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11
CHAPTER
DYNAMICS
Ferdinand P. Beer E. Russell Johnston, Jr. Lecture Notes: J. Walt Oler Texas Tech University
Kinematics of Particles
Eighth Edition
Eighth Edition
11 - 3
Eighth Edition
11 - 4
Eighth Edition
e.g., x = 6t 2 t 3 dx v= = 12t 3t 2 dt
2007 The McGraw-Hill Companies, Inc. All rights reserved.
11 - 5
Eighth Edition
Eighth Edition
Eighth Edition
11 - 8
Eighth Edition
v(t ) v0 = f (t ) dt
0
t
dx = v(t ) dt
0
x(t ) x0 = v(t ) dt
0
dv dv or a = v = f ( x ) dx dt
x
v dv = f ( x )dx
v dv = f ( x )dx
x0
1 v( x )2 2
2 1 v0 2
= f ( x )dx
x0
11 - 9
Eighth Edition
dv = dt f (v )
v0
t dv = dt f (v ) 0
v0
dv =t (v ) f v dv dx = f (v )
x (t ) x0
dv v = a = f (v ) dx x(t ) x0 =
v (t )
dx =
v (t )
v0
v dv f (v )
v0
v dv f (v )
11 - 10
Eighth Edition
Solve for t at which altitude equals zero (time for ground impact) and evaluate corresponding velocity.
Eighth Edition
m m 9.81 2 t s s
y (t ) y0 = 10t 1 9.81t 2 2
m m y (t ) = 20 m + 10 t 4.905 2 t 2 s s
2007 The McGraw-Hill Companies, Inc. All rights reserved.
11 - 12
Eighth Edition
t = 1.019 s
Solve for t at which altitude equals zero and evaluate corresponding velocity.
Eighth Edition
v(3.28 s ) = 10
11 - 14
Eighth Edition
Brake mechanism used to reduce gun recoil consists of piston attached to barrel moving in fixed cylinder filled with oil. As barrel recoils with initial velocity v0, piston moves and oil is forced through orifices in piston, causing piston and cylinder to decelerate at rate proportional to their velocity. Determine v(t), x(t), and v(x).
11 - 15
Eighth Edition
v0 1 e kt k
11 - 16
Eighth Edition
dv = k dx
0
v0
v = v0 kx
Alternatively,
x(t ) =
v0 1 e kt k
)
v(t ) v0
v = v0 kx
11 - 17
v(t ) = v0 e kt or e kt =
v v(t ) x(t ) = 0 1 k v0
Eighth Edition
dx = v dt
x0 0
x x0 = vt x = x0 + vt
11 - 18
Eighth Edition
dv = a dt
0
v v0 = at
v0
dx = v0 + at dt
dx = (v0 + at )dt
x0 0
x x0 = v0t + 1 at 2 2
x = x0 + v0t + 1 at 2 2 dv v = a = constant dx
2 v 2 = v0 + 2 a ( x x0 )
2007 The McGraw-Hill Companies, Inc. All rights reserved.
11 - 19
v dv = a dx
x0
v0
1 2
(v 2 v02 ) = a(x x0 )
Eighth Edition
Eighth Edition
Write equation for relative position of ball with respect to elevator and solve for zero relative position, i.e., impact. Substitute impact time into equation for position of elevator and relative velocity of ball with respect to elevator.
11 - 21
Eighth Edition
m m 9.81 2 t s s
m m y B = y0 + v0t + 1 at 2 = 12 m + 18 t 4.905 2 t 2 2 s s Substitute initial position and constant velocity of elevator into equation for uniform rectilinear motion.
vE = 2
m s
m y E = y0 + v E t = 5 m + 2 t s
2007 The McGraw-Hill Companies, Inc. All rights reserved.
11 - 22
Eighth Edition
Substitute impact time into equations for position of elevator and relative velocity of ball with respect to elevator.
y E = 12.3 m
vB
2007 The McGraw-Hill Companies, Inc. All rights reserved.
= 19.81
m s
11 - 23
Eighth Edition
dx dx A dx + 2 B + C = 0 or 2v A + 2v B + vC = 0 dt dt dt dv dv dv 2 A + 2 B + C = 0 or 2a A + 2a B + aC = 0 dt dt dt
2
2007 The McGraw-Hill Companies, Inc. All rights reserved.
11 - 24
Eighth Edition
Eighth Edition
aA = 9
in. s2
t = 1.333 s
11 - 26
Eighth Edition
Eighth Edition
11 - 28
Eighth Edition
Given the x-t curve, the v-t curve is equal to the x-t curve slope. Given the v-t curve, the a-t curve is equal to the v-t curve slope.
11 - 29
Eighth Edition
Given the a-t curve, the change in velocity between t1 and t2 is equal to the area under the a-t curve between t1 and t2. Given the v-t curve, the change in position between t1 and t2 is equal to the area under the v-t curve between t1 and t2.
11 - 30
Eighth Edition
using dv = a dt , x1 x0 = v0t1 +
v1 v1
(t1 t ) a dt
v0
v0
Eighth Edition
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Eighth Edition
Eighth Edition
11 - 34
Eighth Edition
Derivative of vector sum, r r r r d (P + Q ) dP dQ = + du du du Derivative of product of scalar and vector functions, r r r d ( f P ) df dP P+ f = du du du Derivative of scalar product and vector product, r r r r r r dQ d (P Q ) dP = Q + P du du du r r r r r r dQ d (P Q ) dP = Q + P du du du
2007 The McGraw-Hill Companies, Inc. All rights reserved.
11 - 35
Eighth Edition
Eighth Edition
( )
v y = (v y ) gt
0 0
y = (v y ) y 1 gt 2 2
vz = 0 z=0
Motion in horizontal direction is uniform. Motion in vertical direction is uniformly accelerated. Motion of projectile could be replaced by two independent rectilinear motions.
2007 The McGraw-Hill Companies, Inc. All rights reserved.
11 - 37
Eighth Edition
= velocity of B relative to A.
r r r a B = a A + aB
r aB A = acceleration of B relative to A.
Absolute motion of B can be obtained by combining motion of A with relative motion of B with respect to moving reference frame attached to A.
2007 The McGraw-Hill Companies, Inc. All rights reserved.
11 - 38
Eighth Edition
Eighth Edition
Tangential component of acceleration reflects change of speed and normal component reflects change of direction. Tangential component may be positive or negative. Normal component always points toward center of path curvature.
2007 The McGraw-Hill Companies, Inc. All rights reserved.
11 - 40
Eighth Edition
dv at = dt
an =
v2
Plane containing tangential and normal unit vectors is called the osculating plane. Normal to the osculating plane is found from r r r eb = et en r en = principal normal r eb = binormal Acceleration has no component along binormal.
11 - 41
Eighth Edition
r r r = re r r der r = e d
r r der der d r d = = e dt d dt dt r r de de d r d = = er dt d dt dt
Similarly, the particle acceleration vector is d r r d dr r a = er + r e dt dt dt r r d 2 r r dr der dr d r d 2 r d de = 2 er + + e + r 2 e + r dt dt dt dt dt dt dt dt r r & = && r& 2 er + (r& + 2r& )e r &
11 - 42
Eighth Edition
11 - 43
Eighth Edition
Eighth Edition
(88 ft s )2 ft = = 3.10 2
2500 ft s
Determine acceleration magnitude and direction with respect to tangent to curve. ft 2 2 2 2 a = 4.14 2 a = at + an = ( 2.75) + 3.10 s
= tan
1 a n
at
= tan
1 3.10
2.75
= 48.4
11 - 45
Eighth Edition
Calculate velocity and acceleration in cylindrical coordinates. Evaluate acceleration with respect to arm.
Eighth Edition
= 0.15 t 2
= 30 = 0.524 rad t = 1.869 s
Evaluate radial and angular positions, and first and second derivatives at time t.
r = 0.9 0.12 t 2 = 0.481 m r = 0.24 t = 0.449 m s & r && = 0.24 m s 2
Eighth Edition
v = tan 1
vr
v = 0.524 m s
= 31.0
ar = && r& 2 r = 0.240 m s 2 (0.481m )(0.561rad s )2 = 0.391m s 2 & & a = r& + 2r&
a = tan 1
ar a = 0.531m s
= 42.6
11 - 48
Eighth Edition
11 - 49