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17 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Plane Motion of Rigid
Lecture Notes: Bodies:
J. Walt Oler Energy and Momentum
Texas Tech University
Methods
• We may also apply the principle of work and energy to the entire system,
T1 U12 T2 T1 ,T2 = arithmetic sum of the kinetic energies of
all bodies forming the system
U12 = work of all forces acting on the various
bodies, whether these forces are internal
or external to the system as a whole.
2
2 1 ml
12 m 12 l 12 1 ml
12
2 2
2
2 3
V2 12 Wl sin 12 mgl sin
T1 V1 T2 V2
1 ml 2 2 1
0 mgl sin
• mass m 2 3 2
• released with zero velocity
sin
3g
• determine at l
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 9
Edition
Ninth
Vector Mechanics for Engineers: Dynamics
Power
For the drum and flywheel, I 10.5 lb ft s 2 . • Apply the principle of work and
The bearing friction is equivalent to a kinetic energy to develop an
couple of 60 lb ft. At the instant shown, expression for the final velocity.
the block is moving downward at 6 ft/s.
Determine the velocity of the block after it
has moved 4 ft downward.
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 11
Edition
Ninth
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.1
SOLUTION:
• Consider the system of the flywheel and block. The work
done by the internal forces exerted by the cable cancels.
• Note that the velocity of the block and the angular velocity of
the drum and flywheel are related by
v 6 ft s v v
v r 1 1 4.80 rad s 2 2 2
r 1.25 ft r 1.25
• Apply the principle of work and kinetic energy to develop an
expression for the final velocity.
T1 12 mv12 12 I 12
1 240 lb 2 1
6 ft s 10.5 lb ft s 4.80 rad s 2
2 32.2 ft s 2 2
255 ft lb
T2 12 mv22 12 I 22
2
1 240 2 1 v
v2 10.5 2 7.09v22
2 32.2 2 1.25
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 12
Edition
Ninth
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.1
T1 12 mv12 12 I12 255 ft lb
B
600 rpm2 rad rev 62.8 rad s
60 s min
r 0.100
A B B 62.8 25.1rad s
rA 0.250
T2 12 I A A2 12 I B B2
12 0.40025.1 2 12 0.019262.82
163.9 J
T1 U12 T2
0 M A 10.93 rad 126.0J
11.52
M A rA F 11.52 N m F 46.2 N
0.250
T1 U1 2 T2
I
0 Wh 12 m 2 v 2
r
2Wh 2 gh
v2
m I r 2 1 I mr 2
M O M O eff 0 I mr r 0
Fx Fx eff Rx mr Rx 0
30 lb
32.2 ft s 2
22.3 ft s 2
R y 9.22 lb
R 9.22
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 22
Edition
Ninth
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.5
SOLUTION:
• Consider a system consisting of the two
rods. With the conservative weight force,
T1 V1 T2 V2
• Evaluate the initial and final potential
energy.
W mg 6 kg 9.81m s 2
58.86 N
vD CD
0.513 m 3.90 rad s
2.00 m s
vD 2.00 m s
and a couple equal to the sum of their moments about the mass center,
H G ri vi Δmi
• For the plane motion of a rigid slab or of a rigid body symmetrical with
respect to the reference plane,
H G I
moments about A:
0 FtrA I A A 2
Ft 0.250 m 0.400 kg m 25.1rad s
Ft 40.2 N s
moments about B:
0 Mt FtrB I B B 2
6 N m t Ft 0.100 m
0.0192 kg m 2 62.8 rad s
• Solve the angular momentum equations for the two gears simultaneously
for the unknown time and tangential force.
t 0.871 s F 46.2 N
v2 r 2
5 k g t
2 v1
v1 k gt r t
2 r 7 k g
T 2 12 mS v 2 12 I S 2 12 I R 2 12 2mS r 2 2I S I R 2
T1 12 0.27562 4.95 ft lb
T2 12 0.7922.082 1.71ft lb
ΔT T2 T1 1.71 4.95 T 3.24 ft lb
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 40
Edition
Ninth
Vector Mechanics for Engineers: Dynamics
Eccentric Impact
u A n uB n
Period of deformation Period of restitution
Impulse Rdt Impulse Pdt
2
9 ft 1 20 18
v2 2 IP 1 m b2 0.2329 lb ft s
2
12 6 P 6 32.2 12
0.05
1500 14
20 9
12 2 129 0.23292
32.2 12
32.2
Determine the angular velocity of the • Solve the two relations simultaneously
rod and the velocity of the sphere for the angular velocity of the rod and
immediately after impact. velocity of the sphere.
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 45
Edition
Ninth
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.10
SOLUTION:
• Consider the sphere and rod as a
single system. Apply the
principle of impulse and
momentum.
• The moments about A of the
momenta and impulses provide a
relation between the final
moments about A: angular velocity of the rod and
ms vs 1.2 m ms vs 1.2 m mRvR 0.6 m I
velocity of the rod.
vR r 0.6 m
1 mL2 1 8 kg 1.2 m 2 0.96 kg m 2
I 12 12
Moments about B:
h3 2
a 0.707a v1 43 a 2 43 a 0.285 g a v1 0.712 ga
2
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 50