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1 All figures taken from Vector Mechanics for Engineers: Dynamics, Beer and Johnston, 2004 ENGR 214 Chapter 16 Plane Motion of Rigid Bodies: Forces & Accelerations

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2 Equations of Motion for a Rigid Body Equations of motion: remember: = angular momentum about G = mass moment of inertia about G

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3 Plane Motion of a Rigid Body Motion of a rigid body in plane motion is completely defined by the resultant & moment resultant of the external forces about G. Free-body diagram

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4 Sample Problem 16.1 At a forward speed of 30 ft/s, the truck brakes were applied, causing the wheels to stop rotating. It was observed that the truck skidded to a stop in 20 ft. Determine the magnitude of the normal reaction and the friction force at each wheel as the truck skidded to a stop.

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5 Sample Problem 16.1 Free-body diagram: But Unknowns:

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6 Sample Problem 16.2 The thin plate of mass 8 kg is held in place as shown. Neglecting the mass of the links, determine immediately after the wire has been cut (a) the acceleration of the plate, and (b) the force in each link.

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7 Sample Problem 16.2 Solving: tensile compressive

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8 Sample Problem 16.3 (SI units) A pulley weighing 5.44 kg and having a radius of gyration of m is connected to two blocks as shown. Assuming no axle friction, determine the angular acceleration of the pulley and the acceleration of each block cm cm kg kg

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9 Sample Problem 16.3 note: For the entire system: 25.4 cm cm kg kg kg kg 5.44 kg

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10 Sample Problem 16.3 Obtain the tension in the chord

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11 Sample Problem 16.4 A cord is wrapped around a homogeneous disk of mass 15 kg. The cord is pulled upwards with a force T = 180 N. Determine: (a) the acceleration of the center of the disk, (b) the angular acceleration of the disk, and (c) the acceleration of the cord.

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12 Sample Problem

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13 Sample Problem 16.4

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14 Sample Problem 16.5 A uniform sphere of mass m and radius r is projected along a rough horizontal surface with a linear velocity v 0. The coefficient of kinetic friction between the sphere and the surface is k. Determine: (a) the time t 1 at which the sphere will start rolling without sliding, and (b) the linear and angular velocities of the sphere at time t 1. SOLUTION: Draw the free-body-diagram equation expressing the equivalence of the external and effective forces on the sphere. Solve the three corresponding scalar equilibrium equations for the normal reaction from the surface and the linear and angular accelerations of the sphere. Apply the kinematic relations for uniformly accelerated motion to determine the time at which the tangential velocity of the sphere at the surface is zero, i.e., when the sphere stops sliding.

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15 Sample Problem 16.5 SOLUTION: Draw the free-body-diagram equation expressing the equivalence of external and effective forces on the sphere. Solve the three scalar equilibrium equations. NOTE: As long as the sphere both rotates and slides, its linear and angular motions are uniformly accelerated.

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16 Sample Problem 16.5 Apply the kinematic relations for uniformly accelerated motion to determine the time at which the tangential velocity of the sphere at the surface is zero, i.e., when the sphere stops sliding. At the instant t 1 when the sphere stops sliding,

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17 Constrained Plane Motion Motions with definite relations between acceleration components

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18 Constrained Motion: Noncentroidal Rotation Rotation of a body about an axis that does not pass through its mass center

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19 Frictional Rolling Problems Wheels, cylinders or spheres rolling on rough surfaces P W N F G r x y Unknowns:

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20 Rolling Motion For rolling without sliding: For rolling with no sliding: For rolling with impending sliding: For rolling and sliding: are independent Geometric center of an unbalanced disk: Acceleration of the mass center:

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Rolling Friction

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Rolling an object on a soft surface (grass or sand) requires more effort than rolling it on a hard surface (concrete) No sliding in either case No object is truly rigid Rolling causes continuous deformation of both surfaces giving rise to internal friction Coefficient of rolling resistance Steel on steel: Tire on concrete: 0.01 – 0.015

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23 Sample Problem 16.6 The portion AOB of the mechanism is actuated by gear D and at the instant shown has a clockwise angular velocity of 8 rad/s and a counterclockwise angular acceleration of 40 rad/s 2. Determine: a) tangential force exerted by gear D, and b) components of the reaction at shaft O.

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24 Sample Problem 16.6

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25 Sample Problem 16.7 If pin B is suddenly removed, find the angular acceleration of the plate and the pin reactions. Very similar to sample problem 16.2, please read on your own.

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26 Sample Problem 16.8 A sphere of weight W is released with no initial velocity and rolls without slipping on the incline. Determine: a) the minimum value of the coefficient of friction, b) the velocity of G after the sphere has rolled 10 ft and c) the velocity of G if the sphere were to move 10 ft down a frictionless incline.

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27 Sample Problem 16.8 For rolling: But For a sphere:

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28 Sample Problem 16.8 (uniform) For no friction, no rolling (pure sliding)

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29 Sample Problem 16.9 A cord is wrapped around the inner hub of a wheel and pulled horizontally with a force of 200 N. The wheel has a mass of 50 kg and a radius of gyration of 70 mm. Knowing s = 0.20 and k = 0.15, determine the acceleration of G and the angular acceleration of the wheel.

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30 Sample Problem 16.9 If we assume pure rolling: Do we have pure rolling or rolling + sliding?

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31 Sample Problem 16.9 Without slipping, Compare the required tangential reaction to the maximum possible friction force. F > F max, rolling without slipping is impossible. Calculate the friction force with slipping and solve the equations for linear and angular accelerations.

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32 Sample Problem The extremities of a 4-ft rod weighing 50 lb can move freely and with no friction along two straight tracks. The rod is released with no velocity from the position shown. Determine: a) the angular acceleration of the rod, and b) the reactions at A and B. SOLUTION: Based on the kinematics of the constrained motion, express the accelerations of A, B, and G in terms of the angular acceleration. Draw the free-body-equation for the rod, expressing the equivalence of the external and effective forces. Solve the three corresponding scalar equations for the angular acceleration and the reactions at A and B.

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33 Sample Problem SOLUTION: Based on the kinematics of the constrained motion, express the accelerations of A, B, and G in terms of the angular acceleration. Express the acceleration of B as Withthe corresponding vector triangle and the law of signs yields The acceleration of G is now obtained from Resolving into x and y components,

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34 Sample Problem Draw the free-body-equation for the rod, expressing the equivalence of the external and effective forces. Solve the three corresponding scalar equations for the angular acceleration and the reactions at A and B. 45 o

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