Chapter 6

2D Dynamics: Newton's Second Law

Part I.
A. Equation of Motion for a Rigid Body
B. Angular Momentum
C. D'Alembert's Principle
A. Equation of Motion for a Rigid Body

 
∑ F = ma
 
∑M G
= H G

System of external forces is equivalent to the

 
system consisting of ma and H . G

Chapter 1, Page 1
Problem 6.1 (Sample Problem 16.1, Page 1033)

At a forward speed of 10 m/s, the

truck brakes were applied, causing
all four wheels to stop rotating. It
was observed that the truck, of
weight W, skidded to a stop in 7 m.
Determine the magnitude of the 0 = 102 − 2a(7) , a = 7.14 m/s
normal reaction and the friction
force at each wheel as the truck 2N A + 2N B − W = 0
skidded to a stop. W
2FA + 2FB = (7.14)
9.81
where
FA = µ k N A , FB = µ k N B
Moment about A
W
−W (1.5) + 2N B (3.6) = (7.14)(1.2)
9.81
Solution: µ k = 0.728 , N A = 0.1705W , N B = 0.3295W

Chapter 1, Page 2
B. Angular Momentum
 n
 
H G = ∑ ⎡⎣ ri′ × (Δmi vi′) ⎤⎦
i=1
n
  
= ∑ ⎡⎣ ri′ × Δmi (ω × ri′) ⎤⎦
i=1

 n
(
= ω ∑ Δmi ri′ 2
i=1
)

== I ω
 
HG = I ω
Differentiating,
  
H G = I ω = I α
 
∑ MG = I α

Note: The results are valid for plane motion of rigid bodies
which are symmetrical about the reference plane (xy-plane).

Chapter 1, Page 3
C. D'Alembert Principle

D'Alembert's Principle: The external forces acting

on a rigid body are equivalent to the effective
forces of the particles forming the body.

∑ F = ma
x x

∑ F = ma
y y

∑ M = Iα
G

Chapter 1, Page 4
Problem 6.2 (Sample Problem 16.3, Page 1035)

A pulley of mass 6 kg and having a radius of gyration of

200 mm is connected to two blocks as shown. Assuming
no axle friction, determine the angular acceleration of the
pulley and the acceleration of each block.

a A = rAα , aB = rBα

( )
2
I = mk 2 = 6 0.2 = 0.24 kg-m 2
Moment about G
( ) ( ) ( ) (
(5g) 0.15 − (2.5g) 0.25 = I α + 5aB 0.15 + 2.5a A 0.25 )

α = 2.41 rad/s 2 (ccw)
 
a A = 0.603 m/s 2 ( ↑ ) , aB = 0.362 m/s 2 ( ↓ )

Chapter 1, Page 5
Problem 6.3 (Sample Problem 16.4, Page 1036)

A cord is wrapped around a homogeneous

disk of mass 15 kg. The cord is pulled
upwards with a force T = 180 N.
Determine Horizontal
(a) the acceleration of the center of the disk, ax = 0
(b) the angular acceleration of the disk, and
Vertical
(c) the acceleration of the cord.
T − W = ma y

180 − 15(9.81) = 15a y , a = 2.19 m/s 2 ( ↑ )
Moment about G
−Tr = I α
15(0.5)2 
−(180)(0.5) = α , α = 48.0 rad/s 2 (cw)
2
   
acord = ( a A )t = a + ( a A G )t
= 2.19 + 48(0.5) = 26.2 m/s 2 ( ↑ )

Chapter 1, Page 6
Problem 6.4 (Sample Problem 16.5, Page 1037)

A uniform sphere of mass m and

radius r is projected along a rough
horizontal surface with a linear
velocity v0 . The coefficient of Vertical: N = W = mg
kinetic friction between the sphere Horizontal: − µ k (mg) = ma , a = − µ k g
and the surface is µk. Determine
Moment about G:
(a) the time t1 at which the sphere
2mr 2 5µ g
will start rolling without sliding, and Fr = I α , µ k mgr = α,α= k
(b) the linear and angular velocities 5 2r
of the sphere at time t1. Rolling without sliding when v1 = rω 1
At t1 : v1 = v0 − at1 , ω 1 = α t1
5µ k g 2 v0
v0 − µ k gt1 = r t1 , t1 =
2r 7 µk g

 5  5 v0
v1 = v0 ( → ) , ω 1 = (cw)
7 7 r

Chapter 1, Page 7
Problem 6.5 (Problem 16.48, Page 1047)

Solution: (initial accelerations)

 
a A = 4.36 m/s 2 , aB = 2.18 m/s 2

Chapter 1, Page 8
Problem 6.6 (Sample Problem 16.2, Page 1034)

The thin plate of mass 8 kg is held

in place as shown. Neglecting the
mass of the links, determine
immediately after the wire has been
Tangential direction
cut (a) the acceleration of the plate,
and (b) the force in each link. mg cos30 = ma
Normal direction
FAE + FDF − W sin 30 = 0
Moment abut G
(FAE sin 30 )(250) − (FAE cos30 )(100)
+(FDF sin 30 )(250) + (FDF cos30 )(100) = 0
Solution

a = 8.5 m/s 2 (  60 )
FAE = 47.9 N (T) , FDF = 8.70 N (C)

Chapter 1, Page 9
Problem 6.7 (Problem 16.19, Page 1043)

The rod BC is in translation.

  
aG = aB = aC = rω 2 ( 60 )

aG = 0.2(18.85)2 = 71.06 m/s 2 ( 60 )
Solution:
By = 194 N ( ↓ ) , C y = 194 N ( ↓ )

Chapter 1, Page 10
Problem 6.8 (Problem 16.63, Page 1050)

1
Before break, T1 = mg . At the instant of break, the
2
spring remains the same tension.

Solution:
 3g  
α= (cw) , a A = g ( ↑ ) , aB = 2g ( ↓ )
L

Chapter 1, Page 11
Problem 6.9 (Problem 16.30, 8th edition)

Chapter 1, Page 12
Problem 6.9 (Continued)

1
M + F2 rA − F1rA = mArA2α A
2
M 1
+ F2 − F1 = mArAα A (1)
rA 2
1
F1rB − F2 rB = mB rB2α B
2
1
F1 − F2 = m rα (2)
2 BB B
M 1 1
(1) + (2): = mArAα A + mB rBα B (3)
rA 2 2
rAα A = rBα B (4)
Solve (3), (4) for α A and α B
Solution:
 
α A = 22.5 rad/s 2 (ccw) , α B = 15.0 rad/s 2 (ccw)

Chapter 1, Page 13