School of Engineering and Architecture

Civil Engineering Department

School Year 2020-2021

Forces and
Accelerations
Lecture 4 – Dynamics of Rigid Bodies – Answer Key

Objective To provide students with complete set of solutions as a guide,

especially to those who prefers to just listen to the discussion
instead of jotting down notes.

Content Complete solutions for sample problems of the following:

• Problems involving the Motion of Rigid Bodies
• Systems of Rigid Bodies
• Constrained Plane Motion

References L.G. Kraige and J.L. Meriam, (2012). Engineering Mechanics

Volume 2 Dynamics 7th Edition. Massachusetts, USA: John Wiley
& Sons, Inc.

R.C. Hibbeler, (2010). Engineering Mechanics Statics & Dynamics

Twelfth Edition. New Jersey, USA: Pearson Prentice Hall

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Dynamics of Rigid Bodies School of Engineering

Lecture 4 – Answer Key and Architecture

Civil Engineering Department
School Year 2020-2021

I. PROBLEMS INVOLVING THE MOTION OF RIGID BODIES

Sample Problem 1:
The 50-kg crate shown rests on a horizontal surface for
which the coefficient of kinetic friction is 0.3. If the crate is
subjected to a 400-N towing force as shown, determine the
velocity of the crate in 3s starting from rest.

Given:
Mass, m = 50 kg
Coefficient of kinetic friction, μk = 0.3
Force, P = 400N at 30 degrees from the horizontal
Time, t = 3 seconds
Initial Velocity, vo = 0 m/s

Required:
Velocity of crate when time = 3s

Solution:
Free Body Diagram:
Weight:
𝑊𝑊 = 𝑚𝑚𝑚𝑚
𝑚𝑚
𝑊𝑊 = (50 𝑘𝑘𝑘𝑘) (9.81 2)
𝑠𝑠
𝑚𝑚
𝑊𝑊 = 490.5 𝑘𝑘𝑘𝑘 2
𝑠𝑠
𝑊𝑊 = 490.5 𝑁𝑁

Frictional Force:
𝐹𝐹 = 𝜇𝜇𝑘𝑘𝑁𝑁
𝐹𝐹 = 0.3𝑁𝑁

Equation of motion: (Incorporating

inertial force to the FBD)
∑ 𝐹𝐹𝐻𝐻 = 0

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Dynamics of Rigid Bodies School of Engineering

Lecture 4 – Answer Key and Architecture

Civil Engineering Department
School Year 2020-2021

400𝑐𝑐𝑐𝑐𝑐𝑐30° − 0.3𝑁𝑁 − 𝑚𝑚𝑚𝑚 = 0

400𝑐𝑐𝑐𝑐𝑐𝑐30° − 0.3𝑁𝑁 − 50𝑎𝑎 = 0

400𝑐𝑐𝑐𝑐𝑐𝑐30° − 0.3𝑁𝑁 = 50𝑎𝑎

400𝑐𝑐𝑐𝑐𝑐𝑐30° − 0.3𝑁𝑁
= 𝑎𝑎 → 𝑒𝑒𝑒𝑒′𝑛𝑛 1
50

∑ 𝐹𝐹𝑉𝑉 = 0

−𝑊𝑊 + 𝑁𝑁 + 400 sin 30° = 0

−490.5 + 𝑁𝑁 + 400 sin 30° = 0

𝑁𝑁 = 490.5 − 400 sin 30°

𝑁𝑁 = 290.5 𝑁𝑁 → 𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 𝑡𝑡𝑡𝑡 𝑒𝑒𝑒𝑒′𝑛𝑛 1

Therefore:
400𝑐𝑐𝑐𝑐𝑐𝑐30° − 0.3(290.5)
𝑎𝑎 =
50
𝑚𝑚
𝑎𝑎 = 5.185
𝑠𝑠2

Notice that the acceleration is constant because the applied force, P is constant. Therefore, we
can use the formula of kinematics for constant acceleration:

𝑣𝑣 = 𝑣𝑣𝑜𝑜 + 𝑎𝑎𝑎𝑎

𝑣𝑣 = 0 + 5.185(3)

𝑣𝑣 = 15.6 𝑚𝑚/𝑠𝑠
→ 𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔 𝑡𝑡𝑡𝑡 𝑡𝑡ℎ𝑒𝑒 𝑟𝑟𝑟𝑟𝑟𝑟ℎ𝑡𝑡

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Dynamics of Rigid Bodies School of Engineering

Lecture 4 – Answer Key and Architecture

Civil Engineering Department
School Year 2020-2021

II. SYSTEMS OF RIGID BODIES

Sample Problem 2:
The 100-kg block A shown is released from rest. If the masses of the
pulleys and the cord are neglected, determine the speed of the 20-kg
block B in 2 s.

Given:
Mass of block A, mA = 100 kg
Mass of block B, mB = 20 kg
Time, t = 2 seconds
Initial Velocity, vo = 0 m/s

Required:
Speed of Block B when time = 2s

Solution:
Free Body Diagram:
Weights:
𝑊𝑊𝐴𝐴 = 𝑚𝑚𝐴𝐴𝑔𝑔
𝑚𝑚
𝑊𝑊𝐴𝐴 = (100 𝑘𝑘𝑘𝑘) (9.81 2)
𝑠𝑠
𝑚𝑚
𝑊𝑊𝐴𝐴 = 981 𝑘𝑘𝑘𝑘 2
𝑠𝑠

𝑊𝑊𝐴𝐴 = 981 𝑁𝑁

𝑊𝑊𝐵𝐵 = 𝑚𝑚𝐵𝐵𝑔𝑔
𝑚𝑚
𝑊𝑊𝐵𝐵 = (20 𝑘𝑘𝑘𝑘) (9.81 2)
𝑠𝑠
𝑚𝑚
𝑊𝑊𝐵𝐵 = 196.2 𝑘𝑘𝑘𝑘 2
𝑠𝑠

𝑊𝑊𝐵𝐵 = 196.2 𝑁𝑁

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Dynamics of Rigid Bodies School of Engineering

Lecture 4 – Answer Key and Architecture

Civil Engineering Department
School Year 2020-2021

Equation of motion: (Incorporating inertial force to the

FBD)
∑ 𝐹𝐹𝑉𝑉 = 0

For Block A:

2𝑇𝑇 − 981 − 𝑚𝑚𝐴𝐴𝑎𝑎𝐴𝐴 = 0

2𝑇𝑇 − 981 − 100𝑎𝑎𝐴𝐴 = 0 → 𝑒𝑒𝑒𝑒′𝑛𝑛 1

For Block B:

𝑇𝑇 − 196.2 − 𝑚𝑚𝐵𝐵𝑎𝑎𝐵𝐵 = 0

𝑇𝑇 = 196.2 + 20𝑎𝑎𝐵𝐵 → 𝑒𝑒𝑒𝑒′𝑛𝑛 2

Let L = total length of the cord.

𝑆𝑆𝐵𝐵 + 2𝑆𝑆𝐴𝐴 = 𝐿𝐿

Remember:
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝑣𝑣 = ; 𝑎𝑎 =
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑

Differentiating the relationship of lengths twice, we can get the relationship of

accelerations:
𝑑𝑑2𝑆𝑆𝐵𝐵 2𝑑𝑑2𝑆𝑆𝐴𝐴 𝑑𝑑
+ = 𝐿𝐿
𝑑𝑑𝑑𝑑2 𝑑𝑑𝑑𝑑2 𝑑𝑑𝑑𝑑𝑑𝑑

𝑎𝑎𝐵𝐵 + 2𝑎𝑎𝐴𝐴 = 0

−𝑎𝑎𝐵𝐵
𝑎𝑎𝐴𝐴 = → 𝑒𝑒𝑒𝑒′𝑛𝑛 3
2

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Dynamics of Rigid Bodies School of Engineering

Lecture 4 – Answer Key and Architecture

Civil Engineering Department
School Year 2020-2021

Substitute eq’n 3 to eq’n 1:

−𝑎𝑎𝐵𝐵 ′
2𝑇𝑇 − 981 − 100 ( ) = 0 → 𝑒𝑒𝑒𝑒 𝑛𝑛 4
2

Substitute eq’n 2 to eq’n 4:

−𝑎𝑎𝐵𝐵
2(196.2 + 20𝑎𝑎𝐵𝐵 ) − 981 − 100 ( ) =0
2

392.4 + 40𝑎𝑎𝐵𝐵 − 981 + 50𝑎𝑎𝐵𝐵 = 0

−588.6 + 90𝑎𝑎𝐵𝐵 = 0

588.6
𝑎𝑎𝐵𝐵 =
90
𝑚𝑚
𝑎𝑎𝐵𝐵 = 6.54
𝑠𝑠2

Notice that the acceleration is constant because the weight of both blocks are constant.
Therefore, we can use the formula of kinematics for constant acceleration:

𝑣𝑣 = 𝑣𝑣𝑜𝑜 + 𝑎𝑎𝑎𝑎

𝑣𝑣 = 0 + 6.54(2)

𝑣𝑣 = 13.08 𝑚𝑚/𝑠𝑠
→ 𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢

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Dynamics of Rigid Bodies School of Engineering

Lecture 4 – Answer Key and Architecture

Civil Engineering Department
School Year 2020-2021

III. CONSTRAINED PLANE MOTION

Sample Problem 3:
The baggage truck A shown in the photo has a weight of
900 lb and tows a 550-lb cart B and a 325-lb cart C. For a
short time the driving frictional force developed at the
wheels of the truck is FA = 40t lb where t is in seconds. If
the truck starts from rest, determine its speed in 2 seconds.
Also, what is the horizontal force acting on the coupling
between the truck and cart B at this instant? Neglect the
size of the truck and carts.
Given:
Weight of truck A, WA = 900 lb
Weight of cart B, WB = 550 lb
Weight of cart C, WC = 325 lb
Frictional Force between truck A and the road: FA = 40t lb
Time, t = 2 seconds
Initial Velocity, vo = 0 m/s

Required:
Speed of truck A when time = 2s
Horizontal force acting on the coupling between the truck and cart B when time = 2s

Solution:
Free Body Diagram:
Mass:
𝑊𝑊𝐴𝐴
𝑚𝑚𝐴𝐴 =
𝑔𝑔
900 𝑙𝑙𝑙𝑙
𝑚𝑚𝐴𝐴 = 𝑓𝑓𝑓𝑓
32.2
𝑠𝑠2

550 𝑙𝑙𝑙𝑙
𝑚𝑚𝐵𝐵 = 𝑓𝑓𝑓𝑓
32.2
𝑠𝑠2

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Dynamics of Rigid Bodies School of Engineering

Lecture 4 – Answer Key and Architecture

Civil Engineering Department
School Year 2020-2021

325 𝑙𝑙𝑙𝑙
𝑚𝑚𝐶𝐶 = 𝑓𝑓𝑓𝑓
32.2
𝑠𝑠2

Equation of motion: (Incorporating inertial

force to the FBD)
∑ 𝐹𝐹𝐻𝐻 = 0

For the whole vehicle:

−𝐹𝐹𝐴𝐴 + 𝑚𝑚𝑇𝑇𝑎𝑎 = 0

900 + 550 + 325

−40𝑡𝑡 + ( ) 𝑎𝑎 = 0
32.2
40𝑡𝑡
𝑎𝑎 = 900 + 550 + 325
( )
32.2

𝑎𝑎 = 0.7256𝑡𝑡 → 𝑒𝑒𝑒𝑒′𝑛𝑛 1

Remember:
𝑑𝑑𝑑𝑑
𝑎𝑎 =
𝑑𝑑𝑑𝑑

Therefore:
𝑑𝑑𝑑𝑑
0.7256𝑡𝑡 =
𝑑𝑑𝑑𝑑

∫ 0.7256𝑡𝑡 𝑑𝑑𝑑𝑑 = ∫ 𝑑𝑑𝑑𝑑

0.7256𝑡𝑡2
+ 𝐶𝐶 = 𝑣𝑣
2

When t = 0 ; v = 0 ; therefore C = 0

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Dynamics of Rigid Bodies School of Engineering

Lecture 4 – Answer Key and Architecture

Civil Engineering Department
School Year 2020-2021

0.7256𝑡𝑡2
𝑣𝑣 =
2

When t = 2s:

0.7256(22)
𝑣𝑣 =
2

𝑣𝑣 = 1.4512 𝑚𝑚/𝑠𝑠

Equation of motion: (Incorporating inertial force to the FBD)

∑ 𝐹𝐹𝐻𝐻 = 0

For truck A only:

−𝐹𝐹𝐴𝐴 + 𝑇𝑇 + 𝑚𝑚𝑇𝑇𝑎𝑎 = 0

−40(2) + 𝑇𝑇 + ( 900 ) (0.7256 ∗ 2) = 0

32.2
900
𝑇𝑇 = 80 − ( ) (0.7256 ∗ 2)
32.2

𝑇𝑇 = 39.4 𝑙𝑙𝑙𝑙