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HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
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⟹ 𝑚𝑣 2 + 𝑉 𝑥 = 𝐶
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Sum of the kinetic and potential energies must be constant
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
= 2 × 32.2 30 − 10 + 02
𝑣 = 35.89𝑓𝑡/𝑠𝑒𝑐
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
𝑣<0
𝑚𝑣 = 𝑓1 + 𝜇𝑚𝑔
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
𝑣>0
𝑚𝑣 = 𝑓1 − 𝑚𝑔𝑠𝑖𝑛𝜙 − 𝜇𝑚𝑔𝑐𝑜𝑠𝜙
𝑣<0
𝑚𝑣 = 𝑓1 − 𝑚𝑔𝑠𝑖𝑛𝜙 + 𝜇𝑚𝑔𝑐𝑜𝑠𝜙
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
Solution
𝑣0 > 0: 𝑚𝑣 = 𝑓1 − 𝑚𝑔𝑠𝑖𝑛𝜙 − 𝜇𝑚𝑔𝑐𝑜𝑠𝜙
⟹ 2𝑣 = 𝑓1 − (𝑠𝑖𝑛300 + 0.5𝑐𝑜𝑠300 )(2 × 9.81) = 𝑓1 − 18.3
50−18.3
a. 𝑣 = = 15.85 > 0 ⟹ the mass never comes to rest
2
5−18.3
b. 𝑣 = = −6.65 < 0 ⟹ the mass will comes to rest
2
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
𝐼= 𝑟 2 𝑑𝑚
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9/13/2012
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𝐼𝐺 = 5 𝑚𝑅 2
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𝐼𝑥 = 𝑚(𝑅 2 + 𝑟 2 )
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𝐼𝑦 = 𝐼𝑧 = 12 𝑚(3𝑅 2 + 3𝑟 2 + 𝐿2 )
Mass rotating about 𝑂 Rectangular prism
𝐼𝑂 = 𝑚𝑅 2
1
𝐼𝑥 = 𝑚(𝑏 2 + 𝑐 2 )
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HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
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9/13/2012
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
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HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
a)
Apply the Newton’s second law to the cart
𝑚𝑥 = 𝑅𝑥 − 𝑚𝑔𝑠𝑖𝑛𝜃 + 𝑓
𝑚𝑦 = 𝑅𝑦 − 𝑚𝑔𝑐𝑜𝑠𝜃
Apply the Newton’s second law to the wheel-axle subsystem
2𝑚𝑤 𝑥 = −𝑅𝑥 − 2𝑚𝑤 𝑔𝑠𝑖𝑛𝜃 − 𝑓𝑡
2𝑚𝑤 𝑦 = 𝑁 − 𝑅𝑦 − 2𝑚𝑤 𝑔𝑐𝑜𝑠𝜃
Moment equation of the wheel-axle subsystem
2𝐼𝑤 2𝐼𝑤 𝑣 2𝐼𝑤
2𝐼𝑤 𝜔 = 𝑅𝑓𝑡 ⟹ 𝑓𝑡 = 𝜔= = 2 𝑥
𝑅 𝑅 𝑅 𝑅
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
Solve for 𝑅𝑥
2𝐼𝑤
𝑅𝑥 = − 2𝑚𝑤 + 𝑥 − 2𝑚𝑤 𝑔𝑠𝑖𝑛𝜃
𝑅2
and
2𝐼𝑤
𝑚 + 2𝑚𝑤 + 𝑥 = 𝑓 − 𝑚 + 2𝑚𝑤 𝑔𝑠𝑖𝑛𝜃
𝑅2
which the same as equation of Example 2.3.1 since 𝑥 = 𝑣
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
b)
The assumption of no bounce ⟹ 𝑦 = 0
𝑁 = 𝑚 + 2𝑚𝑤 𝑔𝑐𝑜𝑠𝜃
No slip if 𝑓𝑡 ≤ 𝜇𝑠 𝑁 (the maximum static friction force)
2𝐼𝑤 2𝐼𝑤 𝑓 − 𝑚 + 2𝑚𝑤 𝑔𝑠𝑖𝑛𝜃
𝑓𝑡 = 2 𝑥 = 2
𝑅 𝑅 2𝐼
𝑚 + 2𝑚𝑤 + 𝑤
𝑅2
≤ 𝜇𝑠 𝑚 + 2𝑚𝑤 𝑔𝑐𝑜𝑠𝜃
𝑓 − 𝑚 + 2𝑚𝑤 𝑔𝑠𝑖𝑛𝜃
⟹ 𝜇𝑠 𝑚 + 2𝑚𝑤 𝑔𝑐𝑜𝑠𝜃 ≥ 2𝐼𝑤
(𝑚 + 2𝑚𝑤 )𝑅 2 + 2𝐼𝑤
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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9/13/2012
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
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