LECTURE 3: CHAPTER 2

1. LEARNING OBJECTIVES a. Understanding types of motions b. Describing these motions by applying kinematic principles. c. Describing degrees of freedom (DOF) of physical systems. d. Applying kinetic principles using Work-Energy method, and Equation of Motion method. e. Deriving SDOF systems with spring elements. 2. MODELLING

A process of developing equations or sets of equations to describe motions of physical systems. 3. TYPES OF MOTIONS

Dynamics involves study of motion or response of bodies due to action of forces Can be categorized into: a. Kinematics study of motion of bodies which does not involve the study / analysis of the forces causing the motion. b. Kinetics - the analysis of motion / response of bodies and the forces acting on it. Focus on rigid body (dimension not negligible, thus capable of rotating about its own axis) motions. Rigid Body Motions 2D (Plane Motion) Translation and rotation of bodies in 2D. a. Rectilinear translation b. Curvilinear translation

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c. Fixed axis rotation d. General plane motion Examples of Plane Motions

Choosing a suitable coordinate system Coordinate an independent quantity to define positions in space. 3D coordinate systems a. Cartesian (x, y, z) b. Cylindrical (r, , L) c. Spherical (r, , ) 2D coordinate systems a. Cartesian (x, y) b. Polar (r, )

Relationship between Cartesian and polar coordinates in 2D

y P r y x x

(x

+ y2

y = tan 1 x
2

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Constraint restrict motions of bodies. Provide less Degrees of Freedom (DOF) for bodies in motion. Less Equation of Motion (EOM) to solve for the response. Generalized Coordinate provide complete information about motion of bodies including the constraints. Generalized Coordinate and DOFs

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4.

PLANE MOTION OF RIGID BODY

Newtons Law of Motions 1st Law: A body at rest or in motion (constant velocity) will remain unchange until there exist unbalance force acting on it. 2nd Law: The sum of all external forces is equal to the rate of change of momentum.

d (m v) dt

= m

d (v) dt

= m .a

The net force vector and acceleration vector act on the same line of action. The quantity of F and a, becomes scalar if the mass is constrained to move in one direction. 3rd Law: Action and reaction between interacting bodies are equal in magnitude, collinear and acts in the opposite direction.

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Solving plane motion problem Construct Free Body Diagram (FBD) and include all the forces and reaction forces, dimensions

Mass moment of inertia About a reference axis is defined as

I =
2 r .dm

where r is the distance from the reference axis to the element mass, dm. Review Moment of Inertia calculation (page 69 & 70) Study Example 2.2-1 page 71. Read through section on General Plane Motion pg 72-73.

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Read through Section on Curvilinear Translation page 73 & 74 (Instantaneous Centre of Rotation)

5.

WORK-ENERGY METHOD a. Parameter required: force, displacement, velocity only. b. Integrate EOM over displacement
F = m. x

c. Using principle of Energy Conservation The sum of potential energy (PE) and kinetic energy (KE) of a body remains constant at each instant of time, throughout the motion d. Work = force x displacement

T1 + V1

= T2 + V2

where, T = kinetic energy (KE) ; V = Potential Energy (PE) subscript 1 and 2 are the values at time t1 and t2. The total kinetic and potential energy under Conservation of Energy:
T +V = constant

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Consider a Single Degree Of Freedom (SDOF) Spring-Mass System Assume periodic motion. Conditions:
a.

When t1 passes equilibrium position, V1 = 0, since h = 0 As t2 reaches maximum displacement, velocity = 0, thus T2 = 0

b.

T1

= V2

Energy is conserved, then:

Tmax

= Vmax

We know that energy is a scalar quantity

k

Total PE
Vspring =

= Vspring + Vgravity
1 . k .( + 2 x) 2

mg

Vgravity

m . g . x

Total KE

1 . m .( x) 2 2

When energy is conserved, we have;

T + V = constant

( 1)

Substituting T, VSPRING and VGRAVITY into (1), yield;

1 1 .m . x2 m . g x + .k .( + x)2 2 2 = constant

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Differentiate with respect to t;

x ( m . x + k x ) + x ( k m g ) = 0

From static FBD, forces from k = mg at static equilibrium condition. Therefore, they cancel out, leaving with;
x ( m x + k x) = 0

For vibrating system, x 0 But,

m + k x = 0 x

( 2)

Therefore, Eq (2) is the Differential Equation of Motion describing the massspring system. *Note: Study section 2.3 and all the examples. 6. EQUIVALENT MASS AND INERTIA a. Use in Work-Energy method b. Simplify description of system whose motions are coupled. (i.e. rotation coupled with translation). Example: Cart-wheel on page 87-90. 7. EQUIVALENT MASS OF SPRING ELEMENTS a. Generally, spring mass is negligible relative to the systems mass. b. When the mass is not negligible i.e. cantilever, it can be calculated using the Work-Energy method. Study example 2.5-3 and go through Table 2.5-1. 8. SYSTEM WITH SPRING ELEMENTS a. Ideal case: massless spring (relative to a body). b. Real case: spring with specified mass (normally it will be stated in the problem), use equivalent mass method. c. Lumped mass (concentrated mass) for homogeneous mass (i.e. uniform mass distribution)

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