1.

KINEMATICS OF RIGID BODY IN PLANE MOTION

4.7 A rod of length l moves so that the velocity of point A is of constant magnitude and directed to the left. Determine the angular velocity w and angular acceleration when it makes an angle with the vertical as shown in the fig. 4.46 The bar AB of length 1000mm in the fig slide so that its bottom point A has a velocity of 400 mm/s to the left along the horizontal plane. What is the angular velocity of the bar in the position shown? (Answer: 0.293 rad/s clockwise ) 4.48 In the fig. the velocity of point A is 5 m/s to the right and its acceleration is 8 m/s2 to the right. What are the velocity and acceleration of point B? (Answer: 8.66 m/s down, 33.9 m/s2 down)

4.49 The crank CB of the slider crank mechanism is rotating at a constant 30 rpm clockwise. Determine the velocity of the crosshead A in this position shown in the fig. (Answer: 3.09 m/s towards right)

4.50 In the slider crank mechanism shown in fig, the crank is turning clockwise at 120 rpm. What is the velocity of the crosshead when the crank is in the 600 phase? 4.53 In the linkage shown in fig, pins A and B are fixed. Link AD rotates with angular speed a. Prove that the angular speed wB of link BC is given by the expression B = A(AE/BF), where AE and BF are perpendicular to DC.

2. DYNAMICS OF RIGID BODIES IN PLANE MOTION 2A. REACTIONS AT SUPPORTS: 16.159 A uniform plate of mass is suspended in each of the ways shown. For each case determine immediately after the connections B has been released (a) the angular acceleration of the plate (b) the acceleration of its mass center. In each case size of the plate is c c Answer: 1.2g/c; 0.671 1.412 g/c; 0.706 2.4 g/c; 0.5 0.333g; 1.667 g Pro.16.160

16.160 The slender bar AB of weight W is held in equilibrium by two counterweighs each weighing W/2. If the wire at B is cut, determine the acceleration at that instant (a) of part A, (b) of point B 4.59 Eight identical 500750 mm rectangular plate, each of mass m=40 kg, are held in a vertical plane as shown. All connections consist of frictionless pins, rollers, or short links. In each case determine whether (a) the plate is completely, partially or improperly constrained, (b) the reactions are statically determinate or indeterminate, (c) the equilibrium of the plate is maintained in this position shown. Also, wherever possible, compute the reactions.

4.60 The brackets ABC can be supported in the eight different ways shown. All connections consist of smooth pins, rollers or short links. For each case, answer the questions listed in problem 4.59, and, wherever possible, compute the reactions, assuming that the magnitude of the force p is 500N

3. PLANE MOTION OF RIGID BODIES : ENERGY AND MOMENTUM METHODS:

17.18e A slender rod of length l and weight W is pivoted at one end as shown. It is released from rest in a horizontal position and swings freely. (a) Determine the angular velocity of the rod as it passes through a vertical position and determine the corresponding reaction at the pivot. (b) Solve part (a) for W=10 N and l=1m.

17.19e A slender rod of It is released from rest in a horizontal position and swings freely. Determine (a) the distance b for which the angular velocity of the rod as it passes through a vertical position is maximum, (b) the corresponding values of its angular velocity and of the reaction at C.

17.5s Each of the two slender rods shown is 0.75 m long and has a mass of 6kg. If the system is released from rest with =600, determine (a) the angular velocity of the rod when =200, (b) the velocity of the point D at the same instant.

17.29e A half section of pipe of mass m and radius r is released from rest in the position shown. Knowing that the pipe rolls without sliding, determine (a) its angular velocity after it has rolled through 900, (b) the reaction at the horizontal surface at the same instant.

4. PRINCIPLE OF IMPULSE AND MOMENTUM, CONSERVATION OF ANGULAR MOMENTUM: 17.56E A cylinder of radius r and weight W with an initial counterclockwise angular velocity w0, is placed in the corner formed by the floor and a vertical wall. Denoting by k the coefficient of kinetic friction between the cylinder and the wall and the floor derive an expression for the time required for the cylinder to come to rest.

17.92e A uniform rod AB, of mass 7.5 kg and length 1m, is attached to the 12.5 kg cart C. Knowing that the system is released from rest in the position shown and neglecting friction, determine (a) the velocity of point B as rod AB passes through a vertical position (b) the corresponding velocity of cart C.

17.95e The 3 kg steel cylinder A and the 5 kg wooden cart B are at rest in the position shown when the cylinder is given a slight nudge., causing it to roll without sliding along the top surface of the cart. Neglecting friction between the cart and the ground, determine the velocity of the cart as the cylinder passes through the lowest point of the surface at C.

COLLISION: 13.188 When the rope is at an angle of =300 the 1 kg sphere. A has a speed v0=0.6 m/s. The coefficient of restitution between the 2-kg wedge B and A is 0.8 and the length of rope l=1m. The spring constant has a value of 1500 N/m and =200. Determine the velocity of A and B immediately after the impact.

(Ans: vA= 1.093 ft/s

, vB=3.28 ft/s

Impulsive Motion:

17.9 A 25-g bullet is fired with a horizontal velocity of 450 m/s into a side of a 10-kg square panel suspended from a hinge at A. Knowing that the panel is initially at rest , determine (a) the angular velocity of the panel immediately after the bullet becomes embedded (b) The impulsive reactions at A, assuming that the bullet becomes embedded in 0.0006 s. (=4.32 rad/s , Ry=750 N, Rx=0) 17.10 A 2-kg sphere moving horizontally to the right with an initial velocity of 5 m/s strikes the lower end of an 8-kg rigid rod AB. The rod is suspended from a hinge at A and is initially at rest. Knowing that the coefficient of restitution between the rod and the sphere is 0.80, determine the angular velocity of the rod and the velocity of the sphere immediately after the impact. (=3.21 rad/s , v=0.143 m/s)

17.108 A uniform sphere of radius r rolls down the incline shown without slipping. It hits a horizontal surface and, after slipping for a while, it starts rolling again. Assuming that the sphere does not bounce as it hits the horizontal surface, determine its angular velocity and the velocity of its mass center after it has resumed rolling. (Answer: (2+5cos)1/7, (2+5cos)v1/7) 17.106 A uniform slender rod of length L is dropped onto rigid supports at A and B. Since support B is slightly lower than support A, the rod strikes A with a velocity v1 before it strikes B. Assuming perfectly elastic impact at both A and B, determine the angular velocity of the rod and the velocity of its mass centre immediately after the rod (a) strikes support A (b) strikes support B (c) again strikes support A

17.127 Member ABC has a mass of 2.4 kg and is attached to a pin support at B. An 800-g sphere D strikes the end of member ABC with a vertical velocity of 3 m/s. Knowing that L=750 mm and that the coefficient of restitution between the sphere and member is 0.5, determine immediately after the impact (a) the angular velocity of member ABC, (b) the velocity of the sphere. 17.128 Member ABC has a mass of 2.4 kg and is attached to a pin support at B. An 800-g sphere D strikes the end of member ABC with a vertical velocity of 3 m/s. Knowing that L=750 mm and that the coefficient of restitution between the sphere and member is 0.5, determine immediately after the impact (a) the angular velocity of member ABC, (b) the velocity of the sphere.

17.129 A slender rod CDE of length L and mass m is attached to a pin support at its midpoint D. A second and identical rod AB is rotating about a pin support at A with an angular velocity when its end B strikes end C of rod CDE. Denoting by e the coefficient of restitution between the rods, determine the angular velocity of each rod immediately after the impact.

17.130 The 2.5 kg slender rod AB is released from rest in the position shown and swings to a vertical position where it strikes the 1.5 kg slender rod CD. Knowing that the coefficient of restitution between the knobs K attached to the rod AB and CD is 0.8; determine the maximum angle through which the rod CD will rotate after the impact.