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Assignment 9
Due: 11:59pm on Sunday, March 14, 2010
Note: To understand how points are awarded, read your instructor's Grading Policy. [Return to Standard Assignment View]

Precessing Tilted Gyroscope

A gyroscope consists of a ywheel of mass

, which has a moment of inertia

for rotation about its axis. It is mounted on a rod of

negligible mass, which is supported at one end by a frictionless pivot attached to a vertical post, as shown in the diagram. The distance between the center of the wheel and the pivot is . The wheel rotates about its axis with angular velocity , where positive refers to counterclockwise rotation as seen by an observer looking at the face of the wheel that is opposite the pivot. The rod is tilted upward, making an angle with respect to the horizontal. Gravity acts downward with a force of magnitude . Adopt a coordinate system with the z axis pointing upward and the x and y axes in the horizontal plane. The gyroscope is moving, but at , the rod is in the yz plane.

Part A Assuming that the only signicant contribution to the angular momentum comes from the spinning of the ywheel about its center, what is the angular momentum vector Hint A.1 A formula for angular momentum of an object with moment of inertia spinning with angular velocity . Hint A.2 Find the direction of the angular velocity vector is given by the right-hand rule. What angle does make with the positive y axis? is about the pivot at ?

The formula for the angular momentum

Recall that the direction of the angular velocity vector

Express your answer in terms of some or all of the given variables. ANSWER: Correct

Specify the components of ANSWER:

with respect to the axes shown in the diagram. Write the components in order

separated by commas.

= Correct

Part B At , what is the torque acting on the wheel about the pivot?

Hint B.1

What is the direction of the torque? Hint not displayed

Hint B.2

Find the x component of the torque Hint not displayed

Express your answer in terms of components ANSWER: , , =

, separated by commas.

Correct

Part C The gyroscope is observed to precess about the vertical axis, with an angular velocity of precession given quantities. Hint C.1 Relevant laws for rotational dynamics Hint not displayed Hint C.2 A relation between and Hint not displayed , dened as positive for counterclockwise precession as seen from above. Find in terms of the

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ANSWER: = Correct

Thus the rate of precession is independent of ! The reason for this is that varying

changes both

and the torque due to gravity by the same factor,

Introduction to Static Equilibrium

Learning Goal: To understand the conditions necessary for static equilibrium. Look around you, and you see a world at rest. The monitor, desk, and chairand the building that contains themare in a state described as static equilibrium. Indeed, it is the fundamental objective of many branches of engineering to maintain this state in spite of the presence of obvious forces imposed by gravity and static loads or the more unpredictable forces from wind and earthquakes. The condition of static equilibrium is equivalent to the statement that the bodies involved have neither linear nor angular acceleration. Hence static mechanical equilibrium (as opposed to thermal or electrical equilibrium) requires that the forces acting on a body simultaneously satisfy two conditions: and ;

that is, both external forces and torques sum to zero. You have the freedom to choose any point as the origin about which to take torques. Each of these equations is a vector equation, so each represents three independent equations for a total of six. Thus to keep a table static requires not only that it neither slides across the oor nor lifts off from it, but also that it doesn't tilt about either the x or y axis, nor can it rotate about its vertical axis. Part A Frequently, attention in an equilibrium situation is conned to a plane. An example would be a ladder leaning against a wall, which is in danger of slipping only in the plane perpendicular to the ground and wall. By orienting a Cartesian coordinate system so that the x and y axes are in this plane, choose which of the following sets of quantities must be zero to maintain static equilibrium in this plane. Hint A.1 Simplifying the equations or all z-component forces occur in pairs that are

The motion (or possible motion) is conned to a plane, the xy plane in this case, when there are no forces acting out of that plane (e.g., all

applied at the same points). Recalling that torque is dened as a cross product, you can eliminate the need for two of the three equations for the components of torque since they will equal zero. ANSWER:

and and and and Correct

and and and and and and and

Part B As an example, consider the case of a board of length A mass of weight is strapped to the board a distance and negligible mass. Take the x axis to be the horizontal axis along the board and the y axis to be the vertical axis perpendicular to the board. from the left-hand end. This is a static equilibrium problem, and a good rst step that exist are in the

is to write down the equation for the sum of all the forces in the y direction since the only nonzero forces of y direction. What is

? Your equation for the net force in the y direction on the board should contain all the forces acting vertically on the board. and the tensions in the two vertical ropes at the left and right ends and .

Express your answer in terms of the weight Recall that positive forces point upward.

ANSWER: Correct

The only relevant component of the torques is the z component; however, you must choose your pivot point before writing the equations. This point could be anywhere; in fact, the pivot point does not even have to be at a point on the body. You should choose this point to your advantage. Generally, the best place to locate the pivot point is where some unknown force acts; this will eliminate that force from the resulting torque equation. Part C What is the equation that results from choosing the pivot point to be the point from which the mass hangs (where Express your answer in terms of the unknown quantities ANSWER: Correct and and the known lengths and acts)?

. Recall that counterclockwise torque is positive.

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This gives us one equation involving two unknowns,

and

. We can use this result and

to solve for

and

Part D What is the equation that results from choosing the pivot point to be the left end of the plank (where Express your answer in terms of ANSWER: Correct , , , and the dimensions acts)?

and . Not all of these variables may show up in the solution.

Part E What is the equation that results from choosing the pivot point to be the right end of the plank (where Express your answer in terms of ANSWER: Correct , , , and the dimensions acts)?

and . Not all of these variables may show up in the solution.

Part F Solve for Hint F.1 , the tension in the right rope. Choose the correct equation Hint not displayed Express your answer in terms of ANSWER: = Correct and the dimensions and . Not all of these variables may show up in the solution.

Part G Solve for Hint G.1 , the tension in the left rope. Choose the correct equation Hint not displayed Express your answer in terms of ANSWER: = Correct and the dimensions and . Not all of these variables may show up in the solution.

Part H Solve for the tension in the left rope, Express your answer in terms of ANSWER: = Correct , in the special case that and the dimensions . Be sure the result checks with your intuition.

and . Not all of these variables may show up in the solution.

Only one set of forces, exactly balanced, produces static equilibrium. From this perspective it might seem puzzling that so much of the world is static. One must realize, however, that many forceslike those of the tensions in the ropes here or those between the oor and an object resting on itincrease very quickly as the object moves. If there is a slight imbalance of the forces, the object accelerates so that its position changes until the object has adjusted itself to restore the force balance. It then oscillates about this point until friction or some other dissipative mechanism causes it to become stationary at the exact equilibrium point.

Tipping Crane
Learning Goal: To step through the application of A crane of weight a length to prevent a crane from tipping over.

has a length (wheelbase) , and its center of mass is midway between the wheels (i.e., the mass of the lifting arm is negligible). The arm extending from the front of the crane has with the horizontal. The crane contacts the ground only at its front and rear tires.

and makes an angle

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Part A While watching the crane in operation, an observer mentions to you that for a given load there is a maximum angle over. Is this correct? ANSWER: yes no Correct that the crane arm can make with the horizontal without tipping the crane

Part B Later that week, while watching the same crane in operation, a different observer mentions to you that there is a maximum load the crane can lift without tipping, and you can nd that maximum load by observing the minimum angle that the crane arm makes with the horizontal. Is this correct? ANSWER:

yes no Correct

Part C Select the correct explanation for why you can determine the maximum load given that ANSWER: is the minimum angle the crane arm can make with the horizontal.

At this angle the load weighs the most. At this angle the load exerts the most torque about the pivot point. At this angle the load exerts the least torque about the pivot point. At this point the load weighs the least. Correct

Part D You know that the torques must sum to zero about _________ if an object is in static equilibrium. Pick the most general phrase that correctly completes the statement. ANSWER: the center of mass any point on the body any point on or off the body any point where any force acts on the body Correct

Part E This implies that you can pick the point about which to sum the torques to simplify the calculation. Often it is best to pick the point where an unknown force acts, so that the torque due to that force is zero. In this problem the simplest equations result if you take torques about __________. ANSWER: the point where the rear tires touch the ground the center of mass the point where the front tires touch the ground the point on the ground directly under the load Correct

Part F Given the angle Hint F.1 , what is the maximum weight (or load) Find the torque due to the weight of the crane exerted about the front wheels of the crane by the weight of the crane? that this crane can lift without tipping forward? (Recall that weight has units of force.)

What is the magnitude of the torque Answer in terms of , ANSWER:

, and other given quantities. Take the sign of counterclockwise torques to be positive.

Correct

Hint F.2 What is the torque

Find the torque due to the weight of the load about the front wheels exerted by a load of weight when held at an angle from the horizontal?

Answer in terms of , , and ANSWER: =

, and take the sign of counterclockwise torques to be positive.

Correct

In a simple problem like this, it may seem easier to simply compute the magnitude of the two torques and set them equal to each other as a condition of equilibrium. Experience shows that

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students who explicitly account for the direction of the torque with the sign make fewer mistakes on problems with several torques, so we strongly recommend that you adopt this procedure. Note that at the minimum angle the magnitude of the torque from the load is a maximum.

Hint F.3 What is the torque Hint F.3.1

Find the torque from the normal force on the rear wheels about the front wheels from the normal force on the rear wheels when the crane is just on the verge of tipping over? Normal force when tipping begins Hint not displayed

Express your answer in terms of the weights and distances given in the introduction. ANSWER: =0

Correct

Hint F.4

Calculate the sum of torques

What must the total sum of the torques around the front wheels be if the crane is not moving? Express your answer in newton-meters. ANSWER: =0

Correct

Use this information to nd a relation between the two torques and therefore solve for the maximum weight of the load. Express the maximum load in terms of ANSWER: = Correct and other quanitites given in the problem introduction.

Part G What is Express , the largest weight of the load that is safe to lift regardless of the angle of the crane's arm? in terms of , , and .

ANSWER: = Correct

Part H Notice that we have the weight of the crane exerting a torque about the front wheels of the same crane. To create a torque, a force must be present, so it would seem that somehow the weight of the crane is exerting a force upon its front wheels. However, the crane is one object, and it follows from Newton's laws that an object cannot exert a net force upon itself. This crane seems to be defying Newton's laws. What's going on here? ANSWER: Newton's laws don't apply to torques. The rear wheels exert a downward force on the front wheels. The crane is not accelerating so forces don't matter. The earth exerts forces on the crane and the load. Correct

Part I Assume you get a summer job as a crane operator. On the rst day you are lifting a heavy piece of machinery. Even though you have the arm at forward. Consider the following possible actions: 1. Release the brake on the lifting cable so that the load accelerates downward. 2. Decrease so that the load accelerates downward. 3. Increase while simultaneously letting out the lifting cable so that the load accelerates downward. 4. Put the crane wheels in gear and accelerate the crane forward. None of these solutions is ideal, but which will have the short-term effect of restoring contact of the crane's rear wheels with the ground? ANSWER: all but 1 all but 2 all but 3 all but 4 all of them Correct above the horizontal, the crane begins to tip slowly

In cases 1 and 2, the load will either free fall until it hits the ground or will be stopped before that, at which point the torque from the load will be greater than it was when the crane began to tip. In case 4, the crane must continue to accelerate indenitely, or else it will begin to tip again. The only action that potentially avoids disaster is option 3--increasing the angle of the lifting arm so that the load swings closer to the crane and therefore exerts less torque. You must

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simultaneously lower the load or else increasing

will involve lifting the load, which increases the torque exerted by the load on the crane, causing the crane to tip more quickly. However, if you

lower the load too quickly, then reapplying the brake to the lifting cable could cause a greater torque on the crane than when it rst began to tip. The best solution would be to let out the lifting cable at a rate such that the load stays at exactly the same height as you increase the angle of the crane. Obviously a delicate operation!

A Person Standing on a Leaning Ladder

A uniform ladder with mass distance and length rests against a smooth wall. A do-it-yourself enthusiast of mass between the oor and the ladder. stands on the ladder a from the bottom (measured along the ladder). The ladder makes an angle with the ground. There is no friction between the wall is the magnitude of the normal force

and the ladder, but there is a frictional force of magnitude exerted by the wall on the ladder, and

is the magnitude of the normal force exerted by the ground on the ladder. Throughout the problem, (i.e., simplify your trig functions).

consider counterclockwise torques to be positive. None of your answers should involve

Part A What is the minimum coeffecient of static friction Hint A.1 Method for nding . In this problem, is as small as it can be without allowing the ladder to slip, and therefore . Therefore, and . Now, you need to required between the ladder and the ground so that the ladder does not slip?

Recall that, in general,

use the fact that the ladder is in translational and rotational equilibrium (i.e., the net force is zero, and the net torque is zero) to nd expressions for Hint A.2 What is Expression for , the magnitude of the vertical force exerted by the ground on the ladder? , , and .

in terms of the desired quantities.

Express your answer in terms of ANSWER: =

Correct

Hint A.3

Choice of origin of torque (because in terms of already given quantities.

The best choice of origin in which to add up the torques would be the point at which the ladder touches the wall. By summing torques around this point we can ignore the normal force the moment arm has zero length) and nd Hint A.4 Sum the torques Hint not displayed Hint A.5 Putting it all together Hint not displayed Express in terms of , , , , and .

ANSWER: = Correct

Part B Suppose that the actual coefcent of friction is one and a half times as large as the value of that the oor applies to the ladder? Hint B.1 Relation between frictional force and Hint not displayed Express your answer in terms of ANSWER: = Correct , , , , , and . Remember to pay attention to the relation of force and . . That is, . Under these circumstances, what is the magnitude of the force of friction

A Bar Suspended by Two Vertical Strings

A rigid, uniform, horizontal bar of mass attached at a distance and length is supported by two identical massless strings. Both strings are vertical. String A is from the left end of the bar, as from the left end of the bar and is connected to the ceiling; string B is attached to the left end of the bar and is supported against gravity by the bar at a distance

is connected to the oor. A small block of mass shown in the gure.

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Throughout this problem positive torque is that which spins an object counterclockwise. Use gravity.

for the magnitude of the acceleration due to

Part A Find , the tension in string A. Choosing an axis . Since the system is in static equilibrium, the choice of rotation axis is arbitrary; however, there is a convenient choice of

Hint A.1

Choose a rotation axis p, about which to apply the requirement p to nd Hint A.2 by eliminating the torque from an unknown force. Find the torque around the best axis

It is convenient to choose the rotation axis to be through the point where string B is attached to the bar. This eliminates any torque from the tension in string B. Find the total torque about this point. Answer in terms of ANSWER: = Answer Requested , , , , , , and .

Hint A.3

Summing the torques Hint not displayed

Express the tension in string A in terms of , ANSWER: = Correct

, and .

Part B Find , the magnitude of the tension in string B. Two different methods to nd . One way is to balance the torques as was done in the calculation of , except using a different rotation axis. In this case, a convenient axis is through the .

Hint B.1

There are two equivalent ways to nd

point where string A is attached to the bar. The second, and easier, method is to use the second equation for static equilibrium, Hint B.2 Direction of forces Hint not displayed Express the magnitude of the tension in string B in terms of ANSWER: , , , and .

= Correct

Part C If the bar and block are too heavy the strings may break. Which of the two identical strings will break rst? ANSWER: string A string B Correct

Part D If the mass of the block is too large and the block is too close to the left end of the bar (near string B) then the horizontal bar may become unstable (i.e., the bar may no longer remain horizontal). What is the smallest possible value of Hint D.1 such that the bar remains stable (call it )?

Nature of the unstable motion ?

When the bar becomes unstable there are only two points about which the bar can rotate: the points where the strings attach to the bar. About which point will the bar rotate when ANSWER:

The point where string A is attached to the bar The point where string B is attached to the bar Correct

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Hint D.2

Tension in string B at the critical point is decreased, is likewise decreased because the clockwise torque corresponds to when . If is decreased further, will continue to be zero and the counterclockwise torque due to the weight of the

The tension in string B counteracts the clockwise rotation of the bar about the point where string A is attached to the bar. As about this point decreases. The critical value block will be greater than the clockwise torque due to the weight of the bar, causing the system to rotate. Hint D.3 Calculate the torques Hint not displayed Express your answer for ANSWER: = Correct in terms of , , , and .

Part E Note that since Assuming that Hint E.1 , , as computed in the previous part, is not necessarily positive. If , and are held xed, what is the maximum block mass , the bar will be stable no matter where the block of mass is placed on it. ?

for which the bar will always be stable? In other words, what is the maximum block mass such that

Requirement of stability Hint not displayed

Answer in terms of ANSWER:

, and

= Correct

Sliding Dresser
Sam is trying to move a dresser of mass and dimensions of length and height by pushing it with a horizontal force applied at a height above the oor. The coefcient of kinetic friction between the dresser and the oor is and is the magnitude of the acceleration due to gravity. The ground exerts upward normal forces of magnitudes and at the two ends of the dresser. Note that this problem is two dimensional.

Part A If the dresser is sliding with constant velocity, nd Hint A.1 , the magnitude of the force that Sam applies.

Force required in terms of normal forces Hint not displayed

Hint A.2

Normal force Hint not displayed

Express the force in terms of ANSWER: =

, , and

Correct

Part B Find the magnitude of the normal force Hint B.1 Torques Hint not displayed Hint B.2 Rotation Hint not displayed Express this normal force in terms of , , , , and . . Assume that the legs are separated by a distance , as shown in the gure.

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ANSWER: = Correct

Part C Find the magnitude of the normal force Hint C.1 Torques Hint not displayed Answer in terms of ANSWER: = Correct , , , , and . . Assume that the legs are separated by a distance , as shown in the gure.

Part D Find Hint D.1 , the maximum height at which Sam can push the dresser without causing it to topple over. Torque dependence Hint not displayed Hint D.2 Limiting case Hint not displayed Express your answer for the maximum height in terms ANSWER: = Correct and .

Young's Modulus
Learning Goal: To understand the meaning of Young's modulus, to perform some real-life calculations related to stretching steel, a common construction material, and to introduce the concept of breaking stress. Hooke's law states that for springs and other "elastic" objects , where is the magnitude of the stretching force, is the corresponding elongation of the spring from equilibrium, and is a constant that depends on the geometry and the material of the spring. If

the deformations are small enough, most materials, in fact, behave like springs: Their deformation is directly proportional to the external force. Therefore, it may be useful to operate with an expression that is similar to Hooke's law but describes the properties of various materials, as opposed to objects such as springs. Such an expression does exist. Consider, for instance, a bar of initial length and cross-sectional area stressed by a force of magnitude . As a result, the bar stretches by .

Let us dene two new terms: Tensile stress is the ratio of the stretching force to the cross-sectional area: . Tensile strain is the ratio of the elongation of the rod to the initial length of the bar: . It turns out that the ratio of the tensile stress to the tensile strain is a constant as long as the tensile stress is not too large. That constant, which is an inherent property of a material, is called Young's modulus and is given by

Part A What is the SI unit of Young's modulus? Hint A.1 Look at the dimensions Hint not displayed ANSWER: Correct

Part B Consider a metal bar of initial length and cross-sectional area . The Young's modulus of the material of the bar is . Find the "spring constant" of such a bar for low values of tensile strain.

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Hint B.1

Use the denition of Young's modulus Hint not displayed

Express your answer in terms of ANSWER: =

, and

Correct

Part C Ten identical steel wires have equal lengths resulting wire? Hint C.1 The spring constant Hint not displayed ANSWER: and equal "spring constants" . The wires are connected end to end, so that the resultant wire has length . What is the "spring constant" of the

Correct

Part D Ten identical steel wires have equal lengths and equal "spring constants" . The wires are slightly twisted together, so that the resultant wire has length and its cross-sectional area is ten times that of the individual wire. What is the "spring constant" of the resulting wire? Hint D.1 The spring constant Hint not displayed ANSWER:

Correct

Part E Ten identical steel wires have equal lengths and equal "spring constants" . The Young's modulus of each wire is . The wires are connected end to end, so that the resultant wire has length . What is the Young's modulus of the resulting wire? ANSWER:

Correct

Part F Ten identical steel wires have equal lengths and equal "spring constants" . The Young's modulus of each wire is . The wires are slightly twisted together, so that the resultant wire has length and is ten times as thick as the individual wire. What is the Young's modulus of the resulting wire? ANSWER:

Correct

By rearranging the wires, we create a new object with new mechanical properties. However, Young's modulus depends on the material, which remains unchanged. To change the Young's modulus, one would have to change the properties of the material itself, for instance by heating or cooling it. Part G Consider a steel guitar string of initial length meter and cross-sectional area square millimeters. The Young's modulus of the steel is pascals. How far ( )

would such a string stretch under a tension of 1500 newtons? Use two signicant gures in your answer. Express your answer in millimeters. ANSWER: = 15

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Correct

Steel is a very strong material. For these numeric values, you may assume that Hooke's law holds. However, for greater values of tensile strain, the material no longer behaves elastically. If the strain and stress are large enough, the material deteriorates. The nal part of this problem illustrates this point and gives you a sense of the "stretching limit" of steel. Part H Although human beings have been able to y hundreds of thousands of miles into outer space, getting inside the earth has proven much more difcult. The deepest mines ever drilled are only about 10 miles deep. To illustrate the difculties associated with such drilling, consider the following: The density of steel is about 7900 kilograms per cubic meter, and its breaking stress, dened as the maximum stress the material can bear without deteriorating, is about pascals. What is the maximum length of a steel cable that can be lowered into a mine? Assume that the magnitude of the acceleration due to gravity remains constant at 9.8 meters per second per second. Hint H.1 Why does the cable break? Hint not displayed Hint H.2 Find the stress in the cable Hint not displayed Use two signicant gures in your answer, expressed in kilometers. ANSWER: 26 Correct

This is only about 16 miles, and we have assumed that no extra load is attached. By the way, this length is small enough to justify the assumption of virtually constant acceleration due to gravity. When making such assumptions, one should always check their validity after obtaining a result.

Problem 11.78
A bale is 0.25 a force wide, 0.50 high, and 0.80 long, with mass 30.0 . The center of gravity of each bale is at its geometrical center. It is dragged along a horizontal surface with constant speed by (the gure ). The coefcient of kinetic friction is 0.35.

Part A Find the magnitude of the force .

Express your answer using two signicant gures. ANSWER: = 100 Correct

Part B Find the value of at which the bale just begins to tip.

Express your answer using two signicant gures. ANSWER: = 0.36 Correct

Problem 11.66
One end of a uniform meter stick is placed against a vertical wall . The other end is held by a lightweight cord that makes an angle stick. The coefcient of static friction between the end of the meter stick and the wall is 0.35. with the

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Part A What is the maximum value the angle can have if the stick is to remain in equilibrium?

Express your answer using two signicant gures. ANSWER: = 19 Correct

Part B Let the angle between the cord and the stick is of = 16 . A block of the same weight as the meter stick is suspended from the stick, as shown, at a distance from the wall. What is the minimum value for which the stick will remain in equilibrium?

Express your answer using two signicant gures. ANSWER: = 40 Correct

Part C When = 16 , how large must the coefcient of static friction be so that the block can be attached 15 from the left end of the stick without causing it to slip?

Express your answer using two signicant gures. ANSWER: = 0.60 Correct

Problem 11.85
A mass of 11.8 , fastened to the end of an aluminum wire with an unstretched length of 0.50 . , is whirled in a vertical circle with a constant angular speed of 127 . The cross-sectional area of the wire is 1.2!10!2 Part A Calculate the elongation of the wire when the mass is at the lowest point of the path. Express your answer using two signicant gures. ANSWER: = 6.9!10 Correct
!3

Part B Calculate the elongation of the wire when the mass is at the highest point of its path. Express your answer using two signicant gures. ANSWER: = 5.5!10 Correct
!3

Score Summary:
Your score on this assignment is 97.6%. You received 97.55 out of a possible total of 100 points.

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