Chapter 5 Summary The rigid body motion of translation is defined as motion in which a straight line passing through any

two particles of a body always remains parallel to its initial position. All particles travel the same or parallel paths and therefore the value of displacement, velocity, and acceleration are identical. If the path is straight, the motion is called rectilinear translation; if curved, the motion is called curvilinear translation. The kinematic equations of rectilinear motion with constant acceleration are obtained by solving the differential equations of kinematics to yield: V = vo + at S = vot + at2 V2 = vo2 + 2as In applying these equations, the following sign convention is adopted: The initial direction of motion represents the positive direction of displacement velocity, and acceleration. If the acceleration is variable, the kinematic equations may be obtained by integrating the differential equations of kinematics. When the motion can be expressed graphically, the area under a v-t curve represents the change in displacement, and the area under an a-t curve represents the change in velocity. When the principle of the motion of the center of gravity is applied to rectilinear translation, we obtain: =

The X axis is chosen so that it coincides with the line of motion of the body, and values of forces, displacement, velocity, and acceleration are all considered positive in the initial direction of motion. The bar sign for acceleration is omitted because the center of gravity has the same acceleration as all other particles in the body. Dynamic equilibrium may be created by adding an inertia force

at the center of gravity

directed opposite to the acceleration. When dynamic equilibrium is created, all the equations and methods of static equilibrium can be used.

Chapter 6 Summary A rigid body translation in which the paths followed by the particles composing the body are parallel curved lines is known as curvilinear translation. Since all particles of the body have identical motions, the motion of the body is considered equivalent to that of a particle concentrated at the center of gravity of the body. Problems involving kinematics of curvilinear translation can be solved by considering the rectilinear motions of the X and Y projections of the center of gravity. The actual motion is related to its projections by the equations: s = x + y v = vx + vy a = ax + ay When applied to the flight of projectiles with air resistance neglected, these three equations can be used to determine the coordinates of the projectiles position. The components of the acceleration become ax = 0 and ay = -y . The normal and tangential components of the acceleration in curvilinear translation are respectively normal and tangent to the path and are related to the total acceleration by: a = an + at The normal component of acceleration, expressed by: an =

is due only to the changing direction of the velocity. The tangential component of the acceleration, given by: at =

depends solely on the change in magnitude of the velocity. The kinetic equations of curvilinear translation, obtained from the motion of the center of gravity, are: =

The N and T reference axes are chosen through the center of gravity of the body normal and tangent to its path. Dynamic equilibrium is obtained by applying inertia forces of magnitudes

and

acting through the center of gravity opposite in direction to an and at respectively. These forces are

known as the centrifugal inertia force and the tangential inertia force.

Problems involving forces acting on vehicles rounding a banked curve are solved by adding the inertia forces, thereby creating dynamic equilibrium. If the vehicle ha no motion along the plane of banking, a force summation parallel to this plane will determine the necessary resisting force. In the ideal case when no resistance is necessary, the angle of banking is determined from the relation: tan = When friction is considered, the maximum and minimum velocities are found from the equation: tan ( ) =

Rectilinear Motion with Constant Acceleration

V= vo + at

X Component of Flight (ax = 0, vox = vocos)

Vx = vox + axt or vx = vocos

Y Component of Flight (ay = -g, voy = vosin)

Vy = voy + ayt or vy = vosin - gt

S = vot +

X = voxt + or x = vocost

y = voyt + or y = vosint - gt

Curvilinear Motion of a Particle Translation of a rigid body has been defined as the motion in which a straight line passing through any two points of the body always remains parallel to its initial position. This definition requires that all particles of the translating body have exactly the same motion. Hence in discussing curvilinear translation, the body ay be assumed to be concentrated at its center of gravity and treated as a particle as in the case of rectilinear translation. In rectilinear motion, we chose the origin of motion on the path so that only the magnitude of the displacement vector could change, but not its inclination. In curvilinear motion, however, the displacement vector will change in both magnitude and inclination. Our concepts of velocity and acceleration must be extended to include both these changes in displacement. We shall find that although the velocity is always directed tangent to the curved path of the motion, the acceleration is not tangent to the path.