P3 Dynamics

Mark Cannon

Hilary Term 2012

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Lecture 1

Introduction to Dynamics

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Introduction
Dynamics
(d - n am ks) from Greek: o powerful power, strength

Dynamics concerns the calculation of forces and motion for analysis & design For stationary objects, use statics & elasticity, e.g. bridges, buildings . . . For problems involving motion, use the laws of dynamics, e.g. machines, vehicles, robots . . .

Dynamics is a component of Mechanics, which involves: Kinematics Dynamics motion forces and moments

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Introduction

Dynamics is essentially about Newtons 2nd law

even gyroscopic forces can be explained using Newtons 2nd law . . .

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Introduction
. . . . . . despite how counter-intuitive they may appear to be

Henry W. Wallaces so-called anti-gravity kinemassic eld generator from U.S. Patent 3,626,605 (1971)
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Lectures & turorials

8 lectures covering: Force and momentum as applied to particles Work, power and energy Circular motion Gravity and satellite orbits Rigid body dynamics Two tutorial sheets: 1P3H dynamics of particles 1P3J dynamics of rigid bodies

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Reading
Favourite books: Meriam and Kraige Engineering Mechanics Volume 2 Dynamics 5th edition, SI version, Wiley, 2003. Meriam Dynamics 2nd edition, SI version, Wiley, 1975. Other possibilities: Hibbeler Engineering Mechanics - Dynamics SI edition, Prentice Hall, 1997. Bedford and Fowler Engineering Mechanics - Dynamics SI edition, Addison-Wesley, 1996. . . . Lecture notes & slides: For all handouts (lecture notes & these slides), and the tutorial sheets, go to http://www.eng.ox.ac.uk/conmrc/dcs
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Things you should know by the end of the course

How to: use the denitions of velocity and acceleration to analyse straight-line and curvilinear motion of particles use Newtons second law to analyse the motion of particles under the action of a steady or impulsive force apply the principles of conservation of momentum and conservation of energy to the motion of a particle describe planar motion of a particle in rectangular, normal-tangential, and polar coordinates calculate the moment of inertia of a planar rigid body from rst principles or from standard cases apply the principles of conservation of angular momentum and conservation of energy to the motion of a planar rigid body analyse the translation and rotation of a planar rigid body under the action of a steady or impulsive force or moment.

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Force and Motion

A particle is a discrete mass concentrated at a point treat an object as a particle when considering its translation e.g. when analysing the trajectory of a golf ball or the motion of a spacecraft orbiting the earth or straight-line motion with variable acceleration

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Force and Motion

A rigid body is a system of particles rigidly connected to each other treat any object with distributed mass as a rigid body when considering its rotation e.g. when analysing the motion of gears or forces and accelerations of pistons and crankshaft in a car engine

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Force and Motion

A particle moving in a straight line:
P 0 x P Dx

instantaneous speed and acceleration: V = lim integrate w.r.t. t :

t t

x dx = =x t 0 t dt

a=

dV =x dt

V (t ) = V0 +
0

a(t ) d t

x ( t ) = x0 +
0

V (t ) d t

If a = constant: V (t ) = V0 + at

1 x (t ) = x0 + V0 t + at 2 2

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Force and Motion

A particle moving in a straight line:
P 0 x P Dx

Or use a =

dx dx dx dx = =x to get dt dt dx dx a=V dV dx

integrate w.r.t. x using dV d V = dx dx If a = constant:

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x 1 2 2V

=a

1 2 2V

1 2 2 V0

=
x0

a (x ) d x

1 2 2V

1 2 2 V0 = a(x x0 )

Force and Motion

Newtons second law
for a particle: force = rate of change of momentum where momentum = mass velocity

Equivalent vector equation: F= dV dm d mV = m +V dt dt dt

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Force and Motion

If mass is constant (dm/dt = 0), then F=m i.e. force = mass acceleration dV dt or F = ma

If force and motion are in only one direction, then use the scalar form: F = and F =m dV dt or F = ma d dV dm mV = m +V dt dt dt

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Force and Motion

Some comments on weight . . . A dropped object accelerates downwards at g = 9.81 m s2 (at earths surface) The force of gravity causing this acceleration is the weight of the object: weight = mass gravitational acceleration The SI unit of force is the Newton: 1 N acting on 1 kg produces 1 m s2 acceleration, so weight (Newtons) = mass (kg) 9.81 (m s2 )

. . . and on speed Velocity refers to the vector V Speed is a scalar quantity V , equal to the magnitude of V

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Force and Motion

Example Motion in a straight line A boat of mass 1500 kg is launched from a trolley on a sloping ramp. The trolley is allowed to run down the ramp at 1 m s1 until the boat is just aoat. The trolley then stops and the boat continues to move at 1 m s1 . Once aoat, a crew member of mass 70 kg stops the boat by pulling steadily on a rope with a force equal to 30 % of his own weight. How long will the boat take to stop, and what length of rope must be allowed to slip?
1 ms
-1

force

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Force and Motion

Solution: use the scalar form of Newtons 2nd law for constant mass: F = ma so the acceleration is a= gives 70 9.81 0.3 = 1500 a dv = 0.137 m s2 dt To nd the distance: use a= dv ds dv dv = =v dt ds dt ds

To nd the time to stop the boat: separate variables dt = and integrate t= v2 v1 01 = = 7.28 s a 0.137 dv a

separate variables v dv = a ds and integrate 1 2 2 (v2 v1 ) = a(s2 s1 ) 2 1 02 12 = 3.64 m s = s2 s1 = 2 0.137

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Force and Motion

Example terminal velocity in free fall

A free-fall parachutist has mass m = 75kg and frontal area A = 0.8m2 . The air density at 2000 m is = 1.007 kg m3 (HLT p.68) and the aerodynamic drag is D= 1 CD V 2 A 2 drag coecient CD = 1.2 .

Find the terminal speed Vt . How far will the parachutist fall before reaching 90 % of this terminal speed?

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Force and Motion

Example terminal velocity in free fall
D

Solution:

mg

Forces: weight mg downwards and aerodynamic drag D upwards. Hence Newtons second law: F = ma gives mg 1 CD V 2 A = ma 2

Terminal velocity Vt is reached when a = 0, so Vt2 = 2mg 2 75 9.81 = ACD 1.007 0.8 1.2 = Vt = 39.01 m s1

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Force and Motion

Example terminal velocity in free fall
D

Solution contd:

mg

To nd the variation of V with s , use a = V d V /d s : dV C V 2 A mV = mg 1 2 D ds Simplify by rearranging and writing this in terms of Vt2 : dV g V = 2 Vt2 V 2 ds Vt Separate variables and integrate between limits V = 0 and V = 0.9Vt : s= Vt2 g
0.9Vt 0

Vt2 (0.9Vt )2 V Vt2 d V = ln 2g Vt2 V 2 Vt2 0 1 0.81 1 = 128.8 m

= 77.58 ln
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Force and Motion

Highest parachute jump Joseph Kittinger, Aug 16, 1960 Height: Terminal velocity: 31.3 km 274 m s1 (988 km h1 )

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Impulse and Momentum

What if F is time-varying and the magnitude F (t ) is unknown? This is often true in problems involving collisions Use the concept of impulse the integral of F(t ) over time The impulse acting on a body is related to its momentum. Given that dV F=m dt for a body of mass m, then
2

F d t = m (V2 V1 )
1

In words: impulse = change in momentum

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Impulse and Momentum

The impulse-momentum equation requires no details of the time-variation of force An impulse can describe an impact involving large forces over a short time

force impulse = area under force-time graph

time 0

The area under graph of F(t ) gives the magnitude of the impulse

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Impulse and Momentum

Example Impulse with unknown force variation A batsman is struck by a cricket ball of mass 0.15 kg travelling at 40 m s1 . The ball is stopped by the impact. Can you estimate the force exerted by the ball?

Solution: the force variation and duration of the impact is unknown but the impulse is mV = 0.15 40 = 6.0 kg m s1 so if the impact lasts t seconds, then the average force is Fav = mV 6 .0 = N t t

e.g. t = 0.05 s gives an average force of 120 N shorter duration = greater force = more painful impact!

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Impulse and Momentum

Example Impulse with constant force Use impulse & momentum to nd the time needed to stop the boat in the rst example. Solution: The force F is constant, so
2 2

F dt = F
1 1

d t = F (t2 t1 ) = m (V2 V1 )

giving t = t2 t1 = m V2 V1 01 = 1500 = 7.28 s F 70 9.81 0.3

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Impulse and Momentum

Example Impulse and momentum as vectors A cannon of mass M is free to roll without friction on horizontal ground. An explosive charge projects a ball of mass m at speed v relative to the barrel, which is inclined upward at angle .
v

q
u

At the instant after the ball leaves the muzzle nd: (a) the backward recoil speed u of the gun (b) the absolute velocity components of the ball (c) the magnitude and direction of any external impulse acting on the system.
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Impulse and Momentum

Solution: The components of the balls absolute velocity are: vx = v cos u vy = v sin horizontally vertically
u v v sinq

q
v cos q - u

(a) Consider cannon plus ball together as a single system theres no external horizontal impulse on the system, so the horizontal momentum before and afterwards is zero therefore 0 = m (v cos u ) Mu giving u= mv cos M +m

[Note: the impulse between the cannon and ball is internal to the system]
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Impulse and Momentum

Solution contd: (b) Substituting for u in vx = v cos u gives vx = v cos mv cos M = v cos M +m M +m

and the other component of absolute velocity is just vy = v sin

(c) The only external impulse is vertical: Qy (from the ground) Qy is equal to the change of upward momentum of the entire system: Qy = mv sin

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Impulse and Momentum

Example Rowing on a sliding seat Between strokes, the crew of a boat slide a distance d towards the stern of the boat. If the crew has mass m and the boat has mass M, what happens to the boat?

Solution: Assume the crew slides distance d at constant speed for time t theres no external impulse so the momentum of boat plus crew is unchanged hence the velocity v of the centre of mass G is unchanged
x d

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Impulse and Momentum

Solution contd: Relative to G: the boat moves forward x at speed x /t the crew move backward d x at speed (d x )/t

x Dx

Considering momentum before and after gives (M + m)v + M x d x m = ( M + m )v t t md M +m

so the boat surges forward between strokes by an amount x =

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Summary
Analyse translational motion of an object by representing it as a particle concentrated at the centre of mass Newtons second law general case: force = rate of change of momentum for objects with constant mass: force = mass acceleration Impulse and momentum
2

F=

dV dm d mV = m +V dt dt dt

F=m

dV dt

impulse = change in momentum

F d t = m (V2 V1 )

Accelerations are measured in an inertial frame of reference, i.e. non-accelerating, non-rotating

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