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Chapter - 11
Chapter - 11
Chapter – 11
Contents
11 - 2
Introduction
• Dynamics includes:
- Kinematics: study of the geometry of motion. Kinematics is used to
relate displacement, velocity, acceleration, and time without reference to
the cause of motion.
- Kinetics: study of the relations existing between the forces acting on a
body, the mass of the body, and the motion of the body. Kinetics is used
to predict the motion caused by given forces or to determine the forces
required to produce a given motion.
11 - 3
Rectilinear Motion: Position, Velocity & Acceleration
11 - 4
Rectilinear Motion: Position, Velocity & Acceleration
• 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
11 - 7
Determination of the Motion of a Particle
11 - 8
Determination of the Motion of a Particle
dx dx dv dv
v or dt a or a v f x
dt v dt dx
v x x x
v dv f x dx v dv f x dx 1 v x 2
2
12 v02 f x dx
v0 x0 x0
11 - 9
Determination of the Motion of a Particle
11 - 10
Sample Problem 11.2
SOLUTION:
• Integrate twice to find v(t) and y(t).
SOLUTION:
• Integrate twice to find v(t) and y(t).
dv
a 9.81m s 2
dt
v t t
dv 9.81dt v t v0 9.81t
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
11 - 12
Sample Problem 11.2
11 - 13
Sample Problem 11.2
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
11 - 14
Sample Problem 11.3
SOLUTION:
11 - 15
Sample Problem 11.3
SOLUTION:
• Integrate a = dv/dt = -kv to find v(t).
v t
dv dv t
v t
a kv k dt ln kt
dt v v 0 v0
0
v t v0 e kt
x t
v0
k
1 e kt
11 - 16
Sample Problem 11.3
• 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
11 - 17
Uniform Rectilinear Motion
dx
v constant
dt
x t
dx v dt
x0 0
x x0 vt
x x0 vt
11 - 18
Uniformly Accelerated Rectilinear Motion
x t
dx
dt
v0 at dx v0 at dt x x0 v0t 12 at 2
x0 0
x x0 v0 t 12 at 2
v 2 v02 a x x0
v x
dv 1
v a constant v dv a dx 2
dx v0 x0
v 2 v02 2a x x0
11 - 19
Motion of Several Particles: Relative Motion
xB x B x A relative position of B
A
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
11 - 20
Sample Problem 11.4
SOLUTION:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
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
m m
y B y0 v0 t 12 at 2 12 m 18 t 4.905 2 t 2
s s
11 - 22
Sample Problem 11.4
yB E
12 18t 4.905t 2 5 2t 0
t 0.39 s meaningless
t 3.65 s
vB E 18 9.81t 2
16 9.81 3.65
m
vB E 19.81
s
11 - 23
Motion of Several Particles: Dependent Motion
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.
• Pulley D has uniform rectilinear motion.
Pulley D is attached to a collar which Calculate change of position at time t.
is pulled down at 3 in./s. At t = 0,
collar A starts moving down from K • Block B motion is dependent on motions
with constant acceleration and zero of collar A and pulley D. Write motion
initial velocity. Knowing that relationship and solve for change of block
velocity of collar A is 12 in./s as it B position at time t.
passes L, determine the change in • Differentiate motion relation twice to
elevation, velocity, and acceleration develop equations for velocity and
of block B when block A is at L. acceleration of block B.
11 - 25
Sample Problem 11.5
SOLUTION:
• Define origin at upper horizontal surface with
positive displacement downward.
v 2A v A 02 2a A x A x A 0
2
in. in.
12 2a A 8 in. aA 9
s s2
v A v A 0 a At
in. in.
12 9 2t t 1.333 s
s s
11 - 26
Sample Problem 11.5
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.
11 - 27
Sample Problem 11.5
v A 2v D v B 0
a A 2a D a B 0
in. in.
9 2 vB 0 a B 9
s s2
11 - 28
Graphical Solution of Rectilinear-Motion Problems
11 - 29
Graphical Solution of Rectilinear-Motion Problems
11 - 30
Other Graphical Methods
using dv = a dt ,
v1
x1 x0 v0t1 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.
11 - 31
Other Graphical Methods
11 - 32
Curvilinear Motion: Position, Velocity & Acceleration
11 - 33
Curvilinear Motion: Position, Velocity &
Acceleration
• Consider velocity v of particle at time t and velocity
v at t + Dt,
v dv
a lim
t 0 t dt
instantaneous acceleration (vector)
11 - 34
Derivatives of Vector Functions
• Let P u be a vector function of scalar variable u,
dP P P u u P u
lim lim
du u 0 u u 0 u
• Derivative of vector sum,
d P Q dP dQ
du du du
• Derivative of product of scalar and vector functions,
d f P df
dP
P f
du du du
• Derivative of scalar product and vector product,
d P Q dP
dQ
Q P
du du du
d P Q dP
dQ
Q P
du du du
11 - 35
Rectangular Components of Velocity & Acceleration
• Velocity vector,
dx dy dz
v i j k x i y j z k
dt dt dt
vx i v y j vz k
• Acceleration vector,
d 2 x d 2 y d 2 z
a 2 i 2 j 2 k xi y j zk
dt dt dt
ax i a y j az k
11 - 36
Rectangular Components of Velocity & Acceleration
et 2 sin 2
et sin 2
lim lim e n en
0 0 2
det
en
d
11 - 39
Tangential and Normal Components
• With the velocity vector expressed as v vet
the particle acceleration may be written as
d v dv de dv de d ds
a et v et v
dt dt dt dt d ds dt
but
det ds
en d ds v
d dt
After substituting,
dv v 2 dv v2
a et en at an
dt dt
• Tangential component of acceleration reflects
change of speed and normal component reflects
change of direction.
• Tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
11 - 40
Tangential and Normal Components
11 - 41
Radial and Transverse Components
• Position vector,
r R e R z k
• Velocity vector,
dr
v R e R R e z k
dt
• Acceleration vector,
d v
R R e R R 2 R e z k
2
a
dt
11 - 43
Sample Problem 11.10
SOLUTION:
• Calculate tangential and normal
components of acceleration.
SOLUTION:
• Calculate tangential and normal components of
acceleration.
v 66 88 ft s ft
at 2.75 2
t 8s s
v 2 88 ft s 2 ft
an 3.10 2
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
1 a n 1 3.10
tan tan 48.4
at 2.75
11 - 45
Sample Problem 11.12
SOLUTION:
• Evaluate time t for q = 30o.
SOLUTION:
• Evaluate time t for q = 30o.
0.15t 2
30 0.524 rad t 1.869 s
11 - 47
Sample Problem 11.12
a B OA r 0.240 m s 2
11 - 49