PROBLEM 16.

14

A uniform rectangular plate has a mass of 5 kg and is held

in position by three ropes as shown. Knowing that T 30°,
determine, immediately after rope CF has been cut, (a) the
acceleration of the plate, (b) the tension in ropes AD and BE.

SOLUTION

(a) Acceleration + 30q6F 6Feff : mg sin 30q ma

a 0.5 g 4.905 m/s2 a 4.91 m/s 2 30° W

(b) Tension in ropes
6M A 6( M A )eff : (TB cos 30q)(0.3 m)  mg (0.15 m)  ma (cos30q)(0.12 m)  ma (sin 30q)(0.15 m)

0.2598TB  (5 kg)(9.81 m/s2 )(0.15 m) (5 kg)(4.905 m/s 2 )(0.1039  0.075)

0.2598TB  7.3575 4.388

TB 11.43 N TBE 11.43 N W

10q6F 6Feff : TA  11.43 N  mg cos 30q 0

TA  11.43 N  (5 kg)(9.81) cos 30q 0
TA  11.43 N  42.48 N 0

TA 31.04 N TAD 31.0 N W

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1419
 PROBLEM 16.73

A uniform sphere of radius r and mass m is placed with no initial velocity

on a belt that moves to the right with a constant velocity v1. Denoting by
P k the coefficient of kinetic friction between the sphere and the belt,
determine (a) the time t1 at which the sphere will start rolling without
sliding, (b) the linear and angular velocities of the sphere at time t1.

SOLUTION

Kinetics: 6Fx 6( Fx )eff : F ma

Pk mg ma
a Pk g
6M G 6( M G )eff : Fr ID
2 2
( Pk mg )r mr D
5
5 Pk g
Į
2 r

Kinematics: v at Pk gt (1)

5 Pk g
Z Dt t (2)
2 r
Point C is the point of contact with belt.
§ 5 Pk g ·
vC v  Zr Pk gt  ¨ t¸r
©2 r ¹
7
vC Pk gt
2
(a) When sphere starts rolling (t t1), we have
vC v1
7 2 v1
v1 Pk gt1 t1 W
2 7 Pk g

(b) Velocities when t t1

§ 2 v1 · 2
Eq. (1): v Pg ¨ ¸ v v1 W
© 7 Pk g ¹ 7

§ 5 Pk g · § 2 v1 · 5 v1
Eq. (2): Z ¨ ¸¨ ¸ Ȧ W
© 2 r ¹ © 7 Pk g ¹ 7 r

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1511
 PROBLEM 16.85

A uniform rod of length L and mass m is supported as shown. If

the cable attached at end B suddenly breaks, determine (a) the
acceleration of end B, (b) the reaction at the pin support.

SOLUTION

L
Z 0 a D
4

L L
6M C 6( M C )eff : W I D  ma
4 4
L 1 §L ·L
mg mL2D  m ¨ D ¸
4 12 ©4 ¹4
L 7 12g
mg mL2D Į
4 48 7L
(b) Reaction at C.
L
6Fy 6( Fy )eff : C  mg ma m D
4
§ ·§ g ·
L 12
C  mg  m ¨ ¸¨ ¸
© 4 ¹© 7 L ¹
3
C  mg  mg
7
4 4
C mg C mg W
7 7
(a) Acceleration of B.
3L
aB aC  aC/B 0 D
4
3L § 12 g · 9 9
aB g aB g W
4 ¨© 7 L ¸¹ 7 7

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1533
 PROBLEM 16.135

The 6-kg rod BC connects a 10-kg disk centered at A to a 5-kg rod

CD. The motion of the system is controlled by the couple M
applied to disk A. Knowing that at the instant shown disk A has an
angular velocity of 36 rad/s clockwise and no angular acceleration,
determine (a) the couple M, (b) the components of the force
exerted at C on rod BC.

SOLUTION

Kinematics: Velocity analysis. Ȧ AB 36 rad/s

Disk AB: vB AB Z AB 30q (0.200)(36) 30q 7.2 m/s 30q

Rod BC: vC vC 30q
Since vC is parallel to v B , bar BC is in translation.
vC 7.2 m/s 30q Ȧ BC 0
vC 7.2 m/s
Rod CD: ZCD 28.8 rad/s
lCD 0.25 m
ȦCD 28.8 rad/s
Acceleration analysis: Į AB 0

Disk AB: aB Į AB u rB /A  Z AB
2
rB /A

0  (36) 2 (0.2) 60q 259.2 m/s2 60q

Rod BC: Į BC D BC
aC a B  (aC /B )t  Z BC
2
rC /B
aC 259.2 60q  0.4D AB  0 (1)
Rod CD: ĮCD DCD
ĮC (aC /D )t  ZCD
2
rC /D [0.25D CD 30q]  [(28.8) 2 (0.25) 60q]
aC [0.25D CD 30q]  [207.36 60q] (2)
Equate components of two expressions (1) and (2) for aC .
: 259.2cos 60q 0.25D CD cos30q  207.36 cos 60°

D CD 119.719 rad/s 2 Į CD 119.719 rad/s 2

: 259.2sin 60q  0.4D BC 0.25DCD sin 30q  207.36sin 60q

D BC 149.649 rad/s 2 Į BC 149.649 rad/s 2

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1617
 PROBLEM 16.135 (Continued)

Accelerations of the mass centers.

Disk AB: a AB aA 0

Rod BC: Mass center at Point P. rP /B (0.2 m)

aP a B  Į BC u rP /B  ZBC
2
rP /B

[259.2 60q]  [0.2D BC ]  0 [259.2 60q]  [29.9298 ]

Rod CD: Mass center at Point Q. rQ /D 0.125 m 60q

aQ Į CD u rQ /D  ZCD
2
rQ /D

[0.125 DCD 30q]  [(28.8)2 (0.125) 60q]

[14.964875 30q]  [103.60 60q]

Masses: mAB 10 kg, mBC 6 kg, mCD 5 kg

Effective forces at mass centers.

Disk AB: mAB a A 0

Rod BC: mBC a P 6a P [1555.2 N 60q]  [179.58 N ]

Rod CD: mCD a a 5aQ [74.82 N 30q]  [518 N 60q]
Moments of inertia:
1 2 1
Disk AB: I AB mAB rAB (10)(0.2)2 0.2 kg ˜ m 2
2 2
1 2 1
Rod BC: I BC mBC lBC (6)(0.4) 2 0.08 kg ˜ m 2
12 12
1 2 1
Rod CD: I CD mCD lCD (5)(0.25)2 0.0260417 kg ˜ m 2
12 12
Effective couples at mass centers.
Disk AB: I AB Į AB 0
Rod BC: I BC Į BC (0.08)(149.649) 11.97192 N ˜ m
Rod CD: I CD Į CD (0.0260417)(119.719) 3.11768 N ˜ m

Summary of effective
forces and couples

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1618
 PROBLEM 16.135 (Continued)

Kinetics
Rod BC:

1
6M B 6( M B )eff : lBC C y  lBC mg 6( M B )eff
2
(0.4 m) C y  (0.2 m)(6 kg)(9.81 m/s 2 )
11.9719 N ˜ m  (0.2 m)(179.58 N)
(0.2 m)(1555.2 N) sin 60°

Cy 524.27 N

Rod CD: 6M D 6( M D )eff : Cx lCD cos30q  (524.27 N)(0.125 m)

mCD g (0.0625 m) 6( M D )eff :

(0.25 m)C x cos 30q  65.534 N ˜ m
 (5 kg)(9.81 m/s 2 )(0.0625 m)
3.11768 N ˜ m  (0.125 m)(74.82 N)

Cx 230.93 N
Disk AB and rod BC:

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1619
 PROBLEM 16.135 (Continued)

6M A 6( M A )eff : M  (524.27)(0.4  0.2sin 30q)  (230.93)(0.2 cos 30q)

 (6 kg)(9.81 m/s2 )(0.2  0.2sin 30q)
11.9719  (179.58)(0.2  0.2sin 30q)
 (1555.2 cos 30q)(0.2)
 M  262.135  40.0  17.658
11.9719  53.874  269.369
M 36.27 N ˜ m

(a) Couple applied to disk A. M 36.3 N ˜ m W

(b) Components of force exerted at C on rod BC.
C 231 N  524 N W

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1620
PROBLEM 16.160

A uniform plate of mass m is suspended in each of the ways shown. For each case determine immediately
after the connection at B has been released (a) the angular acceleration of the plate, (b) the acceleration of its
mass center.

SOLUTION

(1) Plate attached to pins

Kinematics: Assume D (Z 0)

a rD T
x comp: ax rD sin T (r sin T )D

y comp: ay rD cos T (r cos T )D

1 1
Thus: ax cD ; ay cD (1)
4 2

1 ª 2 §c· º
2
5
Kinetics: I m «c  ¨ ¸ » mc 2
12 «¬ © 2 ¹ »¼ 48

§c· §c· §c·

(a) 6M A 6( M A )eff : W ¨ ¸ I D  (max ) ¨ ¸  (ma y ) ¨ ¸
©2¹ ©4¹ ©2¹
1 5 § 1 ·§ c · § 1 ·§ c ·
mgc mc 2D  m ¨ cD ¸¨ ¸  m ¨ cD ¸¨ ¸
2 48 © 4 ¹© 4 ¹ © 2 ¹© 2 ¹
1 20 2 g g
mgc mc D D 1.2 D 1.2 W
2 48 c c

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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1675
 PROBLEM 16.160 (Continued)

1 1
(b) From (1): ax cD (1.2 g ) ax 0.3g
4 4
1 1
ay cD (1.2 g ) ay 0.6 g a 0.671g 63.4° W
2 2
(2) Plate suspended from wires.
Kinematics: Assume D (Ȧ 0)

a aC a A  a G/ A

aA l  rD T

y comp.
ay 0  rD cos T
 (r cos T )D

1
r cos T c
2
1 1
Thus: ay  cD ay cD (2)
2 2

1 ª 2 §c· º
2
I
Kinetics: I m «c  ¨ ¸ » mc 2
12 «¬ © 2 ¹ »¼ 48

6Fx 6( Fx )eff : 0 ma2

ax 0

§1 · §1 ·
6M A 6( M A )eff : W ¨ c¸ I D  (ma y ) ¨ c ¸
©2 ¹ ©2 ¹
1 5 §1 ·§ 1 ·
Recalling (1): mgc mc 2D  ¨ mcD ¸¨ c ¸
2 48 ©2 ¹© 2 ¹
1 17 2 24 g 24 g
mgc mc D D D W
2 48 17 c 17 c
1 1 § 24 g · 12 12
cD a W
2 ¨© 17 c ¸¹ 17
ay c g g
2 17

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1676
 PROBLEM 16.160 (Continued)

(3) Plate suspended from springs. Immediately after spring B is released, the tension in spring A is still
1
2
mg since its elongation is unchanged.

(a) Angular acceleration.

§1 ·§ 1 ·
6M G 6( M G )eff : ¨ mg ¸¨ c ¸ ID
© 2 ¹© 2 ¹
1 5 g
mgc mc 2D D 2.4 W
4 48 c
(b) Acceleration at mass center.
6Fx 6( Fx )eff : 0 max ax 0

1
6Fy 6( Fy )eff : mg  mg ma y
2
1
ay g a 0.5g W
2

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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1677