Vector Mechanics for Engineers: Dynamics

Edition
Eighth

Engineering Mechanics 100

Dynamics
Kinematics of Particles

Vector Mechanics for Engineers ( Dynamics )

By:
Ferdinand P. Beer and E. Russell Johnston, Jr.

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Contents
Introduction Sample Problem 11.5
Rectilinear Motion: Position, Velocit Graphical Solution of Rectilinear-Motion
y & Acceleration Problems
Determination of the Motion of a Part Other Graphical Methods
icle
Curvilinear Motion: Position, Velocity &
Sample Problem 11.2
Acceleration
Sample Problem 11.3
Derivatives of Vector Functions
Uniform Rectilinear-Motion
Rectangular Components of Velocity and
Uniformly Accelerated Rectilinear-M Acceleration
otion
Motion Relative to a Frame in Translation
Motion of Several Particles: Relative
Motion Tangential and Normal Components
Sample Problem 11.4 Radial and Transverse Components
Motion of Several Particles: Depend Sample Problem 11.10
ent Motion Sample Problem 11.12

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Determination of the Motion of a Particle

• Recall, motion of a particle is known if position is known for all time t.
• Typically, conditions of motion are specified by the type of acceleration
experienced by the particle. Determination of velocity and position requires
two successive integrations.
• Three classes of motion may be defined for:
- acceleration given as a function of time, a = f(t)
- acceleration given as a function of position, a = f(x)
- acceleration given as a function of velocity, a = f(v)

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Determination of the Motion of a Particle

• Acceleration given as a function of time, a = f(t):
v t  t t
dv
 a  f t  dv  f t  dt  dv   f t  dt vt   v0   f t  dt
dt v 0 0
0
x t  t t
dx
 vt  dx  vt  dt  dx   vt  dt xt   x0   vt  dt
dt x0 0 0

• Acceleration given as a function of position, a = f(x):

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

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Determination of the Motion of a Particle

• Acceleration given as a function of velocity, a = f(v):
v t  t
dv dv dv
 a  f v   dt  f v    dt
dt f v  v 0
0
v t 
dv
 f v   t
v0
x t  v t 
dv v dv v dv
v  a  f v  dx   dx   f v 
dx f v  x v
0 0
v t 
v dv
xt   x0  
v0 f v 

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Determination of the Motion of a Particle

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Determination of the Motion of a Particle

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Determination of the Motion of a Particle

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Determination of the Motion of a Particle

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Sample Problem 11.2

SOLUTION:
• Integrate twice to find v(t) and y(t).

• Solve for t at which velocity equals

zero (time for maximum elevation)
and evaluate corresponding altitude.
• Solve for t at which altitude equals
Ball tossed with 10 m/s vertical velocity zero (time for ground impact) and
from window 20 m above ground. 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.
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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Sample Problem 11.2

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Sample Problem 11.2

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Sample Problem 11.3

SOLUTION:

a   kv • Integrate a = dv/dt = -kv to find v(t).

• Integrate v(t) = dx/dt to find x(t).

• Integrate a = v dv/dx = -kv to find
Brake mechanism used to reduce gun recoil v(x).
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).

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

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

• Integrate v(t) = dx/dt to find x(t).

dx
vt    v0 e  kt
dt
x t  t t
 1 
 kt
 dx  v0  e dt xt   v0  e  kt 
0 0  k 0

xt  
v0
k

1  e  kt 
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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

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

• 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

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Uniform Rectilinear Motion

For particle in uniform rectilinear motion, the acceleration is zero and
the velocity is constant.

dx
 v  constant
dt
x t
 dx  v  dt
x0 0
x  x0  vt
x  x0  vt

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Uniformly Accelerated Rectilinear Motion

For particle in uniformly accelerated rectilinear motion, the acceleration of
the particle is constant.
v t
dv
 a  constant  dv  a  dt v  v0  at
dt v0 0
v  v0  at

x t
dx
dt
 v0  at  dx   v0  at dt x  x0  v0t  12 at 2
x0 0

x  x0  v0t  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 

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

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
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
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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth
Sample Problem 11.4
Ball thrown vertically from 12 m level in
elevator shaft with initial velocity of 18 m/s.
At same instant, open-platform elevator
passes 5 m level moving upward at 2 m/s.
Determine (a) when and where ball hits
elevator and (b) relative velocity of ball and
elevator at contact.
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
SOLUTION:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
• Substitute initial position and constant
velocity of elevator into equation for
uniform rectilinear motion.
• Write equation for relative position of
ball with respect to elevator and solve
for zero relative position, i.e., impact.
• Substitute impact time into equation
for position of elevator and relative
velocity of ball with respect to
elevator.
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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

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 
 m  m
y B  y0  v0t  12 at 2  12 m  18 t   4.905 2 t 2
 s  s 

• Substitute initial position and constant velocity of

elevator into equation for uniform rectilinear
motion. m
vE  2
s
 m
y E  y0  v E t  5 m   2 t
 s

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Sample Problem 11.4

• Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., impact.

yB E  
 12  18t  4.905t 2  5  2t   0
t  0.39 s meaningless 
t  3.65 s

• 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
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