ch13 Dynamics

on them the ability predict the motion of the Education, bottles they transport. Unpublished Work 2007 by R. C. Hibbeler.
. To and be published by to Pearson Prentice Hall, Pearson Inc., Upper Saddle River, New Jersey. All rights reserved. This publication is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department.
The design of conveyors for a bottling plant requires knowledge of the forces that act
Kinetics of a Particle: Force and Acceleration

CHAPTER OBJECTIVES
To state Newtons Laws of Motion and Gravitational Attraction and to

define mass and weight.
To analyze the accelerated motion of a particle using the equation of

motion with different coordinate systems.
To investigate central-force motion and apply it to problems in space

mechanics.
13.1 Newtons Laws of Motion

Many of the earlier notions about dynamics were dispelled after 1590 when Galileo performed experiments to study the motions of pendulums and falling bodies. The conclusions drawn from these experiments gave some insight as to the effects of forces acting on bodies in motion. The general laws of motion of a body subjected to forces were not known, however, until 1687, when Isaac Newton first presented three basic laws governing the motion of a particle. In a slightly reworded form, Newtons three laws of motion are First Law: A particle originally at rest, or moving in a straight line with a constant velocity, will remain in this state provided the particle is not subjected to an unbalanced force. Second Law: A particle acted upon by an unbalanced force F experiences an acceleration a that has the same direction as the force and a magnitude that is directly proportional to the force.* Third Law: The mutual forces of action and reaction between two particles are equal, opposite, and collinear.
*Stated another way, the unbalanced force acting on the particle is proportional to the time rate of change the particles linear momentum. See footnote on next page. Hall, Pearson Education, Inc., Upper Saddle River,101 Unpublished Work of 2007 by R. C. Hibbeler. To be published by Pearson Prentice New Jersey. All rights reserved. This publication is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department.
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A C C E L E R AT I O N
The first and third laws were used extensively in developing the concepts of statics. Although these laws are also considered in dynamics, it is Newtons second law of motion that forms the basis for most of this study, since this law relates the accelerated motion of a particle to the forces that act on it. Measurements of force and acceleration can be recorded in a laboratory so that in accordance with the second law, if a known unbalanced force F is applied to a particle, the acceleration a of the particle may be measured. Since the force and acceleration are directly proportional, the constant of proportionality, m, may be determined from the ratio m = F> a.* The positive scalar m is called the mass of the particle. Being constant during any acceleration, m provides a quantitative measure of the resistance of the particle to a change in its velocity. If the mass of the particle is m, Newtons second law of motion may be written in mathematical form as F = ma This equation, which is referred to as the equation of motion, is one of the most important formulations in mechanics.* As previously stated, its validity is based solely on experimental evidence. In 1905, however, Albert Einstein developed the theory of relativity and placed limitations on the use of Newtons second law for describing general particle motion. Through experiments it was proven that time is not an absolute quantity as assumed by Newton; as a result, the equation of motion fails to predict the exact behavior of a particle, especially when the particles speed approaches the speed of light 10.3 Gm> s2. Developments of the theory of quantum mechanics by Erwin Schrdinger and others indicate further that conclusions drawn from using this equation are also invalid when particles are the size of an atom and move close to one another. For the most part, however, these requirements regarding particle speed and size are not encountered in engineering problems, so their effects will not be considered in this book.
*Recall that the units of force in the SI system and mass in the FPS system are derived from this equation, where N = kg # m> s2 and slug = lb # s2> ft (see Sec. 1.3 of Statics). If, however, the units of force, mass, length, and time were all selected arbitrarily, then it is necessary to write F = kma, where k (a dimensionless constant) would have to be determined experimentally in order to preserve the equality. *Since m is constant, we can also write F = d1mv2> dt, where mv is the particles linear momentum.
Unpublished Work 2007 by R. C. Hibbeler. To be published by Pearson Prentice Hall, Pearson Education, Inc., Upper Saddle River, New Jersey. All rights reserved. This publication is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department.
13.1 NEWTONS LAWS OF MOTION
103
Newtons Law of Gravitational Attraction. Shortly after

formulating his three laws of motion, Newton postulated a law governing the mutual attraction between any two particles. In mathematical form this law can be expressed as F = G where F = force of attraction between the two particles G = universal constant of gravitation; according to experimental evidence G = 66.73110 -122 m3>1kg # s22 m1 , m2 = mass of each of the two particles r = distance between the centers of the two particles Any two particles or bodies have a mutually attractive gravitational force acting between them. In the case of a particle located at or near the surface of the earth, however, the only gravitational force having any sizable magnitude is that between the earth and the particle. This force is termed the weight and, for our purpose, it will be the only gravitational force considered. m1m2 r2 (131)
Mass and Weight. Mass is a property of matter by which we can
compare the response of one body with that of another. As indicated above, this property manifests itself as a gravitational attraction between two bodies and provides a quantitative measure of the resistance of matter to a change in velocity. It is an absolute quantity since the measurement of mass can be made at any location. The weight of a body, however, is not absolute since it is measured in a gravitational field, and hence its magnitude depends on where the measurement is made. From Eq. 131, we can develop a general expression for finding the weight W of a particle having a mass m1 = m. Let m2 be the mass of the earth and r the distance between the earths center and the particle. Then, if g = Gm2> r2, we have W = mg By comparison with F = ma, we term g the acceleration due to gravity. For most engineering calculations g is measured at a point on the surface of the earth at sea level, and at a latitude of 45, which is considered the standard location. The mass and weight of a body are measured differently in the SI and FPS systems of units, and the method of defining these units should be thoroughly understood.
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m (kg)
m W g (slug)
a g (m/s2)
a g (ft/s2)
W mg (N) SI system (a)
W (lb) FPS system (b)
Fig. 131
SI System of Units. In the SI system the mass of the body is specified in kilograms, and the weight must be calculated using the equation of motion, F = ma. Hence, if a body has a mass m (kg) and is located at a point where the acceleration due to gravity is g 1m> s22, then the weight is expressed in newtons as W = mg 1N2, Fig. 131a. In particular, if the body is located at the standard location, the acceleration due to gravity is g = 9.80665 m> s2. For calculations, the value g = 9.81 m> s2 will be used, so that
W = mg 1N2 1g = 9.81 m> s22 (132)
Therefore, a body of mass 1 kg has a weight of 9.81 N; a 2-kg body weighs 19.62 N; and so on.
FPS System of Units. In the FPS system the weight of the body is
specified in pounds, and the mass must be calculated from F = ma. Hence, if a body has a weight W (lb) and is located at a point where the acceleration due to gravity is g 1ft> s22 then the mass is expressed in slugs as m = W> g (slug), Fig. 131b. Since the acceleration of gravity at the standard location is approximately 32.2 ft> s2 1 = 9.81 m> s22, the mass of the body measured in slugs is m = W 1slug2 1g = 32.2 ft> s22 g (133)
Therefore, a body weighing 32.2 lb has a mass of 1 slug; a 64.4-lb body has a mass of 2 slugs; and so on.
13.2 THE EQUATION OF MOTION
105
13.2 The Equation of Motion

When more than one force acts on a particle, the resultant force is determined by a vector summation of all the forces; i.e., FR = F. For this more general case, the equation of motion may be written as F = ma (134)
To illustrate application of this equation, consider the particle P shown in Fig. 132a, which has a mass m and is subjected to the action of two forces, F1 and F2 . We can graphically account for the magnitude and direction of each force acting on the particle by drawing the particles free-body diagram, Fig. 132b. Since the resultant of these forces produces the vector ma, its magnitude and direction can be represented graphically on the kinetic diagram, shown in Fig. 132c.* The equal sign written between the diagrams symbolizes the graphical equivalency between the free-body diagram and the kinetic diagram; i.e., F = ma.* In particular, note that if FR = F = 0, then the acceleration is also zero, so that the particle will either remain at rest or move along a straight-line path with constant velocity. Such are the conditions of static equilibrium, Newtons first law of motion.
F2 a P F1 (a) F2 FR F F1 Free-body diagram (b) Kinetic diagram (c) P
ma
Fig. 132
*Recall the free-body diagram considers the particle to be free of its surroundings and shows all the forces acting on the particle. The kinetic diagram pertains to the particles motion as caused by the forces. The equation of motion can also be rewritten in the form F - ma = 0. The vector - ma is referred to as the inertia force vector. If it is treated in the same way as a force vector, then the state of equilibrium created is referred to as dynamic equilibrium. This method for application is often referred to as the DAlembert principle, named after the French mathematician Jean le Rond dAlembert. Unpublished Work 2007 by R. C. Hibbeler. To be published by Pearson Prentice Hall, Pearson Education, Inc., Upper Saddle River, New Jersey. All rights reserved. This publication is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department.
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is applied, it is required that measurements of the acceleration be made from a Newtonian or inertial frame of reference. Such a coordinate system does not rotate and is either fixed or translates in a given direction with a constant velocity (zero acceleration). This definition ensures that the particles acceleration measured by observers in two different inertial frames of reference will always be the same. For example, consider the particle P moving with an absolute acceleration a P along a straight path as shown in Fig. 133. If the observer is fixed in the inertial x, y frame of reference, this acceleration, a P , will be measured by the observer regardless of the direction and magnitude of the velocity vO of the frame of reference. On the other hand, if the observer is fixed in the noninertial x , y frame of reference, Fig. 133, the observer will not measure the particles acceleration as a P . Instead, if the frame is accelerating at a O the particle will appear to have an acceleration of a P>O = a P - a O . Also, if the frame is rotating, as indicated by the curl, then the particle will appear to move along a curved path, in which case it will appear to have other components of acceleration (see Sec. 16.8). In any case, the measured acceleration from this observer cannot be used in Newtons law of motion to determine the forces acting on the particle. When studying the motions of rockets and satellites, it is justifiable to consider the inertial reference frame as fixed to the stars, whereas dynamics problems concerned with motions on or near the surface of the earth may be solved by using an inertial frame which is assumed fixed to the earth. Even though the earth both rotates about its own axis and revolves about the sun, the accelerations created by these rotations are relatively small and can be neglected in most computations.
y
Inertial Frame of Reference. Whenever the equation of motion
y aO O aP P vO O Inertial frame of reference x Path of particle x Noninertial frame of reference
Fig. 133
13.2 THE EQUATION OF MOTION
107
We are all familiar with the sensation one feels when sitting in a car that is subjected to a forward acceleration. Often people think this is caused by a force which acts on them and tends to push them back in their seats; however, this is not the case. Instead, this sensation occurs due to their inertia or the resistance of their mass to a change in velocity. Consider the passenger who is strapped to the seat of a rocket sled. Provided the sled is at rest or is moving with constant velocity, then no force is exerted on his back as shown on his free-body diagram.
N2
N1 At rest or constant velocity
When the thrust of the rocket engine causes the sled to accelerate, then the seat upon which he is sitting exerts a force F on him which pushes him forward with the sled. In the photo, notice that the inertia of his head resists this change in motion (acceleration), and so his head moves back against the seat and his face, which is nonrigid, tends to distort.
N2
N1 Acceleration
Upon deceleration the force of the seatbelt F tends to pull his body to a stop, but his head leaves contact with the back of the seat and his face distorts forward, again due to his inertia or tendency to continue to move forward. No force is pulling him forward, although this is the sensation he receives.
N2
N1 Deceleration Unpublished Work 2007 by R. C. Hibbeler. To be published by Pearson Prentice Hall, Pearson Education, Inc., Upper Saddle River, New Jersey. All rights reserved. This publication is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department.
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13.3 Equation of Motion for a System

of Particles
The equation of motion will now be extended to include a system of n particles isolated within an enclosed region in space, as shown in Fig. 134a. In particular, there is no restriction in the way the particles are connected, so the following analysis applies equally well to the motion of a solid, liquid, or gas system. At the instant considered, the arbitrary ith particle, having a mass mi , is subjected to a system of internal forces and a resultant external force. The resultant internal force, represented symbolically as fi , is determined from the forces which the other particles exert on the ith particle. Usually these forces are developed by direct contact, although the summation extends over all n particles within the dashed boundary. The resultant external force Fi represents, for example, the effect of gravitational, electrical, magnetic, or contact forces between the ith particle and adjacent bodies or particles not included within the system. The free-body and kinetic diagrams for the ith particle are shown in Fig. 134b. Applying the equation of motion yields F = ma; Fi + fi = mia i
When the equation of motion is applied to each of the other particles of the system, similar equations will result. If all these equations are added together vectorially, we obtain Fi + fi = mia i
z Fi fi ri G rG Fi x Inertial coordinate system (a) y fi Free-body diagram (b) i
mi ai Kinetic diagram
Fig. 134
13.3 EQUATION OF MOTION FOR A SYSTEM OF PARTICLES
109
The summation of the internal forces, if carried out, will equal zero, since internal forces between particles all occur in equal but opposite collinear pairs. Consequently, only the sum of the external forces will remain, and therefore the equation of motion, written for the system of particles, becomes Fi = mia i (135)
If rG is a position vector which locates the center of mass G of the particles, Fig. 134a, then by definition of the center of mass, mrG = miri , where m = mi is the total mass of all the particles. Differentiating this equation twice with respect to time, assuming that no mass is entering or leaving the system, yields ma G = mia i Substituting this result into Eq. 135, we obtain F = ma G (136)
Hence, the sum of the external forces acting on the system of particles is equal to the total mass of the particles times the acceleration of its center of mass G. Since in reality all particles must have a finite size to possess mass, Eq. 136 justifies application of the equation of motion to a body that is represented as a single particle.
Important Points
The equation of motion is based on experimental evidence and
is valid only when applied from an inertial frame of reference. The equation of motion states that the unbalanced force on a particle causes it to accelerate. An inertial frame of reference does not rotate, rather it has axes that either translate with constant velocity or are at rest. Mass is a property of matter that provides a quantitative measure of its resistance to a change in velocity. It is an absolute quantity. Weight is a force that is caused by the earths gravitation. It is not absolute; rather it depends on the altitude of the mass from the earths surface.
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13.4 Equations of Motion: Rectangular

Coordinates
When a particle is moving relative to an inertial x, y, z frame of reference, the forces acting on the particle, as well as its acceleration, may be expressed in terms of their i, j, k components, Fig. 135. Applying the equation of motion, we have F = ma
Fz P Fx z x x y Fy
Fx i + Fy j + Fz k = m1ax i + ay j + az k2
For this equation to be satisfied, the respective i, j, k components on the left side must equal the corresponding components on the right side. Consequently, we may write the following three scalar equations:
y
Fx = max Fy = may Fz = maz
(137)
Fig. 135
In particular, if the particle is constrained to move only in the xy plane, then the first two of these equations are used to specify the motion.
Procedure for Analysis

The equations of motion are used to solve problems which require a relationship between the forces acting on a particle and the accelerated motion they cause. Free-Body Diagram. Select the inertial coordinate system. Most often, rectangular or x, y, z coordinates are chosen to analyze problems for which the particle has rectilinear motion. Once the coordinates are established, draw the particles free-body diagram. Drawing this diagram is very important since it provides a graphical representation that accounts for all the forces 1 F2 which act on the particle, and thereby makes it possible to resolve these forces into their x, y, z components. The direction and sense of the particles acceleration a should also be established. If the senses of its components are unknown, for mathematical convenience assume that they are in the same direction as the positive inertial coordinate axes. The acceleration may be represented as the ma vector on the kinetic diagram.* Identify the unknowns in the problem.
*It is a convention in this text always to use the kinetic diagram as a graphical aid when developing the proofs and theory. The particles acceleration or its components will be shown as blue colored vectors near the free-body diagram in the examples. Unpublished Work 2007 by R. C. Hibbeler. To be published by Pearson Prentice Hall, Pearson Education, Inc., Upper Saddle River, New Jersey. All rights reserved. This publication is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department.
13.4 EQUATIONS OF MOTION: RECTANGULAR COORDINATES
111
Equations of Motion.
If the forces can be resolved directly from the free-body diagram, apply
the equations of motion in their scalar component form. If the geometry of the problem appears complicated, which often occurs in three dimensions, Cartesian vector analysis can be used for the solution. Friction. If a moving particle contacts a rough surface, it may be necessary to use the frictional equation, which relates the coefficient of kinetic friction mk to the magnitudes of the frictional and normal forces Ff and N acting at the surfaces of contact, i.e., Ff = mkN. Remember that Ff always acts on the free-body diagram such that it opposes the motion of the particle relative to the surface it contacts. If the particle is on the verge of relative motion then the coefficient of static friction should be used. Spring. If the particle is connected to an elastic spring having negligible mass, the spring force Fs can be related to the deformation of the spring by the equation Fs = ks. Here k is the springs stiffness measured as a force per unit length, and s is the stretch or compression defined as the difference between the deformed length l and the undeformed length l0 , i.e., s = l - l0 .
Kinematics.
If the velocity or position of the particle is to be found, it will be
necessary to apply the proper kinematic equations once the particles acceleration is determined from F = ma. If acceleration is a function of time, use a = dv> dt and v = ds> dt which, when integrated, yield the particles velocity and position. If acceleration is a function of displacement, integrate a ds = v dv to obtain the velocity as a function of position. 1 If acceleration is constant, use v = v0 + ac t, s = s0 + v0t + 2 ac t2, 2 2 v = v0 + 2ac1s - s02 to determine the velocity or position of the particle. If the problem involves the dependent motion of several particles, use the method outlined in Sec. 12.9 to relate their accelerations. In all cases, make sure the positive inertial coordinate directions used for writing the kinematic equations are the same as those used for writing the equations of motion; otherwise, simultaneous solution of the equations will result in errors. If the solution for an unknown vector component yields a negative scalar, it indicates that the component acts in the direction opposite to that which was assumed.
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EXAMPLE 13.1
P 400 N 30
The 50-kg crate shown in Fig. 136a rests on a horizontal plane for which the coefficient of kinetic friction is mk = 0.3. If the crate is subjected to a 400-N towing force as shown, determine the velocity of the crate in 3 s starting from rest. SOLUTION Using the equations of motion, we can relate the crates acceleration to the force causing the motion. The crates velocity can then be determined using kinematics. Free-Body Diagram. The weight of the crate is W = mg = 50 kg 19.81 m> s22 = 490.5 N. As shown in Fig. 136b, the frictional force has a magnitude F = mkNC and acts to the left, since it opposes the motion of the crate. The acceleration a is assumed to act horizontally, in the positive x direction. There are two unknowns, namely NC and a.
x
(a)
y a
490.5 N 400 N 30
F 0.3 NC NC (b)
Equations of Motion. Using the data shown on the free-body diagram, we have + F = ma ; : 400 cos 30 - 0.3NC = 50a (1) x x + c Fy = may ; NC - 490.5 + 400 sin 30 = 0 (2) Solving Eq. 2 for NC , substituting the result into Eq. 1, and solving for a yields NC = 290.5 N a = 5.19 m> s2 Kinematics. Note that the acceleration is constant, since the applied force P is constant. Since the initial velocity is zero, the velocity of the crate in 3 s is + 2 1: v = v0 + act = 0 + 5.19132 Ans. = 15.6 m> s :
490.5 N 400 N 30
Fig. 136
(c)
50a
F 0.3 NC NC
NOTE: We can also use the alternative procedure of drawing the crates free-body and kinetic diagrams, Fig. 136c, prior to applying the equations of motion.
113
EXAMPLE 13.2
A 10-kg projectile is fired vertically upward from the ground, with an initial velocity of 50 m> s, Fig. 137a. Determine the maximum height to which it will travel if (a) atmospheric resistance is neglected; and (b) atmospheric resistance is measured as FD = 10.01v22 N, where v is the speed at any instant, measured in m> s. SOLUTION In both cases the known force on the projectile can be related to its acceleration using the equation of motion. Kinematics can then be used to relate the projectiles acceleration to its position. Part (a) Free-Body Diagram. As shown in Fig. 137b, the projectiles weight is W = mg = 1019.812 = 98.1 N. We will assume the unknown acceleration a acts upward in the positive z direction. Equation of Motion. + c Fz = maz ; - 98.1 = 10a, a = - 9.81 m> s
2
(a)
The result indicates that the projectile, like every object having free-flight motion near the earths surface, is subjected to a constant downward acceleration of 9.81 m> s2. Kinematics. Initially, z0 = 0 and v0 = 50 m> s, and at the maximum height z = h, v = 0. Since the acceleration is constant, then 1+ c2 v2 = v2 0 + 2a c1z - z02 0 = 15022 + 21 - 9.8121h - 02 h = 127 m
2
a 98.1 N (b)
Ans.
FD
Part (b) Free-Body Diagram. Since the force FD = 10.01v 2 N tends to retard the upward motion of the projectile, it acts downward as shown on the free-body diagram, Fig. 137c. Equation of Motion. + c Fz = maz ; - 0.01v2 - 98.1 = 10a, a = - 0.001v2 - 9.81 Kinematics. Here the acceleration is not constant since FD depends on the velocity. Since a = f1v2, we can relate a to position using 1 + c 2 a dz = v dv; 1 - 0.001v2 - 9.812 dz = v dv Separating the variables and integrating, realizing that initially z0 = 0, v0 = 50 m> s (positive upward), and at z = h, v = 0, we have
0 v dv = - 500 ln1v2 + 98102 ` 2 L 0 L 50 0.001v + 9.81 50 h = 114 m h 0
a 98.1 N (c)
Fig. 137
dz = -
Ans.
NOTE: The answer indicates a lower elevation than that obtained in part (a) due to atmospheric resistance.
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EXAMPLE 13.3
The baggage truck A shown in the photo has a weight of 900 lb and tows a 550-lb cart B and a 325-lb cart C. For a short time the driving frictional force developed at the wheels of the truck is FA = 140t2 lb, where t is in seconds. If the truck starts from rest, determine its speed in 2 seconds. Also, what is the horizontal force acting on the coupling between the truck and cart B at this instant? Neglect the size of the truck and carts.
900 lb 550 lb 325 lb
FA NA NB (a)
NC
SOLUTION Free-Body Diagram. As shown in Fig. 138a, it is the frictional driving force that gives both the truck and carts an acceleration. Here we have considered all three vehicles. Equation of Motion. Only motion in the horizontal direction has to be considered. 900 + 550 + 325 + F = ma ; ; 40t = a ba x x 32.2 a = 0.7256t Kinematics. Since the acceleration is a function of time, the velocity of the truck is obtained using a = dv> dt with the initial condition that v0 = 0 at t = 0. We have
v 2
L 0
900 lb
dv =
L 0
0.7256t dt;
v = 0.3628t2 ` = 1.45 ft> s

0
Ans.
T FA NA (b)
Fig. 138
Free-Body Diagram. In order to determine the force between the truck and cart B, we can consider a free-body diagram of the truck so that we can expose the coupling force T as external to the free-body diagram, Fig. 138b. Equation of Motion. When t = 2 s, then 900 + F = ma ; ; 40122 - T = a b [0.7256122] x x 32.2 T = 39.4 lb Ans. NOTE: Try and obtain this same result by considering a free-body diagram of carts B and C.
115
EXAMPLE 13.4
A smooth 2-kg collar C, shown in Fig. 139a, is attached to a spring having a stiffness k = 3 N> m and an unstretched length of 0.75 m. If the collar is released from rest at A, determine its acceleration and the normal force of the rod on the collar at the instant y = 1 m. SOLUTION Free-Body Diagram. The free-body diagram of the collar when it is located at the arbitrary position y is shown in Fig. 139b. Note that the weight is W = 219.812 = 19.62 N. Furthermore, the collar is assumed to be accelerating so that a acts downward in the positive y direction. There are four unknowns, namely, NC , Fs , a, and u. Equations of Motion. + F = ma ; : x x + T Fy = may ; - NC + Fs cos u = 0 19.62 - Fs sin u = 2a (1) (2)
(a)
0.75 m u B
k 3 N/m
From Eq. 2 it is seen that the acceleration depends on the magnitude and direction of the spring force. Solution for NC and a is possible once Fs and u are known. The magnitude of the spring force is a function of the stretch s of the spring; i.e., Fs = ks. Here the unstretched length is AB = 0.75 m, Fig. 139a; therefore, Since k = 3 N> m, then s = CB - AB = 4y2 + 10.7522 - 0.75. (3)
a y
19.62 N u NC
Fs
(b)
Fig. 139
Fs = ks = 3 A 4y2 + 10.7522 - 0.75 B From Fig. 139a, the angle u is related to y by trigonometry. tan u = y 0.75
(4)
Substituting y = 1 m into Eqs. 3 and 4 yields Fs = 1.50 N and u = 53.1. Substituting these results into Eqs. 1 and 2, we obtain NC = 0.900 N a = 9.21 m> s T
2
Ans. Ans.
NOTE: This is not a case of constant acceleration, since the spring force
changes both its magnitude and direction as the collar moves downward.
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EXAMPLE 13.5
The 100-kg block A shown in Fig. 1310a is released from rest. If the masses of the pulleys and the cord are neglected, determine the speed of the 20-kg block B in 2 s. SOLUTION Free-Body Diagrams. Since the mass of the pulleys is neglected, then for pulley C, ma = 0 and we can apply Fy = 0 as shown in Fig. 1310b. The free-body diagrams for blocks A and B are shown in Fig. 1310c and d, respectively. One can see that for A to remain static requires T = 490.5 N, whereas for B to remain static requires T = 196.2 N. Hence A will move down while B moves up. Here we will assume both blocks accelerate downward, in the direction of + sA and + sB . The three unknowns are T, aA , and aB . Equations of Motion. Block A (Fig. 1310c): + T Fy = may ; Block B (Fig. 1310d): + T Fy = may ;
2T (b)
Datum sA C sB
A B (a) T T
981 - 2T = 100aA 196.2 - T = 20aB
(1) (2)
2T
Kinematics. The necessary third equation is obtained by relating aA to aB using a dependent motion analysis. Using the technique developed in Sec. 12.9, the coordinates sA and sB measure the positions of A and B from the fixed datum, Fig. 1310a. It is seen that 2sA + sB = l where l is constant and represents the total vertical length of cord. Differentiating this expression twice with respect to time yields (3) 2aA = - aB Notice that in writing Eqs. 1 to 3, the positive direction was always assumed downward. It is very important to be consistent in this assumption since we are seeking a simultaneous solution of equations. The solution yields T = 327.0 N aA = 3.27 m> s2 aB = - 6.54 m> s2 Hence when block A accelerates downward, block B accelerates upward. Since aB is constant, the velocity of block B in 2 s is thus v = v0 + aBt = 0 + 1 - 6.542122 = - 13.1 m> s The negative sign indicates that block B is moving upward. 1+ T2
aA sA 981 N (c) T
aB 196.2 N (d)
sB
Ans.
Fig. 1310
PROBLEMS
117
PROBLEMS
131. Determine the gravitational attraction between two spheres which are just touching each other. Each sphere has a mass of 10 kg and a radius of 200 mm. 132. By using an inclined plane to retard the motion of a falling object, and thus make the observations more accurate, Galileo was able to determine experimentally that the distance through which an object moves in free fall is proportional to the square of the time for travel. Show that this is the case, i.e., s r t2, by determining the time tB , tC , and tD needed for a block of mass m to slide from rest at A to points B, C, and D, respectively. Neglect the effects of friction.
9m 4m 2m sB A
*134. A crate having a mass of 60 kg falls horizontally off the back of a truck which is traveling at 80 km> h. Determine the coefficient of kinetic friction between the road and the crate if the crate slides 45 m on the ground with no tumbling along the road before coming to rest. Assume that the initial speed of the crate along the road is 80 km> h.
80 km/h
sD
sC
B C D 20
Prob. 134
Probs. 131/2 133. The 300-kg bar B, originally at rest, is being towed over a series of small rollers. Determine the force in the cable when t = 5 s, if the motor M is drawing in the cable for a short time at a rate of v = 10.4t22 m> s, where t is in seconds 10 t 6 s2. How far does the bar move in 5 s? Neglect the mass of the cable, pulley, and the rollers.
M
135. The crane lifts the 700-kg bin with an initial acceleration of 3 m> s2. Determine the force in each of the supporting cables due to this motion.
B
5 4 4 3 3 5
v B
Prob. 133
Prob. 135
118
C H A P T E R 13
KINETICS
OF A
AND
136. The baggage truck A has a mass of 800 kg and is used to pull the two cars, each with mass 300 kg. If the tractive force F on the truck is F = 480 N, determine the initial acceleration of the truck. What is the acceleration of the truck if the coupling at C suddenly fails? The car wheels are free to roll. Neglect the mass of the wheels.
*138. The 200-kg crate is suspended from the cable of a crane. Determine the force in the cable when t = 2 s if the crate is moving upward with (a) a constant velocity of 2 m> s, and (b) a speed of v = 10.2t2 + 22 m> s, where t is in seconds.
A C B F v
Prob. 136 Prob. 138 137. The 500-kg fuel assembly for a nuclear reactor is being lifted out from the core of the nuclear reactor using the pulley system shown. It is hoisted upward with a constant acceleration such that s = 0 and v = 0 when t = 0, and s = 2.5 m when t = 1.5 s. Determine the tension in the cable at A during the motion. 139. The elevator E has a mass of 500 kg, and the counterweight at A has a mass of 150 kg. If the motor supplies a constant force of 5 kN on the cable at B, determine the speed of the elevator when t = 3 s, starting from rest. Neglect the mass of the pulleys and cable. 1310. The elevator E has a mass of 500 kg and the counterweight at A has a mass of 150 kg. If the elevator attains a speed of 10 m> s after it rises 40 m, determine the constant force developed in the cable at B. Neglect the mass of the pulleys and cable.
E B A
Unpublished Work 2007 by R. C. Hibbeler. To be published by Pearson Prentice Hall, Pearson Education, Inc., Upper Saddle River, Prob. 137 This publication is protected by Copyright and written permission Probs. should 139/10 New Jersey. All rights reserved. be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department.
PROBLEMS 1311. The water-park ride consists of an 800-lb sled which slides from rest down the incline and then into the pool. If the frictional resistance on the incline is Fr = 30 lb, and in the pool for a short distance Fr = 80 lb, determine how fast the sled is traveling when s = 5 ft.
119
1314. Each of the two blocks has a mass m. The coefficient of kinetic friction at all surfaces of contact is m. If a horizontal force P moves the bottom block, determine the acceleration of the bottom block in each case.
B P A (a) 100 ft B P A (b)
Prob. 1314 Prob. 1311

s 100 ft
*1312. A car of mass m is traveling at a slow velocity v0 . If it is subjected to the drag resistance of the wind, which is proportional to its velocity, i.e., FD = kv, determine the distance and the time the car will travel before its velocity becomes 0.5v0 . Assume no other frictional forces act on the car.
v
1315. The driver attempts to tow the crate using a rope that has a tensile strength of 200 lb. If the crate is originally at rest and has a weight of 500 lb, determine the greatest acceleration it can have if the coefficient of static friction between the crate and the road is ms = 0.4, and the coefficient of kinetic friction is mk = 0.3.
30
FD
Prob. 1315 *1316. The 3.5-Mg engine is suspended from a 500-kg spreader beam and hoisted by a crane which gives it an acceleration of 4 m> s2 when it has a velocity of 2 m> s. Determine the force in chains AC and AD during the lift.
Prob. 1312 1313. Determine the normal force the 10-kg crate A exerts on the smooth cart if the cart is given an acceleration of a = 2 m> s2 down the plane. Also, what is the acceleration of the crate? Set u = 30.
A
C 60 A D E 60 B
u Unpublished Work 2007 by R. C. Hibbeler. To be published by Pearson Prentice Hall, Pearson Education, Inc., Upper Saddle River, Prob. 1313 Prob. 1316 New Jersey. All rights reserved. This publication is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department.
120
C H A P T E R 13
KINETICS
OF A
AND
1317. The bullet of mass m is given a velocity due to gas pressure caused by the burning of powder within the chamber of the gun. Assuming this pressure creates a force of F = F0 sin1pt> t02 on the bullet, determine the velocity of the bullet at any instant it is in the barrel. What is the bullets maximum velocity? Also, determine the position of the bullet in the barrel as a function of time.
1319. A 40-lb suitcase slides from rest 20 ft down the smooth ramp. Determine the point where it strikes the ground at C. How long does it take to go from A to C? *1320. Solve Prob. 1319 if the suitcase has an initial velocity down the ramp of vA = 10 ft> s and the coefficient of kinetic friction along AB is mk = 0.2.
A
20 ft F F0 t 30 4 ft t0 B C R
Prob. 1317
Probs. 1319/20
1318. The 400-lb cylinder at A is hoisted using the motor and the pulley system shown. If the speed of point B on the cable is increased at a constant rate from zero to vB = 10 ft> s in t = 5 s, determine the tension in the cable at B to cause the motion.
1321. The winding drum D is drawing in the cable at an accelerated rate of 5 m> s2. Determine the cable tension if the suspended crate has a mass of 800 kg.
vA
Prob. 1318
Prob. 1321
PROBLEMS 1322. At a given instant the 5-lb weight A is moving downward with a speed of 4 ft> s. Determine its speed 2 s later. Block B has a weight of 6 lb, and the coefficient of kinetic friction between it and the horizontal plane is mk = 0.3. Neglect the mass of the pulleys and cord.
121
*1324. At a given instant the 10-lb block A is moving downward with a speed of 6 ft> s. Determine its speed 2 s later. Block B has a weight of 4 lb, and the coefficient of kinetic friction between it and the horizontal plane is mk = 0.2. Neglect the mass of the pulleys and cord.
Prob. 1322
Prob. 1324 1325. A freight elevator, including its load, has a mass of 500 kg. It is prevented from rotating due to the track and wheels mounted along its sides. If the motor M develops a constant tension T = 1.50 kN in its attached cable, determine the velocity of the elevator when it has moved upward 3 m starting from rest. Neglect the mass of the pulleys and cables.
1323. A force F = 15 lb is applied to the cord. Determine how high the 30-lb block A rises in 2 s starting from rest. Neglect the weight of the pulleys and cord.
B F
Prob. 1323
Prob. 1325
122
C H A P T E R 13
KINETICS
OF A
AND
1326. At the instant shown the 100-lb block A is moving down the plane at 5 ft> s while being attached to the 50-lb block B. If the coefficient of kinetic friction is mk = 0.2, determine the acceleration of A and the distance A slides before it stops. Neglect the mass of the pulleys and cables.
*1328. The 400-kg mine car is hoisted up the incline using the cable and motor M. For a short time, the force in the cable is F = 13200t22 N, where t is in seconds. If the car has an initial velocity v1 = 2 m> s when t = 0, determine its velocity when t = 2 s. 1329. The 400-kg mine car is hoisted up the incline using the cable and motor M. For a short time, the force in the cable is F = 13200t22 N, where t is in seconds. If the car has an initial velocity v1 = 2 m> s at s = 0 and t = 0, determine the distance it moves up the plane when t = 2 s.
M
5 4
C D
v1 2 m/s
B
17 15 8
Prob. 1326 1327. The safe S has a weight of 200 lb and is supported by the rope and pulley arrangement shown. If the end of the rope is given to a boy B of weight 90 lb, determine his acceleration if in the confusion he doesnt let go of the rope. Neglect the mass of the pulleys and rope.
Probs. 1328/29 1330. The tanker has a weight of 80011062 lb and is traveling forward at v0 = 3 ft> s in still water when the engines are shut off. If the drag resistance of the water is proportional to the speed of the tanker at any instant and can be approximated by FD = 140011032v2 lb, where v is in ft> s, determine the time needed for the tankers speed to become 1.5 ft> s. Given the initial velocity of v0 = 3 ft> s through what distance must the tanker travel before it stops?
S v B FD
Prob. 1327
Prob. 1330
PROBLEMS 1331. The spring mechanism is used as a shock absorber for railroad cars. Determine the maximum compression of spring HI if the fixed bumper R of a 5-Mg railroad car, rolling freely at 2 m> s, strikes the plate P. Bar AB slides along the guide paths CE and DF. The ends of all springs are attached to their respective members and are originally unstretched.
k 80 kN/m B D I H P R
123
1334. The boy having a weight of 80 lb hangs uniformly from the bar. Determine the force in each of his arms in t = 2 s if the bar is moving upward with (a) a constant velocity of 3 ft> s, and (b) a speed of v = 14t22 ft> s, where t is in seconds.
C E k 160 kN/m A k 80 kN/m 2 m/s
Prob. 1334
Prob. 1331 *1332. The 2-kg collar C is free to slide along the smooth shaft AB. Determine the acceleration of collar C if (a) the shaft is fixed from moving, (b) collar A, which is fixed to shaft AB, moves downward at constant velocity along the vertical rod, and (c) collar A is subjected to a downward acceleration of 2 m> s2. In all cases, the collar moves in the plane. 1333. The 2-kg collar C is free to slide along the smooth shaft AB. Determine the acceleration of collar C if collar A is subjected to an upward acceleration of 4 m> s2.
B
1335. The 10-kg block A rests on the 50-kg plate B in the position shown. Neglecting the mass of the rope and pulley, and using the coefficients of kinetic friction indicated, determine the time needed for block A to slide 0.5 m on the plate when the system is released from rest.
45 A
C mAB 0.2
0.5 m A B mBC 0.1 30 C
Probs. 1332/33
Prob. 1335
124
C H A P T E R 13
KINETICS
OF A
AND
*1336. Determine the acceleration of block A when the system is released. The coefficient of kinetic friction and the weight of each block are indicated. Neglect the mass of the pulleys and cord.
1338. An electron of mass m is discharged with an initial horizontal velocity of v0 . If it is subjected to two fields of force for which Fx = F0 and Fy = 0.3F0 , where F0 is constant, determine the equation of the path, and the speed of the electron at any time t.
++++++++++++++ ++++++++++++++
v0 80 lb 60 20 lb B
mk 0.2
Prob. 1336
Prob. 1338
1337. The conveyor belt is moving at 4 m> s. If the coefficient of static friction between the conveyor and the 10-kg package B is ms = 0.2, determine the shortest time the belt can stop so that the package does not slide on the belt.
1339. The conveyor belt delivers each 12-kg crate to the ramp at A such that the crates speed is vA = 2.5 m> s, directed down along the ramp. If the coefficient of kinetic friction between each crate and the ramp is mk = 0.3, determine the speed at which each crate slides off the ramp at B. Assume that no tipping occurs. Take u = 30.
vA 2.5 m/s
A 3m
Prob. 1337
Prob. 1339
PROBLEMS *1340. A parachutist having a mass m opens his parachute from an at-rest position at a very high altitude. If the atmospheric drag resistance is FD = kv2, where k is a constant, determine his velocity when he has fallen for a time t. What is his velocity when he lands on the ground? This velocity is referred to as the terminal velocity, which is found by letting the time of fall t : q .
125
1343. Blocks A and B each have a mass m. Determine the largest horizontal force P which can be applied to B so that A will not slip up B.The coefficient of static friction between A and B is ms . Neglect any friction between B and C.
A u B FD C
Probs. 1342/43
v
*1344. Each of the three plates has a mass of 10 kg. If the coefficients of static and kinetic friction at each surface of contact are ms = 0.3 and mk = 0.2, respectively, determine the acceleration of each plate when the three horizontal forces are applied.
Prob. 1340
18 N D C 15 N B A 100 N
1341. Block B rests on a smooth surface. If the coefficients of static and kinetic friction between A and B are ms = 0.4 and mk = 0.3, respectively, determine the acceleration of each block if someone pushes horizontally on block A with a force of (a) F = 6 lb, and (b) F = 50 lb.
Prob. 1344
F B 30 lb
A 20 lb
1345. Crate B has a mass m and is released from rest when it is on top of cart A, which has a mass 3m. Determine the tension in cord CD needed to hold the cart from moving while B is sliding down A. Neglect friction.
B
Prob. 1341
1342. Blocks A and B each have a mass m. Determine the largest horizontal force P which can be applied to B so that A will not move relative to B. All surfaces are smooth.
Prob. 1345
126
C H A P T E R 13
KINETICS
OF A
AND
1346. The tractor is used to lift the 150-kg load B with the 24-m-long rope, boom, and pulley system. If the tractor is traveling to the right at a constant speed of 4 m> s, determine the tension in the rope when sA = 5 m. When sA = 0, sB = 0. 1347. The tractor is used to lift the 150-kg load B with the 24-m-long rope, boom, and pulley system. If the tractor is traveling to the right with an acceleration of 3 m> s2 and has a velocity of 4 m> s at the instant sA = 5 m, determine the tension in the rope at this instant. When sA = 0, sB = 0.
1349. Block A has a mass mA and is attached to a spring having a stiffness k and unstretched length l0 . If another block B, having a mass mB , is pressed against A so that the spring deforms a distance d, determine the distance both blocks slide on the smooth surface before they begin to separate. What is their velocity at this instant? 1350. Block A has a mass mA and is attached to a spring having a stiffness k and unstretched length l0 . If another block B, having a mass mB , is pressed against A so that the spring deforms a distance d, show that for separation to occur it is necessary that d 7 2mkg1mA + mB2> k, where mk is the coefficient of kinetic friction between the blocks and the ground. Also, what is the distance the blocks slide on the surface before they separate?
12 m
sB
k B A sA
Probs. 1346/47 *1348. Block B has a mass m and is hoisted using the cord and pulley system shown. Determine the magnitude of force F as a function of the blocks vertical position y so that when F is applied the block rises with a constant acceleration aB . Neglect the mass of the cord and pulleys.
Probs. 1349/50
1351. The block A has a mass mA and rests on the pan B, which has a mass mB . Both are supported by a spring having a stiffness k that is attached to the bottom of the pan and to the ground. Determine the distance d the pan should be pushed down from the equilibrium position and then released from rest so that separation of the block will take place from the surface of the pan at the instant the spring becomes unstretched.
2m
1m
A B B A y d k
Prob. 1348
Prob. 1351
13.5 EQUATIONS OF MOTION: NORMAL AND TANGENTIAL COORDINATES
127
13.5 Equations of Motion:
Normal and Tangential Coordinates
When a particle moves over a curved path which is known, the equation of motion for the particle may be written in the tangential, normal, and binormal directions. We have F = ma Ftut + Fnun + Fbub = ma t + ma n Here Ft , Fn , Fb represent the sums of all the force components acting on the particle in the tangential, normal, and binormal directions, respectively, Fig. 1311. Note that there is no motion of the particle in the binormal direction, since the particle is constrained to move along the path. The above equation is satisfied provided Ft = mat Fn = man Fb = 0 (138)
Recall that at 1 = dv> dt2 represents the time rate of change in the magnitude of velocity. Consequently, if Ft acts in the direction of motion, the particles speed will increase, whereas if it acts in the opposite direction, the particle will slow down. Likewise, an 1 = v2> r2 represents the time rate of change in the velocitys direction. Since this vector always acts in the positive n direction, i.e., toward the paths center of curvature, then Fn , which causes a n , also acts in this direction. For example, when the particle is constrained to travel in a circular path with a constant speed, there is a normal force exerted on the particle by the constraint in order to change the direction of the particles velocity 1a n2. Since this force is always directed toward the center of the path, it is often referred to as the centripetal force.
b Fbub t n Fnun P Inertial coordinate system Ftut
The centrifuge is used to subject a passenger to very large normal accelerations caused by high rotations. Realize that these accelerations are caused by the unbalanced normal force exerted on the passenger by the seat of the centrifuge.
Fig. 1311
128
C H A P T E R 13
KINETICS
OF A
AND

When a problem involves the motion of a particle along a known curved path, normal and tangential coordinates should be considered for the analysis since the acceleration components can be readily formulated. The method for applying the equations of motion, which relate the forces to the acceleration, has been outlined in the procedure given in Sec. 13.4. Specifically, for t, n, b coordinates it may be stated as follows: Free-Body Diagram.
Establish the inertial t, n, b coordinate system at the particle and

draw the particles free-body diagram.
The particles normal acceleration an always acts in the positive
n direction. If the tangential acceleration a t is unknown, assume it acts in the positive t direction. Identify the unknowns in the problem.
Equations of Motion. Apply the equations of motion, Eqs. 138. Kinematics.
Formulate the tangential and normal components of
acceleration; i.e., at = dv> dt or at = v dv> ds and an = v2> r. If the path is defined as y = f1x2, the radius of curvature at the point where the particle is located can be obtained from r = [1 + 1dy> dx22]3>2> d2y> dx2 .
129
EXAMPLE 13.6
Determine the banking angle u for the race track so that the wheels of the racing cars shown in Fig. 1312a will not have to depend upon friction to prevent any car from sliding up or down the track. Assume the cars have negligible size, a mass m, and travel around the curve of radius r with a speed v.
(a)
SOLUTION Before looking at the following solution, give some thought as to why it should be solved using t, n, b coordinates. Free-Body Diagram. As shown in Fig. 1312b, and as stated in the problem, no frictional force acts on the car. Here NC represents the resultant of the ground on all four wheels. Since an can be calculated, the unknowns are NC and u. Equations of Motion. Using the n, b axes shown, + F = ma ; : n n + c Fb = 0; v2 NC sin u = m r NC cos u - mg = 0 (1) (2)
an
NC
u W mg (b)
Fig. 1312
Eliminating NC and m from these equations by dividing Eq. 1 by Eq. 2, we obtain v2 tan u = gr v2 u = tan-1 a b Ans. gr
NOTE: The result is independent of the mass of the car. Also, a force summation in the tangential direction is of no consequence to the solution. If it were considered, then at = dv> dt = 0, since the car moves with constant speed. A further analysis of this problem is discussed in Prob. 2148.
130
C H A P T E R 13
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AND
EXAMPLE 13.7
The 3-kg disk D is attached to the end of a cord as shown in Fig. 1313a. The other end of the cord is attached to a ball-and-socket joint located at the center of a platform. If the platform is rotating rapidly, and the disk is placed on it and released from rest as shown, determine the time it takes for the disk to reach a speed great enough to break the cord. The maximum tension the cord can sustain is 100 N, and the coefficient of kinetic friction between the disk and the platform is mk = 0.1.
D 1m Motion of platform
(a)
29.43 N F 0.1 ND t at T an n
SOLUTION Free-Body Diagram. The frictional force has a magnitude F = mkND = 0.1ND and a sense of direction that opposes the relative motion of the disk with respect to the platform. It is this force that gives the disk a tangential component of acceleration causing v to increase, thereby causing T to increase until it reaches 100 N. The weight of the disk is W = 319.812 = 29.43 N. Since an can be related to v, the unknowns are ND , at , and v. Equations of Motion. Fn = man ; Ft = mat ; Fb = 0; v2 b 1 0.1ND = 3at T = 3a ND - 29.43 = 0 (1) (2) (3)
ND (b)
Fig. 1313
Setting T = 100 N, Eq. 1 can be solved for the critical speed vcr of the disk needed to break the cord. Solving all the equations, we obtain ND = 29.43 N at = 0.981 m> s2 vcr = 5.77 m> s Kinematics. Since at is constant, the time needed to break the cord is vcr = v0 + att 5.77 = 0 + 10.9812t t = 5.89 s Ans.
131
EXAMPLE 13.8
Design of the ski jump shown in the photo requires knowing the type of forces that will be exerted on the skier and his approximate trajectory. If in this case the jump can be approximated by the parabola shown in Fig. 1314a, determine the normal force on the 150-lb skier the instant he arrives at the end of the jump, point A, where his velocity is 65 ft> s. Also, what is his acceleration at this point? SOLUTION Why consider using n, t coordinates to solve this problem? Free-Body Diagram. The free-body diagram for the skier when he is at A is shown in Fig. 1314b. Since the path is curved, there are two components of acceleration, a n and a t . Since an can be calculated, the unknowns are at and NA . Equations of Motion. + c Fn = man ; + F = ma ; ; t t NA - 150 = 0 = 150 1652 a b r 32.2 150 a 32.2 t
2
y y 1 x2 200 200 x 200 ft A (a)
(1) (2)
an 150 lb at n
The radius of curvature r for the path must be determined at point 1 1 1 A(0, - 200 ft). Here y = 200 x2 - 200, dy> dx = 100 x, d2y> dx2 = 100 , so that at x = 0, r = [1 + 1dy> dx22]3>2 d2y> dx2
x=0
[1 + 1022]3>2
1 100
= 100 ft
(b) NA
Substituting into Eq. 1 and solving for NA , we have NA = 347 lb Kinematics. From Eq. 2, at = 0 Thus, an = 16522 v2 = = 42.2 ft> s2 r 100 Ans. Ans.
Fig. 1314
aA = an = 42.2 ft> s2 c
NOTE: Apply the equation of motion in the y direction and show that when the skier is in mid air the acceleration is 32.2 ft> s2.
132
C H A P T E R 13
KINETICS
OF A
AND
EXAMPLE 13.9
v0 1 m/s ds 0.5 du
Packages, each having a mass of 2 kg, are delivered from a conveyor to a smooth circular ramp with a velocity of v0 = 1 m> s as shown in Fig. 1315a. If the effective radius of the ramp is 0.5 m, determine the angle u = umax at which each package begins to leave the surface. SOLUTION Free-Body Diagram. The free-body diagram for a package, when it is located at the general position u, is shown in Fig. 1315b.The package must have a tangential acceleration a t , since its speed is always increasing as it slides downward.The weight is W = 219.812 = 19.62 N. Specify the three unknowns. Equations of Motion. v2 +b Fn = man; - NB + 19.62 cos u = 2 (1) 0.5 +R Ft = mat; 19.62 sin u = 2at (2) At the instant u = umax , the package leaves the surface of the ramp so that NB = 0. Therefore, there are three unknowns, v, at , and u. Kinematics. The third equation for the solution is obtained by noting that the magnitude of tangential acceleration at may be related to the speed of the package v and the angle u. Since at ds = v dv and ds = r du = 0.5 du, Fig. 1315a, we have v dv at = (3) 0.5 du To solve, substitute Eq. 3 into Eq. 2 and separate the variables. This gives v dv = 4.905 sin u du Integrate both sides, realizing that when u = 0, v0 = 1 m> s.
v u
u du r 0.5 m
(a)
NB an n
u 19.62 N
at
t (b)
Fig. 1315
L 1
v dv = 4.905
L 0
sin u du
u v2 v ` = - 4.905 cos u ` ; v2 = 9.8111 - cos u2 + 1 2 1 0
Substituting into Eq. 1 with NB = 0 and solving for cos umax yields 2 19.62 cos umax = [9.8111 - cos umax2 + 1] 0.5 43.24 cos umax = 58.86 umax = 42.7 Ans.
NOTE: The speed of the package is increasing because its tangential acceleration is increasing with u, Eq. 2.
PROBLEMS
133
PROBLEMS
*1352. Determine the mass of the sun, knowing that the distance from the earth to the sun is 149.611062 km. Hint: Use Eq. 131 to represent the force of gravity acting on the earth. 1353. The 1.40-Mg helicopter is traveling at a constant speed of 40 m> s along the horizontal curved path while banking at u = 30. Determine the force acting normal to the blade, i.e., in the y direction, and the radius of curvature of the path. 1354. The 1.40-Mg helicopter is traveling at a constant speed of 33 m> s along the horizontal curved path having a radius of curvature of r = 300 m. Determine the force the blade exerts on the frame and the bank angle u.
y y u u 12 m
1357. The 600-kg wrecking ball is suspended from the crane by a cable having a negligible mass. If the ball has a speed v = 8 m> s at the instant it is at its lowest point, u = 0, determine the tension in the cable at this instant. Also, determine the angle u to which the ball swings before it stops.
Probs. 1353/54 1355. The plane is traveling at a constant speed of 800 ft/s along the curve y = 20110-62x2 + 5000, where x and y are in feet. If the pilot has a weight of 180 lb, determine the normal and tangential components of the force the seat exerts on the pilot when the plane is at its lowest point. *1356. The jet plane is traveling at a constant speed of 1000 ft> s along the curve y = 20110-62x2 + 5000, where x and y are in feet. If the pilot has a weight of 180 lb, determine the normal and tangential components of the force the seat exerts on the pilot when y = 10 000 ft.
y B h A x
Prob. 1357
1358. Prove that if the block is released from rest at point B of a smooth path of arbitrary shape, the speed it attains when it reaches point A is equal to the speed it attains when it falls freely through a distance h; i.e., v = 22gh.
y 20(106)x2 5000
Probs. 1355/56
Prob. 1358
134
C H A P T E R 13
KINETICS
OF A
AND
1359. The sled and rider have a total mass of 80 kg and start from rest at A(10 m, 0). If the sled descends the smooth slope, which may be approximated by a parabola, determine the normal force that the ground exerts on the sled at the instant it arrives at point B. Neglect the size of the sled and rider. Hint: Use the result of Prob. 1358. *1360. The sled and rider have a total mass of 80 kg and start from rest at A(10 m, 0). If the sled descends the smooth slope, which may be approximated by a parabola, determine the normal force that the ground exerts on the sled at the instant it arrives at point C. Neglect the size of the sled and rider. Hint: Use the result of Prob. 1358.
y
1363. If the crest of the hill has a radius of curvature r = 200 ft, determine the maximum constant speed at which the car can travel over it without leaving the surface of the road. Neglect the size of the car in the calculation. The car has a weight of 3500 lb.
r 200 ft
1 20
x2 5 A x
5m
C 2m
B 10 m
Prob. 1363 Probs. 1359/60 *1364. The airplane, traveling at a constant speed of 50 m> s, is executing a horizontal turn. If the plane is banked at u = 15, when the pilot experiences only a normal force on the seat of the plane, determine the radius of curvature r of the turn. Also, what is the normal force of the seat on the pilot if he has a mass of 70 kg.
1361. At the instant u = 60, the boys center of mass G has a downward speed vG = 15 ft> s. Determine the rate of increase in his speed and the tension in each of the two supporting cords of the swing at this instant. The boy has a weight of 60 lb. Neglect his size and the mass of the seat and cords. 1362. At the instant u = 60, the boys center of mass G is momentarily at rest. Determine his speed and the tension in each of the two supporting cords of the swing when u = 90. The boy has a weight of 60 lb. Neglect his size and the mass of the seat and cords.
u
10 ft
Unpublished Work 2007 by R. C. Hibbeler. To be1361/62 published by Pearson Prentice Hall, Pearson Education, Probs. Prob. 1364Inc., Upper Saddle River, New Jersey. All rights reserved. This publication is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department.
PROBLEMS 1365. The 150-lb man lies against the cushion for which the coefficient of static friction is ms = 0.5. Determine the resultant normal and frictional forces the cushion exerts on him if, due to rotation about the z axis, he has a constant speed v = 20 ft> s. Neglect the size of the man.Take u = 60. 1366. The 150-lb man lies against the cushion for which the coefficient of static friction is ms = 0.5. If he rotates about the z axis with a constant speed v = 30 ft> s, determine the smallest angle u of the cushion at which he will begin to slip off.
z
135
*1368. The 200-kg snowmobile with passenger is traveling down the hill at a constant speed of 6 m> s. Determine the resultant normal force and the resultant frictional force exerted on the tracks at the instant it reaches point A. Neglect the size of the snowmobile. 1369. The 200-kg snowmobile with passenger is traveling down the hill such that when it is at point A, it is traveling at 4 m> s and increasing its speed at 2 m> s2. Determine the resultant normal force and the resultant frictional force exerted on the tracks at this instant. Neglect the size of the snowmobile.
y
x 8 ft G 5m A 10 m
y 5(103)x3
Probs. 1365/66 1367. Determine the constant speed of the passengers on the amusement-park ride if it is observed that the supporting cables are directed at u = 30 from the vertical. Each chair including its passenger has a mass of 80 kg. Also, what are the components of force in the n, t, and b directions which the chair exerts on a 50-kg passenger during the motion?
4m
Probs. 1368/69 1370. A collar having a mass of 0.75 kg and negligible size slides over the surface of a horizontal circular rod for which the coefficient of kinetic friction is mk = 0.3. If the collar is given a speed of 4 m> s and then released at u = 0, determine how far, s, it slides on the rod before coming to rest.
z
b u n
6m t
100 mm u s y
Unpublished Work 2007 by R. C. Hibbeler. To be published by Pearson Prentice Hall, Pearson Education, Inc., Upper Saddle River, Prob. 1367 Prob. 1370 New Jersey. All rights reserved. This publication is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department.
136
C H A P T E R 13
KINETICS
OF A
AND
1371. The roller coaster car and passenger have a total weight of 600 lb and starting from rest at A travel down the track that has the shape shown. Determine the normal force of the tracks on the car when the car is at point B, where it has a velocity of 15 ft> s. Neglect friction and the size of the car and passenger.
y A
1373. The 5-kg pendulum bob B is released from rest when u = 0. Determine the initial tension in the cord and also at the instant the bob reaches point D, u = 45. Neglect the size of the bob.
B
p y 40 cos ( 40 x)
u 45
40 ft B 2m x D 40 ft
Prob. 1373
20 ft
Prob. 1371 *1372. The smooth block B, having a mass of 0.2 kg, is attached to the vertex A of the right circular cone using a light cord. The cone is rotating at a constant angular rate about the z axis such that the block attains a speed of 0.5 m> s. At this speed, determine the tension in the cord and the reaction which the cone exerts on the block. Neglect the size of the block.
z A
1374. A ball having a mass of 2 kg and negligible size moves within a smooth vertical circular slot. If it is released from rest when u = 10, determine the force of the slot on the ball when the ball arrives at points A and B.
10 u
200 mm
r 0.8 m A
400 mm
300 mm
10 B
Prob. 1372
Prob. 1374
PROBLEMS 1375. The rotational speed of the disk is controlled by a 30-g smooth contact arm AB which is spring-mounted on the disk. When the disk is at rest, the center of mass G of the arm is located 150 mm from the center O, and the preset compression in the spring is 20 mm. If the initial gap between B and the contact at C is 10 mm, determine the (controlling) speed vG of the arms mass center, G, which will close the gap. The disk rotates in the horizontal plane. The spring has a stiffness of k = 50 N> m, and its ends are attached to the contact arm at D and to the disk at E.
137
1377. The 35-kg box has a speed of 2 m> s when it is at A on the smooth ramp. If the surface is in the shape of a parabola, determine the normal force on the box at the instant x = 3 m. Also, what is the rate of increase in its speed at this instant?
2 m/s
DG A E
k 50 N/m BC
1 x2 y 4 9 x
150 mm
10 mm
Prob. 1377 Prob. 1375 *1376. The 2-kg spool S fits loosely on the inclined rod for which the coefficient of static friction is ms = 0.2. If the spool is located 0.25 m from A, determine the minimum constant speed the spool can have so that it does not slip down the rod.
z
5 4 3
1378. The man has a mass of 80 kg and sits 3 m from the center of the rotating platform. Due to the rotation his # speed is increased from rest by v = 0.4 m> s2. If the coefficient of static friction between his clothes and the platform is ms = 0.3, determine the time required to cause him to slip.
S 0.25 m A 3m 10 m
Prob. 1376
Prob. 1378
138
C H A P T E R 13
KINETICS
OF A
AND
1379. The collar A, having a mass of 0.75 kg, is attached to a spring having a stiffness of k = 200 N> m. When rod BC rotates about the vertical axis, the collar slides outward along the smooth rod DE. If the spring is unstretched when s = 0, determine the constant speed of the collar in order that s = 100 mm. Also, what is the normal force of the rod on the collar? Neglect the size of the collar.
C
1381. If the bicycle and rider have a total weight of 180 lb, determine the resultant normal force acting on the bicycle when it is at point A while it is freely coasting at vA = 6 ft> s. Also, compute the increase in the bicyclists speed at this point. Neglect the resistance due to the wind and the size of the bicycle and rider.
y
k 200 N/m D 20 ft A E s B
A 5 ft
vA 6 ft/s
p y 20 cos x 20
Prob. 1379 *1380. The block has a weight of 2 lb and it is free to move along the smooth slot in the rotating disk. The spring has a stiffness of 2.5 lb> ft and an unstretched length of 1.25 ft. Determine the force of the spring on the block and the tangential component of force which the slot exerts on the side of the block, when the block is at rest with respect to the disk and is traveling with a constant speed of 12 ft> s.
Prob. 1381 1382. The 5-lb packages ride on the surface of the conveyor belt. If the belt starts from rest and increases to a constant speed of 12 ft> s in 2 s, determine the maximum angle u so that none of the packages slip on the inclined surface AB of the belt. The coefficient of static friction between the belt and a package is ms = 0.3. At what angle f do the packages first begin to slip off the surface of the belt after the belt is moving at its constant speed of 12 ft> s? Neglect the size of the packages.
B 6 in. k 2.5 lb/ft f
Prob. 1380
Prob. 1382
13.6 EQUATIONS OF MOTION: CYLINDRICAL COORDINATES
139
13.6 Equations of Motion:
Cylindrical Coordinates
Fzuz Fuuu P Frur
When all the forces acting on a particle are resolved into cylindrical components, i.e., along the unit-vector directions ur , uu , uz , Fig. 1316, the equation of motion may be expressed as F = ma Frur + Fuuu + Fzuz = marur + mauuu + mazuz To satisfy this equation, the respective ur , uu , uz components on the left side must equal the corresponding components on the right side. Consequently, we may write the following three scalar equations of motion: Fr = mar Fu = mau Fz = maz (139)
O u r
Inertial coordinate system
Fig. 1316
If the particle is constrained to move only in the r u plane, then only the first two of Eqs. 139 are used to specify the motion.
Tangential and Normal Forces. The most straightforward type of problem involving cylindrical coordinates requires the determination of the resultant force components Fr , Fu , Fz which cause a particle to move with a known acceleration. If, however, the particles accelerated motion is not completely specified at the given instant, then some information regarding the directions or magnitudes of the forces acting on the particle must be known or computed in order to solve Eqs. 139. For example, the force P causes the particle in Fig. 1317a to move along a path r = f1u2. The normal force N which the path exerts on the particle is always perpendicular to the tangent of the path, whereas the frictional force F always acts along the tangent in the opposite direction of motion. The directions of N and F can be specified relative to the radial coordinate by using the angle c (psi), Fig. 1317b, which is defined between the extended radial line and the tangent to the curve.
r f (u) Tangent r f (u) Tangent
c r O u P (a) N F O r u (b)
Fig. 1317
As the car of weight W descends the spiral track, the resultant normal force which the track exerts on the car can be represented by its three cylindrical components. - Nr creates a radial acceleration, - ar , Nu creates a transverse acceleration au , and the difference, W - Nz creates an azimuthal acceleration - az .
140
C H A P T E R 13
KINETICS
OF A
AND
r f (u) Tangent dr ds u rc
This angle can be obtained by noting that when the particle is displaced a distance ds along the path, Fig. 1317c, the component of displacement in the radial direction is dr and the component of displacement in the transverse direction is r du. Since these two components are mutually perpendicular, the angle c can be determined from tan c = r du> dr, or tan c = r dr> du (1310)
r du
du
O
(c)
If c is calculated as a positive quantity, it is measured from the extended radial line to the tangent in a counterclockwise sense or in the positive direction of u. If it is negative, it is measured in the opposite direction to positive u. For example, consider the cardioid r = a11 + cos u2, shown in Fig. 1318. Because dr> du = - a sin u, then when u = 30, tan c = a11 + cos 302>1 - a sin 302 = - 3.732, or c = - 75, measured clockwise, as shown in the figure.
Fig. 1317 (cont.)

Tangent

Cylindrical or polar coordinates are a suitable choice for the analysis of a problem for which data regarding the angular motion of the radial line r are given, or in cases where the path can be conveniently expressed in terms of these coordinates. Once these coordinates have been established, the equations of motion can be applied in order to relate the forces acting on the particle to its acceleration components. The method for doing this has been outlined in the procedure for analysis given in Sec. 13.4.The following is a summary of this procedure.
c 75 r O u 30 2a
Establish the r, u, z inertial coordinate system and draw the

Fig. 1318
Free-Body Diagram.
particles free-body diagram. Assume that a r , a u , a z act in the positive directions of r, u, z if they are unknown. Identify all the unknowns in the problem.
Equations of Motion. Apply the equations of motion, Eqs. 139. Kinematics. Use the methods# of 12.8 to determine r and the time $ Sec. # $ $ derivatives r, r, u, u, #z, and then evaluate the acceleration $ $ ## $ components ar = r - ru2, au = ru + 2ru, az = z. If any of the acceleration components is computed as a negative quantity, it indicates that it acts in its negative coordinate direction. When taking the time derivatives of r = f1u2, it is very important to use the chain rule of calculus.
141
EXAMPLE 13.10
The 2-lb block in Fig. 1319a moves on a smooth horizontal track, such that its path is specified in polar coordinates by the parametric equations r = 110t22 ft and u = 10.5t2 rad, where t is in seconds. Determine the magnitude of the tangential force F causing the motion at the instant t = 1 s. SOLUTION Free-Body Diagram. As shown on the blocks free-body diagram, Fig. 1319b,the normal force of the track on the block, N,and the tangential force F are located at an angle c from the r and u axes. This angle can be obtained from Eq. 1310. To do so, we must first express the path as r = f1u2 by eliminating the parameter t between r and u. This yields r = 40u2. Also, when t = 1 s, u = 0.511 s2 = 0.5 rad. Thus, tan c = r 40u2 = = 0.25 ` dr> du 4012u2 u = 0.5 rad c = 14.04
u 14.04 N Tangent au F ar r
c = 14.04
F r u (a)
Because c is a positive quantity, it is measured counterclockwise from the r axis to the tangent (the same direction as u) as shown in Fig. 1319b. There are presently four unknowns: F, N, ar and au . Equations of Motion. 2 + T Fr = mar ; F cos 14.04 - N sin 14.04 = a (1) 32.2 r 2 c + Fu = mau ; F sin 14.04 + N cos 14.04 = a (2) 32.2 u Kinematics. Since the motion is specified, the coordinates and the required time derivatives can be calculated and evaluated at t = 1 s. r = 10t2 ` # r = 20t `
t=1 s
u (b)
Fig. 1319
= 10 ft
u = 0.5t `
t=1 s
= 0.5 rad
t=1 s
# = 20 ft> s u = 0.5 rad> s
$ $ r = 20 ft> s2 u = 0 # $ ar = r - ru2 = 20 - 1010.522 = 17.5 ft> s2 $ ## au = ru + 2ru = 10102 + 2120210.52 = 20 ft> s2 Substituting into Eqs. 1 and 2 and solving, we get F = 1.36 lb Ans. N = 0.942 lb NOTE: The tangential axis is in the direction of F, and the normal axis is in the direction of N.
142
C H A P T E R 13
KINETICS
OF A
AND
EXAMPLE 13.11
The smooth 2-kg cylinder C in Fig. 1320a has a peg P through its center which passes through the slot # in arm OA. If the arm rotates in the vertical plane at a constant rate u = 0.5 rad> s, determine the force that the arm exerts on the peg at the instant u = 60. SOLUTION Why is it a good idea to use polar coordinates to solve this problem? Free-Body Diagram. The free-body diagram for the cylinder is shown in Fig. 1320b. The force on the peg, FP , acts perpendicular to the slot in the arm. As usual, a r and a u are assumed to act in the directions of positive r and u, respectively. Identify the four unknowns. Equations of Motion. Using the data in Fig. 1320b, we have +R Fr = mar ; +b Fu = mau ; 19.62 sin u - NC sin u = 2ar 19.62 cos u + FP - NC cos u = 2au 0.4 = 0.4 csc u sin u (1) (2)
u 0.4 m r C P
O u 0.5 rad/s
A (a)
Kinematics. From Fig. 1320a, r can be related to u by the equation r =
19.62 N FP u
Since d1csc u2 = - 1csc u cot u2 du and d1cot u2 = - 1csc2 u2 du, then r and the necessary time derivatives become # u = 0.5 r = 0.4 csc u $ # # u = 0 r = - 0.41csc u cot u2u = - 0.2 csc u cot u # # $ r = - 0.21 - csc u cot u21u2 cot u - 0.2 csc u1 - csc2 u2u = 0.1 csc u1cot2 u + csc2 u2
u
u ar r (b) NC
au
Fig. 1320
Evaluating these formulas at u = 60, we get # u = 0.5 r = 0.462 $ # u = 0 r = - 0.133 $ r = 0.192 # $ ar = r - ru2 = 0.192 - 0.46210.522 = 0.0770 $ ## au = ru + 2ru = 0 + 21 - 0.133210.52 = - 0.133 Substituting these results into Eqs. 1 and 2 with u = 60 and solving yields NC = 19.4 N FP = - 0.356 N Ans. The negative sign indicates that FP acts opposite to the direction shown in Fig. 1320b.
143
EXAMPLE 13.12
A can C, having a mass of 0.5 kg, moves along a grooved horizontal slot shown in Fig. 1321a.The slot is in the form of a spiral, which is defined by the equation r = 10.1u2 m, where u is in radians. If the arm OA is # rotating at a constant rate u = 4 rad> s in the horizontal plane, determine the force it exerts on the can at the instant u = p rad. Neglect friction and the size of the can. SOLUTION Free-Body Diagram. The driving force FC acts perpendicular to the arm OA, whereas the normal force of the wall of the slot on the can, NC , acts perpendicular to the tangent to the curve at u = p rad, Fig. 1321b. As usual, ar and a u are assumed to act in the positive directions of r and u, respectively. Since the path is specified, the angle c which the extended radial line r makes with the tangent, Fig. 1321c, can be determined from Eq. 1310. We have r = 0.1u, so that dr> du = 0.1, and therefore r 0.1u tan c = = = u dr> du 0.1 When u = p, c = tan p = 72.3, so that f = 90 - c = 17.7, as shown in Fig. 1321c. Identify the four unknowns in Fig. 1321b. Equations of Motion. Fig. 1321b, we have + F = ma ; ; r r + T Fu = mau ; Using f = 17.7 and the data shown in (1) (2)
r 0.1 u r c f Tangent u (c) up (b)
-1
r 0.1 u r C (a)
u 4 rad/s
FC ar r f NC f Tangent u au
NC cos 17.7 = 0.5ar FC - NC sin 17.7 = 0.5au
Kinematics. The time derivatives of r and u are # u = 4 rad> s r = 0.1u $ # # u = 0 r = 0.1u = 0.1142 = 0.4 m> s $ $ r = 0.1u = 0 At the instant u = p rad, # $ ar = r - ru2 = 0 - 0.11p21422 = - 5.03 m> s2 $ ## au = ru + 2ru = 0 + 210.42142 = 3.20 m> s2 Substituting these results into Eqs. 1 and 2 and solving yields NC = - 2.64 N FC = 0.800 N What does the negative sign for NC indicate?
Fig. 1321
Ans.
144
C H A P T E R 13
KINETICS
OF A
AND
PROBLEMS
1383. A particle, having a mass of 1.5 kg, moves along a path defined by the equations r = 14 + 3t2 m, u = 1t2 + 22 rad, and z = 16 - t32 m, where t is in seconds. Determine the r, u, and z components of force which the path exerts on the particle when t = 2 s. 1387. The 4-kg spool slides along the rotating rod. At the in of the rod is # stant shown, the angular rate of rotation $ u = 6 rad> s, which is increasing at u = 2 rad> s2. At this same instant, the spool is moving outward along the rod at 3 m> s, which is increasing at 1 m> s2 when r = 0.5 m. Determine the radial frictional force and the normal force of the rod on the spool at this instant.
*1384. The path of motion of a 5-lb particle in the horizontal plane is described in terms of polar coordinates as r = 12t + 12 ft and u = 10.5t2 - t2 rad, where t is in seconds. Determine the magnitude of the unbalanced force acting on the particle when t = 2 s.
r 0.5 m u 2 rad/s2 O
1385. The spring-held follower AB has a weight of 0.75 lb and moves back and forth as its end rolls on the contoured surface of the cam, where r = 0.2 ft and z = 10.1 sin u2 ft. If the cam is rotating at a constant rate of 6 rad> s, determine the force at the end A of the follower when u = 90. In this position the spring is compressed 0.4 ft. Neglect friction at the bearing C.
u 6 rad/s
vs 3 m/s as 1 m/s2
Prob. 1387 1386. The spring-held follower AB has a weight of 0.75 lb and moves back and forth as its end rolls on the contoured surface of the cam, where r = 0.2 ft and z = 10.1 sin 2u2 ft. If the cam is rotating at a constant rate of 6 rad> s, determine the maximum and minimum force the follower exerts on the cam if the spring is compressed 0.2 ft when u = 45. *1388. The boy of mass 40 kg is sliding down the spiral slide at a constant speed such that his position, measured from the top of the chute, has components r = 1.5 m, u = 10.7t2 rad, and z = 1 - 0.5t2 m, where t is in seconds. Determine the components of force Fr , Fu , and Fz which the slide exerts on him at the instant t = 2 s. Neglect the size of the boy.
z u z 0.1 sin 2u z u 6 rad/s 0.2 ft A k 12 lb/ft z C B
r 1.5 m
Probs. 1385/86
Prob. 1388
PROBLEMS 1389. The girl has a mass of 50 kg. She is seated on the horse of the merry-go-round which undergoes constant # rotational motion u = 1.5 rad> s. If the path of the horse is defined by r = 4 m, z = 10.5 sin u2 m, determine the maximum and minimum force Fz the horse exerts on her during the motion.
145
1391. The particle has a mass of 0.5 kg and is confined to move along the smooth horizontal slot due to the rotation of the arm OA. Determine the force of the rod on the particle and the normal force of the slot on the particle when u = # 30. The rod is rotating with a constant angular velocity u = 2 rad> s. Assume the particle contacts only one side of the slot at any instant. *1392. Solve $Problem 1391 if # the arm has an angular acceleration of u = 3 rad> s2 and u = 2 rad> s at this instant. Assume the particle contacts only one side of the slot at any instant.
A
u r
u 2 rad/s
r 0.5 m
Prob. 1389
Probs. 1391/92
1390. The 0.5-lb particle is guided along the circular path using the slotted arm guide. If the arm has $ an angular velocity # u = 4 rad> s and an angular acceleration u = 8 rad> s2 at the instant u = 30, determine the force of the guide on the particle. Motion occurs in the horizontal plane.
1393. A smooth can C, having a mass of 3 kg, is lifted from a feed at A to a ramp at B by a rotating rod. If the rod # maintains a constant angular velocity of u = 0.5 rad> s, determine the force which the rod exerts on the can at the instant u = 30. Neglect the effects of friction in the calculation and the size of the can so that r = 11.2 cos u2 m. The ramp from A to B is circular, having a radius of 600 mm.
B
r u 0.5 ft u 0.5 rad/s u 600 mm
C r 600 mm A
0.5 ft
Prob. 1390
Prob. 1393
146
C H A P T E R 13
KINETICS
OF A
AND
1394. The 2-lb collar slides along the smooth horizontal spiral rod, r = 12u2 ft, where u is in radians. If its angular rate # of rotation is constant and equals u = 4 rad> s, determine the tangential force P needed to cause the motion and the normal force that the rod exerts on the spool at the instant u = 90. 1395. Solve Prob. 1394 if the spiral rod is vertical.
1397. The smooth particle has a mass of 80 g. It is attached to an elastic cord extending from O to P and due to the slotted arm guide moves along the horizontal circular path r = 10.8 sin u2 m. If the cord has a stiffness k = 30 N> m and an unstretched length of 0.25 m, determine the force of the guide on the particle # when u = 60. The guide has a constant angular velocity u = 5 rad> s. $ # 1398. Solve Prob. 1397 if u = 2 rad> s2 when u = 5 rad> s and u = 60.
P
r 2u r r u 4 rad/s O u 5 rad/s u O
0.4 m
Probs. 1394/95
Probs. 1397/98 *1396. The forked rod is used to move the smooth 2-lb particle around the horizontal path in the shape of a limaon, r = 12 + cos u2 ft. If u = 10.5t22 rad, where t is in seconds, determine the force which the rod exerts on the particle at the instant t = 1 s. The fork and path contact the particle on only one side. 1399. Determine the normal and frictional driving forces that the partial spiral track# exerts on the 200-kg $ motorcycle p rad, u = 0.8 rad> s2. at the instant u = 5 u = 0.4 rad > s, and 3 Neglect the size of the motorcycle.
r (5u) m 2 ft r u u 3 ft u r
Prob. 1396
Prob. 1399
PROBLEMS *13100. Using a forked rod, a smooth cylinder C having a mass of 0.5 kg is forced to move along the vertical slotted path r = 10.5u2 m, where u is in radians. If the angular position of the arm is u = 10.5t22 rad, where t is in seconds, determine the force of the rod on the cylinder and the normal force of the slot on the cylinder at the instant t = 2 s. The cylinder is in contact with only one edge of the rod and slot at any instant.
147
13102. The smooth surface of the vertical cam is defined in part by the curve r = 10.2 cos u + 0.32 m. If the forked rod is # rotating with a constant angular velocity of u = 4 rad> s, determine the force the cam and the rod exert on the 2-kg roller when u = 30. The attached spring has a stiffness k = 30 N> m and an unstretched length of 0.1 m.
r C u
r 0.5 u
Prob. 13100 13101. The ball has a mass of 2 kg and a negligible size. It is originally traveling around the horizontal circular path of radius r0 = 0.5 m such that the angular rate of rotation is # u0 = 1 rad> s. If the attached cord ABC is drawn down through the hole at a constant speed of 0.2 m> s, determine the tension the cord exerts on the ball at the instant r = 0.25 m. Also, compute the angular velocity of the ball at this instant. Neglect the effects of friction between the ball and horizontal plane. Hint: First show that of motion $ the equation # in the u ## direction yields au = ru + 2ru = 11> r21d1r2u2> dt2 = 0. # When integrated, r2u = c, where the constant c is determined from the problem data.
A B u r r0 u0
Prob. 13102 13103. The collar has a mass of 2 kg and travels along the smooth horizontal rod defined by the equiangular spiral r = 1eu2 m, where u is in radians. Determine the tangential force F and the normal force N acting on the collar when u = 90, if the force F maintains a constant # angular motion u = 2 rad> s.
r 0.2 m/s C F u
r eu
Prob. 13101
Prob. 13103
148
C H A P T E R 13
KINETICS
OF A
AND
*13104. The smooth surface of the vertical cam is defined in part by the curve r = 10.2 cos u + 0.32 m. The forked rod is $ rotating with an angular acceleration of u = 2 rad> s2, and # when u = 45 the angular velocity is u = 6 rad> s. Determine the force the cam and the rod exert on the 2-kg roller at this instant. The attached spring has a stiffness k = 100 N> m and an unstretched length of 0.1 m.
13106. Using air pressure, the 0.5-kg ball is forced to move through the tube lying in the horizontal plane and having the shape of a logarithmic spiral. If the tangential force exerted on the ball due to the air is 6 N, determine the rate of increase in the balls speed at the instant u = p> 2. What direction does it act in?
r 0.2e0.1u
r u F6N
Prob. 13106 Prob. 13104 13105. The pilot of an airplane executes a vertical loop which in part follows the path of a four-leaved rose, r = 1 - 600 cos 2u2 ft, where u is in radians. If his speed at A is a constant vP = 80 ft> s, determine the vertical reaction the seat of the plane exerts on the pilot when the plane is at A. He weighs 130 lb. Hint: To determine the time derivatives necessary to compute the acceleration components ar and au , take the first and second time derivatives of r = 40011 + cos u2. Then, for further information, use # Eq. 1226 to determine u. Also, take the time derivative of $ # Eq. 1226, noting that vC = 0, to determine u.
80 ft/s A r r 600 cos 2u u F6N
13107. Solve Prob. 13106 if the tube lies in a vertical plane.
r 0.2e0.1u
Prob. 13105
Prob. 13107
PROBLEMS # *13108. The arm is rotating at a rate of u = 5 rad> s when $ u = 2 rad> s2 and u = 90. Determine 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 ru = 0.2 m.
149
13110. The tube # rotates in the horizontal plane at a constant rate of u = 4 rad> s. If a 0.2-kg ball B starts at the # origin O with an initial radial velocity of r = 1.5 m> s and moves outward through the tube, determine the radial and transverse components of the balls velocity at the instant it leaves the outer end at C, r = 0.5 m. Hint: Show that the equation of motion in the r direction is $ r - 16r = 0. The solution is of the form r = Ae -4t + Be4t. Evaluate the integration constants A and B, and determine the time t when r = 0.5 m. Proceed to obtain vr and vu .
z
0.2 r u r u 5 rad/s, u 2 rad/s2 u 90 x
u 4 rad/s O u r B C
0.5 m
Prob. 13108 Prob. 13110 13109. The collar, which has a weight of 3 lb, slides along the smooth rod lying in the horizontal plane and having the shape of a parabola r = 4>11 - cos u2, where u is in radians and r is #in feet. If the collars angular rate is constant and equals u = 4 rad> s, determine the tangential retarding force P needed to cause the motion and the normal force that the collar exerts on the rod at the instant u = 90. 13111. A 0.2-kg spool slides down along a smooth rod. If # the rod has a constant angular rate of rotation u = 2 rad> s in the vertical plane, show that the equations of $ motion for the spool are r - 4r - 9.81 sin u = 0 and # 0.8r + Ns - 1.962 cos u = 0, where Ns is the magnitude of the normal force of the rod on the spool. Using the methods of differential equations, it can be shown that the solution of the first of these equations is # r = C1e -2t + C2e2t - 19.81> 82 sin 2t. If r, r, and u are zero when t = 0, evaluate the constants C1 and C2 to determine r at the instant u = p> 4 rad.
u u 2 rad/s
r u
Prob. 13109
Prob. 13111
150
C H A P T E R 13
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AND
*13.7 Central-Force Motion and Space Mechanics

P F du u O (a)
1 dA r 2du 2
If a particle is moving only under the influence of a force having a line of action which is always directed toward a fixed point, the motion is called central-force motion. This type of motion is commonly caused by electrostatic and gravitational forces. In order to determine the motion, we will consider the particle P shown in Fig. 1322a, which has a mass m and is acted upon only by the central force F. The free-body diagram for the particle is shown in Fig. 1322b. Using polar coordinates (r, u), the equations of motion, Eqs. 139, become -F = mc 0 = mar d2r du 2 r a b d dt dt2 d2u dr du + 2 b dt dt dt2 (1311)
The second of these equations may be written in the form 1 d 2 du c ar bd = 0 r dt dt

u r u F (b)
so that integrating yields r2 du = h dt (1312)
Here h is a constant of integration. From Fig. 1322a notice that the shaded area described by the radius r, as r moves through an angle du, is 2 dA = 1 2 r du. If the areal velocity is defined as dA 1 du h = r2 = dt 2 dt 2 (1313)
Fig. 1322
then, it is seen that the areal velocity for a particle subjected to centralforce motion is constant. In other words, the particle will sweep out equal segments of area per unit of time as it travels along the path. To obtain the path of motion, r = f1u2, the independent variable t must be eliminated from Eqs. 1311. Using the chain rule of calculus and Eq. 1312, the time derivatives of Eqs. 1311 may be replaced by dr dr du h dr = = 2 dt du dt r du 2 d h dr d h dr du d h dr h dr = a b = a b = c a 2 bd dt r2 du du r2 du dt du r du r2 dt2
13.7 CENTRAL-FORCE MOTION AND SPACE MECHANICS
151
Substituting a new dependent variable (xi) j = 1> r into the second equation, we have d2j d2r = - h2j2 2 2 dt du Also, the square of Eq. 1312 becomes a du 2 b = h2j4 dt
Substituting these last two equations into the first of Eqs. 1311 yields - h2j2 or d2j du2 d2j du2 - h2j3 = F mh2j2 F m (1314)
This satellite is subjected to a central force and its orbital motion can be closely predicted using the equations developed in this section.
+ j =
This differential equation defines the path over which the particle travels when it is subjected to the central force F. * For application, the force of gravitational attraction will be considered. Some common examples of central-force systems which depend on gravitation include the motion of the moon and artificial satellites about the earth, and the motion of the planets about the sun. As a typical problem in space mechanics, consider the trajectory of a space satellite or space vehicle launched into free-flight orbit with an initial velocity v0 , Fig. 1323. It will be assumed that this velocity is initially parallel to the tangent at the surface of the earth, as shown in the figure.*Just after the satellite is released into free flight, the only force acting on it is the gravitational force of the earth. (Gravitational attractions involving other bodies such as the moon or sun will be neglected, since for orbits close to the earth their effect is small in comparison with the earths gravitation.) According to Newtons law of gravitation, force F will always act between the mass centers of the earth and the satellite, Fig. 1323. From Eq. 131, this force of attraction has a magnitude of F = G Mem r2
Free-flight trajectory v0 Satellite F r r0 Power-flight trajectory
Launching
Fig. 1323
where Me and m represent the mass of the earth and the satellite, respectively, G is the gravitational constant, and r is the distance between
*In the derivation, F is considered positive when it is directed toward point O. If F is oppositely directed, the right side of Eq. 1314 should be negative. The case where v0 acts at some initial angle u to the tangent is best described using the conservation of angular momentum (see Prob. 15103). Unpublished Work 2007 by R. C. Hibbeler. To be published by Pearson Prentice Hall, Pearson Education, Inc., Upper Saddle River, New Jersey. All rights reserved. This publication is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department.
152
C H A P T E R 13
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AND
the mass centers. To obtain the orbital path, we set j = 1> r in the foregoing equation and substitute the result into Eq. 1314. We obtain d2j du
2
+ j =
GMe h2
(1315)
This second-order ordinary differential equation has constant coefficients and is nonhomogeneous. The solution is represented as the sum of the complementary and particular solutions. The complementary solution is obtained when the term on the right is equal to zero. It is jc = C cos1u - f2 where C and f are constants of integration. The particular solution is jp = GMe h2
Thus, the complete solution to Eq. 1315 is

D directrix A x P uf r f u F focus
j = jc + jp GMe 1 = = C cos1u - f2 + r h2
(1316)
x D
The validity of this result may be checked by substitution into Eq. 1315. Equation 1316 represents the free-flight trajectory of the satellite. It is the equation of a conic section expressed in terms of polar coordinates. As shown in Fig. 1324, a conic section is defined as the locus of point P, which moves in a plane in such a way that the ratio of its distance from a fixed point F to its distance from a fixed line is constant. The fixed point is called the focus, and the fixed line DD is called the directrix. The constant ratio is called the eccentricity of the conic section and is denoted by e. Thus, FP e = PA which may be written in the form FP = r = e1PA2 = e[p - r cos1u - f2] or 1 1 1 = cos1u - f2 + r p ep
Fig. 1324
Comparing this equation with Eq. 1316, it is seen that the eccentricity of the conic section for the trajectory is e = Ch2 GMe (1317)
153
and the fixed distance from the focus to the directrix is p = 1 C (1318)
Provided the polar angle u is measured from the x axis (an axis of symmetry since it is perpendicular to the directrix), the angle f is zero, Fig. 1324, and therefore Eq. 1316 reduces to GMe 1 = C cos u + r h2 (1319)
The constants h and C are determined from the data obtained for the position and velocity of the satellite at the end of the power-flight trajectory. For example, if the initial height or distance to the space vehicle is r0 (measured from the center of the earth) and its initial speed is v0 at the beginning of its free flight, Fig. 1325, then the constant h may be obtained from Eq. 1312. When u = f = 0, the velocity v0 has no radial component; therefore, from Eq. 1225, v0 = r01du> dt2, so that h = r2 0 or du dt (1320)
h = r0v0
To determine C, use Eq. 1319 with u = 0, r = r0 , and substitute Eq. 1320 for h: C = GMe 1 a1 b r0 r0v2 0 (1321)
The equation for the free-flight trajectory therefore becomes GMe GMe 1 1 b cos u + 2 2 = a1 2 r r0 r0v0 r0v0 (1322)
The type of path taken by the satellite is determined from the value of the eccentricity of the conic section as given by Eq. 1317. If e = 0 e = 1 e 6 1 e 7 1 free-flight trajectory is a circle free-flight trajectory is a parabola free-flight trajectory is an ellipse free-flight trajectory is a hyperbola (1323)
154
C H A P T E R 13
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AND
Each of these trajectories is shown in Fig. 1325. From the curves it is seen that when the satellite follows a parabolic path, it is on the border of never returning to its initial starting point. The initial launch velocity, v0 , required for the satellite to follow a parabolic path is called the escape velocity. The speed, ve , can be determined by using the second of Eqs. 1323 with Eqs. 1317, 1320, and 1321. It is left as an exercise to show that ve = 2GMe A r0 (1324)
The speed vc required to launch a satellite into a circular orbit can be found using the first of Eqs. 1323. Since e is related to h and C, Eq. 1317, C must be zero to satisfy this equation (from Eq. 1320, h cannot be zero); and therefore, using Eq. 1321, we have vc = GMe A r0 (1325)
Provided r0 represents a minimum height for launching, in which frictional resistance from the atmosphere is neglected, speeds at launch which are less than vc will cause the satellite to reenter the earths atmosphere and either burn up or crash, Fig. 1325.
Hyperbolic trajectory e1 Parabolic trajectory e1 Elliptical trajectory e1 v0 Crash trajectory v 0 vc r0 Circular trajectory e0
Fig. 1325
155
b rp O ra
Fig. 1326
All the trajectories attained by planets and most satellites are elliptical, Fig. 1326. For a satellites orbit about the earth, the minimum distance from the orbit to the center of the earth O (which is located at one of the foci of the ellipse) is rp and can be found using Eq. 1322 with u = 0. Therefore; rp = r0 (1326)
This minimum distance is called the perigee of the orbit. The apogee or maximum distance ra can be found using Eq. 1322 with u = 180.* Thus, ra = r0 12GMe> r0v2 02 - 1 (1327)
With reference to Fig. 1326, the semimajor axis a of the ellipse is (1328) 2 Using analytical geometry, it can be shown that the minor axis b is determined from the equation b = 2rpra (1329) a = rp + ra
*Actually, the terminology perigee and apogee pertains only to orbits about the earth. If any other heavenly body is located at the focus of an elliptical orbit, the minimum and maximum distances are referred to respectively as the periapsis and apoapsis of the orbit.
156
C H A P T E R 13
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AND
Furthermore, by direct integration, the area of an ellipse is p 1r + ra2 2rpra 2 p
A = pab =
(1330)
The areal velocity has been defined by Eq. 1313, dA> dt = h> 2. Integrating yields A = hT> 2, where T is the period of time required to make one orbital revolution. From Eq. 1330, the period is p 1r + ra2 2rpra h p
T =
(1331)
In addition to predicting the orbital trajectory of earth satellites, the theory developed in this section is valid, to a surprisingly close approximation, at predicting the actual motion of the planets traveling around the sun. In this case the mass of the sun, Ms , should be substituted for Me when the appropriate formulas are used. The fact that the planets do indeed follow elliptic orbits about the sun was discovered by the German astronomer Johannes Kepler in the early seventeenth century. His discovery was made before Newton had developed the laws of motion and the law of gravitation, and so at the time it provided important proof as to the validity of these laws. Keplers laws, developed after 20 years of planetary observation, are summarized as follows: 1. Every planet moves in its orbit such that the line joining it to the sun sweeps over equal areas in equal intervals of time, whatever the lines length. 2. The orbit of every planet is an ellipse with the sun placed at one of its foci. 3. The square of the period of any planet is directly proportional to the cube of the minor axis of its orbit. A mathematical statement of the first and second laws is given by Eqs. 1313 and 1322, respectively. The third law can be shown from Eq. 1331 using Eqs. 1319, 1328, and 1329.
157
EXAMPLE 13.13
A satellite is launched 600 km from the surface of the earth, with an initial velocity of 30 Mm> h acting parallel to the tangent at the surface of the earth, Fig. 1327. Assuming that the radius of the earth is 6378 km and that its mass is 5.976110242 kg, determine (a) the eccentricity of the orbital path, and (b) the velocity of the satellite at apogee. SOLUTION Part (a). The eccentricity of the orbit is obtained using Eq. 1317.The constants h and C are first determined from Eqs. 1320 and 1321. Since rp = r0 = 6378 km + 600 km = 6.97811062 m v0 = 30 Mm> h = 8333.3 m> s then h = rpv0 = 6.9781106218333.32 = 58.1511092 m2> s GMe 1 C = a1 b rp rpv2 0 66.73110 -122[5.976110242] 1 f = 25.4110 -92 m-1 = e 1 6.97811062 6.9781106218333.322 Hence, 2.54110 -82[58.1511092]2 Ch2 e = = = 0.215 6 1 GMe 66.73110 -122[5.976110242]
600 km v0 30 Mm/ h rp O ra A vA
Fig. 1327
Ans.
From Eq. 1323, observe that the orbit is an ellipse. Part (b). If the satellite were launched at the apogee A shown in Fig. 1327, with a velocity vA , the same orbit would be maintained provided that h = rpv0 = ravA = 58.1511092 m2> s Using Eq. 1327, we have rp 6.97811062 ra = = = 10.80411062 2GMe 2[66.73110 -122][5.976110242] -1 -1 rpv2 0 6.9781106218333.322 Thus, vA = 58.1511092 10.80411062 = 5382.2 m> s = 19.4 Mm> h Ans.
NOTE: The farther the satellite is from the earth, the slower it moves,
which is to be expected since h is constant.
158
C H A P T E R 13
KINETICS
OF A
AND
PROBLEMS
In the following problems, except where otherwise indicated, assume that the radius of the earth is 6378 km, the earths mass is 5.976110242 kg, the mass of the sun is 1.99110302 kg, and the gravitational constant is G = 66.73110-122 m3>1kg # s22. *13112. The rocket is in circular orbit about the earth at an altitude of h = 4 Mm. Determine the minimum increment in speed it must have in order to escape the earths gravitational field. 13115. The rocket is traveling in free flight along an elliptical trajectory A A. The planet has a mass 0.60 times that of the earths. If the rocket has an apoapsis and periapsis as shown in the figure, determine the speed of the rocket when it is at point A.
r 3.20 Mm A B O A
6.40 Mm h 4 Mm
16 Mm
Prob. 13115
*13116. An elliptical path of a satellite has an eccentricity e = 0.130. If it has a speed of 15 Mm> h when it is at perigee, P, determine its speed when it arrives at apogee, A. Also, how far is it from the earths surface when it is at A? Prob. 13112 13113. Prove Keplers third law of motion. Hint: Use Eqs. 1319, 1328, 1329, and 1331. 13114. A satellite is to be placed into an elliptical orbit about the earth such that at the perigee of its orbit it has an altitude of 800 km, and at apogee its altitude is 2400 km. Determine its required launch velocity tangent to the earths surface at perigee and the period of its orbit.
Prob. 13116
2400 km 800 km
Prob. 13114
13117. A communications satellite is to be placed into an equatorial circular orbit around the earth so that it always remains directly over a point on the earths surface. If this requires the period to be 24 hours (approximately), determine the radius of the orbit and the satellites velocity.
PROBLEMS 13118. The rocket is traveling in free flight along an elliptical trajectory A A. The planet has no atmosphere, and its mass is 0.60 times that of the earths. If the rocket has the apogee and perigee shown, determine the rockets velocity when it is at point A. Take G = 34.4110 -921lb # ft22> slug 2, Me = 409110212 slug, 1 mi = 5280 ft.
159
13121. The rocket is traveling in free flight along an elliptical trajectory A A. The planet has no atmosphere, and its mass is 0.70 times that of the earths. If the rocket has an apoapsis and periapsis as shown in the figure, determine the speed of the rocket when it is at point A.
O r 2000 mi
A A B O
r 3 Mm A
4000 mi
10 000 mi
Prob. 13118 13119. If the rocket is to land on the surface of the planet, determine the required free-flight speed it must have at A so that the landing occurs at B. How long does it take for the rocket to land, in going from A to B? The planet has no atmosphere, and its mass is 0.6 times that of the earths. Take G = 34.4110 -921lb # ft22> slug 2, Me = 409110212 slug, 1 mi = 5280 ft.
6 Mm
9 Mm
Prob. 13121
13122. If the rocket in Prob. 13121 is to land on the surface of the planet, determine the required free-flight speed it must have at A so that it strikes the planet at B. How long does it take for the rocket to land, going from A to B along an elliptical path?
O r 2000 mi
A r 3 Mm A B O A
4000 mi
10 000 mi
Prob. 13119 *13120. The speed of a satellite launched into a circular orbit about the earth is given by Eq. 1325. Determine the speed of a satellite launched parallel to the surface of the earth so that it travels in a circular orbit 800 km from the earths surface.
6 Mm 9 Mm
Prob. 13122
160
C H A P T E R 13
KINETICS
OF A
AND
13123. A satellite S travels in a circular orbit around the earth. A rocket is located at the apogee of its elliptical orbit for which e = 0.58. Determine the sudden change in speed that must occur at A so that the rocket can enter the satellites orbit while in free flight along the blue elliptical trajectory. When it arrives at B, determine the sudden adjustment in speed that must be given to the rocket in order to maintain the circular orbit.
13126. The rocket is traveling in a free-flight elliptical orbit about the earth such that e = 0.76 and its perigee is 9 Mm as shown. Determine its speed when it is at point B. Also determine the sudden decrease in speed the rocket must experience at A in order to travel in a circular orbit about the earth.
A B 120 Mm A
10 Mm
S 9 Mm
Prob. 13123 *13124. An asteroid is in an elliptical orbit about the sun such that its perihelion distance is 9.3011092 km. If the eccentricity of the orbit is e = 0.073, determine the aphelion distance of the orbit. 13125. A satellite is in an elliptical orbit around the earth such that e = 0.156. If its perigee is 5 Mm, determine its velocity at this point and also the distance OB when it is at point B, located 135 away as shown.
B
Prob. 13126 13127. A rocket is in free-flight elliptical orbit around the planet Venus. Knowing that the periapsis and apoapsis of the orbit are 8 Mm and 26 Mm, respectively, determine (a) the speed of the rocket at point A , (b) the required speed it must attain at A just after braking so that it undergoes an 8-Mm free-flight circular orbit around Venus, and (c) the periods of both the circular and elliptical orbits. The mass of Venus is 0.816 times the mass of the earth.
135 A 8 Mm O A
5 Mm
18 Mm
Prob. 13125
Prob. 13127
161
Design Project
131D. Design of a Ramp Catapult The block B has a mass of 20 kg and is to be catapulted from the table. Design a catapulting mechanism that can be attached to the table and to the container of the block, using cables and pulleys. Neglect the mass of the container, assume the operator can exert a constant tension of 120 N on a single cable during operation, and that the maximum movement of his arm is 0.5 m. The coefficient of kinetic friction between the table and container is mk = 0.2. Submit a drawing of your design, and calculate the maximum range R to where the block will strike the ground. Compare your value with that of others in the class.
B
0.75 m R
Fig. 131D
162
C H A P T E R 13
KINETICS
OF A
AND
Chapter Review
Kinetics Kinetics is the study of the relationship between forces and the acceleration they cause. This relationship is based on Newtons second law of motion, expressed mathematically as F = ma. (See page 102.) The mass m is the proportionality constant between the resultant force F acting on the particle and the acceleration a caused by this resultant. The mass represents the quantity of matter contained within the particle. It measures the resistance to a change in its motion. Before applying the equation of motion, it is important to first draw the particles free-body diagram in order to account for all of the forces that act on the particle. Graphically, this diagram is equal to the kinetic diagram, which shows the result of the forces, that is, the ma vector. (See page 105.) Inertial Coordinate Systems When applying the equation of motion, it is important to make measurements of the acceleration from an inertial coordinate system. This system has axes that do not rotate but are either fixed or translate with a constant velocity. Various types of inertial coordinate systems can be used to apply F = ma in component form. (See page 106.) Rectangular x, y, z axes are used to describe rectilinear motion along each of the axes. Normal and tangential n, t axes are often used when the path is known. Recall that a n is always directed in the + n direction. It indicates the change in the velocity direction. Also recall that a t is tangent to the path. It indicates the change in the velocity magnitude.
F2 FR = F F1 Free-body diagram Kinetic diagram P
ma
a P vO O Inertial frame of reference Path of particle
Fx = max , Fy = may , Fz = maz
Ft = mat , Fn = man , Fb = 0 at = dv> dt or a t = v dv> ds, and a n = v2> r e = [1 + 1dy> dx22]3>2 d2y> dx2
CHAPTER REVIEW
163
Cylindrical coordinates are useful when angular motion of the radial coordinate r is specified or when the path can conveniently be described with these coordinates. For some problems, the direction of the forces on the free-body diagram will require finding the angle c between the extended radial coordinate and the tangent to the curve. (See pages 106, 123, and 135.)
# $ $ # # $ Fr = m1r - ru 22, Fu = m1ru + 2r u2, Fz = mz tan c = r dr> du
Central-Force Motion When a single force acts upon a particle, such as during the free-flight trajectory of a satellite in a gravitational field, then the motion is referred to as central-force motion. The orbit depends upon the eccentricity e; and as a result, the trajectory can either be circular, parabolic, elliptical, or hyperbolic. (See page 147.)
Free flight trajectory v0 Satellite F r r0 Power flight trajectory
Launching

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on them the ability predict the motion of the Education, bottles they transport. Unpublished Work 2007 by R. C. Hibbeler.

Kinetics of a Particle: Force and Acceleration

To state Newtons Laws of Motion and Gravitational Attraction and to

To analyze the accelerated motion of a particle using the equation of

To investigate central-force motion and apply it to problems in space

13.1 Newtons Laws of Motion

13.1 NEWTONS LAWS OF MOTION

Newtons Law of Gravitational Attraction. Shortly after

Mass and Weight. Mass is a property of matter by which we can

W mg (N) SI system (a)

W (lb) FPS system (b)

13.2 THE EQUATION OF MOTION

13.2 The Equation of Motion

Inertial Frame of Reference. Whenever the equation of motion

y aO O aP P vO O Inertial frame of reference x Path of particle x Noninertial frame of reference

13.2 THE EQUATION OF MOTION

N1 At rest or constant velocity

13.3 Equation of Motion for a System

13.3 EQUATION OF MOTION FOR A SYSTEM OF PARTICLES

13.4 Equations of Motion: Rectangular

Fx = max Fy = may Fz = maz

Procedure for Analysis

13.4 EQUATIONS OF MOTION: RECTANGULAR COORDINATES

If the velocity or position of the particle is to be found, it will be

13.4 EQUATIONS OF MOTION: RECTANGULAR COORDINATES

v = 0.3628t2 ` = 1.45 ft> s

13.4 EQUATIONS OF MOTION: RECTANGULAR COORDINATES

981 - 2T = 100aA 196.2 - T = 20aB

B P A (a) 100 ft B P A (b)

Prob. 1314 Prob. 1311

C E k 160 kN/m A k 80 kN/m 2 m/s

0.5 m A B mBC 0.1 30 C

13.5 EQUATIONS OF MOTION: NORMAL AND TANGENTIAL COORDINATES

13.5 Equations of Motion:

Normal and Tangential Coordinates

Procedure for Analysis

Establish the inertial t, n, b coordinate system at the particle and

The particles normal acceleration an always acts in the positive

Equations of Motion. Apply the equations of motion, Eqs. 138. Kinematics.

Formulate the tangential and normal components of

13.5 EQUATIONS OF MOTION: NORMAL AND TANGENTIAL COORDINATES

13.5 EQUATIONS OF MOTION: NORMAL AND TANGENTIAL COORDINATES

y y 1 x2 200 200 x 200 ft A (a)

u v2 v ` = - 4.905 cos u ` ; v2 = 9.8111 - cos u2 + 1 2 1 0

B 6 in. k 2.5 lb/ft f

13.6 EQUATIONS OF MOTION: CYLINDRICAL COORDINATES

13.6 Equations of Motion:

Fzuz Fuuu P Frur

Inertial coordinate system

Fig. 1317 (cont.)

Procedure for Analysis

Establish the r, u, z inertial coordinate system and draw the

13.6 EQUATIONS OF MOTION: CYLINDRICAL COORDINATES

# = 20 ft> s u = 0.5 rad> s

Kinematics. From Fig. 1320a, r can be related to u by the equation r =

13.6 EQUATIONS OF MOTION: CYLINDRICAL COORDINATES

NC cos 17.7 = 0.5ar FC - NC sin 17.7 = 0.5au

r u 0.5 ft u 0.5 rad/s u 600 mm

13107. Solve Prob. 13106 if the tube lies in a vertical plane.

0.2 r u r u 5 rad/s, u 2 rad/s2 u 90 x

*13.7 Central-Force Motion and Space Mechanics

The second of these equations may be written in the form 1 d 2 du c ar bd = 0 r dt dt

so that integrating yields r2 du = h dt (1312)