PROBLEM 17.

17

A slender rod of length l is pivoted about a Point C located at a distance b

from its center G. 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.

SOLUTION

Position 1. v = 0, ω =0 T1 = 0

Elevation: h=0 V1 = mgh = 0

Position 2. v2 = bω2
1
I= ml 2
12
1 1
T2 = mv22 + I ω22
2 2
1  1 
= m  b 2 + l 2  ω22
2  12 

Elevation: h = −b V2 = − mgb
Principle of conservation of energy.
1  2 1 2 2
T1 + V1 = T2 + V2 : 0 + 0 = m b + l  ω2 − mgb
2  12 

2gb
ω22 =
b + 121 l 2
2

(a) Value of b for maximum ω2 .

d  b
 2 1 2 =
2
(
 b + 121 l − b ( 2b )
2

=0
) b2 =
1 2
l b=
l

db  b + 12 l 
( )
2
b 2 + 121 l 2 12 12

l
2g
(b) Angular velocity. ω22 = 12
l2 2

12
+ 12
l

g
= 12
l

g g
ω2 = 121/4 ω2 = 1.861 
l l

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1723
 PROBLEM 17.17 (Continued)

Reaction at C. an = bω22
l g
= 12
12 l
=g
ΣFy = man : C y − mg = mg
C y = 2mg

ΣM C = mbat + I α : 0 = (mb2 + I )α
α = 0, at = 0

ΣFx = mat : Cx = − mat = 0 C = 2mg 

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1724
 PROBLEM 17.18

A slender 9 lb rod can rotate in a vertical plane about a pivot at B. A spring

of constant k = 30 lb/ft and of unstretched length 6 in. is attached to the rod
as shown. Knowing that the rod is released from rest in the position shown,
determine its angular velocity after it has rotated through 90°.

SOLUTION

Position 1:
Unstretched
 Length

Spring: x1 = CD − ( 6 in. ) = 14.866 − 6 = 8.8661 in. = 0.73884 ft

1 2 1
Ve = kx1 = (30 lb/ft)(0.73884) 2 = 8.1882 lb ⋅ ft
2 2
 7 
Gravity: Vg = Wh = (9 lb)  ft  = 5.25 lb ⋅ ft
 12 
V1 = Ve + Vg = 8.1882 lb ⋅ ft + 5.25 lb ⋅ ft = 13.438 lb ⋅ ft

Kinetic energy: T1 = 0
Position 2:
Spring: x2 = 9 in. − 6 in. = 3 in. = 0.25 ft
1 2 1
Ve = kx2 = (30 lb/ft)(0.25 ft) 2 = 0.9375 lb ⋅ ft
2 2

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1725
 PROBLEM 17.18 (Continued)

Gravity: Vg = Wh = 0
V2 = Ve + Vg
= 0.9375 lb ⋅ ft

 7 
Kinetic energy: v2 = rω2 =  ft  ω2
 12 
1 1  9 lb 
I = mL2 =  (2 ft)2 = 0.093168 slug ⋅ ft 2
12 12  32.2 
1 1
T2 = mv22 + I ω22
2 2
2
1  9 lb    7   1
=    ft  ω2  + (0.093168)ω2
2

2  32.2    12   2
T2 = 0.094138ω22

Conservation of energy:
T1 + V1 = T2 + V2
0 + 13.438 = 0.094138 ω22 + 0.9375
ω22 = 132.79
ω2 = 11.524 rad/s ω2 = 11.52 rad/s 

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1726
 PROBLEM 17.19

A slender 9 lb rod can rotate in a vertical plane about a pivot at B. A spring of

constant k = 30 lb/ft and of unstretched length 6 in. is attached to the rod as
shown. Knowing that the rod is released from rest in the position shown,
determine its angular velocity after it has rotated through 90°.

SOLUTION

Position 1: CD = 142 + 52 = 14.866 in.

Unstretched
 Length

Spring: x1 = CD − ( 6 in. ) = 14.866 − 6 = 8.8661 in. = 0.73884 ft

1 2 1
Ve = kx1 = (30 lb/ft)(0.73884)2 = 8.1882 lb ⋅ ft
2 2
 7 
Gravity: Vg = Wh = 9 lb =  − ft  = −5.25 lb ⋅ ft
 12 
V1 = Ve + Vg = 8.1882 lb ⋅ ft − 5.25 lb ⋅ ft = 2.9382 lb ⋅ ft

Kinetic energy: T1 = 0
Position 2:
Spring: x2 = 9 in. − 6 in. = 3 in. = 0.25 ft
1 2 1
Ve = kx2 = (30 lb/ft)(0.25 ft) 2 = 0.9375 lb ⋅ ft
2 2

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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1727
 PROBLEM 17.19 (Continued)

Gravity: Vg = Wh = 0
V2 = Ve + Vg
= 0.9375 lb ⋅ ft

 7 
Kinetic energy: v2 = rω2 =  ft  ω2
 12 
1 1  9 lb 
I = mL2 =  (2 ft)2 = 0.093168 slug ⋅ ft 2
12 12  32.2 
1 1
T2 = mv22 + I ω22
2 2
2
1  9 lb    7   1
=    ft  ω2  + (0.093168)ω2
2

2  32.2    12   2
T2 = 0.094138ω22

Conservation of energy:
T1 + V1 = T2 + V2
0 + 2.9382 = 0.094138ω22 + 0.9375
ω22 = 21.253
ω2 = 4.6101 rad/s ω2 = 4.61 rad/s 

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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1728
 PROBLEM 17.20

A 160-lb gymnast is executing a series of full-circle swings

on the horizontal bar. In the position shown he has a small
and negligible clockwise angular velocity and will maintain
his body straight and rigid as he swings downward. Assuming
that during the swing the centroidal radius of gyration of his
body is 1.5 ft, determine his angular velocity and the force
exerted on his hands after he has rotated through (a) 90°,
(b) 180°.

SOLUTION
Position 1. (Directly above the bar).
Elevation: h1 = 3.5 ft

Potential energy: V1 = Wh1 = (160 lb)(3.5 ft) = 560 ft ⋅ lb

Speeds: ω1 = 0, v1 = 0
Kinetic energy: T1 = 0
(a) Position 2. (Body at level of bar after rotating 90°).

Elevation: h2 = 0.

Potential energy: V2 = 0

Speeds: v2 = 3.5ω2 .

1 1
Kinetic energy: T2 = mv22 + mk 2ω22
2 2
1  160  1  160 
T2 =   (3.5ω2 )2 +   (1.5)2ω22
2  32.2  2  32.2 
= 36.025ω22
Principle of conservation of energy.

T1 + V1 = T2 + V2 : 0 + 560 = 36.025ω22

ω22 = 15.545 ω2 = 3.94 rad/s 

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1729
 PROBLEM 17.20 (Continued)

Kinematics: at = 3.5α

an = 3.5ω22 = (3.5)(15.545) = 54.407 ft/s 2

 160   160 
ΣM 0 = Σ ( M 0 )eff : (3.5)(160) =   (3.5)(3.5α ) +   (1.5) 2 α
 32.2   32.2 

α = 7.7724 rad/s 2 at = 27.203 ft/s 2

 160 
ΣFx = man : Rx =   (54.407) = 270.35 lb
 32.2 

 160 
ΣFy = −mat : Ry − 160 = −   (27.203)
 32.2 
Ry = 24.83 lb R = 271 lb 5.25° 

(b) Position 3. (Directly below bar after rotating 180°).

Elevation: h3 = −3.5 ft.

Potential energy: V3 = Wh3 = (160)(−3.5) = −560 ft ⋅ lb

Speeds: v3 = 3.5ω3 .

Kinetic energy: T3 = 36.025ω32

Principle of conservation of energy.

T1 + V1 = T3 + V3 : 0 + 560 = 36.025ω32 − 560

ω32 = 31.09 ω3 = 5.58 rad/s 

Kinematics: an = (3.5)(31.09) = 108.81 ft/s 2

From ΣM 0 = Σ( M 0 )eff and ΣFx = 0,

α = 0, at = 0 Rx = 0

 160 
ΣFy = man : Ry − 160 =   (108.81)
 32.2 
Ry = 700.62 lb R = 701 lb 

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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1730
 PROBLEM 17.21

A collar with a mass of 1 kg is rigidly attached at a distance

d = 300 mm from the end of a uniform slender rod AB. The rod
has a mass of 3 kg and is of length L = 600 mm. Knowing that the
rod is released from rest in the position shown, determine the
angular velocity of the rod after it has rotated through 90°.

SOLUTION
Kinematics.
L
Rod vR = ω
2
Collar vC = d ω

Position 1. ω=0
T1 = 0 V1 = 0

1 1 1
Position 2. T2 = mR vR2 + I Rω 2 + mC vC2
2 2 2
2
1 L  1 1  1
= mR  ω  +  mR L2  ω 2 + mC d 2ω 2
2 2  2  12  2
1 1
= mR L2ω 2 + mC d 2ω 2
6 2
L
V2 = −WC d − WR
2
1 1  L
T1 + V1 = T2 + V2 : 0 + 0 =  mR L2 + mC d 2  ω 2 − WC d − WR
6 2  2

3(2WC d + WC L) 3g (2mC d + mR L)
ω2 = = (1)
3mC d + mR L
2 2
3mC d 2 + mR L2

Data: mC = 1 kg, d = 0.3 m, mR = 3 kg, L = 0.6 m

 (2)(1)(0.3) + 3(0.6) 
From Eq. (1), ω 2 = 3(9.81)  2
 3(1)(0.3) + 3(0.6) 
2

= 52.32 ω = 7.23 rad/s 

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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1731
 PROBLEM 17.22

A collar with a mass of 1 kg is rigidly attached to a slender rod AB

of mass 3 kg and length L = 600 mm. The rod is released from rest
in the position shown. Determine the distance d for which the
angular velocity of the rod is maximum after it has rotated 90°.

SOLUTION
Kinematics.
L
Rod vR = ω
2
Collar vC = d ω

Position 1. ω=0
T1 = 0 V1 = 0

1 1 1
Position 2. T2 = mR vR2 + I Rω 2 + mC vC2
2 2 2
2
1 L  1 1  1
= mR  ω  +  mR L2  ω 2 + mC d 2ω 2
2 2  2  12  2
1 1
= mR L2ω 2 + mC d 2ω 2
6 2
L
V2 = −WC d − WR
2
1 1  L
T1 + V1 = T2 + V2 : 0 + 0 =  mR L2 + mC d 2  ω 2 − WC d − WR
6 2  2

3(2WC d + WC L) 3g (2mC d + mR L)
ω2 = = (1)
3mC d + mR L
2 2
3mC d 2 + mR L2

d
Let x= .
L
mR
2x +
3g mC
ω2 = ⋅
L m
3x 2 + R
mC

Data: mC = 1 kg, mR = 3 kg
Lω 2 2x + 3
= 2
3g 3x + 3

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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1732