PROBLEM 17.

29 (Continued)

(a) Conservation of energy.

T1 + V1 = T2 + V2
4.2336 J + 0 = 0.09855ω22 + 1.7658 J
ω22 = 25.041
ω2 = 5.004 rad/s ω2 = 5.00 rad/s 
(b) Reaction at B.

man = m(CG )ω22

= (3 kg)(0.06 m)(5.00 rad/s) 2
= 4.5 N
ΣFy = ma y : N − mg = −man
N − (3)(9.81) = −4.5 N = 24.9 N 

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1743
 PROBLEM 17.30

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 90°, (b) the reaction at the horizontal surface
at the same instant. [Hint: Note that GO = 2r/π and that, by the parallel-axis
theorem, I = mr 2 − m(GO )2 .]

SOLUTION

Position 1. ω1 = 0 v1 = 0 T1 = 0

 2
Position 2. Kinematics: v2 = ( AG )ω2 = r 1 −  ω2
 π
2
 2r   4 
Moment of inertia: I = mr 2 − m(0.6) 2 = mr 2 − m   = mr 2 1 − 2 
π   π 
1 1
Kinetic energy: T2 = mv22 + I ω22
2 2
2
1  2 1  4 
= m 1 −  r 2ω22 + mr 2 1 − 2  ω22
2  π 2  π 
1  4 4   4 
= mr 2 1 − + 2  + 1 − 2  
2  π π   π  
1 2 4
= mr  2 − 
2  π 
2r 2
Work: U1→2 = W (OG ) = mg = mgr
π π
Principle of work and energy: T1 + U1→2 = T2
2r 1 2  4
0 + mg = mr  2 −  ω22
π 2  π 
2 g g
ω2 =
2
⋅ = 1.7519
π (1 − π )
2 r r

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1744
 PROBLEM 17.30 (Continued)

g
(a) Angular velocity. ω2 = 1.324 
r
(b) Reaction at A.
Kinematics: Since O moves horizontally, (a0 ) y = 0

an = (0.6)ω22
2r  g
=
π 
1.7519 
r
= 1.1153g
Kinetics:

ΣFy = Σ( Fy )eff : A − mg = 1.1153mg A = 2.12mg 

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
reproduced or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited
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1745
 PROBLEM 17.31

A sphere of mass m and radius r rolls without slipping inside a curved

surface of radius R. Knowing that the sphere is released from rest in the
position shown, derive an expression (a) for the linear velocity of the
sphere as it passes through B, (b) for the magnitude of the vertical
reaction at that instant.

SOLUTION
Kinematics: The sphere rolls without slipping.
v
v = rω ω =
r
Kinetic energy.
1 1
T= mv 2 + I ω 2
2 2
2
1 12  v 
= mv 2 +  mr 2  
2 25  r 
7
T = mv 2
10
7
T1 = 0 T2 = mv22
10
Work. U1− 2 = mgh = mg ( R − r )(1 − cos β )

Principle of work and energy. T1 + U1− 2 = T2 :

7
0 + mg ( R − r )(1 − cos β ) = mv22
10

10
(a) Linear velocity at B. v2 = g ( R − r )(1 − cos β ) 
7
Free body diagram when β = 0.

ΣF = mat : at = 0

ΣM G = I α : α =0

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you are using it without permission.

1746
 PROBLEM 17.31 (Continued)

The sphere rolls so that its mass center moves on a circle of radius ρ = R − r.

v22
a = an =
R−r
ΣFy = Σ( Fy )eff : N − mg = ma

 1  10 
N − mg = m    g ( R − r )(1 − cos β ) 
 R − r  7 
 10 
N = mg 1 + (1 − cos β ) 
 7 
1
(b) Vertical reaction. N= mg[17 − 10 cos β ] 
7

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
reproduced or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited
distribution to teachers and educators permitted by McGraw-Hill for their individual course preparation. If you are a student using this Manual,
you are using it without permission.

1747
 PROBLEM 17.32

Two uniform cylinders, each of weight W = 14 lb and radius r = 5 in., are connected
by a belt as shown. Knowing that at the instant shown the angular velocity of
cylinder B is 30 rad/s clockwise, determine (a) the distance through which cylinder A
will rise before the angular velocity of cylinder B is reduced to 5 rad/s, (b) the
tension in the portion of belt connecting the two cylinders.

SOLUTION
Kinematics.
v D = v E = rω B
Point C is the instantaneous center of cylinder A.
vD rωB 1
ωA = = = ωB
cd 2r 2
1
v A = rω A = rω B
2
vD = 2v A
Kinetic energy of the system.
1 1 1
T= mv A2 + I ω A2 + I ωB2
2 2 2
2 2
1 r  11  1  1 
T= m  ωB  +  mr 2  ω B  +  mr 2  ωB2
2 2  2  2  2   2 
7
T = mr 2ωB2 (1)
16
Position 1: (ωB )1 = 30 rad/s
Position 2: (ωB ) 2 = 5 rad/s
Work. For the system considered, the only force which does work is the weight of disk A.
U1− 2 = −Wh = −mgh
where h is the rise of cylinder A.

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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1748
 PROBLEM 17.32 (Continued)

Principle of work and energy.

7 7
T1 + U1− 2 = T2 : mr 2 (ωB )12 − mgh = mr 2 (ωB ) 22
16 16
7 r2
h= [(ωB )12 − (ωB ) 22 ] (2)
16 g
2
7 5  1
h=  ft  [(30 rad/s) 2 − (5 rad/s)2 ] = 2.064 ft
16  12  32.2 ft/s 2
(a) Rise of cylinder A. h = 2.06 ft 

(b) Tension in cord DE. Let Q be its value.

Recall that vD = 2v A thus D moves twice the distance that A moves, i.e 2h

1
T1 = I (ωB )12
2
1
T2 = I (ωB ) 22
2
U1− 2 = −Q(2h)
T1 + U1− 2 = T2

1 1
I (ωB )12 − 2Qh = I (ωB )22
2 2
1
Qh = I [(ω B )12 − (ωB )22 ] (3)
4
Divide Equation (3) by Equation (2):
1 16 g 1  1 2  16 g 2 2
Q= I =  mr  2 = mg = W (4)
4 7r 2
4 2  7r 7 7

2
Q= (14 lb) Tension = Q = 4.00 lb 
7

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
reproduced or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited
distribution to teachers and educators permitted by McGraw-Hill for their individual course preparation. If you are a student using this Manual,
you are using it without permission.

1749
 PROBLEM 17.33

Two uniform cylinders, each of weight W = 14 lb and radius r = 5 in., are connected
by a belt as shown. If the system is released from rest, determine (a) the velocity of
the center of cylinder A after it has moved through 3 ft, (b) the tension in the portion
of belt connecting the two cylinders.

SOLUTION
Kinematics.
v D = v E = rω B
Point C is the instantaneous center of cylinder A.
vD rω 1
ωA = = B = ωB
CD 2r 2
1
v A = rω A = rωB
2
v D = 2v A
Kinetic energy of the system.
1 1 1
T= mv A2 + I ω A2 + I ωB2
2 2 2
2 2
1 r  11  1  11 
T= m  ω B  +  mr 2  ωB  +  mr 2  ωB2
2 2  2  2  2  2  2 
7
T = mr 2ωB2 (1)
16
Position 1: At rest T1 = 0
Position 2: Center of cylinder C has moved 3 ft .
Work. For the system considered, the only force which does work is the weight of disk A.
U1− 2 = Wh = (14 lb)(3 ft) = 42 ft ⋅ lb
where h is the distance that cylinder A falls.

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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1750
 PROBLEM 17.33 (Continued)

Principle of work and energy:

2
7 14 lb  5 
T1 + U1→2 = T2 : 0 + 42 ft ⋅ lb = ft (ω B ) 22
16 32.2 ft/s 2  12 
(ωB ) 2 = 35.662 rad/s
1 1 5 
(a) Velocity of A. vA = rωB =  ft  (35.66 rad/s) v A = 7.43 ft/s 
2 2  12 
(b) Tension in cord DE. Let Q be its value.
Recall that vD = 2v A thus D moves twice the distance that A moves, i.e 2h

T1 = 0
1
T2 = I (ωB ) 22
2
U1− 2 = Q (2h)
T1 + U1− 2 = T2

11W 2 2
0 + Qh =  r  ωB
2 2 g 

1 W 2 ω B2
Q= r
4 g h
2
1 14 lb  5  (35.662 rad/s) 2
=
4 32.2 ft/s 2  12 
ft
6 ft
= 4.00 lb

Q = 4.00 lb. 

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
reproduced or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited
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1751
 PROBLEM 17.34
A bar of mass m = 5 kg is held as shown between
four disks each of mass m′ = 2 kg and radius
r = 75 mm. Knowing that the forces exerted on
the disks are sufficient to prevent slipping and
that the bar is released from rest, for each of the
cases shown determine the velocity of the bar
after it has moved through the distance h.

SOLUTION

Let v be the velocity of the bar ( v = v ), v′ be the velocity of the mass center G of the upper left disk,
( v′ = v′ ) and ω be its angular velocity.

For all three arrangements, the magnitudes of mass center velocities are the same for all disks. Likewise, the
angular speeds are the same for all disks.

1
Moment of inertia of one disk. I = m′r 2
2

1 2 1 1 
Kinetic energy. T = mv + 4  m′(v′) 2 + I ω 2 
2 2 2 

1 1 11 
T = (5)v 2 + 4  (2)(v′) 2 +   (2)r 2ω 2 
2 2 22 
= 2.5v 2 + 4(v′) 2 + 2r 2ω 2

Position 1. Initial at rest position. T1 = 0

Position 2. Bar has moved down a distance h. All the disks move down a distance h′.

Work U1→ 2 = mgh + 4m′gh′ = 5 gh + 8 gh′

Kinematics and kinetic energy for case (a).

The mass center of each disk is not moving.

v′ = 0, h′ = 0

v
ω= rω = v
r

T2a = 2.5v 2 + 0 + 2v 2 = 4.5v 2

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
reproduced or distributed in any form or by any means, without the prior written permission of the publisher, or used beyond the limited
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1752