Seventh Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

1 DYNAMICS

6
Ferdinand P. Beer
E. Russell Johnston, Jr.
Plane Motion of Rigid Bodies:
Forces and Accelerations
Lecture Notes:
J. Walt Oler
Texas Tech University

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 Vector Mechanics for Engineers: Dynamics
Edition
Seventh

Contents

Introduction Sample Problem 16.3

Equations of Motion of a Rigid Body Sample Problem 16.4
Angular Momentum of a Rigid Body in PlaneSample
MotionProblem 16.5
Plane Motion of a Rigid Body: Constrained Plane Motion
d’Alembert’s Principle Constrained Plane Motion: Noncentroi
Axioms of the Mechanics of Rigid Bodies Constrained Plane Motion: Rolling Mo
Problems Involving the Motion of a Rigid Body
Sample Problem 16.6
Sample Problem 16.1 Sample Problem 16.8
Sample Problem 16.2 Sample Problem 16.9
Sample Problem 16.10

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 Vector Mechanics for Engineers: Dynamics
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Introduction
• In this chapter and in Chapters 17 and 18, we will be
concerned with the kinetics of rigid bodies, i.e., relations
between the forces acting on a rigid body, the shape and mass
of the body, and the motion produced.

• Results of this chapter will be restricted to:

- plane motion of rigid bodies, and
- rigid bodies consisting of plane slabs or bodies which
are symmetrical with respect to the reference plane.

• Our approach will be to consider rigid bodies as made of

large numbers of particles and to use the results of Chapter
14 for the motion of systems of particles. Specifically,
   
∑
F = ma and M =H ∑ G G

• D’Alembert’s principle is applied to prove that the external


forces acting on a rigid body are equivalent a vector ma
attached to the mass center and a couple of moment I α .
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Equations of Motion for a Rigid Body

• Consider a rigid body acted upon
by several external forces.
• Assume that the body is made of
a large number of particles.
• For the motion of the mass center
G of the body with respect to the
Newtonian frame Oxyz,
 
∑ F = ma
• For the motion of the body with
respect to the centroidal frame
Gx’y’z’,  
∑ MG = HG
• System of external forces is
equipollent to the
 system

consisting of ma and H G .
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 Vector Mechanics for Engineers: Dynamics
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Angular Momentum of a Rigid Body in Plane Motion

• Angular momentum of the slab may be
computed by
 n  
H G = ∑ ( ri′× vi′Δmi )
i =1
n   
= ∑ [ ri′× ( ω × ri′) Δmi ]
i =1

(
= ω ∑ ri′ 2 Δmi )

= Iω
• After differentiation,
  
H G = I ω = I α
• Results are also valid for plane motion of
• Consider a rigid slab in bodies which are symmetrical with respect to
plane motion. the reference plane.
• Results are not valid for asymmetrical bodies or
three-dimensional motion.
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Plane Motion of a Rigid Body: D’Alembert’s Principle

• Motion of a rigid body in plane motion is
completely defined by the resultant and moment
resultant about G of the external forces.
∑ Fx = ma x ∑ Fy = ma y ∑ M G = Iα
• The external forces and the collective effective
forces of the slab particles are equipollent (reduce
to the same resultant and moment resultant) and
equivalent (have the same effect on the body).
• d’Alembert’s Principle: The external forces
acting on a rigid body are equivalent to the
effective forces of the various particles forming
the body.
• The most general motion of a rigid body that is
symmetrical with respect to the reference plane
can be replaced by the sum of a translation and a
centroidal rotation.
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Axioms of the Mechanics of Rigid Bodies

 
• The forces F and F ′ act at different points on
a rigid body but but have the same magnitude,
direction, and line of action.

• The forces produce the same moment about

any point and are therefore, equipollent
external forces.

• This proves the principle of transmissibility

whereas it was previously stated as an axiom.

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Problems Involving the Motion of a Rigid Body

• The fundamental relation between the forces
acting on a rigid body in plane motion and
the acceleration of its mass center and the
angular acceleration of the body is illustrated
in a free-body-diagram equation.
• The techniques for solving problems of
static equilibrium may be applied to solve
problems of plane motion by utilizing
- d’Alembert’s principle, or
- principle of dynamic equilibrium
• These techniques may also be applied to
problems involving plane motion of
connected rigid bodies by drawing a free-
body-diagram equation for each body and
solving the corresponding equations of
motion simultaneously.
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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.1

SOLUTION:
• Calculate the acceleration during the
skidding stop by assuming uniform
acceleration.
• Draw the free-body-diagram equation
expressing the equivalence of the
external and effective forces.
At a forward speed of 30 ft/s, the truck • Apply the three corresponding scalar
brakes were applied, causing the wheels equations to solve for the unknown
to stop rotating. It was observed that the normal wheel forces at the front and rear
truck to skidded to a stop in 20 ft. and the coefficient of friction between
Determine the magnitude of the normal the wheels and road surface.
reaction and the friction force at each
wheel as the truck skidded to a stop.

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.1

SOLUTION:
• Calculate the acceleration during the skidding stop
by assuming uniform acceleration.
v 2 = v02 + 2a ( x − x0 )
2
ft  ft  ft
v0 = 30 x = 20 ft 0 =  30  + 2a ( 20 ft ) a = −22.5
s  s s
• Draw a free-body-diagram equation expressing the
equivalence of the external and effective forces.
• Apply the corresponding scalar equations.
∑ Fy = ∑ ( Fy ) eff N A + NB − W = 0

∑ Fx = ∑ ( Fx ) eff − FA − FB = − ma
− µk ( N A + N B ) =
− µ kW = − ( W g ) a
a 22.5
µk = = = 0.699
g 32.2
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Sample Problem 16.1

• Apply the corresponding scalar equations.
∑ M A = ∑ ( M A ) eff
− ( 5 ft )W + (12 ft ) N B = ( 4 ft ) ma
1 W  W a
NB =  5W + 4 a  =  5 + 4 
12  g  12  g
N B = 0.650W
N A = W − N B = 0.350W

N rear = 12 N A = 12 ( 0.350W ) N rear = 0.175W

Frear = µ k N rear = ( 0.690 )( 0.175W )
Frear = 0.122W

N front = 12 NV = 12 ( 0.650W ) N front = 0.325W

F front = µ k N front = ( 0.690 )( 0.325W )
F front = 0.0.227W

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.2
The thin plate of mass 8 kg is held in
place as shown.
Neglecting the mass of the links,
determine immediately after the wire
has been cut (a) the acceleration of the
plate, and (b) the force in each link.
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SOLUTION:
• Note that after the wire is cut, all
particles of the plate move along parallel
circular paths of radius 150 mm. The
plate is in curvilinear translation.
• Draw the free-body-diagram equation
expressing the equivalence of the
external and effective forces.
• Resolve into scalar component
equations parallel and perpendicular to
the path of the mass center.
• Solve the component equations and the
moment equation for the unknown
acceleration and link forces.
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Sample Problem 16.2

SOLUTION:
• Note that after the wire is cut, all particles of the
plate move along parallel circular paths of radius
150 mm. The plate is in curvilinear translation.
• Draw the free-body-diagram equation expressing
the equivalence of the external and effective
forces.
• Resolve the diagram equation into components
parallel and perpendicular to the path of the mass
center.
∑ Ft = ∑ ( Ft ) eff
W cos 30° = ma
mg cos 30° =
( )
a = 9.81m/s 2 cos 30°

a = 8.50 m s 2 60o

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.2

• Solve the component equations and the moment
equation for the unknown acceleration and link
forces.

∑ M G = ( ∑ M G ) eff
( FAE sin 30°)( 250 mm ) − ( FAE cos 30°)(100 mm )
( FDF sin 30°)( 250 mm ) + ( FDF cos 30°)(100 mm ) = 0
38.4 FAE + 211.6 FDF = 0
FDF = −0.1815 FAE

∑ Fn = ∑ ( Fn ) eff
a = 8.50 m s 2 60o FAE + FDF − W sin 30° = 0
FAE − 0.1815 FAE − W sin 30° = 0
(
FAE = 0.619( 8 kg ) 9.81m s 2 ) FAE = 47.9 N T

FDF = −0.1815 ( 47.9 N ) FDF = 8.70 N C

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.3

SOLUTION:
• Determine the direction of rotation by
evaluating the net moment on the
pulley due to the two blocks.
• Relate the acceleration of the blocks to
the angular acceleration of the pulley.
• Draw the free-body-diagram equation
expressing the equivalence of the
external and effective forces on the
A pulley weighing 12 lb and having a complete pulley plus blocks system.
radius of gyration of 8 in. is connected to
• Solve the corresponding moment
two blocks as shown.
equation for the pulley angular
Assuming no axle friction, determine the acceleration.
angular acceleration of the pulley and the
acceleration of each block.
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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.3

SOLUTION:
• Determine the direction of rotation by evaluating the net
moment on the pulley due to the two blocks.
∑ M G = (10 lb )( 6 in ) − ( 5 lb)(10 in ) = 10 in ⋅ lb
rotation is counterclockwise.
W 2
note: I = mk 2 = k
g
2
12 lb  8 
= 2
ft 
32.2 ft s  12 
= 0.1656 lb ⋅ ft ⋅ s 2

• Relate the acceleration of the blocks to the angular

acceleration of the pulley.
a A = rAα aB = rBα
= ( 10
12
ft )α = ( 12
6 )
ft α

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.3

• Draw the free-body-diagram equation expressing the
equivalence of the external and effective forces on the
complete pulley and blocks system.
• Solve the corresponding moment equation for the pulley
angular acceleration.
∑ M G = ∑ ( M G ) eff
(10 lb) ( 126 ft ) − ( 5 lb ) ( 10
12
ft ) = I α + mB aB ( 12
6 )
ft − m Aa A ( 10
12
ft )
(10) ( 126 ) − ( 5) ( 10
12
) = ( 0 . 1656 )α + ( 10 )( 6 )( 6 ) ( 5 )( 10 )( 10 )
32.2 12
α 12 − 32.2 12 12

α = 2.374 rad s 2
I = 0.1656 lb ⋅ ft ⋅ s 2 Then,
a A = ( 10
12
α ) ft s 2 a A = rAα

aB = ( 6α
12
) ft s 2 = ( 10
12
ft )(2.374 rad s 2
) a A = 1.978 ft s 2

aB = rBα
= ( 12
6 (
ft ) 2.374 rad s 2 ) aB = 1.187 ft s 2

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.4

A cord is wrapped around a
homogeneous disk of mass 15 kg.
The cord is pulled upwards with a
force T = 180 N.
SOLUTION:
• Draw the free-body-diagram equation
expressing the equivalence of the
external and effective forces on the disk.
• Solve the three corresponding scalar
equilibrium equations for the horizontal,
vertical, and angular accelerations of the
disk.
• Determine the acceleration of the cord by
evaluating the tangential acceleration of
the point A on the disk.

Determine: (a) the acceleration of the

center of the disk, (b) the angular
acceleration of the disk, and (c) the
acceleration of the cord.
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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.4

SOLUTION:
• Draw the free-body-diagram equation expressing the
equivalence of the external and effective forces on
the disk.
• Solve the three scalar equilibrium equations.
∑ Fx = ∑ ( Fx ) eff
0 = ma x ax = 0
∑ Fy = ∑ ( Fy ) eff
T − W = ma y

ay =
(
T − W 180 N - (15 kg ) 9.81m s 2
=
)
m 15 kg
a y = 2.19 m s 2
∑ M G = ∑ ( M G ) eff
− Tr = I α = ( 12 mr 2 )α
2T 2(180 N )
α =− =− α = 48.0 rad s 2
mr (15 kg )( 0.5 m )
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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.4

• Determine the acceleration of the cord by evaluating the
tangential acceleration of the point A on the disk.

(
acord = ( a A ) t = a + a A G )t
(
= 2.19 m s 2 + ( 0.5 m ) 48 rad s 2 )
acord = 26.2 m s 2

ax = 0 a y = 2.19 m s 2

α = 48.0 rad s 2

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.5
A uniform sphere of mass m and radius
r is projected along a rough horizontal
surface with a linear velocity v0. The
coefficient of kinetic friction between
the sphere and the surface is µk.
Determine: (a) the time t1 at which the
sphere will start rolling without sliding,
and (b) the linear and angular velocities
of the sphere at time t1.
© 2003 The McGraw-Hill Companies, Inc. All rights reserved.
SOLUTION:
• Draw the free-body-diagram equation
expressing the equivalence of the
external and effective forces on the
sphere.
• Solve the three corresponding scalar
equilibrium equations for the normal
reaction from the surface and the linear
and angular accelerations of the sphere.
• Apply the kinematic relations for
uniformly accelerated motion to
determine the time at which the
tangential velocity of the sphere at the
surface is zero, i.e., when the sphere
stops sliding.
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Sample Problem 16.5

SOLUTION:
• Draw the free-body-diagram equation expressing the
equivalence of external and effective forces on the
sphere.
• Solve the three scalar equilibrium equations.
∑ Fy = ∑ ( Fy ) eff
N −W = 0 N = W = mg
∑ Fx = ∑ ( Fx ) eff
− F = ma
− µ k mg = a = −µk g
∑ M G = ∑ ( M G ) eff
Fr = I α
( µ k mg ) r = ( 23 mr 2 )α
5 µk g
α=
2 r
NOTE: As long as the sphere both rotates and
slides, its linear and angular motions are uniformly
accelerated.
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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.5

• Apply the kinematic relations for uniformly accelerated
motion to determine the time at which the tangential
velocity of the sphere at the surface is zero, i.e., when the
sphere stops sliding.
v =v 0 + a t =v 0 + ( − µ k g ) t
5µ g
ω = ω 0 + αt = 0 +  k t
2 r 
At the instant t1 when the sphere stops sliding,
a = −µk g v1 = rω1
5 µk g
α=  5 µk g  t1 =
2 v0
2 r v0 − µ k gt1 = r   t1
2 r  7 µk g
5µ g 5 µ g  2 v0 
ω1 =  k t1 =  k 
5 v0
 ω1 =
 2 r   2 r  7 µ g
k  7 r

5v 
v1 = rω1 = r  0  v1 = 75 v0
7 r 
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Constrained Plane Motion

• Most engineering applications involve rigid
bodies which are moving under given
constraints, e.g., cranks, connecting rods, and
non-slipping wheels.
• Constrained plane motion: motions with
definite relations between the components of
acceleration of the mass center and the angular
acceleration of the body.
• Solution of a problem involving constrained
plane motion begins with a kinematic analysis.
• e.g., given θ, ω, and α, find P, NA, and NB.
- kinematic analysis yields ax and a y .
- application of d’Alembert’s principle yields
P, NA, and NB.

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Constrained Motion: Noncentroidal Rotation

• Noncentroidal rotation: motion of a body is
constrained to rotate about a fixed axis that does
not pass through its mass center.

• Kinematic relation between the motion of the mass

center G and the motion of the body about G,
at = r α an = r ω 2

• The kinematic relations are used to eliminate

at and an from equations derived from
d’Alembert’s principle or from the method of
dynamic equilibrium.

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Constrained Plane Motion: Rolling Motion

• For a balanced disk constrained to
roll without sliding,
x = r θ → a = rα
• Rolling, no sliding:
F ≤ µs N a = rα
Rolling, sliding impending:
F = µs N a = rα
Rotating and sliding:
F = µk N a, rα independent
• For the geometric center of an
unbalanced disk,
aO = rα
The acceleration of the mass center,
  
aG = aO + aG O

(
)t (
= aO + aG O + aG O

)n
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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.6

mE = 4 kg
k E = 85 mm
mOB = 3 kg
The portion AOB of the mechanism is
actuated by gear D and at the instant
shown has a clockwise angular velocity
of 8 rad/s and a counterclockwise
angular acceleration of 40 rad/s2.
Determine: a) tangential force exerted
by gear D, and b) components of the
reaction at shaft O.
SOLUTION:
• Draw the free-body-equation for AOB,
expressing the equivalence of the
external and effective forces.
• Evaluate the external forces due to the
weights of gear E and arm OB and the
effective forces associated with the
angular velocity and acceleration.
• Solve the three scalar equations
derived from the free-body-equation
for the tangential force at A and the
horizontal and vertical components of
reaction at shaft O.

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.6

SOLUTION:
• Draw the free-body-equation for AOB.
• Evaluate the external forces due to the weights of
gear E and arm OB and the effective forces.
( )
WE = ( 4 kg ) 9.81m s 2 = 39.2 N
(
WOB = ( 3 kg ) 9.81m s 2 = 29.4 N )
(
I Eα = mE k E2α = ( 4kg )( 0.085 m ) 2 40 rad s 2 )
= 1.156 N ⋅ m

(
mOB ( aOB ) t = mOB ( r α ) = ( 3 kg )( 0.200 m ) 40 rad s 2 )
mE = 4 kg α = 40 rad s 2 = 24.0 N
k E = 85 mm
mOB = 3 kg
ω = 8 rad/s
( )
mOB ( aOB ) n = mOB r ω 2 = ( 3 kg )( 0.200 m )( 8 rad s ) 2
= 38.4 N

I OBα = (121 mOB L2 )α = 121 ( 3kg )( 0.400 m) 2 (40 rad s2 )

= 1.600 N ⋅ m
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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.6

• Solve the three scalar equations derived from the free-
body-equation for the tangential force at A and the
horizontal and vertical components of reaction at O.
∑ M O = ( ∑ M O ) eff
F ( 0.120m ) = I Eα + mOB ( aOB ) t ( 0.200m ) + I OBα
= 1.156 N ⋅ m + ( 24.0 N )( 0.200m ) + 1.600 N ⋅ m
F = 63.0 N

∑ Fx = ( ∑ Fx ) eff
WE = 39.2 N Rx = mOB ( aOB ) t = 24.0 N
WOB = 29.4 N Rx = 24.0 N

I Eα = 1.156 N ⋅ m ∑ Fy = ( ∑ Fy )eff
mOB ( aOB ) t = 24.0 N R y − F − WE − WOB = mOB ( aOB )
mOB ( aOB ) n = 38.4 N R y − 63.0 N − 39.2 N − 29.4 N = 38.4 N
R y = 24.0 N
I OBα = 1.600 N ⋅ m
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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.8

A sphere of weight W is released with
no initial velocity and rolls without
slipping on the incline.
Determine: a) the minimum value of
the coefficient of friction, b) the
velocity of G after the sphere has
rolled 10 ft and c) the velocity of G if • Assuming no friction, calculate the linear
the sphere were to move 10 ft down a
frictionless incline.
© 2003 The McGraw-Hill Companies, Inc. All rights reserved.
SOLUTION:
• Draw the free-body-equation for the
sphere, expressing the equivalence of the
external and effective forces.
• With the linear and angular accelerations
related, solve the three scalar equations
derived from the free-body-equation for
the angular acceleration and the normal
and tangential reactions at C.
• Calculate the friction coefficient required
for the indicated tangential reaction at C.
• Calculate the velocity after 10 ft of
uniformly accelerated motion.
acceleration down the incline and the
corresponding velocity after 10 ft.
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Sample Problem 16.8

SOLUTION:
• Draw the free-body-equation for the sphere, expressing
the equivalence of the external and effective forces.
• With the linear and angular accelerations related, solve
the three scalar equations derived from the free-body-
equation for the angular acceleration and the normal
and tangential reactions at C.
∑ M C = ∑ ( M C ) eff
(W sin θ ) r = ( ma ) r + Iα
a = rα = ( mrα ) r + ( 52 mr 2 )α
W   2W 2 5 g sin θ
=  rα r +  r α α=
g  5 g  7r
5 g sin 30°
a = rα =
7

=
( )
5 32.2 ft s 2 sin 30°
a = 11.50 ft s 2
7
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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.8

• Solve the three scalar equations derived from the free-
body-equation for the angular acceleration and the
normal and tangential reactions at C.
∑ Fx = ∑ ( Fx ) eff W sin θ − F = ma
W 5 g sin θ
=
g 7
2
F = W sin 30° = 0.143W
7
∑ Fy = ∑ Fy ( )eff
N − W cosθ = 0
N = W cos 30° = 0.866W
5 g sin θ
α=
7r • Calculate the friction coefficient required for the
indicated tangential reaction at C.
a = rα = 11.50 ft s 2
F = µs N
F 0.143W
µs = = µ s = 0.165
N 0.866W

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.8

• Calculate the velocity after 10 ft of uniformly
accelerated motion.
v 2 = v02 + 2a ( x − x0 )
( )
= 0 + 2 11.50 ft s 2 (10 ft )

v = 15.17 ft s

• Assuming no friction, calculate the linear acceleration

and the corresponding velocity after 10 ft.
∑ M G = ∑ ( M G ) eff 0 = Iα α =0

5 g sin θ W 
α= ∑ Fx = ∑ ( Fx ) eff W sin θ = ma =  a
7r g
a = rα = 11.50 ft s 2 ( )
a = 32.2 ft s 2 sin 30° = 16.1ft s 2

v 2 = v02 + 2a ( x − x0 )
( )
= 0 + 2 16.1ft s 2 (10 ft ) 
v = 17.94 ft s

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 16.9
A cord is wrapped around the inner
hub of a wheel and pulled
horizontally with a force of 200 N.
The wheel has a mass of 50 kg and a
radius of gyration of 70 mm.
Knowing µs = 0.20 and µk = 0.15,
determine the acceleration of G and
the angular acceleration of the wheel.
© 2003 The McGraw-Hill Companies, Inc. All rights reserved.
SOLUTION:
• Draw the free-body-equation for the
wheel, expressing the equivalence of the
external and effective forces.
• Assuming rolling without slipping and
therefore, related linear and angular
accelerations, solve the scalar equations
for the acceleration and the normal and
tangential reactions at the ground.
• Compare the required tangential reaction
to the maximum possible friction force.
• If slipping occurs, calculate the kinetic
friction force and then solve the scalar
equations for the linear and angular
accelerations.
16 - 34
 Vector Mechanics for Engineers: Dynamics
Edition
Seventh

Sample Problem 16.9

SOLUTION:
• Draw the free-body-equation for the wheel,.
• Assuming rolling without slipping, solve the scalar
equations for the acceleration and ground reactions.
∑ M C = ∑ ( M C ) eff
( 200 N )( 0.040 m ) = ma ( 0.100 m ) + Iα
8.0 N ⋅ m = ( 50 kg )( 0.100 m ) 2α + (0.245 kg ⋅ m 2 )α

I = mk 2 = ( 50 kg )( 0.70 m ) 2 α = +10.74 rad s 2

= 0.245 kg ⋅ m 2 ( )
a = ( 0.100 m ) 10.74 rad s 2 = 1.074 m s 2

∑ Fx = ∑ ( Fx ) eff
Assume rolling without slipping,
a = rα
(
F + 200 N = ma = ( 50 kg ) 1.074 m s 2 )
F = −146.3 N
= ( 0.100 m )α
∑ Fx = ∑ ( Fx ) eff
N −W = 0
( )
N = mg = ( 50kg ) 1.074 m s 2 = +490.5 N
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 35
 Vector Mechanics for Engineers: Dynamics
Edition
Seventh

Sample Problem 16.9

• Compare the required tangential reaction to the
maximum possible friction force.
Fmax = µ s N = 0.20( 490.5 N ) = 98.1 N
F > Fmax , rolling without slipping is impossible.

• Calculate the friction force with slipping and solve the

Without slipping, scalar equations for linear and angular accelerations.
F = −146.3 N N = 490.5 N F = Fk = µ k N = 0.15( 490.5 N ) = 73.6 N

∑ Fx = ∑ ( Fx ) eff
200 N − 73.6 N = ( 50 kg ) a a = 2.53 m s 2

∑ M G = ∑ ( M G ) eff
( 73.6 N )( 0.100 m ) − ( 200 N )( 0.0.060 m )
(
= 0.245 kg ⋅ m 2 α)
α = −18.94 rad s 2 α = 18.94 rad s 2
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 36
 Vector Mechanics for Engineers: Dynamics
Edition
Seventh

Sample Problem 16.10

The extremities of a 4-ft rod
weighing 50 lb can move freely and
with no friction along two straight
tracks. The rod is released with no
velocity from the position shown.
Determine: a) the angular
acceleration of the rod, and b) the
reactions at A and B.
SOLUTION:
• Based on the kinematics of the constrained
motion, express the accelerations of A, B,
and G in terms of the angular acceleration.
• Draw the free-body-equation for the rod,
expressing the equivalence of the
external and effective forces.
• Solve the three corresponding scalar
equations for the angular acceleration and
the reactions at A and B.

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 37

 Vector Mechanics for Engineers: Dynamics
Edition
Seventh

Sample Problem 16.10

SOLUTION:
• Based on the kinematics of the constrained motion,
express the accelerations of A, B, and G in terms of
the angular acceleration.
Express the acceleration of B as
  
aB = a A + aB A

With aB A = 4α , the corresponding vector triangle and

the law of signs yields
a A = 5.46α aB = 4.90α

The acceleration of G is now obtained from

   
a = a G = a A + aG A where aG A = 2α

Resolving into x and y components,

a x = 5.46α − 2α cos 60° = 4.46α
a y = −2α sin 60° = −1.732α

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 38

 Vector Mechanics for Engineers: Dynamics
Edition
Seventh

Sample Problem 16.10

• Draw the free-body-equation for the rod, expressing
the equivalence of the external and effective forces.
• Solve the three corresponding scalar equations for the
angular acceleration and the reactions at A and B.
∑ M E = ∑ ( M E ) eff
( 50)(1.732) = ( 6.93α )( 4.46) + ( 2.69α )(1.732) + 2.07α
α = +2.30 rad s 2
α = 2.30 rad s 2
1 50 lb
1 ml 2 =
I = 12 ( 4 ft ) 2
∑ Fx = ∑ ( Fx ) eff
12 32.2 ft s 2
RB sin 45° = ( 6.93)( 2.30 )
= 2.07 lb ⋅ ft ⋅ s 2
RB = 22.5 lb 
I α = 2.07α RB = 22.5 lb 45o

ma x =
50
( 4.46α ) = 6.93α ∑ Fy = ∑ ( Fy )eff
32.2
50 RA + ( 22.5) cos 45° − 50 = −( 2.69 )( 2.30)
ma y = − (1.732α ) = −2.69α
32.2 RA = 27.9 lb
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 39