1389.

Rod OA rotates# counterclockwise with a constant angular

velocity of u = 5 rad>s. The double collar B is pin- A
connected together such that one collar slides over the
rotating rod and the other slides over the horizontal curved
B
rod, of which the shape is described by the equation
r = 1.512 - cos u2 ft. If both collars weigh 0.75 lb,
r
determine the normal force which the curved rod exerts on
one collar at the instant u = 120. Neglect friction.

SOLUTION O

# $ = 5 rad/s
Kinematic: Here, u = 5 rad>s and u = 0. Taking the required time derivatives at
u = 120, we have
r = 1.5 (2 cos ) ft.
r = 1.5(2 - cos u)|u = 120 = 3.75 ft
# #
r = 1.5 sin uu|u = 120 = 6.495 ft>s
$ $ #
r = 1.5(sin uu + cos uu 2)|u = 120 = - 18.75 ft>s2

Applying Eqs. 1229, we have

$ #
ar = r - ru2 = - 18.75 - 3.75(52) = - 112.5 ft>s2
$ # #
au = r u + 2r u = 3.75(0) + 2(6.495)(5) = 64.952 ft>s2

Equation of Motion: The angle c must be obtained first.

r 1.5(2 - cos u)
tan c = = 2 = 2.8867 c = 70.89
dr>du 1.5 sin u u = 120

Applying Eq. 139, we have

0.75
a Fr = mar ; -N cos 19.11 =
32.2
(-112.5)

N = 2.773 lb = 2.77 lb Ans.

0.75
a Fu = mau ; FOA + 2.773 sin 19.11 =
32.2
(64.952)

FOA = 0.605 lb
1394.

The collar has a mass of 2 kg and travels along the smooth

horizontal rod defined by the equiangular spiral
r = 1eu2 m, where u is in radians. Determine the tangential
force F and the normal force N acting on the collar when
u = 90, if the force F maintains a constant angular motion F
#
u = 2 rad>s.

SOLUTION r r  eu

r = eu
u
# #
r = euu
$ # $
r = eu(u)2 + euu

At u = 90
#
u = 2 rad>s
$
u = 0

r = 4.8105
#
r = 9.6210
$
r = 19.242
$ #
ar = r - r(u)2 = 19.242 - 4.8105(2)2 = 0
$ ##
au = ru + 2ru = 0 + 2(9.6210)(2) = 38.4838 m>s2

= eu>eu = 1
r
tan c =
A B
dr
du

c = 45

+ c a Fr = mar; -NC cos 45 + F cos 45 = 2(0)

+
; a Fu = mau; F sin 45 + NC sin 45 = 2(38.4838)

NC = 54.4 N Ans.

F = 54.4 N Ans.