Physics I – A.A.

2013 – 2014
Prof. Iazzi Felice – felice.iazzi@polito.it
Exercise teachers
Balestra Francesca – francesca.balestra@polito.it
Sharda Kanudha – kanudha.sharda@polito.it
April 2, 2014

1 DYNAMICS– EXERCISES
1.1 Dynamics
1. A block of mass M is connected to a rope hanging from a mass-less pulley. A
person of mass m<M, on the floor, starts climbing the other edge of the rope.
It is possible for the person, to raise the block?
In the case it is possible, find the block acceleration and the rope tension.
DATA: M=100 kg; m=60 kg.

2. A block of stone of mass m is put on the moving platform of a truck.

This truck has a mass M.
The moving platform is rough and it has static and dynamic friction coefficients
that are µsp and µdp .
The moving platform is progressively inclined.
Find:
a) the limit angle αl at which the block starts sliding down;
b) the friction coefficient between the wheels and the ground µst that maintains
the truck steady.
DATA: M=1500 kg; m=150 kg; µsp =0.6; µdp = 0.45.

3. A wedge of mass M and an angle α is on a horizontal plane.

A mass m is on the surface of the wedge and a horizontal force F~ is applied on
the back of the wedge.
No friction is present between the mass and the wedge or between the wedge
and the horizontal plane.
Find the modulus of force F~ , in order to keep the mass m steady with respect
to the wedge.
DATA: M=100 kg; m=10 kg; α = 30◦ .

1
2 DYNAMICS– SOLUTIONS
2.1 Dynamics
1. Solution

It is possible for the person of mass m to raise the block of mass M (m<M), if
he/she is able to climb on the rope with an acceleration high enough i.e, he/she
is able to give to the rope an acceleration high enough.
Let’s consider the figure 1:

y'
y

x'
O'

T T

O x

Figure 1.

Two reference frames are needed for answering to the questions of this prob-
lem.
The first reference system (x,y) has the x-axis along the lower edge of the block
when it is at rest at ground and y-axis vertical, perpendicular to x.
The second reference system (x’,y’) moves with the rope. It has the origin O’
fixed in a point of the rope and the axis x’,y’ parallel to x,y.

We can define the acceleration of the person as:

y¨0 =a in the moving reference system (x’,y’) and
ÿ in the reference system (x,y).
The acceleration of the block in the reference system (x,y) is Ÿ .
The acceleration of the point of the rope coincident with O’, in the reference
system (x,y), is ÿO0 and it is the opposite of Ÿ : ÿO0 =-Ÿ .

We need to calculate the minimum value of a, necessary to raise the block.

2
 We know that the acceleration in the fixed reference frame can be calculated
from the acceleration in the moving reference system as:

ÿ = y¨0 + ÿO0

neglecting the terms involving the rotation of the moving reference frame.
But we know that y¨0 =a and ÿO0 =-Ÿ , therefore

ÿ = y¨0 + ÿO0 = a − Ÿ

Now it is necessary to consider the forces acting on the person and on the
block.
On the person:
mÿ = m(a − Ÿ ) = −mg + T
where T is the rope tension and mg = Fg is the modulus of the gravitational
force.
On the block:
M Ÿ = −M g + T
where, again, T is the rope tension and M g = Fg is the modulus of the gravi-
tational force.

We have therefore a system of equations:

(
m(a − Ÿ ) = −mg + T
M Ÿ = −M g + T

If we subtract the second equation from the first one, we get:

ma − mŸ − M Ÿ = −mg + T + M g − T

that becomes

ma − mŸ − M Ÿ = −mg + M g = g(M − m)

and
ma − (m + M )Ÿ = g(M − m) ⇒
ma − g(M − m) ma + g(m − M )
Ÿ = =
m+M m+M
If we want to raise the block, Ÿ ≥ 0 then:
ma + g(m − M )
Ÿ = ≥ 0 ⇒ ma + g(m − M ) ≥ 0 ⇒ ma ≥ g(M − m)
m+M
g(M − m)
⇒a≥ = 6.67 m/s2
m
The acceleration a must satisfy the expression above to allow the person to raise
the heavy block.

The tension of the rope can be obtain by summing the two equations of the
system above:
ma − mŸ + M Ÿ = −mg + T − M g + T

3
that becomes
ma − mŸ + M Ÿ = 2T − (m + M )g
and
ma + Ÿ (−m + M ) + (m + M )g
T =
2

CASE 1
It is possible to apply to the block, for a moment, an acceleration a > g(Mm−m)
and then continue with a constant acceleration a = g(Mm−m) .
In this case the acceleration of the block in the fixed reference frame will be
Ÿ > 0 for a while then it will become Ÿ = 0 and the block will continue to move
at a constant speed.
Then, in this case with a = g(Mm−m) we will have:
for the acceleration: Ÿ = 0
for the rope tension T:

ma + Ÿ (−m + M ) + (m + M )g ma + (m + M )g
T = = = 1000 N
2 2
bigger than in the simpler case in which the climbing speed is constant i.e. a=0.

CASE 2
We consider the case in which a > g(Mm−m) always. Let’s take a value for a
bigger than 6.67 m/s2 : for example a = 8 m/s2 .
In this case we have:
for the acceleration:
ma + g(m − M )
Ÿ = = 0.5 m/s2
m+M
for the rope tension T:
ma+g(m−M )
ma + Ÿ (−m + M ) + (m + M )g ma + m+M (−m + M ) + (m + M )g
T = =
2 2
that developing all the calculations becomes:

mM (a + 2g)
T = = 1050 N
m+M

4
 2. Solution

a) Let’s consider the reference frame in figure 2.

m
x

l
O M

Figure 2.

The reference system (x,y) has the x-axis along the moving platform of the
truck and y-axis perpendicular to x.
Until the mass is at rest on the platform, the 2nd Newton law applied to the
mass, in components, can be written as:
(
mẍ = −mg sin(α) + Fs = 0
mÿ = N − mg cos(α) = 0

then (
mg sin(α) = Fs
N = mg cos(α)
For the definition of static friction, applied when there is no motion, we have:

|Fs | ≤ µsp N = µsp mg cos(α)

and using the relationship we found, Fs = mg sin(α), we will get:

mg sin(α) ≤ µsp mg cos(α) ⇒ sin(α) ≤ µsp cos(α) ⇒ tg(α) ≤ µsp

Therefore if tg(α) ≤ µsp , the block will not move.

The limit angle αl , then, is: αl = tg −1 (µsp ) = 31◦ .

~ is applied on the block due to the plat-

b) We know that a normal force N
~
form. But a normal force equal to N in modulus but of opposite direction is

5
applied by the block on the truck.
This normal force, if not balanced along the horizontal axis by the friction of
the wheels on the ground, would make the truck move.
Now let’s consider the reference frame in figure 3.
The reference system (X,Y) has the X-axis along the street and the Y-axis

m
N

N
l

O X

Figure 3.

vertical, perpendicular to X.
In this reference frame the normal force applied by the block on the truck can
be decomposed along the X and Y axes:
(
Nx = N sin(α) = mg cos(α) ∗ sin(α)
Ny = −N cos(α) = −mg cos(α) ∗ cos(α) = −mgcos(α)2

The 2nd Newton law, on the truck, in components can be written as:
(
M Ẍ = Nx + Fs
M Ÿ = RT − M g + Ny

where RT is the normal force applied on the 4 wheels by the ground.

In the first equation we are considering the generic expressions of Nx and Fs ,
then without sign.
Along the Y-axis there is equilibrium, therefore

M Ÿ = RT − M g + Ny = 0 ⇒ RT = M g − Ny

and since Ny = −mgcos(α)2

RT = M g − Ny = M g + mgcos(α)2

6
 We want equilibrium also along the X-axis:

M Ẍ = Nx + Fs = 0 ⇒ Fs = −Nx = −mg cos(α) ∗ sin(α)

Using the definition of static friction, if we want no motion of the truck:

|Fs | ≤ µst RT = µst (M g + mg cos(α)2 )

|Fs |
⇒ µst ≥
M g + mg cos(α)2
But Fs = −mg cos(α) ∗ sin(α), therefore |Fs | = mg cos(α) ∗ sin(α); so:
mg cos(α) ∗ sin(α) m cos(α) ∗ sin(α)
µst ≥ ⇒ µst ≥ = 0.040
M g + mg cos(α)2 M + m cos(α)2
µst , static friction coefficient between the wheels and the ground, must be
higher than 0.040 to keep the truck steady.

3. Solution

Let’s consider the reference frame in figure 4:

the x-axis coincides with the ground and the y-axis is perpendicular to x.

F
M


Figure 4.

Let’s write the 2nd Newton law, in components

for forces acting on the wedge:
(
M ẍw = F − N sin(α)
M ÿw = −M g − N cos(α) + R

7
where R is the normal force applied on the wedge by the ground and N is the
normal force between the wedge and the mass m;

and for forces acting on the small mass m:

(
mẍm = N sin(α)
mÿm = −mg + N cos(α)

Therefore we have a system of 4 equations:



 M ẍw = F − N sin(α)

M ÿ = −M g − N cos(α) + R
w


 mẍ m = N sin(α)
mÿm = −mg + N cos(α)


Since M ÿw = 0, due to the equilibrium of the wedge along y, R = M g+N cos(α).
The system becomes:

M ẍw = F − N sin(α)

mẍm = N sin(α)

mÿm = −mg + N cos(α)


with 5 unknowns: ẍw , ẍm , ÿm , F, N . This is unsolvable.

To improve our knowledge of the system, let’s consider another reference

frame (x’,y’) that moves with the wedge, as shown in figure 5:

y'
F
M

O'
x'
O x

Figure 5.

8
 the x’-axis is along the lower edge of the wedge, the y’-axis is perpendicular
to x’ and the origin O’ is coincident with the bottom extremity of the wedge.
In this reference system, the wedge is at rest and the mass m has a speed called
v’.
v’ can be decomposed along x’ and y’ axes:
(
vx0 = v 0 cos(α)
vy0 = −v 0 sin(α)

v0
from which vy0 = −tg(α) ⇒ vy0 = −tg(α) ∗ vx0 also written as: ẏm
0
= −tg(α)ẋ0m .
x
0 0
If we derive once, we get: ÿm = −tg(α)ẍm .

Moreover we know the equations that link the accelerations of the mass m
in the two reference systems (fixed and in motion):
(
ẍm = ẍ0m + ẍO0
0
ÿm = ÿm + ÿO0

where ÿO0 = 0 because the motion of the origin of the moving reference system
is 0 along y, and ẍO0 = ẍw because the moving reference system is put on the
wedge. Therefore (
ẍm = ẍ0m + ẍw
0
ÿm = ÿm
From the first equation of the system, ẍm = ẍ0m + ẍw , we obtain that
ẍ0m = ẍm − ẍw , then:
0
ÿm = −tg(α)ẍ0m = −tg(α)(ẍm − ẍw ) = tg(α)(ẍw − ẍm ).

We want that the mass m stays steady with respect to the wedge, then we
have to impose that the accelerations along x-axis of the mass and the wedge
are the same i.e. ẍw = ẍm .
0
In this way ÿm = ÿm = 0.

We can rewrite our system


M ẍw = F − N sin(α)

mẍm = N sin(α)

mÿm = −mg + N cos(α)


and add two conditions:

0
I) ÿm = ÿm = 0 and
II) ẍw = ẍm .
From I), the 3rd equation of the system becomes:
mg
mÿm = −mg + N cos(α) = 0 ⇒ N =
cos(α)
Therefore the 2nd equation of the system becomes:
mg
mẍm = N sin(α) = sin(α) = mgtg(α)
cos(α)

9
and
ẍm = gtg(α)
From II), moreover, equation 1 of the system becomes:
mg
M ẍw = M ẍm = F − N sin(α) = F − sin(α) = F − mgtg(α)
cos(α)

but ẍm = gtg(α), then

M ẍm = M gtg(α) = F −mgtg(α) ⇒ F = M gtg(α)+mgtg(α) = gtg(α)(m+M ) = 635 N.

The modulus of force F~ , to keep the mass m steady with respect to the
wedge, must be F=635 N.

10
Exercise 4: Three masses mA= 10 kg, mB=15 kg, mC= 10 kg and ! = 30° are
connected through ideal ropes as shown in the figure. Pulleys are naturally supposed
to be ideal (massless and frictionless). We assume the friction with the horizontal and
inclined planes to be negligible. Calculate the tensions in the ropes and tell the
direction of the motion.

Solution 4:
Given
mA=10 kg
mB =15 kg
mC =10 kg
! = 30°

As for the direction of the motion, we can guess it by just looking at the figure. As a
matter of fact, A and C have the same mass, but the whole weight of A is applied to B
through the rope wound on the left-hand pulley. Instead, only one fraction of the
weight of C is applied to B (the component parallel to the inclined plane) because the
other part is supported by the plane itself.
Therefore A "wins" and:
A goes down,
B moves to the left and
C goes up the inclined plane.

The bodies to which we must apply the Newton's law are A, B and C.
Let's draw the free-body diagrams,  

a) ! = !!
!! ! + !! = !! !
!! !! − !! ! = !! !!
!! ! − !! = !! !

b) How to choose the axes for B?

In the case of body A, we called "a" the component of acceleration in the direction of
motion. It is better to do the same here, that means choosing the x axis in the direction
of motion.
NB: Be careful! The orientation of the acceleration must be chosen in a consistent
way for all the bodies!
  

! = !! !

+!! ! − !! ! + !! − !! !! = !! !!
Since the ropes are ideal (they cannot be extended) then the magnitude of the
acceleration of the three bodies is the same!!

To decompose, we apply the Newton's law along the x component and we can
multiply it by the unit vector !,

+!! ! ∙ ! − !! ! ∙ ! + ! ! ∙ ! − !! ! ! ∙ ! = !! !(! ∙ !)
+!! − !! = !! !

and to find the y component we can multiply it by the unit vector !,

+!! ! ∙ ! − !! ! ∙ ! + ! ! ∙ ! − !! ! ! ∙ ! = !! !(! ∙ !)
+! − !! ! = 0

c) Let's choose the axis in the sense of motion so that the acceleration is "a" also here

! = !! !
!! + ! ! + !! ! = !! !
+!! ! + ! ! ! − !! ! sin ! ! − !! ! cos ! ! = !! !!

x axis
+!! − !! ! sin ! = !! !

y axis
+! ! − !! ! cos ! = 0

Thus, the system that solves the problem is:

!! ! − !! = !! !
!! − !! = !! !

!! − !! ! sin ! = !! !

! = !! !
! ! = !! ! cos !

The last two equations come from the components of the forces that do not influence
the motion. Therefore they can be ignored from now on.
Hence we have three equations:
!! ! − !! = !! !
!! − !! = !! !
!! − !! ! !"# ! = !! !

These three equations have 3 unknown quantities: T1, T2 and a, the problem can be
solved as follows.

The text of the problem asks the values of T1 and T2. Let us then eliminate a, from
equation 1 we get,
!
! = ! − !!
!

and substituting in equation 2 and 3, we get:

!
!! = !! ! + !! = !! ! − !! + !!
!
! !
!! = !! ! + ! sin ! = !! ! − !! + !! ! sin ! = !! ! 1 + sin ! − ! ! !!
! !

and finally,

!! ! !! !"# !!! !!!

!! = !! !!! !!!
= 85.7  !
!!!
!! = !!
!! + !! ! 1 + sin ! = 64.3  !

finally,

!! !!!! ! !"# !
!= !! !!! !!!
= 1.42  !/! !

NB:
• a > 0. This tells us that the motion really occurs in the direction we said before
(A goes down).
• Note that we could obtain the value of a in a much simpler way, taking into
account the entire system. As a matter of fact, mAg is the force that pulls the
system leftwards; !! ! sin ! is the force that pulls it rightwards, !! + !! +
!! is the total mass so that ! = !! + !! + !! ! ,
!! ! − !! ! sin ! = (!! + !! + !! )!