EM220/221 MEC420 Dynamics Faculty of Mechanical Engineering Universiti Teknologi MARA

Name: SID:

Tutorial Set No. 5(b): Kinetics of Rigid Bodies in Spatial Motion

5.1 A thin disk of mass m = 1.2 kg and radius r = 150 mm rotates at the constant rate 2 = 10 rad/s with respect to arm OAB, which itself rotates at the constant rate 1 = 4 rad/s about the Y axis. Determine the angular momentum of the disk about point O and its kinetic energy. All dimensions are in mm.

Y O

400 A X 250 r B

2
Figure T 5.1

5.2

The assembly which consists of two rectangular plates, each of mass 0.1 kg, attached to a uniform slender arm of negligible mass spins about its axis at a constant rate of 2 = 4 rad/s. The arm at the same instant rotates at a constant rate of 1 = 2 rad/s about its Y-axis shaft. For the instant represented in the figure, determine a) the angular momentum of the assembly with respect to point A, and b) the kinetic energy of the assembly.

Given: Z Y l b A b B a a = 120 mm b = 100 mm l = 180 mm

2
X

Figure T 5.2

5.3

A 6-kg homogeneous disk of radius 90 mm rotates at the constant rate 2 = 10 rad/s with respect to arm OAB, which itself rotates at the constant rate 1 = 2 rad/s about the X axis. For the instant represented, determine (a) the angular momentum of the disk with respect to the support O, and (b) the force-couple system representing the dynamic reaction at the support O.

Y 420 mm Z 240 mm B 90 mm
Figure T 5.3

1
O X

Figure Q4 5.4 A 6-kg homogeneous disk of radius 200 mm rotates at the constant rate 2 = 10 rad/s with respect to the bent shaft ABCD, which itself rotates at the constant rate 1 = 2 rad/s about the Y axis. For the instant represented in Figure Q7, determine a) the angular momentum of the disk with respect to bearing B, and b) the dynamic reaction at bearing B.

2
200 mm D

300 mm B Y C

450 mm X

150 mm
Figure T 5.4

5.5

The assembly which consists of a sphere of mass 0.5 kg, attached to a hydraulic arm AB of negligible mass spins about its axis at a constant rate 2 = 4 rad/s. At the same instant, the hydraulic arm AB is extending at the constant rate b = 2 m/s while rotating at the constant rate 1 = 2 rad/s about its Y-axis. For the instant represented in the figure, determine a) the angular momentum of the assembly with respect to point A, and b) the kinetic energy of the assembly.

Z A

X Given: r = 30 mm l = 120 mm r B b

Figure T 5.5

5.6

The figure shows the left landing gear of a plane (viewed from the front ) being retracted soon after take-off. When = 60o, OA = 1.2 m and u = 0.05 m/s constant. The main strut OA is folding at 1 rad/s2 the rate of p = 2 rad/s and p in the direction shown. At the same time, the wheel is spinning at the rate of 2 q = 8 rad/s and q . Determine the angular momentum and moment at O due to the wheel. The wheel may be regarded as a thin circular disc with mass 5 kg. and radius 0.4 m. Given AB = 0.3 m.

B q y

Figure T 5.6

5.7

A thin disk of mass m = 4 kg rotates at the constant rate q = 2 r/s relative to the bent arm OAB. At the same instant, the bent arm OAB rotates at the constant rate p = 5 r/s about the X axis. If the bent arm OAB is uniform with a total mass of 4 kg, determine (a) the total angular momentum about O, and (b) the total kinetic energy of the system.

X 50 cm 30 cm q B A 50 cm Y
Figure T 5.7

p O Z

5.8

A uniform slender shaft CE of negligible mass is bent as shown in the figure. It carries two thin discs, one circular and the other square, each of mass 2 kg. The shaft is rotating with a constant angular velocity = 3 rad/s. At the same time, the discs are spinning at a rate p = 2 rad/s relative to the shaft. a) Assuming that the circular disc is stationary (q = 0 rad/s), determine the dynamic reaction at the bearing at A. b) Does the dynamic reaction at the support at A depend on the speed of rotation of the discs and/or their mass? Discuss or explain your answer. Support your reasoning by showing appropriate or relevant principles of dynamics.

30

30

D
20

C B
20 20

A O
20

Y E 20
20

All dimensions in cm

Figure T 5.8 5.9 A shaft OB of negligible mass carries a uniform arm AC of mass 1 kg. A uniform thin disc of mass 0.5 kg. is rigidly attached to the arm as shown in the figure. A moment T is then applied to the shaft as shown such that when tan 1 3 4 the whole assembly = 2 rad/s. and angular acceleration = 3 rad/s2. rotates with angular velocity Determine the applied moment T. Determine also the reactions at bearings O and B at that instant.

z y
Dimensions in cm C R20

Z Y

T
O 20 20 A

40
B

Figure T 5.9 5.10 The straight shaft ABCD carries solid cuboids of mass 6 kg via the slender arms at B and C as shown in Figure Q6. Knowing that the shaft rotates about its axial Y axis at the rate = 5 rad/s and is increasing at the constant rate of 20 rad/s2, determine (a) the dynamic reaction at bearings A and D, and (b) the torque M required to produce such motion. Neglect the mass of the shaft and the slender arms. All dimensions are in cm.

X 20 40 20

5 B Y A

M D C Z 12 15 60

Figure T 5.10