Eleventh Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

15 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinematics of
Brian P. Self
Rigid Bodies

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Vector Mechanics for Engineers: Dynamics
LEARNING OUTCOMES
At the end of the lecture the students would be able to:
• Determine the relations between the time, the positions, the velocities and the
accelerations of a rigid body (CO2-PO2)
• Solve motion of rigid body (CO2-PO2)

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Vector Mechanics for Engineers: Dynamics
Contents
Introduction
Translation
Rotation About a Fixed Axis: Velocity
Rotation About a Fixed Axis: Acceleration
Rotation About a Fixed Axis: Representative Slab
Equations Defining the Rotation of a Rigid Body About a Fixed Axis
Sample Problem 5.1
Example 2
Group Problem Solving 1
Group Problem Solving 2

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Vector Mechanics for Engineers: Dynamics
Applications

A battering ram is an example of curvilinear translation – the

ram stays horizontal as it swings through its motion.

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Eleventh
Vector Mechanics for Engineers: Dynamics
Applications

The linkage between train wheels is an example of curvilinear

translation – the link stays horizontal as it swings through its
motion.

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Eleventh
Vector Mechanics for Engineers: Dynamics
Applications

How can we determine the velocity of the tip of a turbine blade?

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Eleventh
Vector Mechanics for Engineers: Dynamics
Applications

How can we determine the velocity of the tip of a turbine blade?

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Eleventh
Vector Mechanics for Engineers: Dynamics
Applications
Planetary gear systems are used to get high reduction ratios
with minimum weight and space. How can we design the
correct gear ratios?

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Eleventh
Vector Mechanics for Engineers: Dynamics
Applications
Biomedical engineers must determine the velocities and
accelerations of the leg in order to design prostheses.

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Eleventh
Vector Mechanics for Engineers: Dynamics
Introduction
• Kinematics of rigid bodies: relations between
time and the positions, velocities, and
accelerations of the particles forming a rigid
body.
• Classification of rigid body motions:
- translation:
• rectilinear translation
• curvilinear translation
- rotation about a fixed axis
- general plane motion
- motion about a fixed point
- general motion

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Eleventh
Vector Mechanics for Engineers: Dynamics
Translation
• Consider rigid body in translation:
- direction of any straight line inside the
body is constant,
- all particles forming the body move in
parallel lines.
• For any two particles in the body,
  
rB  rA  rB A

• Differentiating with respect to time,

   
rB  rA  rB A  rA
 
vB  v A
All particles have the same velocity.
• Differentiating with respect to time again,
rB  rA  rB A  rA
 
aB  a A
All particles have the same acceleration.
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Eleventh
Vector Mechanics for Engineers: Dynamics
Rotation About a Fixed Axis. Velocity
• Consider rotation of rigid body about a
fixed axis AA’

 
• Velocity vector v  dr dt of the particle P is
tangent to the path with magnitude v  ds dt
s   BP   r sin  
ds 
v  lim r sin    r sin 
dt t 0 t

• The same result is obtained from


 dr  
v  r
dt
  
   k   k  angular velocity


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Vector Mechanics for Engineers: Dynamics
Concept Quiz

What is the direction of the velocity

of point A on the turbine blade? 

a) → A
b) ← y
L
c) ↑
x
d) ↓
vA    r
v A   kˆ   Liˆ
vA  L ˆj
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Eleventh
Vector Mechanics for Engineers: Dynamics
Rotation About a Fixed Axis. Acceleration
• Differentiating to determine the acceleration,

 dv d  
a    r 
dt dt
 
d   dr
 r  
dt dt

d   
 r  v
dt

d 
•    angular acceleration
dt
  
  k   k   k


• Acceleration of P is combination of two

vectors,
     
a    r     r
 
  r  tangentia l accelerati on component
  
    r  radial accelerati on component
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Eleventh
Vector Mechanics for Engineers: Dynamics
Rotation About a Fixed Axis. Representative Slab
• Consider the motion of a representative slab in
a plane perpendicular to the axis of rotation.

• Velocity of any point P of the slab,

    
v    r  k  r
v  r

• Acceleration of any point P of the slab,

     
a    r     r
  
  k  r   2r

• Resolving the acceleration into tangential and

normal components,
  
at  k  r a t  r
 
an   2 r an  r 2
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Eleventh
Vector Mechanics for Engineers: Dynamics
Concept Quiz

What is the direction of the normal

acceleration of point A on the turbine
blade?

a) →
A
b) ← y
c) ↑ L
x
d) ↓
an   r 2

an   (Liˆ) 2

2ˆ
an  L i
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Eleventh
Vector Mechanics for Engineers: Dynamics
Equations Defining the Rotation of a Rigid Body About a Fixed Axis

• Motion of a rigid body rotating around a fixed axis is

often specified by the type of angular acceleration.

d d
• Recall   or dt 
dt 
d d 2 d
  2 
dt dt d

• Uniform Rotation,  = 0:
   0  t

• Uniformly Accelerated Rotation,  = constant:

  0  t
   0   0t  12  t 2
 2   02  2    0 
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Vector Mechanics for Engineers: Dynamics
Sample Problem 5.1
SOLUTION:
• Due to the action of the cable, the
tangential velocity and acceleration of
D are equal to the velocity and
acceleration of C. Calculate the initial
angular velocity and acceleration.
• Apply the relations for uniformly
accelerated rotation to determine the
velocity and angular position of the
Cable C has a constant acceleration of
pulley after 2 s.
225 m/s2 and an initial velocity of
300 mm/s, both directed to the right. • Evaluate the initial tangential and
normal acceleration components of D.
Determine (a) the number of revolutions
of the pulley in 2 s, (b) the velocity and
change in position of the load B after 2 s,
and (c) the acceleration of the point D on
the rim of the inner pulley at t = 0.
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.1
MODELING and ANALYSIS:
• The tangential velocity and acceleration of D are equal to the
velocity and acceleration of C.
vD 0  vC 0  300 mm s  aD t  aC  225 mm s 
vD 0  r0 aD t  r
vD 0 300 aD t 225
0    4 rad s    3 rad s 2
r 75 r 75

• Apply the relations for uniformly accelerated rotation to

determine velocity and angular position of pulley after 2 s.
 
  0  t  4 rad s  3 rad s2 2 s   10 rad s

   0t  12 t 2  4 rad s 2 s   12 3 rad s 2 2 s 2 
 14 rad
 1 rev 
N  14 rad   number of revs N  2.23 rev
 2 rad 

vB  r  125 mm 10 rad s  vB  1.25 m s 
y B  r  125 mm 14 rad  y B  1.75m
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.1
• Evaluate the initial tangential and normal acceleration
components of D.

aD t  aC  25 mm s 2 
aD n  rD02  75 mm4 rad s 2  1200 mm s 2
 
aD t  225 mm s 2  aD n  1200 mm s 2 
Magnitude and direction of the total acceleration,

225 mm/s2 aD  aD t2  aD 2n

aD  1.221 m s 2
 2252  12002
 1220.9mm / s 2
(aD)n =1200 aD n
mm/s2 tan  
aD t

1200   79.4
225
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Vector Mechanics for Engineers: Dynamics
EXAMPLE 2
Given: The motor turns gear A with a
constant angular acceleration,
A = 4.5 rad/s2, starting from rest.
The cord is wrapped around pulley D
which is rigidly attached to gear B.
Find: The velocity of cylinder C and
the distance it travels in 3 seconds.
Plan: 1) The angular acceleration of gear B (and pulley D) can
be related to A.
2) The acceleration of cylinder C can be determined by
using the equations of motion for a point on a rotating
body since (at)D at point P is the same as ac.
3) The velocity and distance of C can be found by using
the constant acceleration equations.
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Vector Mechanics for Engineers: Dynamics
EXAMPLE 2 (continued)
Solution:
1) Gear A and B will have the same speed and tangential
component of acceleration at the point where they mesh. Thus,

at = A rA = B rB  (4.5)(75) = B(225)  B = 1.5 rad/s2

Since gear B and pulley D turn together, D = B = 1.5 rad/s2

2) Assuming the cord attached to pulley D is inextensible and

does not slip, the velocity and acceleration of cylinder C will
be the same as the velocity and tangential component of
acceleration along the pulley D.

aC = (at)D = D rD = (1.5)(0.125) = 0.1875 m/s2 

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Vector Mechanics for Engineers: Dynamics
EXAMPLE 2 (continued)

3) Since A is constant, D and aC will be constant. The

constant acceleration equation for rectilinear motion can be
used to determine the velocity and displacement of
cylinder C when t = 3 s (s0= v0 = 0):

vc = v0 + aC t = 0 + 0.1875 (3) = 0.563 m/s 

sc = s0 + v0 t + (0.5) aC t2
= 0 + 0 + (0.5) 0.1875 (3)2 = 0.844 m 

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Vector Mechanics for Engineers: Dynamics
Group Problem Solving 1

SOLUTION:
• Using the linear velocity and
accelerations, calculate the angular
velocity and acceleration.

• Using the angular velocity,

A series of small machine components
being moved by a conveyor belt pass over
a 150 mm-radius idler pulley. At the instant
shown, the velocity of point A is 375 mm/s
to the left and its acceleration is 225 mm/s 2
determine the normal acceleration.
• Determine the total acceleration
using the tangential and normal
acceleration components of B.

to the right. Determine (a) the angular

velocity and angular acceleration of the
idler pulley, (b) the total acceleration of the
machine
component at B.
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Vector Mechanics for Engineers: Dynamics
Group Problem Solving 1

MODELING and ANALYSIS: v= 375 mm/s B at= 225 mm/s2

Find the angular velocity of the idler

pulley using the linear velocity at B.
v  r
15 in./s  (6 in.)   2.50 rad/s

Find the angular velocity of the idler

pulley using the linear velocity at B.
a  r
  1.500 rad/s2
9 in./s  (6 in.)
2 What is the direction of
the normal acceleration
Find the normal acceleration of point B. of point B?

an  r 2 Downwards, towards
an  937.5 mm/s2
the center
 (6 in.)(2.5 rad/s) 2

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Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving 1
B at= 225 mm/s2 Find the total acceleration of the
machine component at point B.

an= 937.5 mm/s2 at  225 mm/s2 an  937.5 mm/s2

Calculate the magnitude

a  (225)2  (937.5)2  964 mm/s2

at= 225 mm/s2 Calculate the angle from

the horizontal

( 225 )
q = arctan 937.5 = 76.5

Combine for a final answer

aB
aB  964 mm/s2 76.5
an= 937.5 mm/s2
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Vector Mechanics for Engineers: Dynamics
GROUP PROBLEM SOLVING 2

Given: Gear A is given an angular acceleration A= 4t3 rad/s2,

where t is in seconds, and (A)0= 20 rad/s.
Find: The angular velocity and angular displacement of gear B
when t = 2 s.
Plan: 1) Apply the kinematic equation of variable angular
acceleration to find the angular velocity of gear A.
2) Find the relationship of angular motion between gear A
and gear B in terms of time and then use 2 s.
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Vector Mechanics for Engineers: Dynamics
GROUP PROBLEM SOLVING 2 (continued)
Solution:
1) Motion of Gear A : Applying the kinematic equation
ωA t
න dωA = න αA dt
ωA0 0
t
ωA − 20 = න 4t 3 dt = t 4  ωA = t 4 + 20
0

A t
න dA = න ωA dt
0 0
t
1 5
A = න (t 4 + 20)dt = t + 20 t
0 5

When t=2 s, ωA = 36 rad/s and A = 46.4 rad.

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Vector Mechanics for Engineers: Dynamics
GROUP PROBLEM SOLVING 2 (continued)

2) Since gear B meshes with gear A,

A rA = B rB
 B = A (rA / rB) = A (0.05 / 0.15)
Similarly, B = A (0.05 / 0.15)

Since ωA = 36 rad/s and A = 46.4 rad at t=2 s,

B = 36 (0.05 / 0.15) = 12 rad/s

B = 46.4 (0.05 / 0.15) = 15.5 rad

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