1 2

Problem No. 1
Given: A particle P is traveling in the xy-plane on a path given by:
xy = 6 ; x and y are given in ft
and in such a way that the x-component of the velocity is a constant 20 ft/sec.

Find: At position of x = 2 feet:

a) determine the Cartesian components of the velocity and acceleration of
P.
b) make an accurate sketch of the velocity and acceleration vectors found
in a) as well as the path unit vectors e t and e n on the figure provided
below.
c) determine the rate of change of speed and the radius of curvature for the
path of P.
d) is the speed of P increasing or decreasing? Provide an explanation for
Sample Exam Questions your response.
Full-Length Problems
y

ME 274 P

Answer:
( )
v P = 20 i ! 30 j ft / sec

( )
a P = 600 j ft / sec 2
 3 4
Problem No. 2
Given: Blocks A and B are connected by a cable that has a length of L = 10 meters
with the cable being pulled over a pulley at C. Block A is constrained to move
along a guide in such a way that the its acceleration is a function of the
position sA as:
aA = 0.3 sA2 (meters/sec2)
with the speed of A being zero when sA = 0. Block B is constrained to move
along a surface that is perpendicular to the guide for A. Assume that the cable
does not stretch or go slack during the motion of the system. Also assume that
the pulley C is small compared to the other dimensions of the problem.
Problem No. 3
Given: A particle P travels on a circular path with a constant speed of v = 20
m/sec. A observer at point O watches the motion of P in terms of the
radial distance r and rotation angle of !. At the position shown ! =
36.87° and P is directly above the circle’s center C
Find: For the position of P shown:
a) draw the path and polar unit vectors for P.
b) determine numerical values for r˙ and !˙ .
c) determine numerical values for ˙r˙ and !˙˙ .

Find: When sA = 4 meters,

v P
a) find the speed of block A.
b) find the speed of block B. r

! C

Answers: O
A 3m
vA = 3.58 m / sec
SB
vB = 2.86 m / sec

cable SA

3 meters
 5 6
Problem No. 4
Given: Bar BC is pinned to ground at pin C and is pinned to bar AB at pin B. Pin A at
the left end of bar AB is constrained to move within a circular slot having a
radius of 2 meters and center at point O. Pin A is known to be traveling with a
constant speed of 12 meters/sec. At the instant shown, bar BC is vertical, AB
is horizontal and point A is on the same horizontal line as point O.
Find: At the position shown:
a) determine the angular velocity of bars AB and BC.
b) determine the angular acceleration of bars AB and BC.
Express your answers as vectors.
Problem No. 5
Given: A disk having a radius of r = 1.5 ft is rolling without slipping on a rough
horizontal surface to the right with its center O moving at a CONSTANT
speed of vO = 20 ft / sec . A rigid bar AB having a length of 4 ft is attached to
point A on the circumference of the disk. The other end of AB is attached a
second rigid bar, BD (having a length of 3 ft), at pin B with point D pinned to
ground. At the position shown, bar AB has a horizontal orientation, bar BD
has a vertical orientation and point A is on the same horizontal line as point O.
Find: At the position shown,
a) find the angular velocities of bars AB and BD.
b) find the angular accelerations of bars AB and BD.

vA
c) show (or describe in words) the location of the instant center for
link AB.

2m
A 3m B

1m B A O vO

C
slot 1.5 ft
no slip
3 ft
Answers: C
! AB = 0 D
( )
! BC = 120k rad / sec 2

Answers:
! BD = 122.2 rad / sec 2 (CW )
! AB = 33.3rad / sec 2 (CCW )
 7 8
Problem No. 6
Given: A particle P is constrained to move along a circular guide of radius r = 0.5
meters, as shown in the figure below. This guide is attached to a square plate
(having dimensions of 2r x 2r) with the plate rotating CW about a vertical
shaft passing through the plate’s center O with a constant rate of " = 4
rad/sec. The speed of P relative to the guide is known to be a constant u = 10
m/sec.
Find: Determine the acceleration of P when it reaches point A on the guide. Express
your answer in vector form.
HINT: In solving this problem, use an observer that is attached to the rotating plate.
y
Problem No. 7
Given: Arm AB is pinned to ground at pin A and is rotating CW at a rate of 4 rad/sec.
Pin P is constrained to slide in a slot that is cut into arm AB. Pin P is also
attached to the outer circumference of a wheel that rolls without slipping on a
horizontal surface. At the instant shown, arm AB is horizontal, P is at an
angular position that is 36.87° from the vertical and the distance from A to P
is 3 feet, all as shown in the figure below.
Find: At the position shown:
a) determine the angular velocity of the wheel.
b) determine the velocity of pin P as seen by an observer riding along on
bar AB.
Express your answers as vectors in terms of components xy, where the xy
coordinate system is attached to bar AB as shown below.

A
r

P u
O
circular guide
attached to rotating
plate x

"

TOP VIEW
Answer:
( )
! w = 13.33k rad / sec
 9 10
Problem No. 8
Given: An L-shaped arm AO rotates about a fixed vertical axis with a constant
rate of ! = 5 rad /sec . Particle P slides on a straight bar OB which is
pinned to OA at O. Bar OB is raised at a constant rate of !˙ = 3 rad /sec .
When ! = 90° (position shown below right), it is known that
R = 2 meters , R˙ = 4 m /sec and R ˙˙ = !2.5 m /sec 2 . An observer is
attached to arm OB along with coordinate axes xyz. Coordinate axes
XYZ are fixed.
Find: For the position with ! = 90° , find the acceleration of particle P.
x
Problem No. 9
Particles A and B (having masses of 4 kg and 8 kg, respectively) are constrained to move
on a smooth horizontal surface. Particle A moves directly to the right with a speed of
vA1 = 20 m / sec when it strikes the stationary particle B. After impact, A is known to
move in a direction that is parallel to the contact surface with B. Assume that the contact
surface of A and B during impact is smooth.
Determine
a) the speed of A and B after impact.
b) the coefficient of restitution, e, for the impact of A and B.

B
x P
Y Y
y R B
P R
!
!
O X y O X
0.5 m

" "
A A

Answer:
Answer:
a P = "# !20.5i + 36.5 j + 60k $% m / sec 2
e = 0.5
 11 12
Problem No. 10 Problem No. 11

Particle P, having a mass of 40 kg, slides along a rough circular path with a radius of 2
meters. A constant vertical force F = 300 newtons acts in the downward direction on P.
At the instant shown, the P has a speed of 15 m/sec in the direction shown and has an
acceleration pointing horizontally to the right. At the position shown, find
i) the normal force acting on P by the circular path, and
ii) the friction force acting on P.
v answer as a vector.
g
Particle A is rigidly attached to bar OA (having a length of 3 meters), with OA being
pinned to ground at point O such that OA moves in a HORIZONTAL plane. A second
particle B is able to slide without friction on OA, and is attached to A with a spring
having a stiffness of k = 500 N/m and an unstretched length of 1.5 meters. Particles A
and B each have a mass of 10 kg, and bar OA has a mass that is negligible compared to A
and B. At the instant shown, bar OA is rotating CW with a speed of !1 = 20 rad / sec ,
particle B is not moving relative to bar OA and the spring is unstretched.
Find the velocity of particle B after it has moved 1 meters outward on the bar. Write your
HINT: Use both the work-energy equation and the angular impulse-momentum
equation in your solution.

P
30°
2 meters
a

F
Answer:

f = 7448 newtons

( )
v B2 = 33.6 u R + 36.8 u ! m / sec
 13 14
Problem No. 13
Problem No. 12
Given: An inextensible cord connects particle B (having a mass of 30 kg) to
Pellet P having a mass of m = 10 kg is pushed through a barrel (having negligible mass)
ground with the cord being pulled over smooth pulleys at D and C.
by means of compressed air such that the force on the pellet by the compressed air is a
Pulley D is connected to particle A (having a mass of 10 kg). The
constant F = 900 newtons. The barrel is constrained to move in a HORIZONTAL plane coefficients of static friction between A and ground and between B and
by rotating about point O. The system is released with R = 1.5 meters, !˙ = 10 rad/sec ground are identical, µk = 0.3 . Initially B is moving down the incline
(CCW) and with the pellet stationary with respect to the barrel. with a speed of 5 m/sec.

When the pellet is at a position with R = 2 meters, Find:

a) Determine the work done on A and B by friction after B has moved 4
a) find the angular velocity of the barrel (using the angular impulse-momentum meters down the incline.
equation). b) Find the speed of B after it has traveled 4 meters down the incline.
b) find the velocity of the pellet (using the results from a) and the work-energy
equation).
D C
A
Write your answers as vectors. Include an accurate free body diagram of the pellet and a
sketch of the coordinate axes used in determining your solution.
E B

36.87°

P F
Answer:
vB2 = 7.20 m / sec

R smooth

HORIZONTAL PLANE
 15 16
Problem No. 15
Problem No. 14 Given: The motion of a thin, homogeneous bar having a mass of m =30 kg and
Given: A billiard ball having a mass of m = 0.3 kg strikes a bumper at A with a length L = 2 meters is constrained such that ends A and B move along
speed of v 0 = 10 m /sec at an angle of ! = 53.13°. Following this, the ball two smooth guides. The bar is released from rest at Position 1 shown
strikes a second bumper at B. The coefficients of restitution between below. Ignore the mass of the rollers at A and B.
the ball and bumpers at A and B are known to be 0.5 and 0.3, Find:
respectively. a) Draw a free body diagram (FBD) of the bar.
b) Determine which forces in the FBD not included in the potential
Assume that the ball moves on a horizontal plane at all times and that energy do work.
all surfaces are smooth. c) Find the velocity of the center of mass when the bar is in Position
2 shown below where the bar is horizontal. Write your answer as
Find: a vector.
smooth
a) Determine the rebound angle # of the ball after its impact with
bumper B. A
b) Determine the speed of the ball v f after its impact with bumper Position 1
B.
L
B
smooth 36.87° 53.13°
#
vf
v0
B
Position 2
$ e = 0.3
B A
53.13°
A
Answers: e = 0.6
! = 13.5°
v f = 4.93 m / sec
 17 18
Problem No. 16 Problem No. 17
A thin homogeneous bar of length L = 2 meters and mass m = 40 kg is pinned to ground
Given: A thin, homogeneous bar AB (having a length of 3 meters and a mass at point O. A spring having an unstretched length of 2.5 meters and stiffness of K = 1000
of 100 kg) is suspended by a cable BC that has a length of 2 meters and
N/m is attached between end A and pin B. A homogeneous disk with a mass of M = 120
has negligible mass. End A of the bar is constrained to move along a
kg and radius R = 0.8 meters is PINNED to end A of the bar. The disk rolls without
smooth inclined plane. A force F acts a parallel to the incline in such a
way that the speed of A is v A = 15 m /sec = constant. At the instant slipping on the inside of a circular surface. The system is released from rest with ! = 0°.
shown bar AB is horizontal and cable BC is vertical.
Find the angular velocity of the bar when ! = 90°.
Find: For the position shown:
a) Using kinematics, find the acceleration of the bar’s center of mass You need to include an appropriate FBD for the system used as well as an indication of
G and the angular acceleration of the bar. Express your answers the DATUM line(s) used in your analysis.
as vectors.
b) Find the force F and the tension in cable BC.

O
C g !
2m F no slip

3m A
g K
B R
G vA A
53.13°

T = 1840 newtons
F = ! 1588 newtons
 19
Problem No. 18
Given: Homogeneous, thin bar AB (having a length of L = 3 meters and a
mass of m = 50 kg) is released from rest at a horizontal orientation with
end B in contact with a smooth, inclined surface.
Find: Determine the angular acceleration of the bar immediately after
release. Write your answer as a vector.
20
Problem No. 19
Given: A spring of stiffness k and unstretched length L0 is attached between
fixed point A and the center O of a homogeneous disk (disk has a mass
of m and outer radius of r). At position 1, when the disk is at rest, a
constant force F is applied to the right at O. Between positions 1 and 2
the disk rolls without slipping, and between positions 2 and 3 the surface
on which the disk moves is smooth.

A L Find:
B
a) Determine the velocity of point O at position 2.
b) Determine the velocity of point O at position 3.

smooth Use the following parameter values in your calculations: k = 7000N /m ,

L0 = 0.5 m , m = 100kg , r = 0.1m and F = 800 N .
36.87°=!

( )
! = 4.30 k rad / sec 2 A

0.3 m

r
F
O O O

0.4 m 0.4 m
1 NO SLIP 2 SMOOTH 3

vO3 = 5.40m / sec

 21 22
Problem No. 20
Given: A homogeneous drum (having a mass of m = 50 kg, outer radius of R = 0.5 Problem No. 21
meters and centroidal radius of gyration of kO = 0.4 meters) is pinned to block Given: A thin, homogeneous bar of length L = 2 meters and mass m = 40 kg is
B (having a mass of M =150 kg) at O. The drum and block are suspended by a released from rest at an angle ! = 36.87° from a smooth horizontal surface, as
cable and spring (of stiffness K = 1000 N/meter) as shown in the figure below. shown.
This system is released from rest with the spring being stretched by an amount
of 0.2 meters. Find: Determine the acceleration of the center of mass G of the bar on release.
Assume that the cable does not slip on the drum and that the bearing at O is Write your answer as a vector.
smooth.

Find: Find the SPEED of block B after it has dropped 0.1 meters. m L
( )
aG = !6.45 m / sec 2 j
G
vB = 1.083 m / sec
g
R
K !
smooth

m A
C A
O
M
B
 23 24
Problem No. 22 Problem No. 23
Given: A stepped drum has a mass of m, inner radius r, outer radius 2r and centroidal
radius of gyration of kO. A cable wrapped around the inner radius of the drum Given: A sinusoidal forcing f ( t ) = f 0 sin !t acts on particle A of the spring-
is connected to block D, also having a mass of m. A second cable is wrapped mass system shown below.
around the outer radius and connected to a spring of stiffness K, as shown in x
the figure below. Let ! represent the rotation of the drum as measured from
f(t)
the position for which the spring is unstretched. A

Find: For this system: m

a) Determine the differential equation of motion in terms of the coordinate !. 5k k

b) Determine the natural frequency of free vibrations. Leave answer in terms Find:
of m, r, kO and K. a) Draw a free body diagram of particle A and derive the differential
equation of motion for the system.
m b) Derive the particular solution x p ( t ) of the equation of motion
K found in a) above.
!n = 2 A B c) Determine the amplitude of response for x p ( t ) corresponding to:
"1 + ( k / r )2 $ m ! O
# O % k = 10,000 N /m , m = 600 kg , f 0 = 300 N and ! = 15 rad /sec .
+
d) Make a sketch of x p ( t ) on the axes provided below. Be careful in
K indicating the phase of x p ( t ) relative to f ( t ) in your plot.
D
X = ! 4 mm
 25 26
Problem No. 24
Given: A homogeneous disk having an outer radius of R and mass m rolls
without slipping on a horizontal surface. A spring of stiffness k
connects the disk center O to a moving support A, and a second spring
of stiffness 4k connects O to a second moving support B. Both supports
A and B have the same prescribed motion of y ( t ) = y 0 sin!t . Let x
describe the motion of point O.

Find: For this problem:

a) Draw a free body diagram (FBD) for the disk.
b) From your FBD above, derive the differential equation of motion
for the disk.
c) Based on your equation of motion in b), what is the natural
frequency for this system? Use m = 10 kg and k = 300 N/m.
d) DERIVE the particular solution x P ( t ) of the equation of motion in
b) using the parameters in c) and y 0 = 0.05 meters and
! = 15 rad /sec .
e) Make a sketch of x P ( t ) . Carefully indicate the amplitude, period
and phase of this response.
y(t) x y(t)

k 4k
A O B

no slip R

x P (t) = ! 0.04 sin 15t

 27 28
Problem No. 1
A polar description with variables r and ! (shown below) is used to describe the
kinematics of point P. For a position with r = 2 meters and ! = 0.5 radians, the following
information is known about the time derivatives of r and !:
r˙ = 8 m /sec
!˙ = "3 rad /sec
˙r˙ = !˙˙ = 0

For this position, determine the rate of change of speed of P. Is the speed increasing,
decreasing or constant? Justify your response. You should include sketches of the
velocity and acceleration vectors of P in the figure below.

Sample Exam Questions

Short Answer Problems

ME 274 P
r
!

O
 29 30
Problem No. 3
Problem No. 2 Point P moves on a path described by y P = x P2 /2 with x P ( t ) = 3 sin !t . These coordinates
Blocks B and C are connected by a single inextensible cable, with this cable being have units of meters with t being given in seconds. Determine the acceleration of P at t =
wrapped around pulleys at D and E. In addition, the cable is wrapped around a pulley 0. Write your answer as a vector.
attached to block A as shown. Assume the radii of the pulleys to be small.
y
Blocks B and C move downward with speeds of vB = 6 ft/sec and vC = 18 ft/sec,
respectively. Determine the velocity of block A when sA = 4 ft,
P
yP

3 ft 3 ft
x
D E O xP

sA
sC

C sB

A
vC
B

vB
 31 32
Problem No. 5
Problem No. 4 Link AB of the mechanism shown below is rotating counterclockwise at the
The inner surface of a stepped drum (having inner and outer radii of R and 2R, configuration shown where AB and DE are vertical and BD is horizontal. At this
respectively) rolls without slipping on a horizontal surface. The center of the drum moves configuration:
to the left with a constant speed of vO, as shown below. Points A and B lie on the inner a) link BD is rotating counterclockwise.
and outer surfaces, respectively, of the drum. At the instant shown, A is directly to the b) link BD has zero angular speed at this instant.
right of O, and B is directly below O.
c) link BD is rotating clockwise.
For this position,
a) draw the velocity vectors for points A and B in the figure.
b) draw the acceleration vectors for points A and B in the figure. B D

You are not required to show any work for this problem. However, without supporting
calculations or descriptions, no partial credit can be given.
E

2R

vO
A
O
R no slip

B
 33 34
Problem No. 6 Problem No. 7
A particle P of mass m traveling on a horizontal surface strikes a smooth wall Sphere A, having a mass of M, initially moves to the right with a speed of vA1. Sphere A
with a speed of v1 at an angle of !. The coefficient of restitution between the wall then strikes sphere B, having a mass of 2M, which is initially at rest. Sphere A has zero
and the particle is 0 < e < 1. Circle the answer below that most closely describes velocity after impacting B. What is the coefficient of restitution between A and B?
the angle # at which the ball rebounds from the wall:
a) ! < "
d) ! = "
vA1
e) ! > " y
! $
f) ! = 0
g) ! = 90° P
A B
v2 (initially moving to right) (initially stationary)
v1
 35 36
Problem No. 8 Problem No. 9
A particle moving in a horizontal plane approaches a wall with a speed of 10 ft/sec at the A thin bar of length L and mass m is pinned to ground at A. Circle the point
direction shown. After impact the particle leaves the wall with a speed of 7.5 ft/sec at the listed below that corresponds to the smallest mass moment of inertia:
direction shown. The coefficient of restitution for this impact is: a) Pinned end A
a) e = 0.375 36.87 y b) Center of mass G
° c) Center of percussion B A
b) e = 0.75
7.5 ft/sec
d) Free end D
c) e = 0.5625
d) e = 1.0 53.13 x
°
G
10 ft/sec

D
 37 38
Problem No. 10 Problem No. 12
A homogeneous disk of mass m rolls without slipping with its center moving to A rope is wrapped around a homogeneous disk having an outer radius of R and
the right at a constant speed of vO on a horizontal surface. Circle the answer below mass m. A force F acts on the right end of the rope. The center of the disk is
that most accurately describes the friction force acting on the disk by the known to have a downward acceleration. Assume that the rope does not slip on
horizontal surface on which it rolls. the disk. Circle the answer below which most accurately describes the tension in
a) The friction force acts to the right. the rope:
a) The tension in section AB is smaller
b) The friction force acts to the left. C
than the tension in section CD.
c) The friction force is zero. O b) The tension in section AB is equal to
vO F
d) The direction of the friction force the tension in section CD.
cannot be determined without no slip c) The tension in section AB is larger than
knowing the coefficient of friction. the tension in section CD.
A
d) Cannot answer question without
knowing the radius R of the disk.
g
D B
Problem No. 11 R
A homogeneous disk of mass m is acted upon by a torque T at its center O.
Assume that the disk rolls without slipping on a horizontal surface. Circle the
answer below that most accurately describes the friction force acting on the disk
by the horizontal surface on which it rolls:
a) The friction force acts to the right.
b) The friction force acts to the left. T
c) The friction force is zero.
d) The direction of the friction force no slip
O
cannot be determined without
knowing the coefficient of friction.
 39 40
Problem No. 13 Problem No. 14
A force F acts on the end of a cable that is wrapped around pulley B. As a result, A solid, homogeneous disk of mass M and outer radius R is released from rest on a rough
block A is being lifted; however, the speed of A is decreasing. The mass of the pulley
surface that is inclined at an angle of ! from the horizontal, as shown in Figure (a) below.
is NOT negligible. Assume that the cable does not slip on the pulley.
a) The tension in section C of the cable is larger than the tension in section D A thin ring, also having a mass of M and outer radius of R is released from rest on a
of the cable. rough surface that is inclined at an angle of ! from the horizontal, as shown in Figure (b)
b) The tension in section C of the cable is smaller than the tension in section D below. Both the solid disk and the thin ring roll without slipping on the inclined surface.
of the cable. Circle the answer below that most accurately describes the translational speeds of the
c) The tension in section C of the cable is the same as the tension in section D centroids of the disk and ring after each has dropped an elevation of h:
of the cable.
1. The disk is traveling faster than the ring.
F B (non-ideal 2. The ring is traveling faster than the disk.
C pulley)
3. Both are traveling at the same speed.
D 4. Not enough information provided to answer question.

Provide a justification of your answer using the work-energy equation.

A
aA
vA solid, homogenous thin ring of mass M
disk of mass M

no slip no slip
h

! !

Figure (a) Figure (b)

 41 42
Problem No. 15
The mass moments of inertia for three points A, B and D on a rigid body are given Problem No. 16
below: A homogeneous block slides to the left on a horizontal, rough surface. Circle the
2 answer below which most accurately describes the location of the normal force on
IA = 20 kg-m
the block due to the ground as the block slides:
2
IB = 50 kg-m
1. The normal force acts at a point that lies to the left of G.
2
ID = 30 kg-m
2. The normal force acts at a point that lies to the right of G.
where A, B and D are three arbitrary points lying on the body. The mass of the body is
known to be 15 kg. Which of these three points (A, B or D) is physically closest to the 3. The normal force acts directly under G.
center of mass of the rigid body? 4. Not enough information to determine the location of the normal force
relative to G.
Provide a justification of your answer using the parallel axis theorem.
G is the center of mass of the block.

Provide a justification of your answer based on an FBD of the block and the Newton-
Euler equations.
A

sliding to the left

D
B

G
 43
Problem No. 17
Consider points A, B and G on a rigid body where G is the body’s center of mass with A
and B being arbitrary points with known distances from G. Circle the correct answer
below related to the relative sizes of the mass of moment of inertia of the body about
these three points.
a) The mass moment of inertia for point A is the largest of that for these three points.
b) The mass moment of inertia for point B is the largest of that for these three points.
c) The mass moment of inertia for point G is the largest of that for these three points.
d) The mass moments of inertia for all three points are the same.
44
Problem No. 18
A block of mass m is released from rest on a smooth incline, as shown in Figure I. A
sphere of the same mass m is released from rest on an incline at the same angle with the
sphere able to roll without slipping on the incline, as shown in Figure II. At a second
position, both the block and sphere have traveled a distance d down their inclines. At this
position,
a) the block is traveling faster than the sphere.
b) the sphere is traveling faster than the block.
c) the block and sphere are traveling with the same speed.

A d
1 ft d m m
G no slip
smooth
0.3 ft

B ! !
Part (ii)

FIGURE I FIGURE II
 45 46
Problem No. 19
A REARWHEEL drive automobile is experiencing a forward acceleration on a Problem No. 20
horizontal roadway. Circle the figure below that correctly shows the direction of the A force F acts at the end of a cable that is wrapped around an inner radius of a
friction forces between the tires and the roadway. spool. The outer radius of the spool is able to roll without slipping on a horizontal
surface. The figure shown below has been drawn to scale.
a) The center of the spool O will accelerate to the left as a result of force F.
acceleration acceleration b) The center of the spool O will accelerate to the right as a result of force F.
c) The center of the spool O will not move as a result of force F.
front rear front rear
F

O
friction friction friction friction
no slip

acceleration acceleration
C
front rear front rear

friction friction friction friction

 47 48
Problem No. 21
Consider the spring-mass system shown below where the stiffness parameter k is in N/m
and the mass m is in kg. The natural frequency for this system is given by:
a) p = 4k /m rad /sec
b) p = 6k /m rad /sec
c) p = 2! 4k /m rad /sec
d) p = k /m rad /sec

3k
k
m
2k