Chapter 6

2D Dynamics: Newton's Second Law

PART II.
D. Constrained Plane Motion
D. Constained Plane Motion

Example:
Given P and ω , find α , N A , and N B .
Application of d'Alembert's principle yields three
equations, which introduce two additional unknowns
( ax and a y ).

Kinematic relations can be used to write ax and a y in

terms of α and ω .
      
−aB j = a A i + α k × rB A + ω k × (ω k × rB A )
      
a = a A i + α k × rG A + ω k × (ω k × rG A )

Chapter 6, Page 14
Noncentroidal Rotation
Given external forces and ω , find α , Rx , and Ry .
Application of d'Alembert's principle yields three
equations.
Kinematic relations
at = r α
an = r ω 2
Note that
∑M O
= I α + mat r
= I α + m(r α )r
= (I + mr 2 )α
= I Oα

∑M O
= I Oα

Chapter 6, Page 15
Rolling Motion
Given external forces and ω , find α , a , and F
Application of d'Alembert's principle yields two
equations.
(a) Rolling without sliding
F ≤ µs N ; a = rα
(b) Rolling, sliding impending
F = µs N ; a = rα
(c) Rolling and sliding
F = µ k N ; α , a independent.

For an unbalanced disk,

aO = rα
  
aG = aO + aG O

Chapter 6, Page 16
Problem 6.10 (Sample Problem 16.6, Page 1056)

The portion AOB of the mechanism is

actuated by gear D and at the instant
shown has a clockwise angular velocity of
8 rad/s and a counterclockwise angular
acceleration of 40 rad/s2. Determine
(a) tangential force exerted by gear D, and
(b) components of the reaction at shaft O.

(aOB )t = r α , (aOB ) n = r ω 2

mE = 4 kg Unknowns: F , Rx , Ry

k E = 85 mm Solution: F = 63.0 N ( ↓ )
 
mOB = 3 kg Rx = 24.0 N ( → ) , Ry = 170.0 N ( ↑ )

Chapter 6, Page 17
Problem 6.11 (Sample Problem 16.7, Page 1057)

A 300x400 mm. rectangular plate of mass

30 kg is suspended from two pins A and B.
If pin B is suddenly removed, determine
(a) the angular acceleration of the plate,
(b) the components of the reaction at pin A,
immediately after pin B has been removed.

a = rα
Unknowns: α , Ax , Ay

Solution: α = 23.5 rad/s 2 (cw)
 
Ax = 106 N ( ← ) , Ay = 153 N ( ↑ )

Chapter 6, Page 18
Problem 6.12 (Sample Problem 16.8, Page 1058)

A sphere of weight W is released with no

initial velocity and rolls without slipping
on the incline. Determine
(a) the minimum value of the coefficient
of friction,
(b) the velocity of G after the sphere has
rolled 3 m and
(c) the velocity of G if the sphere were to (a) a = rα
move 3 m down a frictionless incline. Unknowns: α , N, F
Minimum µs = F N = 0.165

(b) v 2 = 2a x , v = 4.59 m/s (  30 )
(c) F = 0, α = 0

a = g sin θ , a = 4.905 m/s 2 (  30 )

v 2 = 2a x , v = 5.42 m/s (  30 )

Chapter 6, Page 19
Problem 6.13 (Sample Problem 16.9, Page 1059)

A cord is wrapped around the inner

hub of a wheel and pulled
horizontally with a force of 200 N.
The wheel has a mass of 50 kg and a
radius of gyration of 70 mm.
Knowing µs = 0.20 and µk = 0.15,
(i) Assuming rolling without sliding,
determine the acceleration of G and
the angular acceleration of the wheel. a = rα
Solve for the unknowns, α , N, F
F
= 0.298 > µ S
N
(ii) Sliding occurs, F = µ k N
Solve for the unknowns, α , a , and N

a = 2.53 m/s 2 ( → )

α = 18.94 rad/s 2 (ccw)

Chapter 6, Page 20
Problem 6.14 (Sample Problem 16.10, Page 1060)

The extremities of a 1.2-m rod weighing

25 kg can move freely and with no friction
along two straight tracks. The rod is
released with no velocity from the position
shown. Determine
(a) the angular acceleration of the rod, and
(b) the reactions at A and B. Kinematics:
   
aB () = a A (→) + α k × rB A

Solve for a A , aB in terms of α ,

a A = 5.46α , aB = 4.90α
Then
  
a = a A + α k × rG A

Chapter 6, Page 21
Problem 6.14 (Continued)

Kinematics yields ax and a y in terms of α

Unknowns: α , RA , RB
Solution:

α = 2.33 rad/s 2 (ccw)

RA = 136.9 N ( ↑ )

RB = 110.4 N (  45 )

Chapter 6, Page 22
Problem 6.15 (Problem 16.83, Page 1064)

r = 4.00 mm
ω = 150.8 rad/s , an = r ω 2
Solution:
Force on the disk

R = 4.548 N (  45 )
Force on the shaft

R = 4.548 N (  45 )

Chapter 6, Page 23
Problem 6.16 (Problem 16.111, Page 1067)

4r (a) Moment about C,

OG = 
3π P
α = 1.536 (cw)
⎛ 4⎞ mr
a = ⎜ 1 − ⎟ rα (b) Horizontal direction,
⎝ 3π ⎠
F = 0.884P
⎛ 1 16 ⎞ F P
I = ⎜ − 2 ⎟ mr 2 ( µs )min = = 0.884
⎝ 2 9π ⎠ N mg + P

Chapter 6, Page 24
Problem 6.17 (Problem 16.113, Page 1068)

 g
(a) Moment about C, α = (cw)
  8r
a A = rα ( → ) , aB A = rα ( ↓ )
 g  g
   (b) ( aB ) x = ( → ) , ( aB ) y = ( ↓ )
aB = a A + aB A = rα ( → ) + rα ( ↓ ) 8 8

Chapter 6, Page 25
Problem 6.18 (Problem 16.115, Page 1068)

 v  a
ω = B (ccw) , α = B (ccw)
R R
 
aG = aB + rω ( ← ) + rα ( ↑ )
2

Moment about C,

Solution: P = 8.26 N ( ← )

Chapter 6, Page 26