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Chapt13 Lecture PDF
Chapt13 Lecture PDF
13
CHAPTER
DYNAMICS
Ferdinand P. Beer E. Russell Johnston, Jr. Lecture Notes: J. Walt Oler Texas Tech University
Seventh Edition
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Work of the force is r r dU = F dr = F ds cos = Fxdx+ Fydy+ Fz dz Work is a scalar quantity, i.e., it has magnitude and sign but not direction. Dimensions of work are length force. Units are 1 J ( joule ) = (1 N )(1 m ) 1ft lb = 1.356 J
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F dr
r
s2 s1
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Work of the weight is equal to product of weight W and vertical displacement y. Work of the weight is positive when y < 0, i.e., when the weight moves down.
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Work of the force exerted by spring is positive when x2 < x1, i.e., when the spring is returning to its undeformed position. Work of the force exerted by the spring is equal to negative of area under curve of F plotted against x,
( F + F2 ) x U12 = 1 2 1
2003 The McGraw-Hill Companies, Inc. All rights reserved.
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Integrating from A1 to A2 ,
v2 v1
T=1 mv 2 = kinetic energy 2 r The work of the force F is equal to the change in kinetic energy of the particle. U12 = T2 T1
v2 = 2 gl
Velocity found without determining expression for acceleration and integrating. All quantities are scalars and can be added directly. Forces which do no work are eliminated from the problem.
2003 The McGraw-Hill Companies, Inc. All rights reserved.
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Fn = m an
P W =
v2 = 2 gl
2 W v2 g l W 2 gl P =W + = 3W g l
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0 Fc (2 m ) + WB (2 m ) = 1 m v2 2 B
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A spring is used to stop a 60 kg package which is sliding on a horizontal surface. The spring has a constant k = 20 kN/m and is held by cables so that it is initially Apply the principle of work and energy for the rebound of the package. The compressed 120 mm. The package has a only unknown in the relation is the velocity of 2.5 m/s in the position shown velocity at the final position. and the maximum deflection of the spring is 40 mm. Determine (a) the coefficient of kinetic friction between the package and surface and (b) the velocity of the package as it passes again through the position shown.
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T2 = 0
(U12 ) f
= kW x
T1 + U1 2 = T2 :
2003 The McGraw-Hill Companies, Inc. All rights reserved.
k = 0.20
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T2 + U 23 = T3 :
2 (60 kg )v3 0 + 36.5 J = 1 2
v3 = 1.103 m s
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A 2000 lb car starts from rest at point 1 Apply principle of work and energy to and moves without friction down the determine velocity at point 3. track shown. Apply Newtons second law to find Determine: minimum radius of curvature at point 3 such that a positive normal force is a) the force exerted by the track on exerted by the track. the car at point 2, and b) the minimum safe value of the radius of curvature at point 3.
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T1 = 0
2 T2 = 1 mv2 = 2
U1 2 = +W (40 ft ) T1 + U1 2 = T2 :
1W 2 v2 2g 1W 2 v2 2g
0 + W (40 ft ) =
v2 = 50.8 ft s
Apply Newtons second law to find normal force by the track at point 2.
+ Fn = m an : W + N = m an = N = 5W
2003 The McGraw-Hill Companies, Inc. All rights reserved.
2 W v2 W 2(40 ft )g = g 2 g 20 ft
N = 10000 lb
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Apply Newtons second law to find minimum radius of curvature at point 3 such that a positive normal force is exerted by the track. + Fn = m an : W = m an =
2 W v3 W 2(25 ft )g = 3 g 3 g
3 = 50 ft
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10
In the first case, bodies are in uniform motion. Determine force exerted by motor cable from conditions for static equilibrium. In the second case, both bodies are accelerating. Apply Newtons second law to each body to determine the required motor cable force.
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Free-body D:
+ Fy = 0 : F + T 600 lb = 0
Power = (1600 ft lb s )
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1 hp = 2.91 hp 550 ft lb s
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Free-body C:
+ Fy = mC aC : 800 2T = T = 384.5 lb
Free-body D:
+ Fy = m D a D : F + T 600 = 600 (2.5) 32.2 F + 384.5 600 = 46.6
F = 262.1 lb
1 hp = 3.81 hp 550 ft lb s
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Work is independent of path followed; depends only on the initial and final values of Wy. V g = Wy
U12 = (V g ) (V g )
1
Choice of datum from which the elevation y is measured is arbitrary. Units of work and potential energy are the same: V g = Wy = N m = J
2003 The McGraw-Hill Companies, Inc. All rights reserved.
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12
The potential energy of the body with respect to the elastic force,
Ve = 1 kx 2 2 U12 = (Ve )1 (Ve )2
Note that the preceding expression for Ve is valid only if the deflection of the spring is measured from its undeformed position.
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Follows that
T1 + V1 = T2 + V2 E = T + V = constant T1 = 0 V1 = Wl T1 + V1 = Wl
2 T2 = 1 mv2 = 2
When a particle moves under the action of conservative forces, the total mechanical energy is constant. Friction forces are not conservative. Total mechanical energy of a system involving friction decreases. Mechanical energy is dissipated by friction into thermal energy. Total energy is constant.
1W (2 gl ) = Wl V2 = 0 2g
T2 + V2 = Wl
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Conservation of Energy: T1 + V1 = T2 + V2
2 0 + 2 ft lb = 0.311v2 5.5 ft lb
v2 = 4.91ft s
2003 The McGraw-Hill Companies, Inc. All rights reserved.
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The 0.5 lb pellet is pushed against the spring and released from rest at A. Neglecting friction, determine the smallest deflection of the spring for which the pellet will travel around the loop and remain in contact with the loop at all times.
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(36 lb ft )x 2 = 18 x 2 V1 = Ve + Vg = 1 kx 2 + 0 = 1 2 2
T1 = 0 V2 = Ve + Vg = 0 + Wy = (0.5 lb )(4 ft ) = 2 ft lb
2 T2 = 1 mvD = 2
T1 + V1 = T2 + V2 0 + 18 x 2 = 0.5 + 2
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16
Dimensions of the impulse of a force are force*time. Units for the impulse of a force are
N s = kg m s 2 s = kg m s
t2 t1
The final momentum of the particle can be obtained by adding vectorially its initial momentum and the impulse of the force during the time interval.
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A 4 oz baseball is pitched with a velocity of 80 ft/s. After the ball is hit by the bat, it has a velocity of 120 ft/s in the direction shown. If the bat and ball are in contact for 0.015 s, determine the average impulsive force exerted on the ball during the impact.
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y component equation:
y
0 + Fy t = mv2 sin 40
x
19
A 10 kg package drops from a chute into a 24 kg cart with a velocity of 3 m/s. Knowing that the cart is initially at rest and can roll freely, determine (a) the final velocity of the cart, (b) the impulse exerted by the cart on the package, and (c) the fraction of the initial energy lost in the impact.
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r r m p v1 + Imp1 2 = m p + mc v2
x components:
m p v1 cos 30 + 0 = m p + mc v2
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r r m p v1 + Imp1 2 = m p v2
x components:
m p v1 cos 30 + Fx t = m p v2
Fx t = 18.56 N s Fy t = 15 N s
Ft = 23.9 N s
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(10 kg )(3 m s )2 = 45 J T1 = 1 m v2 = 1 2 p 1 2
T1 T2 45 J 9.63 J = = 0.786 T1 45 J
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Central Impact: Impact for which the mass centers of the two bodies lie on the line of impact; otherwise, it is an eccentric impact.. Direct Impact: Impact for which the velocities of the two bodies are directed along the line of impact. Oblique Impact: Impact for which one or both of the bodies move along a line other than the line of impact.
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Rdt = u vA Pdt v A u
0 e 1
Period of restitution:
m Au Rdt = m Av A v u e= B u vB v B v A = e(v A v B ) m A v A + m B v B = (m A + mB )v v B v A = v A vB
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A similar analysis of particle B yields Combining the relations leads to the desired second relation between the final velocities. Perfectly plastic impact, e = 0: v B = v A = v Perfectly elastic impact, e = 1: Total energy and total momentum conserved.
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(30)(v A )2 T2 = 1 m (v )2 = 1 2 2 A A 2 2
T1 + V1 = T2 + V2
(30)(v A )2 0 + 588 J = 1 2 +0 2
(v A )2 = 6.26 m s
Determine velocity after impact from requirement that total momentum of the block and pan is conserved.
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V3 = Vg + Ve
)(
)2 = 0.241 J
V4 = Vg + Ve = (WA + WB )( h ) + 1 kx 2 2 4
2 = 392( x4 x3 ) + 1 20 103 x4 2
h = 0.225 m
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Vector Mechanics for Engineers: Dynamics Oblique Central Impact (freely moving particles)
Final velocities are unknown in magnitude and direction. Four equations are required.
No tangential impulse component; tangential component of momentum for each particle is conserved. Normal component of total momentum of the two particles is conserved. Normal components of relative velocities before and after impact are related by the coefficient of restitution.
(v A )t = (vA )t
(v B )t = (vB )t
m A (v A )n + m B (v B )n = m A (v A )n + mB (v B )n
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(v A )n = v A cos 30 = 26.0 ft
s s
s s
(vA )t = (v A )t = 15.0 ft
Total normal component of the momentum of the two ball system is conserved.
m(26.0 ) + m( 20.0 ) = m(vA )n + m(v B )n m A (v A )n + mB (vB )n = m A (vA )n + mB (v B )n
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Solve the last two equations simultaneously for the normal velocities of the balls after the impact. (vA )n = 17.7 ft s (vB )n = 23.7 ft s
r r r = 17.7t + 15.0n vA
15.0 vA = 23.2 ft s tan 1 = 40.3 17.7 r r r = 23.7t + 34.6n vB
t
1 34.6 v = 55.6 B = 41.9 ft s tan 23.7
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(vA )t = 0.5v0
The total horizontal (x component) momentum of the two ball system is conserved.
0.5(vA )n + v B = 0.433v0
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Solve the last two expressions for the velocity of ball A along the line of action and the velocity of ball B which is horizontal.
(vA )n = 0.520v0
v B = 0.693v0
= tan 1
0.52 = 46.1 0. 5
= 46.1 30 = 16.1
v B = 0.693v0
2003 The McGraw-Hill Companies, Inc. All rights reserved.
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Final velocity of ball unknown in direction and magnitude and unknown final block velocity magnitude. Three equations required.
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Tangential momentum of ball is conserved. Total horizontal momentum of block and ball is conserved. Normal component of relative velocities of block and ball are related by coefficient of restitution.
(v B )t = (vB )t
m A (v A ) + m B (v B ) x = m A (v A ) + m B (v B )x
Note: Validity of last expression does not follow from previous relation for the coefficient of restitution. A similar but separate derivation is required.
2003 The McGraw-Hill Companies, Inc. All rights reserved.
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Apply coefficient of restitution relation with zero wall velocity. = e(vn 0 ) 0 vn = 0.9(0.866v ) = 0.779v vn
r r r v = 0.779v n + 0.500v t 0.779 v = 0.926v tan 1 = 32.7 0.500
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Block B having a mass of 9 kg is initially at rest as shown on the upper surface of a 22.5 kg wedge A which is supported by a horizontal surface. A 2 kg block C is connected to block B by a cord, which passes over a pulley of negligible mass. Using computational software and denoting by the coefficient of friction at all surfaces, calculate the initial acceleration of the wedge and the initial acceleration of block B relative to the wedge for values of 0. Use 0.01 increments for until the wedge does not move and then use 0.1 increments until no motion occurs.
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Seventh Edition
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