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Dynamics: Vector Mechanics For Engineers
Dynamics: Vector Mechanics For Engineers
13
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr. Kinetics of Particles:
Energy and Momentum
Lecture Notes:
J. Walt Oler
Methods
Texas Tech University
1
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Work of a Force
r
Differential vector dr is the particle displacement.
2
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Work of a Force
Work of a constant force in rectilinear motion,
U12 = ( F cos ) x
3
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Work of a Force
4
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Applications of the Principle of Work and Energy
Wish to determine velocity of pendulum bob
at A2. Consider work & kinetic energy.
r
Force P acts normal to path and does no
work.
T1 + U12 = T2
1W 2
0 + Wl = v2
2 g
v2 = 2 gl
Velocity found without determining
expression for acceleration and integrating.
5
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Power and Efficiency
Power = rate at which work is done.
r r
dU F dr
= =
dt dt
r r
= F v
= efficiency
output work
=
input work
power output
=
power input
6
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Sample Problem 13.2
SOLUTION:
Apply the principle of work and energy separately
to blocks A and B.
( )
W A = (200 kg ) 9.81 m s 2 = 1962 N
FA = k N A = k W A = 0.25(1962 N ) = 490 N
T1 + U12 = T2 :
0 + FC (2 m ) FA (2 m ) = 12 m A v 2
( )
WB = (300 kg ) 9.81 m s 2 = 2940 N
T1 + U12 = T2 :
0 Fc (2 m ) + WB (2 m ) = 12 m B v 2
v = 4.43 m s
7
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Sample Problem 13.3
SOLUTION:
Apply the principle of work and energy
between the initial position and the
point at which the spring is fully
compressed and the velocity is zero.
A spring is used to stop a 60 kg package The only unknown in the relation is the
which is sliding on a horizontal surface. friction coefficient.
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
compressed 120 mm. The package has a for the rebound of the package. The
velocity of 2.5 m/s in the position shown only unknown in the relation is the
and the maximum deflection of the spring velocity at the final position.
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.
2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 15
Edition
Seventh
(U12 ) f = kW x
( )
= k (60 kg ) 9.81m s 2 (0.640 m ) = (377 J ) k
T1 + U1 2 = T2 :
187.5 J - (377 J ) k 112 J = 0 k = 0.20
2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 16
8
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Sample Problem 13.3
Apply the principle of work and energy for the rebound
of the package.
T2 = 0 T 3= 12 mv32 = 12 (60kg )v32
U 23 = (U 23 ) f + (U 23 )e = (377 J ) k + 112 J
= +36.5 J
T2 + U 23 = T3 :
0 + 36.5 J = 12 (60 kg )v32
v3 = 1.103 m s
9
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Sample Problem 13.4
SOLUTION:
Apply principle of work and energy to determine
velocity at point 2.
1W 2
T1 = 0 T2 = 12 mv22 = v2
2g
U1 2 = +W (40 ft )
1W 2
T1 + U1 2 = T2 : 0 + W (40 ft ) = v2
2g
(
v22 = 2(40 ft )g = 2(40 ft ) 32.2 ft s 2 ) v2 = 50.8 ft s
W v22 W 2(40 ft )g
W + N = m an = =
g 2 g 20 ft
N = 5W N = 10000 lb
+ Fn = m an :
W = m an
W v32 W 2(25 ft )g
= = 3 = 50 ft
g 3 g 3
10
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Sample Problem 13.5
SOLUTION:
Force exerted by the motor
cable has same direction as
the dumbwaiter velocity.
Power delivered by motor is
equal to FvD, vD = 8 ft/s.
The dumbwaiter D and its load have a In the first case, bodies are in uniform
combined weight of 600 lb, while the motion. Determine force exerted by
counterweight C weighs 800 lb. motor cable from conditions for static
equilibrium.
Determine the power delivered by the
electric motor M when the dumbwaiter In the second case, both bodies are
(a) is moving up at a constant speed of accelerating. Apply Newtons
8 ft/s and (b) has an instantaneous second law to each body to
velocity of 8 ft/s and an acceleration of determine the required motor cable
2.5 ft/s2, both directed upwards. force.
Free-body C:
+ Fy = 0 : 2T 800 lb = 0 T = 400 lb
Free-body D:
+ Fy = 0 : F + T 600 lb = 0
F = 600 lb T = 600 lb 400 lb = 200 lb
11
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Sample Problem 13.5
In the second case, both bodies are accelerating. Apply
Newtons second law to each body to determine the required
motor cable force.
a D = 2.5 ft s 2 aC = 12 a D = 1.25 ft s 2
Free-body C:
800
+ Fy = mC aC : 800 2T = (1.25) T = 384.5 lb
32.2
Free-body D:
600
+ Fy = m D a D : F + T 600 = (2.5)
32.2
F + 384.5 600 = 46.6 F = 262.1 lb
Power = Fv D = (262.1 lb )(8 ft s ) = 2097 ft lb s
1 hp
Power = (2097 ft lb s ) = 3.81 hp
550 ft lb s
2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 23
Edition
Seventh
12
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Potential Energy
Previous expression for potential energy of a body
with respect to gravity is only valid when the
weight of the body can be assumed constant.
13
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Conservative Forces
Concept of potential energy can be applied if the
work of the force is independent of the path
followed by its point of application.
U12 = V ( x1 , y1 , z1 ) V ( x2 , y 2 , z 2 )
Such forces are described as conservative forces.
For any conservative force applied on a closed path,
r r
F dr = 0
Elementary work corresponding to displacement
between two neighboring points,
dU = V ( x, y, z ) V ( x + dx, y + dy, z + dz )
= dV ( x, y, z )
V V V
Fx dx + Fy dy + Fz dz = dx + dy + dz
x y z
r V V V
F = + + = grad V
x y z
2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 27
Edition
Seventh
Follows that
T1 + V1 = T2 + V2
E = T + V = constant
T1 = 0 V1 = Wl When a particle moves under the action of
T1 + V1 = Wl conservative forces, the total mechanical
energy is constant.
1W
T2 = 12 mv22 = (2 gl ) = Wl V2 = 0 Friction forces are not conservative. Total
2g
mechanical energy of a system involving
T2 + V2 = Wl friction decreases.
Mechanical energy is dissipated by friction
into thermal energy. Total energy is constant.
2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 28
14
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Sample Problem 13.6
SOLUTION:
Apply the principle of conservation of
energy between positions 1 and 2.
The elastic and gravitational potential
energies at 1 and 2 are evaluated from
the given information. The initial kinetic
energy is zero.
A 20 lb collar slides without friction Solve for the kinetic energy and
along a vertical rod as shown. The velocity at 2.
spring attached to the collar has an
undeflected length of 4 in. and a
constant of 3 lb/in.
If the collar is released from rest at
position 1, determine its velocity after
it has moved 6 in. to position 2.
2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 29
Edition
Seventh
15
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Sample Problem 13.7
SOLUTION:
Since the pellet must remain in contact
with the loop, the force exerted on the
pellet must be greater than or equal to
zero. Setting the force exerted by the
loop to zero, solve for the minimum
velocity at D.
Apply the principle of conservation of
energy between points A and D. Solve
The 0.5 lb pellet is pushed against the for the spring deflection required to
spring and released from rest at A. produce the required velocity and
Neglecting friction, determine the kinetic energy at D.
smallest deflection of the spring for
which the pellet will travel around the
loop and remain in contact with the
loop at all times.
V2 = Ve + Vg = 0 + Wy = (0.5 lb )(4 ft ) = 2 ft lb
2
T2 = 12 mvD =
1 0.5 lb
2 32.2 ft s 2
( )
64.4 ft 2 s 2 = 0.5 ft lb
T1 + V1 = T2 + V2
0 + 18 x 2 = 0.5 + 2 x = 0.3727 ft = 4.47 in.
2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 32
16
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Principle of Impulse and Momentum
From Newtons second law,
r d r r
F = (mv ) mv = linear momentum
dt
r r
Fdt = d (mv )
t2 r r r
Fdt = mv2 mv1
t1
Dimensions of the impulse of t2 r r
a force are Fdt = Imp12 = impulse of the force F
force*time. t1
r r
Units for the impulse of a mv1 + Imp12 = mv2
force are
( )
N s = kg m s 2 s = kg m s
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.
Nonimpulsive
r forces are forces for which
Ft is small and therefore, may be
neglected.
17
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Sample Problem 13.10
SOLUTION:
Apply the principle of impulse and
momentum. The impulse is equal to the
product of the constant forces and the
time interval.
18
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Sample Problem 13.11
SOLUTION:
Apply the principle of impulse and
momentum in terms of horizontal and
vertical component equations.
19
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Sample Problem 13.12
SOLUTION:
Apply the principle of impulse and
momentum to the package-cart system
to determine the final velocity.
Apply the same principle to the package
alone to determine the impulse exerted
on it from the change in its momentum.
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.
r
( r
m p v1 + Imp1 2 = m p + mc v2 )
x components: (
m p v1 cos 30 + 0 = m p + mc v2 )
(10 kg )(3 m/s )cos 30 = (10 kg + 25 kg )v2
v2 = 0.742 m/s
20
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Sample Problem 13.12
Apply the same principle to the package alone to determine the impulse
exerted on it from the change in its momentum.
r r
m p v1 + Imp1 2 = m p v2
x components: m p v1 cos 30 + Fx t = m p v2
(10 kg )(3 m/s )cos 30 + Fx t = (10 kg )v2 Fx t = 18.56 N s
y components: m p v1 sin 30 + Fy t = 0
(10 kg )(3 m/s )sin 30 + Fy t = 0 Fy t = 15 N s
r r r
Imp12 = Ft = ( 18.56 N s )i + (15 N s ) j Ft = 23.9 N s
T1 T2 45 J 9.63 J
= = 0.786
T1 45 J
21
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Problem 13.150
22
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Impact
Impact: Collision between two bodies which
occurs during a small time interval and during
which the bodies exert large forces on each other.
23
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Direct Central Impact
e = coefficient of restitution
Period of deformation: m A v A Pdt = m Au
= Rdt = u vA
Pdt v A u
0 e 1
Period of restitution: m Au Rdt = m Av A
v u
A similar analysis of particle B yields e= B
u vB
Select the method best suited for the problem or part of a problem
under consideration.
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Seventh Vector Mechanics for Engineers: Dynamics
Problem 13.176
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Edition
Seventh Vector Mechanics for Engineers: Dynamics
Sample Problem 13.17
SOLUTION:
Apply principle of conservation of energy to
determine velocity of the block at instant of impact.
T1 = 0 V1 = WA y = (30 )(9.81)(2 ) = 588 J
T2 = 12 m A (v A )22 = 12 (30 )(v A )22 V2 = 0
T1 + V1 = T2 + V2
0 + 588 J = 12 (30 )(v A )22 + 0 (v A )2 = 6.26 m s
m A (v A )2 + mB (vB )2 = (m A + mB )v3
(30)(6.26) + 0 = (30 + 10)v3 v3 = 4.70 m s
( )(
= 0 + 12 kx32 = 12 20 103 4.91 103 )2 = 0.241 J
T4 = 0
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Edition
Seventh Vector Mechanics for Engineers: Dynamics
Problem 13.177
27
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Sample Problem 13.15
SOLUTION:
Resolve the ball velocities into components
normal and tangential to the contact plane.
The magnitude and direction of the Total normal component of the momentum
velocities of two identical of the two ball system is conserved.
frictionless balls before they strike
each other are as shown. Assuming The normal relative velocities of the
e = 0.9, determine the magnitude balls are related by the coefficient of
and direction of the velocity of each restitution.
ball after the impact.
Solve the last two equations simultaneously
for the normal velocities of the balls after
the impact.
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Seventh Vector Mechanics for Engineers: Dynamics
Sample Problem 13.15
The normal relative velocities of the balls are related by the
coefficient of restitution.
(vA )n (vB )n = e[(v A )n (vB )n ]
= 0.90[26.0 ( 20.0 )] = 41.4
r r r
v A = 17.7t + 15.0n
n
15.0
vA = 23.2 ft s tan 1 = 40.3
17.7
r r r
vB = 23.7t + 34.6n
34.6
vB = 41.9 ft s tan 1
t
= 55.6
23.7
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Seventh Vector Mechanics for Engineers: Dynamics
Sample Problem 13.16
SOLUTION:
Determine orientation of impact line of action.
r
sin = = 0. 5
2r The momentum component of ball A
= 30 tangential to the contact plane is
conserved.
r
r r
mv A + Ft = mv A
mv0 sin 30 + 0 = m(vA )t
(vA )t = 0.5v0
r r r
v A = 0.5v0t 0.520v0n
= tan 1
0.52
vA = 0.721v0 = 46.1
0. 5
= 46.1 30 = 16.1
vB = 0.693v0
2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 60
30
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Oblique Central Impact (one particle is constrained in its motion)
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. 13 - 62
31
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Sample Problem 13.14(impact of a particle with a massive rigid body)
SOLUTION:
Resolve ball velocity into components
normal and tangential to wall.
Impulse exerted by the wall is normal
to the wall. Component of ball
momentum tangential to wall is
conserved.
Assume that the wall has infinite mass
A ball is thrown against a frictionless,
so that wall velocity before and after
vertical wall. Immediately before the
impact is zero. Apply coefficient of
ball strikes the wall, its velocity has a
restitution relation to find change in
magnitude v and forms angle of 30o
normal relative velocity between wall
with the horizontal. Knowing that
and ball, i.e., the normal ball velocity.
e = 0.90, determine the magnitude and
direction of the velocity of the ball as
it rebounds from the wall.
t
Apply coefficient of restitution relation with zero wall
n velocity.
0 vn = e(vn 0 )
vn = 0.9(0.866v ) = 0.779v
r r r
v = 0.779v n + 0.500v t
0.779
v = 0.926v tan 1 = 32.7
0.500
32
Edition
Seventh Vector Mechanics for Engineers: Dynamics
Quiz 2
for me242=1:2
if me242==1
Wa = 200; % homework
Wb = 80; % homework
Wc = 18; % homework
fprintf('\n\n\t\t\t\t----Problem 12.C1----\n\n')
elseif me242==2
Wa = 22.5*g; % quiz2
Wb = 9*g; % quiz2
Wc = 2*g; % quiz2
fprintf('\n\n\t\t\t\t----Quiz 2----\n\n')
end
ma = Wa/g;
mb = Wb/g;
mc = Wc/g;
t = 30;
th = t*pi/180;
Mu = 0;
A = (1-Mu.^2)*sin(th)-2*Mu*cos(th);
a_A = g*(A*Wb*cos(th)-Wa*Mu)/(Wa+Wb*A*sin(th));
% print heading
fprintf(' Mu Accel. of A (m/s^2) Accel. of B wrt A, (m/s^2)\n');
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Seventh Vector Mechanics for Engineers: Dynamics
end
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