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

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.
11 - 6
 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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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Motion of Several Particles: Dependent Motion

• Position of a particle may depend on position of one
or more other particles.
• Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A  2 x B  constant (one degree of freedom)
• Positions of three blocks are dependent.
2 x A  2 x B  xC  constant (two degrees of freedom)

• For linearly related positions, similar relations hold

between velocities and accelerations.
dx A dx dx
2  2 B  C  0 or 2v A  2v B  vC  0
dt dt dt
dv dv dv
2 A  2 B  C  0 or 2a A  2a B  aC  0
dt dt dt
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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Sample Problem 11.5

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 is Calculate change of position at time t.
pulled down at 3 in./s. At t = 0, collar A
starts moving down from K with constant • Block B motion is dependent on motions
acceleration and zero initial velocity. of collar A and pulley D. Write motion
Knowing that velocity of collar A is 12 relationship and solve for change of block
in./s as it passes L, determine the change B position at time t.
in elevation, velocity, and acceleration of
block B when block A is at L. • Differentiate motion relation twice to
develop equations for velocity and
acceleration of block B.
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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Sample Problem 11.5

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.

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

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Sample Problem 11.5

• Pulley D has uniform rectilinear motion. Calculate
change of position at time t.
x D  x D 0  v D t
 in.
x D  x D 0   3 1.333s   4 in.
 s 
• Block B motion is dependent on motions of collar
A and pulley D. Write motion relationship and
solve for change of block B position at time t.
Total length of cable remains constant,
x A  2 x D  x B  x A 0  2x D 0  x B 0

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.
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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Sample Problem 11.5

• Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A  2 x D  x B  constant

v A  2v D  v B  0

 in.  in. in.

12   2 3   v B  0 v B  18
 s   s  s

a A  2a D  a B  0

 in. in.
 9 2   vB  0 a B  9
 s  s2

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Graphical Solution of Rectilinear-Motion Problems

• Given the x-t curve, the v-t curve is equal to

the x-t curve slope.

• Given the v-t curve, the a-t curve is equal to

the v-t curve slope.

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 Vector Mechanics for Engineers: Dynamics
Edition
Eighth

Graphical Solution of Rectilinear-Motion Problems

• Given the a-t curve, the change in velocity between t1 and t2 is

equal to the area under the a-t curve between t1 and t2.

• Given the v-t curve, the change in position between t1 and t2 is

equal to the area under the v-t curve between t1 and t2.

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