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15 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinematics of
Brian P. Self
Rigid Bodies
• Velocity vector v = dr dt of the particle P is
tangent to the path with magnitude v = ds dt
s = ( BP ) = (r sin )
ds
v= = lim (r sin ) = r sin
dt t →0 t
a) → A
b) ← y
L
c) ↑
x
d) ↓
vA = r
v A = kˆ − Liˆ
vA = − L ˆj
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Eleventh
Vector Mechanics for Engineers: Dynamics
Rotation About a Fixed Axis. Acceleration
• Differentiating to determine the acceleration,
dv d
a= = ( r )
dt dt
d dr
= r +
dt dt
d
= r + v
dt
d
• = = angular acceleration
dt
= k = k = k
an = − (− Liˆ) 2
2ˆ
an = L i
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Equations Defining the Rotation of a Rigid Body About a Fixed Axis
d d
• Recall = or dt =
dt
d d 2 d
= = 2 =
dt dt d
• Uniform Rotation, = 0:
= 0 + t
(aD )n
tan =
(aD )t
48
=
9 = 79.4
STRATEGY:
• Using the linear velocity and
accelerations, calculate the angular
velocity and acceleration.
an = r 2 Downwards, towards
an = 37.5 in./s 2
the center
= (6 in.)(2.5 rad/s) 2
9.0
Combine for a final answer
aB
a B = 38.6 in./s 2 76.5
an= 37.5 in/s2
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Example – General Plane Motion
As the woman approaches to release the bowling ball, her arm
has linear velocity and acceleration from both translation (the
woman moving forward) as well as rotation (the arm rotating
about the shoulder).
vB vA vA
= tan = = cos
vA v B A l
v B = v A tan vA
=
l cos
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Velocity in Plane Motion
• Selecting point B as the reference point and solving for the velocity vA of end A
and the angular velocity leads to an equivalent velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of the
relative velocity is dependent on the choice of reference point.
• Angular velocity of the rod in its rotation about B is the same as its rotation
about A. Angular velocity is not dependent on the choice of reference point.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Velocity in Plane Motion
vB vA vA
= tan = = cos
vA v B A l
v B = v A tan vA
=
l cos
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Velocity in Plane Motion
• Selecting point B as the reference point and solving for the velocity vA of end A
and the angular velocity leads to an equivalent velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of the
relative velocity is dependent on the choice of reference point.
• Angular velocity of the rod in its rotation about B is the same as its rotation
about A. Angular velocity is not dependent on the choice of reference point.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.6
STRATEGY:
• The displacement of the gear center in
one revolution is equal to the outer
circumference. Relate the translational
and angular displacements. Differentiate
to relate the translational and angular
velocities.
• The velocity for any point P on the gear
The double gear rolls on the may be written as
stationary lower rack: the velocity of
vP = v A + vP A = v A + k rP A
its center is 1.2 m/s.
Determine (a) the angular velocity of Evaluate the velocities of points B and D.
the gear, and (b) the velocities of the
upper rack R and point D of the gear.
y
Differentiate to relate the translational and angular
velocities.
x
v A = − r1
vA 1.2 m s
=− =− = k = −(8 rad s )k
r1 0.150 m
vD B = l BD
vD = vB + vD B vD B 495.9 in. s
BD = =
l 8 in.
= 62.0 rad s BD = (62.0 rad s )k
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.7
REFLECT and THINK:
Note that as the crank continues to move
clockwise below the center line, the piston
changes direction and starts to move to the
left.
a) The direction of vB is ↑
b) The direction of vD is →
c) Both a) and b) are correct
AB = −(4 rad/s)k
• The velocity of all other particles in the slab are the same
as originally defined since the angular velocity and
translational velocity at A are equivalent.
a)
G b)
c)
d)
vP = vD = 523in. s = 43.6 ft s
AB= 4 rad/s
vB
Find
= tan −1
0.06 m
= 21.8
vD
0.15 m
Calculate BD
D vB = ( BC )BD
1 m/s = (0.25 m)BD
vD BD = 4 rad/s
Find DE
0.25 m 1 m/s 0.15 m
vD = ( DC )BD = (4 rad/s) vD = ( DE )DE ; = DE ; DE = 6.67 rad/s
cos cos cos
(a B A )t = k rB A (a B A )t = r
(aB A ) = − 2 rB A (a B A )n = r 2
n
• Given a A and v A ,
determine a B and .
aB = a A + aB A
(
)n (
= a A + aB A + aB
A t)
• Vector result depends on sense of a A and the
relative magnitudes of a A and (a B A )
n
• Write a B = a A + a B A in terms of the two component equations,
+
→ x components: 0 = a A + l 2 sin − l cos
v A = x A v B = y B
= l cos = −l sin
= l cos = −l sin
a A = xA a B = yB
= −l 2 sin + l cos = −l 2 cos − lsin
= −l 2 sin + l cos = −l 2 cos − l sin
a A = −r1 = −r1
aA 3 m s2
=− =−
r1 0.150 m
( )
= k = − 20 rad s 2 k
(
aB = a A + aB A = a A + aB A + aB A
t n
) ( )
= a A + k rB A − 2 rB A
( 2
) (
)
= 3 m s i − 20 rad s k (0.100 m ) j − (8 rad s ) (− 0.100 m ) j
2 2
( 2
) ( 2
= 3 m s i + 2 m s i − 6.40 m s j) (
2
)
(
) (
aB = 5 m s 2 i − 6.40 m s 2 j ) aB = 8.12 m s 2
2
aC = a A + aC A = a A + k rC A − rC A
( 2
) (
)
= 3 m s i − 20 rad s k (− 0.150 m ) j − (8 rad s )2 (− 0.150 m ) j
2
(
) (
) (
= 3 m s 2 i − 3 m s 2 i + 9.60 m s 2 j
)
(
ac = 9.60 m s j 2
)
aD = a A + aD A = a A + k rD A − 2 rD A
( 2
) (
)
= 3 m s i − 20 rad s k (− 0.150 m )i − (8 rad s )2 (− 0.150m )i
2
(
) (
) (
= 3 m s 2 i + 3 m s 2 j + 9.60 m s 2 i
)
( 2
aD = 12.6 m s i + 3 m s j ) (
2
)
aD = 12.95 m s 2
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.13
REFLECT and THINK:
• It is interesting to note that the x-
component of acceleration for point C is
zero since it is in direct contact with the
fixed lower rack. It does, however, have
a normal acceleration pointed upward.
This is also true for a wheel rolling
without slip.
y components:
0 = −10,962 sin 40 + 2563sin 13.95 + 0.667 BD cos13.95
( )
BD = 9940 rad s 2 k
aD = − 9290 ft s ) i
( 2
vD = DE rD = DE k (− 17i + 17 j )
= −17 DE i − 17 DE j
vB = AB rB = 20k (8i + 14 j )
= −280i + 160 j
vD B = BD rD B = BD k (12i + 3 j )
= −3 BDi + 12 BD j
BD = −(29.33 rad s )k DE = (11.29 rad s )k
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.16
• The angular accelerations are determined by
simultaneously solving the component equations for
aD = aB + aD B
2
aD = DE rD − DE rD
= DE k (− 17i + 17 j ) − (11.29) (− 17i + 17 j )
2
= −17 DE i − 17 DE j + 2170i − 2170 j
2
aB = AB rB − AB rB = 0 − (20) (8i + 14 j )
2
= −3200i + 5600 j
2
aD B = BD rB D − BD rB D
= B D k (12i + 3 j ) − (29.33)2 (12i + 3 j )
= −3 B D i + 12 B D j − 10,320i − 2580 j
x components: − 17 DE + 3 BD = −15,690
y components: − 17 DE − 12 BD = −6010
(
BD = − 645 rad s k
2
) (
DE = 809 rad s k
2
)
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Concept Quiz
Analyze a B = a A + AB rB /A − AB
2
rB /A
Bar AB
a B = − AB
2
rB/A = −(4)2 (−7i ) = 112 in./s2 i
Analyze Bar BD
a D = a B + BD rD /B − BD
2
rD /B = 112i + BD k (−8 j) − (0.95455)2 (−8 j)
a D = (112 + 8 BD )i + 7.289 j
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Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
Analyze Bar DE
a D = DE rD /E − DE
2
rD /E
= DE k (−11i + 3j) − (2.5455) 2 (−11i + 3j)
AB= 4 rad/s
= −11 DE j − 3 DE i + 71.275i − 19.439 j
d
dt
(r )Oxy = (r )Oxy + (r )Oxy
a P = r + ( r ) + 2 (r )Oxy + (r)Oxy
v P = r + (r )Oxy
• Utilizing the conceptual point P’ on the slab,
= v P + v P F
a P = r + ( r )
a P F = (r)
Oxy
a P F = (r)Oxy = 0
ac = 2 v P F ac = 2u
aP = (aP )n + (aP )t
( )
(aP )n = r S (− cos 42.4i − sin 42.4 j )
2
(aP )t = (r S )(− sin 42.4i + cos 42.4 j )
(aP )t = ( S )(37.1mm )(− sin 42.4i + cos 42.4 j )
note: S may be positive or negative
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.20
• The direction of the Coriolis acceleration is obtained
by rotating the direction of the relative velocity vP s
by 90o in the sense of S.
( )
ac = 2 S vP s (− sin 42.4i + cos 42.4 j )
= 2(4.08 rad s )(477 mm s )(− sin 42.4i + cos 42.4 j )
( )
= 3890 mm s 2 (− sin 42.4i + cos 42.4 j )
• The relative acceleration aP s must be parallel to
the slot.
STRATEGY:
• The absolute acceleration of point D may
be expressed as
aD = aD ' + aD BC + ac
(
aD = r + r + 2 r ) () Oxy
()
+ r
Oxy
aC = 2 v D /F
= (3 rad/s)j (16 in./s)k
= (96 in./s 2 )i
a D = a D + a D /F + aC
= −(108 in./s 2 )k + 0 + (96 in./s 2 )i
a) It is zero.
b) It is in the +x direction
c) It is in the +z direction
d) It is in the -x direction
e) It is in the -z direction
( 2
) ( ) (
2
a = − 3.54 m s i − 1.50 m s j + 1.80 m s k
2
)
REFLECT and THINK:
• The base of the cab acts as the fixed point of the motion.
Even though both components of angular velocity are
constant, there is an angular acceleration due to the
change in direction of the angular velocity 𝜔2 . The
1 = 0.30 j 2 = 0.50k angular velocity vector 𝜔2 changes due to the rotation of
r = 10.39i + 6 j the cab, 𝜔1 .
v P = v A + rP A + (rP A )
Axyz
= v P + v P F
a P = a A + rP A + ( rP A )
Consider:
- fixed frame OXYZ,
+ 2 (rP A ) + (rP A )
- translating frame AX’Y’Z’, and
Axyz Axyz
- translating and rotating frame Axyz
or F. = a P + a PF + a c
(
a P F = D F D F rP A
)
2
= 2 k (− 2 R i ) = − 2 R j
ac = 2 v P F
= 21 j (− 2 R i ) = 21 2 Rk
2 2
a P = −1 L i − 2 Rj + 21 2 Rk
• Angular velocity and acceleration of the disk,
= +D F = 1 j + 2 k
= ( )F +
= 1 j (1 j + 2 k )
= 1 2 i
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.25
REFLECT and THINK:
• Knowing the absolute angular velocity of
the disk is equal to 𝜔1 𝑗റ + 𝜔2 𝑘, you could
have determined the velocity of P by
attaching the rotating axes to the disk and
using 𝑣𝑃 = 𝑣𝐴 + Ω𝐷 × 𝑟𝑃Τ𝐴 + 𝑣𝑃Τ𝐴 =
−𝜔1 𝐿𝑘 − 𝜔2 𝑅റ𝑖,
(
aD = r + r + 2 r ) () Oxy
()
+ r
Oxy
= 2 i + 1 j = 1 j 2 i
= (0.40 rad/s)i + (0.25 rad/s) j. = −12k
= −(0.10 rad/s 2 )k.
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Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
(
aD = r + r + 2 r ) () Oxy
()
+ r
Oxy
Find r
i j k
rB = 0 0 −0.10 = (1 ft/s 2 )i
0 10 10 3
Find (
r )
rB = (0.40i + 0.25 j) (0.40i + 0.25 j) (10 j + 10 3k )
(
aD = r + r + 2 r ) () Oxy
()
+ r
Oxy
Find r
i j k
rB = 0 0 −0.10 = (1 ft/s 2 )i
0 10 10 3
Find ( r )
rB = (0.40i + 0.25 j) (0.40i + 0.25j) (10 j + 10 3k )
= (1 ft/s 2 )i − (1.6 ft/s 2 ) j − (3.8538 ft/s 2 )k
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Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
(
aD = r + r + 2 r ) () Oxy
()
+ r
Oxy