課號: BME2120

課程網址: https://ceiba.ntu.edu.tw/1051BME2120_/

Instructor: 陳世芳 Shih-Fang Chen

sfchen@ntu.edu.tw

Office hour: By appointment

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注意事項:
1. 攜帶功能良好、電力充足的工程計算機
(不可與他人共用、不可使用手機)
2. 自備文具，考試中不得與他人借用
3. 計算題須寫清計算過程，無過程者，不予計分
4. 答案須標明清楚 (可畫底線、#、標Ans.)，並附上單位
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 Normal and Tangential Coordinates (n-t )

𝑭 = 𝑚𝒂 = 𝑚𝑎𝑡 𝐞𝒕 + 𝑚𝑎𝑛 𝐞𝒏
𝑣2
𝐚 = 𝑎𝑡 𝐞𝒕 + 𝑎𝑡 𝐞𝒏 = 𝑣𝐞𝒕 + 𝐞𝒏
𝜌 = 𝐹𝑡 𝐞𝒕 + 𝐹𝑛 𝐞𝒏

𝑭 = 𝑚𝒂 𝑭𝒕 = 𝑚𝒂𝒕 = 𝑚𝑣

𝑣2
𝑭𝒏 = 𝑚𝒂𝒏 = 𝑚
𝜌
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Polar Coordinates ( r- )

𝑭 = 𝑚𝒂 = 𝑚𝑎𝑟 𝐞𝒓 + 𝑚𝑎𝜃 𝐞𝜽
𝐚 = 𝑎 𝑟 𝐞𝒕 + 𝑎 𝜃 𝐞𝒏
= 𝐹𝑟 𝐞𝒓 + 𝐹𝜃 𝐞𝜽
= 𝑟− 𝑟𝜃 2 𝒆𝒓
+(𝑟𝜃 + 2𝑟𝜃) 𝒆𝜽
𝑭 = 𝑚𝒂 𝑭𝒓 = 𝑚𝒂𝒓 = 𝑚 𝑟 − 𝑟𝜃 2 =
𝑭𝜽 = 𝑚𝒂𝜽 = 𝑚(𝑟𝜃 + 2𝑟𝜃)

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A Formula-1 car encounters a hump which has a circular shape with
smooth transitions at either end.
(a) What speed vB will cause the car to lose contact with the road at the
topmost point B?
(b) For a speed vA = 190 km/h, what is the normal force exerted by the
road on the 640-kg car as it passes point A?

vB = 54.2 m/s

NB = 241 N

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The slotted arm OA rotates about a fixed axis through O. At the instant
under consideration, =30°, 𝜃 = 45 deg/s, and 𝜃 = 20 deg/s2.
Determine the forces applied by both arm OA and the sides of the slot to
the 0.2-kg slider.
Neglect all friction, and let L = 0.6 m. The motion occurs in a vertical
plane.

N = 1.231 N
Fs = 2.46 N

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A small collar of mass m is given an initial velocity of magnitude v0 on the
horizontal circular track fabricated from a slender rod.
If the coefficient of kinetic friction is k , determine the distance traveled
before the collar comes to rest.
(Hint: Recognize that the friction force depends on the net normal force.)

1 𝜇𝑠 𝑔 2
𝑁= −1
4𝜋 𝑟𝛼

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 Work (U) of a force (F)

when F and ∆s are in different direction

The work done by the force F during the displacement dr

is defined as

vector

magnitude
𝑑𝑈 = 𝐹𝑡 𝑑𝑠
Ft : tangential force J: Joule N m (unit)
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 𝑑𝑈 = 𝐹𝑡 𝑑𝑠
2 2
𝑈= 𝐅 ∙ 𝑑𝐫 = 𝐹𝑥 𝑑𝑥 + 𝐹𝑦 𝑑𝑦 + 𝐹𝑧 𝑑𝑧
1 1

𝑠2
𝑈= 𝐹𝑡 𝑑𝑠
𝑠1

Case 1: Work Associated with a Constant External Force

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Case 2: Work Associated with a Spring Force

Case 3: Work Associated with Weight

(i) g = constant

(ii) g  constant

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 Work and Curvilinear Motion
2 2 𝑣2
1
𝑈1−2 = 𝐅 ∙ 𝑑𝐫 = 𝑚𝐚 ∙ 𝑑𝐫 = 𝑚𝑣 𝑑𝑣 = 𝑚 𝑣1 2 − 𝑣2 2
1 1 𝑣1 2

1
The kinetic energy of the particle is T 𝑇 = 𝑚𝑣1 2
2
T is always positive.
𝑈1−2 = 𝑇2 − 𝑇1 = ∆𝑇 Work-energy equation for a particle

𝑻𝟐 = 𝑻𝟏 + 𝑼𝟏−𝟐

Initial kinetic energy work done during process

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 Approaches to Kinetics Problems

Forces and Velocities and

Accelerations Displacements

Newton’s Second Law Work-Energy

𝑭 = 𝑚𝒂 𝑻𝟐 = 𝑻𝟏 + 𝑼𝟏−𝟐
𝑈1−2 = 𝑇2 − 𝑇1 = ∆𝑇

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  Conceptual Quiz

As the block moves from A0 to A1, is the work positive or negative?

Positive Negative Displacement is in the opposite
direction of the force
As the block moves from A2 to Ao, is the work positive or negative?
Positive Negative

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 Conceptual Quiz
Does the normal force do work as the block slides from B to A?

YES NO

Does the weight do work as the block slides from B to A?

YES NO Positive or Negative work?

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  How to evaluate the capacity of a machine?
 How powerful is it?
How much energy can the machine deliver in a short period of time?
(WORK) (DO/PRODUCE)

Power, P Definition: time rate of doing work 𝑃 =𝐅∙𝐯

𝑑𝑈 𝑑 𝑑𝐫
𝑃= = 𝐅 ∙ 𝑑𝐫 = 𝐅 ∙ = 𝐅∙𝐯 Unit: W = (N)(m/s) = J/s
𝑑𝑡 𝑑𝑡 𝑑𝑡
velocity W: watt

Efficiency, e
𝑃𝑜𝑢𝑡
𝑒𝑚𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 = 𝑒𝑚 =
𝑃𝑖𝑛 (in general, e < 1)

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The small body has a speed vA = 5 m/s at point A.
Neglecting friction, determine its speed vB at point B after it has
risen 0.8 m.

1 1
𝑻𝑩 = 𝑻𝑨 + 𝑼𝑨−𝑩 𝑚𝑣𝐵 2 = 𝑚𝑣𝐴 2 − 𝑚𝑔ℎ
2 2

𝑣𝐵 2 = (5) 2 −2(9.81)(0.8)

𝑣𝐵 = 3.05 m/s Ans.

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 12 m
A 1000 kg car starts from rest at 6m
4.5 m
point 1 and moves without
friction down the track shown.
Determine
(a) the force exerted by the track on the car at point 2
(b) the minimum safe value of the radius of curvature at point 3

N  49.1 kN

 3  15 m

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The spring is unstretched when x = 0. If the body moves from the initial
position x1 = 100 mm to the final position x2 = 200 mm,
(a) determine the work done by the spring on the body and
(b) determine the work done on the body by its weight.

(a) Spring 1
𝑈1−2 = − 𝑘(𝑥2 2 − 𝑥1 2 )
2
1
𝑈1−2 = − 4000 0.22 − 0.12 = −60 J
2 Ans.

(b) Weight 𝑈1−2 = −𝑚𝑔(𝑦2 − 𝑦1)

𝑈1−2 = −17 9.81 0.1 − 0.2 sin 20° = 2.35 J

Ans.

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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
compressed 120 mm.
The package has a velocity of 2.5 m/s in the position shown and the maximum
deflection of the spring is 40 mm.
Determine
(a) the coefficient of kinetic friction between the package and surface
(b) the velocity of the package as it passes again through the position shown

k  0.20
v3  1.103 m s

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 y

mg
x

In the design of a conveyor-belt system,

small metal blocks are discharged with N Fs
a velocity of 0.4 m/s onto a ramp by the
upper conveyor belt shown.
If the coefficient of kinetic friction between the blocks and the ramp is 0.30,
calculate the angle  which the ramp must make with the horizontal so that the
blocks will transfer without slipping to the lower conveyor belt moving at the
speed of 0.14 m/s.
x 1.5 𝑥
1.5 =
sin 𝜃 sin 90°
v1 = 0.40 m/s 𝐹𝑦 = 0 𝑁 − 𝑚𝑔 cos 𝜃 = 0 𝜃
v2 = 0.14 m/s
𝑻𝟐 = 𝑻𝟏 + 𝑼𝟏−𝟐 𝑻𝟐 − 𝑻𝟏 = 𝑼𝟏−𝟐
1 1.5
𝑚 0.142 − 0.402 = 𝑚𝑔 sin 𝜃 − 0.3𝑁
2 sin 𝜃

tan 𝜃 = 0.299 𝜃 = 16.62° Ans.

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A 1700-kg car starts from rest at position A and accelerates uniformly up
the incline, reaching a speed of 100 km/h at position B.
Determine the power required just before the car reaches position B and
also the power required when the car is halfway between positions A and
B. Calculate the net tractive force F required.

𝑣 2 = 𝑣0 2 + 2𝑎(𝑠 − 𝑠0 )
𝐹𝑥 = 𝑚𝑎𝑥
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2 𝐹 − 1700(9.81) sin(tan−1 ) = 1700(3.51)
100 100
= 02 + 2𝑎(𝑥 − 𝑥0 ) 𝐹 = 6960 N Ans.
3.6
100
𝑎 = 3.51 m/s2
@ B point: 𝑃 =𝐅∙𝐯 = 𝐅 ∙ 𝐯 = 6960
3.6
= 193.4 kW
Ans.
Halfway: 𝑣 2 = 2(3.51)(110/2) 𝑣 = 19.64 m/s
𝑃 = 𝐅 ∙ 𝐯 = 6960 19.64 = 136.7 kW
Ans.
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The dumbwaiter D and its load have
a combined weight of 300 kg, while
the counterweight C weighs 400 kg. 𝐷

Determine the power delivered by the electric motor M when

the dumbwaiter
(a) is moving up at a constant speed of 2.5 m/s
(b) has an instantaneous velocity of 2.5 m/s and an acceleration of 1 m/s2,
both directed upwards. (a) 2425 W
(b) 3450 W
Line length 
2𝑥𝑐 + 𝑥𝐷 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
T T 2T T F
2𝑣𝑐 + 𝑣𝐷 = 0 2𝑣𝑐 + 2.5 = 0
2𝑎𝑐 + 𝑎𝐷 = 0 𝑣𝑐 = 1.25 m/s 
2T
mg

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 (1) Free-body C    Fy  0 : 2T  400 g  0 T  200 g

Free-body D    Fy  0 : F  200 g  300 g  0

F  100 g

Power  FvD  100 g 2.5  2452 W

𝟒𝟎𝟎 𝐤𝐠 𝟑𝟎𝟎𝐤𝐠 Ans.
(2) aD  1 m s 
2

2𝑎𝑐 + 𝑎𝐷 = 0
aC  0.5 m s 2 

Free-body C    Fy  mC aC : 400 g  2T  4000.5 T  1862 N

Free-body D    Fy  mD a D : F  T  300 g  3001

F  1381 N
𝟒𝟎𝟎 𝐤𝐠
Power  FvD  13812.5  3450 W
Ans.

𝟑𝟎𝟎𝐤𝐠 24