100% found this document useful (1 vote)

3K views320 pages

Engineering Mechanics 1st Edition Plesha Solution Manual (PDFDrive)

Uploaded by

NGET Senghuoch

We take content rights seriously. If you suspect this is your content, claim it here.

Available Formats

Download as PDF, TXT or read online on Scribd

100% found this document useful (1 vote)

3K views320 pages

Engineering Mechanics 1st Edition Plesha Solution Manual (PDFDrive)

Uploaded by

NGET Senghuoch

We take content rights seriously. If you suspect this is your content, claim it here.

Available Formats

Download as PDF, TXT or read online on Scribd

You are on page 1/ 320

Solutions Manual

Engineering Mechanics: Dynamics

1st Edition

Gary L. Gray
The Pennsylvania State University

Francesco Costanzo
The Pennsylvania State University

Michael E. Plesha
University of Wisconsin–Madison

With the assistance of:

Chris Punshon
Andrew J. Miller
Justin High
Chris O’Brien
Chandan Kumar
Joseph Wyne

Version: November 2, 2009

The McGraw-Hill Companies, Inc.

This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It
may be used and/or possessed only by permission of McGraw-Hill, and must be surrendered upon
request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without
the permission of McGraw-Hill, is prohibited.
Dynamics 1e 3

Important Information about

this Solutions Manual
Even though this solutions manual is nearly complete, we encourage you to visit

http://www.mhhe.com/pgc

often to obtain the most up-to-date version. In particular, as of September 11, 2009, please note the following:

_ The solutions for Chapters 1, 2, 5, 8, and 9 have been accuracy checked and are in their final form.

_ The solutions for Chapters 3, 4, and 7 have been accuracy checked and should be error free. We will be
adding some additional detail to these solutions in the coming weeks.

_ The solutions for Chapter 6 have been accuracy checked through Section 6.3 and most of 6.4. This
chapter should be complete by November 15.

_ The solutions for Chapter 10 are a work in progress. The solutions for the first 29 problems in the
chapter are complete.

Contact the Authors

If you find any errors and/or have questions concerning a solution, please do not hesitate to contact the
authors and editors via email at:

[email protected]

We welcome your input.

This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
4 Solutions Manual

Accuracy of Numbers in Calculations

Throughout this solutions manual, we will generally assume that the data given for problems is accurate to
3 significant digits. When calculations are performed, all intermediate numerical results are reported to 4
significant digits. Final answers are usually reported with 3 significant digits. If you verify the calculations in
this solutions manual using the rounded intermediate numerical results that are reported, you should obtain
the final answers that are reported to 3 significant digits.

Chapter 2 Solutions
Problem 2.1

The position of a car traveling between two stop signs along a straight city block is
given by r D Œ9t .45=2/ sin.2t =5/ m, where t denotes time and 0 s t 17:7 s. Com-
pute the displacement of the car between 2:1 and 3:7 s as well as between 11:1 and 12:7 s. For each
of these time intervals compute the average velocity.

STOP STOP

Solution
We start with observing that the two time intervals considered have the same length. More importantly,
we observe that the argument of the sine function in the definition of the function r.t / is understood to be
expressed in radians.
The displacement of the car along the street between 2:1 s to 3:7 s is calculated from the function r.t / as

r1 D r.3:7 s/ r.2:1 s/ D 8:75 m: (1)

Similarly, the displacement between 11:1 s and 12:7 s is

r2 D r.12:7 s/ r.11:1 s/ D 13:7 m: (2)

The average velocity at which the car traveled over the first interval is calculated to be

r.3:7 s/ r.2:1 s/
vavg 1
D D 5:47 m=s; (3)
3:7 s 2:1 s

while the average velocity of the car over the second interval is

r.12:7 s/ r.11:1 s/
vavg 2
D D 8:58 m=s: (4)
12:7 s 11:1 s

Problems 2.2 and 2.3

The position of the car relative to the coordinate system shown is

rE.t / D Œ.5:98t 2 C 0:139t 3 0:0149t 4 / {O C .0:523t 2 C 0:0122t 3 0:00131t 4 / |O ft:

Problem 2.2 Determine the velocity and acceleration of the car at t D 15 s. In addition, again at t D 15 s,
determine the slope of the car’s path relative to the coordinate system shown as well as the angle
between velocity and acceleration.

Problem 2.3 Find the difference between the average velocity over the time interval 0 s t 2 s and
the true velocity computed at the midpoint of the interval, i.e., at t D 1 s. Repeat the calculation for the
time interval 8 s t 10 s. What do the results suggest about the approximation of the true velocity by
the average velocity over different time intervals?

Solution to 2.2
The velocity is found by taking the derivative with respect to time of the position function:
vE.t/ D Œ.11:96t C 0:4170t 2 0:05960t 3 / {O C .1:046t C 0:03660t 2 0:005240t 3 / |Oft=s: (1)
Hence, evaluating the above expression for t D 15 s, we have

vE.15 s/ D .72:1 {O C 6:24 |O/ ft=s:

The acceleration is found by taking the derivative with respect to time of the velocity function:
aE .t / D Œ.11:96 C 0:8340t 0:1788t 2 /O{ C .1:046 C 0:07320t 0:01572t 2 / |O ft=s2 : (2)
Hence, evaluating the above expression for t D 15 s, we have

aE .15 s/ D . 15:8 {O 1:39 |O/ ft=s2 :

Because the velocity is always tangent to the path, we can compute the angle as the angle formed by the
velocity vector and the horizontal axis, i.e., D tan 1 .vy =vx /. Hence, using Eq. (1) for t D 15 s we have

.15 s/ D 4:95ı :

The angle between the velocity and acceleration at t D 15 s is found using the dot product:

ˇ ˇˇ ˇ 1 ˇv E.15 s/ aE .15 s/
vE.15 s/ aE .15 s/ D vE.15 s/ aE .15 s/ cos .15 s/ ) .15 s/ D cos
ˇ ˇˇ ˇ ˇ ˇ ˇ ;
ˇvE.15 s/ˇˇaE .15 s/ˇ
which, using Eqs. (1) and (2) can be evaluated to give

.15 s/ D 180ı :

Solution to 2.3
The average velocity over the interval 0 t 2 is

rE.t2 / rE.t1 /
vEavg .t1 ; t2 / D ; (3)
t2 t1
which, for t1 D 0 s and t2 D 2 s, can be evaluated to obtain

vEavg .0 s; 2 s/ D .12:40 {O C 1:084 |O/ ft=s: (4)

The exact velocity is found by taking the derivative with respect to time of the position function and evaluating
it at t D 1 s. The velocity is determined as the first time derivative of the position function. This gives

vE.t/ D Œ.11:96t C 0:4170t 2 0:05960t 3 / {O C .1:046t C 0:03660t 2 0:005240t 3 / |O ft=s: (5)

Evaluating the above expression for t D 1 s, we have

vE.1 s/ D .12:32 {O C 1:077/ ft=s: (6)

therefore, using the results in Eqs. (4) and (6), we have

vEavg .0 s; 2 s/ vE.1 s/ D .0:0800 {O C 0:00700 |O/ ft=s

Similarly for 8 t 10, we have

vEavg .8 s; 10 s/ D .97:57 {O C 8:524 |O/ ft=s: (7)

For t D 9 s we have
vE.9 s/ D .97:97 {O C 8:559 |O/ ft=s: (8)
Therefore, using Eqs. (7) and (8), we have

vEavg .8 s; 10 s/ vE.9 s/ D . 0:400 {O 0:0350 |O/ ft=s:

The quality of the approximation is not uniform, i.e., it depends on the time interval considered.

Problem 2.4

If vEavg is the average velocity of a point P over a given time interval, is jE

vavg j, the magnitude of the average
velocity, equal to the average speed of P over the time interval in question?

Solution
The two quantities described in the problem statement are not equal in general. The average velocity depends
only on theˇ position
ˇ at the time instants considered as well as the size of the corresponding time interval.
Therefore ˇvEavg ˇ will depend on the same quantities. By contrast the average of the speed depends on the
value of the speed at every time instant during the time interval considered. Hence the two quantities cannot
be expected to be equal. For example, consider the case of a car looping around a circle with constant speed
v0 . Suppose also that t is the amount of time that the car takes in completing one full circle, i.e., to occupy
the same position after one full loop. Then, the average velocity over the the amount of time t is equal to
zero (since the car occupies the same position at time t as it does at time t C t). Therefore, the magnitude
of the average velocity over t is also equal to zero. However, since the speed of the car is constant, then the
average speed is simply equal to v0 , thus showing that the magnitude of the average velocity is, in general,
not equal to the average speed.

Problem 2.5

A car is seen parked in a given parking space at 8:00 A . M . on a Monday

morning and is then seen parked in the same spot the next morning at the same
time. What is the displacement of the car between the two observations? What
is the distance traveled by the car during the two observations?

Solution
The displacement is equal to zero, since it only depends on the difference in position at the times indicated.
However, there is not enough information to answer the question regarding distance traveled since we would
need to know the position as a function of time throughout the entire time interval considered, i.e., between
8 W 00 A . M . Monday and 8 W 00 A . M . the following Tuesday.

Problem 2.6

Let rE D Œt {O C .2 C 3t C 2t 2 / |O m describe the motion of the point

P relative to the Cartesian frame of reference shown. Determine an
analytic expression of the type y D y.x/ for the trajectory of P .

Solution
We are given

rE.t / D x.t / {O C y.t / |O; (1)

where
x.t / D t m and y.t / D .2 C 3t C 2t 2 / m: (2)

Solving the first of Eqs. (2) with respect to time, we have

t m D x: (3)

Substituting Eq. (3) into the second of Eqs. (2), and expressing all known coefficients to three significant
figures, we obtain:
y.x/ D 2:00 C 3:00x C 2:00x 2 m:

Problem 2.7

Let rE D Œt {O C .2 C 3t C 2t 2 / |O ft describe the motion of a point P

relative to the Cartesian frame of reference shown. Recalling that for
any two vectors pE and qE we have that pE qE D jpjE jE
q j cos ˇ, where ˇ is
the angle formed by pE and qE, and recalling that the velocity vector is
always tangent to the trajectory, determine the function .x/ describing
the angle between the acceleration vector and the tangent to the path of
P.

Solution
The velocity vector is the time derivative of the position vector:

vE D Œ1:000 {O C .3:000 C 4:000t / |O ft=s: (1)

The acceleration vector is the time derivative of the velocity vector:

aE D .4:000 ft=s2 / |O: (2)

As stated in the problem, is the angle between the acceleration vector and the tangent to the path of P , that
is,
aE vE D jE
ajjE
v j cos : (3)
From Eqs. (1) and (2) we have that
q p
jE
vj D 2 2
1:000 C .3:000 C 4:000t / ft=s D aj D 4 ft=s2 :
10:00 C 24:00t C 16:00 t 2 ft=s and jE

ˇ ˇ ˇ ˇ (4)
Substituting the expressions for ˇvEˇ and ˇaE ˇ from Eq. (4) in Eq. (3) and solving for we obtain

aE vE 1 3:000 C 4:000t
cos D ) D cos p : (5)
jEajjEvj 10:00 C 24:00t C 16:00 t 2
Since we have that rx D x D .t / ft, we can replace t with x in the last of Eqs. (5) to obtain:

1 3:00 C 4:00x
.x/ D cos p :
10:0 C 24:0x C 16:0x 2

Problem 2.8

Is it possible for the vector vE shown to represent the velocity of the

point P ?

Solution
The vector vE shown is not tangent to the path at point P . Hence vE cannot be considered the velocity of P .

Problem 2.9

Is it possible for the vector aE shown to be the acceleration of the point

Solution
No, because aE does not point toward the concave side of the trajectory of P .

Problems 2.10 and 2.11

The motionpof a point P with respect

2
to a Cartesian coordinate system is described
by rE D Œ2 t {O C .4 ln.t C 1/ C 2t / |O ft, where t is time expressed in s.

Problem 2.10 Determine P ’s displacement between times t1 D 4 s and t2 D 6 s.

In addition, determine the average velocity between t1 and t2 .

Problem 2.11 Determine P ’s average acceleration between times t1 D 4 s and

t2 D 6 s.

Solution to 2.10
The positions of P at t1 D 4 s and t2 D 6 s are given by
p
rE.t1 / D f2 4 {O C Œ4 ln.4 C 1/ C 2.4/2 |Og ft D .4:000 {O C 38:44 |O/ ft; (1)
p
rE.t2 / D f2 6 {O C Œ4 ln.6 C 1/ C 2.6/2 |Og ft D .4:899 {O C 79:78 |O/ ft: (2)

The displacement is the change in position of P from t1 to t2 and is given by

Er .t1 ; t2 / D rE.t2 / rE.t1 / ) Er .t1 ; t2 / D .0:899 {O C 41:3 |O/ ft:

The average velocity of P is the displacement divided by change in time and, recalling that t1 D 4 s, t2 D 6 s,
and using the results in Eqs. (1) and (2), is given by

Er .t1 ; t2 /
vEavg .t1 ; t2 / D ) vEavg .t1 ; t2 / D .0:450 {O C 20:7 |O/ ft=s: (3)
t2 t1

Solution to 2.11
To find average acceleration we must first find the velocity of P as a function of time by taking the derivative
of the position function:

1 4:000
vE.t / D p {O C C 4:000t |O ft=s: (4)
t t C 1:000

The velocities of P at t1 D 4 s and t2 D 6 s are given by

vE.t1 / D .0:5000 {O C 16:80 |O/ ft=s; (5)

vE.t2 / D .0:4082 {O C 24:57 |O/ ft=s: (6)

The average acceleration of P is the change in velocity divided by the change in time and, using the results in
Eqs. (5) and (6), is given by

vE.t2 / vE.t1 /
aEavg .t1 ; t2 / D ) aEavg .t1 ; t2 / D . 0:0459 {O C 3:88 |O/ ft=s2 :
t2 t1

Problem 2.12

The motion of a stone thrown into a pond is described by

rE.t/ D 1:5 0:3e 13:6t {O C 0:094e 13:6t 0:094 0:72t |O m;

where t is time expressed in s, and t D 0 s is the time when the stone

first hits the water. Determine the stone’s velocity and acceleration. In
addition, find the initial angle of impact of the stone with the water,
i.e., the angle formed between the stone’s trajectory and the x axis at
t D 0 s.

Solution
The velocity of the stone is found by differentiating the position vector with respect to time. This gives

vE.t / D rEP .t / D Œ.4:080e 13:60t

/ {O C . 0:7200 1:278e 13:60t
/ |O m=s; (1)

which, when expressing the equation’s coefficients to three significant figures, gives

vE.t / D rEP .t / D Œ.4:08e 13:6t

/ {O C . 0:720 1:28e 13:6t
/ |O m=s:

The acceleration vector is found by differentiating the velocity vector in Eq. (1) with respect to time. Doing
so and expressing the coefficients of the resulting formula to three significant figures, we have

aE .t / D vEP .t / D Œ. 55:5e 13:6t

/ {O C .17:4e 13:6t
/ |O m=s2 : (2)

The impact angle is the slope of the stone’s trajectory at the time that the stone enters the water. Then,
recalling that the velocity is always tangent to the trajectory, we can compute using the components of vE at
time t D 0. Using Eq. (1) to evaluate the velocity components, we have

1 vy .0/ 1 1:998 m=s
D tan D tan ) D 26:1ı :
vx .0/ 4:080 m=s

Problem 2.13

Two points P and Q happen to go by the same location in space (though at different times).

(a) What must the paths of P and Q have in common if, at the location in question, P and Q have
identical speeds?

(b) What must the paths of P and Q have in common if, at the location in question, P and Q have
identical velocities?

Solution
Part (a) In the first case, the only thing we can expect the paths to share is that point in space which, at
different instants, is occupied by P and Q.

Part (b) In the second case, the paths in question will not only share a point, like in the previous case, but
will also have the same tangent line at that point, since the velocity vector is always tangent to the path.

Problems 2.14 and 2.15

The position of point P is given by

rE.t/ D 2:0 Œ0:5 C sin.!t / {OC 9:5 C 10:5 sin.!t / C 4:0 sin2 .!t / |O;

with t 0, ! D 1:3 s 1 , and the position is measured in meters.

Problem 2.14 Find the trajectory of P in Cartesian components and

then, using the x component of rE.t /, find the maximum and minimum
values of x reached by P . The equation for the trajectory is valid
for all values of x, yet the maximum and minimum values of x as
given by the x component of rE.t / are finite. What is the origin of this
discrepancy?

Problem 2.15

(a) Plot the trajectory of P for 0 t 0:6 s, 0 t 1:4 s,

0 t 2:3 s, and 0 t 5 s.

(b) Plot the y.x/ trajectory for 10 x 10 s.

(c) You will notice that the trajectory found in (b) does not agree with
any of those found in (a). Explain this discrepancy by analytically
determining the minimum and maximum values of x reached by
P . As you look at this sequence of plots, why does the trajectory
change between some times and not others?

Solution to 2.14
First write the position of P in component form as
x.t / D Œ2:0.0:5 C sin !t / m and y.t / D .9:5 C 10:5 sin !t C 4:0 sin2 !t / m: (1)
Instead of solving the first of Eq. (1) for t, we solve it for sin !t as a function of x. This gives
1:000 m x
; sin !t D (2)
2:000 m
which can then be substituted into the second of Eqs. (1) to obtain the trajectory y.x/ as

x 1:000 2

x 1:000
y.x/ D 9:500 C 10:50 C 4:000 m
2:000 2:000

y.x/ D 5:25 C 3:25x C 1:00x 2 m:

) (3)

3
Referring to Eq. (1), for xmax ; sin !t D C1 ) t D 2! s and for xmin ; sin !t D 1)t D 2! s: Thus, the
maximum and minimum values are
xmax D 3:00 m and xmin D 1:00 m:

Solution to 2.15
Part (a). Since ! D 1:3 s 1 , we write the x and y coordinates of point P as

x.t/ D f2:0Œ0:5 C sin.1:3t /g m and y.t / D Œ9:5 C 10:5 sin.1:3t / C 4:0 sin2 .1:3t / m: (4)

One strategy to plot the trajectory of point P is to plot the line that connects the points of coordinates
Œx.t/; y.t/ as time t varies within a given time interval. This way of plotting the trajectory does not involve
finding y as a function of x. Rather, it consists of generating a list of .x; y/ values, each of which is computed
by first assigning a specific value of time. This procedure is called a parametric plot, where the parameter
used to generate the plotted points is time and does not appear directly on the plot (i.e., the plot uses x and y
axes, but it does not show the time values corresponding to the points on the plot). Parametric plots can be
generated using any appropriate numerical software such as MATLAB or Mathematica.
The parametric plots shown below of the trajectory of P were generated in Mathematica with the
following code:

Part (b). In this part of the problem we first need to write the trajectory in the form y D y.x/. To do so,
we start with solving the first of Eq. (4) for sin.1:3t / as a function of x. This gives
x 1:000 m
sin.1:3t / D ; (5)
2:000 m
which can then be substituted into the second of Eqs. (4) to obtain
2
x 1:000 x 1:000
y.x/ D 9:500 C 10:50 C 4:000 m
2:000 2:000
y.x/ D 5:25 C 3:25x C 1:00x 2 m; (6)

)

where we have expressed all known coefficients to three significant figures.

Now that we have the trajectory in the form y.x/, we can plot it over the
given interval 10 m x 10 m as shown on right. This plot was generated
using Mathematica with the following code:
Plot!5.250 ! 3.250 x ! 1.00 x^2, "x, "10.0, 10.0#, Frame # True,
FrameTicks # ""Automatic, None#, "Automatic, None##, AspectRatio # 1,
GridLines # Automatic, ImageSize # 170, FrameLabel # $"x (m) ", "y (m) "%,
PlotLabel # "Trajectory y(x) "&

3
Part (c). Referring to Eq. (4), for xmax ; sin !t D C1 ) t D 2! s and for xmin ; sin !t D 1)t D 2! s:
Thus, the maximum and minimum values are

xmax D 3:00 m and xmin D 1:00 m:

The maximum and minimum values of the x coordinate occur due to the presence of a periodic function in the
equation for this component. Therefore, the trajectory, which is valid for all times t , is constrained to oscillate
between 1:00 m and 3:00 m on the x axis. This fact explains why in the plot sequence in Part (a) the
trajectory seems not to change after a while: point P keeps tracing the same curve segment again and again.
The periodicity of the motion of P also explains the discrepancy between the trajectory obtained in Part (a)
and that obtained in Part (b). In fact, since the plot generated in Part (a) was based on a direct application
of Eqs. (4), we see that the plot in question correctly reflects the periodic time dependence the coordinates
of point P . By contrast, the trajectory computed in Part (b) no longer carries any direct relationship with
time. Now it is important to realize, that the trajectory plotted in Part (b) does contain the trajectory plotted in
Part (a) as a sub-curve. The problem with the trajectory in Part (b) is that we have no direct way of knowing
what part of the entire curve actually pertains to the motion of point P .

Problems 2.16 through 2.18

A bicycle is moving to the right at a speed v0 D 20 mph on a

horizontal and straight road. The radius of the bicycle’s wheels is
R D 1:15 ft. Let P be a point on the periphery of the front wheel.
One can show that the x and y coordinates of P are described by
the following functions of time:

x.t/ D v0 t C R sin.v0 t =R/ and y.t / D R 1 C cos.v0 t =R/ :

Problem 2.16 Determine the expressions for the velocity, speed,

and acceleration of P as functions of time.

Problem 2.17 Determine the maximum and minimum speed

achieved by P as well as the y coordinate of P when the max-
imum and minimum speeds are achieved. Finally, compute the
acceleration of P when P achieves its maximum and minimum
speeds.

Problem 2.18 Plot the trajectory of P for 0 s < t < 1 s.

For the same time interval, plot the speed as a function of time as
well as the components of the velocity and acceleration of P .

Solution to 2.16
The velocity of P is the time derivative of P ’s position, which, using the coordinate system shown, is given
by
rE D x.t / {O C y.t / |O D v0 t C R sin.v0 t =R/ {O C R 1 C cos.v0 t =R/ |O: (1)
Differentiating the above expression with respect to time, we have

v0 t v0 t
vE D v0 1 C cos {O v0 sin |O: (2)
R R

Then, recalling that v0 D 20 mph D 29:33 ft=s and R D 1:15 ft, and expressing all known coefficients to
three significant figures, we have

vE D .29:3 ft=s/Œ1 C cosŒ.25:5 rad=s/t {O .29:3 ft=s/Œ1 C sinŒ.25:5 rad=s/t |O:

The speed is now found by taking the magnitude of the velocity vector. Hence, we have
s
q v0 t p
v D vx2 .t / C vy2 .t / D v0 2 C 2 cos ) v D .29:3 ft=s/ 2 C 2 cosŒ.25:5 rad=s/t : (3)
R

The acceleration of P is the time derivative of P ’s velocity. Hence, from Eq. (2), we have

v02 v02

v0 t v0 t
aE D sin {O cos |O: (4)
R R R R

Then, again recalling that v0 D 20 mph D 29:33 ft=s and R D 1:15 ft, and expressing all known coefficients
to three significant figures, we have

748 ft=s2 sinŒ.25:5 rad=s/t {O 748 ft=s2 cosŒ.25:5 rad=s/t |O:

aE D

Solution to 2.17
The speed of P is the magnitude of the velocity of P . Hence, we first compute the velocity of P , which is
the time derivative of P ’s position. Using the coordinate system shown, the position vector of P is given by

rE D x.t / {O C y.t / |O D v0 t C R sin.v0 t =R/ {O C R 1 C cos.v0 t =R/ |O: (5)

Differentiating the above expression with respect to time, we have

v0 t v0 t
vE D v0 1 C cos {O v0 sin |O: (6)
R R

Hence, the speed is given by

s
q v0 t
vD vx2 .t / C vy2 .t / D v0 2 C 2 cos ; (7)
R

from which we see that v is maximum when cos.v0 t =R/ D 1 and minimum when cos.v0 t =R/ D 1. In
turn, this implies that
vmax D 2v0 D 58:7 ft=s and vmin D 0 ft=s; (8)

where we have used the fact that v0 D 20 mph D 29:33 ft=s.

Next, recalling that for v D vmin we have cos.v0 t =R/ D 1 and for v D vmax we have cos.v0 t =R/ D 1,
using the expression for the y component of the position of P in Eq. (5), we have

yvmin D 0 ft and yvmax D 2R D 2:30 ft;

where we have used the fact that R D 1:15 ft.

To determine the acceleration corresponding to vmin and vmax , we first need to determine the acceleration
of P by differentiating with respect to time the expression in Eq. (6). This gives

v02 v02

v0 t v0 t
aE D sin {O cos |O: (9)
R R R R

Now, recall that for v D vmin we have cos.v0 t =R/ D 1 and for v D vmax we have cos.v0 t =R/ D 1. In
both cases, we have sin.v0 t =R/ D 0. Using this considerations along with Eq. (9), we have

v02 v02
aEvmin D |O D .748 ft=s2 / |O and aEvmax D |O D . 748 ft=s2 / |O;
R R

where we have used the following numerical data: v0 D 20 mph D 29:33 ft=s and R D 1:15 ft.

Solution to 2.18
The velocity of P is the time derivative of P ’s position, which, using the coordinate system shown, is given
by
rE D x.t / {O C y.t / |O D v0 t C R sin.v0 t =R/ {O C R 1 C cos.v0 t =R/ |O: (10)
Differentiating the above expression with respect to time, we have

v0 t v0 t
vE D v0 1 C cos {O v0 sin |O: (11)
R R
The speed is now found by taking the magnitude of the velocity vector. Hence, we have
s
q v0 t
v D vx2 .t / C vy2 .t / D v0 2 C 2 cos : (12)
R
The acceleration of P is the time derivative of P ’s velocity. Hence, from Eq. (11), we have
v02 v02

v0 t v0 t
aE D sin {O cos |O: (13)
R R R R
Trajectory of P . We can plot the trajectory of point P for 0 < t < 1 s by computing the values of the
coordinates of the point P at various time values, where the coordinates in question are the component
of rE in Eq. (10). This strategy for plotting the trajectory yields what is typically called a parametric plot
(since we generate a plot with x and y axis of points whose position is determined by assigning values to
the parameter t , as opposed to plotting y as a function of x). This can be done with a variety of pieces of
numerical software. Recalling that we have v0 D 20 mph D 29:33 ft=s and R D 1:15 ft, the plot presented
below has been obtained using Mathematica with the following code
Parameters ! !v0 " 29.33, R " 1.15";
x ! v0 t # R Sin#v0 t $ R%; y ! R &1 # Cos#v0 t $ R%';
ParametricPlot#!x, y" $. Parameters, !t, 0, 1", Frame " True, GridLines " Automatic,
FrameLabel " !"x &ft'", "y &ft'"", PlotLabel " "Trajectory of P", AspectRatio " 1%

Trajectory of P
2.0

1.5
y !ft"

1.0

0.5

0.0
0 5 10 15 20 25 30
x !ft"

Speed of P . The speed of P can be plotted for 0 < t < 1 s by providing the known parameters v0 D
20 mph D 29:33 ft=s and R D 1:15 ft as well as the last expression in Eq. (12) to some appropriate numerical
software. The plot shown below was generated using Mathematica with the following code:
Parameters ! !v0 " 29.33, R " 1.15";
v ! v0 2 # 2 Cos#v0 t $ R% ;
Plot#v $. Parameters, !t, 0, 1", Frame " True, GridLines " Automatic,
FrameLabel " !"t &s'", "v &ft$s'"", AspectRatio " 1, PlotLabel " "Speed of Point P"%

Speed of Point P
50
40

v !ft#s"
30
20
10
0
0.0 0.2 0.4 0.6 0.8 1.0
t !s"

Velocity Components The components of the velocity of P can be plotted for 0 < t < 1 s by providing
the known parameters v0 D 20 mph D 29:33 ft=s and R D 1:15 ft as well as the expression in Eq. (11) to
some appropriate numerical software. The plot shown below was generated using Mathematica with the
following code:
Parameters ! !v0 " 29.33, R " 1.15";
vx ! v0 #1 # Cos$v0 t % R&'; vy ! $v0 Sin$v0 t % R&;
Plot$vx %. Parameters, !t, 0, 1", Frame " True, GridLines " Automatic,
FrameLabel " !"t #s'", "vx #ft%s'"", PlotLabel " "x Velocity Component", AspectRatio " 1&
Plot$vy %. Parameters, !t, 0, 1", Frame " True, GridLines " Automatic,
FrameLabel " !"t #s'", "vy #ft%s'"", PlotLabel " "y Velocity Component",
AspectRatio " 1&

x Velocity Component y Velocity Component

30
50 20
40 10
vx !ft#s"

vy !ft#s"

30 0
20 !10
10 !20
0 !30
0.0 0.2 0.4 0.6 0.8 1.0
t !s"
0.0 0.2 0.4 0.6 0.8 1.0
t !s"

Acceleration Components The components of the acceleration of P can be plotted for 0 < t < 1 s by
providing the known parameters v0 D 20 mph D 29:33 ft=s and R D 1:15 ft as well as the expression in
Eq. (13) to some appropriate numerical software. The plot shown below was generated using Mathematica
with the following code:
Parameters ! !v0 " 29.33, R " 1.15";
ax ! ##v02 $ R% Sin&v0 t ' R(; ay ! ##v02 $ R% Cos&v0 t ' R(;
Plot)ax '. Parameters, !t, 0, 1", Frame " True, GridLines " Automatic,
FrameLabel " *"t +s,", "ax +ft's2 ,"-, PlotLabel " "x Acceleration Component",
AspectRatio " 1.
Plot)ay '. Parameters, !t, 0, 1", Frame " True, GridLines " Automatic,
FrameLabel " *"t +s,", "ay +ft's2 ,"-, PlotLabel " "y Acceleration Component",
AspectRatio " 1.

x Acceleration Component y Acceleration Component

600 600
400 400

ax !ft#s2 "

ay !ft#s2 "
200 200
0 0
!200 !200
!400 !400
!600 !600

0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
t !s" t !s"

Problems 2.19 through 2.21

Point C is a point on the connecting rod of a mechanism called a slider-

crank. The x p and y coordinates of C can be expressed as follows:
xC D R cos C 12 L2 R2 sin2 and yC D .R=2/ sin , where describes
the position of the crank. If the crank rotates at a constant rate, then we can
express as D !t , where t is time and ! is the crank’s angular velocity. Let
R D 0:1 m, L D 0:25 m, and ! D 250 rad=s.

Problem 2.19 Find expressions for the velocity, speed, and acceleration of
C.

Problem 2.20 Determine the maximum and minimum speeds of C as

well as C ’s coordinates when the maximum and minimum speeds are achieved.
In addition, determine the acceleration of C when the speed is at a minimum.

Problem 2.21 Plot the trajectory of point C for 0 s < t < 0:025 s. For
the same interval of time, plot the speed as a function of time as well as the
components of the velocity and acceleration of C .

Solution to 2.19
The velocity of point C is is the time derivative of the position of C , which, using the coordinate system
shown and recalling that D !t, can be written as
p
rEC D xC {O C yC |O D R cos !t C 12 L2 R2 sin2 !t {O C 12 R sin !t |O:

(1)

Hence, differentiating the above expression with respect to time and simplifying, we have

!R R sin !t cos !t !R
vEC D 2 sin !t C p {O C cos !t |O: (2)
2 L2 R2 sin2 !t 2

The speed is now found by taking the magnitude of the velocity vector:

s
!R 4R sin2 !t cos !t R2 sin2 !t cos2 !t
vD 4 sin2 !t C p C C cos2 !t : (3)
2 2 2 2 L 2 R 2 sin2 !t
L R sin !t

The acceleration is found by taking the derivative of the velocity. Hence, differentiating Eq. (2) with respect
to time, we have

!2R R.cos2 !t sin2 !t / R3 cos2 sin2 !t !2R

aE D 2 cos !t C p C {O sin !t |O: (4)
2 L2 R2 sin2 !t .L2 R2 sin2 !t /3=2 2

Solution to 2.20
The velocity of point C is is the time derivative of the position of C , which, using the coordinate system
shown and recalling that D !t, can be written as
p
rEC D xC {O C yC |O D R cos !t C 12 L2 R2 sin2 !t {O C 12 R sin !t |O:

(5)

Hence, differentiating the above expression with respect to time and simplifying, we have

!R R sin !t cos !t !R
vEC D 2 sin !t C p {O C cos !t |O (6)
2 L2 R2 sin !t 2 2

The speed is now found by taking the magnitude of the velocity vector:
s
!R 4R sin2 !t cos !t R2 sin2 !t cos2 !t
vD 4 sin2 !t C p C C cos2 !t : (7)
2 L2 R2 sin2 !t L2 R2 sin2 !t

The acceleration is found by taking the derivative of the velocity. Hence, differentiating Eq. (6) with respect
to time, we have

!2R R.cos2 !t sin2 !t / R3 cos2 sin2 !t !2R

aE D 2 cos !t C p C O
{ sin !t |O: (8)
2 L2 R2 sin2 !t .L2 R2 sin2 !t /3=2 2

To find the minimum and the maximum of the speed we begin by plotting the speed as a function of time
during a full cycle of the crank. Then we can obtain a visual estimate of the minimum and maximum values
in question. As indicated in the problem statement, the crank angle is related to time as follows: D !t,
where ! D 250 rad=s. A full cycle of the crank is such that 0 2 rad. Hence, the corresponding time
interval we consider is 0 t 0:02513 s. Recalling that R D 0:1 m, L D 0:25 m, and ! D 250 rad=s, the
plot of v in Eq. (7) can be obtained with any appropriate piece of numerical software. The plot given below
was obtained using Mathematica with the following code:
Parameters ! !Ω # 250., L $% 0.25, R # 0.1";

ΩR 4 R Sin#Ω t$2 Cos#Ω t$ R 2 Sin#Ω t$2 Cos#Ω t$2

vC ! 4 Sin#Ω t$2 & & & Cos#Ω t$2 ;
2 L2 $ R2 Sin#Ω t$2
L2 $ R 2 Sin#Ω t$2

Plot#vC %. Parameters, !t, 0, 0.02513", Frame # True, GridLines # Automatic,

FrameLabel # !"t &s'", "v &m%s'"", PlotLabel # "Plot of Speed vs. Time",
AspectRatio # 1$

Plot of Speed vs. Time

22
v !m#s"

0.000 0.005 0.010 0.015 0.020 0.025

t !s"

By inspection, the plot indicates that the speed achieves its minimum value of approximately 12:50 m=s for
t D 0 and for t D 0:01256 (midpoint of the time interval considered). In addition, again by inspection, we see
that the speed achieves its maximum value of approximately 25:75 m=s for t D 0:0055 s and t D 0:01950 s.
To obtain a more precise estimate of these values, one can take advantage of numerical minimization and
maximization techniques that are often available in modern mathematical software packages. For example, in
Mathematica we can use the following code:
Parameters ! !Ω # 250., L $% 0.25, R # 0.1";

# 4 Sin$Ω t% &
ΩR 2
4 R Sin$Ω t%2 Cos$Ω t% R 2 Sin$Ω t%2 Cos$Ω t%2
vC ! & & Cos$Ω t%2 ;
2 L2 $ R 2 Sin$Ω t%2
L2 $ R 2 Sin$Ω t%2
&. Parameters, 0 ' t ' 0.001", t%
&.
Minimize$!vC
Parameters, 0.012 ' t ' 0.013", t%
&.
Minimize$!vC
Parameters, 0 ' t ' 0.006", t%
&.
Maximize$!vC
Maximize$!vC Parameters, 0.019 ' t ' 0.021", t%

which gives
14
vmin D 12:50 m=s for t D 1:80010 s and t D 0:01257 s; (9)
vmax D 25:71 m=s for t D 0:005286 s and t D 0:01985 s: (10)

Expressing the values of the minimum and maximum speed to three significant figures, we have

vmin D 12:5 m=s and vmax D 25:7 m=s:

Substituting the values of time in Eqs. (9) and (10), into Eq. (5), and recalling that R D 0:1 m, L D 0:25 m,
and ! D 250 rad=s, we have that position of C corresponding to when the speed is at a minimum or at a
maximum is described by the following coordinates:

v D vmin ) .x; y/ D .0:225; 0:000/ m and .0:0250; 4:54105 / m; (11)

v D vmax ) .x; y/ D .0:140; 0:0485/ m and .0:140; 0:0484/ m: (12)

Finally, substituting the time values in Eq. (9) into Eq. (8), and again recalling that R D 0:1 m, L D 0:25 m,
and ! D 250 rad=s, we have that when v D vmin ,

aEC D . 7:50103 m=s2 / {O C .0 m=s2 / |O; and aEC D .5:00103 m=s2 / {O C .2:84 m=s2 / |O:

Solution to 2.21
The velocity of point C is is the time derivative of the position of C , which, using the coordinate system
shown and recalling that D !t, can be written as
p
rEC D xC {O C yC |O D R cos !t C 12 L2 R2 sin2 !t {O C 12 R sin !t |O:

(13)

Hence, differentiating the above expression with respect to time and simplifying, we have

!R R sin !t cos !t !R
vEC D 2 sin !t C p {O C cos !t |O (14)
2 L2 R2 sin2 !t 2

The speed is now found by taking the magnitude of the velocity vector:
s
!R 4R sin2 !t cos !t R2 sin2 !t cos2 !t
vD 4 sin2 !t C p C C cos2 !t : (15)
2 2 2 2 L 2 R 2 sin2 !t
L R sin !t
The acceleration is found by taking the derivative of the velocity. Hence, differentiating Eq. (14) with respect
to time, we have
!2R R.cos2 !t sin2 !t / R3 cos2 sin2 !t !2R

aE D 2 cos !t C p C O
{ sin !t |O: (16)
2 L2 R2 sin2 !t .L2 R2 sin2 !t /3=2 2

Plot of the trajectory and speed of C . Plots of the trajectory and speed of C for 0 < t < 0:025 s can be
generated with any appropriate numerical piece of software. The plots presented below were generated using
Mathematica with the following code:
Parameters ! !Ω # 250., L $% 0.25, R # 0.1";
1 R
xC ! R Cos#Ω t$ & L2 $ R 2 Sin#Ω t$2 ; yC ! Sin#Ω t$;
2 2

ΩR 4 R Sin#Ω t$2 Cos#Ω t$ R 2 Sin#Ω t$2 Cos#Ω t$2

vC ! 4 Sin#Ω t$2 & & & Cos#Ω t$2 ;
2 L2 $ R 2 Sin#Ω t$2
L2 $ R2 Sin#Ω t$2

ParametricPlot%!xC, yC" &. Parameters, !t, 0, 0.025", Frame # True,

FrameTicks # !!Automatic, None", !!0, 0.1, 0.2", None"", GridLines # Automatic,
AspectRatio # 1, FrameLabel # '"x ", "y "(, PlotLabel # "Trajectory of C ")
Plot%vC &. Parameters, !t, 0, 0.025", Frame # True,
FrameTicks # !!Automatic, None", !!0, 0.01, 0.02, 0.04", None"", GridLines # Automatic,
AspectRatio # 1, FrameLabel # '"t *s+", "v *m&s+"(, PlotLabel # "Speed vC ")

Trajectory of C
0.04 Speed vC
26
0.02 24
22
0.00
v !m#s"
y

20
!0.02 18
16
!0.04 14
0 0.1 0.2 0 0.01 0.02
x t !s"

Plots of the components of vEC and aEC . The components of point C ’s velocity and acceleration are shown
below in the plots to the left and right, respectively.
Parameters ! !Ω # 250., L $% 0.25, R # 0.1";

$Ω R R Sin#Ω t$ Cos#Ω t$ ΩR
vCx ! 2 Sin#Ω t$ & ; vCy ! Cos#Ω t$;
2 2
L2 $ R2 Sin#Ω t$2

$Ω2 R R %Cos#Ω t$2 $ Sin#Ω t$2 & R 3 Cos#Ω t$2 Sin#Ω t$2

%L2 $ R 2 Sin#Ω t$2 &

aCx ! 2 Cos#Ω t$ & & ;
2 3'2
L2 $ R2 Sin#Ω t$2

Ω2 R
aCy ! $ Sin#Ω t$;
2
Plot(!vCx, vCy" '. Parameters, !t, 0, 0.025", Frame # True,
FrameTicks # !!Automatic, None", !!0, 0.01, 0.02, 0.04", None"", GridLines # Automatic,
AspectRatio # 1, FrameLabel # )"x *m+", "v *m's+",, PlotLabel # "vC "-
Plot(!aCx, aCy" '. Parameters, !t, 0, 0.025", Frame # True,
FrameTicks # !!Automatic, None", !!0, 0.01, 0.02, 0.04", None"", GridLines # Automatic,
AspectRatio # 1, FrameLabel # )"t *s+", "a *m's2 +",, PlotLabel # "aC "-

vC aC
20 4000
vy 2000
10 ax
a !m#s2 "
v !m#s"

0
0 !2000 ay
!10 !4000
vx
!20 !6000
0 0.01 0.02 0 0.01 0.02
x !m" t !s"

Problem 2.22

The motion of a point P with respect to Cartesian frames 1 and 2

is described by

.ErP =O /1 D .t C sin t / {O1 C 2 C 4t t 2 |O1 m

and n
.t C sin t / cos C 2 C 4t t 2 sin {O2

.ErP =O /2 D
o
C .t C sin t / sin C 2 C 4t t 2 cos |O2 m;

respectively, where t is time in seconds. Note that the two frames

in this problem share the same origin, and therefore we are writ-
ing .ErP =O /1 and .ErP =O /2 to explicitly indicate that .ErP =O /1 is
expressed relative to frame 1 and .ErP =O /2 is expressed relative to
frame 2. Determine P ’s velocity and acceleration with respect
to the two frames. In addition, determine the speed of P at time
t D 2 s, and verify that the speeds in the two frames are equal.

Solution
The velocity is found by differentiating the position vector:

vP =O /1 D Œ.1 C cos t / {O1 C .4 2t / |O1 m=s;

.E (1)
˚
vP =O /2 D Œ.1 C cos t / cos 2.t 2/ sin {O2
.E

Œ2.t 2/ cos C .1 C cos t / sin |O2 m=s: (2)

The acceleration is found by differentiating the velocity vector:

aP =O /1 D . sin t {O1
.E 2 |O1 / m=s2 ; (3)
aP =O /2 D Œ. cos sin t
.E 2 sin / {O2 C .sin sin t 2 cos / |O2 m=s2 : (4)

The speed of P in frame 1 is obtained by computing the magnitude of the velocity given in Eq. (1). For
t D 2 s, Eq. (1) gives

vP =O ..t D 2 s//1 D Œ1 C cos.2 s/ {O1 m=s

ŒE ) jE
vP =O .t D 2 s/j1 D 0:584 m=s: (5)

The speed of P in frame two is computed by determining the magnitude of the vector in Eq. (2). Now, for
t D 2 s, Eq. (2) reduces to
vP =O .t D 2 s/2 D Œ1 C cos.2 s/ cos {O2
ŒE Œ1 C cos.2 s/ sin |O2 ; (6)
so that we have
q
2 2 p
jE
vP =O .t D 2 s/k2 D .1 C cos 2/ cos C .1 C cos 2/ sin m=s D 1 C 2 cos 2 C cos2 2 m=s;

where, in simplifying, we have used the trigonometric identity sin2 x C cos2 x D 1. Evaluating the above
expression to three significant figures, we have

jE
vP =O .t D 2 s/j2 D 0:584 m=s;

which, by comparison with the result in Eq. (5) shows that the speeds are equal for both frames.

Problem 2.23

Let rEP =A , vEP =A , and aEP =A denote the position, velocity, and acceleration vectors of a point P with respect
to the frame with origin at A. Let rEP =B , vEP =B , and aEP =B be the position, velocity, and acceleration vectors
of the same point P with respect to the frame with origin at B. If frame B does not move relative to
frame A, and if the frames are distinct, state whether or not each of the following relations is true and why.

(a) rEP =A rEP =B D 0E

(b) vEP =A vEP =B D 0E

(c) vEP =A aEP =B D vEP =B aEP =B

Solution
Part (a). Since position vectors are frame dependent, in general we cannot expect them to be identical in
different frames. Hence, relation (a) is false.

Part (b). As far as relation (b) is concerned, it is always true. The velocity vector, as a vector, is frame
independent and therefore it is always the same whether or not we express it in frame 1 or 2.

Part (c). As far as relation (c) is concerned, again it is always true according to the same argument used in
case (b).

Problem 2.24

The velocity of point P relative to frame A is vEP =A D

. 14:9 {OA C 19:4 |OA / ft=s, and the acceleration of P relative to
frame B is aEP =B D .3:97 {OB C 4:79 |OB / ft=s2 . Knowing that frames A
and B do not move relative to one another, determine the expressions
for the velocity of P in frame B and the acceleration of P in frame A.
Verify that the speed of P and the magnitude of P ’s acceleration are
the same in the two frames.

Solution
The frame A unit vectors can be expressed in terms of frame B as

{OA D cos 23ı {OB sin 23ı |OB ; |OA D sin 23ı {OB C cos 23ı |OB ;
D 0:9205 {OB 0:3907 |OB : D 0:3907 {OB C 0:9205 |OB :

With the frame A unit vectors known in terms of those of frame B, it is found that the velocity in frame B is

14:9.cos 23ı {OB sin 23ı |OB / ft=s C 19:4.sin 23ı {OB C cos 23ı |OB / ft=s;

vEP =B D

vEP =B D . 6:14 {OB C 23:7 |OB / ft=s: (1)

The speed of the particle in frame A is found by taking the magnitude of the velocity vector vEP =A where
q
vP =A D .14:9/2 C .19:4/2 ft=s ) vP =A D 24:5 ft=s; (2)

Similarly, for frame B,

q
vP =B D . 6:135/2 C .23:68/2 ft=s ) vP =B D 24:5 ft=s: (3)

Therefore, the magnitude of the velocity vector is verified to be independent of the reference frame.
The frame B unit vectors can be expressed in terms of frame A as

{OB D cos 23ı {OA C sin 23ı |OA ; |OB D sin 23ı {OA C cos 23ı |OA ;
D 0:9205 {OA C 0:3907 |OA : D 0:3907 {OA C 0:9205 |OA :

With the frame B unit vectors known in terms of those of frame A, we find that the acceleration in frame A is

aEP =A D 3:97.cos 23ı {OA C sin 23ı |OA / ft=s2 C 4:79. sin 23ı {OA C cos 23ı |OA / ft=s2 ;

(4)

aEP =A D .1:78 {OA C 5:96 |OA / ft=s2 : (5)

The magnitue of the acceleration in frame A is the magnitude of the acceleration vector aEP =A :
q
aP =A D .1:783/2 C .5:960/2 ft=s2 ) aP =A D 6:22 ft=s2 ; (6)

Similarly, for frame B,

q
aP =B D .3:97/2 C .4:79/2 ft=s2 ) aP =B D 6:22 ft=s2 : (7)

Therefore, the magnitude of the acceleration vector is verified to be independent of the reference frame.

Problem 2.25

At the instant shown, when expressed via the .uO t ; uO n / component system,
the airplane’s velocity and acceleration are

vE D 135 uO t m=s and aE D . 7:25 uO t C 182 uO n / m=s2 :

Treating the .uO t ; uO n / and .O{ ; |O/ component systems as stationary relative
to one another, express the airplane’s velocity and acceleration in the .O{ ; |O/
component system. Determine the angle between the velocity and ac-
celeration vectors, and verify that is the same in the .uO t ; uO n / and .O{ ; |O/
component systems.

Solution
The unit vectors uO n and uO t need to be expressed in terms of the unit vectors {O and |O:
uO t D cos 57ı {O C sin 57ı |O; uO n D sin 57ı {O C cos 57ı |O;
D 0:5446 {O C 0:8387 |O: D 0:8387 {O C 0:5446 |O:
The velocity in the .O{ ; |O/ component system is
vE D .135 m=s/.0:5446 {O C 0:8387 |O/ D .73:52 {O C 113:2 |O/ m=s; (1)
which, when expressed to three significant figures, gives

vE D .73:5 {O C 113 |O/ m=s:

Similarly, the acceleration vector in the .O{ ; |O/ component system is

aE D . 7:25 m=s2 /.0:5446 {O C0:8387 |O/C.182 m=s2 /. 0:8387 {O C0:5446 |O/ D . 156:6 {O C93:04 |O/ m=s2 ;
(2)
which, when expressed to three significant figures, gives

aE D . 157 {O C 93:0 |O/ m=s2 :

Using Eqs. (1) and (2), the magnitudes of vE and aE in the .O{ ; |O/ component system are
q q
v j D .73:52/2 C .113:2/2 m=s D 135:0 m=s and jE
jE aj D . 156:6/2 C .93:04/2 m=s2 D 182:2 m=s2 :
Using the problem’s given information, the magnitudes of vE and aE in the .uO n ; uO t / component system are
q
jE
v j D 135:0 m=s; and jE aj D . 7:25/2 D .182/2 m=s2 D 182:1 m=s2 :
One can now determine the angle with the definition of the dot product. Specifically, in the .O{ ; |O/ component
system we have

1 .73:52 {O C 113:2 |O/ . 156:6 {O C 93:04 |O/
.O{ ;|O/ D cos ) .O{ ;|O/ D 92:3ı :
.135:0/.182:2/
In the .uO t ; uO n / component system we have

O t . 7:25 uO t C 182 uO n /
1 135 u
.uO t ;uO n / D cos ) .uO t ;uO n / D 92:3ı :
.135:0/.182:1/
The above two results allow us to say that indeed the two angles computed are identical in the two frames.

Problem 2.26

Two Coast Guard patrol boats P1 and P2 are stationary while

monitoring the motion of a surface vessel A. The velocity of A
with respect to P1 is expressed by

vEA D . 23 {O1 6 |O1 / ft=s;

whereas the acceleration of A, expressed relative to P2 , is given

by
aEA D . 2 {O2 4|O2 / ft=s2 :
Determine the velocity and the acceleration of A expressed with
respect to the land-based component system .O{ ; |O/.

Solution
Define D 72ı . The unit vectors of P1 can be expressed in terms of the .O{ ; |O/ component system as

{O1 D sin {O C cos |O; |O1 D cos {O C sin |O;

D 0:9511 {O C 0:3090 |O: D 0:3090 {O C 0:9511 |O:

The velocity of the surface vessel A in the land-based frame is

vEA D 23.sin {O C cos |O/ 6. cos {O C sin |O/ ft=s;

vEA D . 20:0 {O 12:8 |O/ ft=s:

Define ˇ D 45ı . The unit vectors of P2 can be expressed in terms of the .O{ ; |O/ component system as

{O2 D cos ˇ {O sin ˇ |O; |O2 D sin ˇ {O cos ˇ |O;

1 1 1 1
D p {O p |O; D p {O p |O;
2 2 2 2
D 0:7071 {O 0:7071 |O: D 0:7071 {O 0:7071 |O:

As done for the velocity vector, the acceleration vector in the land-based frame is found to be

2 . cos ˇ {O sin ˇ |O/ 4.sin ˇ {O cos ˇ |O/ ft=s2 ;

aEA D

p p
aEA D 2 {O C 3 2 |O ft=s2 D . 1:41 {O C 4:24 |O/ ft=s2 : (1)

Problem 2.27

For a particle moving along a straight line, the table reports the particle’s position x as a function of
time. Determine the average velocity between every pair of consecutive time values for this motion, using
Eq. (2.6). Provide a plot of the average velocity as a function of time.

t .s/ x .m/ t .s/ x .m/ t .s/ x .m/

0.00 0.000 1.00 1.344 2.00 1.193
0.20 0.331 1.20 1.458 2.20 0.963
0.40 0.645 1.40 1.500 2.40 0.686
0.60 0.928 1.60 1.468 2.60 0.375
0.80 1.165 1.80 1.364 2.80 0.046

Solution
The following Mathematica code will find and plot the average velocity:
data ! !!0.0, 0.0", !0.2, 0.331", !0.4, 0.645", !0.6, 0.928", !0.8, 1.165",
!1.0, 1.344", !1.2, 1.458", !1.4, 1.5", !1.6, 1.468", !1.8, 1.364", !2.0, 1.193",
!2.2, 0.963", !2.4, 0.686", !2.6, 0.375", !2.8, 0.046"";
data2 ! Drop#data, 1$;
data1 ! Drop#data, "1$;

!r " Transpose!data2 # data1"!!2""

!t " Transpose!data2 # data1"!!1""
tavg " Transpose!#data2 $ data1$ % 2"!!1""
vavg " !r % !t

averagev ! Table!0, "Length!vavg#$#;

Do!averagev!!C## ! %" tavg!!C##, vavg!!C## $&, "C, Length!vavg#$#
ListPlot!"averagev$, Joined " True, Frame " True,
FrameTicks " ""Automatic, None$, "Automatic, None$$, GridLines " Automatic,
AspectRatio " 1, FrameLabel " ""time %s&", "velocity %m's&"$,
PlotLabel " "average velocity"#

average velocity
1.5
1.0
velocity !m#s"

0.5
0.0
!0.5
!1.0
!1.5
0.0 0.5 1.0 1.5 2.0 2.5
time !s"

Problem 2.28

Continue Prob. 2.27 by treating the average velocities as if they the were the true velocities, and compute the
average accelerations corresponding to every pair of consecutive time values as was done in Example 2.6
on p. 43. Provide a plot of the average acceleration as a function of time.

Solution
The following Mathematica code must be added onto the notebook created for problem 2.27. The average
acceleration is found and plotted with:
averagev ! Table!0, "Length!vavg#$#;
Do!averagev!!C## ! %" tavg!!C##, vavg!!C## $&, "C, Length!vavg#$#
velocity2 ! Drop!averagev, 1#;
velocity1 ! Drop!averagev, "1#;

!v " Transpose!velocity2 # velocity1"!!2"";

!t " Transpose!velocity2 # velocity1"!!1"";
tavg2 " Transpose#$velocity2 $ velocity1% & 2'!!1""
acelavg " !v ( !t

ListPlot!"acelavg#, Joined ! True, Frame ! True,

FrameTicks ! ""Automatic, None#, "Automatic, None##, AspectRatio ! 1,
GridLines ! Automatic, FrameLabel ! $"time %s&", "acceleration %m's2 &"(,
PlotLabel ! "average acceleration")

average acceleration
!0.4
acceleration !m#s2 "

!0.6
!0.8
!1.0
!1.2
!1.4
!1.6
!1.8
0 2 4 6 8 10 12
time !s"

Problem 2.29

The table gives the position vs. time data for a pendulum swinging in the xy
plane. Compute the displacement between t D 0:0 s and t D 0:539 s and
between t D 0:0 s and t D 2:023 s. Furthermore, compute the average velocity
over the given time intervals. Knowing that the data in the table below concerns
a swinging pendulum, interpret the result you obtain for the average velocity
between t D 0:0 s and t D 2:023 s.
Time (s) x .ft/ y .ft/ Time (s) x .ft/ y .ft/
0.000 1.693 0.530 1.079 -1.679 0.491
0.135 1.641 0.439 1.214 -1.485 0.361
0.270 1.164 0.218 1.348 -0.898 0.129
0.405 0.627 0.052 1.483 -0.219 0.013
0.539 -0.222 0.005 1.618 0.586 0.038
0.674 -0.962 0.124 1.753 1.148 0.240
0.809 -1.489 0.343 1.888 1.542 0.435
0.944 -1.768 0.514 2.023 1.809 0.528

Solution
The displacement for the two time intervals can be calculated as

Er .0 s; 0:539 s/ D rE.0:539 s/ rE.0 s/ D Œx.0:539 s/ x.0 s/ {O C Œy.0:539 s/ y.0 s/ |O;

) Er .0 s; 0:539 s/ D . 1:92 {O 0:525 |O/ ft: (1)

Er .0 s; 2:023 s/ D rE.2:023 s/ rE.0 s/ D Œx.2:023 s/ x.0 s/ {O C Œy.2:023 s/ y.0 s/ |O;

) Er .0 s; 2:023 s/ D .0:116 {O 0:002 |O/ ft: (2)

The average velocity can then be calculated as

vEavg .0 s; 0:539 s/ D Er .0 s; 0:539 s/=.0:539 0/; (3)

) vEavg .0 s; 0:539 s/ D . 3:55 {O 0:974 |O/ ft=s: (4)

vEavg .0 s; 2:023 s/ D Er .0 s; 2:023 s/=.2:023 0/; (5)

4
) vEavg .0 s; 2:023 s/ D .0:0573 {O 9:89 10 |O/ ft=s: (6)

Problem 2.30

The table in Prob. 2.29 gives the position vs. time data for a pendulum swinging
in the xy plane. Compute the components of the average velocity as well as the
magnitude of the average velocity over each time step and plot these quantities
vs. time. Furthermore, compute the components of the approximate acceleration
as was done in Example 2.6 on p. 43 by using the average velocity data generated
and plot the results vs. time. Finally compare the results to the plots of the
components of the exact velocity and acceleration vs. time shown below. In
these plots the vertical axes represent the quantity labeling each plot whereas the
horizontal axes represent time expressed in seconds.

6 1.5 15 10

0 0 0 0

-6 -1.5 -15 -10

0 1 2 0 1 2 0 1 2 0 1 2

Solution
The magnitude of the velocity vector is computed using the equation,
q
vave .ti / D vx2 .ti / C vy2 .ti /: (1)

Using Mathematica we generate the plot for the magnitude with

data ! !!0.0, 1.693, 0.530", !0.135, 1.641, 0.439", !0.27, 1.164, 0.218",
!0.405, 0.627, 0.052", !0.539, "0.222, 0.005", !0.674, "0.962, 0.124",
!0.809, "1.489, 0.343", !0.944, "1.768, 0.514", !1.079, "1.679, 0.491",
!1.214, "1.485, 0.361", !1.348, "0.898, 0.129 ", !1.483, "0.219, 0.013",
!1.618, 0.586, 0.038", !1.753, 1.148, 0.240", !1.888, 1.542, 0.435 ",
!2.023, 1.809, 0.528"";

data2 ! Drop!data, 1";

data1 ! Drop!data, "1";
#t ! Transpose!data2 " data1"!!1"";
#x ! Transpose!data2 " data1"!!2"";
#y ! Transpose!data2 " data1"!!3"";

vx ! "x ! "t;
vy ! "y ! "t;
tavg ! Transpose"#data1 # data2$ ! 2%""1%%;
speed ! Sqrt&vx2 # vy2 ';

speedplot ! Table!0, "Length!tavg#$#;

Do!speedplot!!C## ! "tavg!!C##, speed!!C##$, "C, 1, Length!tavg#$#
ListPlot!"plotvelocityy$, Joined " True, Frame " True,
FrameTicks " ""Automatic, None$, "Automatic, None$$, GridLines " Automatic,
AspectRatio " 1, ImageSize " 130, FrameLabel " ""time %s&", "average speed %ft's&"$,
PlotLabel " "average speed"#

average speed
6

average speed !ft#s"

5
4
3
2
1
0
0.0 0.5 1.0 1.5 2.0
time !s"

The average of each component of the velocity vector is calculated for each interval i , between time-steps
t D i and t D .i C 1/, through the equations

Œx.ti C1 / x.ti / Œy.ti C1 / y.ti /

.vx /i D ; vy i
D :
.ti C1 ti / .ti C1 ti /
Using the same Mathematica notebook we generate the plots for the x and y components of velocity with
plotvelocityx ! Table!0, "Length!tavg#$#;
Do!plotvelocityx!!C## ! "tavg!!C##, vx!!C##$, "C, 1, Length!tavg#$#
ListPlot!"plotvelocityx$, Joined " True, Frame " True,
FrameTicks " ""Automatic, None$, "Automatic, None$$, GridLines " Automatic,
AspectRatio " 1, ImageSize " 130, FrameLabel " ""time %s&", "vx %ft's&"$,
PlotLabel " "average x velocity"#

plotvelocityy ! Table!0, "Length!tavg#$#;

Do!plotvelocityy!!C## ! "tavg!!C##, vy!!C##$, "C, 1, Length!tavg#$#
ListPlot%"plotvelocityy$, Joined " True, Frame " True,
FrameTicks " ""Automatic, None$, "Automatic, None$$, GridLines " Automatic,
AspectRatio " 1, ImageSize " 130, FrameLabel " &"time 's(", "vy 'ft)s("*,
PlotLabel " "average y velocity"+

average x velocity average y velocity

6 1.5
4 1.0
2 0.5
vy !ft#s"
vx !ft#s"

0 0.0
!2 !0.5
!4 !1.0
!6 !1.5
0.0 0.5 1.0 1.5 2.0
time !s"
0.0 0.5 1.0 1.5 2.0
time !s"

The average acceleration components in each direction can be calculated, using the velocity components,
from the equations

Œvx .tiC1 / vx .ti / vy .ti C1 / vy .ti /
.ax /i D ; ay i D ; (2)
tiC1 ti ti C1 ti
Using the same Mathematica notebook we generate the plot for the x and y components of acceleration with
the following code

!t2 " Table!0, "Length!tavg# # 1$#;

Do!!t2!!C## " tavg!!C $ 1## # tavg!!C##, "C, 1, Length!tavg# # 1$#
t2avg " Table!0, "Length!tavg# # 1$#;
Do!t2avg!!C## " %tavg!!C $ 1## $ tavg!!C##& ' 2, "C, 1, Length!tavg# # 1$#

ax ! Table!0, "Length!tavg# " 1$#;

Do!ax!!C## ! "t2avg!!C##, %vx!!C # 1## " vx!!C##& ' $t2!!C##$, "C, 1, Length!tavg# " 1$#
ListPlot("ax$, Joined % True, Frame % True,
FrameTicks % ""Automatic, None$, "Automatic, None$$, GridLines % Automatic,
AspectRatio % 1, ImageSize % 130, FrameLabel % )"time %s&", "ax %ft's2 &"*,
PlotLabel % "average x acceleration"+

ay ! Table!0, "Length!tavg# " 1$#;

Do!ay!!C## ! "t2avg!!C##, %vy!!C # 1## " vy!!C##& ' $t2!!C##$, "C, 1, Length!tavg# " 1$#
ListPlot("ay$, Joined % True, Frame % True,
FrameTicks % ""Automatic, None$, "Automatic, None$$, GridLines % Automatic,
AspectRatio % 1, ImageSize % 130, FrameLabel % )"time %s&", "ay %ft's2 &"*,
PlotLabel % "average y acceleration"+

average x acceleration average y acceleration

20 10
10 5
ax !ft#s2 "

ay !ft#s2 "

0 0
!10 !5
!20 !10
0.0 0.5 1.0 1.5 0.0 0.5 1.0 1.5
time !s" time !s"

The plots generated via numerical differentiation are typically not smooth because numerical differentiation
is an intrinsically “noise producing” process. By contrast, integration is a smoothing process.

Problem 2.31

Let f .t/ be a function of time, and suppose that a table of values of f .t / is provided for a sequence of
equally spaced time instants. Then, for any three consecutive values of f .t /, i.e., f .ti /, f .ti C1 /, and
f .ti C2 /, you can approximate the value of the derivative of f .t / with respect to time at t D ti by using
the formula
df f .ti C2 / C 4f .ti C1 / 3f .ti /
.ti / ; (1)
dt 2 t
where t D tiC1 ti D ti C2 ti C1 . Use this formula to compute derivatives, and rework Example 2.6
to obtain new plots for the velocity and the acceleration. Does the formula given above allow you to obtain
smoother plots for the velocity and acceleration with respect to those in Example 2.6?

Solution

Because of the formula given in Eq. (1), to calculate the velocity at

4
the current time ti we need data at the next two future time points
2
tiC1 and ti C2 . This means we can only calculate velocities for the
first 30 data points. As an example of the application of the given 0

formula, the vx component at t0 D 0:000 s can be calculated as: -2

-4
x.t2 / C 4x.t1 / 3x.t0 /
vx .t0 / 0.0 0.2 0.4 0.6 0.8
t
0:069 C 4.0:029/ 3.0:000/
D D 0:705 m=s:
2.1=30/

Finding the acceleration is similar to calculating velocities. Again as

60
an example of the application of the given formula, the ax component 40
at t0 D 0:000 s can be calculated as: 20
0
vx .t2 / C 4vx .t1 / 3vx .t0 / -20
ax .t0 /
2t -40
1:17 C 4.1:26/ 3.0:705/ -60
D D 26:3 m=s2 : 0.0 0.2 0.4 0.6 0.8
2.1=30/

The results we generated produced plots similar to Figs. 3 and 4 given in Example 2.6 in the text. Our
acceleration plot appears to be worse than the one in the example because the peaks are higher. This is an
example of the difficulty of numerical differentiation.

Problem 2.32

Find the x and y components of the acceleration in Example 2.5 (except for the plots) by simply differenti-
ating Eqs. (4) and (5) with respect to time. Verify that you get the results given in Example 2.5.

Solution
The x component of acceleration is found with:

v0 y d xP d xP dy d xP
xP D p ) xR D D D yP
y 2 C 4a2 dt dy dt dy
v0 y 2 yP v0 yP
xR D 3=2 C p 2 ;
4a2 C y 2 4a C y 2
4a2 v0 yP
D 3=2
y 2 C 4a2

Substituting the equation for yP gives us

2v0 a 8a3 v02

yP D p ) xR D 2 :
y 2 C 4a2 4a2 C y 2

The y component of acceleration is found with:

2v0 a d yP d yP dy d yP
yP D p ) yR D D D yP
y 2 C 4a2 dt dy dt dy
2av0 y yP
yR D 3=2 ;
4a2 C y 2

Substituting the equation for yP gives us

2v0 a 4a2 v02 y

yP D p ) yR D 2 :
y 2 C 4a2 4a2 C y 2

Problem 2.33

Find the x and y components of the acceleration in Example 2.5 (except for the plots) by differentiating
the first of Eqs. (3) and the last of Eqs. (1) with respect to time and then solving the resulting two equations
for xR and y.R Verify that you get the results given in Example 2.5.

Solution

First of Eq. (3) from example W v02 D xP 2 C yP 2 ) 0 D 2xP xR C 2yP y;

R (1)
2
Last of Eq. (1) from example W y yP D 2axP ) 2axR D yP C y y;
R (2)

Solve the first of Eqs. (1) and (2) to find xP and y:

P
2
y yP 2 y 2av0
xP D ) v0 D yP 2 C yP 2 ) yP D p : (3)
2a 4a2 y 2 C 4a2
y yP yv0
xP D ) xP D p : (4)
2a y 2 C 4a2

Solving the second of Eqs. (1) and (2) simultaneously for the acceleration components yields

yP 3 xP yP 2
xR D ; yR D : (5)
y xP C 2ayP y xP C 2ayP
Substituting Eqs. (3) and (4) and simplifying yields the same results as Example 2.5.

8a3 v02 4a2 v02 y

xR D 2 ; yR D 2 : (6)
4a2 C y 2 4a2 C y 2

Problem 2.34

Pioneer 3 was a spin-stabilized spacecraft launched on 6 December 1958

by the U . S . Army Ballistic Missile agency in conjunction with NASA. It
was a cone-shaped probe 58 cm high and 25 cm in diameter at its base.
It was designed with a despin mechanism consisting of two 7 g masses
(m in the figure) that could be spooled out to the end of two 150 cm
wires when triggered by a hydraulic timer 10 h after launch. As they
are deployed, the masses slow the spacecraft spin rate from its initial
value to a desired one. The table below reports discrete acceleration vs.
time data of one of the masses as it is deployed in a test run in which the
spacecraft is kept with its ´ axis vertical and the masses deploy in the
xy plane. Follow the steps described in Example 2.7, and reconstruct
the velocity as well as the position of the deployed mass as a function of
time. Finally plot the trajectory of the mass. Use the initial conditions
x.0/ D 0:125 m, y.0/ D 0 m, x.0/ P D 0 m=s, and y.0/
P D 1:25 m=s.

Time (s) ax .m=s2 / ay .m=s2 / Time (s) ax .m=s2 / ay .m=s2 /

0.00 0.0 0.0 0.16 4.1 -78.7
0.02 -3.9 9.2 0.18 38.3 -79.6
0.04 -14.3 13.9 0.20 73.1 -64.9
0.06 -27.8 10.8 0.22 101.0 -34.7
0.08 -39.8 -1.1 0.24 116.0 7.5
0.10 -45.2 -20.6 0.26 112.0 55.5
0.12 -40.3 -43.7 0.28 88.5 101.0
0.14 -23.5 -65.0 0.30 46.1 135.0

Photo credit: NASA

Solution
Following the methodology of Example 2.7, the velocity of one of the masses is calculated by Mathematica
(we could have used other mathematical software) with the following code for the x component:
ProblemData ! !!0, 0, 0", !0.02, "3.9, 9.2", !0.04, "3.9, 9.2", !0.06, "27.8, 10.8",
!0.08, "39.8, "1.1", !0.10, "45.2, "20.6", !0.12, "40.3, "43.7", !0.14, "23.5, "65.0",
!0.16, 4.1, "78.7", !0.18, 38.3, "79.6", !0.20, 73.1, "64.9", !0.22, 101.0, "34.7",
!0.24, 116.0, 7.5", !0.26, 112.0, 55.5", !0.28, 88.5, 101.0", !0.30, 46.1, 135.0"";

0.3
SampleTime ! ;
NumberofSamples " 1
v0x ! 0;

velx !
SampleTime
Table! ""ProblemData##1, 2$$ # ProblemData##n, 2$$% #
2

SampleTime"& ProblemData##k, 2$$, 'n, 2, Length#ProblemData$() # v0x;

n$1

k!2

velxComplete ! Prepend!velx, v0x";

ListPlot!Transpose!#Transpose!ProblemData"$1%, velxComplete&", PlotRange " All,
GridLines " #Automatic, Automatic&,
FrameTicks " ##Automatic, None&, ##0, 0.15, 0.3&, None&&, Frame " True,
Joined " True, AspectRatio " 1"

2
6
4 0
vx !m, s"

vy !m, s"
2 !2
0
!4
!2
!4 !6
0 0.15 0.3
Time !s"
0 0.1 0.2 0.3
Time !s"

In order to determine the position of the spinning mass, the CTR is employed to integrate the velocity data.
The x component of position and the trajectory are calculated by Mathematica with the following code:
posxComplete ! Prepend!posx, x0";
posyComplete ! Prepend!posy, y0";

ListPlot!Transpose!"Transpose!ProblemData#$1%, posxComplete&#, Joined ! True,

PlotRange ! All, GridLines ! "Automatic, Automatic&, ImageSize ! 130,
FrameTicks ! ""Automatic, None&, "Automatic, None&&, FrameLabel ! ""Time 's(", "x'm("&,
Frame ! True, AspectRatio ! 1#

0.1 0.2

0.0 0.
x !m"

y !m"

!0.1
!0.2
!0.2
!0.3 !0.4
0. 0.1 0.2 0.3
Time !s"
0 0.1 0.2 0.3
Time !s"

An alternative way to view the position of the mass is by plotting its trajectory:
ListPlot!Transpose!"posxComplete, posyComplete#$, Joined ! True, PlotRange ! All,
GridLines ! "Automatic, Automatic#, ImageSize ! 130,
FrameTicks ! ""Automatic, None#, "Automatic, None##, FrameLabel ! ""x%t&", "y%t&"#,
Frame ! True, AspectRatio ! 1$

Problem 2.35

The Center for Gravitational Biology Research at NASA’s Ames Research Center runs a large centrifuge
capable of 20g of acceleration (12.5g is the maximum for human subjects). The distance from
q the axis of
rotation to the cab at either A or B is R D 25 ft. The trajectory of A is described by yA D R2 xA2 for
q
yA 0 and by yA D R2 xA2 for yA < 0. If A moves at the constant speed vA D 120 ft=s, determine
the velocity and acceleration of A when xA D 20 ft and yA > 0.

Photo credit: NASA

Solution
Starting with the equation of the trajectory for y > 0, and differentiating it with respect to time, we have
xA xPA
q
yA D R2 xA2 ) yPA D q : (1)
R2 xA2
q
Recalling that the speed can be computed as v D xPA2 C yPA2 , using Eq. (1), we can express the quantity v 2 as
vA vA xA
q
2 2 2
xPA C yPA D vA ) xPA D R2 xA2 ) yPA D ; (2)
R R
where we have substituted the second of Eqs. (2) into the last of Eqs. (1) to obtain the last of Eqs. (2). Then,
recalling that vA D 120 ft=s, R D 25 ft, and xA D 25 ft, evaluating the last two of Eqs. (2), we have

vEA D .72:0 {O C 96:0 |O/ ft=s:

Next, differentiating the last of Eqs. (2) with respect to time, we have
xPA vA v2 q
yRA D ) yRA D 2A R2 xA2 : (3)
R R
Because the speed is constant, differentiating the first of Eqs. (2) with respect to time, we have
yPA yRA
2xPA xRA C 2yPA yRA D 0 : ) xRA D (4)
xA
Substituting the last of Eqs. (2) and the last of Eqs. (3) into the last of Eqs. (4), we have
xA vA2
xRA D : (5)
R2
Finally, recalling that vA D 120 ft=s, R D 25 ft, and xA D 25 ft, evaluating Eq. (5) and the last of Eqs. (3),
we have
aEA D .461 {O 346 |O/ ft=s2 :

Problem 2.36

The orbit of a satellite A around planet B is the ellipse shown and is

described by the equation .x=a/2 C .y=b/2 D 1, where a and b are
the semimajor and semiminor axes of the ellipse, repectively. When
x D a=2 and y > 0, the satellite is moving with a speed v0 as shown.
Determine the expression for the satellite’s velocity vE in terms of v0 ,
a, and b for x D a=2 and y > 0.

Solution
Take the derivative with respect to time of the given equation:
x 2 x xP y 2
y yP
C C D1
D 0: ) (1)
a b a2 b2
p
Substitute x D a=2 into .x=a/2 C .y=b/2 D 1 to find y D .b 3/=2. Then,substituting the expressions for
x and y into the second of Eqs. (1), we have
p
a 3yP
xP C D 0: (2)
b
p
Now recall that the speed v0 is given by v0 D xP 2 C yP 2 . Therefore, solving Eq. (2) for xP and substituting
the result in the expression for the speed squared, i.e., xP 2 C yP 2 D v02 , we have

3a2 yP 2 v0 b
C yP 2 D v02 ) yP D p : (3)
b2 3a2 C b 2
Substituting the last of Eqs. (3) into (2), we find
p
3av0
xP D p : (4)
3a C b 2
2

Then, recalling that the velocity is given by vE D xP {O C yP |O, using Eq. (4) and the last of Eqs. (3), we can
express the velocity as
v0 p
vE D p 3a {O C b |O :
3a2 C b 2

Problems 2.37 through 2.40

The following four problems refer to the car traveling between STOP STOP

two stop signs presented at the beginning of this section on p. 55,

in which the car’s velocity is assumed to be given by v D Œ9
9 cos.2t=5/ m=s for 0 t 5 s.

Problem 2.37 Determine vmax , the maximum velocity reached

by the car. Furthermore, determine the position svmax and the time
tvmax at which vmax occurs.

Problem 2.38 Determine the time at which the brakes are applied
and the car starts to slow down.

Problem 2.39 Determine the average velocity of the car between

the two stop signs.

Problem 2.40 Determine jajmax , the maximum of the magnitude

of the acceleration reached by the car, and determine the position(s)
at which jajmax occurs.

Solution to 2.37
To find vmax , we first differentiate v with respect to time and set it equal to zero to find the extrema.

dv 18 2t 2 2t 5
aD D0 ) sin m=s D 0 ) sin D 0 ) t D 0; s; 5 s; : : : (1)
dt 5 5 5 2

Find v at the only meaningful solution t D .5/=2 s:

5 2 5
v s D 9 9 cos m=s D 18:0 m=s: (2)
2 5 2

5
tvmax D s D 7:85 s ) vmax D 18:0 m=s: (3)
2

To find the position as a function of time, s.t /, we integrate

Z t
45 2t
sD v.t / dt ) s D 9t sin C C m; (4)
0 2 5

where C is a constant of integration. To determine C , we apply the initial condition according to which
s.0/ D 0 m=s. This implies that C D 0. We then find the position at the maximum velocity to be

45
svmax D m D 70:7 m: (5)
2

Solution to 2.38
The brakes are applied when the velocity is maximum (when the acceleration changes sign).

dv 18 2t
D0 ) sin m=s2 D 0: (6)
dt 5 5

The only meaningful solution is:

5
tbraking D s D 7:85 s: (7)
2

Solution to 2.39
To find the average velocity, we need to determine the total change in position and the time it took for that
change in position to occur. We start by finding the time over which the car was in motion. Since we know
that the car started moving at time t D 0, we need to determine when the car first came to a stop. The car
stops when v D Œ9 9 cos.2t =5/ m=s D 0. This occurs when t D 5 s.
To compute the change in position, we first determine s.t /, the position as a function of time by integrating
the expression for the velocity, i.e.,
Z t
45 2t 45 2t
sD v.t / dt ) s D 9t sin C C m D 9t sin m; (8)
0 2 5 2 5

where the constant of integration C was found to be equal to zero by applying the initial condition according
to which s.0/ D 0 m. Next, using the above expression for s.t /, for t D 5 s, we have

5 2.5/
s.5 s/ D 9.5/ 9 sin m=s D 45 m D 141:4 m: (9)
2 5

The average velocity is then given by

sfinal sinitial 45 m 0 m
vavg D D ) vavg D 9:00 m=s. (10)
tfinal tinitial 5 s 0 s

Solution to 2.40
Since the acceleration is the time derivative of the velocity, we have

dv 18 2t
aD D sin m=s2 : (11)
dt 5 5

To find amax we differentiate the above expression with respect to time and set it equal to zero to find the
extrema.

da 36 2t 3 2t 5 15
aP D D cos m=s D 0 ) cos D0 ) t D s; s; : : : (12)
dt 25 5 5 4 4

We then find a at these extremal points in our time range of interest and find the maximum magnitude. This
gives
ˇ ˇ ˇ ˇ
ˇ 5 ˇ ˇ 18 ˇˇ 18
ˇa s ˇ D ˇ sin m=s D m=s2 ; (13)
ˇ 4 ˇ ˇ 5 2 ˇ 5
ˇ ˇ ˇ ˇ
ˇ 15 ˇ ˇ 18 3 ˇˇ 18
ˇa s ˇˇ D ˇˇ sin m=s D m=s2 : (14)
ˇ 4 5 2 ˇ 5

Therefore, expressing our answers to three significant figures, we have

tjajmax D 3:93 s and tjajmax D 11:8 s where jajmax D 3:60 m=s2 :

To determine the position of the car corresponding to the occurrence of the maximum acceleration, we
first determine the position as a function of time by integrating the velocity.
Z t
45 2t 45 2t
sD v.t / dt ) s D 9t sin C C m D 9t sin m; (15)
0 2 5 2 5

where the constant of integration C was found to be equal to zero by applying the initial condition according
to which s.0/ D 0 m. Then evaluating s.t / for the t D .5=4/ s and t D .15=4/ s, we have

2 54 2 15

5 5 45 15 15 45 4
s s D 9 sin m and s s D 9 sin m: (16)
4 4 2 5 4 4 2 5

Therefore, evaluating our result numerically and expressing them to three significant figures, we have

samax D 12:8 m and samax D 129 m: (17)

Problem 2.41

A ring is thrown straight upward from a height h D 2:5 m off the ground and
with an initial velocity v0 D 3:45 m=s. Gravity causes the ring to have a con-
stant downward acceleration g D 9:81 m=s2 . Determine hmax , the maximum
height reached by the ring.

Solution
The release height of the rose is given by s0 D 2:5 m. Using the constant acceleration equation, we have

v 2 D v02 2g.s s0 /; (1)

where v0 is the value of the speed corresponding to the position value s0 . The maximum height is the value
of s corresponding to v D 0. Hence, setting s D hmax and v D 0 in the above equation, and solving for hmax ,
we have
v2
hmax D 0 C s0 ) hmax D 3:11 m; (2)
2g
where we have used the following numerical data: v0 D 3:45 m=s and s0 D 2:5 m.

Problem 2.42

A ring is thrown straight upward from a height h D 2:5 m off the ground. Grav-
ity causes the ring to have a constant downward acceleration g D 9:81 m=s2 .
Letting d D 5:2 m, if the person at the window is to receive the ring in the
gentlest possible manner, determine the initial velocity v0 the ring must be
given when first released.

Solution
Substitute s0 D h, s D .h C d /, and v D 0 m=s into the constant acceleration equation v 2 D v02 2g.s s0 /
and solve for v0 :
p
v0 D 2gd ) v0 D 10:1 m=s; (1)

where we have used the following numerical data: g D 9:81 m=s2 and d D 5:2 m.

Problem 2.43

A car stops 4 s after the application of the brakes while covering a

rectilinear stretch 337 ft long. If the motion occurred with a con-
stant acceleration ac , determine the initial speed v0 of the car and
the acceleration ac . Express v0 in mph and ac in terms of g, the
acceleration of gravity.

Solution
Substituting v D 0 and t0 D 0 into the constant acceleration equation v D v0 C ac .t t0 / , we have

0 D v0 C ac t ) v0 D ac t: (1)

Then, we substitute the expression for v0 in Eq. (1), s0 D 0, and t0 D 0 into the constant acceleration
equation s D s0 C v0 .t t0 / C 21 ac .t t0 /2 to obtain

2s
ac D D 42:12 ft=s2 ; (2)
t2
where we have used the following numerical data: s D 337 ft and t D 4 s. Expressing the above result in
terms of g, the acceleration due to gravity, and to 3 significant figures, we have

2 g
ac D 42:12 ft=s ) ac D 1:31g.
32:2 ft=s2

Finally, substituting the value of ac in Eq. (2) into the last of Eqs. (1) and evaluating v0 , we have

2 1 mi 3600 s
v0 D ac t D .42:12 ft=s /.4 s/ ) v0 D 115 mph; (3)
5280 ft 1h

where we have used the fact that t D 4 s.

Problems 2.44 and 2.45

The motion of a peg sliding within a rectilinear guide is controlled

by an actuator in such a way that the peg’s acceleration takes on the
form xR D a0 .2 cos 2!t ˇ sin !t /, where t is time, a0 D 3:5 m=s2 ,
! D 0:5 rad=s, and ˇ D 1:5.

Problem 2.44 Determine the expressions for the velocity and

P
the position of the peg as functions of time if x.0/ D 0 m=s and
x.0/ D 0 m.

Problem 2.45 Determine the total distance traveled by the peg

during the time interval 0 s t 5 s if x.0/
P D a0 ˇ=!.

Solution to 2.44
Integrating the acceleration equation we have

t
a0
Z
P
x.t/ D x.0/
P C R / dt
x.t ) P /D
x.t .sin 2!t C ˇ cos !t /t0
0 !
a0
) P /D
x.t .sin 2!t C ˇ cos !t ˇ/;
!
P
where we have accounted for the fact that x.0/ D 0. Hence, evaluating with above expression, we have,

v.t / D 7:00 sin t C 1:50 cos.0:500t / 1:50 m=s;

where we have expressed known coefficients to three significant figures, and where we have used the following
numerical data: a0 D 3:5 m=s2 , ! D 0:5 rad=s, and ˇ D 1:5.
To determine position as a function of time, we integrate the velocity function obtained above:

t
a0
Z
1
t
s.t/ D x.t / D x.0/ C P / dt
x.t ) x.t / D 2 cos 2!t C ˇ sin !t ˇ!t 0
0 !2
a0
) x.t / D .1 cos 2!t C 2ˇ sin !t 2ˇ!t /;
2! 2
which can be evaluated to obtain

x.t / D 7:00Œ1:00 1:50 cos t C 3:00 sin.0:500t / m;

where we have expressed known coefficients to three significant figures, and where we have used the following
numerical data: a0 D 3:5 m=s2 , ! D 0:5 rad=s, and ˇ D 1:5.

Solution to 2.45
P
Integrating the acceleration equation and accounting for the condition that x.0/ D a0 ˇ=!, we have
Z t
a0
P / D x.0/
x.t P C R / dt ) x.t
x.t P /D sin 2!t C ˇ cos !t : (1)
0 !
P /. To do so, we first rewrite Eq. (1) as
To find the total distance traveled we must first find the sign of x.t
follows:
a0
P /D
x.t cos !t 2 sin !t C ˇ ; (2)
!
where we have used the trigonometric identity sin 2!t D 2 sin !t cos !t and then factored the cos !t term.
Then, referring to Eq. (2), and keeping in mind that we are only interested in the peg’s motion for 0 t 5 s,
we see that
rad
cos !t > 0 for 0 < !t < rad ) 0 < t < Ds (3)
2 2!
where we have used the fact that ! D 0:5 rad=s. In addition, we have that

2 sin !t C ˇ > 0 for all 0 < t < 5 s: (4)

Therefore, we see that xP changes sign for t D s. This implies that the distance traveled must be computed
by integrating the velocity on two separate time intervals as follows:
s Z 5s
a0 a0
Z

dD cos !t .2 sin !t C ˇ/ dt cos !t .2 sin !t C ˇ/ dt;
0s ! s !
a0 h i s a0 h i5 s
D cos 2!t C 2ˇ sin !t cos 2!t C 2ˇ sin !t ;
2! 2 0s 2! 2 s
a0
D 3 C 4ˇ C cos 5 2ˇ sin 2:5 m ) d D 52:4 m;
2! 2
where we have used the following numerical data: a0 D 3:5 m=s2 , ! D 0:5 rad=s, and ˇ D 1:5

Problem 2.46

Referring to Example 2.9 on p. 63, and defining terminal velocity as the

velocity at which a falling object stops accelerating, determine the skydiver’s
terminal velocity without performing any integrations.

Solution
We use the equation a D g Cd v 2 =m, given in Example 2.9 on p. 63 and set a D 0 m=s2 . Then, we can
solve ofr the terminal velocity to obtain

r
mg
vterm D D 5:00 m=s; (1)
Cd

where we have used the following numerical data: Cd D 43:2 kg=m, m D 110 kg, and g D 9:81 m=s2 .

Problem 2.47

Referring to Example 2.9 on p. 63, determine the distance d traveled by

the skydiver from the instant the parachute is deployed until the differ-
ence between the velocity and the terminal velocity is 10% of the terminal
velocity.

Solution
Recall that the acceleration can be related to the velocity and position as follows:

dv dv ds dv
aD D Dv : (1)
dt ds dt ds
From Example 2.9 on p. 63 we have that a D g Cd v 2 =m. Hence, substituting this expression into
Eq. (1), rearranging terms, and integrating from v0 to vqt D 1:10 vterm (where the subscript qt stands for
quasi-terminal), we have
Z d Z vqt
v
ds D dv; (2)
0 v0 g .Cd =m/v 2
where v0 is the velocity of the skydiver at the time that the parachute is deployed. Carrying out the above
integrations, we have

g .Cd =m/vqt2
m
dD ln : (3)
2Cd g .Cd =m/v02
Now, going back to Example 2.9 on p. 63, we have m D 110 kg, v0 D 44:5 m=s, Cd D 43:2 p kg=m. In
addition, recall that g D 9:81 m=s2 and that, again from Example 2.9 on p. 63, vterm D mg=Cd D
4:998 m=s, so that vqt D 5:498 m=s. Hence, using these data to evaluate the right-hand side of Eq. (3), we
have
d D 7:54 m:

Problems 2.48 and 2.49

Problem 2.48 Letting t0 D 0 and v0 D 0, determine the velocity as a function of

time and find the terminal velocity.

Problem 2.49 Letting s0 D 0 and v0 D 0, determine the position as a function of

velocity.

Solution to 2.48
We observe that in this problem the acceleration is provided as a function of velocity. Hence, we first proceed
to find time as a function of velocity and then inverting the result to determine the velocity as a function of
time. Specifically, recalling that we have a D dv=dt ) dt D dv=a, letting t0 D 0, we have
Z v
dv m ˇˇv m Cd
t .v/ D D ln g .Cd =m/v ˇ D ln 1 v : (1)
0 g .Cd =m/v Cd 0 Cd mg

We then invert this to find v.t /

mg Cd t
v.t / D 1 e m :
Cd

To find the terminal velocity, we can set a D g .Cd =m/v equal to 0:

Cd vterm mg
0Dg ) vterm D . (2)
m Cd

Solution to 2.49
Recall that acceleration velocity and positions can be related as follows:

dv vdv
aDv ) ds D : (3)
ds a
Hence, since the acceleration is given as a function of the velocity, we can determine the position as a function
of the velocity as follows:
Z v Z v Z v
v .Cd =m/v C g g mg=Cd m
s.v/ D dv D dv D dv; (4)
0 g .Cd =m/v 0 .Cd =m/Œg .Cd =m/v 0 g .Cd =m/v Cd

which can be evaluated to obtain

mg m g .Cd =m/v m m mg Cd v
s.v/ D ln v ) s.v/ D vC ln 1 : (5)
Cd Cd g Cd Cd Cd mg

Problem 2.50

A 1:5 kg rock is released from rest at the surface of a calm lake. If the resistance
offered by the water as the rock falls is directly proportional to the rock’s velocity,
the rock’s acceleration is a D g Cd v=m, where g is the acceleration of gravity,
Cd is a constant drag coefficient, v is the rock’s velocity, and m is the rock’s mass.
Letting Cd D 4:1 kg=s, determine the rock’s velocity after 1:8 s.

Solution
We begin by observing that

tf vf
Cd dv dv
Z Z
aDg vD ) dt D
m dt 0 0 g .Cd =m/v
g .Cd =m/vf

m m Cd
) tf D ln ) tf D ln 1 vf ; (1)
Cd g Cd mg

where the subscript f stands for final. Solving the above equation for vf , we have

mg Cd tf =m

vf D 1 e ) vf D 3:56 m=s
Cd

where we have used the following numerical data: m D 1:5 kg, g D 9:81 m=s2 , Cd D 4:1 kg=s, and
tf D 1:8 s.

Problems 2.51 and 2.52

A 3:1 lb rock is released from rest at the surface of a calm lake, and its acceleration
is a D g Cd v=m, where g is the acceleration of gravity, Cd D 0:27 lbs=ft is a
constant drag coefficient, v is the rock’s velocity, and m is the rock’s mass.

Problem 2.51 Determine the depth to which the rock will have sunk when the rock
achieves 99% of its terminal velocity.

Problem 2.52 Determine the rock’s velocity after it drops 5 ft.

Solution to 2.51
Recalling that we can relate the acceleration to velocity and position as a D vdv=ds, we can write
s v v
vdv v .Cd =m/v C g g
Z Z Z
ds D ) ds D dv D dv
a 0 0 g .Cd =m/v 0 .Cd =m/Œg .Cd =m/v
Z v
mg=Cd m
) sD dv; (1)
0 g .Cd =m/v Cd

which can be evaluated to obtain

m2 g

Cd m
sD ln 1 v v: (2)
Cd2 mg Cd

We now recall that the terminal velocity can be computed as the value of velocity corresponding to the
acceleration to become equal to zero, i.e., g .Cd =m/vterm D 0. Hence, we have

vterm D mg=Cd D 11:48 ft=s; (3)

where we have used the following numerical data: mg D 3:1 lb and Cd D 0:27 lbs=ft.
Now, letting v D 0:99vterm D 11:37 ft=s, we can evaluate the right-hand side of Eq. (2) to obtain

s D 14:9 ft;

where we have used the following numerical data: m D .3:1 lb/=.32:2 ft=s2 / D 0:09627 slug, g D 32:2 ft=s2 ,
and Cd D 0:27 lbs=ft.

Solution to 2.52
Recalling that we can relate the acceleration to velocity and position as a D vdv=ds, we can write
s v v
vdv v .Cd =m/v C g g
Z Z Z
ds D ) ds D dv D dv
a 0 0 g .Cd =m/v 0 .Cd =m/Œg .Cd =m/v
Z v
mg=Cd m
) sD dv; (4)
0 g .Cd =m/v Cd

which can be evaluated to obtain

m2 g

Cd m
sD ln 1 v v: (5)
Cd2 mg Cd

We now need to solve the above equation for v after setting s D 5 ft. Since this cannot be done analytically,
we will need to do it numerically. As a first step, we recall that we are given the following numerical data:
m D .3:1 lb/=.32:2 ft=s2 / D 0:09627 slug, g D 32:2 ft=s2 , and Cd D 0:27 lbs=ft. Therefore, letting s D 5 ft
and using the data just listed, we evaluate Eq. (5) (expressing all known coefficients to 4 significant figures)
to obtain
5:000 ft D .0:3566 s/v .4:094 ft/ lnŒ1:000 .0:08710 s=ft/v: (6)
Next we need to use some numerical root finding program to determine the desired value of v. This can
de done using several pieces of mathematical software. The solution presented below was obtained using
Mathematica via the following code:
FindRoot!!0.3566 v ! 4.094 Log!1 ! 0.0871 v" " 5.000, #v, 1.$"

where we note that, as required by most root finding algorithms, one needs to specify some initial guess for
the solution (we have used v D 1 ft=s). The execution of the code above, gives the following result (once
expressed to 3 significant figures)
v D 10:1 ft=s:

Problem 2.53

Suppose that the acceleration of an object of mass m along a straight line is a D g Cd v=m, where the
constants g and Cd are given and v is the object’s velocity. If v.t / is unknown and v.0/ is given, can you
determine the object’s velocity via the following integral?
Z t
Cd
v.t / D v.0/ C g v dt
0 m

Solution
No, because the integrand is not an explicit function of the variable of integration. Clearly, if v.t / is provided
as an explicit function of time then one could integrate. However in this case there would be no need
whatsoever to integrate since v.t / would be given to begin with.

Problem 2.54

A car travels on a rectilinear stretch of road at a constant speed

v0 D 65 mph. At s D 0 the driver applies the brakes hard enough
to cause the car to skid. Assume that the car keeps sliding until
it stops, and assume that throughout this process the car’s accel-
eration is given by sR D k g, where k D 0:76 is the kinetic
friction coefficient and g is the acceleration of gravity. Compute
the car’s stopping distance and time.

Solution
Using the constant acceleration equation v 2 D v02 C 2ac .s s0 / with v0 D 65 mph D 95:33 ft=s, v D 0,
and s0 D 0, we have

v02
v 2 D v02 C 2Rs .s s0 / ) sD ) s D 186 ft; (1)
2k g

where in addition to the data already listed we have used the following numerical values: g D 32:2 ft=s2 and
k D 0:76.
To determine the car’s stopping time, we can use the constant acceleration equation v D v0 C ac t to find
v v0 v v0
tD D ) t D 3:90 s; (2)
sR k g

where we have used the following numerical data: v D 0, v0 D 65 mph D 95:33 ft=s, k D 0:76, and
g D 32:2 ft=s2 .

Problem 2.55

Heavy rains cause a particular stretch of road to have a coefficient

of friction that changes as a function of location. Specifically, mea-
surements indicate that the friction coefficient has a 3% decrease
per meter. Under these conditions the acceleration of a car skidding
while trying to stop can be approximated by sR D .k cs/g (the
3% decrease in friction was used in deriving this equation for accel-
eration), where k is the friction coefficient under dry conditions,
g is the acceleration of gravity, and c, with units of m 1 , describes
the rate of friction decrement. Let k D 0:5, c D 0:015 m 1 , and
v0 D 45 km=h, where v0 is the initial velocity of the car. Deter-
mine the distance it will take the car to stop and the percentage of
increase in stopping distance with respect to dry conditions, i.e.,
when c D 0.

Solution
Recalling that the acceleration can be related to the position and velocity as a D vdv=ds, we can write
Z 0 Z swet
dv
sR D v ) v dv D .k cs/g ds; (1)
ds v0 0

where the upper limits of integration for integral on the left-hand side (i.e., v D 0) corresponds to the car
stopping, and the upper limit of integration for the integral on the right-hand side denotes the stopping
distance over wet ground. Carrying out the integration, we have
gh is g 2
1 2 2 wet 1 2
k 2k cswet C c 2 swet2
2k ;

v
2 0 D . k cs/ ) 2 v0 D (2)
2c 0 2c
which can be simplified to yield
2 2 1h q i
cswet 2k swet C v0 =g D 0 ) swet D k ˙ 2k .cv02 /=g : (3)
c
Recalling that c D 0:015 m 1 , k D 0:5, v0 D 45 km=h D 12=50 m=s, and g D 9:81 m=s2 , we can evaluate
the last of Eqs. (3) to obtain swet D 26:31 m or 40:35 m. Only the first solution is meaningful since the car
will not keep moving after it has come to a stop for the first time. Hence, expressing our result to 3 significant
figures, we have
swet D 26:3 m:
For dry conditions, c D 0 so that sR D k g, which implies that the acceleration is constant. Consequently,
we use the equation v 2 D v02 C 2ac .s s0 / to determine the stopping distance under dry conditions. Hence,
denoting by sdry the position s at which v D 0 under dry conditions, we have
v02
0 D v02 2k g.sdry s0 / ) sdry D ) sdry D 15:93 m;
2k g
where we have set s0 D 0. Hence, the percentage increase in stopping distance, expressed to 3 significant
figures, is
.swet sdry /
100 D 65:2%:
sdry

Problems 2.56 through 2.59

As you will learn in Chapter 3, the angular acceleration of a simple pendulum is given
by R D .g=L/ sin , where g is the acceleration of gravity and L is the length of
the pendulum cord.

Problem 2.56 Derive the expression of the angular velocity P as a function of the
angular coordinate . The initial conditions are .0/ D 0 and P .0/ D P0 .

Problem 2.57 Let the length of the pendulum cord be L D 1:5 m. If P D 3:7 rad=s
when D 14ı , determine the maximum value of achieved by the pendulum.

Problem 2.58 The given angular acceleration remains valid even if the pendulum
cord is replaced by a massless rigid bar. For this case, let L D 5:3 ft and assume that
the pendulum is placed in motion at D 0ı . What is the minimum angular velocity
at this position for the pendulum to swing through a full circle?

Problem 2.59 Let L D 3:5 ft and suppose that at t D 0 s the pendulum’s

position is .0/ D with P .0/ D 0 rad=s. Determine the pendulum’s period of
32ı
oscillation, i.e., from its initial position back to this position.

Solution to 2.56
We need to establish a relationship between the angle and time. To do so, we begin by establishing a
relation between the angular velocity P and and swing angle, and then we will proceed to establish the desired
relation. Recalling that we can write R D P d P =d, and that this implies P d P D R d, we can then integrate
each side to obtain
P
2g 2g
Z Z Z
P d P D R . / d ) P 2 P02 D sin d ) P 2 D P02 C .cos cos 0 /:
P0 0 L 0 L

P we then have
Solving for ,

r
2g
. / D ˙ P02 C
P

cos cos 0 : (1)
L

Solution to 2.57
We need to establish a relationship between the angle and time. To do so, we begin by establishing a
relation between the angular velocity P and and swing angle, and then we will proceed to establish the desired
relation. Recalling that we can write R D P d P =d, and that this implies P d P D R d, we can then integrate
each side to obtain
P
2g 2g
Z Z Z
P d P D R . / d ) P 2 P02 D sin d ) P 2 P02 D .cos cos 0 /:
P0 0 L 0 L

Hence, observing that the maximum angle achieved by the pendulum corresponds to when the pendulum
inverts its swinging motion and therefore for P D 0, denoting by max the angle in question, we can rewrite
the last of the above equations as
2g
P02 D .cos max cos 0 /;
L
which can be solved for max to obtain
" #
1 LP02
max D cos C cos 0 ) max D 94:4ı ,
2g

where we have used the following numerical data: P0 D 3:7 rad=s, 0 D 14ı , L D 1:5 m, and g D 9:81 m=s2 .

Solution to 2.58
We need to establish a relationship between the angle and time. To do so, we begin by establishing a
relation between the angular velocity P and and swing angle, and then we will proceed to establish the desired
relation. Recalling that we can write R D P d P =d, and that this implies P d P D R d, we can then integrate
each side to obtain
P
2g 2g
Z Z Z
P d P D R . / d ) P 2 P02 D sin d ) P 2 P02 D .cos cos 0 /:
P0 0 L 0 L

Now observe that the minimum angular speed of the pendulum at D 0 is the speed that allows the pendulum
to reach the angle D rad with P D 0. Hence, letting P0 denote the the angular speed of the pendulum for
0 D 0, substituting these conditions in the above equation, we have
r
P 2 2g
P 2 4g P g
0 D cos. rad/ cos 0 ) 0 D ) 0 D ˙2 ;
L L L
which can be evaluated to obtain

P0 D ˙4:93 rad=s;
min

where we have used the following numerical data: g D 32:2 ft=s2 and L D 5:3 ft.

Solution to 2.59
We need to establish a relationship between the angle and time. To do so, we begin by establishing a
relation between the angular velocity P and and swing angle, and then we will proceed to establish the desired
relation. Recalling that we can write R D P d P =d, and that this implies P d P D R d, we can then integrate
each side to obtain
P
2g 2g
Z Z Z
P d P D R . / d ) P 2 P02 D sin d ) P 2 D P02 C .cos cos 0 /:
P0 0 L 0 L

Hence, solving for P as a function of , we have

r
2g
P D ˙ P02 C

cos cos 0 : (2)
L
One the pendulum is released from 0 D 32ı , the angle will decrease until the angle 32ı is achieved
and it will then swing back tot he original angle. The time taken to go from 32ı to 32ı is equal to the time
taken to swing back from 32ı to 32ı . Hence, the period of oscillation, which we will denote by p, is twice
the time that the pendulum takes to go from 32ı to 32ı . With this in mind, and referring to Eq. (2), the
relationship between P and for after release and until D 32ı is achieved, is
r
2g
P D P02 C

cos cos 0 ; (3)
L

given that will initially decrease. Now, recalling that P D d=dt, we can write dt D d=P . Hence, using
Eq. (3), we can write
d
dt D q ; (4)
P02 C 2g
L cos cos 0

Hence, we can integrating over one half of a full swing to obtain

p=2 32ı 32ı
d d
Z Z Z
dt D q ) pD 2 q ; (5)
2g 2g
0 32ı P02 C 32ı

L cos cos 0 L cos cos.32ı /

where we have enforced

p the fact that 0 D 32ı and P0 D 0. Now recalling that L D 3:5 m and g D 9:81 m=s2 ,
we have that 2= 2g=L D 0:4663 s. Hence, we can rewrite the last of Eqs. (5) as
32ı
. 0:4663 s/
Z
pD p d:
32ı cos cos 32ı
The above integral can be evaluated with some appropriate mathematical software. We have used the
following code using Mathematica:

, $Θ, 32. Degree, !32. Degree%&

!0.4663
NIntegrate!
Cos"Θ# ! Cos"32. Degree#

which yields the following result:

p D 2:11 s:

Problems 2.60 through 2.62

As we will see in Chapter 3, the acceleration of a particle of mass m suspended by

a linear spring with spring constant k and unstretched length L0 (when the spring
length is equal to L0 , the spring exerts no force on the particle) is given by xR D
g .k=m/.x L0 /.

Problem 2.60 Derive the expression for the particle’s velocity xP as a function of
position x. Assume that at t D 0, the particle’s velocity is v0 and its position is x0 .

Problem 2.61 Let k D 100 N=m, m D 0:7 kg, and L0 D 0:75 m. If the particle
is released from rest at x D 0 m, determine the maximum length achieved by the
spring.

Problem 2.62 Let k D 8 lb=ft, m D 0:048 slug, and L0 D 2:5 ft. If the particle is
released from rest at x D 0 ft, determine how long it takes for the spring to achieve its
maximum length. Hint: A good table of integrals will come in handy.

Solution to 2.60
The acceleration can be related to the position and the velocity as follows: xR D xd
P x=dx.
P This implies that
P xP D xdx
we can write xd R and we can therefore proceed to integrate this expression as follows:
xP Z x
k
Z
xP d xP D g .x L0 / dx; (1)
v0 x0 m

where as indicated in the problem statement, v0 is the value of xP for x D x0 . Evaluating the integral gives us
the velocity as a function of x.

1 2 1 2 k kL0
P
2x 2 v0 D g.x x0 / x2 x02 C .x x0 /: (2)
2m m
P we have
Then multiplying the above equation through by 2 and solving for x,

s
kL0 k 2
v02 x02 :

xP D ˙ C2 gC .x x0 / x (3)
m m

Solution to 2.61
The acceleration can be related to the position and the velocity as follows: xR D xd
P x=dx.
P This implies that
P xP D xdx
we can write xd R and we can therefore proceed to integrate this expression as follows:
xP Z x
k
Z
xP d xP D g .x L0 / dx; (4)
v0 x0 m

where as indicated in the problem statement, v0 is the value of xP for x D x0 . Now, in this particular problem,
since the particle starts from rest at x D 0, we set v0 D 0 and x0 D 0. We now observe that the coordinate x
(when positive) measures the length of the spring. In addition, denoting the maximum length by xmax , we
observe that xmax is achieved when xP D 0, i.e., when the spring has stretched to the point that it will start
recoiling back. Using these considerations, we can rewrite Eq. (4) as
Z 0 Z xmax
k k 2 kL0
xP d xP D g .x L0 / dx ) 0 D gxmax xmax C xmax : (5)
0 0 m 2m m

The last of the above equations can be solved for xmax to obtain

2.mg C kL0 /
xmax D ) xmax D 1:64 m, (6)
k

where we have used the following numerical data: m D 0:7 kg, g D 9:81 m=s2 , k D 100 N=m, and
L0 D 0:75 m.

Solution to 2.62
The acceleration can be related to the position and the velocity as follows: xR D xd
P x=dx.
P This implies that
P xP D xdx
we can write xd R and we can therefore proceed to integrate this expression as follows:
Z xP Z x
k
xP d xP D g .x L0 / dx; (7)
v0 x0 m
where as indicated in the problem statement, v0 is the value of xP for x D x0 . Evaluating the integral gives us
the velocity as a function of x.

1 2 1 2 k kL0
P
2x 2 v0 D g.x x0 / x2 x02 C .x x0 /: (8)
2m m
Then multiplying the above equation through by 2, keeping in mind that we are interested in the motion of
the spring for xP 0 (i.e., we are not interested in the recoiling motion of the spring after it has stretched to
its maximum length), and solving for x, P we have
s
2 kL0 k 2
x02 :

xP D v0 C 2 g C .x x0 / x (9)
m m

Now, since the particle is released from rest at x D 0, we have v0 D 0. Consequently, the above equation can
be simplified to obtain r
2.mg C kL0 / k 2
xP D x x : (10)
m m
Next, we determine the maximum length of the spring, which is achieved when xP D 0. Hence, setting xP D 0
and x D xmax in Eq. (10) and solving for xmax , we have
2.mg C kL0 / k 2 2.mg C kL0 /
xmax x D0 ) xmax D ) xmax k D 2.mg C kL0 /: (11)
m m max k
Substituting Eq. (11) into Eq. (10), we have
r r
k k 2 k
q
xP D xxmax x ) xP D x xmax x : (12)
m m m
Now we recall that xP D dx=dt . Therefore, we can rearrange the terms in the last of Eqs. (10) to integrate as
follows:
Z txmax Z xmax r Z x
dx dx m max dx
xP D ) dt D ) txmax D p : (13)
dt 0 0 xP k 0 x .xmax x/
The integral on the right-hand side of the last of Eqs. (13) can be carried out by substitution, or by consulting
a table of integrals, or by using some symbolic mathematical software. Regarless of the method, we have
r
dx x
Z
1
p D 2 sin C C; (14)
x .xmax x/ xmax

where C is a constant of integration. Then using the above result we have that the last of Eqs. (13) gives
r r
m 1 1 m
txmax D 2Œsin .1/ sin .0/ D ) txmax D 0:243 s; (15)
k k
where we have used the following numerical data: m D 0:048 slug and k D 8 lb=ft.

Problems 2.63 and 2.64

Two masses mA and mB are placed at a distance r0 from one another. Because of their mutual gravitational
attraction, the acceleration of sphere B as seen from sphere A is given by

mA C mB
rR D G ;
r2

where G is the universal gravitational constant.

Problem 2.63 If the spheres are released from rest, determine

(a) The velocity of B (as seen by A) as a function of the distance r.

(b) The velocity of B (as seen by A) at impact if r0 D 7 ft, the weight of A is 2:1 lb, the weight of B is
0:7 lb, and

(i) The diameters of A and B are dA D 1:5 ft and dB D 1:2 ft, respectively.
(ii) The diameters of A and B are infinitesimally small.

Problem 2.64 Assume that the particles are released from rest at r D r0 .

(a) Determine the expression relating their relative position r and time. Hint:
p p
Z p
x=.1 x/ dx D sin 1 x x.1 x/:

(b) Determine the time it takes for the objects to come into contact if r0 D 3 m, A and B have masses of
1.1 and 2:3 kg, respectively, and

(i) The diameters of A and B are dA D 22 cm and dB D 15 cm, respectively.

(ii) The diameters of A and B are infinitesimally small.

Solution to 2.63
Part (a). Recalling that we can relate the acceleration to the velocity and position as rR D rd
P r=dt,
P we can
then write Z rP Z r
d rP 1
rR D rP ) rP dr D G .mA C mB / 2
dr;
dr 0 r0 r

which can be evaluated to obtain

1=2
1 2
1 1 p r0 r
2 rP D G mA C mB
r r0
) rP D 2G .mA C mB /
rr0
; (1)

where we have chosen the negative root because the masses are moving toward each other.

Part (b). Now that we have the velocity as a function of position, we can proceed to answer the questions
posed in Part (b) of the problem. For question (i), when the masses touch r D rA C rB D .dA C dB /=2.
Using this fact and recalling that G D 3:439 10 8 ft3 =slugs2 , Eq. (1) yields

1=2
p 2 1 5
rP D 2G .mA C mB / D 5:98 10 ft=s: (2)
dA C dB r0

For part (ii), we take the limit of Eq. (2) as r ! 0 to obtain

rP ! 1:

Solution to 2.64
We begin by finding the relation between position and velocity. To do so observe that we can relate the
acceleration to the velocity and position as rR D rd
P r=dt
P . Hence, we can then write
rP r
d rP 1
Z Z
rR D rP ) rP dr D G .mA C mB / dr;
dr 0 r0 r2

which can be evaluated to obtain

r
1 2
1 1 p r0 r
2 rP D G mA C mB
r r0
) rP D 2G .mA C mB /
rr0
; (3)

where we have chosen the negative root because the masses are moving toward each other.

Part (a) Next, we observe that rP D dr=dt and we write dt D dr=r. P Using this expression and the
expression for rP in the last of Eqs. (3), we can then write
Z rr Z t
1 r
p dr D dt;
2G .mA C mB / r0 1 r=r0 0

where we have divided both the numerator and the denominator of the fraction under the square root by r0 .
Next, making the substitution x D r=r0 , we obtain
3=2 r=r0
r
r0 x
Z
p dx D t:
2G .mA C mB / 1 1 x

Making use of the information given in the problem statement about the integral, we get

3=2
r0 h
1
p p ir=r0
p sin x x .1 x/ D t;
2G .mA C mB / 1

s
3=2
" r #
r0 1 r r r
) tDp sin 1 : (4)
2G .mA C mB / r0 r0 r0 2

Part (b)

(i) Substituting the values r0 D 3 m, mA D 1:1 kg, mB D 7:5 kg, G D 6:674 10 11 m3 =kgs2 , and
r D dA Cd
2
B
D 0:1850 m (where the dA D 22 cm D 0:2200 m and dB D 15 cm D 0:1500 m) in Eq. (4),
we obtain
t D 380;600 s ) t D 106 h.

(ii) If the diameters are infinitesimally small, r ! 0. Hence, from Eq. (4) we obtain
3=2
.=2/ r0
tDp ) t D 383;100 s ) t D 106 h,
2G.mA C mB /

where again we have used the following numerical data: r0 D 3 m, mA D 1:1 kg, mB D 7:5 kg,
G D 6:67410 11 m3 =kgs2 .

Problem 2.65

Suppose that the acceleration rR of an object moving along a straight line takes on the form

mA C mB
rR D G ;
r2

P
where the constants G, mA , and mB are known. If r.0/ is given, under what conditions can you determine
P via the following integral?
r.t/
Z t
mA C mB
P / D r.0/
r.t P G dt
0 r2

Solution
P can be determined if the position r of the object is known as a function of time and r.t / ¤ 0 during the
r.t/
time interval of interest.

Problems 2.66 and 2.67

If the truck brakes and the crate slides to the right relative to
the truck, the horizontal acceleration of the crate is given by
sR D gk , where g is the acceleration of gravity, k D 0:87 is
the kinetic friction coefficient, and s is the position of the crate
relative to a coordinate system attached to the ground (rather than
the truck).

Problem 2.66 Assuming that the crate slides without hitting

the right end of the truck bed, determine the time it takes to stop if
its velocity at the start of the sliding motion is v0 D 55 mph.

Problem 2.67 Assuming that the crate slides without hitting the
right end of the truck bed, determine the distance it takes to stop
if its velocity at the start of the sliding motion is v0 D 75 km=h.

Solution to 2.66
Since the acceleration is constant, we can use the (constant acceleration) equation v D v0 C at to find the
stopping time. Specifically, letting tstop denote the stopping time and observing that at t D tstop we have
v D 0, we can then write

v0
0 D v0 gk tstop ) tstop D D 2:88 s, (1)
gk

where v0 D 55 mph D 80:67 ft=s and g D 32:2 ft=s2 .

Solution to 2.67
Since the acceleration is constant, we can use the (constant acceleration) equation v 2 D v02 C 2ac .s s0 /
with s0 D 0, s D sstop , and v D 0 to obtain

v02
0 D v02 2.gk /sstop ) sD D 25:4 m, (2)
2gk

where v0 D 75 km=h D 20:83 m=s and g D 9:81 m=s2 .

Problem 2.68

If the truck brakes hard enough that the crate slides to the right
relative to the truck, the distance d between the crate and the front
of the trailer changes according to the relation
(
k g C aT for t < ts ;
dR D
k g for t > ts ;

where ts is the time it takes the truck to stop, aT is the acceleration

of the truck, g is the acceleration of gravity, and k is the kinetic
friction coefficient between the truck and the crate. Suppose that
the truck and the crate are initially traveling to the right at v0 D
60 mph and the brakes are applied so that aT D 10:0 ft=s2 .
Determine the minimum value of k so that the crate does not hit
the right end of the truck bed if the initial distance d is 12 ft. Hint:
The truck stops before the crate stops.

Solution

Referring to figure on the right, the acceleration of the truck relative to the
crate is given by
(
.aT =C /1 D k g C aT for t < ts ;
aT =C D (1)
.aT =C /2 D k g for t > ts ;

where ts is the time at which the truck comes to a stop. Using the constant
acceleration equation of the type v D v0 C ac .t t0 /, the time at which the truck stops found as

.vT /0
0 D .vT /0 C aT ts ) ts D ; (2)
aT
where .vT /0 is the initial speed of the truck and crate. Now, the distance the crate moves relative to the truck
during the time the truck is coming to a stop, .xT =C /1 , is found using the constant acceleration equation of
the type v 2 D v02 C 2ac .s s0 /. Adapting this relation to the problem at hand, we have

.xT =C /1 D .xT =C /0 C .vT =C /0 ts C 21 .aT =C /1 ts2

D d C 21 .k g C aT /ts2 ; (3)

where .xT =C /0 is the initial position of the truck relative to the crate and .vT =C /0 is the initial velocity of the
truck relative to the crate.
Now, after the truck comes to a stop, the crate continues to slide relative to the truck with an acceleration
given by .aT =C /2 in Eq. (1). Using this acceleration, the distance the crate moves relative to the truck after
the truck comes to a stop can be found using

.vT =C /2F D .vT =C /21 C 2.aT =C /2 .xT =C /F .xT =C /1 ;

(4)

where .vT =C /F D 0 is the final velocity of the truck relative to the crate, .vT =C /1 is the velocity of the truck
relative to the crate at time ts , .xT =C /F D 0 is final position of the truck relative to the crate, and .xT =C /1 is

the position of the truck relative to the crate at time ts and is given by Eq. (3). Before finishing, we need to
find .vT =C /1 , which can readily be done as

.vT =C /1 D .vT =C /0 C .aT =C /1 ts ) .vT =C /1 D .aT =C /1 ts : (5)

Substituting Eqs. (1), (3) and (5) into Eq. (4), we obtain

0 D Œ.k g C aT /ts 2 C 2.k g/ 1

C aT /ts2 :

d 2 .k g

Finally, substituting in ts from Eq. (2), we get the final equation for k
" 2 #
.vT /0 2

.v /
T 0
0 D .k g C aT / C 2.k g/ d 12 .k g C aT / :
aT aT

Solving for k we get

.vT /20 aT
k D D 0:301;
g .vT /20 2daT

where we have used the following numerical data: .vT /0 D v0 D 60 mph D 88:00 ft=s, aT D 10 ft=s2 ,
g D 32:2 ft=s2 , and d D 12 ft.

Problem 2.69

Cars A and B are traveling at vA D 72 mph and vB D 67 mph,

respectively, when the driver of car B applies the brakes abruptly,
causing the car to slide to a stop. The driver of car A takes 1:5 s to
react to the situation and applies the brakes in turn, causing car A to
slide as well. If A and B slide with equal accelerations, i.e., sRA D
sRB D k g, where k D 0:83 is the kinetic friction coefficient
and g is the acceleration of gravity, compute the minimum distance
d between A and B at the time B starts sliding to avoid a collision.

Solution
For both cars we can use the constant acceleration equation v 2 D v02 C 2ac .s s0 /. Setting to zero the final
velocities of both cars, we have
2
2
vB i
dBs W 0 D vB 2k gdBs ) dBs D ; (1)
i
2k g
vA2 i
dAs W 0 D vA2 i 2k gdAs ) dAs D C vAi tr ; (2)
2k g
where the vAi tr term in Eq. (2) represents the distance traveled during the reaction time, tr . Realizing that
dAs D dBs C d gives the minimum distance d to avoid collision, we then have

1 2 2

d D dAs dBs D v vB C vAi tr ) d D 187 ft, (3)
2k g Ai i

where we have used the following numerical data: k D 0:83, g D 32:2 ft=s2 , vAi D 72 mph D 105:6 ft=s,
vBi D 67 mph D 98:27 ft=s, and tr D 1:5 s.
Note: The the value of the quantity d given by the first of Eqs. (3) after substituting the available
numerical data and expressing it using 4 significant figures is d D 186:4 ft. We have rounded d from 186:4 ft
to 187 ft because 186 ft will not avoid collision.

Problem 2.70

A hot air balloon is climbing with a velocity of 7 m=s

when a sandbag (used as ballast) is released at an altitude
of 305 m. Assuming that the sandbag is subject only to
gravity and that therefore its acceleration is given by yR D
g, g being the acceleration due to gravity, determine how
long the sandbag takes to hit the ground and its impact
velocity.

Solution
Since the acceleration of the sandbag is constant, we can relate position and time via the (constant acceleration)
equation y D y0 C yP0 t C 21 at 2 , where a D g. Solving this equation for t, we have

1
q
tD 2
yP0 C yP C 2gy0 D 8:631 s; (1)
g

where we have used the following numerical data: g D 9:81 m=s2 , yP0 D 7 m=s, and y0 D 305 m. Expressing
the above result to three significant figures, we have

t D 8:63 s:

The impact velocity can be found by plugging the t value from Eq. (1) into the (constant acceleration)
equation yP D yP0 C at. Recalling that a D g, this gives

yP D yP0 gt ) yP D 77:7 m=s:

Problem 2.71

Approximately 1 h 15 min into the movie “King Kong” (the one directed by Peter Jackson), there is a scene
in which Kong is holding Ann Darrow (played by the actress Naomi Watts) in his hand while swinging his
arm in anger. A quick analysis of the movie indicates that at a particular moment Kong displaces Ann from
rest by roughly 10 ft in a span of four frames. Knowing that the DVD plays at 24 frames per second and
assuming that Kong subjects Ann to a constant acceleration, determine the acceleration Ann experiences
in the scene in question. Express your answer in terms of the acceleration due to gravity g. Comment on
what would happen to a person really subjected to this acceleration.

Solution
4
The time it takes for King Kong to displace Ann is 24 s D 0:1667 s. Using the constant acceleration equation
2
s D s0 C sP0 t C 0:5ac t , we can the estimate an acceleration ac given by
2s g
ac D ) ac D 719:7 ft=s2 D 22:35g ) ac D 22:4g, (1)
t2 32:2 ft=s2
where the last result has been expressed to 3 significant figures, and where we have used the following
numerical data: s D 10 ft, t D 0:1667 s, g D 32:2 ft=s2 . The human body can withstand around 10–15g of
acceleration. Hence, at such a high acceleration the person would most certainly die.

Problem 2.72

Derive the constant acceleration relation in Eq. (2.41), starting from Eq. (2.33). State what assumption you
need to make about the acceleration a to complete the derivation. Finally, use Eq. (2.36), along with the
result of your derivation, to derive Eq. (2.42). Be careful to do the integral in Eq. (2.36) before substituting
your result for v.t / (try it without doing so, to see what happens). After completing this problem, notice
that Eqs. (2.41) and (2.42) are not subject to the same assumption you needed to make to solve both parts
of this problem.

Solution
Assuming that the acceleration is not equal to 0 and integrating Eq. (2.33), we have
Z v
1 1
t.v/ D t0 C dv ) t .v/ D t0 C .v v0 / ) v D v0 C ac .t t0 /: (1)
ac v0 ac

Integrating Eq. (2.36) we have

v
1 1 2
Z
s D s0 C v dv ) s D s0 C v v02 : (2)
ac v0 2ac

Substituting for v from Eq. (1), we obtain

1 h 2 i
s D s0 C a .t t0 /2 C 2v0 ac .t t0 / ; (3)
2ac c
which can be simplified to obtain

s D s0 C v0 .t t0 / C 12 ac .t t0 /2 : (4)

Problems 2.73 through 2.75

The spool of paper used in a printing process is unrolled with velocity

vp and acceleration ap . The thickness of the paper is h, and the outer
radius of the spool at any instant is r.

Problem 2.73 If the velocity at which the paper is unrolled is con-

stant, determine the angular acceleration ˛s of the spool as a func-
tion of r, h, and vp . Evaluate your answer for h D 0:0048 in:, for
vp D 1000 ft=min, and two values of r, that is, r1 D 25 in: and
r2 D 10 in:

Problem 2.74 If the velocity at which the paper is unrolled is not

constant, determine the angular acceleration ˛s of the spool as a
function of r, h, vp , and ap . Evaluate your answer for h D 0:0048 in:,
vp D 1000 ft=min, ap D 3 ft=s2 , and two values of r, that is, r1 D
25 in: and r2 D 10 in:

Problem 2.75 If the velocity at which the paper is unrolled

is constant, determine the angular acceleration ˛s of the spool as a
function of r, h, and vp . Plot your answer for h D 0:0048 in: and
vp D 1000 ft=min as a function of r for 1 in: r 25 in. Over what
range does ˛s vary?
Photo credit: © David Lees/CORBIS

Solution to 2.73
The radius decreases by the paper thickness h for every one revolution. Hence, letting be the angle
measuring the angular position of a fixed radial line on the spool ( increases when the spool turns clockwise),
then we have
r h
D : (1)
2
Assuming that the decrease in radius can be viewed as occurring continuously, we can turn the above relation
into a relation in terms of differentials. That is we can write
dr h
D : (2)
d 2
Next, observing that the angular velocity of the spool is !s D d=dt , we can then use the above equation to
relate the time rate of change of r to !s by applying the chain rule as follows:
dr dr d h 2
rP D D ) rP D !s ) !s D P
r: (3)
dt d dt 2 h
Recalling that the linear velocity of the paper is related to the angular velocity of the spool as vp D r!s , we
can use Eq. (3) to relate vp to rP as follows:
2 hvp
vp D r!s r rP )
) rP D vp D : (4)
h 2 r
Taking the time derivative of vp in the second of Eqs. (4), accounting for the fact that vp is constant (i.e.,
ap D 0), and using the last of Eqs. (4), we have
!
2 2 2 h2 vp2
ap D 0 D rP C r rR ) 0D C r rR : (5)
h h 4 2 r 2
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
102 Solutions Manual

R we
Taking the time derivative of the last of Eqs. (3) and the last of Eqs. (4) to find expressions for ˛s and r,
can write
2 h2 vp2
˛s D rR and rR D ; (6)
h 4 2 r 3
which, when taken combined, imply that

hvp2
˛s D :
2 r 3

Evaluating the expression above for h D 0:0048 in: D 0:0004000 ft, vp D 1000 ft=min D 16:67 ft=s,
r1 D 25 in: D 2:083 ft, and r2 D 10 in: D 0:8333 ft, we have

˛s ˇrDr1 D 0:00196 rad=s2 ˛s ˇrDr2 D 0:0306 rad=s2 :

ˇ ˇ
and

Solution to 2.74
The radius decreases by the paper thickness h for every one revolution. Hence, letting be the angle
measuring the angular position of a fixed radial line on the spool ( increases when the spool turns clockwise),
then we have
r h
D : (7)
2
Assuming that the decrease in radius can be viewed as occurring continuously, we can turn the above relation
into a relation in terms of differentials. That is we can write
dr h
D : (8)
d 2
Next, observing that the angular velocity of the spool is !s D d=dt , we can then use the above equation to
relate the time rate of change of r to !s by applying the chain rule as follows:

dr dr d h 2
rP D D ) rP D !s ) !s D P
r: (9)
dt d dt 2 h
Recalling that the linear velocity of the paper is related to the angular velocity of the spool as vp D r!s , we
can use Eq. (9) to relate vp to rP as follows:

2 hvp
vp D r!s ) vp D r rP ) rP D : (10)
h 2 r
Taking the time derivative of the second of Eqs. (10) and then using the last of Eqs. (10) to substitute for the
P we have
term r, !
2 h2 vp2
vPp D ap D C r rR : (11)
h 4 2 r 2
R we take the time derivative of rP in Eq. (9) and obtain
To find an expression for the term r,

h
rR D ˛s : (12)
2
Substituting the result from Eq. (12) into Eq. (11), we have
!
2 h2 vp2 hr
ap D ˛s : (13)
h 4 2 r 2 2

Then, solve for ˛s and simplifying, we obtain

ap hvp2
˛s D C :
r 2 r 3

Evaluating the expression above for h D 0:0048 in: D 0:0004000 ft, vp D 1000 ft=min D 16:67 ft=s,
ap D 3 ft=s2 , r1 D 25 in: D 2:083 ft, and r2 D 10 in: D 0:8333 ft, we have

˛s ˇrDr1 D 1:44 rad=s2 ˛s ˇrDr2 D 3:63 rad=s2 :

ˇ ˇ
and

Solution to 2.75
The radius decreases by the paper thickness h for every one revolution. Hence, letting be the angle
measuring the angular position of a fixed radial line on the spool ( increases when the spool turns clockwise),
then we have
r h
D : (14)
2
Assuming that the decrease in radius can be viewed as occurring continuously, we can turn the above relation
into a relation in terms of differentials. That is we can write
dr h
D : (15)
d 2
Next, observing that the angular velocity of the spool is !s D d=dt , we can then use the above equation to
relate the time rate of change of r to !s by applying the chain rule as follows:
dr dr d h 2
rP D D ) rP D !s ) !s D P
r: (16)
dt d dt 2 h
Recalling that the linear velocity of the paper is related to the angular velocity of the spool as vp D r!s , we
can use Eq. (16) to relate vp to rP as follows:

2 hvp
vp D r!s ) vp D r rP ) rP D : (17)
h 2 r
Taking the time derivative of vp in the second of Eqs. (17), accounting for the fact that vp is constant (i.e.,
ap D 0), and using the last of Eqs. (17), we have
!
2 2 2 h2 vp2
ap D 0 D rP C r rR ) 0D C r rR : (18)
h h 4 2 r 2

R
Taking the time derivative of the last of Eqs. (16) and the last of Eqs. (17) to find expressions for ˛s and r,
we can write
2 h2 vp2
˛s D rR and rR D ; (19)
h 4 2 r 3
which, when taken combined, imply that

hvp2
˛s D :
2 r 3

To plot the above function, we first substitute the values of the known coefficients, i.e., we recall that
h D 0:0048 in:, and vp D 1000 ft=min D 200:0 in:=s and rewrite ˛s as

30:56 in:3 =s2

˛s D : (20)
r3
The above function can now be plotted with a variety of pieces of mathematical software. The plot presented
below was generated usingMathematica with the following code:

, "r, 1, 25#, PlotRange ! All, Frame ! True, GridLines ! Automatic,

30.56
Plot!
r3
AspectRatio ! 1, FrameLabel ! $"r %in.&", "Αs %rad's2 &"()

Αs !rad#s2 "
15

0
5 10 15 20 25
r !in."

By inspection, ˛s appears to vary from 30:5 rad=s2 to close to zero as r varies from 1 in: to 4 in:

Problem 2.76

The discussion in Example 2.12 revealed that the angle had to be greater than min D 0:716ı . Find an
analytical expressions for min in terms of h, w, and d .

Solution

With infinite speed, there is no effect of gravity. Hence

1 w h
D tan :
d

Problem 2.77

A stomp rocket is a toy consisting of a hose connected to a “blast pad” (i.e., an air
bladder) at one end and to a short pipe mounted on a tripod at the other end. A rocket
with a hollow body is mounted onto the pipe and is propelled into the air by “stomping”
on the blast pad. Some manufactures claim that one can shoot a rocket over 200 ft in the
air. Neglecting air resistance, determine the rocket’s minimum initial speed such that it
reaches a maximum flight height of 200 ft.

Solution
The rocket must be fired vertically to reach 200 ft with minimum initial speed. Observing that yR D gD
constant, recalling that yP D 0, using constant acceleration equations, we have

yP 2 yP02 D
p
2g.hmax / ) yP0 D 2ghmax ) yP0 D 113 ft=s. (1)

Problem 2.78

Stuntmen A and B are shooting a movie scene in which A needs to pass a

gun to B. Stuntman B is supposed to start falling vertically precisely when A
throws the gun to B. Treating the gun and the stuntman B as particles, find
the velocity of the gun as it leaves A’s hand so that B will catch it after falling
30 ft.

Solution
Since the gun and B drop at the same time, from the same height, and
are assumed to be both subject to the same acceleration, i.e., gravity,
then in order for the gun and B to the same vertical position at the time
that B grasps the gun, it is necessary for the gun and B to fall with
equal vertical velocities. This can only be achieved if the initial vertical
velocity of the gun is equal to that of B, namely, zero. Hence, the rest
of the problem is devoted to finding the horizontal component of the
velocity of the gun at the time the gun is thrown. To do so, we start
by finding the time B takes to fall the distance h D 30 ft. Using the
coordinate system shown on the right, and using constant acceleration
equations, we have
yB D yB0 C yPB0 .t t0 / 12 g .t t0 /2 ; (1)
where yB0 and yPB0 are the position and the vertical velocity of B at time t0 , respectively. Setting t0 D 0 and
recalling that B drops from rest a distance h above the origin of the y axis, we can rewrite the above equation
in the following form:
yB D h 21 gt 2 : (2)
Due to our choice of origin, B will grasp the gun at yB D 0. Letting tf (the subscript f stands for final)
denote the time at which B grasps the gun, from Eq. (2) we then have
p
tf D 2h=g: (3)
We now observe that the motion of the gun in the horizontal direction is also a constant acceleration
motion with acceleration equal to zero. Hence, using the subscript A to refer to the gun (as opposed to the
stuntman who initially threw it) we have
xA D xA0 C xPA0 .t t0 /; (4)
where xA0 and xPA0 are the gun’s position and velocity in the x direction at time t0 . Having already set t0 D 0
and observing that xA0 D 0, and that for t D tf we must have xA D d , from the above equation we have
s r
2h g
d D xPA0 ) xPA0 D d D 14:65 ft=s; (5)
g 2h
where we have used the following numerical data: d D 20 ft, h D 30 ft, and g D 32:2 ft=s2 .
In summary, expressing our answer in vector form and to 3 significant figures, we have

vEgun D .14:7 ft=s/ {O :

Problem 2.79

The jaguar A leaps from O at speed v0 D 6 m=s and angle

ˇ D 35ı relative to the incline to try to intercept the panther
B at C . Determine the distance R that the jaguar jumps from
O to C (i.e., R is the distance between the two points of the
trajectory that intersect the incline), given that the angle of the
incline is D 25ı .

Solution

The acceleration of A is completely in the vertical direction. Hence,

referring to the figure on the right, the components of the acceleration
of A in the x and y directions are xR D g sin and yR D g cos .
Again referring to the figure on the right, the components of the initial
velocity of A are vx0 D v0 cos ˇ and vy0 D v0 sin ˇ. Observing that
the x and y component of acceleration of A are both constants, we
can use constant acceleration equations to write

x D v0 .cos ˇ/t C 12 g.sin /t 2 D t v0 cos ˇ C 21 g.sin /t ; (1)

y D v0 .sin ˇ/t 12 g.cos /t 2 D t v0 sin ˇ 12 g.cos /t : (2)

For t D tC , y D 0. Therefore

1 2v0 sin ˇ
0 D v0 sin ˇ 2 g.cos /tC ) tC D : (3)
g cos

Observing that, for t D tC , x.tC / D R, substituting this value of t into Eq. (1), we have

2v0 sin ˇ 1 2v0 sin ˇ
RD v0 cos ˇ C 2 g.sin / ; (4)
g cos g cos

which can be simplified to

2v02 sin ˇ
RD cos ˇ C tan sin ˇ D 5:05 m: (5)
g cos

where we have used the following numerical data: v0 D 6 m=s, ˇ D 35ı , g D 9:81 m=s2 , and D 25ı .

Problem 2.80

If the projectile is released at A with initial speed v0 and angle ˇ, derive the
projectile’s trajectory, using the coordinate system shown. Neglect air resistance.

Solution
Using the coordinate system indicated in the problem statement, we set up the following constant acceleration
equations for both the x and y coordinates of the projectile:

x D xA C .v0 cos ˇ/t; (1)

1 2
y D yA C .v0 sin ˇ/t 2 gt ; (2)

where xA and yA are the coordinates of the fixed point A at which the projectile is released. Eliminating t
between Eqs. (1) and (2), we obtain
g
y yA D tan ˇ.x xA / .x xA /2 : (3)
2v02 cos2 ˇ

Observing that xA D w and yA D h, the above equation becomes

g
y D h C tan ˇ.x w/ .x w/2 :
2v02 cos2 ˇ

Problem 2.81

A trebuchet releases a rock with mass m D 50 kg at point O. The

initial velocity of the projectile is vE0 D .45 {O C 30 |O/ m=s. Neglecting
aerodynamic effects, determine where the rock will land and its time of
flight.

Solution
Referring to the coordinate system defined in the problem statement, we see that yland , the y coordinate of the
rock when it lands on the ground, is h. With this in mind, we can write the following constant acceleration
equation for the y displacement:
y D vy0 t 12 gt 2 ;
where it is understood that t D 0 is the time of release and y D 0 and vy0 are the vertical position and the
vertical component of velocity of the rock at time t D 0, respectively. Denoting by tflight the time at which
the rock impacts the ground, we must have
q
2
vy0 ˙ vy0 C 2gh
1 2 2
h D vy0 tflight 2 gtflight ) gtflight 2vy0 2h D 0 ) tflight D : (1)
g
The only physically meaningful solution for tflight is that corresponding to the C sign in front of the square
root, that is,
1 q
2
tflight D vy0 C vy0 C 2gh D 6:263 s; (2)
g
where we have used the following numerical data: g D 9:81 m=s2 , vy0 D 30 m=s, and h D 4:5 m. Expressing
the time of flight to three significant figures, we have

tflight D 6:26 s:

Next observing that the motion is in the x direction is a constant acceleration motion with acceleration
equal to zero, we have that the x coordinate of the rock is described by the following (constant acceleration)
equation:
x D vx0 t;
where we have accounted for the fact that at t D 0 we must have x D 0 and where vx0 is the x component of
the velocity of the rock for t D 0. Hence, recalling that vx0 D 45 m=s, for t D tflight D 6:263 s (see Eq. (2)),
we have
xland D 45tflight D 281:8 m:
Hence, summarizing, the position vector where the rock will land, expressed to 3 significant figures is

rEland D .282 {O 4:50 |O/ m;

where we have used the fact that yland D h D 4:5 m.

Problem 2.82

A golfer chips the ball into the hole on the fly from the rough at the
edge of the green. Letting ˛ D 4ı and d D 2:4 m, verify that the
golfer will place the ball within 10 mm of the hole if the ball leaves
the rough with a speed v0 D 5:03 m=s and an angle ˇ D 41ı .

Solution

Referring to the figure on the right, we can write the ball’s trajectory with
respect to the x1 y1 coordinate system with origin at the golfer’s feet, by
using Eq. (2.52) on p. 74 of the textbook. This gives

g sec2 .˛ C ˇ/ 2

y1 D tan.˛ C ˇ/x1 x1 : (1)
2v02

Recalling that the problem statement gives ˛ D 4ı and ˇ D 41ı , so that

˛ C ˇ D 45ı . This implies that tan.˛ C ˇ/ D 1 and sec2 .˛ C ˇ/ D 2,
which then implies that Eq. (1) can be given the following simpler form:
g 2
y1 D x1 x : (2)
v02 1

The x1 and y1 coordinates of the point at which the ball lands must satisfy the condition x1 tan ˛ D y1 .
Combining this requirement with Eq. (2) we have

g 2 v02
x1 tan ˛ D x1 x ) x1 D 1 tan ˛ D 2:399 m; (3)
v02 1 g

where we have used the following numerical values: v0 D 5:03 m, g D 9:81 m=s2 , and ˛ D 4ı . The value
of x1 in Eq. (3) is the x1 coordinate of the ball’s landing spot. With this information, letting dL denote
the distance between the ball’s landing spot and the the golfer, we can determine dL using trigonometry as
follows:
x1
dL D D 2:405 m ) d dL D 0:005 m < 10 mm; (4)
cos ˛
where we have used the fact that ˛ D 4ı and d D 2:4 m.

The golfer’s chip shot is successful.

Problems 2.83 and 2.84

In a movie scene involving a car chase, a car goes over the top of a ramp
at A and lands at B below.

Problem 2.83 If ˛ D 20ı and ˇ D 23ı , determine the distance d cov-

ered by the car if the car’s speed at A is 45 km=h. Neglect aerodynamic
effects.

Problem 2.84 Determine the speed of the car at A if the car is to cover
distance d D 150 ft for ˛ D 20ı and ˇ D 27ı . Neglect aerodynamic
effects.

Solution to 2.83

Expressing the acceleration vector of the car in the xy coordinate system, we

have

aE D g sin ˇ {O g cos ˇ |O ) xR D g sin ˇ and yR D g cos ˇ: (1)

Now let t D 0 be the instant at which the car jumps off at A. Letting A be the
origin of the chosen xy coordinate system, the y coordinate of the car at t D 0 is
equal to zero. Next we observe that, again at time t D 0, the velocity components
of the cars are as follows:

vx .0/ D v0 cos.˛ C ˇ/ and vy .0/ D v0 sin.˛ C ˇ/: (2)

Hence, using the above considerations along with constant acceleration equations, the y coordinate of the car
as a function of time is given by
1 2
y D v0 sin.˛ C ˇ/t 2 g.cos ˇ/t : (3)

Point B denotes the point at which the car lands. Observing that yB D 0, the time taken by the car to reach
B is obtained by setting Eq. (3) equal to zero. This gives

1 2 2v0 sin.˛ C ˇ/
v0 sin.˛ C ˇ/tB 2 .g cos ˇ/tB D0 ) tB D D 1:888 s; (4)
g cos ˇ
where we have used the following numerical data: v0 D 45 km=h D 12:50 ft=s, ˛ D 20ı , ˇ D 23ı , and
g D 9:81 m=s2 .
Next observing that the x component of the acceleration in the second of Eqs. (1) is also constant, using
constant acceleration equations, the x coordinate of the car as a function of time is given by

x D v0 cos.˛ C ˇ/t C 12 .g sin ˇ/t 2 : (5)

Hence, for t D tB we have

xB D d D v0 cos.˛ C ˇ/tB C 12 .g sin ˇ/tB2 D 24:09 m; (6)

where we have used the following numerical values: v0 D 45 km=h D 12:50 ft=s, ˛ D 20ı , ˇ D 23ı ,
tB D 1:888 s (see Eq. (4)), and g D 9:81 m=s2 . Hence, expressing our answer to 3 significant digits, we have

d D 24:1 m: (7)

Solution to 2.84

Expressing the acceleration vector of the car in the xy coordinate system, we

have

aE D g sin ˇ {O g cos ˇ |O ) xR D g sin ˇ and yR D g cos ˇ: (8)

vx .0/ D v0 cos.˛ C ˇ/ and vy .0/ D v0 sin.˛ C ˇ/: (9)

Hence, using the above considerations along with constant acceleration equations, the y coordinate of the car
as a function of time is given by
1 2
y D v0 sin.˛ C ˇ/t 2 g.cos ˇ/t : (10)

Point B denotes the point at which the car lands. Observing that yB D 0, the time taken by the car to reach
B is obtained by setting Eq. (10) equal to zero. This gives

1 2 2v0 sin.˛ C ˇ/
v0 sin.˛ C ˇ/tB 2 .g cos ˇ/tB D0 ) tB D : (11)
g cos ˇ
Next observing that the x component of the acceleration in the second of Eqs. (8) is also constant, using
constant acceleration equations, the x coordinate of the car as a function of time is given by

x D v0 cos.˛ C ˇ/t C 12 .g sin ˇ/t 2 : (12)

Hence, for t D tB we have

2v0 sin.˛ C ˇ/ 2

2v0 sin.˛ C ˇ/ 1
xB D d D v0 cos.˛ C ˇ/ C 2 .g sin ˇ/
g cos ˇ g cos ˇ
2
2v0 sin.˛ C ˇ/
) Œcos.˛ C ˇ/ C tan ˇ sin.˛ C ˇ/ D d; (13)
g cos ˇ
which can be solved for v0 to obtain
s
dg cos ˇ
v0 D : (14)
2 sin.˛ C ˇ/Œcos.˛ C ˇ/ C tan ˇ sin.˛ C ˇ/

Recalling that d D 150 ft, ˛ D 20ı , ˇ D 27ı , and g D 32:2 ft=s2 , Eq. (14) can be evaluated to obtain

v0 D 52:8 ft=s:

Problem 2.85

The M777 lightweight 155 mm howitzer is a piece of artillery whose

rounds are ejected from the gun with a speed of 829 m=s. Assuming that
the gun is fired over a flat battlefield and ignoring aerodynamic effects,
determine (a) the elevation angle needed to achieve the maximum range,
(b) the maximum possible range of the gun, and (c) the time it would
take a projectile to cover the maximum range. Express the result for
the range as a percentage of the actual maximum range of this weapon,
which is 30 km for unassisted ammunition.
Photo credit: U.S. Army Photo

Solution
Let be the elevation angle and v0 D 829 m=s be the intial speed. Use the constant acceleration equation
s D v0 t C 0:5ac t 2 , the x and y displacements for constant acceleration are given by

x D .v0 cos /t; (1)

1 2
y D .v0 sin /t 2 gt : (2)

The time of flight can be obtained by equating Eq. (2) to zero. Hence, we have

2v0 sin
tD : (3)
g

Substituting Eq. (3) into Eq. (1), and using the trigonometric identity 2 sin cos D sin 2, we get

v02 sin 2
xDRD : (4)
g

(i) From Eq. (4), Rmax occurs when sin 2 D 1. The meaningful solution yields:

2 D rad ) max D rad D 45ı : (5)
2 4

(ii) From Eq. (4), the maximum possible value of x or the range R is given by

v02
Rmax D D 70:06 km ) Rmax D 234% of the actual maximum range:
g

(iii) Substituting the value of max from Eq. (5) into Eq. (3), we get

p
2v0
tD D 120 s:
g

Problem 2.86

You want to throw a rock from point O to hit the vertical advertising
sign AB, which is R D 30 ft away. You are able to throw a rock with
the speed v0 D 45 ft=s. The bottom of the sign is 8 ft off the ground
and the sign is 14 ft tall. Determine the range of angles at which the
projectile can be thrown in order to hit the target, and compare this
with the angle subtended by the target as seen from an observer at point
O. Compare your results with those found in Example 2.11.

Solution
This problem can be solved by following the same steps illustrated in Example 2.11 on p. 76 of the textbook.
Specifically, we recall Eq. (7) in Example 2.11 on p. 76 of the textbook:
q
v02 ˙ v04 g.gR2 C 2yv02 /
tan D : (1)
gR

Observe that we are given all of the data needed to use the above equation. Namely, we have v0 D 45 ft=s,
g D 32:2 ft=s2 , R D 30 ft, so that substituting in the above equation yA D 8 ft and yB D 22 ft we have
(
1 D 30:44ı ;
y D yA D 8 ft ) (2)
2 D 74:50ı ;
(
1 D 56:84ı ;
y D yB D 22 ft ) (3)
2 D 69:41ı :

Following the same logic as in Example 2.11 we obtain the two ranges of firing angles as

(4)

Calculating the sizes of these ranges

1 D 56:84ı 30:44ı D 26:40ı ; (5)

ı ı ı
2 D 74:50 69:41 D 5:090 ; (6)

which, when expressed to 3 significant figures gives

1 D 26:4ı and 2 D 5:09ı :

The angle subtended by the target as seen from an observer at point O is

22 8
ˇ D tan 1 tan 1 ) ˇ D 21:3ı : (7)
30 30
Unlike Example 2.11, the difference between the angle subtended by the target
and 1 or 2 is significant. In addition, we see that the value of 1 is much
closer to ˇ than 2 .

Problem 2.87

Suppose that you can throw a projectile at a large enough v0 so

that it can hit a target a distance R downrange. Given that you
know v0 and R, determine the general expressions for the two
distinct launch angles 1 and 2 that will allow the projectile to
hit D. For v0 D 30 m=s and R D 70 m, determine numerical
values for 1 and 2 .

Solution
Applying the constant acceleration equation (Eq. (2.42) on p. 59 of the textbook) for both x and y displace-
ments, we get

x D x0 C .v0 cos /t;

1 2
y D y0 C .v0 sin /t 2 gt ;

where .x0 ; y0 / D .0; 0/, x D R and y D 0. Eliminating t, we get

gR 2v02 sin cos D 0:

By simplifying, we get
gR
sin 2 D sin.180ı 2 / D :
v02
Therefore, ! !
1 gR gR
1 D 1
2 sin and 2 D 90ı 1
2 sin 1
:
v02 v02
Plugging in the given values, we get

1 D 24:9ı and 2 D 65:1ı :

Problem 2.88

An alpine ski jumper can fly distances in excess of 100 m by using

his or her body and skis as a “wing” and therefore taking advantage
of aerodynamic effects. With this in mind and assuming that a
ski jumper could survive the jump, determine the distance the
jumper could “fly” without aerodynamic effects, i.e., if the jumper
were in free fall after clearing the ramp. For the purpose of your
calculation, use the following typical data: ˛ D 11ı (slope of
ramp at takeoff point A), ˇ D 36ı (average slope of the hill),
v0 D 86 km=h (speed at A), h D 3 m (height of takeoff point with
respect to the hill). Finally, for simplicity, let the jump distance be
the distance between the takeoff point A and the landing point B.

Solution
Referring to the figure on the right, the velocity and acceleration vectors
relative to the xy coordinate system is given by
vE D v0 cos.ˇ ˛/ {O C v0 sin.ˇ ˛/ |O (1)
aE D g sin ˇ {O g cos ˇ |O (2)
Letting t D 0 be the time at which the jumper takes off at A, we
can express the coordinates of the jumper as a function of time using
constant acceleration equations. Specifically, we have
x D v0 cos.ˇ ˛/t C 21 .g sin ˇ/t 2 ; (3)
1 2
y D v0 sin.ˇ ˛/t 2 .g cos ˇ/t : (4)
Therefore, letting tB denote the time at which the jumper lands at B, we have
xB D v0 cos.ˇ ˛/tB C 21 .g sin ˇ/tB2 ; (5)
1 2
yB D v0 sin.ˇ ˛/tB 2 .g cos ˇ/tB : (6)
Now, note that we must have yB D h cos ˇ. So, from Eq. (6) we have
2
h cos ˇ D v0 sin.ˇ ˛/tB 1
2 .g cos ˇ/tB ) .g cos ˇ/tB2 2v0 sin.ˇ ˛/tB 2h cos ˇ D 0
q
v0 sin.ˇ ˛/ ˙ v02 sin2 .ˇ ˛/ C 2hg cos2 ˇ
) tB D : (7)
g cos ˇ
The only acceptable value for tB is the one obtained using the C sign in front of the square root. With this in
mind, and recalling that v0 D 86 km=h D 23:89 m=s, ˇ D 36ı , ˛ D 11ı , h D 3 m, and g D 9:81 m=s2 , we
then have
tB D 2:766 s: (8)
Using the data listed right above Eq. (8) and substituting the value of tB from Eq. (8) into Eq. (5), we have
xB D 81:93 m. Then, recalling that yB D h cos ˇ D 2:427 m, we have q that the distance between points
A and B can be calculated using the Pythagorean theorem, i.e., dAB D xB2 C yB2 which gives

dAB D 82:0 m: (9)

Problems 2.89 and 2.90

A soccer player practices kicking a ball from A directly into the goal (i.e., the ball does not bounce first)
while clearing a 6 ft tall fixed barrier.

Problem 2.89 Determine the minimum speed that the player needs to give the ball to accomplish the
task. Hint: To find .v0 /min , consider the equation for the projectile’s trajectory (see, e.g., Eq. (2.52)) for
the case in which the ball reaches the goal at its base. Then solve this equation for the initial speed v0 as a
function of the initial angle , and finally find .v0 /min as you learned in calculus. Don’t forget to check
whether or not the ball clears the barrier.

Problem 2.90 Find the initial speed and angle that allow the ball to barely clear the barrier while barely
reaching the goal at its base. Hint: As shown in Eq. (2.52), a projectile’s trajectory can be given the form
y D C1 x C2 x 2 where the coefficients C1 and C2 can be found by forcing the parabola to go through
two given points.

Solution to 2.89
The ball must clear a barrier and it must reach the goal post without bouncing. We will satisfying one
of the conditions and see if our solution meets the other required condition. Let v0 be the intial velocity,
ˇ be the elevation angle, and G denote the point at the base of the goal. For .v0 /min , y D yG D 0 ft at
x D xG D 80 ft. Using Eq. (2.52) on p. 74 of the textbook, we have that the trajectory of the ball is described
by the following equation: !
g sec2 ˇ 2
y D .tan ˇ/x x : (1)
2v02
Thus for the ball to land at the base of the goal, we have
!
g sec2 ˇ 2 gxG
r
0 D .tan ˇ/xG xG ) v0 D : (2)
2v02 sin 2ˇ

Minimizing v0 with respect to ˇ requires making the denominator of the fraction under the square root of the
last of Eqs. (2) as large as possible. The maximum value of the sine function is 1, which is achieved when the
argument of the sine function is equal to =2. Hence, we have
p
sin 2ˇ D 1 ) ˇD rad and .v0 /min D gxG D 50:75 ft=s; (3)
4
which, when expressed to 3 significant figures, gives

.v0 /min D 50:8 ft=s:

Substituting ˇ D .=4/ rad, .v0 /min from Eq. (3), and the value x D 58 ft into Eq. (1), we have

y.58 ft/ D 15:94 ft > 6 ft;

that is, the ball clears the obstacle in front of the goal.

Solution to 2.90
As explained in the hint, the trajectory can be given the form

y D C1 x C2 x 2 ; (4)

where it is understood that the origin of the coordinate system used is at point A where the ball is kicked. The
ball must barely clear the barrier, so we have

6 ft D C1 .58 ft/ C2 .58 ft/2 : (5)

The ball must also barely reach the goal post, so we have

0 D C1 .80 ft/ C2 .80 ft/2 : (6)

Solving Eqs. (5) and (6), we get C1 D 0:3762 and C2 D 4:70210 3 ft 1 . Using Eq. (2.52) on p. 74 of the
textbook, we have that the trajectory of the ball is described by the following equation:
!
g sec2 ˇ 2
y D .tan ˇ/x x : (7)
2v02

Comparing Eq. (4) with the Eq. (7), we can conclude that
!
g sec2 ˇ
C1 D tan ˇ and C2 D : (8)
2v02

Hence we have
s
1 g sec2 ˇ
ˇ D tan .0:3762/ D 20:62ı and v0 D D 62:52 ft=s; (9)
2C2

which, expressed to 3 significant figures, give

v0 D 62:5 ft=s and ˇ D 20:6ı :

Problems 2.91 and 2.92

In a circus act a tiger is required to jump from point A to point

C so that it goes through the ring of fire at B. Hint: As shown
in Eq. (2.52), a projectile’s trajectory can be given the form y D
C1 x C2 x 2 where the coefficients C1 and C2 can be found by
forcing the parabola to go through two given points.

Problem 2.91 Determine the tiger’s initial velocity if the ring

of fire is placed at a distance d D 5:5 m from A. Furthermore,
determine the slope of the tiger’s trajectory as the tiger goes
through the ring of fire.

Problem 2.92 Determine the tiger’s initial velocity as

well as the distance d so that the slope of the tiger’s trajectory as
the tiger goes through the ring of fire is completely horizontal.

Solution to 2.91

Referring to the figure on the right, we will be using a Cartesian

coordinate system with origin at A. As indicated in the hint given in
the problem statement, and due to the choice of coordinate system,
i.e., due to the fact that the origin is the point from which the tiger
jumps, the trajectory of the tiger can be described by the following
equation (of a parabola):

y D C1 x C2 x 2 ; (1)

where C1 and C2 are constants to be determined by making sure

that the tiger passes through point B of coordinates .xB ; yB / D .5:5 m; 3 m/, and then lands on point C of
coordinates .xC ; yC / D .9 m; 0:5 m/. Using Eq. (1) to enforce these conditions, we have

3 m D C1 .5:5 m/ C2 .5:5 m/2 D .5:5 m/C1 .30:25 m2 /C2 ; (2)

2 2
0:5 m D C1 .9 m/ C2 .9 m/ D .9 m/C1 .81:00 m /C2 ; (3)

which is a system of two equations in the two unknowns C1 and C2 whose solution is

C1 D 1:315 and C2 D 0:1400 m 1 : (4)

Recall that the in the textbook we had expressed the trajectory of a projectile in Eq. (2.52) on p. 74, which
has the form !
g sec2 ˇ 2
y D .tan ˇ/x x ; (5)
2v02
where ˇ is the angle formed by the velocity vector with the horizontal at the origin, g is the acceleration due
to gravity, and where v0 is the initial speed of the projectile. Comparing Eq. (1) with Eq. (5), we conclude
that s
g sec2 ˇ
ˇ D tan 1 C1 D 52:75ı and v0 D D 9:779 m=s; (6)
2C2

where we have used the values of C1 and C2 in Eqs. (4) in addition to the fact that g D 9:81 m=s2 . Now that
we have the values of ˇ and v0 , the initial velocity of the tiger, expressed to 3 significant digits, is

vEinitial D v0 cos ˇ {O C v0 sin ˇ |O D .5:92 {O C 7:78 |O/ m=s :

To find the slope of the trajectory at B, we take the derivative of the trajectory equation with respect to x and
then substitute x D xB D 5:5 m to get
ˇ
dy ˇˇ
D C1 2C2 xB D 0:225; (7)
dx ˇxDxB

where we have used the values of C1 and C2 in Eqs. (4).

Solution to 2.92

Referring to the figure on the right, we will be using a Cartesian

y D C1 x C2 x 2 ; (8)

where C1 and C2 are constants to be determined by making sure

that the tiger passes through point B of coordinates .xB ; yB / D .d; 3 m/ with zero slope, and then lands on
point C of coordinates .xC ; yC / D .9 m; 0:5 m/. Using Eq. (8) to enforce these conditions, we have

yB D C1 xB C2 xB2 ) 3 m D C1 d C2 d 2 ; (9)
ˇ
dy ˇ
ˇ
D0 ) 0 D C1 2dC2 (10)
dx ˇxDd
2
yC D C1 xC C2 xC ) 0:5 m D .9 m/C1 .81:00 m2 /C2 : (11)

The last of Eqs. (9)–(11) form a system of three equations in the three unknowns d , C1 , and C2 , which can be
solved numerically using some appropriate mathematical software. For example we have used Mathematica
with the following code
NSolve!"3. ! C1 d " C2 d2 , 0. ! C1 " 2 C2 d, 0.5 ! C1 9. " C2 81.#, $C1, C2, d%&

which yields the following two solutions:

1
C1 D 0:05809 C2 D 0:0002812 m d D 103:3 m; (12)
1
C1 D 1:275 C2 D 0:1355 m d D 4:705 m: (13)

Because the first solution implies that d > xC , the solution in question is not acceptable and therefore we
have that the only acceptable solution is

C1 D 1:275; C2 D 0:1355 m 1 ; d D 4:705 m: (14)

Expressing the result for d with 3 significant figures, we have

d D 4:70 m:

Now we turn to the determination of the initial velocity of the tiger. To do so, we recall that the in the
textbook we had expressed the trajectory of a projectile in Eq. (2.52) on p. 74, which has the form
!
g sec2 ˇ 2
y D .tan ˇ/x x ; (15)
2v02

where ˇ is the angle formed by the velocity vector with the horizontal at the origin, g is the acceleration due
to gravity, and where v0 is the initial speed of the projectile. Comparing Eq. (8) with Eq. (15), we conclude
that s
g sec2 ˇ
ˇ D tan 1 C1 D 51:89ı and v0 D D 9:749 m=s; (16)
2C2
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
124 Solutions Manual

where we have used the values of C1 and C2 in Eqs. (14) in addition to the fact that g D 9:81 m=s2 . Now
that we have the values of ˇ and v0 , the initial velocity of the tiger, expressed to 3 significant digits, is

vEinitial D v0 cos ˇ {O C v0 sin ˇ |O D .6:02 {O C 7:67 |O/ m=s :

Problem 2.93

A jaguar A leaps from O at speed v0 and angle

ˇ relative to the incline to attack a panther B at
C. Determine an expression for the maximum per-
pendicular height hmax above the incline achieved by
the leaping jaguar, given that the angle of the incline
is .

Solution
Align a Cartesian coordinate system with the incline as shown on
the right. The acceleration vector is then given by

aE D g sin {O g cos |O ) ay D g cos :

Applying the constant acceleration equation in the y direction, we

have
vy2 D v0y
2
C 2ay .y y0 /: (1)
At the hmax position the y component of velocity must be equal to
zero. enforcing this condition, we have

0 D .v0 sin ˇ/2 2g cos .hmax 0/: (2)

Solving Eq. (2) for hmax , we obtain

v02 sin2 ˇ
hmax D : (3)
2g cos

Problems 2.94 and 2.95

The jaguar A leaps from O at speed v0 and angle ˇ relative to

the incline to intercept the panther B at C . The distance along
the incline from O to C is R, and the angle of the incline with
respect to the horizontal is .

Problem 2.94 Determine an expression for v0 as a function

of ˇ for A to be able to get from O to C .

Problem 2.95 Derive v0 as a function of ˇ to leap a

given distance R along with the optimal value of launch angle
ˇ, i.e., the value of ˇ necessary to leap a given distance R
with the minimum v0 . Then plot v0 as a function of ˇ for
g D 9:81 m=s2 , R D 7 m, and D 25ı , and find a numerical
value of the optimal ˇ and the corresponding value of v0 for
the given set of parameters.

Solution to 2.94

Using the xy coordinate system shown on the right, we write the

following two constant acceleration equations describing the x and
y coordinates of jaguar A as a function of time:

x D x0 C v0x t; (1)
1 2
y D y0 C v0y t 2 gt ; (2)

where it is understood that the jaguar leaps at time t D 0, and

where .x0 ; y0 / are the coordinates of the point from which of the
jaguar leaps. Since the jaguar leaps from the origin of the chosen
coordinate system, letting tC denote the time at which jaguar A arrives at C , we have

R cos D Œv0 cos.ˇ / tC ; (3)

1 2
R sin D Œv0 sin.ˇ / tC 2 gtC ; (4)

where R is distance from O to C . Eliminating tC from Eqs. (3) and (4) gives

gR cos2
sin D cos tan.ˇ / : (5)
2v02 cos2 .ˇ /

Solving Eq. (5) for v0 and simplifying with the help of the trigonometric identity: sin.ACB/ D sin A cos B C
cos A sin B, we have
r
gR cos
v0 D p : (6)
2 sin ˇ cos.ˇ /

Solution to 2.95

Using the xy coordinate system shown on the right, we write the

following two constant acceleration equations describing the x and
y coordinates of jaguar A as a function of time:

x D x0 C v0x t; (7)
1 2
y D y0 C v0y t 2 gt ; (8)

where it is understood that the jaguar leaps at time t D 0, and

R cos D Œv0 cos.ˇ / tC ; (9)

1 2
R sin D Œv0 sin.ˇ / tC 2 gtC ; (10)

where R is distance from O to C . Eliminating tC from Eqs. (9) and (10) gives

gR cos2
sin D cos tan.ˇ / : (11)
2v02 cos2 .ˇ /

Solving Eq. (11) for v0 and simplifying with the help of the trigonometric identity: sin.A C B/ D
sin A cos B C cos A sin B, we have
r
gR cos
v0 D p : (12)
2 sin ˇ cos.ˇ /

Recalling that g D 9:81 m=s2 , R D 7 m, and D 25ı , we can plot the above function with any appropriate
mathematical software. The plot shown below was obtained using Mathematica with the following code:
Parameters ! !g " 9.81, Θ " 25. Degree, R " 7.";

&. Parameters, !Β, 0, 2", Frame " True,

gR Cos$Θ%
Plot#
2
Sin$Β% Cos$Β % Θ%

GridLines " Automatic, AspectRatio " 1, FrameLabel " !"Β 'rad(", "v0 'm&s("")

20
v0 !m#s"

0.0 0.5 1.0 1.5 2.0

Β !rad"

We can find the optimal value of ˇ to reach a distance of R D 7 m by differentiating v0 with respect to ˇ
and setting it equal to zero. Recalling that D 25ı , this gives
r
dv0 1 gR cos ˇ cos.ˇ / sin ˇ sin.ˇ /
D cos D0
dˇ 2 2 Œsin ˇ cos.ˇ /3=2
) cos ˇ cos.ˇ 25ı / sin ˇ sin.ˇ 25ı / D 0: (13)

The above equation is a transcendental equation that we will solve numerically. Again, this can be done with
any appropriate mathematical software. We have used Mathematica with the following code
FindRoot!Cos!Β" Cos!Β " 25. Degree" " Sin!Β" Sin!Β " 25. Degree" # 0, #Β, 25. Degree$"

Note that the use of root finding algorithms generally requires the user to provide a guess of the value of the
solution. As can be seen in the above code (see information provided at the end of the code line), we have
provided a guess of 25ı . The outcome of this calculation gives

ˇoptimal D 57:52ı : (14)

Then, using the above value of ˇ along with g D 9:81 m=s2 , R D 7 m, and D 25ı , from Eq. (12) we have
that the corresponding value of v0 is

.v0 /optimal D 6:297 m=s: (15)

In summary, expressing our answer to 3 significant figures, we have

ˇoptimal D 57:5ı and .v0 /optimal D 6:30 m=s: (16)

Problems 2.96 and 2.97

A stomp rocket is a toy consisting of a hose connected to a blast pad (i.e., an air bladder) at one end and to
a short pipe mounted on a tripod at the other end. A rocket with a hollow body is mounted onto the pipe
and is propelled into the air by stomping on the blast pad.

Problem 2.96 If the rocket can be imparted an initial speed v0 D 120 ft=s, and if the rocket’s landing
spot at B is at the same elevation as the launch point, i.e., h D 0 ft, neglect air resistance and determine the
rocket’s launch angle such that the rocket achieves the maximum possible range. In addition, compute
R, the rocket’s maximum range, and tf , the corresponding flight time.

Problem 2.97 Assuming the rocket can be given an initial speed v0 D 120 ft=s, the rocket’s landing spot
at B is 10 ft higher than the launch point, i.e., h D 10 ft, and neglecting air resistance, find the rocket’s
launch angle such that the rocket achieves the maximum possible range. In addition, as part of the
solution, compute the corresponding maximum range and flight time. To do this:

(a) Determine the range R as a function of time.

(b) Take the expression for R found in (a), square it, and then differentiate it with respect to time to find
the flight time corresponding to the maximum range and then that maximum range.

Solution to 2.96

Referring to the figure on the right, we will use an xy coordinate

system with origin at the launch point of the rocket. Let be the
elevation angle and v0 D 120 ft=s be the intial speed. The acceleration
of the rocket is equal to g in the y direction and zero in the x
direction. Hence, we can use the constant acceleration equation s D
v0 t C 12 ac t 2 , to express the x and y coordinates of the rocket as a
function of time. This gives

x D .v0 cos /t; (1)

1 2
y D .v0 sin /t 2 gt : (2)

Since in this problem point B lies on the line y D 0, the time taken by the rocket to arrive at B can be
obtained by equating Eq. (2) to zero. This gives

2v0 sin
tB D : (3)
g

Substituting Eq. (3) in place of t into Eq. (1), using the trigonometric identity 2 sin cos D sin 2 , and
observing that xB D R, we get
v 2 sin 2
RD 0 ; (4)
g
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
130 Solutions Manual

where R is the range of the rocket. The maximum value of R occurs when sin 2 D 1, i.e.,

2 D rad ) max D rad D 45ı : (5)
2 4

Substituting max D 45ı , into Eq. (4) and recalling that g D 32:2 ft=s2 , gives

v02
RD D 447 ft:
g

Observing that the time of flight is the same as tB given in Eq. (3), for D max , we have

2v0 sin max

tf D D 5:27 s:
g

Solution to 2.97

Referring to the figure on the right, we will use an xy coordinate

x D .v0 cos /t; (6)

1 2
y D .v0 sin /t 2 gt : (7)

For t D tf the rocket is at B, so that we must have

2h C gtf2
1 2
h D v0 .sin /tf 2 gtf ) sin D ; (8)
2v0 tf
R
R D v0 .cos /tf ) cos D : (9)
v0 tf

Next, recalling that sin2 C cos2 D 1, using the last of Eqs. (8) and (9), we have
!2
2h C gtf2
R
2
C D 1; (10)
2v0 tf v0 tf

which, for convenience, we view as an equation for R2 whose solution is

2
R2 D v02 tf2 h C 12 gtf2 : (11)

Now we maximize R with respect to tf . Since the value of tf for which R is maximum coincides with the
value of tf for which R2 is maximum, we can find the value of tf in question by differentiating Eq. (11) with
respect to tf and then setting the results to 0. This gives
s
dR2 2
2 h C 21 gtf2 gtf v2

D 0 D 2v0 tf ) tfmax D hg D 5:211 s; (12)
dtf g2 0

where we have used the following numerical values: g D 32:2 ft=s2 , v0 D 120 ft=s, h D 10 ft. Expressing
this result to 3 significant figures, we have

tfmax D 5:21 s:

To find Rmax , we substitute the value of tf from the last of Eqs. (12) into Eq. (11) and then we take a square
root. To find the corresponding value of we substitute the value of tf from the last of Eqs. (12) into the last
of Eqs. (8) and solve for . Recalling that we have g D 32:2 ft=s2 , v0 D 120 ft=s, h D 10 ft, these operations
yield the following results:
Rmax D 437 ft and Rmax D 45:7ı :

Problem 2.98

A trebuchet releases a rock with mass m D 50 kg at the point O. The

initial velocity of the projectile is vE0 D .45 {O C 30 |O/ m=s. If one
were to model the effects of air resistance via a drag force directly
proportional to the projectile’s velocity, the resulting accelerations
in the x and y directions would be xR D .=m/xP and yR D g
.=m/y, P respectively, where g is the acceleration of gravity and
D 0:64 kg=s is a viscous drag coefficient. Find an expression for
the trajectory of the projectile.

Solution
We can integrate the x and the y components of acceleration to get the x and y displacement as a function of
time. Starting with the given acceleration components, using xR D ddtxP , we can integrate the expression for the
x component of acceleration to get x. P
Z xP Z t
d xP
D dt ) xP D .v0 /x e m t ; (1)
.v0 /x xP 0 m

where .v0 /x is the x component of the velocity of the projectile at t D 0. Integrating Eq. (1) again with
respect to time, we obtain
Z x Z t

t m.v0 /x
t

dx D .v0 /x e m dt ) x D 1 e m : (2)
0 0
d yP
Using yR D dt
, P
we can integrate the expression for the y component of acceleration to get y.
yP t
d yP mg
Z Z

D dt ) yP D e mt 1 C .v0 /y e mt (3)
.v0 /y g C .=m/ yP 0

where .v0 /y is the y component of the velocity of the projectile at t D 0. Integrating Eq. (3) again with
respect to time, we obtain
2 2
m g mgt m m g m
yD 2
C .v0 /y 2
C .v0 /y e m t : (4)

From Eq. (2) we find

x m x
e mt D 1 ) tD ln 1 : (5)
m.v0 /x m.v0 /x
Substitute the last of Eqs. (5) into Eq. (4) and plugging in m D 50 kg, .v0 /x D 45 m=s, .v0 /y D 30 m=s and
D 0:64 kg=s, we obtain

y D 59:9103 ln 1 4

2:8410 x C 17:7x m: (6)

Problem 2.99

Continue Prob. 2.98 and, for the case where D 0:64 kg=s, deter-
mine the maximum height from the ground reached by the projectile
and the time it takes to achieve it. Compare the result with what you
would obtain in the absence of air resistance.

Solution
We begin by determining part of the solution to Problem 2.98, namely, the function y.t / describing the
vertical position of the projectile as a function of time. To do so, we can integrate the x and the y components
of acceleration to get the x and y displacement as a function of time. Starting with the given acceleration
components, using xR D ddtxP , we can integrate the expression for the x component of acceleration to get x.P
Z xP Z t
d xP
D dt ) xP D .v0 /x e m t ; (1)
.v0 /x xP 0 m

where .v0 /x is the x component of the velocity of the projectile at t D 0. Integrating Eq. (1) again with
respect to time, we obtain
Z x Z t
m.v0 /x

dx D .v0 /x e m t dt ) x D 1 e mt : (2)
0 0
d yP
Using yR D dt
, P
we can integrate the expression for the y component of acceleration to get y.
Z yP Z t
d yP mg t
D dt ) yP D e m 1 C .v0 /y e m t : (3)
.v0 /y g C .=m/ yP 0
Integrating Eq. (3) again with respect to time, we obtain
2 2
m g mgt m m g m
yD C .v / C .v mt
0 y 0 y e
/ ; (4)
2 2
where .v0 /y is the y component of the velocity of the projectile at t D 0.
Now that we have an expression for y.t /, we observe that when maximum height is reached vy D 0.
Hence, letting Hmax denote the maximum height achieved by the projectile and tHmax the time at which this
height is achieved, setting Eq. (3) to zero, we obtain

mg tHmax
tHmax m mg C .v0 /y
e m 1 C .v0 /y e m D 0 ) tHmax D ln D 3:000 s; (5)
mg
where we have used the following numerical data: m D 50 kg, g D 9:81 m=s2 , .v0 /y D 30 m=s and
D 0:64 kg=s. Expressing the result in Eq. (5) using 3 significant figures, we have

tHmax D 3:00 s:

Then, the maximum height in the presence of air resistance can be calculated as Hmax D ymax Ch. In turn,
we can find ymax by substituting the value of time found in Eq. (5) into Eq. (4) along with the known values
m D 50 kg, g D 9:81 m=s2 , .v0 /y D 30 m=s and D 0:64 kg=s. Doing so, we obtain ymax D 44:71 m.
Hence, Hmax is given by
Hmax D ymax C h D 49:21 m; (6)
which, when expressed to 3 significant figures, gives

Hmax D 49:2 m:

In the case of absence of air resistance, the maximum height is given by .Hmax /no air D .ymax /no air C h,
where .ymax /no air can be calculated by equating the y component of the velocity to zero. Using a constant
acceleration equation we have

.v0 /y2
vy2 D .v0 /y2 C 2a.ymax /no air D 0 ) .ymax /no air D D 45:87 m; (7)
2a
where a D g. Hence, the maximum height .Hmax /no air in this case is given by

.Hmax /no air D .ymax /no air C h D 50:37 m: (8)

The maximum height reached with no air resistance 2:38% greater than that with air resistance.

Problem 2.100

Continue Prob. 2.98 and, for the case where D 0:64 kg=s, deter-
mine tI and xI , the value of t, and the x position corresponding to
the projectile’s impact with the ground.

Solution
We begin by working part of the solution to Prob. 2.98. Specifically, we can integrate the x and the y
components of acceleration to get the x and y displacement as a function of time. Starting with the given
acceleration components, using xR D ddtxP , we can integrate the expression for the x component of acceleration
P
to get x.
Z xP Z t
d xP
D dt ) xP D .v0 /x e m t (1)
.v0 /x xP 0 m

where .v0 /x is the velocity component of the projectile Integrating Eq. (1) again with respect to time, we
obtain Z x Z t

t mvx0
t

dx D .v0 /x e m dt ) x D 1 e m : (2)
0 0
d yP
Using yR D dt
, P
we can integrate the expression for the y component of acceleration to get y.
yP t
d yP mg
Z Z

D dt ) yP D e mt 1 C .v0 /y e mt : (3)
.v0 /y g C .=m/ yP 0

Integrating Eq. (3) again with respect to time, we obtain

2 2
m g mgt m m g m
yD C .v0 /y C .v0 /y e mt : (4)
2 2
Next, from Eq. (2) we find

x m x
e mt D 1 ) tD ln 1 : (5)
m.v0 /x m.v0 /x
Substituting the last of Eqs. (5) into Eq. (4), we have
2
m2 g m2 g

m g x m m x
yD C 2 ln 1 C .v0 /y C .v0 /y 1 : (6)
2 m.v0 /x 2 m.v0 /x
To find the time of impact tI and the location xI of the impact we observe that the impact is characterized
by the condition y D h D 4:5 m. Hence we can use a numerical root finding method to find the the
value of t in Eq. (4) for which the condition h D h is satisfied. Similarly, we can use a numerical root
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
136 Solutions Manual

finding method to find the the value of x in Eq. (6) for which the condition h D h is satisfied. Because
the majority of root finding methods require us to provide a guess of the solution, before using any such
methods, we proceed to plot y.t / as given in Eq. (4) and of y.x/ as given in Eq. (6). These plots can be
done with any appropriate mathematical software. Recalling that we are given m D 50 kg, .v0 /x D 45 m=s,
.v0 /y D 30 m=s and D 0:64 kg=s, the plots shown below were obtained using Mathematica with the
following code:
Parameters ! !m " 50., g " 9.81, h " 4.5, v0x " 45., v0y " 30., Η " 0.64";
m2 g m gt m m2 g m tΗ
$
yt ! $ % v0y $ % v0y & m ;
Η2 Η Η Η2 Η

$%
m2 g m2 g Ηx m m2 g m Ηx
yx ! % Log#1 $ v0y $ % v0y 1$ ;
Η2 Η2 m v0x Η Η2 Η m v0x
Plot%yt &. Parameters, !t, 0, 7", Frame " True, GridLines " Automatic,
FrameLabel " !"t 's(", "y 'm("", AspectRatio " 1)
Plot%yx &. Parameters, !x, 0, 300", Frame " True, GridLines " Automatic,
FrameLabel " !"x 'm(", "y 'm("", AspectRatio " 1)

which gives

40 40
30
20 20
y !m"

y !m"

10
0 0
!10
!20 !20
!30
0 1 2 3 4 5 6 7 0 50 100 150 200 250 300
t !s" x !m"

From the above two plots, we see that tI is close to 6 s and xI is close to 250 m. Hence, we will use the
values just listed as guesses in an appropriate root finding numerical method to find more precise values to
the quantities tI and xI . For example, this can be don using Mathematica with the following code:
Parameters ! !m " 50., g " 9.81, h " 4.5, v0x " 45., v0y " 30., Η " 0.64";
m2 g m gt m m2 g m tΗ
$
yt ! $ % v0y $ % v0y & m ;
Η2 Η Η Η2 Η

$%
m2 g m2 g Ηx m m2 g m Ηx
yx ! % Log#1 $ v0y $ % v0y 1$ ;
Η2 Η2 m v0x Η Η2 Η m v0x
FindRoot%yt ' $h &. Parameters, !t, 6"'
FindRoot%yx ' $h &. Parameters, !x, 250"'

Evaluating the outcome of the above code to 3 significant figures, we have

tI D 6:19 s and xI D 268 m:

Problem 2.101

With reference to Probs. 2.98 and 2.100, assume that an experiment

is conducted so that the measured value of xI is 10% smaller that
what is predicted in the absence of viscous drag. Find the value of
that would be required for the theory in Prob. 2.98 to match the
experiment.

Solution
For the case of no air drag, the time of impact can be calculated by equating the constant acceleration equation
for the y coordinate of the projectile to h. Letting tI denote the time of impact, we would have
1 2 1 2
y D .v0 /y t 2 gt ) .v0 /y tI 2 gtI D h ) gtI2
2.v0 /y tI 2h D 0
q
2
.v0 /y ˙ v0y C gh
) tI D ) tI D 6:263 s; (1)
g
where we have discarded the solution with the negative square root because it yields a negative time value,
and where we have used the following numerical data: .v0 /y D 30 m=s, g D 9:81 m=s2 , and h D 4:5 m.
The impact distance xI for the case of no air drag can be calculated again by using constant acceleration
equations (with ax D 0). This gives
x D .v0 /x t ) xI D .v0 /x tI D 281:8 m: (2)
The problem statement indicates that the x position of the rock in the presence of air drag is: .xI /air D 0:9xI ,
i.e.,
.xI /air D 253:6 m: (3)
To be able to use these results, we first determine the trajectory of the projectile in the presence of air
resistance. We begin by working part of the solution to Prob. 2.98. Specifically, we can integrate the x and the
y components of acceleration to get the x and y displacement as a function of time. Starting with the given
acceleration components, using xR D ddtxP , we can integrate the expression for the x component of acceleration
P
to get x.
Z xP Z t
d xP
D dt ) xP D .v0 /x e m t (4)
.v0 /x xP 0 m
where .v0 /x is the velocity component of the projectile Integrating Eq. (4) again with respect to time, we
obtain Z x Z t
mvx0

dx D .v0 /x e m t dt ) x D 1 e mt : (5)
0 0
d yP
Using yR D dt
, P
we can integrate the expression for the y component of acceleration to get y.
Z yP Z t
d yP mg t
D dt ) yP D e m 1 C .v0 /y e m t : (6)
.v0 /y g C .=m/ yP 0
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
138 Solutions Manual

Integrating Eq. (6) again with respect to time, we obtain

2 2
m g mgt m m g m
yD C .v0 /y C .v0 /y e mt : (7)
2 2
Next, from Eq. (5) we find

x m x
e mt D 1 ) tD ln 1 : (8)
m.v0 /x m.v0 /x
Substituting the last of Eqs. (8) into Eq. (7), we have
2
m2 g m2 g

m g x m m x
yD C 2 ln 1 C .v0 /y C .v0 /y 1 : (9)
2 m.v0 /x 2 m.v0 /x
We now observe that at impact the x and y coordinates of the rock are .xI /air and h. By enforcing this
condition in Eq. (9) we obtain an equation in that can be solved numerically by using some appropriate
root finding algorithm as can be found in common mathematical software. Because most root finding
algorithms require the user to supply a guess of the solution, we begin by plotting the value of y for
x D .xI /air D 253:6 m (see Eq. (3)) as a function of . This again can be done using appropriate numerical
software. The plot presented below was obtained in Mathematica using the following code:
Parameters ! !m " 50., g " 9.81, h " 4.5, v0x " 45., v0y " 30., xAir " 253.6";

$$
m2 g m2 g Ηx m m2 g m Ηx
yx ! $ Log#1 % v0y % $ v0y 1% ;
Η2 Η2 m v0x Η Η2 Η m v0x
Plot%yx &. x " xAir &. Parameters, !Η, 0.1, 2", Frame " True, GridLines " Automatic,
FrameLabel " !"Η 'kg&s(", "y 'm("", AspectRatio " 1)

5
y !m#

!10

!15
0.5 1.0 1.5 2.0
Η !kg"s#

From the plot above, we see that y D 0 for x D .xI /air when is a bit greater then 1 kg=s. Hence, we will
use the value D 1 kg=s as the guess for a root finding algorithm in order to find a more accurate value of
the value of . When using Mathematica, this can be done with the following code
Parameters ! !m " 50., g " 9.81, h " 4.5, v0x " 45., v0y " 30., xAir " 253.6";

$$
m2 g m2 g Ηx m m2 g m Ηx
yx ! $ Log#1 % v0y % $ v0y 1% ;
Η2 Η2 m v0x Η Η2 Η m v0x
FindRoot%yx & %h &. x " xAir &. Parameters, !Η, 1"'

which yields the following solution

D 1:35 kg=s:

Problem 2.102

Express the trajectory of the golf ball using the axes shown and in
terms of initial speed v0 , initial angle ˇ, slope ˛, and the acceleration
of gravity g.

Solution

The components of gravity and initial velocities in the xy coordinate system

are:
xR D g sin ˛; and yR D g cos ˛: (1)
xP D v0 cos ˇ; and yP D v0 sin ˇ: (2)
Therefore, keeping in mind that the ball start at the origin to the chosen
coordinate system, the x and y of the ball are given by
1 2
x.t / D v0 cos ˇt 2 g sin ˛t ; (3)
1 2
y.t / D v0 sin ˇt 2 g cos ˛t : (4)

The trajectory is now found by eliminating t from the two equations above. One way to accomplish this is
to essentially start over and consider the motion of the ball in the x1 y1 coordinate system. Specifically, let
consider the expression for the horizontal component of velocity in the x1 y1 system. Observing that xR 1 D 0,
and that the ball starts at the origin of the x1 y1 coordinate system, using constant acceleration equations, we
have
x1
xR 1 D 0 ) x1 .t / D v0 cos.˛ C ˇ/t ) t D : (5)
v0 cos.˛ C ˇ/
To go back to the xy coordinate system, we now express x1 in terms of x and y as follows
x cos ˛ y sin ˛
x1 D x cos ˛ y sin ˛ ) tD : (6)
v0 cos.˛ C ˇ/
Substituting Eq. (6) into Eq. (4), we then obtain

2
x cos ˛ y sin ˛ 1 x cos ˛ y sin ˛
y D v0 sin ˇ 2 g cos ˛ :
v0 cos.˛ C ˇ/ v0 cos.˛ C ˇ/

Problem 2.103

Consider the vectors aE D 2 {O C 1 |O C 7 kO and bE D 1 |O C 2 |O C 3 k.

O Compute the following quantities.

(a) aE bE

(b) bE aE

(d) aE aE

a aE / bE
(e) .E

(f) aE .E E
a b/

Parts (a)–(d) of this problem are meant to be a reminder that the cross product is an anticommutative
operation while Parts (e) and (f) are meant to be a reminder that the cross product is an operation that is
not associative.

Solution
Using the vectors given in the problem statement, various properties of the cross-product are illustrated
through a few simple exercises.

Part (a) The commutative relationship for the cross-product is demonstrated by first evaluating

ˇ {O |O kO ˇ
ˇ ˇ

aE bE D det ˇˇ2 1 7 ˇˇ ) aE bE D 11 {O C 1 |O C 3 kO :
ˇ ˇ
(1)
ˇ1 2 3 ˇ

Part (b) The cross-product is again evaluated, but this time in the opposite order such that

ˇ {O |O kO ˇ
ˇ ˇ

bE aE D det ˇˇ1 2 3 ˇˇ ) bE aE D 11 {O 1 |O 3 kO :
ˇ ˇ
(2)
ˇ2 1 7 ˇ

Thus the cross-product is anti-commutative because the results are equal in magnitude, but opposite in
direction (sign).

Part (c) The fact that the cross-product relation between two vector is anti-commutative is also demonstrated
through the equation below, where

ˇ {O |O kO ˇ ˇ {O |O kO ˇ
ˇ ˇ ˇ ˇ

aE bE C bE aE D det ˇˇ2 1 7 ˇˇ C det ˇˇ1 2 3 ˇˇ D 11 {O C 1 |O C 3 kO C 11 {O 1 |O 3 kO ;
ˇ ˇ ˇ ˇ
(3)
ˇ1 2 3 ˇ ˇ2 1 7 ˇ

) aE bE C bE aE D 0:
E (4)

Part (d) The cross-product of a vector with itself, such as

ˇ {O |O kO ˇ
ˇ ˇ
E
ˇ ˇ
aE aE D det ˇˇ2 1 7 ˇˇ D 0; (5)
ˇ2 1 7 ˇ

will always yield the zero vector.

Part (e) Demonstrating the non-associative nature of the cross-product, the example shows one possible
way to calculate the product of three vectors, where

aE aE bE D 0E bE D 0:
E

(6)

Part (f) The associative property does not hold for cross-products since the result of part (e) is not equal to
the result of
ˇ {O |O kO ˇ |O kO ˇˇ
ˇ ˇ ˇ ˇ
ˇ {O
aE aE bE D aE det ˇˇ2 1 7 ˇˇ D det ˇˇ 2
ˇ ˇ ˇ
1 7 ˇˇ ;
ˇ1 2 3 ˇ ˇ 11 1 3 ˇ

) aE aE bE D 4 {O 83 |O C 13 kO : (7)

Problem 2.104

Consider two vectors aE D 1 {O C 2 |O C 3 kO and bE D 6 {O C 3 |O.

(a) Verify that aE and bE are perpendicular to one another.

(b) Compute the vector triple product aE .E E

a b/.

(c) Compare the result from calculating aE .E E with the vector jE

a b/ E
aj2 b.

The purpose of this exercise is to show that as long as aE and bE are perpendicular to one another, you can
always write aE .E E D jE
a b/ E This identity turns out to be very useful in the study of the planar
aj2 b.
motion of rigid bodies.

Solution
Part (a) Two vectors are perpendicular if their dot product is zero. Thus,

aE bE D 1 6 C 2 3 C 3 0 D 0: (1)

Part (b) The triple product is evaluated by first calculating the cross-product of aE and bE and then taking the
E The calculation proceeds by
cross-product of aE with the cross-product of aE and b.

ˇ {O |O kO ˇ kO ˇˇ
ˇ ˇ ˇ ˇ
ˇ {O |O
aE aE bE D aE det ˇˇ 1 2 3 ˇˇ D aE 9 {O 18 |O C 15 kO D det ˇˇ 1
ˇ ˇ ˇ
2 3 ˇˇ ; (2)
ˇ 6 3 0ˇ ˇ 9 18 15 ˇ

) aE aE bE D 84 {O 42 |O C 0 kO : (3)

Part (c) The vector expression is evaluated as

p 2
aj2 bE D
jE 12 C 22 C 32 6 {O C 3 |O C 0 kO ; (4)

D 84 {O 42 |O C 0 kO ; (5)

which is the same as aE aE bE .

Problem 2.105

Let rE be the position vector of a point P with respect to a Cartesian coordinate system with axes x, y,
and ´. Let the motion of P be confined to the xy plane, so that rE D rx {O C ry |O (i.e., rE kO D 0). Also,
let !E r D !r kO be the angular velocity vector of the vector rE. Compute the outcome of the products
!E r .!E r rE/ and !E r .Er !E r /.

Solution
Use the property verified in part (c) of the solution to Problem 2.104 :

j!E r j2 rE D !r2 rx {O C ry |O :

!E r !E r rE D (1)

The cross-product is anti-commutative,

as verified in part (b) of the solution to Problem 2.103. Therefore the
triple cross-product !E r rE !E r is Eq. (1) multiplied by 1.

!E r rE D !r2 rx {O C ry |O :

!E r rE !E r D !E r (2)

Problem 2.106

The three propellers shown are all rotating with the same angular
speed of 1000 rpm about different coordinate axes.

(a) Provide the proper vector expressions for the angular velocity
of each of the three propellers.

(b) Suppose that an identical propeller rotates at 1000 rpm about

the axis ` oriented by the unit vector uO ` . Let any point P on `
have coordinates such that xP D yP D ´P . Find the vector
representation of the angular velocity of this fourth propeller.

Express the answers using units of radians per second.

Solution
Part (a) 1000 rpm D .100=3/ rad=s D 104:7 rad=s. The angular velocity vectors can be written as

!E 1 D 105 kO rad=s;

!E 2 D 105 {O rad=s and !E 3 D 105 |O rad=s: (1)

Part (b) The unit vector in the ` direction is

1
uO ` D p {O C |O C kO : (2)
3
Therefore, the angular velocity is expressed as

100
!E ` D p {O C |O C kO rad=s ) 60:5 {O C |O C kO rad=s: (3)
3 3

Problem 2.107

The propeller shown has a diameter of 38 ft and is rotating with a

constant angular speed of 400 rpm. At a given instant, a point P
on the propeller is at rEP D .12:5 {O C 14:3 |O/ ft. Use Eqs. (2.62)
and (2.64) to compute the velocity and acceleration of P; respec-
tively.

Solution
O and the magnitude of ! is constant.
400 rpm = .40=3/ rad=s D 41:89 rad=s. We note that rP = 0, !E = ! k,
Therefore Eq.(2.62) becomes

rEPP D !E rEP rEPP D . 599 {O C 524 |O/ ft=s:

)

The acceleration of point P is calculated using Eq. (2.64). The only non-zero term in the acceleration
equation is evaluated to find the acceleration as

rERP D !E !E rEP rERP D . 21;900 {O 25;100 |O/ ft=s2 :

)

Problem 2.108

Consider the four points whose positions are given by the vectors rEA D 2 {O C
0 kO m, rEB D 2 {O C 1 kO m, rEC D 2 {O C 2 kO m, and rED D 2 {O C 3 kO m.

Knowing that the magnitude of these vectors is constant and that the angular
velocity of these vectors at a given instant is !E D 5 kO rad=s, apply Eq. (2.62) to
find the velocities vEA , vEB , vEC , and vED . Explain why all the velocity vectors are
the same even though the position vectors are not.

Solution
The position vectors do not change magnitude, rEP D 0. The equation reduces to vE D !E rE.

vEA D 5 kO 2 {O D 10 |O m=s; vEB D 5 kO 2 {O C 1 kO D 10 |O m=s;

vEC D 5 kO 2 {O C 2 kO D 10 |O m=s; vED D 5 kO 2 {O C 3 kO D 10 |O m=s:

The velocities are the same because all the points have the same distance from the axis of rotation.

Problem 2.109

A child on a merry-go-round is moving radially outward at a

constant rate of 4 ft=s. If the merry-go-round is spinning at 30 rpm,
determine the velocity and acceleration of point P on the child
when the child is 0.5 and 2:3 ft from the spin axis. Express the
answers using the component system shown.

Solution
The position vector describing the position of P that we will differentiate to find the velocity and acceleration
of P is rEP D r uO r , where uO r is defined in the problem figure. With this as the position, the velocity becomes

vEP D rEPP D rP uO r C r uPO r D rP uO r C r.!E r uO r /;

where !E r D !E D ! kO D 30 kO rpm D kO rad=s is the angular velocity of the unit vector uO r . Since
kO uO r D uO q , the velocity of P becomes

vEP D rP uO r C r.! kO uO r / D rP uO r C r! uO q ;

where rP D 4 ft=s, ! D rad=s, and r is either 0:5 ft or 2:3 ft. Using these values, we find that

For r D 0:5 ft: vEP D .4 uO r C 1:57 uO q / ft=s;

For r D 2:3 ft: vEP D .4 uO r C 7:23 uO q / ft=s:

The acceleration can be found most directly by applying Eq. (2.64) from the text, which, when applied to the
position vector rE, is

aEP D rER D rR uO r C 2!E r rP uO r C !EP r rE C !E r !E r rE D 2!E r rP uO r C !E r !E r rE ;

where we have used the fact that rR D 0 and !P D 0 since rP and ! are constant. Substituting in !E r D ! kO and
rE D r uO r , this becomes
aEP D 2! rP uO q r! 2 uO r :
Substituting in rP D 4 ft=s, ! D rad=s, and r is either 0:5 ft or 2:3 ft, we obtain

For r D 0:5 ft: aEP D .25:1 uO q 4:93 uO r / ft=s2 ;

For r D 2:3 ft: aEP D .25:1 uO q 22:7 uO r / ft=s2 :

Problem 2.110

When a wheel rolls without slipping on a stationary surface, the point on the wheel that is in contact with
the rolling surface has zero velocity. With this in mind, consider a nondeformable wheel rolling without
slip on a flat stationary surface. The center of the wheel P is traveling to the right with a constant speed of
23 m=s. Letting R D 0:35 m, determine the angular velocity of the wheel, using the stationary component
system shown.

Solution
We can express vEP in two ways:

vEP D v0 {O and vEP D rEPP D rPP {O C ! kO rP |O: (1)

Combine Eqs. (1) and substitute v0 D 23 m=s, rP D R, rPP D 0, and solve for !.

v0 O O
v0 {O D !R {O ) !E D kD .65:7 rad=s/ k: (2)
R

Problem 2.111

Starting with Eq. (2.62), show that the second derivative with respect to time of an arbitrary vector AE is
given by Eq. (2.64). Keep the answer in pure vector form, and do not resort to using components in any
component system.

Solution
Beginning with Eq. (2.62),
P
AE D AP uOA C !EA A:
E (1)
and taking the derivative with respect to time, gives

R EP
AE D AR uOA C AP uPOA C !EP AE C !E A; (2)

but, uPOA D !E uOA so

R
AE D AR uOA C AP !E uOA C !EP AE C !E AP uOA C !E AE ; (3)

distributing the terms of the products, yields

R
AE D AR uOA C AP !E uOA C !EP AE C !E AP uOA C !E !E AE :

(4)

The above equation is very similar to the form of Eq. 2.60 in the book. Utilizing a property of cross-products
where a is a scalar and cE, dE are vectors it can be stated that

a cE dE D a cE dE D cE a dE : (5)

Therefore, applying the property of cross products to Eq. (4), it is concluded that

R
AE D AR uOA C !E AP uOA C !E AP uOA C !EP AE C !E !E AE ;

D AR uOA C 2!E AP uOA C !EP AE C !E !E AE :

Problem 2.112

The radar station at O is tracking the meteor P as it moves through the

atmosphere. At the instant shown, the station measures the following data
for the motion of the meteor: r D 21;000 ft, D 40ı , rP D 22;440 ft=s,
and P D 2:935 rad=s. Use Eq. (2.62) to determine the magnitude and
direction (relative to the xy coordinate system shown) of the velocity
vector at this instant.

Solution

We define a coordinate system as shown in the figure. Then Eq. (2.62) becomes

rEP D rP uO r C !E r rE;
D rP uO r C r!r uO : (1)

The .uO r ; uO / coordinate system is expressed in the .x; y/ coordinate system as

uO r D cos {O C sin |O; uO D sin {O C cos |O: (2)

P rEP with vE, and plug Eq. (2) into Eq. (1) to get
Now we replace !r with ,

vE D rP .cos {O C sin |O/ C r P . sin {O C cos |O/ ;

D rP cos r P sin {O C rP sin C r P cos |O: (3)

Recalling that r D 21;000 ft, D 40ı , rP D 22;440 ft=s, and P D 2:935 rad=s, we can evaluate the terms
in Eq. (3) to obtain
vE D .22;430 {O 61;640 |O/ ft=s (4)
The magnitude of the velocity is given by
q
jE
vj D vx2 C xy2 : (5)

Hence, since from Eq. (4) we have that vx D 22;430 ft=s and vy D 61;640 ft=s, evaluating Eq. (5), we have

jE
v j D 65;600 ft=s:

Referring to the figure on the right, let denote the angle formed by the veloc-
ity vector and the x axis such that tan D vy =vx . Then the we can obtain as
tan 1 .vy =vx /. Hence, recalling again that from Eq. (4) we have vx D 22;430 ft=s and
vy D 61;640 ft=s, we obtain

vy
D tan 1 D 70:0ı : (6)
vx

Problem 2.113

The radar station at O is tracking the meteor P as it moves through the

atmosphere. At the instant shown, the station measures the following data
for the motion of the meteor: r D 21;000 ft, D 40ı , rP D 22;440 ft=s,
P D 2:935 rad=s, rR D 187;500 ft=s2 , and R D 5:409 rad=s2 . Use
Eq. (2.64) to determine the magnitude and direction (relative to the xy
coordinate system shown) of the acceleration vector at this instant.

Solution
Applying Eq. (2.64) on p. 92 of the textbook, we have

rERP =O D rRP =O uO P =O C 2!E r rPP =O uO P =O C !EP r rP =O C !E r !E r rEP =O :

(1)
Using the Cartesian coordinate system shown and its companion component system, we can describe rEP =O
and !E r as follows:
rEP =O D r .cos {O C sin |O/ and !E r D P k:
O (2)
Rewriting each term in Eq. (1) using the expressions in Eqs. (2), we obtain
rRP =O uO P =O D rR .cos {O C sin |O/ ;
2!E r rPP =O uO P =O D 2rP !E r uO P =O ;
D 2rP P .cos |O sin {O/ ; (3)
!EP r rEP =O D r R .cos |O sin {O/ ;
!E r !E r rEP =O D r P 2 . cos {O sin |O/ :

Now we substitute Eqs. (3) into Eq. (1) and separate components to obtain:

aEP =O D rR cos 2rP P sin r R sin r P 2 cos {O

C rR sin C 2rP P cos C r R cos r P 2 sin |O: (4)

Recalling that we have r D 21;000 ft, D 40ı , rP D 22;440 ft=s, P D 2:935 rad=s, rR D 187;500 ft=s2 ,
and R D 5:409 rad=s2 , we can evaluate the right-hand side of Eq. (4) to obtain
aEP =O D . 6599 {O C 18130 |O/ ft=s2 : (5)
The magnitude of aEP =O is given by
q
jE
aP =O j D .aP =O /2x C .aP =O /y2 : (6)

Observing that from Eq. (5) we have .aP =O /x D 6599 ft=s2 and .aP =O /y D 18;130 ft=s2 , we can evaluate
jE
aP =O j in Eq. (6) to obtain
aP =O j D 19;300 ft=s2 :
jE

Referring to the figure on the right, let the angle denote the direction of the vector
aEP =O relative to the x axis such that tan D .aP =O /y =.aP =O /x . Then the we can
obtain as tan 1 Œ.aP =O /y =.aP =O /x . Hence, recalling again that from Eq. (5) we have
.aP =O /x D 6599 ft=s2 and .aP =O /y D 18;130 ft=s2 and paying attention to the fact
that .aP =O /x < 0 and .aP =O /y > 0, we obtain

.aP =O /y

1
D tan D 110ı
.aP =O /x

Problem 2.114

A plane B is approaching a runway along the trajectory shown while

the radar antenna A is monitoring the distance r between A and B as
well as the angle . If the plane has a constant approach speed v0 as
shown, use Eq. (2.62) to determine the expressions for rP and P in terms
of r, , v0 , and .

Solution
Express the velocity in the following two ways:

vE D v0 cos {O v0 sin |O and vE D rP uO r C P kO uO r D rP uO r C r P uO : (1)

Express .uO r ; uO / in terms of .O{ ; |O/.

uO r D cos {O C sin |OI uO D sin {O C cos |O: (2)

Plug Eqs. (2) into the last of Eqs. (1) and collect the {O and |O terms.

vE D rP cos r P sin {O C rP sin C r P cos |O: (3)

Equate the {O and |O components of velocity given by the first of Eqs. (1) and Eq. (3)

rP cos r P sin D v0 cos ;

rP sin C r P cos D v0 sin :

Solve these equations simultaneously to obtain

v0
rP D v0 cos. C / and P D sin. C /:
r

Problem 2.115

A plane B is approaching a runway along the trajectory shown with

D 15ı , while the radar antenna A is monitoring the distance r
between A and B as well as the angle . The plane has a constant
approach speed v0 . In addition, when D 20ı , it is known that
rP D 216 ft=s and P D 0:022 rad=s. Use Eq. (2.62) to determine the
corresponding values of v0 and of the distance between the plane and
the radar antenna.

Solution
We begin by express the velocity in the following two ways:

vE D v0 cos {O v0 sin |O and vE D rP uO r C P kO uO r D rP uO r C r P uO : (1)

Expressing .uO r ; uO / in terms of .O{ ; |O/, we have

uO r D cos {O C sin |OI uO D sin {O C cos |O: (2)

Substituting Eqs. (2) into the last of Eqs. (1) and collecting the {O and |O terms, we have

vE D rP cos r P sin {O C rP sin C r P cos |O: (3)

Equating the {O and |O components of velocity given by the first of Eqs. (1) and Eq. (3), we have

rP cos r P sin D v0 cos ;

rP sin C r P cos D v0 sin :

Solving these equations simultaneously, we obtain

v0
rP D v0 cos. C / and P D sin. C /: (4)
r
Now, solving the first of Eqs. (4) for v0 , we have
rP
v0 D ; (5)
cos. C /
which, recalling that we have rP D 216 ft=s, D 20ı and D 15ı , can be evaluated to obtain

v0 D 264 ft=s:

Substituting Eq. (5) into the second of Eqs. (4) and solving for r, we obtain
rP sin. C / rP
rD D tan. C /; (6)
cos. C / P P
which, recalling that rP D 216 ft=s, P D 0:022 rad=s, D 20ı and D 15ı , can be evaluated to obtain

r D 6870 ft:

Problem 2.116

The end B of a robot arm is being extended with the constant rate rP D 4 ft=s.
Knowing that P D 0:4 rad=s and is constant, use Eqs. (2.62) and (2.64) to
determine the velocity and acceleration of B when r D 2 ft. Express your
answer using the component system shown.

Solution
The velocity is expressed using Eq. (2.62) on p. 92 of the textbook. This gives

vEB D rP uO r C P kO r uO r ) vEB D rP uO r C P r uO ; (1)

which, recalling that we have rP D 4 ft=s, P D 0:4 rad=s, and r D 2 ft, can be evaluated to obtain

vEB D .4:00 uO r C 0:800 uO / ft=s:

The acceleration is expressed using Eq. (2.64) on p. 92 of the textbook while keeping in mind that rR D 0
and R D 0. This gives

aEB D 2P kO rP uO r C P kO P kO r uO r ) aEB D P 2 r uO r C 2P rP uO

which, recalling that we have rP D 4 ft=s, P D 0:4 rad=s, and r D 2 ft, can be evaluated to obtain

aE D . 0:320 uO r C 3:20 uO / ft=s:

Problem 2.117

The end B of a robot arm is moving vertically down with a constant speed
v0 D 2 m=s. Letting d D 1:5 m, apply Eq. (2.62) to determine the rate at which
r and are changing when D 37ı .

Solution

vE D v0 |O and vE D rEP D rP uO r C P kO r uO r D rP uO r C P r uO : (1)

Expressing the .uO r ; uO / coordinate system in terms of .O{ ; |O/, we have

uO r D cos {O C sin |O uO D sin {O C cos |O: (2)

Substituting Eqs. (2) into the last of Eqs. (1) and collecting the {O and |O terms, we
have
vE D rP cos P r sin {O C rP sin C P r cos |O (3)

Equating the {O and |O components of velocity given by the first of Eqs. (1) and Eq. (3), and keeping in mind
that r D d= cos , we have

rP cos P r sin D 0 ) rP cos P d tan D 0 (4)

rP sin C P r cos D v0 ) rP sin C P d D v0 : (5)

Solving these equations simultaneously for rP and P , gives

v0 v0
rP D v0 sin and P D 2
D cos2 ; (6)
d.1 C tan / d

which, recalling that we have v0 D 2 m=s, D 37ı , and d D 1:5 m, can be evaluated to obtain

rP D 1:20 m=s and P D 0:850 rad=s:

Problem 2.118

The end B of a robot arm is moving vertically down with a constant speed
v0 D 6 ft=s. Letting d D 4 ft, use Eqs. (2.62) and (2.64) to determine r, P r,
P , R
and R when D 0 .
ı

Solution

Referring to the figure on the right, the velocity is expressed both in terms of
the {O |O component system and using the component system uO r uO along with
Eq. (2.62) on p. 92 of the textbook. This gives
vE D v0 |O and vE D rP uO r C P kO r uO r D rP uO r C P r uO : (1)
Expressing .uO r ; uO / in terms of .O{ ; |O/, we have
uO r D cos {O C sin |O and uO D sin {O C cos |O: (2)
Substituting Eqs. (2) into the last of Eqs. (1) and collecting the {O and |O terms, we
have
vE D rP cos r P sin {O C rP sin C r P cos |O: (3)
Equating the {O and |O components of velocity given by the first of Eqs. (1) and Eq. (3), and keeping in mind
that r D d= cos , we have
rP cos r P sin D 0 ) rP cos P d tan D 0 (4)
rP sin C r P cos D v0 ) rP sin C P d D v0 : (5)
Substituting D 0 into Eqs. (4) and (5), we have

v0
rP D 0 and P D D 1:50 rad=s; (6)
d

where we have used the following numerical data: v0 D 6 ft=s and d D 4 ft.
Using Eq. (2.64) on p. 92, the acceleration expressed in the .uO r ; uO / component system is:
aE D rR uO r C 2P kO rP uO r C R kO r uO r P 2 r uO r :
On the other hand, the acceleration expressed in the .O{ ; |O/ component system is:
aE D rR .cos {O C sin |O/ C 2P rP . sin {O C cos |O/ C R r . sin {O C cos |O/ P 2 r .cos {O C sin |O/ :
Collecting {O and |O terms then substituting r D d , D 0, and the expressions in Eqs. (6), we have
!
2
v
0
{O C R d |O:
ˇ
aE ˇD0ı D rR
d
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
158 Solutions Manual

Since vE is constant aE D 0

v02
rR D D 9:00 ft=s2 and R D 0 rad=s2 ;
d

where, again we have used the fact that v0 D 6 ft=s and d D 4 ft.

Problem 2.119

A micro spiral pump consists of a spiral channel attached to a stationary plate. This plate has two ports,
one for fluid inlet and the other for outlet, the outlet being farther from the center of the plate than the
inlet. The system is capped by a rotating disk. The fluid trapped between the rotating disk and stationary
plate is put in motion by the rotation of the top disk, which pulls the fluid through the spiral channel. With
this in mind, consider a channel with geometry given by the equation r D C r0 , where D 12 m
is called the polar slope, r0 D 146 m is the radius at the inlet, r is the distance from the spin axis, and
is the angular position of a point in the spiral channel. If the top disk rotates with a constant angular speed
! D 30;000 rpm, and assuming that the fluid particles in contact with the rotating disk are essentially
stuck to it, determine the velocity and acceleration of one of such fluid particles when it is at r D 170 m.
Express the answer using the component system shown (which rotates with the top disk).

Photo credit: “Design and Analysis of a Surface Micromachined Spiral-Channel Viscous Pump,” by M. I. Kilani, P. C. Galambos, Y. S. Haik,
C. H. Chen, Journal of Fluids Engineering, Vol. 125, pp. 339–344, 2003.

Solution
Using Eq. (2.62) on p. 92 of the textbook, we can express the velocity of a particle moving through the pump
as
vE D rP uO r C !E rE; (1)
where !E D P k, O P D 1000 rad=s, r D C r0 , r0 D 146 m, and D 12 m. Hence, the above
expression can be rewritten as
vE D P uO r C P . C r0 / uO : (2)
Solving r D C r0 for and evaluating the result for r D 170 m, we find D 2:000 rad. Using this
result along with the known data r0 D 146 m, D 12 m, and P D 1000 rad=s, we can evaluate vE in
Eq. (1) to obtain
2
vE D .3:7710 uO r C 0:534 uO / m=s:
We now continue with the acceleration analysis. Using Eq. (2.64) on p. 92 of the textbook, and recalling
that rR and !P are equal to zero, we have
aE D rR uO r C 2!E rP uO r C !EP rE C !E .!E rE/ ) aE D P 2 . C r0 / uO r C 2P 2 uO ; (3)
where, in obtaining the second of Eqs. (3), we have substituted for !E D P k,
O rE D r uO r D . C r0 / uO r , and
P Recalling again that we have r0 D 146 m, D 12 m, and P D 1000 rad=s, we can evaluate the
rP D .
last of Eqs. (3) to obtain
1680 uO r C 237 uO m=s2 :

aE D

Problem 2.120

A disk rotates about its center, which is the fixed point O. The disk has a
straight channel whose centerline passes by O and within which a collar A
is allowed to slide. If, when A passes by O, the speed of A relative to the
channel is v D 14 m=s and is increasing in the direction shown with a rate of
5 m=s2 , determine the acceleration of A given that ! D 4 rad=s and is constant.
Express the answer using the component system shown, which rotates with
the disk. Hint: Apply Eq. (2.64) to the vector describing the position of A
relative to O and then let r D 0.

Solution
Let rE be the position of A relative to O. Then rE D r uO r where uO r D |O. For r D 0 the acceleration of rE is

aE D rR uO r C 2!E rP uO r C !EP rE C !E !E rE ;

aE D rR uO r C 2!E rP uO r ;
aE D . 5 m=s2 /. |O/ C 2.4 rad=s/. 14 m=s/ kO . |O/:

aE D . 112 {O C 5 |O/ m=s2

Problem 2.121

At the instant shown, the angular velocity and acceleration of the

merry-go-round are as indicated in the figure. Assuming that the
child is walking along a radial line, should the child walk outward
or inward to make sure that he does not experience any sideways
acceleration (i.e., in the direction of uO q )?

Solution
The acceleration of the child is aE D rR uO r C 2!E rP uO r C !EP rE C !E !E rE . The terms that contribute to

the acceleration in the direction of uO q are 2!E rP uO r and !EP rE. Since !E and !EP are in the same direction then
we must have rP < 0 if we hope that the terms will cancel. Hence, the child should move inward.

Problem 2.122

Assuming that the child shown is moving on the merry-go-round

along a radial line, use Eq. (2.64) to determine the relation that !,
P r, and rP must satisfy so that the child will not experience any
!,
sideways acceleration.

Solution
The acceleration of the child takes on the form: aE D rR uO r C 2!E rP uO r C !EP rE ! 2 r uO r . The acceleration
in the direction of uO q is
aq D .2! rP C !r/ P uO q : (1)
Hence we must have
2! rP C !r
P D 0:

Problem 2.123

The mechanism shown is called a swinging block slider crank. First used in various steam locomotive
engines in the 1800s, this mechanism is often found in door-closing systems. If the disk is rotating with
a constant angular velocity P D 60 rpm, H D 4 ft, R D 1:5 ft, and r is the distance between B and O,
compute rP and P when D 90ı . Hint: Apply Eq. (2.62) to the vector describing the position of B relative
to O.

Solution
We begin by observing that we can express the velocity of B in two ways. First as the time derivative of the
position vector rEB=A and second as the time derivative of the position vector rEB=O . Referring to the figure in
the problem statement, we can express these two position vectors as follows:

rEB=A D R uO B=A and rEB=O D r uO S ; (1)

where, as given the problem statement, r is the distance between B and O, and where we observe that the
angular velocities of the unit vector in the above equations are

!E uO B=A D P kO and !E uO S D O
P k: (2)

Hence, observing that RP D 0 since R is a constant, using Eq. (2.62) on p. 92 of the textbook, we have

vEB D rEPB=A D P kO R uO B=A and vEB D rEPB=O D rP uO S P kO r uO S : (3)

Next, we observe that, for D 90ı , we have

p 1
uO B=A D {O; rD H 2 C R2 ; and uO S D p .R {O C H |O/: (4)
R2 C H2
Substituting Eqs. (4) into Eqs. (3), for D 90ı , we have

rP
vEB ˇD90ı D RP |O .R {O C H |O/ C H P {O RP |O:
ˇ ˇ
and vEB ˇD90ı D p (5)
R2 C H2
Equating the two above expressions for vEB component by component, we have

P
rR
{O W p C H P D 0; (6)
R2 C H2
P
rH
|O W p RP D RP : (7)
R2 C H 2

Equations (6) and (7) form a system of two equations in the two unknowns rP and P (at D 90ı ) whose
solution is
RH P R2 P
and P ˇD90ı D
ˇ ˇ
rP ˇD90ı D p : (8)
R2 C H 2 R2 C H 2
Recalling that we have P D 60 rpm D 6:283 rad=s, H D 4 ft, R D 1:5 ft, we can evaluate the quantities in
Eqs. (8) to obtain
rP ˇD90ı D 8:82 ft=s and P ˇD90ı D 0:775 rad=s:
ˇ ˇ

Problems 2.124 and 2.125

A sprinkler essentially consists of a pipe AB mounted on a hollow shaft. The water comes in the pipe at O
and goes out the nozzles at A and B, causing the pipe to rotate. Assume that the particles of water move
through the pipe at a constant rate relative to the pipe of 5 ft=s and that the pipe AB is rotating at a constant
angular velocity of 250 rpm. In all cases, express the answers using the right-handed and orthonormal
component system shown.

Problem 2.124 Determine the acceleration of the water particles when they are at d=2 from O (still
within the horizontal portion of the pipe). Let d D 7 in:

Problem 2.125 Determine the acceleration of the water particles right before they are expelled at B. Let
d D 7 in:, ˇ D 15ı , and L D 2 in: Hint: In this case the vector describing the position of a water particle
O
at B goes from O to B and is best written as rE D rB uO B C r´ k.

Solution to 2.124
Using Eq. (2.64) on p. 92, we can express the acceleration of water particle as

aE D rR uO r C 2!E rP uO r C !EP rE ! 2 r uO r : (1)

O ! D 250 rpm D
next we observe that in our problem we have rP D 5 ft=s, rR D 0, uO r D uO B , !E D ! k,
P E and rE D .d=2/ uO b , where d D 7 in: D 0:5833 ft. Thus we have
26:18 rad=s, !E D 0,

!2d !2d
rER D 2! kO rP uO B uO B ) rER D 2! rP uO C uO B ; (2)
2 2
which can be evaluated to obtain

aE D . 262 uO C 200 uO B / ft=s:

Solution to 2.125

The expression for the position vector of a general point P after the horizontal
section is

rEP =O D .d O
L cos ˇ C l cos ˇ/ uO B C .l sin ˇ/ k: (3)

Now we take the derivative of Eq. (3), noting that d , ˇ, and L are constants, to get

rEPP =O D lP cos ˇ uO B C .d L cos ˇ C l cos ˇ/ !E uO B C lP sin ˇ k;

O

(4)
rEPP =O D ! .d L cos ˇ C l cos ˇ/ uO C C lP cos ˇ uO B C lP sin ˇ k:
O (5)

Now we take the second derivative of rEP =O .

rERP =O D ! lP cos ˇ uO C L cos ˇ C l cos ˇ/ !E uO C C lP cos ˇ !E uO B

! .d (6)
rERP =O D P cos ˇ uO C
2l! ! 2 .d L cos ˇ C l cos ˇ/ uO B : (7)

For P at B: l D L, ˇ D 15ı , ! D 250 rpm D 26:18 rad=s, and lP D 5 ft=s so we have:

aEP =O D P cos ˇ uO C
2l! ! 2 d uO B ) aEP =O D . 253 uO C 400 uO B / ft=s2

Problem 2.126

A particle P is moving along a path with the velocity shown. Is the sketch of the
normal-tangential component system at P correct?

Solution
No, the unit vector uO t must point in the direction of vE.

Problem 2.127

A particle P is moving along a path with the velocity shown. Is the sketch of the
normal-tangential component system at P correct?

Solution
No, the unit vector uO n must point toward the concave side of the curve.

Problem 2.128

A particle P is moving along a straight line with the velocity and accelera-
tion shown. What is wrong with the unit vectors shown in the figure?

Solution
The unit vector uO n is not defined for a straight line.

Problem 2.129

A particle P is moving along some path with the velocity and acceleration
shown. Can the path of P be the straight line shown?

Solution
No, because the path is straight. It would be compatible if the path were curved with a tangent at P coincident
with uO t and concavity on the side of uO n .

Problem 2.130

A particle P is moving along the curve C , whose equation is given

by
2
y 2 x 2 .x 1/.2x 3/ D 4 x 2 C y 2 2x ;

at a constant speed vc . For any position on the curve C for

which the radius of curvature is defined (i.e., not equal to infinity),
what must be the angle between the velocity vector vE and the
acceleration vector aE ?

Solution
The speed is constant. This tells us that there is no component of acceleration in the direction of velocity.
Therefore the angle between vE and aE must be 90ı .

Problem 2.131

Making the same assumptions stated in Example 2.17, consider the map of the Formula 1 circuit at
Hockenheim in Germany and estimate the radius of curvature of the curves Südkurve and Nordkurve (at
the locations indicated in red).

Photo credit: Courtesy of FIA

Solution
At Südkurve the car is traveling at a speed of 150 km=h D 41:67 m=s with an acceleration of 3:5g D
34:34 m=s2 . Therefore the curvature is
!
v2 41:672
aD ) D m ) D 50:6 m:
34:34

At Nordkurve the car is traveling at a speed of 200 km=h D 55:56 m=s with an acceleration of 3:4g D
33:35 m=s2 . Therefore the curvature is
!
v2 55:562
aD ) D m ) D 92:5 m:
33:35

Problem 2.132

The motion of the piston C as a function of the crank angle and the lengths
ofpthe crank AB and connecting rod BC is given by yC D R cos C
L 1 .R sin =L/2 and xC D 0. Using the component system shown, ex-
press uO t , the unit vector tangent to the trajectory of C , as a function of the crank
angle for 0 2 rad.

Solution
uO t D |O for 0 < < rad. uO t D |O for < < 2 rad. uO t is undefined at D 0 and D 2 rad
because the path of C folds back on itself at these two positions.

Problem 2.133

An aerobatics plane initiates the basic loop maneuver such that, at the bottom of the
loop, the plane is going 140 mph, while subjecting the plane to approximately 4g of
acceleration. Estimate the corresponding radius of the loop.

Solution
4g D 128:8 ft=s2 . 140 mph D 205:3 ft=s. Thus, the radius of the loop is found with

v2 205:32

an D ) D ft; (1)
128:8

which gives
D 327 ft:

Problem 2.134

Suppose that a highway exit ramp is designed to be a circular

segment of radius D 130 ft. A car begins to exit the highway at
A while traveling at a speed of 65 mph and goes by point B with a
speed of 25 mph. Compute the acceleration vector of the car as a
function of the arc length s, assuming that the tangential component
of the acceleration is constant between points A and B.

Solution
The change in speed is completely due to the tangential acceleration. Hence, since this component of
acceleration is assumed to be constant, the speeds at A and B are related via the following constant
acceleration equation:
2 v 2 vA2
vB vA2 D 2a t .sB sA / ) a t D B : (1)
2.sB sA /
Next, recalling that we have sA D 0, vA D 65 mph D 95:33 ft=s, vB D 25 mph D 36:67 ft=s, and
sB D 2 D .65/ ft D 204:2 ft, the above equation can be evaluated to obtain

at D 18:96 ft=s2 : (2)

The expression for the speed in terms of arc length, s, can be found again using constant acceleration
equations, i.e.,

v 2 .s/ D vA2 C 2a t .s sA / ) v 2 .s/ D Œ9088 .37:92/s ft2 =s2 ; (3)

where we have used the fact that vA D 65 mph D 95:33 ft=s and that a t D 18:96 ft=s2 (see Eq. (2)).
Recalling that an D v 2 =, we have that the acceleration vector is

v 2 .s/
aE .s/ D a t uO t C uO n ) aE .s/ D f 19:0 uO t C Œ69:9 .0:292/s uO n g ft=s2 : (4)

Problem 2.135

Suppose that a highway exit ramp is designed to be a circular

segment of radius D 130 ft. A car begins to exit the highway
at A while traveling at a speed of 65 mph and goes by point B
with a speed of 25 mph. Compute the acceleration vector of the
car along the car’s path as a function of the arc length s, assuming
that between A and B the speed was controlled so as to maintain
constant the rate dv=ds.

Solution
Let K be the constant value of the quantity dv=ds. Then, the appropriate expression for the speed can be
found by integrating the equation dv
ds
D K as follows:
Z vB Z sB
dv D Kds ) dv D K ds ) vB D vA C Ks: (1)
vA sA

Applying the conditions that at sA D 0, vA D 65 mph D 95:33 ft=s, and at sB D 2 D .65/ ft D 204:2 ft,
vB D 25 mph D 36:67 ft=s, it is found that
vB vA
KD D 0:2873 s 1 : (2)
sB
Hence the speed as a function of the arc length s is

v.s/ D vA C Ks: (3)

Next we recall that the quantity vP can be written as

dv dv ds dv
D ) vP D v.s/ D .vA C Ks/ K: (4)
dt ds dt ds
v2
Finally, recalling that the acceleration vector is given by aE D vP uO t C uO n , we can write

.vA C Ks/2
aE D vA K C K 2 s uO t C

uO n

27:4 C .82510 4 /s uO t C 69:9 6
/s 2 uO n ft=s2 ;
˚
D .0:421/s C .63510

where we have used the value of K in Eq. (2) and the following numerical data: vA D 65 mph D 95:33 ft=s
and D 130 ft.

Problem 2.136

Particles A and B are moving in the plane with the same constant speed v, and their
paths are tangent at P . Do these particles have zero acceleration at P ? If not, do
these particles have the same acceleration at P ?

Solution
Without knowledge of the radii of curvature for the two curves it is not possible to answer the question. If the
curvature of the two curves is equal to zero at P , then the acceleration of the particles at P would be equal to
zero since the particles are moving with constant speed. If the radii of curvature for the two curves at P are
finite and equal but not equal to zero, then the acceleration of the two particles at P would be equal. If the
radii of curvature are different, then the accelerations of the two particles would be different.

Problem 2.137

Uranium is used in light water reactors to produce a controlled nuclear reaction for the generation of power.
When first mined, uranium comes out as the oxide U3 O8 , which is 0.7% of the isotope U-235 and 99.3%
of the isotope U-238. To be used in a nuclear reactor, the concentration of U-235 must be in the 3–5%
range. The process of increasing the percentage of U-235 is called enrichment, and it is done in a number
of ways. One method uses centrifuges, which spin at very high rates to create artificial gravity. In these
centrifuges, the heavy U-238 atoms concentrate on the outside of the cylinder (where the acceleration is
largest), and the lighter U-235 atoms concentrate near the spin axis. Before centrifuging, the uranium is
processed into gaseous uranium hexafluoride or UF6 , which is then injected into the centrifuge. Assuming
that the radius of the centrifuge is 20 cm and that it spins at 70;000 rpm, determine

(a) The velocity of the outer surface of the centrifuge.

(b) The acceleration in g experienced by an atom of uranium that is on the inside of the outer wall of the
centrifuge.

Photo credit: Courtesy of the Department of Energy

Solution
We denote by ! the angular speed of the centrifuge. Hence, we have that ! D 70;000 rpm D 7330 rad=s.

Part (a). Using the fact that the speed v and the angular speed ! are related as v D !, we have that the
speed of points on the outer surface of the centrifuge is

v D ! D 1466 m=s; (1)

where we have used the fact that ! D 7330 rad=s and D 20 cm D 0:2000 m. Expressing the above result
to 3 significant figures, we have
v D ! D 1470 m=s:

Part (b). Under the assumption that the centrifuge is spinning with a constant angular speed, the only
component of acceleration of a point on the wall of the centrifuge will be the normal component. Hence, the
acceleration experienced by an atom at the inside surface of the centrifuge is

v2 .1466 m=s/2 g 10:75106 m=s2

an D D D ) aE D 1:10106 g uO n ,
0:2 m 9:81 m=s2

where the unit vector uO v always points from a point on the periphery of the centrifuge toward the center of
the centrifuge, and where we have used the the value of v in Eq. (1) along with the fact that D 20 cm D
0:2000 m and g D 9:81 m=s2 .

Problem 2.138

Treating the center of the Earth as a fixed point, determine the magnitude of the
acceleration of points on the surface of the earth as a function of the angle
shown. Use R D 6371 km as the radius of the Earth.

Solution
Let ! denote the angular speed of the Earth. Since the Earth undergoes one full revolution per day, we have
2
24.3600/
rad=s.
1 rev 2 rad
!D D D 72:7210 6 rad=s: (1)
1 day .24 h/.3600 s=h/
Next, let denote the distance between the point indicated on the figure and the axis of rotation of the Earth,
i.e., a point on the surface of the Earth characterized by the angle off the equator and the axis of rotation of
the Earth. Then, we have we
D R cos : (2)
Next we observe that under the assumption that the angular speed of the Earth is constant, the only component
of the acceleration of the point in question is the normal component. Hence, we must have
2
ˇaE ˇ D an D v D ! 2 D R! 2 cos ;
ˇ ˇ

which, recalling that R D 6371 km D 6;371;000 m, using the value of ! in Eq. (1), and expressing all known
coefficients to 3 significant figures, can be evaluated to obtain

3
cos / m=s2 :
ˇ ˇ
ˇaE ˇ D .33:710

Problem 2.139

A water jet is ejected from the nozzle of a fountain with a speed

v0 D 12 m=s. Letting ˇ D 33ı , determine the rate of change of
the speed of the water particles as soon as these are ejected as
well as the corresponding radius of curvature of the water path.

Solution
The normal and tangential components of acceleration are:

v02
an D g cos ˇ D I and a t D g sin ˇ D v:
P

Hence, recalling that g D 9:81 m=s2 , v0 D 12 m=s, and ˇ D 33ı , we have

v02
D D 17:5 m and vP D 5:34 m=s:
g cos ˇ

Problem 2.140

A water jet is ejected from the nozzle of a fountain with a speed v0 . Letting ˇ D 21ı , determine v0 so that
the radius of curvature at the highest point on the water arch is 10 ft.

Solution
We model the water particles in the jet as projectiles subject to the constant acceleration due to gravity. Hence,
at the highest point on the water arch the vertical component of the velocity of the water particles is equal to
zero and the only nonzero component of velocity is equal to the initial component of velocity in the horizontal
direction. This component of velocity is equal to v0 cos ˇ. Therefore, at the highest point on the water arch
we have
vE D v0 cos ˇ uO t ) v D v0 cos ˇ: (1)
Recalling that speed and radius of curvature are related through the relation an D v 2 = and observing that at
the highest point on the water arch the acceleration due to gravity is completely in the normal direction, i.e.,
an D g, then we must have

v2 v 2 cos2 ˇ g
r
an D g D ) gD 0 ) v0 D : (2)
cos2 ˇ

Recalling that ˇ D 21ı , g D 32:2 ft=s2 , and D 10 ft, we can evaluate the above expression to obtain

v0 D 19:2 ft=s:

Problem 2.141

A jet is flying at a constant speed v0 D 750 mph while performing a constant

speed circular turn. If the magnitude of the acceleration needs to remain constant
and equal to 9g, where g is the acceleration due to gravity, determine the radius
of curvature of the turn.

3
3
Solution
Using the given data, we have v0 D 750 mph D 1100 ft=s. Since the speed is constant, the only component
of the acceleration is the normal component, namely, an . Relating this component of acceleration to the
speed and the radius of curvature, we have

v2 v2
an D D 9g ) D D 4180 ft: (1)
9g

Problem 2.142

A car traveling with a speed v0 D 65 mph almost loses contact with

the ground when it reaches the top of the hill. Determine the radius of
curvature of the hill at its top.

Solution
For the car to almost loose contact with the ground we have

v02 v02
an D Dg ) D D 282 ft; (1)
g

where we have used the following numerical data: v0 D 65 mph D 95:33 ft=s and g D 32:2 ft=s2 .

Problem 2.143

A car is traveling over a hill. If, using a Cartesian coordinate system

with origin O at the top of the hill, the hill’s profile is described by the
function y D .0:003 m 1 /x 2 , where x and y are in meters, determine
the minimum speed at which the car would lose contact with the ground
at the top of the hill. Express the answer in km=h.

Solution
We need to calculate the curvature at the top of the hill (x D 0). TO do so, we will apply the formula
giving the radius of curvature in terms of derivatives of the curve y D .0:003 m 1 /x 2 with respect to x.
Specifically, we have
3=2
1 C .dy=dx/2

.x/ D ˇ ˇ : (1)
ˇd 2 y=dx 2 ˇ
With this in mind, we have

dy d 2y
D .0:006000 m 1 /x and D 0:006000 m 1 : (2)
dx dx 2
Substituting the values from Eqs. (2) into Eq. (1) for x D 0, we have
1
.0/ D 1
D 166:7 m: (3)
0:006000 m
Now we observe that for the car to almost loose contact with the ground we have
2
vmin
an D D g; (4)

where vmin is the value of the speed that we are trying to determine. Since g is known, i.e., g D 9:81 m=s2
and we have just determined that D 166:7 m, we can solve the above equation to obtain
p
vmin D g.0/ ) vmin D 40:44 m=s ) vmin D 146 km=h: (5)

Problem 2.144

A race boat is traveling at a constant speed v0 D 130 mph when it performs a turn
with constant radius to change its course by 90ı as shown. The turn is performed
while losing speed uniformly in time so that the boat’s speed at the end of the turn is
vf D 125 mph. If the maximum allowed normal acceleration is equal to 2g, where g
is the acceleration due to gravity, determine the tightest radius of curvature possible
and the time needed to complete the turn.

Solution
Since the normal acceleration is given by an D v 2 =, under the assumption that D constant, the maximum
normal acceleration occurs where the speed is maximum. In turn, this occurs at the beginning of the turn
given that the speed is monotonically decreasing. Specifically, we have

vmax D v0 D 130 mph D 190:7 ft=s: (1)

then, going back to the formula an D v 2 =, we have

2
vmax v02
an D 2g D ) min D D 565 ft; (2)
min 2g

where we have used the value of v0 in Eq. (1) and the fact that g D 32:2 ft=s2 .
Next, recalling that the speed is decreasing uniformly in time, i.e., that vP is constant, using the constant
acceleration equation vf2 v02 D 2a t .s s0 / to find a t , we have

vf2 v02
sD and s0 D 0 ) at D (3)
2 min
Now use the constant acceleration equation vf D v0 C a t tf to find the time to complete the turn, where
vf D 125 mph D 183:3 ft=s.

min v02
tf D ) tf D D 4:74 s, (4)
vf C v0 2g vf C v0

where we have used the following numerical values: v0 D 190:7 ft=s (see Eq. (1)), vf D 125 mph D
183:3 ft=s, and g D 32:2 ft=s2 .

Problem 2.145

A race boat is traveling at a constant speed v0 D 130 mph when it performs a turn
with constant radius to change its course by 90ı as shown. The turn is performed
while losing speed uniformly in time so that the boat’s speed at the end of the turn is
vf D 116 mph. If the magnitude of the acceleration is not allowed to exceed 2g, where
g is the acceleration due to gravity, determine the tightest radius of curvature possible
and the time needed to complete the turn.

Solution
The given values of speed at the beginning and end of the turn are

v0 D 130 mph D 190:7 ft=s and vf D 116 mph D 170:1 ft=s: (1)

Treating the value of as known and equal to the minimum value that we need to determine, then the normal
component of acceleration is given by
v2
an D ; (2)
min
where v is the speed of the boat. Next, recalling that the tangential acceleration is constant, applying constant
acceleration equations, we have

vf2 v02 D 2a t .sf s0 / D 2a t min ; (3)
2
where .=2/min is the distance covered by the boat along its path while performing the turn. Hence, we can
solve the above equation for a t to obtain
vf2 v02
at D : (4)
min
Now, using Eqs. (2) and (4) we can compute the magnitude of the acceleration of the boat. In addition,
recalling that we want the maximum value of the acceleration not to exceed 2g, we can solve for min by
writing
2 v 2
u
2 2 2 2
v 4 vf
v 0
u 4
v0 vf
v 0
aj2 D an2 C a2t D 20 C D 4g 2 ) min D
t
jE 2 2
C D 565:9 ft; (5)
min 2
min 4g 4 g 2
2

where we have the speed values in Eqs. (1) and the fact that g D 32:2 ft=s2 .
Now we solve for tf the time needed to perform the turn by observing that we must have vf D v0 C a t tf .
Hence, using the expression for a t in Eq. (4), we can write
vf v0 vf v0 min
tf D D min ) tf D D 4:927 s;
at vf2 v02 vf C v0

where we have used the speed values in Eq. (1) and the value of min in Eq. (5). Summarizing and expressing
our final answers to 3 significant figures, we have

min D 566 ft and tf D 4:93 s:

Problem 2.146

A truck takes an exit ramp with a speed v0 D 55 mph. The ramp is a circular
arc with radius D 150 ft. Determine the constant rate of change of the truck
speed that will allow the truck to stop at B.

Solution
Since the tangential component of the acceleration of the truck is assumed to be constant, we can solve the
problem by using the constant acceleration equation v 2 v02 D 2v.s P s0 /. Doing so and recalling that we
have letting s0 D 0, s D ./=2 D 235:6 ft, vf D 0, and v0 D 55 mph D 80:67 ft=s, we can write

v02
vP D ) vP D 13:8 ft=s2 . (1)
2s

Problem 2.147

A jet is flying straight and level at a speed v0 D 1100 km=h when it turns to
change its course by 90ı as shown. In an attempt to progressively tighten the
turn, the speed of the plane is uniformly decreased in time while keeping the
normal acceleration constant and equal to 8g, where g is the acceleration due
to gravity. At the end of the turn, the speed of the plane is vf D 800 km=h.
Determine the radius of curvature f at the end of the turn and the time tf that
the plane takes to complete its change in course.

3
3
Solution
Keeping in mind that we have vf D 800 km=h D 222:2 m=s and that g D 9:81 m=s2 , the radius of curvature
at the end of the turn is
vf2 vf2
an D 8g D ) f D D 629 m (1)
f 8g

Now, we need to relate the speed to the fact that the plane undergoes a change of course of 90ı . To do so, let
! denote the anguar speed of the plane. Therefore ! is also the angular speed of the radial line connecting
the plane to center of curvature on an instant by instant basis. With this in mind, we have v D ! where
! D ddt
, where is any angle that one can conveniently define to characterize the orientation of the radial
line connecting the plane to center of curvature on an instant by instant basis. So we have
d v 8g
!D D D ; (2)
dt v
where, to obtain the last expression we have used the fact that the normal acceleration must remain constant
and equal to 8g, i.e., an D v 2 =rho D 8g so that v= D 8g=v. Now, we enforce the condition that the speed
is decrased uniformily in time. This means that we can used constant acceleration equations and write
v D v0 C a t t; (3)
where a t is the (constant) tangential acceleration. Therefore, substituting Eq. (3) into Eq. (2) we have
Z tf Z =2
d 8g 8g 8g
D ) d D dt ) dt D d; (4)
dt v0 C a t t v0 C a t t 0 v0 C ac t 0
where in the above integral we have finally managed to relate the speed of the airplane to the fact that the
airplane undergoes a change of course of 90ı . Carrying out the above integration, and recalling that we must
have a t D .vf v0 /=tf , we have
a t tf 8gtf vf v0

8g
ln 1 C D ) ln 1 C D :
at v0 2 vf v0 v0 2
Hence, recalling that we have vf D 800 km=h D 222:2 m=s, v0 D 1100 km=h D 305:6 ft=s, and g D
9:81 m=s2 , we can solve the above equation for tf to obtain

.vf v0 /
tf D D 5:24 s:
16g ln.vf =v0 /

Problem 2.148

A car is traveling over a hill with a constant speed v0 D 70 mph. Using the Cartesian coordinate system
shown, the hill’s profile is described by the function y D .0:0005 ft 1 /x 2 , where x and y are measured
in feet. At x D 300 ft, the driver applies the brakes, causing a constant time rate of change of speed
vP D 3 ft=s2 until the car arrives at O. Determine the distance traveled while applying the brakes along
with the time to cover
p this distance. Hint:
p To compute the distance traveled by the car along the car’s path,
observe that ds D dx 2 C dy 2 D 1 C .dy=dx/2 dx, and that

xp 1
Z p p
1 C C 2 x 2 dx D 1 C C 2x2 C ln C x C 1 C C 2 x 2 :
2 2C

Solution
Taking the derivative of y.x/ with respect to x, we have

dy
yD .0:0005 ft 1 /x 2 ) D .0:001000 ft1 /x: (1)
dx
Making use of the equation for ds given in the problem statement. For convenience, let C D 0:001000 ft 1 .
Then we can write q p
ds D 1 C .dy=dx/2 dx ) ds D 1 C C 2 x 2 dx: (2)
Integrating Eq. (2) from x D 300 ft to x D 0, we have
Z 0 p p
x 1 p 0
sD 1C C 2 x 2 dx ) sD 2 2
1CC x C 2
ln C x C 1 C C x 2 : (3)
300 ft 2 2C 300 ft

Evaluating the last of Eqs. (3) and expressing the final result to 3 significant figures, we find

s D 304 ft:

Problem 2.149

Recalling that a circle of radius R and center at the origin O of a Cartesian

coordinate system with axes x and y can be expressed via the formula x 2 Cy 2 D
R2 , use Eq. (2.72) to verify that the radius of curvature of this circle is equal to
R.

Solution
dy
Taking the differential of x 2 C y 2 D R2 with respect to x to find dx
, we have

dy dy x
2x C 2y D0 ) D : (1)
dx dx y
dy
Takinf the derivative of Eq. (1) with respect to x and substituting Eq. (1) back into the results for dx
, we have

d 2y 1 x dy d 2y .x 2 C y 2 /
2
D C 2 ) D : (2)
dx y y dx dx 2 y3
Then
3=2 3=2
1 C .dy=dx/2 1 C x 2 =y 2

ˇ ˇy 3 ˇ
ˇ ˇ
D ˇ ˇ ) D ˇ ) (3)
ˇd 2 y=dx 2 ˇ ˇx 2 C y 2 ˇ
3=2
x2 C y2 R3

D ˇ D ) D R: (4)
R2
ˇ
ˇx 2 C y 2 ˇ

Problem 2.150

A particle P is moving along a path with the velocity shown. Discuss in detail
whether or not there are incorrect elements in the sketch of the polar component
system at P .

Solution
The unit vector uO r must be oriented along the radial line r and point away from the origin. The unit vector
uO is oriented perpendicular to uO r and pointing in the direction of increasing .

Problem 2.151

A particle P is moving along a path with the velocity shown. Discuss in

detail whether or not there are incorrect elements in the sketch of the polar
component system at P .

Solution
The unit vector uO is oriented correctly but uO r must point in the direction opposite to the direction shown.

Problem 2.152

A particle P is moving along a path with the velocity shown. Discuss in

detail whether or not there are incorrect elements in the sketch of the polar
component system at P .

Solution
The unit vector uO r is oriented correctly. uO must be oriented opposite to the direction shown.

Problem 2.153

A particle P is moving along a circle with center C and radius R in the

direction shown. Letting O be the origin of a polar coordinate system
with the coordinates r and shown, discuss in detail whether or not
there are incorrect elements in the sketch of the polar component
system at P .

Solution
Both uO r and uO are oriented as they should be.

Problem 2.154

A radar station is tracking a plane flying at a constant altitude with

a speed v0 D 550 mph. If at a given instant r D 7 mi and D 32ı ,
determine the corresponding values of r, P r,
P , R
R and .

Solution
The velocity is vE D v0 {O, where {O D cos uO r sin uO . The velocity in polar coordinates is vE D rP uO r Cr P uO .
Therefore
v0 cos uO r v0 sin uO D rP uO r C r P uO :
This vector equation gives us two scalar equations we use to solve for the desired quantites.

v0 cos D rP ) rP D 466 mph

v0 sin D r P ) P D 41:6 rad=h.

The problem statement implies that the velocity of the airplane is constant and that therefore the acceleration
of the airplane is equal to zero. Use the following equation to solve for the desired quantities. This implies
that we must have
0E D .rR r P 2 / uO r C .r R C 2rP P / uO ;
This vector equation gives us two scalar equations we use to solve for the desired quantites.

rR D r P 2 ) rR D 12;100 mi=h2 ,

and
2rP P
R D ) R D 5550 rad=h2 .
r

Problem 2.155

During a given time interval, a radar station tracking an airplane records

the readings

P / D Œ449:8 cos .t / C 11:78 sin .t / mph;

r.t
r.t /P .t / D Œ11:78 cos .t / 449:8 sin .t / mph;

where t denotes time. Determine the speed of the plane. Furthermore,

determine whether the plane being tracked is ascending or descending
and the corresponding climbing rate (i.e., the rate of change of the
plane’s altitude) expressed in ft=s.

Solution
P / and r.t /P .t/ provided by the problem statement, and realizing that r.t
Using the expressions for r.t P / D vr
P
and r.t/.t/ D v , we have

v 2 D vr2 C v2
D rP 2 C .r P /2
D .449:8/2 cos2 C .11:78/2 sin2 C 2 sin cos .449:8/.11:78/ mph

C .11:78/2 cos2 C .449:8/2 sin2 2 sin cos .449:8/.11:78/ mph:

(1)

Using the trigonometric identity sin2 ! C cos2 ! D 1, we can simplify the above expression to

v 2 D .449:8/2 C .11:78/2 mph

) v D 450 mph. (2)

Letting y denote the elevation of the airplane, we have that y D r sin . Taking the derivative of y with
respect to time we have

yP D rP sin C r P cos
D Œ.449:8/ sin cos C .11:78/ sin2 C .11:78/ cos2 .449:8/ sin cos mph
D 11:78 mph:

Converting the above result and expressing to 3 significant figures, we have

The airplane is ascending at a rate of 17:3 ft=s.

Problem 2.156

At a given instant, an airplane flying at an altitude h0 D 10;000 ft

begins its descent in preparation for landing when it is r.0/ D 20 mi
from the radar station at the destination’s airport. At that instant,
the aiplane’s speed is v0 D 300 mph, the climb rate is 5 ft=s, and
the horizontal component of velocity is decreasing steadily at a rate
of 15 ft=s2 . Determine the r,
P ,P r,
R and R that would be observed by
the radar station.

Solution

q at time t D 0, we have D
Referring to the figure on the right,
1 ı
sin .h=r/ D 5:434 , x.0/ P D v02 y.0/
P 2 D 440:0 ft=s, and
P
y.0/ D 5 ft=s. In addition, we can relate the polar coordinates
.r; / to the Cartesian coordinates .x; y/ as follows:

y D r sin ) yP D rP sin C r P cos ; (1)

x D r cos ) xP D rP cos r P sin : (2)

Viewing the above equations as a system of two equations in the two unknowns rP and P , solving the system
in question and evaluating the solution for t D 0, we have

P
r.0/ D 438 ft=s and P .0/ D 34710 6
rad=s;

where we have used the data listed earlier.

Differentiating the last of Eqs. (1) and (2) yields the following system of two equations in the two
R
unknowns rR and :

yR D rR sin C 2rP P cos C r R cos r P 2 sin

xR D rR cos 2rP P sin r R sin r P 2 cos :

R
Recalling that we have x.0/ D 15 ft=s2 and y.0/
R D 0, solving the above system and evaluating the solution
at t D 0, we have
R
r.0/ D 14:9 ft=s2 and R .0/ D 10:610 6
rad=s2 :

Problem 2.157

At a given instant, the merry-go-round is rotating with an angular velocity ! D 20 rpm while the child is
moving radially outward at a constant rate of 0:7 m=s. Assuming that the angular velocity of the merry-go-
round remains constant, i.e., ˛ D 0, determine the magnitudes of the speed and of the acceleration of the
child when he is 0:8 m away from the spin axis.

Solution
The child’s velocity is vE D rP uO r C r P uO , where rP D 0:7 m=s and P D ! D 20 rpm D 2:094 rad=s. Hence,
for r D 8 m, we have q
v D vE D rP 2 C r 2 P 2 )
ˇ ˇ
ˇ ˇ v D 1:82 m=s. (1)

The child’s acceleration is aE D .rR r P 2 / uO r C .r R C 2rP P / uO , where R D ˛ D 0 and rR D 0.

ˇ ˇ q
ˇaE ˇ D . r P 2 /2 C .2rP P /2 ˇaE ˇ D 4:57 m=s2 .
ˇ ˇ
) (2)

Problem 2.158

At a given instant, the merry-go-round is rotating with an angular

velocity ! D 18 rpm, and it is slowing down at a rate of 0:4 rad=s2 .
When the child is 2:5 ft away from the spin axis, determine the
time rate of change of the child’s distance from the spin axis so
that the child experiences no transverse acceleration while moving
along a radial line.

Solution
P where P D ! D 18 rpm D 1:885 rad=s and
The transverse component of acceleration is a D r R C 2rP ,
R D ˛ D 0:4 rad=s . Hence, for r D 2:5 ft, we have
2

r R
rP D ) rP D 0:265 ft=s.
2P

Problem 2.159

At a given instant, the merry-go-round is rotating with an angular

velocity ! D 18 rpm. When the child is 0:45 m away from the
spin axis, determine the second derivative with respect to time of
the child’s distance from the spin axis so that the child experiences
no radial acceleration.

Solution
The radial component of acceleration is ar D rR r P 2 , where P D ! D 18 rpm D 1:885 rad=s. Hence, for
r D 0:45 m, we have
rR D r! 2 ) rR D 1:60 m=s2 .

Problem 2.160

The cutaway of the gun barrel shows a projectile that, upon exit, moves with a speed vs D 5490 ft=s
relative to the gun barrel. The length of the gun barrel is L D 15 ft. Assuming that the angle is increasing
at a constant rate of 0:15 rad=s, determine the speed of the projectile right when it leaves the barrel. In
addition, assuming that the projectile acceleration along the barrel is constant and that the projectile starts
from rest, determine the magnitude of the acceleration upon exit.

Solution
We will use a coordinate system with origin at the base of the gun, the coordinate r define as the distance of
a point along the gun from its base, and the coordinate as shown in the figure. In this coordinate system,
P In addition, we are
we have that the rate of change of the radial position of the projectile along the gun is r.
told that P D 0:15 rad=s. Recall that in polar coordinates the velocity of the projectile is vE D rP uO r C r P uO .
Therefore, upon exit, i.e., for r D L and rP D vs D 5490 ft=s, the speed of the projectile is

ˇ ˇ q
ˇvEˇ D rP 2 C .LP /2 D 5490 ft=s:

The assumption that the acceleration of the projectile along the gun is constant implies that the quantity rR is
assumed constant. Hence, we can compute rR using constant acceleration equations, i.e., rP 2 D rP02 C 2r.r R r0 /.
letting r0 D 0, since rP0 D 0 (the projectile start from rest), and since we know that for r D L we have
rP D vs , we can write
v2
rR D s :
2L
Next, recalling that in polar coordinate the acceleration of the projectile is aE D .rR r P 2 / uO r C .r R C 2rP P / uO ,
and that we have R D 0, upon exit, we can write

s
2
vs2
2
LP 2 C 2vs P D 1:00106 ft=s2 ;
ˇ ˇ
ˇaE ˇ D
2L

where we have used the fact that vs D 5490 ft=s, L D 15 ft, and P D 0:15 rad=s.

Problem 2.161

A space station is rotating in the direction shown at a constant rate

of 0:22 rad=s. A crew member travels from the periphery to the
center of the station through one of the radial shafts at a constant
rate of 1:3 m=s (relative to the shaft) while holding onto a handrail
in the shaft. Taking t D 0 to be the instant at which travel through
the shaft begins and knowing that the radius of the station is 200 m,
determine the velocity and acceleration of the crew member as a
function of time. Express your answer using a polar coordinate
system with origin at the center of the station.

Solution
We will use a polar coordinate system with origin at the center of the station and radial coordinate going from
the center to the person moving along the shaft. The velocity of the astronaut is vE D rP uO r C r P uO , where
rP D 1:3 m=s and P D 0:22 rad=s. Let r0 represent the radius of the station. The position is r D r0 1:3 t.
So we have
vE D Œ 1:30 uO r C .44:0 0:286 t / uO m=s:

The acceleration is aE D .rR r P 2 / uO r C .r R C 2rP P / uO , where rR D 0 and R D 0.

aE D Œ. 9:68 C 0:0629 t / uO r 0:572 uO m=s2 :

Problem 2.162

Solve Prob. 2.161 and express your answers as a function of posi-

tion along the shaft traveled by the astronaut.

Solution
The velocity of the astronaut is vE D rP uO r C r P uO . Therefore

vE D . 1:3 uO r C 0:22 r uO / m=s:

The acceleration is aE D .rR r P 2 / uO r C .r R C 2rP P / uO , where rR and R D 0.

. 0:0484 r uO r 0:572 uO / m=s2 :

Problem 2.163

A person driving along a rectilinear stretch of road is fined for speeding, having been clocked at 75 mph
when the radar gun was pointing as shown. The driver claims that, because the radar gun is off to the side
of the road instead of directly in front of his car, the radar gun overestimates his speed. Is he right or wrong
and why?

Solution
The driver is wrong. The speed recorded is the component of the actual speed along the radial direction. As
such, i.e. being a component, it can only be smaller than the true speed.

Problem 2.164

A motion tracking camera is placed along a rectilinear stretch of a

racetrack (the figure is not to scale). A car C enters the stretch at A
with a speed vA D 110 mph and accelerates uniformly in time so
that at B it has a speed vB D 175 mph, where d D 1 mi. Letting
the distance L D 50 ft, if the camera is to track the motion of C ,
determine the camera’s angular velocity as well as the time rate of
change of the angular velocity when the car is at A and at H .

Solution

At A the velocity of the car is vE D vA {O. Expressing the unit vector

{O via the .uO r ; uO / component system, we have
{O D sin uO r cos uO :
P we consider the transverse component of velocity v , i.e.,
To find ,

v cos
v D r P D v cos ) P D : (1)
r
For the point A we have r D .d=2/2 C L2 , cos D L
p
r , and v D vA . Eq. (1) becomes

vA L
PA D 2
D 1:1610 3
rad=s: (2)
.d=2/ C L2

where we have used the following numerical data: vA D 110 mph D 161:3 ft=s, L D 50 ft, and d D 1 mi D
5280 ft.
Next, using the constant acceleration equation v 2 D v02 C 2ac .s s0 / the acceleration
q of the car is
2 2 2 2
vB vA vA CvB
aE D 2d
O
{ . Using the same constant acceleration equation the velocity at H is E
vH D 2 {O. For
the point H we have r D L D 50 ft and cos D 1 so that Eq. (1) gives
s
1 vA2 C vB
2
PH D D 4:29 rad=s; (3)
L 2

where we have used the following numerical data: vA D 110 mph D 161:3 ft=s, vB D 175 mph D 256:7 ft=s,
L D 50 ft, and d D 1 mi D 5280 ft.
To find R we need to find rP at A and H by using the radial component of velocity vr D rP D v sin . At
d
A, we have that sin D 2r D p d 2 2 . At H , we have that sin D 0. Therefore, we can write
2 .d=2/ CL

vA d
vr D rP D v sin ) rPA D p ; (4)
2 .d=2/2 C L2
) rPH D 0: (5)
2 2
R Keeping in mind that aE D vB vA
Now we use the uO component of acceleration to find . 2d
{O, we have
" #
2
vA2 vA2 vB2

vB 1
R P
a D r C 2rP D cos ) D R cos 2rP P : (6)
2d r 2d
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
Dynamics 1e 207

To find R at A we start with Eq. (6) and replace rP with Eq. (4), P with Eq. (2), and cos with L
r, i.e.,

" #
vA2 2
vA2 dL

1 vB L
RA D 2 D 1:6810 4
rad=s2 ;
r 2d r2

p
where r D .d=2/2 C L2 , and where we have used the following numerical data: vA D 110 mph D
161:3 ft=s, vB D 175 mph D 256:7 ft=s, L D 50 ft, and d D 1 mi D 5280 ft.
To find R at H we start with Eq. (6) and replace rP with Eq. (5), r with L, and cos with 1.

vA2 vB 2

R D D 0:0755 rad=s2 ;
2dL

where we have used the following numerical data: vA D 110 mph D 161:3 ft=s, vB D 175 mph D 256:7 ft=s,
L D 50 ft, and d D 1 mi D 5280 ft.

Problem 2.165

The radar station at O is tracking a meteor P as it moves through the

(a) Determine the magnitude and direction (relative to the xy coordinate

system shown) of the velocity vector at this instant.

(b) Determine the magnitude and direction (relative to the xy coordinate

system shown) of the acceleration vector at this instant.

Solution
Part (a). Using the polar coordinate system defined in the figure of the problem statement, we have that the
velocity of the meteor is

vE D vr uO r C v uO D rP uO r C r P uO D .22;440 ft=s/ uO r .6:164104 ft=s/ uO ; (1)

where we have used the following numerical data: rP D 22;440 ft=s, r D 21;000 ft, and P D 2:935 rad=s.
Then the magnitude of vE is
q
v j D vr2 C v2 D 6:56104 ft=s;
jE

where, from Eq. (1), we have used the fact that vr D 22;440 ft=s and v D 6:164104 ft=s. Let ˇ denote
the angle by which the unit vector uO r must be rotated counterclockwise to point in the same direction as the
vector vE. Then, because both vr and v are negative, the angle ˇ is given by

v
ˇ D 180ı C tan 1 D 250:0ı : (2)
vr

Since the radial direction is oriented at 40ı counterclockwise with respect to the x axis, then the angle
formed by the velocity vector and the x axis is ˇ C 40ı , where it is understood that this angle is measured
counterclockwise from the x axis. Hence, we have

Orientation of vE from x axis D 290ı (ccw):

Part (b). Using the polar coordinate system defined in the figure of the problem statement, we have that the
acceleration of the meteor is

vE D ar uO r C a uO D .rR r P 2/ uO r C .r R C 2rP P / uO D .6:601103 ft=s2 / uO r C .18:13103 ft=s2 / uO ; (3)

where we have used the following numerical data: rR D 187;500 ft=s2 , rP D 22;440 ft=s, P D 2:935 rad=s,
r D 21;000 ft, and R D 5:409 rad=s2 . Then the magnitude of aE is

q
aj D ar2 C a2 D 19:3103 ft=s2 ;
jE

where, from Eq. (3), we have used the fact that ar D 6:601103 ft=s2 and a D 18:13103 ft=s2 . Let
denote the angle by which the unit vector uO r must be rotated counterclockwise to point in the same direction
as the vector aE . Then, because both ar and a are positive, the angle is given by

1 a
D tan D 69:99ı : (4)
ar

Since the radial direction is oriented at 40ı counterclockwise with respect to the x axis, then the angle formed
by the acceleration vector and the x axis is C 40ı , where it is understood that this angle is measured
counterclockwise from the x axis. Hence, we have

Orientation of aE from x axis D 110ı (ccw):

Problems 2.166 and 2.167

As a part of an assembly process, the end effector at A on the robotic arm needs
to move the gear at B along the vertical line shown with some known velocity
v0 and acceleration a0 . Arm OA can vary its length by telescoping via internal
actuators, and a motor at O allows it to pivot in the vertical plane.

Problem 2.166 When D 50ı , it is required that v0 D 8 ft=s (down) and

that it be slowing down at a0 D 2 ft=s2 . Using h D 4 ft, determine, at this
instant, the values for rR (the extensional acceleration) and R (the angular accel-
eration).

Problem 2.167 Letting v0 and a0 be positive if the gear moves and accelerates
P r,
upward, determine expressions for r, r, P and R that are valid for any value
R ,
of .

Solution to 2.166

Referring to the figure on the right, The .O{ ; |O/ component system is converted to
the .uO r ; uO / component system as

{O D cos uO r sin uO and |O D sin uO r C cos uO : (1)

The velocity vE D v0 |O is expressed in the .uO r ; uO / coordinate system as

vE D v0 .sin uO r C cos uO / : (2)

The general expression for velocity in polar coordinates is vE D rP uO r C r P uO .

Thus rP and P are
v0 cos
rP D v0 sin and P D : (3)
r
The acceleration aE D a0 |O is converted to the .uO r ; uO / coordinate system as

aE D a0 .sin uO r C cos uO / : (4)

r P 2 uO r C r R C 2rP P uO . Using

The general expression for acceleration in polar coordinates is aE D rR
the results of Eq. (3) and noting that r D h= cos we obtain

rR r P 2 D a0 sin ; r R C 2rP P D a0 cos ; (5)

!
v02 cos3 cos 2v02 cos2 sin
rR D a0 sin C ; R D a0 cos : (6)
h h h

Recalling that we have D 50ı , v0 D 8 ft=s, a0 D 2 ft=s2 , and h D 4 ft, we can evaluated the expressions
for rR and R to obtain
rR D 5:78 ft=s2 and R D 1:42 rad=s2 :

Solution to 2.167

Referring to the figure on the right, the length of the arm is

h
rD ; (7)
cos

The .O{ ; |O/ component system is converted to the .uO r ; uO / componenet system as

{O D cos uO r sin uO and |O D sin uO r C cos uO : (8)

The velocity vE D v0 |O is expressed in the .uO r ; uO / coordinate system as

vE D v0 .sin uO r C cos uO / : (9)

The general expression for velocity in polar coordinates is vE D rP uO r C r P uO .

Thus rP and P are
v0 cos2
rP D v0 sin and P D : (10)
h

The acceleration aE D a0 |O is converted to the .uO r ; uO / coordinate system as

aE D a0 .sin uO r C cos uO / : (11)

r P 2 uO r C r R C 2rP P uO . Using

The general expression for acceleration in polar coordinates is aE D rR
the results of Eq. (10) and noting that r D h= cos we obtain

rR r P 2 D a0 sin and r R C 2rP P D a0 cos ; (12)

which can be solved for rR and R to obtain

v02 cos3 a0 cos2 2v02 cos3 sin

rR D a0 sin C and R D :
h h h2

Problem 2.168

The time derivative of the acceleration, i.e., aEP , is usually referred to as the jerk because “jerky” motion is
generally associated with quickly changing acceleration. Starting from Eq. (2.89), compute the jerk in
polar coordinates.

Solution
Equation (2.89) on p. 119 of the textbook states

aE D rR r P 2 uO r C r R C 2rP P uO D ar uO r C a uO :

(1)

Therefore, we have
aEP D aP r uO r C ar uPO r C aP uO C a uPO : (2)
Recall that
uPO r D P kO uO r D P uO and uPO D P kO uO D P uO r : (3)
Substituting Eq. (3) into Eq. (2) and rearranging terms, we have Differentiate aE D ar uO r C a uO . Remember
that uPO r D P kO uO r and uPO D P kO uO .

aEP D aP r P a uO r C aP C P ar uO :

(4)

Then, time differentiating the expressions ar D rR r P 2 and a D r R C 2rP ,

P gives

aP r D «
r rP P 2 2r P R and aP D rP R C r « C 2rR P C 2rP R : (5)

Substituting Eqs. (5) into Eq. (4) and simplifying, we have

h i
aEP D «
r 3r P R 3rP P 2 uO r C r « P 3 C 3rR P C 3rP R uO :

Problems 2.169 and 2.170

In the cutting of sheet metal, the robotic arm OA needs to move

the cutting tool at C counterclockwise at a constant speed v0
along a circular path of radius . The center of the circle is located
in the position shown relative to the base of the robotic arm at
O.

Problem 2.169 When the cutting tool is at D ( D 0), deter-

mine r, r, P r,
P , R and R as functions of the given quantities (i.e., d ,
h, , v0 ).

Problem 2.170 For all positions along the circular cut (i.e., for
any value of ), determine r, r, P ,P r,
R and R as functions of the
given quantities (i.e., d , h, , v0 ). These quantities can be found
“by hand,” but it is tedious, so you might consider using symbolic
algebra software such as Mathematica or Maple.

Solution to 2.169

Referring to the figure on the right, the unit vectors {O and |O are
related to the unit vectors of the polar coordinate system as follows:

{O D cos uO r sin uO and |O D sin uO r C cos uO : (1)

The kinematic quantities describing the motion of the arm, in polar

coordinates, are now found for the case where D 0. The velocity
vector of the cutting tool at C (moving with constant speed along a
circular path) is expressed in terms of our xy coordinate system as

vE D v0 |O: (2)

By substituting the second of Eqs. (1) into Eq. (2), we have

vE D .v0 sin / uO r C .v0 cos / uO : (3)

Since in polar coordinates we have vE D rP uO r C r P uO , then from

Eq. (3) we deduce that
v0 cos
rP D v0 sin and P D : (4)
r
Now, using geometry we see that, for D 0,

q
rD h2 C .d C /2 : (5)

In addition, again for D 0, the sines and cosines of angle are

h d C
sin D ; cos D : (6)
r r

Substituting Eqs. (5) and (6) into Eqs. (4) . we have

v0 h v0 .d C /
rP D q and P D : (7)
h2 C .d C /2 h2 C . C d /2

Since the speed of point C is constant, the acceleration of point C is only the direction normal to the path
of C , i.e., is directed toward the center of the cutting path. Therefore, for D 0, the acceleration of C can be
written as !
v02
aE D {O; (8)

Substituting the first of Eqs. (1) into Eq. (8), we have

v02 cos v 2 sin

aE D uO r C 0 uO : (9)

Now recall that in polar coordinates, we have aE D .rR r P 2 / uO r C .r R C 2rP P / uO . Hence, we can use the
above expression to conclude that

r P 2 v02 cos v 2 sin 2rP P

rR D ; R D 0 : (10)
r

Employing the expressions for r, sin , and cos of Eq. (5) and Eq. (6) respectively, and simplifying, we
have
hv02
! p 2rP P
1 P2 v02 .d C /
q
h C.d C/2
2
rR D h2 C .d C /2 p and R D p : (11)
h2 C .d C /2 h2 C .d C /2

Finally, using the expressions in Eqs. (7) and simplifying, we have

v02 .d C / h2 C d.d C / hv02 d 2 C h2 2

rR D 3=2 and R D 2 : (12)
h2 C .d C /2

h2 C .d C /2

Solution to 2.170

Referring to the figure on the right, the unit vectors {O and |O are
related to the unit vectors of the polar coordinate system as follows:

{O D cos uO r sin uO and |O D sin uO r C cos uO : (13)

For a generic value of , the velocity vector of point C can be

expressed as

vE D . v0 sin / {O C .v0 cos / |O: (14)

Substituting Eqs. (13) in Eq. (14) and rearranging terms, we have

vE D .v0 cos sin v0 cos sin / uO r

C .v0 cos cos C v0 sin sin / uO : (15)

Since in polar coordinates we have vE D rP uO r C r P uO , then from

Eq. (15) we deduce that
v0 cos cos C v0 sin sin
rP D v0 sin v0 cos sin and P D : (16)
r
Referring to the figure and using geometry, we have
q
rD .h C sin /2 C .d C cos /2 : (17)

In addition, the sines and cosines of angle are given by

h C sin d C cos
sin D and cos D : (18)
r r
Substituting Eqs. (17) and (18) into Eqs. (16) and simplifying, we have

v0 .h cos d sin / v0 . C d cos C h sin /

rP D q and P D : (19)
d 2 C h2 C 2 C 2d cos C 2h sin
.d C cos /2 C .h C sin /2

Since the speed of point C is constant, the acceleration of point C is only the direction normal to the path
of C , i.e., is directed toward the center of the cutting path. Therefore, the acceleration of C can be written as
v02 v2
aE D cos {O C 0 sin |O; (20)

which, along with Eq. (13), imply
2
v02 sin sin v02 cos sin v02 cos sin

v0 cos cos
aE D uO r C uO : (21)

Now recall that in polar coordinates, we have aE D .rR r P 2 / uO r C.r R C2rP P / uO , and therefore, by comparison
with the above expression, we can conclude that

r P 2 v02 cos cos v02 sin sin 2rP P C v02 cos sin v02 cos sin
rR D and R D : (22)
r
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
216 Solutions Manual

Employing the expressions for r and of Eq. (17) and, after simplification, it is found that

P 2 d 2 C h2 C 2 v02 v02 2P 2 2 .d cos C h sin /

rR D p ; (23)
.d C cos /2 C .h C sin.//2
2 P .d C cos /2 C .h C sin /2
p
2
h cos./v0 d sin v 2 P
r
R D 0
: (24)
.d C cos /2 C .h C sin /2

Substituting Eqs. (19) into the above expression and simplifying, we have

v02 . C d cos C h sin / d 2 C d cos C h2 C h sin

rR D 3=2 ; (25)
d 2 C 2d cos C h2 C 2 C 2h sin
v02 d 2 C h2 2 .d sin h cos /

R D 2 : (26)
d 2 C 2d cos C h2 C 2 C 2h sin

Problem 2.171

Considering the system analyzed in Example 2.23, let h D 15 ft, v0 D 55 mph, and D 25ı . Plot the
trajectory of the projectile in two different ways: (1) by solving the projectile motion problem using
Cartesian coordinates and plotting y versus x and (2) by using a computer to solve Eqs. (3), (4), (9), and
(10) in Example 2.23. You should, of course, get the same trajectory regardless of the coordinate system
used.

Solution
To describe the trajectory of a projectile subject only to gravity and under the conditions stated in Exam-
ple (2.23) on p. 126 of the textbook, we can use Eq. (2.52) on p. 74 of the textbook. Using this equation and
observing that the projectile is released from a height h above the origin of the chosen coordinate system, we
have
g sec2 2

y D .tan /x x C h; (1)
2v02
For the purpose of providing a meaningful comparison between the plot of the above function and that
obtained from the equations in Example (2.23) on p. 126 of the textbook, we will compute the value of x for,
say t D 3 s and then produce plots that have the same range for the x coordinate. To do so, recall that the
acceleration equation in the x direction is equal to zero. hence, with reference to Example (2.23) on p. 126,
we have that the x coordinate of the projectile as a function of time is given by

x D v0 cos t: (2)

Hence, recalling that v0 D 55 mph D 80:67 ft=s and D 25ı , for t D s 3 we have
ˇ
x ˇ tD3 s D 219:3 ft: (3)

Again, the above value of x will simply we used to make sure that the plots we generate in this solution have
a range of x value going from 0 to 219:3 ft, which corresponds to a time range going from 0 to 3 s.
With the bove in mind, recalling that we have h D 15 ft, v0 D 55 mph D 80:67 ft=s, D 25ı , and
g D 32:2 ft=s2 , we can plot the above formula using any appropriate mathematical software. The plots shown
below was obtained using Mathematica with the following code:.
Parameters ! !h " 15., v0 " 80.67, Φ " 25. Degree, g " 32.2";
g Sec#Φ$2
y ! Tan#Φ$ x $ x2 % h;
2 v02
Plot#y %. Parameters, !x, 0, 219.3", Frame " True, GridLines " Automatic,
FrameLabel " !"x &ft'", "y &ft'"", PlotLabel " "With Cartesian Coords",
AspectRatio " 1$

Solution continued on next page . . .

With Cartesian Coords

30
20
10

y !ft"
0
!10
!20

0 50 100 150 200

x !ft"

We now will determine the trajectory of the projectile starting from Eqs. (3) and (4) derived in Exam-
ple 2.23 on p. 126 of the textbook, and subject to the initial conditions in Eqs. (9) and (10) of the example in
question. For convenience, we repeat the equations we need here below:

rR r P 2 D g sin ; (4)
r R C 2rP P D g cos ; (5)
with the initial conditions

r.0/ D h; rad: .0/ D (6)
2
v0
P
r.0/ D v0 sin ; P .0/ D cos : (7)
h
The above system of differential equations and initial conditions can be integrated with any appropriate
mathematical software. However, before proceeding to the solution of the equations in question, we must
keep in mind that the mathematical software will yield r and as a function of time. Then to get the plot of
the trajectory, we must resort to parametric plot, i.e., a plot of the coordinates of the projectile corresponding
to a certain range of the time parameter. Furthermore, to produce a plot that can be compared to the one
shown above, we must plots values of x and y corresponding to the values of r and given by the numerical
solution. This is done by simply noticing that the .x; y/ coordinates of a point are expressed via the .r; /
components using the following relations:
x D r cos and y D r sin : (8)
With the above considerations in mind, we have used Mathematica with the following code to obtain a
solution with time t going from 0 to 3 s (see discussion above concerning the choice of the range of x for the
plots shown earlier):
Parameters ! !h " 15., v0 " 80.67, Φ " 25. Degree, g " 32.2";
Equations ! #r''$t% $ r$t% &Θ'$t%'2 !! $g Sin$Θ$t%%,
Π
r$t% Θ''$t% & 2 r'$t% Θ'$t% !! $g Cos$Θ$t%%, r$0% ' h, Θ$0% ' , r'$0% ' v0 Sin$Φ%,
2

(;
v0 Cos$Φ%
Θ'$0% ' $

Motion ! NDSolve$Equations ). Parameters, !r, Θ", !t, 0, 3"%

ParametricPlot$!r$t% Cos$Θ$t%%, r$t% Sin$Θ$t%%" ). Motion$$1%%, !t, 0, 3",

Frame " True, GridLines " Automatic, FrameLabel " !"x &ft'", "y &ft'"",
PlotLabel " "With Polar Coords", AspectRatio " 1%

The code above yields the following trajectory, which can be seen to be identical to the one obtained earlier
(as expected).
With Polar Coords
30
20
10

y !ft"
0
!10
!20

0 50 100 150 200

x !ft"

Problem 2.172

The reciprocating rectilinear motion mechanism shown consists of a disk

pinned at its center at A that rotates with a constant angular velocity
!AB , a slotted arm CD that is pinned at C , and a bar that can oscillate
within the guides at E and F . As the disk rotates, the peg at B moves
within the slotted arm, causing it to rock back and forth. As the arm
rocks, it provides a slow advance and a quick return to the reciprocating
bar due to the change in distance between C and B. Letting D 30ı ,
!AB D 50 rpm D constant, R D 0:3 ft, and h D 0:6 ft, determine P and
R i.e., the angular velocity and angular acceleration of the slotted arm
,
CD, respectively.

Solution

Let R D AB and r D BC . The velocity of B in the .uO R ; uO / and .uO r ; uO / component

systems are
vEB D R!AB uO and vEB D rP uO r C r P uO : (1)
To find P take advantage of the fact that for D 30ı and R D 0:5h we have a right
triangle ABC . Then uO r D uO and uO R D uO . Converting the uO component of vEB to
uO R and equating components we find

r P uO R D 0 ) P D 0: (2)

The acceleration of B in the .uO R ; uO / and .uO r ; uO / component systems are

2
uO R and aEB D rR r P 2 uO r C r R C 2rP P uO :

aEB D R!AB (3)

p the uO component of aEB to uO R , equate components of Eq. (3), plug in Eq. (2), and substitute
Convert
r D h2 R2 to find

2
2 R!AB
r R D R!AB ) R D p D 15:8 rad=s2 ,
h2 R2

where we have used the following numerical data: R D 0:3 ft, !AB D 50 rpm D 5:236 rad=s, and h D 0:6 ft.

Problems 2.173 and 2.174

A micro spiral pump consists of a spiral channel attached to a

stationary plate. This plate has two ports, one for fluid inlet and
another for outlet, the outlet being farther from the center of the
plate than the inlet. The system is capped by a rotating disk. The
fluid trapped between the rotating disk and the stationary plate is
put in motion by the rotation of the top disk, which pulls the fluid
through the spiral channel.

Problem 2.173 Consider a spiral channel with the geometry

given by the equation r D C r0 , where r0 D 146 m is the
starting radius, r is the distance from the spin axis, and is the
angular position of a point in the spiral channel. Assume that the
radius at the outlet is rout D 190 m, that the top disk rotates
with a constant angular speed !, and that the fluid particles in
contact with the rotating disk are essentially stuck to it. Deter-
mine the constant and the value of ! (in rpm) such that after
1.25 rev of the top disk, the speed of the particles in contact with
this disk is v D 0:5 m=s at the outlet.

Problem 2.174 Consider a spiral channel with the geometry

given by the equation r D C r0 , where D 12 m is called the
polar slope, r0 D 146 m is the starting radius, r is the distance
from the spin axis, and is the angular position of a point in the
spiral channel. If the top disk rotates with a constant angular speed
! D 30;000 rpm, and assuming that the fluid particles in contact
with the rotating disk are essentially stuck to it, use the polar coor-
dinate system shown and determine the velocity and acceleration
of one fluid particle when it is at r D 170 m.
Photo credit: “Design and Analysis of a Surface Micromachined Spiral-Channel Viscous Pump,” by M. I. Kilani, P. C. Galambos, Y. S. Haik,
C. H. Chen, Journal of Fluids Engineering, Vol. 125, pp. 339–344, 2003.

Solution to 2.173
To find we start with r D C r0 and substitute D 1:25 rav.2 rad=rev/ D 7:854 rad and r D rout .
rout r0
r D C r0 ) D D 5:602 m ) D 5:60 m, (1)
7:854 rad
where we have used the fact that rout D 190 m and r0 D 146 m. Taking the derivative with respect to time
of r D C r0 , we have
r D C r0 ) rP D P : (2)
Next, recalling that the speed in polar coordinates is given by v 2 D rP 2 C .r P /2 and that P D !, we have

v
q
v D .!/2 C .r!/2 ) ! D p ) ! D 2630 rad=s D 25;100 rpm, (3)
2 C r 2

where we have used the fact that v D 0:5 m=s, D 5:602 m (see Eq. (1)), and r D rout D 190 m.

Solution to 2.174
The velocity of a particle is vE D rP uO r C r P uO where rP D P and P D !. Hence, we can write

3
vE D ! uO r C r! uO ) vE D .37:710 uO r C 0:534 uO / m=s, (4)

where we have used the fact that D 12 m, ! D 30;000 rpm D 3142 rad=s, and r D 170 m. The general
expression for the acceleration of a particle is aE D rR r P 2 uO r C r R C 2rP P uO . Note that rR D 0 and
R D 0. Hence, recalling again that rP D P and P D !, we have

aE D r! 2 uO r C 2! 2 uO ) aE D . 1680 uO r C 237 uO / m=s2 , (5)

where, again, we have used the fact that D 12 m, ! D 30;000 rpm D 3142 rad=s, and r D 170 m.

Problem 2.175

The mechanism shown is called a swinging block

slider crank. First used in various steam locomotive
engines in the 1800s, this mechanism is often found
in door-closing systems. If the disk is rotating with
a constant angular velocity P D 60 rpm, H D 4 ft,
R D 1:5 ft, and r denotes the distance between B
and O, compute r, P r,
P , R and R when D 90ı .

Solution

The motion of B is uniform circular motion. The velocity of B at D 90ı

in the .uO n ; uO t / and .uO r ; uO / component systems is
vE D RP uO t and vE D rP uO r C r P uO : (1)
The .uO n ; uO t / unit vectors are express in the .uO r ; uO / component system as
uO t D cos uO r sin uO uO n D sin uO r cos uO : (2)
Convert vE D RP uO t to the .uO r ; uO / component
p system and equate components of Eqs. (1). Note that
sin D p 2R 2 , cos D p 2H 2 , r D R2 C H 2 , and P D 2 rad=s.
R CH R CH

vE D RP cos uO r

sin uO : (3)

HRP
rP D RP cos ) rP D p D 8:82 ft=s. (4)
R2 C H 2

R2 P
RP sin D r P ) P D D 0:775 rad=s. (5)
R2 C H 2
The acceleration of B at D 90ı in the .uO n ; uO t / and .uO r ; uO / component systems is
aE D RP 2 uO n and aE D rR r P 2 uO r C r R C 2rP P uO

(6)

Convert aE D RP 2 uO n to the .uO r ; uO / component system and equate components of Eqs. (6). Plug in Eqs. (4)
and (5) and simplify.
aE D RP 2

sin uO r cos uO :
Recalling that P D 60 rpm D 6:283 rad=s, H D 4 ft, R D 1:5 ft, we have

P 2 H 2 R2
rR r P 2 D RP 2 sin ) rR D 3=2 D 18:2 ft=s2 ,
R2 C H 2

and
P 2 HR R2 H2

r R C 2rP P D P2
R cos ) R D 2 D 9:78 rad=s2 :
R2 C H2

Problem 2.176

The cam is mounted on a shaft that rotates about O with constant angu-
lar velocity !cam . The profile of the cam is described by the function
`./ D R0 .1 C 0:25 cos3 /, where the angle is measured relative to
the segment OA, which rotates with the cam. Letting !cam D 3000 rpm
and R0 D 3 cm, determine the velocity and acceleration of the follower
when D 33ı . Express the acceleration of the follower in terms of g,
the acceleration due to gravity.

Solution
Let r denote the distance between the point on the follower in contact with the cam and point O. Then, the
velocity of the follower is the time rate of change of the radius of the cam, i.e., vEfollower D rP |O. Then, using
the chain rule, we have
dr d ` df d
D ;
dt df d dt
where f is the value of the angle identifying the radial line going from O to the follower (the subscript f
stands for follower). The radial line in question lies always along the y axis. and therefore we have that f is
such that f D 90ı . Consequently, we have
d` df d
D 0:75R0 cos2 f sin f ; D 1; and D !cam :
df d dt
Hence, recalling that R0 D 3 cm D 0:03000 m, !cam D 3000 rpm D 314:2 rad=s, and D 33ı , we have

vEfollower D rP |O D 0:75R0 !cam cos2 .90 / sin.90 / |O ) vEfollower D .1:76 m=s/ |O. (1)

The acceleration of the follower is given by aEfollower D rR |O. Hence, referring to Eq. (1), we can write
d rP d rP df d
D ;
dt df d dt
where
d rP df d
D 0:75R0 !cam cos f cos2 f 2 sin2 f ;

D 1; and D !cam :
df d dt
Hence, recalling again that recalling that R0 D 3 cm D 0:03000 m, !cam D 3000 rpm D 314:2 rad=s, and
D 33ı , we can write
2
cos 90ı cos2 90ı 2 sin2 90ı |O D .1343 m=s2 / |O;

aEfollower D rR |O D 0:75R0 !cam
which, when expressed to three siginificant figures and in terms of the acceleration due to gravity g D
9:81 m=s2 , gives
aEfollower D .137g/ |O:

Problem 2.177

The collar is mounted on the horizontal arm shown, which is orig-

inally rotating with the angular velocity !0 . Assume that after the
cord is cut, the collar slides along the arm in such a way that the
collar’s total acceleration is equal to zero. Determine an expression
of the radial component of the collar’s velocity as a function of r, the
distance from the spin axis. Hint: Using polar coordinates, observe
P
that d.r 2 /=dt D ra .

Solution
The radial component of acceleration is

ar D 0 ) rR r P 2 D 0: (1)

The transverse component of acceleration is

a D 0 ) r R C 2rP P D 0 ) ra D 0: (2)

Because d.r 2 P /=dt D ra D 0, r 2 P D K where K is a constant. Initially r D r0 and P D !0 . So

r 2 !0
r 2 P D r02 !0 ) P D 0 2 : (3)
r

Take the results of Eq. (1) and substitute Eq. (3) for P .

r04 !02
rR D r P 2 ) rR D : (4)
r3
Rewrite rR using the chain rule. Eq. (4) becomes

d rP dr d rP r 4!2
rR D ) rP D 0 30 : (5)
dr dt dr r
Integrate Eq. (5):
!1=2
rP r r04 !02 r04 !02 ˇˇr
ˇ
1 1
Z Z
1 2
rP d rP D dr ) 2 rP D ) rP D r02 !0 ; (6)
0 r0 r3 2r 2 ˇr0 r02 r2

where, in taking the square root of the second of Eqs. (6) we have paid attention to make sure that rP is positive,
given that the collar is sliding outward and therefore causing r to increase. Simplifying the last of Eqs. (6),
we have
r 0 !0
q
rP D r 2 r02 :
r

Problem 2.178

Particle A slides over the semicylinder while pushed by the arm

pinned at C . The motion of the arm is controlled such that it starts
from rest at D 0, ! increases uniformly as a function of , and
! D 0:5 rad=s for D 45ı . Letting R D 4 in:, determine the
speed and the magnitude of the acceleration of A when D 32ı .

Solution

We need to find !. / such that d!

d
D K D constant. Therefore, we must
have !./ D K C C where K and C are constants. To evaluate K and C ,
we recall that we must have
0 D K.0/ C C D 0 ) C D 0; (1)
2
0:5 rad=s D K rad ) K D s 1 : (2)
4
Therefore !. / D K. It is demonstrated in the top figure that D 2.
Therefore P D 2! and R D 2˛. Now we can determine !./.
K
!. / D K
: ) !./ D
(3)
2
To determine the velocity and acceleration of A we now adopt a polar coordinate system with O as the origin.
Observing that RP D 0, the velocity of A is
vEA D RP uO R C RP uO ) vEA D RP uO : (4)
Starting with (4), replacing P with 2!, and using Eqs. (2) and (3), we have that the speed of A at D 32ı is

v D ˇRP ˇ ) v D 2R! ) v D KR )

ˇ ˇ
v D 0:119 ft=s, (5)

where we have used the fact that R D 4 in: D 0:3333 ft and K D .2=/ s 1 . Next, observing that RR D 0
and RP D 0, the acceleration of A is
aE D RR RP 2 uO R C RR C 2RP P uO ) aE D RP 2 uO R C RR uO :

(6)
Converting to , the magnitude of acceleration can be obtained as follows:
q
aE D 4R! 2 uO R C 2RR uO ) jE aj D 2R 4! 4 C R 2 : (7)

Using the chain rule we rewrite R as

d! d 4 2
R D D K 2 ) R D 2 2 D 2 2 ; (8)
d dt s s
where, from Eqs. (2), we have used the fact that K D .2=/ s 1 . Therefore, recalling that R D 4 in: D
0:3333 ft and D 32ı , the magnitude of the acceleration of A becomes
q
4R
q
aj D 2R 4! 4 C R 2 ) jE
jE aj D 2 2 2 C 1 ) aj D 0:0864 ft=s2 .
jE (9)
s

Problem 2.179

A satellite is moving along the elliptical orbit shown. Using the polar
coordinate system in the figure, the satellite’s orbit is described by
the equation
p
2 a C a2 b 2 cos
r. / D 2b 2 ;
a C b 2 .a2 b 2 / cos.2 /
which implies the following identity

rr 00 2.r 0 /2 r2 a
D ;
r3 b2
where the prime indicates differentiation with respect to . Using
this identity and knowing that the satellite moves so that K D r 2 P
with K constant (i.e., according to Kepler’s laws), show that the
radial component of acceleration is proportional to 1=r 2 , which is
in agreement with Newton’s universal law of gravitation.

Solution

1
We need to show that ar D .constant/ r2
. First we will rewrite Kepler’s law as

K
K D r 2 P ) P D 2 : (1)
r
We are given r D r. / so we use the chain rule to write its derivative with respect to time as

Kr 0
rP D r 0 P ) rP D ; (2)
r2

where we have substituted Eq. (1) for P . Next we take the second derivative of r with respect to time to get

K 2 r 00 2.r 0 /2

2K 0 P 0 K 00 P
rR D 3 r r C 2 r ) ; (3)
r r r2 r2 r3

where we have factored K P out of the first of Eq. (3) and substituted Eq. (1) for .P Now recall that
ar D rR r P 2 and we have expressions for r, r,
R and P so we can write
" #
K 2 r 00 2.r 0 /2 K2 K 2 rr 00 2 .r 0 /2 r 2

ar D 2 r 4 ) : (4)
r r2 r3 r r2 r3

We see that the expression in brackets is our identity so we will replace it with a=b 2 . Recalling that K, a,
and b are constants, we prove the radial component of acceleration is proportional to 1=r 2 .

K 2a

1
ar D 2 : (5)
b r2

Problem 2.180

Reference frame A is translating relative to reference frame B. Both frames track the motion of a particle
C . If at one instant the velocity of particle C is the same in the two frames, what can you infer about the
motion of frames A and B at that instant?

Solution
Frame A has zero velocity relative to frame B at the instant considered. Explanation:

vEC =B D vEA=B C vEC =A : If vEC =B D vEC =A ) vEA=B D 0: (1)

Problem 2.181

Reference frame A is translating relative to reference frame B with velocity vEA=B and acceleration aEA=B .
A particle C appears to be stationary relative to frame A. What can you say about the velocity and
acceleration of particle C relative to frame B?

Solution
The velocity and acceleration of particle C relative to frame B are vEA=B and aEA=B . Explanation:

vEC =B D vEA=B C vEC =A : If vEC =A D 0E ) vEC =B D vEA=B : (1)

Similarly,
aEC =B D aEA=B C aEC =A : If aEC =A D 0E ) aEC =B D aEA=B : (2)

Problem 2.182

Reference frame A is translating relative to reference frame B with constant velocity vEA=B . A particle C
appears to be in uniform rectilinear motion relative to frame A. What can you say about the motion of
particle C relative to frame B?

Solution
Particle C will appear to be in uniform rectilinear motion relative to frame B. Explanation:

vEC =B D vEA=B C vEC =A :

If vEC =A is constant uniform rectilinear motion relative to A and vEA=B is constant then vEC =B is uniform
rectilinear motion.

Problem 2.183

A skier is going down an undulating slope with moguls. Let the skis be
short enough for us to assume that the skier’s feet are tracking the moguls’
profile. Then if the skier is skilled enough to maintain her hips on a straight
line trajectory and vertically aligned over her feet, determine the velocity
and acceleration of her hips relative to her feet when her speed is equal to
15 km=h. For the profile of the moguls, use the formula y.x/ D hI 0:15x C
0:125 sin.x=2/ m, where hI is the elevation at which the skier starts the
descent.

Solution
The position equations for the skier’s hips and feet are denoted by yH and yF respectively.

yH D .hI x tan 8:53ı / m; (1)

x
yF D hI 0:15x C 0:125 sin m: (2)
2

Now, calculating the relative position of her hips with respect to her feet,

x
yH=F D yH yF D .0:15 tan 8:53ı /x 0:125 sin m; (3)
2

and taking the derivative of Eq. (3) with respect to time yields

ı 0:125 x
vH=F D xP 0:15 tan 8:53 cos m=s: (4)
2 2

However, xP D v0 cos 8:53ı and v0 D 15 km=h D 4:167 m=s. With this substitution Eq. (4) becomes
h x i
5
vH=F D 5:6310 0:809 cos m=s: (5)
2

The relative acceleration of the skier’s hips with respect to her feet can now be determined by differentiating
Eq. (5) and substituting xP D v0 cos 8:53ı . This yields

x
2 x
aH=F D 1:271xP sin m=s ) aH=F D 5:24 sin m=s2 :
2 2

Problem 2.184

Two particles A and B are moving in a plane with arbitrary velocity vectors
vEA and vEB , respectively. Letting the rate of separation (ROS) be defined as the
component of the relative velocity vector along the line connecting particles A
and B, determine a general expression for ROS. Express your result in terms
of rEB=A D rEB rEA , where rEA and rEB are the position vectors of A and B,
respectively, relative to some chosen fixed point in the plane of motion.

Solution
We begin by writing uO B=A in terms of rEB=A

rEB=A
uO B=A D : (1)
jErB=A j

The velocity of B relative to A is:

vEB=A D vEB vEA : (2)
The component of Eq. (2) in the direction of Eq. (1) is the ROS.

rEB=A
ROS D vEB=A uO B=A ) ROS D vEB vEA :
jErB=A j

Problem 2.185

Three vehicles A, B, and C are in the positions shown and are

moving with the indicated directions. We define the rate of separation
(ROS) of two particles P1 and P2 as the component of the relative
velocity of, say, P2 with respect to P1 in the direction of the relative
position vector of P2 with respect to P1 , which is along the line that
connects the two particles. At the given instant, determine the rates of
separation ROSAB and ROSCB , that is, the rate of separation between
A and B and between C and B. Let vA D 60 mph, vB D 55 mph,
and vC D 35 mph. Furthermore, treat the vehicles as particles and
use the dimensions shown in the figure.

Solution

We need to derive a convenient expression for the rate of separation.

We begin by writing uO B=A in terms of rEB=A

rEB=A
uO B=A D : (1)
jErB=A j

The velocity of B relative to A is:

vEB=A D vEB vEA : (2)

The component of Eq. (2) in the direction of Eq. (1) is the ROS, i.e.,

rEB=A
ROS D vEB=A uO B=A ) ROS D .E
vB vEA / : (3)
jErB=A j

Now that we have a formula for the ROS, consider the .O{ ; |O/ component
system shown in the figure on the right.

rEB=A 23 {O 94 |O ft
ˇ ˇDp D .0:2377 {O 0:9713 |O/ ; (4)
ˇrB=A ˇ .23/2 C . 94/2 ft

rEC =B 42 {O C 65 |O ft
ˇ ˇDp D .0:5427 {O C 0:8399 |O/ : (5)
ˇrC =B ˇ .42/2 C .65/2 ft

Recalling that vA D 60 mph D 88:00 ft=s, vB D 55 mph D 80:67 ft=s,

and 35 mph D 51:33 ft=s. In vector form, we have

vEA D . 88:00 |O/ ft=s; vEB D .80:67 |O/ ft=s; vEC D .30:17 {O C 41:53 |O/ ft=s: (6)

The rate of separation between vehicles A and B is found as

rEB=A
ROSAB D vEB vEA ˇ ˇ ) ROSAB D 164 ft=s:
ˇrB=A ˇ

Similarly, the rate of separation between vehicles C and B is found as

rEC =B
ROSCB D vEB vEC ˇ ˇ ) ROSCB D 16:5 ft=s: (7)
ˇrC =B ˇ

Problem 2.186

Car A is moving at a constant speed vA D 75 km=h, while car C is

moving at a constant speed vC D 42 km=h on a circular exit ramp
with radius D 80 m. Determine the velocity and acceleration of C
relative to A.

Solution

Orient an .O{ ; |O/ frame with |O in the direction of vEB . The velocities of A and C are

vEA D . 75 |O/ km=h D . 20:83 |O/ m=s; and (1)

vEC D 42 cos 54ı {O C 42 sin 54ı |O km=h D .6:857 {O C 9:469 |O/ m=s:

(2)

The relative velocity of C with respect to A is

vEC =A D vEC vEA ) vEC =A D .6:86 {O C 30:3 |O/ m=s. (3)

The accelerations of A and C are

2
vC v2
aEA D 0E and uO n D C sin 54ı {O cos 54ı |O :

aEC D (4)

The relative acceleration of C with respect to A is

aEC =A D aEC aEA ) aEC =A D .1:38 {O C 1:00 |O/ m=s2 . (5)

Problem 2.187

A remote control boat, capable of a maximum speed of 10 ft=s in still

water, is made to cross a stream with a width w D 35 ft that is flowing
with a speed vW D 7 ft=s. If the boat starts from point O and keeps
its orientation parallel to the cross-stream direction, find the location
of point A at which the boat reaches the other bank while moving at
its maximum speed. Furthermore, determine how long the crossing
requires.

Solution

We will use a Cartesian coordinate system with its origin centered at O. The velocity of the
boat with reference to the stream bank is

vEB D vEW C vEB=W ;

vEB D .7 {O C 10 |O/ ft=s: (1)

The y component of velocity is constant so the time of crossing is

w D vy t ) t D 3:50 s. (2)

The x component of velocity is constant. Use the time given in Eq. (2) to calculate the position of A as

x D vx t ) x D 24:5 ft. (3)

Problem 2.188

A remote control boat, capable of a maximum speed of 10 ft=s in still

water, is made to cross a stream of width w D 35 ft that is flowing with
a speed vW D 7 ft=s. The boat is placed in the water at O, and it is
intended to arrive at A by using a homing device that makes the boat
always point toward A. Determine the time the boat takes to get to A
and the path it follows. Also, consider a case in which the maximum
speed of the boat is equal to the speed of the current. In such a case,
does the boat ever make it to point A? Hint: To solve the problem, write
vEB=W D vB=W uOA=B , where the unit vector uOA=B always points from
the boat to point A and is therefore a function of time.

Solution

Referring to the figure on the right, we will use a Cartesian coordinate

system as shown. As it is central to the description of the motion of
the boat, which we denote by B, we begin with finding an expression
for the unit vector that points from the boat to points A. Denoting the
coordinates of the boat as by .x; y/, the position of points A and B are
rEA D w |O and rEB D x {O C y |O: (1)
Therefore the position of A relative to B is the vector
rEA=B D rEA rEB D x {O C .w y/ |O: (2)
Dividing rEA=B by its magnitude we then find the unit vector mentioned earlier, i.e.,
x w y
uOA=B D p {O C p |O: (3)
x2 C .w y/2 x2 C .w y/2
Next, we write in vector form what we know about the velocity of the water, which we denote by vEW and the
velocity of the boat relative to the water, which we denote by vEB=W . Specifically, we have
vEW D vw {O and vEB=W D vB=W uO B=W ; (4)
where vW D 7 ft=s, vB=W D 10 ft=s when the boat is moving at its maximum speed (relative to the water),
and where uO B=W is given in Eq. (3).
Now, to determine the time and path of the boat, we need to write the expression of the velocity of the
boat vEB . Using relative kinematics, we have vEB D vEW C vEB=W D vEW C vB=W uO B=A , which gives
vB=W x vB=W .w y/

vEB D vW p {O C p |O: (5)
x 2 C .w y/2 x 2 C .w y/2
Now recall that the velocity of the boat can be written as
vEB D xP {O C yP |O: (6)
Hence, equating Eqs. (5) and (6) component by component we find that the motion of the boat is govered by
the following differential equations:
vB=W x vB=W .w y/
xP D vW p and yP D p ; (7)
x 2 C .w y/2 x 2 C .w y/2
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
238 Solutions Manual

which, given that the boat starts at O at time t D 0, are subject to the following initial conditions:

x.0/ D 0 and y.0/ D 0: (8)

These equations can be integrated using some appropriate mathematical software. We have used Mathematica.
Before presenting the code used to solve the problem we must observe something about Eqs. (7) which is
important to properly understand the response of the mathematical software used to solve them. Let’s suppose
that the boat does make it to point A. In this case, the coordinates of the boat would be .x D 0; y D w/.
When this happens, notice that the argument of the square root in Eqs. (7) becomes equal to zero. In turn,
because the square roots appear at the denominator of fractions, when the boat makes it to A, the equations
suffer a division by zero and will cause the numerical software to fail. Now, when using a numerical method
to solve Eqs. (7) we must specify the time interval we want the solution to cover. As just discussed, as soon
as the boat makes it to A the numerical integration fails. Therefore, we need to use trial and error to find
the maximum amount of time for which the equations can be integrated. However, this maximum amount
of time will correspond to the time taken by the boat to reach A, which is one of the quantities we need to
determine in this problem. With this all the above in mind, we have integrated the equations in question for
the boat traveling at the maximum speed relative to water, i.e., wB=W D 10 ft=s, using Mathematica with the
following code:
Parameters ! !vW " 7., vBrelW " 10., w " 35.";
vBrelW &w $ y$t%'
Equations ! #x'$t% # vW $
vBrelW x$t%
, y'$t% # ,
x$t%2 % &w $ y$t%'2 x$t%2 % &w $ y$t%'2

x$0% # 0, y$0% # 0(;

Motion ! NDSolve$Equations ). Parameters, !x, y", !t, 0, 6.8627"%

Notice that, using trial and error, we were able to integrate our equation only up to t D 6:8627 s. Hence,
expressing this result to three significant figures, we will say that

For vB=W D 10 s, the boat reaches A in 6:86 s.

The solution obtained using Mathematica with the above code, can be plotted to depict the path followed by
the boat. This path was plotted with the following code:
ParametricPlot!"x!t#, y!t#$ %. Motion!!1##, "t, 0, 6.8627$, Frame ! True,
GridLines ! Automatic, AspectRatio ! 1, FrameLabel ! ""x &ft'", "y &ft'"$,
PlotLabel ! "Path of Boat with vB%W "10 ft%s"#

Path of Boat with vB#W !10 ft#s

35
30
25
20
y !ft"

15
10
5
0
0 2 4 6 8 10
x !ft"

Now we consider the case for which the speed of the current is equal to the speed of the boat. We repeat
the same calculations given above but with vB=W D 7 ft=s. This time we find that the mathematical software
does not fail for any amount of time, indicating that

When vB=W D 7 s, the boat does not reach A:

p our solution for t going from zero to 20 s and we plot both the path of the boat and the distance
We present
dAB D x 2 C .w y/2 of the boat from A as a function of time. As can be seen from the plot of the path
of the boat, the boat does reach the other side of the stream but when it does it points toward A while moving
relative to the water with speed equal to the (absolute) speed of the water. As a result, an observer stationary
with the banks of the stream sees the boat become stationary. The fact that the boat no longer moves relative
to the banks can be seen from the plot of the distance dAB , which, after about 9 s becomes constant (and
remains different from zero).
Parameters ! !vW " 7., vBrelW " 7., w " 35.";
vBrelW &w $ y$t%'
Equations ! #x'$t% # vW $
vBrelW x$t%
, y'$t% # ,
x$t%2 % &w $ y$t%'2 x$t%2 % &w $ y$t%'2

x$0% # 0, y$0% # 0(;

Motion ! NDSolve$Equations ). Parameters, !x, y", !t, 0, 20"%;
ParametricPlot$!x$t%, y$t%" ). Motion$$1%%, !t, 0, 20", PlotRange " All, Frame " True,
GridLines " Automatic, AspectRatio " 1, FrameLabel " !"x &ft'", "y &ft'"",
PlotLabel " "Path of Boat with vB)W ! 7 ft)s"%

Plot* x$t%2 % &w $ y$t%'2 ). Parameters ). Motion$$1%%, !t, 0, 20",

PlotRange " !!0, 20", !0, 35"", Frame " True, GridLines " Automatic, AspectRatio " 1,
FrameLabel " !"t &s'", "distance &ft'"", PlotLabel " "Distance from A with vB)W ! 7 ft)s"+

Path of Boat with vB#W ! 7 ft#s Distance from A with vB#W ! 7 ft#s
35
35
30 30

25 25
distance !ft"

20
y !ft"

15 15
10 10
5
5
0
0
0 5 10 15
x !ft" t !s"
0 5 10 15 20

Problem 2.189

A plane is initially flying north with a speed v0 D 430 mph relative to

the ground while the wind has a constant speed vW D 12 mph forming
an angle D 23ı with the north-south direction. The plane performs a 3

course change of ˇ D 75ı eastward while maintaining a constant reading

of the airspeed indicator. Letting vEP =A be the velocity of the airplane

relative to the air and assuming that the airspeed indicator measures the
magnitude of the component of vEP =A in the direction of motion of the
airplane, determine the speed of the plane relative to the ground after the
course correction.

Solution

We will express the velocity of the airplane using a normal tangential component system.
In this manner, the tangent direction will always be the direction of motion of the airplane.
In addition, we will use subscripts 1 and 2 to denote quantities before and after the change
in course, respectively. Before turning, the velocity of the airplane and wind relative to the
ground are
vEP1 D v0 uO t1 and vEA1 D vW . cos uO t1 C sin uO n1 /:
The airspeed of the plane before the turn is

v1 D vEP1 vEW1 uO t1 ) v1 D v0 C vW cos :

After turning, the velocity of the wind is

vEA2 D vW Œcos .ˇ C / uO t2 C sin.ˇ C / uO n2 :

The airspeed of the plane after the turn is

v2 D vEP2 vEW2 uO t2 ) v2 D vP2 vw cos.ˇ C /:

Enforcing the condition that v2 D v1 , we have

v0 C vW cos D vP2 vw cos.ˇ C / ) vP2 D v0 C vW Œcos C cos.ˇ C /:

Recalling that v0 D 430 mph, vW D 12 mph, D 23ı , and ˇ D 75ı , we can evaluate vP2 to obtain

vP2 D 439 mph:

Problem 2.190

An interesting application of the relative motion equations is the

experimental determination of the speed at which rain falls. Say
you perform an experiment in your car in which you park your car
in the rain and measure the angle the falling rain makes on your
side window. Let this angle be rest D 20ı . Next you drive forward
at 25 mph and measure the new angle motion D 70ı that the rain
makes with the vertical. Determine the speed of the falling rain.

Solution

We will use a Cartesian Coordinate system where x and y represent the

horizontal and vertical directions, respectively. The orientation of the
angle allows us to write the velocity of the rain with respect to the
stationary car as

vER D vR .sin rest {O C cos rest |O/ : (1)

The second piece of information allows us to write the velocity of the rain with respect to the moving car as

vER=C D vR=C .sin motion {O C cos motion |O/: (2)

Relative kinematics tells us that we must have

vER D vER=C C vEC : (3)

Substituting Eq. (1) and Eq. (2) into Eq. (3),

vR sin rest {O vR cos rest |O D vC {O vR=C sin motion {O vR=C cos motion |O: (4)

This vector equation is a system of two equations in two unknowns vR and vR=C

vR sin rest D vC vR=C sin motion ; (5)

vR cos rest D vR=C cos motion ; (6)

The solution to the system of equations yields

vC
vR D :
cos rest tan motion sin rest
Recalling that we have rest D 20ı , motion D 70ı , vC D 25 mph D 36:67 ft=s, we can evaluate the above
expression to obatin
vrain D 16:4 ft=s:

Problem 2.191

A woman is sliding down an incline with a constant acceleration of

a0 D 2:3 m=s2 relative to the incline. At the same time the incline
is accelerating to the right at 1:2 m=s2 relative to the ground. Letting
D 34ı and L D 4 m and assuming that both the woman and the
incline start from rest, determine the horizontal distance traveled by
the woman with respect to the ground when she reaches the bottom
of the slide.

Solution
The time it takes the person to slide down the incline is found using the constant acceleration equation
s
2L
s D s0 C v02 C 12 ac t 2 ) L D 21 a0 t 2 ) t D : (1)
a0

Adopting a Cartesian coordinate system with {O in the direction of as and |O opposite to the direction of gravity,
we can describe the acceleration of the incline and the acceleration of the person relative to the incline as
follows:
aEs D as {O and aEp=s D a0 .cos {O C sin |O/: (2)
Therefore, using relative kinematics, we have

aEp D aEs C aEp=s D .as a0 cos /O{ a0 sin |O: (3)

The horizontal distance covered by the person is found with the same constant acceleration equation used
earlier but with the acceleration set to the horizontal component of aEp . This yields

L
xp D 1
2 .as a0 cos / t 2 ) xp D .as a0 cos / D 1:23 m:
a0
where t was replaced by its expression given in the last of Eqs. (1) and where we have used the following
numerical data: L D 4 m, a0 D 2:3 m=s2 , as D 1:2 m=s2 , and D 34ı . In summary, we can say

The person travels 1:23 m to the left of where she started.

Problem 2.192

The pendulum bob A swings about O, which is a fixed point, while bob B swings
about A. Express the components of the acceleration of B relative to the component
system shown with origin at the fixed point O in terms of L1 , L2 , , , and the
necessary time derivatives of and .

Solution

The acceleration of A is

aEA D aAr uO r C aA uO ; where aAr D LR 1 L1 P2 and aA D L1 R C 2L

P 1 P :
aEA D L1 P 2 uO r C L1 R uO ; because L
P 1 and L
R 1 D 0:

The .uO r ; uO / component system is expressed in the .O{ ; |O/ component system as

uO r D sin {O cos |O and uO D cos {O C sin |O:

Therefore the acceleration of A in the .O{ ; |O/ component system is

aEA D L1 R cos L1 P 2 sin {O C L1 P 2 cos C L1 R sin |O:

Similarly the acceleration of B with respect to A is

aEB=A D L2 P 2 uO q C L2 R uO :

The .uO q ; uO / component system is expressed in the .O{ ; |O/ component system as

uO q D sin {O cos |O and uO D cos {O C sin |O:

Therefore aEB=A in the .O{ ; |O/ component system is

aEB=A D L2 R cos L2 P 2 sin {O C L2 P 2 cos C L2 R sin |O:

aEB D aEA C aEB=A . Therefore

aEB D L1 R cos L1 P 2 sin C L2 R cos L2 P 2 sin {O

C L1 P 2 cos C L1 R sin C L2 P 2 cos C L2 R sin |O:

Problem 2.193

Revisit Example 2.26 in which the movie’s hero is traveling on train car A
with constant speed vA D 18 m=s while the target B is moving at a constant
speed vB D 40 m=s (so that aB D 0). Recall that 4 s before an otherwise
inevitable collision between A and B, a projectile P traveling at a speed of
300 m=s relative to A is shot toward B. Take advantage of the solution in
Example 2.26, and determine the time it takes the projectile P to reach B
and the projectile’s distance traveled.

Solution

Referring to Example 2.26 on p. 141 of the textbook and to the figure on

the right, which is Fig. 3 in Example 2.26, we denote by ˇ the angle ACO B,
so that ˇ D 48:2ı . In addition, we denote by tf and th the time at which
the projectile is fired and at which the projectile hits the target, respectively.
Finally, again as was done in Example 2.26, we denote by d the distance
between A and C at t D tf , so that d D vA .4 s/ D 72:00 m. The time
taken by the projectile to hit its target is

t D th tf : (1)

To find this time, we observe that the distance traveled by the projectile in
the x direction, is given by

dx D d sin ˇ: (2)

In Example 2.26 on p. 141 we had determined that the (absolute) velocity of the projectile was

vEP D .vA sin ˇ C vP =A cos / {O C .vA cos ˇ vP =A sin / |O: (3)

Observing that vP is constant, then we have that t in Eq. (1) is simply equal to the distance in Eq. (2)
divided by the x component of vEP , i.e.,

d sin ˇ
t D ; (4)
vA sin ˇ C vP =A cos

which, recalling that we have d D 72:00 m, ˇ D 48:2ı , vP =A D 300 m=s, and D 64:4ı (see final result in
Example 2.26), can be evaluated to obtain

t D 0:375 s:

To find the distance traveled, we observe again that vEP is constant, which implies that the absolute path
of the projectile is a straight line segment. Letting rEP .t / denote the position vector of the projectile as a

function of time, the two endpoints of the segment in question are identified by rE.tf / and rE.th /. Hence, again
because the velocity of P is constant, the distance traveled by the projectile is given by
q
.vA sin ˇ C vP =A cos /2 C .vA cos ˇ vP =A sin /2 .d sin ˇ/
jErP .th / rEP .tf /j D jE
vP tj D ; (5)
vA sin ˇ C vP =A cos

where we have used the expressions for vP in Eq. (3) and t in Eq. (4). Recalling that we have d D 72:00 m,
ˇ D 48:2ı , vP =A D 300 m=s, and D 64:4ı (see final result in Example 2.26), we can evaluate the
right-hand side of Eq. (5) to obtain

Distance traveled by P D 111 m:

Problem 2.194

Consider the following variation of the problem in Example 2.26 in which a

movie hero needs to destroy a mobile robot B, except this time they are not
going to collide at C . Assume that the hero is traveling on the train car A
with constant speed vA D 18 m=s while the robot B travels at a constant speed
vB D 50 m=s. In addition, assume that at time t D 0 s the train car A and
the robot B are 72 and 160 m away from C , respectively. To prevent B from
reaching its intended target, at t D 0 s the hero fires a projectile P at B. If
P can travel at a constant speed of 300 m=s relative to the gun, determine the
orientation that must be given to the gun to hit B. Hint: An equation of
the type sin ˇ ˙ A cos ˇ D C has the solution ˇ D C sin 1 .C cos /, if
jC cos j 1, where D tan 1 A.

Solution
We base the solution of this problem on the solution of Example 2.26 on p. 141 of the textbook. This
means that the definition of all the quantities used in this solution are understood as having been defined
in Example 2.26. In addition, we report here Eq. (14) from Example 2.26, which remains valid under the
conditions stated in this problem and which determines the value of the angle that we want to determine.
The equation in question reads
sin ˇ
.` d cos ˇ/ cos d sin ˇ sin D .vB d vA `/ : (1)
vP =A
We then proceed to divide this equation through by the term d sin ˇ, so that we have
` d cos ˇ vA ` vB d
sin cos D : (2)
d sin ˇ vP =A d
The above equation is a transcendental equation in whose solution can be obtained using the following
technique. We consider the term multiplying the cos on the left-hand side of the equation and we define an
angle such that

` d cos ˇ 1 ` d cos ˇ
tan D ) D tan D 64:40ı ; (3)
d sin ˇ d sin ˇ
where, from Example 2.26, we have used the following numerical data: ` D 160 m, d D 72 m, and
ˇ D 48:2ı . Then, using the definition in the first of Eqs. (3) and recalling that tan D sin = cos , we can
rewrite Eq. (2) as
sin vA ` vB d .vA ` vB d / cos
sin cos D ) sin cos sin cos D
cos vP =A d vP =A d
.vA ` vB d / cos
) sin. / D ; (4)
vP =A d
where we have used the trigonometric identity sin cos sin cos D sin. /. Then, again recalling
that (from Example 2.26) we have ` D 160 m, d D 72 m, and ˇ D 48:2ı , using the result in the last of
Eqs. (3), the last of Eq. (4) can now be solved for to obtain

1 .vA ` vB d / cos
D C sin D 63:6ı :
vP =A d

Problem 2.195

Consider the following variation of the problem in Example 2.26 in which a

movie hero needs to destroy a mobile robot B. As was done in that problem,
assume that the movie hero is traveling on the train car A with constant speed
vA D 18 m=s and that, 4 s before an otherwise inevitable collision at C , the
hero fires a projectile P traveling at 300 m=s relative to A. Differently from
the problem in Example 2.26, assume that the robot B travels with a constant
acceleration aB D 10 m=s2 and that vB .0/ D 20 m=s, where t D 0 is the time
of firing. Determine the orientation of the gun fired by the hero so that B can
be destroyed before the collision at C .

Solution
The general strategy for the solution of any moving target problem has been discussed in the Road Map of
Example 2.26 on p. 141. The main idea underlying the strategy in question is that, letting t D 0 be the time
at which the projectile is fired, there exists a time tI > 0 such that

rEP =B .tI / D rEP .tI / E

rEB .tI / D 0; (1)

that is, there must exist a time at which the projectile and the target meet. To solve this problem we need find
the position of the projectile and of the target as functions of time and then set them equal to each other as
required by the above equation.
Because A is moves at a constant speed along a straight line, then vEA is
constant. Once P is fired, its velocity is also a constant given by

vEP D vEA C vP =A uO P =A .0/; (2)

where vP =A D 300 m=s. Hence,

rEP .t / D rEP .0/ C vEA .0/ C vP =A uO P =A .0/ t: (3)

Because B is has a constant acceleration, constant acceleration equations

can be used to express rEB .t /. Specifically, we have

rEB .t / D rEB .0/ C vEB .0/t C 21 aEB t 2 : (4)

Using Eqs. (3), and (4) to enforce Eq. (1), we have

1
EB tI2 E

rEP .0/ C vEA .0/ C vP =A uO P =A .0/ tI rEB .0/ vEB .0/tI 2a D 0; (5)

Referring to the figure on the right (which is essentially identical to Fig. 3 in Example 2.26 and represents the
geometry system at the time of firing) we have that rEA .0/ D rEP .0/, so that Eq. (5) can be rewritten as

rEA=B .0/ C vEA=B .0/tI C vP =A uO P =A .0/tI 1

2aEB tI2 E
D 0: (6)

The problem is solved when we are able to express all of the terms in Eq. (6) in terms of known quantities
and the only two unknowns of the problem, which are tI and the firing angle . We therefore proceed to
determine convenient expressions for each of the vectors in Eq. (6).
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
248 Solutions Manual

Since the position at t D 0 in this problem is the same as that in the figure shown, we have

rEA=B .0/ D d sin ˇ {O C .` d cos ˇ/ |O D Œ. 72:0 sin 48:2ı / {O C .160 72:0 cos 48:2ı / |O m; (7)

where, using the results in Example 2.26, we have d D 72:0 m and ` D 160 m. Equation (7) can be evaluated
to obtain
rEA=B .0/ D . 53:67 {O C 112:0 |O/ m: (8)
Also, again referring to the geometry at t D 0, we have

vEA .0/ D .18 m=s/ uO C =A D .18 m=s/Œ.sin 48:2ı / {O C .cos 48:2ı / |O D .13:41 {O C 12:00 |O/ m=s (9)
and
vEB .0/ D .20 |O/ m=s; (10)

so that
vEA=B .0/ D .13:42 {O 8 |O/ m=s: (11)
Since t D 0 is the time of firing, we must have

uO P =A .0/ D cos {O sin |O: (12)

Finally, the problem statement along with the geometry of the problem tells that

aEB D aB |O D .10 m=s2 / |O: (13)

Substituting the expressions in Eqs. (8), (11)–(13) into Eq. (6) and expressing the result on a component by
component basis, we have

. 53:67 C 13:42tI C 300tI cos / m D 0 and .112 8tI 300tI sin 5tI2 / m D 0: (14)

The equations above form a system of two equations in the two unknowns and tI that can be solved
numerically with some appropriate mathematical software. We have used Mathematica with the following
code:
FindRoot!"!53.67 " 13.42 tI " 300. tI Cos#Θ$ $ 0, 112. ! 8. tI ! 300. tI Sin#Θ$ ! 5. tI2 $ 0%,
&&Θ, 64.4 Degree', &tI, 0.375''(

Notice that we have provided the root finding algorithm an initial guess for the solution consisting of the
values D 64:4ı and tI D 0:1 s, which coincide with the solution to the case discussed in Example 2.26.
The above code yields the following solution (expressed to 3 significant figures):

D 65:9ı and tI D 0:39 s:

Problem 2.196

A park ranger R is aiming a rifle armed with a tranquilizer dart

at a bear (the figure is not to scale). The bear is moving in the
direction shown at a constant speed vB D 25 mph. The ranger fires
the rifle when the bear is at C at a distance of 150 ft. Knowing
that ˛ D 10ı , ˇ D 108ı , the dart travels with a constant speed of
425 ft=s, and the dart and the bear are moving in a horizontal plane,
determine the orientation of the rifle so that the ranger can hit
the bear. Hint: An equation of the type sin ˇ ˙ A cos ˇ D C has
the solution ˇ D C sin 1 .C cos /, if jC cos j 1, where
D tan 1 A.

Solution

Place a Cartesian coordinate system with origin at R. Let P be the projectile. Thus, we
have the situation depicted by the figure at the right. The velocity vector of the bear and
the dart are then written in the xy plane as

vEB D vB .cos ˇ {O C sin ˇ |O/; vEP D vP .cos {O C sin |O/; (1)

where vB D 25 mph D 36:66 ft=s, and vP D 425 ft=s. Let t D 0 be the time of firing,
and tI be the time at which P hits B. Then it must be the case that
E
rEP =B .tI / D 0; (2)

where
rEP D vEP t D vP t .cos {O C sin |O/; (3)
and
rEB D rEB .0/ C vEB t; with rEB .0/ D d.cos ˛ {O C sin ˛ |O/: (4)

Enforcing Eq. (2) requires that

E
. vP cos tI C d cos ˛ C vB cos ˇtI / {O C . vP sin tI C d sin ˛ C vB sin ˇtI / |O D 0; (5)

whereupon, considering the vector components individually, it is determined that

vB
|O W d sin ˛ D vP tI sin sin ˇ ; (6)
vP

vB
{O W d cos ˛ D vP tI cos cos ˇ : (7)
vP
vB
Dividing Eq. (6) by Eq. (7) (since cos cos ˇ ¤ 0), we have
vP

vB

sin vP sin ˇ
tan ˛ D vB
: (8)
cos vP cos ˇ

Rearranging and multiplying by cos ˛ yields

vB
sin cos ˛ cos sin ˛ D .sin ˇ cos ˛ cos ˇ sin ˛/ ; (9)
vP
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
250 Solutions Manual
vB
sin. ˛/ D sin.ˇ ˛/; (10)
vP

1 vB
D ˛ C sin sin.ˇ ˛/ : (11)
vP

Hence, satisfying the values for ˛, ˇ, vB , and vP it is determined that

ı 1 36:66 ı ı
D 10 C sin sin.108 10 / ; (12)
425

which can be evaluated to obtain

D 14:9ı :

Problem 2.197

An airplane flying horizontally with a speed vp D 110 km=h relative to the water, drops a crate onto a
carrier when vertically over the back end of the ship, which is traveling at a speed vs D 26 km=h relative
to the water. If the plane drops the crate from a height h D 20 m, at what distance from the back of the
ship will the crate first land on the deck of the ship?

Solution

Let C represent the crate which undergoes projectile motion after being dropped. The
acceleration of C is aEc D g |O. The velocity of the crate is

vEc D vp {O gt |O: (1)

Note that the .O{ ; |O/ component system is fixed relative to the water and the origin is at the point where C is
released. The position of the crate is
rEc .t / D vp t {O 21 gt 2 |O: (2)
The position of the back of the ship is
rEs .t / D vs t {O: (3)
Let td be the time at which the crate hits the deck.
s
1 2 2h
rcy .td / D rcy .0/ h ) 2 gtd D h ) td D (4)
g

rEc=s D rEc rEs , where for t D td rcy D rsy .

s
2h
rEc=s x
D ` D vp vs D 47:1 m:
g

Problem 2.198

An airplane flying horizontally with a speed vp relative to the water drops a crate onto a carrier when
vertically over the back end of the ship, which is traveling at a speed vs D 32 mph relative to the water.
The length of the carrier’s deck is ` D 1000 ft, and the drop height is h D 50 ft. Determine the maximum
value of vp so that the crate will first impact within the rear half of the deck.

Solution

Let C be the crate. Use a component system fixed relative to the water and with its
origin at the point where C is released. C undergoes projectile motion. The acceleration
of C is aE D g |O. Therefore the velocity of the crate is

vEc D vp {O gt |O: (1)

The position of the crate is

1 2
rEc .t / D vp t {O 2 gt |O: (2)
The position of the back of the ship is
rEs .t / D vs t {O h |O: (3)
Let td be the time when the crate will hit the deck. Considering the vertical component of rEc , we have
s
1 2 2h
h D 2 gtd ) td D : (4)
g

Now we want to solve the equation

rEc=s .td / {O D 12 ` (5)
for vpmax , where
rEc=s .td / {O D ŒErc .td / rEs .td / {O: (6)
Using Eqs. (2) and (3) along with the result in Eq. (4) we have

r
` ` g
vpmax td vs td D ) vpmax D vs C D 331 ft=s D 225 mph: (7)
2 2 2h

Problem 2.199

The object in the figure is called a gun tackle, and it used to be very
common on sailboats to help in the operation of front-loaded guns.
If the end at A is pulled down at a speed of 1:5 m=s, determine the
velocity of B. Neglect the fact that some portions of the rope are not
vertically aligned.

Solution

By neglecting the fact that some portions of the rope are not vertically
aligned we are able to write the length of the cord as

L D yA C 2yB :

The length of the cord is not changing so we calculate its derivative

with respect to time as

0 D yPA C 2yPB :

Solving for yPB , substituting the given data yPA D 1:5m=s, expressing
our answer in vector for and to 3 significant digits, we have

vEB D . 0:75 m=s/ |O :

Problem 2.200

The gun tackle shown in the figure is operated with the help of a horse. If the horse moves to the right at a
speed of 7 ft=s, determine the velocity and acceleration of B when the horizontal distance from B to A
is 15 ft. Except for the part of the rope attached to the horse, neglect the fact that some portions are not
vertically aligned.

Solution

We can write the rope length L as

q
L D 2yB C xA2 C h2 : (1)

The length of the cord is not changing so we calculate its derivative with
respect to time as
xA xPA
0 D 2yPB C q : (2)
xA2 C h2
Solving the above equation for yPB = vB , substituting the given data h D 8 ft,
xPA D 7 ft=s, and xA D 15 ft, we have
xA xPA
yPB D q D 3:088 ft=s: (3)
2 xA2 C h2

Expressing the above answer in vector form and using 3 significant digits, we have

vEB D 3:09 ft=s : (4)

To obtain the acceleration of B we differentiate with respect to time the expression for yPB in Eq. (3) and,
observing that xR D 0, we obtain
h2 xPA2
yRB D : (5)
2.xA2 C h2 /3=2
Again recalling that we have h D 8 ft, xPA D 7 ft=s, and xA D 15 ft, expressing our answer in vector form and
to 3 significant figures, we have

aEB D 0:319 ft=s2 :

Problem 2.201

The figure shows an inverted gun tackle with snatch block, which
used to be common on sailboats. If the end at A is pulled at a speed
of 1:5 m=s, determine the velocity of B. Neglect the fact that some
portions of the rope are not vertically aligned.

Solution

By neglecting the fact that some portions of the rope are not vertically aligned we are
able to write the length of the cord as

L D yA C 3yB :

The length of the cord is not changing so its derivative with respect to time is

0 D yPA C 3yPB :

Solving for yPB , substituting the given data yPA D 1:5 m=s, expressing our answer in vector
form and to 3 significant figures, we have

vEB D . 0:5 m=s/ |O : (1)

Problem 2.202

In maritime speak, the system in the figure is often called a whip-upon-whip

purchase and is used for controlling certain types of sails on small cutters (by
attaching point B to the sail to be unfurled). If the end of the rope at A is pulled
with a speed of 4 m=s, determine the velocity of B. Neglect the fact that some
portions of the rope are not vertically aligned.

Solution

We will refer to the length of the rope attached to A as L2 and the length of
the other rope is referred to as L1 . We write the lengths of the rope as

L1 D 2yB yD ;
L2 D yD C sA :

The length of the ropes are not changing so we calculate their derivatives with
respect to time as

0 D 2yPB yPD ; (1)

0 D yPD C sPA : (2)

Substituting sPA D vA into Eq. (2) and eliminating yPD from Eq. (1) and Eq. (2)
we get
vA
2yPB D :
2
Substituting the given data vA D 4 m=s and expressing our answer in vector form, we obtain

vEB D . 2:00 m=s/ |O :

Problem 2.203

The pulley system shown is used to store a bicycle in a garage.

If the bicycle is hoisted via a winch that winds the rope at a rate
v0 D 5 in:=s, determine the vertical speed of the bicycle.

Solution

Assume that pulleys B and C are always at the same height. Let A represent
an arbitrary point on the rope segment approaching the motor. The length of
the rope is
L D 4yB C sA :
The length of the rope does not change as it is winched in. Note that sPA D v0 .

sPA v0
0 D 4yPB C sPA ) yPB D D :
4 4
Recalling that we have v0 D 5 in: D 0:4167 ft=s, and observing that the speed of the bicycle is equal to jyPB j,
we have
vbicycle D 0:104 ft=s:

Problem 2.204

Block A is released from rest and starts sliding down the incline with an acceleration a0 D 3:7 m=s2 .
Determine the acceleration of block B relative to the incline. Also, determine the time needed for B to
move a distance d D 0:2 m relative to A.

Solution

Expressing the length of the rope L in terms of the coordinates of A and B

and then differentiating L with respect to time, we have

L D 3xA C xB ) 0 D 3xPA C xPB ) 0 D 3xRA C xRB : (1)

Therefore
xRB D 3xRA D 3a0 : (2)
Hence, recalling that a0 D 3:7 m=s2 and expressing our answer in vector form
and to 3 significant figures, we have

aEB D . 11:1 m=s2 / {O @:

Now we use the constant acceleration equation s D s0 C sP0 t C 12 ac t 2 where s D d , s0 D 0, sP0 D 0, and
ac D xRB=A D xRB xRA D 4a0 .

s
d
dD 2a0 t 2 ) tD D 0:164 s: (3)
2a0

Problem 2.205

Assuming that all ropes are vertically aligned, determine the velocity and acceler-
ation of the load G if v0 D 3 ft=s and a0 D 1 ft=s2 .

Solution
Referring to the figure on the right, the length of ropes 1, 2, and 3 are
L1 D yG C 3yB ;
L2 D yG C yD 2yB ;
L3 D yG C yA 2yD :
The derivatives with respect to time of the rope lengths are
0 D yPG C 3yPB ; (1)
0 D yPG C yPD 2yPB ; (2)
0 D yPG C yPA 2yPD : (3)
Eliminating yPB from Eqs. (1) and (2), we obtain
5
5yPG C 3yPD D 0 ) yPD D 3 yPG : (4)
Recalling that yPA D v0 , substituting Eq. (4) into Eq. (3) and solving for yPG , we have
3yPA 3v0
) yPG D yPG D : (5)
13 13
Recalling that v0 D 3 ft=s, expressing our answer in vector form and to three significant digits, we have

vEG D . 0:692 ft=s/ |O :

Taking the derivative with respect to time of the first of Eqs. (5) and recalling that yRA D a0 , we have
3yRA 3a0
yRG D ) yRG D : (6)
13 13
Recalling that a0 D 1 ft=s2 , expressing our answer in vector form and to three significant digits, we have

aEG D . 0:231 ft=s2 / |O :

Problem 2.206

The load G is initially at rest when the end A of the rope is pulled with the
constant acceleration a0 . Determine a0 so that G is lifted 2 ft in 4:3 s.

Solution

Referring to the figure on the right, the length of ropes 1, 2, and 3 are

L1 D yG C 3yB ;
L2 D yG C yD 2yB ;
L3 D yG C yA 2yD :

The derivatives with respect to time of the rope lengths are

0 D yPG C 3yPB ; (1)

0 D yPG C yPD 2yPB ; (2)
0 D yPG C yPA 2yPD : (3)

Eliminating yPB from Eqs. (1) and (2), we obtain

5
5yPG C 3yPD D 0 ) yPD D 3 yPG : (4)

Recalling that yPA D v0 , substituting Eq. (4) into Eq. (3) and solving for yPG , we have

3yPA 3yRA 3a0

yPG D ) yRG D ) yRG D ; (5)
13 13 13
where we have used the fact that yRA D a0 . Observe that the last of Eqs. (5) implies that the acceleration of G
is constant. Hence, using the constant acceleration equation s D s0 C sP0 t C 21 ac t 2 with s s0 D d D 2 ft,
sP0 D 0, and ac D yRG , we have

3a0 2 26d
dD t ) a0 D D 0:937 ft=s2 ,
26 3t 2

where we have set t D 4:3 s.

Problem 2.207

At the instant shown, block A is moving at a constant speed v0 D 3 m=s to the

left and w D 2:3 m. Using h D 2:7 m, determine how much time is needed to
lower B 0:75 m from this position.

Solution

Referring to the figure on the right, the length of the rope can be described as
q
L D xA C yB C xA2 C h2 :

We will denote quantities evaluated at the initial and final positions of the system
by the subscripts 1 and 2, respectively. Because the length of the rope is constant,
we set the expressions of the length of the rope corresponding to the initial
and final positions of the system equal to each other. Initially we havexA1 D w. In addition, we have
yB2 yB1 D d D 0:75 m. Hence, we have
p q
2 2 2
w C yB1 C w C h D xA2 C yB2 C xA2 C h2
p q
2

) xA2 C d w w 2 C h2 D xA2 C h2
2
p 2 p
2
C h2 :

) xA2 C d w w 2 C h2 C 2xA2 d w w 2 C h2 D xA2

The last of the above equations can be solved for xA2 to obtain
p 2
h2 d w w 2 C h2
xA2 D p : (1)
2 d w w 2 C h2

The expression above gives the position of A corresponding to the final position achieved by B as given by
the problem statement. Because A and B are connected by in inextensible rope that is assumed not to go
slack, the time taken by B to achieve its final position will be equal to the time taken by A to achieve its final
position. With this in mind, letting t denote the time to be determined, and recalling that the velocity of A is
constant, we then have
2 p 2 3
1 6 h2 d w w 2 C h2
xA2 D xA1 v0 t ) tD 4w 5 D 0:156 s,
7
p
v0 2 w 2
d C w Ch 2

where we have used the fact that xA1 D w and where we have used the following numerical data: v0 D 3 m=s,
h D 2:7 m, d D 0:75 m, and w D 2:3 m.

Problem 2.208

At the instant shown, h D 10 ft, w D 8 ft, and block B is moving with a speed
v0 D 5 ft=s and an acceleration a0 D 1 ft=s2 , both downward. Determine the
velocity and acceleration of block A.

Solution

Referring to the figure on the right, the length of the rope can be described as
q
L D xA C yB C xA2 C h2 :
Since the length of the rope is constant, differentiating the above equation with
respect to time, we have
q
xA xPA yPB xA2 C h2
xPA C q D yPB ) xPA D q : (1)
2 2 2 2
xA C h xA C xA C h

Recalling that yPB D v0 D 5 ft=s and h D 10 ft, for x D w D 8 ft, expressing our answer in vector form, we
have
p
v0 w 2 C h 2
vEA D p {O D . 3:08 ft=s/ {O :
w C w 2 C h2
Taking the derivative with respect to time of the last of Eqs. (1), we have
!
q q
yRB xA2 C h2 yPB xA xPA
q yPB h2 C xA2 xPA C qxPA xPA
2
h2 CxA 2 h2 CxA
xRA D q C 2 :
h2 C xA2
q
xA C 2 2
xA C h C xA

Replace xPA with its expression in the last of Eqs. (1), we obtain
q !
2
h2 CxA yPB
2
q q
xA yPB xq
AyPB
q h2 C xA2 yRB yPB h2 C xA2 2
C q
2
xA C h2 CxA2 xA C h2 CxA xA C h2 CxA
xRA D q 2 :
h2 C xA2
q
xA C 2 2
xA C h C xA

Recalling that yPB D v0 D 5 ft=s, yRB D a0 D 1 ft=s2 , h D 10 ft, for xA D w D 8 ft, after simplification, the
above expression, written in vector form, becomes
p h p i
v02 w h2 C w 2 a0 h2 C w w C h2 C w 2
aEA D p 2 {O D . 0:893 ft=s2 / {O :
w C h2 C w 2

Problem 2.209

As a part of a robotics competition, a robotic arm is to be designed

so as to catch an egg without breaking it. The egg is released from
rest at t D 0 from point A while the arm C is initially also at rest in
the position shown. The arm starts moving when the egg is released,
and it is to catch the egg at some point in such a way as to avoid any
impact between the egg and the robot hand. The arm catches the
egg without any impact by specifying that the arm and the egg have
to be at the same position at the same time with identical velocities.
A student proposes that this can be done by specifying a constant
value of R for which (after a fair bit of work) it is found that the
arm catches the egg at t D 0:4391 s for R D 13:27 rad=s2 . Using
these values of t and ,R determine the acceleration of both the arm
and the egg at the time of catch. Once you have done this, explain
whether or not using a constant value of , R as has been proposed, is
an acceptable strategy.

Solution

Referring to the figure on the right, we will use a Cartesian coordinate system
with its origin at O. Since RC is constant, we can use the constant acceleration
relations to obtain

C D C 0 C PC 0 t C 21 RC t 2 D C 0 C 12 RC t 2 ; (1)

where C is related to yC as follows:

yC D d tan C : (2)

Since the egg is initially falling under the action of gravity, using constant acceleration equations, at the time
of catch, i.e, for t D 0:4391 s, the y coordinate of the egg is given by

ye ˇ t D0:4391 s D 0:6000 m 21 .9:81 m=s2 /.0:4391 s/2 D 0:3457 m:

ˇ
(3)

At the time of catch we mush have ye D yC . Therefore, recalling that d D 0:5 m, from Eq. (2),

C ˇ t D0:4391 s D 34:66ı :
ˇ
(4)

Combining this result with the general expression for C in Eq. (1) we then deduce that

C 0 D 38:66ı : (5)

Now, we turn to the computation of the acceleration of the egg and of point C at the time of catch. As already
stated, up to the time of catch the acceleration of the egg is

yRe D 9:81 m=s2 :

For the arm, we differentiate Eq. (2) twice with respect to t to obtain

yRC D d RC sec2 C C 2d PC2 sec2 C tan C : (6)

To evaluate the expression above we need the value of PC at the time of catch. To obtain this value, we
differentiate Eq. (1) and evaluate it for t D 0:4391 s. Recalling that RC D 13:27 rad=s2 , this gives

PC ˇ t D0:4391 s D RC .0:4391 s/ D 5:827 rad=s:

ˇ
(7)

Using this result along with the fact that d D 0:5 m and that C j t D0:4391 s D 34:66ı (see eq. (4)), we have

yRC D 44:5 m=s2 :

Since the acceleration jyRC j > jyRe j, the arm and egg will only be in contact for an instant and will then
separate again. Consequently, the proposed strategy is not acceptable for catching the egg.

Problem 2.210

Referring to the problem of a robot arm catching an egg

(Prob. 2.209), the strategy is that the arm and the egg must have the
same velocity and the same position at the same time for the arm
to gently catch the egg. In addition, what should be true about the
accelerations of the arm and the egg for the catch to be successful
after they rendezvous with the same velocity at the same position
and time? Describe what happens if the accelerations of the arm
and egg do not match.

Solution
The relative acceleration of the arm with respect to the egg must be zero. If yRe < yRC then the arm and egg
will separate right after the catch. If yRe > yRC the egg will experience a jerk.

Problem 2.211

The piston head at C is constrained to move along the y axis. Let the crank AB be
rotating counterclockwise at a constant angular speed P D 2000 rpm, R D 3:5 in:,
and L D 5:3 in: Determine the velocity of C when D 35ı .

To determine the appropriate solution, observe that for D 0 we expect yC D R C L. For this reason we
select the solution with the C sign in front of the square root and we therefore state that
p
yC D R cos C L2 R2 C R2 cos2 : (3)

Next taking the derivative of Eq. (3) with respect to time and simplifying yields

R2 P sin cos
yPC D RP sin p : (4)
L2 R2 sin2
Recalling that we need to find the velocity of C for D 35ı , and recalling that R D 3:5 in: D 0:2917 ft,
L D 5:3 in: D 0:4417 ft, and P D 2000 rpm D 209:4 rad=s, using Eq. (4) and expressing our result in vector
form, we have
vEC D yPC |O D . 55:5 ft=s/ |O:

Problem 2.212

Solution
Since the piston is constrained to move along the y axis, the law of cosines gives the relation between the
distances,
L2 D R 2 C y C2
2RyC cos ; (1)
from which yC is found to be
p p
yC D R cos ˙ L2 R2 C R2 cos2 D R cos ˙ L2 R2 sin2 : (2)
To determine the appropriate solution, observe that for D 0 we expect yC D R C L. For this reason we
select the solution with the C sign in front of the square root and we therefore state that
p
yC D R cos C L2 R2 C R2 cos2 : (3)
Next taking the derivative of Eq. (3) with respect to time and simplifying yields
R2 P sin cos

P P R cos
yPC D R sin p D R sin 1 C p : (4)
L2 R2 sin2 L2 R2 sin2
Recalling that R D 3:5 in: D 0:2917 ft, L D 5:3 in: D 0:4417 ft, and P D 2000 rpm D 209:4 rad=s, Eq. (4)
can be expressed numerically and in vector form, as follows:

0:292 cos
vEC D . 6:61 ft=s/ sin 1 C p |O;
0:195 0:0851 sin2
where we have expressed all known coefficients to 3 significant figures.
Next, recalling that R D constant, differentiating with respect to time yPC in Eq. (4), we have
R3 cos2 sin

P 2 R cos R sin
yRC D R cos 1 C p C sin : (5)
.L2 R2 sin2 /3=2
p
L2 R2 sin2 L2 R2 sin2
Then, again recalling that R D 3:5 in: D 0:2917 ft, L D 5:3 in: D 0:4417 ft, and P D 2000 rpm D
209:4 rad=s, Eq. (5) can be expressed numerically and in vector form, as follows:

0:292 cos
aEC D 1:28104 ft=s2 cos 1 C p

0:195 0:0851 sin2
0:0248 cos2 sin

0:292 sin
C sin |O:
.0:195 0:0851 sin2 /3=2
p
0:195 0:0851 sin2

Problem 2.213

Let !EBC denote the angular velocity of the relative position vector rEC =B . As such,
!EBC is also the angular velocity of the connecting rod BC . Using the concept of
time derivative of a vector given in Section 2.4 on p. 88, determine the component
of the relative velocity of C with respect to B along the direction of the connecting
rod BC .

Solution

We being by observing that vEC =B D rEPC =B , where rEC =B D L uO C =B . Since L is

constant, we must have rEPC =B D L uPO C =B . Recalling that uPO C =B D !E uO C =B

vEC =B D L!E uO C =B :

We now observe that !E uO C =B is orthogonal to uO C =B . Therefore the component of

vEC =B along the direction uO C =B is

Component of vEC =B along BC D L!E uO C =B uO C =B D 0:

Problems 2.214 and 2.215

In the cutting of sheet metal, the robotic arm OA needs to move

the cutting tool at C counterclockwise at a constant speed v0
along a circular path of radius . The center of the circle is
located in the position shown relative to the base of the robotic arm
at O.

Problem 2.214 For all positions along the circular cut (i.e., for
any value of ), determine r, r, P and P as functions of the given
quantities (i.e., d , h, , v0 ). Use one or more geometric constraints
and their derivatives to do this. These quantities can be found
“by hand,” but it is tedious, so you might consider using symbolic
algebra software such as Mathematica or Maple.

Problem 2.215 For all positions along the circular cut (i.e., for
any value of ), determine rR and R as functions of the given
quantities (i.e., d , h, , v0 ). These quantities can be found by
hand, but it is very tedious, so you might consider using symbolic
algebra software such as Mathematica or Maple.

Solution to 2.214

Referring to the figure on the right, we define a Cartesian coordinate

system with origin at O. Then the coordinates of point C are such
that
r 2 D xC2
C yC2
; (1)
where
xC D d C cos D r cos ; (2)
yC D h C sin D r sin ; (3)
so that r can be expressed as
q
rD .d C cos /2 C .h C sin /2 : (4)

Differentiating Eqs. (2) and (3) with respect to time, we have

P sin D rP cos r P sin ; (5)
P cos D rP sin C r P cos : (6)
Next, observe that we have
h C sin d C cos
; cos D
sin D ; and P D v0 =: (7)
r r
Hence, substituting Eqs. (4) and (7) into Eqs.(5) and (6), we obtain a system of two equation in the two
unknowns rP and P whose solution is
v0 . C d cos C h sin / v0 .h cos d sin /
P D and rP D p :
.d C cos /2 C .h C sin /2 .d C cos /2 C .h C sin /2

Solution to 2.215

Referring to the figure on the right, we define a Cartesian coordinate

system with origin at O. Then the coordinates of point C are such
that
r 2 D xC2
C yC2
; (8)
where

xC D d C cos D r cos ; (9)

yC D h C sin D r sin ; (10)

so that r can be expressed as

q
r D .d C cos /2 C .h C sin /2 : (11)

Differentiating Eqs. (9) and (10) with respect to time, we have

P sin D rP cos r P sin ; (12)

P cos D rP sin C r P cos : (13)

Next, observe that we have

h C sin d C cos
sin D ; cos D ; and P D v0 =: (14)
r r
Hence, substituting Eqs. (11) and (14) into Eqs.(12) and (13), we obtain a system of two equation in the two
unknowns rP and P whose solution is
v0 . C d cos C h sin / v0 .h cos d sin /
P D and rP D p : (15)
.d C cos /2 C .h C sin /2 .d C cos /2 C .h C sin /2

To find expressions for rR and R we must take the second derivatives of Eqs. (15) and then replace P with
its expression in terms of v0 and , i.e. P D v0 =. Doing so, after simplification, yields the following
expressions:

v02 . C d cos C h sin /.d 2 C h2 C d cos C h sin /

rR D 3=2 ;
.d C cos /2 C .h C sin /2
v02 d 2 C h2 2 .d sin h cos /

R D 2 :
.d C cos /2 C .h C sin /2

Problem 2.216

Although point P is moving on a sphere, its motion is being studied

with the cylindrical coordinate system shown. Discuss in detail whether
or not there are incorrect elements in the sketch of the cylindrical com-
ponent system at P .

Solution
The unit vector uO R points in the direction of rE. This is incorrect. For a cylindrical coordinate system, the unit
vector uO R must be parallel to the -R plane and point in the R direction.

Problem 2.217

Although point P is moving on a sphere, its motion is being studied

with the cylindrical coordinate system shown. Discuss in detail whether
or not there are incorrect elements in the sketch of the cylindrical com-
ponent system at P .

Solution
The unit vector uO points in the direction of decreasing . This is incorrect, as uO must point in the direction
of increasing .

Problem 2.218

Discuss in detail whether or not (a) there are incorrect elements in the
sketch of the cylindrical component system at P and (b) the formulas
for the velocity and acceleration components derived in the section can
be used with the coordinate system shown.

Solution
(i) The unit vector uO is pointing in the direction of decreasing . This is incorrect. It must point in the
direction of increasing .

(ii) No, the formulas derived in the section cannot be used since the angle in this figure is defined from
the xy plane to the line OP . The formulas of this section require that be defined from the ´ axis to
the line OP .

Problem 2.219

Solution
(i) The orientations of the unit vectors in relation to the positive directions of r, , and are correct.

Problem 2.220

A top-slewing crane is lifting an object C at a constant rate of

5:3 ft=s while rotating at a constant rate of 0:12 rad=s about the
vertical axis. If the distance between the object and the axis of ro-
tation of the crane’s boom is currently 46 ft and it is being reduced
at a constant rate of 6:5 ft=s, find the velocity and acceleration of
C , assuming that the swinging motion of C can be neglected.

Solution

Referring to the figure on the right, we define a cylindrical coordinate system with
the R direction parallel to the crane’s boom going from the vertical axis of the crane
toward point C ; with the ´ axis coinciding with the vertical axis of the crane and
pointing in the direction opposite to gravity; with the direction defined in such
a way the the triad .uO R ; uO ; uO ´ is right-handed. Interpreting the data given in the
problem statement, in addition to having R D 46 ft, we can write:

RP D 6:5 ft=s; P D 0:12 rad=s; Ṕ D 5:3 ft=s; (1)

RR D 0; R D 0; Ŕ D 0: (2)

Substituting the values into the equation for the velocity, namely, vE D RP uO R C RP uO C Ṕ uO ´ , we have

vEC D . 6:5 uO r C 5:52 uO C 5:3 uO ´ / ft=s:

For the acceleration, substituting the given values into the equation aE D RR RP 2 uO R C RR C 2RP P uO C

Ŕ uO ´ , gives
aEC D . 0:662 uO r 1:56 uO / ft=s2 :

Problem 2.221

An airplane is flying horizontally at a speed v0 D 320 mph while its

propellers rotate at an angular speed ! D 1500 rpm. If the propellers have
a diameter d D 14 ft, determine the magnitude of the acceleration of a
point on the periphery of the propeller blades.

Solution

Referring to the figure on the right, we define a cylindrical coordinate system

with the ´ axis coinciding with the shaft on which the propeller is mounted but
remaining fixed (i.e, not moving with the plane), R direction perpendicular to
the shaft and going from the ´ axis to the point whose acceleration we want to
measure, an such that the triad .uO R ; uO ; uO ´ is right-handed. Next, we recall that in
cylindrical coordinates the acceleration is given by the following formula:

aE D RR RP 2 uO R C RR C 2RP P uO C Ŕ uO ´

(1)

Using the problem’s given information we that we have

R D 12 d D 7:000 ft; RP D 0; RR D 0; P D ! D 1500 rpm D 157:1 rad=s; Ŕ D 0: (2)

Substituting the above information in the formula for the acceleration we have

aE D RP 2 uO R D . 1:728105 ft=s2 / uO R : (3)

The magnitude of the above vector, expressed to 3 significant figures, is

ˇaE ˇ D 17;300 ft=s2 :

ˇ ˇ

Problem 2.222

A particle is moving over the surface of a right cone with angle ˇ

and under the constraint that R2 P D K, where K is a constant. The
equation describing the cone is R D ´ tan ˇ. Determine the expressions
for the velocity and the acceleration of the particle in terms of K, ˇ, ´,
and the time derivatives of ´.

Solution
We use the the cylindrical coordinate system implied by the problem’s figure. Next we recall that the general
expressions for the velocity and acceleration in cylindrical coordinates are as follows:

vE D RP uO R C RP uO C Ṕ uO ´ and aE D RR RP 2 uO R C RR C 2RP P uO C Ŕ uO ´ :

(1)

The problem is solved by determining all of the terms in the expressions for vE and aE and then substituting the
terms in question into the above equations.
We begin with computing the terms related to the coordinate R. We are told that R D ´ tan ˇ. Hence,
recalling that ˇ is constant, we have

R D ´ tan ˇ ) RP D Ṕ tan ˇ ) RR D Ŕ tan ˇ: (2)

Next we consider the terms related to . Specifically, we start with the constraint equation R2 P D K, and
obtain
K K 2K Ṕ
K D R2 P ) P D 2 D 2 2 ) R D : (3)
R ´ tan ˇ ´ tan2 ˇ
3

Substituting the first two of Eqs. (2) and the second of Eqs. (3) into the first of Eqs. (1), we have

K
vE D Ṕ tan ˇ uO R C uO C Ṕ uO ´ :
´ tan ˇ

Substituting Eqs. (2) and the last two of Eqs. (3) into the second of Eqs. (1), we have

K2

aE D Ŕ tan ˇ uO R C Ŕ uO ´ :
´3 tan3 ˇ

Problem 2.223

Solve Prob. 2.222 for general surfaces of revolution; that is, R is no

longer equal to ´ tan ˇ, but is now an arbitrary function of ´, that is,
R D f .´/. The expressions you are required to find will contain K,
f .´/, derivatives of f .´/ with respect to ´, as well as derivatives of ´
with respect to time.

vE D RP uO R C RP uO C Ṕ uO ´ and aE D RR RP 2 uO R C RR C 2RP P uO C Ŕ uO ´ :

(1)

The problem is solved by determining all of the terms in the expressions for vE and aE and then substituting the
terms in question into the above equations.
We begin with computing the terms related to the coordinate R. Since we are told that R D f .´/, and
keeping in mind that ´ D ´.t /, using the chain rule, we have

d 2f

dR d´ df d df df
RP D ) RP D Ṕ and RR D Ṕ ) RR D Ŕ C Ṕ 2 2 : (2)
d´ dt d´ dt d´ d´ d´

Next we consider the terms concerning the coordinate . Recalling that we have the constraint equation
P Hence, we can write
K D R2 .

K d P d´ 2K df
K D R2 P ) P D 2
) R D D 3 Ṕ : (3)
f .´/ d´ dt f .´/ d´

Recalling that R D f .´/, substituting the expression for RP from Eqs.(2) along with the expression for P
from Eqs. (3) into the first of Eqs. (1) we have

df K
vE D Ṕ uO r C uO C Ṕ uO ´ :
d´ f .´/

Again recalling that R D f .´/, substituting the expressions for RP and RR from Eqs.(2) along with the
expressions for P and R from Eqs. (3) into the second of Eqs. (1) we have

2f K2

2d
aE D Ŕ C Ṕ uO R C Ŕ uO ´ :
d´2 f 3 .´/

Problem 2.224

Revisit Example 2.31, and assuming that the plane is acceler-

ating, determine the relation that the radar readings obtained
by the station at A need to satisfy for you to conclude that the
jet is flying along a straight line whether at constant altitude or
not.

Solution
For the plane to fly along a straight line, the airplane’s velocity and acceleration vectors must be parallel.
This condition is expressed by the following vector equation:

E
vE aE D 0: (1)

Recalling that we can write

vE D vr uO r C v uO C v uO and aE D ar uO r C a uO C a uO ; (2)

the condition in Eq. (1) takes on the form

vE aE D .v a v a / uO r C .v ar vr a / uO C .vr a E

v ar / uO D 0: (3)

The above equation is satisfies if and only if

v a v a D 0; v ar vr a D 0; and vr a v ar D 0: (4)

Next, using Eq. (2.138) on p. 157 of the textbook and Eq. (2.140) on p. 157 of the textbook, we can rewrite
Eqs. (4) as follows:

P R sin C 2rP P sin C 2r P P cos /

r .r r P sin .r R C 2rP P r P 2 sin cos / D 0;
r P sin .rR r P 2 r P 2 sin2 / P R sin C 2rP P sin C 2r P P cos / D 0;
r.r
P R C 2rP P
r.r r P 2 sin cos / P rR
r . r P 2 r P 2 sin2 / D 0:

The above equations are those that need to be satisfied by the radar reading to conclude that the plane is flying
along a straight line.

Problem 2.225

The system depicted in the figure is called a spherical pendulum. The

fixed end of the pendulum is at O. Point O behaves as a spherical
joint; i.e., the location of O is fixed while the pendulum’s cord can
swing in any direction in the three-dimensional space. Assume that
the pendulum’s cord has a constant length L, and use the coordi-
nate system depicted in the figure to derive the expression for the
acceleration of the pendulum.

Solution
Keeping in mind that the length of the pendulum is constant, we have that the position vector of the pendulum
bob is described as rE D L uO r , where the radial coordinate r is such that

r D L D constant: (1)

Therefore the time derivatives of the radial coordinate must be equal to zero, i.e.,

rP D 0 and rR D 0: (2)

Now recall that the acceleration in spherical coordinates is given by

aE D rR r P 2 r P 2 sin2 uO r C r R C 2rP P r P 2 sin cos uO C r R sin C 2rP P sin C 2r P P cos uO :

Therefore, using Eqs. (1) and (2) the acceleration becomes

aE D L P 2 C P 2 sin2 uO r C L R P 2 sin cos uO C L R sin C 2P P cos uO :

Problem 2.226

An airplane is traveling at a constant altitude of 10;000 ft, with

a constant speed of 450 mph, within the plane whose equation is
given by x C y D 10 mi and in the direction of increasing x. Find
P ,
P ,
the expressions for r, P r, R and R that would be measured
R ,
when the airplane is closest to the radar station.

Solution

The figure on the right shows the trace of the path of the airplane on the xy
plane. Using the coordinate system shown, then velocity and acceleration
of the plane are
v0
vE D p .O{ |O/ and aE D 0E
2
where v0 D 450 mph D 660:0 ft. Point P 0 in the figure is the projection
on the xy plane of the point on the airplane’s path that is closest to the
origin O. Based on the geometry of the path, we have that xP 0 D yP 0 D
5 mi D 2:640104 ft. Therefore, referring to the bottom figure on the right, the coordinates of the point P
(the point on the path closest to the origin) are

P W .xP 0 ; yP 0 ; h/ D .26;400; 2:6400; 10;000/ ft; (1)

where h D 10;000 ft is the altitude at which the airplane is flying.

Referring to the figure on the right (bottom), the distance between P
and O is s
2
xP2 yP2
rD h C C D 38;650 ft:
4 4
The angles and when the plane is closest to the radar are
p !
ı ı 1 h 2
D 45 and D 90 tan D 75:01ı : (2)
x0

Then, the unit vectors uO r ; uO , and uO of a spherical coordinate system with origin at O are expressed as

O
uO r D sin cos {O C sin sin |O C cos k;
uO D cos cos {O C cos sin |O sin k; O
uO D sin {O C cos |O:

The components of the velocity in the uO r ; uO , and uO directions for D 45ı are
v0
vr D rP D vE uO r D p .sin cos sin sin / ) rP D 0.
2
v0
v D r P D vE uO D p .cos cos cos sin / ) P D 0.
2
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
282 Solutions Manual

v0 v0
v D r P sin D vE uO D p . sin cos / ) P D D 0:0177 rad=s,
2 r sin

where we have used the fact that v0 D 450 mph D 660:0 ft, D 45ı , and D 75:01ı (see Eqs. (2)).
The components of the acceleration in the uO r ; uO , and uO directions for D 45ı are

v02
ar D rR r P 2 r P 2 sin2 D 0 ) rR D D 11:3 ft=s2 :
r

v02 cos
a D r R C 2rP P r P 2 sin cos D 0 ) R D D 78:110 6
rad=s2 .
r 2 sin

a D r R sin C 2rP P sin C 2r P P cos D 0 ) R D 0,

where, again, we have used the fact that v0 D 450 mph D 660:0 ft, D 45ı , and D 75:01ı (see Eqs. (2)).

Problem 2.227

An airplane is being tracked by a radar station at A. At the instant

t D 0, the following data is recorded: r D 15 km, D 80ı ,
D 15ı , rP D 350 km=h, P D 0:002 rad=s, P D 0:003 rad=s. If
the airplane were flying so as to keep each of the velocity compo-
nents constant for a few minutes, determine the components of the
airplane’s acceleration when t D 30 s.

Solution
Referring to Eq. (2.140) on p. 157 of the textbook, recall that, in spherical coordinates, the components of
acceleration are given by
ar D rR r P 2 r P 2 sin2 ;
a D r R C 2rP P r P 2 sin cos ; (1)
a D r R sin C 2rP P sin C 2r P P cos :
Therefore, to solve this problem, we must provide the values of r, r, P r, P ,
R , , P and R for t D 30 s.
R ,
We will now use the assumption that the velocity components are constant to determine the value of the
quantities just listed. With this in mind, it is useful to recall that the expression of the velocity in spherical
coordinates is (see Eq. (2.137) on p. 157 of the textbook)

vE D rP uO r C r P uO C r P sin uO D vr uO r C v uO C v uO : (2)

Then, under the assumption that vr is constant, for the radial coordinate r we have

vr .0/ D r.0/
P D constant ) R /D0
r.t and r.t / D r.0/ C r.0/t:
P (3)

Recalling that r.0/ D 15 km D 15;000 m and that r.0/

P D 350 km=h D 97:22 m=s, then, using Eqs. (3), at
t D 30 s we have

r.30 s/ D 17920; P
r.30 s/ D 97:22 m=s; and R
r.30 s/ D 0: (4)

Next we proceed to determine the values of , , P and R at t D 30 s. To do so, referring to Eq. (2), we
P
start from the consideration that v D r . Hence, using the expression for r in the last of Eqs. (3) we have
P
r.0/.0/ P
P .0/
r.0/r.0/
v D r P D constant D r.0/.0/;
P ) P D ) R D : (5)
r.0/ C r.0/t
P Œr.0/ C r.0/t
P 2

The last two of Eqs. (5) will allow us to compute P and R at t D 30 s. However, we also need the value of
at t D 30 s. To compute such a value we now proceed to integrate the second of Eqs. (5) with respect to time.
This gives

d P
r.0/.0/
Z t P
r.0/.0/
P D D ) .t / .0/ D dt
dt r.t / 0 r.0/ C r.0/t
P
P
r.0/.0/

P
r.0/

) .t / D .0/ C ln 1 C t : (6)
P
r.0/ r.0/
Using the last of Eqs. (6) and the last two of Eqs. (5) we then have

.30 s/ D 76:86ı ; P
.30 s/ D 0:001674 rad=s; R
and .30 s/ D 9:08610 6
rad=s2 ; (7)
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
284 Solutions Manual

where we have used the following numerical data: r.0/ D 15 km D 15;000 m, r.0/ P D 350 km=h D
P
97:22 m=s, .0/ D 80ı , and .0/ D 0:002 rad=s.
P and R at t D 30 s. We start from the fact that v D r P sin
Next we proceed to determine the values of ,
is assumed to be constant. Hence, we have

P sin .t / D r.0/P .0/ sin .0/ r.0/P .0/ sin .0/
r.t/.t/ ) P .t / D
r.t / sin .t /
P
r.0/ .0/ sin .0/fr.t P /g
P / sin .t / C r.t /Œcos .t /.t
) R D : (8)
r 2 .t / sin2 .t /

Hence, recalling that r.0/ D 15 km D 15;000 m, r.0/ P D 350 km=h D 97:22 m=s, .0/ D 80ı , P .0/ D
0:003 rad=s, and using Eqs. (4) and (7), for t D 30 s, we have

P .30 s/ D 0:002540 rad=s and R .30 s/ D 0:00001278 rad=s2 : (9)

In conclusion, substituting Eqs. (4), (7), and (9) into Eqs. (1), for t D 30 s we have

ar D 0:160 m=s2 ; a D 0:188 m=s2 ; and a D 0:223 m=s2 :

Problem 2.228

An airplane is being tracked by a radar station at A. At the instant

t D 0, the following data is recorded: r D 15 km, D 80ı , D
15ı , rP D 350 km=h, P D 0:002 rad=s, P D 0:003 rad=s. If the
airplane were flying so as to keep each of the velocity components
constant, plot the trajectory of the airplane for 0 < t < 150 s.

Solution
To plot the trajectory of the airplane we need to find expressions for the coordinates of the airplane as a
function of time. Clearly, this must be done while enforcing the condition that the velocity components
remain constant during the time interval of interest. For this purpose, we consider the general expression for
the velocity in spherical coordinates, namely (see Eq. (2.137) on p. 157 of the textbook),

vE D rP uO r C r P uO C r P sin uO D vr uO r C v uO C v uO : (1)

Then, under the assumption that vr is constant, for the radial coordinate r we have

vr .0/ D r.0/
P D constant ) r.t / D r.0/ C r.0/t;
P (2)

where r.0/ D 15 km D 15;000 m and that r.0/

P D 350 km=h D 97:22 m=s.
Next we proceed to determine an expression for .t /. To do so, referring to Eq. (1), we start from the
P Hence, using the expression for r in the last of Eqs. (2) we have
consideration that v D r .

P
r.0/.0/
v D r P D constant D r.0/.0/;
P ) P D : (3)
r.0/ C r.0/t
P

Then, to determine .t / we now proceed to integrate the last of Eqs. (3) with respect to time. This gives

d P
r.0/.0/
Z t P
r.0/.0/
P D D ) .t / .0/ D dt
dt r.t / 0 r.0/ C r.0/t
P
P
r.0/.0/

P
r.0/

) .t / D .0/ C ln 1 C t ; (4)
P
r.0/ r.0/

where r.0/ D 15 km D 15;000 m, r.0/

P D 350 km=h D 97:22 m=s, .0/ D 80ı , and .0/ P D 0:002 rad=s.
Next we try and provide an expression for .t /. We start from the fact that v D r P sin is assumed to
be constant. Hence, we have

r.0/P .0/ sin .0/

r.t /P .t / sin .t / D r.0/P .0/ sin .0/ ) P .t / D : (5)
r.t / sin .t /

Although the expressions for r.t / and .t / are currently known, even if one were to substitute these
expressions into the above equation, we would obtain an expression for P that cannot be integrated with
respect to time in closed-form. Hence, we must proceed to integrate with respect to time numerically. This
can be done with a variety of pieces of mathematical software. We have used Mathematica as described
below.

Referring to the above trajectory, the airplane is moving from the upper right to the lower left.

Problem 2.229

A carnival ride called the octopus consists of eight arms that rotate about the ´ axis at the constant angular
velocity P D 6 rpm. The arms have a length L D 22 ft and form an angle with the ´ axis. Assuming that
varies with time as .t / D 0 C 1 sin !t with 0 D 70:5ı , 1 D 25:5ı , and ! D 1 rad=s, determine
the magnitude of the acceleration of the outer end of an arm when achieves its maximum value.

Solution
Since both 0 and 1 are positive, the function .t / D 0 C 1 sin !t is maximum when sin !t D 1.
Therefore, we have
D max D 0 C 1 D 96:00ı for !t D .=2/ rad: (1)
Now that we have determined the maximum value of the angle , we observe that to compute the
magnitude of the acceleration we need to compute the components of the acceleration. In turn, given that we
are using a spherical coordinate system, we recall that, referring to Eq. (2.140) on p. 157 of the textbook, the
components in question are
ar D rR r P 2 r P 2 sin2 ;
a D r R C 2rP P r P 2 sin cos ; (2)
a D r R sin C 2rP P sin C 2r P P cos :
P r,
Therefore, to solve this problem, we must provide the values of r, r, P ,
R , , P and R corresponding to
R ,
D max D 96:00 . Clearly, the value of is already known, since D max D 96:00ı . In addition, we
ı

have
r D L D 22 ft D costant ) rP D 0 and rR D 0: (3)
Also, from Eq. (1), we have that for D max D 96:00ı

P D 1 ! cos !t ˇ!t D D 0 and R D 1 ! 2 sin !t ˇ!t D D 0:4451 rad=s2 ;

ˇ ˇ
(4)
2 2

where we have used the fact that 1 D 25:5ı D 0:4451 rad and ! D 1 rad=s. Finally, for P and R we have

P D 6 rpm D 0:6283 rad=s D constant ) R D 0: (5)

Using the results in Eqs. (3)–(5), the ar component of acceleration for D max D 96:00ı is

ar D rR r P 2 r P 2 sin2 ) ar D LP 2 sin2 D 8:590 ft=s2 : (6)

Similarly, the a component of acceleration for D max D 96:00ı is

a D r R C 2rP P r P 2 sin cos ) a D L1 ! 2 LP 2 sin cos D 8:888 ft=s2 : (7)
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
288 Solutions Manual

Similarly, the a component of acceleration for D max D 96:00ı is

a D r R sin C 2rP P sin C 2r P P cos ) a D 0 ft=s2 : (8)

Now we recall that the magnitude of the acceleration for D max D 96:00ı is
r
ˇ q 2 2
2 2
LP 2 sin2 C L1 ! 2 LP 2 sin cos
ˇ ˇ ˇ
2
ˇaE ˇ D a C a C a ) ˇaE ˇ D ;
max r max

which, using the results in Eqs. (6)–(8), can be evaluated to obtain

ˇaE ˇ D 12:4 ft=s2 :

ˇ ˇ
max

Problem 2.230

A golfer chips the ball as shown. Letting ˛ D 23ı , ˇ D 41ı , and the initial
speed be v0 D 6 m=s, determine the x and y coordinates of the place where the
ball will land.

Solution
For projectile motion ax D 0, ay D 0, and a´ D g. Hence
1 2
x D x0 C xP 0 t; y D y0 C yP0 t; and ´ D ´0 C Ṕ 0 t 2 gt :

At time t D 0 the ball is at the origin of our coordinate system so x0 D y0 D ´0 D 0. The initial components
of the velocity are

xP 0 D v0 cos ˇ cos ˛; yP0 D v0 cos ˇ sin ˛; and Ṕ 0 D v0 sin ˇ:

Using the equations written so far, we have that the motion of the ball is described by the following equations:
1 2
x D .v0 cos ˇ cos ˛/t; y D .v0 cos ˇ sin ˛/t; and ´ D .v0 sin ˇ/t 2 gt :

To determine the location of landing, we observe that the ´ coordinate of the landing spot must be ´ D 0.
Next we find the time corresponding to ´ D 0, i.e.,

1 2 2v0 sin ˇ
´ D .v0 sin ˇ/t 2 gt D0 ) tD :
g
The x and y components of the position corresponding to this time are

v 2 sin 2ˇ cos ˛

2v0 sin ˇ
xland D .v0 cos ˇ cos ˛/ ) xland D 0 D 3:35 m;
g g
v 2 sin 2ˇ sin ˛

2v0 sin ˇ
yland D .v0 cos ˇ sin ˛/ ) yland D 0 D 1:42 m;
g g

where we have used the following numerical data: v0 D 6 m=s, ˛ D 23ı , ˇ D 41ı , and g D 9:81 m=s2 . In
summary, the location of the ball’s landing spot is identified by the following coordinates

xland D 3:35 m; yland D 1:42 m; and ´land D 0:

Problem 2.231

In a racquetball court, at point P with coordinates xP D 35 ft,

yP D 16 ft, and ´P D 1 ft, a ball is imparted a speed v0 D 90 mph
and a direction defined by the angles D 63ı and ˇ D 8ı (ˇ is
the angle formed by the initial velocity vector and the xy plane).
The ball bounces off the left vertical wall to then then hit the front
wall of the court. Assume that the rebound off the left vertical
wall occurs such that (1) the component of the ball’s velocity
tangent to the wall before and after rebound is the same and (2) the
component of velocity normal to the wall right after impact is equal
in magnitude and opposite in direction to the same component of
velocity right before impact. Accounting for the effect of gravity,
determine the coordinates of the point on the front wall that will
be hit by the ball after rebounding off the left wall.

Solution
From P to the left wall the racquetball undergoes projectile motion and therefore the components of the
ball’s acceleration in the given coordinate system are ax D 0, ay D 0, and a´ D g. In turn, the coordinates
of the ball as a function of time are
1 2
x D xP C xP 0 t; y D yP C yP0 t; and ´ D ´P C Ṕ 0 t 2 gt ;

where xP D 35 ft, yP D 16 ft, and ´P D 1 ft. Next, the initial components of velocity are

xP 0 D v0 cos ˇ sin ; yP0 D v0 cos ˇ cos ; and Ṕ 0 D v0 sin ˇ:

Hence, first part of the motion of the ball is described by

1 2
x D xP .v0 cos ˇ sin /t; y D yP .v0 cos ˇ cos /t; and ´ D ´P C .v0 sin ˇ/t 2 gt :

The racquetball will impact the left wall when y.t / D 0. Recalling that that v0 D 90 mph D 132:0 ft=s,
D 63ı , and ˇ D 8ı , and letting tlw denote the time at which the ball hits the left wall, we have
ˇ yP
y ˇleft wall D yP .v0 cos ˇ cos / tlw D 0 ) tlw D D 0:2696 s:
v0 cos ˇ cos
The corresponding x and ´ coordinates at t D tlw are

xlw D xP .v0 cos ˇ sin / tlw ) xlw D 3:598 ft;

1 2
´lw D ´P C .v0 sin ˇ/ tlw 2 gtlw ) ´lw D 4:783 ft:

After impact the x and y components of velocity are

xP lw D v0 cos ˇ sin and yPlw D v0 cos ˇ cos :

The z component of velocity after impact is calculated with the constant acceleration equation v D v0 C at.

Ṕ lw D v0 sin ˇ gtlw :

After the impact with the left wall, the ball is projectile motion. Hence, the equations describing the motion
of the ball after the impact are
1 2
x D xlw .v0 cos ˇ sin /t; y D .v0 cos ˇ cos /t; and ´ D ´lw C .v0 sin ˇ gtlw /t 2 gt ;

where we have “reset” the time variable so that t D 0 now corresponds to the when the ball bounces off the
the left wall. We are now ready to consider the impact of the ball with the front wall, which is described by
the condition x.t / D 0. Letting tfw denote the time at which the ball impacts the front wall, we have
ˇ xlw
x ˇfront wall D xlw .v0 cos ˇ sin /tfw D 0 ) tfw D D 0:03089 s:
v0 cos ˇ sin
The corresponding values of the y and ´ coordinates at t D tfw are

yfw D .v0 cos ˇ cos / tfw ) yfw D 1:833 ft;

1 2
´fw D ´lw C .v0 sin ˇ gtlw / tfw 2 gtfw ) ´fw D 5:067 ft:

In summary, the coordinates of the point on the front wall that is impacted by the ball, we have

xfw D 0; yfw D 1:83 ft; and ´fw D 5:07 ft:

Problem 2.232

The figure shows the displacement vector of a point P between two

time instants t1 and t2 . Is it possible for the vector vEavg shown to be the
average velocity of P over the time interval Œt1 ; t2 ?

Solution
No. vEavg needs to have the same direction as Er .t1 ; t2 /.

Problem 2.233

The motionpof a point P with respect to a Cartesian coordinate system is described

by rE D f2 t {O C Œ4 ln.t C 1/ C 2t 2 |Og ft, where t is time expressed in seconds.
Determine the average velocity between t1 D 4 s and t2 D 6 s. Then find the time
tN for which the x component of P ’s velocity is exactly equal to the x component
of P ’s average velocity between times t1 and t2 . Is it possible to find a time at
which P ’s velocity and P ’s average velocity are exactly equal? Explain why. Hint:
Velocity is a vector.

Solution
Recall that the average velocity over the time interval Œt1 ; t2 is

rE.t2 / rE.t1 /
vEavg .t1 ; t2 / D : (1)
t2 t1
Using the given function for rE and letting t1 D 4 s and t2 D 6 s, we have

vEavg .t1 ; t2 / D .0:4495 {O C 20:67 |O/ ft=s; (2)

which, expressed to 3 significant figures, gives

vEavg .t1 ; t2 / D .0:449 {O C 20:7 |O/ ft=s:

Next, we compute the velocity of P by differentiating the position vector rE.t / with respect to time. This
gives
1 4
vE D p {O C 4t C |O ft=s: (3)
t 1Ct
To determine tN we then need to solve the equation

1
N
vx .t / D p ft=s D 0:4495 ft=s ) tN D 4:949 s; (4)
tN
which, expressed to 3 significant figures is

tN D 4:95 s:

Next, we use the result in the last of Eqs. (4) to compute the y component of the velocity vector in Eq. (3).
This gives
vy .tN/ D 20:47 ft=s ¤ .vavg /y : (5)
This result implies that

In general, it is not possible to find a time instant in an interval Œt1 ; t2

for which the velocity and the average velocity are equal.

While it is always possible for a scalar function to find a value of time tN at which the function is equal to its
average over a time interval containing tN, when it comes to a vector function, finding a common time that
works for every scalar component is, in general, not possible.

Problem 2.234

The velocity and acceleration of point P expressed relative to frame A at some time t are

vEP =A D .12:5 {OA C 7:34 |OA / m=s and aEP =A D .7:23 {OA 3:24 |OA / m=s2 :

Knowing that frame B does not move relative to frame A, determine the expressions for the velocity
and acceleration of P with respect to frame B. Verify that the speed of P and the magnitude of P ’s
acceleration are the same in the two frames.

Solution
In order to express the velocity and acceleration vectors in terms of reference frame B, the unit vectors of
frame A need to be expressed in terms of the unit vectors of frame B. Letting ˛ D 15ı the unit vectors of
frame A can be expressed as

{OA D cos ˛ {OB C sin ˛ |OB ; |O1 D sin ˛ {OB C cos ˛ |OB ;
D 0:9659 {OB C 0:2588 |OB : D 0:2588 {OB C 0:9659 |OB :

With the frame A unit vectors known in terms of those of frame B, it is found that the velocity in frame B is
h i h i
vEP =B D 12:5.0:9659 {O2 C 0:2588 |O2 / ; m=s C 7:34. 0:2588 {O2 C 0:9659 |O2 / m=s;

vEP =B .10:2 {O2 C 10:3 |O2 / m=s:

Similarly, the acceleration vector in frame 2 is found to be

h i h i
aEP =B D 7:23.0:9659 {O2 C 0:2588 |O2 / m=s2 3:24. 0:2588 {O2 C 0:9659 |O2 / m=s2 ;

aEP =B D .7:82 {O2 1:26 |O2 / m=s2 :

The speed of the particle in frame A is found by taking the magnitude of the velocity vector vEP =A where
q
vP =A D .12:5/2 C .7:34/2 m/s D 14:5 m=s;

Similarly, for frame B, q

vP =B D .10:2/2 C .10:3/2 m/s D 14:5 m=s:

The magnitue of the acceleration in frame A is found by taking the magnitude of the acceleration vector aEP =A
where q
aP =A D .7:23/2 C . 3:24/2 m=s2 D 7:92 m=s2 ;
Similarly, for frame B, q
aP =B D .7:82/2 C . 1:26/2 m=s2 D 7:92 m=s2 :
Therefore, the magnitude of the acceleration and velocity vectors are verified to be independent of the
reference frame.

Problems 2.235 and 2.236

A dynamic fracture model proposed to explain the behavior of cracks

propagating at high velocity views the crack path as a wavy path.
In this model, a crack tip appearing to travel along a straight path
actually travels at roughly the speed of sound along a wavy path.
Let the wavy path of the crack tip be described by the function
y D h sin.2x=/, where h is the amplitude of the crack tip fluctu-
ations in the direction perpendicular to the crack plane and is the
corresponding period. Assume that the crack tip travels along the
wavy path at a constant speed vs (e.g., the speed of sound).

Problem 2.235 Find the expression for the x component of the

crack tip velocity as a function of vs , , h, and x.

Problem 2.236 Denote the apparent crack tip velocity by

va , and define it as the average value of the x component of the crack
velocity, that is,
1
Z
va D vx dx:
0
In dynamic fracture experiments on polymeric materials, va D
2vs =3, vs is found to be close to 800 m=s, and is of the order
of 100 m. What value of h would you expect to find in the experi-
ments if the wavy crack theory were confirmed to be accurate?

Solution to 2.235
Using the coordinate system shown, the velocity of the crack tip has the form vE D xP {O C yP |O. Hence, letting
vs be the speed of the crack, we must have
q
vs D xP 2 C yP 2 : (1)

Now recalling that y D h sin.2x=/, we have

dy dx 2h xP 2x
yP D ) yP D cos : (2)
dx dt
Substituting Eq. (2) into Eq. (1) we have
s s
2
2x 2

2
2h P
x 2x 2h
vs D xP C cos D ˙xP 1 C cos ; (3)

which can be solved to find that the x component of the velocity is

vs
xP D q ; (4)
2x
2 C 4h2 2 cos2

where we have chosen the positive solution will be used since the crack is assumed to propagate in the
positive x direction.

Solution to 2.236
To solve this problem we need to first determine the x component of the velocity of the crack tip. Once, we
determine an expression for vx , then we will solve the equation stated in the problem numerically for h.
We begin by observing that, using the coordinate system shown, the velocity of the crack tip has the form
vE D xP {O C yP |O. Hence, letting vs be the speed of the crack, we must have
q
vs D xP 2 C yP 2 : (5)

Now recalling that y D h sin.2x=/, we have

dy dx 2h xP 2x
yP D ) yP D cos : (6)
dx dt
Substituting Eq. (6) into Eq. (5) we have
s s
2
2x 2

2h P
x 2x 2h
vs D xP 2 C cos D ˙xP 1 C cos ; (7)

which can be solved to find that the x component of the velocity is

vs
vx D xP D q ; (8)
2x
2 C 4h2 2 cos2

where we have chosen the positive solution will be used since the crack is assumed to propagate in the
positive x direction.

1 vs vs
Z Z
va D q dx D q dx: (9)
0 2 C 4h2 2 cos2 2x 0 2 C 4h2 2 cos2 2x

Recall that we have vs D 800 m=s, va D 32 vs D 533:3 m=s, and D 100 m. Hence, since the variable x
in Eq. (9) has the role of dummy variable of integration, Eq. (9) is an equation in the single unknown h. The
equation in question is an integral equation and can be solved numerically using appropriate mathematical
software. We have used Mathematica with the code given below. As is often the case with the numerical
solution of equations, we had to supply Mathematica with an initial guess for the solution. Since the quantity
h is expected to be of the same order of magnitude as , our guess for h was set to the same value as the
given value for .
800.
EqIntegral!h_" :! NIntegrate# ,

$100. " 10#6 % $ 4 h2 Π 2 Cos# (

2 2Πx 2
&100. " 10#6 '

)x, 0, $100. " 10#6 %*(

FindRoot+533.3 & EqIntegral!h", )h, 10.#4 *,

The execution of the code above yields the following result (expressed to 3 significant figures):

6
h D 29:410 m:

Problem 2.237

The motion of a peg sliding within a rectilinear guide is controlled by

an actuator in such a way that the peg’s acceleration takes on the form
xR D a0 .2 cos 2!t ˇ sin !t /, where t is time, a0 D 3:5 m=s2 , ! D
0:5 rad=s, and ˇ D 1:5. Determine the total distance traveled by the
peg during the time interval 0 s t 5 s if x.0/
P D a0 ˇ=! C 0:3 m=s.
When compared with Prob. 2.45, why does the addition of 0:3 m=s in
the initial velocity turn this into a problem that requires a computer for
the solution?

Solution
We have acceleration as a function of time so we can integrate it as
Z t
ˇ 2 ˇ ˇ
P / D x.0/
x.t P C R / dt D a0 C 0:3 m=s C a0
x.t sin 2!t C cos !t a0 :
0 ! 2! ! !

We can use the double angle formula, sin 2x D 2 sin x cos x, to obtain
a0 a0
v.t/ D Œsin 2!t C ˇ cos !t C 0:3 m=s ) v.t / D cos !t .2 sin !t C ˇ/ C 0:3 m=s:
! !
To find the distance traveled, we need to established if and when the peg switches direction during the time
interval considered. This can be easily done by using any appropriate mathematical software that can plot the
function v.t/ over the time interval considered. Recalling that a0 D 3:5 m=s2 , ! D 0:5 rad=s, and ˇ D 1:5,
we have used Mathematica with the following code:
Parameters ! !a0 " 3.5, Ω " 0.5, Β " 1.5";

Cos$Ω t% &2 Sin$Ω t% % Β' % 0.3 (. Parameters, !t, 0, 5", Frame " True,
a0
Plot#
Ω
FrameLabel " !"t &s'", "v &m(s'"", GridLines " Automatic, AspectRatio " 1)

The above code yields the following plot:

15
10
5
v !m#s"

0
!5
!10
!15
0 1 2 3 4 5
t !s"

As can be seen from the above plot, the velocity changes sign near t 3 s. Hence, we need to solve the
equation v.t / D 0 to determine where exactly the sign switch occurs. Because the expression we have
for v.t/ includes the constant term 0:3 m, the equation v.t / D 0 cannot be solved analytically. Hence, we

must use a computer to find the times when velocity goes to zero. This can be done with any appropriate
mathematical software. As it is common with root finding algorithms, we need to provide a guess for the
solution. Based on the graph presented above, we set our guess to t D 3 s and then use the following
Mathematica code:
Parameters ! !a0 " 3.5, Ω " 0.5, Β " 1.5";

Cos$Ω t% &2 Sin$Ω t% % Β' % 0.3 & 0 (. Parameters, !t, 3")

a0
FindRoot#
Ω

which yields the following solution (expressed to 4 significant figures):

t D 3:166 s: (1)

to find the root numerically at 3:166 s. Using this result, and letting d denote the distance traveled, we have
Z 3:166 s Z 5s
a0 a0
dD cos !t .2 sin !t Cˇ/C0:3 m=s dt cos !t .2 sin !t Cˇ/C0:3 m=s dt: (2)
0 ! 3:166 s !

The above integrals can be computed either numerically or analytically. Since this is a computer problem,
we have chosen to carry out the integration numerically. As usual, this can be done with any appropriate
numerical software. we have used Mathematica with the following code:
Parameters ! !a0 " 3.5, Ω " 0.5, Β " 1.5";

Cos$Ω t% &2 Sin$Ω t% % Β' % 0.3 (. Parameters, !t, 0, 3.166") &

a0
d ! NIntegrate#
Ω

Cos$Ω t% &2 Sin$Ω t% % Β' % 0.3 (. Parameters, !t, 3.166, 5")

a0
NIntegrate#
Ω

The execution of the above code, yields the following result (expressed to 3 significant figures):

d D 52:8 m:

Problem 2.238

The acceleration of an object in rectilinear free fall while immersed in a linear viscous
fluid is a D g Cd v=m, where g is the acceleration of gravity, Cd is a constant
drag coefficient, v is the object’s velocity, and m is the object’s mass. Letting v D 0
and s D 0 for t D 0, where s is position and t is time, determine the position as a
function of time.

Solution
We must integrate the acceleration which is a function of velocity. If we let t0 D 0 and s0 D 0, it follows that
Z v
dv dv m Cd
aD D g Cd v=m ) t D ) tD ln 1 v :
dt 0 g Cd v=m Cd mg

We invert t.v/ to find velocity as a function of time.

Cd Cd
t mg Cd
t
1 vDe m ) v.t / D 1 e m :
mg Cd

Now that we have velocity as a function of time we can integrate it to obtain position as a function of time.

ds mg t
Z
Cd
vD ) sD 1 e m t dt )
dt Cd 0

mg Cd
t
s.t / D 2 Cd t C m e m 1 :
Cd

Problem 2.239

Heavy rains cause a particular stretch of road to have a coefficient

of friction that changes as a function of location. Under these
conditions the acceleration of a car skidding while trying to stop
can be approximated by sR D .k cs/g, where k is the friction
coefficient under dry conditions, g is the acceleration of gravity,
and c, with units of m 1 , describes the rate of friction decrement.
Let k D 0:5, c D 0:015 m 1 , and v0 D 45 km=h, where v0 is the
initial velocity of the car. Determine the time it will take the car to
stop and the percentage of increase in stopping time with respect to
dry conditions, i.e., when c D 0.

Solution
Since we are given an acceleration as a function of position, we will first relate the acceleration to the velocity
using the chain rule, and then relate the velocity to time. We therefore proceed as follows:
Z v Z s
d sP ds d sP
a.s/ D ) a.s/ D sP ) sP d sP D a ds:
ds dt ds v0 0

ˇs r r
g 2ˇ g c 2
1 2
2v
1 2
2 v0 D 2c .cs k / ˇ ) vD v0 C .cs k /2 2k : (1)
0 c g
We need this expression later. For now set v D 0 and solve for s.
s
k 1 cv02
sf D ˙ 2k ) sf D 26:31 m or 40:35 m:
c c g

sf D 26:31 m is the meaningful solution because it occurs first, where the subscript f stands for final.
We now go back to the velocity, given by Eq. (1), as we relate it to time as follows:
Z t Z s r Z s
ds ds c ds
v.s/ D ) dt D ) tD q : (2)
dt 0 0 v g 0 c 2
v C .cs /2
2
g 0 k k

We now perform the following change of variables of integration:

c 2 1
AD v 2k ; x D cs k ) dx D c ds ) ds D dx: (3)
g 0 c
For s D 0 we have x D k and for s D sf we have x D csf k . Hence, the integral in the last of
Eqs. (2) becomes
csf k
1 dx
Z
tf D p p : (4)
cg k A C x2
Using a table of integrals or some appropriate mathematical software we obtain
p ˇ
xC ACx ˇ 2 ˇ
1 p ˇcsf k 1 xDcs k
tf D p ln x C A C x 2 ˇ ) tf D p ln ˇ f ;
ˇ
p
cg k cg x C A C x2 ˇ
ˇ
xD k

which, recalling the definition of A in the first of Eqs. (3), after after simplification yields
1 csf k
tf D p ln p D 5:840 s: (5)
cg v0 c=g k

where we have used the following numerical data: c D 0:015 m 1 , g D 9:81 m=s2 , k D 0:5, and
v0 D 45 km=s D 12:50 m=s. Expressing tf to 3 significant figures, we have

tf D 5:84 s:

With dry conditions, i.e., for c D 0, the acceleration of the car would be sR D k g. Hence, we can use the
constant acceleration equation sP D sP0 C ac t to find the time. This gives

0 D v0 k gtf ) tf D 2:548 s:

Comparing this result to that in Eq. (5), we find the percent increase to be
tfwet tfdry
100 ) 129%
tfdry

Problem 2.240

The acceleration of a particle of mass m suspended by a linear spring with spring constant
k and unstretched length L0 , (when the spring length is equal to L0 , the spring exerts
no force on the particle) is given by xR D g .k=m/.x L0 /. Assuming that at t D 0
the particle is at rest and its position is x D 0 m, derive the expression of the particle’s
position x as a function of time. Hint: A good table of integrals will come in handy.

Solution
We have acceleration as a function of position and we integrate it as follows:
xP x
d xP dx k
Z Z

aD ) xP d xP D g x L0 dx:
dx dt 0 0 m
r
k 2 kL0
1 2 k 2 2kL0
D gx P
2x x C x ) xP D 2gx x C x:
2m m m m
Now we have xP as a function of x and we therefore relate it to time as follows:
Z t Z x Z x
dx dx dx
xP D ) dt D ) tD r :
dt 0 0 xP 0 2kL0

k 2
x m C 2g mx

m 2kL0 gm
Now we let A D k m C 2g D 2 L0 C k
and we rewrite the expression for t as follows:
r x
r p ˇx
m dx m x
Z
1
ˇ
tD p ) t D2 tan p ˇ :
k 0 Ax x2 k A x ˇ 0

Making use of the trigonometric identity 1 C tan2 D sec2 , we have that

r ! " r !# r !
2 t k x 2 t k t k
tan D ) x sec D A tan2 :
2 m A x 2 m 2 m

Now making use of the trigonometric identity sin2 .=2/ D 12 .1 cos /, we can express x as
r ! " r !#
t k A k
x D A sin2 ) xD 1 cos t :
2 m 2 m

gm
Finally, recalling that A is the quantity 2 L0 C k
, the expression for x can be written as

r
gm k
x D L0 C 1 cos t :
k m

Problem 2.241

In a movie scene involving a car chase, a car goes over the top of a ramp
at A and lands at B below. Letting ˛ D 18ı and ˇ D 25ı , determine the
speed of the car at A if the car is to be airborne for a full 3 s. Furthermore,
determine the distance d covered by the car during the stunt as well as
the impact speed and angle at B. Neglect aerodynamic effects. Express
your answer using the U . S . Customary system of units.

Solution

This problem is a projectile problem and we begin by relating the jump

speed v0 to the velocity of the car and then to the car’s trajectory. Re-
ferring tot he figure on the right, the initial velocity and acceleration in
the .x; y/ coordinate system are

xP 0 D v0 cos.˛ C ˇ/; yP0 D v0 sin.˛ C ˇ/;

xR D g sin ˇ; yR D g cos ˇ:

Using the constant acceleration equation s D sP t C 12 ac t 2 , we have that the coordinates of the (airborne) car
as a function of time are

x D v0 cos.˛ C ˇ/t C 21 g sin ˇ t 2 ; (1)

1 2
y D v0 sin.˛ C ˇ/t 2 g cos ˇ t : (2)

We want to satisfy the condition that y D 0 at t D tf D 3 s, where the subscript f stands for flight.

1 2 gtf cos ˇ
0 D v0 sin.˛ C ˇ/tf 2 g cos ˇ tf ) v0 D D 64:19 ft=s; (3)
2 sin.˛ C ˇ/
where we have used the following numerical data: g D 32:2 ft=s2 , tf D 3 s, ˇ D 25ı , and ˛ D 18ı .
Expressing the result for v0 to 3 significant figures, we have

v0 D 64:2 ft=s:

We now observe that the distance d is equal to the value of x at time t D tf . Hence, using Eq. (1) and the
value of v0 we computed in the last of Eqs. (3), we have that the distance d is given by

gtf cos ˇ
dD cos.˛ C ˇ/tf C 12 g sin ˇ tf2 D 202 ft:
2 sin.˛ C ˇ/

To find the impact speed and the impact angle, we need to determine the velocity at impact. To do so, we
use the constant acceleration equation v D v0 C ac t and we obtain

vEi D Œv0 cos.˛ C ˇ/ C g sin ˇ tf {O C Œv0 sin.˛ C ˇ/ g cos ˇ tf |O D .87:77 {O 43:77 |O/ ft=s; (4)

where we have used the value of v0 in the last of Eqs. (3) along with the following numerical data: g D
32:2 ft=s2 , tf D 3 s, ˇ D 25ı , and ˛ D 18ı . Therefore the speed at impact is given by
q
2 2
vi D vxi C vyi D 98:1 ft=s:

We now let be the impact angle of the car with the ground at B, i.e., with respect to the slope. Hence,
this angle is given by

1 vy
D tan D 26:5ı measured clockwise from the slope:
vx

Problem 2.242

Consider the problem of launching a projectile a distance R from

O to D with a known launch speed v0 . It is probably clear to you
that you also need to know the launch angle if you want the
projectile to land exactly at R. But it turns out that the condition
determining whether or not v0 is large enough to get to R does
not depend on . Determine this condition on v0 . Hint: Find v0
as a function of R and , and then remember that the sine function
is bounded by 1.

Solution
For projectile motion we have the initial velocity and acceleration in the .x; y/ coordinate system, i.e.,

xP 0 D v0 cos ; yP0 D v0 sin ;

xR D 0; yR D g:

Using the constant acceleration equation s D sP t C 0:5ac t 2 we obtain

x D v0 cos t; (1)
1 2
y D v0 sin t 2 gt : (2)

For t D tD we have y.tD / D 0. Using this fact in Eq. (2), yields the following expression for tD :

2v0 sin
tD D :
g
The substituting the above expression for tD into Eq. (1), setting x D R and using the trigonometric identity
2 sin cos D sin 2 , we obtain

v02 sin 2 gR
RD ) v02 D :
g sin 2

The smallest value of v0 corresponds to sin 2 D 1. Therefore the condition on v0 is

p
v0 gR:

Problem 2.243

A skater is spinning with her arms completely stretched out and with an
angular velocity ! D 60 rpm. Letting rb D 0:55 ft, and ` D 2:2 ft and
neglecting the change in ! as the skater lowers her arms, determine the
velocity and acceleration of the hand A right when ˇ D 0ı if the skater
lowers her arms at the constant rate ˇP D 0:2 rad=s. Express the answers
using the component system shown, which rotates with the skater and for
which the unit vector |O (not shown) is such that |O D kO {O.

Solution

We begin by providing a convenient description of the position of point A.

Referring to the figure on the right, let Q be the fixed point on the spin axis
that is at the same height as the shoulders. Then the position of A relative
to Q is given by
rEA=Q D .rb C ` cos ˇ/ {O ` sin ˇ k: O
Since Q is a fixed point, the time derivative of rEA=Q coincides with the
velocity of point A. Hence, we have
PO
vEA D `ˇP sin ˇ {O C .rb C ` cos ˇ/ {OP `ˇP cos ˇ kO ` sin ˇ k: (1)
Now we observe that since the unit vector {O always points towards A, then is changes its orientation with
O In addition, since kO does not change its orientation, then kO is a constant unit
the angular velocity !E D ! k.
vector. Hence, using the concept of time derivative of a unit vector, we have
P E
{OP D ! kO {O D ! |O and kO D 0: (2)
Substituting Eqs. (2) into Eq. (1), we the have that the velocity of A can be expressed as follows:
vEA D `ˇP sin ˇ {O C .rb C ` cos ˇ/! |O `ˇP cos ˇ k:O (3)
For ˇ D 0, we then have

`ˇP kO D 17:3 |O 0:44 kO ft=s:

ˇ
vEA ˇˇ D0 D .rb C `/! |O

TO obtain the acceleration, we now differentiate vEA in Eq. (3) with respect to time and, recalling that ˇP
and kO are constant, we obtain
aEA D `ˇP 2 cos ˇ {O `ˇP sin ˇ {PO `ˇ!
P sin ˇ |O C .rb C ` cos ˇ/! |PO C `ˇP 2 sin ˇ k:
O (4)
Using the first of Eqs. (2) and observing that the same idea that allowed us to derive the first of Eqs. (2) tells
us that |PO D ! kO |O D ! {O, Eq. (4) can be simplified to
aEA D `ˇP 2 cos ˇ C ! 2 .rb C ` cos ˇ/ {O 2!`ˇP sin ˇ |O C `ˇP 2 sin ˇ k:
O

(5)
Hence, for ˇ D 0 the acceleration of A is

aEA ˇˇ D0 D `ˇP 2 ! 2 .rb C `/ {O D . 109 {O/ft=s2 :

Problem 2.244

A roller coaster travels over the top A of the track section shown with a
speed v D 60 mph. Compute the largest radius of curvature at A such
that the passengers on the roller coaster will experience weightlessness at
A.

Solution
For this condition the centripetal acceleration must be entirely from gravity.

v2 v2
Dg ) D ) D 240 ft
g

where we have used the fact that v D 60 mph D 88:00 ft=s and g D 32:2 ft=s2 .

Problem 2.245

Determine, as a function of the latitude , the normal acceleration

of the point P on the surface of the Earth due to the spin !E of
Earth about its axis. In addition, determine the normal acceleration
of the Earth due to its rotation about the Sun. Using these results,
determine the latitude above which the acceleration due to the orbital
motion of the Earth is more significant than the acceleration due
to the spin of the Earth about its axis. Use RE D 6371 km for the
mean radius of the Earth, and assume the Earth’s orbit about the Sun
is circular with radius RO D 1:497108 km.

Solution
The tangential velocity of P due to the rotation of Earth is vP D RE !E cos . The radius of curvature as a
function of is P D RE cos . The normal acceleration of P due to rotation is

vP2 ! 2 R2 cos2
aP D D E E ) 2
!E RE cos , (1)
P RE cos

where RE D 6371 km D 6371103 m and

1 1 6
!E D .1 rev=day/.2 rad=rev/.24 h=day/ .3600 s=h/ D 72:7210 rad=s: (2)

The tangential velocity of P due to the motion of the Earth arounf the Sun is vE D RO !O , where

.1 rev=year/.2 rad=rev/ 7
!O D D 1:99210 rad=s: (3)
.365 day=year/.24 h=day/.3600 s=h/
Hence, the normal acceleration of P due to to the motion of the Earth around the Sun is
2
vE ! 2 R2
aO D D O O ) 2
aO D !O RO D 5:9410 3
m=s2 ,
O RO

where we have used the fact that RO D 1:497108 km D 1497108 m. Consequently, the latitude above
which the acceleration due to the motion of the Earth around the Sun is greater than the acceleration of due to
the Earth’s spin about its own axis is
!
2
1 !O RO
D cos 2
D 79:8ı ;
!E RE

where we have used the fact that RO D 1:497108 km D 1497108 m, RE D 6371 km D 6;371;000 m,
and the values of !E and !O in Eqs. (2) and (3), respectively.

Problem 2.246

A jet is flying straight and level at a speed v0 D 1100 km=h when it turns to
change its course by 90ı as shown. The turn is performed by decreasing the
path’s radius of curvature uniformly as a function of the position s along the
path while keeping the normal acceleration constant and equal to 8g, where g is
the acceleration due to gravity. At the end of the turn, the speed of the plane is
vf D 800 km=h. Determine the radius of curvature f at the end of the turn and
the time tf that the plane takes to complete its change in course.

3
3
Solution
Recalling that we are given an D 8g D 78:48 m=s2 (since g D 9:81 m=s2 ), v0 D 1100 km=h D 305:6 m=s,
and vf D 800 km=s D 222:2 m=s, the radii of curvature at the beginning and end of the turn are

v2 vf2
0 D 0 D 1190 m and f D D 629:1 m: (1)
an an
Expressing the value of f to 3 significant figures, we have

f D 629 m:

Next, recalling that we are told that decreases uniformly with the position s
along the airplane’s path, i.e., that d=ds D constant, denoting the constant in
question by , we have that the radius of curvature, expressed as a function of
s must have the following form
3

.s/ D 0 C s; (2)

where, referring to the figure on the right, we have set s D 0 to correspond to the
3
3

location of the airplane along the path at the beginning of the turn, and where
the nondimensional constant will be determined later. Now, we recall that that,
at every point along the airplane’s trajectory, we can define an osculating circle.
Let C.s/ denote the center of the osculating circle corresponding to the position s along the path. Then,
consider the radial segment of length .s/ going from C.s/ to the airplane. In addition, let the orientation of
the segment in question be described by the angle .s/ that the segment forms with the line connecting C.0/
and the airplane when s D 0. Based on how we have defined .s/ we have .0/ D 0, .sf / D .=2/ rad,
and we have that changes with time with an angular velocity we will denote by !, i.e., P D !. Because of
the properties of the osculating circle and because of how we have defined , we must have
v.s/
!.s/ D ; (3)
.s/
where v is the speed of the plane. Then manipulating the above equation, we have
v d d ds d d 1
!D D D Dv ) D : (4)
dt ds dt ds ds
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
Dynamics 1e 311

Separating variables in the last of Eqs. (4) and integrating, we have

.=2/ rad sf
0 C sf

f

ds 1 1
Z Z
d D ) rad D ln ) rad D ln ; (5)
0 0 0 C s 2 0 2 0

which can be solved for to obtain

f

2
D ln D 0:4058: (6)
0
d
Knowing that represents the rate of change of curvature with respect to position ( D ds
) we can take the
v2
derivative with respect to s of the equation an D D 8g to obtain

dv d dv
v 2 D 8g ) 2v D 8g ) v D 4g : (7)
ds ds ds

However, v dv
ds
P Therefore, we have
represents the quantity v.
tf vf
dv dv 1
Z Z
D 4g ) dt D ) tf D .vf v0 /: (8)
dt 0 v0 4g 4g

Using the value of computed in Eq. (6), and recalling that we have g D 9:81 m=s2 , v0 D 1100 km=h D
305:6 m=s, and vf D 800 km=s D 222:2 m=s, we can evaluate the last of Eqs. (8) to obtain

tf D 5:24 s:

Problem 2.247

A car is traveling over a hill with a speed v0 D 160 km=h. Using the
Cartesian coordinate system shown, the hill’s profile is described by the
function y D .0:003 m 1 /x 2 , where x and y are measured in meters. At
x D 100 m, the driver realizes that her speed will cause her to lose contact
with the ground once she reaches the top of the hill at O. Verify that the
driver’s intuition is correct, and determine the minimum constant time rate
of change of the speed such that the car will not lose contact with the ground
at O. Hint: To compute
p the distance p traveled by the car along the car’s path,
observe that ds D dx C dy D 1 C .dy=dx/2 dx and that
2 2

xp 1
Z p p
1 C C 2 x 2 dx D 1 C C 2x2 C ln C x C 1 C C 2 x 2 :
2 2C

Solution
The minimum speed to loose contact with the ground is such that
2
vmin 2
Dg ) vmin D g.0/: (1)

To calculate the radius of curvature at the origin of the coordinate system indicated in the problem’s figure we
use the following equation:
3=2 3=2
1 C .dy=dx/2 1 C .0:006x/2

.x/ D ˇ ˇ ) .0/ D D 166:7 m: (2)
ˇd 2 y=dx 2 ˇ 0:006
Therefore
p
vmin D g D 40:44 m=s: (3)
Since v0 D 160 km=h D 44:44 m=s, we conclude that

the car will loose contact with the ground.

Now we have to find the minimum constant value of vP D ac such that the car does not loose contact. Since
we need to relate a change in speed to a change in position, we can use the constant acceleration equation
v 2 v02 D 2ac .s s0 / with s0 D 0 and vf D vmin , where s is the path coordinate along the profile of the
hill. This gives
2 v2 v02
vmin v02 D 2ac s ) ac D min ; (4)
2sf
where the subscript f stands for final. To evaluate this equation we need to express the path coordinate s in
terms of the Cartesian coordinates x and y. Taking advantage of the hint given in the problem, we can write
Z 0 q p
x 1 p 0
2 2 2 2 2
sf D 1 C . 0:006x/ dx D 1CC x C ln C x C 1 C C x D 105:7 m:
100 2 2C 100
(5)
Using this result in Eq. (4), along with the fact that v0 D 160 km=h D 44:44 m=s and vmin D 40:44 m=s (see
Eq. (3)), we have
ac D 1:61 m=s2 :

Problem 2.248

The mechanism shown is called a swinging block slider crank. First used in various steam locomotive
engines in the 1800s, this mechanism is often found in door-closing systems. Let H D 1:25 m, R D 0:45 m,
and r denote the distance between B and O. Assuming that the speed of B is constant and equal to 5 m=s,
determine r, P r,
P , R and R when D 180ı .

Solution
We start by defining a polar coordinate system with origin at O and radial direction along the segment OB
so that the coordinate r measures the distance from O to B. We take as transverse coordinate, the angle .
Observe that for 0 < < 180ı , r is growing. For D 180ı r achieves its maximum value rmax D R C H ,
and for 180ı < < 360ı , r decreases. Therefore, the rate of change of r for D 180ı must be equal to
zero, i.e.,
ˇ
rP ˇ ı D 0: D180
(1)

In polar coordinates, the velocity of B is expressed as

vEB D rP uO r C r P uO : (2)
Therefore, in view of Eq. (1), for D 180ı , recalling that B is moving counterclockwise with the constant
speed v0 D 5 m=s, we have
v0
vEB ˇD180ı D rmax P ˇD180ı uO D v0 uO ) P ˇD180ı D
ˇ ˇ ˇ
D 2:941 rad=s; (3)
RCH
where we have used the fact that R D 0:45 m and H D 1:25 m. Expressing the above result to 3 significant
figures, we have
P ˇD180ı D 2:94 rad=s:
ˇ

Next we recall that the general expression of the acceleration in polar coordinates is
aEB D .rR r P 2 / uO r C .r R C 2rP /
P uO : (4)
Recalling that for D 180ı , r D R C H , rP D 0 and P takes on the expression in the second of Eqs. (3), we
have that, for D 180ı , Eq. (4) reduces to
v02

uO r C Œ.R C H /R ˇD180ı uO :
ˇ ˇ ˇ
aEB D180ı D rR D180ı
ˇ ˇ (5)
RCH
We now observe that, due to the fact that B is in uniform circular motion along a circle with center at A, the
acceleration of B is always directed toward A and, for D 180ı , we must have
ˇ v02
aEB ˇD180ı D uO r : (6)
R
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
314 Solutions Manual

Setting Eqs. (5) and (6) equal to each other component by component, we have

v02 v02

ˇ ˇ 2 1 1
rR D180ı
ˇ D ) rR D180ı D v0
ˇ ;
RCH R RCH R

and
.R C H /R ˇD180ı D 0:
ˇ
(7)
Recalling that v0 D 5 m=s, R D 0:45 m, and H D 1:25 m, we can then express our results in numerical form
as follows:
40:8 m=s2 and R ˇ
ˇ ˇ
rR ˇ ı D D180 ı D 0: D180

Problem 2.249

The cam is mounted on a shaft that rotates about O with constant angular
velocity !cam . The profile of the cam is described by the function `./ D
R0 .1C0:25 cos3 /, where the angle is measured relative to the segment
OA, which rotates with the cam. Letting R0 D 3 cm, determine the
maximum value of angular velocity !max such that the maximum speed of
the follower is limited to 2 m=s. In addition, compute the smallest angle
min for which the follower achieves it maximum speed.

Solution
Let y denote the position of the follower when in contact with the cam. In addition, let f (where the
subscript f stands for follower) denote the value of that identifies the radial line on the cam that goes from
point O to the follower. Hence, we have that the relation between f and is f D 90ı . Keeping in
mind that yP describes the velocity of the follower, we have
d ` df
y D `.f / D R0 .1 C 0:25 cos3 f / ) yP D : (1)
df dt

Since Pf D P and P D !cam , we have

d` d`
yP D P ) yP D !cam : (2)
df df
d`
Since !cam is constant, yP is maximum when d is maximum. Hence, taking the derivative of `.f / with
f
respect to f , we have
d`
D 0:75R0 cos2 f sin f : (3)
df
d`
To maximize df
, we differential the above quantity again with respect to f and set the result equal to 0.
This gives
d 2`
D 1:5R0 cos f sin2 f 0:75R0 cos3 f D 0 ) cos2 f 2 sin2 f D 0 (4)
df2
) sin f ˇyPmax D 1=3 and cos2 f ˇyPmax D 2=3:
ˇ p ˇ
(5)
Thus, the maximum magnitude of Eq. (3) and the maximum magnitude of Eq. (2) are, respectively,
ˇ ˇ
ˇ d` ˇ R0 ˇyPmax ˇ D !cam R0
ˇ ˇ
ˇ
ˇ d ˇ
ˇ D p and p : (6)
f max 2 3 2 3
Setting jyPmax j D vmax and solving for !cam , we have
p
vmax 2 3
!max D D 231 rad=s:
R0

The minimum angle for which the follower achieves its maximum speed is obtained by recalling that
f D 90ı and that, by the first of Eqs. (5), we have

1
1=3ˇyPmax D 90ı min D 90ı 1
p p ˇ p
sin f D 1=3 ) D sin ) sin 1=3; (7)

where the value of sin 1 1=3 is understood to be limited to the range 0 < sin 1
1=3 < 90ı . Therefore,
p p

the numerical value of min is

min D 54:7ı :

Problem 2.250

A car is traveling at a constant speed v0 D 210 km=h along a circular turn

with radius R D 137 m (the figure is not to scale). The camera at O is
tracking the motion of the car. Letting L D 15 m, determine the camera’s
rotation rate as well as the corresponding time rate of change of the rotation
rate when D 30ı .

Solution

Let r represent the distance from O to the car. From the geometry of the
figure we have

r cos C R cos D R C L; r sin D R sin ; (1)

and
R sin
tan D : (2)
R C L R cos
Recalling that R D 137 m, L D 15 m, when D 30ı from the above
equations we have

D 64:04ı and r D 76:19 m: (3)

Next. referring to the figure on the right, we see that we have defined both
a polar component system with unit vectors uO r and uO , as well as a normal-
tangential component system with unit vectors uO t and uO n . For later use we
now write the equations relating these two component systems. To facilitate
this task, we define to be the angle between uO t and uO r , using the first of
Eqs. (3), for D 30ı , we have

90ı D C ) D 4:037ı : (4)

Hence, going back to writing the relationships between the unit vectors of the polar and normal-tangential
component systems defined, we have

uO t D cos uO r C sin uO uO n D sin uO r cos uO :

Now we observe that the velocity of the car in the .uO t ; uO n / component system is converted to the .uO r ; uO /
component system as
vE D v0 uO t ) vE D v0 . cos uO r C sin uO / : (5)
Then, matching Eq. (5) with the expression of the velocity in polar components, namely, vE D rP uO r C r P uO ,
and recalling that v0 D 210 km=h D 58:33 m=s and using the value of in Eq. (4), for D 30ı , we have
v0 sin
r P D v0 sin P ˇD30ı D
ˇ ˇ
rP ˇD30ı D v0 cos D 58:19 m=s and ) D 0:05390 rad=s:
r
(6)
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
318 Solutions Manual

Expressing P at D 30ı to 3 significant figures, we have

P ˇD30ı D 0:0539 rad=s:

Next, the acceleration of the car in the .uO t ; uO n / component system is converted to the .uO r ; uO / component
system as
v2 v2
aE D 0 uO n ) aE D 0 . sin uO r cos uO / : (7)
R R
Matching the expression in the radial component of acceleration in the second of Eqs. (7) with the general
expression for the radial component of acceleration in polar coordinates, namely, a D r R C 2rP , P we have

2 2
v 1 v
r R C 2rP P D 0
cos ) R D 0
cos C 2rP P :
R r R

Hence, recalling that v0 D 210 km=h D 58:33 m=s and R D 137 m, and that for D 30ı we have r is given
by the second of Eqs. (3), is given by the second of Eqs. (4), and using Eqs. (6), for D 30ı , we have

R ˇD30ı D 0:243 rad=s2 :

Problems 2.251 through 2.253

A fountain has a spout that can rotate about O and whose angle ˇ is controlled so as to vary with time
according to ˇ D ˇ0 Œ1 C sin2 .!t /, with ˇ0 D 15ı and ! D 0:4 rad=s. The length of the spout is
L D 1:5 ft, the water flow through the spout is constant, and the water is ejected at a speed v0 D 6 ft=s,
measured relative to the spout.

Problem 2.251 Determine the largest speed with which the water particles are released from the spout.

Problem 2.252 Determine the magnitude of the acceleration immediately before release when ˇ D
15ı .

Problem 2.253 Determine the highest position reached by the resulting water arc.

Solution to 2.251
We define a polar coordinate system with origin at O and transverse coordinate coinciding with ˇ. The
expression of the velocity of the water particles as they leave the spout is given by
q
P
vE D rP uO r C Lˇ uO ˇ ) v D rP 2 C .Lˇ/ P 2: (1)

where, based on the problem statement

rP D v0 D 6 ft=s and ˇP D 2ˇ0 ! sin !t cos !t D ˇ0 ! sin.2!t /; (2)

where we have used the trigonometric identity 2 sin x cos x D sin.2x/. Substituting Eqs. (2) into the last of
Eqs. (1) we obtain the following expression for the speed:
q
v D v02 C ŒLˇ0 ! sin.2!t /2 : (3)

From the above expression, recalling that v0 , ˇ0 , and ! are constant, we se that v is maximum when sin.2!t /
is maximum. Since the sine function has maximum value equal to 1, we have

q
vmax D v02 C L2 ˇ02 ! 2 D 6:02 ft=s;

where we have used the following numerical data: v0 D 6 ft=s, L D 1:5 ft, ˇ0 D 15ı , and ! D 0:4 rad=s.

Solution to 2.252
We define a polar coordinate system with origin at O and transverse coordinate coinciding with ˇ. The
expression of the acceleration of in polar coordinates is

aE D .rR r ˇP 2 / uO r C .r ˇR C 2rP ˇ/
P uO ˇ : (4)

Now, recalling that v0 is constant, when the water particles leave the spout we have

r D L; rP D v0 ; rR D 0; ˇP D 2ˇ0 ! sin !t cos !t D ˇ0 ! sin.2!t /; and ˇR D 2! 2 ˇ0 cos.2!t /; (5)

where we have used the trigonometric identity 2 sin x cos x D sin.2x/. Now, we observe that ˇ0 D 15ı and
therefore for ˇ D 15ı , we must have ˇ D ˇ0 and sin.!t / D 0, which implies t D 0. Hence, for ˇ D 15ı ,
we have
r D L; rP D v0 ; rR D 0; ˇP D 0; and ˇR D 2! 2 ˇ0 ; (6)
so that, for ˇ D 15ı , the acceleration takes on the form

aE D 2L! 2 ˇ0 uO ˇ : (7)

Consequently, for ˇ D 15ı , we have

aj D 2L! 2 ˇ0 D 1:24 ft=s2 ;

where we have used the following numerical data: L D 1:5 ft, ˇ0 D 15ı , and ! D 0:4 rad=s.

Solution to 2.253

Referring to the figure on the right, in the solution of this

problem we will use two coordinate systems. The first is
a polar coordinate system with origin at O and transverse
coordinate ˇ. Let ˇN be the value of ˇ corresponding to
the trajectory of water jet achieving the maximum height.
Then the second is a fixed Cartesian coordinate system with
origin coinciding with the position of the mouth of the spout
corresponding to ˇ. N Letting v denote the speed of the water
particles at the spout’s mouth, then the velocity of the water
particles at the spout’s mouth is
vE D v.cos ˇ {O C sin ˇ |O/: (8)
Once the water particles leave the spout their motion is a projectile motion and the trajectory with the
maximum height is determined both by the vertical component of the speed, i.e,

vy D v sin ˇ; (9)

and the vertical position of mouth of the water spout.

To derive an expression for the speed v of the water particles as they leave the spout, we use the chosen
polar coordinate system, for which the velocity at the mouth of the spout is expressed as
q
vE D rP uO r C LˇP uO ˇ ) v D rP 2 C .Lˇ/ P 2: (10)

where, based on the problem statement

rP D v0 D 6 ft=s and ˇP D 2ˇ0 ! sin !t cos !t D ˇ0 ! sin.2!t /; (11)

where we have used the trigonometric identity 2 sin x cos x D sin.2x/. Substituting Eqs. (2) into the last of
Eqs. (10) we obtain the following expression for the speed:
q
v D v02 C ŒLˇ0 ! sin.2!t /2 : (12)

Consequently, the vertical component of velocity at the spout is

q
vy D v02 C ŒLˇ0 ! sin.2!t /2 sin ˇ0 .1 C sin2 !t / :

(13)

Now let h D h1 C h2 where h1 is height of the mouth of the spout with respect to the base of the spout, and
where h2 is the maximum elevation of the water jet measured from the horizontal line going through the
mouth of the spout. Hence, for h1 we have

h1 D L sin ˇ D L sin ˇ0 .1 C sin2 !t / :

(14)

By contrast, h2 is found using the constant acceleration equation v 2 D v02 C 2a.s s0 / in the vertical
direction. Recalling that for y D h2 vy D 0, we have

2
q
2 2

0D v0 C ŒLˇ0 ! sin.2!t /2 sin ˇ0 .1 C sin !t / 2gh2 ;

which can be solved for h2 to obtain

1 n 2 o
v0 C ŒLˇ0 ! sin.2!t /2 sin2 ˇ0 .1 C sin2 !t / :

h2 D (15)
2g
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
322 Solutions Manual

Consequently, the expression for the height of the water jet as a function of time is
1 n 2 o
h D L sin ˇ0 .1 C sin2 !t / C v0 C ŒLˇ0 ! sin.2!t /2 sin2 ˇ0 .1 C sin2 !t / :

(16)
2g

This function needs to be maximized. This can be done by differentiating h with respect to time and setting
the result equal to zero. Doing so, after simplification, yields the following equation:

ˇ0 ! n
sin.2!t / 2Lg cos ˇ0 .1 C sin2 !t / C 2Lˇ0 cos.2!t / sin2 ˇ0 .1 C sin2 !t /

2g
o
C Œv02 C L2 ˇ02 C ! 2 sin2 .2!t / sin 2ˇ0 .1 C sin2 !t / D 0 (17)

Recalling that we have L D 1:5 ft, ˇ0 D 15ı , ! D 0:4 rad=s, and g D 32:2 ft=s2 , and although this may
require plotting the terms within braces as a function of time, it turns out that the term within braces can
never be equal to zero. Hence, the solution of the above equation reduces to the solution of the equation
n n
sin.2!t / D 0 ) t D0˙ and tD ˙ ; with n D 0; 1; 2; : : : (18)
! 2! !

Since the function ˇ D ˇ0 .1 C sin2 !t / is at a maximum for t D 2! ˙ n! the function h will also achieve
n
its maxima for t D 2! ˙ ! . In addition, since the function h is a periodic function with period ! , the values
n
of h for t D 2! ˙ ! are all identical to one another and we can therefore evaluate hmax by simply letting

t D 2! , i.e., for n D 0. Hence, recalling that L D 1:5 ft, ˇ0 D 15ı , ! D 0:4 rad=s, and g D 32:2 ft=s2 ,

for t D 2! D 1:250 s, we can evaluate h in Eq. (16) to obtain

hmax D 0:890 ft:

Problem 2.254

A plane is initially flying north with a speed v0 D 430 mph relative to the ground
while the wind has a constant speed vW D 12 mph in the north-south direction.
The plane performs a circular turn with radius of D 0:45 mi. Assume that the
airspeed indicator on the plane measures the absolute value of the component
of the relative velocity of the plane with respect to the air in the direction of
motion. Then determine the value of the tangential component of the airplane’s
acceleration when the airplane is halfway through the turn, assuming that the
airplane maintains constant the reading of the airspeed indicator.

3
3
Solution

Let the subscripts P and W denote quantities pertaining to the airplane and wind,
respectively. Then, referring to the figure on the the right and using a normal
tangential component system, the velocity of the airplane and wind are
vEP D vP uO t and vEW D vW . cos uO t C sin uO n /: (1)
Therefore the velocity of the airplane relative to the wind is
vEP =W D .vP C vW cos / uO t vW sin uO n : (2)
Now we recall that that the quantity measured by the airspeed indicator is the component of vEP =W that is in
the direction of motion, i.e.,
vai D jE
vP =A uO t j D vP C vW cos ;
where the subscript ‘ai’ stands for airspeed indicator. Now, recalling that the measure of in radians is given
by D s=, we can rewrite vai as follows:
s
vai D vP C vW cos : (3)

Observing that for D 0 we have vr D v0 C vW and recalling that vai is maintained constant along the turn,
we can solve Eq. (3) for vP as a function of s to obtain

s
vP .s/ D v0 C vW 1 cos : (4)

The tangential component of acceleration is the time derivative of Eq. (4). Hence, we can write

dvP ds dvP s vW s
at D D vP ) a t D v0 C vW 1 cos sin : (5)
ds dt ds
p
For s= D .=4/ rad, we have sin.s=/ D cos.s=/ D 2=2. Therefore, midway through the turn, we have
" p !# p
2 vW 2
a t D v0 C vW 1 : (6)
2 2

Recalling that v0 D 430 mph D 630:7 ft=s, vW D 12 mph D 17:60 ft=s, and D 0:45 mi D 2376 ft, we can
evaluate the above expression to obtain

a t D 3:33 ft=s2 :

Problem 2.255

The piston head at C is constrained to move along the y axis. Let the crank
AB be rotating counterclockwise at a constant angular speed P D 2000 rpm,
R D 3:5 in:, and L D 5:3 in: Obtain the angular velocity of the connecting rod BC
by differentiating the relative position vector of C with respect to B when D 35ı .
Hint: You will also need to determine the velocity of B and enforce the constraint
that demands that C move only along the y axis.

Solution
Referring to the figure on the right, the can describe the position of C relative to B
as follows:
rEC =B D L uO C =B : (1)
Then, using the concept of time derivative of a vector, we have that
vEC =B D L uPO C =B D L!EBC uO C =B ; (2)
where the angular velocity !EBC , which is the angular velocity of the vector rEC =B , is
the angular velocity of the connecting rod. Next, again referring to the figure on the
right, we must have
!EBC D P kO and uO C =B D sin {O C cos |O: (3)
Substituting Eqs. (3) into Eq. (2) and carrying out the cross-product, we have
vEC =B D L uOP C =B D L.cos
P {O sin |O/: (4)
To enforce the condition that C can only move only in the y direction, we must compute the velocity of B
and then apply the relative kinematics equation vEC D vEB C vEC =B . Since B is in uniform circular motion
along a circle of radius R and center A, we have
vEB D P R.cos {O C sin |O/: (5)
Therefore, combining Eqs. (5) and Eq. (3), we have
vEC D vEB C vEC =B D .LP cos P R cos / {O .LP sin C P R sin / |O: (6)
Since vC x D 0, we have
R cos P R cos P O
LP cos P R cos D 0
P D ) !EBC D) k; (7)
L cos L cos
where we have used the definition in the first of Eqs. (3). In order to complete our calculation, we need to
determine the angle . Using trigonometry, we see that
L sin D R sin ) D sin 1 Œ.R=L/ sin ) ˇ ı
ˇ
ı D 22:26 ; (8) D35
where we have used the fact that R D 3:5 in: and L D 5:3 in:. Hence, evaluating the last of Eqs. (7) using the
value of in Eq. (8) and recalling that P D 2000 rpm, for D 35ı we have

O
!EBC D . 1170 rpm/ k:

Problem 2.256

A child A is swinging from a swing that is attached to a trolley that is free to

move along a fixed rail. Letting L D 3:2 m, if at a given instant aB D 3:4 m=s2 ,
D 23ı , P D 0:45 rad=s, and R D 0:2 rad=s2 , determine the magnitude of the
acceleration of the child relative to the rail at that instant.

Solution
The acceleration of A relative to B is most easily described by setting up a polar coordinate system with
origin at B, radial coordinate r going from B to A, and transverse coordinate . Recalling that the expression
of the angular acceleration in polar coordinates is aE D .rR r P 2 / uO r D .r R C 2rP P / uO and observing that the
length of the rope is constant so that r D L, we have

aEA=B D LP 2 uO r C LR uO ; (1)

The acceleration of the trolley can be described using the chosen component system as follows:

aEB D aB .sin uO r C cos uO /: (2)

Hence, using relative kinematics, the acceleration of A relative to the fixed rail is

aEA D aB sin LP 2 uO r C aB cos C LR uO :

(3)

Consequently, we have q
2 2
jE
aA j D aB sin LP 2 C aB cos C LR : (4)

Recalling that L D 3:2 m, aB D 3:4 m=s2 , D 23ı , P D 0:45 rad=s, and R D 0:2 rad=s2 , we can evaluate
the above expression to obtain
aA j D 2:58 m=s2 :
jE

Problem 2.257

Block B is released from rest at the position shown, and it has a

constant acceleration downward a0 D 5:7 ft=s2 . Determine the
velocity and acceleration of block A at the instant that B touches
the floor.

Solution
Note: The units of the given quantity a0 are incorrect. The given value of a0 should be a0 D 5:7 m=s2 .
The length of the rope is
q
LD d 2 C yA2 C yB : (1)

For t D 0, we have that yA .0/ D l w. Letting tf represent the time at the

final position, the length of the rope at the initial and final positions is
q q
L D d 2 C yA2 .0/ C yB .0/ and L D d 2 C yA2 .tf / C yB .tf /: (2)

Subtracting these two equations and rearranging terms, we have

q q
d 2 C yA2 .tf / D d 2 C yA2 .0/ ŒyB .tf / yB .0/ D 0: (3)

Since yB .tf / yB .0/ D h, squaring both sides of the above equation we

obtain q
d 2 C yA2 .tf / D d 2 C yA2 .0/ 2h d 2 C yA2 .0/ C h2 : (4)
Solving the above equation for yA , we have
r q
yA .tf / D yA2 .0/ C h2 2h d 2 C yA2 .0/ D 0:1864 m; (5)

where we have used the following numerical data: yA .0/ D l w D 0:25 m, h D 2 m, and d D 2:5 m.
Next, differentiating Eq. (1) with respect to time and solving for yPA , we have
yA yPA yPB
q
0D q C yPB ) yPA D d 2 C yA2 : (6)
2
d C yA 2 y A

Now, we wse the constant acceleration equation sP 2 D sP02 C 2ac .s s0 / to find yPB after B has traveled a
distance h. This gives p
yPB2 D 2aB h ) yPB D 2aB h D 4:775 m=s; (7)
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
Dynamics 1e 327

where we have used the fact that aB D a0 D 5:7 m=s2 and h D 2 m. Then, evaluating the last of Eqs. (6), the
velocity of A when B hits the ground is

yPA .tf / D 64:22 m=s; (8)

which, when expressed to 3 significant figures, gives

yPA .tf / D 64:2 m=s:

Now we differentiate Eq. (6) with respect to time to obtain

yRB yPB yPA yPB yPA

q q
yRA D d 2 C yA2 C 2
d 2 C yA2 q :
yA yA d2 C yA2

Recalling that d D 2:5 m and yRB D a0 D 5:7 m=s2 , and since we determined that yPA .tf / D 4:775 m=s and
yPB .tf / D 64:22 m=s, we can evaluate the above expression for when B hits the ground to obtain

yRA .tf / D 22;100 m=s2 :

Problem 2.258

At a given instant, an airplane is flying horizontally with speed v0 D

290 mph and acceleration a0 D 12 ft=s2 . At the same time, the airplane’s
propellers rotate at an angular speed ! D 1500 rpm while accelerating
at a rate ˛ D 0:3 rad=s2 . Knowing that propeller diameter is d D 14 ft,
determine the magnitude of the acceleration of a point on the periphery
of the propellers at the given instant.

Solution
Using a cylindrical coordinate system with origin at the propeller’s axis of rotation and ´ axis in the direction
of motion, the general expression for acceleration is

aE D RR RP 2 uO R C RR C 2RP P uO C Ŕ uO ´ :

For the propeller tip we have R D d=2, RP D RR D 0, Ŕ D a0 , P D !, and R D ˛. Thus the acceleration is

d! 2 d˛
aE D uO R C uO C a0 uO ´ ;
2 2
and the magnitude of the acceleration is

s
2 2
d! 2

d˛
C a02 D 173;000 ft=s2 :
ˇ ˇ
ˇaE ˇ D C
2 2

Problem 2.259

A golfer chips the ball as shown. Treating ˛, ˇ, and the initial speed v0 as
given, find an expression for the radius of curvature of the ball’s trajectory as a
function of time and the given parameters. Hint: Use the Cartesian coordinate
system shown to determine the acceleration and the velocity of the ball. Then
reexpress these quantities, using normal-tangential components.

Solution
This is 3-D projectile motion. we will follow the hint and develop equations both in Cartersian components
as well as in normal-tangetial components. In Cartesian coordinates the components of acceleration are

xR D 0; yR D 0; and Ŕ D g:
O and .uO t ; uO n ; uO b / compo-
Using constant acceleration equations, the velocity vector expressed in the .O{ ; |O; k/
nent systems are

vE D v0 cos ˇ cos ˛ {O C v0 cos ˇ sin ˛ |O C .v0 sin ˇ O

gt / k;
vE D v uO t ;

where, v is the speed, which can be given the form

q q
v D vx2 C vy2 C v´2 ) v D v02 C g 2 t 2 2v0 gt sin ˇ; (1)

and where the tangent unit vector uO t can be related to the base vectors of the Cartesian component system as
follows:
v0 cos ˇ cos ˛ v0 cos ˇ sin ˛ v0 sin ˇ gt O
uO t D {O C |O C k: (2)
v v v
To express the acceleration in normal-tangetial component, we will need an expression for the time derivative
of the speed. Hence, we proceed to provide differentiate v with respect to time, to obtain

g 2 t v0 g sin ˇ g
vP D q D gt v0 sin ˇ : (3)
v02 C g 2 t 2 2v0 gt sin ˇ v

O and .uO t ; uO n ; uO b / component systems are

The acceleration vector expressed in the .O{ ; |O; k/

v2 O
aE D vP uO t C uO n and aE D g k:

Equating the above expressions for the acceleration, we obtain an expression for the normal unit vector

vP uO t C g kO :

uO n D (4)
v2
Using Eq. (3) we can rewrite Eq. (4) as follows:

g 1 O
uO n D 2 .gt v0 sin ˇ/ uO t C k :
v v
This solutions manual, in any print or electronic form, remains the property of McGraw-Hill, Inc. It may be used and/or possessed only by permission November 2, 2009
of McGraw-Hill, and must be surrendered upon request of McGraw-Hill. Any duplication or distribution, either in print or electronic form, without the
permission of McGraw-Hill, is prohibited.
330 Solutions Manual

Now, recalling that we must have uO n uO n D 1, we obtain the following equation:

2 g 2

1 2 2 O
1 D 4 1 C 2 .gt v0 sin ˇ/ C .gt v0 sin ˇ/ k uO t : (5)
v v v

Observe that the last term on the right-hand side of Eq. (5) requires the computation of the product kO uO t .
This computation can be done by using Eq. (2), which shows that kO uO t D v0 sinvˇ gt . Consequently, Eq. (5)
becomes
2 g 2 2 g 2 2

1 2 2 2
.gt v0 sin ˇ/2 :

1 D 4 1 C 2 .gt v0 sin ˇ/ 2
.gt v 0 sin ˇ/ D 6
v (6)
v v v v

Keeping in mind that, in the end, the above expression is to be solved for , the term v 2 .gt v0 sin ˇ/2
can be simplified using Eq. (1) and the trigonometric identity cos2 D 1 sin2 as follows:

v2 .gt v0 sin ˇ/2 D v 2 g 2 t 2 C 2gt v0 sin ˇ v02 sin2 ˇ D v02 v02 sin2 ˇ
D v02 .1 sin2 ˇ/ D v02 cos2 ˇ: (7)

This result, allows to rewrite Eq. (6) as follows:

2 g 2 2
1D v cos2 ˇ: (8)
v6 0
Solving Eq. (6) for , we have
v3
D : (9)
gv0 cos ˇ
Finally, substituting the expression for v in Eq. (1), we have

.v02 C g 2 t 2 2v0 gt sin ˇ/3=2

D :
gv0 cos ˇ

Problem 2.260

A carnival ride called the octopus consists of eight arms that rotate about the ´ axis with a constant angular
velocity P D 6 rpm. The arms have a length L D 8 m and form an angle with the ´ axis. Assuming that
varies with time as .t / D 0 C 1 sin !t with 0 D 70:5ı , 1 D 25:5ı , and ! D 1 rad=s, determine
the magnitude of the acceleration of the outer end of an arm when achieves its minimum value.

Solution

Using a spherical coordinate system the components of acceleration of a point C at the end
of an arm with constant length L are

ar D L12 ! 2 cos2 !t LP 2 sin2 .0 C 1 sin !t /; (1)

a D L! 2 1 sin !t LP 2 sin.0 C 1 sin !t / cos.0 C 1 sin !t /; (2)
a D 2L1 ! P cos !t cos.0 C 1 sin !t /: (3)

To determine the minimum value of phi re call that D 0 C !1 sin !t. Because the iminum of the sine
function is equal to 1, then the minimum value of is

min D 0 1 D 45ı D 41 rad: (4)

In addition, we observe that such a minimum value occurs when

!t ˇmin D 270ı D 23 rad:

ˇ
(5)

Evaluating the acceleration components for D min D 0 1 and !t D 32 rad, we have

1 P2 1 P2
a D L ! 2 1

ar D 2 L ; 2 ; and a D 0: (6)
q
Consequently, the magnitude of the acceleration is for D min , we have jE ajmin D ar2 C a2 C a2 , which
gives
q
1 P4 4 2 ! 2 P 2 1 D 2:53 m=s2 ;
ˇ ˇ
ˇaE ˇ D
min
L 2 C ! 1

where we have used the following numerical data: L D 8 m, P D 6 rpm D 0:6283 rad=s, ! D 1 rad=s, and
1 D 25:5ı D 0:4451 rad.

Full File at Https://testbanku - eu/Solution-Manual-for-Engineering-Mechanics-Dynamics-2nd-Edition-by-Tongue
100% (1)
Full File at Https://testbanku - eu/Solution-Manual-for-Engineering-Mechanics-Dynamics-2nd-Edition-by-Tongue
273 pages
Engineering Mechanics: Statics: Solutions Manual
No ratings yet
Engineering Mechanics: Statics: Solutions Manual
122 pages
Engineering Mechanics: Statics: Solutions Manual
No ratings yet
Engineering Mechanics: Statics: Solutions Manual
105 pages
CH 09
100% (2)
CH 09
114 pages
Hibbeler Dynamics ISM Ch17
No ratings yet
Hibbeler Dynamics ISM Ch17
61 pages
Statics 2e Solns Ch01
100% (5)
Statics 2e Solns Ch01
36 pages
Engineering Mechanics Statics and Dynamics 2nd Edition Plesha Solutions Manual Download
100% (22)
Engineering Mechanics Statics and Dynamics 2nd Edition Plesha Solutions Manual Download
144 pages
Dynamics Chapter 5
50% (2)
Dynamics Chapter 5
108 pages
Pytel Answerkey
No ratings yet
Pytel Answerkey
296 pages
Solutions Manual Engineering Mechanics Statics Dynamics 2nd Edition Plesha
No ratings yet
Solutions Manual Engineering Mechanics Statics Dynamics 2nd Edition Plesha
46 pages
Solucionario Riley Dynamics PDF
100% (1)
Solucionario Riley Dynamics PDF
253 pages
Force Analysis in Frames and Machines
No ratings yet
Force Analysis in Frames and Machines
18 pages
Answers To Selected Even-Numbered Problems: Engineering Mechanics: Statics 1e Plesha, Gray, Costanzo
No ratings yet
Answers To Selected Even-Numbered Problems: Engineering Mechanics: Statics 1e Plesha, Gray, Costanzo
18 pages
Ebook (ISE) Engineering Mechanics Dynamics 3e Gary L. Gray, Francesco Costanzo, Robert J. Witt, Michael E. Ple
No ratings yet
Ebook (ISE) Engineering Mechanics Dynamics 3e Gary L. Gray, Francesco Costanzo, Robert J. Witt, Michael E. Ple
35 pages
Hinge Force Calculations in Mechanics
No ratings yet
Hinge Force Calculations in Mechanics
6 pages
Solutions 10
100% (1)
Solutions 10
12 pages
Riley Sturges Statics 2nd CH
No ratings yet
Riley Sturges Statics 2nd CH
654 pages
Chapter 9, Solution 1
No ratings yet
Chapter 9, Solution 1
290 pages
HW 02
100% (1)
HW 02
12 pages
William F. Riley, Leroy D. Sturges - Intructor's Solutions Manual For Engineering Mechanics - Statics-Wiley (1996) PDF
No ratings yet
William F. Riley, Leroy D. Sturges - Intructor's Solutions Manual For Engineering Mechanics - Statics-Wiley (1996) PDF
1,163 pages
Chapter 16 PDF
60% (5)
Chapter 16 PDF
212 pages
Continuum Mechanics For Engineers Third (3rd) &amp 4th Edition Thomas Mase Solution Manual PDF
No ratings yet
Continuum Mechanics For Engineers Third (3rd) &amp 4th Edition Thomas Mase Solution Manual PDF
10 pages
Handout (1) Minggu 03 - Normal Dan Polar Examples and Problem Set
No ratings yet
Handout (1) Minggu 03 - Normal Dan Polar Examples and Problem Set
18 pages
Chapter 5
No ratings yet
Chapter 5
71 pages
Engineering Mechanics: Statics: Solutions Manual
No ratings yet
Engineering Mechanics: Statics: Solutions Manual
123 pages
Planar Kinematics of A Rigid Body
No ratings yet
Planar Kinematics of A Rigid Body
57 pages
히블러 동역학 cp16
No ratings yet
히블러 동역학 cp16
153 pages
Solution Manual of Dynamics
80% (5)
Solution Manual of Dynamics
54 pages
Chapter 17
67% (9)
Chapter 17
195 pages
Rigid Body Mechanics for Engineers
No ratings yet
Rigid Body Mechanics for Engineers
67 pages
Ch2 Solutions
100% (2)
Ch2 Solutions
313 pages
Solutions Manual For Mechanics and Thermodynamics
83% (24)
Solutions Manual For Mechanics and Thermodynamics
112 pages
Elementary Mechanics and Thermodynamics SOLUTIONS MANUAL - J. Norbury PDF
No ratings yet
Elementary Mechanics and Thermodynamics SOLUTIONS MANUAL - J. Norbury PDF
112 pages
Phys11 SM 01 rpg1
No ratings yet
Phys11 SM 01 rpg1
15 pages
Equation 1: V = Equation 2: A = Equation 3: V = Equation 4: V = V + Aδt Equation 5: Δx = V Δt+ A (Δt) Equation 6: V = V + 2Aδd
No ratings yet
Equation 1: V = Equation 2: A = Equation 3: V = Equation 4: V = V + Aδt Equation 5: Δx = V Δt+ A (Δt) Equation 6: V = V + 2Aδd
7 pages
Physics Problem Solving Guide
No ratings yet
Physics Problem Solving Guide
34 pages
Motion Concepts and Equations Explained
No ratings yet
Motion Concepts and Equations Explained
47 pages
Solution Manual For Fundamentals of Physics Extended - 9th Edition by David Halliday
No ratings yet
Solution Manual For Fundamentals of Physics Extended - 9th Edition by David Halliday
37 pages
Machine Problem 1
No ratings yet
Machine Problem 1
7 pages
Engr240HW1 PDF
No ratings yet
Engr240HW1 PDF
9 pages
Full File at Https://testbanku - eu/Solution-Manual-for-Engineering-Mechanics-Dynamics-1st-Edition-by-Soutas-Little
No ratings yet
Full File at Https://testbanku - eu/Solution-Manual-for-Engineering-Mechanics-Dynamics-1st-Edition-by-Soutas-Little
88 pages
02 Kinematics
No ratings yet
02 Kinematics
17 pages
Straight Line Motion Homework Answers
100% (1)
Straight Line Motion Homework Answers
7 pages
Kinematics: Velocity and Acceleration Guide
No ratings yet
Kinematics: Velocity and Acceleration Guide
15 pages
Linear Acceleration Exam Solutions Guide
No ratings yet
Linear Acceleration Exam Solutions Guide
45 pages
NCERT - 7-MOTION IN A STRAIGHT LINE (Notes)
No ratings yet
NCERT - 7-MOTION IN A STRAIGHT LINE (Notes)
37 pages
PH 103 Fall 2008:, Second Week: Motion in One Dimension
No ratings yet
PH 103 Fall 2008:, Second Week: Motion in One Dimension
6 pages
Dynamics
No ratings yet
Dynamics
38 pages
MET 304 Engineering Analysis
No ratings yet
MET 304 Engineering Analysis
31 pages
Physics Numerical Problems
No ratings yet
Physics Numerical Problems
3 pages
Equations of Motion for Constant Acceleration
No ratings yet
Equations of Motion for Constant Acceleration
5 pages
Solution: Kinematics: For Stage (1) Motion
No ratings yet
Solution: Kinematics: For Stage (1) Motion
12 pages
Phys11 1 5
No ratings yet
Phys11 1 5
4 pages
Solution Manual For College Physics 10th Edition by Young ISBN 0321902785 9780321902788
100% (74)
Solution Manual For College Physics 10th Edition by Young ISBN 0321902785 9780321902788
36 pages
Solucionario Capitulos 1 & 2 Ing. Mecanica - Dinamica, Robert Soutas Little
100% (2)
Solucionario Capitulos 1 & 2 Ing. Mecanica - Dinamica, Robert Soutas Little
211 pages
3.text Solutions PDF
No ratings yet
3.text Solutions PDF
31 pages
Motion in A Straight Line - JEE
No ratings yet
Motion in A Straight Line - JEE
43 pages
Examples/Notes: Uniform Rectilinear Motion: V S T S V SB
No ratings yet
Examples/Notes: Uniform Rectilinear Motion: V S T S V SB
58 pages
Dyna Project
0% (3)
Dyna Project
58 pages
Eo 18
No ratings yet
Eo 18
15 pages
5) Islamic Studies - 11
No ratings yet
5) Islamic Studies - 11
4 pages
Class - Xii Half Yearly Syllabus 2025-26
No ratings yet
Class - Xii Half Yearly Syllabus 2025-26
4 pages
Carrot Chips
100% (1)
Carrot Chips
4 pages
(Ebook) Understanding Strategic Management by Henry, Anthony E. ISBN 9780199662470, 0199662479 Digital Version 2025
No ratings yet
(Ebook) Understanding Strategic Management by Henry, Anthony E. ISBN 9780199662470, 0199662479 Digital Version 2025
119 pages
Andri M. Gretarsson - A First Course in Laboratory Optics-Cambridge University Press (2021)
100% (3)
Andri M. Gretarsson - A First Course in Laboratory Optics-Cambridge University Press (2021)
229 pages
Keycloak Wazuh SSO Using SAML 1726783305
No ratings yet
Keycloak Wazuh SSO Using SAML 1726783305
10 pages
Prince Singh - Resume 2024
No ratings yet
Prince Singh - Resume 2024
1 page
Unit-II Elements of Market Promotion Mix
No ratings yet
Unit-II Elements of Market Promotion Mix
34 pages
Deities of Africa and Australia
No ratings yet
Deities of Africa and Australia
9 pages
Bachelor in Applied History - Year I - Communicative English and Computer Basics
No ratings yet
Bachelor in Applied History - Year I - Communicative English and Computer Basics
5 pages
Observing Checklist
No ratings yet
Observing Checklist
18 pages
Nursing and Doctor Staff Listings
No ratings yet
Nursing and Doctor Staff Listings
9 pages
Bus Arrangement-Double Main Cum Transfer
No ratings yet
Bus Arrangement-Double Main Cum Transfer
3 pages
High Low Impedance BusBar Protection
100% (1)
High Low Impedance BusBar Protection
92 pages
Consumers Perceptions of Coffee Health Benefits A
No ratings yet
Consumers Perceptions of Coffee Health Benefits A
21 pages
Questions For Reflection and Application
No ratings yet
Questions For Reflection and Application
7 pages
ICSE Class 10 Geography Map Guidelines
No ratings yet
ICSE Class 10 Geography Map Guidelines
17 pages
Annotated Bibliography
No ratings yet
Annotated Bibliography
3 pages
Operational Information System
0% (1)
Operational Information System
19 pages
Module 5 - Introduction-to-Pentium-Processor
No ratings yet
Module 5 - Introduction-to-Pentium-Processor
15 pages
PD Merchant Acquiring Services
No ratings yet
PD Merchant Acquiring Services
69 pages
Gettier Problem in Epistemology Explained
No ratings yet
Gettier Problem in Epistemology Explained
34 pages
Corporate Finance Institute - Financial-Modeling-Guidelines
No ratings yet
Corporate Finance Institute - Financial-Modeling-Guidelines
95 pages
Anachrony Board Game Guide
No ratings yet
Anachrony Board Game Guide
19 pages
Screenshot 2025-03-19 at 6.40.03 PM
No ratings yet
Screenshot 2025-03-19 at 6.40.03 PM
386 pages
Algorithm and Hardware Implementation For Visual Perception System in Autonomous Vehicle
No ratings yet
Algorithm and Hardware Implementation For Visual Perception System in Autonomous Vehicle
9 pages
Academic Transcript
No ratings yet
Academic Transcript
3 pages
Goddey Final Project NDA
No ratings yet
Goddey Final Project NDA
53 pages
Traumatic Injury
No ratings yet
Traumatic Injury
3 pages

Engineering Mechanics 1st Edition Plesha Solution Manual (PDFDrive)

Uploaded by

Engineering Mechanics 1st Edition Plesha Solution Manual (PDFDrive)

Uploaded by

Solutions Manual

Engineering Mechanics: Dynamics

With the assistance of:

Version: November 2, 2009

The McGraw-Hill Companies, Inc.

Important Information about

Contact the Authors

We welcome your input.

Accuracy of Numbers in Calculations

r1 D r.3:7 s/ r.2:1 s/ D 8:75 m: (1)

Similarly, the displacement between 11:1 s and 12:7 s is

r2 D r.12:7 s/ r.11:1 s/ D 13:7 m: (2)

Problems 2.2 and 2.3

The position of the car relative to the coordinate system shown is

rE.t / D Œ.5:98t 2 C 0:139t 3 0:0149t 4 / {O C .0:523t 2 C 0:0122t 3 0:00131t 4 / |O ft:

vE.15 s/ D .72:1 {O C 6:24 |O/ ft=s:

aE .15 s/ D . 15:8 {O 1:39 |O/ ft=s2 :

vEavg .0 s; 2 s/ D .12:40 {O C 1:084 |O/ ft=s: (4)

Evaluating the above expression for t D 1 s, we have

vE.1 s/ D .12:32 {O C 1:077/ ft=s: (6)

therefore, using the results in Eqs. (4) and (6), we have

vEavg .0 s; 2 s/ vE.1 s/ D .0:0800 {O C 0:00700 |O/ ft=s

Similarly for 8  t  10, we have

vEavg .8 s; 10 s/ D .97:57 {O C 8:524 |O/ ft=s: (7)

vEavg .8 s; 10 s/ vE.9 s/ D . 0:400 {O 0:0350 |O/ ft=s:

If vEavg is the average velocity of a point P over a given time interval, is jE

A car is seen parked in a given parking space at 8:00 A . M . on a Monday

Let rE D Œt {O C .2 C 3t C 2t 2 / |O m describe the motion of the point

rE.t / D x.t / {O C y.t / |O; (1)

Solving the first of Eqs. (2) with respect to time, we have

Let rE D Œt {O C .2 C 3t C 2t 2 / |O ft describe the motion of a point P

vE D Œ1:000 {O C .3:000 C 4:000t / |O ft=s: (1)

The acceleration vector is the time derivative of the velocity vector:

aE D .4:000 ft=s2 / |O: (2)

Is it possible for the vector vE shown to represent the velocity of the

Is it possible for the vector aE shown to be the acceleration of the point

Problems 2.10 and 2.11

The motionpof a point P with respect

Problem 2.10 Determine P ’s displacement between times t1 D 4 s and t2 D 6 s.

Problem 2.11 Determine P ’s average acceleration between times t1 D 4 s and

The displacement is the change in position of P from t1 to t2 and is given by

The velocities of P at t1 D 4 s and t2 D 6 s are given by

vE.t1 / D .0:5000 {O C 16:80 |O/ ft=s; (5)

The motion of a stone thrown into a pond is described by

rE.t/ D 1:5 0:3e 13:6t {O C 0:094e 13:6t 0:094 0:72t |O m;

where t is time expressed in s, and t D 0 s is the time when the stone

vE.t / D rEP .t / D Œ.4:080e 13:60t

vE.t / D rEP .t / D Œ.4:08e 13:6t

aE .t / D vEP .t / D Œ. 55:5e 13:6t

Problems 2.14 and 2.15

The position of point P is given by

with t  0, ! D 1:3 s 1 , and the position is measured in meters.

Problem 2.14 Find the trajectory of P in Cartesian components and

(a) Plot the trajectory of P for 0  t  0:6 s, 0  t  1:4 s,

(b) Plot the y.x/ trajectory for 10  x  10 s.

y.x/ D 5:25 C 3:25x C 1:00x 2 m:

where we have expressed all known coefficients to three significant figures.

xmax D 3:00 m and xmin D 1:00 m:

Problems 2.16 through 2.18

A bicycle is moving to the right at a speed v0 D 20 mph on a

Problem 2.16 Determine the expressions for the velocity, speed,

Problem 2.17 Determine the maximum and minimum speed

Problem 2.18 Plot the trajectory of P for 0 s < t < 1 s.

vE D .29:3 ft=s/Œ1 C cosŒ.25:5 rad=s/t  {O .29:3 ft=s/Œ1 C sinŒ.25:5 rad=s/t  |O:

748 ft=s2 sinŒ.25:5 rad=s/t  {O 748 ft=s2 cosŒ.25:5 rad=s/t  |O:

Differentiating the above expression with respect to time, we have

Hence, the speed is given by

where we have used the fact that v0 D 20 mph D 29:33 ft=s.

yvmin D 0 ft and yvmax D 2R D 2:30 ft;

where we have used the fact that R D 1:15 ft.

x Velocity Component y Velocity Component

x Acceleration Component y Acceleration Component

Problems 2.19 through 2.21

Point C is a point on the connecting rod of a mechanism called a slider-

Problem 2.20 Determine the maximum and minimum speeds of C as

!2R R.cos2 !t sin2 !t / R3 cos2  sin2 !t !2R

rE.t / D Œ.5:98t 2 C 0:139t 3 0:0149t 4 / {O C .0:523t 2 C 0:0122t 3 0:00131t 4 / |O ft:

Similarly for 8 t 10, we have

Let rE D Œt {O C .2 C 3t C 2t 2 / |O m describe the motion of the point

Let rE D Œt {O C .2 C 3t C 2t 2 / |O ft describe the motion of a point P

vE D Œ1:000 {O C .3:000 C 4:000t / |O ft=s: (1)

with t 0, ! D 1:3 s 1 , and the position is measured in meters.

(a) Plot the trajectory of P for 0 t 0:6 s, 0 t 1:4 s,

(b) Plot the y.x/ trajectory for 10 x 10 s.

vE D .29:3 ft=s/Œ1 C cosŒ.25:5 rad=s/t {O .29:3 ft=s/Œ1 C sinŒ.25:5 rad=s/t |O:

748 ft=s2 sinŒ.25:5 rad=s/t {O 748 ft=s2 cosŒ.25:5 rad=s/t |O:

!2R R.cos2 !t sin2 !t / R3 cos2 sin2 !t !2R

!2R R.cos2 !t sin2 !t / R3 cos2 sin2 !t !2R

vP =O /1 D Œ.1 C cos t / {O1 C .4 2t / |O1 m=s;

vP =O ..t D 2 s//1 D Œ1 C cos.2 s/ {O1 m=s

{O1 D sin {O C cos |O; |O1 D cos {O C sin |O;

Œx.ti C1 / x.ti / Œy.ti C1 / y.ti /