EGR

2513.001 and

MT Exam #2

Spring 2014
Review Problems
002

Review Problems
Example 1 (Section 16.8)
Given:
At the instant shown, boat A
travels with a speed of 15
m/s, which is decreasing at 3
m/s
2
, while boat B travels
with a speed of 10 m/s,
which is increasing at 2 m/s
2
.
Find:
The velocity and acceleration
of boat A with respect to boat
B at this instant.
20 m
Review Problems
Example 1 (continued)
Solution:
Reference Frame: The xyz
rotating reference frame is
attached to boat B and
coincides with the XYZ fixed
reference frame at the instant
considered, Fig. a. Since
boats A and B move along the
circular paths, their normal

152

50
2
components of acceleration are

= = = 4.5
/

102

50
2
and

= = = 2.0
/ .

Review
Example 1 (continued)
Solution:
Problems
Thus, the motion of boats
frame are
A and B with respect to the XYZ
= 15 /

= 4.5 3

2

Also, the angular velocity and

= 10
/

= 2 2
/
2

angular acceleration of the

xyz reference frame with respect to
frame are
the XYZ reference

10

50

2

50

=
=

=
= 0.2
/

= 0.04
/

= 0.2
/

= 0.04
/

2




=

Review Problems
Example 1 (continued)
Solution:
And the position of boat A with respect
to B is

/

= 20

Velocity: Applying the relative velocity equation,
= +

/

+

15 = 10 + 0.2 20
+

15 = 14
+

= 29
/
Acceleration: Applying the relative acceleration equation,

= +

/

+ 2

+
4.5 3

=
2 2 + 0.04 20 + 0.2

0.2
20
+ 2 0.2

29
+

= 8.8 2.8
+

4.3 0.2
/
2

=

Review Problems
Example 2 (Section 13.6)
Given:
The arm is rotating at a rate of
= 5
rad/s when
= 2
rad/s
2

and
= 90
.

Find:

The normal force it must exert
on the 0.5-kg particle if the
particle is confined to move
along the slotted path defined
by the horizontal hyperbolic
spiral = 0.2
m.
Review Problems
Example 2 (continued)
Solution:

=

=

=
rad
2
5
rad/s

2
rad/s
2

= 0.2
=
0.12732 m
= 0.2
2
=
0.40528
m/s
2
= 0.2 2

2

m/s
2


+ = 2.41801
2
2
= 0.7651 m/s
2
=

= 2.41801 0.12732 5
= + 2
= 0.12732 2
+ 2 0.40528 5 = 3.7982 m/s
2

Review Problems
32.4816
Example 2 (continued)
= -57.5184
F
0.2

tan
=
= =

0.2

2

r
NP

=
tan
1

= 57.5184
2

+

= :
cos 32.4816
= 0.5 0.7651
=
: +

sin 32.4816 =
0.5
NP
3.7982
Hence,
= 0.453
N

F
= 1.66
N
Therefore, both
NP
and

F are acting
opposite to the assumed directions.
Why?


Review Problems
Example 3 (Section 13.6)
Given:
The pilot of an airplane
executes a vertical loop which
in part follows the path of a
cardioid, = 600
1
+ cos

ft.
His speed at A

= 0 is a
constant

= 80
ft/s. He
weighs 150 lb
f
.

Find:
The vertical force the seat belt
must exert on him to hold
him to his seat when the plane is upside down at A.
Review Problems
Example 3 (continued)
Solution:
r = 600 1 + cos

|
=0

= 1200 ft
= 600 sin

|
=0

= 0
= 600 sin 600
cos
2

= 600

2

|
=0

2

2

80

2

=

2
+

(1)
yields
2
= 0 + 1200

=
0.06667
Also by taking the time derivative of Eq. (1)
2 =
2 + 2

+

yields
0 = 0 + 0 + 2

2

=
0
Review Problems
Example 3 (continued)
Thus,
=
2
=
600 0.06667

= + 2
= 0 + 0 = 0
2 2
= 8 ft/s
2
1200 0.06667
Therefore,
yields
150
+
=

:
150
=
8
=
113
lb
f

32.2
Review Problems
Example 4 (Section 17.5)
Given:
The
100
spool has a mass of
of kg and a

= 0.3
radius
gyration m. The
and
and
coefficients of static
kinetic friction at A are
= 0.2
and

= 0.15
.

Find:

The angular acceleration of the spool if P = 600 N.
Review Problems
Example 4 (continued)
Solution:

+

+

= : 600 +
= 100
(1)
(2)

= :
100 9.81
= 0
2
+ = :
600 0.25

0.4
= 100 0.3

(3)
Assuming a no slip condition at A, then

= 0.4.
Solving
Eqs. (1) and (3) simultaneously for FA and
then Eq. (2) for NA, we have

and
aG
and
= 6.24
m/s
2

=
981
N

= 24.0
N

Since

= 0.2 981 = 196.2 N > 24.0 N, the no-

slip assumption checks.
= 15.6
rad/s
2

Review Problems
Example 4 (continued)
Now, lets consider the effect of two potential
up this problem.
Case 1 Friction Force in Wrong Direction
errors in setting
Consider the following FBD:
Still assuming
= 0.4
but that F
A
is
in the

opposite direction,
600 = 40

150 + 0.4 = 9

Eqs. (1) and (3) become,
(1a)
(3a)
F
A
Solving these simultaneously, we have
= 15.6
rad/s
2

= 6.24
m/s
2


=
24.0
N

it shows that

Which is identical to our original answer since
F
A
was chosen in the wrong direction. Therefore, this error
is self-correcting.
Review Problems
Example 4 (continued)
Case 2

and

in Inconsistent
Directions
Assuming
= 0.4
(i.e.,

and

are in inconsistent
directions), Eqs. (1) and (3)
600 + = 100
= 40

150 0.4 = 9
become,
(1b)
(3b)
we have
= 600.0
N

Solving these equations simultaneously,
= 12.2
rad/s
2

= 4.88
m/s
2

Since
>

,

the no-slip assumption is incorrect and,
therefore,
= = 0.15
=
(0.15)(981)

= 147.15
we have
N.
Substituting this result into Eqs. (1 b) and (3b),
= 18.68
rad/s

= 10.13
rad/s
(1c)

(3c)
Review Problems
Example 4 (continued)
Case 2 (continued)
Therefore, there is no solution (i.e. the two lines do not
intersect) and, not surprisingly, the final results do not agree
with the correct solution. Therefore, the moral to this case is
to follow the admonition given in the Section 17.5 Lecture,
namely,
Be consistent in using the assumed directions. The
direction of a
G
must be consistent with .
Review Problems
Example 5 (Section 17.5)
Given:
Assume the 50-lb roller is a
uniform cylinder and the
friction coefficients between
the roller and the ground
are
= 0.25
and

= 0.2
.

Find:

(a) The maximum force P that can be applied to the handle
so that the roller rolls on the ground without slipping
(b) The angular acceleration
this P
acceleration
P = 77 lb
f
.

and
acceleration of the
roller

with

(c) The angular
and
acceleration of the
roller

with

Review Problems
Example 5 (continued)
Solution:
(a) and (b)
Equations of Motion: The
the mass moment of inertia of
roller about its mass
50
center is
1
1

2
2 2 2

+

=
=
1.5 = 1.7469 slugft . Therefore,
2 32.2
50

=

: cos 30
=

(1)
(2)
(3)
slipping,
(4)
(5)
32.2
+
=

: sin 30 50
= 0
+ =
:

Since the roller is

=
= 1.5

=
= 0.25
1.5 = 1.7469

required to be on the verge of
Review Problems
Example 5 (continued)
Solving Eqs. (1) through (5) yields
= 18.93
rad/s
2

= 76.37
lb
f

= 88.5
lb
f

=
28.39
ft/s
2

= 22.05
lb
f

(c) EOMs

Since P >
76.37
,

the roller is slipping. If we set P = 77 lb
f

and
= = 0.2
in
Eqs. (1) and

following EOMs:

(3), we have the
50
77 cos 30 0.2
=

(1)
(2)
(3)

32.2
77 sin 30 50 = 0 =
88.5
0.2
1.5
= 1.7469

Review Problems
Example 5 (continued)
(c) continued
Using known values
yields
and solving Eqs. (1) through (3)
= 15.19
rad/s
2

= 77.0
lb
f

= 88.5
lb
f

= 31.54
ft/s
2

= 17.7
lb
f
Comparing these
slipping causes
results to the no-slip results tells us that
the rollers translational acceleration to
increase and its rotational acceleration to decrease which is
intuitively correct since the frictional force, resisting the
translational motion and causing the rotation, is reduced.