Sample Problems from

Solving Dynamics Problems in Mathcad

by Brian D. Harper
Ohio State University

Solving Dynamics Problems in Mathcad is a supplement to

the textbook Engineering Mechanics: Dynamics (5th

Edition) by J.L. Meriam and L.G. Kraige, Wiley, 2001.

2 Sample Problems

Mathcad

2.2 Problem 2/94 (Rectangular Coordinates)

A projectile is fired into an experimental fluid at
time t = 0. The initial speed is vo and the angle to
the horizontal is . The drag on the projectile
results in an acceleration term aD = -kv, where k
is a constant and v is the velocity of the
projectile. Determine the x- and y-components of
both the velocity and the displacement as
functions of time. What is the terminal velocity?
For the case vo = 40 m/s and = 60, plot (on a
single graph) the trajectory (y versus x) of the
projectile for k = 0.2, 0.4 and 1 sec-1. Include the
effects of gravitational acceleration.

Problem Formulation
The x and y components of the acceleration are:
ax = k vx

and ay = g k vy

These equations can be integrated to yield the velocities. To illustrate, consider

ay =

dvy

g k vy .
dt =

Rearranging terms yields dt =

dvy
g + k vy

. The right hand side is to be integrated

from vy0 = v0 sin( ) to vy , thus

v

1
t =
ds .

g+ks

v0 sin( )

Mathcad will be used to solve this equation for vy as a function of time, yielding
g
g

v y = v 0 sin + e kt
k
k

vy will then be integrated over time to yield y.

3 Sample Problems

y=

Mathcad

g
g
1
kt
t
v 0 sin + 1 e
k
k
k

An analogous approach is used for the x components yielding,

v x = (v 0 cos )e kt

x=

v 0 cos
1 e kt
k

Before proceeding, let's observe that the terminal velocity, which by definition is
constant, can be determined by setting the acceleration equal to zero. Thus, the
g
components of the terminal velocity are vx = 0 and vy = k . In other words, at
g
long times the projectile will be moving down at a constant velocity of k .

Mathcad Worksheet
Symbolic calculations

y
exp( t k) g + exp( t k) v0 sin( ) k g

ds solve , vy
k
g + k s

v sin( )
0

Now we copy and paste the result for vy into the following integral, changing t
back to the dummy integration variable s.
t

exp( s k) g + exp( s k) v sin( ) k g

0

y :=
ds

k
0
y

( g v0 sin( ) k gt k exp( t k) )
2

exp( t k) +

( g + v0 sin( ) k)

k
vx

ds solve , vx exp( t k) v0 cos ( )

k s

v cos ( )
0
t

x := exp( s k) v0 cos ( ) ds
0

4 Sample Problems

Mathcad

1
1
exp( t k) v0 cos ( ) + v0 cos ( )
k
k

Numerical results
Results for x and y are copied and pasted from the symbolic results above.
g := 9.81
:= 60

v0 := 40

180

y ( k , t) :=

( g v0 sin( ) k gt k exp( t k) )
2

exp( t k) +

k
x( k , t) :=

( g + v0 sin( ) k)
k

1
1
exp( t k) v0 cos ( ) + v0 cos ( )
k
k

The trajectory of the projectile can be obtained by plotting y as a function of x. Since we do not
have y explicitly as a function of x, we must use a parametric plot. Note in the following that
three different functions are entered on both the horizontal and vertical axes.
t := 0 , 0.05 .. 6
trajectory of projectile

50
40
y( .2 , t)
y( .4 , t) 30
y( 1 , t)

20
10
0

10

20

30

40

50

x( .2 , t) , x( .4 , t) , x( 1 , t)

60

70

80

5 Sample Problems

3.6 Problem 3/358 (Curvilinear Motion)

The 26-in. drum rotates about a horizontal axis
with a constant angular velocity = 7.5 rad/sec.
The small block A has no motion relative to the
drum surface as it passes the bottom position =
0. Determine the coefficient of static friction s
that would result in block slippage at an angular
position ; plot your expression for 0 180.
Determine the minimum required coefficient
value min that would allow the block to remain
fixed relative to the drum throughout a full
revolution. For a friction coefficient slightly less
than min, at what angular position would
slippage occur?

Problem Formulation
From the free body and mass acceleration diagrams we
have,

[Fn = ma n ]

N mg cos = mr 2

[Ft = mat ]

F mg sin = 0

For impending slip we have F = s N . Substituting F

into the above and solving gives,
s =

g sin
sin
=
2
1.8925 + cos
g cos + r

The last two questions can be answered only after plotting s as a function of .

Mathcad

6 Sample Problems

Mathcad

Mathcad Worksheet
Given
N m gcos ( )

m r

s N m gsin( )

sin( )

g
2
gcos ( ) + r
Find( s , N)

2
m gcos ( ) + m r

r :=

g := 32.2

s ( ) := g

13
12

:= 7.5

sin( )

(gcos() + r 2)

:= 0 , 0.02 ..

coefficient of static friction

0.8

0.6
s ( )

0.4

0.2

30

60

90

180

(degrees)

120

150

180

7 Sample Problems

Mathcad

If the block is not to slip at any angle , the coefficient of friction must be greater
than or equal to any value shown on the plot above. Thus, the minimum required
coefficient value min that would allow the block to remain fixed relative to the
drum throughout a full revolution is equal to the maximum value in the plot
above. The location where this maximum occurs can be found by solving the
equation d s / d = 0 for . This can then be substituted into s to yield the
required value for min. Heres how we do this with Mathcad.
d
s ( x)
dx

2.1275232852017454951
2.1275232852017454951

0 solve , x

s ( 2.1275) = 0.622

From the above we see that min = 0.622. If s is slightly less than this value, the
block will slip when = 2.128 rads (121.9).

6.6 Problem 6/204 (Impulse/Momentum)

Determine the minimum velocity v that the
wheel may have and just roll over the
obstruction. The centroidal radius of gyration of
the wheel is k, and it is assumed that the wheel
does not slip. Plot v versus h for three cases: k =
, , and 1 m. For each case take r = 1 m.

Problem Formulation
During Impact: Conservation of Angular Momentum
As usual, we neglect the angular impulse of the
weight during the short interval of impact. With this
assumption we have conservation of angular
momentum about point A. Immediately before
impact, the center of the wheel is not moving in a
circular path about A and we need to use the formula
for general plane motion. Note that I = mk 2 .
H A = I + mv d = mk 2 + mv(r h ) = mk 2

v
+ mv(r h )
r

8 Sample Problems

Mathcad

We will use primes to denote the state immediately after impact. Since the wheel
now rotates about A we can use the simpler formula H A = I A . Note that, by the

parallel axis theorem, I A = I + mr 2 = m k 2 + r 2 .

H A = I A = k 2 + r 2
r

Setting H A = H A and solving yields,

rh

v = v1 2

k + r2

After Impact: Work-Energy

T + V g = 0 =

1
I A 0 2 2 + mgh
2
2

1
v
m k 2 + r 2 = mgh
2
r
Substituting the result for v into the above
equation followed by simplification yields,

r 2 gh k 2 + r 2

v=

k + r rh

Mathcad Worksheet
2

Ibar := m k

HA := Ibar

HA

v
+ m v ( r h)
r

HAp solve , vp v

(k2 + r2 r h)
vp := v
(k2 + r2)

IA := m k + r
HAp := IA

(k2 + r2 r h)
(k2 + r2)

vp
r

9 Sample Problems

vp
1
eqn := IA
2
r

Mathcad

m gh

2
r
( 2 r2 gh + 2 gh k2)

(k2 + r2 r h)
eqn solve , v
1

2
r
( 2
2)
2
r
g
h
2
g
h
k

(k2 + r2 r h)

g := 9.81

r := 1

Now we copy and paste the first solution above.

1

2
r
2
2
v ( k , h) := 2 gh r + 2 gh k

2
2
k + r r h

h := 0 , 0.01 .. 1
velocity (m/s)

20

1
v , h 15
2
3
v , h 10
4
v( 1 , h)
5

0.5
h
(meters)