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1 DYNAMICS
1
Ferdinand P. Beer
E. Russell Johnston, Jr. Kinematics of Particles
Lecture Notes:
J. Walt Oler
Texas Tech University
Contents
Introduction Sample Problem 11.5
Rectilinear Motion: Position, Velocity & Graphical
Acceleration
Solution of Rectilinear-Motion Pr
Determination of the Motion of a Particle Other Graphical Methods
Sample Problem 11.2 Curvilinear Motion: Position, Velocity & A
Sample Problem 11.3
Derivatives of Vector Functions
Uniform Rectilinear-Motion
Rectangular Components of Velocity and A
Uniformly Accelerated Rectilinear-Motion
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: Dependent Motion
Sample Problem 11.10
Sample Problem 11.12
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.
dv d 2 x
a= = = 12 − 6t
dt dt 2
• 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
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
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
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 12
Vector Mechanics for Engineers: Dynamics
Edition
Seventh
m m
y ( t ) = 20 m + 10 t − 4.905 2 t 2
s s
m m
y = 20 m + 10 (1.019 s) − 4.905 2 (1.019 s)
2
s s
y = 25.1 m
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
v( t ) = v0 e − kt
x t = (1 − e − kt )
v0
( )
k
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 16
Vector Mechanics for Engineers: Dynamics
Edition
Seventh
• 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
dx
= v = constant
dt
x t
∫ dx = v ∫ dt
x0 0
x − x0 = vt
x = x0 + vt
x t
dx
dt
= v0 + at ∫ dx = ∫ ( v0 + at ) dt x − x0 = v0 t + 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 )
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
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 20
Vector Mechanics for Engineers: Dynamics
Edition
Seventh
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
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 23
Vector Mechanics for Engineers: Dynamics
Edition
Seventh
v A2 = ( v A ) 0 + 2a A [ x A − ( x A ) 0 ]
2
v A = ( v A ) 0 + a At
300 mm = 225 mm/s 2 t = 1.333 s
xD = ( xD ) 0 + vD t
xD − ( xD ) 0 = ( 75 mm/s)(1.333 s) = 100 mm
xB − ( xB ) 0 = −400 mm
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 27
Vector Mechanics for Engineers: Dynamics
Edition
Seventh
x A + 2 xD + xB = constant
v A + 2v D + v B = 0
( 300 mm) + 2( 75 mm) + vB = 0 vB = 450 mm/s
a A + 2a D + a B = 0
( 225 mm/s) + vB = 0 aB = −225 mm/s 2
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.
∆s ds
v = lim =
∆t →0 ∆t dt
= instantaneous speed (scalar)
• 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
∆et = 2 sin ( ∆θ 2)
∆et sin ( ∆θ 2 )
lim = lim en = en
∆θ →0 ∆θ ∆θ →0 ∆θ 2
det
en =
dθ
• Position vector,
r = R e R +z k
• Velocity vector,
dr
v= = R e R + Rθ eθ + z k
dt
• Acceleration vector,
dv
a=
dt
= R ( 2
)
− Rθ e R + ( Rθ + 2 R θ ) eθ + z k
an −1 −1 1.03
α = tan = tan α = 49.7°
at 0.875
a B OA = r = −0.240 m s 2