Final Review

Lecture 39

ME 231: Dynamics
Questions of the Day

What is the most important concept in

Chapter 2? Time Derivative of a Vector

What is the most important concept in

Chapter 6? Transformation of a Time Derivative

What is the most important concept in

mechanics? Free Body Diagram

What is the most important concept in

dynamics? Equations of Motion

ME 231: Dynamics
Outline for Today
 Questions of the day
 Concept and calculation of dynamics?
 Velocity and acceleration of a point
 Absolute- and relative-motion analysis Kinematics
 Locating the instantaneous center (Exam 1)
 Velocity and acceleration of a body
 Inverse vs. forward dynamics
 Kinetics: cause of motion
Kinetics
 Direct application of Newton’s 2nd Law
 Impulse-momentum principles (Exam 2)
 Equations, equations, equations…
 Principle of work and kinetic energy
 Work vs. potential energy and Work-Energy
work-energy equation
 Work of forces and couples & energy of (new stuff)
rigid bodies
 Answer your questions!

ME 231: Dynamics
 Concept: What is dynamics?

Chapters 1, 2, 6 Chapters 3, 4, 5, 7, 8

Kinematics Kinetics Dynamics

Relationship Relationship
among position, among forces and
velocity, and acceleration
acceleration

ME 231: Dynamics
Calculation: How Do We Use Dynamics?
Newton’s 2nd Law

Force. A push or pull Mass. Measure of the resistance

exerted on a body, of a body to linear acceleration.
characterized by: Acceleration. Velocity
‡ magnitude F=ma rate of change with
‡ direction respect to
‡ point of time
application

ME 231: Dynamics
 Velocity and Acceleration of a Point

Lecture Velocity Acceleration

's ds 'v dv d 2s
2. Rectilinear v lim a lim
't o0 't dt 't o0 't dt dt 2

3. Curvilinear v r x i  y j a v r x i  y j

4. Normal & v2
v v et a en  v e t
Tangential U
5. Polar
Coordinates
v r e r  rT eT a r  rT e  rT  2rTe
2
r T

7. Relative Motion vA r A rB  r A / B aA v A rA rB  rA / B

ME 231: Dynamics
Absolute-Motion Analysis

 The method relates the

position of a point, A, on
a rigid body to the angular
position, T, of a line
contained in the body

 The velocity and

acceleration of point A
are obtained in terms of the
angular velocity, Z, and
angular acceleration, D,
of the rigid body
ME 231: Dynamics
Relative-Motion Analysis: Acceleration
Translational Rotational
portion portion
a A/ B t ur

= a A/ B n  u  u r 
aB

aA
a A/ B
a A/ B t aB
aA a B  a A / B t  a A / B n a A/ B n
ME 231: Dynamics
Locating the Instantaneous Center: Case #1

A
vA
 Directions of absolute
velocities for A and B are rA
known (and not parallel) B
 Point A has circular motion C
about some point on the line rB
perpendicular to velocity vA  vB
 Point B has a similar motion
 Point C is the instantaneous vA vB
center of zero velocity (may lie
Z
rA rB
on or off the body)
ME 231: Dynamics
Locating the Instantaneous Center: Case #2
vA
A

 Directions of absolute
velocities for A and B are
known AND parallel B vB
 The line joining the points is
perpendicular to velocity vA
and vB
vA
A
 Instantaneous center found
d
by direct proportions C
C
vB B

ME 231: Dynamics
 Velocity and Acceleration of a Body

Lecture Velocity Acceleration

Z T D Z T
9. Rotation v rZ at rD an rZ 2
v ur at ur an  u  u r 
10. Absolute
Z T D Z T
v rZ at rD an rZ 2
Motion v ur at ur an  u  u r 
11. Relative
vA vB  vA / B
Velocity vA / B Z ur
aA a B  a A / B t  a A / B n
13. Relative
Acceleration a A/ B t  u r a A/ B n  u  u r 
aA  u r   u  u r 
aB  
14. Rotating Axes vA v B   u r  v rel
 2 u v rel  a rel
ME 231: Dynamics
Outline for Today
 Questions of the day
 Concept and calculation of dynamics?
 Velocity and acceleration of a point
 Absolute- and relative-motion analysis Kinematics
 Locating the instantaneous center (Exam 1)
 Velocity and acceleration of a body
 Inverse vs. forward dynamics
 Kinetics: cause of motion
Kinetics
 Direct application of Newton’s 2nd Law
 Impulse-momentum principles (Exam 2)
 Equations, equations, equations…
 Principle of work and kinetic energy
 Work vs. potential energy and Work-Energy
work-energy equation
 Work of forces and couples & energy of (new stuff)
rigid bodies
 Answer your questions!

ME 231: Dynamics
Inverse vs. Forward Dynamics

inverse
Velocities

Forces F ma d
dt
d
dt
Positions

Velocities

Forces F ma ³ ³ Positions

forward

ME 231: Dyna
Dynamics
 Kinetics: Cause of Motion?
Concept: What is kinetics?

ME 202 Chapters 1, 2, 6 Chapters 3, 4, 5, 7, 8

Statics Kinematics Kinetics

Relationship Relationship Relationship

among forces among position, among forces
(and moments) velocity, and (and
and equilibrium acceleration moments)and
acceleration

ME 231: Dynamics
Direct Application of Newton’s 2nd Law

F1  F2  F3    f1  f 2  f 3   miri
¦F  ¦f ¦ miri

¦F mr or ¦ F ma
¦ Fx ma x
¦ Fy ma y
¦ Fz ma z

ME 231: Dynamics
Impulse-Momentum
Principle: Linear G mv
 dt mv1   6Fx dt mv2 x
t2 t2 t2

6F G ³
t1
6F dt ³
t1
G x ³t 1

mv1 y  ³ 6Fy dt mv2 y
t2
t2
G1  ³ 6F dt G2 t1
t1
mv1 z  ³ 6Fz dt mv2 z
t2

t1
impulse-momentum
diagram

 Integrate to describe the effect of the resultant

force 6F on linear momentum over a finite
period of time
ME 231: Dynamics
Impulse-Momentum
HO r u mv ¦ M O 
H
Principle: Angular O

t2 t2
 dt
³t1
6M O dt ³
t1
H O
 Integrate to describe
the effect of the angular
impulse 6MO*t on
H O 1  ³t H O 2
t2
6M O dt angular momentum HO
1
of m about O over a
finite period of time

m(v z y  v y z )1  ³ 6M O x dt
t2
m(v z y  v y z ) 2
t1

m(v x z  v z x)1  ³ 6M O y dt
t2
m(v x z  v z x ) 2
t1

m(v y x  v x y )1  ³ 6M O z dt
t2
m(v y x  v x y ) 2
t1

ME 231: Dynamics
 Equations, Equations, Equations…

Lecture Equations

18. Newton 2nd Law ¦ F ma ¦ Fy ma y my

19. Eqs. of Motion
20. Rectilinear ¦ Fx ma x mx ¦ Fz ma z mz
¦ Fr mar ¦ Fn man
21. Curvilinear
¦ FT maT ¦ Ft mat
t2
G mv G1  ³ 6F dt G 2
27. Lin. Imp. Mom.

6F G
t1
'G 0
H O 1  ³t 6M O dt H O 2
t2
H O r u mv
28. Ang. Imp. Mom.
¦ MO H  1
'H O 0
O

G mv H G ¦ i u mi  i  H P H G   u mv
29. Sys. Imp. Mom.
H O ¦ri u mi v i  ¦ M G H G ¦ M P H G   u m a
ME 231: Dynamics
 Equations, Equations, Equations…

Lecture Equations

18. Newton 2nd Law ¦ MG H  ¦ M P I G   mad

G
22. Gen. Eqs. Mot. I 
H ¦  i u Fi ¦ M P I P    u ma P
23. Gen. Eqs. Mot. II G
¦ F ma ¦ M G IG ¦ M O I O
24. Fixed-Axis Rot. I O I G mr 2 I O mkO2
25. Gen. Plane Mot. I ¦ M P I P    u ma P ¦ M P I G   mad
¦ F ma ¦ M G I G 
26. Gen. Plane Mot. II
G mv H G IG H P I G   mvd H O IO
 ¦M
¦F G  ¦M
H  ¦M
H 
H
31. Body Imp. Mom. G G P P O O

H G 1  ³t H G 2
t2 t2
G1  ³ 6F dt G2 6M G dt
t1 1

ME 231: Dynamics
Outline for Today
 Questions of the day
 Concept and calculation of dynamics?
 Velocity and acceleration of a point
 Absolute- and relative-motion analysis Kinematics
 Locating the instantaneous center (Exam 1)
 Velocity and acceleration of a body
 Inverse
I vs. forward
f d dynamics
d i
 Kinetics: cause of motion
Kinetics
 Direct application of Newton’s 2nd Law
 Impulse-momentum principles (Exam 2)
 Equations, equations, equations…
 Principle of work and kinetic energy
 Work vs. potential energy and Work-Energy
work-energy equation
 Work of forces and couples & energy of (new stuff)
rigid bodies
 Answer your questions!

ME 231: Dynamics
Principle of Work and Kinetic Energy

1 2
 The kinetic energy T of a particle is T mv
2
 Work done to bring it a particle from velocity v1
to a velocity v2
1
U12 mv 2  v1 
2 2

2
U12 T2  T1 'T (work-energy eq.)

T1  U12 T2
ME 231: Dynamics
Work vs. Potential Energy

mg ³ y dy mgy 2  y1 
y2
U
1

 Recall: Work is done by

the weight mg over an
altitude change (y2-y1)

 Potential energy is simply the opposite

sign (-work) because of its potential to be
converted into energy
ME 231: Dynamics
Work-Energy Equation

 The work of all external forces other

than gravitational and spring forces is U1c 2

U1c2 'T  'V (work-energy eq.)

T1  V1  U1c 2 T2  V2

ME 231: Dynamics
Work-Energy Equation: Usage

U12 'T U1c2 'T  'V

ME 231: Dynamics
Work of Forces and
Couples

dU F˜ dr
dU F b dT  dU F ds cos D
dU M dT dU Ft ds
ME 231: Dynamics
Kinetic Energy for Rigid Bodies

translation fixed-axis rotation general plane motion

1 1 1
T 6 mi riZ  T 6 mi vG  Ui Z 
2 2 2 2 2
T 6 m iv
2 2 2
1 2 1 1 2 1
T mv T IOZ 2 T mvG  IGZ 2
2 2 2 2
ME 231: Dynamics
Work-Energy Equation for Rigid Bodies

Express weight and springs as doing work

 Work done to bring a rigid body from kinetic

energy T1 to a kinetic energy T2

T1  U12 T2

Express weight and springs by means of potential energy

 The work of all external forces other than

gravitational and spring forces is
T1  V1  U12
c T2  V2

ME 231: Dynamics
Outline for Today
 Questions of the day
 Concept and calculation of dynamics?
 Velocity and acceleration of a point
 Absolute- and relative-motion analysis Kinematics
 Locating the instantaneous center (Exam 1)
 Velocity and acceleration of a body
 Inverse
I vs. forward
f d dynamics
d i
 Kinetics: cause of motion
Kinetics
 Direct application of Newton’s 2nd Law
 Impulse-momentum principles (Exam 2)
 Equations, equations, equations…
 Principle of work and kinetic energy
 Work vs. potential energy and Work-Energy
work-energy equation
 Work of forces and couples & energy of (new stuff)
rigid bodies
 Answer
A your questions!
ti !

ME 231: Dynamics
Final Exam General Breakdown

ME 231: Dynamics
For Next Time…

 Review Chapters 1, 2, 3, 4, 5, 6, 7, & 8

 Review Lectures slides
– http://rrg.utk.edu/resources/ME231/lectures.html
 Review Examples from class
– http://rrg.utk.edu/resources/ME231/examples.html

 Final Exam on Monday (12/10) @

8:00am here (in Min Kao 524)

ME 231: Dynamics