PROBLEM 18.

61

Determine the rate of change H  of the angular momentum HD of

D
the assembly of Problem 18.3, assuming that at the instant considered
the assembly has an angular velocity ω = (12 rad/s)i and an angular
acceleration α = −(96 rad/s 2 )i.

SOLUTION

W 3
m= = = 0.093168 lb ⋅ s 2 /ft 2 , l = 24 in. = 2 ft, ω = (12 rad/s)i
g 32.2
For rod ADB, H D = I xω i ≈ 0, since I x ≈ 0.
For rod CDE, use principal axes x′, y ′ as shown.
9
cos θ = , θ = 41.410°
12
ω x′ = ω cos θ = 9 rad/s 2
ω y′ = ω sin θ = 7.93725 rad/s 2
ωz′ = 0
α = −(96 rad/s 2 )i
α x′ = α cos θ = −72 rad/s
α y′ = α sin θ = −63.498 rad/s 2
I x′ ≈ 0
1 1
I y′ = ml 2 = (0.93168)(2) 2 = 0.0310559 kg ⋅ m 2
12 12
I z′ = I y′
H D = I x′ω x′i ′ + I y′ω y′ j′ + I z′ω z′k ′
= 0 + (0.0310559)(7.93725) j′ + 0 = (0.24698 lb ⋅ s/ft)j′
Let the reference frame Dx′y ′z ′ be rotating with angular velocity
Ω = ω i = ω x′ i ′ + ω y′ j′ = (9 rad/s)i ′ + (7.93725 rad/s)j′
 = (H
 )
H D D Dx′y ′z ′ + Ω × H D

= I x′α x′i′ + I y′α y′ j′ + I z′α z ′k ′ + Ω × H D

= 0 + (0.0310559)(−63.498) j + 0 + (9i ′ + 7.93725 j′) × (0.246498 j′)
= −1.97199 j′ + 2.21848k
= −(1.97199 kg ⋅ m 2 /s 2 )(sin θ i + cos θ j) + (2.21848 kg ⋅ m 2 /s 2 )k
  = −(1.304 N ⋅ m)i − (1.479 N ⋅ m)j + (2.22 N ⋅ m)k 
H D

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2049
 PROBLEM 18.62

Determine the rate of change H  of the angular momentum HD of the

D
assembly of Problem 18.3, assuming that at the instant considered the
assembly has an angular velocity ω = (12 rad/s)i and an angular
acceleration α = (96 rad/s 2 )i.

SOLUTION

W 3
m= = = 0.093168 lb ⋅ s 2 /ft, l = 24 in. = 2 ft, ω = (12 rad/s)i
g 32.2
For rod ADB, H D = I xω i ≈ 0, since I x ≈ 0.
For rod CDE, use principal axes x′, y ′ as shown.
9
cos θ = , θ = 41.410°
12
ω x′ = ω cos θ = 9 rad/s 2
ω y′ = ω sin θ = 7.93725 rad/s 2
ω z′ = 0
α = (96 rad/s 2 )i
α x′ = α cos θ = 72 rad/s
α y′ = α sin θ = 63.498 rad/s 2
I x′ ≈ 0
1 1
I y′ = ml 2 = (0.93168)(2) 2 = 0.0310559 kg ⋅ m 2
12 12
I z′ = I y′
H D = I x′ω x′ i ′ + I y′ω y′ j′ + I z′ω z′k ′
= 0 + (0.0310559)(7.93725) j + 0 = (0.246498 lb ⋅ s/ft)j′
Let the reference frame Dx′y ′z ′ be rotating with angular velocity
Ω = ω i = ω x′ i′ + ω y′ j′ = (9 rad/s)i′ + (7.93725 rad/s)j′
 = (H
 )
H D D Dx′y ′z ′ + Ω × H D
= I x′α x′ i ′ + I y′α y ′ j′ + I z′α z ′k ′ + Ω × H D
= 0 + (0.310559)(63.498) j + 0 + (9i ′ + 7.93725 j′) × (0.246498 j′)
= 1.97199 j′ + 2.21848k
= (1.97199 kg ⋅ m 2 /s 2 )(sin θ i + cos θ j) + (2.21848 kg ⋅ m 2 /s 2 )k
  = (1.304 N ⋅ m)i + (1.479 N ⋅ m)j + (2.22 N ⋅ m)k 
H D

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2050
 PROBLEM 18.63

A thin homogeneous square of mass m and side a is welded to a vertical

shaft AB with which it forms an angle of 45°. Knowing that the shaft
rotates with an angular velocity ω = ω j and an angular acceleration
 of the angular momentum HA of
α = α j, determine the rate of change H A
the plate assembly.

SOLUTION

Use principal axes y ′, z ′ as shown.

ω y ′ = ω cos 45°, ω z′ = ω sin 45°
ω x′ = 0
1 1
I x′ = ma 2 , I y′ = ma 2
3 12
5
I z ′ = I x′ + I y ′ = ma 2
12
H A = I x′ω x′i ′ + I y′ω y′ j′ + I z′ω z′k ′
 1   5 
= 0 +  ma 2  (ω cos 45°) j′ +  ma 2  (ω sin 45°)k ′
 12   12 
 1 
H A =  ma 2  (ω cos 45°)(cos 45° j − sin 45°k )
 12 
 5 
+  ma 2  (ω sin 45°)(sin 45° j + cos 45°k )
 12 
ma ω2
HA = (3j + 2k )
12
Angular acceleration. α = α j; ω y′ = α cos 45°, ω z′ = α sin 45°
Let the reference frame Axyz be rotating with angular velocity
Ω = ωj
With respect to this frame,
 )
A Axyz = I x′ω x′ i ′ + I y ′ω y ′ j′ + I z ′ω z k ′
(H   
 1   5 
= 0 +  ma 2  (α cos 45°)i ′ +  ma 2  (α sin 45°)k ′
 12   12 
ma 2α
= (3j + 2k )
12

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2051
 PROBLEM 18.63 (Continued)

With respect to the fixed reference frame,

 = (H
 )
H A A Axyz + Ω × H A

ma 2α  ma 2ω 
= (3j + 2k ) + ω j ×  (3j + 2k ) 
12  12 
2
 = ma (2ω 2 i + 3α j + 2α k ) 
H A
12

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2052
 PROBLEM 18.64
 of the angular momentum H of the
Determine the rate of change H G G
disk of Problem 18.8, assuming that at the instant considered the
assembly has an angular velocity ω = ω j and an angular acceleration
α = α j.

PROBLEM 18.8 A homogeneous disk of mass m and radius r is

mounted on the vertical shaft AB. The normal to the disk at G forms
an angle β = 25° with the shaft. Knowing that the shaft has a
constant angular velocity ω, determine the angle θ formed by the
shaft AB and the angular momentum HG of the disk about its mass
center G.

SOLUTION

Use the principal centroidal axes Gx′y ′z ′

Moments of inertia.
1 2
I x′ = I z ′ = mr
4
1 2
I y′ = mr
2
Angular velocity.
ω x′ = −ω sin β
ω y′ = ω cos β
ωz = 0
Angular momentum about G.
Using Eqs. (18.10),
1
H x′ = I x′ω x′ = − mr 2ω sin β
4
1 2
H y′ = I y′ω y′ = mr ω cos β
2
H z = I zω z = 0
H G = H x′ i ′ + H y ′ j + H z k

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2053
 PROBLEM 18.64 (Continued)

where i, j, k are the unit vectors along the x′, y ′, z ′ axes.

1 1
H G = − mr 2ω sin β i ′ + mr 2ω cos β j′
4 2
Angular acceleration. α = α j, ω x′ = −α sin β , ω y′ = α cos β , ω z′ = 0

Rate of change of angular momentum. Let the reference frame Gxyz be rotating with angular velocity
Ω = ω j = −(ω sin β )i ′ + (ω cos β ) j′
With respect to this frame,
 )
G Gxyz = I x′ω x ′ i ′ + I y ′ω y ′ j′ + I z ′ω z ′k ′
(H   
1  1 
=  mr 2  (−α sin β )i ′ +  mr 2  (α cos β ) j′ + 0
4  2 
1 1
= − mr 2α sin β i ′ + mr 2α cos β j′
4 2
1 1
= − mr 2α sin β (i cos β − j sin β ) + mr 2α cos β (i sin β + j cos β )
4 2
1 2
= mr α [i sin β cos β + j(2 cos 2 β + sin 2 β )]
4
1 2
= mr α [i sin 25° cos 25° + j(2 cos 2 25° + sin 2 25°)]
4
= mr 2α (0.0957556i + 0.45535 j)
With respect to the fixed reference frame,
 = (H
 )
H G G Gxyz + Ω × H G where

Ω × H G = + (−ω sin β i ′ + ω cos β j′)

 1 1 
×  − mr 2ω sin β + mr 2ω cos β 
 4 2 
1 2 2 1 2 2
= mr ω cos β sin β k − mr ω sin β cos β k
4 2
1 2 2
= − mr ω sin β cos β k
4
1 2 2
= − mr ω sin 25° cos 25°k = −0.095756mr 2ω 2k
4

Then  = mr 2 (0.0958α i + 0.455α j − 0.0958ω 2 k ) 

H G

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2054
 PROBLEM 18.65

A slender, uniform rod AB of mass m and a vertical shaft CD, each

of length 2b, are welded together at their midpoints G. Knowing
that the shaft rotates at the constant rate ω, determine the dynamic
reactions at C and D.

SOLUTION

Using the principal axes Gx′y ′z:

1
I x′ = 0, I y ′ = I z = mb 2
3

ω x′ = −ω sin β , ω y′ = ω cos β , ω z = 0

Angular momentum about G. H G = I x′ω x′ i ′ + I y′ω y′ j′ + I zω z k

1
H G = mb 2ω cos β j′
3
1
or, since j′ = i sin β + j cos β : H G = mb 2ω cos β (sin β i + cos β j) (1)
3
Rate of change of angular momentum.
 = (H
 )
H G G Gxyz + Ω × H G = 0 + ω × H B

1 
= ω j ×  mb 2ω cos β (sin β i + cos β j) 
 3 
1 2 2
= − mb ω sin β cos β k
3

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2055
 PROBLEM 18.65 (Continued)

Equations of motion.
We equate the systems of external and effective forces

ΣM D = Σ(M D )eff : 2bj × (C x i + C z k ) = H G
1
− 2bC x k + 2bC z i = − mb 2ω 2 sin β cos β k
3

1 1
Thus, Cx = mbω 2 sin β cos β , C z = 0 C= mbω 2 sin β cos β i 
6 6

1
 ΣF = ΣFeff : C + D = 0  D = − mbω 2 sin β cos β i 
6

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2056
 PROBLEM 18.66

A thin homogeneous triangular plate of weight 10 pounds is welded to a light

vertical axle supported by bearings at A and B. Knowing that the plate rotates
at the constant rate ω = 8 rad/s, determine the dynamic reactions at A and B.

SOLUTION
We shall use Eqs. (18.1) and (18.28):
 )
ΣF = m a ΣM A = (H A Axyz + Ω × H A

Computation of H A :
ω = ωj
H A = − I xyω i + I yω j − I yzω k
The moment of inertia of the triangle is
1 3 1
( I y )area = b h, A= bh
12 2
m 1
( I y ) mass = ( I y )area = mb 2
A 6
The product of inertia of the triangle is
1 2 2
( I xy )area = b h
24
m 1
( I xy ) mass = ( I xy )area = mbh
A 12
Since the z-coordinate is negligible,
( I yz ) mass = 0

1 1
Thus, HA = − mbhω i + mb2ω j. (1)
12 6
where the frame of reference Axyz rotates with the plate with the angular velocity
Ω = ω =ωj

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2057
 PROBLEM 18.66 (Continued)

Equations of motion. (Weight is omitted for dynamic reactions.)

Eq. (18.28),
 )
ΣM A = ( H A Axyz + Ω × H A .

Since ω = constant, it follows from Eq. (1) that

 )
(H A Axyz = 0

Thus,
 mbh mb 2 
hj × ( Bx i + Bz k ) = 0 + ω j ×  − ωi + ω j  − hBx k + hB z i
 12 6 
1
= + mbhω 2 k
12
1
Equating coefficients of unit vectors: Bx = − mbω 2 , Bz = 0
12
1
B=− mbω 2 i
12
The dynamic reactions must also satisfy Eq. (18.1):
b
ΣF = m a: A + B = − mxω 2 i = − m   ω 2 i
3
1  1  1
A = − mbω 2 i −  − mbω 2 i  , A = − mbω 2 i
3  12  4
Given data: W = 10 lb, b = 12 in. = 1 ft, h = 24 in. = 2 ft, ω = 8 rad/s

1  10 lbs 
A=−  (1 ft)(8 rad/s)2 i A = −(4.97 lb)i 
4  32.2 

1  10 lbs 
 B=− (1 ft)(8 rad/s) 2 i  B = −(1.656 lb)i 
12  32.2 

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2058