6.04e Rigid body equilibrium: coplanar forces

7 The vertices of a uniform triangular lamina, which is in the \(x - y\) plane, are at the origin and the points \(( 20,60 )\) and \(( 100,0 )\).

1. Determine the coordinates of the lamina's centre of mass. Fig. 7.1 shows a uniform lamina consisting of a triangular section and two identical rectangular sections. The coordinates of some of the vertices of the lamina are given in Fig. 7.1. The rectangular sections are then folded at right-angles to the triangular section, to give the rigid three-dimensional object illustrated in Fig. 7.2. Two of the edges, \(E _ { 1 }\) and \(E _ { 2 }\), are marked on both figures. \begin{figure}[h]
   \includegraphics[alt={},max width=\textwidth]{5c1cfe41-d7a2-4f69-ae79-67d9f023c246-7_933_739_799_164} \captionsetup{labelformat=empty} \caption{Fig. 7.1}
   \end{figure} \begin{figure}[h]
   \includegraphics[alt={},max width=\textwidth]{5c1cfe41-d7a2-4f69-ae79-67d9f023c246-7_924_725_808_1133} \captionsetup{labelformat=empty} \caption{Fig. 7.2}
   \end{figure}
2. Show that the \(x\)-coordinate of the centre of mass of the folded object is 43.6, and determine the \(y\) - and \(z\)-coordinates.
3. Determine whether it is possible for the folded object to rest in equilibrium with edges \(E _ { 1 }\) and \(E _ { 2 }\) in contact with a horizontal surface.

2 A triangular lamina, ABC , is cut from a piece of thin uniform plane sheet metal. The dimensions of ABC are shown in Fig. 2. \begin{figure}[h] \end{figure} This piece of metal is freely suspended from a string attached to C and hangs in equilibrium. Calculate the angle of BC with the downward vertical, giving your answer in degrees.

5 Fig. 5 shows the curve with equation \(y = - x ^ { 2 } + 4 x + 2\).
The curve intersects the \(x\)-axis at P and Q . The region bounded by the curve, the \(x\)-axis, the \(y\)-axis and the line \(x = 4\) is occupied by a uniform lamina L . The horizontal base of L is OA , where A is the point \(( 4,0 )\). \begin{figure}[h] \end{figure}

1. 1. Explain why the centre of mass of L lies on the line \(x = 2\).
   2. In this question you must show detailed reasoning. Find the \(y\)-coordinate of the centre of mass of \(L\).
2. L is freely suspended from A . Find the angle AO makes with the vertical. The region bounded by the curve and the \(x\)-axis is now occupied by a uniform lamina M . The horizontal base of M is PQ.
3. Explain how the position of the centre of mass of M differs from the position of the centre of mass of \(L\).

3 Fig. 3.1 shows the curve with equation \(y = x ^ { 2 } + 3\). The region \(R\), shown shaded, is bounded by the curve, the \(x\)-axis, the \(y\)-axis and the line \(x = 2\). A uniform solid of revolution S is formed by rotating the region R through \(2 \pi\) about the \(x\)-axis. The volume of \(S\) is \(\frac { 202 } { 5 } \pi\). \begin{figure}[h] \end{figure} \section*{(a) In this question you must show detailed reasoning.} Show that the \(x\)-coordinate of the centre of mass of S is \(\frac { 395 } { 303 }\). S is fixed to a cylinder of base radius 3 units and height 2 units to form the uniform solid D . The smaller circular face of S is joined to the top circular face of the cylinder, as shown in Fig. 3.2. \begin{figure}[h] \end{figure} (b) Find the distance of the centre of mass of D from its smaller circular face. D is placed with its smaller circular face in contact with a rough plane which is inclined at an angle of \(30 ^ { \circ }\) to the horizontal. It is given that D does not slip.
(c) Determine whether D topples.

6 Two identical light elastic strings, each of length \(l\) and modulus of elasticity \(\lambda m g\) are attached to a particle \(P\) of mass \(m\). The other end of the first string is attached to a fixed point A , and the other end of the second string is attached to a fixed point B . The points A and B are such that A is above and to the right of B and both strings are taut. The string attached to A makes an angle of \(30 ^ { \circ }\) with the vertical, and the string attached to B makes an angle of \(\theta ^ { \circ }\) with the horizontal, as shown in the diagram. \includegraphics[max width=\textwidth, alt={}, center]{feb9a438-26b0-41d3-b044-6acd6efccde0-6_546_533_699_242} The system is in equilibrium in a vertical plane. The extension of the string attached to A is 0.9 l and the extension of the string attached to B is \(0.5 l\).

1. Explain how you know that APB is not a straight line.
2. Show that the elastic potential energy stored in string AP is \(k m g l\), where the value of \(k\) is to be determined correct to \(\mathbf { 3 }\) significant figures.

5 A uniform lamina OABC is in the shape of a trapezium where O is the origin of the coordinate system in which the points \(\mathrm { A } , \mathrm { B }\) and C have coordinates \(( 120,0 )\), \(( 60,90 )\) and \(( 30,90 )\) respectively (see diagram). The units of the axes are centimetres. \includegraphics[max width=\textwidth, alt={}, center]{0a790ad0-7eda-40f1-9894-f156766ae46f-5_561_720_404_242} The centre of mass of the lamina lies at ( \(\mathrm { x } , \mathrm { y }\) ).

1. Show that \(\bar { x } = 54\) and determine the value of \(\bar { y }\). The lamina is placed horizontally so that it rests on three supports, whose points of contact are at \(\mathrm { B } , \mathrm { C }\) and D , where D lies on the edge OA and has coordinates \(( d , 0 )\).
2. Determine the range of values of \(d\) for the lamina to rest in equilibrium. It is now given that \(d = 63\), and that the lamina has a weight of 100 N .
3. Determine the forces exerted on the lamina by each of the supports at \(\mathrm { B } , \mathrm { C }\) and D .

5 Fig. 5.1 shows a solid L-shaped ornament, of uniform density. The ornament is 3 cm thick. The \(x , y\) and \(z\) axes are shown, along with the dimensions of the ornament. The measurements are in centimetres. \begin{figure}[h] \end{figure}

1. Determine, with reference to the axes shown, the coordinates of the ornament's centre of mass. Fig. 5.2 shows the ornament placed so that the shaded face (indicated in Fig. 5.1) is in contact with a plane inclined at \(\theta ^ { \circ }\) to the horizontal, with the 4 cm edge parallel to a line of greatest slope. The surface of the plane is sufficiently rough so that the ornament will not slip down the plane. \begin{figure}[h]
   \includegraphics[alt={},max width=\textwidth]{b3e369f4-13f7-457b-9a43-04ed2e2a2bba-6_646_844_1452_242} \captionsetup{labelformat=empty} \caption{Fig. 5.2}
   \end{figure}
2. Determine the minimum and maximum possible values of \(\theta\) for which the ornament does not topple. The ornament is now placed with its shaded face in contact with a rough horizontal surface. A force of magnitude \(P\) N, acting parallel to the planes of the L -shaped faces, is applied to one of the edges of the ornament, as shown in Fig. 5.3. The force is inclined at an angle of \(30 ^ { \circ }\) to the horizontal. The coefficient of friction between the ornament and the surface is \(\mu\). \begin{figure}[h]
   \includegraphics[alt={},max width=\textwidth]{b3e369f4-13f7-457b-9a43-04ed2e2a2bba-7_524_680_452_246} \captionsetup{labelformat=empty} \caption{Fig. 5.3}
   \end{figure} The value of \(P\) is gradually increased until the ornament is on the point of toppling but does not slide.
3. Determine the minimum value of \(\mu\).
4. Explain how your answer to part (c) would change if the angle between \(P\) and the horizontal was less than \(30 ^ { \circ }\).

8 A capsule consists of a uniform hollow right circular cylinder of radius \(r\) and length \(2 h\) attached to two uniform hollow hemispheres of radius \(r\).
The centres of the plane faces of the hemispheres coincide with the centres, A and B , of the ends of the cylinder. \begin{figure}[h] \end{figure} Fig. 8 represents a vertical cross-section through a plane of symmetry of the capsule as it rests in limiting equilibrium with a point C of one hemisphere on a rough horizontal floor and a point D of the other hemisphere against a rough vertical wall. The total weight of the capsule is \(W\) and acts at a point midway between A and B . The plane containing \(\mathrm { A } , \mathrm { B } , \mathrm { C }\) and D is vertical, with AB making an acute angle \(\theta\) with the downward vertical.

1. Complete the copy of Fig. 8 in the Printed Answer Booklet to show all the remaining forces acting on the capsule. The coefficient of friction at each point of contact is \(\frac { 1 } { 3 }\).
2. By resolving vertically and horizontally, determine the magnitude of the normal contact force between the floor and the capsule in terms of \(W\).
3. By determining an expression for \(r\) in terms of \(h\) and \(\theta\), show that \(\tan \theta > \frac { 3 } { 4 }\).

2. A metal sign is formed by removing triangle \(B C D\) from a rectangular lamina \(A C E F\) made of uniform material, and adding a quarter circle XYZ, made of the same uniform material, with a particle attached to its vertex at \(Y\). The sign is supported by two light chains fixed at \(E\) and \(F\). The quarter circle has radius 24 cm and the particle at \(Y\) has a mass equal to half of that of the removed triangle. \(X D\) is parallel to \(A C\) and \(B Z\) is parallel to \(A F\). The dimensions, in cm , are as shown in the diagram below. \includegraphics[max width=\textwidth, alt={}, center]{3578a810-46da-4d9e-a98f-248be72a517a-3_885_636_712_715}

1. Calculate the distance of the centre of mass of the sign from
   1. \(A F\),
   2. \(A C\).
2. The support at \(F\) comes loose so that the sign is freely suspended at \(E\) by one chain alone. Given that it then hangs in equilibrium, calculate the angle that \(E F\) makes with the vertical.

6. \includegraphics[max width=\textwidth, alt={}, center]{3578a810-46da-4d9e-a98f-248be72a517a-7_606_506_365_781} A uniform ladder \(A B\), of mass 10 kg and length 5 m , rests with one end \(A\) against a smooth vertical wall and the other end \(B\) on rough horizontal ground. The ladder is inclined at an angle \(\theta\) to the horizontal. A woman of mass 75 kg stands on the ladder so that her weight acts at a distance \(x \mathrm {~m}\) from \(B\).

1. Show that the frictional force, \(F \mathrm {~N}\), between the ladder and the horizontal ground is given by $$F = 5 g \cot \theta ( 1 + 3 x ) .$$ For safety reasons, it is recommended that \(\theta\) is chosen such that the ratio \(C B : C A\) is \(1 : 4\).
2. Determine the least value of the coefficient of friction such that the ladder will not slip however high the woman climbs.
3. State one modelling assumption that you have made in your solution.

3. The diagram below shows a lamina \(A B C D E\) which is made of a uniform material. It consists of a rectangle \(A B D E\) with \(A B = 6 a\) and \(A E = 8 a\), together with an isosceles triangle \(B C D\) with \(B C = D C = 5 a\). A semicircle, with its centre at the midpoint of \(A E\) and radius \(3 a\), is removed from \(A B D E\). \includegraphics[max width=\textwidth, alt={}, center]{b9c63cb4-d446-4548-be42-e30b10cb4b99-3_606_703_603_680}

1. Write down the distance of the centre of mass of the lamina \(A B C D E\) from \(A B\).
2. Show that the distance of the centre of mass of the lamina \(A B C D E\) from \(A E\) is \(\frac { 140 } { 40 - 3 \pi } a\).
3. The lamina \(A B C D E\) is freely suspended from the point \(D\) and hangs in equilibrium.
   1. Calculate the angle that \(B D\) makes with the vertical.
   2. The mass of the lamina is \(M\). When a particle of mass \(k M\) is attached at the point \(C\), the lamina hangs in equilibrium with \(A B\) horizontal. Determine the value of \(k\).

4. The diagram below shows a uniform rod \(A B\), of weight 10 N , hinged to a vertical wall at \(A\). The rod is held in a horizontal position by means of a light inextensible string. One end of the string is attached to a point \(C\) on the rod and the other end is attached to a point \(D\) on the wall. The point \(D\) is 0.6 m vertically above \(A\) and the length of \(A C\) is 0.8 m . A particle of weight 25 N is attached to the rod at \(B\) and the tension in the string is 75 N . \includegraphics[max width=\textwidth, alt={}, center]{b9c63cb4-d446-4548-be42-e30b10cb4b99-4_572_808_612_625}

1. Find the length of the rod \(A B\).
2. Calculate the magnitude and direction of the reaction at the hinge at \(A\).

1. The diagram shows a uniform rod \(A B\), of length 8 m and mass 23 kg , in limiting equilibrium with its end \(A\) on rough horizontal ground and point \(C\) resting against a smooth fixed cylinder. The rod is inclined at an angle of \(30 ^ { \circ }\) to the ground. \includegraphics[max width=\textwidth, alt={}, center]{d7f600c5-af4a-4708-bfd9-92b37a95c634-3_240_869_603_598}

The coefficient of friction between the ground and the rod is \(\frac { 2 } { 3 }\).

1. Calculate the magnitude of the normal reaction at \(C\) and the magnitude of the normal reaction to the ground at \(A\).
2. Find the length \(A C\).
3. Suppose instead that the rod is non-uniform with its centre of mass closer to \(A\) than to \(B\). Without carrying out any further calculations, state whether or not this will affect your answers in part (a). Give a reason for your answer.
   

4. The diagram shows three light rods \(A B , B C\) and \(C A\) rigidly joined together so that \(A B C\) is a right-angled triangle with \(A B = 45 \mathrm {~cm} , A C = 28 \mathrm {~cm}\) and \(\widehat { A B } = 90 ^ { \circ }\). The rods support a uniform lamina, of density \(2 m \mathrm {~kg} / \mathrm { cm } ^ { 2 }\), in the shape of a quarter circle \(A D E\) with radius 12 cm and centre at the vertex \(A\). Three particles are attached to \(B C\) : one at \(B\), one at \(C\) and one at \(F\), the midpoint of \(B C\). The masses at \(C , F\) and \(B\) are \(50 m \mathrm {~kg} , 30 m \mathrm {~kg}\) and \(20 m \mathrm {~kg}\) respectively. \includegraphics[max width=\textwidth, alt={}, center]{d7f600c5-af4a-4708-bfd9-92b37a95c634-5_604_908_756_575}

1. Calculate the distance of the centre of mass of the system from
   1. \(A C\),
   2. \(A B\).
2. When the system is freely suspended from a point \(P\) on \(A C\), it hangs in equilibrium with \(A B\) vertical. Write down the length \(A P\).
3. When the system is freely suspended from a point \(Q\) on \(A D\), it hangs in equilibrium with \(Q B\) making an angle of \(60 ^ { \circ }\) with the vertical. Find the distance \(A Q\).

2.

1. Prove that the centre of mass of a uniform solid cone of height \(h\) and base radius \(b\) is at a height of \(\frac { 1 } { 4 } h\) above its base.
2. A uniform solid cone \(C _ { 1 }\) has height 3 m and base radius 2 m . A smaller cone \(C _ { 2 }\) of height 2 m and base radius 1 m is contained symmetrically inside \(C _ { 1 }\). The bases of \(C _ { 1 }\) and \(C _ { 2 }\) have a common centre and the axis of \(C _ { 2 }\) is part of the axis of \(C _ { 1 }\). If \(C _ { 2 }\) is removed from \(C _ { 1 }\), show that the centre of mass of the remaining solid is at a distance of \(\frac { 11 } { 5 } \mathrm {~m}\) from the vertex of \(C _ { 1 }\).
3. The remaining solid is suspended from a string which is attached to a point on the outer curved surface at a distance of \(\frac { 1 } { 3 } \sqrt { 13 } \mathrm {~m}\) from the vertex of \(C _ { 1 }\). Given that the axis of symmetry is inclined at an angle of \(\alpha\) to the vertical, find \(\tan \alpha\).
   

4. The diagram shows a uniform lamina consisting of a rectangular section \(G P Q E\) with a semi-circular section EFG of radius 4 cm . Quadrants \(A P B\) and \(C Q D\) each with radius 2 cm are removed. Dimensions in cm are as shown in the diagram. \includegraphics[max width=\textwidth, alt={}, center]{3efc4ef6-8a80-4267-8e95-733200e875c5-3_758_604_497_651}

1. Write down the distance of the centre of mass of the lamina \(A B C D E F G\) from \(A G\).
2. Determine the distance of the centre of mass of the lamina \(A B C D E F G\) from \(B C\).
3. The lamina \(A B C D E F G\) is suspended freely from the point \(E\) and hangs in equilibrium. Calculate the angle EG makes with the vertical.

3 In this question use \(g = 9.8 \mathrm {~m} \mathrm {~s} ^ { - 2 }\).
A composite body consists of a uniform rod, \(A B\), and a particle.
The rod has length 4 metres and mass 22.5 kilograms.
The particle, \(P\), has mass 20 kilograms and is placed on the rod at a distance of 0.3 metres from \(B\), as shown in the diagram. \includegraphics[max width=\textwidth, alt={}, center]{4fdb2637-6368-422c-99da-85b80efe31c5-04_163_1323_767_402} 3

1. Find the distance of the centre of mass of the body from \(A\). 3
2. The body rests in equilibrium in a horizontal position on two supports, \(C\) and \(D\).
   The support \(C\) is 0.5 metres from \(A\) and the support \(D\) is 1 metre from \(B\). Find the magnitudes of the forces exerted on the body by the supports.
   [0pt] [4 marks]

6 A uniform solid is formed by rotating the region enclosed by the positive \(x\)-axis, the line \(x = 2\) and the curve \(y = \frac { 1 } { 2 } x ^ { 2 }\) through \(360 ^ { \circ }\) around the \(x\)-axis. 6

1. Find the centre of mass of this solid.
   6
2. The solid is placed with its plane face on a rough inclined plane and does not slide. The angle between the inclined plane and the horizontal is gradually increased. When the angle between the inclined plane and the horizontal is \(\alpha\), the solid is on the point of toppling. Find \(\alpha\), giving your answer to the nearest \(0.1 ^ { \circ }\)

1. Figure 1 A thin uniform rod, of total length \(30 a\) and mass \(M\), is bent to form a frame. The frame is in the shape of a triangle \(A B C\), where \(A B = 12 a , B C = 5 a\) and \(C A = 13 a\), as shown in Figure 1.

1. Show that the centre of mass of the frame is \(\frac { 3 } { 2 } a\) from \(A B\). The frame is freely suspended from \(A\). A horizontal force of magnitude \(k M g\), where \(k\) is a constant, is applied to the frame at \(B\). The line of action of the force lies in the vertical plane containing the frame. The frame hangs in equilibrium with \(A B\) vertical.
2. Find the value of \(k\).

3. \begin{figure}[h] \end{figure} The lamina \(L\), shown in Figure 2, consists of a uniform square lamina \(A B D F\) and two uniform triangular laminas \(B D C\) and \(F D E\). The square has sides of length \(2 a\). The two triangles are identical. The straight lines \(B D E\) and \(F D C\) are perpendicular with \(B D = D F = 2 a\) and \(D C = D E = a\).
The mass per unit of area of the square is \(M\).
The mass per unit area of each triangle is \(3 M\).
The centre of mass of \(L\) is at the point \(G\).

1. Without doing any calculations, explain why \(G\) lies on \(A D\).
2. Show that the distance of \(G\) from \(D\) is \(\frac { \sqrt { 2 } } { 2 } a\) The lamina \(L\) is freely suspended from \(B\) and hangs in equilibrium.
3. Find the size of the angle between \(B E\) and the downward vertical.

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1. \begin{figure}[h] \end{figure} Five identical uniform rods are joined together to form the rigid framework \(A B C D\) shown in Figure 1. Each rod has weight \(W\) and length 4a. The points \(A , B , C\) and \(D\) all lie in the same plane. The centre of mass of the framework is at the point \(G\).

1. Explain why \(G\) is the midpoint of \(A C\). The framework is suspended from the ceiling by two vertical light inextensible strings. One string is attached to the framework at \(A\) and the other string is attached to the framework at \(B\). The framework hangs freely in equilibrium with \(A B\) horizontal.
2. Find
   1. the tension in the string attached at \(A\),
   2. the tension in the string attached at \(B\). A particle of weight \(k W\) is now attached to the framework at \(D\) and a particle of weight \(2 k W\) is now attached to the framework at \(C\). The framework remains in equilibrium with \(A B\) horizontal and the strings vertical. Either string will break if the tension in it exceeds \(6 W\).
3. Find the greatest possible value of \(k\).

4. \begin{figure}[h] \end{figure} The uniform triangular lamina \(A B C D E\) is such that angle \(C E A = 90 ^ { \circ } , C E = 9 a\) and \(E A = 6 a\). The point \(D\) lies on \(C E\), with \(D E = 3 a\). The point \(B\) on \(C A\) is such that \(D B\) is parallel to \(E A\) and \(D B = 4 a\). The triangular lamina is folded along the line \(D B\) to form the folded lamina \(A B D E C F\), as shown in Figure 2. The distance of the centre of mass of the triangular lamina from \(D C\) is \(d _ { 1 }\) The distance of the centre of mass of the folded lamina from \(D C\) is \(d _ { 2 }\)

1. Explain why \(d _ { 1 } = d _ { 2 }\) The folded lamina is freely suspended from \(B\) and hangs in equilibrium with \(B A\) inclined at an angle \(\alpha\) to the downward vertical through \(B\).
2. Find, to the nearest degree, the size of angle \(\alpha\).

1. \begin{figure}[h] \end{figure} Figure 1 shows a uniform rectangular lamina \(A B C D\) with \(A B = 2 a\) and \(A D = a\) The mass of the lamina is \(6 m\). A particle of mass \(2 m\) is attached to the lamina at \(A\), a particle of mass \(m\) is attached to the lamina at \(B\) and a particle of mass \(3 m\) is attached to the lamina at \(D\), to form a loaded lamina \(L\) of total mass \(12 m\).

1. Write down the distance of the centre of mass of \(L\) from \(A B\). You must give a reason for your answer.
2. Show that the distance of the centre of mass of \(L\) from \(A D\) is \(\frac { 2 a } { 3 }\) A particle of mass \(k m\) is now also attached to \(L\) at \(D\) to form a new loaded lamina \(N\).
3. Show that the distance of the centre of mass of \(N\) from \(A B\) is \(\frac { ( k + 6 ) a } { ( k + 12 ) }\) When \(N\) is freely suspended from \(A\) and is hanging in equilibrium, the side \(A B\) makes an angle \(\alpha\) with the vertical, where \(\tan \alpha = \frac { 3 } { 2 }\)
4. Find the value of \(k\).

3. \begin{figure}[h] \end{figure} The uniform lamina \(A B C D E F G H I J\) is shown in Figure 3.
The lamina has \(A J = 8 a , A B = 5 a\) and \(B C = D E = E F = F G = G H = H I = I J = 2 a\).
All the corners are right angles.

1. Show that the distance of the centre of mass of the lamina from \(A J\) is \(\frac { 49 } { 26 } a\) A light inextensible rope is attached to the lamina at \(A\) and another light inextensible rope is attached to the lamina at \(B\). The lamina hangs in equilibrium with both ropes vertical and \(A B\) horizontal. The weight of the lamina is \(W\).
2. Find, in terms of \(W\), the tension in the rope attached to the lamina at \(B\). The rope attached to \(B\) breaks and subsequently the lamina hangs freely in equilibrium, suspended from \(A\).
3. Find the size of the angle between \(A J\) and the downward vertical.

1. Numerical (calculator) integration is not acceptable in this question.

\begin{figure}[h] \end{figure} The shaded region \(O A B\) in Figure 2 is bounded by the \(x\)-axis, the line with equation \(x = 4\) and the curve with equation \(y = \frac { 1 } { 4 } ( x - 2 ) ^ { 3 } + 2\). The point \(A\) has coordinates (4, 4) and the point \(B\) has coordinates \(( 4,0 )\). A uniform lamina \(L\) has the shape of \(O A B\). The unit of length on both axes is one centimetre. The centre of mass of \(L\) is at the point with coordinates \(( \bar { x } , \bar { y } )\). Given that the area of \(L\) is \(8 \mathrm {~cm} ^ { 2 }\),

1. show that \(\bar { y } = \frac { 8 } { 7 }\) The lamina is freely suspended from \(A\) and hangs in equilibrium with \(A B\) at an angle \(\theta ^ { \circ }\) to the downward vertical.
2. Find the value of \(\theta\).