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Dynamics13lecture 150512214810 Lva1 App6891
Dynamics13lecture 150512214810 Lva1 App6891
Edition
13 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinetics of Particles:
Lecture Notes: Energy and Momentum
Brian P. Self
California Polytechnic State University Methods
Contents
Introduction Sample Problem 13.6
Work of a Force Sample Problem 13.7
Principle of Work & Energy Sample Problem 13.9
Applications of the Principle of Work & Energy of Impulse and Momentum
Principle
Power and Efficiency Impulsive Motion
Sample Problem 13.1 Sample Problem 13.10
Sample Problem 13.2 Sample Problem 13.11
Sample Problem 13.3 Sample Problem 13.12
Sample Problem 13.4 Impact
Sample Problem 13.5 Direct Central Impact
Potential Energy Oblique Central Impact
Conservative Forces Problems Involving Energy and
Conservation of Energy Momentum
Motion Under a Conservative Sample Problem 13.14
Central Force Sample Problem 13.15
Sample Problems 13.16
Sample Problem 13.17
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Vector Mechanics for Engineers: Dynamics
Edition
Tenth
Introduction
Previously, problems dealing with the motion of
particles were solved through the fundamental
equation of motion, r r
F = ma.
The current chapter introduces two additional
methods of analysis.
Introduction
Approaches to Kinetics Problems
r r v t2 v v
F = maG
T1 + U12 = T2 mv1 + F dt = mv2
t1
Work of a Force
r
Differential vector dr is the particle displacement.
Work of a Force
Work of a force during a finite displacement,
A2 r
r
U12 = F d r
A1
s2 s2
= ( F cos ) ds = Ft ds
s1 s1
A2
= ( Fx dx + Fy dy + Fz dz )
A1
Work of a Force
a) U12 = F x
b) U12 = ( F cos ) x
c) U12 = ( F sin ) x
d) U12 = 0
Work of a Force
In the figure above, when is the work done by the weight positive?
Work of a Force
Magnitude of the force exerted by a spring is
proportional to deflection,
F = kx
k = spring constant ( N/m or lb/in.)
Work of the force exerted by spring,
dU = F dx = kx dx
x2
U12 = kx dx = 12 kx12 12 kx22
x1
Work of a Force
Work of a Force
YES NO
Work of a Force
r
Force P acts normal to path and does no
work.
T1 + U12 = T2
1W 2
The bob is released 0 + Wl = v2
2 g
from rest at position A1.
Determine the velocity v2 = 2 gl
of the pendulum bob at Velocity is found without determining
A2 using work & kinetic
expression for acceleration and integrating.
energy.
All quantities are scalars and can be added
directly.
Forces which do no work are eliminated
from the problem.
If you designed the rope to hold twice the weight of the bob, what would happen?
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Vector Mechanics for Engineers: Dynamics
Edition
Tenth
= efficiency
output work
=
input work
power output
=
power input
v2 = 0 T2 = 0
Determine the distance required for the work
to equal the kinetic energy change.
U12 = ( 1500 lb ) x + ( 4000 lb )( sin 5) x
= (1151 lb ) x
T1 + U12 = T2
481000 ft lb (1151 lb ) x = 0
x = 418 ft
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Vector Mechanics for Engineers: Dynamics
Edition
Tenth
FC ( 2 m ) ( 490 N )( 2 m ) = 12 ( 200 kg ) 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
Fc ( 2 m ) + ( 2940 N )( 2 m ) = 12 ( 300 kg ) v 2
Fc ( 2 m ) + ( 2940 N )( 2 m ) = 12 ( 300 kg ) v 2
v = 4.43 m s
(U12 ) f = kW x
( )
= k ( 60 kg ) 9.81m s 2 ( 0.640 m ) = ( 377 J ) k
U1 2 = ( U1 2 ) f + ( U1 2 ) e = ( 377 J ) k 112 J
T1 + U1 2 = T2 :
187.5 J - ( 377 J ) k 112 J = 0 k = 0.20
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Vector Mechanics for Engineers: Dynamics
Edition
Tenth
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
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
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
In the second case, both bodies are
electric motor M when the dumbwaiter
(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
Power = Fv D = ( 200 lb )( 8 ft s )
= 1600 ft lb s
1 hp
Power = (1600 ft lb s ) = 2.91 hp
550 ft lb s
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Vector Mechanics for Engineers: Dynamics
Edition
Tenth
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
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Vector Mechanics for Engineers: Dynamics
Edition
Tenth
1 2 1 2
mv A + mg d (sin 30 k cos 30) k mg xBC = mv0
2 2
vC2 /2 g + k xBC v A2 /2 g
d=
(sin 30 k cos 30) d = 6.71 m
(2) 2/(2)(9.81) + (0.25)(7) (1) 2/(2)(9.81)
=
sin 30 0.25cos 30
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Vector Mechanics for Engineers: Dynamics
Edition
Tenth
k= 0.25
Potential Energy
If the work of a force only depends on differences in
position, we can express this work as potential energy.
Can the work done by the following forces be expressed as
potential energy?
Weight Yes No
Friction Yes No
Potential Energy
Work of the force of gravity W ,
U12 = W y1 W y 2
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.
Potential Energy
Work of the force exerted by a spring depends
only on the initial and final deflections of the
spring,
U12 = 12 kx12 12 kx22
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,
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 + F y dy + Fz dz = dx + dy + dz
x y z
V V V
F = + + = grad V
x y z
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Vector Mechanics for Engineers: Dynamics
Edition
Tenth
Conservation of Energy
Work of a conservative force,
U1 2 = V1 V2
Follows that
T1 + V1 = T2 + V2
E = T + V = constant
T1 = 0 V1 = W When a particle moves under the action of
T1 + V1 = W conservative forces, the total mechanical
energy is constant.
1W
T2 = 12 mv22 = ( 2 g ) = W V2 = 0 Friction forces are not conservative. Total
2g
mechanical energy of a system involving
T2 + V2 = W
friction decreases.
Mechanical energy is dissipated by friction
into thermal energy. Total energy is constant.
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Vector Mechanics for Engineers: Dynamics
Edition
Tenth
V1 = Ve + Vg = 24 in. lb + 0 = 2 ft lb
T1 = 0
Position 2: Ve = 12 kx2 = 12 ( 3 lb in.)(10 in. 4 in.) = 54 in. lb
2 2
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 2
)
s = 0.5 ft lb
T1 + V1 = T2 + V2
0 + 18 x 2 = 0.5 + 2 x = 0.3727 ft = 4.47 in.
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Vector Mechanics for Engineers: Dynamics
Edition
Tenth
( )( )2
GM = gR 2 = 9.81m s 2 6.37 106 m = 398 1012 m3 s 2
Find TA v A = 0 TA = 0
Solve for vD
Find VA VA = Wy A = (560 lb)(90 + 60)=84,000 ft glbs
Find VD yD = 0 VD = 0
t et
0 f
24 man
W
mat
ND
Use Newtons second law in the normal direction
560 98.2852
F n = man N D = 560 +
32.2 240
vD2
N D W = m
N D = 1260 lbs
R
Impulsive Motion
The impulse applied to the railcar
The thrust of a rocket acts
by the wall brings its momentum
over a specific time period
to zero. Crash tests are often
to give the rocket linear
performed to help improve safety
momentum.
in different vehicles.
Impulsive Motion
Force acting on a particle during a very short
time interval that is large enough to cause a
significant change in momentum is called an
impulsive force.
Nonimpulsive
forces are forces for which
Ft is small and therefore, may be
neglected an example of this is the weight
of the baseball.
x component equation:
mv1 + Fx t = mv2 cos 40
4 16
( 80) + Fx ( 0.15) = 4 16 (120 cos 40)
32.2 32.2
Fx = 89 lb
y component equation:
y
0 + Fy t = mv2 sin 40
4 16
x Fy ( 0.15) = (120 cos 40)
32.2
Fy = 39.9 lb
F = ( 89 lb ) i + ( 39.9 lb ) j , F = 97.5 lb
(
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
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
Imp12 = Ft = ( 18.56 N s ) i + (15 N s ) j Ft = 23.9 N s
( 10 kg ) ( 3m s ) = 45 J
2
T1 = 12 m p v12 = 1
2
T2 = 1
2 ( mp + mc ) v22 = 1
2 ( 10 kg + 25 kg ) ( 0.742 m s ) = 9.63 J
2
T1 T2 45 J 9.63 J
= = 0.786
T1 45 J
SOLUTION:
Draw impulse and momentum diagrams
of the jumper.
Impact
Impact: Collision between two bodies which
occurs during a small time interval and during
which the bodies exert large forces on each other.
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 A vA
vB u
A similar analysis of particle B yields e=
u vB
Note: Validity of last expression does not follow from previous relation for
the coefficient of restitution. A similar but separate derivation is required.
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Vector Mechanics for Engineers: Dynamics
Edition
Tenth
Select the method best suited for the problem or part of a problem
under consideration.
t
Apply coefficient of restitution relation with zero wall
n velocity.
0 vn = e( vn 0 )
vn = 0.9( 0.866v ) = 0.779v
v = 0.779v n + 0.500v t
0.779
v = 0.926v tan 1 = 32.7
0.500
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.
v A = 17.7t + 15.0n
n
15.0
vA = 23.2 ft s tan 1 = 40.3
17.7
vB = 23.7t + 34.6n
34.6
vB = 41.9 ft s tan 1
t
= 55.6
23 . 7
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
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Vector Mechanics for Engineers: Dynamics
Edition
Tenth
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+ 1 kx 2
2 3
= 1
2
(20 10 )(4.91 10 )
3 3 2
= 0.241 J
T4 = 0
restitution between A and B is 0.8. When =40o, find tension in the rope
find (a) the speed of B (b) the tension in the rope.
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Vector Mechanics for Engineers: Dynamics
Edition
Tenth
Solve for N
Sum forces in the y-direction N = m A g cos
= (2)(9.81) cos 20
Fy = 0:
= 18.4368 N
N mA g cos = 0 F f = k N = (0.2)(18.4368)
= 3.6874 N
U1 2 = F f ( x + d ) = (3.6874)(1.6) = 5.8998 J
1 1
T2 = m Av A2 = (1) (v A2 ) = 1.000 v A2 V2 = 0
2 2
v2 = 2.94 m/s
Concept Question
Compare the following statement to the problem you just solved.
If the coefficient of restitution is
smaller than the 0.8 in the
problem, the tension T will be
Smaller Bigger
Summary
Approaches to Kinetics Problems
v t2 v v
F = maG
T1 + U12 = T2 mv1 + F dt = mv2
t1