Ch.

6: Intro to Dynamics
6.0 Outline Basic Concepts Newtons Laws Gravitational Law 306 307 311 314

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6.0 Outline

Ch. 6: Intro to Dynamics

6.1 Basic Concepts Space The region occupied by bodies. Their absolute positions and orientations can be described by linear and angular measurements relative to inertial (fixed) reference frame. On earths engineering problems, where the magnitude of the velocity is small compared to that of the earth, can be calculated using the earths frame with negligible errors. And we can assume those measurements absolute.

307

6.1 Basic Concepts

Ch. 6: Intro to Dynamics

6.1 Basic Concepts Time The measure of the succession of events. Often, the change in the physical quantities are described with respect to time, e.g.,

308

dr v= dt
Mass The measure of the inertia of a body, which indicates the resistance to a change in its velocity. It also causes the gravitational attraction force. Force The measure of the attempt to move a body. It is a fixed vector. 6.1 Basic Concepts

Ch. 6: Intro to Dynamics

6.1 Basic Concepts Particle A body of negligible dimensions. This is a relative matter to the surrounding effect. Hence, rotation effect is insignificant. Rigid body A body whose relative movement between its parts are negligible relative to the gross motion of the body. Nonrigid body A body whose relative movement between its parts are significant relative to the gross motion of the body. Mechanics of the deformable material.

309

6.1 Basic Concepts

Ch. 6: Intro to Dynamics

Particles
differential element analysis of the body Flight speed of the airplane

310

Objects
Molecular effects in the body Yawing, pitching motion of the plane

Rigid bodies
Tension in the truss structure A stiff linkage of the robot

Nonrigid bodies
Material for constructing the truss An n-joint robot arm

The body-fixed inertia of the nonrigid body is not constant. 6.1 Basic Concepts

Ch. 6: Intro to Dynamics

6.2 Newtons Laws 1st Law: A particle remains at rest or continues to move in a straight line with a uniform velocity if there is no unbalanced force acting on it.

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F=

0a=0

6.2 Newtons Laws

Ch. 6: Intro to Dynamics

6.2 Newtons Laws 2nd Law: The absolute acceleration of a particle is proportional to the resultant force acting on it and is in the direction of this resultant force.

312

F = ma
a = absolute acceleration

6.2 Newtons Laws

Ch. 6: Intro to Dynamics

6.2 Newtons Laws 3rd Law: The forces of action and reaction between interacting bodies are equal in magnitude, opposite in direction, and collinear.

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action force = -(reaction force)

-F
F

F
F

FBD 6.2 Newtons Laws

Ch. 6: Intro to Dynamics

6.3 Gravitational Law governs mutual attraction between bodies
m1m2 r2 G = 6.673 10-11 m 3 / ( kg s 2 ) F= G

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m1

F
m2

6.3 Gravitational Law

Ch. 6: Intro to Dynamics

Gravitational acceleration Calculate from the gravitational force between the earth and the object. This attractive force is called the weight of the body.
W= m Gme = mg 2 r g = free falling acceleration observed on the moving earth = 9.81 m/s 2 can be considered the absolute acceleration at sea level in the engineering problem on earth

315

6.3 Gravitational Law