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13 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr. Kinetics of Particles:
Energy and Momentum
Lecture Notes:
J. Walt Oler Methods
Texas Tech University
Kinematics Kinetics
Particle Particle
Rectilinear motion Newton’s 2nd law
Curvilinear motion Work and Energy
Relative motion
Impulse and Momentum
Dependent motion
s1 v1
• efficiency
output work
input work
power output
power input
v2 0 T2 0
• Determine the distance required for the work
to equal the kinetic energy change.
U12 1500lbx 4000lbsin 5x
1151lbx
T1 U12 T2
481000ft lb 1151lbx 0
x 418 ft
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 16
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 13.2
SOLUTION:
• Apply the principle of work and
energy separately to blocks A and B.
WB 300 kg 9.81m s 2 2940 N
T1 U12 T2 :
0 Fc 2 m WB 2 m 12 m B v 2
v 4.43 m s
U12 f m kW x
m k 60 kg 9.81m s 2 0.640 m 377 J m k
T1 U12 T2 :
187.5 J - 377 J m k 112 J 0 mk 0.20
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 21
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 13.3
• Apply the principle of work and energy for the rebound
of the package.
T2 U 23 T3 :
0 36.5 J 12 60 kg v32
v3 1.103 m s
Fn m an :
W m an
W v32 W 225 ft g
3 50 ft
g 3 g 3
The dumbwaiter D and its load have a • In the first case, bodies are in uniform
combined weight of 600 lb, while the motion. Determine force exerted by
counterweight C weighs 800 lb. motor cable from conditions for static
equilibrium.
Determine the power delivered by the
electric motor M when the dumbwaiter • In the second case, both bodies are
(a) is moving up at a constant speed of accelerating. Apply Newton’s
8 ft/s and (b) has an instantaneous second law to each body to
velocity of 8 ft/s and an acceleration of determine the required motor cable
2.5 ft/s2, both directed upwards. force.
Free-body C:
Fy 0 : 2T 800 lb 0 T 400 lb
Free-body D:
Fy 0 : F T 600 lb 0
F 600 lb T 600 lb 400 lb 200 lb
Free-body C:
800
Fy mC aC : 800 2T 1.25 T 384.5 lb
32.2
Free-body D:
600
Fy mD a D : F T 600 2.5
32.2
F 384.5 600 46.6 F 262.1 lb
Power Fv D 262.1 lb 8 ft s 2097 ft lb s
1 hp
Power 2097 ft lb s 3.81 hp
550 ft lb s
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 28
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Potential Energy
• Work of the force of gravity W,
U12 W y1 W y2
• Follows that
T1 V1 T2 V2
E T V constant
T1 0 V1 W • When a particle moves under the action of
T1 V1 W conservative forces, the total mechanical
energy is constant.
1W
T2 12 mv22 2 g W V2 0 • Friction forces are not conservative. Total
2g
mechanical energy of a system involving
T2 V2 W friction decreases.
• Mechanical energy is dissipated by friction
into thermal energy. Total energy is constant.
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 33
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Motion Under a Conservative Central Force
• When a particle moves under a conservative central
force, both the principle of conservation of angular
momentum
r0 mv0 sin 0 rmv sin
and the principle of conservation of energy
T0 V0 T V
GMm 1 2 GMm
1 mv 2
2 0 2 mv
r0 r
may be applied.
V2 Ve Vg 0 Wy 0.5 lb 4 ft 2 ft lb
T2 12 mvD
2
1 0.5 lb
2 32.2 ft s 2
64.4 ft 2 2
s 0.5 ft lb
T1 V1 T2 V2
0 18 x 2 0.5 2 x 0.3727 ft 4.47 in.
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 38
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 13.9
SOLUTION:
• For motion under a conservative central
force, the principles of conservation of
energy and conservation of angular
momentum may be applied simultaneously.
• Apply the principles to the points of
minimum and maximum altitude to
A satellite is launched in a direction
determine the maximum altitude.
parallel to the surface of the earth
with a velocity of 36900 km/h from • Apply the principles to the orbit insertion
an altitude of 500 km. point and the point of minimum altitude to
determine maximum allowable orbit
Determine (a) the maximum altitude
insertion angle error.
reached by the satellite, and (b) the
maximum allowable error in the
direction of launching if the satellite
is to come no closer than 200 km to
the surface of the earth
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 39
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 13.9
• Apply the principles of conservation of energy and
conservation of angular momentum to the points of minimum
and maximum altitude to determine the maximum altitude.
Conservation of energy:
GMm 1 2 GMm
TA VA TA VA 1 mv 2
2 0 2 mv1
r0 r1
Conservation of angular momentum:
r
r0mv0 r1mv1 v1 v0 0
r1
Combining,
2
1 v 2 1 r0 GM 1 r0 r0 2GM
2 0 2 1
r1 r0 r1 r1 r0v02
r0 6370 km 500 km 6870 km
v0 36900 km h 10.25 106 m s
2
GM gR 2 9.81m s 2 6.37 106 m 398 1012 m3 s 2
• Nonimpulsive
forces are forces for which
Ft is small and therefore, may be
neglected.
m pv1 Imp12 m p mc v2
x components:
m pv1 cos 30 0 m p mc v2
10 kg 3 m/s cos 30 10 kg 25 kg v2
v2 0.742 m/s
m pv1 Imp12 m pv2
Imp12 Ft 18.56 N s i 15 N s j Ft 23.9 N s
T1 12 m p mc v22 12 10 kg 25 kg 0.742 m s 2 9.63 J
T1 T2 45 J 9.63 J
0.786
T1 45 J
e coefficient of restitution
• Period of deformation: m Av A Pdt m Au
Rdt u vA
Pdt v A u
0 e 1
• Period of restitution: m Au Rdt m AvA
vB u
• A similar analysis of particle B yields e
u vB
• Note: Validity of last expression does not follow from previous relation for
the coefficient of restitution. A similar but separate derivation is required.
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 57
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Problems Involving Energy and Momentum
• Three methods for the analysis of kinetics problems:
- Direct application of Newton’s second law
- Method of work and energy
- Method of impulse and momentum
• Select the method best suited for the problem or part of a problem
under consideration.
v 0.779v n 0.500v t
0.779
v 0.926v tan 1 32.7
0.500
The magnitude and direction of the • Total normal component of the momentum
velocities of two identical of the two ball system is conserved.
frictionless balls before they strike
each other are as shown. Assuming • The normal relative velocities of the
e = 0.9, determine the magnitude balls are related by the coefficient of
and direction of the velocity of each restitution.
ball after the impact.
• Solve the last two equations simultaneously
for the normal velocities of the balls after
the impact.
v A 17.7t 15.0n
n
15.0
vA 23.2 ft s tan 1 40.3
17.7
vB 23.7t 34.6n
34.6
vB 41.9 ft s tan 1
t
55.6
23. 7
v A 0.5v0t 0.520v0n
tan 1
0.52
vA 0.721v0 46.1
0.5
46.1 30 16.1
vB 0.693v0
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 66
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 13.17
SOLUTION:
• Apply the principle of conservation of
energy to determine the velocity of the
block at the instant of impact.
• Since the impact is perfectly plastic, the
block and pan move together at the same
velocity after impact. Determine that
velocity from the requirement that the
total momentum of the block and pan is
A 30 kg block is dropped from a height conserved.
of 2 m onto the the 10 kg pan of a
• Apply the principle of conservation of
spring scale. Assuming the impact to be
energy to determine the maximum
perfectly plastic, determine the
deflection of the spring.
maximum deflection of the pan. The
constant of the spring is k = 20 kN/m.
0 1 kx 2
2 3
1
2
20 10 4.91 10
3 3 2
0.241 J
T4 0
T3 V3 T4 V4
442 0.241 0 392 x4 4.91 103 12 20 103 x42
x4 0.230 m