PROBLEM 17.

34 (Continued)

Kinematics and kinetic energy for case (b).

The instantaneous center C of a typical disk lies at its point of contact
with the fixed wall.
v
ω=
2r
1 1
v′= rω = v, h′ = h
2 2
2 2
1  1 
T2b = 2.5v 2 + (4)  v  + 2  v  = 4.0 v 2
2  2 
Kinematics and kinetic energy for case (c).
The mass center of each disk moves with the bar.
v′ = v, h′′ = h
The instantaneous center C of a typical disk lies at its point of contact
with the fixed wall.
v′= rω = v,

T2c = 2.5v 2 + (4)v 2 + 2v 2 = 8.5 v 2

Principle of Work and Energy. T1 + U1→ 2 = T2

(a) 0 + 5 gh + 0 = 4.5v 2 v = 1.054 gh 

(b) 0 + 5 gh + 4 gh = 4.0v 2 v = 1.500 gh 

(c) 0 + 5 gh + 8gh = 8.5v 2 v = 1.237 gh 

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1753
 PROBLEM 17.35

The 5-kg rod BC is attached by pins to two uniform disks as

shown. The mass of the 150-mm-radius disk is 6 kg and that
of the 75-mm-radius disk is 1.5 kg. Knowing that the system
is released from rest in the position shown, determine the
velocity of the rod after disk A has rotated through 90°.

SOLUTION

Position 1. T1 = 0

Position 2.
Kinematics.

vB v AB
vB = v AB ωA = = v A = 2vB = 2v AB
BE 0.075 m
v v AB
vC = v AB ωC = C = ω AB = 0
CF 0.075 m
1 1 1 1 1
Kinetic energy. T2 = m Av A2 + I Aω A2 + m AB v AB
2
+ mB vB2 + I BωB2
2 2 2 2 2

1
2
1  v 
= (6 ft/s)(2v AB ) 2 + (6 kg)(0.15 m) 2  AB  + (5 kg)v 2AB
2  2  0.075 
 
2
1  v
+ (1.5 kg)(v AB ) 2 + (1.5 kg)(0.075 m) 2  AB  
2  0.075  
1
=
2
[ 24 + 12 + 5 + 1.5 + 0.75] vAB
2

T2 = 21.625 v AB
2

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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you are using it without permission.

1754
 PROBLEM 17.35 (Continued)

Work: U1→2 = WAB (0.1125 m − 0.075 m)

= (5 kg)(9.81)(0.0375 m)
U1→2 = 1.8394 J

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

0 + 1.8394 J = 21.625 v AB
2

2
v AB = 0.08506
v AB = 0.2916 m/s

Velocity of the rod. vAB = 292 mm/s 

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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you are using it without permission.

1755
 PROBLEM 17.36

The motion of the uniform rod AB is guided by small wheels of

negligible mass that roll on the surface shown. If the rod is released
from rest when θ = 0, determine the velocities of A and B when
θ = 30°.

SOLUTION

Position 1. θ =0
v A = vB = 0
ω=0
T1 = 0
V1 = 0
Position 2. θ = 30°
Kinematics. Locate the instantaneous center C. Triangle ABC is equilateral.
v A = vB = Lω
vG = Lω cos 30°
1
Moment of inertia. I = ml 2
12
1 2 1 1 1 1 
Kinetic energy. T2 = mvG + I ω 2 : T2 = m( Lω cos 30°) 2 +  mL2  ω 2
2 2 2 2  12 
5 2 2
= ml ω
12
L 1
Potential energy. V2 = − mg sin 30° = − mgL
2 4
Conservation of energy.
5 1
T1 + V1 = T2 + V2 : 0 + 0 = mL2ω 2 − mgL
12 4
g
ω 2 = 0.6
L
g
ω = 0.775
L
v A = 0.775 gL
vB = 0.775 gL vA = 0.775 gL 

   vB = 0.775 gL 60° 

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you are using it without permission.

1756
 PROBLEM 17.37

A 5-m long ladder has a mass of 15 kg and is placed against a house at an

angle θ = 20°. Knowing that the ladder is released from rest, determine
the angular velocity of the ladder and the velocity of A when θ = 45°.
Assume the ladder can slide freely on the horizontal ground and on the
vertical wall.

SOLUTION
Kinematics:
Let v A = v A , v B = vB , and ω = ω . Locate the instantaneous
center C by drawing AC perpendicular to vA and BC perpendicular
to vB. Triangle GCB is isosceles.
GA = GB = GC = L /2. The velocity of the mass center G is
v = vG = Lω /2

1 1
Kinetic energy: T= mv 2 + I ω 2
2 2
1 1 
=  I + mL2  ω 2
2 4 

Since the ladder can slide freely, the friction forces at A and B are zero.
Use the principle of conservation of energy.
T1 + V1 = T2 + V2 :
Potential energy: Use the ground as the datum.
V = mgh

L
where h= cos θ
2

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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.

1757
 PROBLEM 17.37 (Continued)

Position 1. θ = 20°; rest (T1 = 0)

Position 2. θ = 45°; ω =?

L 1 1  L
0 + mg cos 20° =  I + mL2  ω 2 + mg cos 45°
2 2 4  2

Data: m = 15 kg. L = 5 m g = 9.81 m/s 2

1 1
Assume I = mL2 = (15 kg)(5 m) 2 = 31.25 kg ⋅ m 2
12 12
1 2 1
I + mL = 31.25 kg ⋅ m 2 + (15 kg)(5 m) 2 = 125 kg ⋅ m 2
4 4
1
(15 kg)(9.81 m/s 2 )(2.5 m)(cos 20° − cos 45°) = (125 kg ⋅ m 2 )ω 2
2

ω 2 = 1.3690 rad 2 /s2 ω = 1.17004 rad/s

Angular velocity. ω = 1.170 rad/s 

Velocity of end A.
v A = ω L cos θ = (1.17004 rad/s)(5 m) cos 30° v A = 5.07 m/s 

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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1758
 PROBLEM 17.38

A long ladder of length l, mass m, and centroidal mass moment of inertia

I is placed against a house at an angle θ = θ0. Knowing that the ladder is
released from rest, determine the angular velocity of the ladder when
θ = θ 2 . Assume the ladder can slide freely on the horizontal ground and
on the vertical wall.

SOLUTION
Kinematics:
Let v A = v A , v B = vB , and ω = ω . Locate the instantaneous
center C by drawing AC perpendicular to vA and BC perpendicular
to vB. Triangle GCB is isosceles.
GA = GB = GC = L /2. The velocity of the mass center G is
v = vG = Lω /2

1 1
Kinetic energy: T= mv 2 + I ω 2
2 2
1 1 2 2
=  I + mL  ω
2 4 
Since the ladder can slide freely, the friction forces at A and B are zero.
Use the principle of conservation of energy.
T1 + V1 = T2 + V2 :
Potential energy: Use the ground as the datum.
V = mgh

L
where h= cos θ
2
Position 1. θ = θ 0 ; rest (T1 = 0)

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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1759
 PROBLEM 17.38 (Continued)

Position 2. θ = θ2 ; ω = ?

L 1 1  L
0 + mg cos θ =  I + mL2  ω 2 + mg cos θ 2
2 2 4  2

1
Assume I =mL2
12
1 2 1 2
I + mL = mL
4 3
3 g
ω2 = (cos θ0 − cos θ 2 )
L

Angular velocity. ω = 3g (cos θ0 − cos θ 2 )/L 

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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1760
 PROBLEM 17.39
The ends of a 9-lb rod AB are constrained to move along slots cut in a
vertical plate as shown. A spring of constant k = 3 lb/in. is attached to
end A in such a way that its tension is zero when θ = 0. If the rod is
released from rest when θ = 50°, determine the angular velocity of the
rod and the velocity of end B when θ = 0.

SOLUTION

L
v2 = ω2
2
vB = Lω2
x1 = L − L cos 50°
= (25 in.)(1 − cos 50°)
= 8.9303 in.

L 1
Position 1. V1 = −W sin 50° + kx12
2 2
 25 in.  1
V1 = −(9 lb)   sin 50° + (3 lb/in.)(8.9303 in.)
2

 2  2
= −86.18 + 119.63
= 33.45 in. ⋅ lb
= 2.787 ft ⋅ lb.
T1 = 0

Position 2. V2 = (Vg ) 2 + (Ve ) 2 = 0

1 1
T2 = mv22 + I ω22
2 2
2
1 L  1 1 
= m ω2 +  mL2  ω22
2  2  2  12 
2
1 2 2 1  9 lb  25 in.  2
= mL ω2 =   ω2 = 0.2022ω2
2
6 6  32.2 
 12 

PROPRIETARY MATERIAL. © 2013 The McGraw-Hill Companies, Inc. All rights reserved. No part of this Manual may be displayed,
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you are using it without permission.

1761
 PROBLEM 17.39 (Continued)

Conservation of energy: T1 + V1 = T2 + V2
0 + 2.787 ft ⋅ lb = 0.2022ω22
ω22 = 13.7849
ω2 = 3.713 rad/s ω 2 = 3.71 rad/s 

 25 in. 
Velocity of B: vB = Lω2 =   (3.713 rad/s)
 12 
= 7.735 ft/s vB = 7.74 ft/s 

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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1762