MECH103

Mechanisms & Dynamics of Machinery

Chapter 4
Energy Methods

1
 Chapter 4 - Principle of Work & Energy
• Principle of work & Energy:
dv
– Newton’s second law F  m
dt
Dot both sides with v and integrate them with respect to t
dv 1 d
F  v  m  v [  m ( v  v )] F  vdt  F  dr
dt 2 dt
r2 t2 t2 dv v2 v2 1
r1 F dr  t1 F  vdt  t1 mv  dt dt  v1 mv  dv  v1 2 md ( v  v)
1 1
 U    F  dr  m( v 2 v 2  v 1  v 1 )  m(v 22  v12 )
r2

r1 2 2
Work done to an object equals the change in the
kinetic energy of the object
2
 y r2 r2

Chapter 4 – Work Done dr(r1)

r1
x
• Work done by F from r1 to r2 z

r2
U  U12   F  dr
r1

 Evaluation of the work

s2
Ft
U   Ft ds
s1

s
s1 s2

3
 Chapter 4 – Work Done
 Evaluation of the work
s2
Ft
U   Ft ds
s1

s
Ft s1 s2
Negative work: Motion is s
in the opposite direction
of force (e.g. work done
by friction) s1 s2
Ft

Constant Force:
U = Ft(s2 –s1) s
s1 s2

4
 Chapter 4 – Work Done
Work done by weight
F = - mgj
dr  dxi  dyj  dzk
r2 y2
U   F  dr    mgdy  mg ( y2  y1 )
r1 y1

mgRE2 1 1
If F   2 e r  U  mgR   
2
E
r  r2 r1 
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 Chapter 4 – Work Done
Work done by spring ro or xo

F = k(x – xo)i or F F
r or x
F = k(r – ro)er F F
F  dr  k  x  xo  i   dxi  dyj  dzk   k ( x  xo )dx
or
F  dr  k  r  ro  e r   dre r  rd e   k ( r  ro )dr
1 1
U  k ( x  xo ) 2 or U  k ( r  ro )2
2 2
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 Chapter 4 - Example

• Example 1 – Potential
energy of weight
g k F  0i  0 j  mgk
dr  dxi  dyj  dzk
i j
dV = - F  dr = mgdz
V2 r2 z2

V1
dV    F  dr   mgdz
r1 z1

V2 – V1 = mg(z2 – z1) (= mgh)

F  dr  -dV
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 Chapter 4 - Example
• Example 2 – Potential energy in gravitational field
m
mgR 2 rde y
F   2 er E dr
r r
drer

dr  dre r  rde  x

dr
dV  -F  dr  mgR 2 2
E
r
V r dr 1 1 
V1 dV  r1 mgR r 2  V - V1  - mgR   
2 2
E E
 r r1 
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 Power
Rate at which work is done

dU d  1 2 
P   mv 
dt dt  2 
 Unit: Joule/sec or Watt, hp (=746 Watt)
=550 ft-lb/s
 Average Power:
1 m 2
1
 1 
t2
Pav   Pdt  v  v 2

t2  t1 1 t2  t1 2
2
t

http://www.sizes.com/units/horsepower_british.htm
Dynamometer: Engine horsepower measurements, transmission fatigue testing,
and driveline parasitic horsepower loss measurements.
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 Principle of Conservation of Energy
 The sum of the kinetic energy and potential
energy (or strain energy) is constant. True
only if F is conservative!!
 : kinetic energy
If there exists a function V of position only F  dr  -dV
such that
r2 1
 U12   F  dr  V1  V2  m( v22  v12 )
r1 2
V(x,y,z) is called the potential energy.
1 2 1 2 1 2
 V1  mv1  V2  mv2 i.e. V  mv  Constant
2 2 2
T1  V1  T2  V2
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 Chapter 4 – Example - Pendulum
• Example 3 – Conservation of energy
F L
 : kinetic energy
vv1
V : potential energy y1 1 LL L
h mg FF
F
T1  V1  T2  V2 y vv22
A
mg v3
y2 mg
1 2 1 2 y2 mg
y3
mv1  mgy1  mv2  mgy2
2 2
x
 v2  2 g ( y1  y2 )  v12 [  2 gh  v12 ] h  L sin 

At point A, hL  v A  2 gL  v12

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 Example 3-6: Pendulum
The mass m is released from rest with the string
horizontal. By using Newton’s 2nd law in terms of polar
coordinates, determine the velocity magnitude v and the
tension T in the string as functions of 

d 2
mr 2  mg cos
dt

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 Ex 3-6: Pendulum

Solution
 Draw free body diagram
 Express the force in polar coordinates

Weight: W  mg (e r sin   e cos  )

Tension : T  Te r

   
r  r 2 e r  r  2 r e
Acceleration: a  
  L 2 e r  Le  r, r  0 
T  W  ma
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 Ex 3-6: Pendulum

  Fr   T  mg sin   mL 2  mL 2

d g
   cos 
 
F mg cos   mL
d L
1 2 g
   sin  , (for   0 at   0) or
2 L
v  L  2 gL sin 

F r   T  mg sin    mL 2

 T  2mg sin   mg sin   3mg sin 

How to solve this problem using Energy Method?
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 Chapter 4 – Energy
Potential energy (strain energy) of linear spring
ro or xo
F = k(x – xo)i
F F
r or x
or F = k(r – ro)er
F F
 dV  dU  F  dr
 k  x  xo  i   dxi  dyj  dzk   k ( x  xo )dx or
F  dr  k  r  ro  e r   dre r  rd e   k ( r  ro )dr
Strain energy
1 1
U  k ( x  xo ) 2 or U  k ( r  ro ) 2
2 2
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 Example 4-1 – Potential energy (strain
energy) : spring and friction

A spring is used to stop a 60-kg package which is

sliding on a surface. The spring has a constant

k=20kN/m and is held by cables so that it is initially

compressed 120mm. Knowing that the package has

v= 2.5m/s shown and that the max additional spring

deflection is 40 mm, determine (a) the coefficient of

kinetic friction (k) between the package and the

surface, (b) the vel. of the package as it passes

again through the position shown

S.E. = Strain Energy: one kind of potential energy

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 Ex 4-1 – Example-package stopped by spring

• Solution W
 Free Body Diagram F= kx
f = kN
N
 Energy in each state
x1 : Initial
v1
x0 +x1
compression
1
State 1 State 2
Initial Condition x0 + x2 Spring is fully
1
K . E .  mv12 compressed
2
v2 = 0 2 K .E . 
1
mv22  0
1
S . E .  k x12 s
2
2 x2 : Final compression 1
S . E .  k x22
2
s : total distance traveled
1 2 1 1
mv1  k x12  k x22 k=0
17 2 2 2
 Ex 4-1 – Example-package stopped by spring
 Conservation of energy
Initial K.E. of the package – |Work done by friction|+ initial S.E.
stored in spring = Zero K.E. + S.E. stored in spring

1 2 1 1
mv1   k mg s  k x1  k x22
2
k is unknown
2 2 2
x1  0.12m x2  x1  0.04m  0.16m v1  2.5m / s
s  0.6  x2  x1   k can be determined .
State 2
State 1 v1 Spring is fully
v2 = 0
Initial Condition compressed
1 1 2
K.E.  mv12 1
K.E.  mv22  0
2 s 2
1 1
S.E.  kx12 S.E.  k x22
18 2 2
 Ex 4-1 – Example-package stopped by spring

v3
v2 = 0 State 2
State 3 Spring is fully
Rebounce 3 2
1 2 s compressed
K .E.  mv3
2 W 1
K.E.  mv22  0
2
1
S .E .  k x12
F=kx 1
2 S.E.  kx22
f = kN 2
N
 Conservation of energy
Final K.E. of the package (State 3) + Initial S.E. stored in spring
(State 3 = State1) = S.E. stored in spring (State 2)– Work done by
friction
1 2 1 1
mv3  k x1  k x22   k mg s
2
v3 is unknown
2 2 2
x1  0.12m x2  x1  0.04m s  0.6  x2  x1
19 v3 can be determined .
 Example 4-2: Crate on inclined surface
The two crates in the figure are released from rest. Their masses
are mA=40 kg and mB = 30 kg, and the kinetic coefficient of friction
between crate A and the inclined surface is k = 0.15. What is
their velocity when they have moved 400mm?

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 • Solution
mA g T
 Free Body Diagram

N  = 20
T
mB g
Method 1: f = kN
Consider Crates A & B
separately
Crate A Crate B

s2 1
 s1
ΣFt ds  mi (v22  v12 ), i  A, B
2
 T  m g sin 20 
0.4 1
Crate A A

  k (m A g cos 20 ) ds  m A (v 2  0)
0 2
0.4 1
Crate B 
0
(mB g  T )ds  mB (v2  0)
2
2 eqs, 2 unknowns
m A m B (1   k cos  sin  ) 2sg (m B  m A (sin    k cos ) v = 2.07 m/s
T v2 
m A mB m A  mB
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 Example 4-2: Crate on inclined surface
Method 2:
Consider Crates A & B together

Conservation of
energy

 m 
0.4 0.4
A g sin 20   k (m A g cos 20 ) ds   mB gds
 
0 0

1 1
 m A v  mB v 2  0
2

2 2
 v can be determined .
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 Ex 4-3: Car on the track

A 2000 lb car starts from rest at point 1 and

moves w/o friction down the track shown. (a)

Determine the force exerted by the track on

the car at point 2, where the radius of

curvature of the track is 20 ft. (b) Determine

the minimum safe value of the radius of

curvature  at point 3.

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 Ex 4-3: at point 2

• Solution
man = mv22/  Conservation of energy
W
1 2 1 2
mv1  mgh1  mv2  mgh2
2 2
N v1  0, h1  h2  40 ft.
State 2  v2 can be determined.
 Centripetal acceleration
v22
N  mg  man  m

 N and an can be determined .
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 Ex 4-3: at point 3

W  Conservation of energy
1 2 1 2
mv1  mgh1  mv3  mgh3
2 2
N man = mv32/
v1  0, h1  h3  25 ft.
State 3  v3 can be determined.
 Centripetal acceleration
v32
N  mg  man  m

 Min. value of  can be
determined by setting N  0.
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 Ex 4-3: Skier on the ramp
Textbook Ex 15.4

26
 Ex 4-3: Skier on the ramp
Textbook Ex 15.4

1 2 1 2
mgy1  mv1  mgy 2  mv2
2 2

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 Ex 4-3: Skier on the ramp

Solution
 On the top of ramp (State 1); leaving the ramp
(State 2)
1 2 1 2
mv1  mgh1  mv2  mgh2
2 2
v1  0, h1  h2  20 meter (given)
 the horizontal component v2 can be determined .
v2 = 24.8 m/s
 Add (jump) vertical velocity of 3 m/s at point 2

 v2  32  v22
v’2 = 25.0 m/s
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 Ex 4-3: Skier on the ramp

 Leaving the ramp (State 2) to the highest point (State 3)

1 1 2
m  v2   mgh2  mv3  mgh3
2

2 2
 v2   3  v 2 .

2 2 2

At the highest point of jump: v3  v2

 h3 can be determined .

h3 = 0.459 m
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 Example 4.4 Net Work by Internal Forces

• Question
Crates A and B in Fig are released from rest.
The coefficient of kinetic friction between A and
B is μk, and the friction between B and the
inclined surface can be neglected. What is the
velocity of the crates when they have moved a
distance b?

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 Example 4.4 Net Work by Internal Forces

• Strategy
By applying the principle of work and energy to
each crate, we can obtain two equations in terms of
the tension in the cable and the velocity.

31
 Example 4.4 Net Work by Internal Forces

• Solution
We draw the free-body diagrams of the
crates in Figs a & b. The acceleration of A
normal to the inclined surface is zero, so N =
mAgcos θ. The magnitudes of the velocities
of A and B are equal (Fig c). The work done
on A equals the change in its kinetic energy.
U12
1

 m A v22  v12
2

b 1
0 T  m A g sin    m
k A g cos   ds  m v
A 2
2
1
2
32
 Example 4.4 Net Work by Internal Forces

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 Example 4.4 Net Work by Internal Forces

The work done on B equals the change in its kinetic

energy. 1

U12  mB v2  v1
2
2 2

b 1
 
0  T  mB g sin   k mA g cos ds  2 mBv2
2
2 
Summing Eqns (1) & (2) to eliminate T to solve
for v2, we obtain

v2  2 gbmB  m A sin   2 k m A cos  m A  mB 

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