Small oscillations: rigid body compound pendulum

3 \includegraphics[max width=\textwidth, alt={}, center]{b486decd-75b8-44bd-889f-2472f1163871-2_570_419_1539_863} A uniform disc, of mass 2 kg and radius 0.2 m , is free to rotate in a vertical plane about a smooth horizontal axis through its centre. One end of a light inextensible string is attached to a point on the rim of the disc and the string is wound round the rim. The other end of the string is attached to a small block of mass 4 kg , which hangs freely (see diagram). The system is released from rest. During the subsequent motion, the block experiences a constant resistance to its motion, of magnitude \(R \mathrm {~N}\). Given that the angular speed of the disc after it has turned through 2 radians is \(5 \mathrm { rad } \mathrm { s } ^ { - 1 }\), find \(R\) and the tension in the string.
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A rigid body consists of a thin uniform rod \(A B\), of mass \(4 m\) and length \(6 a\), joined at \(B\) to a point on the circumference of a uniform circular disc, with centre \(O\), mass \(8 m\) and radius \(2 a\). The point \(C\) on the circumference of the disc is such that \(B C\) is a diameter and \(A B C\) is a straight line (see diagram). The body rotates about a smooth fixed horizontal axis through \(C\), perpendicular to the plane of the disc. The angle between \(C A\) and the downward vertical at time \(t\) is denoted by \(\theta\).

1. Given that the body is performing small oscillations about the downward vertical, show that the period of these oscillations is approximately \(16 \pi \sqrt { } \left( \frac { a } { 11 g } \right)\).
2. Given instead that the body is released from rest in the position given by \(\cos \theta = 0.6\), find the maximum speed of \(A\).

5 \includegraphics[max width=\textwidth, alt={}, center]{bfa6d51d-0992-4f43-adab-77ce893c1ca9-3_576_535_258_804} A particle \(P\) of mass 0.3 kg is moving in a vertical circle. It is attached to the fixed point \(O\) at the centre of the circle by a light inextensible string of length 1.5 m . When the string makes an angle of \(40 ^ { \circ }\) with the downward vertical, the speed of \(P\) is \(6.5 \mathrm {~m} \mathrm {~s} ^ { - 1 }\) (see diagram). Air resistance may be neglected.

1. Find the radial and transverse components of the acceleration of \(P\) at this instant. In the subsequent motion, with the string still taut and making an angle \(\theta ^ { \circ }\) with the downward vertical, the speed of \(P\) is \(v \mathrm {~m} \mathrm {~s} ^ { - 1 }\)
2. Use conservation of energy to show that \(v ^ { 2 } \approx 19.7 + 29.4 \cos \theta ^ { \circ }\).
3. Find the tension in the string in terms of \(\theta\).
4. Find the value of \(v\) at the instant when the string becomes slack. \includegraphics[max width=\textwidth, alt={}, center]{bfa6d51d-0992-4f43-adab-77ce893c1ca9-3_574_842_1640_664} A step-ladder is modelled as two uniform rods \(A B\) and \(A C\), freely jointed at \(A\). The rods are in equilibrium in a vertical plane with \(B\) and \(C\) in contact with a rough horizontal surface. The rods have equal lengths; \(A B\) has weight 150 N and \(A C\) has weight 270 N . The point \(A\) is 2.5 m vertically above the surface, and \(B C = 1.6 \mathrm {~m}\) (see diagram).
5. Find the horizontal and vertical components of the force acting on \(A C\) at \(A\).
6. The coefficient of friction has the same value \(\mu\) at \(B\) and at \(C\), and the step-ladder is on the point of slipping. Giving a reason, state whether the equilibrium is limiting at \(B\) or at \(C\), and find \(\mu\). \includegraphics[max width=\textwidth, alt={}, center]{bfa6d51d-0992-4f43-adab-77ce893c1ca9-4_648_227_269_982} Two points \(A\) and \(B\) lie on a vertical line with \(A\) at a distance 2.6 m above \(B\). A particle \(P\) of mass 10 kg is joined to \(A\) by an elastic string and to \(B\) by another elastic string (see diagram). Each string has natural length 0.8 m and modulus of elasticity 196 N . The strings are light and air resistance may be neglected.
7. Verify that \(P\) is in equilibrium when \(P\) is vertically below \(A\) and the length of the string \(P A\) is 1.5 m . The particle is set in motion along the line \(A B\) with both strings remaining taut. The displacement of \(P\) below the equilibrium position is denoted by \(x\) metres.
8. Show that the tension in the string \(P A\) is \(245 ( 0.7 + x )\) newtons, and the tension in the string \(P B\) is \(245 ( 0.3 - x )\) newtons.
9. Show that the motion of \(P\) is simple harmonic.
10. Given that the amplitude of the motion is 0.25 m , find the proportion of time for which \(P\) is above the mid-point of \(A B\).

4 A uniform solid sphere, of mass 14 kg and radius 0.25 m , is rotating about a fixed axis which is a diameter of the sphere. A couple of constant moment 4.2 Nm about the axis, acting in the direction of rotation, is applied to the sphere.

1. Find the angular acceleration of the sphere. During a time interval of 30 seconds the sphere rotates through 7500 radians.
2. Find the angular speed of the sphere at the start of the time interval.
3. Find the angular speed of the sphere at the end of the time interval.
4. Find the work done by the couple during the time interval.

1 A uniform rod with centre \(C\) has mass \(2 M\) and length 4a. The rod is free to rotate in a vertical plane about a smooth fixed horizontal axis passing through a point \(A\) on the rod, where \(A C = k a\) and \(0 < k < 2\). The rod is making small oscillations about the equilibrium position with period \(T\).

1. Show that \(T = 2 \pi \sqrt { \frac { a } { 3 g } \left( \frac { 4 + 3 k ^ { 2 } } { k } \right) }\). (You may assume the standard formula \(T = 2 \pi \sqrt { \frac { I } { m g h } }\) for the period of small oscillations of a compound pendulum.)
2. Hence find the value of \(k ^ { 2 }\) for which the period of oscillations is least.

4 A uniform smooth pulley can rotate freely about its axis, which is fixed and horizontal. A light elastic string AB is attached to the pulley at the end B . The end A is attached to a fixed point such that the string is vertical and is initially at its natural length with B at the same horizontal level as the axis. In this position a particle P is attached to the highest point of the pulley. This initial position is shown in Fig. 4.1. The radius of the pulley is \(a\), the mass of P is \(m\) and the stiffness of the string AB is \(\frac { m g } { 10 a }\). \begin{figure}[h] \end{figure} \begin{figure}[h] \end{figure}

1. Fig. 4.2 shows the system with the pulley rotated through an angle \(\theta\) and the string stretched. Write down the extension of the string and hence find the potential energy, \(V\), of the system in this position. Show that \(\frac { \mathrm { d } V } { \mathrm {~d} \theta } = m g a \left( \frac { 1 } { 10 } \theta - \sin \theta \right)\).
2. Hence deduce that the system has a position of unstable equilibrium at \(\theta = 0\).
3. Explain how your expression for \(V\) relies on smooth contact between the string and the pulley. Fig. 4.3 shows the graph of the function \(\mathrm { f } ( \theta ) = \frac { 1 } { 10 } \theta - \sin \theta\). \begin{figure}[h]
   \includegraphics[alt={},max width=\textwidth]{636e1d23-3bbb-469f-8fc9-1f64da865126-3_538_1342_1706_404} \captionsetup{labelformat=empty} \caption{Fig. 4.3}
   \end{figure}
4. Use the graph to give rough estimates of three further values of \(\theta\) (other than \(\theta = 0\) ) which give positions of equilibrium. In each case, state with reasons whether the equilibrium is stable or unstable.
5. Show on a sketch the physical situation corresponding to the least value of \(\theta\) you identified in part (iv). On your sketch, mark clearly the positions of P and B .
6. The equation \(\mathrm { f } ( \theta ) = 0\) has another root at \(\theta \approx - 2.9\). Explain, with justification, whether this necessarily gives a position of equilibrium.

4. A uniform \(\operatorname { rod } A B\), of mass \(m\) and length \(2 a\), is free to rotate in a vertical plane about a fixed smooth horizontal axis through \(A\) and perpendicular to the plane. The rod hangs in equilibrium with \(B\) below \(A\). The rod is rotated through a small angle and released from rest at time \(t = 0\).

1. Show that the motion of the rod is approximately simple harmonic.
2. Using this approximation, find the time \(t\) when the rod is first vertical after being released.
   (Total 6 marks)

4. A uniform circular disc, of mass \(m\) and radius \(r\), has a diameter \(A B\). The point \(C\) on \(A B\) is such that \(A C = \frac { 1 } { 2 } r\). The disc can rotate freely in a vertical plane about a horizontal axis through \(C\), perpendicular to the plane of the disc. The disc makes small oscillations in a vertical plane about the position of equilibrium in which \(B\) is below \(A\).

1. Show that the motion is approximately simple harmonic.
2. Show that the period of this approximate simple harmonic motion is \(\pi \sqrt { \left( \frac { 6 r } { g } \right) }\). The speed of \(B\) when it is vertically below \(A\) is \(\sqrt { \left( \frac { g r } { 54 } \right) }\). The disc comes to rest when \(C B\) makes an angle \(\alpha\) with the downward vertical.
3. Find an approximate value of \(\alpha\).
   (3)

2. A uniform square lamina \(S\) has side \(2 a\). The radius of gyration of \(S\) about an axis through a vertex, perpendicular to \(S\), is \(k\).

1. Show that \(k ^ { 2 } = \frac { 8 a ^ { 2 } } { 3 }\). The lamina \(S\) is free to rotate in a vertical plane about a fixed smooth horizontal axis which is perpendicular to \(S\) and passes through a vertex.
2. By writing down an equation of rotational motion for \(S\), find the period of small oscillations of \(S\) about its position of stable equilibrium.

7. A uniform sphere, of mass \(m\) and radius \(a\), is free to rotate about a smooth fixed horizontal axis \(L\) which forms a tangent to the sphere. The sphere is hanging in equilibrium below the axis when it receives an impulse, causing it to rotate about \(L\) with an initial angular velocity of \(\sqrt { \frac { 18 g } { 7 a } }\). Show that, when the sphere has turned through an angle \(\theta\),

1. the angular speed \(\omega\) of the sphere is given by \(\omega ^ { 2 } = \frac { 2 g } { 7 a } ( 4 + 5 \cos \theta )\),
2. the angular acceleration of the sphere has magnitude \(\frac { 5 g } { 7 a } \sin \theta\).
3. Hence find the magnitude of the force exerted by the axis on the sphere when the sphere comes to instantaneous rest for the first time. END

\includegraphics{figure_5} A thin uniform rod \(AB\) has mass \(kM\) and length \(2a\). The end \(A\) of the rod is rigidly attached to the surface of a uniform hollow sphere with centre \(O\), mass \(kM\) and radius \(2a\). The end \(B\) of the rod is rigidly attached to the circumference of a uniform ring with centre \(C\), mass \(M\) and radius \(a\). The points \(C\), \(B\), \(A\), \(O\) lie in a straight line. The horizontal axis \(L\) passes through the mid-point of the rod and is perpendicular to the rod and in the plane of the ring (see diagram). The object consisting of the rod, the ring and the hollow sphere can rotate freely about \(L\).

1. Show that the moment of inertia of the object about \(L\) is \(\frac{5}{2}(8k + 3)Ma^2\). [6] The object performs small oscillations about \(L\), with the ring above the sphere as shown in the diagram.
2. Find the set of possible values of \(k\) and the period of these oscillations in terms of \(k\). [6]

An object is formed from a uniform circular disc, of radius \(2a\) and mass \(3M\), and a uniform rod \(AB\), of length \(4a\) and mass \(kM\), where \(k\) is a constant. The centre of the disc is \(O\). The end \(B\) of the rod is rigidly joined to a point on the circumference of the disc so that \(OBA\) is a straight line. The fixed horizontal axis \(l\) is in the plane of the object, passes through \(A\) and is perpendicular to \(AB\).

1. Show that the moment of inertia of the object about the axis \(l\) is \(3Ma^2(26 + k)\). [5]
2. The object is free to rotate about \(l\). Show that small oscillations of the object about \(l\) are approximately simple harmonic. Given that the period of these oscillations is \(4\pi\sqrt{\frac{a}{g}}\), find the value of \(k\). [6]

\includegraphics{figure_5} A thin uniform rod \(AB\) has mass \(\lambda M\) and length \(2a\). The end \(A\) of the rod is rigidly attached to the surface of a uniform hollow sphere (spherical shell) with centre \(O\), mass \(3M\) and radius \(a\). The end \(B\) of the rod is rigidly attached to the surface of a uniform solid sphere with centre \(C\), mass \(5M\) and radius \(a\). The rod lies along the line joining the centres of the spheres, so that \(CBAO\) is a straight line. The horizontal axis \(L\) is perpendicular to the rod and passes through the point of the rod that is a distance \(\frac{1}{2}a\) from \(B\) (see diagram). The object consisting of the rod and the two spheres can rotate freely about \(L\).

1. Show that the moment of inertia of the object about \(L\) is \(\left(\frac{408 + 7\lambda}{12}\right)Ma^2\). [6]

The period of small oscillations of the object about \(L\) is \(5\pi\sqrt{\left(\frac{2a}{g}\right)}\).

1. Find the value of \(\lambda\). [6]

A uniform rod \(AB\), of mass \(m\) and length \(2a\), is free to rotate in a vertical plane about a fixed smooth horizontal axis \(L\). The axis \(L\) is perpendicular to the rod and passes through the point \(P\) of the rod, where \(AP = \frac{2}{3}a\).

1. Find the moment of inertia of the rod about \(L\). [3]

The rod is held at rest with \(B\) vertically above \(P\) and is slightly displaced.

1. Find the angular speed of the rod when \(PB\) makes an angle \(\theta\) with the upward vertical. [4]
2. Find the magnitude of the angular acceleration of the rod when \(PB\) makes an angle \(\theta\) with the upward vertical. [3]
3. Find, in terms of \(g\) and \(a\) only, the angular speed of the rod when the force acting on the rod at \(P\) is perpendicular to the rod. [5]

A uniform square lamina \(ABCD\) of side \(a\) and mass \(m\) is free to rotate in vertical plane about a horizontal axis through \(A\). The axis is perpendicular to the plane of the lamina. The lamina is released from rest when \(t = 0\) and \(AC\) makes a small angle with the downward vertical through \(A\).

1. Show that the moment of inertia of the lamina about the axis is \(\frac{2}{3}ma^2\). [3]
2. Show that the motion of the lamina is approximately simple harmonic. [5]
3. Find the time \(t\) when \(AC\) is first vertical. [2]