PROBLEM 17.

63 (Continued)

Disk B: Moments about B: I Bω0 − rB Ft = I Bω B

1 1  1
mB rB2ω0 − rB  m A rBωB  = mrB2ω B
2  2  2
ω0
ωB = mA
1+ mB

7.5
Data: mA = = 0.23292 lb ⋅ s 2 /ft
32.2
mA WA 7.5
= = = 0.75
mB WB 10

8
rB = ft
12
rB 8
=
rA 6
ω0 = 900 rpm = 30π rad/s
ω0
(a) ωB =
1 + 0.75
30π
=
1.75
= 53.856 rad/s
rB
ωA = ωB
rA
8
=   (53.856)
6
= 71.808 rad/s ω A = 686 rpm 

ω B = 514 rpm 

1 (0.23292) ( 12 ) (30π )
8
(b) Ft = Ft = 4.18 lb ⋅ s 
2 1 + 0.75

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1802
 PROBLEM 17.64

A tape moves over the two drums shown. Drum A weighs 1.4 lb and
has a radius of gyration of 0.75 in., while drum B weighs 3.5 lb and
has a radius of gyration of 1.25 in. In the lower portion of the tape
the tension is constant and equal to TA = 0.75 lb. Knowing that the
tape is initially at rest, determine (a) the required constant tension
TB if the velocity of the tape is to be v = 10 ft/s after 0.24 s, (b) the
corresponding tension in the portion of tape between the drums.

SOLUTION
Kinematics. Drums A and B rotate about fixed axes. Let v be the tape velocity in ft/s.
0.9
v = rAω A = ωA ω A = 13.3333v
12
1.5
v = rBωB = ωB ωB = 8v
12
2
 1.4  0.75  −6
Moments of inertia. I A = m A k A2 =    = 169.837 × 10 lb ⋅ s ⋅ ft
2

 32.2  12 
2
 3.5  1.25 
I B = mB k B2 =    = 1.17942 × 10−3 lb ⋅ s 2 ⋅ ft
 32.2  12 
State 1. t=0 v=0 ω A = ωB = 0
State 2. t = 0.24 s, v = 10 ft/s

ω A = (13.3333)(10) = 133.333 rad/s

ωB = (8)(10) = 80 rad/s
Drum A.

Syst. Momenta1 + Syst. Ext. Imp. 1→ 2 = Syst. Momenta 2

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1803
 PROBLEM 17.64 (Continued)

Moments about A: 0 + rATAB t − rATAt = I Aω A

 0.9   0.9  −6
0+  (TAB t ) −   (0.75)(0.24) = (169.837 × 10 )(133.333)
 12   12 
TAB t = 0.48193 lb ⋅ s
Drum B.

Syst. Momenta1 + Syst. Ext. Imp. 1→2 = Syst. Momenta 2

Moments about B: 0 + rBTB t − rBTAB t = I BωB

1.5  1.5  −3
0+ (TB t ) −   (0.48193) = (1.17942 × 10 )(80)
12  12 
TB t = 1.23676 lb ⋅ s

TB t 1.23676
(a) TB = = TB = 5.15 lb 
t 0.24
TAB t 0.48193
(b) TAB = = TAB = 2.01 lb 
t 0.24

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1804
PROBLEM 17.65

Show that the system of momenta for a rigid slab in plane motion reduces to a single vector, and express the
distance from the mass center G to the line of action of this vector in terms of the centroidal radius of gyration
k of the slab, the magnitude v of the velocity of G, and the angular velocity ω.

SOLUTION

Syst. Momenta = Single Vector

Components parallel to mv : mv = X X = mv 

Moments about G: I ω = (mv ) d

I ω mk 2ω k 2ω
d= = d= 
mv mv v

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1805
 PROBLEM 17.66

Show that, when a rigid slab rotates about a fixed axis through O perpendicular
to the slab, the system of the momenta of its particles is equivalent to a single
vector of magnitude mr ω , perpendicular to the line OG, and applied to a
Point P on this line, called the center of percussion, at a distance GP = k 2/ r
from the mass center of the slab.

SOLUTION

Kinematics. Point O is fixed. v = rω

System momenta.
Components parallel to mv : X = mv = mr ω X = mr ω 

Moments about G: (GP ) X = I ω

k2
(GP ) m r ω = mk 2ω (GP ) = 
r

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1806
PROBLEM 17.67

Show that the sum HA of the moments about a Point A of the momenta of the particles of a rigid slab in plane
motion is equal to IAω , where ω is the angular velocity of the slab at the instant considered and IA the
moment of inertia of the slab about A, if and only if one of the following conditions is satisfied: (a) A is
the mass center of the slab, (b) A is the instantaneous center of rotation, (c) the velocity of A is directed along
a line joining Point A and the mass center G.

SOLUTION
Kinematics.
Let ω = ωk
and rG/ A = rG/ A θ

Then, vG/ A = ω × rG/ A = (ω rG/ A ) β

where β = θ + 90°
Also v = vA + vG/ A

Define h = rG/ A × vG/ A

h = (rG/ A )(vG/ A )k = (rG/ A )2 ωk = (rG/ A ) 2 ω

System momenta. Moments about A:

H A = rG/ A × mv + Iω
= rG/ A × m( vA + vG/ A ) + I ω
= rG/ A × mvA + mrG/ A × vG/ A + Iω
= rG/ A × mvA + mh + Iω
= rG/ A × mvA + mrG2/ Aω + Iω
= rG/ A × mvA + (m rG2/ A + I ) ω

The first term on the right hand side is equal to zero if

(a) rG/ A = 0 (A is the mass center)

or (b) vA = 0 (A is the instantaneous center of rotation)

or (c) rG/ A is perpendicular to vA .

In the second term, mrG2/ A + I = I A by the parallel axis theorem.

Thus, H A = I Aω
when one or more of the conditions (a), (b) or (c) is satisfied.

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1807
 PROBLEM 17.68

Consider a rigid slab initially at rest and subjected to an impulsive force F

contained in the plane of the slab. We define the center of percussion P as the
point of intersection of the line of action of F with the perpendicular drawn from G.
(a) Show that the instantaneous center of rotation C of the slab is located on line GP
at a distance GC = k 2/GP on the opposite side of G. (b) Show that if the center
of percussion were located at C the instantaneous center of rotation would be
located at P.

SOLUTION
(a) Locate the instantaneous center C corresponding to center of percussion P. Let d P = GP.

Syst. Momenta1 + Syst. Ext. Imp. 1→2 = Syst. Momenta 2

Components parallel to FΔt : 0 + F Δt = mv

Moments about G: 0 + d P ( F Δt ) = I ω

v I
Eliminate F Δt to obtain =
ω md P
k2
=
dP

v k2 k2
Kinematics. Locate Point C. GC = dC = = GC = 
ω dP GP
(b) Place the center of percussion at P′ = C. Locate the corresponding instantaneous center C ′. Let
d P′ = GP′ = GC = dC .

Syst. Momenta1 + Syst. Ext. Imp. 1→ 2 = Syst. Momenta 2

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1808
 PROBLEM 17.68 (Continued)

Components parallel to FΔt : 0 + F Δt = mv′

Moments about G: 0 + d P′ ( F Δt ) = I ω ′

v′ I k2
Eliminate F Δt to obtain = =
ω ′ md P′ d P′

v′ k 2 k 2
Kinematics. Locate Point C ′. GC ′ = dC ′ = = =
ω ′ d P′ d C

k2
Using dC = d P′ = gives dC ′ = d P or GC ′ = GP 
dP
Thus Point C ′ coincides with Point P.

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1809
 PROBLEM 17.69

A flywheel is rigidly attached to a 1.5-in.-radius shaft that rolls without sliding

along parallel rails. Knowing that after being released from rest the system
attains a speed of 6 in./s in 30 s, determine the centroidal radius of gyration of
the system.

SOLUTION

Kinematics. Rolling motion. Instantaneous center at C.

v = vG = rω

Moment of inertia. I = mk 2
Kinetics.

Syst. Momenta1 + Syst. Ext. Imp. 1→2 = Syst. Momenta 2

Moments about C: 0 + (mgt )r sin β = mvr + I ω

 k2 
mgtr sin β = m  r + v
 r 

 gt sin β 
Solving for k 2, k 2 = r2  − 1
 v 
Data: r = 1.5 in. = 0.125 ft
g = 32.2 ft/s
t = 30 s
v = 6 in./s = 0.5 ft/s

 (32.2)(30) sin15° 
k 2 = (0.125)2  − 1
 0.5 
= 7.7974 ft 2 k = 2.79 ft 

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1810
 PROBLEM 17.70
A wheel of radius r and centroidal radius of gyration k is released from rest on
the incline shown at time t = 0. Assuming that the wheel rolls without sliding,
determine (a) the velocity of its center at time t, (b) the coefficient of static
friction required to prevent slipping.

SOLUTION
Kinematics. Rolling motion. Instantaneous center at C.
v = vG = rω
v
ω=
r

Moment of inertia. I = mk 2
Kinetics.

Syst. Momenta1 + Syst. Ext. Imp. 1→ 2 = Syst. Momenta 2

moments about C: 0 + (mgt )r sin β = mvr + I ω

mk 2 v
(mgr sin β )t = mrv +
r
r 2 gt sin β
(a) Velocity of Point G. v= β 
r2 + k 2
components parallel to incline:
0 + mgt sin β − Ft = mv
mr 2 gt sin β
Ft = mgt sin β −
r2 + k2
k 2 mgt sin β
=
r2 + k 2

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1811
 PROBLEM 17.70 (Continued)

components normal to incline:

0 + Nt − mgt cos β = 0
Nt = mgt cos β
(b) Required coefficient of static friction.
F
μs ≥
N
Ft
=
Nt
k 2 mgt sin β k 2 tan β
= μs ≥ 
(r + k 2 )mgt cos β
2
r2 + k 2

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1812