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Vector Mechanics PDF
Vector Mechanics PDF
x = 6t 2 − t 3
or in the form of a graph x vs. t.
dv d 2 x
a= = 2 = 12 − 6t
dt dt
• at t = 0, x = 0, v = 0, a = 12 m/s2
• at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0
dx dx dv dv
v= or dt = a= or a = v = f (x )
dt v dt dx
v(x ) x x
2 1 v2
v dv = f ( x )dx ∫ v dv = ∫ f ( x )dx 1 v(x )
2
− 2 0
= ∫ f ( x )dx
v0 x0 x0
m m
v (t ) = 10 − 9.81 2 t
s s
dy
= v = 10 − 9.81 t
dt
y (t ) t
∫ dy = ∫ (10 − 9.81 t )dt y (t ) − y 0 = 10 t − 12 9 .81 t 2
y0 0
m m
y (t ) = 20 m + 10 t − 4.905 2 t 2
s s
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 12
Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.2
• Solve for t at which velocity equals zero and evaluate
corresponding altitude.
m m
v (t ) = 10 − 9.81 2 t = 0
s s
t = 1 .019 s
m m 2
y (t ) = 20 m + 10 t − 4 .905 2 t
s s
m m
y = 20 m + 10 (1.019 s ) − 4.905 2 (1.019 s )2
s s
y = 25 .1 m
m m
v (t ) = 10 − 9.81 2 t
s s
m m
v (3 .28 s ) = 10 − 9 .81 2 (3 .28 s )
s s
m
v = −22 .2
s
v (t ) = v 0 e − kt
x (t ) =
v0
k
(
1 − e − kt )
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 16
Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.3
• Integrate a = v dv/dx = -kv to find v(x).
v x
dv
a=v
dx
= − kv dv = − k dx ∫ dv = − k ∫ dx
v0 0
v − v 0 = − kx
v = v 0 − kx
• Alternatively,
with x (t ) =
v0
k
(
1 − e − kt )
v (t )
and v (t ) = v 0 e − kt or e − kt =
v0
v v (t )
then x (t ) = 0 1 −
k v0
v = v 0 − kx
dx
= v = constant
dt
x t
∫ dx = v ∫ dt
x0 0
x − x0 = vt
x = x0 + vt
x t
dx
= v0 + at ∫ dx = ∫ (v0 + at )dt x − x0 = v0 t + 12 at 2
dt x0 0
x = x0 + v0t + 12 at 2
v x
dv
v = a = constant
dx
∫ v dv = a ∫ dx 1
2
(v 2 − v02 ) = a(x − x0 )
v0 x0
v 2 = v02 + 2a( x − x0 )
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 19
Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Motion of Several Particles: Relative Motion
• For particles moving along the same line, time
should be recorded from the same starting instant
and displacements should be measured from the
same origin in the same direction.
a B A = a B − a A = relative acceleration of B
with respect to A
aB = a A + aB A
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 20
Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.4
SOLUTION:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
( )
y B E = 12 + 18t − 4.905 t 2 − (5 + 2t ) = 0
t = −0 .39 s (meaningles s )
t = 3 .65 s
vB E = (18 − 9.81t ) − 2
= 16 − 9.81(3.65 )
m
vB E = −19 .81
s
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 23
Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Motion of Several Particles: Dependent Motion
• Position of a particle may depend on position of one or
more other particles.
• Position of block B depends on position of block A. Since
rope is of constant length, it follows that sum of lengths of
segments must be constant.
x A + 2 x B = constant (one degree of freedom)
• Positions of three blocks are dependent.
2 x A + 2 x B + xC = constant (two degrees of freedom)
v 2A = (v A )02 + 2 a A [x A − ( x A )0 ]
2
in. in.
12 = 2 a A (8 in. ) aA = 9 2
s s
v A = (v A )0 + a At
in. in.
12 =9 2t t = 1.333 s
s s
[x A − ( x A )0 ] + 2[x D − ( x D )0 ] + [x B − ( x B )0 ] = 0
(8 in. ) + 2(4 in. ) + [x B − ( x B )0 ] = 0
x B − ( x B )0 = −16 in.
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 27
Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.5
• Differentiate motion relation twice to develop equations
for velocity and acceleration of block B.
x A + 2 x D + x B = constant
v A + 2v D + v B = 0
a A + 2a D + a B = 0
in. a B = −9 2
in.
9 2 + vB = 0
s s
• Given the a-t curve, the change in velocity between t1 and t2 is equal to
the area under the a-t curve between t1 and t2.
• Given the v-t curve, the change in position between t1 and t2 is equal to
the area under the v-t curve between t1 and t2.
using dv = a dt ,
v1
x1 − x 0 = v 0 t1 + ∫ (t1 − t ) a dt
v0
v1
∫ (t1 − t ) a dt = first moment of area under a-t curve
v0 with respect to t = t1 line.
∆ s ds
v = lim =
∆t → 0 ∆t dt
= instantaneous speed (scalar)
• Velocity vector,
dx dy dz
v= i + j + k = x i + y j + zk
dt dt dt
= vx i + v y j + vz k
• Acceleration vector,
d 2x d 2 y d 2z
a = 2 i + 2 j + 2 k = xi + y j + zk
dt dt dt
= ax i + a y j + azk
∆ et = 2 sin (∆ θ 2 )
∆ et sin (∆ θ 2 )
lim = lim en = en
∆θ → 0 ∆θ ∆θ → 0 ∆θ 2
d e
en = t
dθ
• Position vector,
r = R e R+z k
• Velocity vector,
dr
v= = R e R + R θ eθ + z k
dt
• Acceleration vector,
dv
a=
dt
(
2
)
= R − R θ e R + (R θ + 2 R θ )eθ + z k
−1 an 3.10
α = tan = tan −1 α = 48 .4°
at 2 .75
a B OA = r = −0.240 m s 2