ES 12 Dynamics of Rigid Bodies October 10, 2009 (1:00-3:00 pm)

Fourth Departmental Examination First semester 2009-2010

ACADEMIC INTEGRITY PLEDGE: On my honor, I will not give or receive inappropriate aid in this examination.

NAME & Signature: SECTION:

INSTRUCTIONS:
1. Turn all mobile phones OFF during the entire examination period. Any form of cheating will be strictly penalized.
2. Use only a blue or black ink pen.
3. Do not write anything on this questionnaire except your name, signature, and section.
4. Make sure to write your name and section on every answer sheet; number the sheets consecutively.
5. Start the solution to each Problem on a new sheet; do not write at the back; and put a box on your final
answer/s.
6. Show clearly all pertinent solutions and state the assumptions made, if any.
7. Submit this questionnaire together with your answer sheets; keep all sheets stapled together; otherwise your paper will
NOT be graded.
C
Problem Number 1 (Grader: Ubando)
Work and Energy Principle
The 1200-mm uniform slender bar ABC, with mass
center at B, has a mass of 20 kg. The bar was at rest in the
vertical position when  was essentially zero. It starts to move
from rest by slightly pushing end A to the left. The roller
attached to B is confined to move in the smooth vertical guide
while roller at end A moves in the smooth horizontal guide. Bar
ABC will eventually compress the spring as the bar falls. The
spring has a stiffness k = 5000 N/m.
Multiple Choice (20 pts): In your answer sheet, write the letter
corresponding to the best answer. Do not write on this questionnaire.

For the following questions, refer to the problem above.

1.A) (5 pts)Bar ABC will undergo what type of motion.
a) translation b) centroidal rotation c) noncentroidal rotation d) constrained plane motion

1.B) (5 pts)What is the mass moment of inertia of the uniform slender bar ABC about the centroidal axis
(through B) perpendicular to the plane of the motion?
a) 3.6 kg-m2 b) 2.4 kg-m2 c) 1.2 kg-m2 d) 0.6 kg-m2

1.C) (5 pts)When  = 30°, what is the kinematic relationship between the speed of the mass center, vB (in
m/s), and the angular speed ω (in rad/s)? Hint: Use Instant Center Method.
a) vB = 0.424ω b) vB = 0.600ω c) vB = 0.300ω d) vB = 0.520ω

1.D) (5 pts)What is the magnitude of the deformation of the spring when bar ABC assumes a horizontal
position (i.e., when roller B is at the same elevation as roller A and just before striking the horizontal
guide)?
a) 200 mm b) 100 mm c) 150 mm d) 250 mm

Problem Solving (80 pts) Answer the following questions completely showing your solutions in your
answer sheet. Enclose your final answers in a box.
1.E) Calculate work done on the bar ABC during its motion from  = 0° to  = 30°. (40 pts)
1.F) Write the expressions for kinetic energy of bar ABC both at  = 0° and at  = 30°? (10 pts)
1.G) Determine the angular velocity of the bar ABC at the instant when  = 30°. (20 pts)
1.H) What is the work done by the spring on bar AB during the motion of bar AB from  = 0° (i.e., vertical
position) to  = 90° (i.e., when roller B is at the same elevation as roller A)? (10 pts)

REMINDER: Final Examination is on October xx, 2009 Tuesday from 9:00 am to 12:00 noon.
ES 12 Dynamics of Rigid Bodies October 10, 2009 (1:00-3:00 pm)
Fourth Departmental Examination First semester 2009-2010

Problem Number 2 (Grader: Puno)

D’Alembert’s Principle (Newton’s Second Law)

End A of the 6-kg uniform rod AB is in constrained to move along a rough

25-degree inclined surface, while end B is attached to a collar of negligible
mass which can slide freely along the smooth vertical rod as shown. The
coefficients of kinetic and static friction between the rod at A and the inclined
surface are 0.5 and 0.6, respectively. The rod was released from rest when  = G
35. It can be shown here that friction is NOT sufficient to prevent slipping of
end A down the inclined surface.

Multiple Choice (20 pts) In your answer sheet, write the letter corresponding
to the best answer. Do not write on this questionnaire.

For the following questions, refer to the problem above.

2.A) Rod AB will undergo what type of motion. (5 pts)
a) translation b) noncentroidal rotation c) centroidal rotation d) constrained plane motion

2.B) How many external forces are acting on the rod AB? (5 pts)
a) 1 b) 2 c) 3 d) 4

2.C) What is the mass moment of inertia of the uniform rod AB about the centroidal axis (through G)
perpendicular to the plane of the motion? (5 pts)
a) 1.125 kg-m2 b) 2.5 kg-m2 c) 0.555 kg-m2 d) 0.6 kg-m2

2.D) The direction of the angular acceleration of the rod is: (5 pts)
a) clockwise b) counterclockwise c) vertically downwards d) to the left

Problem Solving (80 pts) Answer the following questions completely showing your solutions in your
answer sheet. Enclose your final answers in a box.

Refer to the problem above.

2.E) Draw the COMPLETE diagrams (FBD = EFD) that graphically represent the equations of motion
of rod AB at the instant ‘immediately after released from rest’. (30pts)
2.F) Using the diagrams in 2.E), write the equations of motion for rod AB at the same instant. (20 pts)
2.G) Write the complete kinematic relationship between the acceleration of the mass center G and the
angular acceleration of rod AB at the same instant. (20 pts)
2.H) Determine the angular acceleration of the rod at the same instant. (10 pts)
Bonus: Knowing that the coefficient of static friction between the rod and the inclined surface is 0.6,
show that friction is NOT sufficient to prevent slipping of end A down the inclined surface. (10 pts)
ES 12 Dynamics of Rigid Bodies October 10, 2009 (1:00-3:00 pm)
Fourth Departmental Examination First semester 2009-2010

Problem Number 3 (Grader: Zarco)

Impulse and Momentum Principle AND Work and Energy Principle

A homogeneous circular disk of radius r and mass m Position 2

rolls without slipping to the left over a horizontal surface
with an angular velocity of 0 and a linear velocity of its Position 1

center of mass equal to v0  r0 (at position 1). It then v0  0 r

strikes a rough step of height h  0.1 r such that, after h = 0.1r O
impact, the disk rotates about point O without losing
contact until it reaches the top of the step (position 2).

Multiple Choice (20 pts) In your answer sheet, write the letter corresponding to the best answer. Do not write
on this questionnaire.

In the problem above,

3.A) (5 pts) The coefficient of restitution e between the disk and the step is:
a) zero b) 0.62 c) 0.73 d) 1

3.B) (5 pts) During the impact of the disk with the step, the angular momentum is conserved about
which point:
a) corner of the step, O
b) mass center of disk, G
c) there is no point at which angular momentum is conserved
d) can not be determined
Note that there is no significant change in position of the disk just before and just after impact (i.e., the
positions just before and after impact is at the same position 1).

3.C) (5 pts)The kinetic energy at position 1 just after it hits the step is:
a) Zero b) 0.75 mr2(’)2 c) 0.5 mr2(’)2 d) 0.25 mr2(’)2
where ’ is the angular speed of the disk just after it hits the step.

3.D) (5 pts) If the angular velocity o of the disk just before its impact with the step corresponds to a
minimum value, the disk will rotate about O and still be able to reach the top of the step. At the instant
when the disk has reached the top of the step (i.e., at position 2),
a) the kinetic energy of the disk is ZERO
b) the kinetic energy of the disk is NON-ZERO and the velocity of the mass center is equal to r
c) the normal component of the reaction, N, at the surface of contact is ZERO
d) the frictional component of the reaction, f, at the surface of contact is ZERO

Problem Solving (80 pts) Answer the following questions completely showing your solutions in your answer
sheet. Enclose your final answers in a box.
Refer to the problem above,
3.E) Draw the diagrams showing the impulse and momentum principle during the impact between the
disk and the step. (20 pts)
3.F) With the aid of 3.E), calculate the angular momentum of the disk about the corner Oat the instant just
before its impact with the step. Answer must be in terms of the angular velocity of the disk, o. (30 pts)
3.G) Calculate the angular velocity of the disk, ’, at the instant just after its impact with the step.
Answer must be in terms of the initial angular velocity of the disk, o. (35 pts)
3.H) Determine the minimum angular velocity o that the disk must have in order for it to reach to top of
the step. Answer is in terms of gravity g and radius of the disk r. (15 pts).
Problem 1
1 2 2
L  1.2 m mass  20kg IG   mass L  2.4 m  kg
12

L
U12   ( 1  cos( 30 deg) )  mass g  15.766 J
2

2 2
IIC  IG  mass ( 0.3 m)  4.2 m  kg

1 2 T1  U12 rad
T1  0  J T1  U12 = IIC ω ω   2.74
2  IIC  s
 
 2 

N 1 2
k  5000 Us   k  ( 600  mm  450  mm)  56.25 J
m 2
 
In[1]:= FullSimplifyCos    
2
Out[1]= Sin  

Solve for agx given constrained motion at Point B

L 
In[6]:= X1  Solveagx     Cos    0, agx1
2 2

agx  
1
Out[6]= L  Sin
2

Solve for agy given constrained motion at Point A

     0 . X1, agy1
L 
In[10]:= X2  FullSimplifySolve agx  Sin  agy  Cos     Sin
2 2

agy  
1
Out[10]= L  Cos
2

Solve for Normal force at Point A using D' Alembert' s Principle (forces in the vertical
direction)
In[13]:= X3  FullSimplifySolveNA  k  Sin  Cos  m  g  m  agy . X2, NA1

m 2 g  L  Cos
NA  
2 Cos  k Sin
Out[13]=

Solve for Normal force at Point B using D' Alembert' s Principle (forces in the horizontal
direction)
In[15]:= X4  FullSimplifySolveNA  k  Cos  Sin  NB  m  agx . X11, X31, NB1

m 2 g k Cos  2 g Sin  L   k Cos    Sin  

NB  
2 Cos  k Sin
Out[15]=

Solve for angular acceleration using D' Alembert' s Principle (moments about the centroid)
1
In[16]:= IG  m  L2 ;
12

In[17]:= X5  FullSimplifySolve

    IG   . X31, X41, 1

L  
 NA  Sin    k  Sin      NB  Sin

6 g  2 k Cos Cos  Sin Cos  k Sin  Sin  

2 2 2

  
L Cos  k Sin  6 Cos  k Cos    Sin  
Out[17]=
Problem 3
3
I0   m  r2 ;
2
1 9
H1  Simplify  m  r2  0  m  0  r  r
2 10
7
m r2 0
5

H2  I0  1

3
m r2 1
2

X1  SolveH1  H2, 01

0  
15 1
14

I0  12
1
T2 
2
3
m r2 12
4

T3  0

9
U23   m  g  r
10
9
 gmr
10

X2  SolveT2  U23  T3, 12

1  
g
5

NX1 . X2

0  
1.17369 g