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16 Dynamics Lecture
16 Dynamics Lecture
16 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Plane Motion of Rigid Bodies:
Brian P. Self Forces and Accelerations
The forces and moments applied to a robotic arm control the resulting
kinematics, and therefore the end position and forces of the actuator at the
end of the robot arm.
M G = HG = I = I or M O = H O = I O = I O
where where
I = mi ri 2 = I G I O = mi ri 2
M G = H G = I G = I G or M O = H O = I O = I O
where where
I G = r 2 dm I O = r 2 dm
x
Include your
positive z-axis
direction too
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Free Body Diagrams and Kinetic Diagrams
Put the inertial terms for the body of interest on the kinetic diagram.
1. Isolate the body of interest (free body)
2. Draw in the mass times acceleration of the particle; if unknown,
do this in the positive direction according to your chosen axes. For
rigid bodies, also include the rotational term, IG.
F = ma
MG = I
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Free Body Diagrams and Kinetic Diagrams
L/2 mg
B P
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Eleventh
Vector Mechanics for Engineers: Dynamics
Free Body Diagrams and Kinetic Diagrams
100 P ma y
mm
I
= max
200 mm
W
F y
N x
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Free Body Diagrams and Kinetic Diagrams
NB ma y
q
FB
I
max
=
W
y
FA x
NA
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Mass Moment of Inertia
• The mass moment of inertia of a body with
constant density ρ
I = r 2 dm = r 2 dV = r 2 dV
• Radius of gyration
– The distance away from an axis at which all
the mass of a body may be concentrated
and not change the mass moment of inertia
about that axis
I = mk 2 k = I / m : radius of gyration k
v 2 = v02 + 2a ( x − x0 )
2
m m m
v0 = 10 x = 7m 0 = 10 + 2a ( 7 m ) a = -7.14 2
s s s
• Draw a free-body-diagram equation expressing the
equivalence of the external and inertial terms.
• Apply the corresponding scalar equations.
Fy = (Fy )eff N A + NB − W = 0
Fx = (Fx )eff − FA − FB = ma
− mk ( N A + N B ) =
− mkW = (W g ) a
a 7.14
mk = − = = 0.728
g 9.81
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.1
• Apply the corresponding scalar equations.
M G = ( M G )eff
N A = W - N B = 0.341W
The thin plate of mass 8 kg is held in • Resolve into scalar component equations
place as shown. parallel and perpendicular to the path of
the mass center.
Neglecting the mass of the links,
determine immediately after the wire • Solve the component equations and the
has been cut (a) the acceleration of the moment equation for the unknown
plate, and (b) the force in each link. acceleration and link forces.
( )
a = 9.81 m/s 2 cos 30
a = 8.50 m s 2 60o
M G = ( M G )eff
(FAE sin 30)(250 mm) − (FAE cos 30)(100 mm)
(FDF sin 30)(250 mm) + (FDF cos 30)(100 mm) = 0
38.4 FAE + 211 .6 FDF = 0
FDF = −0.1815 FAE
Fn = (Fn )eff
a = 8.50 m s 2 60o FAE + FDF − W sin 30 = 0
FAE − 0.1815 FAE − W sin 30 = 0
(
FAE = 0.619 (8 kg ) 9.81 m s 2 ) FAE = 47.9 N T
−TA rA + TB rB = I
( 2
) (
− ( 2.5 kg ) 9.81 ms + a A ( 0.25 m ) + ( 5 kg ) 9.81 m2 − aB
s ) ( 0.15 m ) = I
−6.1312 − ( 2.5 )( 0.25 )( 0.25 ) + 7.3575 − ( 5 )( 0.15 )( 0.15 ) = ( 0.24 )
I = 0.24 kg m 2
= 2.41rad s 2
a A = ( 0.25 ) m s 2 Then,
aB = ( 0.15 ) m s 2 a A = rA
(
= ( 0.25 m ) 2.41rad s 2 ) a A = 0.603m s2
−mA g + TA = m A a A
aB = rB
mB g − TB = mB aB
(
= ( 0.15 m ) 2.41rad s 2 ) aB = 0.362 m s2
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.3
• Draw the free-body-diagram equation expressing the
equivalence of the external and effective forces on the
complete pulley and blocks system.
• Solve the corresponding moment equation for the pulley
angular acceleration.
M G = (M G )eff
−mA grA + mB grB = I + m A a A rA + mB aB rB
(
− ( 2.5 kg ) 9.81 ms
2
) ( 0.25 m ) + (5 kg ) (9.81 ) ( 0.15 m )
m
s2
= 2.41rad s 2
Then,
I = 0.24 kg m 2
a A = rA
a A = ( 0.25 ) m s 2
aB = ( 0.15 ) m s 2 (
= ( 0.25 m ) 2.41rad s 2 ) a A = 0.603m s2
aB = rB
(
= ( 0.15 m ) 2.41rad s 2 ) aB = 0.362 m s2
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.4
REFLECT and THINK:
• You could also solve this problem by
considering the pulley and each block
as separate systems, but you would
have more resulting equations. You
would have to use this approach if you
wanted to know the forces in the
cables.
ay =
(
T − W 180 N - (15 kg ) 9.81 m s 2
=
)
m 15 kg
a y = 2.19 m s 2
M G = (M G )eff
− Tr = I = (12 mr 2 )
2T 2(180 N )
=− =− = 48.0 rad s 2
mr (15 kg )(0.5 m)
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.5
• Determine the acceleration of the cord by evaluating the
tangential acceleration of the point A on the disk.
acord = (a A )t = a + (a A G )t
(
= 2.19 m s 2 + (0.5 m ) 48 rad s 2 )
acord = 26.2 m s 2
REFLECT and THINK:
• The angular acceleration is clockwise, as
ax = 0 a y = 2.19 m s 2 we would expect. A similar analysis
would apply in many practical situations,
= 48.0 rad s 2 such as pulling wire off a spool or paper
off a roll. In such cases, you would need
to be sure that the tension pulling on the
disk is not larger than the tensile strength
of the material.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.6
STRATEGY:
• Draw the free-body-diagram equation
expressing the equivalence of the
external and effective forces on the
sphere.
• Solve the three corresponding scalar
equilibrium equations for the normal
A uniform sphere of mass m and radius reaction from the surface and the linear
r is projected along a rough horizontal and angular accelerations of the sphere.
surface with a linear velocity v0. The • Apply the kinematic relations for
coefficient of kinetic friction between uniformly accelerated motion to
the sphere and the surface is mk. determine the time at which the
tangential velocity of the sphere at the
Determine: (a) the time t1 at which the
surface is zero, i.e., when the sphere
sphere will start rolling without sliding,
stops sliding.
and (b) the linear and angular velocities
of the sphere at time t1.
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.6
MODELING and ANALYSIS:
• Draw the free-body-diagram equation expressing the
equivalence of external and effective forces on the
sphere.
• Solve the three scalar equilibrium equations.
Fy = (Fy )eff
N −W = 0 N = W = mg
Fx = (Fx )eff
− F = ma
− m k mg = a = −mk g
M G = (M G )eff
Fr = I
5 mk g
( mk mg ) r = ( 52 mr 2 ) =
2 r
NOTE: As long as the sphere both rotates and slides,
its linear and angular motions are uniformly
accelerated.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.6
• Apply the kinematic relations for uniformly accelerated
motion to determine the time at which the tangential velocity
of the sphere at the surface is zero, i.e., when the sphere
stops sliding.
v =v 0 +a t =v 0 +(− mk g )t
5 mk g
= 0 + t = 0 + t
2 r
At the instant t1 when the sphere stops sliding,
a = −mk g v1 = r1
5 mk g
= 5 mk g t1 =
2 v0
2 r v0 − m k gt1 = r t1
2 r 7 mk g
5 mk g 5 m k g 2 v0
1 =
5 v0
=
1
t 1 =
2 r 2 r 7 m k g 7 r
5v
v1 = r1 = r 0 v1 = 75 v0
7 r
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.6
REFLECT and THINK:
• You could use this type of analysis to
determine how long it takes a bowling
ball to begin to roll without slip or to see
how the coefficient of friction affects
this motion.
• Instead of taking moments about the
center of gravity, you could have chosen
to take moments about point C, in which
case your third equation would have
been M C = H C → 0 = ( ma ) r + I
= max
F x = max F y = ma y M G = I G
FR = max N R + N F − mg = 0 − N R (1.5) + N F (1) + FR (0.5) = 0
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Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
• Solve the resulting equations: 4 unknowns are FR, max, NF and NR
FR = max (1) N R + N F − mg = 0 (2) FR = m N R (3)
= max
M F = IG + mad⊥
• You can now use this equation with those on the previous slide to solve for the
acceleration
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Concept Question
The thin pipe P and the uniform cylinder C have the same outside
radius and the same mass. If they are both released from rest,
which of the following statements is true?
(
mOB (aOB )t = mOB (r ) = (3 kg )(0.200 m ) 40 rad s 2 )
mE = 4 kg = 40 rad s 2 = 24.0 N
k E = 85 mm
mOB = 3 kg
= 8 rad/s
( )
mOB (aOB )n = mOB r 2 = (3 kg )(0.200 m )(8 rad s )2
= 38.4 N
Fx = ( Fx )eff
WE = 39.2 N Rx = mOB (aOB )t = 24.0 N
WOB = 29.4 N Rx = 24.0 N
I E = 1.156 N m Fy = ( Fy )eff
mOB (aOB )t = 24.0 N Ry − F − WE − WOB = mOB ( aOB )n
mOB (aOB )n = 38.4 N Ry − 63.0 N − 39.2 N − 29.4 N = 38.4 N
Ry = 24.0 N
IOB = 1.600 N m
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.7
REFLECT and THINK:
• When you drew your kinetic diagram,
you put your inertia terms at the center
of mass for the gear and for the rod.
mE = 4 kg
• Alternatively, you could have found the
k E = 85 mm center of mass for the system and put
mOB = 3 kg the vectors IAOBα, mAOBax and mAOBay
on the diagram.
• Finally, you could have found an
overall IO for the combined gear and
rod and used Eq. 16.8 to solve for force
F.
M O = I O = ( I + mr ) = I + mr = I + (mat )r
2 2
5 g sin 30
a = r =
7
= 3.504 m s 2
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.9
MODELING and ANALYSIS:
• Draw the free-body-equation for the sphere, expressing
the equivalence of the external and effective forces.
• With the linear and angular accelerations related, solve
the three scalar equations derived from the free-body-
equation for the angular acceleration and the normal
and tangential reactions at C.
M G = (M G )eff F = (F )
x x eff
Fr = I W sin q − F = ma
(W sin q − ma )r = I F = W sin q − ma
a = r
(W sin q )r = (ma )r + I
(
= 0 + 2 3.504 m s2 (3m ) )
v = 4.59 m s
• Assuming no friction, calculate the linear acceleration
and the corresponding velocity after 3 m.
F=0
M G = (M G )eff 0 = I =0
5 g sin q
= æW ö
7r Fx = (Fx )eff W sinq = ma = ç ÷ a
a = r = 3.504 m s 2 ègø
( )
a = 9.81m s2 sin30° = 4.905m s2
v 2 = v02 + 2a ( x − x0 )
( )
= 0 + 2 4.905 m s 2 ( 3m )
v = 5.42 m s
N −W = 0
( )
N = mg = (50 kg ) 1.074 m s 2 = +490 .5 N
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.10
• Compare the required tangential reaction to the
maximum possible friction force.
Fmax = m s N = 0.20(490 .5 N) = 98.1 N
F > Fmax , rolling without slipping is impossible.
Fx = (Fx )eff
200 N − 73.6 N = (50 kg )a a = 2.53 m s 2
M G = (M G )eff
(73.6 N )(0.100 m ) − (200 N )(0.0.060 m )
(
= 0.245 kg m 2 )
= −18.94 rad s 2 = 18.94 rad s 2
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.10
REFLECT and THINK:
• The wheel has larger linear and angular
accelerations under conditions of rotating
while sliding than when rolling without
sliding.
I = 121 ml 2 =
1
25 kg (1.2 m )
2
Fx = (Fx )eff
12
= 3kg m 2 RB sin 45 = ( 33.5 )( 2.334 )
I = 3 RB = 110.58 N RB = 110.6 N 45o
max = 25 (1.339 ) = 33.5
Fy = (Fy )eff
ma y = −25 ( 0.520 ) = −13.0
RA + (110.58 ) cos 45 − ( 25 )( 9.81) = − (13.0 )( 2.334 )
RA = 136.7 N
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.12
REFLECT and THINK:
• For the kinematics, you could have used
the vector algebra approach rather than the
method demonstrated in this example.
• Using the vector algebra approach, you can
write aB = a A + aB A = a A + k rB A − 2 rB A
= 0 + ( AB k ) (0.17101 L i + 0.46985 L j) − 0
70o
= −0.46985 L AB i + 0.17101 L AB j
• Realize that you get two equations from the kinematic relationship
ax = −0.46985 L AB a y = 0.17101 L AB
= 70o
NA
a) The bar would rotate about point A
b) The bar’s center of gravity would go straight downwards
c) The bar would not have any angular acceleration