Professional Documents
Culture Documents
Question 41
x
m
g
l
O
F
Figure P 4-1
148
Solution to Question 41
Kinematics
Let F be a reference frame fixed to the ground. Then, choose the following
coordinate system fixed in reference frame F :
Ex
Ez
Ey
Origin at O at t = 0
=
To the Right
=
Into Page
=
Ez Ex
Next, let A be a reference frame fixed to the rod. Then, choose the following
coordinate system fixed in reference frame A:
er
ez
e
Origin at O
=
=
=
Along OP
Into Page
Ez er
We note that the relationship between the basis {Ex , Ey , Ez } and {er , e , ez } is
given as
Ex
Ey
= sin er + cos e
(4.1)
= cos er + sin e
(4.2)
= sin Ex cos Ey
(4.3)
= cos Ex + sin Ey
(4.4)
Using the bases {Ex , Ey , Ez } and {er , e , ez }, the position of the block is given
rO = xEx
(4.5)
Then the velocity and acceleration of the block in reference frame F are given,
respectively, as
F
vO
aO
x
= xE
x
= xE
(4.6)
(4.7)
(4.8)
z
A = e
(4.9)
149
The velocity of point P in reference frame F is then given as
F
vP =
F
d
d
rP /O = F vO + F vP /O
(rO ) +
dt
dt
(4.10)
Ad
d
rP /O =
rP /O + F A rP /O
dt
dt
(4.11)
Now we already have F vO from Eq. (4.6). Next, since rP /O is expressed in the basis {er , e , ez } and {er , e , ez } rotates with angular velocity F A , we can apply
the rate of change transport theorem to rP /O between reference frame A and
reference frame F as
F
vP /O =
d
= 0
rP /O
dt
F A
z ler = le
rP /O = e
(4.12)
(4.13)
vP /O = le
(4.14)
x + le
vP = xE
(4.15)
aP =
d F
vP
dt
(4.16)
vP = F vO + F vP /O
(4.17)
vO
vP /O
x
= xE
= le
(4.18)
(4.19)
Consequently,
F
aP =
d F Fd F
vO +
vP /O
dt
dt
(4.20)
aP /O =
Ad
d F
F
vP /O =
vP /O + F A F vP /O
dt
dt
(4.21)
150
d F
= le
vP /O
dt
F A
z le
= l
2 er
F vP /O = e
(4.22)
(4.23)
2 er + le
aP /O = l
(4.24)
Then, adding Eq. (4.7) and Eq. (4.24), we obtain the acceleration of point P in
reference frame F as
F
2 er + le
x l
aP = xE
(4.25)
The acceleration of the center of mass of the system is then computed using
the expressions for F aO and F aP from Eqs. (4.7) and (4.25), respectively. In
particular, we have that
M F aO + m F aP
F
a=
(4.26)
M +m
Substituting the results of Eqs. (4.7) and (4.25) into Eq. (4.26), we obtain
F
a=
2 er + le
)
x + m(xE
x l
M xE
m 2
(4.27)
x+
l er + le
= xE
M +m
M +m
Kinetics
The free body diagram of the block is shown in Fig. 4-1.
R
F
N
Mg
Figure 4-1
Using Fig. 4-1, the forces acting on the block are given as
F
R
N
Mg
=
=
=
=
External Force
Reaction Force of Particle on Block
Reaction Force of Ground on Block
Force of Gravity
151
Now we have that
F = F Ex
(4.28)
R = Rer
(4.29)
Mg = MgEy
(4.31)
N = NEy
(4.30)
(4.32)
= Mx
N R cos + Mg
= 0
(4.34)
(4.35)
The free body diagram of the block-particle system is shown in Fig. 4-2.
(M + m)g
F
N
Figure 4-2
Using Fig. 4-2, the forces acting on the block-particle system are given as
F
= External Force
N
= Reaction Force of Ground on Block
(M + m)g = Force of Gravity
Now we have that
F = F Ex
(4.36)
(M + m)g = (M + m)gEy
(4.38)
N = NEy
(4.37)
152
(4.39)
a, we obtain
Setting FT equal to (M + m)F
+
F Ex + N + (M + m)g Ey = (M + m) x
m 2
l er + le
M +m
(4.40)
(4.41)
(4.42)
Substituting the expressions for er and e from Eqs. (4.3) and (4.4) into Eq. (4.42),
we obtain
h
2 (sin Ex cos Ey )
+ m l
F Ex + N + (M + m)g Ey = (M + m)x
i
(4.43)
+l(cos
Ex + sin Ey )
Eq. (4.43) simplifies to
h
i
2 sin + ml
cos Ex
ml
F Ex + N + (M + m)g Ey = (M + m)x
2 cos + ml
sin )Ey
+ (ml
(4.44)
Equating components in Eq. (4.44), we obtain the following two scalar equations:
F
N + (M + m)g
2 sin + ml
cos
ml
= (M + m)x
2 cos + ml
sin
= ml
(4.45)
(4.46)
(4.47)
The second differential equation is obtained by using Eqs. (4.34), (4.35) and
(4.46). Solving Eq. (4.46) for N, we obtain
2 cos + ml
sin (M + m)g
N = ml
(4.48)
(4.49)
153
Eq. (4.49) simplifies to
2 cos + ml
sin mg R cos = 0
ml
(4.50)
(4.51)
(4.52)
(4.53)
(4.54)
(4.55)
The system of two differential equations is then given from Eqs. (4.47) and (4.55)
as
2 sin + ml
cos
ml
(M + m)x
sin2 ml
2 cos sin + mg sin = F cos
cos ml
Mx
= F(4.56)
(4.57)
The system in Eqs. (4.56) and (4.57) can be written in a slightly more elegant
form as follows. Multiplying Eq. (4.56) by cos and subtracting the result from
Eq. (4.57), we obtain
+ mg sin = 0
cos + ml
mx
(4.58)
= F
= 0
(4.59)
(4.60)
154
Solution to Question 42
First, let F be a fixed reference frame. Then, choose the following coordinate
system fixed in reference frame F :
Origin at Location of Block
Ex To The Left
Ez Into Page
Ey = Ez Ex
(4.61)
Now in order to solve this problem we need to apply the principle of linear
impulse and momentum to the system and/or subsystems of the system. For
this problem, it is convenient to choose the following systems:
System 1: Ball Bearing
System 2: Block
System 3: Bullet and Ball Bearing
Application of Linear Impulse and Linear Momentum to Ball Bearing
Applying linear impulse and momentum to the ball bearing, we have that
F
Fm = m vm mF vm
(4.62)
Now the free body Diagram of the ball bearing is shown in Fig. 4-3 where
Fm
Figure 4-3
= v0 = v0 cos Ex v0 sin Ey
E + v E
=
vmx
x
my y
(4.63)
Also, let
Fm
F = Fx Ex + Fy Ey
(4.64)
Then, substituting the results of Eq. (4.63) and the result of Eq. (4.64) into
Eq. (4.62), we obtain
(4.65)
155
Rearranging, we have
(4.66)
= mvmx
mvmy
(4.67)
(4.68)
F = G F G
(4.69)
where F G and G are the linear momenta of the system before and after impact.
Now we have that
F
F
G = m F vm + M F vM
F
m vm
F
+ M vM
(4.70)
(4.71)
vM = vMx
Ex + vMy
Ey
Next, the free body diagram of the entire system is shown in Fig. 4-4 It is seen
P
Figure 4-4
where P
is the impulse
that the only impulse applied to the entire system is P
applied by the ground on the system. Therefore,
= PEy
F=P
(4.73)
Substituting the results of Eq. (4.63), Eq. (4.72), and Eq. (4.73) into Eq. (4.69), we
obtain
PEy = m(vmx
Ex + vmy
Ey ) + M(vMx
Ex + vMy
Ey ) m(v0 cos Ex v0 sin Ey )
(4.74)
156
= mvmx
+ MvMx
mv0 cos
P mv0 sin
mvmy
+ MvMy
(4.76)
(4.77)
Kinematic Constraints
We know that, because the bullet embeds itself in the block immediately after
impact the velocity of the bullet and the block must be the same. Therefore,
F
vm
= vM = v
(4.78)
v = vx Ex + vy Ey
(4.79)
Second, we know that the bullet and the block must move horizontally after
impact. Therefore,
vy = 0
(4.80)
Solving for the Impulse Exerted By Block on Ball Bearing During Impact
The impulse exerted by the block on the ball bearing can be solved for using the
results of Eq. (4.67), Eq. (4.68), Eq. (4.76), and Eq. (4.77). First, it is convenient
to solve for the post-impact velocity of the block and ball bearing. Because the
post-impact velocity of the block and the ball bearing are the same, we have
from Eq. (4.76) that
(4.81)
m
v0 cos
m+M
(4.82)
m
v0 cos
m+M
(4.83)
m
mv0 cos
m+M
(4.84)
157
Simplifying this last expression, we have that
Fx = mv0 cos
M
m+M
(4.85)
(4.86)
(4.87)
Fm =
F = mv0 cos
M
Ex + mv0 sin Ey
m+M
(4.88)
v =
Consequently,
F
vm
F
vM
=
=
m
v0 cos Ex
m+M
m
v0 cos Ex
m+M
m
v0 cos Ex
m+M
(4.89)
(4.90)
158
Question 43
A block of mass m is dropped from a height h above a plate of mass M as shown
in Fig. P4-3. The plate is supported by three linear springs, each with spring
constant K, and is initially in static equilibrium. Assuming that the compression
of the springs due to the weight of the plate is negligible, that the impact is
perfectly inelastic, that the block strikes the vertical center of the plate, and
that gravity acts downward, determine (a) the velocity of the block and plate
immediately after impact and (b) the maximum compression, xmax , attained by
the springs after impact.
h
M
Figure P 4-2
Solution to Question 43
Kinematics
Let F be a fixed reference frame. Then, choose the following coordinate system
fixed in reference frame F :
Ex
Ez
Ey
Origin at m at t = 0
=
Down
=
Out of Page
=
Ez Ex
Then the velocity of the block and plate in reference frame F are given, respectivley, as
F
v1
v2
= v1 Ex
= v2 Ex
(4.91)
(4.92)
159
The velocity of the center of mass of the block-plate system in reference frame
F is then given as
F
=
v
mv1 + Mv2
m F v1 + M F v2
==
Ex
m+M
m+M
(4.93)
Kinetics
Phase 1: During Descent of Block
The only force acting on the block during its descent is that of gravity. Since
gravity is conservative, we know that energy must be conserved. Consequently,
F
E(t0 ) = F E(t1 )
(4.94)
where t0 and t1 are the times of the start and end of the descent. Now we have
that
F
E = FT + FU
(4.95)
Since the block is dropped from rest, we have that
F
T (t0 ) = 0
(4.96)
Next, the kinetic energy of the block at the end of the descent is given as
F
T (t0 ) =
1 F
1
1
m v1 (t1 ) mF v1 (t1 ) = mv12 (t1 )
2
2
2
(4.97)
U (t0 ) = mg r1 (t0 )
(4.98)
where r1 (t0 ) is the position of the block at time t = t0 . Now since the origin of
the coordinate system is located at the block at t = 0, we know that r(t0 ) = 0.
Consequently,
F
U (t0 ) = 0
(4.99)
Finally, the potential energy at the end of the descent is given as
F
U (t1 ) = mg r1 (t1 )
(4.100)
Now since the block is dropped from a height h above the plate, we have that
r1 (t1 ) = hEx
(4.101)
(4.102)
160
0=
(4.103)
(4.104)
From Eq. (4.104), the velocity of the block in reference frame F at the end of the
descent is given as
q
F
v1 (t1 ) = 2ghEx
(4.105)
F = G(t1+ ) G(t1 )
(4.106)
Now, because the impact is assumed to occur instantaneously and neither gravity nor the spring can apply an instantaneous impulse, during impact there are
no external impulses applied to the system, i.e.,
F=0
(4.107)
(4.108)
Therefore,
F
G(t1+ ) = G(t1 )
G = (m + M)F v
(4.109)
G = (m + M)
mv1 + Mv2
Ex = (mv1 + Mv2 )Ex
m+M
(4.110)
Then, noting that the plate is motionless before impact and using the expression
for F v1 (t1 ) from Eq. (4.105), we have that
F
q
G(t1 ) = m 2ghEx
(4.111)
(4.112)
161
F
v2 (t1+ ) n v1 (t1+ ) n
v1 (t1 ) n v2 (t1 ) n
=0
(4.115)
v2 (t1+ ) n v1 (t1+ ) n = 0
(4.116)
Now for this problem is it seen that the direction of impact is along Ex , i.e., n =
Ex . Furthermore, since the velocities of the block and the plate are also along
Ex , we have that
F
F
v1 (t1+ ) n = v1 (t1+ )
(4.117)
v2 (t1+ ) n = v2 (t1+ )
(4.118)
v2 (t1+ ) v1 (t1+ ) = 0
(4.119)
v2 (t1+ ) = v1 (t1+ )
(4.120)
(4.121)
162
m q
2ghEx
(4.124)
m+M
Therefore, the post-impact velocities of the block and plate in reference frame
F are given as
m q
F
(4.125)
v1 (t1+ ) =
2ghEx
m+Mq
m
F
v2 (t1+ ) =
2ghEx
(4.126)
m+M
v(t1+ ) =
E = FT + FU
(4.127)
v = vEx
(4.128)
T =
1
1
(m + M)F v F v = (m + M)v 2
2
2
Next, the potential energy is due to the three springs and is given as
1
3
F
Us = 3
K( 0 )2 = K( 0 )2
2
2
(4.129)
(4.130)
(4.131)
Now since the springs are compressing in this phase, we know that 0 will
be less than zero for t > t1 . In order to account for the fact that 0 < 0,
let xmax = 0 (t2 ). Then the potential energy in the springs at the point of
maximum compression is given as
3
1
F
2
2
K((t2 ) 0 ) = Kxmax
(4.132)
Us (t2 ) = 3
2
2
163
Then the total potential energy at the point of maximum compression is given
as
3
F
2
U (t2 ) = (m + M)g(h + xmax ) + Kxmax
(4.133)
2
where we note that the potential energy due to gravity at t2 is different from
the potential energy due to gravity at t1 because the position of the particle and
block has changed from hEx to (h + xmax )Ex in moving from t1 to t2 . Now,
using the results from phase 2, we know at t1 that
2
m2 gh
1
m q
F
2gh =
T (t1 ) =
(m + M)
(4.134)
2
m+M
m+M
F
U (t1 ) = (m + M)gh
(4.135)
Then the total energy of the system at t1 is given as
F
(4.136)
T (t2 ) = 0
(4.137)
3
F
2
U (t2 ) = (m + M)g(h + xmax ) + Kxmax
2
(4.138)
where we note that the kinetic energy at t2 is zero because t2 is the time at
which the springs have attained their maximum compression. Then the total
energy of the system at t2 is given as
F
3
2
Kxmax
2
(4.139)
3
2
Kxmax
=0
2
(4.140)
(4.141)
2(m + M)gh
2(m + M)g
xmax
=0
3K
3K
(4.142)
Eq. (4.142) is a quadratic in xmax . The roots of Eq. (4.142) are given from the
quadratic formula as
s
2(m + M)g 2 8(m + M)gh
2(m + M)g
+
3K
3K
3K
(4.143)
xmax =
2
164
(4.144)
p
a a2 + 4ah
=
2
(4.145)
a=
Then Eq. (4.143) can be written as
xmax
(4.146)
Now since h and a are positive, we know that the quantity 1 + 4h/a must be
greater than unity. Consequently, one of the roots of Eq. (4.146) must be negative. Choosing the positive root, we obtain
q
a
xmax =
1 + 1 + 4h/a
(4.147)
2
Substituting the expression for a from Eq. (4.144), we obtain the maximum compression of the springs after impact as
s
"
#
6Kh
(m + M)g
1+ 1+
(4.148)
xmax =
3K
(m + M)g
165
Question 48
A particle of mass mA slides without friction along a fixed vertical rigid rod. The
particle is attached via a rigid massless arm to a particle of mass mB where mB
slides without friction along a fixed horizontal rigid rod. Assuming that is the
angle between the horizontal rod and the arm and that gravity acts downward,
determine the differential equation of motion for the system in terms of the
angle .
mB
O
mA
Figure P 4-3
Solution to Question 48
Before beginning the kinematics for this problem, it is important to know which
balance laws will be used. Since this problem consists of two particles, it is
convenient to use the following balance laws: (1) Newtons 2nd law and (2) a
moment balance. Since it is generally convenient to choose the center of mass
as a reference point, the moment balance will be performed relative to the center of mass. Consequently, we will need to compute the following kinematic
quantities: (1) the acceleration of the center of mass and (2) the rate of change
of angular momentum of the system relative to the center of mass.
Kinematics
Let F be a fixed reference frame. Then, choose the following coordinate system
fixed in reference frame F :
Ex
Ey
Ez
Origin at Point O
=
=
=
Along OA
Along OB
Ex Ey
166
Then the position of each particle is given in terms of the basis {Ex , Ey , Ez } as
= l sin Ex
rA
= l cos Ey
rB
(4.149)
(4.150)
r=
(4.151)
Substituting the expressions for rA and rB from Eq. (4.149) and Eq. (4.150), respectively, into Eq. (4.151), we obtain
r=
mA l sin Ex + mB l cos Ey
mA + m B
(4.152)
d
cos Ex
(rA ) = l
dt
F
d
sin Ey
=
(rA ) = l
dt
vA
vB
(4.153)
(4.154)
aA
aB
d F
cos
2 sin )Ex
vA = l(
dt
F
d F
sin +
2 cos )Ey
=
vB = l(
dt
(4.155)
(4.156)
a=
mA F a A + m B F a B
mA + mB
(4.157)
Substituting the results of Eq. (4.155) and Eq. (4.156) into Eq. (4.157), we obtain
the acceleration of the center of mass in reference frame F as
F
a=
cos
2 sin )Ex mB l(
sin +
2 cos )Ey
mA l(
mA + mB
(4.158)
d F
= (rA
H
r ) mA ( F a A F
a) + (rB
r) mB (F aB F
a)
dt
(4.159)
167
Now from Eqs. (4.149), (4.150), and (4.152) we have
mA l sin Ex + mB l cos Ey
mA + m B
mB l sin Ex mB l cos Ey
=
mA + mB
mA l sin Ex + mB l cos Ey
rB
r = l cos Ey
mA + m B
mA l sin Ex + mA l cos Ey
=
mA + m B
rA
r = l sin Ex
(4.160)
(4.161)
aA F
a =
a =
aB F
sin +
2 cos )Ex + mB l(
cos
2 sin )Ey
mB l(
(4.162)
mA + m B
sin +
2 cos )Ex mA l(
cos
2 sin )Ey
mA l(
(4.163)
mA + mB
The rate of change of angular momentum relative to the center of mass is then
given as
F
d F mB l cos Ex mB l sin Ey
=
H
dt
mA + mB
!
sin +
2 cos )Ex + mB l(
cos
2 sin )Ey
mB l(
mA
mA + m B
mA l cos Ex + mA l sin Ey
mA + mB
!
sin +
2 cos )Ex mA l(
cos
2 sin )Ey
mA l(
mB
mA + m B
(4.164)
(4.165)
d F
mA mB 2
=
H
l Ez
dt
mA + m B
(4.166)
Kinetics
The free body diagram of the system is shown in Fig. 4-5. It can be seen from
168
NA
Figure 4-5
(mA + mB )g
the free body diagram that the following three forces act on the system:
NA
= Reaction Force of Vertical Track on mA
NB
= Reaction Force of Horizontal Track on mB
(mA + mB )g = Force of Gravity at Center of Mass
Now we know that NA and NB act orthogonal to the horizontal and vertical
tracks, respectively, i.e.,
NA
NB
= NA Ey
= NB Ex
(4.167)
(4.168)
(4.169)
(4.170)
(4.171)
(4.172)
(4.173)
169
Equating components, we obtain the following two scalar equations:
NB + (mA + mB )g
NA
cos
2 sin )
= mA l(
sin +
2 cos )
= mB l(
(4.174)
(4.175)
Next, since gravity passes through the center of mass, the moment due to all
forces relative to the center of mass is due to NA and NB and is given as
= (rA
M
r) NA + (rB
r) NB
(4.176)
Substituting the results of Eqs. (4.160), (4.161), (4.161), (4.167), and (4.168) into
Eq. (4.176), we obtain
!
!
mB l sin Ex mB l cos Ey
mA l sin Ey + mA l cos Ey
=
M
NA Ey +
NB Ex
mA + mB
mA + mB
(4.177)
Eq. (4.177) simplifies to
=
M
mB NA l sin mA NB l cos
Ez
mA + mB
(4.178)
(4.179)
mB NA l sin mA NB l cos = mA mB l2
(4.180)
We can now use Eqs. (4.174), (4.175), and (4.180) to obtain the differential
equation of motion. First, multiplying Eq. (4.174) by mA l cos and multiplying
Eq. (4.175) by mB l sin , we obtain
mA NB l cos + mA (mA + mB )gl cos
mB NA l sin
2 2
2 sin ) cos
= mA
l ( cos
(4.181)
2 2
2
sin +
2 cos ) sin
= mB2 l2 (
(4.183)
2 2
2 sin ) cos
mA
l ( cos
Then, substituting mB NA l sin mA NB l cos from Eq. (4.180) into Eq. (4.183),
we obtain
mA (mA + mB )gl cos = m2 l2 (
sin +
2 cos ) sin
mA mB l 2
B
2 2
2 sin ) cos
mA
l ( cos
(4.184)
170
(4.185)
(4.187)
(4.188)
g
cos = 0 (4.190)
l
171
Question 417
R
Bm
A
m
2l
Figure P 4-12
This problem can be solved using many different approaches. For the purposes
of this solution, we will show the following three two most prominent of these
approaches: (1) using point O as the reference point or (2) using the center of
mass as the reference point. In order to apply all of these approaches, we will
need to compute the following kinematic quantities: (a) the acceleration of each
particle, the angular momentum of the system relative to point O, and (c) the
angular momentum of the system relative to the center of mass.
172
Kinematics
First, let F be a fixed reference frame. Then, choose the following coordinate
system fixed in reference frame F :
Ex
Ez
Ey
Origin at Point O
=
=
=
Along OC When = 0
Out of Page
Ez Ex
Next, let A be a reference frame that rotates with the dumbbell. Then, choose
the following coordinate system fixed in reference frame A:
er
ez
e
Origin at Point O
=
=
=
Along OC
Ez (= Out of Page )
ez er
The geometry of the bases {Ex , Ey , Ez } and {er , e , ez } is shown in Fig. 4-6 from
which we have that
e
Ez , ez
Ey
er
Ex
Figure 4-6
= cos er sin e
= sin er + cos e
(4.191)
(4.192)
= aer le
= aer + le
(4.194)
(4.195)
173
The velocity of each particle can then be obtained using the transport theorem
as
F
vA
vB
drA F A
+ rA
dt
A
drB F A
+ rB
=
dt
=
(4.196)
(4.197)
drA
dt
A
drB
dt
= 0
(4.198)
= 0
(4.199)
Furthermore,
F
F
z (aer le ) = le
r + ae
= e
z (aer + le ) = le
r + ae
= e
A rA
A
rB
(4.200)
(4.201)
vA
vA
r + ae
= le
r + ae
= le
(4.202)
(4.203)
The acceleration of each particle is then obtained from the transport theorem
as
F
aA
aB
d F F A F
vA + vA
dt
A
d F F A F
vB + vB
=
dt
(4.204)
(4.205)
d F
r + ae
= le
vA
dt
A
d F
r + ae
= le
vB
dt
(4.206)
(4.207)
Furthermore,
F
F
A F vA
A
vB
z (le
r + ae
) = a
2 er + l
2 e
= e
z (le
r + ae
) = a
2 er l
2 e
= e
(4.208)
(4.209)
aA
aB
a
2 )er + (a
+ l
2 )e
= (l
+ a
2 )er + (a
l
2 )e
= (l
(4.210)
(4.211)
174
Using the accelerations obtained in Eq. (4.210) and Eq. (4.211), the angular
momentum of the system relative to the (inertially fixed) point O is obtained as
F
HO = (rA rO ) mA F vA + (rB rO ) mB F vB
(4.212)
Noting that rO = 0 and substituting the results from Eq. (4.202) and Eq. (4.203)
into Eq. (4.212), we obtain
F
r +ae
)+(aer +le )mB (le
r +ae
) (4.213)
HO = (aer le )mA (le
(4.214)
z
HO = 2m(a2 + l2 )e
(4.215)
Similarly, the angular momentum of the system relative to the center of mass
of the system is given as
F
= (rA
) + (rB
H
r) mA (F vA F v
r ) mB ( F v B F v A )
(4.216)
r=
m(aer le ) + m(aer + le )
mA rA + mB rB
=
= aer
mA + mB
2m
(4.217)
Therefore,
rA
r = aer le aer = le
rB
r = aer + le aer = le
(4.218)
(4.219)
(4.220)
=
v
r F A
d
r Ad
=
+
r
dt
dt
(4.221)
d
r
=0
dt
(4.222)
z aer = ae
A
r = e
(4.223)
= ae
v
(4.224)
Furthermore,
F
Consequently,
F
175
We then have that
r + ae
ae
= le
r
= le
vA F v
F
r + ae
ae
= le
r
= le
vB F v
(4.225)
(4.226)
(4.227)
Substituting the results of Eq. (4.218), Eq. (4.219), Eq. (4.225), Eq. (4.226), and
Eq. (4.217) into Eq. (4.216), we obtain
F
r )+le mB (le
r ) = mA l2 e
z +mB l2 e
z = (mA +mB )l2 e
z
= le mA (le
H
(4.228)
Again, noting that mA = mB = m, Eq. (4.228) simplifies to
F
z
= 2ml2 e
H
(4.229)
Kinetics
The free body diagram of the system is shown in Fig. 4-7. It can be seen that the
B
NB
A
2mg
NA
Figure 4-7
= NA uA
= NB uB
(4.230)
where uA and uB are the directions orthogonal to the track at points A and
B, respectively. Now, since the track is circular, we know that the directions
176
orthogonal to the track at points A and B are along rA and rB , respectively, i.e.,
uA
uB
rA
krA k
rB
krB k
(4.231)
(4.232)
rA
krA k
rB
= NB
krB k
= NA
(4.233)
(4.234)
(4.235)
(4.236)
With the resolution of forces completed, we can now proceed to solve the
problem using the two approaches stated at the beginning of this solution,
namely (1) applying a moment balance using point O as the reference point
and (2) applying a force balance and a moment balance using the center of mass
as the reference point.
Method 1: Point O as Reference Point
Since O is a point fixed in the inertial reference frame F , we have that
F
d F
HO = MO
dt
(4.237)
d F
z
HO = 2m(a2 + l2 )e
dt
(4.238)
Next, using the free body diagram of Fig. 4-7), we have have the moment relative
to point O as
MO = (rA rO ) NA + (rB rO ) NB + (rg rO ) 2mg
(4.239)
177
Now since rO = 0, Eq. (4.239) can be written as
MO = rA NA + rB NB + rg 2mg
(4.240)
Now from Eq. (4.233) and Eq. (4.234) we have that the forces NA and NB lie in
the direction of rA and rB , respectively. Consequently, we have that
rA NA
= 0
(4.241)
= 0
(4.242)
MO = rg 2mg
(4.243)
rB NB
Therefore, MO reduces to
Now we note that gravity acts at the center of mass, i.e., rg =
r = aer . Using this
last fact together with the expression for 2mg from Eq. (4.236), we have MO as
MO = aer (2mg cos er 2mg sin e ) = 2mga sin ez
(4.244)
F
Equating MO from Eq. (4.244) with d F HO /dt from Eq. (4.238), we obtain
z = 2mga sin ez
2m(a2 + l2 )e
(4.245)
ag
sin = 0
+ l2
a2
(4.246)
(4.247)
(4.248)
Using the expressions for NA and NB from Eq. (4.233) and Eq. (4.234), respectively, we have NA and NB as
NA
NB
aer le
rA
= NA
krA k
a2 + l2
rB
aer + le
= NB
= NB
krB k
a2 + l2
= NA
(4.249)
(4.250)
Then, adding the expressions in Eq. (4.249) and Eq. (4.250) to the expression for
2mg from Eq. (4.236), we have that
aer le
aer + le
F = NA
+ NB
+ 2mg cos er 2mg sin e
2
2
a +l
a2 + l2
(4.251)
178
a=
d F Ad F F A F
=
+ v
v
v
dt
dt
(4.253)
d F
v
= ae
dt
F A
z ae
= a
2 er
= e
Fv
(4.254)
(4.255)
2 er + ae
a = a
(4.256)
(4.257)
2
= 2ma
(4.258)
= 2ma
(4.259)
=
H
(4.260)
M
dt
F
F
/dt
from Eq. (4.229), we obtain d F H
First, using the expression for H
F
d F
z
= 2ml2 e
H
dt
(4.261)
Next, since gravity passes through the center of mass, the moment due to all
forces relative to the center of mass of the system is given as
= (rA
M
r) NA + (rB
r) NB
(4.262)
179
Then, using the expressions for rA
r and rB
r from Eq. (4.218) and Eq. (4.219),
respectively, and the expressions for NA and NB from Eq. (4.249) and Eq. (4.250),
as
respectively, we obtain M
+ le
ae le
NB ae
= le NA r
r
+ le
M
2
2
2
a +l
a + l2
(4.263)
al
(NA NB )
= 2ml2
2
2
a +l
(4.266)
Eq. (4.259), Eq. (4.259), and Eq. (4.266) can now be used together to obtain
the differential equation. First, multiplying Eq. (4.259) by a, we obtain
al
(4.267)
(4.268)
ag
sin = 0
a2 + l2
(4.269)
180