 m/s (6)

0 0
m A vA + m B vB = mA vA + mB vB
Collision: (6)→(2)⇒
0 0
(0.1 kg)(8.74 m/s) + 0 = (0.1 kg)vA + (0.15 kg)vB (7)

420
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CHAPTER 3. KINETICS OF PARTICLES 3.7. IMPACT

0 − v0
vB A
e =
vA − vB
0 − v0
vB
(6)→(3)⇒ A
0.6 =
8.74 m/s
0 0 0
vA = vB − 0.6(8.74 m/s) = vB − 5.244 m/s (8)

0 0
0.874 m/s = (0.1 kg)(vB − 5.244 m/s) + (0.15 kg)vB
(8)→(7)⇒
0
vB = 5.594 m/s (9)

Force balance, block mB :

Equation of motion is same as mass mA

mB ẍB = −S2 = µk N2 = −(0.6)(0.15 kg)(9.81 m/s2 )

ẍB = −5.886 m/s2

(9)→(4)⇒ ẋB = −(5.886 m/s2 )t + 5.594 m/s (10)


5.594 m/s
ẋB = 0 when t = = 0.95 s
5.886 m/s2
(0.95 s)2
∆xB = −(5.886 m/s2 ) 2 + (5.594 m/s)(0.95 s) = 2.66 m

421
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3.7. IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.7.17
GOAL: After how many bounces will a tennis ball rise up 1 foot or less?
GIVEN:
The tennis ball is dropped from 10 feet. The coefficient of restitution e = 0.9.
DRAW:

FORMULATE EQUATIONS:
We’ll use our impact equation
v20 − v10
e= (1)
v1 − v2
ASSUME: The ground is stationary and thus v2 = v20 = 0
SOLVE:
What we’ll do is determine by how much the ball’s bounce height changes as a result of a single
collision and then extrapolate this result to find the effect of n bounces.
If dropped from 10 ft the ball strikes the ground with a speed equal to
q
2(32.2 ft/s2 )(10 ft) = 25.38 ft/s
p
2gh =

If dropped from 1 ft the ball strikes the ground with a speed of


q
2(32.2 ft/s2 )(1 ft) = 8.025 ft/s
p
2gh =

Thus we can see that as soon as the rebound speed is less than 8.025 ft/s we will have a rebound
that’s less than 1 ft.
Applying (1) with v2 = v20 = 0 gives us
−v10
0.9 = =⇒ v10 = −0.9v1
v1
We know that if the ball bounces up with speed v10 it will come back down and strike the floor with
the same speed. Thus, each successive bounce will have 0.9 times the previous bounce’s speed
We want a reduction of 8.025
25.38 = 0.316
(0.9)n = 0.316 ⇒ n ln(0.9) = ln(0.316) ⇒ n = 10.93

Thus it is on the 11 th bounce that the ball rebounds less than one foot.

422
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CHAPTER 3. KINETICS OF PARTICLES 3.7. IMPACT

Next we want to consider if the bouncing stops in a finite time. Each time the ball bounces it loses
a factor of 0.9 in speed. The total time spent in the air after the nth bounce is given by 2vn /g and
vn is given by ven . Thus, if we add up all the time spent in the air we’ll have
∞ ∞
X X 2ven 2v
ttotal = tn = =
n=0 n=0
g g(1 − e)
Thus we see that, for a finite e < 1, the ball will stop bouncing.

423
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3.7. IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.7.18
GOAL: Find final speed of particle C.
GIVEN: Initial velocities and masses of three particles and the coefficients of restitution.
DRAW:

FORMULATE EQUATIONS:
For each interaction we have

mi vi + mj vj = mi vi0 + mj vj0 = Lij (1)

vj0 − vi0
eij = (2)
vi − vj
Where the i and j represent either A, B or C, depending on the particular collision being examined
and eij is either e12 = 0.85 or e23 = 0.6.
SOLVE:
(2) ⇒ vj0 = vi0 + eij (vi − vj ) (3)

(3) → (1) ⇒ Lij = mi vi0 + mj (vi0 + ei (vi − vj ))

(mi + mj )vi0 = Lij − eij (vi − vj )

Lij − eij (vi − vj )


vi0 = (4)
mi + mj
Applying (3) and (4) to the A, B collision yields
0 0
vA = 9.86 m/s, vB = 14.1 m/s
0 and v , gives us
Applying (3) and (4) to the B, C collision, using vB C
00 0
vB = 7.63 m/s, vC = 13.1 m/s
As a check, we’ll make sure that after A hits B again B will still be moving too slowly to hit C
again.
0 and v 00 as initial speeds, gives us
Applying (3) and (4) for A and B, using vA B
00 000
vA = 7.57 m/s, vB = 9.46 m/s
vB is moving at 9.46 m/s, too slow to catch C. Thus the final speed of C is

vC = 13.1 m/s

424
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

3.8 Oblique Impact

425
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.8.1
GOAL: Determine the rebound angle of a golf ball that strikes an inclined wall.
GIVEN: Geometry of the system and the coefficient of restitution.
DRAW:

ASSUME: Treat the system like a finite particle interacting with an infinitely massive body.
FORMULATE EQUATIONS:
1
*
b 1: V √ = vx0
2
vy0 − 0 vy0
* 0.86 = =
b 2: 0 − (− √V2 ) V

2

0.86V
vy0 = √
2
SOLVE: √
−1 vy0 −1 0.86V 2
η = tan ( 0 ) = tan ( √ ) = tan−1 (0.86) = 40.7◦
vx V 2

θ + η = 45◦
θ = 45◦ − 40.7◦ = 4.3◦

426
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

3.8.2
GOAL: Find v*C after two balls collide with ball C.
GIVEN: Velocities and masses of interacting bodies.
DRAW:

FORMULATE EQUATIONS:
*
Ball C : ma*c = −F *
 +F*
 =0 (1)
*
SOLVE: From (1), we have a*c = 0. This is because there is no force in *
ı direction and normal to
*
this direction the forces cancel out. Thus after collision v*c = 0 .

427
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.8.3
GOAL: Find velocities of two particles after a collision.
GIVEN: Pre-impact velocities, masses and e.
DRAW:

FORMULATE EQUATIONS:
For each interaction we have
0
vA = vA (1)
t t

0
vB = vB (2)
t t

0 0
mA vA + mB vB = mA vA + m B vB (3)
n n n n

0 0
vA − vB
n n
e= (4)
vB − vA
n n
SOLVE:
0
(1) ⇒ vA =0 (5)
t

0
(2) ⇒ vB = 3 m/s (6)
t

0 0
(3) ⇒ (5 kg)(−10 m/s) + (5 kg)(3 m/s) = (5 kg)vA + (5 kg)vB (7)
n n

0 0
(4) ⇒ 0.8(13 m/s) = vA − vB (8)
n n
0
vA 0
= 1.7 m/s, vB = −8.7 m/s
(7), (8) ⇒ n n
0 = 1.7 *
vA 0 = (3 *
 m/s, vB ı − 8.7 *
 )m/s

428
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

3.8.4
GOAL: Find velocities of two particles after a collision.
GIVEN: Velocities and masses before collision and coefficient of restitution.
DRAW:

* *
ı 
e*t cos θ sin θ
*
en − sin θ cos θ
FORMULATE EQUATIONS:
0 0
mA vA + mB vB = mA vA + mB vB (1)
n n n n
0 0
vA − vB
n n
e= (2)
vB − vA
n n
0
vA = vA (3)
t t
0
vB = vB (4)
t t
SOLVE:
vA = 10 cos θ m/s, vA = −10 sin θ m/s
t n

vB = −7 cos θ m/s, vB = 7 sin θ m/s


t n

0
(3) ⇒ vA = 10 cos θ m/s (5)
t

0
(4) ⇒ vB = −7 cos θ m/s (6)
t

0 0
(1) ⇒ (5 kg)(−10 sin θ m/s) + (8 kg)(7 sin θ m/s) = (5 kg)vA + (8 kg)vB (7)
n n

0 0
vA − vB
n n
(2) ⇒ 0.4 = (8)
[7 sin θ − (−10 sin θ)]m/s
0
6 sin θ kg·m/s = (5 kg)vA + (8 kg)(vA − 6.8 sin θ m/s)
(7), (8) ⇒ n n

429
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

0
(13 kg)vA = 60.4 sin θ kg·m/s
n
Using θ = 45◦ we can solve to find
0
vA = 3.285 m/s (9)
n

0
(8), (9) ⇒ vB = −1.523 m/s (10)
n

(5),(6),(9),(10) ⇒ v*A0 = (2.677 *


ı + 7.323 *
 )m/s

v*B0 = (−2.423 *
ı − 4.577 *
 )m/s

430
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

3.8.5
GOAL: Determine the ball’s post-impact velocity and where it lands.
GIVEN: A ball is launched vertically at v0 = 8 m/s, and it bounces off a surface h = 3 m above
the ball that is oriented at θ = 60◦ to the vertical. The coefficient of restitution is e = 0.75.
DRAW:

FORMULATE EQUATIONS:
The ball’s acceleration is due to gravity only, and so we have that

x = x0 + ẋ0 t (1)
1
y = y0 + ẏ0 t − gt2 (2)
2
ẏ 2 − ẏ02 = −2g∆y (3)

For an oblique collision with a stationary surface, the ball’s pre- and post-impact speeds normal to
the collision surface are related by
−vn0
e= (4)
vn

For the indicated normal-tangential frame, the coordinate transformation between it and the
ground-fixed frame is
* *
ı 
*
et sin θ cos θ
*
en cos θ − sin θ

431
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

SOLVE:
Just before impact, the ball’s speed is
q
(3) ⇒ v= v02 − 2gh

q
v= (8 m/s)2 − 2(9.81 m/s2 )(3 m)

v = 2.27 m/s

We’ll need to express the ball’s velocity in terms of its components normal and tangent to the
impact surface:

v* = v *
 = v(cos θ e*t − sin θ e*t ) ⇒ vt = v cos θ, vn = −v sin θ

Thus, the ball’s normal speed immediately after impact is

(4) ⇒ vn0 = ev sin θ

For an oblique impact, the speed in the tangential direction remains constant, and so the ball’s
post-impact velocity is

v*0 = v cos θ e*t + ev sin θ e*n

v*0 = v cos θ(sin θ *


ı + cos θ *
 ) + ev sin θ(cos θ *
ı − sin θ *
)

1
v*0 = v sin 2θ(1 + e) *
ı + v(cos2 θ − e sin2 θ) *

2
1 h i
v*0 = (2.27 m/s) sin(2 · 60◦ )(1 + 0.75) *
ı + v cos2 (60◦ ) − 0.75 sin2 (60◦ ) *
2

v*0 = vx0 *
ı + vy0 *
 = (1.72 *
ı − 0.71 *
 ) m/s

If we let ∆x be the horizontal distance the ball travels before hitting the ground, then

(1) ⇒ ∆x
t=
vx0

In the vertical direction, we have that


1
(2) ⇒ 0 = h + vy0 t − gt2
2

432
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

Eliminating the time t, we find that the ball lands at


! !2
∆x 1 ∆x
0=h+ vy0 − g
vx0 2 vx0

2vx0 vy0 2h(vx0 )2


!
2
0 = (∆x) − ∆x −
g g
!
2 2(1.72 m/s)(−0.71 m/s) 2(3 m)(1.72 m/s)2
0 = (∆x) − ∆x −
9.81 m/s2 9.81 m/s2

0 = (∆x)2 + 0.248∆x − 1.805

p
−0.248 ± 0.2482 − 4(1)(−1.805)
∆x = m = 1.23 m, −1.47 m
2(1)

∆x = 1.23 m

433
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.8.6
GOAL: Determine the orientation of an incoming mass particle’s final velocity after striking a
moving, inclined surface.
GIVEN: Incoming orientation of and speed of particle. Speed of block that it collides with.
DRAW:

ASSUME: We can treat this problem as two interacting particles in which one of the particles
has infinite mass. Before and after the collision
−5 m/s * 5 m/s
v*B = √ e t + √ e*n
2 2
FORMULATE EQUATIONS:
Velocity components of ball:
10 m/s
e*t : vt = vt0 = √ (1)
2
0
vn0 − vB
n
*
en : e= (2)
vB − vn
n
SOLVE:
5 m/s
vn − √
0.8 = 2
5√m/s 10 m/s
− (− √ )
2 2
(2)⇒
5 m/s 5 m/s 10 m/s
 
vn − √ = 0.8 √ + √
2 2 2
5 m/s + (0.8)15 m/s
vn = √ (3)
2
!
vn 5 + 15(0.8)
 
−1
(3)→(1)⇒ β = tan = tan−1 = 59.5
vt 10

θ = 45◦ − β = 45◦ − 59.5◦ = −14.5◦


θ = −14.5◦

434
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

3.8.7
GOAL: Determine orientation of a cue ball’s velocity vector that ensures the ball it strikes goes
into a specified pocket and that the cue ball has a post-collision velocity in a specified direction.
GIVEN: Post-collision velocity orientations.
DRAW: To get R into the side pocket, traveling purely in the *  direction, the impulse has to act
in the *
 direction. The positions at contact and the pre- and post-contact velocities are shown.

The next item is to determine where to place W or, more to the point, what angle of incidence is
needed to send W off to the right after impact.
FORMULATE EQUATIONS:
0
vR − vW
y 0
n: 0.93 = ⇒ 0.93vWy = vR − vW (1)
vWy − 0 y

0 0
Cons. mom: mvWy = mvW + mvR ⇒ vW y = vW + vR (2)
y y

0
t: vWx = vW (3)
x

0
vW sin (10◦ ) 0
Constraint: 0
y
= ⇒ vW = tan (10◦ ) vW
0
(4)
vW cos (10◦ ) y x
x

SOLVE:
0 0
(1)→ (2)⇒ 0.93vWy = vWy − vW − vW
y y

0 0
2vW = 0.07vWy ⇒ vW = 0.035vWy (5)
y y

(4)→ (5)⇒ 0.035vWy = tan (10◦ ) vW


0
x

tan (10◦ ) 0
vWy = vW (6)
0.035 x

0 * tan (10◦ ) 0 *
(3)→ (6)⇒ v*W = vWx *
ı + vW y *
 = vW ı + v 
x 0.035 Wx
tan(10◦ ) *
 
* 0 *
vW = vW ı + 
x 0.035

435
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

tan(10◦ )
h i
φ = tan−1 0.035 = 78.8◦

436
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

3.8.8
GOAL: The approach velocity direction and departure velocity direction are known for an impact
event. Find the inclination angle of the surface being struck in order that these conditions hold for
a given coefficient of restitution.
GIVEN: Velocity of ball before impact and coefficient of restitution.
DRAW:

FORMULATE EQUATIONS:
0 − v10
n
*
en : e= (1)
v1 − 0
n

e*t : v1 sin θ = v10 cos θ (2)


SOLVE:
(2)⇒ v10 = v1 tan θ (3)

v10 sin θ
(1)⇒ = 0.8 (4)
v1 cos θ
v1 tanθ sin θ
(3)→(4)⇒ = 0.8
v1 cos θ

tan2 θ = 0.8
θ = 41.8◦

437
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.8.9
GOAL: A ball strikes two identical balls in a symmetric manner. Find the resultant velocities.
GIVEN: Coefficient of restitution and orientation of the balls at impact.
DRAW: Shown is the system orientation at initial impact, a decomposition of ball A’s velocity as
a “half-ball” and both A’s and B’s velocity after the collision.

ASSUME: From symmetry considerations we can see that balls B and C will each have the same
speed after the collision. The two struck balls will travel out at ±30◦ while the cue ball’s path
remains horizontal. We’ll assume that the cue ball can be treated as being made of two identical
balls, each of which can act on the respective “complete” ball that it strikes.
FORMULATE EQUATIONS:
We approach the problem by imagining the cue ball as being made up of two identical balls, each
of mass m/2. One half-ball strikes ball B and the other strikes ball C. Considering the half-ball/B
collision we have √ !
m 3v0 m 0  0
*
System mom., e n : = v + mvB (1)
2 2 2 An n

0 0
vB − vA
1= √ n n
(2)
Impact, e*n : 3v0
2
0 v0 0
Impact, e*t : vA = vAt = − , v B =0 (3)
t 2 t

SOLVE: √
0 v 0 3v0 0 v 0
(1), (2), (3) ⇒: vA = − √0 , vB = , vA = − 0 , vB =0
n 2 3 n 3 t 2 t

As already discussed, we assume that ball C behaves in a symmetric manner to B.


We’ve obtained what we need as far as B and C but still have to deal with A. After the collision
each half-piece is knocked toward the other. The components of velocity in the * direction cancel
because the body is actually a single piece - it can’t “rebound”. What we’re left with is the final
*
ı component of velocity. Reexpressing the half-ball’s velocity we have (keeping in mind that the
A refers just to the top half at this moment)

438
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

√ ! √ !
*0
v v v0 3 v0 1 * v0 1 v0 3 * v
v A = − √0 e*n − 0 e*t = − √ + ı + − √ −  = − √0 *
2 3 2 2 3 2 2 2 2 32 2 2 3

Thus we see that the motion of the half ball is brought to zero in the *ı direction. As mentioned,
we neglect the *
 component because the other half ball will have and equal and opposite velocity,
causing the resultant velocity in the * direction to be zero.
Expressing the final velocities of Balls A, B and C in terms of the *
ı, *
 unit vectors gives us
√ √
0 = 0 v 0 = v0 * 3v0 * 0 v0 * 3v0 *
vA B 2 ı + 6  , vC = 2 ı − 6 

439
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.8.10
GOAL: Solve for the input parameters of two impacting balls.
GIVEN: The post-collision velocity.
DRAW:

FORMULATE EQUATIONS: Since ball B is initially stationary, its post-impact velocity will
be determined completely by the linear impulse imported by ball A. For this impulse to point in
the *
 direction we need ball A to impact B from directly below.
This answers the first question: the contact point is at the the top of ball A and the bottom of ball
B. From this configuration, we see that ball A must go in the t direction (parallel to * ı ). Thus:
v*B0 = vB *

v*A0 = vA
0 *
ı
Conserved quantities:
0
Ball A in t direction: vt = vA (1)

Ball B in t direction: 0=0

System mom. in n direction: vB = vn = v sin θ (2)


vB vB
Impact relation: e= = (3)
vn v sin θ
SOLVE:
v sin θ
(2)→ (3)⇒ e= v sin θ = 1.0
Thus e must be 1.0, regardless of θ. Since 0
vA = vt there is no limitation of θ beyond vt being
positive.
vt = v cos θ > 0 ⇒ 0 < θ < π/2

440
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

3.8.11
GOAL: Find e such that a mass particle goes to x = 2.8316 in the limit of t → ∞
GIVEN: Launch velocity.
DRAW:

FORMULATE EQUATIONS:
0 − v1 v1 sin θ1
n
*
en : e= = (1)
v0 − 0 v0 sin θ0
n

(1)⇒ v1 sin θ1 = ev0 sin θ0 (2)

e*t : v1 cos θ1 = v0 sin θ0 (3)


Single bounce time of flight, tr , for distance interval of ∆xr :
t 2vr sin θr
vr sin θr = g r ⇒ tr =
2 g
2vr2 sin θr cos θr
∆xr = vr (cos θr )(tr ) = (4)
g
SOLVE:
(2) taken iteratively ⇒ vr sin θr = er v0 sin θ0 (5)

(3) taken iteratively ⇒ vr cos θr = v0 sin θ0 (6)


2er v02 sin θ0 cos θ0
(5), (6) →(4)⇒ ∆xr = (7)
g
Total distance traveled

X 2v02 sin θ0 cos θ0  
(7)⇒ ∆xr = 1 + e + e2 + e3 + · · · (8)
r=0
g
1
Recall that: 1 + e + e2 + e3 + · · · = (9)
1−e
  
2(5 m/s)2 √1 √1
1
 
(8),(9)⇒ 2.8316 = 2 2 (10)
2 1−e
9.81 m/s
e=0.100

441
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.8.12
GOAL: Determine time elapsed and distance travelled for a bouncing particle and find long term
behavior.
GIVEN: Ball’s initial velocity and time/distance at which it ceases to bounce for e = 0.5.
DRAW:

FORMULATE EQUATIONS:
v1 sin θ1
Impact: e= ⇒ v1 sin θ1 = ev0 sin θ0
v0 sin θ0

X 2v02 sin θ0 cos θ0
∆xn =
n=0
g(1 − e)
SOLVE:   
2(5 m/s)2 √1 √1
2 2
(a) ∆x = = 5.1 m
(9.81 m/s2 )(1 − 0.5)
∞ ∞
X 2vn sin θn X 2 n 2v sin θ0
(b) tf = = e v0 sin θ0 = 0
n=0
g n=0
g g(1 − e)
 
2(5 m/s) √1
2
tf = 2 = 1.44 s
(9.81 m/s )(1−0.5)
(c) At t = tf the bouncing stops and θn goes to 0◦ . Thus we are left with the particle
moving to the right at a constant speed of √52 m/s.

442
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

3.8.13
GOAL: Find velocities of two particles after a collision.
GIVEN: Velocities and masses before collision and coefficient of restitution.
DRAW:

FORMULATE EQUATIONS: We’ll use the four equations for oblique impact:
0 0
mA vA + mB vB = mA vA + mB vB (1)
n n n n
0 0
vB − vA
n n
e= (2)
vA − vB
n n
0
vA = vA (3)
t t

0
vB = vB (4)
t t
SOLVE:
0
(3) ⇒ vA = 2 m/s (5)
t

0
(4) ⇒ vB = 2 m/s (6)
t

0 0
(1) ⇒ (2 kg)(2 m/s) + (4 kg)(−2 m/s) = (2 kg)vA + (4 kg)vB (7)
n n
0 0
vB − vA
n n
(2) ⇒ 0.5 = (8)
[2 − (−2)]m/s
0
−4 kg · m/s = (2 kg)vA 0
+ (4 kg)(vA + 2 m/s)
(7), (8) ⇒ n n
0
(6 kg)vA = −12 kg·m/s
n

0
vA = −2 m/s (9)
n

0
(9) → (8) ⇒ vB =0 (10)
n

(5),(6),(9),(10) ⇒ v*A0 = (2 *
ı − 2*
 ) m/s

v*B0 = 2 *
ı m/s

443
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.8.14
GOAL: Find velocities of two particles after a collision.
GIVEN: Velocities and masses before collision and coefficient of restitution.
DRAW:

* *
ı 
e*t cos θ sin θ
*
en − sin θ cos θ
FORMULATE EQUATIONS:
0 0
mA vA + mB vB = mA vA + mB vB (1)
n n n n
0 0
vA − vB
n n
e= (2)
vB − vA
n n
0
vA = vA (3)
t t
0
vB = vB (4)
t t
SOLVE:
vA = −20 sin θ m/s, vA = −20 cos θ m/s
t n

vB = −13 cos θ m/s, vB = 13 sin θ m/s


t n

0
(3) ⇒ vA = −20 sin θ m/s (5)
t

0
(4) ⇒ vB = −13 cos θ m/s (6)
t

0 0
(1) ⇒ (10 kg)(−20 cos θ m/s)+(12 kg)(13 sin θ m/s) = (10 kg)vA +(12 kg)vB (7)
n n

0 0
vA − vB
n n
(2) ⇒ 0.2 = (8)
[13 sin θ − (−20 cos θ)]m/s

0 0
(7), (8) ⇒ (−200 cos θ+156 sin θ) kg·m/s = (10 kg)vA +(12 kg)(vA −0.2(13 sin θ+20 cos θ) m/s)
n n

444
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

0
(22 kg)vA = (187 sin θ − 152 cos θ) kg·m/s
n
Using θ = 30◦ we can solve to find
0
vA = −1.73 m/s (9)
n

0
(8), (9) ⇒ vB = −6.49 m/s (10)
n

(5),(6),(9),(10) ⇒ v*A0 = (−7.80 *


ı − 6.50 *
 )m/s

v*B0 = (−6.50 *
ı − 11.3 *
 )m/s

445
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.8.15
GOAL: Find post-collision velocities of two particles.
GIVEN: Pre-collision velocities, masses and e.
DRAW:

FORMULATE EQUATIONS:

mA v*An + mB v*Bn = mA v*A0 + mB v*B0 (1)


n n

0 0
vB − vA
n n
e= (2)
vA − vB
n n
0
vA = vA (3)
t t

0
vB = vB (4)
t t
SOLVE:
0
(3) ⇒ vA = 5 m/s (5)
t

0
(4) ⇒ vB = 0 m/s (6)
t

0 0
(1) ⇒ (2 kg)(5 m/s) + 0 = (2 kg)vA + (1.2 kg)vB (7)
n n
0 0
vB − vA
n n
(2) ⇒ 1.0 = (8)
(5 − 0)m/s
0
10 kg·m/s = (2 kg)vA 0
+ (1.2 kg)(vA + 5 m/s)
(7), (8) ⇒ n n
0 0
(3.2 kg)vA = 4 kg·m/s ⇒ vA = 1.25 m/s (9)
n n

0
(9) → (8) ⇒ vB = 6.25 m/s (10)
n

(5),(6),(9),(10) ⇒ v*A0 = (1.25 *


ı + 5*
 )m/s

v*B0 = 6.25 *
ı m/s

446
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

3.8.16
GOAL: Location of point of collision A to direct ball into side pocket.
DRAW:

ASSUME: We’ll treat the wall as our 2nd body, which is infinitely massive. This implies
v20 = v2 = 0 (1)
From physical considerations we know the general direction of the pool ball. Hence we’ll assume
v* = vx e*t + vy e*n and v*0 = vx0 e*t − vy0 e*n where all of the coefficients are positive.
FORMULATE EQUATIONS:
e*t : vx0 = vx (2)
v20 − vy0
*
en: e= (3)
vy − v2

vx a
tan α = =− (4)
vy 2.25 in
2 ft −
(2)(12 in/ft)
Angle relations:
vx0 3 ft − a
tan β = 0
= (5)
vy 4.5 ft − 2.25 in
(2)(12 in/ft)

SOLVE:
0 − vy0
(1)→ (3)⇒ 0.8 = ⇒ vy0 = −0.8vy (6)
vy − 0
a 3 ft − a
   
(2)→ (4) → (5)⇒ vy − = vy0 (7)
1.91 ft 4.41 ft

(6)→ (7)⇒ a = 0.77 ft

447
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.8.17
GOAL: Find velocities of two particles after a collision.
GIVEN: mA = 8 slg and mB = 4 slg. Just before the collision v*A = (−3 *
ı + 3*
 ) ft/s and
* * *
v B = −(3 ı + 3  ) ft/s. e = 0.5.
DRAW:

FORMULATE EQUATIONS: We’ll use the four equations for oblique impact:
0 0
mA vA + mB vB = mA vA + mB vB (1)
n n n n
0 0
vB − vA
n n
e= (2)
vA − vB
n n
0
vA = vA (3)
t t
0
vB = vB (4)
t t
SOLVE:
0
(3) ⇒ vA = −3 ft/s (5)
t

0
(4) ⇒ vB = −3 ft/s (6)
t

0 0
(1) ⇒ (8 slg)(3 ft/s) + (4 slg)(−3 ft/s) = (8 slg)vA + (4 slg)vB (7)
n n
0 0
vB − vA
n n
(2) ⇒ 0.5 = (8)
[3 − (−3)] ft/s
0
12 slg· ft/s = (8 slg)vA 0
+ (4 slg)(vA + 3 ft/s)
(7), (8) ⇒ n n
0
(12 slg)vA =0
n

0
vA =0 (9)
n
0
(9) → (8) ⇒ vB = 3 ft/s (10)
n

(5),(6),(9),(10) ⇒ v*A0 = (−3 *


ı ) ft/s

v*B0 = (−3 *
ı + 3*
 ) ft/s

448
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

3.8.18
GOAL: Find velocities of two particles before a collision.
GIVEN: mA = 2 kg and mB = 1 kg. e = 0.6. After the collision v*A0 = (−3.0 *
ı − 0.04 *
 ) m/s and
*0 * *
v B = (−3.0 ı + 0.68  ) m/s.
DRAW:

FORMULATE EQUATIONS: We’ll use the four equations for oblique impact:
0 0
mA vA + mB vB = mA vA + mB vB (1)
n n n n

0 0
vB − vA
n n
e= (2)
vA − vB
n n
0
vA = vA (3)
t t

0
vB = vB (4)
t t
SOLVE:
0
(3) ⇒ vA = vA = −3.0 m/s (5)
t t

0
(4) ⇒ vB = vB = −3.0 m/s (6)
t t

(1) ⇒ (2 kg)vA + (1 kg)vB = (2 kg)(−0.04 m/s) + (1 kg)(0.68 m/s)


n n

2vA + vB = 0.6 m/s (7)


n n

0.68 m/s − (−0.04 m/s)


(2) ⇒ 0.6 =
vA − vB
n n

0.6vA − 0.6vB = 0.72 m/s (8)


n n

(5)-(8) ⇒ vA = −3.0 m/s, vB = −3.0 m/s, vA = 0.6 m/s, vB = −0.6 m/s


t t n n

v*A = (−3.0 *
ı + 0.6 *
 ) m/s, v*B = (−3.0 *
ı − 0.6 *
 ) m/s

449
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.8.19
GOAL: Find pre- and post-collision velocities of particle B.
GIVEN: mA = 3.0 kg and mB = 1.5 kg. Just before the collision v*A had a tangential speed of
5 m/s and a normal speed of 0.9 m/s. After the collision particle A’s normal speed changed to
−0.06 m/s. Particle B’s tangential speed just before collision was 6.0 m/s. e = 0.6.
DRAW:

FORMULATE EQUATIONS: We’ll use the four equations for oblique impact:
0 0
mA vA + mB vB = mA vA + mB vB (1)
n n n n

0 0
vB − vA
n n
e= (2)
vA − vB
n n
0
vA = vA (3)
t t

0
vB = vB (4)
t t
SOLVE:
0
(3) ⇒ vA = vA = 5.0 m/s (5)
t t

0
(4) ⇒ vB = vB = 6.0 m/s (6)
t t

0
(1) ⇒ (3.0 kg)(0.9 m/s) + (1.5 kg)vB = (3.0 kg)(−0.06 m/s) + (1.5 kg)vB
n n

0
1.5vB − 1.5vB = −2.88 m/s (7)
n n
0
vB − (−0.06 m/s)
n
(2) ⇒ 0.6 =
0.9 m/s − vB
n

0
−0.6vB − vB = −0.48 m/s (8)
n n

0 0
(5)-(8) ⇒ vB = 6.0 m/s, vB = 6.0 m/s, vB = −0.9 m/s, vB = 1.02 m/s
t t n n

v*B = (6.0 *  ) m/s, v*B0 = (6.0 *


ı − 0.9 * ı + 1.02 *
 ) m/s

450
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

3.8.20
GOAL: Determine the ball’s post-impact velocity and where it lands.
GIVEN: A ball is launched with a speed of v0 = 10 m/s at θ = 70◦ to the horizontal. When it
reaches the peak of its trajectory, it hits a surface (e = 0.85) angled at β = 60◦ from the horizontal.
DRAW:

FORMULATE EQUATIONS:
The ball’s acceleration is due to gravity only, and so we have that

x = x0 + ẋ0 t (1)
1
y = y0 + ẏ0 t − gt2 (2)
2
ẏ 2 − ẏ02 = −2g∆y (3)
ẏ − ẏ0 = −gt (4)

For an oblique collision with a stationary surface, the ball’s pre- and post-impact speeds normal to
the collision surface are related by
−vn0
e= (5)
vn

For the indicated normal-tangential frame, the coordinate transformation between it and the
ground-fixed frame is
* *
ı 
*
et cos β − sin β
e*n − sin β − cos β

451
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

SOLVE:
Let’s first solve for the height H at which the ball hits the surface:

(3) ⇒ (v0 sin θ)2 = 2gH

(v0 sin θ)2


H=
2g
[(10 m/s) sin(70◦ )]2
H= = 4.50 m
2(9.81 m/s2 )

The time needed to reach this height is


v0 sin θ
(4) ⇒ t=
g

(10 m/s) sin(70◦ )


t= = 0.958 s
9.81 m/s2

The associated horizontal distance traveled is

(1) ⇒ D = (v0 cos θ)t

D = (10 m/s)(0.958 s) sin(70◦ ) = 3.28 m

Since impact occurs at the peak of the ball’s path, its velocity at that instant can be expressed as

v* = v0 cos θ *
ı = v0 cos θ(cos β e*t − sin β e*n )
v* = (10 m/s) cos(70◦ ) [cos(60◦ ) e*t − sin(60◦ ) e*n ]
v* = (1.71 e*t − 2.96 e*n ) m/s

Hence, the normal component of the ball’s post-impact velocity is

(5) ⇒ vn0 = evn = 0.85(2.96 m/s) = 2.52 m/s

For an oblique impact, the tangential speeds before and after collision are the same, and so the
ball’s velocity just after impact is

v*0 = (1.71 e*t + 2.52 e*n ) m/s


v*0 = 1.71(cos β *
ı − sin β *
 ) m/s + 2.52(− sin β *
ı − cos β *
 ) m/s
v*0 = [1.71 cos(60◦ ) − 2.52 sin(60◦ )] *
ı m/s + [−1.71 sin(60◦ ) − 2.52 cos(60◦ )] *
 m/s

v*0 = (−1.33 *
ı − 2.74 *
 ) m/s

Let’s call d the distance the ball travels after hitting the angled surface, and thus

452
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

d
(1) ⇒ t=
vx0

In the vertical direction,


1
(2) ⇒ 0 = H + vy0 t − gt2
2

Eliminating the time t, we have that


! !2
d 1 d
0=H+ vy0 − g
vx0 2 vx0

2vx0 vy0 2H(vx0 )2


!
2
0=d − d−
g g
!
2 2(−1.33 m/s)(−2.74 m/s) 2(4.50 m)(−1.33 m/s)2
0=d − d −
9.81 m/s2 9.81 m/s2

0 = d2 − 0.743d − 1.623

p
0.743 ± (−0.743)2 − 4(1)(−1.623)
d= m = −0.952 m, 1.69 m
2(1)

d = −0.952 m (the ball travels in the − *


ı direction)

Therefore, the distance ∆x that the ball lands away from its launch position is

∆x = D + d = 3.28 m − 0.952 m

∆x = 2.32 m

453
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.8.21
GOAL: Find velocities of two particles after a collision.
GIVEN: Velocities and masses before collision and coefficient of restitution.
DRAW:

* *
ı 
*
et sin θ − cos θ
*
en cos θ sin θ
FORMULATE EQUATIONS: We’ll use the four equations for oblique impact:
0 0
mA vA + mB vB = mA vA + mB vB (1)
n n n n
0 0
vA − vB
n n
e= (2)
vB − vA
n n
0
vA = vA (3)
t t
0
vB = vB (4)
t t
SOLVE:
vA = 0, vA = 0
t n

vB = −5 sin θ m/s, vB = −5 cos θ m/s


t n

0
(3) ⇒ vA =0 (5)
t

0
(4) ⇒ vB = −5 sin θ m/s (6)
t

0 0
(1) ⇒ (0.6 kg)(−5 cos θ m/s) = (0.8 kg)vA + (0.6 kg)vB (7)
n n
0 0
vA − vB
n n
(2) ⇒ 0.8 = (8)
−5 cos θ m/s

454
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

0
(7), (8) ⇒ −3 cos θ kg·m/s = (0.8 kg)vA + (0.6 kg)(vA + 4 cos θ m/s)
n n

0
(1.4 kg)vA = −5.4 cos θ kg·m/s
n
−1
Using θ = sin 0.75 = 48.6◦ we can solve to find
0
vA = −2.551 m/s (9)
n

0
(8), (9) ⇒ vB = 0.09449 m/s (10)
n

(5),(6),(9),(10) ⇒ v*A0 = (−1.69 *


ı − 1.91 *
 )m/s

v*B0 = (−2.75 *
ı + 2.55 *
 )m/s

455
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.8.22
GOAL: Determine how far away from Mark the racquetball hits the ground.
GIVEN: Mark hits the ball h = 1 ft off the ground with a speed of v0 = 50 ft/s at an angle θ = 15◦ .
He is d = 15 ft from the wall, and the coefficient of restitution is e = 0.7.
DRAW:

FORMULATE EQUATIONS:
The racquetball’s horizontal and vertical positions are respectively given by

x = x0 + ẋ0 t (1)
1
y = y0 + ẏ0 t − gt2 (2)
2

The vertical speed is governed by

ẏ = ẏ0 − gt (3)

Since the ball hits the wall at an angle, the coefficient of restitution e relates the speeds normal to
the wall before and after impact:
vn0 v0
e= = x (4)
−vn −vx

The speed tangent to the wall is the same before and after impact, so

vt0 = vt ⇒ vy0 = vy (5)


SOLVE:
To find where and how fast the racquetball hits the wall,
d
(1) ⇒ t=
v0 cos θ

456
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

15 ft
t= = 0.311 s
(50 ft/s) cos(15◦ )

1
(2) ⇒ H = h + (v0 sin θ)t − gt2
2
1
H = 1 ft + (50 ft/s) sin(15◦ )(0.311 s) − (32.2 ft/s2 )(0.311 s)2 = 3.47 ft
2

(3) ⇒ vy = v0 sin θ − gt

vy = (50 ft/s) sin(15◦ ) − (32.2 ft/s2 )(0.311 s) = 2.94 ft/s

Just after impact,

(5) ⇒ vy0 = vy = 2.94 ft/s

(4) ⇒ vx0 = −ev0 cos θ

vx0 = −0.7(50 ft/s) cos(15◦ ) = −33.8 ft/s

The distance from Mark that the ball hits the ground is
1
(2) ⇒ 0 = H + vy0 t − gt2
2
r 2
−vy0 ± vy0 + 2gH
t=
−g
q
−2.94 ft/s ± (2.94 ft/s)2 + 2(32.2 ft/s2 )(3.47 ft)
t= = −0.382 s, 0.564 s
−32.2 ft/s2
t = 0.564 s

(1) ⇒ ∆x = d + vx0 t

∆x = 15 ft + (−33.8 ft/s)(0.564 s)

∆x = −4.08 ft

457
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

3.8.23
GOAL: Determine how long it takes ball B to travel through the chute.
GIVEN: Ball A has a mass of mA = 3 kg and is released from rest at the top of a rough ramp
with µs = 0.8 and µd = 0.25. The ramp is angled at θ = 45◦ , and ball A travels s = 1 m down
it before hitting ball B, which is initially stationary. The line of tangency makes an angle of 45◦
to the horizontal. Ball B has a mass of mB = 2 kg and is constrained to move in a frictionless
horizontal chute of length L = 3 m. Take e = 0 in the chute so that ball B has only a horizontal
component of velocity after impact with ball A. The coefficient of restitution is e = 0.8.
DRAW:

FORMULATE EQUATIONS:
The force balances in terms of Cartesian coordinates are

Fx = mẍ (1)
Fy = mÿ (2)

The friction force acting on ball A is

Ff,A = µNA (3)

Ball A’s final speed down the ramp, which is normal to the impact, is given by
q
vA,n = 2ẍA s (4)

The velocities of the balls just before and after impact are related by

mA v*A + mB v*B = mA v*A0 + mB v*B0 (5)

Since the collision is at an angle, the coefficient of restitution e relates the speeds normal to impact
before and after collision:

458
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

0
vA,n 0
− vB,n
e= (6)
vB,n − vA,n

The time for ball B to travel through the chute is given by


L
∆t = (7)
vB
SOLVE:
Let’s first check that ball A actually moves. Assume that ball A doesn’t move, so ẍA = 0:

*
mA FBD = IRD, b 2 : (2) ⇒ 0 = NA − mA g cos θ

NA = mA g cos θ

*
mB FBD = IRD, b 1 : (1) ⇒ 0 = mA g sin θ − Ff,A

Ff,A = mA g sin θ

If ball A actually doesn’t move, then Ff,A < µs NA :


?
mA g sin θ < µs mA g cos θ
?
tan θ < µs
?
tan(45◦ ) < 0.8
1<
/ 0.8

Therefore, by contradiction, we’ve proven that ball A does move, so its acceleration is
*
mA FBD = IRD, b 1 : (3) → (1) ⇒ mA ẍA = mA g sin θ − µd NA

mA ẍA = mA g sin θ − µd mA g cos θ


ẍA = g(sin θ − µd cos θ)

ẍA = (9.81 m/s2 ) [sin(45◦ ) − 0.25 cos(45◦ )]

ẍA = 5.20 m/s2

Ball A’s speed just before hitting ball B is


q
(4) ⇒ vA,n = 2(5.20 m/s2 )(1 m)

459
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

vA,n = 3.23 m/s

Since there is no tangential component to the velocities, ball B’s speed immediately after impact is
0 0
(6) ⇒ vA,n = vB,n − evA,n (8)

*
h i
0 0
b 1 : (8) → (5) ⇒ mA vA,n = mA vB,n − evA,n + mB vB,n
 
0
mA + mB vB,n = mA vA,n (1 + e)

mA vA,n (1 + e)
0
vB,n =
mA + mB

0 (3 kg)(3.23 m/s)(1 + 0.8)


vB,n =
3 kg + 2 kg
0
vB,n = 3.48 m/s

Ball B is constrained to move horizontally. We’re told that e = 0 in the chute, and so the ball’s
vertical component of its velocity after impact with ball A will go to zero when it contacts the chute
0
wall: vB,y = −evB,n sin θ = 0. Hence, ball B travels through the chute with a horizontal speed
0
vB = vB,n cos θ

vB = (3.48 m/s) cos(45◦ )


vB = 2.46 m/s

The time for ball B to travel through the chute is then


L
(7) ⇒ ∆t =
vB

3m
∆t =
2.46 m/s

∆t = 1.22 s

460
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

3.8.24
GOAL:
(a) Where and when do two fused bullets land?
(b) How does this result differ from the case of oblique impact with zero force interaction in the t
direction and e = 0?
GIVEN:
The Union bullet weighs 2 oz and is travelling with a speed of vU = 720 ft/s oriented at −2◦ to the
horizontal. The Confederate bullet weighs 2.5 oz and is travelling with a speed of vC = 700 ft/s
oriented at −1◦ to the horizontal. The bullets strike and fuse at a height of 3.5 ft.
DRAW:

FORMULATE EQUATIONS:
For an oblique collision we’ll have
0 − v0
vC
n U n
e=
vUn − vCn
0
mU vUn + mC vCn = mU vU0 + mC vC
n n

SOLVE:
(a):
In this case we’re told the two bullets fuse. We only need to look at sytem momentum in this case.

mU v*U + mC v*C = mU C v*U C

2 oz = 3.88×10−3 slg, 2.5 oz = 4.85×10−3 slg

   
3.88×10−3 slg (720 ft/s) (0.9994 *
ı − 0.0349 *
) + 4.85×10−3 (700 ft/s) (−0.9998 *
ı − 0.0175 *
)
 
= 3.88×10−3 slg + 4.85×10−3 slg v*U C

 
[(−0.603) *  ] slg· ft/s = 8.73×10−3 slg v*U C
ı + (−0.157) *

v*U C = (−69.0 *
ı − 18.0 *
 ) ft/s

461
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

Set the ground reference as the point directly underneath where they initially strike. The time to
strike the ground is given by

gt2
y = 3.5 ft − − (18 ft/s)t = 0
2

t2 + (1.118 s)t − 0.2174 s2 = 0

t = 0.169 s

x = (−69 ft/s)t =⇒ x = −(69 ft/s)(0.169 s) = −11.7 ft

(x, y) = (−11.7, 0) ft and t = 0.169 s

(b):
If we have an oblique collision there’s no reason for the masses to stay in contact.
vUt = vU0 (1)
t

0
v Ct = v C (2)
t

0 − v0
vC
nU n
e= (3)
vUn − vCn

mU vUn + mC vCn = mU vU0 + mC vC


0
(4)
n n

(1) ⇒ vU0 = vUt = (720 ft/s) sin 2◦ = 25.13 ft/s (5)


t

0
(2) ⇒ vC = vCt = (700 ft/s) sin 1◦ = 12.22 ft/s (6)
t

0 − v0
vC U 0
(3) ⇒ 0= n n
=⇒ vC = vU0 (7)
v Un − v C n n n

(7) → (4) ⇒
0
2(720 ft/s) cos 2◦ + 2.5(700 ft/s) (− cos(1)) = 2vU0 + 2.5vC
n n

−310.6 ft/s = 2vU0 + 2.5vC


0
(8)
n n

(7), (8) ⇒ −310.6 ft/s = 2vU0 + 2.5vU0 = 4.5vU0


n n n

vU0 = −69.0 ft/s (9)


n

0
(7), (9) ⇒ vC = −69.0 ft/s
n

v*U0 = (−69.0 *
ı − 25.13 *
 ) ft/s

v*C0 = (−69.0 *
ı − 12.22 *
 ) ft/s

462
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

Time to fall for Union bullet:

gt2
y = 3.5 ft − − (25.13 ft/s)t = 0
2

t2 + (1.561 s)t − 0.2174 s2 = 0

t = 0.129 s
Position:

x = −(69 ft/s)t = −69(0.129 s) = −8.9 ft


Time to fall for Confederate bullet:

gt2
y = 3.5 ft − − (12.22 ft/s)t = 0
2

t2 + (0.759 s)t − 0.2174 s2 = 0

t = 0.222 s
Position:

x = −(69 ft/s)t = −(69 ft/s)(0.222 s) = −15.3 ft


Thus the Union bullet strikes the ground at (x, y) = (−8.9, 0) ft
The Confederate bullet hits the ground 0.093 seconds later at (x, y) = (−15.3, 0) ft

463
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

SYSTEM ANALYSIS: Chapter 3

464
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

SA3.1
GOAL: Analyze several aspects of an a glider launch mechanisms.
GIVEN: Glider and prisoners weighs 500 lb, tub weighs 1000 lb.
DRAW:

FORMULATE EQUATIONS: We’ll apply a force balance to the two bodies - the glider G and
the tub T .
SOLVE:
500 1000
mG = slg = 15.5 slg, mT = slg = 31.1 slg
32.2 32.2
A force balance on the glider in the *
ı direction gives us
mG ẍ = T
where ẍ is the glider’s acceleration in the *
ı direction and T is the tension in the rope. This same
tension acts on the tub, and a force balance in the − *  direction gives us
mT ẍ = mG g − T
where the magnitude of the acceleration of tub and glider are identical due to the inextensible rope
joining them.
Eliminating T gives us
(mG + mT )ẍ = mG g

mG g (31.1 slg)(32.2 ft/s2 )


ẍ = = = 21.5 ft/s2
mG + mT 46.6 slg

The glider’s acceleration is less than 32.2 ft/s2 because gravity is only acting on the tub in a manner
to actually move the system. The gravity force acting on the glider merely serves to produce and
equal and opposite reaction force N , the normal force between the glider and the ground.
The glider’s acceleration is constant during the launch phase.
Because the acceleration is constant we can integrate:
∆x = 21 at2
60 ft = 21 (21.5 ft/s2 )t2

t = 2.36 s
The glider’s speed after traveling 60 ft is
ẋ = (21.5 ft/s2 )(2.36 s) = 50.8 ft/s

465
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

SA3.2
GOAL: Plot the displacement of a block supported by a pulley for two different support configu-
rations.
GIVEN: a = 1 m, b = 5 m, m = 10 kg, F = 60 N.
DRAW:

FORMULATE EQUATIONS: We’ll need to apply a force balance, taking into account the
angled ropes in case (b).
SOLVE: We’ll measure y from the ground up to the block. At the start y = 0.
For case (a) we have 4 vertical ropes and hence 4 instances at which the applied force F will work,
as shown in the figure. Our equation of motion is
mA ÿ = 4F − mA g
4F
ÿ = −g
mA
For case (b) the applied force will act vertically at the left of the block but will be angled at the
right end. The right pulley ropes are symmetric and therefore the horizontal components of the
inclined forces will cancel. A force balance gives us
mA ÿ = 2F + 2F cos θ − mA g
From geometry we have
b−y
cos θ = q
a2 + (b − y)2
Therefore our final acceleration is given by  
2F 2F  b−y
ÿ = −g+ q 
mA mA 2
a + (b − y)2

466
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

Integrating these two equations of motion and plotting gives us the following plot.

Note that there isn’t much difference between the two displacement vs time plots, although case (a)
is a bit higher at all times, due to the greater total force acting on the mass. The reader is invited
to plot the acceleration of the mass versus time to see that, although the displacement doesn’t
exhibit a large difference, the acceleration does.

467
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

SA3.3
GOAL: Analyze the somatogravic illusion.
GIVEN: Plane weighs 20,000 lb, has an engine thrust of 14,870 lb and can produce 23,830 lb of
thrust with afterburners.
DRAW:

FORMULATE EQUATIONS: We’ll apply a force balance to the plane and use path coordi-
nates.
SOLVE: Under steady, straight-line conditions, a pilot will feel upright when the normal force
from the seat is equal to his weight. When the plane is tipped up by an angle θ (case (a)) a force
balance gives us
N
N1 = mg cos θ, N2 = mg sin θ ⇒ tan θ = 2
N1
While still in level flight, a forward acceleration will create a force P1 on the pilot’s back. What
we need to do is determine when the P1 /P2 combination mimics that of N1 /N2 . A FBD=IRD
analysis for case (b) yields
P a
P1 = mg, P2 = mat ⇒ 2 = t
P1 g
N P a
Setting N2 = P2 gives us tan θ = gt
1 1
(a) For a pitchup of 30◦ we have
at = (tan 30◦ )(32.2 ft/s2 ) = 18.6 ft/s2
The necessary thrust is just the mass of the plane times its acceleration:
20, 000 lb
thrust = (18.6 ft/s2 ) = 1.15×104 lb
32.2 ft/s2
(b) The plane is initially at 200 KEAS = 200(1.15) mph = 337.3 ft/s and has a maximum speed
of 600 KEAS = 1012 ft/s. The time to go from the initial to final speed is given by considering a
linear impulse equation:
F ∆t = ∆v
(1.15×104 lb)∆t = 20, 000 lb2 (1012 − 337.3) ft/s
32.2 ft/s

∆t = 36.3 s
The needed airspace is found from

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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

1 1
airspace = vt t + at t2 = (337.3 ft/s)(36.3 s) + (18.6 ft/s2 )(36.3 s)2 = 2.45×104 ft
2 2
Varying the thrust from 0 to 30000 lb and following the same solution procedure as just outlined
will allow us to produce the following plot of perceived pitch-up angle versus thrust.

469
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3.8. OBLIQUE IMPACT CHAPTER 3. KINETICS OF PARTICLES

SA3.4
GOAL: Analyze the push-pull maneuver.
GIVEN: Plane weighs 20,000 lb, has an engine thrust of 14,870 lb and can produce 23,830 lb of
thrust with afterburners.
DRAW:

FORMULATE EQUATIONS: We’ll apply a force balance to the plane and use path coordi-
nates.
SOLVE: The initial airspeed is 200 KEAS = 200(1.15) mph = 337.3 ft/s.
In the e*n direction a force balance gives us
v2
mg − N = m
rC

mv 2
rC =
mg − N
We’re asked for the necessary rC to pull 0, 0.5 and -1g, which means that the corresponding normal
force N is equal to 0, 0.5mg, -mg.
For 0g we have
(337.3 ft/s)2
rC = ⇒ rC = 3533 ft
32.2 ft/s2
For 0.5g we have
(337.3 ft/s)2
rC = ⇒ rC = 7068 ft
(32.2 ft/s2 )(1.0 − 0.5)
For −1.0g we have
(337.3 ft/s)2
rC = ⇒ rC = 1767 ft
(32.2 ft/s2 )(1 + 1)
The aerodynamic force acting on the plane is found from
mv 2
−Faero + mp g =
rC
when the center of curvature is below the plane and
mv 2
Faero − mp g =
rC
when the center of curvature is above the plane.
When in a pull maneuver the center of curvature will be above the plane rather than below. Thus
a force balance will yield

470
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CHAPTER 3. KINETICS OF PARTICLES 3.8. OBLIQUE IMPACT

v2
N − mg = m
rC
For a 4g maneuver this implies
v2 v2
4mg − mg = m ⇒ 3(32.2 ft/s2 ) = ⇒ v = 380.7 ft/s
rC 1500 ft
This implies an acceleration of
380.7 ft/s − 337.3 ft/s
a= = 14.4 ft/s2
3s
20, 000 lb 2 3
thrust = ma = 2 (14.4 ft/s ) = 8.97×10 lb
32.2 ft/s
When the center of curvature lies above the plane, we have
mv 2 v2
nmg − mg = ⇒n=1+
rC rC g
where n is the number g’s being pulled.

471
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