VECTOR MECHANICS FOR ENGINEERS Chapter 16

Seventh Edition
CHAPTER
16
VECTOR MECHANICS FOR ENGINEERS:
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Plane Motion of Rigid Bodies:

Forces and Accelerations
Lecture Notes:
J. Walt Oler
Texas Tech University
2003 The McGraw-Hill Companies, Inc. All rights reserved.
Seventh
Edition
Vector Mechanics for Engineers: Dynamics

Contents
Introduction
Equations of Motion of a Rigid Body
Angular Momentum of a Rigid Body
in Plane Motion
Plane Motion of a Rigid Body:
dAlemberts Principle
Axioms of the Mechanics of Rigid
Bodies
Problems Involving the Motion of a
Rigid Body
Sample Problem 16.1
Sample Problem 16.2
Sample Problem 16.3

Sample Problem 16.4
Sample Problem 16.5
Constrained Plane Motion
Constrained Plane Motion:
Noncentroidal Rotation
Constrained Plane Motion:
Rolling Motion
Sample Problem 16.6
Sample Problem 16.8
Sample Problem 16.9
Sample Problem 16.10
16 - 2
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Introduction
In this chapter and in Chapters 17 and 18, we will be
concerned with the kinetics of rigid bodies, i.e., relations
between the forces acting on a rigid body, the shape and mass
of the body, and the motion produced.
Results of this chapter will be restricted to:

- plane motion of rigid bodies, and
- rigid bodies consisting of plane slabs or bodies which
are symmetrical with respect to the reference plane.
Our approach will be to consider rigid bodies as made of
large numbers of particles and to use the results of Chapter
14 for the motion of systems of particles. Specifically,
r
r
r
r
F = ma
and
M = H&
DAlemberts principle is applied to prove that the external

r
forces acting on a rigid body are equivalent a vector ma
attached to the mass center and a couple of moment I .
16 - 3
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Equations of Motion for a Rigid Body
Consider a rigid body acted upon
by several external forces.
Assume that the body is made of
a large number of particles.
For the motion of the mass center
G of the body with respect to the
Newtonian frame Oxyz,
r
r
F = ma
For the motion of the body with
respect to the centroidal frame
Gxyz,
r
r
M G = H& G
System of external forces is
equipollent to the
r&
r system
consisting of ma and H G .
16 - 4
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Angular Momentum of a Rigid Body in Plane Motion
Angular momentum of the slab may be
computed by
n r r
r
H G = (ri vimi )
i =1
n
r r r
= [ri ( ri)mi ]
i =1
r
= ri 2 mi
r
= I
After differentiation,
r
r
r
H& G = I & = I
Consider a rigid slab in

plane motion.
Results are also valid for plane motion of bodies

which are symmetrical with respect to the
reference plane.
Results are not valid for asymmetrical bodies or
three-dimensional motion.
16 - 5
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Plane Motion of a Rigid Body: DAlemberts Principle
Motion of a rigid body in plane motion is
completely defined by the resultant and moment
resultant about G of the external forces.
Fx = ma x Fy = ma y M G = I
The external forces and the collective effective
forces of the slab particles are equipollent (reduce
to the same resultant and moment resultant) and
equivalent (have the same effect on the body).
dAlemberts Principle: The external forces
acting on a rigid body are equivalent to the
effective forces of the various particles forming
the body.
The most general motion of a rigid body that is
symmetrical with respect to the reference plane
can be replaced by the sum of a translation and a
centroidal rotation.
16 - 6
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Problems Involving the Motion of a Rigid Body
The fundamental relation between the forces
acting on a rigid body in plane motion and
the acceleration of its mass center and the
angular acceleration of the body is illustrated
in a free-body-diagram equation.
The techniques for solving problems of
static equilibrium may be applied to solve
problems of plane motion by utilizing
- dAlemberts principle, or
- principle of dynamic equilibrium
These techniques may also be applied to
problems involving plane motion of
connected rigid bodies by drawing a freebody-diagram equation for each body and
solving the corresponding equations of
motion simultaneously.
16 - 7
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Sample Problem 16.1
SOLUTION:
Calculate the acceleration during the
skidding stop by assuming uniform
acceleration.
Draw the free-body-diagram equation
expressing the equivalence of the
external and effective forces.
At a forward speed of 30 ft/s, the truck Apply the three corresponding scalar
brakes were applied, causing the wheels
equations to solve for the unknown
to stop rotating. It was observed that the
normal wheel forces at the front and rear
truck to skidded to a stop in 20 ft.
and the coefficient of friction between
the wheels and road surface.
Determine the magnitude of the normal
reaction and the friction force at each
wheel as the truck skidded to a stop.
16 - 8
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Sample Problem 16.1
SOLUTION:
Calculate the acceleration during the skidding stop
by assuming uniform acceleration.
v 2 = v02 + 2a ( x x0 )
ft
v0 = 30
s
x = 20 ft
ft
0 = 30 + 2a (20 ft )
s
a = 22.5
ft
s
Draw a free-body-diagram equation expressing the

equivalence of the external and effective forces.
Apply the corresponding scalar equations.
Fy = (Fy )eff
Fx = (Fx )eff
N A + NB W = 0
FA FB = ma
k (N A + N B ) =
kW = (W g )a
a 22.5
=
= 0.699
g 32.2
k =
16 - 9
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Sample Problem 16.1
Apply the corresponding scalar equations.
M A = (M A )eff
(5 ft )W + (12 ft )N B = (4 ft )ma
1
W W
a
5W + 4 a = 5 + 4
12
g 12
g
N B = 0.650W
NB =
N A = W N B = 0.350W
N rear = 12 N A = 12 (0.350W )
N rear = 0.175W
Frear = k N rear = (0.690 )(0.175W )
N front = 12 NV = 12 (0.650W )
Frear = 0.122W
N front = 0.325W
F front = k N front = (0.690 )(0.325W )

F front = 0.0.227W
16 - 10
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Sample Problem 16.2
SOLUTION:
Note that after the wire is cut, all
particles of the plate move along parallel
circular paths of radius 150 mm. The
plate is in curvilinear translation.
The thin plate of mass 8 kg is held in
place as shown.
Neglecting the mass of the links,
determine immediately after the wire
has been cut (a) the acceleration of the
plate, and (b) the force in each link.
Resolve into scalar component equations

parallel and perpendicular to the path of
the mass center.
Solve the component equations and the
moment equation for the unknown
acceleration and link forces.
16 - 11
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Sample Problem 16.2
SOLUTION:
Note that after the wire is cut, all particles of the
plate move along parallel circular paths of radius
150 mm. The plate is in curvilinear translation.
Draw the free-body-diagram equation expressing
the equivalence of the external and effective
forces.
Resolve the diagram equation into components
parallel and perpendicular to the path of the mass
center.
Ft = (Ft )eff
W cos 30 = ma
mg cos 30 =
a = 9.81m/s 2 cos 30
a = 8.50 m s 2
60o
16 - 12
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Sample Problem 16.2
Solve the component equations and the moment
equation for the unknown acceleration and link
forces.
M G = ( M G )eff
(FAE sin 30)(250 mm) (FAE cos 30)(100 mm )

(FDF sin 30)(250 mm ) + (FDF cos 30)(100 mm ) = 0
38.4 FAE + 211.6 FDF = 0
FDF = 0.1815 FAE
Fn = (Fn )eff
a = 8.50 m s 2
60o
FAE + FDF W sin 30 = 0

FAE 0.1815 FAE W sin 30 = 0
FAE = 0.619(8 kg ) 9.81m s 2

FDF = 0.1815 (47.9 N )
FAE = 47.9 N T
FDF = 8.70 N C
16 - 13
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Sample Problem 16.3
SOLUTION:
Determine the direction of rotation by
evaluating the net moment on the
pulley due to the two blocks.
Relate the acceleration of the blocks to
the angular acceleration of the pulley.
external and effective forces on the
complete pulley plus blocks system.
A pulley weighing 12 lb and having a

radius of gyration of 8 in. is connected to
Solve the corresponding moment
two blocks as shown.
equation for the pulley angular
Assuming no axle friction, determine the
acceleration.
angular acceleration of the pulley and the
acceleration of each block.
16 - 14
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Sample Problem 16.3
SOLUTION:
Determine the direction of rotation by evaluating the net
moment on the pulley due to the two blocks.
M G = (10 lb)(6 in ) (5 lb )(10 in ) = 10 in lb

rotation is counterclockwise.
note:
I = mk 2 =
=
W 2
k
g
12 lb 8
ft
32.2 ft s 2 12
= 0.1656 lb ft s 2
Relate the acceleration of the blocks to the angular

acceleration of the pulley.
a A = rA
=(
10
ft
12
aB = rB
6 )
= (12
ft
16 - 15
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Sample Problem 16.3
Draw the free-body-diagram equation expressing the
equivalence of the external and effective forces on the
complete pulley and blocks system.
Solve the corresponding moment equation for the pulley
angular acceleration.
M G = (M G )eff
6 )
(10 lb)(126 ft ) (5 lb )(10
ft ) = I + mB aB (12
ft m Aa A (10
ft )
12
12
(10)(126 ) (5)(10
) = (0.1656) + (3210.2 )(126 )(126 ) (325.2 )(1012 )(1012 )
12
= 2.374 rad s 2
I = 0.1656 lb ft s 2
aA = (
)ft s
6
aB = (12
)ft s 2
10
12
Then,
a A = rA
a A = 1.978 ft s 2
aB = 1.187 ft s 2
= (10
ft ) 2.374 rad s 2
12
aB = rB
6
= (12
ft ) 2.374 rad s 2
16 - 16
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Sample Problem 16.4
SOLUTION:
expressing the equivalence of the external
and effective forces on the disk.
Solve the three corresponding scalar
equilibrium equations for the horizontal,
vertical, and angular accelerations of the
disk.
A cord is wrapped around a

homogeneous disk of mass 15 kg.
The cord is pulled upwards with a
force T = 180 N.
Determine the acceleration of the cord by

evaluating the tangential acceleration of
the point A on the disk.
Determine: (a) the acceleration of the

center of the disk, (b) the angular
acceleration of the disk, and (c) the
acceleration of the cord.
16 - 17
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Sample Problem 16.4
SOLUTION:
equivalence of the external and effective forces on the
disk.
Solve the three scalar equilibrium equations.
Fx = (Fx )eff
ax = 0
0 = ma x
Fy = (Fy )eff
T W = ma y
ay =
T W 180 N - (15 kg ) 9.81m s 2

=
m
15 kg
M G = (M G )eff
Tr = I =
=
a y = 2.19 m s 2
(12 mr 2 )
2T
2(180 N )
=
(15 kg )(0.5 m )
mr
= 48.0 rad s 2
16 - 18
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Sample Problem 16.4
Determine the acceleration of the cord by evaluating the
tangential acceleration of the point A on the disk.
r
acord = (a A )t = a + (a A G )
= 2.19 m s + (0.5 m ) 48 rad s 2

2
acord = 26.2 m s 2
ax = 0
a y = 2.19 m s 2
= 48.0 rad s 2
16 - 19
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Sample Problem 16.5
SOLUTION:
external and effective forces on the
sphere.
A uniform sphere of mass m and radius

r is projected along a rough horizontal
surface with a linear velocity v0. The
coefficient of kinetic friction between
the sphere and the surface is k.
Determine: (a) the time t1 at which the
sphere will start rolling without sliding,
and (b) the linear and angular velocities
of the sphere at time t1.

equilibrium equations for the normal
reaction from the surface and the linear
and angular accelerations of the sphere.
Apply the kinematic relations for
uniformly accelerated motion to
determine the time at which the
tangential velocity of the sphere at the
surface is zero, i.e., when the sphere
stops sliding.
16 - 20
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Sample Problem 16.5
SOLUTION:
equivalence of external and effective forces on the
sphere.
Solve the three scalar equilibrium equations.
Fy = (Fy )eff
N W = 0
Fx = (Fx )eff
N = W = mg
F = ma
k mg =
a = k g
M G = (M G )eff
Fr = I
5 k g
2 r
NOTE: As long as the sphere both rotates and slides,
its linear and angular motions are uniformly
accelerated.
( k mg )r = (23 mr 2 )
16 - 21
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Sample Problem 16.5
Apply the kinematic relations for uniformly accelerated
motion to determine the time at which the tangential velocity
of the sphere at the surface is zero, i.e., when the sphere
stops sliding.
v =v 0 + a t =v 0 +( k g )t
5 k g
t
2 r
= 0 + t = 0 +
a = k g
5 k g
2 r
At the instant t1 when the sphere stops sliding,

v1 = r1
5 k g
v0 k gt1 = r
t1
2 r
5 k g
5 k g 2 v0
t1 =
2 r
2 r 7 k g
t1 =
2 v0
7 k g
1 =
1 =
5v
v1 = r1 = r 0
7 r
v1 = 75 v0
5 v0
7 r
16 - 22
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Constrained Plane Motion
Most engineering applications involve rigid
bodies which are moving under given
constraints, e.g., cranks, connecting rods, and
non-slipping wheels.
Constrained plane motion: motions with
definite relations between the components of
acceleration of the mass center and the angular
acceleration of the body.
Solution of a problem involving constrained
plane motion begins with a kinematic analysis.
e.g., given , , and , find P, NA, and NB.
- kinematic analysis yields a x and a y .
- application of dAlemberts principle yields
P, NA, and NB.
16 - 23
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Constrained Motion: Noncentroidal Rotation
Noncentroidal rotation: motion of a body is
constrained to rotate about a fixed axis that does
not pass through its mass center.
Kinematic relation between the motion of the mass
center G and the motion of the body about G,
at = r
an = r 2
The kinematic relations are used to eliminate

at and an from equations derived from
dAlemberts principle or from the method of
dynamic equilibrium.
16 - 24
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Constrained Plane Motion: Rolling Motion
For a balanced disk constrained to
roll without sliding,
x = r a = r
Rolling, no sliding:
F s N
a = r
Rolling, sliding impending:
F = s N
a = r
Rotating and sliding:
a , r independent
F = k N
For the geometric center of an

unbalanced disk,
aO = r
The acceleration of the mass center,
r
r
r
aG = aO + aG O
r
r
r
= aO + aG O + aG O
)t (
)n
16 - 25
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Sample Problem 16.6
SOLUTION:
Draw the free-body-equation for AOB,
mE = 4 kg
k E = 85 mm
mOB = 3 kg
The portion AOB of the mechanism is

actuated by gear D and at the instant
shown has a clockwise angular velocity
of 8 rad/s and a counterclockwise
angular acceleration of 40 rad/s2.
Determine: a) tangential force exerted
by gear D, and b) components of the
reaction at shaft O.
Evaluate the external forces due to the

weights of gear E and arm OB and the
effective forces associated with the
angular velocity and acceleration.
Solve the three scalar equations
derived from the free-body-equation
for the tangential force at A and the
horizontal and vertical components of
reaction at shaft O.
16 - 26
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Sample Problem 16.6
SOLUTION:
Draw the free-body-equation for AOB.
Evaluate the external forces due to the weights of
gear E and arm OB and the effective forces.
WE = (4 kg ) 9.81m s 2 = 39.2 N
WOB = (3 kg ) 9.81m s 2 = 29.4 N
I E = mE k E2 = (4kg )(0.085 m )2 40 rad s 2
= 1.156 N m
mE = 4 kg
k E = 85 mm
= 40 rad s
= 8 rad/s
mOB (aOB )t = mOB (r ) = (3 kg )(0.200 m ) 40 rad s 2
= 24.0 N
( )
mOB (aOB )n = mOB r 2 = (3 kg )(0.200 m )(8 rad s )2
mOB = 3 kg
= 38.4 N
I OB =
(121 mOB L2 ) = 121 (3kg )(0.400 m)2 (40 rad s2 )
= 1.600 N m
16 - 27
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Sample Problem 16.6
Solve the three scalar equations derived from the freebody-equation for the tangential force at A and the
horizontal and vertical components of reaction at O.
M O = ( M O )eff
F (0.120m ) = I E + mOB (aOB )t (0.200m ) + I OB
= 1.156 N m + (24.0 N )(0.200m ) + 1.600 N m
F = 63.0 N
Fx = ( Fx )eff
WE = 39.2 N
WOB = 29.4 N
I E = 1.156 N m
Rx = mOB (aOB )t = 24.0 N
Rx = 24.0 N
Fy = ( Fy )eff
mOB (aOB )t = 24.0 N
R y F WE WOB = mOB (aOB )
mOB (aOB )n = 38.4 N
R y 63.0 N 39.2 N 29.4 N = 38.4 N
I OB = 1.600 N m
R y = 24.0 N
16 - 28
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Sample Problem 16.8
SOLUTION:
Draw the free-body-equation for the
sphere, expressing the equivalence of the
With the linear and angular accelerations
related, solve the three scalar equations
derived from the free-body-equation for
the angular acceleration and the normal
A sphere of weight W is released with
and tangential reactions at C.
no initial velocity and rolls without
Calculate the friction coefficient required
slipping on the incline.
for the indicated tangential reaction at C.
Determine: a) the minimum value of
Calculate the velocity after 10 ft of
the coefficient of friction, b) the
uniformly accelerated motion.
velocity of G after the sphere has
rolled 10 ft and c) the velocity of G if Assuming no friction, calculate the linear
acceleration down the incline and the
the sphere were to move 10 ft down a
corresponding velocity after 10 ft.
frictionless incline.
16 - 29
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Sample Problem 16.8
SOLUTION:
Draw the free-body-equation for the sphere, expressing
the equivalence of the external and effective forces.
With the linear and angular accelerations related, solve
the three scalar equations derived from the free-bodyequation for the angular acceleration and the normal
and tangential reactions at C.
M C = (M C )eff
a = r
(W sin )r = (ma )r + I
= (mr )r + (52 mr 2 )
W
2W 2
r
= r r +
g
5 g
a = r =
=
5 g sin
7r
5 g sin 30
7
5 32.2 ft s 2 sin 30
7
a = 11.50 ft s 2
16 - 30
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Sample Problem 16.8
Solve the three scalar equations derived from the freebody-equation for the angular acceleration and the
normal and tangential reactions at C.
Fx = (Fx )eff W sin F = ma
W 5 g sin
g
7
2
F = W sin 30 = 0.143W
7
=
Fy = (Fy )eff
=
5 g sin
7r
a = r = 11.50 ft s 2
N W cos = 0
N = W cos 30 = 0.866W
Calculate the friction coefficient required for the

indicated tangential reaction at C.
F = s N
s =
F 0.143W
=
N 0.866W
s = 0.165
16 - 31
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Sample Problem 16.8
Calculate the velocity after 10 ft of uniformly
accelerated motion.
v 2 = v02 + 2a ( x x0 )
= 0 + 2 11.50 ft s 2 (10 ft )
r
v = 15.17 ft s
Assuming no friction, calculate the linear acceleration

and the corresponding velocity after 10 ft.
5 g sin
7r
M G = (M G )eff
0 = I
Fx = (Fx )eff
W
W sin = ma = a
g
=0
a = 32.2 ft s 2 sin 30 = 16.1ft s 2
a = r = 11.50 ft s 2
v 2 = v02 + 2a ( x x0 )
= 0 + 2 16.1ft s 2 (10 ft )
r
v = 17.94 ft s
16 - 32
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Sample Problem 16.9
SOLUTION:
Draw the free-body-equation for the
wheel, expressing the equivalence of the
A cord is wrapped around the inner

hub of a wheel and pulled
horizontally with a force of 200 N.
The wheel has a mass of 50 kg and a
radius of gyration of 70 mm.
Knowing s = 0.20 and k = 0.15,
determine the acceleration of G and
the angular acceleration of the wheel.
Assuming rolling without slipping and

therefore, related linear and angular
accelerations, solve the scalar equations
for the acceleration and the normal and
tangential reactions at the ground.
Compare the required tangential reaction
to the maximum possible friction force.
If slipping occurs, calculate the kinetic
friction force and then solve the scalar
equations for the linear and angular
accelerations.
16 - 33
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Sample Problem 16.9
SOLUTION:
Draw the free-body-equation for the wheel,.
Assuming rolling without slipping, solve the scalar
equations for the acceleration and ground reactions.
M C = (M C )eff
(200 N )(0.040 m ) = ma (0.100 m ) + I

8.0 N m = (50 kg )(0.100 m )2 + (0.245 kg m 2 )
I = mk 2 = (50 kg )(0.70 m )2
= 0.245 kg m 2
Assume rolling without slipping,
a = r
= (0.100 m )
= +10.74 rad s 2
a = (0.100 m ) 10.74 rad s 2 = 1.074 m s 2
Fx = (Fx )eff
F + 200 N = ma = (50 kg ) 1.074 m s 2
F = 146.3 N
Fx = (Fx )eff
N W = 0
N = mg = (50kg ) 1.074 m s 2 = +490.5 N

16 - 34
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Sample Problem 16.9
Compare the required tangential reaction to the
maximum possible friction force.
Fmax = s N = 0.20(490.5 N ) = 98.1 N
F > Fmax , rolling without slipping is impossible.

Without slipping,
F = 146.3 N N = 490.5 N
Calculate the friction force with slipping and solve the

scalar equations for linear and angular accelerations.
F = Fk = k N = 0.15(490.5 N ) = 73.6 N
Fx = (Fx )eff
200 N 73.6 N = (50 kg )a
a = 2.53 m s 2
M G = (M G )eff
(73.6 N )(0.100 m ) (200 N )(0.0.060 m )
= 0.245 kg m 2
= 18.94 rad s 2
= 18.94 rad s 2
16 - 35
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SOLUTION:
Based on the kinematics of the constrained
motion, express the accelerations of A, B,
and G in terms of the angular acceleration.
The extremities of a 4-ft rod

weighing 50 lb can move freely and
with no friction along two straight
tracks. The rod is released with no
velocity from the position shown.
Draw the free-body-equation for the rod,

equations for the angular acceleration and
the reactions at A and B.
Determine: a) the angular

acceleration of the rod, and b) the
reactions at A and B.
16 - 36
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SOLUTION:
Based on the kinematics of the constrained motion,
express the accelerations of A, B, and G in terms of
the angular acceleration.
Express the acceleration of B as
r
r
r
aB = a A + aB A
With aB A = 4 , the corresponding vector triangle and
the law of signs yields
a A = 5.46
aB = 4.90
The acceleration of G is now obtained from

r r
r
r
a = a G = a A + aG A where aG A = 2
Resolving into x and y components,
a x = 5.46 2 cos 60 = 4.46
a y = 2 sin 60 = 1.732
16 - 37
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Draw the free-body-equation for the rod, expressing
the equivalence of the external and effective forces.
Solve the three corresponding scalar equations for the
angular acceleration and the reactions at A and B.
M E = (M E )eff
(50)(1.732) = (6.93 )(4.46) + (2.69 )(1.732) + 2.07

= +2.30 rad s 2
1 ml 2 =
I = 12
1
50 lb
(4 ft )2
2
12 32.2 ft s
= 2.07 lb ft s 2
I = 2.07
50
(4.46 ) = 6.93
ma x =
32.2
50
(1.732 ) = 2.69
ma y =
32.2
= 2.30 rad s 2
Fx = (Fx )eff
RB sin 45 = (6.93)(2.30 )
RB = 22.5 lb
Fy = (Fy )eff
r
RB = 22.5 lb
45o
RA + (22.5) cos 45 50 = (2.69 )(2.30 )
RA = 27.9 lb
16 - 38

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Plane Motion of Rigid Bodies:

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

Vector Mechanics for Engineers: Dynamics

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

Sample Problem 16.3

Vector Mechanics for Engineers: Dynamics

Results of this chapter will be restricted to:

DAlemberts principle is applied to prove that the external

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Consider a rigid slab in

Results are also valid for plane motion of bodies

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

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

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

Vector Mechanics for Engineers: Dynamics

Draw a free-body-diagram equation expressing the

Vector Mechanics for Engineers: Dynamics

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

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

Vector Mechanics for Engineers: Dynamics

Resolve into scalar component equations

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

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

(FAE sin 30)(250 mm) (FAE cos 30)(100 mm )

FAE + FDF W sin 30 = 0

FAE = 0.619(8 kg ) 9.81m s 2

Vector Mechanics for Engineers: Dynamics

A pulley weighing 12 lb and having a

Vector Mechanics for Engineers: Dynamics

M G = (10 lb)(6 in ) (5 lb )(10 in ) = 10 in lb

Relate the acceleration of the blocks to the angular

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

Vector Mechanics for Engineers: Dynamics

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

Vector Mechanics for Engineers: Dynamics

A cord is wrapped around a

Determine the acceleration of the cord by

Determine: (a) the acceleration of the

Vector Mechanics for Engineers: Dynamics

T W 180 N - (15 kg ) 9.81m s 2

Vector Mechanics for Engineers: Dynamics

= 2.19 m s + (0.5 m ) 48 rad s 2

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

Vector Mechanics for Engineers: Dynamics

A uniform sphere of mass m and radius

Solve the three corresponding scalar

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

Vector Mechanics for Engineers: Dynamics

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

Vector Mechanics for Engineers: Dynamics

At the instant t1 when the sphere stops sliding,

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

Vector Mechanics for Engineers: Dynamics

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

Vector Mechanics for Engineers: Dynamics

The kinematic relations are used to eliminate

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