Trad - Mecanica Electromecanica B5

DUMITRU DELEANU CRISTIAN BRAIA
MECHANICS
Homework and Examination Tests
for the students of the faculty of electro-mechanics
Editura CRIZON
Mechanics – homework and examination tests
Constanţa, 2009
2
Preface
This paper is a supplement to the paper "Mechanics - Theory and

Applications", author Dumitru DELEANU, published by CRIZON in
2008. If the above-mentioned work contains the theoretical mechanics
course taught to the students of the Faculty of Naval Electro-mechanics of
Constanta Maritime University as well as the seminar classes support, this
volume collects homework that students have to solve during the semester
and tests that they will receive at the examination.
The paper is divided into two chapters. The first one is dedicated to
a number of eight homework representing important chapters of statics,
kinematics and dynamics. Each piece of homework contains a theoretical
summary, a completely solved application and an application addressed to
be solved.
The second chapter includes a number of 23 tests, wherefrom the
ones to be solved by the students at the end-of-semester examination will
be selected. The tests are prepared to allow verification of a largest as
possible volume of knowledge and a certain freedom in the choice of
subjects in order to attain the minimum required for passing the
examination.
We hope that this paper will succeed to be of a real use to the
students preparing for the Mechanics examination.
Authors
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4
Contents
PREFACE ............................................................................................................................. 3
CONTENTS .......................................................................................................................... 4
1. HOMEWORK .............................................................................................................. 5
Homework no. 1: Reduction of the Systems of Forces ..............................................5

Homework no. 2: Centers of Mass ...........................................................................10
Homework no. 3: Equilibrium of Systems of Rigid Solids .....................................
15
Homework no. 4: Kinematics of the Absolute Motion of the Material Point.......... 19
Homework no. 5: Kinematics of the Absolute Motion of the Rigid Solid................25
Homework no. 6: Kinematics of the Relative Motion of the Material Point............31
Homework no. 7: Dynamics of the Absolute Motion of the Material Point ............35
Homework no. 8: Fundamental Notions of Dynamics ........................................... 39
2. EXAMINATION TESTS ................................................................................................49
Test no. 1 ................................................................................................................. 49

Test no. 2 ................................................................................................................. 50
Test no. 3 ............................................................................................................... ..51
Test no. 4 ............................................................................................................... ..52
Test no. 5 ............................................................................................................... ..53
Test no. 6 ............................................................................................................... ..54
Test no. 7 ................................................................................................................. 55
Test no. 8 ............................................................................................................... ..56
Test no. 9 ................................................................................................................. 57
Test no. 10 ............................................................................................................. ..58
Test no. 11 ............................................................................................................. ..59
Test no. 12 ............................................................................................................. ..59
Test no. 13 ............................................................................................................. ..60
Test no. 14 ............................................................................................................. ..61
Test no. 15 ............................................................................................................. ..62
Test no. 16 ............................................................................................................. ..63
Test no. 17 ............................................................................................................. ..63
Test no. 18 ............................................................................................................. ..64
Test no. 19 ............................................................................................................. ..64
Test no. 20 ............................................................................................................... 65
Test no. 21 ............................................................................................................. ..66
Test no. 22 ............................................................................................................. ..66
Test no. 23 ............................................................................................................. ..67
BIBLIOGRAPHY............................................................................................................... 69
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Homework
Homework no. 1
Reduction of systems of forces

I 1) On a rectangular parallelepiped OABCDELK represented as in Figure I 1.1, acts a
system of three forces and a couple, their magnitude, direction, and sense are given in the
Table T 1.1. Requested:
a) The torsor of reduction at O and representation of this torsor;
b) Specify what is the system equivalent with;
c) Determine the equations of the central axis;
d) Determine the reduction torsor at a point of the central axis.
Note: Points c) and d) will be covered only if the reduction case imposes it.
Theory Abstract:
B 1. The torsor of a system of forces about a point

Minimal Torsor; Central Axis

Given the system of forces F i , i  1, n , acting at the points A i ,.i  1, n , of

position vectors r i , i  1, n , about the point O, the elements of the reduction torsor are:
 n 
- The resultant force R   F i ;
i 1
 n  
- The resultant moment M O   r i  F i .
i 1

R
We will use the notation:   .
O 
M
 O
The resultant moment has the minimum value equal to the projection of the
resultant moment vector on the direction of the resultant force:
 
 R M
 
M min  M R  O
R
R2
7
 
The torsor composed of the resultant R and the minimum moment M min is
called minimal torsor:

R
 min   .
M min
The geometrical locus of the points at which effecting the reduction the minimal
torsor is obtained is called the central axis. On the central axis, the resultant moment vector
and the resultant force vectors are collinear vectors. The equations of the central axis are:
M Ox  y R z zR y M O y  z R x xR z M Oz  x R y yR x
= = ,
Rx Ry Rz
 
where R  R x , R y , R z  and M O M O x , M O y , M O z . The equations of the central axis are
 
the equations of a line given as intersection of two planes.
B 2. Cases of reduction of a system of arbitrary forces
Doing reduction of a system of arbitrary forces about a pole O it is possible to get to

one of the following cases of reduction:
   
Case I: R  0 , M O  0 - The force system is called equivalent to zero, and is
equivalent to any system of forces that has the torsor equal to zero.
   
Case II: R  0 , M O  0 - The force system is equivalent to a single force equal to

the resultant R , situated on the central axis, passing through the reduction point O.
   
Case III: R  0 , M O  0 : The force system is equivalent to any couple of forces
 
acting in a plane perpendicular to M O and whose moment coincides with M O as sense
and magnitude.
   
Case IV: R  0 , M O  0 . Two situations occur:
    
a) R M O  0 R  M
 O 

- The force system is equivalent to single force equal

to R , that acts on the central axis that does not pass through the reduction point O;
    
b) R M O  0  R 

 M O 

- The force system is equivalent to the minimal torsor
applied on the central axis.
8
Solution to homework no. 1
Variant no. 0 (Figure I 1.2)

           
a) F 1  F 1 i  4 i , F 2  F 2 k  6 k , F 3   F 3 j  8 j , M  M j  10 j .
Figure I 1.1 Figure I 1.2

  
i j k
      
M O  F 1   OL  F 1 60 30 20  80 j  120 k ;
 
4 0 0
  
i j k
     
M O  F 2   OA  F 2  60 0 0  360 j ;
 
0 0 6
  
i j k
     
M O  F 3   OB  F 3  60 30 0  480 k .
 
0 8 0
      
 R  F 1 F 2  F 3   4 i  8 j  6 k
 O              
 M O  M  M O  F 1   M O  F 2   M O  F 3   430 j  360 k
      
     
b) R  0, M O 0 , R  M O    4  0    8    430  6    360  1280  0 .
The force system is equivalent to the minimal torsor (see point d).
c) The equations of the central axis customize as follows:
9
0  6 y  8 z  430  4 z  6 x  360  8 x  4 y
  .
4 8 6
Upon processing of these equations, the central axis is obtained as an intersection of two
planes:
3 x  6 y  10 z  215  0
 .
8 x  13 y  12 z  360  0
d) The torsor at a point of the central axis coincides with the minimal torsor:
   
 R  4 i  8 j  6 k
 min    .
M  R  M O
 320  1280  2560  1920 
R R i j k
 min R 2 29 29 29 29
I 2) On the right triangular prism in Figure I 2.1. , a system of four forces acts, with their
magnitude, direction and sense given in the Table T 1.2. Requested:
a) The reduction torsor at the point O;
b) What is the force system equivalent with?
c) The equations of the central axis;
d) The minimal torsor.
Notes: i) Points c) and d) will be covered only if the reduction case imposes it;
ii) Points F, G, H are chosen so that FE  FB, HC  HO, GD  GA .
Figure I 2.1
Figure I 2.2
10
Solution to variant no. 0 (Figure I 2.2)

  
 AH  50 i  15 k 120  36   
a) F 1 F 1  12   i k  11,494 i  3,448 k ;
AH   50 2  15 2 109 109
     
F 2  F 2 j  16 j , F 3   F 3 k  25 k ;
   
 EA 50 i  40 j  30 k 45  36  27 
F 4  F 4 9  i j k 
EA 50 2    40 2    30 2 50 50 50
  
 6,364 i  5,091 j  3,818 k ;
  
i j k
     1800  
M O  F 1   OA  F 1 50 0 0  j  172,409 j ;
  120 36 109
 0
109 109
  
i j k
     
M O
 F 
2  OC  F 2  0 0 30  480 i ;
  0 16 0
  
i j k
     
M O F
 3  OD  F 3  50 0 30  1250 j ;
  0 0  25
  
i j k
        
 
M O  F 4   OE  F 4  0 40 30  135 2 j  180 2 k  190,919 j  254,558 k
  45 36 27
 
50 50 50
     
b) R  0 , M O  0 , R  M O    5,130    480  10,909  1268,51 
   25,370    254,558  22758,712  0
The force system is equivalent to the minimal torsor (see point d);
c) By substituting the reduction torsor elements in the equations of the central axis it is
obtained that:
 480  25,37 y  10,909 z 1268,51  5,13 z  25,37 x  254,558  10,909 x  5,13 y
 
 5,130 10,909  25,370
or, upon processing:
130,148 x  276,761 y  145,323 z  1463,136  0

 .
55,963 x  669,954 y  276,761 z  10871,717  0
11
   
 R  5,130 i  10,909 j  25,370 k
min  
d)    .
M  R  M O
    
 R  28,883 R  148,173 i  315,091 j  732,777 k
 min R 2
Table T 1.1
Variant Dimensions of
   
No. the
F1 F2 F3 M
Rectangular
Parallelepiped
(cm)
a b c Magnitude Direction Magnitude Direction Magnitude Direction Magnitude Direction
(N) and (N) and (N) and (N ) and
sense sense sense sense
0 60 30 20 4 LK 6 AE 8 BA 10 DK
1 20 25 20 8 OD 10 DL 8 KC 9 BO
2 40 20 30 10 AD 5 BO 10 KB 5 DL
3 30 40 20 10 EA 12 OC 10 CK 8 KL
4 20 20 10 6 OD 8 BA 6 KL 8 DK
5 25 45 30 9 OA 10 LE 16 KC 6 OL
6 30 20 40 9 AB 8 BK 12 EC 14 DL
7 30 20 30 11 OC 10 OK 10 DK 30 AD
8 15 25 40 10 AC 8 KA 20 EK 15 EO
9 40 50 10 7 BL 8 KE 16 DB 30 EC
10 40 30 120 12 KD 9 OA 14 AC 20 BC
11 35 40 50 8 EB 6 AC 10 CD 25 LE
12 70 10 30 6 CK 10 BD 12 EA 12 OB
13 25 45 60 9 AE 14 BO 11 KA 25 BC
14 60 60 20 12 BA 7 LK 12 LC 28 DA
15 25 50 80 10 CE 10 BC 40 BO 20 AE
Table T 1.2
   
Dimensions of F1 F2 F3 F4
Variant the
No. right triangular
prism (cm)
a b c Magnitude Direction Magnitude Direction Magnitude Direction Magnitude Direction
(N) and (N) and (N) and (N ) and
sense sense sense sense
0 50 40 30 12 AH 16 CE 25 DA 9 EA
1 40 15 20 10 CO 18 DB 20 DC 15 BA
2 70 30 10 15 OD 10 BE 14 EO 18 AB
3 25 40 60 14 GB 25 EC 10 AO 6 FC
4 60 60 10 12 OF 8 AD 27 HB 11 BO
5 80 60 100 4 BE 22 CA 18 FH 17 OA
6 25 15 40 25 HB 10 CE 16 BA 4 OE
7 20 30 40 10 CB 12 OG 10 EC 9 DA
8 30 45 20 11 FA 10 BE 30 OC 14 CD
9 50 20 80 8 EC 6 AH 25 AE 10 DF
10 30 40 50 14 OC 9 CD 11 DB 28 AB
11 60 50 50 10 CA 10 BE 17 OA 6 HF
12 35 45 25 10 HG 5 GB 35 AD 12 CB
13 10 80 45 9 BH 16 FO 20 BO 14 DC
12
14 40 15 60 18 CE 20 BA 4 DB 15 AD
15 90 35 20 4 GO 8 BE 6 CB 30 OF
Homework no. 2
Centre of mass
II 1) Let us consider the homogenous plate in the Figure II 1.1. , for which there are given:
n n
a  20  3 n ; b  10  ;   0,7 ;   0,2  0,1    ,
2  10 
where n  N is a fixed number and [x] is the integer part of the real number x.
*
The portion BC is part of an ellipse centered at O’ and of half axes O’B and O’C.
For the imposed value of the number n, determine the coordinates of the center of mass of
the plate. Plate dimensions are given in cm.
Figure II 1.1
Theory Abstract:
For a homogenous plate of constant section the center of mass is given by its
position vector


rC 
  r dA
A
  dA
A
where the integrals are calculated over the area A of the body. If the plate is divided into

elementary plates and we denote by r i , i  1, p , the position vector of the center of mass no.
“i” and with A i , i  1, p , its area, then the position vector of the center of mass of the plate
is determined by the relation:
13
p 
 A i ri
rC  i 1
p
A i 1
i
and the coordinates of the center of mass result by projection on the axes of the Cartesian
reference Oxyz:
p p p
 Ai xi  Ai yi  Ai zi
i 1 i 1 i 1
x C p
, y C p
, z C p
(*)
 Ai  Ai  Ai
i 1 i 1 i 1
   
where r i  x i i  y i j  z i k .
Hereinafter it is shown the way of computing the area and the center of mass for the
elementary plates composing the plate in the Figure II 1.1.
Rectangular plate Triangular plate
Figure II 1.2 Figure II 1.3

a b 
A  a b, x C  , y C A , where
2 2 2
x1 y1 1
  x2 y2 1
x3 y3 1
x 1 x 2  x 3 y  y 2 y 3
x C , y C 1
3 3
Circle sector shaped plate
14
Figure II 1.4
2 sin 
A   R 2 , x C  OC  R (  in radians)
3 
Quarter of ellipse shaped plate
The coordinates of the center of mass of the homogenous plate bordered by the
curves y=f(x) and y = g(x) and the vertical lines x  x 1, x  x 2 (Figure II 1.5) are given by
the relations:
x2 x2
 x  f ( x)  g ( x) dx   f 2 ( x)  g 2 ( x) dx
x1 1 x1
x C x2
, y C x2
2
  f ( x)  g ( x) dx   f ( x)  g ( x) dx
x1 x1
x2
and its area by the relation A    f ( x)  g ( x) dx . In the case of the quarter of an ellipse
x1
x2 y2
in the Figure II 1.6, originating from the ellipse of equation 
 1 , we have
b2 a2
b  ab 4a 4b
f ( x)  a 2  x 2 , g ( x )  0 , x 1 0, x 2  a , thus A  4 , x C  3  , y C  3  .
a
Solution:
The given homogeneous plate is divided into 5 elements, from which elements 3, 4
and 5 are deducted from elements 1 and 2. For the items that are deducted (not cross-
hatched), the area is considered with the sign "-" and for those hatched with the sign "+".
O D y
a  C1
A O
b
x
15
Figure II 1.7 Figure II 1.8 Figure II 1.9
Element no. 1 : Rectangular plate OAO’D (Figure II 1.7)

a b
A 1 a b , x 1 , y 1 , z 1 0
2 2
Element no. 2 : Triangular plate ODF (Figure II 1.8)
b2 3 y O y D y F b z O z D z F b 3
A 2 , x 2 0 , y 2  , z 2 
4 3 2 3 6
Element no. 3 : Circle sector shaped plate centered at F (Figure II 1.9)

sin
2 6 2R2  b  2 
FC 3  R 2   , A 3  R 2   2b 2 ,
3    6 24
6
b  3  
x 3 0 , y 3 , z 3  z F  FC 3  b    .
2  2  
Element no. 4 : Semicircle shaped plate centered at E (Figure II 1.10)

sin
2 2 4 R1 4  b  2 
EC 4  R 1   , A 4  R1   2b 2 ,
3  3 15  2 50
2
4 b
x 4 0 , y 4 y E   b , z 4  EC 4  .
15 
D y
z O
F
C
a
a
R1  0,2b  C5
A B
b O
C4  b
O x
E D y
Element no. 5 : Quarter of ellipse shaped plate
16
   ab  4   4
A 5  , x 5  a 1   , y 5  b 1   , z 5 0
4  3   3 
The coordinates of the center of mass for the homogenous plate in the Figure II 1.1
are given by the relations:
5 5 5
 Ai xi  Ai yi  Ai zi
i 1 i 1 i 1
x C 5
, y C 5
, z C 5
 Ai  Ai  Ai
i 1 i 1 i 1
Particular case: n = 20
a  80 cm ; b  20 cm ;   0,7 ;   0,3 ,   0,4 ;

A 1 1600 cm 2 ; x 1 40 cm ; y 1 10 cm ; z 1 0 cm ;
A 2  173,205 cm 2 ; x 2  0 cm ; y 2  10 cm ; z 1 5,773 cm ;
A 3  8,377 cm 2 ; x 3  0 cm ; y 3  10 cm ; z 3  14,772 cm ;
A 4  4,021 cm 2 ; x 4  0 cm ; y 4  8 cm ; z 4  0,679 cm ;
A 5  263,894 cm 2 ; x 5  69,814 cm ; y 5  14,058 cm ; z 5  0 cm ;
x C  30,447 cm ; y C  9,289 cm ; z C  0,583 cm .
II 2) Let us consider the plate in the Figure II 2, composed of three plates of different
densities (situated in the three coordinate planes) for which are given: a  25  5 n ;
n  n  n n
b  100  4 n ;   0,1  0,3    ;   0,1    ;   0,4    ;   0,5    ,
5 100   25  10 
where n  N is a fixed number, [x] represents the integer part of the real number x and {x}
*
its fractional part  x  x  [x ] . The portion CD is part of an ellipse centered at G and of

semi axes GC and GD. For the imposed value of the number n, determine the coordinates of
the center of mass.
Notes; i) Dimensions are given in cm.

ii) See the Theory Abstract presented in the solution of the preceding problem. Since the
densities of the three plates are different the relations (*) are substituted by:
p p p
  i Ai x i   i Ai y i   i Ai z i
i 1 i 1 i 1
x C p
, y C p
, z C p
.
  i Ai   i Ai   i Ai
i 1 i 1 i 1
17
Figure II 2.
18
Homework no. 3
Equilibrium of the systems of rigid solids

III.1) Let us consider the joined bars system in the Figure III 1.1, acted upon by a system of
concentrated and distributed forces. Given the lengths l 1 2  0,1  n , l 2  3,5  0,05  n ,
n  n n
l 3  2,5  0,2    , angle        , concentrated forces P 1 1000    ,
 10  4  20  4
n n
P 2  3000    , uniformly distributed over the length force q  2000    and the couple
3 5
n
M  6000    , determine the reactions in the simple supports A and B, joints C and D and
6
embedding E.
Notes: i) n  N * is a value assigned to the individual student, [x] represents the integer part
of the real number x and {x} its fractional part.
ii) The following units shall be used: m – for length, daN for concentrated forces, daN / m
for the distributed force and daN  m for the couple.
Figure III 1.1
Theory Abstract:
In order to solve a problem of equilibrium of a system of rigid solids the free-body

method can be used. It involves the following steps:
a) Release each body of the system from its connections (external or internal) by
substituting each connection by its matching reactions;
b) Write the equations of equilibrium and possibly the equilibrium conditions for the
individual body;
c) Solve thus obtained system of equations and inequations. The unknowns of this
system may be parameters that define the position of equilibrium (angles, distances) and/or
reactions internal or external to the system of rigid solids.
19
For the (frictionless) connections existing in the proposed application the constraint
forces substituting them are:
Simple support (Figure III 1.2)
The simple support compels a point O of the rigid solid (C) to stay on a surface or
on a given curve. This connection suppresses the rigid a degree of freedom and can be

replaced by a normal reaction N directed along the common normal at the contact point.
The symbol used for the simple support is:
or
Figure III 1.2 Figure III 1.3
Plane hinge (Figure III 1.3)
It immobilizes a point of the rigid. This connection suppresses the rigid two degrees
of freedom and may be substituted by a reaction of unknown direction whose line of action
is situated in the plane of the forces. The reaction components on the axes of the reference
Oxy ( R 'x and R 'y ) are sometimes denoted by H O and VO , respectively.
Plane fixed support (Figure III 1.4)
Is the connection by which the rigid solid (C) is fixed (stuck) into another body so
that it is restricted any motion. In the case of the plane forces, the fixed support is
substituted by a reaction in the plane of the forces and a moment directed along the normal
 
to the plane of forces. Both the reaction R and the moment M O ' may be given by their
projections ( R 'x , R 'y , M O
' '
or H O , VO , M O ) on the axes of a Cartesian coordinate
reference.
20
Solution:
Single out AC, CD and DE and write the equations of equilibrium:
Bar AC (Figure III 1.5)
 X i H C 0
(1)
 Y i  N A  P 1 N B  V C  0
(2)
 M i C   N A  l 1 l 2  l 3   P 1  l 2  l 3   N B  l 1 M  0 (3)
Bar CD (Figure III 1.6)
 X i  H D  P 2 cos   H C  0 (4)
 Y i  V D  P 2 sin   V C  0
(5)
 M i D  V C  2 l 1 P 2 sin   l 1 0
(6)
Bar DE (Figure III 1.7)
21
 X i H E  H D 0 (7)
 Y i  V D  q  l 3  V E  0 (8)
l3
 M i E  V D  l 3  q l 3 2
 M E 0 (9)
Solving the system composed of the equations (1- 9) we obtain:
P 1 l 2  M  0,5 P 2 l 3 sin 
At A: N A  ;
l 1 l 2
P 1 l 1 0,5 P 2  l 1 l 2  l 3  sin   M
At B: N B  ;
l 1 l 2
P
At C: H C  0 ; V C   2 sin  ;
2
P
At D: H D   P 2 cos  , V D  2 sin  ;
2
P2 ql 32 P 2 l 3
At E: H E   P 2 cos  , V E  q l 3 sin  , M E  sin  .
2 2 2
Particular Case : n = 11

l 1 3,1 m , l 2  4,05 m , l 3  2,7 m ,  
;
4
P 1 750 daN , P 2  2000 daN , q  400 daN / m ; M  5000 daN  m .
Thus:
N A  541,495 daN ; N B  2000,513 daN , H C  0 daN , V C  707,106 daN

H D  1414,212 daN , V D  707,106 daN ;
H E  1414,212 daN , V E  1787,106 daN , M E  3367,188 daN  m .
22
III.2) Let us consider the hinged bar system in the Figure III 2, acted by a system of
n n
concentrated and distributed forces. Given the lengths l 1 1,5  0,2    , l 2  2  0,1   
5 3
n   n   n
, l 3  2,5  0,3    , angles       ,       , concentrated forces
 15  4 12  8  6 32  20 
n n n
P 1 2000   , P 2  3000    , P 3  7000    , uniformly distributed over the length
5 6 7
n n
force q  2500    and the couple M  10000    , determine the reactions at the
10  5
simple supports A, C and D and at the joints B, E and F.
Note: See the Theory Abstract presented in the solution of the preceding problem. The notes
in the statement of the problem III.1 shall also be valid in this case.
Figure III.2
Homework no. 4
Kinematics of the absolute motion of the material point

IV.1) The table T 3 shows the parametric equations of the motion of a material point in
Cartesian coordinates:
x  x  t , y  y t 
Requested:
a) Determine and represent the point trajectory;
b) Determine the components of the velocity and acceleration of the point at an
arbitrary instant of time as well as their magnitudes;
23
c) Determine the radius of curvature of the trajectory and the coordinates of the
acceleration in intrinsic coordinates at the indicated instant of time t 0 .
24
Table T3
Var. x  x t  (m) y  y t  m t0 ( s )

no.
 
0 2 cos t 5 sin t 3 1;2
4 4
 2 t 2 3 5t
0,5 ; 1
1
 
2 4 cos 2 t2 4 sin 2 t 1;3
3 3
  
3 3t 2 sin   t  
 3 6
2
4  2t  2  3;6
t 1
5 3  3 t 2 t 4  5 t 2 5 t 1;2
6 ch  6 t  3t 0;1
7  2 
6 sin t  2 6 cos t 2  3 0;2
6 6
8  4/t 1 4t  4 0; 2
2 3
2 3t  6t
9 3 t  3t 2 1;4
2
 
10  4 cos t 1  4 sin t 1;3
3 3
11 7 t 32 5t 0,2 ; 2
 
12 7 sin 2 t 5  7 cos 2 t 1;2
6 6
13 4t 3t 2  2 2;4
14 3/ t  2 3t + 6 1;3
15  4 t 1 2 -3t 0;2
Theory Abstract:
B 1. Basic notions
25
The motion of a material point M is known if its position with respect to a fixed
reference system can be specified at any instant of time. Position of the material point may
be given by:
 
1) Position vector r  r  t  (see Figure B 4.1) ;
2) curve ( C ) the material point moves along and the hourly law of the motion
s  s (t ) (see Figure B 4.2) ;
Figure B 4.1 Figure B 4.2

 
The vector equation r  r  t  is projected on the axes of a conveniently chosen
coordinate system and is equivalent to three scalar equations that are usually expressed in
the parametric form (see B 2). The parameter most used to describe the motion is the time t.
Trajectory is, by definition, the geometrical locus of the succeeding positions
occupied by the material point in its motion. It is obtained by eliminating the parameter
among the parametric equations.
The instantaneous velocity (at a given instant) is defined by:
  
 def  r d r not 
v  lim   r (4.1)
 t 0  t dt

Velocity v is a vector tangent to the trajectory and has the sense of the motion
along the trajectory. It is expressed in m /s.
The instantaneous acceleration (at a given instant) is defined by:
   
 def  v d v not   (4.2)
a  lim   rr
 t 0  t dt

Acceleration a is a vector directed towards the inside of the curve (concavity) that
represents the trajectory. It is expressed in m / s 2 .
B 2. Study of the motion of the material point in various coordinate systems
B 2.1. Cartesian coordinate system (Figure B 4.3)

   
The position vector has the expression r  x i  y j  z k , hence the parametric
equations of the trajectory are:
26
x  x t , y  y t , z  z t (4.3)
The velocity projections on the axes of this system of coordinates are:

  
v x x , v y y , v z z (4.4)
and its magnitude:
 2    2  2
v   x   y    z
     
(4.5)
For acceleration the same quantities are:
      

222
axx ayy az ,,,  zyxaz  (4.6)
  
B 2.2. Frenet coordinate system (Figure B 4.4)
The Frenet system of coordinates (natural, intrinsic) is a movable reference system

having the origin at the point M (that performs the motion) and the axes:

- tangent to the trajectory (of versor  ) ;
27

- principal normal (of versor  ) ;

- binormal ( of versor  ).
The point motion is known by means of the hourly law s = s(t).
The components of the velocity and acceleration on the axes of the Frenet trihedral
are:

v  s , v0 , v0 (4.7)

 s2 (4.8)
a  s , a , a   0

and their magnitude are:
2  2 2
     s 
v  s , a  s   (4.9)
   
 
Solution: Variant no. 0
 
x  t   2 cos t , y  t   5 sin t  3 , t '0  1 s, t '0'  2 s
4 4
a) Eliminating the time between the two parametric equations we obtain the equation of
the trajectory:
x 2  y  3 2
 1
4 25
which is the equation of an ellipse with the axes parallel to Ox and Oy, center at A(0, 3) and
of semi axes 2 and 5 (Figure IV 1.1). The movable starts from point B(2, 3) and travels the
ellipse in the trigonometric sense.
28
Figure IV 1.1 Figure IV 1.2 Figure IV 1.3
b) The components of the velocity and acceleration in the Cartesian coordinate system are:
    5 
v x x   sin t , v y y  cos t
2 4 4 4
 2   5 2 
a x  x   cos t , a y  y   sin t
8 4 16 4
and their magnitude:
  2 
v 4  21 cos 2 t , a 4  21 sin 2 t .
4 4 16 4
c) At an arbitrary instant of time the tangential acceleration is given by the relation:

 
 21 2 sin t cos t
4 4
a  v 
16 
4  21 cos 2 t
4
For determining the radius of curvature, we can note that:
v2 v2 v2
a    
 a a 2  a 2
Eventually, the normal component of the acceleration is given by the relation:
v2
a  .

Particular instants of time:
t '0  1 s (Figure IV 1.2)
5 2  2 1,111 m/s ,
x  2  1,414 m , y   3  6,535 m , v x   
2 4
5 2  29 2 2
v y  2,766 m/s , v   2,990 m/s, a x 
16
 0,872 m / s 2 ,
8 4 2
5 2 2  2 29
a y   2,181 m / s 2 , a   2,349 m / s 2 ,   5,554 m ,
32 16 2
21 2 2
a    1,701 m / s 2 , a   1,62 m / s 2 .
32 29
t '0'  2 s (Figure IV 1.3)

29

x  0 m , y  8 m , v x   1,571 m / s , v y  0 m / s , v  1,571 m / s , a x  0 m / s 2 ,
2
5 2
a y   3,084 m / s 2 , a  3,084 m / s 2 , a  0 m / s 2 ,   0,8 m, a   3,084 m / s 2 .
16
IV.2) Let us consider the mechanism in the Figure IV 2, made up from the sliders A and B
connected by means of the rod ABM. The rod is driven by the crank OC. Given:
n n  n  

OC  AC  BC  20  0,1    , AM  10  0,2    ,   5 t 2  6   t  ,
3 4   10   180
determine the velocities and accelerations of the points A, B and M for the instant of time
t 0 2 .
Notes: I) The following units shall be used: cm – for length, radians – for angles and
seconds – for time.
ii) [x] symbolizes the integer part of the real number x.
Figure IV 2.
Solution:
The mechanism is referenced to the Cartesian coordinate system. The coordinates of

the points A, B and M are:
x A  0 , y A  2 OC sin  , x B  2 OC cos  , y B  0
x M   AM cos  , y M   2 OC  AM  sin 
Differentiating twice with respect to time we obtain the velocities and the
accelerations of the points A, B and M on the axes of the reference Oxy:
30
 
v Ax 0 , v A y  2 OC cos    , v B x  2 OC sin    , vB y  0 ,
 
v M x  AM sin    , v M y   2 OC  AM  cos    ,
  2 
a Ax 0 , a Ay 2 OC  sin     cos     ,
 
 2 
a Bx 2 OC  cos    sin    , a By 0 ,
 
  2    2 
aM x  AM cos     sin     , aM y  (2 OC  AM )  sin     cos     .
   
Particular case: n = 40

OC  AC  BC  21,3 cm , AM  12 cm ,   5 t  2
 24 t  180 rad ,
   
   5 t  12 rad / s ,   rad / s 2 .
90 18
For t 0  2 s we obtain:
 Ax = 0 cm/s,  Ay = 12,25 cm/s,    2   2  12,25 cm/s
A Ax Ax
 Bx  15,166 cm/s,  By  0 cm/s, B  2 2

Bx   By  15,166 cm/s
 Mx  8,544 cm/s,  My  15,707 cm/s, M  2
Mx  2
My  17,880 cm/s
a Ax = 0 cm / s , a Ax =-20,509 cm / s , a A =
2 2 a2
Ax  a2
Ay = 20,509 cm / s 2
a Bx =-16,305 cm / s 2 , a By = 0 cm / s 2 , a B = a2 2
Bx  a By =16,305 cm / s 2
a Mx =4,593 cm / s 2 , a My = -17,793 cm / s 2 , aM  a2 2
Mx  a My  18,377 cm / s 2
31
Homework no. 5
Kinematics of the absolute motion of the rigid solid
V 1) Let us consider the system of bodies in the Figure V 1.1, for which the distances
O 1 A  AB  BC  BD  DE  EF  l , CD  l 1 and the angles  and  are given.
Knowing that the crank O 1 A rotates at the angular speed  , determine the velocity of
the points A, B, C, E and F.
A C i2
 
 2 
2 3 vA vC
1
   C
  B
A
O1
 
x x 1
6 

O1 
vB B
4
D 

i3  D
 3  4 
 E  
vE
y E
5 32

vF 
7  F
5
i5
y
Figure V 1.1 Figure V 1.2
Theory Abstract :
B 1. Distribution of velocities and accelerations in the general motion of the rigid.

Euler relations.
The motion of the rigid solid is determined when the general expressions as a
function of time are known for the position vector, velocity and acceleration of an arbitrary
point M of the rigid with respect to a fixed considered reference (Figure B 5.1).

Denoting by r 1 the position vector of a point of the rigid with respect to the fixed

reference system O1 x 1 y1 z1 , by r the position vector of the point with respect to the

movable reference Oxyz, stiff-connected to the body in motion and by r O the position
vector of the movable system origin with respect to the origin of the fixed system we can
write:
  
r 1 r O  r (5.1)
Formula (Euler, Resal) that gives the distribution of velocities in the general motion
of the rigid is:
   
v  v O   r (5.2)
where :

vO - velocity of the origin of the movable trihedral with respect to the fixed one;

 - angular velocity in the general motion of the rigid;

v - velocity of the arbitrary point M of the rigid.
In order to determine the acceleration field in the general motion of the rigid the
(Euler, Rivals) formula is used:
      
a  a O    r   
  r 



(5.3)
where :

a O - acceleration in the general motion of the rigid ;

  - angular acceleration in the general motion of the rigid ;
 

a - acceleration of the arbitrary point M of the rigid.

 v3
z a3 
 v3
a3
z1 
M

v3
M  y 33 

a3 
 r O a1 M 

M  
a1 M
r1  
r0 M  a1 
a2
 t  t3
M   v2
v1
x 
v1
M a 
v2
2
M 
y1

v1 a 
v2
O1 M 
2
x1 t  t1 
t  t2
B2. Particular motions of the rigid

B 2.1. Translational motion
A rigid performs a translational motion when any line thereof remains parallel to
itself (with a fixed direction) throughout the motion.
Properties: 1) In the translational motion, the angular velocity and angular
acceleration vectors are null:
  
   0 (5.4)
2) At a given instant of time, all the points of the rigid have the same velocity and
the same acceleration:
   
vv O , a  aO (5.5)
that is the velocity and acceleration vectors are free vectors (Figure B 5.2).
3) The trajectories of the different points superpose by the elementary geometrical
operation of translation (Figure B 5.2).
B 2.2. Rotational motion
A rigid performs a rotational motion if two points thereof, O 1 and O 2 , and

therefore an axis thereof remain fixed throughout the motion. The fixed axis O 1 O 2   is
called axis of rotation.
Properties: 1) The trajectories of the different points of the rigid are circles
contained in planes perpendicular to the axis of rotation (Figure B 5.3).
2) The position of the rigid at a given instant of time can be completely defined by
  
the help of the angle     t   mas ,
 Ox , O 1 x 1  hence a rigid in a rotational motion
 
around a fixed axis has a single degree of freedom.
3) The velocity distribution is given by the relation:
  
v  r (5.6)
34

the angular velocity vector  being directed along the axis of rotation (Figure B 5.3).
Using the velocity projections on the axes of the movable system Oxyz we can draw
the following conclusions:
a) The points belonging to the axis of rotation have zero velocity (they are the only
points having this property);
b) The velocities of the points located on a line perpendicular to the axis of rotation
are perpendicular to that line, their magnitudes being directly proportional to the distance
from the point to the axis of rotation;
c) The points located on a line parallel to the axis of rotation have the same velocity.
These properties are also shown in the Figure B 5.4.
z , z1 z  
v2  v2
A2
O2
  
v
y v2  v 2
M
 A2

y


 y1 O 

O  v1
O  v2 
1
A1 v3
x1 A2 

A3 x
x
4) The acceleration distribution is given by the relation:

     
a    r   
  r 



(5.7)
The properties of the acceleration field are analogue to those of the velocity field
with the single exception that the accelerations are inclined with respect to a line
perpendicular to the axis of rotation with the same angle  given by the relation

tg   2 .

B 2.3. Plane-parallel motion
A rigid performs a plane-parallel motion when three non collinear points thereof
(that is a plane P thereof) remain contained in a fixed plane P 1 in space throughout the
motion (Figure B 5.5).
35
Properties: 1) The distribution of velocities and accelerations in planes parallel to
the fixed plane P 1 is the same, hence the study of the motion of the points of a rigid may
be reduced to the study of the motion of the points in the plane P (trajectories, velocities and
accelerations of the points located on a line perpendicular to the plane P are identical).
2) The position of the rigid at a given instant is determined by the position vector
r O (t )  x (t ) i 1  y (t ) j and by the angle   t  made by the axes Ox and O 1 x 1 ,
  
O O 1
thus in the plane-parallel motion a rigid has three degrees of freedom.
z1 z
O1 y1
 y
r0

O
 P
 P1 
x1 
x
Figure B 5.5
 
3) Vectors  and  are collinear, being directed along the axis Oz, perpendicular to the
plane P:
   
  k ,   k (5.8)
   
where   ,    and the vectors v O and a O are contained in the plane P :
     
v O  v Ox i  v Oy j , a O  a Ox i  a O y j (5.9)
   
where
v O x  x O, a O x  x O, v O y  y O, a O y  y O .
4) The components of the velocity of an arbitrary point M(x, y, z) on the axes of the
movable system are:
v x v Ox y , v y v O y  x , v z 0 (5.10)
The study of the relations (5.10) allows formulation of the following conclusions:
36
a) The points of zero velocity belong to a line parallel to Oz, variable in time, of
parametric equations:
v Oy v Ox
  ,  ,  = arbitrary (5.11)
 
called instantaneous axis of rotation. Point I   ,  of intersection between the plane P and
the instantaneous axis of rotation is called instantaneous center of rotation (denoted ICR).
b) The velocity distribution in the plane-parallel motion is identical to the one in the
rotational motion, as if the solid would rotate around the instantaneous axis of rotation at the

angular velocity  .
The geometrical locus of the instantaneous center of rotation I about the fixed
reference system is a curve called base (or fixed centrode) and about the movable reference
system is a curve called roller (or movable centrode). The base and the roller are curves
tangent at I and during the motion the movable centrode rolls without slippage over the
fixed centrode.
In applications, geometrical procedures based on the above mentioned properties of
the velocity distribution in the plane-parallel motion may be used for finding the ICR. Let

therefore be two points A and B of the rigid for which the vector v A
and the direction of

the vector v B
are known.
 
Case I : v A
// v B
(Figure B 5.6)
The ICR is at the intersection of the normals drawn at A and B on the lines of action
vA
of the two velocities. Knowing v A ,  is determined and then the velocity of any
IA
IB
point of the rigid. For instance: v B    IB  v A .
IA
 
Case II : v A
// v B
AB  v

Sub-case II.1 : A
(Figure B 5.7)
The ICR is at the infinite, the velocity distribution is similar to that with the
 
translational motion (i.e. all the points have the same velocity): v A
= v B = constant.

Sub-case II.2 : AB 
 v A
(Figure B 5.8)

To find the ICR we must also know entirely the vector v B . Using the property of
linear variation of the velocities along the radius in the case of the rotational motion, the
ICR I is found at the intersection of the line AB with the line that connects the extremities of
 
the velocity vectors v A and v B .
5) The components of the acceleration of an arbitrary point M(x, y, z) on the axes of the
movable system Oxyz are:
37
a x  aO x   y   2 x , a y a O y  x  2 y , a z 0 (5.12)
Study of these projections allows formulation of the following conclusions:

a) There are points at which the acceleration is null. They are located on an axis
parallel to the Oz axis, whose intersection with the movable plane P is a point J, called the
pole of accelerations having the coordinates (time variable):
 2 aO x   a O y  2 aO y   a O x
 ' ,  ' (5.13)
 4  2  4  2
b) The acceleration distribution in the plane-parallel motion is identical the one in

the rotational motion as if the rigid would rotate about an axis normal to the fixed plane
passing through the pole of accelerations J.

vA
 A 
 B vA
vA  
A    vB
 vB A vB B 
B



i 
i
i
 
Figure B 5.6 Figure B 5.7 Figure B 5.8
Solution:
The seven bodies of the system have the following motions:

Body 1 – rotational motion;
Body 2 – plane–parallel motion;
Body 3 – plane–parallel motion;
Body 4 – rotational motion;
Body 5 – plane –parallel motion;
Body 6 – translational motion;
Body 7 – translational motion.
Point A, considered as point of the crank O 1 A , performs a circular motion on a


circle centered at O 1 and of radius O 1 A  l , at the velocity v A
normal to O 1 A , having

the sense of the angular velocity  (trigonometric) and the magnitude
v A O 1 A    l  .
38
The ICR of the bar AB is at the intersection of the vertical at B with the line O 1 A

(see Figure R 9.7.2). The angular velocity  2
, in the plane-parallel motion of this bar, has
vA
the clockwise sense and the magnitude  2    , since I 2 A  O 1 A  l .
I 2A
The velocity of the point B (as the velocity of any point of the body 6) is a vector
perpendicular to I 2 B , directed towards the left, and has the magnitude
v B  I 2 B   2  2 l  sin  .
The velocity of the point C, considered as a point of the triangular plate CDE, is a
vector perpendicular to the radius CD hence the ICR I 3 of the bar BC will be at the
intersection of the line CD with the normal at B to O 1 B , that is I 3  D . The angular

velocity  3
, in the plane-parallel motion of the bar BC, is determined in terms of sense and
magnitude by the velocity of the point B. Thus:
vB
 3  2  sin  , v C  CD   3  2 l 1  sin 
BD
Rotation of the triangular plate CDE will be characterized by the angular velocity
 
vector  4 =  3 , obtained by the help of the velocity of the point C. Velocity of the point
E is a vector perpendicular to DE, with the sense in the Figure R 9.7.2 and magnitude
v E  DE   4  2 l  sin  . Eventually, the IC I 5 of the bar EF finds at the intersection
 
of the line DE (normal to v E ) with the horizontal of F (normal to v F ). From the isosceles
     
triangle DEF (DE = EF) it is found that mas EDF   mas DFE   
    and from the right

triangle DFI 5 that I 5 F  2 l sin  and I 5 E  l . Vector v E determines the sense of the
 vE
angular velocity  5 (clockwise) and its magnitude:  5   2  sin  . The
I 5E
velocity of the point F (as the velocity of any point of the body 7) is a vector perpendicular
to I 5 F (// yy’, oriented towards B) and has the magnitude v F  I 5 F   5 
4l  sin  sin  .
V 2) In the mechanism in the Figure V 2, the crank OA rotates at the angular speed
n 
 0  1    rad/s. Determine the velocity of the points A, B, C and D and the angular
 20 
velocity of the mechanism elements. Given:
n n n
OA  15  3    cm, AD  30  2    cm, BC  40    cm, BD = B O1 .
 10  5  3
D
A
750 B
39
C
0 0
60 O 60 O1
 0  
Figure V 2.
Homework no. 6
Kinematics of the relative motion of the material point

VI 1) The triangular plate OAB rotates around the side OB following the law
  t   0,9 t 2  9 t 3 (rad). On the side OA a mobile M moves following the law
s  t   OM  16  8 cos(3 t ) (cm)
2
Determine the absolute velocity and acceleration of the point M after t 1 s (Figure VI
9
1.1).
A M
B z1 z 
y
 
M  r
r1

30 0 r0
O
s O1
y1
O
x
x1
Figure VI 1.1 Figure B 6.1
Theory Abstract:
Let us consider a fixed reference system O 1 x 1 y 1 z 1 , a movable reference system

Oxyz that performs an arbitrary motion with respect to the fixed system and a point M that is
40
in his turn in motion with respect to the two reference systems under consideration (Figure
B 6.1).
The motion of the material point M about the fixed system is called absolute
motion. The velocity (acceleration, respectively) of the point in this motion is called
 
absolute velocity (absolute acceleration, respectively) and is denoted by v a (, a a ,
respectively).
The motion of the material point M about the movable system is called relative
motion. The velocity (acceleration, respectively) of the point in this motion is called relative
 
velocity (relative acceleration, respectively) and is denoted by v r
( a r , respectively).
It is called transportation motion the motion about the fixed system of the point
stiff-connected to the movable reference, and which, at the instant under consideration
coincides with the point whose motion is studied. The velocity (acceleration, respectively)
of the point M in this motion is called transportation velocity (transportation acceleration,
 
respectively) and is denoted by v t ( a t , respectively).
Velocity composition is made according to the vector relation:

  
v a v r v t (6.1)
where the relative velocity is given by the formula :


  r
v r (6.2)
t
and the transportation velocity is obtained by Euler relation:

   
v t v O r (6.3)
The magnitude of the absolute velocity is:

   
 
v a v2
r  v 2
t  2 v r v t cos v r, v t  (6.4)
 
 
Acceleration composition is made according to the vector relation:

   
a a a r a t a C (6.5)
where :
 
  vr 2r
a r  (6.6)
t t2
      
a t a O   r 
  r 
 (6.7)
 
  
a C 2  v r
(6.8)
 
The a C component of the absolute acceleration a a is called Coriolis acceleration
or complementary acceleration.
41
Solution:
The relative motion of the mobile M is a rectilinear motion, on OB, according to the
law s  t   16  8 cos 3 t . The transportation motion is obtained by stiffening the mobile
to the plate (that is stopping the relative motion). The mobile M shall perform, in this case, a
circular motion on the circle centered at M ‘ (Figure VI 1.2), of radius
s
M ' M  s  sin 30 0  , found in a plane perpendicular to OB, as per the law
2
  t   0,9 t 2  9 t 3 .
Velocity study (Figure VI 1.2)


The absolute velocity v a
of the mobile M is obtained from the vector relation:
  
v a v r  v t

The relative velocity vector v r
is directed along the line OA, from O to A, and has
 
the magnitude v r  s  24 sin 3  t . The transportation velocity vector v t is
perpendicular to the “radius” M’M, its sense is determined by the angular velocity vector

 (that is the plate rotation sense) and the magnitude is obtained from the relation
s 
v t  MM '   . But MM '  ,     1,8 t  27 t 2 , thus
2
v t
1
2

16  8 cos 3 t  1,8 t  27 t 2
.

The absolute velocity vector v a
results by composing of the relative and
2
transportation velocities and has the magnitude v a  v 2r  v t2 . For t  s we obtain:
9
4
s  20 cm ,    rad / s , v r  12 3   65,2 cm/s,
15
v t  9,3 cm / s, v a  65,9 cm / s .
B A
B A


 
vr M a t M 
M M ac
  
vt   a t
 300 ar
 
 0 s vr
30
 O 
va aa
O
42

vt
Figure VI.1.2. Figure VI.1.3.
Acceleration study (Figure VI 1.3)


The absolute acceleration a a
is obtained from the relation:
   
a a a r a t a C

The relative acceleration vector a r is directed along the line OA, from A to O and

has the scalar
a r  s  72  2 cos 3 t cm / s 2 . Since the transportation motion is a circular motion
 
characterized by the angular velocity  and angular acceleration  non zero vectors, it

follows that the transportation acceleration vector a t is obtained from the relation:
  
a t  a t  a t

The normal transportation acceleration a t has the direction MM ‘, sense from M
to M‘ and the
s 2
magnitude a t  MM '   2  1,8 t  27 t 2 cm / s 2 . Since
2
 
 
t  t 1 , it follows that the tangential transportation acceleration
      1,8  54 t  0 , for
 
a t is perpendicular to the “radius” MM ‘, its sense being determined by the vector  . Its
s
scalar is: a t  MM '    1,8  54 t  .
2

Eventually, the Coriolis acceleration a C is obtained by the formula:
  
a C 2 v r
 
Since it is perpendicular to the plane determined by the vectors  and v r , the

vector a C will be perpendicular to the plate plane, its sense will be that in the Figure VI 1.3
and the scalar
  
  
a C 2  v r sin  , v
 r 


 2 1,8 t  27 t 2
  24  sin 3 t  sin 150 0
 
2
For t  s we obtain:
9
  10,2 rad / s 2 , a r  355 cm / s 2 , a t  8,7 cm / s 2 , a t  10,2 cm / s 2 , a C  61 cm / s 2
43
Summating the components of the absolute acceleration in the plate plane and the
components perpendicular to the plate plane, respectively, it follows that:
a a a C  a t    a 
2  2
t 
 a 2r  2 a r a t cos 600  395 cm / s 2 .
VI 2) The mobile M moves along the periphery of the semi disc D of radius R as per the law
  n 
s  t   AM   1     t 2 (Figure VI 2). The disc is hinged at A and B with the cranks
  10 
O 1 A and O 2 B that are rotating around the points O 1 and O 2 , respectively as per the
5    n 
law   t   1     . Determine the absolute velocity and acceleration of the point M
48   5  
n n
at the instant of time t 1 2 . Also given are: O 1 A  O 2 B  30   , R  20    .
 12  8
Notes: i) [x] symbolizes the integer part of the real number x and {x} its fractional part.
ii) The following units will be used: cm – for length, radians – for angels, seconds – for
time.
O2
B
  D
R
O
O1 M

A s
Figure VI 2
44
Homework no. 7
Dynamics of the absolute motion of the material point

VII 1) A ball of mass m is thrown at the initial velocity v 0
(tangent to the tube axis at O)
 x 
inside a thin walled tube (Figure VII 1.1) shaped as a parabola of equation y  x 1  .
 2p
Considering the fixed data:
 
g  9,81 m / s 2 , m  0,37 kg v 0  9,27 m / s , t  0 : M 0  O , v  v 0 ,
and the variable data:
n  n 
p  1,62    , x 1 p 1     cos  n  (m)
8  3 
and assuming that the motion is frictionless, find:
 
a) The projections of the velocity v 1 and acceleration a 1 at the point of abscissa
x 1 on the axes of the Cartesian reference Oxy and on the axes of the Frenet
frame;
b) The normal reaction at the point of abscissa x 1 .
y
 y
 

a v 
y  x1 
x 
 A x1 , y1  
M  x, y  


 2p  
  
v1x  v1
 
v0  v0  
a a1 y  a1
  
mg N 
0  x 0 x

B 2 p,0 
 x1  p B
O  M0 O  M0
Figure VII 1.1 Figure VII 1.2
Theory Abstract:
B 1. The fundamental law of the dynamics of the absolute motion

of the material point
45
This law expresses the connection between the force that acts on the point in motion
and the acceleration of the motion thereof, namely:
 
m a F (7.1)
where m is the mass of the material point.

In the case of a free material point acted upon by a set of active forces F i , i  1, n ,
the fundamental equation of the dynamics (7.1) becomes:
 n 
m a  F i (7.2)
i 1

Should besides the system of active forces F i , i  1, n the material point is also

acted upon by a system of connection forces F 'j , j  1, p , then the fundamental law of the
dynamics of the material point is expressed by the vector relation:
 n  p 
m a  F i   F 'j (7.3)
i 1 j 1

Denoting by r  t  the position vector of the point in motion about a fixed point O
and noting that the forces acting on the material point depend, in general, on the time, its
position and velocity, the following form of the fundamental equation is obtained:

    


m r  R t , r , r  (7.4)
 

where R represents the resultant of al the forces acting upon the material point.
B 2. General problems of the dynamics of the material point
Two categories of problems are studied in the dynamics of the material point:
a) Direct problem
The forces acting on the material point are known in terms of nature, direction,
sense and magnitude and it is requested to define the motion of the material point.
The problem is solved by integrating the equation (7.4) and finding the general
solution as:
    
r  r  t , C 1, C 2 
 
(7.5)
 
where C 1 , C 2 are integration vector constants that are determined by the help of the
initial conditions:
46
    
 r 0  r 0, C 1, C 2 

t0 :   (7.6)
    
 v 0  r 0, C 1, C 2 

that is based on the position and velocity of the material point at the instant the motion
starts.
b) Reversed problem
Knowing the motion of the material point given by the relation:

 
r  r  t (7.7)
and the mass m thereof, it is requested to determine the force or the resultant of the forces
acting on the point.
The solution of this problem written as


  (7.8)
F  m r  t
is singular from mathematical point of view, but generally the problem is not univocally
determined, meaning that the direction, the sense and the magnitude of the force is
determined, yet not its nature.
B 3. Scalar differential equations of the motion of the

material point in various systems of coordinates
Projecting the vector equation (7.4) on the axes of a conveniently chosen reference
system, the scalar differential equations of the motion of the material point are obtained as
follows:
a) In Cartesian coordinates
    
m x  F x  t , x, y , z , x, y , z 
 
    
m y  F y t , x, y , z , x, y , z  (7.9)
 
    
m z  F z  t , x, y , z , x, y , z 
 
b) In cylindrical coordinates
47
  2    
mr  Fr 2,   Frrm  , mzFz (7.10)
 
In the polar coordinate system,  r ,   the first two equations are used (7.10).
c) In Frenet coordinates
 v2
mv F , m F , 0 F  (7.11)

Solution:
a) We will consider, for the beginning, a general study of the problem and then the
results will be customized for n = 3.
 x1 
At the point of abscissa x 1 the ordinate is y 1 x 1 1   and the velocity
 2p
 x1 
(tangent to the tube axis) making the angle  1 arctg y '  x 1   arctg 1   with the
 p
horizontal.
In order to determine the scalar of the velocity the work-kinetic energy theorem is
applied between the positions M 0  t  0 and M 1 t  t 1 :  
2 2
mv 1 mv 0
  m g y 1
2 2
(1)
 
Thus v 1 v 02  2 g y 1 . Since mas v 1, Ox    1 , we obtain the projections:
v 1x  v 1 cos  1 , v 1 y  v 1 sin  1 (2)
On the axes of the Frenet trihedral:

v 1  v 1 , v 1  0 (3)
  
The fundamental equation of the dynamics, m a  m g N , projected on the axes of
the Frenet trihedral leads to the scalar equations:
m a1   m g sin  1 , m a1  N 1 m g cos  1
(4)
From the first equation (4), the tangential component of the mobile acceleration is
determined:
48
a 1   g sin  1 (5)
v 12
The normal component of the acceleration is given by the formula a 1 
 1 x 1 
,
where the curvature radius has the expression

  x 1  2  3/ 2
1  1   
1   y '  x 1   
2 3/2
  p  
 1 x 1  
.

y ''  x 1 1
p
    
Noting that a 1 a x  a 1 y  a 1  a 1 and projecting this relation to the axes of the
reference Oxy, we find the Cartesian components of the acceleration:
a 1x  a 1 cos  1 a 1  sin  1 , a 1 y  a 1 sin  1 a 1 cos  1 (6)

b) The normal reaction N 1 is determined from the second relation (2):
N 1 m a 1  g cos  1  
(7)
Particular case : n = 3 (Figure VII 1.2)
p  1,62 m , x 1 1,62 m , y 1 0,81 m,  1 0 ,

v 1x  8,358 m / s , v 1 y  0 m / s , a 1x  0 m / s 2 , a 1 y  43,121 m / s 2 ,
v 1  8,358 m / s , v 1  0 m / s , a 1  0 m / s 2 , a 1  43,121 m / s 2 , N 1 12,325 N .
VII 2) A material point of mass m is moving frictionless on a fixed cylinder of radius R,

(Figure VII 2). At the beginning of the motion, the mobile was at the point A and had the

initial horizontal velocity v 0 . Considering the fixed data g  9,81 m / s 2 , m  0,25 kg and
n n
the variable data v 0  10    (m / s ) , R  0,5  0,1    (m), determine:
5 4
a) the laws of variation v  v   , a   a     and a   a     for the time interval
during which the mobile is in contact with the cylinder;
not
b) the angle    at which the mobile leaves the surface of the cylinder;
not
c) the distance OC   , point C being the point where the mobile hits the ground.
Note: [x] symbolizes the integer part of the real number x.


 N
A t  0 v0
 y
 M( t )
49 
G D

 vD

O
O D C x
Figure VII 2.
Homework no. 8
Fundamental notions of the dynamics:
Mechanical moments of inertia, work, mechanical power,
mechanical energy, momentum, angular momentum
VIII 1) Let us consider the homogenous body in the Figure VIII 1.1, for which the mass M
and the dimension a are known. Determine the moment of inertia about thezaxis Oy.
a z
2a
3a
8a
3a
3a
x
3a
O y
2a
4a 2a 6a 2a 4a 4a
Figure VIII 1.1
Theory Abstract:
B 1. Mechanical moments of inertia
50
B 1.1. The case of the systems of material points. Definitions.
Let a system on n material points be, related to a Cartesian reference Oxyz, located
at the points A i  x i , y i , z i  , i  1, n , and having the masses m i , i  1, n (Figure B 8.1). The
following moments of inertia are defined:
a) Planar moments of inertia
n n n
J Oxy   m i z i2 , J O y z   m i x i2 , J O z z   m i y i2
i 1 i 1 i 1
(8.1)
b) Axial moments of inertia
     
n n n
J x   m i y i2  z 2
i , J y   m i z i2  x i2 , J z   m i x i2  y 2
i
i 1 i 1 i 1
(8.2)
c) Polar moment of inertia
 m i  x i2  y i2  z i2 
n
J O (8.3)
i 1
d) Centrifugal moments
n n n
J x y m i x i y i , J yz m i y i z i , J z x m i z i x i (8.4)
i 1 i 1 i 1
The planar, axial and polar moments of inertia are positive in time, while the
centrifugal moments may be positive, null or negative. The unit for the moment of inertia is
kg  m 2 .
z z
A  dm 
 Ai mi  
 
ri r z
zi
o y
o y x
xi
y
yi x
x
B 1.2. The case of a rigid solid. Definitions.
51
In the case of a rigid solid (Figure B 8.2) the sums in the expressions (8.1 – 8.4) are
substituted by integrals. We have, thus:
e) Planar moments of inertia
J O x y  D z 2 dm , J O y z  D x dm
2
, J O z x  D y dm
2
(8.5)
f) Axial moments of inertia
J x D  y 2  z 2  dm , J y  D  z  x  dm
2 2
, J z  D  x  y  dm
2 2
(8.6)
g) Polar moment of inertia
J O D   x 2  y 2  z 2  dm (8.7)
h) Centrifugal moments
J x y D x y dm , J y z D  y z dm , J z x D z x dm
(8.8)
x, y, z are the coordinates of an arbitrary infinitesimal element of mass dm of the

domain (D) occupied by the rigid.
B 1.3. Relationship between the moments of inertia

Between the 10 moments of inertia defined above, there are the following
relationships of dependence:
JO 
1

J  J y J
2 x z  (8.9)
JOx y 
1
J  Jy  Jz
2 x
 , JO y z 
1

J  Jz  Jx
2 y
 , JOz x 
1
J  Jx  Jy
2 z
 (8.10)
thus only six of them are independent ( J x , J y , J z , J x y , J y z , J z x ).
B 1.4. Variation of the moments of inertia about parallel axes.

Steiner’s theorem.
Steiner’s theorem states that the moment of inertia about the axis  1 is equal to the
moment of inertia of an axis  passing through the center of mass of the system and
parallel to the axis  1 plus the mass of the system multiplied by the square of the distance
between the two axes:
J  1 J  M  d 2 (8.11)
Considering two Cartesian systems Cxyz and O x 1 y 1 z 1 with axes parallel two by

two, where C x C , y C , z C  is the center of mass of the system (Figure B 8.3), we may
write:
52
J x1  Jx  M   y C2  z C2  , J y1 
J y  M  z C2  x C2  , J z1 
J z  M  x C2  y C2 (8.12)
J x 1 y 1  J x y  M x C y C , J y 1 z 1  J y z  M y C z C , J z 1 x 1  J z x  M z C xC (8.13)
B 1.5. Particular cases of homogenous bodies
a) The homogenous disc of mass M and radius R (Figure B 8.4)

M R2 M R2 M R2
J O , J x J y , J z , J xy J yz  J z x 0 (8.14)
2 4 2
b) The homogenous rectilinear bar of mass m and length l (Figure B 8.5)
ml2 ml 2
J O , J y J z , J x 0 , J x y J yz  J z x 0 (8.15)
12 12
c) The homogenous rectangular flat plate of mass M and sides a and b (Figure B 8.6)
J O J z

M a 2 b 2
, J x
M b2 
, J y
M a2
, J xy  J yz  J zx  0 (8.16)
12 12 12
d) The homogenous triangular flat plate of mass M and legs a and b (Figure B 8.7)

M a 2 b 2 
M b2 M a2
(8.17)
J O J z , J x , J y , J yz  J zx  0
18 18 18
z y y
z1 m, l
M, R
C l/ 2 l/2
Ai 
y O x
x  x
z
O y1 z O
x1
Figure B 8.3 Figure B 8.4 Figure B 8.5
Solution:
 63  
It can be shown that the volume of this body is V    120  a 3 , thus the
 2 
density of the material the body is made from is determined by the relation:
M M

V
 63 

 120 a 3
2

. In order to determine the axial moment of inertia J y , the body
is divided into elementary bodies, and due to the symmetry (Figure VIII 1.2), we can write:
53
J y  2 J 1y  2J 2 y  J 3 y (1)
The moment of inertia J 1 y is obtained based on the relation (8.14) in the theory
abstract for a homogenous disc:
m 1 R 12 1    3a 2   3a  2 81   a 5
J1y     4a       
2 2 4   2  8
(2)
Using the same result and Steiner’s formula, we also obtain the expression of J 3 y :
m 3 R 32 2187   a 5
J 3 y  J y 3  m 3  3a 2   m 3  3a 2  (3)
2 16
   3a 2
since m 3    V 3     6a.
4
For determining the moment of inertia J 2 y the body 3 is divided into three right
prisms, as per the Figure VIII 1.3.
a
2 7 4
3
2a
3
1 5
6a
3
4a
6 3 2a
Figure VIII 1.2 Figure VIII 1.3
Thus, we can write:

' '' '''
J2y  J 2y J 2y J 2y (4)
'
J is obtained using the relation for the computation of the moment of inertia of
2y
a homogenous rectangular plate (see Figure VIII 1.4) and Steiner’s formula:
'
' ' 2 m2 
J 2 y  J y '  m 2 a 
2 12
 
6a 2   4a 2  m '2  a 2  256  a 5 (5)
since m '2    6a  4a  2a .
Proceeding similarly (see Figure VIII 1.5) we also obtain:
54
m '2''
J '''
2 y J y '2''
 m '2'' (7 a ) 2 
12
 
 2a 2   4a 2  m '2''  (7a ) 2 
1216
3
 a5
(6)
since m '2''    2a  4a  a .
Eventually, using the relation presented in the theory abstract for the moment of
inertia of a homogenous triangular plate (see Figure VIII 1.6) and Steiner’s formula, the
expression of J '2' y results too:
''  2a 
2
m '2'  2a 2 ''  14a 
2
J '2' y  J y '2'
 m 2   4 a     m 2     88  a 5 (7)
 3  18  3 
a  2a
For the deduction of the relation (7) the fact that m '2'     4a has been used.
2
From the relations (5), (6) and (7), by summation, it follows that:
1216 2248
J 2y 256  a 5  88  a 5   a 5  a5
3 3
The moment of inertia about the axis Oy of the item in the Figure VIII 1.1 is obtain
by summation, too, from the relations (2, 3, 8):
81   a 5 2248  a 5 2187   a 5  2511  4496 
J y 2   2      a 5  1991,7  a 5
8 3 8  16 3 
or
J y 9,096 M a 2 .
z z
z
Y2
Y2 2a
2a O
O
O Y2
6a 4a
a
O Y
4a 14a / 3
7a
x
Y
Y O
O x
x
4a
Figure VIII 1.4 Figure VIII 1.5 Figure VIII 1.6
55
VIII 2) A homogenous bar AB of length l 1 1,6 m and mass M  0,4 kg , hinged at A,


rotates at the angular speed  1  around a fixed axis Az (Figure VIII 2). On the bar AB
slides, by means of the slider C, the homogenous bar CD of length l 2  1,2 m and mass
M 2  0,5 kg that makes the angle   45 0 with the direction AB. Knowing that at the
 
instant t = 0,   3,2 rad / s ,   1,2 m / s,   35 0 ,   0,2 m , find:
a) The coordinates and the velocity of the center of mass;
b) The momentum and the total kinetic energy of the system;
c) The angular momentum of the bar AB about the axis Az, the angular
momentum of the bar CD about the axis C 2 z and the angular momentum of
the system of bars about the axis passing through the center of mass and is
perpendicular to the plane Axy.
Note: All the numerical determinations shall be done at the instant t = 0.
y
2 D
C2

B

C
C1 
1 

 
A
x
Figure VIII 2
Theory Abstract:
56
B 2. Kinetic energy, momentum, angular momentum
B 2.1. Kinetic energy
B 2.1.1. Material point. Discreet system of material points.

For a material point of mass m and velocity v , by definition, the kinetic energy is:
def 1
E  mv2
2
(8.18)
For a discreet system of material points of masses m i , i  1, n , and velocities

v i , i  1, n , the kinetic energy is defined by the relation:
def n 1
E   2 m i v i2
i 1
(8.19)
B 2.1.2. Rigid solid
The kinetic energy of a rigid solid is defined by the relation:
def 1 2
E  D 2
v dm
(8.20)
where the integral is considered over the entire domain taken by it.
In the case of the particular motions of the rigid, the kinetic energy is computed by
the help of the relations that give the distribution of velocities for each type of motion.
a) Rigid solid in motion of translation
1 2
E M vC (8.21)
2
where M is the rigid mass and v C the magnitude of the velocity of its center of mass.
b) Rigid solid in motion of rotation about a fixed axis 

1
E J  2 (8.22)
2
where J  is the mechanical axial moment of inertia about the axis  and  is the
angular velocity of the rotational motion.
c) Rigid solid in the plane–parallel motion
1 2 1
E M vC  JC 2 (8.23)
2 2
57
where M is the rigid mass, J  C is the axial mechanical moment of inertia about the axis
passing through the center of masses and is parallel to line of action of the angular velocity

vector  and v C is the velocity of the center of mass of the rigid.
B 2.2. Momentum

The momentum of a material point of mass m and velocity v is defined by the
relation:
 def 
H  m v (8.24)
For a discreet system of material points of masses m i , i  1, n , and velocities

v i , i  1, n , the momentum is defined by:
 def n 
H  m i v i (8.25)
i 1
B 2.2.2. Momentum of a rigid solid
The momentum of a rigid solid is defined by the relation:

 def 
H  D v dm
(8.26)
where the integral is considered over the entire domain taken by that rigid.
Notes: i) The SI unit for momentum is kg  m  s 1 .

ii) Having in view the relation of definition of the center of mass:
n 

m i r i
i 1
r C n
(8.27)
m i
i 1
by differentiation we obtain a formula useful for determining the momentum of a system of
material points or a rigid solid:
 
HM v C
(8.28)

where M is the mass of the system of material points and v C
is the velocity of its center of
mass.
B 2.3. Angular momentum
58

The angular momentum of a material point of mass m, moving at the velocity v ,

computed about a fixed point, is the momentum of the momentum vector H of the point
computed about O:
 def    
KO  r H  r m v (8.29)
The angular momentum of a system of material points of masses m i , i  1, n , and


velocities v i , i  1, n , about a pole O, is computed by the relation:
 def n  
KO   r i  mi v i (8.30)
i 1
B 2.3.2. Rigid solid
The angular momentum of a rigid solid is defined by the relation:

 def  
K O  D r  v dm
(8.31)
where the integral is considered over the entire domain taken by the subject rigid.
In the case of the particular motions of the rigid, the angular momentum is
computed by the help of the relations that give the velocity distribution for each type of
motion.
a) Rigid solid in motion of translation
  
K O r C H (8.32)
 
where r C is the position vector of the mass center of the rigid and H its momentum.
b) Rigid solid in motion of rotation around a fixed axis 
The projections of the angular momentum on the axes of a Cartesian reference

system Oxyz are:
K x J x  x J x y  y J xz  z
K y J yx  x J y  y J y z  z (8.33)
K z J zx  x J z y  y J z  z
Particular cases:
1) If axis O z coincides with the axis of rotation, then  x   y  0,  z   . The
projections of the angular momentum become:
K x J xz  , K y J yz  , K z  J z  (8.34)
59
2) If axis O z coincides with the axis of rotation and the rigid is a body of revolution
J xz 
 J y z  0 , then the angular momentum has the direction of the axis of rotation:
   
KO  K z k  Jz  k  Jz  (8.35)
c) Rigid solid in the plane-parallel motion
The velocity distribution is obtained by composing two fields of velocities

corresponding to a translational motion and a rotational motion. The angular momentum
corresponding to these motions will be:
  
K O  K O , translation  K O , rotation
(8.36)
Solution:
a) The coordinates of the center of mass of the system of bars are given by the relations:
M 1 x 1 M 2 x 2 M 1 y 1 M 2 y 2
 , 
M 1 M 2 M 1 M 2
where
l1 l2
x 1 cos  , x 2   cos   cos    
2 2
l1 l2
y 1 sin  , y 2   sin   sin    
2 2
are the coordinates of the centers of mass of the two bars.
By differentiation with respect to time t the components of the velocity of the center
of mass are obtained:
   
 M x  M 2x 2 ,
 M y  M 2y2
 1 1  1 1
M 1 M 2 M 1 M 2
where
 l1     l2 
x 1  sin    , x 2   cos    sin     sin      
2 2
 l1     l2 
y 1 cos    , y 2   sin    cos     cos      
2 2
With the numerical values proposed for the instant t = 0 it is found that:
 
  0,441 m ,   0,596 m ,   1,361 m / s ,   1,791 m / s .
b) Since the momentum of rigid solid or of a system of rigid solids is equal to the product
between the mass of the system and the velocity of its center of mass we obtain the
projections:
 
H x   M 1 M 2    1,225 kg  m / s , H y   M 1 M 2    1,612 kg  m / s
60
The kinetic energy of the system is obtained as a sum of the kinetic energy of the
component bodies:
(1) ( 2)
E C E C  EC
But
(1) J 1  12 1 M 1 l 12  2
EC     1,748 J (motion of rotation)
2 2 3
2
( 2)
M 2 v C2 2 JC 2  2 1    1 M l2 
2 2 (plane-parallel
EC    M 2 x 22  y 22    2  1,311 J
2 2 2   2 12
motion)
thus E C  3,059 J .
M 1 l 12 
c) K 1, A z  J 1 , A z   1    1,092 kg  m 2 / s
3
M 2 l 22 
K 2 ,C 2 z  J 2 ,C 2 z   2     0,192 kg  m 2 / s .
12
Denoting by G the center of mass of the system and applying the Koenig’s theorem,
we can write:
      
K G  K A  GA  M 1 v C 1  K 2C 2  GC 2  v C2
Projecting this relation on the direction z it is found that:

       
K Gz K 1, A z  M 1 x 1  y 1   K 2, G 2 z  M 2  x 2    y 2     y 2  x 2   0,501 kg  m 2 / s
   
VIII 3) Let us consider the system of homogenous bodies in the Figure VIII 3, composed of
two homogenous discs of radius R and masses M and four homogenous bars of length l and
masses m. Knowing that:
n n n n
R  60  10    , l  100  20    , M  1  0,3   , m  0,4  0,15    ,
5 8 4  10 
determine the axial moments of inertia J x , J y , J z , the centrifugal moments J x y , J y z , J z x
and the polar moment of inertia J O .
Notes : i) [x] symbolizes the integer part of the real number x;
ii) The following units shall be used: cm – for length and kg – for mass.
z
R
O x
z
l/2 1 l, G
l
R, P
O y A
2
61
y
x
Figure VIII 3 Figure VIII 4

VIII 4) A bar of length l and weight G, hinged at O, rotates with constant angular velocity
 1 about an axis    perpendicular at O to the plane of the mechanism (Figure VIII 4). At
A the bar is hinged to a disk of radius R and weight P that rotates (about the bar) at the
constant angular velocity  2 . Knowing that:
n n n n
l  1  0,1    , R  0,3  0,05    , G  100  25    , P  40  20    ,
5 3  15   10 
n n
 1 2  0,15    ,  2  5  0,3    ,
 12  8
determine the kinetic energy of the system and its angular momentum about the axis    .
Observaţii : i) [x] signifies the integer part of the real number x;

ii) The following units shall be used: m – for length, N – for weight and rad/s – for angular
velocity
62
Examination Tests
Test no. 1
I. (6 pct.)
1. (3 pct.) The moment of a force about a point. Definition and properties.
2. (1 pct.) What is it meant by a connection and how many types of connections
(frictionless) do you know for a rigid?
3. (1 pct.) Give the expression of the Coriolis acceleration of the relative motion of the
material point.
4. (1 pct.) Define the rigid solid rotational motion.
II. (6 pct.)
5. (1 pct.) Determine the coordinates of the center of mass for the homogenous flat plate
in Figure 1.1 (dimensions are in cm).
Figure 1.1 Figure 1.2
6. (2 pct.) The homogenous flat plate in the Figure 1.2, of weight G = 2000 daN, is acted
upon by the concentrated force P = 500 daN and the uniformly distributed q = 250 dan/m.
Dimensions are in meters. Determine the reactions in the joint A and the support B.
7. (1 pct.) Given the parametric equations of the motion of a material point in Cartesian
coordinates:
x  3t 2  3t  7 , y  4t 1
where the time t is given in seconds and the coordinates x and y in meters. Determine the
velocity of the material point at the instant of time t = 1s.
8. (2 pct.) A disk of radius R rotates with the constant angular velocity  about an axis
passing through its center and is perpendicular to the disk plane (Figure 1.3). A point M
moves on a diameter of the disc, starting from its center, by law s  R sin  t . Determine

the absolute velocity of the point M at the instant of time t  2  .
63
Test no. 2
I. (6 pct.)
1. (2 pct.) The torsor of a system of arbitrary forces. Definition and properties.

2. (1 pct.) What is it meant by simple support? How many degrees of freedom has a
rigid with a simple support? What is a simple support substituted with (frictionless
case)?
3. (2 pct.) The translational motion of the rigid solid: definition, distribution of
velocities and accelerations.
4. (1 pct.) Define the absolute motion, the relative motion and the transportation
motion for a material point.
s M
O

II. (6 pct.)
5. (1 pct.) The body in the Figure 2.1 is made from a thick wire. Determine the position
of the center of mass if r = 10 cm, R = 20 cm, a = 3 cm and b = 10 cm.
6. (2 pct.) The bar AB, of length l  3 m and weight G  600 daN , is acted upon by
the force F  400 daN , applied at B perpendicular to the bar and the moment
M  500 daN  m . The bar is embedded at A (Figure 2.2). Knowing that   60 0 ,
 
 
determine the reactions R A, M A in the embedment A.
7. (2 pct.) A bar OL rotates about a fixed point O at the constant angular velocity
  2 rad / s and moves the ring M along a fixed wire found at the distance of l = 10 cm
from the point O (Figure 2.3). Express the velocity and the acceleration of the point M
depending on the distance O’M = s.
64
8. (1 pct.) The rectangular plate OABC (OA = 3 dm, OC = 4 dm) rotates in its own plane,
about the point O at the constant angular velocity of   2 rad / s (Figure 2.4). What is the
velocity of the point B?
Test no. 3
I. (6 pct.)
1. (2 pct.) Cases of reduction of a system of arbitrary forces.

2. (1 pct.) What do you understand by spherical joint? What is the number of degrees
of freedom of a rigid solid having a spherical joint as a connection? What is such a
connection substituted with?
3. (1 pct.) Define the circular motion of the material point.
4. (2 pct.) The plane-parallel motion of the rigid solid: definition, distribution of
velocities.
II. (6 pct.)

5. (1 pct.) Determine the magnitude of the force F 3 so that the force system
  
F 1, F 2 , F 3 in the Figure 3.1 is in equilibrium. Known are F 1 F 2  10 3 N .
6. (2 pct.) Consider the bar of negligible weight in the Figure 3.2, loaded by the moment
M  150 kN  m , force P  100 kN and the uniformly distributed load q  50 kn / m.
65
Knowing that   60 0 and that the dimensions are in meters, determine the reactions in the
support B and joint A.

 
7. (1 pct.) The point M is moving in the plane Oxy by the laws x  2 sin  t  ,
3 
 
y  3 cos t   4 , where the coordinates x and y are given in meters and the time t in
3 
seconds. Determine the velocity of the point at the instant of time t 1 3 s .
8. (2 pct) Consider the mechanism in the Figure 3.3 for which we know: OA = 30 cm,
AB = 60 cm, AC = BC,  0  2 rad/s. Determine the velocity of the points A, B and C and
the angular velocity in the plane-parallel motion of the bar AB and the rotational motion of
the crank O1B, respectively.
Test no. 4
I. (6 pct.)
1. (3 pct.) The center of mass of a system of material points and of a rigid solid.
2. (1 pct.) Define the concept of moment of a force about a point.
3. (1 pct.) What are the speed and acceleration components of a material point in a
Cartesian coordinate system Oxyz?
4. (1 pct.) Define the plane-parallel motion of the rigid solid.
66
II. (6 pct.)
  
5. (2 pct.) Three forces of de magnitude F 1  F 2  F 3  P are applied on the
vertices D, O and E of a rectangular parallelepiped (Figure 4.1). Reduce the force system
about the point O if AB  AD  a, OA  2a .
6. (1 pct.) A body of weight G = 100 daN is hanged by means of two inextensible

threads directed as in the Figure 4.2. Determine the tensions in the threads.
7. (1 pct.) A material point is moving on a circle of radius R = 4 m according to the law

s  4,5 t 3 , where s is given in meters and the time t in seconds. Determine the magnitude
of the acceleration at the instant at which the magnitude of velocity is v 1 6 m / s .

8. (2 pct.) A trolley is moving on a rectilinear road at the constant velocity v 1 u . On
1 2
the trolley there is mounted a tube OA with the shape of a parabola of equation y  x
2

(Figure 4.3). Inside the tube, a material point M moves at the constant velocity v 2  2u .
Determine the absolute velocity of the point M at the instant it passes through the point of
abscissa x = 3.
y
A
1  
y  x2 V2 V1
6
O
x

67
Test no. 5
I. (6 pct.)
1. (3 pct.) The equilibrium of the free rigid solid (equations of equilibrium, number of
degrees of freedom).
The equilibrium of the rigid solid subject to connections (generals).
2. (1 pct.) State the principles of classical mechanics (principle of inertia, the force
action principle, the principle of action and reaction).
3. (1 pct.) What are the velocity and acceleration components of a material point in a
Frenet coordinate system (natural)?
4. (1 pct.) Give three examples of bodies that have, at a given instant, a plane-parallel
motion.

P
a a

p C
D
y
a
2a B 300
2a
4a 2a x A
II. (6 pct.)
5. (1 pct.) Determine the coordinates of the center of mass of the homogeneous flat plate
in the Figure 5.1 (depending on a).
6. (2 pct.) Consider the bar in the Figure 5.2, hinged at A and simply supported at B. It is
acted upon on the side AC by the linearly distributed force of maximum intensity p (N/m)
and by the concentrated force P (N) at the point E. As the dimensions of the bar are those
shown in the figure, determine the reactions in the hinge A and the support B.
7. (1 pct.) A mobile starting from rest moves along a straight line in a uniformly
accelerated motion. Knowing that after t 1 10 s it reaches the velocity v 1 5 m / s , what
is the space traveled after t 0  1 s ?
8. (2 pct.) A point M starts from the vertex O of a cone with the angle at vertex 2 

and moves on a generatrix of the cone at the constant velocity u . Simultaneously, the cone
68
rotates around its axis of symmetry at the constant angular velocity 
 (Figure 5.3). What is
the absolute velocity of the point M after t seconds from the beginning of the motion?

 

Figure 5.3
Test no. 6
I. (6 pct.)
1. (3 pct.) The equilibrium of the rigid solid subject to frictionless connections. The
simple support, joint, embedding.
2. (1 pct.) What type of forces act upon a body singled out from a system of bodies
and what principle of the classical mechanics must be complied with when singling
it out?
3. (1 pct.) Define the concept of trajectory of a material point.
4. (1 pct.) What are the components of the absolute velocity and absolute acceleration
in the relative motion of a material point?
II. (6 pct.)
5. (2 pct.) The rigid cube of edge a = 20 cm in the Figure 6.1 is acted upon by five
    
forces of magnitude F 1  F 2  F 3  1 daN and F 4  F 5  2 daN . Determine the
resultant moment about the point O.
6. (1 pct.) Determine the position of the center of mass for the homogenous flat plate in
the Figure 6.2. Dimensions are in cm.
7. (1 pct.) The minute pointer of a watch is 1.5 times longer than the hour pointer.
Calculate the ratio of the linear velocity of the minute pointer tip and the linear velocity of
the hour pointer tip.
8. (2 pct.) Consider the mechanism in the Figure 6.3 for which there are known OA = 20
cm, AB = 60 cm,  0  1,2 rad/s, BC = 30 cm. Determine the velocity of the points A, B
and C and the angular velocity in the plane-parallel motion of the bar AB.
69
Test no. 7
I. (6 pct.)
1. (3 pct.) The equilibrium of systems of material points and rigid solids, respectively.
Conditions of equilibrium. Theorems and methods used in solving problems of system
statics.
2. (1 pct.) Define the concepts of couple of forces and moment of a couple of forces.
3. (1 pct.) Define the translational motion of the rigid solid.
4. (1 pct.) What do you know about the velocity and acceleration of a material point
in the circular motion thereof?
II. (6 pct.)
   
5. (1 pct.) Consider the system of forces F 1, F 2 , F 3 and F 4 concurrent at A (Figure
7.1). Determine their resultant if:
F 1 F 4  100 N , F 2  120 N , F 3  80 N ,   450 ,   1050 ,   60 0
70
6. (2 pct.) Determine the coordinates of the center of mass for the homogenous bar in
a
the 7.2 if AB  a, BD  and the semicircle portion DKO has the radius R = a.
2
7. (1 pct.) The bar AB, of length l, slides with its extremities A and B in the directions
Ox and Oy, so that the point A se moves at the constant speed v. Determine the speed of the
l
point B at the instant when OA  (Figure 7.3).
2
8. (2 pct.) Consider the mechanism in the Figure 7.4 for which: OA = 22 cm, AB = 36
cm,  0  2,4 rad/s, AD = 72 cm, BC = 25 cm. Determine the speed of the points A, B, D
and C and the angular velocity in the plane-parallel motion of the bars AD and BC.
Figure 7.4
Test no. 8
I. (6 pct.)
1. (3 pct.) Kinematics of the absolute motion of the material point. Notions of
trajectory, velocity and acceleration.
71
2. (1 pct.) Give the relation for calculating the position vector of the center of mass of
a system of material points and of a rigid solid.
3. (1 pct.) Define the rectilinear motion of the material point.
4. (1 pct.) Write Euler’s formulae for velocity and acceleration distribution in the
general motion of the rigid solid.
II. (6 pct.)

5. (1 pct.) A lamp of weight G is suspended at a point O situated in the same vertical

plane with the points A and B. The weights Q 1 and Q 2 are hanging by two fixed
wires connected at O and passing over two small pulleys (at A and B). The position
of the point O is determined

by the angles  and  (Figure 8.1). Determine the

Q
value of the weights 1 and Q 2 so that the lamp remains at rest in the position in
the figure.
6. (2 pct.) Consider the homogenous bar of negligible weight in the Figure 8.2.
Dimensions are in meters. Given: M  200 daN  m , P  100 daN , q  50 daN / m .
Determine the reactions in the joint A and support B.
7. (1 pct.) A mobile starts from the point A at no initial speed and moves uniformly
accelerated on the slope AB (Figure 8.3), then uniformly decelerated on the horizontal plane
till stopping at point C. Knowing the length AB  x 1 , distance BC  x 2 and the time t
during which the mobile travels the entire route ABC, find the accelerations a 1 and a 2 on
the portions AB and BC, respectively.
8. (2 pct.) The mobile M circles the periphery of the disc D of radius R by the law

s  AM   t 2 (Figure 8.4). The disc is hinged at A and B with the cranks O1 A and
3
O2 B that rotate about the points O1 and O2 , respectively by the law   5  t
48
(radians). Given: O1 A  O2 B  20 cm, R  16 cm . Determine the absolute velocity of
point M at the instant of time t  2 s .
72
Test no. 9
I. (6 pct.)
1. (3 pct.) Kinematics of the absolute motion of the rigid solid. General motion
(position parameters, Poisson and Euler formulas).
2. (1 pct.) State three properties of the center of mass of a system of material points or
of a rigid solid.
3. (1 pct.) Define the circular motion of the material point.
   
4. (1 pct.) What expressions do the vectors v O , a O,  and  have in the
translational motion of the rigid solid?
II. (6 pct.)
5. (1 pct.) A system of arbitrary forces is reduced to a single force equal to the resultant

R that acts on the central axis of the system if the elements of the reduction torsor
  
 O  R, M O



about an arbitrary point O verify the conditions:
               
a) R  0, M O 0 ; b) R  0 , M O 0 , R  M O  0 ; c) R  0 , M O 0, R  M O  0 ;
 
d) R // M O .
6. (2 pct.) Let us consider a homogenous bar AB, of length l = 5 m and weight G = 180
N, hinged at A and simply supported at D (Figure 9.1). From the end B, the weight P = 360
N is hanged by means of cord making with the direction of the bar the angle   30 0 .
Determine the reactions in the hinge A and support D, if   30 0 and ED  l 0  1,5 m.
7. (1 pct.) The point M moves in the plane Oxy by laws x  3 t , y  4 t 2  1 . Determine
the point trajectory as well as the components of the velocity and acceleration vectors at an
arbitrary instant of time t.
73
8. (2 pct.) The drive wheel of an electromotor rotates at 1500 rot/min. After t 1 = 2 min
the power is turned off and the belt, keeping on rotating in a uniformly decelerated motion,
stopped after t 2  6 s. Determine the number of rotations performed by the wheel
throughout the motion.
Test no. 10
I. (6 pct.)
1. (3 pct.) Motion of rotation of the rigid solid: definition, distribution of velocities
and accelerations, properties.
2. (1 pct.) What theorems and methods for solving problems of statics of systems do
you know?
3. (1 pct.) How does the sliding friction appear and act (what does it introduce)?
4. (1 pct.) State the axiom of connections.
II. (6 pct.)
5. (2 pct.) A rectangular parallelepiped of sides OA = 30 cm, OC = 50 cm and OO’ = 40
cm is acted upon by a system of three forces as shown in the Figure 10.1. Knowing that
F 1 10 daN , F2  5 34 daN and F 3  20 2 daN , determine the resulting moment
about the point O.
6. (2 pct.) Determine the coordinates of the center of mass of the homogenous flat plate
in the Figure 10.2. Given: AB = 20 cm, BD = 24 cm, ED = 10 cm, AN = 2 cm, NL = 18 cm,
LK = 20 cm, FK = 8 cm.
74
7. (1 pct.) A mobile moves rectilinearly by the law x  t 3  4 t 2  10 t  1 , where the

coordinate x is expressed in meters and the time t in seconds. Find the velocity and the
acceleration of the mobile at the instants of time t 1 1 s and t 2  2 s . Draw the diagram
of the velocity (diagram v = v(t). What is the minimum velocity?
8. (1 pct.) The crankshaft of an engine rotates uniformly at the rotational speed n = 900
rot/min. What is the angular velocity in the rotational motion of the crankshaft (in rad/s)?
Test no. 11
I. (6 pct.)
velocities, properties.
2. (1 pct.) When does the threads friction appears, and what its effects are? State
Euler’s formula for threads friction.
3. (1 pct.) In which case of reduction, a system of arbitrary forces is equivalent to a
minimal torsor and what components does this have?
4. (1 pct.) Define the notions of average velocity and (instantaneous) velocity of a
material point. What can you tell about the direction of the (instantaneous) velocity
vector?
II. (6 pct.)
5. (1 pct.) Determine the coordinates of the center of mass for the homogenous flat plate
in the Figure 11.1. Dimensions are in cm.
6. (2 pct.) Let us consider the system of three bars in the Figure 11.2, embedded at A,
hinged at B and D and simply supported at C and F. Given:
P 1 12 kN , P 2  12 kN , M  50 kN  M , q  2 kN / m . Determine the reactions at A, B,
C, D and E. The dimensions in the figure are given in meters.
7. (2 pct.) A square plate ABCD of side l = 1 m rotates in its plane around the center O.
Determine and represent the velocities and accelerations of the vertices A, B, C and D,
knowing that the angular velocity is constant and equal to   4 rad / s .
75
8. (1 pct.) A mobile moves on a circle of radius R = 10 m at the constant velocity v = 3
m/s. What is the mobile acceleration?
Figure 11.2
Test no. 12
I. (6 pct.)
accelerations, properties.
2. (1 pct.) What do you know about the friction in joints and bearings?
3. (1 pct.) What does the free-body method consists of and which are the steps in
applying it?
4. (1 pct.) Define the notions of average acceleration and of (instantaneous)
acceleration of a material point.
II. (6 pct.)
5. (2 pct.) Let us consider the bar AB = l = 4 m of weight G = 0,4 kN, embedded at A.
At the end B of the bar, hangs the weight P = 1 kN. Determine the reactions in the
embedment A (Figure 12.1).
6. (1 pct.) Determine the coordinates of the center of mass for the homogenous bar in
the Figure 12.2.
7. (1 pct.) The machinist of a train moving uniformly at the velocity v 1  90 km / h ,
sees another train moving on the same track and in the same sense at the velocity
v 2  54 km / h . What is the deceleration the machinist of the first train must apply in order
to avoid a crush if the distance between the trains at the instant of applying of the brake is d
= 200 m?
8. (2 pct.) An isosceles right triangle OBA rotates in its plane around the vertex O at
the constant angular velocity   2 rad/s (Figure 12.3). A point M moves on the side AB
76
at the constant velocity u, and travels the distance AB = a = 10 cm during a complete
rotation of the triangle. Determine the absolute velocity of the point M when it finds at A.
Test no. 13
I. (6 pct.)
1. (3 pct.) Kinematics of the relative motion of the material point. Determining of
velocity and acceleration distribution.
2. (1 pct.) What does the central axis of a system of arbitrary forces mean? Write the
equations of the central axis in the most general case.
3. (1 pct.) Give three examples of bodies that perform a rotational motion.
4. (1 pct.) Why, when making turns, the driver slows down the vehicle?
II. (6 pct.)
5. (1 pct.) Determine the coordinates of the center of mass for the homogenous flat
plate in the Figure 13.1
6. (2 pct.) The cube OABCDEFG of edge a = 10 cm in the Figure 13.2 is acted upon by
a system of two forces, having the points of application, directions and senses in the figure
and the magnitudes F 1 5 N and F 2  10 2 N , respectively. Determine the resultant
moment of the two force system about the point O.
7. (1 pct.) A plane flies horizontally at the constant velocity of v  900 km/h. An
observer found at O on the ground, sees the plane at the point A 1 under the angle
 1 30 0 and after  t  10 s under the angle  2  60 0 , at A 2 (Figure 13.3). Determine
the distance travelled by the plane in the horizontal direction over  t and the height h the
plane flies at.
77
8. (2 pct.) Let us consider the slider-crank mechanism in the Figure 13.3. The crank OA
rotates about the point O by the law   3 t . The other dimensions are OA = r = 2 m, AB =
   
l = 3.46 m. Determine, for the instant of time when m OAB   2
, the velocity of the cross
 
head B.
Test no. 14
I. (6 pct.)
1. (3 pct.) Kinematics of the relative motion of the rigid solid. Velocity composition.
Compositions of instantaneous motions.
2. (1 pct.) How many degrees of freedom does a material point free in space have?
Which might be the independent scalar parameters fixing, at a given instant, the
position of the point in the space?
3. (1 pct.) Give three examples of bodies that perform a translational motion.
4. (1 pct.) Write the laws of the uniform rectilinear motion and of the uniformly varied
rectilinear motion of the material point (the laws of space, velocity and
acceleration).
II. (6 pct.)

5. (1 pct.) Let us consider the rigid prism in the Figure 14.1, acted upon by the forces
 
F 1, F 2 ,..., F 6 oriented as shown in the figure and equal in magnitude,
    6 
F 1  F 2  ...  F 6  P . Determine the resultant force R  F i .
i 1
6. (2 pct.) Let us consider the homogenous bar CD of negligible weight acted upon by
the concentrated force Q, the uniformly distributed load q 0 and the moment M. The bar is
hinged at A and simply supported at B. Determine the reactions at A and B if
Q  4,6 kN , q0  4 kN / m, M  10 kN  m , a  1 m (Figure 14.2).
78
7. (1 pct.) An automobile starting from rest moves uniformly varied and reaches the
velocity of v 1  10 m/s, and after travelling the space s 2  140 m, the velocity becomes
v 2  18 m / s . Determine the acceleration of the automobile.
8. (2 pct.) The bar AB moves in the vertical plane so that the ends A and B slide by
means of two sliders on two perpendicular walls (Figure 14.3). Knowing AB = 20 cm, AC =
6 cm and v A  10 cm/s, determine the velocity of the points B and C, respectively.
Figure 14.3
Test no. 15
I. (6 pct.)
1. (3 pct.) Dynamics of the absolute motion of the material point.
2. (2 pct.) Write the computation relations for the axial and centrifugal moments of
inertia for a homogenous rectilinear bar of mass M and length l, related to Cartesian
axes system Oxyz having the origin at the center of mass of the bar and the axis Ox
along the bar.
79
3. (1 pct.) State the work-kinetic energy theorem in the motion of a system of material
points or of a rigid solid about a fixed point.
II. (6 pct.)
4. (1 pct.) A force F = 40 N acts in the horizontal direction on a body of mass m = 8 kg
initially at rest on a smooth horizontal surface. Determine the work performed by
the force F in the first second.
5. (1 pct.) A stone is thrown vertically upwards from the ground level at the velocity of
v 0  10 m / s . How long does it take the stone to reach the ground again?
6. (4 pct.) Let us consider the system of objects in the Figure 15.1, starting from rest
under the action of its own weights. The disc of weight Q and radius R can move on a
horizontal plane and is connected through a flexible and inextensible thread to a body of
weight P, located on a plane inclined at the angle  with the horizontal. The thread is
winding on the disk of radius r of a winch and unwinds from the disk of radius R of the
same winch. The moment of inertia of the winch about the axis of rotation is J. Considering
that the disc of weight Q rolls without slipping on the horizontal plane, the coefficient of
rolling friction being s and the body of weight P moves on the inclined plane with friction,
the coefficient of sliding friction being  , study the motion of weight P and determine its
acceleration.
3 2 r, R , J
R
O1
Q O2
1
a ?
I(G )


P
Figure 15.1
Test no. 16
I. (6 pct.)
1. (3 pct.) Dynamics of the relative motion of the material point. The fundamental
equation of the relative motion. Inertial reference systems.
2. (2 pct.) Write the relations for computing the axial and centrifugal moments of
inertia for a homogenous flat plate related to a Cartesian axes system Oxyz having
the origin at the center of mass of the plate and the axis Ox and Oy, respectively,
parallel to the plate sides. The length and the width of the plates are a and b,
respectively, and its mass is M.
80
3. (1 pct.) State the theorem of the angular momentum in the motion of a system of
material points or of a rigid solid about a fixed reference.
II. (6 pct.)
4. (1 pct.) A material point is acted upon by three forces of the same magnitude forming
between them angles of 120 0 . What will be the acceleration of the material point?
5. (2 pct.) A cylinder with the dimensions shown in the 16.1 and the weight G = 5000 N,
rests on a horizontal plane. Determine the work needed to roll over the cylinder around the
point A of intersection of a generatrix with the horizontal plane.
1.2m
C B l /2 l /2 x
O
1.6m
 

P
h1 G P
 
D A G G


6. (3 pct.) A boat of weight G and length l is at rest and touches the pier with the bow

(Figure 16.2). A man of weight P at that instant
in the middle of the boat starts to move
towards the shore. Determine the distance the boat will depart from shore when the man
reaches the end of the boat.
Test no. 17
I. (6 pct.)
1. (3 pct.) Mechanical moments of inertia. Definitions (in the case of systems of
material points and of rigid solids). Relationships between the moments of inertia.
2. (2 pct.) Write the relations for computation of the kinetic energy of a rigid solid in
the cases of the translational, rotational and plane-parallel motions.
3. (1 pct.) State the theorem of the mechanical energy conservation in the motion of a
system of material points or of a rigid solid about a fixed point.
II. (6 pct.)
4. (1 pct.) What force of action is needed to confer a vehicle of mass m = 9,5 t an
acceleration of a  1,2 m / s 2 , if the friction force represents 5% of the developed traction
force?
81
5. (2 pct.) A pendulum is left to oscillate freely in the vertical plane, from the initial
position given by the angle  0 (Figure 17.1). Given the mass m of the material point and
the length l of the thread, determine the period T of the small oscillations.
6. (3 pct.) The point M, of mass m, moves without friction on a plane inclined at the
angle  with the horizontal and is attracted by the point O by a force proportional to the
distance OM, the coefficient of proportionality being K  k  m , where k is a positive
constant (Figure 17.2). Knowing that at the initial instant the point M is at rest at A and that
the distance AO = l, find:
a) The law of motion AM = x(t) and the value of the normal reaction on the plane;
b) The velocity of the material point at the point B.
t)
A
x(
0

l
l M
m
 
O
 B
Test no. 18
I. (6 pct.)
1. (3 pct.) Variation of the moments of inertia about parallel axes. Steiner’s theorem.
2. (2 pct.) Write the relations for the computing of the kinetic energy of a rigid solid in
the case of translational and rotational motions.
3. (1 pct.) State the theorem of the momentum in the motion of a system of material
points or of a rigid solid.
II. (6 pct.)
4. (1 pct.) A body of mass m = 4 kg is at rest on a rough horizontal plane (   0.15 ).
Considering g  10 m / s 2 , determine the magnitude of the horizontal force F that applied
on the body moves it at the acceleration a  4,5 m / s 2 .
5. (2 pct.) A body of mass m = 2 kg falls freely from a height for t = 2 s. Find its kinetic
energy at half of the height.
6. (3 pct.) Two boats of weight 
G are moving in the same sense at the same velocity v

. At an instant, from the first boat a weight 

P is launched towards the second boat, at the

velocity u (relative to the boats). Determine the velocities of the two boats upon launch of
the weight and receiving of the weight, respectively.
82
Test no. 19
I. (6 pct.)
1. (3 pct.) Notion of momentum (the case of the system of material points and of the
rigid solid). Theorem of momentum. Theorem of the motion of the center of mass.
Momentum conservation.
2. (2 pct.) Write the relations of calculation for the axial and centrifugal moments of
inertia in the case of a homogenous flat plate with the shape of a disc of mass M and
radius R. The plate is related to a Cartesian axes system Oxyz with the origin at the
center of mass of the plate and the axes Ox and Oy in the plane thereof.
3. (1 pct.) State the theorem of conservation of the angular momentum of a system of
material points or of a rigid solid.
II. (6 pct.)
4. (1 pct.) A body is lifted upright. If the tension in the lifting cable is by 50 % larger
than the body weight, determine the acceleration the body is lifted with.
5. (2 pct.) From a tower of height h a number of identical bodies of mass m is thrown,
each body at the same initial velocity v 0 , but at different angles with the horizontal
direction. What can you tell about their kinetic energy when they hit the ground?
6. (3 pct.) An inextensible thread bearing at one end a load of mass m passes over a
pulley that rotates around the horizontal axis Oz. The other end of the thread is attached to a
vertical spring having extremity B fixed. The tension force of the spring is proportional to
its elongation, the proportionality factor being k (Figure 19.1). Determine the load
oscillation period knowing that the pulley mass is M and that the thread does not slip on the
pulley.


 x
Mg
 B
mg
83
Test no. 20
I. (6 pct.)
1. (3 pct.) Notion of angular momentum (the case of the system of material points and
of the rigid solid). The theorem of the angular momentum in the motion of a system
of material points or a rigid solid about a fixed reference. Conservation of the
angular momentum.
2. (2 pct.) Write the fundamental equation of the relative motion of the material point
and explain the significance of the quantities implicated.
3. (1 pct.) Define the notion of elementary work and the one of the total work of a
force.
II. (6 pct.)
4. (1 pct.) What is the intensity of the force F that must be used to decelerate a vehicle
of 7 kN in order that after 10 s its velocity of 60 km/h is halved?
5. (1 pct.) Consider a homogenous disc of mass M = 2 kg and radius R = 10 cm.
Determine the moment of inertia about the center O and about a point A on the periphery.
6. (4 pct.) The system of bodies in the Figure 20.1 is composed of three rigids, namely:
- a body of weight G attached to an end of a thread that at the other end is wound over the
cylinder of radius R of a winch;
- the winch composed of two unified cylinders of radii R 1 and R 2 , R 1 < R 2 , having a
fixed horizontal axis of symmetry. The moment of inertia of the winch about the axis of
symmetry is J O and its weight is Q;
- a homogenous disc of radius R and weight P found on a plane inclined at the angle  ,
between the disc and the plane there is a sliding friction of coefficient  and a rolling
friction of coefficient s; Over the disc it is wound a thread that at the other end is attached to
the large cylinder of the winch.
Initially, the system is at rest and the disc motion is a rolling without slippage. Find
the acceleration of the body 1.
Test no. 21
I. (6 pct.)
1. (3 pct.) Notion of kinetic energy (the case of the system of material points and of
the rigid solid). The elementary work and the total work of a force. The work-
kinetic energy theorem in the motion of a system of material points or a rigid solid
about a fixed reference. Conservation of the mechanical energy.
2. (1 pct.) Write the fundamental equation of the absolute motion of the material point
and explain the significance of the quantities involved.
84
3. (2 pct.) What do you understand by statically balanced rotor and by dynamically
balanced rotor?
II. (6 pct.)
4. (1 pct.) An automobile of m 1 1200 kg moves rectilinearly and uniformly at the

velocity v 1 90 km / h . At what velocity, a truck of mass m 2  3000 kg , shall have the
same momentum as the automobile? But the same kinetic energy?

5. (2 pct.) A homogenous bar OA, of length l and weight G , can rotate around the
horizontal axis passing through the point O (Figure 21.1). At the initial instant, the bar is at
rest in a horizontal position. Upon releasing the bar, it moves under the action of its own
weight. Knowing that the moment of friction in the joint O is M f , determine the angular
acceleration  , depending on the position  of the bar.
x

O   M (m)
 A
l ,G 2
y z

6. (3 pct.) A conical vessel having the angle at vertex of 2  rotates around its axis of
symmetry at the constant angular velocity  . A ball of mass m is resting on the internal
wall of the vessel (Figure 21.2). Determine the positions of relative equilibrium of the ball
and the normal reaction at these points.
Test no. 22
I. (6 pct.)
1. (3 pct.) Dynamics of the rigid with fixed axis. Study of the rigid motion.
Determining the reactions.
2. (2 pct.) Write the formula of variation of the moments of inertia about concurrent
axes and explain the significance of the quantities involved.
(1 pct.) Which of the following formulas expresses the theorem of the angular
momentum in the absolute motion of a material point ? 

dH     dKO  1
a)  F ; b) K 0  r  H ; c)  M 0 ; d) E  m v 2 .
dt dt 2
II. (6 pct.)
85
4. (1 pct.) What mass should a body have in order that when lifting it up vertically,
uniformly, at a distance d=1 m, we perform a work L = 1 J?
5. ( 2 pct.) Determine the moment of inertia of a straight bar AB, of length L, the density
of which varies linearly from the value  1 (at the end A) to the value  2 (at the end B),
with respect to the center C of the bar (Figure 22.1).
6. (3 pct.) Let us consider the system of bodies in the Figure 22.2 for which we know
the weights G and Q and the radii R and r of the two homogenous discs. Knowing that the
disc of weight G is driven by a constant driving moment M, determine the acceleration a A
of the center of mass A of the movable disc 2.
l
x dx
x
A B
Test no. 23
I. (6 pct.)
1. (3 pct.) Dynamics of the plane-parallel motion of the rigid solid.
2. (2 pct.) Principal axes and moments of inertia.
3. (1 pct.) Expose briefly the two general problems of the dynamics of the free
material point (direct problem and reversed problem)
II. (6 pct.)
4. (1 pct.) A skier, upon reaching the speed v = 8 m/s goes up a slope p = 10%. What is
the height the skier climbs at? The coefficient of sliding friction with the snow is   0.02 .
5. (1 pct.) A homogenous bar has the mass M = 2 kg and the length L = 80 cm.
Determine the polar moment of inertia about a point M situated on the bar at one third of its
length.
6. (4 pct.) The homogenous body C, of weight G, is composed of three stiff-connected
wheels of radii R, 2R and 3R (Figure 23.1). Trough the wheel of maximum radius, the body
C may roll without slippage on a plane inclined at the angle  with the horizontal direction.
On the other two wheels there are two threads wound in opposite senses, each of them
86
passing over a pulley of negligible mass, at the end of which there are hanging two bodies of
weights P. Knowing that the moment of inertia of the body C about the axis O is
7 G 2
J  R and that the rolling takes place with a friction of coefficient s, determine the
2 g
acceleration of the individual body (when the body 3 descends).
Figure 23.1
87
BIBLIOGRAPHY
1. Brândeu L., Orgovici L., Chioreanu M., Teoremele generale ale dinamicii, Culegere de
probleme, Timişoara, 1991.
2. Ceauşu V., Enescu M., Ceauşu F., Culegere de probleme de mecanică, Institutul
Politehnic Bucureşti, 1984.
3. Dumitraşcu Ghe., Deleanu D., Mecanică teoretică, Editura ExPonto, Constanţa 1998.
4. Deleanu D., Mecanica, Teorie şi aplicaţii, Editura CRIZON, Constanţa, 2008.
5. Deleanu D., Dumitraşcu Ghe., Seminarii de mecanică, Editura Printech, Bucureşti, 2002.
6. Deleanu D., Dumitraşcu Ghe., Statica, Culegere de probleme, Editura Printech, Bucureşti,
2000.
7. Deleanu D., Dumitraşcu Ghe., Cinematica, culegere de probleme, Editura Printech,
Bucureşti, 2000.
8. Deleanu D., Dumitraşcu Ghe., Dinamica, Culegere de probleme, Editura Printech,
Bucureşti, 1999.
9. Iacob C., Mecanică teoretică, Editura Didactică şi Pedagogică, Bucureşti, 1980.
10. Landau L., Lifşiţ F., Mecanica, Editura Tehnică, Bucureşti, 1966.
11. Niculescu M, Dinculescu N., Marcus S., Analiză maHomeworktică, Editura Didactică şi
Pedagogică, Bucureşti, 1966.
12. Olariu V., Sima P., Achiriloaie V., Mecanică teoretică, Editura Tehnică, Bucureşti, 1982.
13. Olariu V., Analiză maHomeworktică, Editura Didactică şi Pedagogică, Bucureşti, 1981.
14. Ripianu A., Popescu P., Bălan B., Mecanică teoretică, Editura Didactică şi Pedagogică,
Bucureşti, 1979.
15. Roşca I., Mecanică pentru ingineri, Editura MatrixRom, Bucureşti, 1998.
16. Roşculeţ M., Analiză maHomeworktică, Editura Didactică şi Pedagogică, Bucureşti,
1983.
17. Silaş M., Mecanică, Editura Didactică şi Pedagogică, Bucureşti, 1968.
18. Targ S., Theoretical Mechanics, Editura Mir, Moscova, 1975.
19. Tocaci E., Mecanică, Editura Didactică şi Pedagogică, Bucureşti, 1968.
20. Voinea R, Voiculescu D., Ceauşu V., Mecanică, Editura Didactică şi Pedagogică,
Bucureşti, 1983.
88

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DUMITRU DELEANU CRISTIAN BRAIA

This paper is a supplement to the paper "Mechanics - Theory and

Homework no. 1: Reduction of the Systems of Forces ..............................................5

2. EXAMINATION TESTS ................................................................................................49

Test no. 1 ................................................................................................................. 49

Reduction of systems of forces

B 1. The torsor of a system of forces about a point

the equations of a line given as intersection of two planes.

B 2. Cases of reduction of a system of arbitrary forces

Doing reduction of a system of arbitrary forces about a pole O it is possible to get to

Solution to homework no. 1

Variant no. 0 (Figure I 1.2)

Figure I 1.1 Figure I 1.2

c) The equations of the central axis customize as follows:

Solution to variant no. 0 (Figure I 2.2)

130,148 x  276,761 y  145,323 z  1463,136  0

Figure II 1.2 Figure II 1.3

Quarter of ellipse shaped plate

Figure II 1.5 Figure II 1.6

Figure II 1.7 Figure II 1.8 Figure II 1.9

Element no. 1 : Rectangular plate OAO’D (Figure II 1.7)

Element no. 3 : Circle sector shaped plate centered at F (Figure II 1.9)

Element no. 4 : Semicircle shaped plate centered at E (Figure II 1.10)

Figure II 1.10 Figure II 1.11

Element no. 5 : Quarter of ellipse shaped plate

a  80 cm ; b  20 cm ;   0,7 ;   0,3 ,   0,4 ;

its fractional part  x  x  [x ] . The portion CD is part of an ellipse centered at G and of

Notes; i) Dimensions are given in cm.

Equilibrium of the systems of rigid solids

Figure III 1.1

In order to solve a problem of equilibrium of a system of rigid solids the free-body

Figure III 1.2 Figure III 1.3

Plane hinge (Figure III 1.3)

Plane fixed support (Figure III 1.4)

Figure III 1.4 Figure III 1.5

Single out AC, CD and DE and write the equations of equilibrium:

Bar AC (Figure III 1.5)

Bar CD (Figure III 1.6)

Figure III 1.6 Figure III 1.7

Bar DE (Figure III 1.7)

Solving the system composed of the equations (1- 9) we obtain:

N A  541,495 daN ; N B  2000,513 daN , H C  0 daN , V C  707,106 daN

Kinematics of the absolute motion of the material point

Var. x  x t  (m) y  y t  m t0 ( s )

Figure B 4.1 Figure B 4.2

B 2. Study of the motion of the material point in various coordinate systems

B 2.1. Cartesian coordinate system (Figure B 4.3)

The velocity projections on the axes of this system of coordinates are:

      

Figure B 4.3 Figure B 4.4

B 2.2. Frenet coordinate system (Figure B 4.4)

The Frenet system of coordinates (natural, intrinsic) is a movable reference system

c) At an arbitrary instant of time the tangential acceleration is given by the relation:

Particular instants of time:

t '0  1 s (Figure IV 1.2)

t '0'  2 s (Figure IV 1.3)

n n  n  

The mechanism is referenced to the Cartesian coordinate system. The coordinates of

 Bx  15,166 cm/s,  By  0 cm/s, B  2 2

Figure V 1.1 Figure V 1.2

B 1. Distribution of velocities and accelerations in the general motion of the rigid.

Figure B 5.1 Figure B 5.2

B2. Particular motions of the rigid