# Example 17.2
FPS(slug ft^2)
rho = 5 slug /ft^3
II = 0.5 * pi() * rho * (1 ft)^9 / 9

# Example 17.3
MKS()
rho = 8000 kg/m^3
d = 0.25 m
r = 250 mm
h = 10 mm
md = rho * pi() * r^2 * h
id = 0.5 * md * r^2 + md * d^2
rh = 0.125 m
mh = rho * pi() * rh^2 * h
ih = 0.5 * mh * rh^2 + mh * d^2
i0 = id - ih

# Example 17.4
FPS(slug ft^2)
w0 = 10 lb
m0 = w0 / grav()
x = 2 ft
ioa = (1/3) * m0 * x^2
d = 1 ft
ioa2 = (1/12) * m0 * x^2 + m0 * d^2
ibc = (1/12) * m0 * x^2 + m0 * x^2
ioa + ibc
ybar = (d * m0 + x * m0) / (2 * m0)
ig = ioa + ibc - (2 * m0) * (1.5 ft)^2

# Example 17.5
MKS(kN)
m0 = 2e3 kg
mu = 0.25
BEGIN
  ag = 1 m/s^2
  na = 1 kN
  nb = 1 kN
  fx = -mu * nb - (-m0 * ag)
  fy = na + nb - m0 * grav() 
  M0 = -na * (1.25 m) - mu * nb * (0.3 m) + nb * (0.75 m)
END
solve(fx,fy,M0,ag,na,nb)

# Example 17.6
MKS(N)
m1 = 125 kg
m2 = 75 kg
BEGIN
  ag = 1 m/s^2
  nb = 1 N
  fb = 1 N
  fx = fb - ((m1 + m2) * ag)
  fy = nb - (m1 + m2) * grav()
  M0 = -m2 * grav() * (0.4 m) - m1 * grav() * (0.8 m) + m2 * ag * (0.9 m) + m1 * ag * 0.6 m
END
solve(fx,fy,M0,ag,nb,fb)

# Example 17.7
MKS(N)
m0 = 50 kg
mu = 0.2
p = 600 N
begin
   nc = 1 N
   x = 1 m
  ag = 1 m/s^2
  fx = p - mu * nc - m0 * ag
  fy = nc - m0 * grav()
  M0 = -p * 0.3 m + nc * x - mu * nc * 0.5 m
end
solve(fx,fy,M0,nc,x,ag)

# Example 17.8
MKS(KN)
m0 = 100 kg
q = 30 deg
om = 6 rad/s
r = 0.5 m
agn = om^2 * r
begin
  tb = 1 kN
  td = 1 kN
  ag = 1 m/s^2
  fx = tb + td - m0 * grav() * cos(q) - m0 * agn
  fy = m0 * grav() * sin(q) - m0 * ag
  M0 = -tb * cos(q) * 0.4 m + td * cos(q) * 0.4 m
end
solve(fx,fy,M0,tb,td,ag)

# Example 17.9
MKS(N)
m0 = 30 kg
f = 10 N
M0 = 5 N m
r = 0.2 m
io = 0.5 * m0 * r^2
Oy = m0 * grav() + f
alp = (f * 0.2 m + M0) / io
om = -20 rad/s
q = om^2 / (2 * alp)

# Example 17.10
MKS(N)
m0 = 20 kg
om = 5 rad/s
x = 3 m
an = om^2 * (x / 2)
On = m0 * an
M1 = 60 N m
io = 0.5 * m0 * x^2
begin
  Ot = 1 N
  alp = 1 rad/s^2
   fy = -Ot + m0 * grav() - m0 * alp * (x / 2)
   M0 = Ot * (x/2) + M1 - io * alp
end
solve(fy,M0,Ot,alp)

# Example 17.11
MKS(N)
m0 = 60 kg
ko = 0.25 m
m1 = 20 kg
io = m0 * ko^2
begin
   tt = 1 N
   a = 1 m/s^2
   alp = 1 rad/s^2
   M0 = tt * 0.4 m - io * alp
   fy = -m1 * grav() + tt + m1 * a
   e = a - alp * 0.4 m
end
solve(M0,fy,e,tt,a,alp)

# Example 17.12
FPS()
w0 = 50 lb
m0 = w0 / grav()
kg0 = 0.6 ft
om = 8 rad/s
ig = m0 * kg0^2
rg = 0.5 ft
On = m0 * om^2 * rg
begin
   Ot = 1 lb
   alp = 1 rad/s^2
   fy = -Ot + w0 - m0 * alp * rg
   MM = 80 ft lb + Ot * rg - ig * alp
end
solve(fy,MM,Ot,alp)

# Example 17.14
MKS(N)
m0 = 8 kg
kg0 = 0.35 m
ig = m0 * kg0^2
f = 100 N
begin
   alp = 1 rad/s^2
   a = 1 m/s^2
   tt = 1 N
   fy = tt + f - m0 * grav() - m0 * a
   M0 = f * 0.2 m - tt * 0.5 m - ig * alp
   e = a - 0.5 m * alp
end
solve(fy,M0,e,alp,a,tt)

# Example 17.15
FPS
w0 = 50 lb
m0 = w0 / grav()
rg = 0.7 ft
M0 = 35 ft lb
mus = 0.35
muk = 0.25
ig = m0 * rg^2
begin
   na = 1 lb
   fa = 1 lb
  alp = 1 rad/s^2
   ag = 1 ft/s^2
   fx = fa - m0 * ag
   fy = na - w0
   MM = M0 - 1.25 ft * fa - ig * alp
   e = ag - 1.25 ft * alp
end
solve(fx,fy,MM,e,na,fa,alp,ag)

# Example 17.16
MKS(N)
m0 = 100 kg
ig = 75 kg m^2
mus = 0.3
muk = 0.25
f = 400 N
begin
  na = 1 N
  fa = 1 N
  ag = 1 m/s^2
  alp = 1 rad/s^2
   fx = f - fa - m0 * ag
   fy = na - m0 * grav()
   MM = fa * 1.5 m - f * 1 m - ig * alp
   e = ag - 1.5 m * alp
end
solve(fx,fy,MM,e,na,fa,ag,alp)

# Example 17.17
MKS(N)
m0 = 30 kg
rg = 0.15 m
ig = m0 * rg^2
begin
  na = 1 N
  fa = 1 N
   alp = 1 rad/s^2
   agx = 0.25 m * alp
   agy = 0.1 m * alp
    MM = m0 * grav() * 0.1 m - (ig * alp + m0 * agx * 0.25 m + m0 * agy * 0.1 m)
   fx = -fa - m0 * agx
   fy = -m0 * grav() + na - m0 * agy
end
solve(MM,fx,fy,na,fa,alp)

# Homework Problems:

TBD