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Dynamics ch1
Dynamics ch1
Dynamics ch1
DynaDEn
DynaDEn
F(t)
F(t)
DynaDEn ∆t
t
i =n i =∞ t =t 2
X(t) ≈ ∑
i =1
F (t )∆t = lim ∑ F (t )∆t = ∫ F (t )dt
∆t →0 i =1 t =0
DynaDEn
DynaDEn
DynaDEn
DynaDEn
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Rectilinear Motion: Position, Velocity & Acceleration
• Consider particle with motion given by
x = 6t 2 − t 3
dx
v= = 12t − 3t 2
dt
DynaDEn
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
DynaDEn
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.2
SOLUTION:
• Integrate twice to find v(t) and y(t).
DynaDEn
Ball tossed with 10 m/s vertical velocity
from window 20 m above ground.
• Solve for t at which altitude equals
zero (time for ground impact) and
evaluate corresponding velocity.
Determine:
• velocity and elevation above ground at
time t,
• highest elevation reached by ball and
corresponding time, and
• time when ball will hit the ground and
corresponding velocity.
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 49
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.2
SOLUTION:
• Integrate twice to find v(t) and y(t).
dv
= a = −9.81 m s 2
dt
v (t ) t
∫ dv = − ∫ 9.81 dt v(t ) − v0 = −9.81t
DynaDEn
v0 0
m m
v(t ) = 10 − 9.81 2 t
s s
dy
= v = 10 − 9.81t
dt
y (t ) t
∫ dy = ∫ (10 − 9.81t )dt y (t ) − y0 = 10t − 12 9.81t 2
y0 0
m m
y (t ) = 20 m + 10 t − 4.905 2 t 2
s s
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 49
Edition
Seventh
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
y (t ) = 20 m + 10 t − 4.905 2 t 2
s s
m m
y = 20 m + 10 (1.019 s ) − 4.905 2 (1.019 s )2
s s
y = 25.1 m
DynaDEn
t = 3.28 s
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
DynaDEn
v(x).
Brake mechanism used to reduce gun
recoil consists of piston attached to barrel
moving in fixed cylinder filled with oil.
As barrel recoils with initial velocity v0,
piston moves and oil is forced through
orifices in piston, causing piston and
cylinder to decelerate at rate proportional
to their velocity.
Determine v(t), x(t), and v(x).
v(t ) = v0 e − kt
x(t ) =
v0
k
(
1 − e − kt )
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 49
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.3
• Integrate a = v dv/dx = -kv to find v(x).
v x
dv
a = v = − kv dv = − k dx ∫ dv = −k ∫ dx
dx v0 0
v − v0 = − kx
v = v0 − kx
DynaDEn • Alternatively,
with x(t ) =
v0
k
(
1 − e − kt )
v(t )
and v(t ) = v0 e − kt or e − kt =
v0
v0 v(t )
then x(t ) = 1 −
k v0
v = v0 − kx
dx
= v = constant
dt
DynaDEn
x t
∫ dx = v ∫ dt
x0 0
x − x0 = vt
x = x0 + vt
dx
dt
= v0 + at DynaDEn
x
x0 0
t
∫ dx = ∫ (v0 + at )dt x − x0 = v0t + 12 at 2
x = x0 + v0t + 12 at 2
(v 2 − v02 ) = a(x − x0 )
v x
dv
v = a = constant ∫ v dv = a ∫ dx 1
2
dx v0 x0
v 2 = v02 + 2a( x − x0 )
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 19 - 49
Edition
Seventh
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.
xB = x B − x A = relative position of B
A
DynaDEn
with respect to A
xB = x A + xB A
vB = v B − v A = relative velocity of B
A
with respect to A
vB = v A + vB A
aB = a B − a A = relative acceleration of B
A
with respect to A
aB = a A + aB A
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 20 - 49
Edition
Seventh
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.
DynaDEn
• Substitute initial position and constant
velocity of elevator into equation for
uniform rectilinear motion.
Ball thrown vertically from 12 m level
in elevator shaft with initial velocity of • Write equation for relative position of
18 m/s. At same instant, open-platform ball with respect to elevator and solve
elevator passes 5 m level moving for zero relative position, i.e., impact.
upward at 2 m/s.
• Substitute impact time into equation
Determine (a) when and where ball hits for position of elevator and relative
elevator and (b) relative velocity of ball velocity of ball with respect to
and elevator at contact. elevator.
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 21 - 49
Edition
Seventh
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.
m m
v B = v0 + at = 18 − 9.81 2 t
s s
DynaDEn m m
y B = y0 + v0t + 12 at 2 = 12 m + 18 t − 4.905 2 t 2
s s
yB E ( )
= 12 + 18t − 4.905t 2 − (5 + 2t ) = 0
t = −0.39 s (meaningless )
t = 3.65 s
DynaDEn
• Substitute impact time into equations for position of elevator
and relative velocity of ball with respect to elevator.
y E = 5 + 2(3.65)
y E = 12.3 m
vB E = (18 − 9.81t ) − 2
= 16 − 9.81(3.65)
m
vB E = −19.81
s
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 23 - 49
PROBLEM 11.14
The acceleration of a particle is defined by the relation a = 0.15 m/s 2.
Knowing that x = −10 m when t = 0 and υ = −0.15 m/s when t = 2 s,
determine the velocity, the position, and the total distance traveled when
t = 5 s.
SOLUTION
v t t
Determine velocity. ∫ − 0.15dv = ∫ 2a dt = ∫ 20.15 dt
v − ( −15 ) = 0.15t − ( 0.15 )( 2 )
DynaDEn
∫−10 dx = ∫0 v dt = ∫0 ( 0.15t − 0.45 ) dt
x t t
Determine position.
( )
t
x − ( −10 ) = 0.075t 2 − 0.45t = 0.075t 2 − 0.45t
0
x = 0.075t 2 − 0.45t − 10 m
x5 = −10.38 m W
At t = 0, x0 = −10 m (given)
Distances traveled:
Over 0 ≤ t ≤ 3.00 s, d1 = x0 − xmin = 0.675 m
xB = x B − x A = relative position of B
A
DynaDEn
with respect to A
xB = x A + xB A
vB = v B − v A = relative velocity of B
A
with respect to A
vB = v A + vB A
aB = a B − a A = relative acceleration of B
A
with respect to A
aB = a A + aB A
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 20 - 49
DynaDEn
Edition
Seventh
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.
DynaDEn
• Substitute initial position and constant
velocity of elevator into equation for
uniform rectilinear motion.
Ball thrown vertically from 12 m level
in elevator shaft with initial velocity of • Write equation for relative position of
18 m/s. At same instant, open-platform ball with respect to elevator and solve
elevator passes 5 m level moving for zero relative position, i.e., impact.
upward at 2 m/s.
• Substitute impact time into equation
Determine (a) when and where ball hits for position of elevator and relative
elevator and (b) relative velocity of ball velocity of ball with respect to
and elevator at contact. elevator.
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 21 - 49
Edition
Seventh
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.
m m
v B = v0 + at = 18 − 9.81 2 t
s s
DynaDEn m m
y B = y0 + v0t + 12 at 2 = 12 m + 18 t − 4.905 2 t 2
s s
yB E ( )
= 12 + 18t − 4.905t 2 − (5 + 2t ) = 0
t = −0.39 s (meaningless )
t = 3.65 s
DynaDEn
• Substitute impact time into equations for position of elevator
and relative velocity of ball with respect to elevator.
y E = 5 + 2(3.65)
y E = 12.3 m
vB E = (18 − 9.81t ) − 2
= 16 − 9.81(3.65)
m
vB E = −19.81
s
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 23 - 49
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.5
SOLUTION:
• Define origin at upper horizontal surface
with positive displacement downward.
• Collar A has uniformly accelerated
rectilinear motion. Solve for acceleration
and time t to reach L.
DynaDEn
Pulley D is attached to a collar which
is pulled down at 75 mm/s. At t = 0,
• Pulley D has uniform rectilinear motion.
Calculate change of position at time t.
DynaDEn v A2 = (v A )0 + 2a A [x A − ( x A )0 ]
2
v A = (v A )0 + a At
300 mm = 225 mm/s 2 t = 1.333 s
xD = ( xD )0 + vD t
xD − ( xD )0 = (75 mm/s)(1.333 s) = 100 mm
DynaDEn
• Block B motion is dependent on motions of collar
A and pulley D. Write motion relationship and
solve for change of block B position at time t.
Total length of cable remains constant,
x A + 2 x D + x B = ( x A )0 + 2( x D )0 + ( x B )0
[x − (x ) ] + 2[x − (x ) ] + [x − (x ) ] = 0
A A 0 D D 0 B B 0
xB − ( xB )0 = −400 mm
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 27
Edition
Seventh
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 xD + xB = constant
v A + 2v D + v B = 0
(300 mm) + 2(75 mm) + vB = 0
DynaDEn
vB = 450 mm/s
a A + 2a D + a B = 0
(225 mm/s) + vB = 0 a B = −225 mm/s 2
DynaDEn
Copyright © The McGraw-Hill Companies, Inc. Permission required for reproduction or display.
Fig. P11.49 and P11.50
DynaDEn
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Fig. P11.51 and P11.52
DynaDEn
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Fig. P11.53 and P11.54
DynaDEn
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Fig. P11.55 and P11.56
DynaDEn
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Fig. P11.57 and P11.58
DynaDEn
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Fig. P11.59 and P11.60
DynaDEn
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Fig. P11.127
DynaDEn
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Fig. P11.128
DynaDEn
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PROBLEM 11.49
Block C starts from rest and moves downward with a constant
acceleration. Knowing that after 12 s the velocity of block A is 456 mm/s,
determine (a) the accelerations of A, B, and C, (b) the velocity and the
change in position of block B after 8 s.
SOLUTION
2 2
2v A + 3vB = 0, or vB = − v A , and aB = − a A
3 3
Constraint of cable on right: xB + 2 xC = constant
DynaDEn
vB + 2vC = 0, or
v A − ( v A )0 456 − 0
v A = ( v A )0 + a AT or aA = = = 38.0 mm/s 2
t 12
a A = 38.0 mm/s 2 W
2 2
aB = − a A = − ( 38.0 ) = −25.3 mm/s 2 a B = 25.3 mm/s 2 W
3 3
1 1
aC = a A = ( 38.0 ) = 12.67 mm/s 2 aC = 12.67 mm/s 2 W
3 3
(b) Velocity and change in position of B after 8 s.
vB = ( vB )0 + aBt = 0 + ( −25.3)( 8 ) = −203 mm/s
v B = 203 mm/s W
1 1
xB − ( xB ) 0 = ( vB ) 0 t + aBt 2 = 0 + ( −25.3)( 8 ) = −811 mm
2
2 2
∆xB = 811 mm W
DynaDEn
DynaDEn
DynaDEn
DynaDEn
unit vector:
단위벡터
DynaDEn
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Rectangular Components of Velocity & Acceleration
• Rectangular components particularly effective
when component accelerations can be integrated
independently, e.g., motion of a projectile,
a x = &x& = 0 a y = &y& = − g a z = &z& = 0
with initial conditions,
x0 = y 0 = z 0 = 0 ( )
(v x )0 , v y 0 , (v z )0 = 0
DynaDEn
( )
Integrating twice yields
v x = (v x )0 vy = vy
0
− gt vz = 0
x = (v x )0 t y = (v y ) y − 12 gt 2 z=0
0
DynaDEn
Copyright © The McGraw-Hill Companies, Inc. Permission required for reproduction or display.
Sample Problem 11.7b
DynaDEn
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Sample Problem 11.7c
DynaDEn
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Sample Problem 11.8a
DynaDEn
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Sample Problem 11.8b
DynaDEn
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Sample Problem 11.8c
DynaDEn
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Sample Problem 11.8d
DynaDEn
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DynaDEn
DynaDEn
Fig. P11.97
DynaDEn
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Fig. P11.98
DynaDEn
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Fig. P11.99
landing:
physical meaning
DynaDEn
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Fig. P11.101
DynaDEn
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Fig. P11.104
DynaDEn
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Fig. P11.105
DynaDEn
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Fig. P11.106
DynaDEn
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Fig. P11.109
DynaDEn
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Fig. P11.111
DynaDEn
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Fig. P11.112
DynaDEn
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Fig. P11.114
DynaDEn
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Fig. P11.115
DynaDEn
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PROBLEM 11.97
12.2 m
A baseball pitching machine “throws” baseballs with a horizontal
A v0 a
1.5 m
velocity v 0 . Knowing that height h varies between 788 mm and
h B
1068 mm, determine (a) the range of values of v0 , (b) the values of α
corresponding to h = 788 mm and h = 1068 mm.
SOLUTION
2 ( y0 − h )
At point B, y =h or tB =
g
DynaDEn
9.81
Horizontal motion: x0 = 0, ( vx )0 = v0 ,
x x
x = v0t or v0 = = B
t tB
12.2
With xB = 12.2 m, we get v0 = = 32.02 m/s
0.3810
12.2
and v0 = = 41.11 m/s
0.2968
32.02 m/s ≤ v0 ≤ 41.11 m/s or 115.3 km/h ≤ v0 ≤ 148.0 km/h W
tan α = −
dy
=−
vy ( )
B gt
= B
dx ( x ) B v0
v
A v0
C
1.2 m 0.2 m
0.2 m
0.2 m B
2.2 m
SOLUTION
Point A: x = x0 = 0
y = y0 = 0
Point B: xB = 2.2 m
yB = −1.0 m
Point C: xc = 4.0 m
DynaDEn
yc = −0.6 m
−2 y
Vertical motion with v y ( )0 = 0: ( )0 t − 12 gt 2
y = y0 + v y or t =
g
(1)
x
Horizontal motion with ( vx )0 = v0 : x = v0t or v0 = (2)
t
g
Substituting equation (1) into equation (2) gives v0 = x (3)
−2 y
9.81
at point B, v0 = 2.2 = 4.87 m/s
( −2 )( −1.0 )
9.81
at point C, v0 = 4.0 = 11.44 m/s
( −2 )( 0.6 )
Range of v0 : 4.87 m/s ≤ v0 ≤ 11.44 m/s W
PROBLEM 11.99
25 m/s
A ski jumper starts with a horizontal take-off velocity of 25 m/s and lands
on a straight landing hill inclined at 30o. Determine (a) the time between
take-off and landing, (b) the length d of the jump, (c) the maximum
vertical distance between the jumper and the landing hill.
SOLUTION
Vertical motion: y = y0 + v y ( )0 t − 12 gt 2 = − 12 gt 2
2y 2 x tan 30° 2v0t tan 30°
from which t2 = − = =
g g g
DynaDEn
Rejecting the t = 0 solution gives t = = t = 2.94 s W
g 9.81
1 2
or h = v0t tan 30° − gt
2
dh vo tan 30°
= v0 tan 30° − gt = 0 or t =
dt g
SOLUTION
x
Horizontal motion: x = x0 + ( vx )0 t = v0t , or t =
v0
gx 2
Vertical motion: ( )0 t − 12 gt 2 = y0 − 12 gt 2
y = y0 + v y or y = y0 −
2v02
gx 2
At ground level, y = 0, so that y0 =
2v02
At x = 45 m, y0 =
( 9.81 ) (45)2 = 15.89 m
( 2 )(25)2
At x = 48 m,
DynaDEn y0 =
h = y0 − 12 = 3.89 m
( 9.81 )( 48 ) 2
( 2 )(25)2
= 18.08 m
h = y0 − 12 = 6.08 m
SOLUTION
1 2 1
Vertical motion: y = y0 + v0 sin 25°t − gt = v0 sin 25°t − gt 2
2 2
1
yB = −d sin 5° = v0 sin 25° − gt B t B
2
Ratio:
yB
=−
sin 5°
=
(
v0 sin 25° − 12 gt B t B ) or − v0 cos 25° tan 5° = v0 sin 25° −
1
gt B
xB cos 5° v0 cos 25°t B 2
DynaDEn
2v0 ( 2 )( 48) cos 25° tan 5° + sin 25° = 4.912 s
or tB = ( cos 25° tan 5° + sin 25° ) = ( )
g 9.81
Then, d =
xB v cos 25°t B
= 0 =
( 48)( cos 25° )( 4.912 ) d = 215 m W
cos 5° cos 5° cos 5°
PROBLEM 11.102
15° Water flows from a drain spout with an initial velocity of 0.76 m/s at an
A
v0
angle of 15° with the horizontal. Determine the range of values of the
distance d for which the water will enter the trough BC.
3m
B C
0.36 m
d 0.62 m
SOLUTION
1 2
Vertical motion: y = y0 + ( v0 ) y t − gt
2
1 2
gt − ( v0 ) y t − ( y0 − y ) = 0
2
DynaDEn
Solving the quadratic equation,
t =
−0.19670 + ( 0.19670 )2 − ( 4 )( 4.905 )( −2.64 )
( 2 )( 4.905)
= 0.7139 s
Owing to the foot of the wall, d cannot be negative; hence, the allowable range of d is 0 < d < 0.524 m W
DynaDEn
Fig. 11.14
DynaDEn
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Fig. 11.15a
DynaDEn
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Fig. 11.15b
DynaDEn
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Fig. 11.15c
DynaDEn
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Fig. 11.15d
DynaDEn
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DynaDEn
Photo 11.4
DynaDEn
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Fig. 11.23
DynaDEn
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DynaDEn
Fig. P11.177
DynaDEn
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DynaDEn
DynaDEn
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.10
SOLUTION:
• Calculate tangential and normal
components of acceleration.
DynaDEn
A motorist is traveling on curved
section of highway at 60 mph. The
curve.
DynaDEn
ft
an = = = 3.10 2
ρ 2500 ft s
60 mph = 88 ft/s
• Determine acceleration magnitude and direction
45 mph = 66 ft/s with respect to tangent to curve.
ft
a = at + an = (− 2.75) + 3.10
2 2 2 2 a = 4 .14
s2
an 3.10
α = tan −1 = tan −1 α = 48.4°
at 2.75
DynaDEn
Rotation of the arm about O is defined
by θ = 0.15t2 where θ is in radians and t
in seconds. Collar B slides along the
• Calculate velocity and acceleration in
cylindrical coordinates.
• Evaluate acceleration with respect to
arm such that r = 0.9 - 0.12t2 where r is
in meters. arm.
DynaDEn
• Evaluate radial and angular positions, and first
and second derivatives at time t.
r = 0.9 − 0.12 t 2 = 0.481 m
r& = −0.24 t = −0.449 m s
&r& = −0.24 m s 2
a B OA = &r& = −0.240 m s 2
DynaDEn
SOLUTION
v A2 = ρ A ( a A )n = ( 9 )( 7.51) = 67.59 m 2 /s 2
DynaDEn ρ =
an = g = 9.81 m/s 2,
v2
an
=
( 6.30 )2
9.81
ρ = 4.05 m
vA = 50 km/h
PROBLEM 11.184
Assuming a uniform acceleration of 3.5 m/s2 and knowing that the speed
A B of a car as it passes A is 50 km/h, determine (a) the time required for the
car to reach B, (b) the speed of the car as it passes B.
50 m
SOLUTION
1 2
(a) xB = x A + v At + at
2
35
. t 2 + 13.889t – 50 = 0 t = –10.63s, 2.69s
2
t = 2.69 s W
vB = 83.9 km/h W
DynaDEn
PROBLEM 11.185
Block B starts from rest and moves downward with a constant
acceleration. Knowing that after slider block A has moved 400 mm its
velocity is 4 m/s, determine (a) the accelerations of A and B, (b) the
velocity and the change in position of B after 2 s.
SOLUTION
x A + 3 yB = constant, ∆x A + 3∆yB = 0
v A + 3vB = 0, a A + 3aB = 0
For block A,
(a) DynaDEn
aA =
1
v A2
2∆x A
=
(−4) 2
( 2)( −0.4)
v A2 = 2a A∆x A
1 1
aBt 2 = ( 6.67 )( 2 )
2
∆yB = ∆yB = 13.33 m2 W
2 2