Professional Documents
Culture Documents
13 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinetics of Particles:
Brian P. Self Energy and Momentum
Methods
F = ma
t2
G
T1 + U1→2 = T2 mv1 + F dt = mv2
t1
a) U1→2 = F x
b) U1→2 = ( F cos ) x
c) U1→2 = ( F sin ) x
d) U1→2 = 0
• In the figure above, when is the work done by the weight positive?
YES NO
s1 v1
• Force P acts normal to path and does no
work.
T1 + U1→2 = T2
1W 2
• The bob is released 0 + Wl = v2
2 g
from rest at position A1.
Determine the velocity v2 = 2 gl
of the pendulum bob at
• Velocity is found without determining
A2 using work & kinetic
expression for acceleration and integrating.
energy.
• All quantities are scalars and can be added
directly.
If you designed the rope to hold twice the weight of the bob, what would happen?
Copyright © McGraw-Hill Education. Permission required for reproduction or display. 13 - 17
Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Power and Efficiency
• Power = rate at which work is done.
dU F • dr
= =
dt dt
= F •v
• = efficiency
output work
=
input work
power output
=
power input
v2 = 0 T2 = 0
• Determine the distance required for the work
to equal the kinetic energy change.
U1→2 = (− 1500 lb)x + (4000 lb)(sin 5)x
= −(1151 lb)x
T1 + U1→2 = T2
481000 ft lb − (1151 lb)x = 0
x = 418 ft
Copyright © McGraw-Hill Education. Permission required for reproduction or display. 13 - 20
Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 13.1
REFLECT and THINK
• Solving this problem using Newton’s
second law would require determining
the car’s deceleration from the free-
body diagram and then integrating this
to use the given velocity information.
• Using the principle of work and
energy allows you to avoid that
calculation.
(
WB = (300 kg ) 9.81 m s 2 = 2940 N )
T1 + U1→2 = T2 :
0 − Fc (2 m ) + WB (2 m ) = 12 m B v 2
(U1→2 ) f = − m kW x
( )
= − m k (60 kg ) 9.81m s 2 (0.640 m ) = −(377 J )m k
T1 + U1→ 2 = T2 :
187.5 J - (377 J )m k − 112 J = 0 m k = 0.20
Copyright © McGraw-Hill Education. Permission required for reproduction or display. 13 - 27
Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 13.3
• Apply the principle of work and energy for the rebound
of the package.
T2 + U 2→3 = T3 :
0 + 36.5 J = 12 (60 kg )v32
v3 = 1.103 m s
+ Fn = m an :
W = m an
W v32 W 2(25 ft )g
= = 3 = 50 ft
g 3 g 3
The dumbwaiter D and its load have a • In the first case, bodies are in uniform
combined weight of 600 lb, while the motion. Determine force exerted by
counterweight C weighs 800 lb. motor cable from conditions for static
equilibrium.
Determine the power delivered by the
electric motor M when the dumbwaiter • In the second case, both bodies are
(a) is moving up at a constant speed of accelerating. Apply Newton’s
8 ft/s and (b) has an instantaneous second law to each body to
velocity of 8 ft/s and an acceleration of determine the required motor cable
2.5 ft/s2, both directed upwards. force.
Free-body D:
+ Fy = 0 : F + T − 600 lb = 0
F = 600 lb − T = 600 lb − 400 lb = 200 lb
Free-body C:
800
+ Fy = mC aC : 800 − 2T = (1.25) T = 384.5 lb
32.2
Free-body D:
600
+ Fy = mD a D : F + T − 600 = (2.5)
32.2
F + 384.5 − 600 = 46.6 F = 262.1 lb
Power = Fv D = (262.1 lb)(8 ft s ) = 2097 ft lb s
1 hp
Power = (2097 ft lb s ) = 3.81 hp
550 ft lb s
Copyright © McGraw-Hill Education. Permission required for reproduction or display. 13 - 35
Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 13.7
REFLECT and THINK
As you might expect, the motor needs to deliver more
power to produce accelerated motion than to produce
motion at constant velocity.
1 2 1 2
mv A + mg d (sin 30 − mk cos30) − mk mg xBC = mv0
2 2
Divide by m and solve for d
vC2 /2 g + mk xBC − v A2 /2 g
d=
(sin 30 − mk cos 30) d = 6.71 m
(2) 2/(2)(9.81) + (0.25)(7) − (1) 2/(2)(9.81)
=
sin 30 − 0.25cos 30
Copyright © McGraw-Hill Education. Permission required for reproduction or display. 13 - 39
Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
mk= 0.25
The potential energy stored at the top of the ball’s path is transferred to
kinetic energy as the ball meets the ground. Why is the ball’s height
reducing?
Weight Yes No
Friction Yes No
• Follows that
T1 + V1 = T2 + V2
E = T + V = constant
T1 = 0 V1 = W • When a particle moves under the action of
T1 + V1 = W conservative forces, the total mechanical
energy is constant.
1W
T2 = 12 mv22 = (2 g ) = W V2 = 0 • Friction forces are not conservative. Total
2g
mechanical energy of a system involving
T2 + V2 = W
friction decreases.
• Mechanical energy is dissipated by friction
into thermal energy. Total energy is constant.
Copyright © McGraw-Hill Education. Permission required for reproduction or display. 13 - 47
Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Motion Under a Conservative Central Force
• When a particle moves under a conservative central
force, both the principle of conservation of angular
momentum
r0 mv0 sin 0 = rmv sin
and the principle of conservation of energy
T0 + V0 = T + V
GMm 1 2 GMm
1 mv 2
2 0 − = 2 mv −
r0 r
may be applied.
V2 = Ve + Vg = 0 + Wy = (0.5 lb )(4 ft ) = 2 ft lb
T2 = 12 mvD
2
=
1 0.5 lb
2 32.2 ft s 2
(
64.4 ft 2 2
)
s = 0.5 ft lb
T1 + V1 = T2 + V2
0 + 18 x 2 = 0.5 + 2 x = 0.3727 ft = 4.47 in.
Copyright © McGraw-Hill Education. Permission required for reproduction or display. 13 - 53
Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 13.10
REFLECT and THINK
A common misconception in problems like
this is assuming that the speed of the
particle is zero at the top of the loop, rather
than that the normal force is equal to or
greater than zero. If the pellet had a speed
of zero at the top, it would clearly fall
straight down, which is impossible.
( )( )2
GM = gR 2 = 9.81m s 2 6.37 106 m = 398 1012 m3 s 2
Find TA v A = 0 TA = 0
Solve for vD
Find VA VA = Wy A = (560 lb)(90 + 60)=84,000 ft lbs
Find VD yD = 0 VD = 0
560 98.2852
F n = man N D = 560 +
32.2 240
vD2
N D − W = m
R N D = 1260 lbs
• Nonimpulsive
forces are forces for which
Ft is small and therefore, may be
neglected – an example of this is the weight
of the baseball.
(
m p v1 + Imp1→2 = m p + mc v2 )
x components: (
m p v1 cos 30 + 0 = m p + mc v2 )
(10 kg )(3 m/s)cos 30 = (10 kg + 25 kg )v2
v2 = 0.742 m/s
m p v1 + Imp1→2 = m p v2
Imp1→2 = Ft = (− 18.56 N s )i + (15 N s ) j Ft = 23.9 N s
T2 = 1
2 (m p + mc ) v =
2
2
1
2 (10 kg + 25 kg )( 0.742 m s )
2
= 9.63 J
T1 − T2 45 J − 9.63 J
= = 0.786
T1 45 J
e = coefficient of restitution
• Period of deformation: m Av A − Pdt = m Au Rdt = u − vA
=
Pdt v A − u
0 e 1
• Period of restitution: m Au − Rdt = m AvA
vB − u
• A similar analysis of particle B yields e=
u − vB
• Note: Validity of last expression does not follow from previous relation for
the coefficient of restitution. A similar but separate derivation is required.
Copyright © McGraw-Hill Education. Permission required for reproduction or display. 13 - 84
Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Problems Involving Multiple Principles
• Three methods for the analysis of kinetics problems:
- Direct application of Newton’s second law
- Method of work and energy
- Method of impulse and momentum
• Select the method best suited for the problem or part of a problem
under consideration.
t
• Apply coefficient of restitution relation with zero wall
n velocity.
0 − vn = e(vn − 0 )
vn = −0.9(0.866v ) = −0.779v
v = −0.779v n + 0.500v t
0.779
v = 0.926v tan −1 = 32.7
0.500
The magnitude and direction of the • Total normal component of the momentum
velocities of two identical of the two ball system is conserved.
frictionless balls before they strike
each other are as shown. Assuming • The normal relative velocities of the
e = 0.9, determine the magnitude balls are related by the coefficient of
and direction of the velocity of each restitution.
ball after the impact.
• Solve the last two equations simultaneously
for the normal velocities of the balls after
the impact.
v A = −17.7t + 15.0n
n
15.0
vA = 23.2 ft s tan −1 = 40.3
17.7
vB = 23.7t + 34.6n
34.6
vB = 41.9 ft s tan −1
t
= 55.6
23.7
v A = 0.5v0t − 0.520v0n
= tan −1
0.52
vA = 0.721v0 = 46.1
0.5
= 46.1 − 30 = 16.1
vB = 0.693v0
Copyright © McGraw-Hill Education. Permission required for reproduction or display. 13 - 95
Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 13.21
REFLECT and THINK
Since e = 1, the impact between A and B is
perfectly elastic. Therefore, rather than
using the coefficient of restitution, you
could have used the conservation of energy
as your final equation.
m A (v A )2 + mB (vB )2 = (m A + mB )v3
(30)(6.26) + 0 = (30 + 10)v3 v3 = 4.70 m s
=0+ 1 kx 2
2 3
= 1
2
(20 10 )(4.91 10 )
3 −3 2
= 0.241 J
T4 = 0
T3 + V3 = T4 + V4
( ) (
442 + 0.241 = 0 − 392 x4 − 4.91 10−3 + 12 20 103 x42 )
x4 = 0.230 m
restitution between A and B is 0.8. When =40o, find tension in the rope
find (a) the speed of B (b) the tension in the rope.
Copyright © McGraw-Hill Education. Permission required for reproduction or display. 13 - 101
Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
MODELING and ANALYSIS:
Given: mA= 2-kg mB= 1-kg,
k= 800 N/m, mA =0.2, e= 0.8
Find (a) vB (b) Trope
• Use work-energy to find the velocity of
the block just before impact
Determine the friction force acting on the block A
Solve for N
Sum forces in the y-direction N = mA g cos
= (2)(9.81) cos 20
Fy = 0:
= 18.4368 N
N − mA g cos = 0 F f = mk N = (0.2)(18.4368)
= 3.6874 N
Copyright © McGraw-Hill Education. Permission required for reproduction or display. 13 - 102
Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
Set your datum, use work-energy to determine vA at impact.
1 1
T2 = mAv A2 = (1) (v A2 ) = 1.000 v A2 V2 = 0
2 2
v2 = 2.94 m/s
F = ma
t2
G
T1 + U1→2 = T2 mv1 + F dt = mv2
t1