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12 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinetics of Particles:
Lecture Notes:
Newton’s Second Law
Brian P. Self
California Polytechnic State University
F ma
• Newton’s Second Law of Motion
Fx i Fy j Fz k ma x i a y j a z k
Fx max Fy ma y Fz maz
Fx mx Fy my Fz mz
25o
Ff
N
mg
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 9
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Free Body Diagrams and Kinetic Diagrams
Put the inertial terms for the body of interest on the kinetic diagram.
1. Isolate the body of interest (free body)
2. Draw in the mass times acceleration of the particle; if unknown,
do this in the positive direction according to your chosen axes
x y may
225 N
max
25o
Ff
N
mg
F ma
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 10
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Free Body Diagrams and Kinetic Diagrams
Draw the FBD and KD for block A (note that the
massless, frictionless pulleys are attached to block A
and should be included in the system).
y
T T NB
T
T may = 0
x
T
mg
Ff-B
= max
N1 Ff-1
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 12
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Free Body Diagrams and Kinetic Diagrams
eq maq
er
mar
q
q
=
Ff
mg
N
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 14
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.1
SOLUTION:
• Resolve the equation of motion for the
block into two rectangular component
equations.
y T1 100 kg a A
T2 2940N - 300 kg a B
2940N - 300 kg 12 a A
T2 2T1 0
2940 N 150 kg a A 2100 kg a A 0
a A 8.40 m s 2
a B 12 a A 4.20 m s 2
T1 100 kg a A 840 N
T2 2T1 1680 N
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 19
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.4
SOLUTION:
• The block is constrained to slide down
the wedge. Therefore, their motions are
dependent. Express the acceleration of
block as the acceleration of wedge plus
the acceleration of the block relative to
the wedge.
Fx mB a x mB a A cos 30 aB A :
WB sin 30 WB g a A cos 30 a B
x
A
a B A a A cos 30 g sin 30
Fy mB a y mB a A sin 30 :
N1 WB cos 30 WB g a A sin 30
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 21
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.4
• Solve for the accelerations.
0.5 N1 W A g a A
aA
32.2 ft s 2 12 lb cos 30
230 lb 12 lb sin 30
a A 5.07 ft s 2
aB A
5.07 ft s 2 cos 30 32.2 ft s 2 sin 30
aB A 20.5 ft s 2
x A 3 yB constants L
Differentiate this twice to get the
acceleration relationship.
v A 3vB 0
a A 3aB 0
a A 3aB (1)
an
v2
v an 2 m 16.03 m s 2
v 5.66 m s
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 30
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.6
SOLUTION:
• The car travels in a horizontal circular
path with a normal component of
acceleration directed toward the center
of the path.The forces acting on the car
are its weight and a normal reaction
from the road surface.
et mat
en =
T N man
dv
at 0.4t 0.4(5) 2 m/s 2
dt
N 187.5 N T 6.0 N
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 35
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
et
mat
How would the problem
change if motion was in the
en
=
vertical plane?
T q N man
You would add an mg term mg
and would also need to
calculate q
B
C
A
r
F mar m
r r q 2
Fq maq mrq 2rq
equations of motion for the block. 0 r0
F 2mq 02 r 2
r0
2 12
The 3-kg collar B slides on the frictionless arm AA. The arm is attached to
drum D and rotates about O in a horizontal plane at the rate q 0.75t where q
and t are expressed in rad/s and seconds, respectively. As the arm-drum
assembly rotates, a mechanism within the drum releases the cord so that the
collar moves outward from O with a constant speed of 0.5 m/s. Knowing that
at t = 0, r = 0, determine the time at which the tension in the cord is equal to
the magnitude of the horizontal force exerted on B by arm AA.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 42
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
SOLUTION: • Given: q 0.75t r (0) 0
r 5 m/s
• Find: time when T = N
Draw the FBD and KD of the collar
maq
eq
er mar
=
T N
q (0.75t ) rad/s
0
dr 0
0.5 dt
Top View v
r
F mar m
r r q 2
Fq maq mrq 2rq
• This result may also be derived from conservation
of angular momentum,
H O mr 2q
r Fq
d
dt
mr 2q
m r 2q 2rrq
Fq mrq 2rq
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 47
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Angular Momentum of a Particle
• H O r mV moment of momentum or the angular
momentum of the particle about O.
• H O is perpendicular to plane containing r and mV
H O rmV sin i j k
rm vq HO x y z
mr 2q mv x mv y mvz
dA 1 2 dq 1 2
• Define 2r 2 r q areal velocity
dt dt
where a 12 r0 r1
b r0 r1
GM gR 2 9.81m s 2 6.37 106 m 2
398 1012 m3 s 2
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 60
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.9
• Determine the maximum altitude by finding r1
at q = 180o.
1 GM 398 1012 m3 s 2 9 1
2 C
65.3 10
r1 h 2 2 m
70.4 m s
r1 66.7 106 m 66700 km
max altitude 66700 - 6370km 60300 km
2 ab 2 36.8 106 m 21.4 106 m
h 70.4 109 m 2 s