Problems

Two long circular cylinders of equal radius lie in equilibrium on an inclined plane, in \mbox{contact} with one another and with their axes horizontal. The weights of the upper and lower \mbox{cylinders} are \(W_1\) and \(W_2\), respectively, where \(W_1>W_2\)\,. The coefficients of friction \mbox{between} the \mbox{inclined} plane and the upper and lower cylinders are \(\mu_1\) and \(\mu_2\), respectively, and the \mbox{coefficient} of friction \mbox{between} the two cylinders is \(\mu\). The angle of inclination of the plane is~\(\alpha\) (which is positive).

1. Let \(F\) be the magnitude of the frictional force between the two cylinders, and let \(F_1\) and \(F_2\) be the magnitudes of the frictional forces between the upper cylinder and the plane, and the lower cylinder and the plane, respectively. Show that \(F=F_1=F_2\,\).
2. Show that \[ \mu \ge \dfrac{W_1+W_2}{W_1-W_2} \,,\] and that \[ \tan\alpha \le \frac{ 2 \mu_1 W_1}{(1+\mu_1)(W_1+ W_2)}\,. \]

A hollow circular cylinder of internal radius \(r\) is held fixed with its axis horizontal. A uniform rod of length \(2a\) (where \(a < r\)) rests in equilibrium inside the cylinder inclined at an angle of \(\theta\) to the horizontal, where \(\theta\ne0\). The vertical plane containing the rod is perpendicular to the axis of the cylinder. The coefficient of friction between the cylinder and each end of the rod is \(\mu\), where \(\mu > 0\). Show that, if the rod is on the point of slipping, then the normal reactions \(R_1\) and \(R_2\) of the lower and higher ends of the rod, respectively, on the cylinder are related by \[ \mu(R_1+R_2) = (R_1-R_2)\tan\phi \] where \(\phi\) is the angle between the rod and the radius to an end of the rod. Show further that \[ \tan\theta = \frac {\mu r^2}{r^2 -a^2(1+\mu^2)}\,. \] Deduce that \(\lambda <\phi \), where \(\tan\lambda =\mu\).

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Solution:

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Let \(M\) be the midpoint of \(AB\), then \begin{align*} \overset{\curvearrowright}{M}: && R_1 \sin \phi-\mu R_1 \cos \phi &= R_2 \sin \phi+\mu R_2 \cos \phi \\ \Rightarrow && (R_1-R_2) \tan \phi &= \mu(R_1+R_2) \end{align*} As required. \begin{align*} && \cos \phi = \frac{a}{r} &,\,\, \sin \phi = \frac{\sqrt{r^2-a^2}}{r} \\ \text{N2}(\rightarrow): && R_1\cos(\phi + \theta)+\mu R_1 \sin(\phi + \theta) &= R_2 \cos(\theta - \phi) + \mu R_2 \sin(\theta - \phi) \\ \Rightarrow && R_1(\cos \theta \cos \phi - \sin \theta \sin \phi)+ \mu R_1 (\sin \theta \cos \phi + \cos \theta \sin \phi) &= R_2 (\cos\theta \cos \phi + \sin \theta \sin \phi)+ \mu R_2 (\sin \theta \cos \phi - \cos \theta \sin \phi) \\ && R_1 (1 - \tan \theta \tan \phi)+\mu R_1 (\tan \theta + \tan \phi) &= R_2(1 + \tan \theta \tan \phi) +\mu R_2 (\tan \theta - \tan \phi) \\ && 0 &= (R_1-R_2)(1+\mu \tan \theta)+(R_1+R_2)(-\tan \theta \tan\phi+\mu \tan \phi) \\ \Rightarrow && \frac{R_1+R_2}{R_1-R_2} &= \frac{1+\mu \tan \theta}{\tan \phi (\tan \theta - \mu))} \\ \Rightarrow && \frac{\tan \phi}{\mu} &= \frac{1+\mu \tan \theta}{\tan \phi (\tan \theta - \mu))} \\ \Rightarrow && \tan^2 \phi &= \frac{\mu(1+\mu \tan \theta)}{\tan \theta - \mu} \\ \Rightarrow && \frac{r^2-a^2}{a^2} &= \frac{\mu(1+\mu \tan \theta)}{\tan \theta - \mu} \\ \Rightarrow && \tan \theta (r^2-a^2-a^2\mu^2) &= \mu a^2+\mu(r^2-a^2) \\ \Rightarrow && \tan \theta &= \frac{\mu r^2}{r^2-(1+\mu^2)a^2} \end{align*} Since \(\mu r^2 > 0\) we must also have \(r^2 > a^2(1+\mu^2)\) ie \(\\sec^2 \phi > 1 + \mu^2 = \sec^2 \lambda\) and the result follows.

A rough circular cylinder of mass \(M\) and radius \(a\) rests on a rough horizontal plane. The curved surface of the cylinder is in contact with a smooth rail, parallel to the axis of the cylinder, which touches the cylinder at a height \(a/2\) above the plane. Initially the cylinder is held at rest. A particle of mass \(m\) rests in equilibrium on the cylinder, and the normal reaction of the cylinder on the particle makes an angle of \(\theta\) with the upward vertical. The particle is on the same side of the centre of the cylinder as the rail. The coefficient of friction between the cylinder and the particle and between the cylinder and the plane are both \(\mu\). Obtain the condition on \(\theta\) for the particle to rest in equilibrium. Show that, if the cylinder is released, equilibrium of both particle and cylinder is possible provided another inequality involving \(\mu\) and \(\theta\) (which should be found explicitly) is satisfied. Determine the largest possible value of \(\theta\) for equilibrium, if \(m=7M\) and \(\mu=0.75\).

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Solution:

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\begin{align*} \text{N2}(\nwarrow): && R -mg \cos \theta &= 0 \\ \text{N2}(\rightarrow): && -R \sin \theta + F \cos \theta &= 0 \\ \\ \Rightarrow && F &= \tan \theta R \\ \\ && F & \leq \mu R \\ \Rightarrow && \tan \theta R &\leq \mu R \\ \Rightarrow && \tan \theta &\leq \mu \end{align*} (Notice also \(F = mg \sin \theta\)) Once everything is released, we have the following situation. (Red forces act on the cylinder, blue forces on the particle).

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\begin{align*} \text{N2}(\uparrow): && 0 &= R_g - Mg - \underbrace{mg}_{R_p \text{ and } F_p} + \frac{1}{\sqrt{2}}R_r \\ \text{N2}(\rightarrow): && 0 &= \frac{1}{\sqrt{2}}R_r - F_g \\ \overset{\curvearrowleft}{O}: && 0 &= aF_p - aF_g \\ \Rightarrow && F_g &= mg \sin \theta \\ \Rightarrow && R_r &= \sqrt{2} mg \sin \theta \\ \Rightarrow && R_g &=(M+m)g + mg \sin \theta \\ \\ && F_g &\leq \mu R_g \\ \Rightarrow && mg \sin \theta &\leq \mu (M+m(1+\sin \theta))g \\ \Rightarrow && \mu &\geq \frac{m \sin \theta}{M+m(1+\sin \theta)} \end{align*} If \(m = 7M\) and \(\mu = \frac34\) we have: \begin{align*} && \tan \theta &\leq \frac34 \\ && 3(M+7M(1 + \sin \theta)) &\geq 4 \cdot 7 M \sin \theta \\ \Rightarrow && 10 + 7 \sin \theta & \geq 28 \sin \theta \\ \Rightarrow && 10 &\geq 21 \sin \theta \\ \Rightarrow && \sin \theta &\leq \frac{10}{21} \end{align*} If \(\tan \theta = \frac{3}{4}, \sin \theta = \frac35 > \frac{10}{21}\), so the critical bound is \(\sin \theta \leq \frac{10}{21}\), ie \( \theta \leq \sin^{-1} \frac{10}{21} \approx 30^{\circ}\)