02-MENG212-Chap. 12 - 2

MENG 212 Fall 2014 Dr. Jong B.
Lee, ME @NYIT 1
MENG 212
Engineering Mechanics: Dynamics (#2)
Sept. 10, 2014
2014 Jong B. Lee, PhD
ME @NYIT
Introduction to
Dynamics
MENG 212 Engineering Mechanics II: Dynamics. Jong B. Lee, PhD, All rights reserved.
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Kinematics of a Particle
Curvilinear motion: General and rectangular
components
Describe the motion of a particle traveling along a
curved path.
Relate kinematic quantities in terms of the rectangular
components of the vectors.
Applications
General Curvilinear Motion
Rectangular Components of Kinematic Vectors
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Curvilinear motion: General and rectangular components
Applications
The path of motion of a
plane can be tracked
with radar and its x, y,
and z coordinates
(relative to a point on
earth) recorded as a
function of time.
How can we determine
the velocity or
acceleration of the plane
at any instant?
3 MENG 212 Engineering Mechanics II: Dynamics. Jong B. Lee, PhD, All rights reserved.
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Curvilinear motion: General and rectangular components
Applications
A roller coaster car
travels down a fixed,
helical path at a constant
speed.
How can we determine its
position or acceleration at
any instant?
If you are designing the
track, why is it important
to be able to predict the
acceleration of the car?
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MENG 212 Fall 2014 Dr. Jong B. Lee, ME @NYIT 2
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A particle moving along a curved
path undergoes curvilinear motion.
Since the motion is often three-
dimensional, vectors are used to
describe the motion.
A particle moves along a curve
defined by the path function, s.
The position of the particle at any
instant is designated by the vector r =
r(t). Both the magnitude and
direction of r may vary with time.
If the particle moves a distance A s
along the curve during time interval
At, the displacement is determined by
vector subtraction: Ar = r - r
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Velocity
Velocity represents the rate of change
in the position of a particle.
The average velocity of the particle
during the time increment At is, v
avg
=
Ar/At .
The instantaneous velocity is the time-
derivative of position, v = dr/dt .
The velocity vector, v, is always
tangent to the path of motion.
The magnitude of v is called the speed.
Since the arc length As approaches the
magnitude of Ar as t0, the speed can
be obtained by differentiating the path
function (v = ds/dt). Note that this is
not a vector!
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Acceleration
Acceleration represents the rate of
change in the velocity of a particle.
If a particles velocity changes from v to v
over a time increment At, the average
acceleration during that increment is:
a
avg
= Av/At = (v - v)/At
The instantaneous acceleration is the
time-derivative of velocity: a = dv/dt =
d
2
r/dt
2
A plot of the locus of points defined by the
arrowhead of the velocity vector is called
a hodograph. The acceleration vector is
tangent to the hodograph, but not, in
general, tangent to the path function
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Rectangular components
It is often convenient to describe the
motion of a particle in terms of its x, y,
z or rectangular components, relative
to a fixed frame of reference.
The position of the particle can be
defined at any instant by the position
vector, r=xi+yj+zk.
The x, y, z components may all be
functions of time, i.e., x=x(t), y=y(t),
and z=z(t).
The magnitude of the position vector
is: r=(x
2
+y
2
+z
2
)
0.5
The direction of r is defined by the unit
vector: u
r
= (1/r)r
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Curvilinear Motion: Rectangular Components
Velocity
The velocity vector is the time derivative of the position vector:
v=dr/dt=d(xi)/dt+d(yj)/dt +d(zk)/dt
Since the unit vectors i, j, k are constant in magnitude and
direction, this equation reduces to v=v
x
i+v
y
j+v
z
k, where
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dt
dz
z v
dt
dy
y v
dt
dx
x v
z y x
= = = = = = , ,
The magnitude of the velocity
vector is
The direction of v is tangent to the
path of motion.
( )
2 2 2
z y x
v v v v + + =
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Curvilinear Motion: Rectangular Components
Acceleration
The acceleration vector is the time derivative of the
velocity vector (second derivative of the position vector):
a=dv/dt=d
2
r/dt
2
=a
x
i+a
y
j+a
z
k
where
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dt
dv
z v a
dt
dv
y v a
dt
dv
x v a
z
z z
y
y y
x
x x
= = = = = = = = = , ,
The magnitude of the acceleration
vector is
The direction of a is usually not
tangent to the path of the particle.
( )
2 2 2
z y x
a a a a + + =
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Example
The box slides down the slope described
by the equation y=(0.05x
2
)m, where x is in
meters. v
x
=-3m/s, a
x
=-1.5m/s
2
at x=5m.
The ycomponents of the velocity and the
acceleration of the box at x=5m.
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Example: Solution
Find the y-component of velocity by
taking a time derivative of the position y
=(0.05x
2
)
Find the acceleration component by
taking a time derivative of the velocity
Substituting the x-component of the
acceleration, velocity at x=5into
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( )
( ) x x x x x x
dt
d
dt
dv
y
x x x x y v x y
y
y

+ = = =
= = = =
1 . 0 1 . 0 1 . 0
1 . 0 2 05 . 0 05 . 0
2
y y and
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Example: Solution
Since
13
( )( )
( ) ( )( )
| =
+ = =
=
= + =
+ =
= = =
= = = = =
2
2 2
2
/ 15 . 0
/ 5 . 1 / 5 . 1 v
5 at
/ 15 . 0 5 . 1 5 1 . 0 3 1 . 0
1 . 0 1 . 0
/ 5 . 1 3 5 1 . 0 1 . 0
5 / 5 . 1 , / 3
s m a
s m s m
m x
s m
x x x x y
s m x x y
m x at s m a x s m v x
y
y
x x

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Example
The particle travels along the path
y=0.5x
2
. When t=0, x=y=z=0.
The particles distance and the
magnitude of its acceleration when t=1s,
if v
x
=(5t)ft/s, where t is in seconds.
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Example: Solution
x-components
y-components
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( )
( )
( ) s t at s ft t
dt
d
x a
s t ft t x dt t dt
s t s ft s ft t x
x
t
x
x
1 / 5 5 : on Accelerati
1 at 5 . 2 5 . 2 5 v : position
1 at / 5 / 5 v : as know Velocity
2
2
0
= = =
= = =
= = =
} }

( )
s t s ft x x x x y a
s t s ft x x x x y
s t ft x y
y
1 at / 5 . 37 : on Accelerati
1 at / 5 . 12 2 5 . 0 : Velocity
1 at 125 . 3 5 . 0 : as know position
2
2
= + = =
= = =
= =

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Example: Solution
The position vector and the acceleration
vector are
Position vector: r = [ x i + y j ] ft
where x= 2.5 ft, y= 3.125 ft
Magnitude: r = (2.5
2
+ 3.125
2
)
0.5
= 4.00 ft
Acceleration vector: a = [ a
x
i + a
y
j] ft/s
2
where a
x
= 5 ft/s
2
, a
y
= 37.5 ft/s
2
Magnitude: a = (5
2
+ 37.5
2
)
0.5
= 37.8 ft/s
2
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Motion of a Projectile
Analyze the free-flight motion of a
projectile
Applications
Kinematic Equations for Projectile
Motion
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Applications
A good kicker instinctively knows at what angle, q, and
initial velocity, v
A
, he must kick the ball to make a field
goal.
For a given kick strength, at what angle should the ball
be kicked to get the maximum distance?
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Applications
A basketball is shot at a certain angle. What parameters
should the shooter consider in order for the basketball
to pass through the basket?
Distance, speed, the basket location, anything else?
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Applications
A firefighter needs to know the maximum height on the
wall she can project water from the hose. What
parameters would you program into a wrist computer to
find the angle, u, that she should use to hold the hose?
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Projectile motion can be treated as two
rectilinear motions, one in the horizontal
direction experiencing zero acceleration
and the other in the vertical direction
experiencing constant acceleration (i.e.,
from gravity).
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For illustration, consider the two
balls on the left. The red ball falls
from rest, whereas the yellow ball
is given a horizontal velocity. Each
picture in this sequence is taken
after the same time interval. Notice
both balls are subjected to the
same downward acceleration since
they remain at the same elevation
at any instant. Also, note that the
horizontal distance between
successive photos of the yellow
ball is constant since the velocity in
the horizontal direction is constant.
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Kinetic equations: Horizontal motion
Since a
x
=0, the velocity in the horizontal direction
remains constant (v
x
=v
ox
) and the position in the x
direction can be determined by:
Why is a
x
equal to zero (what assumption must be
made if the movement is through the air)?
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( ) t x x
ox o
+ = v
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Kinetic equations: Vertical motion
Since the positive y-axis is directed upward, a
y
=
g. Application of the constant acceleration
equations yields:
For any given problem, only two of these three
equations can be used. Why?
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( )
( )
o y o y
oy o
oy y
y y g
gt t y y
gt
=
+ =
=
2 v v
2
1
v
v v
2 2
2
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Example
Given: v
A
and
Find: Horizontal distance it travels and
v
C
.
Apply the kinematic relations in x- and
y-directions.
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Example: Solution
Using v
ax
=10cos30 and v
ay
=10sin30
We can write
v
x
= 10 cos 30
v
y
= 10 sin 30 (9.81) t
x = (10 cos 30) t
y = (10 sin 30) t (9.81)t
2
Since y=0 at C
0=(10sin30)t- (9.81)t
2
t=0, 1.019s
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Example: Solution
Velocity components at C are
v
Cx
=10cos30=8.66 m/s
v
Cy
=10sin 30(9.81)(1.019)= -5 m/s=5m/s +
Horizontal distance the ball travels is;
x = (10cos30)t
x = (10cos30)1.019=8.83 m
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( ) s m v
C
/ 10 5 66 . 8
2 2
= + =
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Example
Projectile is fired with v
A
=150m/sat point A.
The horizontal distance it travels (R) and the time in
the air.
Establish a fixed x, y coordinate system (in this
solution, the origin of the coordinate system is placed
at A). Apply the kinematic relations in x- and y-
directions.
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Example: Solution
Place the coordinate system at point A. Then, write
the equation for horizontal motion.
+ x
B
= x
A
+ v
Ax
t
AB
where x
B
= R, x
A
= 0, v
Ax
= 150 (4/5) m/s
Range, R, will be R = 120 t
AB
Now write a vertical motion equation. Use the distance
equation.
+| y
B
= y
A
+ v
Ay
t
AB
0.5 g t
AB
2
where y
B
= 150, y
A
= 0, and v
Ay
= 150(3/5) m/s
We get the following equation: 150=90t
AB
+0.5(9.81) t
AB
2
Solving for t
AB
first, t
AB
= 19.89 s.
Then, R = 120 t
AB
= 120 (19.89) = 2387 m
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Example
A skier leaves the ski jump ramp at u
A
= 25
o
and hits
the slope at B.
The skiers initial speed v
A
Establish a fixed x,y coordinate system (in this
solution, the origin of the coordinate system is placed
at A). Apply the kinematic relations in x- and y-
directions.
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Example: Solution
Motion in x-direction
Motion in y-direction
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( ) ( )
A A
AB
AB A AB ox A B
v v
t
t v t v x x
27 . 88
25 cos
80
25 cos 0 100
5
4
= =
+ = |
.
|
\
|
+ =
( ) ( )
( ) ( )
s m v
v v
v
t g t v y y
A
A A
A
AB AB oy A B
/ 42 . 19
27 . 88
81 . 9
2
1 27 . 88
25 sin 0 64
2
1
2
2
=
|
|
.
|
\
|
|
|
.
|
\
|
+ =
+ =
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Example
The golf ball is struck with a velocity of 80 ft/s
as shown.
Find distance dto where it will land.
Establish a fixed x, y coordinate system (in
this solution, the origin of the coordinate
system is placed at A). Apply the kinematic
relations in x- and y-directions.
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x
y
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x
y
Example: Solution
Motion in x-direction
Motion in y-direction
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( ) ( )
( ) ( )( ) ( )( )
ft d
d d
d d d
t g t v y y
AB AB oy A B
166 , 0
007415 . 0 233 . 1 0
02146 . 0 2 . 32
2
1
02146 . 0 55 sin 80 0 10 sin
2
1
2
2
2
=
=
+ =
+ =
( ) ( ) ( )
d t
t d t v x x
AB
AB AB ox A B
02146 . 0
55 cos 80 0 10 cos
=
+ = + =
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Curvilinear Motion: Normal and Tangential Components
Determine the normal and tangential
components of velocity and acceleration of a
particle traveling along a curved path.
Normal and Tangential Components of
Velocity and Acceleration
Special Cases of Motion
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Applications
Cars traveling along a clover-
leaf interchange experience an
acceleration due to a change in
velocity as well as due to a
change in direction of the
velocity.
If the cars speed is increasing
at a known rate as it travels
along a curve, how can we
determine the magnitude and
direction of its total
acceleration?
Why would you care about the
total acceleration of the car?
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Applications
As the boy swings upward with a velocity v, his motion can be
analyzed using nt coordinates.
As he rises, the magnitude of his velocity is changing, and
acceleration as well.
How can we determine his velocity and acceleration at the bottom
of the arc?
Can we use different coordinates, such as x-y coordinates, to
describe his motion? Which coordinate system would be easier to
use to describe his motion? Why?
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Applications
A roller coaster travels down a
hill for which the path can be
approximated by a function y
= f(x).
The roller coaster starts from
rest and increases its speed at
a constant rate.
How can we determine its
velocity and acceleration at
the bottom?
Why would we want to know
these values?
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When a particle moves along a curved path, it is sometimes
convenient to describe its motion using coordinates other than
Cartesian. When the path of motion is known, normal (n) and
tangential (t) coordinates are often used.
In the n-t coordinate system, the origin is located on the particle
(the origin moves with the particle).
The t-axis is tangent to the path (curve) at the instant considered,
positive in the direction of the particles motion.
The n-axis is perpendicular to the t-axis with the positive direction
toward the center of curvature of the curve.
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The positive n and t directions
are defined by the unit vectors
un and ut, respectively.
The center of curvature, O,
always lies on the concave
side of the curve. The radius
of curvature, r, is defined as
the perpendicular distance
from the curve to the center of
curvature at that point.
The position of the particle at
any instant is defined by the
distance, s, along the curve
from a fixed reference point.
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Velocity in the n-t coordinate system
The velocity vector is always tangent to the path of
motion (t-direction).
The magnitude is determined by taking the time
derivative of the path function, s(t).
v = v u
t
where v = = ds/dt
Here v defines the magnitude of the velocity (speed)
and u
t
defines the direction of the velocity vector.
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s
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Acceleration in the n-t coordinate
system
Acceleration is the time rate of change of
velocity:
Here represents the change in the
magnitude of velocity and represents the
rate of change in the direction of u
t
.
After mathematical manipulation, the
acceleration vector can be expressed as:
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v
( )
t t t
u v u v vu
dt
d
dt
dv
a + = = =
t
u
n n t t n t
u a u a u
v
u v a + =
|
|
.
|
\
|
+ =
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So, there are two components to the
acceleration vector:
The tangential component is tangent
to the curve and in the direction of
increasing or decreasing velocity.
The normal or centripetal component
is always directed toward the center
of curvature of the curve.
The magnitude of the acceleration
vector is
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n n t t
u a u a a + =
vdv ds a or v a
t t
= =
2
v
a
n
=
2 2
n t
a a a + =
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There are some special cases of motion to consider.
The particle moves along a straight line.
The tangential component represents the time rate of change in the
magnitude of the velocity.
The particle moves along a curve at constant speed.
The normal component represents the time rate of change in the
direction of the velocity.
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v a a
v
a
t n
= = =
2
v
a a v a
n t
= = =
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The tangential component of acceleration is constant,
a
t
=(a
t
)
c
. In this case,
s = s
o
+ v
o
t + (1/2) (a
t
)
c
t
2
v = v
o
+ (a
t
)
c
t
v
2
= (v
o
)
2
+ 2 (a
t
)
c
(s s
o
)
As before, s
o
and v
o
are the initial position and velocity of the
particle at t=0. How are these equations related to projectile
motion equations?
The particle moves along a path expressed as y=f(x).
The radius of curvature, , at any point on the path can
be calculated from
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( ) | |
2 2
2
3
2
1
dx y d
dx dy +
=
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THREE-DIMENSIONAL MOTION
If a particle moves along a space
curve, the n and t axes are defined as
before. At any point, the t-axis is
tangent to the path and the n-axis
points toward the center of curvature.
The plane containing the n and t axes
is called the osculating plane.
A third axis can be defined, called the binomial axis, b. The
binomial unit vector, u
b
, is directed perpendicular to the osculating
plane, and its sense is defined by the cross product u
b
= u
t
u
n
.
There is no motion, thus no velocity or acceleration, in the
binomial direction.
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EXAMPLE I
Given: A car travels along the road
with a speed of v = (2s) m/s,
where s is in meters.
= 50 m
Find: The magnitudes of the cars
acceleration at s = 10 m.
Plan:
1) Calculate the velocity when s = 10 m using v(s).
2) Calculate the tangential and normal components of
acceleration and then the magnitude of the
acceleration vector.
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EXAMPLE I (continued)
Solution:
1) The velocity vector is v = v u
t
, where the magnitude is
given by v = (2s) m/s.
When s = 10 m: v = 20 m/s
2) The acceleration vector is a = a
t
u
t
+ a
n
u
n
= vu
t
+ (v
2
/)u
n
.
Tangential component:
Since a
t
= v = dv/dt = (dv/ds) (ds/dt) = v (dv/ds)
where v = 2s a
t
= d(2s)/ds (v)= 2 v
At s = 10 m: a
t
= 40 m/s
2
.
Normal component: a
n
= v
2
/
When s = 10 m: a
n
= (20)
2
/ (50) = 8 m/s
2
The magnitude of the acceleration is
a = [(a
t
)
2
+ (a
n
)
2
]
0.5
= [(40)
2
+ (8)
2
]
0.5
= 40.8 m/s
2
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EXAMPLE II
Given: A boat travels around a
circular path, = 40 m, at a
speed that increases with
time, v = (0.0625 t
2
) m/s.
Find: The magnitudes of the boats
velocity and acceleration at
the instant t = 10 s.
Plan:
The boat starts from rest (v = 0 when t = 0).
1) Calculate the velocity at t = 10 s using v(t).
2) Calculate the tangential and normal components of
acceleration and then the magnitude of the
acceleration vector.
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EXAMPLE II (continued)
Solution:
1) The velocity vector is v = v u
t
, where the magnitude is
given by v = (0.0625t
2
) m/s. At t = 10s:
v = 0.0625 t
2
= 0.0625 (10)
2
= 6.25 m/s
2) The acceleration vector is a = a
t
u
t
+ a
n
u
n
= vu
t
+ (v
2
/)u
n
.
.
Tangential component: a
t
= v = d(.0625 t
2
)/dt = 0.125 t m/s
2
At t = 10s: a
t
= 0.125t = 0.125(10) = 1.25 m/s
2
.
Normal component: a
n
= v
2
/ m/s
2
At t = 10s: a
n
= (6.25)
2
/ (40) = 0.9766 m/s
2
The magnitude of the acceleration is
a = [(a
t
)
2
+ (a
n
)
2
]
0.5
= [(1.25)
2
+ (0.9766)
2
]
0.5
= 1.59 m/s
2
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GROUP PROBLEM SOLVING
Given: The train engine at E has a
speed of 20 m/s and an
acceleration of 14 m/s
2
acting
in the direction shown.
Find: The rate of increase in the
trains speed and the radius of
curvature of the path.
Plan:
a
t
a
n
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GROUP PROBLEM SOLVING(continued)
Solution:
1) Acceleration
Tangential component :
a
t
=14 cos(75) = 3.623 m/s
2
Normal component :
a
n
= 14 sin(75) = 13.52 m/s
2
3) The normal component of acceleration is
a
n
= v
2
/ 13.52 = 20
2
/
= 29.6 m
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T MENG 212 Engineering Mechanics II: Dynamics. Jong B. Lee, PhD, All rights reserved.
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CURVILINEAR MOTION: CYLINDRICAL COMPONENTS
1. Determine velocity and
acceleration components
using cylindrical
coordinates.
Applications
Velocity Components
Acceleration Components
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APPLICATIONS
A cylindrical coordinate
system is used in cases
where the particle moves
along a 3-D curve.
In the figure shown, the box
slides down the helical ramp.
How would you find the
boxs velocity components to
check to see if the package
will fly off the ramp?
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The cylindrical coordinate
system can be used to describe
the motion of the girl on the
slide.
Here the radial coordinate is
constant, the transverse
coordinate increases
with time as the girl rotates
about the vertical axis, and her
altitude, z, decreases with time.
APPLICATIONS
(continued)
How can you find her acceleration components ?
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CYLINDRICAL COMPONENTS
(Section 12.8)
We can express the location of P in polar coordinates as r = r u
r
.
Note that the radial direction, r, extends outward from the fixed
origin, O, and the transverse coordinate, u, is measured counter-
clockwise (CCW) from the horizontal.
N
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VELOCITY in POLAR COORDINATES)
The instantaneous velocity is defined as:
v= dr/dt = d(ru
r
)/dt
v= ru
r
+ r
du
r
dt
.
Using the chain rule:
du
r
/dt = (du
r
/du)(du/dt)
We can prove that du
r
/du = u
so du
r
/dt = uu
Therefore: v= ru
r
+ ruu
.
.
.
.
.
.
.
Thus, the velocity vector has two components: r,
called the radial component, and ru called the
transverse component. The speed of the particle at
any given instant is the sum of the squares of both
components or
v= (r u )
2
+ ( r )
2
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ACCELERATION (POLAR COORDINATES)
After manipulation, the acceleration can be
expressed as
a = (r ru
2
)u
r
+ (ru + 2ru)u
..
. ..
.
.
.
The magnitude of acceleration is a = (r ru
2
)
2
+ (ru + 2ru)
2
The term (r ru
2
) is the radial acceleration
or a
r
.
The term (ru + 2ru) is the transverse
acceleration or a
u
.
..
..
.
.
. .
.
..
..
The instantaneous acceleration is defined as:
a = dv/dt = (d/dt)(ru
r
+ ruu
)
.
.
N
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CYLINDRICAL COORDINATES
If the particle P moves along a space
curve, its position can be written as
r
P
= ru
r
+ zu
z
Taking time derivatives and using
the chain rule:
Velocity: v
P
= ru
r
+ ruu
+ zu
z
Acceleration: a
P
= (r ru
2
)u
r
+ (ru + 2ru)u
+ zu
z
..
. ..
.
.
.
.
.
..
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EXAMPLE
Use the polar coordinate system.
Given: The platform is rotating such
that, at any instant, its angular
position is u = (4t
3/2
) rad, where
t is in seconds.
A ball rolls outward so that its
position is r = (0.1t
3
) m.
Find: The magnitude of velocity and acceleration of the
ball when t = 1.5 s.
Plan:
N
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EXAMPLE
(continued)
Substitute into the equation for velocity
v = r u
r
+ ru u
= 0.675 u
r
+ 0.3375 (7.348) u
= 0.675 u
r
+ 2.480 u
v = (0.675)
2
+ (2.480)
2
= 2.57 m/s
.
.
N
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EXAMPLE
(continued)
Substitute in the equation for acceleration:
a = (r ru
2
)u
r
+ (ru + 2ru)u
a = [0.9 0.3375(7.348)
2
] u
r
+ [0.3375(2.449) + 2(0.675)(7.348)] u
a = 17.33 u
r
+ 10.75 u
m/s
2
a = ( 17.33)
2
+ (10.75)
2
= 20.4 m/s
2
..
. ..
.
.
N
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GROUP PROBLEM SOLVING
Use cylindrical coordinates.
N
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GROUP PROBLEM SOLVING (continued)
Substitute in the equation for velocity
v = r u
r
+ ru u
+ z u
r
= 1.5 u
r
+ 3 (1.5) u

+ 24 u
z
= 1.5 u
r
+ 4.5 u

+ 24 u
z
Magnitude v = (1.5)
2
+ (4.5)
2
+ (24)
2
= 24.5 ft/s
.
.
.
N
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GROUP PROBLEM SOLVING (continued)
Acceleration equation in cylindrical coordinates
..
. ..
.
.
..
a = (r ru
2
)u
r
+ (ru + 2ru)u
+ zu
z
= {0 3 (1.5)
2
}u
r
+{3 (0) + 2 (1.5) 1.5 } u

+ 8 u
z
a = [6.75 u
r
+ 4.5 u
+ 8 u
z
] ft/s
2
a = (6.75)
2
+ (4.5)
2
+ (8)
2
= 11.4 ft/s
2
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ABSOLUTE DEPENDENT MOTION ANALYSIS OF
TWO PARTICLES
Relate the positions,
velocities, and
accelerations of particles
undergoing dependent
motion.
Applications
Define Dependent Motion
Develop Position, Velocity,
and Acceleration
Relationships
N
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APPLICATIONS
The cable and pulley system shown
can be used to modify the speed of
the mine car, A, relative to the speed
of the motor, M.
It is important to establish the
relationships between the various
motions in order to determine the
power requirements for the motor
and the tension in the cable.
For instance, if the speed of the cable (P) is known because we
know the motor characteristics, how can we determine the
speed of the mine car? Will the slope of the track have any
impact on the answer?
N
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APPLICATIONS
(continued)
Rope and pulley arrangements
are often used to assist in lifting
heavy objects. The total lifting
force required from the truck
depends on both the weight and
the acceleration of the cabinet.
How can we determine the
acceleration and velocity of
the cabinet if the acceleration
of the truck is known?
N
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DEPENDENT MOTION (Section 12.9)
In many kinematics problems, the motion of one object will
depend on the motion of another object.
The motion of each block can be related mathematically by
defining position coordinates, s
A
and s
B
. Each coordinate axis is
defined from a fixed point or datum line, measured positive along
each plane in the direction of motion of each block.
The blocks in this figure are
connected by an inextensible cord
wrapped around a pulley.
If block A moves downward along
the inclined plane, block B will
move up the other incline.
N
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DEPENDENT MOTION
(continued)
In this example, position
coordinates s
A
and s
B
can be
defined from fixed datum lines
extending from the center of
the pulley along each incline
to blocks A and B.
If the cord has a fixed length, the position coordinates s
A
and s
B
are related mathematically by the equation
s
A
+ l
CD
+ s
B
= l
T
Here l
T
is the total cord length and l
CD
is the length of cord
passing over the arc CD on the pulley.
N
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DEPENDENT MOTION
(continued)
The negative sign indicates that as A moves down the incline
(positive s
A
direction), B moves up the incline (negative s
B
direction).
Accelerations can be found by differentiating the velocity
expression. Prove to yourself that a
B
= -a
A
.
ds
A
/dt + ds
B
/dt = 0 v
B
= -v
A
The velocities of blocks A and B
can be related by differentiating
the position equation. Note that
l
CD
and l
T
remain constant, so
dl
CD
/dt = dl
T
/dt = 0
N
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DEPENDENT MOTION EXAMPLE
Consider a more complicated
example. Position coordinates (s
A
and s
B
) are defined from fixed
datum lines, measured along the
direction of motion of each block.
Note that s
B
is only defined to the
center of the pulley above block
B, since this block moves with the
pulley. Also, h is a constant.
The red colored segments of the cord remain constant in length
during motion of the blocks.
N
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DEPENDENT MOTION EXAMPLE (continued)
The position coordinates are related by
the equation
2s
B
+ h + s
A
= l
T
Where l
T
is the total cord length minus
the lengths of the red segments.
Since l
T
and h remain constant
during the motion, the velocities and
accelerations can be related by two
successive time derivatives:
2v
B
= -v
A
and 2a
B
= -a
A
When block B moves downward (+s
B
), block A moves to the left
(-s
A
). Remember to be consistent with your sign convention!
N
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DEPENDENT MOTION EXAMPLE (continued)
This example can also be worked
by defining the position coordinate
for B (s
B
) from the bottom pulley
instead of the top pulley.
The position, velocity, and
acceleration relations then become
2(h s
B
) + h + s
A
= l
T
and 2v
B
= v
A
2a
B
= a
A
Prove to yourself that the results are the same, even if the sign
conventions are different than the previous formulation.
N
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DEPENDENT MOTION: PROCEDURES
These procedures can be used to relate the dependent motion of
particles moving along rectilinear paths (only the magnitudes of
velocity and acceleration change, not their line of direction).
4. Differentiate the position coordinate equation(s) to relate
velocities and accelerations. Keep track of signs!
3. If a system contains more than one cord, relate the
position of a point on one cord to a point on another
cord. Separate equations are written for each cord.
2. Relate the position coordinates to the cord length.
Segments of cord that do not change in length during the
motion may be left out.
1. Define position coordinates from fixed datum lines,
along the path of each particle. Different datum lines can
be used for each particle.
N
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EXAMPLE
Given:In the figure on the left, the
cord at A is pulled down
with a speed of 2 m/s.
Find: The speed of block B.
Plan: There are two cords involved
in the motion in this example.
There will be two position
equations (one for each cord).
Write these two equations,
combine them, and then
differentiate them.
N
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EXAMPLE (continued)
Solution:
Define the datum line through the top
pulley (which has a fixed position).
s
A
can be defined to the point A.
s
B
can be defined to the center of the
pulley above B.
s
C
is defined to the center of pulley C.
All coordinates are defined as positive
down and along the direction of motion
of each point/object.
1) Define the position coordinates from a fixed datum line. Three
coordinates must be defined: one for point A (s
A
), one for block B
(s
B
), and one for block C (s
C
).
N
Y
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EXAMPLE (continued)
3) Eliminating s
C
between the two
equations, we get
s
A
+ 4s
B
= l
1
+ 2l
2
2) Write position/length equations for
each cord. Define l
1
as the length of
the first cord, minus any segments of
constant length. Define l
2
in a similar
manner for the second cord:
4) Relate velocities by differentiating this expression. Note that l
1
and l
2
are constant lengths.
v
A
+ 4v
B
= 0 v
B
= 0.25v
A
= 0.25(2) = 0.5 m/s
The velocity of block B is 0.5 m/s up (negative s
B
direction).
Cord 1: s
A
+ 2s
C
= l
1
Cord 2: s
B
+ (s
B
s
C
) = l
2
N
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GROUP PROBLEM SOLVING I
Given:The rope is drawn towards
the motor, M, at a speed of
(5t
3/2
) m/s, where t is in
seconds.
Find: The speed of block A when
t = 1 s.
Plan:
There is only one cord involved in the motion, so one
position/length equation will be required. Define
position coordinates for block A and the cable, write
the position relation and then differentiate it to find the
relationship between the two velocities.
N
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GROUP PROBLEM SOLVING I
(continued)
Solution:
2) Defining s
A
and s
M
as shown, the
position relation can be written:
3 s
A
+ s
M
= l
3) Taking the time derivative of the
above equation to relate velocities:
3 v
A
+ v
M
= 0 (+ +)
1) A datum line can be drawn through the upper, fixed, pulleys.
Two coordinates must be defined: one for block A (s
A
), one
for the cable(s
M
), is drawn towards the motor.
Since the rope is drawn towards the
motor at a speed of (5t
3/2
) m/s,
v
M
= (5t
3/2
) v
M
= 5 m/s at t = 1s.
3 v
A
+ 5 = 0 v
A
= 1.67 m/s = 1.67 m/s |
s
A
s
M
N
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GROUP PROBLEM SOLVING II
Given:In this pulley system, block A is
moving downward with a speed
of 4 ft/s while block C is
moving up at 2 ft/s.
Find: The speed of block B.
Plan:
All blocks are connected to a single cable, so only one
position/length equation will be required. Define
position coordinates for each block, write out the
position relation, and then differentiate it to relate the
velocities.
N
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GROUP PROBLEM SOLVING II
(continued)
Solution:
2) Defining s
A
, s
B
, and s
C
as shown,
the position relation can be written:
s
A
+ 2s
B
+ s
C
= l
3) Differentiate to relate velocities:
v
A
+ 2v
B
+ v
C
= 0
4 + 2v
B
+ (-2) =0
v
B
= -1 ft/s
1) A datum line can be drawn through the upper, fixed, pulleys
and position coordinates defined from this line to each block
(or the pulley above the block).
The velocity of block B is 1 ft/s up (negative s
B
direction).

02-MENG212-Chap. 12 - 2

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MENG 212 Fall 2014 Dr. Jong B.

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