Escolar Documentos
Profissional Documentos
Cultura Documentos
Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250
Figure 1
At this instant, determine the:
(a) two components of a in your choice of coordinate system, and
(b) magnitude of a.
Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250
Problem 1 - Solution
As we saw in lecture on September 11, 2012; we will choose the normal-tangent coordinate
system. This is similar to Homework 2 Problem 1.
t +
aA = v A u
vA2
n
u
The speed increase is given as dvA /dt = 4m/s2 , and then the next step is to find
2
vA
Since the magnitude of the velocity is given as vA = 8m/s, and the only thing left is to find
the radius of curvature, which is, again from the lecture
h
i3/2
dy 2
dx
1+
d2 y
dx2
[1 + 1.62 ]
|0.8|
3/2
8.39 [m]
Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250
vA2
82
n = 4
n 4
u
ut +
u
ut + 7.62
un
8.39
(b)
|aA | =
42 + 7.622 8.61 m/s2
Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250
g
G
Figure 2
Determine the spheres:
(a) free body diagram
(b) equation of motion in terms of its rotation,
(c) angular acceleration, , and
(d) center of masss linear acceleration, a.
Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250
Problem 2 - Solution
(a) The first thing to establish, in this problem, is the choice of coordinate system. To
simplify calculations, we will choose x as being aligned with the slope, and y in the
normal direction. Figure 3 shows these axes and the free body diagram.
r
G
y
ff
O
mg
30
N
Figure 3
(b) The equation of motion is obtained from the kinematic constraint and the sum of the
forces and toques. The relationship resulting from the non-slip condition with the plane
enforces the fact that a rotation of the sphere through an angle assumed positive in
the counterclockwise direction (in agreement with our choice of axes) corresponds to
a translation of x = r. Stated differently, xG = r AG . This in turn implies
r .
G =
x G = r AG and x
AG
Summing the forces we obtain
P
F x : f f mg sin 30i = m
xG
P
F y : N mg cos 30 = 0
mg
= m
xG
2
Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250
G : r GA f f = I
rff k
rff = I
Combining these two equations into one by substituting for the frictional force, f f ,
yields
ff =
mg
I
= m
xG +
r
2
Along with our kinematic relationship, we have two equations and two unknowns. The
geometric constraint yielded
r
G =
x
AG
xG i = k rj
i
xGi = r
xG = r
And through substitution, we have our equation of motion:
I
+ mg
= mr
r
2
I + mr2 mg
=
r
2
mrg
=
2(I + mr2 )
mrg
=
2 52 mr2 + mr2
Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250
mrg
+ mr2
2
g
=
2
2 5 +1 r
5g
=
14r
rad/s2
23.4k
2
mr2
5
5g
i 3.5i m/s2
14
Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250
Figure 4
At this instant, determine:
(a) the acceleration of the collar C
(b) the normal force of rod AB on the collar C
(c) the radial reaction of the end plate B on the collar C.
Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250
Problem 3 - Solution
u
u
r
j
C
u
r
Nr
(a)
N
(b)
(a) To obtain the acceleration of the collar C we choose to write the position vector r AC in
polar coordinates:
r AC = L
ur ,
from which we can obtain the velocity and acceleration vectors, v C and aC respectively,
via differentiation:
d
u
v C = r AC = L r = Lu
dt
d
u
+ L = Lu
L2 u
r
aC = Lu
dt
Substituting L = 0.6 m, = 2 rad/s and = 2 rad/s2 yields:
aC = 2.4
ur + 1.2
u m/s2
(b) The normal force of rod AB on the collar C, N acts in the tangential direction and is
9
Quiz 1
Thursday 9/27/2012
9:30-11:00 am Rm. 10-250
:
calculated by summing the forces in u
X
(c) The radial reaction of the end plate B on the collar C is similarly obtained by balancing
r:
the forces in u
X
10