Method 1: Using force analysis [Vo Thanh Minh Tue]

The force exerted by the pivot on the rod is composed of two components Nx amd Ny
Moment of inertia about O:
I = ml2 + m(3l)2 = 10ml2
Net torque at the initial condition:
Iθ&& = mgl + 3mg (0) = mgl
g
θ&& =
10l
The distance from the center of mass to the origin:
1 2 10
R= l + (3l ) 2 = l
2 2
Now let consider the motion of the center of mass. The motion of the center of mass can be divided into two
components in tangential and radical directions
Hence:
r
[ ] [
aCM = θˆ Rθ&& + 2θ&R& + R
ˆ R
&& − θ& 2 R ]
Since the R is a constant and object starts from rest θ& = 0
r g
[ ]
aCM = θˆ Rθ&& = θˆ
2 10
g  3  3g
a x = aCM cos φ =   =
2 10  10  20
g  1  g
a y = aCM sin φ =   =
2 10  10  20
The net-force on the center of mass:
 3g  3
F x = 2ma x = N x = 2m  = mg (to the right)
 20  10
 g  mg
Fy = 2ma y = 2mg − N y = 2m  =
 20  10
 1  19
N y = mg  2 −  = mg
 10  10
(in the positive y direction)
Hence total force exerted by the pivot on the rod
 r 3 19
N = mgˆi + mgˆj
10 10
mg 2 370
N= 3 + 19 2 = mg
10 10
Therefore total force exerted by the rod on the pivot
r − 3 ˆ − 19 ˆ
Nr = mgi + mgj
10 10

Method 2: Using energy approach [Hoang Kim Dinh]:

Let the coordinate of the first ball be (x1, y1) and the coordinate of the second ball be (x2, y2) and the origin at the pivot.
Total kinetic energy:
m 2 m m m m
KE =
2
[ 2
] [ ]
x&1 + y&12 + x& 22 + y& 22 = l 2θ& 2 + (3l ) θ& 2 = 10l 2θ& 2 = 5ml 2θ& 2
2 2
2

2
Total potential energy: Suppose that the system is displaced by an angle θ
U = mg (3l − l sin θ ) + mg (3l − 3l cos θ )
Since total energy is conserved:
E = KE + U = constant
Differentiating with respect to time:
d
dt
( )
5ml 2θ& 2 + mg (3l − l sin θ ) + mg (3l − 3l cos θ ) = 0

d
dt
( )
5ml 2θ& 2 + mg (3l − l sin θ ) + mg (3l − 3l cos θ ) = 0

[ ]
10lθ&& + g (3 sin θ − cos θ ) θ& = 0
10lθ&& + g (3 sin θ − cos θ ) = 0
Initial condition: θ=0
g
θ&& =
10l
Since the system’s center of mass is rotating around the pivot with fixed radius R:
g
[ ]
a = Rθ&& =
2 10
Similarly solving for the force by the system on the pivot:
r − 3 ˆ − 19 ˆ
Nr = mgi + mgj
10 10
[All things come to an end. See you next year!]