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The rigid body (slab) has a mass m and rotates with an mvG
angular velocity V about an axis passing through the fixed V
point O. Show that the momenta of all the particles
composing the body can be represented by a single vector P
vG rP/G
having a magnitude mvG and acting through point P, called
the center of percussion, which lies at a distance
rP>G = k2G>rG>O from the mass center G. Here kG is the G
rG/O
radius of gyration of the body, computed about an axis
perpendicular to the plane of motion and passing through G.
O
SOLUTION
HO = (rG>O + rP>G) myG = rG>O (myG) + IG v, where IG = mk2G
k2G
rP>G =
yG>v
yG
However, yG = vrG>O or rG>O =
v
k2G
rP>G = Q.E.D.
rG>O
19–2.
SOLUTION IC
= rG>IC (mvrG>IC) + IG v
= (IG + mr2G>IC) v
= IIC v Q.E.D.
19–3.
SOLUTION
Since yG = 0, the linear momentum L = myG = 0. Hence the angular momentum
about any point P is
HP = IG v
Given:
M 4 kg
l1 2m
l2 1.75 m
I 8Ns
T 60 deg
Solution:
m rad
Guesses v 1 Z 1
s s
§ l1 · 1
I sin T ¨ l2
2
Given ¸ M l1 Z I Mv
© 2¹ 12
§Z· rad m
¨ ¸ Find Z v Z 3.90 v 2.00 Ans.
©v¹ s s
19–5.
B
SOLUTION TB ⫽ 20 kN
8m
Principle of Angular Impulse and Momentum: The mass moment of inertia of the
airplane about its mass center is IG = mkG2 = 200 A 103 B A 152 B = 45 A 106 B kg # m2.
Applying the angular impulse and momentum equation about point G,
t2
Izv1 + © MGdt = IGv2
Lt1
The spool has mass mS and radius of gyration kO. Block A has mass mA, and block B has mass
mB. If they are released from rest, determine the time required for block A to attain speed vA.
Neglect the mass of the ropes.
Given:
mS 30 kg mB 10 kg ro 0.3 m
m m
kO 0.25 m vA 2 g 9.81
s 2
s
mA 25 kg ri 0.18 m
Solution:
m rad
Guesses t 1s vB 1 Z 1
s s
2
0 mA g t ro mB g t ri mA vA ro mB vB ri mS kO Z
§¨ t ·¸
Find t vB Z
m rad
¨ vB ¸ vB 1.20 Z 6.67 t 0.530 s Ans.
s s
¨Z ¸
© ¹
19–9.
SOLUTION
x y
Principle of Angular Impulse and Momentum: The mass moment of inertia of the
wheel about the z axis is Iz = mkz2 = 100(0.32) = 9 kg # m2. Applying the linear and
angular impulse and momentum equations using the free-body diagram of the wheel P ⫽ 200 N
shown in Fig. a,
t2
+
; m(vx)1 + © Fx dt = m(vx)2
Lt1
0 + 200(3) = 100(vO)2
and
t2
Izv1 + © Mzdt = Izv2
Lt1
0 - [200(0.4)(3)] = - 9v2
SOLUTION
Kinematics: Since the gear rotates about the fixed axis, the final velocity of the gear
rack is required to be
Principle of Impulse and Momentum: Applying the linear impulse and momentum
equation along the x axis using the free-body diagram of the gear rack shown in Fig. a,
t2
+ B
A: m(vB)1 + © Fxdt = m(vB)2
Lt1
0 + 200(t) - F(t) = 20(3)
The mass moment of inertia of the gear about its mass center is IO =
mkO2 = 30(0.1252) = 0.46875 kg # m2. Writing the angular impulse and momentum
equation about point O using the free-body diagram of the gear shown in Fig. b,
t2
IOv1 + © MOdt = IOv2
Lt1
0 + F(t)(0.15) = 0.46875(20)
t = 0.6125 s Ans.
19–11.
SOLUTION
Principle of Impulse and Momentum: The mass moment of inertia of the reel about
its mass center is IO = mkO 2 = 30(0.2502) = 1.875 kg # m2. Referring to Fig. a,
t2
m C (vO)1 D x + © Fxdt = m C (vO)2 D x
Lt1
+ B
A: 0 + 50(4) - Ox(4) = 30v
Ox = 50 - 7.5v (1)
and
t2
IOv1 + © MOdt = IOv2
Lt1
0 + 50(4)(0.15) = 1.875v
v = 16 rad>s Ans.
Referring to Fig. b,
t2
+
: m(v1)x + © Fxdt = m(v2)x
Lt1
0 + Ox(4) = 20v
Ox = 5v (2)
v = 4 m>s Ans.
Ox = 20 N
19–12.
A wire of negligible mass is wrapped around the outer surface of the disk of mass M. If the
disk is released from rest, determine its angular velocity at time t.
Given:
M 2 kg t 3s r 80 mm
Solution:
3 2
0 M grt Mr Z
2
2 § g· rad
Z ¨ ¸t Z 245 Ans.
3 © r¹ s
19–13.
SOLUTION l
t2
(a +) IG v1 + © MG dt = IG v2
Lt1
I B
0 + I a b = c ml2 d v
l 1 1
I = mlv
2 12 6
t2
a:
+ b m(yAx)1 + © Fx dt = m(yAx)2
Lt1
1 l
0 + mlv = mvG yG = v
6 6
Kinematics: Point P is the IC.
yB = v y
A
SOLUTION
+ B
A; m(nGx)1 + © Fx dt = m(vGx)2
L
W
n - Ft = 0 (1)
g 0
a ( +) (HG)1 + © MG dt = (HG)2
L
2 W
- a r2 b v0 + Ft(r) = 0 (2)
5 g
2 W 2 W n0
r v0 = t(r)
5 g g t
v0
v0 = 2.5 Ans.
r
19–15.
B 0.15 m
SOLUTION x
Angular motion is transmitted from a driver wheel A to the driven wheel B by friction between the
wheels at C. If A always rotates at constant rate ZA and the coefficient of kinetic friction between
the wheels is Pk determine the time required for B to reach a constant angular velocity once the
wheels make contact with a normal force F N. What is the final angular velocity of wheel B?
Wheel B has mass mB and radius of gyration about its axis of rotation kG.
Given:
rad
ZA 16 mB 90 kg b 50 mm
s
Pk 0.2 kG 120 mm c 4 mm
FN 50 N a 40 mm
rad
Solution: Guesses t 1s ZB 1
s
2
Given P k F N( a b)t mB kG ZB
ZA§¨ ¸·
a
ZB( a b)
© 2¹
§ t ·
Find t ZB
rad
¨ ¸ ZB 3.56 t 5.12 s Ans.
© ZB ¹ s
19–17.
SOLUTION
Gear A: 40 mm
A
(c + ) (HA)1 + © MA dt = (HA)2
L
B
0 - 3(F)(2)(0.04) + 0.05(2) = [0.8(0.031)2] vA mB 0.3 kg
20 mm kB 15 mm
Gear B:
(a + ) (HB)1 + © MB dt = (HB)2
L
0 + (F)(2)(0.02) = [0.3(0.015)2] vB
F = 0.214 N
vA = 63.3 rad>s
Solution:
§ W · v r § W · r2Z
¨ ¸ G ¨ ¸ 0 0
©g¹ ©g¹
vG
Z0 Ans.
r
19–19.
A
SOLUTION
(c +) (HO)1 + © MO dt = (HO)2
L
v = 120.4 rad>s
The double pulley consists of two wheels which are attached to one another and turn at the same
rate. The pulley has mass mp and radius of gyration kO. If the block at A has mass mA, determine
the speed of the block at time t after a constant force F is applied to the rope wrapped around the
inner hub of the pulley. The block is originally at rest. Neglect the mass of the rope.
3
Units Used: kN 10 N
Given:
mp 25 kg F 5 kN
kO 150 mm ri 75 mm
mA 100 kg ro 200 mm
t 4s
m rad
Solution: Guess vA 1 Z 1
s s
2
Given F ri t mA g ro t mp kO Z mA vA ro
vA Zro
§ vA ·
Find vA Z
rad m
¨ ¸ Z 156 .81 vA 31.4 Ans.
©Z ¹ s s
19–21.
The drum has mass M, radius r, and radius of gyration kO. If the coefficients of static and
kinetic friction at A are Ps and Pk respectively, determine the drum's angular velocity at time t
after it is released from rest.
Given:
M 70 kg Ps 0.4 T 30 deg
m
r 300mm Pk 0.3 g 9.81
2
s
kO 125 mm t 2s
rad m
Guesses Ff 1N FN 1N Z 1 v 1 F max 1N
s s
2
Given 0 Ff r t M kO Z v Zr F max P s FN
M g sin T t F f t Mv F N t M g cos T t 0
§ Ff ·
¨ ¸
¨ Fmax ¸ § Ff · § 51 ·
¨ F ¸ ¨ ¸ ¨ 238 ¸ N
Find Ff Fmax F N Z v
m
¨ N ¸ ¨ Fmax ¸ ¨ ¸
v 8.36
s
¨ Z ¸ ¨ F ¸ © 595 ¹
© N ¹
¨ ¸ Z 27.9
rad
© v ¹ s
Ans.
Since F f 51 N < F max 238 N then our no-slip assumption is good. Ans.
19 –22.
Solution:
7 2
F't M' v F't h M r 'Z 'v r'Z
5
Thus
7 2 7
M r'Zh M r 'Z h r Ans.
5 5
19–23.
The 100-kg reel has a radius of gyration about its center of 0.3 m A
mass G of kG = 200 mm. If the cable B is subjected to a
G 0.1 m
force of P = 300 N, determine the time required for the
reel to obtain an angular velocity of 20 rad>s. The P ⫽ 300 N
coefficient of kinetic friction between the reel and the plane 0.2 m
is mk = 0.15. B
SOLUTION
Kinematics: Referring to Fig. a, the final velocity of the center O of the spool is
Principle of Impulse and Momentum: The mass moment of inertia of the spool
about its mass center is IG = mkG2 = 100(0.2 2) = 4 kg # m2. Applying the linear
impulse and momentum equation along the y axis,
Using this result to write the angular impulse and momentum equation about the IC,
t2
a+ (HIC)1 + © MIC dt = (HIC)2
Lt1
0 + 0.15(981)(t)(0.5) - 300t(0.3) = - 100(4)(0.2) - 4(20)
t = 9.74 s Ans.
19–24.
SOLUTION
Kinematics: Referring to Fig. a,
vO = vrO>IC = v(0.15)
SOLUTION
a+ (HO)1 + © 1 MOdt = (HO)2
v = 4.73 rad>s
SOLUTION
Principle of Impulse and Momentum: The mass moment of inertia of the rods
(9) A 12 B = 0.75 kg # m2. Since the
1 1
about their mass center is IG = ml2 =
12 12
assembly rotates about the fixed axis, (vG)AB = v(rG)AB = v(0.5) and
(vG)BC = v(rG)BC = va 212 + (0.5)2 b = v(1.118). Referring to Fig. a,
t2
c+ (Hz)1 + © Mz dt = (Hz)2
Lt1
3s
0 + 15t2dt = 9 C v(0.5) D (0.5) + 0.75v + 9 C v(1.118) D (1.118) + 0.75v
L0
3s
5t3 2 = 15v
0
v = 9 rad>s Ans.
19–27.
The square plate has a mass m and is suspended at its
corner A by a cord. If it receives a horizontal impulse I at
corner B, determine the location y of the point P about
which the plate appears to rotate during the impact.
A
P y
a a
SOLUTION
a a
(a + ) (HG)1 + © MG dt = (HG)2
L I
B
a m 2
0 + Ia b= (a + a2) v
22 12
+ )
(: m(vGx)1 + © Fxdt = m(vGx)2
L
0 + I = mvG
6I
v =
22am
I
vG =
m
I
vG m 22a
y¿ = = =
v 6I 6
12 am
3 22 22 22
y = a - a = a Ans.
6 6 3
19–28.
SOLUTION A 30°
v0 1 v0
I¿ = I a b(t0) = a m r2ba bt0
d 2 d
F = mc sin u then
a + (HG)1 + © MG dt = (HG)2
L
1 v0 v0
0 + (mc sin u) r t0 = c a m r2 b a b t0 d a b
2 d r
mc
v0 = (2 g sin u d) a b Ans.
A m
19–29.
SOLUTION
a)
b)
I
a (Hz)1 = a (H)2; 0 + Iv = IzvM + 0 vM =
Iz
v Ans.
c)
2I
a (Hz)1 = a (H)2; 0 + Iv = IzvM - Iv vM =
Iy
v Ans.
19–30.
SOLUTION
(©Syst. Angular Momentum)1 = (©Syst. Angular Momentum)2
Set vA
¿ = vB
¿ = v. then
mA k2A vA + mB k2B vB
v = Ans.
mA k2A + mB k2B
19–31.
Each of the two slender rods and the disk have the same mass m. Also, the length of each rod
is equal to the diameter d of the disk. If the assembly is rotating with an angular velocity Z1
when the rods are directed outward, determine the angular velocity of the assembly if by
internal means the rods are brought to an upright vertical position.
Solution:
H1 H2
ª1 § d · 2 º ª1 § d · 2 d º
2
« m ¨ ¸ 2m §¨ ¸· » Z2
1
« m ¨ ¸ 2 m d2 2m d2» Z1
¬2 © 2 ¹ 12 ¼ ¬2 © 2 ¹ © 2¹ ¼
11
Z2 Z1 Ans.
3
19–32.
c+ H1 = H2
1 1
2c (4)(0.15)2 d (5) = 2 c (4)(0.15)2 d v
2 2
1
+ 2[4(0.75v)(0.75)] + c (2)(1.50)2 d v
12
SOLUTION
Conservation of Angular Momentum: Since no external angular impulse acts on the
system during the motion, angular momentum about the axis of rotation (z axis) is
conserved. The mass moment of inertia of the system when the arms are in the fully
extended position is
1 1
(Iz)1 = 2 c 10(0.852) d + 2 c (6)(0.652) + 6(0.5252) d + (68)(0.2 2)
12 2
= 19.54 kg # m2
And the mass moment of inertia of the system when the arms are in the restracted
position is
1
(Iz)2 = 2c 10(0.32) d + (80)(0.2252)
2
= 3.825 kg # m2
Thus,
(Hz)1 = (Hz)2
(Iz)1v1 = (Iz)2v2
19.54(0.5) = 3.825v2
(HA)G = (HB)G
19.14(3) = 5.273vB
vB = 10.9 rad>s Ans.
19–35.
The 2-kg rod ACB supports the two 4-kg disks at its ends. If 0.75m 0.75m
both disks are given a clockwise angular velocity C
1vA21 = 1vB21 = 5 rad>s while the rod is held stationary B A
and then released, determine the angular velocity of the rod
(VB)1 (VA)1
after both disks have stopped spinning relative to the rod 0.15 m 0.15 m
due to frictional resistance at the pins A and B. Motion is in
the horizontal plane. Neglect friction at pin C.
SOLUTION
c+ H1 = H2
1 1 1
2c (4) (0.15)2d(5) = 2c (4)(0.15)2d v + 2[4(0.75 v)(0.75)] + c (2)(1.50)2d v
2 2 12
Given:
rad m
M1 11 Mg Z0 0.6 vx 400
s s
m
M2 54 kg a 1.5 m vy 250
s
m
kx 1.64 m b 6m vz 175
s
ky 3.85 m
rad
Guess ZT 1
s
Given 0
§ 1 M b2· Z Z M k 2 Z
2¨
© 12
2 ¸ 0
¹
T 1 y
T ZT Find ZT
3 rad
ZT 1.19 u 10 Ans.
s
19–37.
The pendulum consists of a slender rod AB of mass M1 and a disk of mass M2. It is
released from rest without rotating. When it falls a distance d, the end A strikes the hook
S, which provides a permanent connection. Determine the angular velocity of the
pendulum after it has rotated 90°. Treat the pendulum’s weight during impact as a
nonimpulsive force.
Given:
M1 2kg r 0.2m
M2 5kg l 0.5m
d 0.3m
Solution:
v1 2g d
2 2
l r 2
IA M1 M2 M2 ( l r)
3 2
Guesses
rad rad
Z2 1 Z3 1
s s
Given
l
M1 v1 M2 v1( l r) IAZ2
2
1 2 1 2 l
IAZ2 IAZ3 M1 g M2 g( l r)
2 2 2
§ Z2 ·
Find Z2 Z3
rad rad
¨ ¸ Z2 3.57 Z3 6.45 Ans.
© Z3 ¹ s s
19–38.
(Hz)1 = (Hz)2
L
W(yG)1 = mga b and V2 = (Vg)2 = W(yG)2 = 0. Since the rod rotates about point A,
2
1 1 1 1
T2 = I v2 = c mL2 d v22 = mL2v22. Since the rod is initially at rest, T1 = 0.
2 A 2 2 3 6
Then,
T1 + V1 = T2 + V2
L 1
0 + mga b = mL2v2 2 + 0
2 6
3g
v2 =
BL
Conservation of Angular Momentum: Since the rod rotates about point A just
3g L 3gL
before the impact, (vG)2 = v2rAG = a b = . Also, the rod rotates about
BL 2 B 4
L
B immediately after the impact, (vG)3 = v3rBG = v3 a b . Angular momentum is
6
conserved about point B. Thus,
(HB)2 = (HB)3
3gL L 1 3g 1 L L
m a b + a mL2 b = a mL2 bv3 + mcv3 a b d a b
B 4 6 12 BL 12 6 6
3 3g
v3 = Ans.
2B L
19–40.
The uniform rod assembly rotates with an angular velocity P
of v0 on the smooth horizontal plane just before the hook
strikes the peg P without rebound. Determine the angular v0
velocity of the assembly immediately after the impact. Each L
2
rod has a mass of m. L L
2
SOLUTION
Center of Mass: Referring to Fig. a,
L
a b (m) + L(m)
©xcm 2 3
x = = = L
©m 2m 4
Thus, the mass moment of the assembly about its mass center G is
1 L 2 1 L 2 7
IG = c mL2 + m a b d + c mL2 + ma b d = mL2
12 4 12 4 24
(HP)1 = (HP)2
7 7 3 3
a mL2 b v0 = a mL2 b v2 + 2m c v2 a Lb d a L b
24 24 4 4
7
v2 = v Ans.
34 0
19–41.
SOLUTION
H1 = H2
1 1
a mr 2bv1 = c mr 2 + mr 2dv2
2 2
1
v2 = v1 Ans.
3
19–42.
u I u
C A
SOLUTION
0.1 m 0.1 m
Conservation of Angular Momentum: Referring to the free-body diagram of the v
assembly shown in Fig. a, the sum of the angular impulses about the z axis is zero.
Thus, the angular momentum of the system is conserved about the axis. The mass
J
moments of inertia of the rods about the z axis when u = 0° and 90° are F H
Thus,
(Hz)1 = (Hz)2
3.8(3) = 0.2v2
v2 = 57 rad>s Ans.
Principle of Work and Energy: As shown on the free-body diagram of the assembly,
Fig. b, W does negative work, while F does positive work. The work of W is
UW = - Wh = - 10(9.81)(0.3) = - 29.43 J. The initial and final kinetic energy of the
1 1 1
assembly is T1 = (Iz)1v1 2 = (3.8)(32) = 17.1 J and T2 = (Iz)2v2 2 =
2 2 2
1
(0.2)(572) = 324.9 J. Thus,
2
T1 + ©U1 - 2 = T2
UF = 367 J Ans.
19–43.
Solution:
H1 H2
1 2 § m ·§ L · § L ·
m L Z ¨ ¸ ¨ ¸ Z¨ ¸
1 2 § m·
m L Z' ¨ ¸ LZ' L Z' =
19
Z Ans.
3 © 4 ¹© 2 ¹ © 2 ¹ 3 ©4¹ 28
T1 V 1 T2 V 2
2
1§1 2· 2 1 § m · § L · 1 § m· 2 1 § m· 2 1§1 2· 2
¨ m L ¸ Z ¨ ¸ ¨ Z¸ ¨ ¸ v' ¨ ¸ LZ' ¨ m L ¸ Z'
2©3 ¹ 2© 4 ¹ ©2 ¹ 2© 4 ¹ 2© 4 ¹ 2©3 ¹
2 57 2 2
v' L Z
112
2
57 2 2 ª § 19 ·º 95 v'' 0.985 ZL Ans.
v'' L Z «L¨ Z¸» v'' ZL
112 ¬ © 28 ¹¼ 98
19–44.
0.2 m
SOLUTION
c+ (HO)1 + © MO dt = (HO)2
L
1
0.007(800) cos 30°(0.2) + 0 = (5.007)(0.2)2v + 5.007(0.2v)(0.2)
2
T1 + V1 = T2 + V2
1 1 1
(5.007)[3.23(0.2)]2 + [ (5.007)(0.2)2](3.23)2 + 0 = 0 + 0.2(1 - cosu)(5.007)(9.81)
2 2 2
u = 32.8° Ans.
19–45.
Two children A and B, each having a mass M1, sit at the edge of the merry-go-round
which is rotating with angular velocity Z. Excluding the children, the merry-go-round has a
mass M2 and a radius of gyration kz. Determine the angular velocity of the merry-go-round
if A jumps off horizontally in the n direction with a speed v, measured with respect to the
merry-go-round.What is the merry-go-round’s angular velocity if B then jumps off
horizontally in the +t direction with a speed v, measured with respect to the
merry-go-round? Neglect friction and the size of each child.
Given:
M1 30 kg kz 0.6 m
M2 180 kg a 0.75 m
rad m
Z 2 v 2
s s
Solution:
rad
( a) Guess Z2 1
s
Given M2 kz2 M1 a2Z2 M2 kz Z3 M1 v Z3 a a
2
Find Z3
rad
Z3 Z3 1.86 Ans.
s
19–46 . The target is a thin 5-kg circular disk that can z
rotate freely about the z axis. A 25-g bullet, traveling at
600 ms, strikes the target at A and becomes embedded in
it. Determine the angular velocity of the target after the 200 mm
impact. Initially, it is at rest. 300 mm 600 m/ s
A 100 mm
()[)1 ()[)2
51 71 52 72
1 3
0 (15)(9.81)(0.15)(1 cos 30°) 5 (15)(0.15)2 6 v2 0
2 2
v 3.418 rads
4 0 ( 0.15v)
3
F 0.6
3.418(0.15) 0
v 2.0508 rads
52 72 53 73
1 3
5 (15)(0.15)2 6 (2.0508)2 0 0 15(9.81)(0.15)(1 cos u)
2 2
u 17.9° Ans.
19–48. A 2-kg mass of putty D strikes the uniform 10-kg
plank ABC with a velocity of 10 ms. If the putty remains D
300 mm
attached to the plank, determine the maximum angle u of u B C
A
swing before the plank momentarily stops. Neglect the size
of the putty.
800 mm 400 mm
()#)1 ()#)2
52 72 53 73
10.11 0 0 13.734 sin u
u 47.4° Ans.
19–49.
= 1.775 v22
Then,
T1 + V1 = T2 + V2
0 + 0 = 1.775v22 + ( - 68.67)
v2 = 6.220 rad>s
(HA)1 = (HA)2
(vD)3 - C (vP)x D 3
+
: e =
C (vP)x D 2 - (vD)2
(vD)3 - C - v3(0.55) D
0.6 =
3.421 - 0
(vD)3 + 0.55v3 = 2.053 (2)
Solution:
§ W · §¨ a ·¸ Z § W · §¨ 2a ·¸ Z
2 2
1
¨ ¸ 0 ¨ ¸ Z Z0 Ans.
© g ¹© 6 ¹ © g ¹© 3 ¹ 4
19–51.
u v1
r
v2
SOLUTION
Conservation of Angular Momentum: Since the weight of the solid ball is a
nonimpulsive force, then angular momentum is conserved about point A. The mass
2
moment of inertia of the solid ball about its mass center is IG = mr2. Here,
y2 cos u 5
v2 = . Applying Eq. 19–17, we have
r
(HA)1 = (HA)2
0 - (yb)2
e =
(yb)1 - 0
- (y2 sin u)
e =
-y1 cos u
y2 e cos u
= (2)
y1 sin u
5 e cos u
tan u =
7 sin u
7
tan2 u = e
5
7
u = tan - 1 ¢ e≤ Ans.
A5
19–52.
A 25 mm
SOLUTION
Conservation of Angular Momentum: Referring to Fig. a, the sum of the angular
impulses about point A is zero. Thus, angular momentum of the wheel is conserved
about this point. Since the wheel rolls without slipping, (vG)1 = v1r = v1(0.15) and
(vG)2 = v2r = v2(0.15). The mass moment of inertia of the wheel about its mass
center is IG = mkG2 = 50(0.1252) = 0.78125 kg # m2. Thus,
(HA)1 = (HA)2
v1 = 1.109v2 (1)
T2 + V2 = T3 + V3
0.953125v2 2 + 0 = 0 + 12.2625
v2 = 3.587 rad>s
SOLUTION
Conservation of Angular Momentum: Referring to Fig. a, the sum of the angular
impulses about point A is zero. Thus, angular momentum of the wheel is conserved
about this point. Since the wheel rolls without slipping, (vG)1 = v1r = (5)(0.15) =
0.75 m>s and v2 = v2r = v2(0.15). The mass moment of inertia of the wheel about its
mass center is IG = mkG2 = 50(0.1252) = 0.78125 kg # m2. Thus,
(HA)1 = (HA)2
T2 + V2 = T3 + V3
1r
SOLUTION 8
1
(HA)1 = m r2 (v1) + m(v1 r)(r - h)
2
1
(HA)2 = m r2 (v2) + m(v2 r)(r)
2
(HA)1 = (HA)2
1 3
c m r2 + m r (r - h) d v1 = m r2 v2
2 2
3 3
a r - h b v1 = r v2
2 2
r - h
F = mg a b - m(v22 r)
r
3
r - h 2
r - h 2 2 2
F = mg a b - m ra b P Q v21
r 3 r
1
Set h = r; also note that for maximum v1 F will approach zero. Thus
8
1 3 r
r - r 2 r - 2
8 2 2 8
mg - mr v21
r 3 r
g
v1 = 1.02 Ans.
r
19–55.
SOLUTION
Coefficient of Restitution (y direction):
0 - (yG)y 2
A+TB e = (yG)y2 = - e(yG)y1 = e(yG)y1 c Ans.
(yG)y1 - 0
(c + ) (HA)1 = (HA)2
2 2
- mr 2v1 + m(vG)x 1r = mr 2v2 + m(vG)x 2 r
5 5
2
5a (vG)x 1 - v rb
5 1
v2 =
7r
Therefore
5 2
(yG)x 2 = a (yG)x 1 - v1 rb Ans.
7 5
19–56.
⎛1 2⎞ ⎛1 2 2⎞
⎜ 2 2mr ⎟ ω1 = ⎜ 2 2mr + 2mr ⎟ ω2
⎝ ⎠ ⎝ ⎠
1
Z2 Z1 Ans.
3